void GraphicsCore::UpdateObjectValues(Object3D object)
{
vec3 up(0.0f, 1.0f, 0.0f);
mat4 Projection = glm::perspective(fov, float(windowWidth) / (float)windowHeight, 0.1f, 200.f);
mat4 Model = glm::translate(object.GetWorldPos());
mat4 viewMatrix = mCam.GetRotationMatrix() * glm::lookAt(mEye, mTarget, up);
mat4 ModelView = viewMatrix * Model;
mat4 MVP = Projection * ModelView;
mat3 normalMatrix = glm::transpose(glm::inverse(mat3(ModelView)));
uint shaderProgHandle = object.GetShaderID();
uint location = glGetUniformLocation(shaderProgHandle, "NormalMatrix"); //gets the UniformLocation from shader.vertex
if( location >= 0 ){ glUniformMatrix3fv(location, 1, GL_FALSE, &normalMatrix[0][0]); }
location = glGetUniformLocation(shaderProgHandle, "ProjectionMatrix"); //gets the UniformLocation from shader.vertex
if( location >= 0 ){ glUniformMatrix4fv(location, 1, GL_FALSE, &Projection[0][0]); }
location = glGetUniformLocation(shaderProgHandle, "ViewMatrix"); //gets the UniformLocation from shader.vertex
if( location >= 0 ){ glUniformMatrix4fv(location, 1, GL_FALSE, &viewMatrix[0][0]); }
location = glGetUniformLocation(shaderProgHandle, "ModelViewMatrix"); //gets the UniformLocation from shader.vertex
if( location >= 0 ){ glUniformMatrix4fv(location, 1, GL_FALSE, &ModelView[0][0]); }
location = glGetUniformLocation(shaderProgHandle, "MVP"); //gets the UniformLocation from shader.vertex
if( location >= 0 ){ glUniformMatrix4fv(location, 1, GL_FALSE, &MVP[0][0]); }
}
void Renderer::drawModel(Model m)
{
glEnable(GL_BLEND);
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
this->modelShader.use();
this->modelShader.setUniform("outAlpha",0.7f);
mat4 mvp=mat4(0.0f);
glActiveTexture(GL_TEXTURE0);
//set upp uniforms for rendering call
mvp=this->projMatrix*this->viewMatrix*m.getModelMatrix();
this->modelShader.setUniform("modelMatrix",m.getModelMatrix());
this->modelShader.setUniform("MVP",mvp);
mat3 normalMatrix=transpose(inverse(mat3(this->viewMatrix*m.getModelMatrix())));
this->modelShader.setUniform("normalMatrix",normalMatrix);
//get a pointer to a vector with meshes info for each mesh
for(unsigned int j=0;j<m.getMeshInfo()->size();j++)
{
glBindTexture(GL_TEXTURE_2D, m.getMeshInfo()->at(j).getTexh());
glBindVertexArray(m.getMeshInfo()->at(j).getVaoh());
glDrawArrays(GL_TRIANGLES,0,m.getMeshInfo()->at(j).getNrOfVerts());
}
glDisable(GL_BLEND);
}
mat3_t
mat3_inverse(mat3_t m) {
float m00 = m.col[0].x;
float m10 = m.col[0].y;
float m20 = m.col[0].z;
float m01 = m.col[1].x;
float m11 = m.col[1].y;
float m21 = m.col[1].z;
float m02 = m.col[2].x;
float m12 = m.col[2].y;
float m22 = m.col[2].z;
float inv_det = 1.0f / (m00 * m11 * m22 +
m01 * m12 * m20 +
m02 * m10 * m21 -
m00 * m12 * m21 -
m01 * m10 * m22 -
m02 * m11 * m20);
float r00 = (m11 * m22 - m12 * m21) * inv_det;
float r01 = (m02 * m21 - m01 * m22) * inv_det;
float r02 = (m01 * m12 - m02 * m11) * inv_det;
float r10 = (m12 * m20 - m10 * m22) * inv_det;
float r11 = (m00 * m22 - m02 * m20) * inv_det;
float r12 = (m02 * m10 - m00 * m12) * inv_det;
float r20 = (m10 * m21 - m11 * m20) * inv_det;
float r21 = (m01 * m20 - m00 * m21) * inv_det;
float r22 = (m00 * m11 - m01 * m10) * inv_det;
return mat3(r00, r10, r20, r01, r11, r21, r02, r12, r22);
}
vec3 intersectTriangle(vec3 a, vec3 b, vec3 c, vec3 ray) {
mat3 A, Ai;
vec3 solution;
vec3 betaCoeff = sub(a, b);
vec3 gammaCoeff = sub(a, c);
A.rows[0] = vec3(ray.x, betaCoeff.x, gammaCoeff.x);
A.rows[1] = vec3(ray.y, betaCoeff.y, gammaCoeff.y);
A.rows[2] = vec3(ray.z, betaCoeff.z, gammaCoeff.z);
float detA = determinant(A);
for(int i = 0; i < 3; i++) {
Ai = mat3(A);
Ai.elements[i] = a.x;
Ai.elements[i + 3] = a.y;
Ai.elements[i + 6] = a.z;
solution.xyz[i] = determinant(Ai) / detA;
}
float beta = solution.y;
float gamma = solution.z;
float alfa = beta + gamma;
if(alfa >= 0 && alfa <= 1 &&
beta >= 0 && beta <= 1 &&
gamma >= 0 && gamma <= 1)
return scale(ray, solution.x);
else
return vec3();
}
Light::Data SpotLight::getData( double time, const mat4 &transform ) const
{
// Populate the LightData structure.
Light::Data params = Light::getData( time, transform );
params.position = vec3( transform * vec4( mPosition, 1 ) );
params.direction = glm::normalize( mat3( transform ) * mDirection );
params.range = mRange;
params.attenuation = getAttenuation();
params.angle = getConeParams();
if( mFlags & ( Data::ShadowEnabled | Data::ModulationEnabled ) ) {
mat4 invTransform = glm::inverse( transform );
if( mFlags & Data::ShadowEnabled ) {
params.shadowMatrix = getShadowMatrix() * invTransform;
params.shadowIndex = mShadowIndex;
}
if( mFlags & Data::ModulationEnabled ) {
params.modulationMatrix = getModulationMatrix( time ) * invTransform;
params.modulationIndex = mModulationIndex;
}
}
return params;
}
int test_cvtColor_RGB2RGB()
{
cv::Mat mat = cv::imread("E:/GitCode/OpenCV_Test/test_images/lena.png", 1);
if (!mat.data) {
std::cout << "read image fail" << std::endl;
return -1;
}
int width = mat.cols;
int height = mat.rows;
// uchar
fbc::Mat3BGR mat1(height, width, mat.data);
fbc::Mat3BGR mat2(mat1);
fbc::Mat_<uchar, 4> mat3(height, width);
fbc::cvtColor(mat2, mat3, fbc::CV_BGR2BGRA);
cv::Mat mat1_(height, width, CV_8UC3, mat.data);
cv::Mat mat2_;
mat1_.copyTo(mat2_);
cv::Mat mat3_(height, width, CV_8UC4);
cv::cvtColor(mat2_, mat3_, CV_BGR2BGRA);
assert(mat3.step == mat3_.step);
for (int y = 0; y < mat3.rows; y++) {
const fbc::uchar* p = mat3.ptr(y);
const uchar* p_ = mat3_.ptr(y);
for (int x = 0; x < mat3.step; x++) {
assert(p[x] == p_[x]);
}
}
// float
cv::Mat matf;
mat.convertTo(matf, CV_32FC3);
fbc::Mat_<float, 3> mat4(height, width, matf.data);
fbc::Mat_<float, 3> mat5(mat4);
fbc::Mat_<float, 4> mat6(height, width);
fbc::cvtColor(mat5, mat6, fbc::CV_BGR2BGRA);
cv::Mat mat4_(height, width, CV_32FC3, matf.data);
cv::Mat mat5_;
mat4_.copyTo(mat5_);
cv::Mat mat6_(height, width, CV_32FC4);
cv::cvtColor(mat5_, mat6_, CV_BGR2BGRA);
assert(mat6.step == mat6_.step);
for (int y = 0; y < mat6.rows; y++) {
const fbc::uchar* p = mat6.ptr(y);
const uchar* p_ = mat6_.ptr(y);
for (int x = 0; x < mat6.step; x++) {
assert(p[x] == p_[x]);
}
}
return 0;
}
mat3 scaling2D(const vec2 &scaleVector)
{
return mat3(
vec3(scaleVector[VX], 0.0, 0.0),
vec3(0.0, scaleVector[VY], 0.0),
vec3(0.0, 0.0, 1.0));
}
void TrackballHandler::Trackball::mouseMove ( int i, int j )
{
vec3 cur = _ij2xyz(i,j);
vec3 axis = cross(last, cur);
R0 = mat3(rotate(mat4(),float(acos(dot(last,cur))),axis));
R0R = R0*R;
}
void
emitAndMult( vec3 v, vec3 n, vec2 t ) {
gs_out.normal = mat3(mat_model) * n;
gs_out.texCoords = t;
gl_Position = mat_projection * mat_view * mat_model * vec4( v, 1 );
EmitVertex();
}
wrl::atom::atom(app::node node, std::string _fill_name,
std::string _line_name) :
edit_geom(0),
body_id(0),
fill(0),
line(0),
fill_name(_fill_name),
line_name(_line_name),
line_scale(1, 1, 1)
{
// Load the named file and line units.
if (fill_name.empty() && node)
fill_name = node.find("file").get_s();
if (line_name.empty() &&
!fill_name.empty())
line_name = line_from_fill(fill_name);
if (!fill_name.empty())
fill = new ogl::unit(fill_name);
if (!line_name.empty())
line = new ogl::unit(line_name);
// Initialize the transform and body mappings.
if (node)
{
app::node n;
quat q;
vec3 p;
if ((n = node.find("rot_x"))) q[0] = n.get_f();
if ((n = node.find("rot_y"))) q[1] = n.get_f();
if ((n = node.find("rot_z"))) q[2] = n.get_f();
if ((n = node.find("rot_w"))) q[3] = n.get_f();
if ((n = node.find("pos_x"))) p[0] = n.get_f();
if ((n = node.find("pos_y"))) p[1] = n.get_f();
if ((n = node.find("pos_z"))) p[2] = n.get_f();
if ((n = node.find("body"))) body_id = n.get_i();
// Compute and apply the transform.
current_M = mat4(mat3(q));
current_M[0][3] = p[0];
current_M[1][3] = p[1];
current_M[2][3] = p[2];
default_M = current_M;
}
if (fill_name.empty() &&
line_name.empty() &&
node == 0)
throw std::runtime_error("Empty atom constructor");
}
// Given an actor and desired velocity, calculate a corresponding torque
vec3 Behavior::CalculateTorque(Actor &actor, const vec3& dvel)
{
// 1. Get current rotation matrix
mat3 currentRotation(actor.globalOrientation);
// 2. Construct desired rotation matrix
// (This corresponds to facing in the direction of our desired velocity)
// Note: Z points forwards; Y Points UP; and X points left
vec3 y(0,1,0), z(dvel);
z.Normalize();
vec3 x = y.Cross(z);
mat3 desiredRotatioon = mat3(x, y, z).Transpose();
// 3. Compute the change in rotation matrix that will
// rotate the actor towards our desired rotation
mat3 deltaMatrixRot = desiredRotatioon * currentRotation.Transpose();
// 4. Construct quaternion to get axis and angle from dr
Quaternion deltaQuadRot = deltaMatrixRot.ToQuaternion();
vec3 axis;
//Dont need rad angle?
float radAngle;
deltaQuadRot.ToAxisAngle(axis, radAngle);
// find torque
vec3 w = actor.angularVelocity;
mat3 I = actor.globalInertialTensor;
return w.Cross(I * w) + (I * ( g_fOriKp * (radAngle * axis) - g_fOriKv * w));
}
mat3 translation2D(const vec2 &v)
{
return mat3(
vec3(1.0, 0.0, v[VX]),
vec3(0.0, 1.0, v[VY]),
vec3(0.0, 0.0, 1.0));
}
mat3 identity2D()
{
return mat3(
vec3(1.0, 0.0, 0.0),
vec3(0.0, 1.0, 0.0),
vec3(0.0, 0.0, 1.0));
}
mat3 mat3::transpose() const
{
return mat3(
vec3(v[0][0], v[1][0], v[2][0]),
vec3(v[0][1], v[1][1], v[2][1]),
vec3(v[0][2], v[1][2], v[2][2]));
}
mat3 mat3::TransposeMatrix()
{
return mat3(
vec3(column0.x, column1.x, column2.x),
vec3(column0.y, column1.y, column2.y),
vec3(column0.z, column1.z, column2.z));
}
void CQuad::Update(float dt, const LightSource &lights)
{
#ifdef LIGHTING_WITHCPU
if( m_bViewUpdated || m_bTRSUpdated ) { // Model View 的相關矩陣內容有更動
m_mxMVFinal = m_mxView * m_mxTRS;
m_mxMV3X3Final = mat3(
m_mxMVFinal._m[0].x, m_mxMVFinal._m[1].x, m_mxMVFinal._m[2].x,
m_mxMVFinal._m[0].y, m_mxMVFinal._m[1].y, m_mxMVFinal._m[2].y,
m_mxMVFinal._m[0].z, m_mxMVFinal._m[1].z, m_mxMVFinal._m[2].z);
#ifdef GENERAL_CASE
m_mxITMV = InverseTransposeMatrix(m_mxMVFinal);
#endif
m_bViewUpdated = m_bTRSUpdated = false;
}
if (m_iMode == FLAT_SHADING) RenderWithFlatShading(lights);
else RenderWithGouraudShading(lights);
#else // Lighting With GPU
if (m_bViewUpdated || m_bTRSUpdated) {
m_mxMVFinal = m_mxView * m_mxTRS;
m_bViewUpdated = m_bTRSUpdated = false;
}
m_vLightInView = m_mxView * lights.position; // 將 Light 轉換到鏡頭座標再傳入
// 算出 AmbientProduct DiffuseProduct 與 SpecularProduct 的內容
m_AmbientProduct = m_Material.ka * m_Material.ambient * lights.ambient;
m_AmbientProduct.w = m_Material.ambient.w;
m_DiffuseProduct = m_Material.kd * m_Material.diffuse * lights.diffuse;
m_DiffuseProduct.w = m_Material.diffuse.w;
m_SpecularProduct = m_Material.ks * m_Material.specular * lights.specular;
m_SpecularProduct.w = m_Material.specular.w;
#endif
}
mat3 operator * (mat3& a, mat3& b) {
#define ROWCOL(i, j) \
a.v[i].n[0]*b.v[0][j] + a.v[i].n[1]*b.v[1][j] + a.v[i].n[2]*b.v[2][j]
return mat3(vec3(ROWCOL(0,0), ROWCOL(0,1), ROWCOL(0,2)),
vec3(ROWCOL(1,0), ROWCOL(1,1), ROWCOL(1,2)),
vec3(ROWCOL(2,0), ROWCOL(2,1), ROWCOL(2,2)));
#undef ROWCOL
}
mat3 ComponentPhysicsGeom::getOrientation() const
{
const dReal *r = dGeomGetRotation(geom);
return mat3(vec3((float)r[0], (float)r[1], (float)r[2]),
vec3((float)r[4], (float)r[5], (float)r[6]),
vec3((float)r[8], (float)r[9], (float)r[10]));
}
Light::Data DirectionalLight::getData( double time, const mat4 &transform ) const
{
// Populate the LightData structure.
Light::Data params = Light::getData( time, transform );
params.direction = glm::normalize( mat3( transform ) * mDirection );
return params;
}
// Helper rotation function. Please implement this.
mat3 Transform::rotate(const double degrees, const vec3& axis)
{
mat3 ret;
// YOUR CODE FOR HW2 HERE
// Please implement this. Likely the same as in HW 1.
vec3 axis_norm = glm::normalize(axis);
mat3 axisSkew = mat3(
0, axis_norm.z, -axis_norm.y, // first column
-axis_norm.z, 0, axis_norm.x, // second column
axis_norm.y, -axis_norm.x, 0 // third column
);
ret = (glm::cos(glm::radians(degrees)) * mat3(1.0f)) +
((1-glm::cos(glm::radians(degrees))) * glm::core::function::matrix::outerProduct(axis_norm, axis_norm)) +
(glm::sin(glm::radians(degrees)) * axisSkew);
return ret;
}
/* Given a angle in degrees for rotation returns a rotation matrix. */
mat3 mat3::rotation2D(float angle)
{
/* Convert to radians and create the rotation matrix */
return mat3(vec3((float)cos((PI*angle) / 180), (float)(-1 * sin((PI*angle) /
180)), 0),
vec3((float)sin((PI*angle) / 180), (float)cos((PI*angle) / 180), 0),
vec3(0, 0, 1));
}
// Helper rotation function. Please implement this.
mat3 Transform::rotate(const float degrees, const vec3& axis)
{
mat3 ret;
// YOUR CODE FOR HW2 HERE
// Please implement this. Likely the same as in HW 1.
float radius = pi * degrees / 180;
mat3 Identity3x3 = mat3(1, 0, 0, 0, 1, 0, 0, 0, 1);
mat3 part2 = mat3(axis.x*axis.x, axis.x*axis.y, axis.x*axis.z,
axis.x*axis.y, axis.y*axis.y, axis.y*axis.z,
axis.x*axis.z, axis.y*axis.z, axis.z*axis.z);
mat3 part3 = mat3(0, axis.z, -axis.y,
-axis.z, 0, axis.x,
axis.y, -axis.x, 0);
mat3 part1 = Identity3x3 * cos(radius);
ret = part1 + (1 - cos(radius)) * part2 + sin(radius) * part3;
return ret;
}
void Paint::SetMatrices()
{
mat4 mv = _view * _model;
_shader.SetUniform("ModelViewMatrix", mv);
_shader.SetUniform("NormalMatrix",
mat3(vec3(mv[0]), vec3(mv[1]), vec3(mv[2])));
_shader.SetUniform("MVP", _projection * mv);
}
void SceneRenderToTex::setMatrices()
{
mat4 mv = view * model;
prog.setUniform("ModelViewMatrix", mv);
prog.setUniform("NormalMatrix",
mat3( vec3(mv[0]), vec3(mv[1]), vec3(mv[2]) ));
prog.setUniform("MVP", projection * mv);
}
mat3
operator-(const mat3& a)
{
return mat3(
-a(0,0), -a(0,1), -a(0,2),
-a(1,0), -a(1,1), -a(1,2),
-a(2,0), -a(2,1), -a(2,2)
);
}
void CameraMove(Camera &camera, float x, float y, float z)
{
// сначала нам надо перевести вектор направления в локальные координаты камеры
// для этого нам надо инвертировать матрицу вращения камеры и умножить ее на вектор
// однако для матрицы вращения транспонирование дает тот же результат что инвертирование
vec3 move = transpose(mat3(GLRotation(camera.rotation))) * vec3(x, y, z);
camera.position += move;
}
mat3 rotation2D(vec2& Center, const double angleDeg) {
double angleRad = angleDeg * M_PI / 180.0,
c = cos(angleRad),
s = sin(angleRad);
return mat3(vec3(c, -s, Center[VX] * (1.0-c) + Center[VY] * s),
vec3(s, c, Center[VY] * (1.0-c) - Center[VX] * s),
vec3(0.0, 0.0, 1.0));
}
mat3 matrixCross(vec3 v)
{
return mat3
(
vec3(0, -v[2], v[1]),
vec3(v[2], 0, -v[0]),
vec3(-v[1], v[0], 0)
);
}
void Transform::up(float degrees, vec3& eye, vec3& up) {
float magnitude = sqrt(pow(eye.x,2) + pow(eye.y,2) + pow(eye.z,2));
vec3 axis = glm::cross(eye, up);
axis = glm::normalize(axis);
mat3 R = rotate(degrees, axis);
eye = eye * R;
eye = glm::normalize(eye) * mat3(magnitude);
up = up * R;
up = glm::normalize(up);
}
mat3 Transform::rotate(const float degrees, const vec3& axis) {
mat3 R;
float degrees_rad = glm::radians(degrees);
float x = axis[0];
float y = axis[1];
float z = axis[2];
mat3 I = cos(degrees_rad) * mat3(1.0);
mat3 parallel = (1 - cos(degrees_rad)) * mat3(x*x, x*y, x*z,
x*y, y*y, y*z,
x*z, y*z, z*z);
mat3 perpendicular = sin(degrees_rad) * mat3(0, -z, y,
z, 0, -x,
-y, x, 0);
R = I + parallel + perpendicular;
return R ;
}
