Method render

testbed/common/VisualContactPoint.cpp:94–151

Render the sphere at the correct position and with the correct orientation

// Render the sphere at the correct position and with the correct orientation
void VisualContactPoint::render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) {

    // Bind the VAO
    mVAO.bind();

    // Bind the shader
    shader.bind();

	// Set the vertex color
	openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
    shader.setIntUniform("isGlobalVertexColorEnabled", 1, false);
    shader.setVector4Uniform("globalVertexColor", color, false);

    mVBOVertices.bind();

    // Set the model to camera matrix
    shader.setMatrix4x4Uniform("localToWorldMatrix", mTransformMatrix);
    shader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix);

    // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
    // model-view matrix)
    const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
    const openglframework::Matrix3 normalMatrix =
                       localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
    shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);

    // Get the location of shader attribute variables
    GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition");
    GLint vertexNormalLoc = shader.getAttribLocation("vertexNormal", false);

    glEnableVertexAttribArray(vertexPositionLoc);
    glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);

    mVBONormals.bind();

    if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
    if (vertexNormalLoc != -1) glEnableVertexAttribArray(vertexNormalLoc);

    // For each part of the mesh
    for (unsigned int i=0; i<mMesh.getNbParts(); i++) {
        glDrawElements(GL_TRIANGLES, mMesh.getNbFaces(i) * 3, GL_UNSIGNED_INT, (char*)NULL);
    }

    glDisableVertexAttribArray(vertexPositionLoc);
    if (vertexNormalLoc != -1) glDisableVertexAttribArray(vertexNormalLoc);

    mVBONormals.unbind();
    mVBOVertices.unbind();

    // Unbind the VAO
    mVAO.unbind();

    // Unbind the shader
    shader.unbind();

	// Render the contact normal line
	renderContactNormalLine(shader, worldToCameraMatrix);
}