Initial commit

12 files changed, 665 insertions, 0 deletions

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..6fa4ec2
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+.DS_Store
+b.sh
+graytracer
+*.png
+lodepng.h
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..f2c2496
--- /dev/null
+++ b/README.md
@@ -0,0 +1,11 @@
+Graytracer
+==========
+
+A simple, experimental raytracer that doesn't support colours.
+
+I made this in my spare time and will probably continue to add features. Or not. I don't know.
+
+It needs lodepng (as found on [lodev.org](http://lodev.org/lodepng/)).
+Just compile with `lodepng.cpp` and `lodepng.h` in the same folder as the source and pass both `graytrace.cpp` and `lodepng.cpp` as arguments to the compiler.
+
+_- Tom Smeding_
diff --git a/Stuff.rtsc b/Stuff.rtsc
new file mode 100644
index 0000000..8079ef7
--- /dev/null
+++ b/Stuff.rtsc
@@ -0,0 +1,31 @@
+1 -16 3  0 0 0  0
+-2 -8 6  1
+sphere -4 -4 -1  1
+sphere -2 -4 -1  1
+sphere 0 -4 -1  1
+sphere 2 -4 -1  1
+sphere 4 -4 -1  1
+sphere -4 -2 -1  1
+sphere -2 -2 -1  1
+sphere 0 -2 -1  1
+sphere 2 -2 -1  1
+sphere 4 -2 -1  1
+sphere -4 0 -1  1
+sphere -2 0 -1  1
+sphere 0 0 -1  1
+sphere 2 0 -1  1
+sphere 4 0 -1  1
+sphere -4 2 -1  1
+sphere -2 2 -1  1
+sphere 0 2 -1  1
+sphere 2 2 -1  1
+sphere 4 2 -1  1
+sphere -4 4 -1  1
+sphere -2 4 -1  1
+sphere 0 4 -1  1
+sphere 2 4 -1  1
+sphere 4 4 -1  1
+sphere -1 -6 3  1
+triangle 0 1 0  1 1 0  1 1.5 2
+
+plane 0 0 -1.5  -0.1 0 1
\ No newline at end of file
diff --git a/box.rtsc b/box.rtsc
new file mode 100644
index 0000000..add669f
--- /dev/null
+++ b/box.rtsc
@@ -0,0 +1,21 @@
+4 -5 2  0 0 0  0
+2.5 .5 2  1
+triangle 0 0 0  1 0 0  1 0 1
+triangle 0 0 0  1 0 1  0 0 1
+
+triangle 0 0 1  1 0 1  1 1 1
+triangle 0 0 1  1 1 1  0 1 1
+
+triangle 1 0 0  1 1 0  1 1 1
+triangle 1 0 0  1 1 1  1 0 1
+
+triangle 0 1 0  1 1 0  1 1 1
+triangle 0 1 0  1 1 1  0 1 1
+
+triangle 0 0 0  1 0 0  1 1 0
+triangle 0 0 0  1 1 0  0 1 0
+
+triangle 0 0 0  0 1 0  0 1 1
+triangle 0 0 0  0 1 1  0 0 1
+
+plane 0 0 -1  0 0 1
\ No newline at end of file
diff --git a/cuboids.rtsc b/cuboids.rtsc
new file mode 100644
index 0000000..7bc8ef3
--- /dev/null
+++ b/cuboids.rtsc
@@ -0,0 +1,20 @@
+7.5 -10 6  7.5 0 0  0
+3 -10 15  1
+
+cuboid 1 0 4  4 1 5
+cuboid 2 0 0  3 1 4
+
+cuboid 5 0 0  10 1 1
+cuboid 5 0 4  10 1 5
+cuboid 5 0 1  6 1 4
+cuboid 9 0 1  10 1 4
+
+cuboid 11 0 0  12 1 5
+cuboid 12 0 3  13 1 4
+cuboid 13 0 2  14 1 3
+cuboid 14 0 3  15 1 4
+cuboid 15 0 0  16 1 5
+
+sphere 7.5 0.5 2.5  1
+
+plane 0 0 -1  0 1 10
\ No newline at end of file
diff --git a/graytrace b/graytrace
new file mode 100755
index 0000000..aa0a092
--- /dev/null
+++ b/graytrace
diff --git a/graytrace.cpp b/graytrace.cpp
new file mode 100644
index 0000000..b74d387
--- /dev/null
+++ b/graytrace.cpp
@@ -0,0 +1,493 @@
+#include <iostream>
+#include <iomanip>
+#include <fstream>
+#include <vector>
+#include <string>
+#include <sstream>
+#include <cmath>
+#include <cassert>
+#include "lodepng.h"
+
+#define SCREEN_WIDTH (960)
+#define SCREEN_HEIGHT (640)
+
+#define FLOAT_SMALL_NUM (1e-8)
+
+using namespace std;
+
+/*
+Scene description file (.rtsc, Ray Trace SCene)
+===============================================
+
+Z           The positive Y-axis points away from you in this picture.
+^  _Y
+|  /'
+| /
+|/
+#------> X
+
+A "number" is a floating-point number, unless stated otherwise.
+A "coordinate" is three numbers, separated by a space.
+Between numbers, any amount of whitespace is tolerated.
+
+First line: coordinate of camera, the coordinate of point the camera looks at
+  directly and a number in [0,2π) indicating the amount the camera is rotated
+  clockwise around the axis between the camera position and the point the camera
+  looks at. Z normally faces up in this right-handed coordinate system.
+Second line: coordinate of the point light source, followed by the intensity in
+  [0,1].
+Further lines: a string in {triangle,sphere} giving the object shape, a
+  coordinate giving the centre of the object and further parameters for the
+  object. For a sphere, give the size (radius); for a triangle give the
+  coordinates of the two other vertices; for a plane, give the normal the
+  position is any point on the plane.
+
+Example file:
+1 -15 2  0 0 0  0
+-2 -2 6  1
+sphere 0 0 0  1
+sphere 1 10 -3  1.5
+*/
+
+bool samesign(const double a,const double b){
+	return (a>0&&b>0)||(a<0&&b<0);
+}
+
+class Vec3{
+public:
+	double x,y,z;
+	Vec3(void){x=y=z=0;}
+	Vec3(double _x,double _y,double _z){x=_x;y=_y;z=_z;}
+	Vec3& operator=(const Vec3 &other){
+		x=other.x;
+		y=other.y;
+		z=other.z;
+		return *this;
+	}
+	Vec3 operator+(const Vec3 other) const{return Vec3(x+other.x,y+other.y,z+other.z);}
+	Vec3 operator-(const Vec3 other) const{return Vec3(x-other.x,y-other.y,z-other.z);}
+	Vec3 operator*(const double other) const{return Vec3(x*other,y*other,z*other);}
+	double norm(void) const{return sqrt(x*x+y*y+z*z);}
+	double dot(const Vec3 &other) const{
+		return x*other.x+y*other.y+z*other.z;
+	}
+	Vec3 cross(const Vec3 &other) const{
+		return Vec3(y*other.z-z*other.y,z*other.x-x*other.z,x*other.y-y*other.x);
+	}
+	bool hasnan(void) const{return isnan(x)||isnan(y)||isnan(z);}
+	Vec3 normalised(void) const{return *this*(1/norm());}
+	void normalise(void){
+		double n=norm();
+		x/=n; y/=n; z/=n;
+	}
+	/*The Vec3::rotated[XYZ] functions rotate around that axis, anti-clockwise
+	  if looking at the rotation when said axis is pointer towards the observer.
+	  Matrices from en.wikipedia.org/wiki/Rotation_matrix#In_three_dimensions */
+	Vec3 rotatedX(double theta) const{
+		return Vec3(x,y*cos(theta)-z*sin(theta),y*sin(theta)+z*cos(theta));
+	}
+	Vec3 rotatedY(double theta) const{
+		return Vec3(x*cos(theta)+z*sin(theta),y,-x*sin(theta)+z*cos(theta));
+	}
+	Vec3 rotatedZ(double theta) const{
+		return Vec3(x*cos(theta)-y*sin(theta),x*sin(theta)+y*cos(theta),z);
+	}
+	string str(void) const{
+		stringstream ss;
+		ss<<'['<<x<<' '<<y<<' '<<z<<']';
+		return ss.str();
+	}
+};
+
+double angleBetween(const Vec3 &a,const Vec3 &b){
+	//          /  u . v  \
+	//theta=acos|---------|
+	//          \|u| * |v|/
+	double angle=acos(a.dot(b)/(a.norm()*b.norm()));
+	//if(angle<0)cerr<<"angleBetween(Vec3("<<a.x<<','<<a.y<<','<<a.z<<"),Vec3("<<b.x<<','<<b.y<<','<<b.z<<"))="<<angle<<endl;
+	return angle;
+}
+
+class Camera{
+public:
+	Vec3 pos,lookat;
+	double rot;
+	Camera(void){pos=Vec3(0,0,0);lookat=Vec3(1,0,0);rot=0;}
+	Camera(Vec3 p,Vec3 l,double r){pos=p;lookat=l;rot=r;}
+	Camera(double px,double py,double pz,double lx,double ly,double lz,double r){
+		pos=Vec3(px,py,pz);
+		lookat=Vec3(lx,ly,lz);
+		rot=r;
+	}
+};
+
+class Primitive{
+public:
+	bool isLight=false;
+	virtual ~Primitive(void){}
+	/* A line is represented by the formula:
+	    X = P + D * t
+	   for any t in R, where P is a point on the line, D is the direction vector
+	   of the line and X is any point on the line determined by t.
+	   This method finds the intersection of the line with this object which is
+	   closest to P. It returns Vec3(nan,nan,nan) if no intersections.*/
+	virtual Vec3 lineIntersect(const Vec3 &P,const Vec3 &D)=0;
+	virtual Vec3 normalat(const Vec3 &P)=0;
+};
+
+class Light:public Primitive{
+public:
+	Vec3 pos;
+	double intensity;
+	Light(void){isLight=true;}
+	Vec3 lineIntersect(const Vec3 &P,const Vec3 &D){
+		return Vec3(NAN,NAN,NAN);
+	}
+	Vec3 normalat(const Vec3 &P){
+		return Vec3(NAN,NAN,NAN);
+	}
+};
+
+class Sphere:public Primitive{
+public:
+	double size;
+	Vec3 pos;
+	/* A sphere is represented by the formula:
+	    r^2 = abs(X - C)^2
+	   where the radius is r, C is the centre of the sphere and X is any
+	   resulting point on the sphere's surface.
+	   The t of the intersection is given by: (en.wikipedia.org/wiki/Line–sphere_intersection)
+	   t=-(D * (P-C)) plusminus sqrt((D * (P-C))^2 - (P-C)^2 + r^2),
+	   iff |D|=1, and thus the point X of the intersection by:
+	   X = P + D * t.*/
+	Vec3 lineIntersect(const Vec3 &P,const Vec3 &D){
+		double discr,DPminC;
+		Vec3 unitD,PminC;
+		unitD=D.normalised(); //to make sure |D|=1
+		PminC=P-pos;
+		DPminC=unitD.dot(PminC);
+		discr=DPminC*DPminC-PminC.dot(PminC)+size*size;
+		if(discr<0)return Vec3(NAN,NAN,NAN); //no intersection
+		else if(discr<FLOAT_SMALL_NUM)return P+unitD*-DPminC; //one intersection
+		else { //two intersections, choose that for which abs(t) is smallest
+			if(abs(-DPminC-sqrt(discr))<abs(-DPminC+discr))return P+unitD*(-DPminC-sqrt(discr));
+			else return P+unitD*(-DPminC+sqrt(discr));
+		}
+	}
+	//returns unit vector *from origin*, only indicating direction.
+	Vec3 normalat(const Vec3 &P){
+		return (P-pos).normalised();
+	}
+};
+
+class Triangle:public Primitive{
+private:
+	Vec3 normal;
+public:
+	Vec3 pos0,pos1,pos2;
+	Triangle(void):normal(NAN,NAN,NAN){}
+	/*Follows the algorithm at http://geomalgorithms.com/a06-_intersect-2.html ;
+	  anything that's unclear should be found there!*/
+	Vec3 lineIntersect(const Vec3 &P,const Vec3 &D){
+		Vec3 P1(P+D); //P0==P
+		double ri,si,ti,udotv,udotu,vdotv,wdotu,wdotv;
+		Vec3 normal=normalat(pos0);
+		ri=normal.dot(P1-P); //denominator actually
+		//cerr<<ri<<' ';
+		if(abs(ri)<FLOAT_SMALL_NUM)return Vec3(NAN,NAN,NAN); //parallel to plane
+		ri=normal.dot(pos0-P)/ri;
+		if(ri<0)return Vec3(NAN,NAN,NAN);
+		Vec3 intersection=P+D*ri; //intersection with plane, maybe with triangle
+		Vec3 u=pos1-pos0,v=pos2-pos0,w=intersection-pos0;
+		udotv=u.dot(v); udotu=u.dot(u); vdotv=v.dot(v); wdotu=w.dot(u); wdotv=w.dot(v);
+		ti=udotv*udotv-udotu*vdotv; //actually denominator for si and ti
+		si=(udotv*wdotv-vdotv*wdotu)/ti;
+		if(si<0||si>1)return Vec3(NAN,NAN,NAN); //if si>1, si+ti>1 as well. Saves calculating ti for real
+		ti=(udotv*wdotu-udotu*wdotv)/ti;
+		if(ti<0||si+ti>1)return Vec3(NAN,NAN,NAN);
+		return intersection; //apparently, the ray intersects the triangle as well. Yay!
+	}
+	Vec3 normalat(const Vec3 &P){
+		if(!normal.hasnan())return normal;
+		return normal=(pos1-pos0).cross(pos2-pos0).normalised();
+	}
+};
+
+class Plane:public Primitive{
+public:
+	Vec3 pos,normal;
+	//Also follows the algorithm from http://geomalgorithms.com/a06-_intersect-2.html
+	Vec3 lineIntersect(const Vec3 &P,const Vec3 &D){
+		Vec3 P1(P+D); //P0==P
+		double ri;
+		ri=normal.dot(P1-P); //denominator actually
+		//cerr<<ri<<' ';
+		if(abs(ri)<FLOAT_SMALL_NUM)return Vec3(NAN,NAN,NAN); //if parallel to plane
+		ri=normal.dot(pos-P)/ri;
+		if(ri<0)return Vec3(NAN,NAN,NAN);
+		return P+D*ri;
+	}
+	Vec3 normalat(const Vec3 &P){
+		return normal;
+	}
+};
+
+/*x,y are screen coordinates in [0,1], FOV is the horizontal field of view in
+  radians, N is the number of objects.*/
+double calcColour(double x,double y,double FOV,int N,Camera &camera,vector<Primitive*> objs){
+	int i,minatidx=0; //=0 for compiler soothing
+	double mindist,dist,angle;
+	Vec3 intersection,midD,midDrot,minatinter;
+	midD=(camera.lookat-camera.pos).normalised();
+	mindist=HUGE_VALF;
+	//first we rotate midD around Z such that it lies on the XZ plane
+	angle=atan2(midD.y,midD.x); //get angle relative to XZ plane, around Z axis (thus, horizontal)
+	midDrot=midD.rotatedZ(-angle);
+	//then we rotate it around the Y axis (thus, vertically) by the needed amount
+	midDrot=midDrot.rotatedY(-FOV*((double)1-2*y*SCREEN_HEIGHT/SCREEN_WIDTH)); //negative in front because it rotates the wrong way round. See axes at top of source and description of Vec3::rotated[XYZ] functions.
+	//then we rotate it back around Z to its previous angle
+	midDrot=midDrot.rotatedZ(angle);
+	//then we apply the necessary horizontal rotation (around Z)
+	midDrot=midDrot.rotatedZ(FOV*((double)1-2*x));
+	for(i=0;i<N;i++){
+		intersection=objs[i]->lineIntersect(camera.pos,midDrot);
+		if(!intersection.hasnan()){ //if intersection was found
+			//now go test whether it's BEHIND the camera...
+			if((intersection.x-camera.pos.x)*midDrot.x<0||(intersection.y-camera.pos.y)*midDrot.y<0||(intersection.z-camera.pos.z)*midDrot.z<0)continue;
+			dist=(intersection-camera.pos).norm();
+			if(dist<mindist){
+				mindist=dist;
+				minatidx=i;
+				minatinter=intersection;
+			}
+		}
+	}
+	if(mindist==HUGE_VALF){
+		//cout<<". ";
+		return 0;
+	}
+
+	if(objs[minatidx]->isLight){ //if intersection was found
+		double cross=(camera.pos-intersection).normalised().cross(objs[minatidx]->normalat(intersection)).norm(); //cross==sin(angle between those vectors)
+		return 1-cross/6; //this looks reasonable
+	}
+	//cout<<minatidx<<' ';
+	Light *light=NULL;
+	for(i=0;i<N;i++)if(objs[i]->isLight){light=(Light*)objs[i];break;}
+	if(light==NULL)return 0.1;
+	Vec3 DlightToInter=minatinter-light->pos;
+	double distLightToInter=DlightToInter.norm();
+	for(i=0;i<N;i++){
+		if(objs[i]->isLight)continue;
+		intersection=objs[i]->lineIntersect(light->pos,DlightToInter);
+		dist=abs((intersection-light->pos).norm());
+		if(!intersection.hasnan()&&abs((intersection-minatinter).norm())>FLOAT_SMALL_NUM&&dist<distLightToInter){
+			//cout<<abs((intersection-minatinter).norm())<<' ';
+			break;
+		}
+	}
+	if(i==N){
+		//cout<<"N ";
+		//return 1;
+		//return 1-abs((light->pos-minatinter).normalised().cross((camera.pos-minatinter).normalised()).norm());
+		Vec3 cam=(camera.pos-minatinter).normalised(),nor=objs[minatidx]->normalat(minatinter),lig=(light->pos-minatinter).normalised();
+		/*double diff=asin(cam.cross(nor).norm())-asin(nor.cross(lig).norm()); //ANCIENT
+		if(diff<0)return 0.1;
+		else return 0.1+diff*0.9;*/
+		//if(abs(factor)>M_PI/2||!samesign(angleBetween(cam,lig)-angleBetween(cam,nor),angleBetween(nor,lig)))return 0.1;
+		//else return 0.1+(1-abs(factor))*0.9;
+		/*double ligCamAngle=angleBetween(cam,lig);
+		double ligNorAngle=angleBetween(nor,lig);
+		double camNorAngle=angleBetween(cam,nor);
+		angle=abs(ligCamAngle-2*camNorAngle); //how far, in radians, from the perfect reflection angle
+		if(angle>M_PI/2)return 0.1;
+		else return 0.1+(1-angle/M_PI)*0.9;*/
+
+		/*double factor=angleBetween(cam,nor)-angleBetween(nor,lig); //for spheres
+		if(factor>M_PI/2)return 0.5+(double)rand()/RAND_MAX*0.5;
+		if(factor<0)return 0.1;
+		return 0.1+factor/(M_PI/2)*0.9;*/
+		/*double factor=angleBetween(cam,lig)-2*angleBetween(cam,nor); //for cubes
+		if(abs(factor)>M_PI)return 0.1;
+		return 0.1+(1-abs(factor)/M_PI)*0.9;*/
+		Vec3 reflected=nor*cam.dot(nor)*2-cam; // paulbourke.net/geometry/reflected/
+		double diff=angleBetween(lig,reflected); //always >=0
+		if(diff>M_PI)return 0.1;
+		//else return 0.1+0.9*(pow(M_E,-diff)-diff*0.01375541740409698); //y=e^(-x)-x*e^(-pi)/pi gives an exponential thing through (0,1) and (pi,0)
+		//else return 0.1+0.9*cos(diff/2);
+		//else return 0.1+0.9*sin(0.5*M_PI*nor.dot(lig))*(1-diff/M_PI);
+		else return 0.1+0.9*0.5*(sin(M_PI*(nor.dot(lig)-0.5))+1)*(1-diff/M_PI);
+	} else {
+		//cout<<abs((intersection-minatinter).norm())<<' ';
+		return 0.1;
+	}
+	//return 1/(mindist+1);
+	//return (minatinter.z+1)/2;
+}
+
+void makeimage(vector<uint8_t> &image,Camera &camera,vector<Primitive*> objs,int N){
+	double x,y;
+	//double minclr=10000,maxclr=-10000;
+	//cerr<<"camera.pos="<<camera.pos.str()<<endl;
+	for(y=0;y<SCREEN_HEIGHT;y++){
+		for(x=0;x<SCREEN_WIDTH;x++){
+			//cout<<".abcdefghijklmnopqrstuvwxyz"[lround(calcColour((double)x/SCREEN_WIDTH,(double)y/SCREEN_HEIGHT,M_PI/4,N,camera,objs)*26)]<<flush;
+			//cout<<calcColour((double)x/SCREEN_WIDTH,(double)y/SCREEN_HEIGHT,M_PI/2,N,camera,objs)<<" "<<flush;
+			image[4*(SCREEN_WIDTH*y+x)+0]=
+			image[4*(SCREEN_WIDTH*y+x)+1]=
+			image[4*(SCREEN_WIDTH*y+x)+2]=calcColour((double)x/SCREEN_WIDTH,(double)y/SCREEN_HEIGHT,M_PI/4,N,camera,objs)*255;
+			image[4*(SCREEN_WIDTH*y+x)+3]=255;
+			//if(image[4*(SCREEN_WIDTH*y+x)+0]/255.0<minclr)minclr=image[4*(SCREEN_WIDTH*y+x)+0]/255.0;
+			//if(image[4*(SCREEN_WIDTH*y+x)+0]/255.0>maxclr)maxclr=image[4*(SCREEN_WIDTH*y+x)+0]/255.0;
+			//cout<<hex<<setw(2)<<(int)image[4*(SCREEN_WIDTH*y+x)+0]<<' ';
+		}
+		//cout<<endl;
+	}
+	//cout<<"colour: ["<<minclr<<','<<maxclr<<']'<<endl;
+}
+
+int main(int argc,char **argv){
+	if(argc!=2){
+		cout<<"Please give the scene description file as a command-line parameter."<<endl;
+		return 1;
+	}
+	ifstream in(argv[1]);
+	if(!in.good()){
+		cout<<"Could not open file '"<<argv[1]<<"'."<<endl;
+		return 1;
+	}
+	int N,i;
+	string type;
+	Camera camera;
+	vector<Primitive*> objs;
+	in>>camera.pos.x>>camera.pos.y>>camera.pos.z>>camera.lookat.x>>camera.lookat.y>>camera.lookat.z>>camera.rot;
+	if(camera.rot!=0){
+		cout<<"No camera rotation is currently supported; the given value of "<<camera.rot<<" should be 0."<<endl;
+		return 1;
+	}
+	objs.push_back(new Light);
+	in>>((Light*)objs[0])->pos.x>>((Light*)objs[0])->pos.y>>((Light*)objs[0])->pos.z>>((Light*)objs[0])->intensity;
+	objs[0]->isLight=true;
+	N=1;
+	for(i=1;;i++){
+		in>>type;
+		if(!in.good())break;
+		if(type=="sphere"){
+			objs.push_back(new Sphere);
+			in>>((Sphere*)objs[i])->pos.x>>((Sphere*)objs[i])->pos.y>>((Sphere*)objs[i])->pos.z>>((Sphere*)objs[i])->size;
+			//((Sphere*)objs[i])->printName();
+			N++;
+		} else if(type=="triangle"){
+			objs.push_back(new Triangle);
+			in>>((Triangle*)objs[i])->pos0.x>>((Triangle*)objs[i])->pos0.y>>((Triangle*)objs[i])->pos0.z
+			  >>((Triangle*)objs[i])->pos1.x>>((Triangle*)objs[i])->pos1.y>>((Triangle*)objs[i])->pos1.z
+			  >>((Triangle*)objs[i])->pos2.x>>((Triangle*)objs[i])->pos2.y>>((Triangle*)objs[i])->pos2.z;
+			//((Triangle*)objs[i])->printName();
+			N++;
+		} else if(type=="cuboid"){
+			Vec3 p1,p2;
+			in>>p1.x>>p1.y>>p1.z>>p2.x>>p2.y>>p2.z;
+			objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p1.x; ((Triangle*)objs[i])->pos0.y=p1.y; ((Triangle*)objs[i])->pos0.z=p1.z;
+			((Triangle*)objs[i])->pos1.x=p2.x; ((Triangle*)objs[i])->pos1.y=p1.y; ((Triangle*)objs[i])->pos1.z=p1.z;
+			((Triangle*)objs[i])->pos2.x=p2.x; ((Triangle*)objs[i])->pos2.y=p1.y; ((Triangle*)objs[i])->pos2.z=p2.z;
+			i++; N++; objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p1.x; ((Triangle*)objs[i])->pos0.y=p1.y; ((Triangle*)objs[i])->pos0.z=p1.z;
+			((Triangle*)objs[i])->pos1.x=p2.x; ((Triangle*)objs[i])->pos1.y=p1.y; ((Triangle*)objs[i])->pos1.z=p2.z;
+			((Triangle*)objs[i])->pos2.x=p1.x; ((Triangle*)objs[i])->pos2.y=p1.y; ((Triangle*)objs[i])->pos2.z=p2.z;
+
+			i++; N++; objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p1.x; ((Triangle*)objs[i])->pos0.y=p1.y; ((Triangle*)objs[i])->pos0.z=p2.z;
+			((Triangle*)objs[i])->pos1.x=p2.x; ((Triangle*)objs[i])->pos1.y=p1.y; ((Triangle*)objs[i])->pos1.z=p2.z;
+			((Triangle*)objs[i])->pos2.x=p2.x; ((Triangle*)objs[i])->pos2.y=p2.y; ((Triangle*)objs[i])->pos2.z=p2.z;
+			i++; N++; objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p1.x; ((Triangle*)objs[i])->pos0.y=p1.y; ((Triangle*)objs[i])->pos0.z=p2.z;
+			((Triangle*)objs[i])->pos1.x=p2.x; ((Triangle*)objs[i])->pos1.y=p2.y; ((Triangle*)objs[i])->pos1.z=p2.z;
+			((Triangle*)objs[i])->pos2.x=p1.x; ((Triangle*)objs[i])->pos2.y=p2.y; ((Triangle*)objs[i])->pos2.z=p2.z;
+
+			i++; N++; objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p2.x; ((Triangle*)objs[i])->pos0.y=p1.y; ((Triangle*)objs[i])->pos0.z=p1.z;
+			((Triangle*)objs[i])->pos1.x=p2.x; ((Triangle*)objs[i])->pos1.y=p2.y; ((Triangle*)objs[i])->pos1.z=p1.z;
+			((Triangle*)objs[i])->pos2.x=p2.x; ((Triangle*)objs[i])->pos2.y=p2.y; ((Triangle*)objs[i])->pos2.z=p2.z;
+			i++; N++; objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p2.x; ((Triangle*)objs[i])->pos0.y=p1.y; ((Triangle*)objs[i])->pos0.z=p1.z;
+			((Triangle*)objs[i])->pos1.x=p2.x; ((Triangle*)objs[i])->pos1.y=p2.y; ((Triangle*)objs[i])->pos1.z=p2.z;
+			((Triangle*)objs[i])->pos2.x=p2.x; ((Triangle*)objs[i])->pos2.y=p1.y; ((Triangle*)objs[i])->pos2.z=p2.z;
+
+			i++; N++; objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p1.x; ((Triangle*)objs[i])->pos0.y=p2.y; ((Triangle*)objs[i])->pos0.z=p1.z;
+			((Triangle*)objs[i])->pos1.x=p2.x; ((Triangle*)objs[i])->pos1.y=p2.y; ((Triangle*)objs[i])->pos1.z=p1.z;
+			((Triangle*)objs[i])->pos2.x=p2.x; ((Triangle*)objs[i])->pos2.y=p2.y; ((Triangle*)objs[i])->pos2.z=p2.z;
+			i++; N++; objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p1.x; ((Triangle*)objs[i])->pos0.y=p2.y; ((Triangle*)objs[i])->pos0.z=p1.z;
+			((Triangle*)objs[i])->pos1.x=p2.x; ((Triangle*)objs[i])->pos1.y=p2.y; ((Triangle*)objs[i])->pos1.z=p2.z;
+			((Triangle*)objs[i])->pos2.x=p1.x; ((Triangle*)objs[i])->pos2.y=p2.y; ((Triangle*)objs[i])->pos2.z=p2.z;
+
+			i++; N++; objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p1.x; ((Triangle*)objs[i])->pos0.y=p1.y; ((Triangle*)objs[i])->pos0.z=p1.z;
+			((Triangle*)objs[i])->pos1.x=p2.x; ((Triangle*)objs[i])->pos1.y=p1.y; ((Triangle*)objs[i])->pos1.z=p1.z;
+			((Triangle*)objs[i])->pos2.x=p2.x; ((Triangle*)objs[i])->pos2.y=p2.y; ((Triangle*)objs[i])->pos2.z=p1.z;
+			i++; N++; objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p1.x; ((Triangle*)objs[i])->pos0.y=p1.y; ((Triangle*)objs[i])->pos0.z=p1.z;
+			((Triangle*)objs[i])->pos1.x=p2.x; ((Triangle*)objs[i])->pos1.y=p2.y; ((Triangle*)objs[i])->pos1.z=p1.z;
+			((Triangle*)objs[i])->pos2.x=p1.x; ((Triangle*)objs[i])->pos2.y=p2.y; ((Triangle*)objs[i])->pos2.z=p1.z;
+
+			i++; N++; objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p1.x; ((Triangle*)objs[i])->pos0.y=p1.y; ((Triangle*)objs[i])->pos0.z=p1.z;
+			((Triangle*)objs[i])->pos1.x=p1.x; ((Triangle*)objs[i])->pos1.y=p2.y; ((Triangle*)objs[i])->pos1.z=p1.z;
+			((Triangle*)objs[i])->pos2.x=p1.x; ((Triangle*)objs[i])->pos2.y=p2.y; ((Triangle*)objs[i])->pos2.z=p2.z;
+			i++; N++; objs.push_back(new Triangle);
+			((Triangle*)objs[i])->pos0.x=p1.x; ((Triangle*)objs[i])->pos0.y=p1.y; ((Triangle*)objs[i])->pos0.z=p1.z;
+			((Triangle*)objs[i])->pos1.x=p1.x; ((Triangle*)objs[i])->pos1.y=p2.y; ((Triangle*)objs[i])->pos1.z=p2.z;
+			((Triangle*)objs[i])->pos2.x=p1.x; ((Triangle*)objs[i])->pos2.y=p1.y; ((Triangle*)objs[i])->pos2.z=p2.z;
+			//((Triangle*)objs[i])->printName();
+			N++;
+		} else if(type=="plane"){
+			objs.push_back(new Plane);
+			in>>((Plane*)objs[i])->pos.x>>((Plane*)objs[i])->pos.y>>((Plane*)objs[i])->pos.z
+			  >>((Plane*)objs[i])->normal.x>>((Plane*)objs[i])->normal.y>>((Plane*)objs[i])->normal.z;
+			((Plane*)objs[i])->normal.normalise();
+			N++;
+		} else {
+			cout<<"Unknown object type '"<<type<<"'!"<<endl;
+			return 1;
+		}
+	}
+	cout<<"Read objects: "<<N<<" objects"<<endl;
+
+	string fnamebase;
+	if(strrchr(argv[1],'/')==NULL)fnamebase=argv[1];
+	else fnamebase=strrchr(argv[1],'/');
+	vector<uint8_t> image;
+	image.resize(4*SCREEN_WIDTH*SCREEN_HEIGHT);
+	int error;
+#if 0
+	char fname[fnamebase.length()+8];
+	cout<<"Rendered frames: "<<endl;
+	for(i=0;i<36;i++){
+		makeimage(image,camera,objs,N);
+		cout<<i<<' '<<flush;
+		snprintf(fname,sizeof(fname),"%s%02d.png",fnamebase.c_str(),i);
+		error=lodepng::encode(fname,image,SCREEN_WIDTH,SCREEN_HEIGHT);
+		if(error){
+			cout<<"Lodepng encoder error "<<error<<": "<<lodepng_error_text(error)<<endl;
+			return 1;
+		}
+		//camera.lookat=(camera.lookat-camera.pos).rotated(M_PI/9,0)+camera.pos;
+		camera.pos=camera.pos.rotatedZ(M_PI/18);
+	}
+	cout<<endl<<"Written images"<<endl;
+#else
+	fnamebase+=".png";
+	//camera.pos=camera.pos.rotatedZ(M_PI/2);
+	makeimage(image,camera,objs,N);
+	cout<<"Rendered objects"<<endl;
+	error=lodepng::encode(fnamebase.c_str(),image,SCREEN_WIDTH,SCREEN_HEIGHT);
+	if(error){
+		cout<<"Lodepng encoder error "<<error<<": "<<lodepng_error_text(error)<<endl;
+		return 1;
+	}
+	cout<<"Written image"<<endl;
+#endif
+	return 0;
+}
diff --git a/room.rtsc b/room.rtsc
new file mode 100644
index 0000000..ba6bd32
--- /dev/null
+++ b/room.rtsc
@@ -0,0 +1,12 @@
+5 -20 0  -4 0 0  0
+0 -20 1  1
+sphere 0 -3 0  1
+plane 10 0 0  -1 0 0
+plane -10 0 0  1 0 0
+plane 0 10 0  0 -1 0
+plane 0 0 10  0 0 -1
+plane 0 0 -5  0 0 1
+
+cuboid -10 4 -5  -9.5 -2 8
+cuboid -9.5 3 1.5  -9.0 2.7 1.3
+sphere -8.8 2.85 1.45  0.3
\ No newline at end of file
diff --git a/room2.rtsc b/room2.rtsc
new file mode 100644
index 0000000..42abe36
--- /dev/null
+++ b/room2.rtsc
@@ -0,0 +1,12 @@
+8 -2 0  -4 0 0  0
+0 -20 1  1
+sphere 0 -3 0  1
+plane 10 0 0  -1 0 0
+plane -10 0 0  1 0 0
+plane 0 10 0  0 -1 0
+plane 0 0 10  0 0 -1
+plane 0 0 -5  0 0 1
+
+cuboid -10 4 -5  -9.5 -2 8
+cuboid -9.5 3 1.5  -9.0 2.7 1.3
+sphere -8.8 2.85 1.45  0.3
\ No newline at end of file
diff --git a/simple.rtsc b/simple.rtsc
new file mode 100644
index 0000000..16df9d5
--- /dev/null
+++ b/simple.rtsc
@@ -0,0 +1,4 @@
+1 -15 2  0 0 0  0
+-2 -8 6  1
+sphere 0 0 0  1
+sphere 1 10 -3  1.5
\ No newline at end of file
diff --git a/spheres.rtsc b/spheres.rtsc
new file mode 100644
index 0000000..1c8cffe
--- /dev/null
+++ b/spheres.rtsc
@@ -0,0 +1,53 @@
+1 -16 3  0 0 0  0
+-2 -8 6  1
+sphere -6 -6 -1  1
+sphere -4 -6 -1  1
+sphere -2 -6 -1  1
+sphere 0 -6 -1  1
+sphere 2 -6 -1  1
+sphere 4 -6 -1  1
+sphere 6 -6 -1  1
+sphere -6 -4 -1  1
+sphere -4 -4 -1  1
+sphere -2 -4 -1  1
+sphere 0 -4 -1  1
+sphere 2 -4 -1  1
+sphere 4 -4 -1  1
+sphere 6 -4 -1  1
+sphere -6 -2 -1  1
+sphere -4 -2 -1  1
+sphere -2 -2 -1  1
+sphere 0 -2 -1  1
+sphere 2 -2 -1  1
+sphere 4 -2 -1  1
+sphere 6 -2 -1  1
+sphere -6 0 -1  1
+sphere -4 0 -1  1
+sphere -2 0 -1  1
+sphere 0 0 -1  1
+sphere 2 0 -1  1
+sphere 4 0 -1  1
+sphere 6 0 -1  1
+sphere -6 2 -1  1
+sphere -4 2 -1  1
+sphere -2 2 -1  1
+sphere 0 2 -1  1
+sphere 2 2 -1  1
+sphere 4 2 -1  1
+sphere 6 2 -1  1
+sphere -6 4 -1  1
+sphere -4 4 -1  1
+sphere -2 4 -1  1
+sphere 0 4 -1  1
+sphere 2 4 -1  1
+sphere 4 4 -1  1
+sphere 6 4 -1  1
+sphere -6 6 -1  1
+sphere -4 6 -1  1
+sphere -2 6 -1  1
+sphere 0 6 -1  1
+sphere 2 6 -1  1
+sphere 4 6 -1  1
+sphere 6 6 -1  1
+sphere -1 -6 3  1
+plane 0 0 -2  0 0 1
\ No newline at end of file
diff --git a/test.rtsc b/test.rtsc
new file mode 100644
index 0000000..7fc15c1
--- /dev/null
+++ b/test.rtsc
@@ -0,0 +1,3 @@
+0 -20 0  0 0 0  0
+0 -20 1  1
+sphere 0 0 0  1
\ No newline at end of file