void rotation_base(float h) {
setDiffuseColor( 0.85, 0.75, 0.25 );
setAmbientColor( 0.95, 0.75, 0.25 );
glPushMatrix();
glPushMatrix();
glScalef(4.0, h, 4.0);
y_box(1.0f); // the rotation base
glPopMatrix();
setDiffuseColor( 0.15, 0.15, 0.65 );
setAmbientColor( 0.15, 0.15, 0.65 );
glPushMatrix();
glTranslatef(-0.5, h, -0.6);
glScalef(2.0, h, 1.6);
y_box(1.0f); // the console
glPopMatrix();
setDiffuseColor( 0.65, 0.65, 0.65 );
setAmbientColor( 0.65, 0.65, 0.65 );
glPushMatrix();
glTranslatef( 0.5, h, 0.6 );
glRotatef( -90.0, 1.0, 0.0, 0.0 );
Mat4f mvMatrix = glGetMatrix(GL_MODELVIEW_MATRIX);
Mat4f matCamInverse = mvMatrix.inverse();
Vec4f chimEmitPos = matCamInverse * mvMatrix * Vec4f(0.5, 2.5 * h, 0.6, 1.0);
if (ps != NULL)
{
Vec3f chimPos = Vec3f(chimEmitPos[0], chimEmitPos[1], chimEmitPos[2]);
ps->setEmitterPosition(chimPos, 0);
}
drawCylinder( h, 0.05, 0.05 ); // the pipe
glPopMatrix();
glPopMatrix();
}
void setProjectionMatrix(const Mat4f &projmat)
{
this->projmat = projmat;
Mat4f projmatinv = projmat.inverse();
// Corners of the frustum in world space
corners[0] = projmatinv.transformPoint(Vec3f(-1, 1, -1));
corners[1] = projmatinv.transformPoint(Vec3f(1, 1, -1));
corners[2] = projmatinv.transformPoint(Vec3f(1, -1, -1));
corners[3] = projmatinv.transformPoint(Vec3f(-1, -1, -1));
corners[4] = projmatinv.transformPoint(Vec3f(-1, 1, 1));
corners[5] = projmatinv.transformPoint(Vec3f(1, 1, 1));
corners[6] = projmatinv.transformPoint(Vec3f(1, -1, 1));
corners[7] = projmatinv.transformPoint(Vec3f(-1, -1, 1));
// Near plane
planes[0] = Plane(corners[0], corners[1], corners[2]);
// Left plane
planes[1] = Plane(corners[0], corners[3], corners[4]);
// Top plane
planes[2] = Plane(corners[0], corners[1], corners[4]);
// Right plane
planes[3] = Plane(corners[1], corners[2], corners[5]);
// Bottom plane
planes[4] = Plane(corners[2], corners[3], corners[6]);
// Far plane
planes[5] = Plane(corners[4], corners[5], corners[6]);
// TODO: Fix normal vectors to point inside!
}
void SpawnParticles(Mat4f CameraTransforms)
{
Mat4f ModelTransforms = CameraTransforms.inverse() * getModelViewMatrix();
Vec4<float> WorldPoint = ModelTransforms * Vec4f(0, 0, 0, 1);
AddParticleStartingAt(WorldPoint);
return;
}
Vec3f GameTerrain::unproject(Vec3f win_pos, const Mat4f &modelview, const Mat4f &projection, const Rect &viewport)
{
Mat4f matrix = projection;
matrix = matrix * modelview;
matrix.inverse();
Vec4f v(
2*(win_pos.x - (float)viewport.left)/(float)viewport.get_width() - 1,
2*(win_pos.y - (float)(viewport.top))/(float)viewport.get_height() - 1,
2*win_pos.z - 1,
1.0f);
Vec4f result = matrix * v;
return Vec3f(result.x/result.w, result.y/result.w, result.z/result.w);
}
void m3dTest::orthonormalInverseTest()
{
using namespace m3d;
Vec3f dir(frand(), frand(), frand());
Vec3f pos(frand(), frand(), frand());
Mat4f matrix = Mat4f::gramSchmidt(dir, pos);
Mat4f inverse = matrix.inverse();
Mat4f orth_inverse = matrix.orthonormalInverse();
for (int x = 0; x < 4; ++x) {
for (int y = 0; y < 4; ++y) {
// check if equal
CPPUNIT_ASSERT(fabs(inverse[x][y] - orth_inverse[x][y]) < EPSILON);
// check for NaN
CPPUNIT_ASSERT(inverse[x][y] == inverse[x][y]);
CPPUNIT_ASSERT(orth_inverse[x][y] == orth_inverse[x][y]);
}
}
}
// We are going to override (is that the right word?) the draw()
// method of ModelerView to draw out RobotArm
void RobotArm::draw()
{
/* pick up the slider values */
float theta = VAL( BASE_ROTATION );
float phi = VAL( LOWER_TILT );
float psi = VAL( UPPER_TILT );
float cr = VAL( CLAW_ROTATION );
float h1 = VAL( BASE_LENGTH );
float h2 = VAL( LOWER_LENGTH );
float h3 = VAL( UPPER_LENGTH );
float pc = VAL( PARTICLE_COUNT );
// This call takes care of a lot of the nasty projection
// matrix stuff
ModelerView::draw();
// Save the camera transform that was applied by
// ModelerView::draw() above.
// While we're at it, save an inverted copy of this matrix. We'll
// need it later.
Mat4f matCam = glGetMatrix( GL_MODELVIEW_MATRIX );
matCamInverse = matCam.inverse();
static GLfloat lmodel_ambient[] = {0.4,0.4,0.4,1.0};
// define the model
ground(-0.2);
base(0.8);
glTranslatef( 0.0, 0.8, 0.0 ); // move to the top of the base
glRotatef( theta, 0.0, 1.0, 0.0 ); // turn the whole assembly around the y-axis.
rotation_base(h1); // draw the rotation base
glTranslatef( 0.0, h1, 0.0 ); // move to the top of the base
glPushMatrix();
glTranslatef( 0.5, h1, 0.6 );
glPopMatrix();
glRotatef( phi, 0.0, 0.0, 1.0 ); // rotate around the z-axis for the lower arm
glTranslatef( -0.1, 0.0, 0.4 );
lower_arm(h2); // draw the lower arm
glTranslatef( 0.0, h2, 0.0 ); // move to the top of the lower arm
glRotatef( psi, 0.0, 0.0, 1.0 ); // rotate around z-axis for the upper arm
upper_arm(h3); // draw the upper arm
glTranslatef( 0.0, h3, 0.0 );
glRotatef( cr, 0.0, 0.0, 1.0 );
Mat4f mvMatrix = glGetMatrix(GL_MODELVIEW_MATRIX);
Vec4f clawEmitPos = matCamInverse * mvMatrix * Vec4f(0.0, 0.0, 0.0, 1.0);
if (ps != NULL)
{
Vec3f clawPos = Vec3f(clawEmitPos[0], clawEmitPos[1], clawEmitPos[2]);
ps->setEmitterPosition(clawPos, 1);
}
claw(1.0);
//*** DON'T FORGET TO PUT THIS IN YOUR OWN CODE **/
endDraw();
}
void MyModel::SpawnParticles(Mat4f CameraTransforms)
{
Mat4f WorldMatrix = CameraTransforms.inverse() * getModelViewMatrix();
Vec3f WorldPoint = WorldMatrix * Vec4f(0, 0, 0, 1);
particleSystem.addParticleAt(WorldPoint);
}
