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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. *
+ * *
+ *************************************************************************/
+
+/*
+ This demo shows how to use dContactMotionN in a lifting platform.
+*/
+//#include <unistd.h> // for usleep()
+#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
+#define dsDrawConvex dsDrawConvexD
+#endif
+
+
+// some constants
+
+#define NUM 100 // max number of objects
+#define DENSITY (5.0) // density of all objects
+#define GPB 3 // maximum number of geometries per body
+#define MAX_CONTACTS 8 // maximum number of contact points per body
+#define USE_GEOM_OFFSET 1
+
+// dynamics and collision objects
+
+struct MyObject {
+ dBodyID body; // the body
+ dGeomID geom[GPB]; // geometries representing this body
+};
+
+static int num=0; // number of objects in simulation
+static int nextobj=0; // next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int show_aabb = 0; // show geom AABBs?
+static int show_contacts = 0; // show contact points?
+static int random_pos = 1; // drop objects from random position?
+static int write_world = 0;
+static int show_body = 0;
+
+static dGeomID platform, ground;
+
+dVector3 platpos = {0, 0, 0};
+int mov_type = 2;
+dReal mov_time = 0;
+
+
+const dReal mov1_speed = 0.2;
+
+dVector3 mov2_vel = { 0.2, 0.1, 0.25};
+
+
+
+
+/****************************************************************
+ * Movement 1: move platform up, reset every 80 units of time. *
+ * This is the simplest case *
+ ****************************************************************/
+static void moveplat_1(dReal stepsize)
+{
+ mov_time += stepsize;
+ if (mov_time > 80)
+ mov_time = 0;
+
+ platpos[0] = platpos[1] = 0;
+ // the platform moves up (Z) at constant speed: mov1_speed
+ platpos[2] = mov1_speed * mov_time;
+}
+
+// Generate contact info for movement 1
+static void contactplat_1(dContact &contact)
+{
+ contact.surface.mode |= dContactMotionN;
+ contact.surface.motionN = mov1_speed;
+}
+
+
+
+/****************************************************************
+ * Movement 2: move platform along direction mov2_vel, reset *
+ * every 80 units of time. *
+ * This is the most general case: the geom moves along *
+ * an arbitrary direction. *
+ ****************************************************************/
+static void moveplat_2(dReal stepsize)
+{
+ mov_time += stepsize;
+ if (mov_time > 80)
+ mov_time = 0;
+
+ // the platform moves at constant speed: mov2_speed
+ platpos[0] = mov2_vel[0] * mov_time;
+ platpos[1] = mov2_vel[1] * mov_time;
+ platpos[2] = mov2_vel[2] * mov_time;
+}
+
+// Generate contact info for movement 1
+static void contactplat_2(dContact &contact)
+{
+ /*
+ For arbitrary contact directions we need to project the moving
+ geom's velocity against the contact normal and fdir1, fdir2
+ (obtained with dPlaneSpace()). Assuming moving geom=g2
+ (so the contact joint is in the moving geom's reference frame):
+ motion1 = dCalcVectorDot3(fdir1, vel);
+ motion2 = dCalcVectorDot3(fdir2, vel);
+ motionN = dCalcVectorDot3(normal, vel);
+
+ For geom=g1 just negate motionN and motion2. fdir1 is an arbitrary
+ vector, so there's no need to negate motion1.
+
+ */
+ contact.surface.mode |=
+ dContactMotionN | // velocity along normal
+ dContactMotion1 | dContactMotion2 | // and along the contact plane
+ dContactFDir1; // don't forget to set the direction 1
+
+
+ // This is a convenience function: given a vector, it finds other 2 perpendicular vectors
+ dVector3 motiondir1, motiondir2;
+ dPlaneSpace(contact.geom.normal, motiondir1, motiondir2);
+ for (int i=0; i<3; ++i)
+ contact.fdir1[i] = motiondir1[i];
+
+
+ dReal inv = 1;
+ if (contact.geom.g1 == platform)
+ inv = -1;
+
+ contact.surface.motion1 = dCalcVectorDot3(mov2_vel, motiondir1);
+ contact.surface.motion2 = inv * dCalcVectorDot3(mov2_vel, motiondir2);
+ contact.surface.motionN = inv * dCalcVectorDot3(mov2_vel, contact.geom.normal);
+
+}
+
+
+
+
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+ dMatrix3 RI;
+ static const dReal ss[3] = {0.02,0.02,0.02};
+
+ dContact contact[MAX_CONTACTS];
+ int numc = dCollide (o1, o2, MAX_CONTACTS,
+ &contact[0].geom, sizeof(dContact));
+
+ if (numc)
+ dRSetIdentity(RI);
+
+ bool isplatform = (o1 == platform) || (o2 == platform);
+
+ for (int i=0; i< numc; i++) {
+ contact[i].surface.mode = dContactBounce;
+ contact[i].surface.mu = 1;
+ contact[i].surface.bounce = 0.25;
+ contact[i].surface.bounce_vel = 0.01;
+
+ if (isplatform) {
+ switch (mov_type) {
+ case 1:
+ contactplat_1(contact[i]);
+ break;
+ case 2:
+ contactplat_2(contact[i]);
+ break;
+ }
+ }
+
+ dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+ dJointAttach (c, dGeomGetBody(o1), dGeomGetBody(o2));
+ if (show_contacts)
+ dsDrawBox (contact[i].geom.pos, RI, ss);
+ }
+}
+
+
+// start simulation - set viewpoint
+
+static float xyz[3] = {2.1106f,-1.3007,2.f};
+static float hpr[3] = {150.f,-13.5000f,0.0000f};
+
+static void start()
+{
+ //dAllocateODEDataForThread(dAllocateMaskAll);
+ dsSetViewpoint (xyz,hpr);
+ printf ("To drop another object, press:\n");
+ printf (" b for box.\n");
+ printf (" s for sphere.\n");
+ printf (" c for capsule.\n");
+ printf (" y for cylinder.\n");
+ printf ("Press m to change the movement type\n");
+ printf ("Press space to reset the platform\n");
+ printf ("To toggle showing the geom AABBs, press a.\n");
+ printf ("To toggle showing the contact points, press t.\n");
+ printf ("To toggle dropping from random position/orientation, press r.\n");
+ printf ("To save the current state to 'state.dif', press 1.\n");
+}
+
+
+char locase (char c)
+{
+ if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+ else return c;
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+ dsizeint i;
+ int k;
+ dReal sides[3];
+ dMass m;
+ int setBody;
+
+ cmd = locase (cmd);
+ if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'y')
+ {
+ setBody = 0;
+ if (num < NUM) {
+ i = num;
+ num++;
+ }
+ else {
+ i = nextobj;
+ nextobj++;
+ if (nextobj >= num) nextobj = 0;
+
+ // destroy the body and geoms for slot i
+ if (obj[i].body) {
+ dBodyDestroy (obj[i].body);
+ }
+ for (k=0; k < GPB; k++) {
+ if (obj[i].geom[k]) {
+ dGeomDestroy (obj[i].geom[k]);
+ }
+ }
+ memset (&obj[i],0,sizeof(obj[i]));
+ }
+
+ obj[i].body = dBodyCreate (world);
+ for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
+
+ dMatrix3 R;
+ if (random_pos)
+ {
+ dBodySetPosition (obj[i].body,
+ dRandReal()*2-1 + platpos[0],
+ dRandReal()*2-1 + platpos[1],
+ dRandReal()+2 + platpos[2]);
+ dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+ dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+ }
+ else
+ {
+ dBodySetPosition (obj[i].body,
+ platpos[0],
+ platpos[1],
+ platpos[2]+2);
+ dRSetIdentity (R);
+ }
+ dBodySetRotation (obj[i].body,R);
+ dBodySetData (obj[i].body,(void*) i);
+
+ if (cmd == 'b') {
+ dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
+ obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
+ }
+ else if (cmd == 'c') {
+ sides[0] *= 0.5;
+ dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
+ obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
+ }
+ else if (cmd == 'y') {
+ dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]);
+ obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
+ }
+ else if (cmd == 's') {
+ sides[0] *= 0.5;
+ dMassSetSphere (&m,DENSITY,sides[0]);
+ obj[i].geom[0] = dCreateSphere (space,sides[0]);
+ }
+
+ if (!setBody)
+ for (k=0; k < GPB; k++) {
+ if (obj[i].geom[k]) {
+ dGeomSetBody (obj[i].geom[k],obj[i].body);
+ }
+ }
+
+ dBodySetMass (obj[i].body,&m);
+ }
+ else if (cmd == 'a') {
+ show_aabb ^= 1;
+ }
+ else if (cmd == 't') {
+ show_contacts ^= 1;
+ }
+ else if (cmd == 'r') {
+ random_pos ^= 1;
+ }
+ else if (cmd == '1') {
+ write_world = 1;
+ }
+ else if (cmd == ' ') {
+ mov_time = 0;
+ }
+ else if (cmd == 'm') {
+ mov_type = mov_type==1 ? 2 : 1;
+ mov_time = 0;
+ }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+ int i;
+
+ if (!g) return;
+ if (!pos) pos = dGeomGetPosition (g);
+ if (!R) R = dGeomGetRotation (g);
+
+ int type = dGeomGetClass (g);
+ if (type == dBoxClass) {
+ dVector3 sides;
+ dGeomBoxGetLengths (g,sides);
+ dsDrawBox (pos,R,sides);
+ }
+ else if (type == dSphereClass) {
+ dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
+ }
+ else if (type == dCapsuleClass) {
+ dReal radius,length;
+ dGeomCapsuleGetParams (g,&radius,&length);
+ dsDrawCapsule (pos,R,length,radius);
+ }
+ else if (type == dCylinderClass) {
+ dReal radius,length;
+ dGeomCylinderGetParams (g,&radius,&length);
+ dsDrawCylinder (pos,R,length,radius);
+ }
+
+ if (show_body) {
+ dBodyID body = dGeomGetBody(g);
+ if (body) {
+ const dReal *bodypos = dBodyGetPosition (body);
+ const dReal *bodyr = dBodyGetRotation (body);
+ dReal bodySides[3] = { 0.1, 0.1, 0.1 };
+ dsSetColorAlpha(0,1,0,1);
+ dsDrawBox(bodypos,bodyr,bodySides);
+ }
+ }
+ if (show_aabb) {
+ // draw the bounding box for this geom
+ dReal aabb[6];
+ dGeomGetAABB (g,aabb);
+ dVector3 bbpos;
+ for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+ dVector3 bbsides;
+ for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
+ dMatrix3 RI;
+ dRSetIdentity (RI);
+ dsSetColorAlpha (1,0,0,0.5);
+ dsDrawBox (bbpos,RI,bbsides);
+ }
+}
+
+
+// simulation loop
+
+static void updatecam()
+{
+ xyz[0] = platpos[0] + 3.3;
+ xyz[1] = platpos[1] - 1.8;
+ xyz[2] = platpos[2] + 2;
+ dsSetViewpoint (xyz, hpr);
+}
+
+static void simLoop (int pause)
+{
+ const dReal stepsize = 0.02;
+
+ dsSetColor (0,0,2);
+ dSpaceCollide (space,0,&nearCallback);
+ if (!pause) {
+
+ if (mov_type == 1)
+ moveplat_1(stepsize);
+ else
+ moveplat_2(stepsize);
+
+ dGeomSetPosition(platform, platpos[0], platpos[1], platpos[2]);
+ updatecam();
+ dWorldQuickStep (world,stepsize);
+ //dWorldStep (world,stepsize);
+ }
+
+ if (write_world) {
+ FILE *f = fopen ("state.dif","wt");
+ if (f) {
+ dWorldExportDIF (world,f,"X");
+ fclose (f);
+ }
+ write_world = 0;
+ }
+
+ // remove all contact joints
+ dJointGroupEmpty (contactgroup);
+
+ dsSetColor (1,1,0);
+ dsSetTexture (DS_WOOD);
+ for (int i=0; i<num; i++) {
+ for (int j=0; j < GPB; j++) {
+ if (! dBodyIsEnabled (obj[i].body)) {
+ dsSetColor (1,0.8,0);
+ }
+ else {
+ dsSetColor (1,1,0);
+ }
+ drawGeom (obj[i].geom[j],0,0,show_aabb);
+ }
+ }
+ dsSetColor (1,0,0);
+ drawGeom (platform,0,0,show_aabb);
+ //usleep(5000);
+}
+
+
+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 = &command;
+ fn.stop = 0;
+ fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+ // create world
+ dInitODE();
+ world = dWorldCreate();
+
+#if 1
+ space = dHashSpaceCreate (0);
+#elif 0
+ dVector3 center = {0,0,0}, extents = { 100, 100, 100};
+ space = dQuadTreeSpaceCreate(0, center, extents, 5);
+#elif 0
+ space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
+#else
+ space = dSimpleSpaceCreate(0);
+#endif
+
+ contactgroup = dJointGroupCreate (0);
+ dWorldSetGravity (world,0,0,-0.5);
+ dWorldSetCFM (world,1e-5);
+
+ dWorldSetLinearDamping(world, 0.00001);
+ dWorldSetAngularDamping(world, 0.005);
+ dWorldSetMaxAngularSpeed(world, 200);
+
+ dWorldSetContactSurfaceLayer (world,0.001);
+ ground = dCreatePlane (space,0,0,1,0);
+
+ memset (obj,0,sizeof(obj));
+
+ // create lift platform
+ platform = dCreateBox(space, 4, 4, 1);
+
+ dGeomSetCategoryBits(ground, 1ul);
+ dGeomSetCategoryBits(platform, 2ul);
+ dGeomSetCollideBits(ground, ~2ul);
+ dGeomSetCollideBits(platform, ~1ul);
+
+ // run simulation
+ dsSimulationLoop (argc,argv,352,288,&fn);
+
+ dJointGroupDestroy (contactgroup);
+ dSpaceDestroy (space);
+ dWorldDestroy (world);
+ dCloseODE();
+ return 0;
+}
+
+
+// Local Variables:
+// c-basic-offset:4
+// End:
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