// Create the ship (called only once, at start)
void initShip(object *o) {
object ship;
vector* v = (vector *)malloc(sizeof(vector)*3);
ship.verts = v;
v->x = 0.0; v->y = -1.0; v++;
v->x = -0.5; v->y = 1.0; v++;
v->x = 0.5; v->y = 1.0;
ship.size = 3;
ship.pos = zeroVec();
ship.dir = makeVec(0.0, -1.0);;
ship.ang = 0.0;
ship.turn = 10.0;
ship.vel = zeroVec();
ship.spd = 25.0;
ship.type = SHIP;
ship.mode = GL_LINE_LOOP;
ship.state = SHIP_INACTIVE;
LAZORZ = (object *)malloc(sizeof(object)*MAXSHOTS);
*o = ship;
}
///-------------------------------------------------------------
/// Creates initial list of constraints.
///-------------------------------------------------------------
void IKSolver::CreateConstraints(int frameNum)
{
// clear any old data that might exist
mConstraintList.clear();
// get all handles on model
MarkerList & modelHandles = mModel->mHandleList;
Vec3d zeroVec(0, 0, 0);
zeroVec.MakeZero();
// loop over all handles on model, evaluating constraint
for (int i = 0; i < modelHandles.size(); i++)
{
// get handle on model and contraint position
Marker * handle = modelHandles[i];
Vec3d & constraintPos = mModel->mOpenedC3dFile->GetMarkerPos(frameNum, i);
// if constraint is 0, 0, 0, then we don't have a constraint to actually deal with,
// so only create and add constraint if this is not the case
// all of these checks are in place to absolutely make sure, because somehow some of
// these constraints snuck through
if (constraintPos != vl_zero && constraintPos != vl_0)
{
if (len(constraintPos) != 0)
{
if ( !(constraintPos[0] == 0 && constraintPos[1] == 0 && constraintPos[2] == 0) )
{
if (zeroVec != constraintPos)
{
mConstraintList.push_back(Constraint(mModel, i));
}
}
}
}
}
#ifdef _DEBUG
//LogConstraintList(0, false);
#endif
}
// Create star that twinkles occasionally
void initStar(object *o, vector *l) {
object star;
vector* v = (vector*)malloc(sizeof(vector)*8);
star.verts = v;
int i; for(i=0;i<8;i+=2) {
*v = makeVec(0.1*cos(pi*(float)i/4.0),
0.1*sin(pi*(float)i/4.0));
v++;
*v = makeVec(0.1*cos(pi*(float)(i+1)/4.0),
0.1*sin(pi*(float)(i+1)/4.0));
v++;
}
star.size = 8;
star.pos = copyVec(l);
star.dir = upVec();
star.ang = 0.0;
star.turn = 0.0;
star.vel = zeroVec();
star.spd = 50.0;
star.type = STAR;
star.mode = GL_LINE_LOOP;
star.state = 0;
*o = star;
}
// Create message (called at start, activated on player death)
void initMessage() {
message = (object*)malloc(sizeof(object)*5);
vector** letters = (vector**)malloc(sizeof(vector*)*5);
letters[0] = (vector*)malloc(sizeof(vector)*7);
vector* vi = letters[0];
vi->x = 3.0; vi->y = -5.0; vi++;
vi->x = 3.0; vi->y = 4.0; vi++;
vi->x = 1.0; vi->y = 5.0; vi++;
vi->x = -1.0; vi->y = 5.0; vi++;
vi->x = -3.0; vi->y = 4.0; vi++;
vi->x = -3.0; vi->y = 4.0; vi++;
vi->x = -3.0; vi->y = -5.0;
letters[1] = (vector*)malloc(sizeof(vector)*7);
vi = letters[1];
float n = 0.0;
int i;
for(i=0;i<7;i++){vi->x=n;vi->y=n;vi++;}
letters[2] = (vector*)malloc(sizeof(vector)*7);
vi = letters[2];
vi->x = 3.0; vi->y = -5.0; vi++;
vi->x = -1.0; vi->y = -5.0; vi++;
vi->x = -3.0; vi->y = -3.0; vi++;
vi->x = -3.0; vi->y = 3.0; vi++;
vi->x = -1.0; vi->y = 5.0; vi++;
vi->x = 3.0; vi->y = 5.0; vi++;
vi->x = 3.0; vi->y = -5.0;
letters[3] = (vector*)malloc(sizeof(vector)*7);
vi = letters[3];
vi->x = -3.0; vi->y = -5.0; vi++;
vi->x = 3.0; vi->y = -5.0; vi++;
vi->x = 3.0; vi->y = 0.0; vi++;
vi->x = -3.0; vi->y = 0.0; vi++;
vi->x = 3.0; vi->y = 0.0; vi++;
vi->x = 3.0; vi->y = 5.0; vi++;
vi->x = -3.0; vi->y = 5.0;
letters[4] = (vector*)malloc(sizeof(vector)*7);
vi = letters[4];
vi->x = 3.0; vi->y = -5.0; vi++;
vi->x = -1.0; vi->y = -5.0; vi++;
vi->x = -3.0; vi->y = -3.0; vi++;
vi->x = -3.0; vi->y = 3.0; vi++;
vi->x = -1.0; vi->y = 5.0; vi++;
vi->x = 3.0; vi->y = 5.0; vi++;
vi->x = 3.0; vi->y = -5.0;
int li;
for (li=0; li<5; li++) {
object L;
L.verts = letters[li];
L.size = 7;
L.pos = makeVec(16.0-8.0*(float)li, 0.0);
L.dir = upVec();
L.ang = 0.0;
L.turn = 0.0;
L.vel = zeroVec();
L.spd = 0.0;
L.type = MESSAGE;
L.mode = GL_LINE_STRIP;
L.state = 0;
*(message+li) = L;
}
}
void sixdofConstraintNode::draw( M3dView & view, const MDagPath &path,
M3dView::DisplayStyle style,
M3dView::DisplayStatus status )
{
update();
vec3f zeroVec(0.f,0.f,0.f);
vec3f minusXVec(-0.2f,0.f,0.f);
vec3f posXVec(0.2f,0.f,0.f);
vec3f minusYVec (0.f,-0.2f,0.f);
vec3f posYVec (0.f,0.2f,0.f);
vec3f minusZVec (0.f,0.f,-0.2f);
vec3f posZVec (0.f,0.f,0.2f);
view.beginGL();
glPushAttrib( GL_ALL_ATTRIB_BITS );
glDisable(GL_LIGHTING);
if( !(status == M3dView::kActive ||
status == M3dView::kLead ||
status == M3dView::kHilite ||
( style != M3dView::kGouraudShaded && style != M3dView::kFlatShaded )) ) {
glColor3f(1.0, 1.0, 0.0);
}
vec3f posA, posB, pivB;
rigid_body_t::pointer rigid_bodyB = NULL;
if (m_constraint)
{
vec3f pos;
quatf rot;
m_constraint->rigid_bodyA()->get_transform(pos, rot);
m_constraint->worldToA(pos, posA);
rigid_bodyB = m_constraint->rigid_bodyB();
if(rigid_bodyB)
{
rigid_bodyB->get_transform(pos, rot);
m_constraint->worldToA(pos, posB);
}
m_constraint->worldFromB(zeroVec, pos);
m_constraint->worldToA(pos, pivB);
}
glBegin(GL_LINES);
glVertex3f(0.0, 0.0, 0.0);
glVertex3f(posA[0], posA[1], posA[2]);
//glVertex3f(0.0, 0.0, 0.0);
//glVertex3f(pivB[0], pivB[1], pivB[2]);
if(rigid_bodyB)
{
glVertex3f(pivB[0], pivB[1], pivB[2]);
glVertex3f(posB[0], posB[1], posB[2]);
}
glVertex3f(-0.2, 0.0, 0.0);
glVertex3f(0.2, 0.0, 0.0);
glVertex3f(0.0, -0.2, 0.0);
glVertex3f(0.0, 0.2, 0.0);
glVertex3f(0.0, 0.0, -0.2);
glVertex3f(0.0, 0.0, 0.2);
vec3f posT, posP, posM;
m_constraint->worldFromB(minusXVec, posT);
m_constraint->worldToA(posT, posM);
m_constraint->worldFromB(posXVec, posT);
m_constraint->worldToA(posT, posP);
glVertex3f(posM[0], posM[1], posM[2]);
glVertex3f(posP[0], posP[1], posP[2]);
m_constraint->worldFromB(minusYVec, posT);
m_constraint->worldToA(posT, posM);
m_constraint->worldFromB(posYVec, posT);
m_constraint->worldToA(posT, posP);
glVertex3f(posM[0], posM[1], posM[2]);
glVertex3f(posP[0], posP[1], posP[2]);
m_constraint->worldFromB(minusZVec, posT);
m_constraint->worldToA(posT, posM);
m_constraint->worldFromB(posZVec, posT);
m_constraint->worldToA(posT, posP);
glVertex3f(posM[0], posM[1], posM[2]);
glVertex3f(posP[0], posP[1], posP[2]);
glEnd();
glPopAttrib();
view.endGL();
}
Triang zeroTriang(void)
{
return (Triang) {
zeroVec(), zeroVec(), zeroVec(), zeroVec(), false, 0
};
}
Point zeroPoint(void)
{
return (Point) {zeroVec(), 0};
}
Photon randPhoton()
{
return (Photon) {zeroVec(), randDir(), WL_MAXLUM};
}
Photon zeroPhoton()
{
return (Photon) {zeroVec(), zeroVec(), WL_MAXLUM};
}