/*************************************************************************
* *
* 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. *
* *
*************************************************************************/
#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
#ifdef _MSC_VER
#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
#endif
// select correct drawing functions
#ifdef dDOUBLE
#define dsDrawBox dsDrawBoxD
#define dsDrawSphere dsDrawSphereD
#define dsDrawCylinder dsDrawCylinderD
#define dsDrawCappedCylinder dsDrawCappedCylinderD
#define dsDrawLine dsDrawLineD
#define dsDrawTriangle dsDrawTriangleD
#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 64 // 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?
// Bunny mesh ripped from Opcode
const int VertexCount = 453;
const int IndexCount = 902 * 3;
typedef dReal dVector3R[3];
dGeomID TriMesh1;
dGeomID TriMesh2;
static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data
float Vertices[VertexCount * 3] = {
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REAL(0.173035), REAL(0.662865), REAL(0.417531),
REAL(0.162808), REAL(0.660299), REAL(0.493077),
REAL(0.148250), REAL(0.611070), REAL(0.559555),
REAL(0.125719), REAL(0.576790), REAL(0.484702),
REAL(0.123489), REAL(0.534699), REAL(0.614440),
REAL(0.087621), REAL(0.506066), REAL(0.530188),
REAL(0.055321), REAL(0.442365), REAL(0.572915),
REAL(0.219936), REAL(0.568361), REAL(0.448571),
REAL(0.238099), REAL(0.441375), REAL(0.498528),
REAL(0.281711), REAL(0.414315), REAL(0.451121),
REAL(0.263833), REAL(0.528513), REAL(0.415794),
REAL(0.303284), REAL(0.533081), REAL(0.363998),
REAL(0.269687), REAL(0.623528), REAL(0.380528),
REAL(0.314255), REAL(0.670153), REAL(0.290524),
REAL(0.272023), REAL(0.682273), REAL(0.385343),
REAL(0.311480), REAL(0.775931), REAL(0.308527),
REAL(0.240239), REAL(0.652714), REAL(0.466159),
REAL(0.265619), REAL(0.756464), REAL(0.504187),
REAL(0.192562), REAL(0.467341), REAL(0.522972),
REAL(0.201605), REAL(0.524885), REAL(0.478417),
REAL(0.215743), REAL(0.564193), REAL(0.538084),
REAL(0.264969), REAL(0.641527), REAL(0.605317),
REAL(0.201031), REAL(0.477940), REAL(0.584002),
REAL(0.263086), REAL(0.512567), REAL(0.637832),
REAL(0.238615), REAL(0.526867), REAL(0.672237),
REAL(0.105309), REAL(0.455123), REAL(0.658482),
REAL(0.183993), REAL(0.102195), REAL(0.804872),
REAL(0.161563), REAL(0.060042), REAL(0.808692),
REAL(0.180748), REAL(0.077754), REAL(0.771600),
REAL(0.175168), REAL(0.128588), REAL(0.746368),
REAL(0.175075), REAL(0.148030), REAL(0.778264),
REAL(0.175658), REAL(0.139265), REAL(0.814333),
REAL(0.154191), REAL(0.067291), REAL(0.832578),
REAL(0.163818), REAL(0.109013), REAL(0.842830),
REAL(0.084760), REAL(0.396004), REAL(0.679695),
REAL(0.238888), REAL(0.310760), REAL(0.590775),
REAL(0.213380), REAL(0.308625), REAL(0.644905),
REAL(0.199666), REAL(0.409678), REAL(0.683003),
REAL(0.190143), REAL(0.128597), REAL(0.733463),
REAL(0.184833), REAL(0.063516), REAL(0.762902),
REAL(0.166070), REAL(0.035644), REAL(0.818261),
REAL(0.154361), REAL(0.056943), REAL(0.857042),
REAL(0.168542), REAL(0.109489), REAL(0.862725),
REAL(0.187387), REAL(0.166131), REAL(0.784599),
REAL(0.180428), REAL(0.160135), REAL(0.819438),
REAL(0.201823), REAL(0.163991), REAL(0.695756),
REAL(0.194206), REAL(0.206635), REAL(0.782275),
REAL(0.155438), REAL(0.291260), REAL(0.734412),
REAL(0.177696), REAL(0.196424), REAL(0.846693),
REAL(0.152305), REAL(0.125256), REAL(0.890786),
REAL(0.119546), REAL(0.249876), REAL(0.859104),
REAL(0.118369), REAL(0.139643), REAL(0.919173),
REAL(0.079410), REAL(0.132973), REAL(0.948652),
REAL(0.062419), REAL(0.036648), REAL(0.976547),
REAL(0.127847), REAL(-0.035919), REAL(0.947070),
REAL(0.143624), REAL(0.032206), REAL(0.885913),
REAL(0.074888), REAL(-0.085173), REAL(0.980577),
REAL(0.130184), REAL(-0.104656), REAL(0.947620),
REAL(0.156201), REAL(-0.094653), REAL(0.899074),
REAL(0.077366), REAL(-0.171194), REAL(0.926545),
REAL(0.127722), REAL(-0.164729), REAL(0.879810),
REAL(0.052670), REAL(-0.184618), REAL(0.842019),
REAL(0.023477), REAL(-0.184638), REAL(0.889811),
REAL(0.022626), REAL(-0.210587), REAL(0.827500),
REAL(0.223089), REAL(0.211976), REAL(0.620493),
REAL(0.251444), REAL(0.113067), REAL(0.666494),
REAL(0.251419), REAL(0.089540), REAL(0.673887),
REAL(0.214360), REAL(0.019258), REAL(0.771595),
REAL(0.158999), REAL(0.001490), REAL(0.835374),
REAL(0.176696), REAL(-0.059249), REAL(0.849218),
REAL(0.148696), REAL(-0.130091), REAL(0.793599),
REAL(0.108290), REAL(-0.166528), REAL(0.772088),
REAL(0.049820), REAL(-0.201382), REAL(0.764454),
REAL(0.071341), REAL(-0.215195), REAL(0.697209),
REAL(0.073148), REAL(-0.214475), REAL(0.623510),
REAL(0.140502), REAL(-0.169461), REAL(0.699354),
REAL(0.163374), REAL(-0.157073), REAL(0.611416),
REAL(0.189466), REAL(-0.138550), REAL(0.730366),
REAL(0.247593), REAL(-0.082554), REAL(0.759610),
REAL(0.227468), REAL(-0.121982), REAL(0.590197),
REAL(0.284702), REAL(-0.006586), REAL(0.535347),
REAL(0.275741), REAL(0.125287), REAL(0.446676),
REAL(0.266650), REAL(0.192594), REAL(0.506044),
REAL(0.300086), REAL(0.053287), REAL(0.629620),
REAL(0.055450), REAL(-0.663935), REAL(0.375065),
REAL(0.122854), REAL(-0.664138), REAL(0.482323),
REAL(0.046520), REAL(-0.531571), REAL(0.391918),
REAL(0.024824), REAL(-0.568450), REAL(0.275106),
REAL(0.053855), REAL(-0.663931), REAL(0.328224),
REAL(0.112829), REAL(-0.453549), REAL(0.305788),
REAL(0.131265), REAL(-0.510617), REAL(0.080746),
REAL(0.061174), REAL(-0.430716), REAL(-0.042710),
REAL(0.341019), REAL(-0.532887), REAL(-0.208150),
REAL(0.347705), REAL(-0.623533), REAL(-0.081139),
REAL(0.238040), REAL(-0.610732), REAL(-0.038037),
REAL(0.211764), REAL(-0.514274), REAL(-0.132078),
REAL(0.120605), REAL(-0.600219), REAL(-0.186856),
REAL(0.096985), REAL(-0.584476), REAL(-0.293357),
REAL(0.127621), REAL(-0.581941), REAL(-0.437170),
REAL(0.165902), REAL(-0.477425), REAL(-0.291453),
REAL(0.077720), REAL(-0.417975), REAL(-0.220519),
REAL(0.320892), REAL(-0.506363), REAL(-0.320874),
REAL(0.248214), REAL(-0.465684), REAL(-0.239842),
REAL(0.118764), REAL(-0.383338), REAL(-0.187114),
REAL(0.118816), REAL(-0.430106), REAL(-0.123307),
REAL(0.094131), REAL(-0.419464), REAL(-0.044777),
REAL(0.274526), REAL(-0.261706), REAL(0.005110),
REAL(0.259842), REAL(-0.283292), REAL(-0.003185),
REAL(0.222861), REAL(-0.340431), REAL(-0.038210),
REAL(0.204445), REAL(-0.664380), REAL(0.513353),
REAL(0.259286), REAL(-0.664547), REAL(0.471281),
REAL(0.185402), REAL(-0.476020), REAL(0.421718),
REAL(0.279163), REAL(-0.664604), REAL(0.417328),
REAL(0.277157), REAL(-0.528122), REAL(0.400208),
REAL(0.183069), REAL(-0.509812), REAL(0.329995),
REAL(0.282599), REAL(-0.429210), REAL(0.059242),
REAL(0.254816), REAL(-0.664541), REAL(0.290687),
REAL(0.271436), REAL(-0.567707), REAL(0.263966),
REAL(0.386561), REAL(-0.625221), REAL(-0.216870),
REAL(0.387086), REAL(-0.630883), REAL(-0.346073),
REAL(0.380021), REAL(-0.596021), REAL(-0.318679),
REAL(0.291269), REAL(-0.619007), REAL(-0.585707),
REAL(0.339280), REAL(-0.571198), REAL(-0.461946),
REAL(0.400045), REAL(-0.489778), REAL(-0.422640),
REAL(0.406817), REAL(-0.314349), REAL(-0.371230),
REAL(0.300588), REAL(-0.281718), REAL(-0.170549),
REAL(0.290866), REAL(-0.277304), REAL(-0.061905),
REAL(0.187735), REAL(-0.241545), REAL(0.509437),
REAL(0.188032), REAL(-0.287569), REAL(0.424234),
REAL(0.227520), REAL(-0.373262), REAL(0.293102),
REAL(0.266526), REAL(-0.273650), REAL(0.039597),
REAL(0.291592), REAL(-0.291676), REAL(0.111386),
REAL(0.291914), REAL(-0.122741), REAL(0.422683),
REAL(0.297574), REAL(-0.156119), REAL(0.373368),
REAL(0.286603), REAL(-0.232731), REAL(0.027162),
REAL(0.364663), REAL(-0.201399), REAL(0.206850),
REAL(0.353855), REAL(-0.132408), REAL(0.149228),
REAL(0.282208), REAL(-0.019715), REAL(0.314960),
REAL(0.331187), REAL(-0.099266), REAL(0.092701),
REAL(0.375463), REAL(-0.093120), REAL(-0.006467),
REAL(0.375917), REAL(-0.101236), REAL(-0.154882),
REAL(0.466635), REAL(-0.094416), REAL(-0.305669),
REAL(0.455805), REAL(-0.119881), REAL(-0.460632),
REAL(0.277465), REAL(-0.604242), REAL(-0.651871),
REAL(0.261022), REAL(-0.551176), REAL(-0.554667),
REAL(0.093627), REAL(0.258494), REAL(-0.920589),
REAL(0.114248), REAL(0.310608), REAL(-0.798070),
REAL(0.144232), REAL(0.211434), REAL(-0.835001),
REAL(0.119916), REAL(0.176940), REAL(-0.951159),
REAL(0.184061), REAL(0.101854), REAL(-0.918220),
REAL(0.092431), REAL(0.276521), REAL(-0.738231),
REAL(0.133504), REAL(0.218403), REAL(-0.758602),
REAL(0.194987), REAL(0.097655), REAL(-0.812476),
REAL(0.185542), REAL(0.011005), REAL(-0.879202),
REAL(0.230315), REAL(-0.127450), REAL(-0.884202),
REAL(0.260471), REAL(0.255056), REAL(-0.624378),
REAL(0.351567), REAL(-0.042194), REAL(-0.663976),
REAL(0.253742), REAL(0.323524), REAL(-0.433716),
REAL(0.411612), REAL(0.132299), REAL(-0.438264),
REAL(0.270513), REAL(0.356530), REAL(-0.289984),
REAL(0.422146), REAL(0.162819), REAL(-0.273130),
REAL(0.164724), REAL(0.237490), REAL(0.208912),
REAL(0.253806), REAL(0.092900), REAL(0.240640),
REAL(0.203608), REAL(0.284597), REAL(0.096223),
REAL(0.241006), REAL(0.343093), REAL(-0.171396),
REAL(0.356076), REAL(0.149288), REAL(-0.143443),
REAL(0.337656), REAL(0.131992), REAL(0.066374)
};
int Indices[IndexCount / 3][3] = {
{126,134,133},
{342,138,134},
{133,134,138},
{126,342,134},
{312,316,317},
{169,163,162},
{312,317,319},
{312,319,318},
{169,162,164},
{169,168,163},
{312,314,315},
{169,164,165},
{169,167,168},
{312,315,316},
{312,313,314},
{169,165,166},
{169,166,167},
{312,318,313},
{308,304,305},
{308,305,306},
{179,181,188},
{177,173,175},
{177,175,176},
{302,293,300},
{322,294,304},
{188,176,175},
{188,175,179},
{158,177,187},
{305,293,302},
{305,302,306},
{322,304,308},
{188,181,183},
{158,173,177},
{293,298,300},
{304,294,296},
{304,296,305},
{185,176,188},
{185,188,183},
{187,177,176},
{187,176,185},
{305,296,298},
{305,298,293},
{436,432, 28},
{436, 28, 23},
{434,278,431},
{ 30,208,209},
{ 30,209, 29},
{ 19, 20, 24},
{208,207,211},
{208,211,209},
{ 19,210,212},
{433,434,431},
{433,431,432},
{433,432,436},
{436,437,433},
{277,275,276},
{277,276,278},
{209,210, 25},
{ 21, 26, 24},
{ 21, 24, 20},
{ 25, 26, 27},
{ 25, 27, 29},
{435,439,277},
{439,275,277},
{432,431, 30},
{432, 30, 28},
{433,437,438},
{433,438,435},
{434,277,278},
{ 24, 25,210},
{ 24, 26, 25},
{ 29, 27, 28},
{ 29, 28, 30},
{ 19, 24,210},
{208, 30,431},
{208,431,278},
{435,434,433},
{435,277,434},
{ 25, 29,209},
{ 27, 22, 23},
{ 27, 23, 28},
{ 26, 22, 27},
{ 26, 21, 22},
{212,210,209},
{212,209,211},
{207,208,278},
{207,278,276},
{439,435,438},
{ 12, 9, 10},
{ 12, 10, 13},
{ 2, 3, 5},
{ 2, 5, 4},
{ 16, 13, 14},
{ 16, 14, 17},
{ 22, 21, 16},
{ 13, 10, 11},
{ 13, 11, 14},
{ 1, 0, 3},
{ 1, 3, 2},
{ 15, 12, 16},
{ 19, 18, 15},
{ 19, 15, 16},
{ 19, 16, 20},
{ 9, 1, 2},
{ 9, 2, 10},
{ 3, 7, 8},
{ 3, 8, 5},
{ 16, 17, 23},
{ 16, 23, 22},
{ 21, 20, 16},
{ 10, 2, 4},
{ 10, 4, 11},
{ 0, 6, 7},
{ 0, 7, 3},
{ 12, 13, 16},
{451,446,445},
{451,445,450},
{442,440,439},
{442,439,438},
{442,438,441},
{421,420,422},
{412,411,426},
{412,426,425},
{408,405,407},
{413, 67, 68},
{413, 68,414},
{391,390,412},
{ 80,384,386},
{404,406,378},
{390,391,377},
{390,377, 88},
{400,415,375},
{398,396,395},
{398,395,371},
{398,371,370},
{112,359,358},
{112,358,113},
{351,352,369},
{125,349,348},
{345,343,342},
{342,340,339},
{341,335,337},
{328,341,327},
{331,323,333},
{331,322,323},
{327,318,319},
{327,319,328},
{315,314,324},
{302,300,301},
{302,301,303},
{320,311,292},
{285,284,289},
{310,307,288},
{310,288,290},
{321,350,281},
{321,281,282},
{423,448,367},
{272,273,384},
{272,384,274},
{264,265,382},
{264,382,383},
{440,442,261},
{440,261,263},
{252,253,254},
{252,254,251},
{262,256,249},
{262,249,248},
{228,243,242},
{228, 31,243},
{213,215,238},
{213,238,237},
{ 19,212,230},
{224,225,233},
{224,233,231},
{217,218, 56},
{217, 56, 54},
{217,216,239},
{217,239,238},
{217,238,215},
{218,217,215},
{218,215,214},
{ 6,102,206},
{186,199,200},
{197,182,180},
{170,171,157},
{201,200,189},
{170,190,191},
{170,191,192},
{175,174,178},
{175,178,179},
{168,167,155},
{122,149,158},
{122,158,159},
{135,153,154},
{135,154,118},
{143,140,141},
{143,141,144},
{132,133,136},
{130,126,133},
{124,125,127},
{122,101,100},
{122,100,121},
{110,108,107},
{110,107,109},
{ 98, 99, 97},
{ 98, 97, 64},
{ 98, 64, 66},
{ 87, 55, 57},
{ 83, 82, 79},
{ 83, 79, 84},
{ 78, 74, 50},
{ 49, 71, 41},
{ 49, 41, 37},
{ 49, 37, 36},
{ 58, 44, 60},
{ 60, 59, 58},
{ 51, 34, 33},
{ 39, 40, 42},
{ 39, 42, 38},
{243,240, 33},
{243, 33,229},
{ 39, 38, 6},
{ 44, 46, 40},
{ 55, 56, 57},
{ 64, 62, 65},
{ 64, 65, 66},
{ 41, 71, 45},
{ 75, 50, 51},
{ 81, 79, 82},
{ 77, 88, 73},
{ 93, 92, 94},
{ 68, 47, 46},
{ 96, 97, 99},
{ 96, 99, 95},
{110,109,111},
{111,112,110},
{114,113,123},
{114,123,124},
{132,131,129},
{133,137,136},
{135,142,145},
{145,152,135},
{149,147,157},
{157,158,149},
{164,150,151},
{153,163,168},
{153,168,154},
{185,183,182},
{185,182,184},
{161,189,190},
{200,199,191},
{200,191,190},
{180,178,195},
{180,195,196},
{102,101,204},
{102,204,206},
{ 43, 48,104},
{ 43,104,103},
{216,217, 54},
{216, 54, 32},
{207,224,231},
{230,212,211},
{230,211,231},
{227,232,241},
{227,241,242},
{235,234,241},
{235,241,244},
{430,248,247},
{272,274,253},
{272,253,252},
{439,260,275},
{225,224,259},
{225,259,257},
{269,270,407},
{269,407,405},
{270,269,273},
{270,273,272},
{273,269,268},
{273,268,267},
{273,267,266},
{273,266,265},
{273,265,264},
{448,279,367},
{281,350,368},
{285,286,301},
{290,323,310},
{290,311,323},
{282,281,189},
{292,311,290},
{292,290,291},
{307,306,302},
{307,302,303},
{316,315,324},
{316,324,329},
{331,351,350},
{330,334,335},
{330,335,328},
{341,337,338},
{344,355,354},
{346,345,348},
{346,348,347},
{364,369,352},
{364,352,353},
{365,363,361},
{365,361,362},
{376,401,402},
{373,372,397},
{373,397,400},
{376, 92,377},
{381,378,387},
{381,387,385},
{386, 77, 80},
{390,389,412},
{416,417,401},
{403,417,415},
{408,429,430},
{419,423,418},
{427,428,444},
{427,444,446},
{437,436,441},
{450,445, 11},
{450, 11, 4},
{447,449, 5},
{447, 5, 8},
{441,438,437},
{425,426,451},
{425,451,452},
{417,421,415},
{408,407,429},
{399,403,400},
{399,400,397},
{394,393,416},
{389,411,412},
{386,383,385},
{408,387,378},
{408,378,406},
{377,391,376},
{ 94,375,415},
{372,373,374},
{372,374,370},
{359,111,360},
{359,112,111},
{113,358,349},
{113,349,123},
{346,343,345},
{343,340,342},
{338,336,144},
{338,144,141},
{327,341,354},
{327,354,326},
{331,350,321},
{331,321,322},
{314,313,326},
{314,326,325},
{300,298,299},
{300,299,301},
{288,287,289},
{189,292,282},
{287,288,303},
{284,285,297},
{368,280,281},
{448,447,279},
{274,226,255},
{267,268,404},
{267,404,379},
{429,262,430},
{439,440,260},
{257,258,249},
{257,249,246},
{430,262,248},
{234,228,242},
{234,242,241},
{237,238,239},
{237,239,236},
{ 15, 18,227},
{ 15,227,229},
{222,223, 82},
{222, 82, 83},
{214,215,213},
{214,213, 81},
{ 38,102, 6},
{122,159,200},
{122,200,201},
{174,171,192},
{174,192,194},
{197,193,198},
{190,170,161},
{181,179,178},
{181,178,180},
{166,156,155},
{163,153,152},
{163,152,162},
{120,156,149},
{120,149,121},
{152,153,135},
{140,143,142},
{135,131,132},
{135,132,136},
{130,129,128},
{130,128,127},
{100,105,119},
{100,119,120},
{106,104,107},
{106,107,108},
{ 91, 95, 59},
{ 93, 94, 68},
{ 91, 89, 92},
{ 76, 53, 55},
{ 76, 55, 87},
{ 81, 78, 79},
{ 74, 73, 49},
{ 69, 60, 45},
{ 58, 62, 64},
{ 58, 64, 61},
{ 53, 31, 32},
{ 32, 54, 53},
{ 42, 43, 38},
{ 35, 36, 0},
{ 35, 0, 1},
{ 34, 35, 1},
{ 34, 1, 9},
{ 44, 40, 41},
{ 44, 41, 45},
{ 33,240, 51},
{ 63, 62, 58},
{ 63, 58, 59},
{ 45, 71, 70},
{ 76, 75, 51},
{ 76, 51, 52},
{ 86, 85, 84},
{ 86, 84, 87},
{ 89, 72, 73},
{ 89, 73, 88},
{ 91, 92, 96},
{ 91, 96, 95},
{ 72, 91, 60},
{ 72, 60, 69},
{104,106,105},
{119,105,117},
{119,117,118},
{124,127,128},
{117,116,129},
{117,129,131},
{118,117,131},
{135,140,142},
{146,150,152},
{146,152,145},
{149,122,121},
{166,165,151},
{166,151,156},
{158,172,173},
{161,160,189},
{199,198,193},
{199,193,191},
{204,201,202},
{178,174,194},
{200,159,186},
{109, 48, 67},
{ 48,107,104},
{216, 32,236},
{216,236,239},
{223,214, 81},
{223, 81, 82},
{ 33, 12, 15},
{ 32,228,234},
{ 32,234,236},
{240, 31, 52},
{256,255,246},
{256,246,249},
{258,263,248},
{258,248,249},
{275,260,259},
{275,259,276},
{207,276,259},
{270,271,429},
{270,429,407},
{413,418,366},
{413,366,365},
{368,367,279},
{368,279,280},
{303,301,286},
{303,286,287},
{283,282,292},
{283,292,291},
{320,292,189},
{298,296,297},
{298,297,299},
{318,327,326},
{318,326,313},
{329,330,317},
{336,333,320},
{326,354,353},
{334,332,333},
{334,333,336},
{342,339,139},
{342,139,138},
{345,342,126},
{347,357,356},
{369,368,351},
{363,356,357},
{363,357,361},
{366,367,368},
{366,368,369},
{375,373,400},
{ 92, 90,377},
{409,387,408},
{386,385,387},
{386,387,388},
{412,394,391},
{396,398,399},
{408,406,405},
{415,421,419},
{415,419,414},
{425,452,448},
{425,448,424},
{444,441,443},
{448,452,449},
{448,449,447},
{446,444,443},
{446,443,445},
{250,247,261},
{250,261,428},
{421,422,423},
{421,423,419},
{427,410,250},
{417,403,401},
{403,402,401},
{420,392,412},
{420,412,425},
{420,425,424},
{386,411,389},
{383,382,381},
{383,381,385},
{378,379,404},
{372,371,395},
{372,395,397},
{371,372,370},
{361,359,360},
{361,360,362},
{368,350,351},
{349,347,348},
{356,355,344},
{356,344,346},
{344,341,340},
{344,340,343},
{338,337,336},
{328,335,341},
{324,352,351},
{324,351,331},
{320,144,336},
{314,325,324},
{322,308,309},
{310,309,307},
{287,286,289},
{203,280,279},
{203,279,205},
{297,295,283},
{297,283,284},
{447,205,279},
{274,384, 80},
{274, 80,226},
{266,267,379},
{266,379,380},
{225,257,246},
{225,246,245},
{256,254,253},
{256,253,255},
{430,247,250},
{226,235,244},
{226,244,245},
{232,233,244},
{232,244,241},
{230, 18, 19},
{ 32, 31,228},
{219,220, 86},
{219, 86, 57},
{226,213,235},
{206, 7, 6},
{122,201,101},
{201,204,101},
{180,196,197},
{170,192,171},
{200,190,189},
{194,193,195},
{183,181,180},
{183,180,182},
{155,154,168},
{149,156,151},
{149,151,148},
{155,156,120},
{145,142,143},
{145,143,146},
{136,137,140},
{133,132,130},
{128,129,116},
{100,120,121},
{110,112,113},
{110,113,114},
{ 66, 65, 63},
{ 66, 63, 99},
{ 66, 99, 98},
{ 96, 46, 61},
{ 89, 88, 90},
{ 86, 87, 57},
{ 80, 78, 81},
{ 72, 69, 49},
{ 67, 48, 47},
{ 67, 47, 68},
{ 56, 55, 53},
{ 50, 49, 36},
{ 50, 36, 35},
{ 40, 39, 41},
{242,243,229},
{242,229,227},
{ 6, 37, 39},
{ 42, 47, 48},
{ 42, 48, 43},
{ 61, 46, 44},
{ 45, 70, 69},
{ 69, 70, 71},
{ 69, 71, 49},
{ 74, 78, 77},
{ 83, 84, 85},
{ 73, 74, 77},
{ 93, 96, 92},
{ 68, 46, 93},
{ 95, 99, 63},
{ 95, 63, 59},
{115,108,110},
{115,110,114},
{125,126,127},
{129,130,132},
{137,133,138},
{137,138,139},
{148,146,143},
{148,143,147},
{119,118,154},
{161,147,143},
{165,164,151},
{158,157,171},
{158,171,172},
{159,158,187},
{159,187,186},
{194,192,191},
{194,191,193},
{189,202,201},
{182,197,184},
{205, 8, 7},
{ 48,109,107},
{218,219, 57},
{218, 57, 56},
{207,231,211},
{232,230,231},
{232,231,233},
{ 53, 52, 31},
{388,411,386},
{409,430,250},
{262,429,254},
{262,254,256},
{442,444,428},
{273,264,383},
{273,383,384},
{429,271,251},
{429,251,254},
{413,365,362},
{ 67,413,360},
{282,283,295},
{285,301,299},
{202,281,280},
{284,283,291},
{284,291,289},
{320,189,160},
{308,306,307},
{307,309,308},
{319,317,330},
{319,330,328},
{353,352,324},
{332,331,333},
{340,341,338},
{354,341,344},
{349,358,357},
{349,357,347},
{364,355,356},
{364,356,363},
{364,365,366},
{364,366,369},
{374,376,402},
{375, 92,373},
{ 77,389,390},
{382,380,381},
{389, 77,386},
{393,394,412},
{393,412,392},
{401,394,416},
{415,400,403},
{411,410,427},
{411,427,426},
{422,420,424},
{247,248,263},
{247,263,261},
{445,443, 14},
{445, 14, 11},
{449,450, 4},
{449, 4, 5},
{443,441, 17},
{443, 17, 14},
{436, 23, 17},
{436, 17,441},
{424,448,422},
{448,423,422},
{414,419,418},
{414,418,413},
{406,404,405},
{399,397,395},
{399,395,396},
{420,416,392},
{388,410,411},
{386,384,383},
{390, 88, 77},
{375, 94, 92},
{415,414, 68},
{415, 68, 94},
{370,374,402},
{370,402,398},
{361,357,358},
{361,358,359},
{125,348,126},
{346,344,343},
{340,338,339},
{337,335,334},
{337,334,336},
{325,353,324},
{324,331,332},
{324,332,329},
{323,322,309},
{323,309,310},
{294,295,297},
{294,297,296},
{289,286,285},
{202,280,203},
{288,307,303},
{282,295,321},
{ 67,360,111},
{418,423,367},
{418,367,366},
{272,252,251},
{272,251,271},
{272,271,270},
{255,253,274},
{265,266,380},
{265,380,382},
{442,428,261},
{440,263,258},
{440,258,260},
{409,250,410},
{255,226,245},
{255,245,246},
{ 31,240,243},
{236,234,235},
{236,235,237},
{233,225,245},
{233,245,244},
{220,221, 85},
{220, 85, 86},
{ 81,213,226},
{ 81,226, 80},
{ 7,206,205},
{186,184,198},
{186,198,199},
{204,203,205},
{204,205,206},
{195,193,196},
{171,174,172},
{173,174,175},
{173,172,174},
{155,167,166},
{160,161,143},
{160,143,144},
{119,154,155},
{148,151,150},
{148,150,146},
{140,137,139},
{140,139,141},
{127,126,130},
{114,124,128},
{114,128,115},
{117,105,106},
{117,106,116},
{104,105,100},
{104,100,103},
{ 59, 60, 91},
{ 97, 96, 61},
{ 97, 61, 64},
{ 91, 72, 89},
{ 87, 84, 79},
{ 87, 79, 76},
{ 78, 80, 77},
{ 49, 50, 74},
{ 60, 44, 45},
{ 61, 44, 58},
{ 51, 50, 35},
{ 51, 35, 34},
{ 39, 37, 41},
{ 33, 34, 9},
{ 33, 9, 12},
{ 0, 36, 37},
{ 0, 37, 6},
{ 40, 46, 47},
{ 40, 47, 42},
{ 53, 54, 56},
{ 65, 62, 63},
{ 72, 49, 73},
{ 79, 78, 75},
{ 79, 75, 76},
{ 52, 53, 76},
{ 92, 89, 90},
{ 96, 93, 46},
{102,103,100},
{102,100,101},
{116,106,108},
{116,108,115},
{123,125,124},
{116,115,128},
{118,131,135},
{140,135,136},
{148,147,149},
{120,119,155},
{164,162,152},
{164,152,150},
{157,147,161},
{157,161,170},
{186,187,185},
{186,185,184},
{193,197,196},
{202,203,204},
{194,195,178},
{198,184,197},
{ 67,111,109},
{ 38, 43,103},
{ 38,103,102},
{214,223,222},
{214,222,221},
{214,221,220},
{214,220,219},
{214,219,218},
{213,237,235},
{221,222, 83},
{221, 83, 85},
{ 15,229, 33},
{227, 18,230},
{227,230,232},
{ 52, 51,240},
{ 75, 78, 50},
{408,430,409},
{260,258,257},
{260,257,259},
{224,207,259},
{268,269,405},
{268,405,404},
{413,362,360},
{447, 8,205},
{299,297,285},
{189,281,202},
{290,288,289},
{290,289,291},
{322,321,295},
{322,295,294},
{333,323,311},
{333,311,320},
{317,316,329},
{320,160,144},
{353,325,326},
{329,332,334},
{329,334,330},
{339,338,141},
{339,141,139},
{348,345,126},
{347,356,346},
{123,349,125},
{364,353,354},
{364,354,355},
{365,364,363},
{376,391,394},
{376,394,401},
{ 92,376,374},
{ 92,374,373},
{377, 90, 88},
{380,379,378},
{380,378,381},
{388,387,409},
{388,409,410},
{416,393,392},
{399,398,402},
{399,402,403},
{250,428,427},
{421,417,416},
{421,416,420},
{426,427,446},
{426,446,451},
{444,442,441},
{452,451,450},
{452,450,449}
};
// this is called by dSpaceCollide when two objects in space are
// potentially colliding.
static void nearCallback (void *data, 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++) {
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()
{
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 (" x for a composite object.\n");
printf (" m for a trimesh (EXPERIMENTAL).\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;
cmd = locase (cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm'
/* || 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()+3);
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*) 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;
dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]);
}
/*
// cylinder option not yet implemented
else if (cmd == 'l') {
sides[1] *= 0.5;
dMassSetCappedCylinder (&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 == 'm') {
dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int));
obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0);
// remember the mesh's dTriMeshDataID on its userdata for convenience.
dGeomSetData(obj[i].geom[0], new_tmdata);
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
}
else if (cmd == 'x') {
dGeomID g2[GPB]; // encapsulated geometries
dReal dpos[GPB][3]; // delta-positions for encapsulated geometries
// start accumulating masses for the encapsulated geometries
dMass m2;
dMassSetZero (&m);
// 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++) {
obj[i].geom[k] = dCreateGeomTransform (space);
dGeomTransformSetCleanup (obj[i].geom[k],1);
if (k==0) {
dReal radius = dRandReal()*0.25+0.05;
g2[k] = dCreateSphere (0,radius);
dMassSetSphere (&m2,DENSITY,radius);
}
else if (k==1) {
g2[k] = dCreateBox (0,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;
g2[k] = dCreateCCylinder (0,radius,length);
dMassSetCappedCylinder (&m2,DENSITY,3,radius,length);
}
dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
// set the transformation (adjust the mass too)
dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
dMatrix3 Rtx;
dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
dGeomSetRotation (g2[k],Rtx);
dMassRotate (&m2,Rtx);
// add to the total mass
dMassAdd (&m,&m2);
}
// move all encapsulated objects so that the center of mass is (0,0,0)
for (k=0; k<2; k++) {
dGeomSetPosition (g2[k],
dpos[k][0]-m.c[0],
dpos[k][1]-m.c[1],
dpos[k][2]-m.c[2]);
}
dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
}
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 == 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);
}
}
// simulation loop
static void simLoop (int pause)
{
dsSetColor (0,0,2);
dSpaceCollide (space,0,&nearCallback);
//if (!pause) dWorldStep (world,0.05);
if (!pause) dWorldStepFast1 (world,0.05, 5);
for (int j = 0; j < dSpaceGetNumGeoms(space); j++){
dSpaceGetGeom(space, j);
}
// 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 (obj[i].geom[j]) {
if (i==selected) {
dsSetColor (0,0.7,1);
}
else if (! dBodyIsEnabled (obj[i].body)) {
dsSetColor (1,0,0);
}
else {
dsSetColor (1,1,0);
}
if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass) {
int* Indices = (int*)::Indices;
// assume all trimeshes are drawn as bunnies
const dReal* Pos = dGeomGetPosition(obj[i].geom[j]);
const dReal* Rot = dGeomGetRotation(obj[i].geom[j]);
for (int ii = 0; ii < IndexCount / 3; ii++) {
const dReal v[9] = { // explicit conversion from float to dReal
Vertices[Indices[ii * 3 + 0] * 3 + 0],
Vertices[Indices[ii * 3 + 0] * 3 + 1],
Vertices[Indices[ii * 3 + 0] * 3 + 2],
Vertices[Indices[ii * 3 + 1] * 3 + 0],
Vertices[Indices[ii * 3 + 1] * 3 + 1],
Vertices[Indices[ii * 3 + 1] * 3 + 2],
Vertices[Indices[ii * 3 + 2] * 3 + 0],
Vertices[Indices[ii * 3 + 2] * 3 + 1],
Vertices[Indices[ii * 3 + 2] * 3 + 2]
};
dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
}
// tell the tri-tri collider the current transform of the trimesh --
// this is fairly important for good results.
/*
// NOT IMPLEMENTED YET
dTriMeshDataID TriMeshData = geomGetData(obj[i].geom[j]);
const double *DoubleArrayPtr = Bodies[BodyIndex].TransformationMatrix->GetArray();
dGeomTriMeshDataSet( TriMeshData,
TRIMESH_LAST_TRANSFORMATION,
(void *) DoubleArrayPtr );
*/
} else {
drawGeom (obj[i].geom[j],0,0,show_aabb);
}
}
}
}
int* Indices = (int*)::Indices;
{const dReal* Pos = dGeomGetPosition(TriMesh1);
const dReal* Rot = dGeomGetRotation(TriMesh1);
{for (int i = 0; i < IndexCount / 3; i++){
const dReal v[9] = { // explicit conversion from float to dReal
Vertices[Indices[i * 3 + 0] * 3 + 0],
Vertices[Indices[i * 3 + 0] * 3 + 1],
Vertices[Indices[i * 3 + 0] * 3 + 2],
Vertices[Indices[i * 3 + 1] * 3 + 0],
Vertices[Indices[i * 3 + 1] * 3 + 1],
Vertices[Indices[i * 3 + 1] * 3 + 2],
Vertices[Indices[i * 3 + 2] * 3 + 0],
Vertices[Indices[i * 3 + 2] * 3 + 1],
Vertices[Indices[i * 3 + 2] * 3 + 2]
};
dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 0);
}}}
{const dReal* Pos = dGeomGetPosition(TriMesh2);
const dReal* Rot = dGeomGetRotation(TriMesh2);
{for (int i = 0; i < IndexCount / 3; i++){
const dReal v[9] = { // explicit conversion from float to dReal
Vertices[Indices[i * 3 + 0] * 3 + 0],
Vertices[Indices[i * 3 + 0] * 3 + 1],
Vertices[Indices[i * 3 + 0] * 3 + 2],
Vertices[Indices[i * 3 + 1] * 3 + 0],
Vertices[Indices[i * 3 + 1] * 3 + 1],
Vertices[Indices[i * 3 + 1] * 3 + 2],
Vertices[Indices[i * 3 + 2] * 3 + 0],
Vertices[Indices[i * 3 + 2] * 3 + 1],
Vertices[Indices[i * 3 + 2] * 3 + 2]
};
dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
}}}
}
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/textures";
if(argc==2)
{
fn.path_to_textures = argv[1];
}
// create world
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));
// note: can't share tridata if intending to trimesh-trimesh collide
TriData1 = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int));
TriData2 = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int));
TriMesh1 = dCreateTriMesh(space, TriData1, 0, 0, 0);
TriMesh2 = dCreateTriMesh(space, TriData2, 0, 0, 0);
{dGeomSetPosition(TriMesh1, 0, 0, 0.9);
dMatrix3 Rotation;
dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
dGeomSetRotation(TriMesh1, Rotation);}
{dGeomSetPosition(TriMesh2, 1, 0, 0.9);
dMatrix3 Rotation;
dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
dGeomSetRotation(TriMesh2, Rotation);}
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
return 0;
}
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