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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 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#define DEGTORAD 0.01745329251994329577f //!< PI / 180.0, convert degrees to radians
31
32
33// Our heightfield geom
34dGeomID gheight;
35
36
37
38// Heightfield dimensions
39
40#define HFIELD_WSTEP 15 // Vertex count along edge >= 2
41#define HFIELD_DSTEP 31
42
43#define HFIELD_WIDTH REAL( 4.0 )
44#define HFIELD_DEPTH REAL( 8.0 )
45
46#define HFIELD_WSAMP ( HFIELD_WIDTH / ( HFIELD_WSTEP-1 ) )
47#define HFIELD_DSAMP ( HFIELD_DEPTH / ( HFIELD_DSTEP-1 ) )
48
49#ifdef dDOUBLE
50#define dsDrawBox dsDrawBoxD
51#define dsDrawSphere dsDrawSphereD
52#define dsDrawCylinder dsDrawCylinderD
53#define dsDrawCapsule dsDrawCapsuleD
54#define dsDrawConvex dsDrawConvexD
55#define dsDrawTriangle dsDrawTriangleD
56#endif
57
58
59
60//<---- Convex Object
61dReal planes[]= // planes for a cube
62 {
63 1.0f ,0.0f ,0.0f ,0.25f,
64 0.0f ,1.0f ,0.0f ,0.25f,
65 0.0f ,0.0f ,1.0f ,0.25f,
66 0.0f ,0.0f ,-1.0f,0.25f,
67 0.0f ,-1.0f,0.0f ,0.25f,
68 -1.0f,0.0f ,0.0f ,0.25f
69 /*
70 1.0f ,0.0f ,0.0f ,2.0f,
71 0.0f ,1.0f ,0.0f ,1.0f,
72 0.0f ,0.0f ,1.0f ,1.0f,
73 0.0f ,0.0f ,-1.0f,1.0f,
74 0.0f ,-1.0f,0.0f ,1.0f,
75 -1.0f,0.0f ,0.0f ,0.0f
76 */
77 };
78const unsigned int planecount=6;
79
80dReal points[]= // points for a cube
81 {
82 0.25f,0.25f,0.25f, // point 0
83 -0.25f,0.25f,0.25f, // point 1
84
85 0.25f,-0.25f,0.25f, // point 2
86 -0.25f,-0.25f,0.25f,// point 3
87
88 0.25f,0.25f,-0.25f, // point 4
89 -0.25f,0.25f,-0.25f,// point 5
90
91 0.25f,-0.25f,-0.25f,// point 6
92 -0.25f,-0.25f,-0.25f,// point 7
93 };
94const unsigned int pointcount=8;
95unsigned int polygons[] = //Polygons for a cube (6 squares)
96 {
97 4,0,2,6,4, // positive X
98 4,1,0,4,5, // positive Y
99 4,0,1,3,2, // positive Z
100 4,3,1,5,7, // negative X
101 4,2,3,7,6, // negative Y
102 4,5,4,6,7, // negative Z
103 };
104//----> Convex Object
105
106// select correct drawing functions
107
108#ifdef dDOUBLE
109#define dsDrawBox dsDrawBoxD
110#define dsDrawSphere dsDrawSphereD
111#define dsDrawCylinder dsDrawCylinderD
112#define dsDrawCapsule dsDrawCapsuleD
113#define dsDrawConvex dsDrawConvexD
114#endif
115
116
117// some constants
118
119#define NUM 100 // max number of objects
120#define DENSITY (5.0) // density of all objects
121#define GPB 3 // maximum number of geometries per body
122#define MAX_CONTACTS 64 // maximum number of contact points per body
123
124
125// dynamics and collision objects
126
127struct MyObject {
128 dBodyID body; // the body
129 dGeomID geom[GPB]; // geometries representing this body
130
131 // Trimesh only - double buffered matrices for 'last transform' setup
132 dReal matrix_dblbuff[ 16 * 2 ];
133 int last_matrix_index;
134};
135
136static int num=0; // number of objects in simulation
137static int nextobj=0; // next object to recycle if num==NUM
138static dWorldID world;
139static dSpaceID space;
140static MyObject obj[NUM];
141static dJointGroupID contactgroup;
142static int selected = -1; // selected object
143static int show_aabb = 0; // show geom AABBs?
144static int show_contacts = 0; // show contact points?
145static int random_pos = 1; // drop objects from random position?
146static int write_world = 0;
147
148
149
150
151//============================
152
153// Bunny mesh ripped from Opcode
154const int VertexCount = 453;
155const int IndexCount = 902 * 3;
156
157typedef dReal dVector3R[3];
158
159dGeomID TriMesh1;
160dGeomID TriMesh2;
161static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data
162
163static float Vertices[VertexCount * 3] = {
164 REAL(-0.334392), REAL(0.133007), REAL(0.062259),
165 REAL(-0.350189), REAL(0.150354), REAL(-0.147769),
166 REAL(-0.234201), REAL(0.343811), REAL(-0.174307),
167 REAL(-0.200259), REAL(0.285207), REAL(0.093749),
168 REAL(0.003520), REAL(0.475208), REAL(-0.159365),
169 REAL(0.001856), REAL(0.419203), REAL(0.098582),
170 REAL(-0.252802), REAL(0.093666), REAL(0.237538),
171 REAL(-0.162901), REAL(0.237984), REAL(0.206905),
172 REAL(0.000865), REAL(0.318141), REAL(0.235370),
173 REAL(-0.414624), REAL(0.164083), REAL(-0.278254),
174 REAL(-0.262213), REAL(0.357334), REAL(-0.293246),
175 REAL(0.004628), REAL(0.482694), REAL(-0.338626),
176 REAL(-0.402162), REAL(0.133528), REAL(-0.443247),
177 REAL(-0.243781), REAL(0.324275), REAL(-0.436763),
178 REAL(0.005293), REAL(0.437592), REAL(-0.458332),
179 REAL(-0.339884), REAL(-0.041150), REAL(-0.668211),
180 REAL(-0.248382), REAL(0.255825), REAL(-0.627493),
181 REAL(0.006261), REAL(0.376103), REAL(-0.631506),
182 REAL(-0.216201), REAL(-0.126776), REAL(-0.886936),
183 REAL(-0.171075), REAL(0.011544), REAL(-0.881386),
184 REAL(-0.181074), REAL(0.098223), REAL(-0.814779),
185 REAL(-0.119891), REAL(0.218786), REAL(-0.760153),
186 REAL(-0.078895), REAL(0.276780), REAL(-0.739281),
187 REAL(0.006801), REAL(0.310959), REAL(-0.735661),
188 REAL(-0.168842), REAL(0.102387), REAL(-0.920381),
189 REAL(-0.104072), REAL(0.177278), REAL(-0.952530),
190 REAL(-0.129704), REAL(0.211848), REAL(-0.836678),
191 REAL(-0.099875), REAL(0.310931), REAL(-0.799381),
192 REAL(0.007237), REAL(0.361687), REAL(-0.794439),
193 REAL(-0.077913), REAL(0.258753), REAL(-0.921640),
194 REAL(0.007957), REAL(0.282241), REAL(-0.931680),
195 REAL(-0.252222), REAL(-0.550401), REAL(-0.557810),
196 REAL(-0.267633), REAL(-0.603419), REAL(-0.655209),
197 REAL(-0.446838), REAL(-0.118517), REAL(-0.466159),
198 REAL(-0.459488), REAL(-0.093017), REAL(-0.311341),
199 REAL(-0.370645), REAL(-0.100108), REAL(-0.159454),
200 REAL(-0.371984), REAL(-0.091991), REAL(-0.011044),
201 REAL(-0.328945), REAL(-0.098269), REAL(0.088659),
202 REAL(-0.282452), REAL(-0.018862), REAL(0.311501),
203 REAL(-0.352403), REAL(-0.131341), REAL(0.144902),
204 REAL(-0.364126), REAL(-0.200299), REAL(0.202388),
205 REAL(-0.283965), REAL(-0.231869), REAL(0.023668),
206 REAL(-0.298943), REAL(-0.155218), REAL(0.369716),
207 REAL(-0.293787), REAL(-0.121856), REAL(0.419097),
208 REAL(-0.290163), REAL(-0.290797), REAL(0.107824),
209 REAL(-0.264165), REAL(-0.272849), REAL(0.036347),
210 REAL(-0.228567), REAL(-0.372573), REAL(0.290309),
211 REAL(-0.190431), REAL(-0.286997), REAL(0.421917),
212 REAL(-0.191039), REAL(-0.240973), REAL(0.507118),
213 REAL(-0.287272), REAL(-0.276431), REAL(-0.065444),
214 REAL(-0.295675), REAL(-0.280818), REAL(-0.174200),
215 REAL(-0.399537), REAL(-0.313131), REAL(-0.376167),
216 REAL(-0.392666), REAL(-0.488581), REAL(-0.427494),
217 REAL(-0.331669), REAL(-0.570185), REAL(-0.466054),
218 REAL(-0.282290), REAL(-0.618140), REAL(-0.589220),
219 REAL(-0.374238), REAL(-0.594882), REAL(-0.323298),
220 REAL(-0.381071), REAL(-0.629723), REAL(-0.350777),
221 REAL(-0.382112), REAL(-0.624060), REAL(-0.221577),
222 REAL(-0.272701), REAL(-0.566522), REAL(0.259157),
223 REAL(-0.256702), REAL(-0.663406), REAL(0.286079),
224 REAL(-0.280948), REAL(-0.428359), REAL(0.055790),
225 REAL(-0.184974), REAL(-0.508894), REAL(0.326265),
226 REAL(-0.279971), REAL(-0.526918), REAL(0.395319),
227 REAL(-0.282599), REAL(-0.663393), REAL(0.412411),
228 REAL(-0.188329), REAL(-0.475093), REAL(0.417954),
229 REAL(-0.263384), REAL(-0.663396), REAL(0.466604),
230 REAL(-0.209063), REAL(-0.663393), REAL(0.509344),
231 REAL(-0.002044), REAL(-0.319624), REAL(0.553078),
232 REAL(-0.001266), REAL(-0.371260), REAL(0.413296),
233 REAL(-0.219753), REAL(-0.339762), REAL(-0.040921),
234 REAL(-0.256986), REAL(-0.282511), REAL(-0.006349),
235 REAL(-0.271706), REAL(-0.260881), REAL(0.001764),
236 REAL(-0.091191), REAL(-0.419184), REAL(-0.045912),
237 REAL(-0.114944), REAL(-0.429752), REAL(-0.124739),
238 REAL(-0.113970), REAL(-0.382987), REAL(-0.188540),
239 REAL(-0.243012), REAL(-0.464942), REAL(-0.242850),
240 REAL(-0.314815), REAL(-0.505402), REAL(-0.324768),
241 REAL(0.002774), REAL(-0.437526), REAL(-0.262766),
242 REAL(-0.072625), REAL(-0.417748), REAL(-0.221440),
243 REAL(-0.160112), REAL(-0.476932), REAL(-0.293450),
244 REAL(0.003859), REAL(-0.453425), REAL(-0.443916),
245 REAL(-0.120363), REAL(-0.581567), REAL(-0.438689),
246 REAL(-0.091499), REAL(-0.584191), REAL(-0.294511),
247 REAL(-0.116469), REAL(-0.599861), REAL(-0.188308),
248 REAL(-0.208032), REAL(-0.513640), REAL(-0.134649),
249 REAL(-0.235749), REAL(-0.610017), REAL(-0.040939),
250 REAL(-0.344916), REAL(-0.622487), REAL(-0.085380),
251 REAL(-0.336401), REAL(-0.531864), REAL(-0.212298),
252 REAL(0.001961), REAL(-0.459550), REAL(-0.135547),
253 REAL(-0.058296), REAL(-0.430536), REAL(-0.043440),
254 REAL(0.001378), REAL(-0.449511), REAL(-0.037762),
255 REAL(-0.130135), REAL(-0.510222), REAL(0.079144),
256 REAL(0.000142), REAL(-0.477549), REAL(0.157064),
257 REAL(-0.114284), REAL(-0.453206), REAL(0.304397),
258 REAL(-0.000592), REAL(-0.443558), REAL(0.285401),
259 REAL(-0.056215), REAL(-0.663402), REAL(0.326073),
260 REAL(-0.026248), REAL(-0.568010), REAL(0.273318),
261 REAL(-0.049261), REAL(-0.531064), REAL(0.389854),
262 REAL(-0.127096), REAL(-0.663398), REAL(0.479316),
263 REAL(-0.058384), REAL(-0.663401), REAL(0.372891),
264 REAL(-0.303961), REAL(0.054199), REAL(0.625921),
265 REAL(-0.268594), REAL(0.193403), REAL(0.502766),
266 REAL(-0.277159), REAL(0.126123), REAL(0.443289),
267 REAL(-0.287605), REAL(-0.005722), REAL(0.531844),
268 REAL(-0.231396), REAL(-0.121289), REAL(0.587387),
269 REAL(-0.253475), REAL(-0.081797), REAL(0.756541),
270 REAL(-0.195164), REAL(-0.137969), REAL(0.728011),
271 REAL(-0.167673), REAL(-0.156573), REAL(0.609388),
272 REAL(-0.145917), REAL(-0.169029), REAL(0.697600),
273 REAL(-0.077776), REAL(-0.214247), REAL(0.622586),
274 REAL(-0.076873), REAL(-0.214971), REAL(0.696301),
275 REAL(-0.002341), REAL(-0.233135), REAL(0.622859),
276 REAL(-0.002730), REAL(-0.213526), REAL(0.691267),
277 REAL(-0.003136), REAL(-0.192628), REAL(0.762731),
278 REAL(-0.056136), REAL(-0.201222), REAL(0.763806),
279 REAL(-0.114589), REAL(-0.166192), REAL(0.770723),
280 REAL(-0.155145), REAL(-0.129632), REAL(0.791738),
281 REAL(-0.183611), REAL(-0.058705), REAL(0.847012),
282 REAL(-0.165562), REAL(0.001980), REAL(0.833386),
283 REAL(-0.220084), REAL(0.019914), REAL(0.768935),
284 REAL(-0.255730), REAL(0.090306), REAL(0.670782),
285 REAL(-0.255594), REAL(0.113833), REAL(0.663389),
286 REAL(-0.226380), REAL(0.212655), REAL(0.617740),
287 REAL(-0.003367), REAL(-0.195342), REAL(0.799680),
288 REAL(-0.029743), REAL(-0.210508), REAL(0.827180),
289 REAL(-0.003818), REAL(-0.194783), REAL(0.873636),
290 REAL(-0.004116), REAL(-0.157907), REAL(0.931268),
291 REAL(-0.031280), REAL(-0.184555), REAL(0.889476),
292 REAL(-0.059885), REAL(-0.184448), REAL(0.841330),
293 REAL(-0.135333), REAL(-0.164332), REAL(0.878200),
294 REAL(-0.085574), REAL(-0.170948), REAL(0.925547),
295 REAL(-0.163833), REAL(-0.094170), REAL(0.897114),
296 REAL(-0.138444), REAL(-0.104250), REAL(0.945975),
297 REAL(-0.083497), REAL(-0.084934), REAL(0.979607),
298 REAL(-0.004433), REAL(-0.146642), REAL(0.985872),
299 REAL(-0.150715), REAL(0.032650), REAL(0.884111),
300 REAL(-0.135892), REAL(-0.035520), REAL(0.945455),
301 REAL(-0.070612), REAL(0.036849), REAL(0.975733),
302 REAL(-0.004458), REAL(-0.042526), REAL(1.015670),
303 REAL(-0.004249), REAL(0.046042), REAL(1.003240),
304 REAL(-0.086969), REAL(0.133224), REAL(0.947633),
305 REAL(-0.003873), REAL(0.161605), REAL(0.970499),
306 REAL(-0.125544), REAL(0.140012), REAL(0.917678),
307 REAL(-0.125651), REAL(0.250246), REAL(0.857602),
308 REAL(-0.003127), REAL(0.284070), REAL(0.878870),
309 REAL(-0.159174), REAL(0.125726), REAL(0.888878),
310 REAL(-0.183807), REAL(0.196970), REAL(0.844480),
311 REAL(-0.159890), REAL(0.291736), REAL(0.732480),
312 REAL(-0.199495), REAL(0.207230), REAL(0.779864),
313 REAL(-0.206182), REAL(0.164608), REAL(0.693257),
314 REAL(-0.186315), REAL(0.160689), REAL(0.817193),
315 REAL(-0.192827), REAL(0.166706), REAL(0.782271),
316 REAL(-0.175112), REAL(0.110008), REAL(0.860621),
317 REAL(-0.161022), REAL(0.057420), REAL(0.855111),
318 REAL(-0.172319), REAL(0.036155), REAL(0.816189),
319 REAL(-0.190318), REAL(0.064083), REAL(0.760605),
320 REAL(-0.195072), REAL(0.129179), REAL(0.731104),
321 REAL(-0.203126), REAL(0.410287), REAL(0.680536),
322 REAL(-0.216677), REAL(0.309274), REAL(0.642272),
323 REAL(-0.241515), REAL(0.311485), REAL(0.587832),
324 REAL(-0.002209), REAL(0.366663), REAL(0.749413),
325 REAL(-0.088230), REAL(0.396265), REAL(0.678635),
326 REAL(-0.170147), REAL(0.109517), REAL(0.840784),
327 REAL(-0.160521), REAL(0.067766), REAL(0.830650),
328 REAL(-0.181546), REAL(0.139805), REAL(0.812146),
329 REAL(-0.180495), REAL(0.148568), REAL(0.776087),
330 REAL(-0.180255), REAL(0.129125), REAL(0.744192),
331 REAL(-0.186298), REAL(0.078308), REAL(0.769352),
332 REAL(-0.167622), REAL(0.060539), REAL(0.806675),
333 REAL(-0.189876), REAL(0.102760), REAL(0.802582),
334 REAL(-0.108340), REAL(0.455446), REAL(0.657174),
335 REAL(-0.241585), REAL(0.527592), REAL(0.669296),
336 REAL(-0.265676), REAL(0.513366), REAL(0.634594),
337 REAL(-0.203073), REAL(0.478550), REAL(0.581526),
338 REAL(-0.266772), REAL(0.642330), REAL(0.602061),
339 REAL(-0.216961), REAL(0.564846), REAL(0.535435),
340 REAL(-0.202210), REAL(0.525495), REAL(0.475944),
341 REAL(-0.193888), REAL(0.467925), REAL(0.520606),
342 REAL(-0.265837), REAL(0.757267), REAL(0.500933),
343 REAL(-0.240306), REAL(0.653440), REAL(0.463215),
344 REAL(-0.309239), REAL(0.776868), REAL(0.304726),
345 REAL(-0.271009), REAL(0.683094), REAL(0.382018),
346 REAL(-0.312111), REAL(0.671099), REAL(0.286687),
347 REAL(-0.268791), REAL(0.624342), REAL(0.377231),
348 REAL(-0.302457), REAL(0.533996), REAL(0.360289),
349 REAL(-0.263656), REAL(0.529310), REAL(0.412564),
350 REAL(-0.282311), REAL(0.415167), REAL(0.447666),
351 REAL(-0.239201), REAL(0.442096), REAL(0.495604),
352 REAL(-0.220043), REAL(0.569026), REAL(0.445877),
353 REAL(-0.001263), REAL(0.395631), REAL(0.602029),
354 REAL(-0.057345), REAL(0.442535), REAL(0.572224),
355 REAL(-0.088927), REAL(0.506333), REAL(0.529106),
356 REAL(-0.125738), REAL(0.535076), REAL(0.612913),
357 REAL(-0.126251), REAL(0.577170), REAL(0.483159),
358 REAL(-0.149594), REAL(0.611520), REAL(0.557731),
359 REAL(-0.163188), REAL(0.660791), REAL(0.491080),
360 REAL(-0.172482), REAL(0.663387), REAL(0.415416),
361 REAL(-0.160464), REAL(0.591710), REAL(0.370659),
362 REAL(-0.156445), REAL(0.536396), REAL(0.378302),
363 REAL(-0.136496), REAL(0.444358), REAL(0.425226),
364 REAL(-0.095564), REAL(0.373768), REAL(0.473659),
365 REAL(-0.104146), REAL(0.315912), REAL(0.498104),
366 REAL(-0.000496), REAL(0.384194), REAL(0.473817),
367 REAL(-0.000183), REAL(0.297770), REAL(0.401486),
368 REAL(-0.129042), REAL(0.270145), REAL(0.434495),
369 REAL(0.000100), REAL(0.272963), REAL(0.349138),
370 REAL(-0.113060), REAL(0.236984), REAL(0.385554),
371 REAL(0.007260), REAL(0.016311), REAL(-0.883396),
372 REAL(0.007865), REAL(0.122104), REAL(-0.956137),
373 REAL(-0.032842), REAL(0.115282), REAL(-0.953252),
374 REAL(-0.089115), REAL(0.108449), REAL(-0.950317),
375 REAL(-0.047440), REAL(0.014729), REAL(-0.882756),
376 REAL(-0.104458), REAL(0.013137), REAL(-0.882070),
377 REAL(-0.086439), REAL(-0.584866), REAL(-0.608343),
378 REAL(-0.115026), REAL(-0.662605), REAL(-0.436732),
379 REAL(-0.071683), REAL(-0.665372), REAL(-0.606385),
380 REAL(-0.257884), REAL(-0.665381), REAL(-0.658052),
381 REAL(-0.272542), REAL(-0.665381), REAL(-0.592063),
382 REAL(-0.371322), REAL(-0.665382), REAL(-0.353620),
383 REAL(-0.372362), REAL(-0.665381), REAL(-0.224420),
384 REAL(-0.335166), REAL(-0.665380), REAL(-0.078623),
385 REAL(-0.225999), REAL(-0.665375), REAL(-0.038981),
386 REAL(-0.106719), REAL(-0.665374), REAL(-0.186351),
387 REAL(-0.081749), REAL(-0.665372), REAL(-0.292554),
388 REAL(0.006943), REAL(-0.091505), REAL(-0.858354),
389 REAL(0.006117), REAL(-0.280985), REAL(-0.769967),
390 REAL(0.004495), REAL(-0.502360), REAL(-0.559799),
391 REAL(-0.198638), REAL(-0.302135), REAL(-0.845816),
392 REAL(-0.237395), REAL(-0.542544), REAL(-0.587188),
393 REAL(-0.270001), REAL(-0.279489), REAL(-0.669861),
394 REAL(-0.134547), REAL(-0.119852), REAL(-0.959004),
395 REAL(-0.052088), REAL(-0.122463), REAL(-0.944549),
396 REAL(-0.124463), REAL(-0.293508), REAL(-0.899566),
397 REAL(-0.047616), REAL(-0.289643), REAL(-0.879292),
398 REAL(-0.168595), REAL(-0.529132), REAL(-0.654931),
399 REAL(-0.099793), REAL(-0.515719), REAL(-0.645873),
400 REAL(-0.186168), REAL(-0.605282), REAL(-0.724690),
401 REAL(-0.112970), REAL(-0.583097), REAL(-0.707469),
402 REAL(-0.108152), REAL(-0.665375), REAL(-0.700408),
403 REAL(-0.183019), REAL(-0.665378), REAL(-0.717630),
404 REAL(-0.349529), REAL(-0.334459), REAL(-0.511985),
405 REAL(-0.141182), REAL(-0.437705), REAL(-0.798194),
406 REAL(-0.212670), REAL(-0.448725), REAL(-0.737447),
407 REAL(-0.261111), REAL(-0.414945), REAL(-0.613835),
408 REAL(-0.077364), REAL(-0.431480), REAL(-0.778113),
409 REAL(0.005174), REAL(-0.425277), REAL(-0.651592),
410 REAL(0.089236), REAL(-0.431732), REAL(-0.777093),
411 REAL(0.271006), REAL(-0.415749), REAL(-0.610577),
412 REAL(0.223981), REAL(-0.449384), REAL(-0.734774),
413 REAL(0.153275), REAL(-0.438150), REAL(-0.796391),
414 REAL(0.358414), REAL(-0.335529), REAL(-0.507649),
415 REAL(0.193434), REAL(-0.665946), REAL(-0.715325),
416 REAL(0.118363), REAL(-0.665717), REAL(-0.699021),
417 REAL(0.123515), REAL(-0.583454), REAL(-0.706020),
418 REAL(0.196851), REAL(-0.605860), REAL(-0.722345),
419 REAL(0.109788), REAL(-0.516035), REAL(-0.644590),
420 REAL(0.178656), REAL(-0.529656), REAL(-0.652804),
421 REAL(0.061157), REAL(-0.289807), REAL(-0.878626),
422 REAL(0.138234), REAL(-0.293905), REAL(-0.897958),
423 REAL(0.066933), REAL(-0.122643), REAL(-0.943820),
424 REAL(0.149571), REAL(-0.120281), REAL(-0.957264),
425 REAL(0.280989), REAL(-0.280321), REAL(-0.666487),
426 REAL(0.246581), REAL(-0.543275), REAL(-0.584224),
427 REAL(0.211720), REAL(-0.302754), REAL(-0.843303),
428 REAL(0.086966), REAL(-0.665627), REAL(-0.291520),
429 REAL(0.110634), REAL(-0.665702), REAL(-0.185021),
430 REAL(0.228099), REAL(-0.666061), REAL(-0.036201),
431 REAL(0.337743), REAL(-0.666396), REAL(-0.074503),
432 REAL(0.376722), REAL(-0.666513), REAL(-0.219833),
433 REAL(0.377265), REAL(-0.666513), REAL(-0.349036),
434 REAL(0.281411), REAL(-0.666217), REAL(-0.588670),
435 REAL(0.267564), REAL(-0.666174), REAL(-0.654834),
436 REAL(0.080745), REAL(-0.665602), REAL(-0.605452),
437 REAL(0.122016), REAL(-0.662963), REAL(-0.435280),
438 REAL(0.095767), REAL(-0.585141), REAL(-0.607228),
439 REAL(0.118944), REAL(0.012799), REAL(-0.880702),
440 REAL(0.061944), REAL(0.014564), REAL(-0.882086),
441 REAL(0.104725), REAL(0.108156), REAL(-0.949130),
442 REAL(0.048513), REAL(0.115159), REAL(-0.952753),
443 REAL(0.112696), REAL(0.236643), REAL(0.386937),
444 REAL(0.128177), REAL(0.269757), REAL(0.436071),
445 REAL(0.102643), REAL(0.315600), REAL(0.499370),
446 REAL(0.094535), REAL(0.373481), REAL(0.474824),
447 REAL(0.136270), REAL(0.443946), REAL(0.426895),
448 REAL(0.157071), REAL(0.535923), REAL(0.380222),
449 REAL(0.161350), REAL(0.591224), REAL(0.372630),
450 REAL(0.173035), REAL(0.662865), REAL(0.417531),
451 REAL(0.162808), REAL(0.660299), REAL(0.493077),
452 REAL(0.148250), REAL(0.611070), REAL(0.559555),
453 REAL(0.125719), REAL(0.576790), REAL(0.484702),
454 REAL(0.123489), REAL(0.534699), REAL(0.614440),
455 REAL(0.087621), REAL(0.506066), REAL(0.530188),
456 REAL(0.055321), REAL(0.442365), REAL(0.572915),
457 REAL(0.219936), REAL(0.568361), REAL(0.448571),
458 REAL(0.238099), REAL(0.441375), REAL(0.498528),
459 REAL(0.281711), REAL(0.414315), REAL(0.451121),
460 REAL(0.263833), REAL(0.528513), REAL(0.415794),
461 REAL(0.303284), REAL(0.533081), REAL(0.363998),
462 REAL(0.269687), REAL(0.623528), REAL(0.380528),
463 REAL(0.314255), REAL(0.670153), REAL(0.290524),
464 REAL(0.272023), REAL(0.682273), REAL(0.385343),
465 REAL(0.311480), REAL(0.775931), REAL(0.308527),
466 REAL(0.240239), REAL(0.652714), REAL(0.466159),
467 REAL(0.265619), REAL(0.756464), REAL(0.504187),
468 REAL(0.192562), REAL(0.467341), REAL(0.522972),
469 REAL(0.201605), REAL(0.524885), REAL(0.478417),
470 REAL(0.215743), REAL(0.564193), REAL(0.538084),
471 REAL(0.264969), REAL(0.641527), REAL(0.605317),
472 REAL(0.201031), REAL(0.477940), REAL(0.584002),
473 REAL(0.263086), REAL(0.512567), REAL(0.637832),
474 REAL(0.238615), REAL(0.526867), REAL(0.672237),
475 REAL(0.105309), REAL(0.455123), REAL(0.658482),
476 REAL(0.183993), REAL(0.102195), REAL(0.804872),
477 REAL(0.161563), REAL(0.060042), REAL(0.808692),
478 REAL(0.180748), REAL(0.077754), REAL(0.771600),
479 REAL(0.175168), REAL(0.128588), REAL(0.746368),
480 REAL(0.175075), REAL(0.148030), REAL(0.778264),
481 REAL(0.175658), REAL(0.139265), REAL(0.814333),
482 REAL(0.154191), REAL(0.067291), REAL(0.832578),
483 REAL(0.163818), REAL(0.109013), REAL(0.842830),
484 REAL(0.084760), REAL(0.396004), REAL(0.679695),
485 REAL(0.238888), REAL(0.310760), REAL(0.590775),
486 REAL(0.213380), REAL(0.308625), REAL(0.644905),
487 REAL(0.199666), REAL(0.409678), REAL(0.683003),
488 REAL(0.190143), REAL(0.128597), REAL(0.733463),
489 REAL(0.184833), REAL(0.063516), REAL(0.762902),
490 REAL(0.166070), REAL(0.035644), REAL(0.818261),
491 REAL(0.154361), REAL(0.056943), REAL(0.857042),
492 REAL(0.168542), REAL(0.109489), REAL(0.862725),
493 REAL(0.187387), REAL(0.166131), REAL(0.784599),
494 REAL(0.180428), REAL(0.160135), REAL(0.819438),
495 REAL(0.201823), REAL(0.163991), REAL(0.695756),
496 REAL(0.194206), REAL(0.206635), REAL(0.782275),
497 REAL(0.155438), REAL(0.291260), REAL(0.734412),
498 REAL(0.177696), REAL(0.196424), REAL(0.846693),
499 REAL(0.152305), REAL(0.125256), REAL(0.890786),
500 REAL(0.119546), REAL(0.249876), REAL(0.859104),
501 REAL(0.118369), REAL(0.139643), REAL(0.919173),
502 REAL(0.079410), REAL(0.132973), REAL(0.948652),
503 REAL(0.062419), REAL(0.036648), REAL(0.976547),
504 REAL(0.127847), REAL(-0.035919), REAL(0.947070),
505 REAL(0.143624), REAL(0.032206), REAL(0.885913),
506 REAL(0.074888), REAL(-0.085173), REAL(0.980577),
507 REAL(0.130184), REAL(-0.104656), REAL(0.947620),
508 REAL(0.156201), REAL(-0.094653), REAL(0.899074),
509 REAL(0.077366), REAL(-0.171194), REAL(0.926545),
510 REAL(0.127722), REAL(-0.164729), REAL(0.879810),
511 REAL(0.052670), REAL(-0.184618), REAL(0.842019),
512 REAL(0.023477), REAL(-0.184638), REAL(0.889811),
513 REAL(0.022626), REAL(-0.210587), REAL(0.827500),
514 REAL(0.223089), REAL(0.211976), REAL(0.620493),
515 REAL(0.251444), REAL(0.113067), REAL(0.666494),
516 REAL(0.251419), REAL(0.089540), REAL(0.673887),
517 REAL(0.214360), REAL(0.019258), REAL(0.771595),
518 REAL(0.158999), REAL(0.001490), REAL(0.835374),
519 REAL(0.176696), REAL(-0.059249), REAL(0.849218),
520 REAL(0.148696), REAL(-0.130091), REAL(0.793599),
521 REAL(0.108290), REAL(-0.166528), REAL(0.772088),
522 REAL(0.049820), REAL(-0.201382), REAL(0.764454),
523 REAL(0.071341), REAL(-0.215195), REAL(0.697209),
524 REAL(0.073148), REAL(-0.214475), REAL(0.623510),
525 REAL(0.140502), REAL(-0.169461), REAL(0.699354),
526 REAL(0.163374), REAL(-0.157073), REAL(0.611416),
527 REAL(0.189466), REAL(-0.138550), REAL(0.730366),
528 REAL(0.247593), REAL(-0.082554), REAL(0.759610),
529 REAL(0.227468), REAL(-0.121982), REAL(0.590197),
530 REAL(0.284702), REAL(-0.006586), REAL(0.535347),
531 REAL(0.275741), REAL(0.125287), REAL(0.446676),
532 REAL(0.266650), REAL(0.192594), REAL(0.506044),
533 REAL(0.300086), REAL(0.053287), REAL(0.629620),
534 REAL(0.055450), REAL(-0.663935), REAL(0.375065),
535 REAL(0.122854), REAL(-0.664138), REAL(0.482323),
536 REAL(0.046520), REAL(-0.531571), REAL(0.391918),
537 REAL(0.024824), REAL(-0.568450), REAL(0.275106),
538 REAL(0.053855), REAL(-0.663931), REAL(0.328224),
539 REAL(0.112829), REAL(-0.453549), REAL(0.305788),
540 REAL(0.131265), REAL(-0.510617), REAL(0.080746),
541 REAL(0.061174), REAL(-0.430716), REAL(-0.042710),
542 REAL(0.341019), REAL(-0.532887), REAL(-0.208150),
543 REAL(0.347705), REAL(-0.623533), REAL(-0.081139),
544 REAL(0.238040), REAL(-0.610732), REAL(-0.038037),
545 REAL(0.211764), REAL(-0.514274), REAL(-0.132078),
546 REAL(0.120605), REAL(-0.600219), REAL(-0.186856),
547 REAL(0.096985), REAL(-0.584476), REAL(-0.293357),
548 REAL(0.127621), REAL(-0.581941), REAL(-0.437170),
549 REAL(0.165902), REAL(-0.477425), REAL(-0.291453),
550 REAL(0.077720), REAL(-0.417975), REAL(-0.220519),
551 REAL(0.320892), REAL(-0.506363), REAL(-0.320874),
552 REAL(0.248214), REAL(-0.465684), REAL(-0.239842),
553 REAL(0.118764), REAL(-0.383338), REAL(-0.187114),
554 REAL(0.118816), REAL(-0.430106), REAL(-0.123307),
555 REAL(0.094131), REAL(-0.419464), REAL(-0.044777),
556 REAL(0.274526), REAL(-0.261706), REAL(0.005110),
557 REAL(0.259842), REAL(-0.283292), REAL(-0.003185),
558 REAL(0.222861), REAL(-0.340431), REAL(-0.038210),
559 REAL(0.204445), REAL(-0.664380), REAL(0.513353),
560 REAL(0.259286), REAL(-0.664547), REAL(0.471281),
561 REAL(0.185402), REAL(-0.476020), REAL(0.421718),
562 REAL(0.279163), REAL(-0.664604), REAL(0.417328),
563 REAL(0.277157), REAL(-0.528122), REAL(0.400208),
564 REAL(0.183069), REAL(-0.509812), REAL(0.329995),
565 REAL(0.282599), REAL(-0.429210), REAL(0.059242),
566 REAL(0.254816), REAL(-0.664541), REAL(0.290687),
567 REAL(0.271436), REAL(-0.567707), REAL(0.263966),
568 REAL(0.386561), REAL(-0.625221), REAL(-0.216870),
569 REAL(0.387086), REAL(-0.630883), REAL(-0.346073),
570 REAL(0.380021), REAL(-0.596021), REAL(-0.318679),
571 REAL(0.291269), REAL(-0.619007), REAL(-0.585707),
572 REAL(0.339280), REAL(-0.571198), REAL(-0.461946),
573 REAL(0.400045), REAL(-0.489778), REAL(-0.422640),
574 REAL(0.406817), REAL(-0.314349), REAL(-0.371230),
575 REAL(0.300588), REAL(-0.281718), REAL(-0.170549),
576 REAL(0.290866), REAL(-0.277304), REAL(-0.061905),
577 REAL(0.187735), REAL(-0.241545), REAL(0.509437),
578 REAL(0.188032), REAL(-0.287569), REAL(0.424234),
579 REAL(0.227520), REAL(-0.373262), REAL(0.293102),
580 REAL(0.266526), REAL(-0.273650), REAL(0.039597),
581 REAL(0.291592), REAL(-0.291676), REAL(0.111386),
582 REAL(0.291914), REAL(-0.122741), REAL(0.422683),
583 REAL(0.297574), REAL(-0.156119), REAL(0.373368),
584 REAL(0.286603), REAL(-0.232731), REAL(0.027162),
585 REAL(0.364663), REAL(-0.201399), REAL(0.206850),
586 REAL(0.353855), REAL(-0.132408), REAL(0.149228),
587 REAL(0.282208), REAL(-0.019715), REAL(0.314960),
588 REAL(0.331187), REAL(-0.099266), REAL(0.092701),
589 REAL(0.375463), REAL(-0.093120), REAL(-0.006467),
590 REAL(0.375917), REAL(-0.101236), REAL(-0.154882),
591 REAL(0.466635), REAL(-0.094416), REAL(-0.305669),
592 REAL(0.455805), REAL(-0.119881), REAL(-0.460632),
593 REAL(0.277465), REAL(-0.604242), REAL(-0.651871),
594 REAL(0.261022), REAL(-0.551176), REAL(-0.554667),
595 REAL(0.093627), REAL(0.258494), REAL(-0.920589),
596 REAL(0.114248), REAL(0.310608), REAL(-0.798070),
597 REAL(0.144232), REAL(0.211434), REAL(-0.835001),
598 REAL(0.119916), REAL(0.176940), REAL(-0.951159),
599 REAL(0.184061), REAL(0.101854), REAL(-0.918220),
600 REAL(0.092431), REAL(0.276521), REAL(-0.738231),
601 REAL(0.133504), REAL(0.218403), REAL(-0.758602),
602 REAL(0.194987), REAL(0.097655), REAL(-0.812476),
603 REAL(0.185542), REAL(0.011005), REAL(-0.879202),
604 REAL(0.230315), REAL(-0.127450), REAL(-0.884202),
605 REAL(0.260471), REAL(0.255056), REAL(-0.624378),
606 REAL(0.351567), REAL(-0.042194), REAL(-0.663976),
607 REAL(0.253742), REAL(0.323524), REAL(-0.433716),
608 REAL(0.411612), REAL(0.132299), REAL(-0.438264),
609 REAL(0.270513), REAL(0.356530), REAL(-0.289984),
610 REAL(0.422146), REAL(0.162819), REAL(-0.273130),
611 REAL(0.164724), REAL(0.237490), REAL(0.208912),
612 REAL(0.253806), REAL(0.092900), REAL(0.240640),
613 REAL(0.203608), REAL(0.284597), REAL(0.096223),
614 REAL(0.241006), REAL(0.343093), REAL(-0.171396),
615 REAL(0.356076), REAL(0.149288), REAL(-0.143443),
616 REAL(0.337656), REAL(0.131992), REAL(0.066374)
617};
618
619int Indices[IndexCount / 3][3] = {
620 {126,134,133},
621 {342,138,134},
622 {133,134,138},
623 {126,342,134},
624 {312,316,317},
625 {169,163,162},
626 {312,317,319},
627 {312,319,318},
628 {169,162,164},
629 {169,168,163},
630 {312,314,315},
631 {169,164,165},
632 {169,167,168},
633 {312,315,316},
634 {312,313,314},
635 {169,165,166},
636 {169,166,167},
637 {312,318,313},
638 {308,304,305},
639 {308,305,306},
640 {179,181,188},
641 {177,173,175},
642 {177,175,176},
643 {302,293,300},
644 {322,294,304},
645 {188,176,175},
646 {188,175,179},
647 {158,177,187},
648 {305,293,302},
649 {305,302,306},
650 {322,304,308},
651 {188,181,183},
652 {158,173,177},
653 {293,298,300},
654 {304,294,296},
655 {304,296,305},
656 {185,176,188},
657 {185,188,183},
658 {187,177,176},
659 {187,176,185},
660 {305,296,298},
661 {305,298,293},
662 {436,432, 28},
663 {436, 28, 23},
664 {434,278,431},
665 { 30,208,209},
666 { 30,209, 29},
667 { 19, 20, 24},
668 {208,207,211},
669 {208,211,209},
670 { 19,210,212},
671 {433,434,431},
672 {433,431,432},
673 {433,432,436},
674 {436,437,433},
675 {277,275,276},
676 {277,276,278},
677 {209,210, 25},
678 { 21, 26, 24},
679 { 21, 24, 20},
680 { 25, 26, 27},
681 { 25, 27, 29},
682 {435,439,277},
683 {439,275,277},
684 {432,431, 30},
685 {432, 30, 28},
686 {433,437,438},
687 {433,438,435},
688 {434,277,278},
689 { 24, 25,210},
690 { 24, 26, 25},
691 { 29, 27, 28},
692 { 29, 28, 30},
693 { 19, 24,210},
694 {208, 30,431},
695 {208,431,278},
696 {435,434,433},
697 {435,277,434},
698 { 25, 29,209},
699 { 27, 22, 23},
700 { 27, 23, 28},
701 { 26, 22, 27},
702 { 26, 21, 22},
703 {212,210,209},
704 {212,209,211},
705 {207,208,278},
706 {207,278,276},
707 {439,435,438},
708 { 12, 9, 10},
709 { 12, 10, 13},
710 { 2, 3, 5},
711 { 2, 5, 4},
712 { 16, 13, 14},
713 { 16, 14, 17},
714 { 22, 21, 16},
715 { 13, 10, 11},
716 { 13, 11, 14},
717 { 1, 0, 3},
718 { 1, 3, 2},
719 { 15, 12, 16},
720 { 19, 18, 15},
721 { 19, 15, 16},
722 { 19, 16, 20},
723 { 9, 1, 2},
724 { 9, 2, 10},
725 { 3, 7, 8},
726 { 3, 8, 5},
727 { 16, 17, 23},
728 { 16, 23, 22},
729 { 21, 20, 16},
730 { 10, 2, 4},
731 { 10, 4, 11},
732 { 0, 6, 7},
733 { 0, 7, 3},
734 { 12, 13, 16},
735 {451,446,445},
736 {451,445,450},
737 {442,440,439},
738 {442,439,438},
739 {442,438,441},
740 {421,420,422},
741 {412,411,426},
742 {412,426,425},
743 {408,405,407},
744 {413, 67, 68},
745 {413, 68,414},
746 {391,390,412},
747 { 80,384,386},
748 {404,406,378},
749 {390,391,377},
750 {390,377, 88},
751 {400,415,375},
752 {398,396,395},
753 {398,395,371},
754 {398,371,370},
755 {112,359,358},
756 {112,358,113},
757 {351,352,369},
758 {125,349,348},
759 {345,343,342},
760 {342,340,339},
761 {341,335,337},
762 {328,341,327},
763 {331,323,333},
764 {331,322,323},
765 {327,318,319},
766 {327,319,328},
767 {315,314,324},
768 {302,300,301},
769 {302,301,303},
770 {320,311,292},
771 {285,284,289},
772 {310,307,288},
773 {310,288,290},
774 {321,350,281},
775 {321,281,282},
776 {423,448,367},
777 {272,273,384},
778 {272,384,274},
779 {264,265,382},
780 {264,382,383},
781 {440,442,261},
782 {440,261,263},
783 {252,253,254},
784 {252,254,251},
785 {262,256,249},
786 {262,249,248},
787 {228,243,242},
788 {228, 31,243},
789 {213,215,238},
790 {213,238,237},
791 { 19,212,230},
792 {224,225,233},
793 {224,233,231},
794 {217,218, 56},
795 {217, 56, 54},
796 {217,216,239},
797 {217,239,238},
798 {217,238,215},
799 {218,217,215},
800 {218,215,214},
801 { 6,102,206},
802 {186,199,200},
803 {197,182,180},
804 {170,171,157},
805 {201,200,189},
806 {170,190,191},
807 {170,191,192},
808 {175,174,178},
809 {175,178,179},
810 {168,167,155},
811 {122,149,158},
812 {122,158,159},
813 {135,153,154},
814 {135,154,118},
815 {143,140,141},
816 {143,141,144},
817 {132,133,136},
818 {130,126,133},
819 {124,125,127},
820 {122,101,100},
821 {122,100,121},
822 {110,108,107},
823 {110,107,109},
824 { 98, 99, 97},
825 { 98, 97, 64},
826 { 98, 64, 66},
827 { 87, 55, 57},
828 { 83, 82, 79},
829 { 83, 79, 84},
830 { 78, 74, 50},
831 { 49, 71, 41},
832 { 49, 41, 37},
833 { 49, 37, 36},
834 { 58, 44, 60},
835 { 60, 59, 58},
836 { 51, 34, 33},
837 { 39, 40, 42},
838 { 39, 42, 38},
839 {243,240, 33},
840 {243, 33,229},
841 { 39, 38, 6},
842 { 44, 46, 40},
843 { 55, 56, 57},
844 { 64, 62, 65},
845 { 64, 65, 66},
846 { 41, 71, 45},
847 { 75, 50, 51},
848 { 81, 79, 82},
849 { 77, 88, 73},
850 { 93, 92, 94},
851 { 68, 47, 46},
852 { 96, 97, 99},
853 { 96, 99, 95},
854 {110,109,111},
855 {111,112,110},
856 {114,113,123},
857 {114,123,124},
858 {132,131,129},
859 {133,137,136},
860 {135,142,145},
861 {145,152,135},
862 {149,147,157},
863 {157,158,149},
864 {164,150,151},
865 {153,163,168},
866 {153,168,154},
867 {185,183,182},
868 {185,182,184},
869 {161,189,190},
870 {200,199,191},
871 {200,191,190},
872 {180,178,195},
873 {180,195,196},
874 {102,101,204},
875 {102,204,206},
876 { 43, 48,104},
877 { 43,104,103},
878 {216,217, 54},
879 {216, 54, 32},
880 {207,224,231},
881 {230,212,211},
882 {230,211,231},
883 {227,232,241},
884 {227,241,242},
885 {235,234,241},
886 {235,241,244},
887 {430,248,247},
888 {272,274,253},
889 {272,253,252},
890 {439,260,275},
891 {225,224,259},
892 {225,259,257},
893 {269,270,407},
894 {269,407,405},
895 {270,269,273},
896 {270,273,272},
897 {273,269,268},
898 {273,268,267},
899 {273,267,266},
900 {273,266,265},
901 {273,265,264},
902 {448,279,367},
903 {281,350,368},
904 {285,286,301},
905 {290,323,310},
906 {290,311,323},
907 {282,281,189},
908 {292,311,290},
909 {292,290,291},
910 {307,306,302},
911 {307,302,303},
912 {316,315,324},
913 {316,324,329},
914 {331,351,350},
915 {330,334,335},
916 {330,335,328},
917 {341,337,338},
918 {344,355,354},
919 {346,345,348},
920 {346,348,347},
921 {364,369,352},
922 {364,352,353},
923 {365,363,361},
924 {365,361,362},
925 {376,401,402},
926 {373,372,397},
927 {373,397,400},
928 {376, 92,377},
929 {381,378,387},
930 {381,387,385},
931 {386, 77, 80},
932 {390,389,412},
933 {416,417,401},
934 {403,417,415},
935 {408,429,430},
936 {419,423,418},
937 {427,428,444},
938 {427,444,446},
939 {437,436,441},
940 {450,445, 11},
941 {450, 11, 4},
942 {447,449, 5},
943 {447, 5, 8},
944 {441,438,437},
945 {425,426,451},
946 {425,451,452},
947 {417,421,415},
948 {408,407,429},
949 {399,403,400},
950 {399,400,397},
951 {394,393,416},
952 {389,411,412},
953 {386,383,385},
954 {408,387,378},
955 {408,378,406},
956 {377,391,376},
957 { 94,375,415},
958 {372,373,374},
959 {372,374,370},
960 {359,111,360},
961 {359,112,111},
962 {113,358,349},
963 {113,349,123},
964 {346,343,345},
965 {343,340,342},
966 {338,336,144},
967 {338,144,141},
968 {327,341,354},
969 {327,354,326},
970 {331,350,321},
971 {331,321,322},
972 {314,313,326},
973 {314,326,325},
974 {300,298,299},
975 {300,299,301},
976 {288,287,289},
977 {189,292,282},
978 {287,288,303},
979 {284,285,297},
980 {368,280,281},
981 {448,447,279},
982 {274,226,255},
983 {267,268,404},
984 {267,404,379},
985 {429,262,430},
986 {439,440,260},
987 {257,258,249},
988 {257,249,246},
989 {430,262,248},
990 {234,228,242},
991 {234,242,241},
992 {237,238,239},
993 {237,239,236},
994 { 15, 18,227},
995 { 15,227,229},
996 {222,223, 82},
997 {222, 82, 83},
998 {214,215,213},
999 {214,213, 81},
1000 { 38,102, 6},
1001 {122,159,200},
1002 {122,200,201},
1003 {174,171,192},
1004 {174,192,194},
1005 {197,193,198},
1006 {190,170,161},
1007 {181,179,178},
1008 {181,178,180},
1009 {166,156,155},
1010 {163,153,152},
1011 {163,152,162},
1012 {120,156,149},
1013 {120,149,121},
1014 {152,153,135},
1015 {140,143,142},
1016 {135,131,132},
1017 {135,132,136},
1018 {130,129,128},
1019 {130,128,127},
1020 {100,105,119},
1021 {100,119,120},
1022 {106,104,107},
1023 {106,107,108},
1024 { 91, 95, 59},
1025 { 93, 94, 68},
1026 { 91, 89, 92},
1027 { 76, 53, 55},
1028 { 76, 55, 87},
1029 { 81, 78, 79},
1030 { 74, 73, 49},
1031 { 69, 60, 45},
1032 { 58, 62, 64},
1033 { 58, 64, 61},
1034 { 53, 31, 32},
1035 { 32, 54, 53},
1036 { 42, 43, 38},
1037 { 35, 36, 0},
1038 { 35, 0, 1},
1039 { 34, 35, 1},
1040 { 34, 1, 9},
1041 { 44, 40, 41},
1042 { 44, 41, 45},
1043 { 33,240, 51},
1044 { 63, 62, 58},
1045 { 63, 58, 59},
1046 { 45, 71, 70},
1047 { 76, 75, 51},
1048 { 76, 51, 52},
1049 { 86, 85, 84},
1050 { 86, 84, 87},
1051 { 89, 72, 73},
1052 { 89, 73, 88},
1053 { 91, 92, 96},
1054 { 91, 96, 95},
1055 { 72, 91, 60},
1056 { 72, 60, 69},
1057 {104,106,105},
1058 {119,105,117},
1059 {119,117,118},
1060 {124,127,128},
1061 {117,116,129},
1062 {117,129,131},
1063 {118,117,131},
1064 {135,140,142},
1065 {146,150,152},
1066 {146,152,145},
1067 {149,122,121},
1068 {166,165,151},
1069 {166,151,156},
1070 {158,172,173},
1071 {161,160,189},
1072 {199,198,193},
1073 {199,193,191},
1074 {204,201,202},
1075 {178,174,194},
1076 {200,159,186},
1077 {109, 48, 67},
1078 { 48,107,104},
1079 {216, 32,236},
1080 {216,236,239},
1081 {223,214, 81},
1082 {223, 81, 82},
1083 { 33, 12, 15},
1084 { 32,228,234},
1085 { 32,234,236},
1086 {240, 31, 52},
1087 {256,255,246},
1088 {256,246,249},
1089 {258,263,248},
1090 {258,248,249},
1091 {275,260,259},
1092 {275,259,276},
1093 {207,276,259},
1094 {270,271,429},
1095 {270,429,407},
1096 {413,418,366},
1097 {413,366,365},
1098 {368,367,279},
1099 {368,279,280},
1100 {303,301,286},
1101 {303,286,287},
1102 {283,282,292},
1103 {283,292,291},
1104 {320,292,189},
1105 {298,296,297},
1106 {298,297,299},
1107 {318,327,326},
1108 {318,326,313},
1109 {329,330,317},
1110 {336,333,320},
1111 {326,354,353},
1112 {334,332,333},
1113 {334,333,336},
1114 {342,339,139},
1115 {342,139,138},
1116 {345,342,126},
1117 {347,357,356},
1118 {369,368,351},
1119 {363,356,357},
1120 {363,357,361},
1121 {366,367,368},
1122 {366,368,369},
1123 {375,373,400},
1124 { 92, 90,377},
1125 {409,387,408},
1126 {386,385,387},
1127 {386,387,388},
1128 {412,394,391},
1129 {396,398,399},
1130 {408,406,405},
1131 {415,421,419},
1132 {415,419,414},
1133 {425,452,448},
1134 {425,448,424},
1135 {444,441,443},
1136 {448,452,449},
1137 {448,449,447},
1138 {446,444,443},
1139 {446,443,445},
1140 {250,247,261},
1141 {250,261,428},
1142 {421,422,423},
1143 {421,423,419},
1144 {427,410,250},
1145 {417,403,401},
1146 {403,402,401},
1147 {420,392,412},
1148 {420,412,425},
1149 {420,425,424},
1150 {386,411,389},
1151 {383,382,381},
1152 {383,381,385},
1153 {378,379,404},
1154 {372,371,395},
1155 {372,395,397},
1156 {371,372,370},
1157 {361,359,360},
1158 {361,360,362},
1159 {368,350,351},
1160 {349,347,348},
1161 {356,355,344},
1162 {356,344,346},
1163 {344,341,340},
1164 {344,340,343},
1165 {338,337,336},
1166 {328,335,341},
1167 {324,352,351},
1168 {324,351,331},
1169 {320,144,336},
1170 {314,325,324},
1171 {322,308,309},
1172 {310,309,307},
1173 {287,286,289},
1174 {203,280,279},
1175 {203,279,205},
1176 {297,295,283},
1177 {297,283,284},
1178 {447,205,279},
1179 {274,384, 80},
1180 {274, 80,226},
1181 {266,267,379},
1182 {266,379,380},
1183 {225,257,246},
1184 {225,246,245},
1185 {256,254,253},
1186 {256,253,255},
1187 {430,247,250},
1188 {226,235,244},
1189 {226,244,245},
1190 {232,233,244},
1191 {232,244,241},
1192 {230, 18, 19},
1193 { 32, 31,228},
1194 {219,220, 86},
1195 {219, 86, 57},
1196 {226,213,235},
1197 {206, 7, 6},
1198 {122,201,101},
1199 {201,204,101},
1200 {180,196,197},
1201 {170,192,171},
1202 {200,190,189},
1203 {194,193,195},
1204 {183,181,180},
1205 {183,180,182},
1206 {155,154,168},
1207 {149,156,151},
1208 {149,151,148},
1209 {155,156,120},
1210 {145,142,143},
1211 {145,143,146},
1212 {136,137,140},
1213 {133,132,130},
1214 {128,129,116},
1215 {100,120,121},
1216 {110,112,113},
1217 {110,113,114},
1218 { 66, 65, 63},
1219 { 66, 63, 99},
1220 { 66, 99, 98},
1221 { 96, 46, 61},
1222 { 89, 88, 90},
1223 { 86, 87, 57},
1224 { 80, 78, 81},
1225 { 72, 69, 49},
1226 { 67, 48, 47},
1227 { 67, 47, 68},
1228 { 56, 55, 53},
1229 { 50, 49, 36},
1230 { 50, 36, 35},
1231 { 40, 39, 41},
1232 {242,243,229},
1233 {242,229,227},
1234 { 6, 37, 39},
1235 { 42, 47, 48},
1236 { 42, 48, 43},
1237 { 61, 46, 44},
1238 { 45, 70, 69},
1239 { 69, 70, 71},
1240 { 69, 71, 49},
1241 { 74, 78, 77},
1242 { 83, 84, 85},
1243 { 73, 74, 77},
1244 { 93, 96, 92},
1245 { 68, 46, 93},
1246 { 95, 99, 63},
1247 { 95, 63, 59},
1248 {115,108,110},
1249 {115,110,114},
1250 {125,126,127},
1251 {129,130,132},
1252 {137,133,138},
1253 {137,138,139},
1254 {148,146,143},
1255 {148,143,147},
1256 {119,118,154},
1257 {161,147,143},
1258 {165,164,151},
1259 {158,157,171},
1260 {158,171,172},
1261 {159,158,187},
1262 {159,187,186},
1263 {194,192,191},
1264 {194,191,193},
1265 {189,202,201},
1266 {182,197,184},
1267 {205, 8, 7},
1268 { 48,109,107},
1269 {218,219, 57},
1270 {218, 57, 56},
1271 {207,231,211},
1272 {232,230,231},
1273 {232,231,233},
1274 { 53, 52, 31},
1275 {388,411,386},
1276 {409,430,250},
1277 {262,429,254},
1278 {262,254,256},
1279 {442,444,428},
1280 {273,264,383},
1281 {273,383,384},
1282 {429,271,251},
1283 {429,251,254},
1284 {413,365,362},
1285 { 67,413,360},
1286 {282,283,295},
1287 {285,301,299},
1288 {202,281,280},
1289 {284,283,291},
1290 {284,291,289},
1291 {320,189,160},
1292 {308,306,307},
1293 {307,309,308},
1294 {319,317,330},
1295 {319,330,328},
1296 {353,352,324},
1297 {332,331,333},
1298 {340,341,338},
1299 {354,341,344},
1300 {349,358,357},
1301 {349,357,347},
1302 {364,355,356},
1303 {364,356,363},
1304 {364,365,366},
1305 {364,366,369},
1306 {374,376,402},
1307 {375, 92,373},
1308 { 77,389,390},
1309 {382,380,381},
1310 {389, 77,386},
1311 {393,394,412},
1312 {393,412,392},
1313 {401,394,416},
1314 {415,400,403},
1315 {411,410,427},
1316 {411,427,426},
1317 {422,420,424},
1318 {247,248,263},
1319 {247,263,261},
1320 {445,443, 14},
1321 {445, 14, 11},
1322 {449,450, 4},
1323 {449, 4, 5},
1324 {443,441, 17},
1325 {443, 17, 14},
1326 {436, 23, 17},
1327 {436, 17,441},
1328 {424,448,422},
1329 {448,423,422},
1330 {414,419,418},
1331 {414,418,413},
1332 {406,404,405},
1333 {399,397,395},
1334 {399,395,396},
1335 {420,416,392},
1336 {388,410,411},
1337 {386,384,383},
1338 {390, 88, 77},
1339 {375, 94, 92},
1340 {415,414, 68},
1341 {415, 68, 94},
1342 {370,374,402},
1343 {370,402,398},
1344 {361,357,358},
1345 {361,358,359},
1346 {125,348,126},
1347 {346,344,343},
1348 {340,338,339},
1349 {337,335,334},
1350 {337,334,336},
1351 {325,353,324},
1352 {324,331,332},
1353 {324,332,329},
1354 {323,322,309},
1355 {323,309,310},
1356 {294,295,297},
1357 {294,297,296},
1358 {289,286,285},
1359 {202,280,203},
1360 {288,307,303},
1361 {282,295,321},
1362 { 67,360,111},
1363 {418,423,367},
1364 {418,367,366},
1365 {272,252,251},
1366 {272,251,271},
1367 {272,271,270},
1368 {255,253,274},
1369 {265,266,380},
1370 {265,380,382},
1371 {442,428,261},
1372 {440,263,258},
1373 {440,258,260},
1374 {409,250,410},
1375 {255,226,245},
1376 {255,245,246},
1377 { 31,240,243},
1378 {236,234,235},
1379 {236,235,237},
1380 {233,225,245},
1381 {233,245,244},
1382 {220,221, 85},
1383 {220, 85, 86},
1384 { 81,213,226},
1385 { 81,226, 80},
1386 { 7,206,205},
1387 {186,184,198},
1388 {186,198,199},
1389 {204,203,205},
1390 {204,205,206},
1391 {195,193,196},
1392 {171,174,172},
1393 {173,174,175},
1394 {173,172,174},
1395 {155,167,166},
1396 {160,161,143},
1397 {160,143,144},
1398 {119,154,155},
1399 {148,151,150},
1400 {148,150,146},
1401 {140,137,139},
1402 {140,139,141},
1403 {127,126,130},
1404 {114,124,128},
1405 {114,128,115},
1406 {117,105,106},
1407 {117,106,116},
1408 {104,105,100},
1409 {104,100,103},
1410 { 59, 60, 91},
1411 { 97, 96, 61},
1412 { 97, 61, 64},
1413 { 91, 72, 89},
1414 { 87, 84, 79},
1415 { 87, 79, 76},
1416 { 78, 80, 77},
1417 { 49, 50, 74},
1418 { 60, 44, 45},
1419 { 61, 44, 58},
1420 { 51, 50, 35},
1421 { 51, 35, 34},
1422 { 39, 37, 41},
1423 { 33, 34, 9},
1424 { 33, 9, 12},
1425 { 0, 36, 37},
1426 { 0, 37, 6},
1427 { 40, 46, 47},
1428 { 40, 47, 42},
1429 { 53, 54, 56},
1430 { 65, 62, 63},
1431 { 72, 49, 73},
1432 { 79, 78, 75},
1433 { 79, 75, 76},
1434 { 52, 53, 76},
1435 { 92, 89, 90},
1436 { 96, 93, 46},
1437 {102,103,100},
1438 {102,100,101},
1439 {116,106,108},
1440 {116,108,115},
1441 {123,125,124},
1442 {116,115,128},
1443 {118,131,135},
1444 {140,135,136},
1445 {148,147,149},
1446 {120,119,155},
1447 {164,162,152},
1448 {164,152,150},
1449 {157,147,161},
1450 {157,161,170},
1451 {186,187,185},
1452 {186,185,184},
1453 {193,197,196},
1454 {202,203,204},
1455 {194,195,178},
1456 {198,184,197},
1457 { 67,111,109},
1458 { 38, 43,103},
1459 { 38,103,102},
1460 {214,223,222},
1461 {214,222,221},
1462 {214,221,220},
1463 {214,220,219},
1464 {214,219,218},
1465 {213,237,235},
1466 {221,222, 83},
1467 {221, 83, 85},
1468 { 15,229, 33},
1469 {227, 18,230},
1470 {227,230,232},
1471 { 52, 51,240},
1472 { 75, 78, 50},
1473 {408,430,409},
1474 {260,258,257},
1475 {260,257,259},
1476 {224,207,259},
1477 {268,269,405},
1478 {268,405,404},
1479 {413,362,360},
1480 {447, 8,205},
1481 {299,297,285},
1482 {189,281,202},
1483 {290,288,289},
1484 {290,289,291},
1485 {322,321,295},
1486 {322,295,294},
1487 {333,323,311},
1488 {333,311,320},
1489 {317,316,329},
1490 {320,160,144},
1491 {353,325,326},
1492 {329,332,334},
1493 {329,334,330},
1494 {339,338,141},
1495 {339,141,139},
1496 {348,345,126},
1497 {347,356,346},
1498 {123,349,125},
1499 {364,353,354},
1500 {364,354,355},
1501 {365,364,363},
1502 {376,391,394},
1503 {376,394,401},
1504 { 92,376,374},
1505 { 92,374,373},
1506 {377, 90, 88},
1507 {380,379,378},
1508 {380,378,381},
1509 {388,387,409},
1510 {388,409,410},
1511 {416,393,392},
1512 {399,398,402},
1513 {399,402,403},
1514 {250,428,427},
1515 {421,417,416},
1516 {421,416,420},
1517 {426,427,446},
1518 {426,446,451},
1519 {444,442,441},
1520 {452,451,450},
1521 {452,450,449}
1522};
1523
1524//============================
1525
1526
1527dReal heightfield_callback( void* pUserData, int x, int z )
1528{
1529 dIASSERT( x < HFIELD_WSTEP );
1530 dIASSERT( z < HFIELD_DSTEP );
1531
1532 dReal fx = ( ((dReal)x) - ( HFIELD_WSTEP-1 )/2 ) / (dReal)( HFIELD_WSTEP-1 );
1533 dReal fz = ( ((dReal)z) - ( HFIELD_DSTEP-1 )/2 ) / (dReal)( HFIELD_DSTEP-1 );
1534
1535 // Create an interesting 'hump' shape
1536 dReal h = REAL( 1.0 ) + ( REAL( -16.0 ) * ( fx*fx*fx + fz*fz*fz ) );
1537
1538 return h;
1539}
1540
1541
1542
1543
1544
1545// this is called by dSpaceCollide when two objects in space are
1546// potentially colliding.
1547
1548static void nearCallback (void *data, dGeomID o1, dGeomID o2)
1549{
1550 int i;
1551 // if (o1->body && o2->body) return;
1552
1553 // exit without doing anything if the two bodies are connected by a joint
1554 dBodyID b1 = dGeomGetBody(o1);
1555 dBodyID b2 = dGeomGetBody(o2);
1556 if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
1557
1558 dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box
1559 for (i=0; i<MAX_CONTACTS; i++) {
1560 contact[i].surface.mode = dContactBounce | dContactSoftCFM;
1561 contact[i].surface.mu = dInfinity;
1562 contact[i].surface.mu2 = 0;
1563 contact[i].surface.bounce = 0.1;
1564 contact[i].surface.bounce_vel = 0.1;
1565 contact[i].surface.soft_cfm = 0.01;
1566 }
1567 if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
1568 sizeof(dContact))) {
1569 dMatrix3 RI;
1570 dRSetIdentity (RI);
1571 const dReal ss[3] = {0.02,0.02,0.02};
1572 for (i=0; i<numc; i++) {
1573 dJointID c = dJointCreateContact (world,contactgroup,contact+i);
1574 dJointAttach (c,b1,b2);
1575 if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
1576 }
1577 }
1578}
1579
1580
1581// start simulation - set viewpoint
1582
1583static void start()
1584{
1585 static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
1586 static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
1587 dsSetViewpoint (xyz,hpr);
1588 printf ("To drop another object, press:\n");
1589 printf (" b for box.\n");
1590 printf (" s for sphere.\n");
1591 printf (" c for capsule.\n");
1592 printf (" y for cylinder.\n");
1593 printf (" v for a convex object.\n");
1594 printf (" x for a composite object.\n");
1595 printf (" m for a trimesh.\n");
1596 printf ("To select an object, press space.\n");
1597 printf ("To disable the selected object, press d.\n");
1598 printf ("To enable the selected object, press e.\n");
1599 printf ("To toggle showing the geom AABBs, press a.\n");
1600 printf ("To toggle showing the contact points, press t.\n");
1601 printf ("To toggle dropping from random position/orientation, press r.\n");
1602 printf ("To save the current state to 'state.dif', press 1.\n");
1603}
1604
1605
1606char locase (char c)
1607{
1608 if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
1609 else return c;
1610}
1611
1612
1613// called when a key pressed
1614
1615static void command (int cmd)
1616{
1617 size_t i;
1618 int j,k;
1619 dReal sides[3];
1620 dMass m;
1621
1622 cmd = locase (cmd);
1623
1624
1625 //
1626 // Geom Creation
1627 //
1628
1629 if ( cmd == 'b' || cmd == 's' || cmd == 'c' ||
1630 cmd == 'x' || cmd == 'y' || cmd == 'm' || cmd == 'v' )
1631 {
1632 if ( num < NUM )
1633 {
1634 i = num;
1635 num++;
1636 }
1637 else
1638 {
1639 i = nextobj;
1640 nextobj++;
1641 if (nextobj >= num) nextobj = 0;
1642
1643 // destroy the body and geoms for slot i
1644 dBodyDestroy (obj[i].body);
1645 for (k=0; k < GPB; k++)
1646 {
1647 if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
1648 }
1649 memset (&obj[i],0,sizeof(obj[i]));
1650 }
1651
1652 obj[i].body = dBodyCreate (world);
1653 for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
1654
1655 dMatrix3 R;
1656 if (random_pos) {
1657 dBodySetPosition (obj[i].body,
1658 (dRandReal()-0.5)*HFIELD_WIDTH*0.75,
1659 (dRandReal()-0.5)*HFIELD_DEPTH*0.75,
1660 dRandReal() + 2 );
1661 dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
1662 dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
1663 }
1664 else {
1665 dReal maxheight = 0;
1666 for (k=0; k<num; k++) {
1667 const dReal *pos = dBodyGetPosition (obj[k].body);
1668 if (pos[2] > maxheight) maxheight = pos[2];
1669 }
1670 dBodySetPosition (obj[i].body, 0,maxheight+1,0);
1671 dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
1672 }
1673 dBodySetRotation (obj[i].body,R);
1674 dBodySetData (obj[i].body,(void*) i);
1675
1676 if (cmd == 'b')
1677 {
1678 dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
1679 obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
1680 }
1681 else if (cmd == 'c')
1682 {
1683 sides[0] *= 0.5;
1684 dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
1685 obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
1686 }
1687 //<---- Convex Object
1688 else if (cmd == 'v')
1689 {
1690 dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
1691 obj[i].geom[0] = dCreateConvex (space,
1692 planes,
1693 planecount,
1694 points,
1695 pointcount,
1696 polygons);
1697 }
1698 //----> Convex Object
1699 else if (cmd == 'y')
1700 {
1701 dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]);
1702 obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
1703 }
1704 else if (cmd == 's')
1705 {
1706 sides[0] *= 0.5;
1707 dMassSetSphere (&m,DENSITY,sides[0]);
1708 obj[i].geom[0] = dCreateSphere (space,sides[0]);
1709 }
1710#ifdef dTRIMESH_ENABLED
1711 else if (cmd == 'm')
1712 {
1713 dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
1714 dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int));
1715
1716 obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0);
1717
1718 // remember the mesh's dTriMeshDataID on its userdata for convenience.
1719 dGeomSetData(obj[i].geom[0], new_tmdata);
1720
1721 dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] );
1722 }
1723#endif
1724 else if (cmd == 'x')
1725 {
1726 dGeomID g2[GPB]; // encapsulated geometries
1727 dReal dpos[GPB][3]; // delta-positions for encapsulated geometries
1728
1729 // start accumulating masses for the encapsulated geometries
1730 dMass m2;
1731 dMassSetZero (&m);
1732
1733 // set random delta positions
1734 for (j=0; j<GPB; j++) {
1735 for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
1736 }
1737
1738 for (k=0; k<GPB; k++) {
1739 obj[i].geom[k] = dCreateGeomTransform (space);
1740 dGeomTransformSetCleanup (obj[i].geom[k],1);
1741 if (k==0) {
1742 dReal radius = dRandReal()*0.25+0.05;
1743 g2[k] = dCreateSphere (0,radius);
1744 dMassSetSphere (&m2,DENSITY,radius);
1745 }
1746 else if (k==1) {
1747 g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
1748 dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
1749 }
1750 else {
1751 dReal radius = dRandReal()*0.1+0.05;
1752 dReal length = dRandReal()*1.0+0.1;
1753 g2[k] = dCreateCapsule (0,radius,length);
1754 dMassSetCapsule (&m2,DENSITY,3,radius,length);
1755 }
1756 dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
1757
1758 // set the transformation (adjust the mass too)
1759 dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
1760 dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
1761 dMatrix3 Rtx;
1762 dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
1763 dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
1764 dGeomSetRotation (g2[k],Rtx);
1765 dMassRotate (&m2,Rtx);
1766
1767 // add to the total mass
1768 dMassAdd (&m,&m2);
1769 }
1770
1771 // move all encapsulated objects so that the center of mass is (0,0,0)
1772 for (k=0; k<2; k++) {
1773 dGeomSetPosition (g2[k],
1774 dpos[k][0]-m.c[0],
1775 dpos[k][1]-m.c[1],
1776 dpos[k][2]-m.c[2]);
1777 }
1778 dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
1779 }
1780
1781 for (k=0; k < GPB; k++)
1782 {
1783 if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
1784 }
1785
1786 dBodySetMass (obj[i].body,&m);
1787 }
1788
1789
1790 //
1791 // Control Commands
1792 //
1793
1794 if (cmd == ' ') {
1795 selected++;
1796 if (selected >= num) selected = 0;
1797 if (selected < 0) selected = 0;
1798 }
1799 else if (cmd == 'd' && selected >= 0 && selected < num) {
1800 dBodyDisable (obj[selected].body);
1801 }
1802 else if (cmd == 'e' && selected >= 0 && selected < num) {
1803 dBodyEnable (obj[selected].body);
1804 }
1805 else if (cmd == 'a') {
1806 show_aabb ^= 1;
1807 }
1808 else if (cmd == 't') {
1809 show_contacts ^= 1;
1810 }
1811 else if (cmd == 'r') {
1812 random_pos ^= 1;
1813 }
1814 else if (cmd == '1') {
1815 write_world = 1;
1816 }
1817}
1818
1819
1820// draw a geom
1821
1822void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
1823{
1824 int i;
1825
1826 if (!g) return;
1827 if (!pos) pos = dGeomGetPosition (g);
1828 if (!R) R = dGeomGetRotation (g);
1829
1830 int type = dGeomGetClass (g);
1831 if (type == dBoxClass) {
1832 dVector3 sides;
1833 dGeomBoxGetLengths (g,sides);
1834 dsDrawBox (pos,R,sides);
1835 }
1836 else if (type == dSphereClass) {
1837 dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
1838 }
1839 else if (type == dCapsuleClass) {
1840 dReal radius,length;
1841 dGeomCapsuleGetParams (g,&radius,&length);
1842 dsDrawCapsule (pos,R,length,radius);
1843 }
1844 //<---- Convex Object
1845 else if (type == dConvexClass)
1846 {
1847 //dVector3 sides={0.50,0.50,0.50};
1848 dsDrawConvex(pos,R,planes,
1849 planecount,
1850 points,
1851 pointcount,
1852 polygons);
1853 }
1854 //----> Convex Object
1855 else if (type == dCylinderClass) {
1856 dReal radius,length;
1857 dGeomCylinderGetParams (g,&radius,&length);
1858 dsDrawCylinder (pos,R,length,radius);
1859 }
1860 else if (type == dGeomTransformClass) {
1861 dGeomID g2 = dGeomTransformGetGeom (g);
1862 const dReal *pos2 = dGeomGetPosition (g2);
1863 const dReal *R2 = dGeomGetRotation (g2);
1864 dVector3 actual_pos;
1865 dMatrix3 actual_R;
1866 dMULTIPLY0_331 (actual_pos,R,pos2);
1867 actual_pos[0] += pos[0];
1868 actual_pos[1] += pos[1];
1869 actual_pos[2] += pos[2];
1870 dMULTIPLY0_333 (actual_R,R,R2);
1871 drawGeom (g2,actual_pos,actual_R,0);
1872 }
1873
1874 if (show_aabb) {
1875 // draw the bounding box for this geom
1876 dReal aabb[6];
1877 dGeomGetAABB (g,aabb);
1878 dVector3 bbpos;
1879 for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
1880 dVector3 bbsides;
1881 for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
1882 dMatrix3 RI;
1883 dRSetIdentity (RI);
1884 dsSetColorAlpha (1,0,0,0.5);
1885 dsDrawBox (bbpos,RI,bbsides);
1886 }
1887
1888}
1889
1890// simulation loop
1891
1892static void simLoop (int pause)
1893{
1894 int i,j;
1895
1896 dsSetColor (0,0,2);
1897
1898 dSpaceCollide (space,0,&nearCallback);
1899
1900 //if (!pause) dWorldStep (world,0.05);
1901 //if (!pause) dWorldQuickStep (world,0.05);
1902 if (!pause) dWorldStepFast1 (world,0.05, 5);
1903
1904
1905 if (write_world) {
1906 FILE *f = fopen ("state.dif","wt");
1907 if (f) {
1908 dWorldExportDIF (world,f,"X");
1909 fclose (f);
1910 }
1911 write_world = 0;
1912 }
1913
1914 // remove all contact joints
1915 dJointGroupEmpty (contactgroup);
1916
1917
1918
1919 const dReal* pReal = dGeomGetPosition( gheight );
1920
1921 const dReal* RReal = dGeomGetRotation( gheight );
1922
1923 //
1924 // Draw Heightfield
1925 //
1926
1927 // Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode.
1928 int ox = (int) ( -HFIELD_WIDTH/2 );
1929 int oz = (int) ( -HFIELD_DEPTH/2 );
1930
1931// for ( int tx = -1; tx < 2; ++tx )
1932// for ( int tz = -1; tz < 2; ++tz )
1933 {
1934 dsSetColorAlpha (0.5,1,0.5,0.5);
1935 dsSetTexture( DS_WOOD );
1936
1937 for ( int i = 0; i < HFIELD_WSTEP - 1; ++i )
1938 for ( int j = 0; j < HFIELD_DSTEP - 1; ++j )
1939 {
1940 dReal a[3], b[3], c[3], d[3];
1941
1942 a[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
1943 a[ 1 ] = heightfield_callback( NULL, i, j );
1944 a[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
1945
1946 b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
1947 b[ 1 ] = heightfield_callback( NULL, i + 1, j );
1948 b[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
1949
1950 c[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
1951 c[ 1 ] = heightfield_callback( NULL, i, j + 1 );
1952 c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
1953
1954 d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
1955 d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 );
1956 d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
1957
1958 dsDrawTriangle( pReal, RReal, a, c, b, 1 );
1959 dsDrawTriangle( pReal, RReal, b, c, d, 1 );
1960 }
1961 }
1962
1963
1964
1965
1966
1967 dsSetColor (1,1,0);
1968 dsSetTexture (DS_WOOD);
1969 for (i=0; i<num; i++)
1970 {
1971 for (j=0; j < GPB; j++)
1972 {
1973 if (i==selected)
1974 {
1975 dsSetColor (0,0.7,1);
1976 }
1977 else if (! dBodyIsEnabled (obj[i].body))
1978 {
1979 dsSetColor (1,0.8,0);
1980 }
1981 else
1982 {
1983 dsSetColor (1,1,0);
1984 }
1985
1986
1987 if ( obj[i].geom[j] && dGeomGetClass(obj[i].geom[j]) == dTriMeshClass )
1988 {
1989 int* Indices = (int*)::Indices;
1990
1991 // assume all trimeshes are drawn as bunnies
1992 const dReal* Pos = dGeomGetPosition(obj[i].geom[j]);
1993 const dReal* Rot = dGeomGetRotation(obj[i].geom[j]);
1994
1995 for (int ii = 0; ii < IndexCount / 3; ii++)
1996 {
1997 const dReal v[9] = { // explicit conversion from float to dReal
1998 Vertices[Indices[ii * 3 + 0] * 3 + 0],
1999 Vertices[Indices[ii * 3 + 0] * 3 + 1],
2000 Vertices[Indices[ii * 3 + 0] * 3 + 2],
2001 Vertices[Indices[ii * 3 + 1] * 3 + 0],
2002 Vertices[Indices[ii * 3 + 1] * 3 + 1],
2003 Vertices[Indices[ii * 3 + 1] * 3 + 2],
2004 Vertices[Indices[ii * 3 + 2] * 3 + 0],
2005 Vertices[Indices[ii * 3 + 2] * 3 + 1],
2006 Vertices[Indices[ii * 3 + 2] * 3 + 2]
2007 };
2008 dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
2009 }
2010
2011 // tell the tri-tri collider the current transform of the trimesh --
2012 // this is fairly important for good results.
2013
2014 // Fill in the (4x4) matrix.
2015 dReal* p_matrix = obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 );
2016
2017 p_matrix[ 0 ] = Rot[ 0 ]; p_matrix[ 1 ] = Rot[ 1 ]; p_matrix[ 2 ] = Rot[ 2 ]; p_matrix[ 3 ] = 0;
2018 p_matrix[ 4 ] = Rot[ 4 ]; p_matrix[ 5 ] = Rot[ 5 ]; p_matrix[ 6 ] = Rot[ 6 ]; p_matrix[ 7 ] = 0;
2019 p_matrix[ 8 ] = Rot[ 8 ]; p_matrix[ 9 ] = Rot[ 9 ]; p_matrix[10 ] = Rot[10 ]; p_matrix[11 ] = 0;
2020 p_matrix[12 ] = Pos[ 0 ]; p_matrix[13 ] = Pos[ 1 ]; p_matrix[14 ] = Pos[ 2 ]; p_matrix[15 ] = 1;
2021
2022 // Flip to other matrix.
2023 obj[i].last_matrix_index = !obj[i].last_matrix_index;
2024
2025 // Apply the 'other' matrix which is the oldest.
2026#ifdef dTRIMESH_ENABLED
2027 dGeomTriMeshSetLastTransform( obj[i].geom[j],
2028 *(dMatrix4*)( obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 ) ) );
2029#endif
2030 }
2031 else
2032 {
2033 drawGeom (obj[i].geom[j],0,0,show_aabb);
2034 }
2035 }
2036 }
2037
2038 if ( show_aabb )
2039 {
2040 // draw the bounding box for this geom
2041 dReal aabb[6];
2042 dGeomGetAABB (gheight,aabb);
2043 dVector3 bbpos;
2044 for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
2045 dVector3 bbsides;
2046 for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
2047 dMatrix3 RI;
2048 dRSetIdentity (RI);
2049 dsSetColorAlpha (1,0,0,0.5);
2050 dsDrawBox (bbpos,RI,bbsides);
2051 }
2052}
2053
2054
2055int main (int argc, char **argv)
2056{
2057 // setup pointers to drawstuff callback functions
2058 dsFunctions fn;
2059 fn.version = DS_VERSION;
2060 fn.start = &start;
2061 fn.step = &simLoop;
2062 fn.command = &command;
2063 fn.stop = 0;
2064 fn.path_to_textures = "../../drawstuff/textures";
2065 if(argc==2)
2066 {
2067 fn.path_to_textures = argv[1];
2068 }
2069
2070 // create world
2071 dInitODE();
2072 world = dWorldCreate();
2073 space = dHashSpaceCreate (0);
2074 contactgroup = dJointGroupCreate (0);
2075 dWorldSetGravity (world,0,0,-0.05);
2076 dWorldSetCFM (world,1e-5);
2077 dWorldSetAutoDisableFlag (world,1);
2078 dWorldSetContactMaxCorrectingVel (world,0.1);
2079 dWorldSetContactSurfaceLayer (world,0.001);
2080 memset (obj,0,sizeof(obj));
2081
2082#if 1
2083
2084 dWorldSetAutoDisableAverageSamplesCount( world, 1 );
2085
2086#endif
2087
2088 // base plane to catch overspill
2089 dCreatePlane( space, 0, 0, 1, 0 );
2090
2091
2092 // our heightfield floor
2093
2094 dHeightfieldDataID heightid = dGeomHeightfieldDataCreate();
2095
2096 // Create an finite heightfield.
2097 dGeomHeightfieldDataBuildCallback( heightid, NULL, heightfield_callback,
2098 HFIELD_WIDTH, HFIELD_DEPTH, HFIELD_WSTEP, HFIELD_DSTEP,
2099 REAL( 1.0 ), REAL( 0.0 ), REAL( 0.0 ), 0 );
2100
2101 // Give some very bounds which, while conservative,
2102 // makes AABB computation more accurate than +/-INF.
2103 dGeomHeightfieldDataSetBounds( heightid, REAL( -4.0 ), REAL( +6.0 ) );
2104
2105 gheight = dCreateHeightfield( space, heightid, 1 );
2106
2107 dVector3 pos;
2108 pos[ 0 ] = 0;
2109 pos[ 1 ] = 0;
2110 pos[ 2 ] = 0;
2111
2112 // Rotate so Z is up, not Y (which is the default orientation)
2113 dMatrix3 R;
2114 dRSetIdentity( R );
2115 dRFromAxisAndAngle( R, 1, 0, 0, DEGTORAD * 90 );
2116
2117 // Place it.
2118 dGeomSetRotation( gheight, R );
2119 dGeomSetPosition( gheight, pos[0], pos[1], pos[2] );
2120
2121
2122
2123
2124 // run simulation
2125 dsSimulationLoop (argc,argv,352,288,&fn);
2126
2127 dJointGroupDestroy (contactgroup);
2128 dSpaceDestroy (space);
2129 dWorldDestroy (world);
2130 dCloseODE();
2131 return 0;
2132}
generated by cgit v1.1 at 2024-09-12 18:08:02 +0000