int main(int argc, char *argv[])
{
process_args(argc, argv);
Camera_Reset();
while (1) {
if (glfwGetKey(mainWindow, GLFW_KEY_ESCAPE) == GLFW_PRESS ||
glfwWindowShouldClose(mainWindow) == 1) {
break;
}
process_inputs();
Engine_UpkeepTime(); /* Updates deltaTime */
Engine_Draw(); /* Render */
Engine_Update(); /* Update anything else */
}
Engine_Quit();
printf("\nKa3D is now shutting down!\n");
return 0;
}
/**
* @brief Initialize CMOS VGA Camera Module OV7670
* @param None
* @retval ERROR, SUCCESS
*/
ErrorStatus Camera_Init(void)
{
uint8_t i;
ReturnState *RetState;
ErrorStatus Status = ERROR;
// Initialize GPIO(DCMI) pins, MCO1(PA8) as output clock for XCLK
Camera_HW_Init();
// Reset all Camera Module registers to the default value
Camera_Reset();
// Initialize Camera Module registers
// Choose between normal and debug camera operation
#ifdef Camera_Debug
// for debug operation
for(i = 0; i < Debug_Register_Num; i++)
{
Camera_WriteReg(InitBuffer2[i][0], InitBuffer2[i][1]);
}
#else
// for normal operation
for(i = 0; i < CHANGE_REG; i++)
{
Camera_WriteReg(Camera_REG[i][0], Camera_REG[i][1]);
}
#endif
// Verify written data into register in Camera Module if is defined Camera_Verify
#ifdef Camera_Verify
// Choose between normal and debug camera operation
// for debug operation
#ifdef Camera_Debug
for(i = 0; i < 7; i++)
{
RetState = Camera_ReadReg(InitBuffer2[i][0]);
if(RetState->Data == InitBuffer2[i][1] && RetState->State == SUCCESS)
Status = SUCCESS;
else
Status = ERROR;
}
// for normal operation
#else
for(i = 0; i < CHANGE_REG; i++)
{
RetState = Camera_ReadReg(Camera_REG[i][0]);
if(RetState->Data == Camera_REG[i][1] && RetState->State == SUCCESS)
Status = SUCCESS;
else
Status = ERROR;
}
#endif
#else
Status = SUCCESS;
#endif
return(Status);
}
void processNormalKeys(unsigned char key, int x, int y)
{
switch( key )
{
case 'w': Camera_StartMove(FORWARD); break;
case 'a': Camera_StartMove(LEFT); break;
case 's': Camera_StartMove(BACK); break;
case 'd': Camera_StartMove(RIGHT); break;
case 'q': Camera_StartMove(UP); break;
case 'e': Camera_StartMove(DOWN); break;
case 'r': World_Reset(); Camera_Reset(); break;
case ' ': World_Pause(); break;
case 'p': World_Pause(); World_Update( 0.0166666666 ); World_Pause(); break;
case 'c': Debug_ClearLines(); break;
}
}
int process_inputs()
{
// Get mouse position
double xpos, ypos;
glfwGetCursorPos(mainWindow, &xpos, &ypos);
// Reset mouse position for next frame
glfwSetCursorPos(mainWindow, SCREEN_WIDTH/2, SCREEN_HEIGHT/2);
// Compute new orientation
horizontalAngle += mouseSpeed * (float)( SCREEN_WIDTH/2 - xpos );
verticalAngle += mouseSpeed * (float)( SCREEN_HEIGHT/2 - ypos );
/* If F1, reload */
if (glfwGetKey(mainWindow, GLFW_KEY_F1)) {
Engine_Reload();
}
/* If F2, reset view */
if (glfwGetKey(mainWindow, GLFW_KEY_F2)) {
printf("Camera reset.\n");
Camera_Reset();
}
/* If tab, change lookat to next mesh */
if (glfwGetKey(mainWindow, GLFW_KEY_TAB)) {
//Camera_LookAtNext();
}
/* Move closer */
//if (glfwGetKey(mainWindow, GLFW_KEY_W)) {
// ypos = 100;
//}
/* Move further */
//if (glfwGetKey(mainWindow, GLFW_KEY_S)) {
// ypos = -100;
//}
/* Move left */
//if (glfwGetKey(mainWindow, GLFW_KEY_A)) {
// xpos = 100;
//}
/* Move right */
//if (glfwGetKey(mainWindow, GLFW_KEY_D)) {
// xpos = -100;
//}
// Compute new orientation
//horizontalAngle += mouseSpeed * (float)(1024/2 - xpos );
//verticalAngle += mouseSpeed * (float)( 768/2 - ypos );
horizontalAngle += mouseSpeed * xpos;
verticalAngle += mouseSpeed * ypos;
//printf("horizontalAngle is %f, and verticalAngle is %f.\n", horizontalAngle, verticalAngle);
// Direction : Spherical coordinates to Cartesian coordinates conversion
float temp1 = cos(verticalAngle) * sin(horizontalAngle);
float temp2 = sin(verticalAngle);
float temp3 = cos(verticalAngle) * cos(horizontalAngle);
kmVec3 direction = {temp1, temp2, temp3};
// Right vector
kmVec3 right = {
sin(horizontalAngle - 3.14f/2.0f),
0,
cos(horizontalAngle - 3.14f/2.0f)
};
// Up vector
kmVec3 up = *kmVec3Cross(&up, &right, &direction );
// Move forward
if (glfwGetKey( mainWindow, GLFW_KEY_UP ) == GLFW_PRESS){
kmVec3Add(&position, &position, kmVec3Scale(&position, &direction, deltaTime * speed));
}
// Move backward
if (glfwGetKey( mainWindow, GLFW_KEY_DOWN ) == GLFW_PRESS){
kmVec3Subtract(&position, &position, kmVec3Scale(&position, &direction, deltaTime * speed));
}
// Strafe right
if (glfwGetKey( mainWindow, GLFW_KEY_RIGHT ) == GLFW_PRESS){
kmVec3Add(&position, &position, kmVec3Scale(&position, &right, deltaTime * speed));
}
// Strafe left
if (glfwGetKey( mainWindow, GLFW_KEY_LEFT ) == GLFW_PRESS){
kmVec3Subtract(&position, &position, kmVec3Scale(&position, &right, deltaTime * speed));
}
float FoV = initialFoV;
kmMat4PerspectiveProjection(&ProjectionMatrix, FoV, (16.0f / 8.0f), 0.1f, 100.0f);
// Camera matrix
//ViewMatrix = glm::lookAt(
// position, // Camera is here
// position+direction, // and looks here : at the same position, plus "direction"
// up // Head is up (set to 0,-1,0 to look upside-down)
// );
kmVec3 p_eye;
p_eye = position;
kmVec3 p_ctr;
p_ctr = *kmVec3Add(&p_ctr, &position, &direction);
kmVec3 p_up;
p_up = up;
kmMat4LookAt(&ViewMatrix, &p_eye, &p_ctr, &p_up);
kmMat4Identity(&ModelMatrix);
kmMat4 temp_mat;
kmMat4Multiply(&temp_mat, &ViewMatrix, &ModelMatrix);
kmMat4Multiply(&MVP, &ProjectionMatrix, &temp_mat );
//printf("Matrix contains:\n");
//printf("%f, %f, %f, %f\n", MVP.mat[0], MVP.mat[1], MVP.mat[2], MVP.mat[3]);
//printf("%f, %f, %f, %f\n", MVP.mat[4], MVP.mat[5], MVP.mat[6], MVP.mat[7]);
//printf("%f, %f, %f, %f\n", MVP.mat[8], MVP.mat[9], MVP.mat[10], MVP.mat[11]);
//printf("%f, %f, %f, %f\n", MVP.mat[12], MVP.mat[13], MVP.mat[14], MVP.mat[15]);
return 0;
}
