source: opengl-game/new-game.cpp@ f0cc877

#include "logger.h"

#include "stb_image.h"

// I think this was for the OpenGL 4 book font file tutorial
//#define STB_IMAGE_WRITE_IMPLEMENTATION
//#include "stb_image_write.h"

#define _USE_MATH_DEFINES
#define GLM_SWIZZLE

// This is to fix a non-alignment issue when passing vec4 params.
// Check if it got fixed in a later version of GLM
#define GLM_FORCE_PURE

#include <glm/mat4x4.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtc/type_ptr.hpp>

#include "IMGUI/imgui.h"
#include "imgui_impl_glfw_gl3.h"

#include <GL/glew.h>
#include <GLFW/glfw3.h>

#include <cstdio>
#include <iostream>
#include <fstream>
#include <cmath>
#include <string>
#include <array>
#include <vector>

using namespace std;
using namespace glm;

#define ONE_DEG_IN_RAD (2.0 * M_PI) / 360.0 // 0.017444444

struct SceneObject {
   unsigned int id;
   mat4 model_mat;
   GLuint shader_program;
   unsigned int num_points;
   GLvoid* vertex_vbo_offset;
   GLvoid* texture_vbo_offset;
   vector<GLfloat> points;
   vector<GLfloat> colors;
   vector<GLfloat> texcoords;
   vector<GLfloat> normals;
   vector<GLfloat> selected_colors;
};

const bool FULLSCREEN = false;
int width = 640;
int height = 480;

double fps;

vec3 cam_pos;

mat4 view_mat;
mat4 proj_mat;

vector<SceneObject> objects;

SceneObject* clickedObject = NULL;
SceneObject* selectedObject;

float NEAR_CLIP = 0.1f;
float FAR_CLIP = 100.0f;

// Should really have some array or struct of UI-related variables
bool isRunning = true;

ImVec4 clear_color = ImVec4(0.45f, 0.55f, 0.60f, 1.00f);

bool faceClicked(array<vec3, 3> points, SceneObject* obj, vec4 world_ray, vec4 cam, vec4& click_point);
bool insideTriangle(vec3 p, array<vec3, 3> triangle_points);

GLuint loadShader(GLenum type, string file);
GLuint loadShaderProgram(string vertexShaderPath, string fragmentShaderPath);
unsigned char* loadImage(string file_name, int* x, int* y);

void printVector(string label, vec3 v);
void print4DVector(string label, vec4 v);

void renderGui();

void glfw_error_callback(int error, const char* description) {
   gl_log_err("GLFW ERROR: code %i msg: %s\n", error, description);
}

void mouse_button_callback(GLFWwindow* window, int button, int action, int mods) {
   double mouse_x, mouse_y;
   glfwGetCursorPos(window, &mouse_x, &mouse_y);

   if (button == GLFW_MOUSE_BUTTON_LEFT && action == GLFW_PRESS) {
      cout << "Mouse clicked (" << mouse_x << "," << mouse_y << ")" << endl;
      selectedObject = NULL;

      float x = (2.0f*mouse_x) / width - 1.0f;
      float y = 1.0f - (2.0f*mouse_y) / height;

      cout << "x: " << x << ", y: " << y << endl;

      vec4 ray_clip = vec4(x, y, -1.0f, 1.0f);
      vec4 ray_eye = inverse(proj_mat) * ray_clip;
      ray_eye = vec4(ray_eye.xy(), -1.0f, 1.0f);
      vec4 ray_world = inverse(view_mat) * ray_eye;

      vec4 cam_pos_temp = vec4(cam_pos, 1.0f);

      vec4 click_point;
      vec3 closest_point = vec3(0.0f, 0.0f, -FAR_CLIP); // Any valid point will be closer than the far clipping plane, so initial value to that
      SceneObject* closest_object = NULL;

      SceneObject* obj;
      for (vector<SceneObject>::iterator it = objects.begin(); it != objects.end(); it++) {
         obj = &*it;

         for (unsigned int p_idx = 0; p_idx < it->points.size(); p_idx += 9) {
            if (faceClicked({
               vec3(it->points[p_idx], it->points[p_idx + 1], it->points[p_idx + 2]),
               vec3(it->points[p_idx + 3], it->points[p_idx + 4], it->points[p_idx + 5]),
               vec3(it->points[p_idx + 6], it->points[p_idx + 7], it->points[p_idx + 8]),
            },
            obj, ray_world, cam_pos_temp, click_point)) {
               click_point = view_mat * click_point;

               if (-NEAR_CLIP >= click_point.z && click_point.z > -FAR_CLIP && click_point.z > closest_point.z) {
                  closest_point = click_point.xyz();
                  closest_object = obj;
               }
            }
         }
      }

      if (closest_object == NULL) {
         cout << "No object was clicked" << endl;
      } else {
         clickedObject = closest_object;
         cout << "Clicked object: " << clickedObject->id << endl;
      }
   }
}

int main(int argc, char* argv[]) {
   cout << "New OpenGL Game" << endl;

   if (!restart_gl_log()) {}
   gl_log("starting GLFW\n%s\n", glfwGetVersionString());

   glfwSetErrorCallback(glfw_error_callback);
   if (!glfwInit()) {
      fprintf(stderr, "ERROR: could not start GLFW3\n");
      return 1;
   }

#ifdef __APPLE__
   glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
   glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
   glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
   glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
#endif

   glfwWindowHint(GLFW_SAMPLES, 4);

   GLFWwindow* window = NULL;
   GLFWmonitor* mon = NULL;

   if (FULLSCREEN) {
      mon = glfwGetPrimaryMonitor();
      const GLFWvidmode* vmode = glfwGetVideoMode(mon);

      width = vmode->width;
      height = vmode->height;
      cout << "Fullscreen resolution " << vmode->width << "x" << vmode->height << endl;
   }
   window = glfwCreateWindow(width, height, "New OpenGL Game", mon, NULL);

   if (!window) {
      fprintf(stderr, "ERROR: could not open window with GLFW3\n");
      glfwTerminate();
      return 1;
   }

   glfwMakeContextCurrent(window);
   glewExperimental = GL_TRUE;
   glewInit();

   // Setup Dear ImGui binding
   IMGUI_CHECKVERSION();
   ImGui::CreateContext();
   ImGuiIO& io = ImGui::GetIO(); (void)io;
   //io.ConfigFlags |= ImGuiConfigFlags_NavEnableKeyboard;  // Enable Keyboard Controls
   //io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad;   // Enable Gamepad Controls
   ImGui_ImplGlfwGL3_Init(window, true);

   // Setup style
   ImGui::StyleColorsDark();
   //ImGui::StyleColorsClassic();

   glfwSetMouseButtonCallback(window, mouse_button_callback);

   const GLubyte* renderer = glGetString(GL_RENDERER);
   const GLubyte* version = glGetString(GL_VERSION);
   printf("Renderer: %s\n", renderer);
   printf("OpenGL version supported %s\n", version);

   glEnable(GL_DEPTH_TEST);
   glDepthFunc(GL_LESS);

   glEnable(GL_CULL_FACE);
   // glCullFace(GL_BACK);
   // glFrontFace(GL_CW);

   int x, y;
   unsigned char* texImage = loadImage("test.png", &x, &y);
   if (texImage) {
     cout << "Yay, I loaded an image!" << endl;
     cout << x << endl;
     cout << y << endl;
     printf("first 4 bytes are: %i %i %i %i\n", texImage[0], texImage[1], texImage[2], texImage[3]);
   }

   GLuint tex = 0;
   glGenTextures(1, &tex);
   glActiveTexture(GL_TEXTURE0);
   glBindTexture(GL_TEXTURE_2D, tex);
   glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, x, y, 0, GL_RGBA, GL_UNSIGNED_BYTE, texImage);

   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
   glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
   glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);

   mat4 T_model, R_model;

   // triangle
   objects.push_back(SceneObject());
   objects[0].id = 0;
   objects[0].shader_program = 0;
   objects[0].vertex_vbo_offset = (GLvoid*) (0 * sizeof(float) * 3);
   objects[0].texture_vbo_offset = (GLvoid*)(0 * sizeof(float) * 2);
   objects[0].points = {
       0.0f,  0.5f,  0.0f,
      -0.5f, -0.5f,  0.0f,
       0.5f, -0.5f,  0.0f,
       0.5f, -0.5f,  0.0f,
      -0.5f, -0.5f,  0.0f,
       0.0f,  0.5f,  0.0f,
   };
   objects[0].colors = {
      1.0f, 0.0f, 0.0f,
      0.0f, 0.0f, 1.0f,
      0.0f, 1.0f, 0.0f,
      0.0f, 1.0f, 0.0f,
      0.0f, 0.0f, 1.0f,
      1.0f, 0.0f, 0.0f,
   };
   objects[0].texcoords = {
      1.0f, 1.0f,
      0.0f, 1.0f,
      0.0f, 0.0f,
      1.0f, 1.0f,
      0.0f, 0.0f,
      1.0f, 0.0f
   };
   objects[0].normals = {
       0.0f,  0.0f,  1.0f,
       0.0f,  0.0f,  1.0f,
       0.0f,  0.0f,  1.0f,
       0.0f,  0.0f, -1.0f,
       0.0f,  0.0f, -1.0f,
       0.0f,  0.0f, -1.0f,
   };
   objects[0].selected_colors = {
      0.0f, 1.0f, 0.0f,
      0.0f, 1.0f, 0.0f,
      0.0f, 1.0f, 0.0f,
      0.0f, 1.0f, 0.0f,
      0.0f, 1.0f, 0.0f,
      0.0f, 1.0f, 0.0f,
   };
   objects[0].num_points = objects[0].points.size() / 3;

   T_model = translate(mat4(), vec3(0.45f, 0.0f, 0.0f));
   R_model = rotate(mat4(), 0.0f, vec3(0.0f, 1.0f, 0.0f));
   objects[0].model_mat = T_model*R_model;

   // square
   objects.push_back(SceneObject());
   objects[1].id = 1;
   objects[1].shader_program = 0;
   objects[1].vertex_vbo_offset = (GLvoid*) (6 * sizeof(float) * 3);
   objects[1].texture_vbo_offset = (GLvoid*)(6 * sizeof(float) * 2);
   objects[1].points = {
       0.5f,  0.5f,  0.0f,
      -0.5f,  0.5f,  0.0f,
      -0.5f, -0.5f,  0.0f,
       0.5f,  0.5f,  0.0f,
      -0.5f, -0.5f,  0.0f,
       0.5f, -0.5f,  0.0f,
   };
   objects[1].colors = {
      1.0f, 0.0f, 0.0f,
      0.0f, 0.0f, 1.0f,
      0.0f, 1.0f, 0.0f,
      0.0f, 1.0f, 0.0f,
      0.0f, 0.0f, 1.0f,
      1.0f, 0.0f, 0.0f,
   };
   objects[1].texcoords = {
      1.0f, 1.0f,
      0.0f, 1.0f,
      0.0f, 0.0f,
      1.0f, 1.0f,
      0.0f, 0.0f,
      1.0f, 0.0f
   };
   objects[1].normals = {
      0.0f,  0.0f,  1.0f,
      0.0f,  0.0f,  1.0f,
      0.0f,  0.0f,  1.0f,
      0.0f,  0.0f,  1.0f,
      0.0f,  0.0f,  1.0f,
      0.0f,  0.0f,  1.0f,
   };
   objects[1].selected_colors = {
      0.0f, 0.6f, 0.9f,
      0.0f, 0.6f, 0.9f,
      0.0f, 0.6f, 0.9f,
      0.0f, 0.6f, 0.9f,
      0.0f, 0.6f, 0.9f,
      0.0f, 0.6f, 0.9f,
   };
   objects[1].num_points = objects[1].points.size() / 3;

   T_model = translate(mat4(), vec3(-0.5f, 0.0f, -1.00f));
   R_model = rotate(mat4(), 0.5f, vec3(0.0f, 1.0f, 0.0f));
   objects[1].model_mat = T_model*R_model;

   vector<SceneObject>::iterator obj_it;
   GLsizeiptr offset;

   GLsizeiptr points_buffer_size = 0;
   GLsizeiptr textures_buffer_size = 0;

   for (obj_it = objects.begin(); obj_it != objects.end(); obj_it++) {
      points_buffer_size += obj_it->points.size() * sizeof(GLfloat);
      textures_buffer_size += obj_it->texcoords.size() * sizeof(GLfloat);
   }

   GLuint points_vbo = 0;
   glGenBuffers(1, &points_vbo);
   glBindBuffer(GL_ARRAY_BUFFER, points_vbo);
   glBufferData(GL_ARRAY_BUFFER, points_buffer_size, NULL, GL_DYNAMIC_DRAW);

   offset = 0;
   for (obj_it = objects.begin(); obj_it != objects.end(); obj_it++) {
      glBufferSubData(GL_ARRAY_BUFFER, offset, obj_it->points.size() * sizeof(GLfloat), &obj_it->points[0]);
      offset += obj_it->points.size() * sizeof(GLfloat);
   }

   GLuint colors_vbo = 0;
   glGenBuffers(1, &colors_vbo);
   glBindBuffer(GL_ARRAY_BUFFER, colors_vbo);
   glBufferData(GL_ARRAY_BUFFER, points_buffer_size, NULL, GL_DYNAMIC_DRAW);

   offset = 0;
   for (obj_it = objects.begin(); obj_it != objects.end(); obj_it++) {
      glBufferSubData(GL_ARRAY_BUFFER, offset, obj_it->colors.size() * sizeof(GLfloat), &obj_it->colors[0]);
      offset += obj_it->colors.size() * sizeof(GLfloat);
   }

   GLuint selected_colors_vbo = 0;
   glGenBuffers(1, &selected_colors_vbo);
   glBindBuffer(GL_ARRAY_BUFFER, selected_colors_vbo);
   glBufferData(GL_ARRAY_BUFFER, points_buffer_size, NULL, GL_DYNAMIC_DRAW);

   offset = 0;
   for (obj_it = objects.begin(); obj_it != objects.end(); obj_it++) {
      glBufferSubData(GL_ARRAY_BUFFER, offset, obj_it->selected_colors.size() * sizeof(GLfloat), &obj_it->selected_colors[0]);
      offset += obj_it->selected_colors.size() * sizeof(GLfloat);
   }

   GLuint texcoords_vbo = 0;
   glGenBuffers(1, &texcoords_vbo);
   glBindBuffer(GL_ARRAY_BUFFER, texcoords_vbo);
   glBufferData(GL_ARRAY_BUFFER, textures_buffer_size, NULL, GL_DYNAMIC_DRAW);

   offset = 0;
   for (obj_it = objects.begin(); obj_it != objects.end(); obj_it++) {
      glBufferSubData(GL_ARRAY_BUFFER, offset, obj_it->texcoords.size() * sizeof(GLfloat), &obj_it->texcoords[0]);
      offset += obj_it->texcoords.size() * sizeof(GLfloat);
   }

   GLuint normals_vbo = 0;
   glGenBuffers(1, &normals_vbo);
   glBindBuffer(GL_ARRAY_BUFFER, normals_vbo);
   glBufferData(GL_ARRAY_BUFFER, points_buffer_size, NULL, GL_DYNAMIC_DRAW);

   offset = 0;
   for (obj_it = objects.begin(); obj_it != objects.end(); obj_it++) {
      glBufferSubData(GL_ARRAY_BUFFER, offset, obj_it->normals.size() * sizeof(GLfloat), &obj_it->normals[0]);
      offset += obj_it->normals.size() * sizeof(GLfloat);
   }

   GLuint vao = 0;
   glGenVertexArrays(1, &vao);
   glBindVertexArray(vao);

   glEnableVertexAttribArray(0);
   glEnableVertexAttribArray(1);
   glEnableVertexAttribArray(2);

   GLuint vao2 = 0;
   glGenVertexArrays(1, &vao2);
   glBindVertexArray(vao2);

   glEnableVertexAttribArray(0);
   glEnableVertexAttribArray(1);
   glEnableVertexAttribArray(2);

   // I can create a vbo to store all points for all models,
   // and another vbo to store all colors for all models, but how do I allow alternating between
   // using colors and textures for each model?
   // Do I create a third vbo for texture coordinates and change which vertex attribute array I have bound
   // when I want to draw a textured model?
   // Or do I create one vao with vertices and colors and another with vertices and textures and switch between the two?
   // Since I would have to switch shader programs to toggle between using colors or textures,
   // I think I should use one vao for both cases and have a points vbo, a colors vbo, and a textures vbo
   // One program will use the points and colors, and the other will use the points and texture coords
   // Review how to bind vbos to vertex attributes in the shader.
   //
   // Binding vbos is done using glVertexAttribPointer(...) on a per-vao basis and is not tied to any specific shader.
   // This means, I could create two vaos, one for each shader and have one use points+colors, while the other
   // uses points+texxcoords.
   //
   // At some point, when I have lots of objects, I want to group them by shader when drawing them.
   // I'd probably create some sort of set per shader and have each set contain the ids of all objects currently using that shader
   // Most likely, I'd want to implement each set using a bit field. Makes it constant time for updates and iterating through them
   // should not be much of an issue either.
   // Assuming making lots of draw calls instead of one is not innefficient, I should be fine.
   // I might also want to use one glDrawElements call per shader to draw multiple non-memory-adjacent models
   //
   // DECISION: Use a glDrawElements call per shader since I use a regular array to specify the elements to draw
   // Actually, this will only work once I get UBOs working since each object will have a different model matrix
   // For now, I could implement this with a glDrawElements call per object and update the model uniform for each object

   GLuint shader_program = loadShaderProgram("./color.vert", "./color.frag");
   GLuint shader_program2 = loadShaderProgram("./texture.vert", "./texture.frag");

   float speed = 1.0f;
   float last_position = 0.0f;

   float cam_speed = 1.0f;
   float cam_yaw_speed = 60.0f*ONE_DEG_IN_RAD;

   // glm::lookAt can create the view matrix
   // glm::perspective can create the projection matrix

   cam_pos = vec3(0.0f, 0.0f, 2.0f);
   float cam_yaw = 0.0f * 2.0f * 3.14159f / 360.0f;

   mat4 T = translate(mat4(), vec3(-cam_pos.x, -cam_pos.y, -cam_pos.z));
   mat4 R = rotate(mat4(), -cam_yaw, vec3(0.0f, 1.0f, 0.0f));
   view_mat = R*T;

   float fov = 67.0f * ONE_DEG_IN_RAD;
   float aspect = (float)width / (float)height;

   float range = tan(fov * 0.5f) * NEAR_CLIP;
   float Sx = NEAR_CLIP / (range * aspect);
   float Sy = NEAR_CLIP / range;
   float Sz = -(FAR_CLIP + NEAR_CLIP) / (FAR_CLIP - NEAR_CLIP);
   float Pz = -(2.0f * FAR_CLIP * NEAR_CLIP) / (FAR_CLIP - NEAR_CLIP);

   float proj_arr[] = {
     Sx, 0.0f, 0.0f, 0.0f,
     0.0f, Sy, 0.0f, 0.0f,
     0.0f, 0.0f, Sz, -1.0f,
     0.0f, 0.0f, Pz, 0.0f,
   };
   proj_mat = make_mat4(proj_arr);

   GLint model_test_loc = glGetUniformLocation(shader_program, "model");
   GLint view_test_loc = glGetUniformLocation(shader_program, "view");
   GLint proj_test_loc = glGetUniformLocation(shader_program, "proj");

   GLint model_mat_loc = glGetUniformLocation(shader_program2, "model");
   GLint view_mat_loc = glGetUniformLocation(shader_program2, "view");
   GLint proj_mat_loc = glGetUniformLocation(shader_program2, "proj");

   glUseProgram(shader_program);
   glUniformMatrix4fv(model_test_loc, 1, GL_FALSE, value_ptr(objects[0].model_mat));
   glUniformMatrix4fv(view_test_loc, 1, GL_FALSE, value_ptr(view_mat));
   glUniformMatrix4fv(proj_test_loc, 1, GL_FALSE, value_ptr(proj_mat));

   glUseProgram(shader_program2);
   glUniformMatrix4fv(model_mat_loc, 1, GL_FALSE, value_ptr(objects[1].model_mat));
   glUniformMatrix4fv(view_mat_loc, 1, GL_FALSE, value_ptr(view_mat));
   glUniformMatrix4fv(proj_mat_loc, 1, GL_FALSE, value_ptr(proj_mat));

   objects[0].shader_program = shader_program;
   objects[1].shader_program = shader_program2;

   vector<int> program1_objects, program2_objects;
   vector<int>::iterator it;

   bool cam_moved = false;

   int frame_count = 0;
   double elapsed_seconds_fps = 0.0f;
   double previous_seconds = glfwGetTime();

   // This draws wireframes. Useful for seeing separate faces and occluded objects.
   //glPolygonMode(GL_FRONT, GL_LINE);

   // disable vsync to see real framerate
   //glfwSwapInterval(0);

   while (!glfwWindowShouldClose(window) && isRunning) {
      double current_seconds = glfwGetTime();
      double elapsed_seconds = current_seconds - previous_seconds;
      previous_seconds = current_seconds;

      elapsed_seconds_fps += elapsed_seconds;
      if (elapsed_seconds_fps > 0.25f) {
         fps = (double)frame_count / elapsed_seconds_fps;
         cout << "FPS: " << fps << endl;

         frame_count = 0;
         elapsed_seconds_fps = 0.0f;
      }

      frame_count++;

      if (fabs(last_position) > 1.0f) {
         speed = -speed;
      }

      program1_objects.clear();
      program2_objects.clear();

      // Handle events (Ideally, move all event-handling code
      // before the render code)

      clickedObject = NULL;
      glfwPollEvents();

      if (clickedObject == &objects[0]) {
         selectedObject = &objects[0];
      }
      if (clickedObject == &objects[1]) {
         selectedObject = &objects[1];
      }

      if (selectedObject == &objects[1] &&
         objects[1].shader_program == shader_program2) {
         objects[1].shader_program = shader_program;
      } else if (selectedObject != &objects[1] &&
         objects[1].shader_program == shader_program) {
         objects[1].shader_program = shader_program2;
      }

      // group scene objects by shader
      for (unsigned int i=0; i < objects.size(); i++) {
         if (objects[i].shader_program == shader_program) {
            program1_objects.push_back(i);
         } else if (objects[i].shader_program == shader_program2) {
            program2_objects.push_back(i);
         }
      }

      /*
      model[12] = last_position + speed*elapsed_seconds;
      last_position = model[12];
      */

      glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

      glUseProgram(shader_program);
      glBindVertexArray(vao);

      for (it=program1_objects.begin(); it != program1_objects.end(); it++) {
         glUniformMatrix4fv(model_test_loc, 1, GL_FALSE, value_ptr(objects[*it].model_mat));

         glBindBuffer(GL_ARRAY_BUFFER, points_vbo);
         glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, objects[*it].vertex_vbo_offset);

         if (selectedObject == &objects[*it]) {
            glBindBuffer(GL_ARRAY_BUFFER, selected_colors_vbo);
         } else {
            glBindBuffer(GL_ARRAY_BUFFER, colors_vbo);
         }
         glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 0, objects[*it].vertex_vbo_offset);

         glBindBuffer(GL_ARRAY_BUFFER, normals_vbo);
         glVertexAttribPointer(2, 3, GL_FLOAT, GL_FALSE, 0, objects[*it].vertex_vbo_offset);

         glDrawArrays(GL_TRIANGLES, 0, objects[*it].num_points);
      }

      glUseProgram(shader_program2);
      glBindVertexArray(vao2);

      for (it = program2_objects.begin(); it != program2_objects.end(); it++) {
         glUniformMatrix4fv(model_mat_loc, 1, GL_FALSE, value_ptr(objects[*it].model_mat));

         glBindBuffer(GL_ARRAY_BUFFER, points_vbo);
         glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, objects[*it].vertex_vbo_offset);

         glBindBuffer(GL_ARRAY_BUFFER, texcoords_vbo);
         glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 0, objects[*it].texture_vbo_offset);

         glBindBuffer(GL_ARRAY_BUFFER, normals_vbo);
         glVertexAttribPointer(2, 3, GL_FLOAT, GL_FALSE, 0, objects[*it].vertex_vbo_offset);

         glDrawArrays(GL_TRIANGLES, 0, objects[*it].num_points);
      }

      renderGui();

      glfwSwapBuffers(window);

      if (GLFW_PRESS == glfwGetKey(window, GLFW_KEY_ESCAPE)) {
         glfwSetWindowShouldClose(window, 1);
      }

      float dist = cam_speed * elapsed_seconds;
      if (glfwGetKey(window, GLFW_KEY_A)) {
         cam_pos.x -= cos(cam_yaw)*dist;
         cam_pos.z += sin(cam_yaw)*dist;
         cam_moved = true;
      }
      if (glfwGetKey(window, GLFW_KEY_D)) {
         cam_pos.x += cos(cam_yaw)*dist;
         cam_pos.z -= sin(cam_yaw)*dist;
         cam_moved = true;
      }
      if (glfwGetKey(window, GLFW_KEY_W)) {
         cam_pos.x -= sin(cam_yaw)*dist;
         cam_pos.z -= cos(cam_yaw)*dist;
         cam_moved = true;
      }
      if (glfwGetKey(window, GLFW_KEY_S)) {
         cam_pos.x += sin(cam_yaw)*dist;
         cam_pos.z += cos(cam_yaw)*dist;
         cam_moved = true;
      }
      if (glfwGetKey(window, GLFW_KEY_LEFT)) {
         cam_yaw += cam_yaw_speed * elapsed_seconds;
         cam_moved = true;
      }
      if (glfwGetKey(window, GLFW_KEY_RIGHT)) {
         cam_yaw -= cam_yaw_speed * elapsed_seconds;
         cam_moved = true;
      }
      if (cam_moved) {
         T = translate(mat4(), vec3(-cam_pos.x, -cam_pos.y, -cam_pos.z));
         R = rotate(mat4(), -cam_yaw, vec3(0.0f, 1.0f, 0.0f));
         view_mat = R*T;

         glUseProgram(shader_program);
         glUniformMatrix4fv(view_test_loc, 1, GL_FALSE, value_ptr(view_mat));

         glUseProgram(shader_program2);
         glUniformMatrix4fv(view_mat_loc, 1, GL_FALSE, value_ptr(view_mat));

         cam_moved = false;
      }
   }

   ImGui_ImplGlfwGL3_Shutdown();
   ImGui::DestroyContext();

   glfwDestroyWindow(window);
   glfwTerminate();

   return 0;
}

GLuint loadShader(GLenum type, string file) {
  cout << "Loading shader from file " << file << endl;

  ifstream shaderFile(file);
  GLuint shaderId = 0;

  if (shaderFile.is_open()) {
    string line, shaderString;

    while(getline(shaderFile, line)) {
      shaderString += line + "\n";
    }
    shaderFile.close();
    const char* shaderCString = shaderString.c_str();

    shaderId = glCreateShader(type);
    glShaderSource(shaderId, 1, &shaderCString, NULL);
    glCompileShader(shaderId);

    cout << "Loaded successfully" << endl;
  } else {
    cout << "Failed to load the file" << endl;
  }

  return shaderId;
}

GLuint loadShaderProgram(string vertexShaderPath, string fragmentShaderPath) {
   GLuint vs = loadShader(GL_VERTEX_SHADER, vertexShaderPath);
   GLuint fs = loadShader(GL_FRAGMENT_SHADER, fragmentShaderPath);

   GLuint shader_program = glCreateProgram();
   glAttachShader(shader_program, vs);
   glAttachShader(shader_program, fs);

   glLinkProgram(shader_program);

   return shader_program;
}

unsigned char* loadImage(string file_name, int* x, int* y) {
  int n;
  int force_channels = 4; // This forces RGBA (4 bytes per pixel)
  unsigned char* image_data = stbi_load(file_name.c_str(), x, y, &n, force_channels);

  int width_in_bytes = *x * 4;
  unsigned char *top = NULL;
  unsigned char *bottom = NULL;
  unsigned char temp = 0;
  int half_height = *y / 2;

  // flip image upside-down to account for OpenGL treating lower-left as (0, 0)
  for (int row = 0; row < half_height; row++) {
     top = image_data + row * width_in_bytes;
     bottom = image_data + (*y - row - 1) * width_in_bytes;
     for (int col = 0; col < width_in_bytes; col++) {
        temp = *top;
        *top = *bottom;
        *bottom = temp;
        top++;
        bottom++;
     }
  }

  if (!image_data) {
    fprintf(stderr, "ERROR: could not load %s\n", file_name.c_str());
  }

  // Not Power-of-2 check
  if ((*x & (*x - 1)) != 0 || (*y & (*y - 1)) != 0) {
     fprintf(stderr, "WARNING: texture %s is not power-of-2 dimensions\n", file_name.c_str());
  }

  return image_data;
}

bool faceClicked(array<vec3, 3> points, SceneObject* obj, vec4 world_ray, vec4 cam, vec4& click_point) {
   // LINE EQUATION:            P = O + Dt
   // O = cam
   // D = ray_world

   // PLANE EQUATION:   P dot n + d = 0
   // n is the normal vector
   // d is the offset from the origin

   // Take the cross-product of two vectors on the plane to get the normal
   vec3 v1 = points[1] - points[0];
   vec3 v2 = points[2] - points[0];

   vec3 normal = vec3(v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x);

   print4DVector("Full world ray", world_ray);

   vec3 local_ray = (inverse(obj->model_mat) * world_ray).xyz();
   vec3 local_cam = (inverse(obj->model_mat) * cam).xyz();

   local_ray = local_ray - local_cam;

   float d = -glm::dot(points[0], normal);
   cout << "d: " << d << endl;

   float t = -(glm::dot(local_cam, normal) + d) / glm::dot(local_ray, normal);
   cout << "t: " << t << endl;

   vec3 intersection = local_cam + t*local_ray;
   printVector("Intersection", intersection);

   if (insideTriangle(intersection, points)) {
      click_point = obj->model_mat * vec4(intersection, 1.0f);
      return true;
   } else {
      return false;
   }
}
bool insideTriangle(vec3 p, array<vec3, 3> triangle_points) {
   vec3 v21 = triangle_points[1] - triangle_points[0];
   vec3 v31 = triangle_points[2] - triangle_points[0];
   vec3 pv1 = p - triangle_points[0];

   float y = (pv1.y*v21.x - pv1.x*v21.y) / (v31.y*v21.x - v31.x*v21.y);
   float x = (pv1.x-y*v31.x) / v21.x;

   return x > 0.0f && y > 0.0f && x+y < 1.0f;
}

void printVector(string label, vec3 v) {
   cout << label << " -> (" << v.x << "," << v.y << "," << v.z << ")" << endl;
}

void print4DVector(string label, vec4 v) {
   cout << label << " -> (" << v.x << "," << v.y << "," << v.z << "," << v.w << ")" << endl;
}

void renderGui() {
   ImGui_ImplGlfwGL3_NewFrame();

   // 1. Show a simple window.
   // Tip: if we don't call ImGui::Begin()/ImGui::End() the widgets automatically appears in a window called "Debug".
   /*
   {
      static float f = 0.0f;
      static int counter = 0;
      ImGui::Text("Hello, world!");                           // Display some text (you can use a format string too)
      ImGui::SliderFloat("float", &f, 0.0f, 1.0f);            // Edit 1 float using a slider from 0.0f to 1.0f    
      ImGui::ColorEdit3("clear color", (float*)&clear_color); // Edit 3 floats representing a color

      ImGui::Checkbox("Demo Window", &show_demo_window);      // Edit bools storing our windows open/close state
      ImGui::Checkbox("Another Window", &show_another_window);

      if (ImGui::Button("Button"))                            // Buttons return true when clicked (NB: most widgets return true when edited/activated)
         counter++;
      ImGui::SameLine();
      ImGui::Text("counter = %d", counter);

      ImGui::Text("Application average %.3f ms/frame (%.1f FPS)", 1000.0f / ImGui::GetIO().Framerate, ImGui::GetIO().Framerate);
   }
   */

   {
      ImGui::SetNextWindowSize(ImVec2(85, 22), ImGuiCond_Once);
      ImGui::SetNextWindowPos(ImVec2(10, 50), ImGuiCond_Once);
      ImGui::Begin("WndStats", NULL,
         ImGuiWindowFlags_NoTitleBar |
         ImGuiWindowFlags_NoResize |
         ImGuiWindowFlags_NoMove);
      ImGui::Text("Score: ???");
      ImGui::End();
   }

   {
      ImGui::SetNextWindowPos(ImVec2(380, 10), ImGuiCond_Once);
      ImGui::SetNextWindowSize(ImVec2(250, 35), ImGuiCond_Once);
      ImGui::Begin("WndMenubar", NULL,
         ImGuiWindowFlags_NoTitleBar |
         ImGuiWindowFlags_NoResize |
         ImGuiWindowFlags_NoMove);
      ImGui::InvisibleButton("", ImVec2(190, 18));
      ImGui::SameLine();
      if (ImGui::Button("Quit")) {
         isRunning = false;
      }
      ImGui::End();
   }

   // Main Menu
   /*
   {
      int padding = 4;
      ImGui::SetNextWindowPos(ImVec2(-padding, -padding), ImGuiCond_Once);
      ImGui::SetNextWindowSize(ImVec2(width+2*padding, height+2*padding), ImGuiCond_Once);
      ImGui::Begin("WndMain", NULL,
         ImGuiWindowFlags_NoTitleBar |
         ImGuiWindowFlags_NoResize |
         ImGuiWindowFlags_NoMove);
      ImGui::End();
   }
   */

   ImGui::Render();
   ImGui_ImplGlfwGL3_RenderDrawData(ImGui::GetDrawData());
}