void get_model_matrix(float result[16])
{
mat4f_identity(result);
if(fitToView == 0)
{
/* Translate the model to where we were asked to put it */
float translate[16];
mat4f_translateVec_new(translate, placeToPutModel);
/* Do inches to meters conversion if we are asked to. */
float scale[16];
mat4f_identity(scale);
if(INCHES_TO_METERS)
{
float inchesToMeters=1/39.3701;
mat4f_scale_new(scale, inchesToMeters, inchesToMeters, inchesToMeters);
}
mat4f_mult_mat4f_new(result, translate, scale);
return;
}
/* Get a matrix to scale+translate the model based on the bounding
* box. If the last parameter is 1, the bounding box will sit on
* the XZ plane. If it is set to 0, the bounding box will be
* centered at the specified point. */
float fitMatrix[16];
kuhl_bbox_fit(fitMatrix, bbox, 1);
/* Get a matrix that moves the model to the correct location. */
float moveToLookPoint[16];
mat4f_translateVec_new(moveToLookPoint, placeToPutModel);
/* Create a single model matrix. */
mat4f_mult_mat4f_new(result, moveToLookPoint, fitMatrix);
}
/** Some VRPN orientation sensors may be rotated differently than what we
* expect them to be (for example, orientation is correct except that
* the camera is pointing in the wrong direction). This function will
* adjust the orientation matrix so that the camera is pointing in the
* correct direction. */
static void viewmat_fix_rotation(float orient[16])
{
// Fix rotation for a hard-wired orientation sensor.
if(viewmat_control_mode == VIEWMAT_CONTROL_ORIENT)
{
float adjustLeft[16] = { 0, 1, 0, 0,
0, 0, 1, 0,
1, 0, 0, 0,
0, 0, 0, 1 };
mat4f_transpose(adjustLeft); // transpose to column-major order
float adjustRight[16] = { 0, 0, -1, 0,
-1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 0, 1 };
mat4f_transpose(adjustRight);
mat4f_mult_mat4f_new(orient, adjustLeft, orient);
mat4f_mult_mat4f_new(orient, orient, adjustRight);
return;
}
// Fix rotation for VRPN
if(viewmat_vrpn_obj == NULL || strlen(viewmat_vrpn_obj) == 0)
return;
char *hostname = vrpn_default_host();
if(hostname == NULL)
return;
/* Some objects in the IVS lab need to be rotated to match the
* orientation that we expect. Apply the fix here. */
if(vrpn_is_vicon(hostname)) // MTU vicon tracker
{
/* Note, orient has not been transposed/inverted yet. Doing
* orient*offset will effectively effectively be rotating the
* camera---not the world. */
if(strcmp(viewmat_vrpn_obj, "DK2") == 0)
{
float offsetVicon[16];
mat4f_identity(offsetVicon);
mat4f_rotateAxis_new(offsetVicon, 90, 1,0,0);
mat4f_mult_mat4f_new(orient, orient, offsetVicon);
}
if(strcmp(viewmat_vrpn_obj, "DSight") == 0)
{
float offsetVicon1[16];
mat4f_identity(offsetVicon1);
mat4f_rotateAxis_new(offsetVicon1, 90, 1,0,0);
float offsetVicon2[16];
mat4f_identity(offsetVicon2);
mat4f_rotateAxis_new(offsetVicon2, 180, 0,1,0);
// orient = orient * offsetVicon1 * offsetVicon2
mat4f_mult_mat4f_many(orient, orient, offsetVicon1, offsetVicon2, NULL);
}
}
}
void get_model_matrix(float result[16])
{
mat4f_identity(result);
if(FIT_TO_VIEW_AND_ROTATE == 0)
{
/* Translate the model to where we were asked to put it */
float translate[16];
mat4f_translateVec_new(translate, placeToPutModel);
/* Do inches to meters conversion if we are asked to. */
float scale[16];
mat4f_identity(scale);
if(INCHES_TO_METERS)
{
float inchesToMeters=1/39.3701;
mat4f_scale_new(scale, inchesToMeters, inchesToMeters, inchesToMeters);
}
mat4f_mult_mat4f_new(result, translate, scale);
return;
}
/* Change angle for animation. */
int count = glutGet(GLUT_ELAPSED_TIME) % 10000; // get a counter that repeats every 10 seconds
/* Animate the model if there is animation information available. */
kuhl_update_model_file_ogl3(modelFilename, 0, count/1000.0);
dgr_setget("count", &count, sizeof(int));
/* Calculate the width/height/depth of the bounding box and
* determine which one of the three is the largest. Then, scale
* the scene by 1/(largest value) to ensure that it fits in our
* view frustum. */
float bb_min[3], bb_max[3], bb_center[3];
kuhl_model_bounding_box(modelFilename, bb_min, bb_max, bb_center);
#define mymax(a,b) (a>b?a:b)
float tmp;
tmp = bb_max[0] - bb_min[0];
tmp = mymax(bb_max[1] - bb_min[1], tmp);
tmp = mymax(bb_max[2] - bb_min[2], tmp);
tmp = 1.f / tmp;
#undef mymax
float scaleBoundBox[16], moveToOrigin[16], moveToLookPoint[16];
mat4f_translate_new(moveToOrigin, -bb_center[0], -bb_center[1], -bb_center[2]); // move to origin
// printf("Scaling by factor %f\n", tmp);
mat4f_scale_new(scaleBoundBox, tmp, tmp, tmp); // scale model based on bounding box size
mat4f_translateVec_new(moveToLookPoint, placeToPutModel);
mat4f_mult_mat4f_new(result, moveToOrigin, result);
mat4f_mult_mat4f_new(result, scaleBoundBox, result);
mat4f_mult_mat4f_new(result, moveToLookPoint, result);
}
/** Draw a object at the location and orientation of the tracked vrpn object */
void drawObject(const int objectIndex, float viewMat[16])
{
const char *vrpnObject = global_argv[objectIndex];
const float scaleFactor = .5;
float pos[4], orient[16];
vrpn_get(vrpnObject, NULL, pos, orient);
float modelMat[16],translate[16],scale[16];
mat4f_scale_new(scale, scaleFactor, scaleFactor, scaleFactor);
mat4f_translateVec_new(translate, pos);
mat4f_mult_mat4f_many(modelMat, translate, orient, scale, NULL);
float modelview[16];
mat4f_mult_mat4f_new(modelview, viewMat, modelMat); // modelview = view * model
/* Send the modelview matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, // number of 4x4 float matrices
0, // transpose
modelview); // value
glUniform1i(kuhl_get_uniform("renderStyle"), 2);
kuhl_errorcheck();
kuhl_geometry_draw(modelgeom); /* Draw the model */
kuhl_errorcheck();
/* Transparency of labels may not appear right because we aren't
* sorting them by depth. */
float labelScale[16];
mat4f_scale_new(labelScale, 1, 1/labelAspectRatio[objectIndex-1], 1);
mat4f_mult_mat4f_new(modelview, modelview, labelScale);
glUniformMatrix4fv(kuhl_get_uniform("ModelView"), 1, 0, modelview);
glUniform1i(kuhl_get_uniform("renderStyle"), 1);
kuhl_geometry_texture(&quad, label[objectIndex-1], "tex", 1);
kuhl_geometry_draw(&quad);
#if 0
printf("%s is at\n", vrpnObject);
vec3f_print(pos);
mat4f_print(orient);
#endif
}
void setupCubemap(GLuint texId[6], kuhl_geometry q, const float origModelView[16])
{
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),1,0,origModelView);
kuhl_geometry_texture(&q, texId[0], "tex", KG_WARN);
kuhl_geometry_draw(&q); // negative Z (front)
float rotation[16];
float modelview[16];
mat4f_rotateEuler_new(rotation, 0,180,0, "XYZ");
mat4f_mult_mat4f_new(modelview, origModelView, rotation);
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),1,0,modelview);
kuhl_geometry_texture(&q, texId[1], "tex", KG_WARN);
kuhl_geometry_draw(&q); // positive Z (back)
mat4f_rotateEuler_new(rotation, 0,90,0, "XYZ");
mat4f_mult_mat4f_new(modelview, origModelView, rotation);
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),1,0,modelview);
kuhl_geometry_texture(&q, texId[2], "tex", KG_WARN);
kuhl_geometry_draw(&q); // negative X (left)
mat4f_rotateEuler_new(rotation, 0,-90,0, "XYZ");
mat4f_mult_mat4f_new(modelview, origModelView, rotation);
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),1,0,modelview);
kuhl_geometry_texture(&q, texId[3], "tex", KG_WARN);
kuhl_geometry_draw(&q); // positive X (right)
mat4f_rotateEuler_new(rotation, -90,0,0, "XYZ");
mat4f_mult_mat4f_new(modelview, origModelView, rotation);
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),1,0,modelview);
kuhl_geometry_texture(&q, texId[4], "tex", KG_WARN);
kuhl_geometry_draw(&q); // negative Y (down)
mat4f_rotateEuler_new(rotation, 90,0,0, "XYZ");
mat4f_mult_mat4f_new(modelview, origModelView, rotation);
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),1,0,modelview);
kuhl_geometry_texture(&q, texId[5], "tex", KG_WARN);
kuhl_geometry_draw(&q); // positive Y (up)
}
static void viewmat_get_vrpn(float viewmatrix[16], int viewportNum)
{
if(viewmat_vrpn_obj == NULL)
return;
float pos[3] = { 0,0,0 };
float rotMat[16], posMat[16];
vrpn_get(viewmat_vrpn_obj, NULL, pos, rotMat);
mat4f_translate_new(posMat, -pos[0], -pos[1], -pos[2]); // position
viewmat_fix_rotation(rotMat);
mat4f_transpose(rotMat); /* orientation sensor rotates camera, not world */
float cyclopsViewMatrix[16];
mat4f_mult_mat4f_new(cyclopsViewMatrix, rotMat, posMat);
viewmat_get_generic(viewmatrix, cyclopsViewMatrix, viewportNum);
}
/** Given a view matrix for a single eye, return a new view matrix. If
* there are two viewports (one for each eye) different matrices will
* be returned depending on the viewport.
*
* @param viewmatrix The new view matrix (filled in by this function)
*
* @param cyclopsViewMatrix A single view matrix. If two eyes, this
* view matrix represents the point between the eyes.
*
* @param viewportNum The viewport number.
*/
static void viewmat_get_generic(float viewmatrix[16], const float cyclopsViewMatrix[16], const int viewportNum)
{
/* Update the view matrix based on which eye we are rendering */
float eyeDist = 0.055; // TODO: Make this configurable.
viewmat_eye eye = viewmat_viewport_to_eye(viewportNum);
float eyeShift = 0;
if(eye == VIEWMAT_EYE_LEFT)
eyeShift = -eyeDist/2.0;
else if(eye == VIEWMAT_EYE_RIGHT)
eyeShift = eyeDist/2.0;
float shiftMatrix[16];
// Negate eyeShift because the matrix would shift the world, not
// the eye by default.
mat4f_translate_new(shiftMatrix, -eyeShift, 0, 0);
/* Adjust the view matrix by the eye offset */
mat4f_mult_mat4f_new(viewmatrix, shiftMatrix, cyclopsViewMatrix);
}
/* Called by GLUT whenever the window needs to be redrawn. This
* function should not be called directly by the programmer. Instead,
* we can call glutPostRedisplay() to request that GLUT call display()
* at some point. */
void display()
{
/* If we are using DGR, send or receive data to keep multiple
* processes/computers synchronized. */
dgr_update();
/* Render the scene once for each viewport. Frequently one
* viewport will fill the entire screen. However, this loop will
* run twice for HMDs (once for the left eye and once for the
* right. */
viewmat_begin_frame();
for(int viewportID=0; viewportID<viewmat_num_viewports(); viewportID++)
{
viewmat_begin_eye(viewportID);
/* Where is the viewport that we are drawing onto and what is its size? */
int viewport[4]; // x,y of lower left corner, width, height
viewmat_get_viewport(viewport, viewportID);
glViewport(viewport[0], viewport[1], viewport[2], viewport[3]);
/* Clear the current viewport. Without glScissor(), glClear()
* clears the entire screen. We could call glClear() before
* this viewport loop---but on order for all variations of
* this code to work (Oculus support, etc), we can only draw
* after viewmat_begin_eye(). */
glScissor(viewport[0], viewport[1], viewport[2], viewport[3]);
glEnable(GL_SCISSOR_TEST);
glClearColor(.2,.2,.2,0); // set clear color to grey
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glDisable(GL_SCISSOR_TEST);
glEnable(GL_DEPTH_TEST); // turn on depth testing
kuhl_errorcheck();
/* Turn on blending (note, if you are using transparent textures,
the transparency may not look correct unless you draw further
items before closer items. This program always draws the
geometry in the same order.). */
glEnable(GL_BLEND);
glBlendEquationSeparate(GL_FUNC_ADD, GL_FUNC_ADD);
glBlendFuncSeparate(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA, GL_ONE, GL_ZERO);
/* Get the view or camera matrix; update the frustum values if needed. */
float viewMat[16], perspective[16];
viewmat_get(viewMat, perspective, viewportID);
/* Calculate an angle to rotate the
* object. glutGet(GLUT_ELAPSED_TIME) is the number of
* milliseconds since glutInit() was called. */
int count = glutGet(GLUT_ELAPSED_TIME) % 10000; // get a counter that repeats every 10 seconds
float angle = count / 10000.0 * 360; // rotate 360 degrees every 10 seconds
/* Make sure all computers/processes use the same angle */
dgr_setget("angle", &angle, sizeof(GLfloat));
/* Create a 4x4 rotation matrix based on the angle we computed. */
float rotateMat[16];
mat4f_rotateAxis_new(rotateMat, angle, 0,1,0);
/* Create a scale matrix. */
float scaleMatrix[16];
mat4f_scale_new(scaleMatrix, 3, 3, 3);
// Modelview = (viewMatrix * scaleMatrix) * rotationMatrix
float modelview[16];
mat4f_mult_mat4f_new(modelview, viewMat, scaleMatrix);
mat4f_mult_mat4f_new(modelview, modelview, rotateMat);
kuhl_errorcheck();
glUseProgram(program);
kuhl_errorcheck();
/* Send the perspective projection matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("Projection"),
1, // number of 4x4 float matrices
0, // transpose
perspective); // value
/* Send the modelview matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, // number of 4x4 float matrices
0, // transpose
modelview); // value
kuhl_errorcheck();
/* Draw the geometry using the matrices that we sent to the
* vertex programs immediately above */
kuhl_geometry_draw(&triangle);
} // finish viewport loop
viewmat_end_frame();
/* Check for errors. If there are errors, consider adding more
* calls to kuhl_errorcheck() in your code. */
kuhl_errorcheck();
/* Ask GLUT to call display() again. We shouldn't call display()
* ourselves recursively because it will not leave time for GLUT
* to call other callback functions for when a key is pressed, the
* window is resized, etc. */
glutPostRedisplay();
}
/* Called by GLUT whenever the window needs to be redrawn. This
* function should not be called directly by the programmer. Instead,
* we can call glutPostRedisplay() to request that GLUT call display()
* at some point. */
void display()
{
/* If we are using DGR, send or receive data to keep multiple
* processes/computers synchronized. */
dgr_update();
/* Render the scene once for each viewport. Frequently one
* viewport will fill the entire screen. However, this loop will
* run twice for HMDs (once for the left eye and once for the
* right.) */
viewmat_begin_frame();
for(int viewportID=0; viewportID<viewmat_num_viewports(); viewportID++)
{
viewmat_begin_eye(viewportID);
/* Where is the viewport that we are drawing onto and what is its size? */
int viewport[4]; // x,y of lower left corner, width, height
viewmat_get_viewport(viewport, viewportID);
glViewport(viewport[0], viewport[1], viewport[2], viewport[3]);
/* Clear the current viewport. Without glScissor(), glClear()
* clears the entire screen. We could call glClear() before
* this viewport loop---but on order for all variations of
* this code to work (Oculus support, etc), we can only draw
* after viewmat_begin_eye(). */
glScissor(viewport[0], viewport[1], viewport[2], viewport[3]);
glEnable(GL_SCISSOR_TEST);
glClearColor(.2,.2,.2,0); // set clear color to grey
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT);
glDisable(GL_SCISSOR_TEST);
glEnable(GL_DEPTH_TEST); // turn on depth testing
kuhl_errorcheck();
/* Get the view or camera matrix; update the frustum values if needed. */
float viewMat[16], perspective[16];
viewmat_get(viewMat, perspective, viewportID);
/* Calculate an angle to rotate the
* object. glutGet(GLUT_ELAPSED_TIME) is the number of
* milliseconds since glutInit() was called. */
int count = glutGet(GLUT_ELAPSED_TIME) % 10000; // get a counter that repeats every 10 seconds
float angle = count / 10000.0 * 360; // rotate 360 degrees every 10 seconds
/* Make sure all computers/processes use the same angle */
dgr_setget("angle", &angle, sizeof(GLfloat));
/* Create a 4x4 rotation matrix based on the angle we computed. */
float rotateMat[16];
mat4f_rotateAxis_new(rotateMat, angle, 0,1,0);
/* Create a scale matrix. */
float scaleMatrix[16];
mat4f_scale_new(scaleMatrix, 3, 3, 3);
// Modelview = (viewMatrix * scaleMatrix) * rotationMatrix
float modelview[16];
mat4f_mult_mat4f_new(modelview, viewMat, scaleMatrix);
mat4f_mult_mat4f_new(modelview, modelview, rotateMat);
kuhl_errorcheck();
glUseProgram(program);
kuhl_errorcheck();
/* Send the perspective projection matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("Projection"),
1, // number of 4x4 float matrices
0, // transpose
perspective); // value
/* Send the modelview matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, // number of 4x4 float matrices
0, // transpose
modelview); // value
kuhl_errorcheck();
/* Draw the geometry using the matrices that we sent to the
* vertex programs immediately above. Use the stencil buffer
* to keep track of which object appears on top. */
if(viewportID == 0)
glEnable(GL_STENCIL_TEST);
glStencilOp(GL_KEEP, GL_KEEP, GL_REPLACE);
glStencilFunc(GL_ALWAYS, 1, -1);
kuhl_geometry_draw(&triangle);
glStencilFunc(GL_ALWAYS, 2, -1);
kuhl_geometry_draw(&quad);
glDisable(GL_STENCIL_TEST);
/* If we have multiple viewports, only draw cursor in the
* first viewport. */
if(viewportID == 0)
{
/* Draw the cursor in normalized device coordinates. Don't
* use any matrices. */
float identity[16];
mat4f_identity(identity);
glUniformMatrix4fv(kuhl_get_uniform("Projection"),
1, 0, identity);
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, 0, identity);
/* Disable depth testing so the cursor isn't occluded by
* anything. */
glDisable(GL_DEPTH_TEST);
kuhl_geometry_draw(&cursor);
glEnable(GL_DEPTH_TEST);
/* When we render images on the Oculus, we are rendering
* into a multisampled framebuffer object, and we can't
* read from the multisample FBO until we have blitted it
* into a normal FBO. Here, we get the blitted FBO for the
* *previous* frame. */
GLint fb =viewmat_get_blitted_framebuffer(viewportID);
glBindFramebuffer(GL_FRAMEBUFFER, fb);
GLuint stencilVal = 0;
kuhl_errorcheck();
glReadPixels(viewport[0]+viewport[2]/2, viewport[1]+viewport[3]/2,
1,1, // get data for 1x1 area (i.e., a pixel)
GL_STENCIL_INDEX, // query the stencil buffer
GL_UNSIGNED_INT,
&stencilVal);
kuhl_errorcheck();
if(stencilVal == 1)
printf("Cursor is on triangle.\n");
else if(stencilVal == 2)
printf("Cursor is on quad.\n");
else
printf("Cursor isn't on anything.\n");
}
glUseProgram(0); // stop using a GLSL program.
} // finish viewport loop
viewmat_end_frame();
/* Check for errors. If there are errors, consider adding more
* calls to kuhl_errorcheck() in your code. */
kuhl_errorcheck();
/* Ask GLUT to call display() again. We shouldn't call display()
* ourselves recursively because it will not leave time for GLUT
* to call other callback functions for when a key is pressed, the
* window is resized, etc. */
glutPostRedisplay();
}
/* Called by GLUT whenever the window needs to be redrawn. This
* function should not be called directly by the programmer. Instead,
* we can call glutPostRedisplay() to request that GLUT call display()
* at some point. */
void display()
{
/* If we are using DGR, send or receive data to keep multiple
* processes/computers synchronized. */
dgr_update();
/* Render the scene once for each viewport. Frequently one
* viewport will fill the entire screen. However, this loop will
* run twice for HMDs (once for the left eye and once for the
* right. */
viewmat_begin_frame();
for(int viewportID=0; viewportID<viewmat_num_viewports(); viewportID++)
{
viewmat_begin_eye(viewportID);
/* Where is the viewport that we are drawing onto and what is its size? */
int viewport[4]; // x,y of lower left corner, width, height
viewmat_get_viewport(viewport, viewportID);
glViewport(viewport[0], viewport[1], viewport[2], viewport[3]);
/* Clear the current viewport. Without glScissor(), glClear()
* clears the entire screen. We could call glClear() before
* this viewport loop---but on order for all variations of
* this code to work (Oculus support, etc), we can only draw
* after viewmat_begin_eye(). */
glScissor(viewport[0], viewport[1], viewport[2], viewport[3]);
glEnable(GL_SCISSOR_TEST);
glClearColor(.2,.2,.2,0); // set clear color to grey
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glDisable(GL_SCISSOR_TEST);
glEnable(GL_DEPTH_TEST); // turn on depth testing
kuhl_errorcheck();
/* Turn on blending (note, if you are using transparent textures,
the transparency may not look correct unless you draw further
items before closer items. This program always draws the
geometry in the same order.). */
glEnable(GL_BLEND);
glBlendEquationSeparate(GL_FUNC_ADD, GL_FUNC_ADD);
glBlendFuncSeparate(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA, GL_ONE, GL_ZERO);
/* Get the view or camera matrix; update the frustum values if needed. */
float viewMat[16], perspective[16];
viewmat_eye eye = viewmat_get(viewMat, perspective, viewportID);
/* Always put camera at origin (no translation, no
* interpupillary distance). */
float noTranslation[4] = {0,0,0,1};
mat4f_setColumn(viewMat, noTranslation, 3); // last column
/* Create a scale matrix. */
float scaleMatrix[16];
mat4f_scale_new(scaleMatrix, 20, 20, 20);
// Modelview = (viewMatrix * scaleMatrix) * rotationMatrix
float modelview[16];
mat4f_mult_mat4f_new(modelview, viewMat, scaleMatrix);
kuhl_errorcheck();
glUseProgram(program);
kuhl_errorcheck();
/* Send the perspective projection matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("Projection"),
1, // number of 4x4 float matrices
0, // transpose
perspective); // value
/* Send the modelview matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, // number of 4x4 float matrices
0, // transpose
modelview); // value
kuhl_errorcheck();
if(texIdLeft != 0 && texIdRight != 0) // cylinder
{
/* Draw the cylinder with the appropriate texture */
if(eye == VIEWMAT_EYE_RIGHT)
kuhl_geometry_texture(&cylinder, texIdRight, "tex", KG_WARN);
else
kuhl_geometry_texture(&cylinder, texIdLeft, "tex", KG_WARN);
kuhl_geometry_draw(&cylinder);
}
else // cubemap
{
if(eye == VIEWMAT_EYE_RIGHT)
setupCubemap(cubemapRightTex, quad, modelview);
else
setupCubemap(cubemapLeftTex, quad, modelview);
}
} // finish viewport loop
viewmat_end_frame();
/* Check for errors. If there are errors, consider adding more
* calls to kuhl_errorcheck() in your code. */
kuhl_errorcheck();
/* Ask GLUT to call display() again. We shouldn't call display()
* ourselves recursively because it will not leave time for GLUT
* to call other callback functions for when a key is pressed, the
* window is resized, etc. */
glutPostRedisplay();
static int fps_state_init = 0;
static kuhl_fps_state fps_state;
if(fps_state_init == 0)
{
kuhl_getfps_init(&fps_state);
fps_state_init = 1;
}
float fps = kuhl_getfps(&fps_state);
if(fps_state.frame == 0)
msg(INFO, "fps: %6.1f\n", fps);
}
/** Uses the VRPN library to get the position and orientation of a
* tracked object.
*
* @param object The name of the object being tracked.
*
* @param hostname The IP address or hostname of the VRPN server or
* tracking system computer. If hostname is set to NULL, the
* ~/.vrpn-server file is consulted.
*
* @param pos An array to be filled in with the position information
* for the tracked object. If we are unable to track the object, a
* message may be printed and pos will be set to a fixed value.
*
* @param orient An array to be filled in with the orientation matrix
* for the tracked object. The orientation matrix is in row-major
* order can be used with OpenGL. If the tracking system is moving an
* object around on the screen, this matrix can be used directly. If
* the tracking system is moving the OpenGL camera, this matrix may
* need to be inverted. If we are unable to track the object, a
* message may be printed and orient will be set to the identity
* matrix.
*
* @return 1 if we returned data from the tracker. 0 if there was
* problems connecting to the tracker.
*/
int vrpn_get(const char *object, const char *hostname, float pos[3], float orient[16])
{
/* Set to default values */
vec3f_set(pos, 10000,10000,10000);
mat4f_identity(orient);
#ifdef MISSING_VRPN
printf("You are missing VRPN support.\n");
return 0;
#else
if(object == NULL || strlen(object) == 0)
{
msg(WARNING, "Empty or NULL object name was passed into this function.\n");
return 0;
}
if(hostname != NULL && strlen(hostname) == 0)
{
msg(WARNING, "Hostname is an empty string.\n");
return 0;
}
/* Construct an object@hostname string. */
std::string hostnamecpp;
std::string objectcpp;
if(hostname == NULL)
{
char *hostnameInFile = vrpn_default_host();
if(hostnameInFile)
hostnamecpp = hostnameInFile;
else
{
msg(ERROR, "Failed to find hostname of VRPN server.\n");
exit(EXIT_FAILURE);
}
}
else
hostnamecpp = hostname;
objectcpp = object;
std::string fullname = objectcpp + "@" + hostnamecpp;
/* Check if we have a tracker object for that string in our map. */
if(nameToTracker.count(fullname))
{
/* If we already have a tracker object, ask it to run the main
* loop (and therefore call our handle_tracker() function if
* there is new data). */
nameToTracker[fullname]->mainloop();
/* If our callback has been called, get the callback object
* and get the data out of it. */
if(nameToCallbackData.count(fullname))
{
vrpn_TRACKERCB t = nameToCallbackData[fullname];
float pos4[4];
for(int i=0; i<3; i++)
pos4[i] = t.pos[i];
pos4[3]=1;
double orientd[16];
// Convert quaternion into orientation matrix.
q_to_ogl_matrix(orientd, t.quat);
for(int i=0; i<16; i++)
orient[i] = (float) orientd[i];
/* VICON in the MTU IVS lab is typically calibrated so that:
* X = points to the right (while facing screen)
* Y = points into the screen
* Z = up
* (left-handed coordinate system)
*
* PPT is typically calibrated so that:
* X = the points to the wall that has two closets at both corners
* Y = up
* Z = points to the door
* (right-handed coordinate system)
*
* By default, OpenGL assumes that:
* X = points to the right (while facing screen in the IVS lab)
* Y = up
* Z = points OUT of the screen (i.e., -Z points into the screen in te IVS lab)
* (right-handed coordinate system)
*
* Below, we convert the position and orientation
* information into the OpenGL convention.
*/
if(strlen(hostnamecpp.c_str()) > 14 && strncmp(hostnamecpp.c_str(), "tcp://141.219.", 14) == 0) // MTU vicon tracker
{
float viconTransform[16] = { 1,0,0,0, // column major order!
0,0,-1,0,
0,1,0,0,
0,0,0,1 };
mat4f_mult_mat4f_new(orient, viconTransform, orient);
mat4f_mult_vec4f_new(pos4, viconTransform, pos4);
vec3f_copy(pos,pos4);
return 1; // we successfully collected some data
}
else // Non-Vicon tracker
{
/* Don't transform other tracking systems */
// orient is already filled in
vec3f_copy(pos, pos4);
return 1; // we successfully collected some data
}
}
}
else
{
/* If this is our first time, create a tracker for the object@hostname string, register the callback handler. */
msg(INFO, "Connecting to VRPN server: %s\n", hostnamecpp.c_str());
// If we are making a TCP connection and the server isn't up, the following function call may hang for a long time
vrpn_Connection *connection = vrpn_get_connection_by_name(hostnamecpp.c_str());
/* Wait for a bit to see if we can connect. Sometimes we don't immediately connect! */
for(int i=0; i<1000 && !connection->connected(); i++)
{
usleep(1000); // 1000 microseconds * 1000 = up to 1 second of waiting.
connection->mainloop();
}
/* If connection failed, exit. */
if(!connection->connected())
{
delete connection;
msg(ERROR, "Failed to connect to tracker: %s\n", fullname.c_str());
return 0;
}
vrpn_Tracker_Remote *tkr = new vrpn_Tracker_Remote(fullname.c_str(), connection);
nameToTracker[fullname] = tkr;
tkr->register_change_handler((void*) fullname.c_str(), handle_tracker);
kuhl_getfps_init(&fps_state);
kalman_initialize(&kalman, 0.1, 0.1);
}
return 0;
#endif
}
/** Get view and projection matrices appropriate for the Oculus HMD */
static void viewmat_get_hmd_oculus(float viewmatrix[16], float projmatrix[16], int viewportID)
{
#ifndef MISSING_OVR
/* Oculus recommends the order that we should render eyes. We
* assume that smaller viewportIDs are rendered first. So, we need
* to map the viewportIDs to the specific Oculus HMD eye. The
* "eye" variable will be set to either ovrEye_Left (if we are
* rendering the left eye) or ovrEye_Right (if we are rendering
* the right eye). */
ovrEyeType eye = hmd->EyeRenderOrder[viewportID];
/* Oculus doesn't provide us with easy access to the view
* frustum information. We get the projection matrix directly
* from libovr. */
ovrMatrix4f ovrpersp = ovrMatrix4f_Projection(hmd->DefaultEyeFov[eye], 0.5, 500, 1);
mat4f_setRow(projmatrix, &(ovrpersp.M[0][0]), 0);
mat4f_setRow(projmatrix, &(ovrpersp.M[1][0]), 1);
mat4f_setRow(projmatrix, &(ovrpersp.M[2][0]), 2);
mat4f_setRow(projmatrix, &(ovrpersp.M[3][0]), 3);
float offsetMat[16], rotMat[16], posMat[16], initPosMat[16];
mat4f_identity(offsetMat); // Viewpoint offset (IPD, etc);
mat4f_identity(rotMat); // tracking system rotation
mat4f_identity(posMat); // tracking system position
mat4f_identity(initPosMat); // camera starting location
/* Construct posMat and rotMat matrices which indicate the
* position and orientation of the HMD. */
if(viewmat_vrpn_obj) // get position from VRPN
{
/* Get the offset for the left and right eyes from
* Oculus. If you are using a separate tracking system, you
* may also want to apply an offset here between the tracked
* point and the eye location. */
mat4f_translate_new(offsetMat,
eye_rdesc[eye].HmdToEyeViewOffset.x, // left & right IPD offset
eye_rdesc[eye].HmdToEyeViewOffset.y, // vertical offset
eye_rdesc[eye].HmdToEyeViewOffset.z); // forward/back offset
float pos[3] = { 0,0,0 };
vrpn_get(viewmat_vrpn_obj, NULL, pos, rotMat);
mat4f_translate_new(posMat, -pos[0], -pos[1], -pos[2]); // position
viewmat_fix_rotation(rotMat);
}
else // get position from Oculus tracker
{
pose[eye] = ovrHmd_GetHmdPosePerEye(hmd, eye);
mat4f_translate_new(posMat, // position (includes IPD offset)
-pose[eye].Position.x,
-pose[eye].Position.y,
-pose[eye].Position.z);
mat4f_rotateQuat_new(rotMat, // rotation
pose[eye].Orientation.x,
pose[eye].Orientation.y,
pose[eye].Orientation.z,
pose[eye].Orientation.w);
// Starting point:
// Translate the world based on the initial camera position
// specified in viewmat_init(). You may choose to initialize the
// camera position with y=1.5 meters to approximate a normal
// standing eyeheight.
float initPosVec[3];
vec3f_scalarMult_new(initPosVec, oculus_initialPos, -1.0f);
mat4f_translateVec_new(initPosMat, initPosVec);
// TODO: Could also get eyeheight via ovrHmd_GetFloat(hmd, OVR_KEY_EYE_HEIGHT, 1.65)
}
mat4f_transpose(rotMat); /* orientation sensor rotates camera, not world */
// viewmatrix = offsetMat * rotMat * posMat * initposmat
mat4f_mult_mat4f_new(viewmatrix, offsetMat, rotMat); // offset is identity if we are using Oculus tracker
mat4f_mult_mat4f_new(viewmatrix, viewmatrix, posMat);
mat4f_mult_mat4f_new(viewmatrix, viewmatrix, initPosMat);
if(0)
{
printf("ViewportID=%d; eye=%s\n", viewportID, eye == ovrEye_Left ? "left" : "right");
printf("Eye offset according to OVR (only used if VRPN is used): ");
mat4f_print(offsetMat);
printf("Rotation sensing (from OVR or VRPN): ");
mat4f_print(rotMat);
printf("Position tracking (from OVR or VRPN): ");
mat4f_print(posMat);
printf("Initial position (from set in viewmat_init()): ");
mat4f_print(initPosMat);
printf("Final view matrix: ");
mat4f_print(viewmatrix);
}
#else
/* We shouldn't ever get here, but we'll generate a generic view
* and projection matrix just in case... */
mat4f_lookat_new(viewmatrix,
0,1.55,0,
0,1.55,-1,
0,1,0);
mat4f_perspective_new(projmatrix, 50, 1, 0.5, 500);
#endif
}
/* Called by GLUT whenever the window needs to be redrawn. This
* function should not be called directly by the programmer. Instead,
* we can call glutPostRedisplay() to request that GLUT call display()
* at some point. */
void display()
{
/* If we are using DGR, send or receive data to keep multiple
* processes/computers synchronized. */
dgr_update();
/* Render the scene once for each viewport. Frequently one
* viewport will fill the entire screen. However, this loop will
* run twice for HMDs (once for the left eye and once for the
* right. */
viewmat_begin_frame();
for(int viewportID=0; viewportID<viewmat_num_viewports(); viewportID++)
{
viewmat_begin_eye(viewportID);
/* Where is the viewport that we are drawing onto and what is its size? */
int viewport[4]; // x,y of lower left corner, width, height
viewmat_get_viewport(viewport, viewportID);
glViewport(viewport[0], viewport[1], viewport[2], viewport[3]);
/* Clear the current viewport. Without glScissor(), glClear()
* clears the entire screen. We could call glClear() before
* this viewport loop---but on order for all variations of
* this code to work (Oculus support, etc), we can only draw
* after viewmat_begin_eye(). */
glScissor(viewport[0], viewport[1], viewport[2], viewport[3]);
glEnable(GL_SCISSOR_TEST);
glClearColor(.2,.2,.2,0); // set clear color to grey
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glDisable(GL_SCISSOR_TEST);
glEnable(GL_DEPTH_TEST); // turn on depth testing
kuhl_errorcheck();
/* Get the view or camera matrix; update the frustum values if needed. */
float viewMat[16], perspective[16];
viewmat_get(viewMat, perspective, viewportID);
/* Calculate an angle to rotate the
* object. glutGet(GLUT_ELAPSED_TIME) is the number of
* milliseconds since glutInit() was called. */
int count = glutGet(GLUT_ELAPSED_TIME) % 10000; // get a counter that repeats every 10 seconds
float angle = count / 10000.0 * 360; // rotate 360 degrees every 10 seconds
/* Make sure all computers/processes use the same angle */
dgr_setget("angle", &angle, sizeof(GLfloat));
/* Create a 4x4 rotation matrix based on the angle we computed. */
float rotateMat[16];
mat4f_rotateAxis_new(rotateMat, angle, 0,1,0);
/* Create a scale matrix. */
float scaleMatrix[16];
mat4f_scale_new(scaleMatrix, 3, 3, 3);
// Modelview = (viewMatrix * scaleMatrix) * rotationMatrix
float modelview[16];
mat4f_mult_mat4f_new(modelview, viewMat, scaleMatrix);
mat4f_mult_mat4f_new(modelview, modelview, rotateMat);
kuhl_errorcheck();
glUseProgram(program);
kuhl_errorcheck();
/* Send the perspective projection matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("Projection"),
1, // number of 4x4 float matrices
0, // transpose
perspective); // value
/* Send the modelview matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, // number of 4x4 float matrices
0, // transpose
modelview); // value
kuhl_errorcheck();
/* Setup prerender directly to texture once (and reuse the
* framebuffer object for subsequent draw commands). */
if(prerenderFrameBuffer == 0)
{
#if USE_MSAA==1
/* Generate a MSAA framebuffer + texture */
GLuint prerenderTexIDAA;
prerenderFrameBufferAA = kuhl_gen_framebuffer_msaa(viewport[2], viewport[3],
&prerenderTexIDAA,
NULL, 16);
#endif
prerenderFrameBuffer = kuhl_gen_framebuffer(viewport[2], viewport[3],
&prerenderTexID,
NULL);
/* Apply the texture to our geometry and draw the quad. */
kuhl_geometry_texture(&prerendQuad, prerenderTexID, "tex", 1);
}
/* Switch to framebuffer and set the OpenGL viewport to cover
* the entire framebuffer. */
#if USE_MSAA==1
glBindFramebuffer(GL_FRAMEBUFFER, prerenderFrameBufferAA);
#else
glBindFramebuffer(GL_FRAMEBUFFER, prerenderFrameBuffer);
#endif
glViewport(0,0,viewport[2], viewport[3]);
kuhl_errorcheck();
/* Clear the framebuffer and the depth buffer. */
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
/* Draw the geometry using the matrices that we sent to the
* vertex programs immediately above */
kuhl_geometry_draw(&triangle);
kuhl_geometry_draw(&quad);
/* Stop rendering to texture */
glBindFramebuffer(GL_FRAMEBUFFER, 0);
glUseProgram(0);
kuhl_errorcheck();
#if USE_MSAA==1
/* Copy the MSAA framebuffer into the normal framebuffer */
glBindFramebuffer(GL_READ_FRAMEBUFFER, prerenderFrameBufferAA);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, prerenderFrameBuffer);
glBlitFramebuffer(0,0,viewport[2],viewport[3],
0,0,viewport[2],viewport[3],
GL_COLOR_BUFFER_BIT, GL_NEAREST);
glBindFramebuffer(GL_READ_FRAMEBUFFER,0);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER,0);
kuhl_errorcheck();
#endif
/* Set up the viewport to draw on the screen */
glViewport(viewport[0], viewport[1], viewport[2], viewport[3]);
kuhl_geometry_draw(&prerendQuad);
} // finish viewport loop
viewmat_end_frame();
/* Check for errors. If there are errors, consider adding more
* calls to kuhl_errorcheck() in your code. */
kuhl_errorcheck();
/* Ask GLUT to call display() again. We shouldn't call display()
* ourselves recursively because it will not leave time for GLUT
* to call other callback functions for when a key is pressed, the
* window is resized, etc. */
glutPostRedisplay();
}
void display()
{
/* If we are using DGR, send or receive data to keep multiple
* processes/computers synchronized. */
dgr_update();
/* Get current frames per second calculations. */
float fps = kuhl_getfps(&fps_state);
if(dgr_is_enabled() == 0 || dgr_is_master())
{
// If DGR is being used, only display dgr counter if we are
// the master process.
// Check if FPS value was just updated by kuhl_getfps()
if(fps_state.frame == 0)
{
char label[1024];
snprintf(label, 1024, "FPS: %0.1f", fps);
/* Delete old label if it exists */
if(fpsLabel != 0)
glDeleteTextures(1, &fpsLabel);
/* Make a new label */
float labelColor[3] = { 1,1,1 };
float labelBg[4] = { 0,0,0,.3 };
/* Change the last parameter (point size) to adjust the
* size of the texture that the text is rendered in to. */
fpsLabelAspectRatio = kuhl_make_label(label,
&fpsLabel,
labelColor, labelBg, 24);
if(fpsLabel != 0)
kuhl_geometry_texture(&labelQuad, fpsLabel, "tex", 1);
}
}
/* Ensure the slaves use the same render style as the master
* process. */
dgr_setget("style", &renderStyle, sizeof(int));
/* Render the scene once for each viewport. Frequently one
* viewport will fill the entire screen. However, this loop will
* run twice for HMDs (once for the left eye and once for the
* right. */
viewmat_begin_frame();
for(int viewportID=0; viewportID<viewmat_num_viewports(); viewportID++)
{
viewmat_begin_eye(viewportID);
/* Where is the viewport that we are drawing onto and what is its size? */
int viewport[4]; // x,y of lower left corner, width, height
viewmat_get_viewport(viewport, viewportID);
glViewport(viewport[0], viewport[1], viewport[2], viewport[3]);
/* Clear the current viewport. Without glScissor(), glClear()
* clears the entire screen. We could call glClear() before
* this viewport loop---but on order for all variations of
* this code to work (Oculus support, etc), we can only draw
* after viewmat_begin_eye(). */
glScissor(viewport[0], viewport[1], viewport[2], viewport[3]);
glEnable(GL_SCISSOR_TEST);
glClearColor(.2,.2,.2,0); // set clear color to grey
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glDisable(GL_SCISSOR_TEST);
glEnable(GL_DEPTH_TEST); // turn on depth testing
kuhl_errorcheck();
/* Turn on blending (note, if you are using transparent textures,
the transparency may not look correct unless you draw further
items before closer items.). */
glEnable(GL_BLEND);
glBlendEquationSeparate(GL_FUNC_ADD, GL_FUNC_ADD);
glBlendFuncSeparate(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA, GL_ONE, GL_ZERO);
/* Get the view or camera matrix; update the frustum values if needed. */
float viewMat[16], perspective[16];
viewmat_get(viewMat, perspective, viewportID);
glUseProgram(program);
kuhl_errorcheck();
/* Send the perspective projection matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("Projection"),
1, // number of 4x4 float matrices
0, // transpose
perspective); // value
float modelMat[16];
get_model_matrix(modelMat);
float modelview[16];
mat4f_mult_mat4f_new(modelview, viewMat, modelMat); // modelview = view * model
/* Send the modelview matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, // number of 4x4 float matrices
0, // transpose
modelview); // value
glUniform1i(kuhl_get_uniform("renderStyle"), renderStyle);
// Copy far plane value into vertex program so we can render depth buffer.
float f[6]; // left, right, bottom, top, near>0, far>0
projmat_get_frustum(f, viewport[2], viewport[3]);
glUniform1f(kuhl_get_uniform("farPlane"), f[5]);
kuhl_errorcheck();
kuhl_geometry_draw(modelgeom); /* Draw the model */
kuhl_errorcheck();
if(showOrigin)
{
/* Save current line width */
GLfloat origLineWidth;
glGetFloatv(GL_LINE_WIDTH, &origLineWidth);
glLineWidth(4); // make lines thick
/* Object coordinate system origin */
kuhl_geometry_draw(origingeom); /* Draw the origin marker */
/* World coordinate origin */
mat4f_copy(modelview, viewMat);
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, // number of 4x4 float matrices
0, // transpose
modelview); // value
kuhl_geometry_draw(origingeom); /* Draw the origin marker */
/* Restore line width */
glLineWidth(origLineWidth);
}
if(dgr_is_enabled() == 0 || dgr_is_master())
{
/* The shape of the frames per second quad depends on the
* aspect ratio of the label texture and the aspect ratio of
* the window (because we are placing the quad in normalized
* device coordinates). */
int windowWidth, windowHeight;
viewmat_window_size(&windowWidth, &windowHeight);
float windowAspect = windowWidth / (float)windowHeight;
float stretchLabel[16];
mat4f_scale_new(stretchLabel, 1/8.0 * fpsLabelAspectRatio / windowAspect, 1/8.0, 1);
/* Position label in the upper left corner of the screen */
float transLabel[16];
mat4f_translate_new(transLabel, -.9, .8, 0);
mat4f_mult_mat4f_new(modelview, transLabel, stretchLabel);
glUniformMatrix4fv(kuhl_get_uniform("ModelView"), 1, 0, modelview);
/* Make sure we don't use a projection matrix */
float identity[16];
mat4f_identity(identity);
glUniformMatrix4fv(kuhl_get_uniform("Projection"), 1, 0, identity);
/* Don't use depth testing and make sure we use the texture
* rendering style */
glDisable(GL_DEPTH_TEST);
glUniform1i(kuhl_get_uniform("renderStyle"), 1);
kuhl_geometry_draw(&labelQuad); /* Draw the quad */
glEnable(GL_DEPTH_TEST);
kuhl_errorcheck();
}
glUseProgram(0); // stop using a GLSL program.
} // finish viewport loop
viewmat_end_frame();
/* Update the model for the next frame based on the time. We
* convert the time to seconds and then use mod to cause the
* animation to repeat. */
int time = glutGet(GLUT_ELAPSED_TIME);
dgr_setget("time", &time, sizeof(int));
kuhl_update_model(modelgeom, 0, ((time%10000)/1000.0));
/* Check for errors. If there are errors, consider adding more
* calls to kuhl_errorcheck() in your code. */
kuhl_errorcheck();
//kuhl_video_record("videoout", 30);
/* Ask GLUT to call display() again. We shouldn't call display()
* ourselves recursively because it will not leave time for GLUT
* to call other callback functions for when a key is pressed, the
* window is resized, etc. */
glutPostRedisplay();
}
void display()
{
dgr_update();
dgr_setget("style", &renderStyle, sizeof(int));
// Clear the screen to black, clear the depth buffer
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST); // turn on depth testing
kuhl_errorcheck();
/* Turn on blending (note, if you are using transparent textures,
the transparency may not look correct unless you draw further
items before closer items.). */
glEnable(GL_BLEND);
glBlendEquationSeparate(GL_FUNC_ADD, GL_FUNC_ADD);
glBlendFuncSeparate(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA, GL_ONE, GL_ZERO);
/* Render the scene once for each viewport. Frequently one
* viewport will fill the entire screen. However, this loop will
* run twice for HMDs (once for the left eye and once for the
* right. */
for(int viewportID=0; viewportID<viewmat_num_viewports(); viewportID++)
{
/* Where is the viewport that we are drawing onto and what is its size? */
int viewport[4]; // x,y of lower left corner, width, height
viewmat_get_viewport(viewport, viewportID);
glViewport(viewport[0], viewport[1], viewport[2], viewport[3]);
/* Get the frustum information which will be later used to generate a perspective projection matrix. */
float f[6]; // left, right, top, bottom, near>0, far>0
projmat_get_frustum(f, viewport[2], viewport[3]);
/* Get the view or camera matrix; update the frustum values if needed. */
float viewMat[16];
viewmat_get(viewMat, f, viewportID);
glUseProgram(program);
/* Communicate matricies to OpenGL */
float perspective[16];
mat4f_frustum_new(perspective,f[0], f[1], f[2], f[3], f[4], f[5]);
glUniformMatrix4fv(kuhl_get_uniform("Projection"),
1, // count
0, // transpose
perspective); // value
float modelMat[16];
get_model_matrix(modelMat);
// modelview = view * model
float modelview[16];
mat4f_mult_mat4f_new(modelview, viewMat, modelMat);
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, // count
0, // transpose
modelview); // value
glUniform1i(kuhl_get_uniform("renderStyle"), renderStyle);
// Copy far plane value into vertex program so we can render depth buffer.
glUniform1f(kuhl_get_uniform("farPlane"), f[5]);
kuhl_errorcheck();
kuhl_draw_model_file_ogl3(modelFilename, modelTexturePath, program);
kuhl_errorcheck();
glUseProgram(0); // stop using a GLSL program.
} // finish viewport loop
int time = glutGet(GLUT_ELAPSED_TIME);
float fps = kuhl_getfps(time);
if(time % 1000 == 0)
printf("Frames per second: %0.1f\n", fps);
/* Check for errors. If there are errors, consider adding more
* calls to kuhl_errorcheck() in your code. */
kuhl_errorcheck();
glFlush();
glFinish();
/* Display the buffer we just drew (necessary for double buffering). */
glutSwapBuffers();
// kuhl_video_record("videoout", 30);
/* Ask GLUT to call display() again. We shouldn't call display()
* ourselves recursively because it will not leave time for GLUT
* to call other callback functions for when a key is pressed, the
* window is resized, etc. */
glutPostRedisplay();
}
/* Called by GLUT whenever the window needs to be redrawn. This
* function should not be called directly by the programmer. Instead,
* we can call glutPostRedisplay() to request that GLUT call display()
* at some point. */
void display()
{
/* If we are using DGR, send or receive data to keep multiple
* processes/computers synchronized. */
dgr_update();
glClearColor(.2,.2,.2,0); // set clear color to grey
// Clear the screen to black, clear the depth buffer
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST); // turn on depth testing
kuhl_errorcheck();
/* Render the scene once for each viewport. Frequently one
* viewport will fill the entire screen. However, this loop will
* run twice for HMDs (once for the left eye and once for the
* right. */
for(int viewportID=0; viewportID<viewmat_num_viewports(); viewportID++)
{
/* Where is the viewport that we are drawing onto and what is its size? */
int viewport[4]; // x,y of lower left corner, width, height
viewmat_get_viewport(viewport, viewportID);
glViewport(viewport[0], viewport[1], viewport[2], viewport[3]);
/* Get the frustum information which will be later used to generate a perspective projection matrix. */
float f[6]; // left, right, top, bottom, near>0, far>0
projmat_get_frustum(f, viewport[2], viewport[3]);
/* Get the view or camera matrix; update the frustum values if needed. */
float viewMat[16];
viewmat_get(viewMat, f, viewportID);
/* Create a 4x4 perspective projection matrix from the frustum values. */
float perspective[16];
mat4f_frustum_new(perspective,f[0], f[1], f[2], f[3], f[4], f[5]);
/* Calculate an angle to rotate the
* object. glutGet(GLUT_ELAPSED_TIME) is the number of
* milliseconds since glutInit() was called. */
int count = glutGet(GLUT_ELAPSED_TIME) % 10000; // get a counter that repeats every 10 seconds
float angle = count / 10000.0 * 360; // rotate 360 degrees every 10 seconds
/* Make sure all computers/processes use the same angle */
dgr_setget("angle", &angle, sizeof(GLfloat));
/* Create a 4x4 rotation matrix based on the angle we computed. */
float rotateMat[16];
mat4f_rotateAxis_new(rotateMat, angle, 0,1,0);
/* Create a scale matrix. */
float scaleMatrix[16];
mat4f_scale_new(scaleMatrix, 3, 3, 3);
// Modelview = (viewMatrix * scaleMatrix) * rotationMatrix
float modelview[16];
mat4f_mult_mat4f_new(modelview, viewMat, scaleMatrix);
mat4f_mult_mat4f_new(modelview, modelview, rotateMat);
kuhl_errorcheck();
glUseProgram(program);
kuhl_errorcheck();
/* Send the perspective projection matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("Projection"),
1, // number of 4x4 float matrices
0, // transpose
perspective); // value
/* Send the modelview matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, // number of 4x4 float matrices
0, // transpose
modelview); // value
kuhl_errorcheck();
/* Draw the geometry using the matrices that we sent to the
* vertex programs immediately above */
kuhl_geometry_draw(&triangle);
kuhl_geometry_draw(&quad);
glUseProgram(0); // stop using a GLSL program.
} // finish viewport loop
/* Check for errors. If there are errors, consider adding more
* calls to kuhl_errorcheck() in your code. */
kuhl_errorcheck();
/* Display the buffer we just drew (necessary for double buffering). */
glutSwapBuffers();
/* Ask GLUT to call display() again. We shouldn't call display()
* ourselves recursively because it will not leave time for GLUT
* to call other callback functions for when a key is pressed, the
* window is resized, etc. */
glutPostRedisplay();
}
/* Called by GLUT whenever the window needs to be redrawn. This
* function should not be called directly by the programmer. Instead,
* we can call glutPostRedisplay() to request that GLUT call display()
* at some point. */
void display()
{
/* If we are using DGR, send or receive data to keep multiple
* processes/computers synchronized. */
dgr_update();
dgr_setget("style", &renderStyle, sizeof(int));
/* Render the scene once for each viewport. Frequently one
* viewport will fill the entire screen. However, this loop will
* run twice for HMDs (once for the left eye and once for the
* right. */
viewmat_begin_frame();
for(int viewportID=0; viewportID<viewmat_num_viewports(); viewportID++)
{
viewmat_begin_eye(viewportID);
/* Where is the viewport that we are drawing onto and what is its size? */
int viewport[4]; // x,y of lower left corner, width, height
viewmat_get_viewport(viewport, viewportID);
glViewport(viewport[0], viewport[1], viewport[2], viewport[3]);
/* Clear the current viewport. Without glScissor(), glClear()
* clears the entire screen. We could call glClear() before
* this viewport loop---but on order for all variations of
* this code to work (Oculus support, etc), we can only draw
* after viewmat_begin_eye(). */
glScissor(viewport[0], viewport[1], viewport[2], viewport[3]);
glEnable(GL_SCISSOR_TEST);
glClearColor(.2,.2,.2,0); // set clear color to grey
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glDisable(GL_SCISSOR_TEST);
glEnable(GL_DEPTH_TEST); // turn on depth testing
kuhl_errorcheck();
/* Turn on blending (note, if you are using transparent textures,
the transparency may not look correct unless you draw further
items before closer items.). */
glEnable(GL_BLEND);
glBlendEquationSeparate(GL_FUNC_ADD, GL_FUNC_ADD);
glBlendFuncSeparate(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA, GL_ONE, GL_ZERO);
/* Get the view or camera matrix; update the frustum values if needed. */
float viewMat[16], perspective[16];
viewmat_get(viewMat, perspective, viewportID);
glUseProgram(program);
kuhl_errorcheck();
/* Send the perspective projection matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("Projection"),
1, // number of 4x4 float matrices
0, // transpose
perspective); // value
float modelMat[16];
get_model_matrix(modelMat);
float modelview[16];
mat4f_mult_mat4f_new(modelview, viewMat, modelMat); // modelview = view * model
/* Send the modelview matrix to the vertex program. */
glUniformMatrix4fv(kuhl_get_uniform("ModelView"),
1, // number of 4x4 float matrices
0, // transpose
modelview); // value
glUniform1i(kuhl_get_uniform("renderStyle"), renderStyle);
// Copy far plane value into vertex program so we can render depth buffer.
float f[6]; // left, right, bottom, top, near>0, far>0
projmat_get_frustum(f, viewport[2], viewport[3]);
glUniform1f(kuhl_get_uniform("farPlane"), f[5]);
kuhl_errorcheck();
kuhl_limitfps(60);
update();
kuhl_geometry_draw(modelgeom); /* Draw the model */
kuhl_errorcheck();
glUseProgram(0); // stop using a GLSL program.
} // finish viewport loop
viewmat_end_frame();
/* Check for errors. If there are errors, consider adding more
* calls to kuhl_errorcheck() in your code. */
kuhl_errorcheck();
// kuhl_video_record("videoout", 30);
/* Ask GLUT to call display() again. We shouldn't call display()
* ourselves recursively because it will not leave time for GLUT
* to call other callback functions for when a key is pressed, the
* window is resized, etc. */
glutPostRedisplay();
}
