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e5247a3b | 1 | // Copyright (C) 2006 Erik Dahlberg |
2 | // | |
3 | // This file is part of LSystem3d. | |
4 | // | |
5 | // LSystem3D is free software; you can redistribute it and/or | |
6 | // modify it under the terms of the GNU General Public License | |
7 | // as published by the Free Software Foundation; either version 2 | |
8 | // of the License, or (at your option) any later version. | |
9 | // | |
10 | // LSystem3D is distributed in the hope that it will be useful, | |
11 | // but WITHOUT ANY WARRANTY; without even the implied warranty of | |
12 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
13 | // GNU General Public License for more details. | |
14 | // | |
15 | // You should have received a copy of the GNU General Public License | |
16 | // along with LSystem3D; if not, write to the Free Software | |
17 | // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA | |
18 | ||
19 | ||
20 | ||
21 | ||
22 | #include <cmath> | |
23 | ||
24 | #include <stack> | |
25 | ||
26 | #include "coordinate.h" | |
27 | #include "model.h" | |
28 | #include "turtle.h" | |
29 | #include "vector.h" | |
30 | ||
31 | ||
32 | ||
33 | /** | |
34 | * Constructor | |
35 | * @param model render this model | |
36 | */ | |
37 | Turtle::Turtle(Model *model) | |
38 | { | |
39 | // initial position and orientation | |
40 | reset(); | |
41 | ||
42 | // 90 degrees | |
43 | _angle = M_PIl / 2.0; | |
44 | ||
45 | _model = model; | |
46 | } | |
47 | ||
48 | ||
49 | ||
50 | /** | |
51 | * Destructor | |
52 | */ | |
53 | Turtle::~Turtle() | |
54 | { | |
55 | } | |
56 | ||
57 | ||
58 | ||
59 | /** | |
60 | * Turn left | |
61 | */ | |
62 | void Turtle::turnLeft() | |
63 | { | |
64 | // rotate around "up vector" | |
65 | _heading.rotate(-_angle, _up); | |
66 | _left.rotate(-_angle, _up); | |
67 | } | |
68 | ||
69 | ||
70 | ||
71 | /** | |
72 | * Turn right | |
73 | */ | |
74 | void Turtle::turnRight() | |
75 | { | |
76 | // rotate around "up vector" | |
77 | _heading.rotate(_angle, _up); | |
78 | _left.rotate(_angle, _up); | |
79 | } | |
80 | ||
81 | ||
82 | ||
83 | /** | |
84 | * Pitch down | |
85 | */ | |
86 | void Turtle::pitchDown() | |
87 | { | |
88 | // rotate around "left vector" | |
89 | _heading.rotate(-_angle, _left); | |
90 | _up.rotate(-_angle, _left); | |
91 | } | |
92 | ||
93 | ||
94 | ||
95 | /** | |
96 | * Pitch up | |
97 | */ | |
98 | void Turtle::pitchUp() | |
99 | { | |
100 | // rotate around "left vector" | |
101 | _heading.rotate(_angle, _left); | |
102 | _up.rotate(_angle, _left); | |
103 | } | |
104 | ||
105 | ||
106 | ||
107 | /** | |
108 | * Roll left | |
109 | */ | |
110 | void Turtle::rollLeft() | |
111 | { | |
112 | // rotate around "heading vector" | |
113 | _left.rotate(_angle, _heading); | |
114 | _up.rotate(_angle, _heading); | |
115 | } | |
116 | ||
117 | ||
118 | ||
119 | /** | |
120 | * Roll right | |
121 | */ | |
122 | void Turtle::rollRight() | |
123 | { | |
124 | // rotate around "heading vector" | |
125 | _left.rotate(-_angle, _heading); | |
126 | _up.rotate(-_angle, _heading); | |
127 | } | |
128 | ||
129 | ||
130 | ||
131 | /** | |
132 | * Turn around | |
133 | */ | |
134 | void Turtle::turnAround() | |
135 | { | |
136 | // rotate 180 degrees around "up vector" | |
137 | _heading.rotate(M_PIl, _up); | |
138 | _left.rotate(M_PIl, _up); | |
139 | } | |
140 | ||
141 | ||
142 | ||
143 | /** | |
144 | * Walk forward | |
145 | */ | |
146 | void Turtle::walk() | |
147 | { | |
148 | // start point | |
149 | double startX = _position.getX(); | |
150 | double startY = _position.getY(); | |
151 | double startZ = _position.getZ(); | |
152 | ||
153 | // end point | |
154 | double endX = startX + _heading.getX(); | |
155 | double endY = startY + _heading.getY(); | |
156 | double endZ = startZ + _heading.getZ(); | |
157 | ||
158 | ||
159 | // move turtle to new position | |
160 | _position.setXYZ(endX, endY, endZ); | |
161 | ||
162 | if (!_fenceMode) | |
163 | { | |
164 | // connect the points | |
165 | _model->segment(_diameter, | |
166 | startX, startY, startZ, | |
167 | endX, endY, endZ); | |
168 | } | |
169 | else | |
170 | { | |
171 | // part of a filled surface | |
172 | _model->point(endX, endY, endZ); | |
173 | } | |
174 | } | |
175 | ||
176 | ||
177 | ||
178 | /** | |
179 | * Save current state to stack | |
180 | */ | |
181 | void Turtle::push() | |
182 | { | |
183 | // position | |
184 | _positionStack.push(_position); | |
185 | ||
186 | // orientation | |
187 | _headingStack.push(_heading); | |
188 | _leftStack.push(_left); | |
189 | _upStack.push(_up); | |
190 | ||
191 | // diameter | |
192 | _diameterStack.push(_diameter); | |
193 | } | |
194 | ||
195 | ||
196 | ||
197 | /** | |
198 | * Restore old state from stack | |
199 | */ | |
200 | void Turtle::pop() | |
201 | { | |
202 | // position | |
203 | _position = _positionStack.top(); _positionStack.pop(); | |
204 | ||
205 | // orientation | |
206 | _heading = _headingStack.top(); _headingStack.pop(); | |
207 | _left = _leftStack.top(); _leftStack.pop(); | |
208 | _up = _upStack.top(); _upStack.pop(); | |
209 | ||
210 | // diameter | |
211 | _diameter = _diameterStack.top(); _diameterStack.pop(); | |
212 | } | |
213 | ||
214 | ||
215 | ||
216 | /** | |
217 | * Reset to default state | |
218 | */ | |
219 | void Turtle::reset() | |
220 | { | |
221 | _diameter = 0.1; | |
222 | ||
223 | _fenceMode = false; | |
224 | ||
225 | ||
226 | // put turtle at (0,0,0), head upwards, back towards camera | |
227 | ||
228 | _position.setXYZ(0.0, 0.0, 0.0); | |
229 | ||
230 | _heading.setXYZ(0.0, 1.0, 0.0); | |
231 | _left.setXYZ(1.0, 0.0, 0.0); | |
232 | _up.setXYZ(0.0, 0.0, 1.0); | |
233 | } | |
234 | ||
235 | ||
236 | ||
237 | /** | |
238 | * Decrement diameter of segment | |
239 | */ | |
240 | void Turtle::decrementDiameter() | |
241 | { | |
242 | // TODO: dynamic value... | |
243 | _diameter *= 0.8; | |
244 | } | |
245 | ||
246 | ||
247 | ||
248 | /** | |
249 | * Begin creation of a filled surface | |
250 | */ | |
251 | void Turtle::fenceInBegin() | |
252 | { | |
253 | _fenceMode = true; | |
254 | ||
255 | _model->fillBegin(); | |
256 | _model->point(_position.getX(), _position.getY(), _position.getZ()); | |
257 | } | |
258 | ||
259 | ||
260 | ||
261 | /** | |
262 | * End creation of a filled surface | |
263 | */ | |
264 | void Turtle::fenceInEnd() | |
265 | { | |
266 | _model->fillEnd(); | |
267 | ||
268 | _fenceMode = false; | |
269 | } | |
270 | ||
271 | ||
272 | ||
273 | /** | |
274 | * Set turn/pitch/roll angle | |
275 | * @param angle the angle, in radians | |
276 | */ | |
277 | void Turtle::setAngle(double radians) | |
278 | { | |
279 | _angle = radians; | |
280 | } | |
281 | ||
282 | ||
283 | ||
284 | /** | |
285 | * Get turn/pitch/roll angle | |
286 | * @return the angle, in radians | |
287 | */ | |
288 | double Turtle::getAngle() | |
289 | { | |
290 | return _angle; | |
291 | } |