Object* bouteille(glm::vec3 pos)
{
Container* c = new Container(pos);
Mesh* m;
m = CreateCylinder(1.0,1.0,3.0,20,10);
c->addObject(m);
m = CreateSphere(1.0f,20.0,20.0);
m->setPosition(0.0,0.0,3.0);
c->addObject(m);
m = CreateCylinder(0.5,0.4,1.5,20.0,10.0);
m->setPosition(0.0,0.0,3.7f);
c->addObject(m);
/* glPushMatrix();
glRotatef(90.0, 1.0, 0.0 ,0.0);
glTranslatef(0.0,0.0,-2.3);
glutSolidTorus(0.1,0.35,20.0,20.0);
glTranslatef(0.0,0.0,-0.2);
glutSolidTorus(0.1,0.3,20.0,20.0);
glPopMatrix();*/
return c;
}
void Render::Draw(IDirect3DSurface9* renderTarget, D3DXMATRIX* view, D3DXMATRIX* projection)
{
// Get or create device
LPDIRECT3DDEVICE9 device = GetDevice();
if (device == NULL) return;
// Load shaders if it is required
// if (!EnsureShaders()) return;
// Prepare depth surface
D3DSURFACE_DESC renderTargetDescription;
renderTarget->GetDesc(&renderTargetDescription);
D3DSURFACE_DESC depthSurfaceDescription;
if (depthSurface != NULL) depthSurface->GetDesc(&depthSurfaceDescription);
if (depthSurface == NULL || depthSurfaceDescription.Width != renderTargetDescription.Width || depthSurfaceDescription.Height != renderTargetDescription.Height)
{
if (depthSurface != NULL) depthSurface->Release();
device->CreateDepthStencilSurface(renderTargetDescription.Width, renderTargetDescription.Height, D3DFMT_D24X8, D3DMULTISAMPLE_NONE, 0, FALSE, &depthSurface, NULL);
if (depthSurface == NULL) return;
}
device->SetRenderTarget(0, renderTarget);
device->SetDepthStencilSurface(depthSurface);
device->Clear(0, NULL, D3DCLEAR_TARGET | D3DCLEAR_ZBUFFER, D3DCOLOR_ARGB(0, 0, 0, 0), 1.0f, 0);
if (lowPolySphere == NULL)
{
// Create spheres
lowPolySphere = CreateSphere(2);
middlePolySphere = CreateSphere(3);
highPolySphere = CreateSphere(5);
// Create cylinders
lowPolyCylinder = CreateCylinder(3);
middlePolyCylinder = CreateCylinder(12);
highPolyCylinder = CreateCylinder(24);
}
// FIXME: light dir must be slightly different!
D3DVECTOR lightDirection;
lightDirection.x = view->_13;
lightDirection.y = view->_23;
lightDirection.z = view->_33;
D3DVECTOR viewDirection;
viewDirection.x = view->_13;
viewDirection.y = view->_23;
viewDirection.z = view->_33;
elementMaterials[0].SetViewLightDirection(&viewDirection, &lightDirection);
// Rendering
device->BeginScene();
DrawAtoms(view, projection);
DrawBonds(view, projection);
DrawResidues(view, projection);
device->EndScene();
}
MeshUtil::MeshUtil()
{
m_MeshMap.emplace("quad_mesh", CreateQuad("quad_mesh", Vector4(-1.0f, -1.0f, 0.0f), Vector4(1.0f, 1.0f, 0.0f)));
m_MeshMap.emplace("cube_mesh", CreateCube("cube_mesh", Vector4(-1.0f), Vector4(1.0f)));
m_MeshMap.emplace("ico_sphere_mesh", CreateIcoSphere("ico_sphere_mesh", 1.0f, 2));
m_MeshMap.emplace("sphere_mesh", CreateSphere("sphere_mesh", 1.0f, 20, 20));
m_MeshMap.emplace("cylinder_mesh", CreateCylinder("cylinder_mesh", 1.0f, 1.0f, 1.0f, 4, 10));
m_MeshMap.emplace("cone_mesh", CreateCylinder("cone_mesh", 0.0f, 1.0f, 1.0f, 4, 10));
}
static void AddMerryGoRound(DemoEntityManager* const scene, const dVector& location)
{
NewtonBody* const pole = CreateCylinder(scene, location, 0.0f, 0.2f, 3.0f);
dVector platformPosit(location);
platformPosit.m_y += 0.2f;
NewtonBody* const platform = CreateCylinder(scene, platformPosit, 200.0f, 10.0f, 0.2f);
dMatrix pivot;
NewtonBodyGetMatrix(platform, &pivot[0][0]);
dCustomHinge* const hinge = new dCustomHinge(pivot, platform, pole);
hinge;
}
static void AddCylindrical (DemoEntityManager* const scene, const dVector& origin)
{
// make a reel static
NewtonBody* const box0 = CreateCylinder (scene, origin + dVector (0.0f, 4.0f, 0.0f, 0.0f), 0.25f, 8.0f);
NewtonBody* const box1 = CreateWheel (scene, origin + dVector (0.0f, 4.0f, 0.0f, 0.0f), 1.0f, 0.5f);
dMatrix matrix;
//connect the box0 to the base by a fix joint (a hinge with zero limit)
//NewtonBodyGetMatrix(box0, &matrix[0][0]);
//CustomHinge* const fixJoint = new CustomHinge(matrix, box0, NULL);
//fixJoint->EnableLimits(true);
//fixJoint->SetLimis(0.0f, 0.0f);
NewtonBodySetMassMatrix(box0, 0.0f, 0.0f, 0.0f, 0.0f);
// connect the bodies by a CorkScrew joint
NewtonBodyGetMatrix (box1, &matrix[0][0]);
CustomCorkScrew* const cylinder = new CustomCorkScrew (matrix, box1, box0);
// enable limit of first axis
cylinder->EnableLinearLimits(true);
// set limit on second axis
cylinder->SetLinearLimis (-4.0f, 4.0f);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), box0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box1, box0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static void AddGear (DemoEntityManager* const scene, const dVector& origin)
{
NewtonBody* const box0 = CreateCylinder(scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.25f, 4.0f);
// this is a fix joint
NewtonBodySetMassMatrix(box0, 0.0f, 0.0f, 0.0f, 0.0f);
// connect two bodies with a hinge
CustomHinge* const hinge0 = AddHingeWheel (scene, origin + dVector (-1.0f, 4.0f, 0.0f), 0.5f, 1.0f, box0);
CustomHinge* const hinge1 = AddHingeWheel (scene, origin + dVector ( 1.0f, 4.0f, 0.0f), 0.5f, 1.0f, box0);
NewtonBody* const body0 = hinge0->GetBody0();
NewtonBody* const body1 = hinge1->GetBody0();
dMatrix matrix0;
dMatrix matrix1;
NewtonBodyGetMatrix (body0, &matrix0[0][0]);
NewtonBodyGetMatrix (body1, &matrix1[0][0]);
// relate the two body motion with a gear joint
dVector pin0 (matrix0.RotateVector(dVector (1.0f, 0.0f, 0.0f)));
dVector pin1 (matrix1.RotateVector(dVector (1.0f, 0.0f, 0.0f)));
new CustomGear (4.0f, pin0, pin1, body0, body1);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), box0, NULL);
// NewtonSkeletonContainerAttachBone(skeleton, box0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, hinge0->GetBody0(), box0);
NewtonSkeletonContainerAttachBone(skeleton, hinge1->GetBody0(), box0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
/*
void futBiere()
{
GLUquadric* params;
params = gluNewQuadric();
glPushMatrix();
glRotatef(270.0, 1.0, 0.0 ,0.0);
glTranslatef(0.0,0.0,1.5);
glutSolidTorus(0.1,1.5,100.0,100.0);
gluCylinder(params,1.5,1.0,1.5,100.0,1.0);
glTranslatef(0.0,0.0,-1.5);
glutSolidTorus(0.1,1.6,100.0,100.0);
gluCylinder(params,1.5,1.5,1.5,100.0,1.0);
glRotatef(180, 1.0, 0.0 ,0.0);
gluCylinder(params,1.5,1.0,1.5,100.0,1.0);
glPushMatrix();
glTranslatef(0.0,0.0,-3.0);
glScalef( 1.0, 1.0, 0.0);
//attention
glutSolidSphere(1.0,20.0,20.0);
glPopMatrix();
glPushMatrix();
glTranslatef(0.0,0.0,1.5);
glScalef( 1.0, 1.0, 0.0);
//attention
glutSolidSphere(1.0,20.0,20.0);
glPopMatrix();
glTranslatef(0.0,0.0,-3.3);
glTranslatef(0.0,0.7,0.0);
gluCylinder(params,0.1,0.1,0.5,100.0,1.0);
glTranslatef(0.0,-0.7,0.0);
glScalef( 0.2,0.2,0.2);
robinet();
glPopMatrix();
}
void robinet()
{
GLUquadric* params;
params = gluNewQuadric();
glutSolidTorus(0.5,1.5,100.0,8.0);
gluCylinder(params,0.2,0.2,4.0,100.0,1.0);
glPushMatrix();
glTranslatef(0.0,1.0,0.0);
glRotatef(90, 1.0, 0.0 ,0.0);
gluCylinder(params,0.2,0.2,2.0,100.0,1.0);
glPopMatrix();
glPushMatrix();
glTranslatef(-1.0,0.0,0.0);
glRotatef(90, 1.0, 0.0 ,0.0);
glRotatef(90, 0.0, 1.0 ,0.0);
gluCylinder(params,0.2,0.2,2.0,100.0,1.0);
glPopMatrix();
}
void cigarette()
{
GLUquadric* params;
params = gluNewQuadric();
glColor3f(0.2,0.2,0.2);
gluCylinder(params,0.25,0.25,0.2,100.0,1.0);
glTranslatef(0.0,0.0,0.2);
glColor3f(1.0,1.0,1.0);
gluCylinder(params,0.25,0.25,3.0,100.0,1.0);
glTranslatef(0.0,0.0,3.0);
glColor3f(1.0,0.5,0.0);
gluCylinder(params,0.25,0.25,1.0,100.0,1.0);
glTranslatef(0.0,0.0,1.0);
glPushMatrix();
glScalef( 1.0, 1.0, 0.0);
glColor3f(1.0,1.0,1.0);
//glutSolidSphere(0.25,20.0,20.0);
Sphere(0.25,20.0,20.0);
glPopMatrix();
glColor3f(1.0,0.0,0.0);
glTranslatef(0.0,0.0,-4.2);
glScalef( 1.0, 1.0, 0.5);
glutSolidSphere(0.25,20.0,20.0);
glColor3f(1.0,1.0,1.0);
}*/
Object* chaise(glm::vec3 pos)
{
Texture* t1 = ObjectAccessor::getObjMgr()->getTexture("../../src/img/chaise1.bmp");
Mesh* m;
Container* c = new Container(pos);
//siege
m = CreateBox(2.0,2.0,0.4);
m->setTexture(t1);
m->setPosition(0.0,0.0,1.7);
c->addObject(m);
//dossier
m = CreateBox(2.0,0.4,1.0);
m->setTexture(t1);
m->setPosition(0.0,-0.75,3.9);
c->addObject(m);
//support dossier
m = CreateCylinder(0.2,0.2,1.5,20.0,1.0);
m->setTexture(t1);
m->setPosition(0.0,-0.75,1.9);
c->addObject(m);
//pied
m = CreateCylinder(0.2,0.2,1.5,20.0,1.0);
m->setPosition(0.75,0.75,0);
m->setTexture(t1);
c->addObject(m);
m = CreateCylinder(0.2,0.2,1.5,20.0,1.0);
m->setPosition(0.75,-0.75,0);
m->setTexture(t1);
c->addObject(m);
m = CreateCylinder(0.2,0.2,1.5,20.0,1.0);
m->setPosition(-0.75,0.75,0);
m->setTexture(t1);
c->addObject(m);
m = CreateCylinder(0.2,0.2,1.5,20.0,1.0);
m->setPosition(-0.75,-0.75,0);
m->setTexture(t1);
c->addObject(m);
return c;
}
Object* lustre(glm::vec3 pos)
{
Object* amp;
Container* c = new Container(pos);
Mesh* m;
m = CreateCylinder(5.0*COEF2,0.0*COEF2,3.0*COEF2,20.0,10.0);
c->addObject(m);
m = CreateCylinder(0.1*COEF2,0.1*COEF2,3.0*COEF2,20.0,1.0);
m->setPosition(0.0,0.0,2.8);
c->addObject(m);
amp = ampoule(glm::vec3(0,0,0.5));
amp->rotate(180,glm::vec3(1,0,0));
c->addObject(amp);
return c;
}/*
static void AddGearAndRack (DemoEntityManager* const scene, const dVector& origin)
{
NewtonBody* const reel0 = CreateCylinder(scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.25f, 4.0f);
NewtonBody* const reel1 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 2.0f), dVector(4.0f, 0.25f, 0.25f));
dMatrix matrix;
//connect the box0 to the base by a fix joint (a hinge with zero limit)
NewtonBodyGetMatrix(reel0, &matrix[0][0]);
CustomHinge* const fixJoint0 = new CustomHinge(matrix, reel0, NULL);
fixJoint0->EnableLimits(true);
fixJoint0->SetLimis(0.0f, 0.0f);
NewtonBodyGetMatrix(reel1, &matrix[0][0]);
CustomHinge* const fixJoint1 = new CustomHinge(matrix, reel1, NULL);
fixJoint1->EnableLimits(true);
fixJoint1->SetLimis(0.0f, 0.0f);
CustomHinge* const hinge0 = AddHingeWheel (scene, origin + dVector (-1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomHinge* const hinge1 = AddHingeWheel (scene, origin + dVector ( 1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomCorkScrew* const cylinder = AddCylindricalWheel(scene, origin + dVector (0.0f, 4.0f, 2.0f), 0.5f, 1.0f, reel1);
cylinder->EnableLinearLimits(true);
cylinder->SetLinearLimis(-2.0f, 2.0f);
NewtonBody* const body0 = hinge0->GetBody0();
NewtonBody* const body1 = hinge1->GetBody0();
NewtonBody* const body2 = cylinder->GetBody0();
dMatrix matrix0;
dMatrix matrix1;
dMatrix matrix2;
NewtonBodyGetMatrix (body0, &matrix0[0][0]);
NewtonBodyGetMatrix (body1, &matrix1[0][0]);
NewtonBodyGetMatrix (body2, &matrix2[0][0]);
dVector pin0 (matrix0.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin1 (matrix1.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin2 (matrix2.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
new CustomGear (1.0f, pin0, pin2, body0, body2);
new CustomRackAndPinion (1.0f, pin1, pin2, body1, body2);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), NULL, NULL);
NewtonSkeletonContainerAttachBone(skeleton, reel0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, hinge0->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, hinge1->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, reel1, NULL);
NewtonSkeletonContainerAttachBone(skeleton, cylinder->GetBody0(), reel1);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
void BaseMesh::CreateCylinder(float radius, const Vec3f &pt1, const Vec3f &pt2, UINT slices, UINT stacks)
{
float height = (pt2 - pt1).Length();
CreateCylinder(radius, height, slices, stacks); //create a basic cylinder of the appropriate height
Matrix4 Face = Matrix4::Face(Vec3f::eZ, pt2 - pt1); //make it face the direction pt2 - pt1 instead of eZ
Matrix4 T2 = Matrix4::Translation(pt1); //translate it so it goes from pt1 -> pt2
ApplyMatrix(Face * T2);
GenerateNormals();
}
static void AddGearAndRack (DemoEntityManager* const scene, const dVector& origin)
{
NewtonBody* const reel0 = CreateCylinder(scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.25f, 4.0f);
NewtonBody* const reel1 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 2.0f), dVector(4.0f, 0.25f, 0.25f));
dMatrix matrix;
NewtonBodySetMassMatrix(reel0, 0.0f, 0.0f, 0.0f, 0.0f);
NewtonBodySetMassMatrix(reel1, 0.0f, 0.0f, 0.0f, 0.0f);
CustomHinge* const hinge0 = AddHingeWheel (scene, origin + dVector (-1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomHinge* const hinge1 = AddHingeWheel (scene, origin + dVector ( 1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomCorkScrew* const cylinder = AddCylindricalWheel(scene, origin + dVector (0.0f, 4.0f, 2.0f), 0.5f, 1.0f, reel0);
cylinder->EnableLinearLimits(true);
cylinder->SetLinearLimis(-2.0f, 2.0f);
NewtonBody* const body0 = hinge0->GetBody0();
NewtonBody* const body1 = hinge1->GetBody0();
NewtonBody* const body2 = cylinder->GetBody0();
dMatrix matrix0;
dMatrix matrix1;
dMatrix matrix2;
NewtonBodyGetMatrix (body0, &matrix0[0][0]);
NewtonBodyGetMatrix (body1, &matrix1[0][0]);
NewtonBodyGetMatrix (body2, &matrix2[0][0]);
dVector pin0 (matrix0.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin1 (matrix1.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin2 (matrix2.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
new CustomGear (1.0f, pin0, pin2, body0, body2);
new CustomRackAndPinion (1.0f, pin1, pin2, body1, body2);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), reel0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, hinge0->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, hinge1->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, cylinder->GetBody0(), reel0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
// make an aggregate for disabling collisions
void* const aggregate = NewtonCollisionAggregateCreate(scene->GetNewton());
NewtonCollisionAggregateSetSelfCollision(aggregate, 0);
NewtonCollisionAggregateAddBody(aggregate, reel0);
NewtonCollisionAggregateAddBody(aggregate, reel1);
NewtonCollisionAggregateAddBody(aggregate, body0);
NewtonCollisionAggregateAddBody(aggregate, body1);
NewtonCollisionAggregateAddBody(aggregate, body2);
}
Ogre::SceneNode* LuaScriptUtilities::CreateLine(
Ogre::SceneNode* const parentNode,
const Ogre::Vector3& start,
const Ogre::Vector3& end)
{
assert(parentNode);
Ogre::SceneNode* const line = CreateCylinder(parentNode, 1.0f, 1.0f);
SetLineStartEnd(line, start, end);
return line;
}
Object* table(glm::vec3 pos)
{
Texture* t1 = ObjectAccessor::getObjMgr()->getTexture("../../src/img/metal.bmp");
Texture* t2 = ObjectAccessor::getObjMgr()->getTexture("../../src/img/table.bmp");
Mesh* m;
Container* c = new Container(pos);
m = CreateCylinder(2.0,0.2,0.5,20.0,10.0);
c->addObject(m);
m->setTexture(t1);
m = CreateCylinder(0.2,0.2,3.3,20.0,1.0);
m->setPosition(0.0,0.0,0.5);
c->addObject(m);
m->setTexture(t1);
m = CreateBox(4.0,4.0,0.2);
m->setPosition(0.0,0.0,4.0);
c->addObject(m);
m->setTexture(t2);
return c;
}
Object* ampoule(glm::vec3 pos)
{
Container* c = new Container(pos);
Mesh* m;
m = CreateSphere(COEF2*1.5,20,20);
m->setPosition(0,0,0.5);
c->addObject(m);
m = CreateCylinder(COEF2*0.5,COEF2*0.5,COEF2*1.0,20.0,1.0);
m->setPosition(0,0,-1.60+0.25*COEF2);
c->addObject(m);
m = CreateCylinder(COEF2*0.25,COEF2*0.5,COEF2*0.25,20.0,10.0);
m->setPosition(0,0,-1.60);
c->addObject(m);
m = CreateSphere(COEF2*0.25,20.0,20.0);
m->setPosition(0,0,-1.60);
c->addObject(m);
return c;
}
void CreatePipe( const AcGePoint3d& start, const AcGePoint3d& end, const double& radius)
{
acutPrintf(L"开始绘制管体\n");
//得到线段的长度
double length = start.distanceTo(end);
if( length < 0.1 )
return;
acutPrintf(L"得到管体高度%lf\n",length);
//绘制圆柱体
AcDb3dSolid* p3dPipe = CreateCylinder(radius,length);
if( p3dPipe == NULL )
return;
//得到线段与Z轴的垂直向量
AcGeVector3d line3dVector(end.x - start.x,end.y - start.y, end.z-start.z);
AcGeVector3d rotateVctor = line3dVector.crossProduct(AcGeVector3d::kZAxis);
//得到旋转的角度
double angle = -line3dVector.angleTo(AcGeVector3d::kZAxis);
acutPrintf(L"得到旋转角度%lf\n",angle);
//进行旋转
AcGeMatrix3d rotateMatrix = AcGeMatrix3d::rotation( angle, rotateVctor, AcGePoint3d::kOrigin);
p3dPipe->transformBy(rotateMatrix);
//得到线段的中心点
AcGePoint3d center(start.x + end.x, start.y + end.y, start.z + end.z);
center /= 2;
acutPrintf(L"得到中心点[%lf][%lf][%lf]\n",center.x,center.y,center.z);
//进行偏移
AcGeMatrix3d moveMatrix;
moveMatrix.setToTranslation(AcGeVector3d(center.x,center.y,center.z));
p3dPipe->transformBy(moveMatrix);
//加入到3D模型中
PostToModelSpace(p3dPipe);
#ifdef DEBUG
acutPrintf(L"插入中心线，用于矫正");
AcDbLine *pLine = new AcDbLine(start, end);
PostToModelSpace(pLine);
#endif
}
dCustomInverseDynamicsEffector* AddLeg(DemoEntityManager* const scene, void* const rootNode, const dMatrix& matrix, dFloat partMass, dFloat limbLenght)
{
NewtonBody* const parent = NewtonInverseDynamicsGetBody(m_kinematicSolver, rootNode);
dFloat inertiaScale = 4.0f;
// make limb base
dMatrix baseMatrix(dRollMatrix(dPi * 0.5f));
dMatrix cylinderMatrix(baseMatrix * matrix);
NewtonBody* const base = CreateCylinder(scene, cylinderMatrix, partMass, inertiaScale, 0.2f, 0.1f);
dCustomInverseDynamics* const baseHinge = new dCustomInverseDynamics(cylinderMatrix, base, parent);
baseHinge->SetJointTorque(1000.0f);
baseHinge->SetTwistAngle(-0.5f * dPi, 0.5f * dPi);
void* const baseHingeNode = NewtonInverseDynamicsAddChildNode(m_kinematicSolver, rootNode, baseHinge->GetJoint());
//make limb forward arm
dMatrix forwardArmMatrix(dPitchMatrix(-30.0f * dDegreeToRad));
dVector forwardArmSize(limbLenght * 0.25f, limbLenght * 0.25f, limbLenght, 0.0f);
forwardArmMatrix.m_posit += forwardArmMatrix.m_right.Scale(forwardArmSize.m_z * 0.5f);
NewtonBody* const forwardArm = CreateBox(scene, forwardArmMatrix * matrix, forwardArmSize, partMass, inertiaScale);
dMatrix forwardArmPivot(forwardArmMatrix);
forwardArmPivot.m_posit -= forwardArmMatrix.m_right.Scale(forwardArmSize.m_z * 0.5f);
dCustomInverseDynamics* const forwardArmHinge = new dCustomInverseDynamics(forwardArmPivot * matrix, forwardArm, base);
forwardArmHinge->SetJointTorque(1000.0f);
forwardArmHinge->SetTwistAngle(-0.5f * dPi, 0.5f * dPi);
void* const forwardArmHingeNode = NewtonInverseDynamicsAddChildNode(m_kinematicSolver, baseHingeNode, forwardArmHinge->GetJoint());
//make limb forward arm
dMatrix armMatrix(dPitchMatrix(-90.0f * dDegreeToRad));
dFloat armSize = limbLenght * 1.25f;
armMatrix.m_posit += forwardArmMatrix.m_right.Scale(limbLenght);
armMatrix.m_posit.m_y -= armSize * 0.5f;
NewtonBody* const arm = CreateCapsule(scene, armMatrix * matrix, partMass, inertiaScale, armSize * 0.2f, armSize);
dMatrix armPivot(armMatrix);
armPivot.m_posit.m_y += armSize * 0.5f;
dCustomInverseDynamics* const armHinge = new dCustomInverseDynamics(armPivot * matrix, arm, forwardArm);
armHinge->SetJointTorque(1000.0f);
armHinge->SetTwistAngle(-0.5f * dPi, 0.5f * dPi);
void* const armHingeNode = NewtonInverseDynamicsAddChildNode(m_kinematicSolver, forwardArmHingeNode, armHinge->GetJoint());
dMatrix effectorMatrix(dGetIdentityMatrix());
effectorMatrix.m_posit = armPivot.m_posit;
effectorMatrix.m_posit.m_y -= armSize;
dHexapodEffector* const effector = new dHexapodEffector(m_kinematicSolver, armHingeNode, parent, effectorMatrix * matrix);
effector->SetAsThreedof();
effector->SetMaxLinearFriction(partMass * DEMO_GRAVITY * 10.0f);
effector->SetMaxAngularFriction(partMass * DEMO_GRAVITY * 10.0f);
return effector;
}
void TW_CALL SetScale(const void *value, void *clientData)
{
//Pointer auf gesetzten Typ casten (der Typ der bei TwAddVarCB angegeben wurde)
const unsigned int* uintptr = static_cast<const unsigned int*>(value);
//Setzen der Variable auf neuen Wert
scale = *uintptr;
//Hier kann nun der Aufruf gemacht werden um die Geometrie mit neuem Scalefaktor zu erzeugen
//CreateCone(0.0f, 0.0f, -100.0f);
CreateCube(-75.0f, 0.0f, 0.0f);
CreateCylinder(0.0f, 125.0f, 0.0f);
CreateSphere(100.0f, 0.0f, 0.0f);
RenderScene();
}
void PezInitialize()
{
const PezConfig cfg = PezGetConfig();
// Assign the vertex attributes to integer slots:
GLuint* pAttr = (GLuint*) &Attr;
for (int a = 0; a < sizeof(Attr) / sizeof(GLuint); a++) {
*pAttr++ = a;
}
// Compile shaders
Globals.SimpleProgram = LoadProgram("Simple.VS", 0, "Simple.FS");
Globals.QuadProgram = LoadProgram("Quad.VS", 0, "Quad.FS");
Globals.GridProgram = LoadProgram("Grid.VS", 0, "Grid.FS");
Globals.LitProgram = LoadProgram("Lit.VS", "Lit.GS", "Lit.FS");
// Set up viewport
float fovy = 16 * TwoPi / 180;
float aspect = (float) cfg.Width / cfg.Height;
float zNear = 0.1, zFar = 300;
Globals.Projection = M4MakePerspective(fovy, aspect, zNear, zFar);
Point3 eye = {0, 1, 4};
Point3 target = {0, 0, 0};
Vector3 up = {0, 1, 0};
Globals.View = M4MakeLookAt(eye, target, up);
// Create offscreen buffer:
Globals.FboHandle = CreateRenderTarget(&Globals.FboTexture);
glUseProgram(Globals.QuadProgram);
Globals.QuadVao = CreateQuad();
Globals.Grid = CreateGrid(GridRows, GridCols);
// Create geometry
Globals.Cylinder = CreateCylinder();
// Misc Initialization
Globals.Theta = 0;
glClearColor(0.9, 0.9, 1.0, 1);
glLineWidth(1.5);
glEnable(GL_LINE_SMOOTH);
glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_POLYGON_OFFSET_FILL);
glPolygonOffset(1,1);
}
// Initialisierung des Rendering Kontextes
void SetupRC() {
// Schwarzer Hintergrund
glClearColor(0.1f, 0.1f, 0.1f, 1.0f);
// In Uhrzeigerrichtung zeigende Polygone sind die Vorderseiten.
// Dies ist umgekehrt als bei der Default-Einstellung weil wir Triangle_Fans benützen
glFrontFace(GL_CW);
//initialisiert die standard shader
shaderManager.InitializeStockShaders();
transformPipeline.SetMatrixStacks(modelViewMatrix, projectionMatrix);
//erzeuge die geometrie
CreateCone(0, 0, 0);
CreateCube(0, 0, 0);
CreateCylinder(0, 0, 0);
CreateSphere(0, 0, 0);
InitGUI();
}
//----------------------------------------------------------------------------
bool Skinning::Setup ()
{
m_spkScene = new Node(1);
int iRadialSamples = 10;
Vector3f kCenter(0.0f,0.0f,100.0f);
Vector3f kU(0.0f,0.0f,-1.0f);
Vector3f kV(0.0f,1.0f,0.0f);
Vector3f kAxis(1.0f,0.0f,0.0f);
float fRadius = 10.0f;
float fHeight = 80.0f;
m_spkTriMesh = CreateCylinder(iRadialSamples,kCenter,kU,kV,kAxis,fRadius,
fHeight,true,true,true);
m_spkTriMesh->SetVertexShader(m_spkVertShader);
m_spkScene->AttachChild(m_spkTriMesh);
return true;
}
Object* porte(glm::vec3 pos)
{
Container* c = new Container(pos);
Mesh* m;
Texture* t = TextureMgr::getTextureMgr()->getTexture("../../src/img/interieur.bmp");
m = CreateBox(5.0, 0.8, 10.0);
m->setPosition(0.0,0.0,5.0);
c->addObject(m);
m = CreateCylinder(0.1,0.1,1.2,20.0,1.0);
m->rotate(-90,glm::vec3(1,0,0));
m->setPosition(2.0,-0.6,5.0);
c->addObject(m);
//glScalef(1.0,1.0,0.5);
m = CreateSphere(0.2,20.0,20.0);
m->setPosition(2.0,0.6,5.0);
c->addObject(m);
//glScalef(1.0,1.0,0.5);
m = CreateSphere(0.2,20.0,20.0);
m->setPosition(2.0,-0.6,5.0);
c->addObject(m);
m = CreateBox(1.0, 1.0, 25.0);
m->setPosition(-3.0,0.0,12.5);
m->setTexture(t);
c->addObject(m);
m = CreateBox(1.0, 1.0, 25.0);
m->setPosition(3.0,0.0,12.5);
m->setTexture(t);
c->addObject(m);
m = CreateBox(6.0, 1.0, 15.0);
m->setPosition(0.0,0.0,17.5);
m->setTexture(t);
c->addObject(m);
return c;
}
void TW_CALL SetTesselation(const void *value, void *clientData)
{
//Pointer auf gesetzten Typ casten (der Typ der bei TwAddVarCB angegeben wurde)
const unsigned int* uintptr = static_cast<const unsigned int*>(value);
//Setzen der Variablen auf neuen Wert
tess = *uintptr;
tesselation = pow(2, tess);
arraySize = 2 * tesselation + 2;
doubleArraySize = 2 * arraySize;
sphereArraySize = (tesselation*(arraySize - 1) + 1) * 2;
//Hier kann nun der Aufruf gemacht werden um die Geometrie mit neuem Tesselierungsfaktor zu erzeugen
//CreateCone(0.0f, 0.0f, -100.0f);
CreateCube(-75.0f, 0.0f, 0.0f);
CreateCylinder(0.0f, 125.0f, 0.0f);
CreateSphere(100.0f, 0.0f, 0.0f);
RenderScene();
}
//-------------------------------------------------------------------------------
// @ Player::Player()
//-------------------------------------------------------------------------------
// Constructor
//-------------------------------------------------------------------------------
Player::Player()
{
mRotate.Identity();
mScale = 1.0f;
mTranslate.Zero();
mRadius = 3.0f;
mCylinderVerts = 0;
mCylinderIndices = 0;
mBlendMode = kOpacityBlendMode;
unsigned int i;
mBaseTexture = nullptr;
for (i = 0; i < NUM_BLEND_TEX; i++)
mBlendTextures[i] = nullptr;
mCurrentBlendTexIndex = 0;
mBaseTexture = CreateTextureFromFile("image.tga");
mBlendTextures[0] = CreateTextureFromFile("fence.tga");
mBlendTextures[1] = CreateTextureFromFile("darkdots.tga");
mBlendTextures[2] = CreateTextureFromFile("glowdots.tga");
mShader = IvRenderer::mRenderer->GetResourceManager()->CreateShaderProgram(
IvRenderer::mRenderer->GetResourceManager()->CreateVertexShaderFromFile(
"textureShader"),
IvRenderer::mRenderer->GetResourceManager()->CreateFragmentShaderFromFile(
"textureShader"));
mTextureUniform = mShader->GetUniform("Texture");
mTextureUniform->SetValue(mBaseTexture);
IvRenderer::mRenderer->SetShaderProgram(mShader);
CreateCylinder();
} // End of Player::Player()
//Setup world
void InitialiseWorld() {
world=CreateNewWorld();
Point3d centre;
//Camera starting point - raised 5cm off ground.
cameraPos=CreatePoint(0.0,5.0,0.0);
cameraAngle=CreatePoint(0.0,0.0,0.0);
baselinePos=cameraPos;
arrowRefAngle=0;
//The tank
tank=CreateTank(GREEN, CreatePoint(0,0,0), 4.5);
tankObjectIndex=AddObjectToWorld(&world, tank);
PlaceTank(cameraPos, cameraAngle);
//Populate with a few shapes
int i;
for (i=0; i<4; i++) {
//Random blue cubes
centre=CreatePoint(Random(-100.0, 100.0),0.0,Random(-100.0, 100.0));
obj=CreateCube(BLUE, centre, 4.0);
RotateObjectYAxis(&obj, Random(0.0, 2 * PI));
AddObjectToWorld(&world,obj);
//Random yellow pyramids
centre=CreatePoint(Random(-100.0, 100.0),0.0,Random(-100.0, 100.0));
obj=CreatePyramid(YELLOW, centre, 4.0);
RotateObjectYAxis(&obj, Random(0.0, 2 * PI));
AddObjectToWorld(&world,obj);
//Random red barrels
centre=CreatePoint(Random(-100.0, 100.0),0.0,Random(-100.0, 100.0));
obj=CreateCylinder(RED,centre, 4.0);
RotateObjectYAxis(&obj, Random(0.0, 2 * PI));
AddObjectToWorld(&world,obj);
}
}
void Draw3DCylinder (const dMatrix& location, int segments, dFloat radius, dFloat height, const dVector& color)
{
#ifdef COMPILE_OPENGL
SetMaterial (color);
dVector points[128 * 3];
dVector normals[128];
int count = CreateCylinder (points, normals, segments, radius, height, 128);
glPushMatrix();
glMultMatrix(&location[0][0]);
glBegin(GL_TRIANGLES);
for (int i = 0; i < count; i ++) {
glNormal3f(normals[i].m_x, normals[i].m_y, normals[i].m_z);
glVertex3f(points[i * 3 + 0].m_x, points[i * 3 + 0].m_y, points[i * 3 + 0].m_z);
glNormal3f(normals[i].m_x, normals[i].m_y, normals[i].m_z);
glVertex3f(points[i * 3 + 1].m_x, points[i * 3 + 1].m_y, points[i * 3 + 1].m_z);
glNormal3f(normals[i].m_x, normals[i].m_y, normals[i].m_z);
glVertex3f(points[i * 3 + 2].m_x, points[i * 3 + 2].m_y, points[i * 3 + 2].m_z);
}
glEnd();
glPopMatrix();
#endif
}
void BaseMesh::CreateLozenge(float Radius, const Vec3f &Start, const Vec3f &End, UINT slices, UINT stacks)
{
//allocate space for the lozenge and call ReCreateLozenge
CreateCylinder(1.0f, 1.0f, slices, stacks);
ReCreateLozenge(Radius, Start, End, slices, stacks);
}
void RagdollDemo::initPhysics()
{
// Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
//spawnRagdoll(startOffset);
startOffset.setValue(-1,0.5,0);
//spawnRagdoll(startOffset);
CreateBox(0, 0., 2., 0., 1., 0.2, 1.); // Create the box
//leg components
CreateCylinder(1, 2. , 2., 0., .2, 1., 0., 0., M_PI_2); //xleft horizontal
CreateCylinder(2, -2., 2., 0., .2, 1., 0., 0., M_PI_2); //xright (negative) horizontal
CreateCylinder(3, 0, 2., 2., .2, 1., M_PI_2, 0., 0.); //zpositive (into screen)
CreateCylinder(4, 0, 2., -2., .2, 1., M_PI_2, 0., 0.); //znegative (out of screen)
CreateCylinder(5, 3.0, 1., 0., .2, 1., 0., 0., 0.); //xleft vertical
CreateCylinder(6, -3.0, 1., 0., .2, 1., 0., 0., 0.); //xright vertical
CreateCylinder(7, 0., 1., 3.0, .2, 1., 0., 0., 0.); //zpositive vertical
CreateCylinder(8, 0., 1., -3.0, .2, 1., 0., 0., 0.); //znegative vertical
//The axisworldtolocal defines a vector perpendicular to the plane that you want the bodies to rotate in
//hinge the legs together
//xnegative -- right
//two bodies should rotate in y-plane through x--give axisworldtolocal it a z vector
btVector3 local2 = PointWorldToLocal(2, btVector3(-3., 2., 0));
btVector3 local6 = PointWorldToLocal(6, btVector3(-3., 2., 0));
btVector3 axis2 = AxisWorldToLocal(2, btVector3(0., 0., 1.));
btVector3 axis6 = AxisWorldToLocal(6, btVector3( 0., 0., 1.));
CreateHinge(0, *body[2], *body[6], local2, local6, axis2, axis6);
joints[0]->setLimit(btScalar(0.), btScalar(M_PI_2+M_PI_4));
//positive -- left
//give axisworldtolocal a z vector
btVector3 local1 = PointWorldToLocal(1, btVector3(3., 2., 0));
btVector3 local5 = PointWorldToLocal(5, btVector3(3., 2., 0));
btVector3 axis1 = AxisWorldToLocal(1, btVector3( 0., 0., 1.));
btVector3 axis5 = AxisWorldToLocal(5, btVector3(0., 0., 1.));
CreateHinge(1, *body[1], *body[5], local1, local5, axis1, axis5);
joints[1]->setLimit(btScalar(M_PI_4), btScalar(M_PI_4));
//zpositive -- back
//rotates in y-plane through z--give it an x vector
btVector3 local3 = PointWorldToLocal(3, btVector3(0, 2., 3.));
btVector3 local7 = PointWorldToLocal(7, btVector3(0, 2., 3.));
btVector3 axis3 = AxisWorldToLocal(3, btVector3(1., 0., 0.));
btVector3 axis7 = AxisWorldToLocal(7, btVector3(1., 0., 0.));
CreateHinge(2, *body[3], *body[7], local3, local7, axis3, axis7);
joints[2]->setLimit(btScalar(0.), btScalar(M_PI_2+M_PI_4));
//znegative -- front
btVector3 local4 = PointWorldToLocal(4, btVector3(0, 2., -3.));
btVector3 local8 = PointWorldToLocal(8, btVector3(0, 2., -3.));
btVector3 axis4 = AxisWorldToLocal(4, btVector3(1., 0., 0.));
btVector3 axis8 = AxisWorldToLocal(8, btVector3(1., 0., 0.));
CreateHinge(3, *body[4], *body[8], local4, local8, axis4, axis8);
joints[3]->setLimit(btScalar(M_PI_4), btScalar(M_PI_4));
//hinge the legs to the body
//xright to main
btVector3 localHinge2 = PointWorldToLocal(2, btVector3(-1, 2., 0));
btVector3 mainHinge2 = PointWorldToLocal(0, btVector3(-1, 2., 0));
btVector3 localAxis2 = AxisWorldToLocal(2, btVector3(0., 0., 1.));
btVector3 mainAxis2 = AxisWorldToLocal(0, btVector3( 0., 0., 1.));
CreateHinge(4, *body[0], *body[2], mainHinge2, localHinge2, mainAxis2, localAxis2);
//joints[4]->setLimit(btScalar(-M_PI_2-M_PI_4), btScalar(M_PI_4));
//xleft to main
btVector3 localHinge1 = PointWorldToLocal(1, btVector3(1, 2., 0));
btVector3 mainHinge1 = PointWorldToLocal(0, btVector3(1, 2., 0));
btVector3 localAxis1 = AxisWorldToLocal(1, btVector3(0., 0., 1.));
btVector3 mainAxis1 = AxisWorldToLocal(0, btVector3( 0., 0., 1.));
CreateHinge(5, *body[0], *body[1], mainHinge1, localHinge1, mainAxis1, localAxis1);
//joints[5]->setLimit(btScalar(-M_PI_2), btScalar(M_PI_2));
//zpositive (back) to main
btVector3 localHinge3 = PointWorldToLocal(3, btVector3(0., 2., 1));
btVector3 mainHinge3 = PointWorldToLocal(0, btVector3(0., 2., 1));
btVector3 localAxis3 = AxisWorldToLocal(3, btVector3(1., 0., 0.));
btVector3 mainAxis3 = AxisWorldToLocal(0, btVector3( 1., 0., 0.));
CreateHinge(6, *body[0], *body[3], mainHinge3, localHinge3, mainAxis3, localAxis3);
//joints[6]->setLimit(btScalar(-M_PI_2-M_PI_4), btScalar(M_PI_4));
btVector3 localHinge4 = PointWorldToLocal(4, btVector3(0., 2., -1));
btVector3 mainHinge4= PointWorldToLocal(0, btVector3(0., 2., -1));
btVector3 localAxis4 = AxisWorldToLocal(4, btVector3(1., 0., 0. ));
btVector3 mainAxis4 = AxisWorldToLocal(0, btVector3( 1., 0., 0.));
CreateHinge(7, *body[0], *body[4], mainHinge4, localHinge4, mainAxis4, localAxis4);
//joints[7]->setLimit(btScalar(-M_PI_2), btScalar(M_PI_2));
clientResetScene();
}
void BaseMesh::CreateCylinder(Vec3f (*PositionFunction) (float), float Start, float End, float radius, UINT slices, UINT stacks)
{
//this function allocates space for ReCreateCylinder then just rerouts to ReCreateCylinder.
CreateCylinder(radius, 0.0f, slices, stacks);
ReCreateCylinder(PositionFunction, Start, End, radius, slices, stacks);
}
void RagdollDemo::initPhysics()
{
// Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
//spawnRagdoll(startOffset);
startOffset.setValue(-1,0.5,0);
//spawnRagdoll(startOffset);
CreateBox(0, 0., 0., 1., 1., 1., 0.2);
// fore limbs
CreateCylinder(1, 1., 0., 1., 0.1, 1., 1);
CreateCylinder(2, -1., 0., 1., 0.1, 1., 1);
CreateCylinder(3, 0., 1., 1., 0.1, 1., 2);
CreateCylinder(4, 0., -1., 1., 0.1, 1., 2);
CreateCylinder(5, 1.5, 0., .5, 0.1, 1., 3);
CreateCylinder(6, -1.5, 0., .5, 0.1, 1., 3);
CreateCylinder(7, 0., 1.5, .5, 0.1, 1., 3);
CreateCylinder(8, 0., -1.5, .5, 0.1, 1., 3);
btVector3 v = PointWorldToLocal(0, btVector3(0,1,0));
/* std::cerr << "v " << v[0] << " " << v[1] << " " << v[2] << std::endl; */
printf("(%f, %f, %f)\n", v[0], v[1], v[2]);
CreateHinge(0,
0, 1,
0.5, 0., 1.,
0., -1., 0.);
CreateHinge(1, 0, 2,
-.5, 0., 1.,
0., 1., 0.);
CreateHinge(2, 0, 3,
0., .5, 1.,
1., 0., 0.);
CreateHinge(3, 0, 4,
0., -.5, 1.,
-1., 0., 0.);
CreateHinge(4, 1, 5,
1.5, 0., 1.,
0., -1., 0.);
CreateHinge(5, 2, 6,
-1.5, 0., 1.,
0., 1., 0.);
CreateHinge(6, 3, 7,
0., 1.5, 1.,
1., 0., 0.);
CreateHinge(7, 4, 8,
0., -1.5, 1.,
-1., 0., 0.);
clientResetScene();
}