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/*
When creating your project, uncheck OWL,
uncheck Class Library, select Static
instead of Dynamic and change the target
model to Console from GUI.
Also link glut.lib to your project once its done.
*/
#include <stdio.h> // Standard Header For Most Programs
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "glutil.h"
#include "fileutil.h"
#ifdef LINUX
#include <GL/freeglut.h>
#endif
// Required to set up a window
#define WIDTH 800
#define HEIGHT 600
#define FULLSCREEN 0
int keys[256]; // Regular keyboard keys
int sp_keys[256]; // Special keyboard keycodes (GLUT specific)
#define PI 3.1415926535897932386264
#define MOVESPEED 1.0
#define ROTSPEED 5.0
#define GRID_SIZE 6
#define GRID_MAJOR_STEP 3
#define GRID_MINOR_STEP 1
// Lighthouses
typedef struct Lhouse {
float x,y,z,qi,qj,qk,qreal; // position x,y,z and quaternion
} Lhouse;
Lhouse houseL, houseR;
// HmdSensor array
double hmdAngles[NUM_SWEEP][NUM_HMD];
static void HmdDir(double LX, double LY, double *pX, double *pY, double *pZ) {
// Normals for the two planes
double a = cos(LX); double b = 0.0; double c = -sin(LX); // X,Z plane
double A = 0.0; double B = cos(LY); double C = -sin(LY); // Y,Z plane
// double A=0.0; double B=1.0; double C=0.0;
printf("rotX %f rotY %f x,z plane normal %f %f %f y,z plane normal %f %f %f\n",
180/PI*LX,180/PI*LY, a,b,c, A,B,C);
// calculate the direction
double x = (b*C - B*c) / (B*a - A*b);
double y = (a*C - A*c) / (A*b - B*a);
double z = 1.0;
// Normalize
double len = sqrt(x*x + y*y + z*z);
x/=len; y/=len; z/=len;
printf(" xyz %f %f %f\n", x, y, z);
*pX=x; *pY=y; *pZ=z;
}
// View space
float posx=0.0f;
float posy=0.0f;
float posz=0.0f;
float rotx=0.0f;
float roty=0.0f;
float rotz=0.0f;
/*
* init() is called at program startup
*/
void init()
{
int i,j;
//void quatrotatevector( FLT * vec3out, const FLT * quat, const FLT * vec3in );
// Load the lighthouses
LoadLighthousePos("L.txt", &houseL.x,&houseL.y,&houseL.z,&houseL.qi,&houseL.qj,&houseL.qk,&houseL.qreal);
LoadLighthousePos("R.txt", &houseR.x,&houseR.y,&houseR.z,&houseR.qi,&houseR.qj,&houseR.qk,&houseR.qreal);
printf("L pos %f %f %f quat %f %f %f %f\n", houseL.x,houseL.y,houseL.z,houseL.qi,houseL.qj,houseL.qk,houseL.qreal);
printf("R pos %f %f %f quat %f %f %f %f\n", houseR.x,houseR.y,houseR.z,houseR.qi,houseR.qj,houseR.qk,houseR.qreal);
/*
// Load the bearing angles
LoadHmdProcessedDataAngles("processed_data.txt", hmdAngles);
*/
// Spawn the thread to read the hmt angles
memset(read_hmdAngleViewed, 0, NUM_HMD*NUM_SWEEP*sizeof(int));
read_mutex = OGCreateMutex();
for (i=0; i<NUM_HMD; i++) {
for (j=0; j<4; j++) {
read_hmdAngles[j][i] = -9999.0;
}
}
read_thread = OGCreateThread(ThreadReadHmtAngles,NULL);
for (i=0; i<NUM_HMD; i++) {
if (hmdAngles[0][i]!=-9999.0 && hmdAngles[1][i]!=-9999.0 && hmdAngles[2][i]!=-9999.0 && hmdAngles[3][i]!=-9999.0)
{
printf("hmd %d lx %f ly %f rx %f ry %f\n",
i,
(180.0/PI) * hmdAngles[SWEEP_LX][i],
(180.0/PI) * hmdAngles[SWEEP_LY][i],
(180.0/PI) * hmdAngles[SWEEP_RX][i],
(180.0/PI) * hmdAngles[SWEEP_RY][i]);
}
}
// Initialize OpenGL
glShadeModel(GL_SMOOTH); // Enable Smooth Shading
glClearColor(0.6f, 0.8f, 1.0f, 0.5f); // Black Background
glClearDepth(1.0f); // Depth Buffer Setup
glEnable(GL_DEPTH_TEST); // Enables Depth Testing
glDepthFunc(GL_LEQUAL); // The Type Of Depth Testing To Do
glEnable ( GL_COLOR_MATERIAL );
glDisable(GL_CULL_FACE);
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
}
/*
* draw() is called once every frame
*/
void draw()
{
int i,j;
//------------------------
// Check for keyboard input
//------------------------
if (keys['w'] || keys['W']) {
posz += MOVESPEED;
}
if (keys['s'] || keys['S']) {
posz -= MOVESPEED;
}
if (keys['a'] || keys['A']) {
roty += ROTSPEED;
}
if (keys['d'] || keys['D']) {
roty -= ROTSPEED;
}
if (keys[27]) {
exit(0);
}
//------------------------
// Update the scene
//------------------------
//------------------------
// Draw using OpenGL
//------------------------
// Clear the screen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear Screen And Depth Buffer
// Translate and rotate the camera
glLoadIdentity(); // Reset The Current Modelview Matrix
glTranslatef(-posx,-posy,posz); // Move Left 1.5 Units And Into The
glRotatef(-rotx, 1.0f, 0.0f, 0.0f);
glRotatef(-roty+90.0, 0.0f, 1.0f, 0.0f);
glRotatef(-rotz, 0.0f, 0.0f, 1.0f);
glScalef(1.0, 1.0, -1.0);
// printf("rot: %f %f %f pos: %f %f %f\n", rotx, roty, rotz, posx, posy, posz);
//-----------------
// Draw the grid
//-----------------
// glPointSize(1.0);
// glColor3f(0.5, 0.5, 0.5);
// DrawGrid(-GRID_SIZE, GRID_SIZE, -GRID_SIZE, GRID_SIZE, -GRID_SIZE, GRID_SIZE,
// GRID_MINOR_STEP, GRID_MINOR_STEP, GRID_MINOR_STEP);
glLineWidth(1.0);
glPointSize(4.0);
glColor3f(0.0, 0.0, 0.0);
DrawGrid(-GRID_SIZE, GRID_SIZE, -GRID_SIZE, GRID_SIZE, -GRID_SIZE, GRID_SIZE,
GRID_MAJOR_STEP, GRID_MAJOR_STEP, GRID_MAJOR_STEP);
//-----------------
// Plot the lighthouses
//-----------------
glLineWidth(2.0);
// Left lighthouse coordinate system
DrawCoordinateSystem(
houseL.x, houseL.y, houseL.z,
houseL.qi, houseL.qj, houseL.qk, houseL.qreal);
// Rightt lighthouse coordinate system
DrawCoordinateSystem(
houseR.x, houseR.y, houseR.z,
houseR.qi, houseR.qj, houseR.qk, houseR.qreal);
glPointSize(15.0);
glBegin(GL_POINTS);
// Left house in red
glColor3f(1,0,0);
glVertex3f(houseL.x, houseL.z, houseL.y);
// Green is the origin (hmd)
glColor3f(0,1,0);
glVertex3f(0,0,0);
// Right house in blue
glColor3f(0,0,1);
glVertex3f(houseR.x, houseR.z, houseR.y);
glEnd();
//-------------------
// Draw the bearing angles
//-------------------
// Read the hmd angles
OGLockMutex(read_mutex);
for (i=0; i<4; i++) {
for (j=0; j<NUM_HMD; j++) {
hmdAngles[i][j] = read_hmdAngles[i][j];
}
}
OGUnlockMutex(read_mutex);
// Draw the hmd bearing angles
glBegin(GL_LINES);
for (i=0; i<NUM_HMD; i++) {
const double dist=10.0;
// If the left lighthouse sees it
if (read_hmdAngleViewed[SWEEP_LX][i] >= read_frameno-6 &&
read_hmdAngleViewed[SWEEP_LY][i] >= read_frameno-6 &&
hmdAngles[SWEEP_LX][i]!=-9999.0 && hmdAngles[SWEEP_LY][i]!=-9999.0)
{
// Get the hmd bearings
double Ldx,Ldy,Ldz;
HmdDir(hmdAngles[SWEEP_LX][i], hmdAngles[SWEEP_LY][i], &Ldx, &Ldy, &Ldz);
// Rotate the bearings by the lighthouse orientation
FLT L0[3],L[3],Lq[4];
L0[0]=Ldx; L0[1]=Ldy; L0[2]=Ldz;
Lq[0]=houseL.qreal; Lq[1]=houseL.qi; Lq[2]=houseL.qj; Lq[3]=houseL.qk;
quatrotatevector(L, Lq, L0);
// Plot the lines
glVertex3f(houseL.x, houseL.z, houseL.y);
glVertex3f(houseL.x+dist*L[0], houseL.z+dist*L[2], houseL.y+dist*L[1]);
}
// If the left lighthouse sees it
if (read_hmdAngleViewed[SWEEP_RX][i] >= read_frameno-6 &&
read_hmdAngleViewed[SWEEP_RY][i] >= read_frameno-6 &&
hmdAngles[SWEEP_RX][i]!=-9999.0 && hmdAngles[SWEEP_RY][i]!=-9999.0)
{
// Get the hmd bearings
double Rdx,Rdy,Rdz;
HmdDir(hmdAngles[SWEEP_RX][i], hmdAngles[SWEEP_RY][i], &Rdx, &Rdy, &Rdz);
// Rotate the bearings by the lighthouse orientation
FLT R0[3],R[3],Rq[4];
R0[0]=Rdx; R0[1]=Rdy; R0[2]=Rdz;
Rq[0]=houseR.qreal; Rq[1]=houseR.qi; Rq[2]=houseR.qj; Rq[3]=houseR.qk;
quatrotatevector(R, Rq, R0);
// Plot the lines
glVertex3f(houseR.x, houseR.z, houseR.y);
glVertex3f(houseR.x+dist*R[0], houseR.z+dist*R[2], houseR.y+dist*R[1]);
}
}
glEnd();
read_frameno++;
//
// Draw the Terrain
//
glutSwapBuffers ( ); // Swap The Buffers To Not Be Left With A Clear Screen
}
/*
* resize() is called when we change the screen size
*/
void resize(int width, int height) // Resize And Initialize The GL Window
{
glViewport(0,0,width,height); // Reset The Current Viewport
glMatrixMode(GL_PROJECTION); // Select The Projection Matrix
glLoadIdentity(); // Reset The Projection Matrix
// Uncomment For a 3D perspective
gluPerspective(45.0f,(float)width/(float)height,0.1f,1000.0f);
// Uncomment for a 2D perspective
//glOrtho(0.0, WIDTH, 0.0, HEIGHT, -10.0, 10.0);
glMatrixMode(GL_MODELVIEW); // Select The Modelview Matrix
glLoadIdentity(); // Reset The Modelview Matrix
}
/*
* These functions are called whenever a key is pressed
*/
void keyboardDown ( unsigned char key, int x, int y ) // Create Keyboard Function
{
keys[key] = 1;
}
void keyboardUp ( unsigned char key, int x, int y )
{
keys[key] = 0;
}
void specialKeyDown ( int key, int x, int y ) // Create Special Function (required for arrow keys)
{
if (key<256) {
sp_keys[key] = 1;
}
}
void specialKeyUp (int key, int x, int y)
{
if (key<256) {
sp_keys[key] = 0;
}
}
int main ( int argc, char** argv ) // Create Main Function For Bringing It All Together
{
glutInit ( &argc, argv ); // Erm Just Write It =)
glutInitDisplayMode ( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE ); // Display Mode
glutInitWindowSize ( WIDTH, HEIGHT ); // If glutFullScreen wasn't called this is the window size
glutCreateWindow ( "OpenGL" ); // Window Title (argv[0] for current directory as title)
if (FULLSCREEN) {
glutFullScreen ( ); // Put Into Full Screen
}
glutDisplayFunc ( draw ); // Matching Earlier Functions To Their Counterparts
glutIdleFunc ( draw );
glutReshapeFunc ( resize );
glutKeyboardFunc ( keyboardDown );
glutKeyboardUpFunc ( keyboardUp );
glutSpecialFunc ( specialKeyDown );
glutSpecialUpFunc ( specialKeyUp );
init ();
glutMainLoop ( ); // Initialize The Main Loop
return 0;
}
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