<> <> <> <> <> DIRECTORY CoordSys, SVGraphics, Imager, ImagerPath, ImagerTransformation, Matrix3d, SV2d, SV3d, SVBoundBox, SVBoundSphere, SVDraw3d, SVMatrix2d, SVModelTypes, SVSceneTypes, SVVector2d, SVVector3d; SVDraw3dImpl: CEDAR PROGRAM IMPORTS CoordSys, SVGraphics, Imager, ImagerPath, ImagerTransformation, SVBoundBox, SVBoundSphere, Matrix3d, SVVector2d, SVVector3d EXPORTS SVDraw3d = BEGIN Camera: TYPE = SVModelTypes.Camera; Composite: TYPE = SVSceneTypes.Composite; CoordSystem: TYPE = SVModelTypes.CoordSystem; CSGTree: TYPE = SVSceneTypes.CSGTree; Matrix4by4: TYPE = SV3d.Matrix4by4; Point2d: TYPE = SV2d.Point2d; Point3d: TYPE = SV3d.Point3d; Primitive: TYPE = SVSceneTypes.Primitive; SelectionClass: TYPE = SVSceneTypes.SelectionClass; Vector3d: TYPE = SV3d.Vector3d; Vector2d: TYPE = SV2d.Vector2d; DrawCoordSys: PUBLIC PROC [dc: Imager.Context, csCAMERA: Matrix4by4, camera: Camera] = { origin: Point3d; xAxis, yAxis, zAxis: Vector3d; length: REAL = 50.0; origin _ Matrix3d.OriginOfMatrix[csCAMERA]; xAxis _ SVVector3d.Normalize[Matrix3d.XAxisOfMatrix[csCAMERA]]; yAxis _ SVVector3d.Normalize[Matrix3d.YAxisOfMatrix[csCAMERA]]; zAxis _ SVVector3d.Normalize[Matrix3d.ZAxisOfMatrix[csCAMERA]]; xAxis _ SVVector3d.Scale[xAxis, length]; yAxis _ SVVector3d.Scale[yAxis, length]; zAxis _ SVVector3d.Scale[zAxis, length]; DrawVector[dc, xAxis, origin, camera]; SVGraphics.DrawChar[dc, 'x, camera]; DrawVector[dc, yAxis, origin, camera]; SVGraphics.DrawChar[dc, 'y, camera]; DrawVector[dc, zAxis, origin, camera]; SVGraphics.DrawChar[dc, 'z, camera]; }; alpha: REAL _ 0.25; DrawSkitter: PUBLIC PROC [dc: Imager.Context, csCAMERA: Matrix4by4, camera: Camera] = { OPEN SVVector3d; origin: Point3d; xAxis, yAxis, zAxis: Vector3d; <> c, d: Point3d; length: REAL = 50.0; origin _ Matrix3d.OriginOfMatrix[csCAMERA]; xAxis _ Normalize[Matrix3d.XAxisOfMatrix[csCAMERA]]; yAxis _ Normalize[Matrix3d.YAxisOfMatrix[csCAMERA]]; zAxis _ Normalize[Matrix3d.ZAxisOfMatrix[csCAMERA]]; xAxis _ Scale[xAxis, length]; yAxis _ Scale[yAxis, length]; zAxis _ Scale[zAxis, length]; DrawVector[dc, xAxis, origin, camera]; SVGraphics.DrawChar[dc, 'x, camera]; DrawVector[dc, yAxis, origin, camera]; SVGraphics.DrawChar[dc, 'y, camera]; DrawVector[dc, zAxis, origin, camera]; SVGraphics.DrawChar[dc, 'z, camera]; <> <> c _ Add[origin, Add[zAxis, Scale[yAxis, alpha]]]; d _ Add[origin, Add[zAxis, Scale[yAxis, -alpha]]]; SVGraphics.SetCPAbsolute[dc, origin, camera]; <> <> <> SVGraphics.DrawToAbsolute[dc, c, camera]; SVGraphics.DrawToAbsolute[dc, d, camera]; SVGraphics.DrawToAbsolute[dc, origin, camera]; }; DrawTargetCoordSys: PUBLIC PROC [dc: Imager.Context, csCAMERA: Matrix4by4, camera: Camera] = { origin: Point3d; xAxis, yAxis, zAxis: Vector3d; upLeftVector, upRightVector, downRightVector, downLeftVector: Vector3d; length: REAL = 50.0; scalar: REAL = 0.8; origin _ Matrix3d.OriginOfMatrix[csCAMERA]; xAxis _ SVVector3d.Normalize[Matrix3d.XAxisOfMatrix[csCAMERA]]; yAxis _ SVVector3d.Normalize[Matrix3d.YAxisOfMatrix[csCAMERA]]; zAxis _ SVVector3d.Normalize[Matrix3d.ZAxisOfMatrix[csCAMERA]]; xAxis _ SVVector3d.Scale[xAxis, length]; yAxis _ SVVector3d.Scale[yAxis, length]; zAxis _ SVVector3d.Scale[zAxis, length]; DrawVector[dc, xAxis, origin, camera]; SVGraphics.DrawChar[dc, 'x, camera]; DrawVector[dc, yAxis, origin, camera]; SVGraphics.DrawChar[dc, 'y, camera]; DrawVector[dc, zAxis, origin, camera]; SVGraphics.DrawChar[dc, 'z, camera]; <> upLeftVector _ SVVector3d.Sub[yAxis, xAxis]; upRightVector _ SVVector3d.Add[yAxis, xAxis]; downRightVector _ SVVector3d.Negate[upLeftVector]; downLeftVector _ SVVector3d.Negate[upRightVector]; upLeftVector _ SVVector3d.Scale[upLeftVector, scalar]; upRightVector _ SVVector3d.Scale[upRightVector, scalar]; downRightVector _ SVVector3d.Scale[downRightVector, scalar]; downLeftVector _ SVVector3d.Scale[downLeftVector, scalar]; SVGraphics.SetCPAbsolute[dc, SVVector3d.Add[origin, upLeftVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, upRightVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, downRightVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, downLeftVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, upLeftVector], camera]; }; DrawJack: PUBLIC PROC [dc: Imager.Context, cs: CoordSystem, camera: Camera] = { csCAMERA: Matrix4by4 _ CoordSys.WRTCamera[cs, camera.coordSys]; DrawCoordSys[dc, csCAMERA, camera]; }; DrawMovee: PUBLIC PROC [dc: Imager.Context, cs: CoordSystem, camera: Camera] = { origin: Point3d; xAxis, yAxis, zAxis: Vector3d; csCAMERA: Matrix4by4 _ CoordSys.WRTCamera[cs, camera.coordSys]; upLeftVector, upRightVector, downRightVector, downLeftVector: Vector3d; length: REAL = 50.0; scalar: REAL = 0.2; origin _ Matrix3d.OriginOfMatrix[csCAMERA]; xAxis _ SVVector3d.Normalize[Matrix3d.XAxisOfMatrix[csCAMERA]]; yAxis _ SVVector3d.Normalize[Matrix3d.YAxisOfMatrix[csCAMERA]]; zAxis _ SVVector3d.Normalize[Matrix3d.ZAxisOfMatrix[csCAMERA]]; xAxis _ SVVector3d.Scale[xAxis, length]; yAxis _ SVVector3d.Scale[yAxis, length]; zAxis _ SVVector3d.Scale[zAxis, length]; DrawVector[dc, xAxis, origin, camera]; SVGraphics.DrawChar[dc, 'x, camera]; DrawVector[dc, yAxis, origin, camera]; SVGraphics.DrawChar[dc, 'y, camera]; DrawVector[dc, zAxis, origin, camera]; SVGraphics.DrawChar[dc, 'z, camera]; <> upLeftVector _ SVVector3d.Sub[yAxis, xAxis]; upRightVector _ SVVector3d.Add[yAxis, xAxis]; downRightVector _ SVVector3d.Negate[upLeftVector]; downLeftVector _ SVVector3d.Negate[upRightVector]; upLeftVector _ SVVector3d.Scale[upLeftVector, scalar]; upRightVector _ SVVector3d.Scale[upRightVector, scalar]; downRightVector _ SVVector3d.Scale[downRightVector, scalar]; downLeftVector _ SVVector3d.Scale[downLeftVector, scalar]; SVGraphics.SetCPAbsolute[dc, SVVector3d.Add[origin, upLeftVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, upRightVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, downRightVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, downLeftVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, upLeftVector], camera]; }; DrawPlaneSelection: PUBLIC PROC [dc: Imager.Context, cs: CoordSystem, planeNum: NAT, camera: Camera] = { origin: Point3d; csCAMERA: Matrix4by4 _ CoordSys.WRTCamera[cs, camera.coordSys]; xAxis, yAxis, zAxis: Vector3d; tightRopeStart, tightRopeEnd: Point3d; upLeftVector, upRightVector, downRightVector, downLeftVector: Vector3d; length: REAL = 50.0; SELECT planeNum FROM 1 => { -- x = 0 plane csCAMERA _ Matrix3d.LocalRotateY[csCAMERA, -90]; }; 2 => { -- y = 0 plane csCAMERA _ Matrix3d.LocalRotateX[csCAMERA, 90]; }; 3 => { -- z = 0 plane }; ENDCASE => ERROR; origin _ Matrix3d.OriginOfMatrix[csCAMERA]; xAxis _ SVVector3d.Normalize[Matrix3d.XAxisOfMatrix[csCAMERA]]; yAxis _ SVVector3d.Normalize[Matrix3d.YAxisOfMatrix[csCAMERA]]; zAxis _ SVVector3d.Normalize[Matrix3d.ZAxisOfMatrix[csCAMERA]]; xAxis _ SVVector3d.Scale[xAxis, length]; yAxis _ SVVector3d.Scale[yAxis, length]; zAxis _ SVVector3d.Scale[zAxis, length]; <> upLeftVector _ SVVector3d.Sub[yAxis, xAxis]; upRightVector _ SVVector3d.Add[yAxis, xAxis]; downRightVector _ SVVector3d.Negate[upLeftVector]; downLeftVector _ SVVector3d.Negate[upRightVector]; SVGraphics.SetCPAbsolute[dc, SVVector3d.Add[origin, upLeftVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, upRightVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, downRightVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, downLeftVector], camera]; SVGraphics.DrawToAbsolute[dc, SVVector3d.Add[origin, upLeftVector], camera]; <> tightRopeStart _ SVVector3d.Sub[origin, zAxis]; tightRopeEnd _ SVVector3d.Add[origin, zAxis]; SVGraphics.SetCPAbsolute[dc, tightRopeStart, camera]; SVGraphics.DrawToAbsolute[dc, tightRopeEnd, camera]; }; DrawXPlane: PUBLIC PROC [dc: Imager.Context, left, right, down, up: REAL, cs: CoordSystem, camera: Camera] = { <> localCamera: Matrix4by4 _ CoordSys.WRTCamera[cs, camera.coordSys]; SVGraphics.SetCP[dc, [0, up, left], camera, localCamera]; SVGraphics.DrawTo[dc, [0, up, right], camera, localCamera]; SVGraphics.DrawTo[dc, [0, down, right], camera, localCamera]; SVGraphics.DrawTo[dc, [0, down, left], camera, localCamera]; SVGraphics.DrawTo[dc, [0, up, left], camera, localCamera]; }; <<>> <> <> <> <> DrawVector: PUBLIC PROC [dc: Imager.Context, v: Vector3d, origin: Point3d, camera: Camera] = { <> tip: Point3d; originOnScreen, tipOnScreen, textOnScreen: Point2d; vProjected: Vector2d; mag: REAL; epsilon: REAL = 1.0e-3; tip _ SVVector3d.Add[origin, v]; SVGraphics.SetCPAbsolute[dc, origin, camera]; SVGraphics.DrawToAbsolute[dc, tip, camera]; <> originOnScreen _ SVGraphics.DoProjection[origin, camera]; tipOnScreen _ SVGraphics.DoProjection[tip, camera]; vProjected _ SVVector2d.Sub[tipOnScreen, originOnScreen]; mag _ SVVector2d.Magnitude[vProjected]; IF mag < epsilon THEN vProjected _ [-7.0, 0.0] ELSE vProjected _ SVVector2d.Scale[vProjected, 7.0/mag]; textOnScreen _ SVVector2d.Add[tipOnScreen, vProjected]; SVGraphics.SetCPAbsolute[dc, [textOnScreen[1], textOnScreen[2], 0.0], camera]; }; DrawLocalVector: PUBLIC PROC [dc: Imager.Context, v: Vector3d, origin: Point3d, camera: Camera, localCS: CoordSystem] = { <> tip: Point3d; localCamera: Matrix4by4 _ CoordSys.WRTCamera[localCS, camera.coordSys]; tip _ SVVector3d.Add[origin, v]; SVGraphics.SetCP[dc, origin, camera, localCamera]; SVGraphics.DrawTo[dc, tip, camera, localCamera]; }; <<>> <> Draw2dCoordSys: PUBLIC PROC [dc: Imager.Context, origin: Point2d, camera: Camera] = { <> originScreen: Point2d; big: REAL = 9999.0; originScreen _ CoordSys.CameraToScreen[origin, camera.screenCS]; Imager.MaskVector[dc, [originScreen[1]-big, originScreen[2]], [originScreen[1]+big, originScreen[2]]]; Imager.MaskVector[dc, [originScreen[1], originScreen[2] + big], [originScreen[1], originScreen[2] - big]]; }; <<>> DrawX: PUBLIC PROC [dc: Imager.Context, point: Point2d, camera: Camera] = { <> origin: Point2d; side: REAL _ 7.0; origin _ CoordSys.CameraToScreen[point, camera.screenCS]; Imager.MaskVector[dc, [origin[1]-side, origin[2] + side], [origin[1]+side, origin[2] - side]]; Imager.MaskVector[dc, [origin[1] + side, origin[2] + side], [origin[1]-side, origin[2] - side]]; }; DrawFilledSquare: PROC [dc: Imager.Context, worldPt: Point3d, camera: Camera, side: REAL] = { halfSide: REAL _ side/2.0; DoDrawFilledSquare: PROC = { Imager.SetXY[dc, [screenPt[1], screenPt[2]] ]; -- set the current position Imager.Move[dc]; Imager.SetColor[dc, Imager.black]; Imager.MaskRectangle[dc, [- halfSide, - halfSide, side, side]]; }; worldCamera: Matrix4by4 _ CoordSys.FindWorldInTermsOf[camera.coordSys]; cameraPt: Point3d _ Matrix3d.Update[worldPt, worldCamera]; screenPt: Point2d; screenPt _ SVGraphics.DoProjection[cameraPt, camera]; screenPt _ CoordSys.CameraToScreen[screenPt, camera.screenCS]; Imager.DoSave[dc, DoDrawFilledSquare]; }; DrawEmptySquare: PROC [dc: Imager.Context, worldPt: Point3d, camera: Camera, side: REAL] = { halfSide: REAL _ side/2.0; DoDrawEmptySquare: PROC = { Imager.SetXY[dc, [screenPt[1], screenPt[2]]]; -- set the current position Imager.Move[dc]; Imager.SetColor[dc, Imager.black]; Imager.MaskRectangle[dc, [- halfSide, - halfSide, side, side]]; Imager.SetColor[dc, Imager.white]; Imager.MaskRectangle[dc, [- halfSide+1, - halfSide+1, side-2, side-2]]; }; worldCamera: Matrix4by4 _ CoordSys.FindWorldInTermsOf[camera.coordSys]; cameraPt: Point3d _ Matrix3d.Update[worldPt, worldCamera]; screenPt: Point2d; screenPt _ SVGraphics.DoProjection[cameraPt, camera]; screenPt _ CoordSys.CameraToScreen[screenPt, camera.screenCS]; Imager.DoSave[dc, DoDrawEmptySquare]; }; DrawSelectedJoint: PUBLIC PROC [dc: Imager.Context, worldPt: Point3d, camera: Camera, selectClass: SelectionClass] = { jointSize: REAL = 6.0; hotJointSize: REAL = 10.0; IF selectClass=hot THEN DrawEmptySquare[dc, worldPt, camera, hotJointSize] ELSE IF selectClass=normal THEN DrawFilledSquare[dc, worldPt, camera, jointSize] ELSE {DrawEmptySquare[dc, worldPt, camera, jointSize]; DrawFilledSquare[dc, worldPt, camera, 2.0]}; }; DrawCP: PUBLIC PROC [dc: Imager.Context, worldPt: Point3d, camera: Camera] = { DoDrawEmptySquare: PROC = { Imager.SetXY[dc, [screenPt[1], screenPt[2]]]; -- set the current position <> Imager.Move[dc]; -- move the origin to the current position Imager.SetColor[dc, Imager.black]; Imager.MaskRectangle[dc, [-halfJointSize, -halfJointSize, jointSize, jointSize]]; Imager.SetColor[dc, Imager.white]; Imager.MaskRectangle[dc, [-halfJointSize+1, -halfJointSize+1, jointSize-2, jointSize-2]]; }; worldCamera: Matrix4by4 _ CoordSys.FindWorldInTermsOf[camera.coordSys]; cameraPt: Point3d _ Matrix3d.Update[worldPt, worldCamera]; screenPt: Point2d; halfJointSize: REAL = 3.0; jointSize: REAL = 6.0; halfHotJointSize: REAL = 5.0; screenPt _ SVGraphics.DoProjection[cameraPt, camera]; screenPt _ CoordSys.CameraToScreen[screenPt, camera.screenCS]; Imager.DoSaveAll[dc, DoDrawEmptySquare]; }; DrawBoundBoxes: PUBLIC PROC [dc: Imager.Context, tree: CSGTree, camera: Camera] = { DrawBoundBoxNode[dc, tree.son, camera]; }; DrawBoundBoxNode: PROC [dc: Imager.Context, node: REF ANY, camera: Camera] = { IF node = NIL THEN RETURN; WITH node SELECT FROM composite: Composite => { SVBoundBox.DrawBoundBox[dc, composite.boundBox, camera.screenCS]; DrawBoundBoxNode[dc, composite.leftSolid, camera]; DrawBoundBoxNode[dc, composite.rightSolid, camera]; }; prim: Primitive => { SVBoundBox.DrawBoundBox[dc, prim.boundBox, camera.screenCS]; }; ENDCASE => ERROR; }; DrawBoundBox: PUBLIC PROC [dc: Imager.Context, node: REF ANY, camera: Camera, xor: BOOL] = {}; DrawBoundSpheres: PUBLIC PROC [dc: Imager.Context, tree: CSGTree, camera: Camera] = { DrawBoundSphereNode[dc, tree.son, camera]; }; DrawBoundSphereNode: PROC [dc: Imager.Context, node: REF ANY, camera: Camera] = { IF node = NIL THEN RETURN; WITH node SELECT FROM composite: Composite => { SVBoundSphere.DrawBoundSphere[dc, composite.boundSphere, camera]; DrawBoundSphereNode[dc, composite.leftSolid, camera]; DrawBoundSphereNode[dc, composite.rightSolid, camera]; }; prim: Primitive => { SVBoundSphere.DrawBoundSphere[dc, prim.boundSphere, camera]; }; ENDCASE => ERROR; }; DrawTransformedShape: PUBLIC PROC [dc: Imager.Context, csCAMERA: Matrix4by4, camera: Camera, path: Imager.PathProc] = { <> DrawIt: PROC = { DrawPath: Imager.PathProc = { ImagerPath.Transform[path, projection, moveTo, lineTo, curveTo, conicTo, arcTo]; }; Imager.SetStrokeWidth[dc, 3.0]; Imager.MaskStroke[context: dc, path: DrawPath, closed: TRUE]; }; xAxis, yAxis: Vector3d; origin: Point3d; projection, localCamera, cameraScreen: ImagerTransformation.Transformation; xAxis _ Matrix3d.XAxisOfMatrix[csCAMERA]; yAxis _ Matrix3d.YAxisOfMatrix[csCAMERA]; origin _ Matrix3d.OriginOfMatrix[csCAMERA]; localCamera _ ImagerTransformation.Create[xAxis[1], yAxis[1], origin[1], xAxis[2], yAxis[2], origin[2]]; cameraScreen _ CameraWRTScreen[camera]; projection _ ImagerTransformation.Concat[localCamera, cameraScreen]; Imager.DoSaveAll[dc, DrawIt]; }; CameraWRTScreen: PROC [camera: Camera] RETURNS [cameraScreen: ImagerTransformation.Transformation] = { screenCoordSys: CoordSystem _ camera.screenCS; screenMat: Matrix4by4 _ CoordSys.GetMat[screenCoordSys]; cameraScreen _ ImagerTransformation.Translate[t: [- screenMat[1][4], - screenMat[2][4]] ]; }; END.