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- added new libspnav spinning cube example
git-svn-id: svn+ssh://svn.code.sf.net/p/spacenav/code/trunk/libspnav@80 ef983eb1-d774-4af8-acfd-baaf7b16a646
1 parent e02450d commit f250cf1

7 files changed

Lines changed: 454 additions & 2 deletions

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‎examples/cube/Makefile‎

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obj = cube.o vmath.o
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bin = cube
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CC = gcc
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CFLAGS = -pedantic -Wall -g -I../..
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LDFLAGS = -L../.. -lX11 -lGL -lGLU -lm -lspnav
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$(bin): $(obj)
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$(CC) -o $@ $(obj) $(LDFLAGS)
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.PHONY: clean
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clean:
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rm -f $(obj) $(bin)

‎examples/cube/cube.c‎

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/* This example demonstrates how to use libspnav to get space navigator input,
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* and use that to rotate and translate a 3D cube. The magellan X11 protocol is
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* used (spnav_x11_open) which is compatible with both spacenavd and
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* 3Dconnexion's 3dxsrv.
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*
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* The code is a bit cluttered with X11 and GLX calls, so the interesting bits
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* are marked with XXX comments.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <math.h>
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#include <X11/Xlib.h>
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#include <GL/gl.h>
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#include <GL/glu.h>
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#include <GL/glx.h>
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#include <spnav.h>
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#include "vmath.h"
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#define SQ(x) ((x) * (x))
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int create_gfx(int xsz, int ysz);
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void destroy_gfx(void);
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void set_window_title(const char *title);
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void redraw(void);
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void draw_cube(void);
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int handle_event(XEvent *xev);
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Display *dpy;
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Atom wm_prot, wm_del_win;
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GLXContext ctx;
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Window win;
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vec3_t pos = {0, 0, -6};
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quat_t rot = {0, 0, 0, 1};
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int redisplay;
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int main(void)
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{
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if(!(dpy = XOpenDisplay(0))) {
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fprintf(stderr, "failed to connect to the X server");
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return 1;
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}
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if(create_gfx(512, 512) == -1) {
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return 1;
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}
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/* XXX: This actually registers our window with the driver for receiving
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* motion/button events through the 3dxsrv-compatible X11 protocol.
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*/
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if(spnav_x11_open(dpy, win) == -1) {
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fprintf(stderr, "failed to connect to the space navigator daemon\n");
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return 1;
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}
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glEnable(GL_DEPTH_TEST);
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glEnable(GL_CULL_FACE);
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for(;;) {
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XEvent xev;
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XNextEvent(dpy, &xev);
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if(handle_event(&xev) != 0) {
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destroy_gfx();
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XCloseDisplay(dpy);
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return 0;
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}
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if(redisplay) {
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redraw();
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redisplay = 0;
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}
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}
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return 0;
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}
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int create_gfx(int xsz, int ysz)
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{
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int scr;
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Window root;
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XVisualInfo *vis;
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XSetWindowAttributes xattr;
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unsigned int events;
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XClassHint class_hint;
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int attr[] = {
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GLX_RGBA, GLX_DOUBLEBUFFER,
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GLX_RED_SIZE, 8,
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GLX_GREEN_SIZE, 8,
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GLX_BLUE_SIZE, 8,
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GLX_DEPTH_SIZE, 24,
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None
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};
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wm_prot = XInternAtom(dpy, "WM_PROTOCOLS", False);
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wm_del_win = XInternAtom(dpy, "WM_DELETE_WINDOW", False);
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scr = DefaultScreen(dpy);
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root = RootWindow(dpy, scr);
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if(!(vis = glXChooseVisual(dpy, scr, attr))) {
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fprintf(stderr, "requested GLX visual is not available\n");
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return -1;
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}
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if(!(ctx = glXCreateContext(dpy, vis, 0, True))) {
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fprintf(stderr, "failed to create GLX context\n");
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XFree(vis);
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return -1;
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}
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xattr.background_pixel = xattr.border_pixel = BlackPixel(dpy, scr);
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xattr.colormap = XCreateColormap(dpy, root, vis->visual, AllocNone);
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if(!(win = XCreateWindow(dpy, root, 0, 0, xsz, ysz, 0, vis->depth, InputOutput,
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vis->visual, CWColormap | CWBackPixel | CWBorderPixel, &xattr))) {
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fprintf(stderr, "failed to create X window\n");
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return -1;
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}
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XFree(vis);
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/* set the window event mask */
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events = ExposureMask | StructureNotifyMask | KeyPressMask | KeyReleaseMask |
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ButtonReleaseMask | ButtonPressMask | PointerMotionMask;
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XSelectInput(dpy, win, events);
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XSetWMProtocols(dpy, win, &wm_del_win, 1);
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set_window_title("libspnav cube");
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class_hint.res_name = "cube";
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class_hint.res_class = "cube";
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XSetClassHint(dpy, win, &class_hint);
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if(glXMakeCurrent(dpy, win, ctx) == False) {
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fprintf(stderr, "glXMakeCurrent failed\n");
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glXDestroyContext(dpy, ctx);
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XDestroyWindow(dpy, win);
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return -1;
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}
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XMapWindow(dpy, win);
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XFlush(dpy);
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return 0;
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}
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void destroy_gfx(void)
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{
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glXDestroyContext(dpy, ctx);
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XDestroyWindow(dpy, win);
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glXMakeCurrent(dpy, None, 0);
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}
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void set_window_title(const char *title)
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{
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XTextProperty wm_name;
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XStringListToTextProperty((char**)&title, 1, &wm_name);
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XSetWMName(dpy, win, &wm_name);
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XSetWMIconName(dpy, win, &wm_name);
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XFree(wm_name.value);
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}
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void redraw(void)
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{
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mat4_t xform;
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quat_to_mat(xform, rot);
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glMatrixMode(GL_MODELVIEW);
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glLoadIdentity();
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glTranslatef(pos.x, pos.y, pos.z);
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glMultTransposeMatrixf((float*)xform);
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draw_cube();
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glXSwapBuffers(dpy, win);
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}
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void draw_cube(void)
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{
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glBegin(GL_QUADS);
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/* face +Z */
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glNormal3f(0, 0, 1);
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glColor3f(1, 0, 0);
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glVertex3f(-1, -1, 1);
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glVertex3f(1, -1, 1);
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glVertex3f(1, 1, 1);
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glVertex3f(-1, 1, 1);
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/* face +X */
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glNormal3f(1, 0, 0);
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glColor3f(0, 1, 0);
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glVertex3f(1, -1, 1);
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glVertex3f(1, -1, -1);
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glVertex3f(1, 1, -1);
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glVertex3f(1, 1, 1);
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/* face -Z */
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glNormal3f(0, 0, -1);
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glColor3f(0, 0, 1);
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glVertex3f(1, -1, -1);
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glVertex3f(-1, -1, -1);
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glVertex3f(-1, 1, -1);
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glVertex3f(1, 1, -1);
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/* face -X */
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glNormal3f(-1, 0, 0);
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glColor3f(1, 1, 0);
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glVertex3f(-1, -1, -1);
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glVertex3f(-1, -1, 1);
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glVertex3f(-1, 1, 1);
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glVertex3f(-1, 1, -1);
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/* face +Y */
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glNormal3f(0, 1, 0);
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glColor3f(0, 1, 1);
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glVertex3f(-1, 1, 1);
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glVertex3f(1, 1, 1);
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glVertex3f(1, 1, -1);
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glVertex3f(-1, 1, -1);
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/* face -Y */
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glNormal3f(0, -1, 0);
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glColor3f(1, 0, 1);
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glVertex3f(-1, -1, -1);
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glVertex3f(1, -1, -1);
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glVertex3f(1, -1, 1);
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glVertex3f(-1, -1, 1);
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glEnd();
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}
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int handle_event(XEvent *xev)
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{
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static int win_mapped;
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KeySym sym;
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spnav_event spev;
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switch(xev->type) {
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case MapNotify:
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win_mapped = 1;
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break;
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case UnmapNotify:
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win_mapped = 0;
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break;
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case Expose:
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if(win_mapped && xev->xexpose.count == 0) {
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redraw();
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}
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break;
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case ClientMessage:
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/* XXX check if the event is a spacenav event */
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if(spnav_x11_event(xev, &spev)) {
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/* if so deal with motion and button events */
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if(spev.type == SPNAV_EVENT_MOTION) {
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/* apply axis/angle rotation to the quaternion */
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float angle = 0.000005 * sqrt(SQ(spev.motion.rx) + SQ(spev.motion.ry) + SQ(spev.motion.rz));
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rot = quat_rotate(rot, angle, -spev.motion.rx, -spev.motion.ry, spev.motion.rz);
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rot = quat_normalize(rot);
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/* add translation */
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pos.x += spev.motion.x * 0.001;
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pos.y += spev.motion.y * 0.001;
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pos.z -= spev.motion.z * 0.001;
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redisplay = 1;
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} else {
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/* on button press, reset the cube */
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if(spev.button.press) {
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pos = v3_cons(0, 0, -6);
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rot = quat_cons(1, 0, 0, 0);
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redisplay = 1;
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}
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}
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/* finally remove any other queued motion events */
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spnav_remove_events(SPNAV_EVENT_MOTION);
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} else if(xev->xclient.message_type == wm_prot) {
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if(xev->xclient.data.l[0] == wm_del_win) {
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return 1;
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}
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}
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break;
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case KeyPress:
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sym = XLookupKeysym((XKeyEvent*)&xev->xkey, 0);
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if((sym & 0xff) == 27) {
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return 1;
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}
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case ConfigureNotify:
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{
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int x = xev->xconfigure.width;
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int y = xev->xconfigure.height;
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glMatrixMode(GL_PROJECTION);
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glLoadIdentity();
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gluPerspective(45.0, (float)x / (float)y, 1.0, 1000.0);
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glViewport(0, 0, x, y);
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}
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break;
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default:
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break;
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}
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return 0;
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}

‎examples/cube/vmath.c‎

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#include <math.h>
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#include "vmath.h"
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quat_t quat_rotate(quat_t q, float angle, float x, float y, float z)
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{
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quat_t rq;
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float half_angle = angle * 0.5;
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float sin_half = sin(half_angle);
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rq.w = cos(half_angle);
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rq.x = x * sin_half;
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rq.y = y * sin_half;
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rq.z = z * sin_half;
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return quat_mul(q, rq);
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}

‎examples/cube/vmath.h‎

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#ifndef VMATH_H_
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#define VMATH_H_
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typedef struct { float x, y, z; } vec3_t;
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typedef struct { float x, y, z, w; } vec4_t;
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typedef vec4_t quat_t;
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typedef float mat4_t[4][4];
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/* vector functions */
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static inline vec3_t v3_cons(float x, float y, float z);
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static inline float v3_dot(vec3_t v1, vec3_t v2);
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/* quaternion functions */
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static inline quat_t quat_cons(float s, float x, float y, float z);
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static inline vec3_t quat_vec(quat_t q);
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static inline quat_t quat_mul(quat_t q1, quat_t q2);
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static inline quat_t quat_normalize(quat_t q);
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static inline void quat_to_mat(mat4_t res, quat_t q);
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quat_t quat_rotate(quat_t q, float angle, float x, float y, float z);
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/* matrix functions */
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static inline void m4_cons(mat4_t m,
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float m11, float m12, float m13, float m14,
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float m21, float m22, float m23, float m24,
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float m31, float m32, float m33, float m34,
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float m41, float m42, float m43, float m44);
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#include "vmath.inl"
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#endif /* VMATH_H_ */

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