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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
59static dWorldID world=0;
60static dBodyID body[NUM];
61static dJointID joint[NUMJ];
62
63
64// create the test system
65
66void 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
129static 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
139static 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
168int 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}
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