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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#include <ode/ode.h>
24#include <drawstuff/drawstuff.h>
25
26#ifdef _MSC_VER
27#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
28#endif
29
30// select correct drawing functions
31#ifdef dDOUBLE
32#define dsDrawBox dsDrawBoxD
33#endif
34
35
36// some constants
37#define SIDE (0.5f) // side length of a box
38#define MASS (1.0) // mass of a box
39
40
41// dynamics and collision objects
42static dWorldID world;
43static dBodyID body[2];
44static dGeomID geom[2];
45static dJointID lmotor[2];
46static dJointID amotor[2];
47static dSpaceID space;
48static dJointGroupID contactgroup;
49
50
51// start simulation - set viewpoint
52
53static void start()
54{
55 static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
56 static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
57 dsSetViewpoint (xyz,hpr);
58 printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n");
59 printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n");
60}
61
62
63// called when a key pressed
64
65static void command (int cmd)
66{
67 if (cmd == 'q' || cmd == 'Q') {
68 dJointSetLMotorParam(lmotor[0],dParamVel,0);
69 dJointSetLMotorParam(lmotor[0],dParamVel2,0);
70 dJointSetLMotorParam(lmotor[0],dParamVel3,0.1);
71 } else if (cmd == 'a' || cmd == 'A') {
72 dJointSetLMotorParam(lmotor[0],dParamVel,0);
73 dJointSetLMotorParam(lmotor[0],dParamVel2,0);
74 dJointSetLMotorParam(lmotor[0],dParamVel3,0);
75 } else if (cmd == 'z' || cmd == 'Z') {
76 dJointSetLMotorParam(lmotor[0],dParamVel,0);
77 dJointSetLMotorParam(lmotor[0],dParamVel2,0);
78 dJointSetLMotorParam(lmotor[0],dParamVel3,-0.1);
79 } else if (cmd == 'w' || cmd == 'W') {
80 dJointSetLMotorParam(lmotor[1],dParamVel,0.1);
81 dJointSetLMotorParam(lmotor[1],dParamVel2,0);
82 dJointSetLMotorParam(lmotor[1],dParamVel3,0);
83 } else if (cmd == 'e' || cmd == 'E') {
84 dJointSetLMotorParam(lmotor[1],dParamVel,0);
85 dJointSetLMotorParam(lmotor[1],dParamVel2,0);
86 dJointSetLMotorParam(lmotor[1],dParamVel3,0);
87 } else if (cmd == 'r' || cmd == 'R') {
88 dJointSetLMotorParam(lmotor[1],dParamVel,-0.1);
89 dJointSetLMotorParam(lmotor[1],dParamVel2,0);
90 dJointSetLMotorParam(lmotor[1],dParamVel3,0);
91 }
92
93}
94
95
96
97static void nearCallback (void *data, dGeomID o1, dGeomID o2)
98{
99 // exit without doing anything if the two bodies are connected by a joint
100 dBodyID b1 = dGeomGetBody(o1);
101 dBodyID b2 = dGeomGetBody(o2);
102
103 dContact contact;
104 contact.surface.mode = 0;
105 contact.surface.mu = dInfinity;
106 if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
107 dJointID c = dJointCreateContact (world,contactgroup,&contact);
108 dJointAttach (c,b1,b2);
109 }
110}
111
112// simulation loop
113
114static void simLoop (int pause)
115{
116 if (!pause) {
117 dSpaceCollide(space,0,&nearCallback);
118 dWorldQuickStep (world,0.05);
119 dJointGroupEmpty(contactgroup);
120 }
121
122 dReal sides1[3];
123 dGeomBoxGetLengths(geom[0], sides1);
124 dReal sides2[3];
125 dGeomBoxGetLengths(geom[1], sides2);
126 dsSetTexture (DS_WOOD);
127 dsSetColor (1,1,0);
128 dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
129 dsSetColor (0,1,1);
130 dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
131}
132
133
134int main (int argc, char **argv)
135{
136 // setup pointers to drawstuff callback functions
137 dsFunctions fn;
138 fn.version = DS_VERSION;
139 fn.start = &start;
140 fn.step = &simLoop;
141 fn.command = &command;
142 fn.stop = 0;
143 fn.path_to_textures = "../../drawstuff/textures";
144 if(argc>=2)
145 {
146 fn.path_to_textures = argv[1];
147 }
148
149 // create world
150 dInitODE();
151 contactgroup = dJointGroupCreate(0);
152 world = dWorldCreate();
153 space = dSimpleSpaceCreate(0);
154 dMass m;
155 dMassSetBox (&m,1,SIDE,SIDE,SIDE);
156 dMassAdjust (&m,MASS);
157
158 body[0] = dBodyCreate (world);
159 dBodySetMass (body[0],&m);
160 dBodySetPosition (body[0],0,0,1);
161 geom[0] = dCreateBox(space,SIDE,SIDE,SIDE);
162 body[1] = dBodyCreate (world);
163 dBodySetMass (body[1],&m);
164 dBodySetPosition (body[1],0,0,2);
165 geom[1] = dCreateBox(space,SIDE,SIDE,SIDE);
166
167 dGeomSetBody(geom[0],body[0]);
168 dGeomSetBody(geom[1],body[1]);
169
170 lmotor[0] = dJointCreateLMotor (world,0);
171 dJointAttach (lmotor[0],body[0],body[1]);
172 lmotor[1] = dJointCreateLMotor (world,0);
173 dJointAttach (lmotor[1],body[0],0);
174 amotor[0] = dJointCreateAMotor(world,0);
175 dJointAttach(amotor[0], body[0],body[1]);
176 amotor[1] = dJointCreateAMotor(world,0);
177 dJointAttach(amotor[1], body[0], 0);
178
179 for (int i=0; i<2; i++) {
180 dJointSetAMotorNumAxes(amotor[i], 3);
181 dJointSetAMotorAxis(amotor[i],0,1,1,0,0);
182 dJointSetAMotorAxis(amotor[i],1,1,0,1,0);
183 dJointSetAMotorAxis(amotor[i],2,1,0,0,1);
184 dJointSetAMotorParam(amotor[i],dParamFMax,0.00001);
185 dJointSetAMotorParam(amotor[i],dParamFMax2,0.00001);
186 dJointSetAMotorParam(amotor[i],dParamFMax3,0.00001);
187
188 dJointSetAMotorParam(amotor[i],dParamVel,0);
189 dJointSetAMotorParam(amotor[i],dParamVel2,0);
190 dJointSetAMotorParam(amotor[i],dParamVel3,0);
191
192 dJointSetLMotorNumAxes(lmotor[i],3);
193 dJointSetLMotorAxis(lmotor[i],0,1,1,0,0);
194 dJointSetLMotorAxis(lmotor[i],1,1,0,1,0);
195 dJointSetLMotorAxis(lmotor[i],2,1,0,0,1);
196
197 dJointSetLMotorParam(lmotor[i],dParamFMax,0.0001);
198 dJointSetLMotorParam(lmotor[i],dParamFMax2,0.0001);
199 dJointSetLMotorParam(lmotor[i],dParamFMax3,0.0001);
200 }
201
202 // run simulation
203 dsSimulationLoop (argc,argv,352,288,&fn);
204
205 dJointGroupDestroy(contactgroup);
206 dSpaceDestroy (space);
207 dWorldDestroy (world);
208 dCloseODE();
209 return 0;
210}
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