CoordsysNode.cc 10.6 KB
Newer Older
Jan Möbius's avatar
 
Jan Möbius committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178
//=============================================================================
//
//                               OpenFlipper
//        Copyright (C) 2008 by Computer Graphics Group, RWTH Aachen
//                           www.openflipper.org
//
//-----------------------------------------------------------------------------
//
//                                License
//
//  OpenFlipper is free software: you can redistribute it and/or modify
//  it under the terms of the GNU Lesser General Public License as published by
//  the Free Software Foundation, either version 3 of the License, or
//  (at your option) any later version.
//
//  OpenFlipper is distributed in the hope that it will be useful,
//  but WITHOUT ANY WARRANTY; without even the implied warranty of
//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//  GNU Lesser General Public License for more details.
//
//  You should have received a copy of the GNU Lesser General Public License
//  along with OpenFlipper.  If not, see <http://www.gnu.org/licenses/>.
//
//-----------------------------------------------------------------------------
//
//   $Revision: 1720 $
//   $Author: moebius $
//   $Date: 2008-05-09 14:15:53 +0200 (Fri, 09 May 2008) $
//
//=============================================================================




//=============================================================================
//
//  CLASS CoordsysNode - IMPLEMENTATION
//
//=============================================================================

//== INCLUDES =================================================================

#include "CoordsysNode.hh"
#include "../GL/gl.hh"
#include <iostream>
#include <math.h>


//== NAMESPACES ===============================================================

namespace ACG {
namespace SceneGraph {


//== IMPLEMENTATION ==========================================================


void
CoordsysNode::
boundingBox(Vec3f& _bbMin, Vec3f& _bbMax)
{
	//_bbMin.minimize( Vect3f  )
}


//----------------------------------------------------------------------------


unsigned int
CoordsysNode::
availableDrawModes() const
{
  return ( DrawModes::POINTS |
	        DrawModes::POINTS_SHADED |
	        DrawModes::POINTS_COLORED );
}


//----------------------------------------------------------------------------

void
CoordsysNode::
drawCoordsys( GLState&  _state) {

  double topRadius = 0.01;
  double arrowLength = 0.04;
  double bodyRadius = 0.004;
  double bodyLength = 0.06;
  int slices = 10;
  int stacks = 10;
  int loops = 10;
  double sphereRadius = 0.01;

  GLUquadricObj *quadric = gluNewQuadric();

  GLMatrixd modelview = _state.modelview();

  modelview(0,3) = 0.0;
  modelview(1,3) = 0.0;
  modelview(2,3) = 0.0;

  // Origin
  glColor3f(0.5, 0.5, 0.5);
  glLoadIdentity();
  gluSphere( quadric, sphereRadius, slices, stacks );

  // X-Axis
  glColor3f(1.0, 0.0, 0.0);
  glLoadIdentity();

  glMultMatrixd(modelview.get_raw_data());
  glRotatef(-90, 0, 1, 0);
  glTranslatef( 0, 0, -bodyLength );
  gluCylinder( quadric, bodyRadius, bodyRadius, bodyLength, slices, stacks );
  glLoadIdentity();
  glMultMatrixd(modelview.get_raw_data());
  glRotatef(-90, 0, 1, 0);
  glTranslatef( 0, 0, -bodyLength );
  gluDisk( quadric, 0, topRadius, slices, loops );
  glTranslatef( 0, 0, -arrowLength );
  gluCylinder( quadric, 0, topRadius, arrowLength, slices, stacks );

  // Y-Axis
  glColor3f(0.0, 1.0, 0.0);
  glLoadIdentity();
  glMultMatrixd(modelview.get_raw_data());
  glRotatef(90, 1, 0, 0);
  glTranslatef( 0, 0, -bodyLength );
  gluCylinder( quadric, bodyRadius, bodyRadius, bodyLength, slices, stacks );
  glLoadIdentity();
  glMultMatrixd(modelview.get_raw_data());
  glRotatef(90, 1, 0, 0);
  glTranslatef( 0, 0, -bodyLength );
  gluDisk( quadric, 0, topRadius, slices, loops );
  glTranslatef( 0, 0, -arrowLength );
  gluCylinder( quadric, 0, topRadius, arrowLength, slices, stacks );

  // Z-Axis
  glColor3f(0.0, 0.0, 1.0);
  glLoadIdentity();
  glMultMatrixd(modelview.get_raw_data());
  glRotatef(180, 0, 1, 0);
  glTranslatef( 0, 0, -bodyLength );
  gluCylinder( quadric, bodyRadius, bodyRadius, bodyLength, slices, stacks );
  glLoadIdentity();
  glMultMatrixd(modelview.get_raw_data());
  glRotatef(180, 0, 1, 0);
  glTranslatef( 0, 0, -bodyLength );
  gluDisk( quadric, 0, topRadius, slices, loops );
  glTranslatef( 0, 0, -arrowLength );
  gluCylinder( quadric, 0, topRadius, arrowLength, slices, stacks );

  gluDeleteQuadric(quadric);
}

//============================================================================

void
CoordsysNode::drawCoordsysPick( GLState&  _state) {

    double topRadius = 0.01;
    double arrowLength = 0.04;
    double bodyRadius = 0.004;
    double bodyLength = 0.06;
    int slices = 10;
    int stacks = 10;
    int loops = 10;
    double sphereRadius = 0.01;

    GLUquadricObj *quadric = gluNewQuadric();
    GLMatrixd modelview = _state.modelview();

    modelview(0,3) = 0.0;
    modelview(1,3) = 0.0;
    modelview(2,3) = 0.0;

  // Origin
    glLoadIdentity();
179
    glLoadName(0);
Jan Möbius's avatar
 
Jan Möbius committed
180 181 182 183
    gluSphere( quadric, sphereRadius, slices, stacks );

  // X-Axis
    glLoadIdentity();
184
    glLoadName(1);
Jan Möbius's avatar
 
Jan Möbius committed
185 186 187 188 189 190 191 192 193 194 195 196 197 198
    glMultMatrixd(modelview.get_raw_data());
    glRotatef(-90, 0, 1, 0);
    glTranslatef( 0, 0, -bodyLength );
    gluCylinder( quadric, bodyRadius, bodyRadius, bodyLength, slices, stacks );
    glLoadIdentity();
    glMultMatrixd(modelview.get_raw_data());
    glRotatef(-90, 0, 1, 0);
    glTranslatef( 0, 0, -bodyLength );
    gluDisk( quadric, 0, topRadius, slices, loops );
    glTranslatef( 0, 0, -arrowLength );
    gluCylinder( quadric, 0, topRadius, arrowLength, slices, stacks );

  // Y-Axis
    glLoadIdentity();
199
    glLoadName(2);
Jan Möbius's avatar
 
Jan Möbius committed
200 201 202 203 204 205 206 207 208 209 210 211 212 213
    glMultMatrixd(modelview.get_raw_data());
    glRotatef(90, 1, 0, 0);
    glTranslatef( 0, 0, -bodyLength );
    gluCylinder( quadric, bodyRadius, bodyRadius, bodyLength, slices, stacks );
    glLoadIdentity();
    glMultMatrixd(modelview.get_raw_data());
    glRotatef(90, 1, 0, 0);
    glTranslatef( 0, 0, -bodyLength );
    gluDisk( quadric, 0, topRadius, slices, loops );
    glTranslatef( 0, 0, -arrowLength );
    gluCylinder( quadric, 0, topRadius, arrowLength, slices, stacks );

  // Z-Axis
    glLoadIdentity();
214
    glLoadName(3);
Jan Möbius's avatar
 
Jan Möbius committed
215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407
    glMultMatrixd(modelview.get_raw_data());
    glRotatef(180, 0, 1, 0);
    glTranslatef( 0, 0, -bodyLength );
    gluCylinder( quadric, bodyRadius, bodyRadius, bodyLength, slices, stacks );
    glLoadIdentity();
    glMultMatrixd(modelview.get_raw_data());
    glRotatef(180, 0, 1, 0);
    glTranslatef( 0, 0, -bodyLength );
    gluDisk( quadric, 0, topRadius, slices, loops );
    glTranslatef( 0, 0, -arrowLength );
    gluCylinder( quadric, 0, topRadius, arrowLength, slices, stacks );

    gluDeleteQuadric(quadric);

}


//============================================================================


void
CoordsysNode::
draw(GLState&  _state  , unsigned int /*_drawMode*/)
{
  // Push Modelview-Matrix
  _state.push_modelview_matrix();

  Vec4f lastBaseColor = _state.base_color();

  glPushAttrib( GL_LIGHTING_BIT ); // STACK_ATTRIBUTES <- LIGHTING_ATTRIBUTE
  glEnable(GL_LIGHTING);
  glColorMaterial ( GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE ) ;
  glEnable(GL_COLOR_MATERIAL);
  glShadeModel(GL_SMOOTH);

  // Init state - changes when mode_ != POSITION
  Vec3d pos3D(0.0,0.0,0.0);

  if ( mode_ == SCREENPOS ) {

    int left, bottom, width, height;
    _state.get_viewport(left, bottom, width, height);

    // Projection reset
    _state.push_projection_matrix();
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    gluPerspective(45.0, _state.aspect(), 0.8, 20.0);

    glMatrixMode(GL_MODELVIEW);

    float posx = left + width - 30.0 ;
    float posy = bottom + height - 30.0 ;

    Vec3d screenposCenterPoint( posx , posy , 0.0);

    double pm[16], mvm[16];
    double x,y,z;
    GLint viewport[4];

    glMatrixMode(GL_MODELVIEW);
    glPushMatrix();
    glLoadIdentity();
    glGetDoublev( GL_MODELVIEW_MATRIX, mvm);
    glPopMatrix();
    glGetDoublev( GL_PROJECTION_MATRIX, pm);
    glGetIntegerv( GL_VIEWPORT, viewport);


    gluUnProject(posx, posy, 0.5, mvm, pm, viewport, &x, &y, &z);

    pos3D = Vec3d(x, y, z);

    // Projection Translation
    glMatrixMode(GL_PROJECTION);
    // Translation in rechte obere Ecke
    glTranslatef(pos3D[0], pos3D[1], pos3D[2]-0.3);
    glMatrixMode(GL_MODELVIEW);

    // Koordinatensystem zeichnen
    drawCoordsys(_state);

    // Projection reload
    _state.pop_projection_matrix();
    glMatrixMode(GL_MODELVIEW);

  } else if (mode_ == POSITION) { /* mode_ == POSITION */

    drawCoordsys(_state);

  }

  glPopAttrib();

  glColor4fv(lastBaseColor.data());

  // Reload old configuration
  _state.pop_modelview_matrix();
}


void
CoordsysNode::
setMode(const CoordsysMode _mode)
{
  mode_ = _mode;
}

void
CoordsysNode::
setPosition(const Vec3f& _pos)
{
  pos3f_ = _pos;
}

CoordsysNode::CoordsysMode
CoordsysNode::
getMode() const
{
  return mode_;
}

void
CoordsysNode::pick(GLState& _state, PickTarget _target)
{
    if (_target == PICK_ANYTHING) {
    // Push Modelview-Matrix
	_state.push_modelview_matrix();
	glLoadName(0);

    // Init state - changes when mode_ != POSITION
	Vec3d pos3D(0.0,0.0,0.0);

	if ( mode_ == SCREENPOS ) {

	    int left, bottom, width, height;
	    _state.get_viewport(left, bottom, width, height);

	// Projection reset
	    _state.push_projection_matrix();
	    glMatrixMode(GL_PROJECTION);
	    _state.reset_modelview();
	    gluPerspective(45.0, _state.aspect(), 0.8, 20.0);
	    glMatrixMode(GL_MODELVIEW);

	    float posx = width - 30.0 ;
	    float posy = height - 30.0 ;

	    Vec3d screenposCenterPoint( posx , posy , 0.0);

	    double pm[16], mvm[16];
	    double x,y,z;
	    GLint viewport[4];

	    glMatrixMode(GL_MODELVIEW);
	    _state.push_modelview_matrix();
	    _state.reset_modelview();
	    glGetDoublev( GL_MODELVIEW_MATRIX, mvm);
	    _state.pop_modelview_matrix();
	    glGetDoublev( GL_PROJECTION_MATRIX, pm);
	    glGetIntegerv( GL_VIEWPORT, viewport);

	    gluUnProject(posx, posy, 0.5, mvm, pm, viewport, &x, &y, &z);

	    pos3D = Vec3d(x, y, z);

	// Projection Translation
	    glMatrixMode(GL_PROJECTION);
	// Translation in rechte obere Ecke
	    _state.translate(pos3D[0], pos3D[1], pos3D[2]-0.3);
	    glMatrixMode(GL_MODELVIEW);

	// Koordinatensystem zeichnen
	    drawCoordsysPick(_state);

	// Projection reload
	    _state.pop_projection_matrix();
	    glMatrixMode(GL_MODELVIEW);

	} else if (mode_ == POSITION) { /* mode_ == POSITION */

	    drawCoordsysPick(_state);
	}

    // Reload old configuration
	_state.pop_modelview_matrix();
    }
}

//=============================================================================
} // namespace SceneGraph
} // namespace ACG
//=============================================================================