void MyODEGeom::notifyBodyMoved() {
//dcollide::debug() << dc_funcinfo;
if (mMoveNodeOnBodyMoved) {
//get the new state from ODE
const dReal* odeposition = dBodyGetPosition(mBody);
const dReal* oderotation = dBodyGetRotation(mBody); //4x3 rotation matrix
dcollide::Matrix dcMatrix;
//copy the 4x3 rotation matrix, fill the last row with 0 0 0 1
//NOTE: ODE uses row-major ordering, but ODE uses colum-major ordering
// simple Matrix-copying will not do the trick!
//ODE rotation matrix format
// 0 1 2 3
// 4 5 6 7
// 8 9 10 11
dcMatrix.setElement(0, 0, oderotation[0]);
dcMatrix.setElement(0, 1, oderotation[1]);
dcMatrix.setElement(0, 2, oderotation[2]);
dcMatrix.setElement(1, 0, oderotation[4]);
dcMatrix.setElement(1, 1, oderotation[5]);
dcMatrix.setElement(1, 2, oderotation[6]);
dcMatrix.setElement(2, 0, oderotation[8]);
dcMatrix.setElement(2, 1, oderotation[9]);
dcMatrix.setElement(2, 2, oderotation[10]);
dcollide::Vector3 bodyPosition(odeposition[0], odeposition[1], odeposition[2]);
//The position consists of
// bodyposition = nodeposition + rotation * offset
//<=> nodeposition = bodyposition - rotation * offset
dcollide::Vector3 tmp;
dcMatrix.transform(&tmp, mGravityOffset);
dcollide::Vector3 nodePosition = bodyPosition - tmp;
setPosition(nodePosition[0], nodePosition[1], nodePosition[2]);
//Rotation matrix does not change
setRotation(dcMatrix);
// dcollide:: debug() << "dGeommoved: new body position: " <<bodyPosition<<", node position:"<<nodePosition;
}
}
Scene::Scene(int viewSizeX, int viewSizeY) :
m_root(new Node(0)),
m_camera(vEyePos, vFocus, vUp, Point(viewSizeX, viewSizeY), fov, zNear, zFar),
m_light(lightDirection),
m_renderer(&m_camera, &m_light),
m_viewSize(viewSizeX, viewSizeY),
m_cameraFolows(true),
m_fpsStart(0),
m_numFrames(0),
m_frameTime(0.0f),
fpsString()
{
// Here we build our scene, adding nodes to the scene graph:
//
// ---> terrainMeshNode
// |
// root ---| ---> rwingTransformNode -> rwingAnimationNode -> rwingMeshNode
// | |
// ---> bodyTransformNode -> bodyMeshNode --|
// |
// ---> lwingTransformNode -> lwingAnimationNode -> lwingMeshNode
// std::vectors for raw geometry data (they will be reused)
std::vector<Vertex> vertices;
std::vector<unsigned int> indices;
// Terrain : only mesh node
CreateGrid(terrainSize, terrainResolution, vertices, indices);
Mesh* terrainMesh = m_renderer.CreateMesh(vertices, indices, false);
MeshNode* terrainMeshNode = new MeshNode(terrainMesh, &m_renderer);
m_root->AddChild(terrainMeshNode);
// Body : transform node -> mesh node
TransformNode* bodyTransformNode = new TransformNode(&m_renderer);
Vector3 bodyPosition(0.0f, 10.0f, 0.0f);
bodyTransformNode->MoveTo(bodyPosition);
bodyTransformNode->SetDirection(Vector3(1.0f, 0.0f, 0.0f));
bodyTransformNode->RotateBy(-math::PiDiv6, Vector3(0.0f, 1.0f, 0.0f));
m_root->AddChild(bodyTransformNode);
vertices.clear();
indices.clear();
LoadMesh("../../meshes/teapot.obj", vertices, indices, Color(1.0f, 0.0f, 0.0f, 1.0f));
Mesh* bodyMesh = m_renderer.CreateMesh(vertices, indices);
MeshNode* bodyMeshNode = new MeshNode(bodyMesh, &m_renderer);
bodyTransformNode->AddChild(bodyMeshNode);
m_bird = new PlayerCharacter(bodyTransformNode, &m_keyboard);
// Right wing : transform node -> animation node -> mesh node
TransformNode* rwingTransformNode = new TransformNode(&m_renderer);
Vector3 rwingPosition(0.0f, 0.0f, 0.0f);
rwingTransformNode->MoveTo(rwingPosition);
bodyMeshNode->AddChild(rwingTransformNode);
AnimationNode* rwingAnimationNode = new WingAnimationNode(&m_renderer);
rwingTransformNode->AddChild(rwingAnimationNode);
vertices.clear();
indices.clear();
LoadMesh("../../meshes/wing.obj", vertices, indices, Color(1.0f, 1.0f, 0.0f, 1.0f));
Mesh* rwingMesh = m_renderer.CreateMesh(vertices, indices);
MeshNode* rwingMeshNode = new MeshNode(rwingMesh, &m_renderer);
rwingAnimationNode->AddChild(rwingMeshNode);
// Left wing : transform node -> animation node -> mesh node
TransformNode* lwingTransformNode = new TransformNode(&m_renderer);
Vector3 lwingPosition(0.0f, 0.0f, 0.0f);
lwingTransformNode->MoveTo(lwingPosition);
lwingTransformNode->RotateBy(math::Pi, Vector3(0.0f, 1.0f, 0.0f));
bodyMeshNode->AddChild(lwingTransformNode);
AnimationNode* lwingAnimationNode = new WingAnimationNode(&m_renderer, true);
lwingTransformNode->AddChild(lwingAnimationNode);
vertices.clear();
indices.clear();
LoadMesh("../../meshes/wing.obj", vertices, indices, Color(1.0f, 1.0f, 0.0f, 1.0f));
Mesh* lwingMesh = m_renderer.CreateMesh(vertices, indices);
MeshNode* lwingMeshNode = new MeshNode(lwingMesh, &m_renderer);
lwingAnimationNode->AddChild(lwingMeshNode);
m_fpsStart = glutGet(GLUT_ELAPSED_TIME);
fpsString.resize(256);
}