not-gloss-0.3.0: Vis/VisObject.hs
{-# OPTIONS_GHC -Wall #-}
module Vis.VisObject ( VisObject(..)
, drawObjects
, setPerspectiveMode
) where
import Graphics.Rendering.OpenGL.Raw
import qualified Graphics.Gloss.Data.Color as Gloss
import Graphics.UI.GLUT
import SpatialMath
glColorOfColor :: Gloss.Color -> Color4 GLfloat
glColorOfColor = (\(r,g,b,a) -> fmap realToFrac (Color4 r g b a)) . Gloss.rgbaOfColor
setColor :: Gloss.Color -> IO ()
setColor = color . glColorOfColor
setMaterialDiffuse :: Gloss.Color -> IO ()
setMaterialDiffuse col = materialDiffuse Front $= (glColorOfColor col)
data VisObject a = VisObjects [VisObject a]
| VisCylinder (a,a) (Xyz a) (Quat a) Gloss.Color
| VisBox (a,a,a) (Xyz a) (Quat a) Flavour Gloss.Color
| VisEllipsoid (a,a,a) (Xyz a) (Quat a) Flavour Gloss.Color
| VisSphere a (Xyz a) Flavour Gloss.Color
| VisLine [Xyz a] Gloss.Color
| VisArrow (a,a) (Xyz a) (Xyz a) Gloss.Color
| VisAxes (a,a) (Xyz a) (Quat a)
| VisPlane (Xyz a) a Gloss.Color Gloss.Color
| VisTriangle (Xyz a) (Xyz a) (Xyz a) Gloss.Color
| VisQuad (Xyz a) (Xyz a) (Xyz a) (Xyz a) Gloss.Color
| VisCustom (IO ())
| Vis3dText String (Xyz a) BitmapFont Gloss.Color
| Vis2dText String (a,a) BitmapFont Gloss.Color
instance Functor VisObject where
fmap f (VisObjects xs) = VisObjects $ map (fmap f) xs
fmap f (VisCylinder (x,y) xyz quat col) = VisCylinder (f x, f y) (fmap f xyz) (fmap f quat) col
fmap f (VisBox (x,y,z) xyz quat flav col) = VisBox (f x, f y, f z) (fmap f xyz) (fmap f quat) flav col
fmap f (VisSphere s xyz flav col) = VisSphere (f s) (fmap f xyz) flav col
fmap f (VisEllipsoid (sx,sy,sz) xyz quat flav col) = VisEllipsoid (f sx, f sy, f sz) (fmap f xyz) (fmap f quat) flav col
fmap f (VisLine xyzs col) = VisLine (map (fmap f) xyzs) col
fmap f (VisArrow (x,y) xyz0 xyz1 col) = VisArrow (f x, f y) (fmap f xyz0) (fmap f xyz1) col
fmap f (VisAxes (x,y) xyz quat) = VisAxes (f x, f y) (fmap f xyz) (fmap f quat)
fmap f (VisPlane xyz x col0 col1) = VisPlane (fmap f xyz) (f x) col0 col1
fmap f (VisTriangle x0 x1 x2 col) = VisTriangle (fmap f x0) (fmap f x1) (fmap f x2) col
fmap f (VisQuad x0 x1 x2 x3 col) = VisQuad (fmap f x0) (fmap f x1) (fmap f x2) (fmap f x3) col
fmap f (Vis3dText t xyz bmf col) = Vis3dText t (fmap f xyz) bmf col
fmap f (Vis2dText t (x,y) bmf col) = Vis2dText t (f x, f y) bmf col
fmap _ (VisCustom f) = VisCustom f
setPerspectiveMode :: IO ()
setPerspectiveMode = do
(_, Size w h) <- get viewport
matrixMode $= Projection
loadIdentity
perspective 40 (fromIntegral w / fromIntegral h) 0.1 100
matrixMode $= Modelview 0
drawObjects :: VisObject GLdouble -> IO ()
drawObjects objects = do
setPerspectiveMode
drawObject objects
drawObject :: VisObject GLdouble -> IO ()
-- list of objects
drawObject (VisObjects xs) = mapM_ drawObject xs
-- triangle
drawObject (VisTriangle (Xyz x0 y0 z0) (Xyz x1 y1 z1) (Xyz x2 y2 z2) col) =
preservingMatrix $ do
setMaterialDiffuse col
setColor col
glBegin gl_TRIANGLES
glVertex3d x0 y0 z0
glVertex3d x1 y1 z1
glVertex3d x2 y2 z2
glEnd
-- quad
drawObject (VisQuad (Xyz x0 y0 z0) (Xyz x1 y1 z1) (Xyz x2 y2 z2) (Xyz x3 y3 z3) col) =
preservingMatrix $ do
setMaterialDiffuse col
setColor col
glBegin gl_QUADS
glVertex3d x0 y0 z0
glVertex3d x1 y1 z1
glVertex3d x2 y2 z2
glVertex3d x3 y3 z3
glEnd
-- cylinder
drawObject (VisCylinder (height,radius) (Xyz x y z) (Quat q0 q1 q2 q3) col) =
preservingMatrix $ do
setMaterialDiffuse col
setColor col
translate (Vector3 x y z :: Vector3 GLdouble)
rotate (2 * acos q0 *180/pi :: GLdouble) (Vector3 q1 q2 q3)
-- translate (Vector3 0 0 (-height/2) :: Vector3 GLdouble)
let nslices = 10 :: Int
nstacks = 10 :: Int
-- Pre-computed circle
sinCosTable = map (\q -> (sin q, cos q)) angles
where
angle = 2*pi/(fromIntegral nslices)
angles = reverse $ map ((angle*) . fromIntegral) [0..(nslices+1)]
-- Cover the base and top
glBegin gl_TRIANGLE_FAN
glNormal3d 0 0 (-1)
glVertex3d 0 0 0
mapM_ (\(s,c) -> glVertex3d (c*radius) (s*radius) 0) sinCosTable
glEnd
glBegin gl_TRIANGLE_FAN
glNormal3d 0 0 1
glVertex3d 0 0 height
mapM_ (\(s,c) -> glVertex3d (c*radius) (s*radius) height) (reverse sinCosTable)
glEnd
let -- Do the stacks
-- Step in z and radius as stacks are drawn.
zSteps = map (\k -> (fromIntegral k)*height/(fromIntegral nstacks)) [0..nstacks]
drawSlice z0 z1 (s,c) = do
glNormal3d c s 0
glVertex3d (c*radius) (s*radius) z0
glVertex3d (c*radius) (s*radius) z1
drawSlices (z0,z1) = do
glBegin gl_QUAD_STRIP
mapM_ (drawSlice z0 z1) sinCosTable
glEnd
mapM_ drawSlices $ zip (init zSteps) (tail zSteps)
-- sphere
drawObject (VisSphere s xyz flav col) = drawObject $ VisEllipsoid (s,s,s) xyz (Quat 1 0 0 0) flav col
-- ellipsoid
drawObject (VisEllipsoid (sx,sy,sz) (Xyz x y z) (Quat q0 q1 q2 q3) flav col) =
preservingMatrix $ do
setMaterialDiffuse col
setColor col
translate (Vector3 x y z :: Vector3 GLdouble)
rotate (2 * acos q0 *180/pi :: GLdouble) (Vector3 q1 q2 q3)
normalize $= Enabled
scale sx sy sz
renderObject flav (Sphere' 1 20 20)
normalize $= Disabled
-- box
drawObject (VisBox (dx,dy,dz) (Xyz x y z) (Quat q0 q1 q2 q3) flav col) =
preservingMatrix $ do
setMaterialDiffuse col
setColor col
translate (Vector3 x y z :: Vector3 GLdouble)
rotate (2 * acos q0 *180/pi :: GLdouble) (Vector3 q1 q2 q3)
normalize $= Enabled
scale dx dy dz
renderObject flav (Cube 1)
normalize $= Disabled
-- line
drawObject (VisLine path col) =
preservingMatrix $ do
lighting $= Disabled
setColor col
renderPrimitive LineStrip $ mapM_ (\(Xyz x' y' z') -> vertex$Vertex3 x' y' z') path
lighting $= Enabled
-- plane
drawObject (VisPlane (Xyz x y z) offset col1 col2) =
preservingMatrix $ do
let norm = 1/(sqrt $ x*x + y*y + z*z)
x' = x*norm
y' = y*norm
z' = z*norm
r = 10
n = 5
eps = 0.01
translate (Vector3 (offset*x') (offset*y') (offset*z') :: Vector3 GLdouble)
rotate ((acos z')*180/pi :: GLdouble) (Vector3 (-y') x' 0)
glBegin gl_QUADS
setColor col2
let r' = realToFrac r
glVertex3f r' r' 0
glVertex3f (-r') r' 0
glVertex3f (-r') (-r') 0
glVertex3f r' (-r') 0
glEnd
glDisable gl_BLEND
mapM_ drawObject $ concat [[ VisLine [Xyz (-r) y0 eps, Xyz r y0 eps] col1
, VisLine [Xyz x0 (-r) eps, Xyz x0 r eps] col1
] | x0 <- [-r,-r+r/n..r], y0 <- [-r,-r+r/n..r]]
mapM_ drawObject $ concat [[ VisLine [Xyz (-r) y0 (-eps), Xyz r y0 (-eps)] col1
, VisLine [Xyz x0 (-r) (-eps), Xyz x0 r (-eps)] col1
] | x0 <- [-r,-r+r/n..r], y0 <- [-r,-r+r/n..r]]
glEnable gl_BLEND
-- arrow
drawObject (VisArrow (size, aspectRatio) (Xyz x0 y0 z0) (Xyz x y z) col) =
preservingMatrix $ do
let numSlices = 8
numStacks = 15
cylinderRadius = 0.5*size/aspectRatio
cylinderHeight = size
coneRadius = 2*cylinderRadius
coneHeight = 2*coneRadius
rotAngle = acos(z/(sqrt(x*x + y*y + z*z) + 1e-15))*180/pi :: GLdouble
rotAxis = Vector3 (-y) x 0
translate (Vector3 x0 y0 z0 :: Vector3 GLdouble)
rotate rotAngle rotAxis
-- cylinder
drawObject $ VisCylinder (cylinderHeight, cylinderRadius) (Xyz 0 0 0) (Quat 1 0 0 0) col
-- cone
setMaterialDiffuse col
setColor col
translate (Vector3 0 0 cylinderHeight :: Vector3 GLdouble)
renderObject Solid (Cone coneRadius coneHeight numSlices numStacks)
drawObject (VisAxes (size, aspectRatio) (Xyz x0 y0 z0) (Quat q0 q1 q2 q3)) = preservingMatrix $ do
translate (Vector3 x0 y0 z0 :: Vector3 GLdouble)
rotate (2 * acos q0 *180/pi :: GLdouble) (Vector3 q1 q2 q3)
let xAxis = VisArrow (size, aspectRatio) (Xyz 0 0 0) (Xyz 1 0 0) (Gloss.makeColor 1 0 0 1)
yAxis = VisArrow (size, aspectRatio) (Xyz 0 0 0) (Xyz 0 1 0) (Gloss.makeColor 0 1 0 1)
zAxis = VisArrow (size, aspectRatio) (Xyz 0 0 0) (Xyz 0 0 1) (Gloss.makeColor 0 0 1 1)
drawObject $ VisObjects [xAxis, yAxis, zAxis]
drawObject (VisCustom f) = preservingMatrix f
drawObject (Vis3dText string (Xyz x y z) font col) = preservingMatrix $ do
lighting $= Disabled
setColor col
glRasterPos3d x y z
renderString font string
lighting $= Enabled
drawObject (Vis2dText string (x,y) font col) = preservingMatrix $ do
lighting $= Disabled
setColor col
matrixMode $= Projection
loadIdentity
(_, Size w h) <- get viewport
ortho2D 0 (fromIntegral w) 0 (fromIntegral h)
matrixMode $= Modelview 0
loadIdentity
glRasterPos2d x y
renderString font string
setPerspectiveMode
lighting $= Enabled