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 <ode/ode.h> |
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32 | #include <drawstuff/drawstuff.h> |
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33 | |
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34 | #ifdef _MSC_VER |
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35 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints |
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36 | #endif |
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37 | |
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38 | // select correct drawing functions |
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39 | |
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40 | #ifdef dDOUBLE |
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41 | #define dsDrawBox dsDrawBoxD |
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42 | #define dsDrawSphere dsDrawSphereD |
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43 | #define dsDrawCylinder dsDrawCylinderD |
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44 | #define dsDrawCappedCylinder dsDrawCappedCylinderD |
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45 | #endif |
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46 | |
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47 | |
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48 | // some constants |
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49 | |
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50 | #define LENGTH 0.7 // chassis length |
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51 | #define WIDTH 0.5 // chassis width |
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52 | #define HEIGHT 0.2 // chassis height |
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53 | #define RADIUS 0.18 // wheel radius |
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54 | #define STARTZ 0.5 // starting height of chassis |
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55 | #define CMASS 1 // chassis mass |
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56 | #define WMASS 0.2 // wheel mass |
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57 | |
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58 | |
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59 | // dynamics and collision objects (chassis, 3 wheels, environment) |
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60 | |
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61 | static dWorldID world; |
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62 | static dSpaceID space; |
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63 | static dBodyID body[4]; |
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64 | static dJointID joint[3]; // joint[0] is the front wheel |
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65 | static dJointGroupID contactgroup; |
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66 | static dGeomID ground; |
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67 | static dSpaceID car_space; |
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68 | static dGeomID box[1]; |
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69 | static dGeomID sphere[3]; |
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70 | static dGeomID ground_box; |
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71 | |
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72 | |
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73 | // things that the user controls |
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74 | |
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75 | static dReal speed=0,steer=0; // user commands |
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76 | |
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77 | |
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78 | |
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79 | // this is called by dSpaceCollide when two objects in space are |
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80 | // potentially colliding. |
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81 | |
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82 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) |
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83 | { |
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84 | int i,n; |
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85 | |
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86 | // only collide things with the ground |
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87 | int g1 = (o1 == ground || o1 == ground_box); |
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88 | int g2 = (o2 == ground || o2 == ground_box); |
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89 | if (!(g1 ^ g2)) return; |
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90 | |
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91 | const int N = 10; |
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92 | dContact contact[N]; |
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93 | n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); |
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94 | if (n > 0) { |
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95 | for (i=0; i<n; i++) { |
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96 | contact[i].surface.mode = dContactSlip1 | dContactSlip2 | |
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97 | dContactSoftERP | dContactSoftCFM | dContactApprox1; |
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98 | contact[i].surface.mu = dInfinity; |
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99 | contact[i].surface.slip1 = 0.1; |
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100 | contact[i].surface.slip2 = 0.1; |
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101 | contact[i].surface.soft_erp = 0.5; |
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102 | contact[i].surface.soft_cfm = 0.3; |
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103 | dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); |
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104 | dJointAttach (c, |
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105 | dGeomGetBody(contact[i].geom.g1), |
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106 | dGeomGetBody(contact[i].geom.g2)); |
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107 | } |
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108 | } |
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109 | } |
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110 | |
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111 | |
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112 | // start simulation - set viewpoint |
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113 | |
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114 | static void start() |
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115 | { |
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116 | static float xyz[3] = {0.8317f,-0.9817f,0.8000f}; |
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117 | static float hpr[3] = {121.0000f,-27.5000f,0.0000f}; |
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118 | dsSetViewpoint (xyz,hpr); |
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119 | printf ("Press:\t'a' to increase speed.\n" |
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120 | "\t'z' to decrease speed.\n" |
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121 | "\t',' to steer left.\n" |
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122 | "\t'.' to steer right.\n" |
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123 | "\t' ' to reset speed and steering.\n"); |
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124 | } |
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125 | |
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126 | |
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127 | // called when a key pressed |
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128 | |
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129 | static void command (int cmd) |
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130 | { |
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131 | switch (cmd) { |
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132 | case 'a': case 'A': |
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133 | speed += 0.3; |
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134 | break; |
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135 | case 'z': case 'Z': |
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136 | speed -= 0.3; |
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137 | break; |
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138 | case ',': |
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139 | steer -= 0.5; |
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140 | break; |
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141 | case '.': |
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142 | steer += 0.5; |
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143 | break; |
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144 | case ' ': |
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145 | speed = 0; |
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146 | steer = 0; |
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147 | break; |
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148 | } |
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149 | } |
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150 | |
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151 | |
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152 | // simulation loop |
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153 | |
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154 | static void simLoop (int pause) |
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155 | { |
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156 | int i; |
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157 | if (!pause) { |
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158 | // motor |
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159 | dJointSetHinge2Param (joint[0],dParamVel2,-speed); |
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160 | dJointSetHinge2Param (joint[0],dParamFMax2,0.1); |
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161 | |
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162 | // steering |
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163 | dReal v = steer - dJointGetHinge2Angle1 (joint[0]); |
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164 | if (v > 0.1) v = 0.1; |
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165 | if (v < -0.1) v = -0.1; |
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166 | v *= 10.0; |
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167 | dJointSetHinge2Param (joint[0],dParamVel,v); |
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168 | dJointSetHinge2Param (joint[0],dParamFMax,0.2); |
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169 | dJointSetHinge2Param (joint[0],dParamLoStop,-0.75); |
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170 | dJointSetHinge2Param (joint[0],dParamHiStop,0.75); |
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171 | dJointSetHinge2Param (joint[0],dParamFudgeFactor,0.1); |
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172 | |
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173 | dSpaceCollide (space,0,&nearCallback); |
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174 | dWorldStep (world,0.05); |
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175 | |
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176 | // remove all contact joints |
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177 | dJointGroupEmpty (contactgroup); |
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178 | } |
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179 | |
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180 | dsSetColor (0,1,1); |
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181 | dsSetTexture (DS_WOOD); |
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182 | dReal sides[3] = {LENGTH,WIDTH,HEIGHT}; |
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183 | dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides); |
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184 | dsSetColor (1,1,1); |
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185 | for (i=1; i<=3; i++) dsDrawCylinder (dBodyGetPosition(body[i]), |
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186 | dBodyGetRotation(body[i]),0.02f,RADIUS); |
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187 | |
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188 | dVector3 ss; |
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189 | dGeomBoxGetLengths (ground_box,ss); |
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190 | dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss); |
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191 | |
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192 | /* |
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193 | printf ("%.10f %.10f %.10f %.10f\n", |
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194 | dJointGetHingeAngle (joint[1]), |
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195 | dJointGetHingeAngle (joint[2]), |
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196 | dJointGetHingeAngleRate (joint[1]), |
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197 | dJointGetHingeAngleRate (joint[2])); |
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198 | */ |
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199 | } |
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200 | |
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201 | |
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202 | int main (int argc, char **argv) |
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203 | { |
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204 | int i; |
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205 | dMass m; |
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206 | |
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207 | // setup pointers to drawstuff callback functions |
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208 | dsFunctions fn; |
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209 | fn.version = DS_VERSION; |
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210 | fn.start = &start; |
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211 | fn.step = &simLoop; |
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212 | fn.command = &command; |
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213 | fn.stop = 0; |
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214 | fn.path_to_textures = "../../drawstuff/textures"; |
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215 | if(argc==2) |
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216 | { |
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217 | fn.path_to_textures = argv[1]; |
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218 | } |
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219 | |
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220 | // create world |
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221 | |
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222 | world = dWorldCreate(); |
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223 | space = dHashSpaceCreate (0); |
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224 | contactgroup = dJointGroupCreate (0); |
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225 | dWorldSetGravity (world,0,0,-0.5); |
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226 | ground = dCreatePlane (space,0,0,1,0); |
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227 | |
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228 | // chassis body |
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229 | body[0] = dBodyCreate (world); |
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230 | dBodySetPosition (body[0],0,0,STARTZ); |
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231 | dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT); |
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232 | dMassAdjust (&m,CMASS); |
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233 | dBodySetMass (body[0],&m); |
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234 | box[0] = dCreateBox (0,LENGTH,WIDTH,HEIGHT); |
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235 | dGeomSetBody (box[0],body[0]); |
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236 | |
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237 | // wheel bodies |
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238 | for (i=1; i<=3; i++) { |
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239 | body[i] = dBodyCreate (world); |
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240 | dQuaternion q; |
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241 | dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); |
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242 | dBodySetQuaternion (body[i],q); |
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243 | dMassSetSphere (&m,1,RADIUS); |
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244 | dMassAdjust (&m,WMASS); |
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245 | dBodySetMass (body[i],&m); |
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246 | sphere[i-1] = dCreateSphere (0,RADIUS); |
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247 | dGeomSetBody (sphere[i-1],body[i]); |
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248 | } |
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249 | dBodySetPosition (body[1],0.5*LENGTH,0,STARTZ-HEIGHT*0.5); |
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250 | dBodySetPosition (body[2],-0.5*LENGTH, WIDTH*0.5,STARTZ-HEIGHT*0.5); |
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251 | dBodySetPosition (body[3],-0.5*LENGTH,-WIDTH*0.5,STARTZ-HEIGHT*0.5); |
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252 | |
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253 | // front wheel hinge |
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254 | /* |
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255 | joint[0] = dJointCreateHinge2 (world,0); |
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256 | dJointAttach (joint[0],body[0],body[1]); |
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257 | const dReal *a = dBodyGetPosition (body[1]); |
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258 | dJointSetHinge2Anchor (joint[0],a[0],a[1],a[2]); |
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259 | dJointSetHinge2Axis1 (joint[0],0,0,1); |
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260 | dJointSetHinge2Axis2 (joint[0],0,1,0); |
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261 | */ |
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262 | |
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263 | // front and back wheel hinges |
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264 | for (i=0; i<3; i++) { |
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265 | joint[i] = dJointCreateHinge2 (world,0); |
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266 | dJointAttach (joint[i],body[0],body[i+1]); |
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267 | const dReal *a = dBodyGetPosition (body[i+1]); |
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268 | dJointSetHinge2Anchor (joint[i],a[0],a[1],a[2]); |
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269 | dJointSetHinge2Axis1 (joint[i],0,0,1); |
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270 | dJointSetHinge2Axis2 (joint[i],0,1,0); |
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271 | |
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272 | // breakable joints contribution |
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273 | // the wheels can break |
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274 | dJointSetBreakable (joint[i], 1); |
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275 | // the wheels wil break at a specific force |
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276 | dJointSetBreakMode (joint[i], dJOINT_BREAK_AT_B1_FORCE|dJOINT_BREAK_AT_B2_FORCE); |
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277 | // specify the force for the first body connected to the joint ... |
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278 | dJointSetBreakForce (joint[i], 0, 1.5, 1.5, 1.5); |
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279 | // and for the second body |
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280 | dJointSetBreakForce (joint[i], 1, 1.5, 1.5, 1.5); |
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281 | } |
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282 | |
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283 | // set joint suspension |
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284 | for (i=0; i<3; i++) { |
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285 | dJointSetHinge2Param (joint[i],dParamSuspensionERP,0.4); |
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286 | dJointSetHinge2Param (joint[i],dParamSuspensionCFM,0.8); |
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287 | } |
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288 | |
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289 | // lock back wheels along the steering axis |
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290 | for (i=1; i<3; i++) { |
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291 | // set stops to make sure wheels always stay in alignment |
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292 | dJointSetHinge2Param (joint[i],dParamLoStop,0); |
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293 | dJointSetHinge2Param (joint[i],dParamHiStop,0); |
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294 | // the following alternative method is no good as the wheels may get out |
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295 | // of alignment: |
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296 | // dJointSetHinge2Param (joint[i],dParamVel,0); |
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297 | // dJointSetHinge2Param (joint[i],dParamFMax,dInfinity); |
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298 | } |
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299 | |
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300 | // create car space and add it to the top level space |
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301 | car_space = dSimpleSpaceCreate (space); |
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302 | dSpaceSetCleanup (car_space,0); |
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303 | dSpaceAdd (car_space,box[0]); |
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304 | dSpaceAdd (car_space,sphere[0]); |
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305 | dSpaceAdd (car_space,sphere[1]); |
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306 | dSpaceAdd (car_space,sphere[2]); |
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307 | |
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308 | // environment |
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309 | ground_box = dCreateBox (space,2,1.5,1); |
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310 | dMatrix3 R; |
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311 | dRFromAxisAndAngle (R,0,1,0,-0.15); |
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312 | dGeomSetPosition (ground_box,2,0,-0.34); |
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313 | dGeomSetRotation (ground_box,R); |
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314 | |
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315 | // run simulation |
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316 | dsSimulationLoop (argc,argv,352,288,&fn); |
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317 | |
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318 | dJointGroupDestroy (contactgroup); |
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319 | dSpaceDestroy (space); |
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320 | dWorldDestroy (world); |
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321 | dGeomDestroy (box[0]); |
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322 | dGeomDestroy (sphere[0]); |
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323 | dGeomDestroy (sphere[1]); |
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324 | dGeomDestroy (sphere[2]); |
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325 | |
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326 | return 0; |
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327 | } |
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