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Diffstat (limited to 'libs/ode-0.16.1/ode/demo/demo_moving_trimesh.cpp')
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diff --git a/libs/ode-0.16.1/ode/demo/demo_moving_trimesh.cpp b/libs/ode-0.16.1/ode/demo/demo_moving_trimesh.cpp new file mode 100644 index 0000000..26034ae --- /dev/null +++ b/libs/ode-0.16.1/ode/demo/demo_moving_trimesh.cpp @@ -0,0 +1,677 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001-2003 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. * + * * + *************************************************************************/ + +#include <ode/ode.h> +#include <drawstuff/drawstuff.h> +#include "texturepath.h" +#include "bunny_geom.h" + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + +//<---- Convex Object +static const dReal planes[] = // planes for a cube +{ + 1.0f ,0.0f ,0.0f ,0.25f, + 0.0f ,1.0f ,0.0f ,0.25f, + 0.0f ,0.0f ,1.0f ,0.25f, + 0.0f ,0.0f ,-1.0f,0.25f, + 0.0f ,-1.0f,0.0f ,0.25f, + -1.0f,0.0f ,0.0f ,0.25f + /* + 1.0f ,0.0f ,0.0f ,2.0f, + 0.0f ,1.0f ,0.0f ,1.0f, + 0.0f ,0.0f ,1.0f ,1.0f, + 0.0f ,0.0f ,-1.0f,1.0f, + 0.0f ,-1.0f,0.0f ,1.0f, + -1.0f,0.0f ,0.0f ,0.0f + */ +}; +static const unsigned int planecount=6; + +static const dReal points[] = // points for a cube +{ + 0.25f,0.25f,0.25f, + -0.25f,0.25f,0.25f, + + 0.25f,-0.25f,0.25f, + -0.25f,-0.25f,0.25f, + + 0.25f,0.25f,-0.25f, + -0.25f,0.25f,-0.25f, + + 0.25f,-0.25f,-0.25f, + -0.25f,-0.25f,-0.25f, +}; +static const unsigned int pointcount=8; + +static const unsigned int polygons[] = //Polygons for a cube (6 squares) + { + 4,0,2,6,4, // positive X + 4,1,0,4,5, // positive Y + 4,0,1,3,2, // positive Z + 4,3,1,5,7, // negative X + 4,2,3,7,6, // negative Y + 4,5,4,6,7, // negative Z + }; +//----> Convex Object + +int tmTriangles[] = +{ + 0,2,6, + 0,6,4, + 1,0,4, + 1,4,5, + 0,1,3, + 0,3,2, + 3,1,5, + 3,5,7, + 2,3,7, + 2,7,6, + 5,4,6, + 5,6,7 +}; + +float tmVertices[] = +{ + 0.25f,0.25f,0.25f, // point 0 + -0.25f,0.25f,0.25f, // point 1 + + 0.25f,-0.25f,0.25f, // point 2 + -0.25f,-0.25f,0.25f,// point 3 + + 0.25f,0.25f,-0.25f, // point 4 + -0.25f,0.25f,-0.25f,// point 5 + + 0.25f,-0.25f,-0.25f,// point 6 + -0.25f,-0.25f,-0.25f,// point 7 +}; + +// select correct drawing functions + +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#define dsDrawSphere dsDrawSphereD +#define dsDrawCylinder dsDrawCylinderD +#define dsDrawCapsule dsDrawCapsuleD +#define dsDrawLine dsDrawLineD +#define dsDrawTriangle dsDrawTriangleD +#define dsDrawConvex dsDrawConvexD +#endif + + +// some constants + +#define NUM 200 // max number of objects +#define DENSITY (5.0) // density of all objects +#define GPB 3 // maximum number of geometries per body +#define MAX_CONTACTS 64 // maximum number of contact points per body + + +// dynamics and collision objects + +struct MyObject { + dBodyID body; // the body + dGeomID geom[GPB]; // geometries representing this body + + // Trimesh only - double buffered matrices for 'last transform' setup + dReal matrix_dblbuff[ 16 * 2 ]; + int last_matrix_index; +}; + +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 selected = -1; // selected object +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? + +typedef dReal dVector3R[3]; + +dGeomID TriMesh1; +dGeomID TriMesh2; +static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data + +// this is called by dSpaceCollide when two objects in space are +// potentially colliding. + +static void nearCallback (void *, dGeomID o1, dGeomID o2) +{ + int i; + // if (o1->body && o2->body) return; + + // exit without doing anything if the two bodies are connected by a joint + dBodyID b1 = dGeomGetBody(o1); + dBodyID b2 = dGeomGetBody(o2); + if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; + + dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box + for (i=0; i<MAX_CONTACTS; i++) { + contact[i].surface.mode = dContactBounce | dContactSoftCFM; + contact[i].surface.mu = dInfinity; + contact[i].surface.mu2 = 0; + contact[i].surface.bounce = 0.1; + contact[i].surface.bounce_vel = 0.1; + contact[i].surface.soft_cfm = 0.01; + } + if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom, + sizeof(dContact))) { + dMatrix3 RI; + dRSetIdentity (RI); + const dReal ss[3] = {0.02,0.02,0.02}; + for (i=0; i<numc; i++) { + dJointID c = dJointCreateContact (world,contactgroup,contact+i); + dJointAttach (c,b1,b2); + if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss); + } + } +} + + +// 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); + printf ("To drop another object, press:\n"); + printf (" b for box.\n"); + printf (" s for sphere.\n"); + printf (" y for cylinder.\n"); + printf (" c for capsule.\n"); + printf (" x for a composite object.\n"); + printf (" v for a convex object.\n"); + printf (" m for a trimesh.\n"); + printf ("To select an object, press space.\n"); + printf ("To disable the selected object, press d.\n"); + printf ("To enable the selected object, press e.\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"); +} + + +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) +{ + int i,j,k; + dReal sides[3]; + dMass m; + bool setBody = false; + + cmd = locase (cmd); + if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' || cmd == 'v') { + if (num < NUM) { + i = num; + num++; + } + else { + i = nextobj; + nextobj++; + if (nextobj >= num) nextobj = 0; + + // destroy the body and geoms for slot i + 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,dRandReal()*2-1,dRandReal()+3); + dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, + dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); + } + else { + dReal maxheight = 0; + for (k=0; k<num; k++) { + const dReal *pos = dBodyGetPosition (obj[k].body); + if (pos[2] > maxheight) maxheight = pos[2]; + } + dBodySetPosition (obj[i].body, 0,0,maxheight+1); + dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); + } + dBodySetRotation (obj[i].body,R); + dBodySetData (obj[i].body,(void*)(dsizeint)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 == 'v') { + + dMassSetBox (&m,DENSITY,0.25,0.25,0.25); + obj[i].geom[0] = dCreateConvex(space, + planes, + planecount, + points, + pointcount, + polygons); + } + else if (cmd == 'y') { + sides[1] *= 0.5; + 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]); + } + else if (cmd == 'm') { + dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); + dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, + (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex)); + dGeomTriMeshDataPreprocess2(new_tmdata, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL); + + + obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); + + // remember the mesh's dTriMeshDataID on its userdata for convenience. + dGeomSetData(obj[i].geom[0], new_tmdata); + + dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); + printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); + dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); + dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); + } + else if (cmd == 'x') { + + setBody = true; + // start accumulating masses for the composite geometries + dMass m2; + dMassSetZero (&m); + + dReal dpos[GPB][3]; // delta-positions for composite geometries + dMatrix3 drot[GPB]; + + // set random delta positions + for (j=0; j<GPB; j++) + for (k=0; k<3; k++) + dpos[j][k] = dRandReal()*0.3-0.15; + + for (k=0; k<GPB; k++) { + if (k==0) { + dReal radius = dRandReal()*0.25+0.05; + obj[i].geom[k] = dCreateSphere (space,radius); + dMassSetSphere (&m2,DENSITY,radius); + } else if (k==1) { + obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]); + dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]); + } else { + dReal radius = dRandReal()*0.1+0.05; + dReal length = dRandReal()*1.0+0.1; + obj[i].geom[k] = dCreateCapsule(space,radius,length); + dMassSetCapsule(&m2,DENSITY,3,radius,length); + } + + dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, + dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); + dMassRotate(&m2,drot[k]); + + dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]); + + // add to the total mass + dMassAdd(&m,&m2); + + } + for (k=0; k<GPB; k++) { + dGeomSetBody(obj[i].geom[k],obj[i].body); + dGeomSetOffsetPosition(obj[i].geom[k], + dpos[k][0]-m.c[0], + dpos[k][1]-m.c[1], + dpos[k][2]-m.c[2]); + dGeomSetOffsetRotation(obj[i].geom[k], drot[k]); + } + dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]); + dBodySetMass(obj[i].body,&m); + + } + + if (!setBody) { // avoid calling for composite geometries + for (k=0; k < GPB; k++) + if (obj[i].geom[k]) + dGeomSetBody(obj[i].geom[k],obj[i].body); + + dBodySetMass(obj[i].body,&m); + } + } + + if (cmd == ' ') { + selected++; + if (selected >= num) selected = 0; + if (selected < 0) selected = 0; + } + else if (cmd == 'd' && selected >= 0 && selected < num) { + dBodyDisable (obj[selected].body); + } + else if (cmd == 'e' && selected >= 0 && selected < num) { + dBodyEnable (obj[selected].body); + } + else if (cmd == 'a') { + show_aabb ^= 1; + } + else if (cmd == 't') { + show_contacts ^= 1; + } + else if (cmd == 'r') { + random_pos ^= 1; + } +} + + +// draw a geom + +void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) +{ + 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); + } else if (type == dConvexClass) { + //dVector3 sides={0.50,0.50,0.50}; + dsDrawConvex(pos,R,planes, + planecount, + points, + pointcount, + polygons); + } + + if (show_aabb) { + // draw the bounding box for this geom + dReal aabb[6]; + dGeomGetAABB (g,aabb); + dVector3 bbpos; + for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); + dVector3 bbsides; + for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2]; + dMatrix3 RI; + dRSetIdentity (RI); + dsSetColorAlpha (1,0,0,0.5); + dsDrawBox (bbpos,RI,bbsides); + } +} + + +// set previous transformation matrix for trimesh +void setCurrentTransform(dGeomID geom) +{ + const dReal* Pos = dGeomGetPosition(geom); + const dReal* Rot = dGeomGetRotation(geom); + + const dReal Transform[16] = + { + Rot[0], Rot[4], Rot[8], 0, + Rot[1], Rot[5], Rot[9], 0, + Rot[2], Rot[6], Rot[10], 0, + Pos[0], Pos[1], Pos[2], 1 + }; + + dGeomTriMeshSetLastTransform( geom, *(dMatrix4*)(&Transform) ); + +} + + +// simulation loop + +static void simLoop (int pause) +{ + dsSetColor (0,0,2); + dSpaceCollide (space,0,&nearCallback); + + +#if 1 + // What is this for??? - Bram + if (!pause) + { + for (int i=0; i<num; i++) + for (int j=0; j < GPB; j++) + if (obj[i].geom[j]) + if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass) + setCurrentTransform(obj[i].geom[j]); + + setCurrentTransform(TriMesh1); + setCurrentTransform(TriMesh2); + } +#endif + + //if (!pause) dWorldStep (world,0.05); + if (!pause) dWorldQuickStep (world,0.05); + + for (int j = 0; j < dSpaceGetNumGeoms(space); j++){ + dSpaceGetGeom(space, j); + } + + // 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 (obj[i].geom[j]) { + if (i==selected) { + dsSetColor (0,0.7,1); + } + else if (! dBodyIsEnabled (obj[i].body)) { + dsSetColor (1,0,0); + } + else { + dsSetColor (1,1,0); + } + + if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass) { + dTriIndex* Indices = (dTriIndex*)::Indices; + + // assume all trimeshes are drawn as bunnies + const dReal* Pos = dGeomGetPosition(obj[i].geom[j]); + const dReal* Rot = dGeomGetRotation(obj[i].geom[j]); + + for (int ii = 0; ii < IndexCount / 3; ii++) { + const dReal v[9] = { // explicit conversion from float to dReal + Vertices[Indices[ii * 3 + 0] * 3 + 0], + Vertices[Indices[ii * 3 + 0] * 3 + 1], + Vertices[Indices[ii * 3 + 0] * 3 + 2], + Vertices[Indices[ii * 3 + 1] * 3 + 0], + Vertices[Indices[ii * 3 + 1] * 3 + 1], + Vertices[Indices[ii * 3 + 1] * 3 + 2], + Vertices[Indices[ii * 3 + 2] * 3 + 0], + Vertices[Indices[ii * 3 + 2] * 3 + 1], + Vertices[Indices[ii * 3 + 2] * 3 + 2] + }; + dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1); + } + + // tell the tri-tri collider the current transform of the trimesh -- + // this is fairly important for good results. + + // Fill in the (4x4) matrix. + dReal* p_matrix = obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 ); + + p_matrix[ 0 ] = Rot[ 0 ]; p_matrix[ 1 ] = Rot[ 1 ]; p_matrix[ 2 ] = Rot[ 2 ]; p_matrix[ 3 ] = 0; + p_matrix[ 4 ] = Rot[ 4 ]; p_matrix[ 5 ] = Rot[ 5 ]; p_matrix[ 6 ] = Rot[ 6 ]; p_matrix[ 7 ] = 0; + p_matrix[ 8 ] = Rot[ 8 ]; p_matrix[ 9 ] = Rot[ 9 ]; p_matrix[10 ] = Rot[10 ]; p_matrix[11 ] = 0; + p_matrix[12 ] = Pos[ 0 ]; p_matrix[13 ] = Pos[ 1 ]; p_matrix[14 ] = Pos[ 2 ]; p_matrix[15 ] = 1; + + // Flip to other matrix. + obj[i].last_matrix_index = !obj[i].last_matrix_index; + + dGeomTriMeshSetLastTransform( obj[i].geom[j], + *(dMatrix4*)( obj[i].matrix_dblbuff + obj[i].last_matrix_index * 16 ) ); + + } else { + drawGeom (obj[i].geom[j],0,0,show_aabb); + } + } + } + } + + dTriIndex* Indices = (dTriIndex*)::Indices; + + {const dReal* Pos = dGeomGetPosition(TriMesh1); + const dReal* Rot = dGeomGetRotation(TriMesh1); + + {for (int i = 0; i < IndexCount / 3; i++){ + const dReal v[9] = { // explicit conversion from float to dReal + Vertices[Indices[i * 3 + 0] * 3 + 0], + Vertices[Indices[i * 3 + 0] * 3 + 1], + Vertices[Indices[i * 3 + 0] * 3 + 2], + Vertices[Indices[i * 3 + 1] * 3 + 0], + Vertices[Indices[i * 3 + 1] * 3 + 1], + Vertices[Indices[i * 3 + 1] * 3 + 2], + Vertices[Indices[i * 3 + 2] * 3 + 0], + Vertices[Indices[i * 3 + 2] * 3 + 1], + Vertices[Indices[i * 3 + 2] * 3 + 2] + }; + dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 0); + }}} + + {const dReal* Pos = dGeomGetPosition(TriMesh2); + const dReal* Rot = dGeomGetRotation(TriMesh2); + + {for (int i = 0; i < IndexCount / 3; i++){ + const dReal v[9] = { // explicit conversion from float to dReal + Vertices[Indices[i * 3 + 0] * 3 + 0], + Vertices[Indices[i * 3 + 0] * 3 + 1], + Vertices[Indices[i * 3 + 0] * 3 + 2], + Vertices[Indices[i * 3 + 1] * 3 + 0], + Vertices[Indices[i * 3 + 1] * 3 + 1], + Vertices[Indices[i * 3 + 1] * 3 + 2], + Vertices[Indices[i * 3 + 2] * 3 + 0], + Vertices[Indices[i * 3 + 2] * 3 + 1], + Vertices[Indices[i * 3 + 2] * 3 + 2] + }; + dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1); + }}} +} + + +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 + dInitODE2(0); + world = dWorldCreate(); + + space = dSimpleSpaceCreate(0); + contactgroup = dJointGroupCreate (0); + dWorldSetGravity (world,0,0,-0.5); + dWorldSetCFM (world,1e-5); + dCreatePlane (space,0,0,1,0); + memset (obj,0,sizeof(obj)); + + // note: can't share tridata if intending to trimesh-trimesh collide + const unsigned preprocessFlags = (1U << dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES) | (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES); + TriData1 = dGeomTriMeshDataCreate(); + dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex)); + dGeomTriMeshDataPreprocess2(TriData1, preprocessFlags, NULL); + TriData2 = dGeomTriMeshDataCreate(); + dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex)); + dGeomTriMeshDataPreprocess2(TriData2, preprocessFlags, NULL); + + TriMesh1 = dCreateTriMesh(space, TriData1, 0, 0, 0); + TriMesh2 = dCreateTriMesh(space, TriData2, 0, 0, 0); + dGeomSetData(TriMesh1, TriData1); + dGeomSetData(TriMesh2, TriData2); + + {dGeomSetPosition(TriMesh1, 0, 0, 0.9); + dMatrix3 Rotation; + dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2); + dGeomSetRotation(TriMesh1, Rotation);} + + {dGeomSetPosition(TriMesh2, 1, 0, 0.9); + dMatrix3 Rotation; + dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2); + dGeomSetRotation(TriMesh2, Rotation);} + + dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation(); + dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL); + dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading); + // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1); + dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading); + + // run simulation + dsSimulationLoop (argc,argv,352,288,&fn); + + dThreadingImplementationShutdownProcessing(threading); + dThreadingFreeThreadPool(pool); + dWorldSetStepThreadingImplementation(world, NULL, NULL); + dThreadingFreeImplementation(threading); + + dJointGroupDestroy (contactgroup); + dSpaceDestroy (space); + dWorldDestroy (world); + dCloseODE(); + return 0; +} |