| 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 | } |