Biomechanical Joint Model  Author: Anderson Maciel

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v_collide_test.cpp

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  Copyright 1997 The University of North Carolina at Chapel Hill.
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  |   geom@cs.unc.edu               |
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            Department of Computer Science
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#include <iostream.h>
#include <stdlib.h>
#include "VCollide.H"

main(int argc, char *argv[])
{
  
  if (argc != 1)
    {
      cerr<<argv[0]<<": USAGE: "<<argv[0]<<"\n";
      exit(1);
    }
  
  VCollide vc;
  int id[2];

  int i;
  for (i=0; i<2; i++) //create both the objects.
    {
      vc.NewObject(&id[i]);
      
      //the geometry is a unit cube with one vertex at the origin.
      double v1[3], v2[3], v3[3];
      
      v1[0] = 0.0; v1[1] = 0.0; v1[2] = 0.0;
      v2[0] = 1.0; v2[1] = 0.0; v2[2] = 0.0;
      v3[0] = 1.0; v3[1] = 0.0; v3[2] = 1.0;
      vc.AddTri(v1, v2, v3);
      
      v1[0] = 0.0; v1[1] = 0.0; v1[2] = 0.0;
      v2[0] = 0.0; v2[1] = 0.0; v2[2] = 1.0;
      v3[0] = 1.0; v3[1] = 0.0; v3[2] = 1.0;
      vc.AddTri(v1, v2, v3);
      
      v1[0] = 0.0; v1[1] = 1.0; v1[2] = 0.0;
      v2[0] = 1.0; v2[1] = 1.0; v2[2] = 0.0;
      v3[0] = 1.0; v3[1] = 1.0; v3[2] = 1.0;
      vc.AddTri(v1, v2, v3);
      
      v1[0] = 0.0; v1[1] = 1.0; v1[2] = 0.0;
      v2[0] = 0.0; v2[1] = 1.0; v2[2] = 1.0;
      v3[0] = 1.0; v3[1] = 1.0; v3[2] = 1.0;
      vc.AddTri(v1, v2, v3);
      
      v1[0] = 1.0; v1[1] = 0.0; v1[2] = 0.0;
      v2[0] = 1.0; v2[1] = 1.0; v2[2] = 0.0;
      v3[0] = 1.0; v3[1] = 1.0; v3[2] = 1.0;
      vc.AddTri(v1, v2, v3);

      v1[0] = 1.0; v1[1] = 0.0; v1[2] = 0.0;
      v2[0] = 1.0; v2[1] = 0.0; v2[2] = 1.0;
      v3[0] = 1.0; v3[1] = 1.0; v3[2] = 1.0;
      vc.AddTri(v1, v2, v3);
      
      v1[0] = 0.0; v1[1] = 0.0; v1[2] = 0.0;
      v2[0] = 0.0; v2[1] = 1.0; v2[2] = 0.0;
      v3[0] = 0.0; v3[1] = 1.0; v3[2] = 1.0;
      vc.AddTri(v1, v2, v3);
      
      v1[0] = 0.0; v1[1] = 0.0; v1[2] = 0.0;
      v2[0] = 0.0; v2[1] = 0.0; v2[2] = 1.0;
      v3[0] = 0.0; v3[1] = 1.0; v3[2] = 1.0;
      vc.AddTri(v1, v2, v3);

      v1[0] = 1.0; v1[1] = 0.0; v1[2] = 1.0;
      v2[0] = 1.0; v2[1] = 1.0; v2[2] = 1.0;
      v3[0] = 0.0; v3[1] = 1.0; v3[2] = 1.0;
      vc.AddTri(v1, v2, v3);

      v1[0] = 1.0; v1[1] = 0.0; v1[2] = 1.0;
      v2[0] = 0.0; v2[1] = 0.0; v2[2] = 1.0;
      v3[0] = 0.0; v3[1] = 1.0; v3[2] = 1.0;
      vc.AddTri(v1, v2, v3);

      v1[0] = 1.0; v1[1] = 0.0; v1[2] = 0.0;
      v2[0] = 1.0; v2[1] = 1.0; v2[2] = 0.0;
      v3[0] = 0.0; v3[1] = 1.0; v3[2] = 0.0;
      vc.AddTri(v1, v2, v3);

      v1[0] = 1.0; v1[1] = 0.0; v1[2] = 0.0;
      v2[0] = 0.0; v2[1] = 0.0; v2[2] = 0.0;
      v3[0] = 0.0; v3[1] = 1.0; v3[2] = 0.0;
      vc.AddTri(v1, v2, v3);
      
      vc.EndObject();
    }

  double trans0[4][4], trans1[4][4]; //transformation matrices.

  //initialize the transformation matrices to identity.
  
  for (i=0; i<4; i++)
    {
      int j;
      for (j=0; j<4; j++)
        trans0[i][j] = trans1[i][j] = ( (i==j) ? 1.0 : 0.0 );
    }
  
  int simulation_step=1;
  for (i=-25; i<=25; i++) //perform 51 frames of the simulation
    {
      cout<<"Simulation step: "<<simulation_step++<<"\n";
      
      //in successive frames of the simulation, the two objects 
      //approach each other from far and finally collide and cross
      //each other.
      trans0[0][3] =  0.25*i;  //we translate both the objects
      trans1[0][3] = -0.25*i;  //along the X-axis only.
      
      vc.UpdateTrans(id[0], trans0);
      vc.UpdateTrans(id[1], trans1);
  
      vc.Collide();
      
      int VCReportSize=2; //note that in this case, there can be a max of 
                          //1 colliding pair.
      VCReportType *vcrep = new VCReportType[VCReportSize];
      
      int no_of_colliding_pairs = vc.Report(VCReportSize, vcrep);
      
      for (int j=0; j<no_of_colliding_pairs; j++)
        cout<<"Detected collision between objects "<<vcrep[j].id1<<" and "<<vcrep[j].id2<<"\n";
      
    }
}

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