DrawStuff


Data Structures

struct  dsFunctions
 Set of functions to be used as callbacks by the simulation loop. More...

Functions

void dsSimulationLoop (int argc, char **argv, int window_width, int window_height, struct dsFunctions *fn)
 Does the complete simulation.

This function starts running the simulation, and only exits when the simulation is done. Function pointers should be provided for the callbacks.

void dsError (char *msg,...)
 exit with error message.

This function displays an error message then exit.

void dsDebug (char *msg,...)
 exit with error message and core dump.

this functions tries to dump core or start the debugger.

void dsPrint (char *msg,...)
 print log message
void dsSetViewpoint (float xyz[3], float hpr[3])
 Sets the viewpoint.
void dsGetViewpoint (float xyz[3], float hpr[3])
 Gets the viewpoint.
void dsStop ()
 Stop the simulation loop.

Calling this from within dsSimulationLoop() will cause it to exit and return to the caller. it is the same as if the user used the exit command. using this outside the loop will have no effect.

double dsElapsedTime ()
 Get the elapsed time (on wall-clock)

It returns the nr of seconds since the last call to this function.

void dsSetTexture (int texture_number)
 Toggle the rendering of textures.

It changes the way objects are drawn. these changes will apply to all further dsDrawXXX() functions.

void dsSetColor (float red, float green, float blue)
 Set the color with which geometry is drawn.
void dsSetColorAlpha (float red, float green, float blue, float alpha)
 Set the color and transparency with which geometry is drawn.
void dsDrawBox (const float pos[3], const float R[12], const float sides[3])
 Draw a box.
void dsDrawSphere (const float pos[3], const float R[12], float radius)
 Draw a sphere.
void dsDrawTriangle (const float pos[3], const float R[12], const float *v0, const float *v1, const float *v2, int solid)
 Draw a triangle.
void dsDrawCylinder (const float pos[3], const float R[12], float length, float radius)
 Draw a z-aligned cylinder.
void dsDrawCapsule (const float pos[3], const float R[12], float length, float radius)
 Draw a z-aligned capsule.
void dsDrawLine (const float pos1[3], const float pos2[3])
 Draw a line.
void dsDrawConvex (const float pos[3], const float R[12], float *_planes, unsigned int _planecount, float *_points, unsigned int _pointcount, unsigned int *_polygons)
 Draw a convex shape.
void dsSetSphereQuality (int n)
 Set the quality with which curved objects are rendered.

Higher numbers are higher quality, but slower to draw. This must be set before the first objects are drawn to be effective. Default sphere quality is 1, default capsule quality is 3.


Detailed Description

DrawStuff is a library for rendering simple 3D objects in a virtual environment, for the purposes of demonstrating the features of ODE. It is provided for demonstration purposes and is not intended for production use.

Notes

In the virtual world, the z axis is "up" and z=0 is the floor.

The user is able to click+drag in the main window to move the camera: left button - pan and tilt. right button - forward and sideways. left + right button (or middle button) - sideways and up.


Function Documentation

void dsDebug char *  msg,
  ...
 

exit with error message and core dump.

this functions tries to dump core or start the debugger.

Parameters:
msg format strin, like printf, without the newline character.

void dsDrawBox const float  pos[3],
const float  R[12],
const float  sides[3]
 

Draw a box.

Parameters:
pos is the x,y,z of the center of the object.
R is a 3x3 rotation matrix for the object, stored by row like this: [ R11 R12 R13 0 ] [ R21 R22 R23 0 ] [ R31 R32 R33 0 ]
sides[] is an array of x,y,z side lengths.

void dsDrawSphere const float  pos[3],
const float  R[12],
float  radius
 

Draw a sphere.

Parameters:
pos Position of center.
R orientation.
radius 

void dsDrawTriangle const float  pos[3],
const float  R[12],
const float *  v0,
const float *  v1,
const float *  v2,
int  solid
 

Draw a triangle.

Parameters:
pos Position of center
R orientation
v0 first vertex
v1 second
v2 third vertex
solid set to 0 for wireframe

void dsError char *  msg,
  ...
 

exit with error message.

This function displays an error message then exit.

Parameters:
msg format strin, like printf, without the newline character.

void dsGetViewpoint float  xyz[3],
float  hpr[3]
 

Gets the viewpoint.

Parameters:
xyz position
hpr heading,pitch,roll.

void dsPrint char *  msg,
  ...
 

print log message

Parameters:
msg format string, like printf, without the
.

void dsSetColor float  red,
float  green,
float  blue
 

Set the color with which geometry is drawn.

Parameters:
red Red component from 0 to 1
green Green component from 0 to 1
blue Blue component from 0 to 1

void dsSetColorAlpha float  red,
float  green,
float  blue,
float  alpha
 

Set the color and transparency with which geometry is drawn.

Parameters:
alpha Note that alpha transparency is a misnomer: it is alpha opacity. 1.0 means fully opaque, and 0.0 means fully transparent.

void dsSetTexture int  texture_number  ) 
 

Toggle the rendering of textures.

It changes the way objects are drawn. these changes will apply to all further dsDrawXXX() functions.

Parameters:
the texture number must be a DS_xxx texture constant. The current texture is colored according to the current color. At the start of each frame, the texture is reset to none and the color is reset to white.

void dsSetViewpoint float  xyz[3],
float  hpr[3]
 

Sets the viewpoint.

Parameters:
xyz camera position.
hpr contains heading, pitch and roll numbers in degrees. heading=0 points along the x axis, pitch=0 is looking towards the horizon, and roll 0 is "unrotated".

void dsSimulationLoop int  argc,
char **  argv,
int  window_width,
int  window_height,
struct dsFunctions fn
 

Does the complete simulation.

This function starts running the simulation, and only exits when the simulation is done. Function pointers should be provided for the callbacks.

Parameters:
argv supports flags like '-notex' '-noshadow' '-pause'
fn Callback functions.


Generated on Fri Sep 8 21:34:10 2006 for Open Dynamics Engine by  doxygen 1.4.6