1945 lines
54 KiB
C++
1945 lines
54 KiB
C++
/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001-2003 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 <ode/ode.h>
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#include <drawstuff/drawstuff.h>
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#ifdef _MSC_VER
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#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
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#endif
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// select correct drawing functions
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#ifdef dDOUBLE
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#define dsDrawBox dsDrawBoxD
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#define dsDrawSphere dsDrawSphereD
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#define dsDrawCylinder dsDrawCylinderD
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#define dsDrawCapsule dsDrawCapsuleD
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#define dsDrawLine dsDrawLineD
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#define dsDrawTriangle dsDrawTriangleD
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#endif
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// some constants
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#define NUM 200 // max number of objects
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#define DENSITY (5.0) // density of all objects
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#define GPB 3 // maximum number of geometries per body
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#define MAX_CONTACTS 64 // maximum number of contact points per body
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// dynamics and collision objects
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struct MyObject {
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dBodyID body; // the body
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dGeomID geom[GPB]; // geometries representing this body
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// Trimesh only - double buffered matrices for 'last transform' setup
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dReal matrix_dblbuff[ 16 * 2 ];
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int last_matrix_index;
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};
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static int num=0; // number of objects in simulation
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static int nextobj=0; // next object to recycle if num==NUM
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static dWorldID world;
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static dSpaceID space;
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static MyObject obj[NUM];
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static dJointGroupID contactgroup;
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static int selected = -1; // selected object
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static int show_aabb = 0; // show geom AABBs?
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static int show_contacts = 0; // show contact points?
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static int random_pos = 1; // drop objects from random position?
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// Bunny mesh ripped from Opcode
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const int VertexCount = 453;
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const int IndexCount = 902 * 3;
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typedef dReal dVector3R[3];
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dGeomID TriMesh1;
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dGeomID TriMesh2;
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static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data
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float Vertices[VertexCount * 3] = {
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REAL(-0.334392), REAL(0.133007), REAL(0.062259),
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REAL(-0.350189), REAL(0.150354), REAL(-0.147769),
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REAL(-0.234201), REAL(0.343811), REAL(-0.174307),
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REAL(-0.200259), REAL(0.285207), REAL(0.093749),
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REAL(0.003520), REAL(0.475208), REAL(-0.159365),
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REAL(0.001856), REAL(0.419203), REAL(0.098582),
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REAL(-0.252802), REAL(0.093666), REAL(0.237538),
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REAL(-0.162901), REAL(0.237984), REAL(0.206905),
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REAL(0.000865), REAL(0.318141), REAL(0.235370),
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REAL(-0.414624), REAL(0.164083), REAL(-0.278254),
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REAL(-0.262213), REAL(0.357334), REAL(-0.293246),
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REAL(0.004628), REAL(0.482694), REAL(-0.338626),
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REAL(-0.402162), REAL(0.133528), REAL(-0.443247),
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REAL(-0.243781), REAL(0.324275), REAL(-0.436763),
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REAL(0.005293), REAL(0.437592), REAL(-0.458332),
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REAL(-0.339884), REAL(-0.041150), REAL(-0.668211),
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REAL(-0.248382), REAL(0.255825), REAL(-0.627493),
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REAL(0.006261), REAL(0.376103), REAL(-0.631506),
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REAL(-0.216201), REAL(-0.126776), REAL(-0.886936),
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REAL(-0.171075), REAL(0.011544), REAL(-0.881386),
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REAL(-0.181074), REAL(0.098223), REAL(-0.814779),
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REAL(-0.119891), REAL(0.218786), REAL(-0.760153),
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REAL(-0.078895), REAL(0.276780), REAL(-0.739281),
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REAL(0.006801), REAL(0.310959), REAL(-0.735661),
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REAL(-0.168842), REAL(0.102387), REAL(-0.920381),
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REAL(-0.104072), REAL(0.177278), REAL(-0.952530),
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REAL(-0.129704), REAL(0.211848), REAL(-0.836678),
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REAL(-0.099875), REAL(0.310931), REAL(-0.799381),
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REAL(0.007237), REAL(0.361687), REAL(-0.794439),
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REAL(-0.077913), REAL(0.258753), REAL(-0.921640),
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REAL(0.007957), REAL(0.282241), REAL(-0.931680),
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REAL(-0.252222), REAL(-0.550401), REAL(-0.557810),
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REAL(-0.267633), REAL(-0.603419), REAL(-0.655209),
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REAL(-0.446838), REAL(-0.118517), REAL(-0.466159),
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REAL(-0.459488), REAL(-0.093017), REAL(-0.311341),
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REAL(-0.370645), REAL(-0.100108), REAL(-0.159454),
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REAL(-0.371984), REAL(-0.091991), REAL(-0.011044),
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REAL(-0.328945), REAL(-0.098269), REAL(0.088659),
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REAL(-0.282452), REAL(-0.018862), REAL(0.311501),
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REAL(-0.352403), REAL(-0.131341), REAL(0.144902),
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REAL(-0.364126), REAL(-0.200299), REAL(0.202388),
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REAL(-0.283965), REAL(-0.231869), REAL(0.023668),
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REAL(-0.298943), REAL(-0.155218), REAL(0.369716),
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REAL(-0.293787), REAL(-0.121856), REAL(0.419097),
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REAL(-0.290163), REAL(-0.290797), REAL(0.107824),
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REAL(-0.264165), REAL(-0.272849), REAL(0.036347),
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REAL(-0.228567), REAL(-0.372573), REAL(0.290309),
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REAL(-0.190431), REAL(-0.286997), REAL(0.421917),
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REAL(-0.191039), REAL(-0.240973), REAL(0.507118),
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REAL(-0.287272), REAL(-0.276431), REAL(-0.065444),
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REAL(-0.295675), REAL(-0.280818), REAL(-0.174200),
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REAL(-0.399537), REAL(-0.313131), REAL(-0.376167),
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REAL(-0.392666), REAL(-0.488581), REAL(-0.427494),
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REAL(-0.331669), REAL(-0.570185), REAL(-0.466054),
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REAL(-0.282290), REAL(-0.618140), REAL(-0.589220),
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REAL(-0.374238), REAL(-0.594882), REAL(-0.323298),
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REAL(-0.381071), REAL(-0.629723), REAL(-0.350777),
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REAL(-0.382112), REAL(-0.624060), REAL(-0.221577),
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REAL(-0.272701), REAL(-0.566522), REAL(0.259157),
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REAL(-0.256702), REAL(-0.663406), REAL(0.286079),
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REAL(-0.280948), REAL(-0.428359), REAL(0.055790),
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REAL(-0.184974), REAL(-0.508894), REAL(0.326265),
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REAL(-0.279971), REAL(-0.526918), REAL(0.395319),
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REAL(-0.282599), REAL(-0.663393), REAL(0.412411),
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REAL(-0.188329), REAL(-0.475093), REAL(0.417954),
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REAL(-0.263384), REAL(-0.663396), REAL(0.466604),
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REAL(-0.209063), REAL(-0.663393), REAL(0.509344),
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REAL(-0.002044), REAL(-0.319624), REAL(0.553078),
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REAL(-0.001266), REAL(-0.371260), REAL(0.413296),
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REAL(-0.219753), REAL(-0.339762), REAL(-0.040921),
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REAL(-0.256986), REAL(-0.282511), REAL(-0.006349),
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REAL(-0.271706), REAL(-0.260881), REAL(0.001764),
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REAL(-0.091191), REAL(-0.419184), REAL(-0.045912),
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REAL(-0.114944), REAL(-0.429752), REAL(-0.124739),
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REAL(-0.113970), REAL(-0.382987), REAL(-0.188540),
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REAL(-0.243012), REAL(-0.464942), REAL(-0.242850),
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REAL(-0.314815), REAL(-0.505402), REAL(-0.324768),
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REAL(0.002774), REAL(-0.437526), REAL(-0.262766),
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REAL(-0.072625), REAL(-0.417748), REAL(-0.221440),
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REAL(-0.160112), REAL(-0.476932), REAL(-0.293450),
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REAL(0.003859), REAL(-0.453425), REAL(-0.443916),
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REAL(-0.120363), REAL(-0.581567), REAL(-0.438689),
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REAL(-0.091499), REAL(-0.584191), REAL(-0.294511),
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REAL(-0.116469), REAL(-0.599861), REAL(-0.188308),
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REAL(-0.208032), REAL(-0.513640), REAL(-0.134649),
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REAL(-0.235749), REAL(-0.610017), REAL(-0.040939),
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REAL(-0.344916), REAL(-0.622487), REAL(-0.085380),
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REAL(-0.336401), REAL(-0.531864), REAL(-0.212298),
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REAL(0.001961), REAL(-0.459550), REAL(-0.135547),
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REAL(-0.058296), REAL(-0.430536), REAL(-0.043440),
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REAL(0.001378), REAL(-0.449511), REAL(-0.037762),
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REAL(-0.130135), REAL(-0.510222), REAL(0.079144),
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REAL(0.000142), REAL(-0.477549), REAL(0.157064),
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REAL(-0.114284), REAL(-0.453206), REAL(0.304397),
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REAL(-0.000592), REAL(-0.443558), REAL(0.285401),
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REAL(-0.056215), REAL(-0.663402), REAL(0.326073),
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REAL(-0.026248), REAL(-0.568010), REAL(0.273318),
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REAL(-0.049261), REAL(-0.531064), REAL(0.389854),
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REAL(-0.127096), REAL(-0.663398), REAL(0.479316),
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REAL(-0.058384), REAL(-0.663401), REAL(0.372891),
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REAL(-0.303961), REAL(0.054199), REAL(0.625921),
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REAL(-0.268594), REAL(0.193403), REAL(0.502766),
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REAL(-0.277159), REAL(0.126123), REAL(0.443289),
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REAL(-0.287605), REAL(-0.005722), REAL(0.531844),
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REAL(-0.231396), REAL(-0.121289), REAL(0.587387),
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REAL(-0.253475), REAL(-0.081797), REAL(0.756541),
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REAL(-0.195164), REAL(-0.137969), REAL(0.728011),
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REAL(-0.167673), REAL(-0.156573), REAL(0.609388),
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REAL(-0.145917), REAL(-0.169029), REAL(0.697600),
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REAL(-0.077776), REAL(-0.214247), REAL(0.622586),
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REAL(-0.076873), REAL(-0.214971), REAL(0.696301),
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REAL(-0.002341), REAL(-0.233135), REAL(0.622859),
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REAL(-0.002730), REAL(-0.213526), REAL(0.691267),
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REAL(-0.003136), REAL(-0.192628), REAL(0.762731),
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REAL(-0.056136), REAL(-0.201222), REAL(0.763806),
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REAL(-0.114589), REAL(-0.166192), REAL(0.770723),
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REAL(-0.155145), REAL(-0.129632), REAL(0.791738),
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REAL(-0.183611), REAL(-0.058705), REAL(0.847012),
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REAL(-0.165562), REAL(0.001980), REAL(0.833386),
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REAL(-0.220084), REAL(0.019914), REAL(0.768935),
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REAL(-0.255730), REAL(0.090306), REAL(0.670782),
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REAL(-0.255594), REAL(0.113833), REAL(0.663389),
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REAL(-0.226380), REAL(0.212655), REAL(0.617740),
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REAL(-0.003367), REAL(-0.195342), REAL(0.799680),
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REAL(-0.029743), REAL(-0.210508), REAL(0.827180),
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REAL(-0.003818), REAL(-0.194783), REAL(0.873636),
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REAL(-0.004116), REAL(-0.157907), REAL(0.931268),
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REAL(-0.031280), REAL(-0.184555), REAL(0.889476),
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REAL(-0.059885), REAL(-0.184448), REAL(0.841330),
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REAL(-0.135333), REAL(-0.164332), REAL(0.878200),
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REAL(-0.085574), REAL(-0.170948), REAL(0.925547),
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REAL(-0.163833), REAL(-0.094170), REAL(0.897114),
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REAL(-0.138444), REAL(-0.104250), REAL(0.945975),
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REAL(-0.083497), REAL(-0.084934), REAL(0.979607),
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REAL(-0.004433), REAL(-0.146642), REAL(0.985872),
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REAL(-0.150715), REAL(0.032650), REAL(0.884111),
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REAL(-0.135892), REAL(-0.035520), REAL(0.945455),
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REAL(-0.070612), REAL(0.036849), REAL(0.975733),
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REAL(-0.004458), REAL(-0.042526), REAL(1.015670),
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REAL(-0.004249), REAL(0.046042), REAL(1.003240),
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REAL(-0.086969), REAL(0.133224), REAL(0.947633),
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REAL(-0.003873), REAL(0.161605), REAL(0.970499),
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REAL(-0.125544), REAL(0.140012), REAL(0.917678),
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REAL(-0.125651), REAL(0.250246), REAL(0.857602),
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REAL(-0.003127), REAL(0.284070), REAL(0.878870),
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REAL(-0.159174), REAL(0.125726), REAL(0.888878),
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REAL(-0.183807), REAL(0.196970), REAL(0.844480),
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REAL(-0.159890), REAL(0.291736), REAL(0.732480),
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REAL(-0.199495), REAL(0.207230), REAL(0.779864),
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REAL(-0.206182), REAL(0.164608), REAL(0.693257),
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REAL(-0.186315), REAL(0.160689), REAL(0.817193),
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REAL(-0.192827), REAL(0.166706), REAL(0.782271),
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REAL(-0.175112), REAL(0.110008), REAL(0.860621),
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REAL(-0.161022), REAL(0.057420), REAL(0.855111),
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REAL(-0.172319), REAL(0.036155), REAL(0.816189),
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REAL(-0.190318), REAL(0.064083), REAL(0.760605),
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REAL(-0.195072), REAL(0.129179), REAL(0.731104),
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REAL(-0.203126), REAL(0.410287), REAL(0.680536),
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REAL(-0.216677), REAL(0.309274), REAL(0.642272),
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REAL(-0.241515), REAL(0.311485), REAL(0.587832),
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REAL(-0.002209), REAL(0.366663), REAL(0.749413),
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REAL(-0.088230), REAL(0.396265), REAL(0.678635),
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REAL(-0.170147), REAL(0.109517), REAL(0.840784),
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REAL(-0.160521), REAL(0.067766), REAL(0.830650),
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REAL(-0.181546), REAL(0.139805), REAL(0.812146),
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REAL(-0.180495), REAL(0.148568), REAL(0.776087),
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REAL(-0.180255), REAL(0.129125), REAL(0.744192),
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REAL(-0.186298), REAL(0.078308), REAL(0.769352),
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REAL(-0.167622), REAL(0.060539), REAL(0.806675),
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REAL(-0.189876), REAL(0.102760), REAL(0.802582),
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REAL(-0.108340), REAL(0.455446), REAL(0.657174),
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REAL(-0.241585), REAL(0.527592), REAL(0.669296),
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REAL(-0.265676), REAL(0.513366), REAL(0.634594),
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REAL(-0.203073), REAL(0.478550), REAL(0.581526),
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REAL(-0.266772), REAL(0.642330), REAL(0.602061),
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REAL(-0.216961), REAL(0.564846), REAL(0.535435),
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REAL(-0.202210), REAL(0.525495), REAL(0.475944),
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REAL(-0.193888), REAL(0.467925), REAL(0.520606),
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REAL(-0.265837), REAL(0.757267), REAL(0.500933),
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REAL(-0.240306), REAL(0.653440), REAL(0.463215),
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REAL(-0.309239), REAL(0.776868), REAL(0.304726),
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REAL(-0.271009), REAL(0.683094), REAL(0.382018),
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REAL(-0.312111), REAL(0.671099), REAL(0.286687),
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REAL(-0.268791), REAL(0.624342), REAL(0.377231),
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REAL(-0.302457), REAL(0.533996), REAL(0.360289),
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REAL(-0.263656), REAL(0.529310), REAL(0.412564),
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REAL(-0.282311), REAL(0.415167), REAL(0.447666),
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REAL(-0.239201), REAL(0.442096), REAL(0.495604),
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REAL(-0.220043), REAL(0.569026), REAL(0.445877),
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REAL(-0.001263), REAL(0.395631), REAL(0.602029),
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REAL(-0.057345), REAL(0.442535), REAL(0.572224),
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REAL(-0.088927), REAL(0.506333), REAL(0.529106),
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REAL(-0.125738), REAL(0.535076), REAL(0.612913),
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REAL(-0.126251), REAL(0.577170), REAL(0.483159),
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REAL(-0.149594), REAL(0.611520), REAL(0.557731),
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REAL(-0.163188), REAL(0.660791), REAL(0.491080),
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REAL(-0.172482), REAL(0.663387), REAL(0.415416),
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REAL(-0.160464), REAL(0.591710), REAL(0.370659),
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REAL(-0.156445), REAL(0.536396), REAL(0.378302),
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REAL(-0.136496), REAL(0.444358), REAL(0.425226),
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REAL(-0.095564), REAL(0.373768), REAL(0.473659),
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REAL(-0.104146), REAL(0.315912), REAL(0.498104),
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REAL(-0.000496), REAL(0.384194), REAL(0.473817),
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REAL(-0.000183), REAL(0.297770), REAL(0.401486),
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REAL(-0.129042), REAL(0.270145), REAL(0.434495),
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REAL(0.000100), REAL(0.272963), REAL(0.349138),
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REAL(-0.113060), REAL(0.236984), REAL(0.385554),
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REAL(0.007260), REAL(0.016311), REAL(-0.883396),
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REAL(0.007865), REAL(0.122104), REAL(-0.956137),
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REAL(-0.032842), REAL(0.115282), REAL(-0.953252),
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REAL(-0.089115), REAL(0.108449), REAL(-0.950317),
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REAL(-0.047440), REAL(0.014729), REAL(-0.882756),
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REAL(-0.104458), REAL(0.013137), REAL(-0.882070),
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REAL(-0.086439), REAL(-0.584866), REAL(-0.608343),
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REAL(-0.115026), REAL(-0.662605), REAL(-0.436732),
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REAL(-0.071683), REAL(-0.665372), REAL(-0.606385),
|
|
REAL(-0.257884), REAL(-0.665381), REAL(-0.658052),
|
|
REAL(-0.272542), REAL(-0.665381), REAL(-0.592063),
|
|
REAL(-0.371322), REAL(-0.665382), REAL(-0.353620),
|
|
REAL(-0.372362), REAL(-0.665381), REAL(-0.224420),
|
|
REAL(-0.335166), REAL(-0.665380), REAL(-0.078623),
|
|
REAL(-0.225999), REAL(-0.665375), REAL(-0.038981),
|
|
REAL(-0.106719), REAL(-0.665374), REAL(-0.186351),
|
|
REAL(-0.081749), REAL(-0.665372), REAL(-0.292554),
|
|
REAL(0.006943), REAL(-0.091505), REAL(-0.858354),
|
|
REAL(0.006117), REAL(-0.280985), REAL(-0.769967),
|
|
REAL(0.004495), REAL(-0.502360), REAL(-0.559799),
|
|
REAL(-0.198638), REAL(-0.302135), REAL(-0.845816),
|
|
REAL(-0.237395), REAL(-0.542544), REAL(-0.587188),
|
|
REAL(-0.270001), REAL(-0.279489), REAL(-0.669861),
|
|
REAL(-0.134547), REAL(-0.119852), REAL(-0.959004),
|
|
REAL(-0.052088), REAL(-0.122463), REAL(-0.944549),
|
|
REAL(-0.124463), REAL(-0.293508), REAL(-0.899566),
|
|
REAL(-0.047616), REAL(-0.289643), REAL(-0.879292),
|
|
REAL(-0.168595), REAL(-0.529132), REAL(-0.654931),
|
|
REAL(-0.099793), REAL(-0.515719), REAL(-0.645873),
|
|
REAL(-0.186168), REAL(-0.605282), REAL(-0.724690),
|
|
REAL(-0.112970), REAL(-0.583097), REAL(-0.707469),
|
|
REAL(-0.108152), REAL(-0.665375), REAL(-0.700408),
|
|
REAL(-0.183019), REAL(-0.665378), REAL(-0.717630),
|
|
REAL(-0.349529), REAL(-0.334459), REAL(-0.511985),
|
|
REAL(-0.141182), REAL(-0.437705), REAL(-0.798194),
|
|
REAL(-0.212670), REAL(-0.448725), REAL(-0.737447),
|
|
REAL(-0.261111), REAL(-0.414945), REAL(-0.613835),
|
|
REAL(-0.077364), REAL(-0.431480), REAL(-0.778113),
|
|
REAL(0.005174), REAL(-0.425277), REAL(-0.651592),
|
|
REAL(0.089236), REAL(-0.431732), REAL(-0.777093),
|
|
REAL(0.271006), REAL(-0.415749), REAL(-0.610577),
|
|
REAL(0.223981), REAL(-0.449384), REAL(-0.734774),
|
|
REAL(0.153275), REAL(-0.438150), REAL(-0.796391),
|
|
REAL(0.358414), REAL(-0.335529), REAL(-0.507649),
|
|
REAL(0.193434), REAL(-0.665946), REAL(-0.715325),
|
|
REAL(0.118363), REAL(-0.665717), REAL(-0.699021),
|
|
REAL(0.123515), REAL(-0.583454), REAL(-0.706020),
|
|
REAL(0.196851), REAL(-0.605860), REAL(-0.722345),
|
|
REAL(0.109788), REAL(-0.516035), REAL(-0.644590),
|
|
REAL(0.178656), REAL(-0.529656), REAL(-0.652804),
|
|
REAL(0.061157), REAL(-0.289807), REAL(-0.878626),
|
|
REAL(0.138234), REAL(-0.293905), REAL(-0.897958),
|
|
REAL(0.066933), REAL(-0.122643), REAL(-0.943820),
|
|
REAL(0.149571), REAL(-0.120281), REAL(-0.957264),
|
|
REAL(0.280989), REAL(-0.280321), REAL(-0.666487),
|
|
REAL(0.246581), REAL(-0.543275), REAL(-0.584224),
|
|
REAL(0.211720), REAL(-0.302754), REAL(-0.843303),
|
|
REAL(0.086966), REAL(-0.665627), REAL(-0.291520),
|
|
REAL(0.110634), REAL(-0.665702), REAL(-0.185021),
|
|
REAL(0.228099), REAL(-0.666061), REAL(-0.036201),
|
|
REAL(0.337743), REAL(-0.666396), REAL(-0.074503),
|
|
REAL(0.376722), REAL(-0.666513), REAL(-0.219833),
|
|
REAL(0.377265), REAL(-0.666513), REAL(-0.349036),
|
|
REAL(0.281411), REAL(-0.666217), REAL(-0.588670),
|
|
REAL(0.267564), REAL(-0.666174), REAL(-0.654834),
|
|
REAL(0.080745), REAL(-0.665602), REAL(-0.605452),
|
|
REAL(0.122016), REAL(-0.662963), REAL(-0.435280),
|
|
REAL(0.095767), REAL(-0.585141), REAL(-0.607228),
|
|
REAL(0.118944), REAL(0.012799), REAL(-0.880702),
|
|
REAL(0.061944), REAL(0.014564), REAL(-0.882086),
|
|
REAL(0.104725), REAL(0.108156), REAL(-0.949130),
|
|
REAL(0.048513), REAL(0.115159), REAL(-0.952753),
|
|
REAL(0.112696), REAL(0.236643), REAL(0.386937),
|
|
REAL(0.128177), REAL(0.269757), REAL(0.436071),
|
|
REAL(0.102643), REAL(0.315600), REAL(0.499370),
|
|
REAL(0.094535), REAL(0.373481), REAL(0.474824),
|
|
REAL(0.136270), REAL(0.443946), REAL(0.426895),
|
|
REAL(0.157071), REAL(0.535923), REAL(0.380222),
|
|
REAL(0.161350), REAL(0.591224), REAL(0.372630),
|
|
REAL(0.173035), REAL(0.662865), REAL(0.417531),
|
|
REAL(0.162808), REAL(0.660299), REAL(0.493077),
|
|
REAL(0.148250), REAL(0.611070), REAL(0.559555),
|
|
REAL(0.125719), REAL(0.576790), REAL(0.484702),
|
|
REAL(0.123489), REAL(0.534699), REAL(0.614440),
|
|
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<MAX_CONTACTS; i++) {
|
|
contact[i].surface.mode = dContactBounce | dContactSoftCFM;
|
|
contact[i].surface.mu = dInfinity;
|
|
contact[i].surface.mu2 = 0;
|
|
contact[i].surface.bounce = 0.1;
|
|
contact[i].surface.bounce_vel = 0.1;
|
|
contact[i].surface.soft_cfm = 0.01;
|
|
}
|
|
if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
|
|
sizeof(dContact))) {
|
|
dMatrix3 RI;
|
|
dRSetIdentity (RI);
|
|
const dReal ss[3] = {0.02,0.02,0.02};
|
|
for (i=0; i<numc; i++) {
|
|
dJointID c = dJointCreateContact (world,contactgroup,contact+i);
|
|
dJointAttach (c,b1,b2);
|
|
if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
// start simulation - set viewpoint
|
|
|
|
static void start()
|
|
{
|
|
static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
|
|
static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
|
|
dsSetViewpoint (xyz,hpr);
|
|
printf ("To drop another object, press:\n");
|
|
printf (" b for box.\n");
|
|
printf (" s for sphere.\n");
|
|
printf (" y for cylinder.\n");
|
|
printf (" c for capsule.\n");
|
|
printf (" x for a composite object.\n");
|
|
printf (" m for a trimesh.\n");
|
|
printf ("To select an object, press space.\n");
|
|
printf ("To disable the selected object, press d.\n");
|
|
printf ("To enable the selected object, press e.\n");
|
|
printf ("To toggle showing the geom AABBs, press a.\n");
|
|
printf ("To toggle showing the contact points, press t.\n");
|
|
printf ("To toggle dropping from random position/orientation, press r.\n");
|
|
}
|
|
|
|
|
|
char locase (char c)
|
|
{
|
|
if (c >= '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<num; k++) {
|
|
const dReal *pos = dBodyGetPosition (obj[k].body);
|
|
if (pos[2] > 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<GPB; j++) {
|
|
for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
|
|
}
|
|
|
|
for (k=0; k<GPB; k++) {
|
|
obj[i].geom[k] = dCreateGeomTransform (space);
|
|
dGeomTransformSetCleanup (obj[i].geom[k],1);
|
|
if (k==0) {
|
|
dReal radius = dRandReal()*0.25+0.05;
|
|
g2[k] = dCreateSphere (0,radius);
|
|
dMassSetSphere (&m2,DENSITY,radius);
|
|
}
|
|
else if (k==1) {
|
|
g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
|
|
dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
|
|
}
|
|
else {
|
|
dReal radius = dRandReal()*0.1+0.05;
|
|
dReal length = dRandReal()*1.0+0.1;
|
|
g2[k] = dCreateCapsule (0,radius,length);
|
|
dMassSetCapsule (&m2,DENSITY,3,radius,length);
|
|
}
|
|
dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
|
|
|
|
// set the transformation (adjust the mass too)
|
|
dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
|
|
dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
|
|
dMatrix3 Rtx;
|
|
dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
|
|
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
|
|
dGeomSetRotation (g2[k],Rtx);
|
|
dMassRotate (&m2,Rtx);
|
|
|
|
// add to the total mass
|
|
dMassAdd (&m,&m2);
|
|
}
|
|
|
|
// move all encapsulated objects so that the center of mass is (0,0,0)
|
|
for (k=0; k<2; k++) {
|
|
dGeomSetPosition (g2[k],
|
|
dpos[k][0]-m.c[0],
|
|
dpos[k][1]-m.c[1],
|
|
dpos[k][2]-m.c[2]);
|
|
}
|
|
dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
|
|
}
|
|
|
|
for (k=0; k < GPB; k++) {
|
|
if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
|
|
}
|
|
|
|
dBodySetMass (obj[i].body,&m);
|
|
}
|
|
|
|
if (cmd == ' ') {
|
|
selected++;
|
|
if (selected >= 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<num; i++)
|
|
for (int j=0; j < GPB; j++)
|
|
if (obj[i].geom[j])
|
|
if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass)
|
|
setCurrentTransform(obj[i].geom[j]);
|
|
|
|
setCurrentTransform(TriMesh1);
|
|
setCurrentTransform(TriMesh2);
|
|
}
|
|
#endif
|
|
|
|
//if (!pause) dWorldStep (world,0.05);
|
|
if (!pause) dWorldStepFast1 (world,0.05, 5);
|
|
|
|
for (int j = 0; j < dSpaceGetNumGeoms(space); j++){
|
|
dSpaceGetGeom(space, j);
|
|
}
|
|
|
|
// remove all contact joints
|
|
dJointGroupEmpty (contactgroup);
|
|
|
|
dsSetColor (1,1,0);
|
|
dsSetTexture (DS_WOOD);
|
|
for (int i=0; i<num; i++) {
|
|
for (int j=0; j < GPB; j++) {
|
|
if (obj[i].geom[j]) {
|
|
if (i==selected) {
|
|
dsSetColor (0,0.7,1);
|
|
}
|
|
else if (! dBodyIsEnabled (obj[i].body)) {
|
|
dsSetColor (1,0,0);
|
|
}
|
|
else {
|
|
dsSetColor (1,1,0);
|
|
}
|
|
|
|
if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass) {
|
|
int* Indices = (int*)::Indices;
|
|
|
|
// assume all trimeshes are drawn as bunnies
|
|
const dReal* Pos = dGeomGetPosition(obj[i].geom[j]);
|
|
const dReal* Rot = dGeomGetRotation(obj[i].geom[j]);
|
|
|
|
for (int ii = 0; ii < IndexCount / 3; ii++) {
|
|
const dReal v[9] = { // explicit conversion from float to dReal
|
|
Vertices[Indices[ii * 3 + 0] * 3 + 0],
|
|
Vertices[Indices[ii * 3 + 0] * 3 + 1],
|
|
Vertices[Indices[ii * 3 + 0] * 3 + 2],
|
|
Vertices[Indices[ii * 3 + 1] * 3 + 0],
|
|
Vertices[Indices[ii * 3 + 1] * 3 + 1],
|
|
Vertices[Indices[ii * 3 + 1] * 3 + 2],
|
|
Vertices[Indices[ii * 3 + 2] * 3 + 0],
|
|
Vertices[Indices[ii * 3 + 2] * 3 + 1],
|
|
Vertices[Indices[ii * 3 + 2] * 3 + 2]
|
|
};
|
|
dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
|
|
}
|
|
|
|
// tell the tri-tri collider the current transform of the trimesh --
|
|
// this is fairly important for good results.
|
|
|
|
// Fill in the (4x4) matrix.
|
|
dReal* p_matrix = obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 );
|
|
|
|
p_matrix[ 0 ] = Rot[ 0 ]; p_matrix[ 1 ] = Rot[ 1 ]; p_matrix[ 2 ] = Rot[ 2 ]; p_matrix[ 3 ] = 0;
|
|
p_matrix[ 4 ] = Rot[ 4 ]; p_matrix[ 5 ] = Rot[ 5 ]; p_matrix[ 6 ] = Rot[ 6 ]; p_matrix[ 7 ] = 0;
|
|
p_matrix[ 8 ] = Rot[ 8 ]; p_matrix[ 9 ] = Rot[ 9 ]; p_matrix[10 ] = Rot[10 ]; p_matrix[11 ] = 0;
|
|
p_matrix[12 ] = Pos[ 0 ]; p_matrix[13 ] = Pos[ 1 ]; p_matrix[14 ] = Pos[ 2 ]; p_matrix[15 ] = 1;
|
|
|
|
// Flip to other matrix.
|
|
obj[i].last_matrix_index = !obj[i].last_matrix_index;
|
|
|
|
dGeomTriMeshSetLastTransform( obj[i].geom[j],
|
|
*(dMatrix4*)( obj[i].matrix_dblbuff + obj[i].last_matrix_index * 16 ) );
|
|
|
|
} else {
|
|
drawGeom (obj[i].geom[j],0,0,show_aabb);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
int* Indices = (int*)::Indices;
|
|
|
|
{const dReal* Pos = dGeomGetPosition(TriMesh1);
|
|
const dReal* Rot = dGeomGetRotation(TriMesh1);
|
|
|
|
{for (int i = 0; i < IndexCount / 3; i++){
|
|
const dReal v[9] = { // explicit conversion from float to dReal
|
|
Vertices[Indices[i * 3 + 0] * 3 + 0],
|
|
Vertices[Indices[i * 3 + 0] * 3 + 1],
|
|
Vertices[Indices[i * 3 + 0] * 3 + 2],
|
|
Vertices[Indices[i * 3 + 1] * 3 + 0],
|
|
Vertices[Indices[i * 3 + 1] * 3 + 1],
|
|
Vertices[Indices[i * 3 + 1] * 3 + 2],
|
|
Vertices[Indices[i * 3 + 2] * 3 + 0],
|
|
Vertices[Indices[i * 3 + 2] * 3 + 1],
|
|
Vertices[Indices[i * 3 + 2] * 3 + 2]
|
|
};
|
|
dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 0);
|
|
}}}
|
|
|
|
{const dReal* Pos = dGeomGetPosition(TriMesh2);
|
|
const dReal* Rot = dGeomGetRotation(TriMesh2);
|
|
|
|
{for (int i = 0; i < IndexCount / 3; i++){
|
|
const dReal v[9] = { // explicit conversion from float to dReal
|
|
Vertices[Indices[i * 3 + 0] * 3 + 0],
|
|
Vertices[Indices[i * 3 + 0] * 3 + 1],
|
|
Vertices[Indices[i * 3 + 0] * 3 + 2],
|
|
Vertices[Indices[i * 3 + 1] * 3 + 0],
|
|
Vertices[Indices[i * 3 + 1] * 3 + 1],
|
|
Vertices[Indices[i * 3 + 1] * 3 + 2],
|
|
Vertices[Indices[i * 3 + 2] * 3 + 0],
|
|
Vertices[Indices[i * 3 + 2] * 3 + 1],
|
|
Vertices[Indices[i * 3 + 2] * 3 + 2]
|
|
};
|
|
dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
|
|
}}}
|
|
}
|
|
|
|
|
|
int main (int argc, char **argv)
|
|
{
|
|
// setup pointers to drawstuff callback functions
|
|
dsFunctions fn;
|
|
fn.version = DS_VERSION;
|
|
fn.start = &start;
|
|
fn.step = &simLoop;
|
|
fn.command = &command;
|
|
fn.stop = 0;
|
|
fn.path_to_textures = "../../drawstuff/textures";
|
|
if(argc==2)
|
|
{
|
|
fn.path_to_textures = argv[1];
|
|
}
|
|
|
|
// create world
|
|
dInitODE();
|
|
world = dWorldCreate();
|
|
|
|
space = dSimpleSpaceCreate(0);
|
|
contactgroup = dJointGroupCreate (0);
|
|
dWorldSetGravity (world,0,0,-0.5);
|
|
dWorldSetCFM (world,1e-5);
|
|
dCreatePlane (space,0,0,1,0);
|
|
memset (obj,0,sizeof(obj));
|
|
|
|
// note: can't share tridata if intending to trimesh-trimesh collide
|
|
TriData1 = dGeomTriMeshDataCreate();
|
|
dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int));
|
|
TriData2 = dGeomTriMeshDataCreate();
|
|
dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int));
|
|
|
|
TriMesh1 = dCreateTriMesh(space, TriData1, 0, 0, 0);
|
|
TriMesh2 = dCreateTriMesh(space, TriData2, 0, 0, 0);
|
|
dGeomSetData(TriMesh1, TriData1);
|
|
dGeomSetData(TriMesh2, TriData2);
|
|
|
|
{dGeomSetPosition(TriMesh1, 0, 0, 0.9);
|
|
dMatrix3 Rotation;
|
|
dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
|
|
dGeomSetRotation(TriMesh1, Rotation);}
|
|
|
|
{dGeomSetPosition(TriMesh2, 1, 0, 0.9);
|
|
dMatrix3 Rotation;
|
|
dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
|
|
dGeomSetRotation(TriMesh2, Rotation);}
|
|
|
|
// run simulation
|
|
dsSimulationLoop (argc,argv,352,288,&fn);
|
|
|
|
dJointGroupDestroy (contactgroup);
|
|
dSpaceDestroy (space);
|
|
dWorldDestroy (world);
|
|
dCloseODE();
|
|
return 0;
|
|
}
|