first commit
This commit is contained in:
276
thirdparty/ode-0.16.5/ode/demo/demo_basket.cpp
vendored
Normal file
276
thirdparty/ode-0.16.5/ode/demo/demo_basket.cpp
vendored
Normal file
@@ -0,0 +1,276 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
// Basket ball demo.
|
||||
// Serves as a test for the sphere vs trimesh collider
|
||||
// By Bram Stolk.
|
||||
// Press the spacebar to reset the position of the ball.
|
||||
|
||||
#include <assert.h>
|
||||
#ifdef HAVE_UNISTD_H
|
||||
#include <unistd.h>
|
||||
#endif
|
||||
#include <ode/ode.h>
|
||||
#include <drawstuff/drawstuff.h>
|
||||
#include "texturepath.h"
|
||||
#include "basket_geom.h" // this is our world mesh
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
|
||||
#endif
|
||||
|
||||
// some constants
|
||||
|
||||
#define RADIUS 0.14
|
||||
|
||||
// dynamics and collision objects (chassis, 3 wheels, environment)
|
||||
|
||||
static dWorldID world;
|
||||
static dSpaceID space;
|
||||
|
||||
static dBodyID sphbody;
|
||||
static dGeomID sphgeom;
|
||||
|
||||
static dJointGroupID contactgroup;
|
||||
static dGeomID world_mesh;
|
||||
|
||||
|
||||
// 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;
|
||||
}
|
||||
|
||||
// fprintf(stderr,"testing geoms %p %p\n", o1, o2);
|
||||
|
||||
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++)
|
||||
{
|
||||
// Paranoia <-- not working for some people, temporarily removed for 0.6
|
||||
//dIASSERT(dVALIDVEC3(contact[i].geom.pos));
|
||||
//dIASSERT(dVALIDVEC3(contact[i].geom.normal));
|
||||
//dIASSERT(!dIsNan(contact[i].geom.depth));
|
||||
contact[i].surface.slip1 = 0.7;
|
||||
contact[i].surface.slip2 = 0.7;
|
||||
contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
|
||||
contact[i].surface.mu = 50.0; // was: dInfinity
|
||||
contact[i].surface.soft_erp = 0.96;
|
||||
contact[i].surface.soft_cfm = 0.04;
|
||||
dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
|
||||
dJointAttach (c,
|
||||
dGeomGetBody(contact[i].geom.g1),
|
||||
dGeomGetBody(contact[i].geom.g2));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// start simulation - set viewpoint
|
||||
|
||||
static void start()
|
||||
{
|
||||
dAllocateODEDataForThread(dAllocateMaskAll);
|
||||
|
||||
static float xyz[3] = {-8,0,5};
|
||||
static float hpr[3] = {0.0f,-29.5000f,0.0000f};
|
||||
dsSetViewpoint (xyz,hpr);
|
||||
}
|
||||
|
||||
|
||||
|
||||
static void reset_ball(void)
|
||||
{
|
||||
float sx=0.0f, sy=3.40f, sz=7.15;
|
||||
|
||||
dQuaternion q;
|
||||
dQSetIdentity(q);
|
||||
dBodySetPosition (sphbody, sx, sy, sz);
|
||||
dBodySetQuaternion(sphbody, q);
|
||||
dBodySetLinearVel (sphbody, 0,0,0);
|
||||
dBodySetAngularVel (sphbody, 0,0,0);
|
||||
}
|
||||
|
||||
|
||||
// called when a key pressed
|
||||
|
||||
static void command (int cmd)
|
||||
{
|
||||
switch (cmd)
|
||||
{
|
||||
case ' ':
|
||||
reset_ball();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// simulation loop
|
||||
|
||||
static void simLoop (int pause)
|
||||
{
|
||||
double simstep = 0.001; // 1ms simulation steps
|
||||
double dt = dsElapsedTime();
|
||||
|
||||
int nrofsteps = (int) ceilf(dt/simstep);
|
||||
// fprintf(stderr, "dt=%f, nr of steps = %d\n", dt, nrofsteps);
|
||||
|
||||
for (int i=0; i<nrofsteps && !pause; i++)
|
||||
{
|
||||
dSpaceCollide (space,0,&nearCallback);
|
||||
dWorldQuickStep (world, simstep);
|
||||
dJointGroupEmpty (contactgroup);
|
||||
}
|
||||
|
||||
dsSetColor (1,1,1);
|
||||
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,
|
||||
RADIUS
|
||||
);
|
||||
|
||||
// draw world trimesh
|
||||
dsSetColor(0.4,0.7,0.9);
|
||||
dsSetTexture (DS_NONE);
|
||||
|
||||
const dReal* Pos = dGeomGetPosition(world_mesh);
|
||||
//dIASSERT(dVALIDVEC3(Pos));
|
||||
float pos[3] = { Pos[0], Pos[1], Pos[2] };
|
||||
|
||||
const dReal* Rot = dGeomGetRotation(world_mesh);
|
||||
//dIASSERT(dVALIDMAT3(Rot));
|
||||
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] };
|
||||
|
||||
int numi = sizeof(world_indices) / sizeof(dTriIndex);
|
||||
|
||||
for (int i=0; i<numi/3; i++)
|
||||
{
|
||||
int i0 = world_indices[i*3+0];
|
||||
int i1 = world_indices[i*3+1];
|
||||
int i2 = world_indices[i*3+2];
|
||||
float *v0 = world_vertices+i0*3;
|
||||
float *v1 = world_vertices+i1*3;
|
||||
float *v2 = world_vertices+i2*3;
|
||||
dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int main (int argc, char **argv)
|
||||
{
|
||||
dMass m;
|
||||
dMatrix3 R;
|
||||
|
||||
// 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, 64);
|
||||
|
||||
// Create a static world using a triangle mesh that we can collide with.
|
||||
int numv = sizeof(world_vertices)/(3*sizeof(float));
|
||||
int numi = sizeof(world_indices)/ sizeof(dTriIndex);
|
||||
printf("numv=%d, numi=%d\n", numv, numi);
|
||||
dTriMeshDataID Data = dGeomTriMeshDataCreate();
|
||||
|
||||
// fprintf(stderr,"Building Single Precision Mesh\n");
|
||||
|
||||
dGeomTriMeshDataBuildSingle
|
||||
(
|
||||
Data,
|
||||
world_vertices,
|
||||
3 * sizeof(float),
|
||||
numv,
|
||||
world_indices,
|
||||
numi,
|
||||
3 * sizeof(dTriIndex)
|
||||
);
|
||||
|
||||
world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
|
||||
dGeomTriMeshEnableTC(world_mesh, dSphereClass, false);
|
||||
dGeomTriMeshEnableTC(world_mesh, dBoxClass, false);
|
||||
dGeomSetPosition(world_mesh, 0, 0, 0.5);
|
||||
dRSetIdentity(R);
|
||||
//dIASSERT(dVALIDMAT3(R));
|
||||
|
||||
dGeomSetRotation (world_mesh, R);
|
||||
|
||||
//float sx=0.0, sy=3.40, sz=6.80;
|
||||
(void)world_normals; // get rid of compiler warning
|
||||
sphbody = dBodyCreate (world);
|
||||
dMassSetSphere (&m,1,RADIUS);
|
||||
dBodySetMass (sphbody,&m);
|
||||
sphgeom = dCreateSphere(0, RADIUS);
|
||||
dGeomSetBody (sphgeom,sphbody);
|
||||
reset_ball();
|
||||
dSpaceAdd (space, sphgeom);
|
||||
|
||||
// run simulation
|
||||
dsSimulationLoop (argc,argv,352,288,&fn);
|
||||
|
||||
// Causes segm violation? Why?
|
||||
// (because dWorldDestroy() destroys body connected to geom; must call first!)
|
||||
dGeomDestroy(sphgeom);
|
||||
dGeomDestroy (world_mesh);
|
||||
|
||||
dJointGroupEmpty (contactgroup);
|
||||
dJointGroupDestroy (contactgroup);
|
||||
dSpaceDestroy (space);
|
||||
dWorldDestroy (world);
|
||||
dCloseODE();
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user