diff options
Diffstat (limited to 'libs/ode-0.16.1/ode/demo/demo_chain1.c')
| -rw-r--r-- | libs/ode-0.16.1/ode/demo/demo_chain1.c | 171 |
1 files changed, 171 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/demo/demo_chain1.c b/libs/ode-0.16.1/ode/demo/demo_chain1.c new file mode 100644 index 0000000..a6d7b38 --- /dev/null +++ b/libs/ode-0.16.1/ode/demo/demo_chain1.c @@ -0,0 +1,171 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* exercise the C interface */ + +#include <stdio.h> +#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 10 /* number of boxes */ +#define SIDE (0.2) /* side length of a box */ +#define MASS (1.0) /* mass of a box */ +#define RADIUS (0.1732f) /* sphere radius */ + + +/* dynamics and collision objects */ + +static dWorldID world; +static dSpaceID space; +static dBodyID body[NUM]; +static dJointID joint[NUM-1]; +static dJointGroupID contactgroup; +static dGeomID sphere[NUM]; + + +/* this is called by dSpaceCollide when two objects in space are + * potentially colliding. + */ + +static void nearCallback (void *data, dGeomID o1, dGeomID o2) +{ + /* exit without doing anything if the two bodies are connected by a joint */ + dBodyID b1,b2; + dContact contact; + (void)data; + + b1 = dGeomGetBody(o1); + b2 = dGeomGetBody(o2); + if (b1 && b2 && dAreConnected (b1,b2)) return; + + contact.surface.mode = 0; + contact.surface.mu = 0.1; + contact.surface.mu2 = 0; + if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) { + dJointID c = dJointCreateContact (world,contactgroup,&contact); + dJointAttach (c,b1,b2); + } +} + + +/* start simulation - set viewpoint */ + +static void start() +{ + static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; + static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; + + dAllocateODEDataForThread(dAllocateMaskAll); + dsSetViewpoint (xyz,hpr); +} + + +/* simulation loop */ + +static void simLoop (int pause) +{ + int i; + if (!pause) { + static double angle = 0; + angle += 0.05; + dBodyAddForce (body[NUM-1],0,0,1.5*(sin(angle)+1.0)); + + dSpaceCollide (space,0,&nearCallback); + dWorldStep (world,0.05); + + /* remove all contact joints */ + dJointGroupEmpty (contactgroup); + } + + dsSetColor (1,1,0); + dsSetTexture (DS_WOOD); + for (i=0; i<NUM; i++) dsDrawSphere (dBodyGetPosition(body[i]), + dBodyGetRotation(body[i]),RADIUS); +} + + +int main (int argc, char **argv) +{ + int i; + dReal k; + dMass m; + + /* setup pointers to drawstuff callback functions */ + dsFunctions fn; + fn.version = DS_VERSION; + fn.start = &start; + fn.step = &simLoop; + fn.command = 0; + fn.stop = 0; + fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; + + /* create world */ + dInitODE2(0); + world = dWorldCreate(); + space = dHashSpaceCreate (0); + contactgroup = dJointGroupCreate (1000000); + dWorldSetGravity (world,0,0,-0.5); + dCreatePlane (space,0,0,1,0); + + for (i=0; i<NUM; i++) { + body[i] = dBodyCreate (world); + k = i*SIDE; + dBodySetPosition (body[i],k,k,k+0.4); + dMassSetBox (&m,1,SIDE,SIDE,SIDE); + dMassAdjust (&m,MASS); + dBodySetMass (body[i],&m); + sphere[i] = dCreateSphere (space,RADIUS); + dGeomSetBody (sphere[i],body[i]); + } + for (i=0; i<(NUM-1); i++) { + joint[i] = dJointCreateBall (world,0); + dJointAttach (joint[i],body[i],body[i+1]); + k = (i+0.5)*SIDE; + dJointSetBallAnchor (joint[i],k,k,k+0.4); + } + + /* run simulation */ + dsSimulationLoop (argc,argv,352,288,&fn); + + dJointGroupDestroy (contactgroup); + dSpaceDestroy (space); + dWorldDestroy (world); + dCloseODE(); + return 0; +} |