620 lines
19 KiB
C++
620 lines
19 KiB
C++
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#include <ode/ode.h>
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#include <drawstuff/drawstuff.h>
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#include "texturepath.h"
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#ifdef _MSC_VER
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#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
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#endif
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#include "icosahedron_geom.h"
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//<---- Convex Object
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dReal planes[]= // planes for a cube, these should coincide with the face array
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{
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1.0f ,0.0f ,0.0f ,0.25f,
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0.0f ,1.0f ,0.0f ,0.25f,
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0.0f ,0.0f ,1.0f ,0.25f,
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-1.0f,0.0f ,0.0f ,0.25f,
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0.0f ,-1.0f,0.0f ,0.25f,
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0.0f ,0.0f ,-1.0f,0.25f
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/*
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1.0f ,0.0f ,0.0f ,2.0f,
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0.0f ,1.0f ,0.0f ,1.0f,
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0.0f ,0.0f ,1.0f ,1.0f,
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0.0f ,0.0f ,-1.0f,1.0f,
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0.0f ,-1.0f,0.0f ,1.0f,
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-1.0f,0.0f ,0.0f ,0.0f
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*/
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};
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const unsigned int planecount=6;
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dReal points[]= // points for a cube
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{
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0.25f,0.25f,0.25f, // point 0
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-0.25f,0.25f,0.25f, // point 1
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0.25f,-0.25f,0.25f, // point 2
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-0.25f,-0.25f,0.25f,// point 3
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0.25f,0.25f,-0.25f, // point 4
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-0.25f,0.25f,-0.25f,// point 5
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0.25f,-0.25f,-0.25f,// point 6
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-0.25f,-0.25f,-0.25f,// point 7
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};
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const unsigned int pointcount=8;
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unsigned int polygons[] = //Polygons for a cube (6 squares)
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{
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4,0,2,6,4, // positive X
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4,1,0,4,5, // positive Y
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4,0,1,3,2, // positive Z
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4,3,1,5,7, // negative X
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4,2,3,7,6, // negative Y
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4,5,4,6,7, // negative Z
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};
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//----> Convex Object
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// select correct drawing functions
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#ifdef dDOUBLE
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#define dsDrawBox dsDrawBoxD
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#define dsDrawSphere dsDrawSphereD
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#define dsDrawCylinder dsDrawCylinderD
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#define dsDrawCapsule dsDrawCapsuleD
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#define dsDrawConvex dsDrawConvexD
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#endif
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// some constants
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#define NUM 100 // max number of objects
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#define DENSITY (5.0) // density of all objects
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#define GPB 3 // maximum number of geometries per body
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#define MAX_CONTACTS 8 // maximum number of contact points per body
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#define MAX_FEEDBACKNUM 20
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#define GRAVITY REAL(0.5)
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// dynamics and collision objects
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struct MyObject {
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dBodyID body; // the body
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dGeomID geom[GPB]; // geometries representing this body
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};
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static int num=0; // number of objects in simulation
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static int nextobj=0; // next object to recycle if num==NUM
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static dWorldID world;
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static dSpaceID space;
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static MyObject obj[NUM];
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static dJointGroupID contactgroup;
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static int selected = -1; // selected object
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static int show_aabb = 0; // show geom AABBs?
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static int show_contacts = 0; // show contact points?
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static int random_pos = 1; // drop objects from random position?
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static int write_world = 0;
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static int show_body = 0;
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struct MyFeedback {
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dJointFeedback fb;
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bool first;
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};
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static int doFeedback=0;
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static MyFeedback feedbacks[MAX_FEEDBACKNUM];
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static int fbnum=0;
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// this is called by dSpaceCollide when two objects in space are
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// potentially colliding.
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static void nearCallback (void *, dGeomID o1, dGeomID o2)
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{
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int i;
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// if (o1->body && o2->body) return;
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// exit without doing anything if the two bodies are connected by a joint
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dBodyID b1 = dGeomGetBody(o1);
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dBodyID b2 = dGeomGetBody(o2);
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if (b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact))
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return;
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dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box
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for (i=0; i<MAX_CONTACTS; i++) {
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contact[i].surface.mode = dContactBounce | dContactSoftCFM;
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contact[i].surface.mu = dInfinity;
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contact[i].surface.mu2 = 0;
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contact[i].surface.bounce = 0.1;
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contact[i].surface.bounce_vel = 0.1;
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contact[i].surface.soft_cfm = 0.01;
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}
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if (int numc = dCollide(o1,o2,MAX_CONTACTS,&contact[0].geom,
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sizeof(dContact))) {
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dMatrix3 RI;
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dRSetIdentity (RI);
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const dReal ss[3] = {0.02,0.02,0.02};
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for (i=0; i<numc; i++) {
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dJointID c = dJointCreateContact (world,contactgroup,contact+i);
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dJointAttach (c,b1,b2);
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if (show_contacts) {
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dsSetColor(0,0,1);
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dsDrawBox(contact[i].geom.pos,RI,ss);
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}
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if (doFeedback && (b1==obj[selected].body || b2==obj[selected].body)) {
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if (fbnum<MAX_FEEDBACKNUM) {
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feedbacks[fbnum].first = b1==obj[selected].body;
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dJointSetFeedback(c,&feedbacks[fbnum++].fb);
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}
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else fbnum++;
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}
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}
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}
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}
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// start simulation - set viewpoint
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static void start()
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{
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dAllocateODEDataForThread(dAllocateMaskAll);
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static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
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static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
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dsSetViewpoint (xyz,hpr);
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printf ("To drop another object, press:\n");
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printf (" b for box.\n");
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printf (" s for sphere.\n");
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printf (" c for capsule.\n");
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printf (" y for cylinder.\n");
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printf (" v for a convex object.\n");
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printf (" x for a composite object.\n");
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printf ("To select an object, press space.\n");
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printf ("To disable the selected object, press d.\n");
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printf ("To enable the selected object, press e.\n");
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printf ("To dump transformation data for the selected object, press p.\n");
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printf ("To toggle showing the geom AABBs, press a.\n");
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printf ("To toggle showing the contact points, press t.\n");
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printf ("To toggle dropping from random position/orientation, press r.\n");
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printf ("To save the current state to 'state.dif', press 1.\n");
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printf ("To show joint feedbacks of selected object, press f.\n");
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}
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static char locase(char c)
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{
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if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
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else return c;
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}
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// called when a key pressed
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static void command(int cmd)
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{
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dsizeint i;
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int j,k;
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dReal sides[3];
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dMass m;
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bool setBody = false;
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cmd = locase(cmd);
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if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v') {
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if (num < NUM) {
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// new object to be created
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i = num;
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num++;
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} else {
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// recycle existing object
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i = nextobj++;
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nextobj %= num; // wrap-around if needed
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// destroy the body and geoms for slot i
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dBodyDestroy (obj[i].body);
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obj[i].body = 0;
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for (k=0; k < GPB; k++)
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if (obj[i].geom[k]) {
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dGeomDestroy(obj[i].geom[k]);
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obj[i].geom[k] = 0;
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}
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}
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obj[i].body = dBodyCreate(world);
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for (k=0; k<3; k++)
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sides[k] = dRandReal()*0.5+0.1;
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dMatrix3 R;
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if (random_pos) {
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dBodySetPosition(obj[i].body,
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dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
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dRFromAxisAndAngle(R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
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dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
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} else {
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// higher than highest body position
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dReal maxheight = 0;
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for (k=0; k<num; k++) {
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const dReal *pos = dBodyGetPosition(obj[k].body);
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if (pos[2] > maxheight)
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maxheight = pos[2];
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}
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dBodySetPosition(obj[i].body, 0,0,maxheight+1);
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dRSetIdentity(R);
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//dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0);
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}
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dBodySetRotation(obj[i].body,R);
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if (cmd == 'b') {
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dMassSetBox(&m,DENSITY,sides[0],sides[1],sides[2]);
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obj[i].geom[0] = dCreateBox(space,sides[0],sides[1],sides[2]);
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} else if (cmd == 'c') {
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sides[0] *= 0.5;
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dMassSetCapsule(&m,DENSITY,3,sides[0],sides[1]);
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obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
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} else if (cmd == 'v') {
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dMassSetBox(&m,DENSITY,0.25,0.25,0.25);
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#if 0
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obj[i].geom[0] = dCreateConvex(space,
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planes,
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planecount,
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points,
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pointcount,
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polygons);
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#else
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obj[i].geom[0] = dCreateConvex(space,
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Sphere_planes,
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Sphere_planecount,
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Sphere_points,
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Sphere_pointcount,
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Sphere_polygons);
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#endif
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} else if (cmd == 'y') {
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dMassSetCylinder(&m,DENSITY,3,sides[0],sides[1]);
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obj[i].geom[0] = dCreateCylinder(space,sides[0],sides[1]);
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} else if (cmd == 's') {
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sides[0] *= 0.5;
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dMassSetSphere (&m,DENSITY,sides[0]);
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obj[i].geom[0] = dCreateSphere (space,sides[0]);
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} else if (cmd == 'x') {
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setBody = true;
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// start accumulating masses for the composite geometries
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dMass m2;
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dMassSetZero (&m);
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dReal dpos[GPB][3]; // delta-positions for composite geometries
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dMatrix3 drot[GPB];
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// set random delta positions
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for (j=0; j<GPB; j++)
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for (k=0; k<3; k++)
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dpos[j][k] = dRandReal()*0.3-0.15;
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for (k=0; k<GPB; k++) {
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if (k==0) {
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dReal radius = dRandReal()*0.25+0.05;
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obj[i].geom[k] = dCreateSphere (space,radius);
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dMassSetSphere (&m2,DENSITY,radius);
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} else if (k==1) {
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obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
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dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
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} else {
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dReal radius = dRandReal()*0.1+0.05;
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dReal length = dRandReal()*1.0+0.1;
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obj[i].geom[k] = dCreateCapsule(space,radius,length);
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dMassSetCapsule(&m2,DENSITY,3,radius,length);
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}
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dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
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dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
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dMassRotate(&m2,drot[k]);
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dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
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// add to the total mass
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dMassAdd(&m,&m2);
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}
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for (k=0; k<GPB; k++) {
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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 == -1)
|
||
|
|
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 = !show_aabb;
|
||
|
|
|
||
|
|
} else if (cmd == 't') {
|
||
|
|
|
||
|
|
show_contacts = !show_contacts;
|
||
|
|
|
||
|
|
} else if (cmd == 'r') {
|
||
|
|
|
||
|
|
random_pos = !random_pos;
|
||
|
|
} else if (cmd == '1') {
|
||
|
|
|
||
|
|
write_world = 1;
|
||
|
|
|
||
|
|
} else if (cmd == 'p'&& selected >= 0) {
|
||
|
|
|
||
|
|
const dReal* pos = dGeomGetPosition(obj[selected].geom[0]);
|
||
|
|
const dReal* rot = dGeomGetRotation(obj[selected].geom[0]);
|
||
|
|
printf("POSITION:\n\t[%f,%f,%f]\n\n",pos[0],pos[1],pos[2]);
|
||
|
|
printf("ROTATION:\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\n",
|
||
|
|
rot[0],rot[1],rot[2],rot[3],
|
||
|
|
rot[4],rot[5],rot[6],rot[7],
|
||
|
|
rot[8],rot[9],rot[10],rot[11]);
|
||
|
|
|
||
|
|
} else if (cmd == 'f' && selected >= 0 && selected < num) {
|
||
|
|
|
||
|
|
if (dBodyIsEnabled(obj[selected].body))
|
||
|
|
doFeedback = 1;
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// 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 == dConvexClass) {
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
dsDrawConvex(pos,R,planes,
|
||
|
|
planecount,
|
||
|
|
points,
|
||
|
|
pointcount,
|
||
|
|
polygons);
|
||
|
|
#else
|
||
|
|
dsDrawConvex(pos,R,
|
||
|
|
Sphere_planes,
|
||
|
|
Sphere_planecount,
|
||
|
|
Sphere_points,
|
||
|
|
Sphere_pointcount,
|
||
|
|
Sphere_polygons);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
} 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 simLoop(int pause)
|
||
|
|
{
|
||
|
|
dSpaceCollide(space, 0, &nearCallback);
|
||
|
|
|
||
|
|
if (!pause)
|
||
|
|
dWorldQuickStep(world, 0.02);
|
||
|
|
|
||
|
|
if (write_world) {
|
||
|
|
FILE *f = fopen("state.dif","wt");
|
||
|
|
if (f) {
|
||
|
|
dWorldExportDIF(world,f,"X");
|
||
|
|
fclose (f);
|
||
|
|
}
|
||
|
|
write_world = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
if (doFeedback) {
|
||
|
|
if (fbnum>MAX_FEEDBACKNUM)
|
||
|
|
printf("joint feedback buffer overflow!\n");
|
||
|
|
else {
|
||
|
|
dVector3 sum = {0, 0, 0};
|
||
|
|
printf("\n");
|
||
|
|
for (int i=0; i<fbnum; i++) {
|
||
|
|
dReal* f = feedbacks[i].first?feedbacks[i].fb.f1:feedbacks[i].fb.f2;
|
||
|
|
printf("%f %f %f\n", f[0], f[1], f[2]);
|
||
|
|
sum[0] += f[0];
|
||
|
|
sum[1] += f[1];
|
||
|
|
sum[2] += f[2];
|
||
|
|
}
|
||
|
|
printf("Sum: %f %f %f\n", sum[0], sum[1], sum[2]);
|
||
|
|
dMass m;
|
||
|
|
dBodyGetMass(obj[selected].body, &m);
|
||
|
|
printf("Object G=%f\n", GRAVITY*m.mass);
|
||
|
|
}
|
||
|
|
doFeedback = 0;
|
||
|
|
fbnum = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
// remove all contact joints
|
||
|
|
dJointGroupEmpty(contactgroup);
|
||
|
|
|
||
|
|
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(1,0.8,0);
|
||
|
|
} else {
|
||
|
|
dsSetColor(1,1,0);
|
||
|
|
}
|
||
|
|
drawGeom(obj[i].geom[j],0,0,show_aabb);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
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 = dHashSpaceCreate(0);
|
||
|
|
contactgroup = dJointGroupCreate(0);
|
||
|
|
dWorldSetGravity(world,0,0,-GRAVITY);
|
||
|
|
dWorldSetCFM(world,1e-5);
|
||
|
|
dWorldSetAutoDisableFlag(world,1);
|
||
|
|
|
||
|
|
#if 1
|
||
|
|
|
||
|
|
dWorldSetAutoDisableAverageSamplesCount( world, 10 );
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
dWorldSetLinearDamping(world, 0.00001);
|
||
|
|
dWorldSetAngularDamping(world, 0.005);
|
||
|
|
dWorldSetMaxAngularSpeed(world, 200);
|
||
|
|
|
||
|
|
dWorldSetContactMaxCorrectingVel(world,0.1);
|
||
|
|
dWorldSetContactSurfaceLayer(world,0.001);
|
||
|
|
dCreatePlane(space,0,0,1,0);
|
||
|
|
memset(obj,0,sizeof(obj));
|
||
|
|
|
||
|
|
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,640,480,&fn);
|
||
|
|
|
||
|
|
dThreadingImplementationShutdownProcessing(threading);
|
||
|
|
dThreadingFreeThreadPool(pool);
|
||
|
|
dWorldSetStepThreadingImplementation(world, NULL, NULL);
|
||
|
|
dThreadingFreeImplementation(threading);
|
||
|
|
|
||
|
|
dJointGroupDestroy(contactgroup);
|
||
|
|
dSpaceDestroy(space);
|
||
|
|
dWorldDestroy(world);
|
||
|
|
dCloseODE();
|
||
|
|
}
|