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Diffstat (limited to 'libs/ode-0.16.1/ode/demo/demo_cards.cpp')
| -rw-r--r-- | libs/ode-0.16.1/ode/demo/demo_cards.cpp | 237 |
1 files changed, 237 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/demo/demo_cards.cpp b/libs/ode-0.16.1/ode/demo/demo_cards.cpp new file mode 100644 index 0000000..17284ba --- /dev/null +++ b/libs/ode-0.16.1/ode/demo/demo_cards.cpp @@ -0,0 +1,237 @@ +/************************************************************************* + * * + * 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 <vector> +#include <ode/ode.h> +#include <drawstuff/drawstuff.h> +#include "texturepath.h" + +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#endif + +static int levels = 5; +static int ncards = 0; + +static dSpaceID space; +static dWorldID world; +static dJointGroupID contactgroup; + +struct Card { + dBodyID body; + dGeomID geom; + static const dReal sides[3]; + + Card() + { + body = dBodyCreate(world); + geom = dCreateBox(space, sides[0], sides[1], sides[2]); + dGeomSetBody(geom, body); + dGeomSetData(geom, this); + dMass mass; + mass.setBox(1, sides[0], sides[1], sides[2]); + dBodySetMass(body, &mass); + } + + ~Card() + { + dBodyDestroy(body); + dGeomDestroy(geom); + } + + void draw() const + { + dsDrawBox(dBodyGetPosition(body), + dBodyGetRotation(body), sides); + } +}; +static const dReal cwidth=.5, cthikness=.02, clength=1; +const dReal Card::sides[3] = { cwidth, cthikness, clength }; + + +std::vector<Card*> cards; + +int getncards(int levels) +{ + return (3*levels*levels + levels) / 2; +} + +void place_cards() +{ + ncards = getncards(levels); + // destroy removed cards (if any) + int oldcards = cards.size(); + for (int i=ncards; i<oldcards; ++i) + delete cards[i]; + cards.resize(ncards); + // construct new cards (if any) + for (int i=oldcards; i<ncards; ++i) + cards[i] = new Card; + + // for each level + int c = 0; + dMatrix3 right, left, hrot; + dReal angle = 20*M_PI/180.; + dRFromAxisAndAngle(right, 1, 0, 0, -angle); + dRFromAxisAndAngle(left, 1, 0, 0, angle); + + dRFromAxisAndAngle(hrot, 1, 0, 0, 91*M_PI/180.); + + dReal eps = 0.05; + dReal vstep = cos(angle)*clength + eps; + dReal hstep = sin(angle)*clength + eps; + + for (int lvl=0; lvl<levels; ++lvl) { + // there are 3*(levels-lvl)-1 cards in each level, except last + int n = (levels-lvl); + dReal height = (lvl)*vstep + vstep/2; + // inclined cards + for (int i=0; i<2*n; ++i, ++c) { + dBodySetPosition(cards[c]->body, + 0, + -n*hstep + hstep*i, + height + ); + if (i%2) + dBodySetRotation(cards[c]->body, left); + else + dBodySetRotation(cards[c]->body, right); + } + + if (n==1) // top of the house + break; + + // horizontal cards + for (int i=0; i<n-1; ++i, ++c) { + dBodySetPosition(cards[c]->body, + 0, + -(n-1 - (clength-hstep)/2)*hstep + 2*hstep*i, + height + vstep/2); + dBodySetRotation(cards[c]->body, hrot); + } + } + +} + + +void start() +{ + puts("Controls:"); + puts(" SPACE - reposition cards"); + puts(" - - one less level"); + puts(" = - one more level"); +} + +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); + + const int MAX_CONTACTS = 8; + dContact contact[MAX_CONTACTS]; + + int numc = dCollide (o1, o2, MAX_CONTACTS, + &contact[0].geom, + sizeof(dContact)); + + for (int i=0; i<numc; i++) { + contact[i].surface.mode = dContactApprox1; + contact[i].surface.mu = 5; + dJointID c = dJointCreateContact (world, contactgroup, contact+i); + dJointAttach (c, b1, b2); + } +} + + +void simLoop(int pause) +{ + if (!pause) { + dSpaceCollide (space, 0, &nearCallback); + dWorldQuickStep(world, 0.01); + dJointGroupEmpty(contactgroup); + } + + dsSetColor (1,1,0); + for (int i=0; i<ncards; ++i) { + dsSetColor (1, dReal(i)/ncards, 0); + cards[i]->draw(); + } + +} + +void command(int c) +{ + switch (c) { + case '=': + levels++; + place_cards(); + break; + case '-': + levels--; + if (levels <= 0) + levels++; + place_cards(); + break; + case ' ': + place_cards(); + break; + } +} + +int main(int argc, char **argv) +{ + dInitODE(); + + // 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; + + + world = dWorldCreate(); + dWorldSetGravity(world, 0, 0, -0.5); + dWorldSetQuickStepNumIterations(world, 50); // <-- increase for more stability + + space = dSimpleSpaceCreate(0); + contactgroup = dJointGroupCreate(0); + dGeomID ground = dCreatePlane(space, 0, 0, 1, 0); + + place_cards(); + + // run simulation + dsSimulationLoop (argc, argv, 640, 480, &fn); + + levels = 0; + place_cards(); + + dJointGroupDestroy(contactgroup); + dWorldDestroy(world); + dGeomDestroy(ground); + dSpaceDestroy(space); + + dCloseODE(); +} |