CS675 Assignment 3 (Droids - Modelling and Rendering)

A textured environment cube is used for the environment. In the screenshot above, an outside environment is shown. It is also possible to have an indoor environment.

The following hierarchial model was used for the humanoid robot:

Initially the following tree was used, but it was cumbersome to make the torso bend. Doing so involved first rotating the torso and then rotating the legs in the opposite direction. As the torso was the root, rotating it, rotated the whole model.

So a dummy root node, labelled `axle' below was used to attach the legs to.

Several primitive shapes were coded up (partial ellipsoids, cuboids, conical frustrums) and for each of these, along with the vertex coordinates and color, texture coordinates and normals were computed and stored. These were used to apply textures and compute lighting respectively.

The basic struct for storing vertices is:

struct Point
{
    float x;
    float y;
    float z;
    float w;
    float cx; 
    float cy; 
    float cz;
    float ca;
    float nx; 
    float ny; 
    float nz; 
    float tx;
    float ty;
};
using PointV = std::vector<Point>;