//Auxiliary function to print info on a space
void OdeInit::printInfoOnSpace(dSpaceID my_space,const std::string & my_space_name)
{
int num_geoms = 0;
dGeomID geom_temp;
int geom_class_temp = 0;
dReal aabb[6];
dBodyID body_temp;
num_geoms = dSpaceGetNumGeoms(my_space);
printf("\nSpace: %s: ID: %p. sublevel: %d, nr. geoms: %d. \n",my_space_name.c_str(),my_space,dSpaceGetSublevel(my_space),num_geoms);
for (int i=0;i<=(num_geoms-1);i++){
geom_temp = dSpaceGetGeom (my_space, i);
geom_class_temp = dGeomGetClass(geom_temp);
printGeomClassAndNr(geom_class_temp,i);
if (!dGeomIsSpace(geom_temp)){
if (dGeomGetBody(geom_temp)!=NULL){ // i.e. a placeable geom
printf(" ID: %p, Coordinates:",geom_temp);
ICubSim::printPositionOfGeom(geom_temp);
dGeomGetAABB(geom_temp,aabb);
printf(" Bounding box coordinates: %f-%f,%f-%f,%f-%f\n:",aabb[0],aabb[1],aabb[2],aabb[3],aabb[4],aabb[5]);
if (geom_class_temp==8){ // trimesh
body_temp = dGeomGetBody(geom_temp);
printf(" Coordinates of associated body are:");
ICubSim::printPositionOfBody(body_temp);
}
} else {
dGeomGetAABB(geom_temp,aabb);
printf(" ID: %p; bounding box coordinates: %f-%f,%f-%f,%f-%f\n:",geom_temp,aabb[0],aabb[1],aabb[2],aabb[3],aabb[4],aabb[5]);
}
}
}
}
void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
{
if (!draw_geom){
return;
}
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);
}
/*
// cylinder option not yet implemented
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);
}
}
void PhysicsGeom::getAABB(Real32 aabb[6]) const
{
dReal t[6];
dGeomGetAABB(_GeomID, t);
aabb[0] = t[0];
aabb[1] = t[1];
aabb[2] = t[2];
aabb[3] = t[3];
aabb[4] = t[4];
aabb[5] = t[5];
}
void BoxObstacle::getAABB(double& minX, double& maxX, double& minY,
double& maxY, double& minZ, double& maxZ) {
dReal aabb[6];
dGeomGetAABB(boxGeom_, aabb);
minX = aabb[0];
maxX = aabb[1];
minY = aabb[2];
maxY = aabb[3];
minZ = aabb[4];
maxZ = aabb[5];
}
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 == dConvexClass) {
//dVector3 sides={0.50,0.50,0.50};
dsDrawConvex(pos,R,planes,
planecount,
points,
pointcount,
polygons);
}
/*
// cylinder option not yet implemented
else if (type == dCylinderClass) {
dReal radius,length;
dGeomCylinderGetParams (g,&radius,&length);
dsDrawCylinder (pos,R,length,radius);
}
*/
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);
}
}
void Object::showAABB()
{
dReal aabb[6];
dGeomGetAABB (iGeom,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);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glTranslatef(bbpos[0],bbpos[1],bbpos[2]);
Graphics::cube(bbsides[0],bbsides[1],bbsides[0]);
glPopMatrix();
}
void CShape::GetAABB(bbox3& AABB) const
{
if (ODEGeomID)
{
dReal Box[6];
dGeomGetAABB(ODEGeomID, Box);
AABB.vmin.x = Box[0];
AABB.vmax.x = Box[1];
AABB.vmin.y = Box[2];
AABB.vmax.y = Box[3];
AABB.vmin.z = Box[4];
AABB.vmax.z = Box[5];
//???transform?
}
else
{
AABB.vmin.x =
AABB.vmin.y =
AABB.vmin.z =
AABB.vmax.x =
AABB.vmax.y =
AABB.vmax.z = 0.f;
}
}
static void dRayMotionsAABB (dxGeom *geom, dReal aabb[6])
{
dxRayMotions *c = (dxRayMotions*) dGeomGetClassData(geom);
dGeomGetAABB(c->ray,aabb);
///dInfiniteAABB(geom,aabb);
}
void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
{
int i;
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);
}
//<---- Convex Object
else if (type == dConvexClass)
{
#if 0
dsDrawConvex(pos,R,planes,
planecount,
points,
pointcount,
polygons);
#else
dsDrawConvex(pos,R,
Sphere_planes,
Sphere_planecount,
Sphere_points,
Sphere_pointcount,
Sphere_polygons);
#endif
}
//----> Convex Object
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_body) {
dBodyID body = dGeomGetBody(g);
if (body) {
const dReal *bodypos = dBodyGetPosition (body);
const dReal *bodyr = dBodyGetRotation (body);
dReal bodySides[3] = { 0.1, 0.1, 0.1 };
dsSetColorAlpha(0,1,0,1);
dsDrawBox(bodypos,bodyr,bodySides);
}
}
if (show_aabb) {
// draw the bounding box for this geom
dReal aabb[6];
dGeomGetAABB (g,aabb);
dVector3 bbpos;
for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha (1,0,0,0.5);
dsDrawBox (bbpos,RI,bbsides);
}
}
void ODEGeom::getGeomAABB(dReal aabb[6])
{
dGeomGetAABB(geom,aabb);
}
void ompl::control::OpenDEStateSpace::setDefaultBounds()
{
// limit all velocities to 1 m/s, 1 rad/s, respectively
base::RealVectorBounds bounds1(3);
bounds1.setLow(-1);
bounds1.setHigh(1);
setLinearVelocityBounds(bounds1);
setAngularVelocityBounds(bounds1);
// find the bounding box that contains all geoms included in the collision spaces
double mX, mY, mZ, MX, MY, MZ;
mX = mY = mZ = std::numeric_limits<double>::infinity();
MX = MY = MZ = -std::numeric_limits<double>::infinity();
bool found = false;
std::queue<dSpaceID> spaces;
for (auto &collisionSpace : env_->collisionSpaces_)
spaces.push(collisionSpace);
while (!spaces.empty())
{
dSpaceID space = spaces.front();
spaces.pop();
int n = dSpaceGetNumGeoms(space);
for (int j = 0; j < n; ++j)
{
dGeomID geom = dSpaceGetGeom(space, j);
if (dGeomIsSpace(geom) != 0)
spaces.push((dSpaceID)geom);
else
{
bool valid = true;
dReal aabb[6];
dGeomGetAABB(geom, aabb);
// things like planes are infinite; we want to ignore those
for (double k : aabb)
if (fabs(k) >= std::numeric_limits<dReal>::max())
{
valid = false;
break;
}
if (valid)
{
found = true;
if (aabb[0] < mX)
mX = aabb[0];
if (aabb[1] > MX)
MX = aabb[1];
if (aabb[2] < mY)
mY = aabb[2];
if (aabb[3] > MY)
MY = aabb[3];
if (aabb[4] < mZ)
mZ = aabb[4];
if (aabb[5] > MZ)
MZ = aabb[5];
}
}
}
}
if (found)
{
double dx = MX - mX;
double dy = MY - mY;
double dz = MZ - mZ;
double dM = std::max(dx, std::max(dy, dz));
// add 10% in each dimension + 1% of the max dimension
dx = dx / 10.0 + dM / 100.0;
dy = dy / 10.0 + dM / 100.0;
dz = dz / 10.0 + dM / 100.0;
bounds1.low[0] = mX - dx;
bounds1.high[0] = MX + dx;
bounds1.low[1] = mY - dy;
bounds1.high[1] = MY + dy;
bounds1.low[2] = mZ - dz;
bounds1.high[2] = MZ + dz;
setVolumeBounds(bounds1);
}
}
static void simLoop (int pause)
{
dsSetColor (0,0,2);
dSpaceCollide (space,0,&nearCallback);
if (!pause) dWorldStep (world,0.05);
dAASSERT(terrainY);
dAASSERT(terrainZ);
dsSetColor (0,1,0);
dsDrawTerrainY(0,0,vTerrainLength,vTerrainLength/TERRAINNODES,TERRAINNODES,pTerrainHeights,dGeomGetRotation(terrainY),dGeomGetPosition(terrainY));
dsDrawTerrainZ(0,0,vTerrainLength,vTerrainLength/TERRAINNODES,TERRAINNODES,pTerrainHeights,dGeomGetRotation(terrainZ),dGeomGetPosition(terrainZ));
if (show_aabb)
{
dReal aabb[6];
dGeomGetAABB (terrainY,aabb);
dVector3 bbpos;
int i;
for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha (1,0,0,0.5);
dsDrawBox (bbpos,RI,bbsides);
dGeomGetAABB (terrainZ,aabb);
for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
dsDrawBox (bbpos,RI,bbsides);
}
dsSetColor (1,1,0);
// 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 (i==selected) {
dsSetColor (0,0.7,1);
}
else if (! dBodyIsEnabled (obj[i].body)) {
dsSetColor (1,0,0);
}
else {
dsSetColor (1,1,0);
}
drawGeom (obj[i].geom[j],0,0,show_aabb);
}
}
}
// copied from an OpenDE demo program
void DisplayOpenDESpaces::drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
{
int i;
if (g == nullptr) return;
if (dGeomIsSpace(g) != 0)
{
displaySpace((dSpaceID)g);
return;
}
int type = dGeomGetClass (g);
if (type == dBoxClass)
{
if (pos == nullptr) pos = dGeomGetPosition (g);
if (R == nullptr) R = dGeomGetRotation (g);
dVector3 sides;
dGeomBoxGetLengths (g,sides);
dsDrawBox (pos,R,sides);
}
else if (type == dSphereClass)
{
if (pos == nullptr) pos = dGeomGetPosition (g);
if (R == nullptr) R = dGeomGetRotation (g);
dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
}
else if (type == dCapsuleClass)
{
if (pos == nullptr) pos = dGeomGetPosition (g);
if (R == nullptr) R = dGeomGetRotation (g);
dReal radius,length;
dGeomCapsuleGetParams (g,&radius,&length);
dsDrawCapsule (pos,R,length,radius);
}
else if (type == dCylinderClass)
{
if (pos == nullptr) pos = dGeomGetPosition (g);
if (R == nullptr) R = dGeomGetRotation (g);
dReal radius,length;
dGeomCylinderGetParams (g,&radius,&length);
dsDrawCylinder (pos,R,length,radius);
}
else if (type == dGeomTransformClass)
{
if (pos == nullptr) pos = dGeomGetPosition (g);
if (R == nullptr) R = dGeomGetRotation (g);
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);
}
else
show_aabb = 0;
if (show_aabb != 0)
{
// draw the bounding box for this geom
dReal aabb[6];
dGeomGetAABB (g,aabb);
dVector3 bbpos;
for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha (1,0,0,0.5);
dsDrawBox (bbpos,RI,bbsides);
}
}
static void simLoop (int pause)
{
int i,j;
dsSetColor (0,0,2);
dSpaceCollide (space,0,&nearCallback);
//if (!pause) dWorldStep (world,0.05);
//if (!pause) dWorldQuickStep (world,0.05);
if (!pause) dWorldStepFast1 (world,0.05, 5);
if (write_world) {
FILE *f = fopen ("state.dif","wt");
if (f) {
dWorldExportDIF (world,f,"X");
fclose (f);
}
write_world = 0;
}
// remove all contact joints
dJointGroupEmpty (contactgroup);
const dReal* pReal = dGeomGetPosition( gheight );
const dReal* RReal = dGeomGetRotation( gheight );
//
// Draw Heightfield
//
// Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode.
int ox = (int) ( -HFIELD_WIDTH/2 );
int oz = (int) ( -HFIELD_DEPTH/2 );
// for ( int tx = -1; tx < 2; ++tx )
// for ( int tz = -1; tz < 2; ++tz )
{
dsSetColorAlpha (0.5,1,0.5,0.5);
dsSetTexture( DS_WOOD );
for ( int i = 0; i < HFIELD_WSTEP - 1; ++i )
for ( int j = 0; j < HFIELD_DSTEP - 1; ++j )
{
dReal a[3], b[3], c[3], d[3];
a[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
a[ 1 ] = heightfield_callback( NULL, i, j );
a[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
b[ 1 ] = heightfield_callback( NULL, i + 1, j );
b[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
c[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
c[ 1 ] = heightfield_callback( NULL, i, j + 1 );
c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 );
d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
dsDrawTriangle( pReal, RReal, a, c, b, 1 );
dsDrawTriangle( pReal, RReal, b, c, d, 1 );
}
}
dsSetColor (1,1,0);
dsSetTexture (DS_WOOD);
for (i=0; i<num; i++)
{
for (j=0; j < GPB; j++)
{
if (i==selected)
{
dsSetColor (0,0.7,1);
}
else if (! dBodyIsEnabled (obj[i].body))
{
dsSetColor (1,0.8,0);
}
else
{
dsSetColor (1,1,0);
}
if ( obj[i].geom[j] && dGeomGetClass(obj[i].geom[j]) == dTriMeshClass )
{
dTriIndex* Indices = (dTriIndex*)::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;
// Apply the 'other' matrix which is the oldest.
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);
}
}
}
if ( show_aabb )
{
// draw the bounding box for this geom
dReal aabb[6];
dGeomGetAABB (gheight,aabb);
dVector3 bbpos;
for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha (1,0,0,0.5);
dsDrawBox (bbpos,RI,bbsides);
}
}
// copied from an OpenDE demo program
//todo:pass trimesh as argument to this function
void DisplayOpenDESpaces::drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb, Tmesh tm)
{
int i;
if (!g) return;
if (dGeomIsSpace(g))
{
displaySpace((dSpaceID)g);
return;
}
int type = dGeomGetClass (g);
if (type == dBoxClass)
{
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
dVector3 sides;
dGeomBoxGetLengths (g,sides);
dsDrawBox (pos,R,sides);
}
else if (type == dSphereClass)
{
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
}
else if (type == dCapsuleClass)
{
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
dReal radius,length;
dGeomCapsuleGetParams (g,&radius,&length);
dsDrawCapsule (pos,R,length,radius);
}
else if (type == dCylinderClass)
{
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
dReal radius,length;
dGeomCylinderGetParams (g,&radius,&length);
dsDrawCylinder (pos,R,length,radius);
}
else if (type == dTriMeshClass)
{
//dTriIndex* Indices = DISP.tmd[i].indices;
const dReal* Pos = dGeomGetPosition(g);
const dReal* Rot = dGeomGetRotation(g);
for (int ii = 0; ii < (tm.indexSize/3); ii++)
{
const dReal v[9] = { // explicit conversion from float to dReal
tm.vertices[tm.indices[ii * 3 + 0] * 3 + 0],
tm.vertices[tm.indices[ii * 3 + 0] * 3 + 1],
tm.vertices[tm.indices[ii * 3 + 0] * 3 + 2],
tm.vertices[tm.indices[ii * 3 + 1] * 3 + 0],
tm.vertices[tm.indices[ii * 3 + 1] * 3 + 1],
tm.vertices[tm.indices[ii * 3 + 1] * 3 + 2],
tm.vertices[tm.indices[ii * 3 + 2] * 3 + 0],
tm.vertices[tm.indices[ii * 3 + 2] * 3 + 1],
tm.vertices[tm.indices[ii * 3 + 2] * 3 + 2]
};
dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
}
//std::cout<<"done once"<<std::endl;
}
else
if (type == dRayClass)
{
dVector3 Origin, Direction;
dGeomRayGet(g, Origin, Direction);
dReal Length = dGeomRayGetLength(g);
dVector3 End;
End[0] = Origin[0] + (Direction[0] * Length);
End[1] = Origin[1] + (Direction[1] * Length);
End[2] = Origin[2] + (Direction[2] * Length);
End[3] = Origin[3] + (Direction[3] * Length);
double *ori = new double[3];
double *end = new double[4];
ori[0]=Origin[0];
ori[1]=Origin[1];
ori[2]=Origin[2];
end[0]=End[0];
end[1]=End[1];
end[2]=End[2];
end[3]=End[3];
dsDrawLine(ori, end);
}
else
show_aabb = 0;
if (show_aabb)
{
// draw the bounding box for this geom
dReal aabb[6];
dGeomGetAABB (g,aabb);
dVector3 bbpos;
for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha (1,0,0,0.5);
dsDrawBox (bbpos,RI,bbsides);
}
}
void DisplayOpenDESpaces::drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
{
int i;
if (!g) return;
if (dGeomIsSpace(g))
{
displaySpace((dSpaceID)g);
return;
}
int type = dGeomGetClass (g);
if (type == dBoxClass)
{
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
dVector3 sides;
dGeomBoxGetLengths (g,sides);
dsDrawBox (pos,R,sides);
}
else if (type == dSphereClass)
{
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
}
else if (type == dCapsuleClass)
{
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
dReal radius,length;
dGeomCapsuleGetParams (g,&radius,&length);
dsDrawCapsule (pos,R,length,radius);
}
else if (type == dCylinderClass)
{
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
dReal radius,length;
dGeomCylinderGetParams (g,&radius,&length);
dsDrawCylinder (pos,R,length,radius);
}
else
show_aabb = 0;
if (show_aabb)
{
// draw the bounding box for this geom
dReal aabb[6];
dGeomGetAABB (g,aabb);
dVector3 bbpos;
for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha (1,0,0,0.5);
dsDrawBox (bbpos,RI,bbsides);
}
}
