trick/trick_sims/ODE/models/DrawStuff/DrawStuff.cpp

#include <string.h>
#include <unistd.h>
#include "DrawStuff.hh"

std::vector<DrawStuffObject *> DrawStuff::objects ;

void DrawStuff::start() {
    static float xyz[3] = {2.0f,-2.0f,1.7600f};
    static float hpr[3] = {140.000f,-17.0000f,0.0000f};
    dsSetViewpoint (xyz,hpr);
}

void DrawStuff::step(int) {
    std::vector<DrawStuffObject *>::iterator it ;
    for( it = objects.begin() ; it != objects.end() ; ++it ) {
        (*it)->draw() ;
    }
}

void DrawStuff::command(int cmd) {
    std::vector<DrawStuffObject *>::iterator it ;
    for( it = objects.begin() ; it != objects.end() ; ++it ) {
        (*it)->command(cmd) ;
    }
}

DrawStuff::DrawStuff() :
 fn(),
 window_width(1024),
 window_height(768)
{
    fn.version = DS_VERSION;
    fn.path_to_textures = "/users/alin/ode-0.14/drawstuff/textures";

    fn.start = &DrawStuff::start ;
    fn.step = &DrawStuff::step ;
    fn.command = &DrawStuff::command ;
}

int DrawStuff::draw() {
    dsSimulationLoop(0 , NULL, window_width, window_height, &fn) ;
    return 0 ;
}

int DrawStuff::shutdown() {
    dsStop() ;
    // wait a second to allow time for the loop to exit.  Yeah, it's unscientific.
    sleep(1) ;
    return 0 ;
}

void DrawStuff::add_object( DrawStuffObject * dso ) {
    objects.push_back(dso) ;
}