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authordan miller2007-10-19 05:22:23 +0000
committerdan miller2007-10-19 05:22:23 +0000
commit1ec410ecd725f5a3ccb2d2fc16f48730d9d9fe43 (patch)
tree51bcae7a1b8381a6bf6fd8025a7de1e30fe0045d /libraries/ode-0.9/contrib/Ode.NET/Tests/BoxStack.cs
parentone more for the gipper (diff)
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trying to fix my screwup, please hold on
Diffstat (limited to 'libraries/ode-0.9/contrib/Ode.NET/Tests/BoxStack.cs')
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diff --git a/libraries/ode-0.9/contrib/Ode.NET/Tests/BoxStack.cs b/libraries/ode-0.9/contrib/Ode.NET/Tests/BoxStack.cs
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1using System;
2using System.Collections.Generic;
3using Drawstuff.NET;
4
5namespace Ode.NET
6{
7#if dDOUBLE
8 using dReal = System.Double;
9#else
10 using dReal = System.Single;
11#endif
12
13 public class TestBoxStack
14 {
15 #region Description of convex shape
16
17 static dReal[] planes =
18 {
19 1.0f, 0.0f, 0.0f, 0.25f,
20 0.0f, 1.0f, 0.0f, 0.25f,
21 0.0f, 0.0f, 1.0f, 0.25f,
22 0.0f, 0.0f, -1.0f, 0.25f,
23 0.0f, -1.0f, 0.0f, 0.25f,
24 -1.0f, 0.0f , 0.0f, 0.25f
25 };
26
27 static dReal[] points =
28 {
29 0.25f, 0.25f, 0.25f,
30 -0.25f, 0.25f, 0.25f,
31 0.25f, -0.25f, 0.25f,
32 -0.25f, -0.25f, 0.25f,
33 0.25f, 0.25f, -0.25f,
34 -0.25f,0.25f,-0.25f,
35 0.25f,-0.25f,-0.25f,
36 -0.25f,-0.25f,-0.25f,
37 };
38
39 static int[] polygons =
40 {
41 4, 0, 2, 6, 4,
42 4, 1, 0, 4, 5,
43 4, 0, 1, 3, 2,
44 4, 3, 1, 5, 7,
45 4, 2, 3, 7, 6,
46 4, 5, 4, 6, 7,
47 };
48
49 #endregion
50
51 const int NUM = 100;
52 const float DENSITY = 5.0f;
53 const int MAX_CONTACTS = 8;
54
55 static IntPtr world;
56 static IntPtr space;
57 static IntPtr contactgroup;
58
59 static Queue<IntPtr> obj = new Queue<IntPtr>();
60
61 static d.Vector3 xyz = new d.Vector3(2.1640f, -1.3079f, 1.7600f);
62 static d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
63
64 static d.NearCallback nearCallback = near;
65 static d.ContactGeom[] contacts = new d.ContactGeom[MAX_CONTACTS];
66 static d.Contact contact;
67
68
69 // Called when window is opened - sets up viewpoint and prints usage
70 static void start(int unused)
71 {
72 ds.SetViewpoint(ref xyz, ref hpr);
73 Console.WriteLine("To drop another object, press:");
74 Console.WriteLine(" b for box.");
75 Console.WriteLine(" s for sphere.");
76 Console.WriteLine(" c for capsule.");
77 Console.WriteLine(" y for cylinder.");
78 Console.WriteLine(" v for a convex object.");
79 Console.WriteLine(" x for a composite object.");
80 Console.WriteLine("To select an object, press space.");
81 Console.WriteLine("To disable the selected object, press d.");
82 Console.WriteLine("To enable the selected object, press e.");
83 Console.WriteLine("To toggle showing the geom AABBs, press a.");
84 Console.WriteLine("To toggle showing the contact points, press t.");
85 Console.WriteLine("To toggle dropping from random position/orientation, press r.");
86 Console.WriteLine("To save the current state to 'state.dif', press 1.");
87 }
88
89
90 // Near callback - creates contact joints
91 static void near(IntPtr space, IntPtr g1, IntPtr g2)
92 {
93 IntPtr b1 = d.GeomGetBody(g1);
94 IntPtr b2 = d.GeomGetBody(g2);
95 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
96 return;
97
98 int count = d.Collide(g1, g2, MAX_CONTACTS, contacts, d.ContactGeom.SizeOf);
99 for (int i = 0; i < count; ++i)
100 {
101 contact.geom = contacts[i];
102 IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
103 d.JointAttach(joint, b1, b2);
104 }
105 }
106
107
108 // Adds a new object to the scene - attaches a body to the geom and
109 // sets the initial position and orientation
110 static void addObject(IntPtr geom, d.Mass mass)
111 {
112 // Create a body for this object
113 IntPtr body = d.BodyCreate(world);
114 d.GeomSetBody(geom, body);
115 d.BodySetMass(body, ref mass);
116 obj.Enqueue(geom);
117
118 // Set the position of the new object
119 d.Matrix3 R;
120 d.BodySetPosition(body, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() + 2);
121 d.RFromAxisAndAngle(out R, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 10 - 5);
122 d.BodySetRotation(body, ref R);
123
124 // Cap the total number of objects
125 if (obj.Count > NUM)
126 {
127 geom = obj.Dequeue();
128 body = d.GeomGetBody(geom);
129 d.BodyDestroy(body);
130 d.GeomDestroy(geom);
131 }
132 }
133
134
135 // Keyboard callback
136 static void command(int cmd)
137 {
138 IntPtr geom;
139 d.Mass mass;
140 d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
141
142 Char ch = Char.ToLower((Char)cmd);
143 switch ((Char)ch)
144 {
145 case 'b':
146 d.MassSetBox(out mass, DENSITY, sides.X, sides.Y, sides.Z);
147 geom = d.CreateBox(space, sides.X, sides.Y, sides.Z);
148 addObject(geom, mass);
149 break;
150
151 case 'c':
152 sides.X *= 0.5f;
153 d.MassSetCapsule(out mass, DENSITY, 3, sides.X, sides.Y);
154 geom = d.CreateCapsule(space, sides.X, sides.Y);
155 addObject(geom, mass);
156 break;
157
158 case 'v':
159 d.MassSetBox(out mass, DENSITY, 0.25f, 0.25f, 0.25f);
160 geom = d.CreateConvex(space, planes, planes.Length / 4, points, points.Length / 3, polygons);
161 addObject(geom, mass);
162 break;
163 }
164 }
165
166
167 // Draw an object in the scene
168 static void drawGeom(IntPtr geom)
169 {
170 IntPtr body = d.GeomGetBody(geom);
171
172 d.Vector3 pos;
173 d.BodyCopyPosition(body, out pos);
174
175 d.Matrix3 R;
176 d.BodyCopyRotation(body, out R);
177
178 d.GeomClassID type = d.GeomGetClass(geom);
179 switch (type)
180 {
181 case d.GeomClassID.BoxClass:
182 d.Vector3 sides;
183 d.GeomBoxGetLengths(geom, out sides);
184 ds.DrawBox(ref pos, ref R, ref sides);
185 break;
186 case d.GeomClassID.CapsuleClass:
187 dReal radius, length;
188 d.GeomCapsuleGetParams(geom, out radius, out length);
189 ds.DrawCapsule(ref pos, ref R, length, radius);
190 break;
191 case d.GeomClassID.ConvexClass:
192 ds.DrawConvex(ref pos, ref R, planes, planes.Length / 4, points, points.Length / 3, polygons);
193 break;
194 }
195 }
196
197
198 // Called once per frame; updates the scene
199 static void step(int pause)
200 {
201 d.SpaceCollide(space, IntPtr.Zero, nearCallback);
202 if (pause == 0)
203 d.WorldQuickStep(world, 0.02f);
204 d.JointGroupEmpty(contactgroup);
205
206 ds.SetColor(1.0f, 1.0f, 0.0f);
207 ds.SetTexture(ds.Texture.Wood);
208
209 foreach (IntPtr geom in obj)
210 {
211 drawGeom(geom);
212 }
213 }
214
215
216 static void Main(string[] args)
217 {
218 // Setup pointers to drawstuff callback functions
219 ds.Functions fn;
220 fn.version = ds.VERSION;
221 fn.start = new ds.CallbackFunction(start);
222 fn.step = new ds.CallbackFunction(step);
223 fn.command = new ds.CallbackFunction(command);
224 fn.stop = null;
225 fn.path_to_textures = "../../../../drawstuff/textures";
226 if (args.Length > 0)
227 {
228 fn.path_to_textures = args[0];
229 }
230
231 // Set up contact response parameters
232 contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
233 contact.surface.mu = d.Infinity;
234 contact.surface.mu2 = 0.0f;
235 contact.surface.bounce = 0.1f;
236 contact.surface.bounce_vel = 0.1f;
237 contact.surface.soft_cfm = 0.01f;
238
239 // Initialize the scene
240 world = d.WorldCreate();
241 space = d.HashSpaceCreate(IntPtr.Zero);
242 contactgroup = d.JointGroupCreate(0);
243 d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
244 d.WorldSetCFM(world, 1e-5f);
245 d.WorldSetAutoDisableFlag(world, true);
246 d.WorldSetContactMaxCorrectingVel(world, 0.1f);
247 d.WorldSetContactSurfaceLayer(world, 0.001f);
248 d.CreatePlane(space, 0, 0, 1, 0);
249
250 // Run the scene
251 ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
252
253 // Clean up
254 d.JointGroupDestroy(contactgroup);
255 d.SpaceDestroy(space);
256 d.WorldDestroy(world);
257 d.CloseODE();
258 }
259 }
260}
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