528 lines
15 KiB
C++
528 lines
15 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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/*
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This demo shows how to use dContactMotionN in a lifting platform.
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*/
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//#include <unistd.h> // for usleep()
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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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// 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 USE_GEOM_OFFSET 1
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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 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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static dGeomID platform, ground;
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dVector3 platpos = {0, 0, 0};
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int mov_type = 2;
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dReal mov_time = 0;
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const dReal mov1_speed = 0.2;
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dVector3 mov2_vel = { 0.2, 0.1, 0.25};
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/****************************************************************
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* Movement 1: move platform up, reset every 80 units of time. *
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* This is the simplest case *
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****************************************************************/
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static void moveplat_1(dReal stepsize)
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{
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mov_time += stepsize;
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if (mov_time > 80)
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mov_time = 0;
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platpos[0] = platpos[1] = 0;
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// the platform moves up (Z) at constant speed: mov1_speed
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platpos[2] = mov1_speed * mov_time;
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}
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// Generate contact info for movement 1
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static void contactplat_1(dContact &contact)
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{
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contact.surface.mode |= dContactMotionN;
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contact.surface.motionN = mov1_speed;
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}
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/****************************************************************
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* Movement 2: move platform along direction mov2_vel, reset *
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* every 80 units of time. *
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* This is the most general case: the geom moves along *
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* an arbitrary direction. *
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****************************************************************/
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static void moveplat_2(dReal stepsize)
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{
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mov_time += stepsize;
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if (mov_time > 80)
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mov_time = 0;
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// the platform moves at constant speed: mov2_speed
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platpos[0] = mov2_vel[0] * mov_time;
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platpos[1] = mov2_vel[1] * mov_time;
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platpos[2] = mov2_vel[2] * mov_time;
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}
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// Generate contact info for movement 1
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static void contactplat_2(dContact &contact)
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{
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/*
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For arbitrary contact directions we need to project the moving
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geom's velocity against the contact normal and fdir1, fdir2
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(obtained with dPlaneSpace()). Assuming moving geom=g2
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(so the contact joint is in the moving geom's reference frame):
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motion1 = dCalcVectorDot3(fdir1, vel);
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motion2 = dCalcVectorDot3(fdir2, vel);
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motionN = dCalcVectorDot3(normal, vel);
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For geom=g1 just negate motionN and motion2. fdir1 is an arbitrary
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vector, so there's no need to negate motion1.
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*/
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contact.surface.mode |=
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dContactMotionN | // velocity along normal
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dContactMotion1 | dContactMotion2 | // and along the contact plane
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dContactFDir1; // don't forget to set the direction 1
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// This is a convenience function: given a vector, it finds other 2 perpendicular vectors
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dVector3 motiondir1, motiondir2;
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dPlaneSpace(contact.geom.normal, motiondir1, motiondir2);
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for (int i=0; i<3; ++i)
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contact.fdir1[i] = motiondir1[i];
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dReal inv = 1;
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if (contact.geom.g1 == platform)
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inv = -1;
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contact.surface.motion1 = dCalcVectorDot3(mov2_vel, motiondir1);
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contact.surface.motion2 = inv * dCalcVectorDot3(mov2_vel, motiondir2);
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contact.surface.motionN = inv * dCalcVectorDot3(mov2_vel, contact.geom.normal);
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}
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static void nearCallback (void *, dGeomID o1, dGeomID o2)
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{
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dMatrix3 RI;
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static const dReal ss[3] = {0.02,0.02,0.02};
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dContact contact[MAX_CONTACTS];
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int numc = dCollide (o1, o2, MAX_CONTACTS,
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&contact[0].geom, sizeof(dContact));
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if (numc)
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dRSetIdentity(RI);
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bool isplatform = (o1 == platform) || (o2 == platform);
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for (int i=0; i< numc; i++) {
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contact[i].surface.mode = dContactBounce;
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contact[i].surface.mu = 1;
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contact[i].surface.bounce = 0.25;
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contact[i].surface.bounce_vel = 0.01;
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if (isplatform) {
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switch (mov_type) {
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case 1:
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contactplat_1(contact[i]);
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break;
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case 2:
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contactplat_2(contact[i]);
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break;
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}
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}
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dJointID c = dJointCreateContact (world,contactgroup,contact+i);
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dJointAttach (c, dGeomGetBody(o1), dGeomGetBody(o2));
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if (show_contacts)
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dsDrawBox (contact[i].geom.pos, RI, ss);
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}
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}
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// start simulation - set viewpoint
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static float xyz[3] = {2.1106f,-1.3007,2.f};
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static float hpr[3] = {150.f,-13.5000f,0.0000f};
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static void start()
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{
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//dAllocateODEDataForThread(dAllocateMaskAll);
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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 ("Press m to change the movement type\n");
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printf ("Press space to reset the platform\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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}
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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 k;
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dReal sides[3];
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dMass m;
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int setBody;
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cmd = locase (cmd);
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if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'y')
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{
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setBody = 0;
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if (num < NUM) {
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i = num;
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num++;
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}
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else {
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i = nextobj;
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nextobj++;
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if (nextobj >= num) nextobj = 0;
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// destroy the body and geoms for slot i
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if (obj[i].body) {
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dBodyDestroy (obj[i].body);
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}
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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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}
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}
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memset (&obj[i],0,sizeof(obj[i]));
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}
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obj[i].body = dBodyCreate (world);
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for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
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dMatrix3 R;
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if (random_pos)
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{
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dBodySetPosition (obj[i].body,
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dRandReal()*2-1 + platpos[0],
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dRandReal()*2-1 + platpos[1],
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dRandReal()+2 + platpos[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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}
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else
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{
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dBodySetPosition (obj[i].body,
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platpos[0],
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platpos[1],
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platpos[2]+2);
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dRSetIdentity (R);
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}
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dBodySetRotation (obj[i].body,R);
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dBodySetData (obj[i].body,(void*) i);
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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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}
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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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}
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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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}
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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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}
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if (!setBody)
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for (k=0; k < GPB; k++) {
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if (obj[i].geom[k]) {
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dGeomSetBody (obj[i].geom[k],obj[i].body);
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}
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}
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dBodySetMass (obj[i].body,&m);
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}
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else if (cmd == 'a') {
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show_aabb ^= 1;
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}
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else if (cmd == 't') {
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show_contacts ^= 1;
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}
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else if (cmd == 'r') {
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random_pos ^= 1;
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}
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else if (cmd == '1') {
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write_world = 1;
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}
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else if (cmd == ' ') {
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mov_time = 0;
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}
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else if (cmd == 'm') {
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mov_type = mov_type==1 ? 2 : 1;
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mov_time = 0;
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}
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}
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// draw a geom
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void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
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{
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int i;
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if (!g) return;
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if (!pos) pos = dGeomGetPosition (g);
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if (!R) R = dGeomGetRotation (g);
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int type = dGeomGetClass (g);
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if (type == dBoxClass) {
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dVector3 sides;
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dGeomBoxGetLengths (g,sides);
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dsDrawBox (pos,R,sides);
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}
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else if (type == dSphereClass) {
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dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
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}
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else if (type == dCapsuleClass) {
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dReal radius,length;
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dGeomCapsuleGetParams (g,&radius,&length);
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dsDrawCapsule (pos,R,length,radius);
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}
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else if (type == dCylinderClass) {
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dReal radius,length;
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dGeomCylinderGetParams (g,&radius,&length);
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||
|
|
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 updatecam()
|
||
|
|
{
|
||
|
|
xyz[0] = platpos[0] + 3.3;
|
||
|
|
xyz[1] = platpos[1] - 1.8;
|
||
|
|
xyz[2] = platpos[2] + 2;
|
||
|
|
dsSetViewpoint (xyz, hpr);
|
||
|
|
}
|
||
|
|
|
||
|
|
static void simLoop (int pause)
|
||
|
|
{
|
||
|
|
const dReal stepsize = 0.02;
|
||
|
|
|
||
|
|
dsSetColor (0,0,2);
|
||
|
|
dSpaceCollide (space,0,&nearCallback);
|
||
|
|
if (!pause) {
|
||
|
|
|
||
|
|
if (mov_type == 1)
|
||
|
|
moveplat_1(stepsize);
|
||
|
|
else
|
||
|
|
moveplat_2(stepsize);
|
||
|
|
|
||
|
|
dGeomSetPosition(platform, platpos[0], platpos[1], platpos[2]);
|
||
|
|
updatecam();
|
||
|
|
dWorldQuickStep (world,stepsize);
|
||
|
|
//dWorldStep (world,stepsize);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (write_world) {
|
||
|
|
FILE *f = fopen ("state.dif","wt");
|
||
|
|
if (f) {
|
||
|
|
dWorldExportDIF (world,f,"X");
|
||
|
|
fclose (f);
|
||
|
|
}
|
||
|
|
write_world = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
// 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 (! dBodyIsEnabled (obj[i].body)) {
|
||
|
|
dsSetColor (1,0.8,0);
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
dsSetColor (1,1,0);
|
||
|
|
}
|
||
|
|
drawGeom (obj[i].geom[j],0,0,show_aabb);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
dsSetColor (1,0,0);
|
||
|
|
drawGeom (platform,0,0,show_aabb);
|
||
|
|
//usleep(5000);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
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
|
||
|
|
dInitODE();
|
||
|
|
world = dWorldCreate();
|
||
|
|
|
||
|
|
#if 1
|
||
|
|
space = dHashSpaceCreate (0);
|
||
|
|
#elif 0
|
||
|
|
dVector3 center = {0,0,0}, extents = { 100, 100, 100};
|
||
|
|
space = dQuadTreeSpaceCreate(0, center, extents, 5);
|
||
|
|
#elif 0
|
||
|
|
space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
|
||
|
|
#else
|
||
|
|
space = dSimpleSpaceCreate(0);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
contactgroup = dJointGroupCreate (0);
|
||
|
|
dWorldSetGravity (world,0,0,-0.5);
|
||
|
|
dWorldSetCFM (world,1e-5);
|
||
|
|
|
||
|
|
dWorldSetLinearDamping(world, 0.00001);
|
||
|
|
dWorldSetAngularDamping(world, 0.005);
|
||
|
|
dWorldSetMaxAngularSpeed(world, 200);
|
||
|
|
|
||
|
|
dWorldSetContactSurfaceLayer (world,0.001);
|
||
|
|
ground = dCreatePlane (space,0,0,1,0);
|
||
|
|
|
||
|
|
memset (obj,0,sizeof(obj));
|
||
|
|
|
||
|
|
// create lift platform
|
||
|
|
platform = dCreateBox(space, 4, 4, 1);
|
||
|
|
|
||
|
|
dGeomSetCategoryBits(ground, 1ul);
|
||
|
|
dGeomSetCategoryBits(platform, 2ul);
|
||
|
|
dGeomSetCollideBits(ground, ~2ul);
|
||
|
|
dGeomSetCollideBits(platform, ~1ul);
|
||
|
|
|
||
|
|
// run simulation
|
||
|
|
dsSimulationLoop (argc,argv,352,288,&fn);
|
||
|
|
|
||
|
|
dJointGroupDestroy (contactgroup);
|
||
|
|
dSpaceDestroy (space);
|
||
|
|
dWorldDestroy (world);
|
||
|
|
dCloseODE();
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// Local Variables:
|
||
|
|
// c-basic-offset:4
|
||
|
|
// End:
|