add ode

1 files changed, 605 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp b/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp
new file mode 100644
index 0000000..1c53334
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp
@@ -0,0 +1,605 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// TriMesh test by Erwin de Vries
+
+#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
+
+//<---- Convex Object
+static const dReal planes[] =  // planes for a cube
+{
+    1.0f ,0.0f ,0.0f ,0.25f, 
+    0.0f ,1.0f ,0.0f ,0.25f, 
+    0.0f ,0.0f ,1.0f ,0.25f, 
+    0.0f ,0.0f ,-1.0f,0.25f, 
+    0.0f ,-1.0f,0.0f ,0.25f, 
+    -1.0f,0.0f ,0.0f ,0.25f 
+    /* 
+    1.0f ,0.0f ,0.0f ,2.0f, 
+    0.0f ,1.0f ,0.0f ,1.0f, 
+    0.0f ,0.0f ,1.0f ,1.0f, 
+    0.0f ,0.0f ,-1.0f,1.0f, 
+    0.0f ,-1.0f,0.0f ,1.0f, 
+    -1.0f,0.0f ,0.0f ,0.0f 
+    */ 
+};
+static const unsigned int planecount=6;
+
+static const dReal points[] = // points for a cube
+{ 
+    0.25f,0.25f,0.25f,  
+    -0.25f,0.25f,0.25f, 
+    
+    0.25f,-0.25f,0.25f, 
+    -0.25f,-0.25f,0.25f, 
+    
+    0.25f,0.25f,-0.25f, 
+    -0.25f,0.25f,-0.25f, 
+    
+    0.25f,-0.25f,-0.25f, 
+    -0.25f,-0.25f,-0.25f, 
+};
+static const unsigned int pointcount=8;
+
+static const unsigned int polygons[] = //Polygons for a cube (6 squares)
+  {
+    4,0,2,6,4, // positive X
+    4,1,0,4,5, // positive Y
+    4,0,1,3,2, // positive Z
+    4,3,1,5,7, // negative X
+    4,2,3,7,6, // negative Y
+    4,5,4,6,7, // negative Z
+  };
+//----> Convex Object
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawLine dsDrawLineD
+#define dsDrawTriangle dsDrawTriangleD
+#define dsDrawConvex dsDrawConvexD
+#endif
+
+
+// some constants
+
+#define NUM 200			// max number of objects
+#define DENSITY (5.0)		// density of all objects
+#define GPB 3			// maximum number of geometries per body
+#define MAX_CONTACTS 40		// maximum number of contact points per body
+
+
+// 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;
+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?
+
+#define VertexCount 5
+#define IndexCount 12
+
+static dVector3 Size;
+static float Vertices[VertexCount][3];
+static dTriIndex Indices[IndexCount];
+
+static dGeomID TriMesh;
+static dGeomID Ray;
+
+
+// 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++) {
+		if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){
+			dMatrix3 Rotation;
+			dRSetIdentity(Rotation);
+			dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01));
+			
+			dVector3 End;
+			End[0] = contact[i].geom.pos[0] + (contact[i].geom.normal[0] * contact[i].geom.depth);
+			End[1] = contact[i].geom.pos[1] + (contact[i].geom.normal[1] * contact[i].geom.depth);
+			End[2] = contact[i].geom.pos[2] + (contact[i].geom.normal[2] * contact[i].geom.depth);
+			End[3] = contact[i].geom.pos[3] + (contact[i].geom.normal[3] * contact[i].geom.depth);
+			
+			dsDrawLine(contact[i].geom.pos, End);
+			continue;
+		}
+		
+      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,1.7600f};
+  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("To drop another object, press:\n");
+  printf ("   b for box.\n");
+  printf ("   s for sphere.\n");
+  printf ("   c for cylinder.\n");
+  printf( "   v for a convex.\n" );
+  printf ("   x for a composite object.\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 == 'v' 
+      /* || cmd == 'l' */) {
+    if (num < NUM) {
+      i = num;
+      num++;
+    }
+    else {
+      i = nextobj;
+      nextobj++;
+      if (nextobj >= num) nextobj = 0;
+
+      // destroy the body and geoms for slot i
+      dBodyDestroy (obj[i].body);
+      for (k=0; k < GPB; k++) {
+	if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
+      }
+      memset (&obj[i],0,sizeof(obj[i]));
+    }
+
+    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()+1);
+      dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+			  dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+    }
+    else {
+      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);
+      dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
+    }
+    dBodySetRotation (obj[i].body,R);
+    dBodySetData (obj[i].body,(void*)(dsizeint)i);
+
+    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]);
+    }
+/*
+    // cylinder option not yet implemented
+    else if (cmd == 'l') {
+      sides[1] *= 0.5;
+      dMassSetCapsule (&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);
+
+        } else if (cmd == 'v') {
+
+            dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
+
+            obj[i].geom[0] = dCreateConvex(space,
+                                           planes,
+                                           planecount,
+                                           points,
+                                           pointcount,
+                                           polygons);
+        }
+
+        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;
+  }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+  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 == dConvexClass) {
+   //dVector3 sides={0.50,0.50,0.50};
+    dsDrawConvex(pos,R,planes,
+                 planecount,
+                 points,
+                 pointcount,
+                 polygons);
+  }
+/*
+  // cylinder option not yet implemented
+  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) 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);
+    }
+  }
+
+  /*{
+    for (int i = 1; i < IndexCount; i++) {
+      dsDrawLine(Vertices[Indices[i - 1]], Vertices[Indices[i]]);
+    }
+  }*/
+
+  {const dReal* Pos = dGeomGetPosition(TriMesh);
+  const dReal* Rot = dGeomGetRotation(TriMesh);
+
+  {for (int i = 0; i < IndexCount / 3; i++){
+    const float *p = Vertices[Indices[i * 3 + 0]];
+    const dVector3 v0 = { p[0], p[1], p[2] };
+    p = Vertices[Indices[i * 3 + 1]];
+    const dVector3 v1 = { p[0], p[1], p[2] };
+    p = Vertices[Indices[i * 3 + 2]];
+    const dVector3 v2 = { p[0], p[1], p[2] };
+    dsDrawTriangle(Pos, Rot, v0, v1, v2, 0);
+  }}}
+
+  if (Ray){
+	  dVector3 Origin, Direction;
+	  dGeomRayGet(Ray, Origin, Direction);
+	  
+	  dReal Length = dGeomRayGetLength(Ray);
+	  
+	  dVector3 End;
+	  End[0] = Origin[0] + (Direction[0] * Length);
+	  End[1] = Origin[1] + (Direction[1] * Length);
+	  End[2] = Origin[2] + (Direction[2] * Length);
+	  End[3] = Origin[3] + (Direction[3] * Length);
+	  
+	  dsDrawLine(Origin, End);
+  }
+}
+
+
+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);
+  world = dWorldCreate();
+
+  space = dSimpleSpaceCreate(0);
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-0.5);
+  dWorldSetCFM (world,1e-5);
+  //dCreatePlane (space,0,0,1,0);
+  memset (obj,0,sizeof(obj));
+  
+  Size[0] = 5.0f;
+  Size[1] = 5.0f;
+  Size[2] = 2.5f;
+  
+  Vertices[0][0] = -Size[0];
+  Vertices[0][1] = -Size[1];
+  Vertices[0][2] = Size[2];
+  
+  Vertices[1][0] = Size[0];
+  Vertices[1][1] = -Size[1];
+  Vertices[1][2] = Size[2];
+  
+  Vertices[2][0] = Size[0];
+  Vertices[2][1] = Size[1];
+  Vertices[2][2] = Size[2];
+  
+  Vertices[3][0] = -Size[0];
+  Vertices[3][1] = Size[1];
+  Vertices[3][2] = Size[2];
+  
+  Vertices[4][0] = 0;
+  Vertices[4][1] = 0;
+  Vertices[4][2] = 0;
+  
+  Indices[0] = 0;
+  Indices[1] = 1;
+  Indices[2] = 4;
+  
+  Indices[3] = 1;
+  Indices[4] = 2;
+  Indices[5] = 4;
+  
+  Indices[6] = 2;
+  Indices[7] = 3;
+  Indices[8] = 4;
+  
+  Indices[9] = 3;
+  Indices[10] = 0;
+  Indices[11] = 4;
+
+  dTriMeshDataID Data = dGeomTriMeshDataCreate();
+
+  //dGeomTriMeshDataBuildSimple(Data, (dReal*)Vertices, VertexCount, Indices, IndexCount);
+  dGeomTriMeshDataBuildSingle(Data, Vertices[0], 3 * sizeof(float), VertexCount, &Indices[0], IndexCount, 3 * sizeof(dTriIndex));
+  dGeomTriMeshDataPreprocess2(Data, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL);
+
+  TriMesh = dCreateTriMesh(space, Data, 0, 0, 0);
+
+  //dGeomSetPosition(TriMesh, 0, 0, 1.0);
+  
+  Ray = dCreateRay(space, 0.9);
+  dVector3 Origin, Direction;
+  Origin[0] = 0.0;
+  Origin[1] = 0;
+  Origin[2] = 0.5;
+  Origin[3] = 0;
+  
+  Direction[0] = 0;
+  Direction[1] = 1.1f;
+  Direction[2] = -1;
+  Direction[3] = 0;
+  dNormalize3(Direction);
+  
+  dGeomRaySet(Ray, Origin[0], Origin[1], Origin[2], Direction[0], Direction[1], Direction[2]);
+  
+  dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+  dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+  dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+  // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+  dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dThreadingImplementationShutdownProcessing(threading);
+  dThreadingFreeThreadPool(pool);
+  dWorldSetStepThreadingImplementation(world, NULL, NULL);
+  dThreadingFreeImplementation(threading);
+
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}