void QuaternionTest::Draw(ModelviewStack* ms)
{
useTexture(0);
setColour(1.0, 1.0, 1.0);
ms->Push();
{
ms->Mult(mat4_cast(_orientation));
ms->Translate(_transform.position);
vec4 pos4 = mat4_cast(_orientation) * vec4(1.0, 1.0, 1.0, 1.0);
drawCube(*ms);
}
ms->Pop();
setColour(0.0, 0.0, 0.0);
ms->Push();
{
ms->Scale(vec3(0.25f, 0.25f, 0.25f));
drawSphere(*ms);
}
ms->Pop();
}
void selectFace(int x, int y)
{
GLuint selBuffer[BUFSIZE];
GLint hits;
glSelectBuffer(BUFSIZE, selBuffer);
glRenderMode(GL_SELECT);
glInitNames();
glPushName(0);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluPickMatrix((GLfloat) x, (GLfloat) (g_viewport[3] - y),
1.0, 1.0, g_viewport);
gluPerspective(45.0, (GLfloat) g_viewport[2] / (GLfloat) g_viewport[3], 1.0, 300.0);
drawCube();
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glFlush();
hits = glRenderMode(GL_RENDER);
processHits(hits, selBuffer);
glutPostRedisplay();
}
void glDisplay()
{
GLdouble wx, wy, wz;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (abs(g_angleY) >= 1e-06)
{
gluUnProject(g_winX, 0.0, g_winZ,
g_modelMatrix,
g_projMatrix,
g_viewport,
&wx, &wy, &wz);
glRotatef(g_angleY, wx, wy, wz);
glGetDoublev(GL_MODELVIEW_MATRIX, g_modelMatrix);
}
if (abs(g_angleX) >= 1e-06)
{
gluUnProject(0.0, g_winY, g_winZ,
g_modelMatrix,
g_projMatrix,
g_viewport,
&wx, &wy, &wz);
glRotatef(g_angleX, wx, wy, wz);
glGetDoublev(GL_MODELVIEW_MATRIX, g_modelMatrix);
}
g_angleX = 0.0;
g_angleY = 0.0;
glBindTexture(GL_TEXTURE_3D, texture[0]);
drawCube();
glutSwapBuffers();
}
void drawTile(float x, float y, float z, float scale, int tile, float mx, float my, float mz, Image *image)
{
UNREFERENCED_PARAMETER(image);
UNREFERENCED_PARAMETER(mx);
UNREFERENCED_PARAMETER(my);
UNREFERENCED_PARAMETER(mx);
UNREFERENCED_PARAMETER(mz);
switch (tile) {
case 1:
drawCube(x,y,z,scale);
//drawOcto(x,y,z,scale);
//drawPoint(x,y,z,scale, mx, my, mz, image);
break;
case 2:
drawPyramid(x,y,z);
break;
}
}
void drawBulb(void)
{
mvstack.push(model_view);
set_colour(1.0f, 1.0f, 0.0f);
drawSphere();
mvstack.push(model_view);
model_view *= Translate(0.0f, 2.0f, 0.0f);
model_view *= Scale(0.25f, 1.0f, 0.25f);
drawCube();
model_view = mvstack.pop();
mvstack.push(model_view);
model_view *= RotateZ(45);
model_view *= Translate(0.0f, 2.0f, 0.0f);
model_view *= Scale(0.25f, 1.0f, 0.25f);
drawCube();
model_view = mvstack.pop();
mvstack.push(model_view);
model_view *= RotateZ(-45);
model_view *= Translate(0.0f, 2.0f, 0.0f);
model_view *= Scale(0.25f, 1.0f, 0.25f);
drawCube();
model_view = mvstack.pop();
mvstack.push(model_view);
model_view *= RotateZ(90);
model_view *= Translate(0.0f, 2.0f, 0.0f);
model_view *= Scale(0.25f, 1.0f, 0.25f);
drawCube();
model_view *= Translate(0.0f, -4.0f, 0.0f);
drawCube();
model_view = mvstack.pop();
model_view *= Translate(0.0f, -1.0f, 0.0f);
set_colour(0.5f, 0.5f, 0.5f);
drawCube();
model_view = mvstack.pop();
}
void invRTSGame::selection(int height)
{
if(pause_game || !picking_enable) return;
mouse_over = NULL;
// draw a black terrain
if(draw_map)
{
glColor3ub(0, 0, 0);
drawgrid->draw(fow, false);
terrainPoint();
}
if(selection_unit) return;
if(sinput->mousebutton == SDL_BUTTON_LEFT && sinput->mousestate == 1)
{
startMouseSelX = sinput->mousex;
startMouseSelY = sinput->mousey;
startAreaSelX = terrainX;
startAreaSelZ = terrainZ;
areaSel = true;
}
else if(sinput->mousebutton == SDL_BUTTON_LEFT && sinput->mousestate == 2)
{
startMouseSelX = endMouseSelX;
startMouseSelY = endMouseSelY;
endAreaSelX = terrainX;
endAreaSelZ = terrainZ;
areaSel = false;
}
if(areaSel)
{
endMouseSelX = sinput->mousex;
endMouseSelY = sinput->mousey;
endAreaSelX = terrainX;
endAreaSelZ = terrainZ;
}
int deltaX = endMouseSelX - startMouseSelX;
int deltaY = endMouseSelY - startMouseSelY;
if(areaSel && (deltaX * deltaY) > 5 * 5)
{
selectEntityInArea();
}
// TODO : Optimize this !!
else{
Uint8 limitcolor = 1;
nb_selected = 0;
entities.rewind();
while(!entities.isEnd())
{
invEntity* e = entities.current();
if(e->mdef->selectable)
{
glColor3ub(limitcolor++, 0, 0);
// draw the box
glPushMatrix();
glTranslatef(e->pos.x, 0.f, e->pos.z);
drawCube(e->mdef->bx, 2.5f, e->mdef->bz);
glPopMatrix();
}
entities.next();
}
int selected_color = picking(sinput->mousex, height - sinput->mousey);
limitcolor = 1;
entities.rewind();
while(!entities.isEnd())
{
if(entities.current()->mdef->selectable && selected_color == limitcolor++)
{
nb_selected = 1;
mouse_over = entities.current();
break;
}
entities.next();
}
if(sinput->mousebutton == SDL_BUTTON_LEFT && sinput->mousestate == 1) {
if(nb_selected)
{
nb_selectedl = 1;
selectedl[0] = mouse_over;
}
}
if(sinput->mousebutton == SDL_BUTTON_RIGHT && sinput->mousestate == 1) {
nb_selectedr = nb_selected;
if(nb_selectedr) selectedr = mouse_over;
if(nb_selectedr)
{
lua_pushnumber(mainL, selectedr->id);
lua_setglobal(mainL, "target_unit");
}
else
{
lua_pushnil(mainL);
lua_setglobal(mainL, "target_unit");
}
}
}
// notice lua
lua_pushnumber(mainL, nb_selectedl);
lua_setglobal(mainL, "nb_selected");
if(nb_selectedl)
{
lua_getglobal(mainL, "selected_units");
for(int i=0;i<nb_selectedl;i++)
{
lua_pushnumber(mainL, i+1);
lua_pushnumber(mainL, selectedl[i]->id);
lua_rawset(mainL, -3);
}
lua_pop(mainL, 1);
}
}
void right_hand(void){
glColor3f(0.0, 0.0, 1.0);
glTranslatef(0.0, -0.75, 0.0);
glScalef(0.65, 0.3, 1.0);
drawCube();
}
JNIEXPORT void JNICALL JNIFUNCTION_NATIVE(nativeDrawFrame(JNIEnv* env, jobject obj))
{
float width, height;
float viewProjection[16];
if (!videoInited) {
#ifdef DEBUG
LOGI("nativeDrawFrame !VIDEO\n");
#endif
return; // No point in trying to draw until video is inited.
}
#ifdef DEBUG
LOGI("nativeDrawFrame\n");
#endif
if (!gARViewInited) {
if (!initARView()) return;
}
if (gARViewLayoutRequired) layoutARView();
// Upload new video frame if required.
if (videoFrameNeedsPixelBufferDataUpload) {
arglPixelBufferDataUploadBiPlanar(gArglSettings, gVideoFrame, gVideoFrame + videoWidth*videoHeight);
videoFrameNeedsPixelBufferDataUpload = false;
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.
// Display the current frame
arglDispImage(gArglSettings);
if (!program) {
GLuint vertShader = 0, fragShader = 0;
// A simple shader pair which accepts just a vertex position and colour, no lighting.
const char vertShaderString[] =
"attribute vec4 position;\n"
"attribute vec4 colour;\n"
"uniform mat4 modelViewProjectionMatrix;\n"
"varying vec4 colourVarying;\n"
"void main()\n"
"{\n"
"gl_Position = modelViewProjectionMatrix * position;\n"
"colourVarying = colour;\n"
"}\n";
const char fragShaderString[] =
"#ifdef GL_ES\n"
"precision mediump float;\n"
"#endif\n"
"varying vec4 colourVarying;\n"
"void main()\n"
"{\n"
"gl_FragColor = colourVarying;\n"
"}\n";
if (program) arglGLDestroyShaders(0, 0, program);
program = glCreateProgram();
if (!program) {
ARLOGe("drawCube: Error creating shader program.\n");
arglGLDestroyShaders(vertShader, fragShader, program);
return;
}
if (!arglGLCompileShaderFromString(&vertShader, GL_VERTEX_SHADER, vertShaderString)) {
ARLOGe("drawCube: Error compiling vertex shader.\n");
arglGLDestroyShaders(vertShader, fragShader, program);
return;
}
if (!arglGLCompileShaderFromString(&fragShader, GL_FRAGMENT_SHADER, fragShaderString)) {
ARLOGe("drawCube: Error compiling fragment shader.\n");
arglGLDestroyShaders(vertShader, fragShader, program);
return;
}
glAttachShader(program, vertShader);
glAttachShader(program, fragShader);
glBindAttribLocation(program, ATTRIBUTE_VERTEX, "position");
glBindAttribLocation(program, ATTRIBUTE_COLOUR, "colour");
if (!arglGLLinkProgram(program)) {
ARLOGe("drawCube: Error linking shader program.\n");
arglGLDestroyShaders(vertShader, fragShader, program);
return;
}
arglGLDestroyShaders(vertShader, fragShader, 0); // After linking, shader objects can be deleted.
// Retrieve linked uniform locations.
uniforms[UNIFORM_MODELVIEW_PROJECTION_MATRIX] = glGetUniformLocation(program, "modelViewProjectionMatrix");
}
glUseProgram(program);
// Set up 3D mode.
mtxLoadIdentityf(viewProjection);
mtxMultMatrixf(viewProjection, cameraLens);
glStateCacheEnableDepthTest();
// Set any initial per-frame GL state you require here.
// --->
// Lighting and geometry that moves with the camera should be added here.
// (I.e. should be specified before camera pose transform.)
// --->
// Draw an object on all valid markers.
for (int i = 0; i < markersSquareCount; i++) {
if (markersSquare[i].valid) {
float viewProjection2[16];
mtxLoadMatrixf(viewProjection2, viewProjection);
mtxMultMatrixf(viewProjection2, markersSquare[i].pose.T);
drawCube(viewProjection2, 40.0f, 0.0f, 0.0f, 20.0f);
}
}
if (cameraPoseValid) {
mtxMultMatrixf(viewProjection, cameraPose);
// All lighting and geometry to be drawn in world coordinates goes here.
// --->
}
// If you added external OpenGL code above, and that code doesn't use the glStateCache routines,
// then uncomment the line below.
//glStateCacheFlush();
// Set up 2D mode.
mtxLoadIdentityf(viewProjection);
width = (float)viewPort[viewPortIndexWidth];
height = (float)viewPort[viewPortIndexHeight];
mtxOrthof(viewProjection, 0.0f, width, 0.0f, height, -1.0f, 1.0f);
glStateCacheDisableDepthTest();
// Add your own 2D overlays here.
// --->
// If you added external OpenGL code above, and that code doesn't use the glStateCache routines,
// then uncomment the line below.
//glStateCacheFlush();
#ifdef DEBUG
// Example of 2D drawing. It just draws a white border line. Change the 0 to 1 to enable.
const GLfloat square_vertices [4][3] = { {0.5f, 0.5f, 0.0f}, {0.5f, height - 0.5f, 0.0f}, {width - 0.5f, height - 0.5f, 0.0f}, {width - 0.5f, 0.5f, 0.0f} };
const GLubyte square_vertex_colors_white [4][4] = {
{255, 255, 255, 255}, {255, 255, 255, 255}, {255, 255, 255, 255}, {255, 255, 255, 255}};
glUniformMatrix4fv(uniforms[UNIFORM_MODELVIEW_PROJECTION_MATRIX], 1, GL_FALSE, viewProjection);
glVertexAttribPointer(ATTRIBUTE_VERTEX, 3, GL_FLOAT, GL_FALSE, 0, square_vertices);
glEnableVertexAttribArray(ATTRIBUTE_VERTEX);
glVertexAttribPointer(ATTRIBUTE_COLOUR, 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, square_vertex_colors_white);
glEnableVertexAttribArray(ATTRIBUTE_COLOUR);
if (!arglGLValidateProgram(program)) {
ARLOGe("Error: shader program %d validation failed.\n", program);
return;
}
glDrawArrays(GL_LINE_LOOP, 0, 4);
#endif
#ifdef DEBUG
CHECK_GL_ERROR();
#endif
}
void draw()
{
cxt->clearScreen();
// sh.enable(true);
cam.control(elapsedTime);
cam.reset();
//glLightfv(GL_LIGHT0, GL_AMBIENT, LightAmbient );
//glLightfv(GL_LIGHT0, GL_POSITION, lightPos);
//glMaterialf(GL_FRONT, GL_SHININESS, shininess);
cam.look();
glEnable(GL_TEXTURE_2D);
glColor3f(1.0f, 1.0f, 1.0f);
glPushMatrix();
glTranslatef(lightPos[0],lightPos[1],lightPos[2]);
drawCube(0.5f);
glPopMatrix();
game.drawMap();
glCullFace(GL_BACK);
glEnable(GL_CULL_FACE);
glEnable(GL_LIGHTING);
game.drawEntities();
glDisable(GL_LIGHTING);
glDisable(GL_CULL_FACE);
// sh.enable(false);
game.drawQuads();
glDisable(GL_TEXTURE_2D);
cam.begin2d();
glColor3f(1.f, 1.f, 1.f);
if(sinput->keys[SDLK_F1])
print_infos();
if(game.areaSel)
{
glColor3f(1.f, 1.f, 1.f);
glBegin(GL_LINE_STRIP);
glVertex3i(game.startMouseSelX, game.startMouseSelY, -1.f);
glVertex3i(game.endMouseSelX, game.startMouseSelY, -1.f);
glVertex3i(game.endMouseSelX, game.endMouseSelY, -1.f);
glVertex3i(game.startMouseSelX, game.endMouseSelY, -1.f);
glVertex3i(game.startMouseSelX, game.startMouseSelY, -1.f);
glEnd();
}
game.drawMinimap();
game.draw2D();
cam.end2d();
if(!showPicking) cxt->flip();
// print framerate
if((cxt->secs() - before) >= 5.f)
{
printf("After 5s : %g FPS\n", frames/(cxt->secs()-before));
frames = 0;
before = cxt->secs();
}
else
frames++;
}
void GLWidget::paintGL()
{
glPopMatrix(); // pop the matrix pushed in the pbuffer list
// push the projection matrix and the entire GL state before
// doing any rendering into our framebuffer object
glPushAttrib(GL_ALL_ATTRIB_BITS);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glViewport(0, 0, fbo->size().width(), fbo->size().height());
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(-1, 1, -1, 1, -99, 99);
glTranslatef(-0.5f, -0.5f, 0.0f);
glMatrixMode(GL_MODELVIEW);
// render to the framebuffer object
fbo->bind();
glBindTexture(GL_TEXTURE_2D, cubeTexture);
glCallList(pbufferList);
fbo->release();
// pop the projection matrix and GL state back for rendering
// to the actual widget
glPopAttrib();
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glBindTexture(GL_TEXTURE_2D, fbo->texture());
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// draw the background
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glVertexPointer(2, GL_INT, 0, faceArray);
glTranslatef(-1.2f, -0.8f, 0.0f);
glScalef(0.2f, 0.2f, 0.2f);
for (int y = 0; y < 5; ++y) {
for (int x = 0; x < 5; ++x) {
glTranslatef(2.0f, 0, 0);
glColor4f(0.8f, 0.8f, 0.8f, 1.0f);
glDrawArrays(GL_QUADS, 0, 4);
}
glTranslatef(-10.0f, 2.0f, 0);
}
glVertexPointer(3, GL_INT, 0, cubeArray);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
// draw the bouncing cubes
drawCube(0, 0.0f, 1.5f, 2.5f, 1.5f);
drawCube(1, 1.0f, 2.0f, 2.5f, 2.0f);
drawCube(2, 2.0f, 3.5f, 2.5f, 2.5f);
glPopMatrix();
}
void manfredMohrP196A::drawComposition(int rowNum, int columnNum){
float screenSpaceWidth = scale * spacing;
int screenSpaceBottom = -(int)(rowNum * screenSpaceWidth + screenSpaceWidth/2 - dimensions.height/2.);
int screenSpaceRight = (int)(columnNum * screenSpaceWidth - screenSpaceWidth/2 + dimensions.width/2.);
int indexA = getIndexA(rowNum, columnNum);
int indexB = indexA + 1;
ofVec4f rotationA, rotationB;
ofVec4f rotationCenterA =
zeroVector * (1. - cubeARotationPercent) +
rotations[0] * cubeARotationPercent;
ofVec4f rotationCenterB =
rotationCenterA * (1. - cubeBRotationDiffPercent) +
rotations[1] * cubeBRotationDiffPercent;
if (rowNum == 0 && columnNum == 0){
rotationA = rotationCenterA;
rotationB = rotationCenterB;
} else {
rotationA =
rotationCenterA * (1. - cubeOthersRotationDiffPercent) +
rotations[indexA] * cubeOthersRotationDiffPercent;
rotationB =
rotationCenterB * (1. - cubeOthersRotationDiffPercent) +
rotations[indexB] * cubeOthersRotationDiffPercent;
}
ofPushMatrix();
{
ofTranslate(spacing * columnNum, spacing * rowNum, 0);
ofSetColor(foregroundColor, rearLineOpacity);
ofDrawLine(0, -spacing/2, 0, spacing/2);
glEnable(GL_SCISSOR_TEST);
{
//draw cube A
glScissor(
screenSpaceRight,
screenSpaceBottom,
screenSpaceWidth,
screenSpaceWidth/2);
ofSetColor(backgroundColor);
ofFill();
drawCube(rotationA);
ofSetColor(foregroundColor);
ofNoFill();
drawCube(rotationA);
//draw cube B
glScissor(
screenSpaceRight,
screenSpaceBottom + screenSpaceWidth/2,
screenSpaceWidth,
screenSpaceWidth/2);
ofSetColor(backgroundColor);
ofFill();
drawCube(rotationB);
ofSetColor(foregroundColor);
ofNoFill();
drawCube(rotationB);
//draw inner bg
glScissor(
screenSpaceRight + (int)((screenSpaceWidth - scale)/2),
screenSpaceBottom + (int)((screenSpaceWidth - scale)/2),
scale,
scale);
ofSetColor(backgroundHighlightColor);
ofFill();
drawCube(zeroVector);
ofSetColor(foregroundColor);
ofSetLineWidth(highlightLineWidth);
ofNoFill();
//draw inner cube A
glScissor(
screenSpaceRight + (int)((screenSpaceWidth - scale)/2),
screenSpaceBottom + (int)((screenSpaceWidth - scale)/2),
scale,
scale/2);
drawCube(rotationA);
//draw inner cube B
glScissor(
screenSpaceRight + (int)((screenSpaceWidth - scale)/2),
screenSpaceBottom + (int)(screenSpaceWidth/2),
scale,
scale/2);
drawCube(rotationB);
}
glDisable(GL_SCISSOR_TEST);
//draw dividing line
ofSetLineWidth(1);
ofDrawLine(-spacing/2, 0, spacing/2, 0);
}
ofPopMatrix();
}
void Car::draw()
{
if (!active) return;
// Reinicia transformações
glPushMatrix();
glTranslatef(_position.getX(), _position.getY(), _position.getZ() + 0.2);
glRotatef(_turnAngle, 0, 0, 1);
//corpo do carro
glPushMatrix();
GLfloat bodyAmb[] = { 0.35f,0.0f,0.0f,1.0f };
GLfloat bodyDiff[] = { 0.69f,0.0f,0.0f,1.0f };
GLfloat bodySpec[] = { 0.29f,0.28f,0.29f,1.0f };
GLfloat bodyShine = 46;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, bodyAmb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, bodyDiff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, bodySpec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, bodyShine);
glColor3f(1.0f, 0.0f, 0.0f);
glScalef(1.0f, 0.8f, 0.3f);
drawCube();
glPopMatrix();
//cockpit do carro
glPushMatrix();
glTranslatef(-0.2f, 0.0f, 0.20f);
glScalef(0.4f, 0.6f, 0.1f);
GLfloat cockpitAmb[] = { 0.07f,0.07f,0.07f,1.0f };
GLfloat cockpitDiff[] = { 0.13f,0.17f,0.17f,1.0f };
GLfloat cockpitSpec[] = { 0.42f,0.41f,0.41f,1.0f };
GLfloat cockpitShine = 4;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, cockpitAmb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, cockpitDiff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, cockpitSpec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, cockpitShine);
glColor3f(1.0, 1.0, 1.0);
drawCube();
glColor3f(1.0, 0.0, 0.0);
glutWireCube(1.0);
glPopMatrix();
// roda traseira direita
glPushMatrix();
GLfloat wheel1Amb[] = { 0.0f,0.0f,0.0f,1.0f };
GLfloat wheel1Diff[] = { 0.13f,0.13f,0.14f,1.0f };
GLfloat wheel1Spec[] = { 0.17f,0.18f,0.19f,1.0f };
GLfloat wheel1Shine = 12;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, wheel1Amb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, wheel1Diff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, wheel1Spec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, wheel1Shine);
glColor3f(1.0, 1.0, 1.0);
glTranslatef(-0.3f, -0.45f, 0.0f);
glRotated(90, 1, 0, 0);
glScalef(0.4f, 0.4f, 1.5f);
drawWheel();
glColor3f(0, 0, 0);
glutWireTorus(0.05, 0.2, 32, 32);
glPopMatrix();
//perna dianteira direita
glPushMatrix();
GLfloat wheel2Amb[] = { 0.0f,0.0f,0.0f,1.0f };
GLfloat wheel2Diff[] = { 0.13f,0.13f,0.14f,1.0f };
GLfloat wheel2Spec[] = { 0.17f,0.18f,0.19f,1.0f };
GLfloat wheel2Shine = 12;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, wheel2Amb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, wheel2Diff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, wheel2Spec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, wheel2Shine);
glColor3f(1.0, 1.0, 1.0);
glTranslatef(0.3f, -0.45f, 0.0);
glRotated(90, 1, 0, 0);
glScalef(0.4f, 0.4f, 1.5f);
drawWheel();
glColor3f(0.0, 0.0, 0.0);
glutWireTorus(0.05, 0.2, 32, 32);
glPopMatrix();
// roda traseira direita
glPushMatrix();
GLfloat wheel3Amb[] = { 0.0f,0.0f,0.0f,1.0f };
GLfloat wheel3Diff[] = { 0.13f,0.13f,0.14f,1.0f };
GLfloat wheel3Spec[] = { 0.17f,0.18f,0.19f,1.0f };
GLfloat wheel3Shine = 12;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, wheel3Amb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, wheel3Diff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, wheel3Spec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, wheel3Shine);
glColor3f(1.0, 1.0, 1.0);
glTranslatef(-0.3f, 0.45f, 0.0f);
glRotated(90, 1, 0, 0);
glScalef(0.4f, 0.4f, 1.5f);
drawWheel();
glColor3f(0, 0, 0);
glutWireTorus(0.05, 0.2, 32, 32);
glPopMatrix();
//perna dianteira direita
glPushMatrix();
GLfloat wheel4Amb[] = { 0.0f,0.0f,0.0f,1.0f };
GLfloat wheel4Diff[] = { 0.13f,0.13f,0.14f,1.0f };
GLfloat wheel4Spec[] = { 0.17f,0.18f,0.19f,1.0f };
GLfloat wheel4Shine = 12;
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, wheel4Amb);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, wheel4Diff);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, wheel4Spec);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, wheel4Shine);
glColor3f(1.0, 1.0, 1.0);
glTranslatef(0.3f, 0.45f, 0.0);
glRotated(90, 1, 0, 0);
glScalef(0.4f, 0.4f, 1.5f);
drawWheel();
glColor3f(0.0, 0.0, 0.0);
glutWireTorus(0.05, 0.2, 32, 32);
glPopMatrix();
glPopMatrix();
}
void GameSpace::draw(GLfloat cubeWidth)
{
glClearColor(0.0f, 0.0f, 0.0f, 1.0f); // Clear the background of our window to black
glClear(GL_COLOR_BUFFER_BIT); //Clear the colour buffer (more buffers later on)
glLoadIdentity(); // Load the Identity Matrix to reset our drawing locations
// ---------------------------------------------------------------
// ------ Drawing of box environment -----------------------------
// ---------------------------------------------------------------
int count = 0; // number of rectangles drawn (for alternating color purposes)
glTranslatef(0.0, 0.0, -1.0f); // start drawing a little ways in.
for(int i = 0; i < 12; i++) // For each layer
{
for(int j = 0; j < 5; j++) // top wall, 5 squares across
{
if( count % 2)
glColor3f(0.0f, 0.0f, 0.0f);
else
glColor3f(0.0f, 0.2f, 0.2f);
count++;
glBegin(GL_QUADS);
glVertex3f(-(cubeWidth * 2.5) + cubeWidth*j, -(cubeWidth * 2.5), 0.0 - cubeWidth*i);
glVertex3f(-(cubeWidth * 2.5) + cubeWidth*j, -(cubeWidth * 2.5), -cubeWidth - cubeWidth*i);
glVertex3f(-(cubeWidth * 1.5) + cubeWidth*j, -(cubeWidth * 2.5), -cubeWidth - cubeWidth*i);
glVertex3f(-(cubeWidth * 1.5) + cubeWidth*j, -(cubeWidth * 2.5), 0.0 - cubeWidth*i);
glEnd();
}
count++; // to alternate colors properly
for(int j = 0; j < 5; j++) // left wall, 5 squares across
{
if( count % 2)
glColor3f(0.0f, 0.0f, 0.0f);
else
glColor3f(0.0, 0.2f, 0.2f);
count++;
glBegin(GL_QUADS);
glVertex3f(-(cubeWidth * 2.5), -(cubeWidth * 2.5) + cubeWidth*j, 0.0 - cubeWidth*i);
glVertex3f(-(cubeWidth * 2.5), -(cubeWidth * 2.5) + cubeWidth*j, -cubeWidth - cubeWidth*i);
glVertex3f(-(cubeWidth * 2.5), -(cubeWidth * 1.5) + cubeWidth*j, -cubeWidth - cubeWidth*i);
glVertex3f(-(cubeWidth * 2.5), -(cubeWidth * 1.5) + cubeWidth*j, 0.0 - cubeWidth*i);
glEnd();
}
count++; // to alternate colors properly
for(int j = 0; j < 5; j++) // bottom wall, 5 squares across
{
if( count % 2)
glColor3f(0.0f, 0.0f, 0.0f);
else
glColor3f(0.0, 0.2f, 0.2f);
count++;
glBegin(GL_QUADS);
glVertex3f(-(cubeWidth * 2.5) + cubeWidth*j, (cubeWidth * 2.5), 0.0 - cubeWidth*i);
glVertex3f(-(cubeWidth * 2.5) + cubeWidth*j, (cubeWidth * 2.5), -cubeWidth - cubeWidth*i);
glVertex3f(-(cubeWidth * 1.5) + cubeWidth*j, (cubeWidth * 2.5), -cubeWidth - cubeWidth*i);
glVertex3f(-(cubeWidth * 1.5) + cubeWidth*j, (cubeWidth * 2.5), 0.0 - cubeWidth*i);
glEnd();
}
count++; // to alternate colors properly
for(int j = 0; j < 5; j++) // right wall, 5 squares across
{
if( count % 2)
glColor3f(0.0f, 0.0f, 0.0f);
else
glColor3f(0.0, 0.2f, 0.2f);
count++;
glBegin(GL_QUADS);
glVertex3f((cubeWidth * 2.5), -(cubeWidth * 2.5) + cubeWidth*j, 0.0 - cubeWidth*i);
glVertex3f((cubeWidth * 2.5), -(cubeWidth * 2.5) + cubeWidth*j, -cubeWidth - cubeWidth*i);
glVertex3f((cubeWidth * 2.5), -(cubeWidth * 1.5) + cubeWidth*j, -cubeWidth - cubeWidth*i);
glVertex3f((cubeWidth * 2.5), -(cubeWidth * 1.5) + cubeWidth*j, 0.0 - cubeWidth*i);
glEnd();
}
}
// Draw the bottom of the box
for(int i = 0; i < 5; i++)
{
for(int j = 0; j < 5; j++)
{
if( count % 2)
glColor3f(0.0f, 0.0f, 0.0f);
else
glColor3f(0.0, 0.2f, 0.2f);
count++;
glBegin(GL_QUADS);
glVertex3f(-(cubeWidth * 2.5) + cubeWidth*i, -(cubeWidth * 2.5) + cubeWidth*j, -12*cubeWidth);
glVertex3f(-(cubeWidth * 1.5) + cubeWidth*i, -(cubeWidth * 2.5) + cubeWidth*j, -12*cubeWidth);
glVertex3f(-(cubeWidth * 1.5) + cubeWidth*i, -(cubeWidth * 1.5) + cubeWidth*j, -12*cubeWidth);
glVertex3f(-(cubeWidth * 2.5) + cubeWidth*i, -(cubeWidth * 1.5) + cubeWidth*j, -12*cubeWidth);
glEnd();
}
}
// ---------------------------------------------------------------
// ------ End drawing of box environment -------------------------
// ---------------------------------------------------------------
// ---------------------------------------------------------------
// ------ Begin drawing of fallen tetronimos ---------------------
// ---------------------------------------------------------------
// Load texture once at the beginning
GLuint tex_2d = SOIL_load_OGL_texture
(
"cube-border.bmp",
SOIL_LOAD_AUTO,
SOIL_CREATE_NEW_ID,
SOIL_FLAG_INVERT_Y | SOIL_FLAG_COMPRESS_TO_DXT
);
glBindTexture(GL_TEXTURE_2D, tex_2d); // bind the texture so the cubes will have border
for(int k = 11; k >= 0; k--) // for each layer
{
for(int dist = length/2 + width/2; dist >=0; dist--) // draw the ones farther from center first for visual appearance
{
for(int i = 0; i < width; i++) // double for loop to get all 25 cubes in layer
{
for(int j = 0; j < length; j++)
{
int index = i + j * length + k * length * width; // convert x,y,z (i,j,k) to index
if(filled[index] && (abs(width/2 - i) + abs(length/2 - j)) == dist) // if filled and appropriate distance, draw
{
glLoadIdentity(); // Load the Identity Matrix to reset our drawing locations
glTranslatef((i-2)*cubeWidth, (j-2)*cubeWidth, -1.0-0.5*cubeWidth-k*cubeWidth);
switch (k) // different colors based on height
{
case 0:
glColor3f(1.0, 0.0, 0);
break;
case 1:
glColor3f(0.5, 0.0, 0.9);
break;
case 2:
glColor3f(0.9, 0.5, 0);
break;
case 3:
glColor3f(0.9, 0.9, 0.0);
break;
case 4:
glColor3f(0.0, 0.5, 0.9);
break;
case 5:
glColor3f(0.2, 0.6, 0.4);
break;
case 6:
glColor3f(0.2, 0.1, 0.0);
break;
case 7:
glColor3f(0.9, 0.0, 0.5);
break;
case 8:
glColor3f(0.9, 0.5, 0.9);
break;
case 9:
glColor3f(0.5, 0.5, 0.9);
break;
case 10:
glColor3f(0.5, 0.9, 0.0);
break;
case 11:
glColor3f(0.5, 0.9, 0.9);
break;
}
drawCube(cubeWidth, i, j, tex_2d); // draw the cube
}
}
}
}
}
glDeleteTextures(1, &tex_2d); // delete the texture to free memeory
// ---------------------------------------------------------------
// ------ End drawing of fallen tetronimos ---------------------
// ---------------------------------------------------------------
}
void draw(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// glEnable(GL_DEPTH_TEST);
//setOrthographicCubeProjection(1.f);
glPushMatrix();
glLoadIdentity();
glRotatef(rotateX,1,0,0);
glRotatef(-rotateY,0,1,0);
glScalef(scale,scale,scale);
glTranslatef(-0.5,-0.5,-0.5);
console.push_back("Hello collisions");
glColor3ub(155,155,155);
if (showWire) {
//const size_t size = tris.size();
glBegin(GL_LINES);
for (unsigned i=0;i<objs.size();i++) {
for (unsigned j=0;j<objs[i].faces_.size();j++) {
const Real3& a = objs[i].tvx_[objs[i].faces_[j][0]];
const Real3& b = objs[i].tvx_[objs[i].faces_[j][1]];
const Real3& c = objs[i].tvx_[objs[i].faces_[j][2]];
glVertex3fv(&a[0]);
glVertex3fv(&b[0]);
glVertex3fv(&b[0]);
glVertex3fv(&c[0]);
glVertex3fv(&c[0]);
glVertex3fv(&a[0]);
}
if (showNormals) {
glColor3ub(0,255,0);
for (unsigned j=0;j<objs[i].tnormals_.size();j++) {
const Real3& n = objs[i].tnormals_[j];
const Real3& v = objs[i].tvx_[j];
glVertex3fv(&v[0]);
glVertex3fv(&(v+0.01*n)[0]);
}
}
}
glEnd();
}
glColor3ub(255,0,0);
// glBegin(GL_LINES);
// if (true) {
// glVertex3f(seg[0].x,seg[0].y,seg[0].z);
// glVertex3f(seg[1].x,seg[1].y,seg[1].z);
//
// }
// glEnd();
//
// public:
// Vector<const Polygon *> polys_;
// Vector<int> users_;
// Vec3f segmentPt0_;
// Vec3f segmentPt1_;
// };
glColor3ub(255,0,0);
if (showGeom) {
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
// glEnable(GL_DEPTH_TEST);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
for(unsigned i=0;i<objs.size();i++) {
glVertexPointer(3, GL_FLOAT, 0, &objs[i].tvx_[0]);
glNormalPointer(GL_FLOAT, 0, &objs[i].tnormals_[0]);
glColorPointer(3,GL_UNSIGNED_BYTE, 0, &objs[i].colors_[0]);
glDrawElements( GL_TRIANGLES, objs[i].faces_.size()*3, GL_UNSIGNED_INT, &objs[i].faces_[0]);
}
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY);
glDisable(GL_LIGHTING);
// glDisable(GL_DEPTH_TEST);
}
glDisable(GL_DEPTH_TEST);
glBegin(GL_LINES);
for(unsigned i=0;i<objs.size();i++) {
glColor3ub(0,255,0);
for (unsigned j=0;j<12;j++) {
BoxEdge e = coltrees[i]->getRootNode()->aabb.getEdge(j);
Vec3f s = e.p0;
Vec3f p = e.p1;
glVertex3f(s.x,s.y,s.z);
glVertex3f(p.x,p.y,p.z);
}
for (unsigned j=0;j<colres[i].polys_.size();j++) {
const Real3& a = objs[i].tvx_[colres[i].polys_[j]->getIndex(0)];
const Real3& b = objs[i].tvx_[colres[i].polys_[j]->getIndex(1)];
const Real3& c = objs[i].tvx_[colres[i].polys_[j]->getIndex(2)];
glVertex3fv(&a[0]);
glVertex3fv(&b[0]);
glVertex3fv(&b[0]);
glVertex3fv(&c[0]);
glVertex3fv(&c[0]);
glVertex3fv(&a[0]);
}
Vec3f s = colres[i].segmentPt0_;
Vec3f p = colres[i].segmentPt1_;
glVertex3f(s.x,s.y,s.z);
glVertex3f(p.x,p.y,p.z);
}
glEnd();
glEnable(GL_DEPTH_TEST);
drawCube(1.);
drawAxis(0.01);
// glDisable(GL_DEPTH_TEST);
glPopMatrix();
testTextOverlay();
glutSwapBuffers();
}
void reye(void){
glColor3f(1.0f, 1.0f, 0.0f);
glTranslatef(0.25, 0.15, 0.0);
glScalef(0.3, 0.2, 0.0);
drawCube();
}
void GFXDrawUtil::drawCube( const GFXStateBlockDesc &desc, const Box3F &box, const ColorI &color, const MatrixF *xfm )
{
drawCube( desc, box.getExtents(), box.getCenter(), color, xfm );
}
void Draw2D::drawCube(SDL_Surface *screen,Cube _cube)
{
drawCube(screen, _cube.pt1, _cube.pt2, _cube.pt3, _cube.pt4);
}
void drawRoom(){
float size = 100;
drawCube(size);
glPushMatrix();
}
void drawModel (pScene sc) {
pMesh mesh;
pTransform view;
pClip clip;
ubyte sstatic;
/* default */
mesh = cv.mesh[sc->idmesh];
view = sc->view;
clip = sc->clip;
if (ddebug) printf("\n-- redraw scene %d, mesh %d\n", sc->idwin, sc->idmesh);
glDisable(GL_LIGHTING);
/* draw clipping plane */
if (clip->active & C_ON) {
drawClip(sc, clip, mesh, 0);
glClipPlane(GL_CLIP_PLANE0, clip->eqn);
glEnable(GL_CLIP_PLANE0);
} else {
glDisable(GL_CLIP_PLANE0);
}
/* draw object if static scene */
sstatic = view->mstate > 0 && clip->cliptr->mstate > 0;
if (sstatic || sc->type & S_FOLLOW) {
displayScene(sc, sc->mode, 0);
if (sc->item & S_NUMP || sc->item & S_NUMF) listNum(sc, mesh);
/* draw normals */
if (sc->type & S_NORMAL) {
if (!sc->nlist) sc->nlist = drawNormals(mesh, sc);
glCallList(sc->nlist);
}
/* draw data */
if (sstatic) displayData(sc, mesh);
} else if (!(sc->item & S_BOX)) {
drawBox(sc, mesh, 0);
}
/* draw ridges, corners, etc. */
if ((sc->item & S_GEOM) && sc->glist) {
glDisable(GL_LIGHTING);
if (!mesh->ne)
glPointSize(1);
else
glPointSize(5);
glDisable(GL_COLOR_MATERIAL);
glCallList(sc->glist);
}
glDisable(GL_CLIP_PLANE0);
if (clip->active & C_EDIT || sc->item & S_BOX)
drawBox(sc, mesh, 0);
if (sc->item & S_AXIS)
drawAxis(sc, mesh->dim);
if ((mesh->dim == 3 || sc->mode & S_ALTITUDE) && sc->item & S_GRID)
drawBase(sc, mesh);
if (sc->cube->active & C_ON)
drawCube(sc, mesh);
sstatic |= tiling;
if (sstatic && clip->active & C_ON && clip->active & C_VOL)
displayScene(sc, sc->mode, 1);
if (sc->picklist && !(sc->isotyp & S_PARTICLE)) {
glEnable(GL_LIGHTING);
glEnable(GL_COLOR_MATERIAL);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glDisable(GL_POLYGON_OFFSET_FILL);
glCallList(sc->picklist);
glEnable(GL_POLYGON_OFFSET_FILL);
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
glDisable(GL_COLOR_MATERIAL);
glDisable(GL_LIGHTING);
}
/* show path, if any */
if (sc->type & S_PATH && sc->path.tlist)
glCallList(sc->path.tlist);
}
void lower_body(){
glColor3f(1.0f, 1.0f, 0.0f);
drawCube();
left_thigh();
right_thigh();
}
void render() {
glClearColor(0.0, 0.0, 0.0, 1);
glClearDepth(1.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
float mtime, seconds, useconds;
gettimeofday(&new_timeval, NULL);
seconds = new_timeval.tv_sec - previous_timeval.tv_sec;
useconds = new_timeval.tv_usec - previous_timeval.tv_usec;
mtime = seconds + useconds/1000000;
getHuniplacerData()->modeldata.deltatime = mtime;
float dif = mtime * 40;
previous_timeval = new_timeval;
if (getKeyData()->key_left)
yRotation += dif;
if (getKeyData()->key_right)
yRotation -= dif;
if (getKeyData()->key_plus)
getHuniplacerData()->modeldata.robot->setSpeed(getHuniplacerData()->modeldata.robot->getSpeed() + dif*3);
if (getKeyData()->key_min)
getHuniplacerData()->modeldata.robot->setSpeed(getHuniplacerData()->modeldata.robot->getSpeed() - dif*3);
if (getKeyData()->key_up)
xRotation += dif;
if (getKeyData()->key_down)
xRotation -= dif;
if (getKeyData()->key_w)
getHuniplacerData()->modeldata.pivot.y += dif;
if (getKeyData()->key_s)
getHuniplacerData()->modeldata.pivot.y -= dif;
if (getKeyData()->key_d)
getHuniplacerData()->modeldata.pivot.x += dif;
if (getKeyData()->key_a)
getHuniplacerData()->modeldata.pivot.x -= dif;
if (getKeyData()->key_q)
getHuniplacerData()->modeldata.pivot.z += dif;
if (getKeyData()->key_e)
getHuniplacerData()->modeldata.pivot.z -= dif;
if (getHuniplacerData()->modeldata.pivot.x < huniplacer::measures::MIN_X)
getHuniplacerData()->modeldata.pivot.x = huniplacer::measures::MIN_X;
if (getHuniplacerData()->modeldata.pivot.x > huniplacer::measures::MAX_X)
getHuniplacerData()->modeldata.pivot.x = huniplacer::measures::MAX_X;
if (getHuniplacerData()->modeldata.pivot.y < huniplacer::measures::MIN_Y)
getHuniplacerData()->modeldata.pivot.y = huniplacer::measures::MIN_Y;
if (getHuniplacerData()->modeldata.pivot.y > huniplacer::measures::MAX_Y)
getHuniplacerData()->modeldata.pivot.y = huniplacer::measures::MAX_Y;
if (getHuniplacerData()->modeldata.pivot.z < huniplacer::measures::MIN_Z)
getHuniplacerData()->modeldata.pivot.z = huniplacer::measures::MIN_Z;
if (getHuniplacerData()->modeldata.pivot.z > huniplacer::measures::MAX_Z)
getHuniplacerData()->modeldata.pivot.z = huniplacer::measures::MAX_Z;
if(getHuniplacerData()->modeldata.robot->getSpeed() < 20)
getHuniplacerData()->modeldata.robot->setSpeed(20);
if(getHuniplacerData()->modeldata.robot->getSpeed() > 500)
getHuniplacerData()->modeldata.robot->setSpeed(500);
glRotatef(xRotation, 1, 0, 0);
glRotatef(yRotation, 0, 1, 0);
glColor3f(1.0f, 0, 0);
glPushMatrix();
glTranslatef(getHuniplacerData()->modeldata.pivot.x + 0.5, getHuniplacerData()->modeldata.pivot.z, getHuniplacerData()->modeldata.pivot.y);
drawCube(0, 0, 0, 5, 1, 1);
glPopMatrix();
glPushMatrix();
glColor3f(0, 1, 0);
glTranslatef(getHuniplacerData()->modeldata.pivot.x, getHuniplacerData()->modeldata.pivot.z + 0.5, getHuniplacerData()->modeldata.pivot.y);
drawCube(0, 0, 0, 1, 5, 1);
glPopMatrix();
glPushMatrix();
glColor3f(0, 0, 1);
glTranslatef(getHuniplacerData()->modeldata.pivot.x, getHuniplacerData()->modeldata.pivot.z, getHuniplacerData()->modeldata.pivot.y + 0.5);
drawCube(0, 0, 0, 1, 1, 5);
glPopMatrix();
getHuniplacerData()->modeldata.robot->draw();
glColor4f(0.3, 0.3, 0.3, 0.1);
glPushMatrix();
glDepthMask(GL_FALSE);
glCallList(cubelist);
glDepthMask(GL_TRUE);
glPopMatrix();
glLoadIdentity();
char str[256];
glDisable(GL_DEPTH_TEST);
glColor4f(1.0f, 0.0f, 0.0f, 1.0f);
glRasterPos2i(-(screen_width / 5), 65);
sprintf(str, "pivot location x:%g", getHuniplacerData()->modeldata.pivot.x);
glutBitmapString(GLUT_BITMAP_HELVETICA_10, (unsigned char*) str);
glRasterPos2i(-(screen_width / 5), 55);
sprintf(str, "pivot location y:%g", getHuniplacerData()->modeldata.pivot.y);
glutBitmapString(GLUT_BITMAP_HELVETICA_10, (unsigned char*) str);
glRasterPos2i(-(screen_width / 5), 45);
sprintf(str, "pivot location z:%g", getHuniplacerData()->modeldata.pivot.z);
glutBitmapString(GLUT_BITMAP_HELVETICA_10, (unsigned char*) str);
float rx, ry, rz;
getHuniplacerData()->modeldata.robot->getPosition(&rx, &ry, &rz);
glRasterPos2i(-(screen_width / 5), 35);
sprintf(str, "robot location x:%g", rx);
glutBitmapString(GLUT_BITMAP_HELVETICA_10, (unsigned char*) str);
glRasterPos2i(-(screen_width / 5), 25);
sprintf(str, "robot location y:%g", ry);
glutBitmapString(GLUT_BITMAP_HELVETICA_10, (unsigned char*) str);
glRasterPos2i(-(screen_width / 5), 15);
sprintf(str, "robot location z:%g", rz);
glutBitmapString(GLUT_BITMAP_HELVETICA_10, (unsigned char*) str);
glRasterPos2i(-(screen_width / 5), 5);
sprintf(str, "speed:%g", getHuniplacerData()->modeldata.robot->getSpeed());
glutBitmapString(GLUT_BITMAP_HELVETICA_10, (unsigned char*) str);
glEnable(GL_DEPTH_TEST);
glutSwapBuffers();
ros::spinOnce();
if(!ros::ok()){
glutDestroyWindow(glutGetWindow());
}
}
void drawFlowerStem() {
mvstack.push(model_view);
set_colour(0.5, 0.35, 0.05);
//draw pieces of the stem
//#1
mvstack.push(model_view);
model_view *= RotateZ(1.25*sin(TIME));
model_view *= Translate(0, 1.0, 0);
model_view *= RotateZ(1.25*sin(TIME));
model_view *= Scale(.15, 1, .15);
drawCube();
model_view = mvstack.pop();
//#2
mvstack.push(model_view);
model_view *= RotateZ(2.5*sin(TIME));
model_view *= Translate(0, 2, 0);
model_view *= RotateZ(2.5*sin(TIME));
model_view *= Scale(.15, 1, .15);
drawCube();
model_view = mvstack.pop();
//#3
mvstack.push(model_view);
model_view *= RotateZ(3.75*sin(TIME));
model_view *= Translate(0, 3, 0);
model_view *= RotateZ(3.75*sin(TIME));
model_view *= Scale(.15, 1, .15);
drawCube();
model_view = mvstack.pop();
//#4
mvstack.push(model_view);
model_view *= RotateZ(5*sin(TIME));
model_view *= Translate(0, 4, 0);
model_view *= RotateZ(5*sin(TIME));
model_view *= Scale(.15, 1, .15);
drawCube();
model_view = mvstack.pop();
//#5
mvstack.push(model_view);
model_view *= RotateZ(6.25*sin(TIME));
model_view *= Translate(0, 5, 0);
model_view *= RotateZ(6.25*sin(TIME));
model_view *= Scale(.15, 1, .15);
drawCube();
model_view = mvstack.pop();
//#6
mvstack.push(model_view);
model_view *= RotateZ(7.5*sin(TIME));
model_view *= Translate(0, 6, 0);
model_view *= RotateZ(7.5*sin(TIME));
model_view *= Scale(.15, 1, .15);
drawCube();
model_view = mvstack.pop();
//#7
mvstack.push(model_view);
model_view *= RotateZ(8.75*sin(TIME));
model_view *= Translate(0, 7, 0);
model_view *= RotateZ(8.75*sin(TIME));
model_view *= Scale(.15, 1, .15);
drawCube();
model_view = mvstack.pop();
//#8
mvstack.push(model_view);
model_view *= RotateZ(10*sin(TIME));
model_view *= Translate(0, 8, 0);
model_view *= RotateZ(10*sin(TIME));
model_view *= Scale(.15, 1, .15);
drawCube();
model_view = mvstack.pop();
model_view = mvstack.pop();
}
int main(int argc, char *argv[]){
getinfo(&screen);
clear(0);
Triangle tri[] = {
{-1,0,1, -1,1,1, -2,0,1, 0xFFFF},{-2,1,1, -1,1,1, -2,0,1, 0xFFFF},
{-1,0,0, -1,1,0, -2,0,0, 0xFFFF},{-2,1,0, -1,1,0, -2,0,0, 0xFFFF},
{-1,0,0, -1,0,1, -2,0,0, 0xFFFF},{-2,0,0, -1,0,1, -2,0,1, 0xFFFF},
{-1,1,0, -1,1,1, -2,1,0, 0xFFFF},{-2,1,0, -1,1,1, -2,1,1, 0xFFFF},
{-1,0,0, -1,1,1, -1,0,1, 0xFFFF},{-1,0,0, -1,1,1, -1,1,0, 0xFFFF},
{-2,0,0, -2,1,1, -2,0,1, 0xFFFF},{-2,0,0, -2,1,1, -2,1,0, 0xFFFF}
};
Line complex[] = {
{2,2,2, 3,2,2, 0xFFFFFF},
{2,2,2, 2,2,3, 0xFFFFFF},
{3,2,2, 3,2,3, 0xFFFFFF},
{2,2,3, 3,2,3, 0xFFFFFF},
{2,2,2, 2.5,1,2.5, 0xFFFFFF},
{2,2,3, 2.5,1,2.5, 0xFFFFFF},
{3,2,2, 2.5,1,2.5, 0xFFFFFF},
{3,2,3, 2.5,1,2.5, 0xFFFFFF}
};
Camera defaultcam = {0, 0, -2, 0, 0, 0, 0, 0, 1};
Player p = {defaultcam, {100,2,0.5,0.25, //size
defaultcam.cx,defaultcam.cy,defaultcam.cz, //position
0,0,0, //velocity
0,0,0, //force
defaultcam.ox,defaultcam.oy,defaultcam.oz, //orientation
0,0,0, //angular speed
0,0,0 //torque
}};
int i;
Cube c[] = {newCube(0.25, 0, 0, 0, 0xFF),
newCube(0.5, 1, 1, 1, 0xFF00),
newCube(1, -2, 2, 2, 0xFF0000)};
char update = 1;
while(!checkkey(KEYQ)){
if(checkkey(KEYW)) movePlayer(&p, 0, 0, 0.2);
if(checkkey(KEYA)) movePlayer(&p, 0.2, 0, 0);
if(checkkey(KEYS)) movePlayer(&p, 0, 0, -0.2);
if(checkkey(KEYD)) movePlayer(&p, -0.2, 0, 0);
if(checkkey(KEYSPACE) & p.o.y==0){
p.o.vy = 0.2;
}
//if(checkkey(KEYLEFTCONTROL)) movePlayer(&p, 0, -0.2, 0);
if(checkkey(KEYK)>0 & p.o.ox < M_PI/2) p.o.ox += 0.05;
if(checkkey(KEYI)>0 & p.o.ox > -M_PI/2) p.o.ox -= 0.05;
if(checkkey(KEYL)) p.o.oy += 0.05;
if(checkkey(KEYJ)) p.o.oy -= 0.05;
if(checkkey(KEYE)==1) wireframe = !wireframe;
if(checkkey(KEYX)) resetPlayer(&p, defaultcam);
updatePlayer(&p);
clear(0);
drawTriangles3D(tri, sizeof(tri)/sizeof(Triangle), p.c);
drawSphere(1,1,-1,0.2,0xFF00FF,p.c);
for(i = 0; i < sizeof(c)/sizeof(Cube); i++) drawCube(c[i], p.c);
drawLines3D(complex, sizeof(complex)/sizeof(Line), p.c);
drawtext(0,0,"Wireframe test. Press q to exit.",0xFFFFFF);
drawline(screen.x/2-8,screen.y/2,screen.x/2+8,screen.y/2,0xFFFFFF);
drawline(screen.x/2,screen.y/2-8,screen.x/2,screen.y/2+8,0xFFFFFF);
for(i = 0; i < 7; i++) hlt();
}
reset();
return 0;
}
void draw(){
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity(); // Reset
glPushMatrix();
#ifdef ANIMATION_SHOW
glRotatef(fRotateViewPhi, 1.0f, 0.0f, 0.0f);
glRotatef(fRotateViewSigma, 0.0f, 1.0f, 0.0f);
#else
glRotatef((float)mousex,0.0f,1.0f,0.0f);
glRotatef((float)mousey,1.0f,0.0f,0.0f);
// glRotatef(45.0f,1.0f,0.0f,0.0f);
// glRotatef(45.0f,0.0f,1.0f,0.0f);
#endif
#ifdef ANIMATION_SHOW
glScalef(0.5f, 0.5f, 0.5f);
#else
glScalef(0.4f, 0.4f, 0.4f);
#endif
glTranslatef(-1.5f,-1.5f,-1.5f);
#ifdef ANIMATION_SHOW
drawCube(fRotateSlice);
#else
resetBuffers();
int iInc;
for(iInc = 0; iInc < 54; iInc++){
// if(cMoveArr[2][iInc] == 1)
drawNumberedFace(CUBE_SIZE, CORNER_RADIUS, iInc);
}
// Cubes Being Rotated
drawFullCube(CUBE_SIZE, CORNER_RADIUS);
#endif
glPopMatrix();
#ifdef ANIMATION_SHOW
// code to update permutations when move has completed
if(fRotateSlice >= 90.0f){
fRotateSlice = 0.0f;
unsigned char cFace = 0;
unsigned char cDir = 0;
unsigned char cMove = 0;
if(iMoveState == MOVE_STATE_BACKWARD){ // Working the way back on permutations
cFace = (*cMarker) & MOVE_FACES; // filter out Direction (Face remains)
cDir = (~((*cMarker) & MOVE_DIRS)) & MOVE_DIRS; // filter out Face (Direciton remains) then Reverse Direction
cMove = cFace | cDir; // combine to apply effective going in reverse
cApplySingleMove(&cMove);
if(cMarker == cMoves){
generateRandomMoves((unsigned char)(0));
cMarker = cMoves;
iMoveState = MOVE_STATE_FORWARD;
}else
cMarker--;
}else if(iMoveState == MOVE_STATE_FORWARD){
cApplySingleMove(cMarker);
if((cMarker - cMoves) >= (iArrayCount - 1))
iMoveState = MOVE_STATE_BACKWARD; // reverse direction
else
cMarker++;
}
}else
fRotateSlice += SPEED_SLICE;
fRotateViewPhi += SPEED_VIEW_PHI;
fRotateViewSigma += SPEED_VIEW_SIGMA;
#endif
// glutPostRedisplay();
glutSwapBuffers();
}
int main(int argc, char** argv)
{
std::cout << "Ami ViewPort3" << std::endl;
// Init GLFW
glfwInit();
// Create a GLFWwindow object that we can use for GLFW's functions
GLFWwindow* window = glfwCreateWindow(WIDTH, HEIGHT, "LearnOpenGL", nullptr, nullptr);
glfwMakeContextCurrent(window);
// Set the required callback functions
glfwSetKeyCallback(window, key_callback);
glEnable(GL_DEPTH_TEST); // Depth Testing
glDepthFunc(GL_LEQUAL);
glDisable(GL_CULL_FACE);
glCullFace(GL_BACK);
// Set this to true so GLEW knows to use a modern approach to retrieving function pointers and extensions
glewExperimental = GL_TRUE;
// Initialize GLEW to setup the OpenGL Function pointers
glewInit();
glfwGetFramebufferSize(window, &width, &height);
//Shader ourShader("C:\\C++\\ViewPort3\\ViewPort3\\Debug\\default.vs", "C:\\C++\\ViewPort3\\ViewPort3\\Debug\\default.frag");
while (!glfwWindowShouldClose(window))
{
// Scale to window size
GLint windowWidth, windowHeight;
glfwGetWindowSize(window, &windowWidth, &windowHeight);
// Draw stuff
glClearColor(0.2f, 0.3f, 0.3f, 1.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
{
glViewport(0, windowHeight / 2, windowWidth / 2, windowHeight / 2); // top left
glMatrixMode(GL_PROJECTION_MATRIX);
glLoadIdentity();
gluPerspective(80, (double)windowWidth / (double)windowHeight, 0.1, 100);
glMatrixMode(GL_MODELVIEW_MATRIX);
glTranslatef(0, 0, -5);
//ourShader.Use(); // as soon as i use shader, image wont rotate
drawTriangle();
}
{
glViewport(windowWidth / 2, 0, windowWidth / 2, windowHeight / 2); // bottom right
glMatrixMode(GL_PROJECTION_MATRIX);
glLoadIdentity();
gluPerspective(-45, (double)windowWidth / (double)windowHeight, 0.1, 100);
glMatrixMode(GL_MODELVIEW_MATRIX);
glTranslatef(0, 0, -5);
drawCube();
}
glfwSwapBuffers(window);
glfwPollEvents();
}
// Terminate GLFW, clearing any resources allocated by GLFW.
glfwTerminate();
return 0;
return 0;
}
void loop()
{
drawCube();
delay(ROTATION_SPEED);
}
void MyGLWidget::paintGL()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear The Screen And The Depth Buffer
glLoadIdentity(); // Reset The Current Modelview Matrix
glTranslatef( 0.0f, 0.0f, z );
glEnable(GL_TEXTURE_GEN_S);
glEnable(GL_TEXTURE_GEN_T);
glBindTexture( GL_TEXTURE_2D, texture[filter*2 + 1] );
glPushMatrix();
glRotatef( xrot, 1.0f, 0.0f, 0.0f);
glRotatef( yrot, 0.0f, 1.0f, 0.0f);
/* Determine what object to draw */
switch( object )
{
case 0:
/* Draw our cube */
drawCube( );
break;
case 1:
/* Draw a cylinder */
glTranslatef( 0.0f, 0.0f, -1.5f );
gluCylinder( quadratic, 1.0f, 1.0f, 3.0f, 32, 32 );
break;
case 2:
/* Draw a sphere */
gluSphere( quadratic, 1.3f, 32, 32 );
break;
case 3:
/* Draw a cone */
glTranslatef( 0.0f, 0.0f, -1.5f );
gluCylinder( quadratic, 1.0f, 0.0f, 3.0f, 32, 32 );
break;
};
glPopMatrix();
/* Disable Texture Coord Generation For S */
glDisable( GL_TEXTURE_GEN_S );
/* Disable Texture Coord Generation For T */
glDisable( GL_TEXTURE_GEN_T );
/* This Will Select The BG Texture */
glBindTexture( GL_TEXTURE_2D, texture[filter*2] );
glPushMatrix();
glTranslatef( 0.0f, 0.0f, -29.0f );
glBegin( GL_QUADS );
glNormal3f( 0.0f, 0.0f, 1.0f);
glTexCoord2f( 0.0f, 0.0f ); glVertex3f( -13.3f, -10.0f, 10.0f );
glTexCoord2f( 1.0f, 0.0f ); glVertex3f( 13.3f, -10.0f, 10.0f );
glTexCoord2f( 1.0f, 1.0f ); glVertex3f( 13.3f, 10.0f, 10.0f );
glTexCoord2f( 0.0f, 1.0f ); glVertex3f( -13.3f, 10.0f, 10.0f );
glEnd();
glPopMatrix();
xrot += xspeed; /* Add xspeed To xrot */
yrot += yspeed; /* Add yspeed To yrot */
showFPS();
}
void display(void)
{
// update the logic and simulation
time += timeSpeed;
solarSystem.calculatePositions(time);
if (controls.forward) camera.forward(); if (controls.backward) camera.backward();
if (controls.left) camera.left(); if (controls.right) camera.right();
if (controls.yawLeft) camera.yawLeft(); if (controls.yawRight) camera.yawRight();
if (controls.rollLeft) camera.rollLeft(); if (controls.rollRight) camera.rollRight();
if (controls.pitchUp) camera.pitchUp(); if (controls.pitchDown) camera.pitchDown();
// clear the buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor3f(1.0, 1.0, 1.0);
// set up the perspective matrix for rendering the 3d world
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(70.0f, (float)screenWidth / (float)screenHeight, 0.001f, 500.0f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// perform the camera orientation transform
camera.transformOrientation();
// draw the skybox
glBindTexture(GL_TEXTURE_2D, stars->getTextureHandle());
drawCube();
// perform the camera translation transform
camera.transformTranslation();
GLfloat lightPosition[] = { 0.0, 0.0, 0.0, 1.0 };
glLightfv(GL_LIGHT0, GL_POSITION, lightPosition);
// render the solar system
glEnable(GL_DEPTH_TEST);
glEnable(GL_LIGHTING);
solarSystem.render();
glDisable(GL_LIGHTING);
// possibly render orbits
if (showOrbits)
solarSystem.renderOrbits();
glDisable(GL_DEPTH_TEST);
// set up ortho matrix for showing the UI (help dialogue)
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0.0, (GLdouble) screenWidth, (GLdouble) screenHeight, 0.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// draw the help dialogue
if (helpDialogue)
{
glBindTexture(GL_TEXTURE_2D, help->getTextureHandle());
glBegin(GL_QUADS);
glTexCoord2f(0.0f, 0.0f); glVertex2f(0.0f, 0.0f);
glTexCoord2f(1.0f, 0.0f); glVertex2f(512.0f, 0.0f);
glTexCoord2f(1.0f, 1.0f); glVertex2f(512.0f, 512.0f);
glTexCoord2f(0.0f, 1.0f); glVertex2f(0.0f, 512.0f);
glEnd();
}
glFlush();
glutSwapBuffers();
}
void EdManipGUIObject::draw (EdLevelToolWindow *parent, const std::shared_ptr<CameraObject> &camera, DTfloat scale)
{
if (getSelection().size() != 1)
return;
GUIObject *gui_object = checkedCast<GUIObject*>(getSelection().front());
if (!gui_object)
return;
// Override the camera with a screen aligned one
CameraObject gui_camera = *camera; // Copy all camera attributes
gui_camera.setOrtho(0.0F,1.0F,0.0F,1.0F,1.0F,-1.0F);
gui_camera.setTranslationLocal(Vector3(0.0F,0.0F,0.0F));
gui_camera.setOrientationLocal(Matrix3::identity());
DrawUtils::activateCamera(&gui_camera);
Matrix4 axis;
Matrix4 transform = getManipulatorTransform();
scale = 7.0F / System::getRenderer()->getScreenWidth();
::glPushName(0);
Rectangle r = gui_object->getRectangle();
Vector3 p0 = Vector3(r.getMinusX(), r.getMinusY(), 0.0F);
Vector3 p1 = Vector3(r.getPlusX(), r.getMinusY(), 0.0F);
Vector3 p2 = Vector3(r.getPlusX(), r.getPlusY(), 0.0F);
Vector3 p3 = Vector3(r.getMinusX(), r.getPlusY(), 0.0F);
// Translate
::glLoadName(TRANSLATE);
axis = Matrix4( Matrix3( 1.0F, 0.0F, 0.0F,
0.0F, 1.0F, 0.0F,
0.0F, 0.0F, 1.0F),
Vector3(0.0F,0.0F,0.0F),
scale);
drawCube(&_red_material, transform * axis);
// X Axis
::glLoadName(MINUS_X);
axis = Matrix4( Matrix3( 1.0F, 0.0F, 0.0F,
0.0F, 1.0F, 0.0F,
0.0F, 0.0F, 1.0F),
(p0+p3)*0.5F,
scale);
drawCube(&_red_material, transform * axis);
::glLoadName(PLUS_X);
axis = Matrix4( Matrix3( 1.0F, 0.0F, 0.0F,
0.0F, 1.0F, 0.0F,
0.0F, 0.0F, 1.0F),
(p1+p2)*0.5F,
scale);
drawCube(&_red_material, transform * axis);
// Y Axis
::glLoadName(MINUS_Y);
axis = Matrix4( Matrix3( 1.0F, 0.0F, 0.0F,
0.0F, 1.0F, 0.0F,
0.0F, 0.0F, 1.0F),
(p0+p1)*0.5F,
scale);
drawCube(&_red_material, transform * axis);
::glLoadName(PLUS_Y);
axis = Matrix4( Matrix3( 1.0F, 0.0F, 0.0F,
0.0F, 1.0F, 0.0F,
0.0F, 0.0F, 1.0F),
(p2+p3)*0.5F,
scale);
drawCube(&_red_material, transform * axis);
::glLoadName(0);
// Draw Lines
DrawBatcher b;
b.batchBegin(&_line_material, transform, DrawBatcher::BATCH_LINE_LOOP, DrawBatcher::FMT_V);
b.vertex(p0);
b.vertex(p1);
b.vertex(p2);
b.vertex(p3);
b.batchEnd();
::glPopName(); // Pop component
DrawUtils::activateCamera(camera);
}
void HelloVrui::display(GLContextData& contextData) const
{
/* Print the modelview and projection matrices: */
// GLdouble mv[16],p[16];
// glGetDoublev(GL_MODELVIEW_MATRIX,mv);
// glGetDoublev(GL_PROJECTION_MATRIX,p);
#if 0 // Printing matrices
std::cout << "Display matrices " << std::endl;
std::cout << "VRUI MV:" << std::endl;
for(int i=0;i<4;++i)
{
for(int j=0;j<4;++j)
std::cout<<" "<<std::setw(12)<<mv[i+j*4];
std::cout << std::endl;
}
std::cout << std::endl << "VRUI P:" << std::endl;
// std::cout<<" ";
for(int i=0;i<4;++i)
{
for(int j=0;j<4;++j)
std::cout<<" "<<std::setw(12)<<p[i+j*4];
std::cout<<std::endl;
}
std::cout<<std::endl;
#endif
/* Save OpenGL state: */
glPushAttrib(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT|GL_ENABLE_BIT|GL_LIGHTING_BIT|GL_POLYGON_BIT);
if(this->drawGLCube)
{
drawCube();
}
else
{
/* Directly set the projection and model view matrices for the camera
* This syncs up the VRUI and VTK camera
* NOTE: Since, VTK takes a transpose of the matrices internally
* before rendering, the matrices are transposed here first and then set
* on the camera to nullify the transpose.
*/
// double p1[16], mv1[16];
// this->transposeMatrix4x4(p,p1);
// this->cam->SetProjectionTransformMatrix(p);
// this->transposeMatrix4x4(mv,mv1);
// this->cam->SetViewTransformMatrix(mv);
/* Render the scene */
renWin->Render();
/* It is observed that in the VRUI coordinate space, VTK's +Z axis
* becomes the -Y axis. This causes, the light to always be at an
* inverse position to the camera. To counter-act this association, the
* light's transform matrix is set to an inverse of the camera's model
* view matrix.
*/
// vtkMatrix4x4* mat = 0;
// mat->DeepCopy(this->cam->GetModelViewTransformMatrix());
// if(!mat)
// {
// std::cout << "mat is null" << std::endl;
// }
// mat->Invert();
// vtkLightCollection* lC = this->ren->GetLights();
// lC->InitTraversal();
// vtkLight* light = lC->GetNextItem();
// light->SetTransformMatrix(mat);
}
glPopAttrib();
}