VEC3F rayColor(VEC3F* ray) {
VEC3F colorRGB;
VEC3F c(0, 0, 1); // sphere center
VEC3F n; // normal vector
VEC3F cr(1.0f, 1.0f, 1.0f); // surface color
VEC3F cl(1.0f, 1.0f, 1.0f); // light color
VEC3F light(1, 1, -1); // light location
VEC3F l; // light direction
if(!intersectScene(ray[0])) {
//return black
colorRGB = VEC3F(0.f, 0.f, 0.f);
} else {
// return color
n = ray[0]-c; // calculate normal vector, p - c
l = light-ray[0]; // calculate l vector, light - p
// normalize n and l
n.normalize();
l.normalize();
VEC3F crcl(cr[0]*cl[0], cr[1]*cl[1], cr[2]*cl[2]);
float nlDotProd = n*l;
colorRGB = crcl*(nlDotProd);
}
return colorRGB; // return vector with rgb values
}
MATRIX3 SPHERE::springJacobian(const VEC3F& collisionPoint)
{
VEC3F direction = collisionPoint - _center;
Real dot = direction.dot(direction);
Real sqrtDot = sqrt(dot);
//Real invSqrtDot = 1.0 / sqrtDot;
MATRIX3 final;
final.setZero();
//////////////////////////////////////////////////////////////////////
// compute the tet volume
//////////////////////////////////////////////////////////////////////
Real TET::volume()
{
// formula for a tet volume with vertices (a,b,c,d) is:
// |(a - d) dot ((b - d) cross (c - d))| / 6
VEC3F a = (*vertices[1]) - (*vertices[0]);
VEC3F b = (*vertices[2]) - (*vertices[0]);
VEC3F c = (*vertices[3]) - (*vertices[0]);
return fabs(a.dot(b.cross(c)) / 6.0);
}
VEC3F SPHERE::force(const VEC3F& collisionPoint, const VEC3F& collisionVelocity)
{
VEC3F direction = collisionPoint - _center;
VEC3F normal = direction;
normal.normalize();
Real velocityDot = normal.dot(collisionVelocity);
VEC3F springForce = _collisionStiffness * (direction - (normal * _radius));
VEC3F dampingForce = _collisionDamping * normal * velocityDot;
return springForce + dampingForce;
}
int main() {
float f(0.5);
VEC4F v(3.0);
VEC4F t(VEC3F(4.0,.8,1.6), 3.2);
VEC4F y(t);
VEC4F c(1.0,0.5,0.25,0.65);
VEC3F a = v.getVEC3F();
VEC3F b = y.getVEC3F();
cout<<"first vector v: "<<v<<endl;
cout<<"second vector t: "<<t<<endl;
cout<<"third vector y: "<<y<<endl;
cout<<"fourth vector c "<<c<<endl;
cout<<"fifth vector a: "<<a<<endl;
cout<<"sixth vector b: "<<b<<endl<<endl;
cout<<"item 3 of vector "<<y<<" is "<<y[3]<<endl;
cout<<"change this item to "<<y[0]<<": ";
y[3]=y[0];
cout<<y<<endl<<endl;
cout<<v<<" + "<<c<<" = "<<v+c<<endl;
cout<<v<<" - "<<c<<" = "<<v-c<<endl;
cout<<"-"<<v<<" = "<<-v<<endl;
cout<<v<<" * "<<c<<" = "<<v*c<<endl;
cout<<f<<" * "<<c<<" = "<<f*c<<endl;
cout<<v<<" / "<<c<<" = "<<v/c<<endl;
cout<<c<<" / "<<f<<" = "<<c/f<<endl<<endl;
cout<<v<<" += "<<c<<" : ";
v+=c;
cout<<v<<endl;
cout<<v<<" -= "<<c<<" : ";
v-=c;
cout<<v<<endl;
cout<<v<<" *= "<<c<<" : ";
v*=c;
cout<<v<<endl;
cout<<c<<" *= "<<f<<" : ";
c*=f;
cout<<c<<endl;
cout<<v<<" /= "<<c<<" : ";
v/=c;
cout<<v<<endl;
cout<<c<<" /= "<<f<<" : ";
c/=f;
cout<<c<<endl<<endl;
cout<<a<<" cross "<<b<<" = "<<cross(a,b)<<endl;
cout<<a<<" dot "<<b<<" = "<<dot(a,b)<<endl;
cout<<a<<" normalized = "<<a.getNormalized()<<endl;
cout<<"normalized "<<a<<" = ";
a.normalize();
cout<<a<<endl;
cout<<a<<" magnitude = "<<a.getMagnitude()<<endl;
cout<<b<<" magnitude = "<<b.getMagnitude()<<endl;
};
int SceneLoader::load(string scene_file, Scene** scene, int xRes, int yRes) {
TiXmlDocument doc(scene_file);
if ( !doc.LoadFile() ) {
Logger::log(LOG_ERROR) << "Scene loading failed : " << scene_file << endl;
Logger::log(LOG_ERROR) << "Error #" << doc.ErrorId() << " : " << doc.ErrorDesc() << endl;
return -1;
} else {
Logger::log(LOG_INFO) << "Start loading scene : " << scene_file << endl;
Uint32 initial_tick = SDL_GetTicks();
list<Object*> objects;
list<Light*> lights;
set<Material*> materials;
AmbientLight ambientLight;
Camera* camera=0;
TiXmlElement* tmp_node = 0;
TiXmlHandle hdl(&doc);
TiXmlElement* node = hdl.FirstChildElement().FirstChildElement().Element();
if (node == NULL) {
Logger::log(LOG_ERROR)<<"Error on top of the file"<<endl;
return -1;
}
while ( node ) {
string nodeName(node->Value());
if ( nodeName.compare("camera")==0 ) {
VEC3F position, target, normal;
float w = 8, d = 35;
tmp_node = node->FirstChildElement("position");
if (tmp_node == NULL) {
Logger::log(LOG_ERROR)<<"Missing <position> near line "<<node->Row()<<endl;
} else {
position = readVec3Float(tmp_node);
}
tmp_node = node->FirstChildElement("target");
if (tmp_node == NULL) {
Logger::log(LOG_ERROR)<<"Missing <target> near line "<<node->Row()<<endl;
} else {
target = readVec3Float(tmp_node);
}
tmp_node = node->FirstChildElement("normal");
if (tmp_node == NULL) {
Logger::log(LOG_ERROR)<<"Missing <normal> near line "<<node->Row()<<endl;
} else {
normal = readVec3Float(tmp_node);
}
tmp_node = node->FirstChildElement("viewplane");
if (tmp_node == NULL) {
Logger::log(LOG_ERROR)<<"Missing <viewplane> near line "<<node->Row()<<endl;
} else {
tmp_node->QueryFloatAttribute("w", &w);
tmp_node->QueryFloatAttribute("d", &d);
}
camera = new Camera(position,
target-position,
normal,
w, d,
xRes, yRes,
Settings::getAsFloat("camera_translation_factor"),
Settings::getAsFloat("camera_rotation_angle"));
} else if ( nodeName.compare("directionalLight")==0 ) {
Color color;
VEC3F direction;
tmp_node = node->FirstChildElement("color");
if (tmp_node == NULL) {
Logger::log(LOG_ERROR)<<"Missing <color> near line "<<node->Row()<<endl;
} else {
color = readColor(tmp_node);
}
tmp_node = node->FirstChildElement("direction");
if (tmp_node == NULL) {
Logger::log(LOG_ERROR)<<"Missing <direction> near line "<<node->Row()<<endl;
} else {
direction = readVec3Float(tmp_node);
}
DirectionalLight *dirLight = new DirectionalLight(color, direction.normalize()); // !!!!!!!!!! NEEDS TO BE DESTROYED
lights.push_back(dirLight);
} else if ( nodeName.compare("pointLight")==0 ) {
Color color;
VEC3F point;
tmp_node = node->FirstChildElement("color");
if (tmp_node == NULL) {
Logger::log(LOG_ERROR)<<"Missing <color> near line "<<node->Row()<<endl;
} else {
color = readColor(tmp_node);
}
tmp_node = node->FirstChildElement("point");
if (tmp_node == NULL) {
Logger::log(LOG_ERROR)<<"Missing <point> near line "<<node->Row()<<endl;
} else {
point = readVec3Float(tmp_node);
}
PointLight *pointLight = new PointLight(color, point); // !!!!!!!!!! NEEDS TO BE DESTROYED
lights.push_back(pointLight);
} else if ( nodeName.compare("ambientLight")==0 ) {
Color color;
tmp_node = node->FirstChildElement("color");
if (tmp_node == NULL) {
Logger::log(LOG_ERROR)<<"Missing <color> near line "<<node->Row()<<endl;
} else {
color = readColor(tmp_node);
}
ambientLight = AmbientLight(color);
} else if ( nodeName.compare("object")==0 ) {
Material* material = 0;
tmp_node = node->FirstChildElement("material");
if (tmp_node == NULL) {
Logger::log(LOG_ERROR)<<"Missing <material> near line "<<node->Row()<<endl;
} else {
material = readMaterial(tmp_node);
if (material != NULL) {
if (materials.count(material) == 0) {
materials.insert(material);
}
}
}
tmp_node = node->FirstChildElement("shape");
if (tmp_node == NULL) {
Logger::log(LOG_ERROR)<<"Missing <shape> near line "<<node->Row()<<endl;
} else {
readShape(tmp_node->FirstChildElement(), &objects, material);
}
} else {
Logger::log(LOG_ERROR)<<"Unknown primary node line "<<node->Row()<<endl;
}
node = node->NextSiblingElement();
}
float loading_time=(SDL_GetTicks()-initial_tick)/(float)1000;
Logger::log(LOG_INFO) << "Scene loaded ("<<(int) objects.size()<<" objects) ("
<< loading_time << " s)" << endl;
*scene = new Scene(objects,lights,materials,ambientLight,camera);
return 0;
}
}
void SceneLoader::readShape(TiXmlElement* node, list<Object*>* objects, Material* material) {
string nodeName(node->Value());
if ( nodeName.compare("sphere")==0 ) {
VEC3F center = readVec3Float(node->FirstChildElement("center"));
float radius = 0;
node->FirstChildElement("radius")->QueryFloatAttribute("v", &radius);
#ifdef SCENELOADER_DEBUG
Logger::log(LOG_DEBUG)<<"Sphere : ("<<center.x<<","<<center.y<<","<<center.z<<") "
<<radius<<endl;
#endif
objects->push_back(new Sphere(center, radius, material));
} else if ( nodeName.compare("triangle")==0 ) {
VEC3F a = readVec3Float(node->FirstChildElement("a"));
VEC3F b = readVec3Float(node->FirstChildElement("b"));
VEC3F c = readVec3Float(node->FirstChildElement("c"));
TiXmlElement* child_normal_a = node->FirstChildElement("normal_a");
TiXmlElement* child_normal_b = node->FirstChildElement("normal_b");
TiXmlElement* child_normal_c = node->FirstChildElement("normal_c");
VEC3F na;
VEC3F nb;
VEC3F nc;
VEC3F normal = ((b - a) * (b - c)).normalize();
if(child_normal_a != NULL) {
na = readVec3Float(child_normal_a);
} else {
na = normal;
}
if(child_normal_b != NULL) {
nb = readVec3Float(child_normal_b);
} else {
nb = normal;
}
if(child_normal_c != NULL) {
nc = readVec3Float(child_normal_c);
} else {
nc = normal;
}
#ifdef SCENELOADER_DEBUG
Logger::log(LOG_DEBUG)<<"Triangle : ("<<a.x<<","<<a.y<<","<<a.z<<") ("
<<b.x<<","<<b.y<<","<<b.z<<") ("
<<c.x<<","<<c.y<<","<<c.z<<")"<<endl;
#endif
Triangle* tr = new Triangle(a, b, c, na, nb, nc, normal, material);
objects->push_back(tr);
} else if ( nodeName.compare("list")==0 ) {
TiXmlElement* child = node->FirstChildElement();
while ( child ) {
readShape(child, objects, material);
child = child->NextSiblingElement();
}
} else if(nodeName.compare("plane")==0) {
VEC3F normal = readVec3Float(node->FirstChildElement("normal"));
VEC3F point = readVec3Float(node->FirstChildElement("point"));
objects->push_back(new Plane(normal.normalize(), point, material));
} else {
Logger::log(LOG_ERROR)<<"Unknown shape : "<<nodeName<<" (line "<<node->Row()<<")"<<endl;
}
}
VEC3F SPHERE::contactPoint(const VEC3F& point)
{
VEC3F normal = point - _center;
normal.normalize();
return _center + (normal * _radius);
}
bool vcylinder::define()
{
glList = glGenLists(1);
glNewList(glList, GL_COMPILE);
glShadeModel(GL_FLAT);
float angle = (float)(15 * (M_PI / 180));
int iter = (int)(360 / 15);
float h_len = length * 0.5f;
VEC3F to = VEC3F(pb[0] - origin[0], pb[1] - origin[1], pb[2] - origin[2]);
VEC3F u = to / to.length();
double th = M_PI * 0.5;
double ap = acos(u.z);
double xi = asin(-u.y);
if (ap > M_PI)
ap = ap - M_PI;
ang[0] = 180 * xi / M_PI;
ang[1] = 180 * th / M_PI;
ang[2] = 180 * ap / M_PI;
EPD ep;
ep.setFromEuler(xi, th, ap);
glPushMatrix();
glBegin(GL_TRIANGLE_FAN);
{
VEC3D p = VEC3D( 0.f, length * 0.5f, 0.f );
glColor3f(0.0f, 0.f, 1.f);
// VEC3F p2_ = ep.A() * VEC3F(p2[0], p2[1], p2[2]);
//glVertex3f(p2[0], p2[1], p2[2]);
//p = ep.A() * p;
glVertex3f(p.x, p.y, p.z);
for (int i = 0; i < iter + 1; i++){
float rad = angle * i;
glColor3f(i % 2, 0.f, i % 2 + 1.f);
VEC3D q(sin(rad)*topRadius, length * 0.5, cos(rad) * topRadius);
//q = ep.A() * q;
glVertex3f(/*origin[0] + */(float)q.x, /*origin[1] + */(float)q.y, /*origin[2] + */(float)q.z);
}
}
glEnd();
glPopMatrix();
glBegin(GL_TRIANGLE_FAN);
{
VEC3D p = VEC3D(0.f, -length * 0.5f, 0.f);
//float p[3] = { 0.f, -length * 0.5f, 0.f };
glColor3f(0.f, 0.f, 1.f);
//glVertex3f(p1[0], p1[1], p1[2]);
//p = ep.A() * p;
glVertex3f(p.x, p.y, p.z);
//glVertex3f(p[0], p[1], p[2]);
for (int i = 0; i < iter + 1; i++){
float rad = angle * i;
glColor3f(i % 2, 0.0f, i % 2 + 1.0f);
VEC3D q(sin(-rad)*baseRadius, -length * 0.5, cos(-rad) * baseRadius);
//q = ep.A() * q;
glVertex3f(/*origin[0] + */q.x, /*origin[1] + */q.y, /*origin[2] +*/ q.z);
}
}
glEnd();
glBegin(GL_QUAD_STRIP);
{
for (int i = 0; i < iter + 1; i++){
float rad = angle * i;
VEC3D q1(sin(rad) * topRadius, length * 0.5, cos(rad) * topRadius);
VEC3D q2(sin(rad) * baseRadius, -length * 0.5, cos(rad) * baseRadius);
//q1 = ep.A() * q1;
//q2 = ep.A() * q2;
glVertex3f(/*origin[0] + */q2.x, /*origin[1] + */q2.y, /*origin[2] + */q2.z);
glVertex3f(/*origin[0] + */q1.x, /*origin[1] + */q1.y, /*origin[2] + */q1.z);
}
}
glEnd();
glEndList();
return true;
}
