void
simLoop(int pause)
{
if (!pause) {
const dReal timestep = 0.005;
// this does a hard-coded circular motion animation
static float t=0;
t += timestep/4;
if (t > 2*M_PI)
t = 0;
dReal px = cos(t);
dReal py = sin(t);
dReal vx = -sin(t)/4;
dReal vy = cos(t)/4;
kbody->setPosition(px, py, .5);
kbody->setLinearVel(vx, vy, 0);
// end of hard-coded animation
space->collide(0, nearCallback);
removeQueued();
world->quickStep(timestep);
joints.clear();
}
dVector3 lengths;
// the moving platform
kbox->getLengths(lengths);
dsSetTexture(DS_WOOD);
dsSetColor(.3, .3, 1);
dsDrawBox(kbox->getPosition(), kbox->getRotation(), lengths);
dReal length, radius;
kpole->getParams(&radius, &length);
dsSetTexture(DS_CHECKERED);
dsSetColor(1, 1, 0);
dsDrawCylinder(kpole->getPosition(), kpole->getRotation(), length, radius);
// the matraca
matraca_geom->getLengths(lengths);
dsSetColor(1,0,0);
dsSetTexture(DS_WOOD);
dsDrawBox(matraca_geom->getPosition(), matraca_geom->getRotation(), lengths);
// and the boxes
for_each(boxes.begin(), boxes.end(), mem_fun(&Box::draw));
}
void
simLoop(int pause)
{
if (!pause) {
const dReal timestep = 0.04;
// this does a hard-coded circular motion animation
static float t=0;
t += timestep/4;
if (t > 2*M_PI)
t = 0;
dVector3 next_pos = { cos(t), sin(t), 0.5};
dVector3 vel;
// vel = (next_pos - cur_pos) / timestep
dSubtractVectors3(vel, next_pos, kbody->getPosition());
dScaleVector3(vel, 1/timestep);
kbody->setLinearVel(vel);
// end of hard-coded animation
space->collide(0, nearCallback);
removeQueued();
world->quickStep(timestep);
joints.clear();
}
dVector3 lengths;
// the moving platform
kbox->getLengths(lengths);
dsSetTexture(DS_WOOD);
dsSetColor(.3, .3, 1);
dsDrawBox(kbox->getPosition(), kbox->getRotation(), lengths);
dReal length, radius;
kpole->getParams(&radius, &length);
dsSetTexture(DS_CHECKERED);
dsSetColor(1, 1, 0);
dsDrawCylinder(kpole->getPosition(), kpole->getRotation(), length, radius);
// the matraca
matraca_geom->getLengths(lengths);
dsSetColor(1,0,0);
dsSetTexture(DS_WOOD);
dsDrawBox(matraca_geom->getPosition(), matraca_geom->getRotation(), lengths);
// and the boxes
for_each(boxes.begin(), boxes.end(), mem_fun(&Box::draw));
}