Add EulerAngles to Quaternion and Shaders System

CMakeLists.txt

@@ -1,5 +1,7 @@
 #require opengl,glew,glut,glu,al,alc,sndfile library
 
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+
 cmake_minimum_required(VERSION 2.6)
 cmake_policy(SET CMP0015 NEW)
 

res/shaders/test.frag

@@ -0,0 +1,6 @@
+uniform float a;
+
+void main(void){
+    if(a >= 0)gl_FragColor = vec4(a,0,0,1);
+    else gl_FragColor = vec4(0,-a,0,1);
+}

res/shaders/test.vert

@@ -0,0 +1,6 @@
+
+
+void main(void){
+    gl_FrontColor = gl_Color;
+    gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex;
+}

src/audio.cpp

@@ -3,8 +3,11 @@
 ALCdevice* Audio::device;
 ALCcontext* Audio::context;
 
-ALuint Audio::loadSound(const std::string Filename){
+ALuint Audio::loadSound(std::string Filename){
     // Ouverture du fichier audio avec libsndfile
+    std::string* path = new std::string("res/sounds/");
+    Filename = *path + Filename;
+    delete path;
     SF_INFO FileInfos;
     SNDFILE* File = sf_open(Filename.c_str(), SFM_READ, &FileInfos);
     if (File == NULL){

src/audio.h

@@ -15,7 +15,7 @@ class Audio{
     public:
     static void initOpenAL();
     static void destroyOpenAL();
-    static ALuint loadSound(const std::string);
+    static ALuint loadSound(std::string);
     static ALuint createSource(ALuint*);
     static ALuint createSource(const std::string);
     static void destroySound(ALuint*);

src/main.cpp

@@ -1,11 +1,10 @@
 #include "window.h"
 #include "audio.h"
+#include "renderer.h"
 
 #include <iostream>
 #include <fstream>
 
-//43,2ko
-
 void event(SDL_Event e){
     
 }
@@ -13,24 +12,29 @@ void event(SDL_Event e){
 int main(int argc, char** argv){
     Window::initWindow(800,600,"Test");
     Audio::initOpenAL();
+    GLuint s = Shader::createShader("test.vert","test.frag");
+    float i = 0;
+    Shader::bindShader(&s);
     while(!Window::closeRequested){//main loop
-
+        Shader::setUniform(&s,"a",cos(i));
         Window::pollEvent(&event);
 
         glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
         glLoadIdentity();
-        glBegin(GL_POINTS);
+        glBegin(GL_QUADS);
         glVertex2f(-1,-1);
         glVertex2f(-1,1);
-        glVertex2f(1,-1);
+        glVertex2f(1,1);
         glVertex2f(1,-1);
         glEnd();
 
         Window::displayUpdate();
-        
+        i+=1/5000.0f;
     }
+    Shader::destroyShader(&s);
     Audio::destroyOpenAL();
     Window::destroyWindow();
+
     return 0;
 }

src/math.cpp

@@ -40,10 +40,6 @@ int norm(float v){
     return (v>=0)?1:-1;
 }
 
-float abs(float a){
-    return (a<0)?-a:a;
-}
-
 float nearest(float a, float b, float v){
     float absA = abs(a);
     float absB = abs(b);

src/math.h

@@ -3,6 +3,7 @@
 
 #include <math.h> 
 #include <cstddef>
+#include <algorithm>
 
 extern const float PI;
 float lerp(float,float,float);
@@ -15,7 +16,6 @@ float max(float,float);
 float toRadians(float);
 float toDegrees(float);
 int norm(float);
-float abs(float);
 float nearest(float,float,float);
 
 class Vector4f;
@@ -201,6 +201,7 @@ class Quaternion{
     Matrix4f ToMatrix();
     Quaternion NLerp(Quaternion,float,bool);
     Quaternion SLerp(Quaternion,float,bool);
+    Vector3f EulerAngles();
     Vector3f GetForward();
     Vector3f GetBackward();
     Vector3f GetRight();

src/matrix4f.cpp

@@ -220,3 +220,4 @@ float* Matrix4f::GetComponents(){
 	}
     return result;
 }
+

src/quaternion.cpp

@@ -24,8 +24,8 @@ Quaternion::Quaternion(float x, float y, float z, float w){
 }
 
 Quaternion::Quaternion(Vector3f axis,float angle){
-    float s = (float) sin(angle / 2);
+    float s = (float) sin(angle / 2.0);
-	float c = (float) cos(angle / 2);
+	float c = (float) cos(angle / 2.0);
 
 	this->x = axis.x * s;
 	this->y = axis.y * s;
@@ -44,22 +44,19 @@ Quaternion::Quaternion(const Quaternion& q,Vector3f axis,float angle){
 }
 
 Quaternion::Quaternion(Vector3f euler){
-    float c1 = (float) cos(euler.x / 2);
+    double h = euler.y * PI/360.0f;
-	float s1 = (float) sin(euler.x / 2);
+	double a = euler.z * PI/360.0f;
-		
+	double b = euler.x * PI/360.0f;
-	float c2 = (float) cos(euler.y / 2);
+	double c1 = cos(h);
-	float s2 = (float) sin(euler.y / 2);
+	double c2 = cos(a);
-		
+	double c3 = cos(b);
-	float c3 = (float) cos(euler.z / 2);
+	double s1 = sin(h);
-	float s3 = (float) sin(euler.z / 2);
+	double s2 = sin(a);
-		
+	double s3 = sin(b);
-	float c1c2 = c1 * c2;
+	w = round((c1*c2*c3 - s1*s2*s3)*100000.0)/100000.0;
-	float s1s2 = s1 * s2;
+	x = round((s1*s2*c3 + c1*c2*s3)*100000.0)/100000.0;
-
+	y = round((s1*c2*c3 + c1*s2*s3)*100000.0)/100000.0;
-	x = c1c2 * s3 + s1s2 * c3;
+	z = round((c1*s2*c3 - s1*c2*s3)*100000.0)/100000.0;
-	y = s1 * c2 * c3 + c1 * s2 * s3;
-	z = c1 * s2 * c3 - s1 * c2 * s3;
-    w = c1c2 * c3 - s1s2 * s3;
 }
 
 Quaternion::Quaternion(Matrix4f rot){
@@ -276,3 +273,35 @@ Vector3f Quaternion::GetUp(){
 Vector3f Quaternion::GetDown(){
     return Vector3f(0, -1, 0).Rotate(*this);
 }
+
+Vector3f Quaternion::EulerAngles(){
+	Vector3f euler = Vector3f();
+	double qw = w;
+	double qx = x;
+	double qy = y;
+	double qz = z;
+	double qw2 = qw*qw;
+	double qx2 = qx*qx;
+	double qy2 = qy*qy;
+	double qz2 = qz*qz;
+	double test= qx*qy + qz*qw;
+	if (test > 0.499) {
+		euler.y = 360/PI*atan2(qx,qw);
+		euler.z = 90;
+		euler.x = 0;
+		return euler;  
+	}
+	if (test < -0.499) {
+		euler.y = -360/PI*atan2(qx,qw);
+		euler.z = -90;
+		euler.x = 0;
+		return euler;  
+	}
+	double h = atan2(2*qy*qw-2*qx*qz,1-2*qy2-2*qz2);
+	double a = asin(2*qx*qy+2*qz*qw);
+	double b = atan2(2*qx*qw-2*qy*qz,1-2*qx2-2*qz2);
+	euler.y = round(h*180/PI);
+	euler.z = round(a*180/PI);
+	euler.x = round(b*180/PI);
+	return euler;
+}

src/renderer.h

@@ -0,0 +1,38 @@
+#ifndef RENDERER_H
+#define RENDERER_H
+
+#include "math.h"
+
+#include <iostream>
+#include <vector>
+#include <sstream>
+#include <iterator>
+#include <fstream>
+#include <malloc.h>
+#include <string>
+#include <sys/stat.h>
+#include <algorithm>
+
+#include <SDL2/SDL.h>
+#include <GL/glew.h>
+#include <GL/gl.h>
+#include <GL/glu.h>
+
+bool fileExists(const std::string&);
+
+class Shader{
+    public:
+    static std::string LoadSource(const char*);
+    static GLuint createShader(const char*,const char*);
+    static void destroyShader(GLuint*);
+    static void bindShader(GLuint*);
+    static void unbindShader();
+    static void setUniform(GLuint*,const char*,float);
+    static void setUniform(GLuint*,const char*,Vector3f);
+    static void setUniform(GLuint*,const char*,Vector2f);
+    static void setUniform(GLuint*,const char*,Vector4f);
+    static void setUniform(GLuint*,const char*,Quaternion);
+    static void setUniform(GLuint*,const char*,Matrix4f);
+};
+
+#endif

src/shader.cpp

@@ -0,0 +1,174 @@
+#include "renderer.h"
+
+std::string Shader::LoadSource(const char* filename){
+    std::string file("");
+    std::ifstream in_stream;
+    std::string line;
+    std::vector<const char*> v;
+
+    std::string* ff = new std::string(filename);
+    std::string* path = new std::string("res/shaders/");
+    *ff = *path + *ff;
+    in_stream.open(ff->c_str());
+    delete ff;
+    delete path;
+
+    int l = 1;
+    for( std::string line; getline( in_stream, line ); )
+    {
+        if(line.substr(0,8) != "#include"){
+            file += line + "\n";
+        }else{
+            std::string str = line;
+            std::istringstream buf(str);
+            std::istream_iterator<std::string> beg(buf), end;
+
+            std::vector<std::string> tokens(beg, end); // done!
+            if(tokens.size() == 2){
+                std::string fileName = tokens.at(1).substr(1,tokens.at(1).size() - 2);
+                bool a = fileExists(fileName);
+                if (a){
+                    if(std::find(v.begin(), v.end(), fileName.c_str()) == v.end()){
+                        file = file + std::string(Shader::LoadSource(fileName.c_str()));
+                        v.push_back(fileName.c_str());
+                    }
+                }else{printf("Syntax incorrect #%d : include file '%s' not exist",l,fileName.c_str());}
+            }else{
+                printf("Syntax incorrect #%d : expected identifier after ‘include’ token",l);
+            }
+        }
+        l++;
+    }
+    in_stream.close();
+    return file;
+}
+
+void Shader::destroyShader(GLuint* s){
+    glDeleteProgram(*s);
+}
+
+GLuint Shader::createShader(const char* vertName,const char* fragName){
+    std::string vert = Shader::LoadSource(vertName);
+    std::string frag = Shader::LoadSource(fragName);
+    GLuint vertShader;
+    GLuint fragShader;
+
+    vertShader = glCreateShader(GL_VERTEX_SHADER);
+    fragShader = glCreateShader(GL_FRAGMENT_SHADER);
+    if(vertShader == 0 || fragShader == 0){
+        printf("Shader not created !");
+        if(vertShader != 0)glDeleteShader(vertShader);
+        if(fragShader != 0)glDeleteShader(fragShader);
+        return 0;
+    }
+
+    const char* a = ((const char*)vert.c_str());
+    const char* b = ((const char*)frag.c_str());
+
+    glShaderSource(vertShader,1,(const GLchar**)&a,NULL);
+    glShaderSource(fragShader,1,(const GLchar**)&b,NULL);
+
+    glCompileShader(vertShader);
+    GLint compile_status = GL_TRUE;
+    glGetShaderiv(vertShader, GL_COMPILE_STATUS, &compile_status);
+    if(compile_status != GL_TRUE){
+        char *log = NULL;
+        GLsizei logsize = 0;
+        glGetShaderiv(vertShader, GL_INFO_LOG_LENGTH, &logsize);
+        log = (char*)malloc(logsize + 1);
+        if(log == NULL)
+        {
+            fprintf(stderr, "impossible d'allouer de la memoire !\n");
+            return 0;
+        }
+        memset(log, '\0', logsize + 1);
+        glGetShaderInfoLog(vertShader, logsize, &logsize, log);
+        fprintf(stderr, "impossible de compiler le shader '%s' :\n%s",vertName,log);
+        free(log);
+        glDeleteShader(vertShader);
+        glDeleteShader(fragShader);
+        return 0;
+    }
+    glCompileShader(fragShader);
+    compile_status = GL_TRUE;
+    glGetShaderiv(fragShader, GL_COMPILE_STATUS, &compile_status);
+    if(compile_status != GL_TRUE){
+        char *log = NULL;
+        GLsizei logsize = 0;
+        glGetShaderiv(fragShader, GL_INFO_LOG_LENGTH, &logsize);
+        log = (char*)malloc(logsize + 1);
+        if(log == NULL)
+        {
+            fprintf(stderr, "impossible d'allouer de la memoire !\n");
+            return 0;
+        }
+        memset(log, '\0', logsize + 1);
+        glGetShaderInfoLog(fragShader, logsize, &logsize, log);
+        fprintf(stderr, "impossible de compiler le shader '%s' :\n%s",fragName,log);
+        free(log);
+        glDeleteShader(vertShader);
+        glDeleteShader(fragShader);
+        return 0;
+    }
+    GLuint program;
+    program = glCreateProgram();
+    glAttachShader(program,vertShader);
+    glAttachShader(program,fragShader);
+    glLinkProgram(program);
+    GLint linked;
+    glGetProgramiv(program, GL_LINK_STATUS, &linked);
+    if (!linked)
+    {
+    	printf("Program not linked !");
+        glDeleteShader(vertShader);
+        glDeleteShader(fragShader);
+        glDeleteProgram(program);
+        return 0;
+    }  
+    glValidateProgram(program);
+    glDeleteShader(vertShader);
+    glDeleteShader(fragShader);
+    return program;
+}
+
+void Shader::bindShader(GLuint* s){
+    glUseProgram(*s);
+}
+
+void Shader::unbindShader(){
+    glUseProgram(0);
+}
+
+bool fileExists(const std::string& filename)
+{
+    struct stat buf;
+    if (stat(filename.c_str(), &buf) != -1)
+    {
+        return true;
+    }
+    return false;
+}
+
+void Shader::setUniform(GLuint* program,const char* varName,float value){
+    glUniform1f(glGetUniformLocation(*program,varName),value);
+}
+
+void Shader::setUniform(GLuint* program,const char* varName,Vector2f v){
+    glUniform2f(glGetUniformLocation(*program,varName),v.x,v.y);
+}
+
+void Shader::setUniform(GLuint* program,const char* varName,Vector3f v){
+    glUniform3f(glGetUniformLocation(*program,varName),v.x,v.y,v.z);
+}
+
+void Shader::setUniform(GLuint* program,const char* varName,Vector4f v){
+    glUniform4f(glGetUniformLocation(*program,varName),v.x,v.y,v.z,v.w);
+}
+
+void Shader::setUniform(GLuint* program,const char* varName,Quaternion v){
+    glUniform4f(glGetUniformLocation(*program,varName),v.x,v.y,v.z,v.w);
+}
+
+void Shader::setUniform(GLuint* program,const char* varName,Matrix4f ma){
+    glUniformMatrix4fv(glGetUniformLocation(*program,varName),01,0,ma.GetComponents());
+}

src/window.cpp

@@ -49,7 +49,6 @@ void Window::destroyWindow(){
     SDL_GL_DeleteContext ( context ) ; 
     SDL_DestroyWindow(pWindow);
     SDL_Quit();
-    exit(0);
 }
 
 void Window::displayUpdate(){