From 1ec410ecd725f5a3ccb2d2fc16f48730d9d9fe43 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:22:23 +0000 Subject: trying to fix my screwup, please hold on --- libraries/ode-0.9/ode/src/export-dif.cpp | 568 ------------------------------- 1 file changed, 568 deletions(-) delete mode 100644 libraries/ode-0.9/ode/src/export-dif.cpp (limited to 'libraries/ode-0.9/ode/src/export-dif.cpp') diff --git a/libraries/ode-0.9/ode/src/export-dif.cpp b/libraries/ode-0.9/ode/src/export-dif.cpp deleted file mode 100644 index 577d3e1..0000000 --- a/libraries/ode-0.9/ode/src/export-dif.cpp +++ /dev/null @@ -1,568 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/* - * Export a DIF (Dynamics Interchange Format) file. - */ - - -// @@@ TODO: -// * export all spaces, and geoms in spaces, not just ones attached to bodies -// (separate export function?) -// * say the space each geom is in, so reader can construct space heirarchy -// * limot --> separate out into limits and motors? -// * make sure ODE-specific parameters divided out - - -#include "ode/ode.h" -#include "objects.h" -#include "joint.h" -#include "collision_kernel.h" - -//*************************************************************************** -// utility - -struct PrintingContext { - FILE *file; // file to write to - int precision; // digits of precision to print - int indent; // number of levels of indent - - void printIndent(); - void printReal (dReal x); - void print (const char *name, int x); - void print (const char *name, dReal x); - void print (const char *name, const dReal *x, int n=3); - void print (const char *name, const char *x=0); - void printNonzero (const char *name, dReal x); - void printNonzero (const char *name, const dReal x[3]); -}; - - -void PrintingContext::printIndent() -{ - for (int i=0; i= 0) { - c.printIndent(); - fprintf (c.file,"limit%d = {\n",num); - } - else { - c.print ("limit = {"); - } - c.indent++; - c.print ("low_stop",limot.lostop); - c.print ("high_stop",limot.histop); - c.printNonzero ("bounce",limot.bounce); - c.print ("ODE = {"); - c.indent++; - c.printNonzero ("stop_erp",limot.stop_erp); - c.printNonzero ("stop_cfm",limot.stop_cfm); - c.indent--; - c.print ("},"); - c.indent--; - c.print ("},"); - - if (num >= 0) { - c.printIndent(); - fprintf (c.file,"motor%d = {\n",num); - } - else { - c.print ("motor = {"); - } - c.indent++; - c.printNonzero ("vel",limot.vel); - c.printNonzero ("fmax",limot.fmax); - c.print ("ODE = {"); - c.indent++; - c.printNonzero ("fudge_factor",limot.fudge_factor); - c.printNonzero ("normal_cfm",limot.normal_cfm); - c.indent--; - c.print ("},"); - c.indent--; - c.print ("},"); -} - - -static const char *getJointName (dxJoint *j) -{ - switch (j->vtable->typenum) { - case dJointTypeBall: return "ball"; - case dJointTypeHinge: return "hinge"; - case dJointTypeSlider: return "slider"; - case dJointTypeContact: return "contact"; - case dJointTypeUniversal: return "universal"; - case dJointTypeHinge2: return "ODE_hinge2"; - case dJointTypeFixed: return "fixed"; - case dJointTypeNull: return "null"; - case dJointTypeAMotor: return "ODE_angular_motor"; - case dJointTypeLMotor: return "ODE_linear_motor"; - case dJointTypePR: return "PR"; - } - return "unknown"; -} - - -static void printBall (PrintingContext &c, dxJoint *j) -{ - dxJointBall *b = (dxJointBall*) j; - c.print ("anchor1",b->anchor1); - c.print ("anchor2",b->anchor2); -} - - -static void printHinge (PrintingContext &c, dxJoint *j) -{ - dxJointHinge *h = (dxJointHinge*) j; - c.print ("anchor1",h->anchor1); - c.print ("anchor2",h->anchor2); - c.print ("axis1",h->axis1); - c.print ("axis2",h->axis2); - c.print ("qrel",h->qrel,4); - printLimot (c,h->limot,-1); -} - - -static void printSlider (PrintingContext &c, dxJoint *j) -{ - dxJointSlider *s = (dxJointSlider*) j; - c.print ("axis1",s->axis1); - c.print ("qrel",s->qrel,4); - c.print ("offset",s->offset); - printLimot (c,s->limot,-1); -} - - -static void printContact (PrintingContext &c, dxJoint *j) -{ - dxJointContact *ct = (dxJointContact*) j; - int mode = ct->contact.surface.mode; - c.print ("pos",ct->contact.geom.pos); - c.print ("normal",ct->contact.geom.normal); - c.print ("depth",ct->contact.geom.depth); - //@@@ may want to write the geoms g1 and g2 that are involved, for debugging. - // to do this we must have written out all geoms in all spaces, not just - // geoms that are attached to bodies. - c.print ("mu",ct->contact.surface.mu); - if (mode & dContactMu2) c.print ("mu2",ct->contact.surface.mu2); - if (mode & dContactBounce) c.print ("bounce",ct->contact.surface.bounce); - if (mode & dContactBounce) c.print ("bounce_vel",ct->contact.surface.bounce_vel); - if (mode & dContactSoftERP) c.print ("soft_ERP",ct->contact.surface.soft_erp); - if (mode & dContactSoftCFM) c.print ("soft_CFM",ct->contact.surface.soft_cfm); - if (mode & dContactMotion1) c.print ("motion1",ct->contact.surface.motion1); - if (mode & dContactMotion2) c.print ("motion2",ct->contact.surface.motion2); - if (mode & dContactSlip1) c.print ("slip1",ct->contact.surface.slip1); - if (mode & dContactSlip2) c.print ("slip2",ct->contact.surface.slip2); - int fa = 0; // friction approximation code - if (mode & dContactApprox1_1) fa |= 1; - if (mode & dContactApprox1_2) fa |= 2; - if (fa) c.print ("friction_approximation",fa); - if (mode & dContactFDir1) c.print ("fdir1",ct->contact.fdir1); -} - - -static void printUniversal (PrintingContext &c, dxJoint *j) -{ - dxJointUniversal *u = (dxJointUniversal*) j; - c.print ("anchor1",u->anchor1); - c.print ("anchor2",u->anchor2); - c.print ("axis1",u->axis1); - c.print ("axis2",u->axis2); - c.print ("qrel1",u->qrel1,4); - c.print ("qrel2",u->qrel2,4); - printLimot (c,u->limot1,1); - printLimot (c,u->limot2,2); -} - - -static void printHinge2 (PrintingContext &c, dxJoint *j) -{ - dxJointHinge2 *h = (dxJointHinge2*) j; - c.print ("anchor1",h->anchor1); - c.print ("anchor2",h->anchor2); - c.print ("axis1",h->axis1); - c.print ("axis2",h->axis2); - c.print ("v1",h->v1); //@@@ much better to write out 'qrel' here, if it's available - c.print ("v2",h->v2); - c.print ("susp_erp",h->susp_erp); - c.print ("susp_cfm",h->susp_cfm); - printLimot (c,h->limot1,1); - printLimot (c,h->limot2,2); -} - -static void printPR (PrintingContext &c, dxJoint *j) -{ - dxJointPR *pr = (dxJointPR*) j; - c.print ("anchor2",pr->anchor2); - c.print ("axisR1",pr->axisR1); - c.print ("axisR2",pr->axisR2); - c.print ("axisP1",pr->axisP1); - c.print ("qrel",pr->qrel,4); - c.print ("offset",pr->offset); - printLimot (c,pr->limotP,1); - printLimot (c,pr->limotR,2); -} - - -static void printFixed (PrintingContext &c, dxJoint *j) -{ - dxJointFixed *f = (dxJointFixed*) j; - c.print ("qrel",f->qrel); - c.print ("offset",f->offset); -} - -static void printLMotor (PrintingContext &c, dxJoint *j) -{ - dxJointLMotor *a = (dxJointLMotor*) j; - c.print("num", a->num); - c.printIndent(); - fprintf (c.file,"rel = {%d,%d,%d},\n",a->rel[0],a->rel[1],a->rel[2]); - c.print ("axis1",a->axis[0]); - c.print ("axis2",a->axis[1]); - c.print ("axis3",a->axis[2]); - for (int i=0; i<3; i++) printLimot (c,a->limot[i],i+1); -} - - -static void printAMotor (PrintingContext &c, dxJoint *j) -{ - dxJointAMotor *a = (dxJointAMotor*) j; - c.print ("num",a->num); - c.print ("mode",a->mode); - c.printIndent(); - fprintf (c.file,"rel = {%d,%d,%d},\n",a->rel[0],a->rel[1],a->rel[2]); - c.print ("axis1",a->axis[0]); - c.print ("axis2",a->axis[1]); - c.print ("axis3",a->axis[2]); - for (int i=0; i<3; i++) printLimot (c,a->limot[i],i+1); - c.print ("angle1",a->angle[0]); - c.print ("angle2",a->angle[1]); - c.print ("angle3",a->angle[2]); -} - -//*************************************************************************** -// geometry - -static void printGeom (PrintingContext &c, dxGeom *g); - -static void printSphere (PrintingContext &c, dxGeom *g) -{ - c.print ("type","sphere"); - c.print ("radius",dGeomSphereGetRadius (g)); -} - - -static void printBox (PrintingContext &c, dxGeom *g) -{ - dVector3 sides; - dGeomBoxGetLengths (g,sides); - c.print ("type","box"); - c.print ("sides",sides); -} - - - -static void printCapsule (PrintingContext &c, dxGeom *g) -{ - dReal radius,length; - dGeomCapsuleGetParams (g,&radius,&length); - c.print ("type","capsule"); - c.print ("radius",radius); - c.print ("length",length); -} - - -static void printPlane (PrintingContext &c, dxGeom *g) -{ - dVector4 e; - dGeomPlaneGetParams (g,e); - c.print ("type","plane"); - c.print ("normal",e); - c.print ("d",e[3]); -} - - - -static void printRay (PrintingContext &c, dxGeom *g) -{ - dReal length = dGeomRayGetLength (g); - c.print ("type","ray"); - c.print ("length",length); -} - - - -static void printGeomTransform (PrintingContext &c, dxGeom *g) -{ - dxGeom *g2 = dGeomTransformGetGeom (g); - const dReal *pos = dGeomGetPosition (g2); - dQuaternion q; - dGeomGetQuaternion (g2,q); - c.print ("type","transform"); - c.print ("pos",pos); - c.print ("q",q,4); - c.print ("geometry = {"); - c.indent++; - printGeom (c,g2); - c.indent--; - c.print ("}"); -} - - - -static void printTriMesh (PrintingContext &c, dxGeom *g) -{ - c.print ("type","trimesh"); - //@@@ i don't think that the trimesh accessor functions are really - // sufficient to read out all the triangle data, and anyway we - // should have a method of not duplicating trimesh data that is - // shared. -} - - -static void printGeom (PrintingContext &c, dxGeom *g) -{ - unsigned long category = dGeomGetCategoryBits (g); - if (category != (unsigned long)(~0)) { - c.printIndent(); - fprintf (c.file,"category_bits = %lu\n",category); - } - unsigned long collide = dGeomGetCollideBits (g); - if (collide != (unsigned long)(~0)) { - c.printIndent(); - fprintf (c.file,"collide_bits = %lu\n",collide); - } - if (!dGeomIsEnabled (g)) { - c.print ("disabled",1); - } - switch (g->type) { - case dSphereClass: printSphere (c,g); break; - case dBoxClass: printBox (c,g); break; - case dCapsuleClass: printCapsule (c,g); break; - case dPlaneClass: printPlane (c,g); break; - case dRayClass: printRay (c,g); break; - case dGeomTransformClass: printGeomTransform (c,g); break; - case dTriMeshClass: printTriMesh (c,g); break; - } -} - -//*************************************************************************** -// world - -void dWorldExportDIF (dWorldID w, FILE *file, const char *prefix) -{ - PrintingContext c; - c.file = file; -#if defined(dSINGLE) - c.precision = 7; -#else - c.precision = 15; -#endif - c.indent = 1; - - fprintf (file,"-- Dynamics Interchange Format v0.1\n\n%sworld = dynamics.world {\n",prefix); - c.print ("gravity",w->gravity); - c.print ("ODE = {"); - c.indent++; - c.print ("ERP",w->global_erp); - c.print ("CFM",w->global_cfm); - c.print ("auto_disable = {"); - c.indent++; - c.print ("linear_threshold",w->adis.linear_average_threshold); - c.print ("angular_threshold",w->adis.angular_average_threshold); - c.print ("average_samples",(int)w->adis.average_samples); - c.print ("idle_time",w->adis.idle_time); - c.print ("idle_steps",w->adis.idle_steps); - fprintf (file,"\t\t},\n\t},\n}\n"); - c.indent -= 3; - - // bodies - int num = 0; - fprintf (file,"%sbody = {}\n",prefix); - for (dxBody *b=w->firstbody; b; b=(dxBody*)b->next) { - b->tag = num; - fprintf (file,"%sbody[%d] = dynamics.body {\n\tworld = %sworld,\n",prefix,num,prefix); - c.indent++; - c.print ("pos",b->posr.pos); - c.print ("q",b->q,4); - c.print ("lvel",b->lvel); - c.print ("avel",b->avel); - c.print ("mass",b->mass.mass); - fprintf (file,"\tI = {{"); - for (int i=0; i<3; i++) { - for (int j=0; j<3; j++) { - c.printReal (b->mass.I[i*4+j]); - if (j < 2) fputc (',',file); - } - if (i < 2) fprintf (file,"},{"); - } - fprintf (file,"}},\n"); - c.printNonzero ("com",b->mass.c); - c.print ("ODE = {"); - c.indent++; - if (b->flags & dxBodyFlagFiniteRotation) c.print ("finite_rotation",1); - if (b->flags & dxBodyDisabled) c.print ("disabled",1); - if (b->flags & dxBodyNoGravity) c.print ("no_gravity",1); - if (b->flags & dxBodyAutoDisable) { - c.print ("auto_disable = {"); - c.indent++; - c.print ("linear_threshold",b->adis.linear_average_threshold); - c.print ("angular_threshold",b->adis.angular_average_threshold); - c.print ("average_samples",(int)b->adis.average_samples); - c.print ("idle_time",b->adis.idle_time); - c.print ("idle_steps",b->adis.idle_steps); - c.print ("time_left",b->adis_timeleft); - c.print ("steps_left",b->adis_stepsleft); - c.indent--; - c.print ("},"); - } - c.printNonzero ("facc",b->facc); - c.printNonzero ("tacc",b->tacc); - if (b->flags & dxBodyFlagFiniteRotationAxis) { - c.print ("finite_rotation_axis",b->finite_rot_axis); - } - c.indent--; - c.print ("},"); - if (b->geom) { - c.print ("geometry = {"); - c.indent++; - for (dxGeom *g=b->geom; g; g=g->body_next) { - c.print ("{"); - c.indent++; - printGeom (c,g); - c.indent--; - c.print ("},"); - } - c.indent--; - c.print ("},"); - } - c.indent--; - c.print ("}"); - num++; - } - - // joints - num = 0; - fprintf (file,"%sjoint = {}\n",prefix); - for (dxJoint *j=w->firstjoint; j; j=(dxJoint*)j->next) { - c.indent++; - const char *name = getJointName (j); - fprintf (file, - "%sjoint[%d] = dynamics.%s_joint {\n" - "\tworld = %sworld,\n" - "\tbody = {" - ,prefix,num,name,prefix); - - if ( j->node[0].body ) - fprintf (file,"%sbody[%d]",prefix,j->node[0].body->tag); - if ( j->node[1].body ) - fprintf (file,",%sbody[%d]",prefix,j->node[1].body->tag); - - switch (j->vtable->typenum) { - case dJointTypeBall: printBall (c,j); break; - case dJointTypeHinge: printHinge (c,j); break; - case dJointTypeSlider: printSlider (c,j); break; - case dJointTypeContact: printContact (c,j); break; - case dJointTypeUniversal: printUniversal (c,j); break; - case dJointTypeHinge2: printHinge2 (c,j); break; - case dJointTypeFixed: printFixed (c,j); break; - case dJointTypeAMotor: printAMotor (c,j); break; - case dJointTypeLMotor: printLMotor (c,j); break; - case dJointTypePR: printPR (c,j); break; - } - c.indent--; - c.print ("}"); - num++; - } -} -- cgit v1.1