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