/*----------------------------------------------------------------------------
str_casestr()
Same as the strstr() library function except it ignores case. Adapted
from the original strstr() routine (C)as above.
---------------------------------------------------------------------------*/
char *str_casestr(char *string, char *substring)
{
register char *a, *b;
/* First scan quickly through the two strings looking for a
* single-character match. When it's found, then compare the
* rest of the substring.
*/
b = substring;
if (*b == 0) {
return string;
}
for ( ; *string != 0; string += 1) {
if (locase(*string) != locase(*b)) {
continue;
}
a = string;
while (1) {
if (*b == 0) {
return string;
}
if (locase(*a) != locase(*b)) {
a++; b++;
break;
}
a++; b++;
}
b = substring;
}
return (char *) 0;
}
static void
pprogramdef (definition * def)
{
version_list *vers;
proc_list *proc;
#if 0
static int puttbl;
if (!puttbl) {
puttbl = 1;
f_print (fout,
"#ifndef _RPCGEN_TABLE_DEFINED_\n"
"#define _RPCGEN_TABLE_DEFINED_ 1\n"
"#ifndef RPCGEN_ACTION\n"
"#define RPCGEN_ACTION(x) 0\n"
"#endif /* !RPCGEN_ACTION */\n"
"struct rpcgen_table {\n"
" char *(*proc)();\n"
" xdrproc_t xdr_arg;\n"
" unsigned len_arg;\n"
" xdrproc_t xdr_res;\n"
" unsigned len_res;\n"
"};\n"
"\n"
"struct rpc_program {\n"
" u_int32_t progno;\n"
" u_int32_t versno;\n"
" const struct rpcgen_table *tbl;\n"
" size_t nproc;\n"
"};\n"
"#endif /* !_RPCGEN_TABLE_DEFINED_ */\n\n");
}
#endif
pargdef (def);
puldefine (def->def_name, def->def.pr.prog_num);
for (vers = def->def.pr.versions; vers != NULL; vers = vers->next) {
if (tblflag) {
f_print (fout, "RPC_EXTERN const struct rpcgen_table %s_%s_table[];\n",
locase (def->def_name), vers->vers_num);
f_print (fout, "RPC_EXTERN const int %s_%s_nproc;\n",
locase (def->def_name), vers->vers_num);
f_print (fout, "RPC_EXTERN const struct rpc_program %s_%s;\n",
locase (def->def_name), vers->vers_num);
}
puldefine (vers->vers_name, vers->vers_num);
for (proc = vers->procs; proc != NULL; proc = proc->next) {
if (!define_printed (proc, def->def.pr.versions))
puldefine (proc->proc_name, proc->proc_num);
#if 0
pprocdef (proc, vers, "CLIENT *", 0, 0);
pprocdef (proc, vers, "struct svc_req *", 1, 0);
#endif
}
}
}
static void
pprogramdef(definition *def)
{
version_list *vers;
proc_list *proc;
int i;
const char *ext;
pargdef(def);
puldefine(def->def_name, def->def.pr.prog_num);
for (vers = def->def.pr.versions; vers != NULL; vers = vers->next) {
if (tblflag) {
f_print(fout, "extern struct rpcgen_table %s_%s_table[];\n",
locase(def->def_name), vers->vers_num);
f_print(fout, "extern %s_%s_nproc;\n",
locase(def->def_name), vers->vers_num);
}
puldefine(vers->vers_name, vers->vers_num);
/*
* Print out 3 definitions, one for ANSI-C, another for C++,
* a third for old style C
*/
for (i=0;i<3;i++) {
if (i==0) {
f_print(fout,"\n#ifdef __cplusplus\n");
ext="extern \"C\" ";
}
else if (i==1) {
f_print(fout,"\n#elif __STDC__\n");
ext="extern " ;
}
else {
f_print(fout,"\n#else /* Old Style C */ \n");
ext="extern ";
}
for (proc = vers->procs; proc != NULL; proc = proc->next) {
if (!define_printed(proc, def->def.pr.versions)) {
puldefine(proc->proc_name, proc->proc_num);
}
f_print(fout,"%s",ext);
pprocdef(proc, vers, "CLIENT *", 0,i);
f_print(fout,"%s",ext);
pprocdef(proc, vers, "struct svc_req *", 1,i);
}
}
f_print(fout,"#endif /* Old Style C */ \n");
}
}
char *WUser::nam(int nUserNumber) const {
static char s_szNamBuffer[255];
bool f = true;
unsigned int p = 0;
for (p = 0; p < strlen(this->GetName()); p++) {
if (f) {
unsigned char* ss = reinterpret_cast<unsigned char*>(strchr(reinterpret_cast<char*>(translate_letters[ 1 ]),
data.name[ p ]));
if (ss) {
f = false;
}
s_szNamBuffer[ p ] = data.name[ p ];
} else {
char* ss = strchr(reinterpret_cast<char*>(translate_letters[ 1 ]), data.name[ p ]);
if (ss) {
s_szNamBuffer[ p ] = locase(data.name[ p ]);
} else {
if ((data.name[ p ] >= ' ' && data.name[ p ] <= '/') && data.name[ p ] != 39) {
f = true;
}
s_szNamBuffer[ p ] = data.name[ p ];
}
}
}
s_szNamBuffer[ p++ ] = ' ';
s_szNamBuffer[ p++ ] = '#';
snprintf(&s_szNamBuffer[p], sizeof(s_szNamBuffer) - p, "%d", nUserNumber);
return s_szNamBuffer;
}
tree
evaluate_change_case (tree t, tree nc, bool evaluate_flag, bool first) {
if (is_atomic (t)) {
string s= t->label;
tree r= copy (s);
int i, n= N(s);
bool all= true;
bool up = false;
bool lo = false;
if (nc == "Upcase") { all= false; up= true; }
else if (nc == "UPCASE") { up= true; }
else if (nc == "locase") { lo= true; }
for (i=0; i<n; tm_char_forwards (s, i))
if (is_iso_alpha (s[i]) && (all || (first && (i==0)))) {
if (up && is_locase (s[i])) r->label[i]= upcase (s[i]);
if (lo && is_upcase (s[i])) r->label[i]= locase (s[i]);
}
r->obs= list_observer (ip_observer (obtain_ip (t)), r->obs);
return r;
}
else if (is_concat (t)) {
int i, n= N(t);
tree r (t, n);
for (i=0; i<n; i++)
r[i]= evaluate_change_case (t[i], nc, evaluate_flag, first && (i==0));
r->obs= list_observer (ip_observer (obtain_ip (t)), r->obs);
return r;
}
else {
if (evaluate_flag) return t;
else return evaluate_change_case (evaluate (t), nc, true, first);
}
}
char *
make_argname(const char *pname, const char *vname)
{
char *name;
name = xmalloc(strlen(pname) + strlen(vname) + strlen(ARGEXT) + 3);
sprintf(name, "%s_%s_%s", locase(pname), vname, ARGEXT);
return (name);
}
char *
make_argname (char *pname, char *vname)
{
char *name;
name = (char *) malloc (strlen (pname) + strlen (vname) + strlen (ARGEXT) + 3);
if (!name) {
fprintf (stderr, "failed in malloc");
exit (1);
}
sprintf (name, "%s_%s_%s", locase (pname), vname, ARGEXT);
return (name);
}
static void
pprogramdef(definition *def, int headeronly)
{
version_list *vers;
proc_list *proc;
const char *ext;
pargdef(def);
puldefine(def->def_name, def->def.pr.prog_num);
for (vers = def->def.pr.versions; vers != NULL; vers = vers->next) {
if (tblflag) {
f_print(fout,
"extern struct rpcgen_table %s_%s_table[];\n",
locase(def->def_name), vers->vers_num);
f_print(fout,
"extern %s_%s_nproc;\n",
locase(def->def_name), vers->vers_num);
}
puldefine(vers->vers_name, vers->vers_num);
f_print(fout, "\n");
ext = "extern ";
if (headeronly) {
f_print(fout, "%s", ext);
pdispatch(def->def_name, vers->vers_num);
}
for (proc = vers->procs; proc != NULL; proc = proc->next) {
if (!define_printed(proc, def->def.pr.versions)) {
puldefine(proc->proc_name, proc->proc_num);
}
f_print(fout, "%s", ext);
pprocdef(proc, vers, "CLIENT *", 0);
f_print(fout, "%s", ext);
pprocdef(proc, vers, "struct svc_req *", 1);
}
pfreeprocdef(def->def_name, vers->vers_num);
}
}
static void
pprogramdef(definition *def)
{
version_list *vers;
proc_list *proc;
pargdef(def);
puldefine(def->def_name, def->def.pr.prog_num);
for (vers = def->def.pr.versions; vers != NULL; vers = vers->next) {
if (tblflag) {
f_print(fout, "extern struct rpcgen_table %s_%s_table[];\n",
locase(def->def_name), vers->vers_num);
f_print(fout, "extern %s_%s_nproc;\n",
locase(def->def_name), vers->vers_num);
}
puldefine(vers->vers_name, vers->vers_num);
for (proc = vers->procs; proc != NULL; proc = proc->next) {
if (!define_printed(proc, def->def.pr.versions)) {
puldefine(proc->proc_name, proc->proc_num);
}
}
}
/*
* Print out 3 definitions, one for ANSI-C, another for C++, a
* third for old style C
*/
f_print(fout, "\n");
cplusplusstart();
for (vers = def->def.pr.versions; vers != NULL; vers = vers->next) {
for (proc = vers->procs; proc != NULL; proc = proc->next) {
pprocdef(proc, vers, "CLIENT *", 0);
pprocdef(proc, vers, "struct svc_req *", 1);
}
}
cplusplusend();
}
char *
make_argname(const char *pname, const char *vname)
{
char *name;
size_t len;
len = strlen(pname) + strlen(vname) + strlen(ARGEXT) + 3;
name = malloc(len);
if (!name) {
fprintf(stderr, "failed in malloc");
exit(1);
}
snprintf(name, len, "%s_%s_%s", locase(pname), vname, ARGEXT);
return (name);
}
static void command (int cmd)
{
cmd = locase (cmd);
if (cmd == ' ')
{
reset();
}
else if (cmd == 'a') {
tilt();
}
else if (cmd == 't') {
show_contacts = !show_contacts;
}
else if (cmd == '1') {
write_world = true;
}
}
char *hpfs_translate_name(struct super_block *s, unsigned char *from,
unsigned len, int lc, int lng)
{
char *to;
int i;
if (hpfs_sb(s)->sb_chk >= 2) if (hpfs_is_name_long(from, len) != lng) {
printk("HPFS: Long name flag mismatch - name ");
for (i=0; i<len; i++) printk("%c", from[i]);
printk(" misidentified as %s.\n", lng ? "short" : "long");
printk("HPFS: It's nothing serious. It could happen because of bug in OS/2.\nHPFS: Set checks=normal to disable this message.\n");
}
if (!lc) return from;
if (!(to = kmalloc(len, GFP_KERNEL))) {
printk("HPFS: can't allocate memory for name conversion buffer\n");
return from;
}
for (i = 0; i < len; i++) to[i] = locase(hpfs_sb(s)->sb_cp_table,from[i]);
return to;
}
static void
write_table (definition * def)
{
version_list *vp;
proc_list *proc;
int current;
int expected;
char progvers[100];
int warning;
for (vp = def->def.pr.versions; vp != NULL; vp = vp->next) {
warning = 0;
s_print (progvers, "%s_%s",
locase (def->def_name), vp->vers_num);
/* print the table header */
f_print (fout, tbl_hdr, progvers);
if (nullproc (vp->procs)) {
expected = 0;
}
else {
expected = 1;
f_print (fout, "%s", null_entry);
}
for (proc = vp->procs; proc != NULL; proc = proc->next) {
current = atoi (proc->proc_num);
if (current != expected++) {
f_print (fout,
"\n/*\n * WARNING: table out of order\n */\n");
if (warning == 0) {
f_print (stderr,
"WARNING %s table is out of order\n",
progvers);
warning = 1;
nonfatalerrors = 1;
}
expected = current + 1;
}
f_print (fout, " {\n\t(char *(*)())RPCGEN_ACTION(");
/* routine to invoke */
if (!newstyle)
pvname_svc (proc->proc_name, vp->vers_num);
else {
if (newstyle)
f_print (fout, "_"); /* calls internal func */
pvname (proc->proc_name, vp->vers_num);
}
f_print (fout, "),\n");
/* argument info */
if (proc->arg_num > 1)
printit ((char *) NULL, proc->args.argname);
else
/* do we have to do something special for newstyle */
printit (proc->args.decls->decl.prefix,
proc->args.decls->decl.type);
/* result info */
printit (proc->res_prefix, proc->res_type);
f_print (fout, " },\n");
}
/* print the table trailer */
f_print (fout, "%s", tbl_end);
f_print (fout, tbl_nproc, progvers, progvers, progvers);
f_print (fout,
"const struct rpc_program_tc %s = {\n"
"\t%s, %s, %s_table,\n"
"\tsizeof (%s_table) / sizeof (%s_table[0])\n"
"};\n\n",
progvers, def->def_name, vp->vers_num, progvers,
progvers, progvers);
}
}
static void command (int cmd)
{
size_t i;
int k;
dReal sides[3];
dMass m;
int setBody;
cmd = locase (cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'y')
{
setBody = 0;
if (num < NUM) {
i = num;
num++;
}
else {
i = nextobj;
nextobj++;
if (nextobj >= num) nextobj = 0;
// destroy the body and geoms for slot i
if (obj[i].body) {
dBodyDestroy (obj[i].body);
}
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) {
dGeomDestroy (obj[i].geom[k]);
}
}
memset (&obj[i],0,sizeof(obj[i]));
}
obj[i].body = dBodyCreate (world);
for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
dMatrix3 R;
if (random_pos)
{
dBodySetPosition (obj[i].body,
dRandReal()*2-1 + platpos[0],
dRandReal()*2-1 + platpos[1],
dRandReal()+2 + platpos[2]);
dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
}
else
{
dBodySetPosition (obj[i].body,
platpos[0],
platpos[1],
platpos[2]+2);
dRSetIdentity (R);
}
dBodySetRotation (obj[i].body,R);
dBodySetData (obj[i].body,(void*) i);
if (cmd == 'b') {
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
}
else if (cmd == 'c') {
sides[0] *= 0.5;
dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
}
else if (cmd == 'y') {
dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
}
else if (cmd == 's') {
sides[0] *= 0.5;
dMassSetSphere (&m,DENSITY,sides[0]);
obj[i].geom[0] = dCreateSphere (space,sides[0]);
}
if (!setBody)
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) {
dGeomSetBody (obj[i].geom[k],obj[i].body);
}
}
dBodySetMass (obj[i].body,&m);
}
else if (cmd == 'a') {
show_aabb ^= 1;
}
else if (cmd == 't') {
show_contacts ^= 1;
}
else if (cmd == 'r') {
random_pos ^= 1;
}
else if (cmd == '1') {
write_world = 1;
}
else if (cmd == ' ') {
mov_time = 0;
}
else if (cmd == 'm') {
mov_type = mov_type==1 ? 2 : 1;
mov_time = 0;
}
}
static void command (int cmd)
{
size_t i;
int j,k;
dReal sides[3];
dMass m;
cmd = locase (cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x'
/* || cmd == 'l' */) {
if (num < NUM) {
i = num;
num++;
}
else {
i = nextobj;
nextobj++;
if (nextobj >= num) nextobj = 0;
// destroy the body and geoms for slot i
dBodyDestroy (obj[i].body);
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
}
memset (&obj[i],0,sizeof(obj[i]));
}
obj[i].body = dBodyCreate (world);
for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
dMatrix3 R;
if (random_pos) {
dBodySetPosition (obj[i].body,
dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
}
else {
dReal maxheight = 0;
for (k=0; k<num; k++) {
const dReal *pos = dBodyGetPosition (obj[k].body);
if (pos[2] > maxheight) maxheight = pos[2];
}
dBodySetPosition (obj[i].body, 0,0,maxheight+1);
dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
}
dBodySetRotation (obj[i].body,R);
dBodySetData (obj[i].body,(void*) i);
if (cmd == 'b') {
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
}
else if (cmd == 'c') {
sides[0] *= 0.5;
dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]);
}
/*
// cylinder option not yet implemented
else if (cmd == 'l') {
sides[1] *= 0.5;
dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
}
*/
else if (cmd == 's') {
sides[0] *= 0.5;
dMassSetSphere (&m,DENSITY,sides[0]);
obj[i].geom[0] = dCreateSphere (space,sides[0]);
}
else if (cmd == 'x') {
dGeomID g2[GPB]; // encapsulated geometries
dReal dpos[GPB][3]; // delta-positions for encapsulated geometries
// start accumulating masses for the encapsulated geometries
dMass m2;
dMassSetZero (&m);
// set random delta positions
for (j=0; j<GPB; j++) {
for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
}
for (k=0; k<GPB; k++) {
obj[i].geom[k] = dCreateGeomTransform (space);
dGeomTransformSetCleanup (obj[i].geom[k],1);
if (k==0) {
dReal radius = dRandReal()*0.25+0.05;
g2[k] = dCreateSphere (0,radius);
dMassSetSphere (&m2,DENSITY,radius);
}
else if (k==1) {
g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
}
else {
dReal radius = dRandReal()*0.1+0.05;
dReal length = dRandReal()*1.0+0.1;
g2[k] = dCreateCCylinder (0,radius,length);
dMassSetCappedCylinder (&m2,DENSITY,3,radius,length);
}
dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
// set the transformation (adjust the mass too)
dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
dMatrix3 Rtx;
dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
dGeomSetRotation (g2[k],Rtx);
dMassRotate (&m2,Rtx);
// add to the total mass
dMassAdd (&m,&m2);
}
// move all encapsulated objects so that the center of mass is (0,0,0)
for (k=0; k<2; k++) {
dGeomSetPosition (g2[k],
dpos[k][0]-m.c[0],
dpos[k][1]-m.c[1],
dpos[k][2]-m.c[2]);
}
dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
}
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
}
dBodySetMass (obj[i].body,&m);
}
if (cmd == ' ') {
selected++;
if (selected >= num) selected = 0;
if (selected < 0) selected = 0;
}
else if (cmd == 'd' && selected >= 0 && selected < num) {
dBodyDisable (obj[selected].body);
}
else if (cmd == 'e' && selected >= 0 && selected < num) {
dBodyEnable (obj[selected].body);
}
else if (cmd == 'a') {
show_aabb ^= 1;
}
else if (cmd == 't') {
show_contacts ^= 1;
}
else if (cmd == 'r') {
random_pos ^= 1;
}
else if (cmd == '1') {
write_world = 1;
}
}
void
pvname(char *pname, char *vnum)
{
f_print(fout, "%s_%s", locase(pname), vnum);
}
/*=============================================================================
Function main
Purpose: The main entry point of the program. This function contains the
major server accept/process cycle for the program.
Parameters:
argc (IN) - number of command line arguments passed to program.
*argv[] (IN) - array of char *'s to the arguments.
Returns: Since this is a server it operates indefinitely and isn't expected to
return. It will however, exit with an error code if an unrecoverable
error condition results.
=============================================================================*/
int main(int argc, char *argv[]) {
int sd, /* server socket */
sd2, /* spawned socket */
addlen, /* length of sockaddr */
bytesRead, /* holds bytes read from a recv call */
buffLeft, /* used to keep track of space left in buffer */
useSelection = F; /* keeps track of whether or not we use selection */
long selection, /* the passed in selection parameter, if present */
port; /* port that server listens on */
struct sockaddr_in sad; /* server sockaddr */
struct sockaddr_in cad; /* client sockaddr */
struct protoent *ptrp; /* pointer to protocol table entry */
char inBuffer[WEB_BUFF_SIZE]; /* buffer for recv calls */
char request[WEB_BUFF_SIZE]; /* buffer to hold the request */
char command[MAX_CMD]; /* command from request */
char path[MAX_FILE_NAME]; /* path of requested page */
char version[MAX_VERS]; /* version of request */
char filename[MAX_FILE_NAME]; /* full path to requested file */
char filepath[MAX_FILE_NAME]; /* path to requested file */
char *p; /* char pointer used in string processing */
FILE *fp; /* used to open the requested file */
char urls[MAX_REFS][MAX_REF_LEN]; /* holds the references parsed from
requested page */
char lo_url[MAX_REF_LEN]; /* used to hold a low case copy of a
reference */
int numRefs; /* number of references parsed from the requested page */
/* ignoring the SIGPIPE signal for this program */
signal(SIGPIPE, SIG_IGN);
/* set up the sad structure */
memset((char *)&sad,0,sizeof(sad)); /* clear the sockaddr structure */
sad.sin_family = AF_INET; /* family is internet */
sad.sin_addr.s_addr = INADDR_ANY; /* set the local IP address */
/* check for the passed in port number */
if (argc<2) {
fprintf(stderr,"Proper usage is %s port [selection]\n");
exit(1);
}
/* need to check for non integer and out of range here */
port = strtol(argv[1],&p,0);
if (p==argv[1]) {
fprintf(stderr,"Port number must be numeric.\n");
exit(1);
} else if (port<MIN_PORT || port>MAX_PORT) {
fprintf(stderr,"Port out of range.\n");
exit(1);
}
sad.sin_port = htons((u_short)port);
/* check for the passed in selection */
if (argc>2) {
/* checking for non integer and out of range */
selection = strtol(argv[2],&p,0);
if (p==argv[2]) {
fprintf(stderr,"Selection must be numeric.\n");
exit(1);
} else if (errno==ERANGE) {
fprintf(stderr,"Selection is an invalid value.\n");
exit(1);
} else {
useSelection = T;
selection-=1; /* our array is 0 based */
}
}
/* map the tcp transport protocol name to protocol number */
if (((int)(ptrp = getprotobyname("tcp"))) == 0) {
/* unable to map tcp to protocol number report Internal server error */
fprintf(stderr,"Unable to map tcp to protocol number.\n");
exit(1);
}
/* attempt to create the socket */
if ((sd = socket(PF_INET, SOCK_STREAM, ptrp->p_proto)) < 0) {
fprintf(stderr,"An error occured creating the socket.\n");
exit(1);
}
/* try to bind to a chosen port */
if (bind(sd, (struct sockaddr *)&sad, sizeof(sad)) < 0) {
fprintf(stderr,"An error occured binding to a port.\n");
close(sd);
exit(1);
}
/* sets the size of the queue */
if (listen(sd, QUEUE_SIZE) < 0) {
fprintf(stderr,"An error occured on listen.\n");
close(sd);
exit(1);
}
/* main loop */
while (1) {
addlen = sizeof(cad);
if ((sd2=accept(sd, (struct sockaddr *)&cad, &addlen)) < 0) {
/* check for Solaris interrupted by signal failure */
/* or connection aborted,if this is the case continue loop */
if (sd2==-1 && (errno==EINTR || errno==ECONNABORTED)) continue;
fprintf(stderr,"An error occured on accept: %d.\n",errno);
close(sd);
exit(1);
}
/* blank out the request buffer */
request[0] = 0;
/* a while loop to read the request header of a size up to */
/* WEB_BUFF_SIZE */
while ((strstr(request,"\r\n\r\n")==NULL)
&& (strlen(request)<WEB_BUFF_SIZE-1)
&& (bytesRead=recv(sd2,inBuffer,sizeof(inBuffer),0))>0) {
/* null terminate if room, makes the strncat below do less work */
if (bytesRead<WEB_BUFF_SIZE) inBuffer[bytesRead] = 0;
/* leave one space for the null character */
buffLeft = WEB_BUFF_SIZE - strlen(request) - 1;
strncat(request,inBuffer,buffLeft);
}
#ifdef DEBUG
/* print the request header that has been received */
printf("request received:\n%s\n",request);
#endif
/* parse the command, filename, and version out of the request */
if ((sscanf(request, "%s %s %s", command, path, version))<3) {
send(sd2,STATUS_400,strlen(STATUS_400),0); /* bad request */
close(sd2);
continue;
}
#ifdef DEBUG
printf("command: %s\n",command);
printf("path: %s\n",path);
printf("version: %s\n",version);
#endif
if (strcmp(command,"GET")!=0) {
send(sd2,STATUS_501,strlen(STATUS_501),0); /* not implemented */
close(sd2);
continue;
}
/* set up the filename with full path to file to load for parsing */
strcpy(filename,HOME);
strncat(filename,path,sizeof(filename)-strlen(filename)-1);
/* set up the filepath with the path to file to load for parsing */
strcpy(filepath,filename);
p = strrchr(filepath,'/');
if (p==NULL) { /* this actually should never happen */
send(sd2,STATUS_400,strlen(STATUS_400),0); /* bad request */
close(sd2);
continue;
}
*p = 0; /* chop off the string at that point */
#ifdef DEBUG
/* print out the name of the file/path used on the inital read */
printf("requested file: %s\n",filename);
printf("requested path: %s\n",filepath);
#endif
if (!extMatch(filename,".html") && !extMatch(filename,".htm")) {
/* this is a fix to keep Netscape 4.7 happy by sending a "fake" */
/* .css or .js file */
if (extMatch(filename,".css"))
send(sd2,CSS,strlen(CSS),0);
else if (extMatch(filename,".js"))
send(sd2,JS,strlen(JS),0);
else
send(sd2,STATUS_400,strlen(STATUS_400),0); /* bad request*/
} else {
/* now try to open the requested file */
if ((fp = fopen(filename,"r"))==NULL) {
if (errno==EACCES)
send(sd2,STATUS_403,strlen(STATUS_403),0); /* forbidden */
else
send(sd2,STATUS_404,strlen(STATUS_404),0); /* not found */
} else {
/* parse the refs out of the file and return them in urls */
numRefs = parseRefs(fp,urls,MAX_REFS);
fclose(fp);
if (numRefs==0)
send(sd2,STATUS_404,strlen(STATUS_404),0); /* not found */
else {
if (useSelection)
useSelection = F; /* only use select once! */
else
selection = random() % numRefs;
if (selection<0 || selection>numRefs-1) {
/* select out of range */
send(sd2,STATUS_404,strlen(STATUS_404),0); /* ~ found*/
close(sd2);
close(sd);
#ifdef DEBUG
printf("Closing - selection out of range.\n");
#endif
exit(0); /* and then shutdown if out of range */
} else {
/* make a lower case copy of the url so that we can */
/* do all lower case string comparisons */
strcpy(lo_url,urls[selection]);
locase(lo_url);
if (strncmp(lo_url,"http://",7)==0) {
proxySend(sd2, urls[selection]);
} else {
/* if not http://, must be a path on the server */
/* find out if absolute or relative reference */
/* and then set up filename with the proper name */
if (urls[selection][0]=='/')
strcpy(filename,urls[selection]); /* absolute*/
else {
strcpy(filename,filepath); /* relative */
/* making sure not to overflow on these */
strncat(filename,"/",
sizeof(filename)-strlen(filename)-1);
strncat(filename,
urls[selection],
sizeof(filename)-strlen(filename)-1);
}
localSend(sd2, filename);
}
}
}
}
}
/* close the spawned socket */
#ifdef DEBUG
printf("closing spawned socket.\n");
#endif
close(sd2);
}
}
static void command (int cmd)
{
int i,j,k;
dReal sides[3];
dMass m;
bool setBody = false;
cmd = locase (cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'v'
/* || cmd == 'l' */) {
if (num < NUM) {
i = num;
num++;
}
else {
i = nextobj;
nextobj++;
if (nextobj >= num) nextobj = 0;
// destroy the body and geoms for slot i
dBodyDestroy (obj[i].body);
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
}
memset (&obj[i],0,sizeof(obj[i]));
}
obj[i].body = dBodyCreate (world);
for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
dMatrix3 R;
if (random_pos) {
dBodySetPosition (obj[i].body,
dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1);
dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
}
else {
dReal maxheight = 0;
for (k=0; k<num; k++) {
const dReal *pos = dBodyGetPosition (obj[k].body);
if (pos[2] > maxheight) maxheight = pos[2];
}
dBodySetPosition (obj[i].body, 0,0,maxheight+1);
dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
}
dBodySetRotation (obj[i].body,R);
dBodySetData (obj[i].body,(void*)(size_t)i);
if (cmd == 'b') {
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
}
else if (cmd == 'c') {
sides[0] *= 0.5;
dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
}
/*
// cylinder option not yet implemented
else if (cmd == 'l') {
sides[1] *= 0.5;
dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
}
*/
else if (cmd == 's') {
sides[0] *= 0.5;
dMassSetSphere (&m,DENSITY,sides[0]);
obj[i].geom[0] = dCreateSphere (space,sides[0]);
}
else if (cmd == 'x') {
setBody = true;
// start accumulating masses for the composite geometries
dMass m2;
dMassSetZero (&m);
dReal dpos[GPB][3]; // delta-positions for composite geometries
dMatrix3 drot[GPB];
// set random delta positions
for (j=0; j<GPB; j++)
for (k=0; k<3; k++)
dpos[j][k] = dRandReal()*0.3-0.15;
for (k=0; k<GPB; k++) {
if (k==0) {
dReal radius = dRandReal()*0.25+0.05;
obj[i].geom[k] = dCreateSphere (space,radius);
dMassSetSphere (&m2,DENSITY,radius);
} else if (k==1) {
obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
} else {
dReal radius = dRandReal()*0.1+0.05;
dReal length = dRandReal()*1.0+0.1;
obj[i].geom[k] = dCreateCapsule(space,radius,length);
dMassSetCapsule(&m2,DENSITY,3,radius,length);
}
dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
dMassRotate(&m2,drot[k]);
dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
// add to the total mass
dMassAdd(&m,&m2);
}
for (k=0; k<GPB; k++) {
dGeomSetBody(obj[i].geom[k],obj[i].body);
dGeomSetOffsetPosition(obj[i].geom[k],
dpos[k][0]-m.c[0],
dpos[k][1]-m.c[1],
dpos[k][2]-m.c[2]);
dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
}
dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
dBodySetMass(obj[i].body,&m);
} else if (cmd == 'v') {
dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
obj[i].geom[0] = dCreateConvex(space,
planes,
planecount,
points,
pointcount,
polygons);
}
if (!setBody) { // avoid calling for composite geometries
for (k=0; k < GPB; k++)
if (obj[i].geom[k])
dGeomSetBody(obj[i].geom[k],obj[i].body);
dBodySetMass(obj[i].body,&m);
}
}
if (cmd == ' ') {
selected++;
if (selected >= num) selected = 0;
if (selected < 0) selected = 0;
}
else if (cmd == 'd' && selected >= 0 && selected < num) {
dBodyDisable (obj[selected].body);
}
else if (cmd == 'e' && selected >= 0 && selected < num) {
dBodyEnable (obj[selected].body);
}
else if (cmd == 'a') {
show_aabb ^= 1;
}
else if (cmd == 't') {
show_contacts ^= 1;
}
else if (cmd == 'r') {
random_pos ^= 1;
}
}
static void command (int cmd)
{
int i,j,k;
dReal sides[3];
dMass m;
bool setBody = false;
cmd = locase (cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' || cmd == 'v') {
if (num < NUM) {
i = num;
num++;
}
else {
i = nextobj;
nextobj++;
if (nextobj >= num) nextobj = 0;
// destroy the body and geoms for slot i
dBodyDestroy (obj[i].body);
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
}
memset (&obj[i],0,sizeof(obj[i]));
}
obj[i].body = dBodyCreate (world);
for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
dMatrix3 R;
if (random_pos) {
dBodySetPosition (obj[i].body,
dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3);
dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
}
else {
dReal maxheight = 0;
for (k=0; k<num; k++) {
const dReal *pos = dBodyGetPosition (obj[k].body);
if (pos[2] > maxheight) maxheight = pos[2];
}
dBodySetPosition (obj[i].body, 0,0,maxheight+1);
dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
}
dBodySetRotation (obj[i].body,R);
dBodySetData (obj[i].body,(void*)(size_t)i);
if (cmd == 'b') {
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
}
else if (cmd == 'c') {
sides[0] *= 0.5;
dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
} else if (cmd == 'v') {
dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
obj[i].geom[0] = dCreateConvex(space,
planes,
planecount,
points,
pointcount,
polygons);
}
else if (cmd == 'y') {
sides[1] *= 0.5;
dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
}
else if (cmd == 's') {
sides[0] *= 0.5;
dMassSetSphere (&m,DENSITY,sides[0]);
obj[i].geom[0] = dCreateSphere (space,sides[0]);
}
else if (cmd == 'm') {
dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount,
(dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
dGeomTriMeshDataPreprocess2(new_tmdata, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL);
obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0);
// remember the mesh's dTriMeshDataID on its userdata for convenience.
dGeomSetData(obj[i].geom[0], new_tmdata);
dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] );
printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]);
dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]);
dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]);
}
else if (cmd == 'x') {
setBody = true;
// start accumulating masses for the composite geometries
dMass m2;
dMassSetZero (&m);
dReal dpos[GPB][3]; // delta-positions for composite geometries
dMatrix3 drot[GPB];
// set random delta positions
for (j=0; j<GPB; j++)
for (k=0; k<3; k++)
dpos[j][k] = dRandReal()*0.3-0.15;
for (k=0; k<GPB; k++) {
if (k==0) {
dReal radius = dRandReal()*0.25+0.05;
obj[i].geom[k] = dCreateSphere (space,radius);
dMassSetSphere (&m2,DENSITY,radius);
} else if (k==1) {
obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
} else {
dReal radius = dRandReal()*0.1+0.05;
dReal length = dRandReal()*1.0+0.1;
obj[i].geom[k] = dCreateCapsule(space,radius,length);
dMassSetCapsule(&m2,DENSITY,3,radius,length);
}
dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
dMassRotate(&m2,drot[k]);
dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
// add to the total mass
dMassAdd(&m,&m2);
}
for (k=0; k<GPB; k++) {
dGeomSetBody(obj[i].geom[k],obj[i].body);
dGeomSetOffsetPosition(obj[i].geom[k],
dpos[k][0]-m.c[0],
dpos[k][1]-m.c[1],
dpos[k][2]-m.c[2]);
dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
}
dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
dBodySetMass(obj[i].body,&m);
}
if (!setBody) { // avoid calling for composite geometries
for (k=0; k < GPB; k++)
if (obj[i].geom[k])
dGeomSetBody(obj[i].geom[k],obj[i].body);
dBodySetMass(obj[i].body,&m);
}
}
if (cmd == ' ') {
selected++;
if (selected >= num) selected = 0;
if (selected < 0) selected = 0;
}
else if (cmd == 'd' && selected >= 0 && selected < num) {
dBodyDisable (obj[selected].body);
}
else if (cmd == 'e' && selected >= 0 && selected < num) {
dBodyEnable (obj[selected].body);
}
else if (cmd == 'a') {
show_aabb ^= 1;
}
else if (cmd == 't') {
show_contacts ^= 1;
}
else if (cmd == 'r') {
random_pos ^= 1;
}
}
void
pvname_svc (const char *pname, const char *vnum)
{
f_print (fout, "%s_%s_svc", locase (pname), vnum);
}
static void command (int cmd)
{
size_t i;
int j,k;
dReal sides[3];
dMass m;
int setBody;
cmd = locase (cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v')
{
setBody = 0;
if (num < NUM) {
i = num;
num++;
}
else {
i = nextobj;
nextobj++;
if (nextobj >= num) nextobj = 0;
// destroy the body and geoms for slot i
dBodyDestroy (obj[i].body);
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
}
memset (&obj[i],0,sizeof(obj[i]));
}
obj[i].body = dBodyCreate (world);
for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
dMatrix3 R;
if (random_pos)
{
dBodySetPosition (obj[i].body,
dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
}
else
{
dReal maxheight = 0;
for (k=0; k<num; k++)
{
const dReal *pos = dBodyGetPosition (obj[k].body);
if (pos[2] > maxheight) maxheight = pos[2];
}
dBodySetPosition (obj[i].body, 0,0,maxheight+1);
dRSetIdentity (R);
//dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0);
}
dBodySetRotation (obj[i].body,R);
dBodySetData (obj[i].body,(void*) i);
if (cmd == 'b') {
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
}
else if (cmd == 'c') {
sides[0] *= 0.5;
dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
}
//<---- Convex Object
else if (cmd == 'v')
{
dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
#if 0
obj[i].geom[0] = dCreateConvex (space,
planes,
planecount,
points,
pointcount,
polygons);
#else
obj[i].geom[0] = dCreateConvex (space,
Sphere_planes,
Sphere_planecount,
Sphere_points,
Sphere_pointcount,
Sphere_polygons);
#endif
}
//----> Convex Object
else if (cmd == 'y') {
dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
}
else if (cmd == 's') {
sides[0] *= 0.5;
dMassSetSphere (&m,DENSITY,sides[0]);
obj[i].geom[0] = dCreateSphere (space,sides[0]);
}
else if (cmd == 'x' && USE_GEOM_OFFSET) {
setBody = 1;
// start accumulating masses for the encapsulated geometries
dMass m2;
dMassSetZero (&m);
dReal dpos[GPB][3]; // delta-positions for encapsulated geometries
dMatrix3 drot[GPB];
// set random delta positions
for (j=0; j<GPB; j++) {
for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
}
for (k=0; k<GPB; k++) {
if (k==0) {
dReal radius = dRandReal()*0.25+0.05;
obj[i].geom[k] = dCreateSphere (space,radius);
dMassSetSphere (&m2,DENSITY,radius);
}
else if (k==1) {
obj[i].geom[k] = dCreateBox (space,sides[0],sides[1],sides[2]);
dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
}
else {
dReal radius = dRandReal()*0.1+0.05;
dReal length = dRandReal()*1.0+0.1;
obj[i].geom[k] = dCreateCapsule (space,radius,length);
dMassSetCapsule (&m2,DENSITY,3,radius,length);
}
dRFromAxisAndAngle (drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
dMassRotate (&m2,drot[k]);
dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
// add to the total mass
dMassAdd (&m,&m2);
}
for (k=0; k<GPB; k++) {
dGeomSetBody (obj[i].geom[k],obj[i].body);
dGeomSetOffsetPosition (obj[i].geom[k],
dpos[k][0]-m.c[0],
dpos[k][1]-m.c[1],
dpos[k][2]-m.c[2]);
dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
}
dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
dBodySetMass (obj[i].body,&m);
}
else if (cmd == 'x') {
dGeomID g2[GPB]; // encapsulated geometries
dReal dpos[GPB][3]; // delta-positions for encapsulated geometries
// start accumulating masses for the encapsulated geometries
dMass m2;
dMassSetZero (&m);
// set random delta positions
for (j=0; j<GPB; j++) {
for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
}
for (k=0; k<GPB; k++) {
obj[i].geom[k] = dCreateGeomTransform (space);
dGeomTransformSetCleanup (obj[i].geom[k],1);
if (k==0) {
dReal radius = dRandReal()*0.25+0.05;
g2[k] = dCreateSphere (0,radius);
dMassSetSphere (&m2,DENSITY,radius);
}
else if (k==1) {
g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
}
else {
dReal radius = dRandReal()*0.1+0.05;
dReal length = dRandReal()*1.0+0.1;
g2[k] = dCreateCapsule (0,radius,length);
dMassSetCapsule (&m2,DENSITY,3,radius,length);
}
dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
// set the transformation (adjust the mass too)
dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
dMatrix3 Rtx;
dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
dGeomSetRotation (g2[k],Rtx);
dMassRotate (&m2,Rtx);
// Translation *after* rotation
dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
// add to the total mass
dMassAdd (&m,&m2);
}
// move all encapsulated objects so that the center of mass is (0,0,0)
for (k=0; k<GPB; k++) {
dGeomSetPosition (g2[k],
dpos[k][0]-m.c[0],
dpos[k][1]-m.c[1],
dpos[k][2]-m.c[2]);
}
dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
}
if (!setBody)
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
}
dBodySetMass (obj[i].body,&m);
}
if (cmd == ' ') {
selected++;
if (selected >= num) selected = 0;
if (selected < 0) selected = 0;
}
else if (cmd == 'd' && selected >= 0 && selected < num) {
dBodyDisable (obj[selected].body);
}
else if (cmd == 'e' && selected >= 0 && selected < num) {
dBodyEnable (obj[selected].body);
}
else if (cmd == 'a') {
show_aabb ^= 1;
}
else if (cmd == 't') {
show_contacts ^= 1;
}
else if (cmd == 'r') {
random_pos ^= 1;
}
else if (cmd == '1') {
write_world = 1;
}
else if (cmd == 'p'&& selected >= 0)
{
const dReal* pos = dGeomGetPosition(obj[selected].geom[0]);
const dReal* rot = dGeomGetRotation(obj[selected].geom[0]);
printf("POSITION:\n\t[%f,%f,%f]\n\n",pos[0],pos[1],pos[2]);
printf("ROTATION:\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\n",
rot[0],rot[1],rot[2],rot[3],
rot[4],rot[5],rot[6],rot[7],
rot[8],rot[9],rot[10],rot[11]);
}
else if (cmd == 'f' && selected >= 0 && selected < num) {
if (dBodyIsEnabled(obj[selected].body))
doFeedback = 1;
}
}
static void
pprogramdef (definition *def)
{
version_list *vers;
proc_list *proc;
int i;
const char *ext;
pargdef (def);
pdefine (def->def_name, def->def.pr.prog_num);
for (vers = def->def.pr.versions; vers != NULL; vers = vers->next)
{
if (tblflag)
{
f_print (fout, "extern struct rpcgen_table %s_%s_table[];\n",
locase (def->def_name), vers->vers_num);
f_print (fout, "extern %s_%s_nproc;\n",
locase (def->def_name), vers->vers_num);
}
pdefine (vers->vers_name, vers->vers_num);
/*
* Print out 2 definitions, one for ANSI-C, another for
* old K & R C
*/
if(!Cflag)
{
ext = "extern ";
for (proc = vers->procs; proc != NULL;
proc = proc->next)
{
if (!define_printed(proc, def->def.pr.versions))
{
pdefine (proc->proc_name, proc->proc_num);
}
f_print (fout, "%s", ext);
pprocdef (proc, vers, NULL, 0, 2);
if (mtflag)
{
f_print(fout, "%s", ext);
pprocdef (proc, vers, NULL, 1, 2);
}
}
pfreeprocdef (def->def_name, vers->vers_num, 2);
}
else
{
for (i = 1; i < 3; i++)
{
if (i == 1)
{
f_print (fout, "\n#if defined(__STDC__) || defined(__cplusplus)\n");
ext = "extern ";
}
else
{
f_print (fout, "\n#else /* K&R C */\n");
ext = "extern ";
}
for (proc = vers->procs; proc != NULL; proc = proc->next)
{
if (!define_printed(proc, def->def.pr.versions))
{
pdefine(proc->proc_name, proc->proc_num);
}
f_print (fout, "%s", ext);
pprocdef (proc, vers, "CLIENT *", 0, i);
f_print (fout, "%s", ext);
pprocdef (proc, vers, "struct svc_req *", 1, i);
}
pfreeprocdef (def->def_name, vers->vers_num, i);
}
f_print (fout, "#endif /* K&R C */\n");
}
}
}
static void command (int cmd)
{
int i,j,k;
dReal sides[3];
dMass m;
cmd = locase (cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' ) {
if (num < NUM) {
i = num;
num++;
}
else {
i = nextobj;
nextobj++;
if (nextobj >= num) nextobj = 0;
// destroy the body and geoms for slot i
dBodyDestroy (obj[i].body);
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
}
memset (&obj[i],0,sizeof(obj[i]));
}
obj[i].body = dBodyCreate (world);
for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
dMatrix3 R;
if (random_pos) {
dBodySetPosition (obj[i].body,
dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3);
dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
}
else {
dReal maxheight = 0;
for (k=0; k<num; k++) {
const dReal *pos = dBodyGetPosition (obj[k].body);
if (pos[2] > maxheight) maxheight = pos[2];
}
dBodySetPosition (obj[i].body, 0,0,maxheight+1);
dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
}
dBodySetRotation (obj[i].body,R);
dBodySetData (obj[i].body,(void*)(size_t)i);
if (cmd == 'b') {
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
}
else if (cmd == 'c') {
sides[0] *= 0.5;
dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
}
else if (cmd == 'y') {
sides[1] *= 0.5;
dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
}
else if (cmd == 's') {
sides[0] *= 0.5;
dMassSetSphere (&m,DENSITY,sides[0]);
obj[i].geom[0] = dCreateSphere (space,sides[0]);
}
else if (cmd == 'm') {
dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount,
(dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0);
// remember the mesh's dTriMeshDataID on its userdata for convenience.
dGeomSetData(obj[i].geom[0], new_tmdata);
dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] );
printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]);
dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]);
dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]);
}
else if (cmd == 'x') {
dGeomID g2[GPB]; // encapsulated geometries
dReal dpos[GPB][3]; // delta-positions for encapsulated geometries
// start accumulating masses for the encapsulated geometries
dMass m2;
dMassSetZero (&m);
// set random delta positions
for (j=0; j<GPB; j++) {
for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
}
for (k=0; k<GPB; k++) {
obj[i].geom[k] = dCreateGeomTransform (space);
dGeomTransformSetCleanup (obj[i].geom[k],1);
if (k==0) {
dReal radius = dRandReal()*0.25+0.05;
g2[k] = dCreateSphere (0,radius);
dMassSetSphere (&m2,DENSITY,radius);
}
else if (k==1) {
g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
}
else {
dReal radius = dRandReal()*0.1+0.05;
dReal length = dRandReal()*1.0+0.1;
g2[k] = dCreateCapsule (0,radius,length);
dMassSetCapsule (&m2,DENSITY,3,radius,length);
}
dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
// set the transformation (adjust the mass too)
dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
dMatrix3 Rtx;
dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
dGeomSetRotation (g2[k],Rtx);
dMassRotate (&m2,Rtx);
// add to the total mass
dMassAdd (&m,&m2);
}
// move all encapsulated objects so that the center of mass is (0,0,0)
for (k=0; k<2; k++) {
dGeomSetPosition (g2[k],
dpos[k][0]-m.c[0],
dpos[k][1]-m.c[1],
dpos[k][2]-m.c[2]);
}
dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
}
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
}
dBodySetMass (obj[i].body,&m);
}
if (cmd == ' ') {
selected++;
if (selected >= num) selected = 0;
if (selected < 0) selected = 0;
}
else if (cmd == 'd' && selected >= 0 && selected < num) {
dBodyDisable (obj[selected].body);
}
else if (cmd == 'e' && selected >= 0 && selected < num) {
dBodyEnable (obj[selected].body);
}
else if (cmd == 'a') {
show_aabb ^= 1;
}
else if (cmd == 't') {
show_contacts ^= 1;
}
else if (cmd == 'r') {
random_pos ^= 1;
}
}
// called when a key pressed
static void command( int cmd )
{
int i,k;
dReal sides[3];
dMass m;
cmd = locase( cmd );
if ( cmd == 'v' || cmd == 'b' || cmd == 'c' || cmd == 's' )
{
if ( num < NUM )
{
i = num;
num++;
}
else
{
i = nextobj;
nextobj++;
if ( nextobj >= num ) nextobj = 0;
// destroy the body and geoms for slot i
dBodyDestroy( obj[i].body );
for ( k=0; k < GPB; k++ )
{
if ( obj[i].geom[k] ) dGeomDestroy( obj[i].geom[k] );
}
memset( &obj[i],0,sizeof( obj[i] ) );
}
obj[i].body = dBodyCreate( world );
for ( k=0; k<3; k++ ) sides[k] = dRandReal()*0.5+0.1;
dMatrix3 R;
if ( random_pos )
{
dBodySetPosition( obj[i].body,
dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3 );
dRFromAxisAndAngle( R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0 );
}
else
{
dReal maxheight = 0;
for ( k=0; k<num; k++ )
{
const dReal *pos = dBodyGetPosition( obj[k].body );
if ( pos[2] > maxheight ) maxheight = pos[2];
}
dBodySetPosition( obj[i].body, 0,0,maxheight+1 );
dRFromAxisAndAngle( R,0,0,1,dRandReal()*10.0-5.0 );
}
dBodySetRotation( obj[i].body,R );
dBodySetData( obj[i].body,( void* )( size_t )i );
if ( cmd == 'b' )
{
dMassSetBox( &m,DENSITY,sides[0],sides[1],sides[2] );
obj[i].geom[0] = dCreateBox( space,sides[0],sides[1],sides[2] );
}
else if ( cmd == 'c' )
{
sides[0] *= 0.5;
dMassSetCapsule( &m,DENSITY,3,sides[0],sides[1] );
obj[i].geom[0] = dCreateCapsule( space,sides[0],sides[1] );
}
else if ( cmd == 's' )
{
sides[0] *= 0.5;
dMassSetSphere( &m,DENSITY,sides[0] );
obj[i].geom[0] = dCreateSphere( space,sides[0] );
}
else if ( cmd == 'v' )
{
obj[i].geom[0] = dCreateConvex( space,
convexBunnyPlanes,
convexBunnyPlaneCount,
convexBunnyPoints,
convexBunnyPointCount,
convexBunnyPolygons );
/// Use equivalent TriMesh to set mass
dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle( new_tmdata, &Vertices[0], 3 * sizeof( float ), VertexCount,
( dTriIndex* )&Indices[0], IndexCount, 3 * sizeof( dTriIndex ) );
dGeomID triMesh = dCreateTriMesh( 0, new_tmdata, 0, 0, 0 );
dMassSetTrimesh( &m, DENSITY, triMesh );
dGeomDestroy( triMesh );
dGeomTriMeshDataDestroy( new_tmdata );
printf( "mass at %f %f %f\n", m.c[0], m.c[1], m.c[2] );
dGeomSetPosition( obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2] );
dMassTranslate( &m, -m.c[0], -m.c[1], -m.c[2] );
}
for ( k=0; k < GPB; k++ )
{
if ( obj[i].geom[k] ) dGeomSetBody( obj[i].geom[k],obj[i].body );
}
dBodySetMass( obj[i].body,&m );
}
if ( cmd == ' ' )
{
selected++;
if ( selected >= num ) selected = 0;
if ( selected < 0 ) selected = 0;
}
else if ( cmd == 'd' && selected >= 0 && selected < num )
{
dBodyDisable( obj[selected].body );
}
else if ( cmd == 'e' && selected >= 0 && selected < num )
{
dBodyEnable( obj[selected].body );
}
else if ( cmd == 'a' )
{
show_aabb ^= 1;
}
else if ( cmd == 't' )
{
show_contacts ^= 1;
}
else if ( cmd == 'r' )
{
random_pos ^= 1;
}
}
