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Oled3d.ino
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#define OLED_DC 9
#define OLED_CS 12
#define OLED_RESET 10
#define POTENTIOMETER A0
#include <SSD1306.h>
#include <SPI.h>
#include "MyObj.h"
SSD1306 oled(OLED_DC, OLED_RESET);
// cube
/*static MyVertex mp[] ={{ -16, -16,-16}, \
{16, -16, -16}, \
{16, 16, -16}, \
{-16, 16, -16}, \
{-16, -16,16}, \
{16, -16, 16}, \
{16, 16, 16}, \
{-16, 16, 16}
};
static MyEdge me[] ={{0, 1}, \
{1, 2}, \
{2, 3}, \
{3, 0}, \
{4, 5}, \
{5, 6}, \
{6, 7}, \
{7, 4}, \
{0, 4}, \
{1, 5}, \
{2, 6}, \
{3, 7}
};*/
// paper plane
/*static MyVertex mp[] ={{-20,0,-20}, \
{0,0,20}, \
{20,0,-20}, \
{0,0,-20}, \
{0,10,-20}
};
static MyEdge me[] ={{0, 1}, \
{1, 2}, \
{2, 3}, \
{3, 4}, \
{4, 1}, \
{1, 3}, \
{3, 0}
};*/
// tank
static MyVertex mp[] ={
{15,10,16}, \
{15,10,-21}, \
{-15,10,-21}, \
{-15,10,16}, \
{15,0,23}, \
{15,0,-27}, \
{-15,0,-27}, \
{-15,0,23}, \
{12,0,9}, \
{-12,0,9}, \
{-12,0,-18}, \
{12,0,-18}, \
{9,-6,6}, \
{-9,-6,6}, \
{-9,-6,-15}, \
{9,-6,-15}, \
{0,-3,7.5}, \
{0,-3,38}, \
{-3,-3,38}, \
{3,-3,38}
};
MyEdge me[] ={
{0, 1}, \
{1, 2}, \
{2, 3}, \
{3, 0}, \
{4, 5}, \
{5, 6}, \
{6, 7}, \
{7, 4}, \
{0, 4}, \
{1, 5}, \
{2, 6}, \
{3, 7}, \
{8, 9}, \
{9, 10}, \
{10, 11}, \
{11, 8}, \
{12, 13}, \
{13, 14}, \
{14, 15}, \
{15, 12}, \
{8, 12}, \
{9, 13}, \
{10, 14}, \
{11, 15}, \
{16, 17}, \
{17, 18}, \
{17, 19}
};
MyObject obj={0, 0, mp, me,{1,0,0,0},{0,0,0}};
void setup() {
Serial.begin(9600);
SPI.setClockDivider(0);
SPI.begin();
pinMode(POTENTIOMETER, INPUT_PULLUP);
//correct vertex num and edge num
obj.numv=sizeof(mp)/sizeof(MyVertex);
obj.nume=sizeof(me)/sizeof(MyEdge);
oled.ssd1306_init(SSD1306_SWITCHCAPVCC);
oled.display(); // show splashscreen
delay(1000);
//oled.ssd1306_command(SSD1306_INVERTDISPLAY); //图像反色，注释掉则为黑底白图
oled.clear(); // clears the screen and buffer
moveObject(obj,0,0,70);
renderObject(obj);
oled.display();
}
static float qdelta[4]={0.999847695f,0,0.0174524f,0};
static float qview[4]={0.25881904510252076234889883762405f,0.9659258262890682867497431997289f,0,0};
static float qtemp[4];
#define near 1.0
#define far 100.0
#define right 1.8
#define top 1.8
static float proj[8]={
near/right, 0, 0, 0, \
0, near/top, 0, 0
// 0, 0, -(far+near)/(far-near), -2*far*near/(far-near),
// 0, 0, -1, 0
};
void loop()
{
rotateObject(obj,qdelta);
oled.clear(); // clears the screen and buffer
renderObject(obj);
oled.display();
}
void moveObject(MyObject &mo, float x, float y, float z) {
mo.offset[0]=x;
mo.offset[1]=y;
mo.offset[2]=z;
}
void rotateObject(MyObject &mo, float* q) {
qproduct(q,obj.quat,qtemp);
mo.quat[0]=qtemp[0];
mo.quat[1]=qtemp[1];
mo.quat[2]=qtemp[2];
mo.quat[3]=qtemp[3];
qnormalized(qtemp);
}
void renderObject(MyObject &mo) {
static int8_t horizon[3]={0,0,10000};
static float accang=0;
int16_t in = analogRead(A0)-512;
float ang =(in-512)/512.0f*PI;
accang=0.9*accang+0.1*ang;
qview[0]=cos(accang/2);
qview[1]=sin(accang/2);
MyVertex* mv=new MyVertex[mo.numv];
{
float vhtemp[3];
iqRot(qview,horizon,vhtemp);
MatMulVect(proj, vhtemp, mv[0].location);
oled.drawline(0, mv[0].location[1]+32, 128, mv[0].location[1]+32, WHITE);
}
qproduct(qview,mo.quat,qtemp);
for (int i = 0; i < mo.numv; i++) {
float vtemp[3];
iqRot(qtemp,mo.v[i].location,vtemp);
vtemp[0] += mo.offset[0];
vtemp[1] += mo.offset[1];
vtemp[2] += mo.offset[2];
MatMulVect(proj, vtemp, mv[i].location);
}
for (int i = 0; i < mo.nume; i++) {
int8_t p1 = mo.e[i].connection[0];
int8_t p2 = mo.e[i].connection[1];
oled.drawline(mv[p1].location[0]+64, mv[p1].location[1]+32, mv[p2].location[0]+64, mv[p2].location[1]+32, WHITE);
}
delete mv;
}
float iqRot(float q[],int8_t v[],float result[]){
float prod[4];
prod[0] = - q[1] * v[0] - q[2] * v[1] - q[3] * v[2];
prod[1] = q[0] * v[0] + q[2] * v[2] - q[3] * v[1];
prod[2] = q[0] * v[1] - q[1] * v[2] + q[3] * v[0];
prod[3] = q[0] * v[2] + q[1] * v[1] - q[2] * v[0];
result[0] = -prod[0] * q[1] + prod[1] * q[0] - prod[2] * q[3] + prod[3] * q[2];
result[1] = -prod[0] * q[2] + prod[1] * q[3] + prod[2] * q[0] - prod[3] * q[1];
result[2] = -prod[0] * q[3] - prod[1] * q[2] + prod[2] * q[1] + prod[3] * q[0];
}
void qproduct(const float* p, const float* q, float* qr) {
qr[0] = p[0] * q[0] - p[1] * q[1] - p[2] * q[2] - p[3] * q[3];
qr[1] = p[0] * q[1] + p[1] * q[0] + p[2] * q[3] - p[3] * q[2];
qr[2] = p[0] * q[2] - p[1] * q[3] + p[2] * q[0] + p[3] * q[1];
qr[3] = p[0] * q[3] + p[1] * q[2] - p[2] * q[1] + p[3] * q[0];
}
void qnormalized(float* q) {
float invnorm;
invnorm = fastinvsqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
if (invnorm < 100000000) {
q[0] *= invnorm;
q[1] *= invnorm;
q[2] *= invnorm;
q[3] *= invnorm;
} else {
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
}
}
// fast invsqrt by John Carmark
float fastinvsqrt(float x) {
float halfx = 0.5f * x;
float y = x;
long i = *(long*)&y;
i = 0x5f3759df - (i>>1);
y = *(float*)&i;
y = y * (1.5f - (halfx * y * y));
return y;
}
float MatMulVect(float M[], float V[], int8_t result[]){
for(uint8_t i=0; i<2; i++){
result[i] = (M[i*4]*V[0]+M[i*4+1]*V[1]+M[i*4+2]*V[2]+M[i*4+3])/-V[2]*128;
}
}
//作者：微风森林
//author: SylvanYZY