OBJ Loader

Neue Quaternionklasse
header in emath fuer punkt3d rausgenommen

Makefile

@@ -1,9 +1,9 @@
 CC = g++
 AR = ar
-OBJECTS = punkt3d.o punkt2d.o emath.o emath_opengl.o glcolor.o gldrawhelper.o glfontengine.o glrect.o gltexture.o matrix.o quaternion.o rotationsmatrix.o glsdlscreen.o sdlfuncs.o fpsmanager.o glcamera.o catmullromspline.o
+OBJECTS = punkt3d.o punkt2d.o emath.o emath_opengl.o glcolor.o gldrawhelper.o glfontengine.o glrect.o gltexture.o matrix.o quaternion.o rotationsmatrix.o glsdlscreen.o sdlfuncs.o fpsmanager.o glcamera.o catmullromspline.o extstring.o
 OBJOPT = -Wall -c `sdl-config --cflags`
-SUBDIRS = glgui glmenu models
-SUBDIROBJECTS = glgui/*.o glmenu/*.o models/*.o
+SUBDIRS = glgui glmenu model
+SUBDIROBJECTS = glgui/*.o glmenu/*.o model/*.o
 VERSION = 0.0.1
 LIBNAME = libsegl
 

emath.cpp

@@ -27,7 +27,6 @@ float ssin(float c) {
 		case 270:
 			return -1.0f;
 		default:
-// 			std::cout << "ssin sollte keinen defaultwert zurückliefern. c=" << c << ", t=" << t << std::endl;
 			return sin(deg2rad(c));
 	}
 }

emath.h

@@ -5,7 +5,6 @@
 #include <cmath>
 #include <SDL_opengl.h>
 
-#include "punkt3d.h" /* aus kompatibilitätsgründen */
 
 float deg2rad(float deg);
 float rad2deg(float rad);

emath_opengl.h

@@ -2,6 +2,7 @@
 #define __EMATH_OPENGL
 
 #include <cmath>
+#include "punkt3d.h"
 #include "emath.h"
 #include "rotationsmatrix.h"
 #include <SDL_opengl.h>

extstring.cpp

@@ -0,0 +1,47 @@
+#include "extstring.h"
+
+int explode(std::string str, std::string delim, std::vector<std::string> *erg, bool clean) {
+	erg->clear();
+	
+	int treffer=0;
+	std::string tmp;
+	unsigned int pos;
+	
+	while((pos = str.find(delim))!=std::string::npos) {
+		tmp = str.substr(0, pos);
+		
+		if(!clean || tmp!="") {
+			// tmp nicht leer, hinzufügen
+			erg->push_back(tmp);
+			treffer++;
+		}
+		
+		str = str.substr(pos+1);	// alten kram entfernen
+	}
+	
+	if(str.length()>0) {
+		treffer++;
+		erg->push_back(str);
+	}
+	
+	return treffer;
+}
+
+std::string trim(std::string t) {
+	while(t.length() && isspace(t[0])) {
+		t = t.substr(1);
+	}
+	
+	while(t.length() && ( isspace(t[t.length()-1]) )) {
+		t = t.substr(0, t.length()-2);
+	}
+	return t;
+}
+
+std::string basename(std::string str) {
+	return str.substr( str.rfind("/"));
+}
+
+std::string rbasename(std::string str) {
+	return str.substr(0, str.rfind("/")+1);
+}

extstring.h

@@ -0,0 +1,12 @@
+#ifndef __EXTSTRING_H
+#define __EXTSTRING_H
+
+#include <string>
+#include <vector>
+
+int explode(std::string str, std::string delim, std::vector<std::string> *erg, bool clean=false);
+std::string trim(std::string t);
+std::string basename(std::string str);
+std::string rbasename(std::string str);
+
+#endif

glcamera.cpp

@@ -100,7 +100,7 @@ void GLCamera::rotateUp(float sec) {
 		rotmatX.set(rotx);
 		doupdate = true;
 	} else  {
-		//std::cout << "zu groß" << std::endl;
+		//std::cout << "zu gro<EFBFBD>" << std::endl;
 	}
 // 	rotmat.set(dir.kreuzprodukt(norm), -apersec*sec);
 // 	norm = rotmat * norm;
@@ -122,6 +122,27 @@ void GLCamera::rotateDown(float sec) {
 // 	dir.normalize();
 }
 
+void GLCamera::handleKeys(float sec) {
+	Uint8 *keys = SDL_GetKeyState(NULL);
+	
+	if(keys[SDLK_w])
+		moveForward(sec);
+	if(keys[SDLK_s])
+		moveBackward(sec);
+	if(keys[SDLK_UP])
+		rotateUp(sec);
+	if(keys[SDLK_DOWN])
+		rotateDown(sec);
+	if(keys[SDLK_LEFT])
+		rotateLeft(sec);
+	if(keys[SDLK_RIGHT])
+		rotateRight(sec);
+	if(keys[SDLK_a])
+		moveLeft(sec);
+	if(keys[SDLK_d])
+		moveRight(sec);
+}
+
 float GLCamera::getXrot() {
 	return rotx;
 }

glcamera.h

@@ -44,6 +44,8 @@ class GLCamera {
 		void rotateUp(float sec);
 		void rotateDown(float sec);
 		
+		void handleKeys(float sec);
+		
 		float getXrot();
 		float getYrot();
 		

matrix.h

@@ -4,6 +4,7 @@
 #include <iostream>
 #include <iomanip>
 
+#include "punkt3d.h"
 #include "emath.h"
 
 class Matrix {

model/Makefile

@@ -0,0 +1,13 @@
+CC = g++
+OBJOPT = -c `sdl-config --cflags` -Wall
+OBJECTS = model.o modelloader.o loadobj.o
+
+glguilib: $(OBJECTS)
+# 	rm glgui.a -f
+	ar crus glmenu.a $(OBJECTS)
+
+%.o: %.cpp %.h
+	$(CC) $(OBJOPT) $<
+
+clean:
+	rm -f $(OBJECTS)

model/loadobj.cpp

@@ -0,0 +1,235 @@
+#include "loadobj.h"
+
+LoadOBJ::LoadOBJ(std::string _filename) : Modelloader(_filename) {
+	
+}
+
+bool LoadOBJ::load(Model *m) {
+	// Filestreams
+	std::ifstream file(filename.c_str());
+	std::ifstream matfile;
+	std::string inbuf;			// TMP-Var
+	std::vector<std::string> v;
+	std::vector<std::string> v2;
+	int anz;
+	unsigned int vertanz=0, polyanz=0, matanz=0, texanz=0, normanz=0;
+	std::string materials;
+// 	Punkt2D *texdata = 0;
+// 	texdataanz = 0;
+// 	Punkt3D *normdata = 0;
+// 	normdata = 0;
+	Material *usemat;
+	
+	if(!file)
+		return false;
+	
+	// start counting items, read file
+	while(getline(file, inbuf)) {
+		anz = explode(inbuf, " ", &v);
+		if(!anz)
+			continue;
+		
+		if(v[0]=="f")
+			polyanz++;			// polygon
+		else if(v[0]=="v")
+			vertanz++;			// vertex
+		else if(v[0]=="mtllib") {
+			if(anz>1)
+				materials = trim(v[1]);
+// 			std::cout << "V1: " << v[1] << std::endl;
+		} else if(v[0]=="vt")
+			texanz++;			// texcoord
+		else if(v[0]=="vn")
+			normanz++;			// normal
+	}
+	
+	if(materials!="") {
+		matfile.open((rbasename(filename)+materials).c_str());
+		if(matfile) {
+			while(getline(matfile, inbuf)) {
+				anz = explode(inbuf, " ", &v);
+				if(!anz)
+					continue;
+				if(v[0]=="newmtl")
+					matanz++;
+			}
+		}
+	}
+	
+// 	std::cout << "Vert: " << vertanz << " Poly: " << polyanz << " Mat: " << matanz << " (Matfile: " << materials << ") Norm: " << normanz << std::endl;
+	
+	if(!vertanz || !polyanz)
+		return false;
+	
+	if(m->isLoaded())
+		m->unload();
+	
+	// Allocate memory for filecontent
+	m->meshdataanz = vertanz;
+	m->meshdata = new Punkt3D[vertanz];
+	
+	m->polydataanz = polyanz;
+	m->polydata = new Meshpolygon[polyanz];
+	
+	if(matanz) {
+		m->matdataanz = matanz;
+		m->matdata = new Material[matanz];
+	}
+	
+	m->texdataanz = texanz;
+	m->texdata = new Punkt2D[matanz];
+	
+	m->normdataanz = normanz;
+	m->normdata = new Punkt3D[normanz];
+	
+	
+	// Readout Material
+	matfile.clear();
+	matfile.seekg(0);
+	if(matanz&&matfile) {		// Got milk.. eh.. material?
+		matanz = 0;
+		Material mat;
+		while(getline(matfile, inbuf)) {
+			anz = explode(inbuf, " ", &v);
+			if(!anz)
+				continue;
+			
+			if(v[0]=="newmtl") {
+				if(matanz!=0)
+					m->matdata[matanz-1] = mat;		// Push material
+				matanz++;
+				mat = Material();
+				mat.name = trim(v[1]);
+			} else if(v[0]=="Ka") {
+				if(anz<4)
+					continue;
+				mat.ambient.set(std::atof(v[1].c_str()), std::atof(v[2].c_str()), std::atof(v[3].c_str()));
+			} else if(v[0]=="Kd") {
+				if(anz<4)
+					continue;
+				mat.diffuse.set(std::atof(v[1].c_str()), std::atof(v[2].c_str()), std::atof(v[3].c_str()));
+			} else if(v[0]=="Ks") {
+				if(anz<4)
+					continue;
+				mat.specular.set(std::atof(v[1].c_str()), std::atof(v[2].c_str()), std::atof(v[3].c_str()));
+			}
+		}
+		// Last material wasnt pushed
+		if(matanz!=0)
+			m->matdata[matanz-1] = mat;
+	}
+	
+	
+	// Readout File
+	usemat = &(m->backupmat);		// If material required but not avilable use backup
+	
+	file.clear();
+	file.seekg(0);
+	polyanz = vertanz = normanz = texanz = 0;	// Reset counters
+	
+	while(getline(file, inbuf)) {
+		anz = explode(inbuf, " ", &v);
+		if(!anz)
+			continue;
+		
+		if(v[0]=="v") {
+			if(anz<4)
+				continue;
+			m->meshdata[vertanz].set(std::atof(v[1].c_str()), std::atof(v[2].c_str()), std::atof(v[3].c_str()));
+			vertanz++;
+		} else if(v[0]=="vn") {
+			if(anz<4)
+				continue;
+			m->normdata[normanz].set(std::atof(v[1].c_str()), std::atof(v[2].c_str()), std::atof(v[3].c_str()));
+			normanz++;
+		} else if(v[0]=="vt") {
+			if(anz<3)
+				continue;
+			m->texdata[texanz].set(std::atof(v[1].c_str()), std::atof(v[2].c_str()));
+			texanz++;
+		} else if(v[0]=="f") {
+			if(anz<4)
+				continue;
+			
+			unsigned int arr[3][3] = { {0,0,0}, {0,0,0}, {0,0,0} };
+			for(unsigned int i=0; i<3; i++) {
+				int zanz = explode(v[i+1], "/", &v2);
+// 				std::cout << "explode " << v[i+1] << " anz " << zanz << std::endl;
+				if(zanz<3) {
+					if(zanz==1)
+						arr[i][0] = std::atoi(v2[0].c_str());
+					continue;
+				}
+				arr[i][0] = std::atoi(v2[0].c_str());
+				arr[i][1] = std::atoi(v2[1].c_str());
+				arr[i][2] = std::atoi(v2[2].c_str());	
+// 				std::cout << "Loaded: " << arr[i][0] << " " << arr[i][1] << " " << arr[i][2] << " " << std::endl;
+// 				std::cout << "From:   " << v2[0] << " " << v2[1] << " " << v2[2] << " " << std::endl;
+			}
+			
+			if(arr[0][0])
+				m->polydata[polyanz].m1.point  = &(m->meshdata[arr[0][0]-1]);
+			if(arr[0][1])
+				m->polydata[polyanz].m1.tex    = &(m->texdata[arr[0][1]-1]);
+			if(arr[0][2])
+				m->polydata[polyanz].m1.normal = &(m->normdata[arr[0][2]-1]);
+			
+			if(arr[1][0])
+			m->polydata[polyanz].m2.point  = &(m->meshdata[arr[1][0]-1]);
+			if(arr[1][1])
+				m->polydata[polyanz].m2.tex    = &(m->texdata[arr[1][1]-1]);
+			if(arr[1][2])
+				m->polydata[polyanz].m2.normal = &(m->normdata[arr[1][2]-1]);
+			
+			if(arr[2][0])
+				m->polydata[polyanz].m3.point  = &(m->meshdata[arr[2][0]-1]);
+			if(arr[2][1])
+				m->polydata[polyanz].m3.tex    = &(m->texdata[arr[2][1]-1]);
+			if(arr[2][2])
+				m->polydata[polyanz].m3.normal = &(m->normdata[arr[2][2]-1]);
+// 			std::cout << "POLY " << polyanz << std::endl;
+			polyanz++;
+		} else if(v[0]=="usemtl") {
+			if(anz<2)
+				continue;
+			std::string fterm = trim(v[1]);
+			for(unsigned int i=0; i < m->matdataanz; i++) {
+				if(m->matdata[i].name==fterm) {
+					usemat = &(m->matdata[i]);
+					break;
+				}
+			}
+		}
+		
+		v.clear();
+	}
+	
+	// Calculate bounding box
+	float minx=m->meshdata[0].x, maxx=m->meshdata[0].x, miny=m->meshdata[0].y, maxy=m->meshdata[0].y, minz=m->meshdata[0].z, maxz=m->meshdata[0].z;
+	for(unsigned int i=0; i<m->meshdataanz; i++) {
+		minx = std::min(minx, m->meshdata[i].x);
+		maxx = std::max(maxx, m->meshdata[i].x);
+		miny = std::min(miny, m->meshdata[i].y);
+		maxy = std::max(maxy, m->meshdata[i].y);
+		minz = std::min(minz, m->meshdata[i].z);
+		maxz = std::max(maxz, m->meshdata[i].z);
+	}
+	std::cout << "(" << minx << ", " << maxx << ") " << "(" << miny << ", " << maxy << ") " << "(" << minz << ", " << maxz << ") " << std::endl;
+	m->boundingbox.d.set(minx, miny, minz);
+	m->boundingbox.a.set(minx, miny, maxz);
+	m->boundingbox.b.set(maxx, miny, maxz);
+	m->boundingbox.c.set(maxx, miny, minz);
+	
+	m->boundingbox.h.set(minx, maxy, minz);
+	m->boundingbox.e.set(minx, maxy, maxz);
+	m->boundingbox.f.set(maxx, maxy, maxz);
+	m->boundingbox.g.set(maxx, maxy, minz);
+
+	m->boundingrad = std::max( std::abs(minx)+std::abs(maxx),
+					 std::max( std::abs(miny)+std::abs(maxy),
+							   std::abs(minz)+std::abs(maxz)));
+	
+	m->loaded = true;
+// 	std::cout << "Loaded!" << std::endl;
+	return true;
+}

model/loadobj.h

@@ -0,0 +1,16 @@
+#ifndef __LOADOBJ_H
+#define __LOADOBJ_H
+
+#include "modelloader.h"
+#include "model.h"
+#include "../extstring.h"
+
+class LoadOBJ : public Modelloader {
+	private:
+		
+	public:
+		LoadOBJ(std::string _filename);
+		bool load(Model *m);
+};
+
+#endif

model/model.cpp

@@ -0,0 +1,153 @@
+#include "model.h"
+
+// Class Meshpoint
+
+Meshpoint::Meshpoint() {
+	
+}
+
+Meshpoint::Meshpoint(Punkt3D v, Punkt2D vt) {
+	set(v, vt);
+}
+
+void Meshpoint::set(Punkt3D v, Punkt2D vt) {
+	vertex = v;
+	texcoord = vt;
+// 	normal = n;
+}
+
+void Meshpoint::use() {
+	glTexCoordP2D(texcoord);
+// 	glNormalP3D(normal);
+	glVertexP3D(vertex);
+}
+
+// Class Material
+
+Material::Material() {
+	name = "none";
+	ambient.set(1.0f, 1.0f, 1.0f);
+	diffuse.set(1.0f, 1.0f, 1.0f);
+	specular.set(1.0f, 1.0f, 1.0f);
+}
+
+Material::Material(std::string _name, GLColor _a, GLColor _d, GLColor _s) {
+	set(_name, _a, _d, _s);
+}
+
+void Material::set(std::string _name, GLColor _a, GLColor _d, GLColor _s) {
+	name = _name;
+	ambient = _a;
+	diffuse = _d;
+	specular = _s;
+}
+
+void Material::use() {
+	glColorGLC(diffuse);
+}
+
+// Polygonpoint
+Polygonpoint::Polygonpoint() {
+	point = 0;
+	tex = 0;
+	normal = 0;
+}
+
+void Polygonpoint::use() {
+	if(normal)
+		glNormalP3D(*normal);
+	if(tex)
+		glTexCoordP2D(*tex);
+	if(point)
+		glVertexP3D(*point);
+}
+
+// Class Meshpolygon
+	
+Meshpolygon::Meshpolygon() {
+	a = b = c = 0;
+}
+
+Meshpolygon::Meshpolygon(Meshpoint *_a, Meshpoint *_b, Meshpoint *_c) {
+	set(_a, _b, _c);
+}
+
+void Meshpolygon::set(Meshpoint *_a, Meshpoint *_b, Meshpoint *_c) {
+	a = _a;
+	b = _b;
+	c = _c;	
+}
+
+void Meshpolygon::render(GLenum mode) {
+// 	if(!a || !b || !c)
+// 		return;
+	
+	glBegin(mode);
+		m1.use();
+		m2.use();
+		m3.use();
+	glEnd();
+// 	std::cout << "Pos 1 " << *m1.point << std::endl;
+// 	std::cout << "Pos 2 " << *m2.point << std::endl;
+// 	std::cout << "Pos 3 " << *m3.point << std::endl;
+}
+// Class Model
+
+Model::Model() {
+	meshdata = 0;
+	meshdataanz = 0;
+	matdata = 0;
+	matdataanz = 0;
+	polydata = 0;
+	polydataanz = 0;
+	texdata = 0;
+	texdataanz = 0;
+	normdata = 0;
+	normdataanz = 0;
+	loaded = false;
+	
+	backupmat.diffuse.set(1.0f, 1.0f, 1.0f);
+}
+
+bool Model::isLoaded() {
+	return loaded;
+}
+
+void Model::unload() {
+	if(meshdata)
+		delete[](meshdata);
+	if(polydata)
+		delete[](polydata);
+	if(matdata)
+		delete[](matdata);
+	if(texdata)
+		delete[](texdata);
+	if(normdata)
+		delete[](normdata);
+	meshdataanz = polydataanz = matdataanz = texdataanz = normdataanz = 0;
+	meshdata = 0;
+	polydata = 0;
+	matdata = 0;
+	texdata = 0;
+	normdata = 0;
+	loaded = false;
+}
+
+void Model::render() {
+	if(!loaded) {
+// 		std::cout << "Model not loaded" << std::endl;
+		return;
+	}
+	glPushMatrix();
+// 	std::cout << " --- begin --- " << std::endl;
+	for(unsigned int i=0; i<polydataanz; i++) {
+// 		glColor3f((float)i/polydataanz, 0.0f, 1.0f);
+		polydata[i].render(GL_LINE_LOOP);
+	}
+	glPopMatrix();
+// 	std::cout << " --- end --- " << std::endl;
+}
+
+Model::~Model() {
+	unload();
+}

model/model.h

@@ -0,0 +1,89 @@
+#ifndef __MODEL_H
+#define __MODEL_H
+
+#include <iostream>
+#include <SDL_opengl.h>
+#include "../punkt3d.h"
+#include "../punkt2d.h"
+#include "../glcolor.h"
+#include "../quader.h"
+
+class Meshpoint {
+	public:
+		Meshpoint();
+		Meshpoint(Punkt3D v, Punkt2D vt);
+		void set(Punkt3D v, Punkt2D vt);
+		void use();
+		
+		Punkt3D vertex;
+		Punkt2D texcoord;
+};
+
+class Material {
+	public:
+		Material();
+		Material(std::string _name, GLColor _a, GLColor _d, GLColor _s);
+		void set(std::string _name, GLColor _a, GLColor _d, GLColor _s);
+		void use();
+		
+		std::string name;
+		GLColor ambient, diffuse, specular;
+};
+
+class Polygonpoint {
+	public:
+		Polygonpoint();
+		void use();
+		Punkt3D *point;
+		Punkt2D *tex;
+		Punkt3D *normal;
+};
+
+class Meshpolygon {
+	public:
+		Meshpolygon();
+		Meshpolygon(Meshpoint *a, Meshpoint *b, Meshpoint *c);
+		void set(Meshpoint *a, Meshpoint *b, Meshpoint *c);
+		void render(GLenum mode=GL_TRIANGLES);
+		
+		Polygonpoint m1, m2, m3;
+		Meshpoint *a, *b, *c;
+		Material *mat;
+};
+
+class Model {
+	friend class Modelloader;
+	friend class LoadOBJ;
+	private:
+		bool loaded;
+		
+		
+		unsigned int meshdataanz;
+		unsigned int polydataanz;
+		unsigned int matdataanz;
+		unsigned int texdataanz;
+		unsigned int normdataanz;
+		
+		Punkt3D 	*meshdata;
+		Meshpolygon *polydata;
+		Material	*matdata;
+		
+		Punkt2D *texdata;
+		Punkt3D *normdata;
+		
+		Material backupmat;
+		
+		Quader boundingbox;
+		float boundingrad;
+	public:
+		Model();
+		~Model();
+		bool isLoaded();
+		void unload();
+		void render();
+		
+		Quader getBoundingBox() { return boundingbox; }
+		float getBoundingRadius() { return boundingrad; }
+};
+
+#endif

model/modelloader.cpp

@@ -0,0 +1,5 @@
+#include "modelloader.h"
+
+Modelloader::Modelloader(std::string _filename) {
+	filename = _filename;
+}

model/modelloader.h

@@ -0,0 +1,17 @@
+#ifndef __MODELLOADER_H
+#define __MODELLOADER_H
+
+#include <string>
+#include <fstream>
+#include "model.h"
+
+
+class Modelloader {
+	protected:
+		std::string filename;
+	public:
+		Modelloader(std::string _filename);
+		virtual bool load(Model *m)=0;
+};
+
+#endif

punkt2d.cpp

@@ -19,6 +19,9 @@ void Punkt2D::print(std::string coordname) {
 	std::cout << coordname << "Coord: (" << x << ", " << y << ")" << std::endl;
 }
 
+float Punkt2D::abs() {
+	return sqrt(x*x + y*y);
+}
 
 Punkt2D Punkt2D::operator+(const Punkt2D &b) {
 	Punkt2D c;
@@ -131,6 +134,11 @@ void glTexCoord2f(Punkt2D p) {
 	glTexCoord2f(p.x, p.y);
 }
 
-// float abs(Punkt2D p) {
-// 	return p.abs();
-// }
+float abs(Punkt2D p) {
+	return p.abs();
+}
+
+// Fixed Headers
+void glTexCoordP2D(Punkt2D p) {
+	glTexCoord2f(p.x, p.y);
+}

punkt2d.h

@@ -14,6 +14,7 @@ class Punkt2D {
 		
 		void set(float, float);
 		void print(std::string="");
+		float abs();
 		
 		// Operatoren
 		Punkt2D operator+(const Punkt2D&);
@@ -45,6 +46,9 @@ class Punkt2D {
 };
 
 void glTexCoord2f(Punkt2D);
-// float abs(Punkt3D);
+float abs(Punkt2D);
+
+// Fixed Headers
+void glTexCoordP2D(Punkt2D p);
 
 #endif

punkt3d.cpp

@@ -205,7 +205,7 @@ float abs(Punkt3D p) {
 	return p.abs();
 }
 
-// OpenGL Funktionen für Punkt3D
+// OpenGL Funktionen f<EFBFBD>r Punkt3D
 
 void glVertex3f(Punkt3D p) {
 	glVertex3f(p.x, p.y, p.z);
@@ -239,3 +239,9 @@ void glNormalP3D(Punkt3D p) {
 void glRotateP3D(float deg, Punkt3D vec) {
 	glRotatef(deg, vec.x, vec.y, vec.z);
 }
+
+void gluLookAt(Punkt3D pos, Punkt3D viewport, Punkt3D normal) {
+	gluLookAt( pos.x, pos.y, pos.z,
+			   viewport.x, viewport.y, viewport.z,
+			   normal.x, normal.y, normal.z );
+}

punkt3d.h

@@ -57,7 +57,7 @@ class Punkt3D {
 
 float abs(Punkt3D);
 
-// OpenGL-Funktionen für Punkt3D
+// OpenGL-Functions for Punkt3D
 
 void glVertex3f(Punkt3D);
 void glTranslatef(Punkt3D);
@@ -71,6 +71,6 @@ void glTranslateP3D(Punkt3D);
 void glNormalP3D(Punkt3D);
 
 void glRotateP3D(float, Punkt3D);
-
+void gluLookAt(Punkt3D pos, Punkt3D viewport, Punkt3D normal);
 
 #endif

quader.cpp

@@ -0,0 +1,10 @@
+#include "quader.h"
+
+void Quader::clean() {
+	a.set(0.0f, 0.0f, 0.0f);
+	b = c = d = e = f = g = h = a;
+}
+
+void Quader::render() {
+	glB
+}

quader.h

@@ -0,0 +1,15 @@
+#ifndef __QUADER_H
+#define __QUADER_H
+
+#include <SDL_opengl.h>
+#include "punkt3d.h"
+
+
+class Quader {
+	public:
+		Punkt3D a, b, c, d, e, f, g, h;
+		void clean();
+		void render();
+};
+
+#endif

quaternion.cpp

@@ -1,77 +1,165 @@
 #include "quaternion.h"
 
 Quaternion::Quaternion() {
-	w = 1.0f;
+	w = 1.0f,
 	x = y = z = 0.0f;
 }
 
-void Quaternion::createFromRotation(float deg, float _x, float _y, float _z) {
-	float tmpres = sin(deg2rad(deg) / 2.0f);
+Quaternion::Quaternion(float _x, float _y, float _z, float _w) {
+	x = _x;
+	y = _y;
+	z = _z;
+	w = _w;
+}
+
+Quaternion::Quaternion(float deg, Punkt3D p) {
+	set(deg, p);
+}
+
+Quaternion::Quaternion(float _x, float _y, float _z) {
+	set(_x, _y, _z);
+}
+
+void Quaternion::set(float rotx, float roty, float rotz) {
+	rotx = deg2rad(rotx);
+	roty = deg2rad(roty);
+	rotz = deg2rad(rotz);
 	
-	w = cos(deg2rad(deg) / 2.0f);
-	x = _x * tmpres;
-	y = _y * tmpres;
-	z = _z * tmpres;
+	float sinx = sin(rotx);
+	float siny = sin(roty);
+	float sinz = sin(rotz);
+	float cosx = cos(rotx);
+	float cosy = cos(roty);
+	float cosz = cos(rotz);
+	
+	x = sinz * cosx * cosy - cosz * sinx * siny;
+	y = cosz * sinx * cosy + sinz * cosx * siny;
+	z = cosz * cosx * siny - sinz * sinx * cosy;
+	w = cosz * cosx * cosy - sinz * sinx * siny;
+	
+	normalize();
+}
+
+void Quaternion::set(float deg, Punkt3D p) {
+	float angle = deg2rad(0.5f*deg);
+	float sinangle = sin(angle);
+	
+	x = p.x * sinangle;
+	y = p.y * sinangle;
+	z = p.z * sinangle;
+	w = cos(angle);
+	
+	normalize();
+}
+
+void Quaternion::normalize() {
+	float len = x*x+y*y+z*z+w*w;
+	if(std::fabs(len-1.0f)>0.00001f) {
+		len = sqrt(len);
+		x /= len;
+		y /= len;
+		z /= len;
+		w /= len;
+	}
+}
+
+Quaternion Quaternion::getConjugate() {
+	return Quaternion(-x, -y, -z, w);
+}
+
+// Rotationsmatrix Quaternion::getRotMat() {
+// 	
+// }
+
+Punkt3D Quaternion::rotP3D(const Punkt3D &p) {
+	Quaternion q(p.x, p.y, p.z, 0.0f);
+	
+	Quaternion erg = *this * q * this->getConjugate();
+	
+	return Punkt3D(erg.x, erg.y, erg.z);
 }
 
 Quaternion Quaternion::operator*(const Quaternion &q) {
-	Quaternion ret;
-
-	ret.w = w*q.w - x*q.x - y*q.y - z*q.z;
-	ret.x = w*q.x + x*q.w + y*q.z - z*q.y;
-	ret.y = w*q.y + y*q.w + z*q.x - x*q.z;
-	ret.z = w*q.z + z*q.w + x*q.y - y*q.x;
-
-	return ret;
+	return Quaternion(w*q.x - x*q.w + y*q.z - z*q.y,
+					  w*q.y - y*q.w + z*q.x - x*q.z,
+					  w*q.z - z*q.w + x*q.y - y*q.x,
+					  w*q.w - x*q.x - y*q.y - z*q.z);
 }
 
-void Quaternion::createGlMatrix(GLfloat *matrix) {
-	if(!matrix)
-		return;
 
-	matrix[0]  = 1.0f - 2.0f * ( y*y + z*z);
-	matrix[1]  = 2.0f * ( x*y + z*w);
-	matrix[2]  = 2.0f * ( x*z - y*w);
-	matrix[3]  = 0.0f;
 
-	matrix[4]  = 2.0f * ( x*y - z*w);
-	matrix[5]  = 1.0f - 2.0f * ( x*x + z*z);
-	matrix[6]  = 2.0f * ( z*y + x*w);
-	matrix[7]  = 0.0f;
-
-	matrix[8]  = 2.0f * ( x*z + y*w);
-	matrix[9]  = 2.0f * ( y*z - x*w);
-	matrix[10] = 1.0f - 2.0f * ( x*x + y*y);
-	matrix[11] = 0.0f;
-
-	matrix[12] = 0.0f;
-	matrix[13] = 0.0f;
-	matrix[14] = 0.0f;
-	matrix[15] = 1.0f;
-	
-}
-
-Punkt3D Quaternion::getDirectionVector() {
-	GLfloat matrix[16];
-	createGlMatrix(matrix);
-	
-	return getDirectionVector(matrix);
-}
-
-Punkt3D Quaternion::getDirectionVector(GLfloat *matrix) {
-	if(!matrix)
-		return Punkt3D();
-	Punkt3D tmp;
-	
-	tmp.x = matrix[8];
-	tmp.y = matrix[9];
-	tmp.z = matrix[10];
-	
-	return tmp;
-}
-
-void glMultMatrixf(Quaternion q) {
-	GLfloat matrix[16];
-	q.createGlMatrix(matrix);
-	glMultMatrixf(matrix);
-}
+// Quaternion::Quaternion() {
+// 	w = 1.0f;
+// 	x = y = z = 0.0f;
+// }
+// 
+// void Quaternion::createFromRotation(float deg, float _x, float _y, float _z) {
+// 	float tmpres = sin(deg2rad(deg) / 2.0f);
+// 	
+// 	w = cos(deg2rad(deg) / 2.0f);
+// 	x = _x * tmpres;
+// 	y = _y * tmpres;
+// 	z = _z * tmpres;
+// }
+// 
+// Quaternion Quaternion::operator*(const Quaternion &q) {
+// 	Quaternion ret;
+// 
+// 	ret.w = w*q.w - x*q.x - y*q.y - z*q.z;
+// 	ret.x = w*q.x + x*q.w + y*q.z - z*q.y;
+// 	ret.y = w*q.y + y*q.w + z*q.x - x*q.z;
+// 	ret.z = w*q.z + z*q.w + x*q.y - y*q.x;
+// 
+// 	return ret;
+// }
+// 
+// void Quaternion::createGlMatrix(GLfloat *matrix) {
+// 	if(!matrix)
+// 		return;
+// 
+// 	matrix[0]  = 1.0f - 2.0f * ( y*y + z*z);
+// 	matrix[1]  = 2.0f * ( x*y + z*w);
+// 	matrix[2]  = 2.0f * ( x*z - y*w);
+// 	matrix[3]  = 0.0f;
+// 
+// 	matrix[4]  = 2.0f * ( x*y - z*w);
+// 	matrix[5]  = 1.0f - 2.0f * ( x*x + z*z);
+// 	matrix[6]  = 2.0f * ( z*y + x*w);
+// 	matrix[7]  = 0.0f;
+// 
+// 	matrix[8]  = 2.0f * ( x*z + y*w);
+// 	matrix[9]  = 2.0f * ( y*z - x*w);
+// 	matrix[10] = 1.0f - 2.0f * ( x*x + y*y);
+// 	matrix[11] = 0.0f;
+// 
+// 	matrix[12] = 0.0f;
+// 	matrix[13] = 0.0f;
+// 	matrix[14] = 0.0f;
+// 	matrix[15] = 1.0f;
+// 	
+// }
+// 
+// Punkt3D Quaternion::getDirectionVector() {
+// 	GLfloat matrix[16];
+// 	createGlMatrix(matrix);
+// 	
+// 	return getDirectionVector(matrix);
+// }
+// 
+// Punkt3D Quaternion::getDirectionVector(GLfloat *matrix) {
+// 	if(!matrix)
+// 		return Punkt3D();
+// 	Punkt3D tmp;
+// 	
+// 	tmp.x = matrix[8];
+// 	tmp.y = matrix[9];
+// 	tmp.z = matrix[10];
+// 	
+// 	return tmp;
+// }
+// 
+// void glMultMatrixf(Quaternion q) {
+// 	GLfloat matrix[16];
+// 	q.createGlMatrix(matrix);
+// 	glMultMatrixf(matrix);
+// }

quaternion.h

@@ -4,27 +4,51 @@
 #include <iostream>
 #include <cmath>
 #include <SDL_opengl.h>
-
+// #include "rotationsmatrix.h"
+#include "punkt3d.h"
 #include "emath.h"
 
 class Quaternion {
 	private:
-		float w;
-		float x,y,z;
+		float x, y, z, w;
+	
 	public:
 		Quaternion();
-		void createFromRotation(float, float, float, float);
+		Quaternion(float _x, float _y, float _z, float _w);
+		Quaternion(float deg, Punkt3D p);
+		Quaternion(float _x, float _y, float _z);
 		
-
-		void createGlMatrix(GLfloat*);
-		Punkt3D getDirectionVector();
-		Punkt3D getDirectionVector(GLfloat*);
+		void set(float rotx, float roty, float rotz);
+		void set(float deg, Punkt3D axis);
+		void normalize();
+		Quaternion getConjugate();
+// 		Rotationsmatrix getRotMat();
+		Punkt3D rotP3D(const Punkt3D &p);
 		
 		Quaternion operator*(const Quaternion&);
-		
-
 };
 
-void glMultMatrixf(Quaternion);
+
+
+
+// class Quaternion {
+// 	private:
+// 		float w;
+// 		float x,y,z;
+// 	public:
+// 		Quaternion();
+// 		void createFromRotation(float, float, float, float);
+// 		
+// 
+// 		void createGlMatrix(GLfloat*);
+// 		Punkt3D getDirectionVector();
+// 		Punkt3D getDirectionVector(GLfloat*);
+// 		
+// 		Quaternion operator*(const Quaternion&);
+// 		
+// 
+// };
+// 
+// void glMultMatrixf(Quaternion);
 
 #endif

rotationsmatrix.h

@@ -2,6 +2,7 @@
 #define __ROTATIONSMATRIX_H
 
 #include <cmath>
+#include "punkt3d.h"
 #include "emath.h"
 #include "matrix.h"