void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
{
if (!draw_geom){
return;
}
if (!g) return;
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
int type = dGeomGetClass (g);
if (type == dBoxClass) {
dVector3 sides;
dGeomBoxGetLengths (g,sides);
dsDrawBox (pos,R,sides);
}
else if (type == dSphereClass) {
dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
}
else if (type == dCCylinderClass) {
dReal radius,length;
dGeomCCylinderGetParams (g,&radius,&length);
dsDrawCappedCylinder (pos,R,length,radius);
}
/*
// cylinder option not yet implemented
else if (type == dCylinderClass) {
dReal radius,length;
dGeomCylinderGetParams (g,&radius,&length);
dsDrawCylinder (pos,R,length,radius);
}
*/
else if (type == dGeomTransformClass) {
dGeomID g2 = dGeomTransformGetGeom (g);
const dReal *pos2 = dGeomGetPosition (g2);
const dReal *R2 = dGeomGetRotation (g2);
dVector3 actual_pos;
dMatrix3 actual_R;
dMULTIPLY0_331 (actual_pos,R,pos2);
actual_pos[0] += pos[0];
actual_pos[1] += pos[1];
actual_pos[2] += pos[2];
dMULTIPLY0_333 (actual_R,R,R2);
drawGeom (g2,actual_pos,actual_R,0);
}
if (show_aabb) {
// draw the bounding box for this geom
dReal aabb[6];
dGeomGetAABB (g,aabb);
dVector3 bbpos;
for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha (1,0,0,0.5);
dsDrawBox (bbpos,RI,bbsides);
}
}
void drawGeom (dGeomID g, const dReal *pos, const dReal *R)
{
if (!g) return;
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
int type = dGeomGetClass (g);
if (type == dBoxClass) {
dVector3 sides;
dGeomBoxGetLengths (g,sides);
dsDrawBox (pos,R,sides);
}
else if (type == dSphereClass) {
dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
}
else if (type == dCCylinderClass) {
dReal radius,length;
dGeomCCylinderGetParams (g,&radius,&length);
dsDrawCappedCylinder (pos,R,length,radius);
}
else if (type == dGeomTransformClass) {
dGeomID g2 = dGeomTransformGetGeom (g);
const dReal *pos2 = dGeomGetPosition (g2);
const dReal *R2 = dGeomGetRotation (g2);
dVector3 actual_pos;
dMatrix3 actual_R;
dMULTIPLY0_331 (actual_pos,R,pos2);
actual_pos[0] += pos[0];
actual_pos[1] += pos[1];
actual_pos[2] += pos[2];
dMULTIPLY0_333 (actual_R,R,R2);
drawGeom (g2,actual_pos,actual_R);
}
}
//===========================================================================================
//! \brief 描画関数
void draw_world( void )
//===========================================================================================
{
int i;
dsSetColor (0,0.5,1);
dsSetTexture (DS_WOOD);
dReal rad, len;
dReal sides[4];
dBox *blink;
dCapsule *clink;
dsSetColorAlpha (1.0, 0.0, 0.0, 0.6);
i=0; blink=&LinkBase; blink->getLengths(sides); dsDrawBox (body[i].getPosition(),body[i].getRotation(),sides);
dsSetColorAlpha (0.0, 0.5, 1.0, 0.6);
i=1; clink=&Link1; clink->getParams(&rad, &len); dsDrawCappedCylinder (body[i].getPosition(),body[i].getRotation(),len,rad);
i=2; clink=&Link2; clink->getParams(&rad, &len); dsDrawCappedCylinder (body[i].getPosition(),body[i].getRotation(),len,rad);
}
