//-----------------------------------------------------------------------
void PhysXActorExtern::_processParticle(
ParticleTechnique* particleTechnique,
Particle* particle,
Ogre::Real timeElapsed,
bool firstParticle)
{
// Only update after a PhysX simulation step
if (mSynchronize)
{
if (particle->particleType != Particle::PT_VISUAL)
return;
if (!particle->physicsActor)
return;
VisualParticle* visualParticle = static_cast<VisualParticle*>(particle);
PhysXActor* physXActor = static_cast<PhysXActor*>(particle->physicsActor);
NxActor* nxActor = physXActor->nxActor;
if (nxActor)
{
// Synchronize both the particle and the pysicsActor with the nxActor
particle->position = PhysXMath::convert(nxActor->getGlobalPosition());
particle->direction = PhysXMath::convert(nxActor->getLinearVelocity());
visualParticle->orientation = PhysXMath::convert(nxActor->getGlobalOrientationQuat());
physXActor->position = particle->position;
physXActor->direction = particle->direction;
physXActor->orientation = visualParticle->orientation;
if (nxActor->getNbShapes())
{
NxShape *shape = nxActor->getShapes()[0]; // Max one.
switch(shape->getType())
{
case NX_SHAPE_BOX:
(static_cast<NxBoxShape*>(shape))->setDimensions(
PhysXMath::convert(0.5 * Ogre::Vector3(
visualParticle->width, visualParticle->height, visualParticle->depth)));
break;
case NX_SHAPE_SPHERE:
(static_cast<NxSphereShape*>(shape))->setRadius(0.5f * visualParticle->width);
break;
case NX_SHAPE_CAPSULE:
{
(static_cast<NxCapsuleShape*>(shape))->setRadius(0.5f * visualParticle->width);
(static_cast<NxCapsuleShape*>(shape))->setHeight(0.5f * visualParticle->height);
}
break;
}
}
}
}
}
void PhysicsLib::updateVisualization(const VC3 &cameraPosition, float range, bool forceUpdate)
{
bool visualizeCollisionShapes = data->featureMap[PhysicsLib::VISUALIZE_COLLISION_SHAPES];
bool visualizeDynamic = data->featureMap[PhysicsLib::VISUALIZE_DYNAMIC];
bool visualizeStatic = data->featureMap[PhysicsLib::VISUALIZE_STATIC];
bool visualizeCollisionContacts = data->featureMap[PhysicsLib::VISUALIZE_COLLISION_CONTACTS];
bool visualizeFluids = data->featureMap[PhysicsLib::VISUALIZE_FLUIDS];
bool visualizeJoints = data->featureMap[PhysicsLib::VISUALIZE_JOINTS];
bool visualizeCCD = data->featureMap[PhysicsLib::VISUALIZE_CCD];
if (forceUpdate
|| visualizeCollisionShapes
|| visualizeDynamic
|| visualizeStatic
|| visualizeCollisionContacts
|| visualizeFluids
|| visualizeJoints
|| visualizeCCD)
{
// (do the update)
} else {
// do not unnecessarily do this stuff!
return;
}
float rangeSq = range * range;
int actorAmount = data->scene->getNbActors();
NxActor **actorArray = data->scene->getActors();
if(visualizeCollisionShapes || visualizeStatic || visualizeCollisionContacts)
data->sdk->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
else
data->sdk->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 0);
if(visualizeDynamic)
data->sdk->setParameter(NX_VISUALIZE_BODY_MASS_AXES, 1);
else
data->sdk->setParameter(NX_VISUALIZE_BODY_MASS_AXES, 0);
data->sdk->setParameter(NX_VISUALIZE_CONTACT_NORMAL, visualizeCollisionContacts);
data->sdk->setParameter(NX_VISUALIZE_CONTACT_FORCE, visualizeCollisionContacts);
data->sdk->setParameter(NX_VISUALIZE_CONTACT_POINT, visualizeCollisionContacts);
data->sdk->setParameter(NX_VISUALIZE_COLLISION_SKELETONS, visualizeCCD);
for(int i = 0; i < actorAmount; ++i)
{
NxActor *actor = actorArray[i];
if(!actor)
continue;
NxVec3 nxpos = actor->getGlobalPosition();
VC3 pos(nxpos.x, nxpos.y, nxpos.z);
VC3 diff = (pos - cameraPosition);
diff.y = 0; // ignore height
bool inRange = false;
if (diff.GetSquareLength() < rangeSq)
inRange = true;
if(actor->isDynamic())
{
//if(visualizeDynamic && inRange)
if(visualizeDynamic)
actor->raiseBodyFlag(NX_BF_VISUALIZATION);
else
actor->clearBodyFlag(NX_BF_VISUALIZATION);
}
int shapeAmount = actor->getNbShapes();
NxShape *const*shapes = actor->getShapes();
while(shapeAmount--)
{
NxShape *shape = shapes[shapeAmount];
if(actor->isDynamic())
{
//if(visualizeCollisionShapes && inRange)
if(visualizeCollisionShapes)
shape->setFlag(NX_SF_VISUALIZATION, true);
else
shape->setFlag(NX_SF_VISUALIZATION, false);
}
else
{
if(visualizeStatic && !shape->isHeightField() && inRange)
shape->setFlag(NX_SF_VISUALIZATION, true);
else
shape->setFlag(NX_SF_VISUALIZATION, false);
}
}
}
}
//-----------------------------------------------------------------------
PhysicsActor* PhysXActorExtern::createPhysicsActor(PhysicsActorDesc* physicsActorDesc, PhysicsShapeDesc* physicsShapeDesc)
{
if (!PhysXBridge::getSingletonPtr()->getScene() || !physicsActorDesc || !physicsShapeDesc)
return 0;
NxBodyDesc bodyDesc;
bodyDesc.setToDefault();
NxReal angularDamping = bodyDesc.angularDamping;
NxVec3 angularVelocity = bodyDesc.angularVelocity;
NxVec3 linearVelocity = bodyDesc.linearVelocity;
bodyDesc.angularDamping = physicsShapeDesc->mAngularDamping;
bodyDesc.angularVelocity = PhysXMath::convert(physicsShapeDesc->mAngularVelocity);
bodyDesc.linearVelocity = PhysXMath::convert(physicsActorDesc->direction);
NxActorDesc actorDesc;
NxActorDesc defaultActorDesc;
actorDesc.setToDefault();
defaultActorDesc.setToDefault();
switch (physicsShapeDesc->mPhysicsShapeType)
{
case ST_BOX:
{
PhysicsBoxDesc* physicsBoxDesc = static_cast<PhysicsBoxDesc*>(physicsShapeDesc);
NxBoxShapeDesc boxDesc;
boxDesc.setToDefault();
boxDesc.dimensions = PhysXMath::convert(physicsBoxDesc->mDimensions);
boxDesc.group = physicsBoxDesc->mCollisionGroup;
boxDesc.groupsMask = PhysXMath::convert(physicsBoxDesc->mGroupMask);
boxDesc.materialIndex = physicsBoxDesc->mMaterialIndex;
actorDesc.density = NxComputeBoxDensity(2 * boxDesc.dimensions, physicsActorDesc->mass);
actorDesc.shapes.pushBack(&boxDesc);
}
break;
case ST_SPHERE:
{
PhysicsSphereDesc* physicsSphereDesc = static_cast<PhysicsSphereDesc*>(physicsShapeDesc);
NxSphereShapeDesc sphereDec;
sphereDec.setToDefault();
sphereDec.radius = physicsSphereDesc->mRadius;
sphereDec.group = physicsSphereDesc->mCollisionGroup;
sphereDec.groupsMask = PhysXMath::convert(physicsSphereDesc->mGroupMask);
sphereDec.materialIndex = physicsSphereDesc->mMaterialIndex;
actorDesc.density = NxComputeSphereDensity(sphereDec.radius, physicsActorDesc->mass);
actorDesc.shapes.pushBack(&sphereDec);
}
break;
case ST_CAPSULE:
{
PhysicsCapsuleDesc* physicsCapsuleDesc = static_cast<PhysicsCapsuleDesc*>(physicsShapeDesc);
NxCapsuleShapeDesc capsuleDec;
capsuleDec.setToDefault();
capsuleDec.radius = physicsCapsuleDesc->mRadius;
capsuleDec.height = physicsCapsuleDesc->mHeight;
capsuleDec.group = physicsCapsuleDesc->mCollisionGroup;
capsuleDec.groupsMask = PhysXMath::convert(physicsCapsuleDesc->mGroupMask);
capsuleDec.materialIndex = physicsCapsuleDesc->mMaterialIndex;
actorDesc.density = NxComputeCylinderDensity(capsuleDec.radius, capsuleDec.height, physicsActorDesc->mass);
actorDesc.shapes.pushBack(&capsuleDec);
}
break;
}
actorDesc.globalPose.t = PhysXMath::convert(physicsActorDesc->position);
actorDesc.body = &bodyDesc;
actorDesc.group = physicsActorDesc->collisionGroup;
PhysXActor* physXActor = 0;
if (!actorDesc.isValid())
{
actorDesc = defaultActorDesc;
Ogre::LogManager::getSingleton().logMessage("ParticleUniverse PhysXActor: Cannot create actor; use default attributes.");
}
NxActor* nxActor = PhysXBridge::getSingletonPtr()->getScene()->createActor(actorDesc);
if (nxActor)
{
physXActor = OGRE_NEW_T(PhysXActor, Ogre::MEMCATEGORY_SCENE_OBJECTS)();
physXActor->position = PhysXMath::convert(nxActor->getGlobalPosition());
physXActor->direction = PhysXMath::convert(nxActor->getLinearVelocity());
nxActor->setGlobalOrientationQuat(PhysXMath::convert(physicsActorDesc->orientation));
physXActor->orientation = physicsActorDesc->orientation;
physXActor->mass = nxActor->getMass();
physXActor->collisionGroup = nxActor->getGroup();
physXActor->nxActor = nxActor;
}
return physXActor;
}
void NxRobot::cloneRobot(int indexNewScene, int indexNewRobot, NxVec3 newPosition, int indexNewTeam)
{
NxRobot* nxRobotSource = Simulation::gScenes[this->indexScene]->allRobots->getRobotByIdByTeam(this->id, this->idTeam);
NxActor* robotActor = Simulation::cloneActor(nxRobotSource->getActor(),indexNewScene);
//NxBounds3 bodyBounds;
//robotShapes[0]->getWorldBounds(bodyBounds);
NxVehicleDesc vehicleDesc;
vehicleDesc.position = NxVec3(robotActor->getGlobalPosition());
vehicleDesc.mass = robotActor->getMass();
//vehicleDesc.motorForce = 70000;
//vehicleDesc.maxVelocity = 300.f;
//vehicleDesc.cameraDistance = 8.0f;
vehicleDesc.centerOfMass.set(robotActor->getCMassLocalPosition());
//vehicleDesc.differentialRatio = 3.42f;
//vehicleDesc.transmissionEfficiency
vehicleDesc.actor = robotActor;
//Motor descricao
//NxVehicleMotorDesc motorsDesc[4];
//for(NxU32 i=0;i<4;i++)
//{
//motorsDesc[i].setToCorvette();
//vehicleDesc.motorsDesc.push_back(&motorsDesc[i]);
//}
//Roda (Wheel) descricao
int numberWheels = nxRobotSource->getNbWheels();
NxWheelDesc* wheelDesc = new NxWheelDesc[numberWheels];
for(NxU32 i=0; i<numberWheels; i++)
{
//NxActor* wheelModel = Simulation::getActorWheel(indexSourceScene,indexNewRobot,i);
//NxActorDesc wheelActorDesc;
//wheelModel->saveToDesc(wheelActorDesc);
//Simulation::gScenes[0]->releaseActor(*wheelModel);
//NxShape*const* wheelShapes = actorWheel->getShapes();
//NxBounds3 wheelBounds;
//wheelShapes[0]->getWorldBounds(wheelBounds);
const NxWheel* wheel = nxRobotSource->getWheel(i);
NxWheelShape* wheelShape = ((NxWheel2*)wheel)->getWheelShape();
//wheelDesc[i].wheelApproximation = 10;
wheelDesc[i].wheelOrientation = wheelShape->getGlobalOrientation();
wheelDesc[i].position.set(wheelShape->getGlobalPosition()-robotActor->getGlobalPosition());
//wheelDesc[i].position.z = 0;
wheelDesc[i].id = i;
wheelDesc[i].wheelFlags = ((NxWheel*)wheel)->getWheelFlags();
wheelDesc[i].wheelRadius = wheel->getRadius();
//wheelDesc[i].wheelWidth = 100;
wheelDesc[i].wheelSuspension = wheelShape->getSuspensionTravel();
wheelDesc[i].springRestitution = 0;
wheelDesc[i].springDamping = 0;
wheelDesc[i].springBias = 0.0f;
wheelDesc[i].maxBrakeForce = 100;
wheelDesc[i].frictionToFront = 0.1f;//0.1f;
wheelDesc[i].frictionToSide = 0;//0.02f;//
wheelDesc[i].inverseWheelMass = wheelShape->getInverseWheelMass(); //TODO: CONFIGURAR PARÂMETRO
//Angulo das Rodas (Omni)
wheelDesc[i].angWheelRelRobot = ((NxWheel2*)wheel)->angWheelRelRobot;
vehicleDesc.robotWheels.pushBack(&wheelDesc[i]);
}
//Criar robot, vehicle base
NxRobot* robot = (NxRobot*)NxRobot::createVehicle(Simulation::gScenes[indexNewScene], &vehicleDesc);
//NxRobot* robot = (NxRobot*)NxRobot::createVehicle(gScenes[indexSourceScene], &vehicleDesc);
robot->setId(indexNewRobot);
robot->setIdTeam(indexNewTeam);
robot->indexScene = indexNewScene;
robot->bodyRadius = nxRobotSource->bodyRadius;
//Dribbler and Kicker
NxShape*const* robotShapes = robotActor->getShapes();
for(int i=0; i<robotActor->getNbShapes(); i++) {
const char* shapeName = robotShapes[i]->getName();
if(shapeName) {
char* dribblerName = new char[10];//"Driblador\0"
dribblerName[9] = 0;
memcpy(dribblerName, shapeName, strlen(dribblerName));
if(strcmp(dribblerName, "Driblador") == 0) {
robot->dribbler->dribblerShapes.push_back(robotShapes[i]);
}
delete dribblerName;
}
}
robot->kicker->kickerShapeDesc = new NxBoxShapeDesc();
NxShapeDesc* shapeDesc = nxRobotSource->kicker->kickerShapeDesc;
robot->kicker->kickerShapeDesc->localPose = shapeDesc->localPose;
((NxBoxShapeDesc*)(robot->kicker->kickerShapeDesc))->dimensions = ((NxBoxShapeDesc*)shapeDesc)->dimensions;
//Initial Pose
robot->setInitialPose(robotActor->getGlobalPose());
robotActor->putToSleep();
//Transladando o robo
robot->getActor()->setGlobalPosition(newPosition);
string label;
string plabel = "Robo";
stringstream out;
out << indexNewRobot;
out << "-";
out << indexNewTeam;
//out << "-";
//out << indexNewScene;
label.append(plabel);
label.append(out.str());
char* arrayLabel = new char[label.size()+1];
arrayLabel[label.size()]=0;
memcpy(arrayLabel, label.c_str(), label.size());
robotActor->setName(arrayLabel);
//delete arrayLabel;
}
void Simulation::buildModelRobot(int indexRobot, int indexScene, int indexTeam)
{
//Veiculo descricao
//Body Descricao
NxActor* robotActor = Simulation::getActorRobot(indexScene, indexRobot);
//NxBounds3 bodyBounds;
//robotShapes[0]->getWorldBounds(bodyBounds);
NxVehicleDesc vehicleDesc;
vehicleDesc.position = NxVec3(robotActor->getGlobalPosition());
float mass = 5.;
vehicleDesc.mass = mass;//robotActor->getMass(); //PLUGIN TAH COM PROBLEMA XML ERRADO
//vehicleDesc.motorForce = 70000;
//vehicleDesc.maxVelocity = 300.f;
//vehicleDesc.cameraDistance = 8.0f;
vehicleDesc.centerOfMass.set(NxVec3(0,0,0));//robotActor->getCMassLocalPosition());
//vehicleDesc.differentialRatio = 3.42f;
//vehicleDesc.transmissionEfficiency
vehicleDesc.actor = robotActor;
vehicleDesc.actor->setMaxAngularVelocity(6.2);
vehicleDesc.actor->setMass(mass);
//TODO: LEVANTAR DAMPING
float t = vehicleDesc.actor->getLinearDamping();
float b = vehicleDesc.actor->getAngularDamping();
//vehicleDesc.actor->setAngularDamping(0.5);
//vehicleDesc.actor->setLinearDamping(0.5);
//TODO: LEVANTAR CMASS E INERTIA TENSOR
//vehicleDesc.actor->setCMassOffsetGlobalPosition(NxVec3(0, 0, 0));
NxMat33 inertiaTensor = NxMat33(NxVec3(1294.4362, 3.14502, -66.954), NxVec3(3.14502, 1094.42351, -0.24279), NxVec3(-66.954, -0.24279, 1754.80511));
vehicleDesc.actor->setCMassOffsetLocalPose( NxMat34( inertiaTensor, NxVec3(0,0,0) ) );
//TODO: Diagonalizar inertiaTensor e passar para setMassSpaceInertiaTensor
vehicleDesc.actor->setMassSpaceInertiaTensor(/*vehicleDesc.actor->getMassSpaceInertiaTensor()*1000.*/NxVec3(1764.3, 1284.9, 1094.4) );
//Motor descricao
//NxVehicleMotorDesc motorsDesc[4];
//for(NxU32 i=0;i<4;i++)
//{
//motorsDesc[i].setToCorvette();
//vehicleDesc.motorsDesc.push_back(&motorsDesc[i]);
//}
//Roda (Wheel) descricao
int numberWheels = Simulation::getNumberWheels(indexScene, indexRobot);
NxWheelDesc* wheelDesc = new NxWheelDesc[numberWheels];
for(NxU32 i=0; i<numberWheels; i++)
{
//NxActor* wheelModel = Simulation::getActorWheel(indexScene,indexRobot,i);
//NxActorDesc wheelActorDesc;
//wheelModel->saveToDesc(wheelActorDesc);
//Simulation::gScenes[0]->releaseActor(*wheelModel);
NxActor* actorWheel = Simulation::getActorWheel(indexScene,indexRobot,i);//wheelModel;//Simulation::gScenes[0]->createActor(wheelActorDesc);
//NxShape*const* wheelShapes = actorWheel->getShapes();
//NxBounds3 wheelBounds;
//wheelShapes[0]->getWorldBounds(wheelBounds);
//Para exportar modelo da roda do 3ds Max
// NxWhee
//wheelDesc[i]
//robot1Shapes[0]->isConvexMesh()->getConvexMesh().saveToDesc(convexMesh);
//NxWheelShape* wheelShape = (NxWheelShape*)wheel;
//NxTriangleMeshDesc meshDesc = *((NxTriangleMeshDesc*)(mesh->userData));
//robot1Shapes[0]->isWheel()->
//wheelDesc[i].wheelApproximation = 10;
wheelDesc[i].wheelOrientation = actorWheel->getGlobalOrientation();
wheelDesc[i].position.set(actorWheel->getGlobalPosition()-robotActor->getGlobalPosition());
//wheelDesc[i].position.z = 0;
wheelDesc[i].id = i;
wheelDesc[i].wheelRadius = 27.6;
//wheelDesc[i].wheelWidth = 100;
wheelDesc[i].wheelSuspension = 0;
wheelDesc[i].springRestitution = 0;
wheelDesc[i].springDamping = 0;
wheelDesc[i].springBias = 0.0f;
wheelDesc[i].maxBrakeForce = 100;
wheelDesc[i].frictionToFront = 0.1f;//0.1f; //TODO: CONFIGURAR PARÂMETRO
wheelDesc[i].frictionToSide = 0;//0.02f; //TODO: CONFIGURAR PARÂMETRO
wheelDesc[i].inverseWheelMass = 0.1; //TODO: CONFIGURAR PARÂMETRO
//Angulo das Rodas (Omni)
NxVec3 wheelPosRel = actorWheel->getGlobalPosition() - robotActor->getGlobalPosition();
wheelDesc[i].angWheelRelRobot = NxMath::atan2( wheelPosRel.y, wheelPosRel.x );
vehicleDesc.robotWheels.pushBack(&wheelDesc[i]);
Simulation::gScenes[indexScene]->scene->releaseActor(*actorWheel);
//NxU32 flags = NX_WF_BUILD_LOWER_HALF;
wheelDesc[i].wheelFlags = NX_WF_ACCELERATED | NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF;// |/*NX_WF_STEERABLE_INPUT |*/ flags;
}
//NxBall* teste = Simulation::gScenes[indexScene]->ball;
//Criar robot, vehicle base
NxRobot* robot = (NxRobot*)NxRobot::createVehicle(Simulation::gScenes[indexScene], &vehicleDesc);
if(robot) {
robot->setId(indexRobot);
robot->setIdTeam(indexTeam);
robot->indexScene = indexScene;
//Dribbler and Kicker
for(int i=0; i<robotActor->getNbShapes(); i++) {
NxShape*const* robotShapes = robotActor->getShapes();
const char* shapeName = robotShapes[i]->getName();
if(shapeName) {
char* dribblerName = new char[10];//"Driblador\0"
dribblerName[9] = 0;
memcpy(dribblerName, shapeName, strlen(dribblerName));
char* kickerName = new char[9];//"Chutador\0"
kickerName[8] = 0;
memcpy(kickerName, shapeName, strlen(kickerName));
if(strcmp(dribblerName, "Driblador") == 0) {
robot->dribbler->dribblerShapes.push_back(robotShapes[i]);
}
else if(strcmp(kickerName, "Chutador") == 0) {
robot->kicker->kickerShapeDesc = Simulation::copyShapeDesc(robotShapes[i]);
robotActor->releaseShape(*(robotShapes[i]));
}
delete dribblerName;
delete kickerName;
}
}
//Initial Pose
robot->setInitialPose(robotActor->getGlobalPose());
robotActor->putToSleep();
//Mudar pose do robo
//NxQuat q;
//q.
//q.fromAngleAxis(180.0f, NxVec3(0.0f, 1.0f, 0.0f));
//robot->getActor()->setGlobalPose(pose);
//Release no actor importado do 3ds Max
//gScenes[0]->releaseActor(*robotActor);
string label;
string plabel = "Robo";
stringstream out;
out << indexRobot;
out << "-";
out << indexTeam;
//out << "-";
//out << indexScene;
label.append(plabel);
label.append(out.str());
char* arrayLabel = new char[label.size()+1];
arrayLabel[label.size()]=0;
memcpy(arrayLabel, label.c_str(), label.size());
robotActor->setName(arrayLabel);
//delete arrayLabel;
}
}
void render()
{
static Timer t;
if(!gMyPhysX.isPaused())
{
for (NxU32 i = 0; i < gKinematicActors.size(); i++)
{
NxActor* actor = gKinematicActors[i].actor;
NxVec3 pos = actor->getGlobalPosition();
pos += gKinematicActors[i].vel * 1.f/60.f;
actor->moveGlobalPosition(pos);
}
}
gMyPhysX.simulate(t.elapsed_time());
t.reset();
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glColor4f(0.5,0.9,0.5,1.0);
DrawSkyBox(SKYEXTENTS);
drawPlane(SKYEXTENTS);
// Keep physics & graphics in sync
for (NxU32 pass = 0; pass < 2; pass++) {
int nbActors = gMyPhysX.getScene()->getNbActors();
NxActor** actors = gMyPhysX.getScene()->getActors();
actors += nbActors;
while(nbActors--)
{
NxActor* actor = *--actors;
float size;
bool isTrigger = false;
bool isKinematic = actor->isDynamic() && actor->readBodyFlag(NX_BF_KINEMATIC);
NxVec3 color;
NxF32 alpha = 1;
if (actor->isDynamic()) {
if (actor->readBodyFlag(NX_BF_KINEMATIC)) {
color.set(1,0,0);
} else {
color.set(0,1,0);
}
} else {
color.set(0.2f,0.2f,0.2f);
}
if (*(int *)(&actor->userData) < 0)
{
NxI32 triggerNumber = -(*(NxI32 *)(&actor->userData));
NxI32 triggerIndex = triggerNumber - 1;
// This is our trigger
isTrigger = true;
size = 10.0f;
color.z = gNbTouchedBodies[triggerIndex] > 0.5f ? 1.0f:0.0f;
alpha = 0.5f;
if (pass == 0)
continue;
}
else
{
// This is a normal object
size = float(*(int *)(&actor->userData));
if (pass == 1)
continue;
}
float glmat[16];
glPushMatrix();
actor->getGlobalPose().getColumnMajor44(glmat);
glMultMatrixf(glmat);
glColor4f(color.x, color.y, color.z, 1.0f);
glutSolidCube(size*2.0f);
glPopMatrix();
// Handle shadows
if( !isTrigger)
{
glPushMatrix();
const static float ShadowMat[]={ 1,0,0,0, 0,0,0,0, 0,0,1,0, 0,0,0,1 };
glMultMatrixf(ShadowMat);
glMultMatrixf(glmat);
glDisable(GL_LIGHTING);
glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
glutSolidCube(size*2.0f);
glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
glEnable(GL_LIGHTING);
glPopMatrix();
}
}
}
}
