Motion Strategy Library

00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) 1998-2000 Iowa State University and Steve LaValle.  
00006 // All Rights Reserved.
00007 // 
00008 // Permission to use, copy, and distribute this software and its 
00009 // documentation is hereby granted free of charge, provided that 
00010 // (1) it is not a component of a commercial product, and 
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation. 
00013 // 
00014 // Iowa State University and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.  
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 #include <stdlib.h>
00020 #include <stream.h>
00021 
00022 #include <LEDA/list.h>
00023 #include <LEDA/vector.h>
00024 #include <LEDA/array2.h>
00025 
00026 #define LATITUDESTEPS 30
00027 #define LONGITUDESTEPS 25
00028 #define PI 3.1415926535897932385
00029 
00030 
00031 main(int argc, char **argv)
00032 { 
00033   list<vector> pl;
00034   vector p1,p2,p3;
00035   int i,j;
00036   double u,v;
00037   vector x(3);
00038   array2<vector> sphere(LATITUDESTEPS,LONGITUDESTEPS);
00039 
00040   if (argc < 5) {
00041     cout << "Usage:    sphere xc yc zc r \n";
00042     exit(-1);
00043   }
00044 
00045   double xc = atof(argv[1]);
00046   double yc = atof(argv[2]);
00047   double zc = atof(argv[3]);
00048   double radius = atof(argv[4]);
00049 
00050   for (i = 0; i < LATITUDESTEPS; i++) {
00051     u = i*PI/(LATITUDESTEPS-1);
00052     for (j = 0; j < LONGITUDESTEPS; j++) {
00053       v = j*2.0*PI/LONGITUDESTEPS;
00054       x[0] = xc + radius*cos(v)*sin(u);
00055       x[1] = yc + radius*sin(v)*sin(u);
00056       x[2] = zc + radius*cos(u);
00057       sphere(i,j) = x;
00058     }
00059   }
00060 
00061   for (i = 0; i < LATITUDESTEPS; i++) {
00062     for (j = 0; j < LONGITUDESTEPS; j++) {
00063       p1 = sphere(i,j);
00064       p2 = sphere((i+1) % LATITUDESTEPS,j);
00065       p3 = sphere(i,(j+1) % LONGITUDESTEPS);
00066       cout << "(" << p1[0] << "," << p1[1] << "," << p1[2] << ") ";
00067       cout << "(" << p2[0] << "," << p2[1] << "," << p2[2] << ") ";
00068       cout << "(" << p3[0] << "," << p3[1] << "," << p3[2] << ")\n";
00069       p1 = sphere(i,(j+1) % LONGITUDESTEPS);
00070       p2 = sphere((i+1) % LATITUDESTEPS,j);
00071       p3 = sphere((i+1) % LATITUDESTEPS ,(j+1) % LONGITUDESTEPS);
00072       cout << "(" << p1[0] << "," << p1[1] << "," << p1[2] << ") ";
00073       cout << "(" << p2[0] << "," << p2[1] << "," << p2[2] << ") ";
00074       cout << "(" << p3[0] << "," << p3[1] << "," << p3[2] << ")\n";
00075     }
00076   }
00077 
00078 }
00079   
00080
sphere.C
