void DrawScene(void)
{
// this is the variable declerations
int e;
float X, Y, Z;
// all of this stuff is just for the lighting of the
// scene.
GLfloat groundAmbient[4]={ 0.02f, 0.3f, 0.1f, 1.0f };
GLfloat local_ambient[4]={ 0.7f, 0.7f, 0.7f, 1.0f };
GLfloat ambient0[4]={ 0.0f, 0.0f, 0.0f, 1.0f };
GLfloat diffuse0[4]={ 1.0f, 1.0f, 1.0f, 1.0f };
GLfloat specular0[4]={ 1.0f, 0.0f, 0.0f, 1.0f };
GLfloat position0[4]= { 2.0f, 100.5f, 1.5f, 1.0f };
GLfloat ambient1[4]={ 0.0f, 0.0f, 0.0f, 1.0f };
GLfloat diffuse1[4]={ 1.0f, 1.0f, 1.0f, 1.0f };
GLfloat specular1[4]={ 1.0f, 0.0f, 0.0f, 1.0f };
GLfloat position1[4]= { -2.0f, 100.5f, 1.0f, 0.0f };
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, local_ambient);
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, 1);
glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, 0);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambient0);
glLightfv(GL_LIGHT0, GL_POSITION, position0);
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse0);
glLightfv(GL_LIGHT0, GL_SPECULAR, specular0);
glEnable(GL_LIGHT1);
glLightfv(GL_LIGHT1, GL_AMBIENT, ambient1);
glLightfv(GL_LIGHT1, GL_POSITION, position1);
glLightfv(GL_LIGHT1, GL_DIFFUSE, diffuse1);
glLightfv(GL_LIGHT1, GL_SPECULAR, specular1);
// end of lighting
X = xcell.cg.NED[0]; // North = Xcomputer frame
Y = -xcell.cg.NED[2]; // Down = -Ycomputer frame
Z = xcell.cg.NED[1]; // East = Zcomputer frame
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
// R/C Pilot's point of view
gluLookAt(1.0, 6.0, 30.0, X, Y, Z, 0.0, 1.0, 0.0);
glEnable(GL_NORMALIZE);
glDisable(GL_LIGHTING);
glColor3f(0.0f, 0.0f, 1.0f);
glBegin(GL_LINES);
glVertex3f(0.0f, 0.0f, 0.0f);
glVertex3f(0.0f, 5.0f, 0.0f);
glEnd();
//this is the ground
glEnable(GL_LIGHTING);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, groundAmbient);
glBegin(GL_POLYGON);
glNormal3f(0.0f, 1.0f, 0.0f);
glVertex3f(31200.0f, -0.0f, -31200.0f);
glVertex3f(-31200.0f, -0.0f, -31200.0f);
glVertex3f(-31200.0f, -0.0f, 31200.0f);
glVertex3f(31200.0f, -0.0f, 31200.0f);
glEnd();
glDisable(GL_LIGHTING);
for(e=-1000; e<=1000; e+=50)
{
glColor3f(0.0f, 0.0f, 0.0f);
glBegin(GL_LINES);
glVertex3f(e, 0.8, -1000.0f);
glVertex3f(e, 0.8, 1000.0f);
glVertex3f(-1000.0f, 0.8, e);
glVertex3f(1000.0f, 0.8, e);
glEnd();
}
glEnable(GL_LIGHTING);
glPushMatrix();
glTranslatef(X, Y, Z);
glRotatef(xcell.cg.THETA[2]*C_RAD2DEG, 0.0f, -1.0f, 0.0);
glRotatef(xcell.cg.THETA[1]*C_RAD2DEG, 0.0f, 0.0f, 1.0f);
glRotatef(xcell.cg.THETA[0]*C_RAD2DEG, 1.0f, 0.0f, 0.0f);
DrawXcellModel();
glPopMatrix();
glPushMatrix();
// Draw the shadows
// make the neccessary squashing matrix
float mat[16];
mat[0]=1.0;
mat[1]=0.0;
mat[2]=0.0;
mat[3]=0.0;
mat[4]=0.0;
mat[5]=0.0;
mat[6]=0.0;
mat[7]=0.0;
mat[8]=0.0;
mat[9]=0.0;
mat[10]=1.0;
mat[11]=0.0;
mat[12]=0.0;
mat[13]=0.0;
mat[14]=0.0;
mat[15]=1.0;
glMultMatrixf(mat);
// Everything now is flattened onto the ground
glTranslatef(X, 0.01, Z);
glRotatef(xcell.cg.THETA[2]*C_RAD2DEG, 0.0f, -1.0f, 0.0);
glRotatef(xcell.cg.THETA[1]*C_RAD2DEG, 0.0f, 0.0f, 1.0f);
glRotatef(xcell.cg.THETA[0]*C_RAD2DEG, 1.0f, 0.0f, 0.0f);
DrawXcellShadowModel();
glPopMatrix();
}
/**
* @param {short} xi_type 0 : RC pilot view
* 1 : fly behind view
* 2 : upper view
* @return helicopter model, ground, sky and shadow on screen drawing
**/
void DrawScene(short xi_type) {
// statics (scene lighting definitions)
static const GLfloat groundAmbient[4] = {0.02f, 0.3f, 0.1f, 1.0f},
local_ambient[4] = {0.7f, 0.7f, 0.7f, 1.0f},
ambient0[4] = {0.0f, 0.0f, 0.0f, 1.0f},
diffuse0[4] = {1.0f, 1.0f, 1.0f, 1.0f},
specular0[4] = {1.0f, 0.0f, 0.0f, 1.0f},
position0[4] = {2.0f, 100.5f, 1.5f, 1.0f},
ambient1[4] = {0.0f, 0.0f, 0.0f, 1.0f},
diffuse1[4] = {1.0f, 1.0f, 1.0f, 1.0f},
specular1[4] = {1.0f, 0.0f, 0.0f, 1.0f},
position1[4] = {-2.0f, 100.5f, 1.0f, 0.0f};
// statics (squashing matrix; 3D -> 2D)
static const float mat[16] = {1.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0};
// locals
int e;
float X, Y, Z;
double camera[3], destination[3], up[3]; // view port
// scene light definitions
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, local_ambient);
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, 1);
glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, 0);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambient0);
glLightfv(GL_LIGHT0, GL_POSITION, position0);
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse0);
glLightfv(GL_LIGHT0, GL_SPECULAR, specular0);
glEnable(GL_LIGHT1);
glLightfv(GL_LIGHT1, GL_AMBIENT, ambient1);
glLightfv(GL_LIGHT1, GL_POSITION, position1);
glLightfv(GL_LIGHT1, GL_DIFFUSE, diffuse1);
glLightfv(GL_LIGHT1, GL_SPECULAR, specular1);
// A/V position
X = heli.cg.NED[_NORTH]; // North = X computer frame
Y = -heli.cg.NED[_DOWN]; // Down = -Y computer frame
Z = heli.cg.NED[_EAST]; // East = Z computer frame
// clear view port
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
// view port
if (xi_type == 0) {
camera[_X] = 1.0;
camera[_Y] = 6.0;
camera[_Z] = 30.0;
destination[_X] = X;
destination[_Y] = Y;
destination[_Z] = Z;
up[_X] = 0.0;
up[_Y] = 1.0;
up[_Z] = 0.0;
} else if (xi_type == 1) {
camera[_X] = X - 10 * cos(heli.cg.THETA[_PSI]);
camera[_Y] = Y + 1;
camera[_Z] = Z - 10 * sin(heli.cg.THETA[_PSI]);
destination[_X] = X;
destination[_Y] = Y;
destination[_Z] = Z;
up[_X] = 0.0;
up[_Y] = 1.0;
up[_Z] = 0.0;
} else if (xi_type == 2){
camera[_X] = X;
camera[_Y] = 50;
camera[_Z] = Z;
destination[_X] = X;
destination[_Y] = Y;
destination[_Z] = Z;
up[_X] = 1.0;
up[_Y] = 1.0;
up[_Z] = 0.0;
}
gluLookAt(camera[_X], camera[_Y], camera[_Z],
destination[_X], destination[_Y], destination[_Z],
up[_X], up[_Y], up[_Z]);
glEnable(GL_NORMALIZE);
glDisable(GL_LIGHTING);
// origin heli pad lines
glLineWidth(3.0f);
glColor3f(0.0f, 0.0f, 1.0f);
glBegin(GL_LINES);
glVertex3f( 0.0f, 1.0f, 0.0f);
glVertex3f( 0.0f, 0.0f, 0.0f);
glVertex3f( 1.0f, 1.0f, 1.0f);
glVertex3f(-1.0f, 1.0f, -1.0f);
glVertex3f(-1.0f, 1.0f, 1.0f);
glVertex3f( 1.0f, 1.0f, -1.0f);
glEnd();
// origin heli pad circle
DrawCircle(0.0, 0.0, 1.0, 8);
glLineWidth(1.0f);
//ground
glEnable(GL_LIGHTING);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, groundAmbient);
glBegin(GL_POLYGON);
glNormal3f(0.0f, 1.0f, 0.0f);
glVertex3f(31200.0f, -0.0f, -31200.0f);
glVertex3f(-31200.0f, -0.0f, -31200.0f);
glVertex3f(-31200.0f, -0.0f, 31200.0f);
glVertex3f(31200.0f, -0.0f, 31200.0f);
glEnd();
glDisable(GL_LIGHTING);
for(e = -1000; e <= 1000; e += 50) {
glColor3f(0.0f, 0.0f, 0.0f);
glBegin(GL_LINES);
glVertex3f(e, 0.8, -1000.0f);
glVertex3f(e, 0.8, 1000.0f);
glVertex3f(-1000.0f, 0.8, e);
glVertex3f(1000.0f, 0.8, e);
glEnd();
}
glEnable(GL_LIGHTING);
glPushMatrix();
glTranslatef(X, Y, Z);
glRotatef(heli.cg.THETA[_PSI]*C_RAD2DEG, 0.0f, -1.0f, 0.0);
glRotatef(heli.cg.THETA[_THETA]*C_RAD2DEG, 0.0f, 0.0f, 1.0f);
glRotatef(heli.cg.THETA[_PHI]*C_RAD2DEG, 1.0f, 0.0f, 0.0f);
DrawXcellModel();
glPopMatrix();
/*
for (i = 0; i < 6; i++) {
glPushMatrix();
glTranslatef(X + pow(-1, i)*i*6, Y + 2*i, Z - i*7);
glRotatef(xcell.cg.THETA[_PSI]*C_RAD2DEG + i*50, 0.0f, -1.0f, 0.0); // heading
glRotatef(xcell.cg.THETA[_THETA]*C_RAD2DEG - i*3, 0.0f, 0.0f, 1.0f); // pitch
glRotatef(xcell.cg.THETA[_PHI]*C_RAD2DEG + i*4, 1.0f, 0.0f, 0.0f); // roll
DrawXcellModel();
glPopMatrix();
}
*/
glPushMatrix();
// Draw the shadows
glMultMatrixf(mat);
// Everything now is flattened onto the ground
glTranslatef(X, 0.01, Z);
glRotatef(heli.cg.THETA[_PSI] * C_RAD2DEG, 0.0f, -1.0f, 0.0);
glRotatef(heli.cg.THETA[_THETA] * C_RAD2DEG, 0.0f, 0.0f, 1.0f);
glRotatef(heli.cg.THETA[_PHI] * C_RAD2DEG, 1.0f, 0.0f, 0.0f);
DrawXcellShadowModel();
glPopMatrix();
}
