stdmeshimporter.cpp

robocup rcssserver 运行防真机器人足球比赛所用的服务器端

                    // rotate n,n2
                    tmp = ca*ny - sa*nz;
                    nz = sa*ny + ca*nz;
                    ny = tmp;
                    tmp = ca*ny2- sa*nz2;
                    nz2 = sa*ny2 + ca*nz2;
                    ny2 = tmp;
                }

            start_nx = start_nx2;
            start_ny = start_ny2;
        }

    // draw second cylinder cap
    start_nx = 0;
    start_ny = 1;

    for (j=0; j<(n/4); j++)
        {
            // get start_n2 = rotated start_n
            float start_nx2 = ca*start_nx - sa*start_ny;
            float start_ny2 = sa*start_nx + ca*start_ny;

            // get n=start_n and n2=start_n2
            nx = start_nx; ny = start_ny; nz = 0;
            float nx2 = start_nx2;
            float ny2 = start_ny2;
            float nz2 = 0;

            for (i=0; i<=n; i++)
                {
                    AddVertex(&cNormal,ny,nz,nx);
                    AddVertex(&cVert,ny*ccRadius,nz*ccRadius,-l+nx*ccRadius);
                    AddVertex(&cNormal,ny2,nz2,nx2);
                    AddVertex(&cVert,ny2*ccRadius,nz2*ccRadius,-l+nx2*ccRadius);
                    // rotate n,n2
                    tmp = ca*ny - sa*nz;
                    nz = sa*ny + ca*nz;
                    ny = tmp;
                    tmp = ca*ny2- sa*nz2;
                    nz2 = sa*ny2 + ca*nz2;
                    ny2 = tmp;
                }

            start_nx = start_nx2;
            start_ny = start_ny2;
        }

    shared_ptr<IndexBuffer> idx(new IndexBuffer());
    // triangle strip -> triangles
    int numFaces = (numVertices - 2);
    idx->EnsureFit(numFaces*3);

    for (i=0;i<numFaces;++i)
        {
            if (i%2)
                {
                    idx->Cache(i+1);
                    idx->Cache(i);
                    idx->Cache(i+2);
                } else
                    {
                        idx->Cache(i);
                        idx->Cache(i+1);
                        idx->Cache(i+2);
                    }
        }

    shared_ptr<TriMesh> mesh(new TriMesh());
    mesh->SetPos(pos,numVertices);
    mesh->SetNormals(normals);
    mesh->AddFace(idx);
    mesh->SetName(MangleName(gCCylinderStr,parameter));

    return mesh;
}

//
// unit cylinder (radius = 1, length = 1)
//

static const int gNumCylinderVertices = 66;
static const int gNumCylinderFaces = 128;

static float gCylinderVertices[gNumCylinderVertices*3] =
    {
        0.70711f,0.70711f,-0.5f,
        0.83147f,0.55557f,-0.5f,
        0.92388f,0.38268f,-0.5f,
        0.98079f,0.19509f,-0.5f,
        1.0f,0.0f,-0.5f,
        0.98079f,-0.19509f,-0.5f,
        0.92388f,-0.38268f,-0.5f,
        0.83147f,-0.55557f,-0.5f,
        0.70711f,-0.70711f,-0.5f,
        0.55557f,-0.83147f,-0.5f,
        0.38268f,-0.92388f,-0.5f,
        0.19509f,-0.98079f,-0.5f,
        -0.0f,-1.0f,-0.5f,
        -0.19509f,-0.98079f,-0.5f,
        -0.38268f,-0.92388f,-0.5f,
        -0.55557f,-0.83147f,-0.5f,
        -0.70711f,-0.70711f,-0.5f,
        -0.83147f,-0.55557f,-0.5f,
        -0.92388f,-0.38268f,-0.5f,
        -0.98079f,-0.19509f,-0.5f,
        -1.0f,0.0f,-0.5f,
        -0.98079f,0.19509f,-0.5f,
        -0.92388f,0.38268f,-0.5f,
        -0.83147f,0.55557f,-0.5f,
        -0.70711f,0.70711f,-0.5f,
        -0.55557f,0.83147f,-0.5f,
        -0.38268f,0.92388f,-0.5f,
        -0.19509f,0.98079f,-0.5f,
        0.0f,1.0f,-0.5f,
        0.19509f,0.98078f,-0.5f,
        0.38269f,0.92388f,-0.5f,
        0.55557f,0.83147f,-0.5f,
        0.70711f,0.70711f,0.5f,
        0.83147f,0.55557f,0.5f,
        0.92388f,0.38268f,0.5f,
        0.98079f,0.19509f,0.5f,
        1.0f,-0.0f,0.5f,
        0.98078f,-0.19509f,0.5f,
        0.92388f,-0.38268f,0.5f,
        0.83147f,-0.55557f,0.5f,
        0.70711f,-0.70711f,0.5f,
        0.55557f,-0.83147f,0.5f,
        0.38268f,-0.92388f,0.5f,
        0.19509f,-0.98079f,0.5f,
        0.0f,-1.0f,0.5f,
        -0.19509f,-0.98079f,0.5f,
        -0.38268f,-0.92388f,0.5f,
        -0.55557f,-0.83147f,0.5f,
        -0.7071f,-0.70711f,0.5f,
        -0.83147f,-0.55557f,0.5f,
        -0.92388f,-0.38269f,0.5f,
        -0.98078f,-0.19509f,0.5f,
        -1.0f,-0.0f,0.5f,
        -0.98079f,0.19509f,0.5f,
        -0.92388f,0.38268f,0.5f,
        -0.83147f,0.55557f,0.5f,
        -0.70711f,0.7071f,0.5f,
        -0.55558f,0.83147f,0.5f,
        -0.38269f,0.92388f,0.5f,
        -0.1951f,0.98078f,0.5f,
        -1e-05f,1.0f,0.5f,
        0.19508f,0.98079f,0.5f,
        0.38268f,0.92388f,0.5f,
        0.55556f,0.83147f,0.5f,
        0.0f,-0.0f,-0.5f,
        0.0f,0.0f,0.5f
    };

static float gCylinderNormals[gNumCylinderVertices*3] =
    {
        0.49876f,0.49876f,-0.70879f,
        0.5865f,0.39189f,-0.70879f,
        0.65169f,0.26994f,-0.70879f,
        0.69182f,0.13761f,-0.70879f,
        0.70537f,0.0f,-0.70879f,
        0.69182f,-0.13761f,-0.70879f,
        0.65169f,-0.26994f,-0.70879f,
        0.5865f,-0.39189f,-0.70879f,
        0.49876f,-0.49876f,-0.70879f,
        0.39189f,-0.5865f,-0.70879f,
        0.26994f,-0.65169f,-0.70879f,
        0.13761f,-0.69182f,-0.70879f,
        0.0f,-0.70537f,-0.70879f,
        -0.13761f,-0.69182f,-0.70879f,
        -0.26994f,-0.65169f,-0.70879f,
        -0.39189f,-0.5865f,-0.70879f,
        -0.49876f,-0.49876f,-0.70879f,
        -0.5865f,-0.39189f,-0.70879f,
        -0.65169f,-0.26994f,-0.70879f,
        -0.69182f,-0.13761f,-0.70879f,
        -0.70537f,0.0f,-0.70879f,
        -0.69182f,0.13761f,-0.70879f,
        -0.65169f,0.26994f,-0.70879f,
        -0.5865f,0.39189f,-0.70879f,
        -0.49876f,0.49876f,-0.70879f,
        -0.39189f,0.5865f,-0.70879f,
        -0.26994f,0.65169f,-0.70879f,
        -0.13761f,0.69182f,-0.70879f,
        0.0f,0.70537f,-0.70879f,
        0.13761f,0.69182f,-0.70879f,
        0.26994f,0.65169f,-0.70879f,
        0.39189f,0.5865f,-0.70879f,
        0.49876f,0.49876f,0.70879f,
        0.5865f,0.39189f,0.70879f,
        0.65169f,0.26994f,0.70879f,
        0.69182f,0.13761f,0.70879f,
        0.70537f,0.0f,0.70879f,
        0.69182f,-0.13761f,0.70879f,
        0.65169f,-0.26994f,0.70879f,
        0.5865f,-0.39189f,0.70879f,
        0.49876f,-0.49876f,0.70879f,
        0.39189f,-0.5865f,0.70879f,
        0.26994f,-0.65169f,0.70879f,
        0.13761f,-0.69182f,0.70879f,
        0.0f,-0.70537f,0.70879f,
        -0.13761f,-0.69182f,0.70879f,
        -0.26994f,-0.65169f,0.70879f,
        -0.39189f,-0.5865f,0.70879f,
        -0.49876f,-0.49876f,0.70879f,
        -0.5865f,-0.39189f,0.70879f,
        -0.65169f,-0.26994f,0.70879f,
        -0.69182f,-0.13761f,0.70879f,
        -0.70537f,0.0f,0.70879f,
        -0.69182f,0.13761f,0.70879f,
        -0.65169f,0.26994f,0.70879f,
        -0.5865f,0.39189f,0.70879f,
        -0.49876f,0.49876f,0.70879f,
        -0.39189f,0.5865f,0.70879f,
        -0.26994f,0.65169f,0.70879f,
        -0.13761f,0.69182f,0.70879f,
        0.0f,0.70537f,0.70879f,
        0.13761f,0.69182f,0.70879f,
        0.26994f,0.65169f,0.70879f,
        0.39189f,0.5865f,0.70879f,
        0.0f,0.0f,-1.0f,
        0.0f,0.0f,1.0f
    };

static unsigned int gCylinderFaces[gNumCylinderFaces*3] =
    {
        64,0,1,
        65,33,32,
        64,1,2,
        65,34,33,
        64,2,3,
        65,35,34,
        64,3,4,
        65,36,35,
        64,4,5,
        65,37,36,
        64,5,6,
        65,38,37,
        64,6,7,
        65,39,38,
        64,7,8,
        65,40,39,
        64,8,9,
        65,41,40,
        64,9,10,
        65,42,41,
        64,10,11,
        65,43,42,
        64,11,12,
        65,44,43,
        64,12,13,
        65,45,44,
        64,13,14,
        65,46,45,
        64,14,15,
        65,47,46,
        64,15,16,
        65,48,47,
        64,16,17,
        65,49,48,
        64,17,18,
        65,50,49,
        64,18,19,
        65,51,50,
        64,19,20,
        65,52,51,
        64,20,21,
        65,53,52,
        64,21,22,
        65,54,53,
        64,22,23,
        65,55,54,
        64,23,24,
        65,56,55,
        64,24,25,
        65,57,56,
        64,25,26,
        65,58,57,
        64,26,27,
        65,59,58,
        64,27,28,
        65,60,59,
        64,28,29,
        65,61,60,
        64,29,30,
        65,62,61,
        64,30,31,
        65,63,62,
        31,0,64,
        65,32,63,
        0,32,33,
        33,1,0,
        1,33,34,
        34,2,1,
        2,34,35,
        35,3,2,
        3,35,36,
        36,4,3,
        4,36,37,
        37,5,4,
        5,37,38,
        38,6,5,
        6,38,39,
        39,7,6,
        7,39,40,
        40,8,7,
        8,40,41,
        41,9,8,
        9,41,42,
        42,10,9,
        10,42,43,
        43,11,10,
        11,43,44,
        44,12,11,
        12,44,45,
        45,13,12,
        13,45,46,
        46,14,13,
        14,46,47,
        47,15,14,
        15,47,48,
        48,16,15,
        16,48,49,
        49,17,16,
        17,49,50,
        50,18,17,
        18,50,51,
        51,19,18,
        19,51,52,
        52,20,19,
        20,52,53,
        53,21,20,
        21,53,54,
        54,22,21,
        22,54,55,
        55,23,22,
        23,55,56,
        56,24,23,
        24,56,57,
        57,25,24,
        25,57,58,
        58,26,25,
        26,58,59,
        59,27,26,
        27,59,60,
        60,28,27,
        28,60,61,
        61,29,28,
        29,61,62,
        62,30,29,
        30,62,63,
        63,31,30,
        32,0,31,
        31,63,32
    };

shared_ptr<TriMesh> StdMeshImporter::UnitCylinder()
{
    shared_ptr<TriMesh> mesh(new TriMesh());

    shared_array<float> pos(new float[gNumCylinderVertices*3]);
    memcpy(pos.get(),gCylinderVertices,gNumCylinderVertices*3*sizeof(float));
    mesh->SetPos(pos,gNumCylinderVertices);

    shared_array<float> normals(new float[gNumCylinderVertices*3]);
    memcpy(normals.get(),gCylinderNormals,gNumCylinderVertices*3*sizeof(float));
    mesh->SetNormals(normals);

    shared_ptr<IndexBuffer> idx(new IndexBuffer());
    idx->Cache(gNumCylinderFaces*3,gCylinderFaces);
    mesh->AddFace(idx);

    return mesh;
}