int mainbak(int argc, char** argv)
{
object1.id = 1;
object2.id = 2;
vec3 boxMax1 = vec3(2, 2, 2);
vec3 boxMax2 = vec3(1, 1, 1);
DtShapeRef shape1 = dtBox(boxMax1.x * 2, boxMax1.y * 2, boxMax1.z * 2);
DtShapeRef shape2 = dtBox(boxMax2.x * 2, boxMax2.y * 2, boxMax2.z * 2);
boxobj1 = BoundingBox(-boxMax1, boxMax1);
boxobj2 = BoundingBox(-boxMax2, boxMax2);
dtCreateObject(&object1, shape1);
dtCreateObject(&object2, shape2);
dtDisableCaching();
dtSetDefaultResponse(collide1, DT_SIMPLE_RESPONSE, stdout);
if(NO_DISPLAY) return 0;
draw(argc, argv);
return 0;
}
void
SimCarCollideInit(tTrack *track)
{
dtSetDefaultResponse(SimCarCollideResponse, DT_SMART_RESPONSE, NULL);
// Hmm, why is caching disabled, are our objects too fast, so it does not work?
// TODO: understand this and reconsider caching.
dtDisableCaching();
dtSetTolerance(0.001);
fixedid = 0;
if (track != NULL) {
tTrackSeg *firstleft = getFirstWallStart(track->seg, TR_SIDE_LFT);
tTrackSeg *firstright = getFirstWallStart(track->seg, TR_SIDE_RGT);
buildWalls(firstleft, TR_SIDE_LFT);
buildWalls(firstright, TR_SIDE_RGT);
unsigned int i;
for (i = 0; i < fixedid; i++) {
dtCreateObject(&fixedobjects[i], fixedobjects[i]);
dtSetObjectResponse(&fixedobjects[i], SimCarWallCollideResponse, DT_SMART_RESPONSE, &fixedobjects[i]);
}
}
}
void
SimCarCollideConfig(tCar *car)
{
tCarElt *carElt;
carElt = car->carElt;
// The current car shape is a box...
car->shape = dtBox(carElt->_dimension_x, carElt->_dimension_y, carElt->_dimension_z);
dtCreateObject(car, car->shape);
car->collisionAware = 1;
}
void
SimCarCollideConfig(tCar *car, tTrack *track)
{
tCarElt *carElt;
// Create car collision objects.
carElt = car->carElt;
// The current car shape is a box...
car->shape = dtBox(carElt->_dimension_x, carElt->_dimension_y, carElt->_dimension_z);
dtCreateObject(car, car->shape);
car->collisionAware = 1;
// Create fixed track collision objects (just pit wall for now).
// TODO: car body/curbs collision.
// TODO: car body/flat wall collision (e.g. for pavement, sidewalk).
// TODO: define static objects in XML file/tTrack, collide with them as well.
}
int main(int argc, char** argv)
{
object1.id = 1;
object2.id = 2;
/*vec3 boxMax1 = vec3(2, 2, 2);
vec3 boxMax2 = vec3(1, 1, 1);
boxobj1 = BoundingBox(-boxMax1, boxMax1);
boxobj2 = BoundingBox(-boxMax2, boxMax2);
*/
boxobj1 = BoundingBox(vec3(-0.9438, -0.4669, -0.61679), vec3(0.607788, 1.06996, 0.587146));
boxobj2 = BoundingBox(vec3(1.056195, -0.46690, -0.6167920), vec3(2.6077880000000002, 1.0699599999999998, 0.58714600000000006));
/*
DtShapeRef shape1 = dtBox(boxMax1.x * 2, boxMax1.y * 2, boxMax1.z * 2);
DtShapeRef shape2 = dtBox(boxMax2.x * 2, boxMax2.y * 2, boxMax2.z * 2);
*/
vector<Point> solid_points0;
vector<CP_Vector3D> points0 = boxobj1.GetAABBVertices();
for(int i = 0; i < points0.size(); i++)
solid_points0.push_back(Point(points0[i].x, points0[i].y, points0[i].z));
vector<DtIndex> solid_indices0;
auto indices = boxobj1.GetAABBIndices();
for(auto it = indices.begin(); it != indices.end(); it++)
solid_indices0.push_back(*it);
DtShapeRef shape1 = dtNewComplexShape();
dtVertexBase(&solid_points0[0]);
for(int i = 0; i < solid_indices0.size()/3; i++)
{
dtBegin(DT_SIMPLEX);
dtVertexIndex(solid_indices0[i*3+0]);
dtVertexIndex(solid_indices0[i*3+1]);
dtVertexIndex(solid_indices0[i*3+2]);
dtEnd();
}
//dtVertexIndices(DT_POLYHEDRON, solid_indices0.size(), &solid_indices0[0]);
dtEndComplexShape();
vector<Point> solid_points1;
vector<CP_Vector3D> points1 = boxobj2.GetAABBVertices();
for(int i = 0; i < points1.size(); i++)
solid_points1.push_back(Point(points1[i].x, points1[i].y, points1[i].z));
auto indices1 = boxobj2.GetAABBIndices();
vector<DtIndex> solid_indices1(indices1.begin(), indices1.end());
DtShapeRef shape2 = dtNewComplexShape();
dtVertexBase(&solid_points1[0]);
for(int i = 0; i < solid_indices1.size()/3; i++)
{
dtBegin(DT_SIMPLEX);
dtVertexIndex(solid_indices1[i*3+0]);
dtVertexIndex(solid_indices1[i*3+1]);
dtVertexIndex(solid_indices1[i*3+2]);
dtEnd();
}
//dtVertexIndices(DT_POLYHEDRON, solid_indices1.size(), &solid_indices1[0]);
dtEndComplexShape();
dtCreateObject(&object1, shape1);
dtCreateObject(&object2, shape2);
dtDisableCaching();
dtSetDefaultResponse(collide1, DT_SIMPLE_RESPONSE, stdout);
if(NO_DISPLAY) return 0;
draw(argc, argv);
return 0;
}
