// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 2
// of the License, or (at your option) any later version.
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
// Copyright 2007, Daniel Fontijne, University of Amsterdam -- fontijne@science.uva.nl
#ifdef WIN32
#include <windows.h>
#endif
#include <GL/gl.h>
#include <GL/glut.h>
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <vector>
#include <libgasandbox/c3ga.h>
#include <libgasandbox/c3ga_draw.h>
#include <libgasandbox/c3ga_util.h>
#include <libgasandbox/gl_util.h>
#include <libgasandbox/glut_util.h>
#include <libgasandbox/timing.h>
using namespace c3ga;
using namespace mv_draw;
const char *WINDOW_TITLE = "Geometric Algebra, Chapter 13, Example 2: The Distance Between Points (SOLUTION)";
// GLUT state information
int g_viewportWidth = 800;
int g_viewportHeight = 600;
//int g_GLUTmenu;
// mouse position on last call to MouseButton() / MouseMotion()
c3ga::vectorE3GA g_prevMousePos;
// when true, MouseMotion() will rotate the model
bool g_rotateModel = false;
bool g_rotateModelOutOfPlane = false;
// what point to drag (or -1 for none)
int g_dragPoint = -1;
float g_dragDistance = 12.0f;
// rotation of the model
c3ga::rotor g_modelRotor(_rotor(1.0f));
// the points:
std::vector<normalizedPoint> g_points;
void display() {
doIntelWarning(); // warn for possible problems with pciking on Intel graphics chipsets
// setup projection & transform for the vectors:
glViewport(0, 0, g_viewportWidth, g_viewportHeight);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glMatrixMode(GL_PROJECTION);
const float screenWidth = 1600.0f;
glLoadIdentity();
pickLoadMatrix();
GLpick::g_frustumWidth = 2.0 * (double)g_viewportWidth / screenWidth;
GLpick::g_frustumHeight = 2.0 * (double)g_viewportHeight / screenWidth;
glFrustum(
-GLpick::g_frustumWidth / 2.0, GLpick::g_frustumWidth / 2.0,
-GLpick::g_frustumHeight / 2.0, GLpick::g_frustumHeight / 2.0,
GLpick::g_frustumNear, GLpick::g_frustumFar);
glMatrixMode(GL_MODELVIEW);
glTranslatef(0.0f, 0.0f, -10.0f);
glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glPolygonMode(GL_FRONT, GL_FILL);
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_NORMALIZE);
glLineWidth(2.0f);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
rotorGLMult(g_modelRotor);
// we collect labels string and positions here
std::vector<std::string> labelString;
std::vector<vectorE2GA> labelPos;
// draw the points
glColor3fm(1.0f, 0.0f, 0.0f);
g_drawState.m_pointSize = 0.1f;
for (unsigned int i = 0; i < g_points.size(); i++) {
if (GLpick::g_pickActive) glLoadName(i);
draw(g_points[i]);
}
if (!GLpick::g_pickActive) {
// draw lines between points, remember positions for labels
glDisable(GL_LIGHTING);
glColor3f(0.0, 1.0, 0.0);
for (unsigned int i = 0; i < g_points.size(); i++) {
const normalizedPoint &pt1 = g_points[i];
for (unsigned int j = i+1; j < g_points.size(); j++) {
const normalizedPoint &pt2 = g_points[j];
// draw the line:
glBegin(GL_LINES);
glVertex3f(pt1.e1(), pt1.e2(), pt1.e3());
glVertex3f(pt2.e1(), pt2.e2(), pt2.e3());
glEnd();
// SPOILER WARNING: the solution to Chapter 13 Exercise 2 is right below
// Compute distance:
// We use fabs() because (due to FP round off error), it is possible that (pt1 << pt2 > 0)
// So in principle, the -2.0f could be just 2.0f (without the minus).
float distance = sqrt(fabs(-2.0f * _Float(pt1 << pt2)));
// create the label:
char buf[256];
sprintf(buf, "%2.2f", distance);
labelString.push_back(buf);
// get label position:
mv::Float ptViewport[2];
viewportCoordinates( _vectorE3GA(0.5f * (pt1 + pt2)).getC(vectorE3GA_e1_e2_e3), ptViewport);
labelPos.push_back(vectorE2GA(vectorE2GA_e1_e2, ptViewport));
}
}
}
glPopMatrix();
if (!GLpick::g_pickActive) {
glViewport(0, 0, g_viewportWidth, g_viewportHeight);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, g_viewportWidth, 0, g_viewportHeight, -100.0, 100.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glDisable(GL_LIGHTING);
void *font = GLUT_BITMAP_HELVETICA_12;
// draw the labels:
glColor3f(0.0f, 0.0f, 0.0f);
for (unsigned int i = 0; i < labelPos.size(); i++) {
renderBitmapString(labelPos[i].e1(), labelPos[i].e2(), font, labelString[i].c_str());
}
// draw UI description
glColor3f(0.0f, 0.0f, 0.0f);
renderBitmapString(20, 20, font, "Use the left mouse button to manipulate the scene, and to orbit it.");
}
if (!GLpick::g_pickActive) {
glutSwapBuffers();
}
}
void reshape(GLint width, GLint height) {
g_viewportWidth = width;
g_viewportHeight = height;
// redraw viewport
glutPostRedisplay();
}
c3ga::vectorE3GA vectorAtDepth(double depth, const c3ga::vectorE3GA &v2d) {
if ((GLpick::g_frustumWidth <= 0) || (GLpick::g_frustumHeight <= 0) ||
(GLpick::g_frustumNear <= 0) || (GLpick::g_frustumFar <= 0)) {
return c3ga::vectorE3GA();
}
return _vectorE3GA((depth * (double)v2d.e1() * GLpick::g_frustumWidth) / (g_viewportWidth * GLpick::g_frustumNear) * e1 +
(depth * (double)v2d.e2() * GLpick::g_frustumHeight) / (g_viewportHeight * GLpick::g_frustumNear) * e2);
}
c3ga::vectorE3GA mousePosToVector(int x, int y) {
x -= g_viewportWidth / 2;
y -= g_viewportHeight / 2;
return _vectorE3GA((float)x * e1 - (float)y * e2);
}
void MouseButton(int button, int state, int x, int y) {
g_rotateModel = false;
g_prevMousePos = mousePosToVector(x, y);
g_dragPoint = pick(x, g_viewportHeight - y, display, &g_dragDistance);
g_rotateModel = (g_dragPoint < 0);
if (g_rotateModel) {
c3ga::vectorE3GA mousePos = mousePosToVector(x, y);
g_rotateModel = true;
if ((_Float(norm_e(mousePos)) / _Float(norm_e(g_viewportWidth * e1 + g_viewportHeight * e2))) < 0.2)
g_rotateModelOutOfPlane = true;
else g_rotateModelOutOfPlane = false;
}
// redraw viewport
glutPostRedisplay();
}
void MouseMotion(int x, int y) {
// get mouse position, motion
c3ga::vectorE3GA mousePos = mousePosToVector(x, y);
c3ga::vectorE3GA motion = _vectorE3GA(mousePos - g_prevMousePos);
if (g_rotateModel) {
// update rotor
if (g_rotateModelOutOfPlane)
g_modelRotor = _rotor(c3ga::exp(0.005f * (motion ^ c3ga::e3)) * g_modelRotor);
else g_modelRotor = _rotor(c3ga::exp(0.00001f * (motion ^ mousePos)) * g_modelRotor);
}
else if (g_dragPoint >= 0) {
// translate point
c3ga::vectorE3GA t = _vectorE3GA(inverse(g_modelRotor) * vectorAtDepth(g_dragDistance, motion) * g_modelRotor);
normalizedTranslator T = _normalizedTranslator(1.0f - (0.5f * t ^ ni));
g_points[g_dragPoint] = c3gaPoint(_vectorE3GA(T * g_points[g_dragPoint] * inverse(T))); // note hack due to 32 bit FP inprecision
}
// remember mouse pos for next motion:
g_prevMousePos = mousePos;
// redraw viewport
glutPostRedisplay();
}
int main(int argc, char*argv[]) {
// profiling for Gaigen 2:
c3ga::g2Profiling::init();
// GLUT Window Initialization:
glutInit (&argc, argv);
glutInitWindowSize(g_viewportWidth, g_viewportHeight);
glutInitDisplayMode( GLUT_RGB | GLUT_ALPHA | GLUT_DOUBLE | GLUT_DEPTH);
glutCreateWindow(WINDOW_TITLE);
// Register callbacks:
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutMouseFunc(MouseButton);
glutMotionFunc(MouseMotion);
// create the initial points
g_points.push_back(c3gaPoint(3.759879f, -1.404804f, 0.000000f));
g_points.push_back(c3gaPoint(1.242272f, 2.631137f, 0.000000f));
g_points.push_back(c3gaPoint(1.476579f, -2.886040f, 1.000000f));
g_points.push_back(c3gaPoint(-3.424791f, 1.417571f, 0.000000f));
g_points.push_back(c3gaPoint(-1.646863f, -1.932975f, 0.000000f));
glutMainLoop();
return 0;
}