Author: kpark

lab9-GeometryPositionColorOrientation

 

// Yaw/Pitch/Roll -> Rotation Matrix

glm::yawPitchRoll(yaw, pitch, roll) ;

float yaw,   // by y-axis (in radians)

float pitch,   // by x-axis (in radians)

float roll  // by z-axis (in radians)

 

//R1 != R2

glm::mat4 R1, R2, Rx, Ry, Rz;

Ry = glm::rotate(glm::mat4(1), 60, glm::vec3(0, 1, 0));

Rx = glm::rotate(glm::mat4(1), 30, glm::vec3(1, 0, 0));

Rz = glm::rotate(glm::mat4(1), 45, glm::vec3(0, 0, 1));

R1 = Ry * Rx * Rz;

R2 = glm::yawPitchRoll(60, 30, 45);

 

lab8-GeometryPositionColorHierachicalTransformation

-Simple Car (c-key)

-Solar System (s-key)

-Robot (r-key)

-Mobile (m-key)

-Geo (g-key)

 

Lab7-GeometryPositionColorSimpleCar (using Transformation matrix)

lab7-GeometryPositionColorSimpleCar

SimpleCar::SimpleCar()
{
angle = 0.0f; // 0~360
direction = 1.0f; // +/-1
position = glm::vec3(-3.0f, 0.0f, 0.0f);

init();
}

void SimpleCar::init()
{
body = Parallelepiped(glm::vec3(-1.0f, 0.0f, -1.0f), glm::vec3(2.0f, 0.0f, 0.0f), glm::vec3(0.0f, 0.0f, 2.0f), glm::vec3(0.0f, 1.0f, 0.0f));
body.setColor(glm::vec3(0.0f, 1.0f, 0.0f));
wheel[0] = Torus(glm::vec3(0.0f, 0.0f, .0f), 0.3f, 0.1f, 32, 16);
wheel[0].setColor(glm::vec3(1.0f, 0.0f, 0.0f));
wheel[1] = Torus(glm::vec3(0.0f, 0.0f, .0f), 0.3f, 0.1f, 32, 16);
wheel[1].setColor(glm::vec3(0.0f, 0.0f, 1.0f));

bodyTransform = glm::translate(glm::mat4(1.0f), position); // RHS x+ right
wheelTransform[0] = glm::translate(glm::mat4(1.0f), glm::vec3(-0.5f, 0.0f, -0.5f)) * glm::rotate(glm::mat4(1.0f), angle, glm::vec3(0.0f, 0.0f, 1.0f));
wheelTransform[1] = glm::translate(glm::mat4(1.0f), glm::vec3(-0.5f, 0.0f, 0.5f)) * glm::rotate(glm::mat4(1.0f), angle, glm::vec3(0.0f, 0.0f, 1.0f));
wheelTransform[2] = glm::translate(glm::mat4(1.0f), glm::vec3(0.5f, 0.0f, -0.5f)) * glm::rotate(glm::mat4(1.0f), angle, glm::vec3(0.0f, 0.0f, 1.0f));
wheelTransform[3] = glm::translate(glm::mat4(1.0f), glm::vec3(0.5f, 0.0f, 0.5f)) * glm::rotate(glm::mat4(1.0f), angle, glm::vec3(0.0f, 0.0f, 1.0f));
}

void SimpleCar::draw(Program* p, glm::mat4& projection, glm::mat4& view, glm::mat4& model)
{
p->useProgram();
p->setUniform(“gProjection”, projection);
p->setUniform(“gView”, view);

glm::mat4 carMatrix = model * bodyTransform;
p->setUniform(“gModel”, carMatrix);
body.draw();

glm::mat4 wheelMatrix = model * bodyTransform * wheelTransform[0];
p->setUniform(“gModel”, wheelMatrix);
wheel[0].draw();

wheelMatrix = model * bodyTransform * wheelTransform[1];
p->setUniform(“gModel”, wheelMatrix);
wheel[0].draw();

wheelMatrix = model * bodyTransform * wheelTransform[2];
p->setUniform(“gModel”, wheelMatrix);
wheel[1].draw();

wheelMatrix = model * bodyTransform * wheelTransform[3];
p->setUniform(“gModel”, wheelMatrix);
wheel[1].draw();
}

bool SimpleCar::update(float deltaTime)
{
angle = angle – 180.0f * (float) (deltaTime) * 0.001f * direction;
position[0] = position[0] + (float) (deltaTime) * 0.001f * direction;

//std::cout << “position[0]=” << position[0] << std::endl;
if (position[0] * direction > 3)
direction = -direction;

bodyTransform = glm::translate(glm::mat4(1.0f), position); // RHS x+ right
wheelTransform[0] = glm::translate(glm::mat4(1.0f), glm::vec3(-0.5f, 0.0f, -0.5f)) * glm::rotate(glm::mat4(1.0f), angle, glm::vec3(0.0f, 0.0f, 1.0f));
wheelTransform[1] = glm::translate(glm::mat4(1.0f), glm::vec3(-0.5f, 0.0f, 0.5f)) * glm::rotate(glm::mat4(1.0f), angle, glm::vec3(0.0f, 0.0f, 1.0f));
wheelTransform[2] = glm::translate(glm::mat4(1.0f), glm::vec3( 0.5f, 0.0f, -0.5f)) * glm::rotate(glm::mat4(1.0f), angle, glm::vec3(0.0f, 0.0f, 1.0f));
wheelTransform[3] = glm::translate(glm::mat4(1.0f), glm::vec3( 0.5f, 0.0f, 0.5f)) * glm::rotate(glm::mat4(1.0f), angle, glm::vec3(0.0f, 0.0f, 1.0f));

return true;
}