From 79eca25c945a535a7a0325999034bae17da92412 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:15:33 +0000 Subject: resubmitting ode --- libraries/ode-0.9/ode/demo/demo_convex_cd.cpp | 195 ++++++++++++++++++++++++++ 1 file changed, 195 insertions(+) create mode 100644 libraries/ode-0.9/ode/demo/demo_convex_cd.cpp (limited to 'libraries/ode-0.9/ode/demo/demo_convex_cd.cpp') diff --git a/libraries/ode-0.9/ode/demo/demo_convex_cd.cpp b/libraries/ode-0.9/ode/demo/demo_convex_cd.cpp new file mode 100644 index 0000000..e1764f3 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_convex_cd.cpp @@ -0,0 +1,195 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * This library is free software; you can redistribute it and/or * + * modify it under the terms of EITHER: * + * (1) The GNU Lesser General Public License as published by the Free * + * Software Foundation; either version 2.1 of the License, or (at * + * your option) any later version. The text of the GNU Lesser * + * General Public License is included with this library in the * + * file LICENSE.TXT. * + * (2) The BSD-style license that is included with this library in * + * the file LICENSE-BSD.TXT. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * + * LICENSE.TXT and LICENSE-BSD.TXT for more details. * + * * + *************************************************************************/ + +#include +#include +#include +#include +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + + +#ifndef M_PI +#define M_PI (3.14159265358979323846) +#endif + +//<---- Convex Object +dReal planes[]= // planes for a cube + { + 1.0f ,0.0f ,0.0f ,0.25f, + 0.0f ,1.0f ,0.0f ,0.25f, + 0.0f ,0.0f ,1.0f ,0.25f, + -1.0f,0.0f ,0.0f ,0.25f, + 0.0f ,-1.0f,0.0f ,0.25f, + 0.0f ,0.0f ,-1.0f,0.25f + /* + 1.0f ,0.0f ,0.0f ,2.0f, + 0.0f ,1.0f ,0.0f ,1.0f, + 0.0f ,0.0f ,1.0f ,1.0f, + 0.0f ,0.0f ,-1.0f,1.0f, + 0.0f ,-1.0f,0.0f ,1.0f, + -1.0f,0.0f ,0.0f ,0.0f + */ + }; +const unsigned int planecount=6; + +dReal points[]= // points for a cube + { + 0.25f,0.25f,0.25f, // point 0 + -0.25f,0.25f,0.25f, // point 1 + + 0.25f,-0.25f,0.25f, // point 2 + -0.25f,-0.25f,0.25f,// point 3 + + 0.25f,0.25f,-0.25f, // point 4 + -0.25f,0.25f,-0.25f,// point 5 + + 0.25f,-0.25f,-0.25f,// point 6 + -0.25f,-0.25f,-0.25f,// point 7 + }; +const unsigned int pointcount=8; +unsigned int polygons[] = //Polygons for a cube (6 squares) + { + 4,0,2,6,4, // positive X + 4,1,0,4,5, // positive Y + 4,0,1,3,2, // positive Z + 4,3,1,5,7, // negative X + 4,2,3,7,6, // negative Y + 4,5,4,6,7, // negative Z + }; +//----> Convex Object + +#ifdef dDOUBLE +#define dsDrawConvex dsDrawConvexD +#define dsDrawBox dsDrawBoxD +#endif + +dGeomID geoms[2]; +dSpaceID space; +dWorldID world; +dJointGroupID contactgroup; + +void start() +{ + // adjust the starting viewpoint a bit + float xyz[3],hpr[3]; + dsGetViewpoint (xyz,hpr); + hpr[0] += 7; + dsSetViewpoint (xyz,hpr); + geoms[0]=dCreateConvex (space, + planes, + planecount, + points, + pointcount, + polygons); + dGeomSetPosition (geoms[0],0,0,0.25); + geoms[1]=dCreateConvex (space, + planes, + planecount, + points, + pointcount, + polygons); + dGeomSetPosition (geoms[1],0.25,0.25,0.70); + +} + +int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +void simLoop (int pause) +{ + static bool DumpInfo=true; + const dReal ss[3] = {0.02,0.02,0.02}; + dContactGeom contacts[8]; + int contactcount = dCollideConvexConvex(geoms[0],geoms[1],8,contacts,sizeof(dContactGeom)); + //fprintf(stdout,"Contact Count %d\n",contactcount); + const dReal* pos; + const dReal* R; + dsSetTexture (DS_WOOD); + pos = dGeomGetPosition (geoms[0]); + R = dGeomGetRotation (geoms[0]); + dsSetColor (0.6f,0.6f,1); + dsDrawConvex(pos,R,planes, + planecount, + points, + pointcount, + polygons); + pos = dGeomGetPosition (geoms[1]); + R = dGeomGetRotation (geoms[1]); + dsSetColor (0.4f,1,1); + dsDrawConvex(pos,R,planes, + planecount, + points, + pointcount, + polygons); + /*if (show_contacts) */ + dMatrix3 RI; + dRSetIdentity (RI); + dsSetColor (1.0f,0,0); + for(int i=0;i