Entity DemoScene::createPlanet(float rotSpeed, float orbitSpeed,
glm::vec3 &pos, glm::vec3 &scale,
std::string const &shader,
std::string const &tex1, std::string const &tex2, std::string const &tex3,
std::string const &tex4)
{
auto p = createEntity();
auto e = createEntity();
p->addComponent<Component::GraphNode>();
e->addComponent<Component::GraphNode>();
e->setLocalTransform() = glm::translate(e->getLocalTransform(), pos);
e->setLocalTransform() = glm::scale(e->getLocalTransform(), scale);
SmartPointer<Component::MeshRenderer> r = e->addComponent<Component::MeshRenderer>("model:ball");
r->setShader(shader);
r->getMaterials()[0].ambientTex = _engine.getInstance<Resources::ResourceManager>().getResource(tex1);
r->getMaterials()[0].diffuseTex = _engine.getInstance<Resources::ResourceManager>().getResource(tex2);
r->getMaterials()[0].specularTex = _engine.getInstance<Resources::ResourceManager>().getResource(tex3);
r->getMaterials()[0].normalTex = _engine.getInstance<Resources::ResourceManager>().getResource(tex4);
e->addComponent<Component::RotationForce>(glm::vec3(0, orbitSpeed, 0));
p->getComponent<Component::GraphNode>()->addSon(e);
p->addComponent<Component::RotationForce>(glm::vec3(0, rotSpeed, 0));
return (p);
}
//==============================================================================
void FreeJoint::setSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity,
const Frame* relativeTo,
const Frame* inCoordinatesOf)
{
assert(nullptr != relativeTo);
assert(nullptr != inCoordinatesOf);
if (getChildBodyNode() == relativeTo)
{
dtwarn << "[FreeJoint::setSpatialVelocity] Invalid reference frame "
"for newSpatialVelocity. It shouldn't be the child BodyNode.\n";
return;
}
// Change the reference frame of "newSpatialVelocity" to the child body node
// frame.
Eigen::Vector6d targetRelSpatialVel = newSpatialVelocity;
if (getChildBodyNode() != inCoordinatesOf)
{
targetRelSpatialVel
= math::AdR(inCoordinatesOf->getTransform(getChildBodyNode()),
newSpatialVelocity);
}
// Compute the target relative spatial velocity from the parent body node to
// the child body node.
if (getChildBodyNode()->getParentFrame() != relativeTo)
{
if (relativeTo->isWorld())
{
const Eigen::Vector6d parentVelocity = math::AdInvT(
getLocalTransform(),
getChildBodyNode()->getParentFrame()->getSpatialVelocity());
targetRelSpatialVel -= parentVelocity;
}
else
{
const Eigen::Vector6d parentVelocity = math::AdInvT(
getLocalTransform(),
getChildBodyNode()->getParentFrame()->getSpatialVelocity());
const Eigen::Vector6d arbitraryVelocity = math::AdT(
relativeTo->getTransform(getChildBodyNode()),
relativeTo->getSpatialVelocity());
targetRelSpatialVel += -parentVelocity + arbitraryVelocity;
}
}
setRelativeSpatialVelocity(targetRelSpatialVel);
}
glm::mat4 View::getGlobalTransform() const {
glm::mat4 g(getLocalTransform());
for (View *v=mParent; v; v=v->mParent) {
g = v->getLocalTransform() * g;
}
return g;
}
void Layer::localToAncestor(const Layer* ancestor, SkMatrix* matrix) const {
if (this == ancestor) {
matrix->setIdentity();
return;
}
getLocalTransform(matrix);
// Fixed position layers simply use the root layer's transform.
if (shouldInheritFromRootTransform()) {
ASSERT(!ancestor);
matrix->postConcat(getRootLayer()->getMatrix());
return;
}
// Apply the local and child transforms for every layer between this layer
// and ancestor.
ASSERT(isAncestor(ancestor));
for (const Layer* layer = this->fParent; layer != ancestor; layer = layer->fParent) {
SkMatrix tmp;
layer->getLocalTransform(&tmp);
tmp.preConcat(layer->getChildrenMatrix());
matrix->postConcat(tmp);
}
// If ancestor is not the root layer, apply its child transformation too.
if (ancestor)
matrix->postConcat(ancestor->getChildrenMatrix());
}
bool ScrollableLayerAndroid::scrollRectIntoView(const SkIRect& rect)
{
// Apply the local transform to the rect to get it relative to the parent
// layer.
SkMatrix localTransform;
getLocalTransform(&localTransform);
SkRect transformedRect;
transformedRect.set(rect);
localTransform.mapRect(&transformedRect);
// Test left before right to prioritize left alignment if transformedRect is wider than
// visible area.
int x = m_scrollLimits.fLeft;
if (transformedRect.fLeft < m_scrollLimits.fLeft)
x = transformedRect.fLeft;
else if (transformedRect.fRight > m_scrollLimits.fRight)
x = transformedRect.fRight - std::max(m_scrollLimits.width(), transformedRect.width());
// Test top before bottom to prioritize top alignment if transformedRect is taller than
// visible area.
int y = m_scrollLimits.fTop;
if (transformedRect.fTop < m_scrollLimits.fTop)
y = transformedRect.fTop;
else if (transformedRect.fBottom > m_scrollLimits.fBottom)
y = transformedRect.fBottom - std::max(m_scrollLimits.height(), transformedRect.height());
return scrollTo(x - getPosition().fX, y - getPosition().fY);
}
Matrix SceneNode::getGlobalTransform() const
{
if(this->m_pParent == NULL)
{
return getLocalTransform();
}
return m_pParent->getGlobalTransform() * this->getLocalTransform();
}
//==============================================================================
void ZeroDofJoint::addChildArtInertiaImplicitTo(
Eigen::Matrix6d& _parentArtInertia, const Eigen::Matrix6d& _childArtInertia)
{
// Add child body's articulated inertia to parent body's articulated inertia.
// Note that mT should be updated.
_parentArtInertia += math::transformInertia(getLocalTransform().inverse(),
_childArtInertia);
}
void Sky::setUpTransFormation(TransformationInfo & info)
{
Drawable::setUpTransFormation(info);
auto mat = m_camera->getTranslationMatrix();
//mat.data()[13] = 0.f;
info.m_worldMatrix = getLocalTransform();
m_skyBoxTechnique->setVar("viewdir",info.m_worldMatrix.forward());
}
//==============================================================================
void ZeroDofJoint::addChildBiasImpulseTo(
Eigen::Vector6d& _parentBiasImpulse,
const Eigen::Matrix6d& /*_childArtInertia*/,
const Eigen::Vector6d& _childBiasImpulse)
{
// Add child body's bias force to parent body's bias impulse. Note that mT
// should be updated.
_parentBiasImpulse += math::dAdInvT(getLocalTransform(), _childBiasImpulse);
}
void the::camera::update()
{
the::node::update();
eyePosition = getWorldPosition();
prjMatrix = mat4::perspective(_fov, _aspect, _zNear, _zFar);
viewMatrix = getLocalTransform().inverse();
prjViewMatrix = prjMatrix * viewMatrix;
_needUpdate = true;
}
/*! \brief Convenience function.
*
*/
void
TrackSpiralArcSpiral::setLocalEndPoint(const QPointF &endPoint)
{
// Local to internal (Parameters are given in internal coordinates) //
//
// setEndPoint(getLocalTransform().inverted().map(endPoint));
pa_->pEnd_ = getLocalTransform().inverted().map(endPoint);
pa_->init();
applyParameters();
}
TrackSpiralArcSpiral::TrackSpiralArcSpiral(TrackElementSpiral *inSpiral, TrackElementArc *arc, TrackElementSpiral *outSpiral)
: TrackComposite()
, inSpiral_(inSpiral)
, arc_(arc)
, outSpiral_(outSpiral)
, trackSpArcSChanges_(0x0)
, validParameters_(false)
{
// Type //
//
setTrackType(TrackComponent::DTT_SPARCS);
// Transform //
//
double sHeading = inSpiral_->getLocalHeading(inSpiral_->getSStart());
setLocalTransform(inSpiral_->getLocalPoint(inSpiral_->getSStart()), sHeading);
inSpiral_->setLocalTransform(0.0, 0.0, 0.0); // identity matrix
arc_->setLocalTransform(getLocalTransform().inverted().map(arc_->getLocalPoint(arc_->getSStart())), arc_->getLocalHeading(arc_->getSStart()) - sHeading);
outSpiral_->setLocalTransform(getLocalTransform().inverted().map(outSpiral_->getLocalPoint(outSpiral_->getSStart())), outSpiral_->getLocalHeading(outSpiral_->getSStart()) - sHeading);
// Composite //
//
addTrackComponent(inSpiral);
addTrackComponent(arc);
addTrackComponent(outSpiral);
// Parameters //
//
pa_ = new SpArcSParameters(outSpiral_->getLocalPoint(outSpiral_->getSEnd()), outSpiral_->getLocalHeadingRad(outSpiral_->getSEnd()), 1.0);
pa_->setFactor(calcFactor());
if (!pa_->isValid()) // does also initialize the parameters
{
validParameters_ = false;
qDebug() << "WARNING 1004261530! Loaded TrackSpiralArcSpiral is not valid!";
}
else
{
validParameters_ = true;
}
}
/*! \brief Convenience function.
*
*/
void
TrackSpiralArcSpiral::setLocalPointAndHeading(const QPointF &point, double hdg, bool isStart)
{
while (hdg <= -180.0)
{
hdg += 360.0;
}
while (hdg > 180.0)
{
hdg -= 360.0;
}
if (isStart)
{
// Local to internal (Parameters are given in internal coordinates) //
//
QPointF deltaPos(getLocalTransform().inverted().map(point) /* - getPoint(getSStart())*/); // getPoint(s_) == 0 by definition
double deltaHeading(hdg - heading());
QTransform trafo;
trafo.rotate(deltaHeading);
pa_->setEndHeadingDeg(pa_->getEndHeadingRad() * 360.0 / (2.0 * M_PI) - deltaHeading);
pa_->setEndPoint(trafo.inverted().map(pa_->pEnd_ - deltaPos));
pa_->init();
applyParameters();
// Set local transform //
//
setLocalTransform(point, hdg);
}
else
{
// Local to internal (Parameters are given in internal coordinates) //
//
pa_->pEnd_ = getLocalTransform().inverted().map(point);
pa_->headingEnd_ = (hdg - getLocalHeading(getSStart())) * 2.0 * M_PI / 360.0;
pa_->init();
applyParameters();
}
}
//==============================================================================
void ZeroDofJoint::addChildBiasForceTo(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce,
const Eigen::Vector6d& _childPartialAcc)
{
// Add child body's bias force to parent body's bias force. Note that mT
// should be updated.
_parentBiasForce += math::dAdInvT(getLocalTransform(), _childBiasForce
+ _childArtInertia*_childPartialAcc);
}
void SceneNode::updateWorldTransform()
{
worldTransform_ = getLocalTransform();
if (!isRootNode())
{
worldTransform_ = parentNode_->getWorldTransform() * worldTransform_;
}
dirty_ = false;
}
void Layer::draw(SkCanvas* canvas, SkScalar opacity) {
#if 0
SkString str1, str2;
// getMatrix().toDumpString(&str1);
// getChildrenMatrix().toDumpString(&str2);
SkDebugf("--- drawlayer %p opacity %g size [%g %g] pos [%g %g] matrix %s children %s\n",
this, opacity * getOpacity(), m_size.width(), m_size.height(),
m_position.fX, m_position.fY, str1.c_str(), str2.c_str());
#endif
opacity = SkScalarMul(opacity, getOpacity());
if (opacity <= 0) {
// SkDebugf("---- abort drawing %p opacity %g\n", this, opacity);
return;
}
SkAutoCanvasRestore acr(canvas, true);
// apply our local transform
{
SkMatrix tmp;
getLocalTransform(&tmp);
if (shouldInheritFromRootTransform()) {
// should we also apply the root's childrenMatrix?
canvas->setMatrix(getRootLayer()->getMatrix());
}
canvas->concat(tmp);
}
onDraw(canvas, opacity);
#ifdef DEBUG_DRAW_LAYER_BOUNDS
{
SkRect r = SkRect::MakeSize(getSize());
SkPaint p;
p.setAntiAlias(true);
p.setStyle(SkPaint::kStroke_Style);
p.setStrokeWidth(SkIntToScalar(2));
p.setColor(0xFFFF44DD);
canvas->drawRect(r, p);
canvas->drawLine(r.fLeft, r.fTop, r.fRight, r.fBottom, p);
canvas->drawLine(r.fLeft, r.fBottom, r.fRight, r.fTop, p);
}
#endif
int count = countChildren();
if (count > 0) {
canvas->concat(getChildrenMatrix());
for (int i = 0; i < count; i++) {
getChild(i)->draw(canvas, opacity);
}
}
}
Matrix4x4 SceneNode::getWorldTransfrom()
{
Matrix4x4 local = getLocalTransform();
Matrix4x4 world = local;
if(m_parentNode)
{
world = local * m_parentNode->getWorldTransfrom();
}
return world;
}
void View::draw(const kt::view::DrawParams &p) {
if (isHidden()) return;
ci::gl::ScopedModelMatrix smm;
auto ctx = ci::gl::context();
ctx->getModelMatrixStack().back() *= getLocalTransform();
onDraw(p);
for (auto& it : mChildren) {
if (it) it->draw(p);
}
}
void Object::xform( bool beAllInstance )
{
Matrix4 const& trans = getLocalTransform();
MeshIterator iter = getElements();
for ( ; iter.haveMore() ; iter.next() )
{
MeshBase* mesh = iter.get()->getMesh();
iter.get()->getUnit().mesh = mesh->xform( trans , beAllInstance );
}
mLocalTrans.setIdentity();
}
/**
* Draws this game object and its children.
*
* @date 2015-02-25
*
* @revisions 2015-04-03
* This method now caches the transformations
* that are passed down the hierarchy system
*
* 2015-04-05
* This method now supports the overridable drawChildren() method
* in addition to the already available overridable draw() method
*
* @designer Melvin Loho
*
* @programmer Melvin Loho
*
* @param renderer The renderer
* @param states The render states
*/
void BGO::drawSceneGraph(Renderer& renderer, sf::RenderStates states) const
{
// Draw self
draw(renderer, states);
// Combine transforms (caller's + mine)
states.transform *= getLocalTransform();
// cache global transform
m_globaltrans = states.transform;
// Draw children
if (!m_ignoringChildren) drawChildren(renderer, states);
}
/*! \brief Convenience function.
*
*/
void
TrackSpiralArcSpiral::setLocalStartPoint(const QPointF &startPoint)
{
// Local to internal (Parameters are given in internal coordinates) //
//
QPointF deltaPos(getLocalTransform().inverted().map(startPoint) /* - getPoint(getSStart())*/); // getPoint(s_) == 0 by definition
//setEndPoint(pa_->pEnd_ - deltaPos);
pa_->pEnd_ = pa_->pEnd_ - deltaPos;
pa_->init();
applyParameters();
// Set local translation //
//
setLocalTranslation(startPoint);
}
void Transform::update( float delta )
{
if( !externalTransform )
transform = getLocalTransform();
if( requiresBoundingVolumeUpdate() )
updateBoundingVolume();
if( wasChanged )
{
onTransformed();
setChanged(false);
}
//externalTransform = false;
}
void LegRenderable::do_draw()
{
//Update the parent and local transform matrix to position the geometric data according to the particle's data.
float thighAngle = 4 * 3.14 / 3.0;
float toRotateBody = 0.5 * m_particle->getBodyAngle();
glm::mat4 ParentTransform;
if (m_isLeft) {
ParentTransform = glm::scale(glm::mat4(), glm::vec3(1.5, 1.5, 1.6));
ParentTransform = glm::translate(ParentTransform, glm::vec3(-0.4, -0.3, 2));
ParentTransform = glm::rotate(ParentTransform, -thighAngle, glm::vec3(0, 1, 0.0));
glm::mat4 rotate = glm::rotate(glm::mat4(1.0), 0.0f, glm::vec3(0,1,0));
if (toRotateBody < 0) {
rotate = glm::rotate(glm::mat4(1.0), toRotateBody, glm::vec3(0,1,0));
}
ParentTransform = ParentTransform * rotate;
} else {
ParentTransform = glm::scale(glm::mat4(), glm::vec3(1.5, 1.5, 1.6));
ParentTransform = glm::translate(ParentTransform, glm::vec3(-0.4, 0.3, 2));
ParentTransform = glm::rotate(ParentTransform, -thighAngle, glm::vec3(0, 1, 0.0));
glm::mat4 rotate = glm::rotate(glm::mat4(1.0), 0.0f, glm::vec3(0,1,0));
if (toRotateBody > 0) {
rotate = glm::rotate(glm::mat4(1.0), -toRotateBody, glm::vec3(0,1,0));
}
ParentTransform = ParentTransform * rotate;
}
setLocalTransform(getLocalTransform());
setParentTransform(ParentTransform);
//Draw geometric data
int positionLocation = m_shaderProgram->getAttributeLocation("vPosition");
int colorLocation = m_shaderProgram->getAttributeLocation("vColor");
int normalLocation = m_shaderProgram->getAttributeLocation("vNormal");
int modelLocation = m_shaderProgram->getUniformLocation("modelMat");
if (modelLocation != ShaderProgram::null_location) {
glcheck(glUniformMatrix4fv(modelLocation, 1, GL_FALSE, glm::value_ptr(getModelMatrix())));
}
if (positionLocation != ShaderProgram::null_location) {
glcheck(glEnableVertexAttribArray(positionLocation));
glcheck(glBindBuffer(GL_ARRAY_BUFFER, m_pBuffer));
glcheck(glVertexAttribPointer(positionLocation, 3, GL_FLOAT, GL_FALSE, 0, (void*)0));
}
if (colorLocation != ShaderProgram::null_location) {
glcheck(glEnableVertexAttribArray(colorLocation));
glcheck(glBindBuffer(GL_ARRAY_BUFFER, m_cBuffer));
glcheck(glVertexAttribPointer(colorLocation, 4, GL_FLOAT, GL_FALSE, 0, (void*)0));
}
if (normalLocation != ShaderProgram::null_location) {
glcheck(glEnableVertexAttribArray(normalLocation));
glcheck(glBindBuffer(GL_ARRAY_BUFFER, m_nBuffer));
glcheck(glVertexAttribPointer(normalLocation, 3, GL_FLOAT, GL_FALSE, 0, (void*)0));
}
//Draw triangles elements
glcheck(glDrawArrays(GL_TRIANGLES,0, m_positions.size()));
if (positionLocation != ShaderProgram::null_location) {
glcheck(glDisableVertexAttribArray(positionLocation));
}
if (colorLocation != ShaderProgram::null_location) {
glcheck(glDisableVertexAttribArray(colorLocation));
}
if (normalLocation != ShaderProgram::null_location) {
glcheck(glDisableVertexAttribArray(normalLocation));
}
}
glm::mat4 GameObject::getWorldTransform()
{
if ( parent ) return parent->getWorldTransform() * getLocalTransform();
else return getLocalTransform();
}
//==============================================================================
void FreeJoint::setSpatialAcceleration(
const Eigen::Vector6d& newSpatialAcceleration,
const Frame* relativeTo,
const Frame* inCoordinatesOf)
{
assert(nullptr != relativeTo);
assert(nullptr != inCoordinatesOf);
if (getChildBodyNode() == relativeTo)
{
dtwarn << "[FreeJoint::setSpatialAcceleration] Invalid reference "
<< "frame for newSpatialAcceleration. It shouldn't be the child "
<< "BodyNode.\n";
return;
}
// Change the reference frame of "newSpatialAcceleration" to the child body
// node frame.
Eigen::Vector6d targetRelSpatialAcc = newSpatialAcceleration;
if (getChildBodyNode() != inCoordinatesOf)
{
targetRelSpatialAcc
= math::AdR(inCoordinatesOf->getTransform(getChildBodyNode()),
newSpatialAcceleration);
}
// Compute the target relative spatial acceleration from the parent body node
// to the child body node.
if (getChildBodyNode()->getParentFrame() != relativeTo)
{
if (relativeTo->isWorld())
{
const Eigen::Vector6d parentAcceleration
= math::AdInvT(
getLocalTransform(),
getChildBodyNode()->getParentFrame()->getSpatialAcceleration())
+ math::ad(getChildBodyNode()->getSpatialVelocity(),
getLocalJacobianStatic() * getVelocitiesStatic());
targetRelSpatialAcc -= parentAcceleration;
}
else
{
const Eigen::Vector6d parentAcceleration
= math::AdInvT(
getLocalTransform(),
getChildBodyNode()->getParentFrame()->getSpatialAcceleration())
+ math::ad(getChildBodyNode()->getSpatialVelocity(),
getLocalJacobianStatic() * getVelocitiesStatic());
const Eigen::Vector6d arbitraryAcceleration =
math::AdT(relativeTo->getTransform(getChildBodyNode()),
relativeTo->getSpatialAcceleration())
- math::ad(getChildBodyNode()->getSpatialVelocity(),
math::AdT(relativeTo->getTransform(getChildBodyNode()),
relativeTo->getSpatialVelocity()));
targetRelSpatialAcc += -parentAcceleration + arbitraryAcceleration;
}
}
setRelativeSpatialAcceleration(targetRelSpatialAcc);
}
//==============================================================================
void Joint::applyGLTransform(renderer::RenderInterface* _ri)
{
_ri->transform(getLocalTransform());
}
Ogre::Matrix4 Node::getWorldTransform() const
{
if(parent != NULL)
return parent->getWorldTransform() * getLocalTransform();
return getLocalTransform();
}
