const char*
reset_scene_node( const char *node )
{
scene_node_t *nodePtr;
if ( get_scene_node( node, &nodePtr ) != TCL_OK ) {
return "No such node";
}
make_identity_matrix( nodePtr->trans );
make_identity_matrix( nodePtr->invtrans );
return NULL;
}
bool_t collide(const char *node, polyhedron_t ph )
{
scene_node_t *nodePtr;
matrixgl_t mat, invmat;
make_identity_matrix( mat );
make_identity_matrix( invmat );
if ( get_scene_node( node, &nodePtr ) != TCL_OK ) {
handle_error( 1, "draw_scene_graph: No such node `%s'", node );
}
return check_polyhedron_collision_with_dag( nodePtr, mat, invmat, ph );
}
Handle<Value> createWindow(const Arguments& args) {
HandleScope scope;
int w = args[0]->ToNumber()->NumberValue();
int h = args[1]->ToNumber()->NumberValue();
width = w;
height = h;
if(!glfwOpenWindow(width,height, 8, 8, 8, 0, 24, 8, GLFW_WINDOW)) {
printf("error. quitting\n");
glfwTerminate();
exit(EXIT_FAILURE);
}
glfwSetWindowSizeCallback(GLFW_WINDOW_SIZE_CALLBACK_FUNCTION);
glfwSetWindowCloseCallback(GLFW_WINDOW_CLOSE_CALLBACK_FUNCTION);
glfwSetMousePosCallback(GLFW_MOUSE_POS_CALLBACK_FUNCTION);
glfwSetMouseButtonCallback(GLFW_MOUSE_BUTTON_CALLBACK_FUNCTION);
glfwSetKeyCallback(GLFW_KEY_CALLBACK_FUNCTION);
colorShader = new ColorShader();
textureShader = new TextureShader();
fontShader = new FontShader();
modelView = new GLfloat[16];
globaltx = new GLfloat[16];
make_identity_matrix(globaltx);
glViewport(0,0,width, height);
return scope.Close(Undefined());
}
gf2matrix *invert_matrix(gf2matrix *dest, const gf2matrix *m)
{
if (!m)
return NULL;
mzd_t *temp = mzd_inv_m4ri(NULL, (mzd_t*) m, 0);
if(!temp) {
dest = NULL;
}
else {
mzd_t *I = make_identity_matrix(m->nrows);
mzd_t *prod = mul_matrices(NULL, m, temp);
if(comp_matrices(prod, I) == 0) {
// inversion was successful
if (dest) {
mzd_copy(dest, temp);
mzd_free(temp);
}
else {
dest = temp;
}
}
else {
dest = NULL;
}
mzd_free(prod);
mzd_free(I);
}
return dest;
}
static void whittle2 (Array acf, Array Aold, Array Bold, int lag,
char *direction, Array A, Array K, Array E)
{
int d, i, nser=DIM(acf)[1];
const void *vmax;
Array beta, tmp, id;
d = strcmp(direction, "forward") == 0;
vmax = vmaxget();
beta = make_zero_matrix(nser,nser);
tmp = make_zero_matrix(nser, nser);
id = make_identity_matrix(nser);
set_array_to_zero(E);
copy_array(id, subarray(A,0));
for(i = 0; i < lag; i++) {
matrix_prod(subarray(acf,lag - i), subarray(Aold,i), d, 1, tmp);
array_op(beta, tmp, '+', beta);
matrix_prod(subarray(acf,i), subarray(Bold,i), d, 1, tmp);
array_op(E, tmp, '+', E);
}
qr_solve(E, beta, K);
transpose_matrix(K,K);
for (i = 1; i <= lag; i++) {
matrix_prod(K, subarray(Bold,lag - i), 0, 0, tmp);
array_op(subarray(Aold,i), tmp, '-', subarray(A,i));
}
vmaxset(vmax);
}
void setup_view_matrix( player_data_t *plyr )
{
vector_t view_x, view_y, view_z;
matrixgl_t view_mat;
point_t viewpt_in_view_frame;
view_z = scale_vector( -1, plyr->view.dir );
view_x = cross_product( plyr->view.up, view_z );
view_y = cross_product( view_z, view_x );
normalize_vector( &view_z );
normalize_vector( &view_x );
normalize_vector( &view_y );
make_identity_matrix( plyr->view.inv_view_mat );
plyr->view.inv_view_mat[0][0] = view_x.x;
plyr->view.inv_view_mat[0][1] = view_x.y;
plyr->view.inv_view_mat[0][2] = view_x.z;
plyr->view.inv_view_mat[1][0] = view_y.x;
plyr->view.inv_view_mat[1][1] = view_y.y;
plyr->view.inv_view_mat[1][2] = view_y.z;
plyr->view.inv_view_mat[2][0] = view_z.x;
plyr->view.inv_view_mat[2][1] = view_z.y;
plyr->view.inv_view_mat[2][2] = view_z.z;
plyr->view.inv_view_mat[3][0] = plyr->view.pos.x;
plyr->view.inv_view_mat[3][1] = plyr->view.pos.y;
plyr->view.inv_view_mat[3][2] = plyr->view.pos.z;
plyr->view.inv_view_mat[3][3] = 1;
transpose_matrix( plyr->view.inv_view_mat, view_mat );
view_mat[0][3] = 0;
view_mat[1][3] = 0;
view_mat[2][3] = 0;
viewpt_in_view_frame = transform_point( view_mat, plyr->view.pos );
view_mat[3][0] = -viewpt_in_view_frame.x;
view_mat[3][1] = -viewpt_in_view_frame.y;
view_mat[3][2] = -viewpt_in_view_frame.z;
glLoadIdentity();
#ifdef __APPLE__DISABLED__
GLfloat matrix[3][3];
int i,j;
for( i = 0; i < 3; i++ )
{
for( j = 0; j < 3; j++ )
matrix[i][j] = view_mat[i][j];
}
glMultMatrixf( (GLfloat *) matrix );
#else
glMultMatrixd( (scalar_t *) view_mat );
#endif
}
void setup_view_matrix( player_data_t *plyr )
{
GLfloat matrix[4][4];
int i,j;
vector_t view_x, view_y, view_z;
matrixgl_t view_mat;
point_t viewpt_in_view_frame;
view_z = scale_vector( -1, plyr->view.dir );
view_x = cross_product( plyr->view.up, view_z );
view_y = cross_product( view_z, view_x );
normalize_vector( &view_z );
normalize_vector( &view_x );
normalize_vector( &view_y );
make_identity_matrix( plyr->view.inv_view_mat );
plyr->view.inv_view_mat[0][0] = view_x.x;
plyr->view.inv_view_mat[0][1] = view_x.y;
plyr->view.inv_view_mat[0][2] = view_x.z;
plyr->view.inv_view_mat[1][0] = view_y.x;
plyr->view.inv_view_mat[1][1] = view_y.y;
plyr->view.inv_view_mat[1][2] = view_y.z;
plyr->view.inv_view_mat[2][0] = view_z.x;
plyr->view.inv_view_mat[2][1] = view_z.y;
plyr->view.inv_view_mat[2][2] = view_z.z;
plyr->view.inv_view_mat[3][0] = plyr->view.pos.x;
plyr->view.inv_view_mat[3][1] = plyr->view.pos.y;
plyr->view.inv_view_mat[3][2] = plyr->view.pos.z;
plyr->view.inv_view_mat[3][3] = 1;
transpose_matrix( plyr->view.inv_view_mat, view_mat );
view_mat[0][3] = 0;
view_mat[1][3] = 0;
view_mat[2][3] = 0;
viewpt_in_view_frame = transform_point( view_mat, plyr->view.pos );
view_mat[3][0] = -viewpt_in_view_frame.x;
view_mat[3][1] = -viewpt_in_view_frame.y;
view_mat[3][2] = -viewpt_in_view_frame.z;
//glLoadIdentity();
for( i = 0; i < 4; i++ )
{
for( j = 0; j < 4; j++ )
matrix[i][j] = view_mat[i][j];
}
util_set_view(matrix);
}
void make_identity_tbox_mixing_bijections(tbox_mixing_bijections_t tbox_mbs)
{
int round, row, col;
for (round = 0; round < NR; ++round) {
for (row = 0; row < 4; ++row) {
for (col = 0; col < 4; ++col) {
tbox_mbs[round][row][col] = make_identity_matrix(8);
}
}
}
}
/* Creates a new node, add the node to the hash table, and inserts the
node into the DAG. Default values are given to all fields except
the type-specific ones (geom, param). */
char* create_scene_node( const char *parent_name, const char *child_name,
scene_node_t **node )
{
scene_node_t *parent, *child;
if ( get_scene_node( parent_name, &parent ) != TCL_OK ) {
return "Parent node does not exist";
}
/* Create node */
child = (scene_node_t *)malloc( sizeof( scene_node_t ) );
/* Initialize node */
child->parent = parent;
child->next = NULL;
child->child = NULL;
child->mat = NULL;
child->render_shadow = True;
child->eye = False;
make_identity_matrix( child->trans );
make_identity_matrix( child->invtrans );
if ( add_scene_node( parent_name, child_name, child ) != TCL_OK ) {
free( child );
return "Child already exists";
}
/* Add node to parent's children */
if ( parent != NULL ) {
if ( parent->child == NULL ) {
parent->child = child;
} else {
for (parent = parent->child; parent->next != NULL;
parent = parent->next) {/* do nothing */}
parent->next = child;
}
}
*node = child;
return NULL;
}
static void whittle(Array acf, int nlag, Array *A, Array *B, Array p_forward,
Array v_forward, Array p_back, Array v_back)
{
int lag, nser = DIM(acf)[1];
const void *vmax;
Array EA, EB; /* prediction variance */
Array KA, KB; /* partial correlation coefficient */
Array id, tmp;
vmax = vmaxget();
KA = make_zero_matrix(nser, nser);
EA = make_zero_matrix(nser, nser);
KB = make_zero_matrix(nser, nser);
EB = make_zero_matrix(nser, nser);
id = make_identity_matrix(nser);
copy_array(id, subarray(A[0],0));
copy_array(id, subarray(B[0],0));
copy_array(id, subarray(p_forward,0));
copy_array(id, subarray(p_back,0));
for (lag = 1; lag <= nlag; lag++) {
whittle2(acf, A[lag-1], B[lag-1], lag, "forward", A[lag], KA, EB);
whittle2(acf, B[lag-1], A[lag-1], lag, "back", B[lag], KB, EA);
copy_array(EA, subarray(v_forward,lag-1));
copy_array(EB, subarray(v_back,lag-1));
copy_array(KA, subarray(p_forward,lag));
copy_array(KB, subarray(p_back,lag));
}
tmp = make_zero_matrix(nser,nser);
matrix_prod(KB,KA, 1, 1, tmp);
array_op(id, tmp, '-', tmp);
matrix_prod(EA, tmp, 0, 0, subarray(v_forward, nlag));
vmaxset(vmax);
}
void render() {
for(int j=0; j<updates.size(); j++) {
updates[j]->apply();
}
updates.clear();
GLfloat* scaleM = new GLfloat[16];
make_scale_matrix(1,-1,1,scaleM);
//make_scale_matrix(1,1,1,scaleM);
GLfloat* transM = new GLfloat[16];
make_trans_matrix(-width/2,height/2,0,transM);
//make_trans_matrix(10,10,0,transM);
//make_trans_matrix(0,0,0,transM);
GLfloat* m4 = new GLfloat[16];
mul_matrix(m4, transM, scaleM);
GLfloat* pixelM = new GLfloat[16];
// loadPixelPerfect(pixelM, width, height, 600, 100, -150);
loadPixelPerfect(pixelM, width, height, eye, near, far);
//printf("eye = %f\n",eye);
//loadPerspectiveMatrix(pixelM, 45, 1, 10, -100);
GLfloat* m5 = new GLfloat[16];
//transpose(m5,pixelM);
mul_matrix(modelView,pixelM,m4);
make_identity_matrix(globaltx);
glViewport(0,0,width, height);
glClearColor(1,1,1,1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_DEPTH_TEST);
for(int j=0; j<anims.size(); j++) {
anims[j]->update();
}
AminoNode* root = rects[rootHandle];
root->draw();
glfwSwapBuffers();
}
point_t get_tux_view_pt( player_data_t *plyr )
{
matrixgl_t trans;
char *tux_root_node_name;
scene_node_t *tux_root_node;
make_identity_matrix( trans );
tux_root_node_name = get_tux_root_node();
if ( get_scene_node( tux_root_node_name, &tux_root_node ) != TCL_OK ) {
check_assertion(0, "couldn't load tux's root node" );
}
traverse_dag_for_view_point( tux_root_node, trans );
tux_view_pt = move_point( tux_view_pt,
scale_vector( 0.2, plyr->plane_nml ) );
return tux_view_pt;
}
/**
* \brief
* return the A(bitsxbits) matrix corresponding to the given rank
* see Generating Large Non-Singular ...; Jmes Xiao, section 2.
* @param p number of bits
* @param r rank
* @return a matrix A of dims (pxp)
*
* For a 2x2 we have:
* r=0 r=1 r=2
* |1 0| |1 1| |0 1|
* |0 1| |1 0| |1 1|
*
* In general:
* 1. r = 0 A = I(p,p)
* 2. r is even:
* | |0 1| |
* | |1 1| |
* | ...(r/2 times |
* A = | diagonally) |
* | |
* | I(p-r,p-r) |
*
* 3. r is 1:
* | |1 1| |
* A = | |1 0| |
* | I(p-2,p-2) |
*
* 4. r is odd and > 1:
* | |1 1 1| |
* | |1 1 0| |
* | |1 0 0| |
* | |0 1| |
* A = | |1 1| |
* | ...(n times |
* | diagonally) |
* | |
* | I(p-2n,p-2n) |
* where n = (r - 3) / 2
*/
static gf2matrix *make_A_matrix(int p, int r)
{
gf2matrix *a;
if (r == 0) {
a = make_identity_matrix(p);
}
else if (r == 1) {
gf2matrix *I = make_identity_matrix(p - 2);
gf2matrix *block = new_matrix(2, 2);
scalar2matrix(block, 0xE, 4);
a = new_matrix(p, p);
clear_matrix(a);
copy_matrix_to_offset(a, I, 2, 2);
copy_matrix_to_offset(a, block, 0, 0);
free_matrix(block);
free_matrix(I);
}
else if ((r % 2) == 0) {
int i;
gf2matrix *I = NULL;
gf2matrix *block = new_matrix(2, 2);
if (p > r)
I = make_identity_matrix(p - r);
scalar2matrix(block, 0xE, 4);
a = new_matrix(p, p);
clear_matrix(a);
if (I)
copy_matrix_to_offset(a, I, r, r);
for (i = 0; i < r; i += 2)
copy_matrix_to_offset(a, block, i, i);
free_matrix(block);
free_matrix(I);
}
else /* r is odd and > 1 */
{
int i;
int n;
gf2matrix *I = NULL;
gf2matrix *block = NULL;
n = (r - 3) / 2;
if (n = 0) {
a = make_identity_matrix(p);
}
else {
int p_2n = p - (2 * n);
block = new_matrix(2, 2);
if (p > r)
I = make_identity_matrix(p - r);
scalar2matrix(block, 0xE, 4);
a = new_matrix(p, p);
clear_matrix(a);
if (I)
copy_matrix_to_offset(a, I, r, r);
for (i = 0; i < n; ++i) {
int offset = (i * 2) + 3;
copy_matrix_to_offset(a, block, offset, offset);
}
set_bit_at(a, 1, 0, 0);
set_bit_at(a, 1, 0, 1);
set_bit_at(a, 1, 0, 2);
set_bit_at(a, 1, 1, 1);
set_bit_at(a, 1, 1, 0);
set_bit_at(a, 1, 2, 0);
}
free_matrix(block);
free_matrix(I);
}
/* print_matrix(a, "A:"); */
return a;
}
void update_key_frame( player_data_t *plyr, scalar_t dt )
{
int idx;
scalar_t frac;
point_t pos;
scalar_t v;
matrixgl_t cob_mat, rot_mat;
char *root;
char *lsh;
char *rsh;
char *lhp;
char *rhp;
char *lkn;
char *rkn;
char *lank;
char *rank;
char *head;
char *neck;
char *tail;
root = get_tux_root_node();
lsh = get_tux_left_shoulder_joint();
rsh = get_tux_right_shoulder_joint();
lhp = get_tux_left_hip_joint();
rhp = get_tux_right_hip_joint();
lkn = get_tux_left_knee_joint();
rkn = get_tux_right_knee_joint();
lank = get_tux_left_ankle_joint();
rank = get_tux_right_ankle_joint();
head = get_tux_head();
neck = get_tux_neck();
tail = get_tux_tail_joint();
keyTime += dt;
for (idx = 1; idx < numFrames; idx ++) {
if ( keyTime < frames[idx].time )
break;
}
if ( idx == numFrames || numFrames == 0 ) {
set_game_mode( RACING );
return;
}
reset_scene_node( root );
reset_scene_node( lsh );
reset_scene_node( rsh );
reset_scene_node( lhp );
reset_scene_node( rhp );
reset_scene_node( lkn );
reset_scene_node( rkn );
reset_scene_node( lank );
reset_scene_node( rank );
reset_scene_node( head );
reset_scene_node( neck );
reset_scene_node( tail );
check_assertion( idx > 0, "invalid keyframe index" );
if ( fabs( frames[idx-1].time - frames[idx].time ) < EPS ) {
frac = 1.;
} else {
frac = (keyTime - frames[idx].time)
/ ( frames[idx-1].time - frames[idx].time );
}
pos.x = interp( frac, frames[idx-1].pos.x, frames[idx].pos.x );
pos.z = interp( frac, frames[idx-1].pos.z, frames[idx].pos.z );
pos.y = interp( frac, frames[idx-1].pos.y, frames[idx].pos.y );
pos.y += find_y_coord( pos.x, pos.z );
set_tux_pos( plyr, pos );
make_identity_matrix( cob_mat );
v = interp( frac, frames[idx-1].yaw, frames[idx].yaw );
rotate_scene_node( root, 'y', v );
make_rotation_matrix( rot_mat, v, 'y' );
multiply_matrices( cob_mat, cob_mat, rot_mat );
v = interp( frac, frames[idx-1].pitch, frames[idx].pitch );
rotate_scene_node( root, 'x', v );
make_rotation_matrix( rot_mat, v, 'x' );
multiply_matrices( cob_mat, cob_mat, rot_mat );
v = interp( frac, frames[idx-1].l_shldr, frames[idx].l_shldr );
rotate_scene_node( lsh, 'z', v );
v = interp( frac, frames[idx-1].r_shldr, frames[idx].r_shldr );
rotate_scene_node( rsh, 'z', v );
v = interp( frac, frames[idx-1].l_hip, frames[idx].l_hip );
rotate_scene_node( lhp, 'z', v );
v = interp( frac, frames[idx-1].r_hip, frames[idx].r_hip );
rotate_scene_node( rhp, 'z', v );
/* Set orientation */
plyr->orientation = make_quaternion_from_matrix( cob_mat );
plyr->orientation_initialized = True;
}
static void burg0(int omax, Array resid_f, Array resid_b, Array *A, Array *B,
Array P, Array V, int vmethod)
{
int i, j, m, n = NCOL(resid_f), nser=NROW(resid_f);
Array ss_ff, ss_bb, ss_fb;
Array resid_f_tmp, resid_b_tmp;
Array KA, KB, E;
Array id, tmp;
ss_ff = make_zero_matrix(nser, nser);
ss_fb = make_zero_matrix(nser, nser);
ss_bb = make_zero_matrix(nser, nser);
resid_f_tmp = make_zero_matrix(nser, n);
resid_b_tmp = make_zero_matrix(nser, n);
id = make_identity_matrix(nser);
tmp = make_zero_matrix(nser, nser);
E = make_zero_matrix(nser, nser);
KA = make_zero_matrix(nser, nser);
KB = make_zero_matrix(nser, nser);
set_array_to_zero(A[0]);
set_array_to_zero(B[0]);
copy_array(id, subarray(A[0],0));
copy_array(id, subarray(B[0],0));
matrix_prod(resid_f, resid_f, 0, 1, E);
scalar_op(E, n, '/', E);
copy_array(E, subarray(V,0));
for (m = 0; m < omax; m++) {
for(i = 0; i < nser; i++) {
for (j = n - 1; j > m; j--) {
MATRIX(resid_b)[i][j] = MATRIX(resid_b)[i][j-1];
}
MATRIX(resid_f)[i][m] = 0.0;
MATRIX(resid_b)[i][m] = 0.0;
}
matrix_prod(resid_f, resid_f, 0, 1, ss_ff);
matrix_prod(resid_b, resid_b, 0, 1, ss_bb);
matrix_prod(resid_f, resid_b, 0, 1, ss_fb);
burg2(ss_ff, ss_bb, ss_fb, E, KA, KB); /* Update K */
for (i = 0; i <= m + 1; i++) {
matrix_prod(KA, subarray(B[m], m + 1 - i), 0, 0, tmp);
array_op(subarray(A[m], i), tmp, '-', subarray(A[m+1], i));
matrix_prod(KB, subarray(A[m], m + 1 - i), 0, 0, tmp);
array_op(subarray(B[m], i), tmp, '-', subarray(B[m+1], i));
}
matrix_prod(KA, resid_b, 0, 0, resid_f_tmp);
matrix_prod(KB, resid_f, 0, 0, resid_b_tmp);
array_op(resid_f, resid_f_tmp, '-', resid_f);
array_op(resid_b, resid_b_tmp, '-', resid_b);
if (vmethod == 1) {
matrix_prod(KA, KB, 0, 0, tmp);
array_op(id, tmp, '-', tmp);
matrix_prod(tmp, E, 0, 0, E);
}
else if (vmethod == 2) {
matrix_prod(resid_f, resid_f, 0, 1, E);
matrix_prod(resid_b, resid_b, 0, 1, tmp);
array_op(E, tmp, '+', E);
scalar_op(E, 2.0*(n - m - 1), '/', E);
}
else error(_("Invalid vmethod"));
copy_array(E, subarray(V,m+1));
copy_array(KA, subarray(P,m+1));
}
}
