//<---- Icosahedron ---->
/*
   This is a description of a convex icosahedron, to test
   the convex collision detection.
*/
unsigned int Sphere_pointcount = 42;
unsigned int Sphere_planecount = 80;
dReal Sphere_points[126]={
0.000000,0.000000,-0.300000,
0.217080,-0.157716,-0.134164,
-0.082915,-0.255192,-0.134164,
-0.268327,0.000000,-0.134164,
-0.082915,0.255192,-0.134164,
0.217080,0.157716,-0.134164,
0.082915,-0.255192,0.134164,
-0.217080,-0.157716,0.134164,
-0.217080,0.157716,0.134164,
0.082915,0.255192,0.134164,
0.268327,0.000000,0.134164,
0.000000,0.000000,0.300000,
0.127597,-0.092703,-0.255196,
-0.048737,-0.149999,-0.255196,
0.078861,-0.242703,-0.157721,
0.127597,0.092703,-0.255196,
0.255194,0.000000,-0.157721,
-0.157719,0.000000,-0.255195,
-0.206457,-0.149999,-0.157721,
-0.048737,0.149999,-0.255196,
-0.206457,0.149999,-0.157721,
0.078861,0.242703,-0.157721,
0.285317,0.092704,0.000000,
0.285317,-0.092704,0.000000,
0.176336,-0.242705,0.000000,
0.000000,-0.300000,0.000000,
-0.176336,-0.242705,0.000000,
-0.285317,-0.092704,0.000000,
-0.285317,0.092704,0.000000,
-0.176336,0.242705,0.000000,
0.000000,0.300000,0.000000,
0.176336,0.242705,0.000000,
0.206457,-0.149999,0.157721,
-0.078861,-0.242703,0.157721,
-0.255194,0.000000,0.157721,
-0.078861,0.242703,0.157721,
0.206457,0.149999,0.157721,
0.157719,0.000000,0.255195,
0.048737,-0.149999,0.255196,
-0.127597,-0.092703,0.255196,
-0.127597,0.092703,0.255196,
0.048737,0.149999,0.255196
};
unsigned int Sphere_polygons[]={
3,14,12,1,
3,12,14,13,
3,2,13,14,
3,13,0,12,
3,16,1,12,
3,12,15,16,
3,5,16,15,
3,12,0,15,
3,18,13,2,
3,13,18,17,
3,3,17,18,
3,17,0,13,
3,20,17,3,
3,17,20,19,
3,4,19,20,
3,19,0,17,
3,21,19,4,
3,19,21,15,
3,5,15,21,
3,15,0,19,
3,23,1,16,
3,16,22,23,
3,10,23,22,
3,22,16,5,
3,25,2,14,
3,14,24,25,
3,6,25,24,
3,24,14,1,
3,27,3,18,
3,18,26,27,
3,7,27,26,
3,26,18,2,
3,29,4,20,
3,20,28,29,
3,8,29,28,
3,28,20,3,
3,31,5,21,
3,21,30,31,
3,9,31,30,
3,30,21,4,
3,32,23,10,
3,23,32,24,
3,6,24,32,
3,24,1,23,
3,33,25,6,
3,25,33,26,
3,7,26,33,
3,26,2,25,
3,34,27,7,
3,27,34,28,
3,8,28,34,
3,28,3,27,
3,35,29,8,
3,29,35,30,
3,9,30,35,
3,30,4,29,
3,36,31,9,
3,31,36,22,
3,10,22,36,
3,22,5,31,
3,38,6,32,
3,32,37,38,
3,11,38,37,
3,37,32,10,
3,39,7,33,
3,33,38,39,
3,11,39,38,
3,38,33,6,
3,40,8,34,
3,34,39,40,
3,11,40,39,
3,39,34,7,
3,41,9,35,
3,35,40,41,
3,11,41,40,
3,40,35,8,
3,37,10,36,
3,36,41,37,
3,11,37,41,
3,41,36,9,
};
dReal Sphere_planes[]={
0.471317,-0.583121,-0.661687,0.283056,
0.187594,-0.577345,-0.794658,0.280252,
-0.038547,-0.748789,-0.661687,0.283056,
0.102381,-0.315090,-0.943523,0.283057,
0.700228,-0.268049,-0.661688,0.283056,
0.607060,0.000000,-0.794656,0.280252,
0.700228,0.268049,-0.661688,0.283056,
0.331305,0.000000,-0.943524,0.283057,
-0.408939,-0.628443,-0.661686,0.283056,
-0.491119,-0.356821,-0.794657,0.280252,
-0.724044,-0.194735,-0.661694,0.283057,
-0.268034,-0.194737,-0.943523,0.283057,
-0.724044,0.194735,-0.661694,0.283057,
-0.491119,0.356821,-0.794657,0.280252,
-0.408939,0.628443,-0.661686,0.283056,
-0.268034,0.194737,-0.943523,0.283057,
-0.038547,0.748789,-0.661687,0.283056,
0.187594,0.577345,-0.794658,0.280252,
0.471317,0.583121,-0.661687,0.283056,
0.102381,0.315090,-0.943523,0.283057,
0.904981,-0.268049,-0.330393,0.283056,
0.982246,0.000000,-0.187599,0.280252,
0.992077,0.000000,0.125631,0.283057,
0.904981,0.268049,-0.330393,0.283056,
0.024726,-0.943519,-0.330396,0.283056,
0.303531,-0.934171,-0.187598,0.280251,
0.306568,-0.943519,0.125651,0.283056,
0.534590,-0.777851,-0.330395,0.283056,
-0.889698,-0.315092,-0.330386,0.283056,
-0.794656,-0.577348,-0.187595,0.280251,
-0.802607,-0.583125,0.125648,0.283055,
-0.574584,-0.748793,-0.330397,0.283055,
-0.574584,0.748793,-0.330397,0.283055,
-0.794656,0.577348,-0.187595,0.280251,
-0.802607,0.583125,0.125648,0.283055,
-0.889698,0.315092,-0.330386,0.283056,
0.534590,0.777851,-0.330395,0.283056,
0.303531,0.934171,-0.187598,0.280251,
0.306568,0.943519,0.125651,0.283056,
0.024726,0.943519,-0.330396,0.283056,
0.889698,-0.315092,0.330386,0.283056,
0.794656,-0.577348,0.187595,0.280251,
0.574584,-0.748793,0.330397,0.283055,
0.802607,-0.583125,-0.125648,0.283055,
-0.024726,-0.943519,0.330396,0.283055,
-0.303531,-0.934171,0.187598,0.280251,
-0.534590,-0.777851,0.330395,0.283056,
-0.306568,-0.943519,-0.125651,0.283056,
-0.904981,-0.268049,0.330393,0.283056,
-0.982246,0.000000,0.187599,0.280252,
-0.904981,0.268049,0.330393,0.283056,
-0.992077,0.000000,-0.125631,0.283057,
-0.534590,0.777851,0.330395,0.283056,
-0.303531,0.934171,0.187598,0.280251,
-0.024726,0.943519,0.330396,0.283055,
-0.306568,0.943519,-0.125651,0.283056,
0.574584,0.748793,0.330397,0.283055,
0.794656,0.577348,0.187595,0.280251,
0.889698,0.315092,0.330386,0.283056,
0.802607,0.583125,-0.125648,0.283055,
0.408939,-0.628443,0.661686,0.283056,
0.491119,-0.356821,0.794657,0.280252,
0.268034,-0.194737,0.943523,0.283057,
0.724044,-0.194735,0.661694,0.283057,
-0.471317,-0.583121,0.661687,0.283056,
-0.187594,-0.577345,0.794658,0.280252,
-0.102381,-0.315090,0.943523,0.283057,
0.038547,-0.748789,0.661687,0.283056,
-0.700228,0.268049,0.661688,0.283056,
-0.607060,0.000000,0.794656,0.280252,
-0.331305,0.000000,0.943524,0.283057,
-0.700228,-0.268049,0.661688,0.283056,
0.038547,0.748789,0.661687,0.283056,
-0.187594,0.577345,0.794658,0.280252,
-0.102381,0.315090,0.943523,0.283057,
-0.471317,0.583121,0.661687,0.283056,
0.724044,0.194735,0.661694,0.283057,
0.491119,0.356821,0.794657,0.280252,
0.268034,0.194737,0.943523,0.283057,
0.408939,0.628443,0.661686,0.283056,
};