/*
* Matrix operand to add a 2D shear matrix to the tail of
* the module’s list.
*/
void Module_shear2D(Module *md, double shx, double shy) {
Matrix m;
Element *e;
Matrix_identity(&m);
Matrix_translate2D(&m, shx, shy);
e = Element_init(ObjMatrix, &m);
Module_insert(md, e);
}
// Matrix operand to add a 3D translation to the Module.
void Module_translate(Module *md, double tx, double ty, double tz) {
Matrix m;
Element *e;
Matrix_identity(&m);
Matrix_translate(&m, tx, ty, tz);
e = Element_init(ObjMatrix, &m);
Module_insert(md, e);
}
// Matrix operand to add a rotation that orients to the orthonormal axes u,v,w
void Module_rotateXYZ(Module *md, Vector *u, Vector *v, Vector *w) {
Matrix m;
Element *e;
Matrix_identity(&m);
Matrix_rotateXYZ(&m, u, v, w);
e = Element_init(ObjMatrix, &m);
Module_insert(md, e);
}
// Matrix operand to add a 3D scale to the Module.
void Module_scale(Module *md, double sx, double sy, double sz) {
Matrix m;
Element *e;
Matrix_identity(&m);
Matrix_scale(&m, sx, sy, sz);
e = Element_init(ObjMatrix, &m);
Module_insert(md, e);
}
// Matrix operand to add a rotation about the Y-axis to the Module.
void Module_rotateY(Module *md, double cth, double sth) {
Matrix m;
Element *e;
Matrix_identity(&m);
Matrix_rotateY(&m, cth, sth);
e = Element_init(ObjMatrix, &m);
Module_insert(md, e);
}
Foot* Foot_create(GLUquadricObj* qobj, Position pos)
{
Foot* self = (Foot*)malloc(sizeof(Foot));
float defPos[3] = {0.0, 0.25, -0.6};
self->pos=pos;
Element_init((Element*)self, defPos);
Element* elem = (Element*)self;
elem->onUpdate = Foot_onUpdate;
self->list = glGenLists(1);
glNewList(self->list, GL_COMPILE);
gluCylinder(qobj, 0.5, 0.25, 0.7, 16, 16);
glEndList();
return self;
}
Hip* Hip_create(GLUquadricObj* qobj)
{
Hip* self = (Hip*)malloc(sizeof(Hip));
float defPos[3] = {0.0, 0.0, -3.25};
Element_init((Element*)self, defPos);
Element* elem = (Element*)self;
elem->onUpdate = Hip_onUpdate;
self->list = glGenLists(1);
glNewList(self->list, GL_COMPILE);
gluCylinder(qobj, 2.5, 1.5, 3.0, 16, 16);
glEndList();
self->pelvis = Pelvis_create(qobj);
Element_addChild(elem, (Element*)self->pelvis);
return self;
}
Finger4* Finger4_create(GLUquadricObj* qobj, Position pos)
{
Finger4* self = (Finger4*)malloc(sizeof(Finger4));
self->pos=pos;
float defPos[3] = {-0.22, 0.0, -0.8};
if(pos==LEFT)
defPos[0]*=-1;
Element_init((Element*)self, defPos);
Element* elem = (Element*)self;
elem->onUpdate = Finger4_onUpdate;
self->list = glGenLists(1);
glNewList(self->list, GL_COMPILE);
gluCylinder(qobj, 0.07, 0.15, 0.8, 16, 16);
glEndList();
return self;
}
// Adds p to the tail of the module’s list.
void Module_circle(Module *md, Circle *c) {
Element *e = Element_init(ObjCircle, c);
Module_insert(md, e);
}
/*
* Object that sets the current transform to the identity,
* placed at the tail of the module’s list.
*/
void Module_identity(Module *md) {
Matrix m;
Matrix_identity(&m);
Element *e = Element_init(ObjIdentity, &m);
Module_insert(md, e);
}
// Adds a pointer to the Module sub to the tail of the module’s list.
void Module_module(Module *md, Module *sub) {
Element *e = Element_init(ObjModule, sub);
Module_insert(md, e);
}
Pelvis* Pelvis_create(GLUquadricObj* qobj)
{
Pelvis* self = (Pelvis*)malloc(sizeof(Pelvis));
float defPos[3] = {0.0, 0.0, 0.0};
Element_init((Element*)self, defPos);
Element* elem = (Element*)self;
elem->onUpdate = Pelvis_onUpdate;
//Créer le bassin
self->list = glGenLists(1);
glNewList(self->list, GL_COMPILE);
//Créer le cercle
glBegin(GL_TRIANGLE_FAN);
uint32_t i;
glVertex3f(0.0, 0.0, 0.0);
for(i=0; i < PELVIS_NB_EDGE+1; i++)
{
float pos[] = {PELVIS_RADIUS*(float)cos(i*2*PI/PELVIS_NB_EDGE), PELVIS_RADIUS*(float)sin(i*2*PI/PELVIS_NB_EDGE), 0.0f};
glVertex3f(pos[0], pos[1], pos[2]);
}
glEnd();
//Créer le rectangle
glBegin(GL_POLYGON);
glVertex3f(0.25, -0.5, -1.0);
glVertex3f(-0.25, -0.5, -1.0);
glVertex3f(-0.25, 0.5, -1.0);
glVertex3f(0.25, 0.5, -1.0);
glEnd();
//Les relier. Le rectangle créera un défaut au niveau de ses coins (car ce n'est pas un cercle)
glBegin(GL_QUADS);
for(i=0; i < PELVIS_NB_EDGE+1; i++)
{
float pos1[] = {PELVIS_RADIUS*(float)cos(i*2*PI/PELVIS_NB_EDGE), PELVIS_RADIUS*(float)sin(i*2*PI/PELVIS_NB_EDGE), 0.0f};
float pos2[] = {PELVIS_RADIUS*(float)cos((i+1)*2*PI/PELVIS_NB_EDGE), PELVIS_RADIUS*(float)sin((i+1)*2*PI/PELVIS_NB_EDGE), 0.0f};
float pos3[3];
float pos4[3];
if(i == PELVIS_NB_EDGE/4)
{
pos3[0] = 0.25;
pos3[1] = 0.5;
pos3[2] = -1.0;
pos4[0] = -0.25;
pos4[1] = 0.5;
pos4[2] = -1.0;
}
else if(i==3*PELVIS_NB_EDGE/4)
{
pos4[0] = 0.25;
pos4[1] = -0.5;
pos4[2] = -1.0;
pos3[0] = -0.25;
pos3[1] = -0.5;
pos3[2] = -1.0;
}
else if(i < PELVIS_NB_EDGE/4 || i > 3*PELVIS_NB_EDGE/4)
{
pos3[0] = -0.25;
if(i == 3*PELVIS_NB_EDGE/4+1)
pos3[1] = 0.5;
else
pos3[1] = pos2[1]*1.0/PELVIS_RADIUS;
pos3[2] = -1.0;
pos4[0] = -0.25;
if(i == PELVIS_NB_EDGE/4-1)
pos4[1] = 0.5;
else
pos4[1] = pos1[1]*1.0/PELVIS_RADIUS;
pos4[2] = -1.0;
}
else
{
pos3[0] = 0.25;
if(i==PELVIS_NB_EDGE/4+1)
pos3[1]=-0.5;
else
pos3[1] = pos2[1]*1.0/PELVIS_RADIUS;
pos3[2] = -1.0;
pos4[0] = 0.25;
if(i==3*PELVIS_NB_EDGE/4-1)
pos4[1] = -0.5;
else
pos4[1] = pos1[1]*1.0/PELVIS_RADIUS;
pos4[2] = -1.0;
}
glVertex3f(pos1[0], pos1[1], pos1[2]);
glVertex3f(pos2[0], pos2[1], pos2[2]);
glVertex3f(pos3[0], pos3[1], pos3[2]);
glVertex3f(pos4[0], pos4[1], pos4[2]);
}
glEnd();
glEndList();
self->rightThigh = Thigh_create(qobj, RIGHT);
self->leftThigh = Thigh_create(qobj, LEFT);
Element_addChild(elem, (Element*)self->leftThigh);
Element_addChild(elem, (Element*)self->rightThigh);
return self;
}
void Module_texture(Module *md, Texture *tex) {
Element *e = Element_init(ObjTexture, tex);
Module_insert(md, e);
}
// Adds the surface color value to the tail of the module’s list.
void Module_surfaceColor(Module *md, Color *c) {
Element *e = Element_init(ObjSurfaceColor, c);
Module_insert(md, e);
}
// Adds p to the tail of the module’s list.
void Module_point(Module *md, Point *p) {
Element *e = Element_init(ObjPoint, p);
Module_insert(md, e);
}
// Adds p to the tail of the module’s list.
void Module_polygon(Module *md, Polygon *p) {
Element *e = Element_init(ObjPolygon, p);
Module_insert(md, e);
}
// Adds p to the tail of the module’s list.
void Module_polyline(Module *md, Polyline *p) {
Element *e = Element_init(ObjPolyline, p);
Module_insert(md, e);
}
// Adds p to the tail of the module’s list.
void Module_line(Module *md, Line *l) {
Element *e = Element_init(ObjLine, l);
Module_insert(md, e);
}
// Adds the body color value to the tail of the module’s list.
void Module_bodyColor(Module *md, Color *c) {
Element *e = Element_init(ObjBodyColor, c);
Module_insert(md, e);
}
// Adds p to the tail of the module’s list.
void Module_sphere(Module *md, Sphere *s) {
Element *e = Element_init(ObjSphere, s);
Module_insert(md, e);
}
// Adds the specular coefficient to the tail of the module’s list.
void Module_surfaceCoeff(Module *md, float coeff) {
Element *e = Element_init(ObjSurfaceCoeff, &coeff);
Module_insert(md, e);
}
// Adds p to the tail of the module’s list.
void Module_plane(Module *md, Plane *p) {
Element *e = Element_init(ObjPlane, p);
Module_insert(md, e);
}
