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diff --git a/libs/ode-0.16.1/drawstuff/src/drawstuff.cpp b/libs/ode-0.16.1/drawstuff/src/drawstuff.cpp
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@@ -0,0 +1,1671 @@
+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 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. *
+ * *
+ *************************************************************************/
+
+/*
+
+simple graphics.
+
+the following command line flags can be used (typically under unix)
+ -notex Do not use any textures
+ -noshadow[s] Do not draw any shadows
+ -pause Start the simulation paused
+ -texturepath <path> Inform an alternative textures path
+
+TODO
+----
+
+manage openGL state changes better
+
+*/
+
+#ifdef WIN32
+#include <windows.h>
+#endif
+
+#include <ode/ode.h>
+#include "config.h"
+
+#ifdef HAVE_APPLE_OPENGL_FRAMEWORK
+#include <OpenGL/gl.h>
+#include <OpenGL/glu.h>
+#else
+#include <GL/gl.h>
+#include <GL/glu.h>
+#endif
+
+#include "drawstuff/drawstuff.h"
+#include "internal.h"
+
+//***************************************************************************
+// misc
+
+#ifndef DEFAULT_PATH_TO_TEXTURES
+#if 0
+#define DEFAULT_PATH_TO_TEXTURES "..\\textures\\"
+#else
+#define DEFAULT_PATH_TO_TEXTURES "../textures/"
+#endif
+#endif
+
+#ifndef M_PI
+#define M_PI (3.14159265358979323846)
+#endif
+
+// constants to convert degrees to radians and the reverse
+#define RAD_TO_DEG (180.0/M_PI)
+#define DEG_TO_RAD (M_PI/180.0)
+
+// light vector. LIGHTZ is implicitly 1
+#define LIGHTX (1.0f)
+#define LIGHTY (0.4f)
+
+// ground and sky
+#define SHADOW_INTENSITY (0.65f)
+#define GROUND_R (0.5f) // ground color for when there's no texture
+#define GROUND_G (0.5f)
+#define GROUND_B (0.3f)
+
+const float ground_scale = 1.0f/1.0f; // ground texture scale (1/size)
+const float ground_ofsx = 0.5; // offset of ground texture
+const float ground_ofsy = 0.5;
+const float sky_scale = 1.0f/4.0f; // sky texture scale (1/size)
+const float sky_height = 1.0f; // sky height above viewpoint
+
+//***************************************************************************
+// misc mathematics stuff
+
+static void normalizeVector3 (float v[3])
+{
+ float len = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
+ if (len <= 0.0f) {
+ v[0] = 1;
+ v[1] = 0;
+ v[2] = 0;
+ }
+ else {
+ len = 1.0f / (float)sqrt(len);
+ v[0] *= len;
+ v[1] *= len;
+ v[2] *= len;
+ }
+}
+
+static void crossProduct3(float res[3], const float a[3], const float b[3])
+{
+ float res_0 = a[1]*b[2] - a[2]*b[1];
+ float res_1 = a[2]*b[0] - a[0]*b[2];
+ float res_2 = a[0]*b[1] - a[1]*b[0];
+ // Only assign after all the calculations are over to avoid incurring memory aliasing
+ res[0] = res_0;
+ res[1] = res_1;
+ res[2] = res_2;
+}
+
+//***************************************************************************
+// PPM image object
+
+typedef unsigned char byte;
+
+class Image {
+ int image_width,image_height;
+ byte *image_data;
+public:
+ Image (char *filename);
+ // load from PPM file
+ ~Image();
+ int width() { return image_width; }
+ int height() { return image_height; }
+ byte *data() { return image_data; }
+};
+
+
+// skip over whitespace and comments in a stream.
+
+static void skipWhiteSpace (char *filename, FILE *f)
+{
+ int c,d;
+ for(;;) {
+ c = fgetc(f);
+ if (c==EOF) dsError ("unexpected end of file in \"%s\"",filename);
+
+ // skip comments
+ if (c == '#') {
+ do {
+ d = fgetc(f);
+ if (d==EOF) dsError ("unexpected end of file in \"%s\"",filename);
+ } while (d != '\n');
+ continue;
+ }
+
+ if (c > ' ') {
+ ungetc (c,f);
+ return;
+ }
+ }
+}
+
+
+// read a number from a stream, this return 0 if there is none (that's okay
+// because 0 is a bad value for all PPM numbers anyway).
+
+static int readNumber (char *filename, FILE *f)
+{
+ int c,n=0;
+ for(;;) {
+ c = fgetc(f);
+ if (c==EOF) dsError ("unexpected end of file in \"%s\"",filename);
+ if (c >= '0' && c <= '9') n = n*10 + (c - '0');
+ else {
+ ungetc (c,f);
+ return n;
+ }
+ }
+}
+
+
+Image::Image (char *filename)
+{
+ FILE *f = fopen (filename,"rb");
+ if (!f) dsError ("Can't open image file `%s'",filename);
+
+ // read in header
+ if (fgetc(f) != 'P' || fgetc(f) != '6')
+ dsError ("image file \"%s\" is not a binary PPM (no P6 header)",filename);
+ skipWhiteSpace (filename,f);
+
+ // read in image parameters
+ image_width = readNumber (filename,f);
+ skipWhiteSpace (filename,f);
+ image_height = readNumber (filename,f);
+ skipWhiteSpace (filename,f);
+ int max_value = readNumber (filename,f);
+
+ // check values
+ if (image_width < 1 || image_height < 1)
+ dsError ("bad image file \"%s\"",filename);
+ if (max_value != 255)
+ dsError ("image file \"%s\" must have color range of 255",filename);
+
+ // read either nothing, LF (10), or CR,LF (13,10)
+ int c = fgetc(f);
+ if (c == 10) {
+ // LF
+ }
+ else if (c == 13) {
+ // CR
+ c = fgetc(f);
+ if (c != 10) ungetc (c,f);
+ }
+ else ungetc (c,f);
+
+ // read in rest of data
+ image_data = new byte [image_width*image_height*3];
+ if (fread (image_data,image_width*image_height*3,1,f) != 1)
+ dsError ("Can not read data from image file `%s'",filename);
+ fclose (f);
+}
+
+
+Image::~Image()
+{
+ delete[] image_data;
+}
+
+//***************************************************************************
+// Texture object.
+
+class Texture {
+ Image *image;
+ GLuint name;
+public:
+ Texture (char *filename);
+ ~Texture();
+ void bind (int modulate);
+};
+
+
+Texture::Texture (char *filename)
+{
+ image = new Image (filename);
+ glGenTextures (1,&name);
+ glBindTexture (GL_TEXTURE_2D,name);
+
+ // set pixel unpacking mode
+ glPixelStorei (GL_UNPACK_SWAP_BYTES, 0);
+ glPixelStorei (GL_UNPACK_ROW_LENGTH, 0);
+ glPixelStorei (GL_UNPACK_ALIGNMENT, 1);
+ glPixelStorei (GL_UNPACK_SKIP_ROWS, 0);
+ glPixelStorei (GL_UNPACK_SKIP_PIXELS, 0);
+
+ // glTexImage2D (GL_TEXTURE_2D, 0, 3, image->width(), image->height(), 0,
+ // GL_RGB, GL_UNSIGNED_BYTE, image->data());
+ gluBuild2DMipmaps (GL_TEXTURE_2D, 3, image->width(), image->height(),
+ GL_RGB, GL_UNSIGNED_BYTE, image->data());
+
+ // set texture parameters - will these also be bound to the texture???
+ glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+ glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+
+ glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+ glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,
+ GL_LINEAR_MIPMAP_LINEAR);
+
+ glTexEnvf (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL);
+}
+
+
+Texture::~Texture()
+{
+ delete image;
+ glDeleteTextures (1,&name);
+}
+
+
+void Texture::bind (int modulate)
+{
+ glBindTexture (GL_TEXTURE_2D,name);
+ glTexEnvi (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE,
+ modulate ? GL_MODULATE : GL_DECAL);
+}
+
+//***************************************************************************
+// the current drawing state (for when the user's step function is drawing)
+
+static float color[4] = {0,0,0,0}; // current r,g,b,alpha color
+static int tnum = 0; // current texture number
+
+//***************************************************************************
+// OpenGL utility stuff
+
+static void setCamera (float x, float y, float z, float h, float p, float r)
+{
+ glMatrixMode (GL_MODELVIEW);
+ glLoadIdentity();
+ glRotatef (90, 0,0,1);
+ glRotatef (90, 0,1,0);
+ glRotatef (r, 1,0,0);
+ glRotatef (p, 0,1,0);
+ glRotatef (-h, 0,0,1);
+ glTranslatef (-x,-y,-z);
+}
+
+
+// sets the material color, not the light color
+
+static void setColor (float r, float g, float b, float alpha)
+{
+ GLfloat light_ambient[4],light_diffuse[4],light_specular[4];
+ light_ambient[0] = r*0.3f;
+ light_ambient[1] = g*0.3f;
+ light_ambient[2] = b*0.3f;
+ light_ambient[3] = alpha;
+ light_diffuse[0] = r*0.7f;
+ light_diffuse[1] = g*0.7f;
+ light_diffuse[2] = b*0.7f;
+ light_diffuse[3] = alpha;
+ light_specular[0] = r*0.2f;
+ light_specular[1] = g*0.2f;
+ light_specular[2] = b*0.2f;
+ light_specular[3] = alpha;
+ glMaterialfv (GL_FRONT_AND_BACK, GL_AMBIENT, light_ambient);
+ glMaterialfv (GL_FRONT_AND_BACK, GL_DIFFUSE, light_diffuse);
+ glMaterialfv (GL_FRONT_AND_BACK, GL_SPECULAR, light_specular);
+ glMaterialf (GL_FRONT_AND_BACK, GL_SHININESS, 5.0f);
+}
+
+
+static void setTransform (const float pos[3], const float R[12])
+{
+ GLfloat matrix[16];
+ matrix[0]=R[0];
+ matrix[1]=R[4];
+ matrix[2]=R[8];
+ matrix[3]=0;
+ matrix[4]=R[1];
+ matrix[5]=R[5];
+ matrix[6]=R[9];
+ matrix[7]=0;
+ matrix[8]=R[2];
+ matrix[9]=R[6];
+ matrix[10]=R[10];
+ matrix[11]=0;
+ matrix[12]=pos[0];
+ matrix[13]=pos[1];
+ matrix[14]=pos[2];
+ matrix[15]=1;
+ glPushMatrix();
+ glMultMatrixf (matrix);
+}
+static void setTransformD (const double pos[3], const double R[12])
+{
+ GLdouble matrix[16];
+ matrix[0]=R[0];
+ matrix[1]=R[4];
+ matrix[2]=R[8];
+ matrix[3]=0;
+ matrix[4]=R[1];
+ matrix[5]=R[5];
+ matrix[6]=R[9];
+ matrix[7]=0;
+ matrix[8]=R[2];
+ matrix[9]=R[6];
+ matrix[10]=R[10];
+ matrix[11]=0;
+ matrix[12]=pos[0];
+ matrix[13]=pos[1];
+ matrix[14]=pos[2];
+ matrix[15]=1;
+ glPushMatrix();
+ glMultMatrixd (matrix);
+}
+
+
+// set shadow projection transform
+
+static void setShadowTransform()
+{
+ GLfloat matrix[16];
+ for (int i=0; i<16; i++) matrix[i] = 0;
+ matrix[0]=1;
+ matrix[5]=1;
+ matrix[8]=-LIGHTX;
+ matrix[9]=-LIGHTY;
+ matrix[15]=1;
+ glPushMatrix();
+ glMultMatrixf (matrix);
+}
+
+static void drawConvex (const float *_planes, unsigned int _planecount,
+ const float *_points, unsigned int /*_pointcount*/,
+ const unsigned int *_polygons)
+{
+ unsigned int polyindex=0;
+ for(unsigned int i=0;i<_planecount;++i)
+ {
+ unsigned int pointcount=_polygons[polyindex];
+ polyindex++;
+ glBegin (GL_POLYGON);
+ glNormal3f(_planes[(i*4)+0],
+ _planes[(i*4)+1],
+ _planes[(i*4)+2]);
+ for(unsigned int j=0;j<pointcount;++j)
+ {
+ glVertex3f(_points[_polygons[polyindex]*3],
+ _points[(_polygons[polyindex]*3)+1],
+ _points[(_polygons[polyindex]*3)+2]);
+ polyindex++;
+ }
+ glEnd();
+ }
+}
+
+static void drawConvexD (const double *_planes, unsigned int _planecount,
+ const double *_points, unsigned int /*_pointcount*/,
+ const unsigned int *_polygons)
+{
+ unsigned int polyindex=0;
+ for(unsigned int i=0;i<_planecount;++i)
+ {
+ unsigned int pointcount=_polygons[polyindex];
+ polyindex++;
+ glBegin (GL_POLYGON);
+ glNormal3d(_planes[(i*4)+0],
+ _planes[(i*4)+1],
+ _planes[(i*4)+2]);
+ for(unsigned int j=0;j<pointcount;++j)
+ {
+ glVertex3d(_points[_polygons[polyindex]*3],
+ _points[(_polygons[polyindex]*3)+1],
+ _points[(_polygons[polyindex]*3)+2]);
+ polyindex++;
+ }
+ glEnd();
+ }
+}
+
+static void drawBox (const float sides[3])
+{
+ float lx = sides[0]*0.5f;
+ float ly = sides[1]*0.5f;
+ float lz = sides[2]*0.5f;
+
+ // sides
+ glBegin (GL_TRIANGLE_STRIP);
+ glNormal3f (-1,0,0);
+ glVertex3f (-lx,-ly,-lz);
+ glVertex3f (-lx,-ly,lz);
+ glVertex3f (-lx,ly,-lz);
+ glVertex3f (-lx,ly,lz);
+ glNormal3f (0,1,0);
+ glVertex3f (lx,ly,-lz);
+ glVertex3f (lx,ly,lz);
+ glNormal3f (1,0,0);
+ glVertex3f (lx,-ly,-lz);
+ glVertex3f (lx,-ly,lz);
+ glNormal3f (0,-1,0);
+ glVertex3f (-lx,-ly,-lz);
+ glVertex3f (-lx,-ly,lz);
+ glEnd();
+
+ // top face
+ glBegin (GL_TRIANGLE_FAN);
+ glNormal3f (0,0,1);
+ glVertex3f (-lx,-ly,lz);
+ glVertex3f (lx,-ly,lz);
+ glVertex3f (lx,ly,lz);
+ glVertex3f (-lx,ly,lz);
+ glEnd();
+
+ // bottom face
+ glBegin (GL_TRIANGLE_FAN);
+ glNormal3f (0,0,-1);
+ glVertex3f (-lx,-ly,-lz);
+ glVertex3f (-lx,ly,-lz);
+ glVertex3f (lx,ly,-lz);
+ glVertex3f (lx,-ly,-lz);
+ glEnd();
+}
+
+
+// This is recursively subdivides a triangular area (vertices p1,p2,p3) into
+// smaller triangles, and then draws the triangles. All triangle vertices are
+// normalized to a distance of 1.0 from the origin (p1,p2,p3 are assumed
+// to be already normalized). Note this is not super-fast because it draws
+// triangles rather than triangle strips.
+
+static void drawPatch (float p1[3], float p2[3], float p3[3], int level)
+{
+ int i;
+ if (level > 0) {
+ float q1[3],q2[3],q3[3]; // sub-vertices
+ for (i=0; i<3; i++) {
+ q1[i] = 0.5f*(p1[i]+p2[i]);
+ q2[i] = 0.5f*(p2[i]+p3[i]);
+ q3[i] = 0.5f*(p3[i]+p1[i]);
+ }
+ float length1 = (float)(1.0/sqrt(q1[0]*q1[0]+q1[1]*q1[1]+q1[2]*q1[2]));
+ float length2 = (float)(1.0/sqrt(q2[0]*q2[0]+q2[1]*q2[1]+q2[2]*q2[2]));
+ float length3 = (float)(1.0/sqrt(q3[0]*q3[0]+q3[1]*q3[1]+q3[2]*q3[2]));
+ for (i=0; i<3; i++) {
+ q1[i] *= length1;
+ q2[i] *= length2;
+ q3[i] *= length3;
+ }
+ drawPatch (p1,q1,q3,level-1);
+ drawPatch (q1,p2,q2,level-1);
+ drawPatch (q1,q2,q3,level-1);
+ drawPatch (q3,q2,p3,level-1);
+ }
+ else {
+ glNormal3f (p1[0],p1[1],p1[2]);
+ glVertex3f (p1[0],p1[1],p1[2]);
+ glNormal3f (p2[0],p2[1],p2[2]);
+ glVertex3f (p2[0],p2[1],p2[2]);
+ glNormal3f (p3[0],p3[1],p3[2]);
+ glVertex3f (p3[0],p3[1],p3[2]);
+ }
+}
+
+
+// draw a sphere of radius 1
+
+static int sphere_quality = 1;
+
+static void drawSphere()
+{
+ // icosahedron data for an icosahedron of radius 1.0
+# define ICX 0.525731112119133606f
+# define ICZ 0.850650808352039932f
+ static GLfloat idata[12][3] = {
+ {-ICX, 0, ICZ},
+ {ICX, 0, ICZ},
+ {-ICX, 0, -ICZ},
+ {ICX, 0, -ICZ},
+ {0, ICZ, ICX},
+ {0, ICZ, -ICX},
+ {0, -ICZ, ICX},
+ {0, -ICZ, -ICX},
+ {ICZ, ICX, 0},
+ {-ICZ, ICX, 0},
+ {ICZ, -ICX, 0},
+ {-ICZ, -ICX, 0}
+ };
+
+ static int index[20][3] = {
+ {0, 4, 1}, {0, 9, 4},
+ {9, 5, 4}, {4, 5, 8},
+ {4, 8, 1}, {8, 10, 1},
+ {8, 3, 10}, {5, 3, 8},
+ {5, 2, 3}, {2, 7, 3},
+ {7, 10, 3}, {7, 6, 10},
+ {7, 11, 6}, {11, 0, 6},
+ {0, 1, 6}, {6, 1, 10},
+ {9, 0, 11}, {9, 11, 2},
+ {9, 2, 5}, {7, 2, 11},
+ };
+
+ static GLuint listnum = 0;
+ if (listnum==0) {
+ listnum = glGenLists (1);
+ glNewList (listnum,GL_COMPILE);
+ glBegin (GL_TRIANGLES);
+ for (int i=0; i<20; i++) {
+ drawPatch (&idata[index[i][2]][0],&idata[index[i][1]][0],
+ &idata[index[i][0]][0],sphere_quality);
+ }
+ glEnd();
+ glEndList();
+ }
+ glCallList (listnum);
+}
+
+
+static void drawSphereShadow (float px, float py, float pz, float radius)
+{
+ // calculate shadow constants based on light vector
+ static int init=0;
+ static float len2,len1,scale;
+ if (!init) {
+ len2 = LIGHTX*LIGHTX + LIGHTY*LIGHTY;
+ len1 = 1.0f/(float)sqrt(len2);
+ scale = (float) sqrt(len2 + 1);
+ init = 1;
+ }
+
+ // map sphere center to ground plane based on light vector
+ px -= LIGHTX*pz;
+ py -= LIGHTY*pz;
+
+ const float kx = 0.96592582628907f;
+ const float ky = 0.25881904510252f;
+ float x=radius, y=0;
+
+ glBegin (GL_TRIANGLE_FAN);
+ for (int i=0; i<24; i++) {
+ // for all points on circle, scale to elongated rotated shadow and draw
+ float x2 = (LIGHTX*x*scale - LIGHTY*y)*len1 + px;
+ float y2 = (LIGHTY*x*scale + LIGHTX*y)*len1 + py;
+ glTexCoord2f (x2*ground_scale+ground_ofsx,y2*ground_scale+ground_ofsy);
+ glVertex3f (x2,y2,0);
+
+ // rotate [x,y] vector
+ float xtmp = kx*x - ky*y;
+ y = ky*x + kx*y;
+ x = xtmp;
+ }
+ glEnd();
+}
+
+
+static void drawTriangle (const float *v0, const float *v1, const float *v2, int solid)
+{
+ float u[3],v[3],normal[3];
+ u[0] = v1[0] - v0[0];
+ u[1] = v1[1] - v0[1];
+ u[2] = v1[2] - v0[2];
+ v[0] = v2[0] - v0[0];
+ v[1] = v2[1] - v0[1];
+ v[2] = v2[2] - v0[2];
+ crossProduct3(normal,u,v);
+ normalizeVector3 (normal);
+
+ glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP);
+ glNormal3fv (normal);
+ glVertex3fv (v0);
+ glVertex3fv (v1);
+ glVertex3fv (v2);
+ glEnd();
+}
+
+static void drawTriangleD (const double *v0, const double *v1, const double *v2, int solid)
+{
+ float u[3],v[3],normal[3];
+ u[0] = float( v1[0] - v0[0] );
+ u[1] = float( v1[1] - v0[1] );
+ u[2] = float( v1[2] - v0[2] );
+ v[0] = float( v2[0] - v0[0] );
+ v[1] = float( v2[1] - v0[1] );
+ v[2] = float( v2[2] - v0[2] );
+ crossProduct3(normal,u,v);
+ normalizeVector3 (normal);
+
+ glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP);
+ glNormal3fv (normal);
+ glVertex3dv (v0);
+ glVertex3dv (v1);
+ glVertex3dv (v2);
+ glEnd();
+}
+
+
+// draw a capped cylinder of length l and radius r, aligned along the x axis
+
+static int capped_cylinder_quality = 3;
+
+static void drawCapsule (float l, float r)
+{
+ int i,j;
+ float tmp,nx,ny,nz,start_nx,start_ny,a,ca,sa;
+ // number of sides to the cylinder (divisible by 4):
+ const int n = capped_cylinder_quality*4;
+
+ l *= 0.5;
+ a = float(M_PI*2.0)/float(n);
+ sa = (float) sin(a);
+ ca = (float) cos(a);
+
+ // draw cylinder body
+ ny=1; nz=0; // normal vector = (0,ny,nz)
+ glBegin (GL_TRIANGLE_STRIP);
+ for (i=0; i<=n; i++) {
+ glNormal3d (ny,nz,0);
+ glVertex3d (ny*r,nz*r,l);
+ glNormal3d (ny,nz,0);
+ glVertex3d (ny*r,nz*r,-l);
+ // rotate ny,nz
+ tmp = ca*ny - sa*nz;
+ nz = sa*ny + ca*nz;
+ ny = tmp;
+ }
+ glEnd();
+
+ // draw first cylinder cap
+ start_nx = 0;
+ start_ny = 1;
+ for (j=0; j<(n/4); j++) {
+ // get start_n2 = rotated start_n
+ float start_nx2 = ca*start_nx + sa*start_ny;
+ float start_ny2 = -sa*start_nx + ca*start_ny;
+ // get n=start_n and n2=start_n2
+ nx = start_nx; ny = start_ny; nz = 0;
+ float nx2 = start_nx2, ny2 = start_ny2, nz2 = 0;
+ glBegin (GL_TRIANGLE_STRIP);
+ for (i=0; i<=n; i++) {
+ glNormal3d (ny2,nz2,nx2);
+ glVertex3d (ny2*r,nz2*r,l+nx2*r);
+ glNormal3d (ny,nz,nx);
+ glVertex3d (ny*r,nz*r,l+nx*r);
+ // rotate n,n2
+ tmp = ca*ny - sa*nz;
+ nz = sa*ny + ca*nz;
+ ny = tmp;
+ tmp = ca*ny2- sa*nz2;
+ nz2 = sa*ny2 + ca*nz2;
+ ny2 = tmp;
+ }
+ glEnd();
+ start_nx = start_nx2;
+ start_ny = start_ny2;
+ }
+
+ // draw second cylinder cap
+ start_nx = 0;
+ start_ny = 1;
+ for (j=0; j<(n/4); j++) {
+ // get start_n2 = rotated start_n
+ float start_nx2 = ca*start_nx - sa*start_ny;
+ float start_ny2 = sa*start_nx + ca*start_ny;
+ // get n=start_n and n2=start_n2
+ nx = start_nx; ny = start_ny; nz = 0;
+ float nx2 = start_nx2, ny2 = start_ny2, nz2 = 0;
+ glBegin (GL_TRIANGLE_STRIP);
+ for (i=0; i<=n; i++) {
+ glNormal3d (ny,nz,nx);
+ glVertex3d (ny*r,nz*r,-l+nx*r);
+ glNormal3d (ny2,nz2,nx2);
+ glVertex3d (ny2*r,nz2*r,-l+nx2*r);
+ // rotate n,n2
+ tmp = ca*ny - sa*nz;
+ nz = sa*ny + ca*nz;
+ ny = tmp;
+ tmp = ca*ny2- sa*nz2;
+ nz2 = sa*ny2 + ca*nz2;
+ ny2 = tmp;
+ }
+ glEnd();
+ start_nx = start_nx2;
+ start_ny = start_ny2;
+ }
+}
+
+
+// draw a cylinder of length l and radius r, aligned along the z axis
+
+static void drawCylinder (float l, float r, float zoffset)
+{
+ int i;
+ float tmp,ny,nz,a,ca,sa;
+ const int n = 24; // number of sides to the cylinder (divisible by 4)
+
+ l *= 0.5;
+ a = float(M_PI*2.0)/float(n);
+ sa = (float) sin(a);
+ ca = (float) cos(a);
+
+ // draw cylinder body
+ ny=1; nz=0; // normal vector = (0,ny,nz)
+ glBegin (GL_TRIANGLE_STRIP);
+ for (i=0; i<=n; i++) {
+ glNormal3d (ny,nz,0);
+ glVertex3d (ny*r,nz*r,l+zoffset);
+ glNormal3d (ny,nz,0);
+ glVertex3d (ny*r,nz*r,-l+zoffset);
+ // rotate ny,nz
+ tmp = ca*ny - sa*nz;
+ nz = sa*ny + ca*nz;
+ ny = tmp;
+ }
+ glEnd();
+
+ // draw top cap
+ glShadeModel (GL_FLAT);
+ ny=1; nz=0; // normal vector = (0,ny,nz)
+ glBegin (GL_TRIANGLE_FAN);
+ glNormal3d (0,0,1);
+ glVertex3d (0,0,l+zoffset);
+ for (i=0; i<=n; i++) {
+ if (i==1 || i==n/2+1)
+ setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
+ glNormal3d (0,0,1);
+ glVertex3d (ny*r,nz*r,l+zoffset);
+ if (i==1 || i==n/2+1)
+ setColor (color[0],color[1],color[2],color[3]);
+
+ // rotate ny,nz
+ tmp = ca*ny - sa*nz;
+ nz = sa*ny + ca*nz;
+ ny = tmp;
+ }
+ glEnd();
+
+ // draw bottom cap
+ ny=1; nz=0; // normal vector = (0,ny,nz)
+ glBegin (GL_TRIANGLE_FAN);
+ glNormal3d (0,0,-1);
+ glVertex3d (0,0,-l+zoffset);
+ for (i=0; i<=n; i++) {
+ if (i==1 || i==n/2+1)
+ setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
+ glNormal3d (0,0,-1);
+ glVertex3d (ny*r,nz*r,-l+zoffset);
+ if (i==1 || i==n/2+1)
+ setColor (color[0],color[1],color[2],color[3]);
+
+ // rotate ny,nz
+ tmp = ca*ny + sa*nz;
+ nz = -sa*ny + ca*nz;
+ ny = tmp;
+ }
+ glEnd();
+}
+
+//***************************************************************************
+// motion model
+
+// current camera position and orientation
+static float view_xyz[3]; // position x,y,z
+static float view_hpr[3]; // heading, pitch, roll (degrees)
+
+
+// initialize the above variables
+
+static void initMotionModel()
+{
+ view_xyz[0] = 2;
+ view_xyz[1] = 0;
+ view_xyz[2] = 1;
+ view_hpr[0] = 180;
+ view_hpr[1] = 0;
+ view_hpr[2] = 0;
+}
+
+
+static void wrapCameraAngles()
+{
+ for (int i=0; i<3; i++) {
+ while (view_hpr[i] > 180) view_hpr[i] -= 360;
+ while (view_hpr[i] < -180) view_hpr[i] += 360;
+ }
+}
+
+
+// call this to update the current camera position. the bits in `mode' say
+// if the left (1), middle (2) or right (4) mouse button is pressed, and
+// (deltax,deltay) is the amount by which the mouse pointer has moved.
+
+void dsMotion (int mode, int deltax, int deltay)
+{
+ float side = 0.01f * float(deltax);
+ float fwd = (mode==4) ? (0.01f * float(deltay)) : 0.0f;
+ float s = (float) sin (view_hpr[0]*DEG_TO_RAD);
+ float c = (float) cos (view_hpr[0]*DEG_TO_RAD);
+
+ if (mode==1) {
+ view_hpr[0] += float (deltax) * 0.5f;
+ view_hpr[1] += float (deltay) * 0.5f;
+ }
+ else {
+ view_xyz[0] += -s*side + c*fwd;
+ view_xyz[1] += c*side + s*fwd;
+ if (mode==2 || mode==5) view_xyz[2] += 0.01f * float(deltay);
+ }
+ wrapCameraAngles();
+}
+
+//***************************************************************************
+// drawing loop stuff
+
+// the current state:
+// 0 = uninitialized
+// 1 = dsSimulationLoop() called
+// 2 = dsDrawFrame() called
+static int current_state = 0;
+
+// textures and shadows
+static int use_textures=1; // 1 if textures to be drawn
+static int use_shadows=1; // 1 if shadows to be drawn
+static Texture *sky_texture = 0;
+static Texture *ground_texture = 0;
+static Texture *wood_texture = 0;
+static Texture *checkered_texture = 0;
+
+static Texture *texture[4+1]; // +1 since index 0 is not used
+
+
+
+#if !defined(macintosh) || defined(ODE_PLATFORM_OSX)
+
+void dsStartGraphics (int /*width*/, int /*height*/, dsFunctions *fn)
+{
+
+ const char *prefix = DEFAULT_PATH_TO_TEXTURES;
+ if (fn->version >= 2 && fn->path_to_textures) prefix = fn->path_to_textures;
+ char *s = (char*) alloca (strlen(prefix) + 20);
+
+ strcpy (s,prefix);
+ strcat (s,"/sky.ppm");
+ texture[DS_SKY] = sky_texture = new Texture (s);
+
+ strcpy (s,prefix);
+ strcat (s,"/ground.ppm");
+ texture[DS_GROUND] = ground_texture = new Texture (s);
+
+ strcpy (s,prefix);
+ strcat (s,"/wood.ppm");
+ texture[DS_WOOD] = wood_texture = new Texture (s);
+
+ strcpy (s,prefix);
+ strcat (s,"/checkered.ppm");
+ texture[DS_CHECKERED] = checkered_texture = new Texture (s);
+}
+
+#else // macintosh
+
+void dsStartGraphics (int width, int height, dsFunctions *fn)
+{
+
+ // All examples build into the same dir
+ char *prefix = "::::drawstuff:textures";
+ char *s = (char*) alloca (strlen(prefix) + 20);
+
+ strcpy (s,prefix);
+ strcat (s,":sky.ppm");
+ sky_texture = new Texture (s);
+
+ strcpy (s,prefix);
+ strcat (s,":ground.ppm");
+ ground_texture = new Texture (s);
+
+ strcpy (s,prefix);
+ strcat (s,":wood.ppm");
+ wood_texture = new Texture (s);
+}
+
+#endif
+
+
+void dsStopGraphics()
+{
+ delete sky_texture;
+ delete ground_texture;
+ delete wood_texture;
+ sky_texture = 0;
+ ground_texture = 0;
+ wood_texture = 0;
+}
+
+
+static void drawSky (float view_xyz[3])
+{
+ glDisable (GL_LIGHTING);
+ if (use_textures) {
+ glEnable (GL_TEXTURE_2D);
+ sky_texture->bind (0);
+ }
+ else {
+ glDisable (GL_TEXTURE_2D);
+ glColor3f (0,0.5,1.0);
+ }
+
+ // make sure sky depth is as far back as possible
+ glShadeModel (GL_FLAT);
+ glEnable (GL_DEPTH_TEST);
+ glDepthFunc (GL_LEQUAL);
+ glDepthRange (1,1);
+
+ const float ssize = 1000.0f;
+ static float offset = 0.0f;
+
+ float x = ssize*sky_scale;
+ float z = view_xyz[2] + sky_height;
+
+ glBegin (GL_QUADS);
+ glNormal3f (0,0,-1);
+ glTexCoord2f (-x+offset,-x+offset);
+ glVertex3f (-ssize+view_xyz[0],-ssize+view_xyz[1],z);
+ glTexCoord2f (-x+offset,x+offset);
+ glVertex3f (-ssize+view_xyz[0],ssize+view_xyz[1],z);
+ glTexCoord2f (x+offset,x+offset);
+ glVertex3f (ssize+view_xyz[0],ssize+view_xyz[1],z);
+ glTexCoord2f (x+offset,-x+offset);
+ glVertex3f (ssize+view_xyz[0],-ssize+view_xyz[1],z);
+ glEnd();
+
+ offset = offset + 0.002f;
+ if (offset > 1) offset -= 1;
+
+ glDepthFunc (GL_LESS);
+ glDepthRange (0,1);
+}
+
+
+static void drawGround()
+{
+ glDisable (GL_LIGHTING);
+ glShadeModel (GL_FLAT);
+ glEnable (GL_DEPTH_TEST);
+ glDepthFunc (GL_LESS);
+ // glDepthRange (1,1);
+
+ if (use_textures) {
+ glEnable (GL_TEXTURE_2D);
+ ground_texture->bind (0);
+ }
+ else {
+ glDisable (GL_TEXTURE_2D);
+ glColor3f (GROUND_R,GROUND_G,GROUND_B);
+ }
+
+ // ground fog seems to cause problems with TNT2 under windows
+ /*
+ GLfloat fogColor[4] = {0.5, 0.5, 0.5, 1};
+ glEnable (GL_FOG);
+ glFogi (GL_FOG_MODE, GL_EXP2);
+ glFogfv (GL_FOG_COLOR, fogColor);
+ glFogf (GL_FOG_DENSITY, 0.05f);
+ glHint (GL_FOG_HINT, GL_NICEST); // GL_DONT_CARE);
+ glFogf (GL_FOG_START, 1.0);
+ glFogf (GL_FOG_END, 5.0);
+ */
+
+ const float gsize = 100.0f;
+ const float offset = 0; // -0.001f; ... polygon offsetting doesn't work well
+
+ glBegin (GL_QUADS);
+ glNormal3f (0,0,1);
+ glTexCoord2f (-gsize*ground_scale + ground_ofsx,
+ -gsize*ground_scale + ground_ofsy);
+ glVertex3f (-gsize,-gsize,offset);
+ glTexCoord2f (gsize*ground_scale + ground_ofsx,
+ -gsize*ground_scale + ground_ofsy);
+ glVertex3f (gsize,-gsize,offset);
+ glTexCoord2f (gsize*ground_scale + ground_ofsx,
+ gsize*ground_scale + ground_ofsy);
+ glVertex3f (gsize,gsize,offset);
+ glTexCoord2f (-gsize*ground_scale + ground_ofsx,
+ gsize*ground_scale + ground_ofsy);
+ glVertex3f (-gsize,gsize,offset);
+ glEnd();
+
+ glDisable (GL_FOG);
+}
+
+
+static void drawPyramidGrid()
+{
+ // setup stuff
+ glEnable (GL_LIGHTING);
+ glDisable (GL_TEXTURE_2D);
+ glShadeModel (GL_FLAT);
+ glEnable (GL_DEPTH_TEST);
+ glDepthFunc (GL_LESS);
+
+ // draw the pyramid grid
+ for (int i=-1; i<=1; i++) {
+ for (int j=-1; j<=1; j++) {
+ glPushMatrix();
+ glTranslatef ((float)i,(float)j,(float)0);
+ if (i==1 && j==0) setColor (1,0,0,1);
+ else if (i==0 && j==1) setColor (0,0,1,1);
+ else setColor (1,1,0,1);
+ const float k = 0.03f;
+ glBegin (GL_TRIANGLE_FAN);
+ glNormal3f (0,-1,1);
+ glVertex3f (0,0,k);
+ glVertex3f (-k,-k,0);
+ glVertex3f ( k,-k,0);
+ glNormal3f (1,0,1);
+ glVertex3f ( k, k,0);
+ glNormal3f (0,1,1);
+ glVertex3f (-k, k,0);
+ glNormal3f (-1,0,1);
+ glVertex3f (-k,-k,0);
+ glEnd();
+ glPopMatrix();
+ }
+ }
+}
+
+
+void dsDrawFrame (int width, int height, dsFunctions *fn, int pause)
+{
+ if (current_state < 1) dsDebug ("internal error");
+ current_state = 2;
+
+ // setup stuff
+ glEnable (GL_LIGHTING);
+ glEnable (GL_LIGHT0);
+ glDisable (GL_TEXTURE_2D);
+ glDisable (GL_TEXTURE_GEN_S);
+ glDisable (GL_TEXTURE_GEN_T);
+ glShadeModel (GL_FLAT);
+ glEnable (GL_DEPTH_TEST);
+ glDepthFunc (GL_LESS);
+ glEnable (GL_CULL_FACE);
+ glCullFace (GL_BACK);
+ glFrontFace (GL_CCW);
+
+ // setup viewport
+ glViewport (0,0,width,height);
+ glMatrixMode (GL_PROJECTION);
+ glLoadIdentity();
+ const float vnear = 0.1f;
+ const float vfar = 100.0f;
+ const float k = 0.8f; // view scale, 1 = +/- 45 degrees
+ if (width >= height) {
+ float k2 = float(height)/float(width);
+ glFrustum (-vnear*k,vnear*k,-vnear*k*k2,vnear*k*k2,vnear,vfar);
+ }
+ else {
+ float k2 = float(width)/float(height);
+ glFrustum (-vnear*k*k2,vnear*k*k2,-vnear*k,vnear*k,vnear,vfar);
+ }
+
+ // setup lights. it makes a difference whether this is done in the
+ // GL_PROJECTION matrix mode (lights are scene relative) or the
+ // GL_MODELVIEW matrix mode (lights are camera relative, bad!).
+ static GLfloat light_ambient[] = { 0.5, 0.5, 0.5, 1.0 };
+ static GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
+ static GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 };
+ glLightfv (GL_LIGHT0, GL_AMBIENT, light_ambient);
+ glLightfv (GL_LIGHT0, GL_DIFFUSE, light_diffuse);
+ glLightfv (GL_LIGHT0, GL_SPECULAR, light_specular);
+ glColor3f (1.0, 1.0, 1.0);
+
+ // clear the window
+ glClearColor (0.5,0.5,0.5,0);
+ glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ // snapshot camera position (in MS Windows it is changed by the GUI thread)
+ float view2_xyz[3];
+ float view2_hpr[3];
+ memcpy (view2_xyz,view_xyz,sizeof(float)*3);
+ memcpy (view2_hpr,view_hpr,sizeof(float)*3);
+
+ // go to GL_MODELVIEW matrix mode and set the camera
+ glMatrixMode (GL_MODELVIEW);
+ glLoadIdentity();
+ setCamera (view2_xyz[0],view2_xyz[1],view2_xyz[2],
+ view2_hpr[0],view2_hpr[1],view2_hpr[2]);
+
+ // set the light position (for some reason we have to do this in model view.
+ static GLfloat light_position[] = { LIGHTX, LIGHTY, 1.0, 0.0 };
+ glLightfv (GL_LIGHT0, GL_POSITION, light_position);
+
+ // draw the background (ground, sky etc)
+ drawSky (view2_xyz);
+ drawGround();
+
+ // draw the little markers on the ground
+ drawPyramidGrid();
+
+ // leave openGL in a known state - flat shaded white, no textures
+ glEnable (GL_LIGHTING);
+ glDisable (GL_TEXTURE_2D);
+ glShadeModel (GL_FLAT);
+ glEnable (GL_DEPTH_TEST);
+ glDepthFunc (GL_LESS);
+ glColor3f (1,1,1);
+ setColor (1,1,1,1);
+
+ // draw the rest of the objects. set drawing state first.
+ color[0] = 1;
+ color[1] = 1;
+ color[2] = 1;
+ color[3] = 1;
+ tnum = 0;
+ if (fn->step) fn->step (pause);
+}
+
+
+int dsGetShadows()
+{
+ return use_shadows;
+}
+
+
+void dsSetShadows (int a)
+{
+ use_shadows = (a != 0);
+}
+
+
+int dsGetTextures()
+{
+ return use_textures;
+}
+
+
+void dsSetTextures (int a)
+{
+ use_textures = (a != 0);
+}
+
+//***************************************************************************
+// C interface
+
+// sets lighting and texture modes, sets current color
+static void setupDrawingMode()
+{
+ glEnable (GL_LIGHTING);
+ if (tnum) {
+ if (use_textures) {
+ glEnable (GL_TEXTURE_2D);
+ texture[tnum]->bind (1);
+ glEnable (GL_TEXTURE_GEN_S);
+ glEnable (GL_TEXTURE_GEN_T);
+ glTexGeni (GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+ glTexGeni (GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+ static GLfloat s_params[4] = {1.0f,1.0f,0.0f,1};
+ static GLfloat t_params[4] = {0.817f,-0.817f,0.817f,1};
+ glTexGenfv (GL_S,GL_OBJECT_PLANE,s_params);
+ glTexGenfv (GL_T,GL_OBJECT_PLANE,t_params);
+ }
+ else {
+ glDisable (GL_TEXTURE_2D);
+ }
+ }
+ else {
+ glDisable (GL_TEXTURE_2D);
+ }
+ setColor (color[0],color[1],color[2],color[3]);
+
+ if (color[3] < 1) {
+ glEnable (GL_BLEND);
+ glBlendFunc (GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
+ }
+ else {
+ glDisable (GL_BLEND);
+ }
+}
+
+
+static void setShadowDrawingMode()
+{
+ glDisable (GL_LIGHTING);
+ if (use_textures) {
+ glEnable (GL_TEXTURE_2D);
+ ground_texture->bind (1);
+ glColor3f (SHADOW_INTENSITY,SHADOW_INTENSITY,SHADOW_INTENSITY);
+ glEnable (GL_TEXTURE_2D);
+ glEnable (GL_TEXTURE_GEN_S);
+ glEnable (GL_TEXTURE_GEN_T);
+ glTexGeni (GL_S,GL_TEXTURE_GEN_MODE,GL_EYE_LINEAR);
+ glTexGeni (GL_T,GL_TEXTURE_GEN_MODE,GL_EYE_LINEAR);
+ static GLfloat s_params[4] = {ground_scale,0,0,ground_ofsx};
+ static GLfloat t_params[4] = {0,ground_scale,0,ground_ofsy};
+ glTexGenfv (GL_S,GL_EYE_PLANE,s_params);
+ glTexGenfv (GL_T,GL_EYE_PLANE,t_params);
+ }
+ else {
+ glDisable (GL_TEXTURE_2D);
+ glColor3f (GROUND_R*SHADOW_INTENSITY,GROUND_G*SHADOW_INTENSITY,
+ GROUND_B*SHADOW_INTENSITY);
+ }
+ glDepthRange (0,0.9999);
+}
+
+
+extern "C" void dsSimulationLoop (int argc, char **argv,
+ int window_width, int window_height,
+ dsFunctions *fn)
+{
+ if (current_state != 0) dsError ("dsSimulationLoop() called more than once");
+ current_state = 1;
+
+ // look for flags that apply to us
+ int initial_pause = 0;
+ for (int i=1; i<argc; i++) {
+ if (strcmp(argv[i],"-notex")==0) use_textures = 0;
+ if (strcmp(argv[i],"-noshadow")==0) use_shadows = 0;
+ if (strcmp(argv[i],"-noshadows")==0) use_shadows = 0;
+ if (strcmp(argv[i],"-pause")==0) initial_pause = 1;
+ if (strcmp(argv[i],"-texturepath")==0)
+ if (++i < argc)
+ fn->path_to_textures = argv[i];
+ }
+
+ if (fn->version > DS_VERSION)
+ dsDebug ("bad version number in dsFunctions structure");
+
+ initMotionModel();
+ dsPlatformSimLoop (window_width,window_height,fn,initial_pause);
+
+ current_state = 0;
+}
+
+
+extern "C" void dsSetViewpoint (float xyz[3], float hpr[3])
+{
+ if (current_state < 1) dsError ("dsSetViewpoint() called before simulation started");
+ if (xyz) {
+ view_xyz[0] = xyz[0];
+ view_xyz[1] = xyz[1];
+ view_xyz[2] = xyz[2];
+ }
+ if (hpr) {
+ view_hpr[0] = hpr[0];
+ view_hpr[1] = hpr[1];
+ view_hpr[2] = hpr[2];
+ wrapCameraAngles();
+ }
+}
+
+
+extern "C" void dsGetViewpoint (float xyz[3], float hpr[3])
+{
+ if (current_state < 1) dsError ("dsGetViewpoint() called before simulation started");
+ if (xyz) {
+ xyz[0] = view_xyz[0];
+ xyz[1] = view_xyz[1];
+ xyz[2] = view_xyz[2];
+ }
+ if (hpr) {
+ hpr[0] = view_hpr[0];
+ hpr[1] = view_hpr[1];
+ hpr[2] = view_hpr[2];
+ }
+}
+
+
+extern "C" void dsSetTexture (int texture_number)
+{
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ tnum = texture_number;
+}
+
+
+extern "C" void dsSetColor (float red, float green, float blue)
+{
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ color[0] = red;
+ color[1] = green;
+ color[2] = blue;
+ color[3] = 1;
+}
+
+
+extern "C" void dsSetColorAlpha (float red, float green, float blue,
+ float alpha)
+{
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ color[0] = red;
+ color[1] = green;
+ color[2] = blue;
+ color[3] = alpha;
+}
+
+
+extern "C" void dsDrawBox (const float pos[3], const float R[12],
+ const float sides[3])
+{
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ setupDrawingMode();
+ glShadeModel (GL_FLAT);
+ setTransform (pos,R);
+ drawBox (sides);
+ glPopMatrix();
+
+ if (use_shadows) {
+ setShadowDrawingMode();
+ setShadowTransform();
+ setTransform (pos,R);
+ drawBox (sides);
+ glPopMatrix();
+ glPopMatrix();
+ glDepthRange (0,1);
+ }
+}
+
+extern "C" void dsDrawConvex (const float pos[3], const float R[12],
+ const float *_planes,unsigned int _planecount,
+ const float *_points, unsigned int _pointcount,
+ const unsigned int *_polygons)
+{
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ setupDrawingMode();
+ glShadeModel (GL_FLAT);
+ setTransform (pos,R);
+ drawConvex(_planes,_planecount,_points,_pointcount,_polygons);
+ glPopMatrix();
+ if (use_shadows) {
+ setShadowDrawingMode();
+ setShadowTransform();
+ setTransform (pos,R);
+ drawConvex(_planes,_planecount,_points,_pointcount,_polygons);
+ glPopMatrix();
+ glPopMatrix();
+ glDepthRange (0,1);
+ }
+}
+
+
+extern "C" void dsDrawSphere (const float pos[3], const float R[12],
+ float radius)
+{
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ setupDrawingMode();
+ glEnable (GL_NORMALIZE);
+ glShadeModel (GL_SMOOTH);
+ setTransform (pos,R);
+ glScaled (radius,radius,radius);
+ drawSphere();
+ glPopMatrix();
+ glDisable (GL_NORMALIZE);
+
+ // draw shadows
+ if (use_shadows) {
+ glDisable (GL_LIGHTING);
+ if (use_textures) {
+ ground_texture->bind (1);
+ glEnable (GL_TEXTURE_2D);
+ glDisable (GL_TEXTURE_GEN_S);
+ glDisable (GL_TEXTURE_GEN_T);
+ glColor3f (SHADOW_INTENSITY,SHADOW_INTENSITY,SHADOW_INTENSITY);
+ }
+ else {
+ glDisable (GL_TEXTURE_2D);
+ glColor3f (GROUND_R*SHADOW_INTENSITY,GROUND_G*SHADOW_INTENSITY,
+ GROUND_B*SHADOW_INTENSITY);
+ }
+ glShadeModel (GL_FLAT);
+ glDepthRange (0,0.9999);
+ drawSphereShadow (pos[0],pos[1],pos[2],radius);
+ glDepthRange (0,1);
+ }
+}
+
+
+extern "C" void dsDrawTriangle (const float pos[3], const float R[12],
+ const float *v0, const float *v1,
+ const float *v2, int solid)
+{
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ setupDrawingMode();
+ glShadeModel (GL_FLAT);
+ setTransform (pos,R);
+ drawTriangle (v0, v1, v2, solid);
+ glPopMatrix();
+}
+
+
+extern "C" void dsDrawTriangles (const float pos[3], const float R[12],
+ const float *v, int n, int solid)
+{
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ setupDrawingMode();
+ glShadeModel (GL_FLAT);
+ setTransform (pos,R);
+ int i;
+ for (i = 0; i < n; ++i, v += 9)
+ drawTriangle (v, v + 3, v + 6, solid);
+ glPopMatrix();
+}
+
+
+extern "C" void dsDrawCylinder (const float pos[3], const float R[12],
+ float length, float radius)
+{
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ setupDrawingMode();
+ glShadeModel (GL_SMOOTH);
+ setTransform (pos,R);
+ drawCylinder (length,radius,0);
+ glPopMatrix();
+
+ if (use_shadows) {
+ setShadowDrawingMode();
+ setShadowTransform();
+ setTransform (pos,R);
+ drawCylinder (length,radius,0);
+ glPopMatrix();
+ glPopMatrix();
+ glDepthRange (0,1);
+ }
+}
+
+
+extern "C" void dsDrawCapsule (const float pos[3], const float R[12],
+ float length, float radius)
+{
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ setupDrawingMode();
+ glShadeModel (GL_SMOOTH);
+ setTransform (pos,R);
+ drawCapsule (length,radius);
+ glPopMatrix();
+
+ if (use_shadows) {
+ setShadowDrawingMode();
+ setShadowTransform();
+ setTransform (pos,R);
+ drawCapsule (length,radius);
+ glPopMatrix();
+ glPopMatrix();
+ glDepthRange (0,1);
+ }
+}
+
+
+static void drawLine(const float pos1[3], const float pos2[3])
+{
+ glDisable (GL_LIGHTING);
+ glLineWidth (2);
+ glShadeModel (GL_FLAT);
+ glBegin (GL_LINES);
+ glVertex3f (pos1[0],pos1[1],pos1[2]);
+ glVertex3f (pos2[0],pos2[1],pos2[2]);
+ glEnd();
+}
+
+
+extern "C" void dsDrawLine (const float pos1[3], const float pos2[3])
+{
+ setupDrawingMode();
+ glColor4f(color[0], color[1], color[2], color[3]);
+ drawLine(pos1, pos2);
+
+ if (use_shadows) {
+ setShadowDrawingMode();
+ setShadowTransform();
+
+ drawLine(pos1, pos2);
+
+ glPopMatrix();
+ glDepthRange (0,1);
+ }
+}
+
+
+extern "C" void dsDrawBoxD (const double pos[3], const double R[12],
+ const double sides[3])
+{
+ int i;
+ float pos2[3],R2[12],fsides[3];
+ for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+ for (i=0; i<12; i++) R2[i]=(float)R[i];
+ for (i=0; i<3; i++) fsides[i]=(float)sides[i];
+ dsDrawBox (pos2,R2,fsides);
+}
+
+extern "C" void dsDrawConvexD (const double pos[3], const double R[12],
+ const double *_planes, unsigned int _planecount,
+ const double *_points, unsigned int _pointcount,
+ const unsigned int *_polygons)
+{
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ setupDrawingMode();
+ glShadeModel (GL_FLAT);
+ setTransformD (pos,R);
+ drawConvexD(_planes,_planecount,_points,_pointcount,_polygons);
+ glPopMatrix();
+ if (use_shadows) {
+ setShadowDrawingMode();
+ setShadowTransform();
+ setTransformD (pos,R);
+ drawConvexD(_planes,_planecount,_points,_pointcount,_polygons);
+ glPopMatrix();
+ glPopMatrix();
+ glDepthRange (0,1);
+ }
+}
+
+void dsDrawSphereD (const double pos[3], const double R[12], float radius)
+{
+ int i;
+ float pos2[3],R2[12];
+ for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+ for (i=0; i<12; i++) R2[i]=(float)R[i];
+ dsDrawSphere (pos2,R2,radius);
+}
+
+
+void dsDrawTriangleD (const double pos[3], const double R[12],
+ const double *v0, const double *v1,
+ const double *v2, int solid)
+{
+ int i;
+ float pos2[3],R2[12];
+ for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+ for (i=0; i<12; i++) R2[i]=(float)R[i];
+
+ setupDrawingMode();
+ glShadeModel (GL_FLAT);
+ setTransform (pos2,R2);
+ drawTriangleD (v0, v1, v2, solid);
+ glPopMatrix();
+}
+
+
+extern "C" void dsDrawTrianglesD (const double pos[3], const double R[12],
+ const double *v, int n, int solid)
+{
+ int i;
+ float pos2[3],R2[12];
+ for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+ for (i=0; i<12; i++) R2[i]=(float)R[i];
+
+ if (current_state != 2) dsError ("drawing function called outside simulation loop");
+ setupDrawingMode();
+ glShadeModel (GL_FLAT);
+ setTransform (pos2,R2);
+ for (i = 0; i < n; ++i, v += 9)
+ drawTriangleD (v, v + 3, v + 6, solid);
+ glPopMatrix();
+}
+
+
+void dsDrawCylinderD (const double pos[3], const double R[12],
+ float length, float radius)
+{
+ int i;
+ float pos2[3],R2[12];
+ for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+ for (i=0; i<12; i++) R2[i]=(float)R[i];
+ dsDrawCylinder (pos2,R2,length,radius);
+}
+
+
+void dsDrawCapsuleD (const double pos[3], const double R[12],
+ float length, float radius)
+{
+ int i;
+ float pos2[3],R2[12];
+ for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+ for (i=0; i<12; i++) R2[i]=(float)R[i];
+ dsDrawCapsule (pos2,R2,length,radius);
+}
+
+
+void dsDrawLineD (const double _pos1[3], const double _pos2[3])
+{
+ int i;
+ float pos1[3],pos2[3];
+ for (i=0; i<3; i++) pos1[i]=(float)_pos1[i];
+ for (i=0; i<3; i++) pos2[i]=(float)_pos2[i];
+ dsDrawLine (pos1,pos2);
+}
+
+
+void dsSetSphereQuality (int n)
+{
+ sphere_quality = n;
+}
+
+
+void dsSetCapsuleQuality (int n)
+{
+ capped_cylinder_quality = n;
+}
+
+void dsSetDrawMode(int mode)
+{
+ switch(mode)
+ {
+ case DS_POLYFILL:
+ glPolygonMode(GL_FRONT,GL_FILL);
+ break;
+ case DS_WIREFRAME:
+ glPolygonMode(GL_FRONT,GL_LINE);
+ break;
+ }
+}
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