1 | /************************************************************************* |
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2 | * * |
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3 | * Open Dynamics Engine, Copyright (C) 2001-2003 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 | // TriMesh test by Erwin de Vries |
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24 | |
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25 | #include <ode/ode.h> |
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26 | #include <drawstuff/drawstuff.h> |
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27 | |
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28 | #ifdef _MSC_VER |
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29 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints |
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30 | #endif |
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31 | |
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32 | // select correct drawing functions |
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33 | |
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34 | #ifdef dDOUBLE |
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35 | #define dsDrawBox dsDrawBoxD |
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36 | #define dsDrawSphere dsDrawSphereD |
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37 | #define dsDrawCylinder dsDrawCylinderD |
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38 | #define dsDrawCapsule dsDrawCapsuleD |
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39 | #define dsDrawLine dsDrawLineD |
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40 | #define dsDrawTriangle dsDrawTriangleD |
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41 | #endif |
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42 | |
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43 | |
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44 | // some constants |
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45 | |
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46 | #define NUM 200 // max number of objects |
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47 | #define DENSITY (5.0) // density of all objects |
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48 | #define GPB 3 // maximum number of geometries per body |
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49 | #define MAX_CONTACTS 40 // maximum number of contact points per body |
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50 | |
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51 | |
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52 | // dynamics and collision objects |
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53 | |
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54 | struct MyObject { |
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55 | dBodyID body; // the body |
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56 | dGeomID geom[GPB]; // geometries representing this body |
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57 | }; |
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58 | |
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59 | static int num=0; // number of objects in simulation |
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60 | static int nextobj=0; // next object to recycle if num==NUM |
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61 | static dWorldID world; |
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62 | static dSpaceID space; |
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63 | static MyObject obj[NUM]; |
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64 | static dJointGroupID contactgroup; |
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65 | static int selected = -1; // selected object |
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66 | static int show_aabb = 0; // show geom AABBs? |
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67 | static int show_contacts = 0; // show contact points? |
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68 | static int random_pos = 1; // drop objects from random position? |
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69 | |
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70 | #define VertexCount 5 |
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71 | #define IndexCount 12 |
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72 | |
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73 | static dVector3 Size; |
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74 | static dVector3 Vertices[VertexCount]; |
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75 | static int Indices[IndexCount]; |
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76 | |
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77 | static dGeomID TriMesh; |
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78 | static dGeomID Ray; |
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79 | |
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80 | |
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81 | // this is called by dSpaceCollide when two objects in space are |
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82 | // potentially colliding. |
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83 | |
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84 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) |
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85 | { |
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86 | int i; |
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87 | // if (o1->body && o2->body) return; |
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88 | |
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89 | // exit without doing anything if the two bodies are connected by a joint |
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90 | dBodyID b1 = dGeomGetBody(o1); |
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91 | dBodyID b2 = dGeomGetBody(o2); |
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92 | if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; |
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93 | |
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94 | dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box |
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95 | for (i=0; i<MAX_CONTACTS; i++) { |
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96 | contact[i].surface.mode = dContactBounce | dContactSoftCFM; |
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97 | contact[i].surface.mu = dInfinity; |
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98 | contact[i].surface.mu2 = 0; |
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99 | contact[i].surface.bounce = 0.1; |
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100 | contact[i].surface.bounce_vel = 0.1; |
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101 | contact[i].surface.soft_cfm = 0.01; |
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102 | } |
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103 | if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom, |
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104 | sizeof(dContact))) { |
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105 | dMatrix3 RI; |
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106 | dRSetIdentity (RI); |
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107 | const dReal ss[3] = {0.02,0.02,0.02}; |
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108 | for (i=0; i<numc; i++) { |
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109 | if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){ |
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110 | dMatrix3 Rotation; |
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111 | dRSetIdentity(Rotation); |
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112 | dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01)); |
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113 | |
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114 | dVector3 End; |
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115 | End[0] = contact[i].geom.pos[0] + (contact[i].geom.normal[0] * contact[i].geom.depth); |
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116 | End[1] = contact[i].geom.pos[1] + (contact[i].geom.normal[1] * contact[i].geom.depth); |
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117 | End[2] = contact[i].geom.pos[2] + (contact[i].geom.normal[2] * contact[i].geom.depth); |
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118 | End[3] = contact[i].geom.pos[3] + (contact[i].geom.normal[3] * contact[i].geom.depth); |
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119 | |
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120 | dsDrawLine(contact[i].geom.pos, End); |
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121 | continue; |
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122 | } |
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123 | |
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124 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); |
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125 | dJointAttach (c,b1,b2); |
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126 | if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss); |
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127 | } |
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128 | } |
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129 | } |
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130 | |
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131 | |
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132 | // start simulation - set viewpoint |
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133 | |
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134 | static void start() |
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135 | { |
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136 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; |
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137 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; |
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138 | dsSetViewpoint (xyz,hpr); |
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139 | printf ("To drop another object, press:\n"); |
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140 | printf (" b for box.\n"); |
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141 | printf (" s for sphere.\n"); |
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142 | printf (" c for cylinder.\n"); |
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143 | printf (" x for a composite object.\n"); |
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144 | printf ("To select an object, press space.\n"); |
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145 | printf ("To disable the selected object, press d.\n"); |
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146 | printf ("To enable the selected object, press e.\n"); |
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147 | printf ("To toggle showing the geom AABBs, press a.\n"); |
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148 | printf ("To toggle showing the contact points, press t.\n"); |
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149 | printf ("To toggle dropping from random position/orientation, press r.\n"); |
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150 | } |
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151 | |
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152 | |
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153 | char locase (char c) |
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154 | { |
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155 | if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); |
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156 | else return c; |
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157 | } |
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158 | |
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159 | |
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160 | // called when a key pressed |
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161 | |
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162 | static void command (int cmd) |
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163 | { |
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164 | int i,j,k; |
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165 | dReal sides[3]; |
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166 | dMass m; |
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167 | |
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168 | cmd = locase (cmd); |
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169 | if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' |
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170 | /* || cmd == 'l' */) { |
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171 | if (num < NUM) { |
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172 | i = num; |
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173 | num++; |
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174 | } |
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175 | else { |
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176 | i = nextobj; |
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177 | nextobj++; |
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178 | if (nextobj >= num) nextobj = 0; |
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179 | |
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180 | // destroy the body and geoms for slot i |
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181 | dBodyDestroy (obj[i].body); |
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182 | for (k=0; k < GPB; k++) { |
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183 | if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); |
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184 | } |
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185 | memset (&obj[i],0,sizeof(obj[i])); |
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186 | } |
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187 | |
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188 | obj[i].body = dBodyCreate (world); |
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189 | for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; |
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190 | |
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191 | dMatrix3 R; |
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192 | if (random_pos) { |
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193 | dBodySetPosition (obj[i].body, |
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194 | dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1); |
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195 | dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, |
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196 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); |
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197 | } |
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198 | else { |
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199 | dReal maxheight = 0; |
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200 | for (k=0; k<num; k++) { |
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201 | const dReal *pos = dBodyGetPosition (obj[k].body); |
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202 | if (pos[2] > maxheight) maxheight = pos[2]; |
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203 | } |
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204 | dBodySetPosition (obj[i].body, 0,0,maxheight+1); |
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205 | dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); |
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206 | } |
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207 | dBodySetRotation (obj[i].body,R); |
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208 | dBodySetData (obj[i].body,(void*)(size_t)i); |
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209 | |
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210 | if (cmd == 'b') { |
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211 | dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); |
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212 | obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); |
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213 | } |
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214 | else if (cmd == 'c') { |
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215 | sides[0] *= 0.5; |
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216 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); |
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217 | obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); |
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218 | } |
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219 | /* |
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220 | // cylinder option not yet implemented |
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221 | else if (cmd == 'l') { |
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222 | sides[1] *= 0.5; |
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223 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); |
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224 | obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); |
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225 | } |
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226 | */ |
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227 | else if (cmd == 's') { |
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228 | sides[0] *= 0.5; |
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229 | dMassSetSphere (&m,DENSITY,sides[0]); |
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230 | obj[i].geom[0] = dCreateSphere (space,sides[0]); |
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231 | } |
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232 | else if (cmd == 'x') { |
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233 | dGeomID g2[GPB]; // encapsulated geometries |
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234 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries |
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235 | |
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236 | // start accumulating masses for the encapsulated geometries |
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237 | dMass m2; |
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238 | dMassSetZero (&m); |
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239 | |
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240 | // set random delta positions |
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241 | for (j=0; j<GPB; j++) { |
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242 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; |
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243 | } |
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244 | |
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245 | for (k=0; k<GPB; k++) { |
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246 | obj[i].geom[k] = dCreateGeomTransform (space); |
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247 | dGeomTransformSetCleanup (obj[i].geom[k],1); |
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248 | if (k==0) { |
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249 | dReal radius = dRandReal()*0.25+0.05; |
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250 | g2[k] = dCreateSphere (0,radius); |
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251 | dMassSetSphere (&m2,DENSITY,radius); |
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252 | } |
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253 | else if (k==1) { |
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254 | g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); |
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255 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); |
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256 | } |
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257 | else { |
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258 | dReal radius = dRandReal()*0.1+0.05; |
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259 | dReal length = dRandReal()*1.0+0.1; |
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260 | g2[k] = dCreateCapsule (0,radius,length); |
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261 | dMassSetCapsule (&m2,DENSITY,3,radius,length); |
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262 | } |
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263 | dGeomTransformSetGeom (obj[i].geom[k],g2[k]); |
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264 | |
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265 | // set the transformation (adjust the mass too) |
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266 | dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); |
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267 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); |
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268 | dMatrix3 Rtx; |
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269 | dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, |
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270 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); |
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271 | dGeomSetRotation (g2[k],Rtx); |
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272 | dMassRotate (&m2,Rtx); |
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273 | |
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274 | // add to the total mass |
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275 | dMassAdd (&m,&m2); |
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276 | } |
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277 | |
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278 | // move all encapsulated objects so that the center of mass is (0,0,0) |
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279 | for (k=0; k<2; k++) { |
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280 | dGeomSetPosition (g2[k], |
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281 | dpos[k][0]-m.c[0], |
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282 | dpos[k][1]-m.c[1], |
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283 | dpos[k][2]-m.c[2]); |
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284 | } |
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285 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); |
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286 | } |
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287 | |
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288 | for (k=0; k < GPB; k++) { |
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289 | if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); |
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290 | } |
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291 | |
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292 | dBodySetMass (obj[i].body,&m); |
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293 | } |
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294 | |
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295 | if (cmd == ' ') { |
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296 | selected++; |
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297 | if (selected >= num) selected = 0; |
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298 | if (selected < 0) selected = 0; |
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299 | } |
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300 | else if (cmd == 'd' && selected >= 0 && selected < num) { |
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301 | dBodyDisable (obj[selected].body); |
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302 | } |
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303 | else if (cmd == 'e' && selected >= 0 && selected < num) { |
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304 | dBodyEnable (obj[selected].body); |
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305 | } |
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306 | else if (cmd == 'a') { |
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307 | show_aabb ^= 1; |
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308 | } |
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309 | else if (cmd == 't') { |
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310 | show_contacts ^= 1; |
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311 | } |
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312 | else if (cmd == 'r') { |
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313 | random_pos ^= 1; |
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314 | } |
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315 | } |
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316 | |
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317 | |
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318 | // draw a geom |
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319 | |
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320 | void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) |
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321 | { |
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322 | if (!g) return; |
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323 | if (!pos) pos = dGeomGetPosition (g); |
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324 | if (!R) R = dGeomGetRotation (g); |
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325 | |
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326 | int type = dGeomGetClass (g); |
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327 | if (type == dBoxClass) { |
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328 | dVector3 sides; |
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329 | dGeomBoxGetLengths (g,sides); |
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330 | dsDrawBox (pos,R,sides); |
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331 | } |
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332 | else if (type == dSphereClass) { |
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333 | dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); |
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334 | } |
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335 | else if (type == dCapsuleClass) { |
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336 | dReal radius,length; |
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337 | dGeomCapsuleGetParams (g,&radius,&length); |
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338 | dsDrawCapsule (pos,R,length,radius); |
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339 | } |
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340 | /* |
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341 | // cylinder option not yet implemented |
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342 | else if (type == dCylinderClass) { |
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343 | dReal radius,length; |
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344 | dGeomCylinderGetParams (g,&radius,&length); |
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345 | dsDrawCylinder (pos,R,length,radius); |
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346 | } |
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347 | */ |
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348 | else if (type == dGeomTransformClass) { |
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349 | dGeomID g2 = dGeomTransformGetGeom (g); |
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350 | const dReal *pos2 = dGeomGetPosition (g2); |
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351 | const dReal *R2 = dGeomGetRotation (g2); |
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352 | dVector3 actual_pos; |
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353 | dMatrix3 actual_R; |
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354 | dMULTIPLY0_331 (actual_pos,R,pos2); |
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355 | actual_pos[0] += pos[0]; |
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356 | actual_pos[1] += pos[1]; |
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357 | actual_pos[2] += pos[2]; |
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358 | dMULTIPLY0_333 (actual_R,R,R2); |
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359 | drawGeom (g2,actual_pos,actual_R,0); |
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360 | } |
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361 | |
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362 | if (show_aabb) { |
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363 | // draw the bounding box for this geom |
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364 | dReal aabb[6]; |
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365 | dGeomGetAABB (g,aabb); |
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366 | dVector3 bbpos; |
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367 | for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); |
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368 | dVector3 bbsides; |
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369 | for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2]; |
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370 | dMatrix3 RI; |
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371 | dRSetIdentity (RI); |
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372 | dsSetColorAlpha (1,0,0,0.5); |
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373 | dsDrawBox (bbpos,RI,bbsides); |
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374 | } |
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375 | } |
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376 | |
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377 | |
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378 | // simulation loop |
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379 | |
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380 | static void simLoop (int pause) |
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381 | { |
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382 | dsSetColor (0,0,2); |
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383 | dSpaceCollide (space,0,&nearCallback); |
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384 | if (!pause) dWorldStep (world,0.05); |
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385 | //if (!pause) dWorldStepFast (world,0.05, 1); |
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386 | |
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387 | // remove all contact joints |
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388 | dJointGroupEmpty (contactgroup); |
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389 | |
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390 | dsSetColor (1,1,0); |
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391 | dsSetTexture (DS_WOOD); |
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392 | for (int i=0; i<num; i++) { |
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393 | for (int j=0; j < GPB; j++) { |
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394 | if (i==selected) { |
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395 | dsSetColor (0,0.7,1); |
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396 | } |
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397 | else if (! dBodyIsEnabled (obj[i].body)) { |
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398 | dsSetColor (1,0,0); |
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399 | } |
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400 | else { |
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401 | dsSetColor (1,1,0); |
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402 | } |
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403 | drawGeom (obj[i].geom[j],0,0,show_aabb); |
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404 | } |
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405 | } |
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406 | |
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407 | /*{ |
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408 | for (int i = 1; i < IndexCount; i++) { |
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409 | dsDrawLine(Vertices[Indices[i - 1]], Vertices[Indices[i]]); |
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410 | } |
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411 | }*/ |
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412 | |
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413 | {const dReal* Pos = dGeomGetPosition(TriMesh); |
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414 | const dReal* Rot = dGeomGetRotation(TriMesh); |
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415 | |
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416 | {for (int i = 0; i < IndexCount / 3; i++){ |
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417 | const dVector3& v0 = Vertices[Indices[i * 3 + 0]]; |
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418 | const dVector3& v1 = Vertices[Indices[i * 3 + 1]]; |
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419 | const dVector3& v2 = Vertices[Indices[i * 3 + 2]]; |
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420 | dsDrawTriangle(Pos, Rot, (dReal*)&v0, (dReal*)&v1, (dReal*)&v2, 0); |
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421 | }}} |
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422 | |
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423 | if (Ray){ |
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424 | dVector3 Origin, Direction; |
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425 | dGeomRayGet(Ray, Origin, Direction); |
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426 | |
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427 | dReal Length = dGeomRayGetLength(Ray); |
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428 | |
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429 | dVector3 End; |
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430 | End[0] = Origin[0] + (Direction[0] * Length); |
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431 | End[1] = Origin[1] + (Direction[1] * Length); |
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432 | End[2] = Origin[2] + (Direction[2] * Length); |
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433 | End[3] = Origin[3] + (Direction[3] * Length); |
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434 | |
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435 | dsDrawLine(Origin, End); |
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436 | } |
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437 | } |
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438 | |
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439 | |
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440 | int main (int argc, char **argv) |
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441 | { |
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442 | // setup pointers to drawstuff callback functions |
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443 | dsFunctions fn; |
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444 | fn.version = DS_VERSION; |
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445 | fn.start = &start; |
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446 | fn.step = &simLoop; |
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447 | fn.command = &command; |
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448 | fn.stop = 0; |
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449 | fn.path_to_textures = "../../drawstuff/textures"; |
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450 | if(argc==2) |
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451 | { |
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452 | fn.path_to_textures = argv[1]; |
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453 | } |
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454 | |
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455 | // create world |
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456 | dInitODE(); |
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457 | world = dWorldCreate(); |
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458 | |
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459 | space = dSimpleSpaceCreate(0); |
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460 | contactgroup = dJointGroupCreate (0); |
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461 | dWorldSetGravity (world,0,0,-0.5); |
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462 | dWorldSetCFM (world,1e-5); |
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463 | //dCreatePlane (space,0,0,1,0); |
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464 | memset (obj,0,sizeof(obj)); |
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465 | |
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466 | Size[0] = 5.0f; |
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467 | Size[1] = 5.0f; |
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468 | Size[2] = 2.5f; |
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469 | |
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470 | Vertices[0][0] = -Size[0]; |
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471 | Vertices[0][1] = -Size[1]; |
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472 | Vertices[0][2] = Size[2]; |
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473 | |
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474 | Vertices[1][0] = Size[0]; |
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475 | Vertices[1][1] = -Size[1]; |
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476 | Vertices[1][2] = Size[2]; |
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477 | |
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478 | Vertices[2][0] = Size[0]; |
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479 | Vertices[2][1] = Size[1]; |
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480 | Vertices[2][2] = Size[2]; |
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481 | |
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482 | Vertices[3][0] = -Size[0]; |
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483 | Vertices[3][1] = Size[1]; |
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484 | Vertices[3][2] = Size[2]; |
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485 | |
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486 | Vertices[4][0] = 0; |
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487 | Vertices[4][1] = 0; |
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488 | Vertices[4][2] = 0; |
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489 | |
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490 | Indices[0] = 0; |
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491 | Indices[1] = 1; |
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492 | Indices[2] = 4; |
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493 | |
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494 | Indices[3] = 1; |
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495 | Indices[4] = 2; |
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496 | Indices[5] = 4; |
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497 | |
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498 | Indices[6] = 2; |
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499 | Indices[7] = 3; |
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500 | Indices[8] = 4; |
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501 | |
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502 | Indices[9] = 3; |
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503 | Indices[10] = 0; |
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504 | Indices[11] = 4; |
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505 | |
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506 | dTriMeshDataID Data = dGeomTriMeshDataCreate(); |
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507 | |
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508 | dGeomTriMeshDataBuildSimple(Data, (dReal*)Vertices, VertexCount, Indices, IndexCount); |
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509 | |
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510 | TriMesh = dCreateTriMesh(space, Data, 0, 0, 0); |
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511 | |
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512 | //dGeomSetPosition(TriMesh, 0, 0, 1.0); |
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513 | |
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514 | Ray = dCreateRay(space, 0.9); |
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515 | dVector3 Origin, Direction; |
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516 | Origin[0] = 0.0; |
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517 | Origin[1] = 0; |
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518 | Origin[2] = 0.5; |
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519 | Origin[3] = 0; |
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520 | |
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521 | Direction[0] = 0; |
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522 | Direction[1] = 1.1f; |
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523 | Direction[2] = -1; |
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524 | Direction[3] = 0; |
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525 | dNormalize3(Direction); |
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526 | |
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527 | dGeomRaySet(Ray, Origin[0], Origin[1], Origin[2], Direction[0], Direction[1], Direction[2]); |
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528 | |
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529 | // run simulation |
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530 | dsSimulationLoop (argc,argv,352,288,&fn); |
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531 | |
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532 | dJointGroupDestroy (contactgroup); |
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533 | dSpaceDestroy (space); |
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534 | dWorldDestroy (world); |
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535 | dCloseODE(); |
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536 | return 0; |
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537 | } |
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