[artoolkit-commits] artoolkit/examples/collide collideTest.c,1.1,1.2 object.c,1.1,1.2

[Philip L. <phi...@us...>]

Update of /cvsroot/artoolkit/artoolkit/examples/collide
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21285

Modified Files:
	collideTest.c object.c 
Log Message:
Fix some build warnings.

Index: object.c
===================================================================
RCS file: /cvsroot/artoolkit/artoolkit/examples/collide/object.c,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** object.c	22 Nov 2004 03:37:51 -0000	1.1
--- object.c	2 Dec 2004 00:48:13 -0000	1.2
***************
*** 1,101 ****
! 
! /* 
! ** ARToolKit object parsing function 
! **   - reads in object data from object file in Data/object_data
! **
! ** Format:
! ** <obj_num>
! **
! ** <obj_name>
! ** <obj_pattern filename>
! ** <marker_width>
! ** <centerX centerY>
! **
! ** ...
! **
! **	eg
! **
! **	#pattern 1
! **	Hiro
! **	Data/hiroPatt 
! **	80.0
! **	0.0 0.0
! **
! */
! 
! #include <stdio.h>
! #include <malloc.h>
! #include <stdlib.h>
! #include <string.h>
! #include <AR/ar.h>
! #include "object.h"
! 
! static char *get_buff( char *buf, int n, FILE *fp );
! 
! ObjectData_T *read_ObjData( char *name, int *objectnum )
! {
!     FILE          *fp;
!     ObjectData_T  *object;
!     char           buf[256], buf1[256];
!     int            i;
! 
! 	printf("Opening Data File %s\n",name);
! 
!     if( (fp=fopen(name, "r")) == NULL ) {
! 		printf("Can't find the file - quitting \n");
! 		return(0);
! 	}
! 
!     get_buff(buf, 256, fp);
!     if( sscanf(buf, "%d", objectnum) != 1 ) {fclose(fp); return(0);}
! 
! 	printf("About to load %d Models\n",*objectnum);
! 
!     object = (ObjectData_T *)malloc( sizeof(ObjectData_T) * *objectnum );
!     if( object == NULL ) return(0);
! 
!     for( i = 0; i < *objectnum; i++ ) {
! 		object[i].visible = 0;        
! 		
! 		get_buff(buf, 256, fp);
!         if( sscanf(buf, "%s", buf1, object[i].name) != 1 ) {
!             fclose(fp); free(object); return(0);
!         }
! 
! 		printf("Read in No.%d \n", i+1);
! 
!         get_buff(buf, 256, fp);
!         if( sscanf(buf, "%s", buf1) != 1 ) {
!           fclose(fp); free(object); return(0);}
!         
!         if( (object[i].id = arLoadPatt(buf1)) < 0 )
!             {fclose(fp); free(object); return(0);}
! 
!         get_buff(buf, 256, fp);
!         if( sscanf(buf, "%lf", &object[i].marker_width) != 1 ) {
!             fclose(fp); free(object); return(0);
!         }
! 
!         get_buff(buf, 256, fp);
!         if( sscanf(buf, "%lf %lf", &object[i].marker_center[0],
!             &object[i].marker_center[1]) != 2 ) {
!             fclose(fp); free(object); return(0);
!         }
!         
!     }
! 
!     fclose(fp);
! 
!     return( object );
! }
! 
! static char *get_buff( char *buf, int n, FILE *fp )
! {
!     char *ret;
! 
!     for(;;) {
!         ret = fgets( buf, n, fp );
!         if( ret == NULL ) return(NULL);
!         if( buf[0] != '\n' && buf[0] != '#' ) return(ret);
!     }
! }
--- 1,100 ----
! 
! /* 
! ** ARToolKit object parsing function 
! **   - reads in object data from object file in Data/object_data
! **
! ** Format:
! ** <obj_num>
! **
! ** <obj_name>
! ** <obj_pattern filename>
! ** <marker_width>
! ** <centerX centerY>
! **
! ** ...
! **
! **	eg
! **
! **	#pattern 1
! **	Hiro
! **	Data/hiroPatt 
! **	80.0
! **	0.0 0.0
! **
! */
! 
! #include <stdio.h>
! #include <stdlib.h>
! #include <string.h>
! #include <AR/ar.h>
! #include "object.h"
! 
! static char *get_buff( char *buf, int n, FILE *fp );
! 
! ObjectData_T *read_ObjData( char *name, int *objectnum )
! {
!     FILE          *fp;
!     ObjectData_T  *object;
!     char           buf[256], buf1[256];
!     int            i;
! 
! 	printf("Opening Data File %s\n",name);
! 
!     if( (fp=fopen(name, "r")) == NULL ) {
! 		printf("Can't find the file - quitting \n");
! 		return(0);
! 	}
! 
!     get_buff(buf, 256, fp);
!     if( sscanf(buf, "%d", objectnum) != 1 ) {fclose(fp); return(0);}
! 
! 	printf("About to load %d Models\n",*objectnum);
! 
!     object = (ObjectData_T *)malloc( sizeof(ObjectData_T) * *objectnum );
!     if( object == NULL ) return(0);
! 
!     for( i = 0; i < *objectnum; i++ ) {
! 		object[i].visible = 0;        
! 		
! 		get_buff(buf, 256, fp);
!         if( sscanf(buf, "%s", object[i].name) != 1 ) {
!             fclose(fp); free(object); return(0);
!         }
! 
! 		printf("Read in No.%d \n", i+1);
! 
!         get_buff(buf, 256, fp);
!         if( sscanf(buf, "%s", buf1) != 1 ) {
!           fclose(fp); free(object); return(0);}
!         
!         if( (object[i].id = arLoadPatt(buf1)) < 0 )
!             {fclose(fp); free(object); return(0);}
! 
!         get_buff(buf, 256, fp);
!         if( sscanf(buf, "%lf", &object[i].marker_width) != 1 ) {
!             fclose(fp); free(object); return(0);
!         }
! 
!         get_buff(buf, 256, fp);
!         if( sscanf(buf, "%lf %lf", &object[i].marker_center[0],
!             &object[i].marker_center[1]) != 2 ) {
!             fclose(fp); free(object); return(0);
!         }
!         
!     }
! 
!     fclose(fp);
! 
!     return( object );
! }
! 
! static char *get_buff( char *buf, int n, FILE *fp )
! {
!     char *ret;
! 
!     for(;;) {
!         ret = fgets( buf, n, fp );
!         if( ret == NULL ) return(NULL);
!         if( buf[0] != '\n' && buf[0] != '#' ) return(ret);
!     }
! }

Index: collideTest.c
===================================================================
RCS file: /cvsroot/artoolkit/artoolkit/examples/collide/collideTest.c,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** collideTest.c	22 Nov 2004 03:37:51 -0000	1.1
--- collideTest.c	2 Dec 2004 00:48:13 -0000	1.2
***************
*** 1,292 ****
! #ifdef _WIN32
! #include <windows.h>
! #endif
! #include <stdio.h>
! #include <stdlib.h>
! #include <string.h>
! #include <math.h>
! 
! #include <GL/gl.h>
! #include <GL/glut.h>
! #include <AR/gsub.h>
! #include <AR/param.h>
! #include <AR/ar.h>
! #include <AR/video.h>
! 
! #include "object.h"
! 
! 
! #define COLLIDE_DIST 30000.0
! 
! /* Object Data */
! char            *model_name = "Data/object_data2";
! ObjectData_T    *object;
! int             objectnum;
! 
! int             xsize, ysize;
! int				thresh = 100;
! int             count = 0;
! 
! /* set video capture configuration */
! #ifdef _WIN32
! char			*vconf = "flipV,showDlg"; // see video.h for a list of supported parameters
! #else
! char			*vconf = "";
! #endif
! 
! char           *cparam_name    = "Data/camera_para.dat";
! ARParam         cparam;
! 
! static void   init(void);
! static void   cleanup(void);
! static void   keyEvent( unsigned char key, int x, int y);
! static void   mainLoop(void);
! static int checkCollisions( ObjectData_T object0, ObjectData_T object1, float collide_dist);
! static int draw( ObjectData_T *object, int objectnum );
! static int  draw_object( int obj_id, double gl_para[16], int collide_flag );
! 
! int main()
! {
! 	//initialize applications
!     init();
! 
! 	//start video capture
! 	arVideoCapStart();
! 
! 	//start the main event loop
!     argMainLoop( NULL, keyEvent, mainLoop );
! 
! 	return 0;
! }
! 
! static void   keyEvent( unsigned char key, int x, int y)   
! {
!     /* quit if the ESC key is pressed */
!     if( key == 0x1b ) {
!         printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
!         cleanup();
!         exit(0);
!     }
! }
! 
! /* main loop */
! static void mainLoop(void)
! {
!     ARUint8         *dataPtr;
!     ARMarkerInfo    *marker_info;
!     int             marker_num;
!     int             i,j,k;
! 
!     /* grab a video frame */
!     if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
!         arUtilSleep(2);
!         return;
!     }
! 	
!     if( count == 0 ) arUtilTimerReset();  
!     count++;
! 
! 	/*draw the video*/
!     argDrawMode2D();
!     argDispImage( dataPtr, 0,0 );
! 
! 	/* capture the next video frame */
! 	arVideoCapNext();
! 	
! 	glColor3f( 1.0, 0.0, 0.0 );
! 	glLineWidth(6.0);
! 
! 	/* detect the markers in the video frame */ 
! 	if(arDetectMarker(dataPtr, thresh, 
! 		&marker_info, &marker_num) < 0 ) {
! 		cleanup(); 
! 		exit(0);
! 	}
! 	for( i = 0; i < marker_num; i++ ) {
! 		argDrawSquare(marker_info[i].vertex,0,0);
! 	}
! 
! 	/* check for known patterns */
!     for( i = 0; i < objectnum; i++ ) {
! 		k = -1;
! 		for( j = 0; j < marker_num; j++ ) {
! 	        if( object[i].id == marker_info[j].id) {
! 
! 				/* you've found a pattern */
! 				//printf("Found pattern: %d ",patt_id);
! 				glColor3f( 0.0, 1.0, 0.0 );
! 				argDrawSquare(marker_info[j].vertex,0,0);
! 
! 				if( k == -1 ) k = j;
! 		        else /* make sure you have the best pattern (highest confidence factor) */
! 					if( marker_info[k].cf < marker_info[j].cf ) k = j;
! 			}
! 		}
! 		if( k == -1 ) {
! 			object[i].visible = 0;
! 			continue;
! 		}
! 		
! 		/* calculate the transform for each marker */
! 		if( object[i].visible == 0 ) {
!             arGetTransMat(&marker_info[k],
!                           object[i].marker_center, object[i].marker_width,
!                           object[i].trans);
!         }
!         else {
!             arGetTransMatCont(&marker_info[k], object[i].trans,
!                           object[i].marker_center, object[i].marker_width,
!                           object[i].trans);
!         }
!         object[i].visible = 1;
! 	}
! 
! 	/*check for object collisions between marker 0 and 1 */
! 	if(object[0].visible && object[1].visible){
! 		if(checkCollisions(object[0],object[1],COLLIDE_DIST)){
! 			object[0].collide = 1;
! 			object[1].collide = 1;
! 		}
! 		else{
! 			object[0].collide = 0;
! 			object[1].collide = 0;
! 		}
! 	}
! 	
! 	/* draw the AR graphics */
!     draw( object, objectnum );
! 
! 	/*swap the graphics buffers*/
! 	argSwapBuffers();
! }
! 
! /* check collision between two markers */
! static int checkCollisions( ObjectData_T object0, ObjectData_T object1, float collide_dist)
! {
! 	float x1,y1,z1;
! 	float x2,y2,z2;
! 	float dist;
! 
! 	x1 = object0.trans[0][3];
! 	y1 = object0.trans[1][3];
! 	z1 = object0.trans[2][3];
! 
! 	x2 = object1.trans[0][3];
! 	y2 = object1.trans[1][3];
! 	z2 = object1.trans[2][3];
! 
! 	dist = (x1-x2)*(x1-x2)+(y1-y2)*(y1-y2)+(z1-z2)*(z1-z2);
! 
! 	printf("Dist = %3.2f\n",dist);
! 
! 	if(dist < collide_dist)
! 		return 1;
! 	else 
! 		return 0;
! }
! static void init( void )
! {
! 	ARParam  wparam;
! 
!     /* open the video path */
!     if( arVideoOpen( vconf ) < 0 ) exit(0);
!     /* find the size of the window */
!     if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
!     printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
! 
!     /* set the initial camera parameters */
!     if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
!         printf("Camera parameter load error !!\n");
!         exit(0);
!     }
!     arParamChangeSize( &wparam, xsize, ysize, &cparam );
!     arInitCparam( &cparam );
!     printf("*** Camera Parameter ***\n");
!     arParamDisp( &cparam );
! 
! 	/* load in the object data - trained markers and associated bitmap files */
!     if( (object=read_ObjData(model_name, &objectnum)) == NULL ) exit(0);
!     printf("Objectfile num = %d\n", objectnum);
! 
!     /* open the graphics window */
!     argInit( &cparam, 2.0, 0, 0, 0, 0 );
! }
! 
! /* cleanup function called when program exits */
! static void cleanup(void)
! {
! 	arVideoCapStop();
!     arVideoClose();
!     argCleanup();
! }
! 
! /* draw the the AR objects */
! static int draw( ObjectData_T *object, int objectnum )
! {
!     int     i;
!     double  gl_para[16];
!        
! 	glClearDepth( 1.0 );
!     glClear(GL_DEPTH_BUFFER_BIT);
!     glEnable(GL_DEPTH_TEST);
!     glDepthFunc(GL_LEQUAL);
!     glEnable(GL_LIGHTING);
! 
!     /* calculate the viewing parameters - gl_para */
!     for( i = 0; i < objectnum; i++ ) {
!         if( object[i].visible == 0 ) continue;
!         argConvGlpara(object[i].trans, gl_para);
!         draw_object( object[i].id, gl_para, object[i].collide );
!     }
!      
! 	glDisable( GL_LIGHTING );
!     glDisable( GL_DEPTH_TEST );
! 	
!     return(0);
! }
! 
! /* draw the user object */
! static int  draw_object( int obj_id, double gl_para[16], int collide_flag )
! {
!     GLfloat   mat_ambient[]				= {0.0, 0.0, 1.0, 1.0};
! 	GLfloat   mat_ambient_collide[]     = {1.0, 0.0, 0.0, 1.0};
!     GLfloat   mat_flash[]				= {0.0, 0.0, 1.0, 1.0};
! 	GLfloat   mat_flash_collide[]       = {1.0, 0.0, 0.0, 1.0};
!     GLfloat   mat_flash_shiny[] = {50.0};
!     GLfloat   light_position[]  = {100.0,-200.0,200.0,0.0};
!     GLfloat   ambi[]            = {0.1, 0.1, 0.1, 0.1};
!     GLfloat   lightZeroColor[]  = {0.9, 0.9, 0.9, 0.1};
!  
!     argDrawMode3D();
!     argDraw3dCamera( 0, 0 );
!     glMatrixMode(GL_MODELVIEW);
!     glLoadMatrixd( gl_para );
! 
!  	/* set the material */
!     glEnable(GL_LIGHTING);
!     glEnable(GL_LIGHT0);
!     glLightfv(GL_LIGHT0, GL_POSITION, light_position);
!     glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
!     glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
! 
!     glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);	
! 
! 	if(collide_flag){
! 		glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash_collide);
! 		glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient_collide);
! 		/* draw a cube */
! 		glTranslatef( 0.0, 0.0, 30.0 );
! 		glutSolidSphere(30,12,6);
! 	}
! 	else {
! 		glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
! 		glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
! 		/* draw a cube */
! 		glTranslatef( 0.0, 0.0, 30.0 );
! 		glutSolidCube(60);
! 	}
! 
!     argDrawMode2D();
! 
!     return 0;
! }
--- 1,295 ----
! #ifdef _WIN32
! #  include <windows.h>
! #endif
! #include <stdio.h>
! #include <stdlib.h>
! #include <string.h>
! #include <math.h>
! 
! #ifndef __APPLE__
! #  include <GL/glut.h>
! #else
! #  include <GLUT/glut.h>
! #endif
! #include <AR/gsub.h>
! #include <AR/param.h>
! #include <AR/ar.h>
! #include <AR/video.h>
! 
! #include "object.h"
! 
! 
! #define COLLIDE_DIST 30000.0
! 
! /* Object Data */
! char            *model_name = "Data/object_data2";
! ObjectData_T    *object;
! int             objectnum;
! 
! int             xsize, ysize;
! int				thresh = 100;
! int             count = 0;
! 
! /* set video capture configuration */
! #ifdef _WIN32
! char			*vconf = "flipV,showDlg"; // see video.h for a list of supported parameters
! #else
! char			*vconf = "";
! #endif
! 
! char           *cparam_name    = "Data/camera_para.dat";
! ARParam         cparam;
! 
! static void   init(void);
! static void   cleanup(void);
! static void   keyEvent( unsigned char key, int x, int y);
! static void   mainLoop(void);
! static int checkCollisions( ObjectData_T object0, ObjectData_T object1, float collide_dist);
! static int draw( ObjectData_T *object, int objectnum );
! static int  draw_object( int obj_id, double gl_para[16], int collide_flag );
! 
! int main()
! {
! 	//initialize applications
!     init();
! 
! 	//start video capture
! 	arVideoCapStart();
! 
! 	//start the main event loop
!     argMainLoop( NULL, keyEvent, mainLoop );
! 
! 	return 0;
! }
! 
! static void   keyEvent( unsigned char key, int x, int y)   
! {
!     /* quit if the ESC key is pressed */
!     if( key == 0x1b ) {
!         printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
!         cleanup();
!         exit(0);
!     }
! }
! 
! /* main loop */
! static void mainLoop(void)
! {
!     ARUint8         *dataPtr;
!     ARMarkerInfo    *marker_info;
!     int             marker_num;
!     int             i,j,k;
! 
!     /* grab a video frame */
!     if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
!         arUtilSleep(2);
!         return;
!     }
! 	
!     if( count == 0 ) arUtilTimerReset();  
!     count++;
! 
! 	/*draw the video*/
!     argDrawMode2D();
!     argDispImage( dataPtr, 0,0 );
! 
! 	/* capture the next video frame */
! 	arVideoCapNext();
! 	
! 	glColor3f( 1.0, 0.0, 0.0 );
! 	glLineWidth(6.0);
! 
! 	/* detect the markers in the video frame */ 
! 	if(arDetectMarker(dataPtr, thresh, 
! 		&marker_info, &marker_num) < 0 ) {
! 		cleanup(); 
! 		exit(0);
! 	}
! 	for( i = 0; i < marker_num; i++ ) {
! 		argDrawSquare(marker_info[i].vertex,0,0);
! 	}
! 
! 	/* check for known patterns */
!     for( i = 0; i < objectnum; i++ ) {
! 		k = -1;
! 		for( j = 0; j < marker_num; j++ ) {
! 	        if( object[i].id == marker_info[j].id) {
! 
! 				/* you've found a pattern */
! 				//printf("Found pattern: %d ",patt_id);
! 				glColor3f( 0.0, 1.0, 0.0 );
! 				argDrawSquare(marker_info[j].vertex,0,0);
! 
! 				if( k == -1 ) k = j;
! 		        else /* make sure you have the best pattern (highest confidence factor) */
! 					if( marker_info[k].cf < marker_info[j].cf ) k = j;
! 			}
! 		}
! 		if( k == -1 ) {
! 			object[i].visible = 0;
! 			continue;
! 		}
! 		
! 		/* calculate the transform for each marker */
! 		if( object[i].visible == 0 ) {
!             arGetTransMat(&marker_info[k],
!                           object[i].marker_center, object[i].marker_width,
!                           object[i].trans);
!         }
!         else {
!             arGetTransMatCont(&marker_info[k], object[i].trans,
!                           object[i].marker_center, object[i].marker_width,
!                           object[i].trans);
!         }
!         object[i].visible = 1;
! 	}
! 
! 	/*check for object collisions between marker 0 and 1 */
! 	if(object[0].visible && object[1].visible){
! 		if(checkCollisions(object[0],object[1],COLLIDE_DIST)){
! 			object[0].collide = 1;
! 			object[1].collide = 1;
! 		}
! 		else{
! 			object[0].collide = 0;
! 			object[1].collide = 0;
! 		}
! 	}
! 	
! 	/* draw the AR graphics */
!     draw( object, objectnum );
! 
! 	/*swap the graphics buffers*/
! 	argSwapBuffers();
! }
! 
! /* check collision between two markers */
! static int checkCollisions( ObjectData_T object0, ObjectData_T object1, float collide_dist)
! {
! 	float x1,y1,z1;
! 	float x2,y2,z2;
! 	float dist;
! 
! 	x1 = object0.trans[0][3];
! 	y1 = object0.trans[1][3];
! 	z1 = object0.trans[2][3];
! 
! 	x2 = object1.trans[0][3];
! 	y2 = object1.trans[1][3];
! 	z2 = object1.trans[2][3];
! 
! 	dist = (x1-x2)*(x1-x2)+(y1-y2)*(y1-y2)+(z1-z2)*(z1-z2);
! 
! 	printf("Dist = %3.2f\n",dist);
! 
! 	if(dist < collide_dist)
! 		return 1;
! 	else 
! 		return 0;
! }
! static void init( void )
! {
! 	ARParam  wparam;
! 
!     /* open the video path */
!     if( arVideoOpen( vconf ) < 0 ) exit(0);
!     /* find the size of the window */
!     if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
!     printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
! 
!     /* set the initial camera parameters */
!     if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
!         printf("Camera parameter load error !!\n");
!         exit(0);
!     }
!     arParamChangeSize( &wparam, xsize, ysize, &cparam );
!     arInitCparam( &cparam );
!     printf("*** Camera Parameter ***\n");
!     arParamDisp( &cparam );
! 
! 	/* load in the object data - trained markers and associated bitmap files */
!     if( (object=read_ObjData(model_name, &objectnum)) == NULL ) exit(0);
!     printf("Objectfile num = %d\n", objectnum);
! 
!     /* open the graphics window */
!     argInit( &cparam, 2.0, 0, 0, 0, 0 );
! }
! 
! /* cleanup function called when program exits */
! static void cleanup(void)
! {
! 	arVideoCapStop();
!     arVideoClose();
!     argCleanup();
! }
! 
! /* draw the the AR objects */
! static int draw( ObjectData_T *object, int objectnum )
! {
!     int     i;
!     double  gl_para[16];
!        
! 	glClearDepth( 1.0 );
!     glClear(GL_DEPTH_BUFFER_BIT);
!     glEnable(GL_DEPTH_TEST);
!     glDepthFunc(GL_LEQUAL);
!     glEnable(GL_LIGHTING);
! 
!     /* calculate the viewing parameters - gl_para */
!     for( i = 0; i < objectnum; i++ ) {
!         if( object[i].visible == 0 ) continue;
!         argConvGlpara(object[i].trans, gl_para);
!         draw_object( object[i].id, gl_para, object[i].collide );
!     }
!      
! 	glDisable( GL_LIGHTING );
!     glDisable( GL_DEPTH_TEST );
! 	
!     return(0);
! }
! 
! /* draw the user object */
! static int  draw_object( int obj_id, double gl_para[16], int collide_flag )
! {
!     GLfloat   mat_ambient[]				= {0.0, 0.0, 1.0, 1.0};
! 	GLfloat   mat_ambient_collide[]     = {1.0, 0.0, 0.0, 1.0};
!     GLfloat   mat_flash[]				= {0.0, 0.0, 1.0, 1.0};
! 	GLfloat   mat_flash_collide[]       = {1.0, 0.0, 0.0, 1.0};
!     GLfloat   mat_flash_shiny[] = {50.0};
!     GLfloat   light_position[]  = {100.0,-200.0,200.0,0.0};
!     GLfloat   ambi[]            = {0.1, 0.1, 0.1, 0.1};
!     GLfloat   lightZeroColor[]  = {0.9, 0.9, 0.9, 0.1};
!  
!     argDrawMode3D();
!     argDraw3dCamera( 0, 0 );
!     glMatrixMode(GL_MODELVIEW);
!     glLoadMatrixd( gl_para );
! 
!  	/* set the material */
!     glEnable(GL_LIGHTING);
!     glEnable(GL_LIGHT0);
!     glLightfv(GL_LIGHT0, GL_POSITION, light_position);
!     glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
!     glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);
! 
!     glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);	
! 
! 	if(collide_flag){
! 		glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash_collide);
! 		glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient_collide);
! 		/* draw a cube */
! 		glTranslatef( 0.0, 0.0, 30.0 );
! 		glutSolidSphere(30,12,6);
! 	}
! 	else {
! 		glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
! 		glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
! 		/* draw a cube */
! 		glTranslatef( 0.0, 0.0, 30.0 );
! 		glutSolidCube(60);
! 	}
! 
!     argDrawMode2D();
! 
!     return 0;
! }