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Kirill Yurkin
2024-06-10 12:48:14 +03:00
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thirdparty/ode-0.16.5/ode/demo/demo_kinematic.cpp vendored Normal file
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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. *
* *
*************************************************************************/
#include <iostream>
#include <set>
#include <algorithm>
#include <functional>
#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
#include "texturepath.h"
#ifdef dDOUBLE
#define dsDrawBox dsDrawBoxD
#define dsDrawCylinder dsDrawCylinderD
#endif
using namespace std;
dWorld *world;
dSpace *space;
dPlane *ground;
dBody *kbody;
dBox *kbox;
dJointGroup joints;
dCylinder *kpole;
dBody *matraca;
dBox *matraca_geom;
dHingeJoint *hinge;
struct Box {
dBody body;
dBox geom;
Box() :
body(*world),
geom(*space, 0.2, 0.2, 0.2)
{
dMass mass;
mass.setBox(10, 0.2, 0.2, 0.2);
body.setMass(mass);
geom.setData(this);
geom.setBody(body);
}
void draw() const
{
dVector3 lengths;
geom.getLengths(lengths);
dsSetTexture(DS_WOOD);
dsSetColor(0,1,0);
dsDrawBox(geom.getPosition(), geom.getRotation(), lengths);
}
};
set<Box*> boxes;
set<Box*> to_remove;
void dropBox()
{
Box *box = new Box();
dReal px = (rand() / float(RAND_MAX)) * 2 - 1;
dReal py = (rand() / float(RAND_MAX)) * 2 - 1;
dReal pz = 2.5;
box->body.setPosition(px, py, pz);
boxes.insert(box);
}
void queueRemoval(dGeomID g)
{
Box *b = (Box*)dGeomGetData(g);
to_remove.insert(b);
}
void removeQueued()
{
while (!to_remove.empty()) {
Box *b = *to_remove.begin();
to_remove.erase(b);
boxes.erase(b);
delete b;
}
}
void nearCallback(void *, dGeomID g1, dGeomID g2)
{
if (g1 == ground->id()) {
queueRemoval(g2);
return;
}
if (g2 == ground->id()) {
queueRemoval(g1);
return;
}
dBodyID b1 = dGeomGetBody(g1);
dBodyID b2 = dGeomGetBody(g2);
if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
return;
const int MAX_CONTACTS = 10;
dContact contact[MAX_CONTACTS];
int n = dCollide(g1, g2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
for (int i=0; i<n; ++i) {
contact[i].surface.mode = 0;
contact[i].surface.mu = 1;
dJointID j = dJointCreateContact (*world, joints.id(), contact+i);
dJointAttach(j, b1, b2);
}
}
void
simLoop(int pause)
{
if (!pause) {
const dReal timestep = 0.04;
// this does a hard-coded circular motion animation
static float t=0;
t += timestep/4;
if (t > 2*M_PI)
t = 0;
dVector3 next_pos = { dCos(t), dSin(t), REAL(0.5)};
dVector3 vel;
// vel = (next_pos - cur_pos) / timestep
dSubtractVectors3(vel, next_pos, kbody->getPosition());
dScaleVector3(vel, 1/timestep);
kbody->setLinearVel(vel);
// end of hard-coded animation
space->collide(0, nearCallback);
removeQueued();
world->quickStep(timestep);
joints.clear();
}
dVector3 lengths;
// the moving platform
kbox->getLengths(lengths);
dsSetTexture(DS_WOOD);
dsSetColor(.3, .3, 1);
dsDrawBox(kbox->getPosition(), kbox->getRotation(), lengths);
dReal length, radius;
kpole->getParams(&radius, &length);
dsSetTexture(DS_CHECKERED);
dsSetColor(1, 1, 0);
dsDrawCylinder(kpole->getPosition(), kpole->getRotation(), length, radius);
// the matraca
matraca_geom->getLengths(lengths);
dsSetColor(1,0,0);
dsSetTexture(DS_WOOD);
dsDrawBox(matraca_geom->getPosition(), matraca_geom->getRotation(), lengths);
// and the boxes
for_each(boxes.begin(), boxes.end(), mem_fun(&Box::draw));
}
void command(int c)
{
switch (c) {
case ' ':
dropBox();
break;
}
}
int main(int argc, char **argv)
{
dInitODE();
// setup pointers to drawstuff callback functions
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = 0;
fn.step = &simLoop;
fn.command = &command;
fn.stop = 0;
fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
cout << endl << "*** Press SPACE to drop boxes **" << endl;
space = new dSimpleSpace();
ground = new dPlane(*space, 0, 0, 1, 0);
world = new dWorld;
world->setGravity(0, 0, -.5);
kbody = new dBody(*world);
kbody->setKinematic();
const dReal kx = 1, ky = 0, kz = .5;
kbody->setPosition(kx, ky, kz);
kbox = new dBox(*space, 3, 3, .5);
kbox->setBody(*kbody);
kpole = new dCylinder(*space, .125, 1.5);
kpole->setBody(*kbody);
dGeomSetOffsetPosition(kpole->id(), 0, 0, 0.8);
matraca = new dBody(*world);
matraca->setPosition(kx+0, ky+1, kz+1);
matraca_geom = new dBox(*space, 0.5, 2, 0.75);
matraca_geom->setBody(*matraca);
dMass mass;
mass.setBox(1, 0.5, 2, 0.75);
matraca->setMass(mass);
hinge = new dHingeJoint(*world);
hinge->attach(*kbody, *matraca);
hinge->setAnchor(kx, ky, kz+1);
hinge->setAxis(0, 0, 1);
dsSimulationLoop (argc, argv, 640, 480, &fn);
dCloseODE();
}