devZoGok/vb01
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devZoGok
2021-10-19 19:06:41 +03:00
parent a13d4f1244
commit 3753d08ca5
27 changed files with 783 additions and 274 deletions
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node.cpp
+124 -88
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@@ -6,14 +6,21 @@
#include"text.h"
#include"material.h"
#include"matrix.h"
#include<glm.hpp>
#include<glm/gtc/matrix_inverse.hpp>
using namespace std;
using namespace glm;
namespace vb01{
Node::Node(Vector3 pos, Quaternion orientation, Vector3 scale){
Node::Node(Vector3 pos, Quaternion orientation, Vector3 scale,string name){
this->pos=pos;
this->scale=scale;
this->orientation=orientation;
this->name=name;
axis[0]=Vector3::VEC_I;
axis[1]=Vector3::VEC_J;
axis[2]=Vector3::VEC_K;
}
Node::~Node(){
@@ -49,6 +56,7 @@ namespace vb01{
void Node::attachChild(Node *child){
child->setParent(this);
children.push_back(child);
child->updateLocalAxis();
}
void Node::dettachChild(Node *child){
@@ -91,15 +99,33 @@ namespace vb01{
text->setNode(this);
}
void Node::lookAt(Vector3 newDir,Vector3 upDir){
Vector3 dir=getLocalAxis(2).norm(),newDirLocal=globalToLocal(newDir.norm()),upDirLocal=globalToLocal(upDir.norm());
float angle=dir.getAngleBetween(newDirLocal);
Vector3 rotAxis=dir.cross(newDirLocal);
orientation=Quaternion(angle,rotAxis)*orientation;
Vector3 up=getLocalAxis(1).norm();
angle=up.getAngleBetween(upDirLocal);
rotAxis=up.cross(upDirLocal);
orientation=Quaternion(angle,rotAxis.norm())*orientation;
void Node::lookAt(Vector3 newDir,Vector3 newUp,Node *node){
newDir=node->localToGlobalPosition(newDir);
newUp=node->localToGlobalPosition(newUp);
float angle=axis[2].getAngleBetween(newDir);
Vector3 rotAxis=axis[2].cross(newDir).norm();
if(rotAxis==Vector3::VEC_ZERO)
rotAxis=axis[1];
//setOrientation((Quaternion(angle,rotAxis)*(orientation)));
setOrientation(node->globalToLocalOrientation(Quaternion(angle,rotAxis)*node->localToGlobalOrientation(orientation)));
mat3 mat;
mat[0][0]=axis[0].x;
mat[1][0]=axis[0].y;
mat[2][0]=axis[0].z;
mat[0][1]=axis[1].x;
mat[1][1]=axis[1].y;
mat[2][1]=axis[1].z;
mat[0][2]=axis[2].x;
mat[1][2]=axis[2].y;
mat[2][2]=axis[2].z;
mat=inverse(mat);
vec3 nu=vec3(newUp.x,newUp.y,newUp.z)*mat;
newUp=(axis[0]*nu.x+axis[1]*nu.y).norm();
angle=axis[1].getAngleBetween(newUp);
//setOrientation((Quaternion(angle*(nu.x<0?1:-1),axis[2])*(orientation)));
setOrientation(node->globalToLocalOrientation(Quaternion(angle*(nu.x<0?1:-1),axis[2])*node->localToGlobalOrientation(orientation)));
//setOrientation(node->globalToLocalOrientation(Quaternion(angle,axis[2])*node->localToGlobalOrientation(orientation)));
}
void Node::getDescendants(Node *node, vector<Node*> &descendants){
@@ -111,111 +137,116 @@ namespace vb01{
}
}
Node::Transform Node::getWorldTransform(){
Transform t;
Vector3 scale=Vector3::VEC_IJK;
Quaternion orient=Quaternion::QUAT_W;
Vector3 origin=Vector3::VEC_ZERO,axis[]={Vector3::VEC_I,Vector3::VEC_J,Vector3::VEC_K};
void Node::updateLocalAxis(){
Node *rootNode=Root::getSingleton()->getRootNode(),*par=this;
while(par->getParent())
par=par->getParent();
if(par!=rootNode)
return;
Vector3 parAxis[3]={
parent->getLocalAxis(0),
parent->getLocalAxis(1),
parent->getLocalAxis(2)
};
for(int i=0;i<3;i++)
axis[i]=(orientation*parAxis[i]).norm();
for(Node *ch : children)
ch->updateLocalAxis();
}
Vector3 Node::localToGlobalPosition(Vector3 localPos){
Vector3 origin=Vector3::VEC_ZERO;
vector<Node*> ancestors;
ancestors.push_back(this);
Node *parent=this->getParent();
while(parent){
ancestors.push_back(parent);
parent=parent->getParent();
}
while(!ancestors.empty()){
int id=ancestors.size()-1;
Quaternion o=ancestors[id]->getOrientation();
Vector3 p=ancestors[id]->getPosition(),s=ancestors[id]->getScale();
origin=origin+axis[0]*p.x*s.x+axis[1]*p.y*s.y+axis[2]*p.z*s.z;
orient=o*orient;
scale=s;
for(int i=0;i<3;i++)
axis[i]=orient*axis[i];
Node *par=ancestors[id]->getParent();
Vector3 parAxis[]={
par?par->getLocalAxis(0):Vector3::VEC_I,
par?par->getLocalAxis(1):Vector3::VEC_J,
par?par->getLocalAxis(2):Vector3::VEC_K
};
Vector3 p=ancestors[id]->getPosition();
origin=origin+parAxis[0]*p.x+parAxis[1]*p.y+parAxis[2]*p.z;
ancestors.pop_back();
}
t.position=origin,t.orientation=orient,t.scale=scale;
return t;
return origin+axis[0]*localPos.x+axis[1]*localPos.y+axis[2]*localPos.z;
}
Vector3 Node::getLocalAxis(int i){
Transform t;
Vector3 pos=Vector3::VEC_ZERO,scale=Vector3::VEC_IJK;
Quaternion orient=Quaternion::QUAT_W;
Vector3 origin=Vector3::VEC_ZERO,axis[]={Vector3::VEC_I,Vector3::VEC_J,Vector3::VEC_K};
Vector3 Node::globalToLocalPosition(Vector3 globalPos){
Vector3 origin=globalPos;
vector<Node*> ancestors;
ancestors.push_back(this);
Node *parent=this->getParent();
while(parent){
ancestors.push_back(parent);
parent=parent->getParent();
}
while(!ancestors.empty()){
int id=ancestors.size()-1;
Quaternion o=ancestors[id]->getOrientation();
Vector3 p=ancestors[id]->getPosition(),s=ancestors[id]->getScale();
origin=origin+axis[0]*p.x*s.x+axis[1]*p.y*s.y+axis[2]*p.z*s.z;
orient=o*orient;
scale=s;
for(int i=0;i<3;i++)
axis[i]=orient*axis[i];
ancestors.pop_back();
int id=0;
Node *par=ancestors[id]->getParent();
Vector3 parAxis[]={
par?par->getLocalAxis(0):Vector3::VEC_I,
par?par->getLocalAxis(1):Vector3::VEC_J,
par?par->getLocalAxis(2):Vector3::VEC_K
};
Vector3 p=ancestors[id]->getPosition();
origin=origin-parAxis[0]*p.x-parAxis[1]*p.y-parAxis[2]*p.z;
ancestors.erase(ancestors.begin());
}
//return origin+axis[0]*localPos.x+axis[1]*localPos.y+axis[2]*localPos.z;
return origin;
}
Quaternion Node::localToGlobalOrientation(Quaternion localRot){
Quaternion origin=Quaternion::QUAT_W;
vector<Node*> ancestors;
ancestors.push_back(this);
Node *parent=this->getParent();
while(parent){
ancestors.push_back(parent);
parent=parent->getParent();
}
return axis[i];
while(!ancestors.empty()){
int id=ancestors.size()-1;
Quaternion o=ancestors[id]->getOrientation();
origin=o*origin;
ancestors.pop_back();
}
return localRot*origin;
}
Vector3 Node::localToGlobal(Vector3 p0){
Vector3 dir=getLocalAxis(2),up=getLocalAxis(1),left=getLocalAxis(0);
float **mat=new float*[3];
for(int i=0;i<3;i++)
mat[i]=new float[3];
Quaternion Node::globalToLocalOrientation(Quaternion globalRot){
Quaternion origin=globalRot;
vector<Node*> ancestors;
ancestors.push_back(this);
Node *parent=this->getParent();
mat[0][0]=left.x;
mat[1][0]=left.y;
mat[2][0]=left.z;
mat[0][1]=up.x;
mat[1][1]=up.y;
mat[2][1]=up.z;
mat[0][2]=dir.x;
mat[1][2]=dir.y;
mat[2][2]=dir.z;
while(parent){
ancestors.push_back(parent);
parent=parent->getParent();
}
Vector3 p=Matrix(mat,3,3)*p0;
for(int i=0;i<3;i++)
delete[] mat[i];
delete[] mat;
return p;
}
Vector3 Node::globalToLocal(Vector3 p0){
Vector3 dir=getLocalAxis(2),up=getLocalAxis(1),left=getLocalAxis(0);
float **mat=new float*[3];
for(int i=0;i<3;i++)
mat[i]=new float[3];
mat[0][0]=left.x;
mat[1][0]=left.y;
mat[2][0]=left.z;
mat[0][1]=up.x;
mat[1][1]=up.y;
mat[2][1]=up.z;
mat[0][2]=dir.x;
mat[1][2]=dir.y;
mat[2][2]=dir.z;
Matrix m(mat,3,3);
m.invert();
Vector3 p=m*p0;
for(int i=0;i<3;i++)
delete[] mat[i];
delete[] mat;
return p;
while(!ancestors.empty()){
int id=ancestors.size()-1;
Quaternion o=ancestors[id]->getOrientation();
origin=origin*Quaternion(-o.getAngle(),o.getAxis());
ancestors.pop_back();
}
return origin;
}
void Node::updateShaders(){
@@ -236,4 +267,9 @@ namespace vb01{
}
}
}
void Node::setOrientation(Quaternion q){
this->orientation=q;
updateLocalAxis();
}
}