Method createVBOAndVAO

testbed/common/VisualContactPoint.cpp:200–238

Create the Vertex Buffer Objects used to render the contact point sphere with OpenGL. We create two VBOs (one for vertices and one for indices)

// Create the Vertex Buffer Objects used to render the contact point sphere with OpenGL.
/// We create two VBOs (one for vertices and one for indices)
void VisualContactPoint::createVBOAndVAO() {

    // Create the VBO for the vertices data
    mVBOVertices.create();
    mVBOVertices.bind();
    size_t sizeVertices = mMesh.getVertices().size() * sizeof(openglframework::Vector3);
    mVBOVertices.copyDataIntoVBO(sizeVertices, mMesh.getVerticesPointer(), GL_STATIC_DRAW);
    mVBOVertices.unbind();

    // Create the VBO for the normals data
    mVBONormals.create();
    mVBONormals.bind();
    size_t sizeNormals = mMesh.getNormals().size() * sizeof(openglframework::Vector3);
    mVBONormals.copyDataIntoVBO(sizeNormals, mMesh.getNormalsPointer(), GL_STATIC_DRAW);
    mVBONormals.unbind();

    // Create th VBO for the indices data
    mVBOIndices.create();
    mVBOIndices.bind();
    size_t sizeIndices = mMesh.getIndices(0).size() * sizeof(unsigned int);
    mVBOIndices.copyDataIntoVBO(sizeIndices, mMesh.getIndicesPointer(), GL_STATIC_DRAW);
    mVBOIndices.unbind();

    // Create the VAO for both VBOs
    mVAO.create();
    mVAO.bind();

    // Bind the VBO of vertices
    mVBOVertices.bind();

    // Bind the VBO of normals
    mVBONormals.bind();

    // Bind the VBO of indices
    mVBOIndices.bind();

    // Unbind the VAO
    mVAO.unbind();
}

// Create the Vertex Buffer Objects used to render the contact normal line
void VisualContactPoint::createContactNormalLineVBOAndVAO() {