void display(void) {
float component = -0.8213f;
Quat q(-1,0,0,0);
ushort s0,s1,s2;
Quat::EncodeQuat( q, s0, s1, s2 );
Quat q2;
Quat::DecodeQuat( s0, s1, s2, q2 );
WbLog( "Default", "(%.5f, %.5f,%.5f,%.5f)\n", q2.w, q2.x, q2.y, q2.z );
short val = Quat::EncodeComponent( component );
float comp2 = Quat::DecodeComponent( val );
WbLog( "Default", "Quantizing: %.5f -> %d -> %.5f\n", component, val, comp2);
//clear white, draw with black
glClearColor(0, 0, 0, 0);
// glColor3f(1.0f, 1.0f, 1.0f);
// Enable Texture Mapping ( NEW )
glShadeModel(GL_SMOOTH); // Enable Smooth Shading
glClearDepth(1.0f); // Depth Buffer Setup
glEnable(GL_DEPTH_TEST); // Enables Depth Testing
glDepthFunc(GL_LEQUAL); // The Type Of Depth Testing To Do
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST); // Really Nice Perspectiv
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_TEXTURE_2D);
/*
GLfloat mat[] = { 1.0, 1.0, 1.0, 1.0 };
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
GLfloat zero[] = { 0,0,0,1.f};
GLfloat ambient[] = {1.0f, 1.0f, 1.0f, 1.0f};
glLightfv( GL_LIGHT0, GL_AMBIENT, zero);
glLightfv( GL_LIGHT0, GL_DIFFUSE, ambient);
glLightfv( GL_LIGHT0, GL_SPECULAR, zero);*/
glLoadIdentity();
//rot += 0.1f;
//glBindTexture(GL_TEXTURE_2D, textureID);
//glScalef(4,4,4);
glTranslatef(0.0f,-1.0f, -9.6f); //
//glTranslatef(0.0f,-10.0f, -40.6f);
// glRotatef( rot, 0, 1,0 );
//if(pMesh1);
//pMesh1->Render();
if (pMesh )
{
// WhiteBox::gVars->pRenderer->BindTexture( pTex->GetTextureId(), 0 );
//pMesh->Render();
}
//glRotatef( -rot, 0, 1, 0 );
// glTranslatef( 1.5f, 0.0f, 6.0f);
//glTranslatef(1.5f,0.0f,-6.0f);
// glRotatef( rot, 0, 1,0 );
//if(pMesh2)
//pMesh2->Render();
// glRotatef( -rot, 0, 1, 0 );
/*
glColorPointer(3, GL_FLOAT, decl.GetSize(), (void*)decl.GetSingleElementOffset( WhiteBox::CVertexDeclaration::eSE_Color ) );
//glColorPointer(3, GL_UNSIGNED_BYTE, sizeof(SVertex), BUFFER_OFFSET(ColorOffset));
glVertexPointer(3, GL_FLOAT, decl.GetSize(), (void*)decl.GetSingleElementOffset( WhiteBox::CVertexDeclaration::eSE_Position ) );
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
glDrawArrays(GL_TRIANGLES, 0, 3);
glDisableClientState(GL_COLOR_ARRAY);
glDisableClientState(GL_VERTEX_ARRAY);*/
//pMesh2->Render();
/*
glBegin(GL_TRIANGLES); // Drawing Using Triangles
glVertex3f( 0.0f, 1.0f, 0.0f); // Top
glVertex3f(-1.0f,-1.0f, 0.0f); // Bottom Left
glVertex3f( 1.0f,-1.0f, 0.0f); // Bottom Right
glEnd(); */
//WhiteBox::gVars->pRenderer->BindTexture( pTex->GetTextureId(), 0 );
//WhiteBox::gVars->pRenderer->BindTexture( new int(12), 0 );
//WhiteBox::gVars->pRenderer->BindTexture( new int(1), 0 );
//glTranslatef(3.0f,0.0f, -1.0f) ;//0.0f);
/*
glBegin(GL_QUADS); // Draw A Quad
glVertex3f(-1.0f, 1.0f, 0.0f); // Top Left
glVertex3f( 1.0f, 1.0f, 0.0f); // Top Right
glVertex3f( 1.0f,-1.0f, 0.0f); // Bottom Right
glVertex3f(-1.0f,-1.0f, 0.0f); // Bottom Left
glEnd(); */
// glColor3f( 0.0f, 0.0f, 1.0f );
//glTranslatef(-8,0.0f,0.0f);
// glMaterialfv(GL_FRONT, GL_AMBIENT, mat);
phase += 0.5f;
float angle = Cos( Degree(phase) ) * 40.0f;
float angle3 = Cos( Degree(phase * 0.2f) ) * 90.0f;
if (true)
{
size_t count = skel.GetBones().size();
skel.ComputeInvertedGlobalBindPose();
CPose pose;
pose.m_boneTransforms.resize( count );
pose.m_boneTransforms[ 1 ].rotation = Quat::CreateRotX( Degree(angle3 ) ) * Quat::CreateRotZ( Degree(angle) );
//pose.m_boneTransforms[ 1 ].position.x = 0.5f;
skel.ConvertFromBindToLocalSpace( pose );
skel.ComputeGlobalPose( pose, pose );
WbLog( "Default", "Skel\n" );
for( size_t i=0 ; i < count ; ++i )
{
CBone& bone = skel.GetBones()[ i ];
if ( bone.GetParentIndex() >= 0 )
{
Vec3 parentPos = pose.m_boneTransforms[ bone.GetParentIndex() ].position;
gVars->pRenderer->DrawLine( parentPos, pose.m_boneTransforms[ i ].position, Color::White );
}
WbLog( "Default", "Bone %s, father:%d, Pos(%.2f,%.2f,%.2f)\n", bone.GetName().c_str(), bone.GetParentIndex(), pose.m_boneTransforms[ i ].position.x, pose.m_boneTransforms[ i ].position.y, pose.m_boneTransforms[ i ].position.z );
}
CPose skinPose;
skel.ComputeSkinningPose( pose, skinPose );
for(int i=0 ; i<vert*hori ; ++i)
{
float w = points[ i ].y / 3.0f;
points2[ i ] = (1.0f - w)*(skinPose.m_boneTransforms[ 0] * points[ i ]) + w*(skinPose.m_boneTransforms[ 2] * points[ i ]);
}
for( size_t i=0 ; i < vert ; ++i )
for( size_t j=0 ; j < hori-1 ; ++j )
{
Vec3& pt1 = points2[ hori * i + j ];
Vec3& pt2 = points2[ hori * i + j + 1 ];
gVars->pRenderer->DrawLine( pt1, pt2, Color::Blue );
}
WbLog( "Default", " %.2f\n", points[ 0].y );
WbLog( "Default", " %.2f\n", points2[ 0].x );
}
glTranslatef(0.55f,0.0f,0.0f);
//this draws a square using vertices
/* glBegin(GL_QUADS);
glVertex2i(0, 0);
glVertex2i(0, 128);
glVertex2i(128, 128);
glVertex2i(128, 0);
glEnd();*/
//a more useful helper
// glRecti(200, 200, 250, 250);
glutSwapBuffers();
}
