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C++ dsDrawBox函数代码示例

原作者: [db:作者] 来自: [db:来源] 收藏 邀请

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20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，您的评价将有助于我们的系统推荐出更棒的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);
    }
}
开发者ID:unball，项目名称:ieee-very-small-2012，代码行数:35，代码来源:Simulation.cpp


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);
  }
}
开发者ID:Ricku34，项目名称:ODE.js，代码行数:60，代码来源:test_space_stress.cpp


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);
}
开发者ID:Kylir，项目名称:MAAM，代码行数:9，代码来源:dessin_env.c


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);
    }
  }
}
开发者ID:CentreForBioRobotics，项目名称:lpzrobots，代码行数:58，代码来源:test_joints.cpp


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);
}
开发者ID:aliverobotics，项目名称:Pumas-SmallSize，代码行数:54，代码来源:test_slider.cpp


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);
  }
}
开发者ID:weilandetian，项目名称:Yoyo，代码行数:50，代码来源:demo_trimesh.cpp


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);
    }
  }
}
开发者ID:JohnCrash，项目名称:ode，代码行数:25，代码来源:demo_collision.cpp


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);
  }
}
开发者ID:Sean3Don，项目名称:opentribot，代码行数:34，代码来源:test_ray.cpp


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);
    }
  }
}
开发者ID:nurF，项目名称:Brute-Force-Game-Engine，代码行数:31，代码来源:demo_moving_trimesh.cpp


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);
  }
}
开发者ID:CentreForBioRobotics，项目名称:lpzrobots，代码行数:30，代码来源:test_space.cpp


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
}
开发者ID:minroth，项目名称:Robot-Simulator，代码行数:34，代码来源:sample4.cpp


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);

    }
}
开发者ID:4nakin，项目名称:awesomeball，代码行数:26，代码来源:demo_gyroscopic.cpp


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]));
  */
}
开发者ID:aliverobotics，项目名称:Pumas-SmallSize，代码行数:46，代码来源:test_buggy.cpp


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);
}
开发者ID:Yanzqing，项目名称:BHumanCodeRelease，代码行数:18，代码来源:demo_motor.cpp


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);

}
开发者ID:robot-nishida，项目名称:defense_rod，代码行数:45，代码来源:rod.cpp


示例16: drawArm

/*** ロボットアームの描画 ***/
void drawArm()
{
   dReal r,length;
   dReal box_length[3] = {0.4, 0.4, 0.4};

   for (int i = 0; i < NUM-1; i++ ) {       // カプセルの描画
     dGeomCapsuleGetParams(rlink[i].geom, &r,&length);
     dsDrawCapsule(dBodyGetPosition(rlink[i].body),
     dBodyGetRotation(rlink[i].body),length,r);
   }
   dGeomBoxGetLengths(rlink[NUM-1].geom, box_length);
   dsDrawBox(dBodyGetPosition(rlink[NUM-1].body), dBodyGetRotation(rlink[NUM-1].body), box_length);
}
开发者ID:Ry0，项目名称:ODE，代码行数:14，代码来源:6axis4.cpp


示例17: drawBox

static void drawBox (dGeomID id, int R, int G, int B)
{
  if (!id)
    return;

  const dReal *pos = dGeomGetPosition (id);
  const dReal *rot = dGeomGetRotation (id);
  dsSetColor (R,G,B);

  dVector3 l;
  dGeomBoxGetLengths (id, l);
  dsDrawBox (pos, rot, l);
}
开发者ID:Belxjander，项目名称:Asuna，代码行数:13，代码来源:demo_jointPU.cpp


示例18: simLoop

static void simLoop (int pause)
{
  if (!pause) {
    dBodyAddTorque (anchor_body,torque[0],torque[1],torque[2]);
    dBodyAddTorque (test_body,torque[0],torque[1],torque[2]);
    dWorldStep (world,0.03);

    iteration++;
    if (iteration >= 100) {
      // measure the difference between the anchor and test bodies
      const dReal *w1 = dBodyGetAngularVel (anchor_body);
      const dReal *w2 = dBodyGetAngularVel (test_body);
      const dReal *q1 = dBodyGetQuaternion (anchor_body);
      const dReal *q2 = dBodyGetQuaternion (test_body);
      dReal maxdiff = dMaxDifference (w1,w2,1,3);
      printf ("w-error = %.4e  (%.2f,%.2f,%.2f) and (%.2f,%.2f,%.2f)\n",
	      maxdiff,w1[0],w1[1],w1[2],w2[0],w2[1],w2[2]);
      maxdiff = dMaxDifference (q1,q2,1,4);
      printf ("q-error = %.4e\n",maxdiff);
      reset_test();
    }
  }

  dReal sides[3] = {SIDE,SIDE,SIDE};
  dReal sides2[3] = {6*SIDE,6*SIDE,6*SIDE};
  dReal sides3[3] = {3*SIDE,3*SIDE,3*SIDE};
  dsSetColor (1,1,1);
  dsDrawBox (dBodyGetPosition(anchor_body), dBodyGetRotation(anchor_body),
	     sides3);
  dsSetColor (1,0,0);
  dsDrawBox (dBodyGetPosition(test_body), dBodyGetRotation(test_body), sides2);
  dsSetColor (1,1,0);
  for (int i=0; i<NUM; i++)
    dsDrawBox (dBodyGetPosition (particle[i]),
	       dBodyGetRotation (particle[i]), sides);
}
开发者ID:soubok，项目名称:libset，代码行数:36，代码来源:test_I.cpp


示例19: simLoop

void simLoop (int pause)
{
  static bool DumpInfo=true;
  const dReal ss[3] = {0.02,0.02,0.02};
  dContactGeom contacts[8];
  int contactcount = dCollideConvexConvex(geoms[0],geoms[1],8,contacts,sizeof(dContactGeom));
  //fprintf(stdout,"Contact Count %d\n",contactcount);
  const dReal* pos;
  const dReal* R;
  dsSetTexture (DS_WOOD);
  pos = dGeomGetPosition (geoms[0]);
  R = dGeomGetRotation (geoms[0]);
  dsSetColor (0.6f,0.6f,1);
  dsDrawConvex(pos,R,planes,
	       planecount,
	       points,
	       pointcount,
	       polygons);
  pos = dGeomGetPosition (geoms[1]);
  R = dGeomGetRotation (geoms[1]);
  dsSetColor (0.4f,1,1);
  dsDrawConvex(pos,R,planes,
	       planecount,
	       points,
	       pointcount,
	       polygons);
  /*if (show_contacts) */
  dMatrix3 RI;
  dRSetIdentity (RI);
  dsSetColor (1.0f,0,0);
  for(int i=0;i<contactcount;++i)
    {
      if(DumpInfo)
	{
	  //DumpInfo=false;
	  fprintf(stdout,"Contact %d Normal %f,%f,%f Depth %f\n",
		  i,
		  contacts[i].normal[0],
		  contacts[i].normal[1],
		  contacts[i].normal[2],
		  contacts[i].depth);
	}
      dsDrawBox (contacts[i].pos,RI,ss);
    }
  if(DumpInfo)
    DumpInfo=false;

}
开发者ID:deavid，项目名称:soyamirror，代码行数:48，代码来源:demo_convex_cd.cpp


示例20: DrawOmni

void DrawOmni(){
    /* 車輪の描画 */
    dReal radius, length;
    dsSetColor(0.3, 0.3, 0.3);
    for (int i=0; i<OMNI_NUM; i++)
    {
        for (int j=0; j< WHEEL_NUM; j++)
        {
            dGeomCylinderGetParams(wheel[i][j].geom, &radius, &length);
            dsDrawCylinder(dGeomGetPosition(wheel[i][j].geom), dGeomGetRotation(wheel[i][j].geom),length, radius);
        }
        /* 土台の描画 */
        dsSetColor(0.3, 0.1, 0.1);
        dsDrawBox(dBodyGetPosition(base[i].body),dBodyGetRotation(base[i].body),baseSize[i]);
    }
}
开发者ID:PrinzEugen7，项目名称:Robotics，代码行数:16，代码来源:main.cpp



注：本文中的dsDrawBox函数示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。

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