[216] | 1 | /************************************************************************* |
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| 2 | * * |
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| 3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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| 5 | * * |
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| 6 | * This library is free software; you can redistribute it and/or * |
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| 7 | * modify it under the terms of EITHER: * |
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| 8 | * (1) The GNU Lesser General Public License as published by the Free * |
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| 9 | * Software Foundation; either version 2.1 of the License, or (at * |
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| 10 | * your option) any later version. The text of the GNU Lesser * |
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| 11 | * General Public License is included with this library in the * |
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| 12 | * file LICENSE.TXT. * |
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| 13 | * (2) The BSD-style license that is included with this library in * |
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| 14 | * the file LICENSE-BSD.TXT. * |
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| 15 | * * |
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| 16 | * This library is distributed in the hope that it will be useful, * |
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| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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| 20 | * * |
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| 21 | *************************************************************************/ |
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| 22 | |
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| 23 | #include <ode/ode.h> |
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| 24 | #include <drawstuff/drawstuff.h> |
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| 25 | |
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| 26 | #ifdef _MSC_VER |
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| 27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints |
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| 28 | #endif |
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| 29 | |
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| 30 | |
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| 31 | //<---- Convex Object |
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| 32 | dReal planes[]= // planes for a cube, these should coincide with the face array |
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| 33 | { |
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| 34 | 1.0f ,0.0f ,0.0f ,0.25f, |
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| 35 | 0.0f ,1.0f ,0.0f ,0.25f, |
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| 36 | 0.0f ,0.0f ,1.0f ,0.25f, |
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| 37 | -1.0f,0.0f ,0.0f ,0.25f, |
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| 38 | 0.0f ,-1.0f,0.0f ,0.25f, |
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| 39 | 0.0f ,0.0f ,-1.0f,0.25f |
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| 40 | /* |
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| 41 | 1.0f ,0.0f ,0.0f ,2.0f, |
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| 42 | 0.0f ,1.0f ,0.0f ,1.0f, |
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| 43 | 0.0f ,0.0f ,1.0f ,1.0f, |
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| 44 | 0.0f ,0.0f ,-1.0f,1.0f, |
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| 45 | 0.0f ,-1.0f,0.0f ,1.0f, |
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| 46 | -1.0f,0.0f ,0.0f ,0.0f |
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| 47 | */ |
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| 48 | }; |
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| 49 | const unsigned int planecount=6; |
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| 50 | |
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| 51 | dReal points[]= // points for a cube |
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| 52 | { |
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| 53 | 0.25f,0.25f,0.25f, // point 0 |
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| 54 | -0.25f,0.25f,0.25f, // point 1 |
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| 55 | |
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| 56 | 0.25f,-0.25f,0.25f, // point 2 |
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| 57 | -0.25f,-0.25f,0.25f,// point 3 |
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| 58 | |
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| 59 | 0.25f,0.25f,-0.25f, // point 4 |
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| 60 | -0.25f,0.25f,-0.25f,// point 5 |
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| 61 | |
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| 62 | 0.25f,-0.25f,-0.25f,// point 6 |
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| 63 | -0.25f,-0.25f,-0.25f,// point 7 |
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| 64 | }; |
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| 65 | const unsigned int pointcount=8; |
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| 66 | unsigned int polygons[] = //Polygons for a cube (6 squares) |
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| 67 | { |
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| 68 | 4,0,2,6,4, // positive X |
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| 69 | 4,1,0,4,5, // positive Y |
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| 70 | 4,0,1,3,2, // positive Z |
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| 71 | 4,3,1,5,7, // negative X |
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| 72 | 4,2,3,7,6, // negative Y |
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| 73 | 4,5,4,6,7, // negative Z |
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| 74 | }; |
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| 75 | //----> Convex Object |
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| 76 | |
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| 77 | // select correct drawing functions |
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| 78 | |
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| 79 | #ifdef dDOUBLE |
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| 80 | #define dsDrawBox dsDrawBoxD |
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| 81 | #define dsDrawSphere dsDrawSphereD |
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| 82 | #define dsDrawCylinder dsDrawCylinderD |
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| 83 | #define dsDrawCapsule dsDrawCapsuleD |
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| 84 | #define dsDrawConvex dsDrawConvexD |
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| 85 | #endif |
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| 86 | |
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| 87 | |
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| 88 | // some constants |
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| 89 | |
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| 90 | #define NUM 100 // max number of objects |
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| 91 | #define DENSITY (5.0) // density of all objects |
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| 92 | #define GPB 3 // maximum number of geometries per body |
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| 93 | #define MAX_CONTACTS 8 // maximum number of contact points per body |
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| 94 | #define USE_GEOM_OFFSET 1 |
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| 95 | |
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| 96 | // dynamics and collision objects |
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| 97 | |
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| 98 | struct MyObject { |
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| 99 | dBodyID body; // the body |
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| 100 | dGeomID geom[GPB]; // geometries representing this body |
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| 101 | }; |
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| 102 | |
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| 103 | static int num=0; // number of objects in simulation |
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| 104 | static int nextobj=0; // next object to recycle if num==NUM |
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| 105 | static dWorldID world; |
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| 106 | static dSpaceID space; |
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| 107 | static MyObject obj[NUM]; |
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| 108 | static dJointGroupID contactgroup; |
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| 109 | static int selected = -1; // selected object |
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| 110 | static int show_aabb = 0; // show geom AABBs? |
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| 111 | static int show_contacts = 0; // show contact points? |
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| 112 | static int random_pos = 1; // drop objects from random position? |
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| 113 | static int write_world = 0; |
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| 114 | static int show_body = 1; |
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| 115 | |
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| 116 | // this is called by dSpaceCollide when two objects in space are |
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| 117 | // potentially colliding. |
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| 118 | |
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| 119 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) |
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| 120 | { |
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| 121 | int i; |
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| 122 | // if (o1->body && o2->body) return; |
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| 123 | |
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| 124 | // exit without doing anything if the two bodies are connected by a joint |
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| 125 | dBodyID b1 = dGeomGetBody(o1); |
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| 126 | dBodyID b2 = dGeomGetBody(o2); |
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| 127 | if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; |
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| 128 | |
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| 129 | dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box |
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| 130 | for (i=0; i<MAX_CONTACTS; i++) { |
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| 131 | contact[i].surface.mode = dContactBounce | dContactSoftCFM; |
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| 132 | contact[i].surface.mu = dInfinity; |
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| 133 | contact[i].surface.mu2 = 0; |
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| 134 | contact[i].surface.bounce = 0.1; |
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| 135 | contact[i].surface.bounce_vel = 0.1; |
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| 136 | contact[i].surface.soft_cfm = 0.01; |
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| 137 | } |
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| 138 | if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom, |
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| 139 | sizeof(dContact))) { |
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| 140 | dMatrix3 RI; |
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| 141 | dRSetIdentity (RI); |
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| 142 | const dReal ss[3] = {0.02,0.02,0.02}; |
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| 143 | for (i=0; i<numc; i++) { |
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| 144 | dJointID c = dJointCreateContact (world,contactgroup,contact+i); |
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| 145 | dJointAttach (c,b1,b2); |
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| 146 | if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss); |
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| 147 | } |
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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 | // start simulation - set viewpoint |
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| 153 | |
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| 154 | static void start() |
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| 155 | { |
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| 156 | static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; |
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| 157 | static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; |
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| 158 | dsSetViewpoint (xyz,hpr); |
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| 159 | printf ("To drop another object, press:\n"); |
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| 160 | printf (" b for box.\n"); |
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| 161 | printf (" s for sphere.\n"); |
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| 162 | printf (" c for capsule.\n"); |
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| 163 | printf (" y for cylinder.\n"); |
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| 164 | printf (" v for a convex object.\n"); |
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| 165 | printf (" x for a composite object.\n"); |
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| 166 | printf ("To select an object, press space.\n"); |
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| 167 | printf ("To disable the selected object, press d.\n"); |
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| 168 | printf ("To enable the selected object, press e.\n"); |
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| 169 | printf ("To toggle showing the geom AABBs, press a.\n"); |
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| 170 | printf ("To toggle showing the contact points, press t.\n"); |
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| 171 | printf ("To toggle dropping from random position/orientation, press r.\n"); |
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| 172 | printf ("To save the current state to 'state.dif', press 1.\n"); |
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| 173 | } |
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| 174 | |
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| 175 | |
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| 176 | char locase (char c) |
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| 177 | { |
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| 178 | if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); |
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| 179 | else return c; |
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| 180 | } |
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| 181 | |
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| 182 | |
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| 183 | // called when a key pressed |
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| 184 | |
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| 185 | static void command (int cmd) |
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| 186 | { |
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| 187 | size_t i; |
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| 188 | int j,k; |
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| 189 | dReal sides[3]; |
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| 190 | dMass m; |
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| 191 | int setBody; |
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| 192 | |
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| 193 | cmd = locase (cmd); |
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| 194 | if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v') |
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| 195 | { |
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| 196 | setBody = 0; |
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| 197 | if (num < NUM) { |
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| 198 | i = num; |
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| 199 | num++; |
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| 200 | } |
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| 201 | else { |
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| 202 | i = nextobj; |
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| 203 | nextobj++; |
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| 204 | if (nextobj >= num) nextobj = 0; |
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| 205 | |
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| 206 | // destroy the body and geoms for slot i |
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| 207 | dBodyDestroy (obj[i].body); |
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| 208 | for (k=0; k < GPB; k++) { |
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| 209 | if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); |
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| 210 | } |
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| 211 | memset (&obj[i],0,sizeof(obj[i])); |
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| 212 | } |
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| 213 | |
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| 214 | obj[i].body = dBodyCreate (world); |
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| 215 | for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; |
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| 216 | |
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| 217 | dMatrix3 R; |
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| 218 | if (random_pos) |
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| 219 | { |
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| 220 | dBodySetPosition (obj[i].body, |
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| 221 | dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2); |
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| 222 | dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, |
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| 223 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); |
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| 224 | } |
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| 225 | else |
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| 226 | { |
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| 227 | dReal maxheight = 0; |
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| 228 | for (k=0; k<num; k++) |
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| 229 | { |
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| 230 | const dReal *pos = dBodyGetPosition (obj[k].body); |
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| 231 | if (pos[2] > maxheight) maxheight = pos[2]; |
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| 232 | } |
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| 233 | dBodySetPosition (obj[i].body, 0,0,maxheight+1); |
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| 234 | dRSetIdentity (R); |
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| 235 | //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0); |
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| 236 | } |
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| 237 | dBodySetRotation (obj[i].body,R); |
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| 238 | dBodySetData (obj[i].body,(void*) i); |
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| 239 | |
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| 240 | if (cmd == 'b') { |
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| 241 | dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); |
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| 242 | obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); |
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| 243 | } |
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| 244 | else if (cmd == 'c') { |
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| 245 | sides[0] *= 0.5; |
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| 246 | dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); |
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| 247 | obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); |
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| 248 | } |
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| 249 | //<---- Convex Object |
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| 250 | else if (cmd == 'v') |
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| 251 | { |
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| 252 | dMassSetBox (&m,DENSITY,0.25,0.25,0.25); |
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| 253 | obj[i].geom[0] = dCreateConvex (space, |
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| 254 | planes, |
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| 255 | planecount, |
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| 256 | points, |
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| 257 | pointcount, |
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| 258 | polygons); |
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| 259 | } |
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| 260 | //----> Convex Object |
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| 261 | else if (cmd == 'y') { |
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| 262 | dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); |
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| 263 | obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); |
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| 264 | } |
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| 265 | else if (cmd == 's') { |
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| 266 | sides[0] *= 0.5; |
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| 267 | dMassSetSphere (&m,DENSITY,sides[0]); |
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| 268 | obj[i].geom[0] = dCreateSphere (space,sides[0]); |
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| 269 | } |
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| 270 | else if (cmd == 'x' && USE_GEOM_OFFSET) { |
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| 271 | setBody = 1; |
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| 272 | // start accumulating masses for the encapsulated geometries |
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| 273 | dMass m2; |
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| 274 | dMassSetZero (&m); |
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| 275 | |
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| 276 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries |
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| 277 | dMatrix3 drot[GPB]; |
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| 278 | |
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| 279 | // set random delta positions |
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| 280 | for (j=0; j<GPB; j++) { |
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| 281 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; |
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| 282 | } |
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| 283 | |
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| 284 | for (k=0; k<GPB; k++) { |
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| 285 | if (k==0) { |
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| 286 | dReal radius = dRandReal()*0.25+0.05; |
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| 287 | obj[i].geom[k] = dCreateSphere (space,radius); |
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| 288 | dMassSetSphere (&m2,DENSITY,radius); |
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| 289 | } |
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| 290 | else if (k==1) { |
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| 291 | obj[i].geom[k] = dCreateBox (space,sides[0],sides[1],sides[2]); |
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| 292 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); |
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| 293 | } |
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| 294 | else { |
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| 295 | dReal radius = dRandReal()*0.1+0.05; |
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| 296 | dReal length = dRandReal()*1.0+0.1; |
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| 297 | obj[i].geom[k] = dCreateCapsule (space,radius,length); |
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| 298 | dMassSetCapsule (&m2,DENSITY,3,radius,length); |
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| 299 | } |
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| 300 | |
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| 301 | dRFromAxisAndAngle (drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, |
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| 302 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); |
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| 303 | dMassRotate (&m2,drot[k]); |
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| 304 | |
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| 305 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); |
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| 306 | |
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| 307 | // add to the total mass |
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| 308 | dMassAdd (&m,&m2); |
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| 309 | |
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| 310 | } |
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| 311 | for (k=0; k<GPB; k++) { |
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| 312 | dGeomSetBody (obj[i].geom[k],obj[i].body); |
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| 313 | dGeomSetOffsetPosition (obj[i].geom[k], |
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| 314 | dpos[k][0]-m.c[0], |
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| 315 | dpos[k][1]-m.c[1], |
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| 316 | dpos[k][2]-m.c[2]); |
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| 317 | dGeomSetOffsetRotation(obj[i].geom[k], drot[k]); |
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| 318 | } |
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| 319 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); |
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| 320 | dBodySetMass (obj[i].body,&m); |
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| 321 | |
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| 322 | } |
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| 323 | else if (cmd == 'x') { |
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| 324 | dGeomID g2[GPB]; // encapsulated geometries |
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| 325 | dReal dpos[GPB][3]; // delta-positions for encapsulated geometries |
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| 326 | |
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| 327 | // start accumulating masses for the encapsulated geometries |
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| 328 | dMass m2; |
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| 329 | dMassSetZero (&m); |
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| 330 | |
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| 331 | // set random delta positions |
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| 332 | for (j=0; j<GPB; j++) { |
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| 333 | for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; |
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| 334 | } |
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| 335 | |
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| 336 | for (k=0; k<GPB; k++) { |
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| 337 | obj[i].geom[k] = dCreateGeomTransform (space); |
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| 338 | dGeomTransformSetCleanup (obj[i].geom[k],1); |
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| 339 | if (k==0) { |
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| 340 | dReal radius = dRandReal()*0.25+0.05; |
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| 341 | g2[k] = dCreateSphere (0,radius); |
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| 342 | dMassSetSphere (&m2,DENSITY,radius); |
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| 343 | } |
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| 344 | else if (k==1) { |
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| 345 | g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); |
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| 346 | dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); |
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| 347 | } |
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| 348 | else { |
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| 349 | dReal radius = dRandReal()*0.1+0.05; |
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| 350 | dReal length = dRandReal()*1.0+0.1; |
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| 351 | g2[k] = dCreateCapsule (0,radius,length); |
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| 352 | dMassSetCapsule (&m2,DENSITY,3,radius,length); |
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| 353 | } |
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| 354 | dGeomTransformSetGeom (obj[i].geom[k],g2[k]); |
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| 355 | |
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| 356 | // set the transformation (adjust the mass too) |
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| 357 | dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); |
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| 358 | dMatrix3 Rtx; |
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| 359 | dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, |
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| 360 | dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); |
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| 361 | dGeomSetRotation (g2[k],Rtx); |
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| 362 | dMassRotate (&m2,Rtx); |
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| 363 | |
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| 364 | // Translation *after* rotation |
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| 365 | dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); |
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| 366 | |
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| 367 | // add to the total mass |
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| 368 | dMassAdd (&m,&m2); |
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| 369 | } |
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| 370 | |
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| 371 | // move all encapsulated objects so that the center of mass is (0,0,0) |
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| 372 | for (k=0; k<GPB; k++) { |
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| 373 | dGeomSetPosition (g2[k], |
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| 374 | dpos[k][0]-m.c[0], |
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| 375 | dpos[k][1]-m.c[1], |
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| 376 | dpos[k][2]-m.c[2]); |
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| 377 | } |
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| 378 | dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); |
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| 379 | } |
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| 380 | |
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| 381 | if (!setBody) |
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| 382 | for (k=0; k < GPB; k++) { |
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| 383 | if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); |
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| 384 | } |
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| 385 | |
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| 386 | dBodySetMass (obj[i].body,&m); |
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| 387 | } |
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| 388 | |
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| 389 | if (cmd == ' ') { |
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| 390 | selected++; |
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| 391 | if (selected >= num) selected = 0; |
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| 392 | if (selected < 0) selected = 0; |
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| 393 | } |
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| 394 | else if (cmd == 'd' && selected >= 0 && selected < num) { |
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| 395 | dBodyDisable (obj[selected].body); |
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| 396 | } |
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| 397 | else if (cmd == 'e' && selected >= 0 && selected < num) { |
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| 398 | dBodyEnable (obj[selected].body); |
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| 399 | } |
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| 400 | else if (cmd == 'a') { |
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| 401 | show_aabb ^= 1; |
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| 402 | } |
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| 403 | else if (cmd == 't') { |
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| 404 | show_contacts ^= 1; |
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| 405 | } |
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| 406 | else if (cmd == 'r') { |
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| 407 | random_pos ^= 1; |
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| 408 | } |
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| 409 | else if (cmd == '1') { |
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| 410 | write_world = 1; |
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| 411 | } |
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| 412 | } |
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| 413 | |
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| 414 | |
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| 415 | // draw a geom |
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| 416 | |
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| 417 | void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) |
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| 418 | { |
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| 419 | int i; |
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| 420 | |
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| 421 | if (!g) return; |
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| 422 | if (!pos) pos = dGeomGetPosition (g); |
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| 423 | if (!R) R = dGeomGetRotation (g); |
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| 424 | |
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| 425 | int type = dGeomGetClass (g); |
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| 426 | if (type == dBoxClass) { |
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| 427 | dVector3 sides; |
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| 428 | dGeomBoxGetLengths (g,sides); |
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| 429 | dsDrawBox (pos,R,sides); |
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| 430 | } |
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| 431 | else if (type == dSphereClass) { |
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| 432 | dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); |
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| 433 | } |
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| 434 | else if (type == dCapsuleClass) { |
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| 435 | dReal radius,length; |
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| 436 | dGeomCapsuleGetParams (g,&radius,&length); |
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| 437 | dsDrawCapsule (pos,R,length,radius); |
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| 438 | } |
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| 439 | //<---- Convex Object |
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| 440 | else if (type == dConvexClass) |
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| 441 | { |
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| 442 | //dVector3 sides={0.50,0.50,0.50}; |
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| 443 | dsDrawConvex(pos,R,planes, |
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| 444 | planecount, |
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| 445 | points, |
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| 446 | pointcount, |
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| 447 | polygons); |
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| 448 | } |
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| 449 | //----> Convex Object |
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| 450 | else if (type == dCylinderClass) { |
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| 451 | dReal radius,length; |
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| 452 | dGeomCylinderGetParams (g,&radius,&length); |
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| 453 | dsDrawCylinder (pos,R,length,radius); |
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| 454 | } |
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| 455 | else if (type == dGeomTransformClass) { |
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| 456 | dGeomID g2 = dGeomTransformGetGeom (g); |
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| 457 | const dReal *pos2 = dGeomGetPosition (g2); |
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| 458 | const dReal *R2 = dGeomGetRotation (g2); |
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| 459 | dVector3 actual_pos; |
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| 460 | dMatrix3 actual_R; |
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| 461 | dMULTIPLY0_331 (actual_pos,R,pos2); |
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| 462 | actual_pos[0] += pos[0]; |
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| 463 | actual_pos[1] += pos[1]; |
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| 464 | actual_pos[2] += pos[2]; |
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| 465 | dMULTIPLY0_333 (actual_R,R,R2); |
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| 466 | drawGeom (g2,actual_pos,actual_R,0); |
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| 467 | } |
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| 468 | if (show_body) { |
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| 469 | dBodyID body = dGeomGetBody(g); |
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| 470 | if (body) { |
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| 471 | const dReal *bodypos = dBodyGetPosition (body); |
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| 472 | const dReal *bodyr = dBodyGetRotation (body); |
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| 473 | dReal bodySides[3] = { 0.1, 0.1, 0.1 }; |
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| 474 | dsSetColorAlpha(0,1,0,1); |
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| 475 | dsDrawBox(bodypos,bodyr,bodySides); |
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| 476 | } |
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| 477 | } |
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| 478 | if (show_aabb) { |
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| 479 | // draw the bounding box for this geom |
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| 480 | dReal aabb[6]; |
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| 481 | dGeomGetAABB (g,aabb); |
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| 482 | dVector3 bbpos; |
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| 483 | for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); |
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| 484 | dVector3 bbsides; |
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| 485 | for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; |
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| 486 | dMatrix3 RI; |
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| 487 | dRSetIdentity (RI); |
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| 488 | dsSetColorAlpha (1,0,0,0.5); |
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| 489 | dsDrawBox (bbpos,RI,bbsides); |
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| 490 | } |
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| 491 | } |
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| 492 | |
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| 493 | |
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| 494 | // simulation loop |
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| 495 | |
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| 496 | static void simLoop (int pause) |
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| 497 | { |
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| 498 | dsSetColor (0,0,2); |
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| 499 | dSpaceCollide (space,0,&nearCallback); |
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| 500 | if (!pause) dWorldQuickStep (world,0.02); |
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| 501 | |
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| 502 | if (write_world) { |
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| 503 | FILE *f = fopen ("state.dif","wt"); |
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| 504 | if (f) { |
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| 505 | dWorldExportDIF (world,f,"X"); |
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| 506 | fclose (f); |
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| 507 | } |
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| 508 | write_world = 0; |
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| 509 | } |
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| 510 | |
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| 511 | // remove all contact joints |
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| 512 | dJointGroupEmpty (contactgroup); |
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| 513 | |
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| 514 | dsSetColor (1,1,0); |
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| 515 | dsSetTexture (DS_WOOD); |
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| 516 | for (int i=0; i<num; i++) { |
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| 517 | for (int j=0; j < GPB; j++) { |
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| 518 | if (i==selected) { |
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| 519 | dsSetColor (0,0.7,1); |
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| 520 | } |
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| 521 | else if (! dBodyIsEnabled (obj[i].body)) { |
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| 522 | dsSetColor (1,0.8,0); |
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| 523 | } |
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| 524 | else { |
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| 525 | dsSetColor (1,1,0); |
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| 526 | } |
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| 527 | drawGeom (obj[i].geom[j],0,0,show_aabb); |
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| 528 | } |
---|
| 529 | } |
---|
| 530 | } |
---|
| 531 | |
---|
| 532 | |
---|
| 533 | int main (int argc, char **argv) |
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| 534 | { |
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| 535 | // setup pointers to drawstuff callback functions |
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| 536 | dsFunctions fn; |
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| 537 | fn.version = DS_VERSION; |
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| 538 | fn.start = &start; |
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| 539 | fn.step = &simLoop; |
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| 540 | fn.command = &command; |
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| 541 | fn.stop = 0; |
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| 542 | fn.path_to_textures = "../../drawstuff/textures"; |
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| 543 | if(argc==2) |
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| 544 | { |
---|
| 545 | fn.path_to_textures = argv[1]; |
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| 546 | } |
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| 547 | |
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| 548 | // create world |
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| 549 | dInitODE(); |
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| 550 | world = dWorldCreate(); |
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| 551 | space = dHashSpaceCreate (0); |
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| 552 | contactgroup = dJointGroupCreate (0); |
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| 553 | dWorldSetGravity (world,0,0,-0.5); |
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| 554 | dWorldSetCFM (world,1e-5); |
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| 555 | dWorldSetAutoDisableFlag (world,1); |
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| 556 | |
---|
| 557 | #if 1 |
---|
| 558 | |
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| 559 | dWorldSetAutoDisableAverageSamplesCount( world, 10 ); |
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| 560 | |
---|
| 561 | #endif |
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| 562 | |
---|
| 563 | |
---|
| 564 | dWorldSetContactMaxCorrectingVel (world,0.1); |
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| 565 | dWorldSetContactSurfaceLayer (world,0.001); |
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| 566 | dCreatePlane (space,0,0,1,0); |
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| 567 | memset (obj,0,sizeof(obj)); |
---|
| 568 | |
---|
| 569 | // run simulation |
---|
| 570 | dsSimulationLoop (argc,argv,352,288,&fn); |
---|
| 571 | |
---|
| 572 | dJointGroupDestroy (contactgroup); |
---|
| 573 | dSpaceDestroy (space); |
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| 574 | dWorldDestroy (world); |
---|
| 575 | dCloseODE(); |
---|
| 576 | return 0; |
---|
| 577 | } |
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