1 files changed, 1375 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/TerrainAndCone/test_boxstackb.cpp b/libraries/ode-0.9/contrib/TerrainAndCone/test_boxstackb.cpp
new file mode 100644
index 0000000..f1fa592
--- /dev/null
+++ b/libraries/ode-0.9/contrib/TerrainAndCone/test_boxstackb.cpp
@@ -0,0 +1,1375 @@
+/*************************************************************************
+
+
+*                                                                                                                                                *
+
+
+* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.                *
+
+
+* All rights reserved.  Email: russ@q12.org   Web: www.q12.org           *
+
+
+*                                                                                                                                                *
+
+
+* This library is free software; you can redistribute it and/or          *
+
+
+* modify it under the terms of EITHER:                                                           *
+
+
+*        (1) The GNU Lesser General Public License as published by the Free  *
+
+
+*                Software Foundation; either version 2.1 of the License, or (at  *
+
+
+*                your option) any later version. The text of the GNU Lesser      *
+
+
+*                General Public License is included with this library in the     *
+
+
+*                file LICENSE.TXT.                                                                                               *
+
+
+*        (2) The BSD-style license that is included with this library in         *
+
+
+*                the file LICENSE-BSD.TXT.                                                                               *
+
+
+*                                                                                                                                                *
+
+
+* This library is distributed in the hope that it will be useful,                *
+
+
+* but WITHOUT ANY WARRANTY; without even the implied warranty of                 *
+
+
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files     *
+
+
+* LICENSE.TXT and LICENSE-BSD.TXT for more details.                                      *
+
+
+*                                                                                                                                                *
+
+
+*************************************************************************/
+
+
+
+
+
+#include <ode/ode.h>
+
+
+#include <drawstuff/drawstuff.h>
+
+
+
+
+
+#ifdef _MSC_VER
+
+
+#pragma warning(disable:4244 4305)      // for VC++, no precision loss complaints
+
+
+#endif
+
+
+
+
+
+// select correct drawing functions
+
+
+
+
+
+#ifdef dDOUBLE
+
+
+#define dsDrawBox dsDrawBoxD
+
+
+#define dsDrawSphere dsDrawSphereD
+
+
+#define dsDrawCylinder dsDrawCylinderD
+
+
+#define dsDrawCappedCylinder dsDrawCappedCylinderD
+
+
+#endif
+
+
+
+
+
+
+
+
+// some constants
+
+
+
+
+
+const dReal vTerrainLength = 4.f;
+
+
+const dReal vTerrainHeight = 0.5f;
+
+
+const int TERRAINNODES = 4;
+
+
+dReal pTerrainHeights[TERRAINNODES*TERRAINNODES];
+
+
+
+
+
+dGeomID terrainZ = NULL;
+
+
+dGeomID terrainY = NULL;
+
+
+
+
+
+#define NUM 20                  // max number of objects
+
+
+#define DENSITY (5.0)           // density of all objects
+
+
+#define GPB 3                   // maximum number of geometries per body
+
+
+#define MAX_CONTACTS 4          // maximum number of contact points per body
+
+
+
+
+
+
+
+
+// dynamics and collision objects
+
+
+
+
+
+struct MyObject {
+
+
+        dBodyID body;           // the body
+
+
+        dGeomID geom[GPB];              // geometries representing this body
+
+
+};
+
+
+
+
+
+static int num=0;               // number of objects in simulation
+
+
+static int nextobj=0;           // next object to recycle if num==NUM
+
+
+static dWorldID world;
+
+
+static dSpaceID space;
+
+
+static MyObject obj[NUM];
+
+
+static dJointGroupID contactgroup;
+
+
+static int selected = -1;       // selected object
+
+
+static int show_aabb = 0;       // show geom AABBs?
+
+
+static int show_contacts = 0;   // show contact points?
+
+
+static int random_pos = 1;      // drop objects from random position?
+
+
+
+
+
+
+
+
+// this is called by dSpaceCollide when two objects in space are
+
+
+// potentially colliding.
+
+
+
+
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+
+
+{
+
+
+        int i;
+
+
+        // if (o1->body && o2->body) return;
+
+
+        
+
+
+        // exit without doing anything if the two bodies are connected by a joint
+
+
+        dBodyID b1 = dGeomGetBody(o1);
+
+
+        dBodyID b2 = dGeomGetBody(o2);
+
+
+        if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
+
+
+        
+
+
+        dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box
+
+
+        for (i=0; i<MAX_CONTACTS; i++) {
+
+
+                contact[i].surface.mode = dContactBounce | dContactApprox1;     //dContactSoftCFM;
+
+
+                contact[i].surface.mu = dInfinity;
+
+
+                contact[i].surface.mu2 = 0;
+
+
+                contact[i].surface.bounce = 0.1;
+
+
+                contact[i].surface.bounce_vel = 0.1;
+
+
+                contact[i].surface.soft_cfm = 0.01;
+
+
+        }
+
+
+        if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
+
+
+                sizeof(dContact))) {
+
+
+                dMatrix3 RI;
+
+
+                dRSetIdentity (RI);
+
+
+                const dReal ss[3] = {0.02,0.02,0.02};
+
+
+                for (i=0; i<numc; i++) {
+
+
+                        dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+
+
+                        dJointAttach (c,b1,b2);
+
+
+                        if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
+
+
+                }
+
+
+        }
+
+
+}
+
+
+
+
+
+
+
+
+// start simulation - set viewpoint
+
+
+
+
+
+static void start()
+
+
+{
+
+
+        static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+
+
+        static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+
+
+        dsSetViewpoint (xyz,hpr);
+
+
+        printf ("To drop another object, press:\n");
+
+
+        printf ("   b for box.\n");
+
+
+        printf ("   s for sphere.\n");
+
+
+        printf ("   c for cylinder.\n");
+
+
+        printf ("   x for a composite object.\n");
+
+
+        printf ("To select an object, press space.\n");
+
+
+        printf ("To disable the selected object, press d.\n");
+
+
+        printf ("To enable the selected object, press e.\n");
+
+
+        printf ("To toggle showing the geom AABBs, press a.\n");
+
+
+        printf ("To toggle showing the contact points, press t.\n");
+
+
+        printf ("To toggle dropping from random position/orientation, press r.\n");
+
+
+}
+
+
+
+
+
+
+
+
+char locase (char c)
+
+
+{
+
+
+        if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+
+
+        else return c;
+
+
+}
+
+
+
+
+
+
+
+
+// called when a key pressed
+
+
+
+
+
+static void command (int cmd)
+
+
+{
+
+
+        int i,j,k;
+
+
+        dReal sides[3];
+
+
+        dMass m;
+
+
+        
+
+
+        cmd = locase (cmd);
+
+
+        if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x'
+
+
+                /* || cmd == 'l' */) {
+
+
+                if (num < NUM) {
+
+
+                        i = num;
+
+
+                        num++;
+
+
+                }
+
+
+                else {
+
+
+                        i = nextobj;
+
+
+                        nextobj++;
+
+
+                        if (nextobj >= num) nextobj = 0;
+
+
+                        
+
+
+                        // destroy the body and geoms for slot i
+
+
+                        dBodyDestroy (obj[i].body);
+
+
+                        for (k=0; k < GPB; k++) {
+
+
+                                if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
+
+
+                        }
+
+
+                        memset (&obj[i],0,sizeof(obj[i]));
+
+
+                }
+
+
+                
+
+
+                obj[i].body = dBodyCreate (world);
+
+
+                for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
+
+
+                
+
+
+                dMatrix3 R;
+
+
+                if (random_pos) {
+
+
+                        dBodySetPosition (obj[i].body,
+
+
+                                dRandReal()*2-1,dRandReal()*2+1,dRandReal()+3);
+
+
+                        dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+
+
+                                dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+
+
+                }
+
+
+                else {
+
+
+                        dReal maxheight = 0;
+
+
+                        for (k=0; k<num; k++) {
+
+
+                                const dReal *pos = dBodyGetPosition (obj[k].body);
+
+
+                                if (pos[2] > maxheight) maxheight = pos[2];
+
+
+                        }
+
+
+                        dBodySetPosition (obj[i].body, 0,maxheight+1,maxheight+3);
+
+
+                        dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
+
+
+                }
+
+
+                dBodySetRotation (obj[i].body,R);
+
+
+                dBodySetData (obj[i].body,(void*) i);
+
+
+                
+
+
+                if (cmd == 'b') {
+
+
+                        dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
+
+
+                        obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
+
+
+                }
+
+
+                else if (cmd == 'c') {
+
+
+                        sides[0] *= 0.5;
+
+
+                        dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
+
+
+                        obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]);
+
+
+                }
+
+
+                /*
+
+
+                // cylinder option not yet implemented
+
+
+                else if (cmd == 'l') {
+
+
+                sides[1] *= 0.5;
+
+
+                dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
+
+
+                obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
+
+
+                }
+
+
+                */
+
+
+                else if (cmd == 's') {
+
+
+                        sides[0] *= 0.5;
+
+
+                        dMassSetSphere (&m,DENSITY,sides[0]);
+
+
+                        obj[i].geom[0] = dCreateSphere (space,sides[0]);
+
+
+                }
+
+
+                else if (cmd == 'x') {
+
+
+                        dGeomID g2[GPB];                // encapsulated geometries
+
+
+                        dReal dpos[GPB][3];     // delta-positions for encapsulated geometries
+
+
+                        
+
+
+                        // start accumulating masses for the encapsulated geometries
+
+
+                        dMass m2;
+
+
+                        dMassSetZero (&m);
+
+
+                        
+
+
+                        // set random delta positions
+
+
+                        for (j=0; j<GPB; j++) {
+
+
+                                for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
+
+
+                        }
+
+
+                        
+
+
+                        for (k=0; k<GPB; k++) {
+
+
+                                obj[i].geom[k] = dCreateGeomTransform (space);
+
+
+                                dGeomTransformSetCleanup (obj[i].geom[k],1);
+
+
+                                if (k==0) {
+
+
+                                        dReal radius = dRandReal()*0.25+0.05;
+
+
+                                        g2[k] = dCreateSphere (0,radius);
+
+
+                                        dMassSetSphere (&m2,DENSITY,radius);
+
+
+                                }
+
+
+                                else if (k==1) {
+
+
+                                        g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
+
+
+                                        dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
+
+
+                                }
+
+
+                                else {
+
+
+                                        dReal radius = dRandReal()*0.1+0.05;
+
+
+                                        dReal length = dRandReal()*1.0+0.1;
+
+
+                                        g2[k] = dCreateCCylinder (0,radius,length);
+
+
+                                        dMassSetCappedCylinder (&m2,DENSITY,3,radius,length);
+
+
+                                }
+
+
+                                dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
+
+
+                                
+
+
+                                // set the transformation (adjust the mass too)
+
+
+                                dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
+
+
+                                dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+
+                                dMatrix3 Rtx;
+
+
+                                dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+
+
+                                        dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+
+
+                                dGeomSetRotation (g2[k],Rtx);
+
+
+                                dMassRotate (&m2,Rtx);
+
+
+                                
+
+
+                                // add to the total mass
+
+
+                                dMassAdd (&m,&m2);
+
+
+                        }
+
+
+                        
+
+
+                        // move all encapsulated objects so that the center of mass is (0,0,0)
+
+
+                        for (k=0; k<2; k++) {
+
+
+                                dGeomSetPosition (g2[k],
+
+
+                                        dpos[k][0]-m.c[0],
+
+
+                                        dpos[k][1]-m.c[1],
+
+
+                                        dpos[k][2]-m.c[2]);
+
+
+                        }
+
+
+                        dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
+
+
+                }
+
+
+                
+
+
+                for (k=0; k < GPB; k++) {
+
+
+                        if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
+
+
+                }
+
+
+                
+
+
+                dBodySetMass (obj[i].body,&m);
+
+
+  }
+
+
+  
+
+
+  if (cmd == ' ') {
+
+
+          selected++;
+
+
+          if (selected >= num) selected = 0;
+
+
+          if (selected < 0) selected = 0;
+
+
+  }
+
+
+  else if (cmd == 'd' && selected >= 0 && selected < num) {
+
+
+          dBodyDisable (obj[selected].body);
+
+
+  }
+
+
+  else if (cmd == 'e' && selected >= 0 && selected < num) {
+
+
+          dBodyEnable (obj[selected].body);
+
+
+  }
+
+
+  else if (cmd == 'a') {
+
+
+          show_aabb ^= 1;
+
+
+  }
+
+
+  else if (cmd == 't') {
+
+
+          show_contacts ^= 1;
+
+
+  }
+
+
+  else if (cmd == 'r') {
+
+
+          random_pos ^= 1;
+
+
+  }
+
+
+}
+
+
+
+
+
+
+
+
+// draw a geom
+
+
+
+
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+
+
+{
+
+
+        int i;
+
+
+        
+
+
+        if (!g) return;
+
+
+        if (!pos) pos = dGeomGetPosition (g);
+
+
+        if (!R) R = dGeomGetRotation (g);
+
+
+        
+
+
+        int type = dGeomGetClass (g);
+
+
+        if (type == dBoxClass) {
+
+
+                dVector3 sides;
+
+
+                dGeomBoxGetLengths (g,sides);
+
+
+                dsDrawBox (pos,R,sides);
+
+
+        }
+
+
+        else if (type == dSphereClass) {
+
+
+                dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
+
+
+        }
+
+
+        else if (type == dCCylinderClass) {
+
+
+                dReal radius,length;
+
+
+                dGeomCCylinderGetParams (g,&radius,&length);
+
+
+                dsDrawCappedCylinder (pos,R,length,radius);
+
+
+        }
+
+
+        /*
+
+
+        // cylinder option not yet implemented
+
+
+        else if (type == dCylinderClass) {
+
+
+        dReal radius,length;
+
+
+        dGeomCylinderGetParams (g,&radius,&length);
+
+
+        dsDrawCylinder (pos,R,length,radius);
+
+
+        }
+
+
+        */
+
+
+        else if (type == dGeomTransformClass) {
+
+
+                dGeomID g2 = dGeomTransformGetGeom (g);
+
+
+                const dReal *pos2 = dGeomGetPosition (g2);
+
+
+                const dReal *R2 = dGeomGetRotation (g2);
+
+
+                dVector3 actual_pos;
+
+
+                dMatrix3 actual_R;
+
+
+                dMULTIPLY0_331 (actual_pos,R,pos2);
+
+
+                actual_pos[0] += pos[0];
+
+
+                actual_pos[1] += pos[1];
+
+
+                actual_pos[2] += pos[2];
+
+
+                dMULTIPLY0_333 (actual_R,R,R2);
+
+
+                drawGeom (g2,actual_pos,actual_R,0);
+
+
+        }
+
+
+        
+
+
+        if (show_aabb) {
+
+
+                // draw the bounding box for this geom
+
+
+                dReal aabb[6];
+
+
+                dGeomGetAABB (g,aabb);
+
+
+                dVector3 bbpos;
+
+
+                for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+
+
+                dVector3 bbsides;
+
+
+                for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
+
+
+                dMatrix3 RI;
+
+
+                dRSetIdentity (RI);
+
+
+                dsSetColorAlpha (1,0,0,0.5);
+
+
+                dsDrawBox (bbpos,RI,bbsides);
+
+
+        }
+
+
+}
+
+
+
+
+
+
+
+
+// simulation loop
+
+
+
+
+
+static void simLoop (int pause)
+
+
+{
+
+
+        dsSetColor (0,0,2);
+
+
+        dSpaceCollide (space,0,&nearCallback);
+
+
+        if (!pause) dWorldStep (world,0.05);
+
+
+
+
+
+        dAASSERT(terrainY);
+
+
+        dAASSERT(terrainZ);
+
+
+        dsSetColor (0,1,0);
+
+
+        dsDrawTerrainY(0,0,vTerrainLength,vTerrainLength/TERRAINNODES,TERRAINNODES,pTerrainHeights,dGeomGetRotation(terrainY),dGeomGetPosition(terrainY));
+
+
+        dsDrawTerrainZ(0,0,vTerrainLength,vTerrainLength/TERRAINNODES,TERRAINNODES,pTerrainHeights,dGeomGetRotation(terrainZ),dGeomGetPosition(terrainZ));
+
+
+
+
+
+        if (show_aabb) 
+
+
+        {
+
+
+                dReal aabb[6];
+
+
+                dGeomGetAABB (terrainY,aabb);
+
+
+                dVector3 bbpos;
+
+
+                int i;
+
+
+                for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+
+
+                dVector3 bbsides;
+
+
+                for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
+
+
+                dMatrix3 RI;
+
+
+                dRSetIdentity (RI);
+
+
+                dsSetColorAlpha (1,0,0,0.5);
+
+
+                dsDrawBox (bbpos,RI,bbsides);
+
+
+
+
+
+                dGeomGetAABB (terrainZ,aabb);
+
+
+                for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+
+
+                for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
+
+
+                dsDrawBox (bbpos,RI,bbsides);
+
+
+        }
+
+
+
+
+
+        dsSetColor (1,1,0);
+
+
+        
+
+
+        // remove all contact joints
+
+
+        dJointGroupEmpty (contactgroup);
+
+
+        
+
+
+        dsSetColor (1,1,0);
+
+
+        dsSetTexture (DS_WOOD);
+
+
+        for (int i=0; i<num; i++) {
+
+
+                for (int j=0; j < GPB; j++) {
+
+
+                        if (i==selected) {
+
+
+                                dsSetColor (0,0.7,1);
+
+
+                        }
+
+
+                        else if (! dBodyIsEnabled (obj[i].body)) {
+
+
+                                dsSetColor (1,0,0);
+
+
+                        }
+
+
+                        else {
+
+
+                                dsSetColor (1,1,0);
+
+
+                        }
+
+
+                        drawGeom (obj[i].geom[j],0,0,show_aabb);
+
+
+                }
+
+
+        }
+
+
+}
+
+
+
+
+
+
+
+
+int main (int argc, char **argv)
+
+
+{
+
+
+        // setup pointers to drawstuff callback functions
+
+
+        dsFunctions fn;
+
+
+        fn.version = DS_VERSION;
+
+
+        fn.start = &start;
+
+
+        fn.step = &simLoop;
+
+
+        fn.command = &command;
+
+
+        fn.stop = 0;
+
+
+        fn.path_to_textures = "../../drawstuff/textures";
+
+
+  if(argc==2)
+    {
+        fn.path_to_textures = argv[1];
+    }
+        
+
+
+        // create world
+
+
+        
+
+
+        world = dWorldCreate();
+
+
+        space = dHashSpaceCreate (0);
+
+
+        contactgroup = dJointGroupCreate (0);
+
+
+        dWorldSetGravity (world,0,0,-0.5); //-0.5
+
+
+        dWorldSetCFM (world,1e-5);
+
+
+        dCreatePlane (space,0,0,1,0);
+
+
+        memset (obj,0,sizeof(obj));
+
+
+
+
+
+        for (int i=0;i<TERRAINNODES*TERRAINNODES;i++)   pTerrainHeights[i] = vTerrainHeight * dRandReal();
+
+
+        terrainY = dCreateTerrainY(space,pTerrainHeights,vTerrainLength,TERRAINNODES,1,1);
+
+
+        terrainZ = dCreateTerrainZ(space,pTerrainHeights,vTerrainLength,TERRAINNODES,1,1);
+
+
+
+
+
+        dMatrix3 R;
+
+
+        dRFromZAxis(R, 0.2f, 0.2f, 0.2f);
+
+
+        dGeomSetPosition(terrainY,0.f,0.f,0.5f);
+
+
+        dGeomSetRotation(terrainY,R);
+
+
+        dGeomSetPosition(terrainZ,0.f,0.f,0.5f);
+
+
+        dGeomSetRotation(terrainZ,R);
+
+
+
+
+
+        // run simulation
+
+
+        dsSimulationLoop (argc,argv,352,288,&fn);
+
+
+        
+
+
+        dJointGroupDestroy (contactgroup);
+
+
+        dSpaceDestroy (space);
+
+
+        dWorldDestroy (world);
+
+
+        
+
+
+        return 0;
+
+
+}
+
+