void
cb_display()
{
BeginDraw();
int i;
PQP_CollideResult cres;
PQP_DistanceResult dres;
PQP_ToleranceResult tres;
double oglm[16];
switch(query_type)
{
case 0:
// draw model 1
glColor3f(1,1,1); // setup color and transform
MVtoOGL(oglm,R1[step],T1[step]);
glPushMatrix();
glMultMatrixd(oglm);
torus1_drawn->Draw(); // do gl rendering
glPopMatrix(); // restore transform
// draw model 2
MVtoOGL(oglm,R2[step],T2[step]);
glPushMatrix();
glMultMatrixd(oglm);
torus2_drawn->Draw();
glPopMatrix();
break;
case 1:
// perform collision query
PQP_Collide(&cres,R1[step],T1[step],torus1_tested,
R2[step],T2[step],torus2_tested,
PQP_ALL_CONTACTS);
// draw model 1 and its overlapping tris
MVtoOGL(oglm,R1[step],T1[step]);
glPushMatrix();
glMultMatrixd(oglm);
glColor3f(1,1,1);
torus1_drawn->Draw();
glColor3f(1,0,0);
for(i = 0; i < cres.NumPairs(); i++)
{
torus1_drawn->DrawTri(cres.Id1(i));
}
glPopMatrix();
// draw model 2 and its overlapping tris
MVtoOGL(oglm,R2[step],T2[step]);
glPushMatrix();
glMultMatrixd(oglm);
glColor3f(1,1,1);
torus2_drawn->Draw();
glColor3f(1,0,0);
for(i = 0; i < cres.NumPairs(); i++)
{
torus2_drawn->DrawTri(cres.Id2(i));
}
glPopMatrix();
break;
case 2:
// perform distance query
PQP_Distance(&dres,R1[step],T1[step],torus1_tested,
R2[step],T2[step],torus2_tested,
0.0,0.0);
// draw models
glColor3f(1,1,1);
MVtoOGL(oglm,R1[step],T1[step]);
glPushMatrix();
glMultMatrixd(oglm);
torus1_drawn->Draw();
glPopMatrix();
MVtoOGL(oglm,R2[step],T2[step]);
glPushMatrix();
glMultMatrixd(oglm);
torus2_drawn->Draw();
glPopMatrix();
// draw the closest points as small spheres
glColor3f(0,1,0);
PQP_REAL P1[3],P2[3],V1[3],V2[3];
VcV(P1,dres.P1());
VcV(P2,dres.P2());
// each point is in the space of its model;
// transform to world space
MxVpV(V1,R1[step],P1,T1[step]);
glPushMatrix();
glTranslated(V1[0],V1[1],V1[2]);
glutSolidSphere(.01,15,15);
glPopMatrix();
MxVpV(V2,R2[step],P2,T2[step]);
glPushMatrix();
glTranslated(V2[0],V2[1],V2[2]);
glutSolidSphere(.01,15,15);
glPopMatrix();
// draw the line between the closest points
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
glVertex3v(V1);
glVertex3v(V2);
glEnd();
glEnable(GL_LIGHTING);
break;
case 3:
// perform tolerance query
PQP_Tolerance(&tres,R1[step],T1[step],torus1_tested,
R2[step],T2[step],torus2_tested,
tolerance);
if (tres.CloserThanTolerance())
glColor3f(0,0,1);
else
glColor3f(1,1,1);
// draw models
MVtoOGL(oglm,R1[step],T1[step]);
glPushMatrix();
glMultMatrixd(oglm);
torus1_drawn->Draw();
glPopMatrix();
MVtoOGL(oglm,R2[step],T2[step]);
glPushMatrix();
glMultMatrixd(oglm);
torus2_drawn->Draw();
glPopMatrix();
break;
}
EndDraw();
}
void
DisplayCB()
{
BeginDraw();
// set up model transformations
if (animate)
{
rot1 += .1;
rot2 += .2;
rot3 += .3;
}
PQP_REAL R1[3][3],R2[3][3],T1[3],T2[3];
PQP_REAL M1[3][3],M2[3][3],M3[3][3];
T1[0] = -1;
T1[1] = 0.0;
T1[2] = 0.0;
T2[0] = 1;
T2[1] = 0.0;
T2[2] = 0.0;
MRotX(M1,rot1);
MRotY(M2,rot2);
MxM(M3,M1,M2);
MRotZ(M1,rot3);
MxM(R1,M3,M1);
MRotX(M1,rot3);
MRotY(M2,rot1);
MxM(M3,M1,M2);
MRotZ(M1,rot2);
MxM(R2,M3,M1);
// perform distance query
PQP_REAL rel_err = 0.0;
PQP_REAL abs_err = 0.0;
PQP_DistanceResult res;
PQP_Distance(&res,R1,T1,&bunny,R2,T2,&torus,rel_err,abs_err);
// draw the models
glColor3d(0.0,0.0,1.0);
double oglm[16];
MVtoOGL(oglm,R1,T1);
glPushMatrix();
glMultMatrixd(oglm);
bunny_to_draw->Draw();
glPopMatrix();
glColor3d(0.0,1.0,0.0);
MVtoOGL(oglm,R2,T2);
glPushMatrix();
glMultMatrixd(oglm);
torus_to_draw->Draw();
glPopMatrix();
// draw the closest points as small spheres
glColor3d(1.0,0.0,0.0);
PQP_REAL P1[3],P2[3],V1[3],V2[3];
VcV(P1,res.P1());
VcV(P2,res.P2());
// each point is in the space of its model;
// transform to world space
MxVpV(V1,R1,P1,T1);
/*
glPushMatrix();
glTranslated(V1[0],V1[1],V1[2]);
glutSolidSphere(.05,15,15);
glPopMatrix();
*/
MxVpV(V2,R2,P2,T2);
/*
glPushMatrix();
glTranslated(V2[0],V2[1],V2[2]);
glutSolidSphere(.05,15,15);
glPopMatrix();
*/
// draw the line between the closest points
float v1p[3], v2p[3];
for (int i = 0; i < 3; ++i) {
v1p[i] = V1[i];
v2p[i] = V2[i];
}
//glDisable(GL_LIGHTING);
glBegin(GL_LINES);
glVertex3v(v1p);
glVertex3v(v2p);
glEnd();
//glEnable(GL_LIGHTING);
EndDraw();
}
