241 lines
6.5 KiB
C++
241 lines
6.5 KiB
C++
/*************************************************************************
|
|
* *
|
|
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
|
|
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
|
|
* *
|
|
* This library is free software; you can redistribute it and/or *
|
|
* modify it under the terms of EITHER: *
|
|
* (1) The GNU Lesser General Public License as published by the Free *
|
|
* Software Foundation; either version 2.1 of the License, or (at *
|
|
* your option) any later version. The text of the GNU Lesser *
|
|
* General Public License is included with this library in the *
|
|
* file LICENSE.TXT. *
|
|
* (2) The BSD-style license that is included with this library in *
|
|
* the file LICENSE-BSD.TXT. *
|
|
* *
|
|
* This library is distributed in the hope that it will be useful, *
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
|
|
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
|
|
* *
|
|
*************************************************************************/
|
|
|
|
// Test for cylinder vs sphere, by Bram Stolk
|
|
|
|
#include <ode/odeconfig.h>
|
|
#include <assert.h>
|
|
#ifdef HAVE_UNISTD_H
|
|
#include <unistd.h>
|
|
#endif
|
|
#include <ode/ode.h>
|
|
#include <drawstuff/drawstuff.h>
|
|
#include "texturepath.h"
|
|
|
|
#ifdef _MSC_VER
|
|
#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
|
|
#endif
|
|
|
|
|
|
// dynamics and collision objects (chassis, 3 wheels, environment)
|
|
|
|
static dWorldID world;
|
|
static dSpaceID space;
|
|
|
|
static dBodyID cylbody;
|
|
static dGeomID cylgeom;
|
|
|
|
static dBodyID sphbody;
|
|
static dGeomID sphgeom;
|
|
|
|
static dJointGroupID contactgroup;
|
|
|
|
static bool show_contacts = true;
|
|
|
|
#define CYLRADIUS 0.6
|
|
#define CYLLENGTH 2.0
|
|
#define SPHERERADIUS 0.5
|
|
|
|
|
|
#ifdef dDOUBLE
|
|
#define dsDrawBox dsDrawBoxD
|
|
#define dsDrawLine dsDrawLineD
|
|
#endif
|
|
|
|
|
|
|
|
// this is called by dSpaceCollide when two objects in space are
|
|
// potentially colliding.
|
|
|
|
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
|
|
{
|
|
assert(o1);
|
|
assert(o2);
|
|
|
|
if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
|
|
{
|
|
fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2);
|
|
// colliding a space with something
|
|
dSpaceCollide2(o1,o2,data,&nearCallback);
|
|
// Note we do not want to test intersections within a space,
|
|
// only between spaces.
|
|
return;
|
|
}
|
|
|
|
const int N = 32;
|
|
dContact contact[N];
|
|
int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
|
|
if (n > 0)
|
|
{
|
|
for (int i=0; i<n; i++)
|
|
{
|
|
contact[i].surface.mode = 0;
|
|
contact[i].surface.mu = 50.0; // was: dInfinity
|
|
dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
|
|
dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
|
|
if (show_contacts)
|
|
{
|
|
dMatrix3 RI;
|
|
dRSetIdentity (RI);
|
|
const dReal ss[3] = {0.12,0.12,0.12};
|
|
dsSetColorAlpha (0,0,1,0.5);
|
|
dsDrawBox (contact[i].geom.pos,RI,ss);
|
|
dReal *pos = contact[i].geom.pos;
|
|
dReal depth = contact[i].geom.depth;
|
|
dReal *norm = contact[i].geom.normal;
|
|
dReal endp[3] = {pos[0]+depth*norm[0], pos[1]+depth*norm[1], pos[2]+depth*norm[2]};
|
|
dsSetColorAlpha (1,1,1,1);
|
|
dsDrawLine (contact[i].geom.pos, endp);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
// start simulation - set viewpoint
|
|
|
|
static void start()
|
|
{
|
|
dAllocateODEDataForThread(dAllocateMaskAll);
|
|
|
|
static float xyz[3] = {-8,-9,3};
|
|
static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
|
|
dsSetViewpoint (xyz,hpr);
|
|
}
|
|
|
|
|
|
// called when a key pressed
|
|
|
|
static void command (int cmd)
|
|
{
|
|
switch (cmd)
|
|
{
|
|
case ' ':
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
// simulation loop
|
|
|
|
static void simLoop (int pause)
|
|
{
|
|
dSpaceCollide (space,0,&nearCallback);
|
|
if (!pause)
|
|
{
|
|
dWorldQuickStep (world, 0.01); // 100 Hz
|
|
}
|
|
dJointGroupEmpty (contactgroup);
|
|
|
|
dsSetColorAlpha (1,1,0,0.5);
|
|
|
|
const dReal *CPos = dBodyGetPosition(cylbody);
|
|
const dReal *CRot = dBodyGetRotation(cylbody);
|
|
float cpos[3] = {CPos[0], CPos[1], CPos[2]};
|
|
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] };
|
|
dsDrawCylinder
|
|
(
|
|
cpos,
|
|
crot,
|
|
CYLLENGTH,
|
|
CYLRADIUS
|
|
); // single precision
|
|
|
|
const dReal *SPos = dBodyGetPosition(sphbody);
|
|
const dReal *SRot = dBodyGetRotation(sphbody);
|
|
float spos[3] = {SPos[0], SPos[1], SPos[2]};
|
|
float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] };
|
|
dsDrawSphere
|
|
(
|
|
spos,
|
|
srot,
|
|
SPHERERADIUS
|
|
); // single precision
|
|
}
|
|
|
|
|
|
int main (int argc, char **argv)
|
|
{
|
|
dMass m;
|
|
|
|
// 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,-9.8);
|
|
dWorldSetQuickStepNumIterations (world, 32);
|
|
|
|
dCreatePlane (space,0,0,1, 0.0);
|
|
|
|
cylbody = dBodyCreate (world);
|
|
dQuaternion q;
|
|
#if 0
|
|
dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
|
|
#else
|
|
// dQFromAxisAndAngle (q,1,0,0, M_PI * 1.0);
|
|
dQFromAxisAndAngle (q,1,0,0, M_PI * -0.77);
|
|
#endif
|
|
dBodySetQuaternion (cylbody,q);
|
|
dMassSetCylinder (&m,1.0,3,CYLRADIUS,CYLLENGTH);
|
|
dBodySetMass (cylbody,&m);
|
|
cylgeom = dCreateCylinder(0, CYLRADIUS, CYLLENGTH);
|
|
dGeomSetBody (cylgeom,cylbody);
|
|
dBodySetPosition (cylbody, 0, 0, 3);
|
|
dSpaceAdd (space, cylgeom);
|
|
|
|
sphbody = dBodyCreate (world);
|
|
dMassSetSphere (&m,1,SPHERERADIUS);
|
|
dBodySetMass (sphbody,&m);
|
|
sphgeom = dCreateSphere(0, SPHERERADIUS);
|
|
dGeomSetBody (sphgeom,sphbody);
|
|
dBodySetPosition (sphbody, 0, 0, 5.5);
|
|
dSpaceAdd (space, sphgeom);
|
|
|
|
// run simulation
|
|
dsSimulationLoop (argc,argv,352,288,&fn);
|
|
|
|
dJointGroupEmpty (contactgroup);
|
|
dJointGroupDestroy (contactgroup);
|
|
|
|
dGeomDestroy(sphgeom);
|
|
dGeomDestroy (cylgeom);
|
|
|
|
dSpaceDestroy (space);
|
|
dWorldDestroy (world);
|
|
dCloseODE();
|
|
return 0;
|
|
}
|
|
|
|
|
|
|