int main (int argc, char **argv)
{
dMass m;
dMatrix3 R;
// setup pointers to drawstuff callback functions
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = &command;
fn.stop = 0;
fn.path_to_textures = "../../drawstuff/textures";
if(argc==2)
fn.path_to_textures = argv[1];
// create world
world = dWorldCreate();
space = dHashSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-9.8);
dWorldSetQuickStepNumIterations (world, 64);
// Create a static world using a triangle mesh that we can collide with.
int numv = sizeof(world_vertices)/(3*sizeof(float));
int numi = sizeof(world_indices)/ sizeof(int);
printf("numv=%d, numi=%d\n", numv, numi);
dTriMeshDataID Data = dGeomTriMeshDataCreate();
// fprintf(stderr,"Building Single Precision Mesh\n");
dGeomTriMeshDataBuildSingle
(
Data,
world_vertices,
3 * sizeof(float),
numv,
world_indices,
numi,
3 * sizeof(int)
);
world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
dGeomTriMeshEnableTC(world_mesh, dSphereClass, false);
dGeomTriMeshEnableTC(world_mesh, dBoxClass, false);
dGeomSetPosition(world_mesh, 0, 0, 0.5);
dRSetIdentity(R);
//dIASSERT(dVALIDMAT3(R));
dGeomSetRotation (world_mesh, R);
float sx=0.0, sy=3.40, sz=6.80;
sphbody = dBodyCreate (world);
dMassSetSphere (&m,1,RADIUS);
dBodySetMass (sphbody,&m);
sphgeom = dCreateSphere(0, RADIUS);
dGeomSetBody (sphgeom,sphbody);
reset_ball();
dSpaceAdd (space, sphgeom);
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
// Causes segm violation? Why?
// (because dWorldDestroy() destroys body connected to geom; must call first!)
dGeomDestroy(sphgeom);
dGeomDestroy (world_mesh);
dJointGroupEmpty (contactgroup);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
return 0;
}
void PhysicsTriMeshGeom::enableTC( Int32 geomClass, bool enable )
{
PhysicsTriMeshGeomPtr tmpPtr(*this);
dGeomTriMeshEnableTC(tmpPtr->id, geomClass, enable ? 1:0);
}
