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1 | // Copyright (C) 2006 Erik Dahlberg |
2 | // |
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3 | // This file is part of LSystem3D. |
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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 | |
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31 | using namespace std; |
32 | |
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33 | |
34 | |
35 | /** |
36 | * Constructor |
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37 | * @param model create this model |
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38 | */ |
39 | Turtle::Turtle(Model *model) |
40 | { |
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41 | _model = model; |
42 | |
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43 | // initial position and orientation |
44 | reset(); |
45 | |
46 | // 90 degrees |
47 | _angle = M_PIl / 2.0; |
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48 | } |
49 | |
50 | |
51 | |
52 | /** |
53 | * Destructor |
54 | */ |
55 | Turtle::~Turtle() |
56 | { |
57 | } |
58 | |
59 | |
60 | |
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61 | /** |
62 | * Reset to default state |
63 | */ |
64 | void Turtle::reset() |
65 | { |
66 | // put turtle at (0,0,0), head upwards, back towards camera |
67 | |
68 | _position.setXYZ(0.0, 0.0, 0.0); |
69 | |
70 | _heading.setXYZ(0.0, 1.0, 0.0); |
71 | _left.setXYZ(1.0, 0.0, 0.0); |
72 | _up.setXYZ(0.0, 0.0, 1.0); |
73 | |
74 | |
75 | // empty the stacks |
76 | _positionStack = stack<Coordinate>(); |
77 | _headingStack = stack<Vector>(); |
78 | _leftStack = stack<Vector>(); |
79 | _upStack = stack<Vector>(); |
80 | _diameterStack = stack<double>(); |
81 | _colorIndexStack = stack<int>(); |
82 | } |
83 | |
84 | |
85 | |
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86 | /** |
87 | * Turn left |
88 | */ |
89 | void Turtle::turnLeft() |
90 | { |
91 | // rotate around "up vector" |
92 | _heading.rotate(-_angle, _up); |
93 | _left.rotate(-_angle, _up); |
94 | } |
95 | |
96 | |
97 | |
98 | /** |
99 | * Turn right |
100 | */ |
101 | void Turtle::turnRight() |
102 | { |
103 | // rotate around "up vector" |
104 | _heading.rotate(_angle, _up); |
105 | _left.rotate(_angle, _up); |
106 | } |
107 | |
108 | |
109 | |
110 | /** |
111 | * Pitch down |
112 | */ |
113 | void Turtle::pitchDown() |
114 | { |
115 | // rotate around "left vector" |
116 | _heading.rotate(-_angle, _left); |
117 | _up.rotate(-_angle, _left); |
118 | } |
119 | |
120 | |
121 | |
122 | /** |
123 | * Pitch up |
124 | */ |
125 | void Turtle::pitchUp() |
126 | { |
127 | // rotate around "left vector" |
128 | _heading.rotate(_angle, _left); |
129 | _up.rotate(_angle, _left); |
130 | } |
131 | |
132 | |
133 | |
134 | /** |
135 | * Roll left |
136 | */ |
137 | void Turtle::rollLeft() |
138 | { |
139 | // rotate around "heading vector" |
140 | _left.rotate(_angle, _heading); |
141 | _up.rotate(_angle, _heading); |
142 | } |
143 | |
144 | |
145 | |
146 | /** |
147 | * Roll right |
148 | */ |
149 | void Turtle::rollRight() |
150 | { |
151 | // rotate around "heading vector" |
152 | _left.rotate(-_angle, _heading); |
153 | _up.rotate(-_angle, _heading); |
154 | } |
155 | |
156 | |
157 | |
158 | /** |
159 | * Turn around |
160 | */ |
161 | void Turtle::turnAround() |
162 | { |
163 | // rotate 180 degrees around "up vector" |
164 | _heading.rotate(M_PIl, _up); |
165 | _left.rotate(M_PIl, _up); |
166 | } |
167 | |
168 | |
169 | |
170 | /** |
171 | * Walk forward |
172 | */ |
173 | void Turtle::walk() |
174 | { |
175 | // start point |
176 | double startX = _position.getX(); |
177 | double startY = _position.getY(); |
178 | double startZ = _position.getZ(); |
179 | |
180 | // end point |
181 | double endX = startX + _heading.getX(); |
182 | double endY = startY + _heading.getY(); |
183 | double endZ = startZ + _heading.getZ(); |
184 | |
185 | |
186 | // move turtle to new position |
187 | _position.setXYZ(endX, endY, endZ); |
188 | |
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189 | // connect start and end point |
190 | _model->segment(startX, startY, startZ, |
191 | endX, endY, endZ); |
192 | } |
193 | |
194 | |
195 | |
196 | /** |
197 | * Walk forward, creating a filled surface |
198 | * TODO: merge with walk() ? |
199 | */ |
200 | void Turtle::fillWalk() |
201 | { |
202 | // end point |
203 | double destinationX = _position.getX() + _heading.getX(); |
204 | double destinationY = _position.getY() + _heading.getY(); |
205 | double destinationZ = _position.getZ() + _heading.getZ(); |
206 | |
207 | _model->normal(_up.getX(), _up.getY(), _up.getZ()); |
208 | |
209 | // move turtle to new position |
210 | _position.setXYZ(destinationX, destinationY, destinationZ); |
211 | |
212 | // part of a filled polygon |
213 | _model->vertex(destinationX, destinationY, destinationZ); |
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214 | } |
215 | |
216 | |
217 | |
218 | /** |
219 | * Save current state to stack |
220 | */ |
221 | void Turtle::push() |
222 | { |
223 | // position |
224 | _positionStack.push(_position); |
225 | |
226 | // orientation |
227 | _headingStack.push(_heading); |
228 | _leftStack.push(_left); |
229 | _upStack.push(_up); |
230 | |
231 | // diameter |
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232 | double diameter = _model->getDiameter(); |
233 | _diameterStack.push(diameter); |
234 | |
235 | // color index |
236 | int colorIndex = _model->getColorIndex(); |
237 | _colorIndexStack.push(colorIndex); |
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238 | } |
239 | |
240 | |
241 | |
242 | /** |
243 | * Restore old state from stack |
244 | */ |
245 | void Turtle::pop() |
246 | { |
247 | // position |
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248 | _position = _positionStack.top(); _positionStack.pop(); |
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249 | |
250 | // orientation |
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251 | _heading = _headingStack.top(); _headingStack.pop(); |
252 | _left = _leftStack.top(); _leftStack.pop(); |
253 | _up = _upStack.top(); _upStack.pop(); |
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254 | |
255 | // diameter |
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256 | double diameter = _diameterStack.top(); _diameterStack.pop(); |
257 | _model->setDiameter(diameter); |
258 | |
259 | // color index |
260 | int colorIndex = _colorIndexStack.top(); _colorIndexStack.pop(); |
261 | _model->setColorIndex(colorIndex); |
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262 | } |
263 | |
264 | |
265 | |
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266 | /** |
267 | * Set turn/pitch/roll angle |
268 | * @param angle the angle, in radians |
269 | */ |
270 | void Turtle::setAngle(double radians) |
271 | { |
272 | _angle = radians; |
273 | } |
274 | |
275 | |
276 | |
277 | /** |
278 | * Get turn/pitch/roll angle |
279 | * @return the angle, in radians |
280 | */ |
281 | double Turtle::getAngle() |
282 | { |
283 | return _angle; |
284 | } |