mat quat_rotation_mat(aquat q)
{
quat q2 = q*q;
afloat4 v2;
quat_store_aligned(q2, v2.a);
const float x2 = v2.x;
const float y2 = v2.y;
const float z2 = v2.z;
quat wq = _mm_shuffle_ps(q, q, VEC_SHUFFLE(3, 3, 3, 3)) * q;
afloat4 wv;
quat_store_aligned(wq, wv.a);
const float wx = wv.x;
const float wy = wv.y;
const float wz = wv.z;
afloat4 v;
quat_store_aligned(q, v.a);
const float xy = v.x*v.y;
const float xz = v.x*v.z;
const float yz = v.y*v.z;
/* Specific to unit quaternion. */
return mat_load(1.0f-2.0f*(y2+z2), 2.0f*(xy-wz), 2.0f*(xz+wy), 0.0f,
2.0f*(xy+wz), 1.0f-2.0f*(x2+z2), 2.0f*(yz-wx), 0.0f,
2.0f*(xz-wy), 2.0f*(yz+wx), 1.0f-2.0f*(x2+y2), 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
}
int main(void)
{
mat *m;
size_t dim[2];
m = mat_create(6,6);
io_init();
io_set_fmt(IO_ASCII);
mat_load(m,dim,"ex_io.dat:m");
printf("%dx%d matrix loaded from %s:\n",(int)(dim[0]),(int)(dim[1]),FNAME);
mat_print(m,"% .15e");
io_set_fmt(IO_XML);
mat_save("ex_io.xml:m",'w',m);
io_finish();
mat_destroy(m);
return EXIT_SUCCESS;
}
int
main (int argc, char *argv[])
{
int cable_type;
int quit = 0;
float rot1 = 0.0, rot2 = 0.0, rot3 = 0.0;
kos_img_t cubetxr;
GLuint texture[2];
pvr_ptr_t texaddr;
pvr_ptr_t bumpmap;
/* Consider this as the vector from the object to the light, for now. */
GLfloat light_position[3] = { 0.7, 0.7, 2.0 };
vec_normalize (&light_position[0], &light_position[0]);
cable_type = vid_check_cable ();
printf ("KOS says M_PI is: %f\n", M_PI);
if (cable_type == CT_VGA)
vid_init (DM_640x480_VGA, PM_RGB565);
else
vid_init (DM_640x480_PAL_IL, PM_RGB565);
init_pvr ();
auto_orient ();
png_to_img ("/rd/cube.png", PNG_NO_ALPHA, &cubetxr);
texaddr = pvr_mem_malloc (cubetxr.w * cubetxr.h * 2);
pvr_txr_load_kimg (&cubetxr, texaddr, PVR_TXRLOAD_INVERT_Y);
kos_img_free (&cubetxr, 0);
bumpmap = load_bumpmap ("/rd/bump.raw");
vid_border_color (0, 0, 0);
pvr_set_bg_color (0.0, 0.0, 0.0);
glKosInit ();
glEnable (GL_DEPTH_TEST);
glEnable (GL_CULL_FACE);
glEnable (GL_TEXTURE_2D);
glShadeModel (GL_SMOOTH);
glClearDepth (1.0f);
glDepthFunc (GL_LEQUAL);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
gluPerspective (45.0, /* Field of view in degrees. */
640.0 / 480.0, /* Aspect ratio. */
1.0, /* Z near. */
50.0); /* Z far. */
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
gluLookAt (0.0, 0.0, -4.5, /* Eye position. */
0.0, 0.0, 0.0, /* Centre. */
0.0, 1.0, 0.0); /* Up. */
glGenTextures (2, &texture[0]);
/* Ordinary texture. */
glBindTexture (GL_TEXTURE_2D, texture[0]);
glKosTex2D (GL_RGB565_TWID, cubetxr.w, cubetxr.h, texaddr);
/* Bump texture. */
glBindTexture (GL_TEXTURE_2D, texture[1]);
/*pvr_poly_cxt_txr (cxt, PVR_LIST_OP_POLY,
PVR_TXRFMT_BUMP | PVR_TXRFMT_TWIDDLED,
128, 128, bumpmap, PVR_FILTER_BILINEAR);*/
glKosTex2D (GL_BUMP_TWID, 128, 128, bumpmap);
glTexEnvi (GL_TEXTURE_2D, GL_TEXTURE_ENV_MODE, GL_MODULATE);
/* Break the nice abstraction. Tweak for bump mapping. */
/*cxt = (pvr_poly_cxt_t *) texture[1];
cxt->gen.specular = PVR_SPECULAR_ENABLE;*/
/*pvr_poly_compile (&bumphdr, cxt);*/
printf ("objmatrix at %p\n", objmatrix);
while (!quit)
{
int faces;
GLfloat transformed_normals
[sizeof (face_normals) / (3 * sizeof (GLfloat))][3];
GLfloat transformed_orient
[sizeof (face_orient) / (3 * sizeof (GLfloat))][3];
MAPLE_FOREACH_BEGIN (MAPLE_FUNC_CONTROLLER, cont_state_t, st)
if (st->buttons & CONT_START)
quit = 1;
MAPLE_FOREACH_END ()
glKosBeginFrame ();
glPushMatrix ();
glRotatef (rot1, 1.0, 0.0, 0.0);
glRotatef (rot2, 0.0, 1.0, 0.0);
glRotatef (rot3, 0.0, 0.0, 1.0);
rot1 += 0.1;
rot2 += 0.2;
rot3 += 0.3;
/* Get the object's transformation matrix. */
glGetFloatv (GL_MODELVIEW_MATRIX, &objmatrix[0][0]);
/* We care only about rotation for now. */
objmatrix[0][3] = objmatrix[1][3] = objmatrix[2][3] = 0.0;
objmatrix[3][0] = objmatrix[3][1] = objmatrix[3][2] = 0.0;
objmatrix[3][3] = 1.0;
/*printf ("Got matrix:\n");
printf ("[ %f %f %f %f ]\n", objmatrix[0][0], objmatrix[0][1],
objmatrix[0][2], objmatrix[0][3]);
printf ("[ %f %f %f %f ]\n", objmatrix[1][0], objmatrix[1][1],
objmatrix[1][2], objmatrix[1][3]);
printf ("[ %f %f %f %f ]\n", objmatrix[2][0], objmatrix[2][1],
objmatrix[2][2], objmatrix[2][3]);
printf ("[ %f %f %f %f ]\n", objmatrix[3][0], objmatrix[3][1],
objmatrix[3][2], objmatrix[3][3]);*/
/* Do these all in one go. */
mat_load ((matrix_t *) &objmatrix[0][0]);
/* Note: mat_transform is only for 3D->2D (perspective)
transformations! This won't be quite as quick, most likely. */
for (faces = 0; faces < 6; faces++)
{
GLfloat x = face_normals[faces][0];
GLfloat y = face_normals[faces][1];
GLfloat z = face_normals[faces][2];
GLfloat w = 1.0;
mat_trans_nodiv (x, y, z, w);
transformed_normals[faces][0] = x;
transformed_normals[faces][1] = y;
transformed_normals[faces][2] = z;
x = face_orient[faces][0];
y = face_orient[faces][1];
z = face_orient[faces][2];
w = 1.0;
mat_trans_nodiv (x, y, z, w);
transformed_orient[faces][0] = x;
transformed_orient[faces][1] = y;
transformed_orient[faces][2] = z;
}
glKosMatrixDirty ();
glDisable (GL_KOS_OFFSET_COLOR);
glBindTexture (GL_TEXTURE_2D, texture[0]);
glDisable (GL_TEXTURE_2D);
//glBlendFunc (GL_DST_COLOR, GL_ZERO);
glBlendFunc (GL_ONE, GL_ZERO);
for (faces = 0; faces < 6; faces++)
{
int strip;
glBegin (GL_TRIANGLE_STRIP);
glColor4ub (colour[faces][0], colour[faces][1], colour[faces][2],
colour[faces][3]);
for (strip = 0; strip < 4; strip++)
{
glTexCoord2fv (texcoords[strip]);
glVertex3fv (points[tristrips[faces][strip]]);
}
glEnd ();
}
/* Finish opaque list, start transparent list. */
glKosFinishList ();
glBindTexture (GL_TEXTURE_2D, texture[1]);
glEnable (GL_TEXTURE_2D);
glEnable (GL_KOS_OFFSET_COLOR);
glBlendFunc (GL_ZERO, GL_SRC_ALPHA);
for (faces = 0; faces < 6; faces++)
{
int strip, over_pi, over_2pi;
GLfloat s_dot_n, f[3], d[3], t, q;
GLfloat d_cross_r[3], dxr_len, d_len;
s_dot_n = vec_dot (&transformed_normals[faces][0],
&light_position[0]);
/* Elevation (T) angle:
s.n = |s| |n| cos T
T = acos (s.n / (|s| * |n|))
|s| and |n| are both 1. */
t = M_PI / 2 - acosf (s_dot_n);
if (t < 0)
t = 0;
/* Rotation (Q) angle:
d x r = (|d| |r| sin Q) n
|d x r| / (|d| |r|) = sin Q. */
vec_scale (&f[0], &transformed_normals[faces][0], s_dot_n);
vec_sub (&d[0], &light_position[0], &f[0]);
vec_cross (&d_cross_r[0], &d[0], &transformed_orient[faces][0]);
dxr_len = vec_length (&d_cross_r[0]);
d_len = vec_length (&d[0]);
q = asinf (dxr_len / d_len);
over_pi = vec_dot (&d[0], &transformed_orient[faces][0]) < 0;
if (over_pi)
q = M_PI - q;
over_2pi
= vec_dot (&d_cross_r[0], &transformed_normals[faces][0]) < 0;
if (over_2pi)
q = 2 * M_PI - q;
/*printf ("length of n: %f\n",
length (&transformed_normals[faces][0]));
printf ("%d: [ %f %f %f ]\n", faces, transformed_normals[faces][0],
transformed_normals[faces][1], transformed_normals[faces][2]);
printf ("length of r: %f\n", length (&transformed_orient[faces][0]));
printf ("%d: [ %f %f %f ]\n", faces, transformed_orient[faces][0],
transformed_orient[faces][1], transformed_orient[faces][2]);*/
glBegin (GL_TRIANGLE_STRIP);
set_bump_direction (t, 2 * M_PI - q, 1.0);
glColor4ub (255, 255, 255, 255);
for (strip = 0; strip < 4; strip++)
{
glTexCoord2fv (texcoords[strip]);
glVertex3fv (points[tristrips[faces][strip]]);
}
glEnd ();
}
/* Finish opaque polygon list, start translucent polygon list. */
/* glKosFinishList ();*/
glPopMatrix ();
glKosFinishFrame ();
}
glKosShutdown ();
pvr_shutdown ();
vid_shutdown ();
return 0;
}
