[ODE] Drawstuff addon

[Erwin de Vries]

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Could this be added to CVS?

Its for drawing triangles. An upcoming Tricollider test uses it to draw a
bunny. ;-)

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Index: drawstuff/src/drawstuff.cpp
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RCS file: /cvsroot/ode/drawstuff/src/drawstuff.cpp,v
retrieving revision 1.21
diff -u -r1.21 drawstuff.cpp
--- drawstuff/src/drawstuff.cpp	2002/07/31 03:11:09	1.21
+++ drawstuff/src/drawstuff.cpp	2002/08/11 18:03:55
@@ -523,6 +523,44 @@
   glEnd();
 }
=20
+#define dCROSS(a,op,b,c) \
+  (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
+  (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
+  (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
+
+inline float dDOT (const float *a, const float *b)
+  { return ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]); }
+
+static void drawTriangle(const float* v0, const float* v1, const float* =
v2)
+{
+  float u[4];
+  u[0] =3D v1[0] - v0[0];
+  u[1] =3D v1[1] - v0[1];
+  u[2] =3D v1[2] - v0[2];
+  u[3] =3D v1[3] - v0[3];
+
+  float v[4];
+  v[0] =3D v2[0] - v0[0];
+  v[1] =3D v2[1] - v0[1];
+  v[2] =3D v2[2] - v0[2];
+  v[3] =3D v2[3] - v0[3];
+
+  float Normal[4];
+  dCROSS(Normal, =3D, u, v);
+  float Mag =3D sqrtf(dDOT(Normal, Normal));
+  Normal[0] /=3D Mag;
+  Normal[1] /=3D Mag;
+  Normal[2] /=3D Mag;
+  Normal[3] /=3D Mag;
+
+  glBegin(GL_TRIANGLES);
+  glNormal3fv(Normal);
+  glVertex3fv(v0);
+  glVertex3fv(v1);
+  glVertex3fv(v2);
+  glEnd();
+}
+
=20
 // draw a capped cylinder of length l and radius r, aligned along the x =
axis
=20
@@ -1242,6 +1280,16 @@
     drawSphereShadow (pos[0],pos[1],pos[2],radius);
     glDepthRange (0,1);
   }
+}
+
+extern "C" void dsDrawTriangle(const float pos[3], const float R[12], =
const float* v0, const float* v1, const float* v2)
+{
+  if (current_state !=3D 2) dsError ("drawing function called outside =
simulation loop");
+  setupDrawingMode();
+  glShadeModel (GL_FLAT);
+  setTransform (pos,R);
+  drawTriangle (v0, v1, v2);
+  glPopMatrix();
 }
=20
=20

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