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body_draw.cpp
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body_draw.cpp
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#include "body.hpp"
#include "environment.hpp"
#include <GL/glew.h>
#include <GLFW/glfw3.h>
#include <iostream>
#include <cmath>
#include <cstdlib>
//Constraint definitions
double body::shoulder_x_min = 0;
double body::shoulder_x_max = 135;
double body::shoulder_y_min = 0;
double body::shoulder_y_max = 135;
double body::shoulder_z_min = -225;
double body::shoulder_z_max = 225;
double body::waist_x_min = 0;
double body::waist_x_max = 180;
double body::waist_y_min = -90;
double body::waist_y_max = 90;
double body::waist_z_min = -90;
double body::waist_z_max = 90;
double body::neck_x_min = -90;
double body::neck_x_max = 90;
double body::neck_y_min = -90;
double body::neck_y_max = 90;
double body::neck_z_min = -90;
double body::neck_z_max = 90;
double body::ankle_x_min = -45;
double body::ankle_x_max = 45;
double body::ankle_y_min = -45;
double body::ankle_y_max = 45;
double body::wrist_x_min = -45;
double body::wrist_x_max = 45;
double body::wrist_z_min = -45;
double body::wrist_z_max = 45;
double body::hip_x_min = -90;
double body::hip_x_max = 90;
double body::hip_y_min = 0;
double body::hip_y_max = 90;
double body::hip_z_min = -90;
double body::hip_z_max = 0;
double body::elbow_x_min = -150;
double body::elbow_x_max = 0;
double body::knee_x_max = 150;
double body::knee_x_min = 0;
body::body() {
/*Variables*/
pos_x = 0;
pos_y = 0;
pos_z = 0;
elbows_y_offset = 0;
count_elbows_in = 0;
count_elbows_out = 0;
transformed = false;
dist = 0;
turn = 0;
wheel_rotate_angle = 0;
headlight = false;
day = true;
moon_toggle = false;
frames = 0;
keyfile.open("keyframes.txt", std::fstream::out);
playback = false;
terminate = false;
/* Trees */
for(int i = 0; i < 100; i++) {
tree_standing[i] = true;
tree_fall_angle[i] = 0;
tree_y_angle[i] = 0;
float xrand = (rand()%50);
float zrand = (rand()%50);
tree_x[i] = xrand - 25;
tree_z[i] = zrand - 25;
//std::cout << i << " " << tree_x[i] << " " << tree_z[i] << std::endl;
}
/*Camera*/
count_transform = 0;
count_revert = 0;
camera_r = 4.0;
camera_t = 15;
camera_p = 0;
camera = 1;
ortho_y_angle = 0;
rotate_x_angle = 0;
rotate_y_angle = 0;
rotate_z_angle = 0;
lookat_x = 0;
lookat_y = 0;
lookat_z = 0;
camera_free = true;
//Body Parts
/*Waist*/
waist_x = 0;
waist_y = 0;
waist_z = 0;
/*Neck*/
neck_x = 0;
neck_y = 0;
neck_z = 0;
/*Right Shoulder*/
right_shoulder_x = 0;
right_shoulder_y = 0;
right_shoulder_z = 0;
/*Left Shoulder*/
left_shoulder_x = 0;
left_shoulder_y = 0;
left_shoulder_z = 0;
/*Right Wrist*/
right_wrist_x = 0;
right_wrist_z = 0;
/*Left Wrist*/
left_wrist_x = 0;
left_wrist_z = 0;
/*Right Hip*/
right_hip_x = 0;
right_hip_y = 0;
right_hip_z = 0;
/*Left Hip*/
left_hip_x = 0;
left_hip_y = 0;
left_hip_z = 0;
/*Left Elbow*/
left_elbow_x = 0;
/*Right Elbow*/
right_elbow_x = 0;
/*Left Knee*/
left_knee_x = 0;
/*Right Knee*/
right_knee_x = 0;
/*Left Ankle*/
left_ankle_x = 0;
left_ankle_y = 0;
/*Right Ankle*/
right_ankle_x = 0;
right_ankle_y = 0;
/*Shoulder Joints*/
rs_joint_x = 0;
ls_joint_x = 0;
/*Number of Lists to Display*/
glGenLists(15);
/*Initialise Display Lists*/
init_pelvis();
init_torso();
init_head();
init_right_upper_arm();
init_right_lower_arm();
init_right_hand();
init_left_upper_arm();
init_left_lower_arm();
init_left_hand();
init_right_thigh();
init_right_leg();
init_right_foot();
init_left_thigh();
init_left_leg();
init_left_foot();
init_joints();
}
void body::render()
{
if(playback)
interpolate();
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
if(camera == 0)
{
glOrtho(-3, 3, -3, 3, 0.01, 100);
}
else if(camera == 1)
{
double n = 1.0 - (0.18 / camera_r);
glFrustum(-n, n, -n, n, n, 400);
}
else
{
glFrustum(-0.06, 0.06, -0.06, 0.06, 0.01, 400);
}
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
//The different cameras
switch(camera) {
case 0:
gluLookAt(20*sin(ortho_y_angle*PI/180), 0, 20*cos(ortho_y_angle*PI/180), 0, 0, 0, 0, 1, 0);
break;
case 1:
if(camera_free)
gluLookAt(camera_r*cos(camera_t*PI/180)*sin(camera_p*PI/180) + lookat_x, camera_r*sin(camera_t*PI/180) + lookat_y, camera_r*cos(camera_t*PI/180)*cos(camera_p*PI/180) + lookat_z, lookat_x, lookat_y, lookat_z, 0, 1, 0);
else
gluLookAt(camera_r*cos(camera_t*PI/180)*sin(camera_p*PI/180) + pos_x, camera_r*sin(camera_t*PI/180) + pos_y, camera_r*cos(camera_t*PI/180)*cos(camera_p*PI/180) + pos_z, pos_x, pos_y, pos_z, 0, 1, 0);
break;
case 2:
gluLookAt(-0.5 * sin(rotate_y_angle*PI/180) + pos_x, 0.8 + pos_y, -0.5 * cos(rotate_y_angle*PI/180) + pos_z, pos_x, pos_y, pos_z, 0, 1, 0);
break;
case 3:
gluLookAt(pos_x + 0.2*sin(rotate_y_angle*PI/180), 0.5 + pos_y, pos_z + 0.2*cos(rotate_y_angle*PI/180), sin(rotate_y_angle*PI/180) + pos_x , 0.5 + pos_y, cos(rotate_y_angle*PI/180) + pos_z, 0, 1, 0);
break;
}
//The headlights definition
GLfloat position1[] = {0.05+pos_x, 0.075+pos_y, 0.08+pos_z, 1.0};
GLfloat spotDir1[] = {sin(rotate_y_angle*PI/180.0), 0.0, cos(rotate_y_angle*PI/180.0)};
glLightfv(GL_LIGHT1, GL_POSITION, position1);
glLightfv(GL_LIGHT1, GL_SPOT_DIRECTION, spotDir1);
//Switch off all the lights initially
glDisable(GL_LIGHT0);
glDisable(GL_LIGHT1);
glDisable(GL_LIGHT2);
//Switch lights on according to requiements
if(day)
glEnable(GL_LIGHT0);
else if(!(day ^ moon_toggle))
glEnable(GL_LIGHT2);
if(headlight)
glEnable(GL_LIGHT1);
//Render Environment
renderGround((!day) && headlight);
renderSky(day, moon_toggle);
//Place trees
for(int i = 0; i < 100; i++) {
renderTree(tree_x[i], tree_z[i], tree_standing[i], tree_y_angle[i], tree_fall_angle[i]);
if(!tree_standing[i] && tree_fall_angle[i] < 77.0)
{
double new_fall_angle = 1.1 * tree_fall_angle[i] + 1;
if(new_fall_angle > 77.0)
{
new_fall_angle = 77.0;
}
tree_fall_angle[i] = new_fall_angle;
}
if(tree_standing[i] && std::abs(tree_x[i] - pos_x) < 0.15 && std::abs(tree_z[i] - pos_z) < 0.15)
{
tree_standing[i] = false;
tree_y_angle[i] = rotate_y_angle;
}
}
//Translate/turn according to key movments
glTranslatef(pos_x, pos_y, pos_z);
glRotatef(rotate_y_angle, 0, 1, 0);
//To transform the bot into car
transform();
//Get back to bot state
revert();
//Bot rendering begins
//The pelvis
glPushMatrix();
glCallList(pelvis);
glPopMatrix();
glPushMatrix();
glTranslatef(0.0, 0.025, 0.0);
glRotatef(waist_x, 1.0, 0.0, 0.0);
glRotatef(waist_y, 0.0, 1.0, 0.0);
glRotatef(waist_z, 0.0, 0.0, 1.0);
glTranslatef(0.0, -0.025, 0.0);
//Torso portion
glPushMatrix();
glCallList(torso);
if(headlight)
{
GLfloat emit[] = {1.0, 1.0, 1.0, 1.0};
glMaterialfv(GL_FRONT, GL_EMISSION, emit);
}
glPushMatrix();
glTranslatef(0.05, 0.075, 0.0725);
glScalef(0.06, 0.05, 0.01);
texcube(0, 0.6, 0.6, 0.6);
glPopMatrix();
glPushMatrix();
glTranslatef(-0.05, 0.075, 0.0725);
glScalef(0.06, 0.05, 0.01);
texcube(0, 0.6, 0.6, 0.6);
glPopMatrix();
GLfloat emit2[] = {0.0, 0.0, 0.0, 0.0};
glMaterialfv(GL_FRONT, GL_EMISSION, emit2);
glPopMatrix();
//Head
glPushMatrix();
glTranslatef(0.0, 0.425, 0.0);
glRotatef(neck_x, 1.0, 0.0, 0.0);
glRotatef(neck_y, 0.0, 1.0, 0.0);
glRotatef(neck_z, 0.0, 0.0, 1.0);
glTranslatef(0.0, -0.425, 0.0);
glCallList(head);
glPopMatrix();
/*The right arm*/
glPushMatrix();
glTranslatef(-0.1, 0.0, 0.0);
glRotatef(rs_joint_x, 0.0, 1.0, 0.0);
glTranslatef(0.1, 0.0, 0.0);
glPushMatrix();
glCallList(rs_joint);
glPopMatrix();
/*Move pivot back*/
glTranslatef(-0.13, 0.375, 0.0);
/*Shoulder Y rotation*/
glRotatef(right_shoulder_y, 0.0, 1.0, 0.0);
/*Shoulder Z rotation*/
glRotatef(right_shoulder_z, 0.0, 0.0, 1.0);
/*Shoulder X rotation*/
glRotatef(right_shoulder_x, 1.0, 0.0, 0.0);
/*Get pivot to origin*/
glTranslatef(0.13, -0.375, 0.0);
glPushMatrix();
glCallList(right_upper_arm);
glPopMatrix();
/*Forearm*/
glPushMatrix();
/*Move pivot back*/
glTranslatef(0.0, elbows_y_offset, 0.0);
glTranslatef(-0.13, 0.125, 0.0);
/*Rotate Elbow Joint*/
glRotatef(right_elbow_x, 1.0, 0.0, 0.0);
/*Move pivot up*/
glTranslatef(0.13, -0.125, 0.0);
glPushMatrix();
glCallList(right_lower_arm);
glPopMatrix();
glTranslatef(-0.16, -0.175, 0.0);
glRotatef(right_wrist_x, 1.0, 0.0, 0.0);
glRotatef(right_wrist_z, 0.0, 0.0, 1.0);
glTranslatef(0.16, 0.175, 0.0);
/*Wrist*/
glPushMatrix();
glCallList(right_hand);
glPopMatrix();
/*Wrist Ends*/
glPopMatrix();
/*Forearm Ends*/
glPopMatrix();
/*The right arm ends */
/*The left arm*/
glPushMatrix();
glTranslatef(0.1, 0.0, 0.0);
glRotatef(ls_joint_x, 0.0, 1.0, 0.0);
glTranslatef(-0.1, 0.0, 0.0);
glPushMatrix();
glCallList(ls_joint);
glPopMatrix();
/*Move pivot back*/
glTranslatef(0.13, 0.375, 0.0);
/*Shoulder Y rotation*/
glRotatef(left_shoulder_y, 0.0, 1.0, 0.0);
/*Shoulder Z rotation*/
glRotatef(left_shoulder_z, 0.0, 0.0, 1.0);
/*Shoulder X rotation*/
glRotatef(left_shoulder_x, 1.0, 0.0, 0.0);
/*Get pivot to origin*/
glTranslatef(-0.13, -0.375, 0.0);
glPushMatrix();
glCallList(left_upper_arm);
glPopMatrix();
/*Forearm*/
glPushMatrix();
/*Move pivot back*/
glTranslatef(0.0, elbows_y_offset, 0.0);
glTranslatef(0.13, 0.125, 0.0);
/*Rotate Elbow Joint*/
glRotatef(left_elbow_x, 1.0, 0.0, 0.0);
/*Move pivot up*/
glTranslatef(-0.13, -0.125, 0.0);
glPushMatrix();
glCallList(left_lower_arm);
glPopMatrix();
glTranslatef(0.16, -0.175, 0.0);
glRotatef(left_wrist_x, 1.0, 0.0, 0.0);
glRotatef(left_wrist_z, 0.0, 0.0, 1.0);
glTranslatef(-0.16, 0.175, 0.0);
/*Wrist*/
glPushMatrix();
glCallList(left_hand);
glPopMatrix();
/*Wrist Ends*/
glPopMatrix();
/*Forearm Ends*/
glPopMatrix();
/*The left arm ends */
glPopMatrix();
/*The right leg begins*/
glPushMatrix();
glTranslatef(-0.06, -0.025, 0.0);
glRotatef(right_hip_x, 1.0, 0.0, 0.0);
glRotatef(right_hip_y, 0.0, 1.0, 0.0);
glRotatef(right_hip_z, 0.0, 0.0, 1.0);
glTranslatef(0.06, 0.025, 0.0);
glPushMatrix();
glCallList(right_thigh);
glTranslatef(-0.115, -0.145, 0.0);
glRotatef(90-6*turn, 0, 0, 1);
glRotatef(wheel_rotate_angle, 0, 1, 0);
glScalef(0.15, 0.03, 0.15);
texCylinder(0.5, 0.5, 0.5, 7);
glPopMatrix();
/*Leg below knees*/
glPushMatrix();
glTranslatef(0.06, -0.345, 0.0);
glRotatef(right_knee_x, 1.0, 0.0, 0.0);
glTranslatef(-0.06, 0.345, 0.0);
glPushMatrix();
glCallList(right_leg);
glTranslatef(-0.125, -0.465, 0.0);
glRotatef(90, 0, 0, 1);
glRotatef(wheel_rotate_angle, 0, 1, 0);
glScalef(0.15, 0.05, 0.15);
texCylinder(0.5, 0.5, 0.5, 7);
glPopMatrix();
/*Ankle*/
glPushMatrix();
glTranslatef(-0.06, -0.585, -0.0125);
glRotatef(right_ankle_x, 1.0, 0.0, 0.0);
glRotatef(right_ankle_y, 0.0, 1.0, 0.0);
glTranslatef(0.06, 0.585, 0.0125);
glCallList(right_foot);
glPopMatrix();
/*Ankle Ends*/
glPopMatrix();
/*Leg below knees ends*/
glPopMatrix();
/*The right leg ends*/
/*The left leg begins*/
glPushMatrix();
glTranslatef(0.06, -0.025, 0.0);
glRotatef(left_hip_x, 1.0, 0.0, 0.0);
glRotatef(left_hip_y, 0.0, 1.0, 0.0);
glRotatef(left_hip_z, 0.0, 0.0, 1.0);
glTranslatef(-0.06, 0.025, 0.0);
glPushMatrix();
glCallList(left_thigh);
glTranslatef(0.115, -0.145, 0.0);
glRotatef(90-6*turn, 0, 0, 1);
glRotatef(wheel_rotate_angle, 0, 1, 0);
glScalef(0.15, 0.03, 0.15);
texCylinder(0.5, 0.5, 0.5, 7);
glPopMatrix();
/*Leg below knees*/
glPushMatrix();
glTranslatef(0.06, -0.345, 0.0);
glRotatef(left_knee_x, 1.0, 0.0, 0.0);
glTranslatef(-0.06, 0.345, 0.0);
glPushMatrix();
glCallList(left_leg);
glTranslatef(0.125, -0.465, 0);
glRotatef(90, 0, 0, 1);
glRotatef(wheel_rotate_angle, 0, 1, 0);
glScalef(0.15, 0.05, 0.15);
texCylinder(0.5, 0.5, 0.5, 7);
glPopMatrix();
/*Ankle*/
glPushMatrix();
glTranslatef(0.06, -0.585, -0.0125);
glRotatef(left_ankle_x, 1.0, 0.0, 0.0);
glRotatef(left_ankle_y, 0.0, 1.0, 0.0);
glTranslatef(-0.06, 0.585, 0.0125);
glCallList(left_foot);
glPopMatrix();
/*Ankle Ends*/
glPopMatrix();
/*Leg below knees ends*/
glPopMatrix();
/*The left leg ends*/
}
//Body Rendering ends
//Define call lists from here
void body::init_pelvis()
{
glNewList(pelvis, GL_COMPILE);
glScalef(0.2, 0.05, 0.07);
texcube(0, 0.0, 0.0, 1.0);
glEndList();
}
void body::init_torso()
{
glNewList(torso, GL_COMPILE);
glPushMatrix();
glTranslatef(0.0, 0.225, 0.0);
glScalef(0.2, 0.4, 0.15);
texcube(0, 0.6, 0.0, 0.0);
glPopMatrix();
glPushMatrix();
glTranslatef(0.0, 0.225, -0.0725);
glScalef(0.14, 0.34, 0.01);
texcube(0, 0.6, 0.6, 0.6);
glPopMatrix();
glPushMatrix();
glTranslatef(0.0, 0.325, 0.0725);
glScalef(0.18, 0.15, 0.01);
texcube(1);
glPopMatrix();
glPushMatrix();
glTranslatef(0.0, 0.200, 0.0725);
glScalef(0.15, 0.04, 0.01);
texcube(0);
glPopMatrix();
glPushMatrix();
glTranslatef(0.0, 0.160, 0.0725);
glScalef(0.15, 0.01, 0.01);
texcube(0);
glPopMatrix();
glPushMatrix();
glTranslatef(0.0, 0.140, 0.0725);
glScalef(0.15, 0.01, 0.01);
texcube(0);
glPopMatrix();
glEndList();
}
void body::init_head()
{
glNewList(head, GL_COMPILE);
glPushMatrix();
glTranslatef(0.0, 0.475, 0.0);
glScalef(0.1, 0.1, 0.05);
texcube(0, 0.0, 0.0, 1.0);
glPopMatrix();
glPushMatrix();
glTranslatef(0.0, 0.515, 0.0);
glScalef(0.11, 0.010, 0.06);
texcube(0);
glPopMatrix();
glPushMatrix();
glTranslatef(0.025, 0.480, 0.025);
glScalef(0.025, 0.020, 0.005);
texcube(0, 1.0, 1.0, 0.0);
glPopMatrix();
glPushMatrix();
glTranslatef(-0.025, 0.480, 0.025);
glScalef(0.025, 0.020, 0.005);
texcube(0, 1.0, 1.0, 0.0);
glPopMatrix();
glPushMatrix();
glTranslatef(0.0, 0.440, 0.025);
glScalef(0.09, 0.04, 0.005);
texcube(0);
glPopMatrix();
glEndList();
}
void body::init_right_upper_arm()
{
glNewList(right_upper_arm, GL_COMPILE);
glTranslatef(-0.16, 0.275, 0.0);
glScalef(0.08, 0.3, 0.08);
texcube(0, 0.5, 0.0, 0.0);
glEndList();
}
void body::init_right_lower_arm()
{
glNewList(right_lower_arm, GL_COMPILE);
glTranslatef(-0.16, -0.025, 0.0);
glScalef(0.06, 0.3, 0.06);
texcube(0, 1.0, 0.0, 0.0);
glEndList();
}
void body::init_right_hand()
{
glNewList(right_hand, GL_COMPILE);
glTranslatef(-0.16, -0.2, 0.0);
glScalef(0.07, 0.05, 0.07);
texcube(0, 0.0, 0.0, 1.0);
glEndList();
}
void body::init_left_upper_arm()
{
glNewList(left_upper_arm, GL_COMPILE);
glTranslatef(0.16, 0.275, 0.0);
glScalef(0.08, 0.3, 0.08);
texcube(0, 0.5, 0.0, 0.0);
glEndList();
}
void body::init_left_lower_arm()
{
glNewList(left_lower_arm, GL_COMPILE);
glTranslatef(0.16, -0.025, 0.0);
glScalef(0.06, 0.3, 0.06);
texcube(0, 1.0, 0.0, 0.0);
glEndList();
}
void body::init_left_hand()
{
glNewList(left_hand, GL_COMPILE);
glTranslatef(0.16, -0.2, 0.0);
glScalef(0.07, 0.05, 0.07);
texcube(0, 0.0, 0.0, 1.0);
glEndList();
}
void body::init_right_thigh()
{
glNewList(right_thigh, GL_COMPILE);
glPushMatrix();
glTranslatef(-0.06, -0.185, 0.0);
glScalef(0.08, 0.32, 0.12);
texcube(0, 0.6, 0.6, 0.6);
glPopMatrix();
glEndList();
}
void body::init_right_leg()
{
glNewList(right_leg, GL_COMPILE);
glPushMatrix();
glTranslatef(-0.06, -0.465, 0.0);
glScalef(0.08, 0.24, 0.08);
texcube(0, 0.0, 0.0, 1.0);
glPopMatrix();
glEndList();
}
void body::init_right_foot()
{
glNewList(right_foot, GL_COMPILE);
glTranslatef(-0.06, -0.595, 0.0475);
glScalef(0.08, 0.04, 0.12);
texcube(0, 0.0, 0.0, 1.0);
glEndList();
}
void body::init_left_thigh()
{
glNewList(left_thigh, GL_COMPILE);
glPushMatrix();
glTranslatef(0.06, -0.185, 0.0);
glScalef(0.08, 0.32, 0.12);
texcube(0, 0.6, 0.6, 0.6);
glPopMatrix();
glEndList();
}
void body::init_left_leg()
{
glNewList(left_leg, GL_COMPILE);
glPushMatrix();
glTranslatef(0.06, -0.465, 0.0);
glScalef(0.08, 0.24, 0.08);
texcube(0, 0.0, 0.0, 1.0);
glPopMatrix();
glEndList();
}
void body::init_left_foot()
{
glNewList(left_foot, GL_COMPILE);
glTranslatef(0.06, -0.595, 0.0475);
glScalef(0.08, 0.04, 0.12);
texcube(0, 0.0, 0.0, 1.0);
glEndList();
}
void body::init_joints()
{
glNewList(rs_joint, GL_COMPILE);
glTranslatef(-0.115, 0.375, 0.0);
glScalef(0.03, 0.05, 0.03);
texcube(0, 0.0, 0.0, 1.0);
glEndList();
glNewList(ls_joint, GL_COMPILE);
glTranslatef(0.115, 0.375, 0.0);
glScalef(0.03, 0.05, 0.03);
texcube(0, 0.0, 0.0, 1.0);
glEndList();
}
//End Call List Definitions
void body::keyframe() {
keyfile << frames << '\n';
frames = 0;
keyfile << pos_x;
keyfile << ' ';
keyfile << pos_y;
keyfile << ' ';
keyfile << pos_z;
keyfile << ' ';
keyfile << rotate_x_angle;
keyfile << ' ';
keyfile << rotate_y_angle;
keyfile << ' ';
keyfile << rotate_z_angle;
keyfile << ' ';
keyfile << ortho_y_angle;
keyfile << ' ';
keyfile << elbows_y_offset;
keyfile << ' ';
keyfile << right_shoulder_x;
keyfile << ' ';
keyfile << right_shoulder_y;
keyfile << ' ';
keyfile << right_shoulder_z;
keyfile << ' ';
keyfile << left_shoulder_x;
keyfile << ' ';
keyfile << left_shoulder_y;
keyfile << ' ';
keyfile << left_shoulder_z;
keyfile << ' ';
keyfile << waist_x;
keyfile << ' ';
keyfile << waist_y;
keyfile << ' ';
keyfile << waist_z;
keyfile << ' ';
keyfile << neck_x;
keyfile << ' ';
keyfile << neck_y;
keyfile << ' ';
keyfile << neck_z;
keyfile << ' ';
keyfile << right_ankle_x;
keyfile << ' ';
keyfile << right_ankle_y;
keyfile << ' ';
keyfile << right_wrist_x;
keyfile << ' ';
keyfile << right_wrist_z;
keyfile << ' ';
keyfile << left_ankle_x;
keyfile << ' ';
keyfile << left_ankle_y;
keyfile << ' ';
keyfile << left_wrist_x;
keyfile << ' ';
keyfile << left_wrist_z;
keyfile << ' ';
keyfile << right_hip_x;
keyfile << ' ';
keyfile << right_hip_y;
keyfile << ' ';
keyfile << right_hip_z;
keyfile << ' ';
keyfile << left_hip_x;
keyfile << ' ';
keyfile << left_hip_y;
keyfile << ' ';
keyfile << left_hip_z;
keyfile << ' ';
keyfile << right_elbow_x;
keyfile << ' ';
keyfile << left_elbow_x;
keyfile << ' ';
keyfile << right_knee_x;
keyfile << ' ';
keyfile << left_knee_x;
keyfile << ' ';
keyfile << rs_joint_x;
keyfile << ' ';
keyfile << ls_joint_x;
keyfile << ' ';
keyfile << camera;
keyfile << ' ';
keyfile << turn;
keyfile << ' ';
keyfile << wheel_rotate_angle;
keyfile << ' ';
keyfile << lookat_x;
keyfile << ' ';
keyfile << lookat_y;
keyfile << ' ';
keyfile << lookat_z;
keyfile << ' ';
keyfile << headlight;
keyfile << ' ';
keyfile << day;
keyfile << ' ';
keyfile << moon_toggle;
keyfile << ' ';
int i;
for(i = 0; i < 100; i++)
keyfile << tree_standing[i] << ' ';
keyfile << camera_r;
keyfile << ' ';
keyfile << camera_t;
keyfile << ' ';
keyfile << camera_p;
keyfile << ' ';
keyfile << camera_free;
keyfile << ' ';
keyfile.flush();
std::cout << "Keyframe saved\n";
}
void body::playback_init() {
playback = true;
keyfile << "-1\n";
keyfile.close();
keyfile.open("keyframes.txt", std::fstream::in);
int i;
keyfile >> i;
std::cout << "Playing Back..." << std::endl;
readframe();
frames = 0;
for(i = 0; i < 100; i++) {
tree_fall_angle[i] = 0;
tree_y_angle[i] = 0;
}
}
void body::readframe() {
keyfile >> ip_pos_x;
keyfile >> ip_pos_y;
keyfile >> ip_pos_z;
keyfile >> ip_rotate_x_angle;
keyfile >> ip_rotate_y_angle;
keyfile >> ip_rotate_z_angle;
keyfile >> ip_ortho_y_angle;
keyfile >> ip_elbows_y_offset;
keyfile >> ip_right_shoulder_x;
keyfile >> ip_right_shoulder_y;
keyfile >> ip_right_shoulder_z;
keyfile >> ip_left_shoulder_x;
keyfile >> ip_left_shoulder_y;
keyfile >> ip_left_shoulder_z;
keyfile >> ip_waist_x;
keyfile >> ip_waist_y;
keyfile >> ip_waist_z;
keyfile >> ip_neck_x;
keyfile >> ip_neck_y;
keyfile >> ip_neck_z;
keyfile >> ip_right_ankle_x;
keyfile >> ip_right_ankle_y;
keyfile >> ip_right_wrist_x;
keyfile >> ip_right_wrist_z;
keyfile >> ip_left_ankle_x;
keyfile >> ip_left_ankle_y;
keyfile >> ip_left_wrist_x;
keyfile >> ip_left_wrist_z;
keyfile >> ip_right_hip_x;
keyfile >> ip_right_hip_y;
keyfile >> ip_right_hip_z;
keyfile >> ip_left_hip_x;
keyfile >> ip_left_hip_y;
keyfile >> ip_left_hip_z;
keyfile >> ip_right_elbow_x;
keyfile >> ip_left_elbow_x;
keyfile >> ip_right_knee_x;
keyfile >> ip_left_knee_x;
keyfile >> ip_rs_joint_x;
keyfile >> ip_ls_joint_x;
keyfile >> ip_camera;
keyfile >> ip_turn;
keyfile >> ip_wheel_rotate_angle;
keyfile >> ip_lookat_x;
keyfile >> ip_lookat_y;
keyfile >> ip_lookat_z;
keyfile >> ip_headlight;
keyfile >> ip_day;
keyfile >> ip_moon_toggle;
int i;
for(i = 0; i < 100; i++) {
keyfile >> ip_tree_standing[i];
}
keyfile >> ip_camera_r;
keyfile >> ip_camera_t;
keyfile >> ip_camera_p;
keyfile >> ip_camera_free;
keyfile >> ip_frames;
}
void body::interpolate() {
if(frames == 0) {
pos_x = ip_pos_x;
pos_y = ip_pos_y;
pos_z = ip_pos_z;
rotate_x_angle = ip_rotate_x_angle;
rotate_y_angle = ip_rotate_y_angle;
rotate_z_angle = ip_rotate_z_angle;
ortho_y_angle = ip_ortho_y_angle;
elbows_y_offset = ip_elbows_y_offset;
right_shoulder_x = ip_right_shoulder_x;
right_shoulder_y = ip_right_shoulder_y;
right_shoulder_z = ip_right_shoulder_z;
left_shoulder_x = ip_left_shoulder_x;
left_shoulder_y = ip_left_shoulder_y;
left_shoulder_z = ip_left_shoulder_z;
waist_x = ip_waist_x;
waist_y = ip_waist_y;
waist_z = ip_waist_z;
neck_x = ip_neck_x;
neck_y = ip_neck_y;
neck_z = ip_neck_z;
right_ankle_x = ip_right_ankle_x;
right_ankle_y = ip_right_ankle_y;
right_wrist_x = ip_right_wrist_x;
right_wrist_z = ip_right_wrist_z;
left_ankle_x = ip_left_ankle_x;
left_ankle_y = ip_left_ankle_y;
left_wrist_x = ip_left_wrist_x;
left_wrist_z = ip_left_wrist_z;
right_hip_x = ip_right_hip_x;
right_hip_y = ip_right_hip_y;
right_hip_z = ip_right_hip_z;
left_hip_x = ip_left_hip_x;
left_hip_y = ip_left_hip_y;
left_hip_z = ip_left_hip_z;
right_elbow_x = ip_right_elbow_x;
left_elbow_x = ip_left_elbow_x;
right_knee_x = ip_right_knee_x;
left_knee_x = ip_left_knee_x;
rs_joint_x = ip_rs_joint_x;
ls_joint_x = ip_ls_joint_x;
camera = ip_camera;
turn = ip_turn;
wheel_rotate_angle = ip_wheel_rotate_angle;
lookat_x = ip_lookat_x;
lookat_y = ip_lookat_y;
lookat_z = ip_lookat_z;
headlight = ip_headlight;
day = ip_day;
moon_toggle = ip_moon_toggle;
int i;
for(i = 0; i < 100; i++)
tree_standing[i] = ip_tree_standing[i];
camera_r = ip_camera_r;
camera_t = ip_camera_t;
camera_p = ip_camera_p;
camera_free = ip_camera_free;
frames = ip_frames;
if(frames < 0) {
terminate = true;
return;
}