[216] | 1 | /************************************************************************* |
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| 2 | * * |
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| 3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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| 5 | * * |
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| 6 | * This library is free software; you can redistribute it and/or * |
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| 7 | * modify it under the terms of EITHER: * |
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| 8 | * (1) The GNU Lesser General Public License as published by the Free * |
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| 9 | * Software Foundation; either version 2.1 of the License, or (at * |
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| 10 | * your option) any later version. The text of the GNU Lesser * |
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| 11 | * General Public License is included with this library in the * |
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| 12 | * file LICENSE.TXT. * |
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| 13 | * (2) The BSD-style license that is included with this library in * |
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| 14 | * the file LICENSE-BSD.TXT. * |
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| 15 | * * |
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| 16 | * This library is distributed in the hope that it will be useful, * |
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| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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| 20 | * * |
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| 21 | *************************************************************************/ |
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| 22 | |
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| 23 | /* |
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| 24 | |
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| 25 | buggy with suspension. |
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| 26 | this also shows you how to use geom groups. |
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| 27 | |
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| 28 | */ |
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| 29 | |
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| 30 | |
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| 31 | #include <stdlib.h> |
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| 32 | |
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| 33 | #include <ode/ode.h> |
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| 34 | #include <drawstuff/drawstuff.h> |
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| 35 | |
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| 36 | #ifdef _MSC_VER |
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| 37 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints |
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| 38 | #endif |
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| 39 | |
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| 40 | // select correct drawing functions |
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| 41 | |
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| 42 | #ifdef dDOUBLE |
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| 43 | #define dsDrawBox dsDrawBoxD |
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| 44 | #define dsDrawSphere dsDrawSphereD |
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| 45 | #define dsDrawCylinder dsDrawCylinderD |
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| 46 | #define dsDrawCappedCylinder dsDrawCappedCylinderD |
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| 47 | #endif |
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| 48 | |
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| 49 | |
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| 50 | // some constants |
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| 51 | |
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| 52 | #define LENGTH 0.7 // chassis length |
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| 53 | #define WIDTH 0.4 // chassis width |
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| 54 | #define HEIGHT 0.2 // chassis height |
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| 55 | #define RADIUS 0.22 // wheel radius |
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| 56 | #define STARTZ 0.4 // starting height of chassis |
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| 57 | #define CMASS 1 // chassis mass |
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| 58 | #define WMASS 0.2 // wheel mass |
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| 59 | |
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| 60 | // dynamics and collision objects (chassis, 4 wheels, environment, obstacles, chain) |
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| 61 | static dWorldID world; |
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| 62 | static dSpaceID space; |
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| 63 | |
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| 64 | // chain stuff |
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| 65 | static const float chain_radius = 0.1; |
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| 66 | static const float chain_mass = 0.1; |
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| 67 | static const int chain_num = 10; |
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| 68 | static dBodyID chain_body[chain_num]; |
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| 69 | static dGeomID chain_geom[chain_num]; |
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| 70 | static dJointID chain_joint[chain_num-1]; |
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| 71 | |
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| 72 | // 1 chasses, 4 wheels |
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| 73 | static dBodyID body[5]; |
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| 74 | // joint[0] is left front wheel, joint[1] is right front wheel |
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| 75 | static dJointID joint[4]; |
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| 76 | static int joint_exists[4]; |
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| 77 | static dJointGroupID contactgroup; |
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| 78 | static dGeomID ground; |
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| 79 | static dSpaceID car_space; |
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| 80 | static dGeomID box[1]; |
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| 81 | static dGeomID sphere[4]; |
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| 82 | static dGeomID ground_box; |
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| 83 | static const int obstacle_num = 25; |
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| 84 | static dGeomID obstacle[obstacle_num]; |
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| 85 | |
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| 86 | // things that the user controls |
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| 87 | |
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| 88 | static dReal speed=0,steer=0; // user commands |
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| 89 | |
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| 90 | |
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| 91 | |
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| 92 | // this is called by dSpaceCollide when two objects in space are |
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| 93 | // potentially colliding. |
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| 94 | |
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| 95 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) |
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| 96 | { |
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| 97 | int i,n; |
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| 98 | |
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| 99 | // // do not collide objects that are connected |
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| 100 | // dBodyID b1 = dGeomGetBody (o1), |
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| 101 | // b2 = dGeomGetBody (o2); |
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| 102 | // if (b1 && b2 && dAreConnected(b1, b2)) return; |
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| 103 | |
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| 104 | const int N = 10; |
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| 105 | dContact contact[N]; |
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| 106 | n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); |
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| 107 | if (n > 0) { |
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| 108 | for (i=0; i<n; i++) { |
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| 109 | contact[i].surface.mode = dContactSlip1 | dContactSlip2 | |
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| 110 | dContactSoftERP | dContactSoftCFM | dContactApprox1; |
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| 111 | contact[i].surface.mu = dInfinity; |
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| 112 | contact[i].surface.slip1 = 0.1; |
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| 113 | contact[i].surface.slip2 = 0.1; |
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| 114 | contact[i].surface.soft_erp = 0.5; |
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| 115 | contact[i].surface.soft_cfm = 0.3; |
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| 116 | dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); |
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| 117 | dJointAttach (c, |
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| 118 | dGeomGetBody(contact[i].geom.g1), |
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| 119 | dGeomGetBody(contact[i].geom.g2)); |
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| 120 | } |
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| 121 | } |
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| 122 | } |
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| 123 | |
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| 124 | // callback function for joints that break |
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| 125 | static void jointBreakCallback (dJointID j) |
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| 126 | { |
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| 127 | if (j == joint[0]) joint_exists[0] = 0; |
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| 128 | else if (j == joint[1]) joint_exists[1] = 0; |
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| 129 | else if (j == joint[2]) joint_exists[2] = 0; |
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| 130 | else if (j == joint[3]) joint_exists[3] = 0; |
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| 131 | printf ("A joint just broke\n"); |
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| 132 | } |
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| 133 | |
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| 134 | // start simulation - set viewpoint |
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| 135 | |
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| 136 | static void start() |
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| 137 | { |
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| 138 | static float xyz[3] = {0.8317f,-0.9817f,0.8000f}; |
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| 139 | static float hpr[3] = {121.0000f,-27.5000f,0.0000f}; |
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| 140 | dsSetViewpoint (xyz,hpr); |
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| 141 | printf ("Press:\t'a' to increase speed.\n" |
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| 142 | "\t'z' to decrease speed.\n" |
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| 143 | "\t',' to steer left.\n" |
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| 144 | "\t'.' to steer right.\n" |
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| 145 | "\t' ' to reset speed and steering.\n"); |
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| 146 | } |
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| 147 | |
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| 148 | |
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| 149 | // called when a key pressed |
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| 150 | |
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| 151 | static void command (int cmd) |
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| 152 | { |
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| 153 | switch (cmd) { |
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| 154 | case 'a': case 'A': |
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| 155 | speed += 0.3; |
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| 156 | break; |
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| 157 | case 'z': case 'Z': |
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| 158 | speed -= 0.3; |
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| 159 | break; |
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| 160 | case ',': |
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| 161 | steer -= 0.5; |
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| 162 | break; |
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| 163 | case '.': |
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| 164 | steer += 0.5; |
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| 165 | break; |
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| 166 | case ' ': |
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| 167 | speed = 0; |
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| 168 | steer = 0; |
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| 169 | break; |
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| 170 | } |
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| 171 | } |
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| 172 | |
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| 173 | |
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| 174 | // simulation loop |
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| 175 | |
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| 176 | static void simLoop (int pause) |
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| 177 | { |
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| 178 | int i; |
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| 179 | if (!pause) { |
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| 180 | for (i=0; i<2; i++) { |
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| 181 | if (joint_exists[i]) { |
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| 182 | // motor |
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| 183 | dJointSetHinge2Param (joint[i],dParamVel2,-speed); |
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| 184 | dJointSetHinge2Param (joint[i],dParamFMax2,0.1); |
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| 185 | |
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| 186 | // steering |
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| 187 | dReal v = steer - dJointGetHinge2Angle1 (joint[i]); |
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| 188 | if (v > 0.1) v = 0.1; |
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| 189 | if (v < -0.1) v = -0.1; |
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| 190 | v *= 10.0; |
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| 191 | dJointSetHinge2Param (joint[i],dParamVel,v); |
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| 192 | dJointSetHinge2Param (joint[i],dParamFMax,0.2); |
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| 193 | dJointSetHinge2Param (joint[i],dParamLoStop,-0.75); |
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| 194 | dJointSetHinge2Param (joint[i],dParamHiStop,0.75); |
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| 195 | dJointSetHinge2Param (joint[i],dParamFudgeFactor,0.1); |
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| 196 | } |
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| 197 | } |
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| 198 | |
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| 199 | dSpaceCollide (space,0,&nearCallback); |
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| 200 | //dWorldStep (world,0.05); |
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| 201 | dWorldStepFast1 (world,0.05,5); |
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| 202 | |
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| 203 | // remove all contact joints |
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| 204 | dJointGroupEmpty (contactgroup); |
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| 205 | } |
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| 206 | |
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| 207 | dsSetColor (0,1,1); |
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| 208 | dsSetTexture (DS_WOOD); |
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| 209 | dReal sides[3] = {LENGTH,WIDTH,HEIGHT}; |
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| 210 | dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides); |
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| 211 | dsSetColor (1,1,1); |
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| 212 | for (i=1; i<=4; i++) |
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| 213 | dsDrawCylinder (dBodyGetPosition(body[i]), |
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| 214 | dBodyGetRotation(body[i]), |
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| 215 | 0.2, |
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| 216 | RADIUS); |
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| 217 | |
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| 218 | dVector3 ss; |
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| 219 | dGeomBoxGetLengths (ground_box,ss); |
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| 220 | dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss); |
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| 221 | |
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| 222 | dsSetColor (1,0,0); |
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| 223 | for (i=0; i<obstacle_num; i++) { |
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| 224 | dVector3 ss; |
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| 225 | dGeomBoxGetLengths (obstacle[i],ss); |
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| 226 | dsDrawBox (dGeomGetPosition(obstacle[i]),dGeomGetRotation(obstacle[i]),ss); |
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| 227 | } |
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| 228 | |
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| 229 | dsSetColor (1,1,0); |
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| 230 | for (i=0; i<chain_num; i++) { |
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| 231 | dsDrawSphere (dGeomGetPosition(chain_geom[i]),dGeomGetRotation(chain_geom[i]),chain_radius); |
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| 232 | } |
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| 233 | |
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| 234 | /* |
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| 235 | printf ("%.10f %.10f %.10f %.10f\n", |
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| 236 | dJointGetHingeAngle (joint[1]), |
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| 237 | dJointGetHingeAngle (joint[2]), |
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| 238 | dJointGetHingeAngleRate (joint[1]), |
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| 239 | dJointGetHingeAngleRate (joint[2])); |
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| 240 | */ |
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| 241 | } |
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| 242 | |
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| 243 | int main (int argc, char **argv) |
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| 244 | { |
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| 245 | int i; |
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| 246 | dMass m; |
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| 247 | |
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| 248 | // setup pointers to drawstuff callback functions |
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| 249 | dsFunctions fn; |
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| 250 | fn.version = DS_VERSION; |
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| 251 | fn.start = &start; |
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| 252 | fn.step = &simLoop; |
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| 253 | fn.command = &command; |
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| 254 | fn.stop = 0; |
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| 255 | fn.path_to_textures = "../../drawstuff/textures"; |
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| 256 | if(argc==2) |
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| 257 | { |
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| 258 | fn.path_to_textures = argv[1]; |
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| 259 | } |
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| 260 | // create world |
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| 261 | |
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| 262 | world = dWorldCreate(); |
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| 263 | space = dHashSpaceCreate (0); |
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| 264 | contactgroup = dJointGroupCreate (0); |
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| 265 | dWorldSetGravity (world,0,0,-0.5); |
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| 266 | ground = dCreatePlane (space,0,0,1,0); |
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| 267 | |
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| 268 | // chassis body |
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| 269 | body[0] = dBodyCreate (world); |
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| 270 | dBodySetPosition (body[0],0,0,STARTZ); |
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| 271 | dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT); |
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| 272 | dMassAdjust (&m,CMASS); |
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| 273 | dBodySetMass (body[0],&m); |
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| 274 | box[0] = dCreateBox (0,LENGTH,WIDTH,HEIGHT); |
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| 275 | dGeomSetBody (box[0],body[0]); |
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| 276 | |
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| 277 | // a chain |
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| 278 | for (i=0; i<chain_num; i++) { |
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| 279 | chain_body[i] = dBodyCreate (world); |
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| 280 | dBodySetPosition (chain_body[i],-LENGTH-(i*2*chain_radius),0,STARTZ-HEIGHT*0.5); |
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| 281 | dMassSetSphere (&m,1,chain_radius); |
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| 282 | dMassAdjust (&m,chain_mass); |
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| 283 | dBodySetMass (chain_body[i],&m); |
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| 284 | chain_geom[i] = dCreateSphere (space,chain_radius); |
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| 285 | dGeomSetBody (chain_geom[i],chain_body[i]); |
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| 286 | } |
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| 287 | |
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| 288 | // wheel bodies |
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| 289 | for (i=1; i<=4; i++) { |
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| 290 | body[i] = dBodyCreate (world); |
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| 291 | dQuaternion q; |
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| 292 | dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); |
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| 293 | dBodySetQuaternion (body[i],q); |
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| 294 | dMassSetSphere (&m,1,RADIUS); |
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| 295 | dMassAdjust (&m,WMASS); |
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| 296 | dBodySetMass (body[i],&m); |
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| 297 | sphere[i-1] = dCreateSphere (0,RADIUS); |
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| 298 | dGeomSetBody (sphere[i-1],body[i]); |
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| 299 | } |
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| 300 | dBodySetPosition (body[1], 0.5*LENGTH, WIDTH*1.0, STARTZ-HEIGHT*0.5); |
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| 301 | dBodySetPosition (body[2], 0.5*LENGTH, -WIDTH*1.0, STARTZ-HEIGHT*0.5); |
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| 302 | dBodySetPosition (body[3], -0.5*LENGTH, WIDTH*1.0, STARTZ-HEIGHT*0.5); |
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| 303 | dBodySetPosition (body[4], -0.5*LENGTH, -WIDTH*1.0, STARTZ-HEIGHT*0.5); |
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| 304 | |
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| 305 | // front wheel hinge |
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| 306 | /* |
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| 307 | joint[0] = dJointCreateHinge2 (world,0); |
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| 308 | dJointAttach (joint[0],body[0],body[1]); |
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| 309 | const dReal *a = dBodyGetPosition (body[1]); |
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| 310 | dJointSetHinge2Anchor (joint[0],a[0],a[1],a[2]); |
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| 311 | dJointSetHinge2Axis1 (joint[0],0,0,1); |
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| 312 | dJointSetHinge2Axis2 (joint[0],0,1,0); |
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| 313 | */ |
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| 314 | |
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| 315 | // front and back wheel hinges |
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| 316 | for (i=0; i<4; i++) { |
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| 317 | joint[i] = dJointCreateHinge2 (world,0); |
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| 318 | joint_exists[i] = 1; |
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| 319 | dJointAttach (joint[i],body[0],body[i+1]); |
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| 320 | const dReal *a = dBodyGetPosition (body[i+1]); |
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| 321 | dJointSetHinge2Anchor (joint[i],a[0],a[1],a[2]); |
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| 322 | dJointSetHinge2Axis1 (joint[i],0,0,1); |
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| 323 | dJointSetHinge2Axis2 (joint[i],0,1,0); |
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| 324 | |
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| 325 | // the wheels can break |
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| 326 | dJointSetBreakable (joint[i], 1); |
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| 327 | // the wheels wil break at a specific force |
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| 328 | dJointSetBreakMode (joint[i], |
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| 329 | dJOINT_BREAK_AT_B1_FORCE | |
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| 330 | dJOINT_BREAK_AT_B2_FORCE | |
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| 331 | dJOINT_DELETE_ON_BREAK); |
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| 332 | // specify the force for the first body connected to the joint ... |
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| 333 | dJointSetBreakForce (joint[i], 0, 2.5, 2.5, 2.5); |
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| 334 | // and for the second body |
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| 335 | dJointSetBreakForce (joint[i], 1, 2.5, 2.5, 2.5); |
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| 336 | // set the callback function |
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| 337 | dJointSetBreakCallback (joint[i], &jointBreakCallback); |
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| 338 | } |
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| 339 | |
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| 340 | // joints for the chain |
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| 341 | for (i=0; i<chain_num-1; i++) { |
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| 342 | chain_joint[i] = dJointCreateFixed (world,0); |
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| 343 | dJointAttach (chain_joint[i],chain_body[i+1],chain_body[i]); |
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| 344 | dJointSetFixed (chain_joint[i]); |
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| 345 | // the chain can break |
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| 346 | dJointSetBreakable (chain_joint[i], 1); |
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| 347 | // the chain wil break at a specific force |
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| 348 | dJointSetBreakMode (chain_joint[i], |
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| 349 | dJOINT_BREAK_AT_B1_FORCE | |
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| 350 | dJOINT_BREAK_AT_B2_FORCE | |
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| 351 | dJOINT_DELETE_ON_BREAK); |
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| 352 | // specify the force for the first body connected to the joint ... |
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| 353 | dJointSetBreakForce (chain_joint[i], 0, 0.5, 0.5, 0.5); |
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| 354 | // and for the second body |
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| 355 | dJointSetBreakForce (chain_joint[i], 1, 0.5, 0.5, 0.5); |
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| 356 | // set the callback function |
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| 357 | dJointSetBreakCallback (chain_joint[i], &jointBreakCallback); |
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| 358 | } |
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| 359 | |
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| 360 | // set joint suspension |
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| 361 | for (i=0; i<4; i++) { |
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| 362 | dJointSetHinge2Param (joint[i],dParamSuspensionERP,0.4); |
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| 363 | dJointSetHinge2Param (joint[i],dParamSuspensionCFM,0.1); |
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| 364 | } |
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| 365 | |
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| 366 | // lock back wheels along the steering axis |
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| 367 | for (i=1; i<4; i++) { |
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| 368 | // set stops to make sure wheels always stay in alignment |
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| 369 | dJointSetHinge2Param (joint[i],dParamLoStop,0); |
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| 370 | dJointSetHinge2Param (joint[i],dParamHiStop,0); |
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| 371 | // the following alternative method is no good as the wheels may get out |
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| 372 | // of alignment: |
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| 373 | // dJointSetHinge2Param (joint[i],dParamVel,0); |
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| 374 | // dJointSetHinge2Param (joint[i],dParamFMax,dInfinity); |
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| 375 | } |
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| 376 | |
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| 377 | // create car space and add it to the top level space |
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| 378 | car_space = dSimpleSpaceCreate (space); |
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| 379 | dSpaceSetCleanup (car_space,0); |
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| 380 | dSpaceAdd (car_space,box[0]); |
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| 381 | dSpaceAdd (car_space,sphere[0]); |
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| 382 | dSpaceAdd (car_space,sphere[1]); |
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| 383 | dSpaceAdd (car_space,sphere[2]); |
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| 384 | |
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| 385 | // environment |
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| 386 | ground_box = dCreateBox (space,2,1.5,1); |
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| 387 | dMatrix3 R; |
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| 388 | dRFromAxisAndAngle (R,0,1,0,-0.15); |
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| 389 | dGeomSetPosition (ground_box,2,0,-0.34); |
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| 390 | dGeomSetRotation (ground_box,R); |
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| 391 | |
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| 392 | // obstacles |
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| 393 | for (i=0; i<obstacle_num; i++) { |
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| 394 | dReal height = 0.1+(dReal(rand()%10)/10.0); |
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| 395 | obstacle[i] = dCreateBox (space,0.2,0.2,height); |
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| 396 | dGeomSetPosition ( |
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| 397 | obstacle[i], |
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| 398 | (rand()%20)-10, |
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| 399 | (rand()%20)-10, |
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| 400 | height/2.0); |
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| 401 | } |
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| 402 | |
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| 403 | // run simulation |
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| 404 | dsSimulationLoop (argc,argv,352,288,&fn); |
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| 405 | |
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| 406 | dJointGroupDestroy (contactgroup); |
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| 407 | dSpaceDestroy (space); |
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| 408 | dWorldDestroy (world); |
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| 409 | dGeomDestroy (box[0]); |
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| 410 | for (i=0; i<4; i++) |
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| 411 | dGeomDestroy (sphere[i]); |
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| 412 | |
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| 413 | dCloseODE (); |
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| 414 | |
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| 415 | return 0; |
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| 416 | } |
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