From 79eca25c945a535a7a0325999034bae17da92412 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:15:33 +0000 Subject: resubmitting ode --- libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp | 1944 ++++++++++++++++++++ 1 file changed, 1944 insertions(+) create mode 100644 libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp (limited to 'libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp') diff --git a/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp b/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp new file mode 100644 index 0000000..3d03020 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp @@ -0,0 +1,1944 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001-2003 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 + +// select correct drawing functions + +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#define dsDrawSphere dsDrawSphereD +#define dsDrawCylinder dsDrawCylinderD +#define dsDrawCapsule dsDrawCapsuleD +#define dsDrawLine dsDrawLineD +#define dsDrawTriangle dsDrawTriangleD +#endif + + +// some constants + +#define NUM 200 // 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? + +// 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 + +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), 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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} +}; + + +// 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) +{ + int i,j,k; + dReal sides[3]; + dMass m; + + cmd = locase (cmd); + if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' ) { + 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()*2-1,dRandReal()*2-1,dRandReal()+3); + 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, 0,0,maxheight+1); + dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); + } + dBodySetRotation (obj[i].body,R); + dBodySetData (obj[i].body,(void*)(size_t)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]); + } + else if (cmd == 'y') { + sides[1] *= 0.5; + 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]); + } + 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] ); + printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); + dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); + dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); + } + 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; + } +} + + +// draw a geom + +void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) +{ + 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); + } + 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 (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); + dVector3 bbsides; + for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2]; + dMatrix3 RI; + dRSetIdentity (RI); + dsSetColorAlpha (1,0,0,0.5); + dsDrawBox (bbpos,RI,bbsides); + } +} + + +// set previous transformation matrix for trimesh +void setCurrentTransform(dGeomID geom) +{ + const dReal* Pos = dGeomGetPosition(geom); + const dReal* Rot = dGeomGetRotation(geom); + + const dReal Transform[16] = + { + Rot[0], Rot[4], Rot[8], 0, + Rot[1], Rot[5], Rot[9], 0, + Rot[2], Rot[6], Rot[10], 0, + Pos[0], Pos[1], Pos[2], 1 + }; + + dGeomTriMeshSetLastTransform( geom, *(dMatrix4*)(&Transform) ); + +} + + +// simulation loop + +static void simLoop (int pause) +{ + dsSetColor (0,0,2); + dSpaceCollide (space,0,&nearCallback); + + +#if 0 + // What is this for??? - Bram + if (!pause) + { + for (int i=0; i