add ode

1 files changed, 620 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/export-dif.cpp b/libs/ode-0.16.1/ode/src/export-dif.cpp
new file mode 100644
index 0000000..450021a
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/export-dif.cpp
@@ -0,0 +1,620 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+ * Export a DIF (Dynamics Interchange Format) file.
+ */
+
+
+// @@@ TODO:
+//	* export all spaces, and geoms in spaces, not just ones attached to bodies
+//	  (separate export function?)
+//	* say the space each geom is in, so reader can construct space heirarchy
+//	* limot --> separate out into limits and motors?
+//	* make sure ODE-specific parameters divided out
+
+
+#include <ode/ode.h>
+#include "config.h"
+#include "objects.h"
+#include "joints/joints.h"
+#include "collision_kernel.h"
+
+//***************************************************************************
+// utility
+
+struct PrintingContext {
+    FILE *file;		// file to write to
+    int precision;		// digits of precision to print
+    int indent;		// number of levels of indent
+
+    void printIndent();
+    void printReal (dReal x);
+    void print (const char *name, int x);
+    void print (const char *name, unsigned x);
+    void print (const char *name, dReal x);
+    void print (const char *name, const dReal *x, int n=3);
+    void print (const char *name, const char *x=0);
+    void printNonzero (const char *name, dReal x);
+    void printNonzero (const char *name, const dReal x[3]);
+};
+
+
+void PrintingContext::printIndent()
+{
+    for (int i=0; i<indent; i++) fputc ('\t',file);
+}
+
+
+void PrintingContext::print (const char *name, int x)
+{
+    printIndent();
+    fprintf (file,"%s = %d,\n",name,x);
+}
+
+void PrintingContext::print (const char *name, unsigned x)
+{
+    printIndent();
+    fprintf (file,"%s = %u,\n",name,x);
+}
+
+void PrintingContext::printReal (dReal x)
+{
+    if (x==dInfinity) {
+        fprintf (file,"inf");
+    }
+    else if (x==-dInfinity) {
+        fprintf (file,"-inf");
+    }
+    else {
+        fprintf (file,"%.*g",precision,x);
+    }
+}
+
+
+void PrintingContext::print (const char *name, dReal x)
+{
+    printIndent();
+    fprintf (file,"%s = ",name);
+    printReal (x);
+    fprintf (file,",\n");
+}
+
+
+void PrintingContext::print (const char *name, const dReal *x, int n)
+{
+    printIndent();
+    fprintf (file,"%s = {",name);
+    for (int i=0; i<n; i++) {
+        printReal (x[i]);
+        if (i < n-1) fputc (',',file);
+    }
+    fprintf (file,"},\n");
+}
+
+
+void PrintingContext::print (const char *name, const char *x)
+{
+    printIndent();
+    if (x) {
+        fprintf (file,"%s = \"%s\",\n",name,x);
+    }
+    else {
+        fprintf (file,"%s\n",name);
+    }
+}
+
+
+void PrintingContext::printNonzero (const char *name, dReal x)
+{
+    if (x != 0) print (name,x);
+}
+
+
+void PrintingContext::printNonzero (const char *name, const dReal x[3])
+{
+    if (x[0] != 0 && x[1] != 0 && x[2] != 0) print (name,x);
+}
+
+//***************************************************************************
+// joints
+
+
+static void printLimot (PrintingContext &c, dxJointLimitMotor &limot, int num)
+{
+    if (num >= 0) {
+        c.printIndent();
+        fprintf (c.file,"limit%d = {\n",num);
+    }
+    else {
+        c.print ("limit = {");
+    }
+    c.indent++;
+    c.print ("low_stop",limot.lostop);
+    c.print ("high_stop",limot.histop);
+    c.printNonzero ("bounce",limot.bounce);
+    c.print ("ODE = {");
+    c.indent++;
+    c.printNonzero ("stop_erp",limot.stop_erp);
+    c.printNonzero ("stop_cfm",limot.stop_cfm);
+    c.indent--;
+    c.print ("},");
+    c.indent--;
+    c.print ("},");
+
+    if (num >= 0) {
+        c.printIndent();
+        fprintf (c.file,"motor%d = {\n",num);
+    }
+    else {
+        c.print ("motor = {");
+    }
+    c.indent++;
+    c.printNonzero ("vel",limot.vel);
+    c.printNonzero ("fmax",limot.fmax);
+    c.print ("ODE = {");
+    c.indent++;
+    c.printNonzero ("fudge_factor",limot.fudge_factor);
+    c.printNonzero ("normal_cfm",limot.normal_cfm);
+    c.indent--;
+    c.print ("},");
+    c.indent--;
+    c.print ("},");
+}
+
+
+static const char *getJointName (dxJoint *j)
+{
+    switch (j->type()) {
+        case dJointTypeBall: return "ball";
+        case dJointTypeHinge: return "hinge";
+        case dJointTypeSlider: return "slider";
+        case dJointTypeContact: return "contact";
+        case dJointTypeUniversal: return "universal";
+        case dJointTypeHinge2: return "ODE_hinge2";
+        case dJointTypeFixed: return "fixed";
+        case dJointTypeNull: return "null";
+        case dJointTypeAMotor: return "ODE_angular_motor";
+        case dJointTypeLMotor: return "ODE_linear_motor";
+        case dJointTypePR: return "PR";
+        case dJointTypePU: return "PU";
+    case dJointTypePiston: return "piston";
+        default: return "unknown";
+    }
+}
+
+
+static void printBall (PrintingContext &c, dxJoint *j)
+{
+    dxJointBall *b = (dxJointBall*) j;
+    c.print ("anchor1",b->anchor1);
+    c.print ("anchor2",b->anchor2);
+}
+
+
+static void printHinge (PrintingContext &c, dxJoint *j)
+{
+    dxJointHinge *h = (dxJointHinge*) j;
+    c.print ("anchor1",h->anchor1);
+    c.print ("anchor2",h->anchor2);
+    c.print ("axis1",h->axis1);
+    c.print ("axis2",h->axis2);
+    c.print ("qrel",h->qrel,4);
+    printLimot (c,h->limot,-1);
+}
+
+
+static void printSlider (PrintingContext &c, dxJoint *j)
+{
+    dxJointSlider *s = (dxJointSlider*) j;
+    c.print ("axis1",s->axis1);
+    c.print ("qrel",s->qrel,4);
+    c.print ("offset",s->offset);
+    printLimot (c,s->limot,-1);
+}
+
+
+static void printContact (PrintingContext &c, dxJoint *j)
+{
+    dxJointContact *ct = (dxJointContact*) j;
+    int mode = ct->contact.surface.mode;
+    c.print ("pos",ct->contact.geom.pos);
+    c.print ("normal",ct->contact.geom.normal);
+    c.print ("depth",ct->contact.geom.depth);
+    //@@@ may want to write the geoms g1 and g2 that are involved, for debugging.
+    //    to do this we must have written out all geoms in all spaces, not just
+    //    geoms that are attached to bodies.
+    c.print ("mu",ct->contact.surface.mu);
+    if (mode & dContactMu2) c.print ("mu2",ct->contact.surface.mu2);
+    if (mode & dContactBounce) c.print ("bounce",ct->contact.surface.bounce);
+    if (mode & dContactBounce) c.print ("bounce_vel",ct->contact.surface.bounce_vel);
+    if (mode & dContactSoftERP) c.print ("soft_ERP",ct->contact.surface.soft_erp);
+    if (mode & dContactSoftCFM) c.print ("soft_CFM",ct->contact.surface.soft_cfm);
+    if (mode & dContactMotion1) c.print ("motion1",ct->contact.surface.motion1);
+    if (mode & dContactMotion2) c.print ("motion2",ct->contact.surface.motion2);
+    if (mode & dContactSlip1) c.print ("slip1",ct->contact.surface.slip1);
+    if (mode & dContactSlip2) c.print ("slip2",ct->contact.surface.slip2);
+    int fa = 0;		// friction approximation code
+    if (mode & dContactApprox1_1) fa |= 1;
+    if (mode & dContactApprox1_2) fa |= 2;
+    if (fa) c.print ("friction_approximation",fa);
+    if (mode & dContactFDir1) c.print ("fdir1",ct->contact.fdir1);
+}
+
+
+static void printUniversal (PrintingContext &c, dxJoint *j)
+{
+    dxJointUniversal *u = (dxJointUniversal*) j;
+    c.print ("anchor1",u->anchor1);
+    c.print ("anchor2",u->anchor2);
+    c.print ("axis1",u->axis1);
+    c.print ("axis2",u->axis2);
+    c.print ("qrel1",u->qrel1,4);
+    c.print ("qrel2",u->qrel2,4);
+    printLimot (c,u->limot1,1);
+    printLimot (c,u->limot2,2);
+}
+
+
+static void printHinge2 (PrintingContext &c, dxJoint *j)
+{
+    dxJointHinge2 *h = (dxJointHinge2*) j;
+    c.print ("anchor1",h->anchor1);
+    c.print ("anchor2",h->anchor2);
+    c.print ("axis1",h->axis1);
+    c.print ("axis2",h->axis2);
+    c.print ("v1",h->v1);	//@@@ much better to write out 'qrel' here, if it's available
+    c.print ("v2",h->v2);
+    c.print ("susp_erp",h->susp_erp);
+    c.print ("susp_cfm",h->susp_cfm);
+    printLimot (c,h->limot1,1);
+    printLimot (c,h->limot2,2);
+}
+
+static void printPR (PrintingContext &c, dxJoint *j)
+{
+    dxJointPR *pr = (dxJointPR*) j;
+    c.print ("anchor2",pr->anchor2);
+    c.print ("axisR1",pr->axisR1);
+    c.print ("axisR2",pr->axisR2);
+    c.print ("axisP1",pr->axisP1);
+    c.print ("qrel",pr->qrel,4);
+    c.print ("offset",pr->offset);
+    printLimot (c,pr->limotP,1);
+    printLimot (c,pr->limotR,2);
+}
+
+static void printPU (PrintingContext &c, dxJoint *j)
+{
+    dxJointPU *pu = (dxJointPU*) j;
+    c.print ("anchor1",pu->anchor1);
+    c.print ("anchor2",pu->anchor2);
+    c.print ("axis1",pu->axis1);
+    c.print ("axis2",pu->axis2);
+    c.print ("axisP",pu->axisP1);
+    c.print ("qrel1",pu->qrel1,4);
+    c.print ("qrel2",pu->qrel2,4);
+    printLimot (c,pu->limot1,1);
+    printLimot (c,pu->limot2,2);
+    printLimot (c,pu->limotP,3);
+}
+
+static void printPiston (PrintingContext &c, dxJoint *j)
+{
+    dxJointPiston *rap = (dxJointPiston*) j;
+    c.print ("anchor1",rap->anchor1);
+    c.print ("anchor2",rap->anchor2);
+    c.print ("axis1",rap->axis1);
+    c.print ("axis2",rap->axis2);
+    c.print ("qrel",rap->qrel,4);
+    printLimot (c,rap->limotP,1);
+    printLimot (c, rap->limotR, 2);
+}
+
+static void printFixed (PrintingContext &c, dxJoint *j)
+{
+    dxJointFixed *f = (dxJointFixed*) j;
+    c.print ("qrel",f->qrel);
+    c.print ("offset",f->offset);
+}
+
+static void printLMotor (PrintingContext &c, dxJoint *j)
+{
+    dxJointLMotor *a = (dxJointLMotor*) j;
+    c.print("num", a->num);
+    c.printIndent();
+    fprintf (c.file,"rel = {%d,%d,%d},\n",a->rel[0],a->rel[1],a->rel[2]);
+    c.print ("axis1",a->axis[0]);
+    c.print ("axis2",a->axis[1]);
+    c.print ("axis3",a->axis[2]);
+    for (int i=0; i<3; i++) printLimot (c,a->limot[i],i+1);
+}
+
+struct dxAMotorJointPrinter
+{
+    static void print(PrintingContext &c, dxJointAMotor *a)
+    {
+        c.print ("num",a->m_num);
+        c.print ("mode",a->m_mode);
+        c.printIndent();
+        fprintf (c.file,"rel = {%d,%d,%d},\n",a->m_rel[0],a->m_rel[1],a->m_rel[2]);
+        c.print ("axis1",a->m_axis[0]);
+        c.print ("axis2",a->m_axis[1]);
+        c.print ("axis3",a->m_axis[2]);
+        for (int i=0; i<3; i++) printLimot (c,a->m_limot[i],i+1);
+        c.print ("angle1",a->m_angle[0]);
+        c.print ("angle2",a->m_angle[1]);
+        c.print ("angle3",a->m_angle[2]);
+    }
+};
+
+static void printAMotor (PrintingContext &c, dxJoint *j)
+{
+    dxJointAMotor *a = (dxJointAMotor*) j;
+    dxAMotorJointPrinter::print(c, a);
+}
+
+//***************************************************************************
+// geometry
+
+static void printGeom (PrintingContext &c, dxGeom *g);
+
+static void printSphere (PrintingContext &c, dxGeom *g)
+{
+    c.print ("type","sphere");
+    c.print ("radius",dGeomSphereGetRadius (g));
+}
+
+
+static void printBox (PrintingContext &c, dxGeom *g)
+{
+    dVector3 sides;
+    dGeomBoxGetLengths (g,sides);
+    c.print ("type","box");
+    c.print ("sides",sides);
+}
+
+
+static void printCapsule (PrintingContext &c, dxGeom *g)
+{
+    dReal radius,length;
+    dGeomCapsuleGetParams (g,&radius,&length);
+    c.print ("type","capsule");
+    c.print ("radius",radius);
+    c.print ("length",length);
+}
+
+
+static void printCylinder (PrintingContext &c, dxGeom *g)
+{
+    dReal radius,length;
+    dGeomCylinderGetParams (g,&radius,&length);
+    c.print ("type","cylinder");
+    c.print ("radius",radius);
+    c.print ("length",length);
+}
+
+
+static void printPlane (PrintingContext &c, dxGeom *g)
+{
+    dVector4 e;
+    dGeomPlaneGetParams (g,e);
+    c.print ("type","plane");
+    c.print ("normal",e);
+    c.print ("d",e[3]);
+}
+
+
+static void printRay (PrintingContext &c, dxGeom *g)
+{
+    dReal length = dGeomRayGetLength (g);
+    c.print ("type","ray");
+    c.print ("length",length);
+}
+
+
+static void printConvex (PrintingContext &c, dxGeom * /*g*/)
+{
+    c.print ("type","convex");
+    ///@todo Print information about convex hull
+}
+
+
+
+static void printTriMesh (PrintingContext &c, dxGeom * /*g*/)
+{
+    c.print ("type","trimesh");
+    //@@@ i don't think that the trimesh accessor functions are really
+    //    sufficient to read out all the triangle data, and anyway we
+    //    should have a method of not duplicating trimesh data that is
+    //    shared.
+}
+
+
+static void printHeightfieldClass (PrintingContext &c, dxGeom * /*g*/)
+{
+    c.print ("type","heightfield");
+    ///@todo Print information about heightfield
+}
+
+
+static void printGeom (PrintingContext &c, dxGeom *g)
+{
+    unsigned long category = dGeomGetCategoryBits (g);
+    if (category != (unsigned long)(~0)) {
+        c.printIndent();
+        fprintf (c.file,"category_bits = %lu\n",category);
+    }
+    unsigned long collide = dGeomGetCollideBits (g);
+    if (collide != (unsigned long)(~0)) {
+        c.printIndent();
+        fprintf (c.file,"collide_bits = %lu\n",collide);
+    }
+    if (!dGeomIsEnabled (g)) {
+        c.print ("disabled",1);
+    }
+    switch (g->type) {
+        case dSphereClass: printSphere (c,g); break;
+        case dBoxClass: printBox (c,g); break;
+        case dCapsuleClass: printCapsule (c,g); break;
+        case dCylinderClass: printCylinder (c,g); break;
+        case dPlaneClass: printPlane (c,g); break;
+        case dRayClass: printRay (c,g); break;
+        case dConvexClass: printConvex (c,g); break;
+        case dTriMeshClass: printTriMesh (c,g); break;
+        case dHeightfieldClass: printHeightfieldClass (c,g); break;
+    }
+}
+
+//***************************************************************************
+// world
+
+void dWorldExportDIF (dWorldID w, FILE *file, const char *prefix)
+{
+    PrintingContext c;
+    c.file = file;
+#if defined(dSINGLE)
+    c.precision = 7;
+#else
+    c.precision = 15;
+#endif
+    c.indent = 1;
+
+    fprintf (file,"-- Dynamics Interchange Format v0.1\n\n%sworld = dynamics.world {\n",prefix);
+    c.print ("gravity",w->gravity);
+    c.print ("ODE = {");
+    c.indent++;
+    c.print ("ERP",w->global_erp);
+    c.print ("CFM",w->global_cfm);
+    c.print ("auto_disable = {");
+    c.indent++;
+    c.print ("linear_threshold",w->adis.linear_average_threshold);
+    c.print ("angular_threshold",w->adis.angular_average_threshold);
+    c.print ("average_samples",(int)w->adis.average_samples);
+    c.print ("idle_time",w->adis.idle_time);
+    c.print ("idle_steps",w->adis.idle_steps);
+    fprintf (file,"\t\t},\n\t},\n}\n");
+    c.indent -= 3;
+
+    // bodies
+    int num = 0;
+    fprintf (file,"%sbody = {}\n",prefix);
+    for (dxBody *b=w->firstbody; b; b=(dxBody*)b->next) {
+        b->tag = num;
+        fprintf (file,"%sbody[%d] = dynamics.body {\n\tworld = %sworld,\n",prefix,num,prefix);
+        c.indent++;
+        c.print ("pos",b->posr.pos);
+        c.print ("q",b->q,4);
+        c.print ("lvel",b->lvel);
+        c.print ("avel",b->avel);
+        c.print ("mass",b->mass.mass);
+        fprintf (file,"\tI = {{");
+        for (int i=0; i<3; i++) {
+            for (int j=0; j<3; j++) {
+                c.printReal (b->mass.I[i*4+j]);
+                if (j < 2) fputc (',',file);
+            }
+            if (i < 2) fprintf (file,"},{");
+        }
+        fprintf (file,"}},\n");
+        c.printNonzero ("com",b->mass.c);
+        c.print ("ODE = {");
+        c.indent++;
+        if (b->flags & dxBodyFlagFiniteRotation) c.print ("finite_rotation",1);
+        if (b->flags & dxBodyDisabled) c.print ("disabled",1);
+        if (b->flags & dxBodyNoGravity) c.print ("no_gravity",1);
+        if (b->flags & dxBodyAutoDisable) {
+            c.print ("auto_disable = {");
+            c.indent++;
+            c.print ("linear_threshold",b->adis.linear_average_threshold);
+            c.print ("angular_threshold",b->adis.angular_average_threshold);
+            c.print ("average_samples",(int)b->adis.average_samples);
+            c.print ("idle_time",b->adis.idle_time);
+            c.print ("idle_steps",b->adis.idle_steps);
+            c.print ("time_left",b->adis_timeleft);
+            c.print ("steps_left",b->adis_stepsleft);
+            c.indent--;
+            c.print ("},");
+        }
+        c.printNonzero ("facc",b->facc);
+        c.printNonzero ("tacc",b->tacc);
+        if (b->flags & dxBodyFlagFiniteRotationAxis) {
+            c.print ("finite_rotation_axis",b->finite_rot_axis);
+        }
+        c.indent--;
+        c.print ("},");
+        if (b->geom) {
+            c.print ("geometry = {");
+            c.indent++;
+            for (dxGeom *g=b->geom; g; g=g->body_next) {
+                c.print ("{");
+                c.indent++;
+                printGeom (c,g);
+                c.indent--;
+                c.print ("},");
+            }
+            c.indent--;
+            c.print ("},");
+        }
+        c.indent--;
+        c.print ("}");
+        num++;
+    }
+
+    // joints
+    num = 0;
+    fprintf (file,"%sjoint = {}\n",prefix);
+    for (dxJoint *j=w->firstjoint; j; j=(dxJoint*)j->next) {
+        c.indent++;
+        const char *name = getJointName (j);
+        fprintf (file,
+            "%sjoint[%d] = dynamics.%s_joint {\n"
+            "\tworld = %sworld,\n"
+            "\tbody = {"
+            ,prefix,num,name,prefix);
+
+        if ( j->node[0].body )
+            fprintf (file,"%sbody[%d]",prefix,j->node[0].body->tag);
+        if ( j->node[1].body )
+            fprintf (file,",%sbody[%d]",prefix,j->node[1].body->tag);
+        fprintf (file,"}\n");
+
+        switch (j->type()) {
+            case dJointTypeBall: printBall (c,j); break;
+            case dJointTypeHinge: printHinge (c,j); break;
+            case dJointTypeSlider: printSlider (c,j); break;
+            case dJointTypeContact: printContact (c,j); break;
+            case dJointTypeUniversal: printUniversal (c,j); break;
+            case dJointTypeHinge2: printHinge2 (c,j); break;
+            case dJointTypeFixed: printFixed (c,j); break;
+            case dJointTypeAMotor: printAMotor (c,j); break;
+            case dJointTypeLMotor: printLMotor (c,j); break;
+            case dJointTypePR: printPR (c,j); break;
+            case dJointTypePU: printPU (c,j); break;
+            case dJointTypePiston: printPiston (c,j); break;
+            default: c.print("unknown joint");
+        }
+        c.indent--;
+        c.print ("}");
+        num++;
+    }
+}