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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 | } |