322 lines
8.6 KiB
C++
322 lines
8.6 KiB
C++
/*************************************************************************
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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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// Test for non-capped cylinder, by Bram Stolk
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#include <ode/odeconfig.h>
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#include <assert.h>
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#ifdef HAVE_UNISTD_H
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#include <unistd.h>
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#endif
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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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#include "world_geom3.h" // this is our world mesh
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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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#define BOX
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#define CYL
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// some constants
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#define RADIUS 0.22 // wheel radius
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#define WMASS 0.2 // wheel mass
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#define WHEELW 0.2 // wheel width
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#define BOXSZ 0.4 // box size
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//#define CYL_GEOM_OFFSET // rotate cylinder using geom offset
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// dynamics and collision objects (chassis, 3 wheels, environment)
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static dWorldID world;
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static dSpaceID space;
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#ifdef BOX
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static dBodyID boxbody;
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static dGeomID boxgeom;
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#endif
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#ifdef CYL
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static dBodyID cylbody;
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static dGeomID cylgeom;
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#endif
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static dJointGroupID contactgroup;
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static dGeomID world_mesh;
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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 *data, dGeomID o1, dGeomID o2)
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{
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assert(o1);
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assert(o2);
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if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
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{
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fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2);
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// colliding a space with something
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dSpaceCollide2(o1,o2,data,&nearCallback);
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// Note we do not want to test intersections within a space,
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// only between spaces.
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return;
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}
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// fprintf(stderr,"testing geoms %p %p\n", o1, o2);
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const int N = 32;
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dContact contact[N];
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int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
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if (n > 0)
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{
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for (int i=0; i<n; i++)
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{
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contact[i].surface.slip1 = 0.7;
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contact[i].surface.slip2 = 0.7;
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contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
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contact[i].surface.mu = 50.0; // was: dInfinity
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contact[i].surface.soft_erp = 0.96;
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contact[i].surface.soft_cfm = 0.04;
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dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
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dJointAttach (c,
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dGeomGetBody(contact[i].geom.g1),
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dGeomGetBody(contact[i].geom.g2));
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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] = {-8,-9,3};
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static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
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dsSetViewpoint (xyz,hpr);
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}
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static void reset_state(void)
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{
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float sx=-4, sy=-4, sz=2;
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dQuaternion q;
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dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
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#ifdef BOX
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dBodySetPosition (boxbody, sx, sy+1, sz);
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dBodySetLinearVel (boxbody, 0,0,0);
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dBodySetAngularVel (boxbody, 0,0,0);
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dBodySetQuaternion (boxbody, q);
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#endif
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#ifdef CYL
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dBodySetPosition (cylbody, sx, sy, sz);
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dBodySetLinearVel (cylbody, 0,0,0);
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dBodySetAngularVel (cylbody, 0,0,0);
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dBodySetQuaternion (cylbody, q);
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#endif
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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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switch (cmd)
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{
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case ' ':
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reset_state();
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break;
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}
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}
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// simulation loop
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static void simLoop (int pause)
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{
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double simstep = 0.005; // 5ms simulation steps
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double dt = dsElapsedTime();
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int nrofsteps = (int) ceilf(dt/simstep);
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for (int i=0; i<nrofsteps && !pause; i++)
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{
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dSpaceCollide (space,0,&nearCallback);
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dWorldQuickStep (world, simstep);
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dJointGroupEmpty (contactgroup);
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}
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dsSetColor (1,1,1);
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#ifdef BOX
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const dReal *BPos = dBodyGetPosition(boxbody);
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const dReal *BRot = dBodyGetRotation(boxbody);
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float bpos[3] = {BPos[0], BPos[1], BPos[2]};
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float brot[12] = { BRot[0], BRot[1], BRot[2], BRot[3], BRot[4], BRot[5], BRot[6], BRot[7], BRot[8], BRot[9], BRot[10], BRot[11] };
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float sides[3] = {BOXSZ, BOXSZ, BOXSZ};
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dsDrawBox
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(
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bpos,
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brot,
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sides
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); // single precision
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#endif
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#ifdef CYL
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const dReal *CPos = dGeomGetPosition(cylgeom);
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const dReal *CRot = dGeomGetRotation(cylgeom);
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float cpos[3] = {CPos[0], CPos[1], CPos[2]};
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float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
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dsDrawCylinder
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(
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// dBodyGetPosition(cylbody),
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// dBodyGetRotation(cylbody),
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cpos,
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crot,
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WHEELW,
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RADIUS
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); // single precision
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#endif
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// draw world trimesh
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dsSetColor(0.7,0.7,0.4);
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dsSetTexture (DS_NONE);
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const dReal* Pos = dGeomGetPosition(world_mesh);
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float pos[3] = { Pos[0], Pos[1], Pos[2] };
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const dReal* Rot = dGeomGetRotation(world_mesh);
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float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] };
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int numi = sizeof(world_indices) / sizeof(dTriIndex);
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for (int i=0; i<numi/3; i++)
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{
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int i0 = world_indices[i*3+0];
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int i1 = world_indices[i*3+1];
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int i2 = world_indices[i*3+2];
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float *v0 = world_vertices+i0*3;
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float *v1 = world_vertices+i1*3;
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float *v2 = world_vertices+i2*3;
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dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
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}
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}
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int main (int argc, char **argv)
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{
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dMass m;
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dMatrix3 R;
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// setup pointers to drawstuff callback functions
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dsFunctions fn;
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fn.version = DS_VERSION;
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fn.start = &start;
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fn.step = &simLoop;
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fn.command = &command;
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fn.stop = 0;
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fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
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// create world
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dInitODE2(0);
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world = dWorldCreate();
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space = dHashSpaceCreate (0);
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contactgroup = dJointGroupCreate (0);
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dWorldSetGravity (world,0,0,-9.8);
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dWorldSetQuickStepNumIterations (world, 12);
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// Create a static world using a triangle mesh that we can collide with.
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int numv = sizeof(world_vertices)/(3*sizeof(float));
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int numi = sizeof(world_indices)/ sizeof(dTriIndex);
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printf("numv=%d, numi=%d\n", numv, numi);
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dTriMeshDataID Data = dGeomTriMeshDataCreate();
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dGeomTriMeshDataBuildSingle
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(
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Data,
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world_vertices,
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3 * sizeof(float),
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numv,
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world_indices,
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numi,
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3 * sizeof(dTriIndex)
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);
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world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
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dGeomSetPosition(world_mesh, 0, 0, 0.5);
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dRFromAxisAndAngle (R, 0,1,0, 0.0);
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dGeomSetRotation (world_mesh, R);
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#ifdef BOX
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boxbody = dBodyCreate (world);
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dMassSetBox (&m,1, BOXSZ, BOXSZ, BOXSZ);
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dMassAdjust (&m, 1);
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dBodySetMass (boxbody,&m);
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boxgeom = dCreateBox (0, BOXSZ, BOXSZ, BOXSZ);
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dGeomSetBody (boxgeom,boxbody);
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dSpaceAdd (space, boxgeom);
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#endif
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#ifdef CYL
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cylbody = dBodyCreate (world);
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dMassSetSphere (&m,1,RADIUS);
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dMassAdjust (&m,WMASS);
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dBodySetMass (cylbody,&m);
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cylgeom = dCreateCylinder(0, RADIUS, WHEELW);
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dGeomSetBody (cylgeom,cylbody);
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#if defined(CYL_GEOM_OFFSET)
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dMatrix3 mat;
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dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0);
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dGeomSetOffsetRotation(cylgeom,mat);
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#endif
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dSpaceAdd (space, cylgeom);
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#endif
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reset_state();
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// run simulation
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dsSimulationLoop (argc,argv,352,288,&fn);
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dJointGroupEmpty (contactgroup);
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dJointGroupDestroy (contactgroup);
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// First destroy geoms, then space, then the world.
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#ifdef CYL
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dGeomDestroy (cylgeom);
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#endif
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#ifdef BOX
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dGeomDestroy (boxgeom);
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#endif
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dGeomDestroy (world_mesh);
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dSpaceDestroy (space);
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dWorldDestroy (world);
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dCloseODE();
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return 0;
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(void)world_normals; // get rid of compiler warnings
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}
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