static void simLoop (int pause)
{
dsSetColor (0,0,2);
dSpaceCollide (space,0,&nearCallback);
if (!pause) dWorldQuickStep (world,0.05);
if (write_world) {
FILE *f = fopen ("state.dif","wt");
if (f) {
dWorldExportDIF (world,f,"X");
fclose (f);
}
write_world = 0;
}
// remove all contact joints
dJointGroupEmpty (contactgroup);
dsSetColor (1,1,0);
dsSetTexture (DS_WOOD);
for (int i=0; i<num; i++) {
for (int j=0; j < GPB; j++) {
if (i==selected) {
dsSetColor (0,0.7,1);
}
else if (! dBodyIsEnabled (obj[i].body)) {
dsSetColor (1,0.8,0);
}
else {
dsSetColor (1,1,0);
}
drawGeom (obj[i].geom[j],0,0,show_aabb);
}
}
}
static void simLoop (int pause)
{
dsSetColor (0,0,2);
dSpaceCollide (space,0,&nearCallback);
if (!pause) dWorldQuickStep (world,0.02);
if (write_world) {
FILE *f = fopen ("state.dif","wt");
if (f) {
dWorldExportDIF (world,f,"X");
fclose (f);
}
write_world = 0;
}
if (doFeedback)
{
if (fbnum>MAX_FEEDBACKNUM)
printf("joint feedback buffer overflow!\n");
else
{
dVector3 sum = {0, 0, 0};
printf("\n");
for (int i=0; i<fbnum; i++) {
dReal* f = feedbacks[i].first?feedbacks[i].fb.f1:feedbacks[i].fb.f2;
printf("%f %f %f\n", f[0], f[1], f[2]);
sum[0] += f[0];
sum[1] += f[1];
sum[2] += f[2];
}
printf("Sum: %f %f %f\n", sum[0], sum[1], sum[2]);
dMass m;
dBodyGetMass(obj[selected].body, &m);
printf("Object G=%f\n", GRAVITY*m.mass);
}
doFeedback = 0;
fbnum = 0;
}
// remove all contact joints
dJointGroupEmpty (contactgroup);
dsSetColor (1,1,0);
dsSetTexture (DS_WOOD);
for (int i=0; i<num; i++) {
for (int j=0; j < GPB; j++) {
if (i==selected) {
dsSetColor (0,0.7,1);
}
else if (! dBodyIsEnabled (obj[i].body)) {
dsSetColor (1,0.8,0);
}
else {
dsSetColor (1,1,0);
}
drawGeom (obj[i].geom[j],0,0,show_aabb);
}
}
}
static void simLoop (int pause)
{
const dReal stepsize = 0.02;
dsSetColor (0,0,2);
dSpaceCollide (space,0,&nearCallback);
if (!pause) {
if (mov_type == 1)
moveplat_1(stepsize);
else
moveplat_2(stepsize);
dGeomSetPosition(platform, platpos[0], platpos[1], platpos[2]);
updatecam();
dWorldQuickStep (world,stepsize);
//dWorldStep (world,stepsize);
}
if (write_world) {
FILE *f = fopen ("state.dif","wt");
if (f) {
dWorldExportDIF (world,f,"X");
fclose (f);
}
write_world = 0;
}
// remove all contact joints
dJointGroupEmpty (contactgroup);
dsSetColor (1,1,0);
dsSetTexture (DS_WOOD);
for (int i=0; i<num; i++) {
for (int j=0; j < GPB; j++) {
if (! dBodyIsEnabled (obj[i].body)) {
dsSetColor (1,0.8,0);
}
else {
dsSetColor (1,1,0);
}
drawGeom (obj[i].geom[j],0,0,show_aabb);
}
}
dsSetColor (1,0,0);
drawGeom (platform,0,0,show_aabb);
//usleep(5000);
}
static void simLoop (int pause)
{
dsSetColor (0,0,2);
space->collide(0,&nearCallback);
if (!pause)
//world->quickStep(0.02);
world->step(0.02);
if (write_world) {
FILE *f = fopen ("state.dif","wt");
if (f) {
dWorldExportDIF (*world,f,"X");
fclose (f);
}
write_world = false;
}
// remove all contact joints
dJointGroupEmpty (contactgroup);
dsSetTexture (DS_WOOD);
dsSetColor (1,0.5f,0);
dsDrawCylinder(top1->getPosition(),
top1->getRotation(),
toplength, topradius);
dsDrawCapsule(top1->getPosition(),
top1->getRotation(),
pinlength, pinradius);
dsSetColor (0.5f,1,0);
dsDrawCylinder(top2->getPosition(),
top2->getRotation(),
toplength, topradius);
dsDrawCapsule(top2->getPosition(),
top2->getRotation(),
pinlength, pinradius);
}
static void simLoop (int pause)
{
int i,j;
dsSetColor (0,0,2);
dSpaceCollide (space,0,&nearCallback);
//if (!pause) dWorldStep (world,0.05);
//if (!pause) dWorldQuickStep (world,0.05);
if (!pause) dWorldStepFast1 (world,0.05, 5);
if (write_world) {
FILE *f = fopen ("state.dif","wt");
if (f) {
dWorldExportDIF (world,f,"X");
fclose (f);
}
write_world = 0;
}
// remove all contact joints
dJointGroupEmpty (contactgroup);
const dReal* pReal = dGeomGetPosition( gheight );
const dReal* RReal = dGeomGetRotation( gheight );
//
// Draw Heightfield
//
// Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode.
int ox = (int) ( -HFIELD_WIDTH/2 );
int oz = (int) ( -HFIELD_DEPTH/2 );
// for ( int tx = -1; tx < 2; ++tx )
// for ( int tz = -1; tz < 2; ++tz )
{
dsSetColorAlpha (0.5,1,0.5,0.5);
dsSetTexture( DS_WOOD );
for ( int i = 0; i < HFIELD_WSTEP - 1; ++i )
for ( int j = 0; j < HFIELD_DSTEP - 1; ++j )
{
dReal a[3], b[3], c[3], d[3];
a[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
a[ 1 ] = heightfield_callback( NULL, i, j );
a[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
b[ 1 ] = heightfield_callback( NULL, i + 1, j );
b[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
c[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
c[ 1 ] = heightfield_callback( NULL, i, j + 1 );
c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 );
d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
dsDrawTriangle( pReal, RReal, a, c, b, 1 );
dsDrawTriangle( pReal, RReal, b, c, d, 1 );
}
}
dsSetColor (1,1,0);
dsSetTexture (DS_WOOD);
for (i=0; i<num; i++)
{
for (j=0; j < GPB; j++)
{
if (i==selected)
{
dsSetColor (0,0.7,1);
}
else if (! dBodyIsEnabled (obj[i].body))
{
dsSetColor (1,0.8,0);
}
else
{
dsSetColor (1,1,0);
}
if ( obj[i].geom[j] && dGeomGetClass(obj[i].geom[j]) == dTriMeshClass )
{
dTriIndex* Indices = (dTriIndex*)::Indices;
// assume all trimeshes are drawn as bunnies
const dReal* Pos = dGeomGetPosition(obj[i].geom[j]);
const dReal* Rot = dGeomGetRotation(obj[i].geom[j]);
for (int ii = 0; ii < IndexCount / 3; ii++)
{
const dReal v[9] = { // explicit conversion from float to dReal
Vertices[Indices[ii * 3 + 0] * 3 + 0],
Vertices[Indices[ii * 3 + 0] * 3 + 1],
Vertices[Indices[ii * 3 + 0] * 3 + 2],
Vertices[Indices[ii * 3 + 1] * 3 + 0],
Vertices[Indices[ii * 3 + 1] * 3 + 1],
Vertices[Indices[ii * 3 + 1] * 3 + 2],
Vertices[Indices[ii * 3 + 2] * 3 + 0],
Vertices[Indices[ii * 3 + 2] * 3 + 1],
Vertices[Indices[ii * 3 + 2] * 3 + 2]
};
dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
}
// tell the tri-tri collider the current transform of the trimesh --
// this is fairly important for good results.
// Fill in the (4x4) matrix.
dReal* p_matrix = obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 );
p_matrix[ 0 ] = Rot[ 0 ]; p_matrix[ 1 ] = Rot[ 1 ]; p_matrix[ 2 ] = Rot[ 2 ]; p_matrix[ 3 ] = 0;
p_matrix[ 4 ] = Rot[ 4 ]; p_matrix[ 5 ] = Rot[ 5 ]; p_matrix[ 6 ] = Rot[ 6 ]; p_matrix[ 7 ] = 0;
p_matrix[ 8 ] = Rot[ 8 ]; p_matrix[ 9 ] = Rot[ 9 ]; p_matrix[10 ] = Rot[10 ]; p_matrix[11 ] = 0;
p_matrix[12 ] = Pos[ 0 ]; p_matrix[13 ] = Pos[ 1 ]; p_matrix[14 ] = Pos[ 2 ]; p_matrix[15 ] = 1;
// Flip to other matrix.
obj[i].last_matrix_index = !obj[i].last_matrix_index;
// Apply the 'other' matrix which is the oldest.
dGeomTriMeshSetLastTransform( obj[i].geom[j],
*(dMatrix4*)( obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 ) ) );
}
else
{
drawGeom (obj[i].geom[j],0,0,show_aabb);
}
}
}
if ( show_aabb )
{
// draw the bounding box for this geom
dReal aabb[6];
dGeomGetAABB (gheight,aabb);
dVector3 bbpos;
for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha (1,0,0,0.5);
dsDrawBox (bbpos,RI,bbsides);
}
}
