FreeWRL/FreeX3D  3.0.0
Component_Geometry3D.c
1 /*
2 
3 
4 X3D Geometry 3D Component
5 
6 */
7 
8 
9 /****************************************************************************
10  This file is part of the FreeWRL/FreeX3D Distribution.
11 
12  Copyright 2009 CRC Canada. (http://www.crc.gc.ca)
13 
14  FreeWRL/FreeX3D is free software: you can redistribute it and/or modify
15  it under the terms of the GNU Lesser Public License as published by
16  the Free Software Foundation, either version 3 of the License, or
17  (at your option) any later version.
18 
19  FreeWRL/FreeX3D is distributed in the hope that it will be useful,
20  but WITHOUT ANY WARRANTY; without even the implied warranty of
21  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
22  GNU General Public License for more details.
23 
24  You should have received a copy of the GNU General Public License
25  along with FreeWRL/FreeX3D. If not, see <http://www.gnu.org/licenses/>.
26 ****************************************************************************/
27 
28 
29 
30 #include <config.h>
31 #include <system.h>
32 #include <display.h>
33 #include <internal.h>
34 
35 #include <libFreeWRL.h>
36 
37 #include "../vrml_parser/Structs.h"
38 #include "../main/headers.h"
39 #include "../opengl/Frustum.h"
40 #include "../opengl/OpenGL_Utils.h"
41 #include "../opengl/Textures.h"
42 #include "../scenegraph/Component_Shape.h"
43 #include "../scenegraph/RenderFuncs.h"
44 
45 
46 #include "Collision.h"
47 #include "Polyrep.h"
48 #include "LinearAlgebra.h"
49 #include "Component_Geometry3D.h"
50 
51 
52 /* used for vertices for VBOs. Note the tc coordinate... */
53 struct MyVertex
54  {
55  struct SFVec3f vert; //Vertex
56  struct SFVec3f norm; //Normal
57  struct SFVec2f tc; //Texcoord0
58  struct SFVec3f flat_norm;
59  };
60 
61  typedef int cquad[4];
62 typedef int ctri[3];
63 struct sCollisionGeometry
64 {
65  struct point_XYZ *pts;
66  struct point_XYZ *tpts;
67  ctri *tris;
68  int ntris;
69  cquad *quads;
70  int nquads;
71  int npts;
72  double smin[3],smax[3];
73 };
74 
75 
76 
77 typedef struct pComponent_Geometry3D{
78  int junk; //filler, no variables unless/untill vbos done
79  //SphereGeomVBO ShpereIndxVBO - are these per-instance or sharable?
80  struct sCollisionGeometry collisionSphere;
81  struct sCollisionGeometry collisionCylinder;
82  struct sCollisionGeometry collisionCone;
83  //struct point_XYZ *collisionSphere_tpts;
84  //struct point_XYZ *collisionCylinder_tpts;
85  //struct point_XYZ *collisionCone_tpts;
86 }* ppComponent_Geometry3D;
87 void *Component_Geometry3D_constructor(){
88  void *v = MALLOCV(sizeof(struct pComponent_Geometry3D));
89  memset(v,0,sizeof(struct pComponent_Geometry3D));
90  return v;
91 }
92 void Component_Geometry3D_init(struct tComponent_Geometry3D *t){
93  //public
94  //private
95  t->prv = Component_Geometry3D_constructor();
96  {
97  ppComponent_Geometry3D p = (ppComponent_Geometry3D)t->prv;
98  //generic geometry could in theory be static -its read only- but because we calculate it we malloc it,
99  // and because we malloc it we need to free it, and because of that we make it 1:1 with gglobal / browser
100  // so it can be freed on clear_.
101  bzero(&p->collisionSphere,sizeof(struct sCollisionGeometry)); //= {NULL,NULL,NULL,0,NULL,0,0, {0.0,0.0,0.0},{0.0,0.0,0.0}};
102  bzero(&p->collisionCylinder,sizeof(struct sCollisionGeometry)); // = {NULL,NULL,NULL,0,NULL,0,0, {0.0,0.0,0.0},{0.0,0.0,0.0}};
103  bzero(&p->collisionCone,sizeof(struct sCollisionGeometry)); //= {NULL,NULL,NULL,0,NULL,0,0, {0.0,0.0,0.0},{0.0,0.0,0.0}};
104  //transformed points are not read only -computed once on each frame- and _must_ be per gglobal
105  //p->collisionSphere_tpts;
106  //p->collisionCylinder_tpts;
107  //p->collisionCone_tpts;
108  }
109 }
110 void Component_Geometry3D_clear(struct tComponent_Geometry3D *t){
111  //public
112  //private
113  {
114  ppComponent_Geometry3D p = (ppComponent_Geometry3D)t->prv;
115  FREE_IF_NZ(p->collisionCone.tpts);
116  FREE_IF_NZ(p->collisionCylinder.tpts);
117  FREE_IF_NZ(p->collisionSphere.tpts);
118 
119  FREE_IF_NZ(p->collisionCone.tris);
120  FREE_IF_NZ(p->collisionCylinder.quads);
121  FREE_IF_NZ(p->collisionCylinder.tris);
122  FREE_IF_NZ(p->collisionSphere.tris);
123 
124  FREE_IF_NZ(p->collisionCone.pts);
125  FREE_IF_NZ(p->collisionCylinder.pts);
126  FREE_IF_NZ(p->collisionSphere.pts);
127  }
128 }
129 //ppComponent_Geometry3D p = (ppComponent_Geometry3D)gglobal()->Component_Geometry3D.prv;
130 
131 
132 static GLfloat VBO_coneSideTexParams[]={
133  0.55f, 0.525f, 0.50f,
134  0.60f, 0.575f, 0.55f,
135  0.65f, 0.625f, 0.60f,
136  0.70f, 0.675f, 0.65f,
137  0.75f, 0.725f, 0.70f,
138  0.80f, 0.775f, 0.75f,
139  0.85f, 0.825f, 0.80f,
140  0.90f, 0.875f, 0.85f,
141  0.95f, 0.925f, 0.90f,
142  1.00f, 0.975f, 0.95f,
143  0.05f, 0.025f, 0.00f,
144  0.10f, 0.075f, 0.05f,
145  0.15f, 0.125f, 0.10f,
146  0.20f, 0.175f, 0.15f,
147  0.25f, 0.225f, 0.20f,
148  0.30f, 0.275f, 0.25f,
149  0.35f, 0.325f, 0.30f,
150  0.40f, 0.375f, 0.35f,
151  0.45f, 0.425f, 0.40f,
152  0.50f, 0.475f, 0.45f,
153  0.55f, 0.525f, 0.50f
154 };
155 
156 /*******************************************************************************/
157 
158 /* have to regen the shape*/
159 void compile_Box (struct X3D_Box *node) {
160  struct SFVec3f *pt;
161  struct SFVec3f *ptr;
162  float x = ((node->size).c[0])/2;
163  float y = ((node->size).c[1])/2;
164  float z = ((node->size).c[2])/2;
165 
166  MARK_NODE_COMPILED
167 
168  /* MALLOC memory (if possible)*/
169  if (!node->__points.p) ptr = MALLOC (struct SFVec3f *,sizeof(struct SFVec3f)*(36));
170  else ptr = node->__points.p;
171 
172  /* now, create points; 6 points per face.*/
173  pt = ptr;
174 
175 
176 #define PTF0 (*pt).c[0] = x; (*pt).c[1] = y; (*pt).c[2] = z; pt++;
177 #define PTF1 (*pt).c[0] = -x; (*pt).c[1] = y; (*pt).c[2] = z; pt++;
178 #define PTF2 (*pt).c[0] = -x; (*pt).c[1] = -y; (*pt).c[2] = z; pt++;
179 #define PTF3 (*pt).c[0] = x; (*pt).c[1] = -y; (*pt).c[2] = z; pt++;
180 #define PTR0 (*pt).c[0] = x; (*pt).c[1] = y; (*pt).c[2] = -z; pt++;
181 #define PTR1 (*pt).c[0] = -x; (*pt).c[1] = y; (*pt).c[2] = -z; pt++;
182 #define PTR2 (*pt).c[0] = -x; (*pt).c[1] = -y; (*pt).c[2] = -z; pt++;
183 #define PTR3 (*pt).c[0] = x; (*pt).c[1] = -y; (*pt).c[2] = -z; pt++;
184 
185 
186  PTF0 PTF1 PTF2 PTF0 PTF2 PTF3 /* front */
187  PTR2 PTR1 PTR0 PTR3 PTR2 PTR0 /* back */
188  PTF0 PTR0 PTR1 PTF0 PTR1 PTF1 /* top */
189  PTF3 PTF2 PTR2 PTF3 PTR2 PTR3 /* bottom */
190  PTF0 PTF3 PTR3 PTF0 PTR3 PTR0 /* right */
191  PTF1 PTR1 PTR2 PTF1 PTR2 PTF2 /* left */
192 
193  /* finished, and have good data */
194  node->__points.p = ptr;
195 }
196 #undef PTF0
197 #undef PTF1
198 #undef PTF2
199 #undef PTR0
200 #undef PTR1
201 #undef PTR2
202 #define DESIRE(whichOne,zzz) ((whichOne & zzz)==zzz)
203 void render_Box (struct X3D_Box *node) {
204  extern GLfloat boxtex[]; /* in CFuncs/statics.c*/
205  extern GLfloat boxnorms[]; /* in CFuncs/statics.c*/
206  extern ushort boxwireindices[];
207  struct textureVertexInfo mtf = {boxtex,2,GL_FLOAT,0,NULL,NULL};
208 
209  float x = ((node->size).c[0])/2;
210  float y = ((node->size).c[1])/2;
211  float z = ((node->size).c[2])/2;
212 
213  /* test for <0 of sides */
214  if ((x < 0) || (y < 0) || (z < 0)) return;
215 
216  COMPILE_IF_REQUIRED
217  if (!node->__points.p) return; /* still compiling */
218 
219  /* for BoundingBox calculations */
220  setExtent(x,-x,y,-y,z,-z,X3D_NODE(node));
221 
222  CULL_FACE(node->solid)
223 
224  /* Draw it; assume VERTEX and NORMALS already defined.*/
225  textureCoord_send(&mtf);
226  FW_GL_VERTEX_POINTER (3,GL_FLOAT,0,(GLfloat *)node->__points.p);
227  FW_GL_NORMAL_POINTER (GL_FLOAT,0,boxnorms);
228 
229  /* do the array drawing; sides are simple 0-1-2-3, 4-5-6-7, etc quads */
230  //if(fwl_getShadingStyle() == 3){
231  if(DESIRE(getShaderFlags().base,SHADINGSTYLE_WIRE)){
232  //wireframe triangles
233  sendElementsToGPU(GL_LINES,72,boxwireindices);
234  }else{
235  sendArraysToGPU (GL_TRIANGLES, 0, 36);
236  }
237 
238  gglobal()->Mainloop.trisThisLoop += 24;
239 }
240 
241 
242 /*******************************************************************************/
243 
244 void compile_Cylinder (struct X3D_Cylinder * node) {
245  #define CYLDIV 20
246  float h = (node->height)/2;
247  float r = node->radius;
248  int i = 0;
249  struct MyVertex cylVert[CYLDIV * 4 * 3];
250  int indx = 0;
251 
252  /* have to regen the shape*/
253  MARK_NODE_COMPILED
254 
255 
256  /* use VBOS for Cylinders? */
257 
258  if (node->__cylinderVBO == 0) {
259  glGenBuffers(1,(GLuint*) &node->__cylinderVBO);
260  }
261 
262  /* we create two triangle fans - the cone, and the bottom. */
263  /* first, the flat bit on the bottom */
264  indx=0;
265 
266  if (node->bottom) {
267  for (i=0; i<CYLDIV; i++) {
268  double angle = PI*2*i/(double)CYLDIV;
269  double next_angle = PI*2*(i+1)/(double)CYLDIV;
270  /* vertex #1 */
271  cylVert[indx].vert.c[0] = r* (float) sin(angle);
272  cylVert[indx].vert.c[1] = (float) -h;
273  cylVert[indx].vert.c[2] = r* (float) cos(angle);
274  cylVert[indx].norm.c[0] = 0.0f;
275  cylVert[indx].norm.c[1] = -1.0f;
276  cylVert[indx].norm.c[2] = 0.0f;
277  cylVert[indx].tc.c[0] = 0.5f+0.5f* (float) sin(angle);
278  cylVert[indx].tc.c[1] = 0.5f+0.5f* (float) cos(angle);
279  indx++;
280 
281  /* vertex #2 - in the centre */
282  cylVert[indx].vert.c[0] = 0.0f;
283  cylVert[indx].vert.c[1] = (float) -h;
284  cylVert[indx].vert.c[2] = 0.0f;
285  cylVert[indx].norm.c[0] = 0.0f;
286  cylVert[indx].norm.c[1] = -1.0f;
287  cylVert[indx].norm.c[2] = 0.0f;
288  cylVert[indx].tc.c[0] = 0.5f;
289  cylVert[indx].tc.c[1] = 0.5f;
290  indx++;
291 
292  /* vertex #3 */
293  cylVert[indx].vert.c[0] = r* (float) sin(next_angle);
294  cylVert[indx].vert.c[1] = (float) -h;
295  cylVert[indx].vert.c[2] = r* (float) cos(next_angle);
296  cylVert[indx].norm.c[0] = 0.0f;
297  cylVert[indx].norm.c[1] = -1.0f;
298  cylVert[indx].norm.c[2] = 0.0f;
299  cylVert[indx].tc.c[0] = 0.5f+0.5f* (float) sin(next_angle);
300  cylVert[indx].tc.c[1] = 0.5f+0.5f* (float) cos(next_angle);
301  indx++;
302  }
303  }
304  if (node->top) {
305  /* same as bottom, but wind'em the other way */
306  for (i=0; i<CYLDIV; i++) {
307  double angle = PI*2*i/(double)CYLDIV;
308  double next_angle = PI*2*(i+1)/(double)CYLDIV;
309  /* vertex #1 */
310  cylVert[indx].vert.c[0] = r* (float) sin(next_angle);
311  cylVert[indx].vert.c[1] = (float) h;
312  cylVert[indx].vert.c[2] = r* (float) cos(next_angle);
313  cylVert[indx].norm.c[0] = 0.0f;
314  cylVert[indx].norm.c[1] = 1.0f;
315  cylVert[indx].norm.c[2] = 0.0f;
316  cylVert[indx].tc.c[0] = 0.5f+0.5f* (float) sin(next_angle);
317  cylVert[indx].tc.c[1] = 0.5f+0.5f* (float) cos(next_angle);
318  indx++;
319 
320  /* vertex #2 - in the centre */
321  cylVert[indx].vert.c[0] = 0.0f;
322  cylVert[indx].vert.c[1] = (float) h;
323  cylVert[indx].vert.c[2] = 0.0f;
324  cylVert[indx].norm.c[0] = 0.0f;
325  cylVert[indx].norm.c[1] = 1.0f;
326  cylVert[indx].norm.c[2] = 0.0f;
327  cylVert[indx].tc.c[0] = 0.5f;
328  cylVert[indx].tc.c[1] = 0.5f;
329  indx++;
330 
331  /* vertex #3 */
332  cylVert[indx].vert.c[0] = r* (float) sin(angle);
333  cylVert[indx].vert.c[1] = (float) h;
334  cylVert[indx].vert.c[2] = r* (float) cos(angle);
335  cylVert[indx].norm.c[0] = 0.0f;
336  cylVert[indx].norm.c[1] = 1.0f;
337  cylVert[indx].norm.c[2] = 0.0f;
338  cylVert[indx].tc.c[0] = 0.5f+0.5f* (float) sin(angle);
339  cylVert[indx].tc.c[1] = 0.5f+0.5f* (float) cos(angle);
340  indx++;
341  }
342  }
343 
344 
345 
346  /* now, the sides */
347  if (node->side) {
348  for (i=0; i<CYLDIV; i++) {
349  double angle;
350 
351  /* Triangle #1 for this segment of the side */
352  /* vertex #1 - bottom right */
353  angle = (double) (PI * 2 * (i+1.0f)) / (double) (CYLDIV);
354  cylVert[indx].vert.c[0] = r* (float) sin(angle);
355  cylVert[indx].vert.c[1] = (float) -h;
356  cylVert[indx].vert.c[2] = r* (float) cos(angle);
357 
358  /* note the angle for normals is half way between faces */
359  angle = (double) (PI * 2 * (i+0.5f)) / (double) (CYLDIV);
360  cylVert[indx].norm.c[0] = (float) sin(angle);
361  cylVert[indx].norm.c[1] = 0.0f;
362  cylVert[indx].norm.c[2] = (float) cos(angle);
363 
364  /* note that we use the Cone TC array; assume same division */
365  cylVert[indx].tc.c[0] = VBO_coneSideTexParams[i*3+0];
366  cylVert[indx].tc.c[1] = 0.0f;
367  indx++;
368 
369  /* vertex #2 - top left */
370  angle = (double) (PI * 2 * (i+0.0f)) / (double) (CYLDIV);
371  cylVert[indx].vert.c[0] = r* (float) sin(angle);
372  cylVert[indx].vert.c[1] = (float) h;
373  cylVert[indx].vert.c[2] = r* (float) cos(angle);
374  angle = (double) (PI * 2 * (i-0.5f)) / (double) (CYLDIV);
375  cylVert[indx].norm.c[0] = (float) sin(angle);
376  cylVert[indx].norm.c[1] = 0.0f;
377  cylVert[indx].norm.c[2] = (float) cos(angle);
378  cylVert[indx].tc.c[0] = VBO_coneSideTexParams[i*3+2];
379  cylVert[indx].tc.c[1] = 1.0f;
380  indx++;
381 
382  /* vertex #3 - bottom left */
383  angle = (double) (PI * 2 * (i+0.0f)) / (double) (CYLDIV);
384  cylVert[indx].vert.c[0] = r* (float) sin(angle);
385  cylVert[indx].vert.c[1] = (float) -h;
386  cylVert[indx].vert.c[2] = r* (float) cos(angle);
387  angle = (double) (PI * 2 * (i-0.5f)) / (double) (CYLDIV);
388  cylVert[indx].norm.c[0] = (float) sin(angle);
389  cylVert[indx].norm.c[1] = 0.0f;
390  cylVert[indx].norm.c[2] = (float) cos(angle);
391  cylVert[indx].tc.c[0] = VBO_coneSideTexParams[i*3+2];
392  cylVert[indx].tc.c[1] = 0.0f;
393  indx++;
394 
395  /* Triangle #2 for this segment of the side */
396  /* vertex #1 - bottom right */
397  angle = (double) (PI * 2 * (i+1.0f)) / (double) (CYLDIV);
398  cylVert[indx].vert.c[0] = r* (float) sin(angle);
399  cylVert[indx].vert.c[1] = (float) -h;
400  cylVert[indx].vert.c[2] = r* (float) cos(angle);
401  angle = (double) (PI * 2 * (i+0.5f)) / (double) (CYLDIV);
402  cylVert[indx].norm.c[0] = (float) sin(angle);
403  cylVert[indx].norm.c[1] = 0.0f;
404  cylVert[indx].norm.c[2] = (float) cos(angle);
405  cylVert[indx].tc.c[0] = VBO_coneSideTexParams[i*3+0];
406  cylVert[indx].tc.c[1] = 0.0f;
407  indx++;
408 
409  /* vertex #2 - top right */
410  angle = (double) (PI * 2 * (i+1.0f)) / (double) (CYLDIV);
411  cylVert[indx].vert.c[0] = r* (float) sin(angle);
412  cylVert[indx].vert.c[1] = (float) h;
413  cylVert[indx].vert.c[2] = r* (float) cos(angle);
414  angle = (double) (PI * 2 * (i+0.5f)) / (double) (CYLDIV);
415  cylVert[indx].norm.c[0] = (float) sin(angle);
416  cylVert[indx].norm.c[1] = 0.0f;
417  cylVert[indx].norm.c[2] = (float) cos(angle);
418  cylVert[indx].tc.c[0] = VBO_coneSideTexParams[i*3+0];
419  cylVert[indx].tc.c[1] = 1.0f;
420  indx++;
421 
422  /* vertex #3 - top left */
423  angle = (float) (PI * 2 * (i+0.0f)) / (double) (CYLDIV);
424  cylVert[indx].vert.c[0] = r* (float) sin(angle);
425  cylVert[indx].vert.c[1] = (float) h;
426  cylVert[indx].vert.c[2] = r* (float) cos(angle);
427  angle = (double) (PI * 2 * (i-0.5f)) / (double) (CYLDIV);
428  cylVert[indx].norm.c[0] = (float) sin(angle);
429  cylVert[indx].norm.c[1] = 0.0f;
430  cylVert[indx].norm.c[2] = (float) cos(angle);
431  cylVert[indx].tc.c[0] = VBO_coneSideTexParams[i*3+2];
432  cylVert[indx].tc.c[1] = 1.0f;
433  indx++;
434  }
435 
436  }
437 
438  node->__cylinderTriangles = indx; //more precisely, number of vertices, (3 vertices per triangle)
439  {
440  //prepare flat normals for flat shading style
441  int i3;
442  for(i=0;i<indx/3;i++){
443  float a[3],b[3],c[3],d[3], e[3], f[3], g[3];
444  i3 = i*3;
445  memcpy(a,cylVert[i3 +0].vert.c,sizeof(struct SFColor));
446  memcpy(b,cylVert[i3 +1].vert.c,sizeof(struct SFColor));
447  memcpy(c,cylVert[i3 +2].vert.c,sizeof(struct SFColor));
448  vecdif3f(d,b,a);
449  vecdif3f(e,c,a);
450  veccross3f(f,d,e);
451  vecnormalize3f(g,f);
452  memcpy(cylVert[i3 +0].flat_norm.c,g,sizeof(struct SFColor));
453  memcpy(cylVert[i3 +1].flat_norm.c,g,sizeof(struct SFColor));
454  memcpy(cylVert[i3 +2].flat_norm.c,g,sizeof(struct SFColor));
455  }
456  }
457  {
458  //prepare wireframe indices
459  int i3, i6;
460  ushort *lindex = MALLOC(ushort *,indx * 2 * sizeof(ushort));
461  for(i=0;i<indx/3;i++){
462  i3 = i*3;
463  i6 = i*6;
464  lindex[i6+0] = i3 + 0;
465  lindex[i6+1] = i3 + 1;
466  lindex[i6+2] = i3 + 1;
467  lindex[i6+3] = i3 + 2;
468  lindex[i6+4] = i3 + 2;
469  lindex[i6+5] = i3 + 0;
470  }
471  node->__wireindices = lindex;
472  }
473 
474  FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, node->__cylinderVBO);
475  glBufferData(GL_ARRAY_BUFFER, sizeof(struct MyVertex)*indx, cylVert, GL_STATIC_DRAW);
476 
477  FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, 0);
478 
479 }
480 void clear_Cylinder (struct X3D_Node *node) {
481  struct X3D_Cylinder *tnode = (struct X3D_Cylinder *)node;
482  if(tnode->__cylinderVBO)
483  glDeleteBuffers(1, (const GLuint *) &tnode->__cylinderVBO);
484  if(tnode->__wireindices)
485  FREE_IF_NZ(tnode->__wireindices);
486 }
487 
488 void render_Cylinder (struct X3D_Cylinder * node) {
489  extern GLfloat cylsidetex[]; /* in CFuncs/statics.c*/
490  struct textureVertexInfo mtf = {cylsidetex,2,GL_FLOAT,0,NULL,NULL};
491 
492  float h = (node->height)/2;
493  float r = node->radius;
494 
495 
496  if ((h < 0) || (r < 0)) {return;}
497 
498  /* for BoundingBox calculations */
499  setExtent(r,-r,h,-h,r,-r,X3D_NODE(node));
500 
501  COMPILE_IF_REQUIRED
502 
503  CULL_FACE(node->solid)
504 
505  // taken from the OpenGL.org website:
506  #define BUFFER_OFFSET(i) ((char *)NULL + (i))
507 
508  FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, node->__cylinderVBO);
509 
510  FW_GL_VERTEX_POINTER(3, GL_FLOAT, (GLsizei)sizeof(struct MyVertex), (GLfloat *)BUFFER_OFFSET(0));
511  //The starting point of the VBO, for the vertices
512  if(DESIRE(getShaderFlags().base,SHADINGSTYLE_FLAT)){
513  //The starting point of normals, (3+3+2)*4 = 32 + bytes away
514  FW_GL_NORMAL_POINTER(GL_FLOAT, (GLsizei) sizeof(struct MyVertex), (GLfloat *)BUFFER_OFFSET(32));
515  }else{
516  //The starting point of normals, 3*4 = 12 + bytes away
517  FW_GL_NORMAL_POINTER(GL_FLOAT, (GLsizei) sizeof(struct MyVertex), (GLfloat *)BUFFER_OFFSET(12));
518  }
519  /* set up texture drawing for this guy */
520  mtf.pre_canned_textureCoords = NULL;
521  mtf.TC_size = 2;
522  mtf.TC_type = GL_FLOAT;
523  mtf.TC_stride = sizeof(struct MyVertex);
524  mtf.TC_pointer = BUFFER_OFFSET(24);
525  textureCoord_send(&mtf);
526  /* FW_GL_BINDBUFFER(GL_ELEMENT_ARRAY_BUFFER, ConeIndxVBO); */
527 
528  if(DESIRE(getShaderFlags().base,SHADINGSTYLE_WIRE)){
529  //wireframe triangles
530  sendElementsToGPU(GL_LINES,node->__cylinderTriangles *2,node->__wireindices);
531  }else{
532  sendArraysToGPU(GL_TRIANGLES,0,node->__cylinderTriangles);
533  }
534  /* turn off */
535  FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, 0);
536 }
537 
538 
539 
540 /*******************************************************************************/
541 
542 void compile_Cone (struct X3D_Cone *node) {
543  /* DO NOT change this define, unless you want to recalculate statics below....*/
544  #define CONEDIV 20
545 
546  float h = (node->height)/2;
547  float r = node->bottomRadius;
548  int i;
549  struct MyVertex coneVert[CONEDIV * 2 * 3];
550  int indx = 0;
551 
552  /* have to regen the shape*/
553  MARK_NODE_COMPILED
554 
555 
556  if (node->__coneVBO == 0) {
557  glGenBuffers(1,(GLuint *) &node->__coneVBO);
558  }
559 
560  /* we create two triangle fans - the cone, and the bottom. */
561  /* first, the flat bit on the bottom */
562  indx=0;
563 
564  if (node->bottom) {
565  for (i=0; i<CONEDIV; i++) {
566  double angle = PI*2*i/(double)CONEDIV;
567  double next_angle = PI*2*(i+1)/(double)CONEDIV;
568  /* vertex #1 */
569  coneVert[indx].vert.c[0] = r* (float) sin(angle);
570  coneVert[indx].vert.c[1] = (float) -h;
571  coneVert[indx].vert.c[2] = r* (float) cos(angle);
572  coneVert[indx].norm.c[0] = 0.0f;
573  coneVert[indx].norm.c[1] = -1.0f;
574  coneVert[indx].norm.c[2] = 0.0f;
575  coneVert[indx].tc.c[0] = 0.5f+0.5f* (float) sin(angle);
576  coneVert[indx].tc.c[1] = 0.5f+0.5f* (float) cos(angle);
577  indx++;
578 
579  /* vertex #2 - in the centre */
580  coneVert[indx].vert.c[0] = 0.0f;
581  coneVert[indx].vert.c[1] = (float) -h;
582  coneVert[indx].vert.c[2] = 0.0f;
583  coneVert[indx].norm.c[0] = 0.0f;
584  coneVert[indx].norm.c[1] = -1.0f;
585  coneVert[indx].norm.c[2] = 0.0f;
586  coneVert[indx].tc.c[0] = 0.5f;
587  coneVert[indx].tc.c[1] = 0.5f;
588  indx++;
589 
590  /* vertex #3 */
591  coneVert[indx].vert.c[0] = r* (float) sin(next_angle);
592  coneVert[indx].vert.c[1] = (float) -h;
593  coneVert[indx].vert.c[2] = r* (float) cos(next_angle);
594  coneVert[indx].norm.c[0] = 0.0f;
595  coneVert[indx].norm.c[1] = -1.0f;
596  coneVert[indx].norm.c[2] = 0.0f;
597  coneVert[indx].tc.c[0] = 0.5f+0.5f* (float) sin(next_angle);
598  coneVert[indx].tc.c[1] = 0.5f+0.5f* (float) cos(next_angle);
599  indx++;
600  }
601  }
602 
603 
604  /* now, the sides */
605  if (node->side) {
606  GLfloat *tcp = VBO_coneSideTexParams;
607 
608  for (i=0; i<CONEDIV; i++) {
609  double angle;
610 
611  /* vertex #1 */
612  angle = (double) (PI * 2 * (i+1.0f)) / (double) (CONEDIV);
613  coneVert[indx].vert.c[0] = r* (float) sin(angle);
614  coneVert[indx].vert.c[1] = (float) -h;
615  coneVert[indx].vert.c[2] = r* (float) cos(angle);
616  coneVert[indx].norm.c[0] = (float) sin(angle);
617  coneVert[indx].norm.c[1] = (float)h/(r*2);
618  coneVert[indx].norm.c[2] = (float) cos(angle);
619 
620  angle = (double) (PI * 2 * (i+0.0f)) / (double) (CONEDIV);
621  coneVert[indx].tc.c[0] = *tcp; tcp++;
622  coneVert[indx].tc.c[1] = 0.0f;
623  indx++;
624 
625  /* vertex #2 - in the centre */
626  angle = (float) (PI * 2 * (i+0.5f)) / (double)(CONEDIV);
627  coneVert[indx].vert.c[0] = 0.0f;
628  coneVert[indx].vert.c[1] = (float) h;
629  coneVert[indx].vert.c[2] = 0.0f;
630  coneVert[indx].norm.c[0] = (float) sin(angle);
631  coneVert[indx].norm.c[1] = (float)h/(r*2);
632  coneVert[indx].norm.c[2] = (float) cos(angle);
633 
634  coneVert[indx].tc.c[0] = *tcp; tcp++;
635  coneVert[indx].tc.c[1] = 1.0f;
636  indx++;
637 
638  /* vertex #3 */
639  angle = (float) (PI * 2 * (i+0.0f)) / (double) (CONEDIV);
640  coneVert[indx].vert.c[0] = r* (float) sin(angle);
641  coneVert[indx].vert.c[1] = (float) -h;
642  coneVert[indx].vert.c[2] = r* (float) cos(angle);
643  coneVert[indx].norm.c[0] = (float) sin(angle);
644  coneVert[indx].norm.c[1] = (float)h/(r*2);
645  coneVert[indx].norm.c[2] = (float) cos(angle);
646 
647  angle = (float) (PI * 2 * (i+1.0f)) / (double) (CONEDIV);
648  coneVert[indx].tc.c[0] = *tcp; tcp++;
649  coneVert[indx].tc.c[1] = 0.0f;
650  indx++;
651  }
652 
653  }
654 
655  node->__coneTriangles = indx;
656  {
657  //prepare flat normals for flat shading style
658  int i3;
659  for(i=0;i<indx/3;i++){
660  float a[3],b[3],c[3],d[3], e[3], f[3], g[3];
661  i3 = i*3;
662  memcpy(a,coneVert[i3 +0].vert.c,sizeof(struct SFColor));
663  memcpy(b,coneVert[i3 +1].vert.c,sizeof(struct SFColor));
664  memcpy(c,coneVert[i3 +2].vert.c,sizeof(struct SFColor));
665  vecdif3f(d,b,a);
666  vecdif3f(e,c,a);
667  veccross3f(f,d,e);
668  vecnormalize3f(g,f);
669  memcpy(coneVert[i3 +0].flat_norm.c,g,sizeof(struct SFColor));
670  memcpy(coneVert[i3 +1].flat_norm.c,g,sizeof(struct SFColor));
671  memcpy(coneVert[i3 +2].flat_norm.c,g,sizeof(struct SFColor));
672  }
673  }
674  {
675  //prepare wireframe indices
676  int i3, i6;
677  ushort *lindex = MALLOC(ushort *,indx * 2 * sizeof(ushort));
678  for(i=0;i<indx/3;i++){
679  i3 = i*3;
680  i6 = i*6;
681  lindex[i6+0] = i3 + 0;
682  lindex[i6+1] = i3 + 1;
683  lindex[i6+2] = i3 + 1;
684  lindex[i6+3] = i3 + 2;
685  lindex[i6+4] = i3 + 2;
686  lindex[i6+5] = i3 + 0;
687  }
688  node->__wireindices = lindex;
689  }
690 
691  FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, (GLuint) node->__coneVBO);
692  glBufferData(GL_ARRAY_BUFFER, sizeof(struct MyVertex)*indx, coneVert, GL_STATIC_DRAW);
693 
694  FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, 0);
695 
696  /* no longer needed */
697  FREE_IF_NZ(node->__botpoints.p);
698  FREE_IF_NZ(node->__sidepoints.p);
699  FREE_IF_NZ(node->__normals.p);
700 }
701 void clear_Cone (struct X3D_Node *node) {
702  struct X3D_Cone *tnode = (struct X3D_Cone *)node;
703  if(tnode->__coneVBO)
704  glDeleteBuffers(1, (const GLuint *) &tnode->__coneVBO);
705 }
706 
707 void render_Cone (struct X3D_Cone *node) {
708  extern float tribottex[]; /* in CFuncs/statics.c*/
709  struct textureVertexInfo mtf = {tribottex,2,GL_FLOAT,0,NULL,NULL};
710 
711  float h = (node->height)/2;
712  float r = node->bottomRadius;
713 
714  if ((h < 0) || (r < 0)) {return;}
715  COMPILE_IF_REQUIRED
716 
717  /* for BoundingBox calculations */
718  setExtent(r,-r,h,-h,r,-r,X3D_NODE(node));
719 
720 
721  CULL_FACE(node->solid)
722  /* OK - we have vertex data, so lets just render it.*/
723  /* Always assume GL_VERTEX_ARRAY and GL_NORMAL_ARRAY are enabled.*/
724  // taken from the OpenGL.org website:
725  #define BUFFER_OFFSET(i) ((char *)NULL + (i))
726 
727  FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, node->__coneVBO);
728 
729  FW_GL_VERTEX_POINTER(3, GL_FLOAT, (GLsizei) sizeof(struct MyVertex), (GLfloat *)BUFFER_OFFSET(0)); //The starting point of the VBO, for the vertices
730  if(DESIRE(getShaderFlags().base,SHADINGSTYLE_FLAT)){
731  //The starting point of normals, (3+3+2)*4 = 32 + bytes away
732  FW_GL_NORMAL_POINTER(GL_FLOAT, (GLsizei) sizeof(struct MyVertex), (GLfloat *)BUFFER_OFFSET(32));
733  }else{
734  //The starting point of normals, 3*4 = 12 + bytes away
735  FW_GL_NORMAL_POINTER(GL_FLOAT, (GLsizei) sizeof(struct MyVertex), (GLfloat *)BUFFER_OFFSET(12));
736  }
737 
738  /* set up texture drawing for this guy */
739  mtf.pre_canned_textureCoords = NULL;
740  mtf.TC_size = 2;
741  mtf.TC_type = GL_FLOAT;
742  mtf.TC_stride = sizeof(struct MyVertex);
743  mtf.TC_pointer = BUFFER_OFFSET(24);
744  textureCoord_send(&mtf);
745 PRINT_GL_ERROR_IF_ANY("END1 render_geom");
746  if(DESIRE(getShaderFlags().base,SHADINGSTYLE_WIRE)){
747  //wireframe triangles
748  sendElementsToGPU(GL_LINES,node->__coneTriangles *2,node->__wireindices);
749  }else{
750  sendArraysToGPU(GL_TRIANGLES,0,node->__coneTriangles);
751  }
752 
753 PRINT_GL_ERROR_IF_ANY("END2 render_geom");
754  /* turn off */
755  //FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, 0);
756  //FW_GL_BINDBUFFER(GL_ELEMENT_ARRAY_BUFFER, 0);
757 }
758 
759 
760 
761 /*******************************************************************************/
762 /* how many triangles in this sphere? SPHDIV strips, each strip
763  has 2 triangles, and each triangles has 3 vertices and there are
764  SPHDIV rows */
765 #define SPHDIV 20
766 #define TRISINSPHERE (SPHDIV*3* SPHDIV)
767 
768 
769 void compile_Sphere (struct X3D_Sphere *node) {
770  #define INIT_TRIG1(div) t_aa = (float) sin(PI/(div)); t_aa *= 2*t_aa; t_ab =(float) -sin(2*PI/(div));
771  #define START_TRIG1 t_sa = 0; t_ca = -1;
772  #define UP_TRIG1 t_sa1 = t_sa; t_sa -= t_sa*t_aa - t_ca * t_ab; t_ca -= t_ca * t_aa + t_sa1 * t_ab;
773  #define SIN1 t_sa
774  #define COS1 t_ca
775  #define INIT_TRIG2(div) t2_aa = (float) sin(PI/(div)); t2_aa *= 2*t2_aa; t2_ab = (float) -sin(2*PI/(div));
776  #define START_TRIG2 t2_sa = -1; t2_ca = 0;
777  #define UP_TRIG2 t2_sa1 = t2_sa; t2_sa -= t2_sa*t2_aa - t2_ca * t2_ab; t2_ca -= t2_ca * t2_aa + t2_sa1 * t2_ab;
778  #define SIN2 t2_sa
779  #define COS2 t2_ca
780 
781  /* make the divisions 20; dont change this, because statics.c values*/
782  /* will then need recaculating.*/
783  extern GLfloat spherenorms[]; /* side normals*/
784  extern float spheretex[]; /* in CFuncs/statics.c*/
785 
786  int count;
787  float rad = node->radius;
788  struct SFVec3f *ptr;
789 
790  int v; int h;
791  float t_aa, t_ab, t_sa, t_ca, t_sa1;
792  float t2_aa, t2_ab, t2_sa, t2_ca, t2_sa1;
793  struct SFVec3f *pts;
794  //ushort *pindices;
795 
796  /* have to regen the shape*/
797  MARK_NODE_COMPILED
798 
799  /* MALLOC memory (if possible)*/
800  /* 2 vertexes per points. (+1, to loop around and close structure)*/
801  if (!node->__points.p) {
802  // malloc points. We seem to never need the ".n" size param, but initialize it
803  // anyway to keep things clean and even.
804  ptr = MALLOC (struct SFVec3f *,sizeof(struct SFVec3f) * (SPHDIV+1) * (SPHDIV+1) * 2);
805  node->__points.n = SPHDIV * (SPHDIV+1) * 2;
806  } else ptr = node->__points.p;
807 
808  pts = ptr;
809  count = 0;
810 
811  INIT_TRIG1(SPHDIV)
812  INIT_TRIG2(SPHDIV)
813 
814  START_TRIG1
815  {
816  extern GLfloat spherenorms[]; /* side normals*/
817  extern float spheretex[]; /* in CFuncs/statics.c*/
818 
819  //int myVertexVBOSize = (int) (sizeof(struct SFVec3f) +
820  // sizeof(struct SFVec3f) +
821  // sizeof(struct SFVec2f)) * SPHDIV * (SPHDIV+1) * 2;
822  int myVertexVBOSize = (int) sizeof(struct MyVertex) * SPHDIV * (SPHDIV+1) * 2;
823  struct MyVertex *SphVBO = MALLOC(struct MyVertex *, myVertexVBOSize);
824  struct SFVec3f *myNorms = (struct SFVec3f*)spherenorms;
825  struct SFVec2f *myTex = (struct SFVec2f*)spheretex;
826 
827  if (node->_sideVBO == 0) {
828  glGenBuffers(1,(GLuint *) &node->_sideVBO);
829  }
830  for(v=0; v<SPHDIV; v++) {
831  float vsin1 = SIN1;
832  float vcos1 = COS1, vsin2,vcos2;
833  UP_TRIG1
834  vsin2 = SIN1;
835  vcos2 = COS1;
836  START_TRIG2
837  for(h=0; h<=SPHDIV; h++) {
838  float hsin1 = SIN2;
839  float hcos1 = COS2;
840  UP_TRIG2
841  pts[count].c[0] = rad * vsin2 * hcos1;
842  pts[count].c[1] = rad * vcos2;
843  pts[count].c[2] = rad * vsin2 * hsin1;
844 
845  /* copy these points into the MyVertex Sphere VBO */
846  memcpy (SphVBO[count].vert.c, pts[count].c, sizeof (struct SFVec3f));
847  memcpy (SphVBO[count].norm.c, myNorms[count].c, sizeof (struct SFVec3f));
848  memcpy (SphVBO[count].tc.c, myTex[count].c, sizeof (struct SFVec2f));
849  count++;
850  pts[count].c[0] = rad * vsin1 * hcos1;
851  pts[count].c[1] = rad * vcos1;
852  pts[count].c[2] = rad * vsin1 * hsin1;
853  /* copy these points into the MyVertex Sphere VBO */
854  memcpy (SphVBO[count].vert.c, pts[count].c, sizeof (struct SFVec3f));
855  memcpy (SphVBO[count].norm.c, myNorms[count].c, sizeof (struct SFVec3f));
856  memcpy (SphVBO[count].tc.c, myTex[count].c, sizeof (struct SFVec2f));
857  count++;
858  }
859  }
860 
861 
862  FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, (GLuint) node->_sideVBO);
863  glBufferData(GL_ARRAY_BUFFER, myVertexVBOSize, SphVBO, GL_STATIC_DRAW);
864 
865  if (node->__SphereIndxVBO == 0) {
866  ushort pindices[TRISINSPHERE*2];
867  ushort *pind; // = pindices;
868  int row;
869  int indx;
870  pind = pindices;
871 
872  glGenBuffers(1,(GLuint *)&node->__SphereIndxVBO);
873  //for (count=0; count<TRISINSPHERE*2; count++) pindices[count]=0;
874  for (row=0; row<SPHDIV; row++) {
875  indx=42*row;
876  for (count = 0; count < SPHDIV*2; count+=2) {
877  *pind = indx; pind++;
878  *pind = indx+1; pind++;
879  *pind = indx+2; pind++;
880  //printf ("wrote %u %u %u\n",indx, indx+1, indx+2);
881  *pind = indx+2; pind++;
882  *pind = indx+1; pind++;
883  *pind = indx+3; pind++;
884  //printf ("wrote %u %u %u\n",indx+2, indx+1, indx+3);
885  indx+=2;
886  }
887  }
888  node->__pindices = pindices;
889  FW_GL_BINDBUFFER(GL_ELEMENT_ARRAY_BUFFER, node->__SphereIndxVBO);
890  glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(GLushort)*TRISINSPHERE*2, pindices, GL_STATIC_DRAW);
891 
892  {
893  //prepare wireframe indices - we'll use the pindices from above, still on the stack
894  int i, i3, i6, ntris;
895  ushort lindex[SPHDIV*SPHDIV*2*3*2];
896  ntris = SPHDIV * SPHDIV * 2;
897  glGenBuffers(1,(GLuint *) &node->__wireindicesVBO);
898  for(i=0;i<ntris;i++){
899  i3 = i*3;
900  i6 = i*6;
901  lindex[i6+0] = pindices[i3 + 0];
902  lindex[i6+1] = pindices[i3 + 1];
903  lindex[i6+2] = pindices[i3 + 1];
904  lindex[i6+3] = pindices[i3 + 2];
905  lindex[i6+4] = pindices[i3 + 2];
906  lindex[i6+5] = pindices[i3 + 0];
907  }
908  //node->__wireindices = lindex;
909  FW_GL_BINDBUFFER(GL_ELEMENT_ARRAY_BUFFER, node->__wireindicesVBO);
910  glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(GLushort)*SPHDIV*SPHDIV*2*3, lindex, GL_STATIC_DRAW);
911  }
912  }
913 
914 
915  FREE_IF_NZ(SphVBO);
916  FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, 0);
917  FW_GL_BINDBUFFER(GL_ELEMENT_ARRAY_BUFFER, 0);
918 
919  }
920  /* finished - for threading */
921  node->__points.p = ptr;
922 }
923 
924 void clear_Sphere (struct X3D_Node *node) {
925  struct X3D_Sphere *tnode = (struct X3D_Sphere *)node;
926  if(tnode->_sideVBO)
927  glDeleteBuffers(1, (const GLuint *) &tnode->_sideVBO);
928  if(tnode->__SphereIndxVBO)
929  glDeleteBuffers(1, (const GLuint *) &tnode->__SphereIndxVBO);
930 }
931 
932 
933 void render_Sphere (struct X3D_Sphere *node) {
934  /* make the divisions 20; dont change this, because statics.c values*/
935  /* will then need recaculating.*/
936 
937  extern GLfloat spherenorms[]; /* side normals*/
938  extern float spheretex[]; /* in CFuncs/statics.c*/
939 
940  struct textureVertexInfo mtf = {spheretex,2,GL_FLOAT,0,NULL,NULL};
941 
942 
943  float rad = node->radius;
944 
945  if (rad<=0.0) { return;}
946 
947  /* for BoundingBox calculations */
948  setExtent(rad,-rad,rad,-rad,rad,-rad,X3D_NODE(node));
949 
950  COMPILE_IF_REQUIRED
951 
952  CULL_FACE(node->solid)
953 
954  /* Display the shape*/
955 
956  // taken from the OpenGL.org website:
957  #define BUFFER_OFFSET(i) ((char *)NULL + (i))
958 
959  FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, (GLuint) node->_sideVBO);
960 
961  FW_GL_VERTEX_POINTER(3, GL_FLOAT, sizeof(struct MyVertex), (GLfloat *)BUFFER_OFFSET(0)); //The starting point of the VBO, for the vertices
962  FW_GL_NORMAL_POINTER(GL_FLOAT, sizeof(struct MyVertex), (GLfloat *)BUFFER_OFFSET(12)); //The starting point of normals, 12 bytes away
963  mtf.pre_canned_textureCoords = NULL;
964  mtf.TC_size = 2;
965  mtf.TC_type = GL_FLOAT;
966  mtf.TC_stride = sizeof(struct MyVertex);
967  mtf.TC_pointer = BUFFER_OFFSET(24);
968  textureCoord_send(&mtf);
969 
970  if(DESIRE(getShaderFlags().base,SHADINGSTYLE_WIRE)){
971  //wireframe triangles
972  FW_GL_BINDBUFFER(GL_ELEMENT_ARRAY_BUFFER, node->__wireindicesVBO);
973  sendElementsToGPU(GL_LINES,TRISINSPHERE *3, (ushort *)BUFFER_OFFSET(0)); //node->__wireindices);
974  }else{
975  FW_GL_BINDBUFFER(GL_ELEMENT_ARRAY_BUFFER, node->__SphereIndxVBO);
976  sendElementsToGPU (GL_TRIANGLES, TRISINSPHERE, (ushort *)BUFFER_OFFSET(0)); //The starting point of the IBO
977  }
978 
979  /* turn off */
980  //FW_GL_BINDBUFFER(GL_ARRAY_BUFFER, 0);
981  //FW_GL_BINDBUFFER(GL_ELEMENT_ARRAY_BUFFER, 0);
982 }
983 
984 void render_IndexedFaceSet (struct X3D_IndexedFaceSet *node) {
985  COMPILE_POLY_IF_REQUIRED (node->coord, node->fogCoord, node->color, node->normal, node->texCoord)
986  if (!node->_intern) return;
987  CULL_FACE(node->solid)
988  render_polyrep(node);
989 }
990 
991 void render_ElevationGrid (struct X3D_ElevationGrid *node) {
992  COMPILE_POLY_IF_REQUIRED (NULL, node->fogCoord, node->color, node->normal, node->texCoord)
993  CULL_FACE(node->solid)
994  render_polyrep(node);
995 }
996 
997 void render_Extrusion (struct X3D_Extrusion *node) {
998  COMPILE_POLY_IF_REQUIRED (NULL,NULL,NULL,NULL,NULL)
999  CULL_FACE(node->solid)
1000  render_polyrep(node);
1001 }
1002 
1003 /* Fast culling possibilities:
1004  a) sphere-sphere
1005  b) MBB (axes-aligned Minimum Bounding Box or 'extent') (pr->maxVals[i], pr->minVals[i] i=0,1,2 or equivalent)
1006  two optional spaces in which to do the comparison: shape space or avatar(collision) space
1007  1. shape sphere/MBB > [Shape2Collision] > collision space coordinates. Or -
1008  2. avatar collision volume > [Collision2Shape] > into shape coords
1009  which ever way, we expect false positives, but don't want any false negatives which could make you fall through
1010  terrain or slide through walls. To be safe, error on the side of bigger collision volumes for shape and avatar.
1011 */
1012 
1013 /* note as of Jan 16, 2010 - not all collide_<shape> scenarios come through the following avatarCollisionVolumeIntersectMBB.
1014  All walking scnearios do.
1015  collide_generic, collide_box, collide_extrusion, collide_Text, collide_Rectangle2D: all walk/fly/examine do.
1016  collide_sphere,collide_cylinder,collide_cone - only walk comes through here. fly/examine done with the original analytical shape/analytical avatar code.
1017 */
1018 
1019 int avatarCollisionVolumeIntersectMBB(double *modelMatrix, double *prminvals, double* prmaxvals)
1020 {
1021  /* returns 1 if your shape MBB overlaps the avatar collision volume
1022  modelMatrix[16] == shape2collision transform. collision space is like avatar space, except vertical aligned to gravity - current bound viewpoint(walk), or avatar(fly/examine) or global gravity
1023  prminvals[3],prmaxvals[3] - MBB minimum bounding box or extent of shape, in shape space
1024  the fastTestMethod can be set in mainloop.c render_collisions()
1025  */
1026  struct sNaviInfo *naviinfo;
1027  ttglobal tg = gglobal();
1028  struct sFallInfo* fi = FallInfo();
1029  naviinfo = (struct sNaviInfo*)tg->Bindable.naviinfo;
1030  if(fi->walking)
1031  {
1032  /* cylindrical / popcycle shaped avatar collision volume */
1033  GLDOUBLE awidth = naviinfo->width; /*avatar width*/
1034  GLDOUBLE atop = naviinfo->width; /*top of avatar (relative to eyepoint)*/
1035  GLDOUBLE abottom = -naviinfo->height; /*bottom of avatar (relative to eyepoint)*/
1036  GLDOUBLE astep = -naviinfo->height+naviinfo->step;
1037 
1038  /* the following 2 flags are checked a few levels down, in the triangle/quad intersect avatar code get_poly_disp_2(p, 3, nused) */
1039  fi->checkCylinder = 1; /* 1= shape MBB overlaps avatar collision MBB, else 0 */
1040  fi->checkFall = 1; /* 1= shape MBB overlaps avatar fall/climb line segment else 0 */
1041  fi->checkPenetration = 1;
1042 
1043  {
1044  /* minimum bounding box MBB test in avatar/collision space */
1045  double foot = abottom;
1046  if(fi->allowClimbing) foot = astep; /* < popcycle shaped avatar collision volume */
1047  /* do fall/climb bounds test (popcycle stick) */
1048  fi->checkFall = fi->canFall; /* only do the falling/climbing if we aren't already colliding - colliding over-rules falling/climbing */
1049  if(fi->checkFall) fi->checkFall = fast_ycylinder_MBB_intersect_collisionSpace(-fi->fallHeight,atop,0.0, modelMatrix, prminvals, prmaxvals);
1050  /* do collision volume bounds test (popcycle succulent part)*/
1051  fi->checkCylinder = fast_ycylinder_MBB_intersect_collisionSpace(foot,atop,awidth, modelMatrix, prminvals, prmaxvals);
1052  fi->checkPenetration = 0;
1053  if( fi->canPenetrate )
1054  fi->checkPenetration = overlapMBBs(fi->penMin,fi->penMax,prminvals,prmaxvals);
1055  if(!fi->checkCylinder && !fi->checkFall && !fi->checkPenetration){/*printf("$");*/ return 0;}
1056  }
1057  }
1058  else
1059  {
1060  /* examine/fly spherical avatar collision volume */
1061  GLDOUBLE awidth = naviinfo->width; /*avatar width - used as avatar sphere radius*/
1062  if( !fast_sphere_MBB_intersect_collisionSpace(awidth, modelMatrix, prminvals, prmaxvals )) return 0;
1063  }
1064  return 1;
1065 }
1066 
1067 int avatarCollisionVolumeIntersectMBBf(double *modelMatrix, float *minVals, float *maxVals)
1068 {
1069  /* converts pr.floats to doubles and re-delegates */
1070  int i;
1071  GLDOUBLE prminvals[3],prmaxvals[3];
1072  for(i=0;i<3;i++)
1073  {
1074  prminvals[i] = minVals[i];
1075  prmaxvals[i] = maxVals[i];
1076  }
1077  return avatarCollisionVolumeIntersectMBB(modelMatrix, prminvals,prmaxvals);
1078 }
1079 
1080 void collide_genericfaceset (struct X3D_IndexedFaceSet *node ){
1081  GLDOUBLE modelMatrix[16];
1082  struct point_XYZ delta = {0,0,0};
1083  #ifdef RENDERVERBOSE
1084  struct point_XYZ t_orig = {0,0,0};
1085  #endif
1086  struct X3D_PolyRep pr;
1087  prflags flags = 0;
1088  int change = 0;
1089 
1090  /* JAS - first pass, intern is probably zero */
1091  if (node->_intern == NULL) return;
1092 
1093  /* JAS - no triangles in this text structure */
1094  if (node->_intern->ntri == 0) return;
1095 
1096  /*save changed state.*/
1097  if(node->_intern) change = node->_intern->irep_change;
1098  COMPILE_POLY_IF_REQUIRED (NULL, NULL, NULL, NULL, NULL)
1099 
1100 
1101  if(node->_intern) node->_intern->irep_change = change;
1102  /*restore changes state, invalidates mk_polyrep work done, so it can be done
1103  correclty in the RENDER pass */
1104 
1105  if(!node->solid) {
1106  flags = flags | PR_DOUBLESIDED;
1107  }
1108 
1109  pr = *(node->_intern);
1110 
1111 
1112  /* IndexedFaceSets are "different", in that the user specifies points, among
1113  other things. The rendering pass takes these external points, and streams
1114  them to make rendering much faster on hardware accel. We have to check to
1115  see whether we have got here before the first rendering of a possibly new
1116  IndexedFaceSet */
1117  if (!pr.actualCoord) {
1118  struct Multi_Vec3f* tmp;
1119  tmp = getCoordinate(node->coord,"Collision");
1120  pr.actualCoord = (float *) tmp->p;
1121  }
1122 
1123  FW_GL_GETDOUBLEV(GL_MODELVIEW_MATRIX, modelMatrix);
1124  /*
1125  For examine and fly navigation modes, there's no gravity direction.
1126  Avatar collision volume is aligned to avatar and is spherical and
1127  symmetrically directional. This is the simple case. Specifications say for
1128  walk navigation mode gravity vector is down {0,-1,0} with respect to (wrt) the
1129  currently bound viewpoint, not including the viewpoint's orientation
1130  field and not including avatar navigation/tilt away from its parent
1131  bound-viewpoint pose. When you collide in walk mode, the avatar collision
1132  volume is aligned to bound-viewpoint. This is a slightly more complex case.
1133  To generalize the 2 cases, some Definitions:
1134  Spaces:
1135  Avatar space
1136  - gravity is avatar-down
1137  - Avatar is at {0,0,0} and +Y up is as you see up in your current view,
1138  +Z aft and +X to the right
1139  BoundViewpoint space - currently bound viewpoint (transform parent to avatar)
1140  BVVA space - Bound-Viewpoint-Vertically-aligned Avatar-centric
1141  - same as Avatar space with avatar at {0,0,0} except tilted so that gravity
1142  is in the direction of down {0,-1,0} for the currently bound viewpoint
1143  (instead for avatar), as per specs
1144  - gravity is bound-viewpoint down
1145  Collision space - Fly/Examine mode: Avatar space. Walk mode: BVVA space
1146  - the avatar collision volume - height, stepsize, width - are defined for
1147  collision space and axes aligned with it
1148  Shape space - raw shape <Coordinate> space
1149  Transforms:
1150  Bound2Avatar - transforms from BoundViewpoint space to Avatar space
1151  - computed from viewer.quat,viewer.pos
1152  Avatar2BVVA,BVVA2Avatar
1153  - computed from downvector in BoundViewpoint space transformed
1154  via Bound2Avatar into Avatar space
1155  - constant for a frame, computable once navigation mode and
1156  avatar pose is know for the frame
1157  Avatar2Collision - Fly/Examine: Identity, Walk: Avatar2BVVA
1158  Collision2Avatar - Fly/Examine: Identity, Walk: BVVA2Avatar
1159  Shape2Collision - Fly/Examine: modelMatrix, Walk: Avatar2BVVA*modelMatrix
1160 
1161  goal: transform shape geometry into Collision space. (The avatar collision
1162  volume is by definition in collision space.)
1163  Do some collisions between shape and avatar.
1164  Transform collision correction deltas from collision space to avatar space,
1165  apply deltas to avatar position.
1166  implementation:
1167  transform shape into collision space - Fly/Examine:modelMatrix
1168  or Walk:(Avatar2BVVA * modelMatrix)
1169  transform collision correction deltas from collision space to avatar space:
1170  - done in Mainloop.c get_collisionoffset() with FallInfo.collision2avatar
1171  */
1172 
1173  matmultiplyAFFINE(modelMatrix,modelMatrix,FallInfo()->avatar2collision);
1174  //dug9july2011 matmultiply(modelMatrix,FallInfo()->avatar2collision,modelMatrix);
1175 
1176 
1177  #ifdef RENDERVERBOSE
1178  t_orig.x = modelMatrix[12];
1179  t_orig.y = modelMatrix[13];
1180  t_orig.z = modelMatrix[14];
1181  #endif
1182 
1183  /* at this point, whichever method - modelMatrix is Shape2Collision
1184  and upvecmat is Collision2Avatar
1185  - pr.actualCoord - these are Shape space coordinates
1186  They will be transformed into CollisionSpace coordinates by the modelMatrix transform.
1187  */
1188  if(!avatarCollisionVolumeIntersectMBBf(modelMatrix, pr.minVals, pr.maxVals))return;
1189  /* passed fast test. Now for gruelling test */
1190  delta = polyrep_disp2(pr,modelMatrix,flags); //polyrep_disp(abottom,atop,astep,awidth,pr,modelMatrix,flags);
1191  /* delta is in collision space */
1192  /* lets say you are floating above ground by 3 units + avatar.height 1.75 = 4.75.
1193  Then delta = (0,3,0)*/
1194  vecscale(&delta,&delta,-1);
1195  accumulate_disp(CollisionInfo(),delta); /* we are accumulating in collision space (fly/examine: avatar space, walk: BVVA space) */
1196 
1197 #ifdef RENDERVERBOSE
1198  if((fabs(delta.x) != 0. || fabs(delta.y) != 0. || fabs(delta.z) != 0.)) {
1199  /* printmatrix(modelMatrix);*/
1200  fprintf(stderr,"COLLISION_IFS: (%f %f %f) (%f %f %f)\n",
1201  t_orig.x, t_orig.y, t_orig.z,
1202  delta.x, delta.y, delta.z
1203  );
1204  }
1205 #endif
1206 
1207 }
1208 
1209 
1210 static void collisionSphere_init(struct X3D_Sphere *node)
1211 {
1212  int i,j,count;
1213  /* for debug int k, biggestNum; */
1214  double radinverse;
1215  struct SFVec3f *pts = node->__points.p;
1216  ppComponent_Geometry3D p = (ppComponent_Geometry3D)gglobal()->Component_Geometry3D.prv;
1217 
1218  /* re-using the compile_sphere node->__points data which is organized into GL_QUAD_STRIPS
1219  my understanding: there are SPHDIV/2 quad strips. Each quadstrip has SPHDIV quads, and enough points to do that many quads
1220  without sharing points with other quadstrips. So to make SPHDIV quads, you need 2 rows of SPHDIV+1 points.
1221  because there's 2 triangles per quad, there should be 2x as many triangles as quads.
1222  num quads = SPHDIV/2 x SPHDIV
1223  num points = SPHDIV/2 X [(SPHDIV+1) X 2] = SPHDIV*(SPHDIV+1)
1224  num tris = quads x 2 = SPHDIV X SPHDIV
1225  */
1226 
1227  p->collisionSphere.npts = SPHDIV*(SPHDIV+1);
1228  p->collisionSphere.pts = MALLOC(void *, p->collisionSphere.npts * sizeof(struct point_XYZ));
1229  p->collisionSphere.tpts = MALLOC(void *, p->collisionSphere.npts * sizeof(struct point_XYZ));
1230  /* undo radius field on node so radius == 1 (generic, for all spheres, scale back later) */
1231  radinverse = 1.0;
1232  if( !APPROX(node->radius,0.0) ) radinverse = 1.0/node->radius;
1233  for(i=0;i<p->collisionSphere.npts;i++)
1234  {
1235  p->collisionSphere.pts[i].x = pts[i].c[0] * radinverse;
1236  p->collisionSphere.pts[i].y = pts[i].c[1] * radinverse;
1237  p->collisionSphere.pts[i].z = pts[i].c[2] * radinverse;
1238  }
1239 
1240 
1241  p->collisionSphere.ntris = SPHDIV * SPHDIV;
1242  p->collisionSphere.tris = MALLOC(void *, p->collisionSphere.ntris * sizeof(ctri));
1243  p->collisionSphere.nquads = 0;
1244  count = 0;
1245  for(i = 0; i < SPHDIV/2; i ++)
1246  {
1247  /* one quad strip of SPHDIV quads or SPHDIV*2 triangles */
1248  for(j=0;j<(2*SPHDIV);j+=2) //=+)
1249  {
1250  /* first triangle */
1251  p->collisionSphere.tris[count][0] = i*(SPHDIV+1)*2 + j;
1252  p->collisionSphere.tris[count][1] = i*(SPHDIV+1)*2 + j+1;
1253  p->collisionSphere.tris[count][2] = i*(SPHDIV+1)*2 + j+2;
1254  count ++;
1255  /* second triangle */
1256  p->collisionSphere.tris[count][0] = i*(SPHDIV+1)*2 + j+3;
1257  p->collisionSphere.tris[count][1] = i*(SPHDIV+1)*2 + j+2;
1258  p->collisionSphere.tris[count][2] = i*(SPHDIV+1)*2 + j+1;
1259  count ++;
1260  }
1261  }
1262  /* count should == num triangles
1263  debug check on indexing - biggestNum should == npts -1
1264  biggestNum = 0;
1265  for(i=0;i<collisionSphere.ntris;i++)
1266  for(j=0;j<3;j++)
1267  biggestNum = max(biggestNum,collisionSphere.tris[i][j]);
1268  */
1269  /* MBB */
1270  for(i=0;i<3;i++)
1271  {
1272  p->collisionSphere.smin[i] = -1.0; //rad;
1273  p->collisionSphere.smax[i] = 1.0; //rad;
1274  }
1275 
1276 }
1277 #ifdef DEBUGGING_CODE
1278 DEBUGGING_CODEint collisionSphere_render(double radius)
1279 DEBUGGING_CODE{
1280 DEBUGGING_CODE /* I needed to verify the collision mesh sphere was good, and it uses triangles, so I drew it the triangle way and it looked good
1281 DEBUGGING_CODE to see it draw, you need to turn on collision and get close to a sphere - then it will initialize and start drawing it.
1282 DEBUGGING_CODE */
1283 DEBUGGING_CODE int i,j,count,highest;
1284 DEBUGGING_CODE count = 0;
1285 DEBUGGING_CODE highest = 0;
1286 DEBUGGING_CODE for(i =0; i < collisionSphere.ntris; i++)
1287 DEBUGGING_CODE {
1288 DEBUGGING_CODE struct point_XYZ pts[3]; //,a,b,n;
1289 DEBUGGING_CODE pts[0] = collisionSphere.pts[collisionSphere.tris[i][0]];
1290 DEBUGGING_CODE pts[1] = collisionSphere.pts[collisionSphere.tris[i][1]];
1291 DEBUGGING_CODE pts[2] = collisionSphere.pts[collisionSphere.tris[i][2]];
1292 DEBUGGING_CODE FW_GL_BEGIN(GL_TRIANGLES);
1293 DEBUGGING_CODE for(j=0;j<3;j++)
1294 DEBUGGING_CODE FW_GL_VERTEX3D(pts[j].x*radius,pts[j].y*radius,pts[j].z*radius);
1295 DEBUGGING_CODE#define FW_GL_END() glEnd()
1296 DEBUGGING_CODE FW_GL_END();
1297 DEBUGGING_CODE }
1298 DEBUGGING_CODE return 0;
1299 DEBUGGING_CODE}
1300 #endif
1301 
1302 struct point_XYZ get_poly_disp_2(struct point_XYZ* p, int num, struct point_XYZ n);
1303 #define FLOAT_TOLERANCE 0.00000001
1304 void collide_Sphere (struct X3D_Sphere *node) {
1305  struct point_XYZ t_orig = {0,0,0}; /*transformed origin*/
1306  struct point_XYZ p_orig= {0,0,0} ; /*projected transformed origin */
1307  struct point_XYZ n_orig = {0,0,0}; /*normal(unit length) transformed origin */
1308  GLDOUBLE modelMatrix[16];
1309  GLDOUBLE awidth,atop,abottom,dist2;
1310  struct point_XYZ delta = {0,0,0};
1311  GLDOUBLE radius;
1312  struct sNaviInfo *naviinfo;
1313  ttglobal tg = gglobal();
1314  ppComponent_Geometry3D p = (ppComponent_Geometry3D)gglobal()->Component_Geometry3D.prv;
1315  naviinfo = (struct sNaviInfo*)tg->Bindable.naviinfo;
1316 
1317  /*easy access, naviinfo.step unused for sphere collisions */
1318  awidth = naviinfo->width; /*avatar width*/
1319  atop = naviinfo->width; /*top of avatar (relative to eyepoint)*/
1320  abottom = -naviinfo->height; /*bottom of avatar (relative to eyepoint)*/
1321 
1322  /* this sucker initialized yet? */
1323  if (node->__points.p == NULL) return;
1324 
1325 
1326  /* get the transformed position of the Sphere, and the scale-corrected radius. */
1327  FW_GL_GETDOUBLEV(GL_MODELVIEW_MATRIX, modelMatrix);
1328 
1329  /* apply radius to generic r=1 sphere */
1330  //radscale.x = radscale.y = radscale.z = node->radius;
1331  //scale_to_matrix (modelMatrix, &radscale);
1332  //matmultiply(modelMatrix,FallInfo.avatar2collision,modelMatrix);
1333 
1334  if(FallInfo()->walking)
1335  {
1336  /* mesh method */
1337 
1338  int i;
1339  double disp;
1340  struct point_XYZ n;
1341  struct point_XYZ a,b, dispv, maxdispv = {0,0,0};
1342  struct point_XYZ radscale;
1343  double maxdisp = 0;
1344  radscale.x = radscale.y = radscale.z = node->radius;
1345  scale_to_matrix (modelMatrix, &radscale);
1346  matmultiplyAFFINE(modelMatrix,modelMatrix,FallInfo()->avatar2collision);
1347  //dug9july2011 matmultiply(modelMatrix,FallInfo()->avatar2collision,modelMatrix);
1348 
1349  if(!p->collisionSphere.npts) collisionSphere_init(node);
1350  if( !avatarCollisionVolumeIntersectMBB(modelMatrix, p->collisionSphere.smin,p->collisionSphere.smax)) return;
1351 
1352  for(i=0;i<p->collisionSphere.npts;i++)
1353  transform(&p->collisionSphere.tpts[i],&p->collisionSphere.pts[i],modelMatrix);
1354 
1355  for(i = 0; i < p->collisionSphere.ntris; i++)
1356  {
1357  /*only clip faces "facing" origin */
1358  //if(vecdot(&n[ci],&middle) < 0.)
1359  {
1360  struct point_XYZ pts[3];
1361  pts[0] = p->collisionSphere.tpts[p->collisionSphere.tris[i][0]];
1362  pts[1] = p->collisionSphere.tpts[p->collisionSphere.tris[i][1]];
1363  pts[2] = p->collisionSphere.tpts[p->collisionSphere.tris[i][2]];
1364  /* compute normal - could compute once in shapespace then transform */
1365  VECDIFF(pts[1],pts[0],a);
1366  VECDIFF(pts[2],pts[1],b); /* or [2] [0] direction not sensitive for some functions */
1367  veccross(&n,a,b); /* 6 multiplies */
1368  vecnormal(&n,&n);
1369  dispv = get_poly_disp_2(pts,3,n);
1370  disp = vecdot(&dispv,&dispv);
1371  if( (disp > FLOAT_TOLERANCE) && (disp > maxdisp) ){
1372  maxdisp = disp;
1373  maxdispv = dispv;
1374  }
1375  }
1376  }
1377  delta = maxdispv;
1378  vecscale(&delta,&delta,-1);
1379  }else{
1380  /* easy analytical sphere-sphere stuff */
1381  matmultiplyAFFINE(modelMatrix,modelMatrix,FallInfo()->avatar2collision);
1382  //dug9july2011 matmultiply(modelMatrix,FallInfo()->avatar2collision,modelMatrix);
1383 
1384  t_orig.x = modelMatrix[12];
1385  t_orig.y = modelMatrix[13];
1386  t_orig.z = modelMatrix[14];
1387  radius = pow(det3x3(modelMatrix),1./3.) * node->radius;
1388 
1389  /* squared distance to center of sphere (on the y plane)*/
1390  dist2 = t_orig.x * t_orig.x + t_orig.z * t_orig.z;
1391 
1392  /* easy tests. clip as if sphere was a box */
1393  /*clip with cylinder */
1394 
1395  if(dist2 - (radius + awidth) * (radius +awidth) > 0) {
1396  return;
1397  }
1398  /*clip with bottom plane */
1399  if(t_orig.y + radius < abottom) {
1400  return;
1401  }
1402  /*clip with top plane */
1403  if(t_orig.y-radius > atop) {
1404  return;
1405  }
1406 
1407  /* project onto (y x t_orig) plane */
1408  p_orig.x = sqrt(dist2);
1409  p_orig.y = t_orig.y;
1410  p_orig.z = 0;
1411  /* we need this to unproject rapidly */
1412  /* n_orig is t_orig.y projected on the y plane, then normalized. */
1413  n_orig.x = t_orig.x;
1414  n_orig.y = 0.0;
1415  n_orig.z = t_orig.z;
1416  VECSCALE(n_orig,1.0/p_orig.x); /*equivalent to vecnormal(n_orig);, but faster */
1417  #ifdef RENDERVERBOSE
1418  printf ("sphere, p_orig %lf %lf %lf, n_orig %lf %lf %lf\n",p_orig.x, p_orig.y, p_orig.z, n_orig.x, n_orig.y, n_orig.z);
1419  #endif
1420 
1421  /* 5 cases : sphere is over, over side, side, under and side, under (relative to y axis) */
1422  /* these 5 cases correspond to the 5 vornoi regions of the cylinder */
1423  if(p_orig.y > atop) {
1424  if(p_orig.x < awidth) {
1425  #ifdef RENDERVERBOSE
1426  printf(" /* over, we push down. */ \n");
1427  #endif
1428  delta.y = (p_orig.y - radius) - (atop);
1429  } else {
1430  struct point_XYZ d2s;
1431  GLDOUBLE ratio;
1432  #ifdef RENDERVERBOSE
1433  printf(" /* over side */ \n");
1434  #endif
1435  /* distance vector from corner to center of sphere*/
1436  d2s.x = p_orig.x - awidth;
1437  d2s.y = p_orig.y - (atop);
1438  d2s.z = 0;
1439  ratio = 1- radius/sqrt(d2s.x * d2s.x + d2s.y * d2s.y);
1440  if(ratio >= 0) {
1441  /* no collision */
1442  return;
1443  }
1444  /* distance vector from corner to surface of sphere, (do the math) */
1445  VECSCALE(d2s, ratio );
1446  /* unproject, this is the fastest way */
1447  delta.y = d2s.y;
1448  delta.x = d2s.x* n_orig.x;
1449  delta.z = d2s.x* n_orig.z;
1450  }
1451  } else if(p_orig.y < abottom) {
1452  if(p_orig.x < awidth) {
1453  #ifdef RENDERVERBOSE
1454  printf(" /* under, we push up. */ \n");
1455  #endif
1456  delta.y = (p_orig.y + radius) -abottom;
1457  } else {
1458  struct point_XYZ d2s;
1459  GLDOUBLE ratio;
1460  #ifdef RENDERVERBOSE
1461  printf(" /* under side */ \n");
1462  #endif
1463  /* distance vector from corner to center of sphere*/
1464  d2s.x = p_orig.x - awidth;
1465  d2s.y = p_orig.y - abottom;
1466  d2s.z = 0;
1467  ratio = 1- radius/sqrt(d2s.x * d2s.x + d2s.y * d2s.y);
1468  if(ratio >= 0) {
1469  /* no collision */
1470  return;
1471  }
1472 
1473  /* distance vector from corner to surface of sphere, (do the math) */
1474  VECSCALE(d2s, ratio );
1475 
1476  /* unproject, this is the fastest way */
1477  delta.y = d2s.y;
1478  delta.x = d2s.x* n_orig.x;
1479  delta.z = d2s.x* n_orig.z;
1480  }
1481  } else {
1482  #ifdef RENDERVERBOSE
1483  printf(" /* side */ \n");
1484  #endif
1485  /* push to side */
1486  delta.x = ((p_orig.x - radius)- awidth) * n_orig.x;
1487  delta.z = ((p_orig.x - radius)- awidth) * n_orig.z;
1488  }
1489  }
1490  accumulate_disp(CollisionInfo(),delta);
1491 
1492  #ifdef RENDERVERBOSE
1493  if((delta.x != 0. || delta.y != 0. || delta.z != 0.))
1494  printf("COLLISION_SPH: (%f %f %f) (%f %f %f) (px=%f nx=%f nz=%f)\n",
1495  t_orig.x, t_orig.y, t_orig.z,
1496  delta.x, delta.y, delta.z,
1497  p_orig.x, n_orig.x, n_orig.z
1498  );
1499  #endif
1500 }
1501 
1502 
1503 void collide_Box (struct X3D_Box *node) {
1504  /*easy access, naviinfo.step unused for sphere collisions */
1505  struct sNaviInfo *naviinfo;
1506  struct point_XYZ iv = {0,0,0};
1507  struct point_XYZ jv = {0,0,0};
1508  struct point_XYZ kv = {0,0,0};
1509  struct point_XYZ ov = {0,0,0};
1510  struct point_XYZ delta;
1511  GLDOUBLE awidth, atop, abottom, astep, modelMatrix[16];
1512  ttglobal tg = gglobal();
1513 
1514  naviinfo = (struct sNaviInfo*)tg->Bindable.naviinfo;
1515  awidth = naviinfo->width; /*avatar width*/
1516  atop = naviinfo->width; /*top of avatar (relative to eyepoint)*/
1517  abottom = -naviinfo->height; /*bottom of avatar (relative to eyepoint)*/
1518  astep = -naviinfo->height+naviinfo->step;
1519 
1520  iv.x = ((node->size).c[0]);
1521  jv.y = ((node->size).c[1]);
1522  kv.z = ((node->size).c[2]);
1523  ov.x = -((node->size).c[0])/2; ov.y = -((node->size).c[1])/2; ov.z = -((node->size).c[2])/2;
1524 
1525  /* get the transformed position of the Box, and the scale-corrected radius. */
1526  FW_GL_GETDOUBLEV(GL_MODELVIEW_MATRIX, modelMatrix);
1527  matmultiplyAFFINE(modelMatrix,modelMatrix,FallInfo()->avatar2collision);
1528  //dug9july2011 matmultiply(modelMatrix,FallInfo()->avatar2collision,modelMatrix);
1529  {
1530  int i;
1531  double shapeMBBmin[3],shapeMBBmax[3];
1532  for(i=0;i<3;i++)
1533  {
1534  shapeMBBmin[i] = DOUBLE_MIN(-(node->size).c[i]*.5,(node->size).c[i]*.5);
1535  shapeMBBmax[i] = DOUBLE_MAX(-(node->size).c[i]*.5,(node->size).c[i]*.5);
1536  }
1537  if( !avatarCollisionVolumeIntersectMBB(modelMatrix, shapeMBBmin,shapeMBBmax)) return;
1538  }
1539  /* get transformed box edges and position */
1540  transform(&ov,&ov,modelMatrix);
1541  transform3x3(&iv,&iv,modelMatrix);
1542  transform3x3(&jv,&jv,modelMatrix);
1543  transform3x3(&kv,&kv,modelMatrix);
1544 
1545  delta = box_disp(abottom,atop,astep,awidth,ov,iv,jv,kv);
1546  vecscale(&delta,&delta,-1);
1547  accumulate_disp(CollisionInfo(),delta);
1548 
1549  #ifdef RENDERVERBOSE
1550  if((fabs(delta.x) != 0. || fabs(delta.y) != 0. || fabs(delta.z) != 0.))
1551  printf("COLLISION_BOX: (%f %f %f) (%f %f %f)\n",
1552  ov.x, ov.y, ov.z,
1553  delta.x, delta.y, delta.z
1554  );
1555  if((fabs(delta.x != 0.) || fabs(delta.y != 0.) || fabs(delta.z) != 0.))
1556  printf("iv=(%f %f %f) jv=(%f %f %f) kv=(%f %f %f)\n",
1557  iv.x, iv.y, iv.z,
1558  jv.x, jv.y, jv.z,
1559  kv.x, kv.y, kv.z
1560  );
1561  #endif
1562 }
1563 
1564 
1565 #define CONEDIV 20
1566 
1567 static void collisionCone_init(struct X3D_Cone *node)
1568 {
1569  //we pass in a node instance, so we don't have to split up the compile_ code that generates
1570  // geometry - we can just copy some
1571  /* for debug ctri ct; */
1572  /* for debug struct point_XYZ a,b,n; */
1573  int i,count;
1574  /* for debug int j,k,biggestNum; */
1575  double h,r,inverseh,inverser;
1576  struct SFVec3f *pts;// = node->__botpoints;
1577  struct SFVec3f *pt;
1578  struct Multi_Vec3f botpoints;
1579  ppComponent_Geometry3D p = (ppComponent_Geometry3D)gglobal()->Component_Geometry3D.prv;
1580 
1581  /* re-using the compile_cone node->__points data which is organized into GL_TRAIANGLE_FAN (bottom) and GL_TRIANGLES (side)
1582 
1583  my understanding:
1584  bottom: there are CONEDIV triangles arranged in a fan around a center point, with CONEDIV perimeter points
1585  side: there are CONEDIV side triangles formed with the top point and perimeter points
1586  num triangles: CONEDIV x 2
1587  num points: CONEDIV perimeter + center bottom + centre top = CONEDIV+2
1588  __botpoints:
1589  pt[0] - top point of cone
1590  pt[1-CONEDIV] - perimeter points
1591  pt[CONEDIV+1] - centre of bottom
1592  (there are sidepoints too, but duplicate the points in botpoints)
1593  */
1594  p->collisionCone.npts = CONEDIV+2;
1595  p->collisionCone.pts = MALLOC(void *, p->collisionCone.npts * sizeof(struct point_XYZ));
1596  p->collisionCone.tpts = MALLOC(void *, p->collisionCone.npts * sizeof(struct point_XYZ));
1597 
1598  p->collisionCone.ntris = CONEDIV *2;
1599  p->collisionCone.tris = MALLOC(void *, p->collisionCone.ntris * sizeof(ctri));
1600  count = 0;
1601  h = (node->height);
1602  r = node->bottomRadius;
1603  inverseh = 1.0;
1604  inverser = 1.0;
1605  if( !APPROX(h,0.0) ) inverseh = 1.0/h;
1606  if( !APPROX(r,0.0) ) inverser = 1.0/r;
1607 
1608 
1609  /* ok - we copy the non-VBO code here so that Doug Sandens Cylinder Collision code
1610  uses the same algorithm whether running in VBO mode or not */
1611 
1612  /* MALLOC memory (if possible)*/
1613  botpoints.p = MALLOC (struct SFVec3f *, sizeof(struct SFVec3f)*(CONEDIV+3));
1614 
1615  /* generate the vertexes for the triangles; top point first. (note: top point no longer used)*/
1616  pt = botpoints.p;
1617  pt[0].c[0] = 0.0f; pt[0].c[1] = (float) h; pt[0].c[2] = 0.0f;
1618  for (i=1; i<=CONEDIV; i++) {
1619  pt[i].c[0] = (float) (r* sin(PI*2*i/(float)CONEDIV));
1620  pt[i].c[1] = (float) -h;
1621  pt[i].c[2] = (float) (r* cos(PI*2*i/(float)CONEDIV));
1622  }
1623  /* and throw another point that is centre of bottom*/
1624  pt[CONEDIV+1].c[0] = 0.0f; pt[CONEDIV+1].c[1] = (float) -h; pt[CONEDIV+1].c[2] = 0.0f;
1625 
1626  /* and, for the bottom, [CONEDIV] = [CONEDIV+2]; but different texture coords, so...*/
1627  memcpy (&pt[CONEDIV+2].c[0],&pt[CONEDIV].c[0],sizeof (struct SFVec3f));
1628 
1629 #ifdef fwIGNORE
1630  /* side triangles. Make 3 seperate points per triangle... makes sendArraysToGPU with normals*/
1631  /* easier to handle.*/
1632  /* rearrange bottom points into this array; top, bottom, left.*/
1633  spt = sidepoints.p;
1634  for (i=0; i<CONEDIV; i++) {
1635  /* top point*/
1636  spt[i*3].c[0] = 0.0f; spt[i*3].c[1] = (float) h; spt[i*3].c[2] = 0.0f;
1637  /* left point*/
1638  memcpy (&spt[i*3+1].c[0],&pt[i+1].c[0],sizeof (struct SFVec3f));
1639  /* right point*/
1640  memcpy (&spt[i*3+2].c[0],&pt[i+2].c[0],sizeof (struct SFVec3f));
1641  }
1642 
1643  /* wrap bottom point around once again... ie, final right point = initial left point*/
1644  memcpy (&spt[(CONEDIV-1)*3+2].c[0],&pt[1].c[0],sizeof (struct SFVec3f));
1645 #endif
1646 
1647 
1648 
1649  pts = botpoints.p;
1650  for(i=0;i<(CONEDIV+2);i++)
1651  {
1652  /* points */
1653  p->collisionCone.pts[i].x = pts[i].c[0]*inverser;
1654  p->collisionCone.pts[i].y = pts[i].c[1]*inverseh;
1655  p->collisionCone.pts[i].z = pts[i].c[2]*inverser;
1656  }
1657  for(i=0;i<CONEDIV;i++)
1658  {
1659  /* side triangles */
1660  p->collisionCone.tris[count][0] = 0; /* top point */
1661  p->collisionCone.tris[count][1] = i +1;
1662  p->collisionCone.tris[count][2] = i > (CONEDIV-2)? 1 : i+2; /*wrap-around, normally i+2 */
1663  count ++;
1664  }
1665  for(i=0;i<CONEDIV;i++)
1666  {
1667  /* bottom triangles */
1668  p->collisionCone.tris[count][0] = CONEDIV+1; /* bottom center point */
1669  p->collisionCone.tris[count][1] = i +1;
1670  p->collisionCone.tris[count][2] = i > (CONEDIV-2)? 1 : i+2;
1671  count ++;
1672  }
1673 
1674 
1675  /* count should == num triangles
1676  debug check on indexing - biggestNum should == npts -1
1677  biggestNum = 0;
1678  for(i=0;i<collisionCone.ntris;i++)
1679  for(j=0;j<3;j++)
1680  biggestNum = max(biggestNum,collisionCone.tris[i][j]);
1681  */
1682  /* MBB */
1683  for(i=0;i<3;i+=2)
1684  {
1685  p->collisionCone.smin[i] = -1.0; //r;
1686  p->collisionCone.smax[i] = 1.0; //r;
1687  }
1688  p->collisionCone.smin[1] = -1.0; //-h;
1689  p->collisionCone.smax[1] = 1.0; //h;
1690 
1691  /* ok - we copy the non-VBO code here so that Doug Sandens Cylinder Collision code
1692  uses the same algorithm whether running in VBO mode or not */
1693  FREE_IF_NZ(botpoints.p);
1694 }
1695 #ifdef DEBUG_COLLISIONCONE
1696 int collisionCone_render(double r, double h)
1697 {
1698  /* I needed to verify the collision mesh was good, and it uses triangles, so I drew it the triangle way and it looked good
1699  to see it draw, you need to turn on collision and get close to the mesh object - then it will initialize and start drawing it.
1700  */
1701  int i,j;
1702  for(i =0; i < collisionCone.ntris; i++)
1703  {
1704  struct point_XYZ pts[3]; //,a,b,n;
1705  pts[0] = collisionCone.pts[collisionCone.tris[i][0]];
1706  pts[1] = collisionCone.pts[collisionCone.tris[i][1]];
1707  pts[2] = collisionCone.pts[collisionCone.tris[i][2]];
1708  glBegin(GL_TRIANGLES);
1709  for(j=0;j<3;j++)
1710  FW_GL_VERTEX3D(pts[j].x*r,pts[j].y*h,pts[j].z*r);
1711  glEnd();
1712  }
1713  return 0;
1714 }
1715 #endif
1716 void collide_Cone (struct X3D_Cone *node) {
1717  /*easy access, naviinfo.step unused for sphere collisions */
1718  struct sNaviInfo *naviinfo;
1719  GLDOUBLE awidth, atop, abottom, astep, scale, modelMatrix[16];
1720  float h,r;
1721  struct point_XYZ iv = {0,0,0};
1722  struct point_XYZ jv = {0,0,0};
1723  struct point_XYZ t_orig = {0,0,0};
1724  struct point_XYZ delta;
1725  ttglobal tg = gglobal();
1726  ppComponent_Geometry3D p = (ppComponent_Geometry3D)tg->Component_Geometry3D.prv;
1727  naviinfo = (struct sNaviInfo*)tg->Bindable.naviinfo;
1728 
1729  awidth = naviinfo->width; /*avatar width*/
1730  atop = naviinfo->width; /*top of avatar (relative to eyepoint)*/
1731  abottom = -naviinfo->height; /*bottom of avatar (relative to eyepoint)*/
1732  astep = -naviinfo->height+naviinfo->step;
1733 
1734  h = (node->height) /2;
1735  r = (node->bottomRadius) ;
1736 
1737  scale = 0.0; /* FIXME: won''t work for non-uniform scales. */
1738 
1739  /* is this node initialized? if not, get outta here and do this later */
1740  if (node->__coneVBO == 0) return;
1741 
1742  iv.y = h; jv.y = -h;
1743 
1744  /* get the transformed position of the Sphere, and the scale-corrected radius. */
1745  FW_GL_GETDOUBLEV(GL_MODELVIEW_MATRIX, modelMatrix);
1746 
1747  //matmultiply(modelMatrix,FallInfo.avatar2collision,modelMatrix);
1748  if(FallInfo()->walking)
1749  {
1750  /* mesh method */
1751  int i;
1752  double disp;
1753  struct point_XYZ n;
1754  struct point_XYZ a,b, dispv, maxdispv = {0,0,0};
1755  double maxdisp = 0;
1756  struct point_XYZ radscale;
1757 
1758  if(!p->collisionCone.npts) collisionCone_init(node);
1759 #ifdef DEBUG_COLLISIONCONE
1760  collisionCone_render(5.0,5.0);
1761 #endif
1762  radscale.x = radscale.z = node->bottomRadius;
1763  radscale.y = node->height;
1764  scale_to_matrix (modelMatrix, &radscale);
1765  matmultiplyAFFINE(modelMatrix,modelMatrix,FallInfo()->avatar2collision);
1766  //dug9july2011 matmultiply(modelMatrix,FallInfo()->avatar2collision,modelMatrix);
1767  if( !avatarCollisionVolumeIntersectMBB(modelMatrix, p->collisionCone.smin,p->collisionCone.smax)) return;
1768 
1769 
1770  for(i=0;i<p->collisionCone.npts;i++)
1771  transform(&p->collisionCone.tpts[i],&p->collisionCone.pts[i],modelMatrix);
1772  for(i = 0; i < p->collisionCone.ntris; i++)
1773  {
1774  /*only clip faces "facing" origin */
1775  //if(vecdot(&n[ci],&middle) < 0.) {
1776  {
1777  struct point_XYZ pts[3];
1778  pts[0] = p->collisionCone.tpts[p->collisionCone.tris[i][0]];
1779  pts[1] = p->collisionCone.tpts[p->collisionCone.tris[i][1]];
1780  pts[2] = p->collisionCone.tpts[p->collisionCone.tris[i][2]];
1781  /* compute normal - could compute once in shapespace then transform */
1782  VECDIFF(pts[1],pts[0],a);
1783  VECDIFF(pts[2],pts[1],b); /* or [2] [0] direction not sensitive for some functions */
1784  veccross(&n,a,b); /* 6 multiplies */
1785  vecnormal(&n,&n);
1786  dispv = get_poly_disp_2(pts,3,n);
1787  disp = vecdot(&dispv,&dispv);
1788  if( (disp > FLOAT_TOLERANCE) && (disp > maxdisp) ){
1789  maxdisp = disp;
1790  maxdispv = dispv;
1791  }
1792  }
1793  }
1794  delta = maxdispv;
1795  }else{
1796  /* values for rapid test */
1797  matmultiplyAFFINE(modelMatrix,modelMatrix,FallInfo()->avatar2collision);
1798  //dug9july2011 matmultiply(modelMatrix,FallInfo()->avatar2collision,modelMatrix);
1799 
1800  t_orig.x = modelMatrix[12];
1801  t_orig.y = modelMatrix[13];
1802  t_orig.z = modelMatrix[14];
1803  scale = pow(det3x3(modelMatrix),1./3.);
1804 
1805  if(!fast_ycylinder_cone_intersect(abottom,atop,awidth,t_orig,scale*h,scale*r)) return;
1806 
1807  /* get transformed box edges and position */
1808  transform(&iv,&iv,modelMatrix);
1809  transform(&jv,&jv,modelMatrix);
1810 
1811  delta = cone_disp(abottom,atop,astep,awidth,jv,iv,scale*r);
1812  }
1813  vecscale(&delta,&delta,-1);
1814 
1815  accumulate_disp(CollisionInfo(),delta);
1816 
1817  #ifdef RENDERVERBOSE
1818  if((fabs(delta.x) != 0. || fabs(delta.y) != 0. || fabs(delta.z) != 0.))
1819  printf("COLLISION_CON: (%f %f %f) (%f %f %f)\n",
1820  iv.x, iv.y, iv.z,
1821  delta.x, delta.y, delta.z
1822  );
1823  if((fabs(delta.x != 0.) || fabs(delta.y != 0.) || fabs(delta.z) != 0.))
1824  printf("iv=(%f %f %f) jv=(%f %f %f) bR=%f\n",
1825  iv.x, iv.y, iv.z,
1826  jv.x, jv.y, jv.z,
1827  scale*r
1828  );
1829  #endif
1830 }
1831 
1832 static void collisionCylinder_init(struct X3D_Cylinder *node)
1833 {
1834  /* for debug ctri ct; */
1835  /* for debug struct point_XYZ a,b,n; */
1836  int i, tcount, qcount;
1837  /* for debug - int j,k,biggestNum; */
1838  double h,r,inverseh,inverser;
1839  struct SFVec3f *pts;// = node->__botpoints;
1840  ppComponent_Geometry3D p = (ppComponent_Geometry3D)gglobal()->Component_Geometry3D.prv;
1841 
1842  /* re-using the compile_cylinder node->__points data which is organized into GL_TRAIANGLE_FAN (bottom and top)
1843  and GL_QUADS (side)
1844 
1845  my understanding:
1846  bottom and top: there are CYLDIV triangles arranged in a fan around a center point, with CYLDIV perimeter points
1847  side: there are CYLDIV side quads formed with the top and bottom perimeter points
1848  num triangles: CYLDIV x 2
1849  num quads: CYLDIV
1850  num points: CYLDIV * 2 + center bottom + centre top = CYLDIV*2 +2
1851  __points:
1852  pt[0- CYLDIV*2-1 + 2] - perimeter points including wrap-around points ordered as follows:
1853  +h,-h,+h,-h .. vertical pair order, with 2 extra for easy wrap-around indexing
1854  pt[CYLDIV*2+2] - top center point of cylinder
1855  pt[CYLDIV*2+3] - centre of bottom
1856  */
1857  p->collisionCylinder.npts = CYLDIV*2+2+2;
1858  p->collisionCylinder.pts = MALLOC(void *, p->collisionCylinder.npts * sizeof(struct point_XYZ));
1859  p->collisionCylinder.tpts = MALLOC(void *, p->collisionCylinder.npts * sizeof(struct point_XYZ));
1860 
1861  p->collisionCylinder.ntris = CYLDIV *2;
1862  p->collisionCylinder.tris = MALLOC(void *, p->collisionCylinder.ntris * sizeof(ctri));
1863  p->collisionCylinder.nquads = CYLDIV;
1864  p->collisionCylinder.quads = MALLOC(void *, p->collisionCylinder.nquads * sizeof(cquad));
1865 
1866  tcount = 0;
1867  qcount = 0;
1868  h = node->height;
1869  r = node->radius;
1870  inverseh = inverser = 1.0;
1871  if(!APPROX(h,0.0)) inverseh = 1.0/h;
1872  if(!APPROX(r,0.0)) inverser = 1.0/r;
1873  {
1874  float a1;
1875  /* ok - we copy the non-VBO code here so that Doug Sandens Cylinder Collision code
1876  uses the same algorithm whether running in VBO mode or not */
1877  pts = MALLOC(struct SFVec3f *,sizeof(struct SFVec3f)*2*(CYLDIV+4));
1878 
1879  /* now, create the vertices; this is a quad, so each face = 4 points*/
1880  for (i=0; i<CYLDIV; i++) {
1881  a1 = (float) (PI*2*i)/(float)CYLDIV;
1882  pts[i*2+0].c[0] = (float) (r* sin(a1));
1883  pts[i*2+0].c[1] = (float) h;
1884  pts[i*2+0].c[2] = (float) (r* cos(a1));
1885  pts[i*2+1].c[0] = (float) (r* sin(a1));
1886  pts[i*2+1].c[1] = (float) -h;
1887  pts[i*2+1].c[2] = (float) (r* cos(a1));
1888  }
1889 
1890  /* wrap the points around*/
1891  memcpy (&pts[CYLDIV*2].c[0],&pts[0].c[0],sizeof(struct SFVec3f)*2);
1892 
1893  /* center points of top and bottom*/
1894  pts[CYLDIV*2+2].c[0] = 0.0f; pts[CYLDIV*2+2].c[1] = (float) h; pts[CYLDIV*2+2].c[2] = 0.0f;
1895  pts[CYLDIV*2+3].c[0] = 0.0f; pts[CYLDIV*2+3].c[1] = (float)-h; pts[CYLDIV*2+3].c[2] = 0.0f;
1896  }
1897  for(i=0;i<p->collisionCylinder.npts;i++)
1898  {
1899  /* points */
1900  p->collisionCylinder.pts[i].x = pts[i].c[0]*inverser;
1901  p->collisionCylinder.pts[i].y = pts[i].c[1]*inverseh;
1902  p->collisionCylinder.pts[i].z = pts[i].c[2]*inverser;
1903  }
1904  for(i=0;i<CYLDIV;i++)
1905  {
1906  /* side quads */
1907  p->collisionCylinder.quads[qcount][0] = i*2; /* top point */
1908  p->collisionCylinder.quads[qcount][1] = i*2 +1;
1909  p->collisionCylinder.quads[qcount][2] = i*2 +3; /*wrap-around, normally i+2 */
1910  p->collisionCylinder.quads[qcount][3] = i*2 +2;
1911  qcount ++;
1912  }
1913  //pt[CYLDIV*2+2].c[0] = 0.0; pt[CYLDIV*2+2].c[1] = (float) h; pt[CYLDIV*2+2].c[2] = 0.0;
1914  //pt[CYLDIV*2+3].c[0] = 0.0; pt[CYLDIV*2+3].c[1] = (float)-h; pt[CYLDIV*2+3].c[2] = 0.0;
1915 
1916  for(i=0;i<CYLDIV;i++)
1917  {
1918  /* bottom triangles */
1919  p->collisionCylinder.tris[tcount][0] = CYLDIV*2+3; /* bottom center point */
1920  p->collisionCylinder.tris[tcount][1] = i*2 +1;
1921  p->collisionCylinder.tris[tcount][2] = (i+1)*2 +1;
1922  tcount ++;
1923  }
1924  for(i=0;i<CYLDIV;i++)
1925  {
1926  /* top triangles */
1927  p->collisionCylinder.tris[tcount][0] = CYLDIV*2+2; /* top center point */
1928  p->collisionCylinder.tris[tcount][1] = i*2;
1929  p->collisionCylinder.tris[tcount][2] = (i+1)*2;
1930  tcount ++;
1931  }
1932 
1933  /* count should == num triangles
1934  debug check on indexing - biggestNum should == npts -1
1935  biggestNum = 0;
1936  for(i=0;i<collisionCylinder.ntris;i++)
1937  for(j=0;j<3;j++)
1938  biggestNum = max(biggestNum,collisionCylinder.tris[i][j]);
1939  */
1940  /* MBB */
1941  for(i=0;i<3;i+=2)
1942  {
1943  p->collisionCylinder.smin[i] = -1.0; //r;
1944  p->collisionCylinder.smax[i] = 1.0; //r;
1945  }
1946  p->collisionCylinder.smin[1] = -1.0; //-h/2;
1947  p->collisionCylinder.smax[1] = 1.0; //h/2;
1948 
1949  FREE_IF_NZ(pts);
1950 }
1951 
1952 #ifdef DEBUGGING_CODE
1953 DEBUGGING_CODEint collisionCylinder_render(double r, double h)
1954 DEBUGGING_CODE{
1955 DEBUGGING_CODE /* I needed to verify the collision mesh was good, and it uses triangles, so I drew it the triangle way and it looked good
1956 DEBUGGING_CODE to see it draw, you need to turn on collision and get close to the mesh object - then it will initialize and start drawing it.
1957 DEBUGGING_CODE */
1958 DEBUGGING_CODE int i,j;
1959 DEBUGGING_CODE for(i =0; i < collisionCylinder.ntris; i++)
1960 DEBUGGING_CODE {
1961 DEBUGGING_CODE struct point_XYZ pts[3]; //,a,b,n;
1962 DEBUGGING_CODE pts[0] = collisionCylinder.pts[collisionCylinder.tris[i][0]];
1963 DEBUGGING_CODE pts[1] = collisionCylinder.pts[collisionCylinder.tris[i][1]];
1964 DEBUGGING_CODE pts[2] = collisionCylinder.pts[collisionCylinder.tris[i][2]];
1965 DEBUGGING_CODE FW_GL_BEGIN(GL_TRIANGLES);
1966 DEBUGGING_CODE for(j=0;j<3;j++)
1967 DEBUGGING_CODE FW_GL_VERTEX3D(pts[j].x*r,pts[j].y*h,pts[j].z*r);
1968 DEBUGGING_CODE FW_GL_END();
1969 DEBUGGING_CODE }
1970 DEBUGGING_CODE for(i =0; i < collisionCylinder.nquads; i++)
1971 DEBUGGING_CODE {
1972 DEBUGGING_CODE struct point_XYZ pts[4]; //,a,b,n;
1973 DEBUGGING_CODE pts[0] = collisionCylinder.pts[collisionCylinder.quads[i][0]];
1974 DEBUGGING_CODE pts[1] = collisionCylinder.pts[collisionCylinder.quads[i][1]];
1975 DEBUGGING_CODE pts[2] = collisionCylinder.pts[collisionCylinder.quads[i][2]];
1976 DEBUGGING_CODE pts[3] = collisionCylinder.pts[collisionCylinder.quads[i][3]];
1977 DEBUGGING_CODE FW_GL_BEGIN(GL_QUADS);
1978 DEBUGGING_CODE for(j=0;j<4;j++)
1979 DEBUGGING_CODE FW_GL_VERTEX3D(pts[j].x*r,pts[j].y*h,pts[j].z*r);
1980 DEBUGGING_CODE FW_GL_END();
1981 DEBUGGING_CODE }
1982 DEBUGGING_CODE return 0;
1983 DEBUGGING_CODE}
1984 #endif
1985 
1986 
1987 void collide_Cylinder (struct X3D_Cylinder *node) {
1988  /*easy access, naviinfo.step unused for sphere collisions */
1989  struct sNaviInfo *naviinfo;
1990  GLDOUBLE awidth,atop,abottom,astep,scale,modelMatrix[16];
1991  float h,r;
1992  struct point_XYZ iv = {0,0,0};
1993  struct point_XYZ jv = {0,0,0};
1994  struct point_XYZ t_orig = {0,0,0};
1995  struct point_XYZ delta;
1996  ttglobal tg = gglobal();
1997  ppComponent_Geometry3D p = (ppComponent_Geometry3D)tg->Component_Geometry3D.prv;
1998  naviinfo = (struct sNaviInfo*)tg->Bindable.naviinfo;
1999 
2000  awidth = naviinfo->width; /*avatar width*/
2001  atop = naviinfo->width; /*top of avatar (relative to eyepoint)*/
2002  abottom = -naviinfo->height; /*bottom of avatar (relative to eyepoint)*/
2003  astep = -naviinfo->height+naviinfo->step;
2004 
2005  h = (node->height)/2;
2006  r = (node->radius);
2007 
2008 
2009  scale=0.0; /* FIXME: won''t work for non-uniform scales. */
2010 
2011  iv.y = h;
2012  jv.y = -h;
2013 
2014  /* get the transformed position of the Sphere, and the scale-corrected radius. */
2015  FW_GL_GETDOUBLEV(GL_MODELVIEW_MATRIX, modelMatrix);
2016 
2017  //matmultiply(modelMatrix,FallInfo.avatar2collision,modelMatrix);
2018  if(FallInfo()->walking)
2019  {
2020  /* mesh method */
2021  int i;
2022  double disp;
2023  struct point_XYZ n;
2024  struct point_XYZ a,b, dispv, radscale, maxdispv = {0,0,0};
2025  double maxdisp = 0;
2026 
2027  if(!p->collisionCylinder.npts)
2028  collisionCylinder_init(node);
2029  radscale.x = radscale.z = node->radius;
2030  radscale.y = node->height;
2031  scale_to_matrix (modelMatrix, &radscale);
2032  matmultiplyAFFINE(modelMatrix,modelMatrix,FallInfo()->avatar2collision);
2033  //dug9july2011 matmultiply(modelMatrix,FallInfo()->avatar2collision,modelMatrix);
2034  if( !avatarCollisionVolumeIntersectMBB(modelMatrix, p->collisionCylinder.smin,p->collisionCylinder.smax)) return;
2035 
2036  for(i=0;i<p->collisionCylinder.npts;i++)
2037  transform(&p->collisionCylinder.tpts[i],&p->collisionCylinder.pts[i],modelMatrix);
2038 
2039  for(i = 0; i < p->collisionCylinder.ntris; i++)
2040  {
2041  struct point_XYZ pts[3];
2042  pts[0] = p->collisionCylinder.tpts[p->collisionCylinder.tris[i][0]];
2043  pts[1] = p->collisionCylinder.tpts[p->collisionCylinder.tris[i][1]];
2044  pts[2] = p->collisionCylinder.tpts[p->collisionCylinder.tris[i][2]];
2045  /* compute normal - could compute once in shapespace then transform */
2046  VECDIFF(pts[1],pts[0],a);
2047  VECDIFF(pts[2],pts[1],b); /* or [2] [0] direction not sensitive for some functions */
2048  veccross(&n,a,b); /* 6 multiplies */
2049  vecnormal(&n,&n);
2050  dispv = get_poly_disp_2(pts,3,n);
2051  disp = vecdot(&dispv,&dispv);
2052  if( (disp > FLOAT_TOLERANCE) && (disp > maxdisp) ){
2053  maxdisp = disp;
2054  maxdispv = dispv;
2055  }
2056  }
2057  for(i = 0; i < p->collisionCylinder.nquads; i++)
2058  {
2059  struct point_XYZ pts[4];
2060  pts[0] = p->collisionCylinder.tpts[p->collisionCylinder.quads[i][0]];
2061  pts[1] = p->collisionCylinder.tpts[p->collisionCylinder.quads[i][1]];
2062  pts[2] = p->collisionCylinder.tpts[p->collisionCylinder.quads[i][2]];
2063  pts[3] = p->collisionCylinder.tpts[p->collisionCylinder.quads[i][3]];
2064  /* compute normal - could compute once in shapespace then transform */
2065  VECDIFF(pts[1],pts[0],a);
2066  VECDIFF(pts[2],pts[1],b); /* or [2] [0] direction not sensitive for some functions */
2067  veccross(&n,a,b); /* 6 multiplies */
2068  vecnormal(&n,&n);
2069  dispv = get_poly_disp_2(pts,4,n);
2070  disp = vecdot(&dispv,&dispv);
2071  if( (disp > FLOAT_TOLERANCE) && (disp > maxdisp) ){
2072  maxdisp = disp;
2073  maxdispv = dispv;
2074  }
2075  }
2076  delta = maxdispv;
2077  }else{
2078  /* values for rapid test */
2079  matmultiplyAFFINE(modelMatrix,modelMatrix,FallInfo()->avatar2collision);
2080  //dug9july2011 matmultiply(modelMatrix,FallInfo()->avatar2collision,modelMatrix);
2081  t_orig.x = modelMatrix[12];
2082  t_orig.y = modelMatrix[13];
2083  t_orig.z = modelMatrix[14];
2084  scale = pow(det3x3(modelMatrix),1./3.);
2085  if(!fast_ycylinder_cone_intersect(abottom,atop,awidth,t_orig,scale*h,scale*r)) return;
2086  /* get transformed box edges and position */
2087  transform(&iv,&iv,modelMatrix);
2088  transform(&jv,&jv,modelMatrix);
2089  delta = cylinder_disp(abottom,atop,astep,awidth,jv,iv,scale*r);
2090  }
2091  vecscale(&delta,&delta,-1);
2092  accumulate_disp(CollisionInfo(),delta);
2093  #ifdef RENDERVERBOSE
2094  if((fabs(delta.x) != 0. || fabs(delta.y) != 0. || fabs(delta.z) != 0.))
2095  printf("COLLISION_CYL: (%f %f %f) (%f %f %f)\n",
2096  iv.x, iv.y, iv.z,
2097  delta.x, delta.y, delta.z
2098  );
2099  if((fabs(delta.x != 0.) || fabs(delta.y != 0.) || fabs(delta.z) != 0.))
2100  printf("iv=(%f %f %f) jv=(%f %f %f) bR=%f\n",
2101  iv.x, iv.y, iv.z,
2102  jv.x, jv.y, jv.z,
2103  scale*r
2104  );
2105  #endif
2106 }
2107 
2108 void collide_Extrusion (struct X3D_Extrusion *node) {
2109  GLDOUBLE modelMatrix[16];
2110  struct point_XYZ delta = {0,0,0};
2111  #ifdef RENDERVERBOSE
2112  struct point_XYZ t_orig = {0,0,0};
2113  #endif
2114  struct X3D_PolyRep pr;
2115  prflags flags = 0;
2116  int change = 0;
2117 
2118  /* JAS - first pass, intern is probably zero */
2119  if (node->_intern == NULL) return;
2120  /* JAS - no triangles in this text structure */
2121  if (node->_intern->ntri == 0) return;
2122 
2123  /*save changed state.*/
2124  if(node->_intern) change = node->_intern->irep_change;
2125  COMPILE_POLY_IF_REQUIRED(NULL, NULL, NULL, NULL, NULL)
2126  if(node->_intern) node->_intern->irep_change = change;
2127  /*restore changes state, invalidates compile_polyrep work done, so it can be done
2128  correclty in the RENDER pass */
2129 
2130  if(!node->solid) {
2131  flags = flags | PR_DOUBLESIDED;
2132  }
2133  /* printf("_PolyRep = %d\n",node->_intern);*/
2134  pr = *(node->_intern);
2135  FW_GL_GETDOUBLEV(GL_MODELVIEW_MATRIX, modelMatrix);
2136 
2137  matmultiplyAFFINE(modelMatrix,modelMatrix,FallInfo()->avatar2collision);
2138  //dug9july2011 matmultiply(modelMatrix,FallInfo()->avatar2collision,modelMatrix);
2139 
2140  #ifdef RENDERVERBOSE
2141  t_orig.x = modelMatrix[12];
2142  t_orig.y = modelMatrix[13];
2143  t_orig.z = modelMatrix[14];
2144  #endif
2145 
2146  if(!avatarCollisionVolumeIntersectMBBf(modelMatrix, pr.minVals, pr.maxVals))return;
2147  delta = polyrep_disp2(pr,modelMatrix,flags);
2148  vecscale(&delta,&delta,-1);
2149  accumulate_disp(CollisionInfo(),delta);
2150 
2151 #ifdef RENDERVERBOSE
2152  if((fabs(delta.x) != 0. || fabs(delta.y) != 0. || fabs(delta.z) != 0.)) {
2153 /* printmatrix(modelMatrix);*/
2154  fprintf(stderr,"COLLISION_EXT: (%f %f %f) (%f %f %f)\n",
2155  t_orig.x, t_orig.y, t_orig.z,
2156  delta.x, delta.y, delta.z
2157  );
2158  }
2159 #endif
2160 }
2161 
2162 
2163 
2164 void rendray_Sphere (struct X3D_Sphere *node) {
2165  struct point_XYZ t_r1,t_r2;
2166  float r = node->radius;
2167  /* Center is at zero. t_r1 to t_r2 and t_r1 to zero are the vecs */
2168 
2169  float tr1sq;// = (float) VECSQ(t_r1);
2170  struct point_XYZ dr2r1;
2171  float dlen;
2172  float a,b,c,disc;
2173  //VECCOPY(t_r1,tg->RenderFuncs.t_r1);
2174  //VECCOPY(t_r2,tg->RenderFuncs.t_r2);
2175  get_current_ray(&t_r1, &t_r2);
2176 
2177  tr1sq = (float) VECSQ(t_r1);
2178 
2179  VECDIFF(t_r2,t_r1,dr2r1);
2180  dlen = (float) VECSQ(dr2r1);
2181 
2182  a = dlen; /* tr1sq - 2*tr1tr2 + tr2sq; */
2183  b = 2.0f*((float)VECPT(dr2r1, t_r1));
2184  c = tr1sq - r*r;
2185 
2186  disc = b*b - 4*a*c; /* The discriminant */
2187 
2188  if(disc > 0) { /* HITS */
2189  float q ;
2190  float sol1 ;
2191  float sol2 ;
2192  float cx,cy,cz;
2193  q = (float) sqrt(disc);
2194  /* q = (-b+(b>0)?q:-q)/2; */
2195  sol1 = (-b+q)/(2*a);
2196  sol2 = (-b-q)/(2*a);
2197  /*
2198  printf("SPHSOL0: (%f %f %f) (%f %f %f)\n",
2199  t_r1.x, t_r1.y, t_r1.z, t_r2.x, t_r2.y, t_r2.z);
2200  printf("SPHSOL: (%f %f %f) (%f) (%f %f) (%f) (%f %f)\n",
2201  tr1sq, tr2sq, tr1tr2, a, b, c, und, sol1, sol2);
2202  */
2203  cx = (float) MRATX(sol1);
2204  cy = (float) MRATY(sol1);
2205  cz = (float) MRATZ(sol1);
2206  rayhit(sol1, cx,cy,cz, cx/r,cy/r,cz/r, -1,-1, "sphere 0");
2207  cx = (float) MRATX(sol2);
2208  cy = (float) MRATY(sol2);
2209  cz = (float) MRATZ(sol2);
2210  rayhit(sol2, cx,cy,cz, cx/r,cy/r,cz/r, -1,-1, "sphere 1");
2211  }
2212 
2213 }
2214 
2215 
2216 void rendray_Box (struct X3D_Box *node) {
2217  float x,y,z;
2218  struct point_XYZ t_r1,t_r2;
2219 
2220  //VECCOPY(t_r1,tg->RenderFuncs.t_r1);
2221  //VECCOPY(t_r2,tg->RenderFuncs.t_r2);
2222 
2223  get_current_ray(&t_r1, &t_r2);
2224 
2225  x = ((node->size).c[0])/2;
2226  y = ((node->size).c[1])/2;
2227  z = ((node->size).c[2])/2;
2228  /* 1. x=const-plane faces? */
2229  if(!XEQ) {
2230  float xrat0 = (float) XRAT(x);
2231  float xrat1 = (float) XRAT(-x);
2232  #ifdef RENDERVERBOSE
2233  printf("!XEQ: %f %f\n",xrat0,xrat1);
2234  #endif
2235 
2236  if(TRAT(xrat0)) {
2237  float cy = (float) MRATY(xrat0);
2238  #ifdef RENDERVERBOSE
2239  printf("TRok: %f\n",cy);
2240  #endif
2241 
2242  if(cy >= -y && cy < y) {
2243  float cz = (float) MRATZ(xrat0);
2244  #ifdef RENDERVERBOSE
2245  printf("cyok: %f\n",cz);
2246  #endif
2247 
2248  if(cz >= -z && cz < z) {
2249  #ifdef RENDERVERBOSE
2250  printf("czok:\n");
2251  #endif
2252 
2253  rayhit(xrat0, x,cy,cz, 1,0,0, -1,-1, "cube x0");
2254  }
2255  }
2256  }
2257  if(TRAT(xrat1)) {
2258  float cy = (float) MRATY(xrat1);
2259  if(cy >= -y && cy < y) {
2260  float cz = (float) MRATZ(xrat1);
2261  if(cz >= -z && cz < z) {
2262  rayhit(xrat1, -x,cy,cz, -1,0,0, -1,-1, "cube x1");
2263  }
2264  }
2265  }
2266  }
2267  if(!YEQ) {
2268  float yrat0 = (float) YRAT(y);
2269  float yrat1 = (float) YRAT(-y);
2270  if(TRAT(yrat0)) {
2271  float cx = (float) MRATX(yrat0);
2272  if(cx >= -x && cx < x) {
2273  float cz = (float) MRATZ(yrat0);
2274  if(cz >= -z && cz < z) {
2275  rayhit(yrat0, cx,y,cz, 0,1,0, -1,-1, "cube y0");
2276  }
2277  }
2278  }
2279  if(TRAT(yrat1)) {
2280  float cx = (float) MRATX(yrat1);
2281  if(cx >= -x && cx < x) {
2282  float cz = (float) MRATZ(yrat1);
2283  if(cz >= -z && cz < z) {
2284  rayhit(yrat1, cx,-y,cz, 0,-1,0, -1,-1, "cube y1");
2285  }
2286  }
2287  }
2288  }
2289  if(!ZEQ) {
2290  float zrat0 = (float) ZRAT(z);
2291  float zrat1 = (float) ZRAT(-z);
2292  if(TRAT(zrat0)) {
2293  float cx = (float) MRATX(zrat0);
2294  if(cx >= -x && cx < x) {
2295  float cy = (float) MRATY(zrat0);
2296  if(cy >= -y && cy < y) {
2297  rayhit(zrat0, cx,cy,z, 0,0,1, -1,-1,"cube z0");
2298  }
2299  }
2300  }
2301  if(TRAT(zrat1)) {
2302  float cx = (float) MRATX(zrat1);
2303  if(cx >= -x && cx < x) {
2304  float cy = (float) MRATY(zrat1);
2305  if(cy >= -y && cy < y) {
2306  rayhit(zrat1, cx,cy,-z, 0,0,-1, -1,-1,"cube z1");
2307  }
2308  }
2309  }
2310  }
2311 }
2312 
2313 
2314 void rendray_Cylinder (struct X3D_Cylinder *node) {
2315 
2316  float h,r,y;
2317  struct point_XYZ t_r1,t_r2;
2318  //VECCOPY(t_r1,tg->RenderFuncs.t_r1);
2319  //VECCOPY(t_r2,tg->RenderFuncs.t_r2);
2320  get_current_ray(&t_r1, &t_r2);
2321 
2322  h = (node->height) /*cget*//2; /* pos and neg dir. */
2323  r = (node->radius) /*cget*/;
2324  y = h;
2325  /* Caps */
2326  if(!YEQ) {
2327  float yrat0 = (float) YRAT(y);
2328  float yrat1 = (float) YRAT(-y);
2329  if(TRAT(yrat0)) {
2330  float cx = (float) MRATX(yrat0);
2331  float cz = (float) MRATZ(yrat0);
2332  if(r*r > cx*cx+cz*cz) {
2333  rayhit(yrat0, cx,y,cz, 0,1,0, -1,-1, "cylcap 0");
2334  }
2335  }
2336  if(TRAT(yrat1)) {
2337  float cx = (float) MRATX(yrat1);
2338  float cz = (float) MRATZ(yrat1);
2339  if(r*r > cx*cx+cz*cz) {
2340  rayhit(yrat1, cx,-y,cz, 0,-1,0, -1,-1, "cylcap 1");
2341  }
2342  }
2343  }
2344  /* Body -- do same as for sphere, except no y axis in distance */
2345  //if((!XEQ) && (!ZEQ)) //can't pick with ortho on initial load
2346  //can pick with ortho on initial load: if(!(XEQ && ZEQ))
2347  if(!(XEQ && ZEQ)){
2348  float dx = (float)(t_r2.x-t_r1.x);
2349  float dz = (float)(t_r2.z-t_r1.z);
2350  float a = (float)(dx*dx + dz*dz);
2351  float b = (float) (2*(dx * t_r1.x + dz * t_r1.z));
2352  float c = (float) (t_r1.x * t_r1.x + t_r1.z * t_r1.z - r*r);
2353  float und;
2354  b /= a; c /= a;
2355  und = b*b - 4*c;
2356  if(und > 0) { /* HITS the infinite cylinder */
2357  float sol1 = (-b+(float) sqrt(und))/2;
2358  float sol2 = (-b-(float) sqrt(und))/2;
2359  float cy,cx,cz;
2360  cy = (float) MRATY(sol1);
2361  if(cy > -h && cy < h) {
2362  cx = (float) MRATX(sol1);
2363  cz = (float) MRATZ(sol1);
2364  rayhit(sol1, cx,cy,cz, cx/r,0,cz/r, -1,-1, "cylside 1");
2365  }
2366  cy = (float) MRATY(sol2);
2367  if(cy > -h && cy < h) {
2368  cx = (float) MRATX(sol2);
2369  cz = (float) MRATZ(sol2);
2370  rayhit(sol2, cx,cy,cz, cx/r,0,cz/r, -1,-1, "cylside 2");
2371  }
2372  }
2373  }
2374 }
2375 
2376 void rendray_Cone (struct X3D_Cone *node) {
2377  float h,y,r,dx,dy,dz,a,b,c,tmp,und;
2378  struct point_XYZ t_r1,t_r2;
2379 
2380  // VECCOPY(t_r1,tg->RenderFuncs.t_r1);
2381  // VECCOPY(t_r2,tg->RenderFuncs.t_r2);
2382 
2383  get_current_ray(&t_r1, &t_r2);
2384 
2385  h = (node->height) /*cget*//2; /* pos and neg dir. */
2386  y = h;
2387  r = (node->bottomRadius) /*cget*/;
2388  dx = (float) (t_r2.x-t_r1.x);
2389  dz = (float) (t_r2.z-t_r1.z);
2390  dy = (float) (t_r2.y-t_r1.y);
2391  a = dx*dx + dz*dz - (r*r*dy*dy/(2*h*2*h));
2392  b = (float) (2*(dx*t_r1.x + dz*t_r1.z) +
2393  2*r*r*dy/(2*h)*(0.5-t_r1.y/(2*h)));
2394  tmp = (float)((0.5-t_r1.y/(2*h)));
2395  c = (float)(t_r1.x * t_r1.x + t_r1.z * t_r1.z)
2396  - r*r*tmp*tmp;
2397 
2398  b /= a; c /= a;
2399  und = b*b - 4*c;
2400  /*
2401  printf("CONSOL0: (%f %f %f) (%f %f %f)\n",
2402  t_r1.x, t_r1.y, t_r1.z, t_r2.x, t_r2.y, t_r2.z);
2403  printf("CONSOL: (%f %f %f) (%f) (%f %f) (%f)\n",
2404  dx, dy, dz, a, b, c, und);
2405  */
2406  if(und > 0) { /* HITS the infinite cylinder */
2407  float sol1 = (-b+(float)sqrt(und))/2;
2408  float sol2 = (-b-(float)sqrt(und))/2;
2409  float cy,cx,cz;
2410  cy = (float)MRATY(sol1);
2411  if(cy > -h && cy < h) {
2412  cx = (float)MRATX(sol1);
2413  cz = (float)MRATZ(sol1);
2414  /* XXX Normal */
2415  rayhit(sol1, cx,cy,cz, cx/r,0,cz/r, -1,-1, "conside 1");
2416  }
2417  cy = (float) MRATY(sol2);
2418  if(cy > -h && cy < h) {
2419  cx = (float) MRATX(sol2);
2420  cz = (float) MRATZ(sol2);
2421  rayhit(sol2, cx,cy,cz, cx/r,0,cz/r, -1,-1, "conside 2");
2422  }
2423  /*
2424  printf("CONSOLV: (%f %f) (%f %f)\n", sol1, sol2,cy0,cy);
2425  */
2426  }
2427  if(!YEQ) {
2428  float yrat0 = (float) YRAT(-y);
2429  if(TRAT(yrat0)) {
2430  float cx = (float) MRATX(yrat0);
2431  float cz = (float) MRATZ(yrat0);
2432  if(r*r > cx*cx + cz*cz) {
2433  rayhit(yrat0, cx, -y, cz, 0, -1, 0, -1, -1, "conbot");
2434  }
2435  }
2436  }
2437 }
2438 
2439 // TEAPOT sept 2016
2440 // http://www.web3d.org/x3d/content/examples/Basic/ExperimentalBinaryCompression/Teapot.html
2441 // https://www.sjbaker.org/wiki/index.php?title=The_History_of_The_Teapot#Images_of_the_Complete_Dataset
2442 // tests teapot-no_shaders.wrl
2443 
2444 static struct X3D_IndexedFaceSet *teapotifs = NULL;
2445 static struct X3D_Coordinate *teapot_coord;
2446 static int teapot_coordindex_p [] = 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2447 static int teapot_coordindex_n = 6302;
2448 static float teapot_coord_p [] = 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2449 static int teapot_coord_n = 1190;
2450 struct X3D_PolyRep * create_polyrep();
2451 void compile_Teapot (struct X3D_Teapot *tnode){
2452  if(tnode->__ifsnode == NULL){
2453  if(teapotifs == NULL){
2454  teapotifs = createNewX3DNode0(NODE_IndexedFaceSet); //IIRC createnewX3DNode0 doesn't add to nodelist or garbage collection
2455  teapotifs->_intern = create_polyrep();
2456  teapot_coord = createNewX3DNode0(NODE_Coordinate);
2457  teapotifs->creaseAngle = (float)PI;
2458  teapotifs->normalPerVertex = FALSE;
2459  teapotifs->ccw = TRUE;
2460  teapotifs->coord = X3D_NODE(teapot_coord);
2461  teapot_coord->point.p = (struct SFVec3f*)teapot_coord_p;
2462  teapot_coord->point.n = teapot_coord_n;
2463  teapotifs->coordIndex.p = teapot_coordindex_p;
2464  teapotifs->coordIndex.n = teapot_coordindex_n;
2465  teapotifs->solid = tnode->solid;
2466  }
2467  tnode->__ifsnode = teapotifs;
2468  make_IndexedFaceSet(tnode->__ifsnode);
2469  }
2470 }
2471 void rendray_Teapot (struct X3D_Teapot *node){
2472  if(node->__ifsnode == NULL) compile_Teapot(node);
2473  rendray_IndexedFaceSet(X3D_INDEXEDFACESET(node->__ifsnode));
2474 
2475 }
2476 void render_Teapot (struct X3D_Teapot *node){
2477  if(node->__ifsnode == NULL) compile_Teapot(node);
2478  render_IndexedFaceSet(X3D_INDEXEDFACESET(node->__ifsnode));
2479 }
2480 void collide_Teapot (struct X3D_Teapot *node){
2481  if(node->__ifsnode == NULL) compile_Teapot(node);
2482  collide_IndexedFaceSet(X3D_INDEXEDFACESET(node->__ifsnode));
2483 }
2484 
2485 
2486 
2487 void delete_glbuffers(struct X3D_Node *node){
2488  //polyrep done in delete_polyrep
2489  switch(node->_nodeType){
2490  case NODE_Cylinder:
2491  clear_Cylinder(node); break;
2492  case NODE_Cone:
2493  clear_Cone(node); break;
2494  case NODE_Sphere:
2495  clear_Sphere(node); break;
2496  default:
2497  break;
2498  }
2499 }
pComponent_Geometry3D
Definition: Component_Geometry3D.c:77
X3D_Node
Definition: Structs.h:2502
X3D_Cylinder
Definition: Structs.h:3995
Multi_Vec3f
Definition: Structs.h:2454
X3D_Sphere
Definition: Structs.h:9312
X3D_ElevationGrid
Definition: Structs.h:4324
X3D_PolyRep
Definition: Structs.h:62
X3D_Coordinate
Definition: Structs.h:3837
X3D_Box
Definition: Structs.h:3041
X3D_Teapot
Definition: Structs.h:9624
point_XYZ
Definition: Structs.h:34
X3D_Extrusion
Definition: Structs.h:4492
X3D_Cone
Definition: Structs.h:3701
X3D_IndexedFaceSet
Definition: Structs.h:5387