const char*
scale_scene_node(const char *node, point_t center, scalar_t factor[3] )
{
scene_node_t *nodePtr;
matrixgl_t matrix;
if ( get_scene_node( node, &nodePtr ) != TCL_OK ) {
return "No such node";
}
make_translation_matrix( matrix, -center.x, -center.y, -center.z );
multiply_matrices( nodePtr->trans, nodePtr->trans, matrix );
make_translation_matrix( matrix, center.x, center.y, center.z );
multiply_matrices( nodePtr->invtrans, matrix, nodePtr->invtrans );
make_scaling_matrix( matrix, factor[0], factor[1], factor[2] );
multiply_matrices( nodePtr->trans, nodePtr->trans, matrix );
make_scaling_matrix( matrix, 1./factor[0], 1./factor[1], 1./factor[2] );
multiply_matrices( nodePtr->invtrans, matrix, nodePtr->invtrans );
make_translation_matrix( matrix, center.x, center.y, center.z );
multiply_matrices( nodePtr->trans, nodePtr->trans, matrix );
make_translation_matrix( matrix, -center.x, -center.y, -center.z );
multiply_matrices( nodePtr->invtrans, matrix, nodePtr->invtrans );
return NULL;
}
void make_inverse_transformation_matrix(
Matrix4* mat, const Vector3& pos, const Quaternion& ori, const Vector3& scl )
{
// assumes orientation is normalized
Matrix4 sclmat, orimat, trnmat;
make_scaling_matrix( &sclmat, Vector3( 1.0 / scl.x, 1.0 / scl.y, 1.0 / scl.z ) );
conjugate( ori ).to_matrix( &orimat );
make_translation_matrix( &trnmat, -pos );
*mat = sclmat * orimat * trnmat;
}
void make_transformation_matrix(
Matrix4* mat, const Vector3& pos, const Quaternion& ori, const Vector3& scl )
{
Matrix4 sclmat, orimat;
ori.to_matrix( &orimat );
make_scaling_matrix( &sclmat, scl );
*mat = orimat * sclmat;
// don't need to actually do the multiplication, can take shortcut
// since we're multiplying translation by a linear matrix
mat->m[12] = pos.x;
mat->m[13] = pos.y;
mat->m[14] = pos.z;
}
void on_draw() override
{
glfwMakeContextCurrent(window);
if (igm) igm->begin_frame();
glEnable(GL_CULL_FACE);
glEnable(GL_DEPTH_TEST);
int width, height;
glfwGetWindowSize(window, &width, &height);
glViewport(0, 0, width, height);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glClearColor(1.0f, 0.1f, 0.0f, 1.0f);
ImGui::Text("Application average %.3f ms/frame (%.1f FPS)", 1000.0f / ImGui::GetIO().Framerate, ImGui::GetIO().Framerate);
ImGui::SliderFloat("Projectile Velocity", &turret.velocity, 0.f, 100.f);
if (ImGui::Button("Fire"))
{
turret.projectile = BallisticProjectile();
turret.projectile.p = turret.source.pose;
turret.projectile.lastPos = turret.source.pose.position;
turret.projectile.gravity = 0.0;
/*
float3 firingSolutionLow;
float3 firingSolutionHigh;
auto numSolutions = solve_ballistic_arc(turret.source.pose.position, turret.velocity, turret.target.pose.position, 9.8f, firingSolutionLow, firingSolutionHigh);
*/
float3 fireVelocity;
float gravity;
auto canFire = solve_ballistic_arc_lateral(turret.source.pose.position, turret.velocity, turret.target.pose.position, 10.f, fireVelocity, gravity);
//std::cout << "Num Solutions: " << numSolutions << std::endl;
//std::cout << "Low Solution: " << firingSolutionLow << std::endl;
std::cout << "Fire Velocity: " << fireVelocity << std::endl;
if (canFire)
{
turret.projectile.gravity = gravity;
turret.projectile.add_impulse(fireVelocity);
turret.fired = true;
}
}
ImGui::Spacing();
if (ImGui::SliderInt("M", &ssM, 1, 30)) regeneratePointer = true;
if (ImGui::SliderInt("N1", &ssN1, 1, 30)) regeneratePointer = true;
if (ImGui::SliderInt("N2", &ssN2, 1, 30)) regeneratePointer = true;
if (ImGui::SliderInt("N3", &ssN3, 1, 30)) regeneratePointer = true;
ImGui::Spacing();
ImGui::BeginGroup();
if (ImGui::SliderFloat3("Position", ¶ms.position.x, -5, 5))
parabolicPointer = make_parabolic_pointer(worldSurface, params);
if (ImGui::SliderFloat3("Velocity", ¶ms.velocity.x, -1.f, 1.f))
parabolicPointer = make_parabolic_pointer(worldSurface, params);
if (ImGui::SliderFloat("Point Spacing", ¶ms.pointSpacing, 0.5, 2.0))
parabolicPointer = make_parabolic_pointer(worldSurface, params);
if (ImGui::SliderFloat("Point Count", ¶ms.pointCount, 16, 64))
parabolicPointer = make_parabolic_pointer(worldSurface, params);
ImGui::EndGroup();
const auto proj = camera.get_projection_matrix((float) width / (float) height);
const float4x4 view = camera.get_view_matrix();
const float4x4 viewProj = mul(proj, view);
glViewport(0, 0, width, height);
skydome.render(viewProj, camera.get_eye_point(), camera.farClip);
grid.render(proj, view);
{
simpleShader->bind();
simpleShader->uniform("u_eye", camera.get_eye_point());
simpleShader->uniform("u_viewProj", viewProj);
simpleShader->uniform("u_emissive", float3(0, 0, 0));
simpleShader->uniform("u_diffuse", float3(0.0f, 1.0f, 0.0f));
for (int i = 0; i < 2; i++)
{
simpleShader->uniform("u_lights[" + std::to_string(i) + "].position", lights[i].position);
simpleShader->uniform("u_lights[" + std::to_string(i) + "].color", lights[i].color);
}
for (const auto & model : shadedModels)
{
simpleShader->uniform("u_modelMatrix", model.get_model());
simpleShader->uniform("u_modelMatrixIT", inv(transpose(model.get_model())));
model.draw();
}
{
simpleShader->uniform("u_modelMatrix", turret.source.get_model());
simpleShader->uniform("u_modelMatrixIT", inv(transpose(turret.source.get_model())));
turret.source.draw();
simpleShader->uniform("u_modelMatrix", turret.target.get_model());
simpleShader->uniform("u_modelMatrixIT", inv(transpose(turret.target.get_model())));
turret.target.draw();
auto projectileMat = turret.projectile.p.matrix();
simpleShader->uniform("u_modelMatrix", projectileMat);
simpleShader->uniform("u_modelMatrixIT", inv(transpose(projectileMat)));
turret.bullet.draw();
}
simpleShader->unbind();
}
{
normalDebugShader->bind();
normalDebugShader->uniform("u_viewProj", viewProj);
// Some debug models
for (const auto & model : debugModels)
{
normalDebugShader->uniform("u_modelMatrix", model.get_model());
normalDebugShader->uniform("u_modelMatrixIT", inv(transpose(model.get_model())));
model.draw();
}
// Supershape
{
normalDebugShader->uniform("u_modelMatrix", supershape.get_model());
normalDebugShader->uniform("u_modelMatrixIT", inv(transpose(supershape.get_model())));
supershape.draw();
}
// Parabolic pointer
{
normalDebugShader->uniform("u_modelMatrix", parabolicPointer.get_model());
normalDebugShader->uniform("u_modelMatrixIT", inv(transpose(parabolicPointer.get_model())));
parabolicPointer.draw();
}
// Parallel transport boxes
for (int i = 0; i < ptfBoxes.size(); ++i)
{
auto & model = ptfBoxes[i];
auto modelMat = ptf[i];
normalDebugShader->uniform("u_modelMatrix", mul(modelMat, make_scaling_matrix(0.01)));
normalDebugShader->uniform("u_modelMatrixIT", inv(transpose(modelMat)));
model.draw();
}
normalDebugShader->unbind();
}
gl_check_error(__FILE__, __LINE__);
if (igm) igm->end_frame();
glfwSwapBuffers(window);
frameCount++;
}
