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authorsanine <sanine.not@pm.me>2022-10-01 20:59:36 -0500
committersanine <sanine.not@pm.me>2022-10-01 20:59:36 -0500
commitc5fc66ee58f2c60f2d226868bb1cf5b91badaf53 (patch)
tree277dd280daf10bf77013236b8edfa5f88708c7e0 /libs/ode-0.16.1/drawstuff/dstest/dstest.cpp
parent1cf9cc3408af7008451f9133fb95af66a9697d15 (diff)
add ode
Diffstat (limited to 'libs/ode-0.16.1/drawstuff/dstest/dstest.cpp')
-rw-r--r--libs/ode-0.16.1/drawstuff/dstest/dstest.cpp125
1 files changed, 125 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/drawstuff/dstest/dstest.cpp b/libs/ode-0.16.1/drawstuff/dstest/dstest.cpp
new file mode 100644
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--- /dev/null
+++ b/libs/ode-0.16.1/drawstuff/dstest/dstest.cpp
@@ -0,0 +1,125 @@
+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: russ@q12.org Web: www.q12.org *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+
+#include <stdio.h>
+#include <math.h>
+#include <drawstuff/drawstuff.h>
+
+
+#ifndef M_PI
+#define M_PI (3.14159265358979323846)
+#endif
+
+
+void start()
+{
+ // adjust the starting viewpoint a bit
+ float xyz[3],hpr[3];
+ dsGetViewpoint (xyz,hpr);
+ hpr[0] += 7;
+ dsSetViewpoint (xyz,hpr);
+}
+
+
+void simLoop (int pause)
+{
+ float pos[3];
+ float R[12];
+ static float a = 0;
+
+ if (!pause) a += 0.02f;
+ if (a > (2*M_PI)) a -= (float) (2*M_PI);
+ float ca = (float) cos(a);
+ float sa = (float) sin(a);
+
+ dsSetTexture (DS_WOOD);
+
+ float b = (a > M_PI) ? (2*(a-(float)M_PI)) : a*2;
+ pos[0] = -0.3f;
+ pos[1] = 0;
+ pos[2] = (float) (0.1f*(2*M_PI*b - b*b) + 0.65f);
+ R[0] = ca; R[1] = 0; R[2] = -sa;
+ R[4] = 0; R[5] = 1; R[6] = 0;
+ R[8] = sa; R[9] = 0; R[10] = ca;
+ dsSetColor (1,0.8f,0.6f);
+ dsDrawSphere (pos,R,0.3f);
+
+ dsSetTexture (DS_NONE);
+
+ pos[0] = -0.2f;
+ pos[1] = 0.8f;
+ pos[2] = 0.4f;
+ R[0] = ca; R[1] = -sa; R[2] = 0;
+ R[4] = sa; R[5] = ca; R[6] = 0;
+ R[8] = 0; R[9] = 0; R[10] = 1;
+ float sides[3] = {0.1f,0.4f,0.8f};
+ dsSetColor (0.6f,0.6f,1);
+ dsDrawBox (pos,R,sides);
+
+ dsSetTexture (DS_WOOD);
+
+ float r = 0.3f; // cylinder radius
+ float d = (float)cos(a*2) * 0.4f;
+ float cd = (float)cos(-d/r);
+ float sd = (float)sin(-d/r);
+ pos[0] = -0.2f;
+ pos[1] = -1 + d;
+ pos[2] = 0.3f;
+ R[0] = 0; R[1] = 0; R[2] = -1;
+ R[4] = -sd; R[5] = cd; R[6] = 0;
+ R[8] = cd; R[9] = sd; R[10] = 0;
+ dsSetColor (0.4f,1,1);
+ dsDrawCylinder (pos,R,0.8f,r);
+
+ pos[0] = 0;
+ pos[1] = 0;
+ pos[2] = 0.2f;
+ R[0] = 0; R[1] = sa; R[2] = -ca;
+ R[4] = 0; R[5] = ca; R[6] = sa;
+ R[8] = 1; R[9] = 0; R[10] = 0;
+ dsSetColor (1,0.9f,0.2f);
+ dsDrawCappedCylinder (pos,R,0.8f,0.2f);
+}
+
+
+void command (int cmd)
+{
+ dsPrint ("received command %d (`%c')\n",cmd,cmd);
+}
+
+
+int main (int argc, char **argv)
+{
+ // setup pointers to callback functions
+ dsFunctions fn;
+ fn.version = DS_VERSION;
+ fn.start = &start;
+ fn.step = &simLoop;
+ fn.command = command;
+ fn.stop = 0;
+ fn.path_to_textures = 0; // uses default
+
+ // run simulation
+ dsSimulationLoop (argc,argv,400,400,&fn);
+
+ return 0;
+}