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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 the step function by comparing the output of the fast and the slow
// version, for various systems. currently you have to define COMPARE_METHODS
// in step.cpp for this to work properly.
//
// @@@ report MAX error
#include <time.h>
#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
#ifdef _MSC_VER
#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
#endif
// select correct drawing functions
#ifdef dDOUBLE
#define dsDrawBox dsDrawBoxD
#define dsDrawSphere dsDrawSphereD
#define dsDrawCylinder dsDrawCylinderD
#define dsDrawCapsule dsDrawCapsuleD
#endif
// some constants
#define NUM 10 // number of bodies
#define NUMJ 9 // number of joints
#define SIDE (0.2) // side length of a box
#define MASS (1.0) // mass of a box
#define RADIUS (0.1732f) // sphere radius
// dynamics and collision objects
static dWorldID world=0;
static dBodyID body[NUM];
static dJointID joint[NUMJ];
// create the test system
void createTest()
{
int i,j;
if (world) dWorldDestroy (world);
world = dWorldCreate();
// create random bodies
for (i=0; i<NUM; i++) {
// create bodies at random position and orientation
body[i] = dBodyCreate (world);
dBodySetPosition (body[i],dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2+RADIUS);
dReal q[4];
for (j=0; j<4; j++) q[j] = dRandReal()*2-1;
dBodySetQuaternion (body[i],q);
// set random velocity
dBodySetLinearVel (body[i], dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1);
dBodySetAngularVel (body[i], dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1);
// set random mass (random diagonal mass rotated by a random amount)
dMass m;
dMatrix3 R;
dMassSetBox (&m,1,dRandReal()+0.1,dRandReal()+0.1,dRandReal()+0.1);
dMassAdjust (&m,dRandReal()+1);
for (j=0; j<4; j++) q[j] = dRandReal()*2-1;
dQtoR (q,R);
dMassRotate (&m,R);
dBodySetMass (body[i],&m);
}
// create ball-n-socket joints at random positions, linking random bodies
// (but make sure not to link the same pair of bodies twice)
char linked[NUM*NUM];
for (i=0; i<NUM*NUM; i++) linked[i] = 0;
for (i=0; i<NUMJ; i++) {
int b1,b2;
do {
b1 = dRandInt (NUM);
b2 = dRandInt (NUM);
} while (linked[b1*NUM + b2] || b1==b2);
linked[b1*NUM + b2] = 1;
linked[b2*NUM + b1] = 1;
joint[i] = dJointCreateBall (world,0);
dJointAttach (joint[i],body[b1],body[b2]);
dJointSetBallAnchor (joint[i],dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*2+RADIUS);
}
for (i=0; i<NUM; i++) {
// move bodies a bit to get some joint error
const dReal *pos = dBodyGetPosition (body[i]);
dBodySetPosition (body[i],pos[0]+dRandReal()*0.2-0.1,
pos[1]+dRandReal()*0.2-0.1,pos[2]+dRandReal()*0.2-0.1);
}
}
// start simulation - set viewpoint
static void start()
{
static float xyz[3] = {2.6117f,-1.4433f,2.3700f};
static float hpr[3] = {151.5000f,-30.5000f,0.0000f};
dsSetViewpoint (xyz,hpr);
}
// simulation loop
static void simLoop (int pause)
{
if (!pause) {
// add random forces and torques to all bodies
int i;
const dReal scale1 = 5;
const dReal scale2 = 5;
for (i=0; i<NUM; i++) {
dBodyAddForce (body[i],
scale1*(dRandReal()*2-1),
scale1*(dRandReal()*2-1),
scale1*(dRandReal()*2-1));
dBodyAddTorque (body[i],
scale2*(dRandReal()*2-1),
scale2*(dRandReal()*2-1),
scale2*(dRandReal()*2-1));
}
dWorldStep (world,0.05);
createTest();
}
// float sides[3] = {SIDE,SIDE,SIDE};
dsSetColor (1,1,0);
for (int i=0; i<NUM; i++)
dsDrawSphere (dBodyGetPosition(body[i]), dBodyGetRotation(body[i]),RADIUS);
}
int main (int argc, char **argv)
{
// setup pointers to drawstuff callback functions
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = 0;
fn.stop = 0;
fn.path_to_textures = "../../drawstuff/textures";
if(argc==2)
{
fn.path_to_textures = argv[1];
}
dInitODE();
dRandSetSeed (time(0));
createTest();
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dWorldDestroy (world);
dCloseODE();
return 0;
}
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