X-Git-Url: http://git.mutantstargoat.com/user/nuclear/?a=blobdiff_plain;f=test.c;h=6e68405c0b9dc85020b407fe54d2aad0d28e513d;hb=23862b738f7677057cda2f6aae521266db96de7f;hp=f57e44d8613148de8594371b788386503b76f3de;hpb=ef8fd96a6d4b68a4dc1a988394b70574349535bc;p=miniglut

diff --git a/test.c b/test.c
index f57e44d..6e68405 100644
--- a/test.c
+++ b/test.c
@@ -1,3 +1,4 @@
+#include <math.h>
 #include "miniglut.h"
 
 void idle(void);
@@ -6,11 +7,23 @@ void reshape(int x, int y);
 void keypress(unsigned char key, int x, int y);
 void mouse(int bn, int st, int x, int y);
 void motion(int x, int y);
+void sball_motion(int x, int y, int z);
+void sball_rotate(int rx, int ry, int rz);
+void sball_button(int bn, int state);
+
+static void vcross(float *res, const float *a, const float *b);
+static void qmul(float *a, const float *b);
+static void qrotation(float *q, float angle, float x, float y, float z);
+static void qrotate(float *q, float angle, float x, float y, float z);
+static void mrotation_quat(float *m, const float *q);
+
 
 float cam_theta, cam_phi = 25, cam_dist = 8;
 int mouse_x, mouse_y;
 int bnstate[8];
 int anim;
+float torus_pos[3], torus_rot[4] = {0, 0, 0, 1};
+
 
 int main(int argc, char **argv)
 {
@@ -24,6 +37,9 @@ int main(int argc, char **argv)
 	glutKeyboardFunc(keypress);
 	glutMouseFunc(mouse);
 	glutMotionFunc(motion);
+	glutSpaceballMotionFunc(sball_motion);
+	glutSpaceballRotateFunc(sball_rotate);
+	glutSpaceballButtonFunc(sball_button);
 
 	glEnable(GL_DEPTH_TEST);
 	glEnable(GL_CULL_FACE);
@@ -43,8 +59,7 @@ void display(void)
 {
 	long tm;
 	float lpos[] = {-1, 2, 3, 0};
-
-	tm = glutGet(GLUT_ELAPSED_TIME);
+	float sbrot_xform[16];
 
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
@@ -58,6 +73,7 @@ void display(void)
 
 	glPushMatrix();
 	if(anim) {
+		tm = glutGet(GLUT_ELAPSED_TIME);
 		glRotatef(tm / 10.0f, 1, 0, 0);
 		glRotatef(tm / 10.0f, 0, 1, 0);
 	}
@@ -67,7 +83,9 @@ void display(void)
 	glutSolidSphere(0.4, 16, 8);
 
 	glPushMatrix();
-	glTranslatef(-2.5, 0, 0);
+	glTranslatef(torus_pos[0] - 2.5, torus_pos[1], torus_pos[2]);
+	mrotation_quat(sbrot_xform, torus_rot);
+	glMultMatrixf(sbrot_xform);
 	glutSolidCube(1.5);
 	glPopMatrix();
 
@@ -102,6 +120,7 @@ void reshape(int x, int y)
 void keypress(unsigned char key, int x, int y)
 {
 	static int fullscr;
+	static int prev_xsz, prev_ysz;
 
 	switch(key) {
 	case 27:
@@ -115,12 +134,19 @@ void keypress(unsigned char key, int x, int y)
 		glutPostRedisplay();
 		break;
 
+	case '\n':
+	case '\r':
+		if(!(glutGetModifiers() & GLUT_ACTIVE_ALT)) {
+			break;
+		}
 	case 'f':
 		fullscr ^= 1;
 		if(fullscr) {
+			prev_xsz = glutGet(GLUT_WINDOW_WIDTH);
+			prev_ysz = glutGet(GLUT_WINDOW_HEIGHT);
 			glutFullScreen();
 		} else {
-			glutPositionWindow(10, 10);
+			glutReshapeWindow(prev_xsz, prev_ysz);
 		}
 		break;
 	}
@@ -156,3 +182,118 @@ void motion(int x, int y)
 		glutPostRedisplay();
 	}
 }
+
+void sball_motion(int x, int y, int z)
+{
+	torus_pos[0] += x * 0.001f;
+	torus_pos[1] += y * 0.001f;
+	torus_pos[2] -= z * 0.001f;
+	glutPostRedisplay();
+}
+
+static float rsqrt(float number)
+{
+	int i;
+	float x2, y;
+	static const float threehalfs = 1.5f;
+
+	x2 = number * 0.5f;
+	y = number;
+	i = *(int*)&y;
+	i = 0x5f3759df - (i >> 1);
+	y = *(float*)&i;
+	y *= threehalfs - (x2 * y * y);
+	y *= threehalfs - (x2 * y * y);
+	return y;
+}
+
+void sball_rotate(int rx, int ry, int rz)
+{
+	if(rx | ry | rz) {
+		float s = (float)rsqrt(rx * rx + ry * ry + rz * rz);
+		qrotate(torus_rot, 0.001f / s, rx * s, ry * s, -rz * s);
+		glutPostRedisplay();
+	}
+}
+
+void sball_button(int bn, int state)
+{
+	if(state == GLUT_DOWN) {
+		torus_pos[0] = torus_pos[1] = torus_pos[2] = 0;
+		torus_rot[0] = torus_rot[1] = torus_rot[2] = 0;
+		torus_rot[3] = 1;
+		glutPostRedisplay();
+	}
+}
+
+
+static void vcross(float *res, const float *a, const float *b)
+{
+	res[0] = a[1] * b[2] - a[2] * b[1];
+	res[1] = a[2] * b[0] - a[0] * b[2];
+	res[2] = a[0] * b[1] - a[1] * b[0];
+}
+
+static void qmul(float *a, const float *b)
+{
+	float x, y, z, dot;
+	float cross[3];
+
+	dot = a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+	vcross(cross, a, b);
+
+	x = a[3] * b[0] + b[3] * a[0] + cross[0];
+	y = a[3] * b[1] + b[3] * a[1] + cross[1];
+	z = a[3] * b[2] + b[3] * a[2] + cross[2];
+	a[3] = a[3] * b[3] - dot;
+	a[0] = x;
+	a[1] = y;
+	a[2] = z;
+}
+
+void mglut_sincos(float angle, float *sptr, float *cptr);
+float mglut_tan(float x);
+
+static void qrotation(float *q, float angle, float x, float y, float z)
+{
+	float sa, ca;
+	mglut_sincos(angle * 0.5f, &sa, &ca);
+	q[3] = ca;
+	q[0] = x * sa;
+	q[1] = y * sa;
+	q[2] = z * sa;
+}
+
+static void qrotate(float *q, float angle, float x, float y, float z)
+{
+	float qrot[4];
+	qrotation(qrot, angle, x, y, z);
+	qmul(qrot, q);
+	q[0] = qrot[0];
+	q[1] = qrot[1];
+	q[2] = qrot[2];
+	q[3] = qrot[3];
+}
+
+static void mrotation_quat(float *m, const float *q)
+{
+	float xsq2 = 2.0f * q[0] * q[0];
+	float ysq2 = 2.0f * q[1] * q[1];
+	float zsq2 = 2.0f * q[2] * q[2];
+	float sx = 1.0f - ysq2 - zsq2;
+	float sy = 1.0f - xsq2 - zsq2;
+	float sz = 1.0f - xsq2 - ysq2;
+
+	m[3] = m[7] = m[11] = m[12] = m[13] = m[14] = 0.0f;
+	m[15] = 1.0f;
+
+	m[0] = sx;
+	m[1] = 2.0f * q[0] * q[1] + 2.0f * q[3] * q[2];
+	m[2] = 2.0f * q[2] * q[0] - 2.0f * q[3] * q[1];
+	m[4] = 2.0f * q[0] * q[1] - 2.0f * q[3] * q[2];
+	m[5] = sy;
+	m[6] = 2.0f * q[1] * q[2] + 2.0f * q[3] * q[0];
+	m[8] = 2.0f * q[2] * q[0] + 2.0f * q[3] * q[1];
+	m[9] = 2.0f * q[1] * q[2] - 2.0f * q[3] * q[0];
+	m[10] = sz;
+}