Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
   4
   5 This software is provided 'as-is', without any express or implied warranty.
   6 In no event will the authors be held liable for any damages arising from the use of this software.
   7 Permission is granted to anyone to use this software for any purpose,
   8 including commercial applications, and to alter it and redistribute it freely,
   9 subject to the following restrictions:
  10
  11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
  12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  13 3. This notice may not be removed or altered from any source distribution.
  14 */
  15
  16 #include "btBulletDynamicsCommon.h"
  17 #include "ConcaveDemo.h"
  18
  19
  20 #include "LinearMath/btDefaultMotionState.h"
  21 #include "LinearMath/btIDebugDraw.h"
  22 #include "LinearMath/btQuickprof.h"
  23 #include "LinearMath/btDefaultMotionState.h"
  24 #include "BulletCollision/Gimpact/btGImpactShape.h"
  25 #include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
  26 #include "GLDebugFont.h"
  27
  28
  29
  30 #include "GLDebugDrawer.h"
  31
  32 #include "GL_ShapeDrawer.h"
  33 #include "GlutStuff.h"
  34
  35
  36 GLDebugDrawer   debugDrawer1;
  37
  38 //***************************THE FAMOUS BUNNY TRIMESH********************************************//
  39
  40 #define REAL btScalar
  41 const int NUM_TRIANGLES =902;
  42 const int NUM_VERTICES = 453;
  43 const int NUM_INDICES  = NUM_TRIANGLES * 3;
  44
  45
  46 REAL gVertices[NUM_VERTICES * 3] = {
  47         REAL(-0.334392), REAL(0.133007), REAL(0.062259),
  48         REAL(-0.350189), REAL(0.150354), REAL(-0.147769),
  49         REAL(-0.234201), REAL(0.343811), REAL(-0.174307),
  50         REAL(-0.200259), REAL(0.285207), REAL(0.093749),
  51         REAL(0.003520), REAL(0.475208), REAL(-0.159365),
  52         REAL(0.001856), REAL(0.419203), REAL(0.098582),
  53         REAL(-0.252802), REAL(0.093666), REAL(0.237538),
  54         REAL(-0.162901), REAL(0.237984), REAL(0.206905),
  55         REAL(0.000865), REAL(0.318141), REAL(0.235370),
  56         REAL(-0.414624), REAL(0.164083), REAL(-0.278254),
  57         REAL(-0.262213), REAL(0.357334), REAL(-0.293246),
  58         REAL(0.004628), REAL(0.482694), REAL(-0.338626),
  59         REAL(-0.402162), REAL(0.133528), REAL(-0.443247),
  60         REAL(-0.243781), REAL(0.324275), REAL(-0.436763),
  61         REAL(0.005293), REAL(0.437592), REAL(-0.458332),
  62         REAL(-0.339884), REAL(-0.041150), REAL(-0.668211),
  63         REAL(-0.248382), REAL(0.255825), REAL(-0.627493),
  64         REAL(0.006261), REAL(0.376103), REAL(-0.631506),
  65         REAL(-0.216201), REAL(-0.126776), REAL(-0.886936),
  66         REAL(-0.171075), REAL(0.011544), REAL(-0.881386),
  67         REAL(-0.181074), REAL(0.098223), REAL(-0.814779),
  68         REAL(-0.119891), REAL(0.218786), REAL(-0.760153),
  69         REAL(-0.078895), REAL(0.276780), REAL(-0.739281),
  70         REAL(0.006801), REAL(0.310959), REAL(-0.735661),
  71         REAL(-0.168842), REAL(0.102387), REAL(-0.920381),
  72         REAL(-0.104072), REAL(0.177278), REAL(-0.952530),
  73         REAL(-0.129704), REAL(0.211848), REAL(-0.836678),
  74         REAL(-0.099875), REAL(0.310931), REAL(-0.799381),
  75         REAL(0.007237), REAL(0.361687), REAL(-0.794439),
  76         REAL(-0.077913), REAL(0.258753), REAL(-0.921640),
  77         REAL(0.007957), REAL(0.282241), REAL(-0.931680),
  78         REAL(-0.252222), REAL(-0.550401), REAL(-0.557810),
  79         REAL(-0.267633), REAL(-0.603419), REAL(-0.655209),
  80         REAL(-0.446838), REAL(-0.118517), REAL(-0.466159),
  81         REAL(-0.459488), REAL(-0.093017), REAL(-0.311341),
  82         REAL(-0.370645), REAL(-0.100108), REAL(-0.159454),
  83         REAL(-0.371984), REAL(-0.091991), REAL(-0.011044),
  84         REAL(-0.328945), REAL(-0.098269), REAL(0.088659),
  85         REAL(-0.282452), REAL(-0.018862), REAL(0.311501),
  86         REAL(-0.352403), REAL(-0.131341), REAL(0.144902),
  87         REAL(-0.364126), REAL(-0.200299), REAL(0.202388),
  88         REAL(-0.283965), REAL(-0.231869), REAL(0.023668),
  89         REAL(-0.298943), REAL(-0.155218), REAL(0.369716),
  90         REAL(-0.293787), REAL(-0.121856), REAL(0.419097),
  91         REAL(-0.290163), REAL(-0.290797), REAL(0.107824),
  92         REAL(-0.264165), REAL(-0.272849), REAL(0.036347),
  93         REAL(-0.228567), REAL(-0.372573), REAL(0.290309),
  94         REAL(-0.190431), REAL(-0.286997), REAL(0.421917),
  95         REAL(-0.191039), REAL(-0.240973), REAL(0.507118),
  96         REAL(-0.287272), REAL(-0.276431), REAL(-0.065444),
  97         REAL(-0.295675), REAL(-0.280818), REAL(-0.174200),
  98         REAL(-0.399537), REAL(-0.313131), REAL(-0.376167),
  99         REAL(-0.392666), REAL(-0.488581), REAL(-0.427494),
 100         REAL(-0.331669), REAL(-0.570185), REAL(-0.466054),
 101         REAL(-0.282290), REAL(-0.618140), REAL(-0.589220),
 102         REAL(-0.374238), REAL(-0.594882), REAL(-0.323298),
 103         REAL(-0.381071), REAL(-0.629723), REAL(-0.350777),
 104         REAL(-0.382112), REAL(-0.624060), REAL(-0.221577),
 105         REAL(-0.272701), REAL(-0.566522), REAL(0.259157),
 106         REAL(-0.256702), REAL(-0.663406), REAL(0.286079),
 107         REAL(-0.280948), REAL(-0.428359), REAL(0.055790),
 108         REAL(-0.184974), REAL(-0.508894), REAL(0.326265),
 109         REAL(-0.279971), REAL(-0.526918), REAL(0.395319),
 110         REAL(-0.282599), REAL(-0.663393), REAL(0.412411),
 111         REAL(-0.188329), REAL(-0.475093), REAL(0.417954),
 112         REAL(-0.263384), REAL(-0.663396), REAL(0.466604),
 113         REAL(-0.209063), REAL(-0.663393), REAL(0.509344),
 114         REAL(-0.002044), REAL(-0.319624), REAL(0.553078),
 115         REAL(-0.001266), REAL(-0.371260), REAL(0.413296),
 116         REAL(-0.219753), REAL(-0.339762), REAL(-0.040921),
 117         REAL(-0.256986), REAL(-0.282511), REAL(-0.006349),
 118         REAL(-0.271706), REAL(-0.260881), REAL(0.001764),
 119         REAL(-0.091191), REAL(-0.419184), REAL(-0.045912),
 120         REAL(-0.114944), REAL(-0.429752), REAL(-0.124739),
 121         REAL(-0.113970), REAL(-0.382987), REAL(-0.188540),
 122         REAL(-0.243012), REAL(-0.464942), REAL(-0.242850),
 123         REAL(-0.314815), REAL(-0.505402), REAL(-0.324768),
 124         REAL(0.002774), REAL(-0.437526), REAL(-0.262766),
 125         REAL(-0.072625), REAL(-0.417748), REAL(-0.221440),
 126         REAL(-0.160112), REAL(-0.476932), REAL(-0.293450),
 127         REAL(0.003859), REAL(-0.453425), REAL(-0.443916),
 128         REAL(-0.120363), REAL(-0.581567), REAL(-0.438689),
 129         REAL(-0.091499), REAL(-0.584191), REAL(-0.294511),
 130         REAL(-0.116469), REAL(-0.599861), REAL(-0.188308),
 131         REAL(-0.208032), REAL(-0.513640), REAL(-0.134649),
 132         REAL(-0.235749), REAL(-0.610017), REAL(-0.040939),
 133         REAL(-0.344916), REAL(-0.622487), REAL(-0.085380),
 134         REAL(-0.336401), REAL(-0.531864), REAL(-0.212298),
 135         REAL(0.001961), REAL(-0.459550), REAL(-0.135547),
 136         REAL(-0.058296), REAL(-0.430536), REAL(-0.043440),
 137         REAL(0.001378), REAL(-0.449511), REAL(-0.037762),
 138         REAL(-0.130135), REAL(-0.510222), REAL(0.079144),
 139         REAL(0.000142), REAL(-0.477549), REAL(0.157064),
 140         REAL(-0.114284), REAL(-0.453206), REAL(0.304397),
 141         REAL(-0.000592), REAL(-0.443558), REAL(0.285401),
 142         REAL(-0.056215), REAL(-0.663402), REAL(0.326073),
 143         REAL(-0.026248), REAL(-0.568010), REAL(0.273318),
 144         REAL(-0.049261), REAL(-0.531064), REAL(0.389854),
 145         REAL(-0.127096), REAL(-0.663398), REAL(0.479316),
 146         REAL(-0.058384), REAL(-0.663401), REAL(0.372891),
 147         REAL(-0.303961), REAL(0.054199), REAL(0.625921),
 148         REAL(-0.268594), REAL(0.193403), REAL(0.502766),
 149         REAL(-0.277159), REAL(0.126123), REAL(0.443289),
 150         REAL(-0.287605), REAL(-0.005722), REAL(0.531844),
 151         REAL(-0.231396), REAL(-0.121289), REAL(0.587387),
 152         REAL(-0.253475), REAL(-0.081797), REAL(0.756541),
 153         REAL(-0.195164), REAL(-0.137969), REAL(0.728011),
 154         REAL(-0.167673), REAL(-0.156573), REAL(0.609388),
 155         REAL(-0.145917), REAL(-0.169029), REAL(0.697600),
 156         REAL(-0.077776), REAL(-0.214247), REAL(0.622586),
 157         REAL(-0.076873), REAL(-0.214971), REAL(0.696301),
 158         REAL(-0.002341), REAL(-0.233135), REAL(0.622859),
 159         REAL(-0.002730), REAL(-0.213526), REAL(0.691267),
 160         REAL(-0.003136), REAL(-0.192628), REAL(0.762731),
 161         REAL(-0.056136), REAL(-0.201222), REAL(0.763806),
 162         REAL(-0.114589), REAL(-0.166192), REAL(0.770723),
 163         REAL(-0.155145), REAL(-0.129632), REAL(0.791738),
 164         REAL(-0.183611), REAL(-0.058705), REAL(0.847012),
 165         REAL(-0.165562), REAL(0.001980), REAL(0.833386),
 166         REAL(-0.220084), REAL(0.019914), REAL(0.768935),
 167         REAL(-0.255730), REAL(0.090306), REAL(0.670782),
 168         REAL(-0.255594), REAL(0.113833), REAL(0.663389),
 169         REAL(-0.226380), REAL(0.212655), REAL(0.617740),
 170         REAL(-0.003367), REAL(-0.195342), REAL(0.799680),
 171         REAL(-0.029743), REAL(-0.210508), REAL(0.827180),
 172         REAL(-0.003818), REAL(-0.194783), REAL(0.873636),
 173         REAL(-0.004116), REAL(-0.157907), REAL(0.931268),
 174         REAL(-0.031280), REAL(-0.184555), REAL(0.889476),
 175         REAL(-0.059885), REAL(-0.184448), REAL(0.841330),
 176         REAL(-0.135333), REAL(-0.164332), REAL(0.878200),
 177         REAL(-0.085574), REAL(-0.170948), REAL(0.925547),
 178         REAL(-0.163833), REAL(-0.094170), REAL(0.897114),
 179         REAL(-0.138444), REAL(-0.104250), REAL(0.945975),
 180         REAL(-0.083497), REAL(-0.084934), REAL(0.979607),
 181         REAL(-0.004433), REAL(-0.146642), REAL(0.985872),
 182         REAL(-0.150715), REAL(0.032650), REAL(0.884111),
 183         REAL(-0.135892), REAL(-0.035520), REAL(0.945455),
 184         REAL(-0.070612), REAL(0.036849), REAL(0.975733),
 185         REAL(-0.004458), REAL(-0.042526), REAL(1.015670),
 186         REAL(-0.004249), REAL(0.046042), REAL(1.003240),
 187         REAL(-0.086969), REAL(0.133224), REAL(0.947633),
 188         REAL(-0.003873), REAL(0.161605), REAL(0.970499),
 189         REAL(-0.125544), REAL(0.140012), REAL(0.917678),
 190         REAL(-0.125651), REAL(0.250246), REAL(0.857602),
 191         REAL(-0.003127), REAL(0.284070), REAL(0.878870),
 192         REAL(-0.159174), REAL(0.125726), REAL(0.888878),
 193         REAL(-0.183807), REAL(0.196970), REAL(0.844480),
 194         REAL(-0.159890), REAL(0.291736), REAL(0.732480),
 195         REAL(-0.199495), REAL(0.207230), REAL(0.779864),
 196         REAL(-0.206182), REAL(0.164608), REAL(0.693257),
 197         REAL(-0.186315), REAL(0.160689), REAL(0.817193),
 198         REAL(-0.192827), REAL(0.166706), REAL(0.782271),
 199         REAL(-0.175112), REAL(0.110008), REAL(0.860621),
 200         REAL(-0.161022), REAL(0.057420), REAL(0.855111),
 201         REAL(-0.172319), REAL(0.036155), REAL(0.816189),
 202         REAL(-0.190318), REAL(0.064083), REAL(0.760605),
 203         REAL(-0.195072), REAL(0.129179), REAL(0.731104),
 204         REAL(-0.203126), REAL(0.410287), REAL(0.680536),
 205         REAL(-0.216677), REAL(0.309274), REAL(0.642272),
 206         REAL(-0.241515), REAL(0.311485), REAL(0.587832),
 207         REAL(-0.002209), REAL(0.366663), REAL(0.749413),
 208         REAL(-0.088230), REAL(0.396265), REAL(0.678635),
 209         REAL(-0.170147), REAL(0.109517), REAL(0.840784),
 210         REAL(-0.160521), REAL(0.067766), REAL(0.830650),
 211         REAL(-0.181546), REAL(0.139805), REAL(0.812146),
 212         REAL(-0.180495), REAL(0.148568), REAL(0.776087),
 213         REAL(-0.180255), REAL(0.129125), REAL(0.744192),
 214         REAL(-0.186298), REAL(0.078308), REAL(0.769352),
 215         REAL(-0.167622), REAL(0.060539), REAL(0.806675),
 216         REAL(-0.189876), REAL(0.102760), REAL(0.802582),
 217         REAL(-0.108340), REAL(0.455446), REAL(0.657174),
 218         REAL(-0.241585), REAL(0.527592), REAL(0.669296),
 219         REAL(-0.265676), REAL(0.513366), REAL(0.634594),
 220         REAL(-0.203073), REAL(0.478550), REAL(0.581526),
 221         REAL(-0.266772), REAL(0.642330), REAL(0.602061),
 222         REAL(-0.216961), REAL(0.564846), REAL(0.535435),
 223         REAL(-0.202210), REAL(0.525495), REAL(0.475944),
 224         REAL(-0.193888), REAL(0.467925), REAL(0.520606),
 225         REAL(-0.265837), REAL(0.757267), REAL(0.500933),
 226         REAL(-0.240306), REAL(0.653440), REAL(0.463215),
 227         REAL(-0.309239), REAL(0.776868), REAL(0.304726),
 228         REAL(-0.271009), REAL(0.683094), REAL(0.382018),
 229         REAL(-0.312111), REAL(0.671099), REAL(0.286687),
 230         REAL(-0.268791), REAL(0.624342), REAL(0.377231),
 231         REAL(-0.302457), REAL(0.533996), REAL(0.360289),
 232         REAL(-0.263656), REAL(0.529310), REAL(0.412564),
 233         REAL(-0.282311), REAL(0.415167), REAL(0.447666),
 234         REAL(-0.239201), REAL(0.442096), REAL(0.495604),
 235         REAL(-0.220043), REAL(0.569026), REAL(0.445877),
 236         REAL(-0.001263), REAL(0.395631), REAL(0.602029),
 237         REAL(-0.057345), REAL(0.442535), REAL(0.572224),
 238         REAL(-0.088927), REAL(0.506333), REAL(0.529106),
 239         REAL(-0.125738), REAL(0.535076), REAL(0.612913),
 240         REAL(-0.126251), REAL(0.577170), REAL(0.483159),
 241         REAL(-0.149594), REAL(0.611520), REAL(0.557731),
 242         REAL(-0.163188), REAL(0.660791), REAL(0.491080),
 243         REAL(-0.172482), REAL(0.663387), REAL(0.415416),
 244         REAL(-0.160464), REAL(0.591710), REAL(0.370659),
 245         REAL(-0.156445), REAL(0.536396), REAL(0.378302),
 246         REAL(-0.136496), REAL(0.444358), REAL(0.425226),
 247         REAL(-0.095564), REAL(0.373768), REAL(0.473659),
 248         REAL(-0.104146), REAL(0.315912), REAL(0.498104),
 249         REAL(-0.000496), REAL(0.384194), REAL(0.473817),
 250         REAL(-0.000183), REAL(0.297770), REAL(0.401486),
 251         REAL(-0.129042), REAL(0.270145), REAL(0.434495),
 252         REAL(0.000100), REAL(0.272963), REAL(0.349138),
 253         REAL(-0.113060), REAL(0.236984), REAL(0.385554),
 254         REAL(0.007260), REAL(0.016311), REAL(-0.883396),
 255         REAL(0.007865), REAL(0.122104), REAL(-0.956137),
 256         REAL(-0.032842), REAL(0.115282), REAL(-0.953252),
 257         REAL(-0.089115), REAL(0.108449), REAL(-0.950317),
 258         REAL(-0.047440), REAL(0.014729), REAL(-0.882756),
 259         REAL(-0.104458), REAL(0.013137), REAL(-0.882070),
 260         REAL(-0.086439), REAL(-0.584866), REAL(-0.608343),
 261         REAL(-0.115026), REAL(-0.662605), REAL(-0.436732),
 262         REAL(-0.071683), REAL(-0.665372), REAL(-0.606385),
 263         REAL(-0.257884), REAL(-0.665381), REAL(-0.658052),
 264         REAL(-0.272542), REAL(-0.665381), REAL(-0.592063),
 265         REAL(-0.371322), REAL(-0.665382), REAL(-0.353620),
 266         REAL(-0.372362), REAL(-0.665381), REAL(-0.224420),
 267         REAL(-0.335166), REAL(-0.665380), REAL(-0.078623),
 268         REAL(-0.225999), REAL(-0.665375), REAL(-0.038981),
 269         REAL(-0.106719), REAL(-0.665374), REAL(-0.186351),
 270         REAL(-0.081749), REAL(-0.665372), REAL(-0.292554),
 271         REAL(0.006943), REAL(-0.091505), REAL(-0.858354),
 272         REAL(0.006117), REAL(-0.280985), REAL(-0.769967),
 273         REAL(0.004495), REAL(-0.502360), REAL(-0.559799),
 274         REAL(-0.198638), REAL(-0.302135), REAL(-0.845816),
 275         REAL(-0.237395), REAL(-0.542544), REAL(-0.587188),
 276         REAL(-0.270001), REAL(-0.279489), REAL(-0.669861),
 277         REAL(-0.134547), REAL(-0.119852), REAL(-0.959004),
 278         REAL(-0.052088), REAL(-0.122463), REAL(-0.944549),
 279         REAL(-0.124463), REAL(-0.293508), REAL(-0.899566),
 280         REAL(-0.047616), REAL(-0.289643), REAL(-0.879292),
 281         REAL(-0.168595), REAL(-0.529132), REAL(-0.654931),
 282         REAL(-0.099793), REAL(-0.515719), REAL(-0.645873),
 283         REAL(-0.186168), REAL(-0.605282), REAL(-0.724690),
 284         REAL(-0.112970), REAL(-0.583097), REAL(-0.707469),
 285         REAL(-0.108152), REAL(-0.665375), REAL(-0.700408),
 286         REAL(-0.183019), REAL(-0.665378), REAL(-0.717630),
 287         REAL(-0.349529), REAL(-0.334459), REAL(-0.511985),
 288         REAL(-0.141182), REAL(-0.437705), REAL(-0.798194),
 289         REAL(-0.212670), REAL(-0.448725), REAL(-0.737447),
 290         REAL(-0.261111), REAL(-0.414945), REAL(-0.613835),
 291         REAL(-0.077364), REAL(-0.431480), REAL(-0.778113),
 292         REAL(0.005174), REAL(-0.425277), REAL(-0.651592),
 293         REAL(0.089236), REAL(-0.431732), REAL(-0.777093),
 294         REAL(0.271006), REAL(-0.415749), REAL(-0.610577),
 295         REAL(0.223981), REAL(-0.449384), REAL(-0.734774),
 296         REAL(0.153275), REAL(-0.438150), REAL(-0.796391),
 297         REAL(0.358414), REAL(-0.335529), REAL(-0.507649),
 298         REAL(0.193434), REAL(-0.665946), REAL(-0.715325),
 299         REAL(0.118363), REAL(-0.665717), REAL(-0.699021),
 300         REAL(0.123515), REAL(-0.583454), REAL(-0.706020),
 301         REAL(0.196851), REAL(-0.605860), REAL(-0.722345),
 302         REAL(0.109788), REAL(-0.516035), REAL(-0.644590),
 303         REAL(0.178656), REAL(-0.529656), REAL(-0.652804),
 304         REAL(0.061157), REAL(-0.289807), REAL(-0.878626),
 305         REAL(0.138234), REAL(-0.293905), REAL(-0.897958),
 306         REAL(0.066933), REAL(-0.122643), REAL(-0.943820),
 307         REAL(0.149571), REAL(-0.120281), REAL(-0.957264),
 308         REAL(0.280989), REAL(-0.280321), REAL(-0.666487),
 309         REAL(0.246581), REAL(-0.543275), REAL(-0.584224),
 310         REAL(0.211720), REAL(-0.302754), REAL(-0.843303),
 311         REAL(0.086966), REAL(-0.665627), REAL(-0.291520),
 312         REAL(0.110634), REAL(-0.665702), REAL(-0.185021),
 313         REAL(0.228099), REAL(-0.666061), REAL(-0.036201),
 314         REAL(0.337743), REAL(-0.666396), REAL(-0.074503),
 315         REAL(0.376722), REAL(-0.666513), REAL(-0.219833),
 316         REAL(0.377265), REAL(-0.666513), REAL(-0.349036),
 317         REAL(0.281411), REAL(-0.666217), REAL(-0.588670),
 318         REAL(0.267564), REAL(-0.666174), REAL(-0.654834),
 319         REAL(0.080745), REAL(-0.665602), REAL(-0.605452),
 320         REAL(0.122016), REAL(-0.662963), REAL(-0.435280),
 321         REAL(0.095767), REAL(-0.585141), REAL(-0.607228),
 322         REAL(0.118944), REAL(0.012799), REAL(-0.880702),
 323         REAL(0.061944), REAL(0.014564), REAL(-0.882086),
 324         REAL(0.104725), REAL(0.108156), REAL(-0.949130),
 325         REAL(0.048513), REAL(0.115159), REAL(-0.952753),
 326         REAL(0.112696), REAL(0.236643), REAL(0.386937),
 327         REAL(0.128177), REAL(0.269757), REAL(0.436071),
 328         REAL(0.102643), REAL(0.315600), REAL(0.499370),
 329         REAL(0.094535), REAL(0.373481), REAL(0.474824),
 330         REAL(0.136270), REAL(0.443946), REAL(0.426895),
 331         REAL(0.157071), REAL(0.535923), REAL(0.380222),
 332         REAL(0.161350), REAL(0.591224), REAL(0.372630),
 333         REAL(0.173035), REAL(0.662865), REAL(0.417531),
 334         REAL(0.162808), REAL(0.660299), REAL(0.493077),
 335         REAL(0.148250), REAL(0.611070), REAL(0.559555),
 336         REAL(0.125719), REAL(0.576790), REAL(0.484702),
 337         REAL(0.123489), REAL(0.534699), REAL(0.614440),
 338         REAL(0.087621), REAL(0.506066), REAL(0.530188),
 339         REAL(0.055321), REAL(0.442365), REAL(0.572915),
 340         REAL(0.219936), REAL(0.568361), REAL(0.448571),
 341         REAL(0.238099), REAL(0.441375), REAL(0.498528),
 342         REAL(0.281711), REAL(0.414315), REAL(0.451121),
 343         REAL(0.263833), REAL(0.528513), REAL(0.415794),
 344         REAL(0.303284), REAL(0.533081), REAL(0.363998),
 345         REAL(0.269687), REAL(0.623528), REAL(0.380528),
 346         REAL(0.314255), REAL(0.670153), REAL(0.290524),
 347         REAL(0.272023), REAL(0.682273), REAL(0.385343),
 348         REAL(0.311480), REAL(0.775931), REAL(0.308527),
 349         REAL(0.240239), REAL(0.652714), REAL(0.466159),
 350         REAL(0.265619), REAL(0.756464), REAL(0.504187),
 351         REAL(0.192562), REAL(0.467341), REAL(0.522972),
 352         REAL(0.201605), REAL(0.524885), REAL(0.478417),
 353         REAL(0.215743), REAL(0.564193), REAL(0.538084),
 354         REAL(0.264969), REAL(0.641527), REAL(0.605317),
 355         REAL(0.201031), REAL(0.477940), REAL(0.584002),
 356         REAL(0.263086), REAL(0.512567), REAL(0.637832),
 357         REAL(0.238615), REAL(0.526867), REAL(0.672237),
 358         REAL(0.105309), REAL(0.455123), REAL(0.658482),
 359         REAL(0.183993), REAL(0.102195), REAL(0.804872),
 360         REAL(0.161563), REAL(0.060042), REAL(0.808692),
 361         REAL(0.180748), REAL(0.077754), REAL(0.771600),
 362         REAL(0.175168), REAL(0.128588), REAL(0.746368),
 363         REAL(0.175075), REAL(0.148030), REAL(0.778264),
 364         REAL(0.175658), REAL(0.139265), REAL(0.814333),
 365         REAL(0.154191), REAL(0.067291), REAL(0.832578),
 366         REAL(0.163818), REAL(0.109013), REAL(0.842830),
 367         REAL(0.084760), REAL(0.396004), REAL(0.679695),
 368         REAL(0.238888), REAL(0.310760), REAL(0.590775),
 369         REAL(0.213380), REAL(0.308625), REAL(0.644905),
 370         REAL(0.199666), REAL(0.409678), REAL(0.683003),
 371         REAL(0.190143), REAL(0.128597), REAL(0.733463),
 372         REAL(0.184833), REAL(0.063516), REAL(0.762902),
 373         REAL(0.166070), REAL(0.035644), REAL(0.818261),
 374         REAL(0.154361), REAL(0.056943), REAL(0.857042),
 375         REAL(0.168542), REAL(0.109489), REAL(0.862725),
 376         REAL(0.187387), REAL(0.166131), REAL(0.784599),
 377         REAL(0.180428), REAL(0.160135), REAL(0.819438),
 378         REAL(0.201823), REAL(0.163991), REAL(0.695756),
 379         REAL(0.194206), REAL(0.206635), REAL(0.782275),
 380         REAL(0.155438), REAL(0.291260), REAL(0.734412),
 381         REAL(0.177696), REAL(0.196424), REAL(0.846693),
 382         REAL(0.152305), REAL(0.125256), REAL(0.890786),
 383         REAL(0.119546), REAL(0.249876), REAL(0.859104),
 384         REAL(0.118369), REAL(0.139643), REAL(0.919173),
 385         REAL(0.079410), REAL(0.132973), REAL(0.948652),
 386         REAL(0.062419), REAL(0.036648), REAL(0.976547),
 387         REAL(0.127847), REAL(-0.035919), REAL(0.947070),
 388         REAL(0.143624), REAL(0.032206), REAL(0.885913),
 389         REAL(0.074888), REAL(-0.085173), REAL(0.980577),
 390         REAL(0.130184), REAL(-0.104656), REAL(0.947620),
 391         REAL(0.156201), REAL(-0.094653), REAL(0.899074),
 392         REAL(0.077366), REAL(-0.171194), REAL(0.926545),
 393         REAL(0.127722), REAL(-0.164729), REAL(0.879810),
 394         REAL(0.052670), REAL(-0.184618), REAL(0.842019),
 395         REAL(0.023477), REAL(-0.184638), REAL(0.889811),
 396         REAL(0.022626), REAL(-0.210587), REAL(0.827500),
 397         REAL(0.223089), REAL(0.211976), REAL(0.620493),
 398         REAL(0.251444), REAL(0.113067), REAL(0.666494),
 399         REAL(0.251419), REAL(0.089540), REAL(0.673887),
 400         REAL(0.214360), REAL(0.019258), REAL(0.771595),
 401         REAL(0.158999), REAL(0.001490), REAL(0.835374),
 402         REAL(0.176696), REAL(-0.059249), REAL(0.849218),
 403         REAL(0.148696), REAL(-0.130091), REAL(0.793599),
 404         REAL(0.108290), REAL(-0.166528), REAL(0.772088),
 405         REAL(0.049820), REAL(-0.201382), REAL(0.764454),
 406         REAL(0.071341), REAL(-0.215195), REAL(0.697209),
 407         REAL(0.073148), REAL(-0.214475), REAL(0.623510),
 408         REAL(0.140502), REAL(-0.169461), REAL(0.699354),
 409         REAL(0.163374), REAL(-0.157073), REAL(0.611416),
 410         REAL(0.189466), REAL(-0.138550), REAL(0.730366),
 411         REAL(0.247593), REAL(-0.082554), REAL(0.759610),
 412         REAL(0.227468), REAL(-0.121982), REAL(0.590197),
 413         REAL(0.284702), REAL(-0.006586), REAL(0.535347),
 414         REAL(0.275741), REAL(0.125287), REAL(0.446676),
 415         REAL(0.266650), REAL(0.192594), REAL(0.506044),
 416         REAL(0.300086), REAL(0.053287), REAL(0.629620),
 417         REAL(0.055450), REAL(-0.663935), REAL(0.375065),
 418         REAL(0.122854), REAL(-0.664138), REAL(0.482323),
 419         REAL(0.046520), REAL(-0.531571), REAL(0.391918),
 420         REAL(0.024824), REAL(-0.568450), REAL(0.275106),
 421         REAL(0.053855), REAL(-0.663931), REAL(0.328224),
 422         REAL(0.112829), REAL(-0.453549), REAL(0.305788),
 423         REAL(0.131265), REAL(-0.510617), REAL(0.080746),
 424         REAL(0.061174), REAL(-0.430716), REAL(-0.042710),
 425         REAL(0.341019), REAL(-0.532887), REAL(-0.208150),
 426         REAL(0.347705), REAL(-0.623533), REAL(-0.081139),
 427         REAL(0.238040), REAL(-0.610732), REAL(-0.038037),
 428         REAL(0.211764), REAL(-0.514274), REAL(-0.132078),
 429         REAL(0.120605), REAL(-0.600219), REAL(-0.186856),
 430         REAL(0.096985), REAL(-0.584476), REAL(-0.293357),
 431         REAL(0.127621), REAL(-0.581941), REAL(-0.437170),
 432         REAL(0.165902), REAL(-0.477425), REAL(-0.291453),
 433         REAL(0.077720), REAL(-0.417975), REAL(-0.220519),
 434         REAL(0.320892), REAL(-0.506363), REAL(-0.320874),
 435         REAL(0.248214), REAL(-0.465684), REAL(-0.239842),
 436         REAL(0.118764), REAL(-0.383338), REAL(-0.187114),
 437         REAL(0.118816), REAL(-0.430106), REAL(-0.123307),
 438         REAL(0.094131), REAL(-0.419464), REAL(-0.044777),
 439         REAL(0.274526), REAL(-0.261706), REAL(0.005110),
 440         REAL(0.259842), REAL(-0.283292), REAL(-0.003185),
 441         REAL(0.222861), REAL(-0.340431), REAL(-0.038210),
 442         REAL(0.204445), REAL(-0.664380), REAL(0.513353),
 443         REAL(0.259286), REAL(-0.664547), REAL(0.471281),
 444         REAL(0.185402), REAL(-0.476020), REAL(0.421718),
 445         REAL(0.279163), REAL(-0.664604), REAL(0.417328),
 446         REAL(0.277157), REAL(-0.528122), REAL(0.400208),
 447         REAL(0.183069), REAL(-0.509812), REAL(0.329995),
 448         REAL(0.282599), REAL(-0.429210), REAL(0.059242),
 449         REAL(0.254816), REAL(-0.664541), REAL(0.290687),
 450         REAL(0.271436), REAL(-0.567707), REAL(0.263966),
 451         REAL(0.386561), REAL(-0.625221), REAL(-0.216870),
 452         REAL(0.387086), REAL(-0.630883), REAL(-0.346073),
 453         REAL(0.380021), REAL(-0.596021), REAL(-0.318679),
 454         REAL(0.291269), REAL(-0.619007), REAL(-0.585707),
 455         REAL(0.339280), REAL(-0.571198), REAL(-0.461946),
 456         REAL(0.400045), REAL(-0.489778), REAL(-0.422640),
 457         REAL(0.406817), REAL(-0.314349), REAL(-0.371230),
 458         REAL(0.300588), REAL(-0.281718), REAL(-0.170549),
 459         REAL(0.290866), REAL(-0.277304), REAL(-0.061905),
 460         REAL(0.187735), REAL(-0.241545), REAL(0.509437),
 461         REAL(0.188032), REAL(-0.287569), REAL(0.424234),
 462         REAL(0.227520), REAL(-0.373262), REAL(0.293102),
 463         REAL(0.266526), REAL(-0.273650), REAL(0.039597),
 464         REAL(0.291592), REAL(-0.291676), REAL(0.111386),
 465         REAL(0.291914), REAL(-0.122741), REAL(0.422683),
 466         REAL(0.297574), REAL(-0.156119), REAL(0.373368),
 467         REAL(0.286603), REAL(-0.232731), REAL(0.027162),
 468         REAL(0.364663), REAL(-0.201399), REAL(0.206850),
 469         REAL(0.353855), REAL(-0.132408), REAL(0.149228),
 470         REAL(0.282208), REAL(-0.019715), REAL(0.314960),
 471         REAL(0.331187), REAL(-0.099266), REAL(0.092701),
 472         REAL(0.375463), REAL(-0.093120), REAL(-0.006467),
 473         REAL(0.375917), REAL(-0.101236), REAL(-0.154882),
 474         REAL(0.466635), REAL(-0.094416), REAL(-0.305669),
 475         REAL(0.455805), REAL(-0.119881), REAL(-0.460632),
 476         REAL(0.277465), REAL(-0.604242), REAL(-0.651871),
 477         REAL(0.261022), REAL(-0.551176), REAL(-0.554667),
 478         REAL(0.093627), REAL(0.258494), REAL(-0.920589),
 479         REAL(0.114248), REAL(0.310608), REAL(-0.798070),
 480         REAL(0.144232), REAL(0.211434), REAL(-0.835001),
 481         REAL(0.119916), REAL(0.176940), REAL(-0.951159),
 482         REAL(0.184061), REAL(0.101854), REAL(-0.918220),
 483         REAL(0.092431), REAL(0.276521), REAL(-0.738231),
 484         REAL(0.133504), REAL(0.218403), REAL(-0.758602),
 485         REAL(0.194987), REAL(0.097655), REAL(-0.812476),
 486         REAL(0.185542), REAL(0.011005), REAL(-0.879202),
 487         REAL(0.230315), REAL(-0.127450), REAL(-0.884202),
 488         REAL(0.260471), REAL(0.255056), REAL(-0.624378),
 489         REAL(0.351567), REAL(-0.042194), REAL(-0.663976),
 490         REAL(0.253742), REAL(0.323524), REAL(-0.433716),
 491         REAL(0.411612), REAL(0.132299), REAL(-0.438264),
 492         REAL(0.270513), REAL(0.356530), REAL(-0.289984),
 493         REAL(0.422146), REAL(0.162819), REAL(-0.273130),
 494         REAL(0.164724), REAL(0.237490), REAL(0.208912),
 495         REAL(0.253806), REAL(0.092900), REAL(0.240640),
 496         REAL(0.203608), REAL(0.284597), REAL(0.096223),
 497         REAL(0.241006), REAL(0.343093), REAL(-0.171396),
 498         REAL(0.356076), REAL(0.149288), REAL(-0.143443),
 499         REAL(0.337656), REAL(0.131992), REAL(0.066374)
 500 };
 501
 502 int gIndices[NUM_TRIANGLES][3] = {
 503         {126,134,133},
 504         {342,138,134},
 505         {133,134,138},
 506         {126,342,134},
 507         {312,316,317},
 508         {169,163,162},
 509         {312,317,319},
 510         {312,319,318},
 511         {169,162,164},
 512         {169,168,163},
 513         {312,314,315},
 514         {169,164,165},
 515         {169,167,168},
 516         {312,315,316},
 517         {312,313,314},
 518         {169,165,166},
 519         {169,166,167},
 520         {312,318,313},
 521         {308,304,305},
 522         {308,305,306},
 523         {179,181,188},
 524         {177,173,175},
 525         {177,175,176},
 526         {302,293,300},
 527         {322,294,304},
 528         {188,176,175},
 529         {188,175,179},
 530         {158,177,187},
 531         {305,293,302},
 532         {305,302,306},
 533         {322,304,308},
 534         {188,181,183},
 535         {158,173,177},
 536         {293,298,300},
 537         {304,294,296},
 538         {304,296,305},
 539         {185,176,188},
 540         {185,188,183},
 541         {187,177,176},
 542         {187,176,185},
 543         {305,296,298},
 544         {305,298,293},
 545         {436,432, 28},
 546         {436, 28, 23},
 547         {434,278,431},
 548         { 30,208,209},
 549         { 30,209, 29},
 550         { 19, 20, 24},
 551         {208,207,211},
 552         {208,211,209},
 553         { 19,210,212},
 554         {433,434,431},
 555         {433,431,432},
 556         {433,432,436},
 557         {436,437,433},
 558         {277,275,276},
 559         {277,276,278},
 560         {209,210, 25},
 561         { 21, 26, 24},
 562         { 21, 24, 20},
 563         { 25, 26, 27},
 564         { 25, 27, 29},
 565         {435,439,277},
 566         {439,275,277},
 567         {432,431, 30},
 568         {432, 30, 28},
 569         {433,437,438},
 570         {433,438,435},
 571         {434,277,278},
 572         { 24, 25,210},
 573         { 24, 26, 25},
 574         { 29, 27, 28},
 575         { 29, 28, 30},
 576         { 19, 24,210},
 577         {208, 30,431},
 578         {208,431,278},
 579         {435,434,433},
 580         {435,277,434},
 581         { 25, 29,209},
 582         { 27, 22, 23},
 583         { 27, 23, 28},
 584         { 26, 22, 27},
 585         { 26, 21, 22},
 586         {212,210,209},
 587         {212,209,211},
 588         {207,208,278},
 589         {207,278,276},
 590         {439,435,438},
 591         { 12,  9, 10},
 592         { 12, 10, 13},
 593         {  2,  3,  5},
 594         {  2,  5,  4},
 595         { 16, 13, 14},
 596         { 16, 14, 17},
 597         { 22, 21, 16},
 598         { 13, 10, 11},
 599         { 13, 11, 14},
 600         {  1,  0,  3},
 601         {  1,  3,  2},
 602         { 15, 12, 16},
 603         { 19, 18, 15},
 604         { 19, 15, 16},
 605         { 19, 16, 20},
 606         {  9,  1,  2},
 607         {  9,  2, 10},
 608         {  3,  7,  8},
 609         {  3,  8,  5},
 610         { 16, 17, 23},
 611         { 16, 23, 22},
 612         { 21, 20, 16},
 613         { 10,  2,  4},
 614         { 10,  4, 11},
 615         {  0,  6,  7},
 616         {  0,  7,  3},
 617         { 12, 13, 16},
 618         {451,446,445},
 619         {451,445,450},
 620         {442,440,439},
 621         {442,439,438},
 622         {442,438,441},
 623         {421,420,422},
 624         {412,411,426},
 625         {412,426,425},
 626         {408,405,407},
 627         {413, 67, 68},
 628         {413, 68,414},
 629         {391,390,412},
 630         { 80,384,386},
 631         {404,406,378},
 632         {390,391,377},
 633         {390,377, 88},
 634         {400,415,375},
 635         {398,396,395},
 636         {398,395,371},
 637         {398,371,370},
 638         {112,359,358},
 639         {112,358,113},
 640         {351,352,369},
 641         {125,349,348},
 642         {345,343,342},
 643         {342,340,339},
 644         {341,335,337},
 645         {328,341,327},
 646         {331,323,333},
 647         {331,322,323},
 648         {327,318,319},
 649         {327,319,328},
 650         {315,314,324},
 651         {302,300,301},
 652         {302,301,303},
 653         {320,311,292},
 654         {285,284,289},
 655         {310,307,288},
 656         {310,288,290},
 657         {321,350,281},
 658         {321,281,282},
 659         {423,448,367},
 660         {272,273,384},
 661         {272,384,274},
 662         {264,265,382},
 663         {264,382,383},
 664         {440,442,261},
 665         {440,261,263},
 666         {252,253,254},
 667         {252,254,251},
 668         {262,256,249},
 669         {262,249,248},
 670         {228,243,242},
 671         {228, 31,243},
 672         {213,215,238},
 673         {213,238,237},
 674         { 19,212,230},
 675         {224,225,233},
 676         {224,233,231},
 677         {217,218, 56},
 678         {217, 56, 54},
 679         {217,216,239},
 680         {217,239,238},
 681         {217,238,215},
 682         {218,217,215},
 683         {218,215,214},
 684         {  6,102,206},
 685         {186,199,200},
 686         {197,182,180},
 687         {170,171,157},
 688         {201,200,189},
 689         {170,190,191},
 690         {170,191,192},
 691         {175,174,178},
 692         {175,178,179},
 693         {168,167,155},
 694         {122,149,158},
 695         {122,158,159},
 696         {135,153,154},
 697         {135,154,118},
 698         {143,140,141},
 699         {143,141,144},
 700         {132,133,136},
 701         {130,126,133},
 702         {124,125,127},
 703         {122,101,100},
 704         {122,100,121},
 705         {110,108,107},
 706         {110,107,109},
 707         { 98, 99, 97},
 708         { 98, 97, 64},
 709         { 98, 64, 66},
 710         { 87, 55, 57},
 711         { 83, 82, 79},
 712         { 83, 79, 84},
 713         { 78, 74, 50},
 714         { 49, 71, 41},
 715         { 49, 41, 37},
 716         { 49, 37, 36},
 717         { 58, 44, 60},
 718         { 60, 59, 58},
 719         { 51, 34, 33},
 720         { 39, 40, 42},
 721         { 39, 42, 38},
 722         {243,240, 33},
 723         {243, 33,229},
 724         { 39, 38,  6},
 725         { 44, 46, 40},
 726         { 55, 56, 57},
 727         { 64, 62, 65},
 728         { 64, 65, 66},
 729         { 41, 71, 45},
 730         { 75, 50, 51},
 731         { 81, 79, 82},
 732         { 77, 88, 73},
 733         { 93, 92, 94},
 734         { 68, 47, 46},
 735         { 96, 97, 99},
 736         { 96, 99, 95},
 737         {110,109,111},
 738         {111,112,110},
 739         {114,113,123},
 740         {114,123,124},
 741         {132,131,129},
 742         {133,137,136},
 743         {135,142,145},
 744         {145,152,135},
 745         {149,147,157},
 746         {157,158,149},
 747         {164,150,151},
 748         {153,163,168},
 749         {153,168,154},
 750         {185,183,182},
 751         {185,182,184},
 752         {161,189,190},
 753         {200,199,191},
 754         {200,191,190},
 755         {180,178,195},
 756         {180,195,196},
 757         {102,101,204},
 758         {102,204,206},
 759         { 43, 48,104},
 760         { 43,104,103},
 761         {216,217, 54},
 762         {216, 54, 32},
 763         {207,224,231},
 764         {230,212,211},
 765         {230,211,231},
 766         {227,232,241},
 767         {227,241,242},
 768         {235,234,241},
 769         {235,241,244},
 770         {430,248,247},
 771         {272,274,253},
 772         {272,253,252},
 773         {439,260,275},
 774         {225,224,259},
 775         {225,259,257},
 776         {269,270,407},
 777         {269,407,405},
 778         {270,269,273},
 779         {270,273,272},
 780         {273,269,268},
 781         {273,268,267},
 782         {273,267,266},
 783         {273,266,265},
 784         {273,265,264},
 785         {448,279,367},
 786         {281,350,368},
 787         {285,286,301},
 788         {290,323,310},
 789         {290,311,323},
 790         {282,281,189},
 791         {292,311,290},
 792         {292,290,291},
 793         {307,306,302},
 794         {307,302,303},
 795         {316,315,324},
 796         {316,324,329},
 797         {331,351,350},
 798         {330,334,335},
 799         {330,335,328},
 800         {341,337,338},
 801         {344,355,354},
 802         {346,345,348},
 803         {346,348,347},
 804         {364,369,352},
 805         {364,352,353},
 806         {365,363,361},
 807         {365,361,362},
 808         {376,401,402},
 809         {373,372,397},
 810         {373,397,400},
 811         {376, 92,377},
 812         {381,378,387},
 813         {381,387,385},
 814         {386, 77, 80},
 815         {390,389,412},
 816         {416,417,401},
 817         {403,417,415},
 818         {408,429,430},
 819         {419,423,418},
 820         {427,428,444},
 821         {427,444,446},
 822         {437,436,441},
 823         {450,445, 11},
 824         {450, 11,  4},
 825         {447,449,  5},
 826         {447,  5,  8},
 827         {441,438,437},
 828         {425,426,451},
 829         {425,451,452},
 830         {417,421,415},
 831         {408,407,429},
 832         {399,403,400},
 833         {399,400,397},
 834         {394,393,416},
 835         {389,411,412},
 836         {386,383,385},
 837         {408,387,378},
 838         {408,378,406},
 839         {377,391,376},
 840         { 94,375,415},
 841         {372,373,374},
 842         {372,374,370},
 843         {359,111,360},
 844         {359,112,111},
 845         {113,358,349},
 846         {113,349,123},
 847         {346,343,345},
 848         {343,340,342},
 849         {338,336,144},
 850         {338,144,141},
 851         {327,341,354},
 852         {327,354,326},
 853         {331,350,321},
 854         {331,321,322},
 855         {314,313,326},
 856         {314,326,325},
 857         {300,298,299},
 858         {300,299,301},
 859         {288,287,289},
 860         {189,292,282},
 861         {287,288,303},
 862         {284,285,297},
 863         {368,280,281},
 864         {448,447,279},
 865         {274,226,255},
 866         {267,268,404},
 867         {267,404,379},
 868         {429,262,430},
 869         {439,440,260},
 870         {257,258,249},
 871         {257,249,246},
 872         {430,262,248},
 873         {234,228,242},
 874         {234,242,241},
 875         {237,238,239},
 876         {237,239,236},
 877         { 15, 18,227},
 878         { 15,227,229},
 879         {222,223, 82},
 880         {222, 82, 83},
 881         {214,215,213},
 882         {214,213, 81},
 883         { 38,102,  6},
 884         {122,159,200},
 885         {122,200,201},
 886         {174,171,192},
 887         {174,192,194},
 888         {197,193,198},
 889         {190,170,161},
 890         {181,179,178},
 891         {181,178,180},
 892         {166,156,155},
 893         {163,153,152},
 894         {163,152,162},
 895         {120,156,149},
 896         {120,149,121},
 897         {152,153,135},
 898         {140,143,142},
 899         {135,131,132},
 900         {135,132,136},
 901         {130,129,128},
 902         {130,128,127},
 903         {100,105,119},
 904         {100,119,120},
 905         {106,104,107},
 906         {106,107,108},
 907         { 91, 95, 59},
 908         { 93, 94, 68},
 909         { 91, 89, 92},
 910         { 76, 53, 55},
 911         { 76, 55, 87},
 912         { 81, 78, 79},
 913         { 74, 73, 49},
 914         { 69, 60, 45},
 915         { 58, 62, 64},
 916         { 58, 64, 61},
 917         { 53, 31, 32},
 918         { 32, 54, 53},
 919         { 42, 43, 38},
 920         { 35, 36,  0},
 921         { 35,  0,  1},
 922         { 34, 35,  1},
 923         { 34,  1,  9},
 924         { 44, 40, 41},
 925         { 44, 41, 45},
 926         { 33,240, 51},
 927         { 63, 62, 58},
 928         { 63, 58, 59},
 929         { 45, 71, 70},
 930         { 76, 75, 51},
 931         { 76, 51, 52},
 932         { 86, 85, 84},
 933         { 86, 84, 87},
 934         { 89, 72, 73},
 935         { 89, 73, 88},
 936         { 91, 92, 96},
 937         { 91, 96, 95},
 938         { 72, 91, 60},
 939         { 72, 60, 69},
 940         {104,106,105},
 941         {119,105,117},
 942         {119,117,118},
 943         {124,127,128},
 944         {117,116,129},
 945         {117,129,131},
 946         {118,117,131},
 947         {135,140,142},
 948         {146,150,152},
 949         {146,152,145},
 950         {149,122,121},
 951         {166,165,151},
 952         {166,151,156},
 953         {158,172,173},
 954         {161,160,189},
 955         {199,198,193},
 956         {199,193,191},
 957         {204,201,202},
 958         {178,174,194},
 959         {200,159,186},
 960         {109, 48, 67},
 961         { 48,107,104},
 962         {216, 32,236},
 963         {216,236,239},
 964         {223,214, 81},
 965         {223, 81, 82},
 966         { 33, 12, 15},
 967         { 32,228,234},
 968         { 32,234,236},
 969         {240, 31, 52},
 970         {256,255,246},
 971         {256,246,249},
 972         {258,263,248},
 973         {258,248,249},
 974         {275,260,259},
 975         {275,259,276},
 976         {207,276,259},
 977         {270,271,429},
 978         {270,429,407},
 979         {413,418,366},
 980         {413,366,365},
 981         {368,367,279},
 982         {368,279,280},
 983         {303,301,286},
 984         {303,286,287},
 985         {283,282,292},
 986         {283,292,291},
 987         {320,292,189},
 988         {298,296,297},
 989         {298,297,299},
 990         {318,327,326},
 991         {318,326,313},
 992         {329,330,317},
 993         {336,333,320},
 994         {326,354,353},
 995         {334,332,333},
 996         {334,333,336},
 997         {342,339,139},
 998         {342,139,138},
 999         {345,342,126},
1000         {347,357,356},
1001         {369,368,351},
1002         {363,356,357},
1003         {363,357,361},
1004         {366,367,368},
1005         {366,368,369},
1006         {375,373,400},
1007         { 92, 90,377},
1008         {409,387,408},
1009         {386,385,387},
1010         {386,387,388},
1011         {412,394,391},
1012         {396,398,399},
1013         {408,406,405},
1014         {415,421,419},
1015         {415,419,414},
1016         {425,452,448},
1017         {425,448,424},
1018         {444,441,443},
1019         {448,452,449},
1020         {448,449,447},
1021         {446,444,443},
1022         {446,443,445},
1023         {250,247,261},
1024         {250,261,428},
1025         {421,422,423},
1026         {421,423,419},
1027         {427,410,250},
1028         {417,403,401},
1029         {403,402,401},
1030         {420,392,412},
1031         {420,412,425},
1032         {420,425,424},
1033         {386,411,389},
1034         {383,382,381},
1035         {383,381,385},
1036         {378,379,404},
1037         {372,371,395},
1038         {372,395,397},
1039         {371,372,370},
1040         {361,359,360},
1041         {361,360,362},
1042         {368,350,351},
1043         {349,347,348},
1044         {356,355,344},
1045         {356,344,346},
1046         {344,341,340},
1047         {344,340,343},
1048         {338,337,336},
1049         {328,335,341},
1050         {324,352,351},
1051         {324,351,331},
1052         {320,144,336},
1053         {314,325,324},
1054         {322,308,309},
1055         {310,309,307},
1056         {287,286,289},
1057         {203,280,279},
1058         {203,279,205},
1059         {297,295,283},
1060         {297,283,284},
1061         {447,205,279},
1062         {274,384, 80},
1063         {274, 80,226},
1064         {266,267,379},
1065         {266,379,380},
1066         {225,257,246},
1067         {225,246,245},
1068         {256,254,253},
1069         {256,253,255},
1070         {430,247,250},
1071         {226,235,244},
1072         {226,244,245},
1073         {232,233,244},
1074         {232,244,241},
1075         {230, 18, 19},
1076         { 32, 31,228},
1077         {219,220, 86},
1078         {219, 86, 57},
1079         {226,213,235},
1080         {206,  7,  6},
1081         {122,201,101},
1082         {201,204,101},
1083         {180,196,197},
1084         {170,192,171},
1085         {200,190,189},
1086         {194,193,195},
1087         {183,181,180},
1088         {183,180,182},
1089         {155,154,168},
1090         {149,156,151},
1091         {149,151,148},
1092         {155,156,120},
1093         {145,142,143},
1094         {145,143,146},
1095         {136,137,140},
1096         {133,132,130},
1097         {128,129,116},
1098         {100,120,121},
1099         {110,112,113},
1100         {110,113,114},
1101         { 66, 65, 63},
1102         { 66, 63, 99},
1103         { 66, 99, 98},
1104         { 96, 46, 61},
1105         { 89, 88, 90},
1106         { 86, 87, 57},
1107         { 80, 78, 81},
1108         { 72, 69, 49},
1109         { 67, 48, 47},
1110         { 67, 47, 68},
1111         { 56, 55, 53},
1112         { 50, 49, 36},
1113         { 50, 36, 35},
1114         { 40, 39, 41},
1115         {242,243,229},
1116         {242,229,227},
1117         {  6, 37, 39},
1118         { 42, 47, 48},
1119         { 42, 48, 43},
1120         { 61, 46, 44},
1121         { 45, 70, 69},
1122         { 69, 70, 71},
1123         { 69, 71, 49},
1124         { 74, 78, 77},
1125         { 83, 84, 85},
1126         { 73, 74, 77},
1127         { 93, 96, 92},
1128         { 68, 46, 93},
1129         { 95, 99, 63},
1130         { 95, 63, 59},
1131         {115,108,110},
1132         {115,110,114},
1133         {125,126,127},
1134         {129,130,132},
1135         {137,133,138},
1136         {137,138,139},
1137         {148,146,143},
1138         {148,143,147},
1139         {119,118,154},
1140         {161,147,143},
1141         {165,164,151},
1142         {158,157,171},
1143         {158,171,172},
1144         {159,158,187},
1145         {159,187,186},
1146         {194,192,191},
1147         {194,191,193},
1148         {189,202,201},
1149         {182,197,184},
1150         {205,  8,  7},
1151         { 48,109,107},
1152         {218,219, 57},
1153         {218, 57, 56},
1154         {207,231,211},
1155         {232,230,231},
1156         {232,231,233},
1157         { 53, 52, 31},
1158         {388,411,386},
1159         {409,430,250},
1160         {262,429,254},
1161         {262,254,256},
1162         {442,444,428},
1163         {273,264,383},
1164         {273,383,384},
1165         {429,271,251},
1166         {429,251,254},
1167         {413,365,362},
1168         { 67,413,360},
1169         {282,283,295},
1170         {285,301,299},
1171         {202,281,280},
1172         {284,283,291},
1173         {284,291,289},
1174         {320,189,160},
1175         {308,306,307},
1176         {307,309,308},
1177         {319,317,330},
1178         {319,330,328},
1179         {353,352,324},
1180         {332,331,333},
1181         {340,341,338},
1182         {354,341,344},
1183         {349,358,357},
1184         {349,357,347},
1185         {364,355,356},
1186         {364,356,363},
1187         {364,365,366},
1188         {364,366,369},
1189         {374,376,402},
1190         {375, 92,373},
1191         { 77,389,390},
1192         {382,380,381},
1193         {389, 77,386},
1194         {393,394,412},
1195         {393,412,392},
1196         {401,394,416},
1197         {415,400,403},
1198         {411,410,427},
1199         {411,427,426},
1200         {422,420,424},
1201         {247,248,263},
1202         {247,263,261},
1203         {445,443, 14},
1204         {445, 14, 11},
1205         {449,450,  4},
1206         {449,  4,  5},
1207         {443,441, 17},
1208         {443, 17, 14},
1209         {436, 23, 17},
1210         {436, 17,441},
1211         {424,448,422},
1212         {448,423,422},
1213         {414,419,418},
1214         {414,418,413},
1215         {406,404,405},
1216         {399,397,395},
1217         {399,395,396},
1218         {420,416,392},
1219         {388,410,411},
1220         {386,384,383},
1221         {390, 88, 77},
1222         {375, 94, 92},
1223         {415,414, 68},
1224         {415, 68, 94},
1225         {370,374,402},
1226         {370,402,398},
1227         {361,357,358},
1228         {361,358,359},
1229         {125,348,126},
1230         {346,344,343},
1231         {340,338,339},
1232         {337,335,334},
1233         {337,334,336},
1234         {325,353,324},
1235         {324,331,332},
1236         {324,332,329},
1237         {323,322,309},
1238         {323,309,310},
1239         {294,295,297},
1240         {294,297,296},
1241         {289,286,285},
1242         {202,280,203},
1243         {288,307,303},
1244         {282,295,321},
1245         { 67,360,111},
1246         {418,423,367},
1247         {418,367,366},
1248         {272,252,251},
1249         {272,251,271},
1250         {272,271,270},
1251         {255,253,274},
1252         {265,266,380},
1253         {265,380,382},
1254         {442,428,261},
1255         {440,263,258},
1256         {440,258,260},
1257         {409,250,410},
1258         {255,226,245},
1259         {255,245,246},
1260         { 31,240,243},
1261         {236,234,235},
1262         {236,235,237},
1263         {233,225,245},
1264         {233,245,244},
1265         {220,221, 85},
1266         {220, 85, 86},
1267         { 81,213,226},
1268         { 81,226, 80},
1269         {  7,206,205},
1270         {186,184,198},
1271         {186,198,199},
1272         {204,203,205},
1273         {204,205,206},
1274         {195,193,196},
1275         {171,174,172},
1276         {173,174,175},
1277         {173,172,174},
1278         {155,167,166},
1279         {160,161,143},
1280         {160,143,144},
1281         {119,154,155},
1282         {148,151,150},
1283         {148,150,146},
1284         {140,137,139},
1285         {140,139,141},
1286         {127,126,130},
1287         {114,124,128},
1288         {114,128,115},
1289         {117,105,106},
1290         {117,106,116},
1291         {104,105,100},
1292         {104,100,103},
1293         { 59, 60, 91},
1294         { 97, 96, 61},
1295         { 97, 61, 64},
1296         { 91, 72, 89},
1297         { 87, 84, 79},
1298         { 87, 79, 76},
1299         { 78, 80, 77},
1300         { 49, 50, 74},
1301         { 60, 44, 45},
1302         { 61, 44, 58},
1303         { 51, 50, 35},
1304         { 51, 35, 34},
1305         { 39, 37, 41},
1306         { 33, 34,  9},
1307         { 33,  9, 12},
1308         {  0, 36, 37},
1309         {  0, 37,  6},
1310         { 40, 46, 47},
1311         { 40, 47, 42},
1312         { 53, 54, 56},
1313         { 65, 62, 63},
1314         { 72, 49, 73},
1315         { 79, 78, 75},
1316         { 79, 75, 76},
1317         { 52, 53, 76},
1318         { 92, 89, 90},
1319         { 96, 93, 46},
1320         {102,103,100},
1321         {102,100,101},
1322         {116,106,108},
1323         {116,108,115},
1324         {123,125,124},
1325         {116,115,128},
1326         {118,131,135},
1327         {140,135,136},
1328         {148,147,149},
1329         {120,119,155},
1330         {164,162,152},
1331         {164,152,150},
1332         {157,147,161},
1333         {157,161,170},
1334         {186,187,185},
1335         {186,185,184},
1336         {193,197,196},
1337         {202,203,204},
1338         {194,195,178},
1339         {198,184,197},
1340         { 67,111,109},
1341         { 38, 43,103},
1342         { 38,103,102},
1343         {214,223,222},
1344         {214,222,221},
1345         {214,221,220},
1346         {214,220,219},
1347         {214,219,218},
1348         {213,237,235},
1349         {221,222, 83},
1350         {221, 83, 85},
1351         { 15,229, 33},
1352         {227, 18,230},
1353         {227,230,232},
1354         { 52, 51,240},
1355         { 75, 78, 50},
1356         {408,430,409},
1357         {260,258,257},
1358         {260,257,259},
1359         {224,207,259},
1360         {268,269,405},
1361         {268,405,404},
1362         {413,362,360},
1363         {447,  8,205},
1364         {299,297,285},
1365         {189,281,202},
1366         {290,288,289},
1367         {290,289,291},
1368         {322,321,295},
1369         {322,295,294},
1370         {333,323,311},
1371         {333,311,320},
1372         {317,316,329},
1373         {320,160,144},
1374         {353,325,326},
1375         {329,332,334},
1376         {329,334,330},
1377         {339,338,141},
1378         {339,141,139},
1379         {348,345,126},
1380         {347,356,346},
1381         {123,349,125},
1382         {364,353,354},
1383         {364,354,355},
1384         {365,364,363},
1385         {376,391,394},
1386         {376,394,401},
1387         { 92,376,374},
1388         { 92,374,373},
1389         {377, 90, 88},
1390         {380,379,378},
1391         {380,378,381},
1392         {388,387,409},
1393         {388,409,410},
1394         {416,393,392},
1395         {399,398,402},
1396         {399,402,403},
1397         {250,428,427},
1398         {421,417,416},
1399         {421,416,420},
1400         {426,427,446},
1401         {426,446,451},
1402         {444,442,441},
1403         {452,451,450},
1404         {452,450,449}
1405 };
1406
1407
1408 //***************************THE END OF FAMOUS BUNNY TRIMESH********************************************//
1409
1410 //****GLOBALS
1411
1412 //****GLOBALS
1413
1414 ///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
1415 inline btScalar calculateCombinedFriction(float friction0,float friction1)
1416 {
1417         btScalar friction = friction0 * friction1;
1418
1419         const btScalar MAX_FRICTION  = 10.f;
1420         if (friction < -MAX_FRICTION)
1421                 friction = -MAX_FRICTION;
1422         if (friction > MAX_FRICTION)
1423                 friction = MAX_FRICTION;
1424         return friction;
1425
1426 }
1427
1428 inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
1429 {
1430         return restitution0 * restitution1;
1431 }
1432
1433
1434
1435 bool CustomMaterialCombinerCallback(btManifoldPoint& cp,        const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
1436 {
1437
1438         float friction0 = colObj0Wrap->getCollisionObject()->getFriction();
1439         float friction1 = colObj1Wrap->getCollisionObject()->getFriction();
1440         float restitution0 = colObj0Wrap->getCollisionObject()->getRestitution();
1441         float restitution1 = colObj1Wrap->getCollisionObject()->getRestitution();
1442
1443         if (colObj0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
1444         {
1445                 friction0 = 1.0;//partId0,index0
1446                 restitution0 = 0.f;
1447         }
1448         if (colObj1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
1449         {
1450                 if (index1&1)
1451                 {
1452                         friction1 = 1.0f;//partId1,index1
1453                 } else
1454                 {
1455                         friction1 = 0.f;
1456                 }
1457                 restitution1 = 0.f;
1458         }
1459
1460         cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
1461         cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
1462
1463         //this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
1464         return true;
1465 }
1466
1467 extern ContactAddedCallback             gContactAddedCallback;
1468
1469
1470
1471 int main(int argc,char** argv)
1472 {
1473         gContactAddedCallback = CustomMaterialCombinerCallback;
1474
1475         ConcaveDemo* concaveDemo = new ConcaveDemo();
1476         concaveDemo->initPhysics();
1477         concaveDemo->setCameraDistance(30.f);
1478 //cannot run stepFront yet, the OpenGL context is not opened (stepFront updates camera...)
1479 //      concaveDemo->stepFront();
1480 //      concaveDemo->stepFront();
1481 //      concaveDemo->stepFront();
1482 //      concaveDemo->stepFront();
1483
1484         return glutmain(argc, argv,640,480,"Moving Concave Mesh Demo",concaveDemo);
1485 }
1486
1487 void ConcaveDemo::renderme()
1488 {
1489         updateCamera();
1490
1491         btScalar m[16];
1492
1493         if (m_dynamicsWorld)
1494         {
1495                 btVector3       worldBoundsMin,worldBoundsMax;
1496                 getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
1497
1498
1499                 int numObjects = m_dynamicsWorld->getNumCollisionObjects();
1500                 btVector3 wireColor(1,0,0);
1501                 for (int i=0;i<numObjects;i++)
1502                 {
1503                         btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
1504                         btRigidBody* body = btRigidBody::upcast(colObj);
1505
1506                         if (body && body->getMotionState())
1507                         {
1508                                 btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
1509                                 myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
1510                         } else
1511                         {
1512                                 colObj->getWorldTransform().getOpenGLMatrix(m);
1513                         }
1514
1515                         btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
1516                         if (i & 1)
1517                         {
1518                                 wireColor = btVector3(0.f,0.0f,1.f);
1519                         }
1520                         ///color differently for active, sleeping, wantsdeactivation states
1521                         if (colObj->getActivationState() == 1) //active
1522                         {
1523                                 if (i & 1)
1524                                 {
1525                                         wireColor += btVector3 (1.f,0.f,0.f);
1526                                 } else
1527                                 {
1528                                         wireColor += btVector3 (.5f,0.f,0.f);
1529                                 }
1530                         }
1531                         if (colObj->getActivationState() == 2) //ISLAND_SLEEPING
1532                         {
1533                                 if (i & 1)
1534                                 {
1535                                         wireColor += btVector3 (0.f,1.f, 0.f);
1536                                 } else
1537                                 {
1538                                         wireColor += btVector3 (0.f,0.5f,0.f);
1539                                 }
1540                         }
1541
1542                         m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
1543                 }
1544
1545
1546                         float xOffset = 10.f;
1547                         float yStart = 20.f;
1548                         float yIncr = 20.f;
1549                         char buf[124];
1550
1551                         glColor3f(0, 0, 0);
1552
1553                         setOrthographicProjection();
1554
1555                         sprintf(buf,"mouse to interact");
1556                         GLDebugDrawString(xOffset,xOffset,buf);
1557                         xOffset += yIncr;
1558
1559                 /*      glRasterPos3f(xOffset,xOffset,0);
1560                         sprintf(buf,"space to reset");
1561                         GLDebugDrawString(xOffset,xOffset,buf);
1562                         xOffset += yIncr;
1563                 */
1564
1565                         sprintf(buf,"cursor keys and z,x to navigate");
1566                         GLDebugDrawString(xOffset,xOffset,buf);
1567                         xOffset += yIncr;
1568
1569
1570                         sprintf(buf,"i to toggle simulation, s single step");
1571                         GLDebugDrawString(xOffset,xOffset,buf);
1572                         xOffset += yIncr;
1573
1574
1575                         sprintf(buf,"q to quit");
1576                         GLDebugDrawString(xOffset,xOffset,buf);
1577                         xOffset += yIncr;
1578
1579
1580                         sprintf(buf,". to shoot TRIMESH (dot)");
1581                         GLDebugDrawString(xOffset,xOffset,buf);
1582                         xOffset += yIncr;
1583
1584                         // not yet hooked up again after refactoring...
1585
1586 /*                      glRasterPos3f(xOffset,xOffset,0);
1587                         sprintf(buf,"d to toggle deactivation");
1588                         GLDebugDrawString(xOffset,xOffset,buf);
1589                         xOffset += yIncr;
1590 */
1591
1592                 /*
1593                         glRasterPos3f(xOffset,xOffset,0);
1594                         sprintf(buf,"a to draw temporal AABBs");
1595                         GLDebugDrawString(xOffset,xOffset,buf);
1596                         xOffset += yIncr;
1597                 */
1598
1599
1600                         sprintf(buf,"h to toggle help text");
1601                         GLDebugDrawString(xOffset,xOffset,buf);
1602                         xOffset += yIncr;
1603
1604                         //bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
1605
1606                         bool useCCD = ((getDebugMode() & btIDebugDraw::DBG_EnableCCD) != 0);
1607
1608
1609                         sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
1610                         GLDebugDrawString(xOffset,xOffset,buf);
1611                         xOffset += yIncr;
1612
1613
1614                         sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
1615                         GLDebugDrawString(xOffset,xOffset,buf);
1616                         xOffset += yIncr;
1617
1618                         resetPerspectiveProjection();
1619
1620
1621         }
1622
1623 }
1624
1625
1626
1627 void    ConcaveDemo::initGImpactCollision()
1628 {
1629         // create trimesh
1630         btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(NUM_TRIANGLES,
1631                 &gIndices[0][0],
1632                 3*sizeof(int),
1633                 NUM_VERTICES,(REAL*) &gVertices[0],sizeof(REAL)*3);
1634
1635         btGImpactMeshShape * trimesh = new btGImpactMeshShape(indexVertexArrays);
1636         trimesh->setLocalScaling(btVector3(4.f,4.f,4.f));
1637         trimesh->updateBound();
1638         m_trimeshShape = trimesh;
1639
1640         //register algorithm
1641
1642         btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher());
1643         btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
1644
1645 }
1646
1647 void    ConcaveDemo::initPhysics()
1648 {
1649
1650         btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
1651
1652         //btConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
1653         btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
1654         //btOverlappingPairCache* broadphase = new btSimpleBroadphase();
1655         btBroadphaseInterface* broadphase = new btSimpleBroadphase();
1656
1657         btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
1658         m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver,collisionConfiguration);
1659
1660
1661         //create trimesh model and shape
1662         initGImpactCollision();
1663
1664
1665
1666         float mass = 0.f;
1667         btTransform     startTransform;
1668         startTransform.setIdentity();
1669
1670         btCollisionShape* staticboxShape1 = new btBoxShape(btVector3(200,1,200));//floor
1671         btCollisionShape* staticboxShape2 = new btBoxShape(btVector3(1,50,200));//left wall
1672         btCollisionShape* staticboxShape3 = new btBoxShape(btVector3(1,50,200));//right wall
1673         btCollisionShape* staticboxShape4 = new btBoxShape(btVector3(200,50,1));//front wall
1674         btCollisionShape* staticboxShape5 = new btBoxShape(btVector3(200,50,1));//back wall
1675
1676         btCompoundShape* staticScenario = new btCompoundShape();//static scenario
1677
1678         startTransform.setOrigin(btVector3(0,0,0));
1679         staticScenario->addChildShape(startTransform,staticboxShape1);
1680         startTransform.setOrigin(btVector3(-200,25,0));
1681         staticScenario->addChildShape(startTransform,staticboxShape2);
1682         startTransform.setOrigin(btVector3(200,25,0));
1683         staticScenario->addChildShape(startTransform,staticboxShape3);
1684         startTransform.setOrigin(btVector3(0,25,200));
1685         staticScenario->addChildShape(startTransform,staticboxShape4);
1686         startTransform.setOrigin(btVector3(0,25,-200));
1687         staticScenario->addChildShape(startTransform,staticboxShape5);
1688
1689         startTransform.setOrigin(btVector3(0,0,0));
1690
1691         btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,staticScenario);
1692
1693         staticBody->setCollisionFlags(staticBody->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
1694
1695         //enable custom material callback
1696         staticBody->setCollisionFlags(staticBody->getCollisionFlags()|btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
1697
1698
1699         //static plane
1700         btVector3 normal(0.4,1.5,-0.4);
1701         normal.normalize();
1702         btCollisionShape* staticplaneShape6 = new btStaticPlaneShape(normal,0.0);// A plane
1703
1704         startTransform.setOrigin(btVector3(0,0,0));
1705
1706         btRigidBody* staticBody2 = localCreateRigidBody(mass, startTransform,staticplaneShape6 );
1707
1708         staticBody2->setCollisionFlags(staticBody2->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
1709
1710         {
1711                 for (int i=0;i<9;i++)
1712                 {
1713                         btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
1714                         startTransform.setOrigin(btVector3(2*i-5,2,-3));
1715                         localCreateRigidBody(1, startTransform,boxShape);
1716                 }
1717         }
1718
1719         shootTrimesh(btVector3(0,10,0),btVector3(0,0,0));
1720
1721         shootTrimesh(btVector3(0,20,0),btVector3(0,10,0));
1722
1723         //m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
1724
1725 }
1726
1727 void ConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
1728 {
1729                 m_lastKey = 0;
1730
1731     switch (key)
1732     {
1733     case 'q' : exit(0); break;
1734
1735     case 'l' : stepLeft(); break;
1736     case 'r' : stepRight(); break;
1737     case 'f' : stepFront(); break;
1738     case 'b' : stepBack(); break;
1739     case 'z' : zoomIn(); break;
1740     case 'x' : zoomOut(); break;
1741     case 'i' : toggleIdle(); break;
1742         case 'h':
1743                         if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
1744                                 m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
1745                         else
1746                                 m_debugMode |= btIDebugDraw::DBG_NoHelpText;
1747                         break;
1748
1749         case 'w':
1750                         if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
1751                                 m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
1752                         else
1753                                 m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
1754                    break;
1755
1756    case 'p':
1757            if (m_debugMode & btIDebugDraw::DBG_ProfileTimings)
1758                 m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings);
1759         else
1760                 m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
1761    break;
1762
1763    case 'm':
1764            if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison)
1765                 m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison);
1766         else
1767                 m_debugMode |= btIDebugDraw::DBG_EnableSatComparison;
1768    break;
1769
1770    case 'n':
1771            if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
1772                 m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP);
1773         else
1774                 m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP;
1775    break;
1776
1777         case 't' :
1778                         if (m_debugMode & btIDebugDraw::DBG_DrawText)
1779                                 m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText);
1780                         else
1781                                 m_debugMode |= btIDebugDraw::DBG_DrawText;
1782                    break;
1783         case 'y':
1784                         if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText)
1785                                 m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText);
1786                         else
1787                                 m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText;
1788                 break;
1789         case 'a':
1790                 if (m_debugMode & btIDebugDraw::DBG_DrawAabb)
1791                                 m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
1792                         else
1793                                 m_debugMode |= btIDebugDraw::DBG_DrawAabb;
1794                         break;
1795                 case 'c' :
1796                         if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
1797                                 m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints);
1798                         else
1799                                 m_debugMode |= btIDebugDraw::DBG_DrawContactPoints;
1800                         break;
1801
1802                 case 'd' :
1803                         if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
1804                                 m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation);
1805                         else
1806                                 m_debugMode |= btIDebugDraw::DBG_NoDeactivation;
1807                         if (m_debugMode | btIDebugDraw::DBG_NoDeactivation)
1808                         {
1809                                 gDisableDeactivation = true;
1810                         } else
1811                         {
1812                                 gDisableDeactivation = false;
1813                         }
1814                         break;
1815
1816
1817
1818
1819         case 'o' :
1820                 {
1821                         m_stepping = !m_stepping;
1822                         break;
1823                 }
1824         case 's' : clientMoveAndDisplay(); break;
1825 //    case ' ' : newRandom(); break;
1826         case ' ':
1827                 clientResetScene();
1828                         break;
1829         case '1':
1830                 {
1831                         if (m_debugMode & btIDebugDraw::DBG_EnableCCD)
1832                                 m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableCCD);
1833                         else
1834                                 m_debugMode |= btIDebugDraw::DBG_EnableCCD;
1835                         break;
1836                 }
1837
1838                 case '.':
1839                 {
1840                         shootTrimesh(getCameraPosition(),getCameraTargetPosition());
1841                         break;
1842                 }
1843
1844                 case '+':
1845                 {
1846                         m_ShootBoxInitialSpeed += 10.f;
1847                         break;
1848                 }
1849                 case '-':
1850                 {
1851                         m_ShootBoxInitialSpeed -= 10.f;
1852                         break;
1853                 }
1854
1855     default:
1856 //        std::cout << "unused key : " << key << std::endl;
1857         break;
1858     }
1859
1860         if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
1861                 getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
1862
1863         glutPostRedisplay();
1864
1865 }
1866
1867
1868 void ConcaveDemo::shootTrimesh(const btVector3& startPosition,const btVector3& destination)
1869 {
1870
1871         if (m_dynamicsWorld)
1872         {
1873                 float mass = 4.f;
1874                 btTransform startTransform;
1875                 startTransform.setIdentity();
1876                 startTransform.setOrigin(startPosition);
1877
1878                 btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_trimeshShape);
1879
1880                 btVector3 linVel(destination[0]-startPosition[0],destination[1]-startPosition[1],destination[2]-startPosition[2]);
1881                 linVel.normalize();
1882                 linVel*=m_ShootBoxInitialSpeed*0.25;
1883
1884                 body->getWorldTransform().setOrigin(startPosition);
1885                 body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
1886                 body->setLinearVelocity(linVel);
1887                 body->setAngularVelocity(btVector3(0,0,0));
1888         }
1889 }
1890
1891 void ConcaveDemo::clientMoveAndDisplay()
1892 {
1893          glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
1894
1895         float dt = float(getDeltaTimeMicroseconds()) * 0.000001f;
1896
1897         m_dynamicsWorld->stepSimulation(dt);
1898
1899         //optional but useful: debug drawing
1900         m_dynamicsWorld->debugDrawWorld();
1901
1902         renderme();
1903
1904     glFlush();
1905     glutSwapBuffers();
1906
1907 }
1908
1909
1910
1911
1912 void ConcaveDemo::displayCallback(void) {
1913
1914     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
1915
1916         renderme();
1917
1918         //optional but useful: debug drawing
1919         if (m_dynamicsWorld)
1920                 m_dynamicsWorld->debugDrawWorld();
1921
1922     glFlush();
1923     glutSwapBuffers();
1924 }
1925
1926