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 <stdio.h> |
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24 | #include <math.h> |
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25 | #include <ode/ode.h> |
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26 | #include <drawstuff/drawstuff.h> |
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27 | #ifdef _MSC_VER |
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28 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints |
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29 | #endif |
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30 | |
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31 | |
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32 | #ifndef M_PI |
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33 | #define M_PI (3.14159265358979323846) |
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34 | #endif |
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35 | |
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36 | //<---- Convex Object |
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37 | dReal planes[]= // planes for a cube |
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38 | { |
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39 | 1.0f ,0.0f ,0.0f ,0.25f, |
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40 | 0.0f ,1.0f ,0.0f ,0.25f, |
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41 | 0.0f ,0.0f ,1.0f ,0.25f, |
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42 | -1.0f,0.0f ,0.0f ,0.25f, |
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43 | 0.0f ,-1.0f,0.0f ,0.25f, |
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44 | 0.0f ,0.0f ,-1.0f,0.25f |
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45 | /* |
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46 | 1.0f ,0.0f ,0.0f ,2.0f, |
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47 | 0.0f ,1.0f ,0.0f ,1.0f, |
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48 | 0.0f ,0.0f ,1.0f ,1.0f, |
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49 | 0.0f ,0.0f ,-1.0f,1.0f, |
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50 | 0.0f ,-1.0f,0.0f ,1.0f, |
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51 | -1.0f,0.0f ,0.0f ,0.0f |
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52 | */ |
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53 | }; |
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54 | const unsigned int planecount=6; |
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55 | |
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56 | dReal points[]= // points for a cube |
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57 | { |
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58 | 0.25f,0.25f,0.25f, // point 0 |
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59 | -0.25f,0.25f,0.25f, // point 1 |
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60 | |
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61 | 0.25f,-0.25f,0.25f, // point 2 |
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62 | -0.25f,-0.25f,0.25f,// point 3 |
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63 | |
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64 | 0.25f,0.25f,-0.25f, // point 4 |
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65 | -0.25f,0.25f,-0.25f,// point 5 |
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66 | |
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67 | 0.25f,-0.25f,-0.25f,// point 6 |
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68 | -0.25f,-0.25f,-0.25f,// point 7 |
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69 | }; |
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70 | const unsigned int pointcount=8; |
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71 | unsigned int polygons[] = //Polygons for a cube (6 squares) |
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72 | { |
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73 | 4,0,2,6,4, // positive X |
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74 | 4,1,0,4,5, // positive Y |
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75 | 4,0,1,3,2, // positive Z |
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76 | 4,3,1,5,7, // negative X |
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77 | 4,2,3,7,6, // negative Y |
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78 | 4,5,4,6,7, // negative Z |
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79 | }; |
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80 | //----> Convex Object |
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81 | |
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82 | #ifdef dDOUBLE |
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83 | #define dsDrawConvex dsDrawConvexD |
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84 | #define dsDrawBox dsDrawBoxD |
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85 | #endif |
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86 | |
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87 | dGeomID geoms[2]; |
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88 | dSpaceID space; |
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89 | dWorldID world; |
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90 | dJointGroupID contactgroup; |
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91 | |
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92 | void start() |
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93 | { |
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94 | // adjust the starting viewpoint a bit |
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95 | float xyz[3],hpr[3]; |
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96 | dsGetViewpoint (xyz,hpr); |
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97 | hpr[0] += 7; |
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98 | dsSetViewpoint (xyz,hpr); |
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99 | geoms[0]=dCreateConvex (space, |
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100 | planes, |
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101 | planecount, |
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102 | points, |
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103 | pointcount, |
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104 | polygons); |
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105 | dGeomSetPosition (geoms[0],0,0,0.25); |
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106 | geoms[1]=dCreateConvex (space, |
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107 | planes, |
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108 | planecount, |
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109 | points, |
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110 | pointcount, |
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111 | polygons); |
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112 | dGeomSetPosition (geoms[1],0.25,0.25,0.70); |
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113 | |
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114 | } |
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115 | |
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116 | int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, |
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117 | dContactGeom *contact, int skip); |
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118 | void simLoop (int pause) |
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119 | { |
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120 | static bool DumpInfo=true; |
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121 | const dReal ss[3] = {0.02,0.02,0.02}; |
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122 | dContactGeom contacts[8]; |
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123 | int contactcount = dCollideConvexConvex(geoms[0],geoms[1],8,contacts,sizeof(dContactGeom)); |
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124 | //fprintf(stdout,"Contact Count %d\n",contactcount); |
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125 | const dReal* pos; |
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126 | const dReal* R; |
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127 | dsSetTexture (DS_WOOD); |
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128 | pos = dGeomGetPosition (geoms[0]); |
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129 | R = dGeomGetRotation (geoms[0]); |
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130 | dsSetColor (0.6f,0.6f,1); |
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131 | dsDrawConvex(pos,R,planes, |
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132 | planecount, |
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133 | points, |
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134 | pointcount, |
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135 | polygons); |
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136 | pos = dGeomGetPosition (geoms[1]); |
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137 | R = dGeomGetRotation (geoms[1]); |
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138 | dsSetColor (0.4f,1,1); |
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139 | dsDrawConvex(pos,R,planes, |
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140 | planecount, |
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141 | points, |
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142 | pointcount, |
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143 | polygons); |
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144 | /*if (show_contacts) */ |
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145 | dMatrix3 RI; |
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146 | dRSetIdentity (RI); |
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147 | dsSetColor (1.0f,0,0); |
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148 | for(int i=0;i<contactcount;++i) |
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149 | { |
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150 | if(DumpInfo) |
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151 | { |
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152 | //DumpInfo=false; |
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153 | fprintf(stdout,"Contact %d Normal %f,%f,%f Depth %f\n", |
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154 | i, |
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155 | contacts[i].normal[0], |
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156 | contacts[i].normal[1], |
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157 | contacts[i].normal[2], |
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158 | contacts[i].depth); |
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159 | } |
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160 | dsDrawBox (contacts[i].pos,RI,ss); |
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161 | } |
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162 | if(DumpInfo) |
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163 | DumpInfo=false; |
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164 | |
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165 | } |
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166 | |
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167 | |
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168 | void command (int cmd) |
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169 | { |
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170 | dsPrint ("received command %d (`%c')\n",cmd,cmd); |
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171 | } |
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172 | |
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173 | |
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174 | int main (int argc, char **argv) |
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175 | { |
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176 | // setup pointers to callback functions |
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177 | dsFunctions fn; |
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178 | fn.version = DS_VERSION; |
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179 | fn.start = &start; |
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180 | fn.step = &simLoop; |
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181 | fn.command = command; |
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182 | fn.stop = 0; |
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183 | fn.path_to_textures = "../../drawstuff/textures"; // uses default |
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184 | world = dWorldCreate(); |
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185 | space = dHashSpaceCreate (0); |
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186 | contactgroup = dJointGroupCreate (0); |
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187 | |
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188 | // run simulation |
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189 | dsSimulationLoop (argc,argv,400,400,&fn); |
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190 | dJointGroupDestroy (contactgroup); |
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191 | dSpaceDestroy (space); |
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192 | dWorldDestroy (world); |
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193 | |
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194 | return 0; |
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195 | } |
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