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maze-export.c
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maze-export.c
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/*
* maze-export.c
* MazeCubeGen: maze cube generator
*
* Copyright (c) 2020-2024 Bryan Franklin. All rights reserved.
*/
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "maze.h"
const double epsilon = 1e-6;
typedef struct trig {
double x[3], y[3], z[3]; /* vertex coordinates */
double nx[3], ny[3], nz[3]; /* vertex normals */
int groupId;
} trig_t;
/* adjust lengths of normals to be unit length */
static void trig_unitize_normals(trig_t *trig) {
for(int i=0; i<3; ++i) {
/* get lengths of the normal vectors */
double len = sqrt(pow(trig->nx[i],2.0)
+ pow(trig->ny[i],2.0)
+ pow(trig->nz[i],2.0));
/* "normalize" the normals */
if( fabs(len) > epsilon ) {
double invLen = 1.0/len;
trig->nx[i] *= invLen;
trig->ny[i] *= invLen;
trig->nz[i] *= invLen;
}
}
}
/* set the normal vector for all vertices */
static void trig_set_normals(trig_t *trig,
double x1, double y1, double z1,
double x2, double y2, double z2,
double x3, double y3, double z3) {
/* update triangle */
trig->nx[0] = x1; trig->nx[1] = x2; trig->nx[2] = x3;
trig->ny[0] = y1; trig->ny[1] = y2; trig->ny[2] = y3;
trig->nz[0] = z1; trig->nz[1] = z2; trig->nz[2] = z3;
/* "normalize" the normals */
trig_unitize_normals(trig);
}
/* compute the normal of flat triangle using the cross product of two edge vectors */
static void trig_get_normal(trig_t *trig) {
/* get two edge vectors */
double ux = trig->x[1]-trig->x[0];
double uy = trig->y[1]-trig->y[0];
double uz = trig->z[1]-trig->z[0];
double vx = trig->x[2]-trig->x[0];
double vy = trig->y[2]-trig->y[0];
double vz = trig->z[2]-trig->z[0];
/* compute normal for triangle defined by coordinates
* see: https://mathworld.wolfram.com/CrossProduct.html
* Equation 2 */
double nx = uy*vz - uz*vy;
double ny = uz*vx - ux*vz;
double nz = ux*vy - uy*vx;
/* round to epsilon precision */
nx = epsilon*round(nx/epsilon);
ny = epsilon*round(ny/epsilon);
nz = epsilon*round(nz/epsilon);
trig_set_normals(trig,
nx, ny, nz,
nx, ny, nz,
nx, ny, nz);
}
/* initialize a trig */
static void trig_init(trig_t *trig) {
if( !trig ) return;
memset(trig, '\0', sizeof(*trig));
trig->groupId = -1;
}
/* fill in a triangle */
static void trig_fill(trig_t *trig,
double x1, double y1, double z1,
double x2, double y2, double z2,
double x3, double y3, double z3) {
if( !trig ) return;
trig_init(trig);
trig->x[0] = x1; trig->x[1] = x2; trig->x[2] = x3;
trig->y[0] = y1; trig->y[1] = y2; trig->y[2] = y3;
trig->z[0] = z1; trig->z[1] = z2; trig->z[2] = z3;
trig_get_normal(trig);
}
/* set a grouping id to aid in color assignment */
static void trig_set_group(trig_t *trig, int id) {
if( !trig ) return;
trig->groupId = id;
}
/* move individual triangle */
static void trig_move(trig_t *trig, double dx, double dy, double dz) {
for(int i=0; i<3; ++i) {
trig->x[i] += dx;
trig->y[i] += dy;
trig->z[i] += dz;
}
}
/* rescale triangle */
static void trig_scale(trig_t *trig, double sx, double sy, double sz) {
for(int i=0; i<3; ++i) {
trig->x[i] *= sx;
trig->y[i] *= sy;
trig->z[i] *= sz;
/* see: https://paroj.github.io/gltut/Illumination/Tut09%20Normal%20Transformation.html */
if( fabs(sx) > epsilon ) trig->nx[i] /= sx;
if( fabs(sy) > epsilon ) trig->ny[i] /= sy;
if( fabs(sz) > epsilon ) trig->nz[i] /= sz;
}
if( sx*sy*sz < 0.0 ) {
/* normal will be reversed, so vertex order needs to reverse as well */
double temp;
temp = trig->x[1]; trig->x[1] = trig->x[2]; trig->x[2] = temp;
temp = trig->y[1]; trig->y[1] = trig->y[2]; trig->y[2] = temp;
temp = trig->z[1]; trig->z[1] = trig->z[2]; trig->z[2] = temp;
/* normals need to be swapped along with vertices */
temp = trig->nx[1]; trig->nx[1] = trig->nx[2]; trig->nx[2] = temp;
temp = trig->ny[1]; trig->ny[1] = trig->ny[2]; trig->ny[2] = temp;
temp = trig->nz[1]; trig->nz[1] = trig->nz[2]; trig->nz[2] = temp;
}
/* "normalize" the normals */
trig_unitize_normals(trig);
}
static void trig_set_minimum(trig_t *trig, double min, int dim) {
for(int i=0; i<3; ++i) {
switch(dim) {
case 0:
if( trig->x[i] < min ) trig->x[i] = min;
break;
case 1:
if( trig->y[i] < min ) trig->y[i] = min;
break;
case 2:
if( trig->z[i] < min ) trig->z[i] = min;
break;
}
}
trig_get_normal(trig);
}
/* rotate triangle */
static void trig_rotate_axial(trig_t *trig, int axis, double rad) {
/* rotate triangle rad radians around spcified axis */
for(int i=0; i<3; ++i) {
double x0, y0, x1, y1;
double nx0, ny0, nx1, ny1;
/* select coordinates to rotate */
switch(axis) {
case 0:
x0 = trig->y[i];
y0 = trig->z[i];
nx0 = trig->ny[i];
ny0 = trig->nz[i];
break;
case 1:
x0 = trig->x[i];
y0 = trig->z[i];
nx0 = trig->nx[i];
ny0 = trig->nz[i];
break;
case 2:
default:
x0 = trig->x[i];
y0 = trig->y[i];
nx0 = trig->nx[i];
ny0 = trig->ny[i];
break;
}
/* rotate x0,y0 and nx0,ny0 by r radians to get x1,y1 and nx1,ny1 */
/* see: https://en.wikipedia.org/wiki/Rotation_matrix#In_two_dimensions*/
x1 = x0 * cos(rad) - y0 * sin(rad);
y1 = x0 * sin(rad) + y0 * cos(rad);
nx1 = nx0 * cos(rad) - ny0 * sin(rad);
ny1 = nx0 * sin(rad) + ny0 * cos(rad);
/* update appropriate coordinates */
switch(axis) {
case 0:
trig->y[i] = x1;
trig->z[i] = y1;
trig->ny[i] = nx1;
trig->nz[i] = ny1;
break;
case 1:
trig->x[i] = x1;
trig->z[i] = y1;
trig->nx[i] = nx1;
trig->nz[i] = ny1;
break;
case 2:
default:
trig->x[i] = x1;
trig->y[i] = y1;
trig->nx[i] = nx1;
trig->ny[i] = ny1;
break;
}
}
}
/* rotate triangle around point */
static void trig_rotate_axial_around(trig_t *trig, int axis, double rad, double cx, double cy, double cz) {
trig_move(trig, -cx, -cy, -cz);
trig_rotate_axial(trig, axis, rad);
trig_move(trig, cx, cy, cz);
}
/* export single triangle as STL */
static void trig_export_stl(FILE *fp, trig_t *trig) {
/* get normal for triangle */
trig_get_normal(trig);
/* round all values to remove noise */
for(int i=0; i<3; ++i) {
trig->x[i] = epsilon*round(trig->x[i]/epsilon);
trig->y[i] = epsilon*round(trig->y[i]/epsilon);
trig->z[i] = epsilon*round(trig->z[i]/epsilon);
trig->nx[i] = epsilon*round(trig->nx[i]/epsilon);
trig->ny[i] = epsilon*round(trig->ny[i]/epsilon);
trig->nz[i] = epsilon*round(trig->nz[i]/epsilon);
}
/* output triangle to fp */
/* Note: since STL only has one normal per facet
and trig_get_normal sets all three to be the same,
just use first vertex's normal. */
fprintf(fp, "facet normal %g %g %g\n", trig->nx[0], trig->ny[0], trig->nz[0]);
fprintf(fp, " outer loop\n");
fprintf(fp, " vertex %g %g %g\n", trig->x[0], trig->y[0], trig->z[0]);
fprintf(fp, " vertex %g %g %g\n", trig->x[1], trig->y[1], trig->z[1]);
fprintf(fp, " vertex %g %g %g\n", trig->x[2], trig->y[2], trig->z[2]);
fprintf(fp, " endloop\n");
fprintf(fp, "endfacet\n");
}
typedef struct trig_list {
int num; /* number of triangles in list */
int cap; /* allocated capacity of list */
trig_t *trig; /* list buffer */
} trig_list_t;
/* initialize empty triangle list */
static int trig_list_init(trig_list_t *list) {
memset(list,'\0',sizeof(*list));
int initial_cap = 10;
list->trig = calloc(initial_cap, sizeof(trig_t));
list->cap = initial_cap;
return 1;
}
/* free triangle list */
static void trig_list_free(trig_list_t *list) {
free(list->trig); list->trig=NULL;
memset(list,'\0',sizeof(*list));
}
/* reallocate list, if needed */
static void trig_list_resize(trig_list_t *list) {
if( !list ) { return; }
if( list->num == list->cap ) {
int new_cap = (list->cap*2) + 1;
trig_t *new_buf = calloc(new_cap, sizeof(*list->trig));
if( !new_buf ) { return; }
memcpy(new_buf, list->trig, list->num*sizeof(*list->trig));
free(list->trig); list->trig=NULL;
list->trig = new_buf;
list->cap = new_cap;
}
}
/* add triangle to list */
static int trig_list_add(trig_list_t *list,
double x1, double y1, double z1,
double x2, double y2, double z2,
double x3, double y3, double z3) {
/* reallocate list, if needed */
trig_list_resize(list);
int pos = list->num;
trig_init(&list->trig[pos]);
list->trig[pos].x[0] = x1;
list->trig[pos].y[0] = y1;
list->trig[pos].z[0] = z1;
list->trig[pos].x[1] = x2;
list->trig[pos].y[1] = y2;
list->trig[pos].z[1] = z2;
list->trig[pos].x[2] = x3;
list->trig[pos].y[2] = y3;
list->trig[pos].z[2] = z3;
trig_get_normal(&list->trig[pos]);
++list->num;
return 0;
}
static int trig_list_append(trig_list_t *list, trig_t *t) {
/* reallocate list, if needed */
trig_list_resize(list);
/* copy trig into list */
trig_t *new_pos = &list->trig[list->num];
memcpy(new_pos, t, sizeof(*t));
++list->num;
return 1;
}
/* copy one list onto end of another list */
static void trig_list_concatenate(trig_list_t *dst, trig_list_t *src) {
for(int i=0; i<src->num; ++i) {
trig_list_append(dst, &src->trig[i]);
}
}
/* move all triangles in list */
static void trig_list_move(trig_list_t *list, double dx, double dy, double dz) {
for(int i=0; i<list->num; ++i) {
trig_move(&list->trig[i], dx, dy, dz);
}
}
/* scale all triangles in list */
static void trig_list_scale(trig_list_t *list, double sx, double sy, double sz) {
for(int i=0; i<list->num; ++i) {
trig_scale(&list->trig[i], sx, sy, sz);
}
}
/* set minimum value in specified dimension for all points */
static void trig_list_set_minimum(trig_list_t *list, double min, double dim) {
for(int i=0; i<list->num; ++i) {
trig_set_minimum(&list->trig[i], min, dim);
}
}
/* rotate triangles in list */
static void trig_list_rotate_axial(trig_list_t *list, int axis, double rad) {
for(int i=0; i<list->num; ++i) {
trig_rotate_axial(&list->trig[i], axis, rad);
}
}
/* rotate triangles in list around specified point */
static void trig_list_rotate_axial_around(trig_list_t *list, int axis, double rad, double cx, double cy, double cz) {
for(int i=0; i<list->num; ++i) {
trig_rotate_axial_around(&list->trig[i], axis, rad, cx, cy, cz);
}
}
/* export list of triangles as STL */
static void trig_list_export_stl(FILE *fp, trig_list_t *list) {
for(int i=0; i<list->num; ++i) {
trig_export_stl(fp, &list->trig[i]);
}
}
/* set group id for all triangles in a list */
static void trig_list_set_groupid(trig_list_t *list, int id) {
if( !list ) return;
for(int i=0; i<list->num; ++i) {
trig_set_group(&list->trig[i], id);
}
}
/* replace group ids for all triangles with the target group id */
static void trig_list_replace_groupid(trig_list_t *list, int id, int target_id) {
if( !list ) return;
for(int i=0; i<list->num; ++i) {
if( list->trig[i].groupId == target_id ) {
trig_set_group(&list->trig[i], id);
}
}
}
/* circular marker */
static void maze_add_marker1(trig_list_t *list, maze_t *maze, int face, position_t pos, double radius, double scale) {
trig_list_t marker;
trig_list_init(&marker);
int d1 = maze->faces[face].d1;
int d2 = maze->faces[face].d2;
/* get row and column for marker */
int c = pos[d2];
int r = pos[d1];
const int numSegsI = 64;
const int numSegsJ = 8;
for(int i=0; i<numSegsI; ++i) {
/* compute points along circle */
double thetaI1 = 2.0 * M_PI * i / numSegsI;
double x1 = cos(thetaI1)*(1-radius);
double y1 = sin(thetaI1)*(1-radius);
double thetaI2 = 2.0 * M_PI * (i+1) / numSegsI;
double x2 = cos(thetaI2)*(1-radius);
double y2 = sin(thetaI2)*(1-radius);
/* position circle points onto face */
int col1 = y1+c+0.5;
int col2 = y2+c+0.5;
int row1 = x1+r+0.5;
int row2 = x2+r+0.5;
/* check if cell under each point is set */
int cell1 = face_get_cell(&maze->faces[face], row1, col1);
int cell2 = face_get_cell(&maze->faces[face], row2, col2);
double xc0 = 0.0, yc0 = 0.0, zc0 = 0.0;
for(int j=0; j<numSegsJ; ++j) {
double thetaJ1 = M_PI * j / numSegsJ;
double thetaJ2 = M_PI * (j+1) / numSegsJ;
/* compute raw torus coordinates */
double x11 = cos(thetaI1) * (1+radius*cos(thetaJ1)) + r;
double y11 = sin(thetaI1) * (1+radius*cos(thetaJ1)) + c;
double z11 = radius*sin(thetaJ1) + 0.5;
double x12 = cos(thetaI1) * (1+radius*cos(thetaJ2)) + r;
double y12 = sin(thetaI1) * (1+radius*cos(thetaJ2)) + c;
double z12 = radius*sin(thetaJ2) + 0.5;
double x21 = cos(thetaI2) * (1+radius*cos(thetaJ1)) + r;
double y21 = sin(thetaI2) * (1+radius*cos(thetaJ1)) + c;
double z21 = radius*sin(thetaJ1)+0.5;
double x22 = cos(thetaI2) * (1+radius*cos(thetaJ2)) + r;
double y22 = sin(thetaI2) * (1+radius*cos(thetaJ2)) + c;
double z22 = radius*sin(thetaJ2) + 0.5;
/* compute normals */
double x1c = cos(thetaI1) + r;
double y1c = sin(thetaI1) + c;
double z1c = 0.5;
double x2c = cos(thetaI2) + r;
double y2c = sin(thetaI2) + c;
double z2c = 0.5;
double nx11 = x11 - x1c;
double ny11 = y11 - y1c;
double nz11 = z11 - z1c;
double nx12 = x12 - x1c;
double ny12 = y12 - y1c;
double nz12 = z12 - z1c;
double nx21 = x21 - x2c;
double ny21 = y21 - y2c;
double nz21 = z21 - z2c;
double nx22 = x22 - x2c;
double ny22 = y22 - y2c;
double nz22 = z22 - z2c;
/* interpolate crossing point when transitioning to/from
* an open cell */
double xc1 = 0.0, yc1 = 0.0, zc1 = 0.0;
double xc2 = 0.0, yc2 = 0.0, zc2 = 0.0;
double nxc1 = 0.0, nyc1 = 0.0, nzc1 = 0.0;
double nxc2 = 0.0, nyc2 = 0.0, nzc2 = 0.0;
if( row1 != row2 ) {
/* compute crossing points */
double t1 = (round(x21*2)/2-x11)/(x21-x11);
xc1 = x11 + t1*(x21-x11);
yc1 = y11 + t1*(y21-y11);
zc1 = z11 + t1*(z21-z11);
nxc1 = nx11 + t1*(nx21-nx11);
nyc1 = ny11 + t1*(ny21-ny11);
nzc1 = nz11 + t1*(nz21-nz11);
double t2 = (round(x22*2)/2-x12)/(x22-x12);
xc2 = x12 + t2*(x22-x12);
yc2 = y12 + t2*(y22-y12);
zc2 = z12 + t2*(z22-z12);
nxc2 = nx12 + t2*(nx22-nx12);
nyc2 = ny12 + t2*(ny22-ny12);
nzc2 = nz12 + t2*(nz22-nz12);
}
if( col1 != col2 ) {
/* compute crossing points */
double t1 = (round(y21*2)/2-y11)/(y21-y11);
xc1 = x11 + t1*(x21-x11);
yc1 = y11 + t1*(y21-y11);
zc1 = z11 + t1*(z21-z11);
nxc1 = nx11 + t1*(nx21-nx11);
nyc1 = ny11 + t1*(ny21-ny11);
nzc1 = nz11 + t1*(nz21-nz11);
double t2 = (round(y22*2)/2-y12)/(y22-y12);
xc2 = x12 + t2*(x22-x12);
yc2 = y12 + t2*(y22-y12);
zc2 = z12 + t2*(z22-z12);
nxc2 = nx12 + t2*(nx22-nx12);
nyc2 = ny12 + t2*(ny22-ny12);
nzc2 = nz12 + t2*(nz22-nz12);
}
/* replace appropriate values */
if( cell1!=0 && cell2==0 ) {
x21 = xc1; y21 = yc1; z21 = zc1;
x22 = xc2; y22 = yc2; z22 = zc2;
nx21 = nxc1; ny21 = nyc1; nz21 = nzc1;
nx22 = nxc2; ny22 = nyc2; nz22 = nzc2;
}
else if( cell1==0 && cell2!=0 ) {
x11 = xc1; y11 = yc1; z11 = zc1;
x12 = xc2; y12 = yc2; z12 = zc2;
nx11 = nxc1; ny11 = nyc1; nz11 = nzc1;
nx12 = nxc2; ny12 = nyc2; nz12 = nzc2;
}
/* record first point along surface for end caps */
if( cell1 != cell2 && j == 0 ) {
xc0 = xc1; yc0 = yc1; zc0 = zc1;
}
/* output triangles */
if( cell1 || cell2 ) {
/* curved surface of marker */
trig_t t1, t2;
trig_fill(&t1,
x11, y11, z11,
x22, y22, z22,
x12, y12, z12);
trig_fill(&t2,
x11, y11, z11,
x21, y21, z21,
x22, y22, z22);
trig_set_normals(&t1,
nx11, ny11, nz11,
nx22, ny22, nz22,
nx12, ny12, nz12);
trig_set_normals(&t2,
nx11, ny11, nz11,
nx21, ny21, nz21,
nx22, ny22, nz22);
trig_list_append(&marker, &t1);
trig_list_append(&marker, &t2);
}
if( cell1==0 && cell2!=0 && j>0 ) {
/* cap one end */
trig_list_add(&marker, xc0, yc0, zc0,
xc1, yc1, zc1,
xc2, yc2, zc2);
/* end-caps are flat, so default normals are fine */
}
if( cell1!=0 && cell2==0 && j>0 ) {
/* cap other end */
trig_list_add(&marker, xc0, yc0, zc0,
xc2, yc2, zc2,
xc1, yc1, zc1);
/* end-caps are flat, so default normals are fine */
}
}
}
/* assign marker to a group */
trig_list_set_groupid(&marker, 4);
/* append marker into passed-in list */
trig_list_concatenate(list, &marker);
trig_list_free(&marker);
}
/* square marker */
static void maze_add_corner(trig_list_t *list, maze_t *maze, int r, int c, int dr, int dc, int face, double radius, double scale, int rCap, int cCap) {
/* local triangle list */
trig_list_t corner;
trig_list_init(&corner);
double x10 = 0.0, y10 = 0.0, z10 = 0.0;
double x30 = 0.0, y30 = 0.0, z30 = 0.0;
int numSegs = 32;
for(int i=0; i<numSegs; ++i) {
double thetaI1 = M_PI * i / numSegs;
double thetaI2 = M_PI * (i+1) / numSegs;
/* compute raw segment coordinates */
double x11 = radius*cos(thetaI1)+1.0;
double y11 = 0.5;
double z11 = radius*sin(thetaI1)+0.5;
double x12 = radius*cos(thetaI2)+1.0;
double y12 = 0.5;
double z12 = radius*sin(thetaI2)+0.5;
double x21 = radius*cos(thetaI1)+1.0;
double y21 = radius*cos(thetaI1)+1.0;
double z21 = radius*sin(thetaI1)+0.5;
double x22 = radius*cos(thetaI2)+1.0;
double y22 = radius*cos(thetaI2)+1.0;
double z22 = radius*sin(thetaI2)+0.5;
double x31 = 0.5;
double y31 = radius*cos(thetaI1)+1.0;
double z31 = radius*sin(thetaI1)+0.5;
double x32 = 0.5;
double y32 = radius*cos(thetaI2)+1.0;
double z32 = radius*sin(thetaI2)+0.5;
/* record first point on surface for end caps */
if( i == 0 ) {
x10 = x11;
y10 = y11;
z10 = z11;
x30 = x31;
y30 = y31;
z30 = z31;
}
/* compute normals */
double x1c = 1.0;
double y1c = 0.5;
double z1c = 0.5;
double x2c = 1.0;
double y2c = 1.0;
double z2c = 0.5;
double x3c = 0.5;
double y3c = 1.0;
double z3c = 0.5;
double nx11 = x11 - x1c;
double ny11 = y11 - y1c;
double nz11 = z11 - z1c;
double nx12 = x12 - x1c;
double ny12 = y12 - y1c;
double nz12 = z12 - z1c;
double nx21 = x21 - x2c;
double ny21 = y21 - y2c;
double nz21 = z21 - z2c;
double nx22 = x22 - x2c;
double ny22 = y22 - y2c;
double nz22 = z22 - z2c;
double nx31 = x31 - x3c;
double ny31 = y31 - y3c;
double nz31 = z31 - z3c;
double nx32 = x32 - x3c;
double ny32 = y32 - y3c;
double nz32 = z32 - z3c;
/* curved surface of marker */
trig_t t1, t2, t3, t4;
trig_fill(&t1,
x11, y11, z11,
x22, y22, z22,
x12, y12, z12);
trig_set_normals(&t1,
nx11, ny11, nz11,
nx22, ny22, nz22,
nx12, ny12, nz12);
trig_fill(&t2,
x11, y11, z11,
x21, y21, z21,
x22, y22, z22);
trig_set_normals(&t2,
nx11, ny11, nz11,
nx21, ny21, nz21,
nx22, ny22, nz22);
trig_fill(&t3,
x31, y31, z31,
x32, y32, z32,
x22, y22, z22);
trig_set_normals(&t3,
nx31, ny31, nz31,
nx32, ny32, nz32,
nx22, ny22, nz22);
trig_fill(&t4,
x31, y31, z31,
x22, y22, z22,
x21, y21, z21);
trig_set_normals(&t4,
nx31, ny31, nz31,
nx22, ny22, nz22,
nx21, ny21, nz21);
trig_list_append(&corner, &t1);
trig_list_append(&corner, &t2);
trig_list_append(&corner, &t3);
trig_list_append(&corner, &t4);
/* add end caps */
if( rCap==0 ) {
trig_list_add(&corner, x11, y11, z11,
x12, y12, z12,
x10, y10, z10);
/* end-caps are flat, so default normals are fine */
}
if( cCap==0 ) {
trig_list_add(&corner, x31, y31, z31,
x30, y30, z30,
x32, y32, z32);
/* end-caps are flat, so default normals are fine */
}
}
trig_list_scale(&corner, dr, dc, 1.0);
trig_list_move(&corner, r, c, 0.0);
trig_list_concatenate(list, &corner);
trig_list_free(&corner);
}
static void maze_add_edge(trig_list_t *list, maze_t *maze, int r, int c, int face, double radius, double scale, int rotated, double rOffset, double cOffset) {
/* local triangle list */
trig_list_t edge;
trig_list_init(&edge);
int numSegs = 32;
for(int i=0; i<numSegs; ++i) {
double thetaI1 = M_PI * i / numSegs;
double thetaI2 = M_PI * (i+1) / numSegs;
/* compute raw segment coordinates */
double x11 = radius*cos(thetaI1);
double y11 = 0.5;
double z11 = radius*sin(thetaI1)+0.5;
double x12 = radius*cos(thetaI2);
double y12 = 0.5;
double z12 = radius*sin(thetaI2)+0.5;
double x21 = radius*cos(thetaI1);
double y21 = -0.5;
double z21 = radius*sin(thetaI1)+0.5;
double x22 = radius*cos(thetaI2);
double y22 = -0.5;
double z22 = radius*sin(thetaI2)+0.5;
/* compute normals */
double x1c = 0.0;
double y1c = 0.5;
double z1c = 0.5;
double x2c = 0.0;
double y2c = -0.5;
double z2c = 0.5;
double nx11 = x11 - x1c;
double ny11 = y11 - y1c;
double nz11 = z11 - z1c;
double nx12 = x12 - x1c;
double ny12 = y12 - y1c;
double nz12 = z12 - z1c;
double nx21 = x21 - x2c;
double ny21 = y21 - y2c;
double nz21 = z21 - z2c;
double nx22 = x22 - x2c;
double ny22 = y22 - y2c;
double nz22 = z22 - z2c;
/* outer shell of marker */
trig_t t1, t2;
trig_fill(&t1,
x11, y11, z11,
x12, y12, z12,
x22, y22, z22);
trig_fill(&t2,
x11, y11, z11,
x22, y22, z22,
x21, y21, z21);
trig_set_normals(&t1,
nx11, ny11, nz11,
nx12, ny12, nz12,
nx22, ny22, nz22);
trig_set_normals(&t2,
nx11, ny11, nz11,
nx22, ny22, nz22,
nx21, ny21, nz21);
trig_list_append(&edge, &t1);
trig_list_append(&edge, &t2);
}
if( rotated != 0 )
trig_list_rotate_axial_around(&edge, 2, M_PI/2.0, 0.0, 0.0, 0.0);
trig_list_move(&edge, r+rOffset, c+cOffset, 0.0);
trig_list_concatenate(list, &edge);
trig_list_free(&edge);
}
static void maze_add_marker2(trig_list_t *list, maze_t *maze, int face, position_t pos, double radius, double scale) {
trig_list_t marker;
trig_list_init(&marker);
int d1 = maze->faces[face].d1;
int d2 = maze->faces[face].d2;
/* get row and column for marker */
int c = pos[d2];
int r = pos[d1];
/* check which straight segments are needed */
int lSide = face_get_cell(&maze->faces[face], r-1, c);
int rSide = face_get_cell(&maze->faces[face], r+1, c);
int tSide = face_get_cell(&maze->faces[face], r, c-1);
int bSide = face_get_cell(&maze->faces[face], r, c+1);
/* add corners */
maze_add_corner(&marker, maze, r, c, -1, -1, face, radius, scale, lSide, tSide);
maze_add_corner(&marker, maze, r, c, -1, 1, face, radius, scale, lSide, bSide);
maze_add_corner(&marker, maze, r, c, 1, -1, face, radius, scale, rSide, tSide);
maze_add_corner(&marker, maze, r, c, 1, 1, face, radius, scale, rSide, bSide);
/* add straight segments */
if( lSide != 0 )
maze_add_edge(&marker, maze, r, c, face, radius, scale, 0, -1, 0);
if( rSide != 0 )
maze_add_edge(&marker, maze, r, c, face, radius, scale, 0, 1, 0);
if( tSide != 0 )
maze_add_edge(&marker, maze, r, c, face, radius, scale, 1, 0, -1);
if( bSide != 0 )
maze_add_edge(&marker, maze, r, c, face, radius, scale, 1, 0, 1);
/* assign marker to a group */
trig_list_set_groupid(&marker, 3);
/* append marker into passed-in list */
trig_list_concatenate(list, &marker);
trig_list_free(&marker);
}
static void maze_add_cube(trig_list_t *list, double x, double y, double z, char face_mask, double scaleX, double scaleY, double scaleZ) {
double dx = scaleX/2.0;
double dy = scaleY/2.0;
double dz = scaleZ/2.0;
#if 0
printf("%s:\n", __FUNCTION__);
printf("cube centered at %g,%g,%g\n", x, y, z);
printf("cube sizes are %g,%g,%g\n", scaleX, scaleY, scaleZ);
printf("cube extents are %g,%g,%g to %g,%g,%g\n", x-dx, y-dy, z-dz, x+dx, y+dy, z+dz);
#endif /* 0 */
if( (face_mask & (1<<0)) == 0) {
/* left (-x) */
trig_list_add(list, x-dx, y-dy, z-dz,
x-dx, y-dy, z+dz,
x-dx, y+dy, z+dz);
trig_list_add(list, x-dx, y-dy, z-dz,
x-dx, y+dy, z+dz,
x-dx, y+dy, z-dz);
}
if( (face_mask & (1<<1)) == 0) {
/* right (+x) */
trig_list_add(list, x+dx, y-dy, z-dz,
x+dx, y+dy, z+dz,
x+dx, y-dy, z+dz);
trig_list_add(list, x+dx, y-dy, z-dz,
x+dx, y+dy, z-dz,
x+dx, y+dy, z+dz);
}
if( (face_mask & (1<<2)) == 0) {
/* front (-y) */
trig_list_add(list, x-dx, y-dy, z-dz,
x+dx, y-dy, z+dz,
x-dx, y-dy, z+dz);
trig_list_add(list, x-dx, y-dy, z-dz,
x+dx, y-dy, z-dz,
x+dx, y-dy, z+dz);
}
if( (face_mask & (1<<3)) == 0) {
/* back (+y) */
trig_list_add(list, x-dx, y+dy, z-dz,
x-dx, y+dy, z+dz,
x+dx, y+dy, z+dz);
trig_list_add(list, x-dx, y+dy, z-dz,
x+dx, y+dy, z+dz,
x+dx, y+dy, z-dz);
}
if( (face_mask & (1<<4)) == 0) {
/* bottom (-z) */
trig_list_add(list, x-dx, y-dy, z-dz,
x+dx, y+dy, z-dz,
x+dx, y-dy, z-dz);
trig_list_add(list, x-dx, y+dy, z-dz,
x+dx, y+dy, z-dz,
x-dx, y-dy, z-dz);
}
if( (face_mask & (1<<5)) == 0) {
/* top (+z face) */
trig_list_add(list, x-dx, y-dy, z+dz,
x+dx, y-dy, z+dz,
x+dx, y+dy, z+dz);
trig_list_add(list, x-dx, y+dy, z+dz,
x-dx, y-dy, z+dz,
x+dx, y+dy, z+dz);
}
}
int maze_add_maze_face(maze_t *maze, int face, trig_list_t *list) {
double scale = 1.0;
/* for each cell */
int rows = maze->faces[face].rows;
int cols = maze->faces[face].cols;
for(int row=0; row<rows; ++row) {
for(int col=0; col<cols; ++col) {
if( face_get_cell(&maze->faces[face], row, col)!=0 ) {
/* output small cube for high and low faces */
int x1=0,y1=0,z1=0;
x1 = row;
y1 = col;
z1 = 0;
/* compute face mask for cube */
char mask1 = 0;
if( row>0
&& face_get_cell(&maze->faces[face], row-1, col) !=0 ) {
mask1 |= 1<<0;
}
if( row<rows-1
&& face_get_cell(&maze->faces[face], row+1, col) !=0 ) {
mask1 |= 1<<1;
}
if( col>0
&& face_get_cell(&maze->faces[face], row, col-1) !=0 ) {
mask1 |= 1<<2;