Open Dynamics Engine 入門
【７日目】落下するうさぎ

物理シミュレータ ODE（Open Dynamics Engine）の入門編の７日目です。 ODEに付属のデモプログラムで利用されている「うさぎ」のポリゴンを表示させるサンプルプログラムです。 ポリゴンを表示させる際に必要なAPIの利用の仕方が理解できます。
これまでの履歴
■基本形１：【1日目】球の描画と衝突判定
■基本形２：【2日目】オブジェクトのジョイント
■デモ１：【3日目】デモ「カードタワー」
■デモ２：【4日目】デモ「いもむし」
■デモ３：【5日目】デモ「こま」
■デモ４：【6日目】デモ「円柱と球」

落下するうさぎ

衝突計算用ジオメトリにポリゴンの情報をセットして形状を表現します。 但し、動力学計算用ボディにセットしている質量の形態は「ボックス型」なので、ポリゴンの形状にあった質量分布にはなっていません。

プログラムソース

以下のプログラムソースは、C:/ode-0.11.1/ode\demo/demo_buggy.cpp をもとにしております。

#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
#ifndef DRAWSTUFF_TEXTURE_PATH
#define DRAWSTUFF_TEXTURE_PATH "C:/ode-0.11.1/drawstuff/textures"
#endif

int WindowWidth  = 480; //ウィンドウの幅
int WindowHeight = 320; //ウィンドウの高さ

// Bunny mesh ripped from Opcode
const int VertexCount = 453;
const int IndexCount = 902 * 3;

float Vertices[VertexCount * 3] = {
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};

dTriIndex Indices[IndexCount / 3][3] = {
  {126,134,133},
  {342,138,134},
  {133,134,138},
  {126,342,134},
  {312,316,317},
  {169,163,162},
  {312,317,319},
  {312,319,318},
  {169,162,164},
  {169,168,163},
  {312,314,315},
  {169,164,165},
  {169,167,168},
  {312,315,316},
  {312,313,314},
  {169,165,166},
  {169,166,167},
  {312,318,313},
  {308,304,305},
  {308,305,306},
  {179,181,188},
  {177,173,175},
  {177,175,176},
  {302,293,300},
  {322,294,304},
  {188,176,175},
  {188,175,179},
  {158,177,187},
  {305,293,302},
  {305,302,306},
  {322,304,308},
  {188,181,183},
  {158,173,177},
  {293,298,300},
  {304,294,296},
  {304,296,305},
  {185,176,188},
  {185,188,183},
  {187,177,176},
  {187,176,185},
  {305,296,298},
  {305,298,293},
  {436,432, 28},
  {436, 28, 23},
  {434,278,431},
  { 30,208,209},
  { 30,209, 29},
  { 19, 20, 24},
  {208,207,211},
  {208,211,209},
  { 19,210,212},
  {433,434,431},
  {433,431,432},
  {433,432,436},
  {436,437,433},
  {277,275,276},
  {277,276,278},
  {209,210, 25},
  { 21, 26, 24},
  { 21, 24, 20},
  { 25, 26, 27},
  { 25, 27, 29},
  {435,439,277},
  {439,275,277},
  {432,431, 30},
  {432, 30, 28},
  {433,437,438},
  {433,438,435},
  {434,277,278},
  { 24, 25,210},
  { 24, 26, 25},
  { 29, 27, 28},
  { 29, 28, 30},
  { 19, 24,210},
  {208, 30,431},
  {208,431,278},
  {435,434,433},
  {435,277,434},
  { 25, 29,209},
  { 27, 22, 23},
  { 27, 23, 28},
  { 26, 22, 27},
  { 26, 21, 22},
  {212,210,209},
  {212,209,211},
  {207,208,278},
  {207,278,276},
  {439,435,438},
  { 12,  9, 10},
  { 12, 10, 13},
  {  2,  3,  5},
  {  2,  5,  4},
  { 16, 13, 14},
  { 16, 14, 17},
  { 22, 21, 16},
  { 13, 10, 11},
  { 13, 11, 14},
  {  1,  0,  3},
  {  1,  3,  2},
  { 15, 12, 16},
  { 19, 18, 15},
  { 19, 15, 16},
  { 19, 16, 20},
  {  9,  1,  2},
  {  9,  2, 10},
  {  3,  7,  8},
  {  3,  8,  5},
  { 16, 17, 23},
  { 16, 23, 22},
  { 21, 20, 16},
  { 10,  2,  4},
  { 10,  4, 11},
  {  0,  6,  7},
  {  0,  7,  3},
  { 12, 13, 16},
  {451,446,445},
  {451,445,450},
  {442,440,439},
  {442,439,438},
  {442,438,441},
  {421,420,422},
  {412,411,426},
  {412,426,425},
  {408,405,407},
  {413, 67, 68},
  {413, 68,414},
  {391,390,412},
  { 80,384,386},
  {404,406,378},
  {390,391,377},
  {390,377, 88},
  {400,415,375},
  {398,396,395},
  {398,395,371},
  {398,371,370},
  {112,359,358},
  {112,358,113},
  {351,352,369},
  {125,349,348},
  {345,343,342},
  {342,340,339},
  {341,335,337},
  {328,341,327},
  {331,323,333},
  {331,322,323},
  {327,318,319},
  {327,319,328},
  {315,314,324},
  {302,300,301},
  {302,301,303},
  {320,311,292},
  {285,284,289},
  {310,307,288},
  {310,288,290},
  {321,350,281},
  {321,281,282},
  {423,448,367},
  {272,273,384},
  {272,384,274},
  {264,265,382},
  {264,382,383},
  {440,442,261},
  {440,261,263},
  {252,253,254},
  {252,254,251},
  {262,256,249},
  {262,249,248},
  {228,243,242},
  {228, 31,243},
  {213,215,238},
  {213,238,237},
  { 19,212,230},
  {224,225,233},
  {224,233,231},
  {217,218, 56},
  {217, 56, 54},
  {217,216,239},
  {217,239,238},
  {217,238,215},
  {218,217,215},
  {218,215,214},
  {  6,102,206},
  {186,199,200},
  {197,182,180},
  {170,171,157},
  {201,200,189},
  {170,190,191},
  {170,191,192},
  {175,174,178},
  {175,178,179},
  {168,167,155},
  {122,149,158},
  {122,158,159},
  {135,153,154},
  {135,154,118},
  {143,140,141},
  {143,141,144},
  {132,133,136},
  {130,126,133},
  {124,125,127},
  {122,101,100},
  {122,100,121},
  {110,108,107},
  {110,107,109},
  { 98, 99, 97},
  { 98, 97, 64},
  { 98, 64, 66},
  { 87, 55, 57},
  { 83, 82, 79},
  { 83, 79, 84},
  { 78, 74, 50},
  { 49, 71, 41},
  { 49, 41, 37},
  { 49, 37, 36},
  { 58, 44, 60},
  { 60, 59, 58},
  { 51, 34, 33},
  { 39, 40, 42},
  { 39, 42, 38},
  {243,240, 33},
  {243, 33,229},
  { 39, 38,  6},
  { 44, 46, 40},
  { 55, 56, 57},
  { 64, 62, 65},
  { 64, 65, 66},
  { 41, 71, 45},
  { 75, 50, 51},
  { 81, 79, 82},
  { 77, 88, 73},
  { 93, 92, 94},
  { 68, 47, 46},
  { 96, 97, 99},
  { 96, 99, 95},
  {110,109,111},
  {111,112,110},
  {114,113,123},
  {114,123,124},
  {132,131,129},
  {133,137,136},
  {135,142,145},
  {145,152,135},
  {149,147,157},
  {157,158,149},
  {164,150,151},
  {153,163,168},
  {153,168,154},
  {185,183,182},
  {185,182,184},
  {161,189,190},
  {200,199,191},
  {200,191,190},
  {180,178,195},
  {180,195,196},
  {102,101,204},
  {102,204,206},
  { 43, 48,104},
  { 43,104,103},
  {216,217, 54},
  {216, 54, 32},
  {207,224,231},
  {230,212,211},
  {230,211,231},
  {227,232,241},
  {227,241,242},
  {235,234,241},
  {235,241,244},
  {430,248,247},
  {272,274,253},
  {272,253,252},
  {439,260,275},
  {225,224,259},
  {225,259,257},
  {269,270,407},
  {269,407,405},
  {270,269,273},
  {270,273,272},
  {273,269,268},
  {273,268,267},
  {273,267,266},
  {273,266,265},
  {273,265,264},
  {448,279,367},
  {281,350,368},
  {285,286,301},
  {290,323,310},
  {290,311,323},
  {282,281,189},
  {292,311,290},
  {292,290,291},
  {307,306,302},
  {307,302,303},
  {316,315,324},
  {316,324,329},
  {331,351,350},
  {330,334,335},
  {330,335,328},
  {341,337,338},
  {344,355,354},
  {346,345,348},
  {346,348,347},
  {364,369,352},
  {364,352,353},
  {365,363,361},
  {365,361,362},
  {376,401,402},
  {373,372,397},
  {373,397,400},
  {376, 92,377},
  {381,378,387},
  {381,387,385},
  {386, 77, 80},
  {390,389,412},
  {416,417,401},
  {403,417,415},
  {408,429,430},
  {419,423,418},
  {427,428,444},
  {427,444,446},
  {437,436,441},
  {450,445, 11},
  {450, 11,  4},
  {447,449,  5},
  {447,  5,  8},
  {441,438,437},
  {425,426,451},
  {425,451,452},
  {417,421,415},
  {408,407,429},
  {399,403,400},
  {399,400,397},
  {394,393,416},
  {389,411,412},
  {386,383,385},
  {408,387,378},
  {408,378,406},
  {377,391,376},
  { 94,375,415},
  {372,373,374},
  {372,374,370},
  {359,111,360},
  {359,112,111},
  {113,358,349},
  {113,349,123},
  {346,343,345},
  {343,340,342},
  {338,336,144},
  {338,144,141},
  {327,341,354},
  {327,354,326},
  {331,350,321},
  {331,321,322},
  {314,313,326},
  {314,326,325},
  {300,298,299},
  {300,299,301},
  {288,287,289},
  {189,292,282},
  {287,288,303},
  {284,285,297},
  {368,280,281},
  {448,447,279},
  {274,226,255},
  {267,268,404},
  {267,404,379},
  {429,262,430},
  {439,440,260},
  {257,258,249},
  {257,249,246},
  {430,262,248},
  {234,228,242},
  {234,242,241},
  {237,238,239},
  {237,239,236},
  { 15, 18,227},
  { 15,227,229},
  {222,223, 82},
  {222, 82, 83},
  {214,215,213},
  {214,213, 81},
  { 38,102,  6},
  {122,159,200},
  {122,200,201},
  {174,171,192},
  {174,192,194},
  {197,193,198},
  {190,170,161},
  {181,179,178},
  {181,178,180},
  {166,156,155},
  {163,153,152},
  {163,152,162},
  {120,156,149},
  {120,149,121},
  {152,153,135},
  {140,143,142},
  {135,131,132},
  {135,132,136},
  {130,129,128},
  {130,128,127},
  {100,105,119},
  {100,119,120},
  {106,104,107},
  {106,107,108},
  { 91, 95, 59},
  { 93, 94, 68},
  { 91, 89, 92},
  { 76, 53, 55},
  { 76, 55, 87},
  { 81, 78, 79},
  { 74, 73, 49},
  { 69, 60, 45},
  { 58, 62, 64},
  { 58, 64, 61},
  { 53, 31, 32},
  { 32, 54, 53},
  { 42, 43, 38},
  { 35, 36,  0},
  { 35,  0,  1},
  { 34, 35,  1},
  { 34,  1,  9},
  { 44, 40, 41},
  { 44, 41, 45},
  { 33,240, 51},
  { 63, 62, 58},
  { 63, 58, 59},
  { 45, 71, 70},
  { 76, 75, 51},
  { 76, 51, 52},
  { 86, 85, 84},
  { 86, 84, 87},
  { 89, 72, 73},
  { 89, 73, 88},
  { 91, 92, 96},
  { 91, 96, 95},
  { 72, 91, 60},
  { 72, 60, 69},
  {104,106,105},
  {119,105,117},
  {119,117,118},
  {124,127,128},
  {117,116,129},
  {117,129,131},
  {118,117,131},
  {135,140,142},
  {146,150,152},
  {146,152,145},
  {149,122,121},
  {166,165,151},
  {166,151,156},
  {158,172,173},
  {161,160,189},
  {199,198,193},
  {199,193,191},
  {204,201,202},
  {178,174,194},
  {200,159,186},
  {109, 48, 67},
  { 48,107,104},
  {216, 32,236},
  {216,236,239},
  {223,214, 81},
  {223, 81, 82},
  { 33, 12, 15},
  { 32,228,234},
  { 32,234,236},
  {240, 31, 52},
  {256,255,246},
  {256,246,249},
  {258,263,248},
  {258,248,249},
  {275,260,259},
  {275,259,276},
  {207,276,259},
  {270,271,429},
  {270,429,407},
  {413,418,366},
  {413,366,365},
  {368,367,279},
  {368,279,280},
  {303,301,286},
  {303,286,287},
  {283,282,292},
  {283,292,291},
  {320,292,189},
  {298,296,297},
  {298,297,299},
  {318,327,326},
  {318,326,313},
  {329,330,317},
  {336,333,320},
  {326,354,353},
  {334,332,333},
  {334,333,336},
  {342,339,139},
  {342,139,138},
  {345,342,126},
  {347,357,356},
  {369,368,351},
  {363,356,357},
  {363,357,361},
  {366,367,368},
  {366,368,369},
  {375,373,400},
  { 92, 90,377},
  {409,387,408},
  {386,385,387},
  {386,387,388},
  {412,394,391},
  {396,398,399},
  {408,406,405},
  {415,421,419},
  {415,419,414},
  {425,452,448},
  {425,448,424},
  {444,441,443},
  {448,452,449},
  {448,449,447},
  {446,444,443},
  {446,443,445},
  {250,247,261},
  {250,261,428},
  {421,422,423},
  {421,423,419},
  {427,410,250},
  {417,403,401},
  {403,402,401},
  {420,392,412},
  {420,412,425},
  {420,425,424},
  {386,411,389},
  {383,382,381},
  {383,381,385},
  {378,379,404},
  {372,371,395},
  {372,395,397},
  {371,372,370},
  {361,359,360},
  {361,360,362},
  {368,350,351},
  {349,347,348},
  {356,355,344},
  {356,344,346},
  {344,341,340},
  {344,340,343},
  {338,337,336},
  {328,335,341},
  {324,352,351},
  {324,351,331},
  {320,144,336},
  {314,325,324},
  {322,308,309},
  {310,309,307},
  {287,286,289},
  {203,280,279},
  {203,279,205},
  {297,295,283},
  {297,283,284},
  {447,205,279},
  {274,384, 80},
  {274, 80,226},
  {266,267,379},
  {266,379,380},
  {225,257,246},
  {225,246,245},
  {256,254,253},
  {256,253,255},
  {430,247,250},
  {226,235,244},
  {226,244,245},
  {232,233,244},
  {232,244,241},
  {230, 18, 19},
  { 32, 31,228},
  {219,220, 86},
  {219, 86, 57},
  {226,213,235},
  {206,  7,  6},
  {122,201,101},
  {201,204,101},
  {180,196,197},
  {170,192,171},
  {200,190,189},
  {194,193,195},
  {183,181,180},
  {183,180,182},
  {155,154,168},
  {149,156,151},
  {149,151,148},
  {155,156,120},
  {145,142,143},
  {145,143,146},
  {136,137,140},
  {133,132,130},
  {128,129,116},
  {100,120,121},
  {110,112,113},
  {110,113,114},
  { 66, 65, 63},
  { 66, 63, 99},
  { 66, 99, 98},
  { 96, 46, 61},
  { 89, 88, 90},
  { 86, 87, 57},
  { 80, 78, 81},
  { 72, 69, 49},
  { 67, 48, 47},
  { 67, 47, 68},
  { 56, 55, 53},
  { 50, 49, 36},
  { 50, 36, 35},
  { 40, 39, 41},
  {242,243,229},
  {242,229,227},
  {  6, 37, 39},
  { 42, 47, 48},
  { 42, 48, 43},
  { 61, 46, 44},
  { 45, 70, 69},
  { 69, 70, 71},
  { 69, 71, 49},
  { 74, 78, 77},
  { 83, 84, 85},
  { 73, 74, 77},
  { 93, 96, 92},
  { 68, 46, 93},
  { 95, 99, 63},
  { 95, 63, 59},
  {115,108,110},
  {115,110,114},
  {125,126,127},
  {129,130,132},
  {137,133,138},
  {137,138,139},
  {148,146,143},
  {148,143,147},
  {119,118,154},
  {161,147,143},
  {165,164,151},
  {158,157,171},
  {158,171,172},
  {159,158,187},
  {159,187,186},
  {194,192,191},
  {194,191,193},
  {189,202,201},
  {182,197,184},
  {205,  8,  7},
  { 48,109,107},
  {218,219, 57},
  {218, 57, 56},
  {207,231,211},
  {232,230,231},
  {232,231,233},
  { 53, 52, 31},
  {388,411,386},
  {409,430,250},
  {262,429,254},
  {262,254,256},
  {442,444,428},
  {273,264,383},
  {273,383,384},
  {429,271,251},
  {429,251,254},
  {413,365,362},
  { 67,413,360},
  {282,283,295},
  {285,301,299},
  {202,281,280},
  {284,283,291},
  {284,291,289},
  {320,189,160},
  {308,306,307},
  {307,309,308},
  {319,317,330},
  {319,330,328},
  {353,352,324},
  {332,331,333},
  {340,341,338},
  {354,341,344},
  {349,358,357},
  {349,357,347},
  {364,355,356},
  {364,356,363},
  {364,365,366},
  {364,366,369},
  {374,376,402},
  {375, 92,373},
  { 77,389,390},
  {382,380,381},
  {389, 77,386},
  {393,394,412},
  {393,412,392},
  {401,394,416},
  {415,400,403},
  {411,410,427},
  {411,427,426},
  {422,420,424},
  {247,248,263},
  {247,263,261},
  {445,443, 14},
  {445, 14, 11},
  {449,450,  4},
  {449,  4,  5},
  {443,441, 17},
  {443, 17, 14},
  {436, 23, 17},
  {436, 17,441},
  {424,448,422},
  {448,423,422},
  {414,419,418},
  {414,418,413},
  {406,404,405},
  {399,397,395},
  {399,395,396},
  {420,416,392},
  {388,410,411},
  {386,384,383},
  {390, 88, 77},
  {375, 94, 92},
  {415,414, 68},
  {415, 68, 94},
  {370,374,402},
  {370,402,398},
  {361,357,358},
  {361,358,359},
  {125,348,126},
  {346,344,343},
  {340,338,339},
  {337,335,334},
  {337,334,336},
  {325,353,324},
  {324,331,332},
  {324,332,329},
  {323,322,309},
  {323,309,310},
  {294,295,297},
  {294,297,296},
  {289,286,285},
  {202,280,203},
  {288,307,303},
  {282,295,321},
  { 67,360,111},
  {418,423,367},
  {418,367,366},
  {272,252,251},
  {272,251,271},
  {272,271,270},
  {255,253,274},
  {265,266,380},
  {265,380,382},
  {442,428,261},
  {440,263,258},
  {440,258,260},
  {409,250,410},
  {255,226,245},
  {255,245,246},
  { 31,240,243},
  {236,234,235},
  {236,235,237},
  {233,225,245},
  {233,245,244},
  {220,221, 85},
  {220, 85, 86},
  { 81,213,226},
  { 81,226, 80},
  {  7,206,205},
  {186,184,198},
  {186,198,199},
  {204,203,205},
  {204,205,206},
  {195,193,196},
  {171,174,172},
  {173,174,175},
  {173,172,174},
  {155,167,166},
  {160,161,143},
  {160,143,144},
  {119,154,155},
  {148,151,150},
  {148,150,146},
  {140,137,139},
  {140,139,141},
  {127,126,130},
  {114,124,128},
  {114,128,115},
  {117,105,106},
  {117,106,116},
  {104,105,100},
  {104,100,103},
  { 59, 60, 91},
  { 97, 96, 61},
  { 97, 61, 64},
  { 91, 72, 89},
  { 87, 84, 79},
  { 87, 79, 76},
  { 78, 80, 77},
  { 49, 50, 74},
  { 60, 44, 45},
  { 61, 44, 58},
  { 51, 50, 35},
  { 51, 35, 34},
  { 39, 37, 41},
  { 33, 34,  9},
  { 33,  9, 12},
  {  0, 36, 37},
  {  0, 37,  6},
  { 40, 46, 47},
  { 40, 47, 42},
  { 53, 54, 56},
  { 65, 62, 63},
  { 72, 49, 73},
  { 79, 78, 75},
  { 79, 75, 76},
  { 52, 53, 76},
  { 92, 89, 90},
  { 96, 93, 46},
  {102,103,100},
  {102,100,101},
  {116,106,108},
  {116,108,115},
  {123,125,124},
  {116,115,128},
  {118,131,135},
  {140,135,136},
  {148,147,149},
  {120,119,155},
  {164,162,152},
  {164,152,150},
  {157,147,161},
  {157,161,170},
  {186,187,185},
  {186,185,184},
  {193,197,196},
  {202,203,204},
  {194,195,178},
  {198,184,197},
  { 67,111,109},
  { 38, 43,103},
  { 38,103,102},
  {214,223,222},
  {214,222,221},
  {214,221,220},
  {214,220,219},
  {214,219,218},
  {213,237,235},
  {221,222, 83},
  {221, 83, 85},
  { 15,229, 33},
  {227, 18,230},
  {227,230,232},
  { 52, 51,240},
  { 75, 78, 50},
  {408,430,409},
  {260,258,257},
  {260,257,259},
  {224,207,259},
  {268,269,405},
  {268,405,404},
  {413,362,360},
  {447,  8,205},
  {299,297,285},
  {189,281,202},
  {290,288,289},
  {290,289,291},
  {322,321,295},
  {322,295,294},
  {333,323,311},
  {333,311,320},
  {317,316,329},
  {320,160,144},
  {353,325,326},
  {329,332,334},
  {329,334,330},
  {339,338,141},
  {339,141,139},
  {348,345,126},
  {347,356,346},
  {123,349,125},
  {364,353,354},
  {364,354,355},
  {365,364,363},
  {376,391,394},
  {376,394,401},
  { 92,376,374},
  { 92,374,373},
  {377, 90, 88},
  {380,379,378},
  {380,378,381},
  {388,387,409},
  {388,409,410},
  {416,393,392},
  {399,398,402},
  {399,402,403},
  {250,428,427},
  {421,417,416},
  {421,416,420},
  {426,427,446},
  {426,446,451},
  {444,442,441},
  {452,451,450},
  {452,450,449}
};

#ifdef _MSC_VER
#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
#endif

// select correct drawing functions
#ifdef dDOUBLE
#define dsDrawBox dsDrawBoxD
#define dsDrawSphere dsDrawSphereD
#define dsDrawCylinder dsDrawCylinderD
#define dsDrawCapsule dsDrawCapsuleD
#define dsDrawLine dsDrawLineD
#define dsDrawTriangle dsDrawTriangleD
#endif

#define NUM  10           // うさぎの数
#define MAX_CONTACTS 64   // ボディ同士の衝突の接点数
// dynamics and collision objects

struct Rabbit {
  dBodyID body;    // 動力学計算用ボディ型ID
  dGeomID geom;    // 衝突計算用ジオメトリ型ID
  dTriMeshDataID TriData; //三角メッシュデータ型ID
  int flag;       // flag=0 メッシュのみ flag=1 ポリゴン
};
Rabbit rabbit[NUM];

static dWorldID world;
static dSpaceID space;
static dJointGroupID contactgroup;

typedef dReal dVector3R[3];
static void nearCallback (void *data, dGeomID o1, dGeomID o2){
  dBodyID b1 = dGeomGetBody(o1);
  dBodyID b2 = dGeomGetBody(o2);
  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;

  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
  for (int i=0; i<MAX_CONTACTS; i++) {
    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
    contact[i].surface.mu = 10.0;//dInfinity;
    contact[i].surface.mu2 = 0;
    contact[i].surface.bounce = 0.1;
    contact[i].surface.bounce_vel = 0.1;
    contact[i].surface.soft_cfm = 0.0001;
  }
  if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
         sizeof(dContact))) {
    dMatrix3 RI;
    dRSetIdentity (RI);
    const dReal ss[3] = {0.02,0.02,0.02};
    for (int i=0; i<numc; i++) {
      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
      dJointAttach (c,b1,b2);
      dsDrawBox (contact[i].geom.pos,RI,ss);//接触点に青い直方体を描画
    }
  }
}

static void start()//視点の設定
{
  static float xyz[3] = {5.0, 0.0 ,2.0};
  static float hpr[3] = {180.0,0.0,0.0};
  dsSetViewpoint (xyz,hpr);
}


// simulation loop
static void simLoop (int pause){
  dsSetColor (0,0,2);
  dSpaceCollide (space,0,&nearCallback);

  //if (!pause) dWorldStep (world,0.05);
  if (!pause) dWorldStepFast1 (world,0.05, 5); //dWorldStep よりもメモリを使わない
  // remove all contact joints
  dJointGroupEmpty (contactgroup);
  dsSetColor (1,1,0);
  dsSetTexture (DS_WOOD);

/////////////////////////////////////////////////////////////////////
//うさぎ
  dTriIndex *Indices = (dTriIndex*)::Indices;
  for(int j=0; j<NUM; j++){
    const dReal* Pos = dGeomGetPosition(rabbit[j].geom);
    const dReal* Rot = dGeomGetRotation(rabbit[j].geom);
    for (int i = 0; i < IndexCount / 3; i++){
      const dReal v[9] = { //頂点座標の代入
      Vertices[Indices[i * 3 + 0] * 3 + 0], //頂点1 x座標
      Vertices[Indices[i * 3 + 0] * 3 + 1], //頂点1 y座標
      Vertices[Indices[i * 3 + 0] * 3 + 2], //頂点1 z座標
      Vertices[Indices[i * 3 + 1] * 3 + 0], //頂点2 x座標
      Vertices[Indices[i * 3 + 1] * 3 + 1], //頂点2 y座標
      Vertices[Indices[i * 3 + 1] * 3 + 2], //頂点2 z座標
      Vertices[Indices[i * 3 + 2] * 3 + 0], //頂点3 x座標
      Vertices[Indices[i * 3 + 2] * 3 + 1], //頂点3 y座標
      Vertices[Indices[i * 3 + 2] * 3 + 2]  //頂点3 z座標
      };
      dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], rabbit[j].flag);//三角形の描画　最後の引数は 0 or 1
    }
  }
}

int main (int argc, char **argv){
  // setup pointers to drawstuff callback functions
  dsFunctions fn;
  fn.version = DS_VERSION;
  fn.start = &start;
  fn.step = &simLoop;
  fn.stop = 0;
  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;

  // create world
  dInitODE2(0);
  world = dWorldCreate();
 
  space = dSimpleSpaceCreate(0);
  contactgroup = dJointGroupCreate (0);
  dWorldSetGravity (world,0,0,-0.5);
  dWorldSetCFM (world,1e-5);
  dCreatePlane (space,0,0,1,0);

  for(int j=0; j<NUM; j++){
    rabbit[j].flag = j%2; //0 or 1  0:フレームのみ  1:ポリゴン
    rabbit[j].TriData = dGeomTriMeshDataCreate();//三角メッシュデータ型オブジェクトの初期化
    dGeomTriMeshDataBuildSingle(rabbit[j].TriData, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex)); //三角メッシュデータの生成
    rabbit[j].geom = dCreateTriMesh(space, rabbit[j].TriData , 0, 0, 0);//ジオメトリを三角メッシュデータで生成
    rabbit[j].body = dBodyCreate(world);         //ボディの生成
    dGeomSetBody(rabbit[j].geom, rabbit[j].body);//ジオメトリとボディの関連付け
    dMass m;//質量
    dMassSetBoxTotal(&m,10.0,0.0,1.0,2.0); //質量をボックス型で定義
    dBodySetMass(rabbit[j].body, &m);//ボディに質量を定義

    dQuaternion q;                                      //回転用のクォータニオンの宣言
    dQFromAxisAndAngle (q,1,0,0, M_PI/2.0);             //クォータニオンの生成
    dBodySetQuaternion (rabbit[j].body,q);              //円柱ボディをクォータニオンを使って回転
    dBodySetPosition (rabbit[j].body, 0, 0, 4*(j+0.2)); //円柱ボディの位置を設定
  }
  // run simulation
  dsSimulationLoop (argc,argv,WindowWidth,WindowHeight,&fn);

  dJointGroupDestroy (contactgroup);
  dSpaceDestroy (space);
  dWorldDestroy (world);
  dCloseODE();
  return 0;
}

サンプルプログラムで理解したこと

ポリゴン作成用データの取込み方

次の３ステップです。
１．三角メッシュデータ型オブジェクトの生成
２．三角メッシュデータ型オブジェクトに頂点データをセット
３．ジオメトリと関連付け

rabbit[j].TriData = dGeomTriMeshDataCreate();//三角メッシュデータ型オブジェクトの初期化
dGeomTriMeshDataBuildSingle(rabbit[j].TriData, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex)); //三角メッシュデータの生成
rabbit[j].geom = dCreateTriMesh(space, rabbit[j].TriData , 0, 0, 0);//ジオメトリを三角メッシュデータで生成

ポリゴンにおける質量の定義

衝突計算用ジオメトリにポリゴンの情報をセットして形状を表現します。 但し、動力学計算用ボディにセットしている質量の形態は「ボックス型」なので、ポリゴンの形状にあった質量分布にはなっていません。

dMass m;//質量
dMassSetBoxTotal(&m,10.0,0.0,1.0,2.0); //質量をボックス型で定義
dBodySetMass(rabbit[j].body, &m);//ボディに質量を定義

上記の例では(1,0,0)軸で -0.77π 回転させるクォータニオンを生成しています。