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thirdparty/ode-0.16.5/ode/demo/demo_chain2.cpp

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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 <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
+
+//using namespace ode;
+
+// dynamics and collision objects
+
+static dWorld world;
+static dSimpleSpace space (0);
+static dBody body[NUM];
+static dBallJoint joint[NUM-1];
+static dJointGroup contactgroup;
+static dBox box[NUM];
+
+
+// this is called by space.collide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  // exit without doing anything if the two bodies are connected by a joint
+  dBodyID b1 = dGeomGetBody(o1);
+  dBodyID b2 = dGeomGetBody(o2);
+  if (b1 && b2 && dAreConnected (b1,b2)) return;
+
+  // @@@ it's still more convenient to use the C interface here.
+
+  dContact contact;
+  contact.surface.mode = 0;
+  contact.surface.mu = dInfinity;
+  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
+    dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&contact);
+    dJointAttach (c,b1,b2);
+  }
+}
+
+
+// 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);
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  if (!pause) {
+    static double angle = 0;
+    angle += 0.05;
+    body[NUM-1].addForce (0,0,1.5*(sin(angle)+1.0));
+
+    space.collide (0,&nearCallback);
+    world.step (0.05);
+
+    // remove all contact joints
+    contactgroup.empty();
+  }
+
+  dReal sides[3] = {SIDE,SIDE,SIDE};
+  dsSetColor (1,1,0);
+  dsSetTexture (DS_WOOD);
+  for (int i=0; i<NUM; i++)
+    dsDrawBox (body[i].getPosition(),body[i].getRotation(),sides);
+}
+
+
+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 = 0;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+
+  int i;
+  contactgroup.create ();
+  world.setGravity (0,0,-0.5);
+  dWorldSetCFM (world.id(),1e-5);
+  dPlane plane (space,0,0,1,0);
+
+  for (i=0; i<NUM; i++) {
+    body[i].create (world);
+    dReal k = i*SIDE;
+    body[i].setPosition (k,k,k+0.4);
+    dMass m;
+    m.setBox (1,SIDE,SIDE,SIDE);
+    m.adjust (MASS);
+    body[i].setMass (&m);
+    body[i].setData ((void*)(dsizeint)i);
+
+    box[i].create (space,SIDE,SIDE,SIDE);
+    box[i].setBody (body[i]);
+  }
+  for (i=0; i<(NUM-1); i++) {
+    joint[i].create (world);
+    joint[i].attach (body[i],body[i+1]);
+    dReal k = (i+0.5)*SIDE;
+    joint[i].setAnchor (k,k,k+0.4);
+  }
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dCloseODE();
+  return 0;
+}