本文整理汇总了C++中dsDrawBox函数的典型用法代码示例。如果您正苦于以下问题：C++ dsDrawBox函数的具体用法？C++ dsDrawBox怎么用？C++ dsDrawBox使用的例子？那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。
在下文中一共展示了dsDrawBox函数的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: desenharCampo
/**
* @brief Desenhar o campo da simulacao
*
* Desenha toda a parte grafica da simulacao, como
* as paredes, as linhas, os robos e a bola.
*
*/
void desenharCampo()
{
dVector3 ss;
dsSetColor (0,0,0);
for(int i=0; i < 6; i++) //Paredes
{
dGeomBoxGetLengths (wall[i],ss);
dsDrawBox (dGeomGetPosition(wall[i]), dGeomGetRotation(wall[i]), ss);
}
for(int i=0; i < 3;i++) //Gols
{
dGeomBoxGetLengths (goalL[i],ss);
dsDrawBox (dGeomGetPosition(goalL[i]), dGeomGetRotation(goalL[i]), ss);
dGeomBoxGetLengths (goalR[i],ss);
dsDrawBox (dGeomGetPosition(goalR[i]), dGeomGetRotation(goalR[i]), ss);
}
dsSetColor (1,1,1); //Círculo Central
dsDrawCylinder(dGeomGetPosition(circle),dGeomGetRotation(circle),0.0001,CIRCLE_RADIUS);
for (int i=0; i < 4; i++) //Quinas
{
dGeomBoxGetLengths (triangle[i],ss);
dsDrawBox (dGeomGetPosition(triangle[i]), dGeomGetRotation(triangle[i]), ss);
}
}示例2: drawGeom
void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
{
if (!draw_geom){
return;
}
if (!g) return;
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
int type = dGeomGetClass (g);
if (type == dBoxClass) {
dVector3 sides;
dGeomBoxGetLengths (g,sides);
dsDrawBox (pos,R,sides);
}
else if (type == dSphereClass) {
dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
}
else if (type == dCapsuleClass) {
dReal radius,length;
dGeomCapsuleGetParams (g,&radius,&length);
dsDrawCapsule (pos,R,length,radius);
}
/*
// cylinder option not yet implemented
else if (type == dCylinderClass) {
dReal radius,length;
dGeomCylinderGetParams (g,&radius,&length);
dsDrawCylinder (pos,R,length,radius);
}
*/
else if (type == dGeomTransformClass) {
dGeomID g2 = dGeomTransformGetGeom (g);
const dReal *pos2 = dGeomGetPosition (g2);
const dReal *R2 = dGeomGetRotation (g2);
dVector3 actual_pos;
dMatrix3 actual_R;
dMULTIPLY0_331 (actual_pos,R,pos2);
actual_pos[0] += pos[0];
actual_pos[1] += pos[1];
actual_pos[2] += pos[2];
dMULTIPLY0_333 (actual_R,R,R2);
drawGeom (g2,actual_pos,actual_R,0);
}
if (show_aabb) {
// draw the bounding box for this geom
dReal aabb[6];
dGeomGetAABB (g,aabb);
dVector3 bbpos;
for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha (1,0,0,0.5);
dsDrawBox (bbpos,RI,bbsides);
}
}示例3: dessin_env
//Fonction de dessin avec drawstuff
void dessin_env( Bloc *bloc1, Bloc *bloc2 ){
dReal sides[3] = {LARGEUR, LONGUEUR, EPAISSEUR };
dsSetColor (COULEUR_BLOC);
dsSetTexture (DS_WOOD);
dsDrawBox ( dBodyGetPosition( bloc1->bodyID ) , dBodyGetRotation( bloc1->bodyID ), sides);
dsDrawBox ( dBodyGetPosition( bloc2->bodyID ) , dBodyGetRotation( bloc2->bodyID ), sides);
}示例4: simLoop
static void simLoop (int pause)
{
// stop after a given number of iterations, as long as we are not in
// interactive mode
if (cmd_graphics && !cmd_interactive &&
(iteration >= max_iterations)) {
dsStop();
return;
}
iteration++;
if (!pause) {
// do stuff for this test and check to see if the joint is behaving well
dReal error = doStuffAndGetError (test_num);
if (error > max_error) max_error = error;
if (cmd_interactive && error < dInfinity) {
printf ("scaled error = %.4e\n",error);
}
// take a step
dWorldStep (world,STEPSIZE);
// occasionally re-orient the first body to create a deliberate error.
if (cmd_occasional_error) {
static int count = 0;
if ((count % 20)==0) {
// randomly adjust orientation of body[0]
const dReal *R1;
dMatrix3 R2,R3;
R1 = dBodyGetRotation (body[0]);
dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
dRandReal()-0.5,dRandReal()-0.5);
dMultiply0 (R3,R1,R2,3,3,3);
dBodySetRotation (body[0],R3);
// randomly adjust position of body[0]
const dReal *pos = dBodyGetPosition (body[0]);
dBodySetPosition (body[0],
pos[0]+0.2*(dRandReal()-0.5),
pos[1]+0.2*(dRandReal()-0.5),
pos[2]+0.2*(dRandReal()-0.5));
}
count++;
}
}
if (cmd_graphics) {
dReal sides1[3] = {SIDE,SIDE,SIDE};
dReal sides2[3] = {SIDE*0.99f,SIDE*0.99f,SIDE*0.99f};
dsSetTexture (DS_WOOD);
dsSetColor (1,1,0);
dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
if (body[1]) {
dsSetColor (0,1,1);
dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
}
}
}示例5: simLoop
static void simLoop (int pause)
{
const dReal kd = -0.3; // angular damping constant
const dReal ks = 0.5; // spring constant
if (!pause) {
// add an oscillating torque to body 0, and also damp its rotational motion
static dReal a=0;
const dReal *w = dBodyGetAngularVel (body[0]);
dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a));
a += 0.01;
// add a spring force to keep the bodies together, otherwise they will
// fly apart along the slider axis.
const dReal *p1 = dBodyGetPosition (body[0]);
const dReal *p2 = dBodyGetPosition (body[1]);
dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]),
ks*(p2[2]-p1[2]));
dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]),
ks*(p1[2]-p2[2]));
// occasionally re-orient one of the bodies to create a deliberate error.
if (occasional_error) {
static int count = 0;
if ((count % 20)==0) {
// randomly adjust orientation of body[0]
const dReal *R1;
dMatrix3 R2,R3;
R1 = dBodyGetRotation (body[0]);
dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
dRandReal()-0.5,dRandReal()-0.5);
dMultiply0 (R3,R1,R2,3,3,3);
dBodySetRotation (body[0],R3);
// randomly adjust position of body[0]
const dReal *pos = dBodyGetPosition (body[0]);
dBodySetPosition (body[0],
pos[0]+0.2*(dRandReal()-0.5),
pos[1]+0.2*(dRandReal()-0.5),
pos[2]+0.2*(dRandReal()-0.5));
}
count++;
}
dWorldStep (world,0.05);
}
dReal sides1[3] = {SIDE,SIDE,SIDE};
dReal sides2[3] = {SIDE*0.8f,SIDE*0.8f,SIDE*2.0f};
dsSetTexture (DS_WOOD);
dsSetColor (1,1,0);
dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
dsSetColor (0,1,1);
dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
}示例6: drawGeom
void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
{
if (!g) return;
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
int type = dGeomGetClass (g);
if (type == dBoxClass) {
dVector3 sides;
dGeomBoxGetLengths (g,sides);
dsDrawBox (pos,R,sides);
}
else if (type == dSphereClass) {
dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
}
else if (type == dCapsuleClass) {
dReal radius,length;
dGeomCapsuleGetParams (g,&radius,&length);
dsDrawCapsule (pos,R,length,radius);
} else if (type == dConvexClass) {
//dVector3 sides={0.50,0.50,0.50};
dsDrawConvex(pos,R,planes,
planecount,
points,
pointcount,
polygons);
}
/*
// cylinder option not yet implemented
else if (type == dCylinderClass) {
dReal radius,length;
dGeomCylinderGetParams (g,&radius,&length);
dsDrawCylinder (pos,R,length,radius);
}
*/
if (show_aabb) {
// draw the bounding box for this geom
dReal aabb[6];
dGeomGetAABB (g,aabb);
dVector3 bbpos;
for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha (1,0,0,0.5);
dsDrawBox (bbpos,RI,bbsides);
}
}示例7: nearCallback
void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
int i,j,n;
const int N = 100;
dContactGeom contact[N];
if (dGeomGetClass (o2) == dRayClass) {
n = dCollide (o2,o1,N,&contact[0],sizeof(dContactGeom));
}
else {
n = dCollide (o1,o2,N,&contact[0],sizeof(dContactGeom));
}
if (n > 0) {
dMatrix3 RI;
dRSetIdentity (RI);
const dReal ss[3] = {0.01,0.01,0.01};
for (i=0; i<n; i++) {
contact[i].pos[2] += Z_OFFSET;
dsDrawBox (contact[i].pos,RI,ss);
dVector3 n;
for (j=0; j<3; j++) n[j] = contact[i].pos[j] + 0.1*contact[i].normal[j];
dsDrawLine (contact[i].pos,n);
}
}
}示例8: drawGeom
void drawGeom (dGeomID g, const dReal *pos, const dReal *R)
{
if (!g) return;
if (!pos) pos = dGeomGetPosition (g);
if (!R) R = dGeomGetRotation (g);
int type = dGeomGetClass (g);
if (type == dBoxClass) {
dVector3 sides;
dGeomBoxGetLengths (g,sides);
dsDrawBox (pos,R,sides);
}
else if (type == dSphereClass) {
dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
}
else if (type == dCCylinderClass) {
dReal radius,length;
dGeomCCylinderGetParams (g,&radius,&length);
dsDrawCappedCylinder (pos,R,length,radius);
}
else if (type == dGeomTransformClass) {
dGeomID g2 = dGeomTransformGetGeom (g);
const dReal *pos2 = dGeomGetPosition (g2);
const dReal *R2 = dGeomGetRotation (g2);
dVector3 actual_pos;
dMatrix3 actual_R;
dMULTIPLY0_331 (actual_pos,R,pos2);
actual_pos[0] += pos[0];
actual_pos[1] += pos[1];
actual_pos[2] += pos[2];
dMULTIPLY0_333 (actual_R,R,R2);
drawGeom (g2,actual_pos,actual_R);
}
}示例9: nearCallback
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
int i;
// if (o1->body && o2->body) return;
// exit without doing anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box
for (i=0; i<MAX_CONTACTS; i++) {
contact[i].surface.mode = dContactBounce | dContactSoftCFM;
contact[i].surface.mu = dInfinity;
contact[i].surface.mu2 = 0;
contact[i].surface.bounce = 0.1;
contact[i].surface.bounce_vel = 0.1;
contact[i].surface.soft_cfm = 0.01;
}
if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
sizeof(dContact))) {
dMatrix3 RI;
dRSetIdentity (RI);
const dReal ss[3] = {0.02,0.02,0.02};
for (i=0; i<numc; i++) {
dJointID c = dJointCreateContact (world,contactgroup,contact+i);
dJointAttach (c,b1,b2);
if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
}
}
}示例10: simLoop
static void simLoop (int pause)
{
int i,j;
for (i=0; i < NUM; i++) {
for (j=0; j < NUM; j++) test_matrix[i][j] = 0;
}
dSpaceCollide (space,0,&nearCallback);
for (i=0; i < NUM; i++) {
for (j=i+1; j < NUM; j++) {
if (good_matrix[i][j] && !test_matrix[i][j]) {
printf ("failed to report collision (%d,%d) (seed=%ld)\n",i,j,seed);
}
}
}
seed++;
init_test();
for (i=0; i<NUM; i++) {
dVector3 pos,side;
dMatrix3 R;
dRSetIdentity (R);
for (j=0; j<3; j++) pos[j] = (bounds[i][j*2+1] + bounds[i][j*2]) * 0.5;
for (j=0; j<3; j++) side[j] = bounds[i][j*2+1] - bounds[i][j*2];
if (hits[i] > 0) dsSetColor (1,0,0);
else dsSetColor (1,1,0);
dsDrawBox (pos,R,side);
}
}示例11: simLoop
// simulation loop
static void simLoop (int pause)
{
const dReal *pos1,*R1,*pos2,*R2,*pos3,*R3;
//@a sphere
dsSetColor(1,0,0); // set color (red, green, blue�j a value is between 0 and 1
dsSetSphereQuality(3); // set sphere quality. 3 is enough
pos1 = dBodyGetPosition(sphere.body); // get a body position
R1 = dBodyGetRotation(sphere.body); // get a body rotation matrix
dsDrawSphere(pos1,R1,radius); // draw a sphere
// a cylinder
dsSetColorAlpha (0,1,0,1);
pos2 = dBodyGetPosition(cylinder.body);
R2 = dBodyGetRotation(cylinder.body);
dsDrawCylinder(pos2,R2,length,radius); // draw a cylinder
// a capsule
dsSetColorAlpha (1,1,1,1);
pos2 = dBodyGetPosition(capsule.body);
R2 = dBodyGetRotation(capsule.body);
dsDrawCapsule(pos2,R2,length,radius); // draw a capsule
// a box
dsSetColorAlpha (0,0,1,1);
pos3 = dBodyGetPosition(box.body);
R3 = dBodyGetRotation(box.body);
dsDrawBox(pos3,R3,sides); // draw a box
// a ray
dReal posA[3] = {0, 5, 0}, posB[3]= {0, 5, 1.9};
dsDrawLine(posA,posB); // draw a ray
}示例12: nearCallback
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
// for drawing the contact points
dMatrix3 RI;
dRSetIdentity (RI);
const dReal ss[3] = {0.02,0.02,0.02};
int i;
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
dContact contact[MAX_CONTACTS];
int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
sizeof(dContact));
for (i=0; i<numc; i++) {
contact[i].surface.mode = dContactApprox1;
contact[i].surface.mu = 2;
dJointID c = dJointCreateContact (*world,contactgroup,contact+i);
dJointAttach (c,b1,b2);
if (show_contacts)
dsDrawBox (contact[i].geom.pos, RI, ss);
}
}示例13: simLoop
static void simLoop (int pause)
{
int i;
if (!pause) {
// motor
dJointSetHinge2Param (joint[0],dParamVel2,-speed);
dJointSetHinge2Param (joint[0],dParamFMax2,0.1);
// steering
dReal v = steer - dJointGetHinge2Angle1 (joint[0]);
if (v > 0.1) v = 0.1;
if (v < -0.1) v = -0.1;
v *= 10.0;
dJointSetHinge2Param (joint[0],dParamVel,v);
dJointSetHinge2Param (joint[0],dParamFMax,0.2);
dJointSetHinge2Param (joint[0],dParamLoStop,-0.75);
dJointSetHinge2Param (joint[0],dParamHiStop,0.75);
dJointSetHinge2Param (joint[0],dParamFudgeFactor,0.1);
dSpaceCollide (space,0,&nearCallback);
dWorldStep (world,0.05);
// remove all contact joints
dJointGroupEmpty (contactgroup);
}
dsSetColor (0,1,1);
dsSetTexture (DS_WOOD);
dReal sides[3] = {LENGTH,WIDTH,HEIGHT};
dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides);
dsSetColor (1,1,1);
for (i=1; i<=3; i++) dsDrawCylinder (dBodyGetPosition(body[i]),
dBodyGetRotation(body[i]),0.02f,RADIUS);
dVector3 ss;
dGeomBoxGetLengths (ground_box,ss);
dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss);
/*
printf ("%.10f %.10f %.10f %.10f\n",
dJointGetHingeAngle (joint[1]),
dJointGetHingeAngle (joint[2]),
dJointGetHingeAngleRate (joint[1]),
dJointGetHingeAngleRate (joint[2]));
*/
}示例14: simLoop
static void simLoop (int pause)
{
if (!pause) {
dSpaceCollide(space,0,&nearCallback);
dWorldQuickStep (world,0.05);
dJointGroupEmpty(contactgroup);
}
dReal sides1[3];
dGeomBoxGetLengths(geom[0], sides1);
dReal sides2[3];
dGeomBoxGetLengths(geom[1], sides2);
dsSetTexture (DS_WOOD);
dsSetColor (1,1,0);
dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
dsSetColor (0,1,1);
dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
}示例15: draw
// ロボットの描画
static void draw() {
const dReal *pos, *rot;
dReal side[3];
// SHIELDの描画
pos = dBodyGetPosition(rod[0].body);
rot = dBodyGetRotation(rod[0].body);
dsSetColor(1.0 ,0.0 ,0.0);
dsDrawCylinder(pos, rot, SHIELD_LENGTH, SHIELD_RADIUS);
// RODの描画
pos = dBodyGetPosition(rod[1].body);
rot = dBodyGetRotation(rod[1].body);
side[0] = ROD_WIDTH;
side[1] = ROD_WIDTH;
side[2] = ROD_LENGTH;
dsSetColor(0.9 ,0.7 ,0.13);
dsDrawBox(pos, rot, side);
// BODYの描画
pos = dBodyGetPosition(rod[2].body);
rot = dBodyGetRotation(rod[2].body);
side[0] = BODY_WIDTH;
side[1] = BODY_LENGTH;
side[2] = BODY_HEIGHT;
dsSetColor(0.0 ,0.0 ,1.0);
dsDrawBox(pos, rot, side);
// BULLETの描画
pos = dBodyGetPosition(bullet.body);
rot = dBodyGetRotation(bullet.body);
dsSetColor(0 ,0 ,0);
dsDrawSphere(pos, rot, BULLET_RADIUS+0.1);
// RAYの描画
dVector3 pos_s,pos_e;
pos_s[0] = CANNON_X; pos_s[1]=CANNON_Y; pos_s[2]=CANNON_Z;
pos_e[0] = CANNON_X + CANNON_Y * tan(cannon_q_d[0]);
pos_e[1] = 0.0;
pos_e[2] = CANNON_Z + CANNON_Y * tan(- 1.0 * cannon_q_d[1]) / cos(cannon_q_d[0]);
dsSetColor(1 ,0 ,0);
dsDrawLine(pos_s, pos_e);
}