int display( struct aa_rx_win *win, void *cx_, struct aa_sdl_display_params *params )
{
(void)win;
struct display_cx *cx = (struct display_cx *)cx_;
const struct timespec *now = aa_sdl_display_params_get_time_now(params);
const struct timespec *last = aa_sdl_display_params_get_time_last(params);
const struct aa_rx_sg *scenegraph = cx->scenegraph;
size_t n = aa_rx_sg_frame_count(scenegraph);
size_t m = aa_rx_sg_config_count(scenegraph);
double q[m];
AA_MEM_ZERO(q,m);
int first = aa_sdl_display_params_is_first(params);
if( ! first ) {
double dt = aa_tm_timespec2sec( aa_tm_sub(*now, *last) );
cx->q += dt * 45 * (M_PI/180);
}
q[ cx->i_q ] = cx->q;
double TF_rel[7*n];
double TF_abs[7*n];
aa_rx_sg_tf(scenegraph, m, q,
n,
TF_rel, 7,
TF_abs, 7 );
aa_rx_win_display_sg_tf( cx->win, params, scenegraph,
n, TF_abs, 7 );
int col = aa_rx_cl_check( cx->cl, n, TF_abs, 7, NULL );
printf("in collision: %s\n",
col ? "yes" : "no" );
return 0;
}
AA_API struct timespec
aa_tock(void) {
struct timespec t = aa_tm_sub( aa_tm_now(), aa_tick_tock_start );
fprintf( stderr, "%.6f ms\n", (double)t.tv_sec*1e3 + (double)t.tv_nsec / 1e6 );
return t;
}
