private int SPHERERESOLUTION = 20; // Number of lines to build up spheres from
/// <summary>
/// Draws the Joint
/// </summary>
/// <param name="joint">The joint</param>
public void Draw(StroMoHab_Objects.Objects.Joint joint)
{
Gl.glTranslatef(joint.xCoordinate / SCALLINGFACTOR, joint.yCoordinate / SCALLINGFACTOR, -joint.zCoordinate / SCALLINGFACTOR);
Gl.glScalef(40f / SCALLINGFACTOR, 40f / SCALLINGFACTOR, 40f / SCALLINGFACTOR);
SetDrawingMode(true);
DrawUnitSphere();
SetDrawingMode(false);
DrawUnitSphere();
Gl.glScalef(1 / 40f / SCALLINGFACTOR, 1 / 40f / SCALLINGFACTOR, 1 / 40f / SCALLINGFACTOR);
Gl.glTranslatef(-joint.xCoordinate / SCALLINGFACTOR, -joint.yCoordinate / SCALLINGFACTOR, joint.zCoordinate / SCALLINGFACTOR);
SetDrawingMode(true);
}
/// <summary>
/// Draws the body part based on the trackable
/// </summary>
/// <param name="trackable">The trackable</param>
/// <param name="joint1">The first joint</param>
/// <param name="joint2">The second joint</param>
public virtual void Draw(StroMoHab_Objects.Objects.Trackable trackable, StroMoHab_Objects.Objects.Joint joint1, StroMoHab_Objects.Objects.Joint joint2)
{
//CalculateScallingAndOffsets(trackable, joint1, joint2);
CalculateBoundingBox(trackable);
MoveIn(trackable);
ScaleIn();
SetDrawingMode(true);
DrawBodyPart();
SetDrawingMode(false);
DrawBodyPart();
ScaleOut();
MoveOut(trackable);
SetDrawingMode(true);
}
/// <summary>
/// Calculates the scalling and offset values for the trackable which determin its size and position
/// </summary>
/// <param name="trackable"></param>
/// <param name="joint1"></param>
/// <param name="joint2"></param>
protected override void CalculateScallingAndOffsets(StroMoHab_Objects.Objects.Trackable trackable, StroMoHab_Objects.Objects.Joint joint1, StroMoHab_Objects.Objects.Joint joint2)
{
if (joint1.Exists)
{
// Set up matricies
StroMoHab_Matrix.PointMatrix joint1PointVector = new StroMoHab_Matrix.PointMatrix(joint1.xCoordinate - trackable.xCoordinate, joint1.yCoordinate - trackable.yCoordinate, joint1.zCoordinate - trackable.zCoordinate);
StroMoHab_Matrix.RotationMatrix rotationMatrixReverse = new StroMoHab_Matrix.RotationMatrix(-Math.PI * trackable.Pitch / 180, -Math.PI * trackable.Yaw / 180, -Math.PI * trackable.Roll / 180);
// Rotate the joint
StroMoHab_Matrix.PointMatrix joint1NewPointVector = StroMoHab_Matrix.Operations.Rotate(joint1PointVector, rotationMatrixReverse);
// Calculate the scaling and offsets based on the vector from the trackable to the joint
scaleZ = (float)joint1NewPointVector.ZCoordinate / SCALLINGFACTOR;
scaleY = (float)joint1NewPointVector.YCoordinate / SCALLINGFACTOR;
// Protect against really small limbs
if (joint1NewPointVector.ZCoordinate < 100)
{
scaleZ = Math.Abs((float)100 / SCALLINGFACTOR);
}
offsetY = -scaleY;
}
}
/// <summary>
/// Calculates the scalling and offset values for the trackable which determin its size and position
/// </summary>
/// <param name="trackable"></param>
/// <param name="joint1"></param>
/// <param name="joint2"></param>
protected override void CalculateScallingAndOffsets(StroMoHab_Objects.Objects.Trackable trackable, StroMoHab_Objects.Objects.Joint joint1, StroMoHab_Objects.Objects.Joint joint2)
{
if (joint1.Exists && joint2.Exists == false)
{
// Set up matricies
StroMoHab_Matrix.PointMatrix joint1PointVector = new StroMoHab_Matrix.PointMatrix(joint1.xCoordinate - trackable.xCoordinate, joint1.yCoordinate - trackable.yCoordinate, joint1.zCoordinate - trackable.zCoordinate);
StroMoHab_Matrix.RotationMatrix rotationMatrixReverse = new StroMoHab_Matrix.RotationMatrix(-Math.PI * trackable.Pitch / 180, -Math.PI * trackable.Yaw / 180, -Math.PI * trackable.Roll / 180);
// Rotate the joint
StroMoHab_Matrix.PointMatrix joint1NewPointVector = StroMoHab_Matrix.Operations.Rotate(joint1PointVector, rotationMatrixReverse);
// Calculate the scaling and offsets based on the vector from the trackable to the joint
scaleZ = (float)joint1NewPointVector.ZCoordinate / SCALLINGFACTOR;
scaleY = (float)joint1NewPointVector.YCoordinate / SCALLINGFACTOR;
if (joint1NewPointVector.ZCoordinate < 150)
{
scaleZ = Math.Abs((float)150 / SCALLINGFACTOR);
}
if (joint1NewPointVector.YCoordinate < 30)
{
scaleY = Math.Abs((float)30 / SCALLINGFACTOR);
}
offsetY = -scaleY;
}
else if (joint2.Exists && joint1.Exists == false)
{
// Set up matricies
StroMoHab_Matrix.PointMatrix joint2PointVector = new StroMoHab_Matrix.PointMatrix(joint2.xCoordinate - trackable.xCoordinate, joint2.yCoordinate - trackable.yCoordinate, joint2.zCoordinate - trackable.zCoordinate);
StroMoHab_Matrix.RotationMatrix rotationMatrixReverse = new StroMoHab_Matrix.RotationMatrix(-Math.PI * trackable.Pitch / 180, -Math.PI * trackable.Yaw / 180, -Math.PI * trackable.Roll / 180);
// Rotate the joint
StroMoHab_Matrix.PointMatrix joint2NewPointVector = StroMoHab_Matrix.Operations.Rotate(joint2PointVector, rotationMatrixReverse);
// Calculate the scaling and offsets based on the vector from the trackable to the joint
scaleZ = Math.Abs((float)joint2NewPointVector.ZCoordinate / SCALLINGFACTOR);
scaleY = Math.Abs((float)joint2NewPointVector.YCoordinate / SCALLINGFACTOR);
if (joint2NewPointVector.ZCoordinate < 150)
{
scaleZ = Math.Abs((float)150 / SCALLINGFACTOR);
}
if (joint2NewPointVector.YCoordinate < 30)
{
scaleY = Math.Abs((float)30 / SCALLINGFACTOR);
}
offsetY = -scaleY;
}
else if (joint1.Exists && joint2.Exists)
{
// Set up matricies
StroMoHab_Matrix.PointMatrix joint2PointVector = new StroMoHab_Matrix.PointMatrix(joint2.xCoordinate - trackable.xCoordinate, joint2.yCoordinate - trackable.yCoordinate, joint2.zCoordinate - trackable.zCoordinate);
StroMoHab_Matrix.RotationMatrix rotationMatrixReverse = new StroMoHab_Matrix.RotationMatrix(-Math.PI * trackable.Pitch / 180, -Math.PI * trackable.Yaw / 180, -Math.PI * trackable.Roll / 180);
StroMoHab_Matrix.PointMatrix joint1PointVector = new StroMoHab_Matrix.PointMatrix(joint1.xCoordinate - trackable.xCoordinate, joint1.yCoordinate - trackable.yCoordinate, joint1.zCoordinate - trackable.zCoordinate);
// Rotate the joint
StroMoHab_Matrix.PointMatrix joint1NewPointVector = StroMoHab_Matrix.Operations.Rotate(joint1PointVector, rotationMatrixReverse);
// Rotate the joint
StroMoHab_Matrix.PointMatrix joint2NewPointVector = StroMoHab_Matrix.Operations.Rotate(joint2PointVector, rotationMatrixReverse);
// Calculate the scaling and offsets based on the vector from the trackable to the joint
//Half of the distance between the two joints
scaleZ = (float)(Math.Abs(joint1NewPointVector.ZCoordinate) + Math.Abs(joint2NewPointVector.ZCoordinate) / 2) / SCALLINGFACTOR;
if (scaleZ < Math.Abs((float)150 / SCALLINGFACTOR))
{
scaleZ = Math.Abs((float)150 / SCALLINGFACTOR);
}
scaleY = Math.Abs((float)joint1NewPointVector.YCoordinate / SCALLINGFACTOR);
offsetY = -scaleY;
}
}
/// <summary>
/// Draws each Trackable in the list supplied
/// If joint data is avaliable the limb will be scalled, otherwise it will be a generic size
/// </summary>
/// <param name="trackableList">The trackable list</param>
/// <param name="jointList">The joint list</param>
public void Draw(List <StroMoHab_Objects.Objects.Trackable> trackableList, List <StroMoHab_Objects.Objects.Joint> jointList)
{
//Clear the boundingbox list before it is updated
boundingBoxList.Clear();
// If the joint list doesn't have enough joints in it, generate som blank ones
for (int j = jointList.Count; j < MAXNUMJOINTS + 1; j++)
{
StroMoHab_Objects.Objects.Joint joint;
joint = new StroMoHab_Objects.Objects.Joint();
jointList.Add(joint);
}
// Go through the trackable list and update (Draw) the opengl body parts for the trackables present using joint data if possible
// add their data to the bounding box list
foreach (StroMoHab_Objects.Objects.Trackable trackable in trackableList)
{
switch (trackable.ID)
{
case 1: // Left Foot
leftFoot.Draw(trackable, jointList[0], null);
boundingBoxList.Add(leftFoot.CollisionModel);
break;
case 2: // Right Foot
rightFoot.Draw(trackable, jointList[1], null);
boundingBoxList.Add(rightFoot.CollisionModel);
break;
case 3: // Left Lower Leg
leftLowerLeg.Draw(trackable, jointList[2], jointList[0]);
boundingBoxList.Add(leftLowerLeg.CollisionModel);
break;
case 4: // Right Lower Leg
rightLowerLeg.Draw(trackable, jointList[3], jointList[1]);
boundingBoxList.Add(rightLowerLeg.CollisionModel);
break;
case 5: // Left Upper Leg
leftUpperLeg.Draw(trackable, null, jointList[2]);
boundingBoxList.Add(leftUpperLeg.CollisionModel);
break;
case 6: // Right Upper Leg
rightUpperLeg.Draw(trackable, null, jointList[3]);
boundingBoxList.Add(rightUpperLeg.CollisionModel);
break;
} //Close switch
} //Close foreach
// Draw the joints on the screen
if (DRAWJOINTS)
{
int i = 0;
foreach (StroMoHab_Objects.Objects.Joint joint in jointList)
{
if (joint.Exists)
{
openGLJointList[i].Draw(joint);
}
i++;
}
}
} //Close Method Draw
/// <summary> /// Implement code to calculate to size of the body part so that the unit shape can be scalled correctly /// and so it can be offset correctly based on connecting joint data /// </summary> /// <param name="trackable"></param> /// <param name="joint1"></param> /// <param name="joint2"></param> protected abstract void CalculateScallingAndOffsets(StroMoHab_Objects.Objects.Trackable trackable, StroMoHab_Objects.Objects.Joint joint1, StroMoHab_Objects.Objects.Joint joint2);
/// <summary>
/// Draws each Trackable in the list supplied
/// If joint data is avaliable the limb will be scalled, otherwise it will be a generic size
/// </summary>
/// <param name="trackableList">The trackable list</param>
/// <param name="jointList">The joint list</param>
public void Draw(List<StroMoHab_Objects.Objects.Trackable> trackableList, List<StroMoHab_Objects.Objects.Joint> jointList)
{
//Clear the boundingbox list before it is updated
boundingBoxList.Clear();
// If the joint list doesn't have enough joints in it, generate som blank ones
for (int j = jointList.Count; j < MAXNUMJOINTS + 1; j++)
{
StroMoHab_Objects.Objects.Joint joint;
joint = new StroMoHab_Objects.Objects.Joint();
jointList.Add(joint);
}
// Go through the trackable list and update (Draw) the opengl body parts for the trackables present using joint data if possible
// add their data to the bounding box list
foreach (StroMoHab_Objects.Objects.Trackable trackable in trackableList)
{
switch (trackable.ID)
{
case 1: // Left Foot
leftFoot.Draw(trackable, jointList[0], null);
boundingBoxList.Add(leftFoot.CollisionModel);
break;
case 2: // Right Foot
rightFoot.Draw(trackable, jointList[1], null);
boundingBoxList.Add(rightFoot.CollisionModel);
break;
case 3: // Left Lower Leg
leftLowerLeg.Draw(trackable, jointList[2], jointList[0]);
boundingBoxList.Add(leftLowerLeg.CollisionModel);
break;
case 4: // Right Lower Leg
rightLowerLeg.Draw(trackable, jointList[3], jointList[1]);
boundingBoxList.Add(rightLowerLeg.CollisionModel);
break;
case 5: // Left Upper Leg
leftUpperLeg.Draw(trackable, null, jointList[2]);
boundingBoxList.Add(leftUpperLeg.CollisionModel);
break;
case 6: // Right Upper Leg
rightUpperLeg.Draw(trackable, null, jointList[3]);
boundingBoxList.Add(rightUpperLeg.CollisionModel);
break;
}//Close switch
}//Close foreach
// Draw the joints on the screen
if(DRAWJOINTS)
{
int i=0;
foreach (StroMoHab_Objects.Objects.Joint joint in jointList)
{
if (joint.Exists)
openGLJointList[i].Draw(joint);
i++;
}
}
}//Close Method Draw