void CBoxProxyView::drawContact(Contact& con)
{
glColor3f(0.0,1,1);
drawBoxLines(con.A);
drawBoxLines(con.B);
glColor3f(0.0,1,0);
if (con.conType==1)
glColor3f(1,1,0);
glPointSize(10);
glBegin(GL_POINTS);
for (int i=0;i<con.pointNum;i++)
{
glVertex3f(con.points[i][0],con.points[i][1],con.points[i][2]);
}
glEnd();
glPointSize(1);
glLineWidth(5);
glBegin(GL_LINES);
for (int i=0;i<con.pointNum;i++)
{
double scale=0.1;
glVertex3f(con.points[i][0],con.points[i][1],con.points[i][2]);
glVertex3f(con.points[i][0]+con.nDir[0]*scale,con.points[i][1]+con.nDir[1]*scale,con.points[i][2]+con.nDir[2]*scale);
//glVertex3f(con.points[i][0],con.points[i][1],con.points[i][2]);
//glVertex3f(con.points[i][0]+con.fDirU[0]*scale,con.points[i][1]+con.fDirU[1]*scale,con.points[i][2]+con.fDirU[2]*scale);
//glVertex3f(con.points[i][0],con.points[i][1],con.points[i][2]);
//glVertex3f(con.points[i][0]+con.fDirV[0]*scale,con.points[i][1]+con.fDirV[1]*scale,con.points[i][2]+con.fDirV[2]*scale);
}
glEnd();
glLineWidth(1);
}
void CBoxProxyView::drawTest()
{
glColor3f(1.0,0,0);
//drawBoxLines(*testBoxA);
if (GraphCreated&&!GraphFinished)
{
for (int i=0;i<conGraph->getNodeNum();i++)
{
Box b(conGraph->getNode(i));
drawBoxLines(b);
}
for (int i=0;i<conGraph->getNodeNum()-1;i++)
{
for (int j=i+1;j<conGraph->getNodeNum();j++)
{
Contact con=conGraph->getActiveEdge(i,j);
if (!con.NoExtension)
drawContact(con);
}
}
}
if (GraphFinished)
{
for (int i=0;i<conGraph->getNodeNum();i++)
{
Box b(conGraph->getBestBox(i));
drawBoxLines(b);
}
for (int i=0;i<conGraph->getNodeNum()-1;i++)
{
for (int j=i+1;j<conGraph->getNodeNum();j++)
{
Contact con=conGraph->getBestEdge(i,j);
if (!con.NoExtension)
drawContact(con);
}
}
}
/*glPointSize(5);
glBegin(GL_POINTS);
glVertex3f(-0.077,0.06,1.50);
glEnd();
glPointSize(1);*/
//drawContact(conGraph->getActiveEdge(1,2));
//drawBoxLines(*testBoxA);
//drawBoxLines(*testBoxB);
//drawBoxLines(*testBoxC);
//Contact con=testConSet.at(0);
//drawContact(con);
//drawContact(testConSet2.at(1));
}
/* Draw the bounding box */
void TumblerWindow::drawBBox(TumblerStruct *xtum)
{
Imat *mat;
Ipoint transp;
int width = xtum->width;
if (!xtum->bbox)
return;
mat = imodMatNew(3);
b3dColorIndex(App->foreground);
if (xtum->stereo)
width/=2;
transp.x = transp.y = transp.z = xtum->zoom;
imodMatScale(mat, &transp);
transp.x = ((float)width *0.5f);
transp.y = ((float)xtum->height*0.5f);
transp.z = 0;
imodMatRot(mat, (double)xtum->gamma, 2);
imodMatRot(mat, (double)xtum->beta, 1);
imodMatRot(mat, (double)xtum->alpha, 0);
imodMatTrans(mat, &transp);
drawBoxLines(xtum, mat);
if (xtum->stereo){
imodMatId(mat);
transp.x = transp.y = transp.z = xtum->zoom;
imodMatScale(mat, &transp);
imodMatRot(mat, (double)xtum->gamma, 2);
imodMatRot(mat, (double)xtum->beta + xtum->plax, 1);
imodMatRot(mat, (double)xtum->alpha, 0);
transp.x = ((float)width * 1.5f);
transp.y = ((float)xtum->height*0.5f);
transp.z = 0;
imodMatTrans(mat, &transp);
drawBoxLines(xtum, mat);
}
imodMatDelete(mat);
return;
}
void CBoxProxyView::OnDraw(CDC* /*pDC*/)
{
CBoxProxyDoc* pDoc = GetDocument();
ASSERT_VALID(pDoc);
if (!pDoc)
return;
// TODO: 在此处为本机数据添加绘制代码
// 清除颜色
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPushMatrix();
{
// 绘制坐标系
if (gettingDepth)
glVertexAttrib4d(ColorPos,0.0,1.0,0.0,0.0);
if(!gettingDepth){
drawUnitAxes();
drawTest();
if (showOrig)
{
glColor3f(0,1,0);
for (int i=0;i<boxes.size();i++)
drawBoxLines(boxes.at(i));
}
if (showExtend)
{
glColor3f(0,1,1);
for (int i=0;i<extendedBoxes.size();i++)
drawBoxLines(extendedBoxes.at(i));
}
}
else if(testMode){
for (int i=0;i<boxes.size();i++)
drawBoxPolygons(boxes.at(i));
}
else{
for (int i=0;i<boxes.size();i++)
drawBoxPolygons(boxes.at(i));
}
}
glPopMatrix();
// 交换缓冲区
if (gettingDepth)
{
GetDepthAfter();
}
else
SwapBuffers(wglGetCurrentDC());
}
