ngl::Mat4 Bvh::getRotationFromZ(ngl::Vec3 _vec) const
{
ngl::Mat4 rotM;
float x, y, z;
// rotate negative z axis to _vec direction
_vec.normalize();
ngl::Vec3 nz(0,0,-1);
float angle = acos(_vec.dot(nz));
ngl::Vec3 norm = _vec.cross(nz);
if(norm.length()<= 0.0001)
{
x= z = 0.0;
y = 1.0;
}
else
{
norm.normalize();
x = norm.m_x;
y = norm.m_y;
z = norm.m_z;
}
// Axis and Angle matrix rotation see
// http://en.wikipedia.org/wiki/Rotation_matrix for more details
float c = cos(angle);
float s = sin(angle);
float C=1-c;
float xs = x*s; float ys = y*s; float zs = z*s;
float xC = x*C; float yC = y*C; float zC = z*C;
float xyC = x*yC; float yzC = y*zC; float zxC = z*xC;
rotM.m_m[0][0]=x*xC+c; rotM.m_m[0][1]= xyC-zs; rotM.m_m[0][2]= zxC+ys;
rotM.m_m[1][0]=xyC+zs; rotM.m_m[1][1]=y*yC+c; rotM.m_m[1][2]= yzC-xs;
rotM.m_m[2][0]=zxC-ys; rotM.m_m[2][1]=yzC+xs; rotM.m_m[2][2]=z*zC+c;
return rotM;
}
void NGLScene::paintGL()
{
if(testangle==89)
vary=-1;
if(testangle==-89)
vary=1;
//This bit has been MOVED TO TIMER EVENT for more 'slow-motion' control
// testangle+=vary;
std::cout<<testangle<<std::endl;
ngl::Vec3 v1(-5+15*sin((testangle)*(M_PI/180))-2,-5+15*sin((testangle)*(M_PI/180)), 4*sin((testangle)*(M_PI/180))-2);
ngl::Vec3 v2(-4,0.01,-5+15*sin((testangle)*(M_PI/180)));//transform the triangle vao to 2,2,0
ngl::Vec3 v2NonNormalized=v2;
ngl::Vec3 v1NonNormalized=v1;
// clear the screen and depth buffer
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Rotation based on the mouse position for our global transform
// Rotation based on the mouse position for our global
// transform
ngl::Mat4 rotX;
ngl::Mat4 rotY;
// create the rotation matrices
rotX.rotateX(m_spinXFace);
rotY.rotateY(m_spinYFace);
// multiply the rotations
m_mouseGlobalTX=rotY*rotX;
// add the translations
m_mouseGlobalTX.m_m[3][0] = m_modelPos.m_x;
m_mouseGlobalTX.m_m[3][1] = m_modelPos.m_y;
m_mouseGlobalTX.m_m[3][2] = m_modelPos.m_z;
ngl::ShaderLib *shader=ngl::ShaderLib::instance();
(*shader)["Phong"]->use();
ngl::Material m(ngl::STDMAT::PEWTER);
// load our material values to the shader into the structure material (see Vertex shader)
m.loadToShader("material");
ngl::Mat4 MV;
ngl::Mat4 MVP;
ngl::Mat3 normalMatrix;
ngl::Mat4 M;
//*********
m_transform.reset();
//draw box
{
m_transform.setPosition(v1NonNormalized);
M=m_transform.getMatrix()*m_mouseGlobalTX;
MV= M*m_cam->getViewMatrix();
MVP= M*m_cam->getVPMatrix();
normalMatrix=MV;
normalMatrix.inverse();
shader->setShaderParamFromMat4("MV",MV);
shader->setShaderParamFromMat4("MVP",MVP);
shader->setShaderParamFromMat3("normalMatrix",normalMatrix);
shader->setShaderParamFromMat4("M",M);
//ngl::VAOPrimitives::instance()->draw("cube");
m_vao2->bind();
m_vao2->draw();
m_vao2->unbind();
}
v1.normalize();
v2.normalize();
float angle = /*atan2(v1.m_y,v1.m_x) - atan2(v2.m_y,v2.m_x);//*/acos(v1.dot(v2));
ngl::Vec3 rotationAxis = v1.cross(v2);
rotationAxis.normalize();
// ngl::Quaternion q ;
// q.fromAxisAngle(rotationAxis,angle);
ngl::Mat4 s,rotateMat,translateMat;
s=1;
//Use either RotationBetweenVectors or matrixFromAxisAngle
rotateMat=RotationBetweenVectors(v2,v1).toMat4();
//rotateMat=matrixFromAxisAngle(rotationAxis,angle);//q.toMat4();
//calculate euler angles from axis-angle
// double heading,attitude,bank;
// toEuler(rotationAxis.m_x, rotationAxis.m_y, rotationAxis.m_z, angle, heading, attitude, bank);
// m_transform.reset();
// std::cout<<bank*(180/M_PI)<<","<<heading*(180/M_PI)<<","<<attitude*(180/M_PI)<<","<<std::endl;
// m_transform.setRotation(bank*(180/M_PI),heading*(180/M_PI),attitude*(180/M_PI));
// r= m_transform.getMatrix();
m_transform.reset();
m_transform.setPosition(v2NonNormalized);
translateMat= m_transform.getMatrix();
ngl::Mat4 modelmatrix=s*rotateMat*translateMat;
m_transform.reset();
//draw triangle
{
// load our material values to the shader into the structure material (see Vertex shader)
m.set(ngl::STDMAT::BRONZE);
m.loadToShader("material");
M=/*m_transform.getMatrix()*/ modelmatrix*m_mouseGlobalTX;
MV= M*m_cam->getViewMatrix();
MVP= M*m_cam->getVPMatrix();
normalMatrix=MV;
normalMatrix.inverse();
shader->setShaderParamFromMat4("MV",MV);
shader->setShaderParamFromMat4("MVP",MVP);
shader->setShaderParamFromMat3("normalMatrix",normalMatrix);
shader->setShaderParamFromMat4("M",M);
// ngl::VAOPrimitives::instance()->draw("cube");
m_vao->bind();
m_vao->draw();
m_vao->unbind();
}
// //draw the tip-cube of the triangle
// {
// m.set(ngl::GOLD);
// // load our material values to the shader into the structure material (see Vertex shader)
// m.loadToShader("material");
// translateMat=1;
// // rotateMat=1;
// // scaleMat=1;
// //not working
// // ngl::Vec3 v=v1.cross(v2);
// // float c=v1.dot(v2);
// // float h=1-c/v.dot(v);
// // rotateMat=ngl::Mat4(c*h*v.m_x*v.m_x, h*v.m_x*v.m_y-v.m_z, h*v.m_x*v.m_z+v.m_y, 1,
// // h*v.m_x*v.m_y+v.m_z, c+h*v.m_y*v.m_y, h*v.m_y*v.m_z-v.m_x, 1,
// // h*v.m_x*v.m_z-v.m_y, h*v.m_y*v.m_z+v.m_x, c+h*v.m_z*v.m_z, 1,
// // 0 , 0 , 0, 1);
// // rotateMat.transpose();
// //not working
// // ngl::Mat4 trs=m_transform.getMatrix();
// // rotateMat=matrixFromAxisAngle(rotationAxis,angle);
// // translateMat.translate(-v2NonNormalized.m_x,-(v2NonNormalized.m_y),-v2NonNormalized.m_z);
// //Based on [R] = [T].inverse * [R0] * [T] //http://www.euclideanspace.com/maths/geometry/affine/aroundPoint/
// /*
// translate the arbitrary point to the origin (subtract P which is translate by -Px,-Py,-Pz)
// rotate about the origin (can use 3×3 matrix R0)
// then translate back. (add P which is translate by +Px,+Py,+Pz)
// */
// translateMat.inverse();//step 1.. translate pointToRotate to origin
// //(rotation matrix) - same as the triangle's "rotateMat" //step 2 rotate..
// translateMat2.translate(v2NonNormalized.m_x,(v2NonNormalized.m_y),v2NonNormalized.m_z);//step3 ..translate pointToRotate back to its original position in 3d space
// std::cout<<translateMat2.m_30<<","<<translateMat2.m_31<<","<<translateMat2.m_32<<std::endl;
// // std::cout<<"mat Matrix():\n"<<" "<<rotateMat.m_00<<" "<< rotateMat.m_01<<" "<<rotateMat.m_02 <<" "<<rotateMat.m_03<<" "<<
// // rotateMat.m_10<<" "<< rotateMat.m_11<<" "<<rotateMat.m_12 <<" "<<rotateMat.m_13<<" "<< rotateMat.m_20<<" "<< rotateMat.m_21<<" "<<rotateMat.m_22 <<" "<<rotateMat.m_23<<" "<< rotateMat.m_30<<" "<<
// // rotateMat.m_31<<" "<<rotateMat.m_32 <<" "<<rotateMat.m_33<<" "<<std::endl;
// // std::cout<<angle<<std::endl;
// //place one one sphere-primitive in the tip of the triangle, but we translate first and then rotate (this effectively shows the "trajectory of the triangle rotation")
// /*
// * In order to calculate the rotation about any arbitrary point we need to calculate its new rotation and translation.
// * In other words rotation about a point is an 'proper' isometry transformation' which means that it has a linear
// * and a rotational component.
// * [resulting transform] = [+Px,+Py,+Pz] * [rotation] * [-Px,-Py,-Pz]
// */
// M= translateMat*rotateMat*translateMat2 /**scaleMat*/; //in ngl multiplication happens from left to right
// M= M*m_mouseGlobalTX;
// MV= M*m_cam->getViewMatrix();
// MVP= M*m_cam->getVPMatrix();
// normalMatrix=MV;
// normalMatrix.inverse();
// shader->setShaderParamFromMat4("MV",MV);
// shader->setShaderParamFromMat4("MVP",MVP);
// shader->setShaderParamFromMat3("normalMatrix",normalMatrix);
// shader->setShaderParamFromMat4("M",M);
//// ngl::VAOPrimitives::instance()->createSphere("mysphere",0.1,10);
// ngl::VAOPrimitives::instance()->draw("cube");
// }
// //*********NOW********* STEP 2
// //Calculate rotation vector from 2nd to 1st triangle
// //then
// m.set(ngl::BRONZE);
// // load our material values to the shader into the structure material (see Vertex shader)
// m.loadToShader("material");
// //... rotate and draw the 2nd triangle as well
// m_transform.reset();
// {
////------------------------------------------------------------------------------------------------------------------------------------
////------------------------------------------------------------------------------------------------------------------------------------
///**************
////not working
//// eulerAngles.m_x = atan2( rotationAxis.m_y, rotationAxis.m_z );
//// if (rotationAxis.m_z >= 0) {
//// eulerAngles.m_y = -atan2( rotationAxis.m_x * cos(eulerAngles.m_x), rotationAxis.m_z );
//// }else{
//// eulerAngles.m_y = atan2( rotationAxis.m_x * cos(eulerAngles.m_x), -rotationAxis.m_z );
//// }
//// eulerAngles.m_z = atan2( cos(eulerAngles.m_x), sin(eulerAngles.m_x) * sin(eulerAngles.m_y) );
// //
//// eulerAngles.m_x= 0;
//// eulerAngles.m_y = atan2((v1-v2).m_x, (v1-v2).m_z);
//// float padj = sqrt(pow((v1-v2).m_x, 2) + pow((v1-v2).m_z, 2));
//// eulerAngles.m_y = atan2(padj, (v1-v2).m_y) ;
// **************/
// //convert axis anle to euler angles
//// toEuler(rotationAxis.m_x, rotationAxis.m_y, rotationAxis.m_z, angle);
//// m_transform.setRotation(eulerAngles.m_x*(180/M_PI),eulerAngles.m_y*(180/M_PI),eulerAngles.m_z*(180/M_PI));
// ngl::Mat4 trs=m_transform.getMatrix();
////------------------------------------------------------------------------------------------------------------------------------------
////------------------------------------------------------------------------------------------------------------------------------------
// //The following work with ngl::Transformation too, as well as with individual matrices
// // m_transform.reset();
// // if(testangle<360)
// // testangle++;
// // else
// // {
// // testangle=0;
// // }
// // m_transform.setRotation(testangle,0,0);
// //Rotate based where v1 is (make v2NonNormalized(triangle) to point towards v1-cube)
// rotateMat=matrixFromAxisAngle(rotationAxis,angle);//m_transform.getMatrix();
// translateMat.translate(v2NonNormalized.m_x,v2NonNormalized.m_y,v2NonNormalized.m_z);
//// std::cout<<"mat Matrix():\n"<<" "<<rotateMat.m_00<<" "<< rotateMat.m_01<<" "<<rotateMat.m_02 <<" "<<rotateMat.m_03<<" "<<
//// rotateMat.m_10<<" "<< rotateMat.m_11<<" "<<rotateMat.m_12 <<" "<<rotateMat.m_13<<" "<< rotateMat.m_20<<" "<< rotateMat.m_21<<" "<<rotateMat.m_22 <<" "<<rotateMat.m_23<<" "<< rotateMat.m_30<<" "<<
//// rotateMat.m_31<<" "<<rotateMat.m_32 <<" "<<rotateMat.m_33<<" "<<std::endl;
//// std::cout<<angle<<std::endl;
////not quite working
// float norm_u_norm_v = sqrt(v2NonNormalized.lengthSquared() * v1NonNormalized.lengthSquared());
// ngl::Vec3 w = v2.cross(v1);
// ngl::Quaternion q = ngl::Quaternion(norm_u_norm_v + v2NonNormalized.dot(v1NonNormalized), w.m_x, w.m_y, w.m_z);
// q.normalise();
// rotateMat=q.toMat4();
////not quite working either
// rotateMat=ngl::lookAt(v2NonNormalized,v1NonNormalized,ngl::Vec3(0,1,0));
// M=rotateMat*translateMat;//left to right multiplication in ngl (first rotate then translate)
// M=/*m_transform.getMatrix()*/ M/* trs*/*m_mouseGlobalTX;
// MV= M*m_cam->getViewMatrix();
// MVP= M*m_cam->getVPMatrix();
// normalMatrix=MV;
// normalMatrix.inverse();
// shader->setShaderParamFromMat4("MV",MV);
// shader->setShaderParamFromMat4("MVP",MVP);
// shader->setShaderParamFromMat3("normalMatrix",normalMatrix);
// shader->setShaderParamFromMat4("M",M);
// m_vao->bind();
// m_vao->draw();//draw triangle now
// m_vao->unbind();
// }
// //*********NOW********* STEP 3
// //draw the tip-cube of the triangle
//{
// m.set(ngl::GOLD);
// // load our material values to the shader into the structure material (see Vertex shader)
// m.loadToShader("material");
// translateMat=1;
//// rotateMat=1;
//// scaleMat=1;
////not working
//// ngl::Vec3 v=v1.cross(v2);
//// float c=v1.dot(v2);
//// float h=1-c/v.dot(v);
//// rotateMat=ngl::Mat4(c*h*v.m_x*v.m_x, h*v.m_x*v.m_y-v.m_z, h*v.m_x*v.m_z+v.m_y, 1,
//// h*v.m_x*v.m_y+v.m_z, c+h*v.m_y*v.m_y, h*v.m_y*v.m_z-v.m_x, 1,
//// h*v.m_x*v.m_z-v.m_y, h*v.m_y*v.m_z+v.m_x, c+h*v.m_z*v.m_z, 1,
//// 0 , 0 , 0, 1);
//// rotateMat.transpose();
////not working
//// ngl::Mat4 trs=m_transform.getMatrix();
//// rotateMat=matrixFromAxisAngle(rotationAxis,angle);
//// translateMat.translate(-v2NonNormalized.m_x,-(v2NonNormalized.m_y),-v2NonNormalized.m_z);
// //Based on [R] = [T].inverse * [R0] * [T] //http://www.euclideanspace.com/maths/geometry/affine/aroundPoint/
// /*
// translate the arbitrary point to the origin (subtract P which is translate by -Px,-Py,-Pz)
// rotate about the origin (can use 3×3 matrix R0)
// then translate back. (add P which is translate by +Px,+Py,+Pz)
// */
// translateMat.inverse();//step 1.. translate pointToRotate to origin
// //(rotation matrix) - same as the triangle's "rotateMat" //step 2 rotate..
// translateMat2.translate(v2NonNormalized.m_x,(v2NonNormalized.m_y),v2NonNormalized.m_z);//step3 ..translate pointToRotate back to its original position in 3d space
// std::cout<<translateMat2.m_30<<","<<translateMat2.m_31<<","<<translateMat2.m_32<<std::endl;
//// std::cout<<"mat Matrix():\n"<<" "<<rotateMat.m_00<<" "<< rotateMat.m_01<<" "<<rotateMat.m_02 <<" "<<rotateMat.m_03<<" "<<
//// rotateMat.m_10<<" "<< rotateMat.m_11<<" "<<rotateMat.m_12 <<" "<<rotateMat.m_13<<" "<< rotateMat.m_20<<" "<< rotateMat.m_21<<" "<<rotateMat.m_22 <<" "<<rotateMat.m_23<<" "<< rotateMat.m_30<<" "<<
//// rotateMat.m_31<<" "<<rotateMat.m_32 <<" "<<rotateMat.m_33<<" "<<std::endl;
//// std::cout<<angle<<std::endl;
// //place one one sphere-primitive in the tip of the triangle, but we translate first and then rotate (this effectively shows the "trajectory of the triangle rotation")
// /*
// * In order to calculate the rotation about any arbitrary point we need to calculate its new rotation and translation.
// * In other words rotation about a point is an 'proper' isometry transformation' which means that it has a linear
// * and a rotational component.
// * [resulting transform] = [+Px,+Py,+Pz] * [rotation] * [-Px,-Py,-Pz]
// */
// M= translateMat*rotateMat*translateMat2 /**scaleMat*/; //in ngl multiplication happens from left to right
// M= M*m_mouseGlobalTX;
// MV= M*m_cam->getViewMatrix();
// MVP= M*m_cam->getVPMatrix();
// normalMatrix=MV;
// normalMatrix.inverse();
// shader->setShaderParamFromMat4("MV",MV);
// shader->setShaderParamFromMat4("MVP",MVP);
// shader->setShaderParamFromMat3("normalMatrix",normalMatrix);
// shader->setShaderParamFromMat4("M",M);
// ngl::VAOPrimitives::instance()->createSphere("mysphere",0.1,10);
// ngl::VAOPrimitives::instance()->draw("cube");
//}
}
//return shortest arc quaternion that rotates start to dest
ngl::Quaternion NGLScene::RotationBetweenVectors(ngl::Vec3 start, ngl::Vec3 dest){
ngl::Quaternion q;
(start).normalize();
(dest).normalize();
float cosTheta = start.dot(dest);
ngl::Vec3 rotationAxis;
/**
* https://bitbucket.org/sinbad/ogre/src/9db75e3ba05c/OgreMain/include/OgreVector3.h?fileviewer=file-view-default#cl-651
*
* Gets the shortest arc quaternion to rotate this vector to the destination
vector.
@remarks
If you call this with a dest vector that is close to the inverse
of this vector, we will rotate 180 degrees around the 'fallbackAxis'
(if specified, or a generated axis if not) since in this case
ANY axis of rotation is valid.
*/
if (cosTheta >= 1.0f)//same vectors
{
return ngl::Quaternion();//identity quaternion
}
if (cosTheta < (1e-6f - 1.0f))
{
// Generate an axis
rotationAxis = ngl::Vec3 (0.0f, 0.0f, 1.0f).cross( start);
if (rotationAxis.length()==0) // pick another if colinear
rotationAxis = ngl::Vec3 (0.0f, 1.0f, 0.0f).cross( start);
rotationAxis.normalize();
q.fromAxisAngle(rotationAxis,180.0f);
}
// if (cosTheta < -1 + 0.001f)
// {
// // special case when vectors in opposite directions:
// // there is no "ideal" rotation axis
// // So guess one; any will do as long as it's perpendicular to start
// rotationAxis = ngl::Vec3 (0.0f, 0.0f, 1.0f).cross( start);
// float t=rotationAxis.lengthSquared();
// if (t< 0.01 ) // bad luck, they were parallel, try again!
// rotationAxis = ngl::Vec3 (1.0f, 0.0f, 0.0f).cross( start);
// (rotationAxis).normalize();
// q.fromAxisAngle(rotationAxis,180.0f);
// return q;
// }
rotationAxis = start.cross(dest);
float s = sqrt( (1+cosTheta)*2 );
float invs = 1 / s;
return ngl::Quaternion(
s * 0.5f,
rotationAxis.m_x * invs,
rotationAxis.m_y * invs,
rotationAxis.m_z * invs
);
}
