Assignment 3 starting point

gloom-rs/report/exercise2.md

@@ -88,16 +88,48 @@ otherwise we end up with a shear instead. Because we have to change these values
 together, it is impossible to observe rotational transformations from only
 changing one value at a time, starting from the identity matrix.
 
+## Task 4
+
+### b)
+
+Keybinds for the camera controls follow the default listed specifications. They are listed below:
+
+**Camera rotation:**
+
+Tilt : `UP and DOWN`
+
+Yaw : `LEFT and RIGHT`
+
+**Translation:**
+
+Local Forward / Backward: `W and S`
+
+Local Left / Right: `A and D`
+
+Global up / down: `SPACE and LShift`
+
 
 ## Bonus task a)
-Implemented in code. Note that we have only made translation relative to the yaw of camera, and not the tilt. This is done as a preference from our side.
+Implemented in code. Note that we have made our translation relative to only the yaw of camera. This is simply a choice of preference from our side.
+
+We could have implemented translation as a function of both yaw and tilt, in which case our forward vector would be:
+
+$$
+forward = \begin{bmatrix}
+-cos(tilt)*sin(yaw)\\
+sin(tilt)\\
+cos(tilt)*cos(yaw)
+\end{bmatrix}
+$$
+
+The right vector would also have to be changed to be a rotation in 3D space, as opposed to the current XZ plane rotation.
+
+Finally the ```space``` and ```LShift``` controls would have to be mapped to our local y-vector as opposed to a global one. 
 
 ## Bonus task b)
 
 Applying some perspective to our scene, we see that the smooth interolation qualifier yields a color interpolation which is corrected in terms of perspective. In the below image you can clearly see how the colors are shifted between the smooth and noperspective interpolation models:
 
 ![Smooth interpolation](./images/smooth.png)
-Smooth interpolation
 
-![noperspective interpolation](./images/noperspective.png)
-noperspective interpolation
+![Noperspective interpolation](./images/noperspective.png)

gloom-rs/src/main.rs

@@ -208,15 +208,15 @@ fn main() {
         ];
 
         let colors = vec![
-            1.0, 0.0, 0.0, 1.0,
-            1.0, 0.0, 0.0, 1.0,
-            0.0, 0.0, 1.0, 1.0,
-            1.0, 0.0, 0.0, 1.0,
-            0.0, 1.0, 0.0, 1.0,
-            0.0, 0.0, 1.0, 1.0,
-            1.0, 0.0, 0.0, 1.0,
-            1.0, 0.0, 0.0, 1.0,
-            1.0, 0.0, 0.0, 1.0,
+            1.0, 0.0, 0.0, 0.4,
+            1.0, 0.0, 0.0, 0.4,
+            0.0, 0.0, 1.0, 0.4,
+            1.0, 0.0, 0.0, 0.4,
+            0.0, 1.0, 0.0, 0.4,
+            0.0, 0.0, 1.0, 0.4,
+            1.0, 0.0, 0.0, 0.4,
+            1.0, 0.0, 0.0, 0.4,
+            1.0, 0.0, 0.0, 0.4,
         ];
 
         let vao_id = unsafe { create_vao(&vertices, &indices, &colors) };

gloom-rs/src/mesh.rs

@@ -0,0 +1,124 @@
+use tobj;
+
+// internal helper
+fn generate_color_vec(color: [f32; 4], num: usize) -> Vec<f32> {
+    color.iter().cloned().cycle().take(num*4).collect()
+}
+
+// Mesh
+
+pub struct Mesh {
+    pub vertices    : Vec<f32>,
+    pub normals     : Vec<f32>,
+    pub colors      : Vec<f32>,
+    pub indices     : Vec<u32>,
+    pub index_count : i32,
+}
+
+impl Mesh {
+    pub fn from(mesh: tobj::Mesh, color: [f32; 4]) -> Self {
+        let num_verts = mesh.positions.len() / 3;
+        let index_count = mesh.indices.len() as i32;
+        Mesh {
+            vertices: mesh.positions,
+            normals: mesh.normals,
+            indices: mesh.indices,
+            colors: generate_color_vec(color, num_verts),
+            index_count,
+        }
+    }
+}
+
+// Lunar terrain
+
+pub struct Terrain;
+impl Terrain {
+    pub fn load(path: &str) -> Mesh {
+        println!("Loading terrain model...");
+        let before = std::time::Instant::now();
+        let (models, _materials)
+            = tobj::load_obj(path,
+                &tobj::LoadOptions{
+                    triangulate: true,
+                    single_index: true,
+                    ..Default::default()
+                }
+            ).expect("Failed to load terrain model");
+        let after = std::time::Instant::now();
+        println!("Done in {:.3}ms.", after.duration_since(before).as_micros() as f32 / 1e3);
+
+        if models.len() > 1 || models.len() == 0 {
+            panic!("Please use a model with a single mesh!")
+            // You could try merging the vertices and indices
+            // of the separate meshes into a single mesh.
+            // I'll leave that as an optional exercise. ;)
+        }
+
+        let terrain = models[0].to_owned();
+        println!("Loaded {} with {} points and {} triangles.",
+            terrain.name,
+            terrain.mesh.positions.len() /3,
+            terrain.mesh.indices.len() / 3,
+        );
+
+        Mesh::from(terrain.mesh, [1.0, 1.0, 1.0, 1.0])
+    }
+}
+
+
+// Helicopter
+
+pub struct Helicopter {
+    pub body       : Mesh,
+    pub door       : Mesh,
+    pub main_rotor : Mesh,
+    pub tail_rotor : Mesh,
+}
+
+// You can use square brackets to access the components of the helicopter, if you want to use loops!
+use std::ops::Index;
+impl Index<usize> for Helicopter {
+    type Output = Mesh;
+    fn index<'a>(&'a self, i: usize) -> &'a Mesh {
+        match i {
+            0 => &self.body,
+            1 => &self.main_rotor,
+            2 => &self.tail_rotor,
+            3 => &self.door,
+            _ => panic!("Invalid index, try [0,3]"),
+        }
+    }
+}
+
+impl Helicopter {
+    pub fn load(path: &str) -> Self {
+        println!("Loading helicopter model...");
+        let before = std::time::Instant::now();
+        let (models, _materials)
+            = tobj::load_obj(path,
+                &tobj::LoadOptions{
+                    triangulate: true,
+                    single_index: true,
+                    ..Default::default()
+                }
+            ).expect("Failed to load helicopter model");
+        let after = std::time::Instant::now();
+        println!("Done in {:.3}ms!", after.duration_since(before).as_micros() as f32 / 1e3);
+
+        for model in &models {
+            println!("Loaded {} with {} points and {} triangles.", model.name, model.mesh.positions.len() / 3, model.mesh.indices.len() / 3);
+        }
+
+        let body_model = models.iter().find(|m| m.name == "Body_body").expect("Incorrect model file!").to_owned();
+        let door_model = models.iter().find(|m| m.name == "Door_door").expect("Incorrect model file!").to_owned();
+        let main_rotor_model = models.iter().find(|m| m.name == "Main_Rotor_main_rotor").expect("Incorrect model file!").to_owned();
+        let tail_rotor_model = models.iter().find(|m| m.name == "Tail_Rotor_tail_rotor").expect("Incorrect model file!").to_owned();
+
+        Helicopter {
+            body:       Mesh::from(body_model.mesh,         [0.3, 0.3, 0.3, 1.0]),
+            door:       Mesh::from(door_model.mesh,         [0.1, 0.1, 0.3, 1.0]),
+            main_rotor: Mesh::from(main_rotor_model.mesh,   [0.3, 0.1, 0.1, 1.0]),
+            tail_rotor: Mesh::from(tail_rotor_model.mesh,   [0.1, 0.3, 0.1, 1.0]),
+        }
+    }
+}

gloom-rs/src/scene_graph.rs

@@ -0,0 +1,118 @@
+extern crate nalgebra_glm as glm;
+
+use std::mem::ManuallyDrop;
+use std::pin::Pin;
+
+// Used to create an unholy abomination upon which you should not cast your gaze. This ended up
+// being a necessity due to wanting to keep the code written by students as "straight forward" as
+// possible. It is very very double plus ungood Rust, and intentionally leaks memory like a sieve.
+// But it works, and you're more than welcome to pretend it doesn't exist! In case you're curious
+// about how it works: It allocates memory on the heap (Box), promises to prevent it from being
+// moved or deallocated until dropped (Pin) and finally prevents the compiler from dropping it
+// automatically at all (ManuallyDrop).
+// ...
+// If that sounds like a janky solution, it's because it is!
+// Prettier, Rustier and better solutions were tried numerous times, but were all found wanting of
+// having what I arbitrarily decided to be the required level of "simplicity of use".
+pub type Node = ManuallyDrop<Pin<Box<SceneNode>>>;
+
+pub struct SceneNode {
+    pub position        : glm::Vec3,   // Where I should be in relation to my parent
+    pub rotation        : glm::Vec3,   // How I should be rotated, around the X, the Y and the Z axes
+    pub scale           : glm::Vec3,   // How I should be scaled
+    pub reference_point : glm::Vec3,   // The point I shall rotate and scale about
+
+    pub vao_id      : u32,             // What I should draw
+    pub index_count : i32,             // How much of it there is to draw
+
+    pub children: Vec<*mut SceneNode>, // Those I command
+}
+
+impl SceneNode {
+
+    pub fn new() -> Node {
+        ManuallyDrop::new(Pin::new(Box::new(SceneNode {
+            position        : glm::zero(),
+            rotation        : glm::zero(),
+            scale           : glm::vec3(1.0, 1.0, 1.0),
+            reference_point : glm::zero(),
+            vao_id          : 0,
+            index_count     : -1,
+            children        : vec![],
+        })))
+    }
+
+    pub fn from_vao(vao_id: u32, index_count: i32) -> Node {
+        ManuallyDrop::new(Pin::new(Box::new(SceneNode {
+            position        : glm::zero(),
+            rotation        : glm::zero(),
+            scale           : glm::vec3(1.0, 1.0, 1.0),
+            reference_point : glm::zero(),
+            vao_id,
+            index_count,
+            children: vec![],
+        })))
+    }
+
+    pub fn add_child(&mut self, child: &SceneNode) {
+        self.children.push(child as *const SceneNode as *mut SceneNode)
+    }
+
+    #[allow(dead_code)]
+    pub fn get_child(& mut self, index: usize) -> & mut SceneNode {
+        unsafe {
+            &mut (*self.children[index])
+        }
+    }
+
+    #[allow(dead_code)]
+    pub fn n_children(&self) -> usize {
+        self.children.len()
+    }
+
+    #[allow(dead_code)]
+    pub fn print(&self) {
+        println!(
+"SceneNode {{
+    VAO:       {}
+    Indices:   {}
+    Children:  {}
+    Position:  [{:.2}, {:.2}, {:.2}]
+    Rotation:  [{:.2}, {:.2}, {:.2}]
+    Reference: [{:.2}, {:.2}, {:.2}]
+}}",
+            self.vao_id,
+            self.index_count,
+            self.children.len(),
+            self.position.x,
+            self.position.y,
+            self.position.z,
+            self.rotation.x,
+            self.rotation.y,
+            self.rotation.z,
+            self.reference_point.x,
+            self.reference_point.y,
+            self.reference_point.z,
+        );
+    }
+
+}
+
+
+// You can also use square brackets to access the children of a SceneNode
+use std::ops::{Index, IndexMut};
+impl Index<usize> for SceneNode {
+    type Output = SceneNode;
+    fn index(&self, index: usize) -> &SceneNode {
+        unsafe {
+            & *(self.children[index] as *const SceneNode)
+        }
+    }
+}
+impl IndexMut<usize> for SceneNode {
+    fn index_mut(&mut self, index: usize) -> &mut SceneNode {
+        unsafe {
+            &mut (*self.children[index])
+        }
+    }
+}

gloom-rs/src/toolbox.rs

@@ -0,0 +1,36 @@
+extern crate nalgebra_glm as glm;
+use std::f64::consts::PI;
+
+pub struct Heading {
+    pub x     : f32,
+    pub z     : f32,
+    pub roll  : f32, // measured in radians
+    pub pitch : f32, // measured in radians
+    pub yaw   : f32, // measured in radians
+}
+
+pub fn simple_heading_animation(time: f32) -> Heading {
+    let t             = time as f64;
+    let step          = 0.05f64;
+    let path_size     = 15f64;
+    let circuit_speed = 0.8f64;
+
+    let xpos      = path_size * (2.0 * (t+ 0.0) * circuit_speed).sin();
+    let xpos_next = path_size * (2.0 * (t+step) * circuit_speed).sin();
+    let zpos      = 3.0 * path_size * ((t+ 0.0) * circuit_speed).cos();
+    let zpos_next = 3.0 * path_size * ((t+step) * circuit_speed).cos();
+
+    let delta_pos = glm::vec2(xpos_next - xpos, zpos_next - zpos);
+
+    let roll  = (t * circuit_speed).cos() * 0.5;
+    let pitch = -0.175 * glm::length(&delta_pos);
+    let yaw   = PI + delta_pos.x.atan2(delta_pos.y);
+
+    Heading {
+        x     : xpos  as f32,
+        z     : zpos  as f32,
+        roll  : roll  as f32,
+        pitch : pitch as f32,
+        yaw   : yaw   as f32,
+    }
+}