add ode

1 files changed, 210 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/demo/demo_gyro2.cpp b/libs/ode-0.16.1/ode/demo/demo_gyro2.cpp
new file mode 100644
index 0000000..454b6b3
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_gyro2.cpp
@@ -0,0 +1,210 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+Angular friction demo:
+
+A bunch of ramps of different pitch.
+A bunch of spheres with rolling friction.
+*/
+
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#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
+#endif
+
+// dynamics and collision objects
+static dWorldID world = 0;
+
+static const dReal dt = 1/REAL(60.0); // 60 fps
+// Water density if units are meters and kg
+static const dReal density = 1000;  
+
+// A long skinny thing
+static dVector3 sides = {2,.5,.25}; 
+// Initial angular velocity
+static dVector3 omega = {5,1,2};
+static dVector3 torque = {0,10,0};
+static dBodyID noGyroBody;
+static dBodyID expGyroBody;
+static dBodyID impGyroBody;
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {0,-4.0f,3.0f};
+  static float hpr[3] = {90.0000,-15.0000,0.0000};
+  dsSetViewpoint (xyz,hpr);
+  printf ("Press:\n"
+      "\t'a' to apply a torque\n"
+			"\t'r' to reset simulation.\n");
+}
+
+/**
+  Delete the bodies, etc.
+*/
+static void clear()
+{
+  if (world) dWorldDestroy (world);
+  world = 0;
+}
+
+
+
+/**
+  Cleanup if necessary and rebuild the
+  world.
+*/
+static void reset()
+{
+  clear();
+
+  // create world
+  world = dWorldCreate();
+
+  // Calculate mass for a box;
+  dMass boxMass;
+  dMassSetBox(&boxMass,density,sides[0],sides[1],sides[2]);
+
+  noGyroBody  = dBodyCreate(world);// Conservation of ang-velocity
+  expGyroBody = dBodyCreate(world);// Explicit conservation of ang-momentum
+  impGyroBody = dBodyCreate(world);// Implicit conservation of ang-momentum
+
+  dBodySetMass( noGyroBody , &boxMass );
+  dBodySetMass( expGyroBody, &boxMass );
+  dBodySetMass( impGyroBody, &boxMass );
+
+  // Try to avoid collisions.
+  dReal sep = dCalcVectorLength3(sides);
+  dBodySetPosition( noGyroBody , -sep, 0, sep);
+  dBodySetPosition( expGyroBody,    0, 0, sep);
+  dBodySetPosition( impGyroBody,  sep, 0, sep);
+
+  // Set the initial angular velocity
+  dBodySetAngularVel( noGyroBody , omega[0], omega[1], omega[2]);
+  dBodySetAngularVel( expGyroBody, omega[0], omega[1], omega[2]);
+  dBodySetAngularVel( impGyroBody, omega[0], omega[1], omega[2]);
+
+  dBodySetGyroscopicMode( noGyroBody, 0);
+  // We compute this ourselves using the math
+  // that was in the old stepper.
+  dBodySetGyroscopicMode(expGyroBody, 0); 
+  // Keep things from crashing by limiting
+  // the angular speed of the explicit body.
+  // Note that this isn't necessary for
+  // the other two bodies.
+  dBodySetMaxAngularSpeed( expGyroBody, 40 );
+}
+
+static void command (int cmd)
+{
+	switch (cmd) {
+    case 'a': case 'A':
+      dBodyAddTorque( noGyroBody, torque[0], torque[1], torque[2]);
+      dBodyAddTorque(expGyroBody, torque[0], torque[1], torque[2]);
+      dBodyAddTorque(impGyroBody, torque[0], torque[1], torque[2]);
+      break;
+    case 'r': case 'R':
+  		reset();
+	  	break;
+  }
+  
+}
+
+/**
+  This is the explicit computation of
+  gyroscopic forces.
+*/
+static void expStep(dBodyID body)
+{
+  // Explicit computation
+  dMatrix3 I,tmp;
+  dMass m;
+  dBodyGetMass(body,&m);
+  const dReal* R = dBodyGetRotation(body);
+  // compute inertia tensor in global frame
+  dMultiply2_333 (tmp,m.I,R);
+  dMultiply0_333 (I,R,tmp);
+  // compute explicit rotational force
+  // we treat 'tmp'like a vector, but that's okay.
+  const dReal* w = dBodyGetAngularVel(body);
+  dMultiply0_331 (tmp,I,w);
+  dVector3 tau;
+  dCalcVectorCross3(tau,tmp,w);
+  dBodyAddTorque(body,tau[0],tau[1],tau[2]);
+}
+
+
+// simulation loop
+static void simLoop (int pause)
+{
+  if (!pause) {
+    expStep(expGyroBody);
+    dWorldStep (world,dt); 
+  }
+
+  dsSetTexture (DS_WOOD);
+  dsSetColor(1,0,0);
+  dsDrawBox(dBodyGetPosition(noGyroBody ),dBodyGetRotation(noGyroBody ),sides);
+  dsSetColor(1,1,0);
+  dsDrawBox(dBodyGetPosition(expGyroBody),dBodyGetRotation(expGyroBody),sides);
+  dsSetColor(0,1,0);
+  dsDrawBox(dBodyGetPosition(impGyroBody),dBodyGetRotation(impGyroBody),sides);
+}
+
+
+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.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  dInitODE2(0);
+  reset();
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  clear();
+  dCloseODE();
+  return 0;
+}