1 | // This file is a part of the Framsticks GDK. |
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2 | // Copyright (C) 1999-2014 Maciej Komosinski and Szymon Ulatowski. See LICENSE.txt for details. |
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3 | // Refer to http://www.framsticks.com/ for further information. |
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4 | |
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5 | #include <stdio.h> |
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6 | #include <frams/model/model.h> |
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7 | #include <frams/model/modelparts.h> |
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8 | |
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9 | int main() |
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10 | { |
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11 | Model m; |
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12 | Part *p1, *p2; |
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13 | Joint *j; |
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14 | |
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15 | m.open(); |
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16 | |
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17 | // chain of ellipsoids - subsequent parts are placed relative to the previous part's orientation and location |
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18 | p1 = m.addNewPart(Part::SHAPE_ELLIPSOID); //initial part |
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19 | p1->scale = Pt3D(1.0, 0.7, 0.4); |
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20 | |
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21 | Orient rotation = Orient_1; //must be initialized explicitly because the default Orient constructor does not initialize anything |
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22 | rotation.rotate(Pt3D(0.1, 0.2, 0.3)); |
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23 | |
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24 | for (int N = 10; N > 0; N--, p1 = p2) |
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25 | { |
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26 | p2 = m.addNewPart(Part::SHAPE_ELLIPSOID); |
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27 | p2->scale = p1->scale*0.9; //each part is smaller than its predecessor |
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28 | |
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29 | Pt3D advance(p1->scale.x, 0, 0); //advance by previous part's ellipsoid x radius |
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30 | p2->p = p1->p + p1->o.transform(advance); //advance vector transformed by p1's orientation (i.e., in p1's local coordinates) |
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31 | p2->setOrient(p1->o.transform(rotation)); //rotation transformed by p1's orientation |
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32 | |
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33 | m.addNewJoint(p1, p2, Joint::SHAPE_SOLID); //all parts must be connected |
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34 | } |
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35 | |
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36 | // 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) |
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37 | Pt3D prev, next; |
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38 | p1 = m.getPart(0); |
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39 | for (float a = 0; a<M_PI; a += M_PI / 10) |
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40 | { |
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41 | Pt3D next(2 - 2 * cos(a), 0, 2 * sin(a)); |
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42 | if (a>0) |
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43 | { |
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44 | p2 = m.addNewPart(Part::SHAPE_CYLINDER); |
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45 | p2->setPositionAndRotationFromAxis(prev, next); |
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46 | p2->scale = Pt3D(prev.distanceTo(next)*0.5, 0.05, 0.05);// distance*0.5 because scale is "radius", not cylinder length |
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47 | |
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48 | m.addNewJoint(p1, p2, Joint::SHAPE_SOLID); //all parts must be connected |
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49 | } |
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50 | p1 = p2; |
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51 | prev = next; |
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52 | } |
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53 | |
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54 | m.close(); |
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55 | puts((const char*)m.getF0Geno().toString()); |
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56 | // the genotype can be fed directly to the genotype viewer, like this: |
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57 | // part_shapes | theater -g - |
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58 | } |
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