From 52dadbd4cf618bada9042c3bb2a4bc3803c5f417 Mon Sep 17 00:00:00 2001
From: tomsmeding <hallo@tomsmeding.nl>
Date: Sun, 4 May 2014 11:53:29 +0200
Subject: Initial commit

---
 .gitignore    |   5 +
 README.md     |  11 ++
 Stuff.rtsc    |  31 ++++
 box.rtsc      |  21 +++
 cuboids.rtsc  |  20 +++
 graytrace     | Bin 0 -> 46644 bytes
 graytrace.cpp | 493 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 room.rtsc     |  12 ++
 room2.rtsc    |  12 ++
 simple.rtsc   |   4 +
 spheres.rtsc  |  53 +++++++
 test.rtsc     |   3 +
 12 files changed, 665 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 README.md
 create mode 100644 Stuff.rtsc
 create mode 100644 box.rtsc
 create mode 100644 cuboids.rtsc
 create mode 100755 graytrace
 create mode 100644 graytrace.cpp
 create mode 100644 room.rtsc
 create mode 100644 room2.rtsc
 create mode 100644 simple.rtsc
 create mode 100644 spheres.rtsc
 create mode 100644 test.rtsc

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
Binary files /dev/null and b/graytrace differ
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
-- 
cgit v1.2.3-70-g09d2