OpenGL glut OFF 读取 + 半边数据结构存储

文件格式：
https://people.sc.fsu.edu/~jburkardt/data/off/off.html
第一行：OFF
第二行：顶点数面数边数
接下来对于某一个顶点都有一行：x y z
接下来对于每一个多边形面都有一行：n v1 v2 … vn, 即 the number of vertices, and the vertex indices for each face.
（顶点的编号此时被隐含输入了，从0开始一直到n-1.）

以上如果要规定颜色：
对于每一个 colored vertex 都有一行：x y z r g b a
可以通过遵循顶点的XYZ坐标和RGBA颜色坐标来为顶点分配颜色（“ A”坐标控制透明度）。
对于每一个面都有一行：n v1 v2 … vn r g b a,
可以通过遵循顶点的XYZ坐标和RGBA颜色坐标来为顶点分配颜色（“ A”坐标控制透明度）。

Normally, color is not specified for BOTH the vertices and faces. If the node colors are specified, then the faces are colored with a smooth interpolation of the colors of their vertices.
如果指定了节点颜色，面的颜色将会被平滑插值。

函数解释：
gluLookAt()
该函数定义一个视图矩阵，并与当前矩阵相乘。
第一组eyex, eyey,eyez 相机在世界坐标的位置
第二组centerx,centery,centerz 相机镜头对准的物体在世界坐标的位置
第三组upx,upy,upz 相机向上的方向在世界坐标中的方向
你把相机想象成为你自己的脑袋：
第一组数据就是脑袋的位置
第二组数据就是眼睛看的物体的位置
第三组就是头顶朝向的方向（因为你可以歪着头看同一个物体）。

半边结构：
http://www.cs.deas.harvard.edu/~xgu/mesh/

 存储：struct HE_edge {HE_vert* vert;   // vertex at the end of the half-edgeHE_edge* pair;   // oppositely oriented adjacent half-edge HE_face* face;   // face the half-edge bordersHE_edge* next;   // next half-edge around the face};struct HE_vert {float x;float y;float z;HE_edge* edge;  // one of the half-edges emantating from the vertex};struct HE_face {HE_edge* edge;  // one of the half-edges bordering the face};遍历：HE_vert* vert1 = edge->vert;HE_vert* vert2 = edge->pair->vert;HE_face* face1 = edge->face;HE_face* face2 = edge->pair->face;HE_edge* edge = face->edge;do {// do something with edgeedge = edge->next;} while (edge != face->edge);HE_edge* edge = vert->edge;do {// do something with edge, edge->pair or edge->faceedge = edge->pair->next;} while (edge != vert->edge);

在OFF的读取中，需要把OFF的格式转化为半边数据结构，我是这样做的：
先读入文件，结构体就用上面那些，然后读入点就正常存一个点
读入面的时候比如：4 0 1 2 3，那就4条边，分别是0->1, 1->2, 2->3, 3->0。
然后这些边分别是一个HE_edge对象。
然后面的话，每一行都是一个HE_face对象。
每读入一个边都进行一个他们相互之间的联结，除了pair不能直接赋值，其他的都可以。
然后处理边的pair，这里是使用map，map的类型是 pair<>, *edge（这里的pair<>是数据类型）
每次加边的时候都加一个map，然后搜一下map中有无相反的边，有的话互相pair属性联结一下。
然后就，完成啦。

对于，至于绘图工作，画的是线图，在读入边的时候，GL_LINE_LOOP画一下就好啦。

然后这里还有一个其他功能：bianli()，这个函数是实现了把0这个点变成绿色，相连的边变成蓝色，相邻的点变成红色。

代码：
lab6.cpp

#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include <time.h>
#include <GL/glut.h>
#include <iostream>
#include <fstream>
#include <stdlib.h>
#include <map>
#include "ArcBall.h"
using namespace std;struct HE_vert;
struct HE_face;
struct HE_edge;struct HE_vert {float x;float y;float z;HE_edge* edge;  // one of the half-edges emantating from the vertex
};struct HE_face {HE_edge* edge;  // one of the half-edges bordering the face
};struct HE_edge {int id;HE_vert* vert;   // vertex at the end of the half-edgeHE_edge* pair;   // oppositely oriented adjacent half-edge HE_face* face;   // face the half-edge bordersHE_edge* next;   // next half-edge around the face
};class HE_off {private:int vert_cnts, face_cnts, edge_cnts;map<pair<int, int>, HE_edge*> edge_map;HE_vert* HE_verts;HE_face* HE_faces;HE_edge* HE_edges;
public:HE_off() {}~HE_off() {delete HE_verts;delete HE_faces;delete HE_edges;}void read_off() {char theOff[233] = "bumpy.off";// cin >> theOff;ifstream fin(theOff);if (!fin.is_open()) {puts("Error opening file.");exit(1);}string isOff;do {fin >> isOff;} while (isOff[0] == '#');if (isOff != "OFF") {puts("This is not a .off file.");exit(1);}fin >> this->vert_cnts >> this->face_cnts >> this->edge_cnts;this->HE_verts = new HE_vert[this->vert_cnts];//glBegin(GL_POINTS);for (int i = 0; i < vert_cnts; i++) {float a, b, c;fin >> a >> b >> c;(this->HE_verts + i)->x = a, (this->HE_verts + i)->y = b, (this->HE_verts + i)->z = c;//cout << a << b << c << endl;//glVertex3d(a, b, c);}//glEnd();this->HE_faces = new HE_face[this->face_cnts];this->HE_edges = new HE_edge[this->face_cnts*5];for (int i = 0; i < face_cnts; i++) {int n;int k[10];fin >> n;//cout << "face_point: ";for (int j = 0; j < n; j++) {fin >> k[j];}//glBegin(GL_POLYGON);glBegin(GL_LINE_LOOP);for (int j = 0; j < n; j++) {int t = (j + 1) % n;(this->HE_edges + i * n + j)->face = (this->HE_faces + i);(this->HE_edges + i * n + j)->vert = (this->HE_verts + k[t]);(this->HE_edges + i * n + j)->next = (this->HE_edges + i * n + t);(this->HE_edges + i * n + j)->id = i * n + j;this->edge_map[make_pair(k[j], k[t])] = (this->HE_edges + i * n + j);auto iter = edge_map.find(make_pair(k[t], k[j]));if (iter != edge_map.end()) {(this->HE_edges + i * n + j)->pair = iter->second;iter->second->pair = (this->HE_edges + i * n + j);}(this->HE_faces + i)->edge = (this->HE_edges + i * n + j);// cout << "j: " << j << ", i*n+j:" << i*n+j << " k[j]:" << k[j] << ",k[t]:" << k[t] << endl;(this->HE_verts + k[j])->edge = (this->HE_edges + i * n + j);float a, b, c;a = (this->HE_verts + k[j])->x;b = (this->HE_verts + k[j])->y;c = (this->HE_verts + k[j])->z;//glBegin(GL_POINT);glVertex3f(a, b, c);//cout << k << " ";}glEnd();//cout << endl;}}void bianli() {float a, b, c;a = (this->HE_verts)->x;b = (this->HE_verts)->y;c = (this->HE_verts)->z;//设置点的大小glPointSize(7);//进行平滑处理　glEnable(GL_POINT_SMOOTH);glHint(GL_POINT_SMOOTH, GL_NICEST);glBegin(GL_POINTS);glColor3f(0, 255, 0);glVertex3f(a, b, c);// cout << "green：" << a << ", " << b << ", " << c << endl;glEnd();HE_edge* edge = (this->HE_verts)->edge;do {// do something with edge, edge->pair or edge->face// cout << "id: " << edge->id << "," << edge->vert->x << "," << edge->vert->y << "," << edge->vert->z << endl;glBegin(GL_POINTS);glColor3f(255, 0, 0);glVertex3f(edge->vert->x, edge->vert->y, edge->vert->z);// cout << "red：" << edge->vert->x << ", " << edge->vert->y << ", " << edge->vert->z << endl;glEnd();glBegin(GL_LINE_LOOP);//glLineWidth(3.0f);glColor4ub(0, 0, 255, 255);glColor3f(0, 0, 255);glVertex3f(a, b, c);glVertex3f(edge->vert->x, edge->vert->y, edge->vert->z);// cout << "blue：" << edge->vert->x << ", " << edge->vert->y << ", " << edge->vert->z << endl;glEnd();edge = edge->pair->next;} while (edge != (this->HE_verts)->edge);}
};ArcBallT arcBall(600.0f, 400.0f);
ArcBallT* ArcBall = &arcBall;// new ArcBallT(600.0f,400.0f);//&arcBall;void reshape(int w, int h) {glViewport(0, 0, w, h);glMatrixMode(GL_PROJECTION);glLoadIdentity();glFrustum(-1, 1, -1, 1, 1.5, 20);glMatrixMode(GL_MODELVIEW);ballArcBall->setBounds((GLfloat)w, (GLfloat)h); //1. 设置窗口边界
}
void init() {glClearColor(0, 0, 0, 0);glShadeModel(GL_FLAT);
}void display(void) {glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);glColor3f(1.0, 1.0, 1.0);glLoadIdentity();gluLookAt(0.0, 0.0, 5.0,0.0, 0.0, 0.0,0.0, 1.0, 0.0);glScalef(1.0, 2.0, 1.0);//glPushMatrix();glTranslatef(ArcBall->rightPan, ArcBall->upPan, 0);glScalef(ArcBall->zoomRate, ArcBall->zoomRate, ArcBall->zoomRate);//2. 缩放glMultMatrixf(ArcBall->Transform.M);                        //3. 旋转//glutWireCube(1.0);/*glBegin(GL_POLYGON);*/HE_off myoff;myoff.read_off();myoff.bianli();glFlush();
}
//移动
void move(int x, int y)
{ArcBall->MousePt.s.X = x;ArcBall->MousePt.s.Y = y;ArcBall->upstate();glutPostRedisplay();
}
//点击
void mouse(int button, int state, int x, int y)
{if (button == GLUT_LEFT_BUTTON && state == GLUT_DOWN) {ArcBall->isClicked = true;move(x, y);}else if (button == GLUT_LEFT_BUTTON && state == GLUT_UP)ArcBall->isClicked = false;else if (button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN) {ArcBall->isRClicked = true;move(x, y);}else if (button == GLUT_RIGHT_BUTTON && state == GLUT_UP)ArcBall->isRClicked = false;else if (button == GLUT_RIGHT_BUTTON && state == GLUT_UP)ArcBall->isRClicked = false;else if (button == GLUT_MIDDLE_BUTTON && state == GLUT_DOWN) {ArcBall->isMClicked = true;move(x, y);}else if (button == GLUT_MIDDLE_BUTTON && state == GLUT_UP)ArcBall->isMClicked = false;ArcBall->upstate();glutPostRedisplay();}int main(int argc, char** argv) {glutInit(&argc, argv);glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB);glutInitWindowSize(640, 480);//glutCreateWindow("TEST_Arcball");glutCreateWindow("MY_OFF");init();glutDisplayFunc(display);glutReshapeFunc(reshape);glutMouseFunc(mouse);        //registered the mouse event.glutMotionFunc(move);         //registered the move eventglutMainLoop();return 0;
}

arcball.h

//
// Created by pacer on 2019/6/19.
//#ifndef RORATION_ARCBALL_H
#define RORATION_ARCBALL_H#endif //RORATION_ARCBALL_H

///ArcBall.h///
#include <stdlib.h>// 仅在Debug模式下，启用断言
#ifdef _DEBUG
# include "assert.h"
#else
# define assert(x) { }
#endif#include <GL/glut.h>
#include "math.h"//2维点
typedef union Tuple2f_t
{struct{GLfloat X, Y;} s;GLfloat T[2];
} Tuple2fT;//3维点
typedef union Tuple3f_t
{struct{GLfloat X, Y, Z;} s;GLfloat T[3];
} Tuple3fT;//4维点
typedef union Tuple4f_t
{struct{GLfloat X, Y, Z, W;} s;GLfloat T[4];
} Tuple4fT;//3x3 矩阵
typedef union Matrix3f_t
{struct{//column majorunion { GLfloat M00; GLfloat XX; GLfloat SX; };union { GLfloat M10; GLfloat XY;             };union { GLfloat M20; GLfloat XZ;             };union { GLfloat M01; GLfloat YX;             };union { GLfloat M11; GLfloat YY; GLfloat SY; };union { GLfloat M21; GLfloat YZ;             };union { GLfloat M02; GLfloat ZX;             };union { GLfloat M12; GLfloat ZY;             };union { GLfloat M22; GLfloat ZZ; GLfloat SZ; };} s;GLfloat M[9];
} Matrix3fT;//4x4 矩阵
typedef union Matrix4f_t
{struct{//column majorunion { GLfloat M00; GLfloat XX; GLfloat SX; };union { GLfloat M10; GLfloat XY;             };union { GLfloat M20; GLfloat XZ;             };union { GLfloat M30; GLfloat XW;             };union { GLfloat M01; GLfloat YX;             };union { GLfloat M11; GLfloat YY; GLfloat SY; };union { GLfloat M21; GLfloat YZ;             };union { GLfloat M31; GLfloat YW;             };union { GLfloat M02; GLfloat ZX;             };union { GLfloat M12; GLfloat ZY;             };union { GLfloat M22; GLfloat ZZ; GLfloat SZ; };union { GLfloat M32; GLfloat ZW;             };union { GLfloat M03; GLfloat TX;             };union { GLfloat M13; GLfloat TY;             };union { GLfloat M23; GLfloat TZ;             };union { GLfloat M33; GLfloat TW; GLfloat SW; };} s;GLfloat M[16];
} Matrix4fT;//定义类型的别名
#define Point2fT    Tuple2fT
#define Quat4fT     Tuple4fT
#define Vector2fT   Tuple2fT
#define Vector3fT   Tuple3fT
#define FuncSqrt    sqrtf
# define Epsilon 1.0e-5//2维点相加
inline
static void Point2fAdd(Point2fT* NewObj, const Tuple2fT* t1)
{assert(NewObj && t1);NewObj->s.X += t1->s.X;NewObj->s.Y += t1->s.Y;
}//2 维点相减
inline
static void Point2fSub(Point2fT* NewObj, const Tuple2fT* t1)
{assert(NewObj && t1);NewObj->s.X -= t1->s.X;NewObj->s.Y -= t1->s.Y;
}//3 维点矢积
inline
static void Vector3fCross(Vector3fT* NewObj, const Vector3fT* v1, const Vector3fT* v2)
{Vector3fT Result;assert(NewObj && v1 && v2);Result.s.X = (v1->s.Y * v2->s.Z) - (v1->s.Z * v2->s.Y);Result.s.Y = (v1->s.Z * v2->s.X) - (v1->s.X * v2->s.Z);Result.s.Z = (v1->s.X * v2->s.Y) - (v1->s.Y * v2->s.X);*NewObj = Result;
}//3维点点积
inline
static GLfloat Vector3fDot(const Vector3fT* NewObj, const Vector3fT* v1)
{assert(NewObj && v1);return  (NewObj->s.X * v1->s.X) +(NewObj->s.Y * v1->s.Y) +(NewObj->s.Z * v1->s.Z);
}//3维点的长度的平方
inline
static GLfloat Vector3fLengthSquared(const Vector3fT* NewObj)
{assert(NewObj);return  (NewObj->s.X * NewObj->s.X) +(NewObj->s.Y * NewObj->s.Y) +(NewObj->s.Z * NewObj->s.Z);
}//3维点的长度
inline
static GLfloat Vector3fLength(const Vector3fT* NewObj)
{assert(NewObj);return FuncSqrt(Vector3fLengthSquared(NewObj));
}//设置3x3矩阵为0 矩阵
inline
static void Matrix3fSetZero(Matrix3fT* NewObj)
{NewObj->s.M00 = NewObj->s.M01 = NewObj->s.M02 =NewObj->s.M10 = NewObj->s.M11 = NewObj->s.M12 =NewObj->s.M20 = NewObj->s.M21 = NewObj->s.M22 = 0.0f;
}// 设置4x4矩阵为0矩阵
inline
static void Matrix4fSetZero(Matrix4fT* NewObj)
{NewObj->s.M00 = NewObj->s.M01 = NewObj->s.M02 =NewObj->s.M10 = NewObj->s.M11 = NewObj->s.M12 =NewObj->s.M20 = NewObj->s.M21 = NewObj->s.M22 =NewObj->s.M30 = NewObj->s.M31 = NewObj->s.M32 = 0.0f;
}// 设置3x3矩阵为单位矩阵
inline
static void Matrix3fSetIdentity(Matrix3fT* NewObj)
{Matrix3fSetZero(NewObj);NewObj->s.M00 =NewObj->s.M11 =NewObj->s.M22 = 1.0f;
}// 设置4x4矩阵为单位矩阵
inline
static void Matrix4fSetIdentity(Matrix4fT* NewObj)
{Matrix4fSetZero(NewObj);NewObj->s.M00 = 1.0f;NewObj->s.M11 = 1.0f;NewObj->s.M22 = 1.0f;NewObj->s.M33=1.0f;
}//从四元数设置旋转矩阵
//
inline
static void Matrix3fSetRotationFromQuat4f(Matrix3fT* NewObj, const Quat4fT* q1)
{GLfloat n, s;GLfloat xs, ys, zs;GLfloat wx, wy, wz;GLfloat xx, xy, xz;GLfloat yy, yz, zz;assert(NewObj && q1);n = (q1->s.X * q1->s.X) + (q1->s.Y * q1->s.Y) + (q1->s.Z * q1->s.Z) + (q1->s.W * q1->s.W);s = (n > 0.0f) ? (2.0f / n) : 0.0f;xs = q1->s.X * s;  ys = q1->s.Y * s;  zs = q1->s.Z * s;wx = q1->s.W * xs; wy = q1->s.W * ys; wz = q1->s.W * zs;xx = q1->s.X * xs; xy = q1->s.X * ys; xz = q1->s.X * zs;yy = q1->s.Y * ys; yz = q1->s.Y * zs; zz = q1->s.Z * zs;NewObj->s.XX = 1.0f - (yy + zz); NewObj->s.YX =         xy - wz;  NewObj->s.ZX =         xz + wy;NewObj->s.XY =         xy + wz;  NewObj->s.YY = 1.0f - (xx + zz); NewObj->s.ZY =         yz - wx;NewObj->s.XZ =         xz - wy;  NewObj->s.YZ =         yz + wx;  NewObj->s.ZZ = 1.0f - (xx + yy);
}//3x3 矩阵相乘
inline
static void Matrix3fMulMatrix3f(Matrix3fT* NewObj, const Matrix3fT* m1)
{Matrix3fT Result;assert(NewObj && m1);Result.s.M00 = (NewObj->s.M00 * m1->s.M00) + (NewObj->s.M01 * m1->s.M10) + (NewObj->s.M02 * m1->s.M20);Result.s.M01 = (NewObj->s.M00 * m1->s.M01) + (NewObj->s.M01 * m1->s.M11) + (NewObj->s.M02 * m1->s.M21);Result.s.M02 = (NewObj->s.M00 * m1->s.M02) + (NewObj->s.M01 * m1->s.M12) + (NewObj->s.M02 * m1->s.M22);Result.s.M10 = (NewObj->s.M10 * m1->s.M00) + (NewObj->s.M11 * m1->s.M10) + (NewObj->s.M12 * m1->s.M20);Result.s.M11 = (NewObj->s.M10 * m1->s.M01) + (NewObj->s.M11 * m1->s.M11) + (NewObj->s.M12 * m1->s.M21);Result.s.M12 = (NewObj->s.M10 * m1->s.M02) + (NewObj->s.M11 * m1->s.M12) + (NewObj->s.M12 * m1->s.M22);Result.s.M20 = (NewObj->s.M20 * m1->s.M00) + (NewObj->s.M21 * m1->s.M10) + (NewObj->s.M22 * m1->s.M20);Result.s.M21 = (NewObj->s.M20 * m1->s.M01) + (NewObj->s.M21 * m1->s.M11) + (NewObj->s.M22 * m1->s.M21);Result.s.M22 = (NewObj->s.M20 * m1->s.M02) + (NewObj->s.M21 * m1->s.M12) + (NewObj->s.M22 * m1->s.M22);*NewObj = Result;
}//4x4 矩阵相乘
inline
static void Matrix4fSetRotationScaleFromMatrix4f(Matrix4fT* NewObj, const Matrix4fT* m1)
{assert(NewObj && m1);NewObj->s.XX = m1->s.XX; NewObj->s.YX = m1->s.YX; NewObj->s.ZX = m1->s.ZX;NewObj->s.XY = m1->s.XY; NewObj->s.YY = m1->s.YY; NewObj->s.ZY = m1->s.ZY;NewObj->s.XZ = m1->s.XZ; NewObj->s.YZ = m1->s.YZ; NewObj->s.ZZ = m1->s.ZZ;
}//进行矩阵的奇异值分解，旋转矩阵被保存到rot3和 rot4中，返回矩阵的缩放因子
inline
static GLfloat Matrix4fSVD(const Matrix4fT* NewObj, Matrix3fT* rot3, Matrix4fT* rot4)
{GLfloat s, n;assert(NewObj);s = FuncSqrt(( (NewObj->s.XX * NewObj->s.XX) + (NewObj->s.XY * NewObj->s.XY) + (NewObj->s.XZ * NewObj->s.XZ) +(NewObj->s.YX * NewObj->s.YX) + (NewObj->s.YY * NewObj->s.YY) + (NewObj->s.YZ * NewObj->s.YZ) +(NewObj->s.ZX * NewObj->s.ZX) + (NewObj->s.ZY * NewObj->s.ZY) + (NewObj->s.ZZ * NewObj->s.ZZ) ) / 3.0f );if (rot3){rot3->s.XX = NewObj->s.XX; rot3->s.XY = NewObj->s.XY; rot3->s.XZ = NewObj->s.XZ;rot3->s.YX = NewObj->s.YX; rot3->s.YY = NewObj->s.YY; rot3->s.YZ = NewObj->s.YZ;rot3->s.ZX = NewObj->s.ZX; rot3->s.ZY = NewObj->s.ZY; rot3->s.ZZ = NewObj->s.ZZ;n = 1.0f / FuncSqrt( (NewObj->s.XX * NewObj->s.XX) +(NewObj->s.XY * NewObj->s.XY) +(NewObj->s.XZ * NewObj->s.XZ) );rot3->s.XX *= n;rot3->s.XY *= n;rot3->s.XZ *= n;n = 1.0f / FuncSqrt( (NewObj->s.YX * NewObj->s.YX) +(NewObj->s.YY * NewObj->s.YY) +(NewObj->s.YZ * NewObj->s.YZ) );rot3->s.YX *= n;rot3->s.YY *= n;rot3->s.YZ *= n;n = 1.0f / FuncSqrt( (NewObj->s.ZX * NewObj->s.ZX) +(NewObj->s.ZY * NewObj->s.ZY) +(NewObj->s.ZZ * NewObj->s.ZZ) );rot3->s.ZX *= n;rot3->s.ZY *= n;rot3->s.ZZ *= n;}if (rot4){if (rot4 != NewObj){Matrix4fSetRotationScaleFromMatrix4f(rot4, NewObj);}n = 1.0f / FuncSqrt( (NewObj->s.XX * NewObj->s.XX) +(NewObj->s.XY * NewObj->s.XY) +(NewObj->s.XZ * NewObj->s.XZ) );rot4->s.XX *= n;rot4->s.XY *= n;rot4->s.XZ *= n;n = 1.0f / FuncSqrt( (NewObj->s.YX * NewObj->s.YX) +(NewObj->s.YY * NewObj->s.YY) +(NewObj->s.YZ * NewObj->s.YZ) );rot4->s.YX *= n;rot4->s.YY *= n;rot4->s.YZ *= n;n = 1.0f / FuncSqrt( (NewObj->s.ZX * NewObj->s.ZX) +(NewObj->s.ZY * NewObj->s.ZY) +(NewObj->s.ZZ * NewObj->s.ZZ) );rot4->s.ZX *= n;rot4->s.ZY *= n;rot4->s.ZZ *= n;}return s;
}//从3x3矩阵变为4x4的旋转矩阵
inline
static void Matrix4fSetRotationScaleFromMatrix3f(Matrix4fT* NewObj, const Matrix3fT* m1)
{assert(NewObj && m1);NewObj->s.XX = m1->s.XX; NewObj->s.YX = m1->s.YX; NewObj->s.ZX = m1->s.ZX;NewObj->s.XY = m1->s.XY; NewObj->s.YY = m1->s.YY; NewObj->s.ZY = m1->s.ZY;NewObj->s.XZ = m1->s.XZ; NewObj->s.YZ = m1->s.YZ; NewObj->s.ZZ = m1->s.ZZ;
}//4x4矩阵的与标量的乘积
inline
static void Matrix4fMulRotationScale(Matrix4fT* NewObj, GLfloat scale)
{assert(NewObj);NewObj->s.XX *= scale; NewObj->s.YX *= scale; NewObj->s.ZX *= scale;NewObj->s.XY *= scale; NewObj->s.YY *= scale; NewObj->s.ZY *= scale;NewObj->s.XZ *= scale; NewObj->s.YZ *= scale; NewObj->s.ZZ *= scale;
}//设置旋转矩阵
inline
static void Matrix4fSetRotationFromMatrix3f(Matrix4fT* NewObj, const Matrix3fT* m1)
{GLfloat scale;assert(NewObj && m1);scale = Matrix4fSVD(NewObj, NULL, NULL);Matrix4fSetRotationScaleFromMatrix3f(NewObj, m1);Matrix4fMulRotationScale(NewObj, scale);
}typedef class ArcBall_t
{protected://把二维点映射到三维点inlinevoid _mapToSphere(const Point2fT* NewPt, Vector3fT* NewVec) const;public://构造/析构函数ArcBall_t(GLfloat NewWidth, GLfloat NewHeight);~ArcBall_t() { };//设置边界inlinevoid    setBounds(GLfloat NewWidth, GLfloat NewHeight){assert((NewWidth > 1.0f) && (NewHeight > 1.0f));//设置长宽的调整因子this->AdjustWidth  = 1.0f / ((NewWidth  - 1.0f) * 0.5f);this->AdjustHeight = 1.0f / ((NewHeight - 1.0f) * 0.5f);}//鼠标点击void    click(const Point2fT* NewPt);//鼠标拖动计算旋转void    drag(const Point2fT* NewPt, Quat4fT* NewRot);//更新鼠标状态void    upstate();//void    mousemove(WPARAM wParam,LPARAM lParam);protected:Vector3fT   StVec;          //保存鼠标点击的坐标Vector3fT   EnVec;          //保存鼠标拖动的坐标GLfloat     AdjustWidth;    //宽度的调整因子GLfloat     AdjustHeight;   //长度的调整因子
public:Matrix4fT   Transform;      //计算变换Matrix3fT   LastRot;        //上一次的旋转Matrix3fT   ThisRot;        //这次的旋转float zoomRate;float lastZoomRate;float lastUp;float upPan;float lastRight;float rightPan;bool        isDragging;     // 是否拖动bool        isRClicked;     // 是否右击鼠标bool        isClicked;      // 是否点击鼠标bool        isZooming;    //是否正在缩放bool        isMoving;bool        isMClicked;Point2fT    LastPt;Point2fT    MousePt;        // 当前的鼠标位置} ArcBallT;

arcball.cpp

//
// Created by pacer on 2019/6/19.
//
///ArcBall.cpp

//#include <windows.h>
#include <GL/glut.h>
#include <iostream>#include <math.h>
#include "arcball.h"//轨迹球参数:
//直径                    2.0f
//半径                    1.0f
//半径平方                1.0fvoid ArcBall_t::_mapToSphere(const Point2fT* NewPt, Vector3fT* NewVec) const
{Point2fT TempPt;GLfloat length;//复制到临时变量TempPt = *NewPt;//把长宽调整到[-1 ... 1]区间TempPt.s.X  =        (TempPt.s.X * this->AdjustWidth)  - 1.0f;TempPt.s.Y  = 1.0f - (TempPt.s.Y * this->AdjustHeight);//计算长度的平方length      = (TempPt.s.X * TempPt.s.X) + (TempPt.s.Y * TempPt.s.Y);//如果点映射到球的外面if (length > 1.0f){GLfloat norm;//缩放到球上norm    = 1.0f / FuncSqrt(length);//设置z坐标为0NewVec->s.X = TempPt.s.X * norm;NewVec->s.Y = TempPt.s.Y * norm;NewVec->s.Z = 0.0f;}//如果在球内else{//利用半径的平方为1,求出z坐标NewVec->s.X = TempPt.s.X;NewVec->s.Y = TempPt.s.Y;NewVec->s.Z = FuncSqrt(1.0f - length);}
}ArcBall_t::ArcBall_t(GLfloat NewWidth, GLfloat NewHeight)
{this->StVec.s.X     =0.0f;this->StVec.s.Y     = 0.0f;this->StVec.s.Z     = 0.0f;this->EnVec.s.X     =0.0f;this->EnVec.s.Y     = 0.0f;this->EnVec.s.Z     = 0.0f;Matrix4fSetIdentity(&Transform);Matrix3fSetIdentity(&LastRot);Matrix3fSetIdentity(&ThisRot);this->isDragging=false;this->isClicked= false;this->isRClicked = false;this->isZooming = false;this->zoomRate = 1;this->setBounds(NewWidth, NewHeight);
}//新加的
void ArcBall_t::upstate()
{if(!this->isZooming && this->isRClicked){                    // 开始拖动this->isZooming = true;                                        // 设置拖动为变量为truethis->LastPt = this->MousePt;this->lastZoomRate = this->zoomRate;}else if(this->isZooming){//正在拖动if(this->isRClicked){                //拖动Point2fSub(&this->MousePt, &this->LastPt);this->zoomRate = this->lastZoomRate + this->MousePt.s.X * this->AdjustWidth * 2;}else{                                            //停止拖动this->isZooming = false;}}else if (!this->isDragging && this->isClicked){                                                // 如果没有拖动this->isDragging = true;                                        // 设置拖动为变量为truethis->LastRot = this->ThisRot;this->click(&this->MousePt);}else if(this->isDragging){if (this->isClicked){                                            //如果按住拖动Quat4fT     ThisQuat;this->drag(&this->MousePt, &ThisQuat);                        // 更新轨迹球的变量Matrix3fSetRotationFromQuat4f(&this->ThisRot, &ThisQuat);        // 计算旋转量Matrix3fMulMatrix3f(&this->ThisRot, &this->LastRot);Matrix4fSetRotationFromMatrix3f(&this->Transform, &this->ThisRot);}else                                                        // 如果放开鼠标，设置拖动为falsethis->isDragging = false;}else if (!this->isMoving && this->isMClicked) {                    // 开始移动this->isMoving = true;                                        // 设置移动为变量为truethis->LastPt = this->MousePt;this->lastUp = this->upPan;this->lastRight = this->rightPan;}else if (this->isMoving) {                  //正在拖动if (this->isMClicked) {                   //正在点着中键std::cout << "Mid CCCCCCCCCCCCCCCCCCCCCCCCCCCC******************\n";Point2fSub(&this->MousePt, &this->LastPt);this->rightPan = this->lastRight + this->MousePt.s.X * this->AdjustWidth * 2;this->upPan = this->lastUp - this->MousePt.s.Y * this->AdjustWidth * 2;}else {        //松开了this->isMoving = false;}}
}
/*
void ArcBall_t::mousemove(WPARAM wParam,LPARAM lParam)
{
this->MousePt.s.X = (GLfloat)LOWORD(lParam);
this->MousePt.s.Y = (GLfloat)HIWORD(lParam);
this->isClicked   = (LOWORD(wParam) & MK_LBUTTON) ? true : false;
this->isRClicked  = (LOWORD(wParam) & MK_RBUTTON) ? true : false;
}
*/
//按下鼠标,记录当前对应的轨迹球的位置
void    ArcBall_t::click(const Point2fT* NewPt)
{this->_mapToSphere(NewPt, &this->StVec);
}//鼠标拖动,计算旋转四元数
void    ArcBall_t::drag(const Point2fT* NewPt, Quat4fT* NewRot)
{//新的位置this->_mapToSphere(NewPt, &this->EnVec);//计算旋转if (NewRot){Vector3fT  Perp;//计算旋转轴Vector3fCross(&Perp, &this->StVec, &this->EnVec);//如果不为0if (Vector3fLength(&Perp) > Epsilon){//记录旋转轴NewRot->s.X = Perp.s.X;NewRot->s.Y = Perp.s.Y;NewRot->s.Z = Perp.s.Z;//在四元数中,w=cos(a/2)，a为旋转的角度NewRot->s.W= Vector3fDot(&this->StVec, &this->EnVec);}//是0，说明没有旋转else{NewRot->s.X =NewRot->s.Y =NewRot->s.Z =NewRot->s.W = 0.0f;}}
}

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