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authordan miller2007-10-19 05:24:38 +0000
committerdan miller2007-10-19 05:24:38 +0000
commitf205de7847da7ae1c10212d82e7042d0100b4ce0 (patch)
tree9acc9608a6880502aaeda43af52c33e278e95b9c /libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp
parenttrying to fix my screwup part deux (diff)
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from the start... checking in ode-0.9
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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23// Test for cylinder vs sphere, by Bram Stolk
24
25#include <ode/config.h>
26#include <assert.h>
27#ifdef HAVE_UNISTD_H
28#include <unistd.h>
29#endif
30#include <ode/ode.h>
31#include <drawstuff/drawstuff.h>
32
33#ifdef _MSC_VER
34#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
35#endif
36
37
38// dynamics and collision objects (chassis, 3 wheels, environment)
39
40static dWorldID world;
41static dSpaceID space;
42
43static dBodyID cylbody;
44static dGeomID cylgeom;
45
46static dBodyID sphbody;
47static dGeomID sphgeom;
48
49static dJointGroupID contactgroup;
50static dGeomID world_mesh;
51
52static bool show_contacts = true;
53
54#define CYLRADIUS 0.6
55#define CYLLENGTH 2.0
56#define SPHERERADIUS 0.5
57
58
59#ifdef dDOUBLE
60#define dsDrawBox dsDrawBoxD
61#define dsDrawLine dsDrawLineD
62#endif
63
64
65
66// this is called by dSpaceCollide when two objects in space are
67// potentially colliding.
68
69static void nearCallback (void *data, dGeomID o1, dGeomID o2)
70{
71 assert(o1);
72 assert(o2);
73
74 if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
75 {
76 fprintf(stderr,"testing space %p %p\n", o1,o2);
77 // colliding a space with something
78 dSpaceCollide2(o1,o2,data,&nearCallback);
79 // Note we do not want to test intersections within a space,
80 // only between spaces.
81 return;
82 }
83
84 const int N = 32;
85 dContact contact[N];
86 int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
87 if (n > 0)
88 {
89 for (int i=0; i<n; i++)
90 {
91 contact[i].surface.mode = 0;
92 contact[i].surface.mu = 50.0; // was: dInfinity
93 dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
94 dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
95 if (show_contacts)
96 {
97 dMatrix3 RI;
98 dRSetIdentity (RI);
99 const dReal ss[3] = {0.12,0.12,0.12};
100 dsSetColorAlpha (0,0,1,0.5);
101 dsDrawBox (contact[i].geom.pos,RI,ss);
102 dReal *pos = contact[i].geom.pos;
103 dReal depth = contact[i].geom.depth;
104 dReal *norm = contact[i].geom.normal;
105 dReal endp[3] = {pos[0]+depth*norm[0], pos[1]+depth*norm[1], pos[2]+depth*norm[2]};
106 dsSetColorAlpha (1,1,1,1);
107 dsDrawLine (contact[i].geom.pos, endp);
108 }
109 }
110 }
111}
112
113
114// start simulation - set viewpoint
115
116static void start()
117{
118 static float xyz[3] = {-8,-9,3};
119 static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
120 dsSetViewpoint (xyz,hpr);
121}
122
123
124// called when a key pressed
125
126static void command (int cmd)
127{
128 switch (cmd)
129 {
130 case ' ':
131 break;
132 }
133}
134
135
136
137// simulation loop
138
139static void simLoop (int pause)
140{
141 dSpaceCollide (space,0,&nearCallback);
142 if (!pause)
143 {
144 dWorldQuickStep (world, 0.01); // 100 Hz
145 }
146 dJointGroupEmpty (contactgroup);
147
148 dsSetColorAlpha (1,1,0,0.5);
149
150 const dReal *CPos = dBodyGetPosition(cylbody);
151 const dReal *CRot = dBodyGetRotation(cylbody);
152 float cpos[3] = {CPos[0], CPos[1], CPos[2]};
153 float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
154 dsDrawCylinder
155 (
156 cpos,
157 crot,
158 CYLLENGTH,
159 CYLRADIUS
160 ); // single precision
161
162 const dReal *SPos = dBodyGetPosition(sphbody);
163 const dReal *SRot = dBodyGetRotation(sphbody);
164 float spos[3] = {SPos[0], SPos[1], SPos[2]};
165 float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] };
166 dsDrawSphere
167 (
168 spos,
169 srot,
170 SPHERERADIUS
171 ); // single precision
172}
173
174
175int main (int argc, char **argv)
176{
177 dMass m;
178
179 // setup pointers to drawstuff callback functions
180 dsFunctions fn;
181 fn.version = DS_VERSION;
182 fn.start = &start;
183 fn.step = &simLoop;
184 fn.command = &command;
185 fn.stop = 0;
186 fn.path_to_textures = "../../drawstuff/textures";
187 if(argc==2)
188 fn.path_to_textures = argv[1];
189
190 // create world
191 dInitODE();
192 world = dWorldCreate();
193 space = dHashSpaceCreate (0);
194 contactgroup = dJointGroupCreate (0);
195 dWorldSetGravity (world,0,0,-9.8);
196 dWorldSetQuickStepNumIterations (world, 32);
197
198 dCreatePlane (space,0,0,1, 0.0);
199
200 cylbody = dBodyCreate (world);
201 dQuaternion q;
202#if 0
203 dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
204#else
205// dQFromAxisAndAngle (q,1,0,0, M_PI * 1.0);
206 dQFromAxisAndAngle (q,1,0,0, M_PI * -0.77);
207#endif
208 dBodySetQuaternion (cylbody,q);
209 dMassSetCylinder (&m,1.0,3,CYLRADIUS,CYLLENGTH);
210 dBodySetMass (cylbody,&m);
211 cylgeom = dCreateCylinder(0, CYLRADIUS, CYLLENGTH);
212 dGeomSetBody (cylgeom,cylbody);
213 dBodySetPosition (cylbody, 0, 0, 3);
214 dSpaceAdd (space, cylgeom);
215
216 sphbody = dBodyCreate (world);
217 dMassSetSphere (&m,1,SPHERERADIUS);
218 dBodySetMass (sphbody,&m);
219 sphgeom = dCreateSphere(0, SPHERERADIUS);
220 dGeomSetBody (sphgeom,sphbody);
221 dBodySetPosition (sphbody, 0, 0, 5.5);
222 dSpaceAdd (space, sphgeom);
223
224 // run simulation
225 dsSimulationLoop (argc,argv,352,288,&fn);
226
227 dJointGroupEmpty (contactgroup);
228 dJointGroupDestroy (contactgroup);
229
230 dGeomDestroy(sphgeom);
231 dGeomDestroy (cylgeom);
232
233 dSpaceDestroy (space);
234 dWorldDestroy (world);
235 dCloseODE();
236 return 0;
237}
238