aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/libraries/ode-0.9/ode/demo/demo_feedback.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'libraries/ode-0.9/ode/demo/demo_feedback.cpp')
-rw-r--r--libraries/ode-0.9/ode/demo/demo_feedback.cpp314
1 files changed, 0 insertions, 314 deletions
diff --git a/libraries/ode-0.9/ode/demo/demo_feedback.cpp b/libraries/ode-0.9/ode/demo/demo_feedback.cpp
deleted file mode 100644
index fd49278..0000000
--- a/libraries/ode-0.9/ode/demo/demo_feedback.cpp
+++ /dev/null
@@ -1,314 +0,0 @@
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
46static dWorldID world;
47static dSpaceID space;
48
49static const int STACKCNT=10; // nr of weights on bridge
50static const int SEGMCNT=16; // nr of segments in bridge
51static const float SEGMDIM[3] = { 0.9, 4, 0.1 };
52
53static dGeomID groundgeom;
54static dBodyID segbodies[SEGMCNT];
55static dGeomID seggeoms[SEGMCNT];
56static dBodyID stackbodies[STACKCNT];
57static dGeomID stackgeoms[STACKCNT];
58static dJointID hinges[SEGMCNT-1];
59static dJointID sliders[2];
60static dJointFeedback jfeedbacks[SEGMCNT-1];
61static dReal colours[SEGMCNT];
62static int stress[SEGMCNT-1];
63
64static dJointGroupID contactgroup;
65
66
67// this is called by dSpaceCollide when two objects in space are
68// potentially colliding.
69
70static 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
107static 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
118static void command (int cmd)
119{
120}
121
122
123
124void 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
145static 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
176static 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
216int 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
generated by cgit v1.1 at 2024-11-09 22:59:38 +0000