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#include "common.h"
#include <ccd/vec3.h>
#include <ccd/quat.h>
#include "support.h"
static void svtCyl(ccd_cyl_t *c, FILE *out, const char *color, const char *name)
{
ccd_vec3_t v[32];
ccd_quat_t rot;
ccd_vec3_t axis, vpos, vpos2;
ccd_real_t angle, x, y;
unsigned int i;
ccdVec3Set(&axis, 0., 0., 1.);
ccdVec3Set(&vpos, 0., c->radius, 0.);
angle = 0.;
for (i = 0; i < 16; i++){
angle = (ccd_real_t)i * (2. * M_PI / 16.);
ccdQuatSetAngleAxis(&rot, angle, &axis);
ccdVec3Copy(&vpos2, &vpos);
ccdQuatRotVec(&vpos2, &rot);
x = ccdVec3X(&vpos2);
y = ccdVec3Y(&vpos2);
ccdVec3Set(&v[i], x, y, c->height / 2.);
ccdVec3Set(&v[i + 16], x, y, -c->height / 2.);
}
for (i = 0; i < 32; i++){
ccdQuatRotVec(&v[i], &c->quat);
ccdVec3Add(&v[i], &c->pos);
}
fprintf(out, "-----\n");
if (name)
fprintf(out, "Name: %s\n", name);
fprintf(out, "Face color: %s\n", color);
fprintf(out, "Edge color: %s\n", color);
fprintf(out, "Point color: %s\n", color);
fprintf(out, "Points:\n");
for (i = 0; i < 32; i++){
fprintf(out, "%lf %lf %lf\n", ccdVec3X(&v[i]), ccdVec3Y(&v[i]), ccdVec3Z(&v[i]));
}
fprintf(out, "Edges:\n");
fprintf(out, "0 16\n");
fprintf(out, "0 31\n");
for (i = 1; i < 16; i++){
fprintf(out, "0 %d\n", i);
fprintf(out, "16 %d\n", i + 16);
if (i != 0){
fprintf(out, "%d %d\n", i - 1, i);
fprintf(out, "%d %d\n", i + 16 - 1, i + 16);
}
fprintf(out, "%d %d\n", i, i + 16);
fprintf(out, "%d %d\n", i, i + 16 - 1);
}
fprintf(out, "Faces:\n");
for (i = 2; i < 16; i++){
fprintf(out, "0 %d %d\n", i, i -1);
fprintf(out, "16 %d %d\n", i + 16, i + 16 -1);
}
fprintf(out, "0 16 31\n");
fprintf(out, "0 31 15\n");
for (i = 1; i < 16; i++){
fprintf(out, "%d %d %d\n", i, i + 16, i + 16 - 1);
fprintf(out, "%d %d %d\n", i, i + 16 - 1, i - 1);
}
fprintf(out, "-----\n");
}
static void svtBox(ccd_box_t *b, FILE *out, const char *color, const char *name)
{
ccd_vec3_t v[8];
size_t i;
ccdVec3Set(&v[0], b->x * 0.5, b->y * 0.5, b->z * 0.5);
ccdVec3Set(&v[1], b->x * 0.5, b->y * -0.5, b->z * 0.5);
ccdVec3Set(&v[2], b->x * 0.5, b->y * 0.5, b->z * -0.5);
ccdVec3Set(&v[3], b->x * 0.5, b->y * -0.5, b->z * -0.5);
ccdVec3Set(&v[4], b->x * -0.5, b->y * 0.5, b->z * 0.5);
ccdVec3Set(&v[5], b->x * -0.5, b->y * -0.5, b->z * 0.5);
ccdVec3Set(&v[6], b->x * -0.5, b->y * 0.5, b->z * -0.5);
ccdVec3Set(&v[7], b->x * -0.5, b->y * -0.5, b->z * -0.5);
for (i = 0; i < 8; i++){
ccdQuatRotVec(&v[i], &b->quat);
ccdVec3Add(&v[i], &b->pos);
}
fprintf(out, "-----\n");
if (name)
fprintf(out, "Name: %s\n", name);
fprintf(out, "Face color: %s\n", color);
fprintf(out, "Edge color: %s\n", color);
fprintf(out, "Point color: %s\n", color);
fprintf(out, "Points:\n");
for (i = 0; i < 8; i++){
fprintf(out, "%lf %lf %lf\n", ccdVec3X(&v[i]), ccdVec3Y(&v[i]), ccdVec3Z(&v[i]));
}
fprintf(out, "Edges:\n");
fprintf(out, "0 1\n 0 2\n2 3\n3 1\n1 2\n6 2\n1 7\n1 5\n");
fprintf(out, "5 0\n0 4\n4 2\n6 4\n6 5\n5 7\n6 7\n7 2\n7 3\n4 5\n");
fprintf(out, "Faces:\n");
fprintf(out, "0 2 1\n1 2 3\n6 2 4\n4 2 0\n4 0 5\n5 0 1\n");
fprintf(out, "5 1 7\n7 1 3\n6 4 5\n6 5 7\n2 6 7\n2 7 3\n");
fprintf(out, "-----\n");
}
void svtObj(void *_o, FILE *out, const char *color, const char *name)
{
ccd_obj_t *o = (ccd_obj_t *)_o;
if (o->type == CCD_OBJ_CYL){
svtCyl((ccd_cyl_t *)o, out, color, name);
}else if (o->type == CCD_OBJ_BOX){
svtBox((ccd_box_t *)o, out, color, name);
}
}
void svtObjPen(void *o1, void *o2,
FILE *out, const char *name,
ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos)
{
ccd_vec3_t sep;
char oname[500];
ccdVec3Copy(&sep, dir);
ccdVec3Scale(&sep, depth);
ccdVec3Add(&sep, pos);
fprintf(out, "------\n");
if (name)
fprintf(out, "Name: %s\n", name);
fprintf(out, "Point color: 0.1 0.1 0.9\n");
fprintf(out, "Points:\n%lf %lf %lf\n", ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos));
fprintf(out, "------\n");
fprintf(out, "Point color: 0.1 0.9 0.9\n");
fprintf(out, "Edge color: 0.1 0.9 0.9\n");
fprintf(out, "Points:\n%lf %lf %lf\n", ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos));
fprintf(out, "%lf %lf %lf\n", ccdVec3X(&sep), ccdVec3Y(&sep), ccdVec3Z(&sep));
fprintf(out, "Edges: 0 1\n");
oname[0] = 0x0;
if (name)
sprintf(oname, "%s o1", name);
svtObj(o1, out, "0.9 0.1 0.1", oname);
oname[0] = 0x0;
if (name)
sprintf(oname, "%s o1", name);
svtObj(o2, out, "0.1 0.9 0.1", oname);
}
void recPen(ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos,
FILE *out, const char *note)
{
if (!note)
note = "";
fprintf(out, "# %s: depth: %lf\n", note, depth);
fprintf(out, "# %s: dir: [%lf %lf %lf]\n", note, ccdVec3X(dir), ccdVec3Y(dir), ccdVec3Z(dir));
fprintf(out, "# %s: pos: [%lf %lf %lf]\n", note, ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos));
fprintf(out, "#\n");
}
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