void palGenericLink::Init(palBodyBase *parent, palBodyBase *child,
const palVector3& pivotLocation,
const palVector3& linearLowerLimits,
const palVector3& linearUpperLimits,
const palVector3& angularLowerLimits,
const palVector3& angularUpperLimits)
{
/* Even though we'll only use the location of the pivot and not
* its orientation, we need to account for rotation of the parent
* and child bodies because we need the location of the pivot in
* their frames of reference, which might be rotated. (For
* example, if the parent is translated by (-5,0,0) and rotated 90
* degrees clockwise about z, the global origin isn't just
* translated for the parent to (5,0,0), it's rotated to be at
* (0,5,0) in the parent's coordinate system.) */
palMatrix4x4 worldToParent;
mat_invert(&worldToParent, &parent->GetLocationMatrix());
palVector3 pivotInParent;
vec_mat_transform(&pivotInParent, &worldToParent, &pivotLocation);
palMatrix4x4 worldToChild;
mat_invert(&worldToChild, &child->GetLocationMatrix());
palVector3 pivotInChild;
vec_mat_transform(&pivotInChild, &worldToChild, &pivotLocation);
palMatrix4x4 frameInParent;
mat_identity(&frameInParent);
palMatrix4x4 frameInChild;
mat_identity(&frameInChild);
mat_set_translation(&frameInParent, pivotInParent.x, pivotInParent.y, pivotInParent.z);
mat_set_translation(&frameInChild, pivotInChild.x, pivotInChild.y, pivotInChild.z);
Init(parent, child, frameInParent, frameInChild, linearLowerLimits, linearUpperLimits, angularLowerLimits, angularUpperLimits);
}
void palRevoluteLink::GetPosition(palVector3& pos) const {
//Convert link_rel to the global coordinate system
//Link_abs=(Link_rel * R_Inv) - parent_abs
//Transpose the matrix to get Normal rotation matrixes.
palMatrix4x4 a_PAL = m_pParent->GetLocationMatrix();
palMatrix4x4 a; //R
mat_transpose(&a, &a_PAL);
palMatrix4x4 a_inv; //R_Inv
palVector3 link_rel;
palVector3 link_abs;
link_rel.x =m_fRelativePosX;
link_rel.y =m_fRelativePosY;
link_rel.z =m_fRelativePosZ;
bool isInverted = mat_invert(&a_inv,&a);
if(!isInverted)
return;
vec_mat_mul(&link_abs,&a_inv,&link_rel);
palVector3 posVec;
m_pParent->GetPosition(posVec);
pos.x = link_abs.x + posVec.x;
pos.y = link_abs.y + posVec.y;
pos.z = link_abs.z + posVec.z;
}
static void
_load_bones (struct ov_skeleton *s,
unsigned char *data,
struct _iqm_header *h)
{
struct _iqm_joint *j = malloc(h->num_joints * sizeof(struct _iqm_joint));
memcpy(j, data + h->ofs_joints, h->num_joints * sizeof(struct _iqm_joint));
s->num_bones = h->num_joints;
s->bones = malloc(h->num_joints * sizeof(struct iqm_bone));
int i;
for (i=0; i<h->num_joints; i++) {
float q[16];
char *name = (char *)(data + h->ofs_text + j[i].name);
s->bones[i].parent = j[i].parent;
s->bones[i].name = malloc(strlen(name)*sizeof(char)+1);
strcpy(s->bones[i].name, name);
read_pose(&s->bones[i].bind_pose, &j[i]);
mat_from_pose(q,
s->bones[i].bind_pose.translate,
s->bones[i].bind_pose.rotate,
s->bones[i].bind_pose.scale);
if (s->bones[i].parent >= 0) {
struct ov_bone *parent = &s->bones[s->bones[i].parent];
mat_mul44(s->bones[i].bind_matrix, parent->bind_matrix, q);
} else {
mat_copy(s->bones[i].bind_matrix, q);
}
mat_invert(s->bones[i].inv_bind_matrix, s->bones[i].bind_matrix);
}
free (j);
}
void render_point_lamp(struct lamp *lamp, mat4 clip_from_view, mat4 view_from_world, mat4 lamp_transform)
{
static int prog = 0;
static int uni_viewport;
static int uni_view_from_clip;
static int uni_lamp_position;
static int uni_lamp_color;
static int uni_lamp_distance;
static int uni_use_sphere;
mat4 view_from_clip;
vec2 viewport;
vec3 lamp_position;
vec3 lamp_color;
if (!prog) {
prog = compile_shader(quad_vert_src, point_frag_src);
uni_viewport = glGetUniformLocation(prog, "viewport");
uni_view_from_clip = glGetUniformLocation(prog, "view_from_clip");
uni_lamp_position = glGetUniformLocation(prog, "lamp_position");
uni_lamp_color = glGetUniformLocation(prog, "lamp_color");
uni_lamp_distance = glGetUniformLocation(prog, "lamp_distance");
uni_use_sphere = glGetUniformLocation(prog, "use_sphere");
}
mat_invert(view_from_clip, clip_from_view);
viewport[0] = fbo_w;
viewport[1] = fbo_h;
mat_vec_mul(lamp_position, view_from_world, lamp_transform + 12);
vec_scale(lamp_color, lamp->color, lamp->energy);
glUseProgram(prog);
glUniform2fv(uni_viewport, 1, viewport);
glUniformMatrix4fv(uni_view_from_clip, 1, 0, view_from_clip);
glUniform3fv(uni_lamp_position, 1, lamp_position);
glUniform3fv(uni_lamp_color, 1, lamp_color);
glUniform1f(uni_lamp_distance, lamp->distance);
glUniform1i(uni_use_sphere, lamp->use_sphere);
draw_fullscreen_quad();
}
void render_spot_lamp(struct lamp *lamp, mat4 clip_from_view, mat4 view_from_world, mat4 lamp_transform)
{
static int prog = 0;
static int uni_viewport;
static int uni_view_from_clip;
static int uni_lamp_position;
static int uni_lamp_direction;
static int uni_lamp_color;
static int uni_lamp_distance;
static int uni_spot_size;
static int uni_spot_blend;
static int uni_use_sphere;
static const vec3 lamp_direction_init = { 0, 0, 1 };
mat4 view_from_clip;
vec2 viewport;
vec3 lamp_position;
vec3 lamp_direction_world;
vec3 lamp_direction_view;
vec3 lamp_direction;
vec3 lamp_color;
float spot_size;
float spot_blend;
if (!prog) {
prog = compile_shader(quad_vert_src, spot_frag_src);
uni_viewport = glGetUniformLocation(prog, "viewport");
uni_view_from_clip = glGetUniformLocation(prog, "view_from_clip");
uni_lamp_position = glGetUniformLocation(prog, "lamp_position");
uni_lamp_direction = glGetUniformLocation(prog, "lamp_direction");
uni_lamp_color = glGetUniformLocation(prog, "lamp_color");
uni_lamp_distance = glGetUniformLocation(prog, "lamp_distance");
uni_spot_size = glGetUniformLocation(prog, "spot_size");
uni_spot_blend = glGetUniformLocation(prog, "spot_blend");
uni_use_sphere = glGetUniformLocation(prog, "use_sphere");
}
mat_invert(view_from_clip, clip_from_view);
viewport[0] = fbo_w;
viewport[1] = fbo_h;
mat_vec_mul(lamp_position, view_from_world, lamp_transform + 12);
mat_vec_mul_n(lamp_direction_world, lamp_transform, lamp_direction_init);
mat_vec_mul_n(lamp_direction_view, view_from_world, lamp_direction_world);
vec_normalize(lamp_direction, lamp_direction_view);
vec_scale(lamp_color, lamp->color, lamp->energy);
spot_size = cos(M_PI * lamp->spot_angle / 360.0);
spot_blend = (1.0 - spot_size) * lamp->spot_blend;
glUseProgram(prog);
glUniform2fv(uni_viewport, 1, viewport);
glUniformMatrix4fv(uni_view_from_clip, 1, 0, view_from_clip);
glUniform3fv(uni_lamp_position, 1, lamp_position);
glUniform3fv(uni_lamp_direction, 1, lamp_direction);
glUniform3fv(uni_lamp_color, 1, lamp_color);
glUniform1f(uni_lamp_distance, lamp->distance);
glUniform1f(uni_spot_size, spot_size);
glUniform1f(uni_spot_blend, spot_blend);
glUniform1i(uni_use_sphere, lamp->use_sphere);
draw_fullscreen_quad();
}
void * glclient_thread(void * arg)
{
server_thread_args_t * a = (server_thread_args_t *)arg;
static graphics_context_t gc;
static struct js_event joy;
int joy_fd;
static char button[32];
glclient_context_t *glcc = a->user_context_ptr;
joy_fd = open(glcc->joy_dev, O_RDONLY);
if (joy_fd == -1)
{
printf("Error: Joystick device open\n");
}
if (joy_fd != -1)
{
fcntl(joy_fd, F_SETFL, O_NONBLOCK);
}
gls_init(a);
gls_cmd_get_context();
gc.screen_width = glsc_global.screen_width;
gc.screen_height = glsc_global.screen_height;
printf("width:%d height:%d\n",glsc_global.screen_width,glsc_global.screen_height);
init_gl(&gc);
float aspect = (float)gc.screen_width / (float)gc.screen_height;
mat_perspective(proj_mat, aspect, 0.1f, 1024.0f, 60.0f);
glUniform4fv(gc.uloc_light, 1, light_pos);
srand(0x12345678);
int j;
for (j = 0; j < 1024; j++)
{
obj[j].z = randf() * 8.0f - 10.0f;
obj[j].x = (randf() * 2.0f - 1.0f) * obj[j].z;
obj[j].y = (randf() * 1.0f - 0.5f) * obj[j].z;
obj[j].dx = randf() * 0.0f - 0.0f;
obj[j].dy = randf() * 0.0f - 0.0f;
obj[j].dz = randf() * 0.0f - 0.0f;
obj[j].rx = randf() * 6.28;
obj[j].ry = randf() * 6.28;
obj[j].rz = randf() * 6.28;
obj[j].drx = randf() * 0.1f - 0.05f;
obj[j].dry = randf() * 0.1f - 0.05f;
obj[j].drz = randf() * 0.1f - 0.05f;
}
float x = 1.57f;
float y = 0.0f;
float z = -2.0f;
int k = 1;
int i;
for (i = 0; i < 432000; i++)
{
struct timeval times, timee;
gettimeofday(×, NULL);
if (joy_fd != -1)
{
while (read(joy_fd, &joy, sizeof(struct js_event)) == sizeof(struct js_event))
{
if ((joy.type & JS_EVENT_BUTTON) == JS_EVENT_BUTTON)
{
button[joy.number] = joy.value;
}
}
if (button[4] > 0)
{
y += 0.01f;
}
if (button[6] > 0)
{
y += -0.01f;
}
if (button[5] > 0)
{
x += 0.01f * aspect;
}
if (button[7] > 0)
{
x += -0.01f * aspect;
}
if (button[12] > 0)
{
z += -0.01f;
}
if (button[13] > 0)
{
k++;
k = (k > 45) ? 45 : k;
}
if (button[14] > 0)
{
z += 0.01f;
}
if (button[15] > 0)
{
k--;
k = (k < 1) ? 1 : k;
}
}
glUseProgram(gc.program);
glBindBuffer(GL_ARRAY_BUFFER, gc.vbo_pos);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, gc.vbo_ind);
glEnableVertexAttribArray(gc.vloc_pos);
glEnableVertexAttribArray(gc.vloc_nor);
glEnableVertexAttribArray(gc.vloc_tex);
glClearColor(0.5f, 0.5f, 0.5f, 1.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
for (j = 0; j < k; j++)
{
obj[j].rx += obj[j].drx;
obj[j].ry += obj[j].dry;
obj[j].rz += obj[j].drz;
if (j == 0)
{
obj[j].x = 0.0f;
obj[j].y = 0.0f;
obj[j].z = z;
obj[j].rx = -y;
obj[j].ry = x;
obj[j].rz = 0.0f;
}
mat_identity(model_mat);
mat_translate(model_mat, obj[j].x, obj[j].y, obj[j].z);
mat_rotate_x(model_mat, obj[j].rx);
mat_rotate_y(model_mat, obj[j].ry);
mat_rotate_z(model_mat, obj[j].rz);
mat_copy(nor_mat, model_mat);
mat_invert(nor_mat);
mat_transpose(nor_mat);
glUniformMatrix4fv(gc.uloc_nor, 1, GL_FALSE, nor_mat);
mat_copy(obj[j].nor_mat, nor_mat);
mat_copy(modelproj_mat, proj_mat);
mat_mul(modelproj_mat, model_mat);
glUniformMatrix4fv(gc.uloc_model, 1, GL_FALSE, modelproj_mat);
mat_copy(obj[j].modelproj_mat, modelproj_mat);
glDrawElements(GL_TRIANGLES, sizeof(ind_model) / sizeof(GLushort), GL_UNSIGNED_SHORT, 0);
}
glDisableVertexAttribArray(gc.vloc_tex);
glDisableVertexAttribArray(gc.vloc_nor);
glDisableVertexAttribArray(gc.vloc_pos);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
glBindBuffer(GL_ARRAY_BUFFER, 0);
gls_cmd_flip(i);
gettimeofday(&timee, NULL);
//printf("%d:%f ms ", i, get_diff_time(times, timee) * 1000.0f);
}
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
gls_cmd_flip(i);
release_gl(&gc);
gls_free();
if (joy_fd != -1)
{
close(joy_fd);
}
pthread_exit(NULL);
}
