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Diffstat (limited to 'libs/ode-0.16.1/ode/demo/demo_chain2.cpp')
| -rw-r--r-- | libs/ode-0.16.1/ode/demo/demo_chain2.cpp | 165 |
1 files changed, 165 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/demo/demo_chain2.cpp b/libs/ode-0.16.1/ode/demo/demo_chain2.cpp new file mode 100644 index 0000000..3dec131 --- /dev/null +++ b/libs/ode-0.16.1/ode/demo/demo_chain2.cpp @@ -0,0 +1,165 @@ +/************************************************************************* + * * + * 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; +} |