/* screenrotate.c This program illustrates a technique for rotating an object about a fixed set of axes (screen axes x, y, and z). Use the numeric keypad to rotate the image. It also demonstrates a technique for doing backface elimination depending upon the visual relationship between the eye point and a six-sided cube. NOTE: If compiled with the "define" flag as "-DBACKFACE" the graphics library function backface() will replace the code ensuing from the function norm_dot and beyond. */
#include <gl/gl.h> #include <gl/device.h> #include <math.h>
Coord ident [4][4] = {
1.0, 0.0, 0.0, 0.0, /* identity matrix */
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0};
static Coord cm [4][4] = {
1.0, 0.0, 0.0, 0.0, /* cumulative matrix */
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0};
/* Define the sides of the cube in world coordinates. */
static Coord pfrnt[4][3] = {
{ 0.0, 0.0, 0.0},
{ 100.0, 0.0, 0.0},
{ 100.0, 100.0, 0.0},
{ 0.0, 100.0, 0.0}
};
static Coord pback[4][3] = {
{ 0.0, 0.0, -100.0},
{ 0.0, 100.0, -100.0},
{ 100.0, 100.0, -100.0},
{ 100.0, 0.0, -100.0}
};
static Coord ptop[4][3] = {
{ 0.0, 100.0, 0.0},
{ 100.0, 100.0, 0.0},
{ 100.0, 100.0, -100.0},
{ 0.0, 100.0, -100.0}
};
static Coord pbot[4][3] = {
{ 0.0, 0.0, 0.0},
{ 0.0, 0.0, -100.0},
{ 100.0, 0.0, -100.0},
{ 100.0, 0.0, 0.0}
};
static Coord prsid[4][3] = {
{ 100.0, 0.0, 0.0},
{ 100.0, 0.0, -100.0},
{ 100.0, 100.0, -100.0},
{ 100.0, 100.0, 0.0}
};
static Coord plsid[4][3] = {
{ 0.0, 0.0, 0.0},
{ 0.0, 100.0, 0.0},
{ 0.0, 100.0, -100.0},
{ 0.0, 0.0, -100.0}
};
Coord x, y, z; Angle rx, ry, rz; float norm_dot();
main()
{
int i, j; long dev; short data;
/* initialize and set the display to double buffer mode */
prefposition(XMAXSCREEN/4,XMAXSCREEN*3/4,YMAXSCREEN/4, YMAXSCREEN*3/4);
#ifdef BACKFACE
winopen("screeen rotation (backface)");
#else
winopen("screeen rotation");
#endif
doublebuffer(); gconfig(); writemask((1<<getplanes())-1); qdevice(PAD1); /* translate (in Z) toward the eyepoint */ qdevice(PAD2); /* rotate about the X axis in a negative direction */ qdevice(PAD3); /* translate (in Z) away from the eyepoint */ qdevice(PAD4); /* rotate about the Y axis in a positive direction */ qdevice(PAD5); /* reset rotations and translations to default */ qdevice(PAD6); /* rotate about the Y axis in a negative direction */ qdevice(PAD7); /* rotate about the Z axis in a positive direction */ qdevice(PAD8); /* rotate about the X axis in a positive direction */ qdevice(PAD9); /* rotate about the Z axis in a negative direction */ qdevice(FKEY); /* translate (in Z) toward the eyepoint */ qdevice(BKEY); /* translate (in Z) away from the eyepoint */ qdevice(ESCKEY); /* exit program */
#ifdef BACKFACE /* compile with "-DBACKFACE" if you desire to use GL's */ backface(TRUE); #endif
perspective(470,1.25,1.0,10000.0); /* initialize the modeling transformation values */ rx = 0; ry = 0; rz = 0; x = -50.0; y = -50.0; z = -400.0;
/* set up the loop for reading input and drawing the cube */
while(TRUE) {
color(BLACK);
clear();
viewcube();
/* read the input for moving the box around the eye point */
while (qtest()) {
dev = qread(&data);
switch (dev) {
case REDRAW: /* redraw event */
reshapeviewport();
viewcube('t');
break;
case(ESCKEY): /* exit program */
gexit();
exit(0);
break;
case(FKEY): /* translate toward the eyepoint */
case(PAD1):
while(getbutton(FKEY) || getbutton(PAD1)) {
z = z + 20.0;
viewcube('t');
}
break;
case(BKEY): /* translate away from the eyepoint */
case(PAD3):
while(getbutton(BKEY) || getbutton(PAD3)) {
z = z - 20.0;
viewcube('t');
}
break;
case(PAD2):
while(getbutton(PAD2)) { /* rotate about the X axis */
rx = rx - 100;
viewcube('x');
}
updatemat('x'); /* incorporate this rotation into */
rx = 0; /* cumulative rotation matrix */
break;
case(PAD4):
while(getbutton(PAD4)) { /* rotate about the Y axis */
ry = ry + 100;
viewcube('y');
}
updatemat('y'); /* incorporate this rotation into */
ry = 0; /* cumulative rotation matrix */
break;
case(PAD6):
while(getbutton(PAD6)) { /* rotate about the Y axis */
ry = ry - 100;
viewcube('y');
}
updatemat('y'); /* incorporate this rotation into */
ry = 0; /* cumulative rotation matrix */
break;
case(PAD7):
while(getbutton(PAD7)) { /* rotate about the Z axis */
rz = rz + 100;
viewcube('z');
}
updatemat('z'); /* incorporate this rotation into */
rz = 0; /* cumulative rotation matrix */
break;
case(PAD8):
while(getbutton(PAD8)) { /* rotate about the X axis */
rx = rx + 100;
viewcube('x');
}
updatemat('x'); /* incorporate this rotation into */
rx = 0; /* cumulative rotation matrix */
break;
case(PAD9):
while(getbutton(PAD9)) { /* rotate about the Z axis */
rz = rz - 100;
viewcube('z');
}
updatemat('z'); /* incorporate this rotation into */
rz = 0; /* cumulative rotation matrix */
break;
case(PAD5): /* reset rotations & translations */
x = -50.0;
y = -50.0;
z = -400.0;
rx = 0;
ry = 0;
rz = 0;
for(i=0;i<4;i++) {
for(j=0;j<4;j++)
cm[i][j] = ident[i][j];
}
viewcube('t');
break;
} /* end switch */
qreset(); } /* end while(qtest()) */ } /* end while(1) */
} /* end of main */
viewcube(axis)
char axis;
{
/* Transform the cube in world space and (if BACKFACE not
defined, in software, ) check each face for back face
elimination
*/
color(BLACK);
clear();
pushmatrix();
translate(x,y,z);
pushmatrix();
translate(50.0,50.0,-50.0); /* apply rotation about a single axis */
switch(axis) {
case('x'):
rotate(rx,'x');
break;
case('y'):
rotate(ry,'y');
break;
case('z'):
rotate(rz,'z');
break;
default:
break;
} /* apply all prior rotations */
multmatrix(cm); translate(-50.0,-50.0,50.0);
#ifdef BACKFACE /* compile with "-DBACKFACE" if you desire to use GL's version */ color(1); polf(4,pfrnt); color(2); polf(4,pback); color(3); polf(4,ptop); color(4); polf(4,pbot); color(5); polf(4,prsid); color(6); polf(4,plsid); #else color(1); if(norm_dot(pfrnt) >= 0.0) polf(4,pfrnt); color(2); if(norm_dot(pback) >= 0.0) polf(4,pback); color(3); if(norm_dot(ptop) >= 0.0) polf(4,ptop); color(4); if(norm_dot(pbot) >= 0.0) polf(4,pbot); color(5); if(norm_dot(prsid) >= 0.0) polf(4,prsid); color(6); if(norm_dot(plsid) >= 0.0) polf(4,plsid); #endif
popmatrix(); popmatrix(); swapbuffers();
}
/*
* Function to postmultiply cumulative rotations
* by rotation about a single axis
*/
updatemat(axis)
char axis;
{
pushmatrix();
loadmatrix(ident);
switch (axis) {
case ('x'):
rotate(rx,'x');
break;
case ('y'):
rotate(ry,'y');
break;
case ('z'):
rotate(rz,'z');
break;
default:
break;
}
multmatrix(cm); getmatrix(cm); popmatrix();
}
/*
The function norm_dot takes as input an array of points in
homogeneous coordinates which make up a surface or plane. The
unit normal of the surface and the eyepoint to surface unit
vector are computed and the dot product is calculated. This
function returns the dot product floating point value and the
transformed points for the surface.
*/
float norm_dot(passpoly)
Coord passpoly[][3];
{
int i; float a[3],b[3],c[3],d,abs; Coord postrans [4][3];
/* Apply the current transformation to the surface points. */ transform(4,passpoly,postrans);
/* Determine two vectors which lie in the specified plane. * The first three points are taken from the surface array. * These points are ordered by the right-hand rule in the * right-hand coordinate system: i.e. points ordered counter- * clockwise when on the positive side of the plane or surface * are visible, not backfacing, surfaces. * a[] gets the xyz coords of row 2 * b[] gets the xyz coords of row 0. */
/* Determine two vectors. Note that this routine assumes they * are not in-line */
for(i = 0; i < 3; i++) a[i] = postrans[2][i] - postrans[1][i]; for(i = 0; i < 3; i++) b[i] = postrans[0][i] - postrans[1][i];
/* Find the cross product of the two vectors */ c[0] = a[1] * b[2] - a[2] * b[1]; c[1] = a[2] * b[0] - a[0] * b[2]; c[2] = a[0] * b[1] - a[1] * b[0];
/* Calculate the unit normal vector for the plane or poly * using the square root of the sum of the squares of x, y, * and z to determine length of vector, then dividing each * axis by that length (x/l, y/l, z/l). */
abs = 0.0;
for (i = 0; i < 3; i++)
abs += (c[i]*c[i]);
d = sqrt(abs);
if (fabs(d) > 0.000001) {
for (i = 0; i < 3; i++)
a[i] = c[i]/d;
/* Calculate the unit vector pointing from the eyepoint to
* the normal of the plane or poly */
abs = 0.0;
for (i = 0; i < 3; i++)
c[i] = postrans[1][i];
for (i = 0; i < 3; i++)
abs = abs + (c[i]*c[i]);
d = sqrt(abs);
if (fabs(d) > 0.000001) {
for (i = 0; i < 3; i++)
b[i] = c[i]/d;
/* Return the dot product between the eye vector and the
* plane normal */
for (i = 0, d=0.0; i < 3; i++)
d = d + a[i]*b[i];
}
else
printf("\n Magnitude of surface vector is zero!");
}
else
printf("\n Magnitude of eye vector is zero!");
return(d);
}
/* The function transform() simply multiplies each vertex point * with the current transformtion matrix without any clipping, * scaling, etc. to derive transformed world coordinate values. */
transform(n,passpoly,postrans)
long n;
Coord passpoly[][3], postrans[][3];
{
Matrix ctm;
pushmatrix();
getmatrix(ctm);
postrans[0][0] = passpoly[0][0]*ctm[0][0] + passpoly[0][1]*ctm[1][0] + passpoly[0][2]*ctm[2][0] + ctm[3][0]; postrans[0][1] = passpoly[0][0]*ctm[0][1] + passpoly[0][1]*ctm[1][1] + passpoly[0][2]*ctm[2][1] + ctm[3][1]; postrans[0][2] = passpoly[0][0]*ctm[0][2] + passpoly[0][1]*ctm[1][2] + passpoly[0][2]*ctm[2][2] + ctm[3][2];
postrans[1][0] = passpoly[1][0]*ctm[0][0] + passpoly[1][1]*ctm[1][0] + passpoly[1][2]*ctm[2][0] + ctm[3][0]; postrans[1][1] = passpoly[1][0]*ctm[0][1] + passpoly[1][1]*ctm[1][1] + passpoly[1][2]*ctm[2][1] + ctm[3][1]; postrans[1][2] = passpoly[1][0]*ctm[0][2] + passpoly[1][1]*ctm[1][2] + passpoly[1][2]*ctm[2][2] + ctm[3][2];
postrans[2][0] = passpoly[2][0]*ctm[0][0] + passpoly[2][1]*ctm[1][0] + passpoly[2][2]*ctm[2][0] + ctm[3][0]; postrans[2][1] = passpoly[2][0]*ctm[0][1] + passpoly[2][1]*ctm[1][1] + passpoly[2][2]*ctm[2][1] + ctm[3][1]; postrans[2][2] = passpoly[2][0]*ctm[0][2] + passpoly[2][1]*ctm[1][2] + passpoly[2][2]*ctm[2][2] + ctm[3][2]; postrans[3][0] = passpoly[3][0]*ctm[0][0] + passpoly[3][1]*ctm[1][0] + passpoly[3][2]*ctm[2][0] + ctm[3][0]; postrans[3][1] = passpoly[3][0]*ctm[0][1] + passpoly[3][1]*ctm[1][1] + passpoly[3][2]*ctm[2][1] + ctm[3][1]; postrans[3][2] = passpoly[3][0]*ctm[0][2] + passpoly[3][1]*ctm[1][2] + passpoly[3][2]*ctm[2][2] + ctm[3][2];
popmatrix(); }
/*
Changes:
- changed the name of the window acccording to the
#ifdef BACKFACE
*/
The getbutton subroutine, getmatrix subroutine, getplanes subroutine, gexit subroutine, qdevice subroutine, qenter subroutine, qread subroutine, qreset subroutine, qtest subroutine, reshapeviewport subroutine.