void consume_line()
{
int i,j;
if(cline[1] == 0x47)
{
// Calculate the data points. All transfers complete.
calc_point();
}
if(cline[1] == 0x43)
{
// This is a start event. Clear the matrix.
if(cline[2] & 0x80)
{
for(i=0; i < 30; i++)
for(j=0; j < 40; j++)
matrix[i][j] = 0;
}
// Write the line into the matrix.
for(i=0; i < 40; i++)
matrix[cline[2] & 0x1F][i] = cline[i+3];
}
// printf("Received %d bytes\n", cidx-1);
/* for(i=0; i < cidx; i++)
printf("%2.2X ",cline[i]);
printf("\n"); */
cidx = 0;
}
IC void get_q_box( Fbox &xf, float c, float alpha, float radius )
{
Fvector src_pt, tgt_pt;
calc_point (tgt_pt,radius,0,alpha);
src_pt.set (0,tgt_pt.y,0);
xf.invalidate ();
xf.modify (src_pt);
xf.modify (tgt_pt);
xf.grow (c);
}
bool hgeGUIRange::MouseLButton(bool bDown)
{
bPressed=bDown;
if(bPressed)
{
nfirst=calc_point(mx, my);
nlast=nfirst;
return true;
}
return false;
}
bool hgeGUIRange::MouseMove(float x, float y)
{
mx=x; my=y;
if(bPressed)
{
nlast=calc_point(mx, my);
return true;
}
return false;
}
ICF BOOL test_point(xrXRC& xrc, const Fmatrix& xform, const Fmatrix33& mat, const Fvector& ext, float radius, float angle)
{
Fvector pt;
calc_point (pt,radius,VIEWPORT_NEAR/2,angle);
xform.transform_tiny(pt);
CDB::RESULT* it =xrc.r_begin();
CDB::RESULT* end=xrc.r_end ();
for (; it!=end; it++) {
CDB::RESULT& O = *it;
if (GMLib.GetMaterialByIdx(O.material)->Flags.is(SGameMtl::flPassable)) continue;
if (CDB::TestBBoxTri(mat,pt,ext,O.verts,FALSE))
return TRUE;
}
return FALSE;
}
int
calc_detail(t_detail *detail, t_color *color, t_camera *camera, double *vector)
{
if (detail == NULL || color == NULL || camera == NULL || vector == NULL)
return (EXIT_FAILURE);
calc_point(camera->position, vector, detail->position, detail->k);
calc_color(color, detail);
calc_normal(camera, detail, vector, detail->normal);
calc_perturbation(detail->object, detail->position, detail->normal);
if ((detail->object->image_bump != NULL && detail->object->image_bump->type == B_BUMP) ||
(detail->object->perlin != NULL && (detail->object->perlin->apply == APP_BUMP ||
detail->object->perlin->apply == APP_BUMP_TEXT)))
texture_bump_mapping(detail, detail->normal);
else if (detail->object->image_bump != NULL && detail->object->image_bump->type == B_NORMAL)
texture_normal_mapping(detail, detail->normal);
return (EXIT_SUCCESS);
}
void CActor::cam_Update(float dt, float fFOV)
{
if(m_holder) return;
if(mstate_real & mcClimb&&cam_active!=eacFreeLook)
camUpdateLadder(dt);
Fvector point={0,CameraHeight(),0}, dangle={0,0,0};
Fmatrix xform,xformR;
xform.setXYZ (0,r_torso.yaw,0);
xform.translate_over(XFORM().c);
// lookout
if (this == Level().CurrentControlEntity())
{
if (!fis_zero(r_torso_tgt_roll)){
Fvector src_pt,tgt_pt;
float radius = point.y*0.5f;
float alpha = r_torso_tgt_roll/2.f;
float dZ = ((PI_DIV_2-((PI+alpha)/2)));
calc_point (tgt_pt,radius,0,alpha);
src_pt.set (0,tgt_pt.y,0);
// init valid angle
float valid_angle = alpha;
// xform with roll
xformR.setXYZ (-r_torso.pitch,r_torso.yaw,-dZ);
Fmatrix33 mat;
mat.i = xformR.i;
mat.j = xformR.j;
mat.k = xformR.k;
// get viewport params
float w,h;
float c = viewport_near(w,h); w/=2.f;h/=2.f;
// find tris
Fbox box;
box.invalidate ();
box.modify (src_pt);
box.modify (tgt_pt);
box.grow (c);
// query
Fvector bc,bd ;
Fbox xf ;
xf.xform (box,xform) ;
xf.get_CD (bc,bd) ;
xrXRC xrc ;
xrc.box_options (0) ;
xrc.box_query (Level().ObjectSpace.GetStaticModel(), bc, bd) ;
u32 tri_count = xrc.r_count();
if (tri_count) {
float da = 0.f;
BOOL bIntersect = FALSE;
Fvector ext = {w,h,VIEWPORT_NEAR/2};
if (test_point(xrc,xform,mat,ext,radius,alpha)){
da = PI/1000.f;
if (!fis_zero(r_torso.roll))
da *= r_torso.roll/_abs(r_torso.roll);
float angle = 0.f;
for (; _abs(angle)<_abs(alpha); angle+=da)
if (test_point(xrc,xform,mat,ext,radius,angle)) { bIntersect=TRUE; break; }
valid_angle = bIntersect?angle:alpha;
}
}
r_torso.roll = valid_angle*2.f;
r_torso_tgt_roll = r_torso.roll;
}
else
{
r_torso_tgt_roll = 0.f;
r_torso.roll = 0.f;
}
}
if (!fis_zero(r_torso.roll))
{
float radius = point.y*0.5f;
float valid_angle = r_torso.roll/2.f;
calc_point (point,radius,0,valid_angle);
dangle.z = (PI_DIV_2-((PI+valid_angle)/2));
}
float flCurrentPlayerY = xform.c.y;
// Smooth out stair step ups
if ((character_physics_support()->movement()->Environment()==peOnGround) && (flCurrentPlayerY-fPrevCamPos>0)){
fPrevCamPos += dt*1.5f;
if (fPrevCamPos > flCurrentPlayerY)
fPrevCamPos = flCurrentPlayerY;
if (flCurrentPlayerY-fPrevCamPos>0.2f)
fPrevCamPos = flCurrentPlayerY-0.2f;
point.y += fPrevCamPos-flCurrentPlayerY;
}else{
fPrevCamPos = flCurrentPlayerY;
}
float _viewport_near = VIEWPORT_NEAR;
// calc point
xform.transform_tiny (point);
CCameraBase* C = cam_Active();
if(eacFirstEye == cam_active)
{
// CCameraBase* C = cameras[eacFirstEye];
xrXRC xrc ;
xrc.box_options (0) ;
xrc.box_query (Level().ObjectSpace.GetStaticModel(), point, Fvector().set(VIEWPORT_NEAR,VIEWPORT_NEAR,VIEWPORT_NEAR) );
u32 tri_count = xrc.r_count();
if (tri_count)
{
_viewport_near = 0.01f;
}
else
{
xr_vector<ISpatial*> ISpatialResult;
g_SpatialSpacePhysic->q_box(ISpatialResult, 0, STYPE_PHYSIC, point, Fvector().set(VIEWPORT_NEAR,VIEWPORT_NEAR,VIEWPORT_NEAR));
for (u32 o_it=0; o_it<ISpatialResult.size(); o_it++)
{
CPHShell* pCPHS= smart_cast<CPHShell*>(ISpatialResult[o_it]);
if (pCPHS)
{
_viewport_near = 0.01f;
break;
}
}
}
}
/*
{
CCameraBase* C = cameras[eacFirstEye];
float oobox_size = 2*VIEWPORT_NEAR;
Fmatrix _rot;
_rot.k = C->vDirection;
_rot.c = C->vPosition;
_rot.i.crossproduct (C->vNormal, _rot.k);
_rot.j.crossproduct (_rot.k, _rot.i);
Fvector vbox;
vbox.set (oobox_size, oobox_size, oobox_size);
Level().debug_renderer().draw_aabb (C->vPosition, 0.05f, 0.051f, 0.05f, D3DCOLOR_XRGB(0,255,0));
Level().debug_renderer().draw_obb (_rot, Fvector().div(vbox,2.0f), D3DCOLOR_XRGB(255,0,0));
dMatrix3 d_rot;
PHDynamicData::FMXtoDMX (_rot, d_rot);
CPHActivationShape activation_shape;
activation_shape.Create (point, vbox, this);
dBodySetRotation (activation_shape.ODEBody(), d_rot);
CPHCollideValidator::SetDynamicNotCollide(activation_shape);
activation_shape.Activate (vbox,1,1.f,0.0F);
point.set (activation_shape.Position());
activation_shape.Destroy ();
}
*/
C->Update (point,dangle);
C->f_fov = fFOV;
if(eacFirstEye != cam_active)
{
cameras[eacFirstEye]->Update (point,dangle);
cameras[eacFirstEye]->f_fov = fFOV;
}
if( psActorFlags.test(AF_PSP) )
{
Cameras().Update (C);
}else
{
Cameras().Update (cameras[eacFirstEye]);
}
fCurAVelocity = vPrevCamDir.sub(cameras[eacFirstEye]->vDirection).magnitude()/Device.fTimeDelta;
vPrevCamDir = cameras[eacFirstEye]->vDirection;
if (Level().CurrentEntity() == this)
{
Level().Cameras().Update (C);
if(eacFirstEye == cam_active && !Level().Cameras().GetCamEffector(cefDemo)){
Cameras().ApplyDevice (_viewport_near);
}
}
}
int main(int argc, char** argv)
{
const float A[] = { 1, 1, 0, 1 };//状态转移矩阵
IplImage* img = cvCreateImage( cvSize(500,500), 8, 3 );//创建显示所用的图像
CvKalman* kalman = cvCreateKalman( 2, 1, 0 );//创建cvKalman数据结构，状态向量为2维，观测向量为1维，无激励输入维
CvMat* state = cvCreateMat( 2, 1, CV_32FC1 ); //(phi, delta_phi) 定义了状态变量
CvMat* process_noise = cvCreateMat( 2, 1, CV_32FC1 );// 创建两行一列CV_32FC1的单通道浮点型矩阵
CvMat* measurement = cvCreateMat( 1, 1, CV_32FC1 ); //定义观测变量
CvRNG rng = cvRNG(-1);//初始化一个随机序列函数
char code = -1;
cvZero( measurement );//观测变量矩阵置零
cvNamedWindow( "Kalman", 1 );
for(;;)
{ //用均匀分布或者正态分布的随机数填充输出数组state
cvRandArr( &rng, state, CV_RAND_NORMAL, cvRealScalar(0), cvRealScalar(0.1) );//状态state
memcpy( kalman->transition_matrix->data.fl, A, sizeof(A));//初始化状态转移F矩阵
//cvSetIdentity()用法：把数组中除了行数与列数相等以外的所有元素的值都设置为0；行数与列数相等的元素的值都设置为1
//我们将(第一个前假象阶段的)后验状态初始化为一个随机值
cvSetIdentity( kalman->measurement_matrix, cvRealScalar(1) );//观测矩阵H
cvSetIdentity( kalman->process_noise_cov, cvRealScalar(1e-5) );//过程噪声Q
cvSetIdentity( kalman->measurement_noise_cov, cvRealScalar(1e-1) );//观测噪声R
cvSetIdentity( kalman->error_cov_post, cvRealScalar(1));//后验误差协方差
cvRandArr( &rng, kalman->state_post, CV_RAND_NORMAL, cvRealScalar(0), cvRealScalar(0.1) );//校正状态
//在时机动态系统上开始预测
for(;;)
{
#define calc_point(angle) \
cvPoint( cvRound(img->width/2 + img->width/3*cos(angle)), \
cvRound(img->height/2 - img->width/3*sin(angle)))
float state_angle = state->data.fl[0];
CvPoint state_pt = calc_point(state_angle);
const CvMat* prediction = cvKalmanPredict( kalman, 0 );//计算下一个时间点的预期值，激励项输入为0
float predict_angle = prediction->data.fl[0];
CvPoint predict_pt = calc_point(predict_angle);
float measurement_angle;
CvPoint measurement_pt;
cvRandArr( &rng, measurement, CV_RAND_NORMAL, cvRealScalar(0),
cvRealScalar(sqrt(kalman->measurement_noise_cov->data.fl[0])) );
/* generate measurement */
cvMatMulAdd( kalman->measurement_matrix, state, measurement, measurement );
//cvMatMulAdd(src1,src2,src3,dst)就是实现dist=src1*src2+src3;
measurement_angle = measurement->data.fl[0];
measurement_pt = calc_point(measurement_angle);
//调用Kalman滤波器并赋予其最新的测量值，接下来就是产生过程噪声，然后对状态乘以传递矩阵F完成一次迭代并加上我们产生的过程噪声
/* plot points */
#define draw_cross( center, color, d ) \
cvLine( img, cvPoint( center.x - d, center.y - d ), \
cvPoint( center.x + d, center.y + d ), color, 1, CV_AA, 0); \
cvLine( img, cvPoint( center.x + d, center.y - d ), \
cvPoint( center.x - d, center.y + d ), color, 1, CV_AA, 0 )
cvZero( img );
//使用上面宏定义的函数
draw_cross( state_pt, CV_RGB(255,255,255), 3 );//白色，状态点
draw_cross( measurement_pt, CV_RGB(255,0,0), 3 );//红色，测量点
draw_cross( predict_pt, CV_RGB(0,255,0), 3 );//绿色，估计点
cvLine( img, state_pt, measurement_pt, CV_RGB(255,0,0), 3, CV_AA, 0 );
cvLine( img, state_pt, predict_pt, CV_RGB(255,255,0), 3, CV_AA, 0 );
cvKalmanCorrect( kalman, measurement );//校正新的测量值
cvRandArr( &rng, process_noise, CV_RAND_NORMAL, cvRealScalar(0),
cvRealScalar(sqrt(kalman->process_noise_cov->data.fl[0])));//设置正态分布过程噪声
cvMatMulAdd( kalman->transition_matrix, state, process_noise, state );
cvShowImage( "Kalman", img );
//当按键按下时，开始新的循环，初始矩阵可能会改变，所以移动速率会改变
code = (char) cvWaitKey( 100 );
if( code > 0 )
break;
}
if( code == 27 || code == 'q' || code == 'Q' )
break;
}
cvDestroyWindow("Kalman");
return 0;
}
void CActor::cam_Update(float dt, float fFOV)
{
if(m_holder) return;
if( (mstate_real & mcClimb) && (cam_active!=eacFreeLook) )
camUpdateLadder(dt);
on_weapon_shot_update();
float y_shift =0;
if( GamePersistent().GameType() != eGameIDSingle && ik_cam_shift && character_physics_support() && character_physics_support()->ik_controller() )
{
y_shift = character_physics_support()->ik_controller()->Shift();
float cam_smooth_k = 1.f;
if(_abs(y_shift-current_ik_cam_shift)>ik_cam_shift_tolerance)
{
cam_smooth_k = 1.f - ik_cam_shift_speed * dt/0.01f;
}
if(_abs(y_shift)<ik_cam_shift_tolerance/2.f)
cam_smooth_k = 1.f - ik_cam_shift_speed * 1.f/0.01f * dt;
clamp( cam_smooth_k, 0.f, 1.f );
current_ik_cam_shift = cam_smooth_k * current_ik_cam_shift + y_shift * ( 1.f - cam_smooth_k );
} else
current_ik_cam_shift = 0;
Fvector point = {0,CameraHeight() + current_ik_cam_shift,0};
Fvector dangle = {0,0,0};
Fmatrix xform;
xform.setXYZ (0,r_torso.yaw,0);
xform.translate_over(XFORM().c);
// lookout
if (this == Level().CurrentControlEntity())
cam_Lookout( xform, point.y );
if (!fis_zero(r_torso.roll))
{
float radius = point.y*0.5f;
float valid_angle = r_torso.roll/2.f;
calc_point (point,radius,0,valid_angle);
dangle.z = (PI_DIV_2-((PI+valid_angle)/2));
}
float flCurrentPlayerY = xform.c.y;
// Smooth out stair step ups
if ((character_physics_support()->movement()->Environment()==CPHMovementControl::peOnGround) && (flCurrentPlayerY-fPrevCamPos>0)){
fPrevCamPos += dt*1.5f;
if (fPrevCamPos > flCurrentPlayerY)
fPrevCamPos = flCurrentPlayerY;
if (flCurrentPlayerY-fPrevCamPos>0.2f)
fPrevCamPos = flCurrentPlayerY-0.2f;
point.y += fPrevCamPos-flCurrentPlayerY;
}else{
fPrevCamPos = flCurrentPlayerY;
}
float _viewport_near = VIEWPORT_NEAR;
// calc point
xform.transform_tiny (point);
CCameraBase* C = cam_Active();
C->Update (point,dangle);
C->f_fov = fFOV;
if(eacFirstEye != cam_active)
{
cameras[eacFirstEye]->Update (point,dangle);
cameras[eacFirstEye]->f_fov = fFOV;
}
if (Level().CurrentEntity() == this)
{
collide_camera( *cameras[eacFirstEye], _viewport_near, this );
}
if( psActorFlags.test(AF_PSP) )
{
Cameras().UpdateFromCamera (C);
}else
{
Cameras().UpdateFromCamera (cameras[eacFirstEye]);
}
fCurAVelocity = vPrevCamDir.sub(cameras[eacFirstEye]->vDirection).magnitude()/Device.fTimeDelta;
vPrevCamDir = cameras[eacFirstEye]->vDirection;
#ifdef DEBUG
if( dbg_draw_camera_collision )
{
dbg_draw_viewport( *cameras[eacFirstEye], _viewport_near );
dbg_draw_viewport( Cameras(), _viewport_near );
}
#endif
if (Level().CurrentEntity() == this)
{
Level().Cameras().UpdateFromCamera (C);
if(eacFirstEye == cam_active && !Level().Cameras().GetCamEffector(cefDemo)){
Cameras().ApplyDevice (_viewport_near);
}
}
}
ICF void calc_gl_point(Fvector& pt, const Fmatrix& xform, float radius, float angle )
{
calc_point (pt,radius,VIEWPORT_NEAR/2,angle);
xform.transform_tiny(pt);
}
void CActor::cam_Update(float dt, float fFOV)
{
if(m_holder) return;
if( (mstate_real & mcClimb) && (cam_active!=eacFreeLook) )
camUpdateLadder(dt);
on_weapon_shot_update();
// Alex ADD: smooth crouch fix
if (!CurrentHeight)CurrentHeight = CameraHeight();
float HeightInterpolationSpeed = 9.f;
if (CurrentHeight != CameraHeight() && !Device.dwPrecacheFrame)
{
CurrentHeight = (CurrentHeight * (1.0f - HeightInterpolationSpeed*dt)) + (CameraHeight() * HeightInterpolationSpeed*dt);
}
Fvector point = { 0, CurrentHeight, 0 };
//Fvector point = {0,CameraHeight(),0};
Fvector dangle = {0,0,0};
Fmatrix xform;
xform.setXYZ (0,r_torso.yaw,0);
xform.translate_over(XFORM().c);
// lookout
if (this == Level().CurrentControlEntity())
cam_Lookout( xform, point.y );
if (!fis_zero(r_torso.roll))
{
float radius = point.y*0.5f;
float valid_angle = r_torso.roll/2.f;
calc_point (point,radius,0,valid_angle);
dangle.z = (PI_DIV_2-((PI+valid_angle)/2));
}
float flCurrentPlayerY = xform.c.y;
// Smooth out stair step ups
if ((character_physics_support()->movement()->Environment()==peOnGround) && (flCurrentPlayerY-fPrevCamPos>0)){
fPrevCamPos += dt*1.5f;
if (fPrevCamPos > flCurrentPlayerY)
fPrevCamPos = flCurrentPlayerY;
if (flCurrentPlayerY-fPrevCamPos>0.2f)
fPrevCamPos = flCurrentPlayerY-0.2f;
point.y += fPrevCamPos-flCurrentPlayerY;
}else{
fPrevCamPos = flCurrentPlayerY;
}
float _viewport_near = VIEWPORT_NEAR;
// calc point
xform.transform_tiny (point);
CCameraBase* C = cam_Active();
C->Update (point,dangle);
C->f_fov = fFOV;
if(eacFirstEye != cam_active)
{
cameras[eacFirstEye]->Update (point,dangle);
cameras[eacFirstEye]->f_fov = fFOV;
}
if (Level().CurrentEntity() == this)
collide_camera( *cameras[eacFirstEye], _viewport_near );
if( psActorFlags.test(AF_PSP) )
{
Cameras().UpdateFromCamera (C);
}else
{
Cameras().UpdateFromCamera (cameras[eacFirstEye]);
}
fCurAVelocity = vPrevCamDir.sub(cameras[eacFirstEye]->vDirection).magnitude()/Device.fTimeDelta;
vPrevCamDir = cameras[eacFirstEye]->vDirection;
#ifdef DEBUG
if( dbg_draw_camera_collision )
{
dbg_draw_viewport( *cameras[eacFirstEye], _viewport_near );
dbg_draw_viewport( Cameras(), _viewport_near );
}
#endif
if (Level().CurrentEntity() == this)
{
Level().Cameras().UpdateFromCamera (C);
if(eacFirstEye == cam_active && !Level().Cameras().GetCamEffector(cefDemo)){
Cameras().ApplyDevice (_viewport_near);
}
}
}
int main(int argc, char** argv)
{
/* A matrix data */
const float A[] = { 1, 1, 0, 1 };
IplImage* img = cvCreateImage( cvSize(500,500), 8, 3 );
CvKalman* kalman = cvCreateKalman( 2, 1, 0 );
/* state is (phi, delta_phi) - angle and angle increment */
CvMat* state = cvCreateMat( 2, 1, CV_32FC1 );
CvMat* process_noise = cvCreateMat( 2, 1, CV_32FC1 );
/* only phi (angle) is measured */
CvMat* measurement = cvCreateMat( 1, 1, CV_32FC1 );
CvRandState rng;
int code = -1;
cvRandInit( &rng, 0, 1, -1, CV_RAND_UNI );
cvZero( measurement );
cvNamedWindow( "Kalman", 1 );
for(;;)
{
cvRandSetRange( &rng, 0, 0.1, 0 );
rng.disttype = CV_RAND_NORMAL;
cvRand( &rng, state );
memcpy( kalman->transition_matrix->data.fl, A, sizeof(A));
cvSetIdentity( kalman->measurement_matrix, cvRealScalar(1) );
cvSetIdentity( kalman->process_noise_cov, cvRealScalar(1e-5) );
cvSetIdentity( kalman->measurement_noise_cov, cvRealScalar(1e-1) );
cvSetIdentity( kalman->error_cov_post, cvRealScalar(1));
/* choose random initial state */
cvRand( &rng, kalman->state_post );
rng.disttype = CV_RAND_NORMAL;
for(;;)
{
#define calc_point(angle) \
cvPoint( cvRound(img->width/2 + img->width/3*cos(angle)), \
cvRound(img->height/2 - img->width/3*sin(angle)))
float state_angle = state->data.fl[0];
CvPoint state_pt = calc_point(state_angle);
/* predict point position */
const CvMat* prediction = cvKalmanPredict( kalman, 0 );
float predict_angle = prediction->data.fl[0];
CvPoint predict_pt = calc_point(predict_angle);
float measurement_angle;
CvPoint measurement_pt;
cvRandSetRange( &rng,
0,
sqrt(kalman->measurement_noise_cov->data.fl[0]),
0 );
cvRand( &rng, measurement );
/* generate measurement */
cvMatMulAdd( kalman->measurement_matrix, state, measurement, measurement );
measurement_angle = measurement->data.fl[0];
measurement_pt = calc_point(measurement_angle);
/* plot points */
#define draw_cross( center, color, d ) \
cvLine( img, cvPoint( center.x - d, center.y - d ), \
cvPoint( center.x + d, center.y + d ), \
color, 1, 0 ); \
cvLine( img, cvPoint( center.x + d, center.y - d ), \
cvPoint( center.x - d, center.y + d ), \
color, 1, 0 )
cvZero( img );
draw_cross( state_pt, CV_RGB(255,255,255), 3 );
draw_cross( measurement_pt, CV_RGB(255,0,0), 3 );
draw_cross( predict_pt, CV_RGB(0,255,0), 3 );
cvLine( img, state_pt, predict_pt, CV_RGB(255,255,0), 3, 0 );
/* adjust Kalman filter state */
cvKalmanCorrect( kalman, measurement );
cvRandSetRange( &rng,
0,
sqrt(kalman->process_noise_cov->data.fl[0]),
0 );
cvRand( &rng, process_noise );
cvMatMulAdd( kalman->transition_matrix,
state,
process_noise,
state );
cvShowImage( "Kalman", img );
code = cvWaitKey( 100 );
if( code > 0 ) /* break current simulation by pressing a key */
break;
}
if( code == 27 ) /* exit by ESCAPE */
break;
}
return 0;
}
void myKeyHandler(unsigned char ch, int x, int y)
{
int i;
static int subdiv=0;
struct point_t *slice;
struct point_t *linecur;
struct point_t *cur;
struct point_t *new_points;
struct slice_t *cur_slice,*cur2_slice;
struct point_t *cur2;
struct point_t points[5];
double a,b,c;
GLfloat v1[3],v2[3],v3[3];
double deginc;
// struct slice_t *cur_slice;
switch(ch)
{
case 'q':
endSubdiv(0);
break;
case 'z':
mode=(~mode)&1;
printf("%s\n",mode?"3D mode":"2D mode");
switch(mode)
{
case 0:
resetCamera();
break;
case 1:
reset3DCamera();
break;
}
break;
case 'k':
/* test phong stuff */
cur_slice = slices;
cur2_slice = slices->n;
//while(cur_slice!=NULL)
{
cur = cur_slice->line;
cur2 = cur2_slice->line;
//while(cur->n!=NULL)
{
/* right vertex */
add_vec(&(cur->nx),&(cur->n->nx),&(points[0].nx));
normalize(&(points[0].nx));
sub_vec(&(cur->n->x),&(cur->x),v1);
v1[0] /= 2; v1[1] /= 2; v1[2] /= 2;
add_vec(&(cur->x),v1,&(points[0].x));
/* top vertex */
add_vec(&(cur->nx),&(cur2->nx),&(points[1].nx));
normalize(&(points[1].nx));
sub_vec(&(cur2->x),&(cur->x),v1);
v1[0] /= 2; v1[1] /= 2; v1[2] /= 2;
add_vec(&(cur->x),v1,&(points[1].x));
/* left vertex */
add_vec(&(cur2->nx),&(cur2->n->nx),&(points[2].nx));
normalize(&(points[2].nx));
sub_vec(&(cur2->n->x),&(cur2->x),v1);
v1[0] /= 2; v1[1] /= 2; v1[2] /= 2;
add_vec(&(cur2->x),v1,&(points[2].x));
/* bottom vertex */
add_vec(&(cur2->n->nx),&(cur->n->nx),&(points[3].nx));
normalize(&(points[3].nx));
sub_vec(&(cur->n->x),&(cur2->n->x),v1);
v1[0] /= 2; v1[1] /= 2; v1[2] /= 2;
add_vec(&(cur2->n->x),v1,&(points[3].x));
/* center vertex */
add_vec(&(points[0].nx),&(points[1].nx),v1);
add_vec(&(points[2].nx),&(points[3].nx),v2);
add_vec(v1,v2,&(points[4].nx));
normalize(&(points[4].nx));
sub_vec(&(points[3].x),&(cur2->n->x),v1);
sub_vec(&(points[2].x),&(cur2->n->x),v2);
add_vec(v1,v2,v3);
normalize(v3);
a=sqrt(v1[0]*v1[0]+v1[1]*v1[1]+v1[2]*v1[2]);
b=sqrt(v2[0]*v2[0]+v2[1]*v2[1]+v2[2]*v2[2]);
c=sqrt(a*a+b*b);
v3[0] *= c; v3[1] *= c; v3[2] *= c;
add_vec(&(cur2->n->x),v3,&(points[4].x));
printf("v2[0]=%f,v2[1]=%f,v2[2]=%f\nv3[0]=%f,v3[1]=%f,v3[2]=%f\n",v2[0],v2[1],v2[2],v3[0],v3[1],v3[2]);
for(i=0; i<5; i++)
printf("points[%d]->x=%f,points[%d]->y=%f,points[%d]->z=%f\n",
i,points[i].x,i,points[i].y,i,points[i].z);
printf("cur->x=%f,cur->y=%f,cur->z=%f\ncur->n->x=%f,cur->n->y=%f,cur->n->z=%f\n",
cur->x,cur->y,cur->z,cur->n->x,cur->n->y,cur->n->z);
printf("cur2->x=%f,cur2->y=%f,cur2->z=%f\ncur2->n->x=%f,cur2->n->y=%f,cur2->n->z=%f\n",
cur2->x,cur2->y,cur2->z,cur2->n->x,cur2->n->y,cur2->n->z);
cur = cur->n;
cur2 = cur2->n;
}
cur_slice = cur_slice->n;
cur2_slice = cur2_slice->n != NULL ? cur2_slice->n : slices; /* circle around */
}
break;
case 'n':
normals=(~normals)&1;
printf("Normal mode %s\n",normals?"on":"off");
break;
case 'e':
solid=(~solid)&1;
printf("%s\n",solid?"Solid mode":"Wireframe mode");
switch(solid)
{
case 0:
glPolygonMode(GL_FRONT_AND_BACK,GL_LINE);
break;
case 1:
glPolygonMode(GL_FRONT_AND_BACK,GL_FILL);
break;
}
break;
case 'r':
faces=(~faces)&1;
printf("%s\n",faces?"Faces mode":"Control points mode");
break;
case 'w': /* calculate initial 3d object */
if(num<5)
printf("There must be at least 5 control points.\n");
else if(!mode)
{
mode=(~mode)&1;
printf("%s\n",mode?"3D mode":"2D mode");
switch(mode)
{
case 0:
resetCamera();
break;
case 1:
reset3DCamera();
break;
}
freeModel();
subdiv_v = 0;
subdiv_h = NUMSLICES;
/* the radius of the circle for each of the points is x */
for(i=0;i<subdiv_h;i++)
{
ALLOC_POINT(slice);
cur=slice;
linecur=line;
while(linecur!=NULL)
{
cur->z = linecur->x*sin(DEGINC*i);
cur->x = linecur->x*cos(DEGINC*i);
cur->y = linecur->y;
linecur = linecur->n;
if(linecur!=NULL)
{
ALLOC_POINT(cur->n);
cur = cur->n;
}
}
addSlice(slice);
}
}
recompute_normals();
break;
case 's': /* horizontal subdivision */
if(!mode || slices==NULL) break;
/* backup the original slice */
new_points = duplicate_slice(slices->line);
freeModel();
subdiv_h<<=1;
subdiv++;
printf("Horizontal subdivision level %d\n",subdiv);
deginc = 2*M_PI/subdiv_h;
for(i=0;i<subdiv_h;i++)
{
ALLOC_POINT(slice);
cur=slice;
linecur=new_points;
while(linecur!=NULL)
{
cur->z = linecur->x*sin(deginc*i);
cur->x = linecur->x*cos(deginc*i);
cur->y = linecur->y;
linecur = linecur->n;
if(linecur!=NULL)
{
ALLOC_POINT(cur->n);
cur = cur->n;
}
}
addSlice(slice);
}
recompute_normals();
break;
case 'a': /* vertical subdivision */
if(!mode || slices==NULL) break;
cur_slice=slices;
subdiv_v++;
printf("Vertical subdivision level %d\n",subdiv_v);
linecur = cur_slice->line;
/* calc the first point */
cur = new_points = calc_point(linecur,linecur,linecur->n,linecur->n->n);
/* calc middle and last points */
while(linecur->n->n!=NULL)
{
if(linecur->n->n->n!=NULL) /* middle points */
cur->n = calc_point(linecur,linecur->n,linecur->n->n,linecur->n->n->n);
else
cur->n = calc_point(linecur,linecur->n,linecur->n->n,linecur->n->n);
cur = cur->n;
linecur = linecur->n;
}
interleave(cur_slice->line,new_points);
new_points = duplicate_slice(cur_slice->line);
deginc = 2*M_PI/subdiv_h;
freeModel();
for(i=0;i<subdiv_h;i++)
{
ALLOC_POINT(slice);
cur=slice;
linecur=new_points;
while(linecur!=NULL)
{
cur->z = linecur->x*sin(deginc*i);
cur->x = linecur->x*cos(deginc*i);
cur->y = linecur->y;
linecur = linecur->n;
if(linecur!=NULL)
{
ALLOC_POINT(cur->n);
cur = cur->n;
}
}
addSlice(slice);
}
recompute_normals();
break;
case 'd':
shading=(~shading)&1;
printf("%s shading\n",shading?"Phong":"Gouraud");
break;
case '<':
if(mode)
{
glMatrixMode(GL_MODELVIEW);
glRotatef(1,0.0,1.0,0.0);
}
break;
case '>':
if(mode)
{
glMatrixMode(GL_MODELVIEW);
glRotatef(-1,0.0,1.0,0.0);
}
break;
default:
/* Unrecognized keypress */
return;
}
glutPostRedisplay();
return;
}
