[216] | 1 | /************************************************************************* |
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| 2 | |
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| 3 | |
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| 4 | * * |
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| 5 | |
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| 6 | |
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| 7 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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| 8 | |
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| 9 | |
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| 10 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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| 11 | |
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| 12 | |
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| 13 | * * |
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| 14 | |
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| 15 | |
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| 16 | * This library is free software; you can redistribute it and/or * |
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| 17 | |
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| 18 | |
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| 19 | * modify it under the terms of EITHER: * |
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| 20 | |
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| 21 | |
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| 22 | * (1) The GNU Lesser General Public License as published by the Free * |
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| 23 | |
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| 24 | |
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| 25 | * Software Foundation; either version 2.1 of the License, or (at * |
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| 26 | |
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| 27 | |
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| 28 | * your option) any later version. The text of the GNU Lesser * |
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| 29 | |
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| 30 | |
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| 31 | * General Public License is included with this library in the * |
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| 32 | |
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| 33 | |
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| 34 | * file LICENSE.TXT. * |
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| 35 | |
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| 36 | |
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| 37 | * (2) The BSD-style license that is included with this library in * |
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| 38 | |
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| 39 | |
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| 40 | * the file LICENSE-BSD.TXT. * |
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| 41 | |
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| 42 | |
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| 43 | * * |
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| 44 | |
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| 45 | |
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| 46 | * This library is distributed in the hope that it will be useful, * |
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| 47 | |
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| 48 | |
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| 49 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 50 | |
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| 51 | |
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| 52 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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| 53 | |
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| 54 | |
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| 55 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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| 56 | |
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| 57 | |
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| 58 | * * |
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| 59 | |
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| 60 | |
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| 61 | *************************************************************************/ |
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| 62 | |
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| 63 | |
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| 64 | |
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| 65 | |
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| 66 | |
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| 67 | #include <ode/ode.h> |
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| 68 | |
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| 69 | |
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| 70 | #include <dRay.h> |
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| 71 | |
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| 72 | |
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| 73 | #include <drawstuff/drawstuff.h> |
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| 74 | |
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| 75 | |
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| 76 | |
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| 77 | |
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| 78 | |
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| 79 | #ifdef _MSC_VER |
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| 80 | |
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| 81 | |
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| 82 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints |
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| 83 | |
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| 84 | |
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| 85 | #endif |
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| 86 | |
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| 87 | |
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| 88 | |
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| 89 | |
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| 90 | |
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| 91 | // select correct drawing functions |
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| 92 | |
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| 93 | |
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| 94 | |
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| 95 | |
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| 96 | |
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| 97 | #ifdef dDOUBLE |
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| 98 | |
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| 99 | |
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| 100 | #define dsDrawBox dsDrawBoxD |
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| 101 | |
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| 102 | |
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| 103 | #define dsDrawSphere dsDrawSphereD |
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| 104 | |
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| 105 | |
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| 106 | #define dsDrawCylinder dsDrawCylinderD |
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| 107 | |
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| 108 | |
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| 109 | #define dsDrawCappedCylinder dsDrawCappedCylinderD |
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| 110 | |
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| 111 | |
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| 112 | #endif |
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| 113 | |
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| 114 | |
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| 115 | |
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| 116 | |
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| 117 | |
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| 118 | |
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| 119 | |
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| 120 | |
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| 121 | // some constants |
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| 122 | |
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| 123 | |
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| 124 | |
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| 125 | |
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| 126 | |
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| 127 | #define NUM 20 // max number of objects |
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| 128 | |
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| 129 | |
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| 130 | #define DENSITY (5.0) // density of all objects |
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| 131 | |
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| 132 | |
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| 133 | #define GPB 3 // maximum number of geometries per body |
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| 134 | |
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| 135 | |
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| 136 | |
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| 137 | |
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| 138 | |
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| 139 | |
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| 140 | |
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| 141 | |
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| 142 | // dynamics and collision objects |
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| 143 | |
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| 144 | |
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| 145 | |
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| 146 | |
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| 147 | |
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| 148 | struct MyObject { |
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| 149 | |
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| 150 | |
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| 151 | dBodyID body; // the body |
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| 152 | |
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| 153 | |
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| 154 | dGeomID geom[GPB]; // geometries representing this body |
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| 155 | |
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| 156 | |
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| 157 | }; |
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| 158 | |
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| 159 | |
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| 160 | |
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| 161 | |
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| 162 | |
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| 163 | static int num=0; // number of objects in simulation |
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| 164 | |
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| 165 | |
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| 166 | static int nextobj=0; // next object to recycle if num==NUM |
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| 167 | |
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| 168 | |
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| 169 | static dWorldID world; |
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| 170 | |
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| 171 | |
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| 172 | static dSpaceID space; |
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| 173 | |
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| 174 | |
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| 175 | static MyObject obj[NUM]; |
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| 176 | |
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| 177 | |
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| 178 | static dJointGroupID contactgroup; |
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| 179 | |
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| 180 | |
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| 181 | static int selected = -1; // selected object |
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| 182 | |
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| 183 | |
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| 184 | |
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| 185 | |
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| 186 | |
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| 187 | static dGeomID* Rays; |
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| 188 | |
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| 189 | |
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| 190 | static int RayCount; |
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| 191 | |
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| 192 | |
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| 193 | |
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| 194 | |
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| 195 | |
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| 196 | // this is called by dSpaceCollide when two objects in space are |
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| 197 | |
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| 198 | |
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| 199 | // potentially colliding. |
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| 200 | |
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| 201 | |
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| 202 | |
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| 203 | |
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| 204 | |
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| 205 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) |
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| 206 | |
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| 207 | |
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| 208 | { |
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| 209 | |
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| 210 | |
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| 211 | int i; |
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| 212 | |
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| 213 | |
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| 214 | // if (o1->body && o2->body) return; |
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| 215 | |
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| 216 | |
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| 217 | |
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| 218 | |
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| 219 | |
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| 220 | // exit without doing anything if the two bodies are connected by a joint |
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| 221 | |
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| 222 | |
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| 223 | dBodyID b1 = dGeomGetBody(o1); |
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| 224 | |
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| 225 | |
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| 226 | dBodyID b2 = dGeomGetBody(o2); |
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| 227 | |
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| 228 | |
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| 229 | if (b1 && b2 && dAreConnected (b1,b2)) return; |
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| 230 | |
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| 231 | |
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| 232 | |
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| 233 | |
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| 234 | |
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| 235 | dContact contact[32]; // up to 3 contacts per box |
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| 236 | |
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| 237 | |
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| 238 | for (i=0; i<32; i++) { |
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| 239 | |
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| 240 | |
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| 241 | contact[i].surface.mode = dContactBounce; //dContactMu2; |
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| 242 | |
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| 243 | |
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| 244 | contact[i].surface.mu = dInfinity; |
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| 245 | |
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| 246 | |
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| 247 | contact[i].surface.mu2 = 0; |
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| 248 | |
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| 249 | |
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| 250 | contact[i].surface.bounce = 0.5; |
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| 251 | |
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| 252 | |
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| 253 | contact[i].surface.bounce_vel = 0.1; |
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| 254 | |
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| 255 | |
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| 256 | } |
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| 257 | |
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| 258 | |
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| 259 | if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) { |
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| 260 | |
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| 261 | |
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| 262 | dMatrix3 RI; |
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| 263 | |
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| 264 | |
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| 265 | dRSetIdentity (RI); |
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| 266 | |
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| 267 | |
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| 268 | const dReal ss[3] = {0.02,0.02,0.02}; |
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| 269 | |
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| 270 | |
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| 271 | for (i=0; i<numc; i++) { |
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| 272 | |
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| 273 | |
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| 274 | if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){ |
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| 275 | |
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| 276 | |
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| 277 | dMatrix3 Rotation; |
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| 278 | |
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| 279 | |
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| 280 | dRSetIdentity(Rotation); |
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| 281 | |
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| 282 | |
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| 283 | dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01)); |
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| 284 | |
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| 285 | |
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| 286 | continue; |
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| 287 | |
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| 288 | |
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| 289 | } |
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| 290 | |
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| 291 | |
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| 292 | |
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| 293 | |
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| 294 | |
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| 295 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); |
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| 296 | |
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| 297 | |
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| 298 | dJointAttach (c,b1,b2); |
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| 299 | |
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| 300 | |
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| 301 | //dsDrawBox (contact[i].geom.pos,RI,ss); |
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| 302 | |
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| 303 | |
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| 304 | |
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| 305 | |
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| 306 | |
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| 307 | |
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| 308 | |
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| 309 | |
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| 310 | } |
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| 311 | |
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| 312 | |
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| 313 | } |
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| 314 | |
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| 315 | |
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| 316 | } |
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| 317 | |
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| 318 | |
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| 319 | |
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| 320 | |
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| 321 | |
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| 322 | // start simulation - set viewpoint |
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| 323 | |
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| 324 | |
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| 325 | |
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| 326 | |
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| 327 | |
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| 328 | static void start() |
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| 329 | |
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| 330 | |
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| 331 | { |
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| 332 | |
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| 333 | |
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| 334 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; |
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| 335 | |
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| 336 | |
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| 337 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; |
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| 338 | |
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| 339 | |
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| 340 | dsSetViewpoint (xyz,hpr); |
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| 341 | |
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| 342 | |
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| 343 | printf ("To drop another object, press:\n"); |
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| 344 | |
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| 345 | |
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| 346 | printf (" b for box.\n"); |
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| 347 | |
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| 348 | |
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| 349 | printf (" s for sphere.\n"); |
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| 350 | |
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| 351 | |
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| 352 | printf (" c for cylinder.\n"); |
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| 353 | |
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| 354 | |
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| 355 | printf (" x for a composite object.\n"); |
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| 356 | |
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| 357 | |
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| 358 | printf ("To select an object, press space.\n"); |
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| 359 | |
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| 360 | |
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| 361 | printf ("To disable the selected object, press d.\n"); |
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| 362 | |
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| 363 | |
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| 364 | printf ("To enable the selected object, press e.\n"); |
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| 365 | |
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| 366 | |
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| 367 | } |
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| 368 | |
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| 369 | |
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| 370 | |
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| 371 | |
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| 372 | |
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| 373 | |
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| 374 | |
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| 375 | |
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| 376 | char locase (char c) |
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| 377 | |
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| 378 | |
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| 379 | { |
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| 380 | |
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| 381 | |
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| 382 | if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); |
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| 383 | |
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| 384 | |
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| 385 | else return c; |
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| 386 | |
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| 387 | |
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| 388 | } |
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| 389 | |
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| 390 | |
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| 391 | |
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| 392 | |
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| 393 | |
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| 394 | |
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| 395 | |
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| 396 | |
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| 397 | // called when a key pressed |
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| 398 | |
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| 399 | |
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| 400 | |
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| 401 | |
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| 402 | |
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| 403 | static void command (int cmd) |
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| 404 | |
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| 405 | |
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| 406 | { |
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| 407 | |
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| 408 | |
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| 409 | int i,j,k; |
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| 410 | |
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| 411 | |
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| 412 | dReal sides[3]; |
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| 413 | |
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| 414 | |
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| 415 | dMass m; |
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| 416 | |
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| 417 | |
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| 418 | |
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| 419 | |
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| 420 | |
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| 421 | cmd = locase (cmd); |
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| 422 | |
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| 423 | |
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| 424 | if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x') { |
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| 425 | |
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| 426 | |
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| 427 | if (num < NUM) { |
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| 428 | |
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| 429 | |
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| 430 | i = num; |
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| 431 | |
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| 432 | |
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| 433 | num++; |
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| 434 | |
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| 435 | |
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| 436 | } |
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| 437 | |
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| 438 | |
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| 439 | else { |
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| 440 | |
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| 441 | |
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| 442 | i = nextobj; |
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| 443 | |
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| 444 | |
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| 445 | nextobj++; |
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| 446 | |
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| 447 | |
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| 448 | if (nextobj >= num) nextobj = 0; |
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| 449 | |
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| 450 | |
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| 451 | |
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| 452 | |
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| 453 | |
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| 454 | // destroy the body and geoms for slot i |
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| 455 | |
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| 456 | |
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| 457 | dBodyDestroy (obj[i].body); |
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| 458 | |
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| 459 | |
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| 460 | for (k=0; k < GPB; k++) { |
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| 461 | |
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| 462 | |
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| 463 | if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); |
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| 464 | |
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| 465 | |
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| 466 | } |
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| 467 | |
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| 468 | |
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| 469 | memset (&obj[i],0,sizeof(obj[i])); |
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| 470 | |
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| 471 | |
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| 472 | } |
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| 473 | |
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| 474 | |
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| 475 | |
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| 476 | |
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| 477 | |
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| 478 | obj[i].body = dBodyCreate (world); |
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| 479 | |
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| 480 | |
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| 481 | for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; |
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| 482 | |
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| 483 | |
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| 484 | |
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| 485 | |
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| 486 | |
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| 487 | dBodySetPosition (obj[i].body, |
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| 488 | |
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| 489 | |
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| 490 | dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1); |
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| 491 | |
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| 492 | |
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| 493 | dMatrix3 R; |
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| 494 | |
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| 495 | |
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| 496 | dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, |
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| 497 | |
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| 498 | |
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| 499 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); |
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| 500 | |
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| 501 | |
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| 502 | dBodySetRotation (obj[i].body,R); |
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| 503 | |
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| 504 | |
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| 505 | dBodySetData (obj[i].body,(void*) i); |
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| 506 | |
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| 507 | |
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| 508 | |
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| 509 | |
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| 510 | |
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| 511 | if (cmd == 'b') { |
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| 512 | |
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| 513 | |
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| 514 | dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); |
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| 515 | |
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| 516 | |
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| 517 | obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); |
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| 518 | |
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| 519 | |
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| 520 | } |
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| 521 | |
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| 522 | |
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| 523 | else if (cmd == 'c') { |
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| 524 | |
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| 525 | |
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| 526 | sides[0] *= 0.5; |
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| 527 | |
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| 528 | |
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| 529 | dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); |
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| 530 | |
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| 531 | |
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| 532 | obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]); |
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| 533 | |
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| 534 | |
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| 535 | } |
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| 536 | |
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| 537 | |
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| 538 | else if (cmd == 's') { |
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| 539 | |
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| 540 | |
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| 541 | sides[0] *= 0.5; |
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| 542 | |
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| 543 | |
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| 544 | dMassSetSphere (&m,DENSITY,sides[0]); |
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| 545 | |
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| 546 | |
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| 547 | obj[i].geom[0] = dCreateSphere (space,sides[0]); |
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| 548 | |
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| 549 | |
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| 550 | } |
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| 551 | |
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| 552 | |
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| 553 | else if (cmd == 'x') { |
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| 554 | |
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| 555 | |
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| 556 | dGeomID g2[GPB]; // encapsulated geometries |
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| 557 | |
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| 558 | |
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| 559 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries |
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| 560 | |
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| 561 | |
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| 562 | |
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| 563 | |
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| 564 | |
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| 565 | // start accumulating masses for the encapsulated geometries |
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| 566 | |
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| 567 | |
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| 568 | dMass m2; |
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| 569 | |
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| 570 | |
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| 571 | dMassSetZero (&m); |
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| 572 | |
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| 573 | |
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| 574 | |
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| 575 | |
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| 576 | |
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| 577 | // set random delta positions |
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| 578 | |
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| 579 | |
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| 580 | for (j=0; j<GPB; j++) { |
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| 581 | |
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| 582 | |
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| 583 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; |
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| 584 | |
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| 585 | |
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| 586 | } |
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| 587 | |
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| 588 | |
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| 589 | |
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| 590 | |
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| 591 | |
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| 592 | for (k=0; k<3; k++) { |
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| 593 | |
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| 594 | |
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| 595 | obj[i].geom[k] = dCreateGeomTransform (space); |
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| 596 | |
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| 597 | |
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| 598 | dGeomTransformSetCleanup (obj[i].geom[k],1); |
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| 599 | |
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| 600 | |
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| 601 | if (k==0) { |
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| 602 | |
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| 603 | |
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| 604 | dReal radius = dRandReal()*0.25+0.05; |
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| 605 | |
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| 606 | |
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| 607 | g2[k] = dCreateSphere (0,radius); |
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| 608 | |
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| 609 | |
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| 610 | dMassSetSphere (&m2,DENSITY,radius); |
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| 611 | |
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| 612 | |
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| 613 | } |
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| 614 | |
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| 615 | |
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| 616 | else if (k==1) { |
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| 617 | |
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| 618 | |
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| 619 | g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); |
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| 620 | |
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| 621 | |
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| 622 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); |
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| 623 | |
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| 624 | |
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| 625 | } |
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| 626 | |
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| 627 | |
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| 628 | else { |
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| 629 | |
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| 630 | |
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| 631 | dReal radius = dRandReal()*0.1+0.05; |
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| 632 | |
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| 633 | |
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| 634 | dReal length = dRandReal()*1.0+0.1; |
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| 635 | |
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| 636 | |
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| 637 | g2[k] = dCreateCCylinder (0,radius,length); |
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| 638 | |
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| 639 | |
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| 640 | dMassSetCappedCylinder (&m2,DENSITY,3,radius,length); |
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| 641 | |
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| 642 | |
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| 643 | } |
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| 644 | |
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| 645 | |
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| 646 | dGeomTransformSetGeom (obj[i].geom[k],g2[k]); |
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| 647 | |
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| 648 | |
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| 649 | |
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| 650 | |
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| 651 | |
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| 652 | // set the transformation (adjust the mass too) |
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| 653 | |
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| 654 | |
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| 655 | dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); |
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| 656 | |
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| 657 | |
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| 658 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); |
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| 659 | |
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| 660 | |
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| 661 | dMatrix3 Rtx; |
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| 662 | |
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| 663 | |
---|
| 664 | dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, |
---|
| 665 | |
---|
| 666 | |
---|
| 667 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); |
---|
| 668 | |
---|
| 669 | |
---|
| 670 | dGeomSetRotation (g2[k],Rtx); |
---|
| 671 | |
---|
| 672 | |
---|
| 673 | dMassRotate (&m2,Rtx); |
---|
| 674 | |
---|
| 675 | |
---|
| 676 | |
---|
| 677 | |
---|
| 678 | |
---|
| 679 | // add to the total mass |
---|
| 680 | |
---|
| 681 | |
---|
| 682 | dMassAdd (&m,&m2); |
---|
| 683 | |
---|
| 684 | |
---|
| 685 | } |
---|
| 686 | |
---|
| 687 | |
---|
| 688 | |
---|
| 689 | |
---|
| 690 | |
---|
| 691 | // move all encapsulated objects so that the center of mass is (0,0,0) |
---|
| 692 | |
---|
| 693 | |
---|
| 694 | for (k=0; k<2; k++) { |
---|
| 695 | |
---|
| 696 | |
---|
| 697 | dGeomSetPosition (g2[k], |
---|
| 698 | |
---|
| 699 | |
---|
| 700 | dpos[k][0]-m.c[0], |
---|
| 701 | |
---|
| 702 | |
---|
| 703 | dpos[k][1]-m.c[1], |
---|
| 704 | |
---|
| 705 | |
---|
| 706 | dpos[k][2]-m.c[2]); |
---|
| 707 | |
---|
| 708 | |
---|
| 709 | } |
---|
| 710 | |
---|
| 711 | |
---|
| 712 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); |
---|
| 713 | |
---|
| 714 | |
---|
| 715 | } |
---|
| 716 | |
---|
| 717 | |
---|
| 718 | |
---|
| 719 | |
---|
| 720 | |
---|
| 721 | for (k=0; k < GPB; k++) { |
---|
| 722 | |
---|
| 723 | |
---|
| 724 | if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); |
---|
| 725 | |
---|
| 726 | |
---|
| 727 | } |
---|
| 728 | |
---|
| 729 | |
---|
| 730 | |
---|
| 731 | |
---|
| 732 | |
---|
| 733 | dBodySetMass (obj[i].body,&m); |
---|
| 734 | |
---|
| 735 | |
---|
| 736 | } |
---|
| 737 | |
---|
| 738 | |
---|
| 739 | |
---|
| 740 | |
---|
| 741 | |
---|
| 742 | if (cmd == ' ') { |
---|
| 743 | |
---|
| 744 | |
---|
| 745 | selected++; |
---|
| 746 | |
---|
| 747 | |
---|
| 748 | if (selected >= num) selected = 0; |
---|
| 749 | |
---|
| 750 | |
---|
| 751 | if (selected < 0) selected = 0; |
---|
| 752 | |
---|
| 753 | |
---|
| 754 | } |
---|
| 755 | |
---|
| 756 | |
---|
| 757 | else if (cmd == 'd' && selected >= 0 && selected < num) { |
---|
| 758 | |
---|
| 759 | |
---|
| 760 | dBodyDisable (obj[selected].body); |
---|
| 761 | |
---|
| 762 | |
---|
| 763 | } |
---|
| 764 | |
---|
| 765 | |
---|
| 766 | else if (cmd == 'e' && selected >= 0 && selected < num) { |
---|
| 767 | |
---|
| 768 | |
---|
| 769 | dBodyEnable (obj[selected].body); |
---|
| 770 | |
---|
| 771 | |
---|
| 772 | } |
---|
| 773 | |
---|
| 774 | |
---|
| 775 | } |
---|
| 776 | |
---|
| 777 | |
---|
| 778 | |
---|
| 779 | |
---|
| 780 | |
---|
| 781 | |
---|
| 782 | |
---|
| 783 | |
---|
| 784 | // draw a geom |
---|
| 785 | |
---|
| 786 | |
---|
| 787 | |
---|
| 788 | |
---|
| 789 | |
---|
| 790 | void drawGeom (dGeomID g, const dReal *pos, const dReal *R) |
---|
| 791 | |
---|
| 792 | |
---|
| 793 | { |
---|
| 794 | |
---|
| 795 | |
---|
| 796 | if (!g) return; |
---|
| 797 | |
---|
| 798 | |
---|
| 799 | if (!pos) pos = dGeomGetPosition (g); |
---|
| 800 | |
---|
| 801 | |
---|
| 802 | if (!R) R = dGeomGetRotation (g); |
---|
| 803 | |
---|
| 804 | |
---|
| 805 | |
---|
| 806 | |
---|
| 807 | |
---|
| 808 | int type = dGeomGetClass (g); |
---|
| 809 | |
---|
| 810 | |
---|
| 811 | if (type == dBoxClass) { |
---|
| 812 | |
---|
| 813 | |
---|
| 814 | dVector3 sides; |
---|
| 815 | |
---|
| 816 | |
---|
| 817 | dGeomBoxGetLengths (g,sides); |
---|
| 818 | |
---|
| 819 | |
---|
| 820 | dsDrawBox (pos,R,sides); |
---|
| 821 | |
---|
| 822 | |
---|
| 823 | } |
---|
| 824 | |
---|
| 825 | |
---|
| 826 | else if (type == dSphereClass) { |
---|
| 827 | |
---|
| 828 | |
---|
| 829 | dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); |
---|
| 830 | |
---|
| 831 | |
---|
| 832 | } |
---|
| 833 | |
---|
| 834 | |
---|
| 835 | else if (type == dCCylinderClass) { |
---|
| 836 | |
---|
| 837 | |
---|
| 838 | dReal radius,length; |
---|
| 839 | |
---|
| 840 | |
---|
| 841 | dGeomCCylinderGetParams (g,&radius,&length); |
---|
| 842 | |
---|
| 843 | |
---|
| 844 | dsDrawCappedCylinder (pos,R,length,radius); |
---|
| 845 | |
---|
| 846 | |
---|
| 847 | } |
---|
| 848 | |
---|
| 849 | |
---|
| 850 | else if (type == dGeomTransformClass) { |
---|
| 851 | |
---|
| 852 | |
---|
| 853 | dGeomID g2 = dGeomTransformGetGeom (g); |
---|
| 854 | |
---|
| 855 | |
---|
| 856 | const dReal *pos2 = dGeomGetPosition (g2); |
---|
| 857 | |
---|
| 858 | |
---|
| 859 | const dReal *R2 = dGeomGetRotation (g2); |
---|
| 860 | |
---|
| 861 | |
---|
| 862 | dVector3 actual_pos; |
---|
| 863 | |
---|
| 864 | |
---|
| 865 | dMatrix3 actual_R; |
---|
| 866 | |
---|
| 867 | |
---|
| 868 | dMULTIPLY0_331 (actual_pos,R,pos2); |
---|
| 869 | |
---|
| 870 | |
---|
| 871 | actual_pos[0] += pos[0]; |
---|
| 872 | |
---|
| 873 | |
---|
| 874 | actual_pos[1] += pos[1]; |
---|
| 875 | |
---|
| 876 | |
---|
| 877 | actual_pos[2] += pos[2]; |
---|
| 878 | |
---|
| 879 | |
---|
| 880 | dMULTIPLY0_333 (actual_R,R,R2); |
---|
| 881 | |
---|
| 882 | |
---|
| 883 | drawGeom (g2,actual_pos,actual_R); |
---|
| 884 | |
---|
| 885 | |
---|
| 886 | } |
---|
| 887 | |
---|
| 888 | |
---|
| 889 | } |
---|
| 890 | |
---|
| 891 | |
---|
| 892 | |
---|
| 893 | |
---|
| 894 | |
---|
| 895 | |
---|
| 896 | |
---|
| 897 | |
---|
| 898 | // simulation loop |
---|
| 899 | |
---|
| 900 | |
---|
| 901 | |
---|
| 902 | |
---|
| 903 | |
---|
| 904 | static void simLoop (int pause) |
---|
| 905 | |
---|
| 906 | |
---|
| 907 | { |
---|
| 908 | |
---|
| 909 | |
---|
| 910 | dsSetColor (0,0,2); |
---|
| 911 | |
---|
| 912 | |
---|
| 913 | dSpaceCollide (space,0,&nearCallback); |
---|
| 914 | |
---|
| 915 | |
---|
| 916 | if (!pause) dWorldStep (world,0.05); |
---|
| 917 | |
---|
| 918 | |
---|
| 919 | |
---|
| 920 | |
---|
| 921 | |
---|
| 922 | // remove all contact joints |
---|
| 923 | |
---|
| 924 | |
---|
| 925 | dJointGroupEmpty (contactgroup); |
---|
| 926 | |
---|
| 927 | |
---|
| 928 | |
---|
| 929 | |
---|
| 930 | |
---|
| 931 | dsSetColor (1,1,0); |
---|
| 932 | |
---|
| 933 | |
---|
| 934 | dsSetTexture (DS_WOOD); |
---|
| 935 | |
---|
| 936 | |
---|
| 937 | for (int i=0; i<num; i++) { |
---|
| 938 | |
---|
| 939 | |
---|
| 940 | int color_changed = 0; |
---|
| 941 | |
---|
| 942 | |
---|
| 943 | if (i==selected) { |
---|
| 944 | |
---|
| 945 | |
---|
| 946 | dsSetColor (0,0.7,1); |
---|
| 947 | |
---|
| 948 | |
---|
| 949 | color_changed = 1; |
---|
| 950 | |
---|
| 951 | |
---|
| 952 | } |
---|
| 953 | |
---|
| 954 | |
---|
| 955 | else if (! dBodyIsEnabled (obj[i].body)) { |
---|
| 956 | |
---|
| 957 | |
---|
| 958 | dsSetColor (1,0,0); |
---|
| 959 | |
---|
| 960 | |
---|
| 961 | color_changed = 1; |
---|
| 962 | |
---|
| 963 | |
---|
| 964 | } |
---|
| 965 | |
---|
| 966 | |
---|
| 967 | for (int j=0; j < GPB; j++) drawGeom (obj[i].geom[j],0,0); |
---|
| 968 | |
---|
| 969 | |
---|
| 970 | if (color_changed) dsSetColor (1,1,0); |
---|
| 971 | |
---|
| 972 | |
---|
| 973 | } |
---|
| 974 | |
---|
| 975 | |
---|
| 976 | |
---|
| 977 | |
---|
| 978 | |
---|
| 979 | {for (int i = 0; i < RayCount; i++){ |
---|
| 980 | |
---|
| 981 | |
---|
| 982 | dVector3 Origin, Direction; |
---|
| 983 | |
---|
| 984 | |
---|
| 985 | dGeomRayGet(Rays[i], Origin, Direction); |
---|
| 986 | |
---|
| 987 | |
---|
| 988 | |
---|
| 989 | |
---|
| 990 | |
---|
| 991 | dReal Length = dGeomRayGetLength(Rays[i]); |
---|
| 992 | |
---|
| 993 | |
---|
| 994 | |
---|
| 995 | |
---|
| 996 | |
---|
| 997 | dVector3 End; |
---|
| 998 | |
---|
| 999 | |
---|
| 1000 | End[0] = Origin[0] + (Direction[0] * Length); |
---|
| 1001 | |
---|
| 1002 | |
---|
| 1003 | End[1] = Origin[1] + (Direction[1] * Length); |
---|
| 1004 | |
---|
| 1005 | |
---|
| 1006 | End[2] = Origin[2] + (Direction[2] * Length); |
---|
| 1007 | |
---|
| 1008 | |
---|
| 1009 | End[3] = Origin[3] + (Direction[3] * Length); |
---|
| 1010 | |
---|
| 1011 | |
---|
| 1012 | |
---|
| 1013 | |
---|
| 1014 | |
---|
| 1015 | dsDrawLine(Origin, End); |
---|
| 1016 | |
---|
| 1017 | |
---|
| 1018 | }} |
---|
| 1019 | |
---|
| 1020 | |
---|
| 1021 | } |
---|
| 1022 | |
---|
| 1023 | |
---|
| 1024 | |
---|
| 1025 | |
---|
| 1026 | |
---|
| 1027 | |
---|
| 1028 | |
---|
| 1029 | |
---|
| 1030 | int main (int argc, char **argv) |
---|
| 1031 | |
---|
| 1032 | |
---|
| 1033 | { |
---|
| 1034 | |
---|
| 1035 | |
---|
| 1036 | // setup pointers to drawstuff callback functions |
---|
| 1037 | |
---|
| 1038 | |
---|
| 1039 | dsFunctions fn; |
---|
| 1040 | |
---|
| 1041 | |
---|
| 1042 | fn.version = DS_VERSION; |
---|
| 1043 | |
---|
| 1044 | |
---|
| 1045 | fn.start = &start; |
---|
| 1046 | |
---|
| 1047 | |
---|
| 1048 | fn.step = &simLoop; |
---|
| 1049 | |
---|
| 1050 | |
---|
| 1051 | fn.command = &command; |
---|
| 1052 | |
---|
| 1053 | |
---|
| 1054 | fn.stop = 0; |
---|
| 1055 | |
---|
| 1056 | |
---|
| 1057 | fn.path_to_textures = "../../drawstuff/textures"; |
---|
| 1058 | |
---|
| 1059 | |
---|
| 1060 | if(argc==2) |
---|
| 1061 | { |
---|
| 1062 | fn.path_to_textures = argv[1]; |
---|
| 1063 | } |
---|
| 1064 | |
---|
| 1065 | |
---|
| 1066 | |
---|
| 1067 | // create world |
---|
| 1068 | |
---|
| 1069 | |
---|
| 1070 | |
---|
| 1071 | |
---|
| 1072 | |
---|
| 1073 | world = dWorldCreate(); |
---|
| 1074 | |
---|
| 1075 | |
---|
| 1076 | space = dHashSpaceCreate(); |
---|
| 1077 | |
---|
| 1078 | |
---|
| 1079 | contactgroup = dJointGroupCreate (0); |
---|
| 1080 | |
---|
| 1081 | |
---|
| 1082 | dWorldSetGravity (world,0,0,-0.5); |
---|
| 1083 | |
---|
| 1084 | |
---|
| 1085 | dWorldSetCFM (world,1e-5); |
---|
| 1086 | |
---|
| 1087 | |
---|
| 1088 | dCreatePlane (space,0,0,1,0); |
---|
| 1089 | |
---|
| 1090 | |
---|
| 1091 | memset (obj,0,sizeof(obj)); |
---|
| 1092 | |
---|
| 1093 | |
---|
| 1094 | |
---|
| 1095 | |
---|
| 1096 | |
---|
| 1097 | dVector3 Origin, Direction; |
---|
| 1098 | |
---|
| 1099 | |
---|
| 1100 | |
---|
| 1101 | |
---|
| 1102 | |
---|
| 1103 | RayCount = 5; |
---|
| 1104 | |
---|
| 1105 | |
---|
| 1106 | Rays = new dGeomID[RayCount]; |
---|
| 1107 | |
---|
| 1108 | |
---|
| 1109 | |
---|
| 1110 | |
---|
| 1111 | |
---|
| 1112 | /* Ray 0 */ |
---|
| 1113 | |
---|
| 1114 | |
---|
| 1115 | Origin[0] = 1; |
---|
| 1116 | |
---|
| 1117 | |
---|
| 1118 | Origin[1] = 1; |
---|
| 1119 | |
---|
| 1120 | |
---|
| 1121 | Origin[2] = 1.5; |
---|
| 1122 | |
---|
| 1123 | |
---|
| 1124 | Origin[3] = 0; |
---|
| 1125 | |
---|
| 1126 | |
---|
| 1127 | |
---|
| 1128 | |
---|
| 1129 | |
---|
| 1130 | Direction[0] = 0.0f; |
---|
| 1131 | |
---|
| 1132 | |
---|
| 1133 | Direction[1] = 0.0f; |
---|
| 1134 | |
---|
| 1135 | |
---|
| 1136 | Direction[2] = -1; |
---|
| 1137 | |
---|
| 1138 | |
---|
| 1139 | Direction[3] = 0; |
---|
| 1140 | |
---|
| 1141 | |
---|
| 1142 | |
---|
| 1143 | |
---|
| 1144 | |
---|
| 1145 | dNormalize3(Direction); |
---|
| 1146 | |
---|
| 1147 | |
---|
| 1148 | |
---|
| 1149 | |
---|
| 1150 | |
---|
| 1151 | Rays[0] = dGeomCreateRay(space, 5.0f); |
---|
| 1152 | |
---|
| 1153 | |
---|
| 1154 | dGeomRaySet(Rays[0], Origin, Direction); |
---|
| 1155 | |
---|
| 1156 | |
---|
| 1157 | |
---|
| 1158 | |
---|
| 1159 | |
---|
| 1160 | /* Ray 1 */ |
---|
| 1161 | |
---|
| 1162 | |
---|
| 1163 | Origin[0] = 0; |
---|
| 1164 | |
---|
| 1165 | |
---|
| 1166 | Origin[1] = 10; |
---|
| 1167 | |
---|
| 1168 | |
---|
| 1169 | Origin[2] = 0.25; |
---|
| 1170 | |
---|
| 1171 | |
---|
| 1172 | Origin[3] = 0; |
---|
| 1173 | |
---|
| 1174 | |
---|
| 1175 | |
---|
| 1176 | |
---|
| 1177 | |
---|
| 1178 | Direction[0] = 0.0f; |
---|
| 1179 | |
---|
| 1180 | |
---|
| 1181 | Direction[1] = -1.0f; |
---|
| 1182 | |
---|
| 1183 | |
---|
| 1184 | Direction[2] = 0.0f; |
---|
| 1185 | |
---|
| 1186 | |
---|
| 1187 | Direction[3] = 0; |
---|
| 1188 | |
---|
| 1189 | |
---|
| 1190 | |
---|
| 1191 | |
---|
| 1192 | |
---|
| 1193 | dNormalize3(Direction); |
---|
| 1194 | |
---|
| 1195 | |
---|
| 1196 | |
---|
| 1197 | |
---|
| 1198 | |
---|
| 1199 | Rays[1] = dGeomCreateRay(space, 20.0f); |
---|
| 1200 | |
---|
| 1201 | |
---|
| 1202 | dGeomRaySet(Rays[1], Origin, Direction); |
---|
| 1203 | |
---|
| 1204 | |
---|
| 1205 | |
---|
| 1206 | |
---|
| 1207 | |
---|
| 1208 | /* Ray 2 */ |
---|
| 1209 | |
---|
| 1210 | |
---|
| 1211 | Origin[0] = -10; |
---|
| 1212 | |
---|
| 1213 | |
---|
| 1214 | Origin[1] = 0; |
---|
| 1215 | |
---|
| 1216 | |
---|
| 1217 | Origin[2] = 0.20; |
---|
| 1218 | |
---|
| 1219 | |
---|
| 1220 | Origin[3] = 0; |
---|
| 1221 | |
---|
| 1222 | |
---|
| 1223 | |
---|
| 1224 | |
---|
| 1225 | |
---|
| 1226 | Direction[0] = 1.0f; |
---|
| 1227 | |
---|
| 1228 | |
---|
| 1229 | Direction[1] = 0.0f; |
---|
| 1230 | |
---|
| 1231 | |
---|
| 1232 | Direction[2] = 0.0f; |
---|
| 1233 | |
---|
| 1234 | |
---|
| 1235 | Direction[3] = 0; |
---|
| 1236 | |
---|
| 1237 | |
---|
| 1238 | |
---|
| 1239 | |
---|
| 1240 | |
---|
| 1241 | dNormalize3(Direction); |
---|
| 1242 | |
---|
| 1243 | |
---|
| 1244 | |
---|
| 1245 | |
---|
| 1246 | |
---|
| 1247 | Rays[2] = dGeomCreateRay(space, 20.0f); |
---|
| 1248 | |
---|
| 1249 | |
---|
| 1250 | dGeomRaySet(Rays[2], Origin, Direction); |
---|
| 1251 | |
---|
| 1252 | |
---|
| 1253 | |
---|
| 1254 | |
---|
| 1255 | |
---|
| 1256 | /* Ray 3 */ |
---|
| 1257 | |
---|
| 1258 | |
---|
| 1259 | Origin[0] = -9; |
---|
| 1260 | |
---|
| 1261 | |
---|
| 1262 | Origin[1] = 11; |
---|
| 1263 | |
---|
| 1264 | |
---|
| 1265 | Origin[2] = 0.15; |
---|
| 1266 | |
---|
| 1267 | |
---|
| 1268 | Origin[3] = 0; |
---|
| 1269 | |
---|
| 1270 | |
---|
| 1271 | |
---|
| 1272 | |
---|
| 1273 | |
---|
| 1274 | Direction[0] = 1.0f; |
---|
| 1275 | |
---|
| 1276 | |
---|
| 1277 | Direction[1] = -1.0f; |
---|
| 1278 | |
---|
| 1279 | |
---|
| 1280 | Direction[2] = 0.0f; |
---|
| 1281 | |
---|
| 1282 | |
---|
| 1283 | Direction[3] = 0; |
---|
| 1284 | |
---|
| 1285 | |
---|
| 1286 | |
---|
| 1287 | |
---|
| 1288 | |
---|
| 1289 | dNormalize3(Direction); |
---|
| 1290 | |
---|
| 1291 | |
---|
| 1292 | |
---|
| 1293 | |
---|
| 1294 | |
---|
| 1295 | Rays[3] = dGeomCreateRay(space, 20.0f); |
---|
| 1296 | |
---|
| 1297 | |
---|
| 1298 | dGeomRaySet(Rays[3], Origin, Direction); |
---|
| 1299 | |
---|
| 1300 | |
---|
| 1301 | |
---|
| 1302 | |
---|
| 1303 | |
---|
| 1304 | /* Ray 4 */ |
---|
| 1305 | |
---|
| 1306 | |
---|
| 1307 | Origin[0] = -0.1; |
---|
| 1308 | |
---|
| 1309 | |
---|
| 1310 | Origin[1] = 0.3; |
---|
| 1311 | |
---|
| 1312 | |
---|
| 1313 | Origin[2] = 0.30; |
---|
| 1314 | |
---|
| 1315 | |
---|
| 1316 | Origin[3] = 0; |
---|
| 1317 | |
---|
| 1318 | |
---|
| 1319 | |
---|
| 1320 | |
---|
| 1321 | |
---|
| 1322 | Direction[0] = 0.3f; |
---|
| 1323 | |
---|
| 1324 | |
---|
| 1325 | Direction[1] = 0.5f; |
---|
| 1326 | |
---|
| 1327 | |
---|
| 1328 | Direction[2] = 1.0f; |
---|
| 1329 | |
---|
| 1330 | |
---|
| 1331 | Direction[3] = 0; |
---|
| 1332 | |
---|
| 1333 | |
---|
| 1334 | |
---|
| 1335 | |
---|
| 1336 | |
---|
| 1337 | Rays[4] = dGeomCreateRay(space, 5.0f); |
---|
| 1338 | |
---|
| 1339 | |
---|
| 1340 | dGeomRaySet(Rays[4], Origin, Direction); |
---|
| 1341 | |
---|
| 1342 | |
---|
| 1343 | |
---|
| 1344 | |
---|
| 1345 | |
---|
| 1346 | // run simulation |
---|
| 1347 | |
---|
| 1348 | |
---|
| 1349 | dsSimulationLoop (argc,argv,352,288,&fn); |
---|
| 1350 | |
---|
| 1351 | |
---|
| 1352 | |
---|
| 1353 | |
---|
| 1354 | |
---|
| 1355 | dJointGroupDestroy (contactgroup); |
---|
| 1356 | |
---|
| 1357 | |
---|
| 1358 | dSpaceDestroy (space); |
---|
| 1359 | |
---|
| 1360 | |
---|
| 1361 | dWorldDestroy (world); |
---|
| 1362 | |
---|
| 1363 | |
---|
| 1364 | |
---|
| 1365 | |
---|
| 1366 | |
---|
| 1367 | return 0; |
---|
| 1368 | |
---|
| 1369 | |
---|
| 1370 | } |
---|
| 1371 | |
---|
| 1372 | |
---|