int coldetect(int ntri1, int ntri2, int ntrans1, int ntrans2, double *tri1, double *tri2, double *trans1, double *trans2) {
double vc_trans[4][4];
VCReport report;
VCollide vc;
addTris(tri1, ntri1, vc);
addTris(tri2, ntri2, vc);
// Iterate through transformations
for (int t(0); t < ntrans1; t++) {
update(trans1, t, ntrans1, vc_trans);
vc.UpdateTrans(0, vc_trans);
update(trans2, t, ntrans2, vc_trans);
vc.UpdateTrans(1, vc_trans);
vc.Collide(&report);
if (report.numObjPairs() > 0) {
return t + 1;
}
}
return 0;
}
//reads in the transformation and applies it the the corresponding
//object from the library.
void UpdatePolytope(int i, double ogl_trans[])
{
q_xyz_quat_struct q;
fscanf(fp, "%lf %lf %lf", &(q.xyz[0]), &(q.xyz[1]), &(q.xyz[2]) );
fscanf(fp, "%lf %lf %lf %lf", &(q.quat[3]), &(q.quat[0]), &(q.quat[1]), &(q.quat[2]) );
q_xyz_quat_to_ogl_matrix(ogl_trans, &q); //convert from quaternion to
//OpenGL transformation matrix.
double trans[4][4];
int j,k;
for (j=0; j<4; j++)
for (k=0; k<4; k++)
{
trans[j][k] = ogl_trans[4*k+j]; //convert the standard notation.
}
vc.UpdateTrans(polytope[i]->id, trans); //update the transformation of
//corresponding object from the
//library.
}
int main(int argc, char *argv[])
{
if (argc != 3)
{
std::cerr<<argv[0]<<": USAGE: "<<argv[0]<<" <input-file> <transformation-file>\n";
exit(1);
}
int num_tri;
VCollide vc;
int id[NO_OF_OBJECTS];
int i;
for (i=0; i<NO_OF_OBJECTS; i++) //add the objects to the library.
{
std::cout<<"Reading object "<<i<<"\n";
vc.NewObject(&(id[i]));
std::cout<<"Adding triangles\n";
FILE *fp = fopen(argv[1], "r");
fscanf(fp, "%d", &num_tri);
for (int j=1; j<=num_tri; j++)
{
double v1[3], v2[3], v3[3];
fscanf(fp, "%lf %lf %lf", &(v1[0]), &(v1[1]), &(v1[2]));
fscanf(fp, "%lf %lf %lf", &(v2[0]), &(v2[1]), &(v2[2]));
fscanf(fp, "%lf %lf %lf", &(v3[0]), &(v3[1]), &(v3[2]));
vc.AddTri(v1, v2, v3, j); // Each triangle has an id
}
fclose(fp);
std::cout<<"Calling finish_object\n";
vc.EndObject();
std::cout<<"Inserted object "<<i<<"\n";
}
FILE *fp = fopen(argv[2], "r");
for (i=1; i<=SIMULATION_STEPS; i++) //perform the simulation.
{
std::cout<<"Simulation step : "<<i<<"\n";
int j;
for (j=0; j<NO_OF_OBJECTS; j++)
{
double trans[4][4];
//read in the transformation matrix.
fscanf(fp, "%lf", &(trans[0][0]));
fscanf(fp, "%lf", &(trans[0][1]));
fscanf(fp, "%lf", &(trans[0][2]));
fscanf(fp, "%lf", &(trans[0][3]));
fscanf(fp, "%lf", &(trans[1][0]));
fscanf(fp, "%lf", &(trans[1][1]));
fscanf(fp, "%lf", &(trans[1][2]));
fscanf(fp, "%lf", &(trans[1][3]));
fscanf(fp, "%lf", &(trans[2][0]));
fscanf(fp, "%lf", &(trans[2][1]));
fscanf(fp, "%lf", &(trans[2][2]));
fscanf(fp, "%lf", &(trans[2][3]));
fscanf(fp, "%lf", &(trans[3][0]));
fscanf(fp, "%lf", &(trans[3][1]));
fscanf(fp, "%lf", &(trans[3][2]));
fscanf(fp, "%lf", &(trans[3][3]));
//update the object's transformation.
vc.UpdateTrans(id[j], trans);
}
VCReport report;
vc.Collide( &report, VC_ALL_CONTACTS); //perform collision test.
//default is VC_FIRST_CONTACT
for (j = 0; j < report.numObjPairs(); j++)
{
std::cout << "Detected collision between objects "
<< report.obj1ID(j) << " and " << report.obj2ID(j) << "\n";
std::cout << "\tNumber of contacts = " << report.numTriPairs(j) << "\n";
std::cout << "\tColliding triangle-pairs: ";
int k;
for ( k = 0; k < report.numTriPairs(j); k++ )
std::cout << "[" << report.tri1ID(j, k) << "," << report.tri2ID(j, k) << "] ";
std::cout << "\n";
}
}
return 0;
}
//update the transformation of library object with given id.
void UpdatePolytope(int id, double trans[4][4])
{
vc.UpdateTrans(id, trans);
}
