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diff --git a/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp b/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp
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+++ b/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp
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+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+// TriMesh test by Erwin de Vries
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
+#endif
+
+//<---- Convex Object
+static const dReal planes[] = // planes for a cube
+{
+ 1.0f ,0.0f ,0.0f ,0.25f,
+ 0.0f ,1.0f ,0.0f ,0.25f,
+ 0.0f ,0.0f ,1.0f ,0.25f,
+ 0.0f ,0.0f ,-1.0f,0.25f,
+ 0.0f ,-1.0f,0.0f ,0.25f,
+ -1.0f,0.0f ,0.0f ,0.25f
+ /*
+ 1.0f ,0.0f ,0.0f ,2.0f,
+ 0.0f ,1.0f ,0.0f ,1.0f,
+ 0.0f ,0.0f ,1.0f ,1.0f,
+ 0.0f ,0.0f ,-1.0f,1.0f,
+ 0.0f ,-1.0f,0.0f ,1.0f,
+ -1.0f,0.0f ,0.0f ,0.0f
+ */
+};
+static const unsigned int planecount=6;
+
+static const dReal points[] = // points for a cube
+{
+ 0.25f,0.25f,0.25f,
+ -0.25f,0.25f,0.25f,
+
+ 0.25f,-0.25f,0.25f,
+ -0.25f,-0.25f,0.25f,
+
+ 0.25f,0.25f,-0.25f,
+ -0.25f,0.25f,-0.25f,
+
+ 0.25f,-0.25f,-0.25f,
+ -0.25f,-0.25f,-0.25f,
+};
+static const unsigned int pointcount=8;
+
+static const unsigned int polygons[] = //Polygons for a cube (6 squares)
+ {
+ 4,0,2,6,4, // positive X
+ 4,1,0,4,5, // positive Y
+ 4,0,1,3,2, // positive Z
+ 4,3,1,5,7, // negative X
+ 4,2,3,7,6, // negative Y
+ 4,5,4,6,7, // negative Z
+ };
+//----> Convex Object
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawLine dsDrawLineD
+#define dsDrawTriangle dsDrawTriangleD
+#define dsDrawConvex dsDrawConvexD
+#endif
+
+
+// some constants
+
+#define NUM 200 // max number of objects
+#define DENSITY (5.0) // density of all objects
+#define GPB 3 // maximum number of geometries per body
+#define MAX_CONTACTS 40 // maximum number of contact points per body
+
+
+// dynamics and collision objects
+
+struct MyObject {
+ dBodyID body; // the body
+ dGeomID geom[GPB]; // geometries representing this body
+};
+
+static int num=0; // number of objects in simulation
+static int nextobj=0; // next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int selected = -1; // selected object
+static int show_aabb = 0; // show geom AABBs?
+static int show_contacts = 0; // show contact points?
+static int random_pos = 1; // drop objects from random position?
+
+#define VertexCount 5
+#define IndexCount 12
+
+static dVector3 Size;
+static float Vertices[VertexCount][3];
+static dTriIndex Indices[IndexCount];
+
+static dGeomID TriMesh;
+static dGeomID Ray;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+ int i;
+ // if (o1->body && o2->body) return;
+
+ // exit without doing anything if the two bodies are connected by a joint
+ dBodyID b1 = dGeomGetBody(o1);
+ dBodyID b2 = dGeomGetBody(o2);
+ if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
+
+ dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box
+ for (i=0; i<MAX_CONTACTS; i++) {
+ contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+ contact[i].surface.mu = dInfinity;
+ contact[i].surface.mu2 = 0;
+ contact[i].surface.bounce = 0.1;
+ contact[i].surface.bounce_vel = 0.1;
+ contact[i].surface.soft_cfm = 0.01;
+ }
+ if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
+ sizeof(dContact))) {
+ dMatrix3 RI;
+ dRSetIdentity (RI);
+ const dReal ss[3] = {0.02,0.02,0.02};
+ for (i=0; i<numc; i++) {
+ if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){
+ dMatrix3 Rotation;
+ dRSetIdentity(Rotation);
+ dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01));
+
+ dVector3 End;
+ End[0] = contact[i].geom.pos[0] + (contact[i].geom.normal[0] * contact[i].geom.depth);
+ End[1] = contact[i].geom.pos[1] + (contact[i].geom.normal[1] * contact[i].geom.depth);
+ End[2] = contact[i].geom.pos[2] + (contact[i].geom.normal[2] * contact[i].geom.depth);
+ End[3] = contact[i].geom.pos[3] + (contact[i].geom.normal[3] * contact[i].geom.depth);
+
+ dsDrawLine(contact[i].geom.pos, End);
+ continue;
+ }
+
+ dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+ dJointAttach (c,b1,b2);
+ if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
+ }
+ }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+ dAllocateODEDataForThread(dAllocateMaskAll);
+
+ static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+ static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+ dsSetViewpoint (xyz,hpr);
+ printf ("To drop another object, press:\n");
+ printf (" b for box.\n");
+ printf (" s for sphere.\n");
+ printf (" c for cylinder.\n");
+ printf( " v for a convex.\n" );
+ printf (" x for a composite object.\n");
+ printf ("To select an object, press space.\n");
+ printf ("To disable the selected object, press d.\n");
+ printf ("To enable the selected object, press e.\n");
+ printf ("To toggle showing the geom AABBs, press a.\n");
+ printf ("To toggle showing the contact points, press t.\n");
+ printf ("To toggle dropping from random position/orientation, press r.\n");
+}
+
+
+char locase (char c)
+{
+ if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+ else return c;
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+ int i,j,k;
+ dReal sides[3];
+ dMass m;
+ bool setBody = false;
+
+ cmd = locase (cmd);
+ if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'v'
+ /* || cmd == 'l' */) {
+ if (num < NUM) {
+ i = num;
+ num++;
+ }
+ else {
+ i = nextobj;
+ nextobj++;
+ if (nextobj >= num) nextobj = 0;
+
+ // destroy the body and geoms for slot i
+ dBodyDestroy (obj[i].body);
+ for (k=0; k < GPB; k++) {
+ if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
+ }
+ memset (&obj[i],0,sizeof(obj[i]));
+ }
+
+ obj[i].body = dBodyCreate (world);
+ for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
+
+ dMatrix3 R;
+ if (random_pos) {
+ dBodySetPosition (obj[i].body,
+ dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1);
+ dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+ dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+ }
+ else {
+ dReal maxheight = 0;
+ for (k=0; k<num; k++) {
+ const dReal *pos = dBodyGetPosition (obj[k].body);
+ if (pos[2] > maxheight) maxheight = pos[2];
+ }
+ dBodySetPosition (obj[i].body, 0,0,maxheight+1);
+ dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
+ }
+ dBodySetRotation (obj[i].body,R);
+ dBodySetData (obj[i].body,(void*)(dsizeint)i);
+
+ if (cmd == 'b') {
+ dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
+ obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
+ }
+ else if (cmd == 'c') {
+ sides[0] *= 0.5;
+ dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
+ obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
+ }
+/*
+ // cylinder option not yet implemented
+ else if (cmd == 'l') {
+ sides[1] *= 0.5;
+ dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
+ obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
+ }
+*/
+ else if (cmd == 's') {
+ sides[0] *= 0.5;
+ dMassSetSphere (&m,DENSITY,sides[0]);
+ obj[i].geom[0] = dCreateSphere (space,sides[0]);
+ }
+ else if (cmd == 'x') {
+
+ setBody = true;
+ // start accumulating masses for the composite geometries
+ dMass m2;
+ dMassSetZero (&m);
+
+ dReal dpos[GPB][3]; // delta-positions for composite geometries
+ dMatrix3 drot[GPB];
+
+ // set random delta positions
+ for (j=0; j<GPB; j++)
+ for (k=0; k<3; k++)
+ dpos[j][k] = dRandReal()*0.3-0.15;
+
+ for (k=0; k<GPB; k++) {
+ if (k==0) {
+ dReal radius = dRandReal()*0.25+0.05;
+ obj[i].geom[k] = dCreateSphere (space,radius);
+ dMassSetSphere (&m2,DENSITY,radius);
+ } else if (k==1) {
+ obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
+ dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
+ } else {
+ dReal radius = dRandReal()*0.1+0.05;
+ dReal length = dRandReal()*1.0+0.1;
+ obj[i].geom[k] = dCreateCapsule(space,radius,length);
+ dMassSetCapsule(&m2,DENSITY,3,radius,length);
+ }
+
+ dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+ dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+ dMassRotate(&m2,drot[k]);
+
+ dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+ // add to the total mass
+ dMassAdd(&m,&m2);
+
+ }
+ for (k=0; k<GPB; k++) {
+ dGeomSetBody(obj[i].geom[k],obj[i].body);
+ dGeomSetOffsetPosition(obj[i].geom[k],
+ dpos[k][0]-m.c[0],
+ dpos[k][1]-m.c[1],
+ dpos[k][2]-m.c[2]);
+ dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
+ }
+ dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
+ dBodySetMass(obj[i].body,&m);
+
+ } else if (cmd == 'v') {
+
+ dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
+
+ obj[i].geom[0] = dCreateConvex(space,
+ planes,
+ planecount,
+ points,
+ pointcount,
+ polygons);
+ }
+
+ if (!setBody) { // avoid calling for composite geometries
+ for (k=0; k < GPB; k++)
+ if (obj[i].geom[k])
+ dGeomSetBody(obj[i].geom[k],obj[i].body);
+
+ dBodySetMass(obj[i].body,&m);
+ }
+ }
+
+ if (cmd == ' ') {
+ selected++;
+ if (selected >= num) selected = 0;
+ if (selected < 0) selected = 0;
+ }
+ else if (cmd == 'd' && selected >= 0 && selected < num) {
+ dBodyDisable (obj[selected].body);
+ }
+ else if (cmd == 'e' && selected >= 0 && selected < num) {
+ dBodyEnable (obj[selected].body);
+ }
+ else if (cmd == 'a') {
+ show_aabb ^= 1;
+ }
+ else if (cmd == 't') {
+ show_contacts ^= 1;
+ }
+ else if (cmd == 'r') {
+ random_pos ^= 1;
+ }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+ 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 == dCapsuleClass) {
+ dReal radius,length;
+ dGeomCapsuleGetParams (g,&radius,&length);
+ dsDrawCapsule (pos,R,length,radius);
+ } else if (type == dConvexClass) {
+ //dVector3 sides={0.50,0.50,0.50};
+ dsDrawConvex(pos,R,planes,
+ planecount,
+ points,
+ pointcount,
+ polygons);
+ }
+/*
+ // cylinder option not yet implemented
+ else if (type == dCylinderClass) {
+ dReal radius,length;
+ dGeomCylinderGetParams (g,&radius,&length);
+ dsDrawCylinder (pos,R,length,radius);
+ }
+*/
+
+ 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);
+ }
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+ dsSetColor (0,0,2);
+ dSpaceCollide (space,0,&nearCallback);
+ if (!pause) dWorldStep (world,0.05);
+ //if (!pause) dWorldStepFast (world,0.05, 1);
+
+ // remove all contact joints
+ dJointGroupEmpty (contactgroup);
+
+ dsSetColor (1,1,0);
+ dsSetTexture (DS_WOOD);
+ for (int i=0; i<num; i++) {
+ for (int j=0; j < GPB; j++) {
+ if (i==selected) {
+ dsSetColor (0,0.7,1);
+ }
+ else if (! dBodyIsEnabled (obj[i].body)) {
+ dsSetColor (1,0,0);
+ }
+ else {
+ dsSetColor (1,1,0);
+ }
+ drawGeom (obj[i].geom[j],0,0,show_aabb);
+ }
+ }
+
+ /*{
+ for (int i = 1; i < IndexCount; i++) {
+ dsDrawLine(Vertices[Indices[i - 1]], Vertices[Indices[i]]);
+ }
+ }*/
+
+ {const dReal* Pos = dGeomGetPosition(TriMesh);
+ const dReal* Rot = dGeomGetRotation(TriMesh);
+
+ {for (int i = 0; i < IndexCount / 3; i++){
+ const float *p = Vertices[Indices[i * 3 + 0]];
+ const dVector3 v0 = { p[0], p[1], p[2] };
+ p = Vertices[Indices[i * 3 + 1]];
+ const dVector3 v1 = { p[0], p[1], p[2] };
+ p = Vertices[Indices[i * 3 + 2]];
+ const dVector3 v2 = { p[0], p[1], p[2] };
+ dsDrawTriangle(Pos, Rot, v0, v1, v2, 0);
+ }}}
+
+ if (Ray){
+ dVector3 Origin, Direction;
+ dGeomRayGet(Ray, Origin, Direction);
+
+ dReal Length = dGeomRayGetLength(Ray);
+
+ dVector3 End;
+ End[0] = Origin[0] + (Direction[0] * Length);
+ End[1] = Origin[1] + (Direction[1] * Length);
+ End[2] = Origin[2] + (Direction[2] * Length);
+ End[3] = Origin[3] + (Direction[3] * Length);
+
+ dsDrawLine(Origin, End);
+ }
+}
+
+
+int main (int argc, char **argv)
+{
+ // 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_TEXTURE_PATH;
+
+ // create world
+ dInitODE2(0);
+ world = dWorldCreate();
+
+ space = dSimpleSpaceCreate(0);
+ contactgroup = dJointGroupCreate (0);
+ dWorldSetGravity (world,0,0,-0.5);
+ dWorldSetCFM (world,1e-5);
+ //dCreatePlane (space,0,0,1,0);
+ memset (obj,0,sizeof(obj));
+
+ Size[0] = 5.0f;
+ Size[1] = 5.0f;
+ Size[2] = 2.5f;
+
+ Vertices[0][0] = -Size[0];
+ Vertices[0][1] = -Size[1];
+ Vertices[0][2] = Size[2];
+
+ Vertices[1][0] = Size[0];
+ Vertices[1][1] = -Size[1];
+ Vertices[1][2] = Size[2];
+
+ Vertices[2][0] = Size[0];
+ Vertices[2][1] = Size[1];
+ Vertices[2][2] = Size[2];
+
+ Vertices[3][0] = -Size[0];
+ Vertices[3][1] = Size[1];
+ Vertices[3][2] = Size[2];
+
+ Vertices[4][0] = 0;
+ Vertices[4][1] = 0;
+ Vertices[4][2] = 0;
+
+ Indices[0] = 0;
+ Indices[1] = 1;
+ Indices[2] = 4;
+
+ Indices[3] = 1;
+ Indices[4] = 2;
+ Indices[5] = 4;
+
+ Indices[6] = 2;
+ Indices[7] = 3;
+ Indices[8] = 4;
+
+ Indices[9] = 3;
+ Indices[10] = 0;
+ Indices[11] = 4;
+
+ dTriMeshDataID Data = dGeomTriMeshDataCreate();
+
+ //dGeomTriMeshDataBuildSimple(Data, (dReal*)Vertices, VertexCount, Indices, IndexCount);
+ dGeomTriMeshDataBuildSingle(Data, Vertices[0], 3 * sizeof(float), VertexCount, &Indices[0], IndexCount, 3 * sizeof(dTriIndex));
+ dGeomTriMeshDataPreprocess2(Data, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL);
+
+ TriMesh = dCreateTriMesh(space, Data, 0, 0, 0);
+
+ //dGeomSetPosition(TriMesh, 0, 0, 1.0);
+
+ Ray = dCreateRay(space, 0.9);
+ dVector3 Origin, Direction;
+ Origin[0] = 0.0;
+ Origin[1] = 0;
+ Origin[2] = 0.5;
+ Origin[3] = 0;
+
+ Direction[0] = 0;
+ Direction[1] = 1.1f;
+ Direction[2] = -1;
+ Direction[3] = 0;
+ dNormalize3(Direction);
+
+ dGeomRaySet(Ray, Origin[0], Origin[1], Origin[2], Direction[0], Direction[1], Direction[2]);
+
+ dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+ dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+ dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+ // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+ dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
+ // run simulation
+ dsSimulationLoop (argc,argv,352,288,&fn);
+
+ dThreadingImplementationShutdownProcessing(threading);
+ dThreadingFreeThreadPool(pool);
+ dWorldSetStepThreadingImplementation(world, NULL, NULL);
+ dThreadingFreeImplementation(threading);
+
+ dJointGroupDestroy (contactgroup);
+ dSpaceDestroy (space);
+ dWorldDestroy (world);
+ dCloseODE();
+ return 0;
+}