MarkerStructureGLObject *GraspGLObjects::CreateHandMarkerStructure ( char *model_file ) {
Slab *bar;
Assembly *frame, *square, *diamond;
MarkerStructureGLObject *structure = new MarkerStructureGLObject( model_file );
frame = new Assembly();
square = new Assembly();
bar = new Slab( STRUCTURE_BAR_RADIUS, 160.0, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 70.0, 0.0, 0.0 );
square->AddComponent( bar );
bar = new Slab( STRUCTURE_BAR_RADIUS, 160.0, STRUCTURE_BAR_RADIUS );
bar->SetPosition( - 70.0, 0.0, 0.0 );
square->AddComponent( bar );
bar = new Slab( 160.0, STRUCTURE_BAR_RADIUS, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 0.0, 70.0, 0.0 );
square->AddComponent( bar );
bar = new Slab( 160.0, STRUCTURE_BAR_RADIUS, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 0.0, -70.0, 0.0 );
square->AddComponent( bar );
frame->AddComponent( square );
diamond = new Assembly();
bar = new Slab( STRUCTURE_BAR_RADIUS, 80.0, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 35.0, 0.0, 0.0 );
diamond->AddComponent( bar );
bar = new Slab( STRUCTURE_BAR_RADIUS, 80.0, STRUCTURE_BAR_RADIUS );
bar->SetPosition( - 35.0, 0.0, 0.0 );
diamond->AddComponent( bar );
bar = new Slab( 80.0, STRUCTURE_BAR_RADIUS, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 0.0, 35.0, 0.0 );
diamond->AddComponent( bar );
bar = new Slab( 80.0, STRUCTURE_BAR_RADIUS, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 0.0, -35.0, 0.0 );
diamond->AddComponent( bar );
diamond->SetOrientation( 45.0, 0.0, 0.0 );
diamond->SetPosition( 0.0, 0.0, -100.0 );
frame->AddComponent( diamond );
static double vertices[][2] = {{-100, -40}, {-100, 40}, {0, 70}, {100, 50}, {100, -50}, {0, -70}, {-100, -40}};
Extrusion *plate = new Extrusion( 10.0, vertices, 7 );
plate->SetOrientation( 0.0, 0.0, 90.0 );
plate->SetPosition( -10.0, 0.0, 0.0 );
frame->AddComponent( plate );
square->SetColor( Translucid( GRAY ) );
diamond->SetColor( Translucid( GRAY ) );
plate->SetColor( Translucid( GRAY ) );
frame->SetOffset( 0.0, 0.0, 70.0 );
structure->AddComponent( frame );
return( structure );
}
void MarkerStructureGLObject::AddBar( int marker1, int marker2 ) {
Slab *slab;
Vector3 center, delta;
AddVectors( center, modelMarker[marker1].position, modelMarker[marker2].position );
ScaleVector( center, center, 0.5 );
SubtractVectors( delta, modelMarker[marker1].position, modelMarker[marker2].position );
slab = new Slab( STRUCTURE_BAR_RADIUS, VectorNorm( delta ) * 1.1, STRUCTURE_BAR_RADIUS );
slab->SetPosition( center[X], center[Y], center[Z] + STRUCTURE_BAR_RADIUS );
slab->SetOrientation( ToDegrees( atan2( delta[X], delta[Y] ) ), 0.0, 0.0 );
slab->SetColor( 1.0, 1.0, 0.0, 0.35 );
AddComponent( slab );
}
Assembly *GraspGLObjects::CreateCodaBar( double r, double g, double b ) {
Assembly *coda = new Assembly();
Slab *slab = new Slab( coda_shape[X], coda_shape[Y], coda_shape[Z] );
slab->SetColor( r, g, b, 1.0 );
coda->AddComponent( slab );
for ( int lens = 0; lens < 3; lens ++ ) {
slab = new Slab( coda_shape[X] / 10.0, coda_shape[Y] * 0.8, coda_shape[Z] );
slab->SetPosition( ( 1 - lens ) * 0.4 * coda_shape[X], 0.0, - 10.0 );
slab->SetColor( BLACK );
coda->AddComponent( slab );
}
coda->SetOffset( - 0.4 * coda_shape[X], 0.0, 0.0 );
coda->SetAttitude( 0.0, -90.0, 0.0 );
return coda;
}
MarkerStructureGLObject *GraspGLObjects::CreateHmdMarkerStructure ( char *model_file ) {
MarkerStructureGLObject *structure = new MarkerStructureGLObject( model_file );
Slab *bar;
Assembly *frame = new Assembly();
bar = new Slab( STRUCTURE_BAR_RADIUS, 100.0, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 0.0, 0.0, 0.0 );
frame->AddComponent( bar );
bar = new Slab( 210.0, STRUCTURE_BAR_RADIUS, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 0.0, 0.0, 0.0 );
frame->AddComponent( bar );
bar = new Slab( STRUCTURE_BAR_RADIUS, 160.0, STRUCTURE_BAR_RADIUS );
bar->SetPosition( 110.0, 0.0, 40.0 );
frame->AddComponent( bar );
bar = new Slab( STRUCTURE_BAR_RADIUS, 160.0, STRUCTURE_BAR_RADIUS );
bar->SetPosition( -110.0, 0.0, 40.0 );
frame->AddComponent( bar );
bar = new Slab( STRUCTURE_BAR_RADIUS, STRUCTURE_BAR_RADIUS, 40 );
bar->SetPosition( -110.0, 0.0, 20.0 );
frame->AddComponent( bar );
bar = new Slab( STRUCTURE_BAR_RADIUS, STRUCTURE_BAR_RADIUS, 40 );
bar->SetPosition( 110.0, 0.0, 20.0 );
frame->AddComponent( bar );
frame->SetPosition( 0.0, 0.0, -10.0 );
structure->AddComponent( frame );
structure->SetColor( Translucid( GRAY ) );
// structure->SetOrientation( 0.0, 0.0, 90.0 );
return( structure );
}
CODA::CODA( void ) {
double near_vertex[3], far_vertex[3];
double vergence;
// Initialize standard parameters.
reach = 3000.0;
baseline = 600.0;
toein = 7.0;
fov = 70.0;
// Create a structure to hold everything together.
all = new Assembly();
AddComponent( all );
// Compute frustrum.
vergence = radians( fov / 2.0 + toein );
near_vertex[Z] = sin( PI / 2.0 - vergence ) * baseline / sin( 2.0 * vergence );
near_vertex[X] = 0.0;
near_vertex[Y] = near_vertex[Z] * tan( radians( fov / 2.0 ) );
far_vertex[X] = reach * cos( PI / 2.0 - vergence ) - baseline / 2.0;
far_vertex[Y] = reach * sin( PI / 2.0 - vergence );
far_vertex[Z] = reach * sin( radians( fov / 2.0 ) );
frustrum = new Frustrum( near_vertex, far_vertex );
frustrum->SetColor( Translucid( MAGENTA ) );
all->AddComponent( frustrum );
// Create the camera bar objects.
Slab *slab;
double length = baseline + 120;
body = new Slab( length, 120.0, 100.0);
// body->SetColor( GRAY );
all->AddComponent( body );
caps = new Assembly();
slab = new Slab( 40.0, 140.0, 120.0 );
slab->SetPosition( length / 2.0 + 20.0, 0.0, 0.0 );
caps->AddComponent( slab );
slab = new Slab( 40.0, 140.0, 120.0 );
slab->SetPosition( - length / 2.0 - 20.0, 0.0, 0.0 );
caps->AddComponent( slab );
caps->SetColor( BLACK );
all->AddComponent( caps );
lenses = new Assembly();
all->AddComponent( lenses );
lenses->SetColor( BLACK );
slab = new Slab( 140.0, 80.0, 40.0 );
slab->SetPosition( - baseline / 2.0 + 20, 0.0, 50.0 );
lenses->AddComponent( slab );
slab = new Slab( 140.0, 80.0, 40.0 );
slab->SetPosition( baseline / 2.0 - 20, 0.0, 50.0 );
lenses->AddComponent( slab );
slab = new Slab( 120.0, 80.0, 40.0 );
slab->SetPosition( 0.0, 0.0, 50.0 );
lenses->AddComponent( slab );
slab = new Slab( 100.0, 80.0, 40.0 );
slab->SetPosition( - baseline / 4.0, 0.0, 50.0 );
lenses->AddComponent( slab );
power_led = new Slab( 20, 10, 10 );
power_led->SetPosition( - baseline / 4.0 - 20, - 20.0, 80.0 );
power_led->SetColor( GREEN );
lenses->AddComponent( power_led );
acquire_led = new Slab( 20, 10, 10 );
acquire_led->SetPosition( - baseline / 4.0 - 20, 20.0, 80.0 );
acquire_led->SetColor( ORANGE );
lenses->AddComponent( acquire_led );
all->SetOrientation( 0.0, 90.0, 180.0 );
}
ISS::ISS( ApertureType type, RoomTextures *tex, double width, double height, double length ) {
// Object dimensions in the virtual world.
// All values are in millimeters.
// The rack is slightly smaller than the full height of the module.
// This leaves a border top and bottom.
rack_height = 1600.0; // Real height of Columbus module walls (rack) in mm.
rack_width = 1000.0; // Real width of rack in mm.
// The Columbus module is 2 x 2 x 8 meters wide.
room_width = width;
room_height = height;
room_length = length;
wall_thickness = 250.0;
float blank_color[4] = { 0.15, 0.15, 0.05, 1.0 };
// char *rack_texture_file = "epm.bmp";
Slab *slab;
/*
* Define a viewing projection with:
* 45° vertical field-of-view - horizontal fov will be determined by window aspect ratio.
* 60 mm inter-pupilary distance - the units don't matter to OpenGL, but all the dimensions
* that I give for the model room here are in mm.
* 10.0 to 10000.0 depth clipping planes - making this smaller would improve the depth resolution.
*/
viewpoint = new Viewpoint( 6.0, 45.0, 10.0, 20000.0);
/*
* The rack texture is 256 pixels wide by 512 high.
* We map this onto a patch that is 2 meters wide by 4 meter high in the virtual scene.
* It then gets pasted on the left and right walls. The pattern is repeated to fill the
* entire wall from left to right.
* A neutral panel is added above and below to avoid gaps if the floor or ceiling are
* above or below the limits of the panel.
*/
// rack_texture = new Texture( rack_texture_file, rack_width, rack_height );
// Static objects in the room.
SetColor( WHITE );
SetPosition( 0.0, 0.0, 0.0 );
// Right Wall
right_wall = new Assembly;
slab = new Slab( room_length, rack_height, wall_thickness );
if ( tex ) slab->texture = tex->right;
// slab->texture = rack_texture;
right_wall->AddComponent( slab );
// Extend Above
slab = new Slab( room_length, rack_height, wall_thickness );
slab->SetPosition( 0.0, rack_height, 0.0 );
slab->SetColor( blank_color );
right_wall->AddComponent( slab );
// Extend Below
slab = new Slab( room_length, rack_height, wall_thickness );
slab->SetPosition( 0.0, - rack_height, 0.0 );
slab->SetColor( blank_color );
right_wall->AddComponent( slab );
AddComponent( right_wall );
right_wall->SetOffset( 0.0, room_height / 2.0, 0.0 );
right_wall->SetPosition( ( room_width + wall_thickness ) / 2.0, 0.0, room_length / 2.0 );
right_wall->SetOrientation( -90.0, j_vector );
// Left Wall
left_wall = new Assembly;
slab = new Slab( room_length, rack_height, wall_thickness );
if ( tex ) slab->texture = tex->left;
// slab->texture = rack_texture;
left_wall->AddComponent( slab );
// Extend Above
slab = new Slab( room_length, rack_height, wall_thickness );
slab->SetPosition( 0.0, rack_height, 0.0 );
slab->SetColor( blank_color );
left_wall->AddComponent( slab );
// Extend Below
slab = new Slab( room_length, rack_height, wall_thickness );
slab->SetPosition( 0.0, - rack_height, 0.0 );
slab->SetColor( blank_color );
left_wall->AddComponent( slab );
AddComponent( left_wall );
left_wall->SetOffset( 0.0 , room_height / 2.0, 0.0 );
left_wall->SetPosition( ( - room_width - wall_thickness ) / 2, 0.0, room_length / 2.0 );
left_wall->SetOrientation( 90.0, j_vector );
// Create a ceiling.
// Make it wide enough so as not to see the left and right edges.
// The dimension Y sets the far edge in depth.
ceiling = new Slab( 6.0 * room_width, room_length, wall_thickness );
ceiling->SetOffset( 0.0,0.0, wall_thickness / 2 );
ceiling->SetPosition( room_width / 2.0, rack_height, 0.0 );
ceiling->SetOrientation( 90.0, i_vector );
ceiling->SetColor( WHITE );
if ( tex ) ceiling->texture = tex->ceiling;
AddComponent( ceiling );
// Floor
// deck = new Slab( 6.0 * room_width, 2.0 * room_length, wall_thickness );
// deck = new Slab( 6.0 * room_width, 2.0 * room_length, wall_thickness );
deck = new Slab( 6.0 * room_width, 1.1 * room_length, wall_thickness );
deck->SetColor( WHITE );
deck->SetOffset( 0.0,0.0, wall_thickness / 2 );
deck->SetPosition( - room_width / 2.0, 0.0, 0.0 );
deck->SetOrientation( -90.0, i_vector );
if ( tex ) deck->texture = tex->floor;
AddComponent( deck );
// Background
if ( tex ) {
if ( tex->rear ) {
backdrop = new Patch( 6.0 * room_width, 6.0 * room_height );
backdrop->SetPosition( 0.0, 0.0, - room_length );
backdrop->SetTexture( tex->front );
AddComponent( backdrop );
}
}
/*
* Create the doorway.
*/
switch ( type ) {
case SLIDING:
doorway = new SlidingDoors( room_width, room_height, wall_thickness );
break;
case HUBLOT:
doorway = new Hublot( room_width, room_height, wall_thickness );
break;
}
doorway->SetColor( bulkhead_color );
AddComponent( doorway );
SetAperture( 1000.0 );
SetPerceivedEH( .75 * rack_height );
SetPerceivedDistance( 3000.0 );
}