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path: root/source/gameengine/Physics/Sumo/Fuzzics/sample/particle.cpp
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-rw-r--r--source/gameengine/Physics/Sumo/Fuzzics/sample/particle.cpp709
1 files changed, 0 insertions, 709 deletions
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/sample/particle.cpp b/source/gameengine/Physics/Sumo/Fuzzics/sample/particle.cpp
deleted file mode 100644
index d7aca326b42..00000000000
--- a/source/gameengine/Physics/Sumo/Fuzzics/sample/particle.cpp
+++ /dev/null
@@ -1,709 +0,0 @@
-//#define FAKE_IT
-#define USE_COMPLEX
-#define QUADS
-
-#include <algorithm>
-#include <new>
-#include <GL/glut.h>
-
-#include "MT_MinMax.h"
-#include "MT_Point3.h"
-#include "MT_Vector3.h"
-#include "MT_Quaternion.h"
-#include "MT_Matrix3x3.h"
-#include "MT_Transform.h"
-
-#include "SM_Object.h"
-#include "SM_FhObject.h"
-#include "SM_Scene.h"
-
-#include <SOLID/SOLID.h>
-
-#ifdef HAVE_CONFIG_H
-#include <config.h>
-#endif
-
-const MT_Scalar bowl_curv = 0.10;
-const MT_Scalar timeStep = 0.02;
-const MT_Scalar ground_margin = 0.0;
-const MT_Scalar sphere_radius = 0.5;
-
-const MT_Vector3 gravity(0, -9.8, 0);
-
-static MT_Scalar DISTANCE = 5;
-
-static MT_Scalar ele = 0, azi = 0;
-static MT_Point3 eye(0, 0, DISTANCE);
-static MT_Point3 center(0, 0, 0);
-
-inline double irnd() { return 2 * MT_random() - 1; }
-
-static const double SCALE_BOTTOM = 0.5;
-static const double SCALE_FACTOR = 2.0;
-
-SM_ShapeProps g_shapeProps = {
- 1.0, // mass
- 1.0, // inertia
- 0.1, // linear drag
- 0.1, // angular drag
- { 1.0, 0.0, 0.0 }, // anisotropic friction
- false, // do anisotropic friction?
- true, // do fh?
- true // do rot fh?
-};
-
-SM_MaterialProps g_materialProps = {
- 0.7, // restitution
- 0.0, // friction
- 10.0, // Fh spring constant
- 1.0, // Fh damping
- 0.5, // Fh distance
- true // Fh leveling
-};
-
-
-void toggleIdle();
-
-
-void newRandom();
-
-void coordSystem() {
- glDisable(GL_LIGHTING);
- glBegin(GL_LINES);
- glColor3f(1, 0, 0);
- glVertex3d(0, 0, 0);
- glVertex3d(10, 0, 0);
- glColor3f(0, 1, 0);
- glVertex3d(0, 0, 0);
- glVertex3d(0, 10, 0);
- glColor3f(0, 0, 1);
- glVertex3d(0, 0, 0);
- glVertex3d(0, 0, 10);
- glEnd();
- glEnable(GL_LIGHTING);
-}
-
-
-void display_bbox(const MT_Point3& min, const MT_Point3& max) {
- glDisable(GL_DEPTH_TEST);
- glDisable(GL_LIGHTING);
- glColor3f(0, 1, 1);
- glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
- glBegin(GL_QUAD_STRIP);
- glVertex3d(min[0], min[1], min[2]);
- glVertex3d(min[0], min[1], max[2]);
- glVertex3d(max[0], min[1], min[2]);
- glVertex3d(max[0], min[1], max[2]);
- glVertex3d(max[0], max[1], min[2]);
- glVertex3d(max[0], max[1], max[2]);
- glVertex3d(min[0], max[1], min[2]);
- glVertex3d(min[0], max[1], max[2]);
- glVertex3d(min[0], min[1], min[2]);
- glVertex3d(min[0], min[1], max[2]);
- glEnd();
- glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
- glEnable(GL_LIGHTING);
- glEnable(GL_DEPTH_TEST);
-}
-
-
-
-
-class GLShape {
-public:
- virtual void paint(GLdouble *m) const = 0;
-};
-
-
-class GLSphere : public GLShape {
- MT_Scalar radius;
-public:
- GLSphere(MT_Scalar r) : radius(r) {}
-
- void paint(GLdouble *m) const {
- glPushMatrix();
- glLoadMatrixd(m);
- coordSystem();
- glutSolidSphere(radius, 20, 20);
- glPopMatrix();
- }
-};
-
-
-class GLBox : public GLShape {
- MT_Vector3 extent;
-public:
- GLBox(MT_Scalar x, MT_Scalar y, MT_Scalar z) :
- extent(x, y, z) {}
-
- void paint(GLdouble *m) const {
- glPushMatrix();
- glLoadMatrixd(m);
- coordSystem();
- glPushMatrix();
- glScaled(extent[0], extent[1], extent[2]);
- glutSolidCube(1.0);
- glPopMatrix();
- glPopMatrix();
- }
-};
-
-
-class GLCone : public GLShape {
- MT_Scalar bottomRadius;
- MT_Scalar height;
- mutable GLuint displayList;
-
-public:
- GLCone(MT_Scalar r, MT_Scalar h) :
- bottomRadius(r),
- height(h),
- displayList(0) {}
-
- void paint(GLdouble *m) const {
- glPushMatrix();
- glLoadMatrixd(m);
- coordSystem();
- if (displayList) glCallList(displayList);
- else {
- GLUquadricObj *quadObj = gluNewQuadric();
- displayList = glGenLists(1);
- glNewList(displayList, GL_COMPILE_AND_EXECUTE);
- glPushMatrix();
- glRotatef(-90.0, 1.0, 0.0, 0.0);
- glTranslatef(0.0, 0.0, -1.0);
- gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
- gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
- gluCylinder(quadObj, bottomRadius, 0, height, 15, 10);
- glPopMatrix();
- glEndList();
- }
- glPopMatrix();
- }
-};
-
-class GLCylinder : public GLShape {
- MT_Scalar radius;
- MT_Scalar height;
- mutable GLuint displayList;
-
-public:
- GLCylinder(MT_Scalar r, MT_Scalar h) :
- radius(r),
- height(h),
- displayList(0) {}
-
- void paint(GLdouble *m) const {
- glPushMatrix();
- glLoadMatrixd(m);
- coordSystem();
- if (displayList) glCallList(displayList);
- else {
- GLUquadricObj *quadObj = gluNewQuadric();
- displayList = glGenLists(1);
- glNewList(displayList, GL_COMPILE_AND_EXECUTE);
- glPushMatrix();
- glRotatef(-90.0, 1.0, 0.0, 0.0);
- glTranslatef(0.0, 0.0, -1.0);
- gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
- gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
- gluCylinder(quadObj, radius, radius, height, 15, 10);
- glPopMatrix ();
- glEndList();
- }
- glPopMatrix();
- }
-};
-
-class Object;
-
-class Callback : public SM_Callback {
-public:
- Callback(Object& object) : m_object(object) {}
-
- virtual void do_me();
-
-private:
- Object& m_object;
-};
-
-
-class Object {
-public:
- Object(GLShape *gl_shape, SM_Object& object) :
- m_gl_shape(gl_shape),
- m_object(object),
- m_callback(*this)
- {
- m_object.registerCallback(m_callback);
- }
-
- ~Object() {}
-
- void paint() {
- if (m_gl_shape) {
- m_gl_shape->paint(m);
- // display_bbox(m_bbox.lower(), m_bbox.upper());
- }
- }
-
- void print_reaction_force() const {
- std::cout << m_object.getReactionForce() << std::endl;
- }
-
- MT_Vector3 getAhead() {
- return MT_Vector3(&m[4]);
- }
-
- MT_Vector3 getUp() {
- return MT_Vector3(&m[8]);
- }
-
- void clearMomentum() {
- m_object.clearMomentum();
- }
-
- void setMargin(MT_Scalar margin) {
- m_object.setMargin(margin);
- }
-
- void setScaling(const MT_Vector3& scaling) {
- m_object.setScaling(scaling);
- }
-
- const MT_Point3& getPosition() {
- return m_object.getPosition();
- }
-
- void setPosition(const MT_Point3& pos) {
- m_object.setPosition(pos);
- }
-
- void setOrientation(const MT_Quaternion& orn) {
- m_object.setOrientation(orn);
- }
-
- void applyCenterForce(const MT_Vector3& force) {
- m_object.applyCenterForce(force);
- }
-
- void applyTorque(const MT_Vector3& torque) {
- m_object.applyTorque(torque);
- }
-
- MT_Point3 getWorldCoord(const MT_Point3& local) const {
- return m_object.getWorldCoord(local);
- }
-
- MT_Vector3 getLinearVelocity() const {
- return m_object.getLinearVelocity();
- }
-
- MT_Vector3 getAngularVelocity() const {
- return m_object.getAngularVelocity();
- }
-
- void setMatrix() {
- m_object.calcXform();
- m_object.getMatrix(m);
- }
-
- const double *getMatrix() {
- m_object.calcXform();
- return m_object.getMatrix();
- }
-
-private:
- GLShape *m_gl_shape;
- SM_Object& m_object;
- DT_Scalar m[16];
- Callback m_callback;
-};
-
-
-
-const MT_Scalar SPACE_SIZE = 2;
-
-static GLSphere gl_sphere(sphere_radius);
-static GLBox gl_ground(50.0, 0.0, 50.0);
-
-
-
-#ifdef USE_COMPLEX
-
-const int GRID_SCALE = 10;
-const MT_Scalar GRID_UNIT = 25.0 / GRID_SCALE;
-
-DT_ShapeHandle createComplex() {
- DT_ShapeHandle shape = DT_NewComplexShape();
- for (int i0 = -GRID_SCALE; i0 != GRID_SCALE; ++i0) {
- for (int j0 = -GRID_SCALE; j0 != GRID_SCALE; ++j0) {
- int i1 = i0 + 1;
- int j1 = j0 + 1;
-#ifdef QUADS
- DT_Begin();
- DT_Vertex(GRID_UNIT * i0, bowl_curv * i0*i0, GRID_UNIT * j0);
- DT_Vertex(GRID_UNIT * i0, bowl_curv * i0*i0, GRID_UNIT * j1);
- DT_Vertex(GRID_UNIT * i1, bowl_curv * i1*i1, GRID_UNIT * j1);
- DT_Vertex(GRID_UNIT * i1, bowl_curv * i1*i1, GRID_UNIT * j0);
- DT_End();
-#else
- DT_Begin();
- DT_Vertex(GRID_UNIT * i0, 0, GRID_UNIT * j0);
- DT_Vertex(GRID_UNIT * i0, 0, GRID_UNIT * j1);
- DT_Vertex(GRID_UNIT * i1, 0, GRID_UNIT * j1);
- DT_End();
-
- DT_Begin();
- DT_Vertex(GRID_UNIT * i0, 0, GRID_UNIT * j1);
- DT_Vertex(GRID_UNIT * i1, 0, GRID_UNIT * j1);
- DT_Vertex(GRID_UNIT * i1, 0, GRID_UNIT * j0);
- DT_End();
-#endif
-
- }
- }
- DT_EndComplexShape();
- return shape;
-}
-
-
-static DT_ShapeHandle ground_shape = createComplex();
-
-#else
-
-static DT_ShapeHandle ground_shape = DT_Box(50, 0, 50);
-
-#endif
-
-static SM_Object sm_ground(ground_shape, &g_materialProps, 0, 0);
-static Object ground(&gl_ground, sm_ground);
-
-static SM_Object sm_sphere(DT_Sphere(0.0), &g_materialProps, &g_shapeProps, 0);
-static Object object(&gl_sphere, sm_sphere);
-
-
-static SM_Scene g_scene;
-
-
-bool g_hit = false;
-MT_Point3 g_spot;
-MT_Vector3 g_normal;
-
-
-void Callback::do_me()
-{
- m_object.setMatrix();
- m_object.print_reaction_force();
-}
-
-void myinit(void) {
-
- GLfloat light_ambient[] = { 0.0, 0.0, 0.0, 1.0 };
- GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
- GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 };
-
- /* light_position is NOT default value */
- GLfloat light_position0[] = { 1.0, 1.0, 1.0, 0.0 };
- GLfloat light_position1[] = { -1.0, -1.0, -1.0, 0.0 };
-
- glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
- glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
- glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
- glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
-
- glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
- glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
- glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
- glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
-
-
- glEnable(GL_LIGHTING);
- glEnable(GL_LIGHT0);
- glEnable(GL_LIGHT1);
-
- glShadeModel(GL_SMOOTH);
-
- glEnable(GL_DEPTH_TEST);
- glDepthFunc(GL_LESS);
-
- // glEnable(GL_CULL_FACE);
- // glCullFace(GL_BACK);
-
- ground.setPosition(MT_Point3(0, -10, 0));
- ground.setOrientation(MT_Quaternion(0, 0, 0, 1));
- ground.setMatrix();
- center.setValue(0.0, 0.0, 0.0);
- sm_ground.setMargin(ground_margin);
-
- g_scene.setForceField(gravity);
- g_scene.add(sm_ground);
-
- object.setMargin(sphere_radius);
-
- g_scene.add(sm_sphere);
-
-
- newRandom();
-}
-
-
-//MT_Point3 cp1, cp2;
-//bool intersection;
-
-void display(void) {
- glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
- ground.paint();
- object.paint();
-
- if (g_hit) {
- glDisable(GL_LIGHTING);
- glColor3f(1, 0, 0);
-
- glPointSize(5);
- glBegin(GL_POINTS);
- glVertex3d(g_spot[0], g_spot[1], g_spot[2]);
- glEnd();
- glPointSize(1);
-
- glColor3f(1, 1, 0);
- glBegin(GL_LINES);
- glVertex3d(g_spot[0], g_spot[1], g_spot[2]);
- glVertex3d(g_spot[0] + g_normal[0],
- g_spot[1] + g_normal[1],
- g_spot[2] + g_normal[2]);
- glEnd();
- glEnable(GL_LIGHTING);
- }
-
-
-
-#ifdef COLLISION
- glDisable(GL_DEPTH_TEST);
- glDisable(GL_LIGHTING);
- glColor3f(1, 1, 0);
- if (intersection) {
- glPointSize(5);
- glBegin(GL_POINTS);
- glVertex3d(cp1[0], cp1[1], cp1[2]);
- glEnd();
- glPointSize(1);
- }
- else {
- glBegin(GL_LINES);
- glVertex3d(cp1[0], cp1[1], cp1[2]);
- glVertex3d(cp2[0], cp2[1], cp2[2]);
- glEnd();
- }
- glEnable(GL_LIGHTING);
- glEnable(GL_DEPTH_TEST);
-#endif
-
- glFlush();
- glutSwapBuffers();
-}
-
-
-
-
-
-void newRandom() {
- object.setPosition(MT_Point3(0, 0, 0));
- object.setOrientation(MT_Quaternion::random());
- object.clearMomentum();
- object.setMatrix();
-
- display();
-}
-
-void moveAndDisplay() {
- g_scene.proceed(timeStep, 0.01);
-
- display();
- g_hit = false;
-}
-
-
-void turn_left() {
- object.applyTorque(5.0 * object.getUp());
-}
-
-void turn_right() {
- object.applyTorque(-5.0 * object.getUp());
-}
-
-void forward() {
- object.applyCenterForce(10.0 * object.getAhead());
-}
-
-void backward() {
- object.applyCenterForce(-10.0 * object.getAhead());
-}
-
-void jump() {
- object.applyCenterForce(MT_Vector3(0.0, 200.0, 0.0));
-}
-
-
-void toggleIdle() {
- static bool idle = true;
- if (idle) {
- glutIdleFunc(moveAndDisplay);
- idle = false;
- }
- else {
- glutIdleFunc(NULL);
- idle = true;
- }
-}
-
-
-void setCamera() {
- glMatrixMode(GL_PROJECTION);
- glLoadIdentity();
- glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 200.0);
- MT_Scalar rele = MT_radians(ele);
- MT_Scalar razi = MT_radians(azi);
- eye.setValue(DISTANCE * sin(razi) * cos(rele),
- DISTANCE * sin(rele),
- DISTANCE * cos(razi) * cos(rele));
- gluLookAt(eye[0], eye[1], eye[2],
- center[0], center[1], center[2],
- 0, 1, 0);
- glMatrixMode(GL_MODELVIEW);
- display();
-}
-
-const MT_Scalar STEPSIZE = 5;
-
-void stepLeft() { azi -= STEPSIZE; if (azi < 0) azi += 360; setCamera(); }
-void stepRight() { azi += STEPSIZE; if (azi >= 360) azi -= 360; setCamera(); }
-void stepFront() { ele += STEPSIZE; if (azi >= 360) azi -= 360; setCamera(); }
-void stepBack() { ele -= STEPSIZE; if (azi < 0) azi += 360; setCamera(); }
-void zoomIn() { DISTANCE -= 1; setCamera(); }
-void zoomOut() { DISTANCE += 1; setCamera(); }
-
-
-void myReshape(int w, int h) {
- glViewport(0, 0, w, h);
- setCamera();
-}
-
-void myKeyboard(unsigned char key, int x, int y)
-{
- switch (key)
- {
- case 'w': forward(); break;
- case 's': backward(); break;
- case 'a': turn_left(); break;
- case 'd': turn_right(); break;
- case 'e': jump(); break;
- case 'l' : stepLeft(); break;
- case 'r' : stepRight(); break;
- case 'f' : stepFront(); break;
- case 'b' : stepBack(); break;
- case 'z' : zoomIn(); break;
- case 'x' : zoomOut(); break;
- case 'i' : toggleIdle(); break;
- case ' ' : newRandom(); break;
- default:
-// std::cout << "unused key : " << key << std::endl;
- break;
- }
-}
-
-void mySpecial(int key, int x, int y)
-{
- switch (key)
- {
- case GLUT_KEY_LEFT : stepLeft(); break;
- case GLUT_KEY_RIGHT : stepRight(); break;
- case GLUT_KEY_UP : stepFront(); break;
- case GLUT_KEY_DOWN : stepBack(); break;
- case GLUT_KEY_PAGE_UP : zoomIn(); break;
- case GLUT_KEY_PAGE_DOWN : zoomOut(); break;
- case GLUT_KEY_HOME : toggleIdle(); break;
- default:
-// std::cout << "unused (special) key : " << key << std::endl;
- break;
- }
-}
-
-void goodbye( void)
-{
- g_scene.remove(sm_ground);
- g_scene.remove(sm_sphere);
-
- std::cout << "goodbye ..." << std::endl;
- exit(0);
-}
-
-void menu(int choice)
-{
-
- static int fullScreen = 0;
- static int px, py, sx, sy;
-
- switch(choice) {
- case 1:
- if (fullScreen == 1) {
- glutPositionWindow(px,py);
- glutReshapeWindow(sx,sy);
- glutChangeToMenuEntry(1,"Full Screen",1);
- fullScreen = 0;
- } else {
- px=glutGet((GLenum)GLUT_WINDOW_X);
- py=glutGet((GLenum)GLUT_WINDOW_Y);
- sx=glutGet((GLenum)GLUT_WINDOW_WIDTH);
- sy=glutGet((GLenum)GLUT_WINDOW_HEIGHT);
- glutFullScreen();
- glutChangeToMenuEntry(1,"Close Full Screen",1);
- fullScreen = 1;
- }
- break;
- case 2:
- toggleIdle();
- break;
- case 3:
- goodbye();
- break;
- default:
- break;
- }
-}
-
-void createMenu()
-{
- glutCreateMenu(menu);
- glutAddMenuEntry("Full Screen", 1);
- glutAddMenuEntry("Toggle Idle (Start/Stop)", 2);
- glutAddMenuEntry("Quit", 3);
- glutAttachMenu(GLUT_RIGHT_BUTTON);
-}
-
-int main(int argc, char **argv) {
- glutInit(&argc, argv);
- glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
- glutInitWindowPosition(0, 0);
- glutInitWindowSize(500, 500);
- glutCreateWindow("Physics demo");
-
- myinit();
- glutKeyboardFunc(myKeyboard);
- glutSpecialFunc(mySpecial);
- glutReshapeFunc(myReshape);
- createMenu();
- glutIdleFunc(NULL);
-
- glutDisplayFunc(display);
- glutMainLoop();
- return 0;
-}
-
-
-
-
-
-
-
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