diff options
Diffstat (limited to 'libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp')
-rw-r--r-- | libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp | 1944 |
1 files changed, 1944 insertions, 0 deletions
diff --git a/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp b/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp new file mode 100644 index 0000000..3d03020 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp | |||
@@ -0,0 +1,1944 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | #include <ode/ode.h> | ||
24 | #include <drawstuff/drawstuff.h> | ||
25 | |||
26 | #ifdef _MSC_VER | ||
27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
28 | #endif | ||
29 | |||
30 | // select correct drawing functions | ||
31 | |||
32 | #ifdef dDOUBLE | ||
33 | #define dsDrawBox dsDrawBoxD | ||
34 | #define dsDrawSphere dsDrawSphereD | ||
35 | #define dsDrawCylinder dsDrawCylinderD | ||
36 | #define dsDrawCapsule dsDrawCapsuleD | ||
37 | #define dsDrawLine dsDrawLineD | ||
38 | #define dsDrawTriangle dsDrawTriangleD | ||
39 | #endif | ||
40 | |||
41 | |||
42 | // some constants | ||
43 | |||
44 | #define NUM 200 // max number of objects | ||
45 | #define DENSITY (5.0) // density of all objects | ||
46 | #define GPB 3 // maximum number of geometries per body | ||
47 | #define MAX_CONTACTS 64 // maximum number of contact points per body | ||
48 | |||
49 | |||
50 | // dynamics and collision objects | ||
51 | |||
52 | struct MyObject { | ||
53 | dBodyID body; // the body | ||
54 | dGeomID geom[GPB]; // geometries representing this body | ||
55 | |||
56 | // Trimesh only - double buffered matrices for 'last transform' setup | ||
57 | dReal matrix_dblbuff[ 16 * 2 ]; | ||
58 | int last_matrix_index; | ||
59 | }; | ||
60 | |||
61 | static int num=0; // number of objects in simulation | ||
62 | static int nextobj=0; // next object to recycle if num==NUM | ||
63 | static dWorldID world; | ||
64 | static dSpaceID space; | ||
65 | static MyObject obj[NUM]; | ||
66 | static dJointGroupID contactgroup; | ||
67 | static int selected = -1; // selected object | ||
68 | static int show_aabb = 0; // show geom AABBs? | ||
69 | static int show_contacts = 0; // show contact points? | ||
70 | static int random_pos = 1; // drop objects from random position? | ||
71 | |||
72 | // Bunny mesh ripped from Opcode | ||
73 | const int VertexCount = 453; | ||
74 | const int IndexCount = 902 * 3; | ||
75 | |||
76 | typedef dReal dVector3R[3]; | ||
77 | |||
78 | dGeomID TriMesh1; | ||
79 | dGeomID TriMesh2; | ||
80 | static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data | ||
81 | |||
82 | float Vertices[VertexCount * 3] = { | ||
83 | REAL(-0.334392), REAL(0.133007), REAL(0.062259), | ||
84 | REAL(-0.350189), REAL(0.150354), REAL(-0.147769), | ||
85 | REAL(-0.234201), REAL(0.343811), REAL(-0.174307), | ||
86 | REAL(-0.200259), REAL(0.285207), REAL(0.093749), | ||
87 | REAL(0.003520), REAL(0.475208), REAL(-0.159365), | ||
88 | REAL(0.001856), REAL(0.419203), REAL(0.098582), | ||
89 | REAL(-0.252802), REAL(0.093666), REAL(0.237538), | ||
90 | REAL(-0.162901), REAL(0.237984), REAL(0.206905), | ||
91 | REAL(0.000865), REAL(0.318141), REAL(0.235370), | ||
92 | REAL(-0.414624), REAL(0.164083), REAL(-0.278254), | ||
93 | REAL(-0.262213), REAL(0.357334), REAL(-0.293246), | ||
94 | REAL(0.004628), REAL(0.482694), REAL(-0.338626), | ||
95 | REAL(-0.402162), REAL(0.133528), REAL(-0.443247), | ||
96 | REAL(-0.243781), REAL(0.324275), REAL(-0.436763), | ||
97 | REAL(0.005293), REAL(0.437592), REAL(-0.458332), | ||
98 | REAL(-0.339884), REAL(-0.041150), REAL(-0.668211), | ||
99 | REAL(-0.248382), REAL(0.255825), REAL(-0.627493), | ||
100 | REAL(0.006261), REAL(0.376103), REAL(-0.631506), | ||
101 | REAL(-0.216201), REAL(-0.126776), REAL(-0.886936), | ||
102 | REAL(-0.171075), REAL(0.011544), REAL(-0.881386), | ||
103 | REAL(-0.181074), REAL(0.098223), REAL(-0.814779), | ||
104 | REAL(-0.119891), REAL(0.218786), REAL(-0.760153), | ||
105 | REAL(-0.078895), REAL(0.276780), REAL(-0.739281), | ||
106 | REAL(0.006801), REAL(0.310959), REAL(-0.735661), | ||
107 | REAL(-0.168842), REAL(0.102387), REAL(-0.920381), | ||
108 | REAL(-0.104072), REAL(0.177278), REAL(-0.952530), | ||
109 | REAL(-0.129704), REAL(0.211848), REAL(-0.836678), | ||
110 | REAL(-0.099875), REAL(0.310931), REAL(-0.799381), | ||
111 | REAL(0.007237), REAL(0.361687), REAL(-0.794439), | ||
112 | REAL(-0.077913), REAL(0.258753), REAL(-0.921640), | ||
113 | REAL(0.007957), REAL(0.282241), REAL(-0.931680), | ||
114 | REAL(-0.252222), REAL(-0.550401), REAL(-0.557810), | ||
115 | REAL(-0.267633), REAL(-0.603419), REAL(-0.655209), | ||
116 | REAL(-0.446838), REAL(-0.118517), REAL(-0.466159), | ||
117 | REAL(-0.459488), REAL(-0.093017), REAL(-0.311341), | ||
118 | REAL(-0.370645), REAL(-0.100108), REAL(-0.159454), | ||
119 | REAL(-0.371984), REAL(-0.091991), REAL(-0.011044), | ||
120 | REAL(-0.328945), REAL(-0.098269), REAL(0.088659), | ||
121 | REAL(-0.282452), REAL(-0.018862), REAL(0.311501), | ||
122 | REAL(-0.352403), REAL(-0.131341), REAL(0.144902), | ||
123 | REAL(-0.364126), REAL(-0.200299), REAL(0.202388), | ||
124 | REAL(-0.283965), REAL(-0.231869), REAL(0.023668), | ||
125 | REAL(-0.298943), REAL(-0.155218), REAL(0.369716), | ||
126 | REAL(-0.293787), REAL(-0.121856), REAL(0.419097), | ||
127 | REAL(-0.290163), REAL(-0.290797), REAL(0.107824), | ||
128 | REAL(-0.264165), REAL(-0.272849), REAL(0.036347), | ||
129 | REAL(-0.228567), REAL(-0.372573), REAL(0.290309), | ||
130 | REAL(-0.190431), REAL(-0.286997), REAL(0.421917), | ||
131 | REAL(-0.191039), REAL(-0.240973), REAL(0.507118), | ||
132 | REAL(-0.287272), REAL(-0.276431), REAL(-0.065444), | ||
133 | REAL(-0.295675), REAL(-0.280818), REAL(-0.174200), | ||
134 | REAL(-0.399537), REAL(-0.313131), REAL(-0.376167), | ||
135 | REAL(-0.392666), REAL(-0.488581), REAL(-0.427494), | ||
136 | REAL(-0.331669), REAL(-0.570185), REAL(-0.466054), | ||
137 | REAL(-0.282290), REAL(-0.618140), REAL(-0.589220), | ||
138 | REAL(-0.374238), REAL(-0.594882), REAL(-0.323298), | ||
139 | REAL(-0.381071), REAL(-0.629723), REAL(-0.350777), | ||
140 | REAL(-0.382112), REAL(-0.624060), REAL(-0.221577), | ||
141 | REAL(-0.272701), REAL(-0.566522), REAL(0.259157), | ||
142 | REAL(-0.256702), REAL(-0.663406), REAL(0.286079), | ||
143 | REAL(-0.280948), REAL(-0.428359), REAL(0.055790), | ||
144 | REAL(-0.184974), REAL(-0.508894), REAL(0.326265), | ||
145 | REAL(-0.279971), REAL(-0.526918), REAL(0.395319), | ||
146 | REAL(-0.282599), REAL(-0.663393), REAL(0.412411), | ||
147 | REAL(-0.188329), REAL(-0.475093), REAL(0.417954), | ||
148 | REAL(-0.263384), REAL(-0.663396), REAL(0.466604), | ||
149 | REAL(-0.209063), REAL(-0.663393), REAL(0.509344), | ||
150 | REAL(-0.002044), REAL(-0.319624), REAL(0.553078), | ||
151 | REAL(-0.001266), REAL(-0.371260), REAL(0.413296), | ||
152 | REAL(-0.219753), REAL(-0.339762), REAL(-0.040921), | ||
153 | REAL(-0.256986), REAL(-0.282511), REAL(-0.006349), | ||
154 | REAL(-0.271706), REAL(-0.260881), REAL(0.001764), | ||
155 | REAL(-0.091191), REAL(-0.419184), REAL(-0.045912), | ||
156 | REAL(-0.114944), REAL(-0.429752), REAL(-0.124739), | ||
157 | REAL(-0.113970), REAL(-0.382987), REAL(-0.188540), | ||
158 | REAL(-0.243012), REAL(-0.464942), REAL(-0.242850), | ||
159 | REAL(-0.314815), REAL(-0.505402), REAL(-0.324768), | ||
160 | REAL(0.002774), REAL(-0.437526), REAL(-0.262766), | ||
161 | REAL(-0.072625), REAL(-0.417748), REAL(-0.221440), | ||
162 | REAL(-0.160112), REAL(-0.476932), REAL(-0.293450), | ||
163 | REAL(0.003859), REAL(-0.453425), REAL(-0.443916), | ||
164 | REAL(-0.120363), REAL(-0.581567), REAL(-0.438689), | ||
165 | REAL(-0.091499), REAL(-0.584191), REAL(-0.294511), | ||
166 | REAL(-0.116469), REAL(-0.599861), REAL(-0.188308), | ||
167 | REAL(-0.208032), REAL(-0.513640), REAL(-0.134649), | ||
168 | REAL(-0.235749), REAL(-0.610017), REAL(-0.040939), | ||
169 | REAL(-0.344916), REAL(-0.622487), REAL(-0.085380), | ||
170 | REAL(-0.336401), REAL(-0.531864), REAL(-0.212298), | ||
171 | REAL(0.001961), REAL(-0.459550), REAL(-0.135547), | ||
172 | REAL(-0.058296), REAL(-0.430536), REAL(-0.043440), | ||
173 | REAL(0.001378), REAL(-0.449511), REAL(-0.037762), | ||
174 | REAL(-0.130135), REAL(-0.510222), REAL(0.079144), | ||
175 | REAL(0.000142), REAL(-0.477549), REAL(0.157064), | ||
176 | REAL(-0.114284), REAL(-0.453206), REAL(0.304397), | ||
177 | REAL(-0.000592), REAL(-0.443558), REAL(0.285401), | ||
178 | REAL(-0.056215), REAL(-0.663402), REAL(0.326073), | ||
179 | REAL(-0.026248), REAL(-0.568010), REAL(0.273318), | ||
180 | REAL(-0.049261), REAL(-0.531064), REAL(0.389854), | ||
181 | REAL(-0.127096), REAL(-0.663398), REAL(0.479316), | ||
182 | REAL(-0.058384), REAL(-0.663401), REAL(0.372891), | ||
183 | REAL(-0.303961), REAL(0.054199), REAL(0.625921), | ||
184 | REAL(-0.268594), REAL(0.193403), REAL(0.502766), | ||
185 | REAL(-0.277159), REAL(0.126123), REAL(0.443289), | ||
186 | REAL(-0.287605), REAL(-0.005722), REAL(0.531844), | ||
187 | REAL(-0.231396), REAL(-0.121289), REAL(0.587387), | ||
188 | REAL(-0.253475), REAL(-0.081797), REAL(0.756541), | ||
189 | REAL(-0.195164), REAL(-0.137969), REAL(0.728011), | ||
190 | REAL(-0.167673), REAL(-0.156573), REAL(0.609388), | ||
191 | REAL(-0.145917), REAL(-0.169029), REAL(0.697600), | ||
192 | REAL(-0.077776), REAL(-0.214247), REAL(0.622586), | ||
193 | REAL(-0.076873), REAL(-0.214971), REAL(0.696301), | ||
194 | REAL(-0.002341), REAL(-0.233135), REAL(0.622859), | ||
195 | REAL(-0.002730), REAL(-0.213526), REAL(0.691267), | ||
196 | REAL(-0.003136), REAL(-0.192628), REAL(0.762731), | ||
197 | REAL(-0.056136), REAL(-0.201222), REAL(0.763806), | ||
198 | REAL(-0.114589), REAL(-0.166192), REAL(0.770723), | ||
199 | REAL(-0.155145), REAL(-0.129632), REAL(0.791738), | ||
200 | REAL(-0.183611), REAL(-0.058705), REAL(0.847012), | ||
201 | REAL(-0.165562), REAL(0.001980), REAL(0.833386), | ||
202 | REAL(-0.220084), REAL(0.019914), REAL(0.768935), | ||
203 | REAL(-0.255730), REAL(0.090306), REAL(0.670782), | ||
204 | REAL(-0.255594), REAL(0.113833), REAL(0.663389), | ||
205 | REAL(-0.226380), REAL(0.212655), REAL(0.617740), | ||
206 | REAL(-0.003367), REAL(-0.195342), REAL(0.799680), | ||
207 | REAL(-0.029743), REAL(-0.210508), REAL(0.827180), | ||
208 | REAL(-0.003818), REAL(-0.194783), REAL(0.873636), | ||
209 | REAL(-0.004116), REAL(-0.157907), REAL(0.931268), | ||
210 | REAL(-0.031280), REAL(-0.184555), REAL(0.889476), | ||
211 | REAL(-0.059885), REAL(-0.184448), REAL(0.841330), | ||
212 | REAL(-0.135333), REAL(-0.164332), REAL(0.878200), | ||
213 | REAL(-0.085574), REAL(-0.170948), REAL(0.925547), | ||
214 | REAL(-0.163833), REAL(-0.094170), REAL(0.897114), | ||
215 | REAL(-0.138444), REAL(-0.104250), REAL(0.945975), | ||
216 | REAL(-0.083497), REAL(-0.084934), REAL(0.979607), | ||
217 | REAL(-0.004433), REAL(-0.146642), REAL(0.985872), | ||
218 | REAL(-0.150715), REAL(0.032650), REAL(0.884111), | ||
219 | REAL(-0.135892), REAL(-0.035520), REAL(0.945455), | ||
220 | REAL(-0.070612), REAL(0.036849), REAL(0.975733), | ||
221 | REAL(-0.004458), REAL(-0.042526), REAL(1.015670), | ||
222 | REAL(-0.004249), REAL(0.046042), REAL(1.003240), | ||
223 | REAL(-0.086969), REAL(0.133224), REAL(0.947633), | ||
224 | REAL(-0.003873), REAL(0.161605), REAL(0.970499), | ||
225 | REAL(-0.125544), REAL(0.140012), REAL(0.917678), | ||
226 | REAL(-0.125651), REAL(0.250246), REAL(0.857602), | ||
227 | REAL(-0.003127), REAL(0.284070), REAL(0.878870), | ||
228 | REAL(-0.159174), REAL(0.125726), REAL(0.888878), | ||
229 | REAL(-0.183807), REAL(0.196970), REAL(0.844480), | ||
230 | REAL(-0.159890), REAL(0.291736), REAL(0.732480), | ||
231 | REAL(-0.199495), REAL(0.207230), REAL(0.779864), | ||
232 | REAL(-0.206182), REAL(0.164608), REAL(0.693257), | ||
233 | REAL(-0.186315), REAL(0.160689), REAL(0.817193), | ||
234 | REAL(-0.192827), REAL(0.166706), REAL(0.782271), | ||
235 | REAL(-0.175112), REAL(0.110008), REAL(0.860621), | ||
236 | REAL(-0.161022), REAL(0.057420), REAL(0.855111), | ||
237 | REAL(-0.172319), REAL(0.036155), REAL(0.816189), | ||
238 | REAL(-0.190318), REAL(0.064083), REAL(0.760605), | ||
239 | REAL(-0.195072), REAL(0.129179), REAL(0.731104), | ||
240 | REAL(-0.203126), REAL(0.410287), REAL(0.680536), | ||
241 | REAL(-0.216677), REAL(0.309274), REAL(0.642272), | ||
242 | REAL(-0.241515), REAL(0.311485), REAL(0.587832), | ||
243 | REAL(-0.002209), REAL(0.366663), REAL(0.749413), | ||
244 | REAL(-0.088230), REAL(0.396265), REAL(0.678635), | ||
245 | REAL(-0.170147), REAL(0.109517), REAL(0.840784), | ||
246 | REAL(-0.160521), REAL(0.067766), REAL(0.830650), | ||
247 | REAL(-0.181546), REAL(0.139805), REAL(0.812146), | ||
248 | REAL(-0.180495), REAL(0.148568), REAL(0.776087), | ||
249 | REAL(-0.180255), REAL(0.129125), REAL(0.744192), | ||
250 | REAL(-0.186298), REAL(0.078308), REAL(0.769352), | ||
251 | REAL(-0.167622), REAL(0.060539), REAL(0.806675), | ||
252 | REAL(-0.189876), REAL(0.102760), REAL(0.802582), | ||
253 | REAL(-0.108340), REAL(0.455446), REAL(0.657174), | ||
254 | REAL(-0.241585), REAL(0.527592), REAL(0.669296), | ||
255 | REAL(-0.265676), REAL(0.513366), REAL(0.634594), | ||
256 | REAL(-0.203073), REAL(0.478550), REAL(0.581526), | ||
257 | REAL(-0.266772), REAL(0.642330), REAL(0.602061), | ||
258 | REAL(-0.216961), REAL(0.564846), REAL(0.535435), | ||
259 | REAL(-0.202210), REAL(0.525495), REAL(0.475944), | ||
260 | REAL(-0.193888), REAL(0.467925), REAL(0.520606), | ||
261 | REAL(-0.265837), REAL(0.757267), REAL(0.500933), | ||
262 | REAL(-0.240306), REAL(0.653440), REAL(0.463215), | ||
263 | REAL(-0.309239), REAL(0.776868), REAL(0.304726), | ||
264 | REAL(-0.271009), REAL(0.683094), REAL(0.382018), | ||
265 | REAL(-0.312111), REAL(0.671099), REAL(0.286687), | ||
266 | REAL(-0.268791), REAL(0.624342), REAL(0.377231), | ||
267 | REAL(-0.302457), REAL(0.533996), REAL(0.360289), | ||
268 | REAL(-0.263656), REAL(0.529310), REAL(0.412564), | ||
269 | REAL(-0.282311), REAL(0.415167), REAL(0.447666), | ||
270 | REAL(-0.239201), REAL(0.442096), REAL(0.495604), | ||
271 | REAL(-0.220043), REAL(0.569026), REAL(0.445877), | ||
272 | REAL(-0.001263), REAL(0.395631), REAL(0.602029), | ||
273 | REAL(-0.057345), REAL(0.442535), REAL(0.572224), | ||
274 | REAL(-0.088927), REAL(0.506333), REAL(0.529106), | ||
275 | REAL(-0.125738), REAL(0.535076), REAL(0.612913), | ||
276 | REAL(-0.126251), REAL(0.577170), REAL(0.483159), | ||
277 | REAL(-0.149594), REAL(0.611520), REAL(0.557731), | ||
278 | REAL(-0.163188), REAL(0.660791), REAL(0.491080), | ||
279 | REAL(-0.172482), REAL(0.663387), REAL(0.415416), | ||
280 | REAL(-0.160464), REAL(0.591710), REAL(0.370659), | ||
281 | REAL(-0.156445), REAL(0.536396), REAL(0.378302), | ||
282 | REAL(-0.136496), REAL(0.444358), REAL(0.425226), | ||
283 | REAL(-0.095564), REAL(0.373768), REAL(0.473659), | ||
284 | REAL(-0.104146), REAL(0.315912), REAL(0.498104), | ||
285 | REAL(-0.000496), REAL(0.384194), REAL(0.473817), | ||
286 | REAL(-0.000183), REAL(0.297770), REAL(0.401486), | ||
287 | REAL(-0.129042), REAL(0.270145), REAL(0.434495), | ||
288 | REAL(0.000100), REAL(0.272963), REAL(0.349138), | ||
289 | REAL(-0.113060), REAL(0.236984), REAL(0.385554), | ||
290 | REAL(0.007260), REAL(0.016311), REAL(-0.883396), | ||
291 | REAL(0.007865), REAL(0.122104), REAL(-0.956137), | ||
292 | REAL(-0.032842), REAL(0.115282), REAL(-0.953252), | ||
293 | REAL(-0.089115), REAL(0.108449), REAL(-0.950317), | ||
294 | REAL(-0.047440), REAL(0.014729), REAL(-0.882756), | ||
295 | REAL(-0.104458), REAL(0.013137), REAL(-0.882070), | ||
296 | REAL(-0.086439), REAL(-0.584866), REAL(-0.608343), | ||
297 | REAL(-0.115026), REAL(-0.662605), REAL(-0.436732), | ||
298 | REAL(-0.071683), REAL(-0.665372), REAL(-0.606385), | ||
299 | REAL(-0.257884), REAL(-0.665381), REAL(-0.658052), | ||
300 | REAL(-0.272542), REAL(-0.665381), REAL(-0.592063), | ||
301 | REAL(-0.371322), REAL(-0.665382), REAL(-0.353620), | ||
302 | REAL(-0.372362), REAL(-0.665381), REAL(-0.224420), | ||
303 | REAL(-0.335166), REAL(-0.665380), REAL(-0.078623), | ||
304 | REAL(-0.225999), REAL(-0.665375), REAL(-0.038981), | ||
305 | REAL(-0.106719), REAL(-0.665374), REAL(-0.186351), | ||
306 | REAL(-0.081749), REAL(-0.665372), REAL(-0.292554), | ||
307 | REAL(0.006943), REAL(-0.091505), REAL(-0.858354), | ||
308 | REAL(0.006117), REAL(-0.280985), REAL(-0.769967), | ||
309 | REAL(0.004495), REAL(-0.502360), REAL(-0.559799), | ||
310 | REAL(-0.198638), REAL(-0.302135), REAL(-0.845816), | ||
311 | REAL(-0.237395), REAL(-0.542544), REAL(-0.587188), | ||
312 | REAL(-0.270001), REAL(-0.279489), REAL(-0.669861), | ||
313 | REAL(-0.134547), REAL(-0.119852), REAL(-0.959004), | ||
314 | REAL(-0.052088), REAL(-0.122463), REAL(-0.944549), | ||
315 | REAL(-0.124463), REAL(-0.293508), REAL(-0.899566), | ||
316 | REAL(-0.047616), REAL(-0.289643), REAL(-0.879292), | ||
317 | REAL(-0.168595), REAL(-0.529132), REAL(-0.654931), | ||
318 | REAL(-0.099793), REAL(-0.515719), REAL(-0.645873), | ||
319 | REAL(-0.186168), REAL(-0.605282), REAL(-0.724690), | ||
320 | REAL(-0.112970), REAL(-0.583097), REAL(-0.707469), | ||
321 | REAL(-0.108152), REAL(-0.665375), REAL(-0.700408), | ||
322 | REAL(-0.183019), REAL(-0.665378), REAL(-0.717630), | ||
323 | REAL(-0.349529), REAL(-0.334459), REAL(-0.511985), | ||
324 | REAL(-0.141182), REAL(-0.437705), REAL(-0.798194), | ||
325 | REAL(-0.212670), REAL(-0.448725), REAL(-0.737447), | ||
326 | REAL(-0.261111), REAL(-0.414945), REAL(-0.613835), | ||
327 | REAL(-0.077364), REAL(-0.431480), REAL(-0.778113), | ||
328 | REAL(0.005174), REAL(-0.425277), REAL(-0.651592), | ||
329 | REAL(0.089236), REAL(-0.431732), REAL(-0.777093), | ||
330 | REAL(0.271006), REAL(-0.415749), REAL(-0.610577), | ||
331 | REAL(0.223981), REAL(-0.449384), REAL(-0.734774), | ||
332 | REAL(0.153275), REAL(-0.438150), REAL(-0.796391), | ||
333 | REAL(0.358414), REAL(-0.335529), REAL(-0.507649), | ||
334 | REAL(0.193434), REAL(-0.665946), REAL(-0.715325), | ||
335 | REAL(0.118363), REAL(-0.665717), REAL(-0.699021), | ||
336 | REAL(0.123515), REAL(-0.583454), REAL(-0.706020), | ||
337 | REAL(0.196851), REAL(-0.605860), REAL(-0.722345), | ||
338 | REAL(0.109788), REAL(-0.516035), REAL(-0.644590), | ||
339 | REAL(0.178656), REAL(-0.529656), REAL(-0.652804), | ||
340 | REAL(0.061157), REAL(-0.289807), REAL(-0.878626), | ||
341 | REAL(0.138234), REAL(-0.293905), REAL(-0.897958), | ||
342 | REAL(0.066933), REAL(-0.122643), REAL(-0.943820), | ||
343 | REAL(0.149571), REAL(-0.120281), REAL(-0.957264), | ||
344 | REAL(0.280989), REAL(-0.280321), REAL(-0.666487), | ||
345 | REAL(0.246581), REAL(-0.543275), REAL(-0.584224), | ||
346 | REAL(0.211720), REAL(-0.302754), REAL(-0.843303), | ||
347 | REAL(0.086966), REAL(-0.665627), REAL(-0.291520), | ||
348 | REAL(0.110634), REAL(-0.665702), REAL(-0.185021), | ||
349 | REAL(0.228099), REAL(-0.666061), REAL(-0.036201), | ||
350 | REAL(0.337743), REAL(-0.666396), REAL(-0.074503), | ||
351 | REAL(0.376722), REAL(-0.666513), REAL(-0.219833), | ||
352 | REAL(0.377265), REAL(-0.666513), REAL(-0.349036), | ||
353 | REAL(0.281411), REAL(-0.666217), REAL(-0.588670), | ||
354 | REAL(0.267564), REAL(-0.666174), REAL(-0.654834), | ||
355 | REAL(0.080745), REAL(-0.665602), REAL(-0.605452), | ||
356 | REAL(0.122016), REAL(-0.662963), REAL(-0.435280), | ||
357 | REAL(0.095767), REAL(-0.585141), REAL(-0.607228), | ||
358 | REAL(0.118944), REAL(0.012799), REAL(-0.880702), | ||
359 | REAL(0.061944), REAL(0.014564), REAL(-0.882086), | ||
360 | REAL(0.104725), REAL(0.108156), REAL(-0.949130), | ||
361 | REAL(0.048513), REAL(0.115159), REAL(-0.952753), | ||
362 | REAL(0.112696), REAL(0.236643), REAL(0.386937), | ||
363 | REAL(0.128177), REAL(0.269757), REAL(0.436071), | ||
364 | REAL(0.102643), REAL(0.315600), REAL(0.499370), | ||
365 | REAL(0.094535), REAL(0.373481), REAL(0.474824), | ||
366 | REAL(0.136270), REAL(0.443946), REAL(0.426895), | ||
367 | REAL(0.157071), REAL(0.535923), REAL(0.380222), | ||
368 | REAL(0.161350), REAL(0.591224), REAL(0.372630), | ||
369 | REAL(0.173035), REAL(0.662865), REAL(0.417531), | ||
370 | REAL(0.162808), REAL(0.660299), REAL(0.493077), | ||
371 | REAL(0.148250), REAL(0.611070), REAL(0.559555), | ||
372 | REAL(0.125719), REAL(0.576790), REAL(0.484702), | ||
373 | REAL(0.123489), REAL(0.534699), REAL(0.614440), | ||
374 | REAL(0.087621), REAL(0.506066), REAL(0.530188), | ||
375 | REAL(0.055321), REAL(0.442365), REAL(0.572915), | ||
376 | REAL(0.219936), REAL(0.568361), REAL(0.448571), | ||
377 | REAL(0.238099), REAL(0.441375), REAL(0.498528), | ||
378 | REAL(0.281711), REAL(0.414315), REAL(0.451121), | ||
379 | REAL(0.263833), REAL(0.528513), REAL(0.415794), | ||
380 | REAL(0.303284), REAL(0.533081), REAL(0.363998), | ||
381 | REAL(0.269687), REAL(0.623528), REAL(0.380528), | ||
382 | REAL(0.314255), REAL(0.670153), REAL(0.290524), | ||
383 | REAL(0.272023), REAL(0.682273), REAL(0.385343), | ||
384 | REAL(0.311480), REAL(0.775931), REAL(0.308527), | ||
385 | REAL(0.240239), REAL(0.652714), REAL(0.466159), | ||
386 | REAL(0.265619), REAL(0.756464), REAL(0.504187), | ||
387 | REAL(0.192562), REAL(0.467341), REAL(0.522972), | ||
388 | REAL(0.201605), REAL(0.524885), REAL(0.478417), | ||
389 | REAL(0.215743), REAL(0.564193), REAL(0.538084), | ||
390 | REAL(0.264969), REAL(0.641527), REAL(0.605317), | ||
391 | REAL(0.201031), REAL(0.477940), REAL(0.584002), | ||
392 | REAL(0.263086), REAL(0.512567), REAL(0.637832), | ||
393 | REAL(0.238615), REAL(0.526867), REAL(0.672237), | ||
394 | REAL(0.105309), REAL(0.455123), REAL(0.658482), | ||
395 | REAL(0.183993), REAL(0.102195), REAL(0.804872), | ||
396 | REAL(0.161563), REAL(0.060042), REAL(0.808692), | ||
397 | REAL(0.180748), REAL(0.077754), REAL(0.771600), | ||
398 | REAL(0.175168), REAL(0.128588), REAL(0.746368), | ||
399 | REAL(0.175075), REAL(0.148030), REAL(0.778264), | ||
400 | REAL(0.175658), REAL(0.139265), REAL(0.814333), | ||
401 | REAL(0.154191), REAL(0.067291), REAL(0.832578), | ||
402 | REAL(0.163818), REAL(0.109013), REAL(0.842830), | ||
403 | REAL(0.084760), REAL(0.396004), REAL(0.679695), | ||
404 | REAL(0.238888), REAL(0.310760), REAL(0.590775), | ||
405 | REAL(0.213380), REAL(0.308625), REAL(0.644905), | ||
406 | REAL(0.199666), REAL(0.409678), REAL(0.683003), | ||
407 | REAL(0.190143), REAL(0.128597), REAL(0.733463), | ||
408 | REAL(0.184833), REAL(0.063516), REAL(0.762902), | ||
409 | REAL(0.166070), REAL(0.035644), REAL(0.818261), | ||
410 | REAL(0.154361), REAL(0.056943), REAL(0.857042), | ||
411 | REAL(0.168542), REAL(0.109489), REAL(0.862725), | ||
412 | REAL(0.187387), REAL(0.166131), REAL(0.784599), | ||
413 | REAL(0.180428), REAL(0.160135), REAL(0.819438), | ||
414 | REAL(0.201823), REAL(0.163991), REAL(0.695756), | ||
415 | REAL(0.194206), REAL(0.206635), REAL(0.782275), | ||
416 | REAL(0.155438), REAL(0.291260), REAL(0.734412), | ||
417 | REAL(0.177696), REAL(0.196424), REAL(0.846693), | ||
418 | REAL(0.152305), REAL(0.125256), REAL(0.890786), | ||
419 | REAL(0.119546), REAL(0.249876), REAL(0.859104), | ||
420 | REAL(0.118369), REAL(0.139643), REAL(0.919173), | ||
421 | REAL(0.079410), REAL(0.132973), REAL(0.948652), | ||
422 | REAL(0.062419), REAL(0.036648), REAL(0.976547), | ||
423 | REAL(0.127847), REAL(-0.035919), REAL(0.947070), | ||
424 | REAL(0.143624), REAL(0.032206), REAL(0.885913), | ||
425 | REAL(0.074888), REAL(-0.085173), REAL(0.980577), | ||
426 | REAL(0.130184), REAL(-0.104656), REAL(0.947620), | ||
427 | REAL(0.156201), REAL(-0.094653), REAL(0.899074), | ||
428 | REAL(0.077366), REAL(-0.171194), REAL(0.926545), | ||
429 | REAL(0.127722), REAL(-0.164729), REAL(0.879810), | ||
430 | REAL(0.052670), REAL(-0.184618), REAL(0.842019), | ||
431 | REAL(0.023477), REAL(-0.184638), REAL(0.889811), | ||
432 | REAL(0.022626), REAL(-0.210587), REAL(0.827500), | ||
433 | REAL(0.223089), REAL(0.211976), REAL(0.620493), | ||
434 | REAL(0.251444), REAL(0.113067), REAL(0.666494), | ||
435 | REAL(0.251419), REAL(0.089540), REAL(0.673887), | ||
436 | REAL(0.214360), REAL(0.019258), REAL(0.771595), | ||
437 | REAL(0.158999), REAL(0.001490), REAL(0.835374), | ||
438 | REAL(0.176696), REAL(-0.059249), REAL(0.849218), | ||
439 | REAL(0.148696), REAL(-0.130091), REAL(0.793599), | ||
440 | REAL(0.108290), REAL(-0.166528), REAL(0.772088), | ||
441 | REAL(0.049820), REAL(-0.201382), REAL(0.764454), | ||
442 | REAL(0.071341), REAL(-0.215195), REAL(0.697209), | ||
443 | REAL(0.073148), REAL(-0.214475), REAL(0.623510), | ||
444 | REAL(0.140502), REAL(-0.169461), REAL(0.699354), | ||
445 | REAL(0.163374), REAL(-0.157073), REAL(0.611416), | ||
446 | REAL(0.189466), REAL(-0.138550), REAL(0.730366), | ||
447 | REAL(0.247593), REAL(-0.082554), REAL(0.759610), | ||
448 | REAL(0.227468), REAL(-0.121982), REAL(0.590197), | ||
449 | REAL(0.284702), REAL(-0.006586), REAL(0.535347), | ||
450 | REAL(0.275741), REAL(0.125287), REAL(0.446676), | ||
451 | REAL(0.266650), REAL(0.192594), REAL(0.506044), | ||
452 | REAL(0.300086), REAL(0.053287), REAL(0.629620), | ||
453 | REAL(0.055450), REAL(-0.663935), REAL(0.375065), | ||
454 | REAL(0.122854), REAL(-0.664138), REAL(0.482323), | ||
455 | REAL(0.046520), REAL(-0.531571), REAL(0.391918), | ||
456 | REAL(0.024824), REAL(-0.568450), REAL(0.275106), | ||
457 | REAL(0.053855), REAL(-0.663931), REAL(0.328224), | ||
458 | REAL(0.112829), REAL(-0.453549), REAL(0.305788), | ||
459 | REAL(0.131265), REAL(-0.510617), REAL(0.080746), | ||
460 | REAL(0.061174), REAL(-0.430716), REAL(-0.042710), | ||
461 | REAL(0.341019), REAL(-0.532887), REAL(-0.208150), | ||
462 | REAL(0.347705), REAL(-0.623533), REAL(-0.081139), | ||
463 | REAL(0.238040), REAL(-0.610732), REAL(-0.038037), | ||
464 | REAL(0.211764), REAL(-0.514274), REAL(-0.132078), | ||
465 | REAL(0.120605), REAL(-0.600219), REAL(-0.186856), | ||
466 | REAL(0.096985), REAL(-0.584476), REAL(-0.293357), | ||
467 | REAL(0.127621), REAL(-0.581941), REAL(-0.437170), | ||
468 | REAL(0.165902), REAL(-0.477425), REAL(-0.291453), | ||
469 | REAL(0.077720), REAL(-0.417975), REAL(-0.220519), | ||
470 | REAL(0.320892), REAL(-0.506363), REAL(-0.320874), | ||
471 | REAL(0.248214), REAL(-0.465684), REAL(-0.239842), | ||
472 | REAL(0.118764), REAL(-0.383338), REAL(-0.187114), | ||
473 | REAL(0.118816), REAL(-0.430106), REAL(-0.123307), | ||
474 | REAL(0.094131), REAL(-0.419464), REAL(-0.044777), | ||
475 | REAL(0.274526), REAL(-0.261706), REAL(0.005110), | ||
476 | REAL(0.259842), REAL(-0.283292), REAL(-0.003185), | ||
477 | REAL(0.222861), REAL(-0.340431), REAL(-0.038210), | ||
478 | REAL(0.204445), REAL(-0.664380), REAL(0.513353), | ||
479 | REAL(0.259286), REAL(-0.664547), REAL(0.471281), | ||
480 | REAL(0.185402), REAL(-0.476020), REAL(0.421718), | ||
481 | REAL(0.279163), REAL(-0.664604), REAL(0.417328), | ||
482 | REAL(0.277157), REAL(-0.528122), REAL(0.400208), | ||
483 | REAL(0.183069), REAL(-0.509812), REAL(0.329995), | ||
484 | REAL(0.282599), REAL(-0.429210), REAL(0.059242), | ||
485 | REAL(0.254816), REAL(-0.664541), REAL(0.290687), | ||
486 | REAL(0.271436), REAL(-0.567707), REAL(0.263966), | ||
487 | REAL(0.386561), REAL(-0.625221), REAL(-0.216870), | ||
488 | REAL(0.387086), REAL(-0.630883), REAL(-0.346073), | ||
489 | REAL(0.380021), REAL(-0.596021), REAL(-0.318679), | ||
490 | REAL(0.291269), REAL(-0.619007), REAL(-0.585707), | ||
491 | REAL(0.339280), REAL(-0.571198), REAL(-0.461946), | ||
492 | REAL(0.400045), REAL(-0.489778), REAL(-0.422640), | ||
493 | REAL(0.406817), REAL(-0.314349), REAL(-0.371230), | ||
494 | REAL(0.300588), REAL(-0.281718), REAL(-0.170549), | ||
495 | REAL(0.290866), REAL(-0.277304), REAL(-0.061905), | ||
496 | REAL(0.187735), REAL(-0.241545), REAL(0.509437), | ||
497 | REAL(0.188032), REAL(-0.287569), REAL(0.424234), | ||
498 | REAL(0.227520), REAL(-0.373262), REAL(0.293102), | ||
499 | REAL(0.266526), REAL(-0.273650), REAL(0.039597), | ||
500 | REAL(0.291592), REAL(-0.291676), REAL(0.111386), | ||
501 | REAL(0.291914), REAL(-0.122741), REAL(0.422683), | ||
502 | REAL(0.297574), REAL(-0.156119), REAL(0.373368), | ||
503 | REAL(0.286603), REAL(-0.232731), REAL(0.027162), | ||
504 | REAL(0.364663), REAL(-0.201399), REAL(0.206850), | ||
505 | REAL(0.353855), REAL(-0.132408), REAL(0.149228), | ||
506 | REAL(0.282208), REAL(-0.019715), REAL(0.314960), | ||
507 | REAL(0.331187), REAL(-0.099266), REAL(0.092701), | ||
508 | REAL(0.375463), REAL(-0.093120), REAL(-0.006467), | ||
509 | REAL(0.375917), REAL(-0.101236), REAL(-0.154882), | ||
510 | REAL(0.466635), REAL(-0.094416), REAL(-0.305669), | ||
511 | REAL(0.455805), REAL(-0.119881), REAL(-0.460632), | ||
512 | REAL(0.277465), REAL(-0.604242), REAL(-0.651871), | ||
513 | REAL(0.261022), REAL(-0.551176), REAL(-0.554667), | ||
514 | REAL(0.093627), REAL(0.258494), REAL(-0.920589), | ||
515 | REAL(0.114248), REAL(0.310608), REAL(-0.798070), | ||
516 | REAL(0.144232), REAL(0.211434), REAL(-0.835001), | ||
517 | REAL(0.119916), REAL(0.176940), REAL(-0.951159), | ||
518 | REAL(0.184061), REAL(0.101854), REAL(-0.918220), | ||
519 | REAL(0.092431), REAL(0.276521), REAL(-0.738231), | ||
520 | REAL(0.133504), REAL(0.218403), REAL(-0.758602), | ||
521 | REAL(0.194987), REAL(0.097655), REAL(-0.812476), | ||
522 | REAL(0.185542), REAL(0.011005), REAL(-0.879202), | ||
523 | REAL(0.230315), REAL(-0.127450), REAL(-0.884202), | ||
524 | REAL(0.260471), REAL(0.255056), REAL(-0.624378), | ||
525 | REAL(0.351567), REAL(-0.042194), REAL(-0.663976), | ||
526 | REAL(0.253742), REAL(0.323524), REAL(-0.433716), | ||
527 | REAL(0.411612), REAL(0.132299), REAL(-0.438264), | ||
528 | REAL(0.270513), REAL(0.356530), REAL(-0.289984), | ||
529 | REAL(0.422146), REAL(0.162819), REAL(-0.273130), | ||
530 | REAL(0.164724), REAL(0.237490), REAL(0.208912), | ||
531 | REAL(0.253806), REAL(0.092900), REAL(0.240640), | ||
532 | REAL(0.203608), REAL(0.284597), REAL(0.096223), | ||
533 | REAL(0.241006), REAL(0.343093), REAL(-0.171396), | ||
534 | REAL(0.356076), REAL(0.149288), REAL(-0.143443), | ||
535 | REAL(0.337656), REAL(0.131992), REAL(0.066374) | ||
536 | }; | ||
537 | |||
538 | int Indices[IndexCount / 3][3] = { | ||
539 | {126,134,133}, | ||
540 | {342,138,134}, | ||
541 | {133,134,138}, | ||
542 | {126,342,134}, | ||
543 | {312,316,317}, | ||
544 | {169,163,162}, | ||
545 | {312,317,319}, | ||
546 | {312,319,318}, | ||
547 | {169,162,164}, | ||
548 | {169,168,163}, | ||
549 | {312,314,315}, | ||
550 | {169,164,165}, | ||
551 | {169,167,168}, | ||
552 | {312,315,316}, | ||
553 | {312,313,314}, | ||
554 | {169,165,166}, | ||
555 | {169,166,167}, | ||
556 | {312,318,313}, | ||
557 | {308,304,305}, | ||
558 | {308,305,306}, | ||
559 | {179,181,188}, | ||
560 | {177,173,175}, | ||
561 | {177,175,176}, | ||
562 | {302,293,300}, | ||
563 | {322,294,304}, | ||
564 | {188,176,175}, | ||
565 | {188,175,179}, | ||
566 | {158,177,187}, | ||
567 | {305,293,302}, | ||
568 | {305,302,306}, | ||
569 | {322,304,308}, | ||
570 | {188,181,183}, | ||
571 | {158,173,177}, | ||
572 | {293,298,300}, | ||
573 | {304,294,296}, | ||
574 | {304,296,305}, | ||
575 | {185,176,188}, | ||
576 | {185,188,183}, | ||
577 | {187,177,176}, | ||
578 | {187,176,185}, | ||
579 | {305,296,298}, | ||
580 | {305,298,293}, | ||
581 | {436,432, 28}, | ||
582 | {436, 28, 23}, | ||
583 | {434,278,431}, | ||
584 | { 30,208,209}, | ||
585 | { 30,209, 29}, | ||
586 | { 19, 20, 24}, | ||
587 | {208,207,211}, | ||
588 | {208,211,209}, | ||
589 | { 19,210,212}, | ||
590 | {433,434,431}, | ||
591 | {433,431,432}, | ||
592 | {433,432,436}, | ||
593 | {436,437,433}, | ||
594 | {277,275,276}, | ||
595 | {277,276,278}, | ||
596 | {209,210, 25}, | ||
597 | { 21, 26, 24}, | ||
598 | { 21, 24, 20}, | ||
599 | { 25, 26, 27}, | ||
600 | { 25, 27, 29}, | ||
601 | {435,439,277}, | ||
602 | {439,275,277}, | ||
603 | {432,431, 30}, | ||
604 | {432, 30, 28}, | ||
605 | {433,437,438}, | ||
606 | {433,438,435}, | ||
607 | {434,277,278}, | ||
608 | { 24, 25,210}, | ||
609 | { 24, 26, 25}, | ||
610 | { 29, 27, 28}, | ||
611 | { 29, 28, 30}, | ||
612 | { 19, 24,210}, | ||
613 | {208, 30,431}, | ||
614 | {208,431,278}, | ||
615 | {435,434,433}, | ||
616 | {435,277,434}, | ||
617 | { 25, 29,209}, | ||
618 | { 27, 22, 23}, | ||
619 | { 27, 23, 28}, | ||
620 | { 26, 22, 27}, | ||
621 | { 26, 21, 22}, | ||
622 | {212,210,209}, | ||
623 | {212,209,211}, | ||
624 | {207,208,278}, | ||
625 | {207,278,276}, | ||
626 | {439,435,438}, | ||
627 | { 12, 9, 10}, | ||
628 | { 12, 10, 13}, | ||
629 | { 2, 3, 5}, | ||
630 | { 2, 5, 4}, | ||
631 | { 16, 13, 14}, | ||
632 | { 16, 14, 17}, | ||
633 | { 22, 21, 16}, | ||
634 | { 13, 10, 11}, | ||
635 | { 13, 11, 14}, | ||
636 | { 1, 0, 3}, | ||
637 | { 1, 3, 2}, | ||
638 | { 15, 12, 16}, | ||
639 | { 19, 18, 15}, | ||
640 | { 19, 15, 16}, | ||
641 | { 19, 16, 20}, | ||
642 | { 9, 1, 2}, | ||
643 | { 9, 2, 10}, | ||
644 | { 3, 7, 8}, | ||
645 | { 3, 8, 5}, | ||
646 | { 16, 17, 23}, | ||
647 | { 16, 23, 22}, | ||
648 | { 21, 20, 16}, | ||
649 | { 10, 2, 4}, | ||
650 | { 10, 4, 11}, | ||
651 | { 0, 6, 7}, | ||
652 | { 0, 7, 3}, | ||
653 | { 12, 13, 16}, | ||
654 | {451,446,445}, | ||
655 | {451,445,450}, | ||
656 | {442,440,439}, | ||
657 | {442,439,438}, | ||
658 | {442,438,441}, | ||
659 | {421,420,422}, | ||
660 | {412,411,426}, | ||
661 | {412,426,425}, | ||
662 | {408,405,407}, | ||
663 | {413, 67, 68}, | ||
664 | {413, 68,414}, | ||
665 | {391,390,412}, | ||
666 | { 80,384,386}, | ||
667 | {404,406,378}, | ||
668 | {390,391,377}, | ||
669 | {390,377, 88}, | ||
670 | {400,415,375}, | ||
671 | {398,396,395}, | ||
672 | {398,395,371}, | ||
673 | {398,371,370}, | ||
674 | {112,359,358}, | ||
675 | {112,358,113}, | ||
676 | {351,352,369}, | ||
677 | {125,349,348}, | ||
678 | {345,343,342}, | ||
679 | {342,340,339}, | ||
680 | {341,335,337}, | ||
681 | {328,341,327}, | ||
682 | {331,323,333}, | ||
683 | {331,322,323}, | ||
684 | {327,318,319}, | ||
685 | {327,319,328}, | ||
686 | {315,314,324}, | ||
687 | {302,300,301}, | ||
688 | {302,301,303}, | ||
689 | {320,311,292}, | ||
690 | {285,284,289}, | ||
691 | {310,307,288}, | ||
692 | {310,288,290}, | ||
693 | {321,350,281}, | ||
694 | {321,281,282}, | ||
695 | {423,448,367}, | ||
696 | {272,273,384}, | ||
697 | {272,384,274}, | ||
698 | {264,265,382}, | ||
699 | {264,382,383}, | ||
700 | {440,442,261}, | ||
701 | {440,261,263}, | ||
702 | {252,253,254}, | ||
703 | {252,254,251}, | ||
704 | {262,256,249}, | ||
705 | {262,249,248}, | ||
706 | {228,243,242}, | ||
707 | {228, 31,243}, | ||
708 | {213,215,238}, | ||
709 | {213,238,237}, | ||
710 | { 19,212,230}, | ||
711 | {224,225,233}, | ||
712 | {224,233,231}, | ||
713 | {217,218, 56}, | ||
714 | {217, 56, 54}, | ||
715 | {217,216,239}, | ||
716 | {217,239,238}, | ||
717 | {217,238,215}, | ||
718 | {218,217,215}, | ||
719 | {218,215,214}, | ||
720 | { 6,102,206}, | ||
721 | {186,199,200}, | ||
722 | {197,182,180}, | ||
723 | {170,171,157}, | ||
724 | {201,200,189}, | ||
725 | {170,190,191}, | ||
726 | {170,191,192}, | ||
727 | {175,174,178}, | ||
728 | {175,178,179}, | ||
729 | {168,167,155}, | ||
730 | {122,149,158}, | ||
731 | {122,158,159}, | ||
732 | {135,153,154}, | ||
733 | {135,154,118}, | ||
734 | {143,140,141}, | ||
735 | {143,141,144}, | ||
736 | {132,133,136}, | ||
737 | {130,126,133}, | ||
738 | {124,125,127}, | ||
739 | {122,101,100}, | ||
740 | {122,100,121}, | ||
741 | {110,108,107}, | ||
742 | {110,107,109}, | ||
743 | { 98, 99, 97}, | ||
744 | { 98, 97, 64}, | ||
745 | { 98, 64, 66}, | ||
746 | { 87, 55, 57}, | ||
747 | { 83, 82, 79}, | ||
748 | { 83, 79, 84}, | ||
749 | { 78, 74, 50}, | ||
750 | { 49, 71, 41}, | ||
751 | { 49, 41, 37}, | ||
752 | { 49, 37, 36}, | ||
753 | { 58, 44, 60}, | ||
754 | { 60, 59, 58}, | ||
755 | { 51, 34, 33}, | ||
756 | { 39, 40, 42}, | ||
757 | { 39, 42, 38}, | ||
758 | {243,240, 33}, | ||
759 | {243, 33,229}, | ||
760 | { 39, 38, 6}, | ||
761 | { 44, 46, 40}, | ||
762 | { 55, 56, 57}, | ||
763 | { 64, 62, 65}, | ||
764 | { 64, 65, 66}, | ||
765 | { 41, 71, 45}, | ||
766 | { 75, 50, 51}, | ||
767 | { 81, 79, 82}, | ||
768 | { 77, 88, 73}, | ||
769 | { 93, 92, 94}, | ||
770 | { 68, 47, 46}, | ||
771 | { 96, 97, 99}, | ||
772 | { 96, 99, 95}, | ||
773 | {110,109,111}, | ||
774 | {111,112,110}, | ||
775 | {114,113,123}, | ||
776 | {114,123,124}, | ||
777 | {132,131,129}, | ||
778 | {133,137,136}, | ||
779 | {135,142,145}, | ||
780 | {145,152,135}, | ||
781 | {149,147,157}, | ||
782 | {157,158,149}, | ||
783 | {164,150,151}, | ||
784 | {153,163,168}, | ||
785 | {153,168,154}, | ||
786 | {185,183,182}, | ||
787 | {185,182,184}, | ||
788 | {161,189,190}, | ||
789 | {200,199,191}, | ||
790 | {200,191,190}, | ||
791 | {180,178,195}, | ||
792 | {180,195,196}, | ||
793 | {102,101,204}, | ||
794 | {102,204,206}, | ||
795 | { 43, 48,104}, | ||
796 | { 43,104,103}, | ||
797 | {216,217, 54}, | ||
798 | {216, 54, 32}, | ||
799 | {207,224,231}, | ||
800 | {230,212,211}, | ||
801 | {230,211,231}, | ||
802 | {227,232,241}, | ||
803 | {227,241,242}, | ||
804 | {235,234,241}, | ||
805 | {235,241,244}, | ||
806 | {430,248,247}, | ||
807 | {272,274,253}, | ||
808 | {272,253,252}, | ||
809 | {439,260,275}, | ||
810 | {225,224,259}, | ||
811 | {225,259,257}, | ||
812 | {269,270,407}, | ||
813 | {269,407,405}, | ||
814 | {270,269,273}, | ||
815 | {270,273,272}, | ||
816 | {273,269,268}, | ||
817 | {273,268,267}, | ||
818 | {273,267,266}, | ||
819 | {273,266,265}, | ||
820 | {273,265,264}, | ||
821 | {448,279,367}, | ||
822 | {281,350,368}, | ||
823 | {285,286,301}, | ||
824 | {290,323,310}, | ||
825 | {290,311,323}, | ||
826 | {282,281,189}, | ||
827 | {292,311,290}, | ||
828 | {292,290,291}, | ||
829 | {307,306,302}, | ||
830 | {307,302,303}, | ||
831 | {316,315,324}, | ||
832 | {316,324,329}, | ||
833 | {331,351,350}, | ||
834 | {330,334,335}, | ||
835 | {330,335,328}, | ||
836 | {341,337,338}, | ||
837 | {344,355,354}, | ||
838 | {346,345,348}, | ||
839 | {346,348,347}, | ||
840 | {364,369,352}, | ||
841 | {364,352,353}, | ||
842 | {365,363,361}, | ||
843 | {365,361,362}, | ||
844 | {376,401,402}, | ||
845 | {373,372,397}, | ||
846 | {373,397,400}, | ||
847 | {376, 92,377}, | ||
848 | {381,378,387}, | ||
849 | {381,387,385}, | ||
850 | {386, 77, 80}, | ||
851 | {390,389,412}, | ||
852 | {416,417,401}, | ||
853 | {403,417,415}, | ||
854 | {408,429,430}, | ||
855 | {419,423,418}, | ||
856 | {427,428,444}, | ||
857 | {427,444,446}, | ||
858 | {437,436,441}, | ||
859 | {450,445, 11}, | ||
860 | {450, 11, 4}, | ||
861 | {447,449, 5}, | ||
862 | {447, 5, 8}, | ||
863 | {441,438,437}, | ||
864 | {425,426,451}, | ||
865 | {425,451,452}, | ||
866 | {417,421,415}, | ||
867 | {408,407,429}, | ||
868 | {399,403,400}, | ||
869 | {399,400,397}, | ||
870 | {394,393,416}, | ||
871 | {389,411,412}, | ||
872 | {386,383,385}, | ||
873 | {408,387,378}, | ||
874 | {408,378,406}, | ||
875 | {377,391,376}, | ||
876 | { 94,375,415}, | ||
877 | {372,373,374}, | ||
878 | {372,374,370}, | ||
879 | {359,111,360}, | ||
880 | {359,112,111}, | ||
881 | {113,358,349}, | ||
882 | {113,349,123}, | ||
883 | {346,343,345}, | ||
884 | {343,340,342}, | ||
885 | {338,336,144}, | ||
886 | {338,144,141}, | ||
887 | {327,341,354}, | ||
888 | {327,354,326}, | ||
889 | {331,350,321}, | ||
890 | {331,321,322}, | ||
891 | {314,313,326}, | ||
892 | {314,326,325}, | ||
893 | {300,298,299}, | ||
894 | {300,299,301}, | ||
895 | {288,287,289}, | ||
896 | {189,292,282}, | ||
897 | {287,288,303}, | ||
898 | {284,285,297}, | ||
899 | {368,280,281}, | ||
900 | {448,447,279}, | ||
901 | {274,226,255}, | ||
902 | {267,268,404}, | ||
903 | {267,404,379}, | ||
904 | {429,262,430}, | ||
905 | {439,440,260}, | ||
906 | {257,258,249}, | ||
907 | {257,249,246}, | ||
908 | {430,262,248}, | ||
909 | {234,228,242}, | ||
910 | {234,242,241}, | ||
911 | {237,238,239}, | ||
912 | {237,239,236}, | ||
913 | { 15, 18,227}, | ||
914 | { 15,227,229}, | ||
915 | {222,223, 82}, | ||
916 | {222, 82, 83}, | ||
917 | {214,215,213}, | ||
918 | {214,213, 81}, | ||
919 | { 38,102, 6}, | ||
920 | {122,159,200}, | ||
921 | {122,200,201}, | ||
922 | {174,171,192}, | ||
923 | {174,192,194}, | ||
924 | {197,193,198}, | ||
925 | {190,170,161}, | ||
926 | {181,179,178}, | ||
927 | {181,178,180}, | ||
928 | {166,156,155}, | ||
929 | {163,153,152}, | ||
930 | {163,152,162}, | ||
931 | {120,156,149}, | ||
932 | {120,149,121}, | ||
933 | {152,153,135}, | ||
934 | {140,143,142}, | ||
935 | {135,131,132}, | ||
936 | {135,132,136}, | ||
937 | {130,129,128}, | ||
938 | {130,128,127}, | ||
939 | {100,105,119}, | ||
940 | {100,119,120}, | ||
941 | {106,104,107}, | ||
942 | {106,107,108}, | ||
943 | { 91, 95, 59}, | ||
944 | { 93, 94, 68}, | ||
945 | { 91, 89, 92}, | ||
946 | { 76, 53, 55}, | ||
947 | { 76, 55, 87}, | ||
948 | { 81, 78, 79}, | ||
949 | { 74, 73, 49}, | ||
950 | { 69, 60, 45}, | ||
951 | { 58, 62, 64}, | ||
952 | { 58, 64, 61}, | ||
953 | { 53, 31, 32}, | ||
954 | { 32, 54, 53}, | ||
955 | { 42, 43, 38}, | ||
956 | { 35, 36, 0}, | ||
957 | { 35, 0, 1}, | ||
958 | { 34, 35, 1}, | ||
959 | { 34, 1, 9}, | ||
960 | { 44, 40, 41}, | ||
961 | { 44, 41, 45}, | ||
962 | { 33,240, 51}, | ||
963 | { 63, 62, 58}, | ||
964 | { 63, 58, 59}, | ||
965 | { 45, 71, 70}, | ||
966 | { 76, 75, 51}, | ||
967 | { 76, 51, 52}, | ||
968 | { 86, 85, 84}, | ||
969 | { 86, 84, 87}, | ||
970 | { 89, 72, 73}, | ||
971 | { 89, 73, 88}, | ||
972 | { 91, 92, 96}, | ||
973 | { 91, 96, 95}, | ||
974 | { 72, 91, 60}, | ||
975 | { 72, 60, 69}, | ||
976 | {104,106,105}, | ||
977 | {119,105,117}, | ||
978 | {119,117,118}, | ||
979 | {124,127,128}, | ||
980 | {117,116,129}, | ||
981 | {117,129,131}, | ||
982 | {118,117,131}, | ||
983 | {135,140,142}, | ||
984 | {146,150,152}, | ||
985 | {146,152,145}, | ||
986 | {149,122,121}, | ||
987 | {166,165,151}, | ||
988 | {166,151,156}, | ||
989 | {158,172,173}, | ||
990 | {161,160,189}, | ||
991 | {199,198,193}, | ||
992 | {199,193,191}, | ||
993 | {204,201,202}, | ||
994 | {178,174,194}, | ||
995 | {200,159,186}, | ||
996 | {109, 48, 67}, | ||
997 | { 48,107,104}, | ||
998 | {216, 32,236}, | ||
999 | {216,236,239}, | ||
1000 | {223,214, 81}, | ||
1001 | {223, 81, 82}, | ||
1002 | { 33, 12, 15}, | ||
1003 | { 32,228,234}, | ||
1004 | { 32,234,236}, | ||
1005 | {240, 31, 52}, | ||
1006 | {256,255,246}, | ||
1007 | {256,246,249}, | ||
1008 | {258,263,248}, | ||
1009 | {258,248,249}, | ||
1010 | {275,260,259}, | ||
1011 | {275,259,276}, | ||
1012 | {207,276,259}, | ||
1013 | {270,271,429}, | ||
1014 | {270,429,407}, | ||
1015 | {413,418,366}, | ||
1016 | {413,366,365}, | ||
1017 | {368,367,279}, | ||
1018 | {368,279,280}, | ||
1019 | {303,301,286}, | ||
1020 | {303,286,287}, | ||
1021 | {283,282,292}, | ||
1022 | {283,292,291}, | ||
1023 | {320,292,189}, | ||
1024 | {298,296,297}, | ||
1025 | {298,297,299}, | ||
1026 | {318,327,326}, | ||
1027 | {318,326,313}, | ||
1028 | {329,330,317}, | ||
1029 | {336,333,320}, | ||
1030 | {326,354,353}, | ||
1031 | {334,332,333}, | ||
1032 | {334,333,336}, | ||
1033 | {342,339,139}, | ||
1034 | {342,139,138}, | ||
1035 | {345,342,126}, | ||
1036 | {347,357,356}, | ||
1037 | {369,368,351}, | ||
1038 | {363,356,357}, | ||
1039 | {363,357,361}, | ||
1040 | {366,367,368}, | ||
1041 | {366,368,369}, | ||
1042 | {375,373,400}, | ||
1043 | { 92, 90,377}, | ||
1044 | {409,387,408}, | ||
1045 | {386,385,387}, | ||
1046 | {386,387,388}, | ||
1047 | {412,394,391}, | ||
1048 | {396,398,399}, | ||
1049 | {408,406,405}, | ||
1050 | {415,421,419}, | ||
1051 | {415,419,414}, | ||
1052 | {425,452,448}, | ||
1053 | {425,448,424}, | ||
1054 | {444,441,443}, | ||
1055 | {448,452,449}, | ||
1056 | {448,449,447}, | ||
1057 | {446,444,443}, | ||
1058 | {446,443,445}, | ||
1059 | {250,247,261}, | ||
1060 | {250,261,428}, | ||
1061 | {421,422,423}, | ||
1062 | {421,423,419}, | ||
1063 | {427,410,250}, | ||
1064 | {417,403,401}, | ||
1065 | {403,402,401}, | ||
1066 | {420,392,412}, | ||
1067 | {420,412,425}, | ||
1068 | {420,425,424}, | ||
1069 | {386,411,389}, | ||
1070 | {383,382,381}, | ||
1071 | {383,381,385}, | ||
1072 | {378,379,404}, | ||
1073 | {372,371,395}, | ||
1074 | {372,395,397}, | ||
1075 | {371,372,370}, | ||
1076 | {361,359,360}, | ||
1077 | {361,360,362}, | ||
1078 | {368,350,351}, | ||
1079 | {349,347,348}, | ||
1080 | {356,355,344}, | ||
1081 | {356,344,346}, | ||
1082 | {344,341,340}, | ||
1083 | {344,340,343}, | ||
1084 | {338,337,336}, | ||
1085 | {328,335,341}, | ||
1086 | {324,352,351}, | ||
1087 | {324,351,331}, | ||
1088 | {320,144,336}, | ||
1089 | {314,325,324}, | ||
1090 | {322,308,309}, | ||
1091 | {310,309,307}, | ||
1092 | {287,286,289}, | ||
1093 | {203,280,279}, | ||
1094 | {203,279,205}, | ||
1095 | {297,295,283}, | ||
1096 | {297,283,284}, | ||
1097 | {447,205,279}, | ||
1098 | {274,384, 80}, | ||
1099 | {274, 80,226}, | ||
1100 | {266,267,379}, | ||
1101 | {266,379,380}, | ||
1102 | {225,257,246}, | ||
1103 | {225,246,245}, | ||
1104 | {256,254,253}, | ||
1105 | {256,253,255}, | ||
1106 | {430,247,250}, | ||
1107 | {226,235,244}, | ||
1108 | {226,244,245}, | ||
1109 | {232,233,244}, | ||
1110 | {232,244,241}, | ||
1111 | {230, 18, 19}, | ||
1112 | { 32, 31,228}, | ||
1113 | {219,220, 86}, | ||
1114 | {219, 86, 57}, | ||
1115 | {226,213,235}, | ||
1116 | {206, 7, 6}, | ||
1117 | {122,201,101}, | ||
1118 | {201,204,101}, | ||
1119 | {180,196,197}, | ||
1120 | {170,192,171}, | ||
1121 | {200,190,189}, | ||
1122 | {194,193,195}, | ||
1123 | {183,181,180}, | ||
1124 | {183,180,182}, | ||
1125 | {155,154,168}, | ||
1126 | {149,156,151}, | ||
1127 | {149,151,148}, | ||
1128 | {155,156,120}, | ||
1129 | {145,142,143}, | ||
1130 | {145,143,146}, | ||
1131 | {136,137,140}, | ||
1132 | {133,132,130}, | ||
1133 | {128,129,116}, | ||
1134 | {100,120,121}, | ||
1135 | {110,112,113}, | ||
1136 | {110,113,114}, | ||
1137 | { 66, 65, 63}, | ||
1138 | { 66, 63, 99}, | ||
1139 | { 66, 99, 98}, | ||
1140 | { 96, 46, 61}, | ||
1141 | { 89, 88, 90}, | ||
1142 | { 86, 87, 57}, | ||
1143 | { 80, 78, 81}, | ||
1144 | { 72, 69, 49}, | ||
1145 | { 67, 48, 47}, | ||
1146 | { 67, 47, 68}, | ||
1147 | { 56, 55, 53}, | ||
1148 | { 50, 49, 36}, | ||
1149 | { 50, 36, 35}, | ||
1150 | { 40, 39, 41}, | ||
1151 | {242,243,229}, | ||
1152 | {242,229,227}, | ||
1153 | { 6, 37, 39}, | ||
1154 | { 42, 47, 48}, | ||
1155 | { 42, 48, 43}, | ||
1156 | { 61, 46, 44}, | ||
1157 | { 45, 70, 69}, | ||
1158 | { 69, 70, 71}, | ||
1159 | { 69, 71, 49}, | ||
1160 | { 74, 78, 77}, | ||
1161 | { 83, 84, 85}, | ||
1162 | { 73, 74, 77}, | ||
1163 | { 93, 96, 92}, | ||
1164 | { 68, 46, 93}, | ||
1165 | { 95, 99, 63}, | ||
1166 | { 95, 63, 59}, | ||
1167 | {115,108,110}, | ||
1168 | {115,110,114}, | ||
1169 | {125,126,127}, | ||
1170 | {129,130,132}, | ||
1171 | {137,133,138}, | ||
1172 | {137,138,139}, | ||
1173 | {148,146,143}, | ||
1174 | {148,143,147}, | ||
1175 | {119,118,154}, | ||
1176 | {161,147,143}, | ||
1177 | {165,164,151}, | ||
1178 | {158,157,171}, | ||
1179 | {158,171,172}, | ||
1180 | {159,158,187}, | ||
1181 | {159,187,186}, | ||
1182 | {194,192,191}, | ||
1183 | {194,191,193}, | ||
1184 | {189,202,201}, | ||
1185 | {182,197,184}, | ||
1186 | {205, 8, 7}, | ||
1187 | { 48,109,107}, | ||
1188 | {218,219, 57}, | ||
1189 | {218, 57, 56}, | ||
1190 | {207,231,211}, | ||
1191 | {232,230,231}, | ||
1192 | {232,231,233}, | ||
1193 | { 53, 52, 31}, | ||
1194 | {388,411,386}, | ||
1195 | {409,430,250}, | ||
1196 | {262,429,254}, | ||
1197 | {262,254,256}, | ||
1198 | {442,444,428}, | ||
1199 | {273,264,383}, | ||
1200 | {273,383,384}, | ||
1201 | {429,271,251}, | ||
1202 | {429,251,254}, | ||
1203 | {413,365,362}, | ||
1204 | { 67,413,360}, | ||
1205 | {282,283,295}, | ||
1206 | {285,301,299}, | ||
1207 | {202,281,280}, | ||
1208 | {284,283,291}, | ||
1209 | {284,291,289}, | ||
1210 | {320,189,160}, | ||
1211 | {308,306,307}, | ||
1212 | {307,309,308}, | ||
1213 | {319,317,330}, | ||
1214 | {319,330,328}, | ||
1215 | {353,352,324}, | ||
1216 | {332,331,333}, | ||
1217 | {340,341,338}, | ||
1218 | {354,341,344}, | ||
1219 | {349,358,357}, | ||
1220 | {349,357,347}, | ||
1221 | {364,355,356}, | ||
1222 | {364,356,363}, | ||
1223 | {364,365,366}, | ||
1224 | {364,366,369}, | ||
1225 | {374,376,402}, | ||
1226 | {375, 92,373}, | ||
1227 | { 77,389,390}, | ||
1228 | {382,380,381}, | ||
1229 | {389, 77,386}, | ||
1230 | {393,394,412}, | ||
1231 | {393,412,392}, | ||
1232 | {401,394,416}, | ||
1233 | {415,400,403}, | ||
1234 | {411,410,427}, | ||
1235 | {411,427,426}, | ||
1236 | {422,420,424}, | ||
1237 | {247,248,263}, | ||
1238 | {247,263,261}, | ||
1239 | {445,443, 14}, | ||
1240 | {445, 14, 11}, | ||
1241 | {449,450, 4}, | ||
1242 | {449, 4, 5}, | ||
1243 | {443,441, 17}, | ||
1244 | {443, 17, 14}, | ||
1245 | {436, 23, 17}, | ||
1246 | {436, 17,441}, | ||
1247 | {424,448,422}, | ||
1248 | {448,423,422}, | ||
1249 | {414,419,418}, | ||
1250 | {414,418,413}, | ||
1251 | {406,404,405}, | ||
1252 | {399,397,395}, | ||
1253 | {399,395,396}, | ||
1254 | {420,416,392}, | ||
1255 | {388,410,411}, | ||
1256 | {386,384,383}, | ||
1257 | {390, 88, 77}, | ||
1258 | {375, 94, 92}, | ||
1259 | {415,414, 68}, | ||
1260 | {415, 68, 94}, | ||
1261 | {370,374,402}, | ||
1262 | {370,402,398}, | ||
1263 | {361,357,358}, | ||
1264 | {361,358,359}, | ||
1265 | {125,348,126}, | ||
1266 | {346,344,343}, | ||
1267 | {340,338,339}, | ||
1268 | {337,335,334}, | ||
1269 | {337,334,336}, | ||
1270 | {325,353,324}, | ||
1271 | {324,331,332}, | ||
1272 | {324,332,329}, | ||
1273 | {323,322,309}, | ||
1274 | {323,309,310}, | ||
1275 | {294,295,297}, | ||
1276 | {294,297,296}, | ||
1277 | {289,286,285}, | ||
1278 | {202,280,203}, | ||
1279 | {288,307,303}, | ||
1280 | {282,295,321}, | ||
1281 | { 67,360,111}, | ||
1282 | {418,423,367}, | ||
1283 | {418,367,366}, | ||
1284 | {272,252,251}, | ||
1285 | {272,251,271}, | ||
1286 | {272,271,270}, | ||
1287 | {255,253,274}, | ||
1288 | {265,266,380}, | ||
1289 | {265,380,382}, | ||
1290 | {442,428,261}, | ||
1291 | {440,263,258}, | ||
1292 | {440,258,260}, | ||
1293 | {409,250,410}, | ||
1294 | {255,226,245}, | ||
1295 | {255,245,246}, | ||
1296 | { 31,240,243}, | ||
1297 | {236,234,235}, | ||
1298 | {236,235,237}, | ||
1299 | {233,225,245}, | ||
1300 | {233,245,244}, | ||
1301 | {220,221, 85}, | ||
1302 | {220, 85, 86}, | ||
1303 | { 81,213,226}, | ||
1304 | { 81,226, 80}, | ||
1305 | { 7,206,205}, | ||
1306 | {186,184,198}, | ||
1307 | {186,198,199}, | ||
1308 | {204,203,205}, | ||
1309 | {204,205,206}, | ||
1310 | {195,193,196}, | ||
1311 | {171,174,172}, | ||
1312 | {173,174,175}, | ||
1313 | {173,172,174}, | ||
1314 | {155,167,166}, | ||
1315 | {160,161,143}, | ||
1316 | {160,143,144}, | ||
1317 | {119,154,155}, | ||
1318 | {148,151,150}, | ||
1319 | {148,150,146}, | ||
1320 | {140,137,139}, | ||
1321 | {140,139,141}, | ||
1322 | {127,126,130}, | ||
1323 | {114,124,128}, | ||
1324 | {114,128,115}, | ||
1325 | {117,105,106}, | ||
1326 | {117,106,116}, | ||
1327 | {104,105,100}, | ||
1328 | {104,100,103}, | ||
1329 | { 59, 60, 91}, | ||
1330 | { 97, 96, 61}, | ||
1331 | { 97, 61, 64}, | ||
1332 | { 91, 72, 89}, | ||
1333 | { 87, 84, 79}, | ||
1334 | { 87, 79, 76}, | ||
1335 | { 78, 80, 77}, | ||
1336 | { 49, 50, 74}, | ||
1337 | { 60, 44, 45}, | ||
1338 | { 61, 44, 58}, | ||
1339 | { 51, 50, 35}, | ||
1340 | { 51, 35, 34}, | ||
1341 | { 39, 37, 41}, | ||
1342 | { 33, 34, 9}, | ||
1343 | { 33, 9, 12}, | ||
1344 | { 0, 36, 37}, | ||
1345 | { 0, 37, 6}, | ||
1346 | { 40, 46, 47}, | ||
1347 | { 40, 47, 42}, | ||
1348 | { 53, 54, 56}, | ||
1349 | { 65, 62, 63}, | ||
1350 | { 72, 49, 73}, | ||
1351 | { 79, 78, 75}, | ||
1352 | { 79, 75, 76}, | ||
1353 | { 52, 53, 76}, | ||
1354 | { 92, 89, 90}, | ||
1355 | { 96, 93, 46}, | ||
1356 | {102,103,100}, | ||
1357 | {102,100,101}, | ||
1358 | {116,106,108}, | ||
1359 | {116,108,115}, | ||
1360 | {123,125,124}, | ||
1361 | {116,115,128}, | ||
1362 | {118,131,135}, | ||
1363 | {140,135,136}, | ||
1364 | {148,147,149}, | ||
1365 | {120,119,155}, | ||
1366 | {164,162,152}, | ||
1367 | {164,152,150}, | ||
1368 | {157,147,161}, | ||
1369 | {157,161,170}, | ||
1370 | {186,187,185}, | ||
1371 | {186,185,184}, | ||
1372 | {193,197,196}, | ||
1373 | {202,203,204}, | ||
1374 | {194,195,178}, | ||
1375 | {198,184,197}, | ||
1376 | { 67,111,109}, | ||
1377 | { 38, 43,103}, | ||
1378 | { 38,103,102}, | ||
1379 | {214,223,222}, | ||
1380 | {214,222,221}, | ||
1381 | {214,221,220}, | ||
1382 | {214,220,219}, | ||
1383 | {214,219,218}, | ||
1384 | {213,237,235}, | ||
1385 | {221,222, 83}, | ||
1386 | {221, 83, 85}, | ||
1387 | { 15,229, 33}, | ||
1388 | {227, 18,230}, | ||
1389 | {227,230,232}, | ||
1390 | { 52, 51,240}, | ||
1391 | { 75, 78, 50}, | ||
1392 | {408,430,409}, | ||
1393 | {260,258,257}, | ||
1394 | {260,257,259}, | ||
1395 | {224,207,259}, | ||
1396 | {268,269,405}, | ||
1397 | {268,405,404}, | ||
1398 | {413,362,360}, | ||
1399 | {447, 8,205}, | ||
1400 | {299,297,285}, | ||
1401 | {189,281,202}, | ||
1402 | {290,288,289}, | ||
1403 | {290,289,291}, | ||
1404 | {322,321,295}, | ||
1405 | {322,295,294}, | ||
1406 | {333,323,311}, | ||
1407 | {333,311,320}, | ||
1408 | {317,316,329}, | ||
1409 | {320,160,144}, | ||
1410 | {353,325,326}, | ||
1411 | {329,332,334}, | ||
1412 | {329,334,330}, | ||
1413 | {339,338,141}, | ||
1414 | {339,141,139}, | ||
1415 | {348,345,126}, | ||
1416 | {347,356,346}, | ||
1417 | {123,349,125}, | ||
1418 | {364,353,354}, | ||
1419 | {364,354,355}, | ||
1420 | {365,364,363}, | ||
1421 | {376,391,394}, | ||
1422 | {376,394,401}, | ||
1423 | { 92,376,374}, | ||
1424 | { 92,374,373}, | ||
1425 | {377, 90, 88}, | ||
1426 | {380,379,378}, | ||
1427 | {380,378,381}, | ||
1428 | {388,387,409}, | ||
1429 | {388,409,410}, | ||
1430 | {416,393,392}, | ||
1431 | {399,398,402}, | ||
1432 | {399,402,403}, | ||
1433 | {250,428,427}, | ||
1434 | {421,417,416}, | ||
1435 | {421,416,420}, | ||
1436 | {426,427,446}, | ||
1437 | {426,446,451}, | ||
1438 | {444,442,441}, | ||
1439 | {452,451,450}, | ||
1440 | {452,450,449} | ||
1441 | }; | ||
1442 | |||
1443 | |||
1444 | // this is called by dSpaceCollide when two objects in space are | ||
1445 | // potentially colliding. | ||
1446 | |||
1447 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
1448 | { | ||
1449 | int i; | ||
1450 | // if (o1->body && o2->body) return; | ||
1451 | |||
1452 | // exit without doing anything if the two bodies are connected by a joint | ||
1453 | dBodyID b1 = dGeomGetBody(o1); | ||
1454 | dBodyID b2 = dGeomGetBody(o2); | ||
1455 | if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; | ||
1456 | |||
1457 | dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box | ||
1458 | for (i=0; i<MAX_CONTACTS; i++) { | ||
1459 | contact[i].surface.mode = dContactBounce | dContactSoftCFM; | ||
1460 | contact[i].surface.mu = dInfinity; | ||
1461 | contact[i].surface.mu2 = 0; | ||
1462 | contact[i].surface.bounce = 0.1; | ||
1463 | contact[i].surface.bounce_vel = 0.1; | ||
1464 | contact[i].surface.soft_cfm = 0.01; | ||
1465 | } | ||
1466 | if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom, | ||
1467 | sizeof(dContact))) { | ||
1468 | dMatrix3 RI; | ||
1469 | dRSetIdentity (RI); | ||
1470 | const dReal ss[3] = {0.02,0.02,0.02}; | ||
1471 | for (i=0; i<numc; i++) { | ||
1472 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); | ||
1473 | dJointAttach (c,b1,b2); | ||
1474 | if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss); | ||
1475 | } | ||
1476 | } | ||
1477 | } | ||
1478 | |||
1479 | |||
1480 | // start simulation - set viewpoint | ||
1481 | |||
1482 | static void start() | ||
1483 | { | ||
1484 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; | ||
1485 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; | ||
1486 | dsSetViewpoint (xyz,hpr); | ||
1487 | printf ("To drop another object, press:\n"); | ||
1488 | printf (" b for box.\n"); | ||
1489 | printf (" s for sphere.\n"); | ||
1490 | printf (" y for cylinder.\n"); | ||
1491 | printf (" c for capsule.\n"); | ||
1492 | printf (" x for a composite object.\n"); | ||
1493 | printf (" m for a trimesh.\n"); | ||
1494 | printf ("To select an object, press space.\n"); | ||
1495 | printf ("To disable the selected object, press d.\n"); | ||
1496 | printf ("To enable the selected object, press e.\n"); | ||
1497 | printf ("To toggle showing the geom AABBs, press a.\n"); | ||
1498 | printf ("To toggle showing the contact points, press t.\n"); | ||
1499 | printf ("To toggle dropping from random position/orientation, press r.\n"); | ||
1500 | } | ||
1501 | |||
1502 | |||
1503 | char locase (char c) | ||
1504 | { | ||
1505 | if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); | ||
1506 | else return c; | ||
1507 | } | ||
1508 | |||
1509 | |||
1510 | // called when a key pressed | ||
1511 | |||
1512 | static void command (int cmd) | ||
1513 | { | ||
1514 | int i,j,k; | ||
1515 | dReal sides[3]; | ||
1516 | dMass m; | ||
1517 | |||
1518 | cmd = locase (cmd); | ||
1519 | if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' ) { | ||
1520 | if (num < NUM) { | ||
1521 | i = num; | ||
1522 | num++; | ||
1523 | } | ||
1524 | else { | ||
1525 | i = nextobj; | ||
1526 | nextobj++; | ||
1527 | if (nextobj >= num) nextobj = 0; | ||
1528 | |||
1529 | // destroy the body and geoms for slot i | ||
1530 | dBodyDestroy (obj[i].body); | ||
1531 | for (k=0; k < GPB; k++) { | ||
1532 | if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); | ||
1533 | } | ||
1534 | memset (&obj[i],0,sizeof(obj[i])); | ||
1535 | } | ||
1536 | |||
1537 | obj[i].body = dBodyCreate (world); | ||
1538 | for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; | ||
1539 | |||
1540 | dMatrix3 R; | ||
1541 | if (random_pos) { | ||
1542 | dBodySetPosition (obj[i].body, | ||
1543 | dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3); | ||
1544 | dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
1545 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
1546 | } | ||
1547 | else { | ||
1548 | dReal maxheight = 0; | ||
1549 | for (k=0; k<num; k++) { | ||
1550 | const dReal *pos = dBodyGetPosition (obj[k].body); | ||
1551 | if (pos[2] > maxheight) maxheight = pos[2]; | ||
1552 | } | ||
1553 | dBodySetPosition (obj[i].body, 0,0,maxheight+1); | ||
1554 | dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); | ||
1555 | } | ||
1556 | dBodySetRotation (obj[i].body,R); | ||
1557 | dBodySetData (obj[i].body,(void*)(size_t)i); | ||
1558 | |||
1559 | if (cmd == 'b') { | ||
1560 | dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); | ||
1561 | obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); | ||
1562 | } | ||
1563 | else if (cmd == 'c') { | ||
1564 | sides[0] *= 0.5; | ||
1565 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); | ||
1566 | obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); | ||
1567 | } | ||
1568 | else if (cmd == 'y') { | ||
1569 | sides[1] *= 0.5; | ||
1570 | dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); | ||
1571 | obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); | ||
1572 | } | ||
1573 | else if (cmd == 's') { | ||
1574 | sides[0] *= 0.5; | ||
1575 | dMassSetSphere (&m,DENSITY,sides[0]); | ||
1576 | obj[i].geom[0] = dCreateSphere (space,sides[0]); | ||
1577 | } | ||
1578 | else if (cmd == 'm') { | ||
1579 | dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); | ||
1580 | dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int)); | ||
1581 | |||
1582 | obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); | ||
1583 | |||
1584 | // remember the mesh's dTriMeshDataID on its userdata for convenience. | ||
1585 | dGeomSetData(obj[i].geom[0], new_tmdata); | ||
1586 | |||
1587 | dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); | ||
1588 | printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); | ||
1589 | dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); | ||
1590 | dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); | ||
1591 | } | ||
1592 | else if (cmd == 'x') { | ||
1593 | dGeomID g2[GPB]; // encapsulated geometries | ||
1594 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries | ||
1595 | |||
1596 | // start accumulating masses for the encapsulated geometries | ||
1597 | dMass m2; | ||
1598 | dMassSetZero (&m); | ||
1599 | |||
1600 | // set random delta positions | ||
1601 | for (j=0; j<GPB; j++) { | ||
1602 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; | ||
1603 | } | ||
1604 | |||
1605 | for (k=0; k<GPB; k++) { | ||
1606 | obj[i].geom[k] = dCreateGeomTransform (space); | ||
1607 | dGeomTransformSetCleanup (obj[i].geom[k],1); | ||
1608 | if (k==0) { | ||
1609 | dReal radius = dRandReal()*0.25+0.05; | ||
1610 | g2[k] = dCreateSphere (0,radius); | ||
1611 | dMassSetSphere (&m2,DENSITY,radius); | ||
1612 | } | ||
1613 | else if (k==1) { | ||
1614 | g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); | ||
1615 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); | ||
1616 | } | ||
1617 | else { | ||
1618 | dReal radius = dRandReal()*0.1+0.05; | ||
1619 | dReal length = dRandReal()*1.0+0.1; | ||
1620 | g2[k] = dCreateCapsule (0,radius,length); | ||
1621 | dMassSetCapsule (&m2,DENSITY,3,radius,length); | ||
1622 | } | ||
1623 | dGeomTransformSetGeom (obj[i].geom[k],g2[k]); | ||
1624 | |||
1625 | // set the transformation (adjust the mass too) | ||
1626 | dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); | ||
1627 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); | ||
1628 | dMatrix3 Rtx; | ||
1629 | dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
1630 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
1631 | dGeomSetRotation (g2[k],Rtx); | ||
1632 | dMassRotate (&m2,Rtx); | ||
1633 | |||
1634 | // add to the total mass | ||
1635 | dMassAdd (&m,&m2); | ||
1636 | } | ||
1637 | |||
1638 | // move all encapsulated objects so that the center of mass is (0,0,0) | ||
1639 | for (k=0; k<2; k++) { | ||
1640 | dGeomSetPosition (g2[k], | ||
1641 | dpos[k][0]-m.c[0], | ||
1642 | dpos[k][1]-m.c[1], | ||
1643 | dpos[k][2]-m.c[2]); | ||
1644 | } | ||
1645 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); | ||
1646 | } | ||
1647 | |||
1648 | for (k=0; k < GPB; k++) { | ||
1649 | if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); | ||
1650 | } | ||
1651 | |||
1652 | dBodySetMass (obj[i].body,&m); | ||
1653 | } | ||
1654 | |||
1655 | if (cmd == ' ') { | ||
1656 | selected++; | ||
1657 | if (selected >= num) selected = 0; | ||
1658 | if (selected < 0) selected = 0; | ||
1659 | } | ||
1660 | else if (cmd == 'd' && selected >= 0 && selected < num) { | ||
1661 | dBodyDisable (obj[selected].body); | ||
1662 | } | ||
1663 | else if (cmd == 'e' && selected >= 0 && selected < num) { | ||
1664 | dBodyEnable (obj[selected].body); | ||
1665 | } | ||
1666 | else if (cmd == 'a') { | ||
1667 | show_aabb ^= 1; | ||
1668 | } | ||
1669 | else if (cmd == 't') { | ||
1670 | show_contacts ^= 1; | ||
1671 | } | ||
1672 | else if (cmd == 'r') { | ||
1673 | random_pos ^= 1; | ||
1674 | } | ||
1675 | } | ||
1676 | |||
1677 | |||
1678 | // draw a geom | ||
1679 | |||
1680 | void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) | ||
1681 | { | ||
1682 | if (!g) return; | ||
1683 | if (!pos) pos = dGeomGetPosition (g); | ||
1684 | if (!R) R = dGeomGetRotation (g); | ||
1685 | |||
1686 | int type = dGeomGetClass (g); | ||
1687 | if (type == dBoxClass) { | ||
1688 | dVector3 sides; | ||
1689 | dGeomBoxGetLengths (g,sides); | ||
1690 | dsDrawBox (pos,R,sides); | ||
1691 | } | ||
1692 | else if (type == dSphereClass) { | ||
1693 | dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); | ||
1694 | } | ||
1695 | else if (type == dCapsuleClass) { | ||
1696 | dReal radius,length; | ||
1697 | dGeomCapsuleGetParams (g,&radius,&length); | ||
1698 | dsDrawCapsule (pos,R,length,radius); | ||
1699 | } | ||
1700 | else if (type == dCylinderClass) { | ||
1701 | dReal radius,length; | ||
1702 | dGeomCylinderGetParams (g,&radius,&length); | ||
1703 | dsDrawCylinder (pos,R,length,radius); | ||
1704 | } | ||
1705 | |||
1706 | else if (type == dGeomTransformClass) { | ||
1707 | dGeomID g2 = dGeomTransformGetGeom (g); | ||
1708 | const dReal *pos2 = dGeomGetPosition (g2); | ||
1709 | const dReal *R2 = dGeomGetRotation (g2); | ||
1710 | dVector3 actual_pos; | ||
1711 | dMatrix3 actual_R; | ||
1712 | dMULTIPLY0_331 (actual_pos,R,pos2); | ||
1713 | actual_pos[0] += pos[0]; | ||
1714 | actual_pos[1] += pos[1]; | ||
1715 | actual_pos[2] += pos[2]; | ||
1716 | dMULTIPLY0_333 (actual_R,R,R2); | ||
1717 | drawGeom (g2,actual_pos,actual_R,0); | ||
1718 | } | ||
1719 | |||
1720 | if (show_aabb) { | ||
1721 | // draw the bounding box for this geom | ||
1722 | dReal aabb[6]; | ||
1723 | dGeomGetAABB (g,aabb); | ||
1724 | dVector3 bbpos; | ||
1725 | for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); | ||
1726 | dVector3 bbsides; | ||
1727 | for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2]; | ||
1728 | dMatrix3 RI; | ||
1729 | dRSetIdentity (RI); | ||
1730 | dsSetColorAlpha (1,0,0,0.5); | ||
1731 | dsDrawBox (bbpos,RI,bbsides); | ||
1732 | } | ||
1733 | } | ||
1734 | |||
1735 | |||
1736 | // set previous transformation matrix for trimesh | ||
1737 | void setCurrentTransform(dGeomID geom) | ||
1738 | { | ||
1739 | const dReal* Pos = dGeomGetPosition(geom); | ||
1740 | const dReal* Rot = dGeomGetRotation(geom); | ||
1741 | |||
1742 | const dReal Transform[16] = | ||
1743 | { | ||
1744 | Rot[0], Rot[4], Rot[8], 0, | ||
1745 | Rot[1], Rot[5], Rot[9], 0, | ||
1746 | Rot[2], Rot[6], Rot[10], 0, | ||
1747 | Pos[0], Pos[1], Pos[2], 1 | ||
1748 | }; | ||
1749 | |||
1750 | dGeomTriMeshSetLastTransform( geom, *(dMatrix4*)(&Transform) ); | ||
1751 | |||
1752 | } | ||
1753 | |||
1754 | |||
1755 | // simulation loop | ||
1756 | |||
1757 | static void simLoop (int pause) | ||
1758 | { | ||
1759 | dsSetColor (0,0,2); | ||
1760 | dSpaceCollide (space,0,&nearCallback); | ||
1761 | |||
1762 | |||
1763 | #if 0 | ||
1764 | // What is this for??? - Bram | ||
1765 | if (!pause) | ||
1766 | { | ||
1767 | for (int i=0; i<num; i++) | ||
1768 | for (int j=0; j < GPB; j++) | ||
1769 | if (obj[i].geom[j]) | ||
1770 | if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass) | ||
1771 | setCurrentTransform(obj[i].geom[j]); | ||
1772 | |||
1773 | setCurrentTransform(TriMesh1); | ||
1774 | setCurrentTransform(TriMesh2); | ||
1775 | } | ||
1776 | #endif | ||
1777 | |||
1778 | //if (!pause) dWorldStep (world,0.05); | ||
1779 | if (!pause) dWorldStepFast1 (world,0.05, 5); | ||
1780 | |||
1781 | for (int j = 0; j < dSpaceGetNumGeoms(space); j++){ | ||
1782 | dSpaceGetGeom(space, j); | ||
1783 | } | ||
1784 | |||
1785 | // remove all contact joints | ||
1786 | dJointGroupEmpty (contactgroup); | ||
1787 | |||
1788 | dsSetColor (1,1,0); | ||
1789 | dsSetTexture (DS_WOOD); | ||
1790 | for (int i=0; i<num; i++) { | ||
1791 | for (int j=0; j < GPB; j++) { | ||
1792 | if (obj[i].geom[j]) { | ||
1793 | if (i==selected) { | ||
1794 | dsSetColor (0,0.7,1); | ||
1795 | } | ||
1796 | else if (! dBodyIsEnabled (obj[i].body)) { | ||
1797 | dsSetColor (1,0,0); | ||
1798 | } | ||
1799 | else { | ||
1800 | dsSetColor (1,1,0); | ||
1801 | } | ||
1802 | |||
1803 | if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass) { | ||
1804 | int* Indices = (int*)::Indices; | ||
1805 | |||
1806 | // assume all trimeshes are drawn as bunnies | ||
1807 | const dReal* Pos = dGeomGetPosition(obj[i].geom[j]); | ||
1808 | const dReal* Rot = dGeomGetRotation(obj[i].geom[j]); | ||
1809 | |||
1810 | for (int ii = 0; ii < IndexCount / 3; ii++) { | ||
1811 | const dReal v[9] = { // explicit conversion from float to dReal | ||
1812 | Vertices[Indices[ii * 3 + 0] * 3 + 0], | ||
1813 | Vertices[Indices[ii * 3 + 0] * 3 + 1], | ||
1814 | Vertices[Indices[ii * 3 + 0] * 3 + 2], | ||
1815 | Vertices[Indices[ii * 3 + 1] * 3 + 0], | ||
1816 | Vertices[Indices[ii * 3 + 1] * 3 + 1], | ||
1817 | Vertices[Indices[ii * 3 + 1] * 3 + 2], | ||
1818 | Vertices[Indices[ii * 3 + 2] * 3 + 0], | ||
1819 | Vertices[Indices[ii * 3 + 2] * 3 + 1], | ||
1820 | Vertices[Indices[ii * 3 + 2] * 3 + 2] | ||
1821 | }; | ||
1822 | dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1); | ||
1823 | } | ||
1824 | |||
1825 | // tell the tri-tri collider the current transform of the trimesh -- | ||
1826 | // this is fairly important for good results. | ||
1827 | |||
1828 | // Fill in the (4x4) matrix. | ||
1829 | dReal* p_matrix = obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 ); | ||
1830 | |||
1831 | p_matrix[ 0 ] = Rot[ 0 ]; p_matrix[ 1 ] = Rot[ 1 ]; p_matrix[ 2 ] = Rot[ 2 ]; p_matrix[ 3 ] = 0; | ||
1832 | p_matrix[ 4 ] = Rot[ 4 ]; p_matrix[ 5 ] = Rot[ 5 ]; p_matrix[ 6 ] = Rot[ 6 ]; p_matrix[ 7 ] = 0; | ||
1833 | p_matrix[ 8 ] = Rot[ 8 ]; p_matrix[ 9 ] = Rot[ 9 ]; p_matrix[10 ] = Rot[10 ]; p_matrix[11 ] = 0; | ||
1834 | p_matrix[12 ] = Pos[ 0 ]; p_matrix[13 ] = Pos[ 1 ]; p_matrix[14 ] = Pos[ 2 ]; p_matrix[15 ] = 1; | ||
1835 | |||
1836 | // Flip to other matrix. | ||
1837 | obj[i].last_matrix_index = !obj[i].last_matrix_index; | ||
1838 | |||
1839 | dGeomTriMeshSetLastTransform( obj[i].geom[j], | ||
1840 | *(dMatrix4*)( obj[i].matrix_dblbuff + obj[i].last_matrix_index * 16 ) ); | ||
1841 | |||
1842 | } else { | ||
1843 | drawGeom (obj[i].geom[j],0,0,show_aabb); | ||
1844 | } | ||
1845 | } | ||
1846 | } | ||
1847 | } | ||
1848 | |||
1849 | int* Indices = (int*)::Indices; | ||
1850 | |||
1851 | {const dReal* Pos = dGeomGetPosition(TriMesh1); | ||
1852 | const dReal* Rot = dGeomGetRotation(TriMesh1); | ||
1853 | |||
1854 | {for (int i = 0; i < IndexCount / 3; i++){ | ||
1855 | const dReal v[9] = { // explicit conversion from float to dReal | ||
1856 | Vertices[Indices[i * 3 + 0] * 3 + 0], | ||
1857 | Vertices[Indices[i * 3 + 0] * 3 + 1], | ||
1858 | Vertices[Indices[i * 3 + 0] * 3 + 2], | ||
1859 | Vertices[Indices[i * 3 + 1] * 3 + 0], | ||
1860 | Vertices[Indices[i * 3 + 1] * 3 + 1], | ||
1861 | Vertices[Indices[i * 3 + 1] * 3 + 2], | ||
1862 | Vertices[Indices[i * 3 + 2] * 3 + 0], | ||
1863 | Vertices[Indices[i * 3 + 2] * 3 + 1], | ||
1864 | Vertices[Indices[i * 3 + 2] * 3 + 2] | ||
1865 | }; | ||
1866 | dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 0); | ||
1867 | }}} | ||
1868 | |||
1869 | {const dReal* Pos = dGeomGetPosition(TriMesh2); | ||
1870 | const dReal* Rot = dGeomGetRotation(TriMesh2); | ||
1871 | |||
1872 | {for (int i = 0; i < IndexCount / 3; i++){ | ||
1873 | const dReal v[9] = { // explicit conversion from float to dReal | ||
1874 | Vertices[Indices[i * 3 + 0] * 3 + 0], | ||
1875 | Vertices[Indices[i * 3 + 0] * 3 + 1], | ||
1876 | Vertices[Indices[i * 3 + 0] * 3 + 2], | ||
1877 | Vertices[Indices[i * 3 + 1] * 3 + 0], | ||
1878 | Vertices[Indices[i * 3 + 1] * 3 + 1], | ||
1879 | Vertices[Indices[i * 3 + 1] * 3 + 2], | ||
1880 | Vertices[Indices[i * 3 + 2] * 3 + 0], | ||
1881 | Vertices[Indices[i * 3 + 2] * 3 + 1], | ||
1882 | Vertices[Indices[i * 3 + 2] * 3 + 2] | ||
1883 | }; | ||
1884 | dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1); | ||
1885 | }}} | ||
1886 | } | ||
1887 | |||
1888 | |||
1889 | int main (int argc, char **argv) | ||
1890 | { | ||
1891 | // setup pointers to drawstuff callback functions | ||
1892 | dsFunctions fn; | ||
1893 | fn.version = DS_VERSION; | ||
1894 | fn.start = &start; | ||
1895 | fn.step = &simLoop; | ||
1896 | fn.command = &command; | ||
1897 | fn.stop = 0; | ||
1898 | fn.path_to_textures = "../../drawstuff/textures"; | ||
1899 | if(argc==2) | ||
1900 | { | ||
1901 | fn.path_to_textures = argv[1]; | ||
1902 | } | ||
1903 | |||
1904 | // create world | ||
1905 | dInitODE(); | ||
1906 | world = dWorldCreate(); | ||
1907 | |||
1908 | space = dSimpleSpaceCreate(0); | ||
1909 | contactgroup = dJointGroupCreate (0); | ||
1910 | dWorldSetGravity (world,0,0,-0.5); | ||
1911 | dWorldSetCFM (world,1e-5); | ||
1912 | dCreatePlane (space,0,0,1,0); | ||
1913 | memset (obj,0,sizeof(obj)); | ||
1914 | |||
1915 | // note: can't share tridata if intending to trimesh-trimesh collide | ||
1916 | TriData1 = dGeomTriMeshDataCreate(); | ||
1917 | dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int)); | ||
1918 | TriData2 = dGeomTriMeshDataCreate(); | ||
1919 | dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int)); | ||
1920 | |||
1921 | TriMesh1 = dCreateTriMesh(space, TriData1, 0, 0, 0); | ||
1922 | TriMesh2 = dCreateTriMesh(space, TriData2, 0, 0, 0); | ||
1923 | dGeomSetData(TriMesh1, TriData1); | ||
1924 | dGeomSetData(TriMesh2, TriData2); | ||
1925 | |||
1926 | {dGeomSetPosition(TriMesh1, 0, 0, 0.9); | ||
1927 | dMatrix3 Rotation; | ||
1928 | dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2); | ||
1929 | dGeomSetRotation(TriMesh1, Rotation);} | ||
1930 | |||
1931 | {dGeomSetPosition(TriMesh2, 1, 0, 0.9); | ||
1932 | dMatrix3 Rotation; | ||
1933 | dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2); | ||
1934 | dGeomSetRotation(TriMesh2, Rotation);} | ||
1935 | |||
1936 | // run simulation | ||
1937 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
1938 | |||
1939 | dJointGroupDestroy (contactgroup); | ||
1940 | dSpaceDestroy (space); | ||
1941 | dWorldDestroy (world); | ||
1942 | dCloseODE(); | ||
1943 | return 0; | ||
1944 | } | ||