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diff --git a/intern/iksolver/test/ik_glut_test/intern/main.cpp b/intern/iksolver/test/ik_glut_test/intern/main.cpp
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-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#include "MEM_SmartPtr.h"
-
-#ifdef USE_QUATERNIONS
-#include "IK_Qsolver.h"
-#else
-#include "IK_solver.h"
-#endif
-
-#include <GL/glut.h>
-#include "MT_Vector3.h"
-#include "MT_Quaternion.h"
-#include "MT_Matrix3x3.h"
-#include "MyGlutMouseHandler.h"
-#include "MyGlutKeyHandler.h"
-#include "ChainDrawer.h"
-
-void init(MT_Vector3 min,MT_Vector3 max)
-{
- GLfloat light_diffuse0[] = {1.0, 0.0, 0.0, 1.0}; /* Red diffuse light. */
- GLfloat light_position0[] = {1.0, 1.0, 1.0, 0.0}; /* Infinite light location. */
-
- GLfloat light_diffuse1[] = {1.0, 1.0, 1.0, 1.0}; /* Red diffuse light. */
- GLfloat light_position1[] = {1.0, 0, 0, 0.0}; /* Infinite light location. */
-
- /* Enable a single OpenGL light. */
- glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse0);
- glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
-
- glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse1);
- glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
-
- glEnable(GL_LIGHT0);
- glEnable(GL_LIGHT1);
- glEnable(GL_LIGHTING);
-
- /* Use depth buffering for hidden surface elimination. */
- glEnable(GL_DEPTH_TEST);
-
- /* Setup the view of the cube. */
- glMatrixMode(GL_PROJECTION);
-
- // center of the box + 3* depth of box
-
- MT_Vector3 center = (min + max) * 0.5;
- MT_Vector3 diag = max - min;
-
- float depth = diag.length();
- float distance = 2;
-
- gluPerspective(/* field of view in degree */ 40.0,
- /* aspect ratio */ 1.0,
- /* Z near */ 1.0,
- /* Z far */ distance * depth * 2
- );
- glMatrixMode(GL_MODELVIEW);
-
-
- gluLookAt(center.x(), center.y(), center.z() + distance*depth, /* eye is at (0,0,5) */
- center.x(), center.y(), center.z(), /* center is at (0,0,0) */
- 0.0, 1.0, 0.); /* up is in positive Y direction */
-
- glPushMatrix();
-
-
-}
-
-int main(int argc, char **argv)
-{
-
-
- const int seg_num = 5;
- const MT_Scalar seg_length = 15;
-
- const float seg_startA[3] = {0,0,0};
- const float seg_startB[3] = {0,-20,0};
-
- // create some segments to solve with
-
- // First chain
- //////////////
-
-
- IK_Segment_ExternPtr const segmentsA = new IK_Segment_Extern[seg_num];
- IK_Segment_ExternPtr const segmentsB = new IK_Segment_Extern[seg_num];
-
- IK_Segment_ExternPtr seg_it = segmentsA;
- IK_Segment_ExternPtr seg_itB = segmentsB;
-
-
- {
-
-// MT_Quaternion qmat(MT_Vector3(0,0,1),-3.141/2);
- MT_Quaternion qmat(MT_Vector3(0,0,1),0);
- MT_Matrix3x3 mat(qmat);
-
- seg_it->seg_start[0] = seg_startA[0];
- seg_it->seg_start[1] = seg_startA[1];
- seg_it->seg_start[2] = seg_startA[2];
-
- float temp[12];
- mat.getValue(temp);
-
- seg_it->basis[0] = temp[0];
- seg_it->basis[1] = temp[1];
- seg_it->basis[2] = temp[2];
-
- seg_it->basis[3] = temp[4];
- seg_it->basis[4] = temp[5];
- seg_it->basis[5] = temp[6];
-
- seg_it->basis[6] = temp[8];
- seg_it->basis[7] = temp[9];
- seg_it->basis[8] = temp[10];
-
- seg_it->length = seg_length;
-
- MT_Quaternion q;
- q.setEuler(0,0,0);
-
-
- MT_Matrix3x3 qrot(q);
-
- seg_it->basis_change[0] = 1;
- seg_it->basis_change[1] = 0;
- seg_it->basis_change[2] = 0;
- seg_it->basis_change[3] = 0;
- seg_it->basis_change[4] = 1;
- seg_it->basis_change[5] = 0;
- seg_it->basis_change[6] = 0;
- seg_it->basis_change[7] = 0;
- seg_it->basis_change[8] = 1;
-
-
- seg_it ++;
-
- seg_itB->seg_start[0] = seg_startA[0];
- seg_itB->seg_start[1] = seg_startA[1];
- seg_itB->seg_start[2] = seg_startA[2];
-
- seg_itB->basis[0] = temp[0];
- seg_itB->basis[1] = temp[1];
- seg_itB->basis[2] = temp[2];
-
- seg_itB->basis[3] = temp[4];
- seg_itB->basis[4] = temp[5];
- seg_itB->basis[5] = temp[6];
-
- seg_itB->basis[6] = temp[8];
- seg_itB->basis[7] = temp[9];
- seg_itB->basis[8] = temp[10];
-
- seg_itB->length = seg_length;
-
- seg_itB->basis_change[0] = 1;
- seg_itB->basis_change[1] = 0;
- seg_itB->basis_change[2] = 0;
- seg_itB->basis_change[3] = 0;
- seg_itB->basis_change[4] = 1;
- seg_itB->basis_change[5] = 0;
- seg_itB->basis_change[6] = 0;
- seg_itB->basis_change[7] = 0;
- seg_itB->basis_change[8] = 1;
-
-
- seg_itB ++;
-
-
- }
-
-
- int i;
- for (i=1; i < seg_num; ++i, ++seg_it,++seg_itB) {
-
- MT_Quaternion qmat(MT_Vector3(0,0,1),0.3);
- MT_Matrix3x3 mat(qmat);
-
- seg_it->seg_start[0] = 0;
- seg_it->seg_start[1] = 0;
- seg_it->seg_start[2] = 0;
-
- float temp[12];
- mat.getValue(temp);
-
- seg_it->basis[0] = temp[0];
- seg_it->basis[1] = temp[1];
- seg_it->basis[2] = temp[2];
-
- seg_it->basis[3] = temp[4];
- seg_it->basis[4] = temp[5];
- seg_it->basis[5] = temp[6];
-
- seg_it->basis[6] = temp[8];
- seg_it->basis[7] = temp[9];
- seg_it->basis[8] = temp[10];
-
- seg_it->length = seg_length;
-
- MT_Quaternion q;
- q.setEuler(0,0,0);
-
-
- MT_Matrix3x3 qrot(q);
-
- seg_it->basis_change[0] = 1;
- seg_it->basis_change[1] = 0;
- seg_it->basis_change[2] = 0;
- seg_it->basis_change[3] = 0;
- seg_it->basis_change[4] = 1;
- seg_it->basis_change[5] = 0;
- seg_it->basis_change[6] = 0;
- seg_it->basis_change[7] = 0;
- seg_it->basis_change[8] = 1;
-
-
- ///////////////////////////////
-
- seg_itB->seg_start[0] = 0;
- seg_itB->seg_start[1] = 0;
- seg_itB->seg_start[2] = 0;
-
- seg_itB->basis[0] = temp[0];
- seg_itB->basis[1] = temp[1];
- seg_itB->basis[2] = temp[2];
-
- seg_itB->basis[3] = temp[4];
- seg_itB->basis[4] = temp[5];
- seg_itB->basis[5] = temp[6];
-
- seg_itB->basis[6] = temp[8];
- seg_itB->basis[7] = temp[9];
- seg_itB->basis[8] = temp[10];
-
- seg_itB->length = seg_length;
-
- seg_itB->basis_change[0] = 1;
- seg_itB->basis_change[1] = 0;
- seg_itB->basis_change[2] = 0;
- seg_itB->basis_change[3] = 0;
- seg_itB->basis_change[4] = 1;
- seg_itB->basis_change[5] = 0;
- seg_itB->basis_change[6] = 0;
- seg_itB->basis_change[7] = 0;
- seg_itB->basis_change[8] = 1;
-
-
-
- }
-
- // create the chains
-
- const int num_chains = 2;
-
- IK_Chain_ExternPtr chains[num_chains];
-
- chains[0] = IK_CreateChain();
- chains[1] = IK_CreateChain();
-
- // load segments into chain
-
- IK_LoadChain(chains[0],segmentsA,seg_num);
- IK_LoadChain(chains[1],segmentsB,seg_num);
-
- // make and install a mouse handler
-
- MEM_SmartPtr<MyGlutMouseHandler> mouse_handler (MyGlutMouseHandler::New());
- GlutMouseManager::Instance()->InstallHandler(mouse_handler);
-
- mouse_handler->SetChain(chains,num_chains);
-
- // make and install a keyhandler
- MEM_SmartPtr<MyGlutKeyHandler> key_handler (MyGlutKeyHandler::New());
- GlutKeyboardManager::Instance()->InstallHandler(key_handler);
-
- // instantiate the drawing class
-
- MEM_SmartPtr<ChainDrawer> drawer (ChainDrawer::New());
- GlutDrawManager::Instance()->InstallDrawer(drawer);
-
- drawer->SetMouseHandler(mouse_handler);
- drawer->SetChain(chains,num_chains);
- drawer->SetKeyHandler(key_handler);
-
- glutInit(&argc, argv);
- glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
- glutCreateWindow("ik");
- glutDisplayFunc(GlutDrawManager::Draw);
- glutMouseFunc(GlutMouseManager::Mouse);
- glutMotionFunc(GlutMouseManager::Motion);
- glutKeyboardFunc(GlutKeyboardManager::HandleKeyboard);
-
- init(MT_Vector3(-50,-50,-50),MT_Vector3(50,50,50));
- glutMainLoop();
- return 0; /* ANSI C requires main to return int. */
-}
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