diff --git a/src/gfx/include/gfx/control.hpp b/src/gfx/include/gfx/control.hpp
index 13d5dc97d0a0ce68d98862b8ce21eac5c13cf23e..515f0b4e56b2af573ce17ce81071c70c4209ab56 100644
--- a/src/gfx/include/gfx/control.hpp
+++ b/src/gfx/include/gfx/control.hpp
@@ -25,7 +25,7 @@ public:
void setFrame(std::shared_ptr<Frame> frame) { bound_frame = frame; }
virtual glm::vec3 getFrontVec() const { return -bound_frame->getRotationAxisZ(); }
- virtual glm::vec3 getUpVec() const { return glm::vec3(0.0f, 1.0f, 0.0f); }
+ virtual glm::vec3 getUpVec() const { return bound_frame->getRotationAxisY(); }
// virtual void setUpVec();
void setStep(float dt);
diff --git a/src/gfx/include/gfx/frame.hpp b/src/gfx/include/gfx/frame.hpp
index 58cd06e4624e8abc32c206b9621ca5735854493f..9c597ae88b16f344b052445d88ff18b2217388f6 100644
--- a/src/gfx/include/gfx/frame.hpp
+++ b/src/gfx/include/gfx/frame.hpp
@@ -29,9 +29,9 @@ public:
glm::quat getRotation() const { return rotationQuat; }
glm::vec3 getScale() const { return scaleVec; }
- glm::vec3 getRotationAxisX() const { return glm::column(glm::toMat3(rotationQuat), 0); }
- glm::vec3 getRotationAxisY() const { return glm::column(glm::toMat3(rotationQuat), 1); }
- glm::vec3 getRotationAxisZ() const { return glm::column(glm::toMat3(rotationQuat), 2); }
+ glm::vec3 getRotationAxisX() const { return glm::normalize(glm::column(glm::toMat3(rotationQuat), 0)); }
+ glm::vec3 getRotationAxisY() const { return glm::normalize(glm::column(glm::toMat3(rotationQuat), 1)); }
+ glm::vec3 getRotationAxisZ() const { return glm::normalize(glm::column(glm::toMat3(rotationQuat), 2)); }
glm::mat4 getTranslationMat() const { return glm::translate(glm::mat4(1.0f), positionVec); }
glm::mat4 getRotationMat() const { return glm::toMat4(rotationQuat); }
@@ -42,11 +42,13 @@ public:
void setPosVec(glm::vec3 new_position) { positionVec = new_position; }
void translatePosVec(glm::vec3 direction) { positionVec += direction; }
- void setRotationQuat(glm::vec3 new_rotation) { rotationQuat = glm::tquat(glm::radians(new_rotation)); }
- void setRotationQuat(glm::quat new_rotation) { rotationQuat = new_rotation; }
- void rotateRotationQuat(glm::vec3 rotation) { rotationQuat *= glm::tquat(glm::radians(rotation)); }
- void rotateRotationQuat(glm::quat rotation) { rotationQuat *= rotation; }
+ void setRotationQuat(glm::vec3 new_rotation) { rotationQuat = glm::normalize(glm::tquat(glm::radians(new_rotation))); normalizeQuat(); }
+ void setRotationQuat(glm::quat new_rotation) { rotationQuat = glm::normalize(new_rotation); normalizeQuat(); }
+ void rotateRotationQuat(glm::vec3 rotation) { rotationQuat *= glm::normalize(glm::tquat(glm::radians(rotation))); normalizeQuat(); }
+ void rotateRotationQuat(glm::quat rotation) { rotationQuat *= glm::normalize(rotation); normalizeQuat(); }
void setScale(glm::vec3 new_scale) { scaleVec = new_scale; }
+
+ void normalizeQuat() { rotationQuat = glm::normalize(rotationQuat); }
};
#endif
\ No newline at end of file
diff --git a/src/gfx/include/gfx/light.hpp b/src/gfx/include/gfx/light.hpp
index 5eacac227f52b0709e9f8b1e2a32a27bcde1234a..4696f2cb5ac4d1c999aa76b71b4c9312e3d0ee0b 100644
--- a/src/gfx/include/gfx/light.hpp
+++ b/src/gfx/include/gfx/light.hpp
@@ -5,19 +5,27 @@
#include <glm/glm.hpp>
#include <gfx/frame.hpp>
+#include <gfx/node.hpp>
#include <gfx/objectbase.hpp>
+using frame_ptr = std::shared_ptr<Frame>;
+using frame_weak_ptr = std::weak_ptr<Frame>;
+
class Light : public ObjectBase
{
protected:
glm::vec3 color;
- Frame frame;
+ frame_weak_ptr frame;
public:
- Light(glm::vec3 _color, glm::vec3 _pos) : color{_color}, frame{_pos} {}
+ Light(glm::vec3 _color, frame_ptr _pos) : color{_color}, frame{_pos} {}
glm::vec3 getColor() { return color; }
- virtual glm::vec3 getPosition() const { return frame.getPosition(); }
- virtual glm::vec3 getDirection() const { return frame.getPosition(); }
+ virtual glm::vec3 getPosition() const
+ {
+ frame_ptr f = frame.lock();
+ return f->getPosition();
+ }
+ virtual glm::vec3 getDirection() const { return getPosition(); }
virtual ~Light() = default;
};
diff --git a/src/gfx/include/gfx/node.hpp b/src/gfx/include/gfx/node.hpp
index 10c8b1ad1f92f2ef3e4dc0a838df75f714fe4a24..e012dfd93b24ead11597d3df5eedc3c8f387189a 100644
--- a/src/gfx/include/gfx/node.hpp
+++ b/src/gfx/include/gfx/node.hpp
@@ -9,29 +9,33 @@
using objectbase_ptr = std::shared_ptr<ObjectBase>;
using frame_ptr = std::shared_ptr<Frame>;
+class Node;
+
+using parent_weak_ptr = std::weak_ptr<Node>;
+
class Node
{
using node_ptr = std::shared_ptr<Node>;
frame_ptr frame;
std::vector<node_ptr> children;
- Node* parent;
+ parent_weak_ptr parent;
std::vector<objectbase_ptr> objects;
public:
- Node(frame_ptr _frame, Node* _parent = nullptr, std::vector<node_ptr> _children = {})
+ Node(frame_ptr _frame, parent_weak_ptr _parent = std::weak_ptr<Node>(), std::vector<node_ptr> _children = {})
: frame{_frame}, parent{_parent}, children{_children} {}
frame_ptr getFrame() { return frame; }
std::vector<node_ptr> &getChildren() { return children; }
- Node* getParent() { return parent; }
+ parent_weak_ptr getParent() { return parent; }
std::vector<objectbase_ptr> &getObjects() { return objects; };
void setFrame(frame_ptr _frame) { frame = _frame; }
void addChild(Node child) { children.emplace_back(std::make_shared<Node>(child)); }
void addChild(node_ptr child) { children.emplace_back(child); }
// void setChildren(std::vector<node_ptr> _children) { children = _children; }
- void setParent(Node* _parent) { parent = _parent; }
+ void setParent(parent_weak_ptr _parent) { parent = _parent; }
void addObject(ObjectBase _obj) { objects.emplace_back(std::make_shared<ObjectBase>(_obj)); }
void addObject(objectbase_ptr _obj) { objects.emplace_back(_obj); }
diff --git a/src/gfx/include/gfx/objectbase.hpp b/src/gfx/include/gfx/objectbase.hpp
index 6fc09d49ab0d030057b5e4fde77c218b0b46d27b..b00081edbfe488a3a12cde867a859d1bd499ce95 100644
--- a/src/gfx/include/gfx/objectbase.hpp
+++ b/src/gfx/include/gfx/objectbase.hpp
@@ -5,7 +5,8 @@
class ObjectBase
{
public:
- virtual int polymorph() { return 1; }
+ // virtual int polymorph() { return 1; }
+ virtual ~ObjectBase() = default;
};
#endif
\ No newline at end of file
diff --git a/src/gfx/src/cam_control.cpp b/src/gfx/src/cam_control.cpp
index 404da09fdb0083b99c704021f053b4082e3bf710..21f3163f1f11643374cbafd69e37c55592db2e70 100644
--- a/src/gfx/src/cam_control.cpp
+++ b/src/gfx/src/cam_control.cpp
@@ -3,16 +3,23 @@
void CameraController::setFrontVec(float xoffset, float yoffset)
{
- // TO DO: fix pitch
- auto pitch = glm::angleAxis(yoffset, glm::vec3(1, 0, 0));
- auto yaw = glm::angleAxis(-xoffset, glm::vec3(0, 1, 0));
- auto temp_rot_quat = pitch * bound_frame->getRotation();
- auto temp_y_axis = glm::column(glm::toMat3(temp_rot_quat), 1);
- std::cout << "dot product: " << glm::dot(temp_y_axis, glm::vec3(0, 1, 0)) << std::endl;
- if (glm::dot(temp_y_axis, glm::vec3(0, 1, 0)) > 0.15f) // 0
+ // TO DO: fix yaw - normalizing zero vectors is an issue?
+ auto pitch = glm::angleAxis(yoffset, bound_frame->getRotationAxisX());
+ auto yaw = glm::angleAxis(-xoffset, glm::vec3(0.0f, 1.0f, 0.0f));
+ //auto yaw = glm::angleAxis(0.0001f, glm::vec3(0.0f, 1.0f, 0.0f));
+
+ auto R = glm::toMat3(glm::angleAxis(yoffset, bound_frame->getRotationAxisX()));
+ glm::vec3 rotated_y = R * bound_frame->getRotationAxisY();
+
+ auto dprod = glm::dot(rotated_y, glm::vec3(0.0f, 1.0f, 0.0f));
+ std::cout << "dot: " << dprod << std::endl;
+
+ if (dprod > 0.0f)
{
- bound_frame->rotateRotationQuat(pitch * yaw);
+ bound_frame->rotateRotationQuat(yaw);
+ bound_frame->rotateRotationQuat(pitch);
}
+
}
void CameraController::turn(float xoffset, float yoffset)
diff --git a/src/gfx/src/render.cpp b/src/gfx/src/render.cpp
index 66bf62d35310b969b963ea6e9cc84b9612460ad8..98da051f13d6504af4cc54baef8811e87d80b079 100644
--- a/src/gfx/src/render.cpp
+++ b/src/gfx/src/render.cpp
@@ -183,8 +183,8 @@ void gfx_draw(std::map<std::string, shader_ptr> &myShaders, light_ptr light,
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
ASSUMPTION(glGetError() == GL_NO_ERROR);
- std::vector<Node*> lights;
- find_lights(scene, lights);
+ // std::vector<Node*> lights;
+ // find_lights(scene, lights);
/* DRAW OBJECTS */
draw_objects(myShaders, light, cam_frames, active_camera, scene, view, projection);
diff --git a/src/studio/include/studio/simulator.hpp b/src/studio/include/studio/simulator.hpp
index 749ba383825673ce6a182d1f333536b6d0e884c7..00a761f82e80378d97ca352130003396728d51c4 100644
--- a/src/studio/include/studio/simulator.hpp
+++ b/src/studio/include/studio/simulator.hpp
@@ -46,6 +46,8 @@ struct Simulator : public osi::Simulator
void update() override;
void present() override;
void showUI();
+ void find_lights(std::vector<node_ptr> &scene);
+ void find_cameras(std::vector<node_ptr> &scene);
void create_scene();
void process_input();
void process_mouse();
@@ -59,7 +61,6 @@ struct Simulator : public osi::Simulator
int active_camera = 0; // FTO DO: vector of active cameras
int active_camera_type = 0;
- std::vector<camera_ptr> cameras;
std::vector<frame_ptr> cam_frames;
std::vector<cam_control_ptr> cam_controls;
@@ -68,7 +69,10 @@ struct Simulator : public osi::Simulator
std::vector<obj_control_ptr> obj_controls;
std::vector<node_ptr> scene;
- Node* selection;
+ node_ptr selection;
+ std::vector<light_ptr> lights;
+ std::vector<camera_ptr> cameras;
+ // find cameras, lights zde vektory
Object grid = Object(generate_grid_vertices(100), generate_grid_indices(100), {0, -1, 0},
glm::vec3(0.5f, 0.5f, 0.5f), "basic");
diff --git a/src/studio/src/simulator.cpp b/src/studio/src/simulator.cpp
index e7e76e523f625ef554620ed046a0df4f9637fc49..ccfb6f46996b9db77a26844672ff1abd4c0b9ea6 100644
--- a/src/studio/src/simulator.cpp
+++ b/src/studio/src/simulator.cpp
@@ -124,13 +124,15 @@ Simulator::Simulator()
, obj_frames{std::make_shared<Frame>(),
std::make_shared<Frame>(glm::vec3(1.2f, 2.0f, 2.0f ))}
, obj_controls{std::make_shared<ObjectController>()}
- , light{std::make_shared<Light>(glm::vec3(1.0f, 1.0f, 1.0f), obj_frames[1]->getPosition())}
+ //, light{std::make_shared<Light>(glm::vec3(1.0f, 1.0f, 1.0f), obj_frames[1]->getPosition())}
{
/* SET LIGHT CUBE SHADER AND SIZE */
objects[1]->setShaderType("basic");
obj_frames[1]->setScale(glm::vec3(0.1f, 0.1f, 0.1f));
create_scene();
+ find_cameras(scene);
+ find_lights(scene);
/* SET ACTIVE OBJECT AND ROTATE */
active_object_idx = 0; // 1 for light
@@ -148,6 +150,8 @@ void Simulator::update()
{
/* Update the state (i.e., transform objects, create/destroy objects, ... ) */
+ // find_cameras(scene);
+ // find_lights(scene);
process_input();
process_mouse();
@@ -166,7 +170,7 @@ void Simulator::present()
cameras[active_camera]->setWindowSize(window().size());
}
- gfx_draw(myShaders, light, cameras, cam_frames, active_camera, scene, grid, grid_frame);
+ gfx_draw(myShaders, lights[0], cameras, cam_frames, active_camera, scene, grid, grid_frame);
}
void Simulator::showUI()
@@ -188,6 +192,34 @@ void Simulator::showUI()
ImGui::End();
}
+void Simulator::find_lights(std::vector<node_ptr> &scene)
+{
+ for (auto &node : scene)
+ {
+ for (auto &object : node->getObjects())
+ {
+ auto light = dynamic_pointer_cast<Light>(object);
+ if (light)
+ lights.emplace_back(light);
+ }
+ find_lights(node->getChildren());
+ }
+}
+
+void Simulator::find_cameras(std::vector<node_ptr> &scene)
+{
+ for (auto &node : scene)
+ {
+ for (auto &object : node->getObjects())
+ {
+ auto camera = dynamic_pointer_cast<Camera>(object);
+ if (camera)
+ cameras.emplace_back(camera);
+ }
+ find_lights(node->getChildren());
+ }
+}
+
void Simulator::create_scene()
{
for (std::size_t i = 0; i < objects.size(); ++i)
@@ -197,8 +229,8 @@ void Simulator::create_scene()
}
// scene.emplace_back(std::make_shared<Node>(grid_frame));
// scene.back()->addObject(grid);
- // scene.emplace_back(std::make_shared<Node>(light->getPosition()));
- // scene.back()->addObject(std::make_shared<Light>(light));
+ scene.emplace_back(std::make_shared<Node>(obj_frames[1]));
+ scene.back()->addObject(std::make_shared<Light>(glm::vec3(1.0f, 1.0f, 1.0f), scene.back()->getFrame()));
}
/* Object movement now works only for one object */