126 lines
3.6 KiB
C++
126 lines
3.6 KiB
C++
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#include <stdio.h>
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#include <math.h>
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#include <drawstuff/drawstuff.h>
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#ifndef M_PI
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#define M_PI (3.14159265358979323846)
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#endif
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void start()
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{
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// adjust the starting viewpoint a bit
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float xyz[3],hpr[3];
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dsGetViewpoint (xyz,hpr);
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hpr[0] += 7;
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dsSetViewpoint (xyz,hpr);
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}
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void simLoop (int pause)
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{
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float pos[3];
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float R[12];
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static float a = 0;
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if (!pause) a += 0.02f;
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if (a > (2*M_PI)) a -= (float) (2*M_PI);
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float ca = (float) cos(a);
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float sa = (float) sin(a);
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dsSetTexture (DS_WOOD);
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float b = (a > M_PI) ? (2*(a-(float)M_PI)) : a*2;
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pos[0] = -0.3f;
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pos[1] = 0;
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pos[2] = (float) (0.1f*(2*M_PI*b - b*b) + 0.65f);
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R[0] = ca; R[1] = 0; R[2] = -sa;
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R[4] = 0; R[5] = 1; R[6] = 0;
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R[8] = sa; R[9] = 0; R[10] = ca;
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dsSetColor (1,0.8f,0.6f);
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dsDrawSphere (pos,R,0.3f);
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dsSetTexture (DS_NONE);
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pos[0] = -0.2f;
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pos[1] = 0.8f;
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pos[2] = 0.4f;
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R[0] = ca; R[1] = -sa; R[2] = 0;
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R[4] = sa; R[5] = ca; R[6] = 0;
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R[8] = 0; R[9] = 0; R[10] = 1;
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float sides[3] = {0.1f,0.4f,0.8f};
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dsSetColor (0.6f,0.6f,1);
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dsDrawBox (pos,R,sides);
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dsSetTexture (DS_WOOD);
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float r = 0.3f; // cylinder radius
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float d = (float)cos(a*2) * 0.4f;
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float cd = (float)cos(-d/r);
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float sd = (float)sin(-d/r);
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pos[0] = -0.2f;
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pos[1] = -1 + d;
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pos[2] = 0.3f;
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R[0] = 0; R[1] = 0; R[2] = -1;
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R[4] = -sd; R[5] = cd; R[6] = 0;
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R[8] = cd; R[9] = sd; R[10] = 0;
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dsSetColor (0.4f,1,1);
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dsDrawCylinder (pos,R,0.8f,r);
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pos[0] = 0;
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pos[1] = 0;
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pos[2] = 0.2f;
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R[0] = 0; R[1] = sa; R[2] = -ca;
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R[4] = 0; R[5] = ca; R[6] = sa;
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R[8] = 1; R[9] = 0; R[10] = 0;
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dsSetColor (1,0.9f,0.2f);
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dsDrawCappedCylinder (pos,R,0.8f,0.2f);
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}
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void command (int cmd)
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{
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dsPrint ("received command %d (`%c')\n",cmd,cmd);
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}
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int main (int argc, char **argv)
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{
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// setup pointers to callback functions
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dsFunctions fn;
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fn.version = DS_VERSION;
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fn.start = &start;
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fn.step = &simLoop;
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fn.command = command;
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fn.stop = 0;
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fn.path_to_textures = 0; // uses default
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// run simulation
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dsSimulationLoop (argc,argv,400,400,&fn);
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return 0;
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}
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