void display(void)
{
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
/*
Keterangan:
glTranslatef : coba nilainya diubah2 untuk menempatkan pada posisi yang tepat dengan sumbu (x, y, z)
glRotated : coba nilainya diubah2 untuk memutar objek agar sesuai dengan keinginan.
cylinder: untuk membentuk model tabung
*/
glTranslatef(0,0,-100);// besar kecilnya mobil
Loop++;
glRotatef(Loop,0.9,4.0,0.6);//mobil yang berotasi
glPushMatrix();//body
//glpushmatrix();
glColor3f(0.0,0.0,9.0);
blok(10, 3, 2);
glTranslatef(0, 9, 0);
blok(10, 3, 2);
glTranslatef(10, -10,0);
blok(10, 5.5, 2);
glRotatef(-35, 0, 0, 15);
glTranslatef(0, 7,0);
blok(10, 2, 2);
glTranslatef(2, 4.9,-2.5);
glColor3f(0.9,0.9,0.9);// warna kaca
blok(0.5, 20, 31);
glRotatef(180, 45, -45, 0);
//glTranslatef(0, 10,0);
//blok(3, 2, 5);
//cylinder(2,2,30);
//glTranslatef(-10, -10,0);
//glRotatef(90, 45,-45, 0);
//cylinder(2,2,30);
//glRotatef(90, -45, 90, 90);
//blok(5, 3, 2);
glPopMatrix();
glPushMatrix();//roda
glColor3f(0.0,0.0,0.0);
glTranslatef(20, -8,-7);
cylinder(5, 5,3);
glColor3f(0.0,0.0,0.0);
glTranslatef(-20, 8,7);
glTranslatef(-5, -8,-7);
cylinder(5, 5,3);
glColor3f(0.0,0.0,0.0);
glTranslatef(5, 8,7);
glRotatef(180,0,180,0);
glTranslatef(3,-8,-17);
cylinder(5, 5,3);
glColor3f(0.0,0.0,0.0);
glTranslatef(-3,8,17);
glTranslatef(-22,-8,-17);
cylinder(5, 5,3);
glColor3f(1.0,1.0,1.0);
glRotatef(90,1,0,0);
glTranslatef(8, 2.5,-15);
blok(2, 4, 5);
glRotatef(90,0,1,0);
glTranslatef(0,-0.2,7);
blok(2, 4, 8);
glRotatef(0,0,0,0);
glTranslatef(0,19.2,0);
blok(2, 4, 8);
glRotatef(90,0,1,0);
glTranslatef(7, 0,-8);
blok(2, 4, 5);
glColor3f(9.9,9.9,0.0);//lampu
glRotatef(90,0,1,0);
glTranslatef(0,-3,20);
cylinder(2, 2,3);
glColor3f(9.9,9.9,0.0);//lampu
glRotatef(0,0,0,0);
glTranslatef(0,-12,0);
cylinder(2, 2,3);
glColor3f(0.0,0.0,0.0);//knalpot
glRotatef(0,0,0,0);
glTranslatef(0,0,-52);
cylinder(1, 1,3);
glColor3f(1.0,1.0,1.0);
glRotatef(90,1,0,0);
glTranslatef(-8,3.5,-12);
blok(2, 4, 8);
glColor3f(9.0,0.0,0.0);//lampu atas
glRotatef(0,0,0,0);
glTranslatef(-8,28,0);
cylinder(1, 1,12);
glPopMatrix();
glFlush();
glutSwapBuffers();
}
void writeFrames(const Kinect::FrameSource::IntrinsicParameters& ip,const Kinect::FrameBuffer& color,const Kinect::MeshBuffer& mesh,const char* lwoFileName)
{
/* Create the texture file name: */
std::string textureFileName(lwoFileName,Misc::getExtension(lwoFileName));
textureFileName.append("-color.png");
/* Write the color frame as a texture image: */
{
Images::RGBImage texImage(color.getSize(0),color.getSize(1));
Images::RGBImage::Color* tiPtr=texImage.modifyPixels();
const unsigned char* cfPtr=reinterpret_cast<const unsigned char*>(color.getBuffer());
for(int y=0;y<color.getSize(1);++y)
for(int x=0;x<color.getSize(0);++x,++tiPtr,cfPtr+=3)
*tiPtr=Images::RGBImage::Color(cfPtr);
Images::writeImageFile(texImage,textureFileName.c_str());
}
/* Open the LWO file: */
IO::FilePtr lwoFile=IO::openFile(lwoFileName,IO::File::WriteOnly);
lwoFile->setEndianness(Misc::BigEndian);
/* Create the LWO file structure via the FORM chunk: */
{
IFFChunkWriter form(lwoFile,"FORM");
form.write<char>("LWO2",4);
/* Create the TAGS chunk: */
{
IFFChunkWriter tags(&form,"TAGS");
tags.writeString("ColorImage");
tags.writeChunk();
}
/* Create the LAYR chunk: */
{
IFFChunkWriter layr(&form,"LAYR");
layr.write<Misc::UInt16>(0U);
layr.write<Misc::UInt16>(0x0U);
for(int i=0;i<3;++i)
layr.write<Misc::Float32>(0.0f);
layr.writeString("DepthImage");
layr.writeChunk();
}
/* Create an index map for all vertices to omit unused vertices: */
unsigned int* indices=new unsigned int[mesh.numVertices];
for(unsigned int i=0;i<mesh.numVertices;++i)
indices[i]=~0x0U;
unsigned int numUsedVertices=0;
/* Create the PNTS, BBOX and VMAP chunks in one go: */
{
typedef Kinect::FrameSource::IntrinsicParameters::PTransform PTransform;
typedef PTransform::Point Point;
typedef Geometry::Box<Point::Scalar,3> Box;
IFFChunkWriter bbox(&form,"BBOX");
IFFChunkWriter pnts(&form,"PNTS");
IFFChunkWriter vmap(&form,"VMAP");
/* Write the VMAP header: */
vmap.write<char>("TXUV",4);
vmap.write<Misc::UInt16>(2U);
vmap.writeString("ColorImageUV");
/* Process all triangle vertices: */
Box pBox=Box::empty;
const Kinect::MeshBuffer::Vertex* vertices=mesh.getVertices();
const Kinect::MeshBuffer::Index* tiPtr=mesh.getTriangleIndices();
for(unsigned int i=0;i<mesh.numTriangles*3;++i,++tiPtr)
{
/* Check if the triangle vertex doesn't already have an index: */
if(indices[*tiPtr]==~0x0U)
{
/* Assign an index to the triangle vertex: */
indices[*tiPtr]=numUsedVertices;
/* Transform the mesh vertex to camera space using the depth projection matrix: */
Point dp(vertices[*tiPtr].position.getXyzw());
Point cp=ip.depthProjection.transform(dp);
/* Transform the depth-space point to texture space using the color projection matrix: */
Point tp=ip.colorProjection.transform(dp);
/* Add the point to the bounding box: */
pBox.addPoint(cp);
/* Store the point and its texture coordinates: */
pnts.writePoint(cp);
vmap.writeVarIndex(numUsedVertices);
for(int i=0;i<2;++i)
vmap.write<Misc::Float32>(tp[i]);
++numUsedVertices;
}
}
/* Write the bounding box: */
bbox.writeBox(pBox);
/* Write the BBOX, PNTS, and VMAP chunks: */
bbox.writeChunk();
pnts.writeChunk();
vmap.writeChunk();
}
/* Create the POLS chunk: */
{
IFFChunkWriter pols(&form,"POLS");
pols.write<char>("FACE",4);
const Kinect::MeshBuffer::Index* tiPtr=mesh.getTriangleIndices();
for(unsigned int triangleIndex=0;triangleIndex<mesh.numTriangles;++triangleIndex,tiPtr+=3)
{
pols.write<Misc::UInt16>(3U);
for(int i=0;i<3;++i)
pols.writeVarIndex(indices[tiPtr[2-i]]);
}
pols.writeChunk();
}
/* Delete the vertex index map: */
delete[] indices;
/* Create the PTAG chunk: */
{
IFFChunkWriter ptag(&form,"PTAG");
ptag.write<char>("SURF",4);
for(unsigned int triangleIndex=0;triangleIndex<mesh.numTriangles;++triangleIndex)
{
ptag.writeVarIndex(triangleIndex);
ptag.write<Misc::UInt16>(0U);
}
ptag.writeChunk();
}
/* Create the CLIP chunk: */
{
IFFChunkWriter clip(&form,"CLIP");
clip.write<Misc::UInt32>(1U);
/* Create the STIL chunk: */
{
IFFChunkWriter stil(&clip,"STIL",true);
stil.writeString(textureFileName.c_str());
stil.writeChunk();
}
clip.writeChunk();
}
/* Create the SURF chunk: */
{
IFFChunkWriter surf(&form,"SURF");
surf.writeString("ColorImage");
surf.writeString("");
/* Create the SIDE subchunk: */
{
IFFChunkWriter side(&surf,"SIDE",true);
side.write<Misc::UInt16>(3U);
side.writeChunk();
}
/* Create the SMAN subchunk: */
{
IFFChunkWriter sman(&surf,"SMAN",true);
sman.write<Misc::Float32>(Math::rad(90.0f));
sman.writeChunk();
}
/* Create the COLR subchunk: */
{
IFFChunkWriter colr(&surf,"COLR",true);
colr.writeColor(1.0f,1.0f,1.0f);
colr.writeVarIndex(0U);
colr.writeChunk();
}
/* Create the DIFF subchunk: */
{
IFFChunkWriter diff(&surf,"DIFF",true);
diff.write<Misc::Float32>(1.0f);
diff.writeVarIndex(0U);
diff.writeChunk();
}
/* Create the LUMI subchunk: */
{
IFFChunkWriter lumi(&surf,"LUMI",true);
lumi.write<Misc::Float32>(0.0f);
lumi.writeVarIndex(0U);
lumi.writeChunk();
}
/* Create the BLOK subchunk: */
{
IFFChunkWriter blok(&surf,"BLOK",true);
/* Create the IMAP subchunk: */
{
IFFChunkWriter imap(&blok,"IMAP",true);
imap.writeString("1");
/* Create the CHAN subchunk: */
{
IFFChunkWriter chan(&imap,"CHAN",true);
chan.write<char>("COLR",4);
chan.writeChunk();
}
imap.writeChunk();
}
/* Create the PROJ subchunk: */
{
IFFChunkWriter proj(&blok,"PROJ",true);
proj.write<Misc::UInt16>(5U);
proj.writeChunk();
}
/* Create the IMAG subchunk: */
{
IFFChunkWriter imag(&blok,"IMAG",true);
imag.writeVarIndex(1U);
imag.writeChunk();
}
/* Create the VMAP subchunk: */
{
IFFChunkWriter vmap(&blok,"VMAP",true);
vmap.writeString("ColorImageUV");
vmap.writeChunk();
}
blok.writeChunk();
}
/* Write the SURF chunk: */
surf.writeChunk();
}
/* Write the FORM chunk: */
form.writeChunk();
}
}
