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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. *
* *
*************************************************************************/
#include <vector>
#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
#include "texturepath.h"
#ifdef dDOUBLE
#define dsDrawBox dsDrawBoxD
#endif
static int levels = 5;
static int ncards = 0;
static dSpaceID space;
static dWorldID world;
static dJointGroupID contactgroup;
struct Card {
dBodyID body;
dGeomID geom;
static const dReal sides[3];
Card()
{
body = dBodyCreate(world);
geom = dCreateBox(space, sides[0], sides[1], sides[2]);
dGeomSetBody(geom, body);
dGeomSetData(geom, this);
dMass mass;
mass.setBox(1, sides[0], sides[1], sides[2]);
dBodySetMass(body, &mass);
}
~Card()
{
dBodyDestroy(body);
dGeomDestroy(geom);
}
void draw() const
{
dsDrawBox(dBodyGetPosition(body),
dBodyGetRotation(body), sides);
}
};
static const dReal cwidth=.5, cthikness=.02, clength=1;
const dReal Card::sides[3] = { cwidth, cthikness, clength };
std::vector<Card*> cards;
int getncards(int levels)
{
return (3*levels*levels + levels) / 2;
}
void place_cards()
{
ncards = getncards(levels);
// destroy removed cards (if any)
int oldcards = cards.size();
for (int i=ncards; i<oldcards; ++i)
delete cards[i];
cards.resize(ncards);
// construct new cards (if any)
for (int i=oldcards; i<ncards; ++i)
cards[i] = new Card;
// for each level
int c = 0;
dMatrix3 right, left, hrot;
dReal angle = 20*M_PI/180.;
dRFromAxisAndAngle(right, 1, 0, 0, -angle);
dRFromAxisAndAngle(left, 1, 0, 0, angle);
dRFromAxisAndAngle(hrot, 1, 0, 0, 91*M_PI/180.);
dReal eps = 0.05;
dReal vstep = cos(angle)*clength + eps;
dReal hstep = sin(angle)*clength + eps;
for (int lvl=0; lvl<levels; ++lvl) {
// there are 3*(levels-lvl)-1 cards in each level, except last
int n = (levels-lvl);
dReal height = (lvl)*vstep + vstep/2;
// inclined cards
for (int i=0; i<2*n; ++i, ++c) {
dBodySetPosition(cards[c]->body,
0,
-n*hstep + hstep*i,
height
);
if (i%2)
dBodySetRotation(cards[c]->body, left);
else
dBodySetRotation(cards[c]->body, right);
}
if (n==1) // top of the house
break;
// horizontal cards
for (int i=0; i<n-1; ++i, ++c) {
dBodySetPosition(cards[c]->body,
0,
-(n-1 - (clength-hstep)/2)*hstep + 2*hstep*i,
height + vstep/2);
dBodySetRotation(cards[c]->body, hrot);
}
}
}
void start()
{
puts("Controls:");
puts(" SPACE - reposition cards");
puts(" - - one less level");
puts(" = - one more level");
}
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);
const int MAX_CONTACTS = 8;
dContact contact[MAX_CONTACTS];
int numc = dCollide (o1, o2, MAX_CONTACTS,
&contact[0].geom,
sizeof(dContact));
for (int i=0; i<numc; i++) {
contact[i].surface.mode = dContactApprox1;
contact[i].surface.mu = 5;
dJointID c = dJointCreateContact (world, contactgroup, contact+i);
dJointAttach (c, b1, b2);
}
}
void simLoop(int pause)
{
if (!pause) {
dSpaceCollide (space, 0, &nearCallback);
dWorldQuickStep(world, 0.01);
dJointGroupEmpty(contactgroup);
}
dsSetColor (1,1,0);
for (int i=0; i<ncards; ++i) {
dsSetColor (1, dReal(i)/ncards, 0);
cards[i]->draw();
}
}
void command(int c)
{
switch (c) {
case '=':
levels++;
place_cards();
break;
case '-':
levels--;
if (levels <= 0)
levels++;
place_cards();
break;
case ' ':
place_cards();
break;
}
}
int main(int argc, char **argv)
{
dInitODE();
// 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;
world = dWorldCreate();
dWorldSetGravity(world, 0, 0, -0.5);
dWorldSetQuickStepNumIterations(world, 50); // <-- increase for more stability
space = dSimpleSpaceCreate(0);
contactgroup = dJointGroupCreate(0);
dGeomID ground = dCreatePlane(space, 0, 0, 1, 0);
place_cards();
// run simulation
dsSimulationLoop (argc, argv, 640, 480, &fn);
levels = 0;
place_cards();
dJointGroupDestroy(contactgroup);
dWorldDestroy(world);
dGeomDestroy(ground);
dSpaceDestroy(space);
dCloseODE();
}
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