/* returns the rotation quat required to match v1 to v2 */
void vects_to_quat(double v1[3], double v2[3], double q[4]){
double axis[3];
double phi;
double denom;
/* first normalise each of em */
vnormal(v1);
vnormal(v2);
/* check that someone isn't playing silly buggers */
if((v1[0] == v2[0]) && (v1[1] == v2[1]) && (v1[2] == v2[2])){
vcopy(axis, v1);
phi = 0.0;
}
else{
/* find the axis with a cross product */
vcross(axis, v2, v1);
/* find the angle to rotate around that axis. */
/* v1.v2 = ||v1|| ||v2|| cos(angle) */
denom = vlength(v1) * vlength(v2);
if(denom == 0){
phi = 0.0;
}
else{
phi = acos(vdot(v1, v2) / denom);
}
}
/* create the quat */
axis_to_quat(axis, phi, q);
}
//perhaps in engine is better?
void find_best_split_plane( const std::vector <face_t >& faces
// ,std::vector <face_t >& front
// ,std::vector <face_t >& back
)
{
//all time low
score_t low={},s={};
low.score = 999999;
//along planes, along edges...
for ( size_t i = faces.size() ; i--; )
{
face_t f = faces[i];
//xplane_t p = { f.a, f.normal() };
//test_plane(p, faces, s);
//enum{ABC,AB,BC,CA};
vec3 N = f.normal();
plane_t planes[4] = {
pmake( f.a, N),
//this should always end up on front/front_on side
pmake( f.a, vnormal(vcross( N, f.b - f.a ) ) ),
pmake( f.b, vnormal(vcross( N, f.c - f.b ) ) ),
pmake( f.c, vnormal(vcross( N, f.a - f.c ) ) )
};
//test planes
for ( int j = 0; j < 4 ; ++j )
{
test_plane( planes[j], faces, s);
if( s.score < low.score )
low=s,low.face=i;
}
}
//check score
//use low.p to split front and backm or stop here if bad score
//print
printf( "\n\nBest plane for all %d\n", faces.size());
printf( "index %d\n", low.face);
printf( "score = %d\n", low.score );
printf( "balance = %d\n", low.balance );
printf( "splits = %d\n", low.split );
printf( "coins = %d\n", low.coin );
printf( "front = %d\n", low.front );
printf( "back = %d\n", low.back );
printf( "plane = %f, %f, %f, %f\n",
low.p.x,low.p.y,low.p.z,low.p.w );
}
/*
* Given an axis and angle, compute quaternion.
* This function computes a quaternion based on an axis (defined by
* the given vector) and an angle about which to rotate. The angle is
* expressed in radians. The result is put into the third argument.
*/
void axis_to_quat(float a[3], float phi, float q[4])
{
vnormal(a);
vcopy(a,q);
vscale(q,sin(phi/2.0));
q[3] = cos(phi/2.0);
}
//save load
vec3 uv_tangent(vec3 v0,vec3 v1,vec3 uv0,vec3 uv1)
{
// if(vdot(uv0,uv1)==0.f)
if(uv0.x==uv1.x && uv0.y==uv1.y)
{
printf("WARNING!!! Zero area UV.\n");
//set to face tangent
return vnormal( vcross( v0, v1 ) );
}else{
float coef = 1./(uv0.x * uv1.y - uv1.x * uv0.y);
vec3 t={
coef * ((v0.x * uv1.y) + (v1.x * -uv0.y)),
coef * ((v0.y * uv1.y) + (v1.y * -uv0.y)),
coef * ((v0.z * uv1.y) + (v1.z * -uv0.y))
};
float len=vlen(t);
if(!len){
printf("ERROR: zero area UV @uv_tangent.\n");
exit(-1);
}
t/=len;
return t;
}
}
/*
* Given an axis and angle, compute quaternion.
*/
void axis_to_quat( double a[3], double phi, double q[4] )
{
vnormal( a );
vcopy( a, q );
vscale( q, (double) sin( phi / 2.0) );
q[3] = (double) cos( phi / 2.0 );
}
void Trackball :: spin ( float friction )
{
const int RENORMCOUNT = 97 ;
static int count=0;
//float * q1, * q2, * dest ;
float q1[4], * q2, * dest ;
float t1[4], t2[4], t3[4];
float tf[4];
//q1 = m_lastquat ;
if( friction != 1.0 )
{
float temp ;
temp = vlength(m_lastquat);
if( temp != 0 )
{
vcopy(m_lastquat,q1);
vnormal(q1) ;
temp = asin(temp)*friction ;
q1[0] *= sin(temp) ;
q1[1] *= sin(temp) ;
q1[2] *= sin(temp) ;
q1[3] = cos(temp) ;
}
else
{
vcopy(m_lastquat,q1);
q1[3] = m_lastquat[3] ;
}
}
else
{
vcopy(m_lastquat,q1);
q1[3] = m_lastquat[3] ;
}
q2 = m_currquat ;
dest = m_currquat ;
vcopy(q1,t1);
vscale(t1,q2[3]);
vcopy(q2,t2);
vscale(t2,q1[3]);
vcross(q2,q1,t3);
vadd(t1,t2,tf);
vadd(t3,tf,tf);
tf[3] = q1[3] * q2[3] - vdot(q1,q2);
dest[0] = tf[0];
dest[1] = tf[1];
dest[2] = tf[2];
dest[3] = tf[3];
if (++count > RENORMCOUNT) {
count = 0;
normalize_quat(dest);
}
}
/*
READ GEO
*/
void get_geometry(TE*root)
{
printf("_\t_\tGEOMETRIES\t_\t_\t_\t_\n");
TE*geo = root -> FCE( "library_geometries" )->FCE("geometry");
while ( geo )
{
get_object( geo );
geo = geo -> NSE ( "geometry" );
}
//get transforms, tranform vertices
TE*node = root -> FCE( "library_visual_scenes" )->
FCE("visual_scene") -> FCE("node");;
size_t i=0;
while ( node && i < dae_geo_objects.size() )
{
dae_geo_t &d = dae_geo_objects[i];
std::string name = node->Attribute( "name" );
if( name == d.name ){
std::vector< float >mat=str_fv(node->FCE("matrix")->GetText(),16);
//transpose
float M[16];
mtranspose( M, &mat[0] );
//multiply each vertex
for( size_t k = 0; k < d.pos.size(); k+=3 ){
vec3 vp={d.pos[k],d.pos[k+1],d.pos[k+2]};
vp = mmulv( M, vp, 1.f );
d.pos[k] = vp.x;
d.pos[k+1] = vp.y;
d.pos[k+2] = vp.z;
}
for( size_t k = 0; k < d.normal.size(); k+=3 ){
vec3 vp={d.normal[k],d.normal[k+1],d.normal[k+2]};
vp = vnormal(mmulv( M, vp, 0.f));
d.normal[k] = vp.x;
d.normal[k+1] = vp.y;
d.normal[k+2] = vp.z;
}
++i;
}
node = node -> NSE( "node" );
}
printf("count = %d\n", dae_geo_objects.size());
}
void Ctrl3DRotate::drag(int x, int y){
// free rotation control
if(sx0 == x && sy0 == y) {angle_r = 0; return;}
float x0=sx0-cx, y0=-(sy0-cy), z0=cz;
float x1=x-cx, y1=-(y-cy), z1=cz;
float n0=sqrt(x0*x0+y0*y0+z0*z0);
float n1=sqrt(x1*x1+y1*y1+z1*z1);
x0/=n0;y0/=n0;z0/=n0;
x1/=n1;y1/=n1;z1/=n1;
angle_r=acos(x0*x1+y0*y1+z0*z1)*180/M_PI;
vnormal(norm_rx, norm_ry, norm_rz, x0, y0, z0, x1, y1, z1);
}
int MouseMoveAndShift::ContinueMOper(int x, int y){
float cx = 2.*float(x-wndw/2)/wndw;
float cy = 2.*float(wndh-y-wndh/2)/wndh;
float cz = 0;
float cx0 = 2.*float(sx0-wndw/2)/wndw;
float cy0 = 2.*float(wndh-sy0-wndh/2)/wndh;
float cz0 = 0;
Ptn p = {cx, cy, cz};
Ptn p0 = {cx0, cy0, cz0};
switch(oper){
double w,w0;
case 1:
memcpy(mi,m,sizeof(mi));
glInvMat(mi);
w = 1.0/(mi[3]*p.x + mi[7]*p.y +
mi[11]*p.z + mi[15]);
w0 = 1.0/(mi[3]*p0.x + mi[7]*p0.y +
mi[11]*p0.z + mi[15]);
p = p*w;
p0 = p0*w0;
p = glMulMat(mi,p,w);
p0 = glMulMat(mi,p0,w0);
p=p-p0;
shift_x = p.x;
shift_y = p.y;
shift_z = p.z;
break;
case 2:
// free rotation control
if(sx0 == x && sy0 == y) {angle_r = 0; break;}
int windW = wndw/2;
int windH = wndh/2;
float x0=sx0-windW, y0=-(sy0-windH), z0=windW/4;
float x1=x-windW, y1=-(y-windH), z1=windW/4;
float n0=sqrt(x0*x0+y0*y0+z0*z0);
float n1=sqrt(x1*x1+y1*y1+z1*z1);
x0/=n0;y0/=n0;z0/=n0;
x1/=n1;y1/=n1;z1/=n1;
angle_r=acos(x0*x1+y0*y1+z0*z1)*180/M_PI;
vnormal(norm_rx, norm_ry, norm_rz, x0, y0, z0, x1, y1, z1);
break;
}
return oper;
}
/* Given an quaternion compute an axis and angle */
void quat_to_axis(double vec[3], double *phi, double quat[4]){
double scale;
scale = quat[0]*quat[0] + quat[1]*quat[1] + quat[2]*quat[2];
if(scale == 0){ /* no rotation, we're stuffed */
vec[0] = 0;
vec[1] = 0;
vec[2] = 1;
*phi = 0;
}
else{
vcopy(vec, quat);
vscale(vec, 1.0/scale);
vnormal(vec);
*phi = 2.0*acos(quat[3]);
}
}
/**
* \return the id of vertex between two corners.
*
* If it wasn't previously computed, does #converge() and adds vertex to process.
*/
static int vertid(PROCESS *process, const CORNER *c1, const CORNER *c2)
{
float v[3], no[3];
int vid = getedge(process->edges, c1->i, c1->j, c1->k, c2->i, c2->j, c2->k);
if (vid != -1) return vid; /* previously computed */
converge(process, c1, c2, v); /* position */
#ifdef USE_ACCUM_NORMAL
zero_v3(no);
#else
vnormal(process, v, no);
#endif
addtovertices(process, v, no); /* save vertex */
vid = (int)process->curvertex - 1;
setedge(process, c1->i, c1->j, c1->k, c2->i, c2->j, c2->k, vid);
return vid;
}
/* Given an axis and angle, compute quaternion */
void axis_to_quat(double vec[3], double phi, double quat[4]){
vnormal(vec);
vcopy(quat, vec);
vscale(quat, sin(phi/2.0));
quat[3] = cos(phi/2.0);
}
vec3 normal()const{ return vnormal( vcross( b-a, c-a ) );}
//to global verts and faces (not shorts)
//ALSO, COMBINES EACH DAE OBJECT
void dae_geo_to_polys_and_verts( dae_geo_t dg )
{
//mtrl string , count
materials.insert( materials.end(),
dg.materials.begin(),dg.materials.end());
material_counts.insert( material_counts.end(),
dg.material_counts.begin(),
dg.material_counts.end());
printf("_\t_\tDAE -> VERTEX / INDICES\t_\t_\t_\t_\t_\n");
int II = 0, pi,ui,ni,ci;
poly_t p={};
for ( int f = 0; f < dg.poly_count; ++f)
{
//vertices / indices
for ( int j = 0; j < 3; ++j )
{
vertex_t v={};
//get indices, p,normal,
pi = dg.poly[II++];
ni = dg.poly[II++];
ui = dg.poly[II++];
ci = dg.poly[II++];
//
v.pos.x = dg.pos[ pi*3 + 0 ];
v.pos.y = dg.pos[ pi*3 + 1 ];
v.pos.z = dg.pos[ pi*3 + 2 ];
v.normal.x = dg.normal[ ni*3 + 0 ];
v.normal.y = dg.normal[ ni*3 + 1 ];
v.normal.z = dg.normal[ ni*3 + 2 ];
v.uv.x = dg.uv[ ui*2 + 0 ];
v.uv.y = dg.uv[ ui*2 + 1 ];
//vertex hand painted color
//vset(v.init_rgb,.1,.1,.1);
v.color.x = dg.rgb[ ci*3 + 0 ];
v.color.y = dg.rgb[ ci*3 + 1 ];
v.color.z = dg.rgb[ ci*3 + 2 ];
int index = vertex_find( v );
if ( index == (int)verts.size() ){
verts.push_back( v );
//debug ( "dupe found\n" );
}
p.index[ j ]=index;
}
const vec3 basis[3]={
{ -.40824829046, -.70710678118, .57735026919 },//blue
{ -.40824829046, .70710678118, .57735026919 },//green
{ .81649658092, 0., .57735026919 }//red
};
//tangent, basis and inset,,, and direction of vertex color light
for ( int j=0;j<3;++j )
{
vertex_t& a = verts[p.index[j]];
const vertex_t& b = verts[p.index[(j+1)%3]];
const vertex_t& c = verts[p.index[(j+2)%3]];
//inset ( lighting sample point ) //BAD FOR SMOOTH!!
a.inset = a.pos + (b.pos-a.pos)*.005f + (c.pos-a.pos)*.005f;
//tangent
a.tangent = uv_tangent(
vnormal(b.pos-a.pos),
vnormal(c.pos-a.pos),
vnormal(b.uv - a.uv),
vnormal(c.uv - a.uv)
);
//MUST BE CORRECTED FOR SMOOTH SURFACES
// if( vdot ( vnormal( a.normal ), vnormal ( vcross( b.pos-a.pos, c.pos-a.pos ) ) ) < .9 )
// {
// printf( "SHOULD BE CORRECTED\n");
vec3 right = vcross( a.tangent, a.normal );
a.tangent = vnormal( vcross( a.normal, right ) );
// }
//basis
//we have normal
vec3 N = a.normal;//vnormal( vcross(b.pos-a.pos, c.pos-a.pos) );
vec3 T = a.tangent;
vec3 B = vcross( T, N );
//rotate basis axes by TBN
for( int k=0; k<3;++k)
a.basis[k] = //exactly like mmulv
T*vec3f(basis[k].x,basis[k].x,basis[k].x)+
B*vec3f(basis[k].y,basis[k].y,basis[k].y)+
N*vec3f(basis[k].z,basis[k].z,basis[k].z)
;
//vertex color.. FOR NOW JUST ALL
// for( int k=0; k<3;++k)
// a.basis_color[k]=a.color;
}
polys.push_back(p);
}
printf ( "VERTS : %d\n", verts.size() );
printf ( "POLYS : %d\n", polys.size() );
printf ( "\n" );
}
void render_vertex_colors()
{
printf ( "_\t_\tRENDERING VERTEX COLORS_\t_\t_\t_\t_\n");
for(size_t i = 0; i < verts.size(); ++i )// each vertex
{
vertex_t&v = verts[i];
for(size_t j = 0; j < lights.size(); ++j )// each light
{
// int blocked = 0;
const light_t&L = lights[j];
if( L.dont_bake )
continue;
vec3 start, dir;
if( L.type == light_t::SUN ){
start = v.pos;//inset;//+L.dir*.000001;
dir = L.dir*2048.f;
}else{
start = L.pos;
dir = (v.pos - L.pos );
}
//early if ( vdot ( L.pos - v.pos, v.normal ) <= 0.f )continue;
//test triangles (TODO/NOTE : DONT FACE CULL )
int blocked=0;
//ERROR LAYS HERE!!! NOT IN TANGENT
for(size_t k = 0; k < polys.size()&& !blocked; ++k )// each polygon
{
const poly_t&p = polys[k];
//is this vertex used in the poly?
// for (int pi = 0; pi < 3 ; ++pi) // alt, use some margin
// if( (int)i == (int)p.index[pi] )
// continue;
blocked |= ray_triangle( start, dir,
verts[p.index[0]].pos,
verts[p.index[1]].pos,
verts[p.index[2]].pos);
}
if( !blocked )
{
//todo inverse linear / square
vec3 d,dN;
float f,dp;
if( L.type == light_t::SUN ){
dN = L.dir;
f = 1.f;
}else {
d = L.pos - v.pos;
dN=vnormal( d );
f = 1.-fmin(1.f, vlen(d) / L.dist );
}
for( int k = 0; k<3; ++k )
{
dp = fmax(0.f,vdot( v.basis[k], dN ) );
v.basis_color[k]+=L.rgb*f*dp;
}
//float f = 1.-fmin(1.f, vlen(d) / L.dist );
//float f = 1.f/(1.f + vdot( d, d ) );//inv square
//not as prominent but sphere like
//float f = 1.f-1.f/(1.f + fmax(0.f,L.dist-vlen( d ) ) );//inv
}
}
//printf ("C = %.2f,%.2f,%.2f\n", v.init_rgb.x, v.init_rgb.y, v.init_rgb.z);
}
}
