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-rw-r--r--dev/MinGfx/src/gfxmath.cc274
-rw-r--r--dev/MinGfx/src/gfxmath.h192
-rw-r--r--dev/MinGfx/src/quaternion.cc522
-rw-r--r--dev/MinGfx/src/quick_shapes.cc1466
-rw-r--r--dev/MinGfx/src/ray.h332
5 files changed, 1393 insertions, 1393 deletions
diff --git a/dev/MinGfx/src/gfxmath.cc b/dev/MinGfx/src/gfxmath.cc
index 28cfedf..19d99ef 100644
--- a/dev/MinGfx/src/gfxmath.cc
+++ b/dev/MinGfx/src/gfxmath.cc
@@ -1,137 +1,137 @@
-/*
- Copyright (c) 2017,2018 Regents of the University of Minnesota.
- All Rights Reserved.
- See corresponding header file for details.
- */
-
-#include "gfxmath.h"
-
-#define _USE_MATH_DEFINES
-#include <math.h>
-#include <algorithm>
-
-#include "ray.h"
-
-
-namespace mingfx {
-
-const float GfxMath::PI = 3.14159265359f;
-const float GfxMath::TWO_PI = 6.28318530718f;
-const float GfxMath::HALF_PI = 1.57079632679f;
-
-float GfxMath::sin(float a) {
-#ifdef WIN32
- return std::sinf(a);
-#else
- return std::sin(a);
-#endif
-}
-
-float GfxMath::cos(float a) {
-#ifdef WIN32
- return std::cosf(a);
-#else
- return std::cos(a);
-#endif
-}
-
-float GfxMath::tan(float a) {
-#ifdef WIN32
- return std::tanf(a);
-#else
- return std::tan(a);
-#endif
-}
-
-float GfxMath::asin(float a) {
-#ifdef WIN32
- return std::asinf(a);
-#else
- return std::asin(a);
-#endif
-}
-
-float GfxMath::acos(float a) {
-#ifdef WIN32
- return std::acosf(a);
-#else
- return std::acos(a);
-#endif
-}
-
-float GfxMath::atan(float a) {
-#ifdef WIN32
- return std::atanf(a);
-#else
- return std::atan(a);
-#endif
-}
-
-float GfxMath::atan2(float a, float b) {
-#ifdef WIN32
- return std::atan2f(a, b);
-#else
- return std::atan2(a, b);
-#endif
-}
-
-float GfxMath::Clamp(float x, float a, float b) {
- return std::min(std::max(x, a), b);
-}
-
-float GfxMath::ToRadians(float degrees) {
- return degrees * GfxMath::PI / 180.0f;
-}
-
-float GfxMath::ToDegrees(float radians) {
- return radians * 180.0f / GfxMath::PI;
-}
-
-Vector3 GfxMath::ToRadians(Vector3 degrees) {
- return Vector3(ToRadians(degrees[0]), ToRadians(degrees[1]), ToRadians(degrees[2]));
-}
-
-Vector3 GfxMath::ToDegrees(Vector3 radians) {
- return Vector3(ToDegrees(radians[0]), ToDegrees(radians[1]), ToDegrees(radians[2]));
-}
-
-float GfxMath::Lerp(float a, float b, float alpha) {
- return (1.0f-alpha)*a + alpha*b;
-}
-
-int GfxMath::iLerp(int a, int b, float alpha) {
- return (int)std::round((1.0f-alpha)*(float)a + alpha*(float)b);
-}
-
-Point3 GfxMath::ScreenToNearPlane(const Matrix4 &V, const Matrix4 &P, const Point2 &ndcPoint) {
- Matrix4 filmPtToWorld = (P*V).Inverse();
- return filmPtToWorld * Point3(ndcPoint[0], ndcPoint[1], -1.0);
-}
-
-
-Point3 GfxMath::ScreenToWorld(const Matrix4 &V, const Matrix4 &P, const Point2 &ndcPoint, float zValue) {
- Matrix4 filmPtToWorld = (P*V).Inverse();
- float zneg1topos1 = zValue*2.0f - 1.0f;
- return filmPtToWorld * Point3(ndcPoint[0], ndcPoint[1], zneg1topos1);
-}
-
-
-Point3 GfxMath::ScreenToDepthPlane(const Matrix4 &V, const Matrix4 &P, const Point2 &ndcPoint, float planeDepth) {
- Point3 pNear = ScreenToNearPlane(V, P, ndcPoint);
-
- Matrix4 camMat = V.Inverse();
- Point3 eye = camMat.ColumnToPoint3(3);
- Vector3 look = -camMat.ColumnToVector3(2);
-
- Ray r(eye, pNear - eye);
-
- Point3 p3D;
- float t;
- if (!r.IntersectPlane(eye + planeDepth*look, -look, &t, &p3D)) {
- std::cerr << "filmplane2D_to_plane3D() error -- no intersection found!" << std::endl;
- }
- return p3D;
-}
-
-
-} // end namespace
+/*
+ Copyright (c) 2017,2018 Regents of the University of Minnesota.
+ All Rights Reserved.
+ See corresponding header file for details.
+ */
+
+#include "gfxmath.h"
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <algorithm>
+
+#include "ray.h"
+
+
+namespace mingfx {
+
+const float GfxMath::PI = 3.14159265359f;
+const float GfxMath::TWO_PI = 6.28318530718f;
+const float GfxMath::HALF_PI = 1.57079632679f;
+
+float GfxMath::sin(float a) {
+#ifdef WIN32
+ return std::sinf(a);
+#else
+ return std::sin(a);
+#endif
+}
+
+float GfxMath::cos(float a) {
+#ifdef WIN32
+ return std::cosf(a);
+#else
+ return std::cos(a);
+#endif
+}
+
+float GfxMath::tan(float a) {
+#ifdef WIN32
+ return std::tanf(a);
+#else
+ return std::tan(a);
+#endif
+}
+
+float GfxMath::asin(float a) {
+#ifdef WIN32
+ return std::asinf(a);
+#else
+ return std::asin(a);
+#endif
+}
+
+float GfxMath::acos(float a) {
+#ifdef WIN32
+ return std::acosf(a);
+#else
+ return std::acos(a);
+#endif
+}
+
+float GfxMath::atan(float a) {
+#ifdef WIN32
+ return std::atanf(a);
+#else
+ return std::atan(a);
+#endif
+}
+
+float GfxMath::atan2(float a, float b) {
+#ifdef WIN32
+ return std::atan2f(a, b);
+#else
+ return std::atan2(a, b);
+#endif
+}
+
+float GfxMath::Clamp(float x, float a, float b) {
+ return std::min(std::max(x, a), b);
+}
+
+float GfxMath::ToRadians(float degrees) {
+ return degrees * GfxMath::PI / 180.0f;
+}
+
+float GfxMath::ToDegrees(float radians) {
+ return radians * 180.0f / GfxMath::PI;
+}
+
+Vector3 GfxMath::ToRadians(Vector3 degrees) {
+ return Vector3(ToRadians(degrees[0]), ToRadians(degrees[1]), ToRadians(degrees[2]));
+}
+
+Vector3 GfxMath::ToDegrees(Vector3 radians) {
+ return Vector3(ToDegrees(radians[0]), ToDegrees(radians[1]), ToDegrees(radians[2]));
+}
+
+float GfxMath::Lerp(float a, float b, float alpha) {
+ return (1.0f-alpha)*a + alpha*b;
+}
+
+int GfxMath::iLerp(int a, int b, float alpha) {
+ return (int)std::round((1.0f-alpha)*(float)a + alpha*(float)b);
+}
+
+Point3 GfxMath::ScreenToNearPlane(const Matrix4 &V, const Matrix4 &P, const Point2 &ndcPoint) {
+ Matrix4 filmPtToWorld = (P*V).Inverse();
+ return filmPtToWorld * Point3(ndcPoint[0], ndcPoint[1], -1.0);
+}
+
+
+Point3 GfxMath::ScreenToWorld(const Matrix4 &V, const Matrix4 &P, const Point2 &ndcPoint, float zValue) {
+ Matrix4 filmPtToWorld = (P*V).Inverse();
+ float zneg1topos1 = zValue*2.0f - 1.0f;
+ return filmPtToWorld * Point3(ndcPoint[0], ndcPoint[1], zneg1topos1);
+}
+
+
+Point3 GfxMath::ScreenToDepthPlane(const Matrix4 &V, const Matrix4 &P, const Point2 &ndcPoint, float planeDepth) {
+ Point3 pNear = ScreenToNearPlane(V, P, ndcPoint);
+
+ Matrix4 camMat = V.Inverse();
+ Point3 eye = camMat.ColumnToPoint3(3);
+ Vector3 look = -camMat.ColumnToVector3(2);
+
+ Ray r(eye, pNear - eye);
+
+ Point3 p3D;
+ float t;
+ if (!r.IntersectPlane(eye + planeDepth*look, -look, &t, &p3D)) {
+ std::cerr << "filmplane2D_to_plane3D() error -- no intersection found!" << std::endl;
+ }
+ return p3D;
+}
+
+
+} // end namespace
diff --git a/dev/MinGfx/src/gfxmath.h b/dev/MinGfx/src/gfxmath.h
index 86c1061..3240072 100644
--- a/dev/MinGfx/src/gfxmath.h
+++ b/dev/MinGfx/src/gfxmath.h
@@ -1,97 +1,97 @@
-/*
- This file is part of the MinGfx Project.
-
- Copyright (c) 2017,2018 Regents of the University of Minnesota.
- All Rights Reserved.
-
- Original Author(s) of this File:
- Dan Keefe, 2018, University of Minnesota
-
- Author(s) of Significant Updates/Modifications to the File:
- ...
- */
-
-#ifndef SRC_GFXMATH_H_
-#define SRC_GFXMATH_H_
-
-#include "point2.h"
-#include "point3.h"
-#include "vector3.h"
-#include "matrix4.h"
-
-namespace mingfx {
-
-
-/** This class holds a variety of static math functions that are useful to have
- defined with creating graphics programs.
- */
-class GfxMath {
-public:
-
- /// MinGfx specific implementations of trigonometric functions included to
- /// solve compilation issues between different platforms.
- static float sin(float a);
-
- static float cos(float a);
-
- static float tan(float a);
-
- static float asin(float a);
-
- static float acos(float a);
-
- static float atan(float a);
-
- static float atan2(float a, float b);
-
- /// Returns a if x is less than a and b if x is greater than b.
- static float Clamp(float x, float a, float b);
-
- static float ToRadians(float degrees);
-
- static float ToDegrees(float radians);
-
- static Vector3 ToRadians(Vector3 degrees);
-
- static Vector3 ToDegrees(Vector3 radians);
-
- static float Lerp(float a, float b, float alpha);
-
- static int iLerp(int a, int b, float alpha);
-
- /// Converts a 2D point on the filmplane represented in Normalized Device
- /// Coorindates, which means (-1,1) for the top left corner of the screen and
- /// (1,-1) for the bottom right corner, to a 3D point that lies on the camera's
- /// near plane. Useful for converting mouse coordinates into a 3D point.
- /// Remember that this uses NORMALIZED device coordinates for the screenPt,
- /// not pixels. GraphicsApp and most other graphics engines report mouse move
- /// events in pixels, so you need to convert these to normalized device coordinates
- /// first. If you are using GraphicsApp, you can do this with:
- /// Point2 normPos = graphicsApp->pixels_to_normalized_coordinates(mousePos);
- static Point3 ScreenToNearPlane(const Matrix4 &viewMatrix, const Matrix4 &projMatrix, const Point2 &normalizedScreenPt);
-
- /// Similar to filmplane2D_to_nearplane3D() but here rather than using the
- /// nearplane, you specify the depth of the plane to use as a distance away
- /// from the camera's focal point.
- static Point3 ScreenToDepthPlane(const Matrix4 &viewMatrix, const Matrix4 &projMatrix, const Point2 &normalizedScreenPt, float planeDepth);
-
- /// Converts a 2D point on the filmplane represented in Normalized Device
- /// Coorindates, which means (-1,1) for the top left corner of the screen and
- /// (1,-1) for the bottom right corner, to a 3D point in the world. The depth
- /// buffer value under the pixel must be supplied. If you are using GraphicsApp,
- /// you can use the mouse pos in pixels to get the required arguments like this:
- /// Point2 normPos = graphicsApp->pixels_to_normalized_coordinates(mousePos);
- /// float normZ = graphicsApp->z_value_at_pixel(mousePos);
- static Point3 ScreenToWorld(const Matrix4 &viewMatrix, const Matrix4 &projMatrix, const Point2 &normalizedScreenPt, float normalizedZ);
-
-
- static const float PI;
- static const float TWO_PI;
- static const float HALF_PI;
-};
-
-
-
-} // end namespace
-
+/*
+ This file is part of the MinGfx Project.
+
+ Copyright (c) 2017,2018 Regents of the University of Minnesota.
+ All Rights Reserved.
+
+ Original Author(s) of this File:
+ Dan Keefe, 2018, University of Minnesota
+
+ Author(s) of Significant Updates/Modifications to the File:
+ ...
+ */
+
+#ifndef SRC_GFXMATH_H_
+#define SRC_GFXMATH_H_
+
+#include "point2.h"
+#include "point3.h"
+#include "vector3.h"
+#include "matrix4.h"
+
+namespace mingfx {
+
+
+/** This class holds a variety of static math functions that are useful to have
+ defined with creating graphics programs.
+ */
+class GfxMath {
+public:
+
+ /// MinGfx specific implementations of trigonometric functions included to
+ /// solve compilation issues between different platforms.
+ static float sin(float a);
+
+ static float cos(float a);
+
+ static float tan(float a);
+
+ static float asin(float a);
+
+ static float acos(float a);
+
+ static float atan(float a);
+
+ static float atan2(float a, float b);
+
+ /// Returns a if x is less than a and b if x is greater than b.
+ static float Clamp(float x, float a, float b);
+
+ static float ToRadians(float degrees);
+
+ static float ToDegrees(float radians);
+
+ static Vector3 ToRadians(Vector3 degrees);
+
+ static Vector3 ToDegrees(Vector3 radians);
+
+ static float Lerp(float a, float b, float alpha);
+
+ static int iLerp(int a, int b, float alpha);
+
+ /// Converts a 2D point on the filmplane represented in Normalized Device
+ /// Coorindates, which means (-1,1) for the top left corner of the screen and
+ /// (1,-1) for the bottom right corner, to a 3D point that lies on the camera's
+ /// near plane. Useful for converting mouse coordinates into a 3D point.
+ /// Remember that this uses NORMALIZED device coordinates for the screenPt,
+ /// not pixels. GraphicsApp and most other graphics engines report mouse move
+ /// events in pixels, so you need to convert these to normalized device coordinates
+ /// first. If you are using GraphicsApp, you can do this with:
+ /// Point2 normPos = graphicsApp->pixels_to_normalized_coordinates(mousePos);
+ static Point3 ScreenToNearPlane(const Matrix4 &viewMatrix, const Matrix4 &projMatrix, const Point2 &normalizedScreenPt);
+
+ /// Similar to filmplane2D_to_nearplane3D() but here rather than using the
+ /// nearplane, you specify the depth of the plane to use as a distance away
+ /// from the camera's focal point.
+ static Point3 ScreenToDepthPlane(const Matrix4 &viewMatrix, const Matrix4 &projMatrix, const Point2 &normalizedScreenPt, float planeDepth);
+
+ /// Converts a 2D point on the filmplane represented in Normalized Device
+ /// Coorindates, which means (-1,1) for the top left corner of the screen and
+ /// (1,-1) for the bottom right corner, to a 3D point in the world. The depth
+ /// buffer value under the pixel must be supplied. If you are using GraphicsApp,
+ /// you can use the mouse pos in pixels to get the required arguments like this:
+ /// Point2 normPos = graphicsApp->pixels_to_normalized_coordinates(mousePos);
+ /// float normZ = graphicsApp->z_value_at_pixel(mousePos);
+ static Point3 ScreenToWorld(const Matrix4 &viewMatrix, const Matrix4 &projMatrix, const Point2 &normalizedScreenPt, float normalizedZ);
+
+
+ static const float PI;
+ static const float TWO_PI;
+ static const float HALF_PI;
+};
+
+
+
+} // end namespace
+
#endif \ No newline at end of file
diff --git a/dev/MinGfx/src/quaternion.cc b/dev/MinGfx/src/quaternion.cc
index 24830c8..42723f1 100644
--- a/dev/MinGfx/src/quaternion.cc
+++ b/dev/MinGfx/src/quaternion.cc
@@ -1,261 +1,261 @@
-/*
-Copyright (c) 2017,2018 Regents of the University of Minnesota.
-All Rights Reserved.
-See corresponding header file for details.
-*/
-
-#define _USE_MATH_DEFINES
-#include "quaternion.h"
-
-#include "gfxmath.h"
-
-namespace mingfx {
-
-
-Quaternion::Quaternion() {
- q[0] = 0.0;
- q[1] = 0.0;
- q[2] = 0.0;
- q[3] = 1.0;
-}
-
-Quaternion::Quaternion(float qx, float qy, float qz, float qw) {
- q[0] = qx;
- q[1] = qy;
- q[2] = qz;
- q[3] = qw;
-}
-
-Quaternion::Quaternion(float *ptr) {
- q[0] = ptr[0];
- q[1] = ptr[1];
- q[2] = ptr[2];
- q[3] = ptr[3];
-}
-
-Quaternion::Quaternion(const Quaternion& other) {
- q[0] = other[0];
- q[1] = other[1];
- q[2] = other[2];
- q[3] = other[3];
-}
-
-Quaternion::~Quaternion() {
-}
-
-bool Quaternion::operator==(const Quaternion& other) const {
- return (fabs(other[0] - q[0]) < MINGFX_MATH_EPSILON &&
- fabs(other[1] - q[1]) < MINGFX_MATH_EPSILON &&
- fabs(other[2] - q[2]) < MINGFX_MATH_EPSILON &&
- fabs(other[3] - q[3]) < MINGFX_MATH_EPSILON);
-}
-
-bool Quaternion::operator!=(const Quaternion& other) const {
- return (fabs(other[0] - q[0]) >= MINGFX_MATH_EPSILON ||
- fabs(other[1] - q[1]) >= MINGFX_MATH_EPSILON ||
- fabs(other[2] - q[2]) >= MINGFX_MATH_EPSILON ||
- fabs(other[3] - q[3]) >= MINGFX_MATH_EPSILON);
-}
-
-Quaternion& Quaternion::operator=(const Quaternion& other) {
- q[0] = other[0];
- q[1] = other[1];
- q[2] = other[2];
- q[3] = other[3];
- return *this;
-}
-
-float Quaternion::operator[](const int i) const {
- if ((i>=0) && (i<=3)) {
- return q[i];
- }
- else {
- // this is an error!
- return 0.0;
- }
-}
-
-float& Quaternion::operator[](const int i) {
- return q[i];
-}
-
-
-const float * Quaternion::value_ptr() const {
- return q;
-}
-
-Quaternion Quaternion::Slerp(const Quaternion &other, float alpha) const {
- // https://en.wikipedia.org/wiki/Slerp
-
- Quaternion v0 = *this;
- Quaternion v1 = other;
-
- // Only unit quaternions are valid rotations.
- // Normalize to avoid undefined behavior.
- v0.Normalize();
- v1.Normalize();
-
- // Compute the cosine of the angle between the two vectors.
- float dot = v0.Dot(v1);
-
- // If the dot product is negative, the quaternions
- // have opposite handed-ness and slerp won't take
- // the shorter path. Fix by reversing one quaternion.
- if (dot < 0.0f) {
- v1 = -v1;
- dot = -dot;
- }
-
- const double DOT_THRESHOLD = 0.9995;
- if (dot > DOT_THRESHOLD) {
- // If the inputs are too close for comfort, linearly interpolate
- // and normalize the result.
-
- Quaternion result = v0 + alpha*(v1 - v0);
- result.Normalize();
- return result;
- }
-
- GfxMath::Clamp(dot, -1, 1); // Robustness: Stay within domain of acos()
- float theta_0 = GfxMath::acos(dot); // theta_0 = angle between input vectors
- float theta = theta_0 * alpha; // theta = angle between v0 and result
-
- float s0 = GfxMath::cos(theta) - dot
- * GfxMath::sin(theta) / GfxMath::sin(theta_0); // == sin(theta_0 - theta) / sin(theta_0)
- float s1 = GfxMath::sin(theta) / GfxMath::sin(theta_0);
-
- return (s0 * v0) + (s1 * v1);
-}
-
-Quaternion Quaternion::Slerp(const Quaternion &a, const Quaternion &b, float alpha) {
- return a.Slerp(b, alpha);
-}
-
-
-std::ostream & operator<< ( std::ostream &os, const Quaternion &q) {
- return os << "<" << q[0] << ", " << q[1] << ", " << q[2] << ", " << q[3] << ")";
-}
-
-std::istream & operator>> ( std::istream &is, Quaternion &q) {
- // format: <qx, qy, qz, qw>
- char dummy;
- return is >> dummy >> q[0] >> dummy >> q[1] >> dummy >> q[2] >> dummy >> q[3] >> dummy;
-}
-
-
-float Quaternion::Dot(const Quaternion& other) const {
- return q[0]*other[0] + q[1]*other[1] + q[2]*other[2] + q[3]*other[3];
-
-}
-
-float Quaternion::Length() const {
- return sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
-}
-
-void Quaternion::Normalize() {
- float sizeSq = + q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3];
- if (sizeSq < MINGFX_MATH_EPSILON) {
- return; // do nothing to zero quats
- }
- float scaleFactor = (float)1.0/(float)sqrt(sizeSq);
- q[0] *= scaleFactor;
- q[1] *= scaleFactor;
- q[2] *= scaleFactor;
- q[3] *= scaleFactor;
-}
-
-Quaternion Quaternion::ToUnit() const {
- Quaternion qtmp(*this);
- qtmp.Normalize();
- return qtmp;
-}
-
-/// Returns the conjugate of the quaternion.
-Quaternion Quaternion::Conjugate() const {
- return Quaternion(-q[0], -q[1], -q[2], q[3]);
-}
-
-
-Quaternion Quaternion::FromAxisAngle(const Vector3 &axis, float angle) {
- // [qx, qy, qz, qw] = [sin(a/2) * vx, sin(a/2)* vy, sin(a/2) * vz, cos(a/2)]
- float x = GfxMath::sin(angle/2.0) * axis[0];
- float y = GfxMath::sin(angle/2.0) * axis[1];
- float z = GfxMath::sin(angle/2.0) * axis[2];
- float w = GfxMath::cos(angle/2.0);
- return Quaternion(x,y,z,w);
-}
-
-
-Quaternion Quaternion::FromEulerAnglesZYX(const Vector3 &angles) {
- Quaternion rot_x = Quaternion::FromAxisAngle(Vector3::UnitX(), angles[0]);
- Quaternion rot_y = Quaternion::FromAxisAngle(Vector3::UnitY(), angles[1]);
- Quaternion rot_z = Quaternion::FromAxisAngle(Vector3::UnitZ(), angles[2]);
- return rot_z * rot_y * rot_x;
-}
-
-Vector3 Quaternion::ToEulerAnglesZYX() const {
- // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-
- Vector3 angles;
-
- // roll (x-axis rotation)
- float sinr = +2.0f * (w() * x() + y() * z());
- float cosr = +1.0f - 2.0f * (x() * x() + y() * y());
- angles[0] = std::atan2(sinr, cosr);
-
- // pitch (y-axis rotation)
- float sinp = +2.0f * (w() * y() - z() * x());
- if (std::fabs(sinp) >= 1.f)
- angles[1] = std::copysign(GfxMath::HALF_PI, sinp); // use 90 degrees if out of range
- else
- angles[1] = std::asin(sinp);
-
- // yaw (z-axis rotation)
- float siny = +2.0f * (w() * z() + x() * y());
- float cosy = +1.0f - 2.0f * (y() * y() + z() * z());
- angles[2] = std::atan2(siny, cosy);
-
- return angles;
-}
-
-
-Quaternion operator*(const Quaternion& q1, const Quaternion& q2) {
- float real1 = q1[3];
- Vector3 imag1 = Vector3(q1[0], q1[1], q1[2]);
-
- float real2 = q2[3];
- Vector3 imag2 = Vector3(q2[0], q2[1], q2[2]);
-
- float real = real1*real2 - imag1.Dot(imag2);
- Vector3 imag = real1*imag2 + real2*imag1 + imag1.Cross(imag2);
-
- return Quaternion(imag[0], imag[1], imag[2], real);
-}
-
-
-Quaternion operator/(const Quaternion& q, const float s) {
- const float invS = 1.0f / s;
- return Quaternion(q[0]*invS, q[1]*invS, q[2]*invS, q[3]*invS);
-}
-
-Quaternion operator*(const float s, const Quaternion& q) {
- return Quaternion(q[0]*s, q[1]*s, q[2]*s, q[3]*s);
-}
-
-Quaternion operator*(const Quaternion& q, const float s) {
- return Quaternion(q[0]*s, q[1]*s, q[2]*s, q[3]*s);
-}
-
-Quaternion operator-(const Quaternion& q) {
- return Quaternion(-q[0], -q[1], -q[2], -q[3]);
-}
-
-Quaternion operator+(const Quaternion& q1, const Quaternion& q2) {
- return Quaternion(q1[0] + q2[0], q1[1] + q2[1], q1[2] + q2[2], q1[3] + q2[3]);
-}
-
-Quaternion operator-(const Quaternion& q1, const Quaternion& q2) {
- return Quaternion(q1[0] - q2[0], q1[1] - q2[1], q1[2] - q2[2], q1[3] - q2[3]);
-}
-
-} // end namespace
+/*
+Copyright (c) 2017,2018 Regents of the University of Minnesota.
+All Rights Reserved.
+See corresponding header file for details.
+*/
+
+#define _USE_MATH_DEFINES
+#include "quaternion.h"
+
+#include "gfxmath.h"
+
+namespace mingfx {
+
+
+Quaternion::Quaternion() {
+ q[0] = 0.0;
+ q[1] = 0.0;
+ q[2] = 0.0;
+ q[3] = 1.0;
+}
+
+Quaternion::Quaternion(float qx, float qy, float qz, float qw) {
+ q[0] = qx;
+ q[1] = qy;
+ q[2] = qz;
+ q[3] = qw;
+}
+
+Quaternion::Quaternion(float *ptr) {
+ q[0] = ptr[0];
+ q[1] = ptr[1];
+ q[2] = ptr[2];
+ q[3] = ptr[3];
+}
+
+Quaternion::Quaternion(const Quaternion& other) {
+ q[0] = other[0];
+ q[1] = other[1];
+ q[2] = other[2];
+ q[3] = other[3];
+}
+
+Quaternion::~Quaternion() {
+}
+
+bool Quaternion::operator==(const Quaternion& other) const {
+ return (fabs(other[0] - q[0]) < MINGFX_MATH_EPSILON &&
+ fabs(other[1] - q[1]) < MINGFX_MATH_EPSILON &&
+ fabs(other[2] - q[2]) < MINGFX_MATH_EPSILON &&
+ fabs(other[3] - q[3]) < MINGFX_MATH_EPSILON);
+}
+
+bool Quaternion::operator!=(const Quaternion& other) const {
+ return (fabs(other[0] - q[0]) >= MINGFX_MATH_EPSILON ||
+ fabs(other[1] - q[1]) >= MINGFX_MATH_EPSILON ||
+ fabs(other[2] - q[2]) >= MINGFX_MATH_EPSILON ||
+ fabs(other[3] - q[3]) >= MINGFX_MATH_EPSILON);
+}
+
+Quaternion& Quaternion::operator=(const Quaternion& other) {
+ q[0] = other[0];
+ q[1] = other[1];
+ q[2] = other[2];
+ q[3] = other[3];
+ return *this;
+}
+
+float Quaternion::operator[](const int i) const {
+ if ((i>=0) && (i<=3)) {
+ return q[i];
+ }
+ else {
+ // this is an error!
+ return 0.0;
+ }
+}
+
+float& Quaternion::operator[](const int i) {
+ return q[i];
+}
+
+
+const float * Quaternion::value_ptr() const {
+ return q;
+}
+
+Quaternion Quaternion::Slerp(const Quaternion &other, float alpha) const {
+ // https://en.wikipedia.org/wiki/Slerp
+
+ Quaternion v0 = *this;
+ Quaternion v1 = other;
+
+ // Only unit quaternions are valid rotations.
+ // Normalize to avoid undefined behavior.
+ v0.Normalize();
+ v1.Normalize();
+
+ // Compute the cosine of the angle between the two vectors.
+ float dot = v0.Dot(v1);
+
+ // If the dot product is negative, the quaternions
+ // have opposite handed-ness and slerp won't take
+ // the shorter path. Fix by reversing one quaternion.
+ if (dot < 0.0f) {
+ v1 = -v1;
+ dot = -dot;
+ }
+
+ const double DOT_THRESHOLD = 0.9995;
+ if (dot > DOT_THRESHOLD) {
+ // If the inputs are too close for comfort, linearly interpolate
+ // and normalize the result.
+
+ Quaternion result = v0 + alpha*(v1 - v0);
+ result.Normalize();
+ return result;
+ }
+
+ GfxMath::Clamp(dot, -1, 1); // Robustness: Stay within domain of acos()
+ float theta_0 = GfxMath::acos(dot); // theta_0 = angle between input vectors
+ float theta = theta_0 * alpha; // theta = angle between v0 and result
+
+ float s0 = GfxMath::cos(theta) - dot
+ * GfxMath::sin(theta) / GfxMath::sin(theta_0); // == sin(theta_0 - theta) / sin(theta_0)
+ float s1 = GfxMath::sin(theta) / GfxMath::sin(theta_0);
+
+ return (s0 * v0) + (s1 * v1);
+}
+
+Quaternion Quaternion::Slerp(const Quaternion &a, const Quaternion &b, float alpha) {
+ return a.Slerp(b, alpha);
+}
+
+
+std::ostream & operator<< ( std::ostream &os, const Quaternion &q) {
+ return os << "<" << q[0] << ", " << q[1] << ", " << q[2] << ", " << q[3] << ")";
+}
+
+std::istream & operator>> ( std::istream &is, Quaternion &q) {
+ // format: <qx, qy, qz, qw>
+ char dummy;
+ return is >> dummy >> q[0] >> dummy >> q[1] >> dummy >> q[2] >> dummy >> q[3] >> dummy;
+}
+
+
+float Quaternion::Dot(const Quaternion& other) const {
+ return q[0]*other[0] + q[1]*other[1] + q[2]*other[2] + q[3]*other[3];
+
+}
+
+float Quaternion::Length() const {
+ return sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
+}
+
+void Quaternion::Normalize() {
+ float sizeSq = + q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3];
+ if (sizeSq < MINGFX_MATH_EPSILON) {
+ return; // do nothing to zero quats
+ }
+ float scaleFactor = (float)1.0/(float)sqrt(sizeSq);
+ q[0] *= scaleFactor;
+ q[1] *= scaleFactor;
+ q[2] *= scaleFactor;
+ q[3] *= scaleFactor;
+}
+
+Quaternion Quaternion::ToUnit() const {
+ Quaternion qtmp(*this);
+ qtmp.Normalize();
+ return qtmp;
+}
+
+/// Returns the conjugate of the quaternion.
+Quaternion Quaternion::Conjugate() const {
+ return Quaternion(-q[0], -q[1], -q[2], q[3]);
+}
+
+
+Quaternion Quaternion::FromAxisAngle(const Vector3 &axis, float angle) {
+ // [qx, qy, qz, qw] = [sin(a/2) * vx, sin(a/2)* vy, sin(a/2) * vz, cos(a/2)]
+ float x = GfxMath::sin(angle/2.0) * axis[0];
+ float y = GfxMath::sin(angle/2.0) * axis[1];
+ float z = GfxMath::sin(angle/2.0) * axis[2];
+ float w = GfxMath::cos(angle/2.0);
+ return Quaternion(x,y,z,w);
+}
+
+
+Quaternion Quaternion::FromEulerAnglesZYX(const Vector3 &angles) {
+ Quaternion rot_x = Quaternion::FromAxisAngle(Vector3::UnitX(), angles[0]);
+ Quaternion rot_y = Quaternion::FromAxisAngle(Vector3::UnitY(), angles[1]);
+ Quaternion rot_z = Quaternion::FromAxisAngle(Vector3::UnitZ(), angles[2]);
+ return rot_z * rot_y * rot_x;
+}
+
+Vector3 Quaternion::ToEulerAnglesZYX() const {
+ // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+
+ Vector3 angles;
+
+ // roll (x-axis rotation)
+ float sinr = +2.0f * (w() * x() + y() * z());
+ float cosr = +1.0f - 2.0f * (x() * x() + y() * y());
+ angles[0] = std::atan2(sinr, cosr);
+
+ // pitch (y-axis rotation)
+ float sinp = +2.0f * (w() * y() - z() * x());
+ if (std::fabs(sinp) >= 1.f)
+ angles[1] = std::copysign(GfxMath::HALF_PI, sinp); // use 90 degrees if out of range
+ else
+ angles[1] = std::asin(sinp);
+
+ // yaw (z-axis rotation)
+ float siny = +2.0f * (w() * z() + x() * y());
+ float cosy = +1.0f - 2.0f * (y() * y() + z() * z());
+ angles[2] = std::atan2(siny, cosy);
+
+ return angles;
+}
+
+
+Quaternion operator*(const Quaternion& q1, const Quaternion& q2) {
+ float real1 = q1[3];
+ Vector3 imag1 = Vector3(q1[0], q1[1], q1[2]);
+
+ float real2 = q2[3];
+ Vector3 imag2 = Vector3(q2[0], q2[1], q2[2]);
+
+ float real = real1*real2 - imag1.Dot(imag2);
+ Vector3 imag = real1*imag2 + real2*imag1 + imag1.Cross(imag2);
+
+ return Quaternion(imag[0], imag[1], imag[2], real);
+}
+
+
+Quaternion operator/(const Quaternion& q, const float s) {
+ const float invS = 1.0f / s;
+ return Quaternion(q[0]*invS, q[1]*invS, q[2]*invS, q[3]*invS);
+}
+
+Quaternion operator*(const float s, const Quaternion& q) {
+ return Quaternion(q[0]*s, q[1]*s, q[2]*s, q[3]*s);
+}
+
+Quaternion operator*(const Quaternion& q, const float s) {
+ return Quaternion(q[0]*s, q[1]*s, q[2]*s, q[3]*s);
+}
+
+Quaternion operator-(const Quaternion& q) {
+ return Quaternion(-q[0], -q[1], -q[2], -q[3]);
+}
+
+Quaternion operator+(const Quaternion& q1, const Quaternion& q2) {
+ return Quaternion(q1[0] + q2[0], q1[1] + q2[1], q1[2] + q2[2], q1[3] + q2[3]);
+}
+
+Quaternion operator-(const Quaternion& q1, const Quaternion& q2) {
+ return Quaternion(q1[0] - q2[0], q1[1] - q2[1], q1[2] - q2[2], q1[3] - q2[3]);
+}
+
+} // end namespace
diff --git a/dev/MinGfx/src/quick_shapes.cc b/dev/MinGfx/src/quick_shapes.cc
index 01f187a..e0e6888 100644
--- a/dev/MinGfx/src/quick_shapes.cc
+++ b/dev/MinGfx/src/quick_shapes.cc
@@ -1,733 +1,733 @@
-/*
- Copyright (c) 2017,2018 Regents of the University of Minnesota.
- All Rights Reserved.
- See corresponding header file for details.
- */
-
-#include "quick_shapes.h"
-#include "platform.h"
-
-#include <cmath>
-#include <iostream>
-#include <string>
-
-#include "gfxmath.h"
-
-namespace mingfx {
-
-
-
-#define PI 3.14159265359f
-#define TWOPI 6.28318530718f
-
-
-
-// Helper datastructure for building shapes algorithmically
-class Vertex {
-public:
- Vertex(GLfloat xx, GLfloat yy, GLfloat zz, GLfloat nnx, GLfloat nny, GLfloat nnz) :
- x(xx), y(yy), z(zz), nx(nnx), ny(nny), nz(nnz) {}
-
- GLfloat x;
- GLfloat y;
- GLfloat z;
- GLfloat nx;
- GLfloat ny;
- GLfloat nz;
-};
-
-
-
-
-QuickShapes::QuickShapes() {
-}
-
-QuickShapes::~QuickShapes() {
-}
-
-
-
-
-// ------------ CUBE ------------
-
-
-void QuickShapes::initCube() {
- GLfloat vertices[] = {
- 1.0f, 1.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f,-1.0f, 1.0f, // v0-v1-v2 (front)
- -1.0f,-1.0f, 1.0f, 1.0f,-1.0f, 1.0f, 1.0f, 1.0f, 1.0f, // v2-v3-v0
-
- 1.0f, 1.0f, 1.0f, 1.0f,-1.0f, 1.0f, 1.0f,-1.0f,-1.0f, // v0-v3-v4 (right)
- 1.0f,-1.0f,-1.0f, 1.0f, 1.0f,-1.0f, 1.0f, 1.0f, 1.0f, // v4-v5-v0
-
- 1.0f, 1.0f, 1.0f, 1.0f, 1.0f,-1.0f, -1.0f, 1.0f,-1.0f, // v0-v5-v6 (top)
- -1.0f, 1.0f,-1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, // v6-v1-v0
-
- -1.0f, 1.0f, 1.0f, -1.0f, 1.0f,-1.0f, -1.0f,-1.0f,-1.0f, // v1-v6-v7 (left)
- -1.0f,-1.0f,-1.0f, -1.0f,-1.0f, 1.0f, -1.0f, 1.0f, 1.0f, // v7-v2-v1.0
-
- -1.0f,-1.0f,-1.0f, 1.0f,-1.0f,-1.0f, 1.0f,-1.0f, 1.0f, // v7-v4-v3 (bottom)
- 1.0f,-1.0f, 1.0f, -1.0f,-1.0f, 1.0f, -1.0f,-1.0f,-1.0f, // v3-v2-v7
-
- 1.0f,-1.0f,-1.0f, -1.0f,-1.0f,-1.0f, -1.0f, 1.0f,-1.0f, // v4-v7-v6 (back)
- -1.0f, 1.0f,-1.0f, 1.0f, 1.0f,-1.0f, 1.0f,-1.0f,-1.0f // v6-v5-v4
- };
-
- GLfloat normals[] = {
- 0, 0, 1, 0, 0, 1, 0, 0, 1, // v0-v1-v2 (front)
- 0, 0, 1, 0, 0, 1, 0, 0, 1, // v2-v3-v0
-
- 1, 0, 0, 1, 0, 0, 1, 0, 0, // v0-v3-v4 (right)
- 1, 0, 0, 1, 0, 0, 1, 0, 0, // v4-v5-v0
-
- 0, 1, 0, 0, 1, 0, 0, 1, 0, // v0-v5-v6 (top)
- 0, 1, 0, 0, 1, 0, 0, 1, 0, // v6-v1-v0
-
- -1, 0, 0, -1, 0, 0, -1, 0, 0, // v1-v6-v7 (left)
- -1, 0, 0, -1, 0, 0, -1, 0, 0, // v7-v2-v1
-
- 0,-1, 0, 0,-1, 0, 0,-1, 0, // v7-v4-v3 (bottom)
- 0,-1, 0, 0,-1, 0, 0,-1, 0, // v3-v2-v7
-
- 0, 0,-1, 0, 0,-1, 0, 0,-1, // v4-v7-v6 (back)
- 0, 0,-1, 0, 0,-1, 0, 0,-1 // v6-v5-v4
- };
-
- cubeMesh_.SetVertices(vertices, 36);
- cubeMesh_.SetNormals(normals, 36);
- cubeMesh_.UpdateGPUMemory();
-}
-
-
-void QuickShapes::DrawCube(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
- const Matrix4 &projectionMatrix, const Color &color)
-{
- if (cubeMesh_.num_vertices() == 0) {
- initCube();
- }
- defaultMaterial_.ambient_reflectance = color;
- defaultMaterial_.diffuse_reflectance = color;
- defaultMaterial_.surface_texture = emptyTex_;
- defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &cubeMesh_, defaultMaterial_);
-}
-
-
-
-
-// ------------ SQUARE ------------
-
-
-void QuickShapes::initSquare() {
- GLfloat vertices[] = {
- 1.0f, 0.0f, 1.0f, 1.0f, 0.0f,-1.0f, -1.0f, 0.0f,-1.0f, // v0-v5-v6 (top)
- -1.0f, 0.0f,-1.0f, -1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f // v6-v1-v0
- };
-
- GLfloat normals[] = {
- 0, 1, 0, 0, 1, 0, 0, 1, 0,
- 0, 1, 0, 0, 1, 0, 0, 1, 0
- };
-
- GLfloat texcoords[] = {
- 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f,
- 0.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f
- };
-
- squareMesh_.SetVertices(vertices, 6);
- squareMesh_.SetNormals(normals, 6);
- squareMesh_.SetTexCoords(0, texcoords, 6);
- squareMesh_.UpdateGPUMemory();
-}
-
-
-void QuickShapes::DrawSquare(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
- const Matrix4 &projectionMatrix, const Color &color)
-{
- if (squareMesh_.num_vertices() == 0) {
- initSquare();
- }
- defaultMaterial_.ambient_reflectance = color;
- defaultMaterial_.diffuse_reflectance = color;
- defaultMaterial_.surface_texture = emptyTex_;
- defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &squareMesh_, defaultMaterial_);
-}
-
-
-void QuickShapes::DrawSquare(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
- const Matrix4 &projectionMatrix, const Color &color,
- const Texture2D &tex)
-{
- if (squareMesh_.num_vertices() == 0) {
- initSquare();
- }
- defaultMaterial_.ambient_reflectance = color;
- defaultMaterial_.diffuse_reflectance = color;
- defaultMaterial_.surface_texture = tex;
- defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &squareMesh_, defaultMaterial_);
-}
-
-
-
-
-
-// ------------ CYLINDER ------------
-
-
-void QuickShapes::initCyl() {
-
- std::vector<Vertex> verts;
-
- Vertex top(0,1,0, 0,1,0);
- Vertex bot(0,-1,0, 0,-1,0);
-
- const int nslices = 20;
- for (int s=1; s<nslices+1; s++) {
- GLfloat xlast = GfxMath::cos(-TWOPI * (float)(s-1)/(float)nslices);
- GLfloat zlast = GfxMath::sin(-TWOPI * (float)(s-1)/(float)nslices);
- GLfloat xnew = GfxMath::cos(-TWOPI * (float)(s)/(float)nslices);
- GLfloat znew = GfxMath::sin(-TWOPI * (float)(s)/(float)nslices);
-
- // one triangle on the top
- verts.push_back(top);
- verts.push_back(Vertex(xlast,1,zlast, 0,1,0));
- verts.push_back(Vertex(xnew,1,znew, 0,1,0));
-
- // two triangles to create a rect on the side
- verts.push_back(Vertex(xlast,1,zlast, xlast,0,zlast));
- verts.push_back(Vertex(xlast,-1,zlast, xlast,0,zlast));
- verts.push_back(Vertex(xnew,1,znew, xnew,0,znew));
-
- verts.push_back(Vertex(xnew,-1,znew, xnew,0,znew));
- verts.push_back(Vertex(xnew,1,znew, xnew,0,znew));
- verts.push_back(Vertex(xlast,-1,zlast, xlast,0,zlast));
-
- // one triangle on the bottom
- verts.push_back(bot);
- verts.push_back(Vertex(xnew,-1,znew, 0,-1,0));
- verts.push_back(Vertex(xlast,-1,zlast, 0,-1,0));
- }
-
- std::vector<Point3> vertices;
- std::vector<Vector3> normals;
- for (int i=0; i<verts.size(); i++) {
- vertices.push_back(Point3(verts[i].x, verts[i].y, verts[i].z));
- normals.push_back(Vector3(verts[i].nx, verts[i].ny, verts[i].nz));
- }
- cylMesh_.SetVertices(vertices);
- cylMesh_.SetNormals(normals);
- cylMesh_.UpdateGPUMemory();
-}
-
-
-void QuickShapes::DrawCylinder(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
- const Matrix4 &projectionMatrix, const Color &color)
-{
- if (cylMesh_.num_vertices() == 0) {
- initCyl();
- }
- defaultMaterial_.ambient_reflectance = color;
- defaultMaterial_.diffuse_reflectance = color;
- defaultMaterial_.surface_texture = emptyTex_;
- defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &cylMesh_, defaultMaterial_);
-}
-
-
-
-
-// ------------ CONE ------------
-
-
-void QuickShapes::initCone() {
-
- std::vector<Vertex> verts;
-
- Vertex top(0,1,0, 0,1,0);
- Vertex bot(0,-1,0, 0,-1,0);
-
- const int nslices = 20;
- for (int s=1; s<nslices+1; s++) {
- GLfloat xlast = GfxMath::cos(-TWOPI * (float)(s-1)/(float)nslices);
- GLfloat zlast = GfxMath::sin(-TWOPI * (float)(s-1)/(float)nslices);
- GLfloat xnew = GfxMath::cos(-TWOPI * (float)(s)/(float)nslices);
- GLfloat znew = GfxMath::sin(-TWOPI * (float)(s)/(float)nslices);
-
- // one triangle on the side
- // normals are a bit more complex than for other shapes...
- Vector3 nlast = Vector3(xlast, 2, zlast).ToUnit();
- Vector3 nnew = Vector3(xnew, 2, znew).ToUnit();
- Vector3 ntop = 0.5*(nlast + nnew);
-
- verts.push_back(Vertex(top.x, top.y, top.z, ntop[0], ntop[1], ntop[2]));
- verts.push_back(Vertex(xlast,-1,zlast, nlast[0], nlast[1], nlast[2]));
- verts.push_back(Vertex(xnew,-1,znew, nnew[0], nnew[1], nnew[2]));
-
- // one triangle on the bottom
- verts.push_back(bot);
- verts.push_back(Vertex(xnew,-1,znew, 0,-1,0));
- verts.push_back(Vertex(xlast,-1,zlast, 0,-1,0));
- }
-
- std::vector<Point3> vertices;
- std::vector<Vector3> normals;
- for (int i = 0; i < verts.size(); i++) {
- vertices.push_back(Point3(verts[i].x, verts[i].y, verts[i].z));
- normals.push_back(Vector3(verts[i].nx, verts[i].ny, verts[i].nz));
- }
-
- coneMesh_.SetVertices(vertices);
- coneMesh_.SetNormals(normals);
- coneMesh_.UpdateGPUMemory();
-}
-
-
-void QuickShapes::DrawCone(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
- const Matrix4 &projectionMatrix, const Color &color)
-{
- if (coneMesh_.num_vertices() == 0) {
- initCone();
- }
- defaultMaterial_.ambient_reflectance = color;
- defaultMaterial_.diffuse_reflectance = color;
- defaultMaterial_.surface_texture = emptyTex_;
- defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &coneMesh_, defaultMaterial_);
-}
-
-
-
-
-
-// ------------ SPHERE ------------
-
-
-void QuickShapes::initSph() {
-
- std::vector<Vertex> verts;
-
- Vertex top(0,1,0, 0,1,0);
- Vertex bot(0,-1,0, 0,-1,0);
-
- const int nslices = 40;
- const int nstacks = 40;
- for (int s=1; s<nslices+1; s++) {
- GLfloat xlast = GfxMath::cos(-TWOPI * (float)(s-1)/(float)nslices);
- GLfloat zlast = GfxMath::sin(-TWOPI * (float)(s-1)/(float)nslices);
- GLfloat xnew = GfxMath::cos(-TWOPI * (float)(s)/(float)nslices);
- GLfloat znew = GfxMath::sin(-TWOPI * (float)(s)/(float)nslices);
-
- float stackstep = PI/(float)nstacks;
-
- // one triangle on the top
- verts.push_back(top);
- verts.push_back(Vertex(GfxMath::sin(stackstep)*xlast,GfxMath::cos(stackstep),
- GfxMath::sin(stackstep)*zlast,
- GfxMath::sin(stackstep)*xlast,GfxMath::cos(stackstep),
- GfxMath::sin(stackstep)*zlast));
- verts.push_back(Vertex(GfxMath::sin(stackstep)*xnew,GfxMath::cos(stackstep),
- GfxMath::sin(stackstep)*znew,
- GfxMath::sin(stackstep)*xnew,GfxMath::cos(stackstep),
- GfxMath::sin(stackstep)*znew));
-
- for (int t=2; t<nstacks; t++) {
- GLfloat ylast = GfxMath::cos(PI*(float)(t-1)/(float)nstacks);
- GLfloat ynew = GfxMath::cos(PI*(float)(t)/(float)nstacks);
-
- GLfloat rlast = GfxMath::sin(PI * (float)(t-1)/(float)nstacks);
- GLfloat rnew = GfxMath::sin(PI * (float)(t)/(float)nstacks);
-
- // two triangles to create a rect on the side
- verts.push_back(Vertex(rlast*xlast,ylast,rlast*zlast, rlast*xlast,ylast,rlast*zlast));
- verts.push_back(Vertex(rnew*xlast,ynew,rnew*zlast, rnew*xlast,ynew,rnew*zlast));
- verts.push_back(Vertex(rnew*xnew,ynew,rnew*znew, rnew*xnew,ynew,rnew*znew));
-
- verts.push_back(Vertex(rnew*xnew,ynew,rnew*znew, rnew*xnew,ynew,rnew*znew));
- verts.push_back(Vertex(rlast*xnew,ylast,rlast*znew, rlast*xnew,ylast,rlast*znew));
- verts.push_back(Vertex(rlast*xlast,ylast,rlast*zlast, rlast*xlast,ylast,rlast*zlast));
- }
-
- // one triangle on the bottom
- verts.push_back(bot);
- verts.push_back(Vertex(GfxMath::sin(stackstep)*xnew,GfxMath::cos(PI-stackstep),
- GfxMath::sin(stackstep)*znew,
- GfxMath::sin(stackstep)*xnew,GfxMath::cos(PI-stackstep),
- GfxMath::sin(stackstep)*znew));
- verts.push_back(Vertex(GfxMath::sin(stackstep)*xlast,GfxMath::cos(PI-stackstep),
- GfxMath::sin(stackstep)*zlast,
- GfxMath::sin(stackstep)*xlast,GfxMath::cos(PI-stackstep),
- GfxMath::sin(stackstep)*zlast));
- }
-
-
- std::vector<Point3> vertices;
- std::vector<Vector3> normals;
- for (int i = 0; i < verts.size(); i++) {
- vertices.push_back(Point3(verts[i].x, verts[i].y, verts[i].z));
- normals.push_back(Vector3(verts[i].nx, verts[i].ny, verts[i].nz));
- }
- sphereMesh_.SetVertices(vertices);
- sphereMesh_.SetNormals(normals);
- sphereMesh_.UpdateGPUMemory();
-}
-
-
-void QuickShapes::DrawSphere(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
- const Matrix4 &projectionMatrix, const Color &color)
-{
- if (sphereMesh_.num_vertices() == 0) {
- initSph();
- }
- defaultMaterial_.ambient_reflectance = color;
- defaultMaterial_.diffuse_reflectance = color;
- defaultMaterial_.surface_texture = emptyTex_;
- defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &sphereMesh_, defaultMaterial_);
-}
-
-
-
-
-// ------------ BRUSH ------------
-
-
-void QuickShapes::initBrush() {
-
- // Raw vertices -- points that make up the brush geometry
- const GLfloat v[19][3] = {
- { 0.5f, 0.0f, 0.0f}, // 0
- {-0.5f, 0.0f, 0.0f}, // 1
-
- { 0.5f, 0.1f, 0.25f}, // 2
- {-0.5f, 0.1f, 0.25f}, // 3
- { 0.5f, 0.1f, 0.75f}, // 4
- {-0.5f, 0.1f, 0.75f}, // 5
- { 0.1f, 0.06f, 1.0f}, // 6
- {-0.1f, 0.06f, 1.0f}, // 7
- { 0.15f, 0.1f, 1.75f}, // 8
- {-0.15f, 0.1f, 1.75f}, // 9
-
- { 0.0f, 0.0f, 1.85f}, // 10
-
- { 0.5f, -0.1f, 0.25f}, // 11
- {-0.5f, -0.1f, 0.25f}, // 12
- { 0.5f, -0.1f, 0.75f}, // 13
- {-0.5f, -0.1f, 0.75f}, // 14
- { 0.1f, -0.06f, 1.0f}, // 15
- {-0.1f, -0.06f, 1.0f}, // 16
- { 0.15f, -0.1f, 1.75f}, // 17
- {-0.15f, -0.1f, 1.75f} // 18
- };
-
-
- // Vertices arranged into triangles
- const GLfloat verts[34][3][3] = {
- // top
- {{v[0][0], v[0][1], v[0][2]}, {v[1][0], v[1][1], v[1][2]}, {v[2][0], v[2][1], v[2][2]}},
- {{v[1][0], v[1][1], v[1][2]}, {v[3][0], v[3][1], v[3][2]}, {v[2][0], v[2][1], v[2][2]}},
-
- {{v[2][0], v[2][1], v[2][2]}, {v[3][0], v[3][1], v[3][2]}, {v[4][0], v[4][1], v[4][2]}},
- {{v[3][0], v[3][1], v[3][2]}, {v[5][0], v[5][1], v[5][2]}, {v[4][0], v[4][1], v[4][2]}},
-
- {{v[4][0], v[4][1], v[4][2]}, {v[5][0], v[5][1], v[5][2]}, {v[6][0], v[6][1], v[6][2]}},
- {{v[5][0], v[5][1], v[5][2]}, {v[7][0], v[7][1], v[7][2]}, {v[6][0], v[6][1], v[6][2]}},
-
- {{v[6][0], v[6][1], v[6][2]}, {v[7][0], v[7][1], v[7][2]}, {v[8][0], v[8][1], v[8][2]}},
- {{v[7][0], v[7][1], v[7][2]}, {v[9][0], v[9][1], v[9][2]}, {v[8][0], v[8][1], v[8][2]}},
-
- {{v[8][0], v[8][1], v[8][2]}, {v[9][0], v[9][1], v[9][2]}, {v[10][0], v[10][1], v[10][2]}},
-
- // bottom
- {{v[0][0], v[0][1], v[0][2]}, {v[12][0], v[12][1], v[12][2]}, {v[1][0], v[1][1], v[1][2]}},
- {{v[11][0], v[11][1], v[11][2]}, {v[12][0], v[12][1], v[12][2]}, {v[0][0], v[0][1], v[0][2]}},
-
- {{v[11][0], v[11][1], v[11][2]}, {v[14][0], v[14][1], v[14][2]}, {v[12][0], v[12][1], v[12][2]}},
- {{v[13][0], v[13][1], v[13][2]}, {v[14][0], v[14][1], v[14][2]}, {v[11][0], v[11][1], v[11][2]}},
-
- {{v[13][0], v[13][1], v[13][2]}, {v[16][0], v[16][1], v[16][2]}, {v[14][0], v[14][1], v[14][2]}},
- {{v[15][0], v[15][1], v[15][2]}, {v[16][0], v[16][1], v[16][2]}, {v[13][0], v[13][1], v[13][2]}},
-
- {{v[15][0], v[15][1], v[15][2]}, {v[18][0], v[18][1], v[18][2]}, {v[16][0], v[16][1], v[16][2]}},
- {{v[17][0], v[17][1], v[17][2]}, {v[18][0], v[18][1], v[18][2]}, {v[15][0], v[15][1], v[15][2]}},
-
- {{v[18][0], v[18][1], v[18][2]}, {v[17][0], v[17][1], v[17][2]}, {v[10][0], v[10][1], v[10][2]}},
-
- // one side
- {{v[11][0], v[11][1], v[11][2]}, {v[0][0], v[0][1], v[0][2]}, {v[2][0], v[2][1], v[2][2]}},
-
- {{v[11][0], v[11][1], v[11][2]}, {v[2][0], v[2][1], v[2][2]}, {v[4][0], v[4][1], v[4][2]}},
- {{v[4][0], v[4][1], v[4][2]}, {v[13][0], v[13][1], v[13][2]}, {v[11][0], v[11][1], v[11][2]}},
-
- {{v[13][0], v[13][1], v[13][2]}, {v[4][0], v[4][1], v[4][2]}, {v[6][0], v[6][1], v[6][2]}},
- {{v[6][0], v[6][1], v[6][2]}, {v[15][0], v[15][1], v[15][2]}, {v[13][0], v[13][1], v[13][2]}},
-
- {{v[15][0], v[15][1], v[15][2]}, {v[6][0], v[6][1], v[6][2]}, {v[8][0], v[8][1], v[8][2]}},
- {{v[8][0], v[8][1], v[8][2]}, {v[17][0], v[17][1], v[17][2]}, {v[15][0], v[15][1], v[15][2]}},
-
- {{v[17][0], v[17][1], v[17][2]}, {v[8][0], v[8][1], v[8][2]}, {v[10][0], v[10][1], v[10][2]}},
-
- // other side
- {{v[3][0], v[3][1], v[3][2]}, {v[1][0], v[1][1], v[1][2]}, {v[12][0], v[12][1], v[12][2]}},
-
- {{v[3][0], v[3][1], v[3][2]}, {v[12][0], v[12][1], v[12][2]}, {v[14][0], v[14][1], v[14][2]}},
- {{v[14][0], v[14][1], v[14][2]}, {v[5][0], v[5][1], v[5][2]}, {v[3][0], v[3][1], v[3][2]}},
-
- {{v[5][0], v[5][1], v[5][2]}, {v[14][0], v[14][1], v[14][2]}, {v[16][0], v[16][1], v[16][2]}},
- {{v[16][0], v[16][1], v[16][2]}, {v[7][0], v[7][1], v[7][2]}, {v[5][0], v[5][1], v[5][2]}},
-
- {{v[7][0], v[7][1], v[7][2]}, {v[16][0], v[16][1], v[16][2]}, {v[18][0], v[18][1], v[18][2]}},
- {{v[18][0], v[18][1], v[18][2]}, {v[9][0], v[9][1], v[9][2]}, {v[7][0], v[7][1], v[7][2]}},
-
- {{v[9][0], v[9][1], v[9][2]}, {v[18][0], v[18][1], v[18][2]}, {v[10][0], v[10][1], v[10][2]}}
-
- };
-
-
- // Normals defined so as to make each face of the brush a flat surface
- const GLfloat norms[34][3][3] = {
- // top
- {{0.0f, 0.93f, -0.37f}, {0.0f, 0.93f, -0.37f}, {0.0f, 0.93f, -0.37f}},
- {{0.0f, 0.93f, -0.37f}, {0.0f, 0.93f, -0.37f}, {0.0f, 0.93f, -0.37f}},
-
- {{0.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}},
- {{0.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}},
-
- {{0.0f, 0.988f, 0.158f}, {0.0f, 0.988f, 0.158f}, {0.0f, 0.988f, 0.158f}},
- {{0.0f, 0.988f, 0.158f}, {0.0f, 0.988f, 0.158f}, {0.0f, 0.988f, 0.158f}},
-
- {{0.0f, 0.999f, -0.0533f}, {0.0f, 0.999f, -0.0533f}, {0.0f, 0.999f, -0.0533f}},
- {{0.0f, 0.999f, -0.0533f}, {0.0f, 0.999f, -0.0533f}, {0.0f, 0.999f, -0.0533f}},
-
- {{0.0f, 0.709f, 0.709f}, {0.0f, 0.709f, 0.709f}, {0.0f, 0.709f, 0.709f}},
-
- // bottom
- {{0.0f, -0.93f, -0.37f}, {0.0f, -0.93f, -0.37f}, {0.0f, -0.93f, -0.37f}},
- {{0.0f, -0.93f, -0.37f}, {0.0f, -0.93f, -0.37f}, {0.0f, -0.93f, -0.37f}},
-
- {{0.0f, -1.0f, 0.0f}, {0.0f, -1.0f, 0.0f}, {0.0f, -1.0f, 0.0f}},
- {{0.0f, -1.0f, 0.0f}, {0.0f, -1.0f, 0.0f}, {0.0f, -1.0f, 0.0f}},
-
- {{0.0f, -0.988f, 0.158f}, {0.0f, -0.988f, 0.158f}, {0.0f, -0.988f, 0.158f}},
- {{0.0f, -0.988f, 0.158f}, {0.0f, -0.988f, 0.158f}, {0.0f, -0.988f, 0.158f}},
-
- {{0.0f, -0.999f, -0.0533f}, {0.0f, -0.999f, -0.0533f}, {0.0f, -0.999f, -0.0533f}},
- {{0.0f, -0.999f, -0.0533f}, {0.0f, -0.999f, -0.0533f}, {0.0f, -0.999f, -0.0533f}},
-
- {{0.0f, -0.709f, 0.709f}, {0.0f, -0.709f, 0.709f}, {0.0f, -0.709f, 0.709f}},
-
- // one side
- {{1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}},
-
- {{1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}},
- {{1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}},
-
- {{0.848f, 0.0f, 0.530f}, {0.848f, 0.0f, 0.530f}, {0.848f, 0.0f, 0.530f}},
- {{0.848f, 0.0f, 0.530f}, {0.848f, 0.0f, 0.530f}, {0.848f, 0.0f, 0.530f}},
-
- {{1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}},
- {{1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}},
-
- {{0.709f, 0.0f, 0.709f}, {0.709f, 0.0f, 0.709f}, {0.709f, 0.0f, 0.709f}},
-
- // other side
- {{-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}},
-
- {{-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}},
- {{-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}},
-
- {{-0.848f, 0.0f, 0.530f}, {-0.848f, 0.0f, 0.530f}, {-0.848f, 0.0f, 0.530f}},
- {{-0.848f, 0.0f, 0.530f}, {-0.848f, 0.0f, 0.530f}, {-0.848f, 0.0f, 0.530f}},
-
- {{-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}},
- {{-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}},
-
- {{-0.709f, 0.0f, 0.709f}, {-0.709f, 0.0f, 0.709f}, {-0.709f, 0.0f, 0.709f}}
- };
-
- brushMesh_.SetVertices((float*)verts, 102);
- brushMesh_.SetNormals((float*)norms, 102);
- brushMesh_.UpdateGPUMemory();
-}
-
-
-void QuickShapes::DrawBrush(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
- const Matrix4 &projectionMatrix, const Color &color)
-{
- if (brushMesh_.num_vertices() == 0) {
- initBrush();
- }
- defaultMaterial_.ambient_reflectance = color;
- defaultMaterial_.diffuse_reflectance = color;
- defaultMaterial_.surface_texture = emptyTex_;
- defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &brushMesh_, defaultMaterial_);
-}
-
-
-
-// ----------------
-
-
-void QuickShapes::DrawLineSegment(const Matrix4 &modelMatrix,
- const Matrix4 &viewMatrix,
- const Matrix4 &projectionMatrix,
- const Color &color,
- const Point3 &p1,
- const Point3 &p2,
- float radius)
-{
- Matrix4 S = Matrix4::Scale(Vector3(radius, 0.5f*(p2-p1).Length(), radius));
- Vector3 y = (p2-p1).ToUnit();
- Vector3 z = Vector3(1,0,0).Cross(y).ToUnit();
- if (z == Vector3(0,0,0)) {
- z = Vector3(0,0,1).Cross(y).ToUnit();
- }
- Vector3 x = y.Cross(z);
- Matrix4 R = Matrix4::FromRowMajorElements(
- x[0], y[0], z[0], 0,
- x[1], y[1], z[1], 0,
- x[2], y[2], z[2], 0,
- 0, 0, 0, 1
- );
- Matrix4 T = Matrix4::Translation(0.5 * Vector3(p1[0]+p2[0], p1[1]+p2[1], p1[2]+p2[2]));
-
- Matrix4 M = T * R * S;
-
- DrawCylinder(modelMatrix * M, viewMatrix, projectionMatrix, color);
-}
-
-
-
-void QuickShapes::DrawLines(const Matrix4 &modelMatrix,
- const Matrix4 &viewMatrix,
- const Matrix4 &projectionMatrix,
- const Color &color,
- const std::vector<Point3> &points,
- LinesType ltype,
- float radius)
-{
- if (ltype == LinesType::LINES) {
- for (size_t i=0; i<points.size(); i+=2) {
- DrawLineSegment(modelMatrix, viewMatrix, projectionMatrix, color, points[i], points[i+1], radius);
- }
- }
- else {
- for (size_t i=0; i<points.size()-1; i++) {
- DrawLineSegment(modelMatrix, viewMatrix, projectionMatrix, color, points[i], points[i+1], radius);
- }
- if (ltype == LinesType::LINE_LOOP) {
- DrawLineSegment(modelMatrix, viewMatrix, projectionMatrix, color, points[points.size()-1], points[0], radius);
- }
- }
-}
-
-
-
-void QuickShapes::DrawArrow(const Matrix4 &modelMatrix,
- const Matrix4 &viewMatrix,
- const Matrix4 &projectionMatrix,
- const Color &color,
- Point3 p, Vector3 dir, float radius)
-{
- float d = dir.Length() - 8.0f*radius;
- DrawLineSegment(modelMatrix, viewMatrix, projectionMatrix, color, p, p + d*dir.ToUnit(), radius);
-
- Matrix4 S = Matrix4::Scale(Vector3(radius*3.0f, radius*4.0f, radius*3.0f));
- Vector3 y = dir.ToUnit();
- Vector3 z = Vector3(1,0,0).Cross(y).ToUnit();
- if (z == Vector3(0,0,0)) {
- z = Vector3(0,0,1).Cross(y).ToUnit();
- }
- Vector3 x = y.Cross(z);
- Matrix4 R = Matrix4::FromRowMajorElements(
- x[0], y[0], z[0], 0,
- x[1], y[1], z[1], 0,
- x[2], y[2], z[2], 0,
- 0, 0, 0, 1
- );
- Matrix4 T = Matrix4::Translation((p + d*dir.ToUnit()) - Point3::Origin());
-
- Matrix4 M = T * R * S * Matrix4::Translation(Vector3(0,1,0));
-
- DrawCone(modelMatrix * M, viewMatrix, projectionMatrix, color);
-}
-
-
-void QuickShapes::DrawAxes(const Matrix4 &modelMatrix,
- const Matrix4 &viewMatrix,
- const Matrix4 &projectionMatrix)
-{
- DrawArrow(modelMatrix, viewMatrix, projectionMatrix, Color(1.0f, 0.6f, 0.6f), Point3::Origin(), Vector3::UnitX(), 0.02f);
- DrawArrow(modelMatrix, viewMatrix, projectionMatrix, Color(0.6f, 1.0f, 0.6f), Point3::Origin(), Vector3::UnitY(), 0.02f);
- DrawArrow(modelMatrix, viewMatrix, projectionMatrix, Color(0.6f, 0.6f, 1.0f), Point3::Origin(), Vector3::UnitZ(), 0.02f);
-
-}
-
-
-void QuickShapes::initFull() {
- GLfloat vertices[] = {
- -1, -1, 0, 1, -1, 0, 1, 1, 0,
- -1, -1, 0, 1, 1, 0, -1, 1, 0
- };
-
- GLfloat normals[] = {
- 0, 0, 1, 0, 0, 1, 0, 0, 1,
- 0, 0, 1, 0, 0, 1, 0, 0, 1
- };
-
- GLfloat texcoords[] = {
- 0.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f,
- 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f
- };
-
- fullMesh_.SetVertices(vertices, 6);
- fullMesh_.SetNormals(normals, 6);
- fullMesh_.SetTexCoords(0, texcoords, 6);
- fullMesh_.UpdateGPUMemory();
-}
-
-
-void QuickShapes::DrawFullscreenTexture(const Color &color, const Texture2D &tex) {
- if (fullMesh_.num_vertices() == 0) {
- initFull();
- }
- DrawWithFullscreen(color, &fullMesh_, tex);
-}
-
-
-
-
-
-void QuickShapes::DrawWithFullscreen(const Color &color, Mesh *mesh, const Texture2D &tex) {
- if (!fullscreenShader_.initialized()) {
- fullscreenShader_.AddVertexShaderFromFile(Platform::FindMinGfxShaderFile("fullscreen.vert"));
- fullscreenShader_.AddFragmentShaderFromFile(Platform::FindMinGfxShaderFile("fullscreen.frag"));
- fullscreenShader_.LinkProgram();
- }
-
- glDisable(GL_DEPTH_TEST);
- glDepthMask(GL_FALSE);
-
- // Activate the shader program
- fullscreenShader_.UseProgram();
-
- // Pass uniforms and textures from C++ to the GPU Shader Program
- fullscreenShader_.SetUniform("TintColor", color);
- fullscreenShader_.BindTexture("SurfaceTexture", tex);
-
- // Draw the mesh using the shader program
- mesh->Draw();
-
- // Deactivate the shader program
- fullscreenShader_.StopProgram();
-
- glEnable(GL_DEPTH_TEST);
- glDepthMask(GL_TRUE);
-}
-
-
-DefaultShader* QuickShapes::default_shader() {
- return &defaultShader_;
-}
-
-
-DefaultShader::MaterialProperties* QuickShapes::material() {
- return &defaultMaterial_;
-}
-
-
-} // end namespace
+/*
+ Copyright (c) 2017,2018 Regents of the University of Minnesota.
+ All Rights Reserved.
+ See corresponding header file for details.
+ */
+
+#include "quick_shapes.h"
+#include "platform.h"
+
+#include <cmath>
+#include <iostream>
+#include <string>
+
+#include "gfxmath.h"
+
+namespace mingfx {
+
+
+
+#define PI 3.14159265359f
+#define TWOPI 6.28318530718f
+
+
+
+// Helper datastructure for building shapes algorithmically
+class Vertex {
+public:
+ Vertex(GLfloat xx, GLfloat yy, GLfloat zz, GLfloat nnx, GLfloat nny, GLfloat nnz) :
+ x(xx), y(yy), z(zz), nx(nnx), ny(nny), nz(nnz) {}
+
+ GLfloat x;
+ GLfloat y;
+ GLfloat z;
+ GLfloat nx;
+ GLfloat ny;
+ GLfloat nz;
+};
+
+
+
+
+QuickShapes::QuickShapes() {
+}
+
+QuickShapes::~QuickShapes() {
+}
+
+
+
+
+// ------------ CUBE ------------
+
+
+void QuickShapes::initCube() {
+ GLfloat vertices[] = {
+ 1.0f, 1.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f,-1.0f, 1.0f, // v0-v1-v2 (front)
+ -1.0f,-1.0f, 1.0f, 1.0f,-1.0f, 1.0f, 1.0f, 1.0f, 1.0f, // v2-v3-v0
+
+ 1.0f, 1.0f, 1.0f, 1.0f,-1.0f, 1.0f, 1.0f,-1.0f,-1.0f, // v0-v3-v4 (right)
+ 1.0f,-1.0f,-1.0f, 1.0f, 1.0f,-1.0f, 1.0f, 1.0f, 1.0f, // v4-v5-v0
+
+ 1.0f, 1.0f, 1.0f, 1.0f, 1.0f,-1.0f, -1.0f, 1.0f,-1.0f, // v0-v5-v6 (top)
+ -1.0f, 1.0f,-1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, // v6-v1-v0
+
+ -1.0f, 1.0f, 1.0f, -1.0f, 1.0f,-1.0f, -1.0f,-1.0f,-1.0f, // v1-v6-v7 (left)
+ -1.0f,-1.0f,-1.0f, -1.0f,-1.0f, 1.0f, -1.0f, 1.0f, 1.0f, // v7-v2-v1.0
+
+ -1.0f,-1.0f,-1.0f, 1.0f,-1.0f,-1.0f, 1.0f,-1.0f, 1.0f, // v7-v4-v3 (bottom)
+ 1.0f,-1.0f, 1.0f, -1.0f,-1.0f, 1.0f, -1.0f,-1.0f,-1.0f, // v3-v2-v7
+
+ 1.0f,-1.0f,-1.0f, -1.0f,-1.0f,-1.0f, -1.0f, 1.0f,-1.0f, // v4-v7-v6 (back)
+ -1.0f, 1.0f,-1.0f, 1.0f, 1.0f,-1.0f, 1.0f,-1.0f,-1.0f // v6-v5-v4
+ };
+
+ GLfloat normals[] = {
+ 0, 0, 1, 0, 0, 1, 0, 0, 1, // v0-v1-v2 (front)
+ 0, 0, 1, 0, 0, 1, 0, 0, 1, // v2-v3-v0
+
+ 1, 0, 0, 1, 0, 0, 1, 0, 0, // v0-v3-v4 (right)
+ 1, 0, 0, 1, 0, 0, 1, 0, 0, // v4-v5-v0
+
+ 0, 1, 0, 0, 1, 0, 0, 1, 0, // v0-v5-v6 (top)
+ 0, 1, 0, 0, 1, 0, 0, 1, 0, // v6-v1-v0
+
+ -1, 0, 0, -1, 0, 0, -1, 0, 0, // v1-v6-v7 (left)
+ -1, 0, 0, -1, 0, 0, -1, 0, 0, // v7-v2-v1
+
+ 0,-1, 0, 0,-1, 0, 0,-1, 0, // v7-v4-v3 (bottom)
+ 0,-1, 0, 0,-1, 0, 0,-1, 0, // v3-v2-v7
+
+ 0, 0,-1, 0, 0,-1, 0, 0,-1, // v4-v7-v6 (back)
+ 0, 0,-1, 0, 0,-1, 0, 0,-1 // v6-v5-v4
+ };
+
+ cubeMesh_.SetVertices(vertices, 36);
+ cubeMesh_.SetNormals(normals, 36);
+ cubeMesh_.UpdateGPUMemory();
+}
+
+
+void QuickShapes::DrawCube(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
+ const Matrix4 &projectionMatrix, const Color &color)
+{
+ if (cubeMesh_.num_vertices() == 0) {
+ initCube();
+ }
+ defaultMaterial_.ambient_reflectance = color;
+ defaultMaterial_.diffuse_reflectance = color;
+ defaultMaterial_.surface_texture = emptyTex_;
+ defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &cubeMesh_, defaultMaterial_);
+}
+
+
+
+
+// ------------ SQUARE ------------
+
+
+void QuickShapes::initSquare() {
+ GLfloat vertices[] = {
+ 1.0f, 0.0f, 1.0f, 1.0f, 0.0f,-1.0f, -1.0f, 0.0f,-1.0f, // v0-v5-v6 (top)
+ -1.0f, 0.0f,-1.0f, -1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f // v6-v1-v0
+ };
+
+ GLfloat normals[] = {
+ 0, 1, 0, 0, 1, 0, 0, 1, 0,
+ 0, 1, 0, 0, 1, 0, 0, 1, 0
+ };
+
+ GLfloat texcoords[] = {
+ 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f,
+ 0.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f
+ };
+
+ squareMesh_.SetVertices(vertices, 6);
+ squareMesh_.SetNormals(normals, 6);
+ squareMesh_.SetTexCoords(0, texcoords, 6);
+ squareMesh_.UpdateGPUMemory();
+}
+
+
+void QuickShapes::DrawSquare(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
+ const Matrix4 &projectionMatrix, const Color &color)
+{
+ if (squareMesh_.num_vertices() == 0) {
+ initSquare();
+ }
+ defaultMaterial_.ambient_reflectance = color;
+ defaultMaterial_.diffuse_reflectance = color;
+ defaultMaterial_.surface_texture = emptyTex_;
+ defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &squareMesh_, defaultMaterial_);
+}
+
+
+void QuickShapes::DrawSquare(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
+ const Matrix4 &projectionMatrix, const Color &color,
+ const Texture2D &tex)
+{
+ if (squareMesh_.num_vertices() == 0) {
+ initSquare();
+ }
+ defaultMaterial_.ambient_reflectance = color;
+ defaultMaterial_.diffuse_reflectance = color;
+ defaultMaterial_.surface_texture = tex;
+ defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &squareMesh_, defaultMaterial_);
+}
+
+
+
+
+
+// ------------ CYLINDER ------------
+
+
+void QuickShapes::initCyl() {
+
+ std::vector<Vertex> verts;
+
+ Vertex top(0,1,0, 0,1,0);
+ Vertex bot(0,-1,0, 0,-1,0);
+
+ const int nslices = 20;
+ for (int s=1; s<nslices+1; s++) {
+ GLfloat xlast = GfxMath::cos(-TWOPI * (float)(s-1)/(float)nslices);
+ GLfloat zlast = GfxMath::sin(-TWOPI * (float)(s-1)/(float)nslices);
+ GLfloat xnew = GfxMath::cos(-TWOPI * (float)(s)/(float)nslices);
+ GLfloat znew = GfxMath::sin(-TWOPI * (float)(s)/(float)nslices);
+
+ // one triangle on the top
+ verts.push_back(top);
+ verts.push_back(Vertex(xlast,1,zlast, 0,1,0));
+ verts.push_back(Vertex(xnew,1,znew, 0,1,0));
+
+ // two triangles to create a rect on the side
+ verts.push_back(Vertex(xlast,1,zlast, xlast,0,zlast));
+ verts.push_back(Vertex(xlast,-1,zlast, xlast,0,zlast));
+ verts.push_back(Vertex(xnew,1,znew, xnew,0,znew));
+
+ verts.push_back(Vertex(xnew,-1,znew, xnew,0,znew));
+ verts.push_back(Vertex(xnew,1,znew, xnew,0,znew));
+ verts.push_back(Vertex(xlast,-1,zlast, xlast,0,zlast));
+
+ // one triangle on the bottom
+ verts.push_back(bot);
+ verts.push_back(Vertex(xnew,-1,znew, 0,-1,0));
+ verts.push_back(Vertex(xlast,-1,zlast, 0,-1,0));
+ }
+
+ std::vector<Point3> vertices;
+ std::vector<Vector3> normals;
+ for (int i=0; i<verts.size(); i++) {
+ vertices.push_back(Point3(verts[i].x, verts[i].y, verts[i].z));
+ normals.push_back(Vector3(verts[i].nx, verts[i].ny, verts[i].nz));
+ }
+ cylMesh_.SetVertices(vertices);
+ cylMesh_.SetNormals(normals);
+ cylMesh_.UpdateGPUMemory();
+}
+
+
+void QuickShapes::DrawCylinder(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
+ const Matrix4 &projectionMatrix, const Color &color)
+{
+ if (cylMesh_.num_vertices() == 0) {
+ initCyl();
+ }
+ defaultMaterial_.ambient_reflectance = color;
+ defaultMaterial_.diffuse_reflectance = color;
+ defaultMaterial_.surface_texture = emptyTex_;
+ defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &cylMesh_, defaultMaterial_);
+}
+
+
+
+
+// ------------ CONE ------------
+
+
+void QuickShapes::initCone() {
+
+ std::vector<Vertex> verts;
+
+ Vertex top(0,1,0, 0,1,0);
+ Vertex bot(0,-1,0, 0,-1,0);
+
+ const int nslices = 20;
+ for (int s=1; s<nslices+1; s++) {
+ GLfloat xlast = GfxMath::cos(-TWOPI * (float)(s-1)/(float)nslices);
+ GLfloat zlast = GfxMath::sin(-TWOPI * (float)(s-1)/(float)nslices);
+ GLfloat xnew = GfxMath::cos(-TWOPI * (float)(s)/(float)nslices);
+ GLfloat znew = GfxMath::sin(-TWOPI * (float)(s)/(float)nslices);
+
+ // one triangle on the side
+ // normals are a bit more complex than for other shapes...
+ Vector3 nlast = Vector3(xlast, 2, zlast).ToUnit();
+ Vector3 nnew = Vector3(xnew, 2, znew).ToUnit();
+ Vector3 ntop = 0.5*(nlast + nnew);
+
+ verts.push_back(Vertex(top.x, top.y, top.z, ntop[0], ntop[1], ntop[2]));
+ verts.push_back(Vertex(xlast,-1,zlast, nlast[0], nlast[1], nlast[2]));
+ verts.push_back(Vertex(xnew,-1,znew, nnew[0], nnew[1], nnew[2]));
+
+ // one triangle on the bottom
+ verts.push_back(bot);
+ verts.push_back(Vertex(xnew,-1,znew, 0,-1,0));
+ verts.push_back(Vertex(xlast,-1,zlast, 0,-1,0));
+ }
+
+ std::vector<Point3> vertices;
+ std::vector<Vector3> normals;
+ for (int i = 0; i < verts.size(); i++) {
+ vertices.push_back(Point3(verts[i].x, verts[i].y, verts[i].z));
+ normals.push_back(Vector3(verts[i].nx, verts[i].ny, verts[i].nz));
+ }
+
+ coneMesh_.SetVertices(vertices);
+ coneMesh_.SetNormals(normals);
+ coneMesh_.UpdateGPUMemory();
+}
+
+
+void QuickShapes::DrawCone(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
+ const Matrix4 &projectionMatrix, const Color &color)
+{
+ if (coneMesh_.num_vertices() == 0) {
+ initCone();
+ }
+ defaultMaterial_.ambient_reflectance = color;
+ defaultMaterial_.diffuse_reflectance = color;
+ defaultMaterial_.surface_texture = emptyTex_;
+ defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &coneMesh_, defaultMaterial_);
+}
+
+
+
+
+
+// ------------ SPHERE ------------
+
+
+void QuickShapes::initSph() {
+
+ std::vector<Vertex> verts;
+
+ Vertex top(0,1,0, 0,1,0);
+ Vertex bot(0,-1,0, 0,-1,0);
+
+ const int nslices = 40;
+ const int nstacks = 40;
+ for (int s=1; s<nslices+1; s++) {
+ GLfloat xlast = GfxMath::cos(-TWOPI * (float)(s-1)/(float)nslices);
+ GLfloat zlast = GfxMath::sin(-TWOPI * (float)(s-1)/(float)nslices);
+ GLfloat xnew = GfxMath::cos(-TWOPI * (float)(s)/(float)nslices);
+ GLfloat znew = GfxMath::sin(-TWOPI * (float)(s)/(float)nslices);
+
+ float stackstep = PI/(float)nstacks;
+
+ // one triangle on the top
+ verts.push_back(top);
+ verts.push_back(Vertex(GfxMath::sin(stackstep)*xlast,GfxMath::cos(stackstep),
+ GfxMath::sin(stackstep)*zlast,
+ GfxMath::sin(stackstep)*xlast,GfxMath::cos(stackstep),
+ GfxMath::sin(stackstep)*zlast));
+ verts.push_back(Vertex(GfxMath::sin(stackstep)*xnew,GfxMath::cos(stackstep),
+ GfxMath::sin(stackstep)*znew,
+ GfxMath::sin(stackstep)*xnew,GfxMath::cos(stackstep),
+ GfxMath::sin(stackstep)*znew));
+
+ for (int t=2; t<nstacks; t++) {
+ GLfloat ylast = GfxMath::cos(PI*(float)(t-1)/(float)nstacks);
+ GLfloat ynew = GfxMath::cos(PI*(float)(t)/(float)nstacks);
+
+ GLfloat rlast = GfxMath::sin(PI * (float)(t-1)/(float)nstacks);
+ GLfloat rnew = GfxMath::sin(PI * (float)(t)/(float)nstacks);
+
+ // two triangles to create a rect on the side
+ verts.push_back(Vertex(rlast*xlast,ylast,rlast*zlast, rlast*xlast,ylast,rlast*zlast));
+ verts.push_back(Vertex(rnew*xlast,ynew,rnew*zlast, rnew*xlast,ynew,rnew*zlast));
+ verts.push_back(Vertex(rnew*xnew,ynew,rnew*znew, rnew*xnew,ynew,rnew*znew));
+
+ verts.push_back(Vertex(rnew*xnew,ynew,rnew*znew, rnew*xnew,ynew,rnew*znew));
+ verts.push_back(Vertex(rlast*xnew,ylast,rlast*znew, rlast*xnew,ylast,rlast*znew));
+ verts.push_back(Vertex(rlast*xlast,ylast,rlast*zlast, rlast*xlast,ylast,rlast*zlast));
+ }
+
+ // one triangle on the bottom
+ verts.push_back(bot);
+ verts.push_back(Vertex(GfxMath::sin(stackstep)*xnew,GfxMath::cos(PI-stackstep),
+ GfxMath::sin(stackstep)*znew,
+ GfxMath::sin(stackstep)*xnew,GfxMath::cos(PI-stackstep),
+ GfxMath::sin(stackstep)*znew));
+ verts.push_back(Vertex(GfxMath::sin(stackstep)*xlast,GfxMath::cos(PI-stackstep),
+ GfxMath::sin(stackstep)*zlast,
+ GfxMath::sin(stackstep)*xlast,GfxMath::cos(PI-stackstep),
+ GfxMath::sin(stackstep)*zlast));
+ }
+
+
+ std::vector<Point3> vertices;
+ std::vector<Vector3> normals;
+ for (int i = 0; i < verts.size(); i++) {
+ vertices.push_back(Point3(verts[i].x, verts[i].y, verts[i].z));
+ normals.push_back(Vector3(verts[i].nx, verts[i].ny, verts[i].nz));
+ }
+ sphereMesh_.SetVertices(vertices);
+ sphereMesh_.SetNormals(normals);
+ sphereMesh_.UpdateGPUMemory();
+}
+
+
+void QuickShapes::DrawSphere(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
+ const Matrix4 &projectionMatrix, const Color &color)
+{
+ if (sphereMesh_.num_vertices() == 0) {
+ initSph();
+ }
+ defaultMaterial_.ambient_reflectance = color;
+ defaultMaterial_.diffuse_reflectance = color;
+ defaultMaterial_.surface_texture = emptyTex_;
+ defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &sphereMesh_, defaultMaterial_);
+}
+
+
+
+
+// ------------ BRUSH ------------
+
+
+void QuickShapes::initBrush() {
+
+ // Raw vertices -- points that make up the brush geometry
+ const GLfloat v[19][3] = {
+ { 0.5f, 0.0f, 0.0f}, // 0
+ {-0.5f, 0.0f, 0.0f}, // 1
+
+ { 0.5f, 0.1f, 0.25f}, // 2
+ {-0.5f, 0.1f, 0.25f}, // 3
+ { 0.5f, 0.1f, 0.75f}, // 4
+ {-0.5f, 0.1f, 0.75f}, // 5
+ { 0.1f, 0.06f, 1.0f}, // 6
+ {-0.1f, 0.06f, 1.0f}, // 7
+ { 0.15f, 0.1f, 1.75f}, // 8
+ {-0.15f, 0.1f, 1.75f}, // 9
+
+ { 0.0f, 0.0f, 1.85f}, // 10
+
+ { 0.5f, -0.1f, 0.25f}, // 11
+ {-0.5f, -0.1f, 0.25f}, // 12
+ { 0.5f, -0.1f, 0.75f}, // 13
+ {-0.5f, -0.1f, 0.75f}, // 14
+ { 0.1f, -0.06f, 1.0f}, // 15
+ {-0.1f, -0.06f, 1.0f}, // 16
+ { 0.15f, -0.1f, 1.75f}, // 17
+ {-0.15f, -0.1f, 1.75f} // 18
+ };
+
+
+ // Vertices arranged into triangles
+ const GLfloat verts[34][3][3] = {
+ // top
+ {{v[0][0], v[0][1], v[0][2]}, {v[1][0], v[1][1], v[1][2]}, {v[2][0], v[2][1], v[2][2]}},
+ {{v[1][0], v[1][1], v[1][2]}, {v[3][0], v[3][1], v[3][2]}, {v[2][0], v[2][1], v[2][2]}},
+
+ {{v[2][0], v[2][1], v[2][2]}, {v[3][0], v[3][1], v[3][2]}, {v[4][0], v[4][1], v[4][2]}},
+ {{v[3][0], v[3][1], v[3][2]}, {v[5][0], v[5][1], v[5][2]}, {v[4][0], v[4][1], v[4][2]}},
+
+ {{v[4][0], v[4][1], v[4][2]}, {v[5][0], v[5][1], v[5][2]}, {v[6][0], v[6][1], v[6][2]}},
+ {{v[5][0], v[5][1], v[5][2]}, {v[7][0], v[7][1], v[7][2]}, {v[6][0], v[6][1], v[6][2]}},
+
+ {{v[6][0], v[6][1], v[6][2]}, {v[7][0], v[7][1], v[7][2]}, {v[8][0], v[8][1], v[8][2]}},
+ {{v[7][0], v[7][1], v[7][2]}, {v[9][0], v[9][1], v[9][2]}, {v[8][0], v[8][1], v[8][2]}},
+
+ {{v[8][0], v[8][1], v[8][2]}, {v[9][0], v[9][1], v[9][2]}, {v[10][0], v[10][1], v[10][2]}},
+
+ // bottom
+ {{v[0][0], v[0][1], v[0][2]}, {v[12][0], v[12][1], v[12][2]}, {v[1][0], v[1][1], v[1][2]}},
+ {{v[11][0], v[11][1], v[11][2]}, {v[12][0], v[12][1], v[12][2]}, {v[0][0], v[0][1], v[0][2]}},
+
+ {{v[11][0], v[11][1], v[11][2]}, {v[14][0], v[14][1], v[14][2]}, {v[12][0], v[12][1], v[12][2]}},
+ {{v[13][0], v[13][1], v[13][2]}, {v[14][0], v[14][1], v[14][2]}, {v[11][0], v[11][1], v[11][2]}},
+
+ {{v[13][0], v[13][1], v[13][2]}, {v[16][0], v[16][1], v[16][2]}, {v[14][0], v[14][1], v[14][2]}},
+ {{v[15][0], v[15][1], v[15][2]}, {v[16][0], v[16][1], v[16][2]}, {v[13][0], v[13][1], v[13][2]}},
+
+ {{v[15][0], v[15][1], v[15][2]}, {v[18][0], v[18][1], v[18][2]}, {v[16][0], v[16][1], v[16][2]}},
+ {{v[17][0], v[17][1], v[17][2]}, {v[18][0], v[18][1], v[18][2]}, {v[15][0], v[15][1], v[15][2]}},
+
+ {{v[18][0], v[18][1], v[18][2]}, {v[17][0], v[17][1], v[17][2]}, {v[10][0], v[10][1], v[10][2]}},
+
+ // one side
+ {{v[11][0], v[11][1], v[11][2]}, {v[0][0], v[0][1], v[0][2]}, {v[2][0], v[2][1], v[2][2]}},
+
+ {{v[11][0], v[11][1], v[11][2]}, {v[2][0], v[2][1], v[2][2]}, {v[4][0], v[4][1], v[4][2]}},
+ {{v[4][0], v[4][1], v[4][2]}, {v[13][0], v[13][1], v[13][2]}, {v[11][0], v[11][1], v[11][2]}},
+
+ {{v[13][0], v[13][1], v[13][2]}, {v[4][0], v[4][1], v[4][2]}, {v[6][0], v[6][1], v[6][2]}},
+ {{v[6][0], v[6][1], v[6][2]}, {v[15][0], v[15][1], v[15][2]}, {v[13][0], v[13][1], v[13][2]}},
+
+ {{v[15][0], v[15][1], v[15][2]}, {v[6][0], v[6][1], v[6][2]}, {v[8][0], v[8][1], v[8][2]}},
+ {{v[8][0], v[8][1], v[8][2]}, {v[17][0], v[17][1], v[17][2]}, {v[15][0], v[15][1], v[15][2]}},
+
+ {{v[17][0], v[17][1], v[17][2]}, {v[8][0], v[8][1], v[8][2]}, {v[10][0], v[10][1], v[10][2]}},
+
+ // other side
+ {{v[3][0], v[3][1], v[3][2]}, {v[1][0], v[1][1], v[1][2]}, {v[12][0], v[12][1], v[12][2]}},
+
+ {{v[3][0], v[3][1], v[3][2]}, {v[12][0], v[12][1], v[12][2]}, {v[14][0], v[14][1], v[14][2]}},
+ {{v[14][0], v[14][1], v[14][2]}, {v[5][0], v[5][1], v[5][2]}, {v[3][0], v[3][1], v[3][2]}},
+
+ {{v[5][0], v[5][1], v[5][2]}, {v[14][0], v[14][1], v[14][2]}, {v[16][0], v[16][1], v[16][2]}},
+ {{v[16][0], v[16][1], v[16][2]}, {v[7][0], v[7][1], v[7][2]}, {v[5][0], v[5][1], v[5][2]}},
+
+ {{v[7][0], v[7][1], v[7][2]}, {v[16][0], v[16][1], v[16][2]}, {v[18][0], v[18][1], v[18][2]}},
+ {{v[18][0], v[18][1], v[18][2]}, {v[9][0], v[9][1], v[9][2]}, {v[7][0], v[7][1], v[7][2]}},
+
+ {{v[9][0], v[9][1], v[9][2]}, {v[18][0], v[18][1], v[18][2]}, {v[10][0], v[10][1], v[10][2]}}
+
+ };
+
+
+ // Normals defined so as to make each face of the brush a flat surface
+ const GLfloat norms[34][3][3] = {
+ // top
+ {{0.0f, 0.93f, -0.37f}, {0.0f, 0.93f, -0.37f}, {0.0f, 0.93f, -0.37f}},
+ {{0.0f, 0.93f, -0.37f}, {0.0f, 0.93f, -0.37f}, {0.0f, 0.93f, -0.37f}},
+
+ {{0.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}},
+ {{0.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}},
+
+ {{0.0f, 0.988f, 0.158f}, {0.0f, 0.988f, 0.158f}, {0.0f, 0.988f, 0.158f}},
+ {{0.0f, 0.988f, 0.158f}, {0.0f, 0.988f, 0.158f}, {0.0f, 0.988f, 0.158f}},
+
+ {{0.0f, 0.999f, -0.0533f}, {0.0f, 0.999f, -0.0533f}, {0.0f, 0.999f, -0.0533f}},
+ {{0.0f, 0.999f, -0.0533f}, {0.0f, 0.999f, -0.0533f}, {0.0f, 0.999f, -0.0533f}},
+
+ {{0.0f, 0.709f, 0.709f}, {0.0f, 0.709f, 0.709f}, {0.0f, 0.709f, 0.709f}},
+
+ // bottom
+ {{0.0f, -0.93f, -0.37f}, {0.0f, -0.93f, -0.37f}, {0.0f, -0.93f, -0.37f}},
+ {{0.0f, -0.93f, -0.37f}, {0.0f, -0.93f, -0.37f}, {0.0f, -0.93f, -0.37f}},
+
+ {{0.0f, -1.0f, 0.0f}, {0.0f, -1.0f, 0.0f}, {0.0f, -1.0f, 0.0f}},
+ {{0.0f, -1.0f, 0.0f}, {0.0f, -1.0f, 0.0f}, {0.0f, -1.0f, 0.0f}},
+
+ {{0.0f, -0.988f, 0.158f}, {0.0f, -0.988f, 0.158f}, {0.0f, -0.988f, 0.158f}},
+ {{0.0f, -0.988f, 0.158f}, {0.0f, -0.988f, 0.158f}, {0.0f, -0.988f, 0.158f}},
+
+ {{0.0f, -0.999f, -0.0533f}, {0.0f, -0.999f, -0.0533f}, {0.0f, -0.999f, -0.0533f}},
+ {{0.0f, -0.999f, -0.0533f}, {0.0f, -0.999f, -0.0533f}, {0.0f, -0.999f, -0.0533f}},
+
+ {{0.0f, -0.709f, 0.709f}, {0.0f, -0.709f, 0.709f}, {0.0f, -0.709f, 0.709f}},
+
+ // one side
+ {{1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}},
+
+ {{1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}},
+ {{1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}},
+
+ {{0.848f, 0.0f, 0.530f}, {0.848f, 0.0f, 0.530f}, {0.848f, 0.0f, 0.530f}},
+ {{0.848f, 0.0f, 0.530f}, {0.848f, 0.0f, 0.530f}, {0.848f, 0.0f, 0.530f}},
+
+ {{1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}},
+ {{1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}},
+
+ {{0.709f, 0.0f, 0.709f}, {0.709f, 0.0f, 0.709f}, {0.709f, 0.0f, 0.709f}},
+
+ // other side
+ {{-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}},
+
+ {{-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}},
+ {{-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}},
+
+ {{-0.848f, 0.0f, 0.530f}, {-0.848f, 0.0f, 0.530f}, {-0.848f, 0.0f, 0.530f}},
+ {{-0.848f, 0.0f, 0.530f}, {-0.848f, 0.0f, 0.530f}, {-0.848f, 0.0f, 0.530f}},
+
+ {{-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}},
+ {{-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}, {-1.0f, 0.0f, 0.0f}},
+
+ {{-0.709f, 0.0f, 0.709f}, {-0.709f, 0.0f, 0.709f}, {-0.709f, 0.0f, 0.709f}}
+ };
+
+ brushMesh_.SetVertices((float*)verts, 102);
+ brushMesh_.SetNormals((float*)norms, 102);
+ brushMesh_.UpdateGPUMemory();
+}
+
+
+void QuickShapes::DrawBrush(const Matrix4 &modelMatrix, const Matrix4 &viewMatrix,
+ const Matrix4 &projectionMatrix, const Color &color)
+{
+ if (brushMesh_.num_vertices() == 0) {
+ initBrush();
+ }
+ defaultMaterial_.ambient_reflectance = color;
+ defaultMaterial_.diffuse_reflectance = color;
+ defaultMaterial_.surface_texture = emptyTex_;
+ defaultShader_.Draw(modelMatrix, viewMatrix, projectionMatrix, &brushMesh_, defaultMaterial_);
+}
+
+
+
+// ----------------
+
+
+void QuickShapes::DrawLineSegment(const Matrix4 &modelMatrix,
+ const Matrix4 &viewMatrix,
+ const Matrix4 &projectionMatrix,
+ const Color &color,
+ const Point3 &p1,
+ const Point3 &p2,
+ float radius)
+{
+ Matrix4 S = Matrix4::Scale(Vector3(radius, 0.5f*(p2-p1).Length(), radius));
+ Vector3 y = (p2-p1).ToUnit();
+ Vector3 z = Vector3(1,0,0).Cross(y).ToUnit();
+ if (z == Vector3(0,0,0)) {
+ z = Vector3(0,0,1).Cross(y).ToUnit();
+ }
+ Vector3 x = y.Cross(z);
+ Matrix4 R = Matrix4::FromRowMajorElements(
+ x[0], y[0], z[0], 0,
+ x[1], y[1], z[1], 0,
+ x[2], y[2], z[2], 0,
+ 0, 0, 0, 1
+ );
+ Matrix4 T = Matrix4::Translation(0.5 * Vector3(p1[0]+p2[0], p1[1]+p2[1], p1[2]+p2[2]));
+
+ Matrix4 M = T * R * S;
+
+ DrawCylinder(modelMatrix * M, viewMatrix, projectionMatrix, color);
+}
+
+
+
+void QuickShapes::DrawLines(const Matrix4 &modelMatrix,
+ const Matrix4 &viewMatrix,
+ const Matrix4 &projectionMatrix,
+ const Color &color,
+ const std::vector<Point3> &points,
+ LinesType ltype,
+ float radius)
+{
+ if (ltype == LinesType::LINES) {
+ for (size_t i=0; i<points.size(); i+=2) {
+ DrawLineSegment(modelMatrix, viewMatrix, projectionMatrix, color, points[i], points[i+1], radius);
+ }
+ }
+ else {
+ for (size_t i=0; i<points.size()-1; i++) {
+ DrawLineSegment(modelMatrix, viewMatrix, projectionMatrix, color, points[i], points[i+1], radius);
+ }
+ if (ltype == LinesType::LINE_LOOP) {
+ DrawLineSegment(modelMatrix, viewMatrix, projectionMatrix, color, points[points.size()-1], points[0], radius);
+ }
+ }
+}
+
+
+
+void QuickShapes::DrawArrow(const Matrix4 &modelMatrix,
+ const Matrix4 &viewMatrix,
+ const Matrix4 &projectionMatrix,
+ const Color &color,
+ Point3 p, Vector3 dir, float radius)
+{
+ float d = dir.Length() - 8.0f*radius;
+ DrawLineSegment(modelMatrix, viewMatrix, projectionMatrix, color, p, p + d*dir.ToUnit(), radius);
+
+ Matrix4 S = Matrix4::Scale(Vector3(radius*3.0f, radius*4.0f, radius*3.0f));
+ Vector3 y = dir.ToUnit();
+ Vector3 z = Vector3(1,0,0).Cross(y).ToUnit();
+ if (z == Vector3(0,0,0)) {
+ z = Vector3(0,0,1).Cross(y).ToUnit();
+ }
+ Vector3 x = y.Cross(z);
+ Matrix4 R = Matrix4::FromRowMajorElements(
+ x[0], y[0], z[0], 0,
+ x[1], y[1], z[1], 0,
+ x[2], y[2], z[2], 0,
+ 0, 0, 0, 1
+ );
+ Matrix4 T = Matrix4::Translation((p + d*dir.ToUnit()) - Point3::Origin());
+
+ Matrix4 M = T * R * S * Matrix4::Translation(Vector3(0,1,0));
+
+ DrawCone(modelMatrix * M, viewMatrix, projectionMatrix, color);
+}
+
+
+void QuickShapes::DrawAxes(const Matrix4 &modelMatrix,
+ const Matrix4 &viewMatrix,
+ const Matrix4 &projectionMatrix)
+{
+ DrawArrow(modelMatrix, viewMatrix, projectionMatrix, Color(1.0f, 0.6f, 0.6f), Point3::Origin(), Vector3::UnitX(), 0.02f);
+ DrawArrow(modelMatrix, viewMatrix, projectionMatrix, Color(0.6f, 1.0f, 0.6f), Point3::Origin(), Vector3::UnitY(), 0.02f);
+ DrawArrow(modelMatrix, viewMatrix, projectionMatrix, Color(0.6f, 0.6f, 1.0f), Point3::Origin(), Vector3::UnitZ(), 0.02f);
+
+}
+
+
+void QuickShapes::initFull() {
+ GLfloat vertices[] = {
+ -1, -1, 0, 1, -1, 0, 1, 1, 0,
+ -1, -1, 0, 1, 1, 0, -1, 1, 0
+ };
+
+ GLfloat normals[] = {
+ 0, 0, 1, 0, 0, 1, 0, 0, 1,
+ 0, 0, 1, 0, 0, 1, 0, 0, 1
+ };
+
+ GLfloat texcoords[] = {
+ 0.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f,
+ 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f
+ };
+
+ fullMesh_.SetVertices(vertices, 6);
+ fullMesh_.SetNormals(normals, 6);
+ fullMesh_.SetTexCoords(0, texcoords, 6);
+ fullMesh_.UpdateGPUMemory();
+}
+
+
+void QuickShapes::DrawFullscreenTexture(const Color &color, const Texture2D &tex) {
+ if (fullMesh_.num_vertices() == 0) {
+ initFull();
+ }
+ DrawWithFullscreen(color, &fullMesh_, tex);
+}
+
+
+
+
+
+void QuickShapes::DrawWithFullscreen(const Color &color, Mesh *mesh, const Texture2D &tex) {
+ if (!fullscreenShader_.initialized()) {
+ fullscreenShader_.AddVertexShaderFromFile(Platform::FindMinGfxShaderFile("fullscreen.vert"));
+ fullscreenShader_.AddFragmentShaderFromFile(Platform::FindMinGfxShaderFile("fullscreen.frag"));
+ fullscreenShader_.LinkProgram();
+ }
+
+ glDisable(GL_DEPTH_TEST);
+ glDepthMask(GL_FALSE);
+
+ // Activate the shader program
+ fullscreenShader_.UseProgram();
+
+ // Pass uniforms and textures from C++ to the GPU Shader Program
+ fullscreenShader_.SetUniform("TintColor", color);
+ fullscreenShader_.BindTexture("SurfaceTexture", tex);
+
+ // Draw the mesh using the shader program
+ mesh->Draw();
+
+ // Deactivate the shader program
+ fullscreenShader_.StopProgram();
+
+ glEnable(GL_DEPTH_TEST);
+ glDepthMask(GL_TRUE);
+}
+
+
+DefaultShader* QuickShapes::default_shader() {
+ return &defaultShader_;
+}
+
+
+DefaultShader::MaterialProperties* QuickShapes::material() {
+ return &defaultMaterial_;
+}
+
+
+} // end namespace
diff --git a/dev/MinGfx/src/ray.h b/dev/MinGfx/src/ray.h
index d1b41b6..4bc3a8c 100644
--- a/dev/MinGfx/src/ray.h
+++ b/dev/MinGfx/src/ray.h
@@ -1,166 +1,166 @@
-/*
- This file is part of the MinGfx Project.
-
- Copyright (c) 2017,2018 Regents of the University of Minnesota.
- All Rights Reserved.
-
- Original Author(s) of this File:
- Dan Keefe, 2018, University of Minnesota
-
- Author(s) of Significant Updates/Modifications to the File:
- ...
- */
-
-#ifndef SRC_RAY_H_
-#define SRC_RAY_H_
-
-#include <iostream>
-
-#include "aabb.h"
-#include "point3.h"
-#include "vector3.h"
-#include "mesh.h"
-
-
-namespace mingfx {
-
-
-/** Stores the mathematical object of a ray that begins at an origin (a 3D
- point) and points in a direction (a unit 3D vector). Rays can intersect
- a variety of other computer graphics objects, such as planes, triangles,
- spheres, 3D meshes, etc. These intersections can be tested with the
- Intersect...() methods. The Ray can also be transformed by a Matrix4.
- Example:
- ~~~
- // Create a pick ray from the mouse position
- void MyGraphicsApp::OnLeftMouseDown(const Point2 &mouse_in_2d_pixels) {
- Point2 mouse_in_2d_ndc = PixelsToNormalizedDeviceCoords(mouse_in_2d_pixels);
- Point3 mouse_in_3d = GfxMath::ScreenToNearPlane(view_matrix, proj_matrix, mouse_in_2d_ndc);
- Matrix4 camera_matrix = view_matrix.Inverse();
- Point3 eye = camera_matrix.ColumnToPoint3(3);
-
- Ray pick_ray(eye, mouse_in_3d - eye);
-
- // check to see if the ray intersects a sphere
- float t;
- Point3 p;
- if (pick_ray.IntersectSphere(Point3(0,0,0), 2.0, &t, &p)) {
- std::cout << "Mouse pointing at sphere! Intersection point = " << p << std::endl;
- }
- }
- ~~~
- */
-class Ray {
-public:
-
- /// Defaults to a ray at the origin and pointing in the -Z direction
- Ray();
-
- /// Creates a ray from a 3D origin and direction
- Ray(const Point3 &origin, const Vector3 &direction);
-
- /// Ray destructor
- virtual ~Ray();
-
- /// Check for "equality", taking floating point imprecision into account
- bool operator==(const Ray& other) const;
-
- /// Check for "inequality", taking floating point imprecision into account
- bool operator!=(const Ray& other) const;
-
- /// Returns the length of the direction vector
- float Length() const;
-
- /** Checks to see if the ray intersects a plane defined by a point and a normal.
- If there was an intersection, true is returned, iTime is set to the intersection
- time, and iPoint is set to the intersection point. The plane is considered
- to be 1-sided. That is the intersection will only occur if the ray hits the
- plane from its front side as determined by the plane's normal.
- */
- bool IntersectPlane(const Point3 &planePt, const Vector3 &planeNormal,
- float *iTime, Point3 *iPoint) const;
-
- /** Checks to see if the ray intersects a triangle defined by the vertices v1, v2, and v3.
- The vertices must be provided in counter-clockwise order so that the normal of the
- triangle can be determined via the right-hand rule. The intersection will only happen
- if the ray hits the front side of the triangle. If there was an intersection,
- true is returned, iTime is set to the intersection time, and iPoint is set to the intersection point.
- */
- bool IntersectTriangle(const Point3 &v1, const Point3 &v2, const Point3 &v3,
- float *iTime, Point3 *iPoint) const;
-
- /** Checks to see if the ray intersects a quad defined by the vertices v1, v2, v3, and v4.
- The vertices must be provided in counter-clockwise order so that the normal of the
- triangle can be determined via the right-hand rule. The intersection will only happen
- if the ray hits the front side of the triangle. If there was an intersection,
- true is returned, iTime is set to the intersection time, and iPoint is set to the intersection point.
- */
- bool IntersectQuad(const Point3 &v1, const Point3 &v2, const Point3 &v3, const Point3 &v4,
- float *iTime, Point3 *iPoint) const;
-
- /** Checks to see if the ray intersects a sphere defined by a center point and a radius.
- If there was an intersection, true is returned, iTime is set to the intersection time,
- and iPoint is set to the intersection point.
- */
- bool IntersectSphere(const Point3 &center, float radius,
- float *iTime, Point3 *iPoint) const;
-
- /** Checks to see if the ray intersects a triangle mesh. This is a brute-force
- check over each triangle in the mesh. If there was an intersection, true is returned,
- iTime is set to the intersection time, iPoint is set to the intersection point,
- and iTriangleID is set to the ID of the closest intersected triangle along the ray.
- */
- bool IntersectMesh(const Mesh &mesh, float *iTime,
- Point3 *iPoint, int *iTriangleID) const;
-
- /** Checks to see if the ray intersects a triangle mesh. This uses a BVH
- (Bounding Volume Hierarchy) to accelerate the ray-triangle intersection tests.
- Each mesh can optionally store a BVH. If a BVH has already been calculated
- for the mesh (done with Mesh::CalculateBVH()), then this function will be
- much faster than the brute-force IntersectMesh() function. If a BVH has
- not already been calculated for the mesh, the first call to FastIntersectMesh()
- will trigger the mesh to create a BVH (not a fast operation) but then
- subsequent calls to FastIntersectMesh() will be fast.
- */
- bool FastIntersectMesh(Mesh *mesh, float *iTime,
- Point3 *iPoint, int *iTriangleID) const;
-
- /** Checks to see if the ray intersects an AABB (Axis-Aligned Bounding Box).
- Typically, this is the first step of a more detailed intersection test and
- we don't care about the actual point of intersection, just whether it
- intersects or not. So, we don't bother calculating the iPoint. We get the
- iTime for free though, so we do return that. You can calc the iPoint if
- you want using:
- ~~~
- float t;
- if (ray.IntersectAABB(box, &t)) {
- Point3 iPoint = ray.origin() + t*ray.direction();
- }
- ~~~
- */
- bool IntersectAABB(const AABB &box, float *iTime) const;
-
- /// Returns the origin
- Point3 origin() const;
-
- /// Returns the direction
- Vector3 direction() const;
-
- /// Sets a new origin and direction
- void set(Point3 newOrigin, Vector3 newDir);
-
-private:
- Point3 p_;
- Vector3 d_;
-};
-
-
-// --- Stream operators ---
-
-std::ostream & operator<< ( std::ostream &os, const Ray &r);
-std::istream & operator>> ( std::istream &is, Ray &r);
-
-
-} // end namespace
-
-#endif
+/*
+ This file is part of the MinGfx Project.
+
+ Copyright (c) 2017,2018 Regents of the University of Minnesota.
+ All Rights Reserved.
+
+ Original Author(s) of this File:
+ Dan Keefe, 2018, University of Minnesota
+
+ Author(s) of Significant Updates/Modifications to the File:
+ ...
+ */
+
+#ifndef SRC_RAY_H_
+#define SRC_RAY_H_
+
+#include <iostream>
+
+#include "aabb.h"
+#include "point3.h"
+#include "vector3.h"
+#include "mesh.h"
+
+
+namespace mingfx {
+
+
+/** Stores the mathematical object of a ray that begins at an origin (a 3D
+ point) and points in a direction (a unit 3D vector). Rays can intersect
+ a variety of other computer graphics objects, such as planes, triangles,
+ spheres, 3D meshes, etc. These intersections can be tested with the
+ Intersect...() methods. The Ray can also be transformed by a Matrix4.
+ Example:
+ ~~~
+ // Create a pick ray from the mouse position
+ void MyGraphicsApp::OnLeftMouseDown(const Point2 &mouse_in_2d_pixels) {
+ Point2 mouse_in_2d_ndc = PixelsToNormalizedDeviceCoords(mouse_in_2d_pixels);
+ Point3 mouse_in_3d = GfxMath::ScreenToNearPlane(view_matrix, proj_matrix, mouse_in_2d_ndc);
+ Matrix4 camera_matrix = view_matrix.Inverse();
+ Point3 eye = camera_matrix.ColumnToPoint3(3);
+
+ Ray pick_ray(eye, mouse_in_3d - eye);
+
+ // check to see if the ray intersects a sphere
+ float t;
+ Point3 p;
+ if (pick_ray.IntersectSphere(Point3(0,0,0), 2.0, &t, &p)) {
+ std::cout << "Mouse pointing at sphere! Intersection point = " << p << std::endl;
+ }
+ }
+ ~~~
+ */
+class Ray {
+public:
+
+ /// Defaults to a ray at the origin and pointing in the -Z direction
+ Ray();
+
+ /// Creates a ray from a 3D origin and direction
+ Ray(const Point3 &origin, const Vector3 &direction);
+
+ /// Ray destructor
+ virtual ~Ray();
+
+ /// Check for "equality", taking floating point imprecision into account
+ bool operator==(const Ray& other) const;
+
+ /// Check for "inequality", taking floating point imprecision into account
+ bool operator!=(const Ray& other) const;
+
+ /// Returns the length of the direction vector
+ float Length() const;
+
+ /** Checks to see if the ray intersects a plane defined by a point and a normal.
+ If there was an intersection, true is returned, iTime is set to the intersection
+ time, and iPoint is set to the intersection point. The plane is considered
+ to be 1-sided. That is the intersection will only occur if the ray hits the
+ plane from its front side as determined by the plane's normal.
+ */
+ bool IntersectPlane(const Point3 &planePt, const Vector3 &planeNormal,
+ float *iTime, Point3 *iPoint) const;
+
+ /** Checks to see if the ray intersects a triangle defined by the vertices v1, v2, and v3.
+ The vertices must be provided in counter-clockwise order so that the normal of the
+ triangle can be determined via the right-hand rule. The intersection will only happen
+ if the ray hits the front side of the triangle. If there was an intersection,
+ true is returned, iTime is set to the intersection time, and iPoint is set to the intersection point.
+ */
+ bool IntersectTriangle(const Point3 &v1, const Point3 &v2, const Point3 &v3,
+ float *iTime, Point3 *iPoint) const;
+
+ /** Checks to see if the ray intersects a quad defined by the vertices v1, v2, v3, and v4.
+ The vertices must be provided in counter-clockwise order so that the normal of the
+ triangle can be determined via the right-hand rule. The intersection will only happen
+ if the ray hits the front side of the triangle. If there was an intersection,
+ true is returned, iTime is set to the intersection time, and iPoint is set to the intersection point.
+ */
+ bool IntersectQuad(const Point3 &v1, const Point3 &v2, const Point3 &v3, const Point3 &v4,
+ float *iTime, Point3 *iPoint) const;
+
+ /** Checks to see if the ray intersects a sphere defined by a center point and a radius.
+ If there was an intersection, true is returned, iTime is set to the intersection time,
+ and iPoint is set to the intersection point.
+ */
+ bool IntersectSphere(const Point3 &center, float radius,
+ float *iTime, Point3 *iPoint) const;
+
+ /** Checks to see if the ray intersects a triangle mesh. This is a brute-force
+ check over each triangle in the mesh. If there was an intersection, true is returned,
+ iTime is set to the intersection time, iPoint is set to the intersection point,
+ and iTriangleID is set to the ID of the closest intersected triangle along the ray.
+ */
+ bool IntersectMesh(const Mesh &mesh, float *iTime,
+ Point3 *iPoint, int *iTriangleID) const;
+
+ /** Checks to see if the ray intersects a triangle mesh. This uses a BVH
+ (Bounding Volume Hierarchy) to accelerate the ray-triangle intersection tests.
+ Each mesh can optionally store a BVH. If a BVH has already been calculated
+ for the mesh (done with Mesh::CalculateBVH()), then this function will be
+ much faster than the brute-force IntersectMesh() function. If a BVH has
+ not already been calculated for the mesh, the first call to FastIntersectMesh()
+ will trigger the mesh to create a BVH (not a fast operation) but then
+ subsequent calls to FastIntersectMesh() will be fast.
+ */
+ bool FastIntersectMesh(Mesh *mesh, float *iTime,
+ Point3 *iPoint, int *iTriangleID) const;
+
+ /** Checks to see if the ray intersects an AABB (Axis-Aligned Bounding Box).
+ Typically, this is the first step of a more detailed intersection test and
+ we don't care about the actual point of intersection, just whether it
+ intersects or not. So, we don't bother calculating the iPoint. We get the
+ iTime for free though, so we do return that. You can calc the iPoint if
+ you want using:
+ ~~~
+ float t;
+ if (ray.IntersectAABB(box, &t)) {
+ Point3 iPoint = ray.origin() + t*ray.direction();
+ }
+ ~~~
+ */
+ bool IntersectAABB(const AABB &box, float *iTime) const;
+
+ /// Returns the origin
+ Point3 origin() const;
+
+ /// Returns the direction
+ Vector3 direction() const;
+
+ /// Sets a new origin and direction
+ void set(Point3 newOrigin, Vector3 newDir);
+
+private:
+ Point3 p_;
+ Vector3 d_;
+};
+
+
+// --- Stream operators ---
+
+std::ostream & operator<< ( std::ostream &os, const Ray &r);
+std::istream & operator>> ( std::istream &is, Ray &r);
+
+
+} // end namespace
+
+#endif
generated by cgit v1.2.3 (git 2.46.0) at 2024-11-25 14:31:24 +0000