Vertex picking

[opengl.git] / main.cpp

diff --git a/main.cpp b/main.cpp
index 281da276905660e1e4a5935c1caf961f9c53d97f..9a49d4cf1526c4c32ec419d300f4a1a1532241cf 100644 (file)
--- a/main.cpp
+++ b/main.cpp
@@ -21,6 +21,7 @@
 #include "skybox.hpp"
 #include "image.hpp"
 #include "util.hpp"
+#include "ik.hpp"
 
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"
 
@@ -40,6 +41,8 @@ glm::vec3 camPos = {0, 0, -5}, camFront = {0, 0, 1}, camUp = {0, 1, 0};
 float fov = glm::radians(30.f), znear = 0.01f, zfar = 10000.f;
 float yaw = 1.57, pitch = 0;
 
+glm::vec3 selectedPos;
+
 struct Light {
        glm::mat4 trans;
        glm::vec3 color;
@@ -55,11 +58,11 @@ float aspect() {
        return (float)windowWidth / (float)windowHeight;
 }      
 
-glm::mat4 projMat() {
+inline glm::mat4 projMat() {
        return glm::perspective(fov, aspect(), znear, zfar);
 }
 
-glm::mat4 viewMat() {
+inline glm::mat4 viewMat() {
        return glm::lookAt(camPos, camPos + camFront, camUp);
 }
 
@@ -87,20 +90,56 @@ void setLightColorAndPos(GLuint progId, glm::vec3 lightPos, glm::vec4 lightColor
        glUniform3fv(viewPosLoc, 1, glm::value_ptr(camPos));
 }
 
-void drawLight(Light &light) {
+void drawBox(glm::mat4 trans, glm::vec3 color) {
        glUseProgram(plainProg->progId);
        glBindVertexArray(lightVao);
        setProjectionAndViewUniforms(plainProg->progId);
-       glm::mat4 model = glm::scale(light.trans, glm::vec3(0.2));
+       glm::mat4 model = glm::scale(trans, glm::vec3(0.3));
        GLuint modelLoc = glGetUniformLocation(plainProg->progId, "model");
        glUniformMatrix4fv(modelLoc, 1, GL_FALSE, glm::value_ptr(model));
 
        GLuint colorLoc = glGetUniformLocation(plainProg->progId, "color");
-       glUniform4fv(colorLoc, 1, glm::value_ptr(light.color));
+       glUniform4fv(colorLoc, 1, glm::value_ptr(color));
                
        glDrawArrays(GL_TRIANGLES, 0, 36);
 }
 
+void drawLight(Light &light) {
+       drawBox(light.trans, light.color);
+}
+
+int findNodeTrans(const struct aiNode *n, const struct aiString name, glm::mat4 *dest) {
+       if (strcmp(n->mName.data, name.data) == 0) {
+               *dest = aiMatrixToMat4(n->mTransformation);
+               return 0;
+       }
+       for (int i = 0; i < n->mNumChildren; i++) {
+               if (findNodeTrans(n->mChildren[i], name, dest) == 0) {
+                       glm::mat4 t = aiMatrixToMat4(n->mTransformation);
+                       *dest = t * *dest;
+                       return 0;
+               }
+       }
+       return 1;
+}
+
+glm::mat4 worldSpaceToModelSpace(aiNode *node, glm::mat4 m) {
+       aiNode *parent = node;
+       glm::mat4 res = m;
+       std::vector<glm::mat4> trans;
+       while (parent != nullptr) {
+               /* res = res * glm::inverse(aiMatrixToMat4(parent->mTransformation)); */
+               trans.push_back(glm::inverse(aiMatrixToMat4(parent->mTransformation)));
+               parent = parent->mParent;
+       }
+       while (!trans.empty()) { res = trans.back() * res; trans.pop_back(); }
+       return res;
+}
+
+void pickVertex() {
+       auto res = sceneModel->closestVertex(sceneModel->getRoot(), camPos, selectedPos);
+       drawBox(glm::translate(glm::mat4(1), res.first), {1, 1, 0.5});
+}
 
 void display() {
        glClearColor(0.5, 0.5, 0.5, 1);
@@ -140,10 +179,24 @@ void display() {
        glUniform3fv(glGetUniformLocation(pbrProg->progId, "lightPositions"), numLights, glm::value_ptr(lightPositions[0]));
        glUniform3fv(glGetUniformLocation(pbrProg->progId, "lightColors"), numLights, glm::value_ptr(lightColors[0]));
 
-       /* sceneModel->find("Top Bone")->transform = glm::rotate(glm::mat4(1), d / 5.f, { 1, 0, 0}); */
-       /* sceneModel->find("Bottom Bone")->transform = glm::rotate(glm::mat4(1), d / 3.f, { 1, 0, 0}); */
+#ifdef COWEDBOY_IK
+       { 
+               glm::vec3 targetPos(sin(d) * 2 + 3, -2, 1);
+               Light targetLight = { glm::translate(glm::mat4(1), targetPos), {0.5, 1, 1}  };
+               drawLight(targetLight);
+               inverseKinematics(*sceneModel->find("Shoulder.L"), *sceneModel->find("Finger.L"), targetPos);
+
+               targetPos = { sin(d * 2) * 2 - 5, 2.5, 0 };
+               targetLight = { glm::translate(glm::mat4(1), targetPos), {1, 1, 0.5}  };
+               drawLight(targetLight);
+               inverseKinematics(*sceneModel->find("Shoulder.R"), *sceneModel->find("Finger.R"), targetPos);
+       }
+#endif
+
        sceneModel->draw(skyboxes[activeSkybox], d * 1000);
 
+       pickVertex();
+
        for (Light &light: lights) drawLight(light);
 
        // TODO: restore
@@ -175,20 +228,6 @@ void setupLightBuffers(GLuint progId) {
        glVertexAttribPointer(posLoc, 3, GL_FLOAT, GL_FALSE, 0, 0);
 }
 
-int findNodeTrans(struct aiNode *n, const struct aiString name, glm::mat4 *dest) {
-       if (strcmp(n->mName.data, name.data) == 0) {
-               *dest = aiMatrixToMat4(n->mTransformation);
-               return 0;
-       }
-       for (int i = 0; i < n->mNumChildren; i++) {
-               if (findNodeTrans(n->mChildren[i], name, dest) == 0) {
-                       glm::mat4 t = aiMatrixToMat4(n->mTransformation);
-                       *dest = t * *dest;
-                       return 0;
-               }
-       }
-       return 1;
-}
 
 void init() {
        initUtilProg();
@@ -206,7 +245,7 @@ void init() {
        pbrProg = new Program("pbrvert.glsl", "pbrfrag.glsl");
        glUseProgram(pbrProg->progId);
 
-       const std::string scenePath = "models/newtonsCradle.glb";
+       const std::string scenePath = "models/blendshapeNeutral.glb";
        const aiScene *scene = importer.ReadFile(scenePath, aiProcess_Triangulate | aiProcess_CalcTangentSpace | aiProcess_GenNormals | aiProcess_FlipUVs);
        if (!scene) {
                std::cerr << importer.GetErrorString() << std::endl;
@@ -247,7 +286,7 @@ void init() {
        // prevent edge artifacts in specular cubemaps
        glEnable(GL_TEXTURE_CUBE_MAP_SEAMLESS);
 
-       glViewport(0, 0, windowWidth, windowHeight);
+       glViewport(0, 0, windowWidth * 2, windowHeight * 2);
 }
 
 bool keyStates[256] = {false};
@@ -264,11 +303,14 @@ void keyboardUp(unsigned char key, int x, int y) {
        keyStates[key] = false;
 }
 
-#define ENABLE_MOVEMENT
+/* #define ENABLE_MOVEMENT */
 
 void timer(int _) {
 #ifdef ENABLE_MOVEMENT
        float xSpeed = 0.f, ySpeed = 0.f, zSpeed = 0.f;
+
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wchar-subscripts"
        if (keyStates['w'])
                zSpeed = 0.1f;
        if (keyStates['s'])
@@ -281,6 +323,7 @@ void timer(int _) {
                ySpeed = 0.1f;
        if (keyStates['e'])
                ySpeed = -0.1f;
+#pragma clang diagnostic pop
 
        camPos.x += xSpeed * sin(yaw) + zSpeed * cos(yaw);
        camPos.y += ySpeed;
@@ -321,11 +364,20 @@ void motion(int x, int y) {
                camUp = glm::vec3(0, 1, 0);
        }
 #endif
+
+       GLint vpArr[4]; glGetIntegerv(GL_VIEWPORT, vpArr);
+       glm::vec4 viewport(vpArr[0], vpArr[1], vpArr[2], vpArr[3]);
+       selectedPos = glm::unProject(glm::vec3(x * 2, viewport[3] - y * 2, 1), // hidpi
+                                                                viewMat(), //view * model mat
+                                                                projMat(),
+                                                                viewport);
 }
 
 void mouse(int button, int state, int x, int y) {
+#ifdef ENABLE_MOVEMENT
        if (button == GLUT_LEFT_BUTTON && state == GLUT_UP)
                firstMouse = true;
+#endif
 }
 
 void reshape(int newWidth, int newHeight) {
@@ -348,6 +400,7 @@ int main(int argc, char** argv) {
        glutKeyboardUpFunc(keyboardUp);
        glutTimerFunc(16, timer, 0);
        glutMotionFunc(motion);
+       glutPassiveMotionFunc(motion);
        glutMouseFunc(mouse);
 
        glutMainLoop();