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/*************************************************************************
* *
* 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 <stdio.h>
#include <math.h>
#include <drawstuff/drawstuff.h>
#ifndef M_PI
#define M_PI (3.14159265358979323846)
#endif
void start()
{
// adjust the starting viewpoint a bit
float xyz[3],hpr[3];
dsGetViewpoint (xyz,hpr);
hpr[0] += 7;
dsSetViewpoint (xyz,hpr);
}
void simLoop (int pause)
{
float pos[3];
float R[12];
static float a = 0;
if (!pause) a += 0.02f;
if (a > (2*M_PI)) a -= (float) (2*M_PI);
float ca = (float) cos(a);
float sa = (float) sin(a);
dsSetTexture (DS_WOOD);
float b = (a > M_PI) ? (2*(a-(float)M_PI)) : a*2;
pos[0] = -0.3f;
pos[1] = 0;
pos[2] = (float) (0.1f*(2*M_PI*b - b*b) + 0.65f);
R[0] = ca; R[1] = 0; R[2] = -sa;
R[4] = 0; R[5] = 1; R[6] = 0;
R[8] = sa; R[9] = 0; R[10] = ca;
dsSetColor (1,0.8f,0.6f);
dsDrawSphere (pos,R,0.3f);
dsSetTexture (DS_NONE);
pos[0] = -0.2f;
pos[1] = 0.8f;
pos[2] = 0.4f;
R[0] = ca; R[1] = -sa; R[2] = 0;
R[4] = sa; R[5] = ca; R[6] = 0;
R[8] = 0; R[9] = 0; R[10] = 1;
float sides[3] = {0.1f,0.4f,0.8f};
dsSetColor (0.6f,0.6f,1);
dsDrawBox (pos,R,sides);
dsSetTexture (DS_WOOD);
float r = 0.3f; // cylinder radius
float d = (float)cos(a*2) * 0.4f;
float cd = (float)cos(-d/r);
float sd = (float)sin(-d/r);
pos[0] = -0.2f;
pos[1] = -1 + d;
pos[2] = 0.3f;
R[0] = 0; R[1] = 0; R[2] = -1;
R[4] = -sd; R[5] = cd; R[6] = 0;
R[8] = cd; R[9] = sd; R[10] = 0;
dsSetColor (0.4f,1,1);
dsDrawCylinder (pos,R,0.8f,r);
pos[0] = 0;
pos[1] = 0;
pos[2] = 0.2f;
R[0] = 0; R[1] = sa; R[2] = -ca;
R[4] = 0; R[5] = ca; R[6] = sa;
R[8] = 1; R[9] = 0; R[10] = 0;
dsSetColor (1,0.9f,0.2f);
dsDrawCappedCylinder (pos,R,0.8f,0.2f);
}
void command (int cmd)
{
dsPrint ("received command %d (`%c')\n",cmd,cmd);
}
int main (int argc, char **argv)
{
// setup pointers to callback functions
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = command;
fn.stop = 0;
fn.path_to_textures = 0; // uses default
// run simulation
dsSimulationLoop (argc,argv,400,400,&fn);
return 0;
}
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