Boolean
calculate_transformation(CheapPointType new1_pt, CheapPointType new2_pt,
CheapPointType old1_pt, CheapPointType old2_pt,
Boolean reflect,
double angle,
Matrix3x3 new_to_old_mat)
{
Matrix3x3 t;
/* Translation of new1_pt to origin. */
Matrix3x3 new_to_origin_mat;
make_translation_matrix(new_to_origin_mat, -new1_pt.X, -new1_pt.Y);
if (reflect) {
/* If components are not on same side of board, reflect through
the y-axis. */
make_reflection_matrix_y_axis(t);
multiply_matrix_matrix_inplace(t, new_to_origin_mat);
}
Matrix3x3 result;
/* Start with translation of new1_pt to origin. */
copy_matrix(new_to_origin_mat, result);
/* Rotate from new element angle to old element angle. */
make_rotation_matrix(t, angle);
multiply_matrix_matrix_inplace(t, result);
/* Translate from origin to old1_pt. */
make_translation_matrix(t, old1_pt.X, old1_pt.Y);
multiply_matrix_matrix_inplace(t, result);
copy_matrix(result, new_to_old_mat);
return True;
}
const char*
scale_scene_node(const char *node, point_t center, scalar_t factor[3] )
{
scene_node_t *nodePtr;
matrixgl_t matrix;
if ( get_scene_node( node, &nodePtr ) != TCL_OK ) {
return "No such node";
}
make_translation_matrix( matrix, -center.x, -center.y, -center.z );
multiply_matrices( nodePtr->trans, nodePtr->trans, matrix );
make_translation_matrix( matrix, center.x, center.y, center.z );
multiply_matrices( nodePtr->invtrans, matrix, nodePtr->invtrans );
make_scaling_matrix( matrix, factor[0], factor[1], factor[2] );
multiply_matrices( nodePtr->trans, nodePtr->trans, matrix );
make_scaling_matrix( matrix, 1./factor[0], 1./factor[1], 1./factor[2] );
multiply_matrices( nodePtr->invtrans, matrix, nodePtr->invtrans );
make_translation_matrix( matrix, center.x, center.y, center.z );
multiply_matrices( nodePtr->trans, nodePtr->trans, matrix );
make_translation_matrix( matrix, -center.x, -center.y, -center.z );
multiply_matrices( nodePtr->invtrans, matrix, nodePtr->invtrans );
return NULL;
}
const char*
translate_scene_node(const char *node, vector_t vec )
{
scene_node_t *nodePtr;
matrixgl_t xlateMatrix;
if ( get_scene_node( node, &nodePtr ) != TCL_OK ) {
return "No such node";
}
make_translation_matrix( xlateMatrix, vec.x, vec.y, vec.z );
multiply_matrices( nodePtr->trans, nodePtr->trans, xlateMatrix );
make_translation_matrix( xlateMatrix, -vec.x, -vec.y, -vec.z );
multiply_matrices( nodePtr->invtrans, xlateMatrix, nodePtr->invtrans );
return NULL;
}
void make_inverse_transformation_matrix(
Matrix4* mat, const Vector3& pos, const Quaternion& ori, const Vector3& scl )
{
// assumes orientation is normalized
Matrix4 sclmat, orimat, trnmat;
make_scaling_matrix( &sclmat, Vector3( 1.0 / scl.x, 1.0 / scl.y, 1.0 / scl.z ) );
conjugate( ori ).to_matrix( &orimat );
make_translation_matrix( &trnmat, -pos );
*mat = sclmat * orimat * trnmat;
}
ExperimentalApp() : GLFWApp(1280, 800, "Geometric Algorithm Development App")
{
glfwSwapInterval(0);
igm.reset(new gui::ImGuiManager(window));
gui::make_dark_theme();
fixedTimer.start();
lights[0] = {{0, 10, -10}, {0, 0, 1}};
lights[1] = {{0, 10, 10}, {0, 1, 0}};
int width, height;
glfwGetWindowSize(window, &width, &height);
glViewport(0, 0, width, height);
grid = RenderableGrid(1, 100, 100);
cameraController.set_camera(&camera);
camera.look_at({0, 2.5, -2.5}, {0, 2.0, 0});
simpleShader = make_watched_shader(shaderMonitor, "../assets/shaders/simple_vert.glsl", "assets/shaders/simple_frag.glsl");
normalDebugShader = make_watched_shader(shaderMonitor, "../assets/shaders/normal_debug_vert.glsl", "assets/shaders/normal_debug_frag.glsl");
Renderable debugAxis = Renderable(make_axis(), false, GL_LINES);
debugAxis.pose = Pose(float4(0, 0, 0, 1), float3(0, 1, 0));
debugModels.push_back(std::move(debugAxis));
// Initial supershape settings
supershape = Renderable(make_supershape_3d(16, 5, 7, 4, 12));
supershape.pose.position = {0, 2, -2};
// Initialize PTF stuff
{
std::array<float3, 4> controlPoints = {float3(0.0f, 0.0f, 0.0f), float3(0.667f, 0.25f, 0.0f), float3(1.33f, 0.25f, 0.0f), float3(2.0f, 0.0f, 0.0f)};
ptf = make_parallel_transport_frame_bezier(controlPoints, 32);
for (int i = 0; i < ptf.size(); ++i)
{
Renderable p = Renderable(make_cube());
ptfBoxes.push_back(std::move(p));
}
}
// Initialize Parabolic pointer stuff
{
// Set up the ground plane used as a nav mesh for the parabolic pointer
worldSurface = make_plane(48, 48, 96, 96);
for (auto & p : worldSurface.vertices)
{
float4x4 model = make_rotation_matrix({1, 0, 0}, -ANVIL_PI / 2);
p = transform_coord(model, p);
}
worldSurfaceRenderable = Renderable(worldSurface);
parabolicPointer = make_parabolic_pointer(worldSurface, params);
}
// Initialize objects for ballistic trajectory tests
{
turret.source = Renderable(make_tetrahedron());
turret.source.pose = Pose({-5, 2, 5});
turret.target = Renderable(make_cube());
turret.target.pose = Pose({0, 0, 40});
turret.bullet = Renderable(make_sphere(1.0f));
}
float4x4 tMat = mul(make_translation_matrix({3, 4, 5}), make_rotation_matrix({0, 0, 1}, ANVIL_PI / 2));
auto p = make_pose_from_transform_matrix(tMat);
std::cout << tMat << std::endl;
std::cout << p << std::endl;
gl_check_error(__FILE__, __LINE__);
}
