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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
// Test for cylinder vs sphere, by Bram Stolk
#include <ode/config.h>
#include <assert.h>
#ifdef HAVE_UNISTD_H
#include <unistd.h>
#endif
#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
#ifdef _MSC_VER
#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
#endif
// dynamics and collision objects (chassis, 3 wheels, environment)
static dWorldID world;
static dSpaceID space;
static dBodyID cylbody;
static dGeomID cylgeom;
static dBodyID sphbody;
static dGeomID sphgeom;
static dJointGroupID contactgroup;
static dGeomID world_mesh;
static bool show_contacts = true;
#define CYLRADIUS 0.6
#define CYLLENGTH 2.0
#define SPHERERADIUS 0.5
#ifdef dDOUBLE
#define dsDrawBox dsDrawBoxD
#define dsDrawLine dsDrawLineD
#endif
// this is called by dSpaceCollide when two objects in space are
// potentially colliding.
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
assert(o1);
assert(o2);
if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
{
fprintf(stderr,"testing space %p %p\n", o1,o2);
// colliding a space with something
dSpaceCollide2(o1,o2,data,&nearCallback);
// Note we do not want to test intersections within a space,
// only between spaces.
return;
}
const int N = 32;
dContact contact[N];
int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
if (n > 0)
{
for (int i=0; i<n; i++)
{
contact[i].surface.mode = 0;
contact[i].surface.mu = 50.0; // was: dInfinity
dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
if (show_contacts)
{
dMatrix3 RI;
dRSetIdentity (RI);
const dReal ss[3] = {0.12,0.12,0.12};
dsSetColorAlpha (0,0,1,0.5);
dsDrawBox (contact[i].geom.pos,RI,ss);
dReal *pos = contact[i].geom.pos;
dReal depth = contact[i].geom.depth;
dReal *norm = contact[i].geom.normal;
dReal endp[3] = {pos[0]+depth*norm[0], pos[1]+depth*norm[1], pos[2]+depth*norm[2]};
dsSetColorAlpha (1,1,1,1);
dsDrawLine (contact[i].geom.pos, endp);
}
}
}
}
// start simulation - set viewpoint
static void start()
{
static float xyz[3] = {-8,-9,3};
static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
dsSetViewpoint (xyz,hpr);
}
// called when a key pressed
static void command (int cmd)
{
switch (cmd)
{
case ' ':
break;
}
}
// simulation loop
static void simLoop (int pause)
{
dSpaceCollide (space,0,&nearCallback);
if (!pause)
{
dWorldQuickStep (world, 0.01); // 100 Hz
}
dJointGroupEmpty (contactgroup);
dsSetColorAlpha (1,1,0,0.5);
const dReal *CPos = dBodyGetPosition(cylbody);
const dReal *CRot = dBodyGetRotation(cylbody);
float cpos[3] = {CPos[0], CPos[1], CPos[2]};
float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
dsDrawCylinder
(
cpos,
crot,
CYLLENGTH,
CYLRADIUS
); // single precision
const dReal *SPos = dBodyGetPosition(sphbody);
const dReal *SRot = dBodyGetRotation(sphbody);
float spos[3] = {SPos[0], SPos[1], SPos[2]};
float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] };
dsDrawSphere
(
spos,
srot,
SPHERERADIUS
); // single precision
}
int main (int argc, char **argv)
{
dMass m;
// setup pointers to drawstuff callback functions
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = &command;
fn.stop = 0;
fn.path_to_textures = "../../drawstuff/textures";
if(argc==2)
fn.path_to_textures = argv[1];
// create world
dInitODE();
world = dWorldCreate();
space = dHashSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-9.8);
dWorldSetQuickStepNumIterations (world, 32);
dCreatePlane (space,0,0,1, 0.0);
cylbody = dBodyCreate (world);
dQuaternion q;
#if 0
dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
#else
// dQFromAxisAndAngle (q,1,0,0, M_PI * 1.0);
dQFromAxisAndAngle (q,1,0,0, M_PI * -0.77);
#endif
dBodySetQuaternion (cylbody,q);
dMassSetCylinder (&m,1.0,3,CYLRADIUS,CYLLENGTH);
dBodySetMass (cylbody,&m);
cylgeom = dCreateCylinder(0, CYLRADIUS, CYLLENGTH);
dGeomSetBody (cylgeom,cylbody);
dBodySetPosition (cylbody, 0, 0, 3);
dSpaceAdd (space, cylgeom);
sphbody = dBodyCreate (world);
dMassSetSphere (&m,1,SPHERERADIUS);
dBodySetMass (sphbody,&m);
sphgeom = dCreateSphere(0, SPHERERADIUS);
dGeomSetBody (sphgeom,sphbody);
dBodySetPosition (sphbody, 0, 0, 5.5);
dSpaceAdd (space, sphgeom);
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupEmpty (contactgroup);
dJointGroupDestroy (contactgroup);
dGeomDestroy(sphgeom);
dGeomDestroy (cylgeom);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
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