学习opengl之刚体绕自身轴运动

最新推荐文章于 2025-03-24 19:29:42 发布

置顶 wphkadn

最新推荐文章于 2025-03-24 19:29:42 发布

阅读量1.1k

点赞数

分类专栏： c++ opengl 文章标签： opengl 刚体绕自身轴运动三维旋转矩阵

本文链接：https://blog.csdn.net/wphkadn/article/details/104930519

版权

c++ 同时被 2 个专栏收录

30 篇文章

订阅专栏

opengl

3 篇文章

订阅专栏

效果

这是一个可以绕自身轴运动的刚体
在这里插入图片描述

工具

glad、glfw(这个无所谓)、glm（这个也主要是为了和glad配合，使用eigen也行）

思路

已知

gl_Position = projection * view * model * vec4(aPos, 1.0f);

1.需要存储一个全局变量保存当前刚体的姿态。

glm::mat4 currentModel = glm::mat4(1.0f);

我们保存的是model。
2.使用变换矩阵右乘来表示沿着新的model的坐标系旋转，使用左乘来表示沿着原来的坐标系旋转。
因为我们要让刚体绕自身的轴旋转，所以采用右乘。
$c u r r e n t T = l a s t T * d e l t a T$
$l a s t T = c u r r e n t$

每次通过windows窗口消息机制来设置deltaT，opengl循环渲染时会使用这个增量。我使用的是三个角度增量来表示绕x,y,z轴的旋转。 这个经过learnopengl教程的入门部分就可以学会了。
$d e l t a T = R o t a t e X (a l p h a) * R o t a t e Y (b e t a) * R o t a t e Z (t h e t a)$
代码如下：

while(1)
{
//
    currentModel = glm::rotate(currentModel, glm::degrees(deltaalpha), glm::vec3(0.0f, 1.f, 0.f));
    currentModel = glm::rotate(currentModel, glm::degrees(deltabeta), glm::vec3(1.0f, 0.f, 0.f));
    currentModel = glm::rotate(currentModel, glm::degrees(deltatheta), glm::vec3(0.0f, 0.f, 1.f));
 }

有了上面3点，就能保证看到的刚体是沿自己的轴运动了

较为完整的代码

总共6部分，stb_image.h、shader_m.h，main.cpp, 顶点着色器文件，片段着色器文件以及纹理图片，除了main.cpp，剩下都可以在learngl入门–(鼠标事件中)找到源代码，我在代码中修改了着色器文件的名字和纹理的名字。

main.cpp，

#pragma execution_character_set("utf-8")
#include <glad/glad.h>
#include <GLFW/glfw3.h>
#define STB_IMAGE_IMPLEMENTATION
#include "stb_image.h"

#include <glm/glm.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtc/type_ptr.hpp>

#include "shader_m.h"

#include <iostream>
#include <string>
using namespace std;

void framebuffer_size_callback(GLFWwindow* window, int width, int height);
void processInput(GLFWwindow* window);

// settings
const unsigned int SCR_WIDTH = 800;
const unsigned int SCR_HEIGHT = 600;

// camera
glm::vec3 cameraPos = glm::vec3(0.f, 0.f, 3.0f);
glm::vec3 cameraFront = glm::vec3(0.0f, 0.0f, -1.0f);
glm::vec3 cameraUp = glm::vec3(0.0f, 1.0f, 0.0f);

float deltaalpha = 0.f;
float deltabeta = 0.f;
float deltatheta = 0.f; //左右转
glm::mat4 currentModel = glm::mat4(1.0f);

// timing
float deltaTime = 0.0f;	// time between current frame and last frame
float lastFrame = 0.0f;

int main()
{
    // glfw: initialize and configure
    // ------------------------------
    glfwInit();
    glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
    glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
    glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);

#ifdef __APPLE__
    glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); // uncomment this statement to fix compilation on OS X
#endif

    // glfw window creation
    // --------------------
    std::cout << "一个可以旋转的正方体（WASD，R）" << std::endl;
    GLFWwindow* window = glfwCreateWindow(SCR_WIDTH, SCR_HEIGHT, "一个可以旋转的正方体（WASD，R）", NULL, NULL);
    if (window == NULL)
    {
        std::cout << "Failed to create GLFW window" << std::endl;
        glfwTerminate();
        return -1;
    }
    glfwMakeContextCurrent(window);
    glfwSetFramebufferSizeCallback(window, framebuffer_size_callback);

    // glad: load all OpenGL function pointers
    // ---------------------------------------
    if (!gladLoadGLLoader((GLADloadproc)glfwGetProcAddress))
    {
        std::cout << "Failed to initialize GLAD" << std::endl;
        return -1;
    }

    // configure global opengl state
    // -----------------------------
    glEnable(GL_DEPTH_TEST);

    // build and compile our shader zprogram
    // ------------------------------------
    Shader ourShader("pos.vs", "color.fs");

    // set up vertex data (and buffer(s)) and configure vertex attributes
    // ------------------------------------------------------------------
    float vertices[] = {
        -0.5f, -0.5f, -0.5f,  0.0f, 0.0f,
         0.5f, -0.5f, -0.5f,  1.0f, 0.0f,
         0.5f,  0.5f, -0.5f,  1.0f, 1.0f,
         0.5f,  0.5f, -0.5f,  1.0f, 1.0f,
        -0.5f,  0.5f, -0.5f,  0.0f, 1.0f,
        -0.5f, -0.5f, -0.5f,  0.0f, 0.0f,

        -0.5f, -0.5f,  0.5f,  0.0f, 0.0f,
         0.5f, -0.5f,  0.5f,  1.0f, 0.0f,
         0.5f,  0.5f,  0.5f,  1.0f, 1.0f,
         0.5f,  0.5f,  0.5f,  1.0f, 1.0f,
        -0.5f,  0.5f,  0.5f,  0.0f, 1.0f,
        -0.5f, -0.5f,  0.5f,  0.0f, 0.0f,

        -0.5f,  0.5f,  0.5f,  1.0f, 0.0f,
        -0.5f,  0.5f, -0.5f,  1.0f, 1.0f,
        -0.5f, -0.5f, -0.5f,  0.0f, 1.0f,
        -0.5f, -0.5f, -0.5f,  0.0f, 1.0f,
        -0.5f, -0.5f,  0.5f,  0.0f, 0.0f,
        -0.5f,  0.5f,  0.5f,  1.0f, 0.0f,

         0.5f,  0.5f,  0.5f,  1.0f, 0.0f,
         0.5f,  0.5f, -0.5f,  1.0f, 1.0f,
         0.5f, -0.5f, -0.5f,  0.0f, 1.0f,
         0.5f, -0.5f, -0.5f,  0.0f, 1.0f,
         0.5f, -0.5f,  0.5f,  0.0f, 0.0f,
         0.5f,  0.5f,  0.5f,  1.0f, 0.0f,

        -0.5f, -0.5f, -0.5f,  0.0f, 1.0f,
         0.5f, -0.5f, -0.5f,  1.0f, 1.0f,
         0.5f, -0.5f,  0.5f,  1.0f, 0.0f,
         0.5f, -0.5f,  0.5f,  1.0f, 0.0f,
        -0.5f, -0.5f,  0.5f,  0.0f, 0.0f,
        -0.5f, -0.5f, -0.5f,  0.0f, 1.0f,

        -0.5f,  0.5f, -0.5f,  0.0f, 1.0f,
         0.5f,  0.5f, -0.5f,  1.0f, 1.0f,
         0.5f,  0.5f,  0.5f,  1.0f, 0.0f,
         0.5f,  0.5f,  0.5f,  1.0f, 0.0f,
        -0.5f,  0.5f,  0.5f,  0.0f, 0.0f,
        -0.5f,  0.5f, -0.5f,  0.0f, 1.0f
    };
    // world space positions of our cubes
    glm::vec3 cubePositions[] = {
        glm::vec3(0.0f,  0.0f,  0.0f),
        //glm::vec3(2.0f,  5.0f, -15.0f),
        //glm::vec3(-1.5f, -2.2f, -2.5f),
        //glm::vec3(-3.8f, -2.0f, -12.3f),
        //glm::vec3(2.4f, -0.4f, -3.5f),
        //glm::vec3(-1.7f,  3.0f, -7.5f),
        //glm::vec3(1.3f, -2.0f, -2.5f),
        //glm::vec3(1.5f,  2.0f, -2.5f),
        //glm::vec3(1.5f,  0.2f, -1.5f),
        //glm::vec3(-1.3f,  1.0f, -1.5f)
    };
    unsigned int VBO, VAO;
    glGenVertexArrays(1, &VAO);
    glGenBuffers(1, &VBO);

    glBindVertexArray(VAO);

    glBindBuffer(GL_ARRAY_BUFFER, VBO);
    glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);

    // position attribute
    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void*)0);
    glEnableVertexAttribArray(0);
    // texture coord attribute
    glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void*)(3 * sizeof(float)));
    glEnableVertexAttribArray(1);


    // load and create a texture 
    // -------------------------
    unsigned int texture1, texture2;
    // texture 1
    // ---------
    glGenTextures(1, &texture1);
    glBindTexture(GL_TEXTURE_2D, texture1);
    // set the texture wrapping parameters
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
    // set texture filtering parameters
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
    // load image, create texture and generate mipmaps
    int width, height, nrChannels;
    stbi_set_flip_vertically_on_load(true); // tell stb_image.h to flip loaded texture's on the y-axis.
    unsigned char* data = stbi_load("wall.jpg", &width, &height, &nrChannels, 0);
    if (data)
    {
        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB, GL_UNSIGNED_BYTE, data);
        glGenerateMipmap(GL_TEXTURE_2D);
    }
    else
    {
        std::cout << "Failed to load texture" << std::endl;
    }
    stbi_image_free(data);
    // texture 2
    // ---------
    glGenTextures(1, &texture2);
    glBindTexture(GL_TEXTURE_2D, texture2);
    // set the texture wrapping parameters
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
    // set texture filtering parameters
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
    // load image, create texture and generate mipmaps
    data = stbi_load("awesomeface.png", &width, &height, &nrChannels, 0);
    if (data)
    { 
        // note that the awesomeface.png has transparency and thus an alpha channel, so make sure to tell OpenGL the data type is of GL_RGBA
        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, data);
        glGenerateMipmap(GL_TEXTURE_2D);
    }
    else
    {
        std::cout << "Failed to load texture" << std::endl;
    }
    stbi_image_free(data);

    // tell opengl for each sampler to which texture unit it belongs to (only has to be done once)
    // -------------------------------------------------------------------------------------------
    ourShader.use();
    ourShader.setInt("texture1", 0);
    ourShader.setInt("texture2", 1);

    // pass projection matrix to shader (as projection matrix rarely changes there's no need to do this per frame)
    // -----------------------------------------------------------------------------------------------------------
    glm::mat4 projection = glm::perspective(glm::radians(45.f), (float)SCR_WIDTH / (float)SCR_HEIGHT, 0.1f, 100.0f);
    ourShader.setMat4("projection", projection);


    // render loop
    // -----------
    while (!glfwWindowShouldClose(window))
    {
        // per-frame time logic
        // --------------------
        float currentFrame = glfwGetTime();
        deltaTime = currentFrame - lastFrame;
        lastFrame = currentFrame;

        // input
        // -----
        processInput(window);

        // render
        // ------
        glClearColor(0.2f, 0.3f, 0.3f, 1.0f);
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

        // bind textures on corresponding texture units
        glActiveTexture(GL_TEXTURE0);
        glBindTexture(GL_TEXTURE_2D, texture1);
        glActiveTexture(GL_TEXTURE1);
        glBindTexture(GL_TEXTURE_2D, texture2);

        // activate shader
        ourShader.use();

        // camera/view transformation
        glm::mat4 view = glm::lookAt(cameraPos, cameraPos + cameraFront, cameraUp);
        ourShader.setMat4("view", view);

        // render boxes
        glBindVertexArray(VAO);
        for (unsigned int i = 0; i < 1; i++)
        {
            // calculate the model matrix for each object and pass it to shader before drawing
            currentModel = glm::rotate(currentModel, glm::degrees(deltaalpha), glm::vec3(0.0f, 1.f, 0.f));
            currentModel = glm::rotate(currentModel, glm::degrees(deltabeta), glm::vec3(1.0f, 0.f, 0.f));
            currentModel = glm::rotate(currentModel, glm::degrees(deltatheta), glm::vec3(0.0f, 0.f, 1.f));
            ourShader.setMat4("model", currentModel);
           

            glDrawArrays(GL_TRIANGLES, 0, 36);
        }

        // glfw: swap buffers and poll IO events (keys pressed/released, mouse moved etc.)
        // -------------------------------------------------------------------------------
        glfwSwapBuffers(window);
        glfwPollEvents();
    }

    // optional: de-allocate all resources once they've outlived their purpose:
    // ------------------------------------------------------------------------
    glDeleteVertexArrays(1, &VAO);
    glDeleteBuffers(1, &VBO);

    // glfw: terminate, clearing all previously allocated GLFW resources.
    // ------------------------------------------------------------------
    glfwTerminate();
    return 0;
}

// process all input: query GLFW whether relevant keys are pressed/released this frame and react accordingly
// ---------------------------------------------------------------------------------------------------------
void processInput(GLFWwindow* window)
{
    if (glfwGetKey(window, GLFW_KEY_ESCAPE) == GLFW_PRESS)
        glfwSetWindowShouldClose(window, true);

    deltaalpha = 0;
    deltabeta = 0;
    deltatheta = 0;
    float cameraSpeed = 2.5 * deltaTime;
    if (glfwGetKey(window, GLFW_KEY_W) == GLFW_PRESS)
    {
        deltabeta -= 0.00001f;
    }
    if (glfwGetKey(window, GLFW_KEY_S) == GLFW_PRESS)
    {
        deltabeta += 0.00001f;
    }
    if (glfwGetKey(window, GLFW_KEY_A) == GLFW_PRESS)
    {
        deltaalpha -= 0.00001f;
    }
    if (glfwGetKey(window, GLFW_KEY_D) == GLFW_PRESS)
    {
        deltaalpha += 0.00001f;
    }
    if (glfwGetKey(window, GLFW_KEY_J) == GLFW_PRESS)
    {
        deltatheta -= 0.00001f;
    }
    if (glfwGetKey(window, GLFW_KEY_K) == GLFW_PRESS)
    {
        deltatheta += 0.00001f;
    }
    if (glfwGetKey(window, GLFW_KEY_R) == GLFW_PRESS)
    {
        currentModel = glm::mat4(1.0f);
    }
}

// glfw: whenever the window size changed (by OS or user resize) this callback function executes
// ---------------------------------------------------------------------------------------------
void framebuffer_size_callback(GLFWwindow* window, int width, int height)
{
    // make sure the viewport matches the new window dimensions; note that width and 
    // height will be significantly larger than specified on retina displays.
    glViewport(0, 0, width, height);
}

着色器 pos.vs

#version 330 core
layout (location = 0) in vec3 aPos;
layout (location = 1) in vec2 aTexCoord;

out vec2 TexCoord;

uniform mat4 model;
uniform mat4 view;
uniform mat4 projection;

void main()
{
	gl_Position = projection * view * model * vec4(aPos, 1.0f);
	TexCoord = vec2(aTexCoord.x, aTexCoord.y);
}

着色器 color.fs

#version 330 core
out vec4 FragColor;

in vec2 TexCoord;

// texture samplers
uniform sampler2D texture1;
uniform sampler2D texture2;

void main()
{
	// linearly interpolate between both textures (80% container, 20% awesomeface)
	FragColor = mix(texture(texture1, TexCoord), texture(texture2, TexCoord), 0.2);
}