one more for the gipper

1 files changed, 322 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/TerrainAndCone/readme.txt b/libraries/ode-0.9/contrib/TerrainAndCone/readme.txt
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+Benoit CHAPEROT 2003-2004 www.jstarlab.com
+Support for terrain and cones, collision and drawing.
+
+Terrains can be with z up (dTerrainZ) or y up (dTerrainY).
+Terrains are defined by a height field.
+Terrains are now placeable.
+Terrains can now be finite or infinite (repeat themselve in the x and (y or z) directions).
+
+Terrains can potentially collide with everything that collides with planes and rays; 
+see the switch statement.
+
+Cones currently collides only with terrain and planes and rays.
+Cones, with high radius to height ratios are perfect to simulate vehicle wheels on terrains.
+
+
+
+There was an error in the depths returned by dCollideTerrain.
+Plus now contacts are not sorted according to their depths.
+Contact sorting is now supposed to be done externally. 
+Not all dCollide functions seem to sort contacts according to depth.
+Requesting a high number of contacts, sorting them and then considering only the most significant contacts
+is a good way I think to improve stability.
+* Cones Collisions with spheres, boxes, ccylinder and trimesh are now roughly approximated using sphere collisions.
+
+You will need to complete the following operations (with ODE 0.039):
+
+*** add to folder ode\src:
+
+dCone.cpp        
+dTerrainY.cpp 
+dTerrainZ.cpp 
+collision_std_internal.h
+
+On linux => edit each .cpp file and comment out     #include "windows.h"    &    #include "ode\ode.h"
+
+
+*** add to drawstuff\src\drawstuff.cpp:
+
+static void drawCone(float l, float r)
+{
+  int i;
+  float tmp,ny,nz,a,ca,sa;
+  const int n = 24;     // number of sides to the cone (divisible by 4)
+
+  a = float(M_PI*2.0)/float(n);
+  sa = (float) sin(a);
+  ca = (float) cos(a);
+
+  // draw top
+  glShadeModel (GL_FLAT);
+  ny=1; nz=0;             // normal vector = (0,ny,nz)
+  glBegin (GL_TRIANGLE_FAN);
+  glNormal3d (0,0,1);
+  glVertex3d (0,0,l);
+  for (i=0; i<=n; i++) {
+    if (i==1 || i==n/2+1)
+      setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
+    glNormal3d (ny*r,nz*r,0);
+    glVertex3d (ny*r,nz*r,0);
+    if (i==1 || i==n/2+1)
+      setColor (color[0],color[1],color[2],color[3]);
+
+    // rotate ny,nz
+    tmp = ca*ny - sa*nz;
+    nz = sa*ny + ca*nz;
+    ny = tmp;
+  }
+  glEnd();
+
+  // draw bottom
+  ny=1; nz=0;             // normal vector = (0,ny,nz)
+  glBegin (GL_TRIANGLE_FAN);
+  glNormal3d (0,0,-1);
+  glVertex3d (0,0,0);
+  for (i=0; i<=n; i++) {
+    if (i==1 || i==n/2+1)
+      setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
+    glNormal3d (0,0,-1);
+    glVertex3d (ny*r,nz*r,0);
+    if (i==1 || i==n/2+1)
+      setColor (color[0],color[1],color[2],color[3]);
+
+    // rotate ny,nz
+    tmp = ca*ny + sa*nz;
+    nz = -sa*ny + ca*nz;
+    ny = tmp;
+  }
+  glEnd();
+}
+
+void dsDrawCone (const float pos[3], const float R[12], float length, float radius)
+{
+        if (current_state != 2) dsError ("drawing function called outside simulation loop");
+        setupDrawingMode();
+        glShadeModel (GL_SMOOTH);
+        setTransform (pos,R);
+        drawCone (length,radius);
+        glPopMatrix();
+        
+        if (use_shadows) {
+                setShadowDrawingMode();
+                setShadowTransform();
+                setTransform (pos,R);
+                drawCone (length,radius);
+                glPopMatrix();
+                glPopMatrix();
+                glDepthRange (0,1);
+        }
+}
+
+void dsDrawConeD (const double pos[3], const double R[12], float length, float radius)
+{
+  int i;
+  float pos2[3],R2[12];
+  for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+  for (i=0; i<12; i++) R2[i]=(float)R[i];
+  dsDrawCone(pos2,R2,length,radius);
+}
+
+static float GetHeight(int x,int y,int nNumNodesPerSide,float *pHeights)
+{
+        int nNumNodesPerSideMask = nNumNodesPerSide - 1;
+        return pHeights[        (((unsigned int)(y) & nNumNodesPerSideMask) * nNumNodesPerSide)
+                                        +        ((unsigned int)(x) & nNumNodesPerSideMask)];
+}
+
+void dsDrawTerrainY(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos)
+{
+        float A[3],B[3],C[3],D[3];
+        float R[12];
+        float pos[3];
+        if (pR)
+                memcpy(R,pR,sizeof(R));
+        else
+        {
+                memset(R,0,sizeof(R));
+                R[0] = 1.f;
+                R[5] = 1.f;
+                R[10] = 1.f;
+        }
+        
+        if (ppos)
+                memcpy(pos,ppos,sizeof(pos));
+        else
+                memset(pos,0,sizeof(pos));
+        
+        float vx,vz;
+        vx = vLength * x;
+        vz = vLength * z;
+        
+        int i;
+        for (i=0;i<nNumNodesPerSide;i++)
+        {
+                for (int j=0;j<nNumNodesPerSide;j++)
+                {
+                        A[0] = i * vNodeLength + vx;
+                        A[2] = j * vNodeLength + vz;
+                        A[1] = GetHeight(i,j,nNumNodesPerSide,pHeights);
+                        B[0] = (i+1) * vNodeLength + vx;
+                        B[2] = j * vNodeLength + vz;
+                        B[1] = GetHeight(i+1,j,nNumNodesPerSide,pHeights);
+                        C[0] = i * vNodeLength + vx;
+                        C[2] = (j+1) * vNodeLength + vz;
+                        C[1] = GetHeight(i,j+1,nNumNodesPerSide,pHeights);
+                        D[0] = (i+1) * vNodeLength + vx;
+                        D[2] = (j+1) * vNodeLength + vz;
+                        D[1] = GetHeight(i+1,j+1,nNumNodesPerSide,pHeights);
+                        dsDrawTriangle(pos,R,C,B,A,1);
+                        dsDrawTriangle(pos,R,D,B,C,1);
+                }
+        }
+}
+
+void dsDrawTerrainZ(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos)
+{
+        float A[3],B[3],C[3],D[3];
+        float R[12];
+        float pos[3];
+        if (pR)
+                memcpy(R,pR,sizeof(R));
+        else
+        {
+                memset(R,0,sizeof(R));
+                R[0] = 1.f;
+                R[5] = 1.f;
+                R[10] = 1.f;
+        }
+        
+        if (ppos)
+                memcpy(pos,ppos,sizeof(pos));
+        else
+                memset(pos,0,sizeof(pos));
+        
+        float vx,vz;
+        vx = vLength * x;
+        vz = vLength * z;
+        
+        int i;
+        for (i=0;i<nNumNodesPerSide;i++)
+        {
+                for (int j=0;j<nNumNodesPerSide;j++)
+                {
+                        A[0] = i * vNodeLength + vx;
+                        A[1] = j * vNodeLength + vz;
+                        A[2] = GetHeight(i,j,nNumNodesPerSide,pHeights);
+                        B[0] = (i+1) * vNodeLength + vx;
+                        B[1] = j * vNodeLength + vz;
+                        B[2] = GetHeight(i+1,j,nNumNodesPerSide,pHeights);
+                        C[0] = i * vNodeLength + vx;
+                        C[1] = (j+1) * vNodeLength + vz;
+                        C[2] = GetHeight(i,j+1,nNumNodesPerSide,pHeights);
+                        D[0] = (i+1) * vNodeLength + vx;
+                        D[1] = (j+1) * vNodeLength + vz;
+                        D[2] = GetHeight(i+1,j+1,nNumNodesPerSide,pHeights);
+                        dsDrawTriangle(pos,R,C,A,B,1);
+                        dsDrawTriangle(pos,R,D,C,B,1);
+                }
+        }
+}
+
+*** add to include\drawstuff\drawstuff.h:
+void dsDrawCone (const float pos[3], const float R[12], float length, float radius);
+void dsDrawConeD (const double pos[3], const double R[12], float length, float radius);
+void dsDrawTerrainY(int x,int y,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos);
+void dsDrawTerrainZ(int x,int y,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos);
+
+*** add in include\ode\collision.h line 77:
+/* class numbers - each geometry object needs a unique number */
+enum {
+  dSphereClass = 0,
+  dBoxClass,
+  dCCylinderClass,
+  dCylinderClass,
+  dPlaneClass,
+  dRayClass,
+  dGeomTransformClass,
+  dTriMeshClass,
+
+  dTerrainYClass,       //here
+  dTerrainZClass,       //here
+  dConeClass,           //here
+
+  dFirstSpaceClass,
+  dSimpleSpaceClass = dFirstSpaceClass,
+  dHashSpaceClass,
+  dQuadTreeSpaceClass,
+
+  dLastSpaceClass = dQuadTreeSpaceClass,
+
+  dFirstUserClass,
+  dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
+  dGeomNumClasses
+};
+
+dGeomID dCreateTerrainY (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
+dReal dGeomTerrainYPointDepth (dGeomID g, dReal x, dReal y, dReal z);
+dGeomID dCreateTerrainZ (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
+dReal dGeomTerrainZPointDepth (dGeomID g, dReal x, dReal y, dReal z);
+
+dGeomID dCreateCone(dSpaceID space, dReal radius, dReal length);
+void dGeomConeSetParams (dGeomID cone, dReal radius, dReal length);
+void dGeomConeGetParams (dGeomID cone, dReal *radius, dReal *length);
+dReal dGeomConePointDepth(dGeomID g, dReal x, dReal y, dReal z);
+
+*** add in include\ode\odemath.h:
+#define dOP(a,op,b,c) \
+  (a)[0] = ((b)[0]) op ((c)[0]); \
+  (a)[1] = ((b)[1]) op ((c)[1]); \
+  (a)[2] = ((b)[2]) op ((c)[2]);
+#define dOPC(a,op,b,c) \
+  (a)[0] = ((b)[0]) op (c); \
+  (a)[1] = ((b)[1]) op (c); \
+  (a)[2] = ((b)[2]) op (c);
+#define dOPE(a,op,b) \
+  (a)[0] op ((b)[0]); \
+  (a)[1] op ((b)[1]); \
+  (a)[2] op ((b)[2]);
+#define dOPEC(a,op,c) \
+  (a)[0] op (c); \
+  (a)[1] op (c); \
+  (a)[2] op (c);
+#define dLENGTH(a) \
+        (dSqrt( ((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]) ));
+#define dLENGTHSQUARED(a) \
+        (((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]));
+
+*** add in ode\src\collision_kernel.cpp function  'static void initColliders()'  next to other 'setCollider' calls:
+  setCollider (dTerrainYClass,dSphereClass,&dCollideTerrainY);
+  setCollider (dTerrainYClass,dBoxClass,&dCollideTerrainY);
+  setCollider (dTerrainYClass,dCCylinderClass,&dCollideTerrainY);
+  setCollider (dTerrainYClass,dRayClass,&dCollideTerrainY);
+  setCollider (dTerrainYClass,dConeClass,&dCollideTerrainY);
+
+  setCollider (dTerrainZClass,dSphereClass,&dCollideTerrainZ);
+  setCollider (dTerrainZClass,dBoxClass,&dCollideTerrainZ);
+  setCollider (dTerrainZClass,dCCylinderClass,&dCollideTerrainZ);
+  setCollider (dTerrainZClass,dRayClass,&dCollideTerrainZ);
+  setCollider (dTerrainZClass,dConeClass,&dCollideTerrainZ);
+
+  setCollider (dRayClass,dConeClass,&dCollideRayCone);
+  setCollider (dConeClass,dPlaneClass,&dCollideConePlane);
+  setCollider (dConeClass,dSphereClass,&dCollideConeSphere);
+  setCollider (dConeClass,dBoxClass,&dCollideConeBox);
+  setCollider (dCCylinderClass,dConeClass,&dCollideCCylinderCone);
+  setCollider (dTriMeshClass,dConeClass,&dCollideTriMeshCone);
+
+*** add in ode\src\collision_std.h:
+int dCollideTerrainY(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
+int dCollideTerrainZ(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
+
+int dCollideConePlane (dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
+int dCollideRayCone (dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
+int dCollideConeSphere(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
+int dCollideConeBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
+int dCollideCCylinderCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
+int dCollideTriMeshCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
+
+*** add dCone.cpp, dTerrainY.cpp and dTerrainZ.cpp to the the ODE_SRC variable in the makefile
+On Linux => add dCone.cpp, dTerrainY.cpp and dTerrainZ.cpp to the the libode_a_SOURCES variable in the ode/src/Makefile.am file.
+
+*** now you can now test using file test_boxstackb.cpp (to add in folder ode\test).
+