void Frog::drawLimb(float * begin, float * length) {
Sphere joint;
Cylinder limb;
float end[3] = {begin[0] + length[0], begin[1] + length[1], begin[2] + length[2]};
float mag = sqrt(length[0]*length[0] + length[1]*length[1] + length[2]*length[2]);
float norm[3] = {length[0]/mag, length[1]/mag, length[2]/mag};
float cross[3] = {norm[2], 0, -1*norm[0]};
float angle = acos(norm[1]) * 180 / 3.14159f;
glColor3f(color[0], color[1], color[2]);
glPushMatrix();
glTranslatef(begin[0], begin[1], begin[2]);
glRotatef(angle, cross[0], cross[1], cross[2]);
glScalef(.1, mag, .1);
limb.draw();
glPopMatrix();
glColor3f(color[0], color[1], color[2]);
glPushMatrix();
glTranslatef(begin[0], begin[1], begin[2]);
glScalef(.1, .1, .1);
joint.draw();
glPopMatrix();
glPushMatrix();
glTranslatef(end[0], end[1], end[2]);
glScalef(.1, .1, .1);
joint.draw();
glPopMatrix();
}
//
// The Graphics Callback runs in the application "client thread" (qhStart) and sets the transformations
// for the Red Sphere and Green Line of the Cursor. Also, this callback sets the WorldToDevice matrix
// for use in the ServoLoopCallback.
//
void GraphicsCallback(void)
{
QHGLUT* localDisplayObject = QHGLUT::searchWindow("Coulomb Field Demo");//Get a Pointer to the display object
Cursor* localDeviceCursor = Cursor::searchCursor("devCursor");//Get a pointer to the cursor
Cylinder* localForceArrow = Cylinder::searchCylinder("forceArrow");//get a pointer to the cylinder
Cone* localForceArrowTip = Cone::searchCone("forceArrowTip");//get a pointer to the cylinder
Sphere* localCursorSphere = Sphere::searchSphere("cursorSphere");//get a pointer top the Sphere
if( localDisplayObject == NULL || localDeviceCursor == NULL || localForceArrow == NULL || localCursorSphere == NULL)
return;
hduMatrix CylinderTransform;//Transformation for the Cylinder. This transform makes it point toward the Model
hduVector3Dd localCursorPosition;
hduVector3Dd DirectionVecX;
hduVector3Dd PointOnPlane;
hduVector3Dd DirectionVecY;
hduVector3Dd DirectionVecZ;
//Compute the world to device transform
WorldToDevice = localDisplayObject->getWorldToDeviceTransform();
// Set transform for Red Sphere
localCursorPosition = localDeviceCursor->getPosition();//Get the local cursor position in World Space
hduVector3Dd localCursorSpherePos = localCursorSphere->getTranslation();
localCursorSphere->setTranslation(-localCursorSpherePos);
localCursorSphere->setTranslation(localCursorPosition);//Set the position of the Sphere the same as the cursor
////////////////////////////////////////////////////////////////////////////////////////////
//Code to calculate the transform of the green cylinder to point along the force direction
////////////////////////////////////////////////////////////////////////////////////////////
hduMatrix DeviceToWorld = WorldToDevice.getInverse();
HDdouble ForceMagnitude = forceVec.magnitude();
DeviceToWorld[3][0] = 0.0;
DeviceToWorld[3][1] = 0.0;
DeviceToWorld[3][2] = 0.0;
DirectionVecX = forceVec * DeviceToWorld;
DirectionVecX.normalize();
PointOnPlane.set(0.0,0.0,(DirectionVecX[0]*localCursorPosition[0] + DirectionVecX[1]*localCursorPosition[1] + DirectionVecX[2]*localCursorPosition[2])/DirectionVecX[2]);
DirectionVecY = PointOnPlane - localCursorPosition;
DirectionVecY.normalize();
DirectionVecZ = -DirectionVecY.crossProduct(DirectionVecX);
CylinderTransform[0][0] = DirectionVecZ[0]; CylinderTransform[0][1] = DirectionVecZ[1]; CylinderTransform[0][2] = DirectionVecZ[2]; CylinderTransform[0][3] = 0.0;
CylinderTransform[1][0] = DirectionVecX[0]; CylinderTransform[1][1] = DirectionVecX[1]; CylinderTransform[1][2] = DirectionVecX[2]; CylinderTransform[1][3] = 0.0;
CylinderTransform[2][0] = DirectionVecY[0]; CylinderTransform[2][1] = DirectionVecY[1]; CylinderTransform[2][2] = DirectionVecY[2]; CylinderTransform[2][3] = 0.0;
CylinderTransform[3][0] = 0.0 ; CylinderTransform[3][1] = 0.0 ; CylinderTransform[3][2] = 0.0 ; CylinderTransform[3][3] = 1.0;
CylinderTransform = CylinderTransform * hduMatrix::createTranslation(localCursorPosition[0], localCursorPosition[1], localCursorPosition[2]);
localForceArrow->update(chargeRadius/4, ForceMagnitude*50, 15);
localForceArrow->setTranslation(localCursorPosition);
localForceArrow->setTransform(CylinderTransform);
hduMatrix ConeTransform = CylinderTransform * hduMatrix::createTranslation(DirectionVecX[0]
* ForceMagnitude*50,DirectionVecX[1] * ForceMagnitude*50,DirectionVecX[2] * ForceMagnitude*50 );
localForceArrowTip->setTransform(ConeTransform);
/////////////////////////////////////////////
}
void DepotChest::postAddNotification(Thing* thing, const Cylinder* oldParent, int32_t index, cylinderlink_t)
{
Cylinder* parent = getParent();
if (parent != nullptr) {
parent->postAddNotification(thing, oldParent, index, LINK_PARENT);
}
}
void Parser::parseCylinder(Scene* scene, TransformNode* transform, const Material& mat)
{
Cylinder* cylinder = 0;
Material* newMat = 0;
_tokenizer.Read( CYLINDER );
_tokenizer.Read( LBRACE );
for( ;; )
{
const Token* t = _tokenizer.Peek();
switch( t->kind() )
{
case MATERIAL:
delete newMat;
newMat = parseMaterialExpression( scene, mat );
break;
case NAME:
parseIdentExpression();
break;
case RBRACE:
_tokenizer.Read( RBRACE );
cylinder = new Cylinder(scene, newMat ? newMat : new Material(mat));
cylinder->setTransform( transform );
scene->add( cylinder );
return;
default:
throw SyntaxErrorException( "Expected: cylinder attributes", _tokenizer );
}
}
}
int Line::intersect(std::list<Kernel::V3D> &PntOut, const Cylinder &Cyl) const
/**
For the line that intersects the cylinder generate
add the point to the VecOut, return number of points
added. It does not check the points for validity.
@param PntOut :: Vector of points found by the line/cylinder intersection
@param Cyl :: Cylinder to intersect line with
@return Number of points found by intersection
*/
{
const Kernel::V3D Cent = Cyl.getCentre();
const Kernel::V3D Ax = Origin - Cent;
const Kernel::V3D N = Cyl.getNormal();
const double R = Cyl.getRadius();
const double vDn = N.scalar_prod(Direct);
const double vDA = N.scalar_prod(Ax);
// First solve the equation of intersection
double C[3];
C[0] = 1.0 - (vDn * vDn);
C[1] = 2.0 * (Ax.scalar_prod(Direct) - vDA * vDn);
C[2] = Ax.scalar_prod(Ax) - (R * R + vDA * vDA);
std::pair<std::complex<double>, std::complex<double>> SQ;
const int ix = solveQuadratic(C, SQ);
// This takes the centre displacement into account:
return lambdaPair(ix, SQ, PntOut);
}
void Reward::postRemoveNotification(Thing* thing, const Cylinder* newParent, int32_t index, cylinderlink_t)
{
Cylinder* parent = getParent();
if (parent != nullptr) {
parent->postRemoveNotification(thing, newParent, index, LINK_PARENT);
}
}
Assembly *GraspGLObjects::CreateVisualTool( double magnifier ) {
Assembly *tool = new Assembly();
// Create a set of 'fingers', each of which is a 'capsule' composed of a tube with rounded caps.
static int n_fingers = target_balls-1;
double radius = finger_ball_radius * magnifier;
double length = finger_length * magnifier;
double spacing = radius * 2.0;
for ( int trg = - n_fingers; trg <= n_fingers ; trg++ ){
// Each finger is a 'capsule' composed of a cylinder that is capped on each end with a sphere.
Assembly *finger = new Assembly();
Sphere *sphere = new Sphere( radius );
sphere->SetPosition( 0.0, 0.0, 0.0 );
finger->AddComponent( sphere );
Cylinder *cylinder = new Cylinder( radius, radius, length );
cylinder->SetPosition( 0.0, 0.0, - length / 2 );
finger->AddComponent( cylinder );
sphere = new Sphere( radius );
sphere->SetPosition( 0.0, 0.0, - length );
finger->AddComponent( sphere );
// Space the fingers vertically.
finger->SetPosition( 0.0, spacing * trg, 0.0 );
tool->AddComponent( finger );
}
SetHandColor( tool, true );
return tool;
}
Vector ClosestPointCylinder ( Vector const & V, Cylinder const & C )
{
Vector delta = V - C.getBase();
delta.y = 0.0f;
real dist = delta.magnitude();
Vector point = V;
// clamp the x-z coords of the point so they're inside the tube
IGNORE_RETURN( delta.normalize() );
delta *= std::min( C.getRadius(), dist );
point = C.getBase() + delta;
// and clamp the y coord so it's inside also
real min = C.getBase().y;
real max = min + C.getHeight();
point.y = clamp( min, V.y, max );
return point;
}
inline typename Cylinder<T>::position_type
random_position(Cylinder<T> const& shape, Trng& rng)
{
// -1 < rng() < 1. See for example CylindricalSurface.hpp.
return add(shape.position(),
multiply(shape.unit_z(), rng() * shape.half_length()));
}
void DepotChest::postRemoveNotification(Thing* thing, const Cylinder* newParent, int32_t index, bool isCompleteRemoval, cylinderlink_t)
{
Cylinder* parent = getParent();
if (parent != nullptr) {
parent->postRemoveNotification(thing, newParent, index, isCompleteRemoval, LINK_PARENT);
}
}
AxialBox EncloseABox ( Cylinder const & C )
{
Vector center = C.getCenter();
Vector extent( C.getExtentX(), C.getExtentY(), C.getExtentZ() );
return AxialBox(center-extent,center+extent);
}
PrimitiveShape *CylinderPrimitiveShapeConstructor::Deserialize(
std::istream *i, bool binary) const
{
Cylinder cylinder;
cylinder.Init(binary, i);
CylinderPrimitiveShape *shape = new CylinderPrimitiveShape(cylinder);
return shape;
}
PrimitiveShape *CylinderPrimitiveShapeConstructor::Construct(
const MiscLib::Vector< Vec3f > &samples) const
{
Cylinder cy;
if(!cy.Init(samples))
return NULL;
return new CylinderPrimitiveShape(cy);
}
Sphere EncloseSphere ( Cylinder const & shape )
{
float x = shape.getExtentX();
float y = shape.getExtentY();
float radius = sqrt( x*x + y*y );
return Sphere( shape.getCenter(), radius );
}
ContainmentResult TestCylinderABox ( Cylinder const & C,
AxialBox const & B )
{
ContainmentResult test2d = Containment2d::TestCircleABox(C.getBaseCircle(),B);
ContainmentResult testY = Containment1d::TestRangeRange( C.getRangeY(), B.getRangeY() );
return Containment::ComposeAxisTests( test2d, testY );
}
Tile* Item::getTile()
{
Cylinder* cylinder = getTopParent();
//get root cylinder
if (cylinder->getParent()) {
cylinder = cylinder->getParent();
}
return dynamic_cast<Tile*>(cylinder);
}
int main()
{
Circle cir;
cout << "圆的面积为：" << cir.area() << endl;
Cylinder cy;
cout << "圆柱体的表面积为：" << cy.area() << endl;
cout << "圆柱体的体积为：" << cy.volume() << endl;
return 0;
}
Player* Item::getHoldingPlayer()
{
for(Cylinder* p = getParent(); p; p = p->getParent())
{
if(p->getCreature())
return p->getCreature()->getPlayer();
}
return NULL;
}
//Deletes all of the created objects here.
void CloseFunc(){
window.window_handle = -1;
cylinder.TakeDown();torus.TakeDown();square.TakeDown();square2.TakeDown();
disc.TakeDown();sphere.TakeDown();sphere2.TakeDown();tiger.TakeDown();goldeen.TakeDown();
stadium.TakeDown();coin.TakeDown();ss.TakeDown();healthBar.TakeDown();
shark.TakeDown();bird.TakeDown();sb.TakeDown();arena.TakeDown();skyboxUW.TakeDown();fbo.TakeDown();rain2.TakeDown();
tri2.TakeDown();skybox.TakeDown();skybox2.TakeDown();skybox3.TakeDown();egg.TakeDown();snow2.TakeDown();
star.TakeDown();magneton.TakeDown();haunter.TakeDown();frog.TakeDown();
sph1.TakeDown(); enm.TakeDown(); usr.TakeDown();sq4.TakeDown();soldier.TakeDown();userTeam.TakeDown();cpuTeam.TakeDown();
}
Player* Item::getHoldingPlayer()
{
Cylinder* p = getParent();
while(p){
if(p->getCreature())
// Must be a player, creatures are not cylinders
return p->getCreature()->getPlayer();
p = p->getParent();
}
return NULL;
}
PrimitiveShape *CylinderPrimitiveShapeConstructor::Construct(
const MiscLib::Vector< Vec3f > &points,
const MiscLib::Vector< Vec3f > &normals) const
{
Cylinder cy;
MiscLib::Vector< Vec3f > samples(points);
std::copy(normals.begin(), normals.end(), std::back_inserter(samples));
if(!cy.Init(samples))
return NULL;
return new CylinderPrimitiveShape(cy);
}
void computeBV<OBB>(const Cylinder& s, OBB& bv)
{
Vec3f R[3];
matMulMat(s.getRotation(), s.getLocalRotation(), R);
Vec3f T = matMulVec(s.getRotation(), s.getLocalTranslation()) + s.getTranslation();
bv.To = T;
bv.axis[0] = Vec3f(R[0][0], R[1][0], R[2][0]);
bv.axis[1] = Vec3f(R[0][1], R[1][1], R[2][1]);
bv.axis[2] = Vec3f(R[0][2], R[1][2], R[2][2]);
bv.extent = Vec3f(s.radius, s.radius, s.lz / 2);
}
void computeBV<AABB>(const Cylinder& s, AABB& bv)
{
Vec3f R[3];
matMulMat(s.getRotation(), s.getLocalRotation(), R);
Vec3f T = matMulVec(s.getRotation(), s.getLocalTranslation()) + s.getTranslation();
BVH_REAL x_range = fabs(R[0][0] * s.radius) + fabs(R[0][1] * s.radius) + 0.5 * fabs(R[0][2] * s.lz);
BVH_REAL y_range = fabs(R[1][0] * s.radius) + fabs(R[1][1] * s.radius) + 0.5 * fabs(R[1][2] * s.lz);
BVH_REAL z_range = fabs(R[2][0] * s.radius) + fabs(R[2][1] * s.radius) + 0.5 * fabs(R[2][2] * s.lz);
bv.max_ = T + Vec3f(x_range, y_range, z_range);
bv.min_ = T + Vec3f(-x_range, -y_range, -z_range);
}
inline std::pair<typename Cylinder<T_>::position_type,
typename Cylinder<T_>::length_type>
projected_point(Cylinder<T_> const& obj,
typename Cylinder<T_>::position_type const& pos)
{
typedef typename Cylinder<T_>::length_type length_type;
// The projection lies on the z-axis.
std::pair<length_type, length_type> r_z(to_internal(obj, pos));
return std::make_pair(
add(obj.position(), multiply(obj.unit_z(), r_z.second)),
r_z.first);
}
int main() {
Circle a;
Circle b(Point(1, 3), 3);
Cylinder c;
Cylinder d(Point(2, -4), 3, 4);
Point e;
Point f(4, 5);
cout << "\nThe Circles:\n\tDefault:\n\t\t" << a.toString() << "\n\tCustom:\n\t\t" << b.toString() << endl;
cout << "\nThe Cylinders:\n\tDefault:\n\t\t" << c.toString() << "\n\tCustom:\n\t\t" << d.toString() << endl;
cout << "\nThe Points:\n\tDefault:\n\t\t" << e.toString() << "\n\tCustom:\n\t\t" << f.toString() << endl;
return 0;
}
bool CylinderPrimitiveShape::Fit(const PointCloud &pc, float epsilon,
float normalThresh, MiscLib::Vector< size_t >::const_iterator begin,
MiscLib::Vector< size_t >::const_iterator end)
{
Cylinder fit = m_cylinder;
if(fit.LeastSquaresFit(pc, begin, end))
{
m_cylinder = fit;
return true;
}
return false;
}
LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam)
{
switch (message)
{
case WM_KEYDOWN:
{
Helper::SpectatorCoords* pSpectatorCoords = NULL;
Cylinder* cylinder = NULL;
pSpectatorCoords = reinterpret_cast<Helper::SpectatorCoords*>(
GetWindowLong(hWnd, 0));
cylinder = reinterpret_cast<Cylinder*>( GetWindowLong(hWnd,sizeof(LONG)) );
switch(wParam)
{
case VK_UP:
pSpectatorCoords->DecTheta();
break;
case VK_DOWN:
pSpectatorCoords->IncTheta();
break;
case VK_RIGHT:
pSpectatorCoords->IncPhi();
break;
case VK_LEFT:
pSpectatorCoords->DecPhi();
break;
case VK_NEXT:
case 'S':
pSpectatorCoords->IncR();
break;
case VK_PRIOR:
case 'W':
pSpectatorCoords->DecR();
break;
default:
return DefWindowProc(hWnd, message, wParam, lParam);
}
cylinder->SetViewMatrix( ViewMatrix( pSpectatorCoords->GetCartesianCoords(),
D3DXVECTOR3(0.0f, 0.0f, 0.0f),
D3DXVECTOR3(0.0f, 1.0f, 0.0f)) );
break;
}
case WM_DESTROY:
PostQuitMessage(0);
break;
default:
return DefWindowProc(hWnd, message, wParam, lParam);
}
return 0;
}
float Cylinder::nhs(const Cylinder &c) const
{
int hamming = 0;
const float P = 30;
if (abs(dFi(getrT(),c.getrT())) > 0.785398163397 || dss(c.getX(), c.getY()) > DELTAXY*DELTAXY)
return 0;
for(unsigned int i = 0; i < NUMCELLS; ++i)
if (getB1(i) != c.getB1(i))
hamming++;
return pow(1.0-((float)hamming)/NUMCELLS, P);
}
Node<real>* SceneImporter<real>::ReadCylinder( std::istream& stream, const std::string& name )
{
Cylinder<real>* cylinder = new Cylinder<real>;
cylinder->SetName( name );
ReadGeometryHeader( stream, cylinder ); ReadNextExactToken( stream, "," );
real height = ReadReal( stream ); ReadNextExactToken( stream, "," );
real radius = ReadReal( stream ); ReadNextExactToken( stream, "," );
real radiusSubdivisions = ReadUnsignedInt( stream );
cylinder->SetSizes( height, radius, radiusSubdivisions );
return cylinder;
}
Player* Item::getHoldingPlayer()
{
Cylinder* p = getParent();
while (p) {
if (p->getCreature()) {
return p->getCreature()->getPlayer();
}
p = p->getParent();
}
return NULL;
}
