1 | /************************************************************************* |
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2 | * * |
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3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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5 | * * |
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6 | * This library is free software; you can redistribute it and/or * |
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7 | * modify it under the terms of EITHER: * |
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8 | * (1) The GNU Lesser General Public License as published by the Free * |
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9 | * Software Foundation; either version 2.1 of the License, or (at * |
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10 | * your option) any later version. The text of the GNU Lesser * |
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11 | * General Public License is included with this library in the * |
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12 | * file LICENSE.TXT. * |
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13 | * (2) The BSD-style license that is included with this library in * |
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14 | * the file LICENSE-BSD.TXT. * |
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15 | * * |
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16 | * This library is distributed in the hope that it will be useful, * |
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17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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20 | * * |
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21 | *************************************************************************/ |
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22 | |
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23 | #include <ode/ode.h> |
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24 | #include <drawstuff/drawstuff.h> |
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25 | |
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26 | #ifdef _MSC_VER |
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27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints |
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28 | #endif |
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29 | |
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30 | #define DEGTORAD 0.01745329251994329577f //!< PI / 180.0, convert degrees to radians |
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31 | |
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32 | |
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33 | // Our heightfield geom |
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34 | dGeomID gheight; |
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35 | |
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36 | |
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37 | |
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38 | // Heightfield dimensions |
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39 | |
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40 | #define HFIELD_WSTEP 15 // Vertex count along edge >= 2 |
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41 | #define HFIELD_DSTEP 31 |
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42 | |
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43 | #define HFIELD_WIDTH REAL( 4.0 ) |
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44 | #define HFIELD_DEPTH REAL( 8.0 ) |
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45 | |
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46 | #define HFIELD_WSAMP ( HFIELD_WIDTH / ( HFIELD_WSTEP-1 ) ) |
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47 | #define HFIELD_DSAMP ( HFIELD_DEPTH / ( HFIELD_DSTEP-1 ) ) |
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48 | |
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49 | #ifdef dDOUBLE |
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50 | #define dsDrawBox dsDrawBoxD |
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51 | #define dsDrawSphere dsDrawSphereD |
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52 | #define dsDrawCylinder dsDrawCylinderD |
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53 | #define dsDrawCapsule dsDrawCapsuleD |
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54 | #define dsDrawConvex dsDrawConvexD |
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55 | #define dsDrawTriangle dsDrawTriangleD |
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56 | #endif |
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57 | |
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58 | |
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59 | |
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60 | //<---- Convex Object |
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61 | dReal planes[]= // planes for a cube |
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62 | { |
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63 | 1.0f ,0.0f ,0.0f ,0.25f, |
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64 | 0.0f ,1.0f ,0.0f ,0.25f, |
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65 | 0.0f ,0.0f ,1.0f ,0.25f, |
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66 | 0.0f ,0.0f ,-1.0f,0.25f, |
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67 | 0.0f ,-1.0f,0.0f ,0.25f, |
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68 | -1.0f,0.0f ,0.0f ,0.25f |
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69 | /* |
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70 | 1.0f ,0.0f ,0.0f ,2.0f, |
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71 | 0.0f ,1.0f ,0.0f ,1.0f, |
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72 | 0.0f ,0.0f ,1.0f ,1.0f, |
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73 | 0.0f ,0.0f ,-1.0f,1.0f, |
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74 | 0.0f ,-1.0f,0.0f ,1.0f, |
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75 | -1.0f,0.0f ,0.0f ,0.0f |
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76 | */ |
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77 | }; |
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78 | const unsigned int planecount=6; |
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79 | |
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80 | dReal points[]= // points for a cube |
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81 | { |
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82 | 0.25f,0.25f,0.25f, // point 0 |
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83 | -0.25f,0.25f,0.25f, // point 1 |
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84 | |
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85 | 0.25f,-0.25f,0.25f, // point 2 |
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86 | -0.25f,-0.25f,0.25f,// point 3 |
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87 | |
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88 | 0.25f,0.25f,-0.25f, // point 4 |
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89 | -0.25f,0.25f,-0.25f,// point 5 |
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90 | |
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91 | 0.25f,-0.25f,-0.25f,// point 6 |
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92 | -0.25f,-0.25f,-0.25f,// point 7 |
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93 | }; |
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94 | const unsigned int pointcount=8; |
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95 | unsigned int polygons[] = //Polygons for a cube (6 squares) |
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96 | { |
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97 | 4,0,2,6,4, // positive X |
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98 | 4,1,0,4,5, // positive Y |
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99 | 4,0,1,3,2, // positive Z |
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100 | 4,3,1,5,7, // negative X |
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101 | 4,2,3,7,6, // negative Y |
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102 | 4,5,4,6,7, // negative Z |
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103 | }; |
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104 | //----> Convex Object |
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105 | |
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106 | // select correct drawing functions |
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107 | |
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108 | #ifdef dDOUBLE |
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109 | #define dsDrawBox dsDrawBoxD |
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110 | #define dsDrawSphere dsDrawSphereD |
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111 | #define dsDrawCylinder dsDrawCylinderD |
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112 | #define dsDrawCapsule dsDrawCapsuleD |
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113 | #define dsDrawConvex dsDrawConvexD |
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114 | #endif |
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115 | |
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116 | |
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117 | // some constants |
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118 | |
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119 | #define NUM 100 // max number of objects |
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120 | #define DENSITY (5.0) // density of all objects |
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121 | #define GPB 3 // maximum number of geometries per body |
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122 | #define MAX_CONTACTS 64 // maximum number of contact points per body |
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123 | |
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124 | |
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125 | // dynamics and collision objects |
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126 | |
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127 | struct MyObject { |
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128 | dBodyID body; // the body |
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129 | dGeomID geom[GPB]; // geometries representing this body |
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130 | |
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131 | // Trimesh only - double buffered matrices for 'last transform' setup |
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132 | dReal matrix_dblbuff[ 16 * 2 ]; |
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133 | int last_matrix_index; |
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134 | }; |
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135 | |
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136 | static int num=0; // number of objects in simulation |
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137 | static int nextobj=0; // next object to recycle if num==NUM |
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138 | static dWorldID world; |
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139 | static dSpaceID space; |
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140 | static MyObject obj[NUM]; |
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141 | static dJointGroupID contactgroup; |
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142 | static int selected = -1; // selected object |
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143 | static int show_aabb = 0; // show geom AABBs? |
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144 | static int show_contacts = 0; // show contact points? |
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145 | static int random_pos = 1; // drop objects from random position? |
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146 | static int write_world = 0; |
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147 | |
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148 | |
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149 | |
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150 | |
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151 | //============================ |
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152 | |
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153 | // Bunny mesh ripped from Opcode |
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154 | const int VertexCount = 453; |
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155 | const int IndexCount = 902 * 3; |
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156 | |
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157 | typedef dReal dVector3R[3]; |
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158 | |
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159 | dGeomID TriMesh1; |
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160 | dGeomID TriMesh2; |
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161 | static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data |
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162 | |
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163 | static float Vertices[VertexCount * 3] = { |
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164 | REAL(-0.334392), REAL(0.133007), REAL(0.062259), |
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165 | REAL(-0.350189), REAL(0.150354), REAL(-0.147769), |
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166 | REAL(-0.234201), REAL(0.343811), REAL(-0.174307), |
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167 | REAL(-0.200259), REAL(0.285207), REAL(0.093749), |
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168 | REAL(0.003520), REAL(0.475208), REAL(-0.159365), |
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169 | REAL(0.001856), REAL(0.419203), REAL(0.098582), |
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170 | REAL(-0.252802), REAL(0.093666), REAL(0.237538), |
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171 | REAL(-0.162901), REAL(0.237984), REAL(0.206905), |
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172 | REAL(0.000865), REAL(0.318141), REAL(0.235370), |
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173 | REAL(-0.414624), REAL(0.164083), REAL(-0.278254), |
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174 | REAL(-0.262213), REAL(0.357334), REAL(-0.293246), |
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175 | REAL(0.004628), REAL(0.482694), REAL(-0.338626), |
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176 | REAL(-0.402162), REAL(0.133528), REAL(-0.443247), |
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177 | REAL(-0.243781), REAL(0.324275), REAL(-0.436763), |
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178 | REAL(0.005293), REAL(0.437592), REAL(-0.458332), |
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179 | REAL(-0.339884), REAL(-0.041150), REAL(-0.668211), |
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180 | REAL(-0.248382), REAL(0.255825), REAL(-0.627493), |
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181 | REAL(0.006261), REAL(0.376103), REAL(-0.631506), |
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182 | REAL(-0.216201), REAL(-0.126776), REAL(-0.886936), |
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183 | REAL(-0.171075), REAL(0.011544), REAL(-0.881386), |
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184 | REAL(-0.181074), REAL(0.098223), REAL(-0.814779), |
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185 | REAL(-0.119891), REAL(0.218786), REAL(-0.760153), |
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186 | REAL(-0.078895), REAL(0.276780), REAL(-0.739281), |
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187 | REAL(0.006801), REAL(0.310959), REAL(-0.735661), |
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188 | REAL(-0.168842), REAL(0.102387), REAL(-0.920381), |
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189 | REAL(-0.104072), REAL(0.177278), REAL(-0.952530), |
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190 | REAL(-0.129704), REAL(0.211848), REAL(-0.836678), |
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191 | REAL(-0.099875), REAL(0.310931), REAL(-0.799381), |
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192 | REAL(0.007237), REAL(0.361687), REAL(-0.794439), |
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193 | REAL(-0.077913), REAL(0.258753), REAL(-0.921640), |
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194 | REAL(0.007957), REAL(0.282241), REAL(-0.931680), |
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195 | REAL(-0.252222), REAL(-0.550401), REAL(-0.557810), |
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196 | REAL(-0.267633), REAL(-0.603419), REAL(-0.655209), |
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197 | REAL(-0.446838), REAL(-0.118517), REAL(-0.466159), |
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198 | REAL(-0.459488), REAL(-0.093017), REAL(-0.311341), |
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199 | REAL(-0.370645), REAL(-0.100108), REAL(-0.159454), |
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200 | REAL(-0.371984), REAL(-0.091991), REAL(-0.011044), |
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201 | REAL(-0.328945), REAL(-0.098269), REAL(0.088659), |
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202 | REAL(-0.282452), REAL(-0.018862), REAL(0.311501), |
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203 | REAL(-0.352403), REAL(-0.131341), REAL(0.144902), |
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204 | REAL(-0.364126), REAL(-0.200299), REAL(0.202388), |
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205 | REAL(-0.283965), REAL(-0.231869), REAL(0.023668), |
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206 | REAL(-0.298943), REAL(-0.155218), REAL(0.369716), |
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207 | REAL(-0.293787), REAL(-0.121856), REAL(0.419097), |
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208 | REAL(-0.290163), REAL(-0.290797), REAL(0.107824), |
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209 | REAL(-0.264165), REAL(-0.272849), REAL(0.036347), |
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210 | REAL(-0.228567), REAL(-0.372573), REAL(0.290309), |
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211 | REAL(-0.190431), REAL(-0.286997), REAL(0.421917), |
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212 | REAL(-0.191039), REAL(-0.240973), REAL(0.507118), |
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213 | REAL(-0.287272), REAL(-0.276431), REAL(-0.065444), |
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214 | REAL(-0.295675), REAL(-0.280818), REAL(-0.174200), |
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215 | REAL(-0.399537), REAL(-0.313131), REAL(-0.376167), |
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216 | REAL(-0.392666), REAL(-0.488581), REAL(-0.427494), |
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217 | REAL(-0.331669), REAL(-0.570185), REAL(-0.466054), |
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218 | REAL(-0.282290), REAL(-0.618140), REAL(-0.589220), |
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219 | REAL(-0.374238), REAL(-0.594882), REAL(-0.323298), |
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220 | REAL(-0.381071), REAL(-0.629723), REAL(-0.350777), |
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221 | REAL(-0.382112), REAL(-0.624060), REAL(-0.221577), |
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222 | REAL(-0.272701), REAL(-0.566522), REAL(0.259157), |
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223 | REAL(-0.256702), REAL(-0.663406), REAL(0.286079), |
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224 | REAL(-0.280948), REAL(-0.428359), REAL(0.055790), |
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225 | REAL(-0.184974), REAL(-0.508894), REAL(0.326265), |
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226 | REAL(-0.279971), REAL(-0.526918), REAL(0.395319), |
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227 | REAL(-0.282599), REAL(-0.663393), REAL(0.412411), |
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228 | REAL(-0.188329), REAL(-0.475093), REAL(0.417954), |
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229 | REAL(-0.263384), REAL(-0.663396), REAL(0.466604), |
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230 | REAL(-0.209063), REAL(-0.663393), REAL(0.509344), |
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231 | REAL(-0.002044), REAL(-0.319624), REAL(0.553078), |
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232 | REAL(-0.001266), REAL(-0.371260), REAL(0.413296), |
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233 | REAL(-0.219753), REAL(-0.339762), REAL(-0.040921), |
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234 | REAL(-0.256986), REAL(-0.282511), REAL(-0.006349), |
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235 | REAL(-0.271706), REAL(-0.260881), REAL(0.001764), |
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236 | REAL(-0.091191), REAL(-0.419184), REAL(-0.045912), |
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237 | REAL(-0.114944), REAL(-0.429752), REAL(-0.124739), |
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238 | REAL(-0.113970), REAL(-0.382987), REAL(-0.188540), |
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239 | REAL(-0.243012), REAL(-0.464942), REAL(-0.242850), |
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240 | REAL(-0.314815), REAL(-0.505402), REAL(-0.324768), |
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241 | REAL(0.002774), REAL(-0.437526), REAL(-0.262766), |
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242 | REAL(-0.072625), REAL(-0.417748), REAL(-0.221440), |
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243 | REAL(-0.160112), REAL(-0.476932), REAL(-0.293450), |
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244 | REAL(0.003859), REAL(-0.453425), REAL(-0.443916), |
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245 | REAL(-0.120363), REAL(-0.581567), REAL(-0.438689), |
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246 | REAL(-0.091499), REAL(-0.584191), REAL(-0.294511), |
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247 | REAL(-0.116469), REAL(-0.599861), REAL(-0.188308), |
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248 | REAL(-0.208032), REAL(-0.513640), REAL(-0.134649), |
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249 | REAL(-0.235749), REAL(-0.610017), REAL(-0.040939), |
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250 | REAL(-0.344916), REAL(-0.622487), REAL(-0.085380), |
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251 | REAL(-0.336401), REAL(-0.531864), REAL(-0.212298), |
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252 | REAL(0.001961), REAL(-0.459550), REAL(-0.135547), |
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253 | REAL(-0.058296), REAL(-0.430536), REAL(-0.043440), |
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254 | REAL(0.001378), REAL(-0.449511), REAL(-0.037762), |
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255 | REAL(-0.130135), REAL(-0.510222), REAL(0.079144), |
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256 | REAL(0.000142), REAL(-0.477549), REAL(0.157064), |
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257 | REAL(-0.114284), REAL(-0.453206), REAL(0.304397), |
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258 | REAL(-0.000592), REAL(-0.443558), REAL(0.285401), |
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259 | REAL(-0.056215), REAL(-0.663402), REAL(0.326073), |
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260 | REAL(-0.026248), REAL(-0.568010), REAL(0.273318), |
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261 | REAL(-0.049261), REAL(-0.531064), REAL(0.389854), |
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262 | REAL(-0.127096), REAL(-0.663398), REAL(0.479316), |
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263 | REAL(-0.058384), REAL(-0.663401), REAL(0.372891), |
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264 | REAL(-0.303961), REAL(0.054199), REAL(0.625921), |
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265 | REAL(-0.268594), REAL(0.193403), REAL(0.502766), |
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266 | REAL(-0.277159), REAL(0.126123), REAL(0.443289), |
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267 | REAL(-0.287605), REAL(-0.005722), REAL(0.531844), |
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268 | REAL(-0.231396), REAL(-0.121289), REAL(0.587387), |
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269 | REAL(-0.253475), REAL(-0.081797), REAL(0.756541), |
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270 | REAL(-0.195164), REAL(-0.137969), REAL(0.728011), |
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271 | REAL(-0.167673), REAL(-0.156573), REAL(0.609388), |
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272 | REAL(-0.145917), REAL(-0.169029), REAL(0.697600), |
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273 | REAL(-0.077776), REAL(-0.214247), REAL(0.622586), |
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274 | REAL(-0.076873), REAL(-0.214971), REAL(0.696301), |
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275 | REAL(-0.002341), REAL(-0.233135), REAL(0.622859), |
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276 | REAL(-0.002730), REAL(-0.213526), REAL(0.691267), |
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277 | REAL(-0.003136), REAL(-0.192628), REAL(0.762731), |
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278 | REAL(-0.056136), REAL(-0.201222), REAL(0.763806), |
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279 | REAL(-0.114589), REAL(-0.166192), REAL(0.770723), |
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280 | REAL(-0.155145), REAL(-0.129632), REAL(0.791738), |
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281 | REAL(-0.183611), REAL(-0.058705), REAL(0.847012), |
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282 | REAL(-0.165562), REAL(0.001980), REAL(0.833386), |
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283 | REAL(-0.220084), REAL(0.019914), REAL(0.768935), |
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284 | REAL(-0.255730), REAL(0.090306), REAL(0.670782), |
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285 | REAL(-0.255594), REAL(0.113833), REAL(0.663389), |
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286 | REAL(-0.226380), REAL(0.212655), REAL(0.617740), |
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287 | REAL(-0.003367), REAL(-0.195342), REAL(0.799680), |
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288 | REAL(-0.029743), REAL(-0.210508), REAL(0.827180), |
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289 | REAL(-0.003818), REAL(-0.194783), REAL(0.873636), |
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290 | REAL(-0.004116), REAL(-0.157907), REAL(0.931268), |
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291 | REAL(-0.031280), REAL(-0.184555), REAL(0.889476), |
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292 | REAL(-0.059885), REAL(-0.184448), REAL(0.841330), |
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293 | REAL(-0.135333), REAL(-0.164332), REAL(0.878200), |
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294 | REAL(-0.085574), REAL(-0.170948), REAL(0.925547), |
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295 | REAL(-0.163833), REAL(-0.094170), REAL(0.897114), |
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296 | REAL(-0.138444), REAL(-0.104250), REAL(0.945975), |
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297 | REAL(-0.083497), REAL(-0.084934), REAL(0.979607), |
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298 | REAL(-0.004433), REAL(-0.146642), REAL(0.985872), |
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299 | REAL(-0.150715), REAL(0.032650), REAL(0.884111), |
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300 | REAL(-0.135892), REAL(-0.035520), REAL(0.945455), |
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301 | REAL(-0.070612), REAL(0.036849), REAL(0.975733), |
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302 | REAL(-0.004458), REAL(-0.042526), REAL(1.015670), |
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303 | REAL(-0.004249), REAL(0.046042), REAL(1.003240), |
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304 | REAL(-0.086969), REAL(0.133224), REAL(0.947633), |
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305 | REAL(-0.003873), REAL(0.161605), REAL(0.970499), |
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306 | REAL(-0.125544), REAL(0.140012), REAL(0.917678), |
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307 | REAL(-0.125651), REAL(0.250246), REAL(0.857602), |
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308 | REAL(-0.003127), REAL(0.284070), REAL(0.878870), |
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309 | REAL(-0.159174), REAL(0.125726), REAL(0.888878), |
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310 | REAL(-0.183807), REAL(0.196970), REAL(0.844480), |
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311 | REAL(-0.159890), REAL(0.291736), REAL(0.732480), |
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312 | REAL(-0.199495), REAL(0.207230), REAL(0.779864), |
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313 | REAL(-0.206182), REAL(0.164608), REAL(0.693257), |
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314 | REAL(-0.186315), REAL(0.160689), REAL(0.817193), |
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315 | REAL(-0.192827), REAL(0.166706), REAL(0.782271), |
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316 | REAL(-0.175112), REAL(0.110008), REAL(0.860621), |
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317 | REAL(-0.161022), REAL(0.057420), REAL(0.855111), |
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318 | REAL(-0.172319), REAL(0.036155), REAL(0.816189), |
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319 | REAL(-0.190318), REAL(0.064083), REAL(0.760605), |
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320 | REAL(-0.195072), REAL(0.129179), REAL(0.731104), |
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321 | REAL(-0.203126), REAL(0.410287), REAL(0.680536), |
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322 | REAL(-0.216677), REAL(0.309274), REAL(0.642272), |
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323 | REAL(-0.241515), REAL(0.311485), REAL(0.587832), |
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324 | REAL(-0.002209), REAL(0.366663), REAL(0.749413), |
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325 | REAL(-0.088230), REAL(0.396265), REAL(0.678635), |
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326 | REAL(-0.170147), REAL(0.109517), REAL(0.840784), |
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327 | REAL(-0.160521), REAL(0.067766), REAL(0.830650), |
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328 | REAL(-0.181546), REAL(0.139805), REAL(0.812146), |
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329 | REAL(-0.180495), REAL(0.148568), REAL(0.776087), |
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330 | REAL(-0.180255), REAL(0.129125), REAL(0.744192), |
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331 | REAL(-0.186298), REAL(0.078308), REAL(0.769352), |
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332 | REAL(-0.167622), REAL(0.060539), REAL(0.806675), |
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333 | REAL(-0.189876), REAL(0.102760), REAL(0.802582), |
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334 | REAL(-0.108340), REAL(0.455446), REAL(0.657174), |
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335 | REAL(-0.241585), REAL(0.527592), REAL(0.669296), |
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336 | REAL(-0.265676), REAL(0.513366), REAL(0.634594), |
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337 | REAL(-0.203073), REAL(0.478550), REAL(0.581526), |
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338 | REAL(-0.266772), REAL(0.642330), REAL(0.602061), |
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603 | REAL(0.185542), REAL(0.011005), REAL(-0.879202), |
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604 | REAL(0.230315), REAL(-0.127450), REAL(-0.884202), |
---|
605 | REAL(0.260471), REAL(0.255056), REAL(-0.624378), |
---|
606 | REAL(0.351567), REAL(-0.042194), REAL(-0.663976), |
---|
607 | REAL(0.253742), REAL(0.323524), REAL(-0.433716), |
---|
608 | REAL(0.411612), REAL(0.132299), REAL(-0.438264), |
---|
609 | REAL(0.270513), REAL(0.356530), REAL(-0.289984), |
---|
610 | REAL(0.422146), REAL(0.162819), REAL(-0.273130), |
---|
611 | REAL(0.164724), REAL(0.237490), REAL(0.208912), |
---|
612 | REAL(0.253806), REAL(0.092900), REAL(0.240640), |
---|
613 | REAL(0.203608), REAL(0.284597), REAL(0.096223), |
---|
614 | REAL(0.241006), REAL(0.343093), REAL(-0.171396), |
---|
615 | REAL(0.356076), REAL(0.149288), REAL(-0.143443), |
---|
616 | REAL(0.337656), REAL(0.131992), REAL(0.066374) |
---|
617 | }; |
---|
618 | |
---|
619 | int Indices[IndexCount / 3][3] = { |
---|
620 | {126,134,133}, |
---|
621 | {342,138,134}, |
---|
622 | {133,134,138}, |
---|
623 | {126,342,134}, |
---|
624 | {312,316,317}, |
---|
625 | {169,163,162}, |
---|
626 | {312,317,319}, |
---|
627 | {312,319,318}, |
---|
628 | {169,162,164}, |
---|
629 | {169,168,163}, |
---|
630 | {312,314,315}, |
---|
631 | {169,164,165}, |
---|
632 | {169,167,168}, |
---|
633 | {312,315,316}, |
---|
634 | {312,313,314}, |
---|
635 | {169,165,166}, |
---|
636 | {169,166,167}, |
---|
637 | {312,318,313}, |
---|
638 | {308,304,305}, |
---|
639 | {308,305,306}, |
---|
640 | {179,181,188}, |
---|
641 | {177,173,175}, |
---|
642 | {177,175,176}, |
---|
643 | {302,293,300}, |
---|
644 | {322,294,304}, |
---|
645 | {188,176,175}, |
---|
646 | {188,175,179}, |
---|
647 | {158,177,187}, |
---|
648 | {305,293,302}, |
---|
649 | {305,302,306}, |
---|
650 | {322,304,308}, |
---|
651 | {188,181,183}, |
---|
652 | {158,173,177}, |
---|
653 | {293,298,300}, |
---|
654 | {304,294,296}, |
---|
655 | {304,296,305}, |
---|
656 | {185,176,188}, |
---|
657 | {185,188,183}, |
---|
658 | {187,177,176}, |
---|
659 | {187,176,185}, |
---|
660 | {305,296,298}, |
---|
661 | {305,298,293}, |
---|
662 | {436,432, 28}, |
---|
663 | {436, 28, 23}, |
---|
664 | {434,278,431}, |
---|
665 | { 30,208,209}, |
---|
666 | { 30,209, 29}, |
---|
667 | { 19, 20, 24}, |
---|
668 | {208,207,211}, |
---|
669 | {208,211,209}, |
---|
670 | { 19,210,212}, |
---|
671 | {433,434,431}, |
---|
672 | {433,431,432}, |
---|
673 | {433,432,436}, |
---|
674 | {436,437,433}, |
---|
675 | {277,275,276}, |
---|
676 | {277,276,278}, |
---|
677 | {209,210, 25}, |
---|
678 | { 21, 26, 24}, |
---|
679 | { 21, 24, 20}, |
---|
680 | { 25, 26, 27}, |
---|
681 | { 25, 27, 29}, |
---|
682 | {435,439,277}, |
---|
683 | {439,275,277}, |
---|
684 | {432,431, 30}, |
---|
685 | {432, 30, 28}, |
---|
686 | {433,437,438}, |
---|
687 | {433,438,435}, |
---|
688 | {434,277,278}, |
---|
689 | { 24, 25,210}, |
---|
690 | { 24, 26, 25}, |
---|
691 | { 29, 27, 28}, |
---|
692 | { 29, 28, 30}, |
---|
693 | { 19, 24,210}, |
---|
694 | {208, 30,431}, |
---|
695 | {208,431,278}, |
---|
696 | {435,434,433}, |
---|
697 | {435,277,434}, |
---|
698 | { 25, 29,209}, |
---|
699 | { 27, 22, 23}, |
---|
700 | { 27, 23, 28}, |
---|
701 | { 26, 22, 27}, |
---|
702 | { 26, 21, 22}, |
---|
703 | {212,210,209}, |
---|
704 | {212,209,211}, |
---|
705 | {207,208,278}, |
---|
706 | {207,278,276}, |
---|
707 | {439,435,438}, |
---|
708 | { 12, 9, 10}, |
---|
709 | { 12, 10, 13}, |
---|
710 | { 2, 3, 5}, |
---|
711 | { 2, 5, 4}, |
---|
712 | { 16, 13, 14}, |
---|
713 | { 16, 14, 17}, |
---|
714 | { 22, 21, 16}, |
---|
715 | { 13, 10, 11}, |
---|
716 | { 13, 11, 14}, |
---|
717 | { 1, 0, 3}, |
---|
718 | { 1, 3, 2}, |
---|
719 | { 15, 12, 16}, |
---|
720 | { 19, 18, 15}, |
---|
721 | { 19, 15, 16}, |
---|
722 | { 19, 16, 20}, |
---|
723 | { 9, 1, 2}, |
---|
724 | { 9, 2, 10}, |
---|
725 | { 3, 7, 8}, |
---|
726 | { 3, 8, 5}, |
---|
727 | { 16, 17, 23}, |
---|
728 | { 16, 23, 22}, |
---|
729 | { 21, 20, 16}, |
---|
730 | { 10, 2, 4}, |
---|
731 | { 10, 4, 11}, |
---|
732 | { 0, 6, 7}, |
---|
733 | { 0, 7, 3}, |
---|
734 | { 12, 13, 16}, |
---|
735 | {451,446,445}, |
---|
736 | {451,445,450}, |
---|
737 | {442,440,439}, |
---|
738 | {442,439,438}, |
---|
739 | {442,438,441}, |
---|
740 | {421,420,422}, |
---|
741 | {412,411,426}, |
---|
742 | {412,426,425}, |
---|
743 | {408,405,407}, |
---|
744 | {413, 67, 68}, |
---|
745 | {413, 68,414}, |
---|
746 | {391,390,412}, |
---|
747 | { 80,384,386}, |
---|
748 | {404,406,378}, |
---|
749 | {390,391,377}, |
---|
750 | {390,377, 88}, |
---|
751 | {400,415,375}, |
---|
752 | {398,396,395}, |
---|
753 | {398,395,371}, |
---|
754 | {398,371,370}, |
---|
755 | {112,359,358}, |
---|
756 | {112,358,113}, |
---|
757 | {351,352,369}, |
---|
758 | {125,349,348}, |
---|
759 | {345,343,342}, |
---|
760 | {342,340,339}, |
---|
761 | {341,335,337}, |
---|
762 | {328,341,327}, |
---|
763 | {331,323,333}, |
---|
764 | {331,322,323}, |
---|
765 | {327,318,319}, |
---|
766 | {327,319,328}, |
---|
767 | {315,314,324}, |
---|
768 | {302,300,301}, |
---|
769 | {302,301,303}, |
---|
770 | {320,311,292}, |
---|
771 | {285,284,289}, |
---|
772 | {310,307,288}, |
---|
773 | {310,288,290}, |
---|
774 | {321,350,281}, |
---|
775 | {321,281,282}, |
---|
776 | {423,448,367}, |
---|
777 | {272,273,384}, |
---|
778 | {272,384,274}, |
---|
779 | {264,265,382}, |
---|
780 | {264,382,383}, |
---|
781 | {440,442,261}, |
---|
782 | {440,261,263}, |
---|
783 | {252,253,254}, |
---|
784 | {252,254,251}, |
---|
785 | {262,256,249}, |
---|
786 | {262,249,248}, |
---|
787 | {228,243,242}, |
---|
788 | {228, 31,243}, |
---|
789 | {213,215,238}, |
---|
790 | {213,238,237}, |
---|
791 | { 19,212,230}, |
---|
792 | {224,225,233}, |
---|
793 | {224,233,231}, |
---|
794 | {217,218, 56}, |
---|
795 | {217, 56, 54}, |
---|
796 | {217,216,239}, |
---|
797 | {217,239,238}, |
---|
798 | {217,238,215}, |
---|
799 | {218,217,215}, |
---|
800 | {218,215,214}, |
---|
801 | { 6,102,206}, |
---|
802 | {186,199,200}, |
---|
803 | {197,182,180}, |
---|
804 | {170,171,157}, |
---|
805 | {201,200,189}, |
---|
806 | {170,190,191}, |
---|
807 | {170,191,192}, |
---|
808 | {175,174,178}, |
---|
809 | {175,178,179}, |
---|
810 | {168,167,155}, |
---|
811 | {122,149,158}, |
---|
812 | {122,158,159}, |
---|
813 | {135,153,154}, |
---|
814 | {135,154,118}, |
---|
815 | {143,140,141}, |
---|
816 | {143,141,144}, |
---|
817 | {132,133,136}, |
---|
818 | {130,126,133}, |
---|
819 | {124,125,127}, |
---|
820 | {122,101,100}, |
---|
821 | {122,100,121}, |
---|
822 | {110,108,107}, |
---|
823 | {110,107,109}, |
---|
824 | { 98, 99, 97}, |
---|
825 | { 98, 97, 64}, |
---|
826 | { 98, 64, 66}, |
---|
827 | { 87, 55, 57}, |
---|
828 | { 83, 82, 79}, |
---|
829 | { 83, 79, 84}, |
---|
830 | { 78, 74, 50}, |
---|
831 | { 49, 71, 41}, |
---|
832 | { 49, 41, 37}, |
---|
833 | { 49, 37, 36}, |
---|
834 | { 58, 44, 60}, |
---|
835 | { 60, 59, 58}, |
---|
836 | { 51, 34, 33}, |
---|
837 | { 39, 40, 42}, |
---|
838 | { 39, 42, 38}, |
---|
839 | {243,240, 33}, |
---|
840 | {243, 33,229}, |
---|
841 | { 39, 38, 6}, |
---|
842 | { 44, 46, 40}, |
---|
843 | { 55, 56, 57}, |
---|
844 | { 64, 62, 65}, |
---|
845 | { 64, 65, 66}, |
---|
846 | { 41, 71, 45}, |
---|
847 | { 75, 50, 51}, |
---|
848 | { 81, 79, 82}, |
---|
849 | { 77, 88, 73}, |
---|
850 | { 93, 92, 94}, |
---|
851 | { 68, 47, 46}, |
---|
852 | { 96, 97, 99}, |
---|
853 | { 96, 99, 95}, |
---|
854 | {110,109,111}, |
---|
855 | {111,112,110}, |
---|
856 | {114,113,123}, |
---|
857 | {114,123,124}, |
---|
858 | {132,131,129}, |
---|
859 | {133,137,136}, |
---|
860 | {135,142,145}, |
---|
861 | {145,152,135}, |
---|
862 | {149,147,157}, |
---|
863 | {157,158,149}, |
---|
864 | {164,150,151}, |
---|
865 | {153,163,168}, |
---|
866 | {153,168,154}, |
---|
867 | {185,183,182}, |
---|
868 | {185,182,184}, |
---|
869 | {161,189,190}, |
---|
870 | {200,199,191}, |
---|
871 | {200,191,190}, |
---|
872 | {180,178,195}, |
---|
873 | {180,195,196}, |
---|
874 | {102,101,204}, |
---|
875 | {102,204,206}, |
---|
876 | { 43, 48,104}, |
---|
877 | { 43,104,103}, |
---|
878 | {216,217, 54}, |
---|
879 | {216, 54, 32}, |
---|
880 | {207,224,231}, |
---|
881 | {230,212,211}, |
---|
882 | {230,211,231}, |
---|
883 | {227,232,241}, |
---|
884 | {227,241,242}, |
---|
885 | {235,234,241}, |
---|
886 | {235,241,244}, |
---|
887 | {430,248,247}, |
---|
888 | {272,274,253}, |
---|
889 | {272,253,252}, |
---|
890 | {439,260,275}, |
---|
891 | {225,224,259}, |
---|
892 | {225,259,257}, |
---|
893 | {269,270,407}, |
---|
894 | {269,407,405}, |
---|
895 | {270,269,273}, |
---|
896 | {270,273,272}, |
---|
897 | {273,269,268}, |
---|
898 | {273,268,267}, |
---|
899 | {273,267,266}, |
---|
900 | {273,266,265}, |
---|
901 | {273,265,264}, |
---|
902 | {448,279,367}, |
---|
903 | {281,350,368}, |
---|
904 | {285,286,301}, |
---|
905 | {290,323,310}, |
---|
906 | {290,311,323}, |
---|
907 | {282,281,189}, |
---|
908 | {292,311,290}, |
---|
909 | {292,290,291}, |
---|
910 | {307,306,302}, |
---|
911 | {307,302,303}, |
---|
912 | {316,315,324}, |
---|
913 | {316,324,329}, |
---|
914 | {331,351,350}, |
---|
915 | {330,334,335}, |
---|
916 | {330,335,328}, |
---|
917 | {341,337,338}, |
---|
918 | {344,355,354}, |
---|
919 | {346,345,348}, |
---|
920 | {346,348,347}, |
---|
921 | {364,369,352}, |
---|
922 | {364,352,353}, |
---|
923 | {365,363,361}, |
---|
924 | {365,361,362}, |
---|
925 | {376,401,402}, |
---|
926 | {373,372,397}, |
---|
927 | {373,397,400}, |
---|
928 | {376, 92,377}, |
---|
929 | {381,378,387}, |
---|
930 | {381,387,385}, |
---|
931 | {386, 77, 80}, |
---|
932 | {390,389,412}, |
---|
933 | {416,417,401}, |
---|
934 | {403,417,415}, |
---|
935 | {408,429,430}, |
---|
936 | {419,423,418}, |
---|
937 | {427,428,444}, |
---|
938 | {427,444,446}, |
---|
939 | {437,436,441}, |
---|
940 | {450,445, 11}, |
---|
941 | {450, 11, 4}, |
---|
942 | {447,449, 5}, |
---|
943 | {447, 5, 8}, |
---|
944 | {441,438,437}, |
---|
945 | {425,426,451}, |
---|
946 | {425,451,452}, |
---|
947 | {417,421,415}, |
---|
948 | {408,407,429}, |
---|
949 | {399,403,400}, |
---|
950 | {399,400,397}, |
---|
951 | {394,393,416}, |
---|
952 | {389,411,412}, |
---|
953 | {386,383,385}, |
---|
954 | {408,387,378}, |
---|
955 | {408,378,406}, |
---|
956 | {377,391,376}, |
---|
957 | { 94,375,415}, |
---|
958 | {372,373,374}, |
---|
959 | {372,374,370}, |
---|
960 | {359,111,360}, |
---|
961 | {359,112,111}, |
---|
962 | {113,358,349}, |
---|
963 | {113,349,123}, |
---|
964 | {346,343,345}, |
---|
965 | {343,340,342}, |
---|
966 | {338,336,144}, |
---|
967 | {338,144,141}, |
---|
968 | {327,341,354}, |
---|
969 | {327,354,326}, |
---|
970 | {331,350,321}, |
---|
971 | {331,321,322}, |
---|
972 | {314,313,326}, |
---|
973 | {314,326,325}, |
---|
974 | {300,298,299}, |
---|
975 | {300,299,301}, |
---|
976 | {288,287,289}, |
---|
977 | {189,292,282}, |
---|
978 | {287,288,303}, |
---|
979 | {284,285,297}, |
---|
980 | {368,280,281}, |
---|
981 | {448,447,279}, |
---|
982 | {274,226,255}, |
---|
983 | {267,268,404}, |
---|
984 | {267,404,379}, |
---|
985 | {429,262,430}, |
---|
986 | {439,440,260}, |
---|
987 | {257,258,249}, |
---|
988 | {257,249,246}, |
---|
989 | {430,262,248}, |
---|
990 | {234,228,242}, |
---|
991 | {234,242,241}, |
---|
992 | {237,238,239}, |
---|
993 | {237,239,236}, |
---|
994 | { 15, 18,227}, |
---|
995 | { 15,227,229}, |
---|
996 | {222,223, 82}, |
---|
997 | {222, 82, 83}, |
---|
998 | {214,215,213}, |
---|
999 | {214,213, 81}, |
---|
1000 | { 38,102, 6}, |
---|
1001 | {122,159,200}, |
---|
1002 | {122,200,201}, |
---|
1003 | {174,171,192}, |
---|
1004 | {174,192,194}, |
---|
1005 | {197,193,198}, |
---|
1006 | {190,170,161}, |
---|
1007 | {181,179,178}, |
---|
1008 | {181,178,180}, |
---|
1009 | {166,156,155}, |
---|
1010 | {163,153,152}, |
---|
1011 | {163,152,162}, |
---|
1012 | {120,156,149}, |
---|
1013 | {120,149,121}, |
---|
1014 | {152,153,135}, |
---|
1015 | {140,143,142}, |
---|
1016 | {135,131,132}, |
---|
1017 | {135,132,136}, |
---|
1018 | {130,129,128}, |
---|
1019 | {130,128,127}, |
---|
1020 | {100,105,119}, |
---|
1021 | {100,119,120}, |
---|
1022 | {106,104,107}, |
---|
1023 | {106,107,108}, |
---|
1024 | { 91, 95, 59}, |
---|
1025 | { 93, 94, 68}, |
---|
1026 | { 91, 89, 92}, |
---|
1027 | { 76, 53, 55}, |
---|
1028 | { 76, 55, 87}, |
---|
1029 | { 81, 78, 79}, |
---|
1030 | { 74, 73, 49}, |
---|
1031 | { 69, 60, 45}, |
---|
1032 | { 58, 62, 64}, |
---|
1033 | { 58, 64, 61}, |
---|
1034 | { 53, 31, 32}, |
---|
1035 | { 32, 54, 53}, |
---|
1036 | { 42, 43, 38}, |
---|
1037 | { 35, 36, 0}, |
---|
1038 | { 35, 0, 1}, |
---|
1039 | { 34, 35, 1}, |
---|
1040 | { 34, 1, 9}, |
---|
1041 | { 44, 40, 41}, |
---|
1042 | { 44, 41, 45}, |
---|
1043 | { 33,240, 51}, |
---|
1044 | { 63, 62, 58}, |
---|
1045 | { 63, 58, 59}, |
---|
1046 | { 45, 71, 70}, |
---|
1047 | { 76, 75, 51}, |
---|
1048 | { 76, 51, 52}, |
---|
1049 | { 86, 85, 84}, |
---|
1050 | { 86, 84, 87}, |
---|
1051 | { 89, 72, 73}, |
---|
1052 | { 89, 73, 88}, |
---|
1053 | { 91, 92, 96}, |
---|
1054 | { 91, 96, 95}, |
---|
1055 | { 72, 91, 60}, |
---|
1056 | { 72, 60, 69}, |
---|
1057 | {104,106,105}, |
---|
1058 | {119,105,117}, |
---|
1059 | {119,117,118}, |
---|
1060 | {124,127,128}, |
---|
1061 | {117,116,129}, |
---|
1062 | {117,129,131}, |
---|
1063 | {118,117,131}, |
---|
1064 | {135,140,142}, |
---|
1065 | {146,150,152}, |
---|
1066 | {146,152,145}, |
---|
1067 | {149,122,121}, |
---|
1068 | {166,165,151}, |
---|
1069 | {166,151,156}, |
---|
1070 | {158,172,173}, |
---|
1071 | {161,160,189}, |
---|
1072 | {199,198,193}, |
---|
1073 | {199,193,191}, |
---|
1074 | {204,201,202}, |
---|
1075 | {178,174,194}, |
---|
1076 | {200,159,186}, |
---|
1077 | {109, 48, 67}, |
---|
1078 | { 48,107,104}, |
---|
1079 | {216, 32,236}, |
---|
1080 | {216,236,239}, |
---|
1081 | {223,214, 81}, |
---|
1082 | {223, 81, 82}, |
---|
1083 | { 33, 12, 15}, |
---|
1084 | { 32,228,234}, |
---|
1085 | { 32,234,236}, |
---|
1086 | {240, 31, 52}, |
---|
1087 | {256,255,246}, |
---|
1088 | {256,246,249}, |
---|
1089 | {258,263,248}, |
---|
1090 | {258,248,249}, |
---|
1091 | {275,260,259}, |
---|
1092 | {275,259,276}, |
---|
1093 | {207,276,259}, |
---|
1094 | {270,271,429}, |
---|
1095 | {270,429,407}, |
---|
1096 | {413,418,366}, |
---|
1097 | {413,366,365}, |
---|
1098 | {368,367,279}, |
---|
1099 | {368,279,280}, |
---|
1100 | {303,301,286}, |
---|
1101 | {303,286,287}, |
---|
1102 | {283,282,292}, |
---|
1103 | {283,292,291}, |
---|
1104 | {320,292,189}, |
---|
1105 | {298,296,297}, |
---|
1106 | {298,297,299}, |
---|
1107 | {318,327,326}, |
---|
1108 | {318,326,313}, |
---|
1109 | {329,330,317}, |
---|
1110 | {336,333,320}, |
---|
1111 | {326,354,353}, |
---|
1112 | {334,332,333}, |
---|
1113 | {334,333,336}, |
---|
1114 | {342,339,139}, |
---|
1115 | {342,139,138}, |
---|
1116 | {345,342,126}, |
---|
1117 | {347,357,356}, |
---|
1118 | {369,368,351}, |
---|
1119 | {363,356,357}, |
---|
1120 | {363,357,361}, |
---|
1121 | {366,367,368}, |
---|
1122 | {366,368,369}, |
---|
1123 | {375,373,400}, |
---|
1124 | { 92, 90,377}, |
---|
1125 | {409,387,408}, |
---|
1126 | {386,385,387}, |
---|
1127 | {386,387,388}, |
---|
1128 | {412,394,391}, |
---|
1129 | {396,398,399}, |
---|
1130 | {408,406,405}, |
---|
1131 | {415,421,419}, |
---|
1132 | {415,419,414}, |
---|
1133 | {425,452,448}, |
---|
1134 | {425,448,424}, |
---|
1135 | {444,441,443}, |
---|
1136 | {448,452,449}, |
---|
1137 | {448,449,447}, |
---|
1138 | {446,444,443}, |
---|
1139 | {446,443,445}, |
---|
1140 | {250,247,261}, |
---|
1141 | {250,261,428}, |
---|
1142 | {421,422,423}, |
---|
1143 | {421,423,419}, |
---|
1144 | {427,410,250}, |
---|
1145 | {417,403,401}, |
---|
1146 | {403,402,401}, |
---|
1147 | {420,392,412}, |
---|
1148 | {420,412,425}, |
---|
1149 | {420,425,424}, |
---|
1150 | {386,411,389}, |
---|
1151 | {383,382,381}, |
---|
1152 | {383,381,385}, |
---|
1153 | {378,379,404}, |
---|
1154 | {372,371,395}, |
---|
1155 | {372,395,397}, |
---|
1156 | {371,372,370}, |
---|
1157 | {361,359,360}, |
---|
1158 | {361,360,362}, |
---|
1159 | {368,350,351}, |
---|
1160 | {349,347,348}, |
---|
1161 | {356,355,344}, |
---|
1162 | {356,344,346}, |
---|
1163 | {344,341,340}, |
---|
1164 | {344,340,343}, |
---|
1165 | {338,337,336}, |
---|
1166 | {328,335,341}, |
---|
1167 | {324,352,351}, |
---|
1168 | {324,351,331}, |
---|
1169 | {320,144,336}, |
---|
1170 | {314,325,324}, |
---|
1171 | {322,308,309}, |
---|
1172 | {310,309,307}, |
---|
1173 | {287,286,289}, |
---|
1174 | {203,280,279}, |
---|
1175 | {203,279,205}, |
---|
1176 | {297,295,283}, |
---|
1177 | {297,283,284}, |
---|
1178 | {447,205,279}, |
---|
1179 | {274,384, 80}, |
---|
1180 | {274, 80,226}, |
---|
1181 | {266,267,379}, |
---|
1182 | {266,379,380}, |
---|
1183 | {225,257,246}, |
---|
1184 | {225,246,245}, |
---|
1185 | {256,254,253}, |
---|
1186 | {256,253,255}, |
---|
1187 | {430,247,250}, |
---|
1188 | {226,235,244}, |
---|
1189 | {226,244,245}, |
---|
1190 | {232,233,244}, |
---|
1191 | {232,244,241}, |
---|
1192 | {230, 18, 19}, |
---|
1193 | { 32, 31,228}, |
---|
1194 | {219,220, 86}, |
---|
1195 | {219, 86, 57}, |
---|
1196 | {226,213,235}, |
---|
1197 | {206, 7, 6}, |
---|
1198 | {122,201,101}, |
---|
1199 | {201,204,101}, |
---|
1200 | {180,196,197}, |
---|
1201 | {170,192,171}, |
---|
1202 | {200,190,189}, |
---|
1203 | {194,193,195}, |
---|
1204 | {183,181,180}, |
---|
1205 | {183,180,182}, |
---|
1206 | {155,154,168}, |
---|
1207 | {149,156,151}, |
---|
1208 | {149,151,148}, |
---|
1209 | {155,156,120}, |
---|
1210 | {145,142,143}, |
---|
1211 | {145,143,146}, |
---|
1212 | {136,137,140}, |
---|
1213 | {133,132,130}, |
---|
1214 | {128,129,116}, |
---|
1215 | {100,120,121}, |
---|
1216 | {110,112,113}, |
---|
1217 | {110,113,114}, |
---|
1218 | { 66, 65, 63}, |
---|
1219 | { 66, 63, 99}, |
---|
1220 | { 66, 99, 98}, |
---|
1221 | { 96, 46, 61}, |
---|
1222 | { 89, 88, 90}, |
---|
1223 | { 86, 87, 57}, |
---|
1224 | { 80, 78, 81}, |
---|
1225 | { 72, 69, 49}, |
---|
1226 | { 67, 48, 47}, |
---|
1227 | { 67, 47, 68}, |
---|
1228 | { 56, 55, 53}, |
---|
1229 | { 50, 49, 36}, |
---|
1230 | { 50, 36, 35}, |
---|
1231 | { 40, 39, 41}, |
---|
1232 | {242,243,229}, |
---|
1233 | {242,229,227}, |
---|
1234 | { 6, 37, 39}, |
---|
1235 | { 42, 47, 48}, |
---|
1236 | { 42, 48, 43}, |
---|
1237 | { 61, 46, 44}, |
---|
1238 | { 45, 70, 69}, |
---|
1239 | { 69, 70, 71}, |
---|
1240 | { 69, 71, 49}, |
---|
1241 | { 74, 78, 77}, |
---|
1242 | { 83, 84, 85}, |
---|
1243 | { 73, 74, 77}, |
---|
1244 | { 93, 96, 92}, |
---|
1245 | { 68, 46, 93}, |
---|
1246 | { 95, 99, 63}, |
---|
1247 | { 95, 63, 59}, |
---|
1248 | {115,108,110}, |
---|
1249 | {115,110,114}, |
---|
1250 | {125,126,127}, |
---|
1251 | {129,130,132}, |
---|
1252 | {137,133,138}, |
---|
1253 | {137,138,139}, |
---|
1254 | {148,146,143}, |
---|
1255 | {148,143,147}, |
---|
1256 | {119,118,154}, |
---|
1257 | {161,147,143}, |
---|
1258 | {165,164,151}, |
---|
1259 | {158,157,171}, |
---|
1260 | {158,171,172}, |
---|
1261 | {159,158,187}, |
---|
1262 | {159,187,186}, |
---|
1263 | {194,192,191}, |
---|
1264 | {194,191,193}, |
---|
1265 | {189,202,201}, |
---|
1266 | {182,197,184}, |
---|
1267 | {205, 8, 7}, |
---|
1268 | { 48,109,107}, |
---|
1269 | {218,219, 57}, |
---|
1270 | {218, 57, 56}, |
---|
1271 | {207,231,211}, |
---|
1272 | {232,230,231}, |
---|
1273 | {232,231,233}, |
---|
1274 | { 53, 52, 31}, |
---|
1275 | {388,411,386}, |
---|
1276 | {409,430,250}, |
---|
1277 | {262,429,254}, |
---|
1278 | {262,254,256}, |
---|
1279 | {442,444,428}, |
---|
1280 | {273,264,383}, |
---|
1281 | {273,383,384}, |
---|
1282 | {429,271,251}, |
---|
1283 | {429,251,254}, |
---|
1284 | {413,365,362}, |
---|
1285 | { 67,413,360}, |
---|
1286 | {282,283,295}, |
---|
1287 | {285,301,299}, |
---|
1288 | {202,281,280}, |
---|
1289 | {284,283,291}, |
---|
1290 | {284,291,289}, |
---|
1291 | {320,189,160}, |
---|
1292 | {308,306,307}, |
---|
1293 | {307,309,308}, |
---|
1294 | {319,317,330}, |
---|
1295 | {319,330,328}, |
---|
1296 | {353,352,324}, |
---|
1297 | {332,331,333}, |
---|
1298 | {340,341,338}, |
---|
1299 | {354,341,344}, |
---|
1300 | {349,358,357}, |
---|
1301 | {349,357,347}, |
---|
1302 | {364,355,356}, |
---|
1303 | {364,356,363}, |
---|
1304 | {364,365,366}, |
---|
1305 | {364,366,369}, |
---|
1306 | {374,376,402}, |
---|
1307 | {375, 92,373}, |
---|
1308 | { 77,389,390}, |
---|
1309 | {382,380,381}, |
---|
1310 | {389, 77,386}, |
---|
1311 | {393,394,412}, |
---|
1312 | {393,412,392}, |
---|
1313 | {401,394,416}, |
---|
1314 | {415,400,403}, |
---|
1315 | {411,410,427}, |
---|
1316 | {411,427,426}, |
---|
1317 | {422,420,424}, |
---|
1318 | {247,248,263}, |
---|
1319 | {247,263,261}, |
---|
1320 | {445,443, 14}, |
---|
1321 | {445, 14, 11}, |
---|
1322 | {449,450, 4}, |
---|
1323 | {449, 4, 5}, |
---|
1324 | {443,441, 17}, |
---|
1325 | {443, 17, 14}, |
---|
1326 | {436, 23, 17}, |
---|
1327 | {436, 17,441}, |
---|
1328 | {424,448,422}, |
---|
1329 | {448,423,422}, |
---|
1330 | {414,419,418}, |
---|
1331 | {414,418,413}, |
---|
1332 | {406,404,405}, |
---|
1333 | {399,397,395}, |
---|
1334 | {399,395,396}, |
---|
1335 | {420,416,392}, |
---|
1336 | {388,410,411}, |
---|
1337 | {386,384,383}, |
---|
1338 | {390, 88, 77}, |
---|
1339 | {375, 94, 92}, |
---|
1340 | {415,414, 68}, |
---|
1341 | {415, 68, 94}, |
---|
1342 | {370,374,402}, |
---|
1343 | {370,402,398}, |
---|
1344 | {361,357,358}, |
---|
1345 | {361,358,359}, |
---|
1346 | {125,348,126}, |
---|
1347 | {346,344,343}, |
---|
1348 | {340,338,339}, |
---|
1349 | {337,335,334}, |
---|
1350 | {337,334,336}, |
---|
1351 | {325,353,324}, |
---|
1352 | {324,331,332}, |
---|
1353 | {324,332,329}, |
---|
1354 | {323,322,309}, |
---|
1355 | {323,309,310}, |
---|
1356 | {294,295,297}, |
---|
1357 | {294,297,296}, |
---|
1358 | {289,286,285}, |
---|
1359 | {202,280,203}, |
---|
1360 | {288,307,303}, |
---|
1361 | {282,295,321}, |
---|
1362 | { 67,360,111}, |
---|
1363 | {418,423,367}, |
---|
1364 | {418,367,366}, |
---|
1365 | {272,252,251}, |
---|
1366 | {272,251,271}, |
---|
1367 | {272,271,270}, |
---|
1368 | {255,253,274}, |
---|
1369 | {265,266,380}, |
---|
1370 | {265,380,382}, |
---|
1371 | {442,428,261}, |
---|
1372 | {440,263,258}, |
---|
1373 | {440,258,260}, |
---|
1374 | {409,250,410}, |
---|
1375 | {255,226,245}, |
---|
1376 | {255,245,246}, |
---|
1377 | { 31,240,243}, |
---|
1378 | {236,234,235}, |
---|
1379 | {236,235,237}, |
---|
1380 | {233,225,245}, |
---|
1381 | {233,245,244}, |
---|
1382 | {220,221, 85}, |
---|
1383 | {220, 85, 86}, |
---|
1384 | { 81,213,226}, |
---|
1385 | { 81,226, 80}, |
---|
1386 | { 7,206,205}, |
---|
1387 | {186,184,198}, |
---|
1388 | {186,198,199}, |
---|
1389 | {204,203,205}, |
---|
1390 | {204,205,206}, |
---|
1391 | {195,193,196}, |
---|
1392 | {171,174,172}, |
---|
1393 | {173,174,175}, |
---|
1394 | {173,172,174}, |
---|
1395 | {155,167,166}, |
---|
1396 | {160,161,143}, |
---|
1397 | {160,143,144}, |
---|
1398 | {119,154,155}, |
---|
1399 | {148,151,150}, |
---|
1400 | {148,150,146}, |
---|
1401 | {140,137,139}, |
---|
1402 | {140,139,141}, |
---|
1403 | {127,126,130}, |
---|
1404 | {114,124,128}, |
---|
1405 | {114,128,115}, |
---|
1406 | {117,105,106}, |
---|
1407 | {117,106,116}, |
---|
1408 | {104,105,100}, |
---|
1409 | {104,100,103}, |
---|
1410 | { 59, 60, 91}, |
---|
1411 | { 97, 96, 61}, |
---|
1412 | { 97, 61, 64}, |
---|
1413 | { 91, 72, 89}, |
---|
1414 | { 87, 84, 79}, |
---|
1415 | { 87, 79, 76}, |
---|
1416 | { 78, 80, 77}, |
---|
1417 | { 49, 50, 74}, |
---|
1418 | { 60, 44, 45}, |
---|
1419 | { 61, 44, 58}, |
---|
1420 | { 51, 50, 35}, |
---|
1421 | { 51, 35, 34}, |
---|
1422 | { 39, 37, 41}, |
---|
1423 | { 33, 34, 9}, |
---|
1424 | { 33, 9, 12}, |
---|
1425 | { 0, 36, 37}, |
---|
1426 | { 0, 37, 6}, |
---|
1427 | { 40, 46, 47}, |
---|
1428 | { 40, 47, 42}, |
---|
1429 | { 53, 54, 56}, |
---|
1430 | { 65, 62, 63}, |
---|
1431 | { 72, 49, 73}, |
---|
1432 | { 79, 78, 75}, |
---|
1433 | { 79, 75, 76}, |
---|
1434 | { 52, 53, 76}, |
---|
1435 | { 92, 89, 90}, |
---|
1436 | { 96, 93, 46}, |
---|
1437 | {102,103,100}, |
---|
1438 | {102,100,101}, |
---|
1439 | {116,106,108}, |
---|
1440 | {116,108,115}, |
---|
1441 | {123,125,124}, |
---|
1442 | {116,115,128}, |
---|
1443 | {118,131,135}, |
---|
1444 | {140,135,136}, |
---|
1445 | {148,147,149}, |
---|
1446 | {120,119,155}, |
---|
1447 | {164,162,152}, |
---|
1448 | {164,152,150}, |
---|
1449 | {157,147,161}, |
---|
1450 | {157,161,170}, |
---|
1451 | {186,187,185}, |
---|
1452 | {186,185,184}, |
---|
1453 | {193,197,196}, |
---|
1454 | {202,203,204}, |
---|
1455 | {194,195,178}, |
---|
1456 | {198,184,197}, |
---|
1457 | { 67,111,109}, |
---|
1458 | { 38, 43,103}, |
---|
1459 | { 38,103,102}, |
---|
1460 | {214,223,222}, |
---|
1461 | {214,222,221}, |
---|
1462 | {214,221,220}, |
---|
1463 | {214,220,219}, |
---|
1464 | {214,219,218}, |
---|
1465 | {213,237,235}, |
---|
1466 | {221,222, 83}, |
---|
1467 | {221, 83, 85}, |
---|
1468 | { 15,229, 33}, |
---|
1469 | {227, 18,230}, |
---|
1470 | {227,230,232}, |
---|
1471 | { 52, 51,240}, |
---|
1472 | { 75, 78, 50}, |
---|
1473 | {408,430,409}, |
---|
1474 | {260,258,257}, |
---|
1475 | {260,257,259}, |
---|
1476 | {224,207,259}, |
---|
1477 | {268,269,405}, |
---|
1478 | {268,405,404}, |
---|
1479 | {413,362,360}, |
---|
1480 | {447, 8,205}, |
---|
1481 | {299,297,285}, |
---|
1482 | {189,281,202}, |
---|
1483 | {290,288,289}, |
---|
1484 | {290,289,291}, |
---|
1485 | {322,321,295}, |
---|
1486 | {322,295,294}, |
---|
1487 | {333,323,311}, |
---|
1488 | {333,311,320}, |
---|
1489 | {317,316,329}, |
---|
1490 | {320,160,144}, |
---|
1491 | {353,325,326}, |
---|
1492 | {329,332,334}, |
---|
1493 | {329,334,330}, |
---|
1494 | {339,338,141}, |
---|
1495 | {339,141,139}, |
---|
1496 | {348,345,126}, |
---|
1497 | {347,356,346}, |
---|
1498 | {123,349,125}, |
---|
1499 | {364,353,354}, |
---|
1500 | {364,354,355}, |
---|
1501 | {365,364,363}, |
---|
1502 | {376,391,394}, |
---|
1503 | {376,394,401}, |
---|
1504 | { 92,376,374}, |
---|
1505 | { 92,374,373}, |
---|
1506 | {377, 90, 88}, |
---|
1507 | {380,379,378}, |
---|
1508 | {380,378,381}, |
---|
1509 | {388,387,409}, |
---|
1510 | {388,409,410}, |
---|
1511 | {416,393,392}, |
---|
1512 | {399,398,402}, |
---|
1513 | {399,402,403}, |
---|
1514 | {250,428,427}, |
---|
1515 | {421,417,416}, |
---|
1516 | {421,416,420}, |
---|
1517 | {426,427,446}, |
---|
1518 | {426,446,451}, |
---|
1519 | {444,442,441}, |
---|
1520 | {452,451,450}, |
---|
1521 | {452,450,449} |
---|
1522 | }; |
---|
1523 | |
---|
1524 | //============================ |
---|
1525 | |
---|
1526 | |
---|
1527 | dReal heightfield_callback( void* pUserData, int x, int z ) |
---|
1528 | { |
---|
1529 | dIASSERT( x < HFIELD_WSTEP ); |
---|
1530 | dIASSERT( z < HFIELD_DSTEP ); |
---|
1531 | |
---|
1532 | dReal fx = ( ((dReal)x) - ( HFIELD_WSTEP-1 )/2 ) / (dReal)( HFIELD_WSTEP-1 ); |
---|
1533 | dReal fz = ( ((dReal)z) - ( HFIELD_DSTEP-1 )/2 ) / (dReal)( HFIELD_DSTEP-1 ); |
---|
1534 | |
---|
1535 | // Create an interesting 'hump' shape |
---|
1536 | dReal h = REAL( 1.0 ) + ( REAL( -16.0 ) * ( fx*fx*fx + fz*fz*fz ) ); |
---|
1537 | |
---|
1538 | return h; |
---|
1539 | } |
---|
1540 | |
---|
1541 | |
---|
1542 | |
---|
1543 | |
---|
1544 | |
---|
1545 | // this is called by dSpaceCollide when two objects in space are |
---|
1546 | // potentially colliding. |
---|
1547 | |
---|
1548 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) |
---|
1549 | { |
---|
1550 | int i; |
---|
1551 | // if (o1->body && o2->body) return; |
---|
1552 | |
---|
1553 | // exit without doing anything if the two bodies are connected by a joint |
---|
1554 | dBodyID b1 = dGeomGetBody(o1); |
---|
1555 | dBodyID b2 = dGeomGetBody(o2); |
---|
1556 | if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; |
---|
1557 | |
---|
1558 | dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box |
---|
1559 | for (i=0; i<MAX_CONTACTS; i++) { |
---|
1560 | contact[i].surface.mode = dContactBounce | dContactSoftCFM; |
---|
1561 | contact[i].surface.mu = dInfinity; |
---|
1562 | contact[i].surface.mu2 = 0; |
---|
1563 | contact[i].surface.bounce = 0.1; |
---|
1564 | contact[i].surface.bounce_vel = 0.1; |
---|
1565 | contact[i].surface.soft_cfm = 0.01; |
---|
1566 | } |
---|
1567 | if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom, |
---|
1568 | sizeof(dContact))) { |
---|
1569 | dMatrix3 RI; |
---|
1570 | dRSetIdentity (RI); |
---|
1571 | const dReal ss[3] = {0.02,0.02,0.02}; |
---|
1572 | for (i=0; i<numc; i++) { |
---|
1573 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); |
---|
1574 | dJointAttach (c,b1,b2); |
---|
1575 | if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss); |
---|
1576 | } |
---|
1577 | } |
---|
1578 | } |
---|
1579 | |
---|
1580 | |
---|
1581 | // start simulation - set viewpoint |
---|
1582 | |
---|
1583 | static void start() |
---|
1584 | { |
---|
1585 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; |
---|
1586 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; |
---|
1587 | dsSetViewpoint (xyz,hpr); |
---|
1588 | printf ("To drop another object, press:\n"); |
---|
1589 | printf (" b for box.\n"); |
---|
1590 | printf (" s for sphere.\n"); |
---|
1591 | printf (" c for capsule.\n"); |
---|
1592 | printf (" y for cylinder.\n"); |
---|
1593 | printf (" v for a convex object.\n"); |
---|
1594 | printf (" x for a composite object.\n"); |
---|
1595 | printf (" m for a trimesh.\n"); |
---|
1596 | printf ("To select an object, press space.\n"); |
---|
1597 | printf ("To disable the selected object, press d.\n"); |
---|
1598 | printf ("To enable the selected object, press e.\n"); |
---|
1599 | printf ("To toggle showing the geom AABBs, press a.\n"); |
---|
1600 | printf ("To toggle showing the contact points, press t.\n"); |
---|
1601 | printf ("To toggle dropping from random position/orientation, press r.\n"); |
---|
1602 | printf ("To save the current state to 'state.dif', press 1.\n"); |
---|
1603 | } |
---|
1604 | |
---|
1605 | |
---|
1606 | char locase (char c) |
---|
1607 | { |
---|
1608 | if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); |
---|
1609 | else return c; |
---|
1610 | } |
---|
1611 | |
---|
1612 | |
---|
1613 | // called when a key pressed |
---|
1614 | |
---|
1615 | static void command (int cmd) |
---|
1616 | { |
---|
1617 | size_t i; |
---|
1618 | int j,k; |
---|
1619 | dReal sides[3]; |
---|
1620 | dMass m; |
---|
1621 | |
---|
1622 | cmd = locase (cmd); |
---|
1623 | |
---|
1624 | |
---|
1625 | // |
---|
1626 | // Geom Creation |
---|
1627 | // |
---|
1628 | |
---|
1629 | if ( cmd == 'b' || cmd == 's' || cmd == 'c' || |
---|
1630 | cmd == 'x' || cmd == 'y' || cmd == 'm' || cmd == 'v' ) |
---|
1631 | { |
---|
1632 | if ( num < NUM ) |
---|
1633 | { |
---|
1634 | i = num; |
---|
1635 | num++; |
---|
1636 | } |
---|
1637 | else |
---|
1638 | { |
---|
1639 | i = nextobj; |
---|
1640 | nextobj++; |
---|
1641 | if (nextobj >= num) nextobj = 0; |
---|
1642 | |
---|
1643 | // destroy the body and geoms for slot i |
---|
1644 | dBodyDestroy (obj[i].body); |
---|
1645 | for (k=0; k < GPB; k++) |
---|
1646 | { |
---|
1647 | if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); |
---|
1648 | } |
---|
1649 | memset (&obj[i],0,sizeof(obj[i])); |
---|
1650 | } |
---|
1651 | |
---|
1652 | obj[i].body = dBodyCreate (world); |
---|
1653 | for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; |
---|
1654 | |
---|
1655 | dMatrix3 R; |
---|
1656 | if (random_pos) { |
---|
1657 | dBodySetPosition (obj[i].body, |
---|
1658 | (dRandReal()-0.5)*HFIELD_WIDTH*0.75, |
---|
1659 | (dRandReal()-0.5)*HFIELD_DEPTH*0.75, |
---|
1660 | dRandReal() + 2 ); |
---|
1661 | dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, |
---|
1662 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); |
---|
1663 | } |
---|
1664 | else { |
---|
1665 | dReal maxheight = 0; |
---|
1666 | for (k=0; k<num; k++) { |
---|
1667 | const dReal *pos = dBodyGetPosition (obj[k].body); |
---|
1668 | if (pos[2] > maxheight) maxheight = pos[2]; |
---|
1669 | } |
---|
1670 | dBodySetPosition (obj[i].body, 0,maxheight+1,0); |
---|
1671 | dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); |
---|
1672 | } |
---|
1673 | dBodySetRotation (obj[i].body,R); |
---|
1674 | dBodySetData (obj[i].body,(void*) i); |
---|
1675 | |
---|
1676 | if (cmd == 'b') |
---|
1677 | { |
---|
1678 | dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); |
---|
1679 | obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); |
---|
1680 | } |
---|
1681 | else if (cmd == 'c') |
---|
1682 | { |
---|
1683 | sides[0] *= 0.5; |
---|
1684 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); |
---|
1685 | obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); |
---|
1686 | } |
---|
1687 | //<---- Convex Object |
---|
1688 | else if (cmd == 'v') |
---|
1689 | { |
---|
1690 | dMassSetBox (&m,DENSITY,0.25,0.25,0.25); |
---|
1691 | obj[i].geom[0] = dCreateConvex (space, |
---|
1692 | planes, |
---|
1693 | planecount, |
---|
1694 | points, |
---|
1695 | pointcount, |
---|
1696 | polygons); |
---|
1697 | } |
---|
1698 | //----> Convex Object |
---|
1699 | else if (cmd == 'y') |
---|
1700 | { |
---|
1701 | dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); |
---|
1702 | obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); |
---|
1703 | } |
---|
1704 | else if (cmd == 's') |
---|
1705 | { |
---|
1706 | sides[0] *= 0.5; |
---|
1707 | dMassSetSphere (&m,DENSITY,sides[0]); |
---|
1708 | obj[i].geom[0] = dCreateSphere (space,sides[0]); |
---|
1709 | } |
---|
1710 | #ifdef dTRIMESH_ENABLED |
---|
1711 | else if (cmd == 'm') |
---|
1712 | { |
---|
1713 | dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); |
---|
1714 | dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int)); |
---|
1715 | |
---|
1716 | obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); |
---|
1717 | |
---|
1718 | // remember the mesh's dTriMeshDataID on its userdata for convenience. |
---|
1719 | dGeomSetData(obj[i].geom[0], new_tmdata); |
---|
1720 | |
---|
1721 | dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); |
---|
1722 | } |
---|
1723 | #endif |
---|
1724 | else if (cmd == 'x') |
---|
1725 | { |
---|
1726 | dGeomID g2[GPB]; // encapsulated geometries |
---|
1727 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries |
---|
1728 | |
---|
1729 | // start accumulating masses for the encapsulated geometries |
---|
1730 | dMass m2; |
---|
1731 | dMassSetZero (&m); |
---|
1732 | |
---|
1733 | // set random delta positions |
---|
1734 | for (j=0; j<GPB; j++) { |
---|
1735 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; |
---|
1736 | } |
---|
1737 | |
---|
1738 | for (k=0; k<GPB; k++) { |
---|
1739 | obj[i].geom[k] = dCreateGeomTransform (space); |
---|
1740 | dGeomTransformSetCleanup (obj[i].geom[k],1); |
---|
1741 | if (k==0) { |
---|
1742 | dReal radius = dRandReal()*0.25+0.05; |
---|
1743 | g2[k] = dCreateSphere (0,radius); |
---|
1744 | dMassSetSphere (&m2,DENSITY,radius); |
---|
1745 | } |
---|
1746 | else if (k==1) { |
---|
1747 | g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); |
---|
1748 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); |
---|
1749 | } |
---|
1750 | else { |
---|
1751 | dReal radius = dRandReal()*0.1+0.05; |
---|
1752 | dReal length = dRandReal()*1.0+0.1; |
---|
1753 | g2[k] = dCreateCapsule (0,radius,length); |
---|
1754 | dMassSetCapsule (&m2,DENSITY,3,radius,length); |
---|
1755 | } |
---|
1756 | dGeomTransformSetGeom (obj[i].geom[k],g2[k]); |
---|
1757 | |
---|
1758 | // set the transformation (adjust the mass too) |
---|
1759 | dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); |
---|
1760 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); |
---|
1761 | dMatrix3 Rtx; |
---|
1762 | dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, |
---|
1763 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); |
---|
1764 | dGeomSetRotation (g2[k],Rtx); |
---|
1765 | dMassRotate (&m2,Rtx); |
---|
1766 | |
---|
1767 | // add to the total mass |
---|
1768 | dMassAdd (&m,&m2); |
---|
1769 | } |
---|
1770 | |
---|
1771 | // move all encapsulated objects so that the center of mass is (0,0,0) |
---|
1772 | for (k=0; k<2; k++) { |
---|
1773 | dGeomSetPosition (g2[k], |
---|
1774 | dpos[k][0]-m.c[0], |
---|
1775 | dpos[k][1]-m.c[1], |
---|
1776 | dpos[k][2]-m.c[2]); |
---|
1777 | } |
---|
1778 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); |
---|
1779 | } |
---|
1780 | |
---|
1781 | for (k=0; k < GPB; k++) |
---|
1782 | { |
---|
1783 | if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); |
---|
1784 | } |
---|
1785 | |
---|
1786 | dBodySetMass (obj[i].body,&m); |
---|
1787 | } |
---|
1788 | |
---|
1789 | |
---|
1790 | // |
---|
1791 | // Control Commands |
---|
1792 | // |
---|
1793 | |
---|
1794 | if (cmd == ' ') { |
---|
1795 | selected++; |
---|
1796 | if (selected >= num) selected = 0; |
---|
1797 | if (selected < 0) selected = 0; |
---|
1798 | } |
---|
1799 | else if (cmd == 'd' && selected >= 0 && selected < num) { |
---|
1800 | dBodyDisable (obj[selected].body); |
---|
1801 | } |
---|
1802 | else if (cmd == 'e' && selected >= 0 && selected < num) { |
---|
1803 | dBodyEnable (obj[selected].body); |
---|
1804 | } |
---|
1805 | else if (cmd == 'a') { |
---|
1806 | show_aabb ^= 1; |
---|
1807 | } |
---|
1808 | else if (cmd == 't') { |
---|
1809 | show_contacts ^= 1; |
---|
1810 | } |
---|
1811 | else if (cmd == 'r') { |
---|
1812 | random_pos ^= 1; |
---|
1813 | } |
---|
1814 | else if (cmd == '1') { |
---|
1815 | write_world = 1; |
---|
1816 | } |
---|
1817 | } |
---|
1818 | |
---|
1819 | |
---|
1820 | // draw a geom |
---|
1821 | |
---|
1822 | void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) |
---|
1823 | { |
---|
1824 | int i; |
---|
1825 | |
---|
1826 | if (!g) return; |
---|
1827 | if (!pos) pos = dGeomGetPosition (g); |
---|
1828 | if (!R) R = dGeomGetRotation (g); |
---|
1829 | |
---|
1830 | int type = dGeomGetClass (g); |
---|
1831 | if (type == dBoxClass) { |
---|
1832 | dVector3 sides; |
---|
1833 | dGeomBoxGetLengths (g,sides); |
---|
1834 | dsDrawBox (pos,R,sides); |
---|
1835 | } |
---|
1836 | else if (type == dSphereClass) { |
---|
1837 | dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); |
---|
1838 | } |
---|
1839 | else if (type == dCapsuleClass) { |
---|
1840 | dReal radius,length; |
---|
1841 | dGeomCapsuleGetParams (g,&radius,&length); |
---|
1842 | dsDrawCapsule (pos,R,length,radius); |
---|
1843 | } |
---|
1844 | //<---- Convex Object |
---|
1845 | else if (type == dConvexClass) |
---|
1846 | { |
---|
1847 | //dVector3 sides={0.50,0.50,0.50}; |
---|
1848 | dsDrawConvex(pos,R,planes, |
---|
1849 | planecount, |
---|
1850 | points, |
---|
1851 | pointcount, |
---|
1852 | polygons); |
---|
1853 | } |
---|
1854 | //----> Convex Object |
---|
1855 | else if (type == dCylinderClass) { |
---|
1856 | dReal radius,length; |
---|
1857 | dGeomCylinderGetParams (g,&radius,&length); |
---|
1858 | dsDrawCylinder (pos,R,length,radius); |
---|
1859 | } |
---|
1860 | else if (type == dGeomTransformClass) { |
---|
1861 | dGeomID g2 = dGeomTransformGetGeom (g); |
---|
1862 | const dReal *pos2 = dGeomGetPosition (g2); |
---|
1863 | const dReal *R2 = dGeomGetRotation (g2); |
---|
1864 | dVector3 actual_pos; |
---|
1865 | dMatrix3 actual_R; |
---|
1866 | dMULTIPLY0_331 (actual_pos,R,pos2); |
---|
1867 | actual_pos[0] += pos[0]; |
---|
1868 | actual_pos[1] += pos[1]; |
---|
1869 | actual_pos[2] += pos[2]; |
---|
1870 | dMULTIPLY0_333 (actual_R,R,R2); |
---|
1871 | drawGeom (g2,actual_pos,actual_R,0); |
---|
1872 | } |
---|
1873 | |
---|
1874 | if (show_aabb) { |
---|
1875 | // draw the bounding box for this geom |
---|
1876 | dReal aabb[6]; |
---|
1877 | dGeomGetAABB (g,aabb); |
---|
1878 | dVector3 bbpos; |
---|
1879 | for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); |
---|
1880 | dVector3 bbsides; |
---|
1881 | for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; |
---|
1882 | dMatrix3 RI; |
---|
1883 | dRSetIdentity (RI); |
---|
1884 | dsSetColorAlpha (1,0,0,0.5); |
---|
1885 | dsDrawBox (bbpos,RI,bbsides); |
---|
1886 | } |
---|
1887 | |
---|
1888 | } |
---|
1889 | |
---|
1890 | // simulation loop |
---|
1891 | |
---|
1892 | static void simLoop (int pause) |
---|
1893 | { |
---|
1894 | int i,j; |
---|
1895 | |
---|
1896 | dsSetColor (0,0,2); |
---|
1897 | |
---|
1898 | dSpaceCollide (space,0,&nearCallback); |
---|
1899 | |
---|
1900 | //if (!pause) dWorldStep (world,0.05); |
---|
1901 | //if (!pause) dWorldQuickStep (world,0.05); |
---|
1902 | if (!pause) dWorldStepFast1 (world,0.05, 5); |
---|
1903 | |
---|
1904 | |
---|
1905 | if (write_world) { |
---|
1906 | FILE *f = fopen ("state.dif","wt"); |
---|
1907 | if (f) { |
---|
1908 | dWorldExportDIF (world,f,"X"); |
---|
1909 | fclose (f); |
---|
1910 | } |
---|
1911 | write_world = 0; |
---|
1912 | } |
---|
1913 | |
---|
1914 | // remove all contact joints |
---|
1915 | dJointGroupEmpty (contactgroup); |
---|
1916 | |
---|
1917 | |
---|
1918 | |
---|
1919 | const dReal* pReal = dGeomGetPosition( gheight ); |
---|
1920 | |
---|
1921 | const dReal* RReal = dGeomGetRotation( gheight ); |
---|
1922 | |
---|
1923 | // |
---|
1924 | // Draw Heightfield |
---|
1925 | // |
---|
1926 | |
---|
1927 | // Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode. |
---|
1928 | int ox = (int) ( -HFIELD_WIDTH/2 ); |
---|
1929 | int oz = (int) ( -HFIELD_DEPTH/2 ); |
---|
1930 | |
---|
1931 | // for ( int tx = -1; tx < 2; ++tx ) |
---|
1932 | // for ( int tz = -1; tz < 2; ++tz ) |
---|
1933 | { |
---|
1934 | dsSetColorAlpha (0.5,1,0.5,0.5); |
---|
1935 | dsSetTexture( DS_WOOD ); |
---|
1936 | |
---|
1937 | for ( int i = 0; i < HFIELD_WSTEP - 1; ++i ) |
---|
1938 | for ( int j = 0; j < HFIELD_DSTEP - 1; ++j ) |
---|
1939 | { |
---|
1940 | dReal a[3], b[3], c[3], d[3]; |
---|
1941 | |
---|
1942 | a[ 0 ] = ox + ( i ) * HFIELD_WSAMP; |
---|
1943 | a[ 1 ] = heightfield_callback( NULL, i, j ); |
---|
1944 | a[ 2 ] = oz + ( j ) * HFIELD_DSAMP; |
---|
1945 | |
---|
1946 | b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; |
---|
1947 | b[ 1 ] = heightfield_callback( NULL, i + 1, j ); |
---|
1948 | b[ 2 ] = oz + ( j ) * HFIELD_DSAMP; |
---|
1949 | |
---|
1950 | c[ 0 ] = ox + ( i ) * HFIELD_WSAMP; |
---|
1951 | c[ 1 ] = heightfield_callback( NULL, i, j + 1 ); |
---|
1952 | c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; |
---|
1953 | |
---|
1954 | d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; |
---|
1955 | d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 ); |
---|
1956 | d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; |
---|
1957 | |
---|
1958 | dsDrawTriangle( pReal, RReal, a, c, b, 1 ); |
---|
1959 | dsDrawTriangle( pReal, RReal, b, c, d, 1 ); |
---|
1960 | } |
---|
1961 | } |
---|
1962 | |
---|
1963 | |
---|
1964 | |
---|
1965 | |
---|
1966 | |
---|
1967 | dsSetColor (1,1,0); |
---|
1968 | dsSetTexture (DS_WOOD); |
---|
1969 | for (i=0; i<num; i++) |
---|
1970 | { |
---|
1971 | for (j=0; j < GPB; j++) |
---|
1972 | { |
---|
1973 | if (i==selected) |
---|
1974 | { |
---|
1975 | dsSetColor (0,0.7,1); |
---|
1976 | } |
---|
1977 | else if (! dBodyIsEnabled (obj[i].body)) |
---|
1978 | { |
---|
1979 | dsSetColor (1,0.8,0); |
---|
1980 | } |
---|
1981 | else |
---|
1982 | { |
---|
1983 | dsSetColor (1,1,0); |
---|
1984 | } |
---|
1985 | |
---|
1986 | |
---|
1987 | if ( obj[i].geom[j] && dGeomGetClass(obj[i].geom[j]) == dTriMeshClass ) |
---|
1988 | { |
---|
1989 | int* Indices = (int*)::Indices; |
---|
1990 | |
---|
1991 | // assume all trimeshes are drawn as bunnies |
---|
1992 | const dReal* Pos = dGeomGetPosition(obj[i].geom[j]); |
---|
1993 | const dReal* Rot = dGeomGetRotation(obj[i].geom[j]); |
---|
1994 | |
---|
1995 | for (int ii = 0; ii < IndexCount / 3; ii++) |
---|
1996 | { |
---|
1997 | const dReal v[9] = { // explicit conversion from float to dReal |
---|
1998 | Vertices[Indices[ii * 3 + 0] * 3 + 0], |
---|
1999 | Vertices[Indices[ii * 3 + 0] * 3 + 1], |
---|
2000 | Vertices[Indices[ii * 3 + 0] * 3 + 2], |
---|
2001 | Vertices[Indices[ii * 3 + 1] * 3 + 0], |
---|
2002 | Vertices[Indices[ii * 3 + 1] * 3 + 1], |
---|
2003 | Vertices[Indices[ii * 3 + 1] * 3 + 2], |
---|
2004 | Vertices[Indices[ii * 3 + 2] * 3 + 0], |
---|
2005 | Vertices[Indices[ii * 3 + 2] * 3 + 1], |
---|
2006 | Vertices[Indices[ii * 3 + 2] * 3 + 2] |
---|
2007 | }; |
---|
2008 | dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1); |
---|
2009 | } |
---|
2010 | |
---|
2011 | // tell the tri-tri collider the current transform of the trimesh -- |
---|
2012 | // this is fairly important for good results. |
---|
2013 | |
---|
2014 | // Fill in the (4x4) matrix. |
---|
2015 | dReal* p_matrix = obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 ); |
---|
2016 | |
---|
2017 | p_matrix[ 0 ] = Rot[ 0 ]; p_matrix[ 1 ] = Rot[ 1 ]; p_matrix[ 2 ] = Rot[ 2 ]; p_matrix[ 3 ] = 0; |
---|
2018 | p_matrix[ 4 ] = Rot[ 4 ]; p_matrix[ 5 ] = Rot[ 5 ]; p_matrix[ 6 ] = Rot[ 6 ]; p_matrix[ 7 ] = 0; |
---|
2019 | p_matrix[ 8 ] = Rot[ 8 ]; p_matrix[ 9 ] = Rot[ 9 ]; p_matrix[10 ] = Rot[10 ]; p_matrix[11 ] = 0; |
---|
2020 | p_matrix[12 ] = Pos[ 0 ]; p_matrix[13 ] = Pos[ 1 ]; p_matrix[14 ] = Pos[ 2 ]; p_matrix[15 ] = 1; |
---|
2021 | |
---|
2022 | // Flip to other matrix. |
---|
2023 | obj[i].last_matrix_index = !obj[i].last_matrix_index; |
---|
2024 | |
---|
2025 | // Apply the 'other' matrix which is the oldest. |
---|
2026 | #ifdef dTRIMESH_ENABLED |
---|
2027 | dGeomTriMeshSetLastTransform( obj[i].geom[j], |
---|
2028 | *(dMatrix4*)( obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 ) ) ); |
---|
2029 | #endif |
---|
2030 | } |
---|
2031 | else |
---|
2032 | { |
---|
2033 | drawGeom (obj[i].geom[j],0,0,show_aabb); |
---|
2034 | } |
---|
2035 | } |
---|
2036 | } |
---|
2037 | |
---|
2038 | if ( show_aabb ) |
---|
2039 | { |
---|
2040 | // draw the bounding box for this geom |
---|
2041 | dReal aabb[6]; |
---|
2042 | dGeomGetAABB (gheight,aabb); |
---|
2043 | dVector3 bbpos; |
---|
2044 | for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); |
---|
2045 | dVector3 bbsides; |
---|
2046 | for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; |
---|
2047 | dMatrix3 RI; |
---|
2048 | dRSetIdentity (RI); |
---|
2049 | dsSetColorAlpha (1,0,0,0.5); |
---|
2050 | dsDrawBox (bbpos,RI,bbsides); |
---|
2051 | } |
---|
2052 | } |
---|
2053 | |
---|
2054 | |
---|
2055 | int main (int argc, char **argv) |
---|
2056 | { |
---|
2057 | // setup pointers to drawstuff callback functions |
---|
2058 | dsFunctions fn; |
---|
2059 | fn.version = DS_VERSION; |
---|
2060 | fn.start = &start; |
---|
2061 | fn.step = &simLoop; |
---|
2062 | fn.command = &command; |
---|
2063 | fn.stop = 0; |
---|
2064 | fn.path_to_textures = "../../drawstuff/textures"; |
---|
2065 | if(argc==2) |
---|
2066 | { |
---|
2067 | fn.path_to_textures = argv[1]; |
---|
2068 | } |
---|
2069 | |
---|
2070 | // create world |
---|
2071 | dInitODE(); |
---|
2072 | world = dWorldCreate(); |
---|
2073 | space = dHashSpaceCreate (0); |
---|
2074 | contactgroup = dJointGroupCreate (0); |
---|
2075 | dWorldSetGravity (world,0,0,-0.05); |
---|
2076 | dWorldSetCFM (world,1e-5); |
---|
2077 | dWorldSetAutoDisableFlag (world,1); |
---|
2078 | dWorldSetContactMaxCorrectingVel (world,0.1); |
---|
2079 | dWorldSetContactSurfaceLayer (world,0.001); |
---|
2080 | memset (obj,0,sizeof(obj)); |
---|
2081 | |
---|
2082 | #if 1 |
---|
2083 | |
---|
2084 | dWorldSetAutoDisableAverageSamplesCount( world, 1 ); |
---|
2085 | |
---|
2086 | #endif |
---|
2087 | |
---|
2088 | // base plane to catch overspill |
---|
2089 | dCreatePlane( space, 0, 0, 1, 0 ); |
---|
2090 | |
---|
2091 | |
---|
2092 | // our heightfield floor |
---|
2093 | |
---|
2094 | dHeightfieldDataID heightid = dGeomHeightfieldDataCreate(); |
---|
2095 | |
---|
2096 | // Create an finite heightfield. |
---|
2097 | dGeomHeightfieldDataBuildCallback( heightid, NULL, heightfield_callback, |
---|
2098 | HFIELD_WIDTH, HFIELD_DEPTH, HFIELD_WSTEP, HFIELD_DSTEP, |
---|
2099 | REAL( 1.0 ), REAL( 0.0 ), REAL( 0.0 ), 0 ); |
---|
2100 | |
---|
2101 | // Give some very bounds which, while conservative, |
---|
2102 | // makes AABB computation more accurate than +/-INF. |
---|
2103 | dGeomHeightfieldDataSetBounds( heightid, REAL( -4.0 ), REAL( +6.0 ) ); |
---|
2104 | |
---|
2105 | gheight = dCreateHeightfield( space, heightid, 1 ); |
---|
2106 | |
---|
2107 | dVector3 pos; |
---|
2108 | pos[ 0 ] = 0; |
---|
2109 | pos[ 1 ] = 0; |
---|
2110 | pos[ 2 ] = 0; |
---|
2111 | |
---|
2112 | // Rotate so Z is up, not Y (which is the default orientation) |
---|
2113 | dMatrix3 R; |
---|
2114 | dRSetIdentity( R ); |
---|
2115 | dRFromAxisAndAngle( R, 1, 0, 0, DEGTORAD * 90 ); |
---|
2116 | |
---|
2117 | // Place it. |
---|
2118 | dGeomSetRotation( gheight, R ); |
---|
2119 | dGeomSetPosition( gheight, pos[0], pos[1], pos[2] ); |
---|
2120 | |
---|
2121 | |
---|
2122 | |
---|
2123 | |
---|
2124 | // run simulation |
---|
2125 | dsSimulationLoop (argc,argv,352,288,&fn); |
---|
2126 | |
---|
2127 | dJointGroupDestroy (contactgroup); |
---|
2128 | dSpaceDestroy (space); |
---|
2129 | dWorldDestroy (world); |
---|
2130 | dCloseODE(); |
---|
2131 | return 0; |
---|
2132 | } |
---|