195 lines
5.4 KiB
C++
195 lines
5.4 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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#include <ode/ode.h>
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#include <drawstuff/drawstuff.h>
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#include "texturepath.h"
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#ifdef dDOUBLE
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#define dsDrawSphere dsDrawSphereD
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#define dsDrawBox dsDrawBoxD
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#define dsDrawLine dsDrawLineD
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#endif
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dWorldID world;
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dSpaceID space;
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dBodyID body1;
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dBodyID body2;
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dJointID joint1, joint2;
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void start()
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{
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world = dWorldCreate();
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dWorldSetGravity (world,0,0,-9.8);
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dWorldSetDamping(world, 1e-4, 1e-5);
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// dWorldSetERP(world, 1);
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space = dSimpleSpaceCreate (0);
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body1 = dBodyCreate(world);
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body2 = dBodyCreate(world);
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dBodySetPosition(body1, 0, 0, 3);
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dBodySetPosition(body2, 0, 0, 1);
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dGeomID g;
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dMass mass;
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g = dCreateBox(space, 0.2, 0.2, 1);
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dGeomSetBody(g, body1);
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dMassSetBox(&mass, 1, 0.2, 0.2, 1);
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dBodySetMass(body1, &mass);
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g = dCreateBox(space, 0.2, 0.2, 1);
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dGeomSetBody(g, body2);
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dMassSetBox(&mass, 1, 0.2, 0.2, 1);
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dBodySetMass(body2, &mass);
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joint1 = dJointCreateDBall(world, 0);
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dJointAttach(joint1, body1, 0);
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dJointSetDBallAnchor1(joint1, 0, 0, 3.5);
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dJointSetDBallAnchor2(joint1, 0, 0, 4.5);
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joint2 = dJointCreateDBall(world, 0);
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dJointAttach(joint2, body1, body2);
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dJointSetDBallAnchor1(joint2, 0, 0, 2.5);
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dJointSetDBallAnchor2(joint2, 0, 0, 1.5);
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// initial camera position
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static float xyz[3] = {3.8966, -2.0614, 4.0300};
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static float hpr[3] = {153.5, -16.5, 0};
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dsSetViewpoint (xyz,hpr);
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}
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void stop()
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{
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dSpaceDestroy(space);
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dWorldDestroy(world);
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}
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void drawGeom(dGeomID g)
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{
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int gclass = dGeomGetClass(g);
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const dReal *pos = dGeomGetPosition(g);
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const dReal *rot = dGeomGetRotation(g);
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switch (gclass) {
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case dSphereClass:
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dsSetColorAlpha(0, 0.75, 0.5, 1);
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dsSetTexture (DS_CHECKERED);
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dsDrawSphere(pos, rot, dGeomSphereGetRadius(g));
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break;
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case dBoxClass:
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{
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dVector3 lengths;
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dsSetColorAlpha(1, 1, 0, 1);
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dsSetTexture (DS_WOOD);
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dGeomBoxGetLengths(g, lengths);
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dsDrawBox(pos, rot, lengths);
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break;
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}
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default:
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{}
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}
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}
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void simLoop(int pause)
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{
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if (!pause) {
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static dReal t = 0;
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const dReal step = 0.005;
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const unsigned nsteps = 4;
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for (unsigned i=0; i<nsteps; ++i) {
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dReal f = sin(t*1.2)*0.8;
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dBodyAddForceAtRelPos(body1,
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f, 0, 0,
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0, 0, -0.5); // at the lower end
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dReal g = sin(t*0.7)*0.8;
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dBodyAddForceAtRelPos(body2,
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0, g, 0,
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0, 0, -0.5); // at the lower end
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t += step;
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dWorldQuickStep(world, step);
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}
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}
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// now we draw everything
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unsigned ngeoms = dSpaceGetNumGeoms(space);
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for (unsigned i=0; i<ngeoms; ++i) {
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dGeomID g = dSpaceGetGeom(space, i);
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drawGeom(g);
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}
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dVector3 a11, a12;
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dJointGetDBallAnchor1(joint1, a11);
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dJointGetDBallAnchor2(joint1, a12);
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dsSetColor(1, 0, 0);
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dsDrawLine(a11, a12);
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//printf("Error 1: %f\n", fabs(dJointGetDBallDistance(joint1) - dCalcPointsDistance3(a11, a12)));
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dVector3 a21, a22;
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dJointGetDBallAnchor1(joint2, a21);
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dJointGetDBallAnchor2(joint2, a22);
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dsSetColor(0, 1, 0);
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dsDrawLine(a21, a22);
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//printf("Error 2: %f\n", fabs(dJointGetDBallDistance(joint2) - dCalcPointsDistance3(a21, a22)));
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}
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int main(int argc, char **argv)
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{
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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 = 0;
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fn.stop = stop;
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fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
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// create world
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dInitODE();
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// run demo
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dsSimulationLoop (argc, argv, 800, 600, &fn);
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dCloseODE();
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return 0;
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}
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