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Diffstat (limited to 'libs/ode-0.16.1/ode/demo/demo_cyl.cpp')
-rw-r--r-- | libs/ode-0.16.1/ode/demo/demo_cyl.cpp | 321 |
1 files changed, 321 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/demo/demo_cyl.cpp b/libs/ode-0.16.1/ode/demo/demo_cyl.cpp new file mode 100644 index 0000000..368a0c1 --- /dev/null +++ b/libs/ode-0.16.1/ode/demo/demo_cyl.cpp @@ -0,0 +1,321 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +// Test for non-capped cylinder, by Bram Stolk +#include <ode/odeconfig.h> +#include <assert.h> +#ifdef HAVE_UNISTD_H +#include <unistd.h> +#endif +#include <ode/ode.h> +#include <drawstuff/drawstuff.h> +#include "texturepath.h" + +#include "world_geom3.h" // this is our world mesh + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + + +#define BOX +#define CYL + +// some constants + +#define RADIUS 0.22 // wheel radius +#define WMASS 0.2 // wheel mass +#define WHEELW 0.2 // wheel width +#define BOXSZ 0.4 // box size +//#define CYL_GEOM_OFFSET // rotate cylinder using geom offset + +// dynamics and collision objects (chassis, 3 wheels, environment) + +static dWorldID world; +static dSpaceID space; +#ifdef BOX +static dBodyID boxbody; +static dGeomID boxgeom; +#endif +#ifdef CYL +static dBodyID cylbody; +static dGeomID cylgeom; +#endif +static dJointGroupID contactgroup; +static dGeomID world_mesh; + + +// this is called by dSpaceCollide when two objects in space are +// potentially colliding. + +static void nearCallback (void *data, dGeomID o1, dGeomID o2) +{ + assert(o1); + assert(o2); + + if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) + { + fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2); + // colliding a space with something + dSpaceCollide2(o1,o2,data,&nearCallback); + // Note we do not want to test intersections within a space, + // only between spaces. + return; + } + +// fprintf(stderr,"testing geoms %p %p\n", o1, o2); + + const int N = 32; + dContact contact[N]; + int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); + if (n > 0) + { + for (int i=0; i<n; i++) + { + contact[i].surface.slip1 = 0.7; + contact[i].surface.slip2 = 0.7; + contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2; + contact[i].surface.mu = 50.0; // was: dInfinity + contact[i].surface.soft_erp = 0.96; + contact[i].surface.soft_cfm = 0.04; + dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); + dJointAttach (c, + dGeomGetBody(contact[i].geom.g1), + dGeomGetBody(contact[i].geom.g2)); + } + } +} + + +// start simulation - set viewpoint + +static void start() +{ + dAllocateODEDataForThread(dAllocateMaskAll); + + static float xyz[3] = {-8,-9,3}; + static float hpr[3] = {45.0000f,-27.5000f,0.0000f}; + dsSetViewpoint (xyz,hpr); +} + + + +static void reset_state(void) +{ + float sx=-4, sy=-4, sz=2; + dQuaternion q; + dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); +#ifdef BOX + dBodySetPosition (boxbody, sx, sy+1, sz); + dBodySetLinearVel (boxbody, 0,0,0); + dBodySetAngularVel (boxbody, 0,0,0); + dBodySetQuaternion (boxbody, q); +#endif +#ifdef CYL + dBodySetPosition (cylbody, sx, sy, sz); + dBodySetLinearVel (cylbody, 0,0,0); + dBodySetAngularVel (cylbody, 0,0,0); + dBodySetQuaternion (cylbody, q); +#endif +} + + +// called when a key pressed + +static void command (int cmd) +{ + switch (cmd) + { + case ' ': + reset_state(); + break; + } +} + + + +// simulation loop + +static void simLoop (int pause) +{ + double simstep = 0.005; // 5ms simulation steps + double dt = dsElapsedTime(); + int nrofsteps = (int) ceilf(dt/simstep); + for (int i=0; i<nrofsteps && !pause; i++) + { + dSpaceCollide (space,0,&nearCallback); + dWorldQuickStep (world, simstep); + dJointGroupEmpty (contactgroup); + } + + dsSetColor (1,1,1); +#ifdef BOX + const dReal *BPos = dBodyGetPosition(boxbody); + const dReal *BRot = dBodyGetRotation(boxbody); + float bpos[3] = {BPos[0], BPos[1], BPos[2]}; + float brot[12] = { BRot[0], BRot[1], BRot[2], BRot[3], BRot[4], BRot[5], BRot[6], BRot[7], BRot[8], BRot[9], BRot[10], BRot[11] }; + float sides[3] = {BOXSZ, BOXSZ, BOXSZ}; + dsDrawBox + ( + bpos, + brot, + sides + ); // single precision +#endif +#ifdef CYL + const dReal *CPos = dGeomGetPosition(cylgeom); + const dReal *CRot = dGeomGetRotation(cylgeom); + float cpos[3] = {CPos[0], CPos[1], CPos[2]}; + float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] }; + dsDrawCylinder + ( +// dBodyGetPosition(cylbody), +// dBodyGetRotation(cylbody), + cpos, + crot, + WHEELW, + RADIUS + ); // single precision +#endif + + // draw world trimesh + dsSetColor(0.7,0.7,0.4); + dsSetTexture (DS_NONE); + + const dReal* Pos = dGeomGetPosition(world_mesh); + float pos[3] = { Pos[0], Pos[1], Pos[2] }; + + const dReal* Rot = dGeomGetRotation(world_mesh); + float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] }; + + int numi = sizeof(world_indices) / sizeof(dTriIndex); + + for (int i=0; i<numi/3; i++) + { + int i0 = world_indices[i*3+0]; + int i1 = world_indices[i*3+1]; + int i2 = world_indices[i*3+2]; + float *v0 = world_vertices+i0*3; + float *v1 = world_vertices+i1*3; + float *v2 = world_vertices+i2*3; + dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw + } +} + + +int main (int argc, char **argv) +{ + dMass m; + dMatrix3 R; + + // 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,-9.8); + dWorldSetQuickStepNumIterations (world, 12); + + + // Create a static world using a triangle mesh that we can collide with. + int numv = sizeof(world_vertices)/(3*sizeof(float)); + int numi = sizeof(world_indices)/ sizeof(dTriIndex); + printf("numv=%d, numi=%d\n", numv, numi); + dTriMeshDataID Data = dGeomTriMeshDataCreate(); + + dGeomTriMeshDataBuildSingle + ( + Data, + world_vertices, + 3 * sizeof(float), + numv, + world_indices, + numi, + 3 * sizeof(dTriIndex) + ); + + world_mesh = dCreateTriMesh(space, Data, 0, 0, 0); + dGeomSetPosition(world_mesh, 0, 0, 0.5); + dRFromAxisAndAngle (R, 0,1,0, 0.0); + dGeomSetRotation (world_mesh, R); + + +#ifdef BOX + boxbody = dBodyCreate (world); + dMassSetBox (&m,1, BOXSZ, BOXSZ, BOXSZ); + dMassAdjust (&m, 1); + dBodySetMass (boxbody,&m); + boxgeom = dCreateBox (0, BOXSZ, BOXSZ, BOXSZ); + dGeomSetBody (boxgeom,boxbody); + dSpaceAdd (space, boxgeom); +#endif +#ifdef CYL + cylbody = dBodyCreate (world); + dMassSetSphere (&m,1,RADIUS); + dMassAdjust (&m,WMASS); + dBodySetMass (cylbody,&m); + cylgeom = dCreateCylinder(0, RADIUS, WHEELW); + dGeomSetBody (cylgeom,cylbody); + + #if defined(CYL_GEOM_OFFSET) + dMatrix3 mat; + dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0); + dGeomSetOffsetRotation(cylgeom,mat); + #endif + + dSpaceAdd (space, cylgeom); +#endif + reset_state(); + + // run simulation + dsSimulationLoop (argc,argv,352,288,&fn); + + dJointGroupEmpty (contactgroup); + dJointGroupDestroy (contactgroup); + + // First destroy geoms, then space, then the world. +#ifdef CYL + dGeomDestroy (cylgeom); +#endif +#ifdef BOX + dGeomDestroy (boxgeom); +#endif + dGeomDestroy (world_mesh); + + dSpaceDestroy (space); + dWorldDestroy (world); + dCloseODE(); + return 0; + (void)world_normals; // get rid of compiler warnings +} + + + |