md2.h

机器人运动学动力学及控制的一个小程序,供有兴趣的人参考

#ifndef __MD2_H
#define __MD2_H

#include "texture.h"

#define MAX_FRAMES 512
/*
enum texTypes_t
{
	PCX,
	BMP,
	TGA
};

typedef struct 
{
	// C Compatible version: enum texTypes textureType;
	// We use C++ only version
	texTypes_t textureType;

	int width;					// width of texture
	int height;					// height of texture
	long int scaledWidth;
	long int scaledHeight;

	unsigned int texID;			// the texture object id of this texture
	unsigned char *data;		// the texture data
	unsigned char *palette;
} texture_t;

// only partial pcx file header
typedef struct
{
	unsigned char manufacturer;
	unsigned char version;
	unsigned char encoding;
	unsigned char bits;
	unsigned char xMin;
	unsigned char yMin;
	unsigned char xMax;
	unsigned char yMax;
	unsigned char *palette;
} PCXHEADER;

*/

// a single vertex
typedef struct
{
   float point[3];
} vector_t;
/*
vector_t operator-(vector_t a, vector_t b)
{
	vector_t c;

	c.point[0] = a.point[0] - b.point[0];
	c.point[1] = a.point[1] - b.point[1];
	c.point[2] = a.point[2] - b.point[2];

	return c;
}

vector_t operator*(float f, vector_t b)
{
	vector_t c;

	c.point[0] = f * b.point[0];
	c.point[1] = f * b.point[1];
	c.point[2] = f * b.point[2];

	return c;
}

// vector division
vector_t operator/(vector_t a, vector_t b)
{
	vector_t c;

	c.point[0] = a.point[0] / b.point[0];
	c.point[1] = a.point[1] / b.point[1];
	c.point[2] = a.point[2] / b.point[2];

	return c;
}


vector_t operator+(vector_t a, vector_t b)
{
	vector_t c;

	c.point[0] = a.point[0] + b.point[0];
	c.point[1] = a.point[1] + b.point[1];
	c.point[2] = a.point[2] + b.point[2];

	return c;
}
*/
// texture coordinate
typedef struct
{
   float s;
   float t;
} texCoord_t;

// texture coordinate index
typedef struct
{
   short s;
   short t;
} stIndex_t;

// info for a single frame point
typedef struct
{
   unsigned char v[3];
   unsigned char normalIndex;	// not used
} framePoint_t;

// information for a single frame
typedef struct
{
   float scale[3];
   float translate[3];
   char name[16];
   framePoint_t fp[1];
} frame_t;

// data for a single triangle
typedef struct
{
   unsigned short meshIndex[3];		// vertex indices
   unsigned short stIndex[3];		// texture coordinate indices
} mesh_t;

// the model data
typedef struct
{
	int numFrames;				// number of frames
	int numPoints;				// number of points
	int numTriangles;			// number of triangles
    int numST;					// number of skins
	int frameSize;				// size of each frame in bytes
	int texWidth, texHeight;	// texture width, height
	int currentFrame;			// current frame # in animation
	int nextFrame;				// next frame # in animation
	float interpol;				// percent through current frame
	mesh_t *triIndex;			// triangle list
	texCoord_t *st;				// texture coordinate list
	vector_t *pointList;		// vertex list
	texture_t *modelTex;		// texture data
} modelData_t;

typedef struct
{
   int ident;		// identifies as MD2 file "IDP2"
   int version;		// mine is 8
   int skinwidth;    // width of texture
   int skinheight;   // height of texture
   int framesize;    // number of bytes per frame
   int numSkins;     // number of textures
   int numXYZ;       // number of points
   int numST;        // number of texture
   int numTris;      // number of triangles
   int numGLcmds;
   int numFrames;    // total number of frames
   int offsetSkins;  // offset to skin names (64 bytes each)
   int offsetST;     // offset of texture s-t values
   int offsetTris;   // offset of triangle mesh
   int offsetFrames; // offset of frame data (points)
   int offsetGLcmds; // type of OpenGL commands to use
   int offsetEnd;    // end of file
} modelHeader_t;


//void FreeModel(modelData_t *model);
extern"C"{ void Initialize();
void Render();
}
#endif