From d48ea5bb797037069d641da41da0f195f0124491 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:20:48 +0000
Subject: one more for the gipper

---
 libraries/ode-0.9/ode/demo/demo_cyl.cpp | 318 ++++++++++++++++++++++++++++++++
 1 file changed, 318 insertions(+)
 create mode 100644 libraries/ode-0.9/ode/demo/demo_cyl.cpp

(limited to 'libraries/ode-0.9/ode/demo/demo_cyl.cpp')

diff --git a/libraries/ode-0.9/ode/demo/demo_cyl.cpp b/libraries/ode-0.9/ode/demo/demo_cyl.cpp
new file mode 100644
index 0000000..3692234
--- /dev/null
+++ b/libraries/ode-0.9/ode/demo/demo_cyl.cpp
@@ -0,0 +1,318 @@
+/*************************************************************************
+ *                                                                       *
+ * 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 for non-capped cylinder, by Bram Stolk
+#include <ode/config.h>
+#include <assert.h>
+#ifdef HAVE_UNISTD_H
+#include <unistd.h>
+#endif
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+
+#include "world_geom3.h" // this is our world mesh
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+#define BOX
+#define CYL
+
+// some constants
+
+#define RADIUS 0.22	// wheel radius
+#define WMASS 0.2	// wheel mass
+#define WHEELW 0.2	// wheel width
+#define BOXSZ 0.4	// box size
+//#define CYL_GEOM_OFFSET // rotate cylinder using geom offset
+
+// dynamics and collision objects (chassis, 3 wheels, environment)
+
+static dWorldID world;
+static dSpaceID space;
+#ifdef BOX
+static dBodyID boxbody;
+static dGeomID boxgeom;
+#endif
+#ifdef CYL
+static dBodyID cylbody;
+static dGeomID cylgeom;
+#endif
+static dJointGroupID contactgroup;
+static dGeomID world_mesh;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+  assert(o1);
+  assert(o2);
+
+  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
+  {
+    fprintf(stderr,"testing space %p %p\n", o1,o2);
+    // colliding a space with something
+    dSpaceCollide2(o1,o2,data,&nearCallback);
+    // Note we do not want to test intersections within a space,
+    // only between spaces.
+    return;
+  }
+
+//  fprintf(stderr,"testing geoms %p %p\n", o1, o2);
+
+  const int N = 32;
+  dContact contact[N];
+  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
+  if (n > 0) 
+  {
+    for (int i=0; i<n; i++) 
+    {
+      contact[i].surface.slip1 = 0.7;
+      contact[i].surface.slip2 = 0.7;
+      contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
+      contact[i].surface.mu = 50.0; // was: dInfinity
+      contact[i].surface.soft_erp = 0.96;
+      contact[i].surface.soft_cfm = 0.04;
+      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+      dJointAttach (c,
+		    dGeomGetBody(contact[i].geom.g1),
+		    dGeomGetBody(contact[i].geom.g2));
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  static float xyz[3] = {-8,-9,3};
+  static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+
+static void reset_state(void)
+{
+  float sx=-4, sy=-4, sz=2;
+  dQuaternion q;
+  dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
+#ifdef BOX
+  dBodySetPosition (boxbody, sx, sy+1, sz);
+  dBodySetLinearVel (boxbody, 0,0,0);
+  dBodySetAngularVel (boxbody, 0,0,0);
+  dBodySetQuaternion (boxbody, q);
+#endif
+#ifdef CYL
+  dBodySetPosition (cylbody, sx, sy, sz);
+  dBodySetLinearVel (cylbody, 0,0,0);
+  dBodySetAngularVel (cylbody, 0,0,0);
+  dBodySetQuaternion (cylbody, q);
+#endif
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  switch (cmd) 
+  {
+    case ' ':
+	  reset_state();
+      break;
+  }
+}
+
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  double simstep = 0.005; // 5ms simulation steps
+  double dt = dsElapsedTime();
+  int nrofsteps = (int) ceilf(dt/simstep);
+  for (int i=0; i<nrofsteps && !pause; i++)
+  {
+    dSpaceCollide (space,0,&nearCallback);
+    dWorldQuickStep (world, simstep);
+    dJointGroupEmpty (contactgroup);
+  }
+
+  dsSetColor (1,1,1);
+#ifdef BOX
+  const dReal *BPos = dBodyGetPosition(boxbody);
+  const dReal *BRot = dBodyGetRotation(boxbody);
+  float bpos[3] = {BPos[0], BPos[1], BPos[2]};
+  float brot[12] = { BRot[0], BRot[1], BRot[2], BRot[3], BRot[4], BRot[5], BRot[6], BRot[7], BRot[8], BRot[9], BRot[10], BRot[11] };
+  float sides[3] = {BOXSZ, BOXSZ, BOXSZ};
+  dsDrawBox
+  (
+    bpos, 
+    brot, 
+    sides
+  ); // single precision
+#endif
+#ifdef CYL
+  const dReal *CPos = dGeomGetPosition(cylgeom);
+  const dReal *CRot = dGeomGetRotation(cylgeom);
+  float cpos[3] = {CPos[0], CPos[1], CPos[2]};
+  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] };
+  dsDrawCylinder
+  ( 
+//    dBodyGetPosition(cylbody),
+//    dBodyGetRotation(cylbody),
+    cpos,
+    crot,
+    WHEELW,
+    RADIUS
+  ); // single precision
+#endif
+
+  // draw world trimesh
+  dsSetColor(0.7,0.7,0.4);
+  dsSetTexture (DS_NONE);
+
+  const dReal* Pos = dGeomGetPosition(world_mesh);
+  float pos[3] = { Pos[0], Pos[1], Pos[2] };
+
+  const dReal* Rot = dGeomGetRotation(world_mesh);
+  float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] };
+
+  int numi = sizeof(world_indices)  / sizeof(int);
+
+  for (int i=0; i<numi/3; i++)
+  {
+    int i0 = world_indices[i*3+0];
+    int i1 = world_indices[i*3+1];
+    int i2 = world_indices[i*3+2];
+    float *v0 = world_vertices+i0*3;
+    float *v1 = world_vertices+i1*3;
+    float *v2 = world_vertices+i2*3;
+    dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
+  }
+}
+
+
+int main (int argc, char **argv)
+{
+  dMass m;
+  dMatrix3 R;
+
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = "../../drawstuff/textures";
+  if(argc==2)
+    {
+        fn.path_to_textures = argv[1];
+    }
+
+  // create world
+  dInitODE();
+  world = dWorldCreate();
+  space = dHashSpaceCreate (0);
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-9.8);
+  dWorldSetQuickStepNumIterations (world, 12);
+
+
+  // Create a static world using a triangle mesh that we can collide with.
+  int numv = sizeof(world_vertices)/(3*sizeof(float));
+  int numi = sizeof(world_indices)/ sizeof(int);
+  printf("numv=%d, numi=%d\n", numv, numi);
+  dTriMeshDataID Data = dGeomTriMeshDataCreate();
+
+  dGeomTriMeshDataBuildSingle
+  (
+    Data, 
+    world_vertices, 
+    3 * sizeof(float), 
+    numv, 
+    world_indices, 
+    numi, 
+    3 * sizeof(int)
+  );
+
+  world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
+  dGeomSetPosition(world_mesh, 0, 0, 0.5);
+  dRFromAxisAndAngle (R, 0,1,0, 0.0);
+  dGeomSetRotation (world_mesh, R);
+
+
+#ifdef BOX
+  boxbody = dBodyCreate (world);
+  dMassSetBox (&m,1, BOXSZ, BOXSZ, BOXSZ);
+  dMassAdjust (&m, 1);
+  dBodySetMass (boxbody,&m);
+  boxgeom = dCreateBox (0, BOXSZ, BOXSZ, BOXSZ);
+  dGeomSetBody (boxgeom,boxbody);
+  dSpaceAdd (space, boxgeom);
+#endif
+#ifdef CYL
+  cylbody = dBodyCreate (world);
+  dMassSetSphere (&m,1,RADIUS);
+  dMassAdjust (&m,WMASS);
+  dBodySetMass (cylbody,&m);
+  cylgeom = dCreateCylinder(0, RADIUS, WHEELW);
+  dGeomSetBody (cylgeom,cylbody);
+  
+  #if defined(CYL_GEOM_OFFSET)
+  dMatrix3 mat;
+  dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0);
+  dGeomSetOffsetRotation(cylgeom,mat);
+  #endif
+    
+  dSpaceAdd (space, cylgeom);
+#endif
+  reset_state();
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dJointGroupEmpty (contactgroup);
+  dJointGroupDestroy (contactgroup);
+
+  // First destroy geoms, then space, then the world.
+#ifdef CYL
+  dGeomDestroy (cylgeom);
+#endif
+#ifdef BOX
+  dGeomDestroy (boxgeom);
+#endif
+  dGeomDestroy (world_mesh);
+
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
+
-- 
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