166 lines
4.7 KiB
C++
166 lines
4.7 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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/* exercise the C++ interface */
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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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#endif
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// some constants
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#define NUM 10 // number of boxes
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#define SIDE (0.2) // side length of a box
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#define MASS (1.0) // mass of a box
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#define RADIUS (0.1732f) // sphere radius
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//using namespace ode;
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// dynamics and collision objects
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static dWorld world;
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static dSimpleSpace space (0);
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static dBody body[NUM];
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static dBallJoint joint[NUM-1];
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static dJointGroup contactgroup;
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static dBox box[NUM];
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// this is called by space.collide 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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// 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 && dAreConnected (b1,b2)) return;
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// @@@ it's still more convenient to use the C interface here.
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dContact contact;
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contact.surface.mode = 0;
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contact.surface.mu = dInfinity;
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if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
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dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&contact);
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dJointAttach (c,b1,b2);
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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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}
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// simulation loop
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static void simLoop (int pause)
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{
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if (!pause) {
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static double angle = 0;
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angle += 0.05;
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body[NUM-1].addForce (0,0,1.5*(sin(angle)+1.0));
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space.collide (0,&nearCallback);
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world.step (0.05);
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// remove all contact joints
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contactgroup.empty();
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}
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dReal sides[3] = {SIDE,SIDE,SIDE};
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dsSetColor (1,1,0);
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dsSetTexture (DS_WOOD);
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for (int i=0; i<NUM; i++)
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dsDrawBox (body[i].getPosition(),body[i].getRotation(),sides);
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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 = 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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int i;
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contactgroup.create ();
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world.setGravity (0,0,-0.5);
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dWorldSetCFM (world.id(),1e-5);
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dPlane plane (space,0,0,1,0);
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for (i=0; i<NUM; i++) {
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body[i].create (world);
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dReal k = i*SIDE;
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body[i].setPosition (k,k,k+0.4);
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dMass m;
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m.setBox (1,SIDE,SIDE,SIDE);
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m.adjust (MASS);
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body[i].setMass (&m);
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body[i].setData ((void*)(dsizeint)i);
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box[i].create (space,SIDE,SIDE,SIDE);
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box[i].setBody (body[i]);
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}
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for (i=0; i<(NUM-1); i++) {
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joint[i].create (world);
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joint[i].attach (body[i],body[i+1]);
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dReal k = (i+0.5)*SIDE;
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joint[i].setAnchor (k,k,k+0.4);
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}
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// run simulation
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dsSimulationLoop (argc,argv,352,288,&fn);
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dCloseODE();
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return 0;
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}
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