I want to calculate all the vertices needed and connect them with lines, so I eventually come up with a sphere. How many ways are there to do it? And also the lines between the vertices, will be straight; how can I make them "curved" I know that I can use glutWireSphere(), but I am interested in actually calculating the vertices. A way that I thought about it, was to put all the vertices manually in an array, but I guess that is not the way it's done.
Copy and Pasting some code I originally wrote in Creating a 3D sphere in Opengl using Visual C++
class SolidSphere
{
protected
std::vector<GLfloat> vertices;
std::vector<GLfloat> normals;
std::vector<GLfloat> texcoords;
std::vector<GLushort> indices;
public:
void SolidSphere(float radius, unsigned int rings, unsigned int sectors)
{
float const R = 1./(float)(rings-1);
float const S = 1./(float)(sectors-1);
int r, s;
sphere_vertices.resize(rings * sectors * 3);
sphere_normals.resize(rings * sectors * 3);
sphere_texcoords.resize(rings * sectors * 2);
std::vector<GLfloat>::iterator v = sphere_vertices.begin();
std::vector<GLfloat>::iterator n = sphere_normals.begin();
std::vector<GLfloat>::iterator t = sphere_texcoords.begin();
for(r = 0; r < rings; r++) for(s = 0; s < sectors; s++) {
float const y = sin( -M_PI_2 + M_PI * r * R );
float const x = cos(2*M_PI * s * S) * sin( M_PI * r * R );
float const z = sin(2*M_PI * s * S) * sin( M_PI * r * R );
*t++ = s*S;
*t++ = r*R;
*v++ = x * radius;
*v++ = y * radius;
*v++ = z * radius;
*n++ = x;
*n++ = y;
*n++ = z;
}
sphere_indices.resize(rings * sectors * 4);
std:vector<GLushort>::iterator i = sphere_indices.begin();
for(r = 0; r < rings; r++) for(s = 0; s < sectors; s++) {
*i++ = r * sectors + s;
*i++ = r * sectors + (s+1);
*i++ = (r+1) * sectors + (s+1);
*i++ = (r+1) * sectors + s;
}
}
void draw(GLfloat x, GLfloat y, GLfloat z)
{
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glTranslatef(x,y,z);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, &sphere_vertices[0]);
glNormalPointer(GL_FLOAT, 0, &sphere_normals[0]);
glTexCoordPointer(2, GL_FLOAT, 0, &sphere_texcoords[0]);
glDrawElements(GL_QUADS, sphere_indices.size()/4, GL_UNSIGNED_SHORT, sphere_indices);
glPopMatrix();
}
}
how can I make them "curved"
You can't. All OpenGL primitives are "affine", i.e. planar or straight. Curvature is emulated by drawing short, straight sections with sufficient resolution.
There's more than one way to do this: a) icosphere generation and b)UV sphere generation. There may be more methods to do this. Some googling got me this excellent post on icosphere generation. I couldn't find UV sphere generation method though.
Paul Bourke actually has a nice introduction to sphere generation. And as for curved lines, there is no such thing in OpenGL. You can only make them appear curved by adding more intermediate connected points.
datenwolf's answer is great but contains some error.
When you use vbo, client states must be disabled after enabled.
Add Three lines to draw code
void draw(GLfloat x, GLfloat y, GLfloat z)
{
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glTranslatef(x,y,z);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, &sphere_vertices[0]);
glNormalPointer(GL_FLOAT, 0, &sphere_normals[0]);
glTexCoordPointer(2, GL_FLOAT, 0, &sphere_texcoords[0]);
glDrawElements(GL_QUADS, sphere_indices.size()/4, GL_UNSIGNED_SHORT, sphere_indices);
**glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);**
glPopMatrix();
}
An iconosphere would do the trick .
Still , to make a sphere with it , you will have to subdivide it's triangles.
It seems to me there's a great abundance of tutorials on how to make icospheres, but not so much about the method of facet approximation using polar coordinates.
So here's a very slightly edited code sample from the OpenGL Superbible 4th Edition book by Richard S. Wright Jr.
Since it's a very bare bones usage of the fixed-function pipeline (no glDrawElements, etc...) I found it useful for educational purposes.
Stacks are drawn as series of triangle strips. Obviously not the optimal performance, but it works!
// For best results, put this in a display list
// Draw a sphere at the origin
void RenderSphere(const float fRadius, const int iStacks, const int iSlices)
{
const auto PI = (float)M_PI;
const auto PIx2 = (float)(M_PI * 2.0);
GLfloat drho = PI / (GLfloat)iStacks;
GLfloat dtheta = PIx2 / (GLfloat)iSlices;
GLfloat ds = 1.0f / (GLfloat)iSlices;
GLfloat dt = 1.0f / (GLfloat)iStacks;
GLfloat t = 1.0f;
GLfloat s = 0.0f;
for (int i = 0; i < iStacks; i++)
{
const GLfloat rho = (GLfloat)i * drho;
const GLfloat srho = (GLfloat)(std::sinf(rho));
const GLfloat crho = (GLfloat)(std::cosf(rho));
const GLfloat srhodrho = (GLfloat)(std::sinf(rho + drho));
const GLfloat crhodrho = (GLfloat)(std::cosf(rho + drho));
// Many sources of OpenGL sphere drawing code uses a triangle fan
// for the caps of the sphere. This however introduces texturing
// artifacts at the poles on some OpenGL implementations
glBegin(GL_TRIANGLE_STRIP);
s = 0.0f;
for (int j = 0; j <= iSlices; j++)
{
const GLfloat theta = (j == iSlices) ? 0.0f : j * dtheta;
const GLfloat stheta = (GLfloat)(-std::sinf(theta));
const GLfloat ctheta = (GLfloat)(std::cosf(theta));
GLfloat x = stheta * srho;
GLfloat y = ctheta * srho;
GLfloat z = crho;
glTexCoord2f(s, t);
glNormal3f(x, y, z);
glVertex3f(x * fRadius, y * fRadius, z * fRadius);
x = stheta * srhodrho;
y = ctheta * srhodrho;
z = crhodrho;
glTexCoord2f(s, t - dt);
s += ds;
glNormal3f(x, y, z);
glVertex3f(x * fRadius, y * fRadius, z * fRadius);
}
glEnd();
t -= dt;
}
}
Unfortunately I couldn't find back a link to the original online repository of this source code, it's pretty ancient. Feel free to post if you know where to find it !
Related
I am not able to create a simple 3D sphere using the OpenGL library function glutSolidSphere() in C++.
Here's what I tried:
#include<GL/glu.h>
void display()
{
glClear(GL_COLOR_BUFFER_BIT);
glColor3f(1.0,0.0,0.0);
glLoadIdentity();
glutSolidSphere( 5.0, 20.0, 20.0);
glFlush();
}
void myInit()
{
glClearColor(1.0,1.0,1.0,1.0);
glColor3f(1.0,0.0,0.0);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0.0,499.0,0.0,499.0);
glMatrixMode(GL_MODELVIEW);
}
void main(int argc,char **argv)
{
qobj = gluNewQuadric();
glutInit(&argc,argv);
glutInitDisplayMode(GLUT_SINGLE|GLUT_RGB);
glutInitWindowSize(500,500);
glutCreateWindow("pendulum");
glutDisplayFunc(display);
myInit();
glutMainLoop();
}
In OpenGL you don't create objects, you just draw them. Once they are drawn, OpenGL no longer cares about what geometry you sent it.
glutSolidSphere is just sending drawing commands to OpenGL. However there's nothing special in and about it. And since it's tied to GLUT I'd not use it. Instead, if you really need some sphere in your code, how about create if for yourself?
#define _USE_MATH_DEFINES
#include <GL/gl.h>
#include <GL/glu.h>
#include <vector>
#include <cmath>
// your framework of choice here
class SolidSphere
{
protected:
std::vector<GLfloat> vertices;
std::vector<GLfloat> normals;
std::vector<GLfloat> texcoords;
std::vector<GLushort> indices;
public:
SolidSphere(float radius, unsigned int rings, unsigned int sectors)
{
float const R = 1./(float)(rings-1);
float const S = 1./(float)(sectors-1);
int r, s;
vertices.resize(rings * sectors * 3);
normals.resize(rings * sectors * 3);
texcoords.resize(rings * sectors * 2);
std::vector<GLfloat>::iterator v = vertices.begin();
std::vector<GLfloat>::iterator n = normals.begin();
std::vector<GLfloat>::iterator t = texcoords.begin();
for(r = 0; r < rings; r++) for(s = 0; s < sectors; s++) {
float const y = sin( -M_PI_2 + M_PI * r * R );
float const x = cos(2*M_PI * s * S) * sin( M_PI * r * R );
float const z = sin(2*M_PI * s * S) * sin( M_PI * r * R );
*t++ = s*S;
*t++ = r*R;
*v++ = x * radius;
*v++ = y * radius;
*v++ = z * radius;
*n++ = x;
*n++ = y;
*n++ = z;
}
indices.resize(rings * sectors * 4);
std::vector<GLushort>::iterator i = indices.begin();
for(r = 0; r < rings; r++) for(s = 0; s < sectors; s++) {
*i++ = r * sectors + s;
*i++ = r * sectors + (s+1);
*i++ = (r+1) * sectors + (s+1);
*i++ = (r+1) * sectors + s;
}
}
void draw(GLfloat x, GLfloat y, GLfloat z)
{
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glTranslatef(x,y,z);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, &vertices[0]);
glNormalPointer(GL_FLOAT, 0, &normals[0]);
glTexCoordPointer(2, GL_FLOAT, 0, &texcoords[0]);
glDrawElements(GL_QUADS, indices.size(), GL_UNSIGNED_SHORT, &indices[0]);
glPopMatrix();
}
};
SolidSphere sphere(1, 12, 24);
void display()
{
int const win_width = …; // retrieve window dimensions from
int const win_height = …; // framework of choice here
float const win_aspect = (float)win_width / (float)win_height;
glViewport(0, 0, win_width, win_height);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(45, win_aspect, 1, 10);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
#ifdef DRAW_WIREFRAME
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
#endif
sphere.draw(0, 0, -5);
swapBuffers();
}
int main(int argc, char *argv[])
{
// initialize and register your framework of choice here
return 0;
}
It doesn't seem like anyone so far has addressed the actual problem with your original code, so I thought I would do that even though the question is quite old at this point.
The problem originally had to do with the projection in relation to the radius and position of the sphere. I think you'll find that the problem isn't too complicated. The program actually works correctly, it's just that what is being drawn is very hard to see.
First, an orthogonal projection was created using the call
gluOrtho2D(0.0, 499.0, 0.0, 499.0);
which "is equivalent to calling glOrtho with near = -1 and far = 1." This means that the viewing frustum has a depth of 2. So a sphere with a radius of anything greater than 1 (diameter = 2) will not fit entirely within the viewing frustum.
Then the calls
glLoadIdentity();
glutSolidSphere(5.0, 20.0, 20.0);
are used, which loads the identity matrix of the model-view matrix and then "[r]enders a sphere centered at the modeling coordinates origin of the specified radius." Meaning, the sphere is rendered at the origin, (x, y, z) = (0, 0, 0), and with a radius of 5.
Now, the issue is three-fold:
Since the window is 500x500 pixels and the width and height of the viewing frustum is almost 500 (499.0), the small radius of the sphere (5.0) makes its projected area only slightly over one fiftieth (2*5/499) of the size of the window in each dimension. This means that the apparent size of the sphere would be roughly 1/2,500th (actually pi*5^2/499^2, which is closer to about 1/3170th) of the entire window, so it might be difficult to see. This is assuming the entire circle is drawn within the area of the window. It is not, however, as we will see in point 2.
Since the viewing frustum has it's left plane at x = 0 and bottom plane at y = 0, the sphere will be rendered with its geometric center in the very bottom left corner of the window so that only one quadrant of the projected sphere will be visible! This means that what would be seen is even smaller, about 1/10,000th (actually pi*5^2/(4*499^2), which is closer to 1/12,682nd) of the window size. This would make it even more difficult to see. Especially since the sphere is rendered so close to the edges/corner of the screen where you might not think to look.
Since the depth of the viewing frustum is significantly smaller than the diameter of the sphere (less than half), only a sliver of the sphere will be within the viewing frustum, rendering only that part. So you will get more like a hollow circle on the screen than a solid sphere/circle. As it happens, the thickness of that sliver might represent less than 1 pixel on the screen which means we might even see nothing on the screen, even if part of the sphere is indeed within the viewing frustum.
The solution is simply to change the viewing frustum and radius of the sphere. For instance,
gluOrtho2D(-5.0, 5.0, -5.0, 5.0);
glutSolidSphere(5.0, 20, 20);
renders the following image.
As you can see, only a small part is visible around the "equator", of the sphere with a radius of 5. (I changed the projection to fill the window with the sphere.) Another example,
gluOrtho2D(-1.1, 1.1, -1.1, 1.1);
glutSolidSphere(1.1, 20, 20);
renders the following image.
The image above shows more of the sphere inside of the viewing frustum, but still the sphere is 0.2 depth units larger than the viewing frustum. As you can see, the "ice caps" of the sphere are missing, both the north and the south. So, if we want the entire sphere to fit within the viewing frustum which has depth 2, we must make the radius less than or equal to 1.
gluOrtho2D(-1.0, 1.0, -1.0, 1.0);
glutSolidSphere(1.0, 20, 20);
renders the following image.
I hope this has helped someone. Take care!
I don't understand how can datenwolf`s index generation can be correct. But still I find his solution rather clear. This is what I get after some thinking:
inline void push_indices(vector<GLushort>& indices, int sectors, int r, int s) {
int curRow = r * sectors;
int nextRow = (r+1) * sectors;
indices.push_back(curRow + s);
indices.push_back(nextRow + s);
indices.push_back(nextRow + (s+1));
indices.push_back(curRow + s);
indices.push_back(nextRow + (s+1));
indices.push_back(curRow + (s+1));
}
void createSphere(vector<vec3>& vertices, vector<GLushort>& indices, vector<vec2>& texcoords,
float radius, unsigned int rings, unsigned int sectors)
{
float const R = 1./(float)(rings-1);
float const S = 1./(float)(sectors-1);
for(int r = 0; r < rings; ++r) {
for(int s = 0; s < sectors; ++s) {
float const y = sin( -M_PI_2 + M_PI * r * R );
float const x = cos(2*M_PI * s * S) * sin( M_PI * r * R );
float const z = sin(2*M_PI * s * S) * sin( M_PI * r * R );
texcoords.push_back(vec2(s*S, r*R));
vertices.push_back(vec3(x,y,z) * radius);
push_indices(indices, sectors, r, s);
}
}
}
Here's the code:
glPushMatrix();
glTranslatef(18,2,0);
glRotatef(angle, 0, 0, 0.7);
glColor3ub(0,255,255);
glutWireSphere(3,10,10);
glPopMatrix();
I like the answer of coin. It's simple to understand and works with triangles. However the indexes of his program are sometimes over the bounds. So I post here his code with two tiny corrections:
inline void push_indices(vector<GLushort>& indices, int sectors, int r, int s) {
int curRow = r * sectors;
int nextRow = (r+1) * sectors;
int nextS = (s+1) % sectors;
indices.push_back(curRow + s);
indices.push_back(nextRow + s);
indices.push_back(nextRow + nextS);
indices.push_back(curRow + s);
indices.push_back(nextRow + nextS);
indices.push_back(curRow + nextS);
}
void createSphere(vector<vec3>& vertices, vector<GLushort>& indices, vector<vec2>& texcoords,
float radius, unsigned int rings, unsigned int sectors)
{
float const R = 1./(float)(rings-1);
float const S = 1./(float)(sectors-1);
for(int r = 0; r < rings; ++r) {
for(int s = 0; s < sectors; ++s) {
float const y = sin( -M_PI_2 + M_PI * r * R );
float const x = cos(2*M_PI * s * S) * sin( M_PI * r * R );
float const z = sin(2*M_PI * s * S) * sin( M_PI * r * R );
texcoords.push_back(vec2(s*S, r*R));
vertices.push_back(vec3(x,y,z) * radius);
if(r < rings-1)
push_indices(indices, sectors, r, s);
}
}
}
Datanewolf's code is ALMOST right. I had to reverse both the winding and the normals to make it work properly with the fixed pipeline. The below works correctly with cull on or off for me:
std::vector<GLfloat> vertices;
std::vector<GLfloat> normals;
std::vector<GLfloat> texcoords;
std::vector<GLushort> indices;
float const R = 1./(float)(rings-1);
float const S = 1./(float)(sectors-1);
int r, s;
vertices.resize(rings * sectors * 3);
normals.resize(rings * sectors * 3);
texcoords.resize(rings * sectors * 2);
std::vector<GLfloat>::iterator v = vertices.begin();
std::vector<GLfloat>::iterator n = normals.begin();
std::vector<GLfloat>::iterator t = texcoords.begin();
for(r = 0; r < rings; r++) for(s = 0; s < sectors; s++) {
float const y = sin( -M_PI_2 + M_PI * r * R );
float const x = cos(2*M_PI * s * S) * sin( M_PI * r * R );
float const z = sin(2*M_PI * s * S) * sin( M_PI * r * R );
*t++ = s*S;
*t++ = r*R;
*v++ = x * radius;
*v++ = y * radius;
*v++ = z * radius;
*n++ = -x;
*n++ = -y;
*n++ = -z;
}
indices.resize(rings * sectors * 4);
std::vector<GLushort>::iterator i = indices.begin();
for(r = 0; r < rings-1; r++)
for(s = 0; s < sectors-1; s++) {
/*
*i++ = r * sectors + s;
*i++ = r * sectors + (s+1);
*i++ = (r+1) * sectors + (s+1);
*i++ = (r+1) * sectors + s;
*/
*i++ = (r+1) * sectors + s;
*i++ = (r+1) * sectors + (s+1);
*i++ = r * sectors + (s+1);
*i++ = r * sectors + s;
}
Edit: There was a question on how to draw this... in my code I encapsulate these values in a G3DModel class. This is my code to setup the frame, draw the model, and end it:
void GraphicsProvider3DPriv::BeginFrame()const{
int win_width;
int win_height;// framework of choice here
glfwGetWindowSize(window, &win_width, &win_height); // retrieve window
float const win_aspect = (float)win_width / (float)win_height;
// set lighting
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
GLfloat lightpos[] = {0, 0.0, 0, 0.};
glLightfv(GL_LIGHT0, GL_POSITION, lightpos);
GLfloat lmodel_ambient[] = { 0.2, 0.2, 0.2, 1.0 };
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, lmodel_ambient);
glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE);
// set up world transform
glClearColor(0.f, 0.f, 0.f, 1.f);
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT|GL_ACCUM_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(45, win_aspect, 1, 10);
glMatrixMode(GL_MODELVIEW);
}
void GraphicsProvider3DPriv::DrawModel(const G3DModel* model, const Transform3D transform)const{
G3DModelPriv* privModel = (G3DModelPriv *)model;
glPushMatrix();
glLoadMatrixf(transform.GetOGLData());
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, &privModel->vertices[0]);
glNormalPointer(GL_FLOAT, 0, &privModel->normals[0]);
glTexCoordPointer(2, GL_FLOAT, 0, &privModel->texcoords[0]);
glEnable(GL_TEXTURE_2D);
//glFrontFace(GL_CCW);
glEnable(GL_CULL_FACE);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, privModel->texname);
glDrawElements(GL_QUADS, privModel->indices.size(), GL_UNSIGNED_SHORT, &privModel->indices[0]);
glPopMatrix();
glDisable(GL_TEXTURE_2D);
}
void GraphicsProvider3DPriv::EndFrame()const{
/* Swap front and back buffers */
glDisable(GL_LIGHTING);
glDisable(GL_LIGHT0);
glDisable(GL_CULL_FACE);
glfwSwapBuffers(window);
/* Poll for and process events */
glfwPollEvents();
}
I am trying to display a 360 panorama using an IMU for head tracking.
Yaw works correctly but the roll and pitch are reverse. I also notice that the pitch contains some roll (and maybe vice-versa).
I am receiving (W, X, Y, Z) coordinate from the IMU that I am storing in an array as X, Y, Z, W.
The next step is converting the quaternion to a rotation matrix. I have looked at many examples, and can't seem to find anything wrong with the following code:
static GLfloat rotation[16];
// Quaternion (x, y, z, w)
static void quaternionToRotation(float* quaternion)
{
// Normalize quaternion
float magnitude = sqrt(quaternion[0] * quaternion[0] +
quaternion[1] * quaternion[1] +
quaternion[2] * quaternion[2] +
quaternion[3] * quaternion[3]);
for (int i = 0; i < 4; ++i)
{
quaternion[i] /= magnitude;
}
double xx = quaternion[0] * quaternion[0], xy = quaternion[0] * quaternion[1],
xz = quaternion[0] * quaternion[2], xw = quaternion[0] * quaternion[3];
double yy = quaternion[1] * quaternion[1], yz = quaternion[1] * quaternion[2],
yw = quaternion[1] * quaternion[3];
double zz = quaternion[2] * quaternion[2], zw = quaternion[2] * quaternion[3];
// Column major order
rotation[0] = 1.0f - 2.0f * (yy + zz);
rotation[1] = 2.0f * (xy - zw);
rotation[2] = 2.0f * (xz + yw);
rotation[3] = 0;
rotation[4] = 2.0f * (xy + zw);
rotation[5] = 1.0f - 2.0f * (xx + zz);
rotation[6] = 2.0f * (yz - xw);
rotation[7] = 0;
rotation[8] = 2.0f * (xz - yw);
rotation[9] = 2.0f * (yz + xw);
rotation[10] = 1.0f - 2.0f * (xx + yy);
rotation[11] = 0;
rotation[12] = 0;
rotation[13] = 0;
rotation[14] = 0;
rotation[15] = 1;
}
The rotation matrix is then used in the draw call as such:
static void draw()
{
// Get IMU quaternion
float* quaternion = tracker.getTrackingData();
if (quaternion != NULL)
{
quaternionToRotation(quaternion);
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
glPushMatrix();
// TODO: Multiply initialRotation quaternion with IMU quaternion
glMultMatrixf(initialRotation); // Initial rotation to point forward
glMultMatrixf(rotation); // Rotation based on IMU
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, texture);
gluSphere(quad, 0.1, 50, 50);
glBindTexture(GL_TEXTURE_2D, 0);
glPopMatrix();
glFlush();
glutSwapBuffers();
}
I tried to set all but one fields in the quaternion to 0, and I notice that they all work individually, except roll and pitch is swapped around. I tried swapping X and Y but this does not seem to help.
Any help would be really appreciated. Please let me know as well if you have any steps that can let me debug my issue. Thanks!
I use vector storing vertices data needed to draw a sphere. The question is, how do I know which three vertices build a triangle and how do I iterate through every single triangle of one mesh to check if it intersects with a triangle of another 3d mesh.
Here is how I populate vector 'vertices' with data:
vector<GLfloat> vertices;
float const R = 1.0f / (float)(rings - 1);
float const S = 1.0f / (float)(sectors - 1);
unsigned int r, s;
vertices.resize(rings * sectors * 3);
vector<GLfloat>::iterator v = vertices.begin();
for(r = 0; r < rings; r++) for(s = 0; s < sectors; s++)
{
float const x = sinf(M_PI * r * R) * cosf(2 * M_PI * s * S);
float const y = sinf(-M_PI_2 + M_PI * r * R );
float const z = sinf(2.0f * M_PI * s * S) * sinf(M_PI * r * R );
*v++ = x * radius;
*v++ = y * radius;
*v++ = z * radius;
}
You might wonder, if I'm about to check for collisions between 2 spheres, why I don't use their radii instead. This is because I intend to use more complex shapes in future, where this simple method won't be of any use.
For the first question you should look at this answer, i think it answers it
procedurally generate a sphere mesh
For the second part of your problem you can always use spatial partitioning to subdivide your space and then iterate over faces in each sup-space, here is a detailed answer i gave earlier
intersection of two triangle meshes
I want to calculate all the vertices needed and connect them with lines, so I eventually come up with a sphere. How many ways are there to do it? And also the lines between the vertices, will be straight; how can I make them "curved" I know that I can use glutWireSphere(), but I am interested in actually calculating the vertices. A way that I thought about it, was to put all the vertices manually in an array, but I guess that is not the way it's done.
Copy and Pasting some code I originally wrote in Creating a 3D sphere in Opengl using Visual C++
class SolidSphere
{
protected
std::vector<GLfloat> vertices;
std::vector<GLfloat> normals;
std::vector<GLfloat> texcoords;
std::vector<GLushort> indices;
public:
void SolidSphere(float radius, unsigned int rings, unsigned int sectors)
{
float const R = 1./(float)(rings-1);
float const S = 1./(float)(sectors-1);
int r, s;
sphere_vertices.resize(rings * sectors * 3);
sphere_normals.resize(rings * sectors * 3);
sphere_texcoords.resize(rings * sectors * 2);
std::vector<GLfloat>::iterator v = sphere_vertices.begin();
std::vector<GLfloat>::iterator n = sphere_normals.begin();
std::vector<GLfloat>::iterator t = sphere_texcoords.begin();
for(r = 0; r < rings; r++) for(s = 0; s < sectors; s++) {
float const y = sin( -M_PI_2 + M_PI * r * R );
float const x = cos(2*M_PI * s * S) * sin( M_PI * r * R );
float const z = sin(2*M_PI * s * S) * sin( M_PI * r * R );
*t++ = s*S;
*t++ = r*R;
*v++ = x * radius;
*v++ = y * radius;
*v++ = z * radius;
*n++ = x;
*n++ = y;
*n++ = z;
}
sphere_indices.resize(rings * sectors * 4);
std:vector<GLushort>::iterator i = sphere_indices.begin();
for(r = 0; r < rings; r++) for(s = 0; s < sectors; s++) {
*i++ = r * sectors + s;
*i++ = r * sectors + (s+1);
*i++ = (r+1) * sectors + (s+1);
*i++ = (r+1) * sectors + s;
}
}
void draw(GLfloat x, GLfloat y, GLfloat z)
{
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glTranslatef(x,y,z);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, &sphere_vertices[0]);
glNormalPointer(GL_FLOAT, 0, &sphere_normals[0]);
glTexCoordPointer(2, GL_FLOAT, 0, &sphere_texcoords[0]);
glDrawElements(GL_QUADS, sphere_indices.size()/4, GL_UNSIGNED_SHORT, sphere_indices);
glPopMatrix();
}
}
how can I make them "curved"
You can't. All OpenGL primitives are "affine", i.e. planar or straight. Curvature is emulated by drawing short, straight sections with sufficient resolution.
There's more than one way to do this: a) icosphere generation and b)UV sphere generation. There may be more methods to do this. Some googling got me this excellent post on icosphere generation. I couldn't find UV sphere generation method though.
Paul Bourke actually has a nice introduction to sphere generation. And as for curved lines, there is no such thing in OpenGL. You can only make them appear curved by adding more intermediate connected points.
datenwolf's answer is great but contains some error.
When you use vbo, client states must be disabled after enabled.
Add Three lines to draw code
void draw(GLfloat x, GLfloat y, GLfloat z)
{
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glTranslatef(x,y,z);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, &sphere_vertices[0]);
glNormalPointer(GL_FLOAT, 0, &sphere_normals[0]);
glTexCoordPointer(2, GL_FLOAT, 0, &sphere_texcoords[0]);
glDrawElements(GL_QUADS, sphere_indices.size()/4, GL_UNSIGNED_SHORT, sphere_indices);
**glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);**
glPopMatrix();
}
An iconosphere would do the trick .
Still , to make a sphere with it , you will have to subdivide it's triangles.
It seems to me there's a great abundance of tutorials on how to make icospheres, but not so much about the method of facet approximation using polar coordinates.
So here's a very slightly edited code sample from the OpenGL Superbible 4th Edition book by Richard S. Wright Jr.
Since it's a very bare bones usage of the fixed-function pipeline (no glDrawElements, etc...) I found it useful for educational purposes.
Stacks are drawn as series of triangle strips. Obviously not the optimal performance, but it works!
// For best results, put this in a display list
// Draw a sphere at the origin
void RenderSphere(const float fRadius, const int iStacks, const int iSlices)
{
const auto PI = (float)M_PI;
const auto PIx2 = (float)(M_PI * 2.0);
GLfloat drho = PI / (GLfloat)iStacks;
GLfloat dtheta = PIx2 / (GLfloat)iSlices;
GLfloat ds = 1.0f / (GLfloat)iSlices;
GLfloat dt = 1.0f / (GLfloat)iStacks;
GLfloat t = 1.0f;
GLfloat s = 0.0f;
for (int i = 0; i < iStacks; i++)
{
const GLfloat rho = (GLfloat)i * drho;
const GLfloat srho = (GLfloat)(std::sinf(rho));
const GLfloat crho = (GLfloat)(std::cosf(rho));
const GLfloat srhodrho = (GLfloat)(std::sinf(rho + drho));
const GLfloat crhodrho = (GLfloat)(std::cosf(rho + drho));
// Many sources of OpenGL sphere drawing code uses a triangle fan
// for the caps of the sphere. This however introduces texturing
// artifacts at the poles on some OpenGL implementations
glBegin(GL_TRIANGLE_STRIP);
s = 0.0f;
for (int j = 0; j <= iSlices; j++)
{
const GLfloat theta = (j == iSlices) ? 0.0f : j * dtheta;
const GLfloat stheta = (GLfloat)(-std::sinf(theta));
const GLfloat ctheta = (GLfloat)(std::cosf(theta));
GLfloat x = stheta * srho;
GLfloat y = ctheta * srho;
GLfloat z = crho;
glTexCoord2f(s, t);
glNormal3f(x, y, z);
glVertex3f(x * fRadius, y * fRadius, z * fRadius);
x = stheta * srhodrho;
y = ctheta * srhodrho;
z = crhodrho;
glTexCoord2f(s, t - dt);
s += ds;
glNormal3f(x, y, z);
glVertex3f(x * fRadius, y * fRadius, z * fRadius);
}
glEnd();
t -= dt;
}
}
Unfortunately I couldn't find back a link to the original online repository of this source code, it's pretty ancient. Feel free to post if you know where to find it !
I am not able to create a simple 3D sphere using the OpenGL library function glutSolidSphere() in C++.
Here's what I tried:
#include<GL/glu.h>
void display()
{
glClear(GL_COLOR_BUFFER_BIT);
glColor3f(1.0,0.0,0.0);
glLoadIdentity();
glutSolidSphere( 5.0, 20.0, 20.0);
glFlush();
}
void myInit()
{
glClearColor(1.0,1.0,1.0,1.0);
glColor3f(1.0,0.0,0.0);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0.0,499.0,0.0,499.0);
glMatrixMode(GL_MODELVIEW);
}
void main(int argc,char **argv)
{
qobj = gluNewQuadric();
glutInit(&argc,argv);
glutInitDisplayMode(GLUT_SINGLE|GLUT_RGB);
glutInitWindowSize(500,500);
glutCreateWindow("pendulum");
glutDisplayFunc(display);
myInit();
glutMainLoop();
}
In OpenGL you don't create objects, you just draw them. Once they are drawn, OpenGL no longer cares about what geometry you sent it.
glutSolidSphere is just sending drawing commands to OpenGL. However there's nothing special in and about it. And since it's tied to GLUT I'd not use it. Instead, if you really need some sphere in your code, how about create if for yourself?
#define _USE_MATH_DEFINES
#include <GL/gl.h>
#include <GL/glu.h>
#include <vector>
#include <cmath>
// your framework of choice here
class SolidSphere
{
protected:
std::vector<GLfloat> vertices;
std::vector<GLfloat> normals;
std::vector<GLfloat> texcoords;
std::vector<GLushort> indices;
public:
SolidSphere(float radius, unsigned int rings, unsigned int sectors)
{
float const R = 1./(float)(rings-1);
float const S = 1./(float)(sectors-1);
int r, s;
vertices.resize(rings * sectors * 3);
normals.resize(rings * sectors * 3);
texcoords.resize(rings * sectors * 2);
std::vector<GLfloat>::iterator v = vertices.begin();
std::vector<GLfloat>::iterator n = normals.begin();
std::vector<GLfloat>::iterator t = texcoords.begin();
for(r = 0; r < rings; r++) for(s = 0; s < sectors; s++) {
float const y = sin( -M_PI_2 + M_PI * r * R );
float const x = cos(2*M_PI * s * S) * sin( M_PI * r * R );
float const z = sin(2*M_PI * s * S) * sin( M_PI * r * R );
*t++ = s*S;
*t++ = r*R;
*v++ = x * radius;
*v++ = y * radius;
*v++ = z * radius;
*n++ = x;
*n++ = y;
*n++ = z;
}
indices.resize(rings * sectors * 4);
std::vector<GLushort>::iterator i = indices.begin();
for(r = 0; r < rings; r++) for(s = 0; s < sectors; s++) {
*i++ = r * sectors + s;
*i++ = r * sectors + (s+1);
*i++ = (r+1) * sectors + (s+1);
*i++ = (r+1) * sectors + s;
}
}
void draw(GLfloat x, GLfloat y, GLfloat z)
{
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glTranslatef(x,y,z);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, &vertices[0]);
glNormalPointer(GL_FLOAT, 0, &normals[0]);
glTexCoordPointer(2, GL_FLOAT, 0, &texcoords[0]);
glDrawElements(GL_QUADS, indices.size(), GL_UNSIGNED_SHORT, &indices[0]);
glPopMatrix();
}
};
SolidSphere sphere(1, 12, 24);
void display()
{
int const win_width = …; // retrieve window dimensions from
int const win_height = …; // framework of choice here
float const win_aspect = (float)win_width / (float)win_height;
glViewport(0, 0, win_width, win_height);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(45, win_aspect, 1, 10);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
#ifdef DRAW_WIREFRAME
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
#endif
sphere.draw(0, 0, -5);
swapBuffers();
}
int main(int argc, char *argv[])
{
// initialize and register your framework of choice here
return 0;
}
It doesn't seem like anyone so far has addressed the actual problem with your original code, so I thought I would do that even though the question is quite old at this point.
The problem originally had to do with the projection in relation to the radius and position of the sphere. I think you'll find that the problem isn't too complicated. The program actually works correctly, it's just that what is being drawn is very hard to see.
First, an orthogonal projection was created using the call
gluOrtho2D(0.0, 499.0, 0.0, 499.0);
which "is equivalent to calling glOrtho with near = -1 and far = 1." This means that the viewing frustum has a depth of 2. So a sphere with a radius of anything greater than 1 (diameter = 2) will not fit entirely within the viewing frustum.
Then the calls
glLoadIdentity();
glutSolidSphere(5.0, 20.0, 20.0);
are used, which loads the identity matrix of the model-view matrix and then "[r]enders a sphere centered at the modeling coordinates origin of the specified radius." Meaning, the sphere is rendered at the origin, (x, y, z) = (0, 0, 0), and with a radius of 5.
Now, the issue is three-fold:
Since the window is 500x500 pixels and the width and height of the viewing frustum is almost 500 (499.0), the small radius of the sphere (5.0) makes its projected area only slightly over one fiftieth (2*5/499) of the size of the window in each dimension. This means that the apparent size of the sphere would be roughly 1/2,500th (actually pi*5^2/499^2, which is closer to about 1/3170th) of the entire window, so it might be difficult to see. This is assuming the entire circle is drawn within the area of the window. It is not, however, as we will see in point 2.
Since the viewing frustum has it's left plane at x = 0 and bottom plane at y = 0, the sphere will be rendered with its geometric center in the very bottom left corner of the window so that only one quadrant of the projected sphere will be visible! This means that what would be seen is even smaller, about 1/10,000th (actually pi*5^2/(4*499^2), which is closer to 1/12,682nd) of the window size. This would make it even more difficult to see. Especially since the sphere is rendered so close to the edges/corner of the screen where you might not think to look.
Since the depth of the viewing frustum is significantly smaller than the diameter of the sphere (less than half), only a sliver of the sphere will be within the viewing frustum, rendering only that part. So you will get more like a hollow circle on the screen than a solid sphere/circle. As it happens, the thickness of that sliver might represent less than 1 pixel on the screen which means we might even see nothing on the screen, even if part of the sphere is indeed within the viewing frustum.
The solution is simply to change the viewing frustum and radius of the sphere. For instance,
gluOrtho2D(-5.0, 5.0, -5.0, 5.0);
glutSolidSphere(5.0, 20, 20);
renders the following image.
As you can see, only a small part is visible around the "equator", of the sphere with a radius of 5. (I changed the projection to fill the window with the sphere.) Another example,
gluOrtho2D(-1.1, 1.1, -1.1, 1.1);
glutSolidSphere(1.1, 20, 20);
renders the following image.
The image above shows more of the sphere inside of the viewing frustum, but still the sphere is 0.2 depth units larger than the viewing frustum. As you can see, the "ice caps" of the sphere are missing, both the north and the south. So, if we want the entire sphere to fit within the viewing frustum which has depth 2, we must make the radius less than or equal to 1.
gluOrtho2D(-1.0, 1.0, -1.0, 1.0);
glutSolidSphere(1.0, 20, 20);
renders the following image.
I hope this has helped someone. Take care!
I don't understand how can datenwolf`s index generation can be correct. But still I find his solution rather clear. This is what I get after some thinking:
inline void push_indices(vector<GLushort>& indices, int sectors, int r, int s) {
int curRow = r * sectors;
int nextRow = (r+1) * sectors;
indices.push_back(curRow + s);
indices.push_back(nextRow + s);
indices.push_back(nextRow + (s+1));
indices.push_back(curRow + s);
indices.push_back(nextRow + (s+1));
indices.push_back(curRow + (s+1));
}
void createSphere(vector<vec3>& vertices, vector<GLushort>& indices, vector<vec2>& texcoords,
float radius, unsigned int rings, unsigned int sectors)
{
float const R = 1./(float)(rings-1);
float const S = 1./(float)(sectors-1);
for(int r = 0; r < rings; ++r) {
for(int s = 0; s < sectors; ++s) {
float const y = sin( -M_PI_2 + M_PI * r * R );
float const x = cos(2*M_PI * s * S) * sin( M_PI * r * R );
float const z = sin(2*M_PI * s * S) * sin( M_PI * r * R );
texcoords.push_back(vec2(s*S, r*R));
vertices.push_back(vec3(x,y,z) * radius);
push_indices(indices, sectors, r, s);
}
}
}
Here's the code:
glPushMatrix();
glTranslatef(18,2,0);
glRotatef(angle, 0, 0, 0.7);
glColor3ub(0,255,255);
glutWireSphere(3,10,10);
glPopMatrix();
I like the answer of coin. It's simple to understand and works with triangles. However the indexes of his program are sometimes over the bounds. So I post here his code with two tiny corrections:
inline void push_indices(vector<GLushort>& indices, int sectors, int r, int s) {
int curRow = r * sectors;
int nextRow = (r+1) * sectors;
int nextS = (s+1) % sectors;
indices.push_back(curRow + s);
indices.push_back(nextRow + s);
indices.push_back(nextRow + nextS);
indices.push_back(curRow + s);
indices.push_back(nextRow + nextS);
indices.push_back(curRow + nextS);
}
void createSphere(vector<vec3>& vertices, vector<GLushort>& indices, vector<vec2>& texcoords,
float radius, unsigned int rings, unsigned int sectors)
{
float const R = 1./(float)(rings-1);
float const S = 1./(float)(sectors-1);
for(int r = 0; r < rings; ++r) {
for(int s = 0; s < sectors; ++s) {
float const y = sin( -M_PI_2 + M_PI * r * R );
float const x = cos(2*M_PI * s * S) * sin( M_PI * r * R );
float const z = sin(2*M_PI * s * S) * sin( M_PI * r * R );
texcoords.push_back(vec2(s*S, r*R));
vertices.push_back(vec3(x,y,z) * radius);
if(r < rings-1)
push_indices(indices, sectors, r, s);
}
}
}
Datanewolf's code is ALMOST right. I had to reverse both the winding and the normals to make it work properly with the fixed pipeline. The below works correctly with cull on or off for me:
std::vector<GLfloat> vertices;
std::vector<GLfloat> normals;
std::vector<GLfloat> texcoords;
std::vector<GLushort> indices;
float const R = 1./(float)(rings-1);
float const S = 1./(float)(sectors-1);
int r, s;
vertices.resize(rings * sectors * 3);
normals.resize(rings * sectors * 3);
texcoords.resize(rings * sectors * 2);
std::vector<GLfloat>::iterator v = vertices.begin();
std::vector<GLfloat>::iterator n = normals.begin();
std::vector<GLfloat>::iterator t = texcoords.begin();
for(r = 0; r < rings; r++) for(s = 0; s < sectors; s++) {
float const y = sin( -M_PI_2 + M_PI * r * R );
float const x = cos(2*M_PI * s * S) * sin( M_PI * r * R );
float const z = sin(2*M_PI * s * S) * sin( M_PI * r * R );
*t++ = s*S;
*t++ = r*R;
*v++ = x * radius;
*v++ = y * radius;
*v++ = z * radius;
*n++ = -x;
*n++ = -y;
*n++ = -z;
}
indices.resize(rings * sectors * 4);
std::vector<GLushort>::iterator i = indices.begin();
for(r = 0; r < rings-1; r++)
for(s = 0; s < sectors-1; s++) {
/*
*i++ = r * sectors + s;
*i++ = r * sectors + (s+1);
*i++ = (r+1) * sectors + (s+1);
*i++ = (r+1) * sectors + s;
*/
*i++ = (r+1) * sectors + s;
*i++ = (r+1) * sectors + (s+1);
*i++ = r * sectors + (s+1);
*i++ = r * sectors + s;
}
Edit: There was a question on how to draw this... in my code I encapsulate these values in a G3DModel class. This is my code to setup the frame, draw the model, and end it:
void GraphicsProvider3DPriv::BeginFrame()const{
int win_width;
int win_height;// framework of choice here
glfwGetWindowSize(window, &win_width, &win_height); // retrieve window
float const win_aspect = (float)win_width / (float)win_height;
// set lighting
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
GLfloat lightpos[] = {0, 0.0, 0, 0.};
glLightfv(GL_LIGHT0, GL_POSITION, lightpos);
GLfloat lmodel_ambient[] = { 0.2, 0.2, 0.2, 1.0 };
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, lmodel_ambient);
glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE);
// set up world transform
glClearColor(0.f, 0.f, 0.f, 1.f);
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT|GL_ACCUM_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(45, win_aspect, 1, 10);
glMatrixMode(GL_MODELVIEW);
}
void GraphicsProvider3DPriv::DrawModel(const G3DModel* model, const Transform3D transform)const{
G3DModelPriv* privModel = (G3DModelPriv *)model;
glPushMatrix();
glLoadMatrixf(transform.GetOGLData());
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, &privModel->vertices[0]);
glNormalPointer(GL_FLOAT, 0, &privModel->normals[0]);
glTexCoordPointer(2, GL_FLOAT, 0, &privModel->texcoords[0]);
glEnable(GL_TEXTURE_2D);
//glFrontFace(GL_CCW);
glEnable(GL_CULL_FACE);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, privModel->texname);
glDrawElements(GL_QUADS, privModel->indices.size(), GL_UNSIGNED_SHORT, &privModel->indices[0]);
glPopMatrix();
glDisable(GL_TEXTURE_2D);
}
void GraphicsProvider3DPriv::EndFrame()const{
/* Swap front and back buffers */
glDisable(GL_LIGHTING);
glDisable(GL_LIGHT0);
glDisable(GL_CULL_FACE);
glfwSwapBuffers(window);
/* Poll for and process events */
glfwPollEvents();
}