///////////////////////////////////////////////////////////////////////////////
// Draw the scene
//
void DrawWorld()
{
modelViewMatrix.Translate(0.0f, 0.8f, 0.0f);
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(-0.3f, 0.f, 0.0f);
modelViewMatrix.Scale(0.40, 0.8, 0.40);
modelViewMatrix.Rotate(50.0, 0.0, 10.0, 0.0);
glSampleMaski(0, 0x02);
shaderManager.UseStockShader(GLT_SHADER_FLAT, transformPipeline.GetModelViewProjectionMatrix(), vLtYellow);
glass1Batch.Draw();
modelViewMatrix.PopMatrix();
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0.4f, 0.0f, 0.0f);
modelViewMatrix.Scale(0.5, 0.8, 1.0);
modelViewMatrix.Rotate(-20.0, 0.0, 1.0, 0.0);
glSampleMaski(0, 0x04);
shaderManager.UseStockShader(GLT_SHADER_FLAT, transformPipeline.GetModelViewProjectionMatrix(), vLtGreen);
glass2Batch.Draw();
modelViewMatrix.PopMatrix();
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(1.0f, 0.0f, -0.6f);
modelViewMatrix.Scale(0.3, 0.9, 1.0);
modelViewMatrix.Rotate(-40.0, 0.0, 1.0, 0.0);
glSampleMaski(0, 0x08);
shaderManager.UseStockShader(GLT_SHADER_FLAT, transformPipeline.GetModelViewProjectionMatrix(), vLtMagenta);
glass3Batch.Draw();
modelViewMatrix.PopMatrix();
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(-0.8f, 0.0f, -0.60f);
modelViewMatrix.Scale(0.6, 0.9, 0.40);
modelViewMatrix.Rotate(60.0, 0.0, 1.0, 0.0);
glSampleMaski(0, 0x10);
shaderManager.UseStockShader(GLT_SHADER_FLAT, transformPipeline.GetModelViewProjectionMatrix(), vLtBlue);
glass4Batch.Draw();
modelViewMatrix.PopMatrix();
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0.1f, 0.0f, 0.50f);
modelViewMatrix.Scale(0.4, 0.9, 0.4);
modelViewMatrix.Rotate(205.0, 0.0, 1.0, 0.0);
glSampleMaski(0, 0x20);
shaderManager.UseStockShader(GLT_SHADER_FLAT, transformPipeline.GetModelViewProjectionMatrix(), vLtPink);
glass4Batch.Draw();
modelViewMatrix.PopMatrix();
}
void RenderDwudziestoscian(float xPos, float yPos, float zPos, float scale) {
matrixStack.PushMatrix();
matrixStack.Translate(xPos, yPos, zPos);
matrixStack.Scale(scale, scale, scale);
M3DMatrix44f MVMatrix;
m3dCopyMatrix44(MVMatrix, matrixStack.GetMatrix());
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,MVMatrix);
M3DMatrix44f normalMatrix;
m3dInvertMatrix44(normalMatrix,MVMatrix);
float tmp;
// transponse
for(int n = 0; n < 3; n++) {
for(int m = n + 1; m <= 3; m++) {
tmp = normalMatrix[4*n + m];
normalMatrix[4*n + m] = normalMatrix[4*m + n];
normalMatrix[4*m + n] = tmp;
}
}
glUniformMatrix3fv(NormalMatrixLocation,1,GL_FALSE,normalMatrix);
glDrawElements(GL_TRIANGLES,3*n_faces,GL_UNSIGNED_INT,0);
matrixStack.PopMatrix();
}
void Display()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
static CStopWatch timer;
GLfloat yRot = timer.GetElapsedSeconds()*20.0f;
GLfloat vWhite[] = {1.0f,1.0f,1.0f,1.0f};
GLfloat vLightPos[] = {0.0f,2.0f,2.0f};
GLfloat vAmbient[] = {0.3f,0.3f,1.0f,1.0f};
modelViewMatrix.PushMatrix();
//move to camera view
M3DMatrix44f mCamera;
cameraFrame.GetCameraMatrix(mCamera);
modelViewMatrix.MultMatrix(mCamera);
modelViewMatrix.PushMatrix();
modelViewMatrix.Rotate(yRot,1.0,1.0,1.0);
glBindTexture(GL_TEXTURE_2D,fbxTexture);
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_POINT_LIGHT_DIFF,
transformPipeLine.GetModelViewMatrix(),
transformPipeLine.GetProjectionMatrix(),
vLightPos, vWhite, 0);
//*/shaderManager.UseStockShader(GLT_SHADER_FLAT, transformPipeLine.GetModelViewProjectionMatrix(),vWhite);
modelViewMatrix.Scale(0.05,0.05,0.05);
rTest.DrawReader();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
glutSwapBuffers();
glutPostRedisplay();
}
void DrawBaeumchen() {
// Boden
modelViewMatrix.PushMatrix();
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0, -25, 0);
modelViewMatrix.Scale(20, -0.01, 20);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
modelViewMatrix.PopMatrix();
DrawCube();
// Baumstamm
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0, 0.0, 0);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(0.3, 0.5, 0.3);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
modelViewMatrix.PopMatrix();
DrawCylinder();
//unterster Kegel
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0, 25.0, 0);
modelViewMatrix.Scale(1.5, 1.5, 1.5);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawCone();
// mittlerer Kegel
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0, 40.0, 0);
modelViewMatrix.Scale(0.75, 0.75, 0.75);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawCone();
// Spitze
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0, 50.0, 0);
modelViewMatrix.Scale(0.75, 0.75, 0.75);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawCone();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
}
void DrawMaennchen(float angle) {
//float overallScaleFactor = 0.2 * cos(GL_PI / 200 * angle) + 1;
float jumpFactor = abs(cos(GL_PI/10 * angle));
/**
* Rumpf zeichnen
**/
modelViewMatrix.PushMatrix();
modelViewMatrix.Rotate(angle, 0, -1, 0);
// generelle Verschiebung aus dem Mittelpunkt heraus
modelViewMatrix.Translate(200.0f, 0.0f, 0.0f);
// Verschiebung fuer Huepfbahn
modelViewMatrix.Translate(0.0f, 30 * jumpFactor, 0);
//modelViewMatrix.Scale(overallScaleFactor, overallScaleFactor, overallScaleFactor);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(0.9, 1.0, 0.7);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawCylinder();
modelViewMatrix.PopMatrix();
// Hals
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0.0f, 55.0f, 0.0f);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(0.25, 0.15, 0.25);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawCylinder();
modelViewMatrix.PopMatrix();
// Kopf
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0.0f, 40.0f, 0.0f);
modelViewMatrix.Scale(0.72, 0.72, 0.72);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawSphere();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
// Giedmaßen zeichnen - abhaengig vom Rumpf!
DrawLimbs(angle);
modelViewMatrix.PopMatrix();
}
void render_scene(void) {
float angle = timer.GetElapsedSeconds() * 3.14f / 10.0f;
location[0] = -8.0f * cos(angle / 2.0f);
location[1] = -8.0f * sin(angle / 2.0f);
location[2] = 5.0f;
light_0.position[0] = 10.0f * cos(-angle);
light_0.position[1] = 10.0f * sin(-angle);
light_0.position[2] = 3.0f;
look_at(camera_frame, location, target, up_dir);
camera_frame.GetCameraMatrix(camera_matrix);
p_stack.LoadMatrix(view_frustum.GetProjectionMatrix());
mv_stack.LoadMatrix(camera_matrix);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
//--
glUseProgram(shader_color);
mv_stack.PushMatrix();
mv_stack.Translate(light_0.position[0], light_0.position[1], light_0.position[2]);
mv_stack.Scale(0.25f, 0.25f, 0.25f);
glUniformMatrix4fv(mvp_matrix_location_shader_color, 1, GL_FALSE, geometry_pipeline.GetModelViewProjectionMatrix());
draw_light();
mv_stack.PopMatrix();
//--
glUseProgram(shader_light);
glUniformMatrix3fv(normal_matrix_location, 1, GL_FALSE, geometry_pipeline.GetNormalMatrix());
glUniformMatrix4fv(v_matrix_location, 1, GL_FALSE, camera_matrix);
glUniform3fv(intensity_ambient_component_location, 1, intensity_ambient_component);
glUniform3fv(light_0_position_location, 1, light_0.position);
glUniform3fv(light_0_intensity_diffuse_location, 1, light_0.intensity_diffuse);
glUniform3fv(light_0_intensity_specular_location, 1, light_0.intensity_specular);
glUniform3fv(light_0_attenuation_location, 1, light_0.attenuation);
glUniform1f(material_0_ka_location, material_0.ka);
glUniform1f(material_0_kd_location, material_0.kd);
glUniform1f(material_0_ks_location, material_0.ks);
glUniform1f(material_0_alpha_location, material_0.alpha);
//--
for(int i = -10; i <= 10; i += 3)
for(int j = -10; j <= 10; j += 3) {
mv_stack.PushMatrix();
mv_stack.Translate(i, j, 0.0f);
glUniformMatrix4fv(mvp_matrix_location, 1, GL_FALSE, geometry_pipeline.GetModelViewProjectionMatrix());
glUniformMatrix4fv(mv_matrix_location, 1, GL_FALSE, geometry_pipeline.GetModelViewMatrix());
glDrawElements(GL_TRIANGLES, faces.size(), GL_UNSIGNED_INT, 0);
mv_stack.PopMatrix();
}
//--
glUseProgram(0);
glutSwapBuffers();
glutPostRedisplay();
}
void animate() {
frameNo++;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
glUseProgram(shader);
//cameraAngleX += randf() * 5.0;
//cameraAngleY += randf() * 2.7;
//cameraAngleZ += randf() * 50.0;
cameraBothZ += randf() * 10.0;
matrixStack.LoadIdentity();
matrixStack.PushMatrix();
matrixStack.Scale(0.1,0.1,0.1);
//Perspektywa + krêcenie kamery
matrixStack.Rotate(40, 1, 0, 0);
matrixStack.Rotate(cameraBothZ, 0, 0, 1);
glUniformMatrix4fv(PMatrixLocation,1,GL_FALSE,matrixStack.GetMatrix());
float ambient[] = {0.5,0.2,0.2}, diffuse[] = {0.5,0.2,1}, specular[] = {0.2,1,0.2};
material.setMaterial(ambient, diffuse, specular, 1);
float color[] = {1,1,1}, position[] = {0,0,-1};
light.setLight(position, color, 180, 1, 1, 2);
float ambientLight[] = {1,1,1};
glUniform3fv(ambientLightLocation, 1, ambientLight);
float small_color[] = {1,1,1}, small_position[] = {5 + 2*cos(frameNo/180.0*PI/2.0), 5 + 2*sin(frameNo/180.0*PI/2.0), -1};
small_light.setLight(small_position, small_color, 180, 1, 1, 2);
matrixStack.PopMatrix();
//siatka
pushSiatka();
float ambient2[] = {0.2,0.2,0.2};
material.setMaterial(ambient2, diffuse, specular, 1);
RenderDwudziestoscian(5,5,-2,0.8);
RenderDwudziestoscian(-5,-5,-2,0.5);
RenderDwudziestoscian(small_position[0], small_position[1], small_position[2], 0.2);
glutSwapBuffers();
}
// Called to draw scene
void RenderScene(void)
{
static CStopWatch rotTimer;
float yRot = rotTimer.GetElapsedSeconds() * 60.0f;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
modelViewMatrix.PushMatrix();
M3DMatrix44f mCamera;
cameraFrame.GetCameraMatrix(mCamera);
modelViewMatrix.MultMatrix(mCamera);
// Draw the world upside down
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(1.0f, -1.0f, 1.0f); // Flips the Y Axis
modelViewMatrix.Translate(0.0f, 0.8f, 0.0f); // Scootch the world down a bit...
glFrontFace(GL_CW);
DrawSongAndDance(yRot);
glFrontFace(GL_CCW);
modelViewMatrix.PopMatrix();
// Draw the solid ground
glEnable(GL_BLEND);
glBindTexture(GL_TEXTURE_2D, uiTextures[0]);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
static GLfloat vFloorColor[] = { 1.0f, 1.0f, 1.0f, 0.75f};
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_MODULATE,
transformPipeline.GetModelViewProjectionMatrix(),
vFloorColor,
0);
floorBatch.Draw();
glDisable(GL_BLEND);
DrawSongAndDance(yRot);
modelViewMatrix.PopMatrix();
// Do the buffer Swap
glutSwapBuffers();
// Do it again
glutPostRedisplay();
}
///////////////////////////////////////////////////////////////////////////////
// Called to draw scene
void RenderScene(void)
{
// Clear the window with current clearing color
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
modelViewMatrix.PushMatrix();
M3DMatrix44f mCamera;
cameraFrame.GetCameraMatrix(mCamera);
modelViewMatrix.MultMatrix(mCamera);
// Reflection step... draw cube upside down, the floor
// blended on top of it
if(nStep == 5) {
glDisable(GL_CULL_FACE);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(1.0f, -1.0f, 1.0f);
modelViewMatrix.Translate(0.0f, 2.0f, 0.0f);
modelViewMatrix.Rotate(35.0f, 0.0f, 1.0f, 0.0f);
RenderBlock();
modelViewMatrix.PopMatrix();
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
RenderFloor();
glDisable(GL_BLEND);
}
modelViewMatrix.PushMatrix();
// Draw normally
modelViewMatrix.Rotate(35.0f, 0.0f, 1.0f, 0.0f);
RenderBlock();
modelViewMatrix.PopMatrix();
// If not the reflection pass, draw floor last
if(nStep != 5)
RenderFloor();
modelViewMatrix.PopMatrix();
// Flush drawing commands
glutSwapBuffers();
}
void RenderScene(void) {
// Clear the window with current clearing color
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
glUseProgram(shader);
glEnable(GL_CULL_FACE);
glFrontFace(GL_CW);
CStopWatch timer;
float angle = timer.GetElapsedSeconds()*3.14f;
M3DVector3f mAt={0,0,0};
M3DVector3f mUp={0,0,1};
M3DVector3f mEye;
mEye[0]=6.8f*cos(angle);
mEye[1]=6.0f*sin(angle);
mEye[2]=5.0f;
LookAt(mFrame,mEye,mAt,mUp);
mFrame.GetCameraMatrix(mCameraMatrix);
matrixStack.LoadMatrix(mFrustrum.GetProjectionMatrix());
matrixStack.MultMatrix(mCameraMatrix);
glUniformMatrix4fv(MVPMatrixLocation, 1, GL_FALSE, matrixStack.GetMatrix());
drawGrid();
matrixStack.Translate(1.0f,7.0f,0.0f);
matrixStack.Rotate(30.0f,0.0,0.0,1.0);
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,matrixStack.GetMatrix());
drawPyramid();
matrixStack.PopMatrix();
matrixStack.Translate(-7.0f,0.0f,0.0f);
matrixStack.Scale(2.0f, 2.0f, 2.0f);
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,matrixStack.GetMatrix());
drawPyramid();
matrixStack.PopMatrix();
// Perform the buffer swap to display back buffer
glutSwapBuffers();
glutPostRedisplay();
}
///////////////////////////////////////////////////////////////////////////////
// Draw the scene
//
void DrawWorld(GLfloat yRot)
{
M3DMatrix44f mCamera;
modelViewMatrix.GetMatrix(mCamera);
// Need light position relative to the Camera
M3DVector4f vLightTransformed;
m3dTransformVector4(vLightTransformed, vLightPos, mCamera);
// Draw the light source as a small white unshaded sphere
modelViewMatrix.PushMatrix();
modelViewMatrix.Translatev(vLightPos);
if(bUseFBO)
UseProcessProgram(vLightPos, vWhite, -1);
else
shaderManager.UseStockShader(GLT_SHADER_FLAT, transformPipeline.GetModelViewProjectionMatrix(), vWhite);
sphereBatch.Draw();
modelViewMatrix.PopMatrix();
// Draw stuff relative to the camera
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0.0f, 0.2f, -2.5f);
modelViewMatrix.PushMatrix();
modelViewMatrix.Rotate(yRot, 0.0f, 1.0f, 0.0f);
modelViewMatrix.Translate(0.0, (GLfloat)-0.60, 0.0);
modelViewMatrix.Scale((GLfloat)0.02, (GLfloat)0.006, (GLfloat)0.02);
glBindTexture(GL_TEXTURE_2D, ninjaTex[0]);
if(bUseFBO)
{
UseProcessProgram(vLightTransformed, vWhite, 0);
}
else
{
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_REPLACE, transformPipeline.GetModelViewProjectionMatrix(), 0);
}
ninja.Render(0,0);
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
}
void Display()
{
// Clear the color and depth buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Save the current modelview matrix (the identity matrix)
modelViewMatrix.PushMatrix();
M3DMatrix44f mCamera;
cameraFrame.GetCameraMatrix(mCamera);
modelViewMatrix.MultMatrix(mCamera);
if (reflecting)
{
// Draw the "reflection" of the scene upside down
modelViewMatrix.PushMatrix();
// Flip the y-axis last.
modelViewMatrix.Scale(1.0f, -1.0f, 1.0f);
// The scene is essentially in a pit, bo elevate it an equal distance from the
// x-z plane to ensure that its reflection will appear to be below the ground.
modelViewMatrix.Translate(0.0f, -2.0f * FLOOR_HEIGHT, 0.0f);
// Reverse the orientation of all polygonsm in the scene so the orientation of
// their reflections will produce the same lighting as the above-ground scene.
glFrontFace(GL_CW);
DrawScene();
glFrontFace(GL_CCW);
modelViewMatrix.PopMatrix();
}
DrawGround();
DrawScene();
modelViewMatrix.PopMatrix();
// Do the buffer Swap
glutSwapBuffers();
// Tell GLUT to do it again
glutPostRedisplay();
}
void RenderScene(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
glFrontFace(GL_CW);
glUseProgram(shader);
M3DVector3f at={0.0f, 0.0f, 0.0f};
M3DVector3f up={0.0f, 0.0f, 1.0f};
M3DVector3f eye;
float angle = timer.GetElapsedSeconds()*3.14159f/8;
eye[0]= 6.8f * cos(angle);
eye[1]= 6.0f * sin(angle);
eye[2]= 25.0f;
LookAt(cameraFrame,eye,at,up);
projection.LoadMatrix(viewFrustum.GetProjectionMatrix());
modelView.PushMatrix();
M3DMatrix44f mCamera;
cameraFrame.GetCameraMatrix(mCamera);
modelView.LoadMatrix(mCamera);
modelView.PushMatrix();
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
szachownica();
modelView.Translate(0.0f, 0.0f, 0.0f);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
rysujPiramidke();
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(5.0f, 0.0f, 0.0f);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
rysujPiramidke();
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(-5.0f, 0.0f, 0.0f);
modelView.Scale(2.0f, 2.0f, 2.0f);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
rysujPiramidke();
modelView.PopMatrix();
modelView.PopMatrix();
glutSwapBuffers();
glutPostRedisplay();
}
void Display()
{
static CStopWatch timer;
GLfloat yRot = timer.GetElapsedSeconds() * 60.0;
M3DVector3f vCameraPosition;
M3DVector3f vCameraForward;
M3DVector3f vMirrorPosition;
M3DVector3f vMirrorForward;
void movingCylinder();
cameraFrame.GetOrigin(vCameraPosition);
cameraFrame.GetForwardVector(vCameraForward);
vMirrorPosition[0] = 0.0f;
vMirrorPosition[1] = 0.1f;
vMirrorPosition[2] = -20.0f;
mirrorFrame.SetOrigin(vMirrorPosition);
vMirrorForward[0] = vCameraPosition[0];
vMirrorForward[1] = vCameraPosition[1];
vMirrorForward[2] = (vCameraPosition[2] + 20);
m3dNormalizeVector3(vMirrorForward);
mirrorFrame.SetForwardVector(vMirrorForward);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER,fboName);
glDrawBuffers(1,fboBuffers);
glViewport(0,0,mirrorWidth,mirrorHeight);
modelViewMatrix.PushMatrix();
M3DMatrix44f mMirrorView;
mirrorFrame.GetCameraMatrix(mMirrorView);
modelViewMatrix.MultMatrix(mMirrorView);
modelViewMatrix.Scale(-1.0f,1.0f,1.0f);
glBindTexture(GL_TEXTURE_2D,textures[0]);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_MODULATE,
transformPipeline.GetModelViewProjectionMatrix(),
vWhite,0);
floorBatch.Draw();
drawSun();
drawTorus(yRot);
modelViewMatrix.PopMatrix();
glBindFramebuffer(GL_DRAW_FRAMEBUFFER,0);
glDrawBuffers(1,windowBuffer);
glViewport(0,0,mirrorWidth,mirrorHeight);
modelViewMatrix.PushMatrix();
M3DMatrix44f mCamera;
cameraFrame.GetCameraMatrix(mCamera);
modelViewMatrix.MultMatrix(mCamera);
modelViewMatrix.PushMatrix();
glBindTexture(GL_TEXTURE_2D,mirrorTexture);
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_REPLACE,
transformPipeline.GetModelViewProjectionMatrix(),0);
mirrorFrontBatch.Draw();
modelViewMatrix.PopMatrix();
modelViewMatrix.PushMatrix();
glBindTexture(GL_TEXTURE_2D,textures[0]);
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_MODULATE,
transformPipeline.GetModelViewProjectionMatrix(),
vWhite,0);
floorBatch.Draw();
drawSun();
drawTorus(yRot);
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
//control to moving cylinder
movingCylinder();
glutSwapBuffers();
glutPostRedisplay();
}
void renderScene()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
modelViewM.PushMatrix();
M3DMatrix44f cameraM;
cameraFrame.GetCameraMatrix(cameraM);
modelViewM.MultMatrix(cameraM);
M3DVector4f lightPos = {0.0f, 10.0f, 5.0f, 1.0f};
M3DVector4f lightEyePos;
m3dTransformVector4(lightEyePos, lightPos, cameraM);
GLfloat whiteLight[] = {1.0f, 1.0f, 1.0f, 1.0f};
modelViewM.PushMatrix();
modelViewM.Translate(0, 0, -3);
M3DMatrix44f objectM;
objectFrame.GetMatrix(objectM);
modelViewM.MultMatrix(objectM);
glBindTexture(GL_TEXTURE_2D, textureID[0]);
#if 0
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_POINT_LIGHT_DIFF,
pipelineTransform.GetModelViewMatrix(),
pipelineTransform.GetProjectionMatrix(),
lightEyePos, whiteLight, 0);
#else
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_REPLACE,
pipelineTransform.GetModelViewProjectionMatrix(),
0);
#endif
cuboidBatch.Draw();
modelViewM.PopMatrix();
static CStopWatch timer;
float angle = timer.GetElapsedSeconds() * 120;
modelViewM.Translate(0.5f, 0.6f, -5);
modelViewM.Rotate(angle, 1, 1, 1);
modelViewM.Scale(0.5/cuboidLength, 0.3/cuboidHeigth, 0.4/cuboidWidth);
glBindTexture(GL_TEXTURE_2D, textureID[1]);
#if 0
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_POINT_LIGHT_DIFF,
pipelineTransform.GetModelViewMatrix(),
pipelineTransform.GetProjectionMatrix(),
lightEyePos, whiteLight, 0);
#else
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_REPLACE,
pipelineTransform.GetModelViewProjectionMatrix(),
0);
#endif
cuboidBatch.Draw();
modelViewM.PopMatrix();
glutSwapBuffers();
glutPostRedisplay();
}
void Gripper::render(GLMatrixStack &modelViewStack, GLMatrixStack &projectionStack, float *phantomMat, GLShaderManager &shaderManager){
modelViewStack.PushMatrix();
//modelViewStack.Translate(position[0] + size[0]*0.5f, position[1] + size[1]*0.5f, position[2] + size[2]*0.5f);
modelViewStack.MultMatrix(phantomMat);
modelViewStack.Scale(scalar, scalar, scalar);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), curColor);
sphereBatch.Draw();
modelViewStack.PushMatrix();
modelViewStack.PushMatrix();
modelViewStack.Rotate(90, 0, 1, 0);
modelViewStack.Scale(0.5, 0.5, endEffector[RED].curPos);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), curColor);
cylBatch.Draw();
modelViewStack.PopMatrix();
modelViewStack.Translate(endEffector[RED].curPos, 0, 0.0);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), vRed);
sphereBatch.Draw();
modelViewStack.Translate(0.0, 0, -8.0);
modelViewStack.PushMatrix();
modelViewStack.Scale(0.5, 0.5, 8.0);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), curColor);
cylBatch.Draw();
modelViewStack.PopMatrix();
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), vRed);
sphereBatch.Draw();
modelViewStack.PushMatrix();
modelViewStack.Translate(0.0, 2.0, -2.0);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), vRed);
sphereBatch.Draw();
modelViewStack.Translate(0.0, -4.0, 0.0);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), vRed);
sphereBatch.Draw();
modelViewStack.Translate(0.0, 2.0, -2.0);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), vRed);
sphereBatch.Draw();
modelViewStack.PopMatrix();
modelViewStack.PopMatrix();
modelViewStack.PushMatrix();
modelViewStack.PushMatrix();
modelViewStack.Rotate(-90, 0, 1, 0);
modelViewStack.Scale(0.5, 0.5, endEffector[GREEN].curPos);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), curColor);
cylBatch.Draw();
modelViewStack.PopMatrix();
modelViewStack.Translate(-endEffector[GREEN].curPos, 0, 0.0);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), vGreen);
sphereBatch.Draw();
modelViewStack.Translate(0.0, 0, -8.0);
modelViewStack.PushMatrix();
modelViewStack.Scale(0.5, 0.5, 8.0);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), curColor);
cylBatch.Draw();
modelViewStack.PopMatrix();
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), vGreen);
sphereBatch.Draw();
modelViewStack.PushMatrix();
modelViewStack.Translate(0.0, 2.0, -2.0);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), vGreen);
sphereBatch.Draw();
modelViewStack.Translate(0.0, -4.0, 0.0);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), vGreen);
sphereBatch.Draw();
modelViewStack.Translate(0.0, 2.0, -2.0);
shaderManager.UseStockShader(GLT_SHADER_DEFAULT_LIGHT, modelViewStack.GetMatrix(), projectionStack.GetMatrix(), vGreen);
sphereBatch.Draw();
modelViewStack.PopMatrix();
modelViewStack.PopMatrix();
modelViewStack.PopMatrix();
}
void RenderScene(void)
{
static CStopWatch rotTimer;
float yRot = rotTimer.GetElapsedSeconds() * 60.0f;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
modelViewMatrix.PushMatrix();
M3DMatrix44f mCamera;
cameraFrame.GetCameraMatrix(mCamera);
modelViewMatrix.MultMatrix(mCamera);
modelViewMatrix.PushMatrix();
{
//反向
modelViewMatrix.Scale(1.0f, -1.0f, 1.0f);
//因为是反向，所以正数是向下
modelViewMatrix.Translate(0.0f, 0.8f, 0.0f); // Scootch the world down a bit...
//三维中其中一维反向之后，缠绕方向也会呈相反，所以重新定义缠绕正方向为顺时针方向；
glFrontFace(GL_CW);
DrawSongAndDance(yRot);
glFrontFace(GL_CCW);
}
modelViewMatrix.PopMatrix();
// Draw the solid ground
glEnable(GL_BLEND);
glBindTexture(GL_TEXTURE_2D, uiTextures[0]);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
static GLfloat vFloorColor[] = { 1.0f, 1.0f, 1.0f, 0.75f };
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_MODULATE,
transformPipeLine.GetModelViewProjectionMatrix(),
vFloorColor,
0);
floorBatch.Draw();
glDisable(GL_BLEND);
DrawSongAndDance(yRot);
modelViewMatrix.PopMatrix();
// Render the overlay
// Creating this matrix really doesn't need to be done every frame. I'll leave it here
// so all the pertenant code is together
M3DMatrix44f mScreenSpace;
m3dMakeOrthographicMatrix(mScreenSpace, 0.0f, 800.0f, 0.0f, 600.0f, -1.0f, 1.0f);
// Turn blending on, and depth testing off
glEnable(GL_BLEND);
glDisable(GL_DEPTH_TEST);
glUseProgram(sphereWolrdShader);
glUniform1i(locTexture, 0);
glUniformMatrix4fv(locMVP, 1, GL_FALSE, mScreenSpace);
glBindTexture(GL_TEXTURE_RECTANGLE, uiTextures[3]);
logoBatch.Draw();
// Restore no blending and depth test
glDisable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
// Do the buffer Swap
glutSwapBuffers();
// Do it again
glutPostRedisplay();
}
void RenderScene(void) {
// Clear the window with current clearing color
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
// Obracanie widoku
float angle =timer.GetElapsedSeconds()*PI/4;
posVector[0] = -8.0f * cos(angle / 2.0f);
posVector[1] = -8.0f * sin(angle / 2.0f);
posVector[2] = 5.0f;
swiatlo0.position[0] = 8.0f * cos(-angle);
swiatlo0.position[1] = 15.0f * sin(-angle);
swiatlo0.position[2] = 5.0f;
LookAt(viewFrame, posVector, atVector, upVector);
geometryPipeline.SetMatrixStacks(modelView,projection);
projection.LoadMatrix(viewFrustum.GetProjectionMatrix());
modelView.PushMatrix();
M3DMatrix44f mCamera;
viewFrame.GetCameraMatrix(mCamera);
modelView.LoadMatrix(mCamera);
modelView.PushMatrix();
//glUseProgram(shader);
modelView.Translate(swiatlo0.position[0], swiatlo0.position[1], swiatlo0.position[2]);
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
modelView.PopMatrix();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
glUseProgram(shader);
modelView.PushMatrix();
modelView.Translate(swiatlo0.position[0], swiatlo0.position[1], swiatlo0.position[2]);
modelView.Scale(0.25f, 0.25f, 0.25f);
glUniformMatrix4fv(MVPMatrixLocationshader, 1, GL_FALSE, geometryPipeline.GetModelViewProjectionMatrix());
modelView.PopMatrix();
glUseProgram(Pshader);//wywo³anie shadera
//mno¿enie macierzy
//modelView.MultMatrix(mCamera);
// modelView.PushMatrix();
//m3dMatrixMultiply44(mModelViewProjection, viewFrustum.GetProjectionMatrix(), mCamera);
// wrzucanie do shadera
glUniformMatrix3fv(NMatrixLocation, 1, GL_FALSE, geometryPipeline.GetNormalMatrix());
glUniformMatrix4fv(VMmatrixLocation, 1, GL_FALSE, mCamera);
glUniform3fv(iambient_component_location, 1, iambient_component);
glUniform3fv(swiatlo0_location, 1, swiatlo0.position);
glUniform3fv(swiatlo0_idiffuse_location, 1, swiatlo0.idiffuse);
glUniform3fv(swiatlo0_ispecular_location, 1, swiatlo0.ispecular);
glUniform3fv(swiatlo0_attenuation_location, 1, swiatlo0.attenuation);
glUniform1f(material0_ka_location, material0.ka);
glUniform1f(material0_kd_location, material0.kd);
glUniform1f(material0_ks_location, material0.ks);
glUniform1f(material0_alpha_location, material0.alpha);
//--
glUniformMatrix4fv(MVPMatrixLocation, 1, GL_FALSE, geometryPipeline.GetModelViewProjectionMatrix());
glUniformMatrix4fv(MVMatrixLocation, 1, GL_FALSE, geometryPipeline.GetModelViewMatrix());
DrawPramid(0.5,0.0,1.0);
// drawTriangles(20,ico_vertices,ico_faces);
// rysowanie siatki --------------------------------------------------------------------------
glEnable(GL_CULL_FACE);
glPolygonOffset(1.0f, 1.0f);
glVertexAttrib3f(GLT_ATTRIBUTE_COLOR, 1.0, 1.0, 1.0);
glEnable(GL_POLYGON_OFFSET_FILL);
glBegin(GL_QUADS);
glVertex3f(10, -10.0f, 0.0f);
glVertex3f(-10, -10.0f, 0.0f);
glVertex3f(-10, 10.0f, 0.0f);
glVertex3f(10, 10.0f, 0.0f);
glEnd();
glDisable(GL_POLYGON_OFFSET_FILL);
glVertexAttrib3f(GLT_ATTRIBUTE_COLOR, 1.0, 1.0, 1.0);
for(int i=-10;i<=10;i++){
glBegin(GL_LINES);
glVertex3f((float)i, -10.0f, 0.0f);
glVertex3f((float)i, 10.0f, 0.0f);
glEnd();
}
for(int i=-10;i<=10;i++){
glBegin(GL_LINES);
glVertex3f(-10.0f, (float)i, 0.0f);
glVertex3f(10.0f, (float)i, 0.0f);
glEnd();
}
glDisable(GL_CULL_FACE);
//sphereBatch.Draw();
glUniformMatrix4fv(MVPMatrixLocation, 1, GL_FALSE, geometryPipeline.GetModelViewProjectionMatrix());
glUniformMatrix4fv(MVMatrixLocation, 1, GL_FALSE, geometryPipeline.GetModelViewMatrix());
modelView.PopMatrix();
// rysowanie siatki - koniec -------------------------------------------------------------------
//matrixStack.Translate(10.0f,1.0f,0.0f);
// macierz translacji i macierz rotacji
//M3DMatrix44f mT,mR;
// m3dTranslationMatrix44(mT,0.0f,3.0f,0.0f);
//m3dRotationMatrix44(mR, angle, 0.0f, 0.0f, 1.0f);
//mno¿enie macierzy translacji i macierzy rotacji
//m3dMatrixMultiply44(mM,mT,mR);
//mno¿enie macierzy przekszta³ceñ i macierzy projekcji modelwidok
// m3dMatrixMultiply44(mModelViewProjection,mModelViewProjection, mM);
//wysy³anie macierzy projekcji modelwidok do shadera
//glUniformMatrix4fv(MVPMatrixLocation, 1, GL_FALSE, mModelViewProjection);
//TriangleFace(position,color,atVector);
//DrawPramid(0.5,0.0,1.0);
//drawTriangles(20, ico_vertices, ico_faces);
//matrixStack.PopMatrix();
//matrixStack.Rotate(45.0,0,0,1);
//matrixStack.Translate(0.0,0.0,1.0);
//glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
//DrawPramid(0.5,0.0,1.0);
glUniformMatrix4fv(MVPMatrixLocation, 1, GL_FALSE, geometryPipeline.GetModelViewProjectionMatrix());
glUniformMatrix4fv(MVMatrixLocation, 1, GL_FALSE, geometryPipeline.GetModelViewMatrix());
modelView.PopMatrix();
glUseProgram(0);
// Perform the buffer swap to display back buffer
glutSwapBuffers();
glutPostRedisplay();
}
void RenderScene(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
glUniform3fv(shaderMaterialAmbientLocation, 1, ambientColor);
glUniform3fv(shaderMaterialDiffuseLocation, 1, diffuseColor);
glUniform3fv(shaderMaterialSpecularLocation, 1, specularColor);
glUniform1f(shaderMaterialSpecularExponentLocation, specularExponent);
glUniform3fv(shaderPositionLocation, 1, position);
glUniform3fv(shaderColorLocation, 1, color);
glUniform1f(shaderAngleLocation, angle);
glUniform1f(shaderAttenuation0Location, attenuation0);
glUniform1f(shaderAttenuation1Location, attenuation1);
glUniform1f(shaderAttenuation2Location, attenuation2);
GLMatrixStack modelView;
GLMatrixStack projection;
GLGeometryTransform geometryPipeline;
geometryPipeline.SetMatrixStacks(modelView,projection);
projection.LoadMatrix(frustum.GetProjectionMatrix());
modelView.PushMatrix();
M3DMatrix44f mCamera;
cameraFrame.GetCameraMatrix(mCamera);
modelView.LoadMatrix(mCamera);
modelView.PushMatrix();
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
rysujSiatke();
modelView.PushMatrix();
modelView.Translate(0.0f,0.0f,-1.f);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(MNMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
rysujTrojkat();
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(0.0f,4.0f,0.f);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(MNMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
rysujTrojkat();
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(3.0f,-3.0f,0.f);
modelView.Scale(2.0f,2.0f,2.f);
modelView.Rotate(45,0,0,1);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(MNMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
rysujTrojkat();
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(3.0f,3.0f,0.f);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(MNMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
drawTriangles(20, ico_vertices,ico_faces);
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(0.0f,0.0f,7.f);
modelView.Rotate(90+rotAngle,1,1,1);
modelView.Scale(2.0f,2.5f,2.5f);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(MNMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
drawTriangles(20, ico_vertices,ico_faces);
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(-4.0f,0.0f,4.f);
modelView.Scale(2.0f,2.0f,2.0f);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(MNMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
glDrawElements(GL_TRIANGLES,3*n_faces,GL_UNSIGNED_INT,0);
modelView.PopMatrix();
// Perform the buffer swap to display back buffer
glutSwapBuffers();
rotAngle+=5.f;
if(!stopRotate){
M3DVector3f at={0,0,0};
M3DVector3f up={0,0,1};
M3DVector3f eye;
float angle = timer.GetElapsedSeconds()*3.14159f /3.f;
eye[0]=16.f*cos(angle);
eye[1]=40.0f*sin(angle);
eye[2]=20.0f;
LookAt(cameraFrame,eye,at,up);
}
glutPostRedisplay();
}
///////////////////////////////////////////////////////////////////////////////
// Render a frame. The owning framework is responsible for buffer swaps,
// flushes, etc.
void RenderScene(void)
{
static CStopWatch animationTimer;
float yRot = animationTimer.GetElapsedSeconds() * 60.0f;
M3DVector3f vCameraPos;
M3DVector3f vCameraForward;
M3DVector3f vMirrorPos;
M3DVector3f vMirrorForward;
cameraFrame.GetOrigin(vCameraPos);
cameraFrame.GetForwardVector(vCameraForward);
// Set position of mirror frame (camera)
vMirrorPos[0] = 0.0;
vMirrorPos[1] = 0.1f;
vMirrorPos[2] = -6.0f; // view pos is actually behind mirror
mirrorFrame.SetOrigin(vMirrorPos);
// Calculate direction of mirror frame (camera)
// Because the position of the mirror is known relative to the origin
// find the direction vector by adding the mirror offset to the vector
// of the viewer-origin
vMirrorForward[0] = vCameraPos[0];
vMirrorForward[1] = vCameraPos[1];
vMirrorForward[2] = (vCameraPos[2] + 5);
m3dNormalizeVector3(vMirrorForward);
mirrorFrame.SetForwardVector(vMirrorForward);
// first render from the mirrors perspective
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, fboName);
glDrawBuffers(1, fboBuffs);
glViewport(0, 0, mirrorTexWidth, mirrorTexHeight);
// Draw scene from the perspective of the mirror camera
modelViewMatrix.PushMatrix();
M3DMatrix44f mMirrorView;
mirrorFrame.GetCameraMatrix(mMirrorView);
modelViewMatrix.MultMatrix(mMirrorView);
// Flip the mirror camera horizontally for the reflection
modelViewMatrix.Scale(-1.0f, 1.0f, 1.0f);
glBindTexture(GL_TEXTURE_2D, textures[0]); // Marble
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_MODULATE, transformPipeline.GetModelViewProjectionMatrix(), vWhite, 0);
floorBatch.Draw();
DrawWorld(yRot);
// Now draw a cylinder representing the viewer
M3DVector4f vLightTransformed;
modelViewMatrix.GetMatrix(mMirrorView);
m3dTransformVector4(vLightTransformed, vLightPos, mMirrorView);
modelViewMatrix.Translate(vCameraPos[0],vCameraPos[1]-0.8f,vCameraPos[2]-1.0f);
modelViewMatrix.Rotate(-90.0f, 1.0f, 0.0f, 0.0f);
shaderManager.UseStockShader(GLT_SHADER_POINT_LIGHT_DIFF,
modelViewMatrix.GetMatrix(),
transformPipeline.GetProjectionMatrix(),
vLightTransformed, vBlue, 0);
cylinderBatch.Draw();
modelViewMatrix.PopMatrix();
// Reset FBO. Draw world again from the real cameras perspective
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
glDrawBuffers(1, windowBuff);
glViewport(0, 0, screenWidth, screenHeight);
modelViewMatrix.PushMatrix();
M3DMatrix44f mCamera;
cameraFrame.GetCameraMatrix(mCamera);
modelViewMatrix.MultMatrix(mCamera);
glBindTexture(GL_TEXTURE_2D, textures[0]); // Marble
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_MODULATE, transformPipeline.GetModelViewProjectionMatrix(), vWhite, 0);
floorBatch.Draw();
DrawWorld(yRot);
// Now draw the mirror surfaces
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0.0f, -0.4f, -5.0f);
if(vCameraPos[2] > -5.0)
{
glBindTexture(GL_TEXTURE_2D, mirrorTexture); // Reflection
shaderManager.UseStockShader(GLT_SHADER_TEXTURE_REPLACE, transformPipeline.GetModelViewProjectionMatrix(), 0);
}
else
{
// If the camera is behind the mirror, just draw black
shaderManager.UseStockShader(GLT_SHADER_FLAT, transformPipeline.GetModelViewProjectionMatrix(), vBlack);
}
mirrorBatch.Draw();
shaderManager.UseStockShader(GLT_SHADER_FLAT, transformPipeline.GetModelViewProjectionMatrix(), vGrey);
mirrorBorderBatch.Draw();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
// Do the buffer Swap
glutSwapBuffers();
// Do it again
glutPostRedisplay();
}
// main rendering loop
void RenderScene(void){
static CStopWatch rotTimer;
float yRot = rotTimer.GetElapsedSeconds() * 60.0f;
GLfloat vBarColor[] = {1.0f, 0.0f, 0.0f, 1.0f};
currentFrame = getLatestBufferIndex();
if(mapper.getSimpleArg('c')){
vBarColor[0] = .7;
vBarColor[1] = .2 + sharedBuffer[currentFrame].averageAmp * 60;
vBarColor[2] = 1.0;
b = sharedBuffer[currentFrame].averageAmp;
g = 0;
r = 0;
glClearColor(r, g, b, 1.0f);
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
modelViewMatrix.PushMatrix();
M3DMatrix44f mCamera;
cameraFrame.GetCameraMatrix(mCamera);
modelViewMatrix.PushMatrix(mCamera);
if(mapper.getCompoundArg('r') == "auto"){
cameraFrame.RotateWorld(.01, 0.0, 0.0, 1.0);
cameraFrame.MoveForward(-.1 * sin(yRot * .05));
}
// set up light source
M3DVector4f vLightPos = { 0.0f, 10.0f, 5.0f, 1.0f };
M3DVector4f vLightEyePos;
m3dTransformVector4(vLightEyePos, vLightPos, mCamera);
for(int m = 0; m < NUM_MACROS; m++){
if(mapper.getSimpleArg('m')){
modelViewMatrix.PushMatrix();
macros[m].refFrame.RotateLocalY(.01 * macros[m].multiplier);
macros[m].refFrame.RotateLocalX(.5 * sharedBuffer[currentFrame].averageAmp);
modelViewMatrix.MultMatrix(macros[m].refFrame);
}
for(int i = 0; i < PACKET_SIZE; i++){
modelViewMatrix.PushMatrix();
GLfloat y = 5 * fabs(sharedBuffer[currentFrame].frames[i][0]);
modelViewMatrix.MultMatrix(bars[i]);
modelViewMatrix.Scale(barWidth, y, sharedBuffer[currentFrame].averageAmp * 4);
if(mapper.getSimpleArg('t')){
modelViewMatrix.Translate(0.0, sharedBuffer[currentFrame].averageAmp, 0.0);
}
shaderManager.UseStockShader(GLT_SHADER_POINT_LIGHT_DIFF,
transformPipeline.GetModelViewMatrix(),
transformPipeline.GetProjectionMatrix(),
vLightEyePos, vBarColor);
cubeBatch.Draw();
modelViewMatrix.PopMatrix();
}
if(mapper.getSimpleArg('m')){
modelViewMatrix.PopMatrix();
}
}
// draw prisms for amplitudes
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
glutSwapBuffers();
glutPostRedisplay();
if(currentFrame != -1){
sharedBuffer[currentFrame].free = true;
}
}
void DrawUpperLimb(float angle) {
float movement = sin(GL_PI/8 * angle);
// rechten Arm
modelViewMatrix.PushMatrix();
//Schwingbewegung realisieren
modelViewMatrix.Translate(10.0, 55.0, 0);
modelViewMatrix.Rotate(movement * 35.0, 1.0, 0.0, 0.0);
modelViewMatrix.Translate(-10.0, -55.0, 0);
modelViewMatrix.Translate(60.0f, 10.0f, 0.0f);
modelViewMatrix.Rotate(30.0, 0.0, 0.0, 1.0);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(0.2, 0.75, 0.2);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawCylinder();
modelViewMatrix.PopMatrix();
// rechte Hand
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0.0f, -40.0f, 0.0f);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(0.2, 0.2, 0.2);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawSphere();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
/**
* linkes Bein
**/
modelViewMatrix.PushMatrix();
// Schwingbewegung
modelViewMatrix.Translate(0.0, -50.0, 0);
modelViewMatrix.Rotate(movement * 35.0, 1.0, 0.0, 0.0);
modelViewMatrix.Translate(0.0, 50.0, 0);
modelViewMatrix.Translate(-20.0f, -80.0f, 0.0f);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(0.3, 0.8, 0.3);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawCylinder();
modelViewMatrix.PopMatrix();
// linker Fuss
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0.0f, -47.0f, 10.0f);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(0.5, 0.3, 0.9);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawCube();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
/**
* linker Arm
**/
modelViewMatrix.PushMatrix();
// Schwingbewegung
modelViewMatrix.Translate(10.0, 55.0, 0);
modelViewMatrix.Rotate(-movement * 35.0, 1.0, 0.0, 0.0);
modelViewMatrix.Translate(-10.0, -55.0, 0);
modelViewMatrix.Translate(-60.0f, 10.0f, 0.0f);
modelViewMatrix.Rotate(-30.0, 0.0, 0.0, 1.0);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(0.2, 0.75, 0.2);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawCylinder();
modelViewMatrix.PopMatrix();
// linke Hand
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0.0f, -40.0f, 0.0f);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(0.2, 0.2, 0.2);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawSphere();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
/** rechtes Bein
*/
modelViewMatrix.PushMatrix();
// Schwingbewegung
modelViewMatrix.Translate(0.0, -50.0, 0);
modelViewMatrix.Rotate(-movement * 35.0, 1.0, 0.0, 0.0);
modelViewMatrix.Translate(0.0, 50.0, 0);
modelViewMatrix.Translate(20.0f, -80.0f, 0.0f);
modelViewMatrix.Rotate(8.0, 1.0, 0.0, 0.0);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(0.3, 0.8, 0.3);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawCylinder();
modelViewMatrix.PopMatrix();
// rechter Fuss
modelViewMatrix.PushMatrix();
modelViewMatrix.Translate(0.0f, -47.0f, 10.0f);
modelViewMatrix.Rotate(0.0, 1.0, 0.0, 0.0);
modelViewMatrix.PushMatrix();
modelViewMatrix.Scale(0.5, 0.3, 0.9);
shaderManager.UseStockShader(GLT_SHADER_FLAT_ATTRIBUTES, transformPipeline.GetModelViewProjectionMatrix());
DrawCube();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
modelViewMatrix.PopMatrix();
}
void RenderScene(void) {
// Clear the window with current clearing color
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
glUseProgram(shader);
M3DVector3f at={0,0,0};
M3DVector3f up={0,0,1};
M3DVector3f eye;
float angle = timer.GetElapsedSeconds()*M_PI/3;
eye[0]=6.8f*cos(angle);
eye[1]=6.0f*sin(angle);
eye[2]=5.0f;
LookAt(cameraFrame,eye,at,up);
geometryPipeline.SetMatrixStacks(modelView,projection);
projection.LoadMatrix(viewFrustum.GetProjectionMatrix());
modelView.PushMatrix();
cameraFrame.GetCameraMatrix(mCamera);
modelView.LoadMatrix(mCamera);
modelView.PushMatrix();
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
drawLines();
drawPyramid();
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(1.0f,6.0f,2.0f);
modelView.Rotate(180.0f,0.0f,0.0f,1.0f);
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
drawPyramid();
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(6.0f,-4.0f,1.0f);
modelView.Rotate(60.0f,1.0f,1.0f,1.5f);
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
drawPyramid();
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(-2.0f,0.0f,1.0f);
modelView.Rotate(80.0f,1.0f,0.0f,1.0f);
modelView.Scale(0.8f,0.4f,1.0f);
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
drawPyramid();
modelView.PopMatrix();
modelView.PopMatrix();
// Perform the buffer swap to display back buffer
glutSwapBuffers();
glutPostRedisplay();
}
void RenderScene(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
glFrontFace(GL_CW);
glUseProgram(shader);
M3DVector3f at={1.5f, 0.0f, 0.0f};
M3DVector3f up={-1.0f, 0.0f, 1.0f};
M3DVector3f eye;
float angle = timer.GetElapsedSeconds()*3.14159f/8;
eye[0]= 6.8f * cos(angle);
eye[1]= 6.0f * sin(angle);
eye[2]= 30.0f;
LookAt(cameraFrame,eye,at,up);
M3DVector3f ambientLight = {1.0f, 1.0f, 1.0f};
M3DVector3f position = {10.0f, 10.0f, 5.0f};
M3DVector3f color = {1.0f, 1.0f, 1.0f};
float l_angle = 90.0f;
float attenuation0 = 0.01f;
float attenuation1 = 0.01f;
float attenuation2 = 0.01f;
M3DVector3f ambientColor = {0.0f, 1.0, 0.0};
M3DVector3f diffuseColor = {0.0f, 1.0f, 1.0f};
M3DVector3f specularColor = {1.0f, 1.0f, 1.0f};
float specularExponent = 8;
projection.LoadMatrix(viewFrustum.GetProjectionMatrix());
modelView.PushMatrix();
M3DMatrix44f mCamera;
cameraFrame.GetCameraMatrix(mCamera);
modelView.LoadMatrix(mCamera);
modelView.PushMatrix();
glUniform3fv(shaderPositionLocation, 1, position);
glUniform3fv(shaderColorLocation, 1, color);
glUniform1f(shaderAngleLocation, angle);
glUniform1f(shaderAttenuation0Location, attenuation0);
glUniform1f(shaderAttenuation1Location, attenuation1);
glUniform1f(shaderAttenuation2Location, attenuation2);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(normalMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniform3fv(ambientLightLocation, 1, ambientLight);
glUniform3fv(shaderAmbientColorLocation, 1, ambientColor);
glUniform3fv(shaderDiffuseColorLocation, 1, diffuseColor);
glUniform3fv(shaderSpecularColorLocation, 1, specularColor);
glUniform1f(shaderSpecularExponentLocation, specularExponent);
glPolygonOffset(1.0f, 1.0f);
grid();
glEnable(GL_POLYGON_OFFSET_FILL);
grid();
glDisable(GL_POLYGON_OFFSET_FILL);
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(-7.75f, -7.75f, 0.0f);
modelView.Scale(0.25f, 0.25f, 0.25f);
glUniform3fv(shaderPositionLocation, 1, position);
glUniform3fv(shaderColorLocation, 1, color);
glUniform1f(shaderAngleLocation, l_angle);
glUniform1f(shaderAttenuation0Location, attenuation0);
glUniform1f(shaderAttenuation1Location, attenuation1);
glUniform1f(shaderAttenuation2Location, attenuation2);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(normalMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniform3fv(ambientLightLocation, 1, ambientLight);
glUniform3fv(shaderAmbientColorLocation, 1, ambientColor);
glUniform3fv(shaderDiffuseColorLocation, 1, diffuseColor);
glUniform3fv(shaderSpecularColorLocation, 1, specularColor);
glUniform1f(shaderSpecularExponentLocation, specularExponent);
piramida();
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(-6.0f, -6.0f, 0.0f);
modelView.Scale(0.5f, 0.5f, 0.5f);
modelView.Rotate(angle*512, 0.0f, 0.0f, 2.0f);
glUniform3fv(shaderPositionLocation, 1, position);
glUniform3fv(shaderColorLocation, 1, color);
glUniform1f(shaderAngleLocation, l_angle);
glUniform1f(shaderAttenuation0Location, attenuation0);
glUniform1f(shaderAttenuation1Location, attenuation1);
glUniform1f(shaderAttenuation2Location, attenuation2);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(normalMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniform3fv(ambientLightLocation, 1, ambientLight);
glUniform3fv(shaderAmbientColorLocation, 1, ambientColor);
glUniform3fv(shaderDiffuseColorLocation, 1, diffuseColor);
glUniform3fv(shaderSpecularColorLocation, 1, specularColor);
glUniform1f(shaderSpecularExponentLocation, specularExponent);
glDrawElements(GL_TRIANGLES,3*n_faces,GL_UNSIGNED_INT,0);
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(-4.0f, -4.0f, 0.0f);
modelView.Scale(0.75f, 0.75f, 0.75f);
modelView.Rotate(angle*512, 0.0f, 2.0f, 0.0f);
glUniform3fv(shaderPositionLocation, 1, position);
glUniform3fv(shaderColorLocation, 1, color);
glUniform1f(shaderAngleLocation, l_angle);
glUniform1f(shaderAttenuation0Location, attenuation0);
glUniform1f(shaderAttenuation1Location, attenuation1);
glUniform1f(shaderAttenuation2Location, attenuation2);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(normalMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniform3fv(ambientLightLocation, 1, ambientLight);
glUniform3fv(shaderAmbientColorLocation, 1, ambientColor);
glUniform3fv(shaderDiffuseColorLocation, 1, diffuseColor);
glUniform3fv(shaderSpecularColorLocation, 1, specularColor);
glUniform1f(shaderSpecularExponentLocation, specularExponent);
piramida();
modelView.PopMatrix();`
modelView.PushMatrix();
modelView.Translate(2.0f, 2.0f, 0.0f);
modelView.Scale(1.5f, 1.5f, 1.5f);
modelView.Rotate(angle*512, 2.0f, 2.0f, 0.0f);
glUniform3fv(shaderPositionLocation, 1, position);
glUniform3fv(shaderColorLocation, 1, color);
glUniform1f(shaderAngleLocation, l_angle);
glUniform1f(shaderAttenuation0Location, attenuation0);
glUniform1f(shaderAttenuation1Location, attenuation1);
glUniform1f(shaderAttenuation2Location, attenuation2);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(normalMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniform3fv(ambientLightLocation, 1, ambientLight);
glUniform3fv(shaderAmbientColorLocation, 1, ambientColor);
glUniform3fv(shaderDiffuseColorLocation, 1, diffuseColor);
glUniform3fv(shaderSpecularColorLocation, 1, specularColor);
glUniform1f(shaderSpecularExponentLocation, specularExponent);
piramida();
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(-1.5f, -1.5f, 0.0f);
modelView.Rotate(angle*512, 2.0f, 0.0f, 0.0f);
glUniform3fv(shaderPositionLocation, 1, position);
glUniform3fv(shaderColorLocation, 1, color);
glUniform1f(shaderAngleLocation, l_angle);
glUniform1f(shaderAttenuation0Location, attenuation0);
glUniform1f(shaderAttenuation1Location, attenuation1);
glUniform1f(shaderAttenuation2Location, attenuation2);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(normalMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniform3fv(ambientLightLocation, 1, ambientLight);
glUniform3fv(shaderAmbientColorLocation, 1, ambientColor);
glUniform3fv(shaderDiffuseColorLocation, 1, diffuseColor);
glUniform3fv(shaderSpecularColorLocation, 1, specularColor);
glUniform1f(shaderSpecularExponentLocation, specularExponent);
DrawTriangles(20, vertices_tab, faces_tab);
modelView.PopMatrix();
modelView.PushMatrix();
modelView.Translate(6.5f, 6.5f, 0.0f);
modelView.Scale(2.5f, 2.5f, 2.5f);
modelView.Rotate(angle*512, 2.0f, 2.0f, 2.0f);
glUniform3fv(shaderPositionLocation, 1, position);
glUniform3fv(shaderColorLocation, 1, color);
glUniform1f(shaderAngleLocation, l_angle);
glUniform1f(shaderAttenuation0Location, attenuation0);
glUniform1f(shaderAttenuation1Location, attenuation1);
glUniform1f(shaderAttenuation2Location, attenuation2);
glUniformMatrix4fv(MVMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewProjectionMatrix());
glUniformMatrix4fv(MVPMatrixLocation,1,GL_FALSE,geometryPipeline.GetModelViewMatrix());
glUniformMatrix3fv(normalMatrixLocation,1,GL_FALSE,geometryPipeline.GetNormalMatrix());
glUniform3fv(ambientLightLocation, 1, ambientLight);
glUniform3fv(shaderAmbientColorLocation, 1, ambientColor);
glUniform3fv(shaderDiffuseColorLocation, 1, diffuseColor);
glUniform3fv(shaderSpecularColorLocation, 1, specularColor);
glUniform1f(shaderSpecularExponentLocation, specularExponent);
DrawSmoothTriangles(20, vertices_tab, faces_tab);
modelView.PopMatrix();
modelView.PopMatrix();
glutSwapBuffers();
glutPostRedisplay();
}
void Gripper::environmentCalc(GLMatrixStack &modelViewStack, float phantomMat[16]){
phidgets.sampleAll();
for(int i = 0; i < 2; ++i){
if(phidgets.getRaw(i) > 500)
return;
if(phidgets.getRaw(i) < 0)
return;
}
endEffector[RED].currentRaw = phidgets.getRaw(0);
endEffector[GREEN].currentRaw = phidgets.getRaw(1);
for(int i = 0; i < 2; ++i){
END_EFFECTOR *ee = &(endEffector[i]);
ee->maxRaw = max(ee->maxRaw, ee->currentRaw);
ee->minRaw = min(ee->minRaw, ee->currentRaw);
double range = ee->maxRaw - ee->minRaw;
double raw = ee->currentRaw - ee->minRaw;
ee->gripperForce = max((1.0 - (raw/range)), 0);
ee->curPos = ee->curPos - (ee->gripperForce - ee->restoreForce - ee->contactForce) * ee->scalar;
ee->curPos = min(ee->maxRange, ee->curPos);
ee->curPos = max(ee->minRange, ee->curPos);
//Dprint::add("[%d] range = %.2f, raw = %.2f, maxRaw = %d, minRaw = %d, curPos = %.2f", i, range, raw, ee->maxRaw, ee->minRaw, ee->curPos);
}
modelViewStack.PushMatrix();
modelViewStack.LoadIdentity();
modelViewStack.MultMatrix(phantomMat);
modelViewStack.Scale(scalar, scalar, scalar);
modelViewStack.GetMatrix(matrix);
setPosFromMatrix(positions[YELLOW]);
modelViewStack.PushMatrix();
modelViewStack.Translate(endEffector[RED].curPos, 0, 0.0);
modelViewStack.Translate(0.0, 0, -8.0);
modelViewStack.GetMatrix(matrix);
setPosFromMatrix(positions[RED]);
modelViewStack.PushMatrix();
modelViewStack.Translate(0.0, 2.0, -2.0);
modelViewStack.GetMatrix(matrix);
setPosFromMatrix(positions[RED2]);
modelViewStack.Translate(0.0, -4.0, 0.0);
modelViewStack.GetMatrix(matrix);
setPosFromMatrix(positions[RED3]);
modelViewStack.Translate(0.0, 2.0, -2.0);
modelViewStack.GetMatrix(matrix);
setPosFromMatrix(positions[RED4]);
modelViewStack.PopMatrix();
modelViewStack.PopMatrix();
modelViewStack.PushMatrix();
modelViewStack.Translate(-endEffector[GREEN].curPos, 0, 0.0);
modelViewStack.Translate(0.0, 0, -8.0);
modelViewStack.GetMatrix(matrix);
setPosFromMatrix(positions[GREEN]);
modelViewStack.PushMatrix();
modelViewStack.Translate(0.0, 2.0, -2.0);
modelViewStack.GetMatrix(matrix);
setPosFromMatrix(positions[GREEN2]);
modelViewStack.Translate(0.0, -4.0, 0.0);
modelViewStack.GetMatrix(matrix);
setPosFromMatrix(positions[GREEN3]);
modelViewStack.Translate(0.0, 2.0, -2.0);
modelViewStack.GetMatrix(matrix);
setPosFromMatrix(positions[GREEN4]);
modelViewStack.PopMatrix();
modelViewStack.PopMatrix();
modelViewStack.PopMatrix();
for(int i = 0; i < NUM_END_EFFECTORS; ++i){
offsets[i][0] = positions[i][0] - positions[YELLOW][0];
offsets[i][1] = positions[i][1] - positions[YELLOW][1];
offsets[i][2] = positions[i][2] - positions[YELLOW][2];
}
}
