diff options
Diffstat (limited to 'source/gameengine/Physics/Sumo/Fuzzics/sample/particle0.cpp')
-rw-r--r-- | source/gameengine/Physics/Sumo/Fuzzics/sample/particle0.cpp | 695 |
1 files changed, 0 insertions, 695 deletions
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/sample/particle0.cpp b/source/gameengine/Physics/Sumo/Fuzzics/sample/particle0.cpp deleted file mode 100644 index cdf0a2d8f64..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/sample/particle0.cpp +++ /dev/null @@ -1,695 +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_Scene.h" - -#include "solid.h" - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -const MT_Scalar bowl_curv = 0.10; -const MT_Scalar timeStep = 0.04; -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 - 0.9, // linear drag - 0.9 // angular drag -}; - -SM_MaterialProps g_materialProps = { - 0.7, // restitution - 0.0, // friction - 0.0, // spring constant - 0.0 // damping -}; - - -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() { - m_gl_shape->paint(m); - // display_bbox(m_bbox.lower(), m_bbox.upper()); - } - - MT_Vector3 getAhead() { - return MT_Vector3(-m[8], -m[9], -m[10]); - } - - void clearMomentum() { - m_object.clearMomentum(); - } - - void setMargin(MT_Scalar margin) { - m_object.setMargin(margin); - } - - void setScaling(const MT_Vector3& scaling) { - m_object.setScaling(scaling); - } - - 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(); - } - - void setMatrix() { - m_object.getMatrix(m); - } - -private: - GLShape *m_gl_shape; - SM_Object& m_object; - DT_Scalar m[16]; - Callback m_callback; -}; - - -void Callback::do_me() -{ - m_object.setMatrix(); -} - - -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_Object sm_ray(DT_Ray(0.0, -1.0, 0.0), 0, 0, 0); - -static SM_Scene g_scene; - - -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); - - g_scene.setForceField(gravity); - g_scene.add(sm_ground); - sm_ground.setMargin(ground_margin); - - new(&object) Object(&gl_sphere, sm_sphere); - - - object.setMargin(sphere_radius); - - g_scene.add(sm_sphere); - - 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); - - newRandom(); -} - - -//MT_Point3 cp1, cp2; -//bool intersection; - -bool g_hit = false; -MT_Point3 g_spot; -MT_Vector3 g_normal; - - -void display(void) { - glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - ground.paint(); - object.paint(); - - if (g_hit) { - glPointSize(5); - glBegin(GL_POINTS); - glVertex3d(g_spot[0], g_spot[1], g_spot[2]); - glEnd(); - glPointSize(1); - } - - - -#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.clearMomentum(); - object.setMatrix(); - - display(); -} - -void moveAndDisplay() { - g_scene.proceed(timeStep, 0.01); - - MT_Vector3 normal(0, 1, 0); - - MT_Point3 from = object.getWorldCoord(MT_Point3(0, 0, 0)); - MT_Point3 to = from - normal * 10.0; - - g_hit = DT_ObjectRayTest(sm_ground.getObjectHandle(), - from.getValue(), - to.getValue(), g_spot.getValue(), - g_normal.getValue()); - - // Scrap -#define DO_FH -#ifdef DO_FH - MT_Scalar dist = MT_distance(from, g_spot); - if (dist < 5.0) { - MT_Vector3 lin_vel = object.getLinearVelocity(); - MT_Scalar lin_vel_normal = lin_vel.dot(normal); - - MT_Scalar spring_extent = dist + lin_vel_normal * (timeStep * 0.5); - - MT_Scalar f_spring = (5.0 - spring_extent) * 3.0; - object.applyCenterForce(normal * f_spring); - object.applyCenterForce(-lin_vel_normal * normal); - } - -#endif - - - display(); -} - - -void turn_left() { - object.applyTorque(MT_Vector3(0.0, 10.0, 0.0)); -} - -void turn_right() { - object.applyTorque(MT_Vector3(0.0, -10.0, 0.0)); -} - -void forward() { - object.applyCenterForce(20.0 * object.getAhead()); -} - -void backward() { - object.applyCenterForce(-20.0 * 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; -} - - - - - - - |