not-gloss-0.5.0: Vis/VisObject.hs
{-# OPTIONS_GHC -Wall #-}
{-# Language StandaloneDeriving #-}
{-# Language DeriveFunctor #-}
module Vis.VisObject ( VisObject(..)
, drawObjects
, setPerspectiveMode
) where
import Control.Monad ( when )
import Data.Maybe ( fromJust, isJust )
import Graphics.Rendering.OpenGL.Raw
import qualified Graphics.Gloss.Data.Color as Gloss
import Graphics.UI.GLUT hiding ( Points, Cylinder, Line, Plane, Cube, Sphere, Triangle )
import qualified Graphics.UI.GLUT as 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]
| Trans (Xyz a) (VisObject a)
| RotQuat (Quat a) (VisObject a)
| RotEulerRad (Euler a) (VisObject a)
| RotEulerDeg (Euler a) (VisObject a) -- degrees more efficient
| Scale (a,a,a) (VisObject a)
| Cylinder (a,a) Gloss.Color
| Box (a,a,a) Flavour Gloss.Color
| Cube a Flavour Gloss.Color
| Sphere a Flavour Gloss.Color
| Ellipsoid (a,a,a) Flavour Gloss.Color
| Line [Xyz a] Gloss.Color
| Line' [(Xyz a,Gloss.Color)]
| Arrow (a,a) (Xyz a) Gloss.Color
| Axes (a,a)
| Plane (Xyz a) Gloss.Color Gloss.Color
| Triangle (Xyz a) (Xyz a) (Xyz a) Gloss.Color
| Quad (Xyz a) (Xyz a) (Xyz a) (Xyz a) Gloss.Color
| Text3d String (Xyz a) BitmapFont Gloss.Color
| Text2d String (a,a) BitmapFont Gloss.Color
| Points [Xyz a] (Maybe GLfloat) Gloss.Color
| Custom (IO ())
deriving instance Functor VisObject
setPerspectiveMode :: IO ()
setPerspectiveMode = do
(_, Size w h) <- GLUT.get viewport
matrixMode $= Projection
loadIdentity
perspective 40 (fromIntegral w / fromIntegral h) 0.1 1000
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
-- list of objects
drawObject (Trans (Xyz x y z) visobj) =
preservingMatrix $ do
translate (Vector3 x y z :: Vector3 GLdouble)
drawObject visobj
drawObject (RotQuat (Quat q0 q1 q2 q3) visobj) =
preservingMatrix $ do
rotate (2 * acos q0 *180/pi :: GLdouble) (Vector3 q1 q2 q3)
drawObject visobj
drawObject (RotEulerRad euler visobj) =
drawObject $ RotEulerDeg (fmap ((180/pi)*) euler) visobj
drawObject (RotEulerDeg (Euler yaw pitch roll) visobj) =
preservingMatrix $ do
rotate yaw (Vector3 0 0 1)
rotate pitch (Vector3 0 1 0)
rotate roll (Vector3 1 0 0)
drawObject visobj
drawObject (Scale (sx,sy,sz) visobj) =
preservingMatrix $ do
normalize $= Enabled
scale sx sy sz
drawObject visobj
normalize $= Disabled
-- triangle
drawObject (Triangle (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 (Quad (Xyz x0 y0 z0) (Xyz x1 y1 z1) (Xyz x2 y2 z2) (Xyz x3 y3 z3) col) =
preservingMatrix $ do
lighting $= Disabled
setColor col
glBegin gl_QUADS
glVertex3d x0 y0 z0
glVertex3d x1 y1 z1
glVertex3d x2 y2 z2
glVertex3d x3 y3 z3
glEnd
lighting $= Enabled
-- cylinder
drawObject (Cylinder (height,radius) col) =
preservingMatrix $ do
setMaterialDiffuse col
setColor col
-- 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 (Sphere r flav col) =
preservingMatrix $ do
setMaterialDiffuse col
setColor col
renderObject flav (GLUT.Sphere' (realToFrac r) 20 20)
-- ellipsoid
drawObject (Ellipsoid (sx,sy,sz) flav col) = drawObject $ Scale (sx,sy,sz) $ Sphere 1 flav col
-- box
drawObject (Box (dx,dy,dz) flav col) = drawObject $ Scale (dx,dy,dz) $ Cube 1 flav col
drawObject (Cube r flav col) =
preservingMatrix $ do
setMaterialDiffuse col
setColor col
renderObject flav (GLUT.Cube (realToFrac r))
-- line
drawObject (Line path col) =
preservingMatrix $ do
lighting $= Disabled
setColor col
renderPrimitive LineStrip $ mapM_ (\(Xyz x' y' z') -> vertex $ Vertex3 x' y' z') path
lighting $= Enabled
-- line where you set the color at each vertex
drawObject (Line' pathcols) =
preservingMatrix $ do
lighting $= Disabled
glBegin gl_LINE_STRIP
let f (xyz, col) = do
let Xyz x y z = fmap realToFrac xyz
setMaterialDiffuse col
setColor col
glVertex3f x y z
mapM_ f pathcols
glEnd
lighting $= Enabled
-- plane
drawObject (Plane (Xyz x y z) col1 col2) =
preservingMatrix $ do
let normInv = 1/(sqrt $ x*x + y*y + z*z)
x' = x*normInv
y' = y*normInv
z' = z*normInv
r = 10
n = 5
eps = 0.01
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
let drawWithEps eps' = do
mapM_ drawObject $ concat [[ Line [ Xyz (-r) y0 eps'
, Xyz r y0 eps'
] col1
, Line [ Xyz x0 (-r) eps',
Xyz x0 r eps'
] col1
] | x0 <- [-r,-r+r/n..r], y0 <- [-r,-r+r/n..r]]
drawWithEps eps
drawWithEps (-eps)
glEnable gl_BLEND
-- arrow
drawObject (Arrow (size, aspectRatio) (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
rotate rotAngle rotAxis
-- cylinder
drawObject $ Cylinder (cylinderHeight, cylinderRadius) col
-- cone
setMaterialDiffuse col
setColor col
translate (Vector3 0 0 cylinderHeight :: Vector3 GLdouble)
renderObject Solid (GLUT.Cone coneRadius coneHeight numSlices numStacks)
drawObject (Axes (size, aspectRatio)) = preservingMatrix $ do
let xAxis = Arrow (size, aspectRatio) (Xyz 1 0 0) (Gloss.makeColor 1 0 0 1)
yAxis = Arrow (size, aspectRatio) (Xyz 0 1 0) (Gloss.makeColor 0 1 0 1)
zAxis = Arrow (size, aspectRatio) (Xyz 0 0 1) (Gloss.makeColor 0 0 1 1)
drawObject $ VisObjects [xAxis, yAxis, zAxis]
drawObject (Custom f) = preservingMatrix f
drawObject (Text3d string (Xyz x y z) font col) = preservingMatrix $ do
lighting $= Disabled
setColor col
glRasterPos3d x y z
renderString font string
lighting $= Enabled
drawObject (Text2d 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
drawObject (Points xyzs ps col) =
preservingMatrix $ do
lighting $= Disabled
setColor col
s' <- get pointSize
when (isJust ps) $ pointSize $= (fromJust ps)
renderPrimitive GLUT.Points $ mapM_ (\(Xyz x' y' z') -> vertex $ Vertex3 x' y' z') xyzs
pointSize $= s'
lighting $= Enabled