main.cpp

Go to the documentation of this file.

#include <stdlib.h>
#include <iostream>
#include <GL/glut.h>
#include <cmath>
#include <string>
#include <errno.h>
#include <string>
#include <GL/glext.h>
#include <stdio.h>

#include <vector>
using namespace std;
#define PI 3.14159


#include <Skinned.h>
#include <Skeleton.h>
#include <File_parser.h>

#include <Mesh_object.h>
#include <Mesh_object_loader.h>
#include <OpenGL_drawer.h>
#include <Navigator_tool.h>




//glut functions
static void display_callback();
static void reshape_callback (int width, int height);
static void keyboard_callback(unsigned char key,int x,int y);
static void idle_callback(int value);
static void motion_callback (int x, int y);
static void mouse_callback (int button, int action, int x, int y);


//main functions
int setup_opengl(int argc,char **argv);
int draw_scene(); //draw the model
int load_model_1(),load_model_2(),load_model_3(); //load the model
double get_rand();//just a rand
int evolve();


//GLOBAL VARIABLES
//************************************//
OpenGL_drawer openGL_drawer;
Navigator_tool navigator;


Mesh_object mesh,mesh2;
int counter=0;


Skeleton skeleton,deformed_skeleton;
Mesh_object deformed_mesh;
Skinned skinned;

int is_draw_grid=0;
int is_draw_skeleton=0;


int main(int argc, char *argv[])
{
  cout<<"**hello**\n"<<endl;
  printf("run %s with %d parameters ... \n\n",argv[0],argc-1);


  //start OpenGL
  //*************//
  navigator.set_screen_size(800,800);
  setup_opengl(argc,argv);



  //load  models
  //*************//
  load_model_1();
  //load_model_2();
  //load_model_3();




  //run
  printf("**RUN**\n\n");
  printf("Navigation with keys:\n\n");
  printf("==========================\n");
  printf("Space Displacement\n");
  printf("  w    r\n");
  printf("a s d  f\n\n");
  printf("and mouse with drag & drop\n\n");
  printf("W: wireframe mode\n");
  printf("F: filled mode\n");
  printf("G: Grid mode\n");
  printf("S: Skeleton\n");
  printf("==========================\n");
  glutMainLoop ();


  return 0;
}











//Draw the scene
int draw_scene()
{

  glEnable(GL_LIGHTING);

  //current position in space
  V_3D position = -1*navigator.get_current_position();

  glEnable(GL_POLYGON_OFFSET_FILL);
  glPolygonOffset(1.0,1.0);
  glLineWidth(2.0);
  openGL_drawer.draw_mesh_slow(deformed_mesh);
  glDisable(GL_POLYGON_OFFSET_FILL);

  glColor4d(0.0,0.0,0.4,1.0);
  glLineWidth(1.5);
  if(is_draw_grid==1)
    openGL_drawer.draw_mesh_grid(deformed_mesh);

  if(is_draw_skeleton==1)
    openGL_drawer.draw_skeleton(deformed_skeleton);
  glLineWidth(1.0);
  return 0;
}





//load the model
int load_model_1()
{

  //*********************************//
  //LOAD MESH
  //*********************************//
  mesh.load_obj_file("data/man.obj");


  //*********************************//
  //LOAD TEXTURE
  //*********************************//

  Mesh_object_loader loader;
  mesh.load_obj_file("data/man.obj");



  //*********************************//
  //SUBDIVISION
  //*********************************//

  int N_subdiv=1;
  for(int k=0;k<N_subdiv;k++)
    {
      mesh.fast_subdivide_mixed_mid_edge();

      // lissage
      for(int k=0;k<4;k++)
        mesh.Laplacien_smooth(0.25);
    }


  // couleur
  mesh.fill_color(0.9,0.9,0.9,1.0);
  mesh.build_normal_per_vertex();




  deformed_mesh=mesh;


  



  //*********************************//
  //LOAD SKELETON
  //*********************************//

  File_parser parser;
  parser.load_collada_skeleton("data/skeleton_man_by_hand.dae","0",&skeleton);
  skeleton.scale(10);

  skeleton.fix_init_bind_pose();
  skeleton.read_skeleton();
  skeleton.precalculate_matrix();

  deformed_skeleton=skeleton;


  //*********************************//
  //INIT SKINNING
  //*********************************//

  skinned.set_mesh(&mesh);
  skinned.set_deformed_mesh(&deformed_mesh);
  skinned.set_skeleton(&skeleton);

  //*********************************//
  // LOAD SKINNING ATTRIBUTE
  //*********************************//

  skinned.automatic_weight_calculation();



  //*********************************//
  // SET SKELETON ANIMATION
  //*********************************//
                                                        
  int k_bone=0;
  for(k_bone=0;k_bone<skeleton.get_N_joint();k_bone++)
    {
      skeleton.set_size_time(k_bone,3);
      skeleton.set_time(k_bone,0,0.0);
      skeleton.set_time(k_bone,1,0.5);
      skeleton.set_time(k_bone,2,1.0);
      skeleton.set_angle(k_bone,0,0,0.0);
      skeleton.set_angle(k_bone,1,0,0.0);
      skeleton.set_angle(k_bone,2,0,0.0);
    }


  k_bone=3;
  skeleton.set_angle(k_bone,0,0,-40.0);
  skeleton.set_angle(k_bone,1,0,+10.0);
  skeleton.set_angle(k_bone,2,0,-40.0);

  k_bone=1;
  skeleton.set_angle(k_bone,0,0,-60.0);
  skeleton.set_angle(k_bone,1,0,15.0);
  skeleton.set_angle(k_bone,2,0,-60.0);

  k_bone=8;
  skeleton.set_angle(k_bone,0,1,-35.0);
  skeleton.set_angle(k_bone,1,1,40.0);
  skeleton.set_angle(k_bone,2,1,-35.0);

  k_bone=13;
  skeleton.set_angle(k_bone,0,0,-25.0);
  skeleton.set_angle(k_bone,1,0,15.0);
  skeleton.set_angle(k_bone,2,0,-25.0);

  k_bone=14;
  skeleton.set_angle(k_bone,0,0,-15.0);
  skeleton.set_angle(k_bone,1,0,19.0);
  skeleton.set_angle(k_bone,2,0,-15.0);





  //*********************************//
  // DEFORM IT
  //*********************************//

  skeleton.deform_skeleton(0.0,&deformed_skeleton);
  skinned.set_deformed_skeleton(&deformed_skeleton);


  skinned.skinning();



  return 0;
}




//load the model
int load_model_2()
{

  //*********************************//
  //LOAD MESH
  //*********************************//
  char filename[]="data/collada_man.dae";
  mesh.load_collada_file(filename);

  //*********************************//
  //LOAD TEXTURE
  //*********************************//

  Mesh_object_loader loader;
  loader.load_collada_texture(filename,&mesh,"MAN_BODYShape","MAN_BODYShape-TexCoord0");
  mesh.set_texture_number(openGL_drawer.load_texture("data/MAN_BOD.jpg"));

  mesh.fill_color(0.9,0.9,0.9,1.0);
  mesh.build_normal_per_vertex();




  deformed_mesh=mesh;


  



  //*********************************//
  //LOAD SKELETON
  //*********************************//

  File_parser parser;
  parser.load_collada_skeleton(filename,"AVATAR",&skeleton);

  skeleton.fix_init_bind_pose();
  skeleton.read_skeleton();
  skeleton.precalculate_matrix();

  deformed_skeleton=skeleton;


  //*********************************//
  //INIT SKINNING
  //*********************************//

  skinned.set_mesh(&mesh);
  skinned.set_deformed_mesh(&deformed_mesh);
  skinned.set_skeleton(&skeleton);

  //*********************************//
  // LOAD SKINNING ATTRIBUTE
  //*********************************//

  parser.load_collada_skining_attribute(filename,&skinned);



  //*********************************//
  // SET SKELETON ANIMATION
  //*********************************//
                                                        
  int k_bone=0;
  for(k_bone=0;k_bone<skeleton.get_N_joint();k_bone++)
    {
      skeleton.set_size_time(k_bone,3);
      skeleton.set_time(k_bone,0,0.0);
      skeleton.set_time(k_bone,1,0.5);
      skeleton.set_time(k_bone,2,1.0);
      skeleton.set_angle(k_bone,0,0,0.0);
      skeleton.set_angle(k_bone,1,0,0.0);
      skeleton.set_angle(k_bone,2,0,0.0);
    }


  k_bone=4;
  skeleton.set_angle(k_bone,0,0,-65.0);
  skeleton.set_angle(k_bone,1,0,69.0);
  skeleton.set_angle(k_bone,2,0,-65.0);

  k_bone=62;
  skeleton.set_angle(k_bone,0,0,-25.0);
  skeleton.set_angle(k_bone,1,0,0.0);
  skeleton.set_angle(k_bone,2,0,-25.0);

  k_bone=63;
  skeleton.set_angle(k_bone,0,0,35.0);
  skeleton.set_angle(k_bone,1,0,0.0);
  skeleton.set_angle(k_bone,2,0,35.0);

  k_bone=35;
  skeleton.set_angle(k_bone,0,1,-35.0);
  skeleton.set_angle(k_bone,1,1,0.0);
  skeleton.set_angle(k_bone,2,1,-35.0);



  //*********************************//
  // DEFORM IT
  //*********************************//

  skeleton.deform_skeleton(0.0,&deformed_skeleton);
  skinned.set_deformed_skeleton(&deformed_skeleton);


  skinned.skinning();



  return 0;
}

int load_model_3()
{

  //*********************************//
  //LOAD MESH
  //*********************************//


  char filename[]="data/collada_woman.dae";
  //char filename[]="data/collada_man.dae";
  mesh.load_collada_file(filename);




  //*********************************//
  //LOAD TEXTURE
  //*********************************//

  Mesh_object_loader loader;
  loader.load_collada_texture(filename,&mesh,"WOMAN_BODYShape","WOMAN_BODYShape-TexCoord0");  
  //loader.load_collada_texture(filename,&mesh,"MAN_BODYShape","MAN_BODYShape-TexCoord0");



  
  mesh.set_texture_number(openGL_drawer.load_texture("data/WOMAN_BOD.jpg"));
  //mesh.set_texture_number(openGL_drawer.load_texture("data/MAN_BOD.jpg"));


  mesh.fill_color(0.9,0.9,0.9,1.0);
  mesh.build_normal_per_vertex();




  deformed_mesh=mesh;


  



  //*********************************//
  //LOAD SKELETON
  //*********************************//

  File_parser parser;
  parser.load_collada_skeleton(filename,"AVATAR",&skeleton);

  skeleton.fix_init_bind_pose();
  skeleton.read_skeleton();
  skeleton.precalculate_matrix();

  deformed_skeleton=skeleton;


  //*********************************//
  //INIT SKINNING
  //*********************************//

  skinned.set_mesh(&mesh);
  skinned.set_deformed_mesh(&deformed_mesh);
  skinned.set_skeleton(&skeleton);

  //*********************************//
  // LOAD SKINNING ATTRIBUTE
  //*********************************//

  parser.load_collada_skining_attribute(filename,&skinned);



  //*********************************//
  // SET SKELETON ANIMATION
  //*********************************//
                                                        
  int k_bone=0;
  for(k_bone=0;k_bone<skeleton.get_N_joint();k_bone++)
    {
      skeleton.set_size_time(k_bone,3);
      skeleton.set_time(k_bone,0,0.0);
      skeleton.set_time(k_bone,1,0.5);
      skeleton.set_time(k_bone,2,1.0);
      skeleton.set_angle(k_bone,0,0,0.0);
      skeleton.set_angle(k_bone,1,0,0.0);
      skeleton.set_angle(k_bone,2,0,0.0);
    }




  k_bone=4;
  skeleton.set_angle(k_bone,0,0,-65.0);
  skeleton.set_angle(k_bone,1,0,69.0);
  skeleton.set_angle(k_bone,2,0,-65.0);

  k_bone=62;
  skeleton.set_angle(k_bone,0,0,-25.0);
  skeleton.set_angle(k_bone,1,0,0.0);
  skeleton.set_angle(k_bone,2,0,-25.0);

  k_bone=63;
  skeleton.set_angle(k_bone,0,0,35.0);
  skeleton.set_angle(k_bone,1,0,0.0);
  skeleton.set_angle(k_bone,2,0,35.0);

  k_bone=35;
  skeleton.set_angle(k_bone,0,1,-35.0);
  skeleton.set_angle(k_bone,1,1,0.0);
  skeleton.set_angle(k_bone,2,1,-35.0);



  //*********************************//
  // DEFORM IT
  //*********************************//

  skeleton.deform_skeleton(0.0,&deformed_skeleton);
  skinned.set_deformed_skeleton(&deformed_skeleton);


  skinned.skinning();



  return 0;
}





int evolve()
{
  double t=(double(counter%150)/150.0);

  //deformed_mesh.build_normal_per_vertex();

  deformed_skeleton=skeleton;
  skeleton.deform_skeleton(t,&deformed_skeleton);
  skinned.skinning();
  
  //deformed_mesh.build_normal_per_polygon();



  return 0;
}




//*******************//
//GLUT STUFF
//*******************//








//glut functions
int setup_opengl(int argc,char **argv)
{
  openGL_drawer.init_opengl(argc,argv,navigator);

  //callback
  glutDisplayFunc (display_callback);
  glutReshapeFunc (reshape_callback);
  glutKeyboardFunc(keyboard_callback);
  glutTimerFunc(33,idle_callback,1);
  glutMotionFunc (motion_callback);
  glutMouseFunc (mouse_callback);

  return 0;
}



//display
static void display_callback()
{
  //croping
  double Z_MIN = 1;
  double Z_MAX = 900;


  //vieport (all screen)
  glViewport (0, 0, navigator.get_X_screen(),navigator.get_Y_screen());
  glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

  //Projection
  glMatrixMode(GL_PROJECTION);
  glLoadIdentity ();
  gluPerspective (45, navigator.get_screen_ratio(), Z_MIN,Z_MAX);

  //Modelview
  glMatrixMode(GL_MODELVIEW);
  glLoadIdentity();

  glTranslatef(0,0,navigator.get_dist_obs());
  glRotatef(navigator.get_theta_1(),1.0,0.0,0.0);
  glRotatef(navigator.get_theta_2(),0.0,1.0,0.0);
  glTranslatef(navigator.get_tr_x(),navigator.get_tr_y(),navigator.get_tr_z());

  //printf("%f,(%f,%f)-[%f,%f,%f]\n",navigator.get_dist_obs(),navigator.get_theta_1(),navigator.get_theta_2(),navigator.get_tr_x(),navigator.get_tr_y(),navigator.get_tr_z());


//   glTranslatef(0,0,-1.336);
//   glRotatef(11.0,1.0,0.0,0.0);
//   glRotatef(-140.0,0.0,1.0,0.0);
//   glTranslatef(0.0,0.0,0.0);


  //Draw the scene
  draw_scene();

  //draw the basis
  //openGL_drawer.draw_local_basis(navigator);




  //code d'erreur OpenGL
  GLenum errCode;
  const GLubyte *errString;
  if((errCode=glGetError()) != GL_NO_ERROR)
    {
      errString = gluErrorString(errCode);
      printf("ERROR OPENGL : %s\n",errString);
      exit(-2);
    }

  //redraw
  glFlush ();
  glutSwapBuffers ();

}


static void reshape_callback (int width, int height)
{
  navigator.set_screen_size(width,height);
}


//keyboard
static void keyboard_callback(unsigned char key,int x,int y)
{

  x=0;y=0;
  double d_L=0.001*(1+100*abs(navigator.get_dist_obs()));

  #define GLUT_SPACE 32


  switch(key)
    {
    case 'Q'://quit
      printf("\n[EXIT OK]\n\n");
      exit(0);
      break;


    case 'w':
      navigator.go_forward(d_L);
      break;
    case 's':
      navigator.go_backward(d_L);
      break;
    case 'a':
      navigator.go_left(d_L);
      break;
    case 'd':
      navigator.go_right(d_L);
      break;
    case 'r':
      navigator.go_up(d_L);
      break;
    case 'f':
      navigator.go_down(d_L);
      break;

    case 'G':
      is_draw_grid==1?is_draw_grid=0:is_draw_grid=1;
      break;
    case 'S':
      is_draw_skeleton==1?is_draw_skeleton=0:is_draw_skeleton=1;
      break;

    case 'W'://wireframe
      glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
      break;
    case 'F'://Filled
      glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
      break;
    }

  glutPostRedisplay ();
}


static void idle_callback(int value)
{
  value=1;//useless

  navigator.increase_time();
  glutPostRedisplay ();
  glutTimerFunc( 33, idle_callback, 1);
  counter++;

  evolve();
}



static void motion_callback (int x, int y)
{
  /* si le bouton gauche est presse */
  double d_x=x-navigator.get_x_prec(),d_y=y-navigator.get_y_prec();
  if (navigator.get_left_b()) 
    {
      if(navigator.get_current_view()==1)
        {
          navigator.increase_theta_2(d_x);
          navigator.increase_theta_1(d_y);
        }
      navigator.set_x_prec(x);
      navigator.set_y_prec(y);
    }

  /* si le bouton droit est presse */
  if (navigator.get_right_b()) 
    {
      double u = double(y-navigator.get_y_prec());
      double fu = abs(u)/500.0;
      if(u<0)
        fu=-fu;
      
      navigator.increase_dist_obs(fu);
      navigator.set_y_prec(y);
    }

  glutPostRedisplay ();
}
static void mouse_callback (int button, int action, int x, int y)
{

  if (button == GLUT_LEFT_BUTTON && action == GLUT_DOWN) {
    navigator.set_left_b(1);
    navigator.set_x_prec(x); 
    navigator.set_y_prec(y);
  }
  if (button == GLUT_LEFT_BUTTON && action == GLUT_UP) 
    navigator.set_left_b(0); 

  if (button == GLUT_RIGHT_BUTTON && action == GLUT_DOWN) {
    navigator.set_right_b(1);
    navigator.set_y_prec(y);
  }
  if (button == GLUT_RIGHT_BUTTON && action == GLUT_UP) 
    navigator.set_right_b(0); 

  glutPostRedisplay ();
}

//just a rand number \in [0,1]
double get_rand()
{
  int precision=50000;
  return double(rand()%precision)/double(precision);
}