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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. *
+ * *
+ *************************************************************************/
+
+/* exercise the C++ interface */
+
+#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
+
+//using namespace ode;
+
+// dynamics and collision objects
+
+static dWorld world;
+static dSimpleSpace space (0);
+static dBody body[NUM];
+static dBallJoint joint[NUM-1];
+static dJointGroup contactgroup;
+static dBox box[NUM];
+
+
+// this is called by space.collide when two objects in space are
+// potentially colliding.
+
+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);
+ if (b1 && b2 && dAreConnected (b1,b2)) return;
+
+ // @@@ it's still more convenient to use the C interface here.
+
+ dContact contact;
+ contact.surface.mode = 0;
+ contact.surface.mu = dInfinity;
+ if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
+ dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&contact);
+ dJointAttach (c,b1,b2);
+ }
+}
+
+
+// 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);
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+ if (!pause) {
+ static double angle = 0;
+ angle += 0.05;
+ body[NUM-1].addForce (0,0,1.5*(sin(angle)+1.0));
+
+ space.collide (0,&nearCallback);
+ world.step (0.05);
+
+ // remove all contact joints
+ contactgroup.empty();
+ }
+
+ dReal sides[3] = {SIDE,SIDE,SIDE};
+ dsSetColor (1,1,0);
+ dsSetTexture (DS_WOOD);
+ for (int i=0; i<NUM; i++)
+ dsDrawBox (body[i].getPosition(),body[i].getRotation(),sides);
+}
+
+
+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 = 0;
+ fn.stop = 0;
+ fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+ // create world
+ dInitODE2(0);
+
+ int i;
+ contactgroup.create ();
+ world.setGravity (0,0,-0.5);
+ dWorldSetCFM (world.id(),1e-5);
+ dPlane plane (space,0,0,1,0);
+
+ for (i=0; i<NUM; i++) {
+ body[i].create (world);
+ dReal k = i*SIDE;
+ body[i].setPosition (k,k,k+0.4);
+ dMass m;
+ m.setBox (1,SIDE,SIDE,SIDE);
+ m.adjust (MASS);
+ body[i].setMass (&m);
+ body[i].setData ((void*)(dsizeint)i);
+
+ box[i].create (space,SIDE,SIDE,SIDE);
+ box[i].setBody (body[i]);
+ }
+ for (i=0; i<(NUM-1); i++) {
+ joint[i].create (world);
+ joint[i].attach (body[i],body[i+1]);
+ dReal k = (i+0.5)*SIDE;
+ joint[i].setAnchor (k,k,k+0.4);
+ }
+
+ // run simulation
+ dsSimulationLoop (argc,argv,352,288,&fn);
+
+ dCloseODE();
+ return 0;
+}