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#include <stdio.h>
#include <glut.h>
#include "ode.h"
#define NUMBODIES 80
#define USE_SPHERE 0
#define USE_HELIX 1
#define USE_TORQUE 1
#define USE_WEIRD_MATRIX_OPS 0
#define CONTACTS 1
dWorldID aWorld;
dSpaceID aSpace;
float cycle = 0, fade;
dJointGroupID aContactGroup;
dBodyID bodies[NUMBODIES];
dGeomID geoms[NUMBODIES];
GLfloat colors[NUMBODIES][4];
unsigned int contactsThisFrame;
void kglTransformByODEGeom(dGeomID geom) {
const dReal *p = dGeomGetPosition(geom);
const dReal *R = dGeomGetRotation(geom);
GLdouble glm[16];
glm[0] = R[0]; glm[1] = R[4]; glm[2] = R[8]; glm[3] = 0;
glm[4] = R[1]; glm[5] = R[5]; glm[6] = R[9]; glm[7] = 0;
glm[8] = R[2]; glm[9] = R[6]; glm[10] = R[10];glm[11] = 0;
glm[12] = p[0]; glm[13] = p[1]; glm[14] = p[2]; glm[15] = 1;
glMultMatrixd(glm);
}
static void odeNearCallback(void *data, dGeomID g1, dGeomID g2) {
dBodyID b1 = dGeomGetBody(g1),
b2 = dGeomGetBody(g2);
dContact contact[CONTACTS];
int contactsUsed, i;
if (b1 && b2 && dAreConnected(b1, b2)) return;
contactsUsed = dCollide(g1, g2, CONTACTS, &contact[0].geom,
sizeof(dContact));
if (contactsUsed > CONTACTS) contactsUsed = CONTACTS;
for (i = 0; i < contactsUsed; i++) {
contact[i].surface.mode = 0;
contact[i].surface.mu = 20.0;
dJointAttach(dJointCreateContact(aWorld, aContactGroup,
&(contact[i])), b1, b2);
contactsThisFrame++;
}
}
void myGlutResize(int w, int h) {
glViewport(0, 0, w, h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(45.0, (GLfloat)w / h, 1.0, 120.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef(0, -6, -20);
}
void myGlutIdle(void) {
const float step = 1.0/120;
int i;
cycle = fmod(cycle + step / 4, 1);
fade = fabs(cycle * 2 - 1);
contactsThisFrame = 0;
dSpaceCollide(aSpace, NULL, &odeNearCallback);
//printf("%u\n", contactsThisFrame);
dWorldStep(aWorld, step);
dJointGroupEmpty(aContactGroup);
for (i = 0; i < NUMBODIES; i++) {
const dReal *cvel = dBodyGetLinearVel(bodies[i]);
dBodyAddForce(bodies[i],
-cvel[0] * 0.5,
-cvel[1] * 0.5,
-cvel[2] * 0.5
);
}
glutPostRedisplay();
}
void myGlutDisplay(void) {
int i;
glClearColor(fade * 0.15, 0, 0, 1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (USE_WEIRD_MATRIX_OPS) glPushMatrix();
for (i = 0; i < NUMBODIES; i++) {
if (!USE_WEIRD_MATRIX_OPS) glPushMatrix();
kglTransformByODEGeom(geoms[i]);
glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, colors[i]);
glColor3f(fade * 1.5, 0, 0);
#if USE_SPHERE
glRotatef(90, 1, 0, 0);
glutSolidSphere(0.5, 9, 6);
glDisable(GL_LIGHTING);
glutWireSphere(0.5, 9, 6);
#else
glutSolidCube(1);
glDisable(GL_LIGHTING);
glutWireCube(1);
#endif
glEnable(GL_LIGHTING);
if (!USE_WEIRD_MATRIX_OPS) glPopMatrix();
}
if (USE_WEIRD_MATRIX_OPS) glPopMatrix();
glutSwapBuffers();
}
int main(int argc, char **argv) {
printf("Initializing GLUT\n");
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
glutInitWindowSize(400, 300);
glutInitWindowPosition(100, 100);
glutCreateWindow("ODE Crash Test");
glutDisplayFunc(myGlutDisplay);
glutReshapeFunc(myGlutResize);
glutIdleFunc(myGlutIdle);
glPolygonOffset(1, 1);
glDepthFunc(GL_LEQUAL);
glEnable(GL_POLYGON_OFFSET_FILL);
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
myGlutResize(400, 300);
printf("Creating ODE world\n");
aWorld = dWorldCreate();
aSpace = dHashSpaceCreate();
aContactGroup = dJointGroupCreate(0);
dCreatePlane(aSpace, 0, 1, 0, 0);
dWorldSetGravity(aWorld, 0, -9.81, 0);
dWorldSetERP(aWorld, 0.4);
dWorldSetCFM(aWorld, 1e-10);
printf("Creating objects\n");
{
int i;
dMass mass;
dMassSetBox(&mass, 1.0, 1, 1, 1);
for (i = 0; i < NUMBODIES; i++) {
float fraction = (float)i / NUMBODIES;
bodies[i] = dBodyCreate(aWorld);
dBodySetMass(bodies[i], &mass);
#if USE_SPHERE
geoms[i] = dCreateSphere(aSpace, 0.5);
#else
geoms[i] = dCreateBox(aSpace, 1, 1, 1);
#endif
dGeomSetBody(geoms[i], bodies[i]);
if (USE_HELIX) {
float r = (i % 3 - 1) * (1.5+4*(1 - fraction)),
theta = (float)i / 4;
dBodySetPosition(bodies[i],
sin(theta) * r,
(float)i + 1,
cos(theta) * r
);
} else {
dBodySetPosition(bodies[i], 0, (float)i * 2 + 1, 0);
}
if (USE_TORQUE) dBodyAddTorque(bodies[i], fraction*10, fraction*20, fraction*30);
colors[i][0] = fraction;
colors[i][1] = 1 - fraction;
colors[i][2] = 1 - fabs(fraction * 2 - 1);
colors[i][3] = 1;
}
}
printf("Starting simulation\n");
glutMainLoop();
return 0;
}
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