diff options
author | dan miller | 2007-10-19 05:20:48 +0000 |
---|---|---|
committer | dan miller | 2007-10-19 05:20:48 +0000 |
commit | d48ea5bb797037069d641da41da0f195f0124491 (patch) | |
tree | 40ff433d94859d629aac933d5ec73b382f62ba1a /libraries/ode-0.9/ode/demo | |
parent | dont ask (diff) | |
download | opensim-SC_OLD-d48ea5bb797037069d641da41da0f195f0124491.zip opensim-SC_OLD-d48ea5bb797037069d641da41da0f195f0124491.tar.gz opensim-SC_OLD-d48ea5bb797037069d641da41da0f195f0124491.tar.bz2 opensim-SC_OLD-d48ea5bb797037069d641da41da0f195f0124491.tar.xz |
one more for the gipper
Diffstat (limited to 'libraries/ode-0.9/ode/demo')
30 files changed, 15163 insertions, 0 deletions
diff --git a/libraries/ode-0.9/ode/demo/Makefile.am b/libraries/ode-0.9/ode/demo/Makefile.am new file mode 100644 index 0000000..361ad53 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/Makefile.am | |||
@@ -0,0 +1,254 @@ | |||
1 | AM_CXXFLAGS = @ARCHFLAGS@ @CXXFLAGS@ -I$(top_srcdir)/include -I$(top_builddir)/include | ||
2 | AM_CFLAGS = @ARCHFLAGS@ @CXXFLAGS@ -I$(top_srcdir)/include -I$(top_builddir)/include | ||
3 | |||
4 | noinst_PROGRAMS=demo_collision \ | ||
5 | demo_slider \ | ||
6 | demo_feedback \ | ||
7 | demo_crash \ | ||
8 | demo_space \ | ||
9 | demo_I \ | ||
10 | demo_friction \ | ||
11 | demo_space_stress \ | ||
12 | demo_boxstack demo_hinge \ | ||
13 | demo_step \ | ||
14 | demo_buggy \ | ||
15 | demo_joints \ | ||
16 | demo_motor \ | ||
17 | demo_chain1 \ | ||
18 | demo_chain2 \ | ||
19 | demo_cylvssphere \ | ||
20 | demo_ode \ | ||
21 | demo_plane2d \ | ||
22 | demo_heightfield \ | ||
23 | demo_convex_cd \ | ||
24 | demo_jointPR | ||
25 | if TRIMESH | ||
26 | noinst_PROGRAMS+= demo_trimesh demo_moving_trimesh demo_basket demo_cyl | ||
27 | endif | ||
28 | demo_collision_SOURCES= demo_collision.cpp | ||
29 | demo_slider_SOURCES= demo_slider.cpp | ||
30 | demo_feedback_SOURCES= demo_feedback.cpp | ||
31 | demo_crash_SOURCES= demo_crash.cpp | ||
32 | demo_space_SOURCES= demo_space.cpp | ||
33 | demo_I_SOURCES= demo_I.cpp | ||
34 | demo_friction_SOURCES= demo_friction.cpp | ||
35 | demo_space_stress_SOURCES= demo_space_stress.cpp | ||
36 | demo_boxstack_SOURCES= demo_boxstack.cpp | ||
37 | demo_hinge_SOURCES= demo_hinge.cpp | ||
38 | demo_step_SOURCES= demo_step.cpp | ||
39 | demo_buggy_SOURCES= demo_buggy.cpp | ||
40 | demo_cyl_SOURCES= demo_cyl.cpp world_geom3.h | ||
41 | demo_cylvssphere_SOURCES= demo_cylvssphere.cpp | ||
42 | demo_joints_SOURCES= demo_joints.cpp | ||
43 | demo_jointPR_SOURCES= demo_jointPR.cpp | ||
44 | demo_motor_SOURCES= demo_motor.cpp | ||
45 | demo_chain1_SOURCES= demo_chain1.c | ||
46 | demo_chain2_SOURCES= demo_chain2.cpp | ||
47 | demo_ode_SOURCES= demo_ode.cpp | ||
48 | demo_plane2d_SOURCES= demo_plane2d.cpp | ||
49 | demo_heightfield_SOURCES= demo_heightfield.cpp | ||
50 | demo_convex_cd_SOURCES= demo_convex_cd.cpp | ||
51 | demo_collision_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
52 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
53 | demo_slider_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
54 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
55 | demo_feedback_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
56 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
57 | demo_crash_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
58 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
59 | demo_space_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
60 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
61 | demo_I_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
62 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
63 | demo_friction_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
64 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
65 | demo_space_stress_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
66 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
67 | demo_boxstack_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
68 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
69 | demo_hinge_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
70 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
71 | demo_step_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
72 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
73 | demo_buggy_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
74 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
75 | demo_cyl_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
76 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
77 | demo_cylvssphere_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
78 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
79 | demo_joints_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
80 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
81 | demo_jointPR_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
82 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
83 | demo_motor_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
84 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
85 | demo_chain1_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
86 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
87 | demo_chain2_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
88 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
89 | demo_ode_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
90 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
91 | demo_plane2d_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
92 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
93 | demo_heightfield_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
94 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
95 | demo_convex_cd_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
96 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
97 | |||
98 | demo_collision_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
99 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
100 | demo_slider_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
101 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
102 | demo_feedback_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
103 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
104 | demo_crash_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
105 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
106 | demo_space_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
107 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
108 | demo_I_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
109 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
110 | demo_friction_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
111 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
112 | demo_space_stress_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
113 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
114 | demo_boxstack_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
115 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
116 | demo_hinge_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
117 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
118 | demo_step_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
119 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
120 | demo_buggy_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
121 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
122 | demo_cyl_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
123 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
124 | demo_cylvssphere_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
125 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
126 | demo_joints_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
127 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
128 | demo_jointPR_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
129 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
130 | demo_motor_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
131 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
132 | demo_chain1_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
133 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
134 | demo_chain2_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
135 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
136 | demo_ode_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
137 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
138 | demo_plane2d_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
139 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
140 | demo_heightfield_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
141 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
142 | demo_convex_cd_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
143 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
144 | |||
145 | if TRIMESH | ||
146 | demo_trimesh_SOURCES= demo_trimesh.cpp | ||
147 | demo_moving_trimesh_SOURCES= demo_moving_trimesh.cpp | ||
148 | demo_basket_SOURCES= demo_basket.cpp | ||
149 | demo_trimesh_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
150 | -L$(top_builddir)/ode/src @LDFLAGS@ \ | ||
151 | @GL_LIBS@ @LIBS@ | ||
152 | demo_moving_trimesh_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
153 | -L$(top_builddir)/ode/src @LDFLAGS@ \ | ||
154 | @GL_LIBS@ @LIBS@ | ||
155 | demo_basket_LDFLAGS= -L$(top_builddir)/drawstuff/src \ | ||
156 | -L$(top_builddir)/ode/src @LDFLAGS@ \ | ||
157 | @GL_LIBS@ @LIBS@ | ||
158 | demo_trimesh_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
159 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
160 | demo_moving_trimesh_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
161 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
162 | |||
163 | demo_basket_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \ | ||
164 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
165 | |||
166 | endif | ||
167 | |||
168 | demo_ode_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
169 | demo_plane2d_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
170 | demo_heightfield_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
171 | demo_chain2_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
172 | demo_chain1_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
173 | demo_joints_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
174 | demo_jointPR_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
175 | demo_motor_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
176 | demo_buggy_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
177 | demo_cyl_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
178 | demo_cylvssphere_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
179 | demo_step_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
180 | demo_hinge_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
181 | demo_boxstack_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
182 | demo_space_stress_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
183 | demo_friction_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
184 | demo_I_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
185 | demo_space_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
186 | demo_crash_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
187 | demo_slider_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
188 | demo_feedback_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
189 | demo_collision_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
190 | demo_convex_cd_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
191 | |||
192 | |||
193 | if TRIMESH | ||
194 | demo_trimesh_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
195 | demo_moving_trimesh_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
196 | demo_basket_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
197 | endif | ||
198 | |||
199 | |||
200 | if WIN32 | ||
201 | resources.o: ../../drawstuff/src/resources.rc ../../drawstuff/src/resource.h | ||
202 | @WINDRES@ ../../drawstuff/src/resources.rc -o resources.o | ||
203 | demo_ode_LDADD+= resources.o | ||
204 | demo_heightfield_LDADD+= resources.o | ||
205 | demo_chain2_LDADD+= resources.o | ||
206 | demo_chain1_LDADD+= resources.o | ||
207 | demo_joints_LDADD+= resources.o | ||
208 | demo_jointPR_LDADD+= resources.o | ||
209 | demo_motor_LDADD+= resources.o | ||
210 | demo_buggy_LDADD+= resources.o | ||
211 | demo_cyl_LDADD+= resources.o | ||
212 | demo_cylvssphere_LDADD+= resources.o | ||
213 | demo_step_LDADD+= resources.o | ||
214 | demo_hinge_LDADD+= resources.o | ||
215 | demo_boxstack_LDADD+= resources.o | ||
216 | demo_space_stress_LDADD+= resources.o | ||
217 | demo_friction_LDADD+= resources.o | ||
218 | demo_I_LDADD+= resources.o | ||
219 | demo_space_LDADD+= resources.o | ||
220 | demo_crash_LDADD+= resources.o | ||
221 | demo_slider_LDADD+= resources.o | ||
222 | demo_feedback_LDADD+= resources.o | ||
223 | demo_collision_LDADD+= resources.o | ||
224 | demo_convex_cd_LDADD+= resources.o | ||
225 | demo_ode_DEPENDENCIES+= resources.o | ||
226 | demo_chain2_DEPENDENCIES+= resources.o | ||
227 | demo_chain1_DEPENDENCIES+= resources.o | ||
228 | demo_joints_DEPENDENCIES+= resources.o | ||
229 | demo_jointPR_DEPENDENCIES+= resources.o | ||
230 | demo_motor_DEPENDENCIES+= resources.o | ||
231 | demo_buggy_DEPENDENCIES+= resources.o | ||
232 | demo_cyl_DEPENDENCIES+= resources.o | ||
233 | demo_cylvssphere_DEPENDENCIES+= resources.o | ||
234 | demo_step_DEPENDENCIES+= resources.o | ||
235 | demo_hinge_DEPENDENCIES+= resources.o | ||
236 | demo_boxstack_DEPENDENCIES+= resources.o | ||
237 | demo_space_stress_DEPENDENCIES+= resources.o | ||
238 | demo_friction_DEPENDENCIES+= resources.o | ||
239 | demo_I_DEPENDENCIES+= resources.o | ||
240 | demo_space_DEPENDENCIES+= resources.o | ||
241 | demo_crash_DEPENDENCIES+= resources.o | ||
242 | demo_slider_DEPENDENCIES+= resources.o | ||
243 | demo_feedback_DEPENDENCIES+= resources.o | ||
244 | demo_collision_DEPENDENCIES+= resources.o | ||
245 | demo_convex_cd_DEPENDENCIES+= resources.o | ||
246 | |||
247 | if TRIMESH | ||
248 | demo_trimesh_LDADD+= resources.o | ||
249 | demo_moving_trimesh_LDADD+= resources.o | ||
250 | demo_trimesh_DEPENDENCIES+= resources.o | ||
251 | demo_moving_trimesh_DEPENDENCIES+= resources.o | ||
252 | demo_basket_DEPENDENCIES+= resources.o | ||
253 | endif | ||
254 | endif | ||
diff --git a/libraries/ode-0.9/ode/demo/Makefile.in b/libraries/ode-0.9/ode/demo/Makefile.in new file mode 100644 index 0000000..8e73f18 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/Makefile.in | |||
@@ -0,0 +1,953 @@ | |||
1 | # Makefile.in generated by automake 1.10 from Makefile.am. | ||
2 | # @configure_input@ | ||
3 | |||
4 | # Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, | ||
5 | # 2003, 2004, 2005, 2006 Free Software Foundation, Inc. | ||
6 | # This Makefile.in is free software; the Free Software Foundation | ||
7 | # gives unlimited permission to copy and/or distribute it, | ||
8 | # with or without modifications, as long as this notice is preserved. | ||
9 | |||
10 | # This program is distributed in the hope that it will be useful, | ||
11 | # but WITHOUT ANY WARRANTY, to the extent permitted by law; without | ||
12 | # even the implied warranty of MERCHANTABILITY or FITNESS FOR A | ||
13 | # PARTICULAR PURPOSE. | ||
14 | |||
15 | @SET_MAKE@ | ||
16 | |||
17 | VPATH = @srcdir@ | ||
18 | pkgdatadir = $(datadir)/@PACKAGE@ | ||
19 | pkglibdir = $(libdir)/@PACKAGE@ | ||
20 | pkgincludedir = $(includedir)/@PACKAGE@ | ||
21 | am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd | ||
22 | install_sh_DATA = $(install_sh) -c -m 644 | ||
23 | install_sh_PROGRAM = $(install_sh) -c | ||
24 | install_sh_SCRIPT = $(install_sh) -c | ||
25 | INSTALL_HEADER = $(INSTALL_DATA) | ||
26 | transform = $(program_transform_name) | ||
27 | NORMAL_INSTALL = : | ||
28 | PRE_INSTALL = : | ||
29 | POST_INSTALL = : | ||
30 | NORMAL_UNINSTALL = : | ||
31 | PRE_UNINSTALL = : | ||
32 | POST_UNINSTALL = : | ||
33 | build_triplet = @build@ | ||
34 | host_triplet = @host@ | ||
35 | target_triplet = @target@ | ||
36 | noinst_PROGRAMS = demo_collision$(EXEEXT) demo_slider$(EXEEXT) \ | ||
37 | demo_feedback$(EXEEXT) demo_crash$(EXEEXT) demo_space$(EXEEXT) \ | ||
38 | demo_I$(EXEEXT) demo_friction$(EXEEXT) \ | ||
39 | demo_space_stress$(EXEEXT) demo_boxstack$(EXEEXT) \ | ||
40 | demo_hinge$(EXEEXT) demo_step$(EXEEXT) demo_buggy$(EXEEXT) \ | ||
41 | demo_joints$(EXEEXT) demo_motor$(EXEEXT) demo_chain1$(EXEEXT) \ | ||
42 | demo_chain2$(EXEEXT) demo_cylvssphere$(EXEEXT) \ | ||
43 | demo_ode$(EXEEXT) demo_plane2d$(EXEEXT) \ | ||
44 | demo_heightfield$(EXEEXT) demo_convex_cd$(EXEEXT) \ | ||
45 | demo_jointPR$(EXEEXT) $(am__EXEEXT_1) | ||
46 | @TRIMESH_TRUE@am__append_1 = demo_trimesh demo_moving_trimesh demo_basket demo_cyl | ||
47 | @WIN32_TRUE@am__append_2 = resources.o | ||
48 | @WIN32_TRUE@am__append_3 = resources.o | ||
49 | @WIN32_TRUE@am__append_4 = resources.o | ||
50 | @WIN32_TRUE@am__append_5 = resources.o | ||
51 | @WIN32_TRUE@am__append_6 = resources.o | ||
52 | @WIN32_TRUE@am__append_7 = resources.o | ||
53 | @WIN32_TRUE@am__append_8 = resources.o | ||
54 | @WIN32_TRUE@am__append_9 = resources.o | ||
55 | @WIN32_TRUE@am__append_10 = resources.o | ||
56 | @WIN32_TRUE@am__append_11 = resources.o | ||
57 | @WIN32_TRUE@am__append_12 = resources.o | ||
58 | @WIN32_TRUE@am__append_13 = resources.o | ||
59 | @WIN32_TRUE@am__append_14 = resources.o | ||
60 | @WIN32_TRUE@am__append_15 = resources.o | ||
61 | @WIN32_TRUE@am__append_16 = resources.o | ||
62 | @WIN32_TRUE@am__append_17 = resources.o | ||
63 | @WIN32_TRUE@am__append_18 = resources.o | ||
64 | @WIN32_TRUE@am__append_19 = resources.o | ||
65 | @WIN32_TRUE@am__append_20 = resources.o | ||
66 | @WIN32_TRUE@am__append_21 = resources.o | ||
67 | @WIN32_TRUE@am__append_22 = resources.o | ||
68 | @WIN32_TRUE@am__append_23 = resources.o | ||
69 | @WIN32_TRUE@am__append_24 = resources.o | ||
70 | @WIN32_TRUE@am__append_25 = resources.o | ||
71 | @WIN32_TRUE@am__append_26 = resources.o | ||
72 | @WIN32_TRUE@am__append_27 = resources.o | ||
73 | @WIN32_TRUE@am__append_28 = resources.o | ||
74 | @WIN32_TRUE@am__append_29 = resources.o | ||
75 | @WIN32_TRUE@am__append_30 = resources.o | ||
76 | @WIN32_TRUE@am__append_31 = resources.o | ||
77 | @WIN32_TRUE@am__append_32 = resources.o | ||
78 | @WIN32_TRUE@am__append_33 = resources.o | ||
79 | @WIN32_TRUE@am__append_34 = resources.o | ||
80 | @WIN32_TRUE@am__append_35 = resources.o | ||
81 | @WIN32_TRUE@am__append_36 = resources.o | ||
82 | @WIN32_TRUE@am__append_37 = resources.o | ||
83 | @WIN32_TRUE@am__append_38 = resources.o | ||
84 | @WIN32_TRUE@am__append_39 = resources.o | ||
85 | @WIN32_TRUE@am__append_40 = resources.o | ||
86 | @WIN32_TRUE@am__append_41 = resources.o | ||
87 | @WIN32_TRUE@am__append_42 = resources.o | ||
88 | @WIN32_TRUE@am__append_43 = resources.o | ||
89 | @WIN32_TRUE@am__append_44 = resources.o | ||
90 | @TRIMESH_TRUE@@WIN32_TRUE@am__append_45 = resources.o | ||
91 | @TRIMESH_TRUE@@WIN32_TRUE@am__append_46 = resources.o | ||
92 | @TRIMESH_TRUE@@WIN32_TRUE@am__append_47 = resources.o | ||
93 | @TRIMESH_TRUE@@WIN32_TRUE@am__append_48 = resources.o | ||
94 | @TRIMESH_TRUE@@WIN32_TRUE@am__append_49 = resources.o | ||
95 | subdir = ode/demo | ||
96 | DIST_COMMON = $(srcdir)/Makefile.am $(srcdir)/Makefile.in | ||
97 | ACLOCAL_M4 = $(top_srcdir)/aclocal.m4 | ||
98 | am__aclocal_m4_deps = $(top_srcdir)/configure.in | ||
99 | am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \ | ||
100 | $(ACLOCAL_M4) | ||
101 | mkinstalldirs = $(install_sh) -d | ||
102 | CONFIG_HEADER = $(top_builddir)/include/ode/config.h | ||
103 | CONFIG_CLEAN_FILES = | ||
104 | @TRIMESH_TRUE@am__EXEEXT_1 = demo_trimesh$(EXEEXT) \ | ||
105 | @TRIMESH_TRUE@ demo_moving_trimesh$(EXEEXT) \ | ||
106 | @TRIMESH_TRUE@ demo_basket$(EXEEXT) demo_cyl$(EXEEXT) | ||
107 | PROGRAMS = $(noinst_PROGRAMS) | ||
108 | am_demo_I_OBJECTS = demo_I.$(OBJEXT) | ||
109 | demo_I_OBJECTS = $(am_demo_I_OBJECTS) | ||
110 | demo_I_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) $(demo_I_LDFLAGS) \ | ||
111 | $(LDFLAGS) -o $@ | ||
112 | am__demo_basket_SOURCES_DIST = demo_basket.cpp | ||
113 | @TRIMESH_TRUE@am_demo_basket_OBJECTS = demo_basket.$(OBJEXT) | ||
114 | demo_basket_OBJECTS = $(am_demo_basket_OBJECTS) | ||
115 | demo_basket_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
116 | $(demo_basket_LDFLAGS) $(LDFLAGS) -o $@ | ||
117 | am_demo_boxstack_OBJECTS = demo_boxstack.$(OBJEXT) | ||
118 | demo_boxstack_OBJECTS = $(am_demo_boxstack_OBJECTS) | ||
119 | demo_boxstack_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
120 | $(demo_boxstack_LDFLAGS) $(LDFLAGS) -o $@ | ||
121 | am_demo_buggy_OBJECTS = demo_buggy.$(OBJEXT) | ||
122 | demo_buggy_OBJECTS = $(am_demo_buggy_OBJECTS) | ||
123 | demo_buggy_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
124 | $(demo_buggy_LDFLAGS) $(LDFLAGS) -o $@ | ||
125 | am_demo_chain1_OBJECTS = demo_chain1.$(OBJEXT) | ||
126 | demo_chain1_OBJECTS = $(am_demo_chain1_OBJECTS) | ||
127 | demo_chain1_LINK = $(CCLD) $(AM_CFLAGS) $(CFLAGS) \ | ||
128 | $(demo_chain1_LDFLAGS) $(LDFLAGS) -o $@ | ||
129 | am_demo_chain2_OBJECTS = demo_chain2.$(OBJEXT) | ||
130 | demo_chain2_OBJECTS = $(am_demo_chain2_OBJECTS) | ||
131 | demo_chain2_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
132 | $(demo_chain2_LDFLAGS) $(LDFLAGS) -o $@ | ||
133 | am_demo_collision_OBJECTS = demo_collision.$(OBJEXT) | ||
134 | demo_collision_OBJECTS = $(am_demo_collision_OBJECTS) | ||
135 | demo_collision_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
136 | $(demo_collision_LDFLAGS) $(LDFLAGS) -o $@ | ||
137 | am_demo_convex_cd_OBJECTS = demo_convex_cd.$(OBJEXT) | ||
138 | demo_convex_cd_OBJECTS = $(am_demo_convex_cd_OBJECTS) | ||
139 | demo_convex_cd_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
140 | $(demo_convex_cd_LDFLAGS) $(LDFLAGS) -o $@ | ||
141 | am_demo_crash_OBJECTS = demo_crash.$(OBJEXT) | ||
142 | demo_crash_OBJECTS = $(am_demo_crash_OBJECTS) | ||
143 | demo_crash_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
144 | $(demo_crash_LDFLAGS) $(LDFLAGS) -o $@ | ||
145 | am_demo_cyl_OBJECTS = demo_cyl.$(OBJEXT) | ||
146 | demo_cyl_OBJECTS = $(am_demo_cyl_OBJECTS) | ||
147 | demo_cyl_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
148 | $(demo_cyl_LDFLAGS) $(LDFLAGS) -o $@ | ||
149 | am_demo_cylvssphere_OBJECTS = demo_cylvssphere.$(OBJEXT) | ||
150 | demo_cylvssphere_OBJECTS = $(am_demo_cylvssphere_OBJECTS) | ||
151 | demo_cylvssphere_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
152 | $(demo_cylvssphere_LDFLAGS) $(LDFLAGS) -o $@ | ||
153 | am_demo_feedback_OBJECTS = demo_feedback.$(OBJEXT) | ||
154 | demo_feedback_OBJECTS = $(am_demo_feedback_OBJECTS) | ||
155 | demo_feedback_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
156 | $(demo_feedback_LDFLAGS) $(LDFLAGS) -o $@ | ||
157 | am_demo_friction_OBJECTS = demo_friction.$(OBJEXT) | ||
158 | demo_friction_OBJECTS = $(am_demo_friction_OBJECTS) | ||
159 | demo_friction_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
160 | $(demo_friction_LDFLAGS) $(LDFLAGS) -o $@ | ||
161 | am_demo_heightfield_OBJECTS = demo_heightfield.$(OBJEXT) | ||
162 | demo_heightfield_OBJECTS = $(am_demo_heightfield_OBJECTS) | ||
163 | demo_heightfield_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
164 | $(demo_heightfield_LDFLAGS) $(LDFLAGS) -o $@ | ||
165 | am_demo_hinge_OBJECTS = demo_hinge.$(OBJEXT) | ||
166 | demo_hinge_OBJECTS = $(am_demo_hinge_OBJECTS) | ||
167 | demo_hinge_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
168 | $(demo_hinge_LDFLAGS) $(LDFLAGS) -o $@ | ||
169 | am_demo_jointPR_OBJECTS = demo_jointPR.$(OBJEXT) | ||
170 | demo_jointPR_OBJECTS = $(am_demo_jointPR_OBJECTS) | ||
171 | demo_jointPR_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
172 | $(demo_jointPR_LDFLAGS) $(LDFLAGS) -o $@ | ||
173 | am_demo_joints_OBJECTS = demo_joints.$(OBJEXT) | ||
174 | demo_joints_OBJECTS = $(am_demo_joints_OBJECTS) | ||
175 | demo_joints_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
176 | $(demo_joints_LDFLAGS) $(LDFLAGS) -o $@ | ||
177 | am_demo_motor_OBJECTS = demo_motor.$(OBJEXT) | ||
178 | demo_motor_OBJECTS = $(am_demo_motor_OBJECTS) | ||
179 | demo_motor_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
180 | $(demo_motor_LDFLAGS) $(LDFLAGS) -o $@ | ||
181 | am__demo_moving_trimesh_SOURCES_DIST = demo_moving_trimesh.cpp | ||
182 | @TRIMESH_TRUE@am_demo_moving_trimesh_OBJECTS = \ | ||
183 | @TRIMESH_TRUE@ demo_moving_trimesh.$(OBJEXT) | ||
184 | demo_moving_trimesh_OBJECTS = $(am_demo_moving_trimesh_OBJECTS) | ||
185 | demo_moving_trimesh_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
186 | $(demo_moving_trimesh_LDFLAGS) $(LDFLAGS) -o $@ | ||
187 | am_demo_ode_OBJECTS = demo_ode.$(OBJEXT) | ||
188 | demo_ode_OBJECTS = $(am_demo_ode_OBJECTS) | ||
189 | demo_ode_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
190 | $(demo_ode_LDFLAGS) $(LDFLAGS) -o $@ | ||
191 | am_demo_plane2d_OBJECTS = demo_plane2d.$(OBJEXT) | ||
192 | demo_plane2d_OBJECTS = $(am_demo_plane2d_OBJECTS) | ||
193 | demo_plane2d_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
194 | $(demo_plane2d_LDFLAGS) $(LDFLAGS) -o $@ | ||
195 | am_demo_slider_OBJECTS = demo_slider.$(OBJEXT) | ||
196 | demo_slider_OBJECTS = $(am_demo_slider_OBJECTS) | ||
197 | demo_slider_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
198 | $(demo_slider_LDFLAGS) $(LDFLAGS) -o $@ | ||
199 | am_demo_space_OBJECTS = demo_space.$(OBJEXT) | ||
200 | demo_space_OBJECTS = $(am_demo_space_OBJECTS) | ||
201 | demo_space_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
202 | $(demo_space_LDFLAGS) $(LDFLAGS) -o $@ | ||
203 | am_demo_space_stress_OBJECTS = demo_space_stress.$(OBJEXT) | ||
204 | demo_space_stress_OBJECTS = $(am_demo_space_stress_OBJECTS) | ||
205 | demo_space_stress_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
206 | $(demo_space_stress_LDFLAGS) $(LDFLAGS) -o $@ | ||
207 | am_demo_step_OBJECTS = demo_step.$(OBJEXT) | ||
208 | demo_step_OBJECTS = $(am_demo_step_OBJECTS) | ||
209 | demo_step_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
210 | $(demo_step_LDFLAGS) $(LDFLAGS) -o $@ | ||
211 | am__demo_trimesh_SOURCES_DIST = demo_trimesh.cpp | ||
212 | @TRIMESH_TRUE@am_demo_trimesh_OBJECTS = demo_trimesh.$(OBJEXT) | ||
213 | demo_trimesh_OBJECTS = $(am_demo_trimesh_OBJECTS) | ||
214 | demo_trimesh_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \ | ||
215 | $(demo_trimesh_LDFLAGS) $(LDFLAGS) -o $@ | ||
216 | DEFAULT_INCLUDES = -I. -I$(top_builddir)/include/ode@am__isrc@ | ||
217 | depcomp = $(SHELL) $(top_srcdir)/depcomp | ||
218 | am__depfiles_maybe = depfiles | ||
219 | COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \ | ||
220 | $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) | ||
221 | CCLD = $(CC) | ||
222 | LINK = $(CCLD) $(AM_CFLAGS) $(CFLAGS) $(AM_LDFLAGS) $(LDFLAGS) -o $@ | ||
223 | CXXCOMPILE = $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \ | ||
224 | $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) | ||
225 | CXXLD = $(CXX) | ||
226 | CXXLINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) $(AM_LDFLAGS) $(LDFLAGS) \ | ||
227 | -o $@ | ||
228 | SOURCES = $(demo_I_SOURCES) $(demo_basket_SOURCES) \ | ||
229 | $(demo_boxstack_SOURCES) $(demo_buggy_SOURCES) \ | ||
230 | $(demo_chain1_SOURCES) $(demo_chain2_SOURCES) \ | ||
231 | $(demo_collision_SOURCES) $(demo_convex_cd_SOURCES) \ | ||
232 | $(demo_crash_SOURCES) $(demo_cyl_SOURCES) \ | ||
233 | $(demo_cylvssphere_SOURCES) $(demo_feedback_SOURCES) \ | ||
234 | $(demo_friction_SOURCES) $(demo_heightfield_SOURCES) \ | ||
235 | $(demo_hinge_SOURCES) $(demo_jointPR_SOURCES) \ | ||
236 | $(demo_joints_SOURCES) $(demo_motor_SOURCES) \ | ||
237 | $(demo_moving_trimesh_SOURCES) $(demo_ode_SOURCES) \ | ||
238 | $(demo_plane2d_SOURCES) $(demo_slider_SOURCES) \ | ||
239 | $(demo_space_SOURCES) $(demo_space_stress_SOURCES) \ | ||
240 | $(demo_step_SOURCES) $(demo_trimesh_SOURCES) | ||
241 | DIST_SOURCES = $(demo_I_SOURCES) $(am__demo_basket_SOURCES_DIST) \ | ||
242 | $(demo_boxstack_SOURCES) $(demo_buggy_SOURCES) \ | ||
243 | $(demo_chain1_SOURCES) $(demo_chain2_SOURCES) \ | ||
244 | $(demo_collision_SOURCES) $(demo_convex_cd_SOURCES) \ | ||
245 | $(demo_crash_SOURCES) $(demo_cyl_SOURCES) \ | ||
246 | $(demo_cylvssphere_SOURCES) $(demo_feedback_SOURCES) \ | ||
247 | $(demo_friction_SOURCES) $(demo_heightfield_SOURCES) \ | ||
248 | $(demo_hinge_SOURCES) $(demo_jointPR_SOURCES) \ | ||
249 | $(demo_joints_SOURCES) $(demo_motor_SOURCES) \ | ||
250 | $(am__demo_moving_trimesh_SOURCES_DIST) $(demo_ode_SOURCES) \ | ||
251 | $(demo_plane2d_SOURCES) $(demo_slider_SOURCES) \ | ||
252 | $(demo_space_SOURCES) $(demo_space_stress_SOURCES) \ | ||
253 | $(demo_step_SOURCES) $(am__demo_trimesh_SOURCES_DIST) | ||
254 | ETAGS = etags | ||
255 | CTAGS = ctags | ||
256 | DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST) | ||
257 | ACLOCAL = @ACLOCAL@ | ||
258 | ALLOCA = @ALLOCA@ | ||
259 | AMTAR = @AMTAR@ | ||
260 | ARCHFLAGS = @ARCHFLAGS@ | ||
261 | AUTOCONF = @AUTOCONF@ | ||
262 | AUTOHEADER = @AUTOHEADER@ | ||
263 | AUTOMAKE = @AUTOMAKE@ | ||
264 | AWK = @AWK@ | ||
265 | CC = @CC@ | ||
266 | CCDEPMODE = @CCDEPMODE@ | ||
267 | CFLAGS = @CFLAGS@ | ||
268 | CPP = @CPP@ | ||
269 | CPPFLAGS = @CPPFLAGS@ | ||
270 | CXX = @CXX@ | ||
271 | CXXDEPMODE = @CXXDEPMODE@ | ||
272 | CXXFLAGS = @CXXFLAGS@ | ||
273 | CYGPATH_W = @CYGPATH_W@ | ||
274 | DEFS = @DEFS@ | ||
275 | DEPDIR = @DEPDIR@ | ||
276 | DRAWSTUFF = @DRAWSTUFF@ | ||
277 | ECHO_C = @ECHO_C@ | ||
278 | ECHO_N = @ECHO_N@ | ||
279 | ECHO_T = @ECHO_T@ | ||
280 | EGREP = @EGREP@ | ||
281 | EXEEXT = @EXEEXT@ | ||
282 | GL_LIBS = @GL_LIBS@ | ||
283 | GREP = @GREP@ | ||
284 | INSTALL = @INSTALL@ | ||
285 | INSTALL_DATA = @INSTALL_DATA@ | ||
286 | INSTALL_PROGRAM = @INSTALL_PROGRAM@ | ||
287 | INSTALL_SCRIPT = @INSTALL_SCRIPT@ | ||
288 | INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@ | ||
289 | LDFLAGS = @LDFLAGS@ | ||
290 | LIBOBJS = @LIBOBJS@ | ||
291 | LIBS = @LIBS@ | ||
292 | LTLIBOBJS = @LTLIBOBJS@ | ||
293 | MAKEINFO = @MAKEINFO@ | ||
294 | MKDIR_P = @MKDIR_P@ | ||
295 | OBJEXT = @OBJEXT@ | ||
296 | ODE_AGE = @ODE_AGE@ | ||
297 | ODE_CURRENT = @ODE_CURRENT@ | ||
298 | ODE_RELEASE = @ODE_RELEASE@ | ||
299 | ODE_REVISION = @ODE_REVISION@ | ||
300 | ODE_SONAME = @ODE_SONAME@ | ||
301 | PACKAGE = @PACKAGE@ | ||
302 | PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@ | ||
303 | PACKAGE_NAME = @PACKAGE_NAME@ | ||
304 | PACKAGE_STRING = @PACKAGE_STRING@ | ||
305 | PACKAGE_TARNAME = @PACKAGE_TARNAME@ | ||
306 | PACKAGE_VERSION = @PACKAGE_VERSION@ | ||
307 | PATH_SEPARATOR = @PATH_SEPARATOR@ | ||
308 | RANLIB = @RANLIB@ | ||
309 | SET_MAKE = @SET_MAKE@ | ||
310 | SHARED_LDFLAGS = @SHARED_LDFLAGS@ | ||
311 | SHELL = @SHELL@ | ||
312 | STRIP = @STRIP@ | ||
313 | TOPDIR = @TOPDIR@ | ||
314 | VERSION = @VERSION@ | ||
315 | WINDRES = @WINDRES@ | ||
316 | XMKMF = @XMKMF@ | ||
317 | X_CFLAGS = @X_CFLAGS@ | ||
318 | X_EXTRA_LIBS = @X_EXTRA_LIBS@ | ||
319 | X_LIBS = @X_LIBS@ | ||
320 | X_PRE_LIBS = @X_PRE_LIBS@ | ||
321 | abs_builddir = @abs_builddir@ | ||
322 | abs_srcdir = @abs_srcdir@ | ||
323 | abs_top_builddir = @abs_top_builddir@ | ||
324 | abs_top_srcdir = @abs_top_srcdir@ | ||
325 | ac_ct_CC = @ac_ct_CC@ | ||
326 | ac_ct_CXX = @ac_ct_CXX@ | ||
327 | ac_ct_WINDRES = @ac_ct_WINDRES@ | ||
328 | am__include = @am__include@ | ||
329 | am__leading_dot = @am__leading_dot@ | ||
330 | am__quote = @am__quote@ | ||
331 | am__tar = @am__tar@ | ||
332 | am__untar = @am__untar@ | ||
333 | bindir = @bindir@ | ||
334 | build = @build@ | ||
335 | build_alias = @build_alias@ | ||
336 | build_cpu = @build_cpu@ | ||
337 | build_os = @build_os@ | ||
338 | build_vendor = @build_vendor@ | ||
339 | builddir = @builddir@ | ||
340 | datadir = @datadir@ | ||
341 | datarootdir = @datarootdir@ | ||
342 | docdir = @docdir@ | ||
343 | dvidir = @dvidir@ | ||
344 | exec_prefix = @exec_prefix@ | ||
345 | host = @host@ | ||
346 | host_alias = @host_alias@ | ||
347 | host_cpu = @host_cpu@ | ||
348 | host_os = @host_os@ | ||
349 | host_vendor = @host_vendor@ | ||
350 | htmldir = @htmldir@ | ||
351 | includedir = @includedir@ | ||
352 | infodir = @infodir@ | ||
353 | install_sh = @install_sh@ | ||
354 | libdir = @libdir@ | ||
355 | libexecdir = @libexecdir@ | ||
356 | localedir = @localedir@ | ||
357 | localstatedir = @localstatedir@ | ||
358 | mandir = @mandir@ | ||
359 | mkdir_p = @mkdir_p@ | ||
360 | oldincludedir = @oldincludedir@ | ||
361 | pdfdir = @pdfdir@ | ||
362 | prefix = @prefix@ | ||
363 | program_transform_name = @program_transform_name@ | ||
364 | psdir = @psdir@ | ||
365 | sbindir = @sbindir@ | ||
366 | sharedstatedir = @sharedstatedir@ | ||
367 | so_ext = @so_ext@ | ||
368 | srcdir = @srcdir@ | ||
369 | sysconfdir = @sysconfdir@ | ||
370 | target = @target@ | ||
371 | target_alias = @target_alias@ | ||
372 | target_cpu = @target_cpu@ | ||
373 | target_os = @target_os@ | ||
374 | target_vendor = @target_vendor@ | ||
375 | top_builddir = @top_builddir@ | ||
376 | top_srcdir = @top_srcdir@ | ||
377 | AM_CXXFLAGS = @ARCHFLAGS@ @CXXFLAGS@ -I$(top_srcdir)/include -I$(top_builddir)/include | ||
378 | AM_CFLAGS = @ARCHFLAGS@ @CXXFLAGS@ -I$(top_srcdir)/include -I$(top_builddir)/include | ||
379 | demo_collision_SOURCES = demo_collision.cpp | ||
380 | demo_slider_SOURCES = demo_slider.cpp | ||
381 | demo_feedback_SOURCES = demo_feedback.cpp | ||
382 | demo_crash_SOURCES = demo_crash.cpp | ||
383 | demo_space_SOURCES = demo_space.cpp | ||
384 | demo_I_SOURCES = demo_I.cpp | ||
385 | demo_friction_SOURCES = demo_friction.cpp | ||
386 | demo_space_stress_SOURCES = demo_space_stress.cpp | ||
387 | demo_boxstack_SOURCES = demo_boxstack.cpp | ||
388 | demo_hinge_SOURCES = demo_hinge.cpp | ||
389 | demo_step_SOURCES = demo_step.cpp | ||
390 | demo_buggy_SOURCES = demo_buggy.cpp | ||
391 | demo_cyl_SOURCES = demo_cyl.cpp world_geom3.h | ||
392 | demo_cylvssphere_SOURCES = demo_cylvssphere.cpp | ||
393 | demo_joints_SOURCES = demo_joints.cpp | ||
394 | demo_jointPR_SOURCES = demo_jointPR.cpp | ||
395 | demo_motor_SOURCES = demo_motor.cpp | ||
396 | demo_chain1_SOURCES = demo_chain1.c | ||
397 | demo_chain2_SOURCES = demo_chain2.cpp | ||
398 | demo_ode_SOURCES = demo_ode.cpp | ||
399 | demo_plane2d_SOURCES = demo_plane2d.cpp | ||
400 | demo_heightfield_SOURCES = demo_heightfield.cpp | ||
401 | demo_convex_cd_SOURCES = demo_convex_cd.cpp | ||
402 | demo_collision_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
403 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
404 | |||
405 | demo_slider_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
406 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
407 | |||
408 | demo_feedback_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
409 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
410 | |||
411 | demo_crash_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
412 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
413 | |||
414 | demo_space_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
415 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
416 | |||
417 | demo_I_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
418 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
419 | |||
420 | demo_friction_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
421 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
422 | |||
423 | demo_space_stress_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
424 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
425 | |||
426 | demo_boxstack_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
427 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
428 | |||
429 | demo_hinge_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
430 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
431 | |||
432 | demo_step_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
433 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
434 | |||
435 | demo_buggy_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
436 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
437 | |||
438 | demo_cyl_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
439 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
440 | |||
441 | demo_cylvssphere_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
442 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
443 | |||
444 | demo_joints_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
445 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
446 | |||
447 | demo_jointPR_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
448 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
449 | |||
450 | demo_motor_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
451 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
452 | |||
453 | demo_chain1_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
454 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
455 | |||
456 | demo_chain2_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
457 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
458 | |||
459 | demo_ode_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
460 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
461 | |||
462 | demo_plane2d_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
463 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
464 | |||
465 | demo_heightfield_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
466 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
467 | |||
468 | demo_convex_cd_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
469 | -L$(top_builddir)/ode/src @LDFLAGS@ | ||
470 | |||
471 | demo_collision_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
472 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_43) | ||
473 | demo_slider_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
474 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_41) | ||
475 | demo_feedback_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
476 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_42) | ||
477 | demo_crash_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
478 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_40) | ||
479 | demo_space_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
480 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_39) | ||
481 | demo_I_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
482 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_38) | ||
483 | demo_friction_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
484 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_37) | ||
485 | demo_space_stress_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
486 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_36) | ||
487 | demo_boxstack_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
488 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_35) | ||
489 | demo_hinge_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
490 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_34) | ||
491 | demo_step_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
492 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_33) | ||
493 | demo_buggy_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
494 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_30) | ||
495 | demo_cyl_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
496 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_31) | ||
497 | demo_cylvssphere_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
498 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_32) | ||
499 | demo_joints_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
500 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_27) | ||
501 | demo_jointPR_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
502 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_28) | ||
503 | demo_motor_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
504 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_29) | ||
505 | demo_chain1_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
506 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_26) | ||
507 | demo_chain2_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
508 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_25) | ||
509 | demo_ode_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
510 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_24) | ||
511 | demo_plane2d_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
512 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
513 | |||
514 | demo_heightfield_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
515 | $(top_builddir)/drawstuff/src/libdrawstuff.a | ||
516 | |||
517 | demo_convex_cd_DEPENDENCIES = $(top_builddir)/ode/src/libode.a \ | ||
518 | $(top_builddir)/drawstuff/src/libdrawstuff.a $(am__append_44) | ||
519 | @TRIMESH_TRUE@demo_trimesh_SOURCES = demo_trimesh.cpp | ||
520 | @TRIMESH_TRUE@demo_moving_trimesh_SOURCES = demo_moving_trimesh.cpp | ||
521 | @TRIMESH_TRUE@demo_basket_SOURCES = demo_basket.cpp | ||
522 | @TRIMESH_TRUE@demo_trimesh_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
523 | @TRIMESH_TRUE@ -L$(top_builddir)/ode/src @LDFLAGS@ \ | ||
524 | @TRIMESH_TRUE@ @GL_LIBS@ @LIBS@ | ||
525 | |||
526 | @TRIMESH_TRUE@demo_moving_trimesh_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
527 | @TRIMESH_TRUE@ -L$(top_builddir)/ode/src @LDFLAGS@ \ | ||
528 | @TRIMESH_TRUE@ @GL_LIBS@ @LIBS@ | ||
529 | |||
530 | @TRIMESH_TRUE@demo_basket_LDFLAGS = -L$(top_builddir)/drawstuff/src \ | ||
531 | @TRIMESH_TRUE@ -L$(top_builddir)/ode/src @LDFLAGS@ \ | ||
532 | @TRIMESH_TRUE@ @GL_LIBS@ @LIBS@ | ||
533 | |||
534 | @TRIMESH_TRUE@demo_trimesh_DEPENDENCIES = \ | ||
535 | @TRIMESH_TRUE@ $(top_builddir)/ode/src/libode.a \ | ||
536 | @TRIMESH_TRUE@ $(top_builddir)/drawstuff/src/libdrawstuff.a \ | ||
537 | @TRIMESH_TRUE@ $(am__append_47) | ||
538 | @TRIMESH_TRUE@demo_moving_trimesh_DEPENDENCIES = \ | ||
539 | @TRIMESH_TRUE@ $(top_builddir)/ode/src/libode.a \ | ||
540 | @TRIMESH_TRUE@ $(top_builddir)/drawstuff/src/libdrawstuff.a \ | ||
541 | @TRIMESH_TRUE@ $(am__append_48) | ||
542 | @TRIMESH_TRUE@demo_basket_DEPENDENCIES = \ | ||
543 | @TRIMESH_TRUE@ $(top_builddir)/ode/src/libode.a \ | ||
544 | @TRIMESH_TRUE@ $(top_builddir)/drawstuff/src/libdrawstuff.a \ | ||
545 | @TRIMESH_TRUE@ $(am__append_49) | ||
546 | demo_ode_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
547 | @GL_LIBS@ @LIBS@ $(am__append_2) | ||
548 | demo_plane2d_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
549 | demo_heightfield_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
550 | @GL_LIBS@ @LIBS@ $(am__append_3) | ||
551 | demo_chain2_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
552 | @GL_LIBS@ @LIBS@ $(am__append_4) | ||
553 | demo_chain1_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
554 | @GL_LIBS@ @LIBS@ $(am__append_5) | ||
555 | demo_joints_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
556 | @GL_LIBS@ @LIBS@ $(am__append_6) | ||
557 | demo_jointPR_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
558 | @GL_LIBS@ @LIBS@ $(am__append_7) | ||
559 | demo_motor_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
560 | @GL_LIBS@ @LIBS@ $(am__append_8) | ||
561 | demo_buggy_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
562 | @GL_LIBS@ @LIBS@ $(am__append_9) | ||
563 | demo_cyl_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
564 | @GL_LIBS@ @LIBS@ $(am__append_10) | ||
565 | demo_cylvssphere_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
566 | @GL_LIBS@ @LIBS@ $(am__append_11) | ||
567 | demo_step_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
568 | @GL_LIBS@ @LIBS@ $(am__append_12) | ||
569 | demo_hinge_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
570 | @GL_LIBS@ @LIBS@ $(am__append_13) | ||
571 | demo_boxstack_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
572 | @GL_LIBS@ @LIBS@ $(am__append_14) | ||
573 | demo_space_stress_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
574 | @GL_LIBS@ @LIBS@ $(am__append_15) | ||
575 | demo_friction_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
576 | @GL_LIBS@ @LIBS@ $(am__append_16) | ||
577 | demo_I_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ \ | ||
578 | @LIBS@ $(am__append_17) | ||
579 | demo_space_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
580 | @GL_LIBS@ @LIBS@ $(am__append_18) | ||
581 | demo_crash_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
582 | @GL_LIBS@ @LIBS@ $(am__append_19) | ||
583 | demo_slider_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
584 | @GL_LIBS@ @LIBS@ $(am__append_20) | ||
585 | demo_feedback_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
586 | @GL_LIBS@ @LIBS@ $(am__append_21) | ||
587 | demo_collision_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
588 | @GL_LIBS@ @LIBS@ $(am__append_22) | ||
589 | demo_convex_cd_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a \ | ||
590 | @GL_LIBS@ @LIBS@ $(am__append_23) | ||
591 | @TRIMESH_TRUE@demo_trimesh_LDADD = -ldrawstuff \ | ||
592 | @TRIMESH_TRUE@ $(top_builddir)/ode/src/libode.a @GL_LIBS@ \ | ||
593 | @TRIMESH_TRUE@ @LIBS@ $(am__append_45) | ||
594 | @TRIMESH_TRUE@demo_moving_trimesh_LDADD = -ldrawstuff \ | ||
595 | @TRIMESH_TRUE@ $(top_builddir)/ode/src/libode.a @GL_LIBS@ \ | ||
596 | @TRIMESH_TRUE@ @LIBS@ $(am__append_46) | ||
597 | @TRIMESH_TRUE@demo_basket_LDADD = -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@ | ||
598 | all: all-am | ||
599 | |||
600 | .SUFFIXES: | ||
601 | .SUFFIXES: .c .cpp .o .obj | ||
602 | $(srcdir)/Makefile.in: $(srcdir)/Makefile.am $(am__configure_deps) | ||
603 | @for dep in $?; do \ | ||
604 | case '$(am__configure_deps)' in \ | ||
605 | *$$dep*) \ | ||
606 | cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh \ | ||
607 | && exit 0; \ | ||
608 | exit 1;; \ | ||
609 | esac; \ | ||
610 | done; \ | ||
611 | echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign ode/demo/Makefile'; \ | ||
612 | cd $(top_srcdir) && \ | ||
613 | $(AUTOMAKE) --foreign ode/demo/Makefile | ||
614 | .PRECIOUS: Makefile | ||
615 | Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status | ||
616 | @case '$?' in \ | ||
617 | *config.status*) \ | ||
618 | cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \ | ||
619 | *) \ | ||
620 | echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \ | ||
621 | cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \ | ||
622 | esac; | ||
623 | |||
624 | $(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES) | ||
625 | cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh | ||
626 | |||
627 | $(top_srcdir)/configure: $(am__configure_deps) | ||
628 | cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh | ||
629 | $(ACLOCAL_M4): $(am__aclocal_m4_deps) | ||
630 | cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh | ||
631 | |||
632 | clean-noinstPROGRAMS: | ||
633 | -test -z "$(noinst_PROGRAMS)" || rm -f $(noinst_PROGRAMS) | ||
634 | demo_I$(EXEEXT): $(demo_I_OBJECTS) $(demo_I_DEPENDENCIES) | ||
635 | @rm -f demo_I$(EXEEXT) | ||
636 | $(demo_I_LINK) $(demo_I_OBJECTS) $(demo_I_LDADD) $(LIBS) | ||
637 | demo_basket$(EXEEXT): $(demo_basket_OBJECTS) $(demo_basket_DEPENDENCIES) | ||
638 | @rm -f demo_basket$(EXEEXT) | ||
639 | $(demo_basket_LINK) $(demo_basket_OBJECTS) $(demo_basket_LDADD) $(LIBS) | ||
640 | demo_boxstack$(EXEEXT): $(demo_boxstack_OBJECTS) $(demo_boxstack_DEPENDENCIES) | ||
641 | @rm -f demo_boxstack$(EXEEXT) | ||
642 | $(demo_boxstack_LINK) $(demo_boxstack_OBJECTS) $(demo_boxstack_LDADD) $(LIBS) | ||
643 | demo_buggy$(EXEEXT): $(demo_buggy_OBJECTS) $(demo_buggy_DEPENDENCIES) | ||
644 | @rm -f demo_buggy$(EXEEXT) | ||
645 | $(demo_buggy_LINK) $(demo_buggy_OBJECTS) $(demo_buggy_LDADD) $(LIBS) | ||
646 | demo_chain1$(EXEEXT): $(demo_chain1_OBJECTS) $(demo_chain1_DEPENDENCIES) | ||
647 | @rm -f demo_chain1$(EXEEXT) | ||
648 | $(demo_chain1_LINK) $(demo_chain1_OBJECTS) $(demo_chain1_LDADD) $(LIBS) | ||
649 | demo_chain2$(EXEEXT): $(demo_chain2_OBJECTS) $(demo_chain2_DEPENDENCIES) | ||
650 | @rm -f demo_chain2$(EXEEXT) | ||
651 | $(demo_chain2_LINK) $(demo_chain2_OBJECTS) $(demo_chain2_LDADD) $(LIBS) | ||
652 | demo_collision$(EXEEXT): $(demo_collision_OBJECTS) $(demo_collision_DEPENDENCIES) | ||
653 | @rm -f demo_collision$(EXEEXT) | ||
654 | $(demo_collision_LINK) $(demo_collision_OBJECTS) $(demo_collision_LDADD) $(LIBS) | ||
655 | demo_convex_cd$(EXEEXT): $(demo_convex_cd_OBJECTS) $(demo_convex_cd_DEPENDENCIES) | ||
656 | @rm -f demo_convex_cd$(EXEEXT) | ||
657 | $(demo_convex_cd_LINK) $(demo_convex_cd_OBJECTS) $(demo_convex_cd_LDADD) $(LIBS) | ||
658 | demo_crash$(EXEEXT): $(demo_crash_OBJECTS) $(demo_crash_DEPENDENCIES) | ||
659 | @rm -f demo_crash$(EXEEXT) | ||
660 | $(demo_crash_LINK) $(demo_crash_OBJECTS) $(demo_crash_LDADD) $(LIBS) | ||
661 | demo_cyl$(EXEEXT): $(demo_cyl_OBJECTS) $(demo_cyl_DEPENDENCIES) | ||
662 | @rm -f demo_cyl$(EXEEXT) | ||
663 | $(demo_cyl_LINK) $(demo_cyl_OBJECTS) $(demo_cyl_LDADD) $(LIBS) | ||
664 | demo_cylvssphere$(EXEEXT): $(demo_cylvssphere_OBJECTS) $(demo_cylvssphere_DEPENDENCIES) | ||
665 | @rm -f demo_cylvssphere$(EXEEXT) | ||
666 | $(demo_cylvssphere_LINK) $(demo_cylvssphere_OBJECTS) $(demo_cylvssphere_LDADD) $(LIBS) | ||
667 | demo_feedback$(EXEEXT): $(demo_feedback_OBJECTS) $(demo_feedback_DEPENDENCIES) | ||
668 | @rm -f demo_feedback$(EXEEXT) | ||
669 | $(demo_feedback_LINK) $(demo_feedback_OBJECTS) $(demo_feedback_LDADD) $(LIBS) | ||
670 | demo_friction$(EXEEXT): $(demo_friction_OBJECTS) $(demo_friction_DEPENDENCIES) | ||
671 | @rm -f demo_friction$(EXEEXT) | ||
672 | $(demo_friction_LINK) $(demo_friction_OBJECTS) $(demo_friction_LDADD) $(LIBS) | ||
673 | demo_heightfield$(EXEEXT): $(demo_heightfield_OBJECTS) $(demo_heightfield_DEPENDENCIES) | ||
674 | @rm -f demo_heightfield$(EXEEXT) | ||
675 | $(demo_heightfield_LINK) $(demo_heightfield_OBJECTS) $(demo_heightfield_LDADD) $(LIBS) | ||
676 | demo_hinge$(EXEEXT): $(demo_hinge_OBJECTS) $(demo_hinge_DEPENDENCIES) | ||
677 | @rm -f demo_hinge$(EXEEXT) | ||
678 | $(demo_hinge_LINK) $(demo_hinge_OBJECTS) $(demo_hinge_LDADD) $(LIBS) | ||
679 | demo_jointPR$(EXEEXT): $(demo_jointPR_OBJECTS) $(demo_jointPR_DEPENDENCIES) | ||
680 | @rm -f demo_jointPR$(EXEEXT) | ||
681 | $(demo_jointPR_LINK) $(demo_jointPR_OBJECTS) $(demo_jointPR_LDADD) $(LIBS) | ||
682 | demo_joints$(EXEEXT): $(demo_joints_OBJECTS) $(demo_joints_DEPENDENCIES) | ||
683 | @rm -f demo_joints$(EXEEXT) | ||
684 | $(demo_joints_LINK) $(demo_joints_OBJECTS) $(demo_joints_LDADD) $(LIBS) | ||
685 | demo_motor$(EXEEXT): $(demo_motor_OBJECTS) $(demo_motor_DEPENDENCIES) | ||
686 | @rm -f demo_motor$(EXEEXT) | ||
687 | $(demo_motor_LINK) $(demo_motor_OBJECTS) $(demo_motor_LDADD) $(LIBS) | ||
688 | demo_moving_trimesh$(EXEEXT): $(demo_moving_trimesh_OBJECTS) $(demo_moving_trimesh_DEPENDENCIES) | ||
689 | @rm -f demo_moving_trimesh$(EXEEXT) | ||
690 | $(demo_moving_trimesh_LINK) $(demo_moving_trimesh_OBJECTS) $(demo_moving_trimesh_LDADD) $(LIBS) | ||
691 | demo_ode$(EXEEXT): $(demo_ode_OBJECTS) $(demo_ode_DEPENDENCIES) | ||
692 | @rm -f demo_ode$(EXEEXT) | ||
693 | $(demo_ode_LINK) $(demo_ode_OBJECTS) $(demo_ode_LDADD) $(LIBS) | ||
694 | demo_plane2d$(EXEEXT): $(demo_plane2d_OBJECTS) $(demo_plane2d_DEPENDENCIES) | ||
695 | @rm -f demo_plane2d$(EXEEXT) | ||
696 | $(demo_plane2d_LINK) $(demo_plane2d_OBJECTS) $(demo_plane2d_LDADD) $(LIBS) | ||
697 | demo_slider$(EXEEXT): $(demo_slider_OBJECTS) $(demo_slider_DEPENDENCIES) | ||
698 | @rm -f demo_slider$(EXEEXT) | ||
699 | $(demo_slider_LINK) $(demo_slider_OBJECTS) $(demo_slider_LDADD) $(LIBS) | ||
700 | demo_space$(EXEEXT): $(demo_space_OBJECTS) $(demo_space_DEPENDENCIES) | ||
701 | @rm -f demo_space$(EXEEXT) | ||
702 | $(demo_space_LINK) $(demo_space_OBJECTS) $(demo_space_LDADD) $(LIBS) | ||
703 | demo_space_stress$(EXEEXT): $(demo_space_stress_OBJECTS) $(demo_space_stress_DEPENDENCIES) | ||
704 | @rm -f demo_space_stress$(EXEEXT) | ||
705 | $(demo_space_stress_LINK) $(demo_space_stress_OBJECTS) $(demo_space_stress_LDADD) $(LIBS) | ||
706 | demo_step$(EXEEXT): $(demo_step_OBJECTS) $(demo_step_DEPENDENCIES) | ||
707 | @rm -f demo_step$(EXEEXT) | ||
708 | $(demo_step_LINK) $(demo_step_OBJECTS) $(demo_step_LDADD) $(LIBS) | ||
709 | demo_trimesh$(EXEEXT): $(demo_trimesh_OBJECTS) $(demo_trimesh_DEPENDENCIES) | ||
710 | @rm -f demo_trimesh$(EXEEXT) | ||
711 | $(demo_trimesh_LINK) $(demo_trimesh_OBJECTS) $(demo_trimesh_LDADD) $(LIBS) | ||
712 | |||
713 | mostlyclean-compile: | ||
714 | -rm -f *.$(OBJEXT) | ||
715 | |||
716 | distclean-compile: | ||
717 | -rm -f *.tab.c | ||
718 | |||
719 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_I.Po@am__quote@ | ||
720 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_basket.Po@am__quote@ | ||
721 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_boxstack.Po@am__quote@ | ||
722 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_buggy.Po@am__quote@ | ||
723 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_chain1.Po@am__quote@ | ||
724 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_chain2.Po@am__quote@ | ||
725 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_collision.Po@am__quote@ | ||
726 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_convex_cd.Po@am__quote@ | ||
727 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_crash.Po@am__quote@ | ||
728 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_cyl.Po@am__quote@ | ||
729 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_cylvssphere.Po@am__quote@ | ||
730 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_feedback.Po@am__quote@ | ||
731 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_friction.Po@am__quote@ | ||
732 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_heightfield.Po@am__quote@ | ||
733 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_hinge.Po@am__quote@ | ||
734 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_jointPR.Po@am__quote@ | ||
735 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_joints.Po@am__quote@ | ||
736 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_motor.Po@am__quote@ | ||
737 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_moving_trimesh.Po@am__quote@ | ||
738 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_ode.Po@am__quote@ | ||
739 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_plane2d.Po@am__quote@ | ||
740 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_slider.Po@am__quote@ | ||
741 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_space.Po@am__quote@ | ||
742 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_space_stress.Po@am__quote@ | ||
743 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_step.Po@am__quote@ | ||
744 | @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/demo_trimesh.Po@am__quote@ | ||
745 | |||
746 | .c.o: | ||
747 | @am__fastdepCC_TRUE@ $(COMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $< | ||
748 | @am__fastdepCC_TRUE@ mv -f $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po | ||
749 | @AMDEP_TRUE@@am__fastdepCC_FALSE@ source='$<' object='$@' libtool=no @AMDEPBACKSLASH@ | ||
750 | @AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@ | ||
751 | @am__fastdepCC_FALSE@ $(COMPILE) -c $< | ||
752 | |||
753 | .c.obj: | ||
754 | @am__fastdepCC_TRUE@ $(COMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ `$(CYGPATH_W) '$<'` | ||
755 | @am__fastdepCC_TRUE@ mv -f $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po | ||
756 | @AMDEP_TRUE@@am__fastdepCC_FALSE@ source='$<' object='$@' libtool=no @AMDEPBACKSLASH@ | ||
757 | @AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@ | ||
758 | @am__fastdepCC_FALSE@ $(COMPILE) -c `$(CYGPATH_W) '$<'` | ||
759 | |||
760 | .cpp.o: | ||
761 | @am__fastdepCXX_TRUE@ $(CXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $< | ||
762 | @am__fastdepCXX_TRUE@ mv -f $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po | ||
763 | @AMDEP_TRUE@@am__fastdepCXX_FALSE@ source='$<' object='$@' libtool=no @AMDEPBACKSLASH@ | ||
764 | @AMDEP_TRUE@@am__fastdepCXX_FALSE@ DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@ | ||
765 | @am__fastdepCXX_FALSE@ $(CXXCOMPILE) -c -o $@ $< | ||
766 | |||
767 | .cpp.obj: | ||
768 | @am__fastdepCXX_TRUE@ $(CXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ `$(CYGPATH_W) '$<'` | ||
769 | @am__fastdepCXX_TRUE@ mv -f $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po | ||
770 | @AMDEP_TRUE@@am__fastdepCXX_FALSE@ source='$<' object='$@' libtool=no @AMDEPBACKSLASH@ | ||
771 | @AMDEP_TRUE@@am__fastdepCXX_FALSE@ DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@ | ||
772 | @am__fastdepCXX_FALSE@ $(CXXCOMPILE) -c -o $@ `$(CYGPATH_W) '$<'` | ||
773 | |||
774 | ID: $(HEADERS) $(SOURCES) $(LISP) $(TAGS_FILES) | ||
775 | list='$(SOURCES) $(HEADERS) $(LISP) $(TAGS_FILES)'; \ | ||
776 | unique=`for i in $$list; do \ | ||
777 | if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \ | ||
778 | done | \ | ||
779 | $(AWK) ' { files[$$0] = 1; } \ | ||
780 | END { for (i in files) print i; }'`; \ | ||
781 | mkid -fID $$unique | ||
782 | tags: TAGS | ||
783 | |||
784 | TAGS: $(HEADERS) $(SOURCES) $(TAGS_DEPENDENCIES) \ | ||
785 | $(TAGS_FILES) $(LISP) | ||
786 | tags=; \ | ||
787 | here=`pwd`; \ | ||
788 | list='$(SOURCES) $(HEADERS) $(LISP) $(TAGS_FILES)'; \ | ||
789 | unique=`for i in $$list; do \ | ||
790 | if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \ | ||
791 | done | \ | ||
792 | $(AWK) ' { files[$$0] = 1; } \ | ||
793 | END { for (i in files) print i; }'`; \ | ||
794 | if test -z "$(ETAGS_ARGS)$$tags$$unique"; then :; else \ | ||
795 | test -n "$$unique" || unique=$$empty_fix; \ | ||
796 | $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \ | ||
797 | $$tags $$unique; \ | ||
798 | fi | ||
799 | ctags: CTAGS | ||
800 | CTAGS: $(HEADERS) $(SOURCES) $(TAGS_DEPENDENCIES) \ | ||
801 | $(TAGS_FILES) $(LISP) | ||
802 | tags=; \ | ||
803 | here=`pwd`; \ | ||
804 | list='$(SOURCES) $(HEADERS) $(LISP) $(TAGS_FILES)'; \ | ||
805 | unique=`for i in $$list; do \ | ||
806 | if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \ | ||
807 | done | \ | ||
808 | $(AWK) ' { files[$$0] = 1; } \ | ||
809 | END { for (i in files) print i; }'`; \ | ||
810 | test -z "$(CTAGS_ARGS)$$tags$$unique" \ | ||
811 | || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \ | ||
812 | $$tags $$unique | ||
813 | |||
814 | GTAGS: | ||
815 | here=`$(am__cd) $(top_builddir) && pwd` \ | ||
816 | && cd $(top_srcdir) \ | ||
817 | && gtags -i $(GTAGS_ARGS) $$here | ||
818 | |||
819 | distclean-tags: | ||
820 | -rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags | ||
821 | |||
822 | distdir: $(DISTFILES) | ||
823 | @srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \ | ||
824 | topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \ | ||
825 | list='$(DISTFILES)'; \ | ||
826 | dist_files=`for file in $$list; do echo $$file; done | \ | ||
827 | sed -e "s|^$$srcdirstrip/||;t" \ | ||
828 | -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \ | ||
829 | case $$dist_files in \ | ||
830 | */*) $(MKDIR_P) `echo "$$dist_files" | \ | ||
831 | sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \ | ||
832 | sort -u` ;; \ | ||
833 | esac; \ | ||
834 | for file in $$dist_files; do \ | ||
835 | if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \ | ||
836 | if test -d $$d/$$file; then \ | ||
837 | dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \ | ||
838 | if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \ | ||
839 | cp -pR $(srcdir)/$$file $(distdir)$$dir || exit 1; \ | ||
840 | fi; \ | ||
841 | cp -pR $$d/$$file $(distdir)$$dir || exit 1; \ | ||
842 | else \ | ||
843 | test -f $(distdir)/$$file \ | ||
844 | || cp -p $$d/$$file $(distdir)/$$file \ | ||
845 | || exit 1; \ | ||
846 | fi; \ | ||
847 | done | ||
848 | check-am: all-am | ||
849 | check: check-am | ||
850 | all-am: Makefile $(PROGRAMS) | ||
851 | installdirs: | ||
852 | install: install-am | ||
853 | install-exec: install-exec-am | ||
854 | install-data: install-data-am | ||
855 | uninstall: uninstall-am | ||
856 | |||
857 | install-am: all-am | ||
858 | @$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am | ||
859 | |||
860 | installcheck: installcheck-am | ||
861 | install-strip: | ||
862 | $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \ | ||
863 | install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \ | ||
864 | `test -z '$(STRIP)' || \ | ||
865 | echo "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'"` install | ||
866 | mostlyclean-generic: | ||
867 | |||
868 | clean-generic: | ||
869 | |||
870 | distclean-generic: | ||
871 | -test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES) | ||
872 | |||
873 | maintainer-clean-generic: | ||
874 | @echo "This command is intended for maintainers to use" | ||
875 | @echo "it deletes files that may require special tools to rebuild." | ||
876 | clean: clean-am | ||
877 | |||
878 | clean-am: clean-generic clean-noinstPROGRAMS mostlyclean-am | ||
879 | |||
880 | distclean: distclean-am | ||
881 | -rm -rf ./$(DEPDIR) | ||
882 | -rm -f Makefile | ||
883 | distclean-am: clean-am distclean-compile distclean-generic \ | ||
884 | distclean-tags | ||
885 | |||
886 | dvi: dvi-am | ||
887 | |||
888 | dvi-am: | ||
889 | |||
890 | html: html-am | ||
891 | |||
892 | info: info-am | ||
893 | |||
894 | info-am: | ||
895 | |||
896 | install-data-am: | ||
897 | |||
898 | install-dvi: install-dvi-am | ||
899 | |||
900 | install-exec-am: | ||
901 | |||
902 | install-html: install-html-am | ||
903 | |||
904 | install-info: install-info-am | ||
905 | |||
906 | install-man: | ||
907 | |||
908 | install-pdf: install-pdf-am | ||
909 | |||
910 | install-ps: install-ps-am | ||
911 | |||
912 | installcheck-am: | ||
913 | |||
914 | maintainer-clean: maintainer-clean-am | ||
915 | -rm -rf ./$(DEPDIR) | ||
916 | -rm -f Makefile | ||
917 | maintainer-clean-am: distclean-am maintainer-clean-generic | ||
918 | |||
919 | mostlyclean: mostlyclean-am | ||
920 | |||
921 | mostlyclean-am: mostlyclean-compile mostlyclean-generic | ||
922 | |||
923 | pdf: pdf-am | ||
924 | |||
925 | pdf-am: | ||
926 | |||
927 | ps: ps-am | ||
928 | |||
929 | ps-am: | ||
930 | |||
931 | uninstall-am: | ||
932 | |||
933 | .MAKE: install-am install-strip | ||
934 | |||
935 | .PHONY: CTAGS GTAGS all all-am check check-am clean clean-generic \ | ||
936 | clean-noinstPROGRAMS ctags distclean distclean-compile \ | ||
937 | distclean-generic distclean-tags distdir dvi dvi-am html \ | ||
938 | html-am info info-am install install-am install-data \ | ||
939 | install-data-am install-dvi install-dvi-am install-exec \ | ||
940 | install-exec-am install-html install-html-am install-info \ | ||
941 | install-info-am install-man install-pdf install-pdf-am \ | ||
942 | install-ps install-ps-am install-strip installcheck \ | ||
943 | installcheck-am installdirs maintainer-clean \ | ||
944 | maintainer-clean-generic mostlyclean mostlyclean-compile \ | ||
945 | mostlyclean-generic pdf pdf-am ps ps-am tags uninstall \ | ||
946 | uninstall-am | ||
947 | |||
948 | |||
949 | @WIN32_TRUE@resources.o: ../../drawstuff/src/resources.rc ../../drawstuff/src/resource.h | ||
950 | @WIN32_TRUE@ @WINDRES@ ../../drawstuff/src/resources.rc -o resources.o | ||
951 | # Tell versions [3.59,3.63) of GNU make to not export all variables. | ||
952 | # Otherwise a system limit (for SysV at least) may be exceeded. | ||
953 | .NOEXPORT: | ||
diff --git a/libraries/ode-0.9/ode/demo/basket_geom.h b/libraries/ode-0.9/ode/demo/basket_geom.h new file mode 100644 index 0000000..7796ca8 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/basket_geom.h | |||
@@ -0,0 +1,13 @@ | |||
1 | |||
2 | static float world_normals[] = { | ||
3 | 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| ||
4 | }; | ||
5 | |||
6 | static float world_vertices[] = { | ||
7 | 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| ||
8 | }; | ||
9 | |||
10 | static int world_indices[] = { | ||
11 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229,230,231,232,233,234,235,236,237,238,239,240,241,242,243,244,245,246,247,248,249,250,251,252,253,254,255,256,257,258,259,260,261,262,263,264,265,266,267,268,269,270,271,272,273,274,275,276,277,278,279,280,281,282,283,284,285,286,287,288,289,290,291,292,293,294,295,296,297,298,299,300,301,302,303,304,305,306,307,308,309,310,311,312,313,314,315,316,317,318,319,320,321,322,323,324,325,326,327,328,329,330,331,332,333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351,352,353,354,355,356,357,358,359,360,361,362,363,364,365,366,367,368,369,370,371,372,373,374,375,376,377,378,379,380,381,382,383,384,385,386,387,388,389,390,391,392,393,394,395,396,397,398,399,400,401,402,403,404,405,406,407,408,409,410,411,412,413,414,415,416,417,418,419,420,421,422,423,424,425,426,427,428,429,430,431,432,433,434,435,436,437,438,439,440,441,442,443,444,445,446,447,448,449,450,451,452,453,454,455,456,457,458,459,460,461,462,463,464,465,466,467,468,469,470,471,472,473,474,475,476,477,478,479,480,481,482,483,484,485, | ||
12 | }; | ||
13 | |||
diff --git a/libraries/ode-0.9/ode/demo/demo_I.cpp b/libraries/ode-0.9/ode/demo/demo_I.cpp new file mode 100644 index 0000000..b4f8d6e --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_I.cpp | |||
@@ -0,0 +1,254 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | /* | ||
24 | |||
25 | test that the rotational physics is correct. | ||
26 | |||
27 | an "anchor body" has a number of other randomly positioned bodies | ||
28 | ("particles") attached to it by ball-and-socket joints, giving it some | ||
29 | random effective inertia tensor. the effective inertia matrix is calculated, | ||
30 | and then this inertia is assigned to another "test" body. a random torque is | ||
31 | applied to both bodies and the difference in angular velocity and orientation | ||
32 | is observed after a number of iterations. | ||
33 | |||
34 | typical errors for each test cycle are about 1e-5 ... 1e-4. | ||
35 | |||
36 | */ | ||
37 | |||
38 | |||
39 | #include <time.h> | ||
40 | #include <ode/ode.h> | ||
41 | #include <drawstuff/drawstuff.h> | ||
42 | |||
43 | #ifdef _MSC_VER | ||
44 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
45 | #endif | ||
46 | |||
47 | // select correct drawing functions | ||
48 | |||
49 | #ifdef dDOUBLE | ||
50 | #define dsDrawBox dsDrawBoxD | ||
51 | #define dsDrawSphere dsDrawSphereD | ||
52 | #define dsDrawCylinder dsDrawCylinderD | ||
53 | #define dsDrawCapsule dsDrawCapsuleD | ||
54 | #endif | ||
55 | |||
56 | |||
57 | // some constants | ||
58 | |||
59 | #define NUM 10 // number of particles | ||
60 | #define SIDE 0.1 // visual size of the particles | ||
61 | |||
62 | |||
63 | // dynamics objects an globals | ||
64 | |||
65 | static dWorldID world=0; | ||
66 | static dBodyID anchor_body,particle[NUM],test_body; | ||
67 | static dJointID particle_joint[NUM]; | ||
68 | static dReal torque[3]; | ||
69 | static int iteration; | ||
70 | |||
71 | |||
72 | // start simulation - set viewpoint | ||
73 | |||
74 | static void start() | ||
75 | { | ||
76 | static float xyz[3] = {1.5572f,-1.8886f,1.5700f}; | ||
77 | static float hpr[3] = {118.5000f,-17.0000f,0.0000f}; | ||
78 | dsSetViewpoint (xyz,hpr); | ||
79 | } | ||
80 | |||
81 | |||
82 | // compute the mass parameters of a particle set. q = particle positions, | ||
83 | // pm = particle masses | ||
84 | |||
85 | #define _I(i,j) I[(i)*4+(j)] | ||
86 | |||
87 | void computeMassParams (dMass *m, dReal q[NUM][3], dReal pm[NUM]) | ||
88 | { | ||
89 | int i,j; | ||
90 | dMassSetZero (m); | ||
91 | for (i=0; i<NUM; i++) { | ||
92 | m->mass += pm[i]; | ||
93 | for (j=0; j<3; j++) m->c[j] += pm[i]*q[i][j]; | ||
94 | m->_I(0,0) += pm[i]*(q[i][1]*q[i][1] + q[i][2]*q[i][2]); | ||
95 | m->_I(1,1) += pm[i]*(q[i][0]*q[i][0] + q[i][2]*q[i][2]); | ||
96 | m->_I(2,2) += pm[i]*(q[i][0]*q[i][0] + q[i][1]*q[i][1]); | ||
97 | m->_I(0,1) -= pm[i]*(q[i][0]*q[i][1]); | ||
98 | m->_I(0,2) -= pm[i]*(q[i][0]*q[i][2]); | ||
99 | m->_I(1,2) -= pm[i]*(q[i][1]*q[i][2]); | ||
100 | } | ||
101 | for (j=0; j<3; j++) m->c[j] /= m->mass; | ||
102 | m->_I(1,0) = m->_I(0,1); | ||
103 | m->_I(2,0) = m->_I(0,2); | ||
104 | m->_I(2,1) = m->_I(1,2); | ||
105 | } | ||
106 | |||
107 | |||
108 | void reset_test() | ||
109 | { | ||
110 | int i; | ||
111 | dMass m,anchor_m; | ||
112 | dReal q[NUM][3], pm[NUM]; // particle positions and masses | ||
113 | dReal pos1[3] = {1,0,1}; // point of reference (POR) | ||
114 | dReal pos2[3] = {-1,0,1}; // point of reference (POR) | ||
115 | |||
116 | // make random particle positions (relative to POR) and masses | ||
117 | for (i=0; i<NUM; i++) { | ||
118 | pm[i] = dRandReal()+0.1; | ||
119 | q[i][0] = dRandReal()-0.5; | ||
120 | q[i][1] = dRandReal()-0.5; | ||
121 | q[i][2] = dRandReal()-0.5; | ||
122 | } | ||
123 | |||
124 | // adjust particle positions so centor of mass = POR | ||
125 | computeMassParams (&m,q,pm); | ||
126 | for (i=0; i<NUM; i++) { | ||
127 | q[i][0] -= m.c[0]; | ||
128 | q[i][1] -= m.c[1]; | ||
129 | q[i][2] -= m.c[2]; | ||
130 | } | ||
131 | |||
132 | if (world) dWorldDestroy (world); | ||
133 | world = dWorldCreate(); | ||
134 | |||
135 | anchor_body = dBodyCreate (world); | ||
136 | dBodySetPosition (anchor_body,pos1[0],pos1[1],pos1[2]); | ||
137 | dMassSetBox (&anchor_m,1,SIDE,SIDE,SIDE); | ||
138 | dMassAdjust (&anchor_m,0.1); | ||
139 | dBodySetMass (anchor_body,&anchor_m); | ||
140 | |||
141 | for (i=0; i<NUM; i++) { | ||
142 | particle[i] = dBodyCreate (world); | ||
143 | dBodySetPosition (particle[i], | ||
144 | pos1[0]+q[i][0],pos1[1]+q[i][1],pos1[2]+q[i][2]); | ||
145 | dMassSetBox (&m,1,SIDE,SIDE,SIDE); | ||
146 | dMassAdjust (&m,pm[i]); | ||
147 | dBodySetMass (particle[i],&m); | ||
148 | } | ||
149 | |||
150 | for (i=0; i < NUM; i++) { | ||
151 | particle_joint[i] = dJointCreateBall (world,0); | ||
152 | dJointAttach (particle_joint[i],anchor_body,particle[i]); | ||
153 | const dReal *p = dBodyGetPosition (particle[i]); | ||
154 | dJointSetBallAnchor (particle_joint[i],p[0],p[1],p[2]); | ||
155 | } | ||
156 | |||
157 | // make test_body with the same mass and inertia of the anchor_body plus | ||
158 | // all the particles | ||
159 | |||
160 | test_body = dBodyCreate (world); | ||
161 | dBodySetPosition (test_body,pos2[0],pos2[1],pos2[2]); | ||
162 | computeMassParams (&m,q,pm); | ||
163 | m.mass += anchor_m.mass; | ||
164 | for (i=0; i<12; i++) m.I[i] = m.I[i] + anchor_m.I[i]; | ||
165 | dBodySetMass (test_body,&m); | ||
166 | |||
167 | // rotate the test and anchor bodies by a random amount | ||
168 | dQuaternion qrot; | ||
169 | for (i=0; i<4; i++) qrot[i] = dRandReal()-0.5; | ||
170 | dNormalize4 (qrot); | ||
171 | dBodySetQuaternion (anchor_body,qrot); | ||
172 | dBodySetQuaternion (test_body,qrot); | ||
173 | dMatrix3 R; | ||
174 | dQtoR (qrot,R); | ||
175 | for (i=0; i<NUM; i++) { | ||
176 | dVector3 v; | ||
177 | dMultiply0 (v,R,&q[i][0],3,3,1); | ||
178 | dBodySetPosition (particle[i],pos1[0]+v[0],pos1[1]+v[1],pos1[2]+v[2]); | ||
179 | } | ||
180 | |||
181 | // set random torque | ||
182 | for (i=0; i<3; i++) torque[i] = (dRandReal()-0.5) * 0.1; | ||
183 | |||
184 | |||
185 | iteration=0; | ||
186 | } | ||
187 | |||
188 | |||
189 | // simulation loop | ||
190 | |||
191 | static void simLoop (int pause) | ||
192 | { | ||
193 | if (!pause) { | ||
194 | dBodyAddTorque (anchor_body,torque[0],torque[1],torque[2]); | ||
195 | dBodyAddTorque (test_body,torque[0],torque[1],torque[2]); | ||
196 | dWorldStep (world,0.03); | ||
197 | |||
198 | iteration++; | ||
199 | if (iteration >= 100) { | ||
200 | // measure the difference between the anchor and test bodies | ||
201 | const dReal *w1 = dBodyGetAngularVel (anchor_body); | ||
202 | const dReal *w2 = dBodyGetAngularVel (test_body); | ||
203 | const dReal *q1 = dBodyGetQuaternion (anchor_body); | ||
204 | const dReal *q2 = dBodyGetQuaternion (test_body); | ||
205 | dReal maxdiff = dMaxDifference (w1,w2,1,3); | ||
206 | printf ("w-error = %.4e (%.2f,%.2f,%.2f) and (%.2f,%.2f,%.2f)\n", | ||
207 | maxdiff,w1[0],w1[1],w1[2],w2[0],w2[1],w2[2]); | ||
208 | maxdiff = dMaxDifference (q1,q2,1,4); | ||
209 | printf ("q-error = %.4e\n",maxdiff); | ||
210 | reset_test(); | ||
211 | } | ||
212 | } | ||
213 | |||
214 | dReal sides[3] = {SIDE,SIDE,SIDE}; | ||
215 | dReal sides2[3] = {6*SIDE,6*SIDE,6*SIDE}; | ||
216 | dReal sides3[3] = {3*SIDE,3*SIDE,3*SIDE}; | ||
217 | dsSetColor (1,1,1); | ||
218 | dsDrawBox (dBodyGetPosition(anchor_body), dBodyGetRotation(anchor_body), | ||
219 | sides3); | ||
220 | dsSetColor (1,0,0); | ||
221 | dsDrawBox (dBodyGetPosition(test_body), dBodyGetRotation(test_body), sides2); | ||
222 | dsSetColor (1,1,0); | ||
223 | for (int i=0; i<NUM; i++) | ||
224 | dsDrawBox (dBodyGetPosition (particle[i]), | ||
225 | dBodyGetRotation (particle[i]), sides); | ||
226 | } | ||
227 | |||
228 | |||
229 | int main (int argc, char **argv) | ||
230 | { | ||
231 | // setup pointers to drawstuff callback functions | ||
232 | dsFunctions fn; | ||
233 | fn.version = DS_VERSION; | ||
234 | fn.start = &start; | ||
235 | fn.step = &simLoop; | ||
236 | fn.command = 0; | ||
237 | fn.stop = 0; | ||
238 | fn.path_to_textures = "../../drawstuff/textures"; | ||
239 | if(argc==2) | ||
240 | { | ||
241 | fn.path_to_textures = argv[1]; | ||
242 | } | ||
243 | |||
244 | dInitODE(); | ||
245 | dRandSetSeed (time(0)); | ||
246 | reset_test(); | ||
247 | |||
248 | // run simulation | ||
249 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
250 | |||
251 | dWorldDestroy (world); | ||
252 | dCloseODE(); | ||
253 | return 0; | ||
254 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_basket.cpp b/libraries/ode-0.9/ode/demo/demo_basket.cpp new file mode 100644 index 0000000..35fb49a --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_basket.cpp | |||
@@ -0,0 +1,278 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | // Basket ball demo. | ||
24 | // Serves as a test for the sphere vs trimesh collider | ||
25 | // By Bram Stolk. | ||
26 | // Press the spacebar to reset the position of the ball. | ||
27 | |||
28 | #include <ode/config.h> | ||
29 | #include <assert.h> | ||
30 | #ifdef HAVE_UNISTD_H | ||
31 | #include <unistd.h> | ||
32 | #endif | ||
33 | #include <ode/ode.h> | ||
34 | #include <drawstuff/drawstuff.h> | ||
35 | |||
36 | #include "basket_geom.h" // this is our world mesh | ||
37 | |||
38 | #ifdef _MSC_VER | ||
39 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
40 | #endif | ||
41 | |||
42 | // some constants | ||
43 | |||
44 | #define RADIUS 0.14 | ||
45 | |||
46 | // dynamics and collision objects (chassis, 3 wheels, environment) | ||
47 | |||
48 | static dWorldID world; | ||
49 | static dSpaceID space; | ||
50 | |||
51 | static dBodyID sphbody; | ||
52 | static dGeomID sphgeom; | ||
53 | |||
54 | static dJointGroupID contactgroup; | ||
55 | static dGeomID world_mesh; | ||
56 | |||
57 | |||
58 | // this is called by dSpaceCollide when two objects in space are | ||
59 | // potentially colliding. | ||
60 | |||
61 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
62 | { | ||
63 | assert(o1); | ||
64 | assert(o2); | ||
65 | |||
66 | if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) | ||
67 | { | ||
68 | fprintf(stderr,"testing space %p %p\n", o1,o2); | ||
69 | // colliding a space with something | ||
70 | dSpaceCollide2(o1,o2,data,&nearCallback); | ||
71 | // Note we do not want to test intersections within a space, | ||
72 | // only between spaces. | ||
73 | return; | ||
74 | } | ||
75 | |||
76 | // fprintf(stderr,"testing geoms %p %p\n", o1, o2); | ||
77 | |||
78 | const int N = 32; | ||
79 | dContact contact[N]; | ||
80 | int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); | ||
81 | if (n > 0) | ||
82 | { | ||
83 | for (int i=0; i<n; i++) | ||
84 | { | ||
85 | // Paranoia <-- not working for some people, temporarily removed for 0.6 | ||
86 | //dIASSERT(dVALIDVEC3(contact[i].geom.pos)); | ||
87 | //dIASSERT(dVALIDVEC3(contact[i].geom.normal)); | ||
88 | //dIASSERT(!dIsNan(contact[i].geom.depth)); | ||
89 | contact[i].surface.slip1 = 0.7; | ||
90 | contact[i].surface.slip2 = 0.7; | ||
91 | contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2; | ||
92 | contact[i].surface.mu = 50.0; // was: dInfinity | ||
93 | contact[i].surface.soft_erp = 0.96; | ||
94 | contact[i].surface.soft_cfm = 0.04; | ||
95 | dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); | ||
96 | dJointAttach (c, | ||
97 | dGeomGetBody(contact[i].geom.g1), | ||
98 | dGeomGetBody(contact[i].geom.g2)); | ||
99 | } | ||
100 | } | ||
101 | } | ||
102 | |||
103 | |||
104 | // start simulation - set viewpoint | ||
105 | |||
106 | static void start() | ||
107 | { | ||
108 | static float xyz[3] = {-8,0,5}; | ||
109 | static float hpr[3] = {0.0f,-29.5000f,0.0000f}; | ||
110 | dsSetViewpoint (xyz,hpr); | ||
111 | } | ||
112 | |||
113 | |||
114 | |||
115 | static void reset_ball(void) | ||
116 | { | ||
117 | float sx=0.0f, sy=3.40f, sz=7.05; | ||
118 | |||
119 | #if defined(_MSC_VER) && defined(dDOUBLE) | ||
120 | sy -= 0.01; // Cheat, to make it score under win32/double | ||
121 | #endif | ||
122 | |||
123 | dQuaternion q; | ||
124 | dQSetIdentity(q); | ||
125 | dBodySetPosition (sphbody, sx, sy, sz); | ||
126 | dBodySetQuaternion(sphbody, q); | ||
127 | dBodySetLinearVel (sphbody, 0,0,0); | ||
128 | dBodySetAngularVel (sphbody, 0,0,0); | ||
129 | } | ||
130 | |||
131 | |||
132 | // called when a key pressed | ||
133 | |||
134 | static void command (int cmd) | ||
135 | { | ||
136 | switch (cmd) | ||
137 | { | ||
138 | case ' ': | ||
139 | reset_ball(); | ||
140 | break; | ||
141 | } | ||
142 | } | ||
143 | |||
144 | |||
145 | // simulation loop | ||
146 | |||
147 | static void simLoop (int pause) | ||
148 | { | ||
149 | double simstep = 0.001; // 1ms simulation steps | ||
150 | double dt = dsElapsedTime(); | ||
151 | |||
152 | int nrofsteps = (int) ceilf(dt/simstep); | ||
153 | // fprintf(stderr, "dt=%f, nr of steps = %d\n", dt, nrofsteps); | ||
154 | |||
155 | for (int i=0; i<nrofsteps && !pause; i++) | ||
156 | { | ||
157 | dSpaceCollide (space,0,&nearCallback); | ||
158 | dWorldQuickStep (world, simstep); | ||
159 | dJointGroupEmpty (contactgroup); | ||
160 | } | ||
161 | |||
162 | dsSetColor (1,1,1); | ||
163 | const dReal *SPos = dBodyGetPosition(sphbody); | ||
164 | const dReal *SRot = dBodyGetRotation(sphbody); | ||
165 | float spos[3] = {SPos[0], SPos[1], SPos[2]}; | ||
166 | float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] }; | ||
167 | dsDrawSphere | ||
168 | ( | ||
169 | spos, | ||
170 | srot, | ||
171 | RADIUS | ||
172 | ); | ||
173 | |||
174 | // draw world trimesh | ||
175 | dsSetColor(0.4,0.7,0.9); | ||
176 | dsSetTexture (DS_NONE); | ||
177 | |||
178 | const dReal* Pos = dGeomGetPosition(world_mesh); | ||
179 | //dIASSERT(dVALIDVEC3(Pos)); | ||
180 | float pos[3] = { Pos[0], Pos[1], Pos[2] }; | ||
181 | |||
182 | const dReal* Rot = dGeomGetRotation(world_mesh); | ||
183 | //dIASSERT(dVALIDMAT3(Rot)); | ||
184 | float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] }; | ||
185 | |||
186 | int numi = sizeof(world_indices) / sizeof(int); | ||
187 | |||
188 | for (int i=0; i<numi/3; i++) | ||
189 | { | ||
190 | int i0 = world_indices[i*3+0]; | ||
191 | int i1 = world_indices[i*3+1]; | ||
192 | int i2 = world_indices[i*3+2]; | ||
193 | float *v0 = world_vertices+i0*3; | ||
194 | float *v1 = world_vertices+i1*3; | ||
195 | float *v2 = world_vertices+i2*3; | ||
196 | dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw | ||
197 | } | ||
198 | } | ||
199 | |||
200 | |||
201 | int main (int argc, char **argv) | ||
202 | { | ||
203 | dMass m; | ||
204 | dMatrix3 R; | ||
205 | |||
206 | // setup pointers to drawstuff callback functions | ||
207 | dsFunctions fn; | ||
208 | fn.version = DS_VERSION; | ||
209 | fn.start = &start; | ||
210 | fn.step = &simLoop; | ||
211 | fn.command = &command; | ||
212 | fn.stop = 0; | ||
213 | fn.path_to_textures = "../../drawstuff/textures"; | ||
214 | if(argc==2) | ||
215 | fn.path_to_textures = argv[1]; | ||
216 | |||
217 | // create world | ||
218 | dInitODE(); | ||
219 | world = dWorldCreate(); | ||
220 | space = dHashSpaceCreate (0); | ||
221 | |||
222 | contactgroup = dJointGroupCreate (0); | ||
223 | dWorldSetGravity (world,0,0,-9.8); | ||
224 | dWorldSetQuickStepNumIterations (world, 64); | ||
225 | |||
226 | // Create a static world using a triangle mesh that we can collide with. | ||
227 | int numv = sizeof(world_vertices)/(3*sizeof(float)); | ||
228 | int numi = sizeof(world_indices)/ sizeof(int); | ||
229 | printf("numv=%d, numi=%d\n", numv, numi); | ||
230 | dTriMeshDataID Data = dGeomTriMeshDataCreate(); | ||
231 | |||
232 | // fprintf(stderr,"Building Single Precision Mesh\n"); | ||
233 | |||
234 | dGeomTriMeshDataBuildSingle | ||
235 | ( | ||
236 | Data, | ||
237 | world_vertices, | ||
238 | 3 * sizeof(float), | ||
239 | numv, | ||
240 | world_indices, | ||
241 | numi, | ||
242 | 3 * sizeof(int) | ||
243 | ); | ||
244 | |||
245 | world_mesh = dCreateTriMesh(space, Data, 0, 0, 0); | ||
246 | dGeomTriMeshEnableTC(world_mesh, dSphereClass, false); | ||
247 | dGeomTriMeshEnableTC(world_mesh, dBoxClass, false); | ||
248 | dGeomSetPosition(world_mesh, 0, 0, 0.5); | ||
249 | dRSetIdentity(R); | ||
250 | //dIASSERT(dVALIDMAT3(R)); | ||
251 | |||
252 | dGeomSetRotation (world_mesh, R); | ||
253 | |||
254 | float sx=0.0, sy=3.40, sz=6.80; | ||
255 | sphbody = dBodyCreate (world); | ||
256 | dMassSetSphere (&m,1,RADIUS); | ||
257 | dBodySetMass (sphbody,&m); | ||
258 | sphgeom = dCreateSphere(0, RADIUS); | ||
259 | dGeomSetBody (sphgeom,sphbody); | ||
260 | reset_ball(); | ||
261 | dSpaceAdd (space, sphgeom); | ||
262 | |||
263 | // run simulation | ||
264 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
265 | |||
266 | // Causes segm violation? Why? | ||
267 | // (because dWorldDestroy() destroys body connected to geom; must call first!) | ||
268 | dGeomDestroy(sphgeom); | ||
269 | dGeomDestroy (world_mesh); | ||
270 | |||
271 | dJointGroupEmpty (contactgroup); | ||
272 | dJointGroupDestroy (contactgroup); | ||
273 | dSpaceDestroy (space); | ||
274 | dWorldDestroy (world); | ||
275 | dCloseODE(); | ||
276 | return 0; | ||
277 | } | ||
278 | |||
diff --git a/libraries/ode-0.9/ode/demo/demo_boxstack.cpp b/libraries/ode-0.9/ode/demo/demo_boxstack.cpp new file mode 100644 index 0000000..8d237b2 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_boxstack.cpp | |||
@@ -0,0 +1,577 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | #include <ode/ode.h> | ||
24 | #include <drawstuff/drawstuff.h> | ||
25 | |||
26 | #ifdef _MSC_VER | ||
27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
28 | #endif | ||
29 | |||
30 | |||
31 | //<---- Convex Object | ||
32 | dReal planes[]= // planes for a cube, these should coincide with the face array | ||
33 | { | ||
34 | 1.0f ,0.0f ,0.0f ,0.25f, | ||
35 | 0.0f ,1.0f ,0.0f ,0.25f, | ||
36 | 0.0f ,0.0f ,1.0f ,0.25f, | ||
37 | -1.0f,0.0f ,0.0f ,0.25f, | ||
38 | 0.0f ,-1.0f,0.0f ,0.25f, | ||
39 | 0.0f ,0.0f ,-1.0f,0.25f | ||
40 | /* | ||
41 | 1.0f ,0.0f ,0.0f ,2.0f, | ||
42 | 0.0f ,1.0f ,0.0f ,1.0f, | ||
43 | 0.0f ,0.0f ,1.0f ,1.0f, | ||
44 | 0.0f ,0.0f ,-1.0f,1.0f, | ||
45 | 0.0f ,-1.0f,0.0f ,1.0f, | ||
46 | -1.0f,0.0f ,0.0f ,0.0f | ||
47 | */ | ||
48 | }; | ||
49 | const unsigned int planecount=6; | ||
50 | |||
51 | dReal points[]= // points for a cube | ||
52 | { | ||
53 | 0.25f,0.25f,0.25f, // point 0 | ||
54 | -0.25f,0.25f,0.25f, // point 1 | ||
55 | |||
56 | 0.25f,-0.25f,0.25f, // point 2 | ||
57 | -0.25f,-0.25f,0.25f,// point 3 | ||
58 | |||
59 | 0.25f,0.25f,-0.25f, // point 4 | ||
60 | -0.25f,0.25f,-0.25f,// point 5 | ||
61 | |||
62 | 0.25f,-0.25f,-0.25f,// point 6 | ||
63 | -0.25f,-0.25f,-0.25f,// point 7 | ||
64 | }; | ||
65 | const unsigned int pointcount=8; | ||
66 | unsigned int polygons[] = //Polygons for a cube (6 squares) | ||
67 | { | ||
68 | 4,0,2,6,4, // positive X | ||
69 | 4,1,0,4,5, // positive Y | ||
70 | 4,0,1,3,2, // positive Z | ||
71 | 4,3,1,5,7, // negative X | ||
72 | 4,2,3,7,6, // negative Y | ||
73 | 4,5,4,6,7, // negative Z | ||
74 | }; | ||
75 | //----> Convex Object | ||
76 | |||
77 | // select correct drawing functions | ||
78 | |||
79 | #ifdef dDOUBLE | ||
80 | #define dsDrawBox dsDrawBoxD | ||
81 | #define dsDrawSphere dsDrawSphereD | ||
82 | #define dsDrawCylinder dsDrawCylinderD | ||
83 | #define dsDrawCapsule dsDrawCapsuleD | ||
84 | #define dsDrawConvex dsDrawConvexD | ||
85 | #endif | ||
86 | |||
87 | |||
88 | // some constants | ||
89 | |||
90 | #define NUM 100 // max number of objects | ||
91 | #define DENSITY (5.0) // density of all objects | ||
92 | #define GPB 3 // maximum number of geometries per body | ||
93 | #define MAX_CONTACTS 8 // maximum number of contact points per body | ||
94 | #define USE_GEOM_OFFSET 1 | ||
95 | |||
96 | // dynamics and collision objects | ||
97 | |||
98 | struct MyObject { | ||
99 | dBodyID body; // the body | ||
100 | dGeomID geom[GPB]; // geometries representing this body | ||
101 | }; | ||
102 | |||
103 | static int num=0; // number of objects in simulation | ||
104 | static int nextobj=0; // next object to recycle if num==NUM | ||
105 | static dWorldID world; | ||
106 | static dSpaceID space; | ||
107 | static MyObject obj[NUM]; | ||
108 | static dJointGroupID contactgroup; | ||
109 | static int selected = -1; // selected object | ||
110 | static int show_aabb = 0; // show geom AABBs? | ||
111 | static int show_contacts = 0; // show contact points? | ||
112 | static int random_pos = 1; // drop objects from random position? | ||
113 | static int write_world = 0; | ||
114 | static int show_body = 1; | ||
115 | |||
116 | // this is called by dSpaceCollide when two objects in space are | ||
117 | // potentially colliding. | ||
118 | |||
119 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
120 | { | ||
121 | int i; | ||
122 | // if (o1->body && o2->body) return; | ||
123 | |||
124 | // exit without doing anything if the two bodies are connected by a joint | ||
125 | dBodyID b1 = dGeomGetBody(o1); | ||
126 | dBodyID b2 = dGeomGetBody(o2); | ||
127 | if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; | ||
128 | |||
129 | dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box | ||
130 | for (i=0; i<MAX_CONTACTS; i++) { | ||
131 | contact[i].surface.mode = dContactBounce | dContactSoftCFM; | ||
132 | contact[i].surface.mu = dInfinity; | ||
133 | contact[i].surface.mu2 = 0; | ||
134 | contact[i].surface.bounce = 0.1; | ||
135 | contact[i].surface.bounce_vel = 0.1; | ||
136 | contact[i].surface.soft_cfm = 0.01; | ||
137 | } | ||
138 | if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom, | ||
139 | sizeof(dContact))) { | ||
140 | dMatrix3 RI; | ||
141 | dRSetIdentity (RI); | ||
142 | const dReal ss[3] = {0.02,0.02,0.02}; | ||
143 | for (i=0; i<numc; i++) { | ||
144 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); | ||
145 | dJointAttach (c,b1,b2); | ||
146 | if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss); | ||
147 | } | ||
148 | } | ||
149 | } | ||
150 | |||
151 | |||
152 | // start simulation - set viewpoint | ||
153 | |||
154 | static void start() | ||
155 | { | ||
156 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; | ||
157 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; | ||
158 | dsSetViewpoint (xyz,hpr); | ||
159 | printf ("To drop another object, press:\n"); | ||
160 | printf (" b for box.\n"); | ||
161 | printf (" s for sphere.\n"); | ||
162 | printf (" c for capsule.\n"); | ||
163 | printf (" y for cylinder.\n"); | ||
164 | printf (" v for a convex object.\n"); | ||
165 | printf (" x for a composite object.\n"); | ||
166 | printf ("To select an object, press space.\n"); | ||
167 | printf ("To disable the selected object, press d.\n"); | ||
168 | printf ("To enable the selected object, press e.\n"); | ||
169 | printf ("To toggle showing the geom AABBs, press a.\n"); | ||
170 | printf ("To toggle showing the contact points, press t.\n"); | ||
171 | printf ("To toggle dropping from random position/orientation, press r.\n"); | ||
172 | printf ("To save the current state to 'state.dif', press 1.\n"); | ||
173 | } | ||
174 | |||
175 | |||
176 | char locase (char c) | ||
177 | { | ||
178 | if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); | ||
179 | else return c; | ||
180 | } | ||
181 | |||
182 | |||
183 | // called when a key pressed | ||
184 | |||
185 | static void command (int cmd) | ||
186 | { | ||
187 | size_t i; | ||
188 | int j,k; | ||
189 | dReal sides[3]; | ||
190 | dMass m; | ||
191 | int setBody; | ||
192 | |||
193 | cmd = locase (cmd); | ||
194 | if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v') | ||
195 | { | ||
196 | setBody = 0; | ||
197 | if (num < NUM) { | ||
198 | i = num; | ||
199 | num++; | ||
200 | } | ||
201 | else { | ||
202 | i = nextobj; | ||
203 | nextobj++; | ||
204 | if (nextobj >= num) nextobj = 0; | ||
205 | |||
206 | // destroy the body and geoms for slot i | ||
207 | dBodyDestroy (obj[i].body); | ||
208 | for (k=0; k < GPB; k++) { | ||
209 | if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); | ||
210 | } | ||
211 | memset (&obj[i],0,sizeof(obj[i])); | ||
212 | } | ||
213 | |||
214 | obj[i].body = dBodyCreate (world); | ||
215 | for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; | ||
216 | |||
217 | dMatrix3 R; | ||
218 | if (random_pos) | ||
219 | { | ||
220 | dBodySetPosition (obj[i].body, | ||
221 | dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2); | ||
222 | dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
223 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
224 | } | ||
225 | else | ||
226 | { | ||
227 | dReal maxheight = 0; | ||
228 | for (k=0; k<num; k++) | ||
229 | { | ||
230 | const dReal *pos = dBodyGetPosition (obj[k].body); | ||
231 | if (pos[2] > maxheight) maxheight = pos[2]; | ||
232 | } | ||
233 | dBodySetPosition (obj[i].body, 0,0,maxheight+1); | ||
234 | dRSetIdentity (R); | ||
235 | //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0); | ||
236 | } | ||
237 | dBodySetRotation (obj[i].body,R); | ||
238 | dBodySetData (obj[i].body,(void*) i); | ||
239 | |||
240 | if (cmd == 'b') { | ||
241 | dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); | ||
242 | obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); | ||
243 | } | ||
244 | else if (cmd == 'c') { | ||
245 | sides[0] *= 0.5; | ||
246 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); | ||
247 | obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); | ||
248 | } | ||
249 | //<---- Convex Object | ||
250 | else if (cmd == 'v') | ||
251 | { | ||
252 | dMassSetBox (&m,DENSITY,0.25,0.25,0.25); | ||
253 | obj[i].geom[0] = dCreateConvex (space, | ||
254 | planes, | ||
255 | planecount, | ||
256 | points, | ||
257 | pointcount, | ||
258 | polygons); | ||
259 | } | ||
260 | //----> Convex Object | ||
261 | else if (cmd == 'y') { | ||
262 | dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); | ||
263 | obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); | ||
264 | } | ||
265 | else if (cmd == 's') { | ||
266 | sides[0] *= 0.5; | ||
267 | dMassSetSphere (&m,DENSITY,sides[0]); | ||
268 | obj[i].geom[0] = dCreateSphere (space,sides[0]); | ||
269 | } | ||
270 | else if (cmd == 'x' && USE_GEOM_OFFSET) { | ||
271 | setBody = 1; | ||
272 | // start accumulating masses for the encapsulated geometries | ||
273 | dMass m2; | ||
274 | dMassSetZero (&m); | ||
275 | |||
276 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries | ||
277 | dMatrix3 drot[GPB]; | ||
278 | |||
279 | // set random delta positions | ||
280 | for (j=0; j<GPB; j++) { | ||
281 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; | ||
282 | } | ||
283 | |||
284 | for (k=0; k<GPB; k++) { | ||
285 | if (k==0) { | ||
286 | dReal radius = dRandReal()*0.25+0.05; | ||
287 | obj[i].geom[k] = dCreateSphere (space,radius); | ||
288 | dMassSetSphere (&m2,DENSITY,radius); | ||
289 | } | ||
290 | else if (k==1) { | ||
291 | obj[i].geom[k] = dCreateBox (space,sides[0],sides[1],sides[2]); | ||
292 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); | ||
293 | } | ||
294 | else { | ||
295 | dReal radius = dRandReal()*0.1+0.05; | ||
296 | dReal length = dRandReal()*1.0+0.1; | ||
297 | obj[i].geom[k] = dCreateCapsule (space,radius,length); | ||
298 | dMassSetCapsule (&m2,DENSITY,3,radius,length); | ||
299 | } | ||
300 | |||
301 | dRFromAxisAndAngle (drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
302 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
303 | dMassRotate (&m2,drot[k]); | ||
304 | |||
305 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); | ||
306 | |||
307 | // add to the total mass | ||
308 | dMassAdd (&m,&m2); | ||
309 | |||
310 | } | ||
311 | for (k=0; k<GPB; k++) { | ||
312 | dGeomSetBody (obj[i].geom[k],obj[i].body); | ||
313 | dGeomSetOffsetPosition (obj[i].geom[k], | ||
314 | dpos[k][0]-m.c[0], | ||
315 | dpos[k][1]-m.c[1], | ||
316 | dpos[k][2]-m.c[2]); | ||
317 | dGeomSetOffsetRotation(obj[i].geom[k], drot[k]); | ||
318 | } | ||
319 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); | ||
320 | dBodySetMass (obj[i].body,&m); | ||
321 | |||
322 | } | ||
323 | else if (cmd == 'x') { | ||
324 | dGeomID g2[GPB]; // encapsulated geometries | ||
325 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries | ||
326 | |||
327 | // start accumulating masses for the encapsulated geometries | ||
328 | dMass m2; | ||
329 | dMassSetZero (&m); | ||
330 | |||
331 | // set random delta positions | ||
332 | for (j=0; j<GPB; j++) { | ||
333 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; | ||
334 | } | ||
335 | |||
336 | for (k=0; k<GPB; k++) { | ||
337 | obj[i].geom[k] = dCreateGeomTransform (space); | ||
338 | dGeomTransformSetCleanup (obj[i].geom[k],1); | ||
339 | if (k==0) { | ||
340 | dReal radius = dRandReal()*0.25+0.05; | ||
341 | g2[k] = dCreateSphere (0,radius); | ||
342 | dMassSetSphere (&m2,DENSITY,radius); | ||
343 | } | ||
344 | else if (k==1) { | ||
345 | g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); | ||
346 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); | ||
347 | } | ||
348 | else { | ||
349 | dReal radius = dRandReal()*0.1+0.05; | ||
350 | dReal length = dRandReal()*1.0+0.1; | ||
351 | g2[k] = dCreateCapsule (0,radius,length); | ||
352 | dMassSetCapsule (&m2,DENSITY,3,radius,length); | ||
353 | } | ||
354 | dGeomTransformSetGeom (obj[i].geom[k],g2[k]); | ||
355 | |||
356 | // set the transformation (adjust the mass too) | ||
357 | dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); | ||
358 | dMatrix3 Rtx; | ||
359 | dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
360 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
361 | dGeomSetRotation (g2[k],Rtx); | ||
362 | dMassRotate (&m2,Rtx); | ||
363 | |||
364 | // Translation *after* rotation | ||
365 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); | ||
366 | |||
367 | // add to the total mass | ||
368 | dMassAdd (&m,&m2); | ||
369 | } | ||
370 | |||
371 | // move all encapsulated objects so that the center of mass is (0,0,0) | ||
372 | for (k=0; k<GPB; k++) { | ||
373 | dGeomSetPosition (g2[k], | ||
374 | dpos[k][0]-m.c[0], | ||
375 | dpos[k][1]-m.c[1], | ||
376 | dpos[k][2]-m.c[2]); | ||
377 | } | ||
378 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); | ||
379 | } | ||
380 | |||
381 | if (!setBody) | ||
382 | for (k=0; k < GPB; k++) { | ||
383 | if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); | ||
384 | } | ||
385 | |||
386 | dBodySetMass (obj[i].body,&m); | ||
387 | } | ||
388 | |||
389 | if (cmd == ' ') { | ||
390 | selected++; | ||
391 | if (selected >= num) selected = 0; | ||
392 | if (selected < 0) selected = 0; | ||
393 | } | ||
394 | else if (cmd == 'd' && selected >= 0 && selected < num) { | ||
395 | dBodyDisable (obj[selected].body); | ||
396 | } | ||
397 | else if (cmd == 'e' && selected >= 0 && selected < num) { | ||
398 | dBodyEnable (obj[selected].body); | ||
399 | } | ||
400 | else if (cmd == 'a') { | ||
401 | show_aabb ^= 1; | ||
402 | } | ||
403 | else if (cmd == 't') { | ||
404 | show_contacts ^= 1; | ||
405 | } | ||
406 | else if (cmd == 'r') { | ||
407 | random_pos ^= 1; | ||
408 | } | ||
409 | else if (cmd == '1') { | ||
410 | write_world = 1; | ||
411 | } | ||
412 | } | ||
413 | |||
414 | |||
415 | // draw a geom | ||
416 | |||
417 | void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) | ||
418 | { | ||
419 | int i; | ||
420 | |||
421 | if (!g) return; | ||
422 | if (!pos) pos = dGeomGetPosition (g); | ||
423 | if (!R) R = dGeomGetRotation (g); | ||
424 | |||
425 | int type = dGeomGetClass (g); | ||
426 | if (type == dBoxClass) { | ||
427 | dVector3 sides; | ||
428 | dGeomBoxGetLengths (g,sides); | ||
429 | dsDrawBox (pos,R,sides); | ||
430 | } | ||
431 | else if (type == dSphereClass) { | ||
432 | dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); | ||
433 | } | ||
434 | else if (type == dCapsuleClass) { | ||
435 | dReal radius,length; | ||
436 | dGeomCapsuleGetParams (g,&radius,&length); | ||
437 | dsDrawCapsule (pos,R,length,radius); | ||
438 | } | ||
439 | //<---- Convex Object | ||
440 | else if (type == dConvexClass) | ||
441 | { | ||
442 | //dVector3 sides={0.50,0.50,0.50}; | ||
443 | dsDrawConvex(pos,R,planes, | ||
444 | planecount, | ||
445 | points, | ||
446 | pointcount, | ||
447 | polygons); | ||
448 | } | ||
449 | //----> Convex Object | ||
450 | else if (type == dCylinderClass) { | ||
451 | dReal radius,length; | ||
452 | dGeomCylinderGetParams (g,&radius,&length); | ||
453 | dsDrawCylinder (pos,R,length,radius); | ||
454 | } | ||
455 | else if (type == dGeomTransformClass) { | ||
456 | dGeomID g2 = dGeomTransformGetGeom (g); | ||
457 | const dReal *pos2 = dGeomGetPosition (g2); | ||
458 | const dReal *R2 = dGeomGetRotation (g2); | ||
459 | dVector3 actual_pos; | ||
460 | dMatrix3 actual_R; | ||
461 | dMULTIPLY0_331 (actual_pos,R,pos2); | ||
462 | actual_pos[0] += pos[0]; | ||
463 | actual_pos[1] += pos[1]; | ||
464 | actual_pos[2] += pos[2]; | ||
465 | dMULTIPLY0_333 (actual_R,R,R2); | ||
466 | drawGeom (g2,actual_pos,actual_R,0); | ||
467 | } | ||
468 | if (show_body) { | ||
469 | dBodyID body = dGeomGetBody(g); | ||
470 | if (body) { | ||
471 | const dReal *bodypos = dBodyGetPosition (body); | ||
472 | const dReal *bodyr = dBodyGetRotation (body); | ||
473 | dReal bodySides[3] = { 0.1, 0.1, 0.1 }; | ||
474 | dsSetColorAlpha(0,1,0,1); | ||
475 | dsDrawBox(bodypos,bodyr,bodySides); | ||
476 | } | ||
477 | } | ||
478 | if (show_aabb) { | ||
479 | // draw the bounding box for this geom | ||
480 | dReal aabb[6]; | ||
481 | dGeomGetAABB (g,aabb); | ||
482 | dVector3 bbpos; | ||
483 | for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); | ||
484 | dVector3 bbsides; | ||
485 | for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; | ||
486 | dMatrix3 RI; | ||
487 | dRSetIdentity (RI); | ||
488 | dsSetColorAlpha (1,0,0,0.5); | ||
489 | dsDrawBox (bbpos,RI,bbsides); | ||
490 | } | ||
491 | } | ||
492 | |||
493 | |||
494 | // simulation loop | ||
495 | |||
496 | static void simLoop (int pause) | ||
497 | { | ||
498 | dsSetColor (0,0,2); | ||
499 | dSpaceCollide (space,0,&nearCallback); | ||
500 | if (!pause) dWorldQuickStep (world,0.02); | ||
501 | |||
502 | if (write_world) { | ||
503 | FILE *f = fopen ("state.dif","wt"); | ||
504 | if (f) { | ||
505 | dWorldExportDIF (world,f,"X"); | ||
506 | fclose (f); | ||
507 | } | ||
508 | write_world = 0; | ||
509 | } | ||
510 | |||
511 | // remove all contact joints | ||
512 | dJointGroupEmpty (contactgroup); | ||
513 | |||
514 | dsSetColor (1,1,0); | ||
515 | dsSetTexture (DS_WOOD); | ||
516 | for (int i=0; i<num; i++) { | ||
517 | for (int j=0; j < GPB; j++) { | ||
518 | if (i==selected) { | ||
519 | dsSetColor (0,0.7,1); | ||
520 | } | ||
521 | else if (! dBodyIsEnabled (obj[i].body)) { | ||
522 | dsSetColor (1,0.8,0); | ||
523 | } | ||
524 | else { | ||
525 | dsSetColor (1,1,0); | ||
526 | } | ||
527 | drawGeom (obj[i].geom[j],0,0,show_aabb); | ||
528 | } | ||
529 | } | ||
530 | } | ||
531 | |||
532 | |||
533 | int main (int argc, char **argv) | ||
534 | { | ||
535 | // setup pointers to drawstuff callback functions | ||
536 | dsFunctions fn; | ||
537 | fn.version = DS_VERSION; | ||
538 | fn.start = &start; | ||
539 | fn.step = &simLoop; | ||
540 | fn.command = &command; | ||
541 | fn.stop = 0; | ||
542 | fn.path_to_textures = "../../drawstuff/textures"; | ||
543 | if(argc==2) | ||
544 | { | ||
545 | fn.path_to_textures = argv[1]; | ||
546 | } | ||
547 | |||
548 | // create world | ||
549 | dInitODE(); | ||
550 | world = dWorldCreate(); | ||
551 | space = dHashSpaceCreate (0); | ||
552 | contactgroup = dJointGroupCreate (0); | ||
553 | dWorldSetGravity (world,0,0,-0.5); | ||
554 | dWorldSetCFM (world,1e-5); | ||
555 | dWorldSetAutoDisableFlag (world,1); | ||
556 | |||
557 | #if 1 | ||
558 | |||
559 | dWorldSetAutoDisableAverageSamplesCount( world, 10 ); | ||
560 | |||
561 | #endif | ||
562 | |||
563 | |||
564 | dWorldSetContactMaxCorrectingVel (world,0.1); | ||
565 | dWorldSetContactSurfaceLayer (world,0.001); | ||
566 | dCreatePlane (space,0,0,1,0); | ||
567 | memset (obj,0,sizeof(obj)); | ||
568 | |||
569 | // run simulation | ||
570 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
571 | |||
572 | dJointGroupDestroy (contactgroup); | ||
573 | dSpaceDestroy (space); | ||
574 | dWorldDestroy (world); | ||
575 | dCloseODE(); | ||
576 | return 0; | ||
577 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_buggy.cpp b/libraries/ode-0.9/ode/demo/demo_buggy.cpp new file mode 100644 index 0000000..a482e02 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_buggy.cpp | |||
@@ -0,0 +1,325 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | /* | ||
24 | |||
25 | buggy with suspension. | ||
26 | this also shows you how to use geom groups. | ||
27 | |||
28 | */ | ||
29 | |||
30 | |||
31 | #include <ode/ode.h> | ||
32 | #include <drawstuff/drawstuff.h> | ||
33 | |||
34 | #ifdef _MSC_VER | ||
35 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
36 | #endif | ||
37 | |||
38 | // select correct drawing functions | ||
39 | |||
40 | #ifdef dDOUBLE | ||
41 | #define dsDrawBox dsDrawBoxD | ||
42 | #define dsDrawSphere dsDrawSphereD | ||
43 | #define dsDrawCylinder dsDrawCylinderD | ||
44 | #define dsDrawCapsule dsDrawCapsuleD | ||
45 | #endif | ||
46 | |||
47 | |||
48 | // some constants | ||
49 | |||
50 | #define LENGTH 0.7 // chassis length | ||
51 | #define WIDTH 0.5 // chassis width | ||
52 | #define HEIGHT 0.2 // chassis height | ||
53 | #define RADIUS 0.18 // wheel radius | ||
54 | #define STARTZ 0.5 // starting height of chassis | ||
55 | #define CMASS 1 // chassis mass | ||
56 | #define WMASS 0.2 // wheel mass | ||
57 | |||
58 | |||
59 | // dynamics and collision objects (chassis, 3 wheels, environment) | ||
60 | |||
61 | static dWorldID world; | ||
62 | static dSpaceID space; | ||
63 | static dBodyID body[4]; | ||
64 | static dJointID joint[3]; // joint[0] is the front wheel | ||
65 | static dJointGroupID contactgroup; | ||
66 | static dGeomID ground; | ||
67 | static dSpaceID car_space; | ||
68 | static dGeomID box[1]; | ||
69 | static dGeomID sphere[3]; | ||
70 | static dGeomID ground_box; | ||
71 | |||
72 | |||
73 | // things that the user controls | ||
74 | |||
75 | static dReal speed=0,steer=0; // user commands | ||
76 | |||
77 | |||
78 | |||
79 | // this is called by dSpaceCollide when two objects in space are | ||
80 | // potentially colliding. | ||
81 | |||
82 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
83 | { | ||
84 | int i,n; | ||
85 | |||
86 | // only collide things with the ground | ||
87 | int g1 = (o1 == ground || o1 == ground_box); | ||
88 | int g2 = (o2 == ground || o2 == ground_box); | ||
89 | if (!(g1 ^ g2)) return; | ||
90 | |||
91 | const int N = 10; | ||
92 | dContact contact[N]; | ||
93 | n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); | ||
94 | if (n > 0) { | ||
95 | for (i=0; i<n; i++) { | ||
96 | contact[i].surface.mode = dContactSlip1 | dContactSlip2 | | ||
97 | dContactSoftERP | dContactSoftCFM | dContactApprox1; | ||
98 | contact[i].surface.mu = dInfinity; | ||
99 | contact[i].surface.slip1 = 0.1; | ||
100 | contact[i].surface.slip2 = 0.1; | ||
101 | contact[i].surface.soft_erp = 0.5; | ||
102 | contact[i].surface.soft_cfm = 0.3; | ||
103 | dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); | ||
104 | dJointAttach (c, | ||
105 | dGeomGetBody(contact[i].geom.g1), | ||
106 | dGeomGetBody(contact[i].geom.g2)); | ||
107 | } | ||
108 | } | ||
109 | } | ||
110 | |||
111 | |||
112 | // start simulation - set viewpoint | ||
113 | |||
114 | static void start() | ||
115 | { | ||
116 | static float xyz[3] = {0.8317f,-0.9817f,0.8000f}; | ||
117 | static float hpr[3] = {121.0000f,-27.5000f,0.0000f}; | ||
118 | dsSetViewpoint (xyz,hpr); | ||
119 | printf ("Press:\t'a' to increase speed.\n" | ||
120 | "\t'z' to decrease speed.\n" | ||
121 | "\t',' to steer left.\n" | ||
122 | "\t'.' to steer right.\n" | ||
123 | "\t' ' to reset speed and steering.\n" | ||
124 | "\t'1' to save the current state to 'state.dif'.\n"); | ||
125 | } | ||
126 | |||
127 | |||
128 | // called when a key pressed | ||
129 | |||
130 | static void command (int cmd) | ||
131 | { | ||
132 | switch (cmd) { | ||
133 | case 'a': case 'A': | ||
134 | speed += 0.3; | ||
135 | break; | ||
136 | case 'z': case 'Z': | ||
137 | speed -= 0.3; | ||
138 | break; | ||
139 | case ',': | ||
140 | steer -= 0.5; | ||
141 | break; | ||
142 | case '.': | ||
143 | steer += 0.5; | ||
144 | break; | ||
145 | case ' ': | ||
146 | speed = 0; | ||
147 | steer = 0; | ||
148 | break; | ||
149 | case '1': { | ||
150 | FILE *f = fopen ("state.dif","wt"); | ||
151 | if (f) { | ||
152 | dWorldExportDIF (world,f,""); | ||
153 | fclose (f); | ||
154 | } | ||
155 | } | ||
156 | } | ||
157 | } | ||
158 | |||
159 | |||
160 | // simulation loop | ||
161 | |||
162 | static void simLoop (int pause) | ||
163 | { | ||
164 | int i; | ||
165 | if (!pause) { | ||
166 | // motor | ||
167 | dJointSetHinge2Param (joint[0],dParamVel2,-speed); | ||
168 | dJointSetHinge2Param (joint[0],dParamFMax2,0.1); | ||
169 | |||
170 | // steering | ||
171 | dReal v = steer - dJointGetHinge2Angle1 (joint[0]); | ||
172 | if (v > 0.1) v = 0.1; | ||
173 | if (v < -0.1) v = -0.1; | ||
174 | v *= 10.0; | ||
175 | dJointSetHinge2Param (joint[0],dParamVel,v); | ||
176 | dJointSetHinge2Param (joint[0],dParamFMax,0.2); | ||
177 | dJointSetHinge2Param (joint[0],dParamLoStop,-0.75); | ||
178 | dJointSetHinge2Param (joint[0],dParamHiStop,0.75); | ||
179 | dJointSetHinge2Param (joint[0],dParamFudgeFactor,0.1); | ||
180 | |||
181 | dSpaceCollide (space,0,&nearCallback); | ||
182 | dWorldStep (world,0.05); | ||
183 | |||
184 | // remove all contact joints | ||
185 | dJointGroupEmpty (contactgroup); | ||
186 | } | ||
187 | |||
188 | dsSetColor (0,1,1); | ||
189 | dsSetTexture (DS_WOOD); | ||
190 | dReal sides[3] = {LENGTH,WIDTH,HEIGHT}; | ||
191 | dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides); | ||
192 | dsSetColor (1,1,1); | ||
193 | for (i=1; i<=3; i++) dsDrawCylinder (dBodyGetPosition(body[i]), | ||
194 | dBodyGetRotation(body[i]),0.02f,RADIUS); | ||
195 | |||
196 | dVector3 ss; | ||
197 | dGeomBoxGetLengths (ground_box,ss); | ||
198 | dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss); | ||
199 | |||
200 | /* | ||
201 | printf ("%.10f %.10f %.10f %.10f\n", | ||
202 | dJointGetHingeAngle (joint[1]), | ||
203 | dJointGetHingeAngle (joint[2]), | ||
204 | dJointGetHingeAngleRate (joint[1]), | ||
205 | dJointGetHingeAngleRate (joint[2])); | ||
206 | */ | ||
207 | } | ||
208 | |||
209 | |||
210 | int main (int argc, char **argv) | ||
211 | { | ||
212 | int i; | ||
213 | dMass m; | ||
214 | |||
215 | // setup pointers to drawstuff callback functions | ||
216 | dsFunctions fn; | ||
217 | fn.version = DS_VERSION; | ||
218 | fn.start = &start; | ||
219 | fn.step = &simLoop; | ||
220 | fn.command = &command; | ||
221 | fn.stop = 0; | ||
222 | fn.path_to_textures = "../../drawstuff/textures"; | ||
223 | if(argc==2) | ||
224 | { | ||
225 | fn.path_to_textures = argv[1]; | ||
226 | } | ||
227 | |||
228 | // create world | ||
229 | dInitODE(); | ||
230 | world = dWorldCreate(); | ||
231 | space = dHashSpaceCreate (0); | ||
232 | contactgroup = dJointGroupCreate (0); | ||
233 | dWorldSetGravity (world,0,0,-0.5); | ||
234 | ground = dCreatePlane (space,0,0,1,0); | ||
235 | |||
236 | // chassis body | ||
237 | body[0] = dBodyCreate (world); | ||
238 | dBodySetPosition (body[0],0,0,STARTZ); | ||
239 | dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT); | ||
240 | dMassAdjust (&m,CMASS); | ||
241 | dBodySetMass (body[0],&m); | ||
242 | box[0] = dCreateBox (0,LENGTH,WIDTH,HEIGHT); | ||
243 | dGeomSetBody (box[0],body[0]); | ||
244 | |||
245 | // wheel bodies | ||
246 | for (i=1; i<=3; i++) { | ||
247 | body[i] = dBodyCreate (world); | ||
248 | dQuaternion q; | ||
249 | dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); | ||
250 | dBodySetQuaternion (body[i],q); | ||
251 | dMassSetSphere (&m,1,RADIUS); | ||
252 | dMassAdjust (&m,WMASS); | ||
253 | dBodySetMass (body[i],&m); | ||
254 | sphere[i-1] = dCreateSphere (0,RADIUS); | ||
255 | dGeomSetBody (sphere[i-1],body[i]); | ||
256 | } | ||
257 | dBodySetPosition (body[1],0.5*LENGTH,0,STARTZ-HEIGHT*0.5); | ||
258 | dBodySetPosition (body[2],-0.5*LENGTH, WIDTH*0.5,STARTZ-HEIGHT*0.5); | ||
259 | dBodySetPosition (body[3],-0.5*LENGTH,-WIDTH*0.5,STARTZ-HEIGHT*0.5); | ||
260 | |||
261 | // front wheel hinge | ||
262 | /* | ||
263 | joint[0] = dJointCreateHinge2 (world,0); | ||
264 | dJointAttach (joint[0],body[0],body[1]); | ||
265 | const dReal *a = dBodyGetPosition (body[1]); | ||
266 | dJointSetHinge2Anchor (joint[0],a[0],a[1],a[2]); | ||
267 | dJointSetHinge2Axis1 (joint[0],0,0,1); | ||
268 | dJointSetHinge2Axis2 (joint[0],0,1,0); | ||
269 | */ | ||
270 | |||
271 | // front and back wheel hinges | ||
272 | for (i=0; i<3; i++) { | ||
273 | joint[i] = dJointCreateHinge2 (world,0); | ||
274 | dJointAttach (joint[i],body[0],body[i+1]); | ||
275 | const dReal *a = dBodyGetPosition (body[i+1]); | ||
276 | dJointSetHinge2Anchor (joint[i],a[0],a[1],a[2]); | ||
277 | dJointSetHinge2Axis1 (joint[i],0,0,1); | ||
278 | dJointSetHinge2Axis2 (joint[i],0,1,0); | ||
279 | } | ||
280 | |||
281 | // set joint suspension | ||
282 | for (i=0; i<3; i++) { | ||
283 | dJointSetHinge2Param (joint[i],dParamSuspensionERP,0.4); | ||
284 | dJointSetHinge2Param (joint[i],dParamSuspensionCFM,0.8); | ||
285 | } | ||
286 | |||
287 | // lock back wheels along the steering axis | ||
288 | for (i=1; i<3; i++) { | ||
289 | // set stops to make sure wheels always stay in alignment | ||
290 | dJointSetHinge2Param (joint[i],dParamLoStop,0); | ||
291 | dJointSetHinge2Param (joint[i],dParamHiStop,0); | ||
292 | // the following alternative method is no good as the wheels may get out | ||
293 | // of alignment: | ||
294 | // dJointSetHinge2Param (joint[i],dParamVel,0); | ||
295 | // dJointSetHinge2Param (joint[i],dParamFMax,dInfinity); | ||
296 | } | ||
297 | |||
298 | // create car space and add it to the top level space | ||
299 | car_space = dSimpleSpaceCreate (space); | ||
300 | dSpaceSetCleanup (car_space,0); | ||
301 | dSpaceAdd (car_space,box[0]); | ||
302 | dSpaceAdd (car_space,sphere[0]); | ||
303 | dSpaceAdd (car_space,sphere[1]); | ||
304 | dSpaceAdd (car_space,sphere[2]); | ||
305 | |||
306 | // environment | ||
307 | ground_box = dCreateBox (space,2,1.5,1); | ||
308 | dMatrix3 R; | ||
309 | dRFromAxisAndAngle (R,0,1,0,-0.15); | ||
310 | dGeomSetPosition (ground_box,2,0,-0.34); | ||
311 | dGeomSetRotation (ground_box,R); | ||
312 | |||
313 | // run simulation | ||
314 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
315 | |||
316 | dGeomDestroy (box[0]); | ||
317 | dGeomDestroy (sphere[0]); | ||
318 | dGeomDestroy (sphere[1]); | ||
319 | dGeomDestroy (sphere[2]); | ||
320 | dJointGroupDestroy (contactgroup); | ||
321 | dSpaceDestroy (space); | ||
322 | dWorldDestroy (world); | ||
323 | dCloseODE(); | ||
324 | return 0; | ||
325 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_chain1.c b/libraries/ode-0.9/ode/demo/demo_chain1.c new file mode 100644 index 0000000..e20c5dc --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_chain1.c | |||
@@ -0,0 +1,171 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | /* exercise the C interface */ | ||
24 | |||
25 | #include <stdio.h> | ||
26 | #include "ode/ode.h" | ||
27 | #include "drawstuff/drawstuff.h" | ||
28 | |||
29 | #ifdef _MSC_VER | ||
30 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
31 | #endif | ||
32 | |||
33 | /* select correct drawing functions */ | ||
34 | |||
35 | #ifdef dDOUBLE | ||
36 | #define dsDrawBox dsDrawBoxD | ||
37 | #define dsDrawSphere dsDrawSphereD | ||
38 | #define dsDrawCylinder dsDrawCylinderD | ||
39 | #define dsDrawCapsule dsDrawCapsuleD | ||
40 | #endif | ||
41 | |||
42 | |||
43 | /* some constants */ | ||
44 | |||
45 | #define NUM 10 /* number of boxes */ | ||
46 | #define SIDE (0.2) /* side length of a box */ | ||
47 | #define MASS (1.0) /* mass of a box */ | ||
48 | #define RADIUS (0.1732f) /* sphere radius */ | ||
49 | |||
50 | |||
51 | /* dynamics and collision objects */ | ||
52 | |||
53 | static dWorldID world; | ||
54 | static dSpaceID space; | ||
55 | static dBodyID body[NUM]; | ||
56 | static dJointID joint[NUM-1]; | ||
57 | static dJointGroupID contactgroup; | ||
58 | static dGeomID sphere[NUM]; | ||
59 | |||
60 | |||
61 | /* this is called by dSpaceCollide when two objects in space are | ||
62 | * potentially colliding. | ||
63 | */ | ||
64 | |||
65 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
66 | { | ||
67 | /* exit without doing anything if the two bodies are connected by a joint */ | ||
68 | dBodyID b1,b2; | ||
69 | dContact contact; | ||
70 | |||
71 | b1 = dGeomGetBody(o1); | ||
72 | b2 = dGeomGetBody(o2); | ||
73 | if (b1 && b2 && dAreConnected (b1,b2)) return; | ||
74 | |||
75 | contact.surface.mode = 0; | ||
76 | contact.surface.mu = 0.1; | ||
77 | contact.surface.mu2 = 0; | ||
78 | if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) { | ||
79 | dJointID c = dJointCreateContact (world,contactgroup,&contact); | ||
80 | dJointAttach (c,b1,b2); | ||
81 | } | ||
82 | } | ||
83 | |||
84 | |||
85 | /* start simulation - set viewpoint */ | ||
86 | |||
87 | static void start() | ||
88 | { | ||
89 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; | ||
90 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; | ||
91 | dsSetViewpoint (xyz,hpr); | ||
92 | } | ||
93 | |||
94 | |||
95 | /* simulation loop */ | ||
96 | |||
97 | static void simLoop (int pause) | ||
98 | { | ||
99 | int i; | ||
100 | if (!pause) { | ||
101 | static double angle = 0; | ||
102 | angle += 0.05; | ||
103 | dBodyAddForce (body[NUM-1],0,0,1.5*(sin(angle)+1.0)); | ||
104 | |||
105 | dSpaceCollide (space,0,&nearCallback); | ||
106 | dWorldStep (world,0.05); | ||
107 | |||
108 | /* remove all contact joints */ | ||
109 | dJointGroupEmpty (contactgroup); | ||
110 | } | ||
111 | |||
112 | dsSetColor (1,1,0); | ||
113 | dsSetTexture (DS_WOOD); | ||
114 | for (i=0; i<NUM; i++) dsDrawSphere (dBodyGetPosition(body[i]), | ||
115 | dBodyGetRotation(body[i]),RADIUS); | ||
116 | } | ||
117 | |||
118 | |||
119 | int main (int argc, char **argv) | ||
120 | { | ||
121 | int i; | ||
122 | dReal k; | ||
123 | dMass m; | ||
124 | |||
125 | /* setup pointers to drawstuff callback functions */ | ||
126 | dsFunctions fn; | ||
127 | fn.version = DS_VERSION; | ||
128 | fn.start = &start; | ||
129 | fn.step = &simLoop; | ||
130 | fn.command = 0; | ||
131 | fn.stop = 0; | ||
132 | fn.path_to_textures = "../../drawstuff/textures"; | ||
133 | if(argc==2) | ||
134 | { | ||
135 | fn.path_to_textures = argv[1]; | ||
136 | } | ||
137 | |||
138 | /* create world */ | ||
139 | dInitODE(); | ||
140 | world = dWorldCreate(); | ||
141 | space = dHashSpaceCreate (0); | ||
142 | contactgroup = dJointGroupCreate (1000000); | ||
143 | dWorldSetGravity (world,0,0,-0.5); | ||
144 | dCreatePlane (space,0,0,1,0); | ||
145 | |||
146 | for (i=0; i<NUM; i++) { | ||
147 | body[i] = dBodyCreate (world); | ||
148 | k = i*SIDE; | ||
149 | dBodySetPosition (body[i],k,k,k+0.4); | ||
150 | dMassSetBox (&m,1,SIDE,SIDE,SIDE); | ||
151 | dMassAdjust (&m,MASS); | ||
152 | dBodySetMass (body[i],&m); | ||
153 | sphere[i] = dCreateSphere (space,RADIUS); | ||
154 | dGeomSetBody (sphere[i],body[i]); | ||
155 | } | ||
156 | for (i=0; i<(NUM-1); i++) { | ||
157 | joint[i] = dJointCreateBall (world,0); | ||
158 | dJointAttach (joint[i],body[i],body[i+1]); | ||
159 | k = (i+0.5)*SIDE; | ||
160 | dJointSetBallAnchor (joint[i],k,k,k+0.4); | ||
161 | } | ||
162 | |||
163 | /* run simulation */ | ||
164 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
165 | |||
166 | dJointGroupDestroy (contactgroup); | ||
167 | dSpaceDestroy (space); | ||
168 | dWorldDestroy (world); | ||
169 | dCloseODE(); | ||
170 | return 0; | ||
171 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_chain2.cpp b/libraries/ode-0.9/ode/demo/demo_chain2.cpp new file mode 100644 index 0000000..cf35971 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_chain2.cpp | |||
@@ -0,0 +1,165 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | /* exercise the C++ interface */ | ||
24 | |||
25 | #include <ode/ode.h> | ||
26 | #include <drawstuff/drawstuff.h> | ||
27 | |||
28 | #ifdef _MSC_VER | ||
29 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
30 | #endif | ||
31 | |||
32 | // select correct drawing functions | ||
33 | |||
34 | #ifdef dDOUBLE | ||
35 | #define dsDrawBox dsDrawBoxD | ||
36 | #define dsDrawSphere dsDrawSphereD | ||
37 | #define dsDrawCylinder dsDrawCylinderD | ||
38 | #define dsDrawCapsule dsDrawCapsuleD | ||
39 | #endif | ||
40 | |||
41 | |||
42 | // some constants | ||
43 | |||
44 | #define NUM 10 // number of boxes | ||
45 | #define SIDE (0.2) // side length of a box | ||
46 | #define MASS (1.0) // mass of a box | ||
47 | #define RADIUS (0.1732f) // sphere radius | ||
48 | |||
49 | |||
50 | // dynamics and collision objects | ||
51 | |||
52 | static dWorld world; | ||
53 | static dSimpleSpace space (0); | ||
54 | static dBody body[NUM]; | ||
55 | static dBallJoint joint[NUM-1]; | ||
56 | static dJointGroup contactgroup; | ||
57 | static dBox box[NUM]; | ||
58 | |||
59 | |||
60 | // this is called by space.collide when two objects in space are | ||
61 | // potentially colliding. | ||
62 | |||
63 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
64 | { | ||
65 | // exit without doing anything if the two bodies are connected by a joint | ||
66 | dBodyID b1 = dGeomGetBody(o1); | ||
67 | dBodyID b2 = dGeomGetBody(o2); | ||
68 | if (b1 && b2 && dAreConnected (b1,b2)) return; | ||
69 | |||
70 | // @@@ it's still more convenient to use the C interface here. | ||
71 | |||
72 | dContact contact; | ||
73 | contact.surface.mode = 0; | ||
74 | contact.surface.mu = dInfinity; | ||
75 | if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) { | ||
76 | dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&contact); | ||
77 | dJointAttach (c,b1,b2); | ||
78 | } | ||
79 | } | ||
80 | |||
81 | |||
82 | // start simulation - set viewpoint | ||
83 | |||
84 | static void start() | ||
85 | { | ||
86 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; | ||
87 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; | ||
88 | dsSetViewpoint (xyz,hpr); | ||
89 | } | ||
90 | |||
91 | |||
92 | // simulation loop | ||
93 | |||
94 | static void simLoop (int pause) | ||
95 | { | ||
96 | if (!pause) { | ||
97 | static double angle = 0; | ||
98 | angle += 0.05; | ||
99 | body[NUM-1].addForce (0,0,1.5*(sin(angle)+1.0)); | ||
100 | |||
101 | space.collide (0,&nearCallback); | ||
102 | world.step (0.05); | ||
103 | |||
104 | // remove all contact joints | ||
105 | contactgroup.empty(); | ||
106 | } | ||
107 | |||
108 | dReal sides[3] = {SIDE,SIDE,SIDE}; | ||
109 | dsSetColor (1,1,0); | ||
110 | dsSetTexture (DS_WOOD); | ||
111 | for (int i=0; i<NUM; i++) | ||
112 | dsDrawBox (body[i].getPosition(),body[i].getRotation(),sides); | ||
113 | } | ||
114 | |||
115 | |||
116 | int main (int argc, char **argv) | ||
117 | { | ||
118 | // setup pointers to drawstuff callback functions | ||
119 | dsFunctions fn; | ||
120 | fn.version = DS_VERSION; | ||
121 | fn.start = &start; | ||
122 | fn.step = &simLoop; | ||
123 | fn.command = 0; | ||
124 | fn.stop = 0; | ||
125 | fn.path_to_textures = "../../drawstuff/textures"; | ||
126 | if(argc==2) | ||
127 | { | ||
128 | fn.path_to_textures = argv[1]; | ||
129 | } | ||
130 | |||
131 | // create world | ||
132 | dInitODE(); | ||
133 | |||
134 | int i; | ||
135 | contactgroup.create (0); | ||
136 | world.setGravity (0,0,-0.5); | ||
137 | dWorldSetCFM (world.id(),1e-5); | ||
138 | dPlane plane (space,0,0,1,0); | ||
139 | |||
140 | for (i=0; i<NUM; i++) { | ||
141 | body[i].create (world); | ||
142 | dReal k = i*SIDE; | ||
143 | body[i].setPosition (k,k,k+0.4); | ||
144 | dMass m; | ||
145 | m.setBox (1,SIDE,SIDE,SIDE); | ||
146 | m.adjust (MASS); | ||
147 | body[i].setMass (&m); | ||
148 | body[i].setData ((void*)(size_t)i); | ||
149 | |||
150 | box[i].create (space,SIDE,SIDE,SIDE); | ||
151 | box[i].setBody (body[i]); | ||
152 | } | ||
153 | for (i=0; i<(NUM-1); i++) { | ||
154 | joint[i].create (world); | ||
155 | joint[i].attach (body[i],body[i+1]); | ||
156 | dReal k = (i+0.5)*SIDE; | ||
157 | joint[i].setAnchor (k,k,k+0.4); | ||
158 | } | ||
159 | |||
160 | // run simulation | ||
161 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
162 | |||
163 | dCloseODE(); | ||
164 | return 0; | ||
165 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_collision.cpp b/libraries/ode-0.9/ode/demo/demo_collision.cpp new file mode 100644 index 0000000..8f591e9 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_collision.cpp | |||
@@ -0,0 +1,1371 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | /* | ||
24 | |||
25 | collision tests. if this program is run without any arguments it will | ||
26 | perform all the tests multiple times, with different random data for each | ||
27 | test. if this program is given a test number it will run that test | ||
28 | graphically/interactively, in which case the space bar can be used to | ||
29 | change the random test conditions. | ||
30 | |||
31 | */ | ||
32 | |||
33 | |||
34 | #include <ode/ode.h> | ||
35 | #include <drawstuff/drawstuff.h> | ||
36 | |||
37 | #ifdef _MSC_VER | ||
38 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
39 | #endif | ||
40 | |||
41 | // select correct drawing functions | ||
42 | #ifdef dDOUBLE | ||
43 | #define dsDrawSphere dsDrawSphereD | ||
44 | #define dsDrawBox dsDrawBoxD | ||
45 | #define dsDrawLine dsDrawLineD | ||
46 | #define dsDrawCapsule dsDrawCapsuleD | ||
47 | #endif | ||
48 | |||
49 | //**************************************************************************** | ||
50 | // test infrastructure, including constants and macros | ||
51 | |||
52 | #define TEST_REPS1 1000 // run each test this many times (first batch) | ||
53 | #define TEST_REPS2 10000 // run each test this many times (second batch) | ||
54 | const dReal tol = 1e-8; // tolerance used for numerical checks | ||
55 | #define MAX_TESTS 1000 // maximum number of test slots | ||
56 | #define Z_OFFSET 2 // z offset for drawing (to get above ground) | ||
57 | |||
58 | |||
59 | // test function. returns 1 if the test passed or 0 if it failed | ||
60 | typedef int test_function_t(); | ||
61 | |||
62 | struct TestSlot { | ||
63 | int number; // number of test | ||
64 | char *name; // name of test | ||
65 | int failcount; | ||
66 | test_function_t *test_fn; | ||
67 | int last_failed_line; | ||
68 | }; | ||
69 | TestSlot testslot[MAX_TESTS]; | ||
70 | |||
71 | |||
72 | // globals used by the test functions | ||
73 | int graphical_test=0; // show graphical results of this test, 0=none | ||
74 | int current_test; // currently execiting test | ||
75 | int draw_all_objects_called; | ||
76 | |||
77 | |||
78 | #define MAKE_TEST(number,function) \ | ||
79 | if (testslot[number].name) dDebug (0,"test number already used"); \ | ||
80 | if (number <= 0 || number >= MAX_TESTS) dDebug (0,"bad test number"); \ | ||
81 | testslot[number].name = # function; \ | ||
82 | testslot[number].test_fn = function; | ||
83 | |||
84 | #define FAILED() { if (graphical_test==0) { \ | ||
85 | testslot[current_test].last_failed_line=__LINE__; return 0; } } | ||
86 | #define PASSED() { return 1; } | ||
87 | |||
88 | //**************************************************************************** | ||
89 | // globals | ||
90 | |||
91 | /* int dBoxBox (const dVector3 p1, const dMatrix3 R1, | ||
92 | const dVector3 side1, const dVector3 p2, | ||
93 | const dMatrix3 R2, const dVector3 side2, | ||
94 | dVector3 normal, dReal *depth, int *code, | ||
95 | int maxc, dContactGeom *contact, int skip); */ | ||
96 | |||
97 | void dLineClosestApproach (const dVector3 pa, const dVector3 ua, | ||
98 | const dVector3 pb, const dVector3 ub, | ||
99 | dReal *alpha, dReal *beta); | ||
100 | |||
101 | //**************************************************************************** | ||
102 | // draw all objects in a space, and draw all the collision contact points | ||
103 | |||
104 | void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
105 | { | ||
106 | int i,j,n; | ||
107 | const int N = 100; | ||
108 | dContactGeom contact[N]; | ||
109 | |||
110 | if (dGeomGetClass (o2) == dRayClass) { | ||
111 | n = dCollide (o2,o1,N,&contact[0],sizeof(dContactGeom)); | ||
112 | } | ||
113 | else { | ||
114 | n = dCollide (o1,o2,N,&contact[0],sizeof(dContactGeom)); | ||
115 | } | ||
116 | if (n > 0) { | ||
117 | dMatrix3 RI; | ||
118 | dRSetIdentity (RI); | ||
119 | const dReal ss[3] = {0.01,0.01,0.01}; | ||
120 | for (i=0; i<n; i++) { | ||
121 | contact[i].pos[2] += Z_OFFSET; | ||
122 | dsDrawBox (contact[i].pos,RI,ss); | ||
123 | dVector3 n; | ||
124 | for (j=0; j<3; j++) n[j] = contact[i].pos[j] + 0.1*contact[i].normal[j]; | ||
125 | dsDrawLine (contact[i].pos,n); | ||
126 | } | ||
127 | } | ||
128 | } | ||
129 | |||
130 | |||
131 | void draw_all_objects (dSpaceID space) | ||
132 | { | ||
133 | int i, j; | ||
134 | |||
135 | draw_all_objects_called = 1; | ||
136 | if (!graphical_test) return; | ||
137 | int n = dSpaceGetNumGeoms (space); | ||
138 | |||
139 | // draw all contact points | ||
140 | dsSetColor (0,1,1); | ||
141 | dSpaceCollide (space,0,&nearCallback); | ||
142 | |||
143 | // draw all rays | ||
144 | for (i=0; i<n; i++) { | ||
145 | dGeomID g = dSpaceGetGeom (space,i); | ||
146 | if (dGeomGetClass (g) == dRayClass) { | ||
147 | dsSetColor (1,1,1); | ||
148 | dVector3 origin,dir; | ||
149 | dGeomRayGet (g,origin,dir); | ||
150 | origin[2] += Z_OFFSET; | ||
151 | dReal length = dGeomRayGetLength (g); | ||
152 | for (j=0; j<3; j++) dir[j] = dir[j]*length + origin[j]; | ||
153 | dsDrawLine (origin,dir); | ||
154 | dsSetColor (0,0,1); | ||
155 | dsDrawSphere (origin,dGeomGetRotation(g),0.01); | ||
156 | } | ||
157 | } | ||
158 | |||
159 | // draw all other objects | ||
160 | for (i=0; i<n; i++) { | ||
161 | dGeomID g = dSpaceGetGeom (space,i); | ||
162 | dVector3 pos; | ||
163 | if (dGeomGetClass (g) != dPlaneClass) { | ||
164 | memcpy (pos,dGeomGetPosition(g),sizeof(pos)); | ||
165 | pos[2] += Z_OFFSET; | ||
166 | } | ||
167 | |||
168 | switch (dGeomGetClass (g)) { | ||
169 | |||
170 | case dSphereClass: { | ||
171 | dsSetColorAlpha (1,0,0,0.8); | ||
172 | dReal radius = dGeomSphereGetRadius (g); | ||
173 | dsDrawSphere (pos,dGeomGetRotation(g),radius); | ||
174 | break; | ||
175 | } | ||
176 | |||
177 | case dBoxClass: { | ||
178 | dsSetColorAlpha (1,1,0,0.8); | ||
179 | dVector3 sides; | ||
180 | dGeomBoxGetLengths (g,sides); | ||
181 | dsDrawBox (pos,dGeomGetRotation(g),sides); | ||
182 | break; | ||
183 | } | ||
184 | |||
185 | case dCapsuleClass: { | ||
186 | dsSetColorAlpha (0,1,0,0.8); | ||
187 | dReal radius,length; | ||
188 | dGeomCapsuleGetParams (g,&radius,&length); | ||
189 | dsDrawCapsule (pos,dGeomGetRotation(g),length,radius); | ||
190 | break; | ||
191 | } | ||
192 | |||
193 | case dPlaneClass: { | ||
194 | dVector4 n; | ||
195 | dMatrix3 R,sides; | ||
196 | dVector3 pos2; | ||
197 | dGeomPlaneGetParams (g,n); | ||
198 | dRFromZAxis (R,n[0],n[1],n[2]); | ||
199 | for (j=0; j<3; j++) pos[j] = n[j]*n[3]; | ||
200 | pos[2] += Z_OFFSET; | ||
201 | sides[0] = 2; | ||
202 | sides[1] = 2; | ||
203 | sides[2] = 0.001; | ||
204 | dsSetColor (1,0,1); | ||
205 | for (j=0; j<3; j++) pos2[j] = pos[j] + 0.1*n[j]; | ||
206 | dsDrawLine (pos,pos2); | ||
207 | dsSetColorAlpha (1,0,1,0.8); | ||
208 | dsDrawBox (pos,R,sides); | ||
209 | break; | ||
210 | } | ||
211 | |||
212 | } | ||
213 | } | ||
214 | } | ||
215 | |||
216 | //**************************************************************************** | ||
217 | // point depth tests | ||
218 | |||
219 | int test_sphere_point_depth() | ||
220 | { | ||
221 | int j; | ||
222 | dVector3 p,q; | ||
223 | dMatrix3 R; | ||
224 | dReal r,d; | ||
225 | |||
226 | dSimpleSpace space(0); | ||
227 | dGeomID sphere = dCreateSphere (0,1); | ||
228 | dSpaceAdd (space,sphere); | ||
229 | |||
230 | // ********** make a random sphere of radius r at position p | ||
231 | |||
232 | r = dRandReal()+0.1; | ||
233 | dGeomSphereSetRadius (sphere,r); | ||
234 | dMakeRandomVector (p,3,1.0); | ||
235 | dGeomSetPosition (sphere,p[0],p[1],p[2]); | ||
236 | dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, | ||
237 | dRandReal()*2-1,dRandReal()*10-5); | ||
238 | dGeomSetRotation (sphere,R); | ||
239 | |||
240 | // ********** test center point has depth r | ||
241 | |||
242 | if (dFabs(dGeomSpherePointDepth (sphere,p[0],p[1],p[2]) - r) > tol) FAILED(); | ||
243 | |||
244 | // ********** test point on surface has depth 0 | ||
245 | |||
246 | for (j=0; j<3; j++) q[j] = dRandReal()-0.5; | ||
247 | dNormalize3 (q); | ||
248 | for (j=0; j<3; j++) q[j] = q[j]*r + p[j]; | ||
249 | if (dFabs(dGeomSpherePointDepth (sphere,q[0],q[1],q[2])) > tol) FAILED(); | ||
250 | |||
251 | // ********** test point at random depth | ||
252 | |||
253 | d = (dRandReal()*2-1) * r; | ||
254 | for (j=0; j<3; j++) q[j] = dRandReal()-0.5; | ||
255 | dNormalize3 (q); | ||
256 | for (j=0; j<3; j++) q[j] = q[j]*(r-d) + p[j]; | ||
257 | if (dFabs(dGeomSpherePointDepth (sphere,q[0],q[1],q[2])-d) > tol) FAILED(); | ||
258 | |||
259 | PASSED(); | ||
260 | } | ||
261 | |||
262 | |||
263 | int test_box_point_depth() | ||
264 | { | ||
265 | int i,j; | ||
266 | dVector3 s,p,q,q2; // s = box sides | ||
267 | dMatrix3 R; | ||
268 | dReal ss,d; // ss = smallest side | ||
269 | |||
270 | dSimpleSpace space(0); | ||
271 | dGeomID box = dCreateBox (0,1,1,1); | ||
272 | dSpaceAdd (space,box); | ||
273 | |||
274 | // ********** make a random box | ||
275 | |||
276 | for (j=0; j<3; j++) s[j] = dRandReal() + 0.1; | ||
277 | dGeomBoxSetLengths (box,s[0],s[1],s[2]); | ||
278 | dMakeRandomVector (p,3,1.0); | ||
279 | dGeomSetPosition (box,p[0],p[1],p[2]); | ||
280 | dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, | ||
281 | dRandReal()*2-1,dRandReal()*10-5); | ||
282 | dGeomSetRotation (box,R); | ||
283 | |||
284 | // ********** test center point has depth of smallest side | ||
285 | |||
286 | ss = 1e9; | ||
287 | for (j=0; j<3; j++) if (s[j] < ss) ss = s[j]; | ||
288 | if (dFabs(dGeomBoxPointDepth (box,p[0],p[1],p[2]) - 0.5*ss) > tol) | ||
289 | FAILED(); | ||
290 | |||
291 | // ********** test point on surface has depth 0 | ||
292 | |||
293 | for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j]; | ||
294 | i = dRandInt (3); | ||
295 | if (dRandReal() > 0.5) q[i] = 0.5*s[i]; else q[i] = -0.5*s[i]; | ||
296 | dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); | ||
297 | for (j=0; j<3; j++) q2[j] += p[j]; | ||
298 | if (dFabs(dGeomBoxPointDepth (box,q2[0],q2[1],q2[2])) > tol) FAILED(); | ||
299 | |||
300 | // ********** test points outside box have -ve depth | ||
301 | |||
302 | for (j=0; j<3; j++) { | ||
303 | q[j] = 0.5*s[j] + dRandReal() + 0.01; | ||
304 | if (dRandReal() > 0.5) q[j] = -q[j]; | ||
305 | } | ||
306 | dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); | ||
307 | for (j=0; j<3; j++) q2[j] += p[j]; | ||
308 | if (dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) >= 0) FAILED(); | ||
309 | |||
310 | // ********** test points inside box have +ve depth | ||
311 | |||
312 | for (j=0; j<3; j++) q[j] = s[j] * 0.99 * (dRandReal()-0.5); | ||
313 | dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); | ||
314 | for (j=0; j<3; j++) q2[j] += p[j]; | ||
315 | if (dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) <= 0) FAILED(); | ||
316 | |||
317 | // ********** test random depth of point aligned along axis (up to ss deep) | ||
318 | |||
319 | i = dRandInt (3); | ||
320 | for (j=0; j<3; j++) q[j] = 0; | ||
321 | d = (dRandReal()*(ss*0.5+1)-1); | ||
322 | q[i] = s[i]*0.5 - d; | ||
323 | if (dRandReal() > 0.5) q[i] = -q[i]; | ||
324 | dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); | ||
325 | for (j=0; j<3; j++) q2[j] += p[j]; | ||
326 | if (dFabs(dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) - d) >= tol) FAILED(); | ||
327 | |||
328 | PASSED(); | ||
329 | } | ||
330 | |||
331 | |||
332 | int test_ccylinder_point_depth() | ||
333 | { | ||
334 | int j; | ||
335 | dVector3 p,a; | ||
336 | dMatrix3 R; | ||
337 | dReal r,l,beta,x,y,d; | ||
338 | |||
339 | dSimpleSpace space(0); | ||
340 | dGeomID ccyl = dCreateCapsule (0,1,1); | ||
341 | dSpaceAdd (space,ccyl); | ||
342 | |||
343 | // ********** make a random ccyl | ||
344 | |||
345 | r = dRandReal()*0.5 + 0.01; | ||
346 | l = dRandReal()*1 + 0.01; | ||
347 | dGeomCapsuleSetParams (ccyl,r,l); | ||
348 | dMakeRandomVector (p,3,1.0); | ||
349 | dGeomSetPosition (ccyl,p[0],p[1],p[2]); | ||
350 | dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, | ||
351 | dRandReal()*2-1,dRandReal()*10-5); | ||
352 | dGeomSetRotation (ccyl,R); | ||
353 | |||
354 | // ********** test point on axis has depth of 'radius' | ||
355 | |||
356 | beta = dRandReal()-0.5; | ||
357 | for (j=0; j<3; j++) a[j] = p[j] + l*beta*R[j*4+2]; | ||
358 | if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - r) >= tol) | ||
359 | FAILED(); | ||
360 | |||
361 | // ********** test point on surface (excluding caps) has depth 0 | ||
362 | |||
363 | beta = dRandReal()*2*M_PI; | ||
364 | x = r*sin(beta); | ||
365 | y = r*cos(beta); | ||
366 | beta = dRandReal()-0.5; | ||
367 | for (j=0; j<3; j++) a[j] = p[j] + x*R[j*4+0] + y*R[j*4+1] + l*beta*R[j*4+2]; | ||
368 | if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2])) >= tol) FAILED(); | ||
369 | |||
370 | // ********** test point on surface of caps has depth 0 | ||
371 | |||
372 | for (j=0; j<3; j++) a[j] = dRandReal()-0.5; | ||
373 | dNormalize3 (a); | ||
374 | if (dDOT14(a,R+2) > 0) { | ||
375 | for (j=0; j<3; j++) a[j] = p[j] + a[j]*r + l*0.5*R[j*4+2]; | ||
376 | } | ||
377 | else { | ||
378 | for (j=0; j<3; j++) a[j] = p[j] + a[j]*r - l*0.5*R[j*4+2]; | ||
379 | } | ||
380 | if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2])) >= tol) FAILED(); | ||
381 | |||
382 | // ********** test point inside ccyl has positive depth | ||
383 | |||
384 | for (j=0; j<3; j++) a[j] = dRandReal()-0.5; | ||
385 | dNormalize3 (a); | ||
386 | beta = dRandReal()-0.5; | ||
387 | for (j=0; j<3; j++) a[j] = p[j] + a[j]*r*0.99 + l*beta*R[j*4+2]; | ||
388 | if (dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) < 0) FAILED(); | ||
389 | |||
390 | // ********** test point depth (1) | ||
391 | |||
392 | d = (dRandReal()*2-1) * r; | ||
393 | beta = dRandReal()*2*M_PI; | ||
394 | x = (r-d)*sin(beta); | ||
395 | y = (r-d)*cos(beta); | ||
396 | beta = dRandReal()-0.5; | ||
397 | for (j=0; j<3; j++) a[j] = p[j] + x*R[j*4+0] + y*R[j*4+1] + l*beta*R[j*4+2]; | ||
398 | if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - d) >= tol) | ||
399 | FAILED(); | ||
400 | |||
401 | // ********** test point depth (2) | ||
402 | |||
403 | d = (dRandReal()*2-1) * r; | ||
404 | for (j=0; j<3; j++) a[j] = dRandReal()-0.5; | ||
405 | dNormalize3 (a); | ||
406 | if (dDOT14(a,R+2) > 0) { | ||
407 | for (j=0; j<3; j++) a[j] = p[j] + a[j]*(r-d) + l*0.5*R[j*4+2]; | ||
408 | } | ||
409 | else { | ||
410 | for (j=0; j<3; j++) a[j] = p[j] + a[j]*(r-d) - l*0.5*R[j*4+2]; | ||
411 | } | ||
412 | if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - d) >= tol) | ||
413 | FAILED(); | ||
414 | |||
415 | PASSED(); | ||
416 | } | ||
417 | |||
418 | |||
419 | int test_plane_point_depth() | ||
420 | { | ||
421 | int j; | ||
422 | dVector3 n,p,q,a,b; // n = plane normal | ||
423 | dReal d; | ||
424 | |||
425 | dSimpleSpace space(0); | ||
426 | dGeomID plane = dCreatePlane (0,0,0,1,0); | ||
427 | dSpaceAdd (space,plane); | ||
428 | |||
429 | // ********** make a random plane | ||
430 | |||
431 | for (j=0; j<3; j++) n[j] = dRandReal() - 0.5; | ||
432 | dNormalize3 (n); | ||
433 | d = dRandReal() - 0.5; | ||
434 | dGeomPlaneSetParams (plane,n[0],n[1],n[2],d); | ||
435 | dPlaneSpace (n,p,q); | ||
436 | |||
437 | // ********** test point on plane has depth 0 | ||
438 | |||
439 | a[0] = dRandReal() - 0.5; | ||
440 | a[1] = dRandReal() - 0.5; | ||
441 | a[2] = 0; | ||
442 | for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; | ||
443 | if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2])) >= tol) FAILED(); | ||
444 | |||
445 | // ********** test arbitrary depth point | ||
446 | |||
447 | a[0] = dRandReal() - 0.5; | ||
448 | a[1] = dRandReal() - 0.5; | ||
449 | a[2] = dRandReal() - 0.5; | ||
450 | for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; | ||
451 | if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2]) + a[2]) >= tol) | ||
452 | FAILED(); | ||
453 | |||
454 | // ********** test depth-1 point | ||
455 | |||
456 | a[0] = dRandReal() - 0.5; | ||
457 | a[1] = dRandReal() - 0.5; | ||
458 | a[2] = -1; | ||
459 | for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; | ||
460 | if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2]) - 1) >= tol) FAILED(); | ||
461 | |||
462 | PASSED(); | ||
463 | } | ||
464 | |||
465 | //**************************************************************************** | ||
466 | // ray tests | ||
467 | |||
468 | int test_ray_and_sphere() | ||
469 | { | ||
470 | int j; | ||
471 | dContactGeom contact; | ||
472 | dVector3 p,q,q2,n,v1; | ||
473 | dMatrix3 R; | ||
474 | dReal r,k; | ||
475 | |||
476 | dSimpleSpace space(0); | ||
477 | dGeomID ray = dCreateRay (0,0); | ||
478 | dGeomID sphere = dCreateSphere (0,1); | ||
479 | dSpaceAdd (space,ray); | ||
480 | dSpaceAdd (space,sphere); | ||
481 | |||
482 | // ********** make a random sphere of radius r at position p | ||
483 | |||
484 | r = dRandReal()+0.1; | ||
485 | dGeomSphereSetRadius (sphere,r); | ||
486 | dMakeRandomVector (p,3,1.0); | ||
487 | dGeomSetPosition (sphere,p[0],p[1],p[2]); | ||
488 | dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, | ||
489 | dRandReal()*2-1,dRandReal()*10-5); | ||
490 | dGeomSetRotation (sphere,R); | ||
491 | |||
492 | // ********** test zero length ray just inside sphere | ||
493 | |||
494 | dGeomRaySetLength (ray,0); | ||
495 | dMakeRandomVector (q,3,1.0); | ||
496 | dNormalize3 (q); | ||
497 | for (j=0; j<3; j++) q[j] = 0.99*r * q[j] + p[j]; | ||
498 | dGeomSetPosition (ray,q[0],q[1],q[2]); | ||
499 | dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, | ||
500 | dRandReal()*2-1,dRandReal()*10-5); | ||
501 | dGeomSetRotation (ray,R); | ||
502 | if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
503 | |||
504 | // ********** test zero length ray just outside that sphere | ||
505 | |||
506 | dGeomRaySetLength (ray,0); | ||
507 | dMakeRandomVector (q,3,1.0); | ||
508 | dNormalize3 (q); | ||
509 | for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j]; | ||
510 | dGeomSetPosition (ray,q[0],q[1],q[2]); | ||
511 | dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, | ||
512 | dRandReal()*2-1,dRandReal()*10-5); | ||
513 | dGeomSetRotation (ray,R); | ||
514 | if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
515 | |||
516 | // ********** test finite length ray totally contained inside the sphere | ||
517 | |||
518 | dMakeRandomVector (q,3,1.0); | ||
519 | dNormalize3 (q); | ||
520 | k = dRandReal(); | ||
521 | for (j=0; j<3; j++) q[j] = k*r*0.99 * q[j] + p[j]; | ||
522 | dMakeRandomVector (q2,3,1.0); | ||
523 | dNormalize3 (q2); | ||
524 | k = dRandReal(); | ||
525 | for (j=0; j<3; j++) q2[j] = k*r*0.99 * q2[j] + p[j]; | ||
526 | for (j=0; j<3; j++) n[j] = q2[j] - q[j]; | ||
527 | dNormalize3 (n); | ||
528 | dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); | ||
529 | dGeomRaySetLength (ray,dDISTANCE (q,q2)); | ||
530 | if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
531 | |||
532 | // ********** test finite length ray totally outside the sphere | ||
533 | |||
534 | dMakeRandomVector (q,3,1.0); | ||
535 | dNormalize3 (q); | ||
536 | do { | ||
537 | dMakeRandomVector (n,3,1.0); | ||
538 | dNormalize3 (n); | ||
539 | } | ||
540 | while (dDOT(n,q) < 0); // make sure normal goes away from sphere | ||
541 | for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j]; | ||
542 | dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); | ||
543 | dGeomRaySetLength (ray,100); | ||
544 | if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
545 | |||
546 | // ********** test ray from outside to just above surface | ||
547 | |||
548 | dMakeRandomVector (q,3,1.0); | ||
549 | dNormalize3 (q); | ||
550 | for (j=0; j<3; j++) n[j] = -q[j]; | ||
551 | for (j=0; j<3; j++) q2[j] = 2*r * q[j] + p[j]; | ||
552 | dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]); | ||
553 | dGeomRaySetLength (ray,0.99*r); | ||
554 | if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
555 | |||
556 | // ********** test ray from outside to just below surface | ||
557 | |||
558 | dGeomRaySetLength (ray,1.01*r); | ||
559 | if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); | ||
560 | for (j=0; j<3; j++) q2[j] = r * q[j] + p[j]; | ||
561 | if (dDISTANCE (contact.pos,q2) > tol) FAILED(); | ||
562 | |||
563 | // ********** test contact point distance for random rays | ||
564 | |||
565 | dMakeRandomVector (q,3,1.0); | ||
566 | dNormalize3 (q); | ||
567 | k = dRandReal()+0.5; | ||
568 | for (j=0; j<3; j++) q[j] = k*r * q[j] + p[j]; | ||
569 | dMakeRandomVector (n,3,1.0); | ||
570 | dNormalize3 (n); | ||
571 | dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); | ||
572 | dGeomRaySetLength (ray,100); | ||
573 | if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom))) { | ||
574 | k = dDISTANCE (contact.pos,dGeomGetPosition(sphere)); | ||
575 | if (dFabs(k - r) > tol) FAILED(); | ||
576 | // also check normal signs | ||
577 | if (dDOT (n,contact.normal) > 0) FAILED(); | ||
578 | // also check depth of contact point | ||
579 | if (dFabs (dGeomSpherePointDepth | ||
580 | (sphere,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) | ||
581 | FAILED(); | ||
582 | |||
583 | draw_all_objects (space); | ||
584 | } | ||
585 | |||
586 | // ********** test tangential grazing - miss | ||
587 | |||
588 | dMakeRandomVector (q,3,1.0); | ||
589 | dNormalize3 (q); | ||
590 | dPlaneSpace (q,n,v1); | ||
591 | for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j]; | ||
592 | for (j=0; j<3; j++) q[j] -= n[j]; | ||
593 | dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); | ||
594 | dGeomRaySetLength (ray,2); | ||
595 | if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
596 | |||
597 | // ********** test tangential grazing - hit | ||
598 | |||
599 | dMakeRandomVector (q,3,1.0); | ||
600 | dNormalize3 (q); | ||
601 | dPlaneSpace (q,n,v1); | ||
602 | for (j=0; j<3; j++) q[j] = 0.99*r * q[j] + p[j]; | ||
603 | for (j=0; j<3; j++) q[j] -= n[j]; | ||
604 | dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); | ||
605 | dGeomRaySetLength (ray,2); | ||
606 | if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); | ||
607 | |||
608 | PASSED(); | ||
609 | } | ||
610 | |||
611 | |||
612 | int test_ray_and_box() | ||
613 | { | ||
614 | int i,j; | ||
615 | dContactGeom contact; | ||
616 | dVector3 s,p,q,n,q2,q3,q4; // s = box sides | ||
617 | dMatrix3 R; | ||
618 | dReal k; | ||
619 | |||
620 | dSimpleSpace space(0); | ||
621 | dGeomID ray = dCreateRay (0,0); | ||
622 | dGeomID box = dCreateBox (0,1,1,1); | ||
623 | dSpaceAdd (space,ray); | ||
624 | dSpaceAdd (space,box); | ||
625 | |||
626 | // ********** make a random box | ||
627 | |||
628 | for (j=0; j<3; j++) s[j] = dRandReal() + 0.1; | ||
629 | dGeomBoxSetLengths (box,s[0],s[1],s[2]); | ||
630 | dMakeRandomVector (p,3,1.0); | ||
631 | dGeomSetPosition (box,p[0],p[1],p[2]); | ||
632 | dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, | ||
633 | dRandReal()*2-1,dRandReal()*10-5); | ||
634 | dGeomSetRotation (box,R); | ||
635 | |||
636 | // ********** test zero length ray just inside box | ||
637 | |||
638 | dGeomRaySetLength (ray,0); | ||
639 | for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j]; | ||
640 | i = dRandInt (3); | ||
641 | if (dRandReal() > 0.5) q[i] = 0.99*0.5*s[i]; else q[i] = -0.99*0.5*s[i]; | ||
642 | dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); | ||
643 | for (j=0; j<3; j++) q2[j] += p[j]; | ||
644 | dGeomSetPosition (ray,q2[0],q2[1],q2[2]); | ||
645 | dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, | ||
646 | dRandReal()*2-1,dRandReal()*10-5); | ||
647 | dGeomSetRotation (ray,R); | ||
648 | if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
649 | |||
650 | // ********** test zero length ray just outside box | ||
651 | |||
652 | dGeomRaySetLength (ray,0); | ||
653 | for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j]; | ||
654 | i = dRandInt (3); | ||
655 | if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i]; | ||
656 | dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); | ||
657 | for (j=0; j<3; j++) q2[j] += p[j]; | ||
658 | dGeomSetPosition (ray,q2[0],q2[1],q2[2]); | ||
659 | dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, | ||
660 | dRandReal()*2-1,dRandReal()*10-5); | ||
661 | dGeomSetRotation (ray,R); | ||
662 | if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
663 | |||
664 | // ********** test finite length ray totally contained inside the box | ||
665 | |||
666 | for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*0.99*s[j]; | ||
667 | dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); | ||
668 | for (j=0; j<3; j++) q2[j] += p[j]; | ||
669 | for (j=0; j<3; j++) q3[j] = (dRandReal()-0.5)*0.99*s[j]; | ||
670 | dMultiply0 (q4,dGeomGetRotation(box),q3,3,3,1); | ||
671 | for (j=0; j<3; j++) q4[j] += p[j]; | ||
672 | for (j=0; j<3; j++) n[j] = q4[j] - q2[j]; | ||
673 | dNormalize3 (n); | ||
674 | dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]); | ||
675 | dGeomRaySetLength (ray,dDISTANCE(q2,q4)); | ||
676 | if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
677 | |||
678 | // ********** test finite length ray totally outside the box | ||
679 | |||
680 | for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j]; | ||
681 | i = dRandInt (3); | ||
682 | if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i]; | ||
683 | dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); | ||
684 | for (j=0; j<3; j++) q3[j] = q2[j] + p[j]; | ||
685 | dNormalize3 (q2); | ||
686 | dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]); | ||
687 | dGeomRaySetLength (ray,10); | ||
688 | if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
689 | |||
690 | // ********** test ray from outside to just above surface | ||
691 | |||
692 | for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j]; | ||
693 | i = dRandInt (3); | ||
694 | if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i]; | ||
695 | dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); | ||
696 | for (j=0; j<3; j++) q3[j] = 2*q2[j] + p[j]; | ||
697 | k = dSqrt(q2[0]*q2[0] + q2[1]*q2[1] + q2[2]*q2[2]); | ||
698 | for (j=0; j<3; j++) q2[j] = -q2[j]; | ||
699 | dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]); | ||
700 | dGeomRaySetLength (ray,k*0.99); | ||
701 | if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
702 | |||
703 | // ********** test ray from outside to just below surface | ||
704 | |||
705 | dGeomRaySetLength (ray,k*1.01); | ||
706 | if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); | ||
707 | |||
708 | // ********** test contact point position for random rays | ||
709 | |||
710 | for (j=0; j<3; j++) q[j] = dRandReal()*s[j]; | ||
711 | dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); | ||
712 | for (j=0; j<3; j++) q2[j] += p[j]; | ||
713 | for (j=0; j<3; j++) q3[j] = dRandReal()-0.5; | ||
714 | dNormalize3 (q3); | ||
715 | dGeomRaySet (ray,q2[0],q2[1],q2[2],q3[0],q3[1],q3[2]); | ||
716 | dGeomRaySetLength (ray,10); | ||
717 | if (dCollide (ray,box,1,&contact,sizeof(dContactGeom))) { | ||
718 | // check depth of contact point | ||
719 | if (dFabs (dGeomBoxPointDepth | ||
720 | (box,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) | ||
721 | FAILED(); | ||
722 | // check position of contact point | ||
723 | for (j=0; j<3; j++) contact.pos[j] -= p[j]; | ||
724 | dMultiply1 (q,dGeomGetRotation(box),contact.pos,3,3,1); | ||
725 | if ( dFabs(dFabs (q[0]) - 0.5*s[0]) > tol && | ||
726 | dFabs(dFabs (q[1]) - 0.5*s[1]) > tol && | ||
727 | dFabs(dFabs (q[2]) - 0.5*s[2]) > tol) { | ||
728 | FAILED(); | ||
729 | } | ||
730 | // also check normal signs | ||
731 | if (dDOT (q3,contact.normal) > 0) FAILED(); | ||
732 | |||
733 | draw_all_objects (space); | ||
734 | } | ||
735 | |||
736 | PASSED(); | ||
737 | } | ||
738 | |||
739 | |||
740 | int test_ray_and_ccylinder() | ||
741 | { | ||
742 | int j; | ||
743 | dContactGeom contact; | ||
744 | dVector3 p,a,b,n; | ||
745 | dMatrix3 R; | ||
746 | dReal r,l,k,x,y; | ||
747 | |||
748 | dSimpleSpace space(0); | ||
749 | dGeomID ray = dCreateRay (0,0); | ||
750 | dGeomID ccyl = dCreateCapsule (0,1,1); | ||
751 | dSpaceAdd (space,ray); | ||
752 | dSpaceAdd (space,ccyl); | ||
753 | |||
754 | // ********** make a random capped cylinder | ||
755 | |||
756 | r = dRandReal()*0.5 + 0.01; | ||
757 | l = dRandReal()*1 + 0.01; | ||
758 | dGeomCapsuleSetParams (ccyl,r,l); | ||
759 | dMakeRandomVector (p,3,1.0); | ||
760 | dGeomSetPosition (ccyl,p[0],p[1],p[2]); | ||
761 | dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, | ||
762 | dRandReal()*2-1,dRandReal()*10-5); | ||
763 | dGeomSetRotation (ccyl,R); | ||
764 | |||
765 | // ********** test ray completely within ccyl | ||
766 | |||
767 | for (j=0; j<3; j++) a[j] = dRandReal()-0.5; | ||
768 | dNormalize3 (a); | ||
769 | k = (dRandReal()-0.5)*l; | ||
770 | for (j=0; j<3; j++) a[j] = p[j] + r*0.99*a[j] + k*0.99*R[j*4+2]; | ||
771 | for (j=0; j<3; j++) b[j] = dRandReal()-0.5; | ||
772 | dNormalize3 (b); | ||
773 | k = (dRandReal()-0.5)*l; | ||
774 | for (j=0; j<3; j++) b[j] = p[j] + r*0.99*b[j] + k*0.99*R[j*4+2]; | ||
775 | dGeomRaySetLength (ray,dDISTANCE(a,b)); | ||
776 | for (j=0; j<3; j++) b[j] -= a[j]; | ||
777 | dNormalize3 (b); | ||
778 | dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]); | ||
779 | if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
780 | |||
781 | // ********** test ray outside ccyl that just misses (between caps) | ||
782 | |||
783 | k = dRandReal()*2*M_PI; | ||
784 | x = sin(k); | ||
785 | y = cos(k); | ||
786 | for (j=0; j<3; j++) a[j] = x*R[j*4+0] + y*R[j*4+1]; | ||
787 | k = (dRandReal()-0.5)*l; | ||
788 | for (j=0; j<3; j++) b[j] = -a[j]*r*2 + k*R[j*4+2] + p[j]; | ||
789 | dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]); | ||
790 | dGeomRaySetLength (ray,r*0.99); | ||
791 | if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
792 | |||
793 | // ********** test ray outside ccyl that just hits (between caps) | ||
794 | |||
795 | dGeomRaySetLength (ray,r*1.01); | ||
796 | if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); | ||
797 | // check depth of contact point | ||
798 | if (dFabs (dGeomCapsulePointDepth | ||
799 | (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) | ||
800 | FAILED(); | ||
801 | |||
802 | // ********** test ray outside ccyl that just misses (caps) | ||
803 | |||
804 | for (j=0; j<3; j++) a[j] = dRandReal()-0.5; | ||
805 | dNormalize3 (a); | ||
806 | if (dDOT14(a,R+2) < 0) { | ||
807 | for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r + l*0.5*R[j*4+2]; | ||
808 | } | ||
809 | else { | ||
810 | for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r - l*0.5*R[j*4+2]; | ||
811 | } | ||
812 | dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]); | ||
813 | dGeomRaySetLength (ray,r*0.99); | ||
814 | if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
815 | |||
816 | // ********** test ray outside ccyl that just hits (caps) | ||
817 | |||
818 | dGeomRaySetLength (ray,r*1.01); | ||
819 | if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); | ||
820 | // check depth of contact point | ||
821 | if (dFabs (dGeomCapsulePointDepth | ||
822 | (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) | ||
823 | FAILED(); | ||
824 | |||
825 | // ********** test random rays | ||
826 | |||
827 | for (j=0; j<3; j++) a[j] = dRandReal()-0.5; | ||
828 | for (j=0; j<3; j++) n[j] = dRandReal()-0.5; | ||
829 | dNormalize3 (n); | ||
830 | dGeomRaySet (ray,a[0],a[1],a[2],n[0],n[1],n[2]); | ||
831 | dGeomRaySetLength (ray,10); | ||
832 | |||
833 | if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom))) { | ||
834 | // check depth of contact point | ||
835 | if (dFabs (dGeomCapsulePointDepth | ||
836 | (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) | ||
837 | FAILED(); | ||
838 | |||
839 | // check normal signs | ||
840 | if (dDOT (n,contact.normal) > 0) FAILED(); | ||
841 | |||
842 | draw_all_objects (space); | ||
843 | } | ||
844 | |||
845 | PASSED(); | ||
846 | } | ||
847 | |||
848 | |||
849 | int test_ray_and_plane() | ||
850 | { | ||
851 | int j; | ||
852 | dContactGeom contact; | ||
853 | dVector3 n,p,q,a,b,g,h; // n,d = plane parameters | ||
854 | dMatrix3 R; | ||
855 | dReal d; | ||
856 | |||
857 | dSimpleSpace space(0); | ||
858 | dGeomID ray = dCreateRay (0,0); | ||
859 | dGeomID plane = dCreatePlane (0,0,0,1,0); | ||
860 | dSpaceAdd (space,ray); | ||
861 | dSpaceAdd (space,plane); | ||
862 | |||
863 | // ********** make a random plane | ||
864 | |||
865 | for (j=0; j<3; j++) n[j] = dRandReal() - 0.5; | ||
866 | dNormalize3 (n); | ||
867 | d = dRandReal() - 0.5; | ||
868 | dGeomPlaneSetParams (plane,n[0],n[1],n[2],d); | ||
869 | dPlaneSpace (n,p,q); | ||
870 | |||
871 | // ********** test finite length ray below plane | ||
872 | |||
873 | dGeomRaySetLength (ray,0.09); | ||
874 | a[0] = dRandReal()-0.5; | ||
875 | a[1] = dRandReal()-0.5; | ||
876 | a[2] = -dRandReal()*0.5 - 0.1; | ||
877 | for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; | ||
878 | dGeomSetPosition (ray,b[0],b[1],b[2]); | ||
879 | dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, | ||
880 | dRandReal()*2-1,dRandReal()*10-5); | ||
881 | dGeomSetRotation (ray,R); | ||
882 | if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
883 | |||
884 | // ********** test finite length ray above plane | ||
885 | |||
886 | a[0] = dRandReal()-0.5; | ||
887 | a[1] = dRandReal()-0.5; | ||
888 | a[2] = dRandReal()*0.5 + 0.01; | ||
889 | for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; | ||
890 | g[0] = dRandReal()-0.5; | ||
891 | g[1] = dRandReal()-0.5; | ||
892 | g[2] = dRandReal() + 0.01; | ||
893 | for (j=0; j<3; j++) h[j] = g[0]*p[j] + g[1]*q[j] + g[2]*n[j]; | ||
894 | dNormalize3 (h); | ||
895 | dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]); | ||
896 | dGeomRaySetLength (ray,10); | ||
897 | if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
898 | |||
899 | // ********** test finite length ray that intersects plane | ||
900 | |||
901 | a[0] = dRandReal()-0.5; | ||
902 | a[1] = dRandReal()-0.5; | ||
903 | a[2] = dRandReal()-0.5; | ||
904 | for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; | ||
905 | g[0] = dRandReal()-0.5; | ||
906 | g[1] = dRandReal()-0.5; | ||
907 | g[2] = dRandReal()-0.5; | ||
908 | for (j=0; j<3; j++) h[j] = g[0]*p[j] + g[1]*q[j] + g[2]*n[j]; | ||
909 | dNormalize3 (h); | ||
910 | dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]); | ||
911 | dGeomRaySetLength (ray,10); | ||
912 | if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom))) { | ||
913 | // test that contact is on plane surface | ||
914 | if (dFabs (dDOT(contact.pos,n) - d) > tol) FAILED(); | ||
915 | // also check normal signs | ||
916 | if (dDOT (h,contact.normal) > 0) FAILED(); | ||
917 | // also check contact point depth | ||
918 | if (dFabs (dGeomPlanePointDepth | ||
919 | (plane,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) | ||
920 | FAILED(); | ||
921 | |||
922 | draw_all_objects (space); | ||
923 | } | ||
924 | |||
925 | // ********** test ray that just misses | ||
926 | |||
927 | for (j=0; j<3; j++) b[j] = (1+d)*n[j]; | ||
928 | for (j=0; j<3; j++) h[j] = -n[j]; | ||
929 | dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]); | ||
930 | dGeomRaySetLength (ray,0.99); | ||
931 | if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); | ||
932 | |||
933 | // ********** test ray that just hits | ||
934 | |||
935 | dGeomRaySetLength (ray,1.01); | ||
936 | if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); | ||
937 | |||
938 | // ********** test polarity with typical ground plane | ||
939 | |||
940 | dGeomPlaneSetParams (plane,0,0,1,0); | ||
941 | for (j=0; j<3; j++) a[j] = 0.1; | ||
942 | for (j=0; j<3; j++) b[j] = 0; | ||
943 | a[2] = 1; | ||
944 | b[2] = -1; | ||
945 | dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]); | ||
946 | dGeomRaySetLength (ray,2); | ||
947 | if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); | ||
948 | if (dFabs (contact.depth - 1) > tol) FAILED(); | ||
949 | a[2] = -1; | ||
950 | b[2] = 1; | ||
951 | dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]); | ||
952 | if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); | ||
953 | if (dFabs (contact.depth - 1) > tol) FAILED(); | ||
954 | |||
955 | PASSED(); | ||
956 | } | ||
957 | |||
958 | //**************************************************************************** | ||
959 | // a really inefficient, but hopefully correct implementation of | ||
960 | // dBoxTouchesBox(), that does 144 edge-face tests. | ||
961 | |||
962 | // return 1 if edge v1 -> v2 hits the rectangle described by p1,p2,p3 | ||
963 | |||
964 | static int edgeIntersectsRect (dVector3 v1, dVector3 v2, | ||
965 | dVector3 p1, dVector3 p2, dVector3 p3) | ||
966 | { | ||
967 | int k; | ||
968 | dVector3 u1,u2,n,tmp; | ||
969 | for (k=0; k<3; k++) u1[k] = p3[k]-p1[k]; | ||
970 | for (k=0; k<3; k++) u2[k] = p2[k]-p1[k]; | ||
971 | dReal d1 = dSqrt(dDOT(u1,u1)); | ||
972 | dReal d2 = dSqrt(dDOT(u2,u2)); | ||
973 | dNormalize3 (u1); | ||
974 | dNormalize3 (u2); | ||
975 | if (dFabs(dDOT(u1,u2)) > 1e-6) dDebug (0,"bad u1/u2"); | ||
976 | dCROSS (n,=,u1,u2); | ||
977 | for (k=0; k<3; k++) tmp[k] = v2[k]-v1[k]; | ||
978 | dReal d = -dDOT(n,p1); | ||
979 | if (dFabs(dDOT(n,p1)+d) > 1e-8) dDebug (0,"bad n wrt p1"); | ||
980 | if (dFabs(dDOT(n,p2)+d) > 1e-8) dDebug (0,"bad n wrt p2"); | ||
981 | if (dFabs(dDOT(n,p3)+d) > 1e-8) dDebug (0,"bad n wrt p3"); | ||
982 | dReal alpha = -(d+dDOT(n,v1))/dDOT(n,tmp); | ||
983 | for (k=0; k<3; k++) tmp[k] = v1[k]+alpha*(v2[k]-v1[k]); | ||
984 | if (dFabs(dDOT(n,tmp)+d) > 1e-6) dDebug (0,"bad tmp"); | ||
985 | if (alpha < 0) return 0; | ||
986 | if (alpha > 1) return 0; | ||
987 | for (k=0; k<3; k++) tmp[k] -= p1[k]; | ||
988 | dReal a1 = dDOT(u1,tmp); | ||
989 | dReal a2 = dDOT(u2,tmp); | ||
990 | if (a1<0 || a2<0 || a1>d1 || a2>d2) return 0; | ||
991 | return 1; | ||
992 | } | ||
993 | |||
994 | |||
995 | // return 1 if box 1 is completely inside box 2 | ||
996 | |||
997 | static int box1inside2 (const dVector3 p1, const dMatrix3 R1, | ||
998 | const dVector3 side1, const dVector3 p2, | ||
999 | const dMatrix3 R2, const dVector3 side2) | ||
1000 | { | ||
1001 | for (int i=-1; i<=1; i+=2) { | ||
1002 | for (int j=-1; j<=1; j+=2) { | ||
1003 | for (int k=-1; k<=1; k+=2) { | ||
1004 | dVector3 v,vv; | ||
1005 | v[0] = i*0.5*side1[0]; | ||
1006 | v[1] = j*0.5*side1[1]; | ||
1007 | v[2] = k*0.5*side1[2]; | ||
1008 | dMULTIPLY0_331 (vv,R1,v); | ||
1009 | vv[0] += p1[0] - p2[0]; | ||
1010 | vv[1] += p1[1] - p2[1]; | ||
1011 | vv[2] += p1[2] - p2[2]; | ||
1012 | for (int axis=0; axis < 3; axis++) { | ||
1013 | dReal z = dDOT14(vv,R2+axis); | ||
1014 | if (z < (-side2[axis]*0.5) || z > (side2[axis]*0.5)) return 0; | ||
1015 | } | ||
1016 | } | ||
1017 | } | ||
1018 | } | ||
1019 | return 1; | ||
1020 | } | ||
1021 | |||
1022 | |||
1023 | // test if any edge from box 1 hits a face from box 2 | ||
1024 | |||
1025 | static int testBoxesTouch2 (const dVector3 p1, const dMatrix3 R1, | ||
1026 | const dVector3 side1, const dVector3 p2, | ||
1027 | const dMatrix3 R2, const dVector3 side2) | ||
1028 | { | ||
1029 | int j,k,j1,j2; | ||
1030 | |||
1031 | // for 6 faces from box 2 | ||
1032 | for (int fd=0; fd<3; fd++) { // direction for face | ||
1033 | |||
1034 | for (int fo=0; fo<2; fo++) { // offset of face | ||
1035 | // get four points on the face. first get 2 indexes that are not fd | ||
1036 | int k1=0,k2=0; | ||
1037 | if (fd==0) { k1 = 1; k2 = 2; } | ||
1038 | if (fd==1) { k1 = 0; k2 = 2; } | ||
1039 | if (fd==2) { k1 = 0; k2 = 1; } | ||
1040 | dVector3 fp[4],tmp; | ||
1041 | k=0; | ||
1042 | for (j1=-1; j1<=1; j1+=2) { | ||
1043 | for (j2=-1; j2<=1; j2+=2) { | ||
1044 | fp[k][k1] = j1; | ||
1045 | fp[k][k2] = j2; | ||
1046 | fp[k][fd] = fo*2-1; | ||
1047 | k++; | ||
1048 | } | ||
1049 | } | ||
1050 | for (j=0; j<4; j++) { | ||
1051 | for (k=0; k<3; k++) fp[j][k] *= 0.5*side2[k]; | ||
1052 | dMULTIPLY0_331 (tmp,R2,fp[j]); | ||
1053 | for (k=0; k<3; k++) fp[j][k] = tmp[k] + p2[k]; | ||
1054 | } | ||
1055 | |||
1056 | // for 8 vertices | ||
1057 | dReal v1[3]; | ||
1058 | for (v1[0]=-1; v1[0] <= 1; v1[0] += 2) { | ||
1059 | for (v1[1]=-1; v1[1] <= 1; v1[1] += 2) { | ||
1060 | for (v1[2]=-1; v1[2] <= 1; v1[2] += 2) { | ||
1061 | // for all possible +ve leading edges from those vertices | ||
1062 | for (int ei=0; ei < 3; ei ++) { | ||
1063 | if (v1[ei] < 0) { | ||
1064 | // get vertex1 -> vertex2 = an edge from box 1 | ||
1065 | dVector3 vv1,vv2; | ||
1066 | for (k=0; k<3; k++) vv1[k] = v1[k] * 0.5*side1[k]; | ||
1067 | for (k=0; k<3; k++) vv2[k] = (v1[k] + (k==ei)*2)*0.5*side1[k]; | ||
1068 | dVector3 vertex1,vertex2; | ||
1069 | dMULTIPLY0_331 (vertex1,R1,vv1); | ||
1070 | dMULTIPLY0_331 (vertex2,R1,vv2); | ||
1071 | for (k=0; k<3; k++) vertex1[k] += p1[k]; | ||
1072 | for (k=0; k<3; k++) vertex2[k] += p1[k]; | ||
1073 | |||
1074 | // see if vertex1 -> vertex2 interesects face | ||
1075 | if (edgeIntersectsRect (vertex1,vertex2,fp[0],fp[1],fp[2])) | ||
1076 | return 1; | ||
1077 | } | ||
1078 | } | ||
1079 | } | ||
1080 | } | ||
1081 | } | ||
1082 | } | ||
1083 | } | ||
1084 | |||
1085 | if (box1inside2 (p1,R1,side1,p2,R2,side2)) return 1; | ||
1086 | if (box1inside2 (p2,R2,side2,p1,R1,side1)) return 1; | ||
1087 | |||
1088 | return 0; | ||
1089 | } | ||
1090 | |||
1091 | //**************************************************************************** | ||
1092 | // dBoxTouchesBox() test | ||
1093 | |||
1094 | int test_dBoxTouchesBox() | ||
1095 | { | ||
1096 | int k,bt1,bt2; | ||
1097 | dVector3 p1,p2,side1,side2; | ||
1098 | dMatrix3 R1,R2; | ||
1099 | |||
1100 | dSimpleSpace space(0); | ||
1101 | dGeomID box1 = dCreateBox (0,1,1,1); | ||
1102 | dSpaceAdd (space,box1); | ||
1103 | dGeomID box2 = dCreateBox (0,1,1,1); | ||
1104 | dSpaceAdd (space,box2); | ||
1105 | |||
1106 | dMakeRandomVector (p1,3,0.5); | ||
1107 | dMakeRandomVector (p2,3,0.5); | ||
1108 | for (k=0; k<3; k++) side1[k] = dRandReal() + 0.01; | ||
1109 | for (k=0; k<3; k++) side2[k] = dRandReal() + 0.01; | ||
1110 | dRFromAxisAndAngle (R1,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
1111 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
1112 | dRFromAxisAndAngle (R2,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
1113 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
1114 | |||
1115 | dGeomBoxSetLengths (box1,side1[0],side1[1],side1[2]); | ||
1116 | dGeomBoxSetLengths (box2,side2[0],side2[1],side2[2]); | ||
1117 | dGeomSetPosition (box1,p1[0],p1[1],p1[2]); | ||
1118 | dGeomSetRotation (box1,R1); | ||
1119 | dGeomSetPosition (box2,p2[0],p2[1],p2[2]); | ||
1120 | dGeomSetRotation (box2,R2); | ||
1121 | draw_all_objects (space); | ||
1122 | |||
1123 | int t1 = testBoxesTouch2 (p1,R1,side1,p2,R2,side2); | ||
1124 | int t2 = testBoxesTouch2 (p2,R2,side2,p1,R1,side1); | ||
1125 | bt1 = t1 || t2; | ||
1126 | bt2 = dBoxTouchesBox (p1,R1,side1,p2,R2,side2); | ||
1127 | |||
1128 | if (bt1 != bt2) FAILED(); | ||
1129 | |||
1130 | /* | ||
1131 | // some more debugging info if necessary | ||
1132 | if (bt1 && bt2) printf ("agree - boxes touch\n"); | ||
1133 | if (!bt1 && !bt2) printf ("agree - boxes don't touch\n"); | ||
1134 | if (bt1 && !bt2) printf ("disagree - boxes touch but dBoxTouchesBox " | ||
1135 | "says no\n"); | ||
1136 | if (!bt1 && bt2) printf ("disagree - boxes don't touch but dBoxTouchesBox " | ||
1137 | "says yes\n"); | ||
1138 | */ | ||
1139 | |||
1140 | PASSED(); | ||
1141 | } | ||
1142 | |||
1143 | //**************************************************************************** | ||
1144 | // test box-box collision | ||
1145 | |||
1146 | int test_dBoxBox() | ||
1147 | { | ||
1148 | int k,bt; | ||
1149 | dVector3 p1,p2,side1,side2,normal,normal2; | ||
1150 | dMatrix3 R1,R2; | ||
1151 | dReal depth,depth2; | ||
1152 | int code; | ||
1153 | dContactGeom contact[48]; | ||
1154 | |||
1155 | dSimpleSpace space(0); | ||
1156 | dGeomID box1 = dCreateBox (0,1,1,1); | ||
1157 | dSpaceAdd (space,box1); | ||
1158 | dGeomID box2 = dCreateBox (0,1,1,1); | ||
1159 | dSpaceAdd (space,box2); | ||
1160 | |||
1161 | dMakeRandomVector (p1,3,0.5); | ||
1162 | dMakeRandomVector (p2,3,0.5); | ||
1163 | for (k=0; k<3; k++) side1[k] = dRandReal() + 0.01; | ||
1164 | for (k=0; k<3; k++) side2[k] = dRandReal() + 0.01; | ||
1165 | |||
1166 | dRFromAxisAndAngle (R1,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
1167 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
1168 | dRFromAxisAndAngle (R2,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
1169 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
1170 | |||
1171 | // dRSetIdentity (R1); // we can also try this | ||
1172 | // dRSetIdentity (R2); | ||
1173 | |||
1174 | dGeomBoxSetLengths (box1,side1[0],side1[1],side1[2]); | ||
1175 | dGeomBoxSetLengths (box2,side2[0],side2[1],side2[2]); | ||
1176 | dGeomSetPosition (box1,p1[0],p1[1],p1[2]); | ||
1177 | dGeomSetRotation (box1,R1); | ||
1178 | dGeomSetPosition (box2,p2[0],p2[1],p2[2]); | ||
1179 | dGeomSetRotation (box2,R2); | ||
1180 | |||
1181 | code = 0; | ||
1182 | depth = 0; | ||
1183 | bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal,&depth,&code,8,contact, | ||
1184 | sizeof(dContactGeom)); | ||
1185 | if (bt==1) { | ||
1186 | p2[0] += normal[0] * 0.96 * depth; | ||
1187 | p2[1] += normal[1] * 0.96 * depth; | ||
1188 | p2[2] += normal[2] * 0.96 * depth; | ||
1189 | bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal2,&depth2,&code,8,contact, | ||
1190 | sizeof(dContactGeom)); | ||
1191 | |||
1192 | /* | ||
1193 | dGeomSetPosition (box2,p2[0],p2[1],p2[2]); | ||
1194 | draw_all_objects (space); | ||
1195 | */ | ||
1196 | |||
1197 | if (bt != 1) { | ||
1198 | FAILED(); | ||
1199 | dGeomSetPosition (box2,p2[0],p2[1],p2[2]); | ||
1200 | draw_all_objects (space); | ||
1201 | } | ||
1202 | |||
1203 | p2[0] += normal[0] * 0.08 * depth; | ||
1204 | p2[1] += normal[1] * 0.08 * depth; | ||
1205 | p2[2] += normal[2] * 0.08 * depth; | ||
1206 | bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal2,&depth2,&code,8,contact, | ||
1207 | sizeof(dContactGeom)); | ||
1208 | if (bt != 0) FAILED(); | ||
1209 | |||
1210 | // dGeomSetPosition (box2,p2[0],p2[1],p2[2]); | ||
1211 | // draw_all_objects (space); | ||
1212 | } | ||
1213 | |||
1214 | // printf ("code=%2d depth=%.4f ",code,depth); | ||
1215 | |||
1216 | PASSED(); | ||
1217 | } | ||
1218 | |||
1219 | //**************************************************************************** | ||
1220 | // graphics | ||
1221 | |||
1222 | int space_pressed = 0; | ||
1223 | |||
1224 | |||
1225 | // start simulation - set viewpoint | ||
1226 | |||
1227 | static void start() | ||
1228 | { | ||
1229 | static float xyz[3] = {2.4807,-1.8023,2.7600}; | ||
1230 | static float hpr[3] = {141.5000,-18.5000,0.0000}; | ||
1231 | dsSetViewpoint (xyz,hpr); | ||
1232 | } | ||
1233 | |||
1234 | |||
1235 | // called when a key pressed | ||
1236 | |||
1237 | static void command (int cmd) | ||
1238 | { | ||
1239 | if (cmd == ' ') space_pressed = 1; | ||
1240 | } | ||
1241 | |||
1242 | |||
1243 | // simulation loop | ||
1244 | |||
1245 | static void simLoop (int pause) | ||
1246 | { | ||
1247 | do { | ||
1248 | draw_all_objects_called = 0; | ||
1249 | unsigned long seed = dRandGetSeed(); | ||
1250 | testslot[graphical_test].test_fn(); | ||
1251 | if (draw_all_objects_called) { | ||
1252 | if (space_pressed) space_pressed = 0; else dRandSetSeed (seed); | ||
1253 | } | ||
1254 | } | ||
1255 | while (!draw_all_objects_called); | ||
1256 | } | ||
1257 | |||
1258 | //**************************************************************************** | ||
1259 | // do all the tests | ||
1260 | |||
1261 | void do_tests (int argc, char **argv) | ||
1262 | { | ||
1263 | int i,j; | ||
1264 | |||
1265 | // process command line arguments | ||
1266 | if (argc >= 2) { | ||
1267 | graphical_test = atoi (argv[1]); | ||
1268 | } | ||
1269 | |||
1270 | if (graphical_test) { | ||
1271 | // do one test gaphically and interactively | ||
1272 | |||
1273 | if (graphical_test < 1 || graphical_test >= MAX_TESTS || | ||
1274 | !testslot[graphical_test].name) { | ||
1275 | dError (0,"invalid test number"); | ||
1276 | } | ||
1277 | |||
1278 | printf ("performing test: %s\n",testslot[graphical_test].name); | ||
1279 | |||
1280 | // setup pointers to drawstuff callback functions | ||
1281 | dsFunctions fn; | ||
1282 | fn.version = DS_VERSION; | ||
1283 | fn.start = &start; | ||
1284 | fn.step = &simLoop; | ||
1285 | fn.command = &command; | ||
1286 | fn.stop = 0; | ||
1287 | fn.path_to_textures = "../../drawstuff/textures"; | ||
1288 | |||
1289 | dsSetSphereQuality (3); | ||
1290 | dsSetCapsuleQuality (8); | ||
1291 | dsSimulationLoop (argc,argv,1280,900,&fn); | ||
1292 | } | ||
1293 | else { | ||
1294 | // do all tests noninteractively | ||
1295 | |||
1296 | for (i=0; i<MAX_TESTS; i++) testslot[i].number = i; | ||
1297 | |||
1298 | // first put the active tests into a separate array | ||
1299 | int n=0; | ||
1300 | for (i=0; i<MAX_TESTS; i++) if (testslot[i].name) n++; | ||
1301 | TestSlot **ts = (TestSlot**) alloca (n * sizeof(TestSlot*)); | ||
1302 | j = 0; | ||
1303 | for (i=0; i<MAX_TESTS; i++) if (testslot[i].name) ts[j++] = testslot+i; | ||
1304 | if (j != n) dDebug (0,"internal"); | ||
1305 | |||
1306 | // do two test batches. the first test batch has far fewer reps and will | ||
1307 | // catch problems quickly. if all tests in the first batch passes, the | ||
1308 | // second batch is run. | ||
1309 | |||
1310 | for (i=0; i<n; i++) ts[i]->failcount = 0; | ||
1311 | int total_reps=0; | ||
1312 | for (int batch=0; batch<2; batch++) { | ||
1313 | int reps = (batch==0) ? TEST_REPS1 : TEST_REPS2; | ||
1314 | total_reps += reps; | ||
1315 | printf ("testing batch %d (%d reps)...\n",batch+1,reps); | ||
1316 | |||
1317 | // run tests | ||
1318 | for (j=0; j<reps; j++) { | ||
1319 | for (i=0; i<n; i++) { | ||
1320 | current_test = ts[i]->number; | ||
1321 | if (ts[i]->test_fn() != 1) ts[i]->failcount++; | ||
1322 | } | ||
1323 | } | ||
1324 | |||
1325 | // check for failures | ||
1326 | int total_fail_count=0; | ||
1327 | for (i=0; i<n; i++) total_fail_count += ts[i]->failcount; | ||
1328 | if (total_fail_count) break; | ||
1329 | } | ||
1330 | |||
1331 | // print results | ||
1332 | for (i=0; i<n; i++) { | ||
1333 | printf ("%3d: %-30s: ",ts[i]->number,ts[i]->name); | ||
1334 | if (ts[i]->failcount) { | ||
1335 | printf ("FAILED (%.2f%%) at line %d\n", | ||
1336 | double(ts[i]->failcount)/double(total_reps)*100.0, | ||
1337 | ts[i]->last_failed_line); | ||
1338 | } | ||
1339 | else { | ||
1340 | printf ("ok\n"); | ||
1341 | } | ||
1342 | } | ||
1343 | } | ||
1344 | } | ||
1345 | |||
1346 | //**************************************************************************** | ||
1347 | |||
1348 | int main (int argc, char **argv) | ||
1349 | { | ||
1350 | // setup all tests | ||
1351 | |||
1352 | memset (testslot,0,sizeof(testslot)); | ||
1353 | dInitODE(); | ||
1354 | |||
1355 | MAKE_TEST(1,test_sphere_point_depth); | ||
1356 | MAKE_TEST(2,test_box_point_depth); | ||
1357 | MAKE_TEST(3,test_ccylinder_point_depth); | ||
1358 | MAKE_TEST(4,test_plane_point_depth); | ||
1359 | |||
1360 | MAKE_TEST(10,test_ray_and_sphere); | ||
1361 | MAKE_TEST(11,test_ray_and_box); | ||
1362 | MAKE_TEST(12,test_ray_and_ccylinder); | ||
1363 | MAKE_TEST(13,test_ray_and_plane); | ||
1364 | |||
1365 | MAKE_TEST(100,test_dBoxTouchesBox); | ||
1366 | MAKE_TEST(101,test_dBoxBox); | ||
1367 | |||
1368 | do_tests (argc,argv); | ||
1369 | dCloseODE(); | ||
1370 | return 0; | ||
1371 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_convex_cd.cpp b/libraries/ode-0.9/ode/demo/demo_convex_cd.cpp new file mode 100644 index 0000000..e1764f3 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_convex_cd.cpp | |||
@@ -0,0 +1,195 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | #include <stdio.h> | ||
24 | #include <math.h> | ||
25 | #include <ode/ode.h> | ||
26 | #include <drawstuff/drawstuff.h> | ||
27 | #ifdef _MSC_VER | ||
28 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
29 | #endif | ||
30 | |||
31 | |||
32 | #ifndef M_PI | ||
33 | #define M_PI (3.14159265358979323846) | ||
34 | #endif | ||
35 | |||
36 | //<---- Convex Object | ||
37 | dReal planes[]= // planes for a cube | ||
38 | { | ||
39 | 1.0f ,0.0f ,0.0f ,0.25f, | ||
40 | 0.0f ,1.0f ,0.0f ,0.25f, | ||
41 | 0.0f ,0.0f ,1.0f ,0.25f, | ||
42 | -1.0f,0.0f ,0.0f ,0.25f, | ||
43 | 0.0f ,-1.0f,0.0f ,0.25f, | ||
44 | 0.0f ,0.0f ,-1.0f,0.25f | ||
45 | /* | ||
46 | 1.0f ,0.0f ,0.0f ,2.0f, | ||
47 | 0.0f ,1.0f ,0.0f ,1.0f, | ||
48 | 0.0f ,0.0f ,1.0f ,1.0f, | ||
49 | 0.0f ,0.0f ,-1.0f,1.0f, | ||
50 | 0.0f ,-1.0f,0.0f ,1.0f, | ||
51 | -1.0f,0.0f ,0.0f ,0.0f | ||
52 | */ | ||
53 | }; | ||
54 | const unsigned int planecount=6; | ||
55 | |||
56 | dReal points[]= // points for a cube | ||
57 | { | ||
58 | 0.25f,0.25f,0.25f, // point 0 | ||
59 | -0.25f,0.25f,0.25f, // point 1 | ||
60 | |||
61 | 0.25f,-0.25f,0.25f, // point 2 | ||
62 | -0.25f,-0.25f,0.25f,// point 3 | ||
63 | |||
64 | 0.25f,0.25f,-0.25f, // point 4 | ||
65 | -0.25f,0.25f,-0.25f,// point 5 | ||
66 | |||
67 | 0.25f,-0.25f,-0.25f,// point 6 | ||
68 | -0.25f,-0.25f,-0.25f,// point 7 | ||
69 | }; | ||
70 | const unsigned int pointcount=8; | ||
71 | unsigned int polygons[] = //Polygons for a cube (6 squares) | ||
72 | { | ||
73 | 4,0,2,6,4, // positive X | ||
74 | 4,1,0,4,5, // positive Y | ||
75 | 4,0,1,3,2, // positive Z | ||
76 | 4,3,1,5,7, // negative X | ||
77 | 4,2,3,7,6, // negative Y | ||
78 | 4,5,4,6,7, // negative Z | ||
79 | }; | ||
80 | //----> Convex Object | ||
81 | |||
82 | #ifdef dDOUBLE | ||
83 | #define dsDrawConvex dsDrawConvexD | ||
84 | #define dsDrawBox dsDrawBoxD | ||
85 | #endif | ||
86 | |||
87 | dGeomID geoms[2]; | ||
88 | dSpaceID space; | ||
89 | dWorldID world; | ||
90 | dJointGroupID contactgroup; | ||
91 | |||
92 | void start() | ||
93 | { | ||
94 | // adjust the starting viewpoint a bit | ||
95 | float xyz[3],hpr[3]; | ||
96 | dsGetViewpoint (xyz,hpr); | ||
97 | hpr[0] += 7; | ||
98 | dsSetViewpoint (xyz,hpr); | ||
99 | geoms[0]=dCreateConvex (space, | ||
100 | planes, | ||
101 | planecount, | ||
102 | points, | ||
103 | pointcount, | ||
104 | polygons); | ||
105 | dGeomSetPosition (geoms[0],0,0,0.25); | ||
106 | geoms[1]=dCreateConvex (space, | ||
107 | planes, | ||
108 | planecount, | ||
109 | points, | ||
110 | pointcount, | ||
111 | polygons); | ||
112 | dGeomSetPosition (geoms[1],0.25,0.25,0.70); | ||
113 | |||
114 | } | ||
115 | |||
116 | int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, | ||
117 | dContactGeom *contact, int skip); | ||
118 | void simLoop (int pause) | ||
119 | { | ||
120 | static bool DumpInfo=true; | ||
121 | const dReal ss[3] = {0.02,0.02,0.02}; | ||
122 | dContactGeom contacts[8]; | ||
123 | int contactcount = dCollideConvexConvex(geoms[0],geoms[1],8,contacts,sizeof(dContactGeom)); | ||
124 | //fprintf(stdout,"Contact Count %d\n",contactcount); | ||
125 | const dReal* pos; | ||
126 | const dReal* R; | ||
127 | dsSetTexture (DS_WOOD); | ||
128 | pos = dGeomGetPosition (geoms[0]); | ||
129 | R = dGeomGetRotation (geoms[0]); | ||
130 | dsSetColor (0.6f,0.6f,1); | ||
131 | dsDrawConvex(pos,R,planes, | ||
132 | planecount, | ||
133 | points, | ||
134 | pointcount, | ||
135 | polygons); | ||
136 | pos = dGeomGetPosition (geoms[1]); | ||
137 | R = dGeomGetRotation (geoms[1]); | ||
138 | dsSetColor (0.4f,1,1); | ||
139 | dsDrawConvex(pos,R,planes, | ||
140 | planecount, | ||
141 | points, | ||
142 | pointcount, | ||
143 | polygons); | ||
144 | /*if (show_contacts) */ | ||
145 | dMatrix3 RI; | ||
146 | dRSetIdentity (RI); | ||
147 | dsSetColor (1.0f,0,0); | ||
148 | for(int i=0;i<contactcount;++i) | ||
149 | { | ||
150 | if(DumpInfo) | ||
151 | { | ||
152 | //DumpInfo=false; | ||
153 | fprintf(stdout,"Contact %d Normal %f,%f,%f Depth %f\n", | ||
154 | i, | ||
155 | contacts[i].normal[0], | ||
156 | contacts[i].normal[1], | ||
157 | contacts[i].normal[2], | ||
158 | contacts[i].depth); | ||
159 | } | ||
160 | dsDrawBox (contacts[i].pos,RI,ss); | ||
161 | } | ||
162 | if(DumpInfo) | ||
163 | DumpInfo=false; | ||
164 | |||
165 | } | ||
166 | |||
167 | |||
168 | void command (int cmd) | ||
169 | { | ||
170 | dsPrint ("received command %d (`%c')\n",cmd,cmd); | ||
171 | } | ||
172 | |||
173 | |||
174 | int main (int argc, char **argv) | ||
175 | { | ||
176 | // setup pointers to callback functions | ||
177 | dsFunctions fn; | ||
178 | fn.version = DS_VERSION; | ||
179 | fn.start = &start; | ||
180 | fn.step = &simLoop; | ||
181 | fn.command = command; | ||
182 | fn.stop = 0; | ||
183 | fn.path_to_textures = "../../drawstuff/textures"; // uses default | ||
184 | world = dWorldCreate(); | ||
185 | space = dHashSpaceCreate (0); | ||
186 | contactgroup = dJointGroupCreate (0); | ||
187 | |||
188 | // run simulation | ||
189 | dsSimulationLoop (argc,argv,400,400,&fn); | ||
190 | dJointGroupDestroy (contactgroup); | ||
191 | dSpaceDestroy (space); | ||
192 | dWorldDestroy (world); | ||
193 | |||
194 | return 0; | ||
195 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_crash.cpp b/libraries/ode-0.9/ode/demo/demo_crash.cpp new file mode 100644 index 0000000..29ec01f --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_crash.cpp | |||
@@ -0,0 +1,635 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | // This is a demo of the QuickStep and StepFast methods, | ||
24 | // originally by David Whittaker. | ||
25 | |||
26 | #include <ode/ode.h> | ||
27 | #include <drawstuff/drawstuff.h> | ||
28 | |||
29 | #ifdef _MSC_VER | ||
30 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
31 | #endif | ||
32 | |||
33 | // select correct drawing functions | ||
34 | |||
35 | #ifdef dDOUBLE | ||
36 | #define dsDrawBox dsDrawBoxD | ||
37 | #define dsDrawSphere dsDrawSphereD | ||
38 | #define dsDrawCylinder dsDrawCylinderD | ||
39 | #define dsDrawCapsule dsDrawCapsuleD | ||
40 | #endif | ||
41 | |||
42 | |||
43 | // select the method you want to test here (only uncomment *one* line) | ||
44 | #define QUICKSTEP 1 | ||
45 | //#define STEPFAST 1 | ||
46 | |||
47 | // some constants | ||
48 | |||
49 | #define LENGTH 3.5 // chassis length | ||
50 | #define WIDTH 2.5 // chassis width | ||
51 | #define HEIGHT 1.0 // chassis height | ||
52 | #define RADIUS 0.5 // wheel radius | ||
53 | #define STARTZ 1.0 // starting height of chassis | ||
54 | #define CMASS 1 // chassis mass | ||
55 | #define WMASS 1 // wheel mass | ||
56 | #define COMOFFSET -5 // center of mass offset | ||
57 | #define WALLMASS 1 // wall box mass | ||
58 | #define BALLMASS 1 // ball mass | ||
59 | #define FMAX 25 // car engine fmax | ||
60 | #define ROWS 1 // rows of cars | ||
61 | #define COLS 1 // columns of cars | ||
62 | #define ITERS 20 // number of iterations | ||
63 | #define WBOXSIZE 1.0 // size of wall boxes | ||
64 | #define WALLWIDTH 12 // width of wall | ||
65 | #define WALLHEIGHT 10 // height of wall | ||
66 | #define DISABLE_THRESHOLD 0.008 // maximum velocity (squared) a body can have and be disabled | ||
67 | #define DISABLE_STEPS 10 // number of steps a box has to have been disable-able before it will be disabled | ||
68 | #define CANNON_X -10 // x position of cannon | ||
69 | #define CANNON_Y 5 // y position of cannon | ||
70 | #define CANNON_BALL_MASS 10 // mass of the cannon ball | ||
71 | #define CANNON_BALL_RADIUS 0.5 | ||
72 | |||
73 | //#define BOX | ||
74 | #define CARS | ||
75 | #define WALL | ||
76 | //#define BALLS | ||
77 | //#define BALLSTACK | ||
78 | //#define ONEBALL | ||
79 | //#define CENTIPEDE | ||
80 | #define CANNON | ||
81 | |||
82 | // dynamics and collision objects (chassis, 3 wheels, environment) | ||
83 | |||
84 | static dWorldID world; | ||
85 | static dSpaceID space; | ||
86 | static dBodyID body[10000]; | ||
87 | static int bodies; | ||
88 | static dJointID joint[100000]; | ||
89 | static int joints; | ||
90 | static dJointGroupID contactgroup; | ||
91 | static dGeomID ground; | ||
92 | static dGeomID box[10000]; | ||
93 | static int boxes; | ||
94 | static dGeomID sphere[10000]; | ||
95 | static int spheres; | ||
96 | static dGeomID wall_boxes[10000]; | ||
97 | static dBodyID wall_bodies[10000]; | ||
98 | static dGeomID cannon_ball_geom; | ||
99 | static dBodyID cannon_ball_body; | ||
100 | static int wb_stepsdis[10000]; | ||
101 | static int wb; | ||
102 | static bool doFast; | ||
103 | static dBodyID b; | ||
104 | static dMass m; | ||
105 | |||
106 | |||
107 | // things that the user controls | ||
108 | |||
109 | static dReal turn = 0, speed = 0; // user commands | ||
110 | static dReal cannon_angle=0,cannon_elevation=-1.2; | ||
111 | |||
112 | |||
113 | |||
114 | // this is called by dSpaceCollide when two objects in space are | ||
115 | // potentially colliding. | ||
116 | |||
117 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
118 | { | ||
119 | int i,n; | ||
120 | |||
121 | dBodyID b1 = dGeomGetBody(o1); | ||
122 | dBodyID b2 = dGeomGetBody(o2); | ||
123 | if (b1 && b2 && dAreConnected(b1, b2)) | ||
124 | return; | ||
125 | |||
126 | const int N = 4; | ||
127 | dContact contact[N]; | ||
128 | n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); | ||
129 | if (n > 0) { | ||
130 | for (i=0; i<n; i++) { | ||
131 | contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1; | ||
132 | if (dGeomGetClass(o1) == dSphereClass || dGeomGetClass(o2) == dSphereClass) | ||
133 | contact[i].surface.mu = 20; | ||
134 | else | ||
135 | contact[i].surface.mu = 0.5; | ||
136 | contact[i].surface.slip1 = 0.0; | ||
137 | contact[i].surface.slip2 = 0.0; | ||
138 | contact[i].surface.soft_erp = 0.8; | ||
139 | contact[i].surface.soft_cfm = 0.01; | ||
140 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); | ||
141 | dJointAttach (c,dGeomGetBody(o1),dGeomGetBody(o2)); | ||
142 | } | ||
143 | } | ||
144 | } | ||
145 | |||
146 | |||
147 | // start simulation - set viewpoint | ||
148 | |||
149 | static void start() | ||
150 | { | ||
151 | static float xyz[3] = {3.8548f,9.0843f,7.5900f}; | ||
152 | static float hpr[3] = {-145.5f,-22.5f,0.25f}; | ||
153 | dsSetViewpoint (xyz,hpr); | ||
154 | printf ("Press:\t'a' to increase speed.\n" | ||
155 | "\t'z' to decrease speed.\n" | ||
156 | "\t',' to steer left.\n" | ||
157 | "\t'.' to steer right.\n" | ||
158 | "\t' ' to reset speed and steering.\n" | ||
159 | "\t'[' to turn the cannon left.\n" | ||
160 | "\t']' to turn the cannon right.\n" | ||
161 | "\t'1' to raise the cannon.\n" | ||
162 | "\t'2' to lower the cannon.\n" | ||
163 | "\t'x' to shoot from the cannon.\n" | ||
164 | "\t'f' to toggle fast step mode.\n" | ||
165 | "\t'+' to increase AutoEnableDepth.\n" | ||
166 | "\t'-' to decrease AutoEnableDepth.\n" | ||
167 | "\t'r' to reset simulation.\n"); | ||
168 | } | ||
169 | |||
170 | |||
171 | void makeCar(dReal x, dReal y, int &bodyI, int &jointI, int &boxI, int &sphereI) | ||
172 | { | ||
173 | int i; | ||
174 | dMass m; | ||
175 | |||
176 | // chassis body | ||
177 | body[bodyI] = dBodyCreate (world); | ||
178 | dBodySetPosition (body[bodyI],x,y,STARTZ); | ||
179 | dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT); | ||
180 | dMassAdjust (&m,CMASS/2.0); | ||
181 | dBodySetMass (body[bodyI],&m); | ||
182 | box[boxI] = dCreateBox (space,LENGTH,WIDTH,HEIGHT); | ||
183 | dGeomSetBody (box[boxI],body[bodyI]); | ||
184 | |||
185 | // wheel bodies | ||
186 | for (i=1; i<=4; i++) { | ||
187 | body[bodyI+i] = dBodyCreate (world); | ||
188 | dQuaternion q; | ||
189 | dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); | ||
190 | dBodySetQuaternion (body[bodyI+i],q); | ||
191 | dMassSetSphere (&m,1,RADIUS); | ||
192 | dMassAdjust (&m,WMASS); | ||
193 | dBodySetMass (body[bodyI+i],&m); | ||
194 | sphere[sphereI+i-1] = dCreateSphere (space,RADIUS); | ||
195 | dGeomSetBody (sphere[sphereI+i-1],body[bodyI+i]); | ||
196 | } | ||
197 | dBodySetPosition (body[bodyI+1],x+0.4*LENGTH-0.5*RADIUS,y+WIDTH*0.5,STARTZ-HEIGHT*0.5); | ||
198 | dBodySetPosition (body[bodyI+2],x+0.4*LENGTH-0.5*RADIUS,y-WIDTH*0.5,STARTZ-HEIGHT*0.5); | ||
199 | dBodySetPosition (body[bodyI+3],x-0.4*LENGTH+0.5*RADIUS,y+WIDTH*0.5,STARTZ-HEIGHT*0.5); | ||
200 | dBodySetPosition (body[bodyI+4],x-0.4*LENGTH+0.5*RADIUS,y-WIDTH*0.5,STARTZ-HEIGHT*0.5); | ||
201 | |||
202 | // front and back wheel hinges | ||
203 | for (i=0; i<4; i++) { | ||
204 | joint[jointI+i] = dJointCreateHinge2 (world,0); | ||
205 | dJointAttach (joint[jointI+i],body[bodyI],body[bodyI+i+1]); | ||
206 | const dReal *a = dBodyGetPosition (body[bodyI+i+1]); | ||
207 | dJointSetHinge2Anchor (joint[jointI+i],a[0],a[1],a[2]); | ||
208 | dJointSetHinge2Axis1 (joint[jointI+i],0,0,(i<2 ? 1 : -1)); | ||
209 | dJointSetHinge2Axis2 (joint[jointI+i],0,1,0); | ||
210 | dJointSetHinge2Param (joint[jointI+i],dParamSuspensionERP,0.8); | ||
211 | dJointSetHinge2Param (joint[jointI+i],dParamSuspensionCFM,1e-5); | ||
212 | dJointSetHinge2Param (joint[jointI+i],dParamVel2,0); | ||
213 | dJointSetHinge2Param (joint[jointI+i],dParamFMax2,FMAX); | ||
214 | } | ||
215 | |||
216 | //center of mass offset body. (hang another copy of the body COMOFFSET units below it by a fixed joint) | ||
217 | dBodyID b = dBodyCreate (world); | ||
218 | dBodySetPosition (b,x,y,STARTZ+COMOFFSET); | ||
219 | dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT); | ||
220 | dMassAdjust (&m,CMASS/2.0); | ||
221 | dBodySetMass (b,&m); | ||
222 | dJointID j = dJointCreateFixed(world, 0); | ||
223 | dJointAttach(j, body[bodyI], b); | ||
224 | dJointSetFixed(j); | ||
225 | //box[boxI+1] = dCreateBox(space,LENGTH,WIDTH,HEIGHT); | ||
226 | //dGeomSetBody (box[boxI+1],b); | ||
227 | |||
228 | bodyI += 5; | ||
229 | jointI += 4; | ||
230 | boxI += 1; | ||
231 | sphereI += 4; | ||
232 | } | ||
233 | |||
234 | |||
235 | void resetSimulation() | ||
236 | { | ||
237 | int i; | ||
238 | i = 0; | ||
239 | // destroy world if it exists | ||
240 | if (bodies) | ||
241 | { | ||
242 | dJointGroupDestroy (contactgroup); | ||
243 | dSpaceDestroy (space); | ||
244 | dWorldDestroy (world); | ||
245 | } | ||
246 | |||
247 | for (i = 0; i < 1000; i++) | ||
248 | wb_stepsdis[i] = 0; | ||
249 | |||
250 | // recreate world | ||
251 | |||
252 | world = dWorldCreate(); | ||
253 | space = dHashSpaceCreate (0); | ||
254 | contactgroup = dJointGroupCreate (0); | ||
255 | dWorldSetGravity (world,0,0,-1.5); | ||
256 | dWorldSetCFM (world, 1e-5); | ||
257 | dWorldSetERP (world, 0.8); | ||
258 | dWorldSetQuickStepNumIterations (world,ITERS); | ||
259 | ground = dCreatePlane (space,0,0,1,0); | ||
260 | |||
261 | bodies = 0; | ||
262 | joints = 0; | ||
263 | boxes = 0; | ||
264 | spheres = 0; | ||
265 | wb = 0; | ||
266 | |||
267 | #ifdef CARS | ||
268 | for (dReal x = 0.0; x < COLS*(LENGTH+RADIUS); x += LENGTH+RADIUS) | ||
269 | for (dReal y = -((ROWS-1)*(WIDTH/2+RADIUS)); y <= ((ROWS-1)*(WIDTH/2+RADIUS)); y += WIDTH+RADIUS*2) | ||
270 | makeCar(x, y, bodies, joints, boxes, spheres); | ||
271 | #endif | ||
272 | #ifdef WALL | ||
273 | bool offset = false; | ||
274 | for (dReal z = WBOXSIZE/2.0; z <= WALLHEIGHT; z+=WBOXSIZE) | ||
275 | { | ||
276 | offset = !offset; | ||
277 | for (dReal y = (-WALLWIDTH+z)/2; y <= (WALLWIDTH-z)/2; y+=WBOXSIZE) | ||
278 | { | ||
279 | wall_bodies[wb] = dBodyCreate (world); | ||
280 | dBodySetPosition (wall_bodies[wb],-20,y,z); | ||
281 | dMassSetBox (&m,1,WBOXSIZE,WBOXSIZE,WBOXSIZE); | ||
282 | dMassAdjust (&m, WALLMASS); | ||
283 | dBodySetMass (wall_bodies[wb],&m); | ||
284 | wall_boxes[wb] = dCreateBox (space,WBOXSIZE,WBOXSIZE,WBOXSIZE); | ||
285 | dGeomSetBody (wall_boxes[wb],wall_bodies[wb]); | ||
286 | //dBodyDisable(wall_bodies[wb++]); | ||
287 | wb++; | ||
288 | } | ||
289 | } | ||
290 | dMessage(0,"wall boxes: %i", wb); | ||
291 | #endif | ||
292 | #ifdef BALLS | ||
293 | for (dReal x = -7; x <= -4; x+=1) | ||
294 | for (dReal y = -1.5; y <= 1.5; y+=1) | ||
295 | for (dReal z = 1; z <= 4; z+=1) | ||
296 | { | ||
297 | b = dBodyCreate (world); | ||
298 | dBodySetPosition (b,x*RADIUS*2,y*RADIUS*2,z*RADIUS*2); | ||
299 | dMassSetSphere (&m,1,RADIUS); | ||
300 | dMassAdjust (&m, BALLMASS); | ||
301 | dBodySetMass (b,&m); | ||
302 | sphere[spheres] = dCreateSphere (space,RADIUS); | ||
303 | dGeomSetBody (sphere[spheres++],b); | ||
304 | } | ||
305 | #endif | ||
306 | #ifdef ONEBALL | ||
307 | b = dBodyCreate (world); | ||
308 | dBodySetPosition (b,0,0,2); | ||
309 | dMassSetSphere (&m,1,RADIUS); | ||
310 | dMassAdjust (&m, 1); | ||
311 | dBodySetMass (b,&m); | ||
312 | sphere[spheres] = dCreateSphere (space,RADIUS); | ||
313 | dGeomSetBody (sphere[spheres++],b); | ||
314 | #endif | ||
315 | #ifdef BALLSTACK | ||
316 | for (dReal z = 1; z <= 6; z+=1) | ||
317 | { | ||
318 | b = dBodyCreate (world); | ||
319 | dBodySetPosition (b,0,0,z*RADIUS*2); | ||
320 | dMassSetSphere (&m,1,RADIUS); | ||
321 | dMassAdjust (&m, 0.1); | ||
322 | dBodySetMass (b,&m); | ||
323 | sphere[spheres] = dCreateSphere (space,RADIUS); | ||
324 | dGeomSetBody (sphere[spheres++],b); | ||
325 | } | ||
326 | #endif | ||
327 | #ifdef CENTIPEDE | ||
328 | dBodyID lastb = 0; | ||
329 | for (dReal y = 0; y < 10*LENGTH; y+=LENGTH+0.1) | ||
330 | { | ||
331 | // chassis body | ||
332 | |||
333 | b = body[bodies] = dBodyCreate (world); | ||
334 | dBodySetPosition (body[bodies],-15,y,STARTZ); | ||
335 | dMassSetBox (&m,1,WIDTH,LENGTH,HEIGHT); | ||
336 | dMassAdjust (&m,CMASS); | ||
337 | dBodySetMass (body[bodies],&m); | ||
338 | box[boxes] = dCreateBox (space,WIDTH,LENGTH,HEIGHT); | ||
339 | dGeomSetBody (box[boxes++],body[bodies++]); | ||
340 | |||
341 | for (dReal x = -17; x > -20; x-=RADIUS*2) | ||
342 | { | ||
343 | body[bodies] = dBodyCreate (world); | ||
344 | dBodySetPosition(body[bodies], x, y, STARTZ); | ||
345 | dMassSetSphere(&m, 1, RADIUS); | ||
346 | dMassAdjust(&m, WMASS); | ||
347 | dBodySetMass(body[bodies], &m); | ||
348 | sphere[spheres] = dCreateSphere (space, RADIUS); | ||
349 | dGeomSetBody (sphere[spheres++], body[bodies]); | ||
350 | |||
351 | joint[joints] = dJointCreateHinge2 (world,0); | ||
352 | if (x == -17) | ||
353 | dJointAttach (joint[joints],b,body[bodies]); | ||
354 | else | ||
355 | dJointAttach (joint[joints],body[bodies-2],body[bodies]); | ||
356 | const dReal *a = dBodyGetPosition (body[bodies++]); | ||
357 | dJointSetHinge2Anchor (joint[joints],a[0],a[1],a[2]); | ||
358 | dJointSetHinge2Axis1 (joint[joints],0,0,1); | ||
359 | dJointSetHinge2Axis2 (joint[joints],1,0,0); | ||
360 | dJointSetHinge2Param (joint[joints],dParamSuspensionERP,1.0); | ||
361 | dJointSetHinge2Param (joint[joints],dParamSuspensionCFM,1e-5); | ||
362 | dJointSetHinge2Param (joint[joints],dParamLoStop,0); | ||
363 | dJointSetHinge2Param (joint[joints],dParamHiStop,0); | ||
364 | dJointSetHinge2Param (joint[joints],dParamVel2,-10.0); | ||
365 | dJointSetHinge2Param (joint[joints++],dParamFMax2,FMAX); | ||
366 | |||
367 | body[bodies] = dBodyCreate (world); | ||
368 | dBodySetPosition(body[bodies], -30 - x, y, STARTZ); | ||
369 | dMassSetSphere(&m, 1, RADIUS); | ||
370 | dMassAdjust(&m, WMASS); | ||
371 | dBodySetMass(body[bodies], &m); | ||
372 | sphere[spheres] = dCreateSphere (space, RADIUS); | ||
373 | dGeomSetBody (sphere[spheres++], body[bodies]); | ||
374 | |||
375 | joint[joints] = dJointCreateHinge2 (world,0); | ||
376 | if (x == -17) | ||
377 | dJointAttach (joint[joints],b,body[bodies]); | ||
378 | else | ||
379 | dJointAttach (joint[joints],body[bodies-2],body[bodies]); | ||
380 | const dReal *b = dBodyGetPosition (body[bodies++]); | ||
381 | dJointSetHinge2Anchor (joint[joints],b[0],b[1],b[2]); | ||
382 | dJointSetHinge2Axis1 (joint[joints],0,0,1); | ||
383 | dJointSetHinge2Axis2 (joint[joints],1,0,0); | ||
384 | dJointSetHinge2Param (joint[joints],dParamSuspensionERP,1.0); | ||
385 | dJointSetHinge2Param (joint[joints],dParamSuspensionCFM,1e-5); | ||
386 | dJointSetHinge2Param (joint[joints],dParamLoStop,0); | ||
387 | dJointSetHinge2Param (joint[joints],dParamHiStop,0); | ||
388 | dJointSetHinge2Param (joint[joints],dParamVel2,10.0); | ||
389 | dJointSetHinge2Param (joint[joints++],dParamFMax2,FMAX); | ||
390 | } | ||
391 | if (lastb) | ||
392 | { | ||
393 | dJointID j = dJointCreateFixed(world,0); | ||
394 | dJointAttach (j, b, lastb); | ||
395 | dJointSetFixed(j); | ||
396 | } | ||
397 | lastb = b; | ||
398 | } | ||
399 | #endif | ||
400 | #ifdef BOX | ||
401 | body[bodies] = dBodyCreate (world); | ||
402 | dBodySetPosition (body[bodies],0,0,HEIGHT/2); | ||
403 | dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT); | ||
404 | dMassAdjust (&m, 1); | ||
405 | dBodySetMass (body[bodies],&m); | ||
406 | box[boxes] = dCreateBox (space,LENGTH,WIDTH,HEIGHT); | ||
407 | dGeomSetBody (box[boxes++],body[bodies++]); | ||
408 | #endif | ||
409 | #ifdef CANNON | ||
410 | cannon_ball_body = dBodyCreate (world); | ||
411 | cannon_ball_geom = dCreateSphere (space,CANNON_BALL_RADIUS); | ||
412 | dMassSetSphereTotal (&m,CANNON_BALL_MASS,CANNON_BALL_RADIUS); | ||
413 | dBodySetMass (cannon_ball_body,&m); | ||
414 | dGeomSetBody (cannon_ball_geom,cannon_ball_body); | ||
415 | dBodySetPosition (cannon_ball_body,CANNON_X,CANNON_Y,CANNON_BALL_RADIUS); | ||
416 | #endif | ||
417 | } | ||
418 | |||
419 | // called when a key pressed | ||
420 | |||
421 | static void command (int cmd) | ||
422 | { | ||
423 | switch (cmd) { | ||
424 | case 'a': case 'A': | ||
425 | speed += 0.3; | ||
426 | break; | ||
427 | case 'z': case 'Z': | ||
428 | speed -= 0.3; | ||
429 | break; | ||
430 | case ',': | ||
431 | turn += 0.1; | ||
432 | if (turn > 0.3) | ||
433 | turn = 0.3; | ||
434 | break; | ||
435 | case '.': | ||
436 | turn -= 0.1; | ||
437 | if (turn < -0.3) | ||
438 | turn = -0.3; | ||
439 | break; | ||
440 | case ' ': | ||
441 | speed = 0; | ||
442 | turn = 0; | ||
443 | break; | ||
444 | case 'f': case 'F': | ||
445 | doFast = !doFast; | ||
446 | break; | ||
447 | case '+': | ||
448 | dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) + 1); | ||
449 | break; | ||
450 | case '-': | ||
451 | dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) - 1); | ||
452 | break; | ||
453 | case 'r': case 'R': | ||
454 | resetSimulation(); | ||
455 | break; | ||
456 | case '[': | ||
457 | cannon_angle += 0.1; | ||
458 | break; | ||
459 | case ']': | ||
460 | cannon_angle -= 0.1; | ||
461 | break; | ||
462 | case '1': | ||
463 | cannon_elevation += 0.1; | ||
464 | break; | ||
465 | case '2': | ||
466 | cannon_elevation -= 0.1; | ||
467 | break; | ||
468 | case 'x': case 'X': { | ||
469 | dMatrix3 R2,R3,R4; | ||
470 | dRFromAxisAndAngle (R2,0,0,1,cannon_angle); | ||
471 | dRFromAxisAndAngle (R3,0,1,0,cannon_elevation); | ||
472 | dMultiply0 (R4,R2,R3,3,3,3); | ||
473 | dReal cpos[3] = {CANNON_X,CANNON_Y,1}; | ||
474 | for (int i=0; i<3; i++) cpos[i] += 3*R4[i*4+2]; | ||
475 | dBodySetPosition (cannon_ball_body,cpos[0],cpos[1],cpos[2]); | ||
476 | dReal force = 10; | ||
477 | dBodySetLinearVel (cannon_ball_body,force*R4[2],force*R4[6],force*R4[10]); | ||
478 | dBodySetAngularVel (cannon_ball_body,0,0,0); | ||
479 | break; | ||
480 | } | ||
481 | } | ||
482 | } | ||
483 | |||
484 | |||
485 | // simulation loop | ||
486 | |||
487 | static void simLoop (int pause) | ||
488 | { | ||
489 | int i, j; | ||
490 | |||
491 | dsSetTexture (DS_WOOD); | ||
492 | |||
493 | if (!pause) { | ||
494 | #ifdef BOX | ||
495 | dBodyAddForce(body[bodies-1],lspeed,0,0); | ||
496 | #endif | ||
497 | for (j = 0; j < joints; j++) | ||
498 | { | ||
499 | dReal curturn = dJointGetHinge2Angle1 (joint[j]); | ||
500 | //dMessage (0,"curturn %e, turn %e, vel %e", curturn, turn, (turn-curturn)*1.0); | ||
501 | dJointSetHinge2Param(joint[j],dParamVel,(turn-curturn)*1.0); | ||
502 | dJointSetHinge2Param(joint[j],dParamFMax,dInfinity); | ||
503 | dJointSetHinge2Param(joint[j],dParamVel2,speed); | ||
504 | dJointSetHinge2Param(joint[j],dParamFMax2,FMAX); | ||
505 | dBodyEnable(dJointGetBody(joint[j],0)); | ||
506 | dBodyEnable(dJointGetBody(joint[j],1)); | ||
507 | } | ||
508 | if (doFast) | ||
509 | { | ||
510 | dSpaceCollide (space,0,&nearCallback); | ||
511 | #if defined(QUICKSTEP) | ||
512 | dWorldQuickStep (world,0.05); | ||
513 | #elif defined(STEPFAST) | ||
514 | dWorldStepFast1 (world,0.05,ITERS); | ||
515 | #endif | ||
516 | dJointGroupEmpty (contactgroup); | ||
517 | } | ||
518 | else | ||
519 | { | ||
520 | dSpaceCollide (space,0,&nearCallback); | ||
521 | dWorldStep (world,0.05); | ||
522 | dJointGroupEmpty (contactgroup); | ||
523 | } | ||
524 | |||
525 | for (i = 0; i < wb; i++) | ||
526 | { | ||
527 | b = dGeomGetBody(wall_boxes[i]); | ||
528 | if (dBodyIsEnabled(b)) | ||
529 | { | ||
530 | bool disable = true; | ||
531 | const dReal *lvel = dBodyGetLinearVel(b); | ||
532 | dReal lspeed = lvel[0]*lvel[0]+lvel[1]*lvel[1]+lvel[2]*lvel[2]; | ||
533 | if (lspeed > DISABLE_THRESHOLD) | ||
534 | disable = false; | ||
535 | const dReal *avel = dBodyGetAngularVel(b); | ||
536 | dReal aspeed = avel[0]*avel[0]+avel[1]*avel[1]+avel[2]*avel[2]; | ||
537 | if (aspeed > DISABLE_THRESHOLD) | ||
538 | disable = false; | ||
539 | |||
540 | if (disable) | ||
541 | wb_stepsdis[i]++; | ||
542 | else | ||
543 | wb_stepsdis[i] = 0; | ||
544 | |||
545 | if (wb_stepsdis[i] > DISABLE_STEPS) | ||
546 | { | ||
547 | dBodyDisable(b); | ||
548 | dsSetColor(0.5,0.5,1); | ||
549 | } | ||
550 | else | ||
551 | dsSetColor(1,1,1); | ||
552 | |||
553 | } | ||
554 | else | ||
555 | dsSetColor(0.4,0.4,0.4); | ||
556 | dVector3 ss; | ||
557 | dGeomBoxGetLengths (wall_boxes[i], ss); | ||
558 | dsDrawBox(dGeomGetPosition(wall_boxes[i]), dGeomGetRotation(wall_boxes[i]), ss); | ||
559 | } | ||
560 | } | ||
561 | else | ||
562 | { | ||
563 | for (i = 0; i < wb; i++) | ||
564 | { | ||
565 | b = dGeomGetBody(wall_boxes[i]); | ||
566 | if (dBodyIsEnabled(b)) | ||
567 | dsSetColor(1,1,1); | ||
568 | else | ||
569 | dsSetColor(0.4,0.4,0.4); | ||
570 | dVector3 ss; | ||
571 | dGeomBoxGetLengths (wall_boxes[i], ss); | ||
572 | dsDrawBox(dGeomGetPosition(wall_boxes[i]), dGeomGetRotation(wall_boxes[i]), ss); | ||
573 | } | ||
574 | } | ||
575 | |||
576 | dsSetColor (0,1,1); | ||
577 | dReal sides[3] = {LENGTH,WIDTH,HEIGHT}; | ||
578 | for (i = 0; i < boxes; i++) | ||
579 | dsDrawBox (dGeomGetPosition(box[i]),dGeomGetRotation(box[i]),sides); | ||
580 | dsSetColor (1,1,1); | ||
581 | for (i=0; i< spheres; i++) dsDrawSphere (dGeomGetPosition(sphere[i]), | ||
582 | dGeomGetRotation(sphere[i]),RADIUS); | ||
583 | |||
584 | // draw the cannon | ||
585 | dsSetColor (1,1,0); | ||
586 | dMatrix3 R2,R3,R4; | ||
587 | dRFromAxisAndAngle (R2,0,0,1,cannon_angle); | ||
588 | dRFromAxisAndAngle (R3,0,1,0,cannon_elevation); | ||
589 | dMultiply0 (R4,R2,R3,3,3,3); | ||
590 | dReal cpos[3] = {CANNON_X,CANNON_Y,1}; | ||
591 | dReal csides[3] = {2,2,2}; | ||
592 | dsDrawBox (cpos,R2,csides); | ||
593 | for (i=0; i<3; i++) cpos[i] += 1.5*R4[i*4+2]; | ||
594 | dsDrawCylinder (cpos,R4,3,0.5); | ||
595 | |||
596 | // draw the cannon ball | ||
597 | dsDrawSphere (dBodyGetPosition(cannon_ball_body),dBodyGetRotation(cannon_ball_body), | ||
598 | CANNON_BALL_RADIUS); | ||
599 | } | ||
600 | |||
601 | int main (int argc, char **argv) | ||
602 | { | ||
603 | doFast = true; | ||
604 | |||
605 | // setup pointers to drawstuff callback functions | ||
606 | dsFunctions fn; | ||
607 | fn.version = DS_VERSION; | ||
608 | fn.start = &start; | ||
609 | fn.step = &simLoop; | ||
610 | fn.command = &command; | ||
611 | fn.stop = 0; | ||
612 | fn.path_to_textures = "../../drawstuff/textures"; | ||
613 | if(argc==2) | ||
614 | { | ||
615 | fn.path_to_textures = argv[1]; | ||
616 | } | ||
617 | |||
618 | dInitODE(); | ||
619 | |||
620 | bodies = 0; | ||
621 | joints = 0; | ||
622 | boxes = 0; | ||
623 | spheres = 0; | ||
624 | |||
625 | resetSimulation(); | ||
626 | |||
627 | // run simulation | ||
628 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
629 | |||
630 | dJointGroupDestroy (contactgroup); | ||
631 | dSpaceDestroy (space); | ||
632 | dWorldDestroy (world); | ||
633 | dCloseODE(); | ||
634 | return 0; | ||
635 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_cyl.cpp b/libraries/ode-0.9/ode/demo/demo_cyl.cpp new file mode 100644 index 0000000..3692234 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_cyl.cpp | |||
@@ -0,0 +1,318 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | // Test for non-capped cylinder, by Bram Stolk | ||
24 | #include <ode/config.h> | ||
25 | #include <assert.h> | ||
26 | #ifdef HAVE_UNISTD_H | ||
27 | #include <unistd.h> | ||
28 | #endif | ||
29 | #include <ode/ode.h> | ||
30 | #include <drawstuff/drawstuff.h> | ||
31 | |||
32 | #include "world_geom3.h" // this is our world mesh | ||
33 | |||
34 | #ifdef _MSC_VER | ||
35 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
36 | #endif | ||
37 | |||
38 | #define BOX | ||
39 | #define CYL | ||
40 | |||
41 | // some constants | ||
42 | |||
43 | #define RADIUS 0.22 // wheel radius | ||
44 | #define WMASS 0.2 // wheel mass | ||
45 | #define WHEELW 0.2 // wheel width | ||
46 | #define BOXSZ 0.4 // box size | ||
47 | //#define CYL_GEOM_OFFSET // rotate cylinder using geom offset | ||
48 | |||
49 | // dynamics and collision objects (chassis, 3 wheels, environment) | ||
50 | |||
51 | static dWorldID world; | ||
52 | static dSpaceID space; | ||
53 | #ifdef BOX | ||
54 | static dBodyID boxbody; | ||
55 | static dGeomID boxgeom; | ||
56 | #endif | ||
57 | #ifdef CYL | ||
58 | static dBodyID cylbody; | ||
59 | static dGeomID cylgeom; | ||
60 | #endif | ||
61 | static dJointGroupID contactgroup; | ||
62 | static dGeomID world_mesh; | ||
63 | |||
64 | |||
65 | // this is called by dSpaceCollide when two objects in space are | ||
66 | // potentially colliding. | ||
67 | |||
68 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
69 | { | ||
70 | assert(o1); | ||
71 | assert(o2); | ||
72 | |||
73 | if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) | ||
74 | { | ||
75 | fprintf(stderr,"testing space %p %p\n", o1,o2); | ||
76 | // colliding a space with something | ||
77 | dSpaceCollide2(o1,o2,data,&nearCallback); | ||
78 | // Note we do not want to test intersections within a space, | ||
79 | // only between spaces. | ||
80 | return; | ||
81 | } | ||
82 | |||
83 | // fprintf(stderr,"testing geoms %p %p\n", o1, o2); | ||
84 | |||
85 | const int N = 32; | ||
86 | dContact contact[N]; | ||
87 | int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); | ||
88 | if (n > 0) | ||
89 | { | ||
90 | for (int i=0; i<n; i++) | ||
91 | { | ||
92 | contact[i].surface.slip1 = 0.7; | ||
93 | contact[i].surface.slip2 = 0.7; | ||
94 | contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2; | ||
95 | contact[i].surface.mu = 50.0; // was: dInfinity | ||
96 | contact[i].surface.soft_erp = 0.96; | ||
97 | contact[i].surface.soft_cfm = 0.04; | ||
98 | dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); | ||
99 | dJointAttach (c, | ||
100 | dGeomGetBody(contact[i].geom.g1), | ||
101 | dGeomGetBody(contact[i].geom.g2)); | ||
102 | } | ||
103 | } | ||
104 | } | ||
105 | |||
106 | |||
107 | // start simulation - set viewpoint | ||
108 | |||
109 | static void start() | ||
110 | { | ||
111 | static float xyz[3] = {-8,-9,3}; | ||
112 | static float hpr[3] = {45.0000f,-27.5000f,0.0000f}; | ||
113 | dsSetViewpoint (xyz,hpr); | ||
114 | } | ||
115 | |||
116 | |||
117 | |||
118 | static void reset_state(void) | ||
119 | { | ||
120 | float sx=-4, sy=-4, sz=2; | ||
121 | dQuaternion q; | ||
122 | dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); | ||
123 | #ifdef BOX | ||
124 | dBodySetPosition (boxbody, sx, sy+1, sz); | ||
125 | dBodySetLinearVel (boxbody, 0,0,0); | ||
126 | dBodySetAngularVel (boxbody, 0,0,0); | ||
127 | dBodySetQuaternion (boxbody, q); | ||
128 | #endif | ||
129 | #ifdef CYL | ||
130 | dBodySetPosition (cylbody, sx, sy, sz); | ||
131 | dBodySetLinearVel (cylbody, 0,0,0); | ||
132 | dBodySetAngularVel (cylbody, 0,0,0); | ||
133 | dBodySetQuaternion (cylbody, q); | ||
134 | #endif | ||
135 | } | ||
136 | |||
137 | |||
138 | // called when a key pressed | ||
139 | |||
140 | static void command (int cmd) | ||
141 | { | ||
142 | switch (cmd) | ||
143 | { | ||
144 | case ' ': | ||
145 | reset_state(); | ||
146 | break; | ||
147 | } | ||
148 | } | ||
149 | |||
150 | |||
151 | |||
152 | // simulation loop | ||
153 | |||
154 | static void simLoop (int pause) | ||
155 | { | ||
156 | double simstep = 0.005; // 5ms simulation steps | ||
157 | double dt = dsElapsedTime(); | ||
158 | int nrofsteps = (int) ceilf(dt/simstep); | ||
159 | for (int i=0; i<nrofsteps && !pause; i++) | ||
160 | { | ||
161 | dSpaceCollide (space,0,&nearCallback); | ||
162 | dWorldQuickStep (world, simstep); | ||
163 | dJointGroupEmpty (contactgroup); | ||
164 | } | ||
165 | |||
166 | dsSetColor (1,1,1); | ||
167 | #ifdef BOX | ||
168 | const dReal *BPos = dBodyGetPosition(boxbody); | ||
169 | const dReal *BRot = dBodyGetRotation(boxbody); | ||
170 | float bpos[3] = {BPos[0], BPos[1], BPos[2]}; | ||
171 | float brot[12] = { BRot[0], BRot[1], BRot[2], BRot[3], BRot[4], BRot[5], BRot[6], BRot[7], BRot[8], BRot[9], BRot[10], BRot[11] }; | ||
172 | float sides[3] = {BOXSZ, BOXSZ, BOXSZ}; | ||
173 | dsDrawBox | ||
174 | ( | ||
175 | bpos, | ||
176 | brot, | ||
177 | sides | ||
178 | ); // single precision | ||
179 | #endif | ||
180 | #ifdef CYL | ||
181 | const dReal *CPos = dGeomGetPosition(cylgeom); | ||
182 | const dReal *CRot = dGeomGetRotation(cylgeom); | ||
183 | float cpos[3] = {CPos[0], CPos[1], CPos[2]}; | ||
184 | float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] }; | ||
185 | dsDrawCylinder | ||
186 | ( | ||
187 | // dBodyGetPosition(cylbody), | ||
188 | // dBodyGetRotation(cylbody), | ||
189 | cpos, | ||
190 | crot, | ||
191 | WHEELW, | ||
192 | RADIUS | ||
193 | ); // single precision | ||
194 | #endif | ||
195 | |||
196 | // draw world trimesh | ||
197 | dsSetColor(0.7,0.7,0.4); | ||
198 | dsSetTexture (DS_NONE); | ||
199 | |||
200 | const dReal* Pos = dGeomGetPosition(world_mesh); | ||
201 | float pos[3] = { Pos[0], Pos[1], Pos[2] }; | ||
202 | |||
203 | const dReal* Rot = dGeomGetRotation(world_mesh); | ||
204 | float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] }; | ||
205 | |||
206 | int numi = sizeof(world_indices) / sizeof(int); | ||
207 | |||
208 | for (int i=0; i<numi/3; i++) | ||
209 | { | ||
210 | int i0 = world_indices[i*3+0]; | ||
211 | int i1 = world_indices[i*3+1]; | ||
212 | int i2 = world_indices[i*3+2]; | ||
213 | float *v0 = world_vertices+i0*3; | ||
214 | float *v1 = world_vertices+i1*3; | ||
215 | float *v2 = world_vertices+i2*3; | ||
216 | dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw | ||
217 | } | ||
218 | } | ||
219 | |||
220 | |||
221 | int main (int argc, char **argv) | ||
222 | { | ||
223 | dMass m; | ||
224 | dMatrix3 R; | ||
225 | |||
226 | // setup pointers to drawstuff callback functions | ||
227 | dsFunctions fn; | ||
228 | fn.version = DS_VERSION; | ||
229 | fn.start = &start; | ||
230 | fn.step = &simLoop; | ||
231 | fn.command = &command; | ||
232 | fn.stop = 0; | ||
233 | fn.path_to_textures = "../../drawstuff/textures"; | ||
234 | if(argc==2) | ||
235 | { | ||
236 | fn.path_to_textures = argv[1]; | ||
237 | } | ||
238 | |||
239 | // create world | ||
240 | dInitODE(); | ||
241 | world = dWorldCreate(); | ||
242 | space = dHashSpaceCreate (0); | ||
243 | contactgroup = dJointGroupCreate (0); | ||
244 | dWorldSetGravity (world,0,0,-9.8); | ||
245 | dWorldSetQuickStepNumIterations (world, 12); | ||
246 | |||
247 | |||
248 | // Create a static world using a triangle mesh that we can collide with. | ||
249 | int numv = sizeof(world_vertices)/(3*sizeof(float)); | ||
250 | int numi = sizeof(world_indices)/ sizeof(int); | ||
251 | printf("numv=%d, numi=%d\n", numv, numi); | ||
252 | dTriMeshDataID Data = dGeomTriMeshDataCreate(); | ||
253 | |||
254 | dGeomTriMeshDataBuildSingle | ||
255 | ( | ||
256 | Data, | ||
257 | world_vertices, | ||
258 | 3 * sizeof(float), | ||
259 | numv, | ||
260 | world_indices, | ||
261 | numi, | ||
262 | 3 * sizeof(int) | ||
263 | ); | ||
264 | |||
265 | world_mesh = dCreateTriMesh(space, Data, 0, 0, 0); | ||
266 | dGeomSetPosition(world_mesh, 0, 0, 0.5); | ||
267 | dRFromAxisAndAngle (R, 0,1,0, 0.0); | ||
268 | dGeomSetRotation (world_mesh, R); | ||
269 | |||
270 | |||
271 | #ifdef BOX | ||
272 | boxbody = dBodyCreate (world); | ||
273 | dMassSetBox (&m,1, BOXSZ, BOXSZ, BOXSZ); | ||
274 | dMassAdjust (&m, 1); | ||
275 | dBodySetMass (boxbody,&m); | ||
276 | boxgeom = dCreateBox (0, BOXSZ, BOXSZ, BOXSZ); | ||
277 | dGeomSetBody (boxgeom,boxbody); | ||
278 | dSpaceAdd (space, boxgeom); | ||
279 | #endif | ||
280 | #ifdef CYL | ||
281 | cylbody = dBodyCreate (world); | ||
282 | dMassSetSphere (&m,1,RADIUS); | ||
283 | dMassAdjust (&m,WMASS); | ||
284 | dBodySetMass (cylbody,&m); | ||
285 | cylgeom = dCreateCylinder(0, RADIUS, WHEELW); | ||
286 | dGeomSetBody (cylgeom,cylbody); | ||
287 | |||
288 | #if defined(CYL_GEOM_OFFSET) | ||
289 | dMatrix3 mat; | ||
290 | dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0); | ||
291 | dGeomSetOffsetRotation(cylgeom,mat); | ||
292 | #endif | ||
293 | |||
294 | dSpaceAdd (space, cylgeom); | ||
295 | #endif | ||
296 | reset_state(); | ||
297 | |||
298 | // run simulation | ||
299 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
300 | |||
301 | dJointGroupEmpty (contactgroup); | ||
302 | dJointGroupDestroy (contactgroup); | ||
303 | |||
304 | // First destroy geoms, then space, then the world. | ||
305 | #ifdef CYL | ||
306 | dGeomDestroy (cylgeom); | ||
307 | #endif | ||
308 | #ifdef BOX | ||
309 | dGeomDestroy (boxgeom); | ||
310 | #endif | ||
311 | dGeomDestroy (world_mesh); | ||
312 | |||
313 | dSpaceDestroy (space); | ||
314 | dWorldDestroy (world); | ||
315 | dCloseODE(); | ||
316 | return 0; | ||
317 | } | ||
318 | |||
diff --git a/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp b/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp new file mode 100644 index 0000000..1fb98ad --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp | |||
@@ -0,0 +1,238 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | // Test for cylinder vs sphere, by Bram Stolk | ||
24 | |||
25 | #include <ode/config.h> | ||
26 | #include <assert.h> | ||
27 | #ifdef HAVE_UNISTD_H | ||
28 | #include <unistd.h> | ||
29 | #endif | ||
30 | #include <ode/ode.h> | ||
31 | #include <drawstuff/drawstuff.h> | ||
32 | |||
33 | #ifdef _MSC_VER | ||
34 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
35 | #endif | ||
36 | |||
37 | |||
38 | // dynamics and collision objects (chassis, 3 wheels, environment) | ||
39 | |||
40 | static dWorldID world; | ||
41 | static dSpaceID space; | ||
42 | |||
43 | static dBodyID cylbody; | ||
44 | static dGeomID cylgeom; | ||
45 | |||
46 | static dBodyID sphbody; | ||
47 | static dGeomID sphgeom; | ||
48 | |||
49 | static dJointGroupID contactgroup; | ||
50 | static dGeomID world_mesh; | ||
51 | |||
52 | static bool show_contacts = true; | ||
53 | |||
54 | #define CYLRADIUS 0.6 | ||
55 | #define CYLLENGTH 2.0 | ||
56 | #define SPHERERADIUS 0.5 | ||
57 | |||
58 | |||
59 | #ifdef dDOUBLE | ||
60 | #define dsDrawBox dsDrawBoxD | ||
61 | #define dsDrawLine dsDrawLineD | ||
62 | #endif | ||
63 | |||
64 | |||
65 | |||
66 | // this is called by dSpaceCollide when two objects in space are | ||
67 | // potentially colliding. | ||
68 | |||
69 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
70 | { | ||
71 | assert(o1); | ||
72 | assert(o2); | ||
73 | |||
74 | if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) | ||
75 | { | ||
76 | fprintf(stderr,"testing space %p %p\n", o1,o2); | ||
77 | // colliding a space with something | ||
78 | dSpaceCollide2(o1,o2,data,&nearCallback); | ||
79 | // Note we do not want to test intersections within a space, | ||
80 | // only between spaces. | ||
81 | return; | ||
82 | } | ||
83 | |||
84 | const int N = 32; | ||
85 | dContact contact[N]; | ||
86 | int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); | ||
87 | if (n > 0) | ||
88 | { | ||
89 | for (int i=0; i<n; i++) | ||
90 | { | ||
91 | contact[i].surface.mode = 0; | ||
92 | contact[i].surface.mu = 50.0; // was: dInfinity | ||
93 | dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); | ||
94 | dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2)); | ||
95 | if (show_contacts) | ||
96 | { | ||
97 | dMatrix3 RI; | ||
98 | dRSetIdentity (RI); | ||
99 | const dReal ss[3] = {0.12,0.12,0.12}; | ||
100 | dsSetColorAlpha (0,0,1,0.5); | ||
101 | dsDrawBox (contact[i].geom.pos,RI,ss); | ||
102 | dReal *pos = contact[i].geom.pos; | ||
103 | dReal depth = contact[i].geom.depth; | ||
104 | dReal *norm = contact[i].geom.normal; | ||
105 | dReal endp[3] = {pos[0]+depth*norm[0], pos[1]+depth*norm[1], pos[2]+depth*norm[2]}; | ||
106 | dsSetColorAlpha (1,1,1,1); | ||
107 | dsDrawLine (contact[i].geom.pos, endp); | ||
108 | } | ||
109 | } | ||
110 | } | ||
111 | } | ||
112 | |||
113 | |||
114 | // start simulation - set viewpoint | ||
115 | |||
116 | static void start() | ||
117 | { | ||
118 | static float xyz[3] = {-8,-9,3}; | ||
119 | static float hpr[3] = {45.0000f,-27.5000f,0.0000f}; | ||
120 | dsSetViewpoint (xyz,hpr); | ||
121 | } | ||
122 | |||
123 | |||
124 | // called when a key pressed | ||
125 | |||
126 | static void command (int cmd) | ||
127 | { | ||
128 | switch (cmd) | ||
129 | { | ||
130 | case ' ': | ||
131 | break; | ||
132 | } | ||
133 | } | ||
134 | |||
135 | |||
136 | |||
137 | // simulation loop | ||
138 | |||
139 | static void simLoop (int pause) | ||
140 | { | ||
141 | dSpaceCollide (space,0,&nearCallback); | ||
142 | if (!pause) | ||
143 | { | ||
144 | dWorldQuickStep (world, 0.01); // 100 Hz | ||
145 | } | ||
146 | dJointGroupEmpty (contactgroup); | ||
147 | |||
148 | dsSetColorAlpha (1,1,0,0.5); | ||
149 | |||
150 | const dReal *CPos = dBodyGetPosition(cylbody); | ||
151 | const dReal *CRot = dBodyGetRotation(cylbody); | ||
152 | float cpos[3] = {CPos[0], CPos[1], CPos[2]}; | ||
153 | float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] }; | ||
154 | dsDrawCylinder | ||
155 | ( | ||
156 | cpos, | ||
157 | crot, | ||
158 | CYLLENGTH, | ||
159 | CYLRADIUS | ||
160 | ); // single precision | ||
161 | |||
162 | const dReal *SPos = dBodyGetPosition(sphbody); | ||
163 | const dReal *SRot = dBodyGetRotation(sphbody); | ||
164 | float spos[3] = {SPos[0], SPos[1], SPos[2]}; | ||
165 | float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] }; | ||
166 | dsDrawSphere | ||
167 | ( | ||
168 | spos, | ||
169 | srot, | ||
170 | SPHERERADIUS | ||
171 | ); // single precision | ||
172 | } | ||
173 | |||
174 | |||
175 | int main (int argc, char **argv) | ||
176 | { | ||
177 | dMass m; | ||
178 | |||
179 | // setup pointers to drawstuff callback functions | ||
180 | dsFunctions fn; | ||
181 | fn.version = DS_VERSION; | ||
182 | fn.start = &start; | ||
183 | fn.step = &simLoop; | ||
184 | fn.command = &command; | ||
185 | fn.stop = 0; | ||
186 | fn.path_to_textures = "../../drawstuff/textures"; | ||
187 | if(argc==2) | ||
188 | fn.path_to_textures = argv[1]; | ||
189 | |||
190 | // create world | ||
191 | dInitODE(); | ||
192 | world = dWorldCreate(); | ||
193 | space = dHashSpaceCreate (0); | ||
194 | contactgroup = dJointGroupCreate (0); | ||
195 | dWorldSetGravity (world,0,0,-9.8); | ||
196 | dWorldSetQuickStepNumIterations (world, 32); | ||
197 | |||
198 | dCreatePlane (space,0,0,1, 0.0); | ||
199 | |||
200 | cylbody = dBodyCreate (world); | ||
201 | dQuaternion q; | ||
202 | #if 0 | ||
203 | dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); | ||
204 | #else | ||
205 | // dQFromAxisAndAngle (q,1,0,0, M_PI * 1.0); | ||
206 | dQFromAxisAndAngle (q,1,0,0, M_PI * -0.77); | ||
207 | #endif | ||
208 | dBodySetQuaternion (cylbody,q); | ||
209 | dMassSetCylinder (&m,1.0,3,CYLRADIUS,CYLLENGTH); | ||
210 | dBodySetMass (cylbody,&m); | ||
211 | cylgeom = dCreateCylinder(0, CYLRADIUS, CYLLENGTH); | ||
212 | dGeomSetBody (cylgeom,cylbody); | ||
213 | dBodySetPosition (cylbody, 0, 0, 3); | ||
214 | dSpaceAdd (space, cylgeom); | ||
215 | |||
216 | sphbody = dBodyCreate (world); | ||
217 | dMassSetSphere (&m,1,SPHERERADIUS); | ||
218 | dBodySetMass (sphbody,&m); | ||
219 | sphgeom = dCreateSphere(0, SPHERERADIUS); | ||
220 | dGeomSetBody (sphgeom,sphbody); | ||
221 | dBodySetPosition (sphbody, 0, 0, 5.5); | ||
222 | dSpaceAdd (space, sphgeom); | ||
223 | |||
224 | // run simulation | ||
225 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
226 | |||
227 | dJointGroupEmpty (contactgroup); | ||
228 | dJointGroupDestroy (contactgroup); | ||
229 | |||
230 | dGeomDestroy(sphgeom); | ||
231 | dGeomDestroy (cylgeom); | ||
232 | |||
233 | dSpaceDestroy (space); | ||
234 | dWorldDestroy (world); | ||
235 | dCloseODE(); | ||
236 | return 0; | ||
237 | } | ||
238 | |||
diff --git a/libraries/ode-0.9/ode/demo/demo_feedback.cpp b/libraries/ode-0.9/ode/demo/demo_feedback.cpp new file mode 100644 index 0000000..fd49278 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_feedback.cpp | |||
@@ -0,0 +1,314 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | // Test for breaking joints, by Bram Stolk | ||
24 | |||
25 | #include <ode/config.h> | ||
26 | #include <assert.h> | ||
27 | #ifdef HAVE_UNISTD_H | ||
28 | #include <unistd.h> | ||
29 | #endif | ||
30 | #include <ode/ode.h> | ||
31 | #include <drawstuff/drawstuff.h> | ||
32 | |||
33 | |||
34 | #ifdef _MSC_VER | ||
35 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
36 | #endif | ||
37 | |||
38 | #ifdef dDOUBLE | ||
39 | #define dsDrawBox dsDrawBoxD | ||
40 | #define dsDrawCylinder dsDrawCylinderD | ||
41 | #endif | ||
42 | |||
43 | |||
44 | // dynamics and collision objects (chassis, 3 wheels, environment) | ||
45 | |||
46 | static dWorldID world; | ||
47 | static dSpaceID space; | ||
48 | |||
49 | static const int STACKCNT=10; // nr of weights on bridge | ||
50 | static const int SEGMCNT=16; // nr of segments in bridge | ||
51 | static const float SEGMDIM[3] = { 0.9, 4, 0.1 }; | ||
52 | |||
53 | static dGeomID groundgeom; | ||
54 | static dBodyID segbodies[SEGMCNT]; | ||
55 | static dGeomID seggeoms[SEGMCNT]; | ||
56 | static dBodyID stackbodies[STACKCNT]; | ||
57 | static dGeomID stackgeoms[STACKCNT]; | ||
58 | static dJointID hinges[SEGMCNT-1]; | ||
59 | static dJointID sliders[2]; | ||
60 | static dJointFeedback jfeedbacks[SEGMCNT-1]; | ||
61 | static dReal colours[SEGMCNT]; | ||
62 | static int stress[SEGMCNT-1]; | ||
63 | |||
64 | static dJointGroupID contactgroup; | ||
65 | |||
66 | |||
67 | // this is called by dSpaceCollide when two objects in space are | ||
68 | // potentially colliding. | ||
69 | |||
70 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
71 | { | ||
72 | assert(o1); | ||
73 | assert(o2); | ||
74 | |||
75 | if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) | ||
76 | { | ||
77 | fprintf(stderr,"testing space %p %p\n", o1,o2); | ||
78 | // colliding a space with something | ||
79 | dSpaceCollide2(o1,o2,data,&nearCallback); | ||
80 | // Note we do not want to test intersections within a space, | ||
81 | // only between spaces. | ||
82 | return; | ||
83 | } | ||
84 | |||
85 | const int N = 32; | ||
86 | dContact contact[N]; | ||
87 | int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); | ||
88 | if (n > 0) | ||
89 | { | ||
90 | for (int i=0; i<n; i++) | ||
91 | { | ||
92 | contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1; | ||
93 | contact[i].surface.mu = 100.0; | ||
94 | contact[i].surface.soft_erp = 0.96; | ||
95 | contact[i].surface.soft_cfm = 0.02; | ||
96 | dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); | ||
97 | dJointAttach (c, | ||
98 | dGeomGetBody(contact[i].geom.g1), | ||
99 | dGeomGetBody(contact[i].geom.g2)); | ||
100 | } | ||
101 | } | ||
102 | } | ||
103 | |||
104 | |||
105 | // start simulation - set viewpoint | ||
106 | |||
107 | static void start() | ||
108 | { | ||
109 | static float xyz[3] = { -6, 8, 6}; | ||
110 | static float hpr[3] = { -65.0f, -27.0f, 0.0f}; | ||
111 | dsSetViewpoint (xyz,hpr); | ||
112 | } | ||
113 | |||
114 | |||
115 | |||
116 | // called when a key pressed | ||
117 | |||
118 | static void command (int cmd) | ||
119 | { | ||
120 | } | ||
121 | |||
122 | |||
123 | |||
124 | void drawGeom (dGeomID g) | ||
125 | { | ||
126 | const dReal *pos = dGeomGetPosition(g); | ||
127 | const dReal *R = dGeomGetRotation(g); | ||
128 | |||
129 | int type = dGeomGetClass (g); | ||
130 | if (type == dBoxClass) | ||
131 | { | ||
132 | dVector3 sides; | ||
133 | dGeomBoxGetLengths (g, sides); | ||
134 | dsDrawBox (pos,R,sides); | ||
135 | } | ||
136 | if (type == dCylinderClass) | ||
137 | { | ||
138 | dReal r,l; | ||
139 | dGeomCylinderGetParams(g, &r, &l); | ||
140 | dsDrawCylinder (pos, R, l, r); | ||
141 | } | ||
142 | } | ||
143 | |||
144 | |||
145 | static void inspectJoints(void) | ||
146 | { | ||
147 | const dReal forcelimit = 2000.0; | ||
148 | int i; | ||
149 | for (i=0; i<SEGMCNT-1; i++) | ||
150 | { | ||
151 | if (dJointGetBody(hinges[i], 0)) | ||
152 | { | ||
153 | // This joint has not snapped already... inspect it. | ||
154 | dReal l0 = dLENGTH(jfeedbacks[i].f1); | ||
155 | dReal l1 = dLENGTH(jfeedbacks[i].f2); | ||
156 | colours[i+0] = 0.95*colours[i+0] + 0.05 * l0/forcelimit; | ||
157 | colours[i+1] = 0.95*colours[i+1] + 0.05 * l1/forcelimit; | ||
158 | if (l0 > forcelimit || l1 > forcelimit) | ||
159 | stress[i]++; | ||
160 | else | ||
161 | stress[i]=0; | ||
162 | if (stress[i]>4) | ||
163 | { | ||
164 | // Low-pass filter the noisy feedback data. | ||
165 | // Only after 4 consecutive timesteps with excessive load, snap. | ||
166 | fprintf(stderr,"SNAP! (that was the sound of joint %d breaking)\n", i); | ||
167 | dJointAttach (hinges[i], 0, 0); | ||
168 | } | ||
169 | } | ||
170 | } | ||
171 | } | ||
172 | |||
173 | |||
174 | // simulation loop | ||
175 | |||
176 | static void simLoop (int pause) | ||
177 | { | ||
178 | int i; | ||
179 | |||
180 | double simstep = 0.005; // 5ms simulation steps | ||
181 | double dt = dsElapsedTime(); | ||
182 | int nrofsteps = (int) ceilf(dt/simstep); | ||
183 | for (i=0; i<nrofsteps && !pause; i++) | ||
184 | { | ||
185 | dSpaceCollide (space,0,&nearCallback); | ||
186 | dWorldQuickStep (world, simstep); | ||
187 | dJointGroupEmpty (contactgroup); | ||
188 | inspectJoints(); | ||
189 | } | ||
190 | |||
191 | for (i=0; i<SEGMCNT; i++) | ||
192 | { | ||
193 | float r=0,g=0,b=0.2; | ||
194 | float v = colours[i]; | ||
195 | if (v>1.0) v=1.0; | ||
196 | if (v<0.5) | ||
197 | { | ||
198 | r=2*v; | ||
199 | g=1.0; | ||
200 | } | ||
201 | else | ||
202 | { | ||
203 | r=1.0; | ||
204 | g=2*(1.0-v); | ||
205 | } | ||
206 | dsSetColor (r,g,b); | ||
207 | drawGeom(seggeoms[i]); | ||
208 | } | ||
209 | dsSetColor (1,1,1); | ||
210 | for (i=0; i<STACKCNT; i++) | ||
211 | drawGeom(stackgeoms[i]); | ||
212 | } | ||
213 | |||
214 | |||
215 | |||
216 | int main (int argc, char **argv) | ||
217 | { | ||
218 | dMass m; | ||
219 | |||
220 | // setup pointers to drawstuff callback functions | ||
221 | dsFunctions fn; | ||
222 | fn.version = DS_VERSION; | ||
223 | fn.start = &start; | ||
224 | fn.step = &simLoop; | ||
225 | fn.command = &command; | ||
226 | fn.stop = 0; | ||
227 | fn.path_to_textures = "../../drawstuff/textures"; | ||
228 | if(argc==2) | ||
229 | { | ||
230 | fn.path_to_textures = argv[1]; | ||
231 | } | ||
232 | |||
233 | // create world | ||
234 | dInitODE(); | ||
235 | world = dWorldCreate(); | ||
236 | space = dHashSpaceCreate (0); | ||
237 | contactgroup = dJointGroupCreate (0); | ||
238 | dWorldSetGravity (world,0,0,-9.8); | ||
239 | dWorldSetQuickStepNumIterations (world, 20); | ||
240 | |||
241 | int i; | ||
242 | for (i=0; i<SEGMCNT; i++) | ||
243 | { | ||
244 | segbodies[i] = dBodyCreate (world); | ||
245 | dBodySetPosition(segbodies[i], i - SEGMCNT/2.0, 0, 5); | ||
246 | dMassSetBox (&m, 1, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]); | ||
247 | dBodySetMass (segbodies[i], &m); | ||
248 | seggeoms[i] = dCreateBox (0, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]); | ||
249 | dGeomSetBody (seggeoms[i], segbodies[i]); | ||
250 | dSpaceAdd (space, seggeoms[i]); | ||
251 | } | ||
252 | |||
253 | for (i=0; i<SEGMCNT-1; i++) | ||
254 | { | ||
255 | hinges[i] = dJointCreateHinge (world,0); | ||
256 | dJointAttach (hinges[i], segbodies[i],segbodies[i+1]); | ||
257 | dJointSetHingeAnchor (hinges[i], i + 0.5 - SEGMCNT/2.0, 0, 5); | ||
258 | dJointSetHingeAxis (hinges[i], 0,1,0); | ||
259 | dJointSetHingeParam (hinges[i],dParamFMax, 8000.0); | ||
260 | // NOTE: | ||
261 | // Here we tell ODE where to put the feedback on the forces for this hinge | ||
262 | dJointSetFeedback (hinges[i], jfeedbacks+i); | ||
263 | stress[i]=0; | ||
264 | } | ||
265 | |||
266 | for (i=0; i<STACKCNT; i++) | ||
267 | { | ||
268 | stackbodies[i] = dBodyCreate(world); | ||
269 | dMassSetBox (&m, 2.0, 2, 2, 0.6); | ||
270 | dBodySetMass(stackbodies[i],&m); | ||
271 | |||
272 | stackgeoms[i] = dCreateBox(0, 2, 2, 0.6); | ||
273 | dGeomSetBody(stackgeoms[i], stackbodies[i]); | ||
274 | dBodySetPosition(stackbodies[i], 0,0,8+2*i); | ||
275 | dSpaceAdd(space, stackgeoms[i]); | ||
276 | } | ||
277 | |||
278 | sliders[0] = dJointCreateSlider (world,0); | ||
279 | dJointAttach(sliders[0], segbodies[0], 0); | ||
280 | dJointSetSliderAxis (sliders[0], 1,0,0); | ||
281 | dJointSetSliderParam (sliders[0],dParamFMax, 4000.0); | ||
282 | dJointSetSliderParam (sliders[0],dParamLoStop, 0.0); | ||
283 | dJointSetSliderParam (sliders[0],dParamHiStop, 0.2); | ||
284 | |||
285 | sliders[1] = dJointCreateSlider (world,0); | ||
286 | dJointAttach(sliders[1], segbodies[SEGMCNT-1], 0); | ||
287 | dJointSetSliderAxis (sliders[1], 1,0,0); | ||
288 | dJointSetSliderParam (sliders[1],dParamFMax, 4000.0); | ||
289 | dJointSetSliderParam (sliders[1],dParamLoStop, 0.0); | ||
290 | dJointSetSliderParam (sliders[1],dParamHiStop, -0.2); | ||
291 | |||
292 | groundgeom = dCreatePlane(space, 0,0,1,0); | ||
293 | |||
294 | for (i=0; i<SEGMCNT; i++) | ||
295 | colours[i]=0.0; | ||
296 | |||
297 | // run simulation | ||
298 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
299 | |||
300 | dJointGroupEmpty (contactgroup); | ||
301 | dJointGroupDestroy (contactgroup); | ||
302 | |||
303 | // First destroy seggeoms, then space, then the world. | ||
304 | for (i=0; i<SEGMCNT; i++) | ||
305 | dGeomDestroy (seggeoms[i]); | ||
306 | for (i=0; i<STACKCNT; i++) | ||
307 | dGeomDestroy (stackgeoms[i]); | ||
308 | |||
309 | dSpaceDestroy(space); | ||
310 | dWorldDestroy (world); | ||
311 | dCloseODE(); | ||
312 | return 0; | ||
313 | } | ||
314 | |||
diff --git a/libraries/ode-0.9/ode/demo/demo_friction.cpp b/libraries/ode-0.9/ode/demo/demo_friction.cpp new file mode 100644 index 0000000..36ba2d4 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_friction.cpp | |||
@@ -0,0 +1,206 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | /* | ||
24 | |||
25 | test the Coulomb friction approximation. | ||
26 | |||
27 | a 10x10 array of boxes is made, each of which rests on the ground. | ||
28 | a horizantal force is applied to each box to try and get it to slide. | ||
29 | box[i][j] has a mass (i+1)*MASS and a force (j+1)*FORCE. by the Coloumb | ||
30 | friction model, the box should only slide if the force is greater than MU | ||
31 | times the contact normal force, i.e. | ||
32 | |||
33 | f > MU * body_mass * GRAVITY | ||
34 | (j+1)*FORCE > MU * (i+1)*MASS * GRAVITY | ||
35 | (j+1) > (i+1) * (MU*MASS*GRAVITY/FORCE) | ||
36 | (j+1) > (i+1) * k | ||
37 | |||
38 | this should be independent of the number of contact points, as N contact | ||
39 | points will each have 1/N'th the normal force but the pushing force will | ||
40 | have to overcome N contacts. the constants are chosen so that k=1. | ||
41 | thus you should see a triangle made of half the bodies in the array start to | ||
42 | slide. | ||
43 | |||
44 | */ | ||
45 | |||
46 | |||
47 | #include <ode/ode.h> | ||
48 | #include <drawstuff/drawstuff.h> | ||
49 | |||
50 | #ifdef _MSC_VER | ||
51 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
52 | #endif | ||
53 | |||
54 | // select correct drawing functions | ||
55 | |||
56 | #ifdef dDOUBLE | ||
57 | #define dsDrawBox dsDrawBoxD | ||
58 | #define dsDrawSphere dsDrawSphereD | ||
59 | #define dsDrawCylinder dsDrawCylinderD | ||
60 | #define dsDrawCapsule dsDrawCapsuleD | ||
61 | #endif | ||
62 | |||
63 | |||
64 | // some constants | ||
65 | |||
66 | #define LENGTH 0.2 // box length & width | ||
67 | #define HEIGHT 0.05 // box height | ||
68 | #define MASS 0.2 // mass of box[i][j] = (i+1) * MASS | ||
69 | #define FORCE 0.05 // force applied to box[i][j] = (j+1) * FORCE | ||
70 | #define MU 0.5 // the global mu to use | ||
71 | #define GRAVITY 0.5 // the global gravity to use | ||
72 | #define N1 10 // number of different forces to try | ||
73 | #define N2 10 // number of different masses to try | ||
74 | |||
75 | |||
76 | // dynamics and collision objects | ||
77 | |||
78 | static dWorldID world; | ||
79 | static dSpaceID space; | ||
80 | static dBodyID body[N1][N2]; | ||
81 | static dJointGroupID contactgroup; | ||
82 | static dGeomID ground; | ||
83 | static dGeomID box[N1][N2]; | ||
84 | |||
85 | |||
86 | |||
87 | // this is called by dSpaceCollide when two objects in space are | ||
88 | // potentially colliding. | ||
89 | |||
90 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
91 | { | ||
92 | int i; | ||
93 | |||
94 | // only collide things with the ground | ||
95 | int g1 = (o1 == ground); | ||
96 | int g2 = (o2 == ground); | ||
97 | if (!(g1 ^ g2)) return; | ||
98 | |||
99 | dBodyID b1 = dGeomGetBody(o1); | ||
100 | dBodyID b2 = dGeomGetBody(o2); | ||
101 | |||
102 | dContact contact[3]; // up to 3 contacts per box | ||
103 | for (i=0; i<3; i++) { | ||
104 | contact[i].surface.mode = dContactSoftCFM | dContactApprox1; | ||
105 | contact[i].surface.mu = MU; | ||
106 | contact[i].surface.soft_cfm = 0.01; | ||
107 | } | ||
108 | if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) { | ||
109 | for (i=0; i<numc; i++) { | ||
110 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); | ||
111 | dJointAttach (c,b1,b2); | ||
112 | } | ||
113 | } | ||
114 | } | ||
115 | |||
116 | |||
117 | // start simulation - set viewpoint | ||
118 | |||
119 | static void start() | ||
120 | { | ||
121 | static float xyz[3] = {1.7772,-0.7924,2.7600}; | ||
122 | static float hpr[3] = {90.0000,-54.0000,0.0000}; | ||
123 | dsSetViewpoint (xyz,hpr); | ||
124 | } | ||
125 | |||
126 | |||
127 | // simulation loop | ||
128 | |||
129 | static void simLoop (int pause) | ||
130 | { | ||
131 | int i; | ||
132 | if (!pause) { | ||
133 | // apply forces to all bodies | ||
134 | for (i=0; i<N1; i++) { | ||
135 | for (int j=0; j<N2; j++) { | ||
136 | dBodyAddForce (body[i][j],FORCE*(i+1),0,0); | ||
137 | } | ||
138 | } | ||
139 | |||
140 | dSpaceCollide (space,0,&nearCallback); | ||
141 | dWorldStep (world,0.05); | ||
142 | |||
143 | // remove all contact joints | ||
144 | dJointGroupEmpty (contactgroup); | ||
145 | } | ||
146 | |||
147 | dsSetColor (1,0,1); | ||
148 | dReal sides[3] = {LENGTH,LENGTH,HEIGHT}; | ||
149 | for (i=0; i<N1; i++) { | ||
150 | for (int j=0; j<N2; j++) { | ||
151 | dsDrawBox (dGeomGetPosition(box[i][j]),dGeomGetRotation(box[i][j]), | ||
152 | sides); | ||
153 | } | ||
154 | } | ||
155 | } | ||
156 | |||
157 | |||
158 | int main (int argc, char **argv) | ||
159 | { | ||
160 | int i,j; | ||
161 | dMass m; | ||
162 | |||
163 | // setup pointers to drawstuff callback functions | ||
164 | dsFunctions fn; | ||
165 | fn.version = DS_VERSION; | ||
166 | fn.start = &start; | ||
167 | fn.step = &simLoop; | ||
168 | fn.command = 0; | ||
169 | fn.stop = 0; | ||
170 | fn.path_to_textures = "../../drawstuff/textures"; | ||
171 | if(argc==2) | ||
172 | { | ||
173 | fn.path_to_textures = argv[1]; | ||
174 | } | ||
175 | |||
176 | // create world | ||
177 | dInitODE(); | ||
178 | world = dWorldCreate(); | ||
179 | space = dHashSpaceCreate (0); | ||
180 | contactgroup = dJointGroupCreate (0); | ||
181 | dWorldSetGravity (world,0,0,-GRAVITY); | ||
182 | ground = dCreatePlane (space,0,0,1,0); | ||
183 | |||
184 | // bodies | ||
185 | for (i=0; i<N1; i++) { | ||
186 | for (j=0; j<N2; j++) { | ||
187 | body[i][j] = dBodyCreate (world); | ||
188 | dMassSetBox (&m,1,LENGTH,LENGTH,HEIGHT); | ||
189 | dMassAdjust (&m,MASS*(j+1)); | ||
190 | dBodySetMass (body[i][j],&m); | ||
191 | dBodySetPosition (body[i][j],i*2*LENGTH,j*2*LENGTH,HEIGHT*0.5); | ||
192 | |||
193 | box[i][j] = dCreateBox (space,LENGTH,LENGTH,HEIGHT); | ||
194 | dGeomSetBody (box[i][j],body[i][j]); | ||
195 | } | ||
196 | } | ||
197 | |||
198 | // run simulation | ||
199 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
200 | |||
201 | dJointGroupDestroy (contactgroup); | ||
202 | dSpaceDestroy (space); | ||
203 | dWorldDestroy (world); | ||
204 | dCloseODE(); | ||
205 | return 0; | ||
206 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_heightfield.cpp b/libraries/ode-0.9/ode/demo/demo_heightfield.cpp new file mode 100644 index 0000000..83156ab --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_heightfield.cpp | |||
@@ -0,0 +1,2132 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | #include <ode/ode.h> | ||
24 | #include <drawstuff/drawstuff.h> | ||
25 | |||
26 | #ifdef _MSC_VER | ||
27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
28 | #endif | ||
29 | |||
30 | #define DEGTORAD 0.01745329251994329577f //!< PI / 180.0, convert degrees to radians | ||
31 | |||
32 | |||
33 | // Our heightfield geom | ||
34 | dGeomID gheight; | ||
35 | |||
36 | |||
37 | |||
38 | // Heightfield dimensions | ||
39 | |||
40 | #define HFIELD_WSTEP 15 // Vertex count along edge >= 2 | ||
41 | #define HFIELD_DSTEP 31 | ||
42 | |||
43 | #define HFIELD_WIDTH REAL( 4.0 ) | ||
44 | #define HFIELD_DEPTH REAL( 8.0 ) | ||
45 | |||
46 | #define HFIELD_WSAMP ( HFIELD_WIDTH / ( HFIELD_WSTEP-1 ) ) | ||
47 | #define HFIELD_DSAMP ( HFIELD_DEPTH / ( HFIELD_DSTEP-1 ) ) | ||
48 | |||
49 | #ifdef dDOUBLE | ||
50 | #define dsDrawBox dsDrawBoxD | ||
51 | #define dsDrawSphere dsDrawSphereD | ||
52 | #define dsDrawCylinder dsDrawCylinderD | ||
53 | #define dsDrawCapsule dsDrawCapsuleD | ||
54 | #define dsDrawConvex dsDrawConvexD | ||
55 | #define dsDrawTriangle dsDrawTriangleD | ||
56 | #endif | ||
57 | |||
58 | |||
59 | |||
60 | //<---- Convex Object | ||
61 | dReal planes[]= // planes for a cube | ||
62 | { | ||
63 | 1.0f ,0.0f ,0.0f ,0.25f, | ||
64 | 0.0f ,1.0f ,0.0f ,0.25f, | ||
65 | 0.0f ,0.0f ,1.0f ,0.25f, | ||
66 | 0.0f ,0.0f ,-1.0f,0.25f, | ||
67 | 0.0f ,-1.0f,0.0f ,0.25f, | ||
68 | -1.0f,0.0f ,0.0f ,0.25f | ||
69 | /* | ||
70 | 1.0f ,0.0f ,0.0f ,2.0f, | ||
71 | 0.0f ,1.0f ,0.0f ,1.0f, | ||
72 | 0.0f ,0.0f ,1.0f ,1.0f, | ||
73 | 0.0f ,0.0f ,-1.0f,1.0f, | ||
74 | 0.0f ,-1.0f,0.0f ,1.0f, | ||
75 | -1.0f,0.0f ,0.0f ,0.0f | ||
76 | */ | ||
77 | }; | ||
78 | const unsigned int planecount=6; | ||
79 | |||
80 | dReal points[]= // points for a cube | ||
81 | { | ||
82 | 0.25f,0.25f,0.25f, // point 0 | ||
83 | -0.25f,0.25f,0.25f, // point 1 | ||
84 | |||
85 | 0.25f,-0.25f,0.25f, // point 2 | ||
86 | -0.25f,-0.25f,0.25f,// point 3 | ||
87 | |||
88 | 0.25f,0.25f,-0.25f, // point 4 | ||
89 | -0.25f,0.25f,-0.25f,// point 5 | ||
90 | |||
91 | 0.25f,-0.25f,-0.25f,// point 6 | ||
92 | -0.25f,-0.25f,-0.25f,// point 7 | ||
93 | }; | ||
94 | const unsigned int pointcount=8; | ||
95 | unsigned int polygons[] = //Polygons for a cube (6 squares) | ||
96 | { | ||
97 | 4,0,2,6,4, // positive X | ||
98 | 4,1,0,4,5, // positive Y | ||
99 | 4,0,1,3,2, // positive Z | ||
100 | 4,3,1,5,7, // negative X | ||
101 | 4,2,3,7,6, // negative Y | ||
102 | 4,5,4,6,7, // negative Z | ||
103 | }; | ||
104 | //----> Convex Object | ||
105 | |||
106 | // select correct drawing functions | ||
107 | |||
108 | #ifdef dDOUBLE | ||
109 | #define dsDrawBox dsDrawBoxD | ||
110 | #define dsDrawSphere dsDrawSphereD | ||
111 | #define dsDrawCylinder dsDrawCylinderD | ||
112 | #define dsDrawCapsule dsDrawCapsuleD | ||
113 | #define dsDrawConvex dsDrawConvexD | ||
114 | #endif | ||
115 | |||
116 | |||
117 | // some constants | ||
118 | |||
119 | #define NUM 100 // max number of objects | ||
120 | #define DENSITY (5.0) // density of all objects | ||
121 | #define GPB 3 // maximum number of geometries per body | ||
122 | #define MAX_CONTACTS 64 // maximum number of contact points per body | ||
123 | |||
124 | |||
125 | // dynamics and collision objects | ||
126 | |||
127 | struct MyObject { | ||
128 | dBodyID body; // the body | ||
129 | dGeomID geom[GPB]; // geometries representing this body | ||
130 | |||
131 | // Trimesh only - double buffered matrices for 'last transform' setup | ||
132 | dReal matrix_dblbuff[ 16 * 2 ]; | ||
133 | int last_matrix_index; | ||
134 | }; | ||
135 | |||
136 | static int num=0; // number of objects in simulation | ||
137 | static int nextobj=0; // next object to recycle if num==NUM | ||
138 | static dWorldID world; | ||
139 | static dSpaceID space; | ||
140 | static MyObject obj[NUM]; | ||
141 | static dJointGroupID contactgroup; | ||
142 | static int selected = -1; // selected object | ||
143 | static int show_aabb = 0; // show geom AABBs? | ||
144 | static int show_contacts = 0; // show contact points? | ||
145 | static int random_pos = 1; // drop objects from random position? | ||
146 | static int write_world = 0; | ||
147 | |||
148 | |||
149 | |||
150 | |||
151 | //============================ | ||
152 | |||
153 | // Bunny mesh ripped from Opcode | ||
154 | const int VertexCount = 453; | ||
155 | const int IndexCount = 902 * 3; | ||
156 | |||
157 | typedef dReal dVector3R[3]; | ||
158 | |||
159 | dGeomID TriMesh1; | ||
160 | dGeomID TriMesh2; | ||
161 | static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data | ||
162 | |||
163 | static float Vertices[VertexCount * 3] = { | ||
164 | REAL(-0.334392), REAL(0.133007), REAL(0.062259), | ||
165 | REAL(-0.350189), REAL(0.150354), REAL(-0.147769), | ||
166 | REAL(-0.234201), REAL(0.343811), REAL(-0.174307), | ||
167 | REAL(-0.200259), REAL(0.285207), REAL(0.093749), | ||
168 | REAL(0.003520), REAL(0.475208), REAL(-0.159365), | ||
169 | REAL(0.001856), REAL(0.419203), REAL(0.098582), | ||
170 | REAL(-0.252802), REAL(0.093666), REAL(0.237538), | ||
171 | REAL(-0.162901), REAL(0.237984), REAL(0.206905), | ||
172 | REAL(0.000865), REAL(0.318141), REAL(0.235370), | ||
173 | REAL(-0.414624), REAL(0.164083), REAL(-0.278254), | ||
174 | REAL(-0.262213), REAL(0.357334), REAL(-0.293246), | ||
175 | REAL(0.004628), REAL(0.482694), REAL(-0.338626), | ||
176 | REAL(-0.402162), REAL(0.133528), REAL(-0.443247), | ||
177 | REAL(-0.243781), REAL(0.324275), REAL(-0.436763), | ||
178 | REAL(0.005293), REAL(0.437592), REAL(-0.458332), | ||
179 | REAL(-0.339884), REAL(-0.041150), REAL(-0.668211), | ||
180 | REAL(-0.248382), REAL(0.255825), REAL(-0.627493), | ||
181 | REAL(0.006261), REAL(0.376103), REAL(-0.631506), | ||
182 | REAL(-0.216201), REAL(-0.126776), REAL(-0.886936), | ||
183 | REAL(-0.171075), REAL(0.011544), REAL(-0.881386), | ||
184 | REAL(-0.181074), REAL(0.098223), REAL(-0.814779), | ||
185 | REAL(-0.119891), REAL(0.218786), REAL(-0.760153), | ||
186 | REAL(-0.078895), REAL(0.276780), REAL(-0.739281), | ||
187 | REAL(0.006801), REAL(0.310959), REAL(-0.735661), | ||
188 | REAL(-0.168842), REAL(0.102387), REAL(-0.920381), | ||
189 | REAL(-0.104072), REAL(0.177278), REAL(-0.952530), | ||
190 | REAL(-0.129704), REAL(0.211848), REAL(-0.836678), | ||
191 | REAL(-0.099875), REAL(0.310931), REAL(-0.799381), | ||
192 | REAL(0.007237), REAL(0.361687), REAL(-0.794439), | ||
193 | REAL(-0.077913), REAL(0.258753), REAL(-0.921640), | ||
194 | REAL(0.007957), REAL(0.282241), REAL(-0.931680), | ||
195 | REAL(-0.252222), REAL(-0.550401), REAL(-0.557810), | ||
196 | REAL(-0.267633), REAL(-0.603419), REAL(-0.655209), | ||
197 | REAL(-0.446838), REAL(-0.118517), REAL(-0.466159), | ||
198 | REAL(-0.459488), REAL(-0.093017), REAL(-0.311341), | ||
199 | REAL(-0.370645), REAL(-0.100108), REAL(-0.159454), | ||
200 | REAL(-0.371984), REAL(-0.091991), REAL(-0.011044), | ||
201 | REAL(-0.328945), REAL(-0.098269), REAL(0.088659), | ||
202 | REAL(-0.282452), REAL(-0.018862), REAL(0.311501), | ||
203 | REAL(-0.352403), REAL(-0.131341), REAL(0.144902), | ||
204 | REAL(-0.364126), REAL(-0.200299), REAL(0.202388), | ||
205 | REAL(-0.283965), REAL(-0.231869), REAL(0.023668), | ||
206 | REAL(-0.298943), REAL(-0.155218), REAL(0.369716), | ||
207 | REAL(-0.293787), REAL(-0.121856), REAL(0.419097), | ||
208 | REAL(-0.290163), REAL(-0.290797), REAL(0.107824), | ||
209 | REAL(-0.264165), REAL(-0.272849), REAL(0.036347), | ||
210 | REAL(-0.228567), REAL(-0.372573), REAL(0.290309), | ||
211 | REAL(-0.190431), REAL(-0.286997), REAL(0.421917), | ||
212 | REAL(-0.191039), REAL(-0.240973), REAL(0.507118), | ||
213 | REAL(-0.287272), REAL(-0.276431), REAL(-0.065444), | ||
214 | REAL(-0.295675), REAL(-0.280818), REAL(-0.174200), | ||
215 | REAL(-0.399537), REAL(-0.313131), REAL(-0.376167), | ||
216 | REAL(-0.392666), REAL(-0.488581), REAL(-0.427494), | ||
217 | REAL(-0.331669), REAL(-0.570185), REAL(-0.466054), | ||
218 | REAL(-0.282290), REAL(-0.618140), REAL(-0.589220), | ||
219 | REAL(-0.374238), REAL(-0.594882), REAL(-0.323298), | ||
220 | REAL(-0.381071), REAL(-0.629723), REAL(-0.350777), | ||
221 | REAL(-0.382112), REAL(-0.624060), REAL(-0.221577), | ||
222 | REAL(-0.272701), REAL(-0.566522), REAL(0.259157), | ||
223 | REAL(-0.256702), REAL(-0.663406), REAL(0.286079), | ||
224 | REAL(-0.280948), REAL(-0.428359), REAL(0.055790), | ||
225 | REAL(-0.184974), REAL(-0.508894), REAL(0.326265), | ||
226 | REAL(-0.279971), REAL(-0.526918), REAL(0.395319), | ||
227 | REAL(-0.282599), REAL(-0.663393), REAL(0.412411), | ||
228 | REAL(-0.188329), REAL(-0.475093), REAL(0.417954), | ||
229 | REAL(-0.263384), REAL(-0.663396), REAL(0.466604), | ||
230 | REAL(-0.209063), REAL(-0.663393), REAL(0.509344), | ||
231 | REAL(-0.002044), REAL(-0.319624), REAL(0.553078), | ||
232 | REAL(-0.001266), REAL(-0.371260), REAL(0.413296), | ||
233 | REAL(-0.219753), REAL(-0.339762), REAL(-0.040921), | ||
234 | REAL(-0.256986), REAL(-0.282511), REAL(-0.006349), | ||
235 | REAL(-0.271706), REAL(-0.260881), REAL(0.001764), | ||
236 | REAL(-0.091191), REAL(-0.419184), REAL(-0.045912), | ||
237 | REAL(-0.114944), REAL(-0.429752), REAL(-0.124739), | ||
238 | REAL(-0.113970), REAL(-0.382987), REAL(-0.188540), | ||
239 | REAL(-0.243012), REAL(-0.464942), REAL(-0.242850), | ||
240 | REAL(-0.314815), REAL(-0.505402), REAL(-0.324768), | ||
241 | REAL(0.002774), REAL(-0.437526), REAL(-0.262766), | ||
242 | REAL(-0.072625), REAL(-0.417748), REAL(-0.221440), | ||
243 | REAL(-0.160112), REAL(-0.476932), REAL(-0.293450), | ||
244 | REAL(0.003859), REAL(-0.453425), REAL(-0.443916), | ||
245 | REAL(-0.120363), REAL(-0.581567), REAL(-0.438689), | ||
246 | REAL(-0.091499), REAL(-0.584191), REAL(-0.294511), | ||
247 | REAL(-0.116469), REAL(-0.599861), REAL(-0.188308), | ||
248 | REAL(-0.208032), REAL(-0.513640), REAL(-0.134649), | ||
249 | REAL(-0.235749), REAL(-0.610017), REAL(-0.040939), | ||
250 | REAL(-0.344916), REAL(-0.622487), REAL(-0.085380), | ||
251 | REAL(-0.336401), REAL(-0.531864), REAL(-0.212298), | ||
252 | REAL(0.001961), REAL(-0.459550), REAL(-0.135547), | ||
253 | REAL(-0.058296), REAL(-0.430536), REAL(-0.043440), | ||
254 | REAL(0.001378), REAL(-0.449511), REAL(-0.037762), | ||
255 | REAL(-0.130135), REAL(-0.510222), REAL(0.079144), | ||
256 | REAL(0.000142), REAL(-0.477549), REAL(0.157064), | ||
257 | REAL(-0.114284), REAL(-0.453206), REAL(0.304397), | ||
258 | REAL(-0.000592), REAL(-0.443558), REAL(0.285401), | ||
259 | REAL(-0.056215), REAL(-0.663402), REAL(0.326073), | ||
260 | REAL(-0.026248), REAL(-0.568010), REAL(0.273318), | ||
261 | REAL(-0.049261), REAL(-0.531064), REAL(0.389854), | ||
262 | REAL(-0.127096), REAL(-0.663398), REAL(0.479316), | ||
263 | REAL(-0.058384), REAL(-0.663401), REAL(0.372891), | ||
264 | REAL(-0.303961), REAL(0.054199), REAL(0.625921), | ||
265 | REAL(-0.268594), REAL(0.193403), REAL(0.502766), | ||
266 | REAL(-0.277159), REAL(0.126123), REAL(0.443289), | ||
267 | REAL(-0.287605), REAL(-0.005722), REAL(0.531844), | ||
268 | REAL(-0.231396), REAL(-0.121289), REAL(0.587387), | ||
269 | REAL(-0.253475), REAL(-0.081797), REAL(0.756541), | ||
270 | REAL(-0.195164), REAL(-0.137969), REAL(0.728011), | ||
271 | REAL(-0.167673), REAL(-0.156573), REAL(0.609388), | ||
272 | REAL(-0.145917), REAL(-0.169029), REAL(0.697600), | ||
273 | REAL(-0.077776), REAL(-0.214247), REAL(0.622586), | ||
274 | REAL(-0.076873), REAL(-0.214971), REAL(0.696301), | ||
275 | REAL(-0.002341), REAL(-0.233135), REAL(0.622859), | ||
276 | REAL(-0.002730), REAL(-0.213526), REAL(0.691267), | ||
277 | REAL(-0.003136), REAL(-0.192628), REAL(0.762731), | ||
278 | REAL(-0.056136), REAL(-0.201222), REAL(0.763806), | ||
279 | REAL(-0.114589), REAL(-0.166192), REAL(0.770723), | ||
280 | REAL(-0.155145), REAL(-0.129632), REAL(0.791738), | ||
281 | REAL(-0.183611), REAL(-0.058705), REAL(0.847012), | ||
282 | REAL(-0.165562), REAL(0.001980), REAL(0.833386), | ||
283 | REAL(-0.220084), REAL(0.019914), REAL(0.768935), | ||
284 | REAL(-0.255730), REAL(0.090306), REAL(0.670782), | ||
285 | REAL(-0.255594), REAL(0.113833), REAL(0.663389), | ||
286 | REAL(-0.226380), REAL(0.212655), REAL(0.617740), | ||
287 | REAL(-0.003367), REAL(-0.195342), REAL(0.799680), | ||
288 | REAL(-0.029743), REAL(-0.210508), REAL(0.827180), | ||
289 | REAL(-0.003818), REAL(-0.194783), REAL(0.873636), | ||
290 | REAL(-0.004116), REAL(-0.157907), REAL(0.931268), | ||
291 | REAL(-0.031280), REAL(-0.184555), REAL(0.889476), | ||
292 | REAL(-0.059885), REAL(-0.184448), REAL(0.841330), | ||
293 | REAL(-0.135333), REAL(-0.164332), REAL(0.878200), | ||
294 | REAL(-0.085574), REAL(-0.170948), REAL(0.925547), | ||
295 | REAL(-0.163833), REAL(-0.094170), REAL(0.897114), | ||
296 | REAL(-0.138444), REAL(-0.104250), REAL(0.945975), | ||
297 | REAL(-0.083497), REAL(-0.084934), REAL(0.979607), | ||
298 | REAL(-0.004433), REAL(-0.146642), REAL(0.985872), | ||
299 | REAL(-0.150715), REAL(0.032650), REAL(0.884111), | ||
300 | REAL(-0.135892), REAL(-0.035520), REAL(0.945455), | ||
301 | REAL(-0.070612), REAL(0.036849), REAL(0.975733), | ||
302 | REAL(-0.004458), REAL(-0.042526), REAL(1.015670), | ||
303 | REAL(-0.004249), REAL(0.046042), REAL(1.003240), | ||
304 | REAL(-0.086969), REAL(0.133224), REAL(0.947633), | ||
305 | REAL(-0.003873), REAL(0.161605), REAL(0.970499), | ||
306 | REAL(-0.125544), REAL(0.140012), REAL(0.917678), | ||
307 | REAL(-0.125651), REAL(0.250246), REAL(0.857602), | ||
308 | REAL(-0.003127), REAL(0.284070), REAL(0.878870), | ||
309 | REAL(-0.159174), REAL(0.125726), REAL(0.888878), | ||
310 | REAL(-0.183807), REAL(0.196970), REAL(0.844480), | ||
311 | REAL(-0.159890), REAL(0.291736), REAL(0.732480), | ||
312 | REAL(-0.199495), REAL(0.207230), REAL(0.779864), | ||
313 | REAL(-0.206182), REAL(0.164608), REAL(0.693257), | ||
314 | REAL(-0.186315), REAL(0.160689), REAL(0.817193), | ||
315 | REAL(-0.192827), REAL(0.166706), REAL(0.782271), | ||
316 | REAL(-0.175112), REAL(0.110008), REAL(0.860621), | ||
317 | REAL(-0.161022), REAL(0.057420), REAL(0.855111), | ||
318 | REAL(-0.172319), REAL(0.036155), REAL(0.816189), | ||
319 | REAL(-0.190318), REAL(0.064083), REAL(0.760605), | ||
320 | REAL(-0.195072), REAL(0.129179), REAL(0.731104), | ||
321 | REAL(-0.203126), REAL(0.410287), REAL(0.680536), | ||
322 | REAL(-0.216677), REAL(0.309274), REAL(0.642272), | ||
323 | REAL(-0.241515), REAL(0.311485), REAL(0.587832), | ||
324 | REAL(-0.002209), REAL(0.366663), REAL(0.749413), | ||
325 | REAL(-0.088230), REAL(0.396265), REAL(0.678635), | ||
326 | REAL(-0.170147), REAL(0.109517), REAL(0.840784), | ||
327 | REAL(-0.160521), REAL(0.067766), REAL(0.830650), | ||
328 | REAL(-0.181546), REAL(0.139805), REAL(0.812146), | ||
329 | REAL(-0.180495), REAL(0.148568), REAL(0.776087), | ||
330 | REAL(-0.180255), REAL(0.129125), REAL(0.744192), | ||
331 | REAL(-0.186298), REAL(0.078308), REAL(0.769352), | ||
332 | REAL(-0.167622), REAL(0.060539), REAL(0.806675), | ||
333 | REAL(-0.189876), REAL(0.102760), REAL(0.802582), | ||
334 | REAL(-0.108340), REAL(0.455446), REAL(0.657174), | ||
335 | REAL(-0.241585), REAL(0.527592), REAL(0.669296), | ||
336 | REAL(-0.265676), REAL(0.513366), REAL(0.634594), | ||
337 | REAL(-0.203073), REAL(0.478550), REAL(0.581526), | ||
338 | REAL(-0.266772), REAL(0.642330), REAL(0.602061), | ||
339 | REAL(-0.216961), REAL(0.564846), REAL(0.535435), | ||
340 | REAL(-0.202210), REAL(0.525495), REAL(0.475944), | ||
341 | REAL(-0.193888), REAL(0.467925), REAL(0.520606), | ||
342 | REAL(-0.265837), REAL(0.757267), REAL(0.500933), | ||
343 | REAL(-0.240306), REAL(0.653440), REAL(0.463215), | ||
344 | REAL(-0.309239), REAL(0.776868), REAL(0.304726), | ||
345 | REAL(-0.271009), REAL(0.683094), REAL(0.382018), | ||
346 | REAL(-0.312111), REAL(0.671099), REAL(0.286687), | ||
347 | REAL(-0.268791), REAL(0.624342), REAL(0.377231), | ||
348 | REAL(-0.302457), REAL(0.533996), REAL(0.360289), | ||
349 | REAL(-0.263656), REAL(0.529310), REAL(0.412564), | ||
350 | REAL(-0.282311), REAL(0.415167), REAL(0.447666), | ||
351 | REAL(-0.239201), REAL(0.442096), REAL(0.495604), | ||
352 | REAL(-0.220043), REAL(0.569026), REAL(0.445877), | ||
353 | REAL(-0.001263), REAL(0.395631), REAL(0.602029), | ||
354 | REAL(-0.057345), REAL(0.442535), REAL(0.572224), | ||
355 | REAL(-0.088927), REAL(0.506333), REAL(0.529106), | ||
356 | REAL(-0.125738), REAL(0.535076), REAL(0.612913), | ||
357 | REAL(-0.126251), REAL(0.577170), REAL(0.483159), | ||
358 | REAL(-0.149594), REAL(0.611520), REAL(0.557731), | ||
359 | REAL(-0.163188), REAL(0.660791), REAL(0.491080), | ||
360 | REAL(-0.172482), REAL(0.663387), REAL(0.415416), | ||
361 | REAL(-0.160464), REAL(0.591710), REAL(0.370659), | ||
362 | REAL(-0.156445), REAL(0.536396), REAL(0.378302), | ||
363 | REAL(-0.136496), REAL(0.444358), REAL(0.425226), | ||
364 | REAL(-0.095564), REAL(0.373768), REAL(0.473659), | ||
365 | REAL(-0.104146), REAL(0.315912), REAL(0.498104), | ||
366 | REAL(-0.000496), REAL(0.384194), REAL(0.473817), | ||
367 | REAL(-0.000183), REAL(0.297770), REAL(0.401486), | ||
368 | REAL(-0.129042), REAL(0.270145), REAL(0.434495), | ||
369 | REAL(0.000100), REAL(0.272963), REAL(0.349138), | ||
370 | REAL(-0.113060), REAL(0.236984), REAL(0.385554), | ||
371 | REAL(0.007260), REAL(0.016311), REAL(-0.883396), | ||
372 | REAL(0.007865), REAL(0.122104), REAL(-0.956137), | ||
373 | REAL(-0.032842), REAL(0.115282), REAL(-0.953252), | ||
374 | REAL(-0.089115), REAL(0.108449), REAL(-0.950317), | ||
375 | REAL(-0.047440), REAL(0.014729), REAL(-0.882756), | ||
376 | REAL(-0.104458), REAL(0.013137), REAL(-0.882070), | ||
377 | REAL(-0.086439), REAL(-0.584866), REAL(-0.608343), | ||
378 | REAL(-0.115026), REAL(-0.662605), REAL(-0.436732), | ||
379 | REAL(-0.071683), REAL(-0.665372), REAL(-0.606385), | ||
380 | REAL(-0.257884), REAL(-0.665381), REAL(-0.658052), | ||
381 | REAL(-0.272542), REAL(-0.665381), REAL(-0.592063), | ||
382 | REAL(-0.371322), REAL(-0.665382), REAL(-0.353620), | ||
383 | REAL(-0.372362), REAL(-0.665381), REAL(-0.224420), | ||
384 | REAL(-0.335166), REAL(-0.665380), REAL(-0.078623), | ||
385 | REAL(-0.225999), REAL(-0.665375), REAL(-0.038981), | ||
386 | REAL(-0.106719), REAL(-0.665374), REAL(-0.186351), | ||
387 | REAL(-0.081749), REAL(-0.665372), REAL(-0.292554), | ||
388 | REAL(0.006943), REAL(-0.091505), REAL(-0.858354), | ||
389 | REAL(0.006117), REAL(-0.280985), REAL(-0.769967), | ||
390 | REAL(0.004495), REAL(-0.502360), REAL(-0.559799), | ||
391 | REAL(-0.198638), REAL(-0.302135), REAL(-0.845816), | ||
392 | REAL(-0.237395), REAL(-0.542544), REAL(-0.587188), | ||
393 | REAL(-0.270001), REAL(-0.279489), REAL(-0.669861), | ||
394 | REAL(-0.134547), REAL(-0.119852), REAL(-0.959004), | ||
395 | REAL(-0.052088), REAL(-0.122463), REAL(-0.944549), | ||
396 | REAL(-0.124463), REAL(-0.293508), REAL(-0.899566), | ||
397 | REAL(-0.047616), REAL(-0.289643), REAL(-0.879292), | ||
398 | REAL(-0.168595), REAL(-0.529132), REAL(-0.654931), | ||
399 | REAL(-0.099793), REAL(-0.515719), REAL(-0.645873), | ||
400 | REAL(-0.186168), REAL(-0.605282), REAL(-0.724690), | ||
401 | REAL(-0.112970), REAL(-0.583097), REAL(-0.707469), | ||
402 | REAL(-0.108152), REAL(-0.665375), REAL(-0.700408), | ||
403 | REAL(-0.183019), REAL(-0.665378), REAL(-0.717630), | ||
404 | REAL(-0.349529), REAL(-0.334459), REAL(-0.511985), | ||
405 | REAL(-0.141182), REAL(-0.437705), REAL(-0.798194), | ||
406 | REAL(-0.212670), REAL(-0.448725), REAL(-0.737447), | ||
407 | REAL(-0.261111), REAL(-0.414945), REAL(-0.613835), | ||
408 | REAL(-0.077364), REAL(-0.431480), REAL(-0.778113), | ||
409 | REAL(0.005174), REAL(-0.425277), REAL(-0.651592), | ||
410 | REAL(0.089236), REAL(-0.431732), REAL(-0.777093), | ||
411 | REAL(0.271006), REAL(-0.415749), REAL(-0.610577), | ||
412 | REAL(0.223981), REAL(-0.449384), REAL(-0.734774), | ||
413 | REAL(0.153275), REAL(-0.438150), REAL(-0.796391), | ||
414 | REAL(0.358414), REAL(-0.335529), REAL(-0.507649), | ||
415 | REAL(0.193434), REAL(-0.665946), REAL(-0.715325), | ||
416 | REAL(0.118363), REAL(-0.665717), REAL(-0.699021), | ||
417 | REAL(0.123515), REAL(-0.583454), REAL(-0.706020), | ||
418 | REAL(0.196851), REAL(-0.605860), REAL(-0.722345), | ||
419 | REAL(0.109788), REAL(-0.516035), REAL(-0.644590), | ||
420 | REAL(0.178656), REAL(-0.529656), REAL(-0.652804), | ||
421 | REAL(0.061157), REAL(-0.289807), REAL(-0.878626), | ||
422 | REAL(0.138234), REAL(-0.293905), REAL(-0.897958), | ||
423 | REAL(0.066933), REAL(-0.122643), REAL(-0.943820), | ||
424 | REAL(0.149571), REAL(-0.120281), REAL(-0.957264), | ||
425 | REAL(0.280989), REAL(-0.280321), REAL(-0.666487), | ||
426 | REAL(0.246581), REAL(-0.543275), REAL(-0.584224), | ||
427 | REAL(0.211720), REAL(-0.302754), REAL(-0.843303), | ||
428 | REAL(0.086966), REAL(-0.665627), REAL(-0.291520), | ||
429 | REAL(0.110634), REAL(-0.665702), REAL(-0.185021), | ||
430 | REAL(0.228099), REAL(-0.666061), REAL(-0.036201), | ||
431 | REAL(0.337743), REAL(-0.666396), REAL(-0.074503), | ||
432 | REAL(0.376722), REAL(-0.666513), REAL(-0.219833), | ||
433 | REAL(0.377265), REAL(-0.666513), REAL(-0.349036), | ||
434 | REAL(0.281411), REAL(-0.666217), REAL(-0.588670), | ||
435 | REAL(0.267564), REAL(-0.666174), REAL(-0.654834), | ||
436 | REAL(0.080745), REAL(-0.665602), REAL(-0.605452), | ||
437 | REAL(0.122016), REAL(-0.662963), REAL(-0.435280), | ||
438 | REAL(0.095767), REAL(-0.585141), REAL(-0.607228), | ||
439 | REAL(0.118944), REAL(0.012799), REAL(-0.880702), | ||
440 | REAL(0.061944), REAL(0.014564), REAL(-0.882086), | ||
441 | REAL(0.104725), REAL(0.108156), REAL(-0.949130), | ||
442 | REAL(0.048513), REAL(0.115159), REAL(-0.952753), | ||
443 | REAL(0.112696), REAL(0.236643), REAL(0.386937), | ||
444 | REAL(0.128177), REAL(0.269757), REAL(0.436071), | ||
445 | REAL(0.102643), REAL(0.315600), REAL(0.499370), | ||
446 | REAL(0.094535), REAL(0.373481), REAL(0.474824), | ||
447 | REAL(0.136270), REAL(0.443946), REAL(0.426895), | ||
448 | REAL(0.157071), REAL(0.535923), REAL(0.380222), | ||
449 | REAL(0.161350), REAL(0.591224), REAL(0.372630), | ||
450 | REAL(0.173035), REAL(0.662865), REAL(0.417531), | ||
451 | REAL(0.162808), REAL(0.660299), REAL(0.493077), | ||
452 | REAL(0.148250), REAL(0.611070), REAL(0.559555), | ||
453 | REAL(0.125719), REAL(0.576790), REAL(0.484702), | ||
454 | REAL(0.123489), REAL(0.534699), REAL(0.614440), | ||
455 | REAL(0.087621), REAL(0.506066), REAL(0.530188), | ||
456 | REAL(0.055321), REAL(0.442365), REAL(0.572915), | ||
457 | REAL(0.219936), REAL(0.568361), REAL(0.448571), | ||
458 | REAL(0.238099), REAL(0.441375), REAL(0.498528), | ||
459 | REAL(0.281711), REAL(0.414315), REAL(0.451121), | ||
460 | REAL(0.263833), REAL(0.528513), REAL(0.415794), | ||
461 | REAL(0.303284), REAL(0.533081), REAL(0.363998), | ||
462 | REAL(0.269687), REAL(0.623528), REAL(0.380528), | ||
463 | REAL(0.314255), REAL(0.670153), REAL(0.290524), | ||
464 | REAL(0.272023), REAL(0.682273), REAL(0.385343), | ||
465 | REAL(0.311480), REAL(0.775931), REAL(0.308527), | ||
466 | REAL(0.240239), REAL(0.652714), REAL(0.466159), | ||
467 | REAL(0.265619), REAL(0.756464), REAL(0.504187), | ||
468 | REAL(0.192562), REAL(0.467341), REAL(0.522972), | ||
469 | REAL(0.201605), REAL(0.524885), REAL(0.478417), | ||
470 | REAL(0.215743), REAL(0.564193), REAL(0.538084), | ||
471 | REAL(0.264969), REAL(0.641527), REAL(0.605317), | ||
472 | REAL(0.201031), REAL(0.477940), REAL(0.584002), | ||
473 | REAL(0.263086), REAL(0.512567), REAL(0.637832), | ||
474 | REAL(0.238615), REAL(0.526867), REAL(0.672237), | ||
475 | REAL(0.105309), REAL(0.455123), REAL(0.658482), | ||
476 | REAL(0.183993), REAL(0.102195), REAL(0.804872), | ||
477 | REAL(0.161563), REAL(0.060042), REAL(0.808692), | ||
478 | REAL(0.180748), REAL(0.077754), REAL(0.771600), | ||
479 | REAL(0.175168), REAL(0.128588), REAL(0.746368), | ||
480 | REAL(0.175075), REAL(0.148030), REAL(0.778264), | ||
481 | REAL(0.175658), REAL(0.139265), REAL(0.814333), | ||
482 | REAL(0.154191), REAL(0.067291), REAL(0.832578), | ||
483 | REAL(0.163818), REAL(0.109013), REAL(0.842830), | ||
484 | REAL(0.084760), REAL(0.396004), REAL(0.679695), | ||
485 | REAL(0.238888), REAL(0.310760), REAL(0.590775), | ||
486 | REAL(0.213380), REAL(0.308625), REAL(0.644905), | ||
487 | REAL(0.199666), REAL(0.409678), REAL(0.683003), | ||
488 | REAL(0.190143), REAL(0.128597), REAL(0.733463), | ||
489 | REAL(0.184833), REAL(0.063516), REAL(0.762902), | ||
490 | REAL(0.166070), REAL(0.035644), REAL(0.818261), | ||
491 | REAL(0.154361), REAL(0.056943), REAL(0.857042), | ||
492 | REAL(0.168542), REAL(0.109489), REAL(0.862725), | ||
493 | REAL(0.187387), REAL(0.166131), REAL(0.784599), | ||
494 | REAL(0.180428), REAL(0.160135), REAL(0.819438), | ||
495 | REAL(0.201823), REAL(0.163991), REAL(0.695756), | ||
496 | REAL(0.194206), REAL(0.206635), REAL(0.782275), | ||
497 | REAL(0.155438), REAL(0.291260), REAL(0.734412), | ||
498 | REAL(0.177696), REAL(0.196424), REAL(0.846693), | ||
499 | REAL(0.152305), REAL(0.125256), REAL(0.890786), | ||
500 | REAL(0.119546), REAL(0.249876), REAL(0.859104), | ||
501 | REAL(0.118369), REAL(0.139643), REAL(0.919173), | ||
502 | REAL(0.079410), REAL(0.132973), REAL(0.948652), | ||
503 | REAL(0.062419), REAL(0.036648), REAL(0.976547), | ||
504 | REAL(0.127847), REAL(-0.035919), REAL(0.947070), | ||
505 | REAL(0.143624), REAL(0.032206), REAL(0.885913), | ||
506 | REAL(0.074888), REAL(-0.085173), REAL(0.980577), | ||
507 | REAL(0.130184), REAL(-0.104656), REAL(0.947620), | ||
508 | REAL(0.156201), REAL(-0.094653), REAL(0.899074), | ||
509 | REAL(0.077366), REAL(-0.171194), REAL(0.926545), | ||
510 | REAL(0.127722), REAL(-0.164729), REAL(0.879810), | ||
511 | REAL(0.052670), REAL(-0.184618), REAL(0.842019), | ||
512 | REAL(0.023477), REAL(-0.184638), REAL(0.889811), | ||
513 | REAL(0.022626), REAL(-0.210587), REAL(0.827500), | ||
514 | REAL(0.223089), REAL(0.211976), REAL(0.620493), | ||
515 | REAL(0.251444), REAL(0.113067), REAL(0.666494), | ||
516 | REAL(0.251419), REAL(0.089540), REAL(0.673887), | ||
517 | REAL(0.214360), REAL(0.019258), REAL(0.771595), | ||
518 | REAL(0.158999), REAL(0.001490), REAL(0.835374), | ||
519 | REAL(0.176696), REAL(-0.059249), REAL(0.849218), | ||
520 | REAL(0.148696), REAL(-0.130091), REAL(0.793599), | ||
521 | REAL(0.108290), REAL(-0.166528), REAL(0.772088), | ||
522 | REAL(0.049820), REAL(-0.201382), REAL(0.764454), | ||
523 | REAL(0.071341), REAL(-0.215195), REAL(0.697209), | ||
524 | REAL(0.073148), REAL(-0.214475), REAL(0.623510), | ||
525 | REAL(0.140502), REAL(-0.169461), REAL(0.699354), | ||
526 | REAL(0.163374), REAL(-0.157073), REAL(0.611416), | ||
527 | REAL(0.189466), REAL(-0.138550), REAL(0.730366), | ||
528 | REAL(0.247593), REAL(-0.082554), REAL(0.759610), | ||
529 | REAL(0.227468), REAL(-0.121982), REAL(0.590197), | ||
530 | REAL(0.284702), REAL(-0.006586), REAL(0.535347), | ||
531 | REAL(0.275741), REAL(0.125287), REAL(0.446676), | ||
532 | REAL(0.266650), REAL(0.192594), REAL(0.506044), | ||
533 | REAL(0.300086), REAL(0.053287), REAL(0.629620), | ||
534 | REAL(0.055450), REAL(-0.663935), REAL(0.375065), | ||
535 | REAL(0.122854), REAL(-0.664138), REAL(0.482323), | ||
536 | REAL(0.046520), REAL(-0.531571), REAL(0.391918), | ||
537 | REAL(0.024824), REAL(-0.568450), REAL(0.275106), | ||
538 | REAL(0.053855), REAL(-0.663931), REAL(0.328224), | ||
539 | REAL(0.112829), REAL(-0.453549), REAL(0.305788), | ||
540 | REAL(0.131265), REAL(-0.510617), REAL(0.080746), | ||
541 | REAL(0.061174), REAL(-0.430716), REAL(-0.042710), | ||
542 | REAL(0.341019), REAL(-0.532887), REAL(-0.208150), | ||
543 | REAL(0.347705), REAL(-0.623533), REAL(-0.081139), | ||
544 | REAL(0.238040), REAL(-0.610732), REAL(-0.038037), | ||
545 | REAL(0.211764), REAL(-0.514274), REAL(-0.132078), | ||
546 | REAL(0.120605), REAL(-0.600219), REAL(-0.186856), | ||
547 | REAL(0.096985), REAL(-0.584476), REAL(-0.293357), | ||
548 | REAL(0.127621), REAL(-0.581941), REAL(-0.437170), | ||
549 | REAL(0.165902), REAL(-0.477425), REAL(-0.291453), | ||
550 | REAL(0.077720), REAL(-0.417975), REAL(-0.220519), | ||
551 | REAL(0.320892), REAL(-0.506363), REAL(-0.320874), | ||
552 | REAL(0.248214), REAL(-0.465684), REAL(-0.239842), | ||
553 | REAL(0.118764), REAL(-0.383338), REAL(-0.187114), | ||
554 | REAL(0.118816), REAL(-0.430106), REAL(-0.123307), | ||
555 | REAL(0.094131), REAL(-0.419464), REAL(-0.044777), | ||
556 | REAL(0.274526), REAL(-0.261706), REAL(0.005110), | ||
557 | REAL(0.259842), REAL(-0.283292), REAL(-0.003185), | ||
558 | REAL(0.222861), REAL(-0.340431), REAL(-0.038210), | ||
559 | REAL(0.204445), REAL(-0.664380), REAL(0.513353), | ||
560 | REAL(0.259286), REAL(-0.664547), REAL(0.471281), | ||
561 | REAL(0.185402), REAL(-0.476020), REAL(0.421718), | ||
562 | REAL(0.279163), REAL(-0.664604), REAL(0.417328), | ||
563 | REAL(0.277157), REAL(-0.528122), REAL(0.400208), | ||
564 | REAL(0.183069), REAL(-0.509812), REAL(0.329995), | ||
565 | REAL(0.282599), REAL(-0.429210), REAL(0.059242), | ||
566 | REAL(0.254816), REAL(-0.664541), REAL(0.290687), | ||
567 | REAL(0.271436), REAL(-0.567707), REAL(0.263966), | ||
568 | REAL(0.386561), REAL(-0.625221), REAL(-0.216870), | ||
569 | REAL(0.387086), REAL(-0.630883), REAL(-0.346073), | ||
570 | REAL(0.380021), REAL(-0.596021), REAL(-0.318679), | ||
571 | REAL(0.291269), REAL(-0.619007), REAL(-0.585707), | ||
572 | REAL(0.339280), REAL(-0.571198), REAL(-0.461946), | ||
573 | REAL(0.400045), REAL(-0.489778), REAL(-0.422640), | ||
574 | REAL(0.406817), REAL(-0.314349), REAL(-0.371230), | ||
575 | REAL(0.300588), REAL(-0.281718), REAL(-0.170549), | ||
576 | REAL(0.290866), REAL(-0.277304), REAL(-0.061905), | ||
577 | REAL(0.187735), REAL(-0.241545), REAL(0.509437), | ||
578 | REAL(0.188032), REAL(-0.287569), REAL(0.424234), | ||
579 | REAL(0.227520), REAL(-0.373262), REAL(0.293102), | ||
580 | REAL(0.266526), REAL(-0.273650), REAL(0.039597), | ||
581 | REAL(0.291592), REAL(-0.291676), REAL(0.111386), | ||
582 | REAL(0.291914), REAL(-0.122741), REAL(0.422683), | ||
583 | REAL(0.297574), REAL(-0.156119), REAL(0.373368), | ||
584 | REAL(0.286603), REAL(-0.232731), REAL(0.027162), | ||
585 | REAL(0.364663), REAL(-0.201399), REAL(0.206850), | ||
586 | REAL(0.353855), REAL(-0.132408), REAL(0.149228), | ||
587 | REAL(0.282208), REAL(-0.019715), REAL(0.314960), | ||
588 | REAL(0.331187), REAL(-0.099266), REAL(0.092701), | ||
589 | REAL(0.375463), REAL(-0.093120), REAL(-0.006467), | ||
590 | REAL(0.375917), REAL(-0.101236), REAL(-0.154882), | ||
591 | REAL(0.466635), REAL(-0.094416), REAL(-0.305669), | ||
592 | REAL(0.455805), REAL(-0.119881), REAL(-0.460632), | ||
593 | REAL(0.277465), REAL(-0.604242), REAL(-0.651871), | ||
594 | REAL(0.261022), REAL(-0.551176), REAL(-0.554667), | ||
595 | REAL(0.093627), REAL(0.258494), REAL(-0.920589), | ||
596 | REAL(0.114248), REAL(0.310608), REAL(-0.798070), | ||
597 | REAL(0.144232), REAL(0.211434), REAL(-0.835001), | ||
598 | REAL(0.119916), REAL(0.176940), REAL(-0.951159), | ||
599 | REAL(0.184061), REAL(0.101854), REAL(-0.918220), | ||
600 | REAL(0.092431), REAL(0.276521), REAL(-0.738231), | ||
601 | REAL(0.133504), REAL(0.218403), REAL(-0.758602), | ||
602 | REAL(0.194987), REAL(0.097655), REAL(-0.812476), | ||
603 | REAL(0.185542), REAL(0.011005), REAL(-0.879202), | ||
604 | REAL(0.230315), REAL(-0.127450), REAL(-0.884202), | ||
605 | REAL(0.260471), REAL(0.255056), REAL(-0.624378), | ||
606 | REAL(0.351567), REAL(-0.042194), REAL(-0.663976), | ||
607 | REAL(0.253742), REAL(0.323524), REAL(-0.433716), | ||
608 | REAL(0.411612), REAL(0.132299), REAL(-0.438264), | ||
609 | REAL(0.270513), REAL(0.356530), REAL(-0.289984), | ||
610 | REAL(0.422146), REAL(0.162819), REAL(-0.273130), | ||
611 | REAL(0.164724), REAL(0.237490), REAL(0.208912), | ||
612 | REAL(0.253806), REAL(0.092900), REAL(0.240640), | ||
613 | REAL(0.203608), REAL(0.284597), REAL(0.096223), | ||
614 | REAL(0.241006), REAL(0.343093), REAL(-0.171396), | ||
615 | REAL(0.356076), REAL(0.149288), REAL(-0.143443), | ||
616 | REAL(0.337656), REAL(0.131992), REAL(0.066374) | ||
617 | }; | ||
618 | |||
619 | int Indices[IndexCount / 3][3] = { | ||
620 | {126,134,133}, | ||
621 | {342,138,134}, | ||
622 | {133,134,138}, | ||
623 | {126,342,134}, | ||
624 | {312,316,317}, | ||
625 | {169,163,162}, | ||
626 | {312,317,319}, | ||
627 | {312,319,318}, | ||
628 | {169,162,164}, | ||
629 | {169,168,163}, | ||
630 | {312,314,315}, | ||
631 | {169,164,165}, | ||
632 | {169,167,168}, | ||
633 | {312,315,316}, | ||
634 | {312,313,314}, | ||
635 | {169,165,166}, | ||
636 | {169,166,167}, | ||
637 | {312,318,313}, | ||
638 | {308,304,305}, | ||
639 | {308,305,306}, | ||
640 | {179,181,188}, | ||
641 | {177,173,175}, | ||
642 | {177,175,176}, | ||
643 | {302,293,300}, | ||
644 | {322,294,304}, | ||
645 | {188,176,175}, | ||
646 | {188,175,179}, | ||
647 | {158,177,187}, | ||
648 | {305,293,302}, | ||
649 | {305,302,306}, | ||
650 | {322,304,308}, | ||
651 | {188,181,183}, | ||
652 | {158,173,177}, | ||
653 | {293,298,300}, | ||
654 | {304,294,296}, | ||
655 | {304,296,305}, | ||
656 | {185,176,188}, | ||
657 | {185,188,183}, | ||
658 | {187,177,176}, | ||
659 | {187,176,185}, | ||
660 | {305,296,298}, | ||
661 | {305,298,293}, | ||
662 | {436,432, 28}, | ||
663 | {436, 28, 23}, | ||
664 | {434,278,431}, | ||
665 | { 30,208,209}, | ||
666 | { 30,209, 29}, | ||
667 | { 19, 20, 24}, | ||
668 | {208,207,211}, | ||
669 | {208,211,209}, | ||
670 | { 19,210,212}, | ||
671 | {433,434,431}, | ||
672 | {433,431,432}, | ||
673 | {433,432,436}, | ||
674 | {436,437,433}, | ||
675 | {277,275,276}, | ||
676 | {277,276,278}, | ||
677 | {209,210, 25}, | ||
678 | { 21, 26, 24}, | ||
679 | { 21, 24, 20}, | ||
680 | { 25, 26, 27}, | ||
681 | { 25, 27, 29}, | ||
682 | {435,439,277}, | ||
683 | {439,275,277}, | ||
684 | {432,431, 30}, | ||
685 | {432, 30, 28}, | ||
686 | {433,437,438}, | ||
687 | {433,438,435}, | ||
688 | {434,277,278}, | ||
689 | { 24, 25,210}, | ||
690 | { 24, 26, 25}, | ||
691 | { 29, 27, 28}, | ||
692 | { 29, 28, 30}, | ||
693 | { 19, 24,210}, | ||
694 | {208, 30,431}, | ||
695 | {208,431,278}, | ||
696 | {435,434,433}, | ||
697 | {435,277,434}, | ||
698 | { 25, 29,209}, | ||
699 | { 27, 22, 23}, | ||
700 | { 27, 23, 28}, | ||
701 | { 26, 22, 27}, | ||
702 | { 26, 21, 22}, | ||
703 | {212,210,209}, | ||
704 | {212,209,211}, | ||
705 | {207,208,278}, | ||
706 | {207,278,276}, | ||
707 | {439,435,438}, | ||
708 | { 12, 9, 10}, | ||
709 | { 12, 10, 13}, | ||
710 | { 2, 3, 5}, | ||
711 | { 2, 5, 4}, | ||
712 | { 16, 13, 14}, | ||
713 | { 16, 14, 17}, | ||
714 | { 22, 21, 16}, | ||
715 | { 13, 10, 11}, | ||
716 | { 13, 11, 14}, | ||
717 | { 1, 0, 3}, | ||
718 | { 1, 3, 2}, | ||
719 | { 15, 12, 16}, | ||
720 | { 19, 18, 15}, | ||
721 | { 19, 15, 16}, | ||
722 | { 19, 16, 20}, | ||
723 | { 9, 1, 2}, | ||
724 | { 9, 2, 10}, | ||
725 | { 3, 7, 8}, | ||
726 | { 3, 8, 5}, | ||
727 | { 16, 17, 23}, | ||
728 | { 16, 23, 22}, | ||
729 | { 21, 20, 16}, | ||
730 | { 10, 2, 4}, | ||
731 | { 10, 4, 11}, | ||
732 | { 0, 6, 7}, | ||
733 | { 0, 7, 3}, | ||
734 | { 12, 13, 16}, | ||
735 | {451,446,445}, | ||
736 | {451,445,450}, | ||
737 | {442,440,439}, | ||
738 | {442,439,438}, | ||
739 | {442,438,441}, | ||
740 | {421,420,422}, | ||
741 | {412,411,426}, | ||
742 | {412,426,425}, | ||
743 | {408,405,407}, | ||
744 | {413, 67, 68}, | ||
745 | {413, 68,414}, | ||
746 | {391,390,412}, | ||
747 | { 80,384,386}, | ||
748 | {404,406,378}, | ||
749 | {390,391,377}, | ||
750 | {390,377, 88}, | ||
751 | {400,415,375}, | ||
752 | {398,396,395}, | ||
753 | {398,395,371}, | ||
754 | {398,371,370}, | ||
755 | {112,359,358}, | ||
756 | {112,358,113}, | ||
757 | {351,352,369}, | ||
758 | {125,349,348}, | ||
759 | {345,343,342}, | ||
760 | {342,340,339}, | ||
761 | {341,335,337}, | ||
762 | {328,341,327}, | ||
763 | {331,323,333}, | ||
764 | {331,322,323}, | ||
765 | {327,318,319}, | ||
766 | {327,319,328}, | ||
767 | {315,314,324}, | ||
768 | {302,300,301}, | ||
769 | {302,301,303}, | ||
770 | {320,311,292}, | ||
771 | {285,284,289}, | ||
772 | {310,307,288}, | ||
773 | {310,288,290}, | ||
774 | {321,350,281}, | ||
775 | {321,281,282}, | ||
776 | {423,448,367}, | ||
777 | {272,273,384}, | ||
778 | {272,384,274}, | ||
779 | {264,265,382}, | ||
780 | {264,382,383}, | ||
781 | {440,442,261}, | ||
782 | {440,261,263}, | ||
783 | {252,253,254}, | ||
784 | {252,254,251}, | ||
785 | {262,256,249}, | ||
786 | {262,249,248}, | ||
787 | {228,243,242}, | ||
788 | {228, 31,243}, | ||
789 | {213,215,238}, | ||
790 | {213,238,237}, | ||
791 | { 19,212,230}, | ||
792 | {224,225,233}, | ||
793 | {224,233,231}, | ||
794 | {217,218, 56}, | ||
795 | {217, 56, 54}, | ||
796 | {217,216,239}, | ||
797 | {217,239,238}, | ||
798 | {217,238,215}, | ||
799 | {218,217,215}, | ||
800 | {218,215,214}, | ||
801 | { 6,102,206}, | ||
802 | {186,199,200}, | ||
803 | {197,182,180}, | ||
804 | {170,171,157}, | ||
805 | {201,200,189}, | ||
806 | {170,190,191}, | ||
807 | {170,191,192}, | ||
808 | {175,174,178}, | ||
809 | {175,178,179}, | ||
810 | {168,167,155}, | ||
811 | {122,149,158}, | ||
812 | {122,158,159}, | ||
813 | {135,153,154}, | ||
814 | {135,154,118}, | ||
815 | {143,140,141}, | ||
816 | {143,141,144}, | ||
817 | {132,133,136}, | ||
818 | {130,126,133}, | ||
819 | {124,125,127}, | ||
820 | {122,101,100}, | ||
821 | {122,100,121}, | ||
822 | {110,108,107}, | ||
823 | {110,107,109}, | ||
824 | { 98, 99, 97}, | ||
825 | { 98, 97, 64}, | ||
826 | { 98, 64, 66}, | ||
827 | { 87, 55, 57}, | ||
828 | { 83, 82, 79}, | ||
829 | { 83, 79, 84}, | ||
830 | { 78, 74, 50}, | ||
831 | { 49, 71, 41}, | ||
832 | { 49, 41, 37}, | ||
833 | { 49, 37, 36}, | ||
834 | { 58, 44, 60}, | ||
835 | { 60, 59, 58}, | ||
836 | { 51, 34, 33}, | ||
837 | { 39, 40, 42}, | ||
838 | { 39, 42, 38}, | ||
839 | {243,240, 33}, | ||
840 | {243, 33,229}, | ||
841 | { 39, 38, 6}, | ||
842 | { 44, 46, 40}, | ||
843 | { 55, 56, 57}, | ||
844 | { 64, 62, 65}, | ||
845 | { 64, 65, 66}, | ||
846 | { 41, 71, 45}, | ||
847 | { 75, 50, 51}, | ||
848 | { 81, 79, 82}, | ||
849 | { 77, 88, 73}, | ||
850 | { 93, 92, 94}, | ||
851 | { 68, 47, 46}, | ||
852 | { 96, 97, 99}, | ||
853 | { 96, 99, 95}, | ||
854 | {110,109,111}, | ||
855 | {111,112,110}, | ||
856 | {114,113,123}, | ||
857 | {114,123,124}, | ||
858 | {132,131,129}, | ||
859 | {133,137,136}, | ||
860 | {135,142,145}, | ||
861 | {145,152,135}, | ||
862 | {149,147,157}, | ||
863 | {157,158,149}, | ||
864 | {164,150,151}, | ||
865 | {153,163,168}, | ||
866 | {153,168,154}, | ||
867 | {185,183,182}, | ||
868 | {185,182,184}, | ||
869 | {161,189,190}, | ||
870 | {200,199,191}, | ||
871 | {200,191,190}, | ||
872 | {180,178,195}, | ||
873 | {180,195,196}, | ||
874 | {102,101,204}, | ||
875 | {102,204,206}, | ||
876 | { 43, 48,104}, | ||
877 | { 43,104,103}, | ||
878 | {216,217, 54}, | ||
879 | {216, 54, 32}, | ||
880 | {207,224,231}, | ||
881 | {230,212,211}, | ||
882 | {230,211,231}, | ||
883 | {227,232,241}, | ||
884 | {227,241,242}, | ||
885 | {235,234,241}, | ||
886 | {235,241,244}, | ||
887 | {430,248,247}, | ||
888 | {272,274,253}, | ||
889 | {272,253,252}, | ||
890 | {439,260,275}, | ||
891 | {225,224,259}, | ||
892 | {225,259,257}, | ||
893 | {269,270,407}, | ||
894 | {269,407,405}, | ||
895 | {270,269,273}, | ||
896 | {270,273,272}, | ||
897 | {273,269,268}, | ||
898 | {273,268,267}, | ||
899 | {273,267,266}, | ||
900 | {273,266,265}, | ||
901 | {273,265,264}, | ||
902 | {448,279,367}, | ||
903 | {281,350,368}, | ||
904 | {285,286,301}, | ||
905 | {290,323,310}, | ||
906 | {290,311,323}, | ||
907 | {282,281,189}, | ||
908 | {292,311,290}, | ||
909 | {292,290,291}, | ||
910 | {307,306,302}, | ||
911 | {307,302,303}, | ||
912 | {316,315,324}, | ||
913 | {316,324,329}, | ||
914 | {331,351,350}, | ||
915 | {330,334,335}, | ||
916 | {330,335,328}, | ||
917 | {341,337,338}, | ||
918 | {344,355,354}, | ||
919 | {346,345,348}, | ||
920 | {346,348,347}, | ||
921 | {364,369,352}, | ||
922 | {364,352,353}, | ||
923 | {365,363,361}, | ||
924 | {365,361,362}, | ||
925 | {376,401,402}, | ||
926 | {373,372,397}, | ||
927 | {373,397,400}, | ||
928 | {376, 92,377}, | ||
929 | {381,378,387}, | ||
930 | {381,387,385}, | ||
931 | {386, 77, 80}, | ||
932 | {390,389,412}, | ||
933 | {416,417,401}, | ||
934 | {403,417,415}, | ||
935 | {408,429,430}, | ||
936 | {419,423,418}, | ||
937 | {427,428,444}, | ||
938 | {427,444,446}, | ||
939 | {437,436,441}, | ||
940 | {450,445, 11}, | ||
941 | {450, 11, 4}, | ||
942 | {447,449, 5}, | ||
943 | {447, 5, 8}, | ||
944 | {441,438,437}, | ||
945 | {425,426,451}, | ||
946 | {425,451,452}, | ||
947 | {417,421,415}, | ||
948 | {408,407,429}, | ||
949 | {399,403,400}, | ||
950 | {399,400,397}, | ||
951 | {394,393,416}, | ||
952 | {389,411,412}, | ||
953 | {386,383,385}, | ||
954 | {408,387,378}, | ||
955 | {408,378,406}, | ||
956 | {377,391,376}, | ||
957 | { 94,375,415}, | ||
958 | {372,373,374}, | ||
959 | {372,374,370}, | ||
960 | {359,111,360}, | ||
961 | {359,112,111}, | ||
962 | {113,358,349}, | ||
963 | {113,349,123}, | ||
964 | {346,343,345}, | ||
965 | {343,340,342}, | ||
966 | {338,336,144}, | ||
967 | {338,144,141}, | ||
968 | {327,341,354}, | ||
969 | {327,354,326}, | ||
970 | {331,350,321}, | ||
971 | {331,321,322}, | ||
972 | {314,313,326}, | ||
973 | {314,326,325}, | ||
974 | {300,298,299}, | ||
975 | {300,299,301}, | ||
976 | {288,287,289}, | ||
977 | {189,292,282}, | ||
978 | {287,288,303}, | ||
979 | {284,285,297}, | ||
980 | {368,280,281}, | ||
981 | {448,447,279}, | ||
982 | {274,226,255}, | ||
983 | {267,268,404}, | ||
984 | {267,404,379}, | ||
985 | {429,262,430}, | ||
986 | {439,440,260}, | ||
987 | {257,258,249}, | ||
988 | {257,249,246}, | ||
989 | {430,262,248}, | ||
990 | {234,228,242}, | ||
991 | {234,242,241}, | ||
992 | {237,238,239}, | ||
993 | {237,239,236}, | ||
994 | { 15, 18,227}, | ||
995 | { 15,227,229}, | ||
996 | {222,223, 82}, | ||
997 | {222, 82, 83}, | ||
998 | {214,215,213}, | ||
999 | {214,213, 81}, | ||
1000 | { 38,102, 6}, | ||
1001 | {122,159,200}, | ||
1002 | {122,200,201}, | ||
1003 | {174,171,192}, | ||
1004 | {174,192,194}, | ||
1005 | {197,193,198}, | ||
1006 | {190,170,161}, | ||
1007 | {181,179,178}, | ||
1008 | {181,178,180}, | ||
1009 | {166,156,155}, | ||
1010 | {163,153,152}, | ||
1011 | {163,152,162}, | ||
1012 | {120,156,149}, | ||
1013 | {120,149,121}, | ||
1014 | {152,153,135}, | ||
1015 | {140,143,142}, | ||
1016 | {135,131,132}, | ||
1017 | {135,132,136}, | ||
1018 | {130,129,128}, | ||
1019 | {130,128,127}, | ||
1020 | {100,105,119}, | ||
1021 | {100,119,120}, | ||
1022 | {106,104,107}, | ||
1023 | {106,107,108}, | ||
1024 | { 91, 95, 59}, | ||
1025 | { 93, 94, 68}, | ||
1026 | { 91, 89, 92}, | ||
1027 | { 76, 53, 55}, | ||
1028 | { 76, 55, 87}, | ||
1029 | { 81, 78, 79}, | ||
1030 | { 74, 73, 49}, | ||
1031 | { 69, 60, 45}, | ||
1032 | { 58, 62, 64}, | ||
1033 | { 58, 64, 61}, | ||
1034 | { 53, 31, 32}, | ||
1035 | { 32, 54, 53}, | ||
1036 | { 42, 43, 38}, | ||
1037 | { 35, 36, 0}, | ||
1038 | { 35, 0, 1}, | ||
1039 | { 34, 35, 1}, | ||
1040 | { 34, 1, 9}, | ||
1041 | { 44, 40, 41}, | ||
1042 | { 44, 41, 45}, | ||
1043 | { 33,240, 51}, | ||
1044 | { 63, 62, 58}, | ||
1045 | { 63, 58, 59}, | ||
1046 | { 45, 71, 70}, | ||
1047 | { 76, 75, 51}, | ||
1048 | { 76, 51, 52}, | ||
1049 | { 86, 85, 84}, | ||
1050 | { 86, 84, 87}, | ||
1051 | { 89, 72, 73}, | ||
1052 | { 89, 73, 88}, | ||
1053 | { 91, 92, 96}, | ||
1054 | { 91, 96, 95}, | ||
1055 | { 72, 91, 60}, | ||
1056 | { 72, 60, 69}, | ||
1057 | {104,106,105}, | ||
1058 | {119,105,117}, | ||
1059 | {119,117,118}, | ||
1060 | {124,127,128}, | ||
1061 | {117,116,129}, | ||
1062 | {117,129,131}, | ||
1063 | {118,117,131}, | ||
1064 | {135,140,142}, | ||
1065 | {146,150,152}, | ||
1066 | {146,152,145}, | ||
1067 | {149,122,121}, | ||
1068 | {166,165,151}, | ||
1069 | {166,151,156}, | ||
1070 | {158,172,173}, | ||
1071 | {161,160,189}, | ||
1072 | {199,198,193}, | ||
1073 | {199,193,191}, | ||
1074 | {204,201,202}, | ||
1075 | {178,174,194}, | ||
1076 | {200,159,186}, | ||
1077 | {109, 48, 67}, | ||
1078 | { 48,107,104}, | ||
1079 | {216, 32,236}, | ||
1080 | {216,236,239}, | ||
1081 | {223,214, 81}, | ||
1082 | {223, 81, 82}, | ||
1083 | { 33, 12, 15}, | ||
1084 | { 32,228,234}, | ||
1085 | { 32,234,236}, | ||
1086 | {240, 31, 52}, | ||
1087 | {256,255,246}, | ||
1088 | {256,246,249}, | ||
1089 | {258,263,248}, | ||
1090 | {258,248,249}, | ||
1091 | {275,260,259}, | ||
1092 | {275,259,276}, | ||
1093 | {207,276,259}, | ||
1094 | {270,271,429}, | ||
1095 | {270,429,407}, | ||
1096 | {413,418,366}, | ||
1097 | {413,366,365}, | ||
1098 | {368,367,279}, | ||
1099 | {368,279,280}, | ||
1100 | {303,301,286}, | ||
1101 | {303,286,287}, | ||
1102 | {283,282,292}, | ||
1103 | {283,292,291}, | ||
1104 | {320,292,189}, | ||
1105 | {298,296,297}, | ||
1106 | {298,297,299}, | ||
1107 | {318,327,326}, | ||
1108 | {318,326,313}, | ||
1109 | {329,330,317}, | ||
1110 | {336,333,320}, | ||
1111 | {326,354,353}, | ||
1112 | {334,332,333}, | ||
1113 | {334,333,336}, | ||
1114 | {342,339,139}, | ||
1115 | {342,139,138}, | ||
1116 | {345,342,126}, | ||
1117 | {347,357,356}, | ||
1118 | {369,368,351}, | ||
1119 | {363,356,357}, | ||
1120 | {363,357,361}, | ||
1121 | {366,367,368}, | ||
1122 | {366,368,369}, | ||
1123 | {375,373,400}, | ||
1124 | { 92, 90,377}, | ||
1125 | {409,387,408}, | ||
1126 | {386,385,387}, | ||
1127 | {386,387,388}, | ||
1128 | {412,394,391}, | ||
1129 | {396,398,399}, | ||
1130 | {408,406,405}, | ||
1131 | {415,421,419}, | ||
1132 | {415,419,414}, | ||
1133 | {425,452,448}, | ||
1134 | {425,448,424}, | ||
1135 | {444,441,443}, | ||
1136 | {448,452,449}, | ||
1137 | {448,449,447}, | ||
1138 | {446,444,443}, | ||
1139 | {446,443,445}, | ||
1140 | {250,247,261}, | ||
1141 | {250,261,428}, | ||
1142 | {421,422,423}, | ||
1143 | {421,423,419}, | ||
1144 | {427,410,250}, | ||
1145 | {417,403,401}, | ||
1146 | {403,402,401}, | ||
1147 | {420,392,412}, | ||
1148 | {420,412,425}, | ||
1149 | {420,425,424}, | ||
1150 | {386,411,389}, | ||
1151 | {383,382,381}, | ||
1152 | {383,381,385}, | ||
1153 | {378,379,404}, | ||
1154 | {372,371,395}, | ||
1155 | {372,395,397}, | ||
1156 | {371,372,370}, | ||
1157 | {361,359,360}, | ||
1158 | {361,360,362}, | ||
1159 | {368,350,351}, | ||
1160 | {349,347,348}, | ||
1161 | {356,355,344}, | ||
1162 | {356,344,346}, | ||
1163 | {344,341,340}, | ||
1164 | {344,340,343}, | ||
1165 | {338,337,336}, | ||
1166 | {328,335,341}, | ||
1167 | {324,352,351}, | ||
1168 | {324,351,331}, | ||
1169 | {320,144,336}, | ||
1170 | {314,325,324}, | ||
1171 | {322,308,309}, | ||
1172 | {310,309,307}, | ||
1173 | {287,286,289}, | ||
1174 | {203,280,279}, | ||
1175 | {203,279,205}, | ||
1176 | {297,295,283}, | ||
1177 | {297,283,284}, | ||
1178 | {447,205,279}, | ||
1179 | {274,384, 80}, | ||
1180 | {274, 80,226}, | ||
1181 | {266,267,379}, | ||
1182 | {266,379,380}, | ||
1183 | {225,257,246}, | ||
1184 | {225,246,245}, | ||
1185 | {256,254,253}, | ||
1186 | {256,253,255}, | ||
1187 | {430,247,250}, | ||
1188 | {226,235,244}, | ||
1189 | {226,244,245}, | ||
1190 | {232,233,244}, | ||
1191 | {232,244,241}, | ||
1192 | {230, 18, 19}, | ||
1193 | { 32, 31,228}, | ||
1194 | {219,220, 86}, | ||
1195 | {219, 86, 57}, | ||
1196 | {226,213,235}, | ||
1197 | {206, 7, 6}, | ||
1198 | {122,201,101}, | ||
1199 | {201,204,101}, | ||
1200 | {180,196,197}, | ||
1201 | {170,192,171}, | ||
1202 | {200,190,189}, | ||
1203 | {194,193,195}, | ||
1204 | {183,181,180}, | ||
1205 | {183,180,182}, | ||
1206 | {155,154,168}, | ||
1207 | {149,156,151}, | ||
1208 | {149,151,148}, | ||
1209 | {155,156,120}, | ||
1210 | {145,142,143}, | ||
1211 | {145,143,146}, | ||
1212 | {136,137,140}, | ||
1213 | {133,132,130}, | ||
1214 | {128,129,116}, | ||
1215 | {100,120,121}, | ||
1216 | {110,112,113}, | ||
1217 | {110,113,114}, | ||
1218 | { 66, 65, 63}, | ||
1219 | { 66, 63, 99}, | ||
1220 | { 66, 99, 98}, | ||
1221 | { 96, 46, 61}, | ||
1222 | { 89, 88, 90}, | ||
1223 | { 86, 87, 57}, | ||
1224 | { 80, 78, 81}, | ||
1225 | { 72, 69, 49}, | ||
1226 | { 67, 48, 47}, | ||
1227 | { 67, 47, 68}, | ||
1228 | { 56, 55, 53}, | ||
1229 | { 50, 49, 36}, | ||
1230 | { 50, 36, 35}, | ||
1231 | { 40, 39, 41}, | ||
1232 | {242,243,229}, | ||
1233 | {242,229,227}, | ||
1234 | { 6, 37, 39}, | ||
1235 | { 42, 47, 48}, | ||
1236 | { 42, 48, 43}, | ||
1237 | { 61, 46, 44}, | ||
1238 | { 45, 70, 69}, | ||
1239 | { 69, 70, 71}, | ||
1240 | { 69, 71, 49}, | ||
1241 | { 74, 78, 77}, | ||
1242 | { 83, 84, 85}, | ||
1243 | { 73, 74, 77}, | ||
1244 | { 93, 96, 92}, | ||
1245 | { 68, 46, 93}, | ||
1246 | { 95, 99, 63}, | ||
1247 | { 95, 63, 59}, | ||
1248 | {115,108,110}, | ||
1249 | {115,110,114}, | ||
1250 | {125,126,127}, | ||
1251 | {129,130,132}, | ||
1252 | {137,133,138}, | ||
1253 | {137,138,139}, | ||
1254 | {148,146,143}, | ||
1255 | {148,143,147}, | ||
1256 | {119,118,154}, | ||
1257 | {161,147,143}, | ||
1258 | {165,164,151}, | ||
1259 | {158,157,171}, | ||
1260 | {158,171,172}, | ||
1261 | {159,158,187}, | ||
1262 | {159,187,186}, | ||
1263 | {194,192,191}, | ||
1264 | {194,191,193}, | ||
1265 | {189,202,201}, | ||
1266 | {182,197,184}, | ||
1267 | {205, 8, 7}, | ||
1268 | { 48,109,107}, | ||
1269 | {218,219, 57}, | ||
1270 | {218, 57, 56}, | ||
1271 | {207,231,211}, | ||
1272 | {232,230,231}, | ||
1273 | {232,231,233}, | ||
1274 | { 53, 52, 31}, | ||
1275 | {388,411,386}, | ||
1276 | {409,430,250}, | ||
1277 | {262,429,254}, | ||
1278 | {262,254,256}, | ||
1279 | {442,444,428}, | ||
1280 | {273,264,383}, | ||
1281 | {273,383,384}, | ||
1282 | {429,271,251}, | ||
1283 | {429,251,254}, | ||
1284 | {413,365,362}, | ||
1285 | { 67,413,360}, | ||
1286 | {282,283,295}, | ||
1287 | {285,301,299}, | ||
1288 | {202,281,280}, | ||
1289 | {284,283,291}, | ||
1290 | {284,291,289}, | ||
1291 | {320,189,160}, | ||
1292 | {308,306,307}, | ||
1293 | {307,309,308}, | ||
1294 | {319,317,330}, | ||
1295 | {319,330,328}, | ||
1296 | {353,352,324}, | ||
1297 | {332,331,333}, | ||
1298 | {340,341,338}, | ||
1299 | {354,341,344}, | ||
1300 | {349,358,357}, | ||
1301 | {349,357,347}, | ||
1302 | {364,355,356}, | ||
1303 | {364,356,363}, | ||
1304 | {364,365,366}, | ||
1305 | {364,366,369}, | ||
1306 | {374,376,402}, | ||
1307 | {375, 92,373}, | ||
1308 | { 77,389,390}, | ||
1309 | {382,380,381}, | ||
1310 | {389, 77,386}, | ||
1311 | {393,394,412}, | ||
1312 | {393,412,392}, | ||
1313 | {401,394,416}, | ||
1314 | {415,400,403}, | ||
1315 | {411,410,427}, | ||
1316 | {411,427,426}, | ||
1317 | {422,420,424}, | ||
1318 | {247,248,263}, | ||
1319 | {247,263,261}, | ||
1320 | {445,443, 14}, | ||
1321 | {445, 14, 11}, | ||
1322 | {449,450, 4}, | ||
1323 | {449, 4, 5}, | ||
1324 | {443,441, 17}, | ||
1325 | {443, 17, 14}, | ||
1326 | {436, 23, 17}, | ||
1327 | {436, 17,441}, | ||
1328 | {424,448,422}, | ||
1329 | {448,423,422}, | ||
1330 | {414,419,418}, | ||
1331 | {414,418,413}, | ||
1332 | {406,404,405}, | ||
1333 | {399,397,395}, | ||
1334 | {399,395,396}, | ||
1335 | {420,416,392}, | ||
1336 | {388,410,411}, | ||
1337 | {386,384,383}, | ||
1338 | {390, 88, 77}, | ||
1339 | {375, 94, 92}, | ||
1340 | {415,414, 68}, | ||
1341 | {415, 68, 94}, | ||
1342 | {370,374,402}, | ||
1343 | {370,402,398}, | ||
1344 | {361,357,358}, | ||
1345 | {361,358,359}, | ||
1346 | {125,348,126}, | ||
1347 | {346,344,343}, | ||
1348 | {340,338,339}, | ||
1349 | {337,335,334}, | ||
1350 | {337,334,336}, | ||
1351 | {325,353,324}, | ||
1352 | {324,331,332}, | ||
1353 | {324,332,329}, | ||
1354 | {323,322,309}, | ||
1355 | {323,309,310}, | ||
1356 | {294,295,297}, | ||
1357 | {294,297,296}, | ||
1358 | {289,286,285}, | ||
1359 | {202,280,203}, | ||
1360 | {288,307,303}, | ||
1361 | {282,295,321}, | ||
1362 | { 67,360,111}, | ||
1363 | {418,423,367}, | ||
1364 | {418,367,366}, | ||
1365 | {272,252,251}, | ||
1366 | {272,251,271}, | ||
1367 | {272,271,270}, | ||
1368 | {255,253,274}, | ||
1369 | {265,266,380}, | ||
1370 | {265,380,382}, | ||
1371 | {442,428,261}, | ||
1372 | {440,263,258}, | ||
1373 | {440,258,260}, | ||
1374 | {409,250,410}, | ||
1375 | {255,226,245}, | ||
1376 | {255,245,246}, | ||
1377 | { 31,240,243}, | ||
1378 | {236,234,235}, | ||
1379 | {236,235,237}, | ||
1380 | {233,225,245}, | ||
1381 | {233,245,244}, | ||
1382 | {220,221, 85}, | ||
1383 | {220, 85, 86}, | ||
1384 | { 81,213,226}, | ||
1385 | { 81,226, 80}, | ||
1386 | { 7,206,205}, | ||
1387 | {186,184,198}, | ||
1388 | {186,198,199}, | ||
1389 | {204,203,205}, | ||
1390 | {204,205,206}, | ||
1391 | {195,193,196}, | ||
1392 | {171,174,172}, | ||
1393 | {173,174,175}, | ||
1394 | {173,172,174}, | ||
1395 | {155,167,166}, | ||
1396 | {160,161,143}, | ||
1397 | {160,143,144}, | ||
1398 | {119,154,155}, | ||
1399 | {148,151,150}, | ||
1400 | {148,150,146}, | ||
1401 | {140,137,139}, | ||
1402 | {140,139,141}, | ||
1403 | {127,126,130}, | ||
1404 | {114,124,128}, | ||
1405 | {114,128,115}, | ||
1406 | {117,105,106}, | ||
1407 | {117,106,116}, | ||
1408 | {104,105,100}, | ||
1409 | {104,100,103}, | ||
1410 | { 59, 60, 91}, | ||
1411 | { 97, 96, 61}, | ||
1412 | { 97, 61, 64}, | ||
1413 | { 91, 72, 89}, | ||
1414 | { 87, 84, 79}, | ||
1415 | { 87, 79, 76}, | ||
1416 | { 78, 80, 77}, | ||
1417 | { 49, 50, 74}, | ||
1418 | { 60, 44, 45}, | ||
1419 | { 61, 44, 58}, | ||
1420 | { 51, 50, 35}, | ||
1421 | { 51, 35, 34}, | ||
1422 | { 39, 37, 41}, | ||
1423 | { 33, 34, 9}, | ||
1424 | { 33, 9, 12}, | ||
1425 | { 0, 36, 37}, | ||
1426 | { 0, 37, 6}, | ||
1427 | { 40, 46, 47}, | ||
1428 | { 40, 47, 42}, | ||
1429 | { 53, 54, 56}, | ||
1430 | { 65, 62, 63}, | ||
1431 | { 72, 49, 73}, | ||
1432 | { 79, 78, 75}, | ||
1433 | { 79, 75, 76}, | ||
1434 | { 52, 53, 76}, | ||
1435 | { 92, 89, 90}, | ||
1436 | { 96, 93, 46}, | ||
1437 | {102,103,100}, | ||
1438 | {102,100,101}, | ||
1439 | {116,106,108}, | ||
1440 | {116,108,115}, | ||
1441 | {123,125,124}, | ||
1442 | {116,115,128}, | ||
1443 | {118,131,135}, | ||
1444 | {140,135,136}, | ||
1445 | {148,147,149}, | ||
1446 | {120,119,155}, | ||
1447 | {164,162,152}, | ||
1448 | {164,152,150}, | ||
1449 | {157,147,161}, | ||
1450 | {157,161,170}, | ||
1451 | {186,187,185}, | ||
1452 | {186,185,184}, | ||
1453 | {193,197,196}, | ||
1454 | {202,203,204}, | ||
1455 | {194,195,178}, | ||
1456 | {198,184,197}, | ||
1457 | { 67,111,109}, | ||
1458 | { 38, 43,103}, | ||
1459 | { 38,103,102}, | ||
1460 | {214,223,222}, | ||
1461 | {214,222,221}, | ||
1462 | {214,221,220}, | ||
1463 | {214,220,219}, | ||
1464 | {214,219,218}, | ||
1465 | {213,237,235}, | ||
1466 | {221,222, 83}, | ||
1467 | {221, 83, 85}, | ||
1468 | { 15,229, 33}, | ||
1469 | {227, 18,230}, | ||
1470 | {227,230,232}, | ||
1471 | { 52, 51,240}, | ||
1472 | { 75, 78, 50}, | ||
1473 | {408,430,409}, | ||
1474 | {260,258,257}, | ||
1475 | {260,257,259}, | ||
1476 | {224,207,259}, | ||
1477 | {268,269,405}, | ||
1478 | {268,405,404}, | ||
1479 | {413,362,360}, | ||
1480 | {447, 8,205}, | ||
1481 | {299,297,285}, | ||
1482 | {189,281,202}, | ||
1483 | {290,288,289}, | ||
1484 | {290,289,291}, | ||
1485 | {322,321,295}, | ||
1486 | {322,295,294}, | ||
1487 | {333,323,311}, | ||
1488 | {333,311,320}, | ||
1489 | {317,316,329}, | ||
1490 | {320,160,144}, | ||
1491 | {353,325,326}, | ||
1492 | {329,332,334}, | ||
1493 | {329,334,330}, | ||
1494 | {339,338,141}, | ||
1495 | {339,141,139}, | ||
1496 | {348,345,126}, | ||
1497 | {347,356,346}, | ||
1498 | {123,349,125}, | ||
1499 | {364,353,354}, | ||
1500 | {364,354,355}, | ||
1501 | {365,364,363}, | ||
1502 | {376,391,394}, | ||
1503 | {376,394,401}, | ||
1504 | { 92,376,374}, | ||
1505 | { 92,374,373}, | ||
1506 | {377, 90, 88}, | ||
1507 | {380,379,378}, | ||
1508 | {380,378,381}, | ||
1509 | {388,387,409}, | ||
1510 | {388,409,410}, | ||
1511 | {416,393,392}, | ||
1512 | {399,398,402}, | ||
1513 | {399,402,403}, | ||
1514 | {250,428,427}, | ||
1515 | {421,417,416}, | ||
1516 | {421,416,420}, | ||
1517 | {426,427,446}, | ||
1518 | {426,446,451}, | ||
1519 | {444,442,441}, | ||
1520 | {452,451,450}, | ||
1521 | {452,450,449} | ||
1522 | }; | ||
1523 | |||
1524 | //============================ | ||
1525 | |||
1526 | |||
1527 | dReal heightfield_callback( void* pUserData, int x, int z ) | ||
1528 | { | ||
1529 | dIASSERT( x < HFIELD_WSTEP ); | ||
1530 | dIASSERT( z < HFIELD_DSTEP ); | ||
1531 | |||
1532 | dReal fx = ( ((dReal)x) - ( HFIELD_WSTEP-1 )/2 ) / (dReal)( HFIELD_WSTEP-1 ); | ||
1533 | dReal fz = ( ((dReal)z) - ( HFIELD_DSTEP-1 )/2 ) / (dReal)( HFIELD_DSTEP-1 ); | ||
1534 | |||
1535 | // Create an interesting 'hump' shape | ||
1536 | dReal h = REAL( 1.0 ) + ( REAL( -16.0 ) * ( fx*fx*fx + fz*fz*fz ) ); | ||
1537 | |||
1538 | return h; | ||
1539 | } | ||
1540 | |||
1541 | |||
1542 | |||
1543 | |||
1544 | |||
1545 | // this is called by dSpaceCollide when two objects in space are | ||
1546 | // potentially colliding. | ||
1547 | |||
1548 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
1549 | { | ||
1550 | int i; | ||
1551 | // if (o1->body && o2->body) return; | ||
1552 | |||
1553 | // exit without doing anything if the two bodies are connected by a joint | ||
1554 | dBodyID b1 = dGeomGetBody(o1); | ||
1555 | dBodyID b2 = dGeomGetBody(o2); | ||
1556 | if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; | ||
1557 | |||
1558 | dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box | ||
1559 | for (i=0; i<MAX_CONTACTS; i++) { | ||
1560 | contact[i].surface.mode = dContactBounce | dContactSoftCFM; | ||
1561 | contact[i].surface.mu = dInfinity; | ||
1562 | contact[i].surface.mu2 = 0; | ||
1563 | contact[i].surface.bounce = 0.1; | ||
1564 | contact[i].surface.bounce_vel = 0.1; | ||
1565 | contact[i].surface.soft_cfm = 0.01; | ||
1566 | } | ||
1567 | if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom, | ||
1568 | sizeof(dContact))) { | ||
1569 | dMatrix3 RI; | ||
1570 | dRSetIdentity (RI); | ||
1571 | const dReal ss[3] = {0.02,0.02,0.02}; | ||
1572 | for (i=0; i<numc; i++) { | ||
1573 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); | ||
1574 | dJointAttach (c,b1,b2); | ||
1575 | if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss); | ||
1576 | } | ||
1577 | } | ||
1578 | } | ||
1579 | |||
1580 | |||
1581 | // start simulation - set viewpoint | ||
1582 | |||
1583 | static void start() | ||
1584 | { | ||
1585 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; | ||
1586 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; | ||
1587 | dsSetViewpoint (xyz,hpr); | ||
1588 | printf ("To drop another object, press:\n"); | ||
1589 | printf (" b for box.\n"); | ||
1590 | printf (" s for sphere.\n"); | ||
1591 | printf (" c for capsule.\n"); | ||
1592 | printf (" y for cylinder.\n"); | ||
1593 | printf (" v for a convex object.\n"); | ||
1594 | printf (" x for a composite object.\n"); | ||
1595 | printf (" m for a trimesh.\n"); | ||
1596 | printf ("To select an object, press space.\n"); | ||
1597 | printf ("To disable the selected object, press d.\n"); | ||
1598 | printf ("To enable the selected object, press e.\n"); | ||
1599 | printf ("To toggle showing the geom AABBs, press a.\n"); | ||
1600 | printf ("To toggle showing the contact points, press t.\n"); | ||
1601 | printf ("To toggle dropping from random position/orientation, press r.\n"); | ||
1602 | printf ("To save the current state to 'state.dif', press 1.\n"); | ||
1603 | } | ||
1604 | |||
1605 | |||
1606 | char locase (char c) | ||
1607 | { | ||
1608 | if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); | ||
1609 | else return c; | ||
1610 | } | ||
1611 | |||
1612 | |||
1613 | // called when a key pressed | ||
1614 | |||
1615 | static void command (int cmd) | ||
1616 | { | ||
1617 | size_t i; | ||
1618 | int j,k; | ||
1619 | dReal sides[3]; | ||
1620 | dMass m; | ||
1621 | |||
1622 | cmd = locase (cmd); | ||
1623 | |||
1624 | |||
1625 | // | ||
1626 | // Geom Creation | ||
1627 | // | ||
1628 | |||
1629 | if ( cmd == 'b' || cmd == 's' || cmd == 'c' || | ||
1630 | cmd == 'x' || cmd == 'y' || cmd == 'm' || cmd == 'v' ) | ||
1631 | { | ||
1632 | if ( num < NUM ) | ||
1633 | { | ||
1634 | i = num; | ||
1635 | num++; | ||
1636 | } | ||
1637 | else | ||
1638 | { | ||
1639 | i = nextobj; | ||
1640 | nextobj++; | ||
1641 | if (nextobj >= num) nextobj = 0; | ||
1642 | |||
1643 | // destroy the body and geoms for slot i | ||
1644 | dBodyDestroy (obj[i].body); | ||
1645 | for (k=0; k < GPB; k++) | ||
1646 | { | ||
1647 | if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); | ||
1648 | } | ||
1649 | memset (&obj[i],0,sizeof(obj[i])); | ||
1650 | } | ||
1651 | |||
1652 | obj[i].body = dBodyCreate (world); | ||
1653 | for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; | ||
1654 | |||
1655 | dMatrix3 R; | ||
1656 | if (random_pos) { | ||
1657 | dBodySetPosition (obj[i].body, | ||
1658 | (dRandReal()-0.5)*HFIELD_WIDTH*0.75, | ||
1659 | (dRandReal()-0.5)*HFIELD_DEPTH*0.75, | ||
1660 | dRandReal() + 2 ); | ||
1661 | dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
1662 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
1663 | } | ||
1664 | else { | ||
1665 | dReal maxheight = 0; | ||
1666 | for (k=0; k<num; k++) { | ||
1667 | const dReal *pos = dBodyGetPosition (obj[k].body); | ||
1668 | if (pos[2] > maxheight) maxheight = pos[2]; | ||
1669 | } | ||
1670 | dBodySetPosition (obj[i].body, 0,maxheight+1,0); | ||
1671 | dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); | ||
1672 | } | ||
1673 | dBodySetRotation (obj[i].body,R); | ||
1674 | dBodySetData (obj[i].body,(void*) i); | ||
1675 | |||
1676 | if (cmd == 'b') | ||
1677 | { | ||
1678 | dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); | ||
1679 | obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); | ||
1680 | } | ||
1681 | else if (cmd == 'c') | ||
1682 | { | ||
1683 | sides[0] *= 0.5; | ||
1684 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); | ||
1685 | obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); | ||
1686 | } | ||
1687 | //<---- Convex Object | ||
1688 | else if (cmd == 'v') | ||
1689 | { | ||
1690 | dMassSetBox (&m,DENSITY,0.25,0.25,0.25); | ||
1691 | obj[i].geom[0] = dCreateConvex (space, | ||
1692 | planes, | ||
1693 | planecount, | ||
1694 | points, | ||
1695 | pointcount, | ||
1696 | polygons); | ||
1697 | } | ||
1698 | //----> Convex Object | ||
1699 | else if (cmd == 'y') | ||
1700 | { | ||
1701 | dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); | ||
1702 | obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); | ||
1703 | } | ||
1704 | else if (cmd == 's') | ||
1705 | { | ||
1706 | sides[0] *= 0.5; | ||
1707 | dMassSetSphere (&m,DENSITY,sides[0]); | ||
1708 | obj[i].geom[0] = dCreateSphere (space,sides[0]); | ||
1709 | } | ||
1710 | #ifdef dTRIMESH_ENABLED | ||
1711 | else if (cmd == 'm') | ||
1712 | { | ||
1713 | dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); | ||
1714 | dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int)); | ||
1715 | |||
1716 | obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); | ||
1717 | |||
1718 | // remember the mesh's dTriMeshDataID on its userdata for convenience. | ||
1719 | dGeomSetData(obj[i].geom[0], new_tmdata); | ||
1720 | |||
1721 | dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); | ||
1722 | } | ||
1723 | #endif | ||
1724 | else if (cmd == 'x') | ||
1725 | { | ||
1726 | dGeomID g2[GPB]; // encapsulated geometries | ||
1727 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries | ||
1728 | |||
1729 | // start accumulating masses for the encapsulated geometries | ||
1730 | dMass m2; | ||
1731 | dMassSetZero (&m); | ||
1732 | |||
1733 | // set random delta positions | ||
1734 | for (j=0; j<GPB; j++) { | ||
1735 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; | ||
1736 | } | ||
1737 | |||
1738 | for (k=0; k<GPB; k++) { | ||
1739 | obj[i].geom[k] = dCreateGeomTransform (space); | ||
1740 | dGeomTransformSetCleanup (obj[i].geom[k],1); | ||
1741 | if (k==0) { | ||
1742 | dReal radius = dRandReal()*0.25+0.05; | ||
1743 | g2[k] = dCreateSphere (0,radius); | ||
1744 | dMassSetSphere (&m2,DENSITY,radius); | ||
1745 | } | ||
1746 | else if (k==1) { | ||
1747 | g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); | ||
1748 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); | ||
1749 | } | ||
1750 | else { | ||
1751 | dReal radius = dRandReal()*0.1+0.05; | ||
1752 | dReal length = dRandReal()*1.0+0.1; | ||
1753 | g2[k] = dCreateCapsule (0,radius,length); | ||
1754 | dMassSetCapsule (&m2,DENSITY,3,radius,length); | ||
1755 | } | ||
1756 | dGeomTransformSetGeom (obj[i].geom[k],g2[k]); | ||
1757 | |||
1758 | // set the transformation (adjust the mass too) | ||
1759 | dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); | ||
1760 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); | ||
1761 | dMatrix3 Rtx; | ||
1762 | dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
1763 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
1764 | dGeomSetRotation (g2[k],Rtx); | ||
1765 | dMassRotate (&m2,Rtx); | ||
1766 | |||
1767 | // add to the total mass | ||
1768 | dMassAdd (&m,&m2); | ||
1769 | } | ||
1770 | |||
1771 | // move all encapsulated objects so that the center of mass is (0,0,0) | ||
1772 | for (k=0; k<2; k++) { | ||
1773 | dGeomSetPosition (g2[k], | ||
1774 | dpos[k][0]-m.c[0], | ||
1775 | dpos[k][1]-m.c[1], | ||
1776 | dpos[k][2]-m.c[2]); | ||
1777 | } | ||
1778 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); | ||
1779 | } | ||
1780 | |||
1781 | for (k=0; k < GPB; k++) | ||
1782 | { | ||
1783 | if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); | ||
1784 | } | ||
1785 | |||
1786 | dBodySetMass (obj[i].body,&m); | ||
1787 | } | ||
1788 | |||
1789 | |||
1790 | // | ||
1791 | // Control Commands | ||
1792 | // | ||
1793 | |||
1794 | if (cmd == ' ') { | ||
1795 | selected++; | ||
1796 | if (selected >= num) selected = 0; | ||
1797 | if (selected < 0) selected = 0; | ||
1798 | } | ||
1799 | else if (cmd == 'd' && selected >= 0 && selected < num) { | ||
1800 | dBodyDisable (obj[selected].body); | ||
1801 | } | ||
1802 | else if (cmd == 'e' && selected >= 0 && selected < num) { | ||
1803 | dBodyEnable (obj[selected].body); | ||
1804 | } | ||
1805 | else if (cmd == 'a') { | ||
1806 | show_aabb ^= 1; | ||
1807 | } | ||
1808 | else if (cmd == 't') { | ||
1809 | show_contacts ^= 1; | ||
1810 | } | ||
1811 | else if (cmd == 'r') { | ||
1812 | random_pos ^= 1; | ||
1813 | } | ||
1814 | else if (cmd == '1') { | ||
1815 | write_world = 1; | ||
1816 | } | ||
1817 | } | ||
1818 | |||
1819 | |||
1820 | // draw a geom | ||
1821 | |||
1822 | void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) | ||
1823 | { | ||
1824 | int i; | ||
1825 | |||
1826 | if (!g) return; | ||
1827 | if (!pos) pos = dGeomGetPosition (g); | ||
1828 | if (!R) R = dGeomGetRotation (g); | ||
1829 | |||
1830 | int type = dGeomGetClass (g); | ||
1831 | if (type == dBoxClass) { | ||
1832 | dVector3 sides; | ||
1833 | dGeomBoxGetLengths (g,sides); | ||
1834 | dsDrawBox (pos,R,sides); | ||
1835 | } | ||
1836 | else if (type == dSphereClass) { | ||
1837 | dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); | ||
1838 | } | ||
1839 | else if (type == dCapsuleClass) { | ||
1840 | dReal radius,length; | ||
1841 | dGeomCapsuleGetParams (g,&radius,&length); | ||
1842 | dsDrawCapsule (pos,R,length,radius); | ||
1843 | } | ||
1844 | //<---- Convex Object | ||
1845 | else if (type == dConvexClass) | ||
1846 | { | ||
1847 | //dVector3 sides={0.50,0.50,0.50}; | ||
1848 | dsDrawConvex(pos,R,planes, | ||
1849 | planecount, | ||
1850 | points, | ||
1851 | pointcount, | ||
1852 | polygons); | ||
1853 | } | ||
1854 | //----> Convex Object | ||
1855 | else if (type == dCylinderClass) { | ||
1856 | dReal radius,length; | ||
1857 | dGeomCylinderGetParams (g,&radius,&length); | ||
1858 | dsDrawCylinder (pos,R,length,radius); | ||
1859 | } | ||
1860 | else if (type == dGeomTransformClass) { | ||
1861 | dGeomID g2 = dGeomTransformGetGeom (g); | ||
1862 | const dReal *pos2 = dGeomGetPosition (g2); | ||
1863 | const dReal *R2 = dGeomGetRotation (g2); | ||
1864 | dVector3 actual_pos; | ||
1865 | dMatrix3 actual_R; | ||
1866 | dMULTIPLY0_331 (actual_pos,R,pos2); | ||
1867 | actual_pos[0] += pos[0]; | ||
1868 | actual_pos[1] += pos[1]; | ||
1869 | actual_pos[2] += pos[2]; | ||
1870 | dMULTIPLY0_333 (actual_R,R,R2); | ||
1871 | drawGeom (g2,actual_pos,actual_R,0); | ||
1872 | } | ||
1873 | |||
1874 | if (show_aabb) { | ||
1875 | // draw the bounding box for this geom | ||
1876 | dReal aabb[6]; | ||
1877 | dGeomGetAABB (g,aabb); | ||
1878 | dVector3 bbpos; | ||
1879 | for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); | ||
1880 | dVector3 bbsides; | ||
1881 | for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; | ||
1882 | dMatrix3 RI; | ||
1883 | dRSetIdentity (RI); | ||
1884 | dsSetColorAlpha (1,0,0,0.5); | ||
1885 | dsDrawBox (bbpos,RI,bbsides); | ||
1886 | } | ||
1887 | |||
1888 | } | ||
1889 | |||
1890 | // simulation loop | ||
1891 | |||
1892 | static void simLoop (int pause) | ||
1893 | { | ||
1894 | int i,j; | ||
1895 | |||
1896 | dsSetColor (0,0,2); | ||
1897 | |||
1898 | dSpaceCollide (space,0,&nearCallback); | ||
1899 | |||
1900 | //if (!pause) dWorldStep (world,0.05); | ||
1901 | //if (!pause) dWorldQuickStep (world,0.05); | ||
1902 | if (!pause) dWorldStepFast1 (world,0.05, 5); | ||
1903 | |||
1904 | |||
1905 | if (write_world) { | ||
1906 | FILE *f = fopen ("state.dif","wt"); | ||
1907 | if (f) { | ||
1908 | dWorldExportDIF (world,f,"X"); | ||
1909 | fclose (f); | ||
1910 | } | ||
1911 | write_world = 0; | ||
1912 | } | ||
1913 | |||
1914 | // remove all contact joints | ||
1915 | dJointGroupEmpty (contactgroup); | ||
1916 | |||
1917 | |||
1918 | |||
1919 | const dReal* pReal = dGeomGetPosition( gheight ); | ||
1920 | |||
1921 | const dReal* RReal = dGeomGetRotation( gheight ); | ||
1922 | |||
1923 | // | ||
1924 | // Draw Heightfield | ||
1925 | // | ||
1926 | |||
1927 | // Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode. | ||
1928 | int ox = (int) ( -HFIELD_WIDTH/2 ); | ||
1929 | int oz = (int) ( -HFIELD_DEPTH/2 ); | ||
1930 | |||
1931 | // for ( int tx = -1; tx < 2; ++tx ) | ||
1932 | // for ( int tz = -1; tz < 2; ++tz ) | ||
1933 | { | ||
1934 | dsSetColorAlpha (0.5,1,0.5,0.5); | ||
1935 | dsSetTexture( DS_WOOD ); | ||
1936 | |||
1937 | for ( int i = 0; i < HFIELD_WSTEP - 1; ++i ) | ||
1938 | for ( int j = 0; j < HFIELD_DSTEP - 1; ++j ) | ||
1939 | { | ||
1940 | dReal a[3], b[3], c[3], d[3]; | ||
1941 | |||
1942 | a[ 0 ] = ox + ( i ) * HFIELD_WSAMP; | ||
1943 | a[ 1 ] = heightfield_callback( NULL, i, j ); | ||
1944 | a[ 2 ] = oz + ( j ) * HFIELD_DSAMP; | ||
1945 | |||
1946 | b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; | ||
1947 | b[ 1 ] = heightfield_callback( NULL, i + 1, j ); | ||
1948 | b[ 2 ] = oz + ( j ) * HFIELD_DSAMP; | ||
1949 | |||
1950 | c[ 0 ] = ox + ( i ) * HFIELD_WSAMP; | ||
1951 | c[ 1 ] = heightfield_callback( NULL, i, j + 1 ); | ||
1952 | c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; | ||
1953 | |||
1954 | d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; | ||
1955 | d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 ); | ||
1956 | d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; | ||
1957 | |||
1958 | dsDrawTriangle( pReal, RReal, a, c, b, 1 ); | ||
1959 | dsDrawTriangle( pReal, RReal, b, c, d, 1 ); | ||
1960 | } | ||
1961 | } | ||
1962 | |||
1963 | |||
1964 | |||
1965 | |||
1966 | |||
1967 | dsSetColor (1,1,0); | ||
1968 | dsSetTexture (DS_WOOD); | ||
1969 | for (i=0; i<num; i++) | ||
1970 | { | ||
1971 | for (j=0; j < GPB; j++) | ||
1972 | { | ||
1973 | if (i==selected) | ||
1974 | { | ||
1975 | dsSetColor (0,0.7,1); | ||
1976 | } | ||
1977 | else if (! dBodyIsEnabled (obj[i].body)) | ||
1978 | { | ||
1979 | dsSetColor (1,0.8,0); | ||
1980 | } | ||
1981 | else | ||
1982 | { | ||
1983 | dsSetColor (1,1,0); | ||
1984 | } | ||
1985 | |||
1986 | |||
1987 | if ( obj[i].geom[j] && dGeomGetClass(obj[i].geom[j]) == dTriMeshClass ) | ||
1988 | { | ||
1989 | int* Indices = (int*)::Indices; | ||
1990 | |||
1991 | // assume all trimeshes are drawn as bunnies | ||
1992 | const dReal* Pos = dGeomGetPosition(obj[i].geom[j]); | ||
1993 | const dReal* Rot = dGeomGetRotation(obj[i].geom[j]); | ||
1994 | |||
1995 | for (int ii = 0; ii < IndexCount / 3; ii++) | ||
1996 | { | ||
1997 | const dReal v[9] = { // explicit conversion from float to dReal | ||
1998 | Vertices[Indices[ii * 3 + 0] * 3 + 0], | ||
1999 | Vertices[Indices[ii * 3 + 0] * 3 + 1], | ||
2000 | Vertices[Indices[ii * 3 + 0] * 3 + 2], | ||
2001 | Vertices[Indices[ii * 3 + 1] * 3 + 0], | ||
2002 | Vertices[Indices[ii * 3 + 1] * 3 + 1], | ||
2003 | Vertices[Indices[ii * 3 + 1] * 3 + 2], | ||
2004 | Vertices[Indices[ii * 3 + 2] * 3 + 0], | ||
2005 | Vertices[Indices[ii * 3 + 2] * 3 + 1], | ||
2006 | Vertices[Indices[ii * 3 + 2] * 3 + 2] | ||
2007 | }; | ||
2008 | dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1); | ||
2009 | } | ||
2010 | |||
2011 | // tell the tri-tri collider the current transform of the trimesh -- | ||
2012 | // this is fairly important for good results. | ||
2013 | |||
2014 | // Fill in the (4x4) matrix. | ||
2015 | dReal* p_matrix = obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 ); | ||
2016 | |||
2017 | p_matrix[ 0 ] = Rot[ 0 ]; p_matrix[ 1 ] = Rot[ 1 ]; p_matrix[ 2 ] = Rot[ 2 ]; p_matrix[ 3 ] = 0; | ||
2018 | p_matrix[ 4 ] = Rot[ 4 ]; p_matrix[ 5 ] = Rot[ 5 ]; p_matrix[ 6 ] = Rot[ 6 ]; p_matrix[ 7 ] = 0; | ||
2019 | p_matrix[ 8 ] = Rot[ 8 ]; p_matrix[ 9 ] = Rot[ 9 ]; p_matrix[10 ] = Rot[10 ]; p_matrix[11 ] = 0; | ||
2020 | p_matrix[12 ] = Pos[ 0 ]; p_matrix[13 ] = Pos[ 1 ]; p_matrix[14 ] = Pos[ 2 ]; p_matrix[15 ] = 1; | ||
2021 | |||
2022 | // Flip to other matrix. | ||
2023 | obj[i].last_matrix_index = !obj[i].last_matrix_index; | ||
2024 | |||
2025 | // Apply the 'other' matrix which is the oldest. | ||
2026 | #ifdef dTRIMESH_ENABLED | ||
2027 | dGeomTriMeshSetLastTransform( obj[i].geom[j], | ||
2028 | *(dMatrix4*)( obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 ) ) ); | ||
2029 | #endif | ||
2030 | } | ||
2031 | else | ||
2032 | { | ||
2033 | drawGeom (obj[i].geom[j],0,0,show_aabb); | ||
2034 | } | ||
2035 | } | ||
2036 | } | ||
2037 | |||
2038 | if ( show_aabb ) | ||
2039 | { | ||
2040 | // draw the bounding box for this geom | ||
2041 | dReal aabb[6]; | ||
2042 | dGeomGetAABB (gheight,aabb); | ||
2043 | dVector3 bbpos; | ||
2044 | for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); | ||
2045 | dVector3 bbsides; | ||
2046 | for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; | ||
2047 | dMatrix3 RI; | ||
2048 | dRSetIdentity (RI); | ||
2049 | dsSetColorAlpha (1,0,0,0.5); | ||
2050 | dsDrawBox (bbpos,RI,bbsides); | ||
2051 | } | ||
2052 | } | ||
2053 | |||
2054 | |||
2055 | int main (int argc, char **argv) | ||
2056 | { | ||
2057 | // setup pointers to drawstuff callback functions | ||
2058 | dsFunctions fn; | ||
2059 | fn.version = DS_VERSION; | ||
2060 | fn.start = &start; | ||
2061 | fn.step = &simLoop; | ||
2062 | fn.command = &command; | ||
2063 | fn.stop = 0; | ||
2064 | fn.path_to_textures = "../../drawstuff/textures"; | ||
2065 | if(argc==2) | ||
2066 | { | ||
2067 | fn.path_to_textures = argv[1]; | ||
2068 | } | ||
2069 | |||
2070 | // create world | ||
2071 | dInitODE(); | ||
2072 | world = dWorldCreate(); | ||
2073 | space = dHashSpaceCreate (0); | ||
2074 | contactgroup = dJointGroupCreate (0); | ||
2075 | dWorldSetGravity (world,0,0,-0.05); | ||
2076 | dWorldSetCFM (world,1e-5); | ||
2077 | dWorldSetAutoDisableFlag (world,1); | ||
2078 | dWorldSetContactMaxCorrectingVel (world,0.1); | ||
2079 | dWorldSetContactSurfaceLayer (world,0.001); | ||
2080 | memset (obj,0,sizeof(obj)); | ||
2081 | |||
2082 | #if 1 | ||
2083 | |||
2084 | dWorldSetAutoDisableAverageSamplesCount( world, 1 ); | ||
2085 | |||
2086 | #endif | ||
2087 | |||
2088 | // base plane to catch overspill | ||
2089 | dCreatePlane( space, 0, 0, 1, 0 ); | ||
2090 | |||
2091 | |||
2092 | // our heightfield floor | ||
2093 | |||
2094 | dHeightfieldDataID heightid = dGeomHeightfieldDataCreate(); | ||
2095 | |||
2096 | // Create an finite heightfield. | ||
2097 | dGeomHeightfieldDataBuildCallback( heightid, NULL, heightfield_callback, | ||
2098 | HFIELD_WIDTH, HFIELD_DEPTH, HFIELD_WSTEP, HFIELD_DSTEP, | ||
2099 | REAL( 1.0 ), REAL( 0.0 ), REAL( 0.0 ), 0 ); | ||
2100 | |||
2101 | // Give some very bounds which, while conservative, | ||
2102 | // makes AABB computation more accurate than +/-INF. | ||
2103 | dGeomHeightfieldDataSetBounds( heightid, REAL( -4.0 ), REAL( +6.0 ) ); | ||
2104 | |||
2105 | gheight = dCreateHeightfield( space, heightid, 1 ); | ||
2106 | |||
2107 | dVector3 pos; | ||
2108 | pos[ 0 ] = 0; | ||
2109 | pos[ 1 ] = 0; | ||
2110 | pos[ 2 ] = 0; | ||
2111 | |||
2112 | // Rotate so Z is up, not Y (which is the default orientation) | ||
2113 | dMatrix3 R; | ||
2114 | dRSetIdentity( R ); | ||
2115 | dRFromAxisAndAngle( R, 1, 0, 0, DEGTORAD * 90 ); | ||
2116 | |||
2117 | // Place it. | ||
2118 | dGeomSetRotation( gheight, R ); | ||
2119 | dGeomSetPosition( gheight, pos[0], pos[1], pos[2] ); | ||
2120 | |||
2121 | |||
2122 | |||
2123 | |||
2124 | // run simulation | ||
2125 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
2126 | |||
2127 | dJointGroupDestroy (contactgroup); | ||
2128 | dSpaceDestroy (space); | ||
2129 | dWorldDestroy (world); | ||
2130 | dCloseODE(); | ||
2131 | return 0; | ||
2132 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_hinge.cpp b/libraries/ode-0.9/ode/demo/demo_hinge.cpp new file mode 100644 index 0000000..58e8f9e --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_hinge.cpp | |||
@@ -0,0 +1,166 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | #include <ode/ode.h> | ||
24 | #include <drawstuff/drawstuff.h> | ||
25 | |||
26 | #ifdef _MSC_VER | ||
27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
28 | #endif | ||
29 | |||
30 | // select correct drawing functions | ||
31 | #ifdef dDOUBLE | ||
32 | #define dsDrawBox dsDrawBoxD | ||
33 | #endif | ||
34 | |||
35 | |||
36 | // some constants | ||
37 | #define SIDE (0.5f) // side length of a box | ||
38 | #define MASS (1.0) // mass of a box | ||
39 | |||
40 | |||
41 | // dynamics and collision objects | ||
42 | static dWorldID world; | ||
43 | static dBodyID body[2]; | ||
44 | static dJointID hinge; | ||
45 | |||
46 | |||
47 | // state set by keyboard commands | ||
48 | static int occasional_error = 0; | ||
49 | |||
50 | |||
51 | // start simulation - set viewpoint | ||
52 | |||
53 | static void start() | ||
54 | { | ||
55 | static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; | ||
56 | static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; | ||
57 | dsSetViewpoint (xyz,hpr); | ||
58 | printf ("Press 'e' to start/stop occasional error.\n"); | ||
59 | } | ||
60 | |||
61 | |||
62 | // called when a key pressed | ||
63 | |||
64 | static void command (int cmd) | ||
65 | { | ||
66 | if (cmd == 'e' || cmd == 'E') { | ||
67 | occasional_error ^= 1; | ||
68 | } | ||
69 | } | ||
70 | |||
71 | |||
72 | // simulation loop | ||
73 | |||
74 | static void simLoop (int pause) | ||
75 | { | ||
76 | const dReal kd = -0.3; // angular damping constant | ||
77 | if (!pause) { | ||
78 | // add an oscillating torque to body 0, and also damp its rotational motion | ||
79 | static dReal a=0; | ||
80 | const dReal *w = dBodyGetAngularVel (body[0]); | ||
81 | dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a)); | ||
82 | dWorldStep (world,0.05); | ||
83 | a += 0.01; | ||
84 | |||
85 | // occasionally re-orient one of the bodies to create a deliberate error. | ||
86 | if (occasional_error) { | ||
87 | static int count = 0; | ||
88 | if ((count % 20)==0) { | ||
89 | // randomly adjust orientation of body[0] | ||
90 | const dReal *R1; | ||
91 | dMatrix3 R2,R3; | ||
92 | R1 = dBodyGetRotation (body[0]); | ||
93 | dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5, | ||
94 | dRandReal()-0.5,dRandReal()-0.5); | ||
95 | dMultiply0 (R3,R1,R2,3,3,3); | ||
96 | dBodySetRotation (body[0],R3); | ||
97 | |||
98 | // randomly adjust position of body[0] | ||
99 | const dReal *pos = dBodyGetPosition (body[0]); | ||
100 | dBodySetPosition (body[0], | ||
101 | pos[0]+0.2*(dRandReal()-0.5), | ||
102 | pos[1]+0.2*(dRandReal()-0.5), | ||
103 | pos[2]+0.2*(dRandReal()-0.5)); | ||
104 | } | ||
105 | count++; | ||
106 | } | ||
107 | } | ||
108 | |||
109 | dReal sides1[3] = {SIDE,SIDE,SIDE}; | ||
110 | dReal sides2[3] = {SIDE,SIDE,SIDE*0.8f}; | ||
111 | dsSetTexture (DS_WOOD); | ||
112 | dsSetColor (1,1,0); | ||
113 | dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); | ||
114 | dsSetColor (0,1,1); | ||
115 | dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); | ||
116 | } | ||
117 | |||
118 | |||
119 | int main (int argc, char **argv) | ||
120 | { | ||
121 | // setup pointers to drawstuff callback functions | ||
122 | dsFunctions fn; | ||
123 | fn.version = DS_VERSION; | ||
124 | fn.start = &start; | ||
125 | fn.step = &simLoop; | ||
126 | fn.command = &command; | ||
127 | fn.stop = 0; | ||
128 | fn.path_to_textures = "../../drawstuff/textures"; | ||
129 | if(argc==2) | ||
130 | { | ||
131 | fn.path_to_textures = argv[1]; | ||
132 | } | ||
133 | |||
134 | // create world | ||
135 | dInitODE(); | ||
136 | world = dWorldCreate(); | ||
137 | |||
138 | dMass m; | ||
139 | dMassSetBox (&m,1,SIDE,SIDE,SIDE); | ||
140 | dMassAdjust (&m,MASS); | ||
141 | |||
142 | dQuaternion q; | ||
143 | dQFromAxisAndAngle (q,1,1,0,0.25*M_PI); | ||
144 | |||
145 | body[0] = dBodyCreate (world); | ||
146 | dBodySetMass (body[0],&m); | ||
147 | dBodySetPosition (body[0],0.5*SIDE,0.5*SIDE,1); | ||
148 | dBodySetQuaternion (body[0],q); | ||
149 | |||
150 | body[1] = dBodyCreate (world); | ||
151 | dBodySetMass (body[1],&m); | ||
152 | dBodySetPosition (body[1],-0.5*SIDE,-0.5*SIDE,1); | ||
153 | dBodySetQuaternion (body[1],q); | ||
154 | |||
155 | hinge = dJointCreateHinge (world,0); | ||
156 | dJointAttach (hinge,body[0],body[1]); | ||
157 | dJointSetHingeAnchor (hinge,0,0,1); | ||
158 | dJointSetHingeAxis (hinge,1,-1,1.41421356); | ||
159 | |||
160 | // run simulation | ||
161 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
162 | |||
163 | dWorldDestroy (world); | ||
164 | dCloseODE(); | ||
165 | return 0; | ||
166 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_jointPR.cpp b/libraries/ode-0.9/ode/demo/demo_jointPR.cpp new file mode 100644 index 0000000..e0d002d --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_jointPR.cpp | |||
@@ -0,0 +1,377 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | /* | ||
24 | |||
25 | This file try to demonstrate how the PR joint is working. | ||
26 | |||
27 | The axisP is draw in red and the axisR is in green | ||
28 | |||
29 | */ | ||
30 | |||
31 | |||
32 | #include <ode/ode.h> | ||
33 | #include <drawstuff/drawstuff.h> | ||
34 | #include <iostream> | ||
35 | #include <math.h> | ||
36 | |||
37 | |||
38 | #define DRAWSTUFF_TEXTURE_PATH "../../drawstuff/textures" | ||
39 | |||
40 | |||
41 | #ifdef _MSC_VER | ||
42 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
43 | #endif | ||
44 | // select correct drawing functions | ||
45 | #ifdef dDOUBLE | ||
46 | #define dsDrawBox dsDrawBoxD | ||
47 | #endif | ||
48 | |||
49 | // physics parameters | ||
50 | #define BOX1_LENGTH 2 // Size along the X axis | ||
51 | #define BOX1_WIDTH 1 // Size along the Y axis | ||
52 | #define BOX1_HEIGHT 0.4 // Size along the Z axis (up) since gravity is (0,0,-10) | ||
53 | #define BOX2_LENGTH 0.2 | ||
54 | #define BOX2_WIDTH 0.1 | ||
55 | #define BOX2_HEIGHT 0.4 | ||
56 | #define Mass1 10 | ||
57 | #define Mass2 0.1 | ||
58 | |||
59 | |||
60 | #define PRISMATIC_ONLY 1 | ||
61 | #define ROTOIDE_ONLY 2 | ||
62 | int flag = 0; | ||
63 | |||
64 | |||
65 | //camera view | ||
66 | static float xyz[3] = {2.0f,-3.5f,2.0000f}; | ||
67 | static float hpr[3] = {90.000f,-25.5000f,0.0000f}; | ||
68 | //world,space,body & geom | ||
69 | static dWorldID world; | ||
70 | static dSpaceID space; | ||
71 | static dSpaceID box1_space; | ||
72 | static dSpaceID box2_space; | ||
73 | static dBodyID box1_body[1]; | ||
74 | static dBodyID box2_body[1]; | ||
75 | static dJointID joint[1]; | ||
76 | static dJointGroupID contactgroup; | ||
77 | static dGeomID ground; | ||
78 | static dGeomID box1[1]; | ||
79 | static dGeomID box2[1]; | ||
80 | |||
81 | |||
82 | //collision detection | ||
83 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
84 | { | ||
85 | int i,n; | ||
86 | |||
87 | dBodyID b1 = dGeomGetBody(o1); | ||
88 | dBodyID b2 = dGeomGetBody(o2); | ||
89 | if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; | ||
90 | const int N = 10; | ||
91 | dContact contact[N]; | ||
92 | n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); | ||
93 | if (n > 0) | ||
94 | { | ||
95 | for (i=0; i<n; i++) | ||
96 | { | ||
97 | contact[i].surface.mode = dContactSlip1 | dContactSlip2 | | ||
98 | dContactSoftERP | dContactSoftCFM | dContactApprox1; | ||
99 | contact[i].surface.mu = 0.1; | ||
100 | contact[i].surface.slip1 = 0.02; | ||
101 | contact[i].surface.slip2 = 0.02; | ||
102 | contact[i].surface.soft_erp = 0.1; | ||
103 | contact[i].surface.soft_cfm = 0.0001; | ||
104 | dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); | ||
105 | dJointAttach (c,dGeomGetBody(contact[i].geom.g1),dGeomGetBody(contact[i].geom.g2)); | ||
106 | } | ||
107 | } | ||
108 | } | ||
109 | |||
110 | |||
111 | // start simulation - set viewpoint | ||
112 | static void start() | ||
113 | { | ||
114 | dsSetViewpoint (xyz,hpr); | ||
115 | printf ("Press 'd' to add force along positive x direction.\nPress 'a' to add force along negative x direction.\n"); | ||
116 | printf ("Press 'w' to add force along positive y direction.\nPress 's' to add force along negative y direction.\n"); | ||
117 | printf ("Press 'e' to add torque around positive z direction.\nPress 'q' to add torque around negative z direction.\n"); | ||
118 | printf ("Press 'o' to add force around positive x direction \n"); | ||
119 | } | ||
120 | |||
121 | // function to update camera position at each step. | ||
122 | void update() | ||
123 | { | ||
124 | // const dReal *a =(dBodyGetPosition (box1_body[0])); | ||
125 | // float dx=a[0]; | ||
126 | // float dy=a[1]; | ||
127 | // float dz=a[2]; | ||
128 | // xyz[0]=dx; | ||
129 | // xyz[1]=dy-5; | ||
130 | // xyz[2]=dz+2; | ||
131 | // hpr[1]=-22.5000f; | ||
132 | // dsSetViewpoint (xyz,hpr); | ||
133 | } | ||
134 | |||
135 | |||
136 | // called when a key pressed | ||
137 | static void command (int cmd) | ||
138 | { | ||
139 | switch(cmd) | ||
140 | { | ||
141 | case 'w': case 'W': | ||
142 | dBodyAddForce(box2_body[0],0,500,0); | ||
143 | std::cout<<(dBodyGetPosition(box2_body[0])[1]-dBodyGetPosition(box1_body[0])[1])<<'\n'; | ||
144 | break; | ||
145 | case 's': case 'S': | ||
146 | dBodyAddForce(box2_body[0],0,-500,0); | ||
147 | std::cout<<(dBodyGetPosition(box2_body[0])[1]-dBodyGetPosition(box1_body[0])[1])<<'\n'; | ||
148 | break; | ||
149 | case 'd': case 'D': | ||
150 | dBodyAddForce(box2_body[0],500,0,0); | ||
151 | std::cout<<(dBodyGetPosition(box2_body[0])[0]-dBodyGetPosition(box1_body[0])[0])<<'\n'; | ||
152 | break; | ||
153 | case 'a': case 'A': | ||
154 | dBodyAddForce(box2_body[0],-500,0,0); | ||
155 | std::cout<<(dBodyGetPosition(box2_body[0])[0]-dBodyGetPosition(box1_body[0])[0])<<'\n'; | ||
156 | break; | ||
157 | case 'e': case 'E': | ||
158 | dBodyAddRelTorque(box2_body[0],0,0,200); | ||
159 | break; | ||
160 | case 'q': case 'Q': | ||
161 | dBodyAddRelTorque(box2_body[0],0,0,-200); | ||
162 | break; | ||
163 | case 'o': case 'O': | ||
164 | dBodyAddForce(box1_body[0],10000,0,0); | ||
165 | break; | ||
166 | } | ||
167 | } | ||
168 | |||
169 | |||
170 | // simulation loop | ||
171 | static void simLoop (int pause) | ||
172 | { | ||
173 | if (!pause) | ||
174 | { | ||
175 | //draw 2 boxes | ||
176 | dVector3 ss; | ||
177 | dsSetTexture (DS_WOOD); | ||
178 | |||
179 | const dReal *posBox2 = dGeomGetPosition(box2[0]); | ||
180 | const dReal *rotBox2 = dGeomGetRotation(box2[0]); | ||
181 | dsSetColor (1,1,0); | ||
182 | dGeomBoxGetLengths (box2[0],ss); | ||
183 | dsDrawBox (posBox2, rotBox2, ss); | ||
184 | |||
185 | const dReal *posBox1 = dGeomGetPosition(box1[0]); | ||
186 | const dReal *rotBox1 = dGeomGetRotation(box1[0]); | ||
187 | dsSetColor (1,1,2); | ||
188 | dGeomBoxGetLengths (box1[0], ss); | ||
189 | dsDrawBox (posBox1, rotBox1, ss); | ||
190 | |||
191 | dVector3 anchorPos; | ||
192 | dJointGetPRAnchor (joint[0], anchorPos); | ||
193 | |||
194 | // Draw the axisP | ||
195 | if (ROTOIDE_ONLY != flag ) | ||
196 | { | ||
197 | dsSetColor (1,0,0); | ||
198 | dVector3 sizeP = {0, 0.1, 0.1}; | ||
199 | for (int i=0; i<3; ++i) | ||
200 | sizeP[0] += (anchorPos[i] - posBox1[i])*(anchorPos[i] - posBox1[i]); | ||
201 | sizeP[0] = sqrt(sizeP[0]); | ||
202 | dVector3 posAxisP; | ||
203 | for (int i=0; i<3; ++i) | ||
204 | posAxisP[i] = posBox1[i] + (anchorPos[i] - posBox1[i])/2.0; | ||
205 | dsDrawBox (posAxisP, rotBox1, sizeP); | ||
206 | } | ||
207 | |||
208 | |||
209 | // Draw the axisR | ||
210 | if (PRISMATIC_ONLY != flag ) | ||
211 | { | ||
212 | dsSetColor (0,1,0); | ||
213 | dVector3 sizeR = {0, 0.1, 0.1}; | ||
214 | for (int i=0; i<3; ++i) | ||
215 | sizeR[0] += (anchorPos[i] - posBox2[i])*(anchorPos[i] - posBox2[i]); | ||
216 | sizeR[0] = sqrt(sizeR[0]); | ||
217 | dVector3 posAxisR; | ||
218 | for (int i=0; i<3; ++i) | ||
219 | posAxisR[i] = posBox2[i] + (anchorPos[i] - posBox2[i])/2.0; | ||
220 | dsDrawBox (posAxisR, rotBox2, sizeR); | ||
221 | } | ||
222 | |||
223 | dSpaceCollide (space,0,&nearCallback); | ||
224 | dWorldQuickStep (world,0.0001); | ||
225 | update(); | ||
226 | dJointGroupEmpty (contactgroup); | ||
227 | } | ||
228 | } | ||
229 | |||
230 | |||
231 | void Help(char **argv) | ||
232 | { | ||
233 | printf("%s ", argv[0]); | ||
234 | printf(" -h | --help : print this help\n"); | ||
235 | printf(" -b | --both : Display how the complete joint works\n"); | ||
236 | printf(" Default behavior\n"); | ||
237 | printf(" -p | --prismatic-only : Display how the prismatic part works\n"); | ||
238 | printf(" The anchor pts is set at the center of body 2\n"); | ||
239 | printf(" -r | --rotoide-only : Display how the rotoide part works\n"); | ||
240 | printf(" The anchor pts is set at the center of body 1\n"); | ||
241 | printf(" -t | --texture-path path : Path to the texture.\n"); | ||
242 | printf(" Default = %s\n", DRAWSTUFF_TEXTURE_PATH); | ||
243 | printf("--------------------------------------------------\n"); | ||
244 | printf("Hit any key to continue:"); | ||
245 | getchar(); | ||
246 | |||
247 | exit(0); | ||
248 | } | ||
249 | |||
250 | int main (int argc, char **argv) | ||
251 | { | ||
252 | // setup pointers to drawstuff callback functions | ||
253 | dsFunctions fn; | ||
254 | fn.version = DS_VERSION; | ||
255 | fn.start = &start; | ||
256 | fn.step = &simLoop; | ||
257 | fn.command = &command; | ||
258 | fn.stop = 0; | ||
259 | fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; | ||
260 | |||
261 | if (argc >= 2 ) | ||
262 | { | ||
263 | for (int i=1; i < argc; ++i) | ||
264 | { | ||
265 | if( 0 == strcmp("-h", argv[i]) || 0 == strcmp("--help", argv[i]) ) | ||
266 | Help(argv); | ||
267 | |||
268 | if(!flag && (0 == strcmp("-p", argv[i]) ||0 == strcmp("--prismatic-only", argv[i])) ) | ||
269 | flag = PRISMATIC_ONLY; | ||
270 | |||
271 | if(!flag && (0 == strcmp("-r", argv[i]) || 0 == strcmp("--rotoide-only", argv[i])) ) | ||
272 | flag = ROTOIDE_ONLY; | ||
273 | |||
274 | if(0 == strcmp("-t", argv[i]) || 0 == strcmp("--texture-path", argv[i])) | ||
275 | { | ||
276 | int j = i+1; | ||
277 | if ( j+1 > argc || // Check if we have enough arguments | ||
278 | argv[j] == '\0' || // We should have a path here | ||
279 | argv[j][0] == '-' ) // We should have a path not a command line | ||
280 | Help(argv); | ||
281 | else | ||
282 | fn.path_to_textures = argv[++i]; // Increase i since we use this argument | ||
283 | } | ||
284 | } | ||
285 | } | ||
286 | |||
287 | // create world | ||
288 | world = dWorldCreate(); | ||
289 | space = dHashSpaceCreate (0); | ||
290 | contactgroup = dJointGroupCreate (0); | ||
291 | dWorldSetGravity (world,0,0,-10); | ||
292 | ground = dCreatePlane (space,0,0,1,0); | ||
293 | |||
294 | //create two boxes | ||
295 | dMass m; | ||
296 | box1_body[0] = dBodyCreate (world); | ||
297 | dMassSetBox (&m,1,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT); | ||
298 | dMassAdjust (&m,Mass1); | ||
299 | dBodySetMass (box1_body[0],&m); | ||
300 | box1[0] = dCreateBox (0,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT); | ||
301 | dGeomSetBody (box1[0],box1_body[0]); | ||
302 | |||
303 | box2_body[0] = dBodyCreate (world); | ||
304 | dMassSetBox (&m,10,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT); | ||
305 | dMassAdjust (&m,Mass2); | ||
306 | dBodySetMass (box2_body[0],&m); | ||
307 | box2[0] = dCreateBox (0,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT); | ||
308 | dGeomSetBody (box2[0],box2_body[0]); | ||
309 | |||
310 | //set the initial positions of body1 and body2 | ||
311 | dMatrix3 R; | ||
312 | dRSetIdentity(R); | ||
313 | dBodySetPosition (box1_body[0],0,0,BOX1_HEIGHT/2.0); | ||
314 | dBodySetRotation (box1_body[0], R); | ||
315 | |||
316 | dBodySetPosition (box2_body[0], | ||
317 | 2.1, | ||
318 | 0.0, | ||
319 | BOX2_HEIGHT/2.0); | ||
320 | dBodySetRotation (box2_body[0], R); | ||
321 | |||
322 | |||
323 | //set PR joint | ||
324 | joint[0] = dJointCreatePR(world,0); | ||
325 | dJointAttach (joint[0],box1_body[0],box2_body[0]); | ||
326 | switch (flag) | ||
327 | { | ||
328 | case PRISMATIC_ONLY: | ||
329 | dJointSetPRAnchor (joint[0], | ||
330 | 2.1, | ||
331 | 0.0, | ||
332 | BOX2_HEIGHT/2.0); | ||
333 | dJointSetPRParam (joint[0],dParamLoStop, -0.5); | ||
334 | dJointSetPRParam (joint[0],dParamHiStop, 1.5); | ||
335 | break; | ||
336 | |||
337 | case ROTOIDE_ONLY: | ||
338 | dJointSetPRAnchor (joint[0], | ||
339 | 0.0, | ||
340 | 0.0, | ||
341 | BOX2_HEIGHT/2.0); | ||
342 | dJointSetPRParam (joint[0],dParamLoStop, 0.0); | ||
343 | dJointSetPRParam (joint[0],dParamHiStop, 0.0); | ||
344 | break; | ||
345 | |||
346 | default: | ||
347 | dJointSetPRAnchor (joint[0], | ||
348 | 1.1, | ||
349 | 0.0, | ||
350 | BOX2_HEIGHT/2.0); | ||
351 | dJointSetPRParam (joint[0],dParamLoStop, -0.5); | ||
352 | dJointSetPRParam (joint[0],dParamHiStop, 1.5); | ||
353 | break; | ||
354 | } | ||
355 | |||
356 | dJointSetPRAxis1(joint[0],1,0,0); | ||
357 | dJointSetPRAxis2(joint[0],0,0,1); | ||
358 | // We position the 2 body | ||
359 | // The position of the rotoide joint is on the second body so it can rotate on itself | ||
360 | // and move along the X axis. | ||
361 | // With this anchor | ||
362 | // - A force in X will move only the body 2 inside the low and hi limit | ||
363 | // of the prismatic | ||
364 | // - A force in Y will make the 2 bodies to rotate around on the plane | ||
365 | |||
366 | box1_space = dSimpleSpaceCreate (space); | ||
367 | dSpaceSetCleanup (box1_space,0); | ||
368 | dSpaceAdd(box1_space,box1[0]); | ||
369 | |||
370 | // run simulation | ||
371 | dsSimulationLoop (argc,argv,400,300,&fn); | ||
372 | dJointGroupDestroy (contactgroup); | ||
373 | dSpaceDestroy (space); | ||
374 | dWorldDestroy (world); | ||
375 | return 0; | ||
376 | } | ||
377 | |||
diff --git a/libraries/ode-0.9/ode/demo/demo_joints.cpp b/libraries/ode-0.9/ode/demo/demo_joints.cpp new file mode 100644 index 0000000..2a83c2f --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_joints.cpp | |||
@@ -0,0 +1,1092 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | /* | ||
24 | |||
25 | perform tests on all the joint types. | ||
26 | this should be done using the double precision version of the library. | ||
27 | |||
28 | usage: | ||
29 | test_joints [-nXXX] [-g] [-i] [-e] [path_to_textures] | ||
30 | |||
31 | if a test number is given then that specific test is performed, otherwise | ||
32 | all the tests are performed. the tests are numbered `xxyy', where xx | ||
33 | corresponds to the joint type and yy is the sub-test number. not every | ||
34 | number maps to an actual test. | ||
35 | |||
36 | flags: | ||
37 | i: the test is interactive. | ||
38 | g: turn off graphical display (can't use this with `i'). | ||
39 | e: turn on occasional error perturbations | ||
40 | n: performe test XXX | ||
41 | some tests compute and display error values. these values are scaled so | ||
42 | <1 is good and >1 is bad. other tests just show graphical results which | ||
43 | you must verify visually. | ||
44 | |||
45 | */ | ||
46 | |||
47 | #include <ctype.h> | ||
48 | #include <ode/ode.h> | ||
49 | #include <drawstuff/drawstuff.h> | ||
50 | |||
51 | #ifdef _MSC_VER | ||
52 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
53 | #endif | ||
54 | |||
55 | // select correct drawing functions | ||
56 | #ifdef dDOUBLE | ||
57 | #define dsDrawBox dsDrawBoxD | ||
58 | #endif | ||
59 | |||
60 | |||
61 | // some constants | ||
62 | #define NUM_JOINTS 10 // number of joints to test (the `xx' value) | ||
63 | #define SIDE (0.5f) // side length of a box - don't change this | ||
64 | #define MASS (1.0) // mass of a box | ||
65 | #define STEPSIZE 0.05 | ||
66 | |||
67 | |||
68 | // dynamics objects | ||
69 | static dWorldID world; | ||
70 | static dBodyID body[2]; | ||
71 | static dJointID joint; | ||
72 | |||
73 | |||
74 | // data from the command line arguments | ||
75 | static int cmd_test_num = -1; | ||
76 | static int cmd_interactive = 0; | ||
77 | static int cmd_graphics = 1; | ||
78 | static char *cmd_path_to_textures = NULL; | ||
79 | static int cmd_occasional_error = 0; // perturb occasionally | ||
80 | |||
81 | |||
82 | // info about the current test | ||
83 | struct TestInfo; | ||
84 | static int test_num = 0; // number of the current test | ||
85 | static int iteration = 0; | ||
86 | static int max_iterations = 0; | ||
87 | static dReal max_error = 0; | ||
88 | |||
89 | //**************************************************************************** | ||
90 | // utility stuff | ||
91 | |||
92 | static char loCase (char a) | ||
93 | { | ||
94 | if (a >= 'A' && a <= 'Z') return a + ('a'-'A'); | ||
95 | else return a; | ||
96 | } | ||
97 | |||
98 | |||
99 | static dReal length (dVector3 a) | ||
100 | { | ||
101 | return dSqrt (a[0]*a[0] + a[1]*a[1] + a[2]*a[2]); | ||
102 | } | ||
103 | |||
104 | |||
105 | // get the max difference between a 3x3 matrix and the identity | ||
106 | |||
107 | dReal cmpIdentity (const dMatrix3 A) | ||
108 | { | ||
109 | dMatrix3 I; | ||
110 | dSetZero (I,12); | ||
111 | I[0] = 1; | ||
112 | I[5] = 1; | ||
113 | I[10] = 1; | ||
114 | return dMaxDifference (A,I,3,3); | ||
115 | } | ||
116 | |||
117 | //**************************************************************************** | ||
118 | // test world construction and utilities | ||
119 | |||
120 | void constructWorldForTest (dReal gravity, int bodycount, | ||
121 | /* body 1 pos */ dReal pos1x, dReal pos1y, dReal pos1z, | ||
122 | /* body 2 pos */ dReal pos2x, dReal pos2y, dReal pos2z, | ||
123 | /* body 1 rotation axis */ dReal ax1x, dReal ax1y, dReal ax1z, | ||
124 | /* body 1 rotation axis */ dReal ax2x, dReal ax2y, dReal ax2z, | ||
125 | /* rotation angles */ dReal a1, dReal a2) | ||
126 | { | ||
127 | // create world | ||
128 | world = dWorldCreate(); | ||
129 | dWorldSetERP (world,0.2); | ||
130 | dWorldSetCFM (world,1e-6); | ||
131 | dWorldSetGravity (world,0,0,gravity); | ||
132 | |||
133 | dMass m; | ||
134 | dMassSetBox (&m,1,SIDE,SIDE,SIDE); | ||
135 | dMassAdjust (&m,MASS); | ||
136 | |||
137 | body[0] = dBodyCreate (world); | ||
138 | dBodySetMass (body[0],&m); | ||
139 | dBodySetPosition (body[0], pos1x, pos1y, pos1z); | ||
140 | dQuaternion q; | ||
141 | dQFromAxisAndAngle (q,ax1x,ax1y,ax1z,a1); | ||
142 | dBodySetQuaternion (body[0],q); | ||
143 | |||
144 | if (bodycount==2) { | ||
145 | body[1] = dBodyCreate (world); | ||
146 | dBodySetMass (body[1],&m); | ||
147 | dBodySetPosition (body[1], pos2x, pos2y, pos2z); | ||
148 | dQFromAxisAndAngle (q,ax2x,ax2y,ax2z,a2); | ||
149 | dBodySetQuaternion (body[1],q); | ||
150 | } | ||
151 | else body[1] = 0; | ||
152 | } | ||
153 | |||
154 | |||
155 | // add an oscillating torque to body 0 | ||
156 | |||
157 | void addOscillatingTorque (dReal tscale) | ||
158 | { | ||
159 | static dReal a=0; | ||
160 | dBodyAddTorque (body[0],tscale*cos(2*a),tscale*cos(2.7183*a), | ||
161 | tscale*cos(1.5708*a)); | ||
162 | a += 0.01; | ||
163 | } | ||
164 | |||
165 | |||
166 | void addOscillatingTorqueAbout(dReal tscale, dReal x, dReal y, dReal z) | ||
167 | { | ||
168 | static dReal a=0; | ||
169 | dBodyAddTorque (body[0], tscale*cos(a) * x, tscale*cos(a) * y, | ||
170 | tscale * cos(a) * z); | ||
171 | a += 0.02; | ||
172 | } | ||
173 | |||
174 | |||
175 | // damp the rotational motion of body 0 a bit | ||
176 | |||
177 | void dampRotationalMotion (dReal kd) | ||
178 | { | ||
179 | const dReal *w = dBodyGetAngularVel (body[0]); | ||
180 | dBodyAddTorque (body[0],-kd*w[0],-kd*w[1],-kd*w[2]); | ||
181 | } | ||
182 | |||
183 | |||
184 | // add a spring force to keep the bodies together, otherwise they may fly | ||
185 | // apart with some joints. | ||
186 | |||
187 | void addSpringForce (dReal ks) | ||
188 | { | ||
189 | const dReal *p1 = dBodyGetPosition (body[0]); | ||
190 | const dReal *p2 = dBodyGetPosition (body[1]); | ||
191 | dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]),ks*(p2[2]-p1[2])); | ||
192 | dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]),ks*(p1[2]-p2[2])); | ||
193 | } | ||
194 | |||
195 | |||
196 | // add an oscillating Force to body 0 | ||
197 | |||
198 | void addOscillatingForce (dReal fscale) | ||
199 | { | ||
200 | static dReal a=0; | ||
201 | dBodyAddForce (body[0],fscale*cos(2*a),fscale*cos(2.7183*a), | ||
202 | fscale*cos(1.5708*a)); | ||
203 | a += 0.01; | ||
204 | } | ||
205 | |||
206 | //**************************************************************************** | ||
207 | // stuff specific to the tests | ||
208 | // | ||
209 | // 0xx : fixed | ||
210 | // 1xx : ball and socket | ||
211 | // 2xx : hinge | ||
212 | // 3xx : slider | ||
213 | // 4xx : hinge 2 | ||
214 | // 5xx : contact | ||
215 | // 6xx : amotor | ||
216 | // 7xx : universal joint | ||
217 | // 8xx : PR joint (Prismatic and Rotoide) | ||
218 | |||
219 | // setup for the given test. return 0 if there is no such test | ||
220 | |||
221 | int setupTest (int n) | ||
222 | { | ||
223 | switch (n) { | ||
224 | |||
225 | // ********** fixed joint | ||
226 | |||
227 | case 0: { // 2 body | ||
228 | constructWorldForTest (0,2, | ||
229 | 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, | ||
230 | 1,1,0, 1,1,0, | ||
231 | 0.25*M_PI,0.25*M_PI); | ||
232 | joint = dJointCreateFixed (world,0); | ||
233 | dJointAttach (joint,body[0],body[1]); | ||
234 | dJointSetFixed (joint); | ||
235 | return 1; | ||
236 | } | ||
237 | |||
238 | case 1: { // 1 body to static env | ||
239 | constructWorldForTest (0,1, | ||
240 | 0.5*SIDE,0.5*SIDE,1, 0,0,0, | ||
241 | 1,0,0, 1,0,0, | ||
242 | 0,0); | ||
243 | joint = dJointCreateFixed (world,0); | ||
244 | dJointAttach (joint,body[0],0); | ||
245 | dJointSetFixed (joint); | ||
246 | return 1; | ||
247 | } | ||
248 | |||
249 | case 2: { // 2 body with relative rotation | ||
250 | constructWorldForTest (0,2, | ||
251 | 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, | ||
252 | 1,1,0, 1,1,0, | ||
253 | 0.25*M_PI,-0.25*M_PI); | ||
254 | joint = dJointCreateFixed (world,0); | ||
255 | dJointAttach (joint,body[0],body[1]); | ||
256 | dJointSetFixed (joint); | ||
257 | return 1; | ||
258 | } | ||
259 | |||
260 | case 3: { // 1 body to static env with relative rotation | ||
261 | constructWorldForTest (0,1, | ||
262 | 0.5*SIDE,0.5*SIDE,1, 0,0,0, | ||
263 | 1,0,0, 1,0,0, | ||
264 | 0.25*M_PI,0); | ||
265 | joint = dJointCreateFixed (world,0); | ||
266 | dJointAttach (joint,body[0],0); | ||
267 | dJointSetFixed (joint); | ||
268 | return 1; | ||
269 | } | ||
270 | |||
271 | // ********** hinge joint | ||
272 | |||
273 | case 200: // 2 body | ||
274 | constructWorldForTest (0,2, | ||
275 | 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, | ||
276 | 1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI); | ||
277 | joint = dJointCreateHinge (world,0); | ||
278 | dJointAttach (joint,body[0],body[1]); | ||
279 | dJointSetHingeAnchor (joint,0,0,1); | ||
280 | dJointSetHingeAxis (joint,1,-1,1.41421356); | ||
281 | return 1; | ||
282 | |||
283 | case 220: // hinge angle polarity test | ||
284 | case 221: // hinge angle rate test | ||
285 | constructWorldForTest (0,2, | ||
286 | 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, | ||
287 | 1,0,0, 1,0,0, 0,0); | ||
288 | joint = dJointCreateHinge (world,0); | ||
289 | dJointAttach (joint,body[0],body[1]); | ||
290 | dJointSetHingeAnchor (joint,0,0,1); | ||
291 | dJointSetHingeAxis (joint,0,0,1); | ||
292 | max_iterations = 50; | ||
293 | return 1; | ||
294 | |||
295 | case 230: // hinge motor rate (and polarity) test | ||
296 | case 231: // ...with stops | ||
297 | constructWorldForTest (0,2, | ||
298 | 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, | ||
299 | 1,0,0, 1,0,0, 0,0); | ||
300 | joint = dJointCreateHinge (world,0); | ||
301 | dJointAttach (joint,body[0],body[1]); | ||
302 | dJointSetHingeAnchor (joint,0,0,1); | ||
303 | dJointSetHingeAxis (joint,0,0,1); | ||
304 | dJointSetHingeParam (joint,dParamFMax,1); | ||
305 | if (n==231) { | ||
306 | dJointSetHingeParam (joint,dParamLoStop,-0.5); | ||
307 | dJointSetHingeParam (joint,dParamHiStop,0.5); | ||
308 | } | ||
309 | return 1; | ||
310 | |||
311 | case 250: // limit bounce test (gravity down) | ||
312 | case 251: { // ...gravity up | ||
313 | constructWorldForTest ((n==251) ? 0.1 : -0.1, 2, | ||
314 | 0.5*SIDE,0,1+0.5*SIDE, -0.5*SIDE,0,1-0.5*SIDE, | ||
315 | 1,0,0, 1,0,0, 0,0); | ||
316 | joint = dJointCreateHinge (world,0); | ||
317 | dJointAttach (joint,body[0],body[1]); | ||
318 | dJointSetHingeAnchor (joint,0,0,1); | ||
319 | dJointSetHingeAxis (joint,0,1,0); | ||
320 | dJointSetHingeParam (joint,dParamLoStop,-0.9); | ||
321 | dJointSetHingeParam (joint,dParamHiStop,0.7854); | ||
322 | dJointSetHingeParam (joint,dParamBounce,0.5); | ||
323 | // anchor 2nd body with a fixed joint | ||
324 | dJointID j = dJointCreateFixed (world,0); | ||
325 | dJointAttach (j,body[1],0); | ||
326 | dJointSetFixed (j); | ||
327 | return 1; | ||
328 | } | ||
329 | |||
330 | // ********** slider | ||
331 | |||
332 | case 300: // 2 body | ||
333 | constructWorldForTest (0,2, | ||
334 | 0,0,1, 0.2,0.2,1.2, | ||
335 | 0,0,1, -1,1,0, 0,0.25*M_PI); | ||
336 | joint = dJointCreateSlider (world,0); | ||
337 | dJointAttach (joint,body[0],body[1]); | ||
338 | dJointSetSliderAxis (joint,1,1,1); | ||
339 | return 1; | ||
340 | |||
341 | case 320: // slider angle polarity test | ||
342 | case 321: // slider angle rate test | ||
343 | constructWorldForTest (0,2, | ||
344 | 0,0,1, 0,0,1.2, | ||
345 | 1,0,0, 1,0,0, 0,0); | ||
346 | joint = dJointCreateSlider (world,0); | ||
347 | dJointAttach (joint,body[0],body[1]); | ||
348 | dJointSetSliderAxis (joint,0,0,1); | ||
349 | max_iterations = 50; | ||
350 | return 1; | ||
351 | |||
352 | case 330: // slider motor rate (and polarity) test | ||
353 | case 331: // ...with stops | ||
354 | constructWorldForTest (0, 2, | ||
355 | 0,0,1, 0,0,1.2, | ||
356 | 1,0,0, 1,0,0, 0,0); | ||
357 | joint = dJointCreateSlider (world,0); | ||
358 | dJointAttach (joint,body[0],body[1]); | ||
359 | dJointSetSliderAxis (joint,0,0,1); | ||
360 | dJointSetSliderParam (joint,dParamFMax,100); | ||
361 | if (n==331) { | ||
362 | dJointSetSliderParam (joint,dParamLoStop,-0.4); | ||
363 | dJointSetSliderParam (joint,dParamHiStop,0.4); | ||
364 | } | ||
365 | return 1; | ||
366 | |||
367 | case 350: // limit bounce tests | ||
368 | case 351: { | ||
369 | constructWorldForTest ((n==351) ? 0.1 : -0.1, 2, | ||
370 | 0,0,1, 0,0,1.2, | ||
371 | 1,0,0, 1,0,0, 0,0); | ||
372 | joint = dJointCreateSlider (world,0); | ||
373 | dJointAttach (joint,body[0],body[1]); | ||
374 | dJointSetSliderAxis (joint,0,0,1); | ||
375 | dJointSetSliderParam (joint,dParamLoStop,-0.5); | ||
376 | dJointSetSliderParam (joint,dParamHiStop,0.5); | ||
377 | dJointSetSliderParam (joint,dParamBounce,0.5); | ||
378 | // anchor 2nd body with a fixed joint | ||
379 | dJointID j = dJointCreateFixed (world,0); | ||
380 | dJointAttach (j,body[1],0); | ||
381 | dJointSetFixed (j); | ||
382 | return 1; | ||
383 | } | ||
384 | |||
385 | // ********** hinge-2 joint | ||
386 | |||
387 | case 420: // hinge-2 steering angle polarity test | ||
388 | case 421: // hinge-2 steering angle rate test | ||
389 | constructWorldForTest (0,2, | ||
390 | 0.5*SIDE,0,1, -0.5*SIDE,0,1, | ||
391 | 1,0,0, 1,0,0, 0,0); | ||
392 | joint = dJointCreateHinge2 (world,0); | ||
393 | dJointAttach (joint,body[0],body[1]); | ||
394 | dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1); | ||
395 | dJointSetHinge2Axis1 (joint,0,0,1); | ||
396 | dJointSetHinge2Axis2 (joint,1,0,0); | ||
397 | max_iterations = 50; | ||
398 | return 1; | ||
399 | |||
400 | case 430: // hinge 2 steering motor rate (+polarity) test | ||
401 | case 431: // ...with stops | ||
402 | case 432: // hinge 2 wheel motor rate (+polarity) test | ||
403 | constructWorldForTest (0,2, | ||
404 | 0.5*SIDE,0,1, -0.5*SIDE,0,1, | ||
405 | 1,0,0, 1,0,0, 0,0); | ||
406 | joint = dJointCreateHinge2 (world,0); | ||
407 | dJointAttach (joint,body[0],body[1]); | ||
408 | dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1); | ||
409 | dJointSetHinge2Axis1 (joint,0,0,1); | ||
410 | dJointSetHinge2Axis2 (joint,1,0,0); | ||
411 | dJointSetHinge2Param (joint,dParamFMax,1); | ||
412 | dJointSetHinge2Param (joint,dParamFMax2,1); | ||
413 | if (n==431) { | ||
414 | dJointSetHinge2Param (joint,dParamLoStop,-0.5); | ||
415 | dJointSetHinge2Param (joint,dParamHiStop,0.5); | ||
416 | } | ||
417 | return 1; | ||
418 | |||
419 | // ********** angular motor joint | ||
420 | |||
421 | case 600: // test euler angle calculations | ||
422 | constructWorldForTest (0,2, | ||
423 | -SIDE*0.5,0,1, SIDE*0.5,0,1, | ||
424 | 0,0,1, 0,0,1, 0,0); | ||
425 | joint = dJointCreateAMotor (world,0); | ||
426 | dJointAttach (joint,body[0],body[1]); | ||
427 | |||
428 | dJointSetAMotorNumAxes (joint,3); | ||
429 | dJointSetAMotorAxis (joint,0,1, 0,0,1); | ||
430 | dJointSetAMotorAxis (joint,2,2, 1,0,0); | ||
431 | dJointSetAMotorMode (joint,dAMotorEuler); | ||
432 | max_iterations = 200; | ||
433 | return 1; | ||
434 | |||
435 | // ********** universal joint | ||
436 | |||
437 | case 700: // 2 body | ||
438 | case 701: | ||
439 | case 702: | ||
440 | constructWorldForTest (0,2, | ||
441 | 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, | ||
442 | 1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI); | ||
443 | joint = dJointCreateUniversal (world,0); | ||
444 | dJointAttach (joint,body[0],body[1]); | ||
445 | dJointSetUniversalAnchor (joint,0,0,1); | ||
446 | dJointSetUniversalAxis1 (joint, 1, -1, 1.41421356); | ||
447 | dJointSetUniversalAxis2 (joint, 1, -1, -1.41421356); | ||
448 | return 1; | ||
449 | |||
450 | case 720: // universal transmit torque test | ||
451 | case 721: | ||
452 | case 722: | ||
453 | case 730: // universal torque about axis 1 | ||
454 | case 731: | ||
455 | case 732: | ||
456 | case 740: // universal torque about axis 2 | ||
457 | case 741: | ||
458 | case 742: | ||
459 | constructWorldForTest (0,2, | ||
460 | 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, | ||
461 | 1,0,0, 1,0,0, 0,0); | ||
462 | joint = dJointCreateUniversal (world,0); | ||
463 | dJointAttach (joint,body[0],body[1]); | ||
464 | dJointSetUniversalAnchor (joint,0,0,1); | ||
465 | dJointSetUniversalAxis1 (joint,0,0,1); | ||
466 | dJointSetUniversalAxis2 (joint, 1, -1,0); | ||
467 | max_iterations = 100; | ||
468 | return 1; | ||
469 | |||
470 | // Joint PR (Prismatic and Rotoide) | ||
471 | case 800: // 2 body | ||
472 | case 801: // 2 bodies with spring force and prismatic fixed | ||
473 | case 802: // 2 bodies with torque on body1 and prismatic fixed | ||
474 | constructWorldForTest (0, 2, | ||
475 | -1.0, 0.0, 1.0, | ||
476 | 1.0, 0.0, 1.0, | ||
477 | 1,0,0, 1,0,0, | ||
478 | 0, 0); | ||
479 | joint = dJointCreatePR (world, 0); | ||
480 | dJointAttach (joint, body[0], body[1]); | ||
481 | dJointSetPRAnchor (joint,-0.5, 0.0, 1.0); | ||
482 | dJointSetPRAxis1 (joint, 0, 1, 0); | ||
483 | dJointSetPRAxis2 (joint, 1, 0, 0); | ||
484 | dJointSetPRParam (joint,dParamLoStop,-0.5); | ||
485 | dJointSetPRParam (joint,dParamHiStop,0.5); | ||
486 | dJointSetPRParam (joint,dParamLoStop2,0); | ||
487 | dJointSetPRParam (joint,dParamHiStop2,0); | ||
488 | return 1; | ||
489 | case 803: // 2 bodies with spring force and prismatic NOT fixed | ||
490 | case 804: // 2 bodies with torque force and prismatic NOT fixed | ||
491 | case 805: // 2 bodies with force only on first body | ||
492 | constructWorldForTest (0, 2, | ||
493 | -1.0, 0.0, 1.0, | ||
494 | 1.0, 0.0, 1.0, | ||
495 | 1,0,0, 1,0,0, | ||
496 | 0, 0); | ||
497 | joint = dJointCreatePR (world, 0); | ||
498 | dJointAttach (joint, body[0], body[1]); | ||
499 | dJointSetPRAnchor (joint,-0.5, 0.0, 1.0); | ||
500 | dJointSetPRAxis1 (joint, 0, 1, 0); | ||
501 | dJointSetPRAxis2 (joint, 1, 0, 0); | ||
502 | dJointSetPRParam (joint,dParamLoStop,-0.5); | ||
503 | dJointSetPRParam (joint,dParamHiStop,0.5); | ||
504 | dJointSetPRParam (joint,dParamLoStop2,-0.5); | ||
505 | dJointSetPRParam (joint,dParamHiStop2,0.5); | ||
506 | return 1; | ||
507 | } | ||
508 | return 0; | ||
509 | } | ||
510 | |||
511 | |||
512 | // do stuff specific to this test each iteration. you can check some | ||
513 | // invariants for the test -- the return value is some scaled error measurement | ||
514 | // that must be less than 1. | ||
515 | // return a dInfinity if error is not measured for this n. | ||
516 | |||
517 | dReal doStuffAndGetError (int n) | ||
518 | { | ||
519 | switch (n) { | ||
520 | |||
521 | // ********** fixed joint | ||
522 | |||
523 | case 0: { // 2 body | ||
524 | addOscillatingTorque (0.1); | ||
525 | dampRotationalMotion (0.1); | ||
526 | // check the orientations are the same | ||
527 | const dReal *R1 = dBodyGetRotation (body[0]); | ||
528 | const dReal *R2 = dBodyGetRotation (body[1]); | ||
529 | dReal err1 = dMaxDifference (R1,R2,3,3); | ||
530 | // check the body offset is correct | ||
531 | dVector3 p,pp; | ||
532 | const dReal *p1 = dBodyGetPosition (body[0]); | ||
533 | const dReal *p2 = dBodyGetPosition (body[1]); | ||
534 | for (int i=0; i<3; i++) p[i] = p2[i] - p1[i]; | ||
535 | dMULTIPLY1_331 (pp,R1,p); | ||
536 | pp[0] += 0.5; | ||
537 | pp[1] += 0.5; | ||
538 | return (err1 + length (pp)) * 300; | ||
539 | } | ||
540 | |||
541 | case 1: { // 1 body to static env | ||
542 | addOscillatingTorque (0.1); | ||
543 | |||
544 | // check the orientation is the identity | ||
545 | dReal err1 = cmpIdentity (dBodyGetRotation (body[0])); | ||
546 | |||
547 | // check the body offset is correct | ||
548 | dVector3 p; | ||
549 | const dReal *p1 = dBodyGetPosition (body[0]); | ||
550 | for (int i=0; i<3; i++) p[i] = p1[i]; | ||
551 | p[0] -= 0.25; | ||
552 | p[1] -= 0.25; | ||
553 | p[2] -= 1; | ||
554 | return (err1 + length (p)) * 1e6; | ||
555 | } | ||
556 | |||
557 | case 2: { // 2 body | ||
558 | addOscillatingTorque (0.1); | ||
559 | dampRotationalMotion (0.1); | ||
560 | // check the body offset is correct | ||
561 | // Should really check body rotation too. Oh well. | ||
562 | const dReal *R1 = dBodyGetRotation (body[0]); | ||
563 | dVector3 p,pp; | ||
564 | const dReal *p1 = dBodyGetPosition (body[0]); | ||
565 | const dReal *p2 = dBodyGetPosition (body[1]); | ||
566 | for (int i=0; i<3; i++) p[i] = p2[i] - p1[i]; | ||
567 | dMULTIPLY1_331 (pp,R1,p); | ||
568 | pp[0] += 0.5; | ||
569 | pp[1] += 0.5; | ||
570 | return length(pp) * 300; | ||
571 | } | ||
572 | |||
573 | case 3: { // 1 body to static env with relative rotation | ||
574 | addOscillatingTorque (0.1); | ||
575 | |||
576 | // check the body offset is correct | ||
577 | dVector3 p; | ||
578 | const dReal *p1 = dBodyGetPosition (body[0]); | ||
579 | for (int i=0; i<3; i++) p[i] = p1[i]; | ||
580 | p[0] -= 0.25; | ||
581 | p[1] -= 0.25; | ||
582 | p[2] -= 1; | ||
583 | return length (p) * 1e6; | ||
584 | } | ||
585 | |||
586 | |||
587 | // ********** hinge joint | ||
588 | |||
589 | case 200: // 2 body | ||
590 | addOscillatingTorque (0.1); | ||
591 | dampRotationalMotion (0.1); | ||
592 | return dInfinity; | ||
593 | |||
594 | case 220: // hinge angle polarity test | ||
595 | dBodyAddTorque (body[0],0,0,0.01); | ||
596 | dBodyAddTorque (body[1],0,0,-0.01); | ||
597 | if (iteration == 40) { | ||
598 | dReal a = dJointGetHingeAngle (joint); | ||
599 | if (a > 0.5 && a < 1) return 0; else return 10; | ||
600 | } | ||
601 | return 0; | ||
602 | |||
603 | case 221: { // hinge angle rate test | ||
604 | static dReal last_angle = 0; | ||
605 | dBodyAddTorque (body[0],0,0,0.01); | ||
606 | dBodyAddTorque (body[1],0,0,-0.01); | ||
607 | dReal a = dJointGetHingeAngle (joint); | ||
608 | dReal r = dJointGetHingeAngleRate (joint); | ||
609 | dReal er = (a-last_angle)/STEPSIZE; // estimated rate | ||
610 | last_angle = a; | ||
611 | return fabs(r-er) * 4e4; | ||
612 | } | ||
613 | |||
614 | case 230: // hinge motor rate (and polarity) test | ||
615 | case 231: { // ...with stops | ||
616 | static dReal a = 0; | ||
617 | dReal r = dJointGetHingeAngleRate (joint); | ||
618 | dReal err = fabs (cos(a) - r); | ||
619 | if (a==0) err = 0; | ||
620 | a += 0.03; | ||
621 | dJointSetHingeParam (joint,dParamVel,cos(a)); | ||
622 | if (n==231) return dInfinity; | ||
623 | return err * 1e6; | ||
624 | } | ||
625 | |||
626 | // ********** slider joint | ||
627 | |||
628 | case 300: // 2 body | ||
629 | addOscillatingTorque (0.05); | ||
630 | dampRotationalMotion (0.1); | ||
631 | addSpringForce (0.5); | ||
632 | return dInfinity; | ||
633 | |||
634 | case 320: // slider angle polarity test | ||
635 | dBodyAddForce (body[0],0,0,0.1); | ||
636 | dBodyAddForce (body[1],0,0,-0.1); | ||
637 | if (iteration == 40) { | ||
638 | dReal a = dJointGetSliderPosition (joint); | ||
639 | if (a > 0.2 && a < 0.5) return 0; else return 10; | ||
640 | return a; | ||
641 | } | ||
642 | return 0; | ||
643 | |||
644 | case 321: { // slider angle rate test | ||
645 | static dReal last_pos = 0; | ||
646 | dBodyAddForce (body[0],0,0,0.1); | ||
647 | dBodyAddForce (body[1],0,0,-0.1); | ||
648 | dReal p = dJointGetSliderPosition (joint); | ||
649 | dReal r = dJointGetSliderPositionRate (joint); | ||
650 | dReal er = (p-last_pos)/STEPSIZE; // estimated rate (almost exact) | ||
651 | last_pos = p; | ||
652 | return fabs(r-er) * 1e9; | ||
653 | } | ||
654 | |||
655 | case 330: // slider motor rate (and polarity) test | ||
656 | case 331: { // ...with stops | ||
657 | static dReal a = 0; | ||
658 | dReal r = dJointGetSliderPositionRate (joint); | ||
659 | dReal err = fabs (0.7*cos(a) - r); | ||
660 | if (a < 0.04) err = 0; | ||
661 | a += 0.03; | ||
662 | dJointSetSliderParam (joint,dParamVel,0.7*cos(a)); | ||
663 | if (n==331) return dInfinity; | ||
664 | return err * 1e6; | ||
665 | } | ||
666 | |||
667 | // ********** hinge-2 joint | ||
668 | |||
669 | case 420: // hinge-2 steering angle polarity test | ||
670 | dBodyAddTorque (body[0],0,0,0.01); | ||
671 | dBodyAddTorque (body[1],0,0,-0.01); | ||
672 | if (iteration == 40) { | ||
673 | dReal a = dJointGetHinge2Angle1 (joint); | ||
674 | if (a > 0.5 && a < 0.6) return 0; else return 10; | ||
675 | } | ||
676 | return 0; | ||
677 | |||
678 | case 421: { // hinge-2 steering angle rate test | ||
679 | static dReal last_angle = 0; | ||
680 | dBodyAddTorque (body[0],0,0,0.01); | ||
681 | dBodyAddTorque (body[1],0,0,-0.01); | ||
682 | dReal a = dJointGetHinge2Angle1 (joint); | ||
683 | dReal r = dJointGetHinge2Angle1Rate (joint); | ||
684 | dReal er = (a-last_angle)/STEPSIZE; // estimated rate | ||
685 | last_angle = a; | ||
686 | return fabs(r-er)*2e4; | ||
687 | } | ||
688 | |||
689 | case 430: // hinge 2 steering motor rate (+polarity) test | ||
690 | case 431: { // ...with stops | ||
691 | static dReal a = 0; | ||
692 | dReal r = dJointGetHinge2Angle1Rate (joint); | ||
693 | dReal err = fabs (cos(a) - r); | ||
694 | if (a==0) err = 0; | ||
695 | a += 0.03; | ||
696 | dJointSetHinge2Param (joint,dParamVel,cos(a)); | ||
697 | if (n==431) return dInfinity; | ||
698 | return err * 1e6; | ||
699 | } | ||
700 | |||
701 | case 432: { // hinge 2 wheel motor rate (+polarity) test | ||
702 | static dReal a = 0; | ||
703 | dReal r = dJointGetHinge2Angle2Rate (joint); | ||
704 | dReal err = fabs (cos(a) - r); | ||
705 | if (a==0) err = 0; | ||
706 | a += 0.03; | ||
707 | dJointSetHinge2Param (joint,dParamVel2,cos(a)); | ||
708 | return err * 1e6; | ||
709 | } | ||
710 | |||
711 | // ********** angular motor joint | ||
712 | |||
713 | case 600: { // test euler angle calculations | ||
714 | // desired euler angles from last iteration | ||
715 | static dReal a1,a2,a3; | ||
716 | |||
717 | // find actual euler angles | ||
718 | dReal aa1 = dJointGetAMotorAngle (joint,0); | ||
719 | dReal aa2 = dJointGetAMotorAngle (joint,1); | ||
720 | dReal aa3 = dJointGetAMotorAngle (joint,2); | ||
721 | // printf ("actual = %.4f %.4f %.4f\n\n",aa1,aa2,aa3); | ||
722 | |||
723 | dReal err = dInfinity; | ||
724 | if (iteration > 0) { | ||
725 | err = dFabs(aa1-a1) + dFabs(aa2-a2) + dFabs(aa3-a3); | ||
726 | err *= 1e10; | ||
727 | } | ||
728 | |||
729 | // get random base rotation for both bodies | ||
730 | dMatrix3 Rbase; | ||
731 | dRFromAxisAndAngle (Rbase, 3*(dRandReal()-0.5), 3*(dRandReal()-0.5), | ||
732 | 3*(dRandReal()-0.5), 3*(dRandReal()-0.5)); | ||
733 | dBodySetRotation (body[0],Rbase); | ||
734 | |||
735 | // rotate body 2 by random euler angles w.r.t. body 1 | ||
736 | a1 = 3.14 * 2 * (dRandReal()-0.5); | ||
737 | a2 = 1.57 * 2 * (dRandReal()-0.5); | ||
738 | a3 = 3.14 * 2 * (dRandReal()-0.5); | ||
739 | dMatrix3 R1,R2,R3,Rtmp1,Rtmp2; | ||
740 | dRFromAxisAndAngle (R1,0,0,1,-a1); | ||
741 | dRFromAxisAndAngle (R2,0,1,0,a2); | ||
742 | dRFromAxisAndAngle (R3,1,0,0,-a3); | ||
743 | dMultiply0 (Rtmp1,R2,R3,3,3,3); | ||
744 | dMultiply0 (Rtmp2,R1,Rtmp1,3,3,3); | ||
745 | dMultiply0 (Rtmp1,Rbase,Rtmp2,3,3,3); | ||
746 | dBodySetRotation (body[1],Rtmp1); | ||
747 | // printf ("desired = %.4f %.4f %.4f\n",a1,a2,a3); | ||
748 | |||
749 | return err; | ||
750 | } | ||
751 | |||
752 | // ********** universal joint | ||
753 | |||
754 | case 700: { // 2 body: joint constraint | ||
755 | dVector3 ax1, ax2; | ||
756 | |||
757 | addOscillatingTorque (0.1); | ||
758 | dampRotationalMotion (0.1); | ||
759 | dJointGetUniversalAxis1(joint, ax1); | ||
760 | dJointGetUniversalAxis2(joint, ax2); | ||
761 | return fabs(10*dDOT(ax1, ax2)); | ||
762 | } | ||
763 | |||
764 | case 701: { // 2 body: angle 1 rate | ||
765 | static dReal last_angle = 0; | ||
766 | addOscillatingTorque (0.1); | ||
767 | dampRotationalMotion (0.1); | ||
768 | dReal a = dJointGetUniversalAngle1(joint); | ||
769 | dReal r = dJointGetUniversalAngle1Rate(joint); | ||
770 | dReal diff = a - last_angle; | ||
771 | if (diff > M_PI) diff -= 2*M_PI; | ||
772 | if (diff < -M_PI) diff += 2*M_PI; | ||
773 | dReal er = diff / STEPSIZE; // estimated rate | ||
774 | last_angle = a; | ||
775 | // I'm not sure why the error is so large here. | ||
776 | return fabs(r - er) * 1e1; | ||
777 | } | ||
778 | |||
779 | case 702: { // 2 body: angle 2 rate | ||
780 | static dReal last_angle = 0; | ||
781 | addOscillatingTorque (0.1); | ||
782 | dampRotationalMotion (0.1); | ||
783 | dReal a = dJointGetUniversalAngle2(joint); | ||
784 | dReal r = dJointGetUniversalAngle2Rate(joint); | ||
785 | dReal diff = a - last_angle; | ||
786 | if (diff > M_PI) diff -= 2*M_PI; | ||
787 | if (diff < -M_PI) diff += 2*M_PI; | ||
788 | dReal er = diff / STEPSIZE; // estimated rate | ||
789 | last_angle = a; | ||
790 | // I'm not sure why the error is so large here. | ||
791 | return fabs(r - er) * 1e1; | ||
792 | } | ||
793 | |||
794 | case 720: { // universal transmit torque test: constraint error | ||
795 | dVector3 ax1, ax2; | ||
796 | addOscillatingTorqueAbout (0.1, 1, 1, 0); | ||
797 | dampRotationalMotion (0.1); | ||
798 | dJointGetUniversalAxis1(joint, ax1); | ||
799 | dJointGetUniversalAxis2(joint, ax2); | ||
800 | return fabs(10*dDOT(ax1, ax2)); | ||
801 | } | ||
802 | |||
803 | case 721: { // universal transmit torque test: angle1 rate | ||
804 | static dReal last_angle = 0; | ||
805 | addOscillatingTorqueAbout (0.1, 1, 1, 0); | ||
806 | dampRotationalMotion (0.1); | ||
807 | dReal a = dJointGetUniversalAngle1(joint); | ||
808 | dReal r = dJointGetUniversalAngle1Rate(joint); | ||
809 | dReal diff = a - last_angle; | ||
810 | if (diff > M_PI) diff -= 2*M_PI; | ||
811 | if (diff < -M_PI) diff += 2*M_PI; | ||
812 | dReal er = diff / STEPSIZE; // estimated rate | ||
813 | last_angle = a; | ||
814 | return fabs(r - er) * 1e10; | ||
815 | } | ||
816 | |||
817 | case 722: { // universal transmit torque test: angle2 rate | ||
818 | static dReal last_angle = 0; | ||
819 | addOscillatingTorqueAbout (0.1, 1, 1, 0); | ||
820 | dampRotationalMotion (0.1); | ||
821 | dReal a = dJointGetUniversalAngle2(joint); | ||
822 | dReal r = dJointGetUniversalAngle2Rate(joint); | ||
823 | dReal diff = a - last_angle; | ||
824 | if (diff > M_PI) diff -= 2*M_PI; | ||
825 | if (diff < -M_PI) diff += 2*M_PI; | ||
826 | dReal er = diff / STEPSIZE; // estimated rate | ||
827 | last_angle = a; | ||
828 | return fabs(r - er) * 1e10; | ||
829 | } | ||
830 | |||
831 | case 730:{ | ||
832 | dVector3 ax1, ax2; | ||
833 | dJointGetUniversalAxis1(joint, ax1); | ||
834 | dJointGetUniversalAxis2(joint, ax2); | ||
835 | addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]); | ||
836 | dampRotationalMotion (0.1); | ||
837 | return fabs(10*dDOT(ax1, ax2)); | ||
838 | } | ||
839 | |||
840 | case 731:{ | ||
841 | dVector3 ax1; | ||
842 | static dReal last_angle = 0; | ||
843 | dJointGetUniversalAxis1(joint, ax1); | ||
844 | addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]); | ||
845 | dampRotationalMotion (0.1); | ||
846 | dReal a = dJointGetUniversalAngle1(joint); | ||
847 | dReal r = dJointGetUniversalAngle1Rate(joint); | ||
848 | dReal diff = a - last_angle; | ||
849 | if (diff > M_PI) diff -= 2*M_PI; | ||
850 | if (diff < -M_PI) diff += 2*M_PI; | ||
851 | dReal er = diff / STEPSIZE; // estimated rate | ||
852 | last_angle = a; | ||
853 | return fabs(r - er) * 2e3; | ||
854 | } | ||
855 | |||
856 | case 732:{ | ||
857 | dVector3 ax1; | ||
858 | static dReal last_angle = 0; | ||
859 | dJointGetUniversalAxis1(joint, ax1); | ||
860 | addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]); | ||
861 | dampRotationalMotion (0.1); | ||
862 | dReal a = dJointGetUniversalAngle2(joint); | ||
863 | dReal r = dJointGetUniversalAngle2Rate(joint); | ||
864 | dReal diff = a - last_angle; | ||
865 | if (diff > M_PI) diff -= 2*M_PI; | ||
866 | if (diff < -M_PI) diff += 2*M_PI; | ||
867 | dReal er = diff / STEPSIZE; // estimated rate | ||
868 | last_angle = a; | ||
869 | return fabs(r - er) * 1e10; | ||
870 | } | ||
871 | |||
872 | case 740:{ | ||
873 | dVector3 ax1, ax2; | ||
874 | dJointGetUniversalAxis1(joint, ax1); | ||
875 | dJointGetUniversalAxis2(joint, ax2); | ||
876 | addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]); | ||
877 | dampRotationalMotion (0.1); | ||
878 | return fabs(10*dDOT(ax1, ax2)); | ||
879 | } | ||
880 | |||
881 | case 741:{ | ||
882 | dVector3 ax2; | ||
883 | static dReal last_angle = 0; | ||
884 | dJointGetUniversalAxis2(joint, ax2); | ||
885 | addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]); | ||
886 | dampRotationalMotion (0.1); | ||
887 | dReal a = dJointGetUniversalAngle1(joint); | ||
888 | dReal r = dJointGetUniversalAngle1Rate(joint); | ||
889 | dReal diff = a - last_angle; | ||
890 | if (diff > M_PI) diff -= 2*M_PI; | ||
891 | if (diff < -M_PI) diff += 2*M_PI; | ||
892 | dReal er = diff / STEPSIZE; // estimated rate | ||
893 | last_angle = a; | ||
894 | return fabs(r - er) * 1e10; | ||
895 | } | ||
896 | |||
897 | case 742:{ | ||
898 | dVector3 ax2; | ||
899 | static dReal last_angle = 0; | ||
900 | dJointGetUniversalAxis2(joint, ax2); | ||
901 | addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]); | ||
902 | dampRotationalMotion (0.1); | ||
903 | dReal a = dJointGetUniversalAngle2(joint); | ||
904 | dReal r = dJointGetUniversalAngle2Rate(joint); | ||
905 | dReal diff = a - last_angle; | ||
906 | if (diff > M_PI) diff -= 2*M_PI; | ||
907 | if (diff < -M_PI) diff += 2*M_PI; | ||
908 | dReal er = diff / STEPSIZE; // estimated rate | ||
909 | last_angle = a; | ||
910 | return fabs(r - er) * 1e4; | ||
911 | } | ||
912 | |||
913 | // ********** slider joint | ||
914 | case 801: | ||
915 | case 803: | ||
916 | addSpringForce (0.25); | ||
917 | return dInfinity; | ||
918 | |||
919 | case 802: | ||
920 | case 804: { | ||
921 | static dReal a = 0; | ||
922 | dBodyAddTorque (body[0], 0, 0.01*cos(1.5708*a), 0); | ||
923 | a += 0.01; | ||
924 | return dInfinity; | ||
925 | } | ||
926 | |||
927 | case 805: | ||
928 | addOscillatingForce (0.1); | ||
929 | return dInfinity; | ||
930 | } | ||
931 | |||
932 | |||
933 | return dInfinity; | ||
934 | } | ||
935 | |||
936 | //**************************************************************************** | ||
937 | // simulation stuff common to all the tests | ||
938 | |||
939 | // start simulation - set viewpoint | ||
940 | |||
941 | static void start() | ||
942 | { | ||
943 | static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; | ||
944 | static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; | ||
945 | dsSetViewpoint (xyz,hpr); | ||
946 | } | ||
947 | |||
948 | |||
949 | // simulation loop | ||
950 | |||
951 | static void simLoop (int pause) | ||
952 | { | ||
953 | // stop after a given number of iterations, as long as we are not in | ||
954 | // interactive mode | ||
955 | if (cmd_graphics && !cmd_interactive && | ||
956 | (iteration >= max_iterations)) { | ||
957 | dsStop(); | ||
958 | return; | ||
959 | } | ||
960 | iteration++; | ||
961 | |||
962 | if (!pause) { | ||
963 | // do stuff for this test and check to see if the joint is behaving well | ||
964 | dReal error = doStuffAndGetError (test_num); | ||
965 | if (error > max_error) max_error = error; | ||
966 | if (cmd_interactive && error < dInfinity) { | ||
967 | printf ("scaled error = %.4e\n",error); | ||
968 | } | ||
969 | |||
970 | // take a step | ||
971 | dWorldStep (world,STEPSIZE); | ||
972 | |||
973 | // occasionally re-orient the first body to create a deliberate error. | ||
974 | if (cmd_occasional_error) { | ||
975 | static int count = 0; | ||
976 | if ((count % 20)==0) { | ||
977 | // randomly adjust orientation of body[0] | ||
978 | const dReal *R1; | ||
979 | dMatrix3 R2,R3; | ||
980 | R1 = dBodyGetRotation (body[0]); | ||
981 | dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5, | ||
982 | dRandReal()-0.5,dRandReal()-0.5); | ||
983 | dMultiply0 (R3,R1,R2,3,3,3); | ||
984 | dBodySetRotation (body[0],R3); | ||
985 | |||
986 | // randomly adjust position of body[0] | ||
987 | const dReal *pos = dBodyGetPosition (body[0]); | ||
988 | dBodySetPosition (body[0], | ||
989 | pos[0]+0.2*(dRandReal()-0.5), | ||
990 | pos[1]+0.2*(dRandReal()-0.5), | ||
991 | pos[2]+0.2*(dRandReal()-0.5)); | ||
992 | } | ||
993 | count++; | ||
994 | } | ||
995 | } | ||
996 | |||
997 | if (cmd_graphics) { | ||
998 | dReal sides1[3] = {SIDE,SIDE,SIDE}; | ||
999 | dReal sides2[3] = {SIDE*0.99f,SIDE*0.99f,SIDE*0.99f}; | ||
1000 | dsSetTexture (DS_WOOD); | ||
1001 | dsSetColor (1,1,0); | ||
1002 | dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); | ||
1003 | if (body[1]) { | ||
1004 | dsSetColor (0,1,1); | ||
1005 | dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); | ||
1006 | } | ||
1007 | } | ||
1008 | } | ||
1009 | |||
1010 | //**************************************************************************** | ||
1011 | // conduct a specific test, and report the results | ||
1012 | |||
1013 | void doTest (int argc, char **argv, int n, int fatal_if_bad_n) | ||
1014 | { | ||
1015 | test_num = n; | ||
1016 | iteration = 0; | ||
1017 | max_iterations = 300; | ||
1018 | max_error = 0; | ||
1019 | |||
1020 | if (! setupTest (n)) { | ||
1021 | if (fatal_if_bad_n) dError (0,"bad test number"); | ||
1022 | return; | ||
1023 | } | ||
1024 | |||
1025 | // setup pointers to drawstuff callback functions | ||
1026 | dsFunctions fn; | ||
1027 | fn.version = DS_VERSION; | ||
1028 | fn.start = &start; | ||
1029 | fn.step = &simLoop; | ||
1030 | fn.command = 0; | ||
1031 | fn.stop = 0; | ||
1032 | if (cmd_path_to_textures) | ||
1033 | fn.path_to_textures = cmd_path_to_textures; | ||
1034 | else | ||
1035 | fn.path_to_textures = "../../drawstuff/textures"; | ||
1036 | |||
1037 | // run simulation | ||
1038 | if (cmd_graphics) { | ||
1039 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
1040 | } | ||
1041 | else { | ||
1042 | for (int i=0; i < max_iterations; i++) simLoop (0); | ||
1043 | } | ||
1044 | dWorldDestroy (world); | ||
1045 | body[0] = 0; | ||
1046 | body[1] = 0; | ||
1047 | joint = 0; | ||
1048 | |||
1049 | // print results | ||
1050 | printf ("test %d: ",n); | ||
1051 | if (max_error == dInfinity) printf ("error not computed\n"); | ||
1052 | else { | ||
1053 | printf ("max scaled error = %.4e",max_error); | ||
1054 | if (max_error < 1) printf (" - passed\n"); | ||
1055 | else printf (" - FAILED\n"); | ||
1056 | } | ||
1057 | } | ||
1058 | |||
1059 | //**************************************************************************** | ||
1060 | // main | ||
1061 | |||
1062 | int main (int argc, char **argv) | ||
1063 | { | ||
1064 | int i; | ||
1065 | dInitODE(); | ||
1066 | |||
1067 | // process the command line args. anything that starts with `-' is assumed | ||
1068 | // to be a drawstuff argument. | ||
1069 | for (i=1; i<argc; i++) { | ||
1070 | if ( argv[i][0]=='-' && argv[i][1]=='i' && argv[i][2]==0) cmd_interactive = 1; | ||
1071 | else if ( argv[i][0]=='-' && argv[i][1]=='g' && argv[i][2]==0) cmd_graphics = 0; | ||
1072 | else if ( argv[i][0]=='-' && argv[i][1]=='e' && argv[i][2]==0) cmd_graphics = 0; | ||
1073 | else if ( argv[i][0]=='-' && argv[i][1]=='n' && isdigit(argv[i][2]) ) { | ||
1074 | char *endptr; | ||
1075 | long int n = strtol (&(argv[i][2]),&endptr,10); | ||
1076 | if (*endptr == 0) cmd_test_num = n; | ||
1077 | } | ||
1078 | else | ||
1079 | cmd_path_to_textures = argv[i]; | ||
1080 | } | ||
1081 | |||
1082 | // do the tests | ||
1083 | if (cmd_test_num == -1) { | ||
1084 | for (i=0; i<NUM_JOINTS*100; i++) doTest (argc,argv,i,0); | ||
1085 | } | ||
1086 | else { | ||
1087 | doTest (argc,argv,cmd_test_num,1); | ||
1088 | } | ||
1089 | |||
1090 | dCloseODE(); | ||
1091 | return 0; | ||
1092 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_motor.cpp b/libraries/ode-0.9/ode/demo/demo_motor.cpp new file mode 100644 index 0000000..655da0c --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_motor.cpp | |||
@@ -0,0 +1,210 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | #include <ode/ode.h> | ||
24 | #include <drawstuff/drawstuff.h> | ||
25 | |||
26 | #ifdef _MSC_VER | ||
27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
28 | #endif | ||
29 | |||
30 | // select correct drawing functions | ||
31 | #ifdef dDOUBLE | ||
32 | #define dsDrawBox dsDrawBoxD | ||
33 | #endif | ||
34 | |||
35 | |||
36 | // some constants | ||
37 | #define SIDE (0.5f) // side length of a box | ||
38 | #define MASS (1.0) // mass of a box | ||
39 | |||
40 | |||
41 | // dynamics and collision objects | ||
42 | static dWorldID world; | ||
43 | static dBodyID body[2]; | ||
44 | static dGeomID geom[2]; | ||
45 | static dJointID lmotor[2]; | ||
46 | static dJointID amotor[2]; | ||
47 | static dSpaceID space; | ||
48 | static dJointGroupID contactgroup; | ||
49 | |||
50 | |||
51 | // start simulation - set viewpoint | ||
52 | |||
53 | static void start() | ||
54 | { | ||
55 | static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; | ||
56 | static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; | ||
57 | dsSetViewpoint (xyz,hpr); | ||
58 | printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n"); | ||
59 | printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n"); | ||
60 | } | ||
61 | |||
62 | |||
63 | // called when a key pressed | ||
64 | |||
65 | static void command (int cmd) | ||
66 | { | ||
67 | if (cmd == 'q' || cmd == 'Q') { | ||
68 | dJointSetLMotorParam(lmotor[0],dParamVel,0); | ||
69 | dJointSetLMotorParam(lmotor[0],dParamVel2,0); | ||
70 | dJointSetLMotorParam(lmotor[0],dParamVel3,0.1); | ||
71 | } else if (cmd == 'a' || cmd == 'A') { | ||
72 | dJointSetLMotorParam(lmotor[0],dParamVel,0); | ||
73 | dJointSetLMotorParam(lmotor[0],dParamVel2,0); | ||
74 | dJointSetLMotorParam(lmotor[0],dParamVel3,0); | ||
75 | } else if (cmd == 'z' || cmd == 'Z') { | ||
76 | dJointSetLMotorParam(lmotor[0],dParamVel,0); | ||
77 | dJointSetLMotorParam(lmotor[0],dParamVel2,0); | ||
78 | dJointSetLMotorParam(lmotor[0],dParamVel3,-0.1); | ||
79 | } else if (cmd == 'w' || cmd == 'W') { | ||
80 | dJointSetLMotorParam(lmotor[1],dParamVel,0.1); | ||
81 | dJointSetLMotorParam(lmotor[1],dParamVel2,0); | ||
82 | dJointSetLMotorParam(lmotor[1],dParamVel3,0); | ||
83 | } else if (cmd == 'e' || cmd == 'E') { | ||
84 | dJointSetLMotorParam(lmotor[1],dParamVel,0); | ||
85 | dJointSetLMotorParam(lmotor[1],dParamVel2,0); | ||
86 | dJointSetLMotorParam(lmotor[1],dParamVel3,0); | ||
87 | } else if (cmd == 'r' || cmd == 'R') { | ||
88 | dJointSetLMotorParam(lmotor[1],dParamVel,-0.1); | ||
89 | dJointSetLMotorParam(lmotor[1],dParamVel2,0); | ||
90 | dJointSetLMotorParam(lmotor[1],dParamVel3,0); | ||
91 | } | ||
92 | |||
93 | } | ||
94 | |||
95 | |||
96 | |||
97 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
98 | { | ||
99 | // exit without doing anything if the two bodies are connected by a joint | ||
100 | dBodyID b1 = dGeomGetBody(o1); | ||
101 | dBodyID b2 = dGeomGetBody(o2); | ||
102 | |||
103 | dContact contact; | ||
104 | contact.surface.mode = 0; | ||
105 | contact.surface.mu = dInfinity; | ||
106 | if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) { | ||
107 | dJointID c = dJointCreateContact (world,contactgroup,&contact); | ||
108 | dJointAttach (c,b1,b2); | ||
109 | } | ||
110 | } | ||
111 | |||
112 | // simulation loop | ||
113 | |||
114 | static void simLoop (int pause) | ||
115 | { | ||
116 | if (!pause) { | ||
117 | dSpaceCollide(space,0,&nearCallback); | ||
118 | dWorldQuickStep (world,0.05); | ||
119 | dJointGroupEmpty(contactgroup); | ||
120 | } | ||
121 | |||
122 | dReal sides1[3]; | ||
123 | dGeomBoxGetLengths(geom[0], sides1); | ||
124 | dReal sides2[3]; | ||
125 | dGeomBoxGetLengths(geom[1], sides2); | ||
126 | dsSetTexture (DS_WOOD); | ||
127 | dsSetColor (1,1,0); | ||
128 | dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); | ||
129 | dsSetColor (0,1,1); | ||
130 | dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); | ||
131 | } | ||
132 | |||
133 | |||
134 | int main (int argc, char **argv) | ||
135 | { | ||
136 | // setup pointers to drawstuff callback functions | ||
137 | dsFunctions fn; | ||
138 | fn.version = DS_VERSION; | ||
139 | fn.start = &start; | ||
140 | fn.step = &simLoop; | ||
141 | fn.command = &command; | ||
142 | fn.stop = 0; | ||
143 | fn.path_to_textures = "../../drawstuff/textures"; | ||
144 | if(argc>=2) | ||
145 | { | ||
146 | fn.path_to_textures = argv[1]; | ||
147 | } | ||
148 | |||
149 | // create world | ||
150 | dInitODE(); | ||
151 | contactgroup = dJointGroupCreate(0); | ||
152 | world = dWorldCreate(); | ||
153 | space = dSimpleSpaceCreate(0); | ||
154 | dMass m; | ||
155 | dMassSetBox (&m,1,SIDE,SIDE,SIDE); | ||
156 | dMassAdjust (&m,MASS); | ||
157 | |||
158 | body[0] = dBodyCreate (world); | ||
159 | dBodySetMass (body[0],&m); | ||
160 | dBodySetPosition (body[0],0,0,1); | ||
161 | geom[0] = dCreateBox(space,SIDE,SIDE,SIDE); | ||
162 | body[1] = dBodyCreate (world); | ||
163 | dBodySetMass (body[1],&m); | ||
164 | dBodySetPosition (body[1],0,0,2); | ||
165 | geom[1] = dCreateBox(space,SIDE,SIDE,SIDE); | ||
166 | |||
167 | dGeomSetBody(geom[0],body[0]); | ||
168 | dGeomSetBody(geom[1],body[1]); | ||
169 | |||
170 | lmotor[0] = dJointCreateLMotor (world,0); | ||
171 | dJointAttach (lmotor[0],body[0],body[1]); | ||
172 | lmotor[1] = dJointCreateLMotor (world,0); | ||
173 | dJointAttach (lmotor[1],body[0],0); | ||
174 | amotor[0] = dJointCreateAMotor(world,0); | ||
175 | dJointAttach(amotor[0], body[0],body[1]); | ||
176 | amotor[1] = dJointCreateAMotor(world,0); | ||
177 | dJointAttach(amotor[1], body[0], 0); | ||
178 | |||
179 | for (int i=0; i<2; i++) { | ||
180 | dJointSetAMotorNumAxes(amotor[i], 3); | ||
181 | dJointSetAMotorAxis(amotor[i],0,1,1,0,0); | ||
182 | dJointSetAMotorAxis(amotor[i],1,1,0,1,0); | ||
183 | dJointSetAMotorAxis(amotor[i],2,1,0,0,1); | ||
184 | dJointSetAMotorParam(amotor[i],dParamFMax,0.00001); | ||
185 | dJointSetAMotorParam(amotor[i],dParamFMax2,0.00001); | ||
186 | dJointSetAMotorParam(amotor[i],dParamFMax3,0.00001); | ||
187 | |||
188 | dJointSetAMotorParam(amotor[i],dParamVel,0); | ||
189 | dJointSetAMotorParam(amotor[i],dParamVel2,0); | ||
190 | dJointSetAMotorParam(amotor[i],dParamVel3,0); | ||
191 | |||
192 | dJointSetLMotorNumAxes(lmotor[i],3); | ||
193 | dJointSetLMotorAxis(lmotor[i],0,1,1,0,0); | ||
194 | dJointSetLMotorAxis(lmotor[i],1,1,0,1,0); | ||
195 | dJointSetLMotorAxis(lmotor[i],2,1,0,0,1); | ||
196 | |||
197 | dJointSetLMotorParam(lmotor[i],dParamFMax,0.0001); | ||
198 | dJointSetLMotorParam(lmotor[i],dParamFMax2,0.0001); | ||
199 | dJointSetLMotorParam(lmotor[i],dParamFMax3,0.0001); | ||
200 | } | ||
201 | |||
202 | // run simulation | ||
203 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
204 | |||
205 | dJointGroupDestroy(contactgroup); | ||
206 | dSpaceDestroy (space); | ||
207 | dWorldDestroy (world); | ||
208 | dCloseODE(); | ||
209 | return 0; | ||
210 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp b/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp new file mode 100644 index 0000000..3d03020 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp | |||
@@ -0,0 +1,1944 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | #include <ode/ode.h> | ||
24 | #include <drawstuff/drawstuff.h> | ||
25 | |||
26 | #ifdef _MSC_VER | ||
27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
28 | #endif | ||
29 | |||
30 | // select correct drawing functions | ||
31 | |||
32 | #ifdef dDOUBLE | ||
33 | #define dsDrawBox dsDrawBoxD | ||
34 | #define dsDrawSphere dsDrawSphereD | ||
35 | #define dsDrawCylinder dsDrawCylinderD | ||
36 | #define dsDrawCapsule dsDrawCapsuleD | ||
37 | #define dsDrawLine dsDrawLineD | ||
38 | #define dsDrawTriangle dsDrawTriangleD | ||
39 | #endif | ||
40 | |||
41 | |||
42 | // some constants | ||
43 | |||
44 | #define NUM 200 // max number of objects | ||
45 | #define DENSITY (5.0) // density of all objects | ||
46 | #define GPB 3 // maximum number of geometries per body | ||
47 | #define MAX_CONTACTS 64 // maximum number of contact points per body | ||
48 | |||
49 | |||
50 | // dynamics and collision objects | ||
51 | |||
52 | struct MyObject { | ||
53 | dBodyID body; // the body | ||
54 | dGeomID geom[GPB]; // geometries representing this body | ||
55 | |||
56 | // Trimesh only - double buffered matrices for 'last transform' setup | ||
57 | dReal matrix_dblbuff[ 16 * 2 ]; | ||
58 | int last_matrix_index; | ||
59 | }; | ||
60 | |||
61 | static int num=0; // number of objects in simulation | ||
62 | static int nextobj=0; // next object to recycle if num==NUM | ||
63 | static dWorldID world; | ||
64 | static dSpaceID space; | ||
65 | static MyObject obj[NUM]; | ||
66 | static dJointGroupID contactgroup; | ||
67 | static int selected = -1; // selected object | ||
68 | static int show_aabb = 0; // show geom AABBs? | ||
69 | static int show_contacts = 0; // show contact points? | ||
70 | static int random_pos = 1; // drop objects from random position? | ||
71 | |||
72 | // Bunny mesh ripped from Opcode | ||
73 | const int VertexCount = 453; | ||
74 | const int IndexCount = 902 * 3; | ||
75 | |||
76 | typedef dReal dVector3R[3]; | ||
77 | |||
78 | dGeomID TriMesh1; | ||
79 | dGeomID TriMesh2; | ||
80 | static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data | ||
81 | |||
82 | float Vertices[VertexCount * 3] = { | ||
83 | REAL(-0.334392), REAL(0.133007), REAL(0.062259), | ||
84 | REAL(-0.350189), REAL(0.150354), REAL(-0.147769), | ||
85 | REAL(-0.234201), REAL(0.343811), REAL(-0.174307), | ||
86 | REAL(-0.200259), REAL(0.285207), REAL(0.093749), | ||
87 | REAL(0.003520), REAL(0.475208), REAL(-0.159365), | ||
88 | REAL(0.001856), REAL(0.419203), REAL(0.098582), | ||
89 | REAL(-0.252802), REAL(0.093666), REAL(0.237538), | ||
90 | REAL(-0.162901), REAL(0.237984), REAL(0.206905), | ||
91 | REAL(0.000865), REAL(0.318141), REAL(0.235370), | ||
92 | REAL(-0.414624), REAL(0.164083), REAL(-0.278254), | ||
93 | REAL(-0.262213), REAL(0.357334), REAL(-0.293246), | ||
94 | REAL(0.004628), REAL(0.482694), REAL(-0.338626), | ||
95 | REAL(-0.402162), REAL(0.133528), REAL(-0.443247), | ||
96 | REAL(-0.243781), REAL(0.324275), REAL(-0.436763), | ||
97 | REAL(0.005293), REAL(0.437592), REAL(-0.458332), | ||
98 | REAL(-0.339884), REAL(-0.041150), REAL(-0.668211), | ||
99 | REAL(-0.248382), REAL(0.255825), REAL(-0.627493), | ||
100 | REAL(0.006261), REAL(0.376103), REAL(-0.631506), | ||
101 | REAL(-0.216201), REAL(-0.126776), REAL(-0.886936), | ||
102 | REAL(-0.171075), REAL(0.011544), REAL(-0.881386), | ||
103 | REAL(-0.181074), REAL(0.098223), REAL(-0.814779), | ||
104 | REAL(-0.119891), REAL(0.218786), REAL(-0.760153), | ||
105 | REAL(-0.078895), REAL(0.276780), REAL(-0.739281), | ||
106 | REAL(0.006801), REAL(0.310959), REAL(-0.735661), | ||
107 | REAL(-0.168842), REAL(0.102387), REAL(-0.920381), | ||
108 | REAL(-0.104072), REAL(0.177278), REAL(-0.952530), | ||
109 | REAL(-0.129704), REAL(0.211848), REAL(-0.836678), | ||
110 | REAL(-0.099875), REAL(0.310931), REAL(-0.799381), | ||
111 | REAL(0.007237), REAL(0.361687), REAL(-0.794439), | ||
112 | REAL(-0.077913), REAL(0.258753), REAL(-0.921640), | ||
113 | REAL(0.007957), REAL(0.282241), REAL(-0.931680), | ||
114 | REAL(-0.252222), REAL(-0.550401), REAL(-0.557810), | ||
115 | REAL(-0.267633), REAL(-0.603419), REAL(-0.655209), | ||
116 | REAL(-0.446838), REAL(-0.118517), REAL(-0.466159), | ||
117 | REAL(-0.459488), REAL(-0.093017), REAL(-0.311341), | ||
118 | REAL(-0.370645), REAL(-0.100108), REAL(-0.159454), | ||
119 | REAL(-0.371984), REAL(-0.091991), REAL(-0.011044), | ||
120 | REAL(-0.328945), REAL(-0.098269), REAL(0.088659), | ||
121 | REAL(-0.282452), REAL(-0.018862), REAL(0.311501), | ||
122 | REAL(-0.352403), REAL(-0.131341), REAL(0.144902), | ||
123 | REAL(-0.364126), REAL(-0.200299), REAL(0.202388), | ||
124 | REAL(-0.283965), REAL(-0.231869), REAL(0.023668), | ||
125 | REAL(-0.298943), REAL(-0.155218), REAL(0.369716), | ||
126 | REAL(-0.293787), REAL(-0.121856), REAL(0.419097), | ||
127 | REAL(-0.290163), REAL(-0.290797), REAL(0.107824), | ||
128 | REAL(-0.264165), REAL(-0.272849), REAL(0.036347), | ||
129 | REAL(-0.228567), REAL(-0.372573), REAL(0.290309), | ||
130 | REAL(-0.190431), REAL(-0.286997), REAL(0.421917), | ||
131 | REAL(-0.191039), REAL(-0.240973), REAL(0.507118), | ||
132 | REAL(-0.287272), REAL(-0.276431), REAL(-0.065444), | ||
133 | REAL(-0.295675), REAL(-0.280818), REAL(-0.174200), | ||
134 | REAL(-0.399537), REAL(-0.313131), REAL(-0.376167), | ||
135 | REAL(-0.392666), REAL(-0.488581), REAL(-0.427494), | ||
136 | REAL(-0.331669), REAL(-0.570185), REAL(-0.466054), | ||
137 | REAL(-0.282290), REAL(-0.618140), REAL(-0.589220), | ||
138 | REAL(-0.374238), REAL(-0.594882), REAL(-0.323298), | ||
139 | REAL(-0.381071), REAL(-0.629723), REAL(-0.350777), | ||
140 | REAL(-0.382112), REAL(-0.624060), REAL(-0.221577), | ||
141 | REAL(-0.272701), REAL(-0.566522), REAL(0.259157), | ||
142 | REAL(-0.256702), REAL(-0.663406), REAL(0.286079), | ||
143 | REAL(-0.280948), REAL(-0.428359), REAL(0.055790), | ||
144 | REAL(-0.184974), REAL(-0.508894), REAL(0.326265), | ||
145 | REAL(-0.279971), REAL(-0.526918), REAL(0.395319), | ||
146 | REAL(-0.282599), REAL(-0.663393), REAL(0.412411), | ||
147 | REAL(-0.188329), REAL(-0.475093), REAL(0.417954), | ||
148 | REAL(-0.263384), REAL(-0.663396), REAL(0.466604), | ||
149 | REAL(-0.209063), REAL(-0.663393), REAL(0.509344), | ||
150 | REAL(-0.002044), REAL(-0.319624), REAL(0.553078), | ||
151 | REAL(-0.001266), REAL(-0.371260), REAL(0.413296), | ||
152 | REAL(-0.219753), REAL(-0.339762), REAL(-0.040921), | ||
153 | REAL(-0.256986), REAL(-0.282511), REAL(-0.006349), | ||
154 | REAL(-0.271706), REAL(-0.260881), REAL(0.001764), | ||
155 | REAL(-0.091191), REAL(-0.419184), REAL(-0.045912), | ||
156 | REAL(-0.114944), REAL(-0.429752), REAL(-0.124739), | ||
157 | REAL(-0.113970), REAL(-0.382987), REAL(-0.188540), | ||
158 | REAL(-0.243012), REAL(-0.464942), REAL(-0.242850), | ||
159 | REAL(-0.314815), REAL(-0.505402), REAL(-0.324768), | ||
160 | REAL(0.002774), REAL(-0.437526), REAL(-0.262766), | ||
161 | REAL(-0.072625), REAL(-0.417748), REAL(-0.221440), | ||
162 | REAL(-0.160112), REAL(-0.476932), REAL(-0.293450), | ||
163 | REAL(0.003859), REAL(-0.453425), REAL(-0.443916), | ||
164 | REAL(-0.120363), REAL(-0.581567), REAL(-0.438689), | ||
165 | REAL(-0.091499), REAL(-0.584191), REAL(-0.294511), | ||
166 | REAL(-0.116469), REAL(-0.599861), REAL(-0.188308), | ||
167 | REAL(-0.208032), REAL(-0.513640), REAL(-0.134649), | ||
168 | REAL(-0.235749), REAL(-0.610017), REAL(-0.040939), | ||
169 | REAL(-0.344916), REAL(-0.622487), REAL(-0.085380), | ||
170 | REAL(-0.336401), REAL(-0.531864), REAL(-0.212298), | ||
171 | REAL(0.001961), REAL(-0.459550), REAL(-0.135547), | ||
172 | REAL(-0.058296), REAL(-0.430536), REAL(-0.043440), | ||
173 | REAL(0.001378), REAL(-0.449511), REAL(-0.037762), | ||
174 | REAL(-0.130135), REAL(-0.510222), REAL(0.079144), | ||
175 | REAL(0.000142), REAL(-0.477549), REAL(0.157064), | ||
176 | REAL(-0.114284), REAL(-0.453206), REAL(0.304397), | ||
177 | REAL(-0.000592), REAL(-0.443558), REAL(0.285401), | ||
178 | REAL(-0.056215), REAL(-0.663402), REAL(0.326073), | ||
179 | REAL(-0.026248), REAL(-0.568010), REAL(0.273318), | ||
180 | REAL(-0.049261), REAL(-0.531064), REAL(0.389854), | ||
181 | REAL(-0.127096), REAL(-0.663398), REAL(0.479316), | ||
182 | REAL(-0.058384), REAL(-0.663401), REAL(0.372891), | ||
183 | REAL(-0.303961), REAL(0.054199), REAL(0.625921), | ||
184 | REAL(-0.268594), REAL(0.193403), REAL(0.502766), | ||
185 | REAL(-0.277159), REAL(0.126123), REAL(0.443289), | ||
186 | REAL(-0.287605), REAL(-0.005722), REAL(0.531844), | ||
187 | REAL(-0.231396), REAL(-0.121289), REAL(0.587387), | ||
188 | REAL(-0.253475), REAL(-0.081797), REAL(0.756541), | ||
189 | REAL(-0.195164), REAL(-0.137969), REAL(0.728011), | ||
190 | REAL(-0.167673), REAL(-0.156573), REAL(0.609388), | ||
191 | REAL(-0.145917), REAL(-0.169029), REAL(0.697600), | ||
192 | REAL(-0.077776), REAL(-0.214247), REAL(0.622586), | ||
193 | REAL(-0.076873), REAL(-0.214971), REAL(0.696301), | ||
194 | REAL(-0.002341), REAL(-0.233135), REAL(0.622859), | ||
195 | REAL(-0.002730), REAL(-0.213526), REAL(0.691267), | ||
196 | REAL(-0.003136), REAL(-0.192628), REAL(0.762731), | ||
197 | REAL(-0.056136), REAL(-0.201222), REAL(0.763806), | ||
198 | REAL(-0.114589), REAL(-0.166192), REAL(0.770723), | ||
199 | REAL(-0.155145), REAL(-0.129632), REAL(0.791738), | ||
200 | REAL(-0.183611), REAL(-0.058705), REAL(0.847012), | ||
201 | REAL(-0.165562), REAL(0.001980), REAL(0.833386), | ||
202 | REAL(-0.220084), REAL(0.019914), REAL(0.768935), | ||
203 | REAL(-0.255730), REAL(0.090306), REAL(0.670782), | ||
204 | REAL(-0.255594), REAL(0.113833), REAL(0.663389), | ||
205 | REAL(-0.226380), REAL(0.212655), REAL(0.617740), | ||
206 | REAL(-0.003367), REAL(-0.195342), REAL(0.799680), | ||
207 | REAL(-0.029743), REAL(-0.210508), REAL(0.827180), | ||
208 | REAL(-0.003818), REAL(-0.194783), REAL(0.873636), | ||
209 | REAL(-0.004116), REAL(-0.157907), REAL(0.931268), | ||
210 | REAL(-0.031280), REAL(-0.184555), REAL(0.889476), | ||
211 | REAL(-0.059885), REAL(-0.184448), REAL(0.841330), | ||
212 | REAL(-0.135333), REAL(-0.164332), REAL(0.878200), | ||
213 | REAL(-0.085574), REAL(-0.170948), REAL(0.925547), | ||
214 | REAL(-0.163833), REAL(-0.094170), REAL(0.897114), | ||
215 | REAL(-0.138444), REAL(-0.104250), REAL(0.945975), | ||
216 | REAL(-0.083497), REAL(-0.084934), REAL(0.979607), | ||
217 | REAL(-0.004433), REAL(-0.146642), REAL(0.985872), | ||
218 | REAL(-0.150715), REAL(0.032650), REAL(0.884111), | ||
219 | REAL(-0.135892), REAL(-0.035520), REAL(0.945455), | ||
220 | REAL(-0.070612), REAL(0.036849), REAL(0.975733), | ||
221 | REAL(-0.004458), REAL(-0.042526), REAL(1.015670), | ||
222 | REAL(-0.004249), REAL(0.046042), REAL(1.003240), | ||
223 | REAL(-0.086969), REAL(0.133224), REAL(0.947633), | ||
224 | REAL(-0.003873), REAL(0.161605), REAL(0.970499), | ||
225 | REAL(-0.125544), REAL(0.140012), REAL(0.917678), | ||
226 | REAL(-0.125651), REAL(0.250246), REAL(0.857602), | ||
227 | REAL(-0.003127), REAL(0.284070), REAL(0.878870), | ||
228 | REAL(-0.159174), REAL(0.125726), REAL(0.888878), | ||
229 | REAL(-0.183807), REAL(0.196970), REAL(0.844480), | ||
230 | REAL(-0.159890), REAL(0.291736), REAL(0.732480), | ||
231 | REAL(-0.199495), REAL(0.207230), REAL(0.779864), | ||
232 | REAL(-0.206182), REAL(0.164608), REAL(0.693257), | ||
233 | REAL(-0.186315), REAL(0.160689), REAL(0.817193), | ||
234 | REAL(-0.192827), REAL(0.166706), REAL(0.782271), | ||
235 | REAL(-0.175112), REAL(0.110008), REAL(0.860621), | ||
236 | REAL(-0.161022), REAL(0.057420), REAL(0.855111), | ||
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518 | REAL(0.184061), REAL(0.101854), REAL(-0.918220), | ||
519 | REAL(0.092431), REAL(0.276521), REAL(-0.738231), | ||
520 | REAL(0.133504), REAL(0.218403), REAL(-0.758602), | ||
521 | REAL(0.194987), REAL(0.097655), REAL(-0.812476), | ||
522 | REAL(0.185542), REAL(0.011005), REAL(-0.879202), | ||
523 | REAL(0.230315), REAL(-0.127450), REAL(-0.884202), | ||
524 | REAL(0.260471), REAL(0.255056), REAL(-0.624378), | ||
525 | REAL(0.351567), REAL(-0.042194), REAL(-0.663976), | ||
526 | REAL(0.253742), REAL(0.323524), REAL(-0.433716), | ||
527 | REAL(0.411612), REAL(0.132299), REAL(-0.438264), | ||
528 | REAL(0.270513), REAL(0.356530), REAL(-0.289984), | ||
529 | REAL(0.422146), REAL(0.162819), REAL(-0.273130), | ||
530 | REAL(0.164724), REAL(0.237490), REAL(0.208912), | ||
531 | REAL(0.253806), REAL(0.092900), REAL(0.240640), | ||
532 | REAL(0.203608), REAL(0.284597), REAL(0.096223), | ||
533 | REAL(0.241006), REAL(0.343093), REAL(-0.171396), | ||
534 | REAL(0.356076), REAL(0.149288), REAL(-0.143443), | ||
535 | REAL(0.337656), REAL(0.131992), REAL(0.066374) | ||
536 | }; | ||
537 | |||
538 | int Indices[IndexCount / 3][3] = { | ||
539 | {126,134,133}, | ||
540 | {342,138,134}, | ||
541 | {133,134,138}, | ||
542 | {126,342,134}, | ||
543 | {312,316,317}, | ||
544 | {169,163,162}, | ||
545 | {312,317,319}, | ||
546 | {312,319,318}, | ||
547 | {169,162,164}, | ||
548 | {169,168,163}, | ||
549 | {312,314,315}, | ||
550 | {169,164,165}, | ||
551 | {169,167,168}, | ||
552 | {312,315,316}, | ||
553 | {312,313,314}, | ||
554 | {169,165,166}, | ||
555 | {169,166,167}, | ||
556 | {312,318,313}, | ||
557 | {308,304,305}, | ||
558 | {308,305,306}, | ||
559 | {179,181,188}, | ||
560 | {177,173,175}, | ||
561 | {177,175,176}, | ||
562 | {302,293,300}, | ||
563 | {322,294,304}, | ||
564 | {188,176,175}, | ||
565 | {188,175,179}, | ||
566 | {158,177,187}, | ||
567 | {305,293,302}, | ||
568 | {305,302,306}, | ||
569 | {322,304,308}, | ||
570 | {188,181,183}, | ||
571 | {158,173,177}, | ||
572 | {293,298,300}, | ||
573 | {304,294,296}, | ||
574 | {304,296,305}, | ||
575 | {185,176,188}, | ||
576 | {185,188,183}, | ||
577 | {187,177,176}, | ||
578 | {187,176,185}, | ||
579 | {305,296,298}, | ||
580 | {305,298,293}, | ||
581 | {436,432, 28}, | ||
582 | {436, 28, 23}, | ||
583 | {434,278,431}, | ||
584 | { 30,208,209}, | ||
585 | { 30,209, 29}, | ||
586 | { 19, 20, 24}, | ||
587 | {208,207,211}, | ||
588 | {208,211,209}, | ||
589 | { 19,210,212}, | ||
590 | {433,434,431}, | ||
591 | {433,431,432}, | ||
592 | {433,432,436}, | ||
593 | {436,437,433}, | ||
594 | {277,275,276}, | ||
595 | {277,276,278}, | ||
596 | {209,210, 25}, | ||
597 | { 21, 26, 24}, | ||
598 | { 21, 24, 20}, | ||
599 | { 25, 26, 27}, | ||
600 | { 25, 27, 29}, | ||
601 | {435,439,277}, | ||
602 | {439,275,277}, | ||
603 | {432,431, 30}, | ||
604 | {432, 30, 28}, | ||
605 | {433,437,438}, | ||
606 | {433,438,435}, | ||
607 | {434,277,278}, | ||
608 | { 24, 25,210}, | ||
609 | { 24, 26, 25}, | ||
610 | { 29, 27, 28}, | ||
611 | { 29, 28, 30}, | ||
612 | { 19, 24,210}, | ||
613 | {208, 30,431}, | ||
614 | {208,431,278}, | ||
615 | {435,434,433}, | ||
616 | {435,277,434}, | ||
617 | { 25, 29,209}, | ||
618 | { 27, 22, 23}, | ||
619 | { 27, 23, 28}, | ||
620 | { 26, 22, 27}, | ||
621 | { 26, 21, 22}, | ||
622 | {212,210,209}, | ||
623 | {212,209,211}, | ||
624 | {207,208,278}, | ||
625 | {207,278,276}, | ||
626 | {439,435,438}, | ||
627 | { 12, 9, 10}, | ||
628 | { 12, 10, 13}, | ||
629 | { 2, 3, 5}, | ||
630 | { 2, 5, 4}, | ||
631 | { 16, 13, 14}, | ||
632 | { 16, 14, 17}, | ||
633 | { 22, 21, 16}, | ||
634 | { 13, 10, 11}, | ||
635 | { 13, 11, 14}, | ||
636 | { 1, 0, 3}, | ||
637 | { 1, 3, 2}, | ||
638 | { 15, 12, 16}, | ||
639 | { 19, 18, 15}, | ||
640 | { 19, 15, 16}, | ||
641 | { 19, 16, 20}, | ||
642 | { 9, 1, 2}, | ||
643 | { 9, 2, 10}, | ||
644 | { 3, 7, 8}, | ||
645 | { 3, 8, 5}, | ||
646 | { 16, 17, 23}, | ||
647 | { 16, 23, 22}, | ||
648 | { 21, 20, 16}, | ||
649 | { 10, 2, 4}, | ||
650 | { 10, 4, 11}, | ||
651 | { 0, 6, 7}, | ||
652 | { 0, 7, 3}, | ||
653 | { 12, 13, 16}, | ||
654 | {451,446,445}, | ||
655 | {451,445,450}, | ||
656 | {442,440,439}, | ||
657 | {442,439,438}, | ||
658 | {442,438,441}, | ||
659 | {421,420,422}, | ||
660 | {412,411,426}, | ||
661 | {412,426,425}, | ||
662 | {408,405,407}, | ||
663 | {413, 67, 68}, | ||
664 | {413, 68,414}, | ||
665 | {391,390,412}, | ||
666 | { 80,384,386}, | ||
667 | {404,406,378}, | ||
668 | {390,391,377}, | ||
669 | {390,377, 88}, | ||
670 | {400,415,375}, | ||
671 | {398,396,395}, | ||
672 | {398,395,371}, | ||
673 | {398,371,370}, | ||
674 | {112,359,358}, | ||
675 | {112,358,113}, | ||
676 | {351,352,369}, | ||
677 | {125,349,348}, | ||
678 | {345,343,342}, | ||
679 | {342,340,339}, | ||
680 | {341,335,337}, | ||
681 | {328,341,327}, | ||
682 | {331,323,333}, | ||
683 | {331,322,323}, | ||
684 | {327,318,319}, | ||
685 | {327,319,328}, | ||
686 | {315,314,324}, | ||
687 | {302,300,301}, | ||
688 | {302,301,303}, | ||
689 | {320,311,292}, | ||
690 | {285,284,289}, | ||
691 | {310,307,288}, | ||
692 | {310,288,290}, | ||
693 | {321,350,281}, | ||
694 | {321,281,282}, | ||
695 | {423,448,367}, | ||
696 | {272,273,384}, | ||
697 | {272,384,274}, | ||
698 | {264,265,382}, | ||
699 | {264,382,383}, | ||
700 | {440,442,261}, | ||
701 | {440,261,263}, | ||
702 | {252,253,254}, | ||
703 | {252,254,251}, | ||
704 | {262,256,249}, | ||
705 | {262,249,248}, | ||
706 | {228,243,242}, | ||
707 | {228, 31,243}, | ||
708 | {213,215,238}, | ||
709 | {213,238,237}, | ||
710 | { 19,212,230}, | ||
711 | {224,225,233}, | ||
712 | {224,233,231}, | ||
713 | {217,218, 56}, | ||
714 | {217, 56, 54}, | ||
715 | {217,216,239}, | ||
716 | {217,239,238}, | ||
717 | {217,238,215}, | ||
718 | {218,217,215}, | ||
719 | {218,215,214}, | ||
720 | { 6,102,206}, | ||
721 | {186,199,200}, | ||
722 | {197,182,180}, | ||
723 | {170,171,157}, | ||
724 | {201,200,189}, | ||
725 | {170,190,191}, | ||
726 | {170,191,192}, | ||
727 | {175,174,178}, | ||
728 | {175,178,179}, | ||
729 | {168,167,155}, | ||
730 | {122,149,158}, | ||
731 | {122,158,159}, | ||
732 | {135,153,154}, | ||
733 | {135,154,118}, | ||
734 | {143,140,141}, | ||
735 | {143,141,144}, | ||
736 | {132,133,136}, | ||
737 | {130,126,133}, | ||
738 | {124,125,127}, | ||
739 | {122,101,100}, | ||
740 | {122,100,121}, | ||
741 | {110,108,107}, | ||
742 | {110,107,109}, | ||
743 | { 98, 99, 97}, | ||
744 | { 98, 97, 64}, | ||
745 | { 98, 64, 66}, | ||
746 | { 87, 55, 57}, | ||
747 | { 83, 82, 79}, | ||
748 | { 83, 79, 84}, | ||
749 | { 78, 74, 50}, | ||
750 | { 49, 71, 41}, | ||
751 | { 49, 41, 37}, | ||
752 | { 49, 37, 36}, | ||
753 | { 58, 44, 60}, | ||
754 | { 60, 59, 58}, | ||
755 | { 51, 34, 33}, | ||
756 | { 39, 40, 42}, | ||
757 | { 39, 42, 38}, | ||
758 | {243,240, 33}, | ||
759 | {243, 33,229}, | ||
760 | { 39, 38, 6}, | ||
761 | { 44, 46, 40}, | ||
762 | { 55, 56, 57}, | ||
763 | { 64, 62, 65}, | ||
764 | { 64, 65, 66}, | ||
765 | { 41, 71, 45}, | ||
766 | { 75, 50, 51}, | ||
767 | { 81, 79, 82}, | ||
768 | { 77, 88, 73}, | ||
769 | { 93, 92, 94}, | ||
770 | { 68, 47, 46}, | ||
771 | { 96, 97, 99}, | ||
772 | { 96, 99, 95}, | ||
773 | {110,109,111}, | ||
774 | {111,112,110}, | ||
775 | {114,113,123}, | ||
776 | {114,123,124}, | ||
777 | {132,131,129}, | ||
778 | {133,137,136}, | ||
779 | {135,142,145}, | ||
780 | {145,152,135}, | ||
781 | {149,147,157}, | ||
782 | {157,158,149}, | ||
783 | {164,150,151}, | ||
784 | {153,163,168}, | ||
785 | {153,168,154}, | ||
786 | {185,183,182}, | ||
787 | {185,182,184}, | ||
788 | {161,189,190}, | ||
789 | {200,199,191}, | ||
790 | {200,191,190}, | ||
791 | {180,178,195}, | ||
792 | {180,195,196}, | ||
793 | {102,101,204}, | ||
794 | {102,204,206}, | ||
795 | { 43, 48,104}, | ||
796 | { 43,104,103}, | ||
797 | {216,217, 54}, | ||
798 | {216, 54, 32}, | ||
799 | {207,224,231}, | ||
800 | {230,212,211}, | ||
801 | {230,211,231}, | ||
802 | {227,232,241}, | ||
803 | {227,241,242}, | ||
804 | {235,234,241}, | ||
805 | {235,241,244}, | ||
806 | {430,248,247}, | ||
807 | {272,274,253}, | ||
808 | {272,253,252}, | ||
809 | {439,260,275}, | ||
810 | {225,224,259}, | ||
811 | {225,259,257}, | ||
812 | {269,270,407}, | ||
813 | {269,407,405}, | ||
814 | {270,269,273}, | ||
815 | {270,273,272}, | ||
816 | {273,269,268}, | ||
817 | {273,268,267}, | ||
818 | {273,267,266}, | ||
819 | {273,266,265}, | ||
820 | {273,265,264}, | ||
821 | {448,279,367}, | ||
822 | {281,350,368}, | ||
823 | {285,286,301}, | ||
824 | {290,323,310}, | ||
825 | {290,311,323}, | ||
826 | {282,281,189}, | ||
827 | {292,311,290}, | ||
828 | {292,290,291}, | ||
829 | {307,306,302}, | ||
830 | {307,302,303}, | ||
831 | {316,315,324}, | ||
832 | {316,324,329}, | ||
833 | {331,351,350}, | ||
834 | {330,334,335}, | ||
835 | {330,335,328}, | ||
836 | {341,337,338}, | ||
837 | {344,355,354}, | ||
838 | {346,345,348}, | ||
839 | {346,348,347}, | ||
840 | {364,369,352}, | ||
841 | {364,352,353}, | ||
842 | {365,363,361}, | ||
843 | {365,361,362}, | ||
844 | {376,401,402}, | ||
845 | {373,372,397}, | ||
846 | {373,397,400}, | ||
847 | {376, 92,377}, | ||
848 | {381,378,387}, | ||
849 | {381,387,385}, | ||
850 | {386, 77, 80}, | ||
851 | {390,389,412}, | ||
852 | {416,417,401}, | ||
853 | {403,417,415}, | ||
854 | {408,429,430}, | ||
855 | {419,423,418}, | ||
856 | {427,428,444}, | ||
857 | {427,444,446}, | ||
858 | {437,436,441}, | ||
859 | {450,445, 11}, | ||
860 | {450, 11, 4}, | ||
861 | {447,449, 5}, | ||
862 | {447, 5, 8}, | ||
863 | {441,438,437}, | ||
864 | {425,426,451}, | ||
865 | {425,451,452}, | ||
866 | {417,421,415}, | ||
867 | {408,407,429}, | ||
868 | {399,403,400}, | ||
869 | {399,400,397}, | ||
870 | {394,393,416}, | ||
871 | {389,411,412}, | ||
872 | {386,383,385}, | ||
873 | {408,387,378}, | ||
874 | {408,378,406}, | ||
875 | {377,391,376}, | ||
876 | { 94,375,415}, | ||
877 | {372,373,374}, | ||
878 | {372,374,370}, | ||
879 | {359,111,360}, | ||
880 | {359,112,111}, | ||
881 | {113,358,349}, | ||
882 | {113,349,123}, | ||
883 | {346,343,345}, | ||
884 | {343,340,342}, | ||
885 | {338,336,144}, | ||
886 | {338,144,141}, | ||
887 | {327,341,354}, | ||
888 | {327,354,326}, | ||
889 | {331,350,321}, | ||
890 | {331,321,322}, | ||
891 | {314,313,326}, | ||
892 | {314,326,325}, | ||
893 | {300,298,299}, | ||
894 | {300,299,301}, | ||
895 | {288,287,289}, | ||
896 | {189,292,282}, | ||
897 | {287,288,303}, | ||
898 | {284,285,297}, | ||
899 | {368,280,281}, | ||
900 | {448,447,279}, | ||
901 | {274,226,255}, | ||
902 | {267,268,404}, | ||
903 | {267,404,379}, | ||
904 | {429,262,430}, | ||
905 | {439,440,260}, | ||
906 | {257,258,249}, | ||
907 | {257,249,246}, | ||
908 | {430,262,248}, | ||
909 | {234,228,242}, | ||
910 | {234,242,241}, | ||
911 | {237,238,239}, | ||
912 | {237,239,236}, | ||
913 | { 15, 18,227}, | ||
914 | { 15,227,229}, | ||
915 | {222,223, 82}, | ||
916 | {222, 82, 83}, | ||
917 | {214,215,213}, | ||
918 | {214,213, 81}, | ||
919 | { 38,102, 6}, | ||
920 | {122,159,200}, | ||
921 | {122,200,201}, | ||
922 | {174,171,192}, | ||
923 | {174,192,194}, | ||
924 | {197,193,198}, | ||
925 | {190,170,161}, | ||
926 | {181,179,178}, | ||
927 | {181,178,180}, | ||
928 | {166,156,155}, | ||
929 | {163,153,152}, | ||
930 | {163,152,162}, | ||
931 | {120,156,149}, | ||
932 | {120,149,121}, | ||
933 | {152,153,135}, | ||
934 | {140,143,142}, | ||
935 | {135,131,132}, | ||
936 | {135,132,136}, | ||
937 | {130,129,128}, | ||
938 | {130,128,127}, | ||
939 | {100,105,119}, | ||
940 | {100,119,120}, | ||
941 | {106,104,107}, | ||
942 | {106,107,108}, | ||
943 | { 91, 95, 59}, | ||
944 | { 93, 94, 68}, | ||
945 | { 91, 89, 92}, | ||
946 | { 76, 53, 55}, | ||
947 | { 76, 55, 87}, | ||
948 | { 81, 78, 79}, | ||
949 | { 74, 73, 49}, | ||
950 | { 69, 60, 45}, | ||
951 | { 58, 62, 64}, | ||
952 | { 58, 64, 61}, | ||
953 | { 53, 31, 32}, | ||
954 | { 32, 54, 53}, | ||
955 | { 42, 43, 38}, | ||
956 | { 35, 36, 0}, | ||
957 | { 35, 0, 1}, | ||
958 | { 34, 35, 1}, | ||
959 | { 34, 1, 9}, | ||
960 | { 44, 40, 41}, | ||
961 | { 44, 41, 45}, | ||
962 | { 33,240, 51}, | ||
963 | { 63, 62, 58}, | ||
964 | { 63, 58, 59}, | ||
965 | { 45, 71, 70}, | ||
966 | { 76, 75, 51}, | ||
967 | { 76, 51, 52}, | ||
968 | { 86, 85, 84}, | ||
969 | { 86, 84, 87}, | ||
970 | { 89, 72, 73}, | ||
971 | { 89, 73, 88}, | ||
972 | { 91, 92, 96}, | ||
973 | { 91, 96, 95}, | ||
974 | { 72, 91, 60}, | ||
975 | { 72, 60, 69}, | ||
976 | {104,106,105}, | ||
977 | {119,105,117}, | ||
978 | {119,117,118}, | ||
979 | {124,127,128}, | ||
980 | {117,116,129}, | ||
981 | {117,129,131}, | ||
982 | {118,117,131}, | ||
983 | {135,140,142}, | ||
984 | {146,150,152}, | ||
985 | {146,152,145}, | ||
986 | {149,122,121}, | ||
987 | {166,165,151}, | ||
988 | {166,151,156}, | ||
989 | {158,172,173}, | ||
990 | {161,160,189}, | ||
991 | {199,198,193}, | ||
992 | {199,193,191}, | ||
993 | {204,201,202}, | ||
994 | {178,174,194}, | ||
995 | {200,159,186}, | ||
996 | {109, 48, 67}, | ||
997 | { 48,107,104}, | ||
998 | {216, 32,236}, | ||
999 | {216,236,239}, | ||
1000 | {223,214, 81}, | ||
1001 | {223, 81, 82}, | ||
1002 | { 33, 12, 15}, | ||
1003 | { 32,228,234}, | ||
1004 | { 32,234,236}, | ||
1005 | {240, 31, 52}, | ||
1006 | {256,255,246}, | ||
1007 | {256,246,249}, | ||
1008 | {258,263,248}, | ||
1009 | {258,248,249}, | ||
1010 | {275,260,259}, | ||
1011 | {275,259,276}, | ||
1012 | {207,276,259}, | ||
1013 | {270,271,429}, | ||
1014 | {270,429,407}, | ||
1015 | {413,418,366}, | ||
1016 | {413,366,365}, | ||
1017 | {368,367,279}, | ||
1018 | {368,279,280}, | ||
1019 | {303,301,286}, | ||
1020 | {303,286,287}, | ||
1021 | {283,282,292}, | ||
1022 | {283,292,291}, | ||
1023 | {320,292,189}, | ||
1024 | {298,296,297}, | ||
1025 | {298,297,299}, | ||
1026 | {318,327,326}, | ||
1027 | {318,326,313}, | ||
1028 | {329,330,317}, | ||
1029 | {336,333,320}, | ||
1030 | {326,354,353}, | ||
1031 | {334,332,333}, | ||
1032 | {334,333,336}, | ||
1033 | {342,339,139}, | ||
1034 | {342,139,138}, | ||
1035 | {345,342,126}, | ||
1036 | {347,357,356}, | ||
1037 | {369,368,351}, | ||
1038 | {363,356,357}, | ||
1039 | {363,357,361}, | ||
1040 | {366,367,368}, | ||
1041 | {366,368,369}, | ||
1042 | {375,373,400}, | ||
1043 | { 92, 90,377}, | ||
1044 | {409,387,408}, | ||
1045 | {386,385,387}, | ||
1046 | {386,387,388}, | ||
1047 | {412,394,391}, | ||
1048 | {396,398,399}, | ||
1049 | {408,406,405}, | ||
1050 | {415,421,419}, | ||
1051 | {415,419,414}, | ||
1052 | {425,452,448}, | ||
1053 | {425,448,424}, | ||
1054 | {444,441,443}, | ||
1055 | {448,452,449}, | ||
1056 | {448,449,447}, | ||
1057 | {446,444,443}, | ||
1058 | {446,443,445}, | ||
1059 | {250,247,261}, | ||
1060 | {250,261,428}, | ||
1061 | {421,422,423}, | ||
1062 | {421,423,419}, | ||
1063 | {427,410,250}, | ||
1064 | {417,403,401}, | ||
1065 | {403,402,401}, | ||
1066 | {420,392,412}, | ||
1067 | {420,412,425}, | ||
1068 | {420,425,424}, | ||
1069 | {386,411,389}, | ||
1070 | {383,382,381}, | ||
1071 | {383,381,385}, | ||
1072 | {378,379,404}, | ||
1073 | {372,371,395}, | ||
1074 | {372,395,397}, | ||
1075 | {371,372,370}, | ||
1076 | {361,359,360}, | ||
1077 | {361,360,362}, | ||
1078 | {368,350,351}, | ||
1079 | {349,347,348}, | ||
1080 | {356,355,344}, | ||
1081 | {356,344,346}, | ||
1082 | {344,341,340}, | ||
1083 | {344,340,343}, | ||
1084 | {338,337,336}, | ||
1085 | {328,335,341}, | ||
1086 | {324,352,351}, | ||
1087 | {324,351,331}, | ||
1088 | {320,144,336}, | ||
1089 | {314,325,324}, | ||
1090 | {322,308,309}, | ||
1091 | {310,309,307}, | ||
1092 | {287,286,289}, | ||
1093 | {203,280,279}, | ||
1094 | {203,279,205}, | ||
1095 | {297,295,283}, | ||
1096 | {297,283,284}, | ||
1097 | {447,205,279}, | ||
1098 | {274,384, 80}, | ||
1099 | {274, 80,226}, | ||
1100 | {266,267,379}, | ||
1101 | {266,379,380}, | ||
1102 | {225,257,246}, | ||
1103 | {225,246,245}, | ||
1104 | {256,254,253}, | ||
1105 | {256,253,255}, | ||
1106 | {430,247,250}, | ||
1107 | {226,235,244}, | ||
1108 | {226,244,245}, | ||
1109 | {232,233,244}, | ||
1110 | {232,244,241}, | ||
1111 | {230, 18, 19}, | ||
1112 | { 32, 31,228}, | ||
1113 | {219,220, 86}, | ||
1114 | {219, 86, 57}, | ||
1115 | {226,213,235}, | ||
1116 | {206, 7, 6}, | ||
1117 | {122,201,101}, | ||
1118 | {201,204,101}, | ||
1119 | {180,196,197}, | ||
1120 | {170,192,171}, | ||
1121 | {200,190,189}, | ||
1122 | {194,193,195}, | ||
1123 | {183,181,180}, | ||
1124 | {183,180,182}, | ||
1125 | {155,154,168}, | ||
1126 | {149,156,151}, | ||
1127 | {149,151,148}, | ||
1128 | {155,156,120}, | ||
1129 | {145,142,143}, | ||
1130 | {145,143,146}, | ||
1131 | {136,137,140}, | ||
1132 | {133,132,130}, | ||
1133 | {128,129,116}, | ||
1134 | {100,120,121}, | ||
1135 | {110,112,113}, | ||
1136 | {110,113,114}, | ||
1137 | { 66, 65, 63}, | ||
1138 | { 66, 63, 99}, | ||
1139 | { 66, 99, 98}, | ||
1140 | { 96, 46, 61}, | ||
1141 | { 89, 88, 90}, | ||
1142 | { 86, 87, 57}, | ||
1143 | { 80, 78, 81}, | ||
1144 | { 72, 69, 49}, | ||
1145 | { 67, 48, 47}, | ||
1146 | { 67, 47, 68}, | ||
1147 | { 56, 55, 53}, | ||
1148 | { 50, 49, 36}, | ||
1149 | { 50, 36, 35}, | ||
1150 | { 40, 39, 41}, | ||
1151 | {242,243,229}, | ||
1152 | {242,229,227}, | ||
1153 | { 6, 37, 39}, | ||
1154 | { 42, 47, 48}, | ||
1155 | { 42, 48, 43}, | ||
1156 | { 61, 46, 44}, | ||
1157 | { 45, 70, 69}, | ||
1158 | { 69, 70, 71}, | ||
1159 | { 69, 71, 49}, | ||
1160 | { 74, 78, 77}, | ||
1161 | { 83, 84, 85}, | ||
1162 | { 73, 74, 77}, | ||
1163 | { 93, 96, 92}, | ||
1164 | { 68, 46, 93}, | ||
1165 | { 95, 99, 63}, | ||
1166 | { 95, 63, 59}, | ||
1167 | {115,108,110}, | ||
1168 | {115,110,114}, | ||
1169 | {125,126,127}, | ||
1170 | {129,130,132}, | ||
1171 | {137,133,138}, | ||
1172 | {137,138,139}, | ||
1173 | {148,146,143}, | ||
1174 | {148,143,147}, | ||
1175 | {119,118,154}, | ||
1176 | {161,147,143}, | ||
1177 | {165,164,151}, | ||
1178 | {158,157,171}, | ||
1179 | {158,171,172}, | ||
1180 | {159,158,187}, | ||
1181 | {159,187,186}, | ||
1182 | {194,192,191}, | ||
1183 | {194,191,193}, | ||
1184 | {189,202,201}, | ||
1185 | {182,197,184}, | ||
1186 | {205, 8, 7}, | ||
1187 | { 48,109,107}, | ||
1188 | {218,219, 57}, | ||
1189 | {218, 57, 56}, | ||
1190 | {207,231,211}, | ||
1191 | {232,230,231}, | ||
1192 | {232,231,233}, | ||
1193 | { 53, 52, 31}, | ||
1194 | {388,411,386}, | ||
1195 | {409,430,250}, | ||
1196 | {262,429,254}, | ||
1197 | {262,254,256}, | ||
1198 | {442,444,428}, | ||
1199 | {273,264,383}, | ||
1200 | {273,383,384}, | ||
1201 | {429,271,251}, | ||
1202 | {429,251,254}, | ||
1203 | {413,365,362}, | ||
1204 | { 67,413,360}, | ||
1205 | {282,283,295}, | ||
1206 | {285,301,299}, | ||
1207 | {202,281,280}, | ||
1208 | {284,283,291}, | ||
1209 | {284,291,289}, | ||
1210 | {320,189,160}, | ||
1211 | {308,306,307}, | ||
1212 | {307,309,308}, | ||
1213 | {319,317,330}, | ||
1214 | {319,330,328}, | ||
1215 | {353,352,324}, | ||
1216 | {332,331,333}, | ||
1217 | {340,341,338}, | ||
1218 | {354,341,344}, | ||
1219 | {349,358,357}, | ||
1220 | {349,357,347}, | ||
1221 | {364,355,356}, | ||
1222 | {364,356,363}, | ||
1223 | {364,365,366}, | ||
1224 | {364,366,369}, | ||
1225 | {374,376,402}, | ||
1226 | {375, 92,373}, | ||
1227 | { 77,389,390}, | ||
1228 | {382,380,381}, | ||
1229 | {389, 77,386}, | ||
1230 | {393,394,412}, | ||
1231 | {393,412,392}, | ||
1232 | {401,394,416}, | ||
1233 | {415,400,403}, | ||
1234 | {411,410,427}, | ||
1235 | {411,427,426}, | ||
1236 | {422,420,424}, | ||
1237 | {247,248,263}, | ||
1238 | {247,263,261}, | ||
1239 | {445,443, 14}, | ||
1240 | {445, 14, 11}, | ||
1241 | {449,450, 4}, | ||
1242 | {449, 4, 5}, | ||
1243 | {443,441, 17}, | ||
1244 | {443, 17, 14}, | ||
1245 | {436, 23, 17}, | ||
1246 | {436, 17,441}, | ||
1247 | {424,448,422}, | ||
1248 | {448,423,422}, | ||
1249 | {414,419,418}, | ||
1250 | {414,418,413}, | ||
1251 | {406,404,405}, | ||
1252 | {399,397,395}, | ||
1253 | {399,395,396}, | ||
1254 | {420,416,392}, | ||
1255 | {388,410,411}, | ||
1256 | {386,384,383}, | ||
1257 | {390, 88, 77}, | ||
1258 | {375, 94, 92}, | ||
1259 | {415,414, 68}, | ||
1260 | {415, 68, 94}, | ||
1261 | {370,374,402}, | ||
1262 | {370,402,398}, | ||
1263 | {361,357,358}, | ||
1264 | {361,358,359}, | ||
1265 | {125,348,126}, | ||
1266 | {346,344,343}, | ||
1267 | {340,338,339}, | ||
1268 | {337,335,334}, | ||
1269 | {337,334,336}, | ||
1270 | {325,353,324}, | ||
1271 | {324,331,332}, | ||
1272 | {324,332,329}, | ||
1273 | {323,322,309}, | ||
1274 | {323,309,310}, | ||
1275 | {294,295,297}, | ||
1276 | {294,297,296}, | ||
1277 | {289,286,285}, | ||
1278 | {202,280,203}, | ||
1279 | {288,307,303}, | ||
1280 | {282,295,321}, | ||
1281 | { 67,360,111}, | ||
1282 | {418,423,367}, | ||
1283 | {418,367,366}, | ||
1284 | {272,252,251}, | ||
1285 | {272,251,271}, | ||
1286 | {272,271,270}, | ||
1287 | {255,253,274}, | ||
1288 | {265,266,380}, | ||
1289 | {265,380,382}, | ||
1290 | {442,428,261}, | ||
1291 | {440,263,258}, | ||
1292 | {440,258,260}, | ||
1293 | {409,250,410}, | ||
1294 | {255,226,245}, | ||
1295 | {255,245,246}, | ||
1296 | { 31,240,243}, | ||
1297 | {236,234,235}, | ||
1298 | {236,235,237}, | ||
1299 | {233,225,245}, | ||
1300 | {233,245,244}, | ||
1301 | {220,221, 85}, | ||
1302 | {220, 85, 86}, | ||
1303 | { 81,213,226}, | ||
1304 | { 81,226, 80}, | ||
1305 | { 7,206,205}, | ||
1306 | {186,184,198}, | ||
1307 | {186,198,199}, | ||
1308 | {204,203,205}, | ||
1309 | {204,205,206}, | ||
1310 | {195,193,196}, | ||
1311 | {171,174,172}, | ||
1312 | {173,174,175}, | ||
1313 | {173,172,174}, | ||
1314 | {155,167,166}, | ||
1315 | {160,161,143}, | ||
1316 | {160,143,144}, | ||
1317 | {119,154,155}, | ||
1318 | {148,151,150}, | ||
1319 | {148,150,146}, | ||
1320 | {140,137,139}, | ||
1321 | {140,139,141}, | ||
1322 | {127,126,130}, | ||
1323 | {114,124,128}, | ||
1324 | {114,128,115}, | ||
1325 | {117,105,106}, | ||
1326 | {117,106,116}, | ||
1327 | {104,105,100}, | ||
1328 | {104,100,103}, | ||
1329 | { 59, 60, 91}, | ||
1330 | { 97, 96, 61}, | ||
1331 | { 97, 61, 64}, | ||
1332 | { 91, 72, 89}, | ||
1333 | { 87, 84, 79}, | ||
1334 | { 87, 79, 76}, | ||
1335 | { 78, 80, 77}, | ||
1336 | { 49, 50, 74}, | ||
1337 | { 60, 44, 45}, | ||
1338 | { 61, 44, 58}, | ||
1339 | { 51, 50, 35}, | ||
1340 | { 51, 35, 34}, | ||
1341 | { 39, 37, 41}, | ||
1342 | { 33, 34, 9}, | ||
1343 | { 33, 9, 12}, | ||
1344 | { 0, 36, 37}, | ||
1345 | { 0, 37, 6}, | ||
1346 | { 40, 46, 47}, | ||
1347 | { 40, 47, 42}, | ||
1348 | { 53, 54, 56}, | ||
1349 | { 65, 62, 63}, | ||
1350 | { 72, 49, 73}, | ||
1351 | { 79, 78, 75}, | ||
1352 | { 79, 75, 76}, | ||
1353 | { 52, 53, 76}, | ||
1354 | { 92, 89, 90}, | ||
1355 | { 96, 93, 46}, | ||
1356 | {102,103,100}, | ||
1357 | {102,100,101}, | ||
1358 | {116,106,108}, | ||
1359 | {116,108,115}, | ||
1360 | {123,125,124}, | ||
1361 | {116,115,128}, | ||
1362 | {118,131,135}, | ||
1363 | {140,135,136}, | ||
1364 | {148,147,149}, | ||
1365 | {120,119,155}, | ||
1366 | {164,162,152}, | ||
1367 | {164,152,150}, | ||
1368 | {157,147,161}, | ||
1369 | {157,161,170}, | ||
1370 | {186,187,185}, | ||
1371 | {186,185,184}, | ||
1372 | {193,197,196}, | ||
1373 | {202,203,204}, | ||
1374 | {194,195,178}, | ||
1375 | {198,184,197}, | ||
1376 | { 67,111,109}, | ||
1377 | { 38, 43,103}, | ||
1378 | { 38,103,102}, | ||
1379 | {214,223,222}, | ||
1380 | {214,222,221}, | ||
1381 | {214,221,220}, | ||
1382 | {214,220,219}, | ||
1383 | {214,219,218}, | ||
1384 | {213,237,235}, | ||
1385 | {221,222, 83}, | ||
1386 | {221, 83, 85}, | ||
1387 | { 15,229, 33}, | ||
1388 | {227, 18,230}, | ||
1389 | {227,230,232}, | ||
1390 | { 52, 51,240}, | ||
1391 | { 75, 78, 50}, | ||
1392 | {408,430,409}, | ||
1393 | {260,258,257}, | ||
1394 | {260,257,259}, | ||
1395 | {224,207,259}, | ||
1396 | {268,269,405}, | ||
1397 | {268,405,404}, | ||
1398 | {413,362,360}, | ||
1399 | {447, 8,205}, | ||
1400 | {299,297,285}, | ||
1401 | {189,281,202}, | ||
1402 | {290,288,289}, | ||
1403 | {290,289,291}, | ||
1404 | {322,321,295}, | ||
1405 | {322,295,294}, | ||
1406 | {333,323,311}, | ||
1407 | {333,311,320}, | ||
1408 | {317,316,329}, | ||
1409 | {320,160,144}, | ||
1410 | {353,325,326}, | ||
1411 | {329,332,334}, | ||
1412 | {329,334,330}, | ||
1413 | {339,338,141}, | ||
1414 | {339,141,139}, | ||
1415 | {348,345,126}, | ||
1416 | {347,356,346}, | ||
1417 | {123,349,125}, | ||
1418 | {364,353,354}, | ||
1419 | {364,354,355}, | ||
1420 | {365,364,363}, | ||
1421 | {376,391,394}, | ||
1422 | {376,394,401}, | ||
1423 | { 92,376,374}, | ||
1424 | { 92,374,373}, | ||
1425 | {377, 90, 88}, | ||
1426 | {380,379,378}, | ||
1427 | {380,378,381}, | ||
1428 | {388,387,409}, | ||
1429 | {388,409,410}, | ||
1430 | {416,393,392}, | ||
1431 | {399,398,402}, | ||
1432 | {399,402,403}, | ||
1433 | {250,428,427}, | ||
1434 | {421,417,416}, | ||
1435 | {421,416,420}, | ||
1436 | {426,427,446}, | ||
1437 | {426,446,451}, | ||
1438 | {444,442,441}, | ||
1439 | {452,451,450}, | ||
1440 | {452,450,449} | ||
1441 | }; | ||
1442 | |||
1443 | |||
1444 | // this is called by dSpaceCollide when two objects in space are | ||
1445 | // potentially colliding. | ||
1446 | |||
1447 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
1448 | { | ||
1449 | int i; | ||
1450 | // if (o1->body && o2->body) return; | ||
1451 | |||
1452 | // exit without doing anything if the two bodies are connected by a joint | ||
1453 | dBodyID b1 = dGeomGetBody(o1); | ||
1454 | dBodyID b2 = dGeomGetBody(o2); | ||
1455 | if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; | ||
1456 | |||
1457 | dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box | ||
1458 | for (i=0; i<MAX_CONTACTS; i++) { | ||
1459 | contact[i].surface.mode = dContactBounce | dContactSoftCFM; | ||
1460 | contact[i].surface.mu = dInfinity; | ||
1461 | contact[i].surface.mu2 = 0; | ||
1462 | contact[i].surface.bounce = 0.1; | ||
1463 | contact[i].surface.bounce_vel = 0.1; | ||
1464 | contact[i].surface.soft_cfm = 0.01; | ||
1465 | } | ||
1466 | if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom, | ||
1467 | sizeof(dContact))) { | ||
1468 | dMatrix3 RI; | ||
1469 | dRSetIdentity (RI); | ||
1470 | const dReal ss[3] = {0.02,0.02,0.02}; | ||
1471 | for (i=0; i<numc; i++) { | ||
1472 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); | ||
1473 | dJointAttach (c,b1,b2); | ||
1474 | if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss); | ||
1475 | } | ||
1476 | } | ||
1477 | } | ||
1478 | |||
1479 | |||
1480 | // start simulation - set viewpoint | ||
1481 | |||
1482 | static void start() | ||
1483 | { | ||
1484 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; | ||
1485 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; | ||
1486 | dsSetViewpoint (xyz,hpr); | ||
1487 | printf ("To drop another object, press:\n"); | ||
1488 | printf (" b for box.\n"); | ||
1489 | printf (" s for sphere.\n"); | ||
1490 | printf (" y for cylinder.\n"); | ||
1491 | printf (" c for capsule.\n"); | ||
1492 | printf (" x for a composite object.\n"); | ||
1493 | printf (" m for a trimesh.\n"); | ||
1494 | printf ("To select an object, press space.\n"); | ||
1495 | printf ("To disable the selected object, press d.\n"); | ||
1496 | printf ("To enable the selected object, press e.\n"); | ||
1497 | printf ("To toggle showing the geom AABBs, press a.\n"); | ||
1498 | printf ("To toggle showing the contact points, press t.\n"); | ||
1499 | printf ("To toggle dropping from random position/orientation, press r.\n"); | ||
1500 | } | ||
1501 | |||
1502 | |||
1503 | char locase (char c) | ||
1504 | { | ||
1505 | if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); | ||
1506 | else return c; | ||
1507 | } | ||
1508 | |||
1509 | |||
1510 | // called when a key pressed | ||
1511 | |||
1512 | static void command (int cmd) | ||
1513 | { | ||
1514 | int i,j,k; | ||
1515 | dReal sides[3]; | ||
1516 | dMass m; | ||
1517 | |||
1518 | cmd = locase (cmd); | ||
1519 | if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' ) { | ||
1520 | if (num < NUM) { | ||
1521 | i = num; | ||
1522 | num++; | ||
1523 | } | ||
1524 | else { | ||
1525 | i = nextobj; | ||
1526 | nextobj++; | ||
1527 | if (nextobj >= num) nextobj = 0; | ||
1528 | |||
1529 | // destroy the body and geoms for slot i | ||
1530 | dBodyDestroy (obj[i].body); | ||
1531 | for (k=0; k < GPB; k++) { | ||
1532 | if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); | ||
1533 | } | ||
1534 | memset (&obj[i],0,sizeof(obj[i])); | ||
1535 | } | ||
1536 | |||
1537 | obj[i].body = dBodyCreate (world); | ||
1538 | for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; | ||
1539 | |||
1540 | dMatrix3 R; | ||
1541 | if (random_pos) { | ||
1542 | dBodySetPosition (obj[i].body, | ||
1543 | dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3); | ||
1544 | dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
1545 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
1546 | } | ||
1547 | else { | ||
1548 | dReal maxheight = 0; | ||
1549 | for (k=0; k<num; k++) { | ||
1550 | const dReal *pos = dBodyGetPosition (obj[k].body); | ||
1551 | if (pos[2] > maxheight) maxheight = pos[2]; | ||
1552 | } | ||
1553 | dBodySetPosition (obj[i].body, 0,0,maxheight+1); | ||
1554 | dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); | ||
1555 | } | ||
1556 | dBodySetRotation (obj[i].body,R); | ||
1557 | dBodySetData (obj[i].body,(void*)(size_t)i); | ||
1558 | |||
1559 | if (cmd == 'b') { | ||
1560 | dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); | ||
1561 | obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); | ||
1562 | } | ||
1563 | else if (cmd == 'c') { | ||
1564 | sides[0] *= 0.5; | ||
1565 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); | ||
1566 | obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); | ||
1567 | } | ||
1568 | else if (cmd == 'y') { | ||
1569 | sides[1] *= 0.5; | ||
1570 | dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); | ||
1571 | obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); | ||
1572 | } | ||
1573 | else if (cmd == 's') { | ||
1574 | sides[0] *= 0.5; | ||
1575 | dMassSetSphere (&m,DENSITY,sides[0]); | ||
1576 | obj[i].geom[0] = dCreateSphere (space,sides[0]); | ||
1577 | } | ||
1578 | else if (cmd == 'm') { | ||
1579 | dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); | ||
1580 | dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int)); | ||
1581 | |||
1582 | obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); | ||
1583 | |||
1584 | // remember the mesh's dTriMeshDataID on its userdata for convenience. | ||
1585 | dGeomSetData(obj[i].geom[0], new_tmdata); | ||
1586 | |||
1587 | dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); | ||
1588 | printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); | ||
1589 | dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); | ||
1590 | dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); | ||
1591 | } | ||
1592 | else if (cmd == 'x') { | ||
1593 | dGeomID g2[GPB]; // encapsulated geometries | ||
1594 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries | ||
1595 | |||
1596 | // start accumulating masses for the encapsulated geometries | ||
1597 | dMass m2; | ||
1598 | dMassSetZero (&m); | ||
1599 | |||
1600 | // set random delta positions | ||
1601 | for (j=0; j<GPB; j++) { | ||
1602 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; | ||
1603 | } | ||
1604 | |||
1605 | for (k=0; k<GPB; k++) { | ||
1606 | obj[i].geom[k] = dCreateGeomTransform (space); | ||
1607 | dGeomTransformSetCleanup (obj[i].geom[k],1); | ||
1608 | if (k==0) { | ||
1609 | dReal radius = dRandReal()*0.25+0.05; | ||
1610 | g2[k] = dCreateSphere (0,radius); | ||
1611 | dMassSetSphere (&m2,DENSITY,radius); | ||
1612 | } | ||
1613 | else if (k==1) { | ||
1614 | g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); | ||
1615 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); | ||
1616 | } | ||
1617 | else { | ||
1618 | dReal radius = dRandReal()*0.1+0.05; | ||
1619 | dReal length = dRandReal()*1.0+0.1; | ||
1620 | g2[k] = dCreateCapsule (0,radius,length); | ||
1621 | dMassSetCapsule (&m2,DENSITY,3,radius,length); | ||
1622 | } | ||
1623 | dGeomTransformSetGeom (obj[i].geom[k],g2[k]); | ||
1624 | |||
1625 | // set the transformation (adjust the mass too) | ||
1626 | dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); | ||
1627 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); | ||
1628 | dMatrix3 Rtx; | ||
1629 | dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
1630 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
1631 | dGeomSetRotation (g2[k],Rtx); | ||
1632 | dMassRotate (&m2,Rtx); | ||
1633 | |||
1634 | // add to the total mass | ||
1635 | dMassAdd (&m,&m2); | ||
1636 | } | ||
1637 | |||
1638 | // move all encapsulated objects so that the center of mass is (0,0,0) | ||
1639 | for (k=0; k<2; k++) { | ||
1640 | dGeomSetPosition (g2[k], | ||
1641 | dpos[k][0]-m.c[0], | ||
1642 | dpos[k][1]-m.c[1], | ||
1643 | dpos[k][2]-m.c[2]); | ||
1644 | } | ||
1645 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); | ||
1646 | } | ||
1647 | |||
1648 | for (k=0; k < GPB; k++) { | ||
1649 | if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); | ||
1650 | } | ||
1651 | |||
1652 | dBodySetMass (obj[i].body,&m); | ||
1653 | } | ||
1654 | |||
1655 | if (cmd == ' ') { | ||
1656 | selected++; | ||
1657 | if (selected >= num) selected = 0; | ||
1658 | if (selected < 0) selected = 0; | ||
1659 | } | ||
1660 | else if (cmd == 'd' && selected >= 0 && selected < num) { | ||
1661 | dBodyDisable (obj[selected].body); | ||
1662 | } | ||
1663 | else if (cmd == 'e' && selected >= 0 && selected < num) { | ||
1664 | dBodyEnable (obj[selected].body); | ||
1665 | } | ||
1666 | else if (cmd == 'a') { | ||
1667 | show_aabb ^= 1; | ||
1668 | } | ||
1669 | else if (cmd == 't') { | ||
1670 | show_contacts ^= 1; | ||
1671 | } | ||
1672 | else if (cmd == 'r') { | ||
1673 | random_pos ^= 1; | ||
1674 | } | ||
1675 | } | ||
1676 | |||
1677 | |||
1678 | // draw a geom | ||
1679 | |||
1680 | void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) | ||
1681 | { | ||
1682 | if (!g) return; | ||
1683 | if (!pos) pos = dGeomGetPosition (g); | ||
1684 | if (!R) R = dGeomGetRotation (g); | ||
1685 | |||
1686 | int type = dGeomGetClass (g); | ||
1687 | if (type == dBoxClass) { | ||
1688 | dVector3 sides; | ||
1689 | dGeomBoxGetLengths (g,sides); | ||
1690 | dsDrawBox (pos,R,sides); | ||
1691 | } | ||
1692 | else if (type == dSphereClass) { | ||
1693 | dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); | ||
1694 | } | ||
1695 | else if (type == dCapsuleClass) { | ||
1696 | dReal radius,length; | ||
1697 | dGeomCapsuleGetParams (g,&radius,&length); | ||
1698 | dsDrawCapsule (pos,R,length,radius); | ||
1699 | } | ||
1700 | else if (type == dCylinderClass) { | ||
1701 | dReal radius,length; | ||
1702 | dGeomCylinderGetParams (g,&radius,&length); | ||
1703 | dsDrawCylinder (pos,R,length,radius); | ||
1704 | } | ||
1705 | |||
1706 | else if (type == dGeomTransformClass) { | ||
1707 | dGeomID g2 = dGeomTransformGetGeom (g); | ||
1708 | const dReal *pos2 = dGeomGetPosition (g2); | ||
1709 | const dReal *R2 = dGeomGetRotation (g2); | ||
1710 | dVector3 actual_pos; | ||
1711 | dMatrix3 actual_R; | ||
1712 | dMULTIPLY0_331 (actual_pos,R,pos2); | ||
1713 | actual_pos[0] += pos[0]; | ||
1714 | actual_pos[1] += pos[1]; | ||
1715 | actual_pos[2] += pos[2]; | ||
1716 | dMULTIPLY0_333 (actual_R,R,R2); | ||
1717 | drawGeom (g2,actual_pos,actual_R,0); | ||
1718 | } | ||
1719 | |||
1720 | if (show_aabb) { | ||
1721 | // draw the bounding box for this geom | ||
1722 | dReal aabb[6]; | ||
1723 | dGeomGetAABB (g,aabb); | ||
1724 | dVector3 bbpos; | ||
1725 | for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); | ||
1726 | dVector3 bbsides; | ||
1727 | for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2]; | ||
1728 | dMatrix3 RI; | ||
1729 | dRSetIdentity (RI); | ||
1730 | dsSetColorAlpha (1,0,0,0.5); | ||
1731 | dsDrawBox (bbpos,RI,bbsides); | ||
1732 | } | ||
1733 | } | ||
1734 | |||
1735 | |||
1736 | // set previous transformation matrix for trimesh | ||
1737 | void setCurrentTransform(dGeomID geom) | ||
1738 | { | ||
1739 | const dReal* Pos = dGeomGetPosition(geom); | ||
1740 | const dReal* Rot = dGeomGetRotation(geom); | ||
1741 | |||
1742 | const dReal Transform[16] = | ||
1743 | { | ||
1744 | Rot[0], Rot[4], Rot[8], 0, | ||
1745 | Rot[1], Rot[5], Rot[9], 0, | ||
1746 | Rot[2], Rot[6], Rot[10], 0, | ||
1747 | Pos[0], Pos[1], Pos[2], 1 | ||
1748 | }; | ||
1749 | |||
1750 | dGeomTriMeshSetLastTransform( geom, *(dMatrix4*)(&Transform) ); | ||
1751 | |||
1752 | } | ||
1753 | |||
1754 | |||
1755 | // simulation loop | ||
1756 | |||
1757 | static void simLoop (int pause) | ||
1758 | { | ||
1759 | dsSetColor (0,0,2); | ||
1760 | dSpaceCollide (space,0,&nearCallback); | ||
1761 | |||
1762 | |||
1763 | #if 0 | ||
1764 | // What is this for??? - Bram | ||
1765 | if (!pause) | ||
1766 | { | ||
1767 | for (int i=0; i<num; i++) | ||
1768 | for (int j=0; j < GPB; j++) | ||
1769 | if (obj[i].geom[j]) | ||
1770 | if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass) | ||
1771 | setCurrentTransform(obj[i].geom[j]); | ||
1772 | |||
1773 | setCurrentTransform(TriMesh1); | ||
1774 | setCurrentTransform(TriMesh2); | ||
1775 | } | ||
1776 | #endif | ||
1777 | |||
1778 | //if (!pause) dWorldStep (world,0.05); | ||
1779 | if (!pause) dWorldStepFast1 (world,0.05, 5); | ||
1780 | |||
1781 | for (int j = 0; j < dSpaceGetNumGeoms(space); j++){ | ||
1782 | dSpaceGetGeom(space, j); | ||
1783 | } | ||
1784 | |||
1785 | // remove all contact joints | ||
1786 | dJointGroupEmpty (contactgroup); | ||
1787 | |||
1788 | dsSetColor (1,1,0); | ||
1789 | dsSetTexture (DS_WOOD); | ||
1790 | for (int i=0; i<num; i++) { | ||
1791 | for (int j=0; j < GPB; j++) { | ||
1792 | if (obj[i].geom[j]) { | ||
1793 | if (i==selected) { | ||
1794 | dsSetColor (0,0.7,1); | ||
1795 | } | ||
1796 | else if (! dBodyIsEnabled (obj[i].body)) { | ||
1797 | dsSetColor (1,0,0); | ||
1798 | } | ||
1799 | else { | ||
1800 | dsSetColor (1,1,0); | ||
1801 | } | ||
1802 | |||
1803 | if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass) { | ||
1804 | int* Indices = (int*)::Indices; | ||
1805 | |||
1806 | // assume all trimeshes are drawn as bunnies | ||
1807 | const dReal* Pos = dGeomGetPosition(obj[i].geom[j]); | ||
1808 | const dReal* Rot = dGeomGetRotation(obj[i].geom[j]); | ||
1809 | |||
1810 | for (int ii = 0; ii < IndexCount / 3; ii++) { | ||
1811 | const dReal v[9] = { // explicit conversion from float to dReal | ||
1812 | Vertices[Indices[ii * 3 + 0] * 3 + 0], | ||
1813 | Vertices[Indices[ii * 3 + 0] * 3 + 1], | ||
1814 | Vertices[Indices[ii * 3 + 0] * 3 + 2], | ||
1815 | Vertices[Indices[ii * 3 + 1] * 3 + 0], | ||
1816 | Vertices[Indices[ii * 3 + 1] * 3 + 1], | ||
1817 | Vertices[Indices[ii * 3 + 1] * 3 + 2], | ||
1818 | Vertices[Indices[ii * 3 + 2] * 3 + 0], | ||
1819 | Vertices[Indices[ii * 3 + 2] * 3 + 1], | ||
1820 | Vertices[Indices[ii * 3 + 2] * 3 + 2] | ||
1821 | }; | ||
1822 | dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1); | ||
1823 | } | ||
1824 | |||
1825 | // tell the tri-tri collider the current transform of the trimesh -- | ||
1826 | // this is fairly important for good results. | ||
1827 | |||
1828 | // Fill in the (4x4) matrix. | ||
1829 | dReal* p_matrix = obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 ); | ||
1830 | |||
1831 | p_matrix[ 0 ] = Rot[ 0 ]; p_matrix[ 1 ] = Rot[ 1 ]; p_matrix[ 2 ] = Rot[ 2 ]; p_matrix[ 3 ] = 0; | ||
1832 | p_matrix[ 4 ] = Rot[ 4 ]; p_matrix[ 5 ] = Rot[ 5 ]; p_matrix[ 6 ] = Rot[ 6 ]; p_matrix[ 7 ] = 0; | ||
1833 | p_matrix[ 8 ] = Rot[ 8 ]; p_matrix[ 9 ] = Rot[ 9 ]; p_matrix[10 ] = Rot[10 ]; p_matrix[11 ] = 0; | ||
1834 | p_matrix[12 ] = Pos[ 0 ]; p_matrix[13 ] = Pos[ 1 ]; p_matrix[14 ] = Pos[ 2 ]; p_matrix[15 ] = 1; | ||
1835 | |||
1836 | // Flip to other matrix. | ||
1837 | obj[i].last_matrix_index = !obj[i].last_matrix_index; | ||
1838 | |||
1839 | dGeomTriMeshSetLastTransform( obj[i].geom[j], | ||
1840 | *(dMatrix4*)( obj[i].matrix_dblbuff + obj[i].last_matrix_index * 16 ) ); | ||
1841 | |||
1842 | } else { | ||
1843 | drawGeom (obj[i].geom[j],0,0,show_aabb); | ||
1844 | } | ||
1845 | } | ||
1846 | } | ||
1847 | } | ||
1848 | |||
1849 | int* Indices = (int*)::Indices; | ||
1850 | |||
1851 | {const dReal* Pos = dGeomGetPosition(TriMesh1); | ||
1852 | const dReal* Rot = dGeomGetRotation(TriMesh1); | ||
1853 | |||
1854 | {for (int i = 0; i < IndexCount / 3; i++){ | ||
1855 | const dReal v[9] = { // explicit conversion from float to dReal | ||
1856 | Vertices[Indices[i * 3 + 0] * 3 + 0], | ||
1857 | Vertices[Indices[i * 3 + 0] * 3 + 1], | ||
1858 | Vertices[Indices[i * 3 + 0] * 3 + 2], | ||
1859 | Vertices[Indices[i * 3 + 1] * 3 + 0], | ||
1860 | Vertices[Indices[i * 3 + 1] * 3 + 1], | ||
1861 | Vertices[Indices[i * 3 + 1] * 3 + 2], | ||
1862 | Vertices[Indices[i * 3 + 2] * 3 + 0], | ||
1863 | Vertices[Indices[i * 3 + 2] * 3 + 1], | ||
1864 | Vertices[Indices[i * 3 + 2] * 3 + 2] | ||
1865 | }; | ||
1866 | dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 0); | ||
1867 | }}} | ||
1868 | |||
1869 | {const dReal* Pos = dGeomGetPosition(TriMesh2); | ||
1870 | const dReal* Rot = dGeomGetRotation(TriMesh2); | ||
1871 | |||
1872 | {for (int i = 0; i < IndexCount / 3; i++){ | ||
1873 | const dReal v[9] = { // explicit conversion from float to dReal | ||
1874 | Vertices[Indices[i * 3 + 0] * 3 + 0], | ||
1875 | Vertices[Indices[i * 3 + 0] * 3 + 1], | ||
1876 | Vertices[Indices[i * 3 + 0] * 3 + 2], | ||
1877 | Vertices[Indices[i * 3 + 1] * 3 + 0], | ||
1878 | Vertices[Indices[i * 3 + 1] * 3 + 1], | ||
1879 | Vertices[Indices[i * 3 + 1] * 3 + 2], | ||
1880 | Vertices[Indices[i * 3 + 2] * 3 + 0], | ||
1881 | Vertices[Indices[i * 3 + 2] * 3 + 1], | ||
1882 | Vertices[Indices[i * 3 + 2] * 3 + 2] | ||
1883 | }; | ||
1884 | dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1); | ||
1885 | }}} | ||
1886 | } | ||
1887 | |||
1888 | |||
1889 | int main (int argc, char **argv) | ||
1890 | { | ||
1891 | // setup pointers to drawstuff callback functions | ||
1892 | dsFunctions fn; | ||
1893 | fn.version = DS_VERSION; | ||
1894 | fn.start = &start; | ||
1895 | fn.step = &simLoop; | ||
1896 | fn.command = &command; | ||
1897 | fn.stop = 0; | ||
1898 | fn.path_to_textures = "../../drawstuff/textures"; | ||
1899 | if(argc==2) | ||
1900 | { | ||
1901 | fn.path_to_textures = argv[1]; | ||
1902 | } | ||
1903 | |||
1904 | // create world | ||
1905 | dInitODE(); | ||
1906 | world = dWorldCreate(); | ||
1907 | |||
1908 | space = dSimpleSpaceCreate(0); | ||
1909 | contactgroup = dJointGroupCreate (0); | ||
1910 | dWorldSetGravity (world,0,0,-0.5); | ||
1911 | dWorldSetCFM (world,1e-5); | ||
1912 | dCreatePlane (space,0,0,1,0); | ||
1913 | memset (obj,0,sizeof(obj)); | ||
1914 | |||
1915 | // note: can't share tridata if intending to trimesh-trimesh collide | ||
1916 | TriData1 = dGeomTriMeshDataCreate(); | ||
1917 | dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int)); | ||
1918 | TriData2 = dGeomTriMeshDataCreate(); | ||
1919 | dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int)); | ||
1920 | |||
1921 | TriMesh1 = dCreateTriMesh(space, TriData1, 0, 0, 0); | ||
1922 | TriMesh2 = dCreateTriMesh(space, TriData2, 0, 0, 0); | ||
1923 | dGeomSetData(TriMesh1, TriData1); | ||
1924 | dGeomSetData(TriMesh2, TriData2); | ||
1925 | |||
1926 | {dGeomSetPosition(TriMesh1, 0, 0, 0.9); | ||
1927 | dMatrix3 Rotation; | ||
1928 | dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2); | ||
1929 | dGeomSetRotation(TriMesh1, Rotation);} | ||
1930 | |||
1931 | {dGeomSetPosition(TriMesh2, 1, 0, 0.9); | ||
1932 | dMatrix3 Rotation; | ||
1933 | dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2); | ||
1934 | dGeomSetRotation(TriMesh2, Rotation);} | ||
1935 | |||
1936 | // run simulation | ||
1937 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
1938 | |||
1939 | dJointGroupDestroy (contactgroup); | ||
1940 | dSpaceDestroy (space); | ||
1941 | dWorldDestroy (world); | ||
1942 | dCloseODE(); | ||
1943 | return 0; | ||
1944 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_ode.cpp b/libraries/ode-0.9/ode/demo/demo_ode.cpp new file mode 100644 index 0000000..bd22ac1 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_ode.cpp | |||
@@ -0,0 +1,1128 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | #include <setjmp.h> | ||
24 | #include <ode/ode.h> | ||
25 | |||
26 | #ifdef _MSC_VER | ||
27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
28 | #endif | ||
29 | |||
30 | //**************************************************************************** | ||
31 | // matrix accessors | ||
32 | |||
33 | #define _A(i,j) A[(i)*4+(j)] | ||
34 | #define _I(i,j) I[(i)*4+(j)] | ||
35 | #define _R(i,j) R[(i)*4+(j)] | ||
36 | |||
37 | //**************************************************************************** | ||
38 | // tolerances | ||
39 | |||
40 | #ifdef dDOUBLE | ||
41 | const double tol = 1e-10; | ||
42 | #endif | ||
43 | |||
44 | #ifdef dSINGLE | ||
45 | const double tol = 1e-5; | ||
46 | #endif | ||
47 | |||
48 | //**************************************************************************** | ||
49 | // misc messages and error handling | ||
50 | |||
51 | #ifdef __GNUC__ | ||
52 | #define HEADER printf ("%s()\n", __FUNCTION__); | ||
53 | #else | ||
54 | #define HEADER printf ("%s:%d\n",__FILE__,__LINE__); | ||
55 | #endif | ||
56 | |||
57 | static jmp_buf jump_buffer; | ||
58 | |||
59 | |||
60 | void myMessageFunction (int num, const char *msg, va_list ap) | ||
61 | { | ||
62 | printf ("(Message %d: ",num); | ||
63 | vprintf (msg,ap); | ||
64 | printf (")"); | ||
65 | dSetMessageHandler (0); | ||
66 | longjmp (jump_buffer,1); | ||
67 | } | ||
68 | |||
69 | |||
70 | #define TRAP_MESSAGE(do,ifnomsg,ifmsg) \ | ||
71 | dSetMessageHandler (&myMessageFunction); \ | ||
72 | if (setjmp (jump_buffer)) { \ | ||
73 | dSetMessageHandler (0); \ | ||
74 | ifmsg ; \ | ||
75 | } \ | ||
76 | else { \ | ||
77 | dSetMessageHandler (&myMessageFunction); \ | ||
78 | do ; \ | ||
79 | ifnomsg ; \ | ||
80 | } \ | ||
81 | dSetMessageHandler (0); | ||
82 | |||
83 | //**************************************************************************** | ||
84 | // utility stuff | ||
85 | |||
86 | // compare two numbers, within a threshhold, return 1 if approx equal | ||
87 | |||
88 | int cmp (dReal a, dReal b) | ||
89 | { | ||
90 | return (fabs(a-b) < tol); | ||
91 | } | ||
92 | |||
93 | //**************************************************************************** | ||
94 | // matrix utility stuff | ||
95 | |||
96 | // compare a 3x3 matrix with the identity | ||
97 | |||
98 | int cmpIdentityMat3 (dMatrix3 A) | ||
99 | { | ||
100 | return | ||
101 | (cmp(_A(0,0),1.0) && cmp(_A(0,1),0.0) && cmp(_A(0,2),0.0) && | ||
102 | cmp(_A(1,0),0.0) && cmp(_A(1,1),1.0) && cmp(_A(1,2),0.0) && | ||
103 | cmp(_A(2,0),0.0) && cmp(_A(2,1),0.0) && cmp(_A(2,2),1.0)); | ||
104 | } | ||
105 | |||
106 | |||
107 | // transpose a 3x3 matrix in-line | ||
108 | |||
109 | void transpose3x3 (dMatrix3 A) | ||
110 | { | ||
111 | dReal tmp; | ||
112 | tmp=A[4]; A[4]=A[1]; A[1]=tmp; | ||
113 | tmp=A[8]; A[8]=A[2]; A[2]=tmp; | ||
114 | tmp=A[9]; A[9]=A[6]; A[6]=tmp; | ||
115 | } | ||
116 | |||
117 | //**************************************************************************** | ||
118 | // test miscellaneous math functions | ||
119 | |||
120 | void testRandomNumberGenerator() | ||
121 | { | ||
122 | HEADER; | ||
123 | if (dTestRand()) printf ("\tpassed\n"); | ||
124 | else printf ("\tFAILED\n"); | ||
125 | } | ||
126 | |||
127 | |||
128 | void testInfinity() | ||
129 | { | ||
130 | HEADER; | ||
131 | if (1e10 < dInfinity && -1e10 > -dInfinity && -dInfinity < dInfinity) | ||
132 | printf ("\tpassed\n"); | ||
133 | else printf ("\tFAILED\n"); | ||
134 | } | ||
135 | |||
136 | |||
137 | void testPad() | ||
138 | { | ||
139 | HEADER; | ||
140 | char s[100]; | ||
141 | s[0]=0; | ||
142 | for (int i=0; i<=16; i++) sprintf (s+strlen(s),"%d ",dPAD(i)); | ||
143 | printf ("\t%s\n", strcmp(s,"0 1 4 4 4 8 8 8 8 12 12 12 12 16 16 16 16 ") ? | ||
144 | "FAILED" : "passed"); | ||
145 | } | ||
146 | |||
147 | |||
148 | void testCrossProduct() | ||
149 | { | ||
150 | HEADER; | ||
151 | |||
152 | dVector3 a1,a2,b,c; | ||
153 | dMatrix3 B; | ||
154 | dMakeRandomVector (b,3,1.0); | ||
155 | dMakeRandomVector (c,3,1.0); | ||
156 | |||
157 | dCROSS (a1,=,b,c); | ||
158 | |||
159 | dSetZero (B,12); | ||
160 | dCROSSMAT (B,b,4,+,-); | ||
161 | dMultiply0 (a2,B,c,3,3,1); | ||
162 | |||
163 | dReal diff = dMaxDifference(a1,a2,3,1); | ||
164 | printf ("\t%s\n", diff > tol ? "FAILED" : "passed"); | ||
165 | } | ||
166 | |||
167 | |||
168 | void testSetZero() | ||
169 | { | ||
170 | HEADER; | ||
171 | dReal a[100]; | ||
172 | dMakeRandomVector (a,100,1.0); | ||
173 | dSetZero (a,100); | ||
174 | for (int i=0; i<100; i++) if (a[i] != 0.0) { | ||
175 | printf ("\tFAILED\n"); | ||
176 | return; | ||
177 | } | ||
178 | printf ("\tpassed\n"); | ||
179 | } | ||
180 | |||
181 | |||
182 | void testNormalize3() | ||
183 | { | ||
184 | HEADER; | ||
185 | int i,j,bad=0; | ||
186 | dVector3 n1,n2; | ||
187 | for (i=0; i<1000; i++) { | ||
188 | dMakeRandomVector (n1,3,1.0); | ||
189 | for (j=0; j<3; j++) n2[j]=n1[j]; | ||
190 | dNormalize3 (n2); | ||
191 | if (dFabs(dDOT(n2,n2) - 1.0) > tol) bad |= 1; | ||
192 | if (dFabs(n2[0]/n1[0] - n2[1]/n1[1]) > tol) bad |= 2; | ||
193 | if (dFabs(n2[0]/n1[0] - n2[2]/n1[2]) > tol) bad |= 4; | ||
194 | if (dFabs(n2[1]/n1[1] - n2[2]/n1[2]) > tol) bad |= 8; | ||
195 | if (dFabs(dDOT(n2,n1) - dSqrt(dDOT(n1,n1))) > tol) bad |= 16; | ||
196 | if (bad) { | ||
197 | printf ("\tFAILED (code=%x)\n",bad); | ||
198 | return; | ||
199 | } | ||
200 | } | ||
201 | printf ("\tpassed\n"); | ||
202 | } | ||
203 | |||
204 | |||
205 | /* | ||
206 | void testReorthonormalize() | ||
207 | { | ||
208 | HEADER; | ||
209 | dMatrix3 R,I; | ||
210 | dMakeRandomMatrix (R,3,3,1.0); | ||
211 | for (int i=0; i<30; i++) dReorthonormalize (R); | ||
212 | dMultiply2 (I,R,R,3,3,3); | ||
213 | printf ("\t%s\n",cmpIdentityMat3 (I) ? "passed" : "FAILED"); | ||
214 | } | ||
215 | */ | ||
216 | |||
217 | |||
218 | void testPlaneSpace() | ||
219 | { | ||
220 | HEADER; | ||
221 | dVector3 n,p,q; | ||
222 | int bad = 0; | ||
223 | for (int i=0; i<1000; i++) { | ||
224 | dMakeRandomVector (n,3,1.0); | ||
225 | dNormalize3 (n); | ||
226 | dPlaneSpace (n,p,q); | ||
227 | if (fabs(dDOT(n,p)) > tol) bad = 1; | ||
228 | if (fabs(dDOT(n,q)) > tol) bad = 1; | ||
229 | if (fabs(dDOT(p,q)) > tol) bad = 1; | ||
230 | if (fabs(dDOT(p,p)-1) > tol) bad = 1; | ||
231 | if (fabs(dDOT(q,q)-1) > tol) bad = 1; | ||
232 | } | ||
233 | printf ("\t%s\n", bad ? "FAILED" : "passed"); | ||
234 | } | ||
235 | |||
236 | //**************************************************************************** | ||
237 | // test matrix functions | ||
238 | |||
239 | #define MSIZE 21 | ||
240 | #define MSIZE4 24 // MSIZE rounded up to 4 | ||
241 | |||
242 | |||
243 | void testMatrixMultiply() | ||
244 | { | ||
245 | // A is 2x3, B is 3x4, B2 is B except stored columnwise, C is 2x4 | ||
246 | dReal A[8],B[12],A2[12],B2[16],C[8]; | ||
247 | int i; | ||
248 | |||
249 | HEADER; | ||
250 | dSetZero (A,8); | ||
251 | for (i=0; i<3; i++) A[i] = i+2; | ||
252 | for (i=0; i<3; i++) A[i+4] = i+3+2; | ||
253 | for (i=0; i<12; i++) B[i] = i+8; | ||
254 | dSetZero (A2,12); | ||
255 | for (i=0; i<6; i++) A2[i+2*(i/2)] = A[i+i/3]; | ||
256 | dSetZero (B2,16); | ||
257 | for (i=0; i<12; i++) B2[i+i/3] = B[i]; | ||
258 | |||
259 | dMultiply0 (C,A,B,2,3,4); | ||
260 | if (C[0] != 116 || C[1] != 125 || C[2] != 134 || C[3] != 143 || | ||
261 | C[4] != 224 || C[5] != 242 || C[6] != 260 || C[7] != 278) | ||
262 | printf ("\tFAILED (1)\n"); else printf ("\tpassed (1)\n"); | ||
263 | |||
264 | dMultiply1 (C,A2,B,2,3,4); | ||
265 | if (C[0] != 160 || C[1] != 172 || C[2] != 184 || C[3] != 196 || | ||
266 | C[4] != 196 || C[5] != 211 || C[6] != 226 || C[7] != 241) | ||
267 | printf ("\tFAILED (2)\n"); else printf ("\tpassed (2)\n"); | ||
268 | |||
269 | dMultiply2 (C,A,B2,2,3,4); | ||
270 | if (C[0] != 83 || C[1] != 110 || C[2] != 137 || C[3] != 164 || | ||
271 | C[4] != 164 || C[5] != 218 || C[6] != 272 || C[7] != 326) | ||
272 | printf ("\tFAILED (3)\n"); else printf ("\tpassed (3)\n"); | ||
273 | } | ||
274 | |||
275 | |||
276 | void testSmallMatrixMultiply() | ||
277 | { | ||
278 | dMatrix3 A,B,C,A2; | ||
279 | dVector3 a,a2,x; | ||
280 | |||
281 | HEADER; | ||
282 | dMakeRandomMatrix (A,3,3,1.0); | ||
283 | dMakeRandomMatrix (B,3,3,1.0); | ||
284 | dMakeRandomMatrix (C,3,3,1.0); | ||
285 | dMakeRandomMatrix (x,3,1,1.0); | ||
286 | |||
287 | // dMULTIPLY0_331() | ||
288 | dMULTIPLY0_331 (a,B,x); | ||
289 | dMultiply0 (a2,B,x,3,3,1); | ||
290 | printf ("\t%s (1)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" : | ||
291 | "passed"); | ||
292 | |||
293 | // dMULTIPLY1_331() | ||
294 | dMULTIPLY1_331 (a,B,x); | ||
295 | dMultiply1 (a2,B,x,3,3,1); | ||
296 | printf ("\t%s (2)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" : | ||
297 | "passed"); | ||
298 | |||
299 | // dMULTIPLY0_133 | ||
300 | dMULTIPLY0_133 (a,x,B); | ||
301 | dMultiply0 (a2,x,B,1,3,3); | ||
302 | printf ("\t%s (3)\n",(dMaxDifference (a,a2,1,3) > tol) ? "FAILED" : | ||
303 | "passed"); | ||
304 | |||
305 | // dMULTIPLY0_333() | ||
306 | dMULTIPLY0_333 (A,B,C); | ||
307 | dMultiply0 (A2,B,C,3,3,3); | ||
308 | printf ("\t%s (4)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : | ||
309 | "passed"); | ||
310 | |||
311 | // dMULTIPLY1_333() | ||
312 | dMULTIPLY1_333 (A,B,C); | ||
313 | dMultiply1 (A2,B,C,3,3,3); | ||
314 | printf ("\t%s (5)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : | ||
315 | "passed"); | ||
316 | |||
317 | // dMULTIPLY2_333() | ||
318 | dMULTIPLY2_333 (A,B,C); | ||
319 | dMultiply2 (A2,B,C,3,3,3); | ||
320 | printf ("\t%s (6)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : | ||
321 | "passed"); | ||
322 | } | ||
323 | |||
324 | |||
325 | void testCholeskyFactorization() | ||
326 | { | ||
327 | dReal A[MSIZE4*MSIZE], B[MSIZE4*MSIZE], C[MSIZE4*MSIZE], diff; | ||
328 | HEADER; | ||
329 | dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); | ||
330 | dMultiply2 (B,A,A,MSIZE,MSIZE,MSIZE); | ||
331 | memcpy (A,B,MSIZE4*MSIZE*sizeof(dReal)); | ||
332 | if (dFactorCholesky (B,MSIZE)) printf ("\tpassed (1)\n"); | ||
333 | else printf ("\tFAILED (1)\n"); | ||
334 | dClearUpperTriangle (B,MSIZE); | ||
335 | dMultiply2 (C,B,B,MSIZE,MSIZE,MSIZE); | ||
336 | diff = dMaxDifference(A,C,MSIZE,MSIZE); | ||
337 | printf ("\tmaximum difference = %.6e - %s (2)\n",diff, | ||
338 | diff > tol ? "FAILED" : "passed"); | ||
339 | } | ||
340 | |||
341 | |||
342 | void testCholeskySolve() | ||
343 | { | ||
344 | dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], b[MSIZE],x[MSIZE],btest[MSIZE],diff; | ||
345 | HEADER; | ||
346 | |||
347 | // get A,L = PD matrix | ||
348 | dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); | ||
349 | dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE); | ||
350 | memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal)); | ||
351 | |||
352 | // get b,x = right hand side | ||
353 | dMakeRandomMatrix (b,MSIZE,1,1.0); | ||
354 | memcpy (x,b,MSIZE*sizeof(dReal)); | ||
355 | |||
356 | // factor L | ||
357 | if (dFactorCholesky (L,MSIZE)) printf ("\tpassed (1)\n"); | ||
358 | else printf ("\tFAILED (1)\n"); | ||
359 | dClearUpperTriangle (L,MSIZE); | ||
360 | |||
361 | // solve A*x = b | ||
362 | dSolveCholesky (L,x,MSIZE); | ||
363 | |||
364 | // compute A*x and compare it with b | ||
365 | dMultiply2 (btest,A,x,MSIZE,MSIZE,1); | ||
366 | diff = dMaxDifference(b,btest,MSIZE,1); | ||
367 | printf ("\tmaximum difference = %.6e - %s (2)\n",diff, | ||
368 | diff > tol ? "FAILED" : "passed"); | ||
369 | } | ||
370 | |||
371 | |||
372 | void testInvertPDMatrix() | ||
373 | { | ||
374 | int i,j,ok; | ||
375 | dReal A[MSIZE4*MSIZE], Ainv[MSIZE4*MSIZE], I[MSIZE4*MSIZE]; | ||
376 | HEADER; | ||
377 | |||
378 | dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); | ||
379 | dMultiply2 (Ainv,A,A,MSIZE,MSIZE,MSIZE); | ||
380 | memcpy (A,Ainv,MSIZE4*MSIZE*sizeof(dReal)); | ||
381 | dSetZero (Ainv,MSIZE4*MSIZE); | ||
382 | |||
383 | if (dInvertPDMatrix (A,Ainv,MSIZE)) | ||
384 | printf ("\tpassed (1)\n"); else printf ("\tFAILED (1)\n"); | ||
385 | dMultiply0 (I,A,Ainv,MSIZE,MSIZE,MSIZE); | ||
386 | |||
387 | // compare with identity | ||
388 | ok = 1; | ||
389 | for (i=0; i<MSIZE; i++) { | ||
390 | for (j=0; j<MSIZE; j++) { | ||
391 | if (i != j) if (cmp (I[i*MSIZE4+j],0.0)==0) ok = 0; | ||
392 | } | ||
393 | } | ||
394 | for (i=0; i<MSIZE; i++) { | ||
395 | if (cmp (I[i*MSIZE4+i],1.0)==0) ok = 0; | ||
396 | } | ||
397 | if (ok) printf ("\tpassed (2)\n"); else printf ("\tFAILED (2)\n"); | ||
398 | } | ||
399 | |||
400 | |||
401 | void testIsPositiveDefinite() | ||
402 | { | ||
403 | dReal A[MSIZE4*MSIZE], B[MSIZE4*MSIZE]; | ||
404 | HEADER; | ||
405 | dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); | ||
406 | dMultiply2 (B,A,A,MSIZE,MSIZE,MSIZE); | ||
407 | printf ("\t%s\n",dIsPositiveDefinite(A,MSIZE) ? "FAILED (1)":"passed (1)"); | ||
408 | printf ("\t%s\n",dIsPositiveDefinite(B,MSIZE) ? "passed (2)":"FAILED (2)"); | ||
409 | } | ||
410 | |||
411 | |||
412 | void testFastLDLTFactorization() | ||
413 | { | ||
414 | int i,j; | ||
415 | dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], DL[MSIZE4*MSIZE], | ||
416 | ATEST[MSIZE4*MSIZE], d[MSIZE], diff; | ||
417 | HEADER; | ||
418 | dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); | ||
419 | dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE); | ||
420 | memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal)); | ||
421 | |||
422 | dFactorLDLT (L,d,MSIZE,MSIZE4); | ||
423 | dClearUpperTriangle (L,MSIZE); | ||
424 | for (i=0; i<MSIZE; i++) L[i*MSIZE4+i] = 1.0; | ||
425 | |||
426 | dSetZero (DL,MSIZE4*MSIZE); | ||
427 | for (i=0; i<MSIZE; i++) { | ||
428 | for (j=0; j<MSIZE; j++) DL[i*MSIZE4+j] = L[i*MSIZE4+j] / d[j]; | ||
429 | } | ||
430 | |||
431 | dMultiply2 (ATEST,L,DL,MSIZE,MSIZE,MSIZE); | ||
432 | diff = dMaxDifference(A,ATEST,MSIZE,MSIZE); | ||
433 | printf ("\tmaximum difference = %.6e - %s\n",diff, | ||
434 | diff > tol ? "FAILED" : "passed"); | ||
435 | } | ||
436 | |||
437 | |||
438 | void testSolveLDLT() | ||
439 | { | ||
440 | dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE], x[MSIZE], | ||
441 | b[MSIZE], btest[MSIZE], diff; | ||
442 | HEADER; | ||
443 | dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); | ||
444 | dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE); | ||
445 | memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal)); | ||
446 | |||
447 | dMakeRandomMatrix (b,MSIZE,1,1.0); | ||
448 | memcpy (x,b,MSIZE*sizeof(dReal)); | ||
449 | |||
450 | dFactorLDLT (L,d,MSIZE,MSIZE4); | ||
451 | dSolveLDLT (L,d,x,MSIZE,MSIZE4); | ||
452 | |||
453 | dMultiply2 (btest,A,x,MSIZE,MSIZE,1); | ||
454 | diff = dMaxDifference(b,btest,MSIZE,1); | ||
455 | printf ("\tmaximum difference = %.6e - %s\n",diff, | ||
456 | diff > tol ? "FAILED" : "passed"); | ||
457 | } | ||
458 | |||
459 | |||
460 | void testLDLTAddTL() | ||
461 | { | ||
462 | int i,j; | ||
463 | dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE], a[MSIZE], | ||
464 | DL[MSIZE4*MSIZE], ATEST[MSIZE4*MSIZE], diff; | ||
465 | HEADER; | ||
466 | |||
467 | dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); | ||
468 | dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE); | ||
469 | memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal)); | ||
470 | dFactorLDLT (L,d,MSIZE,MSIZE4); | ||
471 | |||
472 | // delete first row and column of factorization | ||
473 | for (i=0; i<MSIZE; i++) a[i] = -A[i*MSIZE4]; | ||
474 | a[0] += 1; | ||
475 | dLDLTAddTL (L,d,a,MSIZE,MSIZE4); | ||
476 | for (i=1; i<MSIZE; i++) L[i*MSIZE4] = 0; | ||
477 | d[0] = 1; | ||
478 | |||
479 | // get modified L*D*L' | ||
480 | dClearUpperTriangle (L,MSIZE); | ||
481 | for (i=0; i<MSIZE; i++) L[i*MSIZE4+i] = 1.0; | ||
482 | dSetZero (DL,MSIZE4*MSIZE); | ||
483 | for (i=0; i<MSIZE; i++) { | ||
484 | for (j=0; j<MSIZE; j++) DL[i*MSIZE4+j] = L[i*MSIZE4+j] / d[j]; | ||
485 | } | ||
486 | dMultiply2 (ATEST,L,DL,MSIZE,MSIZE,MSIZE); | ||
487 | |||
488 | // compare it to A with its first row/column removed | ||
489 | for (i=1; i<MSIZE; i++) A[i*MSIZE4] = A[i] = 0; | ||
490 | A[0] = 1; | ||
491 | diff = dMaxDifference(A,ATEST,MSIZE,MSIZE); | ||
492 | printf ("\tmaximum difference = %.6e - %s\n",diff, | ||
493 | diff > tol ? "FAILED" : "passed"); | ||
494 | } | ||
495 | |||
496 | |||
497 | void testLDLTRemove() | ||
498 | { | ||
499 | int i,j,r,p[MSIZE]; | ||
500 | dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE], | ||
501 | L2[MSIZE4*MSIZE], d2[MSIZE], DL2[MSIZE4*MSIZE], | ||
502 | Atest1[MSIZE4*MSIZE], Atest2[MSIZE4*MSIZE], diff, maxdiff; | ||
503 | HEADER; | ||
504 | |||
505 | // make array of A row pointers | ||
506 | dReal *Arows[MSIZE]; | ||
507 | for (i=0; i<MSIZE; i++) Arows[i] = A+i*MSIZE4; | ||
508 | |||
509 | // fill permutation vector | ||
510 | for (i=0; i<MSIZE; i++) p[i]=i; | ||
511 | |||
512 | dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); | ||
513 | dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE); | ||
514 | memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal)); | ||
515 | dFactorLDLT (L,d,MSIZE,MSIZE4); | ||
516 | |||
517 | maxdiff = 1e10; | ||
518 | for (r=0; r<MSIZE; r++) { | ||
519 | // get Atest1 = A with row/column r removed | ||
520 | memcpy (Atest1,A,MSIZE4*MSIZE*sizeof(dReal)); | ||
521 | dRemoveRowCol (Atest1,MSIZE,MSIZE4,r); | ||
522 | |||
523 | // test that the row/column removal worked | ||
524 | int bad = 0; | ||
525 | for (i=0; i<MSIZE; i++) { | ||
526 | for (j=0; j<MSIZE; j++) { | ||
527 | if (i != r && j != r) { | ||
528 | int ii = i; | ||
529 | int jj = j; | ||
530 | if (ii >= r) ii--; | ||
531 | if (jj >= r) jj--; | ||
532 | if (A[i*MSIZE4+j] != Atest1[ii*MSIZE4+jj]) bad = 1; | ||
533 | } | ||
534 | } | ||
535 | } | ||
536 | if (bad) printf ("\trow/col removal FAILED for row %d\n",r); | ||
537 | |||
538 | // zero out last row/column of Atest1 | ||
539 | for (i=0; i<MSIZE; i++) { | ||
540 | Atest1[(MSIZE-1)*MSIZE4+i] = 0; | ||
541 | Atest1[i*MSIZE4+MSIZE-1] = 0; | ||
542 | } | ||
543 | |||
544 | // get L2*D2*L2' = adjusted factorization to remove that row | ||
545 | memcpy (L2,L,MSIZE4*MSIZE*sizeof(dReal)); | ||
546 | memcpy (d2,d,MSIZE*sizeof(dReal)); | ||
547 | dLDLTRemove (/*A*/ Arows,p,L2,d2,MSIZE,MSIZE,r,MSIZE4); | ||
548 | |||
549 | // get Atest2 = L2*D2*L2' | ||
550 | dClearUpperTriangle (L2,MSIZE); | ||
551 | for (i=0; i<(MSIZE-1); i++) L2[i*MSIZE4+i] = 1.0; | ||
552 | for (i=0; i<MSIZE; i++) L2[(MSIZE-1)*MSIZE4+i] = 0; | ||
553 | d2[MSIZE-1] = 1; | ||
554 | dSetZero (DL2,MSIZE4*MSIZE); | ||
555 | for (i=0; i<(MSIZE-1); i++) { | ||
556 | for (j=0; j<MSIZE-1; j++) DL2[i*MSIZE4+j] = L2[i*MSIZE4+j] / d2[j]; | ||
557 | } | ||
558 | |||
559 | dMultiply2 (Atest2,L2,DL2,MSIZE,MSIZE,MSIZE); | ||
560 | |||
561 | diff = dMaxDifference(Atest1,Atest2,MSIZE,MSIZE); | ||
562 | if (diff < maxdiff) maxdiff = diff; | ||
563 | |||
564 | /* | ||
565 | dPrintMatrix (Atest1,MSIZE,MSIZE); | ||
566 | printf ("\n"); | ||
567 | dPrintMatrix (Atest2,MSIZE,MSIZE); | ||
568 | printf ("\n"); | ||
569 | */ | ||
570 | } | ||
571 | printf ("\tmaximum difference = %.6e - %s\n",maxdiff, | ||
572 | maxdiff > tol ? "FAILED" : "passed"); | ||
573 | } | ||
574 | |||
575 | //**************************************************************************** | ||
576 | // test mass stuff | ||
577 | |||
578 | #define NUMP 10 // number of particles | ||
579 | |||
580 | |||
581 | void printMassParams (dMass *m) | ||
582 | { | ||
583 | printf ("mass = %.4f\n",m->mass); | ||
584 | printf ("com = (%.4f,%.4f,%.4f)\n",m->c[0],m->c[1],m->c[2]); | ||
585 | printf ("I = [ %10.4f %10.4f %10.4f ]\n" | ||
586 | " [ %10.4f %10.4f %10.4f ]\n" | ||
587 | " [ %10.4f %10.4f %10.4f ]\n", | ||
588 | m->_I(0,0),m->_I(0,1),m->_I(0,2), | ||
589 | m->_I(1,0),m->_I(1,1),m->_I(1,2), | ||
590 | m->_I(2,0),m->_I(2,1),m->_I(2,2)); | ||
591 | } | ||
592 | |||
593 | |||
594 | void compareMassParams (dMass *m1, dMass *m2, char *msg) | ||
595 | { | ||
596 | int i,j,ok = 1; | ||
597 | if (!(cmp(m1->mass,m2->mass) && cmp(m1->c[0],m2->c[0]) && | ||
598 | cmp(m1->c[1],m2->c[1]) && cmp(m1->c[2],m2->c[2]))) | ||
599 | ok = 0; | ||
600 | for (i=0; i<3; i++) for (j=0; j<3; j++) | ||
601 | if (cmp (m1->_I(i,j),m2->_I(i,j))==0) ok = 0; | ||
602 | if (ok) printf ("\tpassed (%s)\n",msg); else printf ("\tFAILED (%s)\n",msg); | ||
603 | } | ||
604 | |||
605 | |||
606 | // compute the mass parameters of a particle set | ||
607 | |||
608 | void computeMassParams (dMass *m, dReal q[NUMP][3], dReal pm[NUMP]) | ||
609 | { | ||
610 | int i,j; | ||
611 | dMassSetZero (m); | ||
612 | for (i=0; i<NUMP; i++) { | ||
613 | m->mass += pm[i]; | ||
614 | for (j=0; j<3; j++) m->c[j] += pm[i]*q[i][j]; | ||
615 | m->_I(0,0) += pm[i]*(q[i][1]*q[i][1] + q[i][2]*q[i][2]); | ||
616 | m->_I(1,1) += pm[i]*(q[i][0]*q[i][0] + q[i][2]*q[i][2]); | ||
617 | m->_I(2,2) += pm[i]*(q[i][0]*q[i][0] + q[i][1]*q[i][1]); | ||
618 | m->_I(0,1) -= pm[i]*(q[i][0]*q[i][1]); | ||
619 | m->_I(0,2) -= pm[i]*(q[i][0]*q[i][2]); | ||
620 | m->_I(1,2) -= pm[i]*(q[i][1]*q[i][2]); | ||
621 | } | ||
622 | for (j=0; j<3; j++) m->c[j] /= m->mass; | ||
623 | m->_I(1,0) = m->_I(0,1); | ||
624 | m->_I(2,0) = m->_I(0,2); | ||
625 | m->_I(2,1) = m->_I(1,2); | ||
626 | } | ||
627 | |||
628 | |||
629 | void testMassFunctions() | ||
630 | { | ||
631 | dMass m; | ||
632 | int i,j; | ||
633 | dReal q[NUMP][3]; // particle positions | ||
634 | dReal pm[NUMP]; // particle masses | ||
635 | dMass m1,m2; | ||
636 | dMatrix3 R; | ||
637 | |||
638 | HEADER; | ||
639 | |||
640 | printf ("\t"); | ||
641 | dMassSetZero (&m); | ||
642 | TRAP_MESSAGE (dMassSetParameters (&m,10, 0,0,0, 1,2,3, 4,5,6), | ||
643 | printf (" FAILED (1)\n"), printf (" passed (1)\n")); | ||
644 | |||
645 | printf ("\t"); | ||
646 | dMassSetZero (&m); | ||
647 | TRAP_MESSAGE (dMassSetParameters (&m,10, 0.1,0.2,0.15, 3,5,14, 3.1,3.2,4), | ||
648 | printf (" passed (2)\n") , printf (" FAILED (2)\n")); | ||
649 | if (m.mass==10 && m.c[0]==REAL(0.1) && m.c[1]==REAL(0.2) && | ||
650 | m.c[2]==REAL(0.15) && m._I(0,0)==3 && m._I(1,1)==5 && m._I(2,2)==14 && | ||
651 | m._I(0,1)==REAL(3.1) && m._I(0,2)==REAL(3.2) && m._I(1,2)==4 && | ||
652 | m._I(1,0)==REAL(3.1) && m._I(2,0)==REAL(3.2) && m._I(2,1)==4) | ||
653 | printf ("\tpassed (3)\n"); else printf ("\tFAILED (3)\n"); | ||
654 | |||
655 | dMassSetZero (&m); | ||
656 | dMassSetSphere (&m,1.4, 0.86); | ||
657 | if (cmp(m.mass,3.73002719949386) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && | ||
658 | cmp(m._I(0,0),1.10349124669826) && | ||
659 | cmp(m._I(1,1),1.10349124669826) && | ||
660 | cmp(m._I(2,2),1.10349124669826) && | ||
661 | m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && | ||
662 | m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) | ||
663 | printf ("\tpassed (4)\n"); else printf ("\tFAILED (4)\n"); | ||
664 | |||
665 | dMassSetZero (&m); | ||
666 | dMassSetCapsule (&m,1.3,1,0.76,1.53); | ||
667 | if (cmp(m.mass,5.99961928996029) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && | ||
668 | cmp(m._I(0,0),1.59461986077384) && | ||
669 | cmp(m._I(1,1),4.57537403079093) && | ||
670 | cmp(m._I(2,2),4.57537403079093) && | ||
671 | m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && | ||
672 | m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) | ||
673 | printf ("\tpassed (5)\n"); else printf ("\tFAILED (5)\n"); | ||
674 | |||
675 | dMassSetZero (&m); | ||
676 | dMassSetBox (&m,0.27,3,4,5); | ||
677 | if (cmp(m.mass,16.2) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && | ||
678 | cmp(m._I(0,0),55.35) && cmp(m._I(1,1),45.9) && cmp(m._I(2,2),33.75) && | ||
679 | m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && | ||
680 | m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) | ||
681 | printf ("\tpassed (6)\n"); else printf ("\tFAILED (6)\n"); | ||
682 | |||
683 | // test dMassAdjust? | ||
684 | |||
685 | // make random particles and compute the mass, COM and inertia, then | ||
686 | // translate and repeat. | ||
687 | for (i=0; i<NUMP; i++) { | ||
688 | pm[i] = dRandReal()+0.5; | ||
689 | for (j=0; j<3; j++) { | ||
690 | q[i][j] = 2.0*(dRandReal()-0.5); | ||
691 | } | ||
692 | } | ||
693 | computeMassParams (&m1,q,pm); | ||
694 | memcpy (&m2,&m1,sizeof(dMass)); | ||
695 | dMassTranslate (&m2,1,2,-3); | ||
696 | for (i=0; i<NUMP; i++) { | ||
697 | q[i][0] += 1; | ||
698 | q[i][1] += 2; | ||
699 | q[i][2] -= 3; | ||
700 | } | ||
701 | computeMassParams (&m1,q,pm); | ||
702 | compareMassParams (&m1,&m2,"7"); | ||
703 | |||
704 | // rotate the masses | ||
705 | _R(0,0) = -0.87919618797635; | ||
706 | _R(0,1) = 0.15278881840384; | ||
707 | _R(0,2) = -0.45129772879842; | ||
708 | _R(1,0) = -0.47307856232664; | ||
709 | _R(1,1) = -0.39258064912909; | ||
710 | _R(1,2) = 0.78871864932708; | ||
711 | _R(2,0) = -0.05666336483842; | ||
712 | _R(2,1) = 0.90693771059546; | ||
713 | _R(2,2) = 0.41743652473765; | ||
714 | dMassRotate (&m2,R); | ||
715 | for (i=0; i<NUMP; i++) { | ||
716 | dReal a[3]; | ||
717 | dMultiply0 (a,&_R(0,0),&q[i][0],3,3,1); | ||
718 | q[i][0] = a[0]; | ||
719 | q[i][1] = a[1]; | ||
720 | q[i][2] = a[2]; | ||
721 | } | ||
722 | computeMassParams (&m1,q,pm); | ||
723 | compareMassParams (&m1,&m2,"8"); | ||
724 | } | ||
725 | |||
726 | //**************************************************************************** | ||
727 | // test rotation stuff | ||
728 | |||
729 | void makeRandomRotation (dMatrix3 R) | ||
730 | { | ||
731 | dReal *u1 = R, *u2=R+4, *u3=R+8; | ||
732 | dMakeRandomVector (u1,3,1.0); | ||
733 | dNormalize3 (u1); | ||
734 | dMakeRandomVector (u2,3,1.0); | ||
735 | dReal d = dDOT(u1,u2); | ||
736 | u2[0] -= d*u1[0]; | ||
737 | u2[1] -= d*u1[1]; | ||
738 | u2[2] -= d*u1[2]; | ||
739 | dNormalize3 (u2); | ||
740 | dCROSS (u3,=,u1,u2); | ||
741 | } | ||
742 | |||
743 | |||
744 | void testRtoQandQtoR() | ||
745 | { | ||
746 | HEADER; | ||
747 | dMatrix3 R,I,R2; | ||
748 | dQuaternion q; | ||
749 | int i; | ||
750 | |||
751 | // test makeRandomRotation() | ||
752 | makeRandomRotation (R); | ||
753 | dMultiply2 (I,R,R,3,3,3); | ||
754 | printf ("\tmakeRandomRotation() - %s (1)\n", | ||
755 | cmpIdentityMat3(I) ? "passed" : "FAILED"); | ||
756 | |||
757 | // test QtoR() on random normalized quaternions | ||
758 | int ok = 1; | ||
759 | for (i=0; i<100; i++) { | ||
760 | dMakeRandomVector (q,4,1.0); | ||
761 | dNormalize4 (q); | ||
762 | dQtoR (q,R); | ||
763 | dMultiply2 (I,R,R,3,3,3); | ||
764 | if (cmpIdentityMat3(I)==0) ok = 0; | ||
765 | } | ||
766 | printf ("\tQtoR() orthonormality %s (2)\n", ok ? "passed" : "FAILED"); | ||
767 | |||
768 | // test R -> Q -> R works | ||
769 | dReal maxdiff=0; | ||
770 | for (i=0; i<100; i++) { | ||
771 | makeRandomRotation (R); | ||
772 | dRtoQ (R,q); | ||
773 | dQtoR (q,R2); | ||
774 | dReal diff = dMaxDifference (R,R2,3,3); | ||
775 | if (diff > maxdiff) maxdiff = diff; | ||
776 | } | ||
777 | printf ("\tmaximum difference = %e - %s (3)\n",maxdiff, | ||
778 | (maxdiff > tol) ? "FAILED" : "passed"); | ||
779 | } | ||
780 | |||
781 | |||
782 | void testQuaternionMultiply() | ||
783 | { | ||
784 | HEADER; | ||
785 | dMatrix3 RA,RB,RC,Rtest; | ||
786 | dQuaternion qa,qb,qc; | ||
787 | dReal diff,maxdiff=0; | ||
788 | |||
789 | for (int i=0; i<100; i++) { | ||
790 | makeRandomRotation (RB); | ||
791 | makeRandomRotation (RC); | ||
792 | dRtoQ (RB,qb); | ||
793 | dRtoQ (RC,qc); | ||
794 | |||
795 | dMultiply0 (RA,RB,RC,3,3,3); | ||
796 | dQMultiply0 (qa,qb,qc); | ||
797 | dQtoR (qa,Rtest); | ||
798 | diff = dMaxDifference (Rtest,RA,3,3); | ||
799 | if (diff > maxdiff) maxdiff = diff; | ||
800 | |||
801 | dMultiply1 (RA,RB,RC,3,3,3); | ||
802 | dQMultiply1 (qa,qb,qc); | ||
803 | dQtoR (qa,Rtest); | ||
804 | diff = dMaxDifference (Rtest,RA,3,3); | ||
805 | if (diff > maxdiff) maxdiff = diff; | ||
806 | |||
807 | dMultiply2 (RA,RB,RC,3,3,3); | ||
808 | dQMultiply2 (qa,qb,qc); | ||
809 | dQtoR (qa,Rtest); | ||
810 | diff = dMaxDifference (Rtest,RA,3,3); | ||
811 | if (diff > maxdiff) maxdiff = diff; | ||
812 | |||
813 | dMultiply0 (RA,RC,RB,3,3,3); | ||
814 | transpose3x3 (RA); | ||
815 | dQMultiply3 (qa,qb,qc); | ||
816 | dQtoR (qa,Rtest); | ||
817 | diff = dMaxDifference (Rtest,RA,3,3); | ||
818 | if (diff > maxdiff) maxdiff = diff; | ||
819 | } | ||
820 | printf ("\tmaximum difference = %e - %s\n",maxdiff, | ||
821 | (maxdiff > tol) ? "FAILED" : "passed"); | ||
822 | } | ||
823 | |||
824 | |||
825 | void testRotationFunctions() | ||
826 | { | ||
827 | dMatrix3 R1; | ||
828 | HEADER; | ||
829 | |||
830 | printf ("\tdRSetIdentity - "); | ||
831 | dMakeRandomMatrix (R1,3,3,1.0); | ||
832 | dRSetIdentity (R1); | ||
833 | if (cmpIdentityMat3(R1)) printf ("passed\n"); else printf ("FAILED\n"); | ||
834 | |||
835 | printf ("\tdRFromAxisAndAngle - "); | ||
836 | |||
837 | printf ("\n"); | ||
838 | printf ("\tdRFromEulerAngles - "); | ||
839 | |||
840 | printf ("\n"); | ||
841 | printf ("\tdRFrom2Axes - "); | ||
842 | |||
843 | printf ("\n"); | ||
844 | } | ||
845 | |||
846 | //**************************************************************************** | ||
847 | |||
848 | #include "../src/array.h" | ||
849 | #include "../src/array.cpp" | ||
850 | |||
851 | // matrix header on the stack | ||
852 | |||
853 | class dMatrixComparison { | ||
854 | struct dMatInfo; | ||
855 | dArray<dMatInfo*> mat; | ||
856 | int afterfirst,index; | ||
857 | |||
858 | public: | ||
859 | dMatrixComparison(); | ||
860 | ~dMatrixComparison(); | ||
861 | |||
862 | dReal nextMatrix (dReal *A, int n, int m, int lower_tri, char *name, ...); | ||
863 | // add a new n*m matrix A to the sequence. the name of the matrix is given | ||
864 | // by the printf-style arguments (name,...). if this is the first sequence | ||
865 | // then this object will simply record the matrices and return 0. | ||
866 | // if this the second or subsequent sequence then this object will compare | ||
867 | // the matrices with the first sequence, and report any differences. | ||
868 | // the matrix error will be returned. if `lower_tri' is 1 then only the | ||
869 | // lower triangle of the matrix (including the diagonal) will be compared | ||
870 | // (the matrix must be square). | ||
871 | |||
872 | void end(); | ||
873 | // end a sequence. | ||
874 | |||
875 | void reset(); | ||
876 | // restarts the object, so the next sequence will be the first sequence. | ||
877 | |||
878 | void dump(); | ||
879 | // print out info about all the matrices in the sequence | ||
880 | }; | ||
881 | |||
882 | struct dMatrixComparison::dMatInfo { | ||
883 | int n,m; // size of matrix | ||
884 | char name[128]; // name of the matrix | ||
885 | dReal *data; // matrix data | ||
886 | int size; // size of `data' | ||
887 | }; | ||
888 | |||
889 | |||
890 | |||
891 | dMatrixComparison::dMatrixComparison() | ||
892 | { | ||
893 | afterfirst = 0; | ||
894 | index = 0; | ||
895 | } | ||
896 | |||
897 | |||
898 | dMatrixComparison::~dMatrixComparison() | ||
899 | { | ||
900 | reset(); | ||
901 | } | ||
902 | |||
903 | |||
904 | dReal dMatrixComparison::nextMatrix (dReal *A, int n, int m, int lower_tri, | ||
905 | char *name, ...) | ||
906 | { | ||
907 | if (A==0 || n < 1 || m < 1 || name==0) dDebug (0,"bad args to nextMatrix"); | ||
908 | int num = n*dPAD(m); | ||
909 | |||
910 | if (afterfirst==0) { | ||
911 | dMatInfo *mi = (dMatInfo*) dAlloc (sizeof(dMatInfo)); | ||
912 | mi->n = n; | ||
913 | mi->m = m; | ||
914 | mi->size = num * sizeof(dReal); | ||
915 | mi->data = (dReal*) dAlloc (mi->size); | ||
916 | memcpy (mi->data,A,mi->size); | ||
917 | |||
918 | va_list ap; | ||
919 | va_start (ap,name); | ||
920 | vsprintf (mi->name,name,ap); | ||
921 | if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long"); | ||
922 | |||
923 | mat.push (mi); | ||
924 | return 0; | ||
925 | } | ||
926 | else { | ||
927 | if (lower_tri && n != m) | ||
928 | dDebug (0,"dMatrixComparison, lower triangular matrix must be square"); | ||
929 | if (index >= mat.size()) dDebug (0,"dMatrixComparison, too many matrices"); | ||
930 | dMatInfo *mp = mat[index]; | ||
931 | index++; | ||
932 | |||
933 | dMatInfo mi; | ||
934 | va_list ap; | ||
935 | va_start (ap,name); | ||
936 | vsprintf (mi.name,name,ap); | ||
937 | if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long"); | ||
938 | |||
939 | if (strcmp(mp->name,mi.name) != 0) | ||
940 | dDebug (0,"dMatrixComparison, name mismatch (\"%s\" and \"%s\")", | ||
941 | mp->name,mi.name); | ||
942 | if (mp->n != n || mp->m != m) | ||
943 | dDebug (0,"dMatrixComparison, size mismatch (%dx%d and %dx%d)", | ||
944 | mp->n,mp->m,n,m); | ||
945 | |||
946 | dReal maxdiff; | ||
947 | if (lower_tri) { | ||
948 | maxdiff = dMaxDifferenceLowerTriangle (A,mp->data,n); | ||
949 | } | ||
950 | else { | ||
951 | maxdiff = dMaxDifference (A,mp->data,n,m); | ||
952 | } | ||
953 | if (maxdiff > tol) | ||
954 | dDebug (0,"dMatrixComparison, matrix error (size=%dx%d, name=\"%s\", " | ||
955 | "error=%.4e)",n,m,mi.name,maxdiff); | ||
956 | return maxdiff; | ||
957 | } | ||
958 | } | ||
959 | |||
960 | |||
961 | void dMatrixComparison::end() | ||
962 | { | ||
963 | if (mat.size() <= 0) dDebug (0,"no matrices in sequence"); | ||
964 | afterfirst = 1; | ||
965 | index = 0; | ||
966 | } | ||
967 | |||
968 | |||
969 | void dMatrixComparison::reset() | ||
970 | { | ||
971 | for (int i=0; i<mat.size(); i++) { | ||
972 | dFree (mat[i]->data,mat[i]->size); | ||
973 | dFree (mat[i],sizeof(dMatInfo)); | ||
974 | } | ||
975 | mat.setSize (0); | ||
976 | afterfirst = 0; | ||
977 | index = 0; | ||
978 | } | ||
979 | |||
980 | |||
981 | void dMatrixComparison::dump() | ||
982 | { | ||
983 | for (int i=0; i<mat.size(); i++) | ||
984 | printf ("%d: %s (%dx%d)\n",i,mat[i]->name,mat[i]->n,mat[i]->m); | ||
985 | } | ||
986 | |||
987 | //**************************************************************************** | ||
988 | // unit test | ||
989 | |||
990 | #include <setjmp.h> | ||
991 | |||
992 | // static jmp_buf jump_buffer; | ||
993 | |||
994 | static void myDebug (int num, const char *msg, va_list ap) | ||
995 | { | ||
996 | // printf ("(Error %d: ",num); | ||
997 | // vprintf (msg,ap); | ||
998 | // printf (")\n"); | ||
999 | longjmp (jump_buffer,1); | ||
1000 | } | ||
1001 | |||
1002 | |||
1003 | extern "C" void dTestMatrixComparison() | ||
1004 | { | ||
1005 | volatile int i; | ||
1006 | printf ("dTestMatrixComparison()\n"); | ||
1007 | dMessageFunction *orig_debug = dGetDebugHandler(); | ||
1008 | |||
1009 | dMatrixComparison mc; | ||
1010 | dReal A[50*50]; | ||
1011 | |||
1012 | // make first sequence | ||
1013 | unsigned long seed = dRandGetSeed(); | ||
1014 | for (i=1; i<49; i++) { | ||
1015 | dMakeRandomMatrix (A,i,i+1,1.0); | ||
1016 | mc.nextMatrix (A,i,i+1,0,"A%d",i); | ||
1017 | } | ||
1018 | mc.end(); | ||
1019 | |||
1020 | //mc.dump(); | ||
1021 | |||
1022 | // test identical sequence | ||
1023 | dSetDebugHandler (&myDebug); | ||
1024 | dRandSetSeed (seed); | ||
1025 | if (setjmp (jump_buffer)) { | ||
1026 | printf ("\tFAILED (1)\n"); | ||
1027 | } | ||
1028 | else { | ||
1029 | for (i=1; i<49; i++) { | ||
1030 | dMakeRandomMatrix (A,i,i+1,1.0); | ||
1031 | mc.nextMatrix (A,i,i+1,0,"A%d",i); | ||
1032 | } | ||
1033 | mc.end(); | ||
1034 | printf ("\tpassed (1)\n"); | ||
1035 | } | ||
1036 | dSetDebugHandler (orig_debug); | ||
1037 | |||
1038 | // test broken sequences (with matrix error) | ||
1039 | dRandSetSeed (seed); | ||
1040 | volatile int passcount = 0; | ||
1041 | for (i=1; i<49; i++) { | ||
1042 | if (setjmp (jump_buffer)) { | ||
1043 | passcount++; | ||
1044 | } | ||
1045 | else { | ||
1046 | dSetDebugHandler (&myDebug); | ||
1047 | dMakeRandomMatrix (A,i,i+1,1.0); | ||
1048 | A[(i-1)*dPAD(i+1)+i] += REAL(0.01); | ||
1049 | mc.nextMatrix (A,i,i+1,0,"A%d",i); | ||
1050 | dSetDebugHandler (orig_debug); | ||
1051 | } | ||
1052 | } | ||
1053 | mc.end(); | ||
1054 | printf ("\t%s (2)\n",(passcount == 48) ? "passed" : "FAILED"); | ||
1055 | |||
1056 | // test broken sequences (with name error) | ||
1057 | dRandSetSeed (seed); | ||
1058 | passcount = 0; | ||
1059 | for (i=1; i<49; i++) { | ||
1060 | if (setjmp (jump_buffer)) { | ||
1061 | passcount++; | ||
1062 | } | ||
1063 | else { | ||
1064 | dSetDebugHandler (&myDebug); | ||
1065 | dMakeRandomMatrix (A,i,i+1,1.0); | ||
1066 | mc.nextMatrix (A,i,i+1,0,"B%d",i); | ||
1067 | dSetDebugHandler (orig_debug); | ||
1068 | } | ||
1069 | } | ||
1070 | mc.end(); | ||
1071 | printf ("\t%s (3)\n",(passcount == 48) ? "passed" : "FAILED"); | ||
1072 | |||
1073 | // test identical sequence again | ||
1074 | dSetDebugHandler (&myDebug); | ||
1075 | dRandSetSeed (seed); | ||
1076 | if (setjmp (jump_buffer)) { | ||
1077 | printf ("\tFAILED (4)\n"); | ||
1078 | } | ||
1079 | else { | ||
1080 | for (i=1; i<49; i++) { | ||
1081 | dMakeRandomMatrix (A,i,i+1,1.0); | ||
1082 | mc.nextMatrix (A,i,i+1,0,"A%d",i); | ||
1083 | } | ||
1084 | mc.end(); | ||
1085 | printf ("\tpassed (4)\n"); | ||
1086 | } | ||
1087 | dSetDebugHandler (orig_debug); | ||
1088 | } | ||
1089 | |||
1090 | //**************************************************************************** | ||
1091 | |||
1092 | // internal unit tests | ||
1093 | extern "C" void dTestDataStructures(); | ||
1094 | extern "C" void dTestMatrixComparison(); | ||
1095 | extern "C" void dTestSolveLCP(); | ||
1096 | |||
1097 | |||
1098 | int main() | ||
1099 | { | ||
1100 | dInitODE(); | ||
1101 | testRandomNumberGenerator(); | ||
1102 | testInfinity(); | ||
1103 | testPad(); | ||
1104 | testCrossProduct(); | ||
1105 | testSetZero(); | ||
1106 | testNormalize3(); | ||
1107 | //testReorthonormalize(); ... not any more | ||
1108 | testPlaneSpace(); | ||
1109 | testMatrixMultiply(); | ||
1110 | testSmallMatrixMultiply(); | ||
1111 | testCholeskyFactorization(); | ||
1112 | testCholeskySolve(); | ||
1113 | testInvertPDMatrix(); | ||
1114 | testIsPositiveDefinite(); | ||
1115 | testFastLDLTFactorization(); | ||
1116 | testSolveLDLT(); | ||
1117 | testLDLTAddTL(); | ||
1118 | testLDLTRemove(); | ||
1119 | testMassFunctions(); | ||
1120 | testRtoQandQtoR(); | ||
1121 | testQuaternionMultiply(); | ||
1122 | testRotationFunctions(); | ||
1123 | dTestMatrixComparison(); | ||
1124 | dTestSolveLCP(); | ||
1125 | // dTestDataStructures(); | ||
1126 | dCloseODE(); | ||
1127 | return 0; | ||
1128 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_plane2d.cpp b/libraries/ode-0.9/ode/demo/demo_plane2d.cpp new file mode 100644 index 0000000..3ba4df8 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_plane2d.cpp | |||
@@ -0,0 +1,268 @@ | |||
1 | // Test my Plane2D constraint. | ||
2 | // Uses ode-0.35 collision API. | ||
3 | |||
4 | # include <stdio.h> | ||
5 | # include <stdlib.h> | ||
6 | # include <math.h> | ||
7 | # include <ode/ode.h> | ||
8 | # include <drawstuff/drawstuff.h> | ||
9 | |||
10 | # define drand48() ((double) (((double) rand()) / ((double) RAND_MAX))) | ||
11 | |||
12 | # define N_BODIES 40 | ||
13 | # define STAGE_SIZE 8.0 // in m | ||
14 | |||
15 | # define TIME_STEP 0.01 | ||
16 | # define K_SPRING 10.0 | ||
17 | # define K_DAMP 10.0 | ||
18 | |||
19 | |||
20 | static dWorld dyn_world; | ||
21 | static dBody dyn_bodies[N_BODIES]; | ||
22 | static dReal bodies_sides[N_BODIES][3]; | ||
23 | |||
24 | static dSpaceID coll_space_id; | ||
25 | static dJointID plane2d_joint_ids[N_BODIES]; | ||
26 | static dJointGroup | ||
27 | coll_contacts; | ||
28 | |||
29 | |||
30 | |||
31 | static void cb_start () | ||
32 | /*************************/ | ||
33 | { | ||
34 | static float xyz[3] = { 0.5f*STAGE_SIZE, 0.5f*STAGE_SIZE, 0.65f*STAGE_SIZE}; | ||
35 | static float hpr[3] = { 90.0f, -90.0f, 0 }; | ||
36 | |||
37 | dsSetViewpoint (xyz, hpr); | ||
38 | } | ||
39 | |||
40 | |||
41 | |||
42 | static void cb_near_collision (void *data, dGeomID o1, dGeomID o2) | ||
43 | /********************************************************************/ | ||
44 | { | ||
45 | dBodyID b1 = dGeomGetBody (o1); | ||
46 | dBodyID b2 = dGeomGetBody (o2); | ||
47 | dContact contact; | ||
48 | |||
49 | |||
50 | // exit without doing anything if the two bodies are static | ||
51 | if (b1 == 0 && b2 == 0) | ||
52 | return; | ||
53 | |||
54 | // exit without doing anything if the two bodies are connected by a joint | ||
55 | if (b1 && b2 && dAreConnected (b1, b2)) | ||
56 | { | ||
57 | /* MTRAP; */ | ||
58 | return; | ||
59 | } | ||
60 | |||
61 | contact.surface.mode = 0; | ||
62 | contact.surface.mu = 0; // frictionless | ||
63 | |||
64 | if (dCollide (o1, o2, 1, &contact.geom, sizeof (dContactGeom))) | ||
65 | { | ||
66 | dJointID c = dJointCreateContact (dyn_world.id(), | ||
67 | coll_contacts.id (), &contact); | ||
68 | dJointAttach (c, b1, b2); | ||
69 | } | ||
70 | } | ||
71 | |||
72 | |||
73 | static void track_to_pos (dBody &body, dJointID joint_id, | ||
74 | dReal target_x, dReal target_y) | ||
75 | /************************************************************************/ | ||
76 | { | ||
77 | dReal curr_x = body.getPosition()[0]; | ||
78 | dReal curr_y = body.getPosition()[1]; | ||
79 | |||
80 | dJointSetPlane2DXParam (joint_id, dParamVel, 1 * (target_x - curr_x)); | ||
81 | dJointSetPlane2DYParam (joint_id, dParamVel, 1 * (target_y - curr_y)); | ||
82 | } | ||
83 | |||
84 | |||
85 | |||
86 | static void cb_sim_step (int pause) | ||
87 | /*************************************/ | ||
88 | { | ||
89 | if (! pause) | ||
90 | { | ||
91 | static dReal angle = 0; | ||
92 | |||
93 | angle += REAL( 0.01 ); | ||
94 | |||
95 | track_to_pos (dyn_bodies[0], plane2d_joint_ids[0], | ||
96 | dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * cos (angle) ), | ||
97 | dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * sin (angle) )); | ||
98 | |||
99 | /* double f0 = 0.001; */ | ||
100 | /* for (int b = 0; b < N_BODIES; b ++) */ | ||
101 | /* { */ | ||
102 | /* double p = 1 + b / (double) N_BODIES; */ | ||
103 | /* double q = 2 - b / (double) N_BODIES; */ | ||
104 | /* dyn_bodies[b].addForce (f0 * cos (p*angle), f0 * sin (q*angle), 0); */ | ||
105 | /* } */ | ||
106 | /* dyn_bodies[0].addTorque (0, 0, 0.1); */ | ||
107 | |||
108 | const int n = 10; | ||
109 | for (int i = 0; i < n; i ++) | ||
110 | { | ||
111 | dSpaceCollide (coll_space_id, 0, &cb_near_collision); | ||
112 | dyn_world.step (dReal(TIME_STEP/n)); | ||
113 | coll_contacts.empty (); | ||
114 | } | ||
115 | } | ||
116 | |||
117 | # if 1 /* [ */ | ||
118 | { | ||
119 | // @@@ hack Plane2D constraint error reduction here: | ||
120 | for (int b = 0; b < N_BODIES; b ++) | ||
121 | { | ||
122 | const dReal *rot = dBodyGetAngularVel (dyn_bodies[b].id()); | ||
123 | const dReal *quat_ptr; | ||
124 | dReal quat[4], | ||
125 | quat_len; | ||
126 | |||
127 | |||
128 | quat_ptr = dBodyGetQuaternion (dyn_bodies[b].id()); | ||
129 | quat[0] = quat_ptr[0]; | ||
130 | quat[1] = 0; | ||
131 | quat[2] = 0; | ||
132 | quat[3] = quat_ptr[3]; | ||
133 | quat_len = sqrt (quat[0] * quat[0] + quat[3] * quat[3]); | ||
134 | quat[0] /= quat_len; | ||
135 | quat[3] /= quat_len; | ||
136 | dBodySetQuaternion (dyn_bodies[b].id(), quat); | ||
137 | dBodySetAngularVel (dyn_bodies[b].id(), 0, 0, rot[2]); | ||
138 | } | ||
139 | } | ||
140 | # endif /* ] */ | ||
141 | |||
142 | |||
143 | # if 0 /* [ */ | ||
144 | { | ||
145 | // @@@ friction | ||
146 | for (int b = 0; b < N_BODIES; b ++) | ||
147 | { | ||
148 | const dReal *vel = dBodyGetLinearVel (dyn_bodies[b].id()), | ||
149 | *rot = dBodyGetAngularVel (dyn_bodies[b].id()); | ||
150 | dReal s = 1.00; | ||
151 | dReal t = 0.99; | ||
152 | |||
153 | dBodySetLinearVel (dyn_bodies[b].id(), s*vel[0],s*vel[1],s*vel[2]); | ||
154 | dBodySetAngularVel (dyn_bodies[b].id(),t*rot[0],t*rot[1],t*rot[2]); | ||
155 | } | ||
156 | } | ||
157 | # endif /* ] */ | ||
158 | |||
159 | |||
160 | { | ||
161 | // ode drawstuff | ||
162 | |||
163 | dsSetTexture (DS_WOOD); | ||
164 | for (int b = 0; b < N_BODIES; b ++) | ||
165 | { | ||
166 | if (b == 0) | ||
167 | dsSetColor (1.0, 0.5, 1.0); | ||
168 | else | ||
169 | dsSetColor (0, 0.5, 1.0); | ||
170 | #ifdef dDOUBLE | ||
171 | dsDrawBoxD (dyn_bodies[b].getPosition(), dyn_bodies[b].getRotation(), bodies_sides[b]); | ||
172 | #else | ||
173 | dsDrawBox (dyn_bodies[b].getPosition(), dyn_bodies[b].getRotation(), bodies_sides[b]); | ||
174 | #endif | ||
175 | } | ||
176 | } | ||
177 | } | ||
178 | |||
179 | |||
180 | |||
181 | extern int main | ||
182 | /******************/ | ||
183 | ( | ||
184 | int argc, | ||
185 | char **argv | ||
186 | ) | ||
187 | { | ||
188 | int b; | ||
189 | dsFunctions drawstuff_functions; | ||
190 | |||
191 | |||
192 | dInitODE(); | ||
193 | |||
194 | // dynamic world | ||
195 | |||
196 | dReal cf_mixing;// = 1 / TIME_STEP * K_SPRING + K_DAMP; | ||
197 | dReal err_reduct;// = TIME_STEP * K_SPRING * cf_mixing; | ||
198 | err_reduct = REAL( 0.5 ); | ||
199 | cf_mixing = REAL( 0.001 ); | ||
200 | dWorldSetERP (dyn_world.id (), err_reduct); | ||
201 | dWorldSetCFM (dyn_world.id (), cf_mixing); | ||
202 | dyn_world.setGravity (0, 0.0, -1.0); | ||
203 | |||
204 | coll_space_id = dSimpleSpaceCreate (0); | ||
205 | |||
206 | // dynamic bodies | ||
207 | for (b = 0; b < N_BODIES; b ++) | ||
208 | { | ||
209 | int l = (int) (1 + sqrt ((double) N_BODIES)); | ||
210 | dReal x = dReal( (0.5 + (b / l)) / l * STAGE_SIZE ); | ||
211 | dReal y = dReal( (0.5 + (b % l)) / l * STAGE_SIZE ); | ||
212 | dReal z = REAL( 1.0 ) + REAL( 0.1 ) * (dReal)drand48(); | ||
213 | |||
214 | bodies_sides[b][0] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) ); | ||
215 | bodies_sides[b][1] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) ); | ||
216 | bodies_sides[b][2] = z; | ||
217 | |||
218 | dyn_bodies[b].create (dyn_world); | ||
219 | dyn_bodies[b].setPosition (x, y, z/2); | ||
220 | dyn_bodies[b].setData ((void*) (size_t)b); | ||
221 | dBodySetLinearVel (dyn_bodies[b].id (), | ||
222 | dReal( 3 * (drand48 () - 0.5) ), | ||
223 | dReal( 3 * (drand48 () - 0.5) ), 0); | ||
224 | |||
225 | dMass m; | ||
226 | m.setBox (1, bodies_sides[b][0],bodies_sides[b][1],bodies_sides[b][2]); | ||
227 | m.adjust (REAL(0.1) * bodies_sides[b][0] * bodies_sides[b][1]); | ||
228 | dyn_bodies[b].setMass (&m); | ||
229 | |||
230 | plane2d_joint_ids[b] = dJointCreatePlane2D (dyn_world.id (), 0); | ||
231 | dJointAttach (plane2d_joint_ids[b], dyn_bodies[b].id (), 0); | ||
232 | } | ||
233 | |||
234 | dJointSetPlane2DXParam (plane2d_joint_ids[0], dParamFMax, 10); | ||
235 | dJointSetPlane2DYParam (plane2d_joint_ids[0], dParamFMax, 10); | ||
236 | |||
237 | |||
238 | // collision geoms and joints | ||
239 | dCreatePlane (coll_space_id, 1, 0, 0, 0); | ||
240 | dCreatePlane (coll_space_id, -1, 0, 0, -STAGE_SIZE); | ||
241 | dCreatePlane (coll_space_id, 0, 1, 0, 0); | ||
242 | dCreatePlane (coll_space_id, 0, -1, 0, -STAGE_SIZE); | ||
243 | |||
244 | for (b = 0; b < N_BODIES; b ++) | ||
245 | { | ||
246 | dGeomID coll_box_id; | ||
247 | coll_box_id = dCreateBox (coll_space_id, | ||
248 | bodies_sides[b][0], bodies_sides[b][1], bodies_sides[b][2]); | ||
249 | dGeomSetBody (coll_box_id, dyn_bodies[b].id ()); | ||
250 | } | ||
251 | |||
252 | coll_contacts.create (0); | ||
253 | |||
254 | { | ||
255 | // simulation loop (by drawstuff lib) | ||
256 | drawstuff_functions.version = DS_VERSION; | ||
257 | drawstuff_functions.start = &cb_start; | ||
258 | drawstuff_functions.step = &cb_sim_step; | ||
259 | drawstuff_functions.command = 0; | ||
260 | drawstuff_functions.stop = 0; | ||
261 | drawstuff_functions.path_to_textures = "../../drawstuff/textures"; | ||
262 | |||
263 | dsSimulationLoop (argc, argv, 352,288,&drawstuff_functions); | ||
264 | } | ||
265 | |||
266 | dCloseODE(); | ||
267 | return 0; | ||
268 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_slider.cpp b/libraries/ode-0.9/ode/demo/demo_slider.cpp new file mode 100644 index 0000000..5de08b0 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_slider.cpp | |||
@@ -0,0 +1,172 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | #include <ode/ode.h> | ||
24 | #include <drawstuff/drawstuff.h> | ||
25 | |||
26 | #ifdef _MSC_VER | ||
27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
28 | #endif | ||
29 | |||
30 | // select correct drawing functions | ||
31 | #ifdef dDOUBLE | ||
32 | #define dsDrawBox dsDrawBoxD | ||
33 | #endif | ||
34 | |||
35 | |||
36 | // some constants | ||
37 | #define SIDE (0.5f) // side length of a box | ||
38 | #define MASS (1.0) // mass of a box | ||
39 | |||
40 | |||
41 | // dynamics and collision objects | ||
42 | static dWorldID world; | ||
43 | static dBodyID body[2]; | ||
44 | static dJointID slider; | ||
45 | |||
46 | |||
47 | // state set by keyboard commands | ||
48 | static int occasional_error = 0; | ||
49 | |||
50 | |||
51 | // start simulation - set viewpoint | ||
52 | |||
53 | static void start() | ||
54 | { | ||
55 | static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; | ||
56 | static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; | ||
57 | dsSetViewpoint (xyz,hpr); | ||
58 | printf ("Press 'e' to start/stop occasional error.\n"); | ||
59 | } | ||
60 | |||
61 | |||
62 | // called when a key pressed | ||
63 | |||
64 | static void command (int cmd) | ||
65 | { | ||
66 | if (cmd == 'e' || cmd == 'E') { | ||
67 | occasional_error ^= 1; | ||
68 | } | ||
69 | } | ||
70 | |||
71 | |||
72 | // simulation loop | ||
73 | |||
74 | static void simLoop (int pause) | ||
75 | { | ||
76 | const dReal kd = -0.3; // angular damping constant | ||
77 | const dReal ks = 0.5; // spring constant | ||
78 | if (!pause) { | ||
79 | // add an oscillating torque to body 0, and also damp its rotational motion | ||
80 | static dReal a=0; | ||
81 | const dReal *w = dBodyGetAngularVel (body[0]); | ||
82 | dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a)); | ||
83 | a += 0.01; | ||
84 | |||
85 | // add a spring force to keep the bodies together, otherwise they will | ||
86 | // fly apart along the slider axis. | ||
87 | const dReal *p1 = dBodyGetPosition (body[0]); | ||
88 | const dReal *p2 = dBodyGetPosition (body[1]); | ||
89 | dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]), | ||
90 | ks*(p2[2]-p1[2])); | ||
91 | dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]), | ||
92 | ks*(p1[2]-p2[2])); | ||
93 | |||
94 | // occasionally re-orient one of the bodies to create a deliberate error. | ||
95 | if (occasional_error) { | ||
96 | static int count = 0; | ||
97 | if ((count % 20)==0) { | ||
98 | // randomly adjust orientation of body[0] | ||
99 | const dReal *R1; | ||
100 | dMatrix3 R2,R3; | ||
101 | R1 = dBodyGetRotation (body[0]); | ||
102 | dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5, | ||
103 | dRandReal()-0.5,dRandReal()-0.5); | ||
104 | dMultiply0 (R3,R1,R2,3,3,3); | ||
105 | dBodySetRotation (body[0],R3); | ||
106 | |||
107 | // randomly adjust position of body[0] | ||
108 | const dReal *pos = dBodyGetPosition (body[0]); | ||
109 | dBodySetPosition (body[0], | ||
110 | pos[0]+0.2*(dRandReal()-0.5), | ||
111 | pos[1]+0.2*(dRandReal()-0.5), | ||
112 | pos[2]+0.2*(dRandReal()-0.5)); | ||
113 | } | ||
114 | count++; | ||
115 | } | ||
116 | |||
117 | dWorldStep (world,0.05); | ||
118 | } | ||
119 | |||
120 | dReal sides1[3] = {SIDE,SIDE,SIDE}; | ||
121 | dReal sides2[3] = {SIDE*0.8f,SIDE*0.8f,SIDE*2.0f}; | ||
122 | dsSetTexture (DS_WOOD); | ||
123 | dsSetColor (1,1,0); | ||
124 | dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); | ||
125 | dsSetColor (0,1,1); | ||
126 | dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); | ||
127 | } | ||
128 | |||
129 | |||
130 | int main (int argc, char **argv) | ||
131 | { | ||
132 | // setup pointers to drawstuff callback functions | ||
133 | dsFunctions fn; | ||
134 | fn.version = DS_VERSION; | ||
135 | fn.start = &start; | ||
136 | fn.step = &simLoop; | ||
137 | fn.command = &command; | ||
138 | fn.stop = 0; | ||
139 | fn.path_to_textures = "../../drawstuff/textures"; | ||
140 | if(argc==2) | ||
141 | { | ||
142 | fn.path_to_textures = argv[1]; | ||
143 | } | ||
144 | |||
145 | // create world | ||
146 | dInitODE(); | ||
147 | world = dWorldCreate(); | ||
148 | dMass m; | ||
149 | dMassSetBox (&m,1,SIDE,SIDE,SIDE); | ||
150 | dMassAdjust (&m,MASS); | ||
151 | |||
152 | body[0] = dBodyCreate (world); | ||
153 | dBodySetMass (body[0],&m); | ||
154 | dBodySetPosition (body[0],0,0,1); | ||
155 | body[1] = dBodyCreate (world); | ||
156 | dBodySetMass (body[1],&m); | ||
157 | dQuaternion q; | ||
158 | dQFromAxisAndAngle (q,-1,1,0,0.25*M_PI); | ||
159 | dBodySetPosition (body[1],0.2,0.2,1.2); | ||
160 | dBodySetQuaternion (body[1],q); | ||
161 | |||
162 | slider = dJointCreateSlider (world,0); | ||
163 | dJointAttach (slider,body[0],body[1]); | ||
164 | dJointSetSliderAxis (slider,1,1,1); | ||
165 | |||
166 | // run simulation | ||
167 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
168 | |||
169 | dWorldDestroy (world); | ||
170 | dCloseODE(); | ||
171 | return 0; | ||
172 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_space.cpp b/libraries/ode-0.9/ode/demo/demo_space.cpp new file mode 100644 index 0000000..73101b5 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_space.cpp | |||
@@ -0,0 +1,233 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | /* | ||
24 | |||
25 | testing procedure: | ||
26 | * create a bunch of random boxes | ||
27 | * test for intersections directly, put results in n^2 array | ||
28 | * get space to report collisions: | ||
29 | - all correct collisions reported | ||
30 | - no pair reported more than once | ||
31 | - no incorrect collisions reported | ||
32 | |||
33 | */ | ||
34 | |||
35 | |||
36 | #include <ode/ode.h> | ||
37 | #include <drawstuff/drawstuff.h> | ||
38 | |||
39 | #ifdef _MSC_VER | ||
40 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
41 | #endif | ||
42 | |||
43 | // select correct drawing functions | ||
44 | |||
45 | #ifdef dDOUBLE | ||
46 | #define dsDrawBox dsDrawBoxD | ||
47 | #define dsDrawSphere dsDrawSphereD | ||
48 | #define dsDrawCylinder dsDrawCylinderD | ||
49 | #define dsDrawCapsule dsDrawCapsuleD | ||
50 | #endif | ||
51 | |||
52 | |||
53 | // some constants | ||
54 | |||
55 | #define NUM 20 // number of boxes to test | ||
56 | |||
57 | |||
58 | // collision objects and globals | ||
59 | |||
60 | static dSpaceID space; | ||
61 | static dGeomID geom[NUM]; | ||
62 | static dReal bounds[NUM][6]; | ||
63 | static size_t good_matrix[NUM][NUM]; // correct collision matrix | ||
64 | static size_t test_matrix[NUM][NUM]; // testing collision matrix | ||
65 | static size_t hits[NUM]; // number of collisions a box has | ||
66 | static unsigned long seed=37; | ||
67 | |||
68 | |||
69 | static void init_test() | ||
70 | { | ||
71 | int i,j; | ||
72 | const dReal scale = 0.5; | ||
73 | |||
74 | // set random boxes | ||
75 | dRandSetSeed (seed); | ||
76 | for (i=0; i < NUM; i++) { | ||
77 | bounds[i][0] = dRandReal()*2-1; | ||
78 | bounds[i][1] = bounds[i][0] + dRandReal()*scale; | ||
79 | bounds[i][2] = dRandReal()*2-1; | ||
80 | bounds[i][3] = bounds[i][2] + dRandReal()*scale; | ||
81 | bounds[i][4] = dRandReal()*2; | ||
82 | bounds[i][5] = bounds[i][4] + dRandReal()*scale; | ||
83 | |||
84 | if (geom[i]) dGeomDestroy (geom[i]); | ||
85 | geom[i] = dCreateBox (space, | ||
86 | bounds[i][1] - bounds[i][0], | ||
87 | bounds[i][3] - bounds[i][2], | ||
88 | bounds[i][5] - bounds[i][4]); | ||
89 | dGeomSetPosition (geom[i], | ||
90 | (bounds[i][0] + bounds[i][1])*0.5, | ||
91 | (bounds[i][2] + bounds[i][3])*0.5, | ||
92 | (bounds[i][4] + bounds[i][5])*0.5); | ||
93 | dGeomSetData (geom[i],(void*)(size_t)(i)); | ||
94 | } | ||
95 | |||
96 | // compute all intersections and put the results in "good_matrix" | ||
97 | for (i=0; i < NUM; i++) { | ||
98 | for (j=0; j < NUM; j++) good_matrix[i][j] = 0; | ||
99 | } | ||
100 | for (i=0; i < NUM; i++) hits[i] = 0; | ||
101 | |||
102 | for (i=0; i < NUM; i++) { | ||
103 | for (j=i+1; j < NUM; j++) { | ||
104 | dReal *bounds1 = &bounds[i][0]; | ||
105 | dReal *bounds2 = &bounds[j][0]; | ||
106 | if (bounds1[0] > bounds2[1] || | ||
107 | bounds1[1] < bounds2[0] || | ||
108 | bounds1[2] > bounds2[3] || | ||
109 | bounds1[3] < bounds2[2] || | ||
110 | bounds1[4] > bounds2[5] || | ||
111 | bounds1[5] < bounds2[4]) continue; | ||
112 | good_matrix[i][j] = 1; | ||
113 | good_matrix[j][i] = 1; | ||
114 | hits[i]++; | ||
115 | hits[j]++; | ||
116 | } | ||
117 | } | ||
118 | } | ||
119 | |||
120 | |||
121 | // this is called by dSpaceCollide when two objects in space are | ||
122 | // potentially colliding. | ||
123 | |||
124 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
125 | { | ||
126 | size_t i,j; | ||
127 | i = (size_t) dGeomGetData (o1); | ||
128 | j = (size_t) dGeomGetData (o2); | ||
129 | if (i==j) | ||
130 | printf ("collision (%d,%d) is between the same object\n",i,j); | ||
131 | if (!good_matrix[i][j] || !good_matrix[j][i]) | ||
132 | printf ("collision (%d,%d) is incorrect\n",i,j); | ||
133 | if (test_matrix[i][j] || test_matrix[j][i]) | ||
134 | printf ("collision (%d,%d) reported more than once\n",i,j); | ||
135 | test_matrix[i][j] = 1; | ||
136 | test_matrix[j][i] = 1; | ||
137 | } | ||
138 | |||
139 | |||
140 | // start simulation - set viewpoint | ||
141 | |||
142 | static void start() | ||
143 | { | ||
144 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; | ||
145 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; | ||
146 | dsSetViewpoint (xyz,hpr); | ||
147 | } | ||
148 | |||
149 | |||
150 | static void command (int cmd) | ||
151 | { | ||
152 | if (cmd == ' ') { | ||
153 | seed++; | ||
154 | init_test(); | ||
155 | } | ||
156 | } | ||
157 | |||
158 | |||
159 | // simulation loop | ||
160 | |||
161 | static void simLoop (int pause) | ||
162 | { | ||
163 | int i,j; | ||
164 | |||
165 | for (i=0; i < NUM; i++) { | ||
166 | for (j=0; j < NUM; j++) test_matrix[i][j] = 0; | ||
167 | } | ||
168 | dSpaceCollide (space,0,&nearCallback); | ||
169 | for (i=0; i < NUM; i++) { | ||
170 | for (j=i+1; j < NUM; j++) { | ||
171 | if (good_matrix[i][j] && !test_matrix[i][j]) { | ||
172 | printf ("failed to report collision (%d,%d) (seed=%ld)\n",i,j,seed); | ||
173 | } | ||
174 | } | ||
175 | } | ||
176 | |||
177 | seed++; | ||
178 | init_test(); | ||
179 | |||
180 | for (i=0; i<NUM; i++) { | ||
181 | dVector3 pos,side; | ||
182 | dMatrix3 R; | ||
183 | dRSetIdentity (R); | ||
184 | for (j=0; j<3; j++) pos[j] = (bounds[i][j*2+1] + bounds[i][j*2]) * 0.5; | ||
185 | for (j=0; j<3; j++) side[j] = bounds[i][j*2+1] - bounds[i][j*2]; | ||
186 | if (hits[i] > 0) dsSetColor (1,0,0); | ||
187 | else dsSetColor (1,1,0); | ||
188 | dsDrawBox (pos,R,side); | ||
189 | } | ||
190 | } | ||
191 | |||
192 | |||
193 | int main (int argc, char **argv) | ||
194 | { | ||
195 | int i; | ||
196 | |||
197 | // setup pointers to drawstuff callback functions | ||
198 | dsFunctions fn; | ||
199 | fn.version = DS_VERSION; | ||
200 | fn.start = &start; | ||
201 | fn.step = &simLoop; | ||
202 | fn.command = &command; | ||
203 | fn.stop = 0; | ||
204 | fn.path_to_textures = "../../drawstuff/textures"; | ||
205 | if(argc==2) | ||
206 | { | ||
207 | fn.path_to_textures = argv[1]; | ||
208 | } | ||
209 | |||
210 | dInitODE(); | ||
211 | |||
212 | // test the simple space: | ||
213 | // space = dSimpleSpaceCreate(); | ||
214 | |||
215 | // test the hash space: | ||
216 | // space = dHashSpaceCreate (0); | ||
217 | // dHashSpaceSetLevels (space,-10,10); | ||
218 | |||
219 | // test the quadtree space | ||
220 | dVector3 Center = {0, 0, 0, 0}; | ||
221 | dVector3 Extents = {10, 0, 10, 0}; | ||
222 | space = dQuadTreeSpaceCreate(0, Center, Extents, 7); | ||
223 | |||
224 | for (i=0; i < NUM; i++) geom[i] = 0; | ||
225 | init_test(); | ||
226 | |||
227 | // run simulation | ||
228 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
229 | |||
230 | dSpaceDestroy (space); | ||
231 | dCloseODE(); | ||
232 | return 0; | ||
233 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_space_stress.cpp b/libraries/ode-0.9/ode/demo/demo_space_stress.cpp new file mode 100644 index 0000000..e1be369 --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_space_stress.cpp | |||
@@ -0,0 +1,435 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | #include <ode/ode.h> | ||
24 | #include <drawstuff/drawstuff.h> | ||
25 | |||
26 | #ifdef _MSC_VER | ||
27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
28 | #endif | ||
29 | |||
30 | // select correct drawing functions | ||
31 | |||
32 | #ifdef dDOUBLE | ||
33 | #define dsDrawBox dsDrawBoxD | ||
34 | #define dsDrawSphere dsDrawSphereD | ||
35 | #define dsDrawCylinder dsDrawCylinderD | ||
36 | #define dsDrawCapsule dsDrawCapsuleD | ||
37 | #endif | ||
38 | |||
39 | |||
40 | // some constants | ||
41 | |||
42 | #define NUM 10000 // max number of objects | ||
43 | #define DENSITY (5.0) // density of all objects | ||
44 | #define GPB 3 // maximum number of geometries per body | ||
45 | #define MAX_CONTACTS 4 // maximum number of contact points per body | ||
46 | #define WORLD_SIZE 100 | ||
47 | |||
48 | |||
49 | // dynamics and collision objects | ||
50 | |||
51 | struct MyObject { | ||
52 | dBodyID body; // the body | ||
53 | dGeomID geom[GPB]; // geometries representing this body | ||
54 | }; | ||
55 | |||
56 | static int num=0; // number of objects in simulation | ||
57 | static int nextobj=0; // next object to recycle if num==NUM | ||
58 | static dWorldID world; | ||
59 | static dSpaceID space; | ||
60 | static MyObject obj[NUM]; | ||
61 | static dJointGroupID contactgroup; | ||
62 | static int selected = -1; // selected object | ||
63 | static int show_aabb = 0; // show geom AABBs? | ||
64 | static int show_contacts = 0; // show contact points? | ||
65 | static int random_pos = 1; // drop objects from random position? | ||
66 | static int draw_geom = 1; | ||
67 | |||
68 | |||
69 | // this is called by dSpaceCollide when two objects in space are | ||
70 | // potentially colliding. | ||
71 | |||
72 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
73 | { | ||
74 | int i; | ||
75 | // if (o1->body && o2->body) return; | ||
76 | |||
77 | // exit without doing anything if the two bodies are connected by a joint | ||
78 | dBodyID b1 = dGeomGetBody(o1); | ||
79 | dBodyID b2 = dGeomGetBody(o2); | ||
80 | if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; | ||
81 | |||
82 | dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box | ||
83 | for (i=0; i<MAX_CONTACTS; i++) { | ||
84 | contact[i].surface.mode = dContactBounce | dContactSoftCFM; | ||
85 | contact[i].surface.mu = dInfinity; | ||
86 | contact[i].surface.mu2 = 0; | ||
87 | contact[i].surface.bounce = 0.1; | ||
88 | contact[i].surface.bounce_vel = 0.1; | ||
89 | contact[i].surface.soft_cfm = 0.01; | ||
90 | } | ||
91 | if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom, | ||
92 | sizeof(dContact))) { | ||
93 | dMatrix3 RI; | ||
94 | dRSetIdentity (RI); | ||
95 | const dReal ss[3] = {0.02,0.02,0.02}; | ||
96 | for (i=0; i<numc; i++) { | ||
97 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); | ||
98 | dJointAttach (c,b1,b2); | ||
99 | if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss); | ||
100 | } | ||
101 | } | ||
102 | } | ||
103 | |||
104 | |||
105 | // start simulation - set viewpoint | ||
106 | |||
107 | static void start() | ||
108 | { | ||
109 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; | ||
110 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; | ||
111 | dsSetViewpoint (xyz,hpr); | ||
112 | printf ("To drop another object, press:\n"); | ||
113 | printf (" o to disable rendering.\n"); | ||
114 | printf (" b for box.\n"); | ||
115 | printf (" s for sphere.\n"); | ||
116 | printf (" c for cylinder.\n"); | ||
117 | printf (" x for a composite object.\n"); | ||
118 | printf ("To select an object, press space.\n"); | ||
119 | printf ("To disable the selected object, press d.\n"); | ||
120 | printf ("To enable the selected object, press e.\n"); | ||
121 | printf ("To toggle showing the geom AABBs, press a.\n"); | ||
122 | printf ("To toggle showing the contact points, press t.\n"); | ||
123 | printf ("To toggle dropping from random position/orientation, press r.\n"); | ||
124 | } | ||
125 | |||
126 | |||
127 | char locase (char c) | ||
128 | { | ||
129 | if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); | ||
130 | else return c; | ||
131 | } | ||
132 | |||
133 | |||
134 | // called when a key pressed | ||
135 | |||
136 | static void command (int cmd) | ||
137 | { | ||
138 | int i,j,k; | ||
139 | dReal sides[3]; | ||
140 | dMass m; | ||
141 | |||
142 | cmd = locase (cmd); | ||
143 | if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' | ||
144 | /* || cmd == 'l' */) { | ||
145 | if (num < NUM) { | ||
146 | i = num; | ||
147 | num++; | ||
148 | } | ||
149 | else { | ||
150 | i = nextobj; | ||
151 | nextobj++; | ||
152 | if (nextobj >= num) nextobj = 0; | ||
153 | |||
154 | // destroy the body and geoms for slot i | ||
155 | dBodyDestroy (obj[i].body); | ||
156 | for (k=0; k < GPB; k++) { | ||
157 | if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); | ||
158 | } | ||
159 | memset (&obj[i],0,sizeof(obj[i])); | ||
160 | } | ||
161 | |||
162 | obj[i].body = dBodyCreate (world); | ||
163 | for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; | ||
164 | |||
165 | dMatrix3 R; | ||
166 | if (random_pos) { | ||
167 | dBodySetPosition (obj[i].body, | ||
168 | dRandReal()*WORLD_SIZE-(WORLD_SIZE/2),dRandReal()*WORLD_SIZE-(WORLD_SIZE/2),dRandReal()+1); | ||
169 | dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
170 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
171 | } | ||
172 | else { | ||
173 | dReal maxheight = 0; | ||
174 | for (k=0; k<num; k++) { | ||
175 | const dReal *pos = dBodyGetPosition (obj[k].body); | ||
176 | if (pos[2] > maxheight) maxheight = pos[2]; | ||
177 | } | ||
178 | dBodySetPosition (obj[i].body, 0,0,maxheight+1); | ||
179 | dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); | ||
180 | } | ||
181 | dBodySetRotation (obj[i].body,R); | ||
182 | dBodySetData (obj[i].body,(void*)(size_t)i); | ||
183 | |||
184 | if (cmd == 'b') { | ||
185 | dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); | ||
186 | obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); | ||
187 | } | ||
188 | else if (cmd == 'c') { | ||
189 | sides[0] *= 0.5; | ||
190 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); | ||
191 | obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); | ||
192 | } | ||
193 | /* | ||
194 | // cylinder option not yet implemented | ||
195 | else if (cmd == 'l') { | ||
196 | sides[1] *= 0.5; | ||
197 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); | ||
198 | obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); | ||
199 | } | ||
200 | */ | ||
201 | else if (cmd == 's') { | ||
202 | sides[0] *= 0.5; | ||
203 | dMassSetSphere (&m,DENSITY,sides[0]); | ||
204 | obj[i].geom[0] = dCreateSphere (space,sides[0]); | ||
205 | } | ||
206 | else if (cmd == 'x') { | ||
207 | dGeomID g2[GPB]; // encapsulated geometries | ||
208 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries | ||
209 | |||
210 | // start accumulating masses for the encapsulated geometries | ||
211 | dMass m2; | ||
212 | dMassSetZero (&m); | ||
213 | |||
214 | // set random delta positions | ||
215 | for (j=0; j<GPB; j++) { | ||
216 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; | ||
217 | } | ||
218 | |||
219 | for (k=0; k<GPB; k++) { | ||
220 | obj[i].geom[k] = dCreateGeomTransform (space); | ||
221 | dGeomTransformSetCleanup (obj[i].geom[k],1); | ||
222 | if (k==0) { | ||
223 | dReal radius = dRandReal()*0.25+0.05; | ||
224 | g2[k] = dCreateSphere (0,radius); | ||
225 | dMassSetSphere (&m2,DENSITY,radius); | ||
226 | } | ||
227 | else if (k==1) { | ||
228 | g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); | ||
229 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); | ||
230 | } | ||
231 | else { | ||
232 | dReal radius = dRandReal()*0.1+0.05; | ||
233 | dReal length = dRandReal()*1.0+0.1; | ||
234 | g2[k] = dCreateCapsule (0,radius,length); | ||
235 | dMassSetCapsule (&m2,DENSITY,3,radius,length); | ||
236 | } | ||
237 | dGeomTransformSetGeom (obj[i].geom[k],g2[k]); | ||
238 | |||
239 | // set the transformation (adjust the mass too) | ||
240 | dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); | ||
241 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); | ||
242 | dMatrix3 Rtx; | ||
243 | dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
244 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
245 | dGeomSetRotation (g2[k],Rtx); | ||
246 | dMassRotate (&m2,Rtx); | ||
247 | |||
248 | // add to the total mass | ||
249 | dMassAdd (&m,&m2); | ||
250 | } | ||
251 | |||
252 | // move all encapsulated objects so that the center of mass is (0,0,0) | ||
253 | for (k=0; k<2; k++) { | ||
254 | dGeomSetPosition (g2[k], | ||
255 | dpos[k][0]-m.c[0], | ||
256 | dpos[k][1]-m.c[1], | ||
257 | dpos[k][2]-m.c[2]); | ||
258 | } | ||
259 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); | ||
260 | } | ||
261 | |||
262 | for (k=0; k < GPB; k++) { | ||
263 | if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); | ||
264 | } | ||
265 | |||
266 | dBodySetMass (obj[i].body,&m); | ||
267 | } | ||
268 | |||
269 | if (cmd == ' ') { | ||
270 | selected++; | ||
271 | if (selected >= num) selected = 0; | ||
272 | if (selected < 0) selected = 0; | ||
273 | } | ||
274 | else if (cmd == 'd' && selected >= 0 && selected < num) { | ||
275 | dBodyDisable (obj[selected].body); | ||
276 | } | ||
277 | else if (cmd == 'e' && selected >= 0 && selected < num) { | ||
278 | dBodyEnable (obj[selected].body); | ||
279 | } | ||
280 | else if (cmd == 'a') { | ||
281 | show_aabb ^= 1; | ||
282 | } | ||
283 | else if (cmd == 't') { | ||
284 | show_contacts ^= 1; | ||
285 | } | ||
286 | else if (cmd == 'r') { | ||
287 | random_pos ^= 1; | ||
288 | } | ||
289 | else if (cmd == 'o') { | ||
290 | draw_geom ^= 1; | ||
291 | } | ||
292 | } | ||
293 | |||
294 | |||
295 | // draw a geom | ||
296 | |||
297 | void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) | ||
298 | { | ||
299 | if (!draw_geom){ | ||
300 | return; | ||
301 | } | ||
302 | |||
303 | if (!g) return; | ||
304 | if (!pos) pos = dGeomGetPosition (g); | ||
305 | if (!R) R = dGeomGetRotation (g); | ||
306 | |||
307 | int type = dGeomGetClass (g); | ||
308 | if (type == dBoxClass) { | ||
309 | dVector3 sides; | ||
310 | dGeomBoxGetLengths (g,sides); | ||
311 | dsDrawBox (pos,R,sides); | ||
312 | } | ||
313 | else if (type == dSphereClass) { | ||
314 | dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); | ||
315 | } | ||
316 | else if (type == dCapsuleClass) { | ||
317 | dReal radius,length; | ||
318 | dGeomCapsuleGetParams (g,&radius,&length); | ||
319 | dsDrawCapsule (pos,R,length,radius); | ||
320 | } | ||
321 | /* | ||
322 | // cylinder option not yet implemented | ||
323 | else if (type == dCylinderClass) { | ||
324 | dReal radius,length; | ||
325 | dGeomCylinderGetParams (g,&radius,&length); | ||
326 | dsDrawCylinder (pos,R,length,radius); | ||
327 | } | ||
328 | */ | ||
329 | else if (type == dGeomTransformClass) { | ||
330 | dGeomID g2 = dGeomTransformGetGeom (g); | ||
331 | const dReal *pos2 = dGeomGetPosition (g2); | ||
332 | const dReal *R2 = dGeomGetRotation (g2); | ||
333 | dVector3 actual_pos; | ||
334 | dMatrix3 actual_R; | ||
335 | dMULTIPLY0_331 (actual_pos,R,pos2); | ||
336 | actual_pos[0] += pos[0]; | ||
337 | actual_pos[1] += pos[1]; | ||
338 | actual_pos[2] += pos[2]; | ||
339 | dMULTIPLY0_333 (actual_R,R,R2); | ||
340 | drawGeom (g2,actual_pos,actual_R,0); | ||
341 | } | ||
342 | |||
343 | if (show_aabb) { | ||
344 | // draw the bounding box for this geom | ||
345 | dReal aabb[6]; | ||
346 | dGeomGetAABB (g,aabb); | ||
347 | dVector3 bbpos; | ||
348 | for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); | ||
349 | dVector3 bbsides; | ||
350 | for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2]; | ||
351 | dMatrix3 RI; | ||
352 | dRSetIdentity (RI); | ||
353 | dsSetColorAlpha (1,0,0,0.5); | ||
354 | dsDrawBox (bbpos,RI,bbsides); | ||
355 | } | ||
356 | } | ||
357 | |||
358 | |||
359 | // simulation loop | ||
360 | |||
361 | static void simLoop (int pause) | ||
362 | { | ||
363 | dsSetColor (0,0,2); | ||
364 | dSpaceCollide (space,0,&nearCallback); | ||
365 | //if (!pause) dWorldStep (world,0.05); | ||
366 | //if (!pause) dWorldStepFast (world,0.05, 1); | ||
367 | |||
368 | // remove all contact joints | ||
369 | dJointGroupEmpty (contactgroup); | ||
370 | |||
371 | dsSetColor (1,1,0); | ||
372 | dsSetTexture (DS_WOOD); | ||
373 | for (int i=0; i<num; i++) { | ||
374 | for (int j=0; j < GPB; j++) { | ||
375 | if (i==selected) { | ||
376 | dsSetColor (0,0.7,1); | ||
377 | } | ||
378 | else if (! dBodyIsEnabled (obj[i].body)) { | ||
379 | dsSetColor (1,0,0); | ||
380 | } | ||
381 | else { | ||
382 | dsSetColor (1,1,0); | ||
383 | } | ||
384 | drawGeom (obj[i].geom[j],0,0,show_aabb); | ||
385 | } | ||
386 | } | ||
387 | } | ||
388 | |||
389 | |||
390 | int main (int argc, char **argv) | ||
391 | { | ||
392 | // setup pointers to drawstuff callback functions | ||
393 | dsFunctions fn; | ||
394 | fn.version = DS_VERSION; | ||
395 | fn.start = &start; | ||
396 | fn.step = &simLoop; | ||
397 | fn.command = &command; | ||
398 | fn.stop = 0; | ||
399 | fn.path_to_textures = "../../drawstuff/textures"; | ||
400 | if(argc==2) | ||
401 | { | ||
402 | fn.path_to_textures = argv[1]; | ||
403 | } | ||
404 | |||
405 | // create world | ||
406 | dInitODE(); | ||
407 | world = dWorldCreate(); | ||
408 | |||
409 | |||
410 | dVector3 Center = {0, 0, 0, 0}; | ||
411 | dVector3 Extents = {WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, 0}; | ||
412 | |||
413 | //space = dSimpleSpaceCreate(0); | ||
414 | //space = dHashSpaceCreate (0); | ||
415 | space = dQuadTreeSpaceCreate (0, Center, Extents, 6); | ||
416 | |||
417 | contactgroup = dJointGroupCreate (0); | ||
418 | dWorldSetGravity (world,0,0,-0.5); | ||
419 | dWorldSetCFM (world,1e-5); | ||
420 | dCreatePlane (space,0,0,1,0); | ||
421 | memset (obj,0,sizeof(obj)); | ||
422 | |||
423 | for (int i = 0; i < NUM; i++){ | ||
424 | command('s'); | ||
425 | } | ||
426 | |||
427 | // run simulation | ||
428 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
429 | |||
430 | dJointGroupDestroy (contactgroup); | ||
431 | dSpaceDestroy (space); | ||
432 | dWorldDestroy (world); | ||
433 | dCloseODE(); | ||
434 | return 0; | ||
435 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_step.cpp b/libraries/ode-0.9/ode/demo/demo_step.cpp new file mode 100644 index 0000000..df2385c --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_step.cpp | |||
@@ -0,0 +1,193 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | // test the step function by comparing the output of the fast and the slow | ||
24 | // version, for various systems. currently you have to define COMPARE_METHODS | ||
25 | // in step.cpp for this to work properly. | ||
26 | // | ||
27 | // @@@ report MAX error | ||
28 | |||
29 | #include <time.h> | ||
30 | #include <ode/ode.h> | ||
31 | #include <drawstuff/drawstuff.h> | ||
32 | |||
33 | #ifdef _MSC_VER | ||
34 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
35 | #endif | ||
36 | |||
37 | // select correct drawing functions | ||
38 | |||
39 | #ifdef dDOUBLE | ||
40 | #define dsDrawBox dsDrawBoxD | ||
41 | #define dsDrawSphere dsDrawSphereD | ||
42 | #define dsDrawCylinder dsDrawCylinderD | ||
43 | #define dsDrawCapsule dsDrawCapsuleD | ||
44 | #endif | ||
45 | |||
46 | |||
47 | // some constants | ||
48 | |||
49 | #define NUM 10 // number of bodies | ||
50 | #define NUMJ 9 // number of joints | ||
51 | #define SIDE (0.2) // side length of a box | ||
52 | #define MASS (1.0) // mass of a box | ||
53 | #define RADIUS (0.1732f) // sphere radius | ||
54 | |||
55 | |||
56 | |||
57 | // dynamics and collision objects | ||
58 | |||
59 | static dWorldID world=0; | ||
60 | static dBodyID body[NUM]; | ||
61 | static dJointID joint[NUMJ]; | ||
62 | |||
63 | |||
64 | // create the test system | ||
65 | |||
66 | void createTest() | ||
67 | { | ||
68 | int i,j; | ||
69 | if (world) dWorldDestroy (world); | ||
70 | |||
71 | world = dWorldCreate(); | ||
72 | |||
73 | // create random bodies | ||
74 | for (i=0; i<NUM; i++) { | ||
75 | // create bodies at random position and orientation | ||
76 | body[i] = dBodyCreate (world); | ||
77 | dBodySetPosition (body[i],dRandReal()*2-1,dRandReal()*2-1, | ||
78 | dRandReal()*2+RADIUS); | ||
79 | dReal q[4]; | ||
80 | for (j=0; j<4; j++) q[j] = dRandReal()*2-1; | ||
81 | dBodySetQuaternion (body[i],q); | ||
82 | |||
83 | // set random velocity | ||
84 | dBodySetLinearVel (body[i], dRandReal()*2-1,dRandReal()*2-1, | ||
85 | dRandReal()*2-1); | ||
86 | dBodySetAngularVel (body[i], dRandReal()*2-1,dRandReal()*2-1, | ||
87 | dRandReal()*2-1); | ||
88 | |||
89 | // set random mass (random diagonal mass rotated by a random amount) | ||
90 | dMass m; | ||
91 | dMatrix3 R; | ||
92 | dMassSetBox (&m,1,dRandReal()+0.1,dRandReal()+0.1,dRandReal()+0.1); | ||
93 | dMassAdjust (&m,dRandReal()+1); | ||
94 | for (j=0; j<4; j++) q[j] = dRandReal()*2-1; | ||
95 | dQtoR (q,R); | ||
96 | dMassRotate (&m,R); | ||
97 | dBodySetMass (body[i],&m); | ||
98 | } | ||
99 | |||
100 | // create ball-n-socket joints at random positions, linking random bodies | ||
101 | // (but make sure not to link the same pair of bodies twice) | ||
102 | char linked[NUM*NUM]; | ||
103 | for (i=0; i<NUM*NUM; i++) linked[i] = 0; | ||
104 | for (i=0; i<NUMJ; i++) { | ||
105 | int b1,b2; | ||
106 | do { | ||
107 | b1 = dRandInt (NUM); | ||
108 | b2 = dRandInt (NUM); | ||
109 | } while (linked[b1*NUM + b2] || b1==b2); | ||
110 | linked[b1*NUM + b2] = 1; | ||
111 | linked[b2*NUM + b1] = 1; | ||
112 | joint[i] = dJointCreateBall (world,0); | ||
113 | dJointAttach (joint[i],body[b1],body[b2]); | ||
114 | dJointSetBallAnchor (joint[i],dRandReal()*2-1, | ||
115 | dRandReal()*2-1,dRandReal()*2+RADIUS); | ||
116 | } | ||
117 | |||
118 | for (i=0; i<NUM; i++) { | ||
119 | // move bodies a bit to get some joint error | ||
120 | const dReal *pos = dBodyGetPosition (body[i]); | ||
121 | dBodySetPosition (body[i],pos[0]+dRandReal()*0.2-0.1, | ||
122 | pos[1]+dRandReal()*0.2-0.1,pos[2]+dRandReal()*0.2-0.1); | ||
123 | } | ||
124 | } | ||
125 | |||
126 | |||
127 | // start simulation - set viewpoint | ||
128 | |||
129 | static void start() | ||
130 | { | ||
131 | static float xyz[3] = {2.6117f,-1.4433f,2.3700f}; | ||
132 | static float hpr[3] = {151.5000f,-30.5000f,0.0000f}; | ||
133 | dsSetViewpoint (xyz,hpr); | ||
134 | } | ||
135 | |||
136 | |||
137 | // simulation loop | ||
138 | |||
139 | static void simLoop (int pause) | ||
140 | { | ||
141 | if (!pause) { | ||
142 | // add random forces and torques to all bodies | ||
143 | int i; | ||
144 | const dReal scale1 = 5; | ||
145 | const dReal scale2 = 5; | ||
146 | for (i=0; i<NUM; i++) { | ||
147 | dBodyAddForce (body[i], | ||
148 | scale1*(dRandReal()*2-1), | ||
149 | scale1*(dRandReal()*2-1), | ||
150 | scale1*(dRandReal()*2-1)); | ||
151 | dBodyAddTorque (body[i], | ||
152 | scale2*(dRandReal()*2-1), | ||
153 | scale2*(dRandReal()*2-1), | ||
154 | scale2*(dRandReal()*2-1)); | ||
155 | } | ||
156 | |||
157 | dWorldStep (world,0.05); | ||
158 | createTest(); | ||
159 | } | ||
160 | |||
161 | // float sides[3] = {SIDE,SIDE,SIDE}; | ||
162 | dsSetColor (1,1,0); | ||
163 | for (int i=0; i<NUM; i++) | ||
164 | dsDrawSphere (dBodyGetPosition(body[i]), dBodyGetRotation(body[i]),RADIUS); | ||
165 | } | ||
166 | |||
167 | |||
168 | int main (int argc, char **argv) | ||
169 | { | ||
170 | // setup pointers to drawstuff callback functions | ||
171 | dsFunctions fn; | ||
172 | fn.version = DS_VERSION; | ||
173 | fn.start = &start; | ||
174 | fn.step = &simLoop; | ||
175 | fn.command = 0; | ||
176 | fn.stop = 0; | ||
177 | fn.path_to_textures = "../../drawstuff/textures"; | ||
178 | if(argc==2) | ||
179 | { | ||
180 | fn.path_to_textures = argv[1]; | ||
181 | } | ||
182 | |||
183 | dInitODE(); | ||
184 | dRandSetSeed (time(0)); | ||
185 | createTest(); | ||
186 | |||
187 | // run simulation | ||
188 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
189 | |||
190 | dWorldDestroy (world); | ||
191 | dCloseODE(); | ||
192 | return 0; | ||
193 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/demo_trimesh.cpp b/libraries/ode-0.9/ode/demo/demo_trimesh.cpp new file mode 100644 index 0000000..f87ff0b --- /dev/null +++ b/libraries/ode-0.9/ode/demo/demo_trimesh.cpp | |||
@@ -0,0 +1,537 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | // TriMesh test by Erwin de Vries | ||
24 | |||
25 | #include <ode/ode.h> | ||
26 | #include <drawstuff/drawstuff.h> | ||
27 | |||
28 | #ifdef _MSC_VER | ||
29 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints | ||
30 | #endif | ||
31 | |||
32 | // select correct drawing functions | ||
33 | |||
34 | #ifdef dDOUBLE | ||
35 | #define dsDrawBox dsDrawBoxD | ||
36 | #define dsDrawSphere dsDrawSphereD | ||
37 | #define dsDrawCylinder dsDrawCylinderD | ||
38 | #define dsDrawCapsule dsDrawCapsuleD | ||
39 | #define dsDrawLine dsDrawLineD | ||
40 | #define dsDrawTriangle dsDrawTriangleD | ||
41 | #endif | ||
42 | |||
43 | |||
44 | // some constants | ||
45 | |||
46 | #define NUM 200 // max number of objects | ||
47 | #define DENSITY (5.0) // density of all objects | ||
48 | #define GPB 3 // maximum number of geometries per body | ||
49 | #define MAX_CONTACTS 40 // maximum number of contact points per body | ||
50 | |||
51 | |||
52 | // dynamics and collision objects | ||
53 | |||
54 | struct MyObject { | ||
55 | dBodyID body; // the body | ||
56 | dGeomID geom[GPB]; // geometries representing this body | ||
57 | }; | ||
58 | |||
59 | static int num=0; // number of objects in simulation | ||
60 | static int nextobj=0; // next object to recycle if num==NUM | ||
61 | static dWorldID world; | ||
62 | static dSpaceID space; | ||
63 | static MyObject obj[NUM]; | ||
64 | static dJointGroupID contactgroup; | ||
65 | static int selected = -1; // selected object | ||
66 | static int show_aabb = 0; // show geom AABBs? | ||
67 | static int show_contacts = 0; // show contact points? | ||
68 | static int random_pos = 1; // drop objects from random position? | ||
69 | |||
70 | #define VertexCount 5 | ||
71 | #define IndexCount 12 | ||
72 | |||
73 | static dVector3 Size; | ||
74 | static dVector3 Vertices[VertexCount]; | ||
75 | static int Indices[IndexCount]; | ||
76 | |||
77 | static dGeomID TriMesh; | ||
78 | static dGeomID Ray; | ||
79 | |||
80 | |||
81 | // this is called by dSpaceCollide when two objects in space are | ||
82 | // potentially colliding. | ||
83 | |||
84 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) | ||
85 | { | ||
86 | int i; | ||
87 | // if (o1->body && o2->body) return; | ||
88 | |||
89 | // exit without doing anything if the two bodies are connected by a joint | ||
90 | dBodyID b1 = dGeomGetBody(o1); | ||
91 | dBodyID b2 = dGeomGetBody(o2); | ||
92 | if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; | ||
93 | |||
94 | dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box | ||
95 | for (i=0; i<MAX_CONTACTS; i++) { | ||
96 | contact[i].surface.mode = dContactBounce | dContactSoftCFM; | ||
97 | contact[i].surface.mu = dInfinity; | ||
98 | contact[i].surface.mu2 = 0; | ||
99 | contact[i].surface.bounce = 0.1; | ||
100 | contact[i].surface.bounce_vel = 0.1; | ||
101 | contact[i].surface.soft_cfm = 0.01; | ||
102 | } | ||
103 | if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom, | ||
104 | sizeof(dContact))) { | ||
105 | dMatrix3 RI; | ||
106 | dRSetIdentity (RI); | ||
107 | const dReal ss[3] = {0.02,0.02,0.02}; | ||
108 | for (i=0; i<numc; i++) { | ||
109 | if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){ | ||
110 | dMatrix3 Rotation; | ||
111 | dRSetIdentity(Rotation); | ||
112 | dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01)); | ||
113 | |||
114 | dVector3 End; | ||
115 | End[0] = contact[i].geom.pos[0] + (contact[i].geom.normal[0] * contact[i].geom.depth); | ||
116 | End[1] = contact[i].geom.pos[1] + (contact[i].geom.normal[1] * contact[i].geom.depth); | ||
117 | End[2] = contact[i].geom.pos[2] + (contact[i].geom.normal[2] * contact[i].geom.depth); | ||
118 | End[3] = contact[i].geom.pos[3] + (contact[i].geom.normal[3] * contact[i].geom.depth); | ||
119 | |||
120 | dsDrawLine(contact[i].geom.pos, End); | ||
121 | continue; | ||
122 | } | ||
123 | |||
124 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); | ||
125 | dJointAttach (c,b1,b2); | ||
126 | if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss); | ||
127 | } | ||
128 | } | ||
129 | } | ||
130 | |||
131 | |||
132 | // start simulation - set viewpoint | ||
133 | |||
134 | static void start() | ||
135 | { | ||
136 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; | ||
137 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; | ||
138 | dsSetViewpoint (xyz,hpr); | ||
139 | printf ("To drop another object, press:\n"); | ||
140 | printf (" b for box.\n"); | ||
141 | printf (" s for sphere.\n"); | ||
142 | printf (" c for cylinder.\n"); | ||
143 | printf (" x for a composite object.\n"); | ||
144 | printf ("To select an object, press space.\n"); | ||
145 | printf ("To disable the selected object, press d.\n"); | ||
146 | printf ("To enable the selected object, press e.\n"); | ||
147 | printf ("To toggle showing the geom AABBs, press a.\n"); | ||
148 | printf ("To toggle showing the contact points, press t.\n"); | ||
149 | printf ("To toggle dropping from random position/orientation, press r.\n"); | ||
150 | } | ||
151 | |||
152 | |||
153 | char locase (char c) | ||
154 | { | ||
155 | if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); | ||
156 | else return c; | ||
157 | } | ||
158 | |||
159 | |||
160 | // called when a key pressed | ||
161 | |||
162 | static void command (int cmd) | ||
163 | { | ||
164 | int i,j,k; | ||
165 | dReal sides[3]; | ||
166 | dMass m; | ||
167 | |||
168 | cmd = locase (cmd); | ||
169 | if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' | ||
170 | /* || cmd == 'l' */) { | ||
171 | if (num < NUM) { | ||
172 | i = num; | ||
173 | num++; | ||
174 | } | ||
175 | else { | ||
176 | i = nextobj; | ||
177 | nextobj++; | ||
178 | if (nextobj >= num) nextobj = 0; | ||
179 | |||
180 | // destroy the body and geoms for slot i | ||
181 | dBodyDestroy (obj[i].body); | ||
182 | for (k=0; k < GPB; k++) { | ||
183 | if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); | ||
184 | } | ||
185 | memset (&obj[i],0,sizeof(obj[i])); | ||
186 | } | ||
187 | |||
188 | obj[i].body = dBodyCreate (world); | ||
189 | for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; | ||
190 | |||
191 | dMatrix3 R; | ||
192 | if (random_pos) { | ||
193 | dBodySetPosition (obj[i].body, | ||
194 | dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1); | ||
195 | dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
196 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
197 | } | ||
198 | else { | ||
199 | dReal maxheight = 0; | ||
200 | for (k=0; k<num; k++) { | ||
201 | const dReal *pos = dBodyGetPosition (obj[k].body); | ||
202 | if (pos[2] > maxheight) maxheight = pos[2]; | ||
203 | } | ||
204 | dBodySetPosition (obj[i].body, 0,0,maxheight+1); | ||
205 | dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); | ||
206 | } | ||
207 | dBodySetRotation (obj[i].body,R); | ||
208 | dBodySetData (obj[i].body,(void*)(size_t)i); | ||
209 | |||
210 | if (cmd == 'b') { | ||
211 | dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); | ||
212 | obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); | ||
213 | } | ||
214 | else if (cmd == 'c') { | ||
215 | sides[0] *= 0.5; | ||
216 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); | ||
217 | obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); | ||
218 | } | ||
219 | /* | ||
220 | // cylinder option not yet implemented | ||
221 | else if (cmd == 'l') { | ||
222 | sides[1] *= 0.5; | ||
223 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); | ||
224 | obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); | ||
225 | } | ||
226 | */ | ||
227 | else if (cmd == 's') { | ||
228 | sides[0] *= 0.5; | ||
229 | dMassSetSphere (&m,DENSITY,sides[0]); | ||
230 | obj[i].geom[0] = dCreateSphere (space,sides[0]); | ||
231 | } | ||
232 | else if (cmd == 'x') { | ||
233 | dGeomID g2[GPB]; // encapsulated geometries | ||
234 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries | ||
235 | |||
236 | // start accumulating masses for the encapsulated geometries | ||
237 | dMass m2; | ||
238 | dMassSetZero (&m); | ||
239 | |||
240 | // set random delta positions | ||
241 | for (j=0; j<GPB; j++) { | ||
242 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; | ||
243 | } | ||
244 | |||
245 | for (k=0; k<GPB; k++) { | ||
246 | obj[i].geom[k] = dCreateGeomTransform (space); | ||
247 | dGeomTransformSetCleanup (obj[i].geom[k],1); | ||
248 | if (k==0) { | ||
249 | dReal radius = dRandReal()*0.25+0.05; | ||
250 | g2[k] = dCreateSphere (0,radius); | ||
251 | dMassSetSphere (&m2,DENSITY,radius); | ||
252 | } | ||
253 | else if (k==1) { | ||
254 | g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); | ||
255 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); | ||
256 | } | ||
257 | else { | ||
258 | dReal radius = dRandReal()*0.1+0.05; | ||
259 | dReal length = dRandReal()*1.0+0.1; | ||
260 | g2[k] = dCreateCapsule (0,radius,length); | ||
261 | dMassSetCapsule (&m2,DENSITY,3,radius,length); | ||
262 | } | ||
263 | dGeomTransformSetGeom (obj[i].geom[k],g2[k]); | ||
264 | |||
265 | // set the transformation (adjust the mass too) | ||
266 | dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); | ||
267 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); | ||
268 | dMatrix3 Rtx; | ||
269 | dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, | ||
270 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); | ||
271 | dGeomSetRotation (g2[k],Rtx); | ||
272 | dMassRotate (&m2,Rtx); | ||
273 | |||
274 | // add to the total mass | ||
275 | dMassAdd (&m,&m2); | ||
276 | } | ||
277 | |||
278 | // move all encapsulated objects so that the center of mass is (0,0,0) | ||
279 | for (k=0; k<2; k++) { | ||
280 | dGeomSetPosition (g2[k], | ||
281 | dpos[k][0]-m.c[0], | ||
282 | dpos[k][1]-m.c[1], | ||
283 | dpos[k][2]-m.c[2]); | ||
284 | } | ||
285 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); | ||
286 | } | ||
287 | |||
288 | for (k=0; k < GPB; k++) { | ||
289 | if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); | ||
290 | } | ||
291 | |||
292 | dBodySetMass (obj[i].body,&m); | ||
293 | } | ||
294 | |||
295 | if (cmd == ' ') { | ||
296 | selected++; | ||
297 | if (selected >= num) selected = 0; | ||
298 | if (selected < 0) selected = 0; | ||
299 | } | ||
300 | else if (cmd == 'd' && selected >= 0 && selected < num) { | ||
301 | dBodyDisable (obj[selected].body); | ||
302 | } | ||
303 | else if (cmd == 'e' && selected >= 0 && selected < num) { | ||
304 | dBodyEnable (obj[selected].body); | ||
305 | } | ||
306 | else if (cmd == 'a') { | ||
307 | show_aabb ^= 1; | ||
308 | } | ||
309 | else if (cmd == 't') { | ||
310 | show_contacts ^= 1; | ||
311 | } | ||
312 | else if (cmd == 'r') { | ||
313 | random_pos ^= 1; | ||
314 | } | ||
315 | } | ||
316 | |||
317 | |||
318 | // draw a geom | ||
319 | |||
320 | void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) | ||
321 | { | ||
322 | if (!g) return; | ||
323 | if (!pos) pos = dGeomGetPosition (g); | ||
324 | if (!R) R = dGeomGetRotation (g); | ||
325 | |||
326 | int type = dGeomGetClass (g); | ||
327 | if (type == dBoxClass) { | ||
328 | dVector3 sides; | ||
329 | dGeomBoxGetLengths (g,sides); | ||
330 | dsDrawBox (pos,R,sides); | ||
331 | } | ||
332 | else if (type == dSphereClass) { | ||
333 | dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); | ||
334 | } | ||
335 | else if (type == dCapsuleClass) { | ||
336 | dReal radius,length; | ||
337 | dGeomCapsuleGetParams (g,&radius,&length); | ||
338 | dsDrawCapsule (pos,R,length,radius); | ||
339 | } | ||
340 | /* | ||
341 | // cylinder option not yet implemented | ||
342 | else if (type == dCylinderClass) { | ||
343 | dReal radius,length; | ||
344 | dGeomCylinderGetParams (g,&radius,&length); | ||
345 | dsDrawCylinder (pos,R,length,radius); | ||
346 | } | ||
347 | */ | ||
348 | else if (type == dGeomTransformClass) { | ||
349 | dGeomID g2 = dGeomTransformGetGeom (g); | ||
350 | const dReal *pos2 = dGeomGetPosition (g2); | ||
351 | const dReal *R2 = dGeomGetRotation (g2); | ||
352 | dVector3 actual_pos; | ||
353 | dMatrix3 actual_R; | ||
354 | dMULTIPLY0_331 (actual_pos,R,pos2); | ||
355 | actual_pos[0] += pos[0]; | ||
356 | actual_pos[1] += pos[1]; | ||
357 | actual_pos[2] += pos[2]; | ||
358 | dMULTIPLY0_333 (actual_R,R,R2); | ||
359 | drawGeom (g2,actual_pos,actual_R,0); | ||
360 | } | ||
361 | |||
362 | if (show_aabb) { | ||
363 | // draw the bounding box for this geom | ||
364 | dReal aabb[6]; | ||
365 | dGeomGetAABB (g,aabb); | ||
366 | dVector3 bbpos; | ||
367 | for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); | ||
368 | dVector3 bbsides; | ||
369 | for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2]; | ||
370 | dMatrix3 RI; | ||
371 | dRSetIdentity (RI); | ||
372 | dsSetColorAlpha (1,0,0,0.5); | ||
373 | dsDrawBox (bbpos,RI,bbsides); | ||
374 | } | ||
375 | } | ||
376 | |||
377 | |||
378 | // simulation loop | ||
379 | |||
380 | static void simLoop (int pause) | ||
381 | { | ||
382 | dsSetColor (0,0,2); | ||
383 | dSpaceCollide (space,0,&nearCallback); | ||
384 | if (!pause) dWorldStep (world,0.05); | ||
385 | //if (!pause) dWorldStepFast (world,0.05, 1); | ||
386 | |||
387 | // remove all contact joints | ||
388 | dJointGroupEmpty (contactgroup); | ||
389 | |||
390 | dsSetColor (1,1,0); | ||
391 | dsSetTexture (DS_WOOD); | ||
392 | for (int i=0; i<num; i++) { | ||
393 | for (int j=0; j < GPB; j++) { | ||
394 | if (i==selected) { | ||
395 | dsSetColor (0,0.7,1); | ||
396 | } | ||
397 | else if (! dBodyIsEnabled (obj[i].body)) { | ||
398 | dsSetColor (1,0,0); | ||
399 | } | ||
400 | else { | ||
401 | dsSetColor (1,1,0); | ||
402 | } | ||
403 | drawGeom (obj[i].geom[j],0,0,show_aabb); | ||
404 | } | ||
405 | } | ||
406 | |||
407 | /*{ | ||
408 | for (int i = 1; i < IndexCount; i++) { | ||
409 | dsDrawLine(Vertices[Indices[i - 1]], Vertices[Indices[i]]); | ||
410 | } | ||
411 | }*/ | ||
412 | |||
413 | {const dReal* Pos = dGeomGetPosition(TriMesh); | ||
414 | const dReal* Rot = dGeomGetRotation(TriMesh); | ||
415 | |||
416 | {for (int i = 0; i < IndexCount / 3; i++){ | ||
417 | const dVector3& v0 = Vertices[Indices[i * 3 + 0]]; | ||
418 | const dVector3& v1 = Vertices[Indices[i * 3 + 1]]; | ||
419 | const dVector3& v2 = Vertices[Indices[i * 3 + 2]]; | ||
420 | dsDrawTriangle(Pos, Rot, (dReal*)&v0, (dReal*)&v1, (dReal*)&v2, 0); | ||
421 | }}} | ||
422 | |||
423 | if (Ray){ | ||
424 | dVector3 Origin, Direction; | ||
425 | dGeomRayGet(Ray, Origin, Direction); | ||
426 | |||
427 | dReal Length = dGeomRayGetLength(Ray); | ||
428 | |||
429 | dVector3 End; | ||
430 | End[0] = Origin[0] + (Direction[0] * Length); | ||
431 | End[1] = Origin[1] + (Direction[1] * Length); | ||
432 | End[2] = Origin[2] + (Direction[2] * Length); | ||
433 | End[3] = Origin[3] + (Direction[3] * Length); | ||
434 | |||
435 | dsDrawLine(Origin, End); | ||
436 | } | ||
437 | } | ||
438 | |||
439 | |||
440 | int main (int argc, char **argv) | ||
441 | { | ||
442 | // setup pointers to drawstuff callback functions | ||
443 | dsFunctions fn; | ||
444 | fn.version = DS_VERSION; | ||
445 | fn.start = &start; | ||
446 | fn.step = &simLoop; | ||
447 | fn.command = &command; | ||
448 | fn.stop = 0; | ||
449 | fn.path_to_textures = "../../drawstuff/textures"; | ||
450 | if(argc==2) | ||
451 | { | ||
452 | fn.path_to_textures = argv[1]; | ||
453 | } | ||
454 | |||
455 | // create world | ||
456 | dInitODE(); | ||
457 | world = dWorldCreate(); | ||
458 | |||
459 | space = dSimpleSpaceCreate(0); | ||
460 | contactgroup = dJointGroupCreate (0); | ||
461 | dWorldSetGravity (world,0,0,-0.5); | ||
462 | dWorldSetCFM (world,1e-5); | ||
463 | //dCreatePlane (space,0,0,1,0); | ||
464 | memset (obj,0,sizeof(obj)); | ||
465 | |||
466 | Size[0] = 5.0f; | ||
467 | Size[1] = 5.0f; | ||
468 | Size[2] = 2.5f; | ||
469 | |||
470 | Vertices[0][0] = -Size[0]; | ||
471 | Vertices[0][1] = -Size[1]; | ||
472 | Vertices[0][2] = Size[2]; | ||
473 | |||
474 | Vertices[1][0] = Size[0]; | ||
475 | Vertices[1][1] = -Size[1]; | ||
476 | Vertices[1][2] = Size[2]; | ||
477 | |||
478 | Vertices[2][0] = Size[0]; | ||
479 | Vertices[2][1] = Size[1]; | ||
480 | Vertices[2][2] = Size[2]; | ||
481 | |||
482 | Vertices[3][0] = -Size[0]; | ||
483 | Vertices[3][1] = Size[1]; | ||
484 | Vertices[3][2] = Size[2]; | ||
485 | |||
486 | Vertices[4][0] = 0; | ||
487 | Vertices[4][1] = 0; | ||
488 | Vertices[4][2] = 0; | ||
489 | |||
490 | Indices[0] = 0; | ||
491 | Indices[1] = 1; | ||
492 | Indices[2] = 4; | ||
493 | |||
494 | Indices[3] = 1; | ||
495 | Indices[4] = 2; | ||
496 | Indices[5] = 4; | ||
497 | |||
498 | Indices[6] = 2; | ||
499 | Indices[7] = 3; | ||
500 | Indices[8] = 4; | ||
501 | |||
502 | Indices[9] = 3; | ||
503 | Indices[10] = 0; | ||
504 | Indices[11] = 4; | ||
505 | |||
506 | dTriMeshDataID Data = dGeomTriMeshDataCreate(); | ||
507 | |||
508 | dGeomTriMeshDataBuildSimple(Data, (dReal*)Vertices, VertexCount, Indices, IndexCount); | ||
509 | |||
510 | TriMesh = dCreateTriMesh(space, Data, 0, 0, 0); | ||
511 | |||
512 | //dGeomSetPosition(TriMesh, 0, 0, 1.0); | ||
513 | |||
514 | Ray = dCreateRay(space, 0.9); | ||
515 | dVector3 Origin, Direction; | ||
516 | Origin[0] = 0.0; | ||
517 | Origin[1] = 0; | ||
518 | Origin[2] = 0.5; | ||
519 | Origin[3] = 0; | ||
520 | |||
521 | Direction[0] = 0; | ||
522 | Direction[1] = 1.1f; | ||
523 | Direction[2] = -1; | ||
524 | Direction[3] = 0; | ||
525 | dNormalize3(Direction); | ||
526 | |||
527 | dGeomRaySet(Ray, Origin[0], Origin[1], Origin[2], Direction[0], Direction[1], Direction[2]); | ||
528 | |||
529 | // run simulation | ||
530 | dsSimulationLoop (argc,argv,352,288,&fn); | ||
531 | |||
532 | dJointGroupDestroy (contactgroup); | ||
533 | dSpaceDestroy (space); | ||
534 | dWorldDestroy (world); | ||
535 | dCloseODE(); | ||
536 | return 0; | ||
537 | } | ||
diff --git a/libraries/ode-0.9/ode/demo/world_geom3.h b/libraries/ode-0.9/ode/demo/world_geom3.h new file mode 100644 index 0000000..0b94a5e --- /dev/null +++ b/libraries/ode-0.9/ode/demo/world_geom3.h | |||
@@ -0,0 +1,9 @@ | |||
1 | // mesh for a world model, to be used with test_cyl.cpp | ||
2 | |||
3 | static float world_vertices[] = 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| ||
4 | |||
5 | static float world_normals[] = 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| ||
6 | |||
7 | |||
8 | static int world_indices[] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227}; | ||
9 | |||