Курсовой проект 106 страниц, 42 рисунка, 2 таблицы, 18 фомул, 15 матриц, 4 приложения
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HINSTANCE hPrevInstance, LPSTR lpCmdLine, int nCmdShow) { InitMainWindow(hInstance, "КП по ГГМ [Робот-краб]", 500); InitCommonControls(); InitPanel(hInstance); PreSetup(); MSG m; while(1) { if(PeekMessage( &m, 0, 0, 0, PM_NOREMOVE)) { if(GetMessage(&m, 0, 0, 0)) { TranslateMessage(&m); DispatchMessage(&m); }else return 0; } DrawScene(); } return 0; } _____________camera______________ #define CAMERA_ #include void MultMatrix(float *vect, float *matr) { float res[4]={0}; for(int i=0; i<4; i++) for(int j=0; j<4; j++) res[i]+= vect[j]* matr[4*j+i]; memcpy(vect, res,4*sizeof(float)); } class CAMERA { public: struct { float posx, posy, posz; float dirx, diry, dirz; float xrot, zrot; }settings; void GetPosition(float *x, float *y, float *z) { *x=settings.posx; *y=settings.posy; *z=settings.posz; } CAMERA(float PosX, float PosY, float PosZ) {settings.posx=PosX, settings.posy=PosY, settings.posz=PosZ; settings.dirx=0; settings.diry=0; settings.dirz=0; settings.xrot=0; settings.zrot=0; } void GetDirection(float *x, float *y, float *z) { *x=settings.dirx; *y=settings.diry; *z=settings.dirz; } void Dispose(float PosX, float PosY, float PosZ) {settings.posx=PosX; settings.posy=PosY; settings.posz=PosZ; } void Direct(float DirX, float DirY, float DirZ) {settings.dirx=DirX; settings.diry=DirY; settings.dirz=DirZ; } void SetZRot(float rot) { settings.zrot=rot; return; float pos[]={settings.posx, settings.posy, settings.posz, 1}; settings.posx=pos[0]; settings.posy=pos[1]; ____________drawscense_______________ #ifndef DRAWSCENE #define DRAWSCENE #include "primitives.h" void DrawAll() { glPushMatrix(); glScalef((ObjHeight)/15, (ObjHeight)/15, (ObjHeight)/15); glLightModelf(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE); hsp.Draw(); glLightModelf(GL_LIGHT_MODEL_TWO_SIDE, GL_FALSE); sp.Draw(); cube.Draw(); prism3.Draw(); el.Draw(); cyl.Draw(); pir3.Draw(); kospr[0].Draw(); kospr[1].Draw(); glPopMatrix(); if(DrawAxes) { if(AxesAlwaysOnTop) glDisable(GL_DEPTH_TEST); glPushMatrix(); glLoadIdentity(); glDisable(GL_LIGHTING); glBegin(GL_LINES); glColor3f(1, 0, 0); glVertex3f(0, 0, 0); glVertex3f(100, 0, 0); glColor3f(0, 1, 0); glVertex3f(0, 0, 0); glVertex3f(0, 100, 0); glColor3f(0, 0, 1); glVertex3f(0, 0, 0); glVertex3f(0, 0, 100); glEnd(); glEnable(GL_POINT_SMOOTH); glPointSize(4); glColor3f(1, 1, 1); glBegin(GL_POINTS); for(int i=0; i<100; i++) { glVertex3f(i, 0, 0); glVertex3f(0, i, 0); glVertex3f(0, 0, i); } glEnd(); glEnable(GL_LIGHTING); glPopMatrix(); } if(AxesAlwaysOnTop) glEnable(GL_DEPTH_TEST); } int Frames=0; int Seconds=0; int ms=0; void DrawScene() { glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT); glDisable(GL_LIGHTING); SetViewport(VP_LEFTTOP, (FullScreenVP==VP_LEFTTOP)?true:false ); if(FullScreenVP==VP_LEFTTOP || FullScreenVP==-1) {DrawAll(); glColor3d(0,0,0); OutText(0, 17.5, 19, "OYZ"); } glDisable(GL_LIGHTING); SetViewport(VP_RIGHTTOP, (FullScreenVP==VP_RIGHTTOP)?true:false); if(FullScreenVP==VP_RIGHTTOP || FullScreenVP==-1) {DrawAll(); glColor3d(0,0,0); OutText(17.5, 0, -19, "OXZ"); } glDisable(GL_LIGHTING ); SetViewport(VP_LEFTBOTTOM, (FullScreenVP==VP_LEFTBOTTOM)?true:false); if(FullScreenVP==VP_LEFTBOTTOM || FullScreenVP==-1) {DrawAll(); glColor3d(0,0,0); OutText(-19, 17.5, 0, "OXY"); } int tc=GetTickCount(); glEnable(GL_LIGHTING); float d[3]={0}; float p[4]={20, 0, 0, 0}; SetViewport(VP_RIGHTBOTTOM, (FullScreenVP==VP_RIGHTBOTTOM)?true:false ); if(FullScreenVP==VP_RIGHTBOTTOM || FullScreenVP==-1) {DrawAll(); for(int i=0; i<4; i++) lights[i].Draw(); } SwapBuffers(wglGetCurrentDC()); char s[20]; Frames++; Seconds+=GetTickCount()-tc; if(IsWindow(hSceneParams) && Seconds>=100) { sprintf(s, "FPS:%.0f", (float)Frames/((float)Seconds/1000)); SetDlgItemText(hSceneParams, IDC_FPS, s); Seconds=0; Frames=0; } ms+=GetTickCount()-tc; if(IsWindow(hSceneParams) && ms>=500) { sprintf(s, "Время построения (мс):%i", (GetTickCount()-tc)); SetDlgItemText(hSceneParams, IDC_RENDER_TIME, s); ms=0; } } #endif __________globals____________ #ifndef GLOBALS_ #define GLOBALS_ #include #include "light.h" #include "camera.h" #include "primitives.h" #include "resource.h" #define HLP_DIR "help" #define HLP_PRIM 0 #define HLP_AFF_AJ 8 LIGHT lights[4]={LIGHT(GL_LIGHT0), LIGHT(GL_LIGHT1), LIGHT(GL_LIGHT2), LIGHT(GL_LIGHT3)}; float ObjHeight=15; CAMERA camera(0, 0, 5); void MultMatrix(float *vect, float matr[4][4]); char helpText[1500]; char *HelpFiles[]={"sp.txt", "hsp.txt", "cube.txt", "prism5.txt", "pir5.txt", "cone.txt", "pir3.txt", "prism3.txt", "translate.txt", "scale.txt", "shift.txt", "rotate.txt", "refl.txt"}; char *HelpCaptions[]={"Параметрическая модель сферы", "Параметрическая полусферы", "Параметрическая модель эллипсоида", "Параметрическая модель призмы с треугольным основанием", "Параметрическая модель косоугольной призмы с 3уг. основанием", "Параметрическая модель косоугольного цилиндра", "Параметрическая модель усеч. пир. с 3уг основанием", "Параметрическая модель призмы с 3уг. основанием", "Матрица переноса:", "Матрица масштабировния:", "Матрица сдвига:", "Матрицы поворота", "Матрица отражения"}; HALFSPHERE hsp(0, 0 , 0, 1, 1, 0, 0); SPHERE sp(0, 0, 0, 1 , 0, 1, 0); IKO cube( 0, 0, 0, 1, 0 ); PRISM3 prism3 ( 0, -6, 0, 1, 0 ); ELIPS el(0, 0, 0); CYL cyl( 1, 1, 1, 1, 0, .6 , .5); PIRAMID3 pir3(0, 0, 0, 2, 0, 1); KOSPR kospr[2]={KOSPR(1, 1, 1, 0, 0, .5), KOSPR(1, 1, 1, 0, 0, .5) }; OBJECT3D *Objects[9]={&sp, &hsp, &prism3, &el, &cyl, &pir3, &kospr[0], &kospr[1]}; OBJECT3D *ObjectsNotAll[8]={&sp, &hsp, &prism3, &el, &cyl, &pir3, &kospr[0]}; bool ajusted=false; bool AxesAlwaysOnTop=false; HWND hSceneParams=0; HWND hLightParams=0; HWND hPrimParams=0; HWND hAffAjWnd=0; HWND hCamDlg; HWND hWndMain; HINSTANCE hInst; int FullScreenVP=-1; HWND hHorSeparator, hVertSeparator; void ShowSeparators(int cmd) { ShowWindow(hHorSeparator, cmd); ShowWindow(hVertSeparator, cmd); } int ObjMat=-1; int ObjModel=-1; GLdouble mprojection[16]; GLdouble mmodelview[16]; int mviewport[4]; double ltx, lty, ltz; bool DrawAxes=false; void OutText(float x, float y, float z, char *s) { glMatrixMode(GL_MODELVIEW); glPushMatrix(); glLoadIdentity(); glRasterPos3f(x, y, z); glColor3f(1, 1, 1); int l=strlen(s); for(int i=0; i { glutBitmapCharacter(GLUT_BITMAP_9_BY_15, s[i]); } glPopMatrix(); } char fn[MAX_PATH]; void SaveScene() { OPENFILENAME ofn; memset(&ofn, 0, sizeof(ofn)); ofn.hwndOwner=hWndMain; ofn.lpstrTitle="Сохранение состояния сцены"; ofn.lStructSize=sizeof(ofn); ofn.lpstrFile=fn; ofn.nMaxFile=MAX_PATH; ofn.lpstrFilter="*.scn\0*.scn\0\0"; ofn.lpstrDefExt="scn"; ofn.Flags=OFN_FILEMUSTEXIST|OFN_EXTENSIONDIFFERENT|OFN_OVERWRITEPROMPT; if(!GetSaveFileName(&ofn)) return; FILE *f=fopen(fn, "wb"); for(int i=0; i<12; i++) fwrite(&Objects[i]->settings, sizeof(Objects[i]->settings), 1, f); for(i=0; i<4; i++) fwrite(&lights[i].settings, sizeof(lights[i].settings), 1, f); fwrite(&camera.settings, sizeof(camera.settings), 1, f); fwrite(&ObjModel, sizeof(ObjModel), 1, f); fwrite(&ObjMat, sizeof(ObjMat), 1, f); fwrite(&FullScreenVP, sizeof(FullScreenVP), 1, f); float mvm[16]; glGetFloatv(GL_MODELVIEW_MATRIX, (float*)mvm); fwrite(mvm, sizeof(mvm), 1, f); fwrite(&ajusted, sizeof(ajusted), 1, f); fwrite(&DrawAxes, sizeof(DrawAxes), 1, f); fwrite(&AxesAlwaysOnTop, sizeof(AxesAlwaysOnTop), 1, f); fwrite(&ObjHeight, sizeof(ObjHeight), 1, f); fclose(f); } bool JustLoaded=false; void LoadScene() { OPENFILENAME ofn; memset(&ofn, 0, sizeof(ofn)); ofn.hwndOwner=hWndMain; ofn.lpstrTitle="Выберите файл с параметрами сцены"; ofn.lStructSize=sizeof(ofn); ofn.lpstrFile=fn; ofn.nMaxFile=MAX_PATH; ofn.lpstrFilter="*.scn\0*.scn\0\0"; ofn.Flags=OFN_FILEMUSTEXIST|OFN_EXTENSIONDIFFERENT; if(!GetOpenFileName(&ofn)) return; FILE *f=fopen(fn, "rb"); for(int i=0; i<12; i++) fread(&Objects[i]->settings, sizeof(Objects[i]->settings), 1, f); for(i=0; i<4; i++) { fread(&lights[i].settings, sizeof(lights[i].settings), 1, f); lights[i].Dispose(lights[i].settings.pos[0], lights[i].settings.pos[1], lights[i].settings.pos[2], 0); if(lights[i].settings.shining) lights[i].TurnOn(); else lights[i].TurnOff(); lights[i].SetColor(lights[i].settings.color[0], lights[i].settings.color[1],lights[i].settings.color[2]); lights[i].SetLightModelType(lights[i].settings.lightmodeltype); HMENU hMenu=GetMenu(hWndMain); CheckMenuItem(hMenu, IDC_LIGHT0+i, MF_BYCOMMAND|(lights[i].Shining())? MF_CHECKED:MF_UNCHECKED); } fread(&camera.settings, sizeof(camera.settings), 1, f); fread(&ObjModel, sizeof(ObjModel), 1, f); fread(&ObjMat, sizeof(ObjMat), 1, f); fread(&FullScreenVP, sizeof(FullScreenVP), 1, f); if(FullScreenVP!=-1) ShowSeparators(SW_HIDE); else ShowSeparators(SW_SHOW); float mvm[16]; fread(mvm, sizeof(mvm), 1, f); glMatrixMode(GL_MODELVIEW); glLoadMatrixf(mvm); fread(&ajusted, sizeof(ajusted), 1, f); fread(&DrawAxes, sizeof(DrawAxes), 1, f); fread(&AxesAlwaysOnTop, sizeof(DrawAxes), 1, f); fread(&ObjHeight, sizeof(ObjHeight), 1, f); JustLoaded=true; if(IsWindow(hSceneParams)) SendMessage(hSceneParams, WM_INITDIALOG, 0, 0); if(IsWindow(hPrimParams)) SendMessage(hPrimParams, WM_INITDIALOG, 0, 0); if(IsWindow(hAffAjWnd)) SendMessage(hAffAjWnd, WM_INITDIALOG, 0, 0); if(IsWindow(hLightParams)) SendMessage(hLightParams, WM_INITDIALOG, 0, 0); if(IsWindow(hCamDlg)) SendMessage(hCamDlg, WM_INITDIALOG, 0, 0); fclose(f); } void SetPrimitiveColor(int obj, HWND hR, HWND hG, HWND hB); void SetModelRadio(int obj, HWND hSolid, HWND hWire); void LoadHelpText(char *fn, char *ret, ULONG count) { OFSTRUCT ofs; char hfn[MAX_PATH]; sprintf(hfn, "%s\\%s",HLP_DIR, fn); HANDLE hFile=(HANDLE)OpenFile(hfn, &ofs, OF_READ); DWORD fsize=GetFileSize(hFile, 0); if(fsize>count) { strcpy(ret, "! Ошибка при загрузке файла справки"); CloseHandle(hFile); return; } ReadFile(hFile, ret, count, &count, NULL); ret[count]=0; CloseHandle(hFile); } #endif ____________glsetupe__________________ #ifndef GLSETUP #define GLSETUP #include #include #include "camera.h" #include "globals.h" #define VP_RIGHTBOTTOM 0 #define VP_LEFTBOTTOM 1 #define VP_RIGHTTOP 2 #define VP_LEFTTOP 3 void SetOrtho(); void SetPerspective(); void SetViewport(int vp, bool fullscreen=false) { RECT rct; GetClientRect(hWndMain, &rct); int h=rct.bottom; int w=rct.right-200; if(fullscreen) { h*=2; w*=2; } switch(vp) { case VP_RIGHTBOTTOM: glViewport(!fullscreen?w/2:0, 0, w/2, h/2); SetPerspective(); camera.Apply(); break; case VP_LEFTBOTTOM: glViewport(0, 0, w/2, h/2); SetOrtho(); gluLookAt(0, 0, 4, 0, 0, 0, 0, 1, 0); break; case VP_LEFTTOP: glViewport(0, !fullscreen?h/2:0, w/2, h/2); SetOrtho(); gluLookAt(4, 0, 0, 0, 0, 0, 1 , 1, 0); break; case VP_RIGHTTOP: glViewport(!fullscreen?w/2:0, !fullscreen?h/2:0, w/2, h/2); SetOrtho(); gluLookAt(0, 4, 0, 0, 0, 0, 1 , 0, 0); break; } glMatrixMode(GL_MODELVIEW); } void SetOrtho() { glMatrixMode(GL_PROJECTION); glLoadIdentity(); glOrtho(-20, 20, -20, 20, -20, 20); } void SetPerspective() { glMatrixMode(GL_PROJECTION); glLoadIdentity(); float ang=(acos(1.f/sqrt(3))/3.14)*180; glOrtho(-30, 30, -30, 30, -30, 30); glRotatef(ang, 1, 0, 0); glRotatef(-ang, 0, 1, 0); } bool PtInViewport(int x, int y, int vp) { POINT pt={x, y}; RECT wndrct; GetClientRect(hWndMain, &wndrct); int h=wndrct.bottom; int w=wndrct.right-200; RECT VPRect; if(vp==VP_LEFTTOP) { VPRect.left=0; VPRect.top=0; VPRect.right=w/2; VPRect.bottom=h/2; return PtInRect(&VPRect, pt); } if(vp==VP_LEFTBOTTOM) { VPRect.left=0; VPRect.top=h/2; VPRect.right=w/2; VPRect.bottom=h; return PtInRect(&VPRect, pt); } if(vp==VP_RIGHTTOP) { VPRect.left=w/2; VPRect.top=0; VPRect.right=w; VPRect.bottom=h/2; return PtInRect(&VPRect, pt); } if(vp==VP_RIGHTBOTTOM) { VPRect.left=w/2; VPRect.top=h/2; VPRect.right=w; VPRect.bottom=h; return PtInRect(&VPRect, pt); } } void PreSetup() { glEnable(GL_LIGHTING); glEnable(GL_NORMALIZE); glEnable(GL_AUTO_NORMAL); glEnable(GL_DEPTH_TEST); glEnable(GL_COLOR_MATERIAL); lights[0].SetColor(1, .2, .95); lights[0].Dispose(-20, -15, 0, 0); lights[0].SetLightModelType(LMT_CYL); lights[1].SetColor(1, 0, 0); lights[1].Dispose(15, 0, -20, -1); lights[1].SetLightModelType(LMT_POINT); lights[2].SetColor(0, 1, 0); lights[2].Dispose(15, -20, 10, 1); lights[2].SetLightModelType(LMT_REMOTE); glGetDoublev(GL_MODELVIEW_MATRIX, mmodelview); glGetDoublev(GL_PROJECTION_MATRIX, mprojection); glClearColor(.5, .5 ,.5, 0); } void SetPF(HDC hdc) { PIXELFORMATDESCRIPTOR pfd = {sizeof(PIXELFORMATDESCRIPTOR), 1, PFD_DRAW_TO_WINDOW | PFD_SUPPORT_OPENGL | PFD_DOUBLEBUFFER, PFD_TYPE_RGBA, 24, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 32, 0, 0, PFD_MAIN_PLANE, 0, 0, 0, 0 }; int index=ChoosePixelFormat(hdc, &pfd); SetPixelFormat(hdc, index, &pfd); } #endif _________light___________________ #ifndef LIGHT_ #define LIGHT_ #define LMT_POINT 0 #define LMT_CYL 1 #define LMT_REMOTE 2 class LIGHT { public: struct { float pos[4]; float dir[3]; float color[4]; int lightmodeltype; GLboolean shining; } settings; int index; void Draw() { if(!Shining()) return; glDisable(GL_LIGHTING); glPushMatrix(); |