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Diffstat (limited to 'libs/ode-0.16.1/ode/demo/demo_trimesh.cpp')
-rw-r--r-- | libs/ode-0.16.1/ode/demo/demo_trimesh.cpp | 605 |
1 files changed, 605 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp b/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp new file mode 100644 index 0000000..1c53334 --- /dev/null +++ b/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp @@ -0,0 +1,605 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +// TriMesh test by Erwin de Vries + +#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 + +//<---- 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 + +// 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 40 // maximum number of contact points per body + + +// 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 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? + +#define VertexCount 5 +#define IndexCount 12 + +static dVector3 Size; +static float Vertices[VertexCount][3]; +static dTriIndex Indices[IndexCount]; + +static dGeomID TriMesh; +static dGeomID Ray; + + +// 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++) { + if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){ + dMatrix3 Rotation; + dRSetIdentity(Rotation); + dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01)); + + dVector3 End; + End[0] = contact[i].geom.pos[0] + (contact[i].geom.normal[0] * contact[i].geom.depth); + End[1] = contact[i].geom.pos[1] + (contact[i].geom.normal[1] * contact[i].geom.depth); + End[2] = contact[i].geom.pos[2] + (contact[i].geom.normal[2] * contact[i].geom.depth); + End[3] = contact[i].geom.pos[3] + (contact[i].geom.normal[3] * contact[i].geom.depth); + + dsDrawLine(contact[i].geom.pos, End); + continue; + } + + 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 (" c for cylinder.\n"); + printf( " v for a convex.\n" ); + printf (" x for a composite object.\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 == 'v' + /* || cmd == 'l' */) { + 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()+1); + 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]); + } +/* + // cylinder option not yet implemented + else if (cmd == 'l') { + sides[1] *= 0.5; + dMassSetCapsule (&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 == '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); + + } else if (cmd == 'v') { + + dMassSetBox (&m,DENSITY,0.25,0.25,0.25); + + obj[i].geom[0] = dCreateConvex(space, + planes, + planecount, + points, + pointcount, + polygons); + } + + 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 == dConvexClass) { + //dVector3 sides={0.50,0.50,0.50}; + dsDrawConvex(pos,R,planes, + planecount, + points, + pointcount, + polygons); + } +/* + // cylinder option not yet implemented + else if (type == dCylinderClass) { + dReal radius,length; + dGeomCylinderGetParams (g,&radius,&length); + dsDrawCylinder (pos,R,length,radius); + } +*/ + + 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); + } +} + + +// simulation loop + +static void simLoop (int pause) +{ + dsSetColor (0,0,2); + dSpaceCollide (space,0,&nearCallback); + if (!pause) dWorldStep (world,0.05); + //if (!pause) dWorldStepFast (world,0.05, 1); + + // 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 (i==selected) { + dsSetColor (0,0.7,1); + } + else if (! dBodyIsEnabled (obj[i].body)) { + dsSetColor (1,0,0); + } + else { + dsSetColor (1,1,0); + } + drawGeom (obj[i].geom[j],0,0,show_aabb); + } + } + + /*{ + for (int i = 1; i < IndexCount; i++) { + dsDrawLine(Vertices[Indices[i - 1]], Vertices[Indices[i]]); + } + }*/ + + {const dReal* Pos = dGeomGetPosition(TriMesh); + const dReal* Rot = dGeomGetRotation(TriMesh); + + {for (int i = 0; i < IndexCount / 3; i++){ + const float *p = Vertices[Indices[i * 3 + 0]]; + const dVector3 v0 = { p[0], p[1], p[2] }; + p = Vertices[Indices[i * 3 + 1]]; + const dVector3 v1 = { p[0], p[1], p[2] }; + p = Vertices[Indices[i * 3 + 2]]; + const dVector3 v2 = { p[0], p[1], p[2] }; + dsDrawTriangle(Pos, Rot, v0, v1, v2, 0); + }}} + + if (Ray){ + dVector3 Origin, Direction; + dGeomRayGet(Ray, Origin, Direction); + + dReal Length = dGeomRayGetLength(Ray); + + dVector3 End; + End[0] = Origin[0] + (Direction[0] * Length); + End[1] = Origin[1] + (Direction[1] * Length); + End[2] = Origin[2] + (Direction[2] * Length); + End[3] = Origin[3] + (Direction[3] * Length); + + dsDrawLine(Origin, End); + } +} + + +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)); + + Size[0] = 5.0f; + Size[1] = 5.0f; + Size[2] = 2.5f; + + Vertices[0][0] = -Size[0]; + Vertices[0][1] = -Size[1]; + Vertices[0][2] = Size[2]; + + Vertices[1][0] = Size[0]; + Vertices[1][1] = -Size[1]; + Vertices[1][2] = Size[2]; + + Vertices[2][0] = Size[0]; + Vertices[2][1] = Size[1]; + Vertices[2][2] = Size[2]; + + Vertices[3][0] = -Size[0]; + Vertices[3][1] = Size[1]; + Vertices[3][2] = Size[2]; + + Vertices[4][0] = 0; + Vertices[4][1] = 0; + Vertices[4][2] = 0; + + Indices[0] = 0; + Indices[1] = 1; + Indices[2] = 4; + + Indices[3] = 1; + Indices[4] = 2; + Indices[5] = 4; + + Indices[6] = 2; + Indices[7] = 3; + Indices[8] = 4; + + Indices[9] = 3; + Indices[10] = 0; + Indices[11] = 4; + + dTriMeshDataID Data = dGeomTriMeshDataCreate(); + + //dGeomTriMeshDataBuildSimple(Data, (dReal*)Vertices, VertexCount, Indices, IndexCount); + dGeomTriMeshDataBuildSingle(Data, Vertices[0], 3 * sizeof(float), VertexCount, &Indices[0], IndexCount, 3 * sizeof(dTriIndex)); + dGeomTriMeshDataPreprocess2(Data, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL); + + TriMesh = dCreateTriMesh(space, Data, 0, 0, 0); + + //dGeomSetPosition(TriMesh, 0, 0, 1.0); + + Ray = dCreateRay(space, 0.9); + dVector3 Origin, Direction; + Origin[0] = 0.0; + Origin[1] = 0; + Origin[2] = 0.5; + Origin[3] = 0; + + Direction[0] = 0; + Direction[1] = 1.1f; + Direction[2] = -1; + Direction[3] = 0; + dNormalize3(Direction); + + dGeomRaySet(Ray, Origin[0], Origin[1], Origin[2], Direction[0], Direction[1], Direction[2]); + + 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; +} |