void DemoApp::render()
{
keyHandler();
GameEngine::update();
h3dutDumpMessages();
}
bool Application::init()
{
// Initialize engine and open default sound device
if( !h3dInit() || !h3dOpenDevice( 0x0 ) )
{
h3dutDumpMessages();
return false;
}
// Set options
h3dSetOption( H3DOptions::LoadTextures, 1 );
h3dSetOption( H3DOptions::TexCompression, 0 );
h3dSetOption( H3DOptions::FastAnimation, 0 );
h3dSetOption( H3DOptions::MaxAnisotropy, 4 );
h3dSetOption( H3DOptions::ShadowMapSize, 2048 );
// Add resources
// Pipelines
_hdrPipeRes = h3dAddResource( H3DResTypes::Pipeline, "pipelines/hdr.pipeline.xml", 0 );
_forwardPipeRes = h3dAddResource( H3DResTypes::Pipeline, "pipelines/forward.pipeline.xml", 0 );
// Overlays
_fontMatRes = h3dAddResource( H3DResTypes::Material, "overlays/font.material.xml", 0 );
_panelMatRes = h3dAddResource( H3DResTypes::Material, "overlays/panel.material.xml", 0 );
_logoMatRes = h3dAddResource( H3DResTypes::Material, "overlays/logo.material.xml", 0 );
// Environment
H3DRes floorRes = h3dAddResource( H3DResTypes::SceneGraph, "models/tiles/tiles.scene.xml", 0 );
// Knight
H3DRes speakerRes = h3dAddResource( H3DResTypes::SceneGraph, "models/speaker/speaker.scene.xml", 0 );
// Music
_soundRes = h3dAddResource( RST_SoundResource, "sounds/stringed_disco.ogg", 0 );
// Load resources
h3dutLoadResourcesFromDisk( _contentDir.c_str() );
// Add scene nodes
// Add camera
_cam = h3dAddCameraNode( H3DRootNode, "Camera", _hdrPipeRes );
//h3dSetNodeParamI( _cam, CameraNodeParams::OcclusionCulling, 1 );
// Add listener to the camera
H3DNode listener = h3dAddListenerNode( _cam, "Listener" );
h3dSetActiveListener( listener );
// Add floor
H3DNode floor = h3dAddNodes( H3DRootNode, floorRes );
h3dSetNodeTransform( floor, 0, -0.125, 0, 0, 0, 0, 1, 1, 1 );
// Add the speakers
H3DNode speaker1 = h3dAddNodes( H3DRootNode, speakerRes );
h3dSetNodeTransform( speaker1, -2, 0, -2, 0, 215.0f, 0, 1, 1, 1 );
H3DNode speaker2 = h3dAddNodes( H3DRootNode, speakerRes );
h3dSetNodeTransform( speaker2, 2, 0, -2, 0, 145.0f, 0, 1, 1, 1 );
// Add music to the speakers
_sound1 = h3dAddSoundNode( speaker1, "Sound1", _soundRes );
_sound2 = h3dAddSoundNode( speaker2, "Sound2", _soundRes );
// Add light source
_light = h3dAddLightNode( H3DRootNode, "Light1", 0, "LIGHTING", "SHADOWMAP" );
h3dSetNodeTransform( _light, 0, 7, 0, -90, 0, 0, 1, 1, 1 );
h3dSetNodeParamF( _light, H3DLight::RadiusF, 0, 30 );
h3dSetNodeParamF( _light, H3DLight::FovF, 0, 90 );
h3dSetNodeParamI( _light, H3DLight::ShadowMapCountI, 1 );
h3dSetNodeParamF( _light, H3DLight::ShadowMapBiasF, 0, 0.01f );
// Set the distance model
h3dSetDistanceModel( _distanceModel );
// Set the timer so the light immediately gets a random color
_lightTimer = 1.0f;
// Customize post processing effects
H3DRes matRes = h3dFindResource( H3DResTypes::Material, "pipelines/postHDR.material.xml" );
// hdrParams: exposure, brightpass threshold, brightpass offset (see shader for description)
h3dSetMaterialUniform( matRes, "hdrParams", 2.0f, 0.6f, 0.08f, 0 );
// Play the music
h3dPlaySound( _sound1 );
h3dPlaySound( _sound2 );
return true;
}
void Application::mainLoop( float timeSinceLastFrame )
{
keyHandler( timeSinceLastFrame );
// Set camera parameters
h3dSetNodeTransform( _cam, _x, _y, _z, _rx ,_ry, 0, 1, 1, 1 );
_lightTimer += timeSinceLastFrame;
// Has it gone a second since the light changed color?
if( _lightTimer >= 1.0f )
{
// Set a random light color
switch( rand() % 6 )
{
case 0:
// Red
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 0.0f );
break;
case 1:
// Green
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 0.0f );
break;
case 2:
// Blue
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 1.0f );
break;
case 3:
// Yellow
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 0.0f );
break;
case 4:
// Purple
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 1.0f );
break;
case 5:
// Cyan
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 1.0f );
break;
}
// Reset the timer
_lightTimer = 0.0f;
}
// Show stats
h3dutShowFrameStats( _fontMatRes, _panelMatRes, _statMode );
if( _statMode > 0 )
{
displaySoundInfo();
}
// Show logo
const float ww = (float)h3dGetNodeParamI( _cam, H3DCamera::ViewportWidthI ) /
(float)h3dGetNodeParamI( _cam, H3DCamera::ViewportHeightI );
const float ovLogo[] = { ww-0.4f, 0.8f, 0, 1, ww-0.4f, 1, 0, 0, ww, 1, 1, 0, ww, 0.8f, 1, 1 };
h3dShowOverlays( ovLogo, 4, 1.f, 1.f, 1.f, 1.f, _logoMatRes, 0 );
// Render scene
h3dRender( _cam );
// Finish rendering of frame
h3dFinalizeFrame();
// Remove all overlays
h3dClearOverlays();
// Write all mesages to log file
h3dutDumpMessages();
}
void TentacleApplication::mainLoop( float fps )
{
_curFPS = fps;
_timer += 1 / fps;
keyHandler();
h3dSetOption( H3DOptions::DebugViewMode, _debugViewMode ? 1.0f : 0.0f );
h3dSetOption( H3DOptions::WireframeMode, _wireframeMode ? 1.0f : 0.0f );
if( !_freeze )
{
float tx,ty,tz,foo;
h3dGetNodeTransform(_fly,&tx,&ty,&tz,&foo,&foo,&foo,&foo,&foo,&foo);
if (!_freezeFly)
{
// routhly simulates the random fly of a fly
if((rand() % 100)>95)
{
_dx = ((ranf()))/50.0f;
_dy = ((ranf()))/50.0f;
_dz = ((ranf()))/50.0f;
}
// change fly position
h3dSetNodeTransform( _fly, tx+_dx, ty+_dy, tz+_dz, 0, 0, 0, 0.2f, 0.2f, 0.2f );
if (tx < -4.0) _dx = 0.05f;
if (tx > 4.0) _dx = -0.05f;
if (ty < 0.0) _dy = 0.05f;
if (ty > 6.0) _dy = -0.05f;
if (tz < -4.0) _dz = 0.05f;
if (tz > 4.0) _dz = -0.05f;
h3dGetNodeTransform(_fly,&tx,&ty,&tz,&foo,&foo,&foo,&foo,&foo,&foo);
//update constraint position according to fly position
_ikConstraint->setPosition(SMRVector3(tx, ty, tz));
}
if (!_freezeIK || _ikStep)
{
//Compute inverse kinematics
_currentSolver->process();
// update tentacle's joint (IK)
updateTentacle();
_ikStep = false;
}
}
// Set camera parameters
h3dSetNodeTransform( _cam, _x, _y, _z, _rx ,_ry, 0, 1, 1, 1 );
if( _showFPS )
{
// Avoid updating FPS text every frame to make it readable
if( _timer > 0.3f )
{
_fpsText.str( "" );
_fpsText << "FPS: " << fixed << setprecision( 2 ) << _curFPS;
_timer = 0;
}
// Show text
//h3dutShowText( _fpsText.str().c_str(), 0, 0.95f, 0.03f, 0, _fontMatRes );
}
// Show title
//h3dutShowText( "Comparing Standard IK algorithms.", 0.0f, 0.90f, 0.03f, 0, _fontMatRes );
// Show IK method
//h3dutShowText( _ikMethodString, 0.6f, 0.80f, 0.03f, 0, _fontMatRes );
// Show logo
//h3dShowOverlay( 0.7f, 0.2, 0, 0,
// 1, 0.2, 1, 0,
// 1, 0.6f, 1, 1,
// 0.7f, 0.6f, 0, 1,
// 7, _invJacMatRes );
// Render scene
h3dRender( _cam );
// Remove all overlays
h3dClearOverlays();
// Write all mesages to log file
h3dutDumpMessages();
}
bool TentacleApplication::init()
{
// Initialize engine
if( !h3dInit() )
{
h3dutDumpMessages();
return false;
}
// Set options
h3dSetOption( H3DOptions::LoadTextures, 1 );
h3dSetOption( H3DOptions::TexCompression, 0 );
h3dSetOption( H3DOptions::MaxAnisotropy, 4 );
h3dSetOption( H3DOptions::ShadowMapSize, 2048 );
h3dSetOption( H3DOptions::FastAnimation, 1 );
// Add resources
// Pipelines
_hdrPipeRes = h3dAddResource( H3DResTypes::Pipeline, "pipelines/hdr.pipeline.xml", 0 );
_forwardPipeRes = h3dAddResource( H3DResTypes::Pipeline, "pipelines/forward.pipeline.xml", 0 );
// Font
_fontMatRes = h3dAddResource( H3DResTypes::Material, "overlays/font.material.xml", 0 );
// Logo
_logoMatRes = h3dAddResource( H3DResTypes::Material, "overlays/logo.material.xml", 0 );
// invJacXpl
//_invJacMatRes = h3dAddResource( H3DResTypes::Material, "materials/invJac.material.xml", 0 );
// Environment
H3DRes envRes = h3dAddResource( H3DResTypes::SceneGraph, "models/sphere/sphere.scene.xml", 0 );
// Tentacle
H3DRes tentacleRes = h3dAddResource( H3DResTypes::SceneGraph, "models/tentacle.scene.xml", 0 );
// Fly
H3DRes flyRes = h3dAddResource( H3DResTypes::SceneGraph, "models/fly.scene.xml", 0 );
_dx = _dy = _dz = 0;
// Load resources
h3dutLoadResourcesFromDisk( _contentDir.c_str() );
// Add scene nodes
// Add camera
_cam = h3dAddCameraNode( H3DRootNode, "Camera", _forwardPipeRes );
// Add environment
H3DNode env = h3dAddNodes( H3DRootNode, envRes );
h3dSetNodeTransform( env, 0, -20, 0, 0, 0, 0, 20, 20, 20 );
// Add tentacle node
_tentacle = h3dAddNodes( H3DRootNode, tentacleRes );
h3dSetNodeTransform( _tentacle, 0, 0, 0, 0, 0, 0.0, 1.0f, 1.0f, 1.0f );
// Create tentacle kinematic chain
_tentacleIK = setUpKinematikChain(_tentacle);
//cout << _tentacleIK->getEndPosition(_tentacleIK->getNumJoints()-1);
//_ikCCDSolver = new SmrCCDSolver(_tentacleIK);
//_ikCCDSolver->addConstraintPtr(_ikConstraint);
_ikGSMMSolver = new SMRGSMMSolver(_tentacleIK);
_ikGSMMSolver->addConstraintPtr(_ikConstraint);
_ikInvJacSolver = new SMRInvJacSolver(_tentacleIK);
_ikInvJacSolver->addConstraintPtr(_ikConstraint);
//delete(_tentacleIK);
_currentSolver = _ikInvJacSolver;
_ikMethodString = "J pseudo-inverse";
// Add fly node
_fly = h3dAddNodes( H3DRootNode, flyRes );
h3dSetNodeTransform( _fly, 0, 4, 0, 0, 0, 0, 0.2f, 0.2f, 0.2f );
// Add light source
H3DNode light = h3dAddLightNode( H3DRootNode, "Light1", 0, "LIGHTING", "SHADOWMAP" );
h3dSetNodeTransform( light, 0, 15, 10, -60, 0, 0, 1, 1, 1 );
h3dSetNodeParamF( light, H3DLight::RadiusF,0, 30 );
h3dSetNodeParamF( light, H3DLight::FovF,0, 90 );
h3dSetNodeParamI( light, H3DLight::ShadowMapCountI, 0 );
h3dSetNodeParamF( light, H3DLight::ShadowMapBiasF,0, 0.01f );
h3dSetNodeParamF( light, H3DLight::ColorF3,0, 1.0f );
h3dSetNodeParamF( light, H3DLight::ColorF3,1, 0.8f );
h3dSetNodeParamF( light, H3DLight::ColorF3,2, 0.7f );
// Customize post processing effects
H3DNode matRes = h3dFindResource( H3DResTypes::Material, "pipelines/postHDR.material.xml" );
//hdrParams: exposure, brightpass threshold, brightpass offset (see shader for description)
h3dSetMaterialUniform( matRes, "hdrParams", 2.5f, 0.5f, 0.08f, 0 );
return true;
}
