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/*************************************************************************
* *
* 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 <ode/ode.h>
#include <drawstuff/drawstuff.h>
#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 dGeomID geom[2];
static dJointID lmotor[2];
static dJointID amotor[2];
static dSpaceID space;
static dJointGroupID contactgroup;
// 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 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n");
printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n");
}
// called when a key pressed
static void command (int cmd)
{
if (cmd == 'q' || cmd == 'Q') {
dJointSetLMotorParam(lmotor[0],dParamVel,0);
dJointSetLMotorParam(lmotor[0],dParamVel2,0);
dJointSetLMotorParam(lmotor[0],dParamVel3,0.1);
} else if (cmd == 'a' || cmd == 'A') {
dJointSetLMotorParam(lmotor[0],dParamVel,0);
dJointSetLMotorParam(lmotor[0],dParamVel2,0);
dJointSetLMotorParam(lmotor[0],dParamVel3,0);
} else if (cmd == 'z' || cmd == 'Z') {
dJointSetLMotorParam(lmotor[0],dParamVel,0);
dJointSetLMotorParam(lmotor[0],dParamVel2,0);
dJointSetLMotorParam(lmotor[0],dParamVel3,-0.1);
} else if (cmd == 'w' || cmd == 'W') {
dJointSetLMotorParam(lmotor[1],dParamVel,0.1);
dJointSetLMotorParam(lmotor[1],dParamVel2,0);
dJointSetLMotorParam(lmotor[1],dParamVel3,0);
} else if (cmd == 'e' || cmd == 'E') {
dJointSetLMotorParam(lmotor[1],dParamVel,0);
dJointSetLMotorParam(lmotor[1],dParamVel2,0);
dJointSetLMotorParam(lmotor[1],dParamVel3,0);
} else if (cmd == 'r' || cmd == 'R') {
dJointSetLMotorParam(lmotor[1],dParamVel,-0.1);
dJointSetLMotorParam(lmotor[1],dParamVel2,0);
dJointSetLMotorParam(lmotor[1],dParamVel3,0);
}
}
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
// exit without doing anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
dContact contact;
contact.surface.mode = 0;
contact.surface.mu = dInfinity;
if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
dJointID c = dJointCreateContact (world,contactgroup,&contact);
dJointAttach (c,b1,b2);
}
}
// simulation loop
static void simLoop (int pause)
{
if (!pause) {
dSpaceCollide(space,0,&nearCallback);
dWorldQuickStep (world,0.05);
dJointGroupEmpty(contactgroup);
}
dReal sides1[3];
dGeomBoxGetLengths(geom[0], sides1);
dReal sides2[3];
dGeomBoxGetLengths(geom[1], sides2);
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();
contactgroup = dJointGroupCreate(0);
world = dWorldCreate();
space = dSimpleSpaceCreate(0);
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);
geom[0] = dCreateBox(space,SIDE,SIDE,SIDE);
body[1] = dBodyCreate (world);
dBodySetMass (body[1],&m);
dBodySetPosition (body[1],0,0,2);
geom[1] = dCreateBox(space,SIDE,SIDE,SIDE);
dGeomSetBody(geom[0],body[0]);
dGeomSetBody(geom[1],body[1]);
lmotor[0] = dJointCreateLMotor (world,0);
dJointAttach (lmotor[0],body[0],body[1]);
lmotor[1] = dJointCreateLMotor (world,0);
dJointAttach (lmotor[1],body[0],0);
amotor[0] = dJointCreateAMotor(world,0);
dJointAttach(amotor[0], body[0],body[1]);
amotor[1] = dJointCreateAMotor(world,0);
dJointAttach(amotor[1], body[0], 0);
for (int i=0; i<2; i++) {
dJointSetAMotorNumAxes(amotor[i], 3);
dJointSetAMotorAxis(amotor[i],0,1,1,0,0);
dJointSetAMotorAxis(amotor[i],1,1,0,1,0);
dJointSetAMotorAxis(amotor[i],2,1,0,0,1);
dJointSetAMotorParam(amotor[i],dParamFMax,0.00001);
dJointSetAMotorParam(amotor[i],dParamFMax2,0.00001);
dJointSetAMotorParam(amotor[i],dParamFMax3,0.00001);
dJointSetAMotorParam(amotor[i],dParamVel,0);
dJointSetAMotorParam(amotor[i],dParamVel2,0);
dJointSetAMotorParam(amotor[i],dParamVel3,0);
dJointSetLMotorNumAxes(lmotor[i],3);
dJointSetLMotorAxis(lmotor[i],0,1,1,0,0);
dJointSetLMotorAxis(lmotor[i],1,1,0,1,0);
dJointSetLMotorAxis(lmotor[i],2,1,0,0,1);
dJointSetLMotorParam(lmotor[i],dParamFMax,0.0001);
dJointSetLMotorParam(lmotor[i],dParamFMax2,0.0001);
dJointSetLMotorParam(lmotor[i],dParamFMax3,0.0001);
}
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupDestroy(contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
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