void RigidBody::CreateList()
{
m_RigidBodyList = glGenLists(1);
glNewList(m_RigidBodyList, GL_COMPILE);
// glColor3f(1.0,1.0,0.0);
typedef map<FaceId, Face> FaceMap;
FaceMap faces = m_Geom.GetFaces();
FaceMap::const_iterator itFaceEnd = faces.end();
for (FaceMap::const_iterator itFace = faces.begin(); itFace != itFaceEnd; ++itFace)
{
// glBegin(GL_POLYGON);
glBegin(GL_LINE_LOOP);
vector<VertexId> vertexIds = (*itFace).second.GetVertexIds();
vector<VertexId>::iterator vItEnd = vertexIds.end();
for(vector<VertexId>::iterator vIt = vertexIds.begin() ;
vIt != vItEnd ;
vIt++)
{
Vertex vertex = m_Geom.GetVertex((*vIt));
glPushMatrix();
glVertex3f(vertex.GetPos().GetX(),
vertex.GetPos().GetY(),
vertex.GetPos().GetZ());
glPopMatrix();
}
glEnd();
}
glEndList();
}
/**
* @function GetPath
*/
std::vector< std::vector<Pos> > HP2D::GetPath( Pos _p ) {
std::vector<int> iv;
Vertex* current;
int minIndex;
int minDist;
std::vector< std::vector<Pos> > paths;
iv = mG->GetVertices( _p );
for( unsigned int i = 0; i < iv.size(); ++i ) {
current = mV[ iv[i] ];
std::vector<Pos> path;
while( current->GetIndex() != 0 ) {
std::vector<int> a;
a = current->GetAdjacent();
if( a.size() == 0 ) {
printf("--(!) Uh-oh, error here. No Adjacents! GetPath Function \n");
}
minDist = 1000;
minIndex = -1;
for( unsigned int j = 0; j < a.size(); ++ j ) {
if( mV[ a[j] ]->GetDist() < minDist ) {
minDist = mV[ a[j] ]->GetDist();
minIndex = mV[ a[j] ]->GetIndex();
}
}
path.push_back( current->GetPos() );
current = mV[minIndex];
}
path.push_back( mV[0]->GetPos() );
paths.push_back( path );
}
return paths;
}