void Gl1_ChainedCylinder::go(const shared_ptr<Shape>& cm, const shared_ptr<State>& state,bool wire2, const GLViewInfo&)
{
Real r=(static_cast<ChainedCylinder*>(cm.get()))->radius;
Real length=(static_cast<ChainedCylinder*>(cm.get()))->length;
Quaternionr shift;// = (static_cast<ChainedCylinder*>(cm.get()))->chainedOrientation;
shift.setFromTwoVectors(Vector3r::UnitZ(),state->ori.conjugate()*(static_cast<ChainedCylinder*>(cm.get()))->segment);
glColor3v(cm->color);
if(glutNormalize) glPushAttrib(GL_NORMALIZE);
if (wire || wire2) drawCylinder(true, r,length,shift);
else drawCylinder(false, r,length,shift);
if(glutNormalize) glPopAttrib();
return;
}
void Gl1_GridConnection::go(const shared_ptr<Shape>& cm, const shared_ptr<State>& st ,bool wire2, const GLViewInfo&)
{
GridConnection *GC=static_cast<GridConnection*>(cm.get());
Real r=GC->radius;
Real length=GC->getLength();
Vector3r segt = GC->node2->state->pos - GC->node1->state->pos;
//glMaterialv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, Vector3f(cm->color[0],cm->color[1],cm->color[2]));
const shared_ptr<Interaction> intr = scene->interactions->find((int)GC->node1->getId(),(int)GC->node2->getId());
glColor3v(cm->color);
if(glutNormalize) glPushAttrib(GL_NORMALIZE);
// glPushMatrix();
Quaternionr shift;
shift.setFromTwoVectors(Vector3r::UnitZ(),segt);
if(intr){drawCylinder(wire || wire2, r,length,shift);}
if(glutNormalize) glPopAttrib();
// glPopMatrix();
return;
}