void Enco3D::Core::Transform::update()
{
if (m_parentTransform != nullptr && m_parentTransform->hasChanged())
m_parentMatrix = m_parentTransform->getTransformation();
if (m_billboardEnabled)
m_rotation.set(m_billboardCamera->getTransform()->getRotation());
Matrix4x4f translationMatrix = Matrix4x4f().translate(m_translation.x, m_translation.y, m_translation.z);
Matrix4x4f rotationMatrix = m_rotation.toRotationMatrix4x4();
Matrix4x4f scalingMatrix = Matrix4x4f().scale(m_scaling.x, m_scaling.y, m_scaling.z);
m_prevTransformation = m_transformation;
m_transformation = getParentMatrix() * translationMatrix * scalingMatrix * rotationMatrix;
}
void Robot::draw(glm::mat4 &local2clip, glm::mat4 &local2eye, glm::mat4 &world2eye,
float color[3], GLuint c0, GLuint c1, GLuint c2, GLuint m1,
GLuint m2, GLuint m3, GLuint m4){
// float *model1 = &model[0][0];
float angleRR = (3.141592653589793238463 / 180) * 90;
/////////////////////////////////////////BODY/////////////////////////////
rememberParent(modelMR);
glBindBuffer(GL_ARRAY_BUFFER, c.vboHandle[0]);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, c.indexVBO);
modelMR = glm::translate(modelMR, glm::vec3(0.0f, -0.25f, 0.0f));
float ang= 270 * (22 / 7.0) / 180.0;
glVertexAttribPointer(c0, 4, GL_FLOAT, GL_FALSE, 48, (char*)NULL + 0);
glVertexAttribPointer(c1, 4, GL_FLOAT, GL_FALSE, 48, (char*)NULL + 32);
glVertexAttribPointer(c2, 4, GL_FLOAT, GL_FALSE, 48, (char*)NULL + 16);
modelMR = glm::rotate(modelMR, ang,glm::vec3(1.0, 0.0, 0.0));
modelMR = glm::scale(modelMR, glm::vec3(0.1f, 0.1f, 0.5f));
glm::mat4 local2eyeV = local2eye*modelMR;
modelMR = local2clip*modelMR;
glm::mat4 normal_matrix = glm::inverse(local2eyeV);
normal_matrix = glm::transpose(normal_matrix);
glUniformMatrix4fv(m1, 1, GL_FALSE, &modelMR[0][0]);
glUniformMatrix4fv(m2, 1, GL_FALSE, &local2eyeV[0][0]); // pass the local2eye matrix
glUniformMatrix4fv(m3, 1, GL_FALSE, &normal_matrix[0][0]); // pass the local2eye matrix
glUniformMatrix4fv(m4, 1, GL_FALSE, &world2eye[0][0]); // pass the local2eye matrix
glDrawElements(GL_TRIANGLE_STRIP, c.nindices, GL_UNSIGNED_INT, (char*)NULL + 0);
modelMR = getParentMatrix();
forgetParent();
////////////////////////////////////Face//////////////////////////
rememberParent(modelMR);
modelMR = glm::translate(modelMR, glm::vec3(0.0, .31f, 0.0f));
//std::cout << glm::to_string(modelMR[0]) << std::endl << glm::to_string(modelMR[1]) << std::endl << glm::to_string(modelMR[2]) << std::endl << glm::to_string(modelMR[3]) << std::endl;
//drawCube(r.Robot::modelMR);
glBindBuffer(GL_ARRAY_BUFFER, s.vboHandleSphere[0]);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s.indexVBOSphere);
modelMR = glm::scale(modelMR, glm::vec3(0.3f, 0.3f, 0.3f));
//modelMR = glm::translate(glm::vec3(0.5f, 0.5f, 0.3f));
//modelMR = glm::scale(modelMR, glm::vec3(2.0f, 2.0f, 2.0f));
local2eyeV = local2eye*modelMR;
modelMR = local2clip*modelMR;
// glLoadMatrixf(&modelMR[0][0]);
normal_matrix = glm::inverse(local2eye);
normal_matrix = glm::transpose(normal_matrix);
glVertexAttribPointer(c0, 4, GL_FLOAT, GL_FALSE, 48, (char*)NULL + 0);
glVertexAttribPointer(c1, 4, GL_FLOAT, GL_FALSE, sizeof(Sphere::Vertex), (char*)NULL + 16);
glVertexAttribPointer(c2, 4, GL_FLOAT, GL_FALSE, sizeof(Sphere::Vertex), (char*)NULL + 32);
glUniformMatrix4fv(m1, 1, GL_FALSE, &modelMR[0][0]);
glUniformMatrix4fv(m2, 1, GL_FALSE, &local2eyeV[0][0]); // pass the local2eye matrix
glUniformMatrix4fv(m3, 1, GL_FALSE, &normal_matrix[0][0]); // pass the local2eye matrix
glUniformMatrix4fv(m4, 1, GL_FALSE, &world2eye[0][0]); // pass the local2eye matrix
glDrawElements(GL_TRIANGLE_STRIP, s.index.size(), GL_UNSIGNED_INT, (char*)NULL + 0);
modelMR = getParentMatrix();
forgetParent();
glBindBuffer(GL_ARRAY_BUFFER, vboHandleCube[0]);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, indexVBOCube);
//////////////////////////////////left leg////////////////////////////////
rememberParent(modelMR);
modelMR = glm::translate(modelMR, glm::vec3(-.05, -0.36, 0.0f));
modelMR = glm::rotate(modelMR, -angle1, glm::vec3(1.0f, 1.0f, 0.0f));
rememberParent(modelMR);
modelMR = glm::scale(modelMR, glm::vec3(0.9, 2, 1));
//std::cout << glm::to_string(modelMR[0]) << std::endl << glm::to_string(modelMR[1]) << std::endl << glm::to_string(modelMR[2]) << std::endl << glm::to_string(modelMR[3]) << std::endl;
local2eyeV = local2eye*modelMR;
modelMR = local2clip*modelMR;
////glLoadMatrixf(&modelMR[0][0]);
//glLoadMatrixf(&modelMR[0][0]);
drawCube(modelMR, local2eyeV, world2eye, color, c0, c1, c2, m1, m2, m3, m4);
modelMR = getParentMatrix();
modelMR = glm::translate(modelMR, glm::vec3(0, -0.21, 0.0f));
modelMR = glm::rotate(modelMR, -angle2, glm::vec3(1.0f, 0.0f, 0.0f));
rememberParent(modelMR);
modelMR = glm::scale(modelMR, glm::vec3(0.9, 2, 1));
local2eyeV = local2eye*modelMR;
modelMR = local2clip*modelMR;
////glLoadMatrixf(&modelMR[0][0]);
//glLoadMatrixf(&modelMR[0][0]);
drawCube(modelMR, local2eyeV, world2eye, color, c0, c1, c2, m1, m2, m3, m4);
///left foot/////////////////////////////////
modelMR = getParentMatrix();
modelMR = glm::translate(modelMR, glm::vec3(-0.06,- 0.17, 0.0f));
modelMR = glm::rotate(modelMR, -angle2, glm::vec3(1.0f, 0.0f, 0.0f));
local2eyeV = local2eye*modelMR;
modelMR = local2clip*modelMR;
modelMR = glm::scale(modelMR, glm::vec3(2, 1, 1));
drawCube(modelMR, local2eyeV, world2eye, color, c0, c1, c2, m1, m2, m3, m4);
forgetParent();
forgetParent();
////////////////////////////////right leg///////////////////////////////
modelMR = getParentMatrix();
// rememberParent(modelMR);
modelMR = glm::translate(modelMR, glm::vec3(.05, -.36f, 0.0f));
modelMR = glm::rotate(modelMR, angle3, glm::vec3(-1.0f, 1.0f, 0.0f));
rememberParent(modelMR);
modelMR = glm::scale(modelMR, glm::vec3(0.9, 2, 1));
//std::cout << glm::to_string(modelMR[0]) << std::endl << glm::to_string(modelMR[1]) << std::endl << glm::to_string(modelMR[2]) << std::endl << glm::to_string(modelMR[3]) << std::endl;
local2eyeV = local2eye*modelMR;
modelMR = local2clip*modelMR;
//glLoadMatrixf(&modelMR[0][0]);
// glLoadMatrixf(&modelMR[0][0]);
drawCube(modelMR, local2eyeV, world2eye, color, c0, c1, c2, m1, m2, m3, m4);
modelMR = getParentMatrix();
//mat_stack.pop();
//rememberParent(modelMR);
modelMR = glm::translate(modelMR, glm::vec3(0, -0.21, 0.0f));
modelMR = glm::rotate(modelMR, angle4, glm::vec3(-1.0f, 0.0f, 0.0f));
rememberParent(modelMR);
local2eyeV = local2eye*modelMR;
modelMR = local2clip*modelMR;
modelMR = glm::scale(modelMR, glm::vec3(0.9, 2, 1));
drawCube(modelMR, local2eyeV, world2eye, color, c0, c1, c2, m1, m2, m3, m4);
///////////////////////////////////////////////////////////
////right foot
modelMR = getParentMatrix();
modelMR = glm::translate(modelMR, glm::vec3(0.06, -0.17, 0.0f));
modelMR = glm::rotate(modelMR, -angle2, glm::vec3(1.0f, 0.0f, 0.0f));
modelMR = glm::scale(modelMR, glm::vec3(2, 1, 1));
local2eyeV = local2eye*modelMR;
modelMR = local2clip*modelMR;
//glLoadMatrixf(&modelMR[0][0]);
// glLoadMatrixf(&modelMR[0][0]);
drawCube(modelMR, local2eyeV, world2eye, color, c0, c1, c2, m1, m2, m3, m4);
forgetParent();
forgetParent();
//forgetParent();
///////////////////////////////////HANDS///////////////////////////
//////////////////LEFT/////////////////////////
modelMR = getParentMatrix();
//rememberParent(modelMR);
modelMR = glm::translate(modelMR, glm::vec3(-.21, 0.16, 0.0f));
modelMR = glm::rotate(modelMR, angle3, glm::vec3(-1.0f, 1.0f, 0.0f));
rememberParent(modelMR);
modelMR = glm::scale(modelMR, glm::vec3(0.9, 2, 1));
local2eyeV = local2eye*modelMR;
modelMR = local2clip*modelMR;
glLoadMatrixf(&modelMR[0][0]);
drawCube(modelMR, local2eyeV, world2eye, color, c0, c1, c2, m1, m2, m3, m4);
modelMR = getParentMatrix();
modelMR = glm::translate(modelMR, glm::vec3(0, -0.21, 0.0f));
modelMR = glm::rotate(modelMR, angle4, glm::vec3(-1.0f, 0.0f, 0.0f));
modelMR = glm::scale(modelMR, glm::vec3(0.9, 2, 1));
local2eyeV = local2eye*modelMR;
modelMR = local2clip*modelMR;
drawCube(modelMR, local2eyeV, world2eye, color, c0, c1, c2, m1, m2, m3, m4);
forgetParent();
modelMR = getParentMatrix();
forgetParent();
////////////////RIGHT///////////////
rememberParent(modelMR);
modelMR = glm::translate(modelMR, glm::vec3(+.21, 0.16, 0.0f));
modelMR = glm::rotate(modelMR, -angle1, glm::vec3(1.0f, 1.0f, 0.0f));
rememberParent(modelMR);
modelMR = glm::scale(modelMR, glm::vec3(0.9, 2, 1));
local2eye = local2eye*modelMR;
modelMR = local2clip*modelMR;
//glLoadMatrixf(&modelMR[0][0]);
drawCube(modelMR, local2eye, world2eye, color, c0, c1, c2, m1, m2, m3, m4);
modelMR = getParentMatrix();
modelMR = glm::translate(modelMR, glm::vec3(0, -0.21, 0.0f));
modelMR = glm::rotate(modelMR, -angle2, glm::vec3(1.0f, 0.0f, 0.0f));
local2eye = local2eye*modelMR;
modelMR = local2clip*modelMR;
modelMR = glm::scale(modelMR, glm::vec3(0.9, 2, 1));
////glLoadMatrixf(&modelMR[0][0]);
//glLoadMatrixf(&modelMR[0][0]);
drawCube(modelMR, local2eye, world2eye, color, c0, c1, c2, m1, m2, m3, m4);
forgetParent();
modelMR = getParentMatrix();
forgetParent();
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY);
glutSwapBuffers();
glFlush();
}
