ropesim: gimbal movement

diff --git a/tools/ropesim/src/main.c b/tools/ropesim/src/main.c
index bfd6424..e6221bc 100644 (file)
--- a/tools/ropesim/src/main.c
+++ b/tools/ropesim/src/main.c
@@ -20,10 +20,19 @@ float cam_theta, cam_phi, cam_dist = 10;
 int prev_mx, prev_my;
 int bnstate[8];
 
 int prev_mx, prev_my;
 int bnstate[8];
 

+long start_msec;
+

 struct cmesh *scn;
 struct cmesh *mesh_gout, *mesh_gin, *mesh_suz;
 struct cmesh *scn;
 struct cmesh *mesh_gout, *mesh_gin, *mesh_suz;

+
+cgm_vec3 gmove;
+/*cgm_quat grot = {0, 0, 0, 1};*/
+float grot_theta, grot_phi;
+float ginner_xform[16], gouter_xform[16];

 cgm_vec3 ganchor[4];
 
 cgm_vec3 ganchor[4];
 

+cgm_vec3 dbgvec[4];
+

 int main(int argc, char **argv)
 {
        glutInit(&argc, argv);
 int main(int argc, char **argv)
 {
        glutInit(&argc, argv);

@@ -46,6 +55,7 @@ int main(int argc, char **argv)
        }
        atexit(cleanup);
 
        }
        atexit(cleanup);
 

+       start_msec = glutGet(GLUT_ELAPSED_TIME);

        glutMainLoop();
        return 0;
 }
        glutMainLoop();
        return 0;
 }

@@ -85,6 +95,13 @@ int init(void)
                cmesh_remove_submesh(scn, idx);
        }
 
                cmesh_remove_submesh(scn, idx);
        }
 

+       /* anchor points on the inner gimbal */
+       for(i=0; i<4; i++) {
+               ganchor[i].x = (float)(((i & 1) << 1) - 1) * 1.5f;
+               ganchor[i].y = (float)((i & 2) - 1) * 1.5f;
+               ganchor[i].z = 0;
+       }
+

        return 0;
 }
 
        return 0;
 }
 

@@ -96,6 +113,31 @@ void cleanup(void)
        cmesh_free(scn);
 }
 
        cmesh_free(scn);
 }
 

+void update(long tmsec, float dt)
+{
+       int i;
+       cgm_vec3 apt0, apt1;
+       float theta, phi, brot;
+
+       /*
+       cgm_mrotation_quat(ginner_xform, &grot);
+       cgm_mtranslate(ginner_xform, gmove.x, gmove.y, gmove.z);
+       */
+
+       theta = cgm_deg_to_rad(grot_theta);
+       phi = cgm_deg_to_rad(grot_phi);
+
+       cgm_mrotation_euler(ginner_xform, phi, theta, 0, CGM_EULER_XYZ);
+       cgm_mrotation_euler(gouter_xform, phi, 0, 0, CGM_EULER_XYZ);
+
+       for(i=0; i<4; i++) {
+               apt0 = ganchor[i];
+               cgm_vmul_m4v3(&apt0, ginner_xform);
+
+               dbgvec[i] = apt0;
+       }
+}
+

 void display(void)
 {
        static const float lpos[][4] = {
 void display(void)
 {
        static const float lpos[][4] = {

@@ -109,6 +151,11 @@ void display(void)
                {0.2, 0.3, 0.2, 1}
        };
        int i, count;
                {0.2, 0.3, 0.2, 1}
        };
        int i, count;

+       long tmsec = glutGet(GLUT_ELAPSED_TIME) - start_msec;
+       static long prev_tmsec;
+
+       update(tmsec, (float)(tmsec - prev_tmsec) / 1000.0f);
+       prev_tmsec = tmsec;

 
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
 
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 

@@ -127,10 +174,26 @@ void display(void)
        for(i=0; i<count; i++) {
                cmesh_draw_submesh(scn, i);
        }
        for(i=0; i<count; i++) {
                cmesh_draw_submesh(scn, i);
        }

+
+       glPushMatrix();
+       glMultMatrixf(gouter_xform);

        cmesh_draw(mesh_gout);
        cmesh_draw(mesh_gout);

+       glPopMatrix();
+
+       glPushMatrix();
+       glMultMatrixf(ginner_xform);

        cmesh_draw(mesh_gin);
        cmesh_draw(mesh_gin);

+       glPopMatrix();
+

        cmesh_draw(mesh_suz);
 
        cmesh_draw(mesh_suz);
 

+       glPointSize(7);
+       glBegin(GL_POINTS);
+       for(i=0; i<4; i++) {
+               glVertex3f(dbgvec[i].x, dbgvec[i].y, dbgvec[i].z);
+       }
+       glEnd();
+

        glutSwapBuffers();
 }
 void idle(void)
        glutSwapBuffers();
 }
 void idle(void)

@@ -177,6 +240,11 @@ void motion(int x, int y)
                if(cam_phi > 90) cam_phi = 90;
        }
 
                if(cam_phi > 90) cam_phi = 90;
        }
 

+       if(bnstate[1]) {
+               grot_theta += dx * 0.5;
+               grot_phi += dy * 0.5;
+       }
+

        if(bnstate[2]) {
                cam_dist += dy * 0.1;
                if(cam_dist < 0.0f) cam_dist = 0.0f;
        if(bnstate[2]) {
                cam_dist += dy * 0.1;
                if(cam_dist < 0.0f) cam_dist = 0.0f;

@@ -185,12 +253,29 @@ void motion(int x, int y)
 
 void sball_motion(int x, int y, int z)
 {
 
 void sball_motion(int x, int y, int z)
 {

+       gmove.x += x * 0.001f;
+       gmove.y += y * 0.001f;
+       gmove.z -= z * 0.001f;

 }
 
 }
 

-void sball_rotate(int rx, int ry, int rz)
+void sball_rotate(int x, int y, int z)

 {
 {

+       /*
+       float axis_len, s;
+       axis_len = (float)sqrt(x * x + y * y + z * z);
+       s = axis_len == 0.0f ? 1.0f : 1.0f / axis_len;
+       cgm_qrotate(&grot, axis_len * 0.001f, -x * s, -y * s, z * s);
+       */
+
+       grot_theta += y * 0.03f;
+       grot_phi += x * 0.03f;

 }
 
 void sball_button(int bn, int st)
 {
 }
 
 void sball_button(int bn, int st)
 {

+       if(st == GLUT_DOWN) {
+               /*cgm_qcons(&grot, 0, 0, 0, 1);*/
+               grot_theta = grot_phi = 0.0f;
+               cgm_vcons(&gmove, 0, 0, 0);
+       }

 }
 }