/*-----------------------------------------------*/
static void keyboard(const unsigned char key, const int x, const int y)
{
/* PURPOSE: OpenGL Callback for Keyboard presses
RECEIVES: unsigned char key - Key pressed
int x - Mouse x_position when key pressed
int y - Mouse y_position when key pressed
REMARKS: Handles robot modifications based on key presses and then requests a redisplay
*/
if (isKeyboardActive)
{
switch (key)
{
case 27:
exit(0); // ESC
case 'i':
cout << " ============== H E L P ==============\n\n"
<< "i\t\thelp menu\n"
<< "s\t\tsave screenshot\n"
<< "f\t\tToggle flat shading on/off.\n"
<< "o\t\tCycle object to edit\n"
<< "v\t\tCycle view\n"
<< "drag left mouse to rotate\n" << endl;
break;
case 's':
glFlush();
writePpmScreenshot(g_windowWidth, g_windowHeight, "out.ppm");
break;
case 'f':
g_activeShader ^= 1;
break;
}
if (key == '1')
{
g_framesPerSecond = 32;
}
else if (key == '2')
{
g_framesPerSecond = 16;
}
else if (key == '3')
{
g_framesPerSecond = 8;
}
else if (key == '4')
{
g_framesPerSecond = 4;
}
else if (key == '5')
{
g_framesPerSecond = 2;
}
else if (key == '6')
{
g_framesPerSecond = 1;
}
else if (key == '7')
{
g_framesPerSecond = 0.5;
}
else if (key == '8')
{
g_framesPerSecond = 0.25;
}
else if (key == '9')
{
g_framesPerSecond = 0.125;
}
if (key == 'q')
{
Quat q = g_rigidBodies[0].rtf.getRotation();
g_rigidBodies[0].rtf.setRotation(q * Quat::makeYRotation(15));
}
else if (key == 'p')
{
g_interpolationType = I_POWER;
}
else if (key == 's')
{
g_interpolationType = I_SLERP;
}
else if (key == 'l')
{
g_interpolationType = I_LERP;
}
else if (key == 'r')
{
float msecs = 0 * 1000;
glutTimerFunc(msecs, timer, PAUSE);
glutTimerFunc(msecs, animateCamera,0);
}
else if (key == 'a')
{
float msecs = 0 * 1000;
glutTimerFunc(msecs, animateRobot, 0);
glutTimerFunc(msecs, animateLegs, 0);
}
else if (key == ',')
{
g_eyeRbt.setRotation(g_eyeRbt.getRotation() * Quat().makeZRotation(15));
}
else if (key == '.')
{
g_eyeRbt.setRotation(g_eyeRbt.getRotation() * Quat().makeZRotation(-15));
}
else if (key == '-')
{
float max = 20;
Cvec3 cameraTrans = g_eyeRbt.getTranslation();
g_eyeRbt.setTranslation(cameraTrans + Cvec3(0,0,1));
if (cameraTrans[2] >= max)
g_eyeRbt.setTranslation(Cvec3(cameraTrans[0], cameraTrans[1], max));
lookAtOrigin();
//cout << "( " << g_eyeRbt.getTranslation()[0] << ", " << g_eyeRbt.getTranslation()[1] << ", " << g_eyeRbt.getTranslation()[2] << "\n";
}
else if (key == '=')
{
float min = 5;
Cvec3 cameraTrans = g_eyeRbt.getTranslation();
g_eyeRbt.setTranslation(cameraTrans - Cvec3(0,0,1));
if (cameraTrans[2] <= min)
g_eyeRbt.setTranslation(Cvec3(cameraTrans[0], cameraTrans[1], min));
lookAtOrigin();
//cout << "( " << g_eyeRbt.getTranslation()[0] << ", " << g_eyeRbt.getTranslation()[1] << ", " << g_eyeRbt.getTranslation()[2] << "\n";
}
}
glutPostRedisplay();
}
static void drawStuff() {
// short hand for current shader state
const ShaderState& curSS = *g_shaderStates[g_activeShader];
// build & send proj. matrix to vshader
const Matrix4 projmat = makeProjectionMatrix();
sendProjectionMatrix(curSS, projmat);
// use the skyRbt as the eyeRbt
const RigTForm eyeRbt = *g_currViewRbt;
const RigTForm invEyeRbt = inv(eyeRbt);
const Cvec3 eyeLight1 = Cvec3(invEyeRbt * Cvec4(g_light1, 1)); // g_light1 position in eye coordinates
const Cvec3 eyeLight2 = Cvec3(invEyeRbt * Cvec4(g_light2, 1)); // g_light2 position in eye coordinates
safe_glUniform3f(curSS.h_uLight, eyeLight1[0], eyeLight1[1], eyeLight1[2]);
safe_glUniform3f(curSS.h_uLight2, eyeLight2[0], eyeLight2[1], eyeLight2[2]);
// draw ground
// ===========
//
const RigTForm groundRbt = RigTForm(); // identity
Matrix4 MVM = rigTFormToMatrix(invEyeRbt * groundRbt);
Matrix4 NMVM = normalMatrix(MVM);
sendModelViewNormalMatrix(curSS, MVM, NMVM);
safe_glUniform3f(curSS.h_uColor, 0.1, 0.95, 0.1); // set color
g_ground->draw(curSS);
// draw cubes
// ==========
MVM = rigTFormToMatrix(invEyeRbt * g_objectRbt[0]);
NMVM = normalMatrix(MVM);
sendModelViewNormalMatrix(curSS, MVM, NMVM);
safe_glUniform3f(curSS.h_uColor, g_objectColors[0][0], g_objectColors[0][1], g_objectColors[0][2]);
g_cube->draw(curSS);
MVM = rigTFormToMatrix(invEyeRbt * g_objectRbt[1]);
NMVM = normalMatrix(MVM);
sendModelViewNormalMatrix(curSS, MVM, NMVM);
safe_glUniform3f(curSS.h_uColor, g_objectColors[1][0], g_objectColors[1][1], g_objectColors[1][2]);
g_cube->draw(curSS);
//draw arcBall
//============
if(g_showArcBall){
RigTForm arcballEye = inv(*g_currViewRbt);
arcballEye = arcballEye * getArcBallRBT();
//if not zooming
if (!(g_mouseMClickButton || (g_mouseLClickButton && g_mouseRClickButton))){
double depth = arcballEye.getTranslation()[2];
g_arcBallScale = getScreenToEyeScale(depth, g_frustFovY, g_windowHeight);
}
double alpha = g_arcBallScale* g_arcBallScreenRadius;
//g_objectRbt[2] = RigTForm(g_objectRbt[2].getTranslation(),g_objectRbt[2].getRotation()*alpha);
MVM = rigTFormToMatrix( arcballEye) * Matrix4::makeScale(Cvec3(1,1,1)*alpha);
NMVM = normalMatrix(MVM);
sendModelViewNormalMatrix(curSS, MVM, NMVM);
safe_glUniform3f(curSS.h_uColor, g_objectColors[2][0], g_objectColors[2][1], g_objectColors[2][2]);
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE);
g_arcBall->draw(curSS);
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
}
}
//true on intersection, will populate passed Cvec3 pointer with intersection point
bool PhysicsSim::intersect_sphere_plane(shared_ptr<HasPhysicsBody> sphere, shared_ptr<HasPhysicsBody> plane, Cvec3* intersectionPoint) {
SphericalPhysicsBody *spherePb = dynamic_cast<SphericalPhysicsBody *>(sphere->getPhysicsBody());
shared_ptr<SgTransformNode> sphereNode = dynamic_pointer_cast<SgTransformNode>(sphere);
PlanarPhysicsBody *planePb = dynamic_cast<PlanarPhysicsBody *>(plane->getPhysicsBody());
shared_ptr<SgTransformNode> planeNode = dynamic_pointer_cast<SgTransformNode>(plane);
//assert sphere and plane!
assert(spherePb != NULL && sphereNode != NULL);
assert(planePb != NULL && planeNode != NULL);
Cvec3 sphereCenter = getPathAccumRbt(rootNode_, sphereNode).getTranslation();
RigTForm planeRtf = getPathAccumRbt(rootNode_, planeNode);
Cvec3 planeNormal = planeRtf.getRotation() * planePb->getUnitNormal();
//line is a line perp. to plane passing through sphere center
Cvec3 intersection = Cvec3();
bool doesIntersect =
intersect_line_plane(
sphereCenter,
planeNormal,
planeRtf.getTranslation(),
planeNormal,
&intersection
);
//constructed to be perp.
assert(doesIntersect);
Cvec3 perpVecFromCtrToPlane = intersection - sphereCenter;
float distFromCtrToPlane = norm(perpVecFromCtrToPlane);
//if the closest dist. from the center of the sphere to the plane
//is less than radius, then collision. Otherwise, no.
if(distFromCtrToPlane <= spherePb->getRadius()) {
//TODO: check that intersection lies within bounds of finite plane
//first: find quat from x-axis to the normal that has had the RigTForm's quat applied
//use this quat to transform the y and z axes
//get the intersection point relative to planar center
//apply the inverse quat from the first part
//check that abs(y) and ans(z) components are less than width/2 and height/2!!
Quat fromXAxisToNormal;
if(abs(dot(planeNormal, Cvec3(1, 0, 0))) - 1 < CS175_EPS2) {
//normal is parallel to x-axis
//Case 1: opposite
if(dot(planeNormal, Cvec3(1, 0, 0)) < 0) {
fromXAxisToNormal = Quat::makeZRotation(2 * M_PI);
} else {//Case 2:on the axis
fromXAxisToNormal = Quat::makeZRotation(0);
}
} else {
//then it's valid to do general formula
//from v1 to v2
Cvec3 a = cross(Cvec3(1, 0, 0), planeNormal);
fromXAxisToNormal[0] = a[0];
fromXAxisToNormal[1] = a[1];
fromXAxisToNormal[2] = a[2];
fromXAxisToNormal[3] = sqrt(norm2(planeNormal)) + planeNormal[0];
}
Quat fromNormalToXAxis = inv(fromXAxisToNormal);
Cvec3 intersectionOnXAxis = fromNormalToXAxis * (intersection - planeRtf.getTranslation());
if(abs(intersectionOnXAxis[1] <= planePb->getWidth()/2 && intersectionOnXAxis[2] <= planePb->getHeight()/2)) {
//fix sphere position to be firmly outside of plane!
float overlap = spherePb->getRadius() - distFromCtrToPlane;
Cvec3 offset = planeNormal * overlap;
sphereNode->setRbt(sphereNode->getRbt() * RigTForm(offset));
//intersection within bounds!
(*intersectionPoint) = intersection;
return true;
} else
return false;
} else
return false;
}
//called on mouse motion
static void motion(const int x, const int y) {
const double dx = x - g_mouseClickX;
const double dy = g_windowHeight - y - 1 - g_mouseClickY;
Matrix4 m;
RigTForm mRbt;
if (g_mouseLClickButton && !g_mouseRClickButton && !g_spaceDown) { // left button down?
if (g_arcballVisible){
mRbt = RigTForm(arcballRotation(x, y));
} else {
mRbt = RigTForm(Quat::makeXRotation(-dy) * Quat::makeYRotation(dx));
}
}
else if (g_mouseRClickButton && !g_mouseLClickButton) { // right button down?
if (g_arcballVisible) {
mRbt = RigTForm(Cvec3(dx, dy, 0) * g_arcballScale);
} else {
mRbt = RigTForm(Cvec3(dx, dy, 0) * 0.01);
}
}
else if (g_mouseMClickButton || (g_mouseLClickButton && g_mouseRClickButton) || (g_mouseLClickButton && !g_mouseRClickButton && g_spaceDown)) { // middle or (left and right, or left + space) button down?
if (g_arcballVisible) {
mRbt = RigTForm(Cvec3(0, 0, -dy) * g_arcballScale);
} else {
mRbt = RigTForm(Cvec3(0, 0, -dy) * 0.01);
}
}
buildAFrame();
if (g_mouseClickDown) {
RigTForm curRbt = g_currentPickedRbtNode->getRbt();
if(g_currentPickedRbtNode == g_skyNode) {
if (g_skyModMode == 0) {
Quat rot = mRbt.getRotation();
mRbt = RigTForm(-(mRbt.getTranslation()), Quat(rot[0], -(rot[1]), -(rot[2]), -(rot[3])));
g_skyNode->setRbt(g_aFrame * mRbt * inv(g_aFrame) * curRbt);
} else {
Quat rot = mRbt.getRotation();
mRbt = RigTForm(mRbt.getTranslation(), Quat(rot[0], -(rot[1]), -(rot[2]), -(rot[3])));
g_skyNode->setRbt(g_aFrame * mRbt * inv(g_aFrame) * curRbt);
}
}else {
//g_arcballRbt = g_aFrame * mRbt * inv(g_aFrame) * g_arcballRbt;
RigTForm newAFrame = inv(getPathAccumRbt(g_world, g_currentPickedRbtNode, 1)) * g_aFrame;
g_currentPickedRbtNode->setRbt(newAFrame * mRbt * inv(newAFrame) * curRbt);
}
glutPostRedisplay(); // we always redraw if we changed the scene
}
g_mouseClickX = x;
g_mouseClickY = g_windowHeight - y - 1;
}