add ode

1 files changed, 209 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/demo/demo_motor.cpp b/libs/ode-0.16.1/ode/demo/demo_motor.cpp
new file mode 100644
index 0000000..9e0dede
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_motor.cpp
@@ -0,0 +1,209 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#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
+#endif
+
+
+// some constants
+#define SIDE (0.5f)	// side length of a box
+#define MASS (1.0)	// mass of a box
+
+
+// dynamics and collision objects
+static dWorldID world;
+static dBodyID body[2];
+static dGeomID geom[2];
+static dJointID lmotor[2];
+static dJointID amotor[2];
+static dSpaceID space;
+static dJointGroupID contactgroup;
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
+  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n");
+  printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n");
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  if (cmd == 'q' || cmd == 'Q') {
+  	dJointSetLMotorParam(lmotor[0],dParamVel,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel3,0.1);
+  } else if (cmd == 'a' || cmd == 'A') {
+  	dJointSetLMotorParam(lmotor[0],dParamVel,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel3,0);
+  } else if (cmd == 'z' || cmd == 'Z') {
+  	dJointSetLMotorParam(lmotor[0],dParamVel,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel3,-0.1);
+  } else if (cmd == 'w' || cmd == 'W') {
+  	dJointSetLMotorParam(lmotor[1],dParamVel,0.1);
+  	dJointSetLMotorParam(lmotor[1],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[1],dParamVel3,0);
+  } else if (cmd == 'e' || cmd == 'E') {
+  	dJointSetLMotorParam(lmotor[1],dParamVel,0);
+  	dJointSetLMotorParam(lmotor[1],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[1],dParamVel3,0);
+  } else if (cmd == 'r' || cmd == 'R') {
+  	dJointSetLMotorParam(lmotor[1],dParamVel,-0.1);
+  	dJointSetLMotorParam(lmotor[1],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[1],dParamVel3,0);
+  }
+  
+}
+
+
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  // exit without doing anything if the two bodies are connected by a joint
+  dBodyID b1 = dGeomGetBody(o1);
+  dBodyID b2 = dGeomGetBody(o2);
+
+  dContact contact;
+  contact.surface.mode = 0;
+  contact.surface.mu = dInfinity;
+  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
+    dJointID c = dJointCreateContact (world,contactgroup,&contact);
+    dJointAttach (c,b1,b2);
+  }
+}
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  if (!pause) {
+    dSpaceCollide(space,0,&nearCallback);
+    dWorldQuickStep (world,0.05);
+	dJointGroupEmpty(contactgroup);
+  }
+
+  dReal sides1[3];
+  dGeomBoxGetLengths(geom[0], sides1);
+  dReal sides2[3];
+  dGeomBoxGetLengths(geom[1], sides2);
+  dsSetTexture (DS_WOOD);
+  dsSetColor (1,1,0);
+  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
+  dsSetColor (0,1,1);
+  dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
+}
+
+
+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;
+
+  // create world
+  dInitODE2(0);
+  contactgroup = dJointGroupCreate(0);
+  world = dWorldCreate();
+  space = dSimpleSpaceCreate(0);
+  dMass m;
+  dMassSetBox (&m,1,SIDE,SIDE,SIDE);
+  dMassAdjust (&m,MASS);
+
+  body[0] = dBodyCreate (world);
+  dBodySetMass (body[0],&m);
+  dBodySetPosition (body[0],0,0,1);
+  geom[0] = dCreateBox(space,SIDE,SIDE,SIDE);
+  body[1] = dBodyCreate (world);
+  dBodySetMass (body[1],&m);
+  dBodySetPosition (body[1],0,0,2);
+  geom[1] = dCreateBox(space,SIDE,SIDE,SIDE); 
+
+  dGeomSetBody(geom[0],body[0]);
+  dGeomSetBody(geom[1],body[1]);
+
+  lmotor[0] = dJointCreateLMotor (world,0);
+  dJointAttach (lmotor[0],body[0],body[1]);
+  lmotor[1] = dJointCreateLMotor (world,0);
+  dJointAttach (lmotor[1],body[0],0);
+  amotor[0] = dJointCreateAMotor(world,0);
+  dJointAttach(amotor[0], body[0],body[1]);
+  amotor[1] = dJointCreateAMotor(world,0);
+  dJointAttach(amotor[1], body[0], 0);
+  
+  for (int i=0; i<2; i++) {
+	  dJointSetAMotorNumAxes(amotor[i], 3);
+	  dJointSetAMotorAxis(amotor[i],0,1,1,0,0);
+	  dJointSetAMotorAxis(amotor[i],1,1,0,1,0);
+	  dJointSetAMotorAxis(amotor[i],2,1,0,0,1);
+	  dJointSetAMotorParam(amotor[i],dParamFMax,0.00001);
+	  dJointSetAMotorParam(amotor[i],dParamFMax2,0.00001);
+	  dJointSetAMotorParam(amotor[i],dParamFMax3,0.00001);
+
+	  dJointSetAMotorParam(amotor[i],dParamVel,0);
+	  dJointSetAMotorParam(amotor[i],dParamVel2,0);
+	  dJointSetAMotorParam(amotor[i],dParamVel3,0);
+
+	  dJointSetLMotorNumAxes(lmotor[i],3);
+	  dJointSetLMotorAxis(lmotor[i],0,1,1,0,0);
+	  dJointSetLMotorAxis(lmotor[i],1,1,0,1,0);
+	  dJointSetLMotorAxis(lmotor[i],2,1,0,0,1);
+	 
+	  dJointSetLMotorParam(lmotor[i],dParamFMax,0.0001);
+	  dJointSetLMotorParam(lmotor[i],dParamFMax2,0.0001);
+	  dJointSetLMotorParam(lmotor[i],dParamFMax3,0.0001);
+  }
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dJointGroupDestroy(contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}