From fca74b0bf0a0833f5701e9c0de7b3bc15b2233dd Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:20:07 +0000 Subject: dont ask --- libraries/ode-0.9/ode/demo/demo_heightfield.cpp | 2132 ----------------------- 1 file changed, 2132 deletions(-) delete mode 100644 libraries/ode-0.9/ode/demo/demo_heightfield.cpp (limited to 'libraries/ode-0.9/ode/demo/demo_heightfield.cpp') diff --git a/libraries/ode-0.9/ode/demo/demo_heightfield.cpp b/libraries/ode-0.9/ode/demo/demo_heightfield.cpp deleted file mode 100644 index 83156ab..0000000 --- a/libraries/ode-0.9/ode/demo/demo_heightfield.cpp +++ /dev/null @@ -1,2132 +0,0 @@ -/************************************************************************* - * * - * 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 - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -#define DEGTORAD 0.01745329251994329577f //!< PI / 180.0, convert degrees to radians - - -// Our heightfield geom -dGeomID gheight; - - - -// Heightfield dimensions - -#define HFIELD_WSTEP 15 // Vertex count along edge >= 2 -#define HFIELD_DSTEP 31 - -#define HFIELD_WIDTH REAL( 4.0 ) -#define HFIELD_DEPTH REAL( 8.0 ) - -#define HFIELD_WSAMP ( HFIELD_WIDTH / ( HFIELD_WSTEP-1 ) ) -#define HFIELD_DSAMP ( HFIELD_DEPTH / ( HFIELD_DSTEP-1 ) ) - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#define dsDrawConvex dsDrawConvexD -#define dsDrawTriangle dsDrawTriangleD -#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, - 0.0f ,0.0f ,-1.0f,0.25f, - 0.0f ,-1.0f,0.0f ,0.25f, - -1.0f,0.0f ,0.0f ,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 - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#define dsDrawConvex dsDrawConvexD -#endif - - -// some constants - -#define NUM 100 // max number of objects -#define DENSITY (5.0) // density of all objects -#define GPB 3 // maximum number of geometries per body -#define MAX_CONTACTS 64 // maximum number of contact points per body - - -// dynamics and collision objects - -struct MyObject { - dBodyID body; // the body - dGeomID geom[GPB]; // geometries representing this body - - // Trimesh only - double buffered matrices for 'last transform' setup - dReal matrix_dblbuff[ 16 * 2 ]; - int last_matrix_index; -}; - -static int num=0; // number of objects in simulation -static int nextobj=0; // next object to recycle if num==NUM -static dWorldID world; -static dSpaceID space; -static MyObject obj[NUM]; -static dJointGroupID contactgroup; -static int selected = -1; // selected object -static int show_aabb = 0; // show geom AABBs? -static int show_contacts = 0; // show contact points? -static int random_pos = 1; // drop objects from random position? -static int write_world = 0; - - - - -//============================ - -// Bunny mesh ripped from Opcode -const int VertexCount = 453; -const int IndexCount = 902 * 3; - -typedef dReal dVector3R[3]; - -dGeomID TriMesh1; -dGeomID TriMesh2; -static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data - -static float Vertices[VertexCount * 3] = { - REAL(-0.334392), REAL(0.133007), REAL(0.062259), - REAL(-0.350189), REAL(0.150354), REAL(-0.147769), - REAL(-0.234201), REAL(0.343811), REAL(-0.174307), - REAL(-0.200259), REAL(0.285207), REAL(0.093749), - REAL(0.003520), REAL(0.475208), REAL(-0.159365), - REAL(0.001856), REAL(0.419203), REAL(0.098582), - REAL(-0.252802), REAL(0.093666), REAL(0.237538), - REAL(-0.162901), REAL(0.237984), REAL(0.206905), - REAL(0.000865), REAL(0.318141), REAL(0.235370), - REAL(-0.414624), REAL(0.164083), REAL(-0.278254), - REAL(-0.262213), REAL(0.357334), REAL(-0.293246), - REAL(0.004628), REAL(0.482694), REAL(-0.338626), - REAL(-0.402162), REAL(0.133528), REAL(-0.443247), - REAL(-0.243781), REAL(0.324275), REAL(-0.436763), - REAL(0.005293), REAL(0.437592), REAL(-0.458332), - REAL(-0.339884), REAL(-0.041150), REAL(-0.668211), - REAL(-0.248382), REAL(0.255825), REAL(-0.627493), - REAL(0.006261), REAL(0.376103), REAL(-0.631506), - REAL(-0.216201), REAL(-0.126776), REAL(-0.886936), - REAL(-0.171075), REAL(0.011544), REAL(-0.881386), - REAL(-0.181074), REAL(0.098223), REAL(-0.814779), - REAL(-0.119891), REAL(0.218786), REAL(-0.760153), - REAL(-0.078895), REAL(0.276780), REAL(-0.739281), - REAL(0.006801), REAL(0.310959), REAL(-0.735661), - REAL(-0.168842), REAL(0.102387), REAL(-0.920381), - REAL(-0.104072), REAL(0.177278), REAL(-0.952530), - REAL(-0.129704), REAL(0.211848), REAL(-0.836678), - REAL(-0.099875), REAL(0.310931), REAL(-0.799381), - REAL(0.007237), REAL(0.361687), REAL(-0.794439), - REAL(-0.077913), REAL(0.258753), REAL(-0.921640), - REAL(0.007957), REAL(0.282241), REAL(-0.931680), - REAL(-0.252222), REAL(-0.550401), REAL(-0.557810), - REAL(-0.267633), REAL(-0.603419), REAL(-0.655209), - REAL(-0.446838), REAL(-0.118517), REAL(-0.466159), - REAL(-0.459488), REAL(-0.093017), REAL(-0.311341), - REAL(-0.370645), REAL(-0.100108), REAL(-0.159454), - REAL(-0.371984), REAL(-0.091991), REAL(-0.011044), - REAL(-0.328945), REAL(-0.098269), REAL(0.088659), - REAL(-0.282452), REAL(-0.018862), REAL(0.311501), - REAL(-0.352403), REAL(-0.131341), REAL(0.144902), - REAL(-0.364126), REAL(-0.200299), REAL(0.202388), - REAL(-0.283965), REAL(-0.231869), REAL(0.023668), - REAL(-0.298943), REAL(-0.155218), REAL(0.369716), - REAL(-0.293787), REAL(-0.121856), REAL(0.419097), - REAL(-0.290163), REAL(-0.290797), REAL(0.107824), - REAL(-0.264165), REAL(-0.272849), REAL(0.036347), - REAL(-0.228567), REAL(-0.372573), REAL(0.290309), - REAL(-0.190431), REAL(-0.286997), REAL(0.421917), - REAL(-0.191039), REAL(-0.240973), REAL(0.507118), - REAL(-0.287272), REAL(-0.276431), REAL(-0.065444), - REAL(-0.295675), REAL(-0.280818), REAL(-0.174200), - REAL(-0.399537), REAL(-0.313131), REAL(-0.376167), - REAL(-0.392666), REAL(-0.488581), REAL(-0.427494), - REAL(-0.331669), REAL(-0.570185), REAL(-0.466054), - REAL(-0.282290), REAL(-0.618140), REAL(-0.589220), - REAL(-0.374238), REAL(-0.594882), REAL(-0.323298), - REAL(-0.381071), REAL(-0.629723), REAL(-0.350777), - REAL(-0.382112), REAL(-0.624060), REAL(-0.221577), - REAL(-0.272701), REAL(-0.566522), REAL(0.259157), - REAL(-0.256702), REAL(-0.663406), REAL(0.286079), - REAL(-0.280948), REAL(-0.428359), REAL(0.055790), - REAL(-0.184974), REAL(-0.508894), REAL(0.326265), - REAL(-0.279971), REAL(-0.526918), REAL(0.395319), - REAL(-0.282599), REAL(-0.663393), REAL(0.412411), - REAL(-0.188329), REAL(-0.475093), REAL(0.417954), - REAL(-0.263384), REAL(-0.663396), REAL(0.466604), - REAL(-0.209063), REAL(-0.663393), REAL(0.509344), - REAL(-0.002044), REAL(-0.319624), REAL(0.553078), - REAL(-0.001266), REAL(-0.371260), REAL(0.413296), - REAL(-0.219753), REAL(-0.339762), REAL(-0.040921), - REAL(-0.256986), REAL(-0.282511), REAL(-0.006349), - REAL(-0.271706), REAL(-0.260881), REAL(0.001764), - REAL(-0.091191), REAL(-0.419184), REAL(-0.045912), - REAL(-0.114944), REAL(-0.429752), REAL(-0.124739), - REAL(-0.113970), REAL(-0.382987), REAL(-0.188540), - REAL(-0.243012), REAL(-0.464942), REAL(-0.242850), - REAL(-0.314815), REAL(-0.505402), REAL(-0.324768), - REAL(0.002774), REAL(-0.437526), REAL(-0.262766), - REAL(-0.072625), REAL(-0.417748), REAL(-0.221440), - REAL(-0.160112), REAL(-0.476932), REAL(-0.293450), - REAL(0.003859), REAL(-0.453425), REAL(-0.443916), - REAL(-0.120363), REAL(-0.581567), REAL(-0.438689), - REAL(-0.091499), REAL(-0.584191), REAL(-0.294511), - REAL(-0.116469), REAL(-0.599861), REAL(-0.188308), - REAL(-0.208032), REAL(-0.513640), REAL(-0.134649), - REAL(-0.235749), REAL(-0.610017), REAL(-0.040939), - REAL(-0.344916), REAL(-0.622487), REAL(-0.085380), - REAL(-0.336401), REAL(-0.531864), REAL(-0.212298), - REAL(0.001961), REAL(-0.459550), REAL(-0.135547), - REAL(-0.058296), REAL(-0.430536), REAL(-0.043440), - REAL(0.001378), REAL(-0.449511), REAL(-0.037762), - REAL(-0.130135), REAL(-0.510222), REAL(0.079144), - REAL(0.000142), REAL(-0.477549), REAL(0.157064), - REAL(-0.114284), REAL(-0.453206), REAL(0.304397), - REAL(-0.000592), REAL(-0.443558), REAL(0.285401), - REAL(-0.056215), REAL(-0.663402), REAL(0.326073), - REAL(-0.026248), REAL(-0.568010), REAL(0.273318), - REAL(-0.049261), REAL(-0.531064), REAL(0.389854), - REAL(-0.127096), REAL(-0.663398), REAL(0.479316), - REAL(-0.058384), REAL(-0.663401), REAL(0.372891), - REAL(-0.303961), REAL(0.054199), REAL(0.625921), - REAL(-0.268594), REAL(0.193403), REAL(0.502766), - REAL(-0.277159), REAL(0.126123), REAL(0.443289), - REAL(-0.287605), REAL(-0.005722), REAL(0.531844), - REAL(-0.231396), REAL(-0.121289), REAL(0.587387), - REAL(-0.253475), REAL(-0.081797), REAL(0.756541), - REAL(-0.195164), REAL(-0.137969), REAL(0.728011), - REAL(-0.167673), REAL(-0.156573), REAL(0.609388), - REAL(-0.145917), REAL(-0.169029), REAL(0.697600), - REAL(-0.077776), REAL(-0.214247), REAL(0.622586), - REAL(-0.076873), REAL(-0.214971), REAL(0.696301), - REAL(-0.002341), REAL(-0.233135), REAL(0.622859), - REAL(-0.002730), REAL(-0.213526), REAL(0.691267), - REAL(-0.003136), REAL(-0.192628), REAL(0.762731), - REAL(-0.056136), REAL(-0.201222), REAL(0.763806), - REAL(-0.114589), REAL(-0.166192), REAL(0.770723), - REAL(-0.155145), REAL(-0.129632), REAL(0.791738), - REAL(-0.183611), REAL(-0.058705), REAL(0.847012), - REAL(-0.165562), REAL(0.001980), REAL(0.833386), - REAL(-0.220084), REAL(0.019914), REAL(0.768935), - REAL(-0.255730), REAL(0.090306), REAL(0.670782), - REAL(-0.255594), REAL(0.113833), REAL(0.663389), - REAL(-0.226380), REAL(0.212655), REAL(0.617740), - REAL(-0.003367), REAL(-0.195342), REAL(0.799680), - REAL(-0.029743), REAL(-0.210508), REAL(0.827180), - REAL(-0.003818), REAL(-0.194783), REAL(0.873636), - REAL(-0.004116), REAL(-0.157907), REAL(0.931268), - REAL(-0.031280), REAL(-0.184555), REAL(0.889476), - REAL(-0.059885), REAL(-0.184448), REAL(0.841330), - REAL(-0.135333), REAL(-0.164332), REAL(0.878200), - REAL(-0.085574), REAL(-0.170948), REAL(0.925547), - REAL(-0.163833), REAL(-0.094170), REAL(0.897114), - REAL(-0.138444), REAL(-0.104250), REAL(0.945975), - REAL(-0.083497), REAL(-0.084934), REAL(0.979607), - REAL(-0.004433), REAL(-0.146642), REAL(0.985872), - REAL(-0.150715), REAL(0.032650), REAL(0.884111), - REAL(-0.135892), REAL(-0.035520), REAL(0.945455), - REAL(-0.070612), REAL(0.036849), REAL(0.975733), - REAL(-0.004458), REAL(-0.042526), REAL(1.015670), - REAL(-0.004249), REAL(0.046042), REAL(1.003240), - REAL(-0.086969), REAL(0.133224), REAL(0.947633), - REAL(-0.003873), REAL(0.161605), REAL(0.970499), - REAL(-0.125544), REAL(0.140012), REAL(0.917678), - REAL(-0.125651), REAL(0.250246), REAL(0.857602), - REAL(-0.003127), REAL(0.284070), REAL(0.878870), - REAL(-0.159174), REAL(0.125726), REAL(0.888878), - REAL(-0.183807), REAL(0.196970), REAL(0.844480), - REAL(-0.159890), REAL(0.291736), REAL(0.732480), - REAL(-0.199495), REAL(0.207230), REAL(0.779864), - REAL(-0.206182), REAL(0.164608), REAL(0.693257), - REAL(-0.186315), REAL(0.160689), REAL(0.817193), - REAL(-0.192827), REAL(0.166706), REAL(0.782271), - REAL(-0.175112), REAL(0.110008), REAL(0.860621), - REAL(-0.161022), REAL(0.057420), REAL(0.855111), - REAL(-0.172319), REAL(0.036155), REAL(0.816189), - REAL(-0.190318), REAL(0.064083), REAL(0.760605), - REAL(-0.195072), REAL(0.129179), REAL(0.731104), - REAL(-0.203126), REAL(0.410287), REAL(0.680536), - REAL(-0.216677), REAL(0.309274), REAL(0.642272), - REAL(-0.241515), REAL(0.311485), REAL(0.587832), - REAL(-0.002209), REAL(0.366663), REAL(0.749413), - REAL(-0.088230), REAL(0.396265), REAL(0.678635), - REAL(-0.170147), REAL(0.109517), REAL(0.840784), - REAL(-0.160521), REAL(0.067766), REAL(0.830650), - REAL(-0.181546), REAL(0.139805), REAL(0.812146), - REAL(-0.180495), REAL(0.148568), REAL(0.776087), - REAL(-0.180255), REAL(0.129125), REAL(0.744192), - REAL(-0.186298), REAL(0.078308), REAL(0.769352), - REAL(-0.167622), REAL(0.060539), REAL(0.806675), - REAL(-0.189876), REAL(0.102760), REAL(0.802582), - REAL(-0.108340), REAL(0.455446), REAL(0.657174), - REAL(-0.241585), REAL(0.527592), REAL(0.669296), - REAL(-0.265676), REAL(0.513366), REAL(0.634594), - REAL(-0.203073), REAL(0.478550), REAL(0.581526), - REAL(-0.266772), REAL(0.642330), REAL(0.602061), - REAL(-0.216961), REAL(0.564846), REAL(0.535435), - REAL(-0.202210), REAL(0.525495), REAL(0.475944), - REAL(-0.193888), REAL(0.467925), REAL(0.520606), - REAL(-0.265837), REAL(0.757267), REAL(0.500933), - REAL(-0.240306), REAL(0.653440), REAL(0.463215), - REAL(-0.309239), REAL(0.776868), REAL(0.304726), - REAL(-0.271009), REAL(0.683094), REAL(0.382018), - REAL(-0.312111), REAL(0.671099), REAL(0.286687), - REAL(-0.268791), REAL(0.624342), REAL(0.377231), - REAL(-0.302457), REAL(0.533996), REAL(0.360289), - REAL(-0.263656), REAL(0.529310), REAL(0.412564), - REAL(-0.282311), REAL(0.415167), REAL(0.447666), - REAL(-0.239201), REAL(0.442096), REAL(0.495604), - REAL(-0.220043), REAL(0.569026), REAL(0.445877), - REAL(-0.001263), REAL(0.395631), REAL(0.602029), - REAL(-0.057345), REAL(0.442535), REAL(0.572224), - REAL(-0.088927), REAL(0.506333), REAL(0.529106), - REAL(-0.125738), REAL(0.535076), REAL(0.612913), - REAL(-0.126251), REAL(0.577170), REAL(0.483159), - REAL(-0.149594), REAL(0.611520), REAL(0.557731), - REAL(-0.163188), REAL(0.660791), REAL(0.491080), - REAL(-0.172482), REAL(0.663387), REAL(0.415416), - REAL(-0.160464), REAL(0.591710), REAL(0.370659), - REAL(-0.156445), REAL(0.536396), REAL(0.378302), - REAL(-0.136496), REAL(0.444358), REAL(0.425226), - REAL(-0.095564), REAL(0.373768), REAL(0.473659), - REAL(-0.104146), REAL(0.315912), REAL(0.498104), - REAL(-0.000496), REAL(0.384194), REAL(0.473817), - REAL(-0.000183), REAL(0.297770), REAL(0.401486), - REAL(-0.129042), REAL(0.270145), REAL(0.434495), - REAL(0.000100), REAL(0.272963), REAL(0.349138), - REAL(-0.113060), REAL(0.236984), REAL(0.385554), - REAL(0.007260), REAL(0.016311), REAL(-0.883396), - REAL(0.007865), REAL(0.122104), REAL(-0.956137), - REAL(-0.032842), REAL(0.115282), REAL(-0.953252), - REAL(-0.089115), REAL(0.108449), REAL(-0.950317), - REAL(-0.047440), REAL(0.014729), REAL(-0.882756), - REAL(-0.104458), REAL(0.013137), REAL(-0.882070), - REAL(-0.086439), REAL(-0.584866), REAL(-0.608343), - REAL(-0.115026), REAL(-0.662605), REAL(-0.436732), - REAL(-0.071683), REAL(-0.665372), REAL(-0.606385), - REAL(-0.257884), REAL(-0.665381), REAL(-0.658052), - REAL(-0.272542), REAL(-0.665381), REAL(-0.592063), - REAL(-0.371322), REAL(-0.665382), REAL(-0.353620), - REAL(-0.372362), REAL(-0.665381), REAL(-0.224420), - REAL(-0.335166), REAL(-0.665380), REAL(-0.078623), - REAL(-0.225999), REAL(-0.665375), REAL(-0.038981), - REAL(-0.106719), REAL(-0.665374), REAL(-0.186351), - REAL(-0.081749), REAL(-0.665372), REAL(-0.292554), - REAL(0.006943), REAL(-0.091505), REAL(-0.858354), - REAL(0.006117), REAL(-0.280985), REAL(-0.769967), - REAL(0.004495), REAL(-0.502360), REAL(-0.559799), - REAL(-0.198638), REAL(-0.302135), REAL(-0.845816), - REAL(-0.237395), REAL(-0.542544), REAL(-0.587188), - REAL(-0.270001), REAL(-0.279489), REAL(-0.669861), - REAL(-0.134547), REAL(-0.119852), REAL(-0.959004), - REAL(-0.052088), REAL(-0.122463), REAL(-0.944549), - REAL(-0.124463), REAL(-0.293508), REAL(-0.899566), - REAL(-0.047616), REAL(-0.289643), REAL(-0.879292), - REAL(-0.168595), REAL(-0.529132), REAL(-0.654931), - REAL(-0.099793), REAL(-0.515719), REAL(-0.645873), - REAL(-0.186168), REAL(-0.605282), REAL(-0.724690), - REAL(-0.112970), REAL(-0.583097), REAL(-0.707469), - REAL(-0.108152), REAL(-0.665375), REAL(-0.700408), - REAL(-0.183019), REAL(-0.665378), REAL(-0.717630), - REAL(-0.349529), REAL(-0.334459), REAL(-0.511985), - REAL(-0.141182), REAL(-0.437705), REAL(-0.798194), - REAL(-0.212670), REAL(-0.448725), REAL(-0.737447), - REAL(-0.261111), REAL(-0.414945), REAL(-0.613835), - REAL(-0.077364), REAL(-0.431480), REAL(-0.778113), - REAL(0.005174), REAL(-0.425277), REAL(-0.651592), - REAL(0.089236), REAL(-0.431732), REAL(-0.777093), - REAL(0.271006), REAL(-0.415749), REAL(-0.610577), - REAL(0.223981), REAL(-0.449384), REAL(-0.734774), - REAL(0.153275), REAL(-0.438150), REAL(-0.796391), - REAL(0.358414), REAL(-0.335529), REAL(-0.507649), - REAL(0.193434), REAL(-0.665946), REAL(-0.715325), - REAL(0.118363), REAL(-0.665717), REAL(-0.699021), - REAL(0.123515), REAL(-0.583454), REAL(-0.706020), - REAL(0.196851), REAL(-0.605860), REAL(-0.722345), - REAL(0.109788), REAL(-0.516035), REAL(-0.644590), - REAL(0.178656), REAL(-0.529656), REAL(-0.652804), - REAL(0.061157), REAL(-0.289807), REAL(-0.878626), - REAL(0.138234), REAL(-0.293905), REAL(-0.897958), - REAL(0.066933), REAL(-0.122643), REAL(-0.943820), - REAL(0.149571), REAL(-0.120281), REAL(-0.957264), - REAL(0.280989), REAL(-0.280321), REAL(-0.666487), - REAL(0.246581), REAL(-0.543275), REAL(-0.584224), - REAL(0.211720), REAL(-0.302754), REAL(-0.843303), - REAL(0.086966), REAL(-0.665627), REAL(-0.291520), - REAL(0.110634), REAL(-0.665702), REAL(-0.185021), - REAL(0.228099), REAL(-0.666061), REAL(-0.036201), - REAL(0.337743), REAL(-0.666396), REAL(-0.074503), - REAL(0.376722), REAL(-0.666513), REAL(-0.219833), - REAL(0.377265), REAL(-0.666513), REAL(-0.349036), - REAL(0.281411), REAL(-0.666217), REAL(-0.588670), - REAL(0.267564), REAL(-0.666174), REAL(-0.654834), - REAL(0.080745), REAL(-0.665602), REAL(-0.605452), - REAL(0.122016), REAL(-0.662963), REAL(-0.435280), - REAL(0.095767), REAL(-0.585141), REAL(-0.607228), - REAL(0.118944), REAL(0.012799), REAL(-0.880702), - REAL(0.061944), REAL(0.014564), REAL(-0.882086), - REAL(0.104725), REAL(0.108156), REAL(-0.949130), - REAL(0.048513), REAL(0.115159), REAL(-0.952753), - REAL(0.112696), REAL(0.236643), REAL(0.386937), - REAL(0.128177), REAL(0.269757), REAL(0.436071), - REAL(0.102643), REAL(0.315600), REAL(0.499370), - REAL(0.094535), REAL(0.373481), REAL(0.474824), - REAL(0.136270), REAL(0.443946), REAL(0.426895), - REAL(0.157071), REAL(0.535923), REAL(0.380222), - REAL(0.161350), REAL(0.591224), REAL(0.372630), - REAL(0.173035), REAL(0.662865), REAL(0.417531), - REAL(0.162808), REAL(0.660299), REAL(0.493077), - REAL(0.148250), REAL(0.611070), REAL(0.559555), - REAL(0.125719), REAL(0.576790), REAL(0.484702), - REAL(0.123489), REAL(0.534699), REAL(0.614440), - REAL(0.087621), REAL(0.506066), REAL(0.530188), - REAL(0.055321), REAL(0.442365), REAL(0.572915), - REAL(0.219936), REAL(0.568361), REAL(0.448571), - REAL(0.238099), REAL(0.441375), REAL(0.498528), - REAL(0.281711), REAL(0.414315), REAL(0.451121), - REAL(0.263833), REAL(0.528513), REAL(0.415794), - REAL(0.303284), REAL(0.533081), REAL(0.363998), - REAL(0.269687), REAL(0.623528), REAL(0.380528), - REAL(0.314255), REAL(0.670153), REAL(0.290524), - REAL(0.272023), REAL(0.682273), REAL(0.385343), - REAL(0.311480), REAL(0.775931), REAL(0.308527), - REAL(0.240239), REAL(0.652714), REAL(0.466159), - REAL(0.265619), REAL(0.756464), REAL(0.504187), - REAL(0.192562), REAL(0.467341), REAL(0.522972), - REAL(0.201605), REAL(0.524885), REAL(0.478417), - REAL(0.215743), REAL(0.564193), REAL(0.538084), - REAL(0.264969), REAL(0.641527), REAL(0.605317), - REAL(0.201031), REAL(0.477940), REAL(0.584002), - REAL(0.263086), REAL(0.512567), REAL(0.637832), - REAL(0.238615), REAL(0.526867), REAL(0.672237), - REAL(0.105309), REAL(0.455123), REAL(0.658482), - REAL(0.183993), REAL(0.102195), REAL(0.804872), - REAL(0.161563), REAL(0.060042), REAL(0.808692), - REAL(0.180748), REAL(0.077754), REAL(0.771600), - REAL(0.175168), REAL(0.128588), REAL(0.746368), - REAL(0.175075), REAL(0.148030), REAL(0.778264), - REAL(0.175658), REAL(0.139265), REAL(0.814333), - REAL(0.154191), REAL(0.067291), REAL(0.832578), - REAL(0.163818), REAL(0.109013), REAL(0.842830), - REAL(0.084760), REAL(0.396004), REAL(0.679695), - REAL(0.238888), REAL(0.310760), REAL(0.590775), - REAL(0.213380), REAL(0.308625), REAL(0.644905), - REAL(0.199666), REAL(0.409678), REAL(0.683003), - REAL(0.190143), REAL(0.128597), REAL(0.733463), - REAL(0.184833), REAL(0.063516), REAL(0.762902), - REAL(0.166070), REAL(0.035644), REAL(0.818261), - REAL(0.154361), REAL(0.056943), REAL(0.857042), - REAL(0.168542), REAL(0.109489), REAL(0.862725), - REAL(0.187387), REAL(0.166131), REAL(0.784599), - REAL(0.180428), REAL(0.160135), REAL(0.819438), - REAL(0.201823), REAL(0.163991), REAL(0.695756), - REAL(0.194206), REAL(0.206635), REAL(0.782275), - REAL(0.155438), REAL(0.291260), REAL(0.734412), - REAL(0.177696), REAL(0.196424), REAL(0.846693), - REAL(0.152305), REAL(0.125256), REAL(0.890786), - REAL(0.119546), REAL(0.249876), REAL(0.859104), - REAL(0.118369), REAL(0.139643), REAL(0.919173), - REAL(0.079410), REAL(0.132973), REAL(0.948652), - REAL(0.062419), REAL(0.036648), REAL(0.976547), - REAL(0.127847), REAL(-0.035919), REAL(0.947070), - REAL(0.143624), REAL(0.032206), REAL(0.885913), - REAL(0.074888), REAL(-0.085173), REAL(0.980577), - REAL(0.130184), REAL(-0.104656), REAL(0.947620), - REAL(0.156201), REAL(-0.094653), REAL(0.899074), - REAL(0.077366), REAL(-0.171194), REAL(0.926545), - REAL(0.127722), REAL(-0.164729), REAL(0.879810), - REAL(0.052670), REAL(-0.184618), REAL(0.842019), - REAL(0.023477), REAL(-0.184638), REAL(0.889811), - REAL(0.022626), REAL(-0.210587), REAL(0.827500), - REAL(0.223089), REAL(0.211976), REAL(0.620493), - REAL(0.251444), REAL(0.113067), REAL(0.666494), - REAL(0.251419), REAL(0.089540), REAL(0.673887), - REAL(0.214360), REAL(0.019258), REAL(0.771595), - REAL(0.158999), REAL(0.001490), REAL(0.835374), - REAL(0.176696), REAL(-0.059249), REAL(0.849218), - REAL(0.148696), REAL(-0.130091), REAL(0.793599), - REAL(0.108290), REAL(-0.166528), REAL(0.772088), - REAL(0.049820), REAL(-0.201382), REAL(0.764454), - REAL(0.071341), REAL(-0.215195), REAL(0.697209), - REAL(0.073148), REAL(-0.214475), REAL(0.623510), - REAL(0.140502), REAL(-0.169461), REAL(0.699354), - REAL(0.163374), REAL(-0.157073), REAL(0.611416), - REAL(0.189466), REAL(-0.138550), REAL(0.730366), - REAL(0.247593), REAL(-0.082554), REAL(0.759610), - REAL(0.227468), REAL(-0.121982), REAL(0.590197), - REAL(0.284702), REAL(-0.006586), REAL(0.535347), - REAL(0.275741), REAL(0.125287), REAL(0.446676), - REAL(0.266650), REAL(0.192594), REAL(0.506044), - REAL(0.300086), REAL(0.053287), REAL(0.629620), - REAL(0.055450), REAL(-0.663935), REAL(0.375065), - REAL(0.122854), REAL(-0.664138), REAL(0.482323), - REAL(0.046520), REAL(-0.531571), REAL(0.391918), - REAL(0.024824), REAL(-0.568450), REAL(0.275106), - REAL(0.053855), REAL(-0.663931), REAL(0.328224), - REAL(0.112829), REAL(-0.453549), REAL(0.305788), - REAL(0.131265), REAL(-0.510617), REAL(0.080746), - REAL(0.061174), REAL(-0.430716), REAL(-0.042710), - REAL(0.341019), REAL(-0.532887), REAL(-0.208150), - REAL(0.347705), REAL(-0.623533), REAL(-0.081139), - REAL(0.238040), REAL(-0.610732), REAL(-0.038037), - REAL(0.211764), REAL(-0.514274), REAL(-0.132078), - REAL(0.120605), REAL(-0.600219), REAL(-0.186856), - REAL(0.096985), REAL(-0.584476), REAL(-0.293357), - REAL(0.127621), REAL(-0.581941), REAL(-0.437170), - REAL(0.165902), REAL(-0.477425), REAL(-0.291453), - REAL(0.077720), REAL(-0.417975), REAL(-0.220519), - REAL(0.320892), REAL(-0.506363), REAL(-0.320874), - REAL(0.248214), REAL(-0.465684), REAL(-0.239842), - REAL(0.118764), REAL(-0.383338), REAL(-0.187114), - REAL(0.118816), REAL(-0.430106), REAL(-0.123307), - REAL(0.094131), REAL(-0.419464), REAL(-0.044777), - REAL(0.274526), REAL(-0.261706), REAL(0.005110), - REAL(0.259842), REAL(-0.283292), REAL(-0.003185), - REAL(0.222861), REAL(-0.340431), REAL(-0.038210), - REAL(0.204445), REAL(-0.664380), REAL(0.513353), - REAL(0.259286), REAL(-0.664547), REAL(0.471281), - REAL(0.185402), REAL(-0.476020), REAL(0.421718), - REAL(0.279163), REAL(-0.664604), REAL(0.417328), - REAL(0.277157), REAL(-0.528122), REAL(0.400208), - REAL(0.183069), REAL(-0.509812), REAL(0.329995), - REAL(0.282599), REAL(-0.429210), REAL(0.059242), - REAL(0.254816), REAL(-0.664541), REAL(0.290687), - REAL(0.271436), REAL(-0.567707), REAL(0.263966), - REAL(0.386561), REAL(-0.625221), REAL(-0.216870), - REAL(0.387086), REAL(-0.630883), REAL(-0.346073), - REAL(0.380021), REAL(-0.596021), REAL(-0.318679), - REAL(0.291269), REAL(-0.619007), REAL(-0.585707), - REAL(0.339280), REAL(-0.571198), REAL(-0.461946), - REAL(0.400045), REAL(-0.489778), REAL(-0.422640), - REAL(0.406817), REAL(-0.314349), REAL(-0.371230), - REAL(0.300588), REAL(-0.281718), REAL(-0.170549), - REAL(0.290866), REAL(-0.277304), REAL(-0.061905), - REAL(0.187735), REAL(-0.241545), REAL(0.509437), - REAL(0.188032), REAL(-0.287569), REAL(0.424234), - REAL(0.227520), REAL(-0.373262), REAL(0.293102), - REAL(0.266526), REAL(-0.273650), REAL(0.039597), - REAL(0.291592), REAL(-0.291676), REAL(0.111386), - REAL(0.291914), REAL(-0.122741), REAL(0.422683), - REAL(0.297574), REAL(-0.156119), REAL(0.373368), - REAL(0.286603), REAL(-0.232731), REAL(0.027162), - REAL(0.364663), REAL(-0.201399), REAL(0.206850), - REAL(0.353855), REAL(-0.132408), REAL(0.149228), - REAL(0.282208), REAL(-0.019715), REAL(0.314960), - REAL(0.331187), REAL(-0.099266), REAL(0.092701), - REAL(0.375463), REAL(-0.093120), REAL(-0.006467), - REAL(0.375917), REAL(-0.101236), REAL(-0.154882), - REAL(0.466635), REAL(-0.094416), REAL(-0.305669), - REAL(0.455805), REAL(-0.119881), REAL(-0.460632), - REAL(0.277465), REAL(-0.604242), REAL(-0.651871), - REAL(0.261022), REAL(-0.551176), REAL(-0.554667), - REAL(0.093627), REAL(0.258494), REAL(-0.920589), - REAL(0.114248), REAL(0.310608), REAL(-0.798070), - REAL(0.144232), REAL(0.211434), REAL(-0.835001), - REAL(0.119916), REAL(0.176940), REAL(-0.951159), - REAL(0.184061), REAL(0.101854), REAL(-0.918220), - REAL(0.092431), REAL(0.276521), REAL(-0.738231), - REAL(0.133504), REAL(0.218403), REAL(-0.758602), - REAL(0.194987), REAL(0.097655), REAL(-0.812476), - REAL(0.185542), REAL(0.011005), REAL(-0.879202), - REAL(0.230315), REAL(-0.127450), REAL(-0.884202), - REAL(0.260471), REAL(0.255056), REAL(-0.624378), - REAL(0.351567), REAL(-0.042194), REAL(-0.663976), - REAL(0.253742), REAL(0.323524), REAL(-0.433716), - REAL(0.411612), REAL(0.132299), REAL(-0.438264), - REAL(0.270513), REAL(0.356530), REAL(-0.289984), - REAL(0.422146), REAL(0.162819), REAL(-0.273130), - REAL(0.164724), REAL(0.237490), REAL(0.208912), - REAL(0.253806), REAL(0.092900), REAL(0.240640), - REAL(0.203608), REAL(0.284597), REAL(0.096223), - REAL(0.241006), REAL(0.343093), REAL(-0.171396), - REAL(0.356076), REAL(0.149288), REAL(-0.143443), - REAL(0.337656), REAL(0.131992), REAL(0.066374) -}; - -int Indices[IndexCount / 3][3] = { - {126,134,133}, - {342,138,134}, - {133,134,138}, - {126,342,134}, - {312,316,317}, - {169,163,162}, - {312,317,319}, - {312,319,318}, - {169,162,164}, - {169,168,163}, - {312,314,315}, - {169,164,165}, - {169,167,168}, - {312,315,316}, - {312,313,314}, - {169,165,166}, - {169,166,167}, - {312,318,313}, - {308,304,305}, - {308,305,306}, - {179,181,188}, - {177,173,175}, - {177,175,176}, - {302,293,300}, - {322,294,304}, - {188,176,175}, - {188,175,179}, - {158,177,187}, - {305,293,302}, - {305,302,306}, - {322,304,308}, - {188,181,183}, - {158,173,177}, - {293,298,300}, - {304,294,296}, - {304,296,305}, - {185,176,188}, - {185,188,183}, - {187,177,176}, - {187,176,185}, - {305,296,298}, - {305,298,293}, - {436,432, 28}, - {436, 28, 23}, - {434,278,431}, - { 30,208,209}, - { 30,209, 29}, - { 19, 20, 24}, - {208,207,211}, - {208,211,209}, - { 19,210,212}, - {433,434,431}, - {433,431,432}, - {433,432,436}, - {436,437,433}, - {277,275,276}, - {277,276,278}, - {209,210, 25}, - { 21, 26, 24}, - { 21, 24, 20}, - { 25, 26, 27}, - { 25, 27, 29}, - {435,439,277}, - {439,275,277}, - {432,431, 30}, - {432, 30, 28}, - {433,437,438}, - {433,438,435}, - {434,277,278}, - { 24, 25,210}, - { 24, 26, 25}, - { 29, 27, 28}, - { 29, 28, 30}, - { 19, 24,210}, - {208, 30,431}, - {208,431,278}, - {435,434,433}, - {435,277,434}, - { 25, 29,209}, - { 27, 22, 23}, - { 27, 23, 28}, - { 26, 22, 27}, - { 26, 21, 22}, - {212,210,209}, - {212,209,211}, - {207,208,278}, - {207,278,276}, - {439,435,438}, - { 12, 9, 10}, - { 12, 10, 13}, - { 2, 3, 5}, - { 2, 5, 4}, - { 16, 13, 14}, - { 16, 14, 17}, - { 22, 21, 16}, - { 13, 10, 11}, - { 13, 11, 14}, - { 1, 0, 3}, - { 1, 3, 2}, - { 15, 12, 16}, - { 19, 18, 15}, - { 19, 15, 16}, - { 19, 16, 20}, - { 9, 1, 2}, - { 9, 2, 10}, - { 3, 7, 8}, - { 3, 8, 5}, - { 16, 17, 23}, - { 16, 23, 22}, - { 21, 20, 16}, - { 10, 2, 4}, - { 10, 4, 11}, - { 0, 6, 7}, - { 0, 7, 3}, - { 12, 13, 16}, - {451,446,445}, - {451,445,450}, - {442,440,439}, - {442,439,438}, - {442,438,441}, - {421,420,422}, - {412,411,426}, - {412,426,425}, - {408,405,407}, - {413, 67, 68}, - {413, 68,414}, - {391,390,412}, - { 80,384,386}, - {404,406,378}, - {390,391,377}, - {390,377, 88}, - {400,415,375}, - {398,396,395}, - {398,395,371}, - {398,371,370}, - {112,359,358}, - {112,358,113}, - {351,352,369}, - {125,349,348}, - {345,343,342}, - {342,340,339}, - {341,335,337}, - {328,341,327}, - {331,323,333}, - {331,322,323}, - {327,318,319}, - {327,319,328}, - {315,314,324}, - {302,300,301}, - {302,301,303}, - {320,311,292}, - {285,284,289}, - {310,307,288}, - {310,288,290}, - {321,350,281}, - {321,281,282}, - {423,448,367}, - {272,273,384}, - {272,384,274}, - {264,265,382}, - {264,382,383}, - {440,442,261}, - {440,261,263}, - {252,253,254}, - {252,254,251}, - {262,256,249}, - {262,249,248}, - {228,243,242}, - {228, 31,243}, - {213,215,238}, - {213,238,237}, - { 19,212,230}, - {224,225,233}, - {224,233,231}, - {217,218, 56}, - {217, 56, 54}, - {217,216,239}, - {217,239,238}, - {217,238,215}, - {218,217,215}, - {218,215,214}, - { 6,102,206}, - {186,199,200}, - {197,182,180}, - {170,171,157}, - {201,200,189}, - {170,190,191}, - {170,191,192}, - {175,174,178}, - {175,178,179}, - {168,167,155}, - {122,149,158}, - {122,158,159}, - {135,153,154}, - {135,154,118}, - {143,140,141}, - {143,141,144}, - {132,133,136}, - {130,126,133}, - {124,125,127}, - {122,101,100}, - {122,100,121}, - {110,108,107}, - {110,107,109}, - { 98, 99, 97}, - { 98, 97, 64}, - { 98, 64, 66}, - { 87, 55, 57}, - { 83, 82, 79}, - { 83, 79, 84}, - { 78, 74, 50}, - { 49, 71, 41}, - { 49, 41, 37}, - { 49, 37, 36}, - { 58, 44, 60}, - { 60, 59, 58}, - { 51, 34, 33}, - { 39, 40, 42}, - { 39, 42, 38}, - {243,240, 33}, - {243, 33,229}, - { 39, 38, 6}, - { 44, 46, 40}, - { 55, 56, 57}, - { 64, 62, 65}, - { 64, 65, 66}, - { 41, 71, 45}, - { 75, 50, 51}, - { 81, 79, 82}, - { 77, 88, 73}, - { 93, 92, 94}, - { 68, 47, 46}, - { 96, 97, 99}, - { 96, 99, 95}, - {110,109,111}, - {111,112,110}, - {114,113,123}, - {114,123,124}, - {132,131,129}, - {133,137,136}, - {135,142,145}, - {145,152,135}, - {149,147,157}, - {157,158,149}, - {164,150,151}, - {153,163,168}, - {153,168,154}, - {185,183,182}, - {185,182,184}, - {161,189,190}, - {200,199,191}, - {200,191,190}, - {180,178,195}, - {180,195,196}, - {102,101,204}, - {102,204,206}, - { 43, 48,104}, - { 43,104,103}, - {216,217, 54}, - {216, 54, 32}, - {207,224,231}, - {230,212,211}, - {230,211,231}, - {227,232,241}, - {227,241,242}, - {235,234,241}, - {235,241,244}, - {430,248,247}, - {272,274,253}, - {272,253,252}, - {439,260,275}, - {225,224,259}, - {225,259,257}, - {269,270,407}, - {269,407,405}, - {270,269,273}, - {270,273,272}, - {273,269,268}, - {273,268,267}, - {273,267,266}, - {273,266,265}, - {273,265,264}, - {448,279,367}, - {281,350,368}, - {285,286,301}, - {290,323,310}, - {290,311,323}, - {282,281,189}, - {292,311,290}, - {292,290,291}, - {307,306,302}, - {307,302,303}, - {316,315,324}, - {316,324,329}, - {331,351,350}, - {330,334,335}, - {330,335,328}, - {341,337,338}, - {344,355,354}, - {346,345,348}, - {346,348,347}, - {364,369,352}, - {364,352,353}, - {365,363,361}, - {365,361,362}, - {376,401,402}, - {373,372,397}, - {373,397,400}, - {376, 92,377}, - {381,378,387}, - {381,387,385}, - {386, 77, 80}, - {390,389,412}, - {416,417,401}, - {403,417,415}, - {408,429,430}, - {419,423,418}, - {427,428,444}, - {427,444,446}, - {437,436,441}, - {450,445, 11}, - {450, 11, 4}, - {447,449, 5}, - {447, 5, 8}, - {441,438,437}, - {425,426,451}, - {425,451,452}, - {417,421,415}, - {408,407,429}, - {399,403,400}, - {399,400,397}, - {394,393,416}, - {389,411,412}, - {386,383,385}, - {408,387,378}, - {408,378,406}, - {377,391,376}, - { 94,375,415}, - {372,373,374}, - {372,374,370}, - {359,111,360}, - {359,112,111}, - {113,358,349}, - {113,349,123}, - {346,343,345}, - {343,340,342}, - {338,336,144}, - {338,144,141}, - {327,341,354}, - {327,354,326}, - {331,350,321}, - {331,321,322}, - {314,313,326}, - {314,326,325}, - {300,298,299}, - {300,299,301}, - {288,287,289}, - {189,292,282}, - {287,288,303}, - {284,285,297}, - {368,280,281}, - {448,447,279}, - {274,226,255}, - {267,268,404}, - {267,404,379}, - {429,262,430}, - {439,440,260}, - {257,258,249}, - {257,249,246}, - {430,262,248}, - {234,228,242}, - {234,242,241}, - {237,238,239}, - {237,239,236}, - { 15, 18,227}, - { 15,227,229}, - {222,223, 82}, - {222, 82, 83}, - {214,215,213}, - {214,213, 81}, - { 38,102, 6}, - {122,159,200}, - {122,200,201}, - {174,171,192}, - {174,192,194}, - {197,193,198}, - {190,170,161}, - {181,179,178}, - {181,178,180}, - {166,156,155}, - {163,153,152}, - {163,152,162}, - {120,156,149}, - {120,149,121}, - {152,153,135}, - {140,143,142}, - {135,131,132}, - {135,132,136}, - {130,129,128}, - {130,128,127}, - {100,105,119}, - {100,119,120}, - {106,104,107}, - {106,107,108}, - { 91, 95, 59}, - { 93, 94, 68}, - { 91, 89, 92}, - { 76, 53, 55}, - { 76, 55, 87}, - { 81, 78, 79}, - { 74, 73, 49}, - { 69, 60, 45}, - { 58, 62, 64}, - { 58, 64, 61}, - { 53, 31, 32}, - { 32, 54, 53}, - { 42, 43, 38}, - { 35, 36, 0}, - { 35, 0, 1}, - { 34, 35, 1}, - { 34, 1, 9}, - { 44, 40, 41}, - { 44, 41, 45}, - { 33,240, 51}, - { 63, 62, 58}, - { 63, 58, 59}, - { 45, 71, 70}, - { 76, 75, 51}, - { 76, 51, 52}, - { 86, 85, 84}, - { 86, 84, 87}, - { 89, 72, 73}, - { 89, 73, 88}, - { 91, 92, 96}, - { 91, 96, 95}, - { 72, 91, 60}, - { 72, 60, 69}, - {104,106,105}, - {119,105,117}, - {119,117,118}, - {124,127,128}, - {117,116,129}, - {117,129,131}, - {118,117,131}, - {135,140,142}, - {146,150,152}, - {146,152,145}, - {149,122,121}, - {166,165,151}, - {166,151,156}, - {158,172,173}, - {161,160,189}, - {199,198,193}, - {199,193,191}, - {204,201,202}, - {178,174,194}, - {200,159,186}, - {109, 48, 67}, - { 48,107,104}, - {216, 32,236}, - {216,236,239}, - {223,214, 81}, - {223, 81, 82}, - { 33, 12, 15}, - { 32,228,234}, - { 32,234,236}, - {240, 31, 52}, - {256,255,246}, - {256,246,249}, - {258,263,248}, - {258,248,249}, - {275,260,259}, - {275,259,276}, - {207,276,259}, - {270,271,429}, - {270,429,407}, - {413,418,366}, - {413,366,365}, - {368,367,279}, - {368,279,280}, - {303,301,286}, - {303,286,287}, - {283,282,292}, - {283,292,291}, - {320,292,189}, - {298,296,297}, - {298,297,299}, - {318,327,326}, - {318,326,313}, - {329,330,317}, - {336,333,320}, - {326,354,353}, - {334,332,333}, - {334,333,336}, - {342,339,139}, - {342,139,138}, - {345,342,126}, - {347,357,356}, - {369,368,351}, - {363,356,357}, - {363,357,361}, - {366,367,368}, - {366,368,369}, - {375,373,400}, - { 92, 90,377}, - {409,387,408}, - {386,385,387}, - {386,387,388}, - {412,394,391}, - {396,398,399}, - {408,406,405}, - {415,421,419}, - {415,419,414}, - {425,452,448}, - {425,448,424}, - {444,441,443}, - {448,452,449}, - {448,449,447}, - {446,444,443}, - {446,443,445}, - {250,247,261}, - {250,261,428}, - {421,422,423}, - {421,423,419}, - {427,410,250}, - {417,403,401}, - {403,402,401}, - {420,392,412}, - {420,412,425}, - {420,425,424}, - {386,411,389}, - {383,382,381}, - {383,381,385}, - {378,379,404}, - {372,371,395}, - {372,395,397}, - {371,372,370}, - {361,359,360}, - {361,360,362}, - {368,350,351}, - {349,347,348}, - {356,355,344}, - {356,344,346}, - {344,341,340}, - {344,340,343}, - {338,337,336}, - {328,335,341}, - {324,352,351}, - {324,351,331}, - {320,144,336}, - {314,325,324}, - {322,308,309}, - {310,309,307}, - {287,286,289}, - {203,280,279}, - {203,279,205}, - {297,295,283}, - {297,283,284}, - {447,205,279}, - {274,384, 80}, - {274, 80,226}, - {266,267,379}, - {266,379,380}, - {225,257,246}, - {225,246,245}, - {256,254,253}, - {256,253,255}, - {430,247,250}, - {226,235,244}, - {226,244,245}, - {232,233,244}, - {232,244,241}, - {230, 18, 19}, - { 32, 31,228}, - {219,220, 86}, - {219, 86, 57}, - {226,213,235}, - {206, 7, 6}, - {122,201,101}, - {201,204,101}, - {180,196,197}, - {170,192,171}, - {200,190,189}, - {194,193,195}, - {183,181,180}, - {183,180,182}, - {155,154,168}, - {149,156,151}, - {149,151,148}, - {155,156,120}, - {145,142,143}, - {145,143,146}, - {136,137,140}, - {133,132,130}, - {128,129,116}, - {100,120,121}, - {110,112,113}, - {110,113,114}, - { 66, 65, 63}, - { 66, 63, 99}, - { 66, 99, 98}, - { 96, 46, 61}, - { 89, 88, 90}, - { 86, 87, 57}, - { 80, 78, 81}, - { 72, 69, 49}, - { 67, 48, 47}, - { 67, 47, 68}, - { 56, 55, 53}, - { 50, 49, 36}, - { 50, 36, 35}, - { 40, 39, 41}, - {242,243,229}, - {242,229,227}, - { 6, 37, 39}, - { 42, 47, 48}, - { 42, 48, 43}, - { 61, 46, 44}, - { 45, 70, 69}, - { 69, 70, 71}, - { 69, 71, 49}, - { 74, 78, 77}, - { 83, 84, 85}, - { 73, 74, 77}, - { 93, 96, 92}, - { 68, 46, 93}, - { 95, 99, 63}, - { 95, 63, 59}, - {115,108,110}, - {115,110,114}, - {125,126,127}, - {129,130,132}, - {137,133,138}, - {137,138,139}, - {148,146,143}, - {148,143,147}, - {119,118,154}, - {161,147,143}, - {165,164,151}, - {158,157,171}, - {158,171,172}, - {159,158,187}, - {159,187,186}, - {194,192,191}, - {194,191,193}, - {189,202,201}, - {182,197,184}, - {205, 8, 7}, - { 48,109,107}, - {218,219, 57}, - {218, 57, 56}, - {207,231,211}, - {232,230,231}, - {232,231,233}, - { 53, 52, 31}, - {388,411,386}, - {409,430,250}, - {262,429,254}, - {262,254,256}, - {442,444,428}, - {273,264,383}, - {273,383,384}, - {429,271,251}, - {429,251,254}, - {413,365,362}, - { 67,413,360}, - {282,283,295}, - {285,301,299}, - {202,281,280}, - {284,283,291}, - {284,291,289}, - {320,189,160}, - {308,306,307}, - {307,309,308}, - {319,317,330}, - {319,330,328}, - {353,352,324}, - {332,331,333}, - {340,341,338}, - {354,341,344}, - {349,358,357}, - {349,357,347}, - {364,355,356}, - {364,356,363}, - {364,365,366}, - {364,366,369}, - {374,376,402}, - {375, 92,373}, - { 77,389,390}, - {382,380,381}, - {389, 77,386}, - {393,394,412}, - {393,412,392}, - {401,394,416}, - {415,400,403}, - {411,410,427}, - {411,427,426}, - {422,420,424}, - {247,248,263}, - {247,263,261}, - {445,443, 14}, - {445, 14, 11}, - {449,450, 4}, - {449, 4, 5}, - {443,441, 17}, - {443, 17, 14}, - {436, 23, 17}, - {436, 17,441}, - {424,448,422}, - {448,423,422}, - {414,419,418}, - {414,418,413}, - {406,404,405}, - {399,397,395}, - {399,395,396}, - {420,416,392}, - {388,410,411}, - {386,384,383}, - {390, 88, 77}, - {375, 94, 92}, - {415,414, 68}, - {415, 68, 94}, - {370,374,402}, - {370,402,398}, - {361,357,358}, - {361,358,359}, - {125,348,126}, - {346,344,343}, - {340,338,339}, - {337,335,334}, - {337,334,336}, - {325,353,324}, - {324,331,332}, - {324,332,329}, - {323,322,309}, - {323,309,310}, - {294,295,297}, - {294,297,296}, - {289,286,285}, - {202,280,203}, - {288,307,303}, - {282,295,321}, - { 67,360,111}, - {418,423,367}, - {418,367,366}, - {272,252,251}, - {272,251,271}, - {272,271,270}, - {255,253,274}, - {265,266,380}, - {265,380,382}, - {442,428,261}, - {440,263,258}, - {440,258,260}, - {409,250,410}, - {255,226,245}, - {255,245,246}, - { 31,240,243}, - {236,234,235}, - {236,235,237}, - {233,225,245}, - {233,245,244}, - {220,221, 85}, - {220, 85, 86}, - { 81,213,226}, - { 81,226, 80}, - { 7,206,205}, - {186,184,198}, - {186,198,199}, - {204,203,205}, - {204,205,206}, - {195,193,196}, - {171,174,172}, - {173,174,175}, - {173,172,174}, - {155,167,166}, - {160,161,143}, - {160,143,144}, - {119,154,155}, - {148,151,150}, - {148,150,146}, - {140,137,139}, - {140,139,141}, - {127,126,130}, - {114,124,128}, - {114,128,115}, - {117,105,106}, - {117,106,116}, - {104,105,100}, - {104,100,103}, - { 59, 60, 91}, - { 97, 96, 61}, - { 97, 61, 64}, - { 91, 72, 89}, - { 87, 84, 79}, - { 87, 79, 76}, - { 78, 80, 77}, - { 49, 50, 74}, - { 60, 44, 45}, - { 61, 44, 58}, - { 51, 50, 35}, - { 51, 35, 34}, - { 39, 37, 41}, - { 33, 34, 9}, - { 33, 9, 12}, - { 0, 36, 37}, - { 0, 37, 6}, - { 40, 46, 47}, - { 40, 47, 42}, - { 53, 54, 56}, - { 65, 62, 63}, - { 72, 49, 73}, - { 79, 78, 75}, - { 79, 75, 76}, - { 52, 53, 76}, - { 92, 89, 90}, - { 96, 93, 46}, - {102,103,100}, - {102,100,101}, - {116,106,108}, - {116,108,115}, - {123,125,124}, - {116,115,128}, - {118,131,135}, - {140,135,136}, - {148,147,149}, - {120,119,155}, - {164,162,152}, - {164,152,150}, - {157,147,161}, - {157,161,170}, - {186,187,185}, - {186,185,184}, - {193,197,196}, - {202,203,204}, - {194,195,178}, - {198,184,197}, - { 67,111,109}, - { 38, 43,103}, - { 38,103,102}, - {214,223,222}, - {214,222,221}, - {214,221,220}, - {214,220,219}, - {214,219,218}, - {213,237,235}, - {221,222, 83}, - {221, 83, 85}, - { 15,229, 33}, - {227, 18,230}, - {227,230,232}, - { 52, 51,240}, - { 75, 78, 50}, - {408,430,409}, - {260,258,257}, - {260,257,259}, - {224,207,259}, - {268,269,405}, - {268,405,404}, - {413,362,360}, - {447, 8,205}, - {299,297,285}, - {189,281,202}, - {290,288,289}, - {290,289,291}, - {322,321,295}, - {322,295,294}, - {333,323,311}, - {333,311,320}, - {317,316,329}, - {320,160,144}, - {353,325,326}, - {329,332,334}, - {329,334,330}, - {339,338,141}, - {339,141,139}, - {348,345,126}, - {347,356,346}, - {123,349,125}, - {364,353,354}, - {364,354,355}, - {365,364,363}, - {376,391,394}, - {376,394,401}, - { 92,376,374}, - { 92,374,373}, - {377, 90, 88}, - {380,379,378}, - {380,378,381}, - {388,387,409}, - {388,409,410}, - {416,393,392}, - {399,398,402}, - {399,402,403}, - {250,428,427}, - {421,417,416}, - {421,416,420}, - {426,427,446}, - {426,446,451}, - {444,442,441}, - {452,451,450}, - {452,450,449} -}; - -//============================ - - -dReal heightfield_callback( void* pUserData, int x, int z ) -{ - dIASSERT( x < HFIELD_WSTEP ); - dIASSERT( z < HFIELD_DSTEP ); - - dReal fx = ( ((dReal)x) - ( HFIELD_WSTEP-1 )/2 ) / (dReal)( HFIELD_WSTEP-1 ); - dReal fz = ( ((dReal)z) - ( HFIELD_DSTEP-1 )/2 ) / (dReal)( HFIELD_DSTEP-1 ); - - // Create an interesting 'hump' shape - dReal h = REAL( 1.0 ) + ( REAL( -16.0 ) * ( fx*fx*fx + fz*fz*fz ) ); - - return h; -} - - - - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i; - // if (o1->body && o2->body) return; - - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; - - dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - else return c; -} - - -// called when a key pressed - -static void command (int cmd) -{ - size_t i; - int j,k; - dReal sides[3]; - dMass m; - - cmd = locase (cmd); - - - // - // Geom Creation - // - - if ( cmd == 'b' || cmd == 's' || cmd == 'c' || - cmd == 'x' || cmd == 'y' || cmd == 'm' || cmd == 'v' ) - { - if ( num < NUM ) - { - i = num; - num++; - } - else - { - i = nextobj; - nextobj++; - if (nextobj >= num) nextobj = 0; - - // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); - for (k=0; k < GPB; k++) - { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - } - memset (&obj[i],0,sizeof(obj[i])); - } - - obj[i].body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - - dMatrix3 R; - if (random_pos) { - dBodySetPosition (obj[i].body, - (dRandReal()-0.5)*HFIELD_WIDTH*0.75, - (dRandReal()-0.5)*HFIELD_DEPTH*0.75, - dRandReal() + 2 ); - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - } - else { - dReal maxheight = 0; - for (k=0; k maxheight) maxheight = pos[2]; - } - dBodySetPosition (obj[i].body, 0,maxheight+1,0); - dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); - } - dBodySetRotation (obj[i].body,R); - dBodySetData (obj[i].body,(void*) i); - - if (cmd == 'b') - { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') - { - sides[0] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); - } - //<---- Convex Object - else if (cmd == 'v') - { - dMassSetBox (&m,DENSITY,0.25,0.25,0.25); - obj[i].geom[0] = dCreateConvex (space, - planes, - planecount, - points, - pointcount, - polygons); - } - //----> Convex Object - else if (cmd == 'y') - { - dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - } - else if (cmd == 's') - { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - obj[i].geom[0] = dCreateSphere (space,sides[0]); - } -#ifdef dTRIMESH_ENABLED - else if (cmd == 'm') - { - dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); - dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int)); - - obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); - - // remember the mesh's dTriMeshDataID on its userdata for convenience. - dGeomSetData(obj[i].geom[0], new_tmdata); - - dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); - } -#endif - else if (cmd == 'x') - { - dGeomID g2[GPB]; // encapsulated geometries - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - - // start accumulating masses for the encapsulated geometries - dMass m2; - dMassSetZero (&m); - - // set random delta positions - for (j=0; j= num) selected = 0; - if (selected < 0) selected = 0; - } - else if (cmd == 'd' && selected >= 0 && selected < num) { - dBodyDisable (obj[selected].body); - } - else if (cmd == 'e' && selected >= 0 && selected < num) { - dBodyEnable (obj[selected].body); - } - else if (cmd == 'a') { - show_aabb ^= 1; - } - else if (cmd == 't') { - show_contacts ^= 1; - } - else if (cmd == 'r') { - random_pos ^= 1; - } - else if (cmd == '1') { - write_world = 1; - } -} - - -// draw a geom - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) -{ - int i; - - if (!g) return; - if (!pos) pos = dGeomGetPosition (g); - if (!R) R = dGeomGetRotation (g); - - int type = dGeomGetClass (g); - if (type == dBoxClass) { - dVector3 sides; - dGeomBoxGetLengths (g,sides); - dsDrawBox (pos,R,sides); - } - else if (type == dSphereClass) { - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - } - else if (type == dCapsuleClass) { - dReal radius,length; - dGeomCapsuleGetParams (g,&radius,&length); - dsDrawCapsule (pos,R,length,radius); - } - //<---- Convex Object - else if (type == dConvexClass) - { - //dVector3 sides={0.50,0.50,0.50}; - dsDrawConvex(pos,R,planes, - planecount, - points, - pointcount, - polygons); - } - //----> Convex Object - else if (type == dCylinderClass) { - dReal radius,length; - dGeomCylinderGetParams (g,&radius,&length); - dsDrawCylinder (pos,R,length,radius); - } - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R,0); - } - - if (show_aabb) { - // draw the bounding box for this geom - dReal aabb[6]; - dGeomGetAABB (g,aabb); - dVector3 bbpos; - for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - dVector3 bbsides; - for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; - dMatrix3 RI; - dRSetIdentity (RI); - dsSetColorAlpha (1,0,0,0.5); - dsDrawBox (bbpos,RI,bbsides); - } - -} - -// simulation loop - -static void simLoop (int pause) -{ - int i,j; - - dsSetColor (0,0,2); - - dSpaceCollide (space,0,&nearCallback); - - //if (!pause) dWorldStep (world,0.05); - //if (!pause) dWorldQuickStep (world,0.05); - if (!pause) dWorldStepFast1 (world,0.05, 5); - - - if (write_world) { - FILE *f = fopen ("state.dif","wt"); - if (f) { - dWorldExportDIF (world,f,"X"); - fclose (f); - } - write_world = 0; - } - - // remove all contact joints - dJointGroupEmpty (contactgroup); - - - - const dReal* pReal = dGeomGetPosition( gheight ); - - const dReal* RReal = dGeomGetRotation( gheight ); - - // - // Draw Heightfield - // - - // Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode. - int ox = (int) ( -HFIELD_WIDTH/2 ); - int oz = (int) ( -HFIELD_DEPTH/2 ); - -// for ( int tx = -1; tx < 2; ++tx ) -// for ( int tz = -1; tz < 2; ++tz ) - { - dsSetColorAlpha (0.5,1,0.5,0.5); - dsSetTexture( DS_WOOD ); - - for ( int i = 0; i < HFIELD_WSTEP - 1; ++i ) - for ( int j = 0; j < HFIELD_DSTEP - 1; ++j ) - { - dReal a[3], b[3], c[3], d[3]; - - a[ 0 ] = ox + ( i ) * HFIELD_WSAMP; - a[ 1 ] = heightfield_callback( NULL, i, j ); - a[ 2 ] = oz + ( j ) * HFIELD_DSAMP; - - b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; - b[ 1 ] = heightfield_callback( NULL, i + 1, j ); - b[ 2 ] = oz + ( j ) * HFIELD_DSAMP; - - c[ 0 ] = ox + ( i ) * HFIELD_WSAMP; - c[ 1 ] = heightfield_callback( NULL, i, j + 1 ); - c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; - - d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; - d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 ); - d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; - - dsDrawTriangle( pReal, RReal, a, c, b, 1 ); - dsDrawTriangle( pReal, RReal, b, c, d, 1 ); - } - } - - - - - - dsSetColor (1,1,0); - dsSetTexture (DS_WOOD); - for (i=0; i