void VortexSheetMesh::calcCirculation() {
for (size_t tri = 0; tri < mTris.size(); tri++) {
VortexSheetInfo& v = mVorticity.data[tri];
Vec3 e0 = getEdge(tri,0), e1 = getEdge(tri,1), e2 = getEdge(tri,2);
Real area = getFaceArea(tri);
if (area < 1e-10 || normSquare(v.vorticity) < 1e-10) {
v.circulation = 0;
continue;
}
float cx, cy, cz;
SolveOverconstraint34(e0.x, e0.y, e0.z, e1.x, e1.y, e1.z, e2.x, e2.y, e2.z, v.vorticity.x, v.vorticity.y, v.vorticity.z, cx, cy, cz);
v.circulation = Vec3(cx, cy, cz) * area;
}
}
void Renderer::setLighting(){
// recompute emissive light colors for highlighted bodies
Real now=TimingInfo::getNow(/*even if timing is disabled*/true)*1e-9;
highlightEmission0[0]=highlightEmission0[1]=highlightEmission0[2]=.8*normSquare(now,1);
highlightEmission1[0]=highlightEmission1[1]=highlightEmission0[2]=.5*normSaw(now,2);
glClearColor(bgColor[0],bgColor[1],bgColor[2],1.0);
// set light sources
glLightModelf(GL_LIGHT_MODEL_TWO_SIDE,1); // important: do lighting calculations on both sides of polygons
const GLfloat pos[4] = {(GLfloat)lightPos[0],(GLfloat)lightPos[1],(GLfloat)lightPos[2],(GLfloat)1.0};
const GLfloat ambientColor[4]={0.5,0.5,0.5,1.0};
const GLfloat specularColor[4]={1,1,1,1.};
const GLfloat diffuseLight[4] = { (GLfloat)lightColor[0], (GLfloat)lightColor[1], (GLfloat)lightColor[2], 1.0f };
glLightfv(GL_LIGHT0, GL_POSITION,pos);
glLightfv(GL_LIGHT0, GL_SPECULAR, specularColor);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambientColor);
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseLight);
if (light1) glEnable(GL_LIGHT0); else glDisable(GL_LIGHT0);
const GLfloat pos2[4] = {(GLfloat)light2Pos[0],(GLfloat)light2Pos[1],(GLfloat)light2Pos[2],1.0};
const GLfloat ambientColor2[4]={0.0,0.0,0.0,1.0};
const GLfloat specularColor2[4]={.8,.8,.8,1.};
const GLfloat diffuseLight2[4] = { (GLfloat)light2Color[0], (GLfloat)light2Color[1], (GLfloat)light2Color[2], 1.0f };
glLightfv(GL_LIGHT1, GL_POSITION,pos2);
glLightfv(GL_LIGHT1, GL_SPECULAR, specularColor2);
glLightfv(GL_LIGHT1, GL_AMBIENT, ambientColor2);
glLightfv(GL_LIGHT1, GL_DIFFUSE, diffuseLight2);
if (light2) glEnable(GL_LIGHT1); else glDisable(GL_LIGHT1);
glEnable(GL_LIGHTING);
// show both sides of triangles
glDisable(GL_CULL_FACE);
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER,1);
glLightModeli(GL_LIGHT_MODEL_TWO_SIDE,1);
// http://www.sjbaker.org/steve/omniv/opengl_lighting.html
glColorMaterial(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE);
glEnable(GL_COLOR_MATERIAL);
//Shared material settings
resetSpecularEmission();
// not sctrictly lighting related
glEnable(GL_BLEND);
glEnable(GL_LINE_SMOOTH);
//glEnable(GL_POLYGON_SMOOTH);
glShadeModel(GL_SMOOTH);
#ifdef __MINGW64__
// see http://www.opengl.org/discussion_boards/showthread.php/133406-GL_RESCALE_NORMAL-in-VC
// why is glext.h not in mingw:
// * http://sourceforge.net/projects/mingw-w64/forums/forum/723797/topic/3572810
glEnable(GL_NORMALIZE);
#else
glEnable(GL_RESCALE_NORMAL);
#endif
// important for rendering text, to avoid repetivie glDisable(GL_TEXTURE_2D) ... glEnable(GL_TEXTURE_2D)
// glBindTexture(GL_TEXTURE_2D,0);
};
void OpenGLRenderer::render(const shared_ptr<Scene>& _scene,Body::id_t selection){
gilLock lockgil;
if(!initDone) init();
assert(initDone);
selId = selection;
scene=_scene;
// assign scene inside functors
boundDispatcher.updateScenePtr();
geomDispatcher.updateScenePtr();
physDispatcher.updateScenePtr();
shapeDispatcher.updateScenePtr();
// stateDispatcher.updateScenePtr();
// just to make sure, since it is not initialized by default
if(!scene->bound) scene->bound=shared_ptr<Aabb>(new Aabb);
// recompute emissive light colors for highlighted bodies
Real now=TimingInfo::getNow(/*even if timing is disabled*/true)*1e-9;
highlightEmission0[0]=highlightEmission0[1]=highlightEmission0[2]=.8*normSquare(now,1);
highlightEmission1[0]=highlightEmission1[1]=highlightEmission0[2]=.5*normSaw(now,2);
// clipping
assert(clipPlaneNormals.size()==(size_t)numClipPlanes);
for(size_t i=0;i<(size_t)numClipPlanes; i++){
// someone could have modified those from python and truncate the vectors; fill those here in that case
if(i==clipPlaneSe3.size()) clipPlaneSe3.push_back(Se3r(Vector3r::Zero(),Quaternionr::Identity()));
if(i==clipPlaneActive.size()) clipPlaneActive.push_back(false);
if(i==clipPlaneNormals.size()) clipPlaneNormals.push_back(Vector3r::UnitX());
// end filling stuff modified from python
if(clipPlaneActive[i]) clipPlaneNormals[i]=clipPlaneSe3[i].orientation*Vector3r(0,0,1);
/* glBegin(GL_LINES);glVertex3v(clipPlaneSe3[i].position);glVertex3v(clipPlaneSe3[i].position+clipPlaneNormals[i]);glEnd(); */
}
// set displayed Se3 of body (scaling) and isDisplayed (clipping)
setBodiesDispInfo();
glClearColor(bgColor[0],bgColor[1],bgColor[2],1.0);
// set light sources
glLightModelf(GL_LIGHT_MODEL_TWO_SIDE,1); // important: do lighting calculations on both sides of polygons
const GLfloat pos[4] = {(float) light1Pos[0], (float) light1Pos[1], (float) light1Pos[2],1.0};
const GLfloat ambientColor[4]={0.2,0.2,0.2,1.0};
const GLfloat specularColor[4]={1,1,1,1.f};
const GLfloat diffuseLight[4] = { (float) light1Color[0], (float) light1Color[1], (float) light1Color[2], 1.0f };
glLightfv(GL_LIGHT0, GL_POSITION,pos);
glLightfv(GL_LIGHT0, GL_SPECULAR, specularColor);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambientColor);
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseLight);
if (light1) glEnable(GL_LIGHT0); else glDisable(GL_LIGHT0);
const GLfloat pos2[4] = {(float) light2Pos[0], (float) light2Pos[1], (float) light2Pos[2],1.0};
const GLfloat ambientColor2[4]={0.0,0.0,0.0,1.0};
const GLfloat specularColor2[4]={1,1,0.6,1.f};
const GLfloat diffuseLight2[4] = { (float) light2Color[0], (float) light2Color[1], (float) light2Color[2], 1.0f };
glLightfv(GL_LIGHT1, GL_POSITION,pos2);
glLightfv(GL_LIGHT1, GL_SPECULAR, specularColor2);
glLightfv(GL_LIGHT1, GL_AMBIENT, ambientColor2);
glLightfv(GL_LIGHT1, GL_DIFFUSE, diffuseLight2);
if (light2) glEnable(GL_LIGHT1); else glDisable(GL_LIGHT1);
glEnable(GL_LIGHTING);
glEnable(GL_CULL_FACE);
// http://www.sjbaker.org/steve/omniv/opengl_lighting.html
glColorMaterial(GL_FRONT,GL_AMBIENT_AND_DIFFUSE);
glEnable(GL_COLOR_MATERIAL);
//Shared material settings
resetSpecularEmission();
drawPeriodicCell();
if (dof || id) renderDOF_ID();
if (bound) renderBound();
if (shape) renderShape();
if (intrAllWire) renderAllInteractionsWire();
if (intrGeom) renderIGeom();
if (intrPhys) renderIPhys();
FOREACH(const shared_ptr<GlExtraDrawer> d, extraDrawers){
if(d->dead) continue;
glPushMatrix();
d->scene=scene.get();
d->render();
glPopMatrix();
}
}
double
CoinPackedVectorBase::twoNorm() const
{
return sqrt(normSquare());
}
float Quaternion::norm() const
{
return sqrt(normSquare());
}
float Vector::norm() const
{
return sqrt(normSquare());
}