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thirdparty/ode-0.16.5/ode/demo/demo_chain1.c

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+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* exercise the C interface */
+
+#include <stdio.h>
+#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
+
+/* select correct drawing functions */
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+/* some constants */
+
+#define NUM 10			/* number of boxes */
+#define SIDE (0.2)		/* side length of a box */
+#define MASS (1.0)		/* mass of a box */
+#define RADIUS (0.1732f)	/* sphere radius */
+
+
+/* dynamics and collision objects */
+
+static dWorldID world;
+static dSpaceID space;
+static dBodyID body[NUM];
+static dJointID joint[NUM-1];
+static dJointGroupID contactgroup;
+static dGeomID sphere[NUM];
+
+
+/* this is called by dSpaceCollide when two objects in space are
+ * potentially colliding.
+ */
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+  /* exit without doing anything if the two bodies are connected by a joint */
+  dBodyID b1,b2;
+  dContact contact;
+  (void)data;
+
+  b1 = dGeomGetBody(o1);
+  b2 = dGeomGetBody(o2);
+  if (b1 && b2 && dAreConnected (b1,b2)) return;
+
+  contact.surface.mode = 0;
+  contact.surface.mu = 0.1;
+  contact.surface.mu2 = 0;
+  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
+    dJointID c = dJointCreateContact (world,contactgroup,&contact);
+    dJointAttach (c,b1,b2);
+  }
+}
+
+
+/* start simulation - set viewpoint */
+
+static void start()
+{
+  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+
+  dAllocateODEDataForThread(dAllocateMaskAll);
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+/* simulation loop */
+
+static void simLoop (int pause)
+{
+  int i;
+  if (!pause) {
+    static double angle = 0;
+    angle += 0.05;
+    dBodyAddForce (body[NUM-1],0,0,1.5*(sin(angle)+1.0));
+
+    dSpaceCollide (space,0,&nearCallback);
+    dWorldStep (world,0.05);
+
+    /* remove all contact joints */
+    dJointGroupEmpty (contactgroup);
+  }
+
+  dsSetColor (1,1,0);
+  dsSetTexture (DS_WOOD);
+  for (i=0; i<NUM; i++) dsDrawSphere (dBodyGetPosition(body[i]),
+				      dBodyGetRotation(body[i]),RADIUS);
+}
+
+
+int main (int argc, char **argv)
+{
+  int i;
+  dReal k;
+  dMass m;
+
+  /* setup pointers to drawstuff callback functions */
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = 0;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  /* create world */
+  dInitODE2(0);
+  world = dWorldCreate();
+  space = dHashSpaceCreate (0);
+  contactgroup = dJointGroupCreate (1000000);
+  dWorldSetGravity (world,0,0,-0.5);
+  dCreatePlane (space,0,0,1,0);
+
+  for (i=0; i<NUM; i++) {
+    body[i] = dBodyCreate (world);
+    k = i*SIDE;
+    dBodySetPosition (body[i],k,k,k+0.4);
+    dMassSetBox (&m,1,SIDE,SIDE,SIDE);
+    dMassAdjust (&m,MASS);
+    dBodySetMass (body[i],&m);
+    sphere[i] = dCreateSphere (space,RADIUS);
+    dGeomSetBody (sphere[i],body[i]);
+  }
+  for (i=0; i<(NUM-1); i++) {
+    joint[i] = dJointCreateBall (world,0);
+    dJointAttach (joint[i],body[i],body[i+1]);
+    k = (i+0.5)*SIDE;
+    dJointSetBallAnchor (joint[i],k,k,k+0.4);
+  }
+
+  /* run simulation */
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}