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+/*************************************************************************
+ * *
+ * 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
+
+#include "icosahedron_geom.h"
+
+
+//<---- Convex Object
+dReal planes[]= // planes for a cube, these should coincide with the face array
+ {
+ 1.0f ,0.0f ,0.0f ,0.25f,
+ 0.0f ,1.0f ,0.0f ,0.25f,
+ 0.0f ,0.0f ,1.0f ,0.25f,
+ -1.0f,0.0f ,0.0f ,0.25f,
+ 0.0f ,-1.0f,0.0f ,0.25f,
+ 0.0f ,0.0f ,-1.0f,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
+ */
+ };
+const unsigned int planecount=6;
+
+dReal points[]= // points for a cube
+ {
+ 0.25f,0.25f,0.25f, // point 0
+ -0.25f,0.25f,0.25f, // point 1
+
+ 0.25f,-0.25f,0.25f, // point 2
+ -0.25f,-0.25f,0.25f,// point 3
+
+ 0.25f,0.25f,-0.25f, // point 4
+ -0.25f,0.25f,-0.25f,// point 5
+
+ 0.25f,-0.25f,-0.25f,// point 6
+ -0.25f,-0.25f,-0.25f,// point 7
+ };
+const unsigned int pointcount=8;
+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 dsDrawConvex dsDrawConvexD
+#endif
+
+
+// some constants
+
+#define NUM 100 // max number of objects
+#define DENSITY (5.0) // density of all objects
+#define GPB 3 // maximum number of geometries per body
+#define MAX_CONTACTS 8 // maximum number of contact points per body
+#define MAX_FEEDBACKNUM 20
+#define GRAVITY REAL(0.5)
+
+// 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?
+static int write_world = 0;
+static int show_body = 0;
+
+struct MyFeedback {
+ dJointFeedback fb;
+ bool first;
+};
+static int doFeedback=0;
+static MyFeedback feedbacks[MAX_FEEDBACKNUM];
+static int fbnum=0;
+
+// 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) {
+ dsSetColor(0,0,1);
+ dsDrawBox(contact[i].geom.pos,RI,ss);
+ }
+ if (doFeedback && (b1==obj[selected].body || b2==obj[selected].body)) {
+ if (fbnum<MAX_FEEDBACKNUM) {
+ feedbacks[fbnum].first = b1==obj[selected].body;
+ dJointSetFeedback(c,&feedbacks[fbnum++].fb);
+ }
+ else fbnum++;
+ }
+ }
+ }
+}
+
+
+// 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 capsule.\n");
+ printf (" y for cylinder.\n");
+ printf (" v for a convex object.\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 dump transformation data for the selected object, press p.\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");
+ printf ("To save the current state to 'state.dif', press 1.\n");
+ printf ("To show joint feedbacks of selected object, press f.\n");
+}
+
+
+static 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)
+{
+ dsizeint i;
+ int j,k;
+ dReal sides[3];
+ dMass m;
+ bool setBody = false;
+
+ cmd = locase(cmd);
+ if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v') {
+ 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 == 'v') {
+
+ dMassSetBox(&m,DENSITY,0.25,0.25,0.25);
+#if 0
+ obj[i].geom[0] = dCreateConvex(space,
+ planes,
+ planecount,
+ points,
+ pointcount,
+ polygons);
+#else
+ obj[i].geom[0] = dCreateConvex(space,
+ Sphere_planes,
+ Sphere_planecount,
+ Sphere_points,
+ Sphere_pointcount,
+ Sphere_polygons);
+#endif
+
+ } 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 == -1)
+ 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 = !show_aabb;
+
+ } else if (cmd == 't') {
+
+ show_contacts = !show_contacts;
+
+ } else if (cmd == 'r') {
+
+ random_pos = !random_pos;
+ } else if (cmd == '1') {
+
+ write_world = 1;
+
+ } else if (cmd == 'p'&& selected >= 0) {
+
+ const dReal* pos = dGeomGetPosition(obj[selected].geom[0]);
+ const dReal* rot = dGeomGetRotation(obj[selected].geom[0]);
+ printf("POSITION:\n\t[%f,%f,%f]\n\n",pos[0],pos[1],pos[2]);
+ printf("ROTATION:\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\n",
+ rot[0],rot[1],rot[2],rot[3],
+ rot[4],rot[5],rot[6],rot[7],
+ rot[8],rot[9],rot[10],rot[11]);
+
+ } else if (cmd == 'f' && selected >= 0 && selected < num) {
+
+ if (dBodyIsEnabled(obj[selected].body))
+ doFeedback = 1;
+
+ }
+}
+
+
+// draw a geom
+
+void drawGeom(dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+ int i;
+
+ 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) {
+
+#if 0
+ dsDrawConvex(pos,R,planes,
+ planecount,
+ points,
+ pointcount,
+ polygons);
+#else
+ dsDrawConvex(pos,R,
+ Sphere_planes,
+ Sphere_planecount,
+ Sphere_points,
+ Sphere_pointcount,
+ Sphere_polygons);
+#endif
+
+ } else if (type == dCylinderClass) {
+
+ dReal radius,length;
+ dGeomCylinderGetParams(g,&radius,&length);
+ dsDrawCylinder(pos,R,length,radius);
+
+ }
+
+ if (show_body) {
+ dBodyID body = dGeomGetBody(g);
+ if (body) {
+ const dReal *bodypos = dBodyGetPosition(body);
+ const dReal *bodyr = dBodyGetRotation(body);
+ dReal bodySides[3] = { 0.1, 0.1, 0.1 };
+ dsSetColorAlpha(0,1,0,1);
+ dsDrawBox(bodypos,bodyr,bodySides);
+ }
+ }
+
+ if (show_aabb) {
+ // draw the bounding box for this geom
+ dReal aabb[6];
+ dGeomGetAABB(g,aabb);
+ dVector3 bbpos;
+ for (i=0; i<3; i++)
+ bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+ dVector3 bbsides;
+ for (i=0; i<3; i++)
+ bbsides[i] = aabb[i*2+1] - aabb[i*2];
+ dMatrix3 RI;
+ dRSetIdentity (RI);
+ dsSetColorAlpha(1,0,0,0.5);
+ dsDrawBox(bbpos,RI,bbsides);
+ }
+}
+
+
+// simulation loop
+
+static void simLoop(int pause)
+{
+ dSpaceCollide(space, 0, &nearCallback);
+
+ if (!pause)
+ dWorldQuickStep(world, 0.02);
+
+ if (write_world) {
+ FILE *f = fopen("state.dif","wt");
+ if (f) {
+ dWorldExportDIF(world,f,"X");
+ fclose (f);
+ }
+ write_world = 0;
+ }
+
+
+ if (doFeedback) {
+ if (fbnum>MAX_FEEDBACKNUM)
+ printf("joint feedback buffer overflow!\n");
+ else {
+ dVector3 sum = {0, 0, 0};
+ printf("\n");
+ for (int i=0; i<fbnum; i++) {
+ dReal* f = feedbacks[i].first?feedbacks[i].fb.f1:feedbacks[i].fb.f2;
+ printf("%f %f %f\n", f[0], f[1], f[2]);
+ sum[0] += f[0];
+ sum[1] += f[1];
+ sum[2] += f[2];
+ }
+ printf("Sum: %f %f %f\n", sum[0], sum[1], sum[2]);
+ dMass m;
+ dBodyGetMass(obj[selected].body, &m);
+ printf("Object G=%f\n", GRAVITY*m.mass);
+ }
+ doFeedback = 0;
+ fbnum = 0;
+ }
+
+ // remove all contact joints
+ dJointGroupEmpty(contactgroup);
+
+ 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(1,0.8,0);
+ } 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;
+
+ // create world
+ dInitODE2(0);
+ world = dWorldCreate();
+ space = dHashSpaceCreate(0);
+ contactgroup = dJointGroupCreate(0);
+ dWorldSetGravity(world,0,0,-GRAVITY);
+ dWorldSetCFM(world,1e-5);
+ dWorldSetAutoDisableFlag(world,1);
+
+#if 1
+
+ dWorldSetAutoDisableAverageSamplesCount( world, 10 );
+
+#endif
+
+ dWorldSetLinearDamping(world, 0.00001);
+ dWorldSetAngularDamping(world, 0.005);
+ dWorldSetMaxAngularSpeed(world, 200);
+
+ dWorldSetContactMaxCorrectingVel(world,0.1);
+ dWorldSetContactSurfaceLayer(world,0.001);
+ dCreatePlane(space,0,0,1,0);
+ memset(obj,0,sizeof(obj));
+
+ 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,640,480,&fn);
+
+ dThreadingImplementationShutdownProcessing(threading);
+ dThreadingFreeThreadPool(pool);
+ dWorldSetStepThreadingImplementation(world, NULL, NULL);
+ dThreadingFreeImplementation(threading);
+
+ dJointGroupDestroy(contactgroup);
+ dSpaceDestroy(space);
+ dWorldDestroy(world);
+ dCloseODE();
+}
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