source: cpp/frams/_demos/part_shapes.cpp @ 348

Last change on this file since 348 was 348, checked in by Maciej Komosinski, 8 years ago
  • explicit c_str() in SString instead of (const char*) cast
  • genetic converters and GenMan? are now thread-local which enables multi-threaded simulator separation
  • Property svn:eol-style set to native
File size: 1.9 KB
RevLine 
[286]1// This file is a part of Framsticks SDK.  http://www.framsticks.com/
2// Copyright (C) 1999-2015  Maciej Komosinski and Szymon Ulatowski.
3// See LICENSE.txt for details.
[121]4
[109]5#include <stdio.h>
6#include <frams/model/model.h>
7#include <frams/model/modelparts.h>
8
9int main()
10{
[139]11        Model m;
12        Part *p1, *p2;
[109]13
[139]14        m.open();
[109]15
[139]16        // chain of ellipsoids - subsequent parts are placed relative to the previous part's orientation and location
17        p1 = m.addNewPart(Part::SHAPE_ELLIPSOID); //initial part
18        p1->scale = Pt3D(1.0, 0.7, 0.4);
[109]19
[139]20        Orient rotation = Orient_1; //must be initialized explicitly because the default Orient constructor does not initialize anything
21        rotation.rotate(Pt3D(0.1, 0.2, 0.3));
[109]22
[139]23        for (int N = 10; N > 0; N--, p1 = p2)
[109]24        {
[139]25                p2 = m.addNewPart(Part::SHAPE_ELLIPSOID);
26                p2->scale = p1->scale*0.9; //each part is smaller than its predecessor
[109]27
[139]28                Pt3D advance(p1->scale.x, 0, 0); //advance by previous part's ellipsoid x radius
29                p2->p = p1->p + p1->o.transform(advance); //advance vector transformed by p1's orientation (i.e., in p1's local coordinates)
30                p2->setOrient(p1->o.transform(rotation)); //rotation transformed by p1's orientation
31
32                m.addNewJoint(p1, p2, Joint::SHAPE_SOLID); //all parts must be connected
[109]33        }
34
[139]35        // chain of cyllinders - line segments between points calculated from the parametric formula P(a)=(2-2*cos(a),2*sin(a)) (circle with r=2)
36        Pt3D prev, next;
37        p1 = m.getPart(0);
38        for (float a = 0; a<M_PI; a += M_PI / 10)
[109]39        {
[139]40                Pt3D next(2 - 2 * cos(a), 0, 2 * sin(a));
41                if (a>0)
[109]42                {
[139]43                        p2 = m.addNewPart(Part::SHAPE_CYLINDER);
44                        p2->setPositionAndRotationFromAxis(prev, next);
45                        p2->scale = Pt3D(prev.distanceTo(next)*0.5, 0.05, 0.05);// distance*0.5 because scale is "radius", not cylinder length
[109]46
[139]47                        m.addNewJoint(p1, p2, Joint::SHAPE_SOLID); //all parts must be connected
[109]48                }
[139]49                p1 = p2;
50                prev = next;
[109]51        }
52
[139]53        m.close();
[348]54        puts(m.getF0Geno().toString().c_str());
[139]55        // the genotype can be fed directly to the genotype viewer, like this:
[152]56        // part_shapes | theater -g -
[109]57}
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