From 1ec410ecd725f5a3ccb2d2fc16f48730d9d9fe43 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:22:23 +0000 Subject: trying to fix my screwup, please hold on --- libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp | 1372 ---------------------- 1 file changed, 1372 deletions(-) delete mode 100644 libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp (limited to 'libraries/ode-0.9/contrib/dRay/Test') diff --git a/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp b/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp deleted file mode 100644 index faa8b14..0000000 --- a/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp +++ /dev/null @@ -1,1372 +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 - - -#include - - - - - -#ifdef _MSC_VER - - -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints - - -#endif - - - - - -// select correct drawing functions - - - - - -#ifdef dDOUBLE - - -#define dsDrawBox dsDrawBoxD - - -#define dsDrawSphere dsDrawSphereD - - -#define dsDrawCylinder dsDrawCylinderD - - -#define dsDrawCappedCylinder dsDrawCappedCylinderD - - -#endif - - - - - - - - -// some constants - - - - - -#define NUM 20 // max number of objects - - -#define DENSITY (5.0) // density of all objects - - -#define GPB 3 // maximum number of geometries per body - - - - - - - - -// dynamics and collision objects - - - - - -struct MyObject { - - - dBodyID body; // the body - - - dGeomID geom[GPB]; // geometries representing this body - - -}; - - - - - -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 dGeomID* Rays; - - -static int RayCount; - - - - - -// 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 && dAreConnected (b1,b2)) return; - - - - - - dContact contact[32]; // up to 3 contacts per box - - - for (i=0; i<32; i++) { - - - contact[i].surface.mode = dContactBounce; //dContactMu2; - - - contact[i].surface.mu = dInfinity; - - - contact[i].surface.mu2 = 0; - - - contact[i].surface.bounce = 0.5; - - - contact[i].surface.bounce_vel = 0.1; - - - } - - - if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) { - - - dMatrix3 RI; - - - dRSetIdentity (RI); - - - const dReal ss[3] = {0.02,0.02,0.02}; - - - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - - - else return c; - - -} - - - - - - - - -// called when a key pressed - - - - - -static void command (int cmd) - - -{ - - - int i,j,k; - - - dReal sides[3]; - - - dMass m; - - - - - - cmd = locase (cmd); - - - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x') { - - - 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; - - - - - - dBodySetPosition (obj[i].body, - - - dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1); - - - dMatrix3 R; - - - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - - - dRandReal()*2.0-1.0,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; - - - dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); - - - obj[i].geom[0] = dCreateCCylinder (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]); - - - } - - - 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); - - - } - - -} - - - - - - - - -// draw a geom - - - - - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R) - - -{ - - - 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 == dCCylinderClass) { - - - dReal radius,length; - - - dGeomCCylinderGetParams (g,&radius,&length); - - - dsDrawCappedCylinder (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); - - - } - - -} - - - - - - - - -// simulation loop - - - - - -static void simLoop (int pause) - - -{ - - - dsSetColor (0,0,2); - - - dSpaceCollide (space,0,&nearCallback); - - - if (!pause) dWorldStep (world,0.05); - - - - - - // remove all contact joints - - - dJointGroupEmpty (contactgroup); - - - - - - dsSetColor (1,1,0); - - - dsSetTexture (DS_WOOD); - - - for (int i=0; i