4月21日

 #include "qglproject.h"

 

//初始化ode中的静态变量/

dWorldID qGlproject::world = dWorldCreate();

dSpaceID qGlproject::space = dSimpleSpaceCreate(0);

dJointGroupID qGlproject::contactgroup = dJointGroupCreate(0);

dGeomID qGlproject::ground = dCreatePlane(space,0,1,0,0);

//初始化房屋盒子

dGeomID qGlproject::ground_box[5] = {

dCreateBox(space,1,500,500),

dCreateBox(space,1,500,500),

dCreateBox(space,500,500,1),

dCreateBox(space,500,500,1),

dCreateBox(space,500,2,500)};

 

//初始化桌子 

dGeomID qGlproject::table[5] = {

dCreateBox(space,30,0.5,60),

dCreateBox(space,2,10,2),

dCreateBox(space,2,10,2),

dCreateBox(space,2,10,2),

dCreateBox(space,2,10,2)

};

//桌面和腿的大小

float sides[2][3]  = {{30,0.5,60},{2,10,2}};

 

const float piover180 = 0.0174532925f;//1°= π/180 = 0.01745329

float heading;//水平转过的角度

float zeading;//竖直转过的角度

float xpos = 0;

float zpos = -60;

float ypos = 0;

 

//灯光

bool light0 = true;

bool light1 = false;

bool light2 = false;

bool light3 = false;

bool tempNewbody = true;

int  tbn = 0;

 

//产生影子的参数

float l[] = { 4.0f, 24.0f, -100.0f }; //产生影子的灯光坐标

float n[] = { 0.0, -1.0, 0.0 };  // Normal vector for the plane 

float e[] = { 0.0, 0.02, 0.0 };   //地平面坐标 

 

 

GLuint texture[4]; // 使用四个纹理

 

 

小球坐标

GLdouble fBallx;

GLdouble fBally;

GLdouble fBallz;

GLdouble fBallxc;

GLdouble fBallyc;

GLdouble fBallzc;

ode开关参数

bool isOde = false;

bool isAble = true; //关闭单个物体

 

选择参数

int numBody = 0; //物体个数

int tempNumBody = 0;

 

GLfloat yrot;

GLfloat zrot;

GLfloat walkbias = 0;

GLfloat lookupdown = 0.0f;

 

GLfloat tempRadius;

GLfloat tempWidth;

GLfloat tempLength;

GLfloat tempHeight;

GLfloat tempDensity;

GLfloat tempSize;

qGlproject::qGlproject(QWidget *parent)

: QGLWidget(parent)  

{

startTimer( 10 );

 

///初始化ode///

dWorldSetGravity(world,0.1,-2.0,0.0);//设置世界的重力加速度 

dWorldSetAutoDisableFlag(world,1);

dWorldSetContactMaxCorrectingVel(world,0.1);

dWorldSetContactSurfaceLayer(world,0.001);//这些不用

 

//testCar.equCreate(world,space,contactgroup);

//testCar.setCarSize(3);

dAllocateODEDataForThread(dAllocateMaskAll);

 

num_ball = 0;

num_car = 0;

num_box = 0;

 

    //使物体无法穿出屋子

dMass boxMass;

dMassSetBox(&boxMass,1,2,500,500);

dGeomSetPosition(ground_box[0],80.5,-20,5);//测试world.drealx.'+'

dGeomSetPosition(ground_box[1],-120.5,-20,25);//测试world.drealx.'-'

dGeomSetPosition(ground_box[2],20,-20,-100.5);//测试world.drealz.'-'

dGeomSetPosition(ground_box[3],20,-20,100.5);//测试world.drealz.'+'

dGeomSetPosition(ground_box[4],60,101,50);//房顶

//设置桌子的位置

dGeomSetPosition(table[0],0,10,0);//桌面

//桌腿顺时针

dGeomSetPosition(table[1],-13,11/2,-13);

dGeomSetPosition(table[2],-13,11/2,13);

dGeomSetPosition(table[3],13,11/2,13);

dGeomSetPosition(table[4],13,11/2,-13);

 

frist.creatLab(world,space);

}

 

//画出桌子

void qGlproject::drawTable()

{

drawGeom(table[0],0,0,sides[0]);//桌面

drawGeom(table[1],0,0,sides[1]);

drawGeom(table[2],0,0,sides[1]);

drawGeom(table[3],0,0,sides[1]);

drawGeom(table[4],0,0,sides[1]);

}

 

//画桌子的geom

void qGlproject::drawGeom(dGeomID g, const dReal *pos, const dReal *R, float *sides)

{

if(!g) return;

if(!pos) pos = dGeomGetPosition(g);

if(!R) R = dGeomGetRotation(g);

 

GLfloat matrix[16];

matrix[0]=R[0];

matrix[1]=R[4];

matrix[2]=R[8];

matrix[3]=0;

matrix[4]=R[1];

matrix[5]=R[5];

matrix[6]=R[9];

matrix[7]=0;

matrix[8]=R[2];

matrix[9]=R[6];

matrix[10]=R[10];

matrix[11]=0;

matrix[12]=pos[0];

matrix[13]=pos[1];

matrix[14]=pos[2];

matrix[15]=1;

 

glPushMatrix();

glMultMatrixf (matrix);

drawBox(sides);

glPopMatrix();

}

 

//画长方体

void qGlproject::drawBox(float *sides)

{

float lx = sides[0]*0.5f;

float ly = sides[1]*0.5f;

float lz = sides[2]*0.5f;

glPushMatrix();

glBindTexture(GL_TEXTURE_2D, texture[3]);

//逆时针

glBegin (GL_QUADS);

//左面

glNormal3f (-1,0,0);

glTexCoord2f(0.0,0.0);glVertex3f (-lx,-ly,-lz);

glTexCoord2f(1.0,0.0);glVertex3f (-lx,-ly,lz);

glTexCoord2f(1.0,1.0);glVertex3f (-lx,ly,lz);

glTexCoord2f(0.0,1.0);glVertex3f (-lx,ly,-lz);

//右面

glNormal3f (1,0,0);

glTexCoord2f(1.0,0.0);glVertex3f (lx,-ly,-lz);

glTexCoord2f(1.0,1.0);glVertex3f (lx,ly,-lz);

glTexCoord2f(0.0,1.0);glVertex3f (lx,ly,lz);

glTexCoord2f(0.0,0.0);glVertex3f (lx,-ly,lz);

//底面

glNormal3f (0,-1,0);

glTexCoord2f(1.0,1.0);glVertex3f (-lx,-ly,-lz);

glTexCoord2f(0.0,1.0);glVertex3f (lx,-ly,-lz);

glTexCoord2f(0.0,0.0);glVertex3f (lx,-ly,lz);

glTexCoord2f(1.0,0.0);glVertex3f (-lx,-ly,lz);

//顶面

glNormal3f (0,10,0);

glTexCoord2f(0.0,1.0);glVertex3f (-lx,ly,-lz);

glTexCoord2f(0.0,0.0);glVertex3f (-lx,ly,lz);

glTexCoord2f(1.0,0.0);glVertex3f (lx,ly,lz);

glTexCoord2f(1.0,1.0);glVertex3f (lx,ly,-lz);

// 背面

glNormal3f (0,0,-1);

glTexCoord2f(1.0,0.0);glVertex3f (-lx,-ly,-lz);

glTexCoord2f(1.0,1.0);glVertex3f (-lx,ly,-lz);

glTexCoord2f(0.0,1.0);glVertex3f (lx,ly,-lz);

glTexCoord2f(0.0,0.0);glVertex3f (lx,-ly,-lz);

// 前面

glNormal3f (0,0,1);

glTexCoord2f(0.0,0.0);glVertex3f (-lx,-ly,lz);

glTexCoord2f(1.0,0.0);glVertex3f (lx,-ly,lz);

glTexCoord2f(1.0,1.0);glVertex3f (lx,ly,lz);

glTexCoord2f(0.0,1.0);glVertex3f (-lx,ly,lz);

glEnd();

glPopMatrix();

}

 

qGlproject::~qGlproject()

{

dJointGroupDestroy(contactgroup);

dSpaceDestroy(space);

dWorldDestroy(world);

dCloseODE();

glDisable(GL_LIGHTING);

glDisable(GL_DEPTH_TEST);

}

 

void qGlproject::initializeGL()

{

LoadGLTextures();

glEnable( GL_TEXTURE_2D );

    glShadeModel( GL_SMOOTH );

    //启用smooth shading(阴影平滑)。阴影平滑通过多边形精细的混合色彩，并对外部光进行平滑。

    glClearColor( 0.2f, 0.5f, 1.0f, 1.0f);

    //设置清除屏幕时所用的颜色。

    glClearDepth( 1.0 );

//设置深度缓存。

glEnable( GL_DEPTH_TEST );

//启用深度测试。

glDepthFunc( GL_LEQUAL );

//所作深度测试的类型。

glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST );

//真正精细的透视修正。这一行告诉OpenGL我们希望进行最好的透视修正。这会十分轻微的影响性能。但使得透视图看起来好一点。

}

 

void qGlproject::timerEvent( QTimerEvent * )

{

updateGL();

}

 

//************转换字符串************

QString qGlproject::GLfQstr(GLfloat f)

{

char str[10];

_gcvt((float)f,4,str);

string str1=str ;

return QString(QString::fromLocal8Bit(str1.c_str()));   

}

 

void qGlproject::LoadGLTextures()                                 

{

QImage tex, buf[4];

//buf.load("./Resource Files/EnvWall.bmp");

buf[0].load( "./Resources/ground.bmp" );

buf[1].load("./Resources/wall4.bmp");

buf[2].load("./Resources/wall4.bmp");

buf[3].load("./Resoures/table.bmp");

 

if ( !buf[0].load( "./Resources/ground.bmp" ) )//载入纹理图片。这里使用了QImage 类。

{

qWarning( "Could not read image file, using single-colorinstead." );

QImage dummy( 1280, 800, 32 );

dummy.setColorCount(7);

buf[0] = dummy;

}

 

if ( !buf[1].load("./Resources/wall4.bmp"))//载入纹理图片。这里使用了QImage 类。

{

qWarning( "Could not read image file, using single-colorinstead." );

QImage dummy( 1280, 800, 32 );

dummy.setColorCount(7);

buf[1] = dummy;

}

 

if (!buf[2].load("./Resources/roof.bmp"))//载入纹理图片。这里使用了QImage 类。

{

qWarning( "Could not read image file, using single-colorinstead." );

QImage dummy( 1280, 800, 32 );

dummy.setColorCount(7);

buf[2] = dummy;

}

 

if (!buf[3].load("./Resources/table.bmp"))//载入纹理图片。这里使用了QImage 类。

{

qWarning( "Could not read image file, using single-colorinstead." );

QImage dummy( 1280, 800, 32 );

dummy.setColorCount(7);

buf[3] = dummy;

}

 

glGenTextures( 4, &texture[0] );

for (int i = 0;i < 4; i++)

{

tex= QGLWidget::convertToGLFormat( buf[i] );

glBindTexture( GL_TEXTURE_2D, texture[i] );

glTexImage2D( GL_TEXTURE_2D, 0, 4, tex.width(),tex.height(), 0,

GL_RGBA, GL_UNSIGNED_BYTE, tex.bits() );

glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );

glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );

}

}

 

 

//绘制阴影

void qGlproject::glShadowProjection(float * l, float * e, float * n) 

{ 

float d, c; 

float mat[16]; 

 

d = n[0]*l[0] + n[1]*l[1] + n[2]*l[2]; 

c = e[0]*n[0] + e[1]*n[1] + e[2]*n[2] - d; 

 

// 创建矩阵.

 

mat[0] = l[0]*n[0]+c; 

mat[4] = n[1]*l[0]; 

mat[8] = n[2]*l[0]; 

mat[12] = -l[0]*c-l[0]*d; 

 

mat[1] = n[0]*l[1]; 

mat[5] = l[1]*n[1]+c; 

mat[9] = n[2]*l[1]; 

mat[13] = -l[1]*c-l[1]*d; 

 

mat[2] = n[0]*l[2]; 

mat[6] = n[1]*l[2]; 

mat[10] = l[2]*n[2]+c; 

mat[14] = -l[2]*c-l[2]*d; 

 

mat[3] = n[0]; 

mat[7] = n[1]; 

mat[11] = n[2]; 

mat[15] = -d; 

 

// 使用矩阵投影变换

glMultMatrixf(mat); 

} 

 

void qGlproject::paintGL()

{

    QString Coordinate;

glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

//清楚屏幕和深度缓存。

glLoadIdentity ();

//重置当前的模型观察矩阵。

GLfloat xtrans = -xpos;

GLfloat ztrans = -(zpos + 5.0);

GLfloat ytrans = -ypos-0.25f;

GLfloat sceneroty = 180.0f - yrot;

glRotatef(lookupdown,1.0f,0,0);

glRotatef(sceneroty,0,1.0f,0);

glTranslatef(xtrans,ytrans-2,ztrans-15);

 

//光照设置

GLfloat LightAmb[] = {1.0f, 1.0f, 1.0f, 1.0f}; // 环境光颜色

GLfloat LightDif[] = {0.8f, 0.8f, 0.8f, 1.0f}; //漫反射光强度值，用他改变颜色   

GLfloat LightPos[] = {4.0f, 24.0f, -100.0f, 1.0f}; // 灯光的位置(x,y,z,w),w = 0表示光不是方向光

GLfloat light_specular0[] = {1.0f, 0.0f, 0.0f, 1.0f}; // 定义镜面反射光的颜色

//初始化光源GL_LIGHT0的颜色属性 

glLightfv(GL_LIGHT0, GL_AMBIENT, LightAmb); //光的环境强度

glLightfv(GL_LIGHT0, GL_DIFFUSE, LightDif); //光的散射度

glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular0);// 创建镜面反射光

glLightfv(GL_LIGHT0, GL_POSITION, LightPos);//光源位置(x.y.z.w)

//glEnable(GL_LIGHT0);//允许GL_LIGHT0光源  

if ( light0 ) glEnable(GL_LIGHT0);

else glDisable(GL_LIGHT0);

glEnable(GL_LIGHTING);//允许光照

//小球代表灯

glPushMatrix();

glDisable(GL_LIGHTING);

glColor3f(0.0,1.0,0.0);

glTranslatef(2.0, 10.0, -5.0);

auxSolidSphere(0.2);

glEnable(GL_LIGHTING);

glPopMatrix();

GLfloat light1_ambient[] = {0.0, 1.0, 0.0, 1.0};

GLfloat light1_siffuse[] = {0.0, 1.0, 0.0, 1.0};

GLfloat light1_specula[] = {1.0, 1.0, 1.0, 1.0};

GLfloat light1_positio[] = {2.0, 10.0, 0.0, 0.0};

GLfloat spot_direction[] = {-1.0, -1.0, 0.0};//聚光方向

GLfloat spot_cu[] = {45.0};

GLfloat spot_di[] = {2.0};

GLfloat spot_con[] = {1.5};

GLfloat spot_lin[] = {0.5};

GLfloat spot_qu[] = {0.2};

glLightfv(GL_LIGHT1, GL_AMBIENT, light1_ambient);//光的环境强度

glLightfv(GL_LIGHT1, GL_DIFFUSE, light1_siffuse);//光的散射度

glLightfv(GL_LIGHT1, GL_SPECULAR, light1_specula);//光的镜面强度

glLightfv(GL_LIGHT1, GL_POSITION, light1_positio);//光源位置(x.y.z.w)

glLightfv(GL_LIGHT1, GL_CONSTANT_ATTENUATION, spot_con);//常量衰减因子

glLightfv(GL_LIGHT1, GL_LINEAR_ATTENUATION, spot_lin);//线性衰减因子

glLightfv(GL_LIGHT1, GL_QUADRATIC_ATTENUATION, spot_qu);//二次衰减因子

glLightfv(GL_LIGHT1, GL_SPOT_CUTOFF,spot_cu);

glLightfv(GL_LIGHT1, GL_SPOT_DIRECTION, spot_direction);

glLightfv(GL_LIGHT1, GL_SPOT_EXPONENT, spot_di);

 

//glLightModeli(GL_LIGHT_MODEL_TWO_SIDE,GL_TRUE);//启用双面光源

//if ( light1 )

//{

// glEnable(GL_LIGHT1);

//}

//glEnable(GL_LIGHTING);//允许光照

 

//光照3设置

glPushMatrix();

glDisable(GL_LIGHTING);

glTranslatef(4.0f, 24.0f, +100.0f);

glColor3f(1.0f,1.0f,1.0f);

auxSolidSphere(1);

glEnable(GL_LIGHTING);

glPopMatrix();

 

GLfloat LightAmb3[] = {1.0f, 1.0f, 1.0f, 1.0f};// 环境光

GLfloat LightDif3[] = {1.0f, 1.0f, 1.0f, 1.0f};// 漫射光

GLfloat LightPos3[] = {4.0f, 18.0f, 6.0f, 1.0f};// 灯光的位置

glLightfv(GL_LIGHT2, GL_AMBIENT, LightAmb3);

glLightfv(GL_LIGHT2, GL_DIFFUSE, LightDif3);

glLightfv(GL_LIGHT2, GL_POSITION, LightPos3);

/*glEnable(GL_LIGHT2); */

 

//光照4设置

glPushMatrix();

glDisable(GL_LIGHTING);

glTranslatef(4.0f, 4.0f, 6.0f);

glColor3f(1.0,0.0,0.0);

auxSolidSphere(0.2);

glEnable(GL_LIGHTING);

glPopMatrix();

GLfloat LightAmb4[] = {1.0f, 0.0f, 0.0f, 1.0f}; // 环境光

GLfloat LightDif4[] = {1.0f, 0.0f, 0.0f, 1.0f}; // 漫射光

GLfloat LightPos4[] = {4.0f, 4.0f, 6.0f, 1.0f}; // 灯光的位置

glLightfv(GL_LIGHT3, GL_AMBIENT, LightAmb4);

glLightfv(GL_LIGHT3, GL_DIFFUSE, LightDif4);

glLightfv(GL_LIGHT3, GL_POSITION, LightPos4);

/*glEnable(GL_LIGHT3)*/;

 

 

混合透明

//glColor4f(1.0f, 1.0f, 1.0f, 0.0);//全亮度， 50% Alpha 混合

//glBlendFunc(GL_SRC_ALPHA,GL_ONE);// 基于源象素alpha通道值的半透明混合函数

//glEnable(GL_BLEND); // 打开混合

//glDisable(GL_DEPTH_TEST); // 关闭深度测试

//地面、墙

glPushMatrix();

glTranslatef(-100,0,100);

glBindTexture(GL_TEXTURE_2D, texture[0]);

for(int i = 0;i < 20;i++)

{

for(int j = 0; j < 20;j++)

{

glBegin(GL_QUADS); 

glColor3f(1,1,1);

glTexCoord2f( 1.0, 1.0 );glVertex3f(-20 + 10*i,0,-10*j);

glTexCoord2f( 0.0, 1.0 );glVertex3f(-20+10*(i+1),0,0 -10*j);

glTexCoord2f( 0.0, 0.0 );glVertex3f(-20+10*(i+1),0,-10*(j+1));

glTexCoord2f( 1.0, 0.0 );glVertex3f(-20+10*i,0,-10*(j+1));

glEnd();

}

}

 

glBindTexture(GL_TEXTURE_2D, texture[1]);

//左墙面

glBegin(GL_QUADS);

glTexCoord2f(1.0,1.0);glVertex3f(-20,100,0);

glTexCoord2f(0.0,1.0);glVertex3f(-20,0,0);

glTexCoord2f(0.0,0.0);glVertex3f(-20,0,-200);

glTexCoord2f(1.0,0.0);glVertex3f(-20,100,-200);

//后墙面

glTexCoord2f(1.0,1.0);glVertex3f(-20,100,-200);

glTexCoord2f(0.0,1.0);glVertex3f(-20,0,-200);

glTexCoord2f(0.0,0.0);glVertex3f(180,0,-200);

glTexCoord2f(1.0,0.0);glVertex3f(180,100,-200);

//右墙面

glTexCoord2f(1.0,1.0);glVertex3f(180,100,-200);

glTexCoord2f(0.0,1.0);glVertex3f(180,0,-200);

glTexCoord2f(0.0,0.0);glVertex3f(180,0,0);

glTexCoord2f(1.0,0.0);glVertex3f(180,100,0);

//前墙面

glTexCoord2f(1.0,1.0);glVertex3f(-20,100,0);

glTexCoord2f(0.0,1.0);glVertex3f(-20,0,0);

glTexCoord2f(0.0,0.0);glVertex3f(180,0,0);

glTexCoord2f(1.0,0.0);glVertex3f(180,100,0);

//房顶

glBindTexture(GL_TEXTURE_2D, texture[2]);

glBegin(GL_QUADS);

glTexCoord2f(1.0,1.0);glVertex3f(-20,100,0);

glTexCoord2f(0.0,1.0);glVertex3f(180,100,0);

glTexCoord2f(0.0,0.0);glVertex3f(180,100,-200);

glTexCoord2f(1.0,0.0);glVertex3f(-20,100,-200);

glEnd();

glPopMatrix();

 

//关闭混合

// glDisable(GL_BLEND);

//glEnable(GL_DEPTH_TEST);

 

显示小球坐标

//QTextCodec::setCodecForTr(QTextCodec::codecForName("gbk"));

//Coordinate = "视角:"+GLfQstr(xtrans)+","+GLfQstr(ytrans)+","+GLfQstr(ztrans)+"球:"+GLfQstr(fBallx)+","+GLfQstr(fBallx)+","+GLfQstr(fBallx)

// +"鼠标:"+GLfQstr((GLfloat)fBallxc)+","+GLfQstr((GLfloat)fBallyc)+","+GLfQstr((GLfloat)fBallzc);

renderText(0,5,-10, tr(GLfQstr(xtrans)));

//setWindowTitle(tr(Coordinate));

 

//桌子

drawTable();

 

///在物理世界里描述具有物理性质的物体///

dSpaceCollide (space,0,&nearCallback);  //调用碰撞检测函数

if(isOde) dWorldQuickStep(world,0.05); //ode开关：Space键

dJointGroupEmpty (contactgroup);        //清空jointgroup 防止stack flow

 

for(int i=0;i<v.size();i++)

{

//glPushMatrix(); 

  // glShadowProjection(l,e,n); 

//v[i]->equDraw();

//glPopMatrix();

v[i]->equDraw();

if(isAble)

v[tempNumBody]->equGetPosition(fBallx,fBally,fBallz);

glPushMatrix(); 

glShadowProjection(l,e,n);

glDisable(GL_LIGHTING); 

glColor3f(0.0,0.0,0.0); 

v[i]->equDraw();

glEnable(GL_LIGHTING);

glPopMatrix();

}

 

if(!isAble)

{

glPushMatrix();

glTranslatef(fBallx,fBally,fBallz);

v[tempNumBody]->equDrawD();

glPopMatrix();

}

frist.drawEnv();

}

 

void qGlproject::resizeGL(int width, int height)

{

if ( height == 0 )

{

height = 1;

}

//防止height为0。

glViewport( 0, 0, (GLint)width, (GLint)height );

//重置当前的视口（Viewport）。

glMatrixMode( GL_PROJECTION );

//选择投影矩阵。

glLoadIdentity();

//重置投影矩阵。

gluPerspective(45.0,(GLfloat)width/(GLfloat)height,0.1,300.0);

//建立透视投影矩阵。

glMatrixMode( GL_MODELVIEW );

//选择模型观察矩阵。

glLoadIdentity();

//重置模型观察矩阵。

}

 

//********键盘事件处理

void qGlproject::keyPressEvent(QKeyEvent *k)

{

if (k->key() == Qt::Key_Q)

{

ypos += 0.5;

if (ypos > 80)

{

ypos = 80;

}

}

if (k->key() == Qt::Key_E)

{

ypos -= 0.5;

//if(ypos < 0 )

//{

// ypos = 0;

//}

}

if(k->key() == Qt::Key_W)

{

xpos += (float)sin(heading*piover180) * 1.5f;

zpos += (float)cos(heading*piover180) * 1.5f;

//if (xpos > 75 )  { xpos = 75;  }

//if (xpos < -115) { xpos = -115; }

//if (zpos > 75)   { zpos = 75;  }

//if (zpos < -115)  { zpos = -115; }

}

if(k->key() == Qt::Key_S)

{

xpos -= (float)sin(heading*piover180) * 1.5f;

zpos -= (float)cos(heading*piover180) * 1.5f;

if (xpos > 75 )  { xpos = 75;  }

if (xpos < -115) { xpos = -115; }

if (zpos > 75)   { zpos = 75;  }

if (zpos < -115)  { zpos = -115; }

}

if(k->key() == Qt::Key_A)

{

xpos += (float)cos(heading*piover180) * 1.0f;

zpos -= (float)sin(heading*piover180) * 1.0f;

if (xpos > 75 )  { xpos = 75;  }

if (xpos < -115) { xpos = -115; }

if (zpos > 75)   { zpos = 75;  }

if (zpos < -115)  { zpos = -115; }

}

if(k->key() == Qt::Key_D)

{

xpos -= (float)cos(heading*piover180) * 1.0f;

zpos += (float)sin(heading*piover180) * 1.0f;

if (xpos > 75 )  { xpos = 75;  }

if (xpos < -115) { xpos = -115; }

if (zpos > 75)   { zpos = 75;  }

if (zpos < -115)  { zpos = -115; }

}

 

if(k->key() == Qt::Key_PageUp)

{

lookupdown -= 1.0f;

}

if(k->key() == Qt::Key_PageDown)

{

lookupdown += 1.0f;

}

 

控制小球

if(k->key() == Qt::Key_Up) Up

{

fBallx += (float)sin(heading*piover180) * 1.5f;

fBallz += (float)cos(heading*piover180) * 1.5f;

}

if(k->key() == Qt::Key_Down) Down

{

fBallx -= (float)sin(heading*piover180) * 1.5f;

fBallz -= (float)cos(heading*piover180) * 1.5f;

}

if(k->key() == Qt::Key_Left) Left

{

fBallx += (float)cos(heading*piover180) * 1.0f;

fBallz -= (float)sin(heading*piover180) * 1.0f;

}

if(k->key() == Qt::Key_Right) Right

{

fBallx -= (float)cos(heading*piover180) * 1.0f;

fBallz += (float)sin(heading*piover180) * 1.0f;

}

//灯光控制

if(k->key() == Qt::Key_F1) 

{

light1 = !light1;

if ( light1 ) glEnable(GL_LIGHT1);

else glDisable(GL_LIGHT1);

 

}

if (k->key() == Qt::Key_F2)

{

light2 = !light2;

if( light2 ) glEnable(GL_LIGHT2);

else glDisable(GL_LIGHT2);

}

if (k->key() == Qt::Key_F3)

{

light3 = !light3;

if ( light3 ) glEnable(GL_LIGHT3);

else glDisable(GL_LIGHT3);

}

if (k->key() == Qt::Key_F4)

{

light0 = !light0;

}

 

 

ode开关

if(k->key() == Qt::Key_Space)

{

if(isOde) isOde = false;

else 

{

isOde = true;

}

}

 

if(k->key() == Qt::Key_C)//创建小球

{

if(num_ball < NUM)

{

ball[num_ball].equSetParameter(0.5,0,0,0,1,0);

ball[num_ball].equCreate(world,space,contactgroup);

v.push_back(&ball[num_ball]);

num_ball++;

}

}

 

if(k->key() == Qt::Key_X)//创建小车

{

if(num_car < NUM)

{

car[num_car].equSetParameter(0,0,0,0,1,1);

car[num_car].equCreate(world,space,contactgroup);

v.push_back(&car[num_car]);

num_car++;

}

}

 

if(k->key() == Qt::Key_Z)//创建箱子

{

if(num_box < NUM)

{

box[num_box].equSetParameter(0,0.5,0.5,0.5,1,0);

box[num_box].equCreate(world,space,contactgroup);

v.push_back(&box[num_box]);

num_box++;

}

}

 

if(k->key() == Qt::Key_B)

{

if(v.size()>0)

{

if(isAble)

{

isAble = false;

//摧毁物体前先将物体的属性记录下来以供重新创建时使用

v[tempNumBody]->equGetParameter(tempRadius,tempLength,tempWidth,tempHeight,tempDensity,tempSize);

v[tempNumBody]->equDestroy();

}

else

{

isAble = true;

v[tempNumBody]->equSetPosition(fBallx,fBally,fBallz);

v[tempNumBody]->equSetParameter(tempRadius,tempLength,tempWidth,tempHeight,tempDensity,tempSize);

v[tempNumBody]->equCreate(world,space,contactgroup);

}

}

}

 

}

 

bool qGlproject::chooseObject()

{

bool choosed = false;

GLdouble a[3];

for (int i = 0; i < v.size()  ; i++)

{

v[i]->equGetPosition(a[0],a[1],a[2]);

GLfloat selRad = v[i]->equGetSelRad();

if(abs(fBallxc - a[0]) < selRad &&  abs(fBallyc - a[1]) < selRad && (fBallzc - a[2]) < selRad )

{

choosed = true;

tempNumBody = i;

break;

}

}

QTextCodec::setCodecForTr(QTextCodec::codecForName("gbk"));

QString Coordinate = "鼠标:"+GLfQstr((GLfloat)a[0])+","+GLfQstr((GLfloat)a[1])+","+GLfQstr((GLfloat)a[2])

+"指针:"+GLfQstr((GLfloat)fBallxc)+","+GLfQstr((GLfloat)fBallyc)+","+GLfQstr((GLfloat)fBallzc) 

+ "tempNumBody:"+GLfQstr((GLfloat)tempNumBody) + " numBody:" +GLfQstr((GLfloat)numBody);

setWindowTitle(tr(Coordinate));

return choosed;

}

 

//***********鼠标事件处理*********

void qGlproject::mousePressEvent(QMouseEvent *event)

{

lastPos = event->pos();

int dxc = event->x();

int dyc = event->y();

if (event->buttons() & Qt::LeftButton)

{

SelectObject(dxc,dyc);

if(isAble)

{

bool tempChoose = chooseObject();

if ( !tempChoose )

tempNumBody = 0;

for(int i=0;i<v.size();i++)

v[i]->equSelectN();

if(v.size() > 0)

{

v[tempNumBody]->equSelectY();

v[tempNumBody]->equGetPosition(fBallx,fBally,fBallz);

}

}

}

}

 

void qGlproject::mouseMoveEvent(QMouseEvent *event)

{

int dx = event->x() - lastPos.x();

int dy = event->y() - lastPos.y();

 

if (event->buttons() & Qt::RightButton)

{

heading -= dx;

yrot = heading;

lookupdown += dy;

}

lastPos = event->pos();

if (event->buttons() & Qt::LeftButton)

    {

//zeading -= dy;

//zrot = zeading;

fBallx -= ((float)sin(zeading*piover180) * 1.5f/10);

if (dx < 0)

{

 

fBallx += (float)cos(heading*piover180) * 1.0f/5;

fBallz -= (float)sin(heading*piover180) * 1.0f/5;

}

else 

{

fBallx -= (float)cos(heading*piover180) * 1.0f/5;

fBallz += (float)sin(heading*piover180) * 1.0f/5;

}

if (dy < 0 )

{

fBallx += (float)sin(heading*piover180) * 1.0f/5;

fBallz += (float)cos(heading*piover180) * 1.0f/5;

 

}

else

{

fBallx -= (float)sin(heading*piover180) * 1.0f/5;

fBallz -= (float)cos(heading*piover180) * 1.0f/5;

}

    }

}

 

void qGlproject::wheelEvent(QWheelEvent *event)

{

double numDegrees = -event->delta() / 8.0;

double numSteps = numDegrees / 200.0;

if (fBally < 0.5)

{

fBally = 0.5;

}

else

    fBally -= numSteps;

}

 

void qGlproject::SelectObject(int x,int y)

{

GLint viewport[4]; 

GLdouble modelview[16]; 

GLdouble projection[16]; 

GLfloat winX, winY, winZ; 

 

glGetDoublev(GL_MODELVIEW_MATRIX, modelview); 

glGetDoublev(GL_PROJECTION_MATRIX, projection); 

glGetIntegerv(GL_VIEWPORT, viewport); 

 

winX = (float)x;

winY = (float)viewport[3] - (float)y;

glReadPixels(x, int(winY), 1, 1, GL_DEPTH_COMPONENT, GL_FLOAT, &winZ); 

 

gluUnProject(winX, winY, winZ, modelview, projection, viewport, &fBallxc, &fBallyc, &fBallzc); 

}

 

碰撞检测的nearCallback函数

void qGlproject::nearCallback(void *data, dGeomID o1, dGeomID o2)

{

dBodyID b1 = dGeomGetBody(o1);

dBodyID b2 = dGeomGetBody(o2);

if(b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact)) return;

dContact contact[4];

for(int i=0; i<4; i++)

{

contact[i].surface.mode = dContactBounce | dContactSoftCFM |

dContactSlip1 | dContactSlip2 | dContactApprox1 | dContactSoftERP;

contact[i].surface.mu = dInfinity;

contact[i].surface.mu2 = 2;//摩擦

contact[i].surface.slip1 = 0.1;

contact[i].surface.slip2 = 0.1;//滑动

contact[i].surface.bounce = 0.5;//弹力0~1

contact[i].surface.bounce_vel = 0.1;//小于该速度就不弹

contact[i].surface.soft_erp = 0.5;

contact[i].surface.soft_cfm = 0;

}

if(int numc = dCollide(o1,o2,4,&contact[0].geom,sizeof(dContact)))

{

for(int i=0; i < numc; i++)

{

dJointID c = dJointCreateContact(world,contactgroup,contact+i);

dJointAttach(c,b1,b2);

}

}

}