/**
* glControl 방식의 x,y 좌표를 윈도우 방식의 x,y 좌표로 변환 및 Z-buffer 값을 찾아냄. (winX/Y/Z)
* winZ의 경우 GL.ReadPixels를 통해서 현재 커서가 가르키는 물체의 공간상에서의 z좌표를 읽어와 사용함.
* 커서가 물체에서 벗어날 경우 다른 좌표를 찍게 되는데 면이 아닌 점인 경우,
* 마우스가 점 위에 위치하지 않으면 잘못 된 좌표를 찾게 될 수 있으므로 주의해야함.
*
* OpenTK.Graphics.Glu에서 지원하는 UnProject 함수를 통해서 mouseCoordOn3d에 3차원 위치 좌표를 저장
* */
private bool Get3dVertexPosition(int mouseX, int mouseY)
{
int[] viewport = new int[4];
double[] modelMatrix = new double[16];
double[] projMatrix = new double[16];
float winX = 0, winY = 0, winZ = 0;
GL.GetInteger(GetPName.Viewport, viewport);
GL.GetDouble(GetPName.ModelviewMatrix, modelMatrix);
GL.GetDouble(GetPName.ProjectionMatrix, projMatrix);
winX = mouseX;
winY = viewport[3] - mouseY;
GL.ReadPixels((int)winX, (int)winY, 1, 1, PixelFormat.DepthComponent, PixelType.Float, ref winZ);
Glu.UnProject(new Vector3(winX, winY, winZ), modelMatrix, projMatrix, viewport, out mouseCoordOn3d);
if ((mouseCoordOn3d.X < 500 && mouseCoordOn3d.X > -500))
{
if ((mouseCoordOn3d.Z < 500 && mouseCoordOn3d.Z > -500))
{
return(true); // 원점으로부터 전후좌우 500 이내의 영역은 mesh 위의 점이라고 판단한다.
}
else
{
return(false);
}
}
else
{
return(false);
}
}
private void gl_Paint(object sender, PaintEventArgs e)
{
// Preconfiguracion
if (!loaded)
{
return;
}
if (GList == null)
{
return;
}
loaded = false;
//--
// Camara
GL.LoadIdentity();
Glu.LookAt(camare.position[0], camare.position[1], camare.position[2], camare.view[0], camare.view[1], camare.view[2], 0, 1, 0);
//--
// Luz
ligth.positionLigth[0] = (float)camare.position[0];
ligth.positionLigth[1] = (float)camare.position[1];
ligth.positionLigth[2] = (float)camare.position[2];
ligth.directionLigth[0] = (float)(camare.view[0] - camare.position[0]);
ligth.directionLigth[1] = (float)(camare.view[1] - camare.position[1]);
ligth.directionLigth[2] = (float)(camare.view[2] - camare.position[2]);
ligth.directionLigth = Engine.OperationMatrixVector.normalize(ligth.directionLigth);
GL.Light(LightName.Light0, LightParameter.Position, ligth.positionLigth);
GL.Light(LightName.Light0, LightParameter.SpotDirection, ligth.directionLigth);
if (ligth.turnOn)
{
GL.Enable(EnableCap.Lighting);
}
else
{
GL.Disable(EnableCap.Lighting);
}
//--
// Profundidad
GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
//--
// Truco de transparencia
if (isTransparency)
{
GL.Enable(EnableCap.Blend);
}
else
{
GL.Disable(EnableCap.Blend);
}
//--
// Objetos
GL.PushMatrix();
for (int i = 0; i < GList.Count; i++)
{
GL.CallList(GList[i]);
}
GL.PopMatrix();
GL.Finish();
//--
// Posconfiguracion
gl.SwapBuffers();
loaded = true;
//--
}
public void drawMap()
{
GList = new List <Int32>();
GList.Add(0);
foreach (Objects.Plane plane in map.planes)
{
GL.NewList(GList.Count, ListMode.Compile);
GL.BindTexture(TextureTarget.Texture2D, Engine.Texture.LoadTexture(plane.textureName, plane.repeat, plane.rotate));
GL.Color3(plane.color);
foreach (Objects.Rectangle rectangle in plane.rectangles)
{
GL.Begin(BeginMode.Polygon);
for (int i = 0; i < rectangle.points.Count; i++)
{
if (i == 0)
{
GL.TexCoord2(0, 0);
}
if (i == 1)
{
GL.TexCoord2(1, 0);
}
if (i == 2)
{
GL.TexCoord2(1, 1);
}
if (i == 3)
{
GL.TexCoord2(0, 1);
}
GL.Vertex3(rectangle.points[i][0], rectangle.points[i][1], rectangle.points[i][2]);
}
GL.End();
}
GL.EndList();
GList.Add(GList.Count);
}
foreach (Objects.Sphere sphere in map.spheres)
{
GL.NewList(GList.Count, ListMode.Compile);
GL.PushMatrix();
GL.Color3(sphere.color);
IntPtr q = Glu.NewQuadric();
GL.Translate(sphere.position[0], sphere.position[1], sphere.position[2]);
Glu.Sphere(q, sphere.radio, 100, 100);
GL.Translate(-sphere.position[0], -sphere.position[1], -sphere.position[2]);
GL.PopMatrix();
GL.EndList();
GList.Add(GList.Count);
}
foreach (Objects.Cone cone in map.cones)
{
GL.NewList(GList.Count, ListMode.Compile);
GL.PushMatrix();
GL.Color3(cone.color);
IntPtr q = Glu.NewQuadric();
GL.Translate(cone.position[0], cone.position[1], cone.position[2] - (cone.height / 2));
Glu.Cylinder(q, 0, cone.radio, cone.height, Engine.Constant.QUALITY, Engine.Constant.QUALITY);
GL.Translate(-cone.position[0], -cone.position[1], -cone.position[2] + (cone.height / 2));
GL.PopMatrix();
GL.EndList();
GList.Add(GList.Count);
}
gl_Paint(gl, null);
loaded = true;
}
private void gl_Load(object sender, EventArgs e)
{
// Perspectivas
GL.Viewport(0, 0, gl.Size.Width - 1, gl.Size.Height - 1);
GL.MatrixMode(MatrixMode.Projection);
GL.LoadIdentity();
Glu.Perspective(90, (gl.Size.Width / gl.Size.Height), 0.1f, 10000f);
GL.MatrixMode(MatrixMode.Modelview);
//--
// Profundidad
GL.ClearColor(Color.Black);
GL.ClearDepth(1.0);
GL.Enable(EnableCap.DepthTest);
GL.DepthFunc(DepthFunction.Lequal);
//--
// Tipo de Material
float[] mat_especular = { 1.0f, 1.0f, 1.0f, 1.0f };
float[] mat_brillo = { 50.0f };
GL.ShadeModel(ShadingModel.Smooth);
GL.Material(MaterialFace.FrontAndBack, MaterialParameter.Specular, mat_especular);
GL.Material(MaterialFace.FrontAndBack, MaterialParameter.Shininess, mat_brillo);
GL.Enable(EnableCap.ColorMaterial);
//--
// Textura
GL.Enable(EnableCap.Texture2D);
//--
// Camara
camare = new Engine.Camera(0, 0, -10, 0, 0, -1, 4, 2.0, 0.2, 0.1, 0.5);
//--
// Luz
float[] white = { 1.0f, 1.0f, 1.0f, 1.0f };
ligth = new Engine.Light();
GL.Light(LightName.Light0, LightParameter.Ambient, white);
GL.Light(LightName.Light0, LightParameter.Diffuse, white);
GL.Light(LightName.Light0, LightParameter.Specular, white);
GL.Light(LightName.Light0, LightParameter.SpotCutoff, 10);
GL.Light(LightName.Light0, LightParameter.ConstantAttenuation, 2);
GL.Enable(EnableCap.Light0);
//--
// Trucos
GL.BlendFunc(BlendingFactorSrc.One, BlendingFactorDest.One);
//--
// Preconfiguracion de presentacion y nivel
level = -1;
template = Engine.Template.levelCompleted(-2);
ligth.turnOn = false;
drawTemplate();
camare.levelCompleted = true;
//--
// Iniciar sonido
Engine.Sound.play("init.wav");
//--
}
public void narisi()
{
#region simple model
if (!modelOK) //če so bile napake pri nalaganju modela, potem nariši osnovno obliko robota
{
GL.Begin(BeginMode.Quads);
GL.PushMatrix();
GL.LoadIdentity();
//spordaj osnova
GL.Color3(Color.Blue);
GL.Translate(0.0f, 0.0f, -6.0f);
IntPtr quadric = GLU.NewQuadric();
GL.Rotate(-90, 1.0f, 0.0f, 0.0f);
GLU.Cylinder(quadric, 2.0, 2.0, 1.0, 32, 32);
GL.Translate(0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GLU.PartialDisk(quadric, 0.1, 2.0, 32, 32, 0, 360);
// 1 del zgoraj
GL.Rotate(rotacija1 + 90, 0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GLU.Cylinder(quadric, 0.5, 0.5, 2.0, 32, 32);
GL.Translate(0.0f, 0.0f, 2.0f);
GL.Color3(Color.SkyBlue);
quadric = GLU.NewQuadric();
GLU.Sphere(quadric, 0.5, 32, 32);
GL.Color3(Color.Blue);
GL.Rotate(-90, 1.0f, 0.0f, 0.0f);
GL.Translate(0.0f, 0.0f, 0.0f);
quadric = GLU.NewQuadric();
GLU.Cylinder(quadric, 0.5f, 0.5f, 1.0f, 32, 32);
GL.Color3(Color.SkyBlue);
GL.Translate(0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GLU.Sphere(quadric, 0.5, 32, 32);
//2 del
GL.Color3(Color.Blue);
quadric = GLU.NewQuadric();
GL.Rotate(-90, 0.0f, 1.0f, 0.0f);
GL.Rotate(rotacija2, 1.0f, 0.0f, 0.0f);
GLU.Cylinder(quadric, 0.5f, 0.5f, 7.0f, 32, 32);
GL.Color3(Color.SkyBlue);
GL.Translate(0.0f, 0.0f, 7.0f);
quadric = GLU.NewQuadric();
GLU.Sphere(quadric, 0.5, 32, 32);
GL.Color3(Color.Blue);
GL.Rotate(-90, 0.0f, 1.0f, 0.0f);
GL.Translate(0.0f, 0.0f, 0.0f);
quadric = GLU.NewQuadric();
GLU.Cylinder(quadric, 0.5f, 0.5f, 1.0f, 32, 32);
//3del
GL.Color3(Color.SkyBlue);
GL.Translate(0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GLU.Sphere(quadric, 0.5, 32, 32);
GL.Color3(Color.Blue);
quadric = GLU.NewQuadric();
GL.Rotate(-90, 0.0f, 1.0f, 0.0f);
GL.Rotate((rotacija3 * -1), 1.0f, 0.0f, 0.0f);
GLU.Cylinder(quadric, 0.5f, 0.5f, 2.3f, 32, 32);
GL.Color3(Color.SkyBlue);
quadric = GLU.NewQuadric();
GL.Translate(0.0f, 0.0f, 2.3f);
GLU.Cylinder(quadric, 0.7f, 0.7f, 1.0f, 32, 32);
quadric = GLU.NewQuadric();
GLU.PartialDisk(quadric, 0.1, 0.7f, 32, 32, 0, 360);
GL.Translate(0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GLU.PartialDisk(quadric, 0.1, 0.7f, 32, 32, 0, 360);
//4 del
GL.Color3(0.0f, 0.0f, 1.0f);
quadric = GLU.NewQuadric();
GL.Rotate(rotacija4, 0.0f, 0.0f, 1.0f);
GLU.Cylinder(quadric, 0.4f, 0.4f, 2.5f, 32, 32);
GL.Translate(0.0f, 0.3f, 2.7f);
GL.Color3(1.0f, 0.0f, 0.0f);
quadric = GLU.NewQuadric();
GL.Rotate(90, 1.0f, 0.0f, 0.0f);
GLU.Cylinder(quadric, 0.1f, 0.1f, 0.6f, 32, 32);
GL.Translate(0.0f, 0.0f, 0.3f);
GL.Color3(1.0f, 0.0f, 0.0f);
quadric = GLU.NewQuadric();
GL.Rotate(-90, 1.0f, 0.0f, 0.0f);
GL.Rotate(rotacija5, 0.0f, 1.0f, 0.0f);
GLU.Cylinder(quadric, 0.01f, 0.01f, 1.0f, 32, 32);
GL.End();
}
#endregion
else //če pa ni bilo napak pa nariši naložen LWO objekt
{
GL.Rotate(90, 1.0f, 0.0f, 0.0f);
/* okolica robota */
GL.PushMatrix();
GL.Translate(0.0f, -3.2f, 0.0f);
risi_model(okolica[2]);
GL.Translate(-5.0f, 0.0f, -50.0f);
risi_model(okolica[0]);
GL.Translate(7.0f, 0.0f, 0.0f);
risi_model(okolica[0]);
GL.Translate(-3.5f, 10.0f, 0.0f);
risi_model(okolica[0]);
GL.PopMatrix();
GL.PushMatrix();
GL.Translate(0.0f, -3.0f, 0.0f);
risi_model(okolica[1]);
GL.PopMatrix();
// robot
GL.PushMatrix();
//dolžine posameznih objektov
//podstavek: 0, -3.2, 0;
//prvi zglob: 3.75, 8.3, -1.6; rot: z : rot1+90
//prva roka: 0, 15.35, -0.4; rot: z
//drugi zglob: 5.2, 3.9, 2.0; rot: x, pa -90 po x
//druga roka: 10.8, 0, 0; rot: z
//zadnji zglob: 2.2, 0, 0; rot: x
//oni krogec za orodja montirat: 0.4, 0, 0
risi_model(robot_model[0]); //podstavek
GL.Rotate(rotacija1 + 90, 0.0f, 1.0f, 0.0f);
risi_model(robot_model[1]); // prvi motor
GL.Translate(3.75f, 8.30f, -1.60f); // prva roka
GL.Rotate(rotacija2, 0.0f, 0.0f, 1.0f);
risi_model(robot_model[2]);
GL.Translate(0.0f, 15.35f, -0.4f);
GL.Rotate(rotacija3, 0.0f, 0.0f, 1.0f);
risi_model(robot_model[3]);
GL.Translate(5.2f, 3.9f, 2.0f);
GL.Rotate(rotacija4, 1.0f, 0.0f, 0.0f);
GL.Rotate(-90.0f, 1.0f, 0.0f, 0.0f);
risi_model(robot_model[4]);
GL.Translate(10.8f, 0.0f, 0.0f);
GL.Rotate(rotacija5, 0.0f, 0.0f, 1.0f);
risi_model(robot_model[5]);
GL.Translate(2.2f, 0.0f, 0.0f);
GL.Rotate(rotacija6, 1.0f, 0.0f, 0.0f);
risi_model(robot_model[6]);
if (set_tool)
{
GL.Translate(0.4f, 0.0f, 0.0f);
risi_model(robot_model[7]);
}
GL.PopMatrix();
}
}