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added Dev0's GIMPACT test/demo

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ejcoumans
2007-09-20 05:30:21 +00:00
parent f50f3ad722
commit 63cd9618be
4 changed files with 3129 additions and 0 deletions
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1379
Demos/GimpactTestDemo/BunnyMesh.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBulletDynamicsCommon.h"
#include "GimpactTestDemo.h"
#include "LinearMath/btDefaultMotionState.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btDefaultMotionState.h"
/// Including GIMPACT here
#include "GIMPACT/Bullet/btGImpactShape.h"
#include "GIMPACT/Bullet/btGImpactCollisionAlgorithm.h"
#include "BMF_Api.h"
#include "GLDebugDrawer.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
/// Include Torus Mesh here
#include "TorusMesh.h"
#include "BunnyMesh.h"
GLDebugDrawer debugDrawer;
//Real dts = 0.000001f;
Real dts = 1.0 / 60.0;
///**************************************************************************************
/// GIMPACT Test Demo made by DevO
///
///**************************************************************************************
#define TEST_GIMPACT_TORUS
//------------------------------------------------------------------------------
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(float friction0,float friction1)
{
btScalar friction = friction0 * friction1;
const btScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
//------------------------------------------------------------------------------
inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
{
return restitution0 * restitution1;
}
//------------------------------------------------------------------------------
bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
{
float friction0 = colObj0->getFriction();
float friction1 = colObj1->getFriction();
float restitution0 = colObj0->getRestitution();
float restitution1 = colObj1->getRestitution();
if (colObj0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
friction0 = 1.0;//partId0,index0
restitution0 = 0.f;
}
if (colObj1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
if (index1&1)
{
friction1 = 1.0f;//partId1,index1
} else
{
friction1 = 0.f;
}
restitution1 = 0.f;
}
cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
return true;
}
extern ContactAddedCallback gContactAddedCallback;
//################################## main #####################################
int main(int argc,char** argv)
{
gContactAddedCallback = CustomMaterialCombinerCallback;
GimpactConcaveDemo* concaveDemo = new GimpactConcaveDemo(); /// This will not be Deleted!!!
concaveDemo->initPhysics();
concaveDemo->setCameraDistance(45.f);
//cannot run stepFront yet, the OpenGL context is not opened (stepFront updates camera...)
// concaveDemo->stepFront();
// concaveDemo->stepFront();
// concaveDemo->stepFront();
// concaveDemo->stepFront();
return glutmain(argc, argv,640,480,"DevO,s GIMPACT Test Demo",concaveDemo);
}
//------------------------------------------------------------------------------
void GimpactConcaveDemo::renderme()
{
updateCamera();
btScalar m[16];
if (m_dynamicsWorld)
{
int numObjects = m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
} else
{
colObj->getWorldTransform().getOpenGLMatrix(m);
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if (i & 1)
{
wireColor = btVector3(0.f,0.0f,1.f);
}
///color differently for active, sleeping, wantsdeactivation states
if (colObj->getActivationState() == 1) //active
{
if (i & 1)
{
wireColor += btVector3 (0.8f,0.1f,0.1f);
} else
{
wireColor += btVector3 (0.5f,0.f,0.f);
}
}
if (colObj->getActivationState() == 2) //ISLAND_SLEEPING
{
if (i & 1)
{
wireColor += btVector3 (0.5f,0.8f, 0.5f);
} else
{
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
GL_ShapeDrawer::drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
}
float xOffset = 10.f;
float yStart = 20.f;
float yIncr = 20.f;
char buf[124];
glColor3f(0, 0, 0);
setOrthographicProjection();
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"mouse to interact");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
/* glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"space to reset");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
*/
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"cursor keys and z,x to navigate");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"i to toggle simulation, s single step");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"q to quit");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,". to shoot TRIMESH (dot)");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
// not yet hooked up again after refactoring...
/* glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"d to toggle deactivation");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
*/
/*
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"a to draw temporal AABBs");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
*/
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"h to toggle help text");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD);
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
resetPerspectiveProjection();
}
}
//------------------------------------------------------------------------------
void GimpactConcaveDemo::initGImpactCollision()
{
/// Create Torus Shape
{
m_indexVertexArrays = new btTriangleIndexVertexArray
(NUM_TRIANGLES,
&gIndices[0][0],
3*sizeof(int),
NUM_VERTICES,
(Real*) &gVertices[0],sizeof(Real)*3);
btGImpactMeshShape * trimesh = new btGImpactMeshShape(m_indexVertexArrays);
trimesh->setLocalScaling(btVector3(1.f,1.f,1.f));
trimesh->updateBound();
trimesh->setMargin(0.01); ///?????
m_trimeshShape = trimesh;
}
/// Create Bunny Shape
{
m_indexVertexArrays2 = new btTriangleIndexVertexArray
(BUNNY_NUM_TRIANGLES,
&gIndicesBunny[0][0],
3*sizeof(int),
BUNNY_NUM_VERTICES,
(Real*) &gVerticesBunny[0],sizeof(Real)*3);
btGImpactMeshShape * trimesh2 = new btGImpactMeshShape(m_indexVertexArrays2);
trimesh2->setLocalScaling(btVector3(4.f,4.f,4.f));
trimesh2->updateBound();
trimesh2->setMargin(0.01); ///?????
m_trimeshShape2 = trimesh2;
}
///register GIMPACT algorithm
btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher());
{
//btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); /// Register GIMPACT !!!
if(!m_gimpactCollisionCreateFunc) m_gimpactCollisionCreateFunc = new btGImpactCollisionAlgorithm::CreateFunc; /// NEW
for (GUINT i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
{
m_dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,m_gimpactCollisionCreateFunc);
}
for (GUINT i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
{
m_dispatcher->registerCollisionCreateFunc(i,GIMPACT_SHAPE_PROXYTYPE ,m_gimpactCollisionCreateFunc);
}
}
}
//------------------------------------------------------------------------------
void GimpactConcaveDemo::initPhysics()
{
/// Init Bullet
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
//m_broadphase = new btSimpleBroadphase();
LONG maxProxies = 1024;
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax( 10000, 10000, 10000);
m_broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver);
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
//create trimesh model and shape
initGImpactCollision();
/// Create Scene
float mass = 0.f;
btTransform startTransform;
startTransform.setIdentity();
btCollisionShape* staticboxShape1 = new btBoxShape(btVector3(200,1,200));//floor
btCollisionShape* staticboxShape2 = new btBoxShape(btVector3(1,50,200));//left wall
btCollisionShape* staticboxShape3 = new btBoxShape(btVector3(1,50,200));//right wall
btCollisionShape* staticboxShape4 = new btBoxShape(btVector3(200,50,1));//front wall
btCollisionShape* staticboxShape5 = new btBoxShape(btVector3(200,50,1));//back wall
btCompoundShape* staticScenario = new btCompoundShape();//static scenario
startTransform.setOrigin(btVector3(0,-10,0));
staticScenario->addChildShape(startTransform,staticboxShape1);
startTransform.setOrigin(btVector3(-200,15,0));
staticScenario->addChildShape(startTransform,staticboxShape2);
startTransform.setOrigin(btVector3(200,15,0));
staticScenario->addChildShape(startTransform,staticboxShape3);
startTransform.setOrigin(btVector3(0,15,200));
staticScenario->addChildShape(startTransform,staticboxShape4);
startTransform.setOrigin(btVector3(0,15,-200));
staticScenario->addChildShape(startTransform,staticboxShape5);
startTransform.setOrigin(btVector3(0,-10,0));
btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,staticScenario);
staticBody->setCollisionFlags(staticBody->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
staticBody->setActivationState(ISLAND_SLEEPING);
//enable custom material callback
staticBody->setCollisionFlags(staticBody->getCollisionFlags()|btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
//static plane
/*
btVector3 normal(0.4,1.5,-0.4);
normal.normalize();
btCollisionShape* staticplaneShape6 = new btStaticPlaneShape(normal,0.0);// A plane
startTransform.setOrigin(btVector3(0,-20,0));
btRigidBody* staticBody2 = localCreateRigidBody(mass, startTransform,staticplaneShape6 );
staticBody2->setCollisionFlags(staticBody2->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
staticBody2->setActivationState(ISLAND_SLEEPING);
*/
/// Create Static Torus
float height = 32;
float step = 2.5;
float massT = 1.0;
startTransform.setOrigin(btVector3(0,height,-5));
startTransform.setRotation(btQuaternion(3.14159265*0.5,0,3.14159265*0.5));
kinematicTorus = localCreateRigidBody(0.0, startTransform,m_trimeshShape);
//kinematicTorus->setCollisionFlags(kinematicTorus->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
//kinematicTorus->setActivationState(ISLAND_SLEEPING);
kinematicTorus->setCollisionFlags( kinematicTorus->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
kinematicTorus->setActivationState(DISABLE_DEACTIVATION);
/// Kinematic
kinTorusTran = btVector3(-0.1,0,0);
kinTorusRot = btQuaternion(0,3.14159265*0.01,0);
#ifdef TEST_GIMPACT_TORUS
/// Create dynamic Torus
for (int i=0;i<8;i++)
{
height -= step;
startTransform.setOrigin(btVector3(0,height,-5));
startTransform.setRotation(btQuaternion(0,0,3.14159265*0.5));
btRigidBody* bodyA = localCreateRigidBody(massT, startTransform,m_trimeshShape);
height -= step;
startTransform.setOrigin(btVector3(0,height,-5));
startTransform.setRotation(btQuaternion(3.14159265*0.5,0,3.14159265*0.5));
btRigidBody* bodyB = localCreateRigidBody(massT, startTransform,m_trimeshShape);
}
#endif
startTransform.setIdentity();
/// Create Dynamic Boxes
{
for (int i=0;i<9;i++)
{
btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
startTransform.setOrigin(btVector3(2*i-5,2,-3));
localCreateRigidBody(1, startTransform,boxShape);
}
}
//m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
}
//------------------------------------------------------------------------------
void GimpactConcaveDemo::shootTrimesh(const btVector3& destination)
{
if (m_dynamicsWorld)
{
float mass = 4.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_trimeshShape2);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed*0.25;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
}
}
//------------------------------------------------------------------------------
void GimpactConcaveDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
#define USE_KINEMATIC_GROUND
#ifdef USE_KINEMATIC_GROUND
//kinTorusTran = btVector3(-0.05,0,0);
//kinTorusRot = btQuaternion(0,3.14159265*0.1,0);
//kinematic object
btCollisionObject* colObj = kinematicTorus;
//is this a rigidbody with a motionstate? then use the motionstate to update positions!
if (btRigidBody::upcast(colObj) && btRigidBody::upcast(colObj)->getMotionState())
{
btTransform newTrans;
btRigidBody::upcast(colObj)->getMotionState()->getWorldTransform(newTrans);
newTrans.getOrigin() += kinTorusTran;
newTrans.getBasis() = newTrans.getBasis() * btMatrix3x3(kinTorusRot);
if(newTrans.getOrigin().getX() > 6.0){
newTrans.getOrigin().setX(6.0);
kinTorusTran = -kinTorusTran;
}
if(newTrans.getOrigin().getX() < -6.0){
newTrans.getOrigin().setX(-6.0);
kinTorusTran = -kinTorusTran;
}
btRigidBody::upcast(colObj)->getMotionState()->setWorldTransform(newTrans);
} else
{
/*
btTransform &newTrans = m_dynamicsWorld->getCollisionObjectArray()[0]->getWorldTransform();
newTrans.getOrigin() += kinTorusTran;
if(newTrans.getOrigin().getX() > 0.1) kinTorusTran = -kinTorusTran;
if(newTrans.getOrigin().getX() < 0.1) kinTorusTran = -kinTorusTran;
*/
}
#endif //USE_KINEMATIC_GROUND
unsigned long int time = m_clock.getTimeMilliseconds();
//float dt = float(m_clock.getTimeMicroseconds()) * dts; //0.000001f;
float dt = float(m_clock.getTimeMicroseconds()) * 0.000001f;
printf("%i time %i ms \n",m_steps_done,time);
m_clock.reset();
m_dynamicsWorld->stepSimulation(dt);
m_steps_done++;
//m_dynamicsWorld->stepSimulation(dts);
renderme();
glFlush();
glutSwapBuffers();
}
//------------------------------------------------------------------------------
void GimpactConcaveDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
glFlush();
glutSwapBuffers();
}
//------------------------------------------------------------------------------
void GimpactConcaveDemo::clientResetScene()
{
m_steps_done = 0;
DemoApplication::clientResetScene();
}
#define KEY_ESCAPE 0x1B
//------------------------------------------------------------------------------
void GimpactConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
{
switch (key)
{
case '.':
{
shootTrimesh(getCameraTargetPosition());
break;
}
case '2':
{
dts += 0.000001f;
break;
}
case '3':
{
dts -= 0.000001f; if(dts<0.000001f) dts = 0.000001f;
break;
}
default:
DemoApplication::keyboardCallback(key, x, y);
}
}
/*
//------------------------------------------------------------------------------
void GimpactConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
{
m_lastKey = 0;
switch (key)
{
case 'q' :
case KEY_ESCAPE :
exit(0); break;
//GLUT_KEY_LEFT
case 'l' : stepLeft(); break;
case 'r' : stepRight(); break;
case 'f' : stepFront(); break;
case 'b' : stepBack(); break;
case 'z' : zoomIn(); break;
case 'x' : zoomOut(); break;
case 'i' : toggleIdle(); break;
case 'h':
if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
else
m_debugMode |= btIDebugDraw::DBG_NoHelpText;
break;
case 'w':
if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
else
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
break;
case 'p':
if (m_debugMode & btIDebugDraw::DBG_ProfileTimings)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings);
else
m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
break;
case 'm':
if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison);
else
m_debugMode |= btIDebugDraw::DBG_EnableSatComparison;
break;
case 'n':
if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP);
else
m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP;
break;
case 't' :
if (m_debugMode & btIDebugDraw::DBG_DrawText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText);
else
m_debugMode |= btIDebugDraw::DBG_DrawText;
break;
case 'y':
if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText);
else
m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText;
break;
case 'a':
if (m_debugMode & btIDebugDraw::DBG_DrawAabb){
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
//printf("Not Draw AABB \n");
}else{
m_debugMode |= btIDebugDraw::DBG_DrawAabb;
//printf("Draw AABB \n");
}
break;
case 'c' :
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints);
else
m_debugMode |= btIDebugDraw::DBG_DrawContactPoints;
break;
case 'd' :
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation);
else
m_debugMode |= btIDebugDraw::DBG_NoDeactivation;
if (m_debugMode | btIDebugDraw::DBG_NoDeactivation)
{
gDisableDeactivation = true;
} else
{
gDisableDeactivation = false;
}
break;
case 'o' :
{
m_stepping = !m_stepping;
break;
}
case 's' : clientMoveAndDisplay(); break;
// case ' ' : newRandom(); break;
case ' ':
clientResetScene();
break;
case '1':
{
if (m_debugMode & btIDebugDraw::DBG_EnableCCD)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableCCD);
else
m_debugMode |= btIDebugDraw::DBG_EnableCCD;
break;
}
case '.':
{
shootTrimesh(getCameraTargetPosition());
break;
}
case '+':
{
m_ShootBoxInitialSpeed += 10.f;
break;
}
case '-':
{
m_ShootBoxInitialSpeed -= 10.f;
break;
}
default:
// std::cout << "unused key : " << key << std::endl;
break;
}
if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
glutPostRedisplay();
}
*/

99
Demos/GimpactTestDemo/GimpactTestDemo.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef TEST_CONCAVE_DEMO_H
#define TEST_CONCAVE_DEMO_H
#include "DemoApplication.h"
struct btCollisionAlgorithmCreateFunc;
///GimpactConcaveDemo shows usage of static concave triangle meshes
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
class GimpactConcaveDemo : public DemoApplication
{
public:
GimpactConcaveDemo()
: m_trimeshShape(NULL),
m_trimeshShape2(NULL),
m_indexVertexArrays(NULL),
m_indexVertexArrays2(NULL),
m_collisionConfiguration(NULL),
m_dispatcher(NULL),
m_broadphase(NULL),
m_constraintSolver(NULL),
m_gimpactCollisionCreateFunc(NULL),
m_steps_done(0)
{
}
virtual ~GimpactConcaveDemo()
{
delete m_indexVertexArrays;
delete m_trimeshShape;
delete m_indexVertexArrays2;
delete m_trimeshShape2;
delete m_gimpactCollisionCreateFunc;
delete m_collisionConfiguration;
delete m_dispatcher;
delete m_broadphase;
delete m_constraintSolver;
delete m_dynamicsWorld;
}
void initGImpactCollision();
void initPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void clientResetScene();
virtual void renderme();
virtual void keyboardCallback(unsigned char key, int x, int y);
///Demo functions
void shootTrimesh(const btVector3& destination);
public: ///data
unsigned int m_steps_done;
btCollisionShape *m_trimeshShape;
btCollisionShape *m_trimeshShape2;
btTriangleIndexVertexArray *m_indexVertexArrays;
btTriangleIndexVertexArray *m_indexVertexArrays2;
btVector3 kinTorusTran;
btQuaternion kinTorusRot;
btRigidBody *kinematicTorus;
btCollisionAlgorithmCreateFunc* m_gimpactCollisionCreateFunc;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btCollisionDispatcher* m_dispatcher;
btBroadphaseInterface* m_broadphase;
btConstraintSolver* m_constraintSolver;
};
#endif //CONCAVE_DEMO_H

921
Demos/GimpactTestDemo/TorusMesh.h Normal file
View File

@@ -0,0 +1,921 @@
#ifndef TORUS_MESH_H_
#define TORUS_MESH_H_
//*************************** NOT REALLY FAMOUS TORUS ********************************************//
#define Real btScalar
const int NUM_TRIANGLES =600;
const int NUM_VERTICES = 300;
const int NUM_INDICES = NUM_TRIANGLES * 3;
Real gVertices[NUM_VERTICES * 3] = {
Real(2.5), Real(0), Real(0),
Real(2.405), Real(0.294), Real(0),
Real(2.155), Real(0.476), Real(0),
Real(1.845), Real(0.476), Real(0),
Real(1.595), Real(0.294), Real(0),
Real(1.5), Real(0 ), Real(0),
Real(1.595), Real(-0.294), Real(0),
Real(1.845), Real(-0.476), Real(0),
Real(2.155), Real(-0.476), Real(0),
Real(2.405), Real(-0.294), Real(0),
Real(2.445), Real(0 ), Real(0.52 ),
Real(2.352), Real(0.294), Real(0.5 ),
Real(2.107), Real(0.476), Real(0.448),
Real(1.805), Real(0.476), Real(0.384),
Real(1.561), Real(0.294), Real(0.332),
Real(1.467), Real(0 ), Real(0.312),
Real(1.561), Real(-0.294), Real(0.332),
Real(1.805), Real(-0.476), Real(0.384),
Real(2.107), Real(-0.476), Real(0.448),
Real(2.352), Real(-0.294), Real(0.5 ),
Real(2.284), Real(0), Real(1.017),
Real(2.197), Real(0.294), Real(0.978),
Real(1.968), Real(0.476), Real(0.876),
Real(1.686), Real(0.476), Real(0.751),
Real(1.458), Real(0.294), Real(0.649),
Real(1.37), Real(0), Real(0.61 ),
Real(1.458), Real(-0.294), Real(0.649),
Real(1.686), Real(-0.476), Real(0.751),
Real(1.968), Real(-0.476), Real(0.876),
Real(2.197), Real(-0.294), Real(0.978),
Real(2.023), Real(0), Real(1.469),
Real(1.945), Real(0.294), Real(1.413),
Real(1.743), Real(0.476), Real(1.266),
Real(1.493), Real(0.476), Real(1.085),
Real(1.291), Real(0.294), Real(0.938),
Real(1.214), Real(0), Real(0.882),
Real(1.291), Real(-0.294), Real(0.938),
Real(1.493), Real(-0.476), Real(1.085),
Real(1.743), Real(-0.476), Real(1.266),
Real(1.945), Real(-0.294), Real(1.413),
Real(1.673), Real(0), Real(1.858),
Real(1.609), Real(0.294), Real(1.787),
Real(1.442), Real(0.476), Real(1.601),
Real(1.235), Real(0.476), Real(1.371),
Real(1.068), Real(0.294), Real(1.186),
Real(1.004), Real(0), Real(1.115),
Real(1.068), Real(-0.294), Real(1.186),
Real(1.235), Real(-0.476), Real(1.371),
Real(1.442), Real(-0.476), Real(1.601),
Real(1.609), Real(-0.294), Real(1.787),
Real(1.25), Real(0), Real(2.165),
Real(1.202), Real(0.294), Real(2.082),
Real(1.077), Real(0.476), Real(1.866),
Real(0.923), Real(0.476), Real(1.598),
Real(0.798), Real(0.294), Real(1.382),
Real(0.75), Real(0), Real(1.299),
Real(0.798), Real(-0.294), Real(1.382),
Real(0.923), Real(-0.476), Real(1.598),
Real(1.077), Real(-0.476), Real(1.866),
Real(1.202), Real(-0.294), Real(2.082),
Real(0.773), Real(0), Real(2.378),
Real(0.743), Real(0.294), Real(2.287),
Real(0.666), Real(0.476), Real(2.049),
Real(0.57), Real(0.476), Real(1.755),
Real(0.493), Real(0.294), Real(1.517),
Real(0.464), Real(0), Real(1.427),
Real(0.493), Real(-0.294), Real(1.517),
Real(0.57), Real(-0.476), Real(1.755),
Real(0.666), Real(-0.476), Real(2.049),
Real(0.743), Real(-0.294), Real(2.287),
Real(0.261), Real(0), Real(2.486),
Real(0.251), Real(0.294), Real(2.391),
Real(0.225), Real(0.476), Real(2.143),
Real(0.193), Real(0.476), Real(1.835),
Real(0.167), Real(0.294), Real(1.587),
Real(0.157), Real(0), Real(1.492),
Real(0.167), Real(-0.294), Real(1.587),
Real(0.193), Real(-0.476), Real(1.835),
Real(0.225), Real(-0.476), Real(2.143),
Real(0.251), Real(-0.294), Real(2.391),
Real(-0.261), Real(0), Real(2.486),
Real(-0.251), Real(0.294), Real(2.391),
Real(-0.225), Real(0.476), Real(2.143),
Real(-0.193), Real(0.476), Real(1.835),
Real(-0.167), Real(0.294), Real(1.587),
Real(-0.157), Real(0), Real(1.492),
Real(-0.167), Real(-0.294), Real(1.587),
Real(-0.193), Real(-0.476), Real(1.835),
Real(-0.225), Real(-0.476), Real(2.143),
Real(-0.251), Real(-0.294), Real(2.391),
Real(-0.773), Real(0), Real(2.378),
Real(-0.743), Real(0.294), Real(2.287),
Real(-0.666), Real(0.476), Real(2.049),
Real(-0.57), Real(0.476), Real(1.755),
Real(-0.493), Real(0.294), Real(1.517),
Real(-0.464), Real(0), Real(1.427),
Real(-0.493), Real(-0.294), Real(1.517),
Real(-0.57), Real(-0.476), Real(1.755),
Real(-0.666), Real(-0.476), Real(2.049),
Real(-0.743), Real(-0.294), Real(2.287),
Real(-1.25 ), Real(0), Real(2.165),
Real(-1.202), Real(0.294), Real(2.082),
Real(-1.077), Real(0.476), Real(1.866),
Real(-0.923), Real(0.476), Real(1.598),
Real(-0.798), Real(0.294), Real(1.382),
Real(-0.75), Real(0), Real(1.299),
Real(-0.798), Real(-0.294), Real(1.382),
Real(-0.923), Real(-0.476), Real(1.598),
Real(-1.077), Real(-0.476), Real(1.866),
Real(-1.202), Real(-0.294), Real(2.082),
Real(-1.673), Real(0), Real(1.858),
Real(-1.609), Real(0.294), Real(1.787),
Real(-1.442), Real(0.476), Real(1.601),
Real(-1.235), Real(0.476), Real(1.371),
Real(-1.068), Real(0.294), Real(1.186),
Real(-1.004), Real(0), Real(1.115),
Real(-1.068), Real(-0.294), Real(1.186),
Real(-1.235), Real(-0.476), Real(1.371),
Real(-1.442), Real(-0.476), Real(1.601),
Real(-1.609), Real(-0.294), Real(1.787),
Real(-2.023), Real(0), Real(1.469),
Real(-1.945), Real(0.294), Real(1.413),
Real(-1.743), Real(0.476), Real(1.266),
Real(-1.493), Real(0.476), Real(1.085),
Real(-1.291), Real(0.294), Real(0.938),
Real(-1.214), Real(0), Real(0.882),
Real(-1.291), Real(-0.294), Real(0.938),
Real(-1.493), Real(-0.476), Real(1.085),
Real(-1.743), Real(-0.476), Real(1.266),
Real(-1.945), Real(-0.294), Real(1.413),
Real(-2.284), Real(0), Real(1.017),
Real(-2.197), Real(0.294), Real(0.978),
Real(-1.968), Real(0.476), Real(0.876),
Real(-1.686), Real(0.476), Real(0.751),
Real(-1.458), Real(0.294), Real(0.649),
Real(-1.37), Real(0), Real(0.61 ),
Real(-1.458), Real(-0.294), Real(0.649),
Real(-1.686), Real(-0.476), Real(0.751),
Real(-1.968), Real(-0.476), Real(0.876),
Real(-2.197), Real(-0.294), Real(0.978),
Real(-2.445), Real(0), Real(0.52),
Real(-2.352), Real(0.294), Real(0.5),
Real(-2.107), Real(0.476), Real(0.448),
Real(-1.805), Real(0.476), Real(0.384),
Real(-1.561), Real(0.294), Real(0.332),
Real(-1.467), Real(0), Real(0.312),
Real(-1.561), Real(-0.294), Real(0.332),
Real(-1.805), Real(-0.476), Real(0.384),
Real(-2.107), Real(-0.476), Real(0.448),
Real(-2.352), Real(-0.294), Real(0.5),
Real(-2.5 ), Real(0), Real(0),
Real(-2.405), Real(0.294), Real(0),
Real(-2.155), Real(0.476), Real(0),
Real(-1.845), Real(0.476), Real(0),
Real(-1.595), Real(0.294), Real(0),
Real(-1.5), Real(0), Real(0),
Real(-1.595), Real(-0.294), Real(0),
Real(-1.845), Real(-0.476), Real(0),
Real(-2.155), Real(-0.476), Real(0),
Real(-2.405), Real(-0.294), Real(0),
Real(-2.445), Real(0), Real(-0.52),
Real(-2.352), Real(0.294), Real(-0.5),
Real(-2.107), Real(0.476), Real(-0.448),
Real(-1.805), Real(0.476), Real(-0.384),
Real(-1.561), Real(0.294), Real(-0.332),
Real(-1.467), Real(0), Real(-0.312),
Real(-1.561), Real(-0.294), Real(-0.332),
Real(-1.805), Real(-0.476), Real(-0.384),
Real(-2.107), Real(-0.476), Real(-0.448),
Real(-2.352), Real(-0.294), Real(-0.5),
Real(-2.284), Real(0), Real(-1.017),
Real(-2.197), Real(0.294), Real(-0.978),
Real(-1.968), Real(0.476), Real(-0.876),
Real(-1.686), Real(0.476), Real(-0.751),
Real(-1.458), Real(0.294), Real(-0.649),
Real(-1.37), Real(0), Real(-0.61),
Real(-1.458), Real(-0.294), Real(-0.649),
Real(-1.686), Real(-0.476), Real(-0.751),
Real(-1.968), Real(-0.476), Real(-0.876),
Real(-2.197), Real(-0.294), Real(-0.978),
Real(-2.023), Real(0), Real(-1.469),
Real(-1.945), Real(0.294), Real(-1.413),
Real(-1.743), Real(0.476), Real(-1.266),
Real(-1.493), Real(0.476), Real(-1.085),
Real(-1.291), Real(0.294), Real(-0.938),
Real(-1.214), Real(0), Real(-0.882),
Real(-1.291), Real(-0.294), Real(-0.938),
Real(-1.493), Real(-0.476), Real(-1.085),
Real(-1.743), Real(-0.476), Real(-1.266),
Real(-1.945), Real(-0.294), Real(-1.413),
Real(-1.673), Real(0), Real(-1.858),
Real(-1.609), Real(0.294), Real(-1.787),
Real(-1.442), Real(0.476), Real(-1.601),
Real(-1.235), Real(0.476), Real(-1.371),
Real(-1.068), Real(0.294), Real(-1.186),
Real(-1.004), Real(0), Real(-1.115),
Real(-1.068), Real(-0.294), Real(-1.186),
Real(-1.235), Real(-0.476), Real(-1.371),
Real(-1.442), Real(-0.476), Real(-1.601),
Real(-1.609), Real(-0.294), Real(-1.787),
Real(-1.25 ), Real(0), Real(-2.165),
Real(-1.202), Real(0.294), Real(-2.082),
Real(-1.077), Real(0.476), Real(-1.866),
Real(-0.923), Real(0.476), Real(-1.598),
Real(-0.798), Real(0.294), Real(-1.382),
Real(-0.75), Real(0), Real(-1.299),
Real(-0.798), Real(-0.294), Real(-1.382),
Real(-0.923), Real(-0.476), Real(-1.598),
Real(-1.077), Real(-0.476), Real(-1.866),
Real(-1.202), Real(-0.294), Real(-2.082),
Real(-0.773), Real(0), Real(-2.378),
Real(-0.743), Real(0.294), Real(-2.287),
Real(-0.666), Real(0.476), Real(-2.049),
Real(-0.57), Real(0.476), Real(-1.755),
Real(-0.493), Real(0.294), Real(-1.517),
Real(-0.464), Real(0), Real(-1.427),
Real(-0.493), Real(-0.294), Real(-1.517),
Real(-0.57), Real(-0.476), Real(-1.755),
Real(-0.666), Real(-0.476), Real(-2.049),
Real(-0.743), Real(-0.294), Real(-2.287),
Real(-0.261), Real(0), Real(-2.486),
Real(-0.251), Real(0.294), Real(-2.391),
Real(-0.225), Real(0.476), Real(-2.143),
Real(-0.193), Real(0.476), Real(-1.835),
Real(-0.167), Real(0.294), Real(-1.587),
Real(-0.157), Real(0), Real(-1.492),
Real(-0.167), Real(-0.294), Real(-1.587),
Real(-0.193), Real(-0.476), Real(-1.835),
Real(-0.225), Real(-0.476), Real(-2.143),
Real(-0.251), Real(-0.294), Real(-2.391),
Real(0.261), Real(0), Real(-2.486),
Real(0.251), Real(0.294), Real(-2.391),
Real(0.225), Real(0.476), Real(-2.143),
Real(0.193), Real(0.476), Real(-1.835),
Real(0.167), Real(0.294), Real(-1.587),
Real(0.157), Real(0), Real(-1.492),
Real(0.167), Real(-0.294), Real(-1.587),
Real(0.193), Real(-0.476), Real(-1.835),
Real(0.225), Real(-0.476), Real(-2.143),
Real(0.251), Real(-0.294), Real(-2.391),
Real(0.773), Real(0), Real(-2.378),
Real(0.743), Real(0.294), Real(-2.287),
Real(0.666), Real(0.476), Real(-2.049),
Real(0.57), Real(0.476), Real(-1.755),
Real(0.493), Real(0.294), Real(-1.517),
Real(0.464), Real(0), Real(-1.427),
Real(0.493), Real(-0.294), Real(-1.517),
Real(0.57), Real(-0.476), Real(-1.755),
Real(0.666), Real(-0.476), Real(-2.049),
Real(0.743), Real(-0.294), Real(-2.287),
Real(1.25), Real(0), Real(-2.165),
Real(1.202), Real(0.294), Real(-2.082),
Real(1.077), Real(0.476), Real(-1.866),
Real(0.923), Real(0.476), Real(-1.598),
Real(0.798), Real(0.294), Real(-1.382),
Real(0.75), Real(0), Real(-1.299),
Real(0.798), Real(-0.294), Real(-1.382),
Real(0.923), Real(-0.476), Real(-1.598),
Real(1.077), Real(-0.476), Real(-1.866),
Real(1.202), Real(-0.294), Real(-2.082),
Real(1.673), Real(0), Real(-1.858),
Real(1.609), Real(0.294), Real(-1.787),
Real(1.442), Real(0.476), Real(-1.601),
Real(1.235), Real(0.476), Real(-1.371),
Real(1.068), Real(0.294), Real(-1.186),
Real(1.004), Real(0), Real(-1.115),
Real(1.068), Real(-0.294), Real(-1.186),
Real(1.235), Real(-0.476), Real(-1.371),
Real(1.442), Real(-0.476), Real(-1.601),
Real(1.609), Real(-0.294), Real(-1.787),
Real(2.023), Real(0), Real(-1.469),
Real(1.945), Real(0.294), Real(-1.413),
Real(1.743), Real(0.476), Real(-1.266),
Real(1.493), Real(0.476), Real(-1.085),
Real(1.291), Real(0.294), Real(-0.938),
Real(1.214), Real(0), Real(-0.882),
Real(1.291), Real(-0.294), Real(-0.938),
Real(1.493), Real(-0.476), Real(-1.085),
Real(1.743), Real(-0.476), Real(-1.266),
Real(1.945), Real(-0.294), Real(-1.413),
Real(2.284), Real(0), Real(-1.017),
Real(2.197), Real(0.294), Real(-0.978),
Real(1.968), Real(0.476), Real(-0.876),
Real(1.686), Real(0.476), Real(-0.751),
Real(1.458), Real(0.294), Real(-0.649),
Real(1.37), Real(0), Real(-0.61 ),
Real(1.458), Real(-0.294), Real(-0.649),
Real(1.686), Real(-0.476), Real(-0.751),
Real(1.968), Real(-0.476), Real(-0.876),
Real(2.197), Real(-0.294), Real(-0.978),
Real(2.445), Real(0), Real(-0.52 ),
Real(2.352), Real(0.294), Real(-0.5 ),
Real(2.107), Real(0.476), Real(-0.448),
Real(1.805), Real(0.476), Real(-0.384),
Real(1.561), Real(0.294), Real(-0.332),
Real(1.467), Real(0), Real(-0.312),
Real(1.561), Real(-0.294), Real(-0.332),
Real(1.805), Real(-0.476), Real(-0.384),
Real(2.107), Real(-0.476), Real(-0.448),
Real(2.352), Real(-0.294), Real(-0.5)
};
int gIndices[NUM_TRIANGLES][3] = {
{0, 1, 11},
{1, 2, 12},
{2, 3, 13},
{3, 4, 14},
{4, 5, 15},
{5, 6, 16},
{6, 7, 17},
{7, 8, 18},
{8, 9, 19},
{9, 0, 10},
{10, 11, 21},
{11, 12, 22},
{12, 13, 23},
{13, 14, 24},
{14, 15, 25},
{15, 16, 26},
{16, 17, 27},
{17, 18, 28},
{18, 19, 29},
{19, 10, 20},
{20, 21, 31},
{21, 22, 32},
{22, 23, 33},
{23, 24, 34},
{24, 25, 35},
{25, 26, 36},
{26, 27, 37},
{27, 28, 38},
{28, 29, 39},
{29, 20, 30},
{30, 31, 41},
{31, 32, 42},
{32, 33, 43},
{33, 34, 44},
{34, 35, 45},
{35, 36, 46},
{36, 37, 47},
{37, 38, 48},
{38, 39, 49},
{39, 30, 40},
{40, 41, 51},
{41, 42, 52},
{42, 43, 53},
{43, 44, 54},
{44, 45, 55},
{45, 46, 56},
{46, 47, 57},
{47, 48, 58},
{48, 49, 59},
{49, 40, 50},
{50, 51, 61},
{51, 52, 62},
{52, 53, 63},
{53, 54, 64},
{54, 55, 65},
{55, 56, 66},
{56, 57, 67},
{57, 58, 68},
{58, 59, 69},
{59, 50, 60},
{60, 61, 71},
{61, 62, 72},
{62, 63, 73},
{63, 64, 74},
{64, 65, 75},
{65, 66, 76},
{66, 67, 77},
{67, 68, 78},
{68, 69, 79},
{69, 60, 70},
{70, 71, 81},
{71, 72, 82},
{72, 73, 83},
{73, 74, 84},
{74, 75, 85},
{75, 76, 86},
{76, 77, 87},
{77, 78, 88},
{78, 79, 89},
{79, 70, 80},
{80, 81, 91},
{81, 82, 92},
{82, 83, 93},
{83, 84, 94},
{84, 85, 95},
{85, 86, 96},
{86, 87, 97},
{87, 88, 98},
{88, 89, 99},
{89, 80, 90},
{90, 91, 101},
{91, 92, 102},
{92, 93, 103},
{93, 94, 104},
{94, 95, 105},
{95, 96, 106},
{96, 97, 107},
{97, 98, 108},
{98, 99, 109},
{99, 90, 100},
{100, 101, 111},
{101, 102, 112},
{102, 103, 113},
{103, 104, 114},
{104, 105, 115},
{105, 106, 116},
{106, 107, 117},
{107, 108, 118},
{108, 109, 119},
{109, 100, 110},
{110, 111, 121},
{111, 112, 122},
{112, 113, 123},
{113, 114, 124},
{114, 115, 125},
{115, 116, 126},
{116, 117, 127},
{117, 118, 128},
{118, 119, 129},
{119, 110, 120},
{120, 121, 131},
{121, 122, 132},
{122, 123, 133},
{123, 124, 134},
{124, 125, 135},
{125, 126, 136},
{126, 127, 137},
{127, 128, 138},
{128, 129, 139},
{129, 120, 130},
{130, 131, 141},
{131, 132, 142},
{132, 133, 143},
{133, 134, 144},
{134, 135, 145},
{135, 136, 146},
{136, 137, 147},
{137, 138, 148},
{138, 139, 149},
{139, 130, 140},
{140, 141, 151},
{141, 142, 152},
{142, 143, 153},
{143, 144, 154},
{144, 145, 155},
{145, 146, 156},
{146, 147, 157},
{147, 148, 158},
{148, 149, 159},
{149, 140, 150},
{150, 151, 161},
{151, 152, 162},
{152, 153, 163},
{153, 154, 164},
{154, 155, 165},
{155, 156, 166},
{156, 157, 167},
{157, 158, 168},
{158, 159, 169},
{159, 150, 160},
{160, 161, 171},
{161, 162, 172},
{162, 163, 173},
{163, 164, 174},
{164, 165, 175},
{165, 166, 176},
{166, 167, 177},
{167, 168, 178},
{168, 169, 179},
{169, 160, 170},
{170, 171, 181},
{171, 172, 182},
{172, 173, 183},
{173, 174, 184},
{174, 175, 185},
{175, 176, 186},
{176, 177, 187},
{177, 178, 188},
{178, 179, 189},
{179, 170, 180},
{180, 181, 191},
{181, 182, 192},
{182, 183, 193},
{183, 184, 194},
{184, 185, 195},
{185, 186, 196},
{186, 187, 197},
{187, 188, 198},
{188, 189, 199},
{189, 180, 190},
{190, 191, 201},
{191, 192, 202},
{192, 193, 203},
{193, 194, 204},
{194, 195, 205},
{195, 196, 206},
{196, 197, 207},
{197, 198, 208},
{198, 199, 209},
{199, 190, 200},
{200, 201, 211},
{201, 202, 212},
{202, 203, 213},
{203, 204, 214},
{204, 205, 215},
{205, 206, 216},
{206, 207, 217},
{207, 208, 218},
{208, 209, 219},
{209, 200, 210},
{210, 211, 221},
{211, 212, 222},
{212, 213, 223},
{213, 214, 224},
{214, 215, 225},
{215, 216, 226},
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{218, 219, 229},
{219, 210, 220},
{220, 221, 231},
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{230, 231, 241},
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{239, 230, 240},
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{264, 265, 275},
{265, 266, 276},
{266, 267, 277},
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{269, 260, 270},
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{279, 270, 280},
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{285, 286, 296},
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{289, 280, 290},
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{294, 295, 5},
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{6, 17, 16},
{7, 18, 17},
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{17, 28, 27},
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{29, 30, 39},
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{31, 42, 41},
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{33, 44, 43},
{34, 45, 44},
{35, 46, 45},
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{45, 56, 55},
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{90, 101, 100},
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{93, 104, 103},
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{299, 0, 9},
};
#endif