From c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 Mon Sep 17 00:00:00 2001 From: sanine Date: Sat, 1 Oct 2022 20:59:36 -0500 Subject: add ode --- libs/ode-0.16.1/ode/demo/demo_motor.cpp | 209 ++++++++++++++++++++++++++++++++ 1 file changed, 209 insertions(+) create mode 100644 libs/ode-0.16.1/ode/demo/demo_motor.cpp (limited to 'libs/ode-0.16.1/ode/demo/demo_motor.cpp') diff --git a/libs/ode-0.16.1/ode/demo/demo_motor.cpp b/libs/ode-0.16.1/ode/demo/demo_motor.cpp new file mode 100644 index 0000000..9e0dede --- /dev/null +++ b/libs/ode-0.16.1/ode/demo/demo_motor.cpp @@ -0,0 +1,209 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +#include +#include +#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 +#endif + + +// some constants +#define SIDE (0.5f) // side length of a box +#define MASS (1.0) // mass of a box + + +// dynamics and collision objects +static dWorldID world; +static dBodyID body[2]; +static dGeomID geom[2]; +static dJointID lmotor[2]; +static dJointID amotor[2]; +static dSpaceID space; +static dJointGroupID contactgroup; + + +// start simulation - set viewpoint + +static void start() +{ + dAllocateODEDataForThread(dAllocateMaskAll); + + static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; + static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; + dsSetViewpoint (xyz,hpr); + printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n"); + printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n"); +} + + +// called when a key pressed + +static void command (int cmd) +{ + if (cmd == 'q' || cmd == 'Q') { + dJointSetLMotorParam(lmotor[0],dParamVel,0); + dJointSetLMotorParam(lmotor[0],dParamVel2,0); + dJointSetLMotorParam(lmotor[0],dParamVel3,0.1); + } else if (cmd == 'a' || cmd == 'A') { + dJointSetLMotorParam(lmotor[0],dParamVel,0); + dJointSetLMotorParam(lmotor[0],dParamVel2,0); + dJointSetLMotorParam(lmotor[0],dParamVel3,0); + } else if (cmd == 'z' || cmd == 'Z') { + dJointSetLMotorParam(lmotor[0],dParamVel,0); + dJointSetLMotorParam(lmotor[0],dParamVel2,0); + dJointSetLMotorParam(lmotor[0],dParamVel3,-0.1); + } else if (cmd == 'w' || cmd == 'W') { + dJointSetLMotorParam(lmotor[1],dParamVel,0.1); + dJointSetLMotorParam(lmotor[1],dParamVel2,0); + dJointSetLMotorParam(lmotor[1],dParamVel3,0); + } else if (cmd == 'e' || cmd == 'E') { + dJointSetLMotorParam(lmotor[1],dParamVel,0); + dJointSetLMotorParam(lmotor[1],dParamVel2,0); + dJointSetLMotorParam(lmotor[1],dParamVel3,0); + } else if (cmd == 'r' || cmd == 'R') { + dJointSetLMotorParam(lmotor[1],dParamVel,-0.1); + dJointSetLMotorParam(lmotor[1],dParamVel2,0); + dJointSetLMotorParam(lmotor[1],dParamVel3,0); + } + +} + + + +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); + + dContact contact; + contact.surface.mode = 0; + contact.surface.mu = dInfinity; + if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) { + dJointID c = dJointCreateContact (world,contactgroup,&contact); + dJointAttach (c,b1,b2); + } +} + +// simulation loop + +static void simLoop (int pause) +{ + if (!pause) { + dSpaceCollide(space,0,&nearCallback); + dWorldQuickStep (world,0.05); + dJointGroupEmpty(contactgroup); + } + + dReal sides1[3]; + dGeomBoxGetLengths(geom[0], sides1); + dReal sides2[3]; + dGeomBoxGetLengths(geom[1], sides2); + dsSetTexture (DS_WOOD); + dsSetColor (1,1,0); + dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); + dsSetColor (0,1,1); + dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); +} + + +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); + contactgroup = dJointGroupCreate(0); + world = dWorldCreate(); + space = dSimpleSpaceCreate(0); + dMass m; + dMassSetBox (&m,1,SIDE,SIDE,SIDE); + dMassAdjust (&m,MASS); + + body[0] = dBodyCreate (world); + dBodySetMass (body[0],&m); + dBodySetPosition (body[0],0,0,1); + geom[0] = dCreateBox(space,SIDE,SIDE,SIDE); + body[1] = dBodyCreate (world); + dBodySetMass (body[1],&m); + dBodySetPosition (body[1],0,0,2); + geom[1] = dCreateBox(space,SIDE,SIDE,SIDE); + + dGeomSetBody(geom[0],body[0]); + dGeomSetBody(geom[1],body[1]); + + lmotor[0] = dJointCreateLMotor (world,0); + dJointAttach (lmotor[0],body[0],body[1]); + lmotor[1] = dJointCreateLMotor (world,0); + dJointAttach (lmotor[1],body[0],0); + amotor[0] = dJointCreateAMotor(world,0); + dJointAttach(amotor[0], body[0],body[1]); + amotor[1] = dJointCreateAMotor(world,0); + dJointAttach(amotor[1], body[0], 0); + + for (int i=0; i<2; i++) { + dJointSetAMotorNumAxes(amotor[i], 3); + dJointSetAMotorAxis(amotor[i],0,1,1,0,0); + dJointSetAMotorAxis(amotor[i],1,1,0,1,0); + dJointSetAMotorAxis(amotor[i],2,1,0,0,1); + dJointSetAMotorParam(amotor[i],dParamFMax,0.00001); + dJointSetAMotorParam(amotor[i],dParamFMax2,0.00001); + dJointSetAMotorParam(amotor[i],dParamFMax3,0.00001); + + dJointSetAMotorParam(amotor[i],dParamVel,0); + dJointSetAMotorParam(amotor[i],dParamVel2,0); + dJointSetAMotorParam(amotor[i],dParamVel3,0); + + dJointSetLMotorNumAxes(lmotor[i],3); + dJointSetLMotorAxis(lmotor[i],0,1,1,0,0); + dJointSetLMotorAxis(lmotor[i],1,1,0,1,0); + dJointSetLMotorAxis(lmotor[i],2,1,0,0,1); + + dJointSetLMotorParam(lmotor[i],dParamFMax,0.0001); + dJointSetLMotorParam(lmotor[i],dParamFMax2,0.0001); + dJointSetLMotorParam(lmotor[i],dParamFMax3,0.0001); + } + + // run simulation + dsSimulationLoop (argc,argv,352,288,&fn); + + dJointGroupDestroy(contactgroup); + dSpaceDestroy (space); + dWorldDestroy (world); + dCloseODE(); + return 0; +} -- cgit v1.2.1