void ID::Font::TextRender(const char* str, void* font, ID::Color* fg, int x, int y, int z)
{
int i;
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluOrtho2D(0, glutGet(GLUT_WINDOW_WIDTH), 0, glutGet(GLUT_WINDOW_HEIGHT));
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
glColor3f(fg->r, fg->g, fg->b);
glRasterPos3i(x, y, z);
i = 0;
while (str[i] != 0)
{
if (str[i] == '\n')
{
y -= 20;
glRasterPos3i(x, y, z);
}
else
glutBitmapCharacter(font, str[i]);
++i;
}
glPopMatrix();
glMatrixMode(GL_PROJECTION);
glPopMatrix();
}
void DrawAxes()
{
//Draw Axes
glBegin(GL_LINES);
glEnable(GL_LINE_SMOOTH);
glColor3d(1.0, 0.0, 0.0); //red
glVertex3f(0.0f, 0.0f, 0.0f); //x
glVertex3f(10.0f, 0.0f, 0.0f);
glColor3d(0.0, 1.0, 0.0); //green
glVertex3f(0.0f, 0.0f, 0.0f); //y
glVertex3f(0.0f, 10.0f, 0.0f);
glColor3d(0.0, 0.0, 1.0); //blue
glVertex3f(0.0f, 0.0f, 0.0f); //z
glVertex3f(0.0f, 0.0f, 10.0f);
//label axes
void * font = GLUT_BITMAP_HELVETICA_18;
glColor3d(1.0, 0.0, 0.0); //red
glRasterPos3i(20.0, 0.0, -1.0);
glutBitmapCharacter(font, 'X');
glColor3d(0.0, 1.0, 0.0); //red
glRasterPos3i(0.0, 20.0, -1.0);
glutBitmapCharacter(font, 'Y');
glColor3d(0.0, 0.0, 1.0); //red
glRasterPos3i(-1.0, 0.0, 20.0);
glutBitmapCharacter(font, 'Z');
glEnd();
}
// Show text information.
void showText(int x, int y, int z) {
glDisable(GL_LIGHTING);
glColor3f(0.0f,0.0f,0.0f);
int yOffset = dataWindowHeight;
for(int i = 0; i < nMsg; i++) {
yOffset -= 40;
glRasterPos3i(x, yOffset, z);
glCallLists(strlen((char *) message[i]), GL_BYTE, (char *) message[i]);
}
glEnable(GL_LIGHTING);
}
void World::drawScreenText()
{
glClearColor(0.0f, 0.0f, 0.0f, 1.0f); // black
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // clear buffers
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, Drawable::WHITE);
glColor3f(1.0f, 1.0f, 1.0f); // white
const unsigned char *uString = (const unsigned char *)(screenText);
gluLookAt(20, 0, 0, 0, 4, 0, 0, 0, 1);
glRasterPos3i(0, 0, 0);
glutBitmapString(GLUT_BITMAP_HELVETICA_18, uString);
}
void Sprint( int x, int y, char *st)
{
int l,i;
l=strlen( st );
glRasterPos3i( x, y, -1);
for( i=0; i < l; i++)
{
glutBitmapCharacter(GLUT_BITMAP_TIMES_ROMAN_24, st[i]);
}
}
void HUDConsole::putline(const char* s){
mYCursor -= 20;
int twidth = glutBitmapLength(GLUT_BITMAP_9_BY_15, (const GLubyte*)s);
glColor4f(0.0, 0.0, 0.0, 0.7);
glRecti(10, mYCursor-5, twidth + 28, mYCursor+15);
glColor4f(1.0, 1.0, 1.0, 1.0);
glRasterPos3i(18, mYCursor, 0);
for(const char* p=s; *p; p++)
glutBitmapCharacter(GLUT_BITMAP_9_BY_15, *p);
}
//-----------------------------------------------------------------------------
//! ワイド文字列の描画
//-----------------------------------------------------------------------------
void GLFont::DrawStringW(s32 x, s32 y, s32 z, wchar_t* format, ...)
{
SelectObject(Hdc, Hfont);
wchar_t buf[256];
va_list ap;
int Length = 0;
_list = 0;
// ポインタがNULLの場合は終了
if( format == NULL )
{
return;
}
// 文字列変換
va_start(ap, format);
vswprintf_s(buf, format, ap);
va_end(ap);
Length = wcslen(buf);
_list = glGenLists(Length);
for( s32 i=0; i<Length; i++ )
{
// 文字のビットマップをディスプレイリストとして作成
wglUseFontBitmapsW(Hdc, buf[i], 1, _list + (DWORD)i );
/*glNewList(_list + i, GL_COMPILE);
glEndList();*/
}
glDisable(GL_LIGHTING); // 文字色を出すために光源を無効化
// 描画位置の設定
glRasterPos3i(x, y, z);
// ディスプレイリストで描画
for( s32 i=0; i<Length; i++ )
{
glCallList( _list+i);
}
glEnable(GL_LIGHTING); // 光源を有効化
// ディスプレイリスト破棄
glDeleteLists(_list, Length);
_list = 0;
//Length = 0;
}
void GL_ortho_projection( int width, int height )
{
if ( height == 0 )
height = 1;
glViewport( 0, 0, ( GLint )width, ( GLint )height );
//
glMatrixMode( GL_PROJECTION );
glLoadIdentity( );
glOrtho( 0, width, 0, height, -1, 1 );
//
glMatrixMode( GL_MODELVIEW );
glLoadIdentity ();
glRasterPos3i( 0, 0, 0 );
glTranslatef ( 0.375f, 0.375f, 0.f );
}
/* draw the helix shape */
void DrawStuff (void)
{
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor3f (0.8, 0.3, 0.6);
glPushMatrix ();
/* set up some matrices so that the object spins with the mouse */
glTranslatef (0.0,0.0,-300.0);
glRotatef (rotate_frame[1], 1.0, 0.0, 0.0);
glRotatef (rotate_frame[0], 0.0, 0.0, 1.0);
//change thread, if necessary
if (move_end[0] != 0.0 || move_end[1] != 0.0 || tangent_end[0] != 0.0 || tangent_end[1] != 0.0)
{
GLdouble model_view[16];
glGetDoublev(GL_MODELVIEW_MATRIX, model_view);
GLdouble projection[16];
glGetDoublev(GL_PROJECTION_MATRIX, projection);
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT, viewport);
double winX, winY, winZ;
//change end positions
gluProject(positions[1](0), positions[1](1), positions[1](2), model_view, projection, viewport, &winX, &winY, &winZ);
winX += move_end[0];
winY += move_end[1];
move_end[0] = 0.0;
move_end[1] = 0.0;
gluUnProject(winX, winY, winZ, model_view, projection, viewport, &positions[1](0), &positions[1](1), &positions[1](2));
// std::cout << "X: " << positions[1](0) << " Y: " << positions[1](1) << " Z: " << positions[1](2) << std::endl;
//change tangents
gluProject(tangents[1](0), tangents[1](1), tangents[1](2), model_view, projection, viewport, &winX, &winY, &winZ);
winX += tangent_end[0];
winY += tangent_end[1];
tangent_end[0] = 0.0;
tangent_end[1] = 0.0;
gluUnProject(winX, winY, winZ, model_view, projection, viewport, &tangents[1](0), &tangents[1](1), &tangents[1](2));
tangents[1].normalize();
//change thread
thread->setConstraints(positions, tangents);
thread->upsampleAndOptimize_minLength(0.065);
thread->minimize_energy();
Point2i start;
updateIms(start);
vision_draw.resize(0);
threadStereo->optimizeThread(vision_draw, start);
threadStereo->display();
//std::cout << "objX: " <<objX << " objY: " << objY << " objZ: " << objZ << " winX: " << winX << " winY: " << winY << " winZ: " << winZ << std::endl;
}
//Draw Axes
glBegin(GL_LINES);
glEnable(GL_LINE_SMOOTH);
glColor3d(1.0, 0.0, 0.0); //red
glVertex3f(0.0f, 0.0f, 0.0f); //x
glVertex3f(20.0f, 0.0f, 0.0f);
glColor3d(0.0, 1.0, 0.0); //green
glVertex3f(0.0f, 0.0f, 0.0f); //y
glVertex3f(0.0f, 20.0f, 0.0f);
glColor3d(0.0, 0.0, 1.0); //blue
glVertex3f(0.0f, 0.0f, 0.0f); //z
glVertex3f(0.0f, 0.0f, 20.0f);
glColor3d(0.5, 0.5, 1.0);
glVertex3f(positions[1](0)-positions[0](0), positions[1](1)-positions[0](1), positions[1](2)-positions[0](2)); //z
glVertex3f(positions[1](0)-positions[0](0)+tangents[1](0)*4.0, positions[1](1)-positions[0](1)+tangents[1](1)*4.0, positions[1](2)-positions[0](2)+tangents[1](2)*4.0); //z
glEnd( );
//label axes
void * font = GLUT_BITMAP_HELVETICA_18;
glColor3d(1.0, 0.0, 0.0); //red
glRasterPos3i(20.0, 0.0, -1.0);
glutBitmapCharacter(font, 'X');
glColor3d(0.0, 1.0, 0.0); //red
glRasterPos3i(0.0, 20.0, -1.0);
glutBitmapCharacter(font, 'Y');
glColor3d(0.0, 0.0, 1.0); //red
glRasterPos3i(-1.0, 0.0, 20.0);
glutBitmapCharacter(font, 'Z');
//Draw lines from vision
for (int i=0; i < vision_draw.size(); i++)
{
glline_draw_params& currP = vision_draw[i];
glBegin(GL_LINE_STRIP);
glColor4f(currP.color[0], currP.color[1], currP.color[2], 1.0);
for (int j=0; j < currP.size; j++)
{
glVertex3f(currP.vertices[j].x-positions[0](0), currP.vertices[j].y-positions[0](1), currP.vertices[j].z-positions[0](2));
}
glEnd();
}
//Draw Thread
glColor4f (0.5, 0.5, 0.2, 0.5);
thread->getPoints(points);
double pts_cpy[NUM_PTS][3];
for (int i=0; i < NUM_PTS; i++)
{
pts_cpy[i][0] = points(i,0)-(double)positions[0](0);
pts_cpy[i][1] = points(i,1)-(double)positions[0](1);
pts_cpy[i][2] = points(i,2)-(double)positions[0](2);
}
glePolyCone_c4f (NUM_PTS, pts_cpy, 0x0, radii);
glPopMatrix ();
glutSwapBuffers ();
}
//***********************************
// pixel manipulations
//***********************************
void performPixelManipulation()
{
int i;
GLbyte *pbits = NULL; //signed 8 bit integer
GLbyte ptemp; //
GLint viewport[4];
GLenum lastBuffer;
unsigned long imageSize;
unsigned int x = 64;
unsigned int y = 64;
unsigned int width = 220; // width of the window
unsigned int height =180;
// get the viewport dimensions
glGetIntegerv(GL_VIEWPORT, viewport);
// calculate image size (3 components per pixel)
imageSize = viewport[2] * viewport[3] * 3;
// allocate memory
pbits = (GLbyte *) malloc(imageSize);
if(pbits == NULL)
{
printf("Error: couldn't allocate memory in %s!", __func__);
exit(-1);
}
// read the pixels from the buffer
glPixelStorei(GL_PACK_ALIGNMENT, 1); //1 byte
glPixelStorei(GL_PACK_ROW_LENGTH, 0);
glPixelStorei(GL_PACK_SKIP_ROWS, 0);
glPixelStorei(GL_PACK_SKIP_PIXELS, 0);
// save the buffer setting (used for restoration later)
glGetIntegerv(GL_READ_BUFFER, &lastBuffer);
// switch to front buffer and read pixels
glReadBuffer(GL_FRONT);
glReadPixels(x, y, width, height, GL_RGB, GL_UNSIGNED_BYTE, pbits);
// restore buffer
glReadBuffer(lastBuffer);
// run through the pixels for modification
for(i = 0; i < imageSize; i = i+3)
{
//ptemp = 0.333*(pbits[i] + pbits[i+1] + pbits[i+2]); //rgb to grey scale
//if (ptemp < 0) ptemp = abs(ptemp); //has to check this out
//pbits[i+2] = 0; //b
pbits[i+1] = 0; //g
//pbits[i] = ptemp; //r
//pbits[i+1] = ptemp; //g
//pbits[i+2] = ptemp; //b
}
// save buffer setting
glGetIntegerv(GL_READ_BUFFER, &lastBuffer);
// write pixels
glReadBuffer(GL_FRONT);
glRasterPos3i(x, 0, y); // offset
glDrawPixels(width, height, GL_RGB, GL_UNSIGNED_BYTE, pbits);
// restore buffer
glReadBuffer(lastBuffer);
}
void setTextPosition ( int x, int y )
{
glRasterPos3i( x, y, 1 );
}
M(void, glRasterPos3i, jint x, jint y, jint z) {
glRasterPos3i(x, y, z);
}
static void Draw(void)
{
GLint i, j;
glClear(GL_COLOR_BUFFER_BIT);
for (i = 0; i < 7; i++) {
for (j = 0; j < 40; j++) {
switch (j % 7) {
case 0:
(rgb) ? glColor3f(1.0, 0.0, 0.0) : glIndexi(1);
break;
case 1:
(rgb) ? glColor3f(0.0, 1.0, 0.0) : glIndexi(2);
break;
case 2:
(rgb) ? glColor3f(1.0, 1.0, 0.0) : glIndexi(3);
break;
case 3:
(rgb) ? glColor3f(0.0, 0.0, 1.0) : glIndexi(4);
break;
case 4:
(rgb) ? glColor3f(1.0, 0.0, 1.0) : glIndexi(5);
break;
case 5:
(rgb) ? glColor3f(0.0, 1.0, 1.0) : glIndexi(6);
break;
case 6:
(rgb) ? glColor3f(1.0, 1.0, 1.0) : glIndexi(7);
break;
}
glRasterPos3i((j*3)%5, (j*3)%8, 0);
if (useLists) {
glCallList(exp_lists[i]);
} else {
glBitmap(80, 80, 40.0, 40.0, 0.0, 0.0, exp_bits[i]);
}
if (doubleBuffer) {
glutSwapBuffers();
} else {
glFlush();
}
if (!abuse) {
break;
}
}
if (i == 6) {
break;
}
for (j = 0; j < 40; j++) {
(rgb) ? glColor3f(0.0, 0.0, 0.0) : glIndexi(0);
glRasterPos3i((j*3)%5, (j*3)%8, 0);
if (useLists) {
glCallList(exp_lists[i]);
} else {
glBitmap(80, 80, 40.0, 40.0, 0.0, 0.0, exp_bits[i]);
}
if (doubleBuffer) {
glutSwapBuffers();
} else {
glFlush();
}
if (!abuse) {
break;
}
}
}
}
/* draw the helix shape */
void DrawStuff (void)
{
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor3f (0.8, 0.3, 0.6);
glPushMatrix ();
/* set up some matrices so that the object spins with the mouse */
glTranslatef (0.0,0.0,-150.0);
glRotatef (rotate_frame[1], 1.0, 0.0, 0.0);
glRotatef (rotate_frame[0], 0.0, 0.0, 1.0);
//change thread, if necessary
if (move_end[0] != 0.0 || move_end[1] != 0.0 || tangent_end[0] != 0.0 || tangent_end[1] != 0.0 || tangent_rotation_end[0] != 0 || tangent_rotation_end[1] != 0)
{
GLdouble model_view[16];
glGetDoublev(GL_MODELVIEW_MATRIX, model_view);
GLdouble projection[16];
glGetDoublev(GL_PROJECTION_MATRIX, projection);
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT, viewport);
double winX, winY, winZ;
//change end positions
Vector3d new_end_pos;
gluProject(positions[1](0), positions[1](1), positions[1](2), model_view, projection, viewport, &winX, &winY, &winZ);
winX += move_end[0];
winY += move_end[1];
move_end[0] = 0.0;
move_end[1] = 0.0;
gluUnProject(winX, winY, winZ, model_view, projection, viewport, &new_end_pos(0), &new_end_pos(1), &new_end_pos(2));
// std::cout << "X: " << positions[1](0) << " Y: " << positions[1](1) << " Z: " << positions[1](2) << std::endl;
//change tangents
Vector3d new_end_tan;
gluProject(positions[1](0)+tangents[1](0),positions[1](1)+tangents[1](1), positions[1](2)+tangents[1](2), model_view, projection, viewport, &winX, &winY, &winZ);
winX += tangent_end[0];
winY += tangent_end[1];
tangent_end[0] = 0.0;
tangent_end[1] = 0.0;
gluUnProject(winX, winY, winZ, model_view, projection, viewport, &new_end_tan(0), &new_end_tan(1), &new_end_tan(2));
new_end_tan -= positions[1];
new_end_tan.normalize();
positions[1] = new_end_pos;
Matrix3d rotation_new_tan;
rotate_between_tangents(tangents[1], new_end_tan, rotation_new_tan);
rotations[1] = rotation_new_tan*rotations[1];
//check rotation around tangent
Vector3d tangent_normal_rotate_around = rotations[1].col(1);
Vector3d new_end_tan_normal;
gluProject(positions[1](0)+tangent_normal_rotate_around(0), positions[1](1)+tangent_normal_rotate_around(1), positions[1](2)+tangent_normal_rotate_around(2), model_view, projection, viewport, &winX, &winY, &winZ);
winX += tangent_rotation_end[0];
winY += tangent_rotation_end[1];
tangent_rotation_end[0] = 0.0;
tangent_rotation_end[1] = 0.0;
gluUnProject(winX, winY, winZ, model_view, projection, viewport, &new_end_tan_normal(0), &new_end_tan_normal(1), &new_end_tan_normal(2));
new_end_tan_normal -= positions[1];
//project this normal onto the plane normal to X (to ensure Y stays normal to X)
new_end_tan_normal -= new_end_tan_normal.dot(rotations[1].col(0))*rotations[1].col(0);
new_end_tan_normal.normalize();
rotations[1].col(1) = new_end_tan_normal;
rotations[1].col(2) = rotations[1].col(0).cross(new_end_tan_normal);
//change thread
thread->set_constraints(positions[0], rotations[0], positions[1], rotations[1]);
//thread->set_end_constraint(positions[1], rotations[1]);
//std::cout <<"CONSTRAINT END:\n" << rotations[1] << std::endl;
thread->minimize_energy();
updateThreadPoints();
findThreadInIms();
//std::cout <<"ACTUAL END:\n" << thread->end_rot() << std::endl;
//std::cout << "objX: " <<objX << " objY: " << objY << " objZ: " << objZ << " winX: " << winX << " winY: " << winY << " winZ: " << winZ << std::endl;
}
//Draw Axes
glBegin(GL_LINES);
glEnable(GL_LINE_SMOOTH);
glColor3d(1.0, 0.0, 0.0); //red
glVertex3f(0.0f, 0.0f, 0.0f); //x
glVertex3f(10.0f, 0.0f, 0.0f);
glColor3d(0.0, 1.0, 0.0); //green
glVertex3f(0.0f, 0.0f, 0.0f); //y
glVertex3f(0.0f, 10.0f, 0.0f);
glColor3d(0.0, 0.0, 1.0); //blue
glVertex3f(0.0f, 0.0f, 0.0f); //z
glVertex3f(0.0f, 0.0f, 10.0f);
/* glColor3d(0.5, 0.5, 1.0);
glVertex3f(positions[1](0)-positions[0](0), positions[1](1)-positions[0](1), positions[1](2)-positions[0](2)); //z
glVertex3f(positions[1](0)-positions[0](0)+tangents[1](0)*4.0, positions[1](1)-positions[0](1)+tangents[1](1)*4.0, positions[1](2)-positions[0](2)+tangents[1](2)*4.0); //z
*/
//Draw Axes at End
Vector3d diff_pos = positions[1]-positions[0];
double rotation_scale_factor = 10.0;
Matrix3d rotations_project = rotations[1]*rotation_scale_factor;
glBegin(GL_LINES);
glEnable(GL_LINE_SMOOTH);
glColor3d(1.0, 0.0, 0.0); //red
glVertex3f((float)diff_pos(0), (float)diff_pos(1), (float)diff_pos(2)); //x
glVertex3f((float)(diff_pos(0)+rotations_project(0,0)), (float)(diff_pos(1)+rotations_project(1,0)), (float)(diff_pos(2)+rotations_project(2,0)));
glColor3d(0.0, 1.0, 0.0); //green
glVertex3f((float)diff_pos(0), (float)diff_pos(1), (float)diff_pos(2)); //y
glVertex3f((float)(diff_pos(0)+rotations_project(0,1)), (float)(diff_pos(1)+rotations_project(1,1)), (float)(diff_pos(2)+rotations_project(2,1)));
glColor3d(0.0, 0.0, 1.0); //blue
glVertex3f((float)diff_pos(0), (float)diff_pos(1), (float)diff_pos(2)); //z
glVertex3f((float)(diff_pos(0)+rotations_project(0,2)), (float)(diff_pos(1)+rotations_project(1,2)), (float)(diff_pos(2)+rotations_project(2,2)));
glEnd( );
//label axes
void * font = GLUT_BITMAP_HELVETICA_18;
glColor3d(1.0, 0.0, 0.0); //red
glRasterPos3i(20.0, 0.0, -1.0);
glutBitmapCharacter(font, 'X');
glColor3d(0.0, 1.0, 0.0); //red
glRasterPos3i(0.0, 20.0, -1.0);
glutBitmapCharacter(font, 'Y');
glColor3d(0.0, 0.0, 1.0); //red
glRasterPos3i(-1.0, 0.0, 20.0);
glutBitmapCharacter(font, 'Z');
addThreadDebugInfo();
//Draw Thread
glColor4f (0.5, 0.5, 0.2, 0.5);
/*
double pts_cpy[points.size()][3];
double twist_cpy[points.size()];
pts_cpy[0][0] = 0.0;
pts_cpy[0][1] = 0.0;
pts_cpy[0][2] = 0.0;
twist_cpy[0] = -(360.0/(2.0*M_PI))*twist_angles[0];
//std::cout << twist_cpy[0] << std::endl;
for (int i=1; i < points.size(); i++)
{
pts_cpy[i][0] = points[i](0)-(double)positions[0](0);
pts_cpy[i][1] = points[i](1)-(double)positions[0](1);
pts_cpy[i][2] = points[i](2)-(double)positions[0](2);
twist_cpy[i] = -(360.0/(2.0*M_PI))*twist_angles[i];
//std::cout << twist_cpy[i] << std::endl;
}
gleTwistExtrusion(20,
contour,
contour_norms,
NULL,
points.size(),
pts_cpy,
0x0,
twist_cpy);
*/
double pts_cpy[points.size()+2][3];
double twist_cpy[points.size()+2];
pts_cpy[1][0] = 0.0;
pts_cpy[1][1] = 0.0;
pts_cpy[1][2] = 0.0;
twist_cpy[1] = -(360.0/(2.0*M_PI))*twist_angles[0];
//std::cout << twist_cpy[0] << std::endl;
for (int i=1; i < points.size()-1; i++)
{
pts_cpy[i+1][0] = points[i](0)-(double)positions[0](0);
pts_cpy[i+1][1] = points[i](1)-(double)positions[0](1);
pts_cpy[i+1][2] = points[i](2)-(double)positions[0](2);
twist_cpy[i+1] = -(360.0/(2.0*M_PI))*twist_angles[i];
//std::cout << twist_cpy[i+1] - twist_cpy[i] << std::endl;
}
//add first and last point
pts_cpy[0][0] = -rotations[0](0,0);
pts_cpy[0][1] = -rotations[0](1,0);
pts_cpy[0][2] = -rotations[0](2,0);
twist_cpy[0] = -(360.0/(2.0*M_PI))*twist_angles[0];
pts_cpy[points.size()][0] = (double)positions[1](0)-(double)positions[0](0);
pts_cpy[points.size()][1] = (double)positions[1](1)-(double)positions[0](1);
pts_cpy[points.size()][2] = (double)positions[1](2)-(double)positions[0](2);
twist_cpy[points.size()] = twist_cpy[points.size()-1];
pts_cpy[points.size()+1][0] = pts_cpy[points.size()][0]+rotations[1](0,0);
pts_cpy[points.size()+1][1] = pts_cpy[points.size()][1]+rotations[1](1,0);
pts_cpy[points.size()+1][2] = pts_cpy[points.size()][2]+rotations[1](2,0);
twist_cpy[points.size()+1] = twist_cpy[points.size()];
gleTwistExtrusion_c4f(20,
contour,
contour_norms,
NULL,
points.size()+2,
pts_cpy,
0x0,
twist_cpy);
glPopMatrix ();
glutSwapBuffers ();
thread_vision.display();
}
template< > inline void glRasterPos3< int > ( int x, int y, int z ) { glRasterPos3i(x,y,z); };
/* draw the helix shape */
void DrawStuff (void)
{
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor3f (0.8, 0.3, 0.6);
glPushMatrix ();
/* set up some matrices so that the object spins with the mouse */
glTranslatef (0.0,0.0,-300.0);
glRotatef (rotate_frame[1], 1.0, 0.0, 0.0);
glRotatef (rotate_frame[0], 0.0, 0.0, 1.0);
//change thread, if necessary
if (traj_mode == PLAYBACK)// && trajectory_play_back_ind < trajectory.size())
{
/*
Thread_Motion nextMotion;
traj_reader.get_next_motion(nextMotion);
positions[1] += nextMotion.pos_movement;
tangents[1] = nextMotion.tan_rotation*tangents[1];
//change thread
thread->setConstraints(positions, tangents);
//thread->upsampleAndOptimize_minLength(0.065);
thread->minimize_energy_fixedPieces();
*/
}
else if (move_end[0] != 0.0 || move_end[1] != 0.0 || tangent_end[0] != 0.0 || tangent_end[1] != 0.0)
{
GLdouble model_view[16];
glGetDoublev(GL_MODELVIEW_MATRIX, model_view);
GLdouble projection[16];
glGetDoublev(GL_PROJECTION_MATRIX, projection);
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT, viewport);
double winX, winY, winZ;
//change end positions
Vector3d new_end_pos;
gluProject(positions[1](0), positions[1](1), positions[1](2), model_view, projection, viewport, &winX, &winY, &winZ);
winX += move_end[0];
winY += move_end[1];
move_end[0] = 0.0;
move_end[1] = 0.0;
gluUnProject(winX, winY, winZ, model_view, projection, viewport, &new_end_pos(0), &new_end_pos(1), &new_end_pos(2));
// std::cout << "X: " << positions[1](0) << " Y: " << positions[1](1) << " Z: " << positions[1](2) << std::endl;
//change tangents
Vector3d new_end_tan;
gluProject(tangents[1](0), tangents[1](1), tangents[1](2), model_view, projection, viewport, &winX, &winY, &winZ);
winX += tangent_end[0];
winY += tangent_end[1];
tangent_end[0] = 0.0;
tangent_end[1] = 0.0;
gluUnProject(winX, winY, winZ, model_view, projection, viewport, &new_end_tan(0), &new_end_tan(1), &new_end_tan(2));
new_end_tan.normalize();
if (traj_mode == RECORD)
{
traj_recorder.add_motion_to_list(positions[1], new_end_pos, tangents[1], new_end_tan);
}
positions[1] = new_end_pos;
tangents[1] = new_end_tan;
//change thread
thread->setConstraints(positions, tangents);
//thread->upsampleAndOptimize_minLength(0.065);
thread->minimize_energy_fixedPieces();
//std::cout << "objX: " <<objX << " objY: " << objY << " objZ: " << objZ << " winX: " << winX << " winY: " << winY << " winZ: " << winZ << std::endl;
}
//Draw Axes
glBegin(GL_LINES);
glEnable(GL_LINE_SMOOTH);
glColor3d(1.0, 0.0, 0.0); //red
glVertex3f(0.0f, 0.0f, 0.0f); //x
glVertex3f(20.0f, 0.0f, 0.0f);
glColor3d(0.0, 1.0, 0.0); //green
glVertex3f(0.0f, 0.0f, 0.0f); //y
glVertex3f(0.0f, 20.0f, 0.0f);
glColor3d(0.0, 0.0, 1.0); //blue
glVertex3f(0.0f, 0.0f, 0.0f); //z
glVertex3f(0.0f, 0.0f, 20.0f);
glColor3d(0.5, 0.5, 1.0);
glVertex3f(positions[1](0)-positions[0](0), positions[1](1)-positions[0](1), positions[1](2)-positions[0](2)); //z
glVertex3f(positions[1](0)-positions[0](0)+tangents[1](0)*4.0, positions[1](1)-positions[0](1)+tangents[1](1)*4.0, positions[1](2)-positions[0](2)+tangents[1](2)*4.0); //z
glEnd( );
//label axes
void * font = GLUT_BITMAP_HELVETICA_18;
glColor3d(1.0, 0.0, 0.0); //red
glRasterPos3i(20.0, 0.0, -1.0);
glutBitmapCharacter(font, 'X');
glColor3d(0.0, 1.0, 0.0); //red
glRasterPos3i(0.0, 20.0, -1.0);
glutBitmapCharacter(font, 'Y');
glColor3d(0.0, 0.0, 1.0); //red
glRasterPos3i(-1.0, 0.0, 20.0);
glutBitmapCharacter(font, 'Z');
//Draw Thread
glColor3f (0.5, 0.5, 0.2);
thread->getPoints(points);
double pts_cpy[NUM_PTS][3];
for (int i=0; i < NUM_PTS; i++)
{
pts_cpy[i][0] = points(i,0)-(double)positions[0](0);
pts_cpy[i][1] = points(i,1)-(double)positions[0](1);
pts_cpy[i][2] = points(i,2)-(double)positions[0](2);
}
glePolyCone (NUM_PTS, pts_cpy, 0x0, radii);
glPopMatrix ();
glutSwapBuffers ();
}
/////////////////////////////////////////////////////////
// Render
//
void GEMglRasterPos3i :: render(GemState *state) {
glRasterPos3i (x, y, z);
}
