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author | dan miller | 2007-10-19 05:24:38 +0000 |
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committer | dan miller | 2007-10-19 05:24:38 +0000 |
commit | f205de7847da7ae1c10212d82e7042d0100b4ce0 (patch) | |
tree | 9acc9608a6880502aaeda43af52c33e278e95b9c /libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp | |
parent | trying to fix my screwup part deux (diff) | |
download | opensim-SC-f205de7847da7ae1c10212d82e7042d0100b4ce0.zip opensim-SC-f205de7847da7ae1c10212d82e7042d0100b4ce0.tar.gz opensim-SC-f205de7847da7ae1c10212d82e7042d0100b4ce0.tar.bz2 opensim-SC-f205de7847da7ae1c10212d82e7042d0100b4ce0.tar.xz |
from the start... checking in ode-0.9
Diffstat (limited to 'libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp')
-rw-r--r-- | libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp | 238 |
1 files changed, 238 insertions, 0 deletions
diff --git a/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp b/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp new file mode 100644 index 0000000..1fb98ad --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp | |||
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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 | |||
40 | static dWorldID world; | ||
41 | static dSpaceID space; | ||
42 | |||
43 | static dBodyID cylbody; | ||
44 | static dGeomID cylgeom; | ||
45 | |||
46 | static dBodyID sphbody; | ||
47 | static dGeomID sphgeom; | ||
48 | |||
49 | static dJointGroupID contactgroup; | ||
50 | static dGeomID world_mesh; | ||
51 | |||
52 | static 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 | |||
69 | static 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 | |||
116 | static 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 | |||
126 | static void command (int cmd) | ||
127 | { | ||
128 | switch (cmd) | ||
129 | { | ||
130 | case ' ': | ||
131 | break; | ||
132 | } | ||
133 | } | ||
134 | |||
135 | |||
136 | |||
137 | // simulation loop | ||
138 | |||
139 | static 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 | |||
175 | int 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 | |||