drawstuff/dstest/dstest.cpp

   1 /*************************************************************************
   2  *                                                                       *
   3  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
   4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
   5  *                                                                       *
   6  * This library is free software; you can redistribute it and/or         *
   7  * modify it under the terms of EITHER:                                  *
   8  *   (1) The GNU Lesser General Public License as published by the Free  *
   9  *       Software Foundation; either version 2.1 of the License, or (at  *
  10  *       your option) any later version. The text of the GNU Lesser      *
  11  *       General Public License is included with this library in the     *
  12  *       file LICENSE.TXT.                                               *
  13  *   (2) The BSD-style license that is included with this library in     *
  14  *       the file LICENSE-BSD.TXT.                                       *
  15  *                                                                       *
  16  * This library is distributed in the hope that it will be useful,       *
  17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
  19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
  20  *                                                                       *
  21  *************************************************************************/
  22
  23 #include <stdio.h>
  24 #include <math.h>
  25 #include <drawstuff/drawstuff.h>
  26
  27
  28 #ifndef M_PI
  29 #define M_PI (3.14159265358979323846)
  30 #endif
  31
  32
  33 void start()
  34 {
  35   // adjust the starting viewpoint a bit
  36   float xyz[3],hpr[3];
  37   dsGetViewpoint (xyz,hpr);
  38   hpr[0] += 7;
  39   dsSetViewpoint (xyz,hpr);
  40 }
  41
  42
  43 void simLoop (int pause)
  44 {
  45   float pos[3];
  46   float R[12];
  47   static float a = 0;
  48
  49   if (!pause) a += 0.02f;
  50   if (a > (2*M_PI)) a -= (float) (2*M_PI);
  51   float ca = (float) cos(a);
  52   float sa = (float) sin(a);
  53
  54   dsSetTexture (DS_WOOD);
  55
  56   float b = (a > M_PI) ? (2*(a-(float)M_PI)) : a*2;
  57   pos[0] = -0.3f;
  58   pos[1] = 0;
  59   pos[2] = (float) (0.1f*(2*M_PI*b - b*b) + 0.65f);
  60   R[0] = ca; R[1] = 0; R[2] = -sa;
  61   R[4] = 0;  R[5] = 1; R[6] = 0;
  62   R[8] = sa; R[9] = 0; R[10] = ca;
  63   dsSetColor (1,0.8f,0.6f);
  64   dsDrawSphere (pos,R,0.3f);
  65
  66   dsSetTexture (DS_NONE);
  67
  68   pos[0] = -0.2f;
  69   pos[1] = 0.8f;
  70   pos[2] = 0.4f;
  71   R[0] = ca; R[1] = -sa; R[2] = 0;
  72   R[4] = sa; R[5] = ca;  R[6] = 0;
  73   R[8] = 0;  R[9] = 0;   R[10] = 1;
  74   float sides[3] = {0.1f,0.4f,0.8f};
  75   dsSetColor (0.6f,0.6f,1);
  76   dsDrawBox (pos,R,sides);
  77
  78   dsSetTexture (DS_WOOD);
  79
  80   float r = 0.3f;                     // cylinder radius
  81   float d = (float)cos(a*2) * 0.4f;
  82   float cd = (float)cos(-d/r);
  83   float sd = (float)sin(-d/r);
  84   pos[0] = -0.2f;
  85   pos[1] = -1 + d;
  86   pos[2] = 0.3f;
  87   R[0] = 0;   R[1] = 0;  R[2] = -1;
  88   R[4] = -sd; R[5] = cd; R[6] =  0;
  89   R[8] =  cd; R[9] = sd; R[10] = 0;
  90   dsSetColor (0.4f,1,1);
  91   dsDrawCylinder (pos,R,0.8f,r);
  92
  93   pos[0] = 0;
  94   pos[1] = 0;
  95   pos[2] = 0.2f;
  96   R[0] = 0; R[1] = sa; R[2] = -ca;
  97   R[4] = 0; R[5] = ca; R[6] = sa;
  98   R[8] = 1; R[9] = 0;  R[10] = 0;
  99   dsSetColor (1,0.9f,0.2f);
 100   dsDrawCappedCylinder (pos,R,0.8f,0.2f);
 101 }
 102
 103
 104 void command (int cmd)
 105 {
 106   dsPrint ("received command %d (`%c')\n",cmd,cmd);
 107 }
 108
 109
 110 int main (int argc, char **argv)
 111 {
 112   // setup pointers to callback functions
 113   dsFunctions fn;
 114   fn.version = DS_VERSION;
 115   fn.start = &start;
 116   fn.step = &simLoop;
 117   fn.command = command;
 118   fn.stop = 0;
 119   fn.path_to_textures = 0;      // uses default
 120
 121   // run simulation
 122   dsSimulationLoop (argc,argv,400,400,&fn);
 123
 124   return 0;
 125 }