1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
|
/*************************************************************************
* *
* 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 <stdio.h>
#include <math.h>
#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
#ifdef _MSC_VER
#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
#endif
#ifndef M_PI
#define M_PI (3.14159265358979323846)
#endif
//<---- Convex Object
dReal planes[]= // planes for a cube
{
1.0f ,0.0f ,0.0f ,0.25f,
0.0f ,1.0f ,0.0f ,0.25f,
0.0f ,0.0f ,1.0f ,0.25f,
-1.0f,0.0f ,0.0f ,0.25f,
0.0f ,-1.0f,0.0f ,0.25f,
0.0f ,0.0f ,-1.0f,0.25f
/*
1.0f ,0.0f ,0.0f ,2.0f,
0.0f ,1.0f ,0.0f ,1.0f,
0.0f ,0.0f ,1.0f ,1.0f,
0.0f ,0.0f ,-1.0f,1.0f,
0.0f ,-1.0f,0.0f ,1.0f,
-1.0f,0.0f ,0.0f ,0.0f
*/
};
const unsigned int planecount=6;
dReal points[]= // points for a cube
{
0.25f,0.25f,0.25f, // point 0
-0.25f,0.25f,0.25f, // point 1
0.25f,-0.25f,0.25f, // point 2
-0.25f,-0.25f,0.25f,// point 3
0.25f,0.25f,-0.25f, // point 4
-0.25f,0.25f,-0.25f,// point 5
0.25f,-0.25f,-0.25f,// point 6
-0.25f,-0.25f,-0.25f,// point 7
};
const unsigned int pointcount=8;
unsigned int polygons[] = //Polygons for a cube (6 squares)
{
4,0,2,6,4, // positive X
4,1,0,4,5, // positive Y
4,0,1,3,2, // positive Z
4,3,1,5,7, // negative X
4,2,3,7,6, // negative Y
4,5,4,6,7, // negative Z
};
//----> Convex Object
#ifdef dDOUBLE
#define dsDrawConvex dsDrawConvexD
#define dsDrawBox dsDrawBoxD
#endif
dGeomID geoms[2];
dSpaceID space;
dWorldID world;
dJointGroupID contactgroup;
void start()
{
// adjust the starting viewpoint a bit
float xyz[3],hpr[3];
dsGetViewpoint (xyz,hpr);
hpr[0] += 7;
dsSetViewpoint (xyz,hpr);
geoms[0]=dCreateConvex (space,
planes,
planecount,
points,
pointcount,
polygons);
dGeomSetPosition (geoms[0],0,0,0.25);
geoms[1]=dCreateConvex (space,
planes,
planecount,
points,
pointcount,
polygons);
dGeomSetPosition (geoms[1],0.25,0.25,0.70);
}
int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags,
dContactGeom *contact, int skip);
void simLoop (int pause)
{
static bool DumpInfo=true;
const dReal ss[3] = {0.02,0.02,0.02};
dContactGeom contacts[8];
int contactcount = dCollideConvexConvex(geoms[0],geoms[1],8,contacts,sizeof(dContactGeom));
//fprintf(stdout,"Contact Count %d\n",contactcount);
const dReal* pos;
const dReal* R;
dsSetTexture (DS_WOOD);
pos = dGeomGetPosition (geoms[0]);
R = dGeomGetRotation (geoms[0]);
dsSetColor (0.6f,0.6f,1);
dsDrawConvex(pos,R,planes,
planecount,
points,
pointcount,
polygons);
pos = dGeomGetPosition (geoms[1]);
R = dGeomGetRotation (geoms[1]);
dsSetColor (0.4f,1,1);
dsDrawConvex(pos,R,planes,
planecount,
points,
pointcount,
polygons);
/*if (show_contacts) */
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColor (1.0f,0,0);
for(int i=0;i<contactcount;++i)
{
if(DumpInfo)
{
//DumpInfo=false;
fprintf(stdout,"Contact %d Normal %f,%f,%f Depth %f\n",
i,
contacts[i].normal[0],
contacts[i].normal[1],
contacts[i].normal[2],
contacts[i].depth);
}
dsDrawBox (contacts[i].pos,RI,ss);
}
if(DumpInfo)
DumpInfo=false;
}
void command (int cmd)
{
dsPrint ("received command %d (`%c')\n",cmd,cmd);
}
int main (int argc, char **argv)
{
// setup pointers to 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"; // uses default
world = dWorldCreate();
space = dHashSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
// run simulation
dsSimulationLoop (argc,argv,400,400,&fn);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
return 0;
}
|
