From f205de7847da7ae1c10212d82e7042d0100b4ce0 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:24:38 +0000 Subject: from the start... checking in ode-0.9 --- libraries/ode-0.9/ode/demo/demo_slider.cpp | 172 +++++++++++++++++++++++++++++ 1 file changed, 172 insertions(+) create mode 100644 libraries/ode-0.9/ode/demo/demo_slider.cpp (limited to 'libraries/ode-0.9/ode/demo/demo_slider.cpp') diff --git a/libraries/ode-0.9/ode/demo/demo_slider.cpp b/libraries/ode-0.9/ode/demo/demo_slider.cpp new file mode 100644 index 0000000..5de08b0 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_slider.cpp @@ -0,0 +1,172 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +#include +#include + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + +// select correct drawing functions +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#endif + + +// some constants +#define SIDE (0.5f) // side length of a box +#define MASS (1.0) // mass of a box + + +// dynamics and collision objects +static dWorldID world; +static dBodyID body[2]; +static dJointID slider; + + +// state set by keyboard commands +static int occasional_error = 0; + + +// start simulation - set viewpoint + +static void start() +{ + static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; + static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; + dsSetViewpoint (xyz,hpr); + printf ("Press 'e' to start/stop occasional error.\n"); +} + + +// called when a key pressed + +static void command (int cmd) +{ + if (cmd == 'e' || cmd == 'E') { + occasional_error ^= 1; + } +} + + +// simulation loop + +static void simLoop (int pause) +{ + const dReal kd = -0.3; // angular damping constant + const dReal ks = 0.5; // spring constant + if (!pause) { + // add an oscillating torque to body 0, and also damp its rotational motion + static dReal a=0; + const dReal *w = dBodyGetAngularVel (body[0]); + dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a)); + a += 0.01; + + // add a spring force to keep the bodies together, otherwise they will + // fly apart along the slider axis. + const dReal *p1 = dBodyGetPosition (body[0]); + const dReal *p2 = dBodyGetPosition (body[1]); + dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]), + ks*(p2[2]-p1[2])); + dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]), + ks*(p1[2]-p2[2])); + + // occasionally re-orient one of the bodies to create a deliberate error. + if (occasional_error) { + static int count = 0; + if ((count % 20)==0) { + // randomly adjust orientation of body[0] + const dReal *R1; + dMatrix3 R2,R3; + R1 = dBodyGetRotation (body[0]); + dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5, + dRandReal()-0.5,dRandReal()-0.5); + dMultiply0 (R3,R1,R2,3,3,3); + dBodySetRotation (body[0],R3); + + // randomly adjust position of body[0] + const dReal *pos = dBodyGetPosition (body[0]); + dBodySetPosition (body[0], + pos[0]+0.2*(dRandReal()-0.5), + pos[1]+0.2*(dRandReal()-0.5), + pos[2]+0.2*(dRandReal()-0.5)); + } + count++; + } + + dWorldStep (world,0.05); + } + + dReal sides1[3] = {SIDE,SIDE,SIDE}; + dReal sides2[3] = {SIDE*0.8f,SIDE*0.8f,SIDE*2.0f}; + dsSetTexture (DS_WOOD); + dsSetColor (1,1,0); + dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); + dsSetColor (0,1,1); + dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); +} + + +int main (int argc, char **argv) +{ + // 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(); + dMass m; + dMassSetBox (&m,1,SIDE,SIDE,SIDE); + dMassAdjust (&m,MASS); + + body[0] = dBodyCreate (world); + dBodySetMass (body[0],&m); + dBodySetPosition (body[0],0,0,1); + body[1] = dBodyCreate (world); + dBodySetMass (body[1],&m); + dQuaternion q; + dQFromAxisAndAngle (q,-1,1,0,0.25*M_PI); + dBodySetPosition (body[1],0.2,0.2,1.2); + dBodySetQuaternion (body[1],q); + + slider = dJointCreateSlider (world,0); + dJointAttach (slider,body[0],body[1]); + dJointSetSliderAxis (slider,1,1,1); + + // run simulation + dsSimulationLoop (argc,argv,352,288,&fn); + + dWorldDestroy (world); + dCloseODE(); + return 0; +} -- cgit v1.1