void DrawCylinder(Cylinder c) {
float colorv[4] = {c.r, c.g, c.b, 0};
glMaterialfv(GL_FRONT, GL_DIFFUSE, colorv);
renderCylinder_convenient(c.p1.x, c.p1.y, c.p1.z,
c.p2.x, c.p2.y, c.p2.z,
c.radius, c.radius*10+4);
}
/* The main drawing function. */
GLvoid DrawGLScene(GLvoid)
{
GLfloat xtrans, ztrans, ytrans;
GLfloat sceneroty,scenerotx;
// calculate translations and rotations.
xtrans = -xpos;
ztrans = -zpos;
ytrans = -walkbias-0.25f;
sceneroty = 360.0f - yrot;
scenerotx = 360.0f - xrot;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear The Screen And The Depth Buffer
glLoadIdentity();
glRotatef(lookupdown, 1.0f, 0, 0);
glRotatef(sceneroty, 0, 1.0f, 0);
glRotatef(scenerotx,1.0f,0,0);
glTranslatef(xtrans, ytrans, ztrans);
glBindTexture(GL_TEXTURE_2D, texture[filter]); // pick the texture.
model(); // create the external model of the house
make_Railing(); // create the railing on the first floor of the house
float i;
/**Code for making pillars in lower floor**/
for(i = -2.9533333;i <= 2.95 ; i += 0.85){
renderCylinder_convenient(i,0,3,i,1,3,0.04,16);
}
/**Code ends for pillars on low floor**/
/**Code for making pillars in first floor**/
for(i = -2.9533333;i <= 2.95 ; i += 0.85){
renderCylinder_convenient(i,1,2,i,2,2,0.04,16);
}
/**Code ends for pillars on first floor**/
// since this is double buffered, swap the buffers to display what just got drawn.
glutSwapBuffers();
}
void DrawSub(Object o) {
const int length = 30;
const int radius = 4.5;
float colorv[4] = {0, 0, .75, 0};
glMaterialfv(GL_FRONT, GL_DIFFUSE, colorv);
renderCylinder_convenient(o.Pos.x+sin(o.Rot.z)*length*.5, o.Pos.y+cos(o.Rot.z)*length*.5, o.Pos.z,
o.Pos.x-sin(o.Rot.z)*length*.5, o.Pos.y-cos(o.Rot.z)*length*.5, o.Pos.z,
radius, 20);
}
void renderIK() {
//Eigen::Vector3d goal = interpolateGoal();
for (int i = 0; i < appendages.size(); i++) {
test.solveIK(appendages[i], goals[i]);
if (octopus) {
glPushMatrix();
glTranslatef(cos((2*PI/goals.size())*i), sin((2*PI/goals.size())*i), 0);
}
glColor3f(0, 1, 1);
renderCylinder_convenient(0, 0, 0, appendages[i][0].currPos[0], appendages[i][0].currPos[1], appendages[i][0].currPos[2], 0.04, 10);
glPushMatrix();
glTranslatef(appendages[i][0].currPos[0], appendages[i][0].currPos[1], appendages[i][0].currPos[2]);
glutSolidSphere(0.1, 10, 10);
glPopMatrix();
for (int j=1; j<appendages[i].size(); j++) {
if (j%2==0) {
glColor3f(0, 1, 1);
} else {
glColor3f(1, 0, 1);
}
renderCylinder_convenient(appendages[i][j-1].currPos[0], appendages[i][j-1].currPos[1], appendages[i][j-1].currPos[2], appendages[i][j].currPos[0], appendages[i][j].currPos[1], appendages[i][j].currPos[2], 0.04, 5);
glPushMatrix();
glTranslatef(appendages[i][j].currPos[0], appendages[i][j].currPos[1], appendages[i][j].currPos[2]);
glutSolidSphere(0.1, 10, 10);
glPopMatrix();
}
glBegin(GL_LINES);
glColor3f(1, 1, 0);
glVertex3f(0,0,0);
glVertex3f(goals[i][0],goals[i][1],goals[i][2]);
glEnd();
if (octopus) glPopMatrix();
}
}
/*
* Draw the hand
* at (x,y,z)
* fingers facing (dx,dy,dz)
* up towards (ux,uy,uz)
*/
void hand::drawHand( note n, note prev_n, double t )
{
vector<double> pt, j, next_pt, prev_pt;
vector< vector<double> >::iterator j_it;
finger f = fingers[0]; //dummy assignment to avoid using a constructor
vector< vector<double> > prev_verts, next_verts, verts;
vector< vector<double> >::iterator v_it;
vector< vector< vector<double> > > fingVerts;
vector< vector< vector<double> > >::iterator f_it;
// Get current position of all fingers at this time
if (t<0.1)
t = t/0.1;
else
t =1;
pt.assign(3,0);
prev_verts.clear();
verts.clear();
fingVerts.clear();
for (int i=0; i<fingers.size(); i++){
next_verts = fingers[i].fVerts;
prev_verts = this->prevFingers[i].fVerts;
for (int j=0; j<next_verts.size(); j++){
prev_pt = prev_verts[j];
next_pt = next_verts[j];
pt[0] = next_pt[0]*t + (1-t)*prev_pt[0];
pt[1] = next_pt[1]*t + (1-t)*prev_pt[1];
pt[2] = next_pt[2]*t + (1-t)*prev_pt[2];
verts.push_back(pt);
pt.assign(3,0);
}
fingVerts.push_back(verts);
verts.clear();
}
// Begin drawing =================================
// DRAW WRIST (aka base)
glPushMatrix();
vector<double> wrist_pt; wrist_pt.assign(3, 0);
wrist_pt[0]=0; wrist_pt[1]=0; wrist_pt[2]=-(neck_r+buffHelp+baseH);
glTranslated(this->wrist[0]*t+prevWrist[0]*(1-t),0,0);
glRotated(-90, 0,0,1);
glRotated(theta, 0,1,0);
draw_axes(1,1,1);
glColor3ub(hRGB[0],hRGB[1],hRGB[2]);
glTranslated(0,0,baseH);
glBegin( GL_POLYGON );
glVertex3d(wrist_pt[0],wrist_pt[1],wrist_pt[2]);
Vertex( fingerTh[4]-thHelp, 0, baseLen[4],
0,0,-(neck_r+buffHelp+baseH) );
for (int i=0; i<4; i++){
Vertex( fingerTh[i], 0, baseLen[i],
0,0,-(neck_r+buffHelp+baseH) );
}
glEnd();
glTranslated(0,0,-2*baseH);
glBegin( GL_POLYGON );
glVertex3d(wrist_pt[0],wrist_pt[1],wrist_pt[2]);
Vertex( fingerTh[4]-thHelp, 0, baseLen[4],
0,0,-(neck_r+buffHelp+baseH) );
for (int i=0; i<4; i++){
Vertex( fingerTh[i], 0, baseLen[i],
0,0,-(neck_r+buffHelp+baseH) );
}
glEnd();
glBegin( GL_QUAD_STRIP );
for (int i=0; i<baseVerts.size(); i++){
pt = baseVerts[i];
glVertex3d( pt[0],pt[1],pt[2]);
glVertex3d( pt[0],pt[1],pt[2]+2*baseH);
}
pt = baseVerts[0];
glVertex3d( pt[0],pt[1],pt[2]);
glVertex3d( pt[0],pt[1],pt[2]+2*baseH);
glEnd();
glPopMatrix();
// DRAW FINGERS
glColor3ub( hRGB[0], hRGB[1], hRGB[2] );
for (f_it = fingVerts.begin(); f_it!=fingVerts.end(); f_it++){
verts = *f_it;
for (v_it = verts.begin(); v_it!=verts.end()-1; v_it++){
pt = *v_it;
next_pt = *(v_it+1);
renderCylinder_convenient( pt[0],pt[1],pt[2],
next_pt[0],next_pt[1],next_pt[2],
fingRadius, fingSubDiv);
}
}
// DRAW JOINTS
for (f_it = fingVerts.begin(); f_it!=fingVerts.end(); f_it++){
verts = *f_it;
for (v_it = verts.begin(); v_it!=verts.end(); v_it++){
pt = *v_it;
ball( pt[0],pt[1],pt[2],
jRGB[0],jRGB[1],jRGB[2],
jointRadius);
}
}
// for (int ii=0; ii<fingers.size(); ii++){
// fingers[ii];
// for (int jj=0; jj<f.joints.size(); jj++){
// j = f.joints[jj];
// ball(j[0],j[1],j[2],
// jRGB[0],jRGB[1],jRGB[2],
// jointRadius);
// }
// ball(f.tip[0],f.tip[1],f.tip[2],
// hRGB[0],hRGB[1],hRGB[2],
// jointRadius);
// }
// currentFingers.clear();
ErrCheck("drawHand");
}
