ugo_zapad/horror
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

first commit

Browse Source
This commit is contained in:
Kirill Yurkin
2024-06-10 12:48:14 +03:00
commit d54c9805b3
1398 changed files with 739400 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

619
thirdparty/ode-0.16.5/ode/demo/demo_boxstack.cpp vendored Normal file
View File

@@ -0,0 +1,619 @@
/*************************************************************************
* *
* 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. *
* *
*************************************************************************/
#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
#include "icosahedron_geom.h"
//<---- Convex Object
dReal planes[]= // planes for a cube, these should coincide with the face array
{
1.0f ,0.0f ,0.0f ,0.25f,
0.0f ,1.0f ,0.0f ,0.25f,
0.0f ,0.0f ,1.0f ,0.25f,
-1.0f,0.0f ,0.0f ,0.25f,
0.0f ,-1.0f,0.0f ,0.25f,
0.0f ,0.0f ,-1.0f,0.25f
/*
1.0f ,0.0f ,0.0f ,2.0f,
0.0f ,1.0f ,0.0f ,1.0f,
0.0f ,0.0f ,1.0f ,1.0f,
0.0f ,0.0f ,-1.0f,1.0f,
0.0f ,-1.0f,0.0f ,1.0f,
-1.0f,0.0f ,0.0f ,0.0f
*/
};
const unsigned int planecount=6;
dReal points[]= // points for a cube
{
0.25f,0.25f,0.25f, // point 0
-0.25f,0.25f,0.25f, // point 1
0.25f,-0.25f,0.25f, // point 2
-0.25f,-0.25f,0.25f,// point 3
0.25f,0.25f,-0.25f, // point 4
-0.25f,0.25f,-0.25f,// point 5
0.25f,-0.25f,-0.25f,// point 6
-0.25f,-0.25f,-0.25f,// point 7
};
const unsigned int pointcount=8;
unsigned int polygons[] = //Polygons for a cube (6 squares)
{
4,0,2,6,4, // positive X
4,1,0,4,5, // positive Y
4,0,1,3,2, // positive Z
4,3,1,5,7, // negative X
4,2,3,7,6, // negative Y
4,5,4,6,7, // negative Z
};
//----> Convex Object
// select correct drawing functions
#ifdef dDOUBLE
#define dsDrawBox dsDrawBoxD
#define dsDrawSphere dsDrawSphereD
#define dsDrawCylinder dsDrawCylinderD
#define dsDrawCapsule dsDrawCapsuleD
#define dsDrawConvex dsDrawConvexD
#endif
// some constants
#define NUM 100 // max number of objects
#define DENSITY (5.0) // density of all objects
#define GPB 3 // maximum number of geometries per body
#define MAX_CONTACTS 8 // maximum number of contact points per body
#define MAX_FEEDBACKNUM 20
#define GRAVITY REAL(0.5)
// dynamics and collision objects
struct MyObject {
dBodyID body; // the body
dGeomID geom[GPB]; // geometries representing this body
};
static int num=0; // number of objects in simulation
static int nextobj=0; // next object to recycle if num==NUM
static dWorldID world;
static dSpaceID space;
static MyObject obj[NUM];
static dJointGroupID contactgroup;
static int selected = -1; // selected object
static int show_aabb = 0; // show geom AABBs?
static int show_contacts = 0; // show contact points?
static int random_pos = 1; // drop objects from random position?
static int write_world = 0;
static int show_body = 0;
struct MyFeedback {
dJointFeedback fb;
bool first;
};
static int doFeedback=0;
static MyFeedback feedbacks[MAX_FEEDBACKNUM];
static int fbnum=0;
// this is called by dSpaceCollide when two objects in space are
// potentially colliding.
static void nearCallback (void *, dGeomID o1, dGeomID o2)
{
int i;
// if (o1->body && o2->body) return;
// exit without doing anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact))
return;
dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box
for (i=0; i<MAX_CONTACTS; i++) {
contact[i].surface.mode = dContactBounce | dContactSoftCFM;
contact[i].surface.mu = dInfinity;
contact[i].surface.mu2 = 0;
contact[i].surface.bounce = 0.1;
contact[i].surface.bounce_vel = 0.1;
contact[i].surface.soft_cfm = 0.01;
}
if (int numc = dCollide(o1,o2,MAX_CONTACTS,&contact[0].geom,
sizeof(dContact))) {
dMatrix3 RI;
dRSetIdentity (RI);
const dReal ss[3] = {0.02,0.02,0.02};
for (i=0; i<numc; i++) {
dJointID c = dJointCreateContact (world,contactgroup,contact+i);
dJointAttach (c,b1,b2);
if (show_contacts) {
dsSetColor(0,0,1);
dsDrawBox(contact[i].geom.pos,RI,ss);
}
if (doFeedback && (b1==obj[selected].body || b2==obj[selected].body)) {
if (fbnum<MAX_FEEDBACKNUM) {
feedbacks[fbnum].first = b1==obj[selected].body;
dJointSetFeedback(c,&feedbacks[fbnum++].fb);
}
else fbnum++;
}
}
}
}
// start simulation - set viewpoint
static void start()
{
dAllocateODEDataForThread(dAllocateMaskAll);
static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
dsSetViewpoint (xyz,hpr);
printf ("To drop another object, press:\n");
printf (" b for box.\n");
printf (" s for sphere.\n");
printf (" c for capsule.\n");
printf (" y for cylinder.\n");
printf (" v for a convex object.\n");
printf (" x for a composite object.\n");
printf ("To select an object, press space.\n");
printf ("To disable the selected object, press d.\n");
printf ("To enable the selected object, press e.\n");
printf ("To dump transformation data for the selected object, press p.\n");
printf ("To toggle showing the geom AABBs, press a.\n");
printf ("To toggle showing the contact points, press t.\n");
printf ("To toggle dropping from random position/orientation, press r.\n");
printf ("To save the current state to 'state.dif', press 1.\n");
printf ("To show joint feedbacks of selected object, press f.\n");
}
static char locase(char c)
{
if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
else return c;
}
// called when a key pressed
static void command(int cmd)
{
dsizeint i;
int j,k;
dReal sides[3];
dMass m;
bool setBody = false;
cmd = locase(cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v') {
if (num < NUM) {
// new object to be created
i = num;
num++;
} else {
// recycle existing object
i = nextobj++;
nextobj %= num; // wrap-around if needed
// destroy the body and geoms for slot i
dBodyDestroy (obj[i].body);
obj[i].body = 0;
for (k=0; k < GPB; k++)
if (obj[i].geom[k]) {
dGeomDestroy(obj[i].geom[k]);
obj[i].geom[k] = 0;
}
}
obj[i].body = dBodyCreate(world);
for (k=0; k<3; k++)
sides[k] = dRandReal()*0.5+0.1;
dMatrix3 R;
if (random_pos) {
dBodySetPosition(obj[i].body,
dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
dRFromAxisAndAngle(R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
} else {
// higher than highest body position
dReal maxheight = 0;
for (k=0; k<num; k++) {
const dReal *pos = dBodyGetPosition(obj[k].body);
if (pos[2] > maxheight)
maxheight = pos[2];
}
dBodySetPosition(obj[i].body, 0,0,maxheight+1);
dRSetIdentity(R);
//dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0);
}
dBodySetRotation(obj[i].body,R);
if (cmd == 'b') {
dMassSetBox(&m,DENSITY,sides[0],sides[1],sides[2]);
obj[i].geom[0] = dCreateBox(space,sides[0],sides[1],sides[2]);
} else if (cmd == 'c') {
sides[0] *= 0.5;
dMassSetCapsule(&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
} else if (cmd == 'v') {
dMassSetBox(&m,DENSITY,0.25,0.25,0.25);
#if 0
obj[i].geom[0] = dCreateConvex(space,
planes,
planecount,
points,
pointcount,
polygons);
#else
obj[i].geom[0] = dCreateConvex(space,
Sphere_planes,
Sphere_planecount,
Sphere_points,
Sphere_pointcount,
Sphere_polygons);
#endif
} else if (cmd == 'y') {
dMassSetCylinder(&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCylinder(space,sides[0],sides[1]);
} else if (cmd == 's') {
sides[0] *= 0.5;
dMassSetSphere (&m,DENSITY,sides[0]);
obj[i].geom[0] = dCreateSphere (space,sides[0]);
} else if (cmd == 'x') {
setBody = true;
// start accumulating masses for the composite geometries
dMass m2;
dMassSetZero (&m);
dReal dpos[GPB][3]; // delta-positions for composite geometries
dMatrix3 drot[GPB];
// set random delta positions
for (j=0; j<GPB; j++)
for (k=0; k<3; k++)
dpos[j][k] = dRandReal()*0.3-0.15;
for (k=0; k<GPB; k++) {
if (k==0) {
dReal radius = dRandReal()*0.25+0.05;
obj[i].geom[k] = dCreateSphere (space,radius);
dMassSetSphere (&m2,DENSITY,radius);
} else if (k==1) {
obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
} else {
dReal radius = dRandReal()*0.1+0.05;
dReal length = dRandReal()*1.0+0.1;
obj[i].geom[k] = dCreateCapsule(space,radius,length);
dMassSetCapsule(&m2,DENSITY,3,radius,length);
}
dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
dMassRotate(&m2,drot[k]);
dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
// add to the total mass
dMassAdd(&m,&m2);
}
for (k=0; k<GPB; k++) {
dGeomSetBody(obj[i].geom[k],obj[i].body);
dGeomSetOffsetPosition(obj[i].geom[k],
dpos[k][0]-m.c[0],
dpos[k][1]-m.c[1],
dpos[k][2]-m.c[2]);
dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
}
dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
dBodySetMass(obj[i].body,&m);
}
if (!setBody) { // avoid calling for composite geometries
for (k=0; k < GPB; k++)
if (obj[i].geom[k])
dGeomSetBody(obj[i].geom[k],obj[i].body);
dBodySetMass(obj[i].body,&m);
}
}
if (cmd == ' ') {
selected++;
if (selected >= num)
selected = 0;
if (selected == -1)
selected = 0;
} else if (cmd == 'd' && selected >= 0 && selected < num) {
dBodyDisable(obj[selected].body);
} else if (cmd == 'e' && selected >= 0 && selected < num) {
dBodyEnable(obj[selected].body);
} else if (cmd == 'a') {
show_aabb = !show_aabb;
} else if (cmd == 't') {
show_contacts = !show_contacts;
} else if (cmd == 'r') {
random_pos = !random_pos;
} else if (cmd == '1') {
write_world = 1;
} else if (cmd == 'p'&& selected >= 0) {
const dReal* pos = dGeomGetPosition(obj[selected].geom[0]);
const dReal* rot = dGeomGetRotation(obj[selected].geom[0]);
printf("POSITION:\n\t[%f,%f,%f]\n\n",pos[0],pos[1],pos[2]);
printf("ROTATION:\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\n",
rot[0],rot[1],rot[2],rot[3],
rot[4],rot[5],rot[6],rot[7],
rot[8],rot[9],rot[10],rot[11]);
} else if (cmd == 'f' && selected >= 0 && selected < num) {
if (dBodyIsEnabled(obj[selected].body))
doFeedback = 1;
}
}
// draw a geom
void drawGeom(dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
{
int i;
if (!g)
return;
if (!pos)
pos = dGeomGetPosition(g);
if (!R)
R = dGeomGetRotation(g);
int type = dGeomGetClass(g);
if (type == dBoxClass) {
dVector3 sides;
dGeomBoxGetLengths (g,sides);
dsDrawBox(pos,R,sides);
} else if (type == dSphereClass) {
dsDrawSphere(pos,R,dGeomSphereGetRadius(g));
} else if (type == dCapsuleClass) {
dReal radius,length;
dGeomCapsuleGetParams(g,&radius,&length);
dsDrawCapsule(pos,R,length,radius);
} else if (type == dConvexClass) {
#if 0
dsDrawConvex(pos,R,planes,
planecount,
points,
pointcount,
polygons);
#else
dsDrawConvex(pos,R,
Sphere_planes,
Sphere_planecount,
Sphere_points,
Sphere_pointcount,
Sphere_polygons);
#endif
} else if (type == dCylinderClass) {
dReal radius,length;
dGeomCylinderGetParams(g,&radius,&length);
dsDrawCylinder(pos,R,length,radius);
}
if (show_body) {
dBodyID body = dGeomGetBody(g);
if (body) {
const dReal *bodypos = dBodyGetPosition(body);
const dReal *bodyr = dBodyGetRotation(body);
dReal bodySides[3] = { 0.1, 0.1, 0.1 };
dsSetColorAlpha(0,1,0,1);
dsDrawBox(bodypos,bodyr,bodySides);
}
}
if (show_aabb) {
// draw the bounding box for this geom
dReal aabb[6];
dGeomGetAABB(g,aabb);
dVector3 bbpos;
for (i=0; i<3; i++)
bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (i=0; i<3; i++)
bbsides[i] = aabb[i*2+1] - aabb[i*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha(1,0,0,0.5);
dsDrawBox(bbpos,RI,bbsides);
}
}
// simulation loop
static void simLoop(int pause)
{
dSpaceCollide(space, 0, &nearCallback);
if (!pause)
dWorldQuickStep(world, 0.02);
if (write_world) {
FILE *f = fopen("state.dif","wt");
if (f) {
dWorldExportDIF(world,f,"X");
fclose (f);
}
write_world = 0;
}
if (doFeedback) {
if (fbnum>MAX_FEEDBACKNUM)
printf("joint feedback buffer overflow!\n");
else {
dVector3 sum = {0, 0, 0};
printf("\n");
for (int i=0; i<fbnum; i++) {
dReal* f = feedbacks[i].first?feedbacks[i].fb.f1:feedbacks[i].fb.f2;
printf("%f %f %f\n", f[0], f[1], f[2]);
sum[0] += f[0];
sum[1] += f[1];
sum[2] += f[2];
}
printf("Sum: %f %f %f\n", sum[0], sum[1], sum[2]);
dMass m;
dBodyGetMass(obj[selected].body, &m);
printf("Object G=%f\n", GRAVITY*m.mass);
}
doFeedback = 0;
fbnum = 0;
}
// remove all contact joints
dJointGroupEmpty(contactgroup);
dsSetTexture(DS_WOOD);
for (int i=0; i<num; i++) {
for (int j=0; j < GPB; j++) {
if (i==selected) {
dsSetColor(0,0.7,1);
} else if (!dBodyIsEnabled(obj[i].body)) {
dsSetColor(1,0.8,0);
} else {
dsSetColor(1,1,0);
}
drawGeom(obj[i].geom[j],0,0,show_aabb);
}
}
}
int main (int argc, char **argv)
{
// 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,-GRAVITY);
dWorldSetCFM(world,1e-5);
dWorldSetAutoDisableFlag(world,1);
#if 1
dWorldSetAutoDisableAverageSamplesCount( world, 10 );
#endif
dWorldSetLinearDamping(world, 0.00001);
dWorldSetAngularDamping(world, 0.005);
dWorldSetMaxAngularSpeed(world, 200);
dWorldSetContactMaxCorrectingVel(world,0.1);
dWorldSetContactSurfaceLayer(world,0.001);
dCreatePlane(space,0,0,1,0);
memset(obj,0,sizeof(obj));
dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
// dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
// run simulation
dsSimulationLoop(argc,argv,640,480,&fn);
dThreadingImplementationShutdownProcessing(threading);
dThreadingFreeThreadPool(pool);
dWorldSetStepThreadingImplementation(world, NULL, NULL);
dThreadingFreeImplementation(threading);
dJointGroupDestroy(contactgroup);
dSpaceDestroy(space);
dWorldDestroy(world);
dCloseODE();
}