one more for the gipper

1 files changed, 1372 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp b/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp
new file mode 100644
index 0000000..faa8b14
--- /dev/null
+++ b/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp
@@ -0,0 +1,1372 @@
+/*************************************************************************
+
+
+ *                                                                       *
+
+
+ * 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 <dRay.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
+
+
+#define dsDrawSphere dsDrawSphereD
+
+
+#define dsDrawCylinder dsDrawCylinderD
+
+
+#define dsDrawCappedCylinder dsDrawCappedCylinderD
+
+
+#endif
+
+
+
+
+
+
+
+
+// some constants
+
+
+
+
+
+#define NUM 20                  // max number of objects
+
+
+#define DENSITY (5.0)           // density of all objects
+
+
+#define GPB 3                   // maximum number of geometries per body
+
+
+
+
+
+
+
+
+// dynamics and collision objects
+
+
+
+
+
+struct MyObject {
+
+
+  dBodyID body;                 // the body
+
+
+  dGeomID geom[GPB];            // geometries representing this body
+
+
+};
+
+
+
+
+
+static int num=0;               // number of objects in simulation
+
+
+static int nextobj=0;           // next object to recycle if num==NUM
+
+
+static dWorldID world;
+
+
+static dSpaceID space;
+
+
+static MyObject obj[NUM];
+
+
+static dJointGroupID contactgroup;
+
+
+static int selected = -1;       // selected object
+
+
+
+
+
+static dGeomID* Rays;
+
+
+static int RayCount;
+
+
+
+
+
+// this is called by dSpaceCollide when two objects in space are
+
+
+// potentially colliding.
+
+
+
+
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+
+
+{
+
+
+  int i;
+
+
+  // if (o1->body && o2->body) return;
+
+
+
+
+
+  // exit without doing anything if the two bodies are connected by a joint
+
+
+  dBodyID b1 = dGeomGetBody(o1);
+
+
+  dBodyID b2 = dGeomGetBody(o2);
+
+
+  if (b1 && b2 && dAreConnected (b1,b2)) return;
+
+
+
+
+
+  dContact contact[32];                 // up to 3 contacts per box
+
+
+  for (i=0; i<32; i++) {
+
+
+    contact[i].surface.mode = dContactBounce; //dContactMu2;
+
+
+    contact[i].surface.mu = dInfinity;
+
+
+    contact[i].surface.mu2 = 0;
+
+
+    contact[i].surface.bounce = 0.5;
+
+
+    contact[i].surface.bounce_vel = 0.1;
+
+
+  }
+
+
+  if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) {
+
+
+     dMatrix3 RI;
+
+
+     dRSetIdentity (RI);
+
+
+     const dReal ss[3] = {0.02,0.02,0.02};
+
+
+    for (i=0; i<numc; i++) {
+
+
+                if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){
+
+
+                        dMatrix3 Rotation;
+
+
+                        dRSetIdentity(Rotation);
+
+
+                        dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01));
+
+
+                        continue;
+
+
+                }
+
+
+
+
+
+      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+
+
+      dJointAttach (c,b1,b2);
+
+
+       //dsDrawBox (contact[i].geom.pos,RI,ss);
+
+
+
+
+
+          
+
+
+    }
+
+
+  }
+
+
+}
+
+
+
+
+
+// start simulation - set viewpoint
+
+
+
+
+
+static void start()
+
+
+{
+
+
+  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+
+
+  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+
+
+  dsSetViewpoint (xyz,hpr);
+
+
+  printf ("To drop another object, press:\n");
+
+
+  printf ("   b for box.\n");
+
+
+  printf ("   s for sphere.\n");
+
+
+  printf ("   c for cylinder.\n");
+
+
+  printf ("   x for a composite object.\n");
+
+
+  printf ("To select an object, press space.\n");
+
+
+  printf ("To disable the selected object, press d.\n");
+
+
+  printf ("To enable the selected object, press e.\n");
+
+
+}
+
+
+
+
+
+
+
+
+char locase (char c)
+
+
+{
+
+
+  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+
+
+  else return c;
+
+
+}
+
+
+
+
+
+
+
+
+// called when a key pressed
+
+
+
+
+
+static void command (int cmd)
+
+
+{
+
+
+  int i,j,k;
+
+
+  dReal sides[3];
+
+
+  dMass m;
+
+
+
+
+
+  cmd = locase (cmd);
+
+
+  if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x') {
+
+
+    if (num < NUM) {
+
+
+      i = num;
+
+
+      num++;
+
+
+    }
+
+
+    else {
+
+
+      i = nextobj;
+
+
+      nextobj++;
+
+
+      if (nextobj >= num) nextobj = 0;
+
+
+
+
+
+      // destroy the body and geoms for slot i
+
+
+      dBodyDestroy (obj[i].body);
+
+
+      for (k=0; k < GPB; k++) {
+
+
+        if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
+
+
+      }
+
+
+      memset (&obj[i],0,sizeof(obj[i]));
+
+
+    }
+
+
+
+
+
+    obj[i].body = dBodyCreate (world);
+
+
+    for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
+
+
+
+
+
+    dBodySetPosition (obj[i].body,
+
+
+                      dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1);
+
+
+    dMatrix3 R;
+
+
+    dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+
+
+                        dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+
+
+    dBodySetRotation (obj[i].body,R);
+
+
+    dBodySetData (obj[i].body,(void*) i);
+
+
+
+
+
+    if (cmd == 'b') {
+
+
+      dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
+
+
+      obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
+
+
+    }
+
+
+    else if (cmd == 'c') {
+
+
+      sides[0] *= 0.5;
+
+
+      dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
+
+
+      obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]);
+
+
+    }
+
+
+    else if (cmd == 's') {
+
+
+      sides[0] *= 0.5;
+
+
+      dMassSetSphere (&m,DENSITY,sides[0]);
+
+
+      obj[i].geom[0] = dCreateSphere (space,sides[0]);
+
+
+    }
+
+
+    else if (cmd == 'x') {
+
+
+      dGeomID g2[GPB];          // encapsulated geometries
+
+
+      dReal dpos[GPB][3];       // delta-positions for encapsulated geometries
+
+
+
+
+
+      // start accumulating masses for the encapsulated geometries
+
+
+      dMass m2;
+
+
+      dMassSetZero (&m);
+
+
+
+
+
+      // set random delta positions
+
+
+      for (j=0; j<GPB; j++) {
+
+
+        for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
+
+
+      }
+
+
+
+
+
+      for (k=0; k<3; k++) {
+
+
+        obj[i].geom[k] = dCreateGeomTransform (space);
+
+
+        dGeomTransformSetCleanup (obj[i].geom[k],1);
+
+
+        if (k==0) {
+
+
+          dReal radius = dRandReal()*0.25+0.05;
+
+
+          g2[k] = dCreateSphere (0,radius);
+
+
+          dMassSetSphere (&m2,DENSITY,radius);
+
+
+        }
+
+
+        else if (k==1) {
+
+
+          g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
+
+
+          dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
+
+
+        }
+
+
+        else {
+
+
+          dReal radius = dRandReal()*0.1+0.05;
+
+
+          dReal length = dRandReal()*1.0+0.1;
+
+
+          g2[k] = dCreateCCylinder (0,radius,length);
+
+
+          dMassSetCappedCylinder (&m2,DENSITY,3,radius,length);
+
+
+        }
+
+
+        dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
+
+
+
+
+
+        // set the transformation (adjust the mass too)
+
+
+        dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
+
+
+        dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+
+        dMatrix3 Rtx;
+
+
+        dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+
+
+                            dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+
+
+        dGeomSetRotation (g2[k],Rtx);
+
+
+        dMassRotate (&m2,Rtx);
+
+
+
+
+
+        // add to the total mass
+
+
+        dMassAdd (&m,&m2);
+
+
+      }
+
+
+
+
+
+      // move all encapsulated objects so that the center of mass is (0,0,0)
+
+
+      for (k=0; k<2; k++) {
+
+
+        dGeomSetPosition (g2[k],
+
+
+                          dpos[k][0]-m.c[0],
+
+
+                          dpos[k][1]-m.c[1],
+
+
+                          dpos[k][2]-m.c[2]);
+
+
+      }
+
+
+      dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
+
+
+    }
+
+
+
+
+
+    for (k=0; k < GPB; k++) {
+
+
+      if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
+
+
+    }
+
+
+
+
+
+    dBodySetMass (obj[i].body,&m);
+
+
+  }
+
+
+
+
+
+  if (cmd == ' ') {
+
+
+    selected++;
+
+
+    if (selected >= num) selected = 0;
+
+
+    if (selected < 0) selected = 0;
+
+
+  }
+
+
+  else if (cmd == 'd' && selected >= 0 && selected < num) {
+
+
+    dBodyDisable (obj[selected].body);
+
+
+  }
+
+
+  else if (cmd == 'e' && selected >= 0 && selected < num) {
+
+
+    dBodyEnable (obj[selected].body);
+
+
+  }
+
+
+}
+
+
+
+
+
+
+
+
+// draw a geom
+
+
+
+
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R)
+
+
+{
+
+
+  if (!g) return;
+
+
+  if (!pos) pos = dGeomGetPosition (g);
+
+
+  if (!R) R = dGeomGetRotation (g);
+
+
+
+
+
+  int type = dGeomGetClass (g);
+
+
+  if (type == dBoxClass) {
+
+
+    dVector3 sides;
+
+
+    dGeomBoxGetLengths (g,sides);
+
+
+    dsDrawBox (pos,R,sides);
+
+
+  }
+
+
+  else if (type == dSphereClass) {
+
+
+    dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
+
+
+  }
+
+
+  else if (type == dCCylinderClass) {
+
+
+    dReal radius,length;
+
+
+    dGeomCCylinderGetParams (g,&radius,&length);
+
+
+    dsDrawCappedCylinder (pos,R,length,radius);
+
+
+  }
+
+
+  else if (type == dGeomTransformClass) {
+
+
+    dGeomID g2 = dGeomTransformGetGeom (g);
+
+
+    const dReal *pos2 = dGeomGetPosition (g2);
+
+
+    const dReal *R2 = dGeomGetRotation (g2);
+
+
+    dVector3 actual_pos;
+
+
+    dMatrix3 actual_R;
+
+
+    dMULTIPLY0_331 (actual_pos,R,pos2);
+
+
+    actual_pos[0] += pos[0];
+
+
+    actual_pos[1] += pos[1];
+
+
+    actual_pos[2] += pos[2];
+
+
+    dMULTIPLY0_333 (actual_R,R,R2);
+
+
+    drawGeom (g2,actual_pos,actual_R);
+
+
+  }
+
+
+}
+
+
+
+
+
+
+
+
+// simulation loop
+
+
+
+
+
+static void simLoop (int pause)
+
+
+{
+
+
+  dsSetColor (0,0,2);
+
+
+  dSpaceCollide (space,0,&nearCallback);
+
+
+  if (!pause) dWorldStep (world,0.05);
+
+
+
+
+
+  // remove all contact joints
+
+
+  dJointGroupEmpty (contactgroup);
+
+
+
+
+
+  dsSetColor (1,1,0);
+
+
+  dsSetTexture (DS_WOOD);
+
+
+  for (int i=0; i<num; i++) {
+
+
+    int color_changed = 0;
+
+
+    if (i==selected) {
+
+
+      dsSetColor (0,0.7,1);
+
+
+      color_changed = 1;
+
+
+    }
+
+
+    else if (! dBodyIsEnabled (obj[i].body)) {
+
+
+      dsSetColor (1,0,0);
+
+
+      color_changed = 1;
+
+
+    }
+
+
+    for (int j=0; j < GPB; j++) drawGeom (obj[i].geom[j],0,0);
+
+
+    if (color_changed) dsSetColor (1,1,0);
+
+
+  }
+
+
+
+
+
+  {for (int i = 0; i < RayCount; i++){
+
+
+          dVector3 Origin, Direction;
+
+
+          dGeomRayGet(Rays[i], Origin, Direction);
+
+
+  
+
+
+          dReal Length = dGeomRayGetLength(Rays[i]);
+
+
+
+
+
+          dVector3 End;
+
+
+          End[0] = Origin[0] + (Direction[0] * Length);
+
+
+          End[1] = Origin[1] + (Direction[1] * Length);
+
+
+          End[2] = Origin[2] + (Direction[2] * Length);
+
+
+          End[3] = Origin[3] + (Direction[3] * Length);
+
+
+  
+
+
+          dsDrawLine(Origin, End);
+
+
+  }}
+
+
+}
+
+
+
+
+
+
+
+
+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
+
+
+
+
+
+  world = dWorldCreate();
+
+
+  space = dHashSpaceCreate();
+
+
+  contactgroup = dJointGroupCreate (0);
+
+
+  dWorldSetGravity (world,0,0,-0.5);
+
+
+  dWorldSetCFM (world,1e-5);
+
+
+  dCreatePlane (space,0,0,1,0);
+
+
+  memset (obj,0,sizeof(obj));
+
+
+
+
+
+  dVector3 Origin, Direction;
+
+
+  
+
+
+  RayCount = 5;
+
+
+  Rays = new dGeomID[RayCount];
+
+
+
+
+
+  /* Ray 0 */
+
+
+  Origin[0] = 1;
+
+
+  Origin[1] = 1;
+
+
+  Origin[2] = 1.5;
+
+
+  Origin[3] = 0;
+
+
+
+
+
+  Direction[0] = 0.0f;
+
+
+  Direction[1] = 0.0f;
+
+
+  Direction[2] = -1;
+
+
+  Direction[3] = 0;
+
+
+
+
+
+  dNormalize3(Direction);
+
+
+
+
+
+  Rays[0] = dGeomCreateRay(space, 5.0f);
+
+
+  dGeomRaySet(Rays[0], Origin, Direction);
+
+
+
+
+
+  /* Ray 1 */
+
+
+  Origin[0] = 0;
+
+
+  Origin[1] = 10;
+
+
+  Origin[2] = 0.25;
+
+
+  Origin[3] = 0;
+
+
+
+
+
+  Direction[0] = 0.0f;
+
+
+  Direction[1] = -1.0f;
+
+
+  Direction[2] = 0.0f;
+
+
+  Direction[3] = 0;
+
+
+
+
+
+  dNormalize3(Direction);
+
+
+
+
+
+  Rays[1] = dGeomCreateRay(space, 20.0f);
+
+
+  dGeomRaySet(Rays[1], Origin, Direction);
+
+
+
+
+
+  /* Ray 2 */
+
+
+  Origin[0] = -10;
+
+
+  Origin[1] = 0;
+
+
+  Origin[2] = 0.20;
+
+
+  Origin[3] = 0;
+
+
+
+
+
+  Direction[0] = 1.0f;
+
+
+  Direction[1] = 0.0f;
+
+
+  Direction[2] = 0.0f;
+
+
+  Direction[3] = 0;
+
+
+
+
+
+  dNormalize3(Direction);
+
+
+
+
+
+  Rays[2] = dGeomCreateRay(space, 20.0f);
+
+
+  dGeomRaySet(Rays[2], Origin, Direction);
+
+
+
+
+
+  /* Ray 3 */
+
+
+  Origin[0] = -9;
+
+
+  Origin[1] = 11;
+
+
+  Origin[2] = 0.15;
+
+
+  Origin[3] = 0;
+
+
+
+
+
+  Direction[0] = 1.0f;
+
+
+  Direction[1] = -1.0f;
+
+
+  Direction[2] = 0.0f;
+
+
+  Direction[3] = 0;
+
+
+
+
+
+  dNormalize3(Direction);
+
+
+
+
+
+  Rays[3] = dGeomCreateRay(space, 20.0f);
+
+
+  dGeomRaySet(Rays[3], Origin, Direction);
+
+
+
+
+
+  /* Ray 4 */
+
+
+  Origin[0] = -0.1;
+
+
+  Origin[1] = 0.3;
+
+
+  Origin[2] = 0.30;
+
+
+  Origin[3] = 0;
+
+
+
+
+
+  Direction[0] = 0.3f;
+
+
+  Direction[1] = 0.5f;
+
+
+  Direction[2] = 1.0f;
+
+
+  Direction[3] = 0;
+
+
+
+
+
+  Rays[4] = dGeomCreateRay(space, 5.0f);
+
+
+  dGeomRaySet(Rays[4], Origin, Direction);
+
+
+
+
+
+  // run simulation
+
+
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+
+
+
+
+  dJointGroupDestroy (contactgroup);
+
+
+  dSpaceDestroy (space);
+
+
+  dWorldDestroy (world);
+
+
+
+
+
+  return 0;
+
+
+}
+
+