/////////////////////////////////////////////////////////
// Rotate a frame around it's local Y axis
void gltRotateFrameLocalY(GLTFrame *pFrame, GLfloat fAngle)
{
GLTMatrix mRotation;
GLTVector3 vNewForward;
gltRotationMatrix((float)gltDegToRad(fAngle), 0.0f, 1.0f, 0.0f, mRotation);
gltRotationMatrix(fAngle, pFrame->vUp[0], pFrame->vUp[1], pFrame->vUp[2], mRotation);
gltRotateVector(pFrame->vForward, mRotation, vNewForward);
memcpy(pFrame->vForward, vNewForward, sizeof(GLTVector3));
}
//////////////////////////////////////////////////////////
// Rotate a frame around it's local X axis
void gltRotateFrameLocalX(GLTFrame *pFrame, GLfloat fAngle)
{
GLTMatrix mRotation;
GLTVector3 vNewForward;
// gltRotationMatrix((float)gltDegToRad(fAngle), 1.0f, 0.0f, 0.0f, mRotation);
gltRotationMatrix(fAngle, 1, 0, 0, mRotation);
gltRotateVector(pFrame->vForward, mRotation, vNewForward);
memcpy(pFrame->vForward, vNewForward, sizeof(GLTVector3));
/* GLTMatrix mRotation;
GLTVector3 vCross;
GLTVector3 vNewVect;
gltVectorCrossProduct(pFrame->vUp, pFrame->vForward, vCross);
gltRotationMatrix(fAngle, vCross[0], vCross[1], vCross[2], mRotation);
// Inline 3x3 matrix multiply for rotation only
vNewVect[0] = mRotation[0] * pFrame->vForward[0] + mRotation[4] * pFrame->vForward[1] + mRotation[8] * pFrame->vForward[2];
vNewVect[1] = mRotation[1] * pFrame->vForward[0] + mRotation[5] * pFrame->vForward[1] + mRotation[9] * pFrame->vForward[2];
vNewVect[2] = mRotation[2] * pFrame->vForward[0] + mRotation[6] * pFrame->vForward[1] + mRotation[10] * pFrame->vForward[2];
memcpy(pFrame->vForward, vNewVect, sizeof(GLfloat)*3);
// Update pointing up vector
/*vNewVect[0] = mRotation[0] * pFrame->vUp[0] + mRotation[4] * pFrame->vUp[1] + mRotation[8] * pFrame->vUp[2];
vNewVect[1] = mRotation[1] * pFrame->vUp[0] + mRotation[5] * pFrame->vUp[1] + mRotation[9] * pFrame->vUp[2];
vNewVect[2] = mRotation[2] * pFrame->vUp[0] + mRotation[6] * pFrame->vUp[1] + mRotation[10] * pFrame->vUp[2];
memcpy(pFrame->vUp, vNewVect, sizeof(GLfloat) * 3);*/
}
/////////////////////////////////////////////////////////////
// Rotate a frame around it's local Z axis
void gltRotateFrameLocalZ(GLTFrame *pFrame, GLfloat fAngle)
{
GLTMatrix mRotation;
// Only the up vector needs to be rotated
gltRotationMatrix(fAngle, pFrame->vForward[0], pFrame->vForward[1], pFrame->vForward[2], mRotation);
GLTVector3 vNewVect;
vNewVect[0] = mRotation[0] * pFrame->vUp[0] + mRotation[4] * pFrame->vUp[1] + mRotation[8] * pFrame->vUp[2];
vNewVect[1] = mRotation[1] * pFrame->vUp[0] + mRotation[5] * pFrame->vUp[1] + mRotation[9] * pFrame->vUp[2];
vNewVect[2] = mRotation[2] * pFrame->vUp[0] + mRotation[6] * pFrame->vUp[1] + mRotation[10] * pFrame->vUp[2];
memcpy(pFrame->vUp, vNewVect, sizeof(GLfloat) * 3);
}
//////////////////////////////////////////////////////////
// Rotate a frame around it's local X axis
void gltRotateFrameLocalX(GLTFrame *pFrame, GLfloat fAngle)
{
GLTMatrix mRotation;
GLTVector3 vCross;
gltVectorCrossProduct(vCross, pFrame->vUp, pFrame->vForward);
gltRotationMatrix(fAngle, vCross[0], vCross[1], vCross[2], mRotation);
GLTVector3 vNewVect;
// Inline 3x3 matrix multiply for rotation only
vNewVect[0] = mRotation[0] * pFrame->vForward[0] + mRotation[4] * pFrame->vForward[1] + mRotation[8] * pFrame->vForward[2];
vNewVect[1] = mRotation[1] * pFrame->vForward[0] + mRotation[5] * pFrame->vForward[1] + mRotation[9] * pFrame->vForward[2];
vNewVect[2] = mRotation[2] * pFrame->vForward[0] + mRotation[6] * pFrame->vForward[1] + mRotation[10] * pFrame->vForward[2];
memcpy(pFrame->vForward, vNewVect, sizeof(GLfloat)*3);
// Update pointing up vector
vNewVect[0] = mRotation[0] * pFrame->vUp[0] + mRotation[4] * pFrame->vUp[1] + mRotation[8] * pFrame->vUp[2];
vNewVect[1] = mRotation[1] * pFrame->vUp[0] + mRotation[5] * pFrame->vUp[1] + mRotation[9] * pFrame->vUp[2];
vNewVect[2] = mRotation[2] * pFrame->vUp[0] + mRotation[6] * pFrame->vUp[1] + mRotation[10] * pFrame->vUp[2];
memcpy(pFrame->vUp, vNewVect, sizeof(GLfloat) * 3);
}
// Called to draw scene
void RenderScene(void)
{
// GLTMatrix transformationMatrix; // Storeage for rotation matrix
GLTMatrix rotationMatrix, translationMatrix, transformationMatrix;
static GLfloat yRot = 0.0f; // Rotation angle for animation
yRot += 0.5f;
// Clear the window with current clearing color
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Build a rotation matrix
gltRotationMatrix(gltDegToRad(yRot), 0.0f, 1.0f, 0.0f, transformationMatrix);
transformationMatrix[12] = 0.0f;
transformationMatrix[13] = 0.0f;
transformationMatrix[14] = -2.5f;
glLoadMatrixf(transformationMatrix);
gltDrawTorus(0.35f, 0.15f, 40, 20);
// Do the buffer Swap
glutSwapBuffers();
}
