void calculate_view(t_3dview *view)
{
#define SMALL 1e-6
mat4 To,Te,T1,T2,T3,T4,T5,N1,D1,D2,D3,D4,D5;
real dx,dy,dz,l,r;
/* eye center */
dx=view->eye[XX];
dy=view->eye[YY];
dz=view->eye[ZZ];
l = sqrt(dx*dx+dy*dy+dz*dz);
r = sqrt(dx*dx+dy*dy);
#ifdef DEBUG
print_v4(debug,"eye",N,view->eye);
printf("del: %10.5f%10.5f%10.5f l: %10.5f, r: %10.5f\n",dx,dy,dz,l,r);
#endif
if (l < SMALL)
fatal_error(0,"Error: Zero Length Vector - No View Specified");
translate((real)(-view->origin[XX]),
(real)(-view->origin[YY]),(real)(-view->origin[ZZ]),To);
translate((real)(-view->eye[XX]),
(real)(-view->eye[YY]),(real)(-view->eye[ZZ]),Te);
unity_m4(T2);
T2[YY][YY]=0, T2[YY][ZZ]=-1, T2[ZZ][YY]=1, T2[ZZ][ZZ]=0;
unity_m4(T3);
if (r > 0)
T3[XX][XX]=-dy/r, T3[XX][ZZ]=dx/r, T3[ZZ][XX]=-dx/r, T3[ZZ][ZZ]=-dy/r;
unity_m4(T4);
T4[YY][YY]=r/l, T4[YY][ZZ]=dz/l, T4[ZZ][YY]=-dz/l, T4[ZZ][ZZ]=r/l;
unity_m4(T5);
T5[ZZ][ZZ]=-1;
unity_m4(N1);
/* N1[XX][XX]=4,N1[YY][YY]=4; */
mult_matrix(T1,To,view->Rot);
mult_matrix(D1,Te,T2);
mult_matrix(D2,T3,T4);
mult_matrix(D3,T5,N1);
mult_matrix(D4,T1,D1);
mult_matrix(D5,D2,D3);
mult_matrix(view->proj,D4,D5);
#ifdef DEBUG
print_m4(debug,"T1",T1);
print_m4(debug,"T2",T2);
print_m4(debug,"T3",T3);
print_m4(debug,"T4",T4);
print_m4(debug,"T5",T5);
print_m4(debug,"N1",N1);
print_m4(debug,"Rot",view->Rot);
print_m4(debug,"Proj",view->proj);
#endif
}
void init_rotate_3d(t_3dview *view)
{
real rot = DEG2RAD*15;
int i;
for (i = 0; (i < DIM); i++)
{
rotate(i, rot, view->RotP[i]);
rotate(i, (real)(-rot), view->RotM[i]);
#ifdef DEBUG
print_m4(debug, "RotP", view->RotP[i]);
print_m4(debug, "RotM", view->RotM[i]);
#endif
}
}
/* also sets restposition in armature (arm_mat) */
static void fix_bonelist_roll(ListBase *bonelist, ListBase *editbonelist)
{
Bone *curBone;
EditBone *ebone;
float premat[3][3];
float postmat[3][3];
float difmat[3][3];
float imat[3][3];
for (curBone = bonelist->first; curBone; curBone = curBone->next) {
/* sets local matrix and arm_mat (restpos) */
BKE_armature_where_is_bone(curBone, curBone->parent);
/* Find the associated editbone */
for (ebone = editbonelist->first; ebone; ebone = ebone->next)
if (ebone->temp.bone == curBone)
break;
if (ebone) {
/* Get the ebone premat */
ED_armature_ebone_to_mat3(ebone, premat);
/* Get the bone postmat */
copy_m3_m4(postmat, curBone->arm_mat);
invert_m3_m3(imat, premat);
mul_m3_m3m3(difmat, imat, postmat);
#if 0
printf("Bone %s\n", curBone->name);
print_m4("premat", premat);
print_m4("postmat", postmat);
print_m4("difmat", difmat);
printf("Roll = %f\n", RAD2DEGF(-atan2(difmat[2][0], difmat[2][2])));
#endif
curBone->roll = -atan2f(difmat[2][0], difmat[2][2]);
/* and set restposition again */
BKE_armature_where_is_bone(curBone, curBone->parent);
}
fix_bonelist_roll(&curBone->childbase, editbonelist);
}
}
void rotate_3d(t_3dview *view,int axis,bool bPositive)
{
static bool bFirst=TRUE;
static mat4 RotP[DIM];
static mat4 RotM[DIM];
int i,j;
mat4 m4;
if (bFirst) {
real rot=DEG2RAD*15;
for(i=0; (i<DIM); i++) {
rotate(i, rot ,RotP[i]);
rotate(i,(real)(-rot),RotM[i]);
#ifdef DEBUG
print_m4(debug,"RotP",RotP[i]);
print_m4(debug,"RotM",RotM[i]);
#endif
}
}
/*
if (bPositive)
m4_op(RotP[axis],view->eye,v4);
else
m4_op(RotM[axis],view->eye,v4);
for(i=0; (i<DIM); i++)
view->eye[i]=v4[i];
*/
if (bPositive)
mult_matrix(m4,view->Rot,RotP[axis]);
else
mult_matrix(m4,view->Rot,RotM[axis]);
for(i=0; (i<N); i++)
for(j=0; (j<N); j++)
view->Rot[i][j]=m4[i][j];
calculate_view(view);
}
static void rot_conf(t_atoms *atoms, rvec x[], rvec v[], real trans, real angle,
rvec head, rvec tail, matrix box, int isize, atom_id index[],
rvec xout[], rvec vout[])
{
rvec arrow, center, xcm;
real theta, phi, arrow_len;
mat4 Rx, Ry, Rz, Rinvy, Rinvz, Mtot, Tcm, Tinvcm, Tx;
mat4 temp1, temp2, temp3, temp4, temp21, temp43;
vec4 xv;
int i, j, ai;
rvec_sub(tail, head, arrow);
arrow_len = norm(arrow);
if (debug)
{
fprintf(debug, "Arrow vector: %10.4f %10.4f %10.4f\n",
arrow[XX], arrow[YY], arrow[ZZ]);
fprintf(debug, "Effective translation %g nm\n", trans);
}
if (arrow_len == 0.0)
{
gmx_fatal(FARGS, "Arrow vector not given");
}
/* Copy all aoms to output */
for (i = 0; (i < atoms->nr); i++)
{
copy_rvec(x[i], xout[i]);
copy_rvec(v[i], vout[i]);
}
/* Compute center of mass and move atoms there */
clear_rvec(xcm);
for (i = 0; (i < isize); i++)
{
rvec_inc(xcm, x[index[i]]);
}
for (i = 0; (i < DIM); i++)
{
xcm[i] /= isize;
}
if (debug)
{
fprintf(debug, "Center of mass: %10.4f %10.4f %10.4f\n",
xcm[XX], xcm[YY], xcm[ZZ]);
}
for (i = 0; (i < isize); i++)
{
rvec_sub(x[index[i]], xcm, xout[index[i]]);
}
/* Compute theta and phi that describe the arrow */
theta = acos(arrow[ZZ]/arrow_len);
phi = atan2(arrow[YY]/arrow_len, arrow[XX]/arrow_len);
if (debug)
{
fprintf(debug, "Phi = %.1f, Theta = %.1f\n", RAD2DEG*phi, RAD2DEG*theta);
}
/* Now the total rotation matrix: */
/* Rotate a couple of times */
rotate(ZZ, -phi, Rz);
rotate(YY, M_PI/2-theta, Ry);
rotate(XX, angle*DEG2RAD, Rx);
Rx[WW][XX] = trans;
rotate(YY, theta-M_PI/2, Rinvy);
rotate(ZZ, phi, Rinvz);
mult_matrix(temp1, Ry, Rz);
mult_matrix(temp2, Rinvy, Rx);
mult_matrix(temp3, temp2, temp1);
mult_matrix(Mtot, Rinvz, temp3);
print_m4(debug, "Rz", Rz);
print_m4(debug, "Ry", Ry);
print_m4(debug, "Rx", Rx);
print_m4(debug, "Rinvy", Rinvy);
print_m4(debug, "Rinvz", Rinvz);
print_m4(debug, "Mtot", Mtot);
for (i = 0; (i < isize); i++)
{
ai = index[i];
m4_op(Mtot, xout[ai], xv);
rvec_add(xv, xcm, xout[ai]);
m4_op(Mtot, v[ai], xv);
copy_rvec(xv, vout[ai]);
}
}
/* This function:
* - sets local head/tail rest locations using parent bone's arm_mat.
* - calls BKE_armature_where_is_bone() which uses parent's transform (arm_mat) to define this bone's transform.
* - fixes (converts) EditBone roll into Bone roll.
* - calls again BKE_armature_where_is_bone(), since roll fiddling may have changed things for our bone...
* Note that order is crucial here, we can only handle child if all its parents in chain have already been handled
* (this is ensured by recursive process). */
static void armature_finalize_restpose(ListBase *bonelist, ListBase *editbonelist)
{
Bone *curBone;
EditBone *ebone;
for (curBone = bonelist->first; curBone; curBone = curBone->next) {
/* Set bone's local head/tail.
* Note that it's important to use final parent's restpose (arm_mat) here, instead of setting those values
* from editbone's matrix (see T46010). */
if (curBone->parent) {
float parmat_inv[4][4];
invert_m4_m4(parmat_inv, curBone->parent->arm_mat);
/* Get the new head and tail */
sub_v3_v3v3(curBone->head, curBone->arm_head, curBone->parent->arm_tail);
sub_v3_v3v3(curBone->tail, curBone->arm_tail, curBone->parent->arm_tail);
mul_mat3_m4_v3(parmat_inv, curBone->head);
mul_mat3_m4_v3(parmat_inv, curBone->tail);
}
else {
copy_v3_v3(curBone->head, curBone->arm_head);
copy_v3_v3(curBone->tail, curBone->arm_tail);
}
/* Set local matrix and arm_mat (restpose).
* Do not recurse into children here, armature_finalize_restpose() is already recursive. */
BKE_armature_where_is_bone(curBone, curBone->parent, false);
/* Find the associated editbone */
for (ebone = editbonelist->first; ebone; ebone = ebone->next) {
if (ebone->temp.bone == curBone) {
float premat[3][3];
float postmat[3][3];
float difmat[3][3];
float imat[3][3];
/* Get the ebone premat and its inverse. */
ED_armature_ebone_to_mat3(ebone, premat);
invert_m3_m3(imat, premat);
/* Get the bone postmat. */
copy_m3_m4(postmat, curBone->arm_mat);
mul_m3_m3m3(difmat, imat, postmat);
#if 0
printf("Bone %s\n", curBone->name);
print_m4("premat", premat);
print_m4("postmat", postmat);
print_m4("difmat", difmat);
printf("Roll = %f\n", RAD2DEGF(-atan2(difmat[2][0], difmat[2][2])));
#endif
curBone->roll = -atan2f(difmat[2][0], difmat[2][2]);
/* and set restposition again */
BKE_armature_where_is_bone(curBone, curBone->parent, false);
break;
}
}
/* Recurse into children... */
armature_finalize_restpose(&curBone->childbase, editbonelist);
}
}
int main(void)
{
if(!glfwInit()) {
printf("Could not init GLFW");
getchar();
return -1;
}
glfwWindowHint(GLFW_SAMPLES, 4);
//Opengl 2.1
//glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
//glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
//Opengl 3.3
glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); // MacOS fix
glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
if(window_init(&window, 640, 480, "Test")) {
fprintf( stderr, "Failed to open window.\n" );
getchar();
glfwTerminate();
};
window_set_size_callback(&window, window_size_callback);
glewExperimental = GL_TRUE; // Needed for core profile
if (glewInit() != GLEW_OK) {
fprintf(stderr, "Failed to initialize GLEW\n");
getchar();
glfwTerminate();
return -1;
}
//#clear errors GLEW may trigger
printError();
glClearColor(0.0f, 0.0f, 0.4f, 0.0f);
GLuint VertexArrayID;
glGenVertexArrays(1, &VertexArrayID);
glBindVertexArray(VertexArrayID);
//Load model
//----------
Model cube;
model_init(&cube);
model_set_data_length(&cube, sizeof(cube_vertex_data));
model_set_vertices(&cube, cube_vertex_data);
model_set_colors(&cube, cube_color_data);
model_set_uv_map(&cube, cube_uv_data);
model_set_texture(&cube, "./textures/bricks.dds");
model_bind(&cube);
//Create shaders
//--------------
GLuint vertexShader, fragmentShader;
loadShader(&vertexShader, GL_VERTEX_SHADER, mvpVertexShaderSource);
loadShader(&fragmentShader, GL_FRAGMENT_SHADER, fragmentShaderSource);
//Create program
//--------------
GLuint program;
createProgram(&program, vertexShader, fragmentShader);
// Enable z-buffer
// ---------------
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
// Enable culling
// --------------
glEnable(GL_CULL_FACE);
// Get MVP uniform
// ---------------
GLuint mvp_ul = glGetUniformLocation(program, "MVP");
// Model Matrix
// ------------
Mat4 s;
scale_m4(&s, 0.1f, 0.1f, 0.1f);
printf("Scale:\n");
print_m4(&s);
Mat4 r;
rotate_m4(&r, 0.0f, 1.0f, 0.0f, 0.0f);
printf("Rotate:\n");
print_m4(&r);
Mat4 t;
translate_m4(&t, 0.0f, 0.0f, 0.0f);
printf("Translate:\n");
print_m4(&t);
Mat4 rs;
printf("Rotated*Scaled:\n");
mul_m4(&rs, &r, &s);
print_m4(&rs);
Mat4 model;
printf("Model:\n");
mul_m4(&model, &t, &rs);
print_m4(&model);
// Camera
// ------
Vec3 pos;
Vec3 center;
Vec3 up;
Vec3 direction;
Vec3 right;
camera_init(&camera);
camera_set_fov(&camera, 1.0f);
camera_set_aspect(&camera, (float)window.width/(float)window.height);
Input input;
input_init(&input, &window, 0.5f, 0.5f, 0.8f, -5.7f, -2.7f);
do {
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
glUseProgram(program);
input_get_data(&input, &pos, &direction, &right);
add_v3(¢er, &pos, &direction);
cross_v3(&up, &direction, &right);
camera_set_position(&camera, &pos);
camera_set_center(&camera, ¢er);
camera_set_up(&camera, &up);
// Mvp Matrix
// ----------
Mat4 vp;
camera_get_matrix(&camera, &vp);
Mat4 mvp;
mul_m4(&mvp, &vp, &model);
printf("Perspective:\n");
print_m4(&mvp);
// Set MVP transform
glUniformMatrix4fv(mvp_ul, 1, GL_TRUE, &mvp[0][0]);
model_render(&cube);
window_swap_buffers(&window);
glfwPollEvents();
} while(
glfwGetKey(window.handle, GLFW_KEY_ESCAPE ) != GLFW_PRESS &&
glfwWindowShouldClose(window.handle) == 0
);
// Dispose
// -------
model_dispose(&cube);
glDeleteVertexArrays(1, &VertexArrayID);
glDetachShader(program, fragmentShader);
glDetachShader(program, vertexShader);
glDeleteShader(fragmentShader);
glDeleteShader(vertexShader);
glDeleteProgram(program);
glfwTerminate();
return 0;
}
