add ode

1 files changed, 449 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/demo/demo_space_stress.cpp b/libs/ode-0.16.1/ode/demo/demo_space_stress.cpp
new file mode 100644
index 0000000..dcbd9d7
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_space_stress.cpp
@@ -0,0 +1,449 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 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 <string>
+
+#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
+
+
+// some constants
+
+#define NUM 10000			// max number of objects
+#define DENSITY (5.0)		// density of all objects
+#define GPB 3			// maximum number of geometries per body
+#define MAX_CONTACTS 4		// maximum number of contact points per body
+#define WORLD_SIZE 20
+#define WORLD_HEIGHT 20
+
+
+// dynamics and collision objects
+
+struct MyObject {
+  dBodyID body;			// the body
+  dGeomID geom[GPB];		// geometries representing this body
+};
+
+static int num=0;		// number of objects in simulation
+static int nextobj=0;		// next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space = NULL;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int selected = -1;	// selected object
+static int show_aabb = 0;	// show geom AABBs?
+static int show_contacts = 0;	// show contact points?
+static int random_pos = 1;	// drop objects from random position?
+static int draw_geom = 1;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  int i;
+  // if (o1->body && o2->body) return;
+
+  // exit without doing anything if the two bodies are connected by a joint
+  dBodyID b1 = dGeomGetBody(o1);
+  dBodyID b2 = dGeomGetBody(o2);
+  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
+
+  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
+  for (i=0; i<MAX_CONTACTS; i++) {
+    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+    contact[i].surface.mu = dInfinity;
+    contact[i].surface.mu2 = 0;
+    contact[i].surface.bounce = 0.1;
+    contact[i].surface.bounce_vel = 0.1;
+    contact[i].surface.soft_cfm = 0.01;
+  }
+  if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
+			   sizeof(dContact))) {
+    dMatrix3 RI;
+    dRSetIdentity (RI);
+    const dReal ss[3] = {0.02,0.02,0.02};
+    for (i=0; i<numc; i++) {
+      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+      dJointAttach (c,b1,b2);
+      if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {2.1640f,-1.3079f,3.7600f};
+  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("To drop another object, press:\n");
+  printf ("   o to disable rendering.\n");
+  printf ("   b for box.\n");
+  printf ("   s for sphere.\n");
+  printf ("   c for cylinder.\n");
+  printf ("   x for a composite object.\n");
+  printf ("   y for cylinder.\n");
+  printf ("To select an object, press space.\n");
+  printf ("To disable the selected object, press d.\n");
+  printf ("To enable the selected object, press e.\n");
+  printf ("To toggle showing the geom AABBs, press a.\n");
+  printf ("To toggle showing the contact points, press t.\n");
+  printf ("To toggle dropping from random position/orientation, press r.\n");
+}
+
+
+char locase(char c)
+{
+    if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+    else return c;
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+    int i,j,k;
+    dReal sides[3];
+    dMass m;
+    bool setBody = false;
+
+    cmd = locase(cmd);
+    if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y') {
+        if (num < NUM) {
+            // new object to be created
+            i = num;
+            num++;
+        } else {
+            // recycle existing object
+            i = nextobj++;
+            nextobj %= num; // wrap-around if needed
+
+            // destroy the body and geoms for slot i
+            dBodyDestroy (obj[i].body);
+            obj[i].body = 0;
+
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k]) {
+                    dGeomDestroy(obj[i].geom[k]);
+                    obj[i].geom[k] = 0;
+                }
+        }
+
+        obj[i].body = dBodyCreate(world);
+
+        for (k=0; k<3; k++)
+            sides[k] = dRandReal()*0.5+0.1;
+
+        dMatrix3 R;
+        if (random_pos)  {
+            dBodySetPosition(obj[i].body,
+                             dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
+            dRFromAxisAndAngle(R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                               dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+        } else {
+            // higher than highest body position
+            dReal maxheight = 0;
+            for (k=0; k<num; k++) {
+                const dReal *pos = dBodyGetPosition(obj[k].body);
+                if (pos[2] > maxheight)
+                    maxheight = pos[2];
+            }
+            dBodySetPosition(obj[i].body, 0,0,maxheight+1);
+            dRSetIdentity(R);
+            //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0);
+        }
+
+        dBodySetRotation(obj[i].body,R);
+
+        if (cmd == 'b') {
+
+            dMassSetBox(&m,DENSITY,sides[0],sides[1],sides[2]);
+            obj[i].geom[0] = dCreateBox(space,sides[0],sides[1],sides[2]);
+
+        } else if (cmd == 'c') {
+
+            sides[0] *= 0.5;
+            dMassSetCapsule(&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
+
+        } else if (cmd == 'y') {
+
+            dMassSetCylinder(&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCylinder(space,sides[0],sides[1]);
+
+        } else if (cmd == 's') {
+
+            sides[0] *= 0.5;
+            dMassSetSphere (&m,DENSITY,sides[0]);
+            obj[i].geom[0] = dCreateSphere (space,sides[0]);
+
+        } else if (cmd == 'x') {
+
+            setBody = true;
+            // start accumulating masses for the composite geometries
+            dMass m2;
+            dMassSetZero (&m);
+
+            dReal dpos[GPB][3];	// delta-positions for composite geometries
+            dMatrix3 drot[GPB];
+      
+            // set random delta positions
+            for (j=0; j<GPB; j++)
+                for (k=0; k<3; k++)
+                    dpos[j][k] = dRandReal()*0.3-0.15;
+    
+            for (k=0; k<GPB; k++) {
+                if (k==0) {
+                    dReal radius = dRandReal()*0.25+0.05;
+                    obj[i].geom[k] = dCreateSphere (space,radius);
+                    dMassSetSphere (&m2,DENSITY,radius);
+                } else if (k==1) {
+                    obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
+                    dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
+                } else {
+                    dReal radius = dRandReal()*0.1+0.05;
+                    dReal length = dRandReal()*1.0+0.1;
+                    obj[i].geom[k] = dCreateCapsule(space,radius,length);
+                    dMassSetCapsule(&m2,DENSITY,3,radius,length);
+                }
+
+                dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                                   dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+                dMassRotate(&m2,drot[k]);
+		
+                dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+                // add to the total mass
+                dMassAdd(&m,&m2);
+
+            }
+            for (k=0; k<GPB; k++) {
+                dGeomSetBody(obj[i].geom[k],obj[i].body);
+                dGeomSetOffsetPosition(obj[i].geom[k],
+                                       dpos[k][0]-m.c[0],
+                                       dpos[k][1]-m.c[1],
+                                       dpos[k][2]-m.c[2]);
+                dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
+            }
+            dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
+            dBodySetMass(obj[i].body,&m);
+
+        }
+
+        if (!setBody) { // avoid calling for composite geometries
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k])
+                    dGeomSetBody(obj[i].geom[k],obj[i].body);
+
+            dBodySetMass(obj[i].body,&m);
+        }
+    }
+
+
+  if (cmd == ' ') {
+    selected++;
+    if (selected >= num) selected = 0;
+    if (selected < 0) selected = 0;
+  }
+  else if (cmd == 'd' && selected >= 0 && selected < num) {
+    dBodyDisable (obj[selected].body);
+  }
+  else if (cmd == 'e' && selected >= 0 && selected < num) {
+    dBodyEnable (obj[selected].body);
+  }
+  else if (cmd == 'a') {
+    show_aabb ^= 1;
+  }
+  else if (cmd == 't') {
+    show_contacts ^= 1;
+  }
+  else if (cmd == 'r') {
+    random_pos ^= 1;
+  }
+  else if (cmd == 'o') {
+    draw_geom ^= 1;
+  }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+    if (!draw_geom){
+        return;
+    }
+
+    if (!g) return;
+    if (!pos) pos = dGeomGetPosition(g);
+    if (!R) R = dGeomGetRotation(g);
+
+    int type = dGeomGetClass (g);
+    if (type == dBoxClass) {
+        dVector3 sides;
+        dGeomBoxGetLengths(g,sides);
+        dsDrawBox(pos,R,sides);
+    }
+    else if (type == dSphereClass) {
+        dsDrawSphere(pos,R,dGeomSphereGetRadius (g));
+    }
+    else if (type == dCapsuleClass) {
+        dReal radius,length;
+        dGeomCapsuleGetParams(g,&radius,&length);
+        dsDrawCapsule (pos,R,length,radius);
+    } else if (type == dCylinderClass) {
+        dReal radius,length;
+        dGeomCylinderGetParams(g,&radius,&length);
+        dsDrawCylinder(pos,R,length,radius);
+    }
+
+    if (show_aabb) {
+        // draw the bounding box for this geom
+        dReal aabb[6];
+        dGeomGetAABB(g,aabb);
+        dVector3 bbpos;
+        for (int i=0; i<3; i++)
+            bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+        dVector3 bbsides;
+        for (int j=0; j<3; j++)
+            bbsides[j] = aabb[j*2+1] - aabb[j*2];
+        dMatrix3 RI;
+        dRSetIdentity(RI);
+        dsSetColorAlpha(1,0,0,0.5);
+        dsDrawBox(bbpos,RI,bbsides);
+    }
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  dsSetColor (0,0,2);
+  dSpaceCollide (space,0,&nearCallback);
+  //if (!pause) dWorldStep (world,0.05);
+  if (!pause) dWorldQuickStep (world,0.05);
+  //if (!pause) dWorldStepFast (world,0.05, 1);
+
+  // remove all contact joints
+  dJointGroupEmpty (contactgroup);
+
+  dsSetColor (1,1,0);
+  dsSetTexture (DS_WOOD);
+  for (int i=0; i<num; i++) {
+    for (int j=0; j < GPB; j++) {
+      if (i==selected) {
+	dsSetColor (0,0.7,1);
+      }
+      else if (! dBodyIsEnabled (obj[i].body)) {
+	dsSetColor (1,0,0);
+      }
+      else {
+	dsSetColor (1,1,0);
+      }
+      drawGeom (obj[i].geom[j],0,0,show_aabb);
+    }
+  }
+}
+
+
+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;
+
+  dsSetSphereQuality(0);
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+
+  for (int i=1; i<argc; ++i) {
+      if (argv[i] == std::string("quad")) {
+          dVector3 Center = {0, 0, 0, 0};
+          dVector3 Extents = {WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, 0};
+          puts(":::: Using dQuadTreeSpace");
+          space = dQuadTreeSpaceCreate (0, Center, Extents, 6);
+      } else if (argv[i] == std::string("hash")) {
+          puts(":::: Using dHashSpace");
+          space = dHashSpaceCreate (0);
+      } else if (argv[i] == std::string("sap")) {
+          puts(":::: Using dSweepAndPruneSpace");
+          space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
+      } else if (argv[i] == std::string("simple")) {
+          puts(":::: Using dSimpleSpace");
+          space = dSimpleSpaceCreate(0);
+      }
+  }
+  if (!space) {
+      puts(":::: You can specify 'quad', 'hash', 'sap' or 'simple' in the");
+      puts(":::: command line to specify the type of space.");
+      puts(":::: Using SAP space by default.");
+      space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
+  }
+
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-0.5);
+  dWorldSetCFM (world,1e-5);
+  dCreatePlane (space,0,0,1,0);
+  memset (obj,0,sizeof(obj));
+
+  for (int i = 0; i < NUM; i++){
+	command('s');
+  }
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}