/**
* update the Horde tentacle according to Smr _tentacleIK
*/
static void updateTentacle()
{
//set of floats storing Horde's tentacle joints state
float tx,ty,tz,rx,ry,rz,foo;
double rrx,rry,rrz;
// a Horde handle towards a tentacle Bone (joint)
H3DNode tentacleBone;
// and its corresponding node in Smr
SMRKinematicJoint* ikJoint;
//get the transformation parameters from the SmrTentacle
for( unsigned int i=0; i < _tentacleIK->getNumJoints()-1 ; i++)
{
ikJoint = _tentacleIK->getJoint(i);
//get Horde tentacle's corresponding joint joint (Horde)
h3dFindNodes(H3DRootNode,ikJoint->getName().c_str(), H3DNodeTypes::Joint);
tentacleBone = h3dGetNodeFindResult(0);
h3dGetNodeTransform(tentacleBone,&tx,&ty,&tz,&rx,&ry,&rz,&foo,&foo,&foo);
//put the rotation values into euler angles (in degrees)
ikJoint->getOrientation().toEulerAngles(rrx,rry,rrz);
// update tentacle's joint according to Smr kinematic chain equivalent
h3dSetNodeTransform( tentacleBone, tx, ty, tz, radToDeg( ((float)(rrx)) ), radToDeg( ((float)(rry)) ), radToDeg( ((float)(rrz)) ), foo, foo, foo );
}
// orientate Horde tentacles root joint correctly //No more in the new version !
ikJoint = _tentacleIK->getJoint(0);
h3dFindNodes(H3DRootNode,ikJoint->getName().c_str(), H3DNodeTypes::Joint);
tentacleBone = h3dGetNodeFindResult(0);
h3dGetNodeTransform(tentacleBone,&tx,&ty,&tz,&rx,&ry,&foo,&foo,&foo,&foo);
h3dSetNodeTransform(tentacleBone,tx,ty,tz,rx,ry,rz,foo,foo,foo);
}
bool Gaze::moveEye(Joint *eye, Joint *aux_eye, bool simulate)
{
bool result = true;
float angle;
Horde3D::Vec3f axis;
AxisLock lock(true, false, false);
//clear eye rotation
eye->update();
Horde3D::Vec3f s = eye->getScale();
Horde3D::Vec3f p = eye->getTranslation();
Horde3D::Vec3f r = eye->getRotation();
h3dSetNodeTransform( eye->getHordeID(),
p.x,p.y,p.z,
Config::getParamF(IK_Param::DfltEyeRotX_F), Config::getParamF(IK_Param::DfltEyeRotY_F), Config::getParamF(IK_Param::DfltEyeRotZ_F),
s.x,s.y,s.z );
m_endEffector = aux_eye;
if( computeRotation(eye, &axis, &angle) )
{
if(!simulate)
result = applyRotation(eye, axis, angle, &lock, false);
else
result = simulateRotation(eye, axis, angle, &lock, r);
}
return result;
}
bool Gaze::moveHead(bool simulate)
{
bool result = true;
float angle;
Horde3D::Vec3f axis;
AxisLock lock(false, false, (Config::getParamI(IK_Param::UseZLock_I) == 0) ? false : true);
//clear head rotation
m_head->update();
Horde3D::Vec3f s = m_head->getScale();
Horde3D::Vec3f p = m_head->getTranslation();
Horde3D::Vec3f r = m_head->getRotation();
h3dSetNodeTransform( m_head->getHordeID(),
p.x,p.y,p.z,
0,0,0,
s.x,s.y,s.z );
if( computeHeadRotation(&axis, &angle) )
{
if(!simulate)
result = applyRotation(m_head, axis, angle, &lock, false);
else
result = simulateRotation(m_head, axis, angle, &lock, r);
}
return result;
}
void CrowdSim::init()
{
// Init random generator
//srand( (unsigned int)time( NULL ) );
srand( 99777 ); // Use fixed value for better performance comparisons
// Load character with walk animation
H3DRes characterRes = h3dAddResource( H3DResTypes::SceneGraph, "models/man/man.scene.xml", 0 );
H3DRes characterWalkRes = h3dAddResource( H3DResTypes::Animation, "animations/man.anim", 0 );
h3dutLoadResourcesFromDisk( _contentDir.c_str() );
// Add characters
for( unsigned int i = 0; i < 100; ++i )
{
Particle p;
// Add character to scene and apply animation
p.node = h3dAddNodes( H3DRootNode, characterRes );
h3dSetupModelAnimStage( p.node, 0, characterWalkRes, 0, "", false );
// Characters start in a circle formation
p.px = sinf( (i / 100.0f) * 6.28f ) * 10.0f;
p.pz = cosf( (i / 100.0f) * 6.28f ) * 10.0f;
chooseDestination( p );
h3dSetNodeTransform( p.node, p.px, 0.02f, p.pz, 0, 0, 0, 1, 1, 1 );
_particles.push_back( p );
}
}
void utils::setEntityPosition(int eID, Vec3f newPos)
{
//GameEvent translate(GameEvent::E_TRANSLATE_GLOBAL, &newPos, 0);
//GameEngine::sendEvent(eID, &translate);
unsigned int hiD = GameEngine::entitySceneGraphID(eID);
Vec3f p,r,s;
h3dGetNodeTransform( (H3DNode)hiD, &p.x,&p.y,&p.z, &r.x,&r.y,&r.z, &s.x,&s.y,&s.z );
h3dSetNodeTransform( (H3DNode)hiD, newPos.x,newPos.y,newPos.z, r.x,r.y,r.z, s.x,s.y,s.z );
};
Gaze::Gaze(Joint *head, Joint *lefteye, Joint *righteye) :
m_head(head), m_leye(lefteye), m_reye(righteye), m_aux_leye(0), m_aux_reye(0), m_headpitch(0), m_targetIsSet(false), m_gazeaux_res(0)
{
Horde3D::Vec3f p,r,s;
//clear rotations
lefteye->update();
s = lefteye->getScale();
p = lefteye->getTranslation();
h3dSetNodeTransform( lefteye->getHordeID(),
p.x,p.y,p.z,
Config::getParamF(IK_Param::DfltEyeRotX_F), Config::getParamF(IK_Param::DfltEyeRotY_F), Config::getParamF(IK_Param::DfltEyeRotZ_F),
s.x,s.y,s.z );
righteye->update();
s = righteye->getScale();
p = righteye->getTranslation();
h3dSetNodeTransform( righteye->getHordeID(),
p.x,p.y,p.z,
Config::getParamF(IK_Param::DfltEyeRotX_F), Config::getParamF(IK_Param::DfltEyeRotY_F), Config::getParamF(IK_Param::DfltEyeRotZ_F),
s.x,s.y,s.z );
//Generating 2 auxiliary eye nodes which will help us detrmine the orientation of each eye.
#ifdef IK_DEBUG
m_aux_leye = createGazeAux(lefteye, "gazeaux.scene.xml", "models/gazeaux/"); //WARNING, requires external gazeaux file
m_aux_reye = createGazeAux(righteye, "gazeaux.scene.xml", "models/gazeaux/"); //WARNING, requires external gazeaux file
#else
m_aux_leye = createGazeAux(lefteye);
m_aux_reye = createGazeAux(righteye);
#endif
//making a small position offset between the eye and the eyeaux
//ASSUMING the eye is oriented (1,0,0)
//Setting the auxiliar eye joint (in)visible
#ifdef IK_DEBUG
s = m_leye->getAbsScale();
h3dSetNodeTransform( m_aux_leye->getHordeID(), 0.5f, 0, 0, 0, 0, 0, 4.0f/s.x, 0.2f/s.y, 0.2f/s.z );
h3dSetNodeFlags( m_aux_leye->getHordeID(), 0, true );
s = m_reye->getAbsScale();
h3dSetNodeTransform( m_aux_reye->getHordeID(), 0.5f, 0, 0, 0, 0, 0, 4.0f/s.x, 0.2f/s.y, 0.2f/s.z );
h3dSetNodeFlags( m_aux_reye->getHordeID(), 0, true );
#else
h3dSetNodeTransform( m_aux_leye->getHordeID(), 0.5f, 0, 0, 0, 0, 0, 1, 1, 1 );
h3dSetNodeFlags( m_aux_leye->getHordeID(), H3DNodeFlags::Inactive, true );
h3dSetNodeTransform( m_aux_reye->getHordeID(), 0.5f, 0, 0, 0, 0, 0, 1, 1, 1 );
h3dSetNodeFlags( m_aux_reye->getHordeID(), H3DNodeFlags::Inactive, true );
#endif
if(m_head > 0 && m_leye > 0 && m_reye > 0 && m_aux_leye > 0 && m_aux_reye > 0)
GameLog::logMessage( "IKComponent loaded and initialized");
else
GameLog::errorMessage( "IKComponent: gaze failed to initialize" );
//Chek for missing DOFR information
if(m_head->getDOFR()->isWeak()) m_head->setDOFR(DOFRestrictions::HEAD);
if(m_leye->getDOFR()->isWeak()) m_leye->setDOFR(DOFRestrictions::LEFT_EYE);
if(m_reye->getDOFR()->isWeak()) m_reye->setDOFR(DOFRestrictions::RIGHT_EYE);
}
void QJointNode::addRepresentation()
{
QSceneNode* parentNode = static_cast<QSceneNode*>(parent());
unsigned int rootID = parentNode ? parentNode->hordeId() : H3DRootNode;
m_hordeID = h3dAddJointNode(rootID, qPrintable(m_xmlNode.attribute("name", "ATTENTION No Node Name")), m_xmlNode.attribute("jointIndex").toInt());
float x, y, z, rx, ry, rz, sx, sy, sz;
getTransformation(x,y,z,rx,ry,rz,sx,sy,sz);
h3dSetNodeTransform(m_hordeID, x, y, z, rx, ry, rz, sx, sy, sz);
// Attachment
QDomElement attachment = m_xmlNode.firstChildElement("Attachment");
SceneTreeModel* model = static_cast<SceneTreeModel*>(m_model);
AttachmentPlugIn* plugIn = model->nodeFactory()->attachmentPlugIn();
if (!attachment.isNull() && plugIn != 0)
plugIn->initNodeAttachment(this);
}
void Camera::setView(const Vector2 &size, const float fovDegrees, const Vector2 &clipDistances)
{
this->viewSize = size;
this->fovDegrees = fovDegrees;
this->clipDistances = clipDistances;
h3dSetNodeParamI(cameraNode, H3DCamera::ViewportXI, 0);
h3dSetNodeParamI(cameraNode, H3DCamera::ViewportYI, 0);
h3dSetNodeParamI(cameraNode, H3DCamera::ViewportWidthI, size.x);
h3dSetNodeParamI(cameraNode, H3DCamera::ViewportHeightI, size.y);
h3dSetupCameraView(cameraNode, fovDegrees, viewSize.x / viewSize.y, clipDistances.x, clipDistances.y);
h3dResizePipelineBuffers(Modules::renderer().getPipelineHandle(), viewSize.x, viewSize.y);
h3dSetNodeTransform(cameraNode, 0, 1.8f, 10.0f, 0 , 0, 0, 1, 1, 1);
h3dGetCameraProjMat(cameraNode, projMat.ptr());
projMat = Matrix4::initPerspMat(fovDegrees, size.x / size.y, clipDistances.x, clipDistances.y);
}
void QSceneNode::setRotation(const QVec3f& rotation)
{
if (signalsBlocked())
{
QVec3f pos = position();
QVec3f scaling = scale();
h3dSetNodeTransform(m_hordeID, pos.X, pos.Y, pos.Z, rotation.X, rotation.Y, rotation.Z, scaling.X, scaling.Y, scaling.Z);
m_xmlNode.setAttribute( "rx", QString::number( rotation.X, 'f', 5 ) );
m_xmlNode.setAttribute( "ry", QString::number( rotation.Y, 'f', 5 ) );
m_xmlNode.setAttribute( "rz", QString::number( rotation.Z, 'f', 5 ) );
}
else if (rotation != QSceneNode::rotation())
{
static const QString undoText = tr("Set Rotation");
if (m_model->undoStack()->undoText() == undoText)
m_model->undoStack()->push(new QXmlNodePropertyCommand(undoText, this, "Rotation", QVariant::fromValue(rotation), -1));
else
m_model->undoStack()->push(new QXmlNodePropertyCommand(undoText, this, "Rotation", QVariant::fromValue(rotation), TransformationID));
}
}
void QSceneNode::setScale(const QVec3f& scale)
{
if (signalsBlocked())
{
QVec3f pos = position();
QVec3f rot = rotation();
h3dSetNodeTransform(m_hordeID, pos.X, pos.Y, pos.Z, rot.X, rot.Y, rot.Z, scale.X, scale.Y, scale.Z);
m_xmlNode.setAttribute( "sx", QString::number( scale.X, 'f', 5 ) );
m_xmlNode.setAttribute( "sy", QString::number( scale.Y, 'f', 5 ) );
m_xmlNode.setAttribute( "sz", QString::number( scale.Z, 'f', 5 ) );
}
else if (scale != QSceneNode::scale())
{
static const QString undoText = tr("Set Scale");
if (m_model->undoStack()->undoText() == undoText)
m_model->undoStack()->push(new QXmlNodePropertyCommand(undoText, this, "Scale", QVariant::fromValue(scale), -1));
else
m_model->undoStack()->push(new QXmlNodePropertyCommand(undoText, this, "Scale", QVariant::fromValue(scale), TransformationID));
}
}
void QModelNode::addRepresentation()
{
m_resourceID = h3dAddResource(H3DResTypes::Geometry, qPrintable(m_xmlNode.attribute("geometry")), 0);
// Load resource immediately since a later call to loadResourceFromDisk results in a bad behaviour of the Horde3D engine
QString resourceName = h3dutGetResourcePath(H3DResTypes::Geometry);
if( !resourceName.isEmpty() && !resourceName.endsWith('/') && !resourceName.endsWith('\\'))
resourceName += '/';
resourceName += geometry();
QFile file(QFileInfo(resourceName).absoluteFilePath());
if (!file.open(QIODevice::ReadOnly))
qWarning("Error opening resource %s (%s)", qPrintable(m_xmlNode.attribute("geometry")), qPrintable( QFileInfo(resourceName).absoluteFilePath() ));
// Stupid return value, if false it can also be the case that the resource was loaded before instead of that their was an error
h3dLoadResource(m_resourceID, file.readAll().constData(), file.size());
file.close();
QSceneNode* parentNode = static_cast<QSceneNode*>(parent());
unsigned int rootID = parentNode ? parentNode->hordeId() : H3DRootNode;
m_hordeID = h3dAddModelNode(rootID, qPrintable(m_xmlNode.attribute("name", "ATTENTION No Node Name")), m_resourceID);
float x, y, z, rx, ry, rz, sx, sy, sz;
getTransformation(x,y,z,rx,ry,rz,sx,sy,sz);
h3dSetNodeTransform(m_hordeID, x, y, z, rx, ry, rz, sx, sy, sz);
h3dSetNodeParamI(m_hordeID, H3DModel::SWSkinningI, softwareSkinning());
h3dSetNodeParamF(m_hordeID, H3DModel::LodDist1F, 0, lodDist1());
h3dSetNodeParamF(m_hordeID, H3DModel::LodDist2F, 0, lodDist2());
h3dSetNodeParamF(m_hordeID, H3DModel::LodDist3F, 0, lodDist3());
h3dSetNodeParamF(m_hordeID, H3DModel::LodDist4F, 0, lodDist4());
// Attachment
QDomElement attachment = m_xmlNode.firstChildElement("Attachment");
SceneTreeModel* model = static_cast<SceneTreeModel*>(m_model);
AttachmentPlugIn* plugIn = model->nodeFactory()->attachmentPlugIn();
if (!attachment.isNull() && plugIn != 0)
plugIn->initNodeAttachment(this);
}
void gameLoop()
{
frameNum++;
//LOG("doFrame()...");
doFrame();
h3dSetNodeTransform(cam,
//0, 0, 0,
0, 10, 10,
_rx ,_ry, 0,
1, 1, 1
);
//LOG("h3dRender(cam)...");
h3dRender(cam);
//LOG("h3dutShowFrameStats(fontMatRes, panelMatRes, 2)...");
h3dutShowFrameStats(fontMatRes, panelMatRes, 2);
#if 0
//int n = snprintf(text, textLen - 1, "Frame %d: %f ms", frameNum, msSinceLastFrame());
//int n = snprintf(text, textLen - 1, "Frame %d", frameNum % 32);
int n = snprintf(text, textLen - 1, "Frame %d", frameNum);
LOG("Showing text \"%s\" (wrote %d chars) with color (%d, %d, %d)", text, n, frameNum % 2, (frameNum >> 1) % 2, (frameNum >> 2) % 2);
h3dutShowText(text,
0.5, 0.5, // Position
0.05, // Size (scale)
frameNum % 2, (frameNum >> 1) % 2, (frameNum >> 2) % 2, // Color (RGB)
fontMatRes // Font material
);
#endif
//LOG("h3dFinalizeFrame()...");
h3dFinalizeFrame();
//LOG("Frame finished.");
} // end gameLoop
void SceneGraphComponent::setParentNode(H3DNode newParentNode, const Attach* data)
{
if (m_hordeID > 0)
{
if(data->Child && strcmp(data->Child,"") != 0 )
{
int nodes = h3dFindNodes( newParentNode, data->Child, H3DNodeTypes::Undefined );
H3DNode child = h3dGetNodeFindResult(0);
h3dSetNodeParent(m_hordeID, child);
}
else
{
h3dSetNodeParent(m_hordeID, newParentNode);
}
h3dSetNodeTransform(m_hordeID,data->Tx,data->Ty, data->Tz,
data->Rx, data->Ry, data->Rz,
data->Sx, data->Sy, data->Sz);
checkTransformation();
}
}
void Camera::_update()
{
Utils::Vec3f pos = _relative + _target;
Utils::Vec3f angle = (-_relative).toRotation();
angle.x = Utils::radToDeg(angle.x);
angle.y = Utils::radToDeg(angle.y);
angle.z = Utils::radToDeg(angle.z);
h3dSetNodeTransform(
handle,
pos.x, pos.y, pos.z,
angle.x, angle.y, angle.z,
//angle.x, angle.y, angle.z,
1.0, 1.0, 1.0);
const float* mat_data;
h3dGetNodeTransMats(handle, nullptr, &mat_data);
_inv_modelview_mat = Utils::Matrix4f(mat_data).inverted();
Utils::Matrix4f::fastMult43(_screenspace_mat, _proj_mat,
_inv_modelview_mat);
return;
}
void QTerrainNode::addRepresentation()
{
m_heightMapID = h3dAddResource(
H3DResTypes::Texture,
qPrintable(m_xmlNode.attribute("heightmap")),
H3DResFlags::NoTexCompression | H3DResFlags::NoTexMipmaps );
m_materialID = h3dAddResource(H3DResTypes::Material, qPrintable(m_xmlNode.attribute("material")), 0);
// Load resource immediately since a later call to loadResourceFromDisk results in a bad behaviour of the Horde3D engine
QDir textureDir( QDir::current() );
QFile file(textureDir.absoluteFilePath(m_xmlNode.attribute("heightmap")));
if (!file.open(QIODevice::ReadOnly))
qWarning("Error opening resource %s", qPrintable(m_xmlNode.attribute("heightmap")));
// Stupid return value, if false it can also be the case that the resource was loaded before instead of that their was an error
h3dLoadResource(m_heightMapID, file.readAll().constData(), file.size());
file.close();
QSceneNode* parentNode = static_cast<QSceneNode*>(parent());
unsigned int rootID = parentNode ? parentNode->hordeId() : H3DRootNode;
m_hordeID = h3dextAddTerrainNode(rootID, qPrintable(m_xmlNode.attribute("name", "ATTENTION No Node Name")), m_heightMapID, m_materialID);
h3dSetNodeParamI(m_hordeID, H3DEXTTerrain::BlockSizeI, blockSize());
h3dSetNodeParamF(m_hordeID, H3DEXTTerrain::MeshQualityF, 0, meshQuality());
h3dSetNodeParamF(m_hordeID, H3DEXTTerrain::SkirtHeightF, 0, skirtHeight());
float x, y, z, rx, ry, rz, sx, sy, sz;
getTransformation(x,y,z,rx,ry,rz,sx,sy,sz);
h3dSetNodeTransform(m_hordeID, x, y, z, rx, ry, rz, sx, sy, sz);
// Attachment
QDomElement attachment = m_xmlNode.firstChildElement("Attachment");
SceneTreeModel* model = static_cast<SceneTreeModel*>(m_model);
AttachmentPlugIn* plugIn = model->nodeFactory()->attachmentPlugIn();
if (!attachment.isNull() && plugIn != 0)
plugIn->initNodeAttachment(this);
}
H3DView(int winWidth, int winHeight) :
BulletEngineTest(),
//model(0),
cam(0),
frameNum(0),
text(NULL), textLen(32),
_rx(15), _ry(-50),
//_rx(0), _ry(0),
_prev_x(0), _prev_y(0),
_mouseEnteredThisFrame(false)
{
assert(view == NULL);
view = this;
text = new char[textLen];
memset(text, 0, textLen);
LOG("Initializing Horde3D...");
h3dInit();
h3dSetOption(H3DOptions::MaxAnisotropy, 8);
h3dSetOption(H3DOptions::SampleCount, 16);
//h3dSetOption(H3DOptions::WireframeMode, 1);
//h3dSetOption(H3DOptions::DebugViewMode, 1);
h3dSetOption(H3DOptions::GatherTimeStats, 1);
LOG("Declaring resources...");
pipeRes = h3dAddResource(H3DResTypes::Pipeline, "pipelines/forward.pipeline.xml", 0);
H3DRes skyBoxRes = h3dAddResource(H3DResTypes::SceneGraph, "models/skybox/skybox.scene.xml", 0);
//modelRes = h3dAddResource(H3DResTypes::SceneGraph, "models/AssJacket/AssJacket.scene.xml", 0);
//modelRes = h3dAddResource(H3DResTypes::SceneGraph, "models/ares/ares.scene.xml", 0);
modelRes = h3dAddResource(H3DResTypes::SceneGraph, "models/man/man.scene.xml", 0);
fontMatRes = h3dAddResource(H3DResTypes::Material, "overlays/font.material.xml", 0);
panelMatRes = h3dAddResource(H3DResTypes::Material, "overlays/panel.material.xml", 0);
LOG("Loading resources from disk...");
h3dutLoadResourcesFromDisk("/home/whitelynx/devel/other/Horde3D/build-make/Binaries/Content"
"|/home/whitelynx/devel/skewedaspect/precursors-client/resources/content");
LOG("Building scene...");
/*
// Add model to scene
model = h3dAddNodes(H3DRootNode, modelRes);
h3dSetNodeTransform(model,
0, 0, -500, // Translation
0, 0, 0, // Rotation
1, 1, 1 // Scale
);
*/
// Add light source
H3DNode light = h3dAddLightNode(H3DRootNode, "Light1", 0, "LIGHTING", "SHADOWMAP");
// Set light position and radius
h3dSetNodeTransform(light,
0, 20, 0,
0, 0, 0,
10, 10, 10
);
h3dSetNodeParamF(light, H3DLight::RadiusF, 0, 50.0f);
LOG("Setting up camera...");
cam = h3dAddCameraNode(H3DRootNode, "Camera", pipeRes);
resizeViewport(winWidth, winHeight);
#if 1
H3DNode sky = h3dAddNodes(H3DRootNode, skyBoxRes);
h3dSetNodeTransform(sky,
0, 0, 0, // Translation
0, 0, 0, // Rotation
210, 50, 210 // Scale
);
h3dSetNodeFlags(sky, H3DNodeFlags::NoCastShadow, true);
#endif
LOG("Setting BulletEngine callbacks...");
setMakeModelCallback(&makeModelCB);
setUpdateModelCallback(&updateModelCB);
LOG("Initializing physics...");
initPhysics();
LOG("Ready.");
} // end H3DView
void QEmitterNode::addRepresentation()
{
m_matResource = h3dAddResource(H3DResTypes::Material, qPrintable(m_xmlNode.attribute("material")), 0);
// Load resource immediately since a later call to loadResourceFromDisk results in a bad behaviour of the Horde3D engine
QString resourceName = h3dutGetResourcePath(H3DResTypes::Material);
if( !resourceName.isEmpty() && !resourceName.endsWith('/') && !resourceName.endsWith('\\') )
resourceName += '/';
resourceName += m_xmlNode.attribute("material");
QFile matFile(QFileInfo(resourceName).absoluteFilePath());
if (!matFile.open(QIODevice::ReadOnly))
qWarning("Error opening resource %s", qPrintable(m_xmlNode.attribute("material")));
// Stupid return value, if false it can also be the case that the resource was loaded before instead of that their was an error
h3dLoadResource(m_matResource, matFile.readAll().append('\0').constData(), matFile.size() + 1);
matFile.close();
m_effectResource = h3dAddResource(H3DResTypes::ParticleEffect, qPrintable(m_xmlNode.attribute("particleEffect")), 0);
// Load resource immediately since a later call to loadResourceFromDisk results in a bad behaviour of the Horde3D engine
resourceName = h3dutGetResourcePath(H3DResTypes::ParticleEffect);
if (!resourceName.isEmpty() && !resourceName.endsWith('/') && !resourceName.endsWith('\\'))
resourceName += '/';
resourceName += m_xmlNode.attribute("particleEffect");
QFile effectFile(QFileInfo(resourceName).absoluteFilePath());
if (!effectFile.open(QIODevice::ReadOnly))
qWarning("Error opening resource %s", qPrintable(m_xmlNode.attribute("particleEffect")));
// Stupid return value, if false it can also be the case that the resource was loaded before instead of that their was an error
h3dLoadResource(m_effectResource, effectFile.readAll().append('\0').constData(), effectFile.size()+1);
effectFile.close();
QSceneNode* parentNode = static_cast<QSceneNode*>(parent());
unsigned int rootID = parentNode ? parentNode->hordeId() : H3DRootNode;
m_hordeID = h3dAddEmitterNode(
rootID,
qPrintable(m_xmlNode.attribute("name", "ATTENTION No Node Name")),
m_matResource,
m_effectResource,
m_xmlNode.attribute("maxCount").toUInt(),
m_xmlNode.attribute("respawnCount").toInt()
);
h3dSetNodeParamF(m_hordeID, H3DEmitter::ForceF3, 0, m_xmlNode.attribute("forceX", "0.0").toFloat());
h3dSetNodeParamF(m_hordeID, H3DEmitter::ForceF3, 1, m_xmlNode.attribute("forceY", "0.0").toFloat());
h3dSetNodeParamF(m_hordeID, H3DEmitter::ForceF3, 2, m_xmlNode.attribute("forceZ", "0.0").toFloat());
h3dSetNodeParamF(m_hordeID, H3DEmitter::DelayF, 0, m_xmlNode.attribute("delay", "0.0").toFloat());
h3dSetNodeParamF(m_hordeID, H3DEmitter::SpreadAngleF, 0, m_xmlNode.attribute("spreadAngle", "0.0").toFloat());
h3dSetNodeParamF(m_hordeID, H3DEmitter::EmissionRateF, 0, m_xmlNode.attribute("emissionRate", "0.0").toFloat());
// load transformation from file...
float x, y, z, rx, ry, rz, sx, sy, sz;
getTransformation(x,y,z,rx,ry,rz,sx,sy,sz);
// ...and update scene representation
h3dSetNodeTransform(m_hordeID, x, y, z, rx, ry, rz, sx, sy, sz);
// Attachment
QDomElement attachment = m_xmlNode.firstChildElement("Attachment");
SceneTreeModel* model = static_cast<SceneTreeModel*>(m_model);
AttachmentPlugIn* plugIn = model->nodeFactory()->attachmentPlugIn();
if (!attachment.isNull() && plugIn != 0)
plugIn->initNodeAttachment(this);
startTimer(100);
}
bool Application::init()
{
// Initialize engine and open default sound device
if( !h3dInit() || !h3dOpenDevice( 0x0 ) )
{
h3dutDumpMessages();
return false;
}
// Set options
h3dSetOption( H3DOptions::LoadTextures, 1 );
h3dSetOption( H3DOptions::TexCompression, 0 );
h3dSetOption( H3DOptions::FastAnimation, 0 );
h3dSetOption( H3DOptions::MaxAnisotropy, 4 );
h3dSetOption( H3DOptions::ShadowMapSize, 2048 );
// Add resources
// Pipelines
_hdrPipeRes = h3dAddResource( H3DResTypes::Pipeline, "pipelines/hdr.pipeline.xml", 0 );
_forwardPipeRes = h3dAddResource( H3DResTypes::Pipeline, "pipelines/forward.pipeline.xml", 0 );
// Overlays
_fontMatRes = h3dAddResource( H3DResTypes::Material, "overlays/font.material.xml", 0 );
_panelMatRes = h3dAddResource( H3DResTypes::Material, "overlays/panel.material.xml", 0 );
_logoMatRes = h3dAddResource( H3DResTypes::Material, "overlays/logo.material.xml", 0 );
// Environment
H3DRes floorRes = h3dAddResource( H3DResTypes::SceneGraph, "models/tiles/tiles.scene.xml", 0 );
// Knight
H3DRes speakerRes = h3dAddResource( H3DResTypes::SceneGraph, "models/speaker/speaker.scene.xml", 0 );
// Music
_soundRes = h3dAddResource( RST_SoundResource, "sounds/stringed_disco.ogg", 0 );
// Load resources
h3dutLoadResourcesFromDisk( _contentDir.c_str() );
// Add scene nodes
// Add camera
_cam = h3dAddCameraNode( H3DRootNode, "Camera", _hdrPipeRes );
//h3dSetNodeParamI( _cam, CameraNodeParams::OcclusionCulling, 1 );
// Add listener to the camera
H3DNode listener = h3dAddListenerNode( _cam, "Listener" );
h3dSetActiveListener( listener );
// Add floor
H3DNode floor = h3dAddNodes( H3DRootNode, floorRes );
h3dSetNodeTransform( floor, 0, -0.125, 0, 0, 0, 0, 1, 1, 1 );
// Add the speakers
H3DNode speaker1 = h3dAddNodes( H3DRootNode, speakerRes );
h3dSetNodeTransform( speaker1, -2, 0, -2, 0, 215.0f, 0, 1, 1, 1 );
H3DNode speaker2 = h3dAddNodes( H3DRootNode, speakerRes );
h3dSetNodeTransform( speaker2, 2, 0, -2, 0, 145.0f, 0, 1, 1, 1 );
// Add music to the speakers
_sound1 = h3dAddSoundNode( speaker1, "Sound1", _soundRes );
_sound2 = h3dAddSoundNode( speaker2, "Sound2", _soundRes );
// Add light source
_light = h3dAddLightNode( H3DRootNode, "Light1", 0, "LIGHTING", "SHADOWMAP" );
h3dSetNodeTransform( _light, 0, 7, 0, -90, 0, 0, 1, 1, 1 );
h3dSetNodeParamF( _light, H3DLight::RadiusF, 0, 30 );
h3dSetNodeParamF( _light, H3DLight::FovF, 0, 90 );
h3dSetNodeParamI( _light, H3DLight::ShadowMapCountI, 1 );
h3dSetNodeParamF( _light, H3DLight::ShadowMapBiasF, 0, 0.01f );
// Set the distance model
h3dSetDistanceModel( _distanceModel );
// Set the timer so the light immediately gets a random color
_lightTimer = 1.0f;
// Customize post processing effects
H3DRes matRes = h3dFindResource( H3DResTypes::Material, "pipelines/postHDR.material.xml" );
// hdrParams: exposure, brightpass threshold, brightpass offset (see shader for description)
h3dSetMaterialUniform( matRes, "hdrParams", 2.0f, 0.6f, 0.08f, 0 );
// Play the music
h3dPlaySound( _sound1 );
h3dPlaySound( _sound2 );
return true;
}
void Application::mainLoop( float timeSinceLastFrame )
{
keyHandler( timeSinceLastFrame );
// Set camera parameters
h3dSetNodeTransform( _cam, _x, _y, _z, _rx ,_ry, 0, 1, 1, 1 );
_lightTimer += timeSinceLastFrame;
// Has it gone a second since the light changed color?
if( _lightTimer >= 1.0f )
{
// Set a random light color
switch( rand() % 6 )
{
case 0:
// Red
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 0.0f );
break;
case 1:
// Green
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 0.0f );
break;
case 2:
// Blue
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 1.0f );
break;
case 3:
// Yellow
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 0.0f );
break;
case 4:
// Purple
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 1.0f );
break;
case 5:
// Cyan
h3dSetNodeParamF( _light, H3DLight::ColorF3, 0, 0.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 1, 1.0f );
h3dSetNodeParamF( _light, H3DLight::ColorF3, 2, 1.0f );
break;
}
// Reset the timer
_lightTimer = 0.0f;
}
// Show stats
h3dutShowFrameStats( _fontMatRes, _panelMatRes, _statMode );
if( _statMode > 0 )
{
displaySoundInfo();
}
// Show logo
const float ww = (float)h3dGetNodeParamI( _cam, H3DCamera::ViewportWidthI ) /
(float)h3dGetNodeParamI( _cam, H3DCamera::ViewportHeightI );
const float ovLogo[] = { ww-0.4f, 0.8f, 0, 1, ww-0.4f, 1, 0, 0, ww, 1, 1, 0, ww, 0.8f, 1, 1 };
h3dShowOverlays( ovLogo, 4, 1.f, 1.f, 1.f, 1.f, _logoMatRes, 0 );
// Render scene
h3dRender( _cam );
// Finish rendering of frame
h3dFinalizeFrame();
// Remove all overlays
h3dClearOverlays();
// Write all mesages to log file
h3dutDumpMessages();
}
bool Gaze::computeHeadRotation( Horde3D::Vec3f *out_axis, float *out_angleRad)
{
//Saving the current eye transformation
Horde3D::Vec3f p,r,s;
m_leye->update();
Horde3D::Matrix4f eyeTransf( m_leye->getRelTransf()->x );
eyeTransf.decompose( p, r, s );
//Computing the head pitch
// Allow (-10 , +10) values for head_picth
// where -10 means a higher angle for the "pointing joint" therefor a "less arrogant" gaze
// and +10 means a lower angle for the "point joint" therefor a "more arrogant" gaze
if(m_headpitch > 10) m_headpitch = 10;
else if(m_headpitch < -10) m_headpitch = -10;
m_headpitch = (m_headpitch > 0) ?
m_headpitch + (int)((m_headpitch/2)*(m_headpitch/2)) :
m_headpitch - (int)((m_headpitch/2)*(m_headpitch/2));
//We simplify the geometric problem by saying that the head's rotational adjustment is the same as the eye's
//if we position it at the center of the distance between the two eyes
//This, depending on the skeleton, may be inaccurate
//First, we must temporary position the eye in the center of the face,
//clear its rotations and calculate the endPos
//This computation is skeleton specific. Remove comments from desired aproach (TODO: better implementation)
//You MUST also set the DfltEyeRot parameters to correspond to the "looking straight ahead" rotation of the eyes
//** 1. Eyetype: x-axis goes left (or right), y-axis goes up (or down), z-axis comes out of the eye
// Known skeletons:
// - Ritchie (some versions, Bip01-Skeleton used at Human Centered Multimedia, Augsburg University)
//h3dSetNodeTransform( m_leye->getHordeID(),
// 0, p.y, p.z,
// (float)(Config::getParamF(IK_Param::DfltEyeRotX_F) + m_headpitch), Config::getParamF(IK_Param::DfltEyeRotY_F), Config::getParamF(IK_Param::DfltEyeRotZ_F),
// 1, 1, 1);
//** 2. Eyetype: x-axis goes up (or down), y-axis goes left (or right), z-axis comes out of the eye
// Known skeletons:
// - Biergarten Agents (Bip01-Skeleton used at Human Centered Multimedia, Augsburg University)
// - Ritchie (some versions, Bip01-Skeleton used at Human Centered Multimedia, Augsburg University)
h3dSetNodeTransform( m_leye->getHordeID(),
p.x, 0, p.z,
Config::getParamF(IK_Param::DfltEyeRotX_F), (float)(Config::getParamF(IK_Param::DfltEyeRotY_F) + m_headpitch), Config::getParamF(IK_Param::DfltEyeRotZ_F),
1, 1, 1);
//** 3. Eyetype: x-axis comes out of the eye, y-axis goes up (or down), z-axis goes left (or right)
// Known skeletons:
// - Hamster (CAT-Skeleton used at Human Centered Multimedia, Augsburg University)
//h3dSetNodeTransform( m_leye->getHordeID(),
// p.x, p.y, 0,
// Config::getParamF(IK_Param::DfltEyeRotX_F), Config::getParamF(IK_Param::DfltEyeRotY_F), (float)(Config::getParamF(IK_Param::DfltEyeRotZ_F) + m_headpitch),
// 1, 1, 1);
m_aux_leye->update();
Horde3D::Vec3f endPos = m_aux_leye->getAbsTranslation();
//Second, we have to align the eye's coordinate system with the head's coordinate system
//We eliminate all rotations from the eye's coordinate system
h3dSetNodeTransform( m_leye->getHordeID(),
p.x, 0, p.z,
0, 0, 0,
1, 1, 1);
m_leye->update();
//We create the 2 vectors and normalize them
Horde3D::Vec3f targetVec = m_leye->getAbsTransf()->inverted() * m_target;
Horde3D::Vec3f currentVec = m_leye->getAbsTransf()->inverted() * endPos;
targetVec = targetVec.normalized();
currentVec = currentVec.normalized();
//Finally, we reset the transformations
h3dSetNodeTransMat( m_leye->getHordeID(), eyeTransf.x );
//get angle between vectors
float angleCos = targetVec.dot(currentVec);
if(angleCos < 1.0f - Config::getParamF(IK_Param::CCDRotJitterTolerance_F) )
{
*out_angleRad = -acosf(angleCos);
//get vector perpendicular to the plain described by two vectors
*out_axis = targetVec.cross( currentVec );
*out_axis = out_axis->normalized();
return true;
}
return false;
}
void TentacleApplication::mainLoop( float fps )
{
_curFPS = fps;
_timer += 1 / fps;
keyHandler();
h3dSetOption( H3DOptions::DebugViewMode, _debugViewMode ? 1.0f : 0.0f );
h3dSetOption( H3DOptions::WireframeMode, _wireframeMode ? 1.0f : 0.0f );
if( !_freeze )
{
float tx,ty,tz,foo;
h3dGetNodeTransform(_fly,&tx,&ty,&tz,&foo,&foo,&foo,&foo,&foo,&foo);
if (!_freezeFly)
{
// routhly simulates the random fly of a fly
if((rand() % 100)>95)
{
_dx = ((ranf()))/50.0f;
_dy = ((ranf()))/50.0f;
_dz = ((ranf()))/50.0f;
}
// change fly position
h3dSetNodeTransform( _fly, tx+_dx, ty+_dy, tz+_dz, 0, 0, 0, 0.2f, 0.2f, 0.2f );
if (tx < -4.0) _dx = 0.05f;
if (tx > 4.0) _dx = -0.05f;
if (ty < 0.0) _dy = 0.05f;
if (ty > 6.0) _dy = -0.05f;
if (tz < -4.0) _dz = 0.05f;
if (tz > 4.0) _dz = -0.05f;
h3dGetNodeTransform(_fly,&tx,&ty,&tz,&foo,&foo,&foo,&foo,&foo,&foo);
//update constraint position according to fly position
_ikConstraint->setPosition(SMRVector3(tx, ty, tz));
}
if (!_freezeIK || _ikStep)
{
//Compute inverse kinematics
_currentSolver->process();
// update tentacle's joint (IK)
updateTentacle();
_ikStep = false;
}
}
// Set camera parameters
h3dSetNodeTransform( _cam, _x, _y, _z, _rx ,_ry, 0, 1, 1, 1 );
if( _showFPS )
{
// Avoid updating FPS text every frame to make it readable
if( _timer > 0.3f )
{
_fpsText.str( "" );
_fpsText << "FPS: " << fixed << setprecision( 2 ) << _curFPS;
_timer = 0;
}
// Show text
//h3dutShowText( _fpsText.str().c_str(), 0, 0.95f, 0.03f, 0, _fontMatRes );
}
// Show title
//h3dutShowText( "Comparing Standard IK algorithms.", 0.0f, 0.90f, 0.03f, 0, _fontMatRes );
// Show IK method
//h3dutShowText( _ikMethodString, 0.6f, 0.80f, 0.03f, 0, _fontMatRes );
// Show logo
//h3dShowOverlay( 0.7f, 0.2, 0, 0,
// 1, 0.2, 1, 0,
// 1, 0.6f, 1, 1,
// 0.7f, 0.6f, 0, 1,
// 7, _invJacMatRes );
// Render scene
h3dRender( _cam );
// Remove all overlays
h3dClearOverlays();
// Write all mesages to log file
h3dutDumpMessages();
}
void CrowdSim::update( float fps )
{
// Parameters for three repulsion zones
float d1 = 0.25f, d2 = 2.0f, d3 = 4.5f;
float f1 = 3.0f, f2 = 1.0f, f3 = 0.1f;
for( unsigned int i = 0; i < _particles.size(); ++i )
{
Particle &p = _particles[i];
// Reset force
p.fx = 0; p.fz = 0;
// Calculate distance to destination
float dist = sqrtf( (p.dx - p.px)*(p.dx - p.px) + (p.dz - p.pz)*(p.dz - p.pz) );
// If destination not reached walk to destination
if( dist > 3.0f )
{
// Calculate normalized attraction force to destination
float afx = (p.dx - p.px) / dist;
float afz = (p.dz - p.pz) / dist;
p.fx += afx * 0.035f; p.fz += afz * 0.035f;
// Repulsion forces from other particles
for( unsigned int j = 0; j < _particles.size(); ++j )
{
if( j == i ) continue;
Particle &p2 = _particles[j];
float dist2 = sqrtf( (p.px - p2.px)*(p.px - p2.px) + (p.pz - p2.pz)*(p.pz - p2.pz) );
float strength = 0;
float rfx = (p.px - p2.px) / dist2;
float rfz = (p.pz - p2.pz) / dist2;
// Use three zones with different repulsion strengths
if( dist2 <= d3 && dist2 > d2 )
{
float m = (f3 - 0) / (d2 - d3);
float t = 0 - m * d3;
strength = m * dist2 + t;
}
else if( dist2 <= d2 && dist2 > d1 )
{
float m = (f2 - f3) / (d1 - d2);
float t = f3 - m * d2;
strength = m * dist2 + t;
}
else if( dist2 <= d1 )
{
float m = (f1 - f2) / (0 - d1);
float t = f2 - m * d1;
strength = m * dist2 + t;
}
p.fx += rfx * strength; p.fz += rfz * strength;
}
}
else
{
// Choose new destination
chooseDestination( p );
}
// Make movement framerate independent
p.fx *= (30 / fps);
p.fz *= (30 / fps);
float vel = sqrtf( p.fx * p.fx + p.fz * p.fz );
// Set new position
p.px += p.fx; p.pz += p.fz;
// Calculate orientation
p.ox = (p.ox + p.fx) / 2;
p.oz = (p.oz + p.fz) / 2;
// Get rotation from orientation
float ry = 0;
if( p.oz != 0 ) ry = atan2( p.ox, p.oz );
ry *= 180 / 3.1415f; // Convert from radians to degrees
// Update character scene node position
h3dSetNodeTransform( p.node, p.px, 0.02f, p.pz, 0, ry, 0, 1, 1, 1 );
// Update animation
p.animTime += vel * 35.0f;
h3dSetModelAnimParams( p.node, 0, p.animTime, 1.0f );
h3dUpdateModel( p.node, H3DModelUpdateFlags::Animation | H3DModelUpdateFlags::Geometry );
}
}
bool TentacleApplication::init()
{
// Initialize engine
if( !h3dInit() )
{
h3dutDumpMessages();
return false;
}
// Set options
h3dSetOption( H3DOptions::LoadTextures, 1 );
h3dSetOption( H3DOptions::TexCompression, 0 );
h3dSetOption( H3DOptions::MaxAnisotropy, 4 );
h3dSetOption( H3DOptions::ShadowMapSize, 2048 );
h3dSetOption( H3DOptions::FastAnimation, 1 );
// Add resources
// Pipelines
_hdrPipeRes = h3dAddResource( H3DResTypes::Pipeline, "pipelines/hdr.pipeline.xml", 0 );
_forwardPipeRes = h3dAddResource( H3DResTypes::Pipeline, "pipelines/forward.pipeline.xml", 0 );
// Font
_fontMatRes = h3dAddResource( H3DResTypes::Material, "overlays/font.material.xml", 0 );
// Logo
_logoMatRes = h3dAddResource( H3DResTypes::Material, "overlays/logo.material.xml", 0 );
// invJacXpl
//_invJacMatRes = h3dAddResource( H3DResTypes::Material, "materials/invJac.material.xml", 0 );
// Environment
H3DRes envRes = h3dAddResource( H3DResTypes::SceneGraph, "models/sphere/sphere.scene.xml", 0 );
// Tentacle
H3DRes tentacleRes = h3dAddResource( H3DResTypes::SceneGraph, "models/tentacle.scene.xml", 0 );
// Fly
H3DRes flyRes = h3dAddResource( H3DResTypes::SceneGraph, "models/fly.scene.xml", 0 );
_dx = _dy = _dz = 0;
// Load resources
h3dutLoadResourcesFromDisk( _contentDir.c_str() );
// Add scene nodes
// Add camera
_cam = h3dAddCameraNode( H3DRootNode, "Camera", _forwardPipeRes );
// Add environment
H3DNode env = h3dAddNodes( H3DRootNode, envRes );
h3dSetNodeTransform( env, 0, -20, 0, 0, 0, 0, 20, 20, 20 );
// Add tentacle node
_tentacle = h3dAddNodes( H3DRootNode, tentacleRes );
h3dSetNodeTransform( _tentacle, 0, 0, 0, 0, 0, 0.0, 1.0f, 1.0f, 1.0f );
// Create tentacle kinematic chain
_tentacleIK = setUpKinematikChain(_tentacle);
//cout << _tentacleIK->getEndPosition(_tentacleIK->getNumJoints()-1);
//_ikCCDSolver = new SmrCCDSolver(_tentacleIK);
//_ikCCDSolver->addConstraintPtr(_ikConstraint);
_ikGSMMSolver = new SMRGSMMSolver(_tentacleIK);
_ikGSMMSolver->addConstraintPtr(_ikConstraint);
_ikInvJacSolver = new SMRInvJacSolver(_tentacleIK);
_ikInvJacSolver->addConstraintPtr(_ikConstraint);
//delete(_tentacleIK);
_currentSolver = _ikInvJacSolver;
_ikMethodString = "J pseudo-inverse";
// Add fly node
_fly = h3dAddNodes( H3DRootNode, flyRes );
h3dSetNodeTransform( _fly, 0, 4, 0, 0, 0, 0, 0.2f, 0.2f, 0.2f );
// Add light source
H3DNode light = h3dAddLightNode( H3DRootNode, "Light1", 0, "LIGHTING", "SHADOWMAP" );
h3dSetNodeTransform( light, 0, 15, 10, -60, 0, 0, 1, 1, 1 );
h3dSetNodeParamF( light, H3DLight::RadiusF,0, 30 );
h3dSetNodeParamF( light, H3DLight::FovF,0, 90 );
h3dSetNodeParamI( light, H3DLight::ShadowMapCountI, 0 );
h3dSetNodeParamF( light, H3DLight::ShadowMapBiasF,0, 0.01f );
h3dSetNodeParamF( light, H3DLight::ColorF3,0, 1.0f );
h3dSetNodeParamF( light, H3DLight::ColorF3,1, 0.8f );
h3dSetNodeParamF( light, H3DLight::ColorF3,2, 0.7f );
// Customize post processing effects
H3DNode matRes = h3dFindResource( H3DResTypes::Material, "pipelines/postHDR.material.xml" );
//hdrParams: exposure, brightpass threshold, brightpass offset (see shader for description)
h3dSetMaterialUniform( matRes, "hdrParams", 2.5f, 0.5f, 0.08f, 0 );
return true;
}
