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fly.c
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fly.c
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/* This example demonstrates how to use 6-dof input for controlling the camera
* to fly around a scene. The native spacenav protocol is used, to also
* demonstrate how to integrate input from libspnav in an event loop.
*/
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <errno.h>
#include <unistd.h>
#include <sys/select.h>
#include <X11/Xlib.h>
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glx.h>
#include <spnav.h>
#include "xwin.h"
#define GRID_REP 60
#define GRID_SZ 200
void gen_textures(void);
void gen_scene(void);
void redraw(void);
void draw_scene(void);
void handle_spnav_event(spnav_event *ev);
int handle_xevent(XEvent *xev);
void draw_box(float xsz, float ysz, float zsz);
/* XXX: posrot contains a position vector and an orientation quaternion, and
* can be used with the spnav_posrot_moveview function to accumulate input
* motions, and then with spnav_matrix_view to create a view matrix.
* See util.c in the libspnav source code for implementation details.
*/
struct spnav_posrot posrot;
unsigned int grid_tex, box_tex;
unsigned int scene;
int main(void)
{
int xsock, ssock, maxfd;
if(!(dpy = XOpenDisplay(0))) {
fprintf(stderr, "failed to connect to the X server");
return 1;
}
if(create_xwin("libspnav fly", 1024, 768) == -1) {
return 1;
}
/* XXX: open connection to the spacenav driver */
if(spnav_open() == -1) {
fprintf(stderr, "failed to connect to the spacenav driver\n");
return 1;
}
/* XXX: initialize the position vector & orientation quaternion */
spnav_posrot_init(&posrot);
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
glFogi(GL_FOG_MODE, GL_LINEAR);
glFogf(GL_FOG_START, GRID_SZ / 4);
glFogf(GL_FOG_END, GRID_SZ);
gen_textures();
gen_scene();
/* XXX: grab the Xlib socket and the libspnav socket. we'll need them in the
* select loop to wait for input from either source.
*/
xsock = ConnectionNumber(dpy); /* Xlib socket */
ssock = spnav_fd(); /* libspnav socket */
maxfd = xsock > ssock ? xsock : ssock;
for(;;) {
fd_set rdset;
/* XXX: add both sockets to the file descriptor set, to monitor both */
FD_ZERO(&rdset);
FD_SET(xsock, &rdset);
FD_SET(ssock, &rdset);
while(select(maxfd + 1, &rdset, 0, 0, 0) == -1 && errno == EINTR);
/* XXX: handle any pending X events */
if(FD_ISSET(xsock, &rdset)) {
while(XPending(dpy)) {
XEvent xev;
XNextEvent(dpy, &xev);
if(handle_xevent(&xev) != 0) {
goto end;
}
}
}
/* XXX: handle any pending spacenav events */
if(FD_ISSET(ssock, &rdset)) {
spnav_event sev;
while(spnav_poll_event(&sev)) {
handle_spnav_event(&sev);
}
}
if(redisplay_pending) {
redisplay_pending = 0;
redraw();
}
}
end:
glDeleteTextures(1, &grid_tex);
destroy_xwin();
spnav_close();
return 0;
}
void gen_textures(void)
{
int i, j, r, g, b;
static unsigned char pixels[128 * 128 * 3];
unsigned char *pptr;
pptr = pixels;
for(i=0; i<128; i++) {
float dy = abs(i - 64) / 64.0f;
for(j=0; j<128; j++) {
float dx = abs(j - 64) / 64.0f;
float d = dx > dy ? dx : dy;
float val = pow(d * 1.04f, 10.0) * 1.4f;
r = (int)(214.0f * val);
g = (int)(76.0f * val);
b = (int)(255.0f * val);
*pptr++ = r > 255 ? 255 : r;
*pptr++ = g > 255 ? 255 : g;
*pptr++ = b > 255 ? 255 : b;
}
}
glGenTextures(1, &grid_tex);
glBindTexture(GL_TEXTURE_2D, grid_tex);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
gluBuild2DMipmaps(GL_TEXTURE_2D, GL_RGB, 128, 128, GL_RGB, GL_UNSIGNED_BYTE, pixels);
pptr = pixels;
for(i=0; i<128; i++) {
int row = i >> 5;
float dy = ((i - 12) & 0x1f) / 16.0f;
for(j=0; j<128; j++) {
int col = j >> 5;
float dx = ((j - 12) & 0x1f) / 16.0f;
float d = dx > dy ? dx : dy;
int xor = (col ^ row) & 0xf;
r = d < 0.5f ? (xor << 4) + 20 : 0;
g = d < 0.5f ? (xor << 4) + 20 : 0;
b = d < 0.5f ? (xor << 4) + 20 : 0;
*pptr++ = r > 255 ? 255 : r;
*pptr++ = g > 255 ? 255 : g;
*pptr++ = b > 255 ? 255 : b;
}
}
glGenTextures(1, &box_tex);
glBindTexture(GL_TEXTURE_2D, box_tex);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
gluBuild2DMipmaps(GL_TEXTURE_2D, GL_RGB, 128, 128, GL_RGB, GL_UNSIGNED_BYTE, pixels);
}
void gen_scene(void)
{
int i, j;
float x, y, h;
srand(0);
scene = glGenLists(1);
glNewList(scene, GL_COMPILE);
glEnable(GL_TEXTURE_2D);
glEnable(GL_FOG);
/* grid */
glBindTexture(GL_TEXTURE_2D, grid_tex);
glBegin(GL_QUADS);
glColor3f(1, 1, 1);
glTexCoord2f(0, 0);
glVertex3f(-GRID_SZ, 0, GRID_SZ);
glTexCoord2f(GRID_REP, 0);
glVertex3f(GRID_SZ, 0, GRID_SZ);
glTexCoord2f(GRID_REP, GRID_REP);
glVertex3f(GRID_SZ, 0, -GRID_SZ);
glTexCoord2f(0, GRID_REP);
glVertex3f(-GRID_SZ, 0, -GRID_SZ);
glEnd();
/* buildings */
glBindTexture(GL_TEXTURE_2D, box_tex);
for(i=0; i<8; i++) {
for(j=0; j<8; j++) {
x = (j - 4.0f + 0.5f * (float)rand() / RAND_MAX) * 20.0f;
y = (i - 4.0f + 0.5f * (float)rand() / RAND_MAX) * 20.0f;
h = (3.0f + (float)rand() / RAND_MAX) * 6.0f;
glPushMatrix();
glTranslatef(x, h/2, y);
glMatrixMode(GL_TEXTURE);
glLoadIdentity();
glScalef(3, h/4, 1);
draw_box(6, h, 6);
glLoadIdentity();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
}
}
glDisable(GL_TEXTURE_2D);
glDisable(GL_FOG);
/* skydome */
glBegin(GL_TRIANGLE_FAN);
glColor3f(0.07, 0.1, 0.4);
glVertex3f(0, GRID_SZ/5, 0);
glColor3f(0.5, 0.2, 0.05);
glVertex3f(-GRID_SZ, 0, -GRID_SZ);
glVertex3f(GRID_SZ, 0, -GRID_SZ);
glVertex3f(GRID_SZ, 0, GRID_SZ);
glVertex3f(-GRID_SZ, 0, GRID_SZ);
glVertex3f(-GRID_SZ, 0, -GRID_SZ);
glEnd();
glEndList();
}
void redraw(void)
{
float xform[16];
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
/* XXX convert the accumulated position/rotation into a 4x4 view matrix */
spnav_matrix_view(xform, &posrot);
glMultMatrixf(xform); /* concatenate our computed view matrix */
glTranslatef(0, -5, 0); /* move the default view a bit higher above the ground */
glCallList(scene);
glXSwapBuffers(dpy, win);
}
void reshape(int x, int y)
{
glViewport(0, 0, x, y);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(50.0, (float)x / (float)y, 0.5, 500.0);
}
void handle_spnav_event(spnav_event *ev)
{
switch(ev->type) {
case SPNAV_EVENT_MOTION:
/* XXX use the spnav_posrot_moveview utility function to modify the view
* position vector and orientation quaternion, based on the motion input
* we received.
*
* We'll also divide rotation values by two, to make rotation less
* sensitive. In this scale, it feels better that way in fly mode. The
* ideal ratio of sensitivities will vary depending on the scene scale.
*/
ev->motion.rx /= 2;
ev->motion.ry /= 2;
ev->motion.rz /= 2;
spnav_posrot_moveview(&posrot, &ev->motion);
/* XXX: Drop any further pending motion events. This can make our input
* more responsive on slow or heavily loaded machines. We don't gain
* anything by processing a whole queue of relative motions.
*/
spnav_remove_events(SPNAV_EVENT_MOTION);
redisplay_pending = 1;
break;
case SPNAV_EVENT_BUTTON:
/* XXX reset position and orientation to identity on button presses to
* reset the view
*/
spnav_posrot_init(&posrot);
redisplay_pending = 1;
break;
default:
break;
}
}
void draw_box(float xsz, float ysz, float zsz)
{
xsz /= 2;
ysz /= 2;
zsz /= 2;
glBegin(GL_QUADS);
/* face +Z */
glNormal3f(0, 0, 1);
glTexCoord2f(0, 0); glVertex3f(-xsz, -ysz, zsz);
glTexCoord2f(1, 0); glVertex3f(xsz, -ysz, zsz);
glTexCoord2f(1, 1); glVertex3f(xsz, ysz, zsz);
glTexCoord2f(0, 1); glVertex3f(-xsz, ysz, zsz);
/* face +X */
glNormal3f(1, 0, 0);
glTexCoord2f(0, 0); glVertex3f(xsz, -ysz, zsz);
glTexCoord2f(1, 0); glVertex3f(xsz, -ysz, -zsz);
glTexCoord2f(1, 1); glVertex3f(xsz, ysz, -zsz);
glTexCoord2f(0, 1); glVertex3f(xsz, ysz, zsz);
/* face -Z */
glNormal3f(0, 0, -1);
glTexCoord2f(0, 0); glVertex3f(xsz, -ysz, -zsz);
glTexCoord2f(1, 0); glVertex3f(-xsz, -ysz, -zsz);
glTexCoord2f(1, 1); glVertex3f(-xsz, ysz, -zsz);
glTexCoord2f(0, 1); glVertex3f(xsz, ysz, -zsz);
/* face -X */
glNormal3f(-1, 0, 0);
glTexCoord2f(0, 0); glVertex3f(-xsz, -ysz, -zsz);
glTexCoord2f(1, 0); glVertex3f(-xsz, -ysz, zsz);
glTexCoord2f(1, 1); glVertex3f(-xsz, ysz, zsz);
glTexCoord2f(0, 1); glVertex3f(-xsz, ysz, -zsz);
/* face +Y */
glNormal3f(0, 1, 0);
glTexCoord2f(0, 0);
glVertex3f(-xsz, ysz, zsz);
glVertex3f(xsz, ysz, zsz);
glVertex3f(xsz, ysz, -zsz);
glVertex3f(-xsz, ysz, -zsz);
/* face -Y */
glNormal3f(0, -1, 0);
glTexCoord2f(0, 0);
glVertex3f(-xsz, -ysz, -zsz);
glVertex3f(xsz, -ysz, -zsz);
glVertex3f(xsz, -ysz, zsz);
glVertex3f(-xsz, -ysz, zsz);
glEnd();
}