libspnav/examples/fly/fly.c

/* This example demonstrates how to use 6-dof input for controlling the camera
 * to fly around a scene. The native spacenav protocol is used, to also
 * demonstrate how to integrate input from libspnav in an event loop.
 */

#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <errno.h>
#include <unistd.h>
#include <sys/select.h>
#include <X11/Xlib.h>
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glx.h>
#include <spnav.h>
#include "xwin.h"

#ifndef GL_VERSION_1_1
#define glGenTextures glGenTexturesEXT
#define glDeleteTextures glDeleteTexturesEXT
#define glBindTexture glBindTextureEXT
#endif

#define GRID_REP	60
#define GRID_SZ		200
#define GRID_RES	7

void gen_textures(void);
void gen_scene(void);
void redraw(void);
void draw_scene(void);
void handle_spnav_event(spnav_event *ev);
int handle_xevent(XEvent *xev);
void draw_box(float xsz, float ysz, float zsz);

/* XXX: posrot contains a position vector and an orientation quaternion, and
 * can be used with the spnav_posrot_moveview function to accumulate input
 * motions, and then with spnav_matrix_view to create a view matrix.
 * See util.c in the libspnav source code for implementation details.
 */
struct spnav_posrot posrot;

unsigned int grid_tex, box_tex;
unsigned int scene, skydome;

float apex_color[] = {0.07, 0.1, 0.4, 1.0f};
float horiz_color[] = {0.5, 0.2, 0.05, 1.0f};


int main(void)
{
	int xsock, ssock, maxfd;

	if(!(dpy = XOpenDisplay(0))) {
		fprintf(stderr, "failed to connect to the X server");
		return 1;
	}

	if(create_xwin("libspnav fly", 1024, 768) == -1) {
		return 1;
	}

	/* XXX: open connection to the spacenav driver */
	if(spnav_open() == -1) {
		fprintf(stderr, "failed to connect to the spacenav driver\n");
		return 1;
	}
	/* XXX: initialize the position vector & orientation quaternion */
	spnav_posrot_init(&posrot);

	glEnable(GL_DEPTH_TEST);
	glEnable(GL_CULL_FACE);

	glFogi(GL_FOG_MODE, GL_LINEAR);
	glFogf(GL_FOG_START, GRID_SZ / 4.0f);
	glFogf(GL_FOG_END, GRID_SZ);
	glFogfv(GL_FOG_COLOR, horiz_color);

	gen_textures();
	gen_scene();

	/* XXX: grab the Xlib socket and the libspnav socket. we'll need them in the
	 * select loop to wait for input from either source.
	 */
	xsock = ConnectionNumber(dpy);		/* Xlib socket */
	ssock = spnav_fd();					/* libspnav socket */
	maxfd = xsock > ssock ? xsock : ssock;

	for(;;) {
		fd_set rdset;

		/* XXX: add both sockets to the file descriptor set, to monitor both */
		FD_ZERO(&rdset);
		FD_SET(xsock, &rdset);
		FD_SET(ssock, &rdset);

		while(select(maxfd + 1, &rdset, 0, 0, 0) == -1 && errno == EINTR);

		/* XXX: handle any pending X events */
		if(FD_ISSET(xsock, &rdset)) {
			while(XPending(dpy)) {
				XEvent xev;
				XNextEvent(dpy, &xev);

				if(handle_xevent(&xev) != 0) {
					goto end;
				}
			}
		}

		/* XXX: handle any pending spacenav events */
		if(FD_ISSET(ssock, &rdset)) {
			spnav_event sev;
			while(spnav_poll_event(&sev)) {
				handle_spnav_event(&sev);
			}
		}

		if(redisplay_pending) {
			redisplay_pending = 0;
			redraw();
		}
	}

end:
	glDeleteTextures(1, &grid_tex);
	destroy_xwin();
	spnav_close();
	return 0;
}

void gen_textures(void)
{
	int i, j, r, g, b;
	static unsigned char pixels[128 * 128 * 3];
	unsigned char *pptr;

	pptr = pixels;
	for(i=0; i<128; i++) {
		float dy = abs(i - 64) / 64.0f;
		for(j=0; j<128; j++) {
			float dx = abs(j - 64) / 64.0f;
			float d = dx > dy ? dx : dy;
			float val = pow(d * 1.04f, 10.0) * 1.4f;

			r = (int)(214.0f * val);
			g = (int)(76.0f * val);
			b = (int)(255.0f * val);

			*pptr++ = r > 255 ? 255 : r;
			*pptr++ = g > 255 ? 255 : g;
			*pptr++ = b > 255 ? 255 : b;
		}
	}

	glGenTextures(1, &grid_tex);
	glBindTexture(GL_TEXTURE_2D, grid_tex);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
	gluBuild2DMipmaps(GL_TEXTURE_2D, GL_RGB, 128, 128, GL_RGB, GL_UNSIGNED_BYTE, pixels);

	pptr = pixels;
	for(i=0; i<128; i++) {
		int row = i >> 5;
		float dy = ((i - 12) & 0x1f) / 16.0f;
		for(j=0; j<128; j++) {
			int col = j >> 5;
			float dx = ((j - 12) & 0x1f) / 16.0f;
			float d = dx > dy ? dx : dy;
			int xor = (col ^ row) & 0xf;

			r = d < 0.5f ? (xor << 4) + 20 : 0;
			g = d < 0.5f ? (xor << 4) + 20 : 0;
			b = d < 0.5f ? (xor << 4) + 20 : 0;

			*pptr++ = r > 255 ? 255 : r;
			*pptr++ = g > 255 ? 255 : g;
			*pptr++ = b > 255 ? 255 : b;
		}
	}

	glGenTextures(1, &box_tex);
	glBindTexture(GL_TEXTURE_2D, box_tex);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
	gluBuild2DMipmaps(GL_TEXTURE_2D, GL_RGB, 128, 128, GL_RGB, GL_UNSIGNED_BYTE, pixels);
}

void gen_scene(void)
{
	int i, j, k;
	float x, y, h, u, v, du;

	srand(0);

	scene = glGenLists(1);
	glNewList(scene, GL_COMPILE);

	/* grid */
	glBindTexture(GL_TEXTURE_2D, grid_tex);
	glBegin(GL_QUADS);
	glColor3f(1, 1, 1);

	du = 1.0f / (float)GRID_RES;
	for(i=0; i<GRID_RES; i++) {
		u = (float)i * du;
		for(j=0; j<GRID_RES; j++) {
			v = (float)j * du;
			for(k=0; k<4; k++) {
				int gc = k ^ (k >> 1);
				float tu = (u + (gc & 1) * du) * GRID_REP;
				float tv = (v + (gc >> 1) * du) * GRID_REP;
				x = ((u - 0.5f) + (gc & 1) * du) * GRID_SZ * 2.0f;
				y = ((v - 0.5f) + (gc >> 1) * du) * GRID_SZ * 2.0f;
				glTexCoord2f(tu, tv);
				glVertex3f(x, 0, -y);
			}
		}
	}
	glEnd();

	/* buildings */
	glBindTexture(GL_TEXTURE_2D, box_tex);
	for(i=0; i<8; i++) {
		for(j=0; j<8; j++) {
			x = (j - 4.0f + 0.5f * (float)rand() / RAND_MAX) * 20.0f;
			y = (i - 4.0f + 0.5f * (float)rand() / RAND_MAX) * 20.0f;
			h = (3.0f + (float)rand() / RAND_MAX) * 6.0f;

			glPushMatrix();
			glTranslatef(x, h/2, y);
			glMatrixMode(GL_TEXTURE);
			glLoadIdentity();
			glScalef(3, h/4, 1);

			draw_box(6, h, 6);

			glLoadIdentity();
			glMatrixMode(GL_MODELVIEW);
			glPopMatrix();
		}
	}
	glEndList();

	skydome = glGenLists(1);
	glNewList(skydome, GL_COMPILE);

	/* skydome */
	glBegin(GL_TRIANGLE_FAN);
	glColor3fv(apex_color);
	glVertex3f(0, GRID_SZ / 5.0f, 0);
	glColor3fv(horiz_color);
	glVertex3f(-GRID_SZ, 0, -GRID_SZ);
	glVertex3f(GRID_SZ, 0, -GRID_SZ);
	glVertex3f(GRID_SZ, 0, GRID_SZ);
	glVertex3f(-GRID_SZ, 0, GRID_SZ);
	glVertex3f(-GRID_SZ, 0, -GRID_SZ);
	glEnd();
	glBegin(GL_TRIANGLE_FAN);
	glColor3fv(horiz_color);
	glVertex3f(0, -GRID_SZ / 5.0f, 0);
	glVertex3f(-GRID_SZ, 0, -GRID_SZ);
	glVertex3f(-GRID_SZ, 0, GRID_SZ);
	glVertex3f(GRID_SZ, 0, GRID_SZ);
	glVertex3f(GRID_SZ, 0, -GRID_SZ);
	glVertex3f(-GRID_SZ, 0, -GRID_SZ);
	glEnd();

	glEndList();
}

void redraw(void)
{
	float xform[16];

	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

	glMatrixMode(GL_MODELVIEW);
	glLoadIdentity();

	/* XXX convert the accumulated position/rotation into a 4x4 view matrix */
	spnav_matrix_view(xform, &posrot);
	glMultMatrixf(xform);		/* concatenate our computed view matrix */
	glTranslatef(0, -5, 0);		/* move the default view a bit higher above the ground */

	glPushMatrix();
	xform[12] = xform[13] = xform[14] = 0.0f;
	glLoadMatrixf(xform);
	glTranslatef(0, -5, 0);

	glDisable(GL_DEPTH_TEST);
	glCallList(skydome);
	glEnable(GL_DEPTH_TEST);

	glPopMatrix();

	glEnable(GL_TEXTURE_2D);
	glEnable(GL_FOG);
	glCallList(scene);
	glDisable(GL_TEXTURE_2D);
	glDisable(GL_FOG);

	glXSwapBuffers(dpy, win);
}

void reshape(int x, int y)
{
	glViewport(0, 0, x, y);

	glMatrixMode(GL_PROJECTION);
	glLoadIdentity();
	gluPerspective(50.0, (float)x / (float)y, 0.5, 500.0);
}

void handle_spnav_event(spnav_event *ev)
{
	switch(ev->type) {
	case SPNAV_EVENT_MOTION:
		/* XXX use the spnav_posrot_moveview utility function to modify the view
		 * position vector and orientation quaternion, based on the motion input
		 * we received.
		 *
		 * We'll also divide rotation values by two, to make rotation less
		 * sensitive. In this scale, it feels better that way in fly mode. The
		 * ideal ratio of sensitivities will vary depending on the scene scale.
		 */
		ev->motion.rx /= 2;
		ev->motion.ry /= 2;
		ev->motion.rz /= 2;
		spnav_posrot_moveview(&posrot, &ev->motion);

		/* XXX: Drop any further pending motion events. This can make our input
		 * more responsive on slow or heavily loaded machines. We don't gain
		 * anything by processing a whole queue of relative motions.
		 */
		spnav_remove_events(SPNAV_EVENT_MOTION);
		redisplay_pending = 1;
		break;

	case SPNAV_EVENT_BUTTON:
		/* XXX reset position and orientation to identity on button presses to
		 * reset the view
		 */
		spnav_posrot_init(&posrot);
		redisplay_pending = 1;
		break;

	default:
		break;
	}
}

void draw_box(float xsz, float ysz, float zsz)
{
	xsz /= 2;
	ysz /= 2;
	zsz /= 2;

	glBegin(GL_QUADS);
	/* face +Z */
	glNormal3f(0, 0, 1);
	glTexCoord2f(0, 0); glVertex3f(-xsz, -ysz, zsz);
	glTexCoord2f(1, 0); glVertex3f(xsz, -ysz, zsz);
	glTexCoord2f(1, 1); glVertex3f(xsz, ysz, zsz);
	glTexCoord2f(0, 1); glVertex3f(-xsz, ysz, zsz);
	/* face +X */
	glNormal3f(1, 0, 0);
	glTexCoord2f(0, 0); glVertex3f(xsz, -ysz, zsz);
	glTexCoord2f(1, 0); glVertex3f(xsz, -ysz, -zsz);
	glTexCoord2f(1, 1); glVertex3f(xsz, ysz, -zsz);
	glTexCoord2f(0, 1); glVertex3f(xsz, ysz, zsz);
	/* face -Z */
	glNormal3f(0, 0, -1);
	glTexCoord2f(0, 0); glVertex3f(xsz, -ysz, -zsz);
	glTexCoord2f(1, 0); glVertex3f(-xsz, -ysz, -zsz);
	glTexCoord2f(1, 1); glVertex3f(-xsz, ysz, -zsz);
	glTexCoord2f(0, 1); glVertex3f(xsz, ysz, -zsz);
	/* face -X */
	glNormal3f(-1, 0, 0);
	glTexCoord2f(0, 0); glVertex3f(-xsz, -ysz, -zsz);
	glTexCoord2f(1, 0); glVertex3f(-xsz, -ysz, zsz);
	glTexCoord2f(1, 1); glVertex3f(-xsz, ysz, zsz);
	glTexCoord2f(0, 1); glVertex3f(-xsz, ysz, -zsz);
	/* face +Y */
	glNormal3f(0, 1, 0);
	glTexCoord2f(0, 0);
	glVertex3f(-xsz, ysz, zsz);
	glVertex3f(xsz, ysz, zsz);
	glVertex3f(xsz, ysz, -zsz);
	glVertex3f(-xsz, ysz, -zsz);
	/* face -Y */
	glNormal3f(0, -1, 0);
	glTexCoord2f(0, 0);
	glVertex3f(-xsz, -ysz, -zsz);
	glVertex3f(xsz, -ysz, -zsz);
	glVertex3f(xsz, -ysz, zsz);
	glVertex3f(-xsz, -ysz, zsz);
	glEnd();
}