void drawGeom( dGeomID g, int colored = 0 )
{
if( !g ) //If the geometry object is missing, end the function.
return;
const dReal *position; //Define pointers to internal positions and orientations.
const dReal *orientation; //Pointers to constant objects (so the objects will not change).
int type = dGeomGetClass( g ); //Get the type of geometry.
position = dGeomGetPosition( g ); //Then, get the geometry position.
orientation = dGeomGetRotation( g ); //And get existing geometry orientation.
if( type == dBoxClass ) //Is it a box?
{
dReal sides[3];
dGeomBoxGetLengths( g, sides ); //Get length of sides.
renderBox( sides, position, orientation, colored ); //Render the actual box in environment.
}
else if (type == dCylinderClass)
{
dReal radius, length;
dGeomCylinderGetParams(g, &radius, &length);
renderCylinder(radius, length, position, orientation);
}
else if (type == dCapsuleClass)
{
dReal radius, length;
dGeomCapsuleGetParams(g, &radius, &length);
renderCapsule(radius, length, position, orientation);
}
}
void renderCylinder_convenient(float x1, float y1, float z1, float x2,float y2, float z2, float radius,int subdivisions)
{
//the same quadric can be re-used for drawing many cylinders
GLUquadricObj *quadric=gluNewQuadric();
gluQuadricNormals(quadric, GLU_SMOOTH);
renderCylinder(x1,y1,z1,x2,y2,z2,radius,subdivisions,quadric);
gluDeleteQuadric(quadric);
}
void AssetRenderer::renderPolygon(const mat4f &cameraPerspective, const Polygonf &poly, const vec3f &color, float height)
{
for (const auto &segment : poly.segments())
{
renderCylinder(cameraPerspective, vec3f(segment.p0(), height), vec3f(segment.p1(), height), color);
renderSphere(cameraPerspective, vec3f(segment.p0(), height), 0.02f, color);
}
}
