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1Benoit CHAPEROT 2003-2004 www.jstarlab.com
2Support for terrain and cones, collision and drawing.
3
4Terrains can be with z up (dTerrainZ) or y up (dTerrainY).
5Terrains are defined by a height field.
6Terrains are now placeable.
7Terrains can now be finite or infinite (repeat themselve in the x and (y or z) directions).
8
9Terrains can potentially collide with everything that collides with planes and rays;
10see the switch statement.
11
12Cones currently collides only with terrain and planes and rays.
13Cones, with high radius to height ratios are perfect to simulate vehicle wheels on terrains.
14
15
16
17There was an error in the depths returned by dCollideTerrain.
18Plus now contacts are not sorted according to their depths.
19Contact sorting is now supposed to be done externally.
20Not all dCollide functions seem to sort contacts according to depth.
21Requesting a high number of contacts, sorting them and then considering only the most significant contacts
22is a good way I think to improve stability.
23* Cones Collisions with spheres, boxes, ccylinder and trimesh are now roughly approximated using sphere collisions.
24
25You will need to complete the following operations (with ODE 0.039):
26
27*** add to folder ode\src:
28
29dCone.cpp
30dTerrainY.cpp
31dTerrainZ.cpp
32collision_std_internal.h
33
34On linux => edit each .cpp file and comment out #include "windows.h" & #include "ode\ode.h"
35
36
37*** add to drawstuff\src\drawstuff.cpp:
38
39static void drawCone(float l, float r)
40{
41 int i;
42 float tmp,ny,nz,a,ca,sa;
43 const int n = 24; // number of sides to the cone (divisible by 4)
44
45 a = float(M_PI*2.0)/float(n);
46 sa = (float) sin(a);
47 ca = (float) cos(a);
48
49 // draw top
50 glShadeModel (GL_FLAT);
51 ny=1; nz=0; // normal vector = (0,ny,nz)
52 glBegin (GL_TRIANGLE_FAN);
53 glNormal3d (0,0,1);
54 glVertex3d (0,0,l);
55 for (i=0; i<=n; i++) {
56 if (i==1 || i==n/2+1)
57 setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
58 glNormal3d (ny*r,nz*r,0);
59 glVertex3d (ny*r,nz*r,0);
60 if (i==1 || i==n/2+1)
61 setColor (color[0],color[1],color[2],color[3]);
62
63 // rotate ny,nz
64 tmp = ca*ny - sa*nz;
65 nz = sa*ny + ca*nz;
66 ny = tmp;
67 }
68 glEnd();
69
70 // draw bottom
71 ny=1; nz=0; // normal vector = (0,ny,nz)
72 glBegin (GL_TRIANGLE_FAN);
73 glNormal3d (0,0,-1);
74 glVertex3d (0,0,0);
75 for (i=0; i<=n; i++) {
76 if (i==1 || i==n/2+1)
77 setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
78 glNormal3d (0,0,-1);
79 glVertex3d (ny*r,nz*r,0);
80 if (i==1 || i==n/2+1)
81 setColor (color[0],color[1],color[2],color[3]);
82
83 // rotate ny,nz
84 tmp = ca*ny + sa*nz;
85 nz = -sa*ny + ca*nz;
86 ny = tmp;
87 }
88 glEnd();
89}
90
91void dsDrawCone (const float pos[3], const float R[12], float length, float radius)
92{
93 if (current_state != 2) dsError ("drawing function called outside simulation loop");
94 setupDrawingMode();
95 glShadeModel (GL_SMOOTH);
96 setTransform (pos,R);
97 drawCone (length,radius);
98 glPopMatrix();
99
100 if (use_shadows) {
101 setShadowDrawingMode();
102 setShadowTransform();
103 setTransform (pos,R);
104 drawCone (length,radius);
105 glPopMatrix();
106 glPopMatrix();
107 glDepthRange (0,1);
108 }
109}
110
111void dsDrawConeD (const double pos[3], const double R[12], float length, float radius)
112{
113 int i;
114 float pos2[3],R2[12];
115 for (i=0; i<3; i++) pos2[i]=(float)pos[i];
116 for (i=0; i<12; i++) R2[i]=(float)R[i];
117 dsDrawCone(pos2,R2,length,radius);
118}
119
120static float GetHeight(int x,int y,int nNumNodesPerSide,float *pHeights)
121{
122 int nNumNodesPerSideMask = nNumNodesPerSide - 1;
123 return pHeights[ (((unsigned int)(y) & nNumNodesPerSideMask) * nNumNodesPerSide)
124 + ((unsigned int)(x) & nNumNodesPerSideMask)];
125}
126
127void dsDrawTerrainY(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos)
128{
129 float A[3],B[3],C[3],D[3];
130 float R[12];
131 float pos[3];
132 if (pR)
133 memcpy(R,pR,sizeof(R));
134 else
135 {
136 memset(R,0,sizeof(R));
137 R[0] = 1.f;
138 R[5] = 1.f;
139 R[10] = 1.f;
140 }
141
142 if (ppos)
143 memcpy(pos,ppos,sizeof(pos));
144 else
145 memset(pos,0,sizeof(pos));
146
147 float vx,vz;
148 vx = vLength * x;
149 vz = vLength * z;
150
151 int i;
152 for (i=0;i<nNumNodesPerSide;i++)
153 {
154 for (int j=0;j<nNumNodesPerSide;j++)
155 {
156 A[0] = i * vNodeLength + vx;
157 A[2] = j * vNodeLength + vz;
158 A[1] = GetHeight(i,j,nNumNodesPerSide,pHeights);
159 B[0] = (i+1) * vNodeLength + vx;
160 B[2] = j * vNodeLength + vz;
161 B[1] = GetHeight(i+1,j,nNumNodesPerSide,pHeights);
162 C[0] = i * vNodeLength + vx;
163 C[2] = (j+1) * vNodeLength + vz;
164 C[1] = GetHeight(i,j+1,nNumNodesPerSide,pHeights);
165 D[0] = (i+1) * vNodeLength + vx;
166 D[2] = (j+1) * vNodeLength + vz;
167 D[1] = GetHeight(i+1,j+1,nNumNodesPerSide,pHeights);
168 dsDrawTriangle(pos,R,C,B,A,1);
169 dsDrawTriangle(pos,R,D,B,C,1);
170 }
171 }
172}
173
174void dsDrawTerrainZ(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos)
175{
176 float A[3],B[3],C[3],D[3];
177 float R[12];
178 float pos[3];
179 if (pR)
180 memcpy(R,pR,sizeof(R));
181 else
182 {
183 memset(R,0,sizeof(R));
184 R[0] = 1.f;
185 R[5] = 1.f;
186 R[10] = 1.f;
187 }
188
189 if (ppos)
190 memcpy(pos,ppos,sizeof(pos));
191 else
192 memset(pos,0,sizeof(pos));
193
194 float vx,vz;
195 vx = vLength * x;
196 vz = vLength * z;
197
198 int i;
199 for (i=0;i<nNumNodesPerSide;i++)
200 {
201 for (int j=0;j<nNumNodesPerSide;j++)
202 {
203 A[0] = i * vNodeLength + vx;
204 A[1] = j * vNodeLength + vz;
205 A[2] = GetHeight(i,j,nNumNodesPerSide,pHeights);
206 B[0] = (i+1) * vNodeLength + vx;
207 B[1] = j * vNodeLength + vz;
208 B[2] = GetHeight(i+1,j,nNumNodesPerSide,pHeights);
209 C[0] = i * vNodeLength + vx;
210 C[1] = (j+1) * vNodeLength + vz;
211 C[2] = GetHeight(i,j+1,nNumNodesPerSide,pHeights);
212 D[0] = (i+1) * vNodeLength + vx;
213 D[1] = (j+1) * vNodeLength + vz;
214 D[2] = GetHeight(i+1,j+1,nNumNodesPerSide,pHeights);
215 dsDrawTriangle(pos,R,C,A,B,1);
216 dsDrawTriangle(pos,R,D,C,B,1);
217 }
218 }
219}
220
221*** add to include\drawstuff\drawstuff.h:
222void dsDrawCone (const float pos[3], const float R[12], float length, float radius);
223void dsDrawConeD (const double pos[3], const double R[12], float length, float radius);
224void dsDrawTerrainY(int x,int y,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos);
225void dsDrawTerrainZ(int x,int y,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos);
226
227*** add in include\ode\collision.h line 77:
228/* class numbers - each geometry object needs a unique number */
229enum {
230 dSphereClass = 0,
231 dBoxClass,
232 dCCylinderClass,
233 dCylinderClass,
234 dPlaneClass,
235 dRayClass,
236 dGeomTransformClass,
237 dTriMeshClass,
238
239 dTerrainYClass, //here
240 dTerrainZClass, //here
241 dConeClass, //here
242
243 dFirstSpaceClass,
244 dSimpleSpaceClass = dFirstSpaceClass,
245 dHashSpaceClass,
246 dQuadTreeSpaceClass,
247
248 dLastSpaceClass = dQuadTreeSpaceClass,
249
250 dFirstUserClass,
251 dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
252 dGeomNumClasses
253};
254
255dGeomID dCreateTerrainY (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
256dReal dGeomTerrainYPointDepth (dGeomID g, dReal x, dReal y, dReal z);
257dGeomID dCreateTerrainZ (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
258dReal dGeomTerrainZPointDepth (dGeomID g, dReal x, dReal y, dReal z);
259
260dGeomID dCreateCone(dSpaceID space, dReal radius, dReal length);
261void dGeomConeSetParams (dGeomID cone, dReal radius, dReal length);
262void dGeomConeGetParams (dGeomID cone, dReal *radius, dReal *length);
263dReal dGeomConePointDepth(dGeomID g, dReal x, dReal y, dReal z);
264
265*** add in include\ode\odemath.h:
266#define dOP(a,op,b,c) \
267 (a)[0] = ((b)[0]) op ((c)[0]); \
268 (a)[1] = ((b)[1]) op ((c)[1]); \
269 (a)[2] = ((b)[2]) op ((c)[2]);
270#define dOPC(a,op,b,c) \
271 (a)[0] = ((b)[0]) op (c); \
272 (a)[1] = ((b)[1]) op (c); \
273 (a)[2] = ((b)[2]) op (c);
274#define dOPE(a,op,b) \
275 (a)[0] op ((b)[0]); \
276 (a)[1] op ((b)[1]); \
277 (a)[2] op ((b)[2]);
278#define dOPEC(a,op,c) \
279 (a)[0] op (c); \
280 (a)[1] op (c); \
281 (a)[2] op (c);
282#define dLENGTH(a) \
283 (dSqrt( ((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]) ));
284#define dLENGTHSQUARED(a) \
285 (((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]));
286
287*** add in ode\src\collision_kernel.cpp function 'static void initColliders()' next to other 'setCollider' calls:
288 setCollider (dTerrainYClass,dSphereClass,&dCollideTerrainY);
289 setCollider (dTerrainYClass,dBoxClass,&dCollideTerrainY);
290 setCollider (dTerrainYClass,dCCylinderClass,&dCollideTerrainY);
291 setCollider (dTerrainYClass,dRayClass,&dCollideTerrainY);
292 setCollider (dTerrainYClass,dConeClass,&dCollideTerrainY);
293
294 setCollider (dTerrainZClass,dSphereClass,&dCollideTerrainZ);
295 setCollider (dTerrainZClass,dBoxClass,&dCollideTerrainZ);
296 setCollider (dTerrainZClass,dCCylinderClass,&dCollideTerrainZ);
297 setCollider (dTerrainZClass,dRayClass,&dCollideTerrainZ);
298 setCollider (dTerrainZClass,dConeClass,&dCollideTerrainZ);
299
300 setCollider (dRayClass,dConeClass,&dCollideRayCone);
301 setCollider (dConeClass,dPlaneClass,&dCollideConePlane);
302 setCollider (dConeClass,dSphereClass,&dCollideConeSphere);
303 setCollider (dConeClass,dBoxClass,&dCollideConeBox);
304 setCollider (dCCylinderClass,dConeClass,&dCollideCCylinderCone);
305 setCollider (dTriMeshClass,dConeClass,&dCollideTriMeshCone);
306
307*** add in ode\src\collision_std.h:
308int dCollideTerrainY(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
309int dCollideTerrainZ(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
310
311int dCollideConePlane (dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
312int dCollideRayCone (dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
313int dCollideConeSphere(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
314int dCollideConeBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
315int dCollideCCylinderCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
316int dCollideTriMeshCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
317
318*** add dCone.cpp, dTerrainY.cpp and dTerrainZ.cpp to the the ODE_SRC variable in the makefile
319On Linux => add dCone.cpp, dTerrainY.cpp and dTerrainZ.cpp to the the libode_a_SOURCES variable in the ode/src/Makefile.am file.
320
321*** now you can now test using file test_boxstackb.cpp (to add in folder ode\test).
322
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