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using System;
using System.Collections.Generic;
using Drawstuff.NET;
namespace Ode.NET
{
#if dDOUBLE
using dReal = System.Double;
#else
using dReal = System.Single;
#endif
public class TestBoxStack
{
#region Description of convex shape
static dReal[] planes =
{
1.0f, 0.0f, 0.0f, 0.25f,
0.0f, 1.0f, 0.0f, 0.25f,
0.0f, 0.0f, 1.0f, 0.25f,
0.0f, 0.0f, -1.0f, 0.25f,
0.0f, -1.0f, 0.0f, 0.25f,
-1.0f, 0.0f , 0.0f, 0.25f
};
static dReal[] points =
{
0.25f, 0.25f, 0.25f,
-0.25f, 0.25f, 0.25f,
0.25f, -0.25f, 0.25f,
-0.25f, -0.25f, 0.25f,
0.25f, 0.25f, -0.25f,
-0.25f,0.25f,-0.25f,
0.25f,-0.25f,-0.25f,
-0.25f,-0.25f,-0.25f,
};
static int[] polygons =
{
4, 0, 2, 6, 4,
4, 1, 0, 4, 5,
4, 0, 1, 3, 2,
4, 3, 1, 5, 7,
4, 2, 3, 7, 6,
4, 5, 4, 6, 7,
};
#endregion
const int NUM = 100;
const float DENSITY = 5.0f;
const int MAX_CONTACTS = 8;
static IntPtr world;
static IntPtr space;
static IntPtr contactgroup;
static Queue<IntPtr> obj = new Queue<IntPtr>();
static d.Vector3 xyz = new d.Vector3(2.1640f, -1.3079f, 1.7600f);
static d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
static d.NearCallback nearCallback = near;
static d.ContactGeom[] contacts = new d.ContactGeom[MAX_CONTACTS];
static d.Contact contact;
// Called when window is opened - sets up viewpoint and prints usage
static void start(int unused)
{
ds.SetViewpoint(ref xyz, ref hpr);
Console.WriteLine("To drop another object, press:");
Console.WriteLine(" b for box.");
Console.WriteLine(" s for sphere.");
Console.WriteLine(" c for capsule.");
Console.WriteLine(" y for cylinder.");
Console.WriteLine(" v for a convex object.");
Console.WriteLine(" x for a composite object.");
Console.WriteLine("To select an object, press space.");
Console.WriteLine("To disable the selected object, press d.");
Console.WriteLine("To enable the selected object, press e.");
Console.WriteLine("To toggle showing the geom AABBs, press a.");
Console.WriteLine("To toggle showing the contact points, press t.");
Console.WriteLine("To toggle dropping from random position/orientation, press r.");
Console.WriteLine("To save the current state to 'state.dif', press 1.");
}
// Near callback - creates contact joints
static void near(IntPtr space, IntPtr g1, IntPtr g2)
{
IntPtr b1 = d.GeomGetBody(g1);
IntPtr b2 = d.GeomGetBody(g2);
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
return;
int count = d.Collide(g1, g2, MAX_CONTACTS, contacts, d.ContactGeom.SizeOf);
for (int i = 0; i < count; ++i)
{
contact.geom = contacts[i];
IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
d.JointAttach(joint, b1, b2);
}
}
// Adds a new object to the scene - attaches a body to the geom and
// sets the initial position and orientation
static void addObject(IntPtr geom, d.Mass mass)
{
// Create a body for this object
IntPtr body = d.BodyCreate(world);
d.GeomSetBody(geom, body);
d.BodySetMass(body, ref mass);
obj.Enqueue(geom);
// Set the position of the new object
d.Matrix3 R;
d.BodySetPosition(body, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() + 2);
d.RFromAxisAndAngle(out R, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 10 - 5);
d.BodySetRotation(body, ref R);
// Cap the total number of objects
if (obj.Count > NUM)
{
geom = obj.Dequeue();
body = d.GeomGetBody(geom);
d.BodyDestroy(body);
d.GeomDestroy(geom);
}
}
// Keyboard callback
static void command(int cmd)
{
IntPtr geom;
d.Mass mass;
d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
Char ch = Char.ToLower((Char)cmd);
switch ((Char)ch)
{
case 'b':
d.MassSetBox(out mass, DENSITY, sides.X, sides.Y, sides.Z);
geom = d.CreateBox(space, sides.X, sides.Y, sides.Z);
addObject(geom, mass);
break;
case 'c':
sides.X *= 0.5f;
d.MassSetCapsule(out mass, DENSITY, 3, sides.X, sides.Y);
geom = d.CreateCapsule(space, sides.X, sides.Y);
addObject(geom, mass);
break;
case 'v':
d.MassSetBox(out mass, DENSITY, 0.25f, 0.25f, 0.25f);
geom = d.CreateConvex(space, planes, planes.Length / 4, points, points.Length / 3, polygons);
addObject(geom, mass);
break;
}
}
// Draw an object in the scene
static void drawGeom(IntPtr geom)
{
IntPtr body = d.GeomGetBody(geom);
d.Vector3 pos;
d.BodyCopyPosition(body, out pos);
d.Matrix3 R;
d.BodyCopyRotation(body, out R);
d.GeomClassID type = d.GeomGetClass(geom);
switch (type)
{
case d.GeomClassID.BoxClass:
d.Vector3 sides;
d.GeomBoxGetLengths(geom, out sides);
ds.DrawBox(ref pos, ref R, ref sides);
break;
case d.GeomClassID.CapsuleClass:
dReal radius, length;
d.GeomCapsuleGetParams(geom, out radius, out length);
ds.DrawCapsule(ref pos, ref R, length, radius);
break;
case d.GeomClassID.ConvexClass:
ds.DrawConvex(ref pos, ref R, planes, planes.Length / 4, points, points.Length / 3, polygons);
break;
}
}
// Called once per frame; updates the scene
static void step(int pause)
{
d.SpaceCollide(space, IntPtr.Zero, nearCallback);
if (pause == 0)
d.WorldQuickStep(world, 0.02f);
d.JointGroupEmpty(contactgroup);
ds.SetColor(1.0f, 1.0f, 0.0f);
ds.SetTexture(ds.Texture.Wood);
foreach (IntPtr geom in obj)
{
drawGeom(geom);
}
}
static void Main(string[] args)
{
// Setup pointers to drawstuff callback functions
ds.Functions fn;
fn.version = ds.VERSION;
fn.start = new ds.CallbackFunction(start);
fn.step = new ds.CallbackFunction(step);
fn.command = new ds.CallbackFunction(command);
fn.stop = null;
fn.path_to_textures = "../../../../drawstuff/textures";
if (args.Length > 0)
{
fn.path_to_textures = args[0];
}
// Set up contact response parameters
contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
contact.surface.mu = d.Infinity;
contact.surface.mu2 = 0.0f;
contact.surface.bounce = 0.1f;
contact.surface.bounce_vel = 0.1f;
contact.surface.soft_cfm = 0.01f;
// Initialize the scene
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0);
d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
d.WorldSetCFM(world, 1e-5f);
d.WorldSetAutoDisableFlag(world, true);
d.WorldSetContactMaxCorrectingVel(world, 0.1f);
d.WorldSetContactSurfaceLayer(world, 0.001f);
d.CreatePlane(space, 0, 0, 1, 0);
// Run the scene
ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
// Clean up
d.JointGroupDestroy(contactgroup);
d.SpaceDestroy(space);
d.WorldDestroy(world);
d.CloseODE();
}
}
}
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