void TensorGlRep::render(const shared_ptr<Node>& node, const GLViewInfo* viewInfo){
const int circDiv=20;
static gleDouble circ[circDiv+2][3]={};
if(circ[0][0]==0){
gleSetNumSides(10);
Real step=2*M_PI/circDiv;
for(int i=-1; i<circDiv+1; i++){
circ[i+1][0]=cos(i*step);
circ[i+1][1]=sin(i*step);
circ[i+1][2]=0;
}
}
if(range && !skewRange) skewRange=range;
Vector3r pos=node->pos+(node->hasData<GlData>()?node->getData<GlData>().dGlPos:Vector3r::Zero());
for(int i:{0,1,2}){
Vector3r color=(range?range->color(eigVal[i]):CompUtils::scalarOnColorScale(eigVal[i],-1,1));
if(isnan(color.maxCoeff())) continue;
Real mxNorm=(range?range->maxAbs(eigVal[i]):1);
Real len=relSz*viewInfo->sceneRadius;
len*=isnan(scaleExp)?abs(eigVal[i]/mxNorm):pow(abs(eigVal[i])/mxNorm,scaleExp);
glColor3v(color);
Vector3r dx(len*eigVec.col(i));
// arrows which go towards each other for negative eigenvalues, and away from each other for positive ones
GLUtils::GLDrawArrow(pos+(eigVal[i]>0?Vector3r::Zero():dx),pos+(eigVal[i]>0?dx:Vector3r::Zero()),color);
GLUtils::GLDrawArrow(pos-(eigVal[i]>0?Vector3r::Zero():dx),pos-(eigVal[i]>0?dx:Vector3r::Zero()),color);
// draw circular arrow to show skew components, in the half-height
// compute it in the xy plane, transform coords instead
Real maxSkew=(skewRange?skewRange->maxAbs(skew[i]):1);
// if(abs(skew[i])<.05*maxSkew) continue;
int nPts=int((abs(skew[i])/maxSkew)*circDiv*.5/* show max skew as .5*2π rad */-.5/*round evenly, but exclude one segment for arrow head*/);
if(nPts>circDiv-2) nPts=circDiv-2;
if(nPts<=0) continue;
Real torRad1=(skewRelSz>0?skewRelSz:relSz)*viewInfo->sceneRadius*(abs(skew[i])/maxSkew);
Real torDist=0*.3*torRad1; // draw both arcs in-plane
Real torRad2=torRad1*.1;
glColor3v(skewRange?skewRange->color(skew[i]):CompUtils::scalarOnColorScale(skew[i],-1,1));
for(int j:{0,1,2}){
glPushMatrix();
Eigen::Affine3d T=Eigen::Affine3d::Identity();
T.translate(pos+(j==0?1:-1)*eigVec.col(i)*torDist).rotate(Quaternionr().setFromTwoVectors(Vector3r::UnitZ(),eigVec.col(i)*(skew[i]>0?-1:1))).scale(torRad1);
if(j==1) T.rotate(AngleAxisr(M_PI,Vector3r::UnitZ()));
//GLUtils::setLocalCoords(pos+(j==0?1:-1)*eigVec.col(i)*torDist,
glMultMatrixd(T.data());
// since we scaled coords to transform unit circle coords to our radius, we will need to scale dimensions now by 1/torRad1
glePolyCylinder(nPts+2,circ,/* use current color*/NULL,torRad2*(1/torRad1));
gleDouble headRad[]={2*torRad2*(1/torRad1),2*torRad2*(1/torRad1),0,0,0};
glePolyCone(4,(gleDouble(*)[3])&(circ[nPts-1]),/*use current color*/NULL,headRad);
glPopMatrix();
}
}
}
void GLThread::DrawDownvecAtInd(int ind)
{
glDisable(GL_TEXTURE_2D);
glPushMatrix();
glColor3d(0.8, 0.1, 0.0);
const double radius = 0.20;
const double radius_cone_max = 0.45;
Vector3d diff_pos = _thread->vertex_at_ind(ind)-display_start_pos;
double length_factor = 8.0;
double cone_scale_factor = 0.07;
Vector3d down_vec = -Vector3d::UnitZ()*length_factor;
double pts[4][3];
double pts_cone[4][3];
double radius_cone[4];
radius_cone[0] = radius_cone_max*2;
radius_cone[1] = radius_cone_max;
radius_cone[2] = 1e-3;
radius_cone[3] = 0;
for (int i=0; i < 3; i++)
{
pts[0][i] = diff_pos(i)-down_vec(i);
pts[1][i] = diff_pos(i);
pts[2][i] = diff_pos(i) + down_vec(i);
pts[3][i] = diff_pos(i) + 2*down_vec(i);
pts_cone[0][i] = diff_pos(i) + down_vec(i)*(1.0-cone_scale_factor);
pts_cone[1][i] = diff_pos(i) + down_vec(i);
pts_cone[2][i] = diff_pos(i) + down_vec(i)*(1.0+cone_scale_factor);
pts_cone[3][i] = diff_pos(i) + down_vec(i)*(1.0+cone_scale_factor*2);
}
glePolyCylinder(4, pts, 0x0,radius);
glePolyCone(4, pts_cone, 0x0, radius_cone);
glPopMatrix();
glEnable(GL_TEXTURE_2D);
}
/* draw the polycone shape */
void DrawStuff (void) {
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
/* set up some matrices so that the object spins with the mouse */
glPushMatrix ();
glTranslatef (0.0, 0.0, -80.0);
glRotatef (lastx, 0.0, 1.0, 0.0);
glRotatef (lasty, 1.0, 0.0, 0.0);
glColor3f (0.5, 0.5, 0.2);
/* Phew. FINALLY, Draw the polycone -- */
glePolyCone (idx, points, 0x0, radii);
glPopMatrix ();
glutSwapBuffers ();
}
/* draw the helix shape */
void DrawStuff (void)
{
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor3f (0.8, 0.3, 0.6);
glPushMatrix ();
/* set up some matrices so that the object spins with the mouse */
glTranslatef (0.0,0.0,-300.0);
glRotatef (rotate_frame[1], 1.0, 0.0, 0.0);
glRotatef (rotate_frame[0], 0.0, 0.0, 1.0);
//change thread, if necessary
if (traj_mode == PLAYBACK)// && trajectory_play_back_ind < trajectory.size())
{
/*
Thread_Motion nextMotion;
traj_reader.get_next_motion(nextMotion);
positions[1] += nextMotion.pos_movement;
tangents[1] = nextMotion.tan_rotation*tangents[1];
//change thread
thread->setConstraints(positions, tangents);
//thread->upsampleAndOptimize_minLength(0.065);
thread->minimize_energy_fixedPieces();
*/
}
else if (move_end[0] != 0.0 || move_end[1] != 0.0 || tangent_end[0] != 0.0 || tangent_end[1] != 0.0)
{
GLdouble model_view[16];
glGetDoublev(GL_MODELVIEW_MATRIX, model_view);
GLdouble projection[16];
glGetDoublev(GL_PROJECTION_MATRIX, projection);
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT, viewport);
double winX, winY, winZ;
//change end positions
Vector3d new_end_pos;
gluProject(positions[1](0), positions[1](1), positions[1](2), model_view, projection, viewport, &winX, &winY, &winZ);
winX += move_end[0];
winY += move_end[1];
move_end[0] = 0.0;
move_end[1] = 0.0;
gluUnProject(winX, winY, winZ, model_view, projection, viewport, &new_end_pos(0), &new_end_pos(1), &new_end_pos(2));
// std::cout << "X: " << positions[1](0) << " Y: " << positions[1](1) << " Z: " << positions[1](2) << std::endl;
//change tangents
Vector3d new_end_tan;
gluProject(tangents[1](0), tangents[1](1), tangents[1](2), model_view, projection, viewport, &winX, &winY, &winZ);
winX += tangent_end[0];
winY += tangent_end[1];
tangent_end[0] = 0.0;
tangent_end[1] = 0.0;
gluUnProject(winX, winY, winZ, model_view, projection, viewport, &new_end_tan(0), &new_end_tan(1), &new_end_tan(2));
new_end_tan.normalize();
if (traj_mode == RECORD)
{
traj_recorder.add_motion_to_list(positions[1], new_end_pos, tangents[1], new_end_tan);
}
positions[1] = new_end_pos;
tangents[1] = new_end_tan;
//change thread
thread->setConstraints(positions, tangents);
//thread->upsampleAndOptimize_minLength(0.065);
thread->minimize_energy_fixedPieces();
//std::cout << "objX: " <<objX << " objY: " << objY << " objZ: " << objZ << " winX: " << winX << " winY: " << winY << " winZ: " << winZ << std::endl;
}
//Draw Axes
glBegin(GL_LINES);
glEnable(GL_LINE_SMOOTH);
glColor3d(1.0, 0.0, 0.0); //red
glVertex3f(0.0f, 0.0f, 0.0f); //x
glVertex3f(20.0f, 0.0f, 0.0f);
glColor3d(0.0, 1.0, 0.0); //green
glVertex3f(0.0f, 0.0f, 0.0f); //y
glVertex3f(0.0f, 20.0f, 0.0f);
glColor3d(0.0, 0.0, 1.0); //blue
glVertex3f(0.0f, 0.0f, 0.0f); //z
glVertex3f(0.0f, 0.0f, 20.0f);
glColor3d(0.5, 0.5, 1.0);
glVertex3f(positions[1](0)-positions[0](0), positions[1](1)-positions[0](1), positions[1](2)-positions[0](2)); //z
glVertex3f(positions[1](0)-positions[0](0)+tangents[1](0)*4.0, positions[1](1)-positions[0](1)+tangents[1](1)*4.0, positions[1](2)-positions[0](2)+tangents[1](2)*4.0); //z
glEnd( );
//label axes
void * font = GLUT_BITMAP_HELVETICA_18;
glColor3d(1.0, 0.0, 0.0); //red
glRasterPos3i(20.0, 0.0, -1.0);
glutBitmapCharacter(font, 'X');
glColor3d(0.0, 1.0, 0.0); //red
glRasterPos3i(0.0, 20.0, -1.0);
glutBitmapCharacter(font, 'Y');
glColor3d(0.0, 0.0, 1.0); //red
glRasterPos3i(-1.0, 0.0, 20.0);
glutBitmapCharacter(font, 'Z');
//Draw Thread
glColor3f (0.5, 0.5, 0.2);
thread->getPoints(points);
double pts_cpy[NUM_PTS][3];
for (int i=0; i < NUM_PTS; i++)
{
pts_cpy[i][0] = points(i,0)-(double)positions[0](0);
pts_cpy[i][1] = points(i,1)-(double)positions[0](1);
pts_cpy[i][2] = points(i,2)-(double)positions[0](2);
}
glePolyCone (NUM_PTS, pts_cpy, 0x0, radii);
glPopMatrix ();
glutSwapBuffers ();
}
void GLThread::DrawAxesAtPoint(const Vector3d& pt, const Matrix3d& rot_in, ColorCode color_axis, bool skipX)
{
glDisable(GL_TEXTURE_2D);
glPushMatrix();
//Matrix3d rot = Eigen::AngleAxisd(M_PI/2.0, Vector3d::UnitX())*rot_in;
Matrix3d rot = Eigen::AngleAxisd(M_PI/2.0, rot_in.col(0))*rot_in;
const double radius = 0.15;
const double radius_cone_max = 0.4;
Vector3d diff_pos = pt-display_start_pos;
double rotation_scale_factor = 6.0;
double cone_scale_factor = 0.07;
Matrix3d rotations_project = rot*rotation_scale_factor;
double pts[4][3];
double pts_cone[4][3];
double radius_cone[4];
radius_cone[0] = radius_cone_max*2;
radius_cone[1] = radius_cone_max;
radius_cone[2] = 1e-3;
radius_cone[3] = 0;
for (int i=0; i < 3; i++)
{
pts[0][i] = diff_pos(i)-rotations_project(i,0);
pts[1][i] = diff_pos(i);
}
for (int coord=0; coord < 3; coord++)
{
if (coord == 0 && skipX)
continue;
for (int i=0; i < 3; i++)
{
pts[2][i] = diff_pos(i) + rotations_project(i,coord);
pts[3][i] = diff_pos(i) + 2*rotations_project(i,coord);
pts_cone[0][i] = diff_pos(i) + rotations_project(i,coord)*(1.0-cone_scale_factor);
pts_cone[1][i] = diff_pos(i) + rotations_project(i,coord);
pts_cone[2][i] = diff_pos(i) + rotations_project(i,coord)*(1.0+cone_scale_factor);
pts_cone[3][i] = diff_pos(i) + rotations_project(i,coord)*(1.0+cone_scale_factor*2);
}
float thread_color_array[4][3];
float stripe_color_array[4][3];
for (int i=0; i < 4; i++)
{
for (int j=0; j < 3; j++)
{
thread_color_array[i][j] = thread_color_float[j];
stripe_color_array[i][j] = stripe_color_float[j];
}
}
const float alpha = 0.85;
// gleTextureMode (GLE_TEXTURE_VERTEX_MODEL_CYL);
if (color_axis == material)
{
if (coord == 0)
glColor4f(0.7, 0.2, 0, alpha);
else if (coord == 1)
glColor4f((thread_color_float[0])*0.8, (thread_color_float[1])*0.8, (thread_color_float[2])*0.8, alpha);
else
glColor4f((stripe_color_float[0])*0.8, (stripe_color_float[1])*0.8, (stripe_color_float[2])*0.8, alpha);
} else if (color_axis == bishop) {
if (coord == 0)
glColor4f(0.7, 0.2, 0, alpha);
else if (coord == 1)
glColor3d(0.5, 0.5, 0.5);
else
glColor3d(0.17, 0.17, 0.17);
} else {
if (coord == 0)
glColor3d(1.0, 0.0, 0.0);
else if (coord == 1)
glColor3d(0.0, 1.0, 0.0);
else
glColor3d(0.0, 0.0, 1.0);
}
glePolyCylinder(4, pts, 0x0,radius);
glePolyCone(4, pts_cone, 0x0, radius_cone);
}
glPopMatrix();
glEnable(GL_TEXTURE_2D);
}
