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thirdparty/ode-0.16.5/ode/demo/demo_step.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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// test the step function by comparing the output of the fast and the slow
+// version, for various systems. currently you have to define COMPARE_METHODS
+// in step.cpp for this to work properly.
+//
+// @@@ report MAX error
+
+#include <time.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 bodies
+#define NUMJ 9			// number of joints
+#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=0;
+static dBodyID body[NUM];
+static dJointID joint[NUMJ];
+
+
+// create the test system
+
+void createTest()
+{
+  int i,j;
+  if (world) dWorldDestroy (world);
+
+  world = dWorldCreate();
+
+  // create random bodies
+  for (i=0; i<NUM; i++) {
+    // create bodies at random position and orientation
+    body[i] = dBodyCreate (world);
+    dBodySetPosition (body[i],dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2+RADIUS);
+    dReal q[4];
+    for (j=0; j<4; j++) q[j] = dRandReal()*2-1;
+    dBodySetQuaternion (body[i],q);
+
+    // set random velocity
+    dBodySetLinearVel (body[i], dRandReal()*2-1,dRandReal()*2-1,
+		       dRandReal()*2-1);
+    dBodySetAngularVel (body[i], dRandReal()*2-1,dRandReal()*2-1,
+			dRandReal()*2-1);
+
+    // set random mass (random diagonal mass rotated by a random amount)
+    dMass m;
+    dMatrix3 R;
+    dMassSetBox (&m,1,dRandReal()+0.1,dRandReal()+0.1,dRandReal()+0.1);
+    dMassAdjust (&m,dRandReal()+1);
+    for (j=0; j<4; j++) q[j] = dRandReal()*2-1;
+    dQtoR (q,R);
+    dMassRotate (&m,R);
+    dBodySetMass (body[i],&m);
+  }
+
+  // create ball-n-socket joints at random positions, linking random bodies
+  // (but make sure not to link the same pair of bodies twice)
+  char linked[NUM*NUM];
+  for (i=0; i<NUM*NUM; i++) linked[i] = 0;
+  for (i=0; i<NUMJ; i++) {
+    int b1,b2;
+    do {
+      b1 = dRandInt (NUM);
+      b2 = dRandInt (NUM);
+    } while (linked[b1*NUM + b2] || b1==b2);
+    linked[b1*NUM + b2] = 1;
+    linked[b2*NUM + b1] = 1;
+    joint[i] = dJointCreateBall (world,0);
+    dJointAttach (joint[i],body[b1],body[b2]);
+    dJointSetBallAnchor (joint[i],dRandReal()*2-1,
+			 dRandReal()*2-1,dRandReal()*2+RADIUS);
+  }
+
+  for (i=0; i<NUM; i++) {
+    // move bodies a bit to get some joint error
+    const dReal *pos = dBodyGetPosition (body[i]); 
+    dBodySetPosition (body[i],pos[0]+dRandReal()*0.2-0.1,
+		      pos[1]+dRandReal()*0.2-0.1,pos[2]+dRandReal()*0.2-0.1);
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {2.6117f,-1.4433f,2.3700f};
+  static float hpr[3] = {151.5000f,-30.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  if (!pause) {
+    // add random forces and torques to all bodies
+    int i;
+    const dReal scale1 = 5;
+    const dReal scale2 = 5;
+    for (i=0; i<NUM; i++) {
+      dBodyAddForce (body[i],
+		     scale1*(dRandReal()*2-1),
+		     scale1*(dRandReal()*2-1),
+		     scale1*(dRandReal()*2-1));
+      dBodyAddTorque (body[i],
+		     scale2*(dRandReal()*2-1),
+		     scale2*(dRandReal()*2-1),
+		     scale2*(dRandReal()*2-1));
+    }
+
+    dWorldStep (world,0.05);
+    createTest();
+  }
+
+  // float sides[3] = {SIDE,SIDE,SIDE};
+  dsSetColor (1,1,0);
+  for (int i=0; i<NUM; i++)
+    dsDrawSphere (dBodyGetPosition(body[i]), dBodyGetRotation(body[i]),RADIUS);
+}
+
+
+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;
+
+  dInitODE2(0);
+  dRandSetSeed (time(0));
+  createTest();
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}