aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/libraries/ode-0.9/ode/demo/demo_slider.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'libraries/ode-0.9/ode/demo/demo_slider.cpp')
-rw-r--r--libraries/ode-0.9/ode/demo/demo_slider.cpp172
1 files changed, 0 insertions, 172 deletions
diff --git a/libraries/ode-0.9/ode/demo/demo_slider.cpp b/libraries/ode-0.9/ode/demo/demo_slider.cpp
deleted file mode 100644
index 5de08b0..0000000
--- a/libraries/ode-0.9/ode/demo/demo_slider.cpp
+++ /dev/null
@@ -1,172 +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#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
42static dWorldID world;
43static dBodyID body[2];
44static dJointID slider;
45
46
47// state set by keyboard commands
48static int occasional_error = 0;
49
50
51// start simulation - set viewpoint
52
53static 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
64static void command (int cmd)
65{
66 if (cmd == 'e' || cmd == 'E') {
67 occasional_error ^= 1;
68 }
69}
70
71
72// simulation loop
73
74static 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
130int 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}
generated by cgit v1.1 at 2024-11-11 04:23:14 +0000