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collision.c
资源名称：gaokongluoti.rar　[点击查看]
上传用户：zhbcxc
上传日期：2022-08-09
资源大小：577k
文件大小：27k
源码类别：

OpenGL

开发平台：

Visual C++

collision.c：源码内容
  2. #include <stdlib.h>
  3. #include <GL/glut.h>
  4. #include <stdio.h>
  5. #include <math.h>
  6. #include <sys/types.h>
  7. #include <time.h>
  9. // 光源定义
  10. GLfloat light_diffuse[] = {1.0, 1.0, 1.0, 1.0};  
  11. GLfloat light_position[] = {10.0, 10.0, 30.0, 1.0};  
  12. int win_id;
  13. static GLuint texName;
  15. // SETUP DATASTRUCTURE FOR OBJECTS
  16. #define MAXGUYS 300
  17. #define MAXOBJS 80
  18. int NUMOBJS;
  19. int TEXENABLE;
  20. int DEBUGENABLE;
  21. int frame;
  22. //  点的数据结构
  23. struct point 
  24. {
  25. float x; 
  26. float y; 
  27. float z;
  28. };
  29. //  有关弹性碰撞的数据结构
  30. struct spring 
  31. {
  32. struct point* p1; 
  33. struct point* p2;
  34. struct point* v1; 
  35. struct point* v2;
  36. float* m1; 
  37. float* m2;
  38. float length; 
  39. float stiff; 
  40. float damp; 
  41. float breaklen;
  42. };
  43. //  有关碰撞线的数据结构
  44. struct cdline 
  45. {
  46. struct point* p1; 
  47. struct point* p2; 
  48. struct point* v1; 
  49. struct point* v2;
  50. struct point* vi1; 
  51. struct point* vi2;
  52. struct point min; 
  53. struct point max;
  54. float* mass;
  55. float fric;
  56. };
  57. //  对象的面的数据结构
  58. struct face 
  59. {
  60. struct point* p1; 
  61. struct point* p2;
  62. struct point* p3;
  63. struct point* v1; 
  64. struct point* v2; 
  65. struct point* v3;
  66. struct point* vi1; 
  67. struct point* vi2; 
  68. struct point* vi3; 
  69.     float* m1; 
  70. float* m2; 
  71. float* m3;
  72.     struct point min; 
  73. struct point max;
  74.     float fric; 
  75. struct point nor;
  76. };
  77. //  有关对象的数据结构
  78. struct object 
  79. {
  80. int NUMPTS;
  81. int NUMSPRINGS;
  82. int NUMFACES;
  83. int NUMCDLINES;
  84. float mass[MAXGUYS];
  85. float r,g,b,a;
  86. struct point points[MAXGUYS];
  87. struct point vel[MAXGUYS];
  88. struct point velinc[MAXGUYS];
  89. struct spring springs[MAXGUYS];
  90. struct cdline cdlines[MAXGUYS];
  91. struct face faces[MAXGUYS];
  92. struct point max;                             // 对象的边界盒
  93. struct point min;
  94. int texture;
  95. int NUMTEXPTS;
  96. int texmap[64][64];
  97. struct point texpoints[MAXGUYS]; 
  98. struct face texfaces[MAXGUYS];
  99. };
  100. struct object objects[MAXOBJS];
  102. // 定义一些底层函数
  103. #define sqa(A) (A*fabs(A))
  104. #define length(A) sqrt(A.x*A.x+A.y*A.y+A.z*A.z)
  105. #define dot(A,B) (A.x*B.x+A.y*B.y+A.z*B.z)
  106. #define cross(D,A,B) D.x=A.y*B.z-A.z*B.y; D.y=A.z*B.x-A.x*B.z; D.z=A.x*B.y-A.y*B.x
  107. #define vsub(D,A,B) D.x=A.x-B.x; D.y=A.y-B.y; D.z=A.z-B.z
  108. #define fmaxinc(X,Y) X.x=(fabs(X.x)>fabs(Y.x)) ? X.x:Y.x; X.y=(fabs(X.y)>fabs(Y.y)) ? X.y:Y.y; X.z=(fabs(X.z)>fabs(Y.z)) ? X.z:Y.z
  110. // 物理定义，步长和重力加速度
  111. int STEP;
  112. float GRAVITY;
  114. // Spring variables
  115. struct point sdistvec, relvel, sforcevec;
  116. float springforce;
  118. void drawcross(float x, float y, float z)
  119. {
  120.   glBegin(GL_LINES);
  121.     glColor4f(.3,.3,.3,1.0);
  122.     glNormal3f(0.0,1.0,0.0);
  123.     glVertex3f(x+1.0,y    ,z    );
  124.     glVertex3f(x-1.0,y    ,z    );
  125.     glVertex3f(x    ,y+1.0,z    );
  126.     glVertex3f(x    ,y-1.0,z    );
  127.     glVertex3f(x    ,y    ,z+1.0);
  128.     glVertex3f(x    ,y    ,z-1.0);
  129.   glEnd();
  130. }
  132. void display(void)
  133. {
  134. int x,y,i,j,step;
  135. float len,u,t1,t2,t3,distdiff,relmass,SFORCE,FFORCE,frico;
  136. struct point tmp1,tmp2, cpt, n1, n2, n3, avgfacevel, vdiff, vdiff_norm, vdiff_notnorm;
  137. glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
  139. // 弹性碰撞计算
  140. for(step=0;step<STEP;step++)
  141. {
  142. for(i=0;i<NUMOBJS;i++) // 遍历每个对象
  143. {
  144. // 进行弹性碰撞
  145. for(x=0;x<objects[i].NUMSPRINGS;x++)
  146. {
  147. // 相对位置
  148. vsub(sdistvec,(*objects[i].springs[x].p1),(*objects[i].springs[x].p2));
  149. // 相对速度
  150. vsub(relvel,(*objects[i].springs[x].v1),(*objects[i].springs[x].v2));
  151. distdiff =    length(sdistvec)-objects[i].springs[x].length;
  152. springforce = sqa(distdiff)*objects[i].springs[x].stiff;
  153. springforce+= objects[i].springs[x].damp*dot(relvel,sdistvec); 
  155. // 如果距离超过一定范围，则解除弹性力
  156. if(fabs(distdiff)>objects[i].springs[x].breaklen) 
  157. {
  158. objects[i].springs[x].stiff=0.0; 
  159. objects[i].springs[x].damp=0.0;
  160. }
  162. sforcevec.x = sdistvec.x*springforce;
  163. sforcevec.y = sdistvec.y*springforce;
  164. sforcevec.z = sdistvec.z*springforce;
  166. relmass = (*objects[i].springs[x].m1)/
  167. ( (*objects[i].springs[x].m1) + (*objects[i].springs[x].m2) );
  169. // 应用弹性力 
  170. (*objects[i].springs[x].v1).x -= (1.0-relmass)*sforcevec.x;
  171. (*objects[i].springs[x].v1).y -= (1.0-relmass)*sforcevec.y;
  172. (*objects[i].springs[x].v1).z -= (1.0-relmass)*sforcevec.z;
  174. (*objects[i].springs[x].v2).x += relmass*sforcevec.x;
  175. (*objects[i].springs[x].v2).y += relmass*sforcevec.y;
  176. (*objects[i].springs[x].v2).z += relmass*sforcevec.z;
  177. }
  179. // 更新对象的各点
  180. for(x=0;x<objects[i].NUMPTS;x++)
  181. {
  182. // 应用重力加速度
  183. objects[i].vel[x].y-=GRAVITY;
  185. if(objects[i].points[x].y<-15.0) 
  186. {
  187. objects[i].points[x].y=-15.0; 
  188. objects[i].vel[x].y=0.0;
  189. objects[i].vel[x].x/=1.1; 
  190. objects[i].vel[x].z/=1.1;
  191. }
  192. }
  193. }
  195. // 碰撞初始化
  196. for(i=0;i<NUMOBJS;i++)
  197. for(x=0;x<objects[i].NUMFACES;x++)
  198. {
  199. // 计算边界盒
  200. objects[i].faces[x].max.x = (*objects[i].faces[x].p1).x;
  201. objects[i].faces[x].max.x = (objects[i].faces[x].max.x>(*objects[i].faces[x].p2).x) ?
  202.                          objects[i].faces[x].max.x:(*objects[i].faces[x].p2).x;
  203. objects[i].faces[x].max.x = (objects[i].faces[x].max.x>(*objects[i].faces[x].p3).x) ?
  204.                                              objects[i].faces[x].max.x:(*objects[i].faces[x].p3).x;
  205. objects[i].faces[x].max.y = (*objects[i].faces[x].p1).y;
  206. objects[i].faces[x].max.y = (objects[i].faces[x].max.y>(*objects[i].faces[x].p2).y) ?
  207.                                              objects[i].faces[x].max.y:(*objects[i].faces[x].p2).y;
  208. objects[i].faces[x].max.y = (objects[i].faces[x].max.y>(*objects[i].faces[x].p3).y) ?
  209.                                              objects[i].faces[x].max.y:(*objects[i].faces[x].p3).y;
  210. objects[i].faces[x].max.z = (*objects[i].faces[x].p1).z;
  211. objects[i].faces[x].max.z = (objects[i].faces[x].max.z>(*objects[i].faces[x].p2).z) ?
  212.                                              objects[i].faces[x].max.z:(*objects[i].faces[x].p2).z;
  213. objects[i].faces[x].max.z = (objects[i].faces[x].max.z>(*objects[i].faces[x].p3).z) ?
  214.                                              objects[i].faces[x].max.z:(*objects[i].faces[x].p3).z;
  215. objects[i].faces[x].min.x = (*objects[i].faces[x].p1).x;
  216. objects[i].faces[x].min.x = (objects[i].faces[x].min.x<(*objects[i].faces[x].p2).x) ?
  217.                                              objects[i].faces[x].min.x:(*objects[i].faces[x].p2).x;
  218. objects[i].faces[x].min.x = (objects[i].faces[x].min.x<(*objects[i].faces[x].p3).x) ?
  219.                                              objects[i].faces[x].min.x:(*objects[i].faces[x].p3).x;
  220. objects[i].faces[x].min.y = (*objects[i].faces[x].p1).y;
  221. objects[i].faces[x].min.y = (objects[i].faces[x].min.y<(*objects[i].faces[x].p2).y) ?
  222.                                              objects[i].faces[x].min.y:(*objects[i].faces[x].p2).y;
  223. objects[i].faces[x].min.y = (objects[i].faces[x].min.y<(*objects[i].faces[x].p3).y) ?
  224.                                              objects[i].faces[x].min.y:(*objects[i].faces[x].p3).y;
  225. objects[i].faces[x].min.z = (*objects[i].faces[x].p1).z;
  226. objects[i].faces[x].min.z = (objects[i].faces[x].min.z<(*objects[i].faces[x].p2).z) ?
  227.                                              objects[i].faces[x].min.z:(*objects[i].faces[x].p2).z;
  228. objects[i].faces[x].min.z = (objects[i].faces[x].min.z<(*objects[i].faces[x].p3).z) ?
  229.                                              objects[i].faces[x].min.z:(*objects[i].faces[x].p3).z;
  231. // 计算法向量
  232. vsub(tmp1,(*objects[i].faces[x].p1),(*objects[i].faces[x].p2));
  233. vsub(tmp2,(*objects[i].faces[x].p2),(*objects[i].faces[x].p3));
  234. cross(objects[i].faces[x].nor,tmp1,tmp2);
  235. len=length(objects[i].faces[x].nor);
  236. objects[i].faces[x].nor.x/=len;
  237. objects[i].faces[x].nor.y/=len;
  238. objects[i].faces[x].nor.z/=len;
  239. }
  241. for(i=0;i<NUMOBJS;i++)
  242. for(x=0;x<objects[i].NUMCDLINES;x++) 
  243. {
  244. // 获得碰撞检测边界线
  245. objects[i].cdlines[x].max.x = (*objects[i].cdlines[x].p1).x;
  246. objects[i].cdlines[x].max.x = (objects[i].cdlines[x].max.x>(*objects[i].cdlines[x].p2).x) ?
  247.                                                   objects[i].cdlines[x].max.x:(*objects[i].cdlines[x].p2).x;
  248. objects[i].cdlines[x].max.y = (*objects[i].cdlines[x].p1).y;
  249. objects[i].cdlines[x].max.y = (objects[i].cdlines[x].max.y>(*objects[i].cdlines[x].p2).y) ?
  250.                                                   objects[i].cdlines[x].max.y:(*objects[i].cdlines[x].p2).y;
  251. objects[i].cdlines[x].max.z = (*objects[i].cdlines[x].p1).z;
  252. objects[i].cdlines[x].max.z = (objects[i].cdlines[x].max.z>(*objects[i].cdlines[x].p2).z) ?
  253.                                                   objects[i].cdlines[x].max.z:(*objects[i].cdlines[x].p2).z;
  255. objects[i].cdlines[x].min.x = (*objects[i].cdlines[x].p1).x;
  256. objects[i].cdlines[x].min.x = (objects[i].cdlines[x].min.x<(*objects[i].cdlines[x].p2).x) ?
  257.                                                   objects[i].cdlines[x].min.x:(*objects[i].cdlines[x].p2).x;
  258. objects[i].cdlines[x].min.y = (*objects[i].cdlines[x].p1).y;
  259. objects[i].cdlines[x].min.y = (objects[i].cdlines[x].min.y<(*objects[i].cdlines[x].p2).y) ?
  260.                                                   objects[i].cdlines[x].min.y:(*objects[i].cdlines[x].p2).y;
  261. objects[i].cdlines[x].min.z = (*objects[i].cdlines[x].p1).z;
  262. objects[i].cdlines[x].min.z = (objects[i].cdlines[x].min.z<(*objects[i].cdlines[x].p2).z) ?
  263.                                                   objects[i].cdlines[x].min.z:(*objects[i].cdlines[x].p2).z;
  264. }
  265. for(i=0;i<NUMOBJS;i++)
  266. for(x=0;x<objects[i].NUMPTS;x++)
  267. {
  268. // 计算对象边界盒
  269. objects[i].max.x=-HUGE; 
  270. objects[i].max.y=-HUGE; 
  271. objects[i].max.z=-HUGE;
  272. objects[i].min.x= HUGE; 
  273. objects[i].min.y= HUGE; 
  274. objects[i].min.z= HUGE;
  275. for(x=0;x<objects[i].NUMPTS;x++)
  276. {
  277. objects[i].max.x=(objects[i].max.x<objects[i].points[x].x) ? objects[i].points[x].x:objects[i].max.x;
  278. objects[i].max.y=(objects[i].max.y<objects[i].points[x].y) ? objects[i].points[x].y:objects[i].max.y;
  279. objects[i].max.z=(objects[i].max.z<objects[i].points[x].z) ? objects[i].points[x].z:objects[i].max.z;
  281. objects[i].min.x=(objects[i].min.x>objects[i].points[x].x) ? objects[i].points[x].x:objects[i].min.x;
  282. objects[i].min.y=(objects[i].min.y>objects[i].points[x].y) ? objects[i].points[x].y:objects[i].min.y;
  283. objects[i].min.z=(objects[i].min.z>objects[i].points[x].z) ? objects[i].points[x].z:objects[i].min.z;
  284. }
  285. }
  287. // 碰撞检测开始
  288. for(i=0;i<NUMOBJS;i++)   // 对任意两个物体都进行计算
  289. for(j=0;j<NUMOBJS;j++) 
  290. {
  291. //  同一物体，继续下一个
  292. if(i==j) continue;
  294. // 没有碰撞，继续下一个
  295. if( (objects[i].max.x-objects[j].min.x)*(objects[i].min.x-objects[j].max.x)>0.0 ||
  296. (objects[i].max.y-objects[j].min.y)*(objects[i].min.y-objects[j].max.y)>0.0 ||
  297. (objects[i].max.z-objects[j].min.z)*(objects[i].min.z-objects[j].max.z)>0.0 ) 
  298. continue;
  299. // 碰撞处理
  300. for(x=0;x<objects[i].NUMFACES;x++)
  301. for(y=0;y<objects[j].NUMCDLINES;y++)
  302. {
  303. // 面/碰撞线边界盒检测
  304. if( (objects[i].faces[x].max.x-objects[j].cdlines[y].min.x)*
  305. (objects[i].faces[x].min.x-objects[j].cdlines[y].max.x)>0.0 || 
  306. (objects[i].faces[x].max.y-objects[j].cdlines[y].min.y)*
  307. (objects[i].faces[x].min.y-objects[j].cdlines[y].max.y)>0.0 || 
  308. (objects[i].faces[x].max.z-objects[j].cdlines[y].min.z)*
  309. (objects[i].faces[x].min.z-objects[j].cdlines[y].max.z)>0.0 ) 
  310. continue;
  311. vsub(tmp1,(*objects[j].cdlines[y].p2),(*objects[j].cdlines[y].p1));
  312. if(dot(tmp1,objects[i].faces[x].nor)>0.0) 
  313. continue;
  315. // 碰撞线穿过面
  316. vsub(tmp1,(*objects[i].faces[x].p1),  (*objects[j].cdlines[y].p1) );
  317. vsub(tmp2,(*objects[j].cdlines[y].p2),(*objects[j].cdlines[y].p1) );
  318. u   = dot(objects[i].faces[x].nor,tmp1)/
  319. dot(objects[i].faces[x].nor,tmp2);
  321. if(u<0.0 || u>1.0) 
  322. continue;  
  324. cpt.x = (*objects[j].cdlines[y].p1).x + u*tmp2.x;
  325. cpt.y = (*objects[j].cdlines[y].p1).y + u*tmp2.y;
  326. cpt.z = (*objects[j].cdlines[y].p1).z + u*tmp2.z;
  328. // 找出边界法向量
  329. vsub(tmp1,(*objects[i].faces[x].p2),(*objects[i].faces[x].p1) );
  330. cross(n1,tmp1,objects[i].faces[x].nor);
  331. vsub(tmp1,(*objects[i].faces[x].p3),(*objects[i].faces[x].p2) );
  332. cross(n2,tmp1,objects[i].faces[x].nor);
  333. vsub(tmp1,(*objects[i].faces[x].p1),(*objects[i].faces[x].p3) );
  334. cross(n3,tmp1,objects[i].faces[x].nor);
  336. // 检测三角形边界
  337. vsub(tmp1,(*objects[i].faces[x].p1),cpt);
  338. t1=dot(tmp1,n1);
  339. vsub(tmp1,(*objects[i].faces[x].p2),cpt);
  340. t2=dot(tmp1,n2);
  341. vsub(tmp1,(*objects[i].faces[x].p3),cpt);
  342. t3=dot(tmp1,n3);
  343. if(t1<0.0||t2<0.0||t3<0.0) 
  344. u=-999.0;
  346. if(u<0.0) continue; 
  347. if(DEBUGENABLE) drawcross(cpt.x,cpt.y,cpt.z);  // 绘制碰撞点
  349. // 计算面的平均速度
  350. avgfacevel.x = ((*objects[i].faces[x].v1).x+
  351. (*objects[i].faces[x].v2).x+(*objects[i].faces[x].v3).x)*.3333333333333333333333333333;
  352. avgfacevel.y = ((*objects[i].faces[x].v1).y+
  353. (*objects[i].faces[x].v2).y+(*objects[i].faces[x].v3).y)*.3333333333333333333333333333;
  354. avgfacevel.z = ((*objects[i].faces[x].v1).z+
  355. (*objects[i].faces[x].v2).z+(*objects[i].faces[x].v3).z)*.3333333333333333333333333333;
  356. vsub(vdiff,avgfacevel,(*objects[j].cdlines[y].v2));
  358. FFORCE=(*objects[j].cdlines[y].mass)/((*objects[j].cdlines[y].mass)+
  359. (*objects[i].faces[x].m1)+(*objects[i].faces[x].m2)+(*objects[i].faces[x].m3));
  361. SFORCE=1.0-FFORCE;
  363. vdiff_norm.x = dot(vdiff, objects[i].faces[x].nor) * objects[i].faces[x].nor.x;
  364. vdiff_norm.y = dot(vdiff, objects[i].faces[x].nor) * objects[i].faces[x].nor.y;
  365. vdiff_norm.z = dot(vdiff, objects[i].faces[x].nor) * objects[i].faces[x].nor.z;
  366. vsub(vdiff_notnorm,vdiff,vdiff_norm);
  367. // 产生摩擦系数
  368. frico = objects[i].faces[x].fric+objects[j].cdlines[y].fric;  
  370. // 解决碰撞
  371. if(dot(vdiff,objects[i].faces[x].nor)>0.0) 
  372. {
  373. fmaxinc((*objects[j].cdlines[y].vi2),SFORCE*vdiff_norm);
  374. fmaxinc((*objects[i].faces[x].vi1),  -FFORCE*vdiff_norm);
  375. fmaxinc((*objects[i].faces[x].vi2),  -FFORCE*vdiff_norm);
  376. fmaxinc((*objects[i].faces[x].vi3),  -FFORCE*vdiff_norm);
  377. fmaxinc((*objects[j].cdlines[y].vi2),SFORCE*frico*vdiff_notnorm);
  378. fmaxinc((*objects[i].faces[x].vi1),  -FFORCE*frico*vdiff_notnorm);
  379. fmaxinc((*objects[i].faces[x].vi2),  -FFORCE*frico*vdiff_notnorm);
  380. fmaxinc((*objects[i].faces[x].vi3),  -FFORCE*frico*vdiff_notnorm);
  381. }
  382. }
  383. }
  385. for(i=0;i<NUMOBJS;i++)
  386. for(x=0;x<objects[i].NUMPTS;x++)
  387. {
  389. // 获取速度
  390. objects[i].vel[x].x+=objects[i].velinc[x].x;
  391. objects[i].vel[x].y+=objects[i].velinc[x].y;
  392. objects[i].vel[x].z+=objects[i].velinc[x].z;
  393. objects[i].velinc[x].x=0.0;
  394. objects[i].velinc[x].y=0.0;
  395. objects[i].velinc[x].z=0.0;
  396. // 更新点的位置
  397. objects[i].points[x].x+=objects[i].vel[x].x;
  398. objects[i].points[x].y+=objects[i].vel[x].y;
  399. objects[i].points[x].z+=objects[i].vel[x].z;
  400. }
  401. }  
  403. // 场景显示
  404. for(i=0;i<NUMOBJS;i++)
  405. {
  406. if(DEBUGENABLE)
  407. {
  408. glColor4f(0.4,1.0,0.4,1.0);
  409. //  绘制个定点与中心连线
  410. for(x=0;x<objects[i].NUMCDLINES;x++)
  411. {
  412. glBegin(GL_LINES);
  413. glNormal3f(0.0,1.0,0.0);
  414. glVertex3f((*objects[i].cdlines[x].p1).x,(*objects[i].cdlines[x].p1).y,
  415. (*objects[i].cdlines[x].p1).z);
  416. glVertex3f((*objects[i].cdlines[x].p2).x,(*objects[i].cdlines[x].p2).y,
  417. (*objects[i].cdlines[x].p2).z);
  418. glEnd();
  419. }
  420. //  绘制对象的各个面
  421. for(x=0;x<objects[i].NUMFACES;x++)
  422. {
  423. glBegin(GL_LINES);
  424. glNormal3f(0.0,1.0,0.0);
  425. glColor4f(1.0,0.4,0.4,1.0);
  426. glVertex3f((*objects[i].faces[x].p1).x,(*objects[i].faces[x].p1).y,
  427. (*objects[i].faces[x].p1).z);
  428. glVertex3f((*objects[i].faces[x].p2).x,(*objects[i].faces[x].p2).y,
  429.      (*objects[i].faces[x].p2).z);
  430. glVertex3f((*objects[i].faces[x].p2).x,(*objects[i].faces[x].p2).y,
  431.  (*objects[i].faces[x].p2).z);
  432. glVertex3f((*objects[i].faces[x].p3).x,(*objects[i].faces[x].p3).y,
  433. (*objects[i].faces[x].p3).z);
  434. glVertex3f((*objects[i].faces[x].p3).x,(*objects[i].faces[x].p3).y,
  435. (*objects[i].faces[x].p3).z);
  436. glVertex3f((*objects[i].faces[x].p1).x,(*objects[i].faces[x].p1).y,
  437. (*objects[i].faces[x].p1).z);
  438. glNormal3f(0.0,1.0,0.0);
  439. glColor4f(0.4,0.4,1.0,1.0);
  440. glVertex3f((*objects[i].faces[x].p1).x,(*objects[i].faces[x].p1).y,
  441. (*objects[i].faces[x].p1).z);
  442. glVertex3f((*objects[i].faces[x].p1).x+(objects[i].faces[x].nor).x,
  443. (*objects[i].faces[x].p1).y+(objects[i].faces[x].nor).y,
  444. (*objects[i].faces[x].p1).z+(objects[i].faces[x].nor).z);
  446. glVertex3f((*objects[i].faces[x].p2).x,(*objects[i].faces[x].p2).y,
  447. (*objects[i].faces[x].p2).z);
  448. glVertex3f((*objects[i].faces[x].p2).x+(objects[i].faces[x].nor).x,
  449. (*objects[i].faces[x].p2).y+(objects[i].faces[x].nor).y,
  450. (*objects[i].faces[x].p2).z+(objects[i].faces[x].nor).z);
  452. glVertex3f((*objects[i].faces[x].p3).x,(*objects[i].faces[x].p3).y,
  453. (*objects[i].faces[x].p3).z);
  454. glVertex3f((*objects[i].faces[x].p3).x+(objects[i].faces[x].nor).x,
  455. (*objects[i].faces[x].p3).y+(objects[i].faces[x].nor).y,
  456. (*objects[i].faces[x].p3).z+(objects[i].faces[x].nor).z);
  458. glEnd();
  459. }
  460. } 
  461. else // 标准显示
  462. {
  463. glColor4f(objects[i].r,objects[i].g,objects[i].b,objects[i].a);
  464. // 使用纹理
  465. if(objects[i].texture && TEXENABLE)   
  466. {
  468. glEnable(GL_TEXTURE_2D);
  469. glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL);
  470. glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, 64, 64, 0, GL_RGBA, GL_UNSIGNED_BYTE, objects[i].texmap);
  471. glBindTexture(GL_TEXTURE_2D, texName);
  472. for(x=0;x<objects[i].NUMFACES;x++)
  473. {
  475. glBegin(GL_TRIANGLES); 
  476. glNormal3f(objects[i].faces[x].nor.x,objects[i].faces[x].nor.y,
  477. objects[i].faces[x].nor.z);
  478. glTexCoord2f((*objects[i].texfaces[x].p1).x,(*objects[i].texfaces[x].p1).y);
  479. glVertex3f((*objects[i].faces[x].p1).x,(*objects[i].faces[x].p1).y,
  480. (*objects[i].faces[x].p1).z);
  481. glTexCoord2f((*objects[i].texfaces[x].p2).x,(*objects[i].texfaces[x].p2).y);
  482. glVertex3f((*objects[i].faces[x].p2).x,(*objects[i].faces[x].p2).y,
  483. (*objects[i].faces[x].p2).z);
  484. glTexCoord2f((*objects[i].texfaces[x].p3).x,(*objects[i].texfaces[x].p3).y);
  485. glVertex3f((*objects[i].faces[x].p3).x,(*objects[i].faces[x].p3).y,
  486. (*objects[i].faces[x].p3).z);
  487. glEnd();
  488. }
  489. glDisable(GL_TEXTURE_2D);
  490. }
  491. // 不使用纹理
  492. else
  493. {
  494. for(x=0;x<objects[i].NUMFACES;x++)
  495. {
  496. glBegin(GL_TRIANGLES);
  497. glNormal3f(objects[i].faces[x].nor.x,objects[i].faces[x].nor.y,
  498. objects[i].faces[x].nor.z);
  499. glVertex3f((*objects[i].faces[x].p1).x,(*objects[i].faces[x].p1).y,
  500. (*objects[i].faces[x].p1).z);
  501. glVertex3f((*objects[i].faces[x].p2).x,(*objects[i].faces[x].p2).y,
  502. (*objects[i].faces[x].p2).z);
  503. glVertex3f((*objects[i].faces[x].p3).x,(*objects[i].faces[x].p3).y,
  504. (*objects[i].faces[x].p3).z);
  505. glEnd();
  506. }
  507. }
  509. }
  510. } 
  512. // 绘制地板
  513. glColor4f(.2,.4,.2,1.0);
  514. glNormal3f(0.0,1.0,0.0);
  515. glBegin(GL_TRIANGLES);
  516. glTexCoord2f(0.0,1.0); glVertex3f(-20.0,-15.4,20.0);
  517. glTexCoord2f(1.0,1.0); glVertex3f(20.0,-15.4,20.0);
  518. glTexCoord2f(0.0,0.0); glVertex3f(-20.0,-15.4,-20.0);
  520. glTexCoord2f(1.0,0.0); glVertex3f(20.0,-15.4,-20.0);
  521. glTexCoord2f(0.0,0.0); glVertex3f(-20.0,-15.4,-20.0);
  522. glTexCoord2f(1.0,1.0); glVertex3f(20.0,-15.4,20.0);
  523. glEnd();
  524. glutSwapBuffers();
  526. }
  530. void init()
  531. {
  532. char rval,gval,bval;
  533. int x,i;
  534. int windbackwards;
  535. FILE *file;
  536. int p1,p2,p3,o1,o2;
  537. char filename[MAXOBJS][100];
  538. char modfile[MAXOBJS][100];
  539. char texfile[MAXOBJS][100];
  540. struct point offset[MAXOBJS];
  541. float scale;
  542. struct point tmp;
  543. float damp, fric, breaklen;
  545. frame=0;
  546. TEXENABLE=1;
  547. DEBUGENABLE=0;
  549. if((file=fopen("config.txt","r"))==NULL) 
  550. {
  551. printf("Can't open config.txtn"); 
  552. exit(-1);
  553. }
  554. fscanf(file,"%d %f",&STEP,&GRAVITY); //  读出步数，重力加速度
  555. fscanf(file,"%d",&NUMOBJS); //  读出对象的数量
  556. for(x=0;x<NUMOBJS;x++) 
  557. //  读出对象的名称和对象的初始位置
  558. fscanf(file,"%s %f %f %f",&filename[x][0],&offset[x].x, &offset[x].y,&offset[x].z);
  559. fclose(file);
  561. for(i=0;i<NUMOBJS;i++)
  562. {
  563. sprintf(modfile[i],"models/%s.mod",filename[i]);
  564. sprintf(texfile[i],"models/%s.tga",filename[i]);
  565. printf("Attempting to open model file %sn",modfile[i]);
  566. if((file=fopen(modfile[i],"r"))==NULL) {printf("Can't open modeln"); exit(-1);}
  567. //  读出对象的缩放系数
  568. fscanf(file,"%f",&scale);
  569. //  读出对象的RGBA颜色值 
  570. fscanf(file,"%f %f %f %f",&objects[i].r,&objects[i].g,&objects[i].b,&objects[i].a);
  571. fscanf(file,"%d",&objects[i].NUMPTS);
  572. fscanf(file,"%d",&objects[i].NUMSPRINGS);
  573. fscanf(file,"%d",&objects[i].NUMFACES);
  574. fscanf(file,"%d",&objects[i].NUMCDLINES);
  575. fscanf(file,"%f",&damp);
  576. fscanf(file,"%f",&fric);
  577. fscanf(file,"%f",&breaklen);
  578. fscanf(file,"%d %d",&objects[i].texture,&windbackwards);
  580. for(x=0;x<objects[i].NUMPTS;x++) 
  581. {
  582. fscanf(file,"%f",&objects[i].mass[x]);
  583. }
  584. for(x=0;x<objects[i].NUMPTS;x++)
  585. {
  586. fscanf(file,"%f %f %f",&objects[i].points[x].x,&objects[i].points[x].y,&objects[i].points[x].z);
  587. objects[i].points[x].x*=scale;
  588. objects[i].points[x].y*=scale;
  589. objects[i].points[x].z*=scale;
  590. }
  591. for(x=0;x<objects[i].NUMPTS;x++)
  592. {
  593. objects[i].points[x].x+=offset[i].x;
  594. objects[i].points[x].y+=offset[i].y;
  595. objects[i].points[x].z+=offset[i].z;
  596. }
  597. for(x=0;x<objects[i].NUMPTS;x++)
  598. fscanf(file,"%f %f %f",&objects[i].vel[x].x,&objects[i].vel[x].y,&objects[i].vel[x].z);
  599. for(x=0;x<objects[i].NUMSPRINGS;x++)
  600. {
  601. fscanf(file,"%d %d %d %d %f",&o1,&p1,&o2,&p2,&objects[i].springs[x].stiff);
  602. if(o1<0) o1=i; if(o2<0) o2=i;
  603. objects[i].springs[x].damp=damp;
  604. objects[i].springs[x].p1=&objects[o1].points[p1];
  605. objects[i].springs[x].p2=&objects[o2].points[p2];
  606. vsub(tmp,(*objects[i].springs[x].p1),(*objects[i].springs[x].p2));
  607. objects[i].springs[x].length=length(tmp);
  608. objects[i].springs[x].v1=&objects[o1].vel[p1];
  609. objects[i].springs[x].v2=&objects[o2].vel[p2];
  610. objects[i].springs[x].m1=&objects[o1].mass[p1];
  611. objects[i].springs[x].m2=&objects[o2].mass[p2];
  612. objects[i].springs[x].breaklen=breaklen;
  613. }
  614. for(x=0;x<objects[i].NUMFACES;x++)
  615. {
  616. if(windbackwards==0)
  617. fscanf(file,"%d %d %d",&p1,&p2,&p3);
  618. else
  619. fscanf(file,"%d %d %d",&p2,&p1,&p3);
  620. objects[i].faces[x].fric=fric;
  621. objects[i].faces[x].p1 =&objects[i].points[p1];
  622. objects[i].faces[x].p2 =&objects[i].points[p2];
  623. objects[i].faces[x].p3 =&objects[i].points[p3];
  624. objects[i].faces[x].v1 =&objects[i].vel[p1];
  625. objects[i].faces[x].v2 =&objects[i].vel[p2];
  626. objects[i].faces[x].v3 =&objects[i].vel[p3];
  627. objects[i].faces[x].vi1=&objects[i].velinc[p1];
  628. objects[i].faces[x].vi2=&objects[i].velinc[p2];
  629. objects[i].faces[x].vi3=&objects[i].velinc[p3];
  630. objects[i].faces[x].m1=&objects[i].mass[p1];
  631. objects[i].faces[x].m2=&objects[i].mass[p2];
  632. objects[i].faces[x].m3=&objects[i].mass[p3];
  633. }
  634. for(x=0;x<objects[i].NUMCDLINES;x++)
  635. {
  636. fscanf(file,"%d %d",&p1,&p2);
  637. objects[i].cdlines[x].p1=&objects[i].points[p1];
  638. objects[i].cdlines[x].p2=&objects[i].points[p2];
  639. objects[i].cdlines[x].v1=&objects[i].vel[p1];
  640. objects[i].cdlines[x].v2=&objects[i].vel[p2];
  641. objects[i].cdlines[x].vi1=&objects[i].velinc[p1];
  642. objects[i].cdlines[x].vi2=&objects[i].velinc[p2];
  643. objects[i].cdlines[x].fric=fric;
  644. objects[i].cdlines[x].mass=&objects[i].mass[p2];
  645. }
  646. if(objects[i].texture==1)
  647. {
  648. fscanf(file,"%d",&objects[i].NUMTEXPTS);
  649. for(x=0;x<objects[i].NUMTEXPTS;x++)
  650. fscanf(file,"%f %f",&objects[i].texpoints[x].x,&objects[i].texpoints[x].y);
  651. for(x=0;x<objects[i].NUMTEXPTS;x++)
  652. {
  653. objects[i].texpoints[x].x/=256.0; 
  654. objects[i].texpoints[x].y/=256.0; 
  655. }
  656. for(x=0;x<objects[i].NUMFACES;x++)
  657. {
  658. if(windbackwards==0)
  659. fscanf(file,"%d %d %d",&p1,&p2,&p3);
  660. else
  661. fscanf(file,"%d %d %d",&p2,&p1,&p3);
  662. objects[i].texfaces[x].p1=&objects[i].texpoints[p1];
  663. objects[i].texfaces[x].p2=&objects[i].texpoints[p2];
  664. objects[i].texfaces[x].p3=&objects[i].texpoints[p3];
  665. }
  666. }
  667. fclose(file);
  669. if(objects[i].texture==1)
  670. {
  671. if((file=fopen(texfile[i],"rb"))==NULL) 
  672. {
  673. printf("Can't open texture n"); 
  674. exit(-1);
  675. }
  676. for(x=0;x<60;x++) fscanf(file,"%c",&rval); 
  677. for(x=0;x<64*64;x++)
  678. {
  679. fscanf(file,"%c",&bval);
  680. fscanf(file,"%c",&gval);
  681. fscanf(file,"%c",&rval);
  682. objects[i].texmap[0][x]=0xFF000000|(0xFF&bval)<<16|(0xFF&gval)<<8|(0xFF&rval); // ABGR
  683. }
  684. }
  685. } 
  686. }
  688. void glinit()
  689. {
  690. glGenTextures(1,&texName);
  691. glBindTexture(GL_TEXTURE_2D, texName);
  692. //  设置纹理参数
  693. glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
  694. glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
  695. glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
  696. glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
  698. // 使用光照
  699. glLightfv(GL_LIGHT0, GL_SPECULAR, light_diffuse);
  700. glLightfv(GL_LIGHT0, GL_POSITION, light_position);
  701. glEnable(GL_LIGHT0);
  702. glEnable(GL_LIGHTING);
  704. glEnable(GL_CULL_FACE);
  705. glCullFace(GL_BACK);
  706. glEnable(GL_COLOR_MATERIAL); 
  708. //  使用深度测试
  709. glEnable(GL_DEPTH_TEST);
  711. glMatrixMode(GL_PROJECTION);
  712. gluPerspective( 60.0, 1.0, 1.0, 10000.0);
  713. glMatrixMode(GL_MODELVIEW);
  714. gluLookAt(10.0, 10.0, 30.0,   0.0, -10.0, 0.0,  0.0, 1.0, 0.); 
  715. }
  717. void keyboard(unsigned char key, int x, int y)
  718. {
  719. switch (key) 
  720. {
  721. case 27:  // 按下'ESC'键，退出程序
  722. {
  723. glutDestroyWindow(win_id);
  724. exit(0); 
  725. }
  726. break;
  727.     case 'r':   //  场景复位
  728. init();
  729. break;
  730.         case 't': //  是否使用纹理开关
  731. if(TEXENABLE) 
  732. TEXENABLE=0;
  733. else 
  734. TEXENABLE=1;
  735. break;
  736.         case 'd':  //  是否以线框模式绘制开关
  737.             if(DEBUGENABLE) 
  738. DEBUGENABLE=0;
  739.             else 
  740. DEBUGENABLE=1;
  741.             break;
  742.     case '5':
  743. {
  744. for(x=0;x<objects[0].NUMPTS;x++) 
  745. objects[0].vel[x].x+=.004;
  746. }
  747.     break;
  748.     case '8':
  749. {
  750. for(x=0;x<objects[0].NUMPTS;x++) 
  751. objects[0].vel[x].x-=.004;
  752. }
  753.     break;
  754.     case '4':
  755. {
  756. for(x=0;x<objects[0].NUMPTS;x++) 
  757. objects[0].vel[x].z+=.004;
  758. }
  759.     break;
  760.     case '6':
  761. {
  762. for(x=0;x<objects[0].NUMPTS;x++)
  763. objects[0].vel[x].z-=.004;
  764. }
  765.     break;
  766.     case '1': // 按下'1'键，向左旋转场景
  767. gluLookAt(0.0, 0.0, 0.01,  
  768.     0.001, 0.0, 0.0,      
  769. 0.0, 1.0, 0.0);      
  770.             break;
  771.     case '3': // 按下'3'键，向右旋转场景
  772. gluLookAt(0.0, 0.0, 0.01,  
  773.     -0.001, 0.0, 0.0,      
  774.     0.0, 1.0, 0.0);      
  775. break;
  776. }
  777. }
  779. void redisp(void) {glutPostRedisplay();}
  781. int main(int argc, char **argv)
  782. {
  783.   printf("nn碰撞检测 ver 1.0nn -使用键盘交互-n r:tt restart simulationn t:tt toggle texturingn d:tt toggle debug moden 4,5,6,8:t move first objectn ESC:tt halt simulationnn");
  784.   glutInit(&argc, argv);
  785.   glutInitWindowPosition(0,0);
  786.   glutInitWindowSize(400,300);
  787.   glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
  788.   win_id = glutCreateWindow("碰撞检测");
  789.   glutKeyboardFunc(keyboard);
  790.   glutDisplayFunc(display);
  791.   glutIdleFunc(redisp);
  792.   init();
  793.   glinit();
  794.   glutMainLoop();
  795.   return 0;
  796. }
  798.