static void geometryout( void )
{
double gl_para[16];
GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
argConvGlpara(patt_trans, gl_para);
printf("Matrix:\n\t%d\t%d\t%d\t%d\n\t%d\t%d\t%d\t%d\n\t%d\t%d\t%d\t%d\n\t%d\t%d\t%d\t%d\n\n",
gl_para[0], gl_para[1], gl_para[2], gl_para[3],
gl_para[4], gl_para[5], gl_para[6], gl_para[7],
gl_para[8], gl_para[9], gl_para[10], gl_para[11],
gl_para[12], gl_para[13], gl_para[14], gl_para[15]);
}
static void draw( ARdouble trans[3][4] )
{
ARdouble gl_para[16];
argDrawMode3D(vp);
/* load the camera transformation matrix */
argConvGlpara(trans, gl_para);
glMatrixMode(GL_MODELVIEW);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf( gl_para );
#else
glLoadMatrixd( gl_para );
#endif
glColor3f( 1.0f, 1.0f, 0.0f );
glBegin(GL_LINES);
glVertex2f( -50.0f, -50.0f );
glVertex2f( -50.0f, 50.0f );
glVertex2f( 50.0f, -50.0f );
glVertex2f( 50.0f, 50.0f );
glVertex2f( -50.0f, -50.0f );
glVertex2f( 50.0f, -50.0f );
glVertex2f( -50.0f, 50.0f );
glVertex2f( 50.0f, 50.0f );
glEnd();
}
void DrawObject()
{
char *str1="Score ";
char *str2="GameOver";
char buf[16];
sprintf(buf,"%d",score);
double gl_para[16];
argDrawMode3D();
argDraw3dCamera(0, 0);
argConvGlpara(patt_trans,gl_para);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd(gl_para);
SetLight();
glClear(GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glEnable(GL_LIGHTING);
glTranslatef(-20.0f,0.0f,20.0f);
// glRotatef(0.0,1.0,0.0,0.0);
if(GameOver==false){
FontRender(str1,0,0);
FontRender(buf,60,0);
WallRender();
p.Render(Box);
f.Render(Box);
}
else{
FontRender(str2,0,0);
}
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
}
static void draw( double trans1[3][4], double trans2[3][4], int mode )
{
double gl_para[16];
GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_ambient1[] = {1.0, 0.0, 0.0, 1.0};
GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash1[] = {1.0, 0.0, 0.0, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat mat_flash_shiny1[]= {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
glMatrixMode(GL_MODELVIEW);
argConvGlpara(trans1, gl_para);
glLoadMatrixd( gl_para );
argConvGlpara(trans2, gl_para);
glMultMatrixd( gl_para );
if( mode == 0 ) {
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
}
else {
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash1);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny1);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient1);
}
glMatrixMode(GL_MODELVIEW);
glTranslatef( 0.0, 0.0, 25.0 );
if( !arDebug ) glutSolidCube(50.0);
else glutWireCube(50.0);
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
}
/* draw the user object */
static int draw_object(int obj_id, double gl_para[16])
{
GLfloat mat_ambient[] = { 0.0, 0.0, 1.0, 1.0 };
GLfloat mat_ambient_collide[] = { 1.0, 0.0, 0.0, 1.0 };
GLfloat mat_flash[] = { 0.0, 0.0, 1.0, 1.0 };
GLfloat mat_flash_collide[] = { 1.0, 0.0, 0.0, 1.0 };
GLfloat mat_flash_shiny[] = { 50.0 };
GLfloat light_position[] = { 100.0, -200.0, 200.0, 0.0 };
GLfloat ambi[] = { 0.1, 0.1, 0.1, 0.1 };
GLfloat lightZeroColor[] = { 0.9, 0.9, 0.9, 0.1 };
argDrawMode3D();
argDraw3dCamera(0, 0);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd(gl_para);
/* set the material */
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
switch (obj_id){
case 0:
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glColor3f(1.0, 2.0, 0.0);
//glTranslated(10.0, 20.0, -100.0);
draw_scene();
//glTranslated(-10.0, -20.0, 100.0);
break;
case 1:
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glColor3f(1.0, 0.0, 0.0);
//draw piano left
break;
case 2:
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glColor3f(1.0, 2.0, 0.0);
draw_controller(distX/4, distY/4);
break;
}
argDrawMode2D();
return 0;
}
static void draw( int object, double trans[3][4] )
{
double gl_para[16];
GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
argConvGlpara(trans, gl_para);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd( gl_para );
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glMatrixMode(GL_MODELVIEW);
switch( object ) {
case 0:
glTranslatef( 0.0, 0.0, 25.0 );
glutSolidCube(50.0);
break;
case 1:
glTranslatef( 0.0, 0.0, 40.0 );
glutSolidSphere(40.0, 24, 24);
break;
case 2:
glutSolidCone(25.0, 100.0, 20, 24);
break;
default:
glTranslatef( 0.0, 0.0, 10.0 );
glutSolidTorus(10.0, 40.0, 24, 24);
break;
}
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
}
static void draw(ARdouble trans[3][4])
{
ARdouble gl_para[16];
GLfloat mat_diffuse[] = {0.0f, 0.0f, 1.0f, 0.0f};
GLfloat mat_flash[] = {1.0f, 1.0f, 1.0f, 0.0f};
GLfloat mat_flash_shiny[] = {50.0f};
GLfloat light_position[] = {100.0f, -200.0f, 200.0f, 0.0f};
GLfloat light_ambi[] = {0.1f, 0.1f, 0.1f, 0.0f};
GLfloat light_color[] = {1.0f, 1.0f, 1.0f, 0.0f};
argSetWindow(w1);
argDrawMode3D(vp1);
glClearDepth(1.0);
glClear(GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
argConvGlpara(trans, gl_para);
glMatrixMode(GL_MODELVIEW);
#ifdef ARDOUBLE_IS_FLOAT
glLoadMatrixf(gl_para);
#else
glLoadMatrixd(gl_para);
#endif
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, 1);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_color);
glLightfv(GL_LIGHT0, GL_SPECULAR, light_color);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_diffuse);
#if 0
glTranslatef(0.0f, 0.0f, 40.0f);
glutSolidCube(80.0);
#else
glTranslatef(0.0f, 0.0f, 20.0f);
glRotatef(90.0f, 1.0f, 0.0f, 0.0f);
glutSolidTeapot(40.0);
#endif
glDisable(GL_LIGHT0);
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
}
/* draw the targets */
static void draw( targetInfo myTarget, double BaseTrans[3][4])
{
double gl_para[16];
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
GLfloat mat_ambient2[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_ambient[] = {1.0, 0.0, 0.0, 1.0};
GLfloat mat_flash2[] = {0.0, 1.0, 1.0, 1.0};
GLfloat mat_flash_shiny2[]= {50.0};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
glMatrixMode(GL_MODELVIEW);
argConvGlpara(BaseTrans, gl_para);
glLoadMatrixd( gl_para );
/* set the lighting and the materials */
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash2);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny2);
if(myTarget.state == TOUCHED)
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
else
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient2);
glMatrixMode(GL_MODELVIEW);
glTranslatef( myTarget.pos[0], myTarget.pos[1], myTarget.pos[2] );
glutSolidCube(40.0);
if(myTarget.state == TOUCHED){
glColor3f(1.0,1.0,1.0);
glLineWidth(6.0);
glutWireCube(60.0);
glLineWidth(1.0);
}
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
argDrawMode2D();
}
void DrawObject(void)
{
double gl_para[16];
argDrawMode3D();
argDraw3dCamera(0, 0);
argConvGlpara(patt_trans, gl_para);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd(gl_para);
glTranslatef(0.0, 0.0, 20.0);
glColor3f(0.0, 1.0, 0.0);
glLineWidth(3.0);
glutWireCube(40.0);
}
/* draw the user object */
static int draw_object( int obj_id, double gl_para[16], int collide_flag )
{
GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_ambient_collide[] = {1.0, 0.0, 0.0, 1.0};
GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash_collide[] = {1.0, 0.0, 0.0, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd( gl_para );
/* set the material */
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
if(collide_flag) {
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash_collide);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient_collide);
/* draw a cube */
glTranslatef( 0.0, 0.0, 30.0 );
glutSolidSphere(30,12,6);
}
else {
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
/* draw a cube */
glTranslatef( 0.0, 0.0, 30.0 );
glutSolidCube(60);
}
argDrawMode2D();
return 0;
}
/* draw the items on the ground */
void drawItems(double trans[3][4], ItemList* itlist)
{
int i;
double gl_para[16];
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
GLfloat mat_ambient[] = {0.0, 1.0, 0.0, 1.0};
GLfloat mat_flash2[] = {0.0, 1.0, 1.0, 1.0};
GLfloat mat_flash_shiny2[]= {50.0};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash2);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny2);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
/* load the camera transformation matrix */
glMatrixMode(GL_MODELVIEW);
argConvGlpara(trans, gl_para);
glLoadMatrixd( gl_para );
for(i = 0; i < itlist->itemnum; i ++ )
{
if (!itlist->item[i].onpaddle)
{
glPushMatrix();
glTranslatef(itlist->item[i].pos[0],itlist->item[i].pos[1], 10.0 );
glColor3f(0.0,1.0,0.0);
glutSolidSphere(10,10,10);
glPopMatrix();
}
}
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
argDrawMode2D();
}
static void draw( void )
{
double gl_para[16];
GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
argConvGlpara(patt_trans, gl_para);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd( gl_para );
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glMatrixMode(GL_MODELVIEW);
glTranslatef( 0.0, 0.0, -25.0 );
//glutSolidCube(60.0);
glDisable( GL_LIGHTING );
/// the position of the laser in the block is below the fiducial
glTranslatef( 0.0, 0.0, 0.0 );
glBegin(GL_LINES);
glVertex3f(0.0,0.0,0.0);
glVertex3f(0.0,900.0,0.0);
glEnd();
glDisable( GL_DEPTH_TEST );
}
static void draw2( void )
{
static int before_visible[2] = {0, 0};
static int Wire_count = -1; // 出力する Wire の選択(0〜4)
static int flag_first1 = 0; // 一度でも hiro が見つかったら立つ
static double begin[3];
/* 3Dオブジェクトを描画するための準備 */
argDrawMode3D();
argDraw3dCamera(0, 0);
/* Zバッファなどの設定 */
glClear( GL_DEPTH_BUFFER_BIT ); // 陰面処理の設定
glEnable( GL_DEPTH_TEST ); // 陰面処理の適用
mySetLight(); // 光源の設定
glEnable( GL_LIGHTING ); // 光源の適用
test2();
myMarkSquare(PTT1_MARK_ID); // 動作確認用コード
/***************************/
/* */
/* draw関数をかけ */
/* */
/* */
/***************************/
glDisable( GL_LIGHTING ); // 光源の無効化
glDisable( GL_DEPTH_TEST ); // 陰面処理の無効化
}
static void draw( double trans[3][4] )
{
double gl_para[16];
GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
argConvGlpara(trans, gl_para);
//printf("%.2f %.2f %.2f\n", trans[0][3], trans[1][3], trans[2][3]);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd( gl_para );
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glMatrixMode(GL_MODELVIEW);
glTranslatef( 0.0, 0.0, size/2.0f );
glutSolidCube(size);
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
}
static void draw() {
double gl_para[16];
GLfloat mat_ambient[] = { 0.0, 0.0, 1.0, 1.0 };
GLfloat mat_flash[] = { 0.0, 0.0, 1.0, 1.0 };
GLfloat mat_flash_shiny[] = { 50.0 };
GLfloat light_position[] = { 100.0, -200.0, 200.0, 0.0 };
GLfloat ambi[] = { 0.1, 0.1, 0.1, 0.1 };
GLfloat lightZeroColor[] = { 0.9, 0.9, 0.9, 0.1 };
//Initialise OpenGL renderer
argDrawMode3D();
argDraw3dCamera(0, 0);
glClearDepth(1.0);
glClear(GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
argConvGlpara(patt_trans, gl_para);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd(gl_para);
//Lighting
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glMatrixMode(GL_MODELVIEW);
glTranslatef(0.0, 0.0, 25.0);
glutSolidCube(50.0);
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
}
static void draw( void )
{
GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClear(GL_DEPTH_BUFFER_BIT|GL_COLOR_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef( 0.0, 0.0, 500.0 );
glRotatef(rotate_angle,0.,1.,0.);
glRotatef(180.,1.,0.,0.);
glutSolidTeapot(100.0);
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
}
static void draw(void) {
int i,j,k;
float size = CUBE_SIZE;
float normals[6][3] = {
{ 0.0, 0.0, -1.0},
{ 1.0, 0.0, 0.0},
{ 0.0, 0.0, 1.0},
{-1.0, 0.0, 0.0},
{ 0.0, 1.0, 0.0},
{ 0.0, -1.0, 0.0}
};
float cube_points[8][3] ={
{ -size, -size, -size },
{ size, -size, -size },
{ size, -size, size },
{ -size, -size, size },
{ -size, size, -size },
{ size, size, -size },
{ size, size, size },
{ -size, size, size }
};
/* 3Dオブジェクトを描画するための準備 */
argDrawMode3D();
argDraw3dCamera(0, 0);
glClear(GL_DEPTH_BUFFER_BIT); //バッファの消去
glEnable( GL_DEPTH_TEST ); // 陰面処理の適用
mySetLight();
glEnable( GL_LIGHTING );
myMatrix(object[PTT1_MARK_ID].patt_trans);
renew(); // フレーム毎の更新内容
// 立方体
glPushMatrix();
glTranslated( c_trans[0], c_trans[1], c_trans[2]);//平行移動値の設定
glRotatef(c_angle[0], 1.0, 0.0, 0.0 );
glRotatef(c_angle[1], 0.0, 1.0, 0.0 );
glRotatef(c_angle[2], 0.0, 0.0, 1.0 );
/* 前 */
glEnable( GL_TEXTURE_2D );
glBegin( GL_QUADS );
mySetMaterial( 1.0, 1.0, 1.0 );
glBindTexture(GL_TEXTURE_2D, texture);
glNormal3fv(normals[0]);
glTexCoord2f(0.0, 1.0); glVertex3fv(cube_points[0]);
glTexCoord2f(1.0, 1.0); glVertex3fv(cube_points[1]);
glTexCoord2f(1.0, 0.0); glVertex3fv(cube_points[5]);
glTexCoord2f(0.0, 0.0); glVertex3fv(cube_points[4]);
glEnd();
glDisable( GL_TEXTURE_2D );
/* 右 */
glBegin( GL_QUADS );
mySetMaterial( 0.0, 1.0, 0.0);
glNormal3fv(normals[1]);
glVertex3fv(cube_points[1]);
glVertex3fv(cube_points[2]);
glVertex3fv(cube_points[6]);
glVertex3fv(cube_points[5]);
glEnd();
/* 後ろ */
glBegin( GL_QUADS );
mySetMaterial( 0.0, 1.0, 1.0);
glNormal3fv(normals[2]);
glVertex3fv(cube_points[2]);
glVertex3fv(cube_points[3]);
glVertex3fv(cube_points[7]);
glVertex3fv(cube_points[6]);
glEnd();
/* 左 */
glBegin( GL_QUADS );
mySetMaterial( 1.0, 0.0, 1.0);
glNormal3fv(normals[3]);
glVertex3fv(cube_points[3]);
glVertex3fv(cube_points[0]);
glVertex3fv(cube_points[4]);
glVertex3fv(cube_points[7]);
glEnd();
/* 上 */
glBegin( GL_QUADS );
mySetMaterial( 0.0, 0.0, 1.0);
glNormal3fv(normals[4]);
glVertex3fv(cube_points[4]);
glVertex3fv(cube_points[5]);
glVertex3fv(cube_points[6]);
glVertex3fv(cube_points[7]);
glEnd();
/* 下 */
glBegin( GL_QUADS );
mySetMaterial( 1.0, 1.0, 0.0);
glNormal3fv(normals[5]);
glVertex3fv(cube_points[0]);
glVertex3fv(cube_points[1]);
glVertex3fv(cube_points[2]);
glVertex3fv(cube_points[3]);
glEnd();
glPopMatrix();
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST ); // 陰面処理の適用
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int i, j, k;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
argDrawMode2D();
argDispImage( dataPtr, 0,0 );
/* detect the markers in the video frame */
if( arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
arVideoCapNext();
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
/* check for object visibility */
for( i = 0; i < 2; i++ ) {
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( object[i].patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
object[i].visible = k;
if( k >= 0 ) {
arGetTransMat(&marker_info[k],
object[i].center, object[i].width,
object[i].trans);
draw( object[i].model_id, object[i].trans );
}
}
argSwapBuffers();
if( object[0].visible >= 0
&& object[1].visible >= 0 ) {
double wmat1[3][4], wmat2[3][4];
arUtilMatInv(object[0].trans, wmat1);
arUtilMatMul(wmat1, object[1].trans, wmat2);
for( j = 0; j < 3; j++ ) {
for( i = 0; i < 4; i++ ) printf("%8.4f ", wmat2[j][i]);
printf("\n");
}
printf("\n\n");
}
}
void mainLoop()
{
ARMarkerInfo *marker_info;
ARUint8 *dataPtr;
int marker_num;
if(!calib)//special paycay florian
cvReleaseImage(&image);
if(!calib)
detectColision();
// Recuperation du flux video
if ( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL )
{
arUtilSleep(2);
return;
}
// Passage en mode 2D pour analyse de l'image capturee
argDrawMode2D();
// Récupération de l'image openCV puis conversion en ARImage
//IplImage* imgTest;
image = cvCreateImage(cvSize(xsize, ysize), IPL_DEPTH_8U, 4);
image->imageData = (char *)dataPtr;
//sinon l'image est à l'envers
cvFlip(image, image, 1);
//test si les couleurs ont déjà été calibrée
// si oui on teste si y a collision, sinon on calibre
interactionBoutton();
if(calib)
calibrage();
else
{
updateColor();
interactions();
}
// affichage image à l'ecran
argDispImage( (unsigned char *)image->imageData, 0,0 );
// Recuperation d'une autre image car on a fini avec la precedente
arVideoCapNext();
if (arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0)
{
printf("impossible de detecter le marqueur\n");
cleanup();
}
if(visible == false && !calib) //element IHM : procedure qui permet de savoir si on recherche ou pas + réinit mouvemment des objets précédement affiché
{
glEnable(GL_LIGHT0);
objet1_x =0;objet1_y =0;objet2_x =0;objet2_y =0;
if(scan.isVisible(0)==true)
scan.setVisible(false,0);
if(scan.isVisible(1)==false)
scan.setVisible(true,1);
glColor3ub(255,0,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Searching",cparam.xsize-100,cparam.ysize-30);
if(alterne1==0 && alterne2 > 20)
{
glColor3ub(255,0,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Searching .",cparam.xsize-100,cparam.ysize-30);
if(alterne2 > 30){alterne2=0;alterne1=(alterne1+1)%3;}
}
if(alterne1==1 && alterne2 > 20 )
{
glColor3ub(255,0,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Searching ..",cparam.xsize-100,cparam.ysize-30);
if(alterne2 > 30){alterne2=0;alterne1=(alterne1+1)%3;}
}
if(alterne1==2 && alterne2 > 20)
{
glColor3ub(255,0,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Searching ...",cparam.xsize-100,cparam.ysize-30);
if(alterne2 > 30){alterne2=0;alterne1=(alterne1+1)%3;}
}
alterne2+=1;
glDisable(GL_LIGHT0);
}
else if(calib)
{
if(couleur == 0)
{
glColor3ub(0,0,255);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Choose thumb's color",cparam.xsize-220,cparam.ysize-30);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"then press enter",cparam.xsize-220,cparam.ysize-(30+18));
}
else if(couleur == 1)
{
glColor3ub(0,255,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Choose forefinger's color",cparam.xsize-220,cparam.ysize-30);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"then press enter",cparam.xsize-220,cparam.ysize-(30+18));
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Press return for thumb",cparam.xsize-220,cparam.ysize-(30+18*2));
}
else
{
glColor3ub(255,0,0);
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Choose middle's color",cparam.xsize-220,cparam.ysize-(30));
texte(GLUT_BITMAP_HELVETICA_18,(char*)"then press enter",cparam.xsize-220,cparam.ysize-(30+18));
texte(GLUT_BITMAP_HELVETICA_18,(char*)"Press return for forefinger",cparam.xsize-220,cparam.ysize-(30+18*2));
}
}
else //passage mode 3d + init profondeur
{
argDrawMode3D();
argDraw3dCamera(0, 0);
glClearDepth(1.0);
glClear(GL_DEPTH_BUFFER_BIT);
}
/// Visibilite de l'objet
if(visible == false ) //si on a jms vu de patron ou qu'on a demandé une recapture des patrons faire
{
//recherche objet visible
for (int i=0; i<2; i++) //pour chaque patron initialisé faire
{
k = -1; //k renseigne sur la visibilité du marker et son id
for (int j=0; j<marker_num; j++) // pour chaque marqueur trouver avec arDetectMarker
{
if (object[i].patt_id == marker_info[j].id)
{
if (k == -1)
{
k = j;
}
else if (marker_info[k].cf < marker_info[j].cf)
{
k = j;
}
}
}
object[i].visible = k;
if (k >= 0)
{
visible = true;
arGetTransMat(&marker_info[k], object[i].center, object[i].width,object[i].trans);
printf("object[%d] center[%f, %f]\n", i, marker_info->pos[0], marker_info->pos[1]);
printf("object[%d] hg[%f, %f]\n", i, marker_info->vertex[0][0], marker_info->vertex[0][1]);
printf("object[%d] hd[%f, %f]\n", i, marker_info->vertex[1][0], marker_info->vertex[1][1]);
printf("object[%d] bg[%f, %f]\n", i, marker_info->vertex[2][0], marker_info->vertex[2][1]);
printf("object[%d] bd[%f, %f]\n", i, marker_info->vertex[3][0], marker_info->vertex[3][1]);
//changement etat boutton
if(scan.isVisible(0)==false)
scan.setVisible(true,0);
if(scan.isVisible(1)==true)
scan.setVisible(false,1);
//si on a vu un patron, on créé une nouvelle instance de l'objet créé par le patron, qu'on stocke dans les objets à l'écran.
onscreen_object.push_back(Object3D(mesh.at(object[i].model_id), object[i].center, object[i].trans, object[i].width));
}
}
}
//vu qu'on ne gère plus à partir de la variable "visible" d'un patron, on display, dans tout les cas, soit le vecteur est vide, soit
//on a un ou plusieurs objets à afficher
display(true);
if(menuShow==true)
menu.show();
if(!calib)
scan.show();
help.show();
quit.show();
argSwapBuffers(); /// Affichage de l'image sur l'interface graphique
}
static void draw( void )
{
static int before_visible[2] = {0, 0};
static int Wire_count = -1; // 出力する Wire の選択(0〜4)
static int flag_first1 = 0; // 一度でも hiro が見つかったら立つ
int i;
static double begin[3];
double wtrans[3][4];
double gl_para[16];
/* 3Dオブジェクトを描画するための準備 */
argDrawMode3D();
argDraw3dCamera(0, 0);
/* Zバッファなどの設定 */
glClear( GL_DEPTH_BUFFER_BIT ); // 陰面処理の設定
glEnable( GL_DEPTH_TEST ); // 陰面処理の適用
mySetLight(); // 光源の設定
glEnable( GL_LIGHTING ); // 光源の適用
/* マーカの出現と消失の処理 */
/* マーカ1の処理 */
if( myCheck_appear(before_visible[PTT1_MARK_ID], object[PTT1_MARK_ID].visible) ){
begin[0] = object[PTT1_MARK_ID].patt_trans[0][3];
begin[1] = object[PTT1_MARK_ID].patt_trans[1][3];
begin[2] = object[PTT1_MARK_ID].patt_trans[2][3];
points[L_P_count].flag_after_change = 0;
}
if( myCheck_disappear(before_visible[PTT1_MARK_ID], object[PTT1_MARK_ID].visible) ){
myCopyTrans( object[PTT1_MARK_ID].patt_trans, points[L_P_count].trans);
points[L_P_count].start_point[0] = begin[0] - object[PTT1_MARK_ID].patt_trans[0][3];
points[L_P_count].start_point[1] = -( begin[1] - object[PTT1_MARK_ID].patt_trans[1][3] ); // Y軸はカメラに対して反転しているので
points[L_P_count].start_point[2] = -( begin[2] - object[PTT1_MARK_ID].patt_trans[2][3] ); // Z軸はカメラに対して反転しているので
for(i=0; i<3; i++){
points[L_P_count].end_point[i] = 0.0;
}
myMoveBallInit( &points[L_P_count] );
L_P_count++;
if(MAX_LINES <= L_P_count){
L_P_count = 0;
}
}
/* マーカ2の出現と消失 */
if( myCheck_appear(before_visible[PTT2_MARK_ID], object[PTT2_MARK_ID].visible) ){
for(i=0; i < L_P_count; i++){
arUtilMatMul( itrans2, points[i].trans, wtrans);
myCopyTrans( wtrans, points[i].trans);
points[i].flag_after_change = 1;
}
}
if( myCheck_disappear(before_visible[PTT2_MARK_ID], object[PTT2_MARK_ID].visible) ){
for(i=0; i < L_P_count; i++){
arUtilMatMul( object[PTT2_MARK_ID].patt_trans, points[i].trans, wtrans);
myCopyTrans( wtrans, points[i].trans );
}
}
/* 3Dオブジェクトの描画 */
/* 過去に描いた線分の描画 */
if(flag_first1 && L_P_count >= 1 && !(object[PTT2_MARK_ID].visible) ){
mySelectColor( 1.0, 0.0, 0.0); // 材質特性の設定
glLineWidth( 5.0);
for(i=0; i < L_P_count; i++){
glPushMatrix(); // 念のため
myMatrix( points[i].trans);
myLineLoop(i, i+1);
glPopMatrix(); // 念のため
}
}
/* マーカ1(Hiro) が映ったときの処理 */
if(object[PTT1_MARK_ID].visible){
flag_first1 = 1;
/* 現在書いている線分の描画 */
myMatrix(object[PTT1_MARK_ID].patt_trans);
mySelectColor( 1.0, 0.8, 0.0); // 材質特性の設定
glLineWidth( 5.0);
glBegin( GL_LINES );
glVertex3f( begin[0] - object[PTT1_MARK_ID].patt_trans[0][3], -( begin[1] - object[PTT1_MARK_ID].patt_trans[1][3] ),
-( begin[2] - object[PTT1_MARK_ID].patt_trans[2][3] ) );
glVertex3f( 0.0, 0.0, 0.0 );
glEnd();
/* hiro のマーカを縁取り */
myMatrix(object[PTT1_MARK_ID].patt_trans);
mySelectColor( 0.0, 0.0, 1.0); // 材質特性の設定
glLineWidth( 3.0);
myMarkSquare (PTT1_MARK_ID);
}
/* マーカ2(kanji) が表示されているとき */
if(object[PTT2_MARK_ID].visible){
/* マーカ2の縁取り */
myMatrix(object[PTT2_MARK_ID].patt_trans);
mySelectColor( 0.0, 1.0, 0.0); // 材質特性の設定
glLineWidth( 3.0);
myMarkSquare (PTT2_MARK_ID);
/* 座標変換 */
glLineWidth( 5.0);
for(i=0; i < L_P_count; i++){
glPushMatrix();
mySelectColor( 0.0, 0.0, 1.0); // 材質特性の設定
argConvGlpara( points[i].trans, gl_para );
glMultMatrixd( gl_para );
myLineLoop(i, i+1);
if( flag_animation){
myMoveBall( &points[i] );
}
else{
myMoveBall2( &points[i], i );
}
glPopMatrix();
}
}
visible_log(PTT_NUM, before_visible); // 各マーカの visible 状態の記録
glDisable( GL_LIGHTING ); // 光源の無効化
glDisable( GL_DEPTH_TEST ); // 陰面処理の無効化
}
/*************************************************************************************
**
** drawGroundGrid - draws a ground plane
**
***************************************************************************************/
int drawGroundGrid( double trans[3][4], int divisions, float x, float y, float height)
{
double gl_para[16];
int i;
float x0,x1,y0,y1;
float deltaX, deltaY;
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
glMatrixMode(GL_MODELVIEW);
argConvGlpara(trans, gl_para);
glLoadMatrixd( gl_para );
glTranslatef(x/2.,-y/2.,0.);
//draw the grid
glColor3f(1,0,0);
glLineWidth(6.0);
glBegin(GL_LINE_LOOP);
glVertex3f( -x, y, height );
glVertex3f( x, y, height );
glVertex3f( x, -y, height );
glVertex3f( -x, -y, height );
glEnd();
glLineWidth(3.0);
//draw a grid of lines
//X direction
x0 = -x; x1 = -x;
y0 = -y; y1 = y;
deltaX = (2*x)/divisions;
for(i=0;i<divisions;i++){
x0 = x0 + deltaX;
glBegin(GL_LINES);
glVertex3f(x0,y0,height);
glVertex3f(x0,y1,height);
glEnd();
}
x0 = -x; x1 = x;
deltaY = (2*y)/divisions;
for(i=0;i<divisions;i++){
y0 = y0 + deltaY;
glBegin(GL_LINES);
glVertex3f(x0,y0,height);
glVertex3f(x1,y0,height);
glEnd();
}
glLineWidth(1.0);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
argDrawMode2D();
return 0;
}
/* draw the user object */
static int draw_object( int obj_id, double gl_para[16], int collide_flag )
{
GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_ambient_collide[] = {0.0, 1.0, 0.0, 1.0};
GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash_collide[] = {1.0, 0.0, 0.0, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.0, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd( gl_para );
/* set the material */
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
if(collide_flag){
printf("its collided");
if (obj_id == 0)
{
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
/* draw a cube */
//glTranslatef( 0.0, 0.0, 30.0 );
//glutSolidSphere(30,12,6);
electron3();
}
}
else {
printf("its not");
if (obj_id == 0)
{
renderBitmapString(0, 0, 0, GLUT_BITMAP_HELVETICA_18, "HYDROGEN");
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
/* draw a cube */
//glTranslatef( 0.0, 0.0, 30.0 );
//glutSolidSphere(30,12,6);
glTranslatef(-50.0, -50.0, 0.0);
glScaled(2, 2, 2);
electron2();
}
else if (obj_id == 1)
{
glPushMatrix();
renderBitmapString(0, 0, 0, GLUT_BITMAP_HELVETICA_18, "OXYGEN");
glPopMatrix();
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glTranslatef(0.0, 0.0, 0.0);
glScaled(3, 3, 3);
electron();
}
}
argDrawMode2D();
return 0;
}
// Fonction d'affichage (d_screen => affichage pour l'écran ou pour la detection de la colision)
static void display(bool d_screen)
{
glClearColor(0,0,0,0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// Parametres lumiere et matrice
GLfloat mat_ambient[] = {0.5, 0.1, 0.1, 1.0};
GLfloat mat_flash[] = {0.7, 0.7, 0.7, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
// Passage en mode 3D et activation de la profondeur
argDrawMode3D();
argDraw3dCamera(0, 0);
glClearDepth(1.0);
glClear(GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
//alumer Lumieres : il ne faut pas les activer en mode Picking, car on se base sur la couleur de l'objet dans ce mode, et l'activation
// des lumières ajouterais des ombres et fausserait la sélection
if(d_screen)
{
glEnable(GL_COLOR_MATERIAL);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
}
else
{
glDisable(GL_COLOR_MATERIAL);
glDisable(GL_LIGHTING);
glDisable(GL_LIGHT0);
}
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
//dessin de la scene en fonction de l'objet vu
//C'est là que c'est tout nouveau. Au moment du dessin, si on est en picking, pour chaques objet, on lui calcule une valeur de bleu.
//On fait i+1, car sinon on a un objet qui sera à 0 0 0, soit noir, et du coup, bah il sera pas reconnu, il sera noir
//sur fond noir
//si on est en affichage classique, on met les couleurs et texture
for(unsigned int i = 0; i < onscreen_object.size(); i++)
{
if(!d_screen)//si on est en mode picking
{
glColor3f(0.0, 0.0, (float)(i+1)/onscreen_object.size());
onscreen_object.at(i).draw(false);
}
else
{
onscreen_object.at(i).draw(true);
}
}
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
double err;
int i;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarkerLite(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
argDrawMode2D();
if( !arDebug ) {
argDispImage( dataPtr, 0,0 );
}
else {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 0, 0 );
else
argDispImage( arImage, 0, 0);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 1.0 );
for( i = 0; i < marker_num; i++ ) {
argDrawSquare( marker_info[i].vertex, 0, 0 );
}
glLineWidth( 1.0 );
}
arVideoCapNext();
if( (err=arMultiGetTransMat(marker_info, marker_num, config)) < 0 ) {
argSwapBuffers();
return;
}
printf("err = %f\n", err);
if(err > 100.0 ) {
argSwapBuffers();
return;
}
/*
for(i=0;i<3;i++) {
for(j=0;j<4;j++) printf("%10.5f ", config->trans[i][j]);
printf("\n");
}
printf("\n");
*/
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 ); glScalef(1.0,1.0,5.0);
glClear(GL_DEPTH_BUFFER_BIT);
//PRINT DOS PREDIOS FANTASMAS (COM E SEM MARCADORES)
if (mostraFantasmas == 1)
{
desenhaFantasmasSemTag();
//Desenha predios fantasmas com marcadores identificados
glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
for(i = (config->marker_num) - 3; i < config->marker_num; i++ ) {
if( config->marker[i].visible >= 0 )
{
glScalef(1.0,1.0,2.0);
draw( config->trans, config->marker[i].trans, 0 );
glScalef(1.0,1.0,0.5);
}else{
glScalef(1.0,1.0,2.0);
draw( config->trans, config->marker[i].trans, 1 );
glScalef(1.0,1.0,0.5);
}
}
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
}
desenhaCarros();
for (i = 0; i < (config->marker_num) - 3; i++ ) {
if( config->marker[i].visible >= 0 ) draw( config->trans, config->marker[i].trans, 0 );
else draw( config->trans, config->marker[i].trans, 1 );
}
argSwapBuffers();
}
/* main loop */
static void mainLoop(void)
{
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
double err;
int i;
/* grab a vide frame */
if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
arUtilSleep(2);
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if( arDetectMarkerLite(dataPtr, thresh, &marker_info, &marker_num) < 0 ) {
cleanup();
exit(0);
}
argDrawMode2D();
if( !arDebug ) {
argDispImage( dataPtr, 0,0 );
}
else {
argDispImage( dataPtr, 1, 1 );
if( arImageProcMode == AR_IMAGE_PROC_IN_HALF )
argDispHalfImage( arImage, 0, 0 );
else
argDispImage( arImage, 0, 0);
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth( 1.0 );
for( i = 0; i < marker_num; i++ ) {
argDrawSquare( marker_info[i].vertex, 0, 0 );
}
glLineWidth( 1.0 );
}
arVideoCapNext();
if( (err=arMultiGetTransMat(marker_info, marker_num, config)) < 0 ) {
argSwapBuffers();
return;
}
printf("err = %f\n", err);
if(err > 100.0 ) {
argSwapBuffers();
return;
}
/*
for(i=0;i<3;i++) {
for(j=0;j<4;j++) printf("%10.5f ", config->trans[i][j]);
printf("\n");
}
printf("\n");
*/
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
for( i = 0; i < config->marker_num; i++ ) {
if( config->marker[i].visible >= 0 ) draw( config->trans, config->marker[i].trans, 0 );
else draw( config->trans, config->marker[i].trans, 1 );
}
argSwapBuffers();
}
/* draw the paddle */
int draw_paddle( ARPaddleInfo *paddleInfo )
{
double gl_para[16];
int i;
argDrawMode3D();
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
argDraw3dCamera( 0, 0 );
argConvGlpara(paddleInfo->trans, gl_para);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd( gl_para );
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth(4.0);
glBegin(GL_LINE_LOOP);
glVertex2f( -25.0, -25.0 );
glVertex2f( 25.0, -25.0 );
glVertex2f( 25.0, 25.0 );
glVertex2f( -25.0, 25.0 );
glEnd();
glColor3f( 0.0, 0.0, 1.0);
glBegin(GL_LINE_LOOP);
for( i = 0; i < 16; i++ ) {
double x, y;
x = PADDLE_RADIUS * cos(i*3.141592*2/16);
y = PADDLE_RADIUS * sin(i*3.141592*2/16);
glVertex2d( x, y );
}
glEnd();
glBegin(GL_LINE_LOOP);
glVertex2f( -7.5, 0.0 );
glVertex2f( 7.5, 0.0 );
glVertex2f( 7.5, -105.0 );
glVertex2f( -7.5, -105.0 );
glEnd();
glEnable(GL_BLEND);
glBlendFunc(GL_ZERO,GL_ONE);
glColor4f(1,1,1,0);
glBegin(GL_POLYGON);
for( i = 0; i < 16; i++ ) {
double x, y;
x = 40.0 * cos(i*3.141592*2/16);
y = 40.0 * sin(i*3.141592*2/16);
glVertex2d( x, y );
}
glEnd();
glBegin(GL_POLYGON);
glVertex2f( -7.5, 0.0 );
glVertex2f( 7.5, 0.0 );
glVertex2f( 7.5, -105.0 );
glVertex2f( -7.5, -105.0 );
glEnd();
glDisable(GL_BLEND);
glDisable(GL_DEPTH_TEST);
argDrawMode2D();
return 0;
}
void draw(double xOri, double yOri, double zOri,\
double xDir, double yDir, double zDir)
{
double gl_para[16];
GLfloat mat_ambient[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash[] = {0.0, 0.0, 1.0, 1.0};
GLfloat mat_flash_shiny[] = {50.0};
GLfloat light_position[] = {100.0,-200.0,200.0,0.0};
GLfloat ambi[] = {0.1, 0.1, 0.1, 0.1};
GLfloat lightZeroColor[] = {0.9, 0.9, 0.9, 0.1};
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth( 1.0 );
glClear(GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
/* load the camera transformation matrix */
argConvGlpara(g_global.patt_trans, gl_para);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd( gl_para );
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glMatrixMode(GL_MODELVIEW);
// ----------------------
// by aicro
// draw what we like
glTranslatef( 0.0, 0.0, 25.0 );
glutSolidCube(50.0);
// ----------------------
// by aicro
CCrashTest crashTest;
crashTest.calculateAABB(-25, 0, -25, 25, 50, 25);
double t = crashTest.rayIntersect(xOri, yOri, zOri, xDir, yDir, zDir);
if (t != -1)
{
}
//// draw out the ray
//glBegin(GL_LINES);
// glVertex3d(xOri,yOri,zOri);
// glVertex3d(xDir,yDir,zDir);
//glEnd();
// ----------------------
glDisable( GL_LIGHTING );
glDisable( GL_DEPTH_TEST );
}
/* draw the paddle */
int draw_paddle( ARPaddleInfo *paddleInfo, PaddleItemInfo *paddleItemInfo )
{
double gl_para[16];
int i;
argDrawMode3D();
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
argDraw3dCamera( 0, 0 );
argConvGlpara(paddleInfo->trans, gl_para);
glMatrixMode(GL_MODELVIEW);
glLoadMatrixd( gl_para );
glColor3f( 1.0, 0.0, 0.0 );
glLineWidth(4.0);
glBegin(GL_LINE_LOOP);
glVertex2f( -25.0, -25.0 );
glVertex2f( 25.0, -25.0 );
glVertex2f( 25.0, 25.0 );
glVertex2f( -25.0, 25.0 );
glEnd();
glColor3f( 0.0, 0.0, 1.0);
glBegin(GL_LINE_LOOP);
for( i = 0; i < 16; i++ ) {
double x, y;
x = PADDLE_RADIUS * cos(i*3.141592*2/16);
y = PADDLE_RADIUS * sin(i*3.141592*2/16);
glVertex2d( x, y );
}
glEnd();
glBegin(GL_LINE_LOOP);
glVertex2f( -7.5, 0.0 );
glVertex2f( 7.5, 0.0 );
glVertex2f( 7.5, -105.0 );
glVertex2f( -7.5, -105.0 );
glEnd();
glEnable(GL_BLEND);
glBlendFunc(GL_ZERO,GL_ONE);
glColor4f(1,1,1,0);
glBegin(GL_POLYGON);
for( i = 0; i < 16; i++ ) {
double x, y;
x = 40.0 * cos(i*3.141592*2/16);
y = 40.0 * sin(i*3.141592*2/16);
glVertex2d( x, y );
}
glEnd();
glBegin(GL_POLYGON);
glVertex2f( -7.5, 0.0 );
glVertex2f( 7.5, 0.0 );
glVertex2f( 7.5, -105.0 );
glVertex2f( -7.5, -105.0 );
glEnd();
glDisable(GL_BLEND);
/* draw any objects on the paddle */
if( (i=paddleItemInfo->item) !=-1) {
glPushMatrix();
glTranslatef( paddleItemInfo->x, paddleItemInfo->y, 10.0 );
glRotatef( paddleItemInfo->angle * 180.0/3.141592, 0.0, 0.0, 1.0 );
glColor3f(0.0,1.0,0.0);
glutSolidSphere(10,10,10);
// glutSolidTeapot(10.);
glPopMatrix();
}
glDisable(GL_DEPTH_TEST);
argDrawMode2D();
return 0;
}
//=======================================================
// メインループ関数
//=======================================================
void MainLoop(void)
{
ARUint8 *image; // カメラキャプチャ画像
ARMarkerInfo *marker_info; // マーカ情報
int marker_num; // 検出されたマーカの数
int i, j, k;
// カメラ画像の取得
if( (image = (ARUint8 *)arVideoGetImage()) == NULL ){
arUtilSleep( 2 );
return;
}
if( count == 0 ) arUtilTimerReset();
count++;
// カメラ画像の描画
argDrawMode2D();
argDispImage( image, 0, 0 );
// マーカの検出と認識
if( arDetectMarker( image, thresh, &marker_info, &marker_num ) < 0 ){
Cleanup();
exit(0);
}
// 次の画像のキャプチャ指示
arVideoCapNext();
// 3Dオブジェクトを描画するための準備
argDrawMode3D();
argDraw3dCamera( 0, 0 );
glClearDepth(1.0); // デプスバッファの消去値
glClear( GL_DEPTH_BUFFER_BIT ); // デプスバッファの初期化
if(movex[0]!=0 && movex[3]!=0 && movex[7]!=0){
rmove++;
if(rmove!=0){
Drawnashi( marker[3].mark_id, marker[3].patt_trans);
}
if(rmove>40.0){
rmove=0.0;
for(int i=0;i<MARK_NUM;i++){
movex[i]=0;
}
}
}else{
// マーカの一致度の比較
for( i=0; i<MARK_NUM; i++ ){
k = -1;
for( j=0; j<marker_num; j++ ){
if( marker[i].patt_id == marker_info[j].id ){
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
// マーカーが見つからなかったとき
if( k == -1 ){
if(marker[i].visible != 0){
midi_out(i+1);
midi_stop(i+1);
movex[i]=1;
marker[i].visible = 0;
}else if(movex[i]!=0){
DrawObject( marker[i].mark_id, marker[i].patt_trans,i );
}
}else{
// 座標変換行列を取得
if( marker[i].visible == 0 ) {
// 1フレームを使ってマーカの位置・姿勢（座標変換行列）の計算
arGetTransMat( &marker_info[k], marker[i].patt_center, marker[i].patt_width, marker[i].patt_trans ); //初回の認識ではarGetTransMatを2回目以降ではarGetTransMatContを使うと安定するらしい
marker[i].visible = 1;
} else {
// 前のフレームを使ってマーカの位置・姿勢（座標変換行列）の計算
arGetTransMatCont( &marker_info[k], marker[i].patt_trans, marker[i].patt_center, marker[i].patt_width, marker[i].patt_trans );
}
// 3Dオブジェクトの描画
if(movex[i]!=0){
DrawObject( marker[i].mark_id, marker[i].patt_trans,i );
}
}
if(movex[i]>=40.0) movex[i]=0;
if(movex[i]!=0) movex[i]++;
}
}
// バッファの内容を画面に表示
argSwapBuffers();
}