#include <stdlib.h>
#include <string.h>
#include <ctype.h>
+#include <math.h>
#include <GL/gl.h>
#include <GL/glu.h>
#include "demo.h"
#include "screen.h"
#include "cfgopt.h"
+static void recalc_sball_matrix(float *xform, float *inv_xform);
+
static int console_active;
+static int sball_update_pending;
+
+static float pos[3];
+static float rot[4] = {0, 0, 0, 1};
int demo_init(int argc, char **argv)
{
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
+ sball_matrix[0] = sball_matrix[5] = sball_matrix[10] = sball_matrix[15] = 1.0f;
+ sball_inv_matrix[0] = sball_inv_matrix[5] = sball_inv_matrix[10] = sball_inv_matrix[15] = 1.0f;
+
if(scr_init() == -1) {
return -1;
}
void demo_draw(void)
{
+ if(sball_update_pending) {
+ recalc_sball_matrix(sball_matrix, sball_inv_matrix);
+ sball_update_pending = 0;
+ }
+
scr_update();
scr_draw();
}
void demo_mmotion(int x, int y)
{
}
+
+
+static void quat_rotate(float *qres, const float *q, float angle, float x, float y, float z);
+static void quat_mul(float *qres, const float *q1, const float *q2);
+static void quat_to_mat(float *res, const float *q);
+
+void demo_sball_motion(int x, int y, int z)
+{
+ pos[0] += (float)x * 0.01;
+ pos[1] += (float)y * 0.01;
+ pos[2] -= (float)z * 0.01;
+ sball_update_pending = 1;
+}
+
+void demo_sball_rotate(int x, int y, int z)
+{
+ float rx = (float)x;
+ float ry = (float)y;
+ float rz = (float)z;
+ float axis_len = sqrt(rx * rx + ry * ry + rz * rz);
+ if(axis_len > 0.0) {
+ quat_rotate(rot, rot, axis_len * 0.001, -rx / axis_len,
+ -ry / axis_len, rz / axis_len);
+ }
+ sball_update_pending = 1;
+}
+
+void demo_sball_button(int bn, int pressed)
+{
+ if(!pressed) return;
+
+ switch(bn) {
+ case 0:
+ pos[0] = pos[1] = pos[2] = 0;
+ rot[0] = rot[1] = rot[2] = 0;
+ rot[3] = 1;
+ break;
+
+ default:
+ break;
+ }
+}
+
+static void recalc_sball_matrix(float *xform, float *inv_xform)
+{
+ float tx, ty, tz;
+
+ quat_to_mat(xform, rot);
+ xform[12] = pos[0];
+ xform[13] = pos[1];
+ xform[14] = pos[2];
+
+ inv_xform[0] = xform[0];
+ inv_xform[5] = xform[5];
+ inv_xform[10] = xform[10];
+ inv_xform[15] = 1.0f;
+
+ inv_xform[1] = xform[4];
+ inv_xform[2] = xform[8];
+ inv_xform[6] = xform[9];
+ inv_xform[4] = xform[1];
+ inv_xform[8] = xform[2];
+ inv_xform[9] = xform[6];
+
+ inv_xform[3] = inv_xform[7] = inv_xform[11] = 0.0f;
+ tx = -pos[0];
+ ty = -pos[1];
+ tz = -pos[2];
+
+ inv_xform[12] = tx * inv_xform[0] + ty * inv_xform[4] + tz * inv_xform[8];
+ inv_xform[13] = tx * inv_xform[1] + ty * inv_xform[5] + tz * inv_xform[9];
+ inv_xform[14] = tx * inv_xform[2] + ty * inv_xform[6] + tz * inv_xform[10];
+}
+
+static void quat_rotate(float *qres, const float *q, float angle, float x, float y, float z)
+{
+ float rq[4];
+ float half_angle = angle * 0.5f;
+ float sin_half = sin(half_angle);
+
+ rq[3] = cos(half_angle);
+ rq[0] = x * sin_half;
+ rq[1] = y * sin_half;
+ rq[2] = z * sin_half;
+
+ quat_mul(qres, q, rq);
+}
+
+static void quat_mul(float *qres, const float *q1, const float *q2)
+{
+ float w = q1[3] * q2[3] - (q1[0] * q2[0] + q1[1] * q2[1] + q1[2] * q2[2]);
+ float x = q2[0] * q1[3] + q1[0] * q2[3] + (q1[1] * q2[2] - q1[2] * q2[1]);
+ float y = q2[1] * q1[3] + q1[1] * q2[3] + (q1[2] * q2[0] - q1[0] * q2[2]);
+ float z = q2[2] * q1[3] + q1[2] * q2[3] + (q1[0] * q2[1] - q1[1] * q2[0]);
+ qres[0] = x;
+ qres[1] = y;
+ qres[2] = z;
+ qres[3] = w;
+}
+
+static void quat_to_mat(float *res, const float *q)
+{
+ res[0] = 1.0f - 2.0f * q[1]*q[1] - 2.0f * q[2]*q[2];
+ res[1] = 2.0f * q[0] * q[1] - 2.0f * q[3] * q[2];
+ res[2] = 2.0f * q[2] * q[0] + 2.0f * q[3] * q[1];
+ res[3] = 0.0f;
+ res[4] = 2.0f * q[0] * q[1] + 2.0f * q[3] * q[2];
+ res[5] = 1.0f - 2.0f * q[0]*q[0] - 2.0f * q[2]*q[2];
+ res[6] = 2.0f * q[1] * q[2] - 2.0f * q[3] * q[0];
+ res[7] = 0.0f;
+ res[8] = 2.0f * q[2] * q[0] - 2.0f * q[3] * q[1];
+ res[9] = 2.0f * q[1] * q[2] + 2.0f * q[3] * q[0];
+ res[10] = 1.0f - 2.0f * q[0]*q[0] - 2.0f * q[1]*q[1];
+ res[11] = 0.0f;
+ res[12] = res[13] = res[14] = 0.0f;
+ res[15] = 1.0f;
+}
+
projects / o2demo / blobdiff