/
crane.go
219 lines (199 loc) · 5.27 KB
/
crane.go
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package main
import (
"github.com/PieterD/glimmer/gli"
"github.com/PieterD/glimmer/mat"
"github.com/go-gl/glfw/v3.1/glfw"
"github.com/go-gl/mathgl/mgl32"
)
const d2r = 3.14159 * 2 / 360
type Crane struct {
posBase mgl32.Vec3
angBase float32
posBaseLeft mgl32.Vec3
posBaseRight mgl32.Vec3
scaleBaseZ float32
angUpperArm float32
sizeUpperArm float32
posLowerArm mgl32.Vec3
angLowerArm float32
lenLowerArm float32
widthLowerArm float32
posWrist mgl32.Vec3
angWristRoll float32
angWristPitch float32
lenWrist float32
widthWrist float32
posLeftFinger mgl32.Vec3
posRightFinger mgl32.Vec3
angFingerOpen float32
lenFinger float32
widthFinger float32
angLowerFinger float32
p *Profile
}
func NewCrane(p *Profile) *Crane {
return &Crane{
posBase: mgl32.Vec3{3, -5, -40},
angBase: -45,
posBaseLeft: mgl32.Vec3{2, 0, 0},
posBaseRight: mgl32.Vec3{-2, 0, 0},
scaleBaseZ: 3,
angUpperArm: -78,
sizeUpperArm: 9,
posLowerArm: mgl32.Vec3{0, 0, 8},
angLowerArm: 101,
lenLowerArm: 5,
widthLowerArm: 1.5,
posWrist: mgl32.Vec3{0, 0, 5},
angWristRoll: 0,
angWristPitch: 67.5,
lenWrist: 2,
widthWrist: 2,
posLeftFinger: mgl32.Vec3{1, 0, 1},
posRightFinger: mgl32.Vec3{-1, 0, 1},
angFingerOpen: 27,
lenFinger: 2,
widthFinger: 0.5,
angLowerFinger: 45,
p: p,
}
}
func (crane *Crane) Draw() {
stack := mat.NewStack()
stack.AngleDeg()
stack.Ident()
stack.TranslateV(crane.posBase)
stack.RotateY(crane.angBase)
stack.Safe(crane.base)
stack.Safe(crane.arm)
}
func (crane *Crane) base(stack *mat.Stack) {
stack.Safe(func(stack *mat.Stack) {
stack.TranslateV(crane.posBaseLeft)
stack.Scale(1, 1, crane.scaleBaseZ)
crane.put(stack)
})
stack.Safe(func(stack *mat.Stack) {
stack.TranslateV(crane.posBaseRight)
stack.Scale(1, 1, crane.scaleBaseZ)
crane.put(stack)
})
}
func (crane *Crane) arm(stack *mat.Stack) {
stack.RotateX(crane.angUpperArm)
stack.Safe(func(stack *mat.Stack) {
stack.Translate(0, 0, crane.sizeUpperArm/2-1)
stack.Scale(1, 1, crane.sizeUpperArm/2)
crane.put(stack)
})
stack.Safe(crane.lowerarm)
}
func (crane *Crane) lowerarm(stack *mat.Stack) {
stack.TranslateV(crane.posLowerArm)
stack.RotateX(crane.angLowerArm)
stack.Safe(func(stack *mat.Stack) {
stack.Translate(0, 0, crane.lenLowerArm/2)
stack.Scale(crane.widthLowerArm/2, crane.widthLowerArm/2, crane.lenLowerArm/2)
crane.put(stack)
})
stack.Safe(crane.wrist)
}
func (crane *Crane) wrist(stack *mat.Stack) {
stack.TranslateV(crane.posWrist)
stack.RotateZ(crane.angWristRoll)
stack.RotateX(crane.angWristPitch)
stack.Safe(func(stack *mat.Stack) {
stack.Scale(crane.widthWrist/2, crane.widthWrist/2, crane.lenWrist/2)
crane.put(stack)
})
stack.Safe(crane.leftfinger)
stack.Safe(crane.rightfinger)
}
func (crane *Crane) leftfinger(stack *mat.Stack) {
stack.TranslateV(crane.posLeftFinger)
stack.RotateY(crane.angFingerOpen)
stack.Safe(func(stack *mat.Stack) {
stack.Translate(0, 0, crane.lenFinger/2)
stack.Scale(crane.widthFinger/2, crane.widthFinger/2, crane.lenFinger/2)
crane.put(stack)
})
stack.Safe(func(stack *mat.Stack) {
stack.Translate(0, 0, crane.lenFinger)
stack.RotateY(-crane.angLowerFinger)
stack.Safe(func(stack *mat.Stack) {
stack.Translate(0, 0, crane.lenFinger/2)
stack.Scale(crane.widthFinger/2, crane.widthFinger/2, crane.lenFinger/2)
crane.put(stack)
})
})
}
func (crane *Crane) rightfinger(stack *mat.Stack) {
stack.TranslateV(crane.posRightFinger)
stack.RotateY(-crane.angFingerOpen)
stack.Safe(func(stack *mat.Stack) {
stack.Translate(0, 0, crane.lenFinger/2)
stack.Scale(crane.widthFinger/2, crane.widthFinger/2, crane.lenFinger/2)
crane.put(stack)
})
stack.Safe(func(stack *mat.Stack) {
stack.Translate(0, 0, crane.lenFinger)
stack.RotateY(crane.angLowerFinger)
stack.Safe(func(stack *mat.Stack) {
stack.Translate(0, 0, crane.lenFinger/2)
stack.Scale(crane.widthFinger/2, crane.widthFinger/2, crane.lenFinger/2)
crane.put(stack)
})
})
}
func (crane *Crane) adjustBase(dir float32) {
crane.angBase += 11.25 * dir
}
func (crane *Crane) adjustUpperArm(dir float32) {
crane.angUpperArm += 11.25 * dir
}
func (crane *Crane) adjustLowerArm(dir float32) {
crane.angLowerArm += 11.25 * dir
}
func (crane *Crane) adjustWristPitch(dir float32) {
crane.angWristPitch += 11.25 * dir
}
func (crane *Crane) adjustWristRoll(dir float32) {
crane.angWristRoll += 11.25 * dir
}
func (crane *Crane) adjustFingerOpen(dir float32) {
crane.angFingerOpen += 9 * dir
}
func (crane *Crane) put(stack *mat.Stack) {
p := crane.p
m := stack.Peek()
p.modelToCameraMatrix.Float(m[:]...)
gli.Draw(p.program, p.vao, rectObject)
}
func (p *Profile) EventRune(w *glfw.Window, char rune) {
switch char {
case 'a':
p.crane.adjustBase(1)
case 'd':
p.crane.adjustBase(-1)
case 'w':
p.crane.adjustUpperArm(-1)
case 's':
p.crane.adjustUpperArm(1)
case 'r':
p.crane.adjustLowerArm(-1)
case 'f':
p.crane.adjustLowerArm(1)
case 't':
p.crane.adjustWristPitch(-1)
case 'g':
p.crane.adjustWristPitch(1)
case 'z':
p.crane.adjustWristRoll(1)
case 'c':
p.crane.adjustWristRoll(-1)
case 'q':
p.crane.adjustFingerOpen(1)
case 'e':
p.crane.adjustFingerOpen(-1)
}
}