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 | // Test for non-capped cylinder, by Bram Stolk |
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24 | #include <ode/config.h> |
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25 | #include <assert.h> |
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26 | #ifdef HAVE_UNISTD_H |
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27 | #include <unistd.h> |
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28 | #endif |
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29 | #include <ode/ode.h> |
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30 | #include <drawstuff/drawstuff.h> |
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31 | |
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32 | #include "world_geom3.h" // this is our world mesh |
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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 | #define BOX |
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39 | #define CYL |
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40 | |
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41 | // some constants |
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42 | |
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43 | #define RADIUS 0.22 // wheel radius |
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44 | #define WMASS 0.2 // wheel mass |
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45 | #define WHEELW 0.2 // wheel width |
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46 | #define BOXSZ 0.4 // box size |
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47 | //#define CYL_GEOM_OFFSET // rotate cylinder using geom offset |
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48 | |
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49 | // dynamics and collision objects (chassis, 3 wheels, environment) |
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50 | |
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51 | static dWorldID world; |
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52 | static dSpaceID space; |
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53 | #ifdef BOX |
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54 | static dBodyID boxbody; |
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55 | static dGeomID boxgeom; |
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56 | #endif |
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57 | #ifdef CYL |
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58 | static dBodyID cylbody; |
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59 | static dGeomID cylgeom; |
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60 | #endif |
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61 | static dJointGroupID contactgroup; |
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62 | static dGeomID world_mesh; |
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63 | |
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64 | |
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65 | // this is called by dSpaceCollide when two objects in space are |
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66 | // potentially colliding. |
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67 | |
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68 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) |
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69 | { |
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70 | assert(o1); |
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71 | assert(o2); |
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72 | |
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73 | if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) |
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74 | { |
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75 | fprintf(stderr,"testing space %p %p\n", o1,o2); |
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76 | // colliding a space with something |
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77 | dSpaceCollide2(o1,o2,data,&nearCallback); |
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78 | // Note we do not want to test intersections within a space, |
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79 | // only between spaces. |
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80 | return; |
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81 | } |
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82 | |
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83 | // fprintf(stderr,"testing geoms %p %p\n", o1, o2); |
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84 | |
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85 | const int N = 32; |
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86 | dContact contact[N]; |
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87 | int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); |
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88 | if (n > 0) |
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89 | { |
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90 | for (int i=0; i<n; i++) |
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91 | { |
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92 | contact[i].surface.slip1 = 0.7; |
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93 | contact[i].surface.slip2 = 0.7; |
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94 | contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2; |
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95 | contact[i].surface.mu = 50.0; // was: dInfinity |
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96 | contact[i].surface.soft_erp = 0.96; |
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97 | contact[i].surface.soft_cfm = 0.04; |
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98 | dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); |
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99 | dJointAttach (c, |
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100 | dGeomGetBody(contact[i].geom.g1), |
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101 | dGeomGetBody(contact[i].geom.g2)); |
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102 | } |
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103 | } |
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104 | } |
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105 | |
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106 | |
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107 | // start simulation - set viewpoint |
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108 | |
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109 | static void start() |
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110 | { |
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111 | static float xyz[3] = {-8,-9,3}; |
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112 | static float hpr[3] = {45.0000f,-27.5000f,0.0000f}; |
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113 | dsSetViewpoint (xyz,hpr); |
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114 | } |
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115 | |
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116 | |
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117 | |
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118 | static void reset_state(void) |
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119 | { |
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120 | float sx=-4, sy=-4, sz=2; |
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121 | dQuaternion q; |
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122 | dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); |
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123 | #ifdef BOX |
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124 | dBodySetPosition (boxbody, sx, sy+1, sz); |
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125 | dBodySetLinearVel (boxbody, 0,0,0); |
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126 | dBodySetAngularVel (boxbody, 0,0,0); |
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127 | dBodySetQuaternion (boxbody, q); |
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128 | #endif |
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129 | #ifdef CYL |
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130 | dBodySetPosition (cylbody, sx, sy, sz); |
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131 | dBodySetLinearVel (cylbody, 0,0,0); |
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132 | dBodySetAngularVel (cylbody, 0,0,0); |
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133 | dBodySetQuaternion (cylbody, q); |
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134 | #endif |
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135 | } |
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136 | |
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137 | |
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138 | // called when a key pressed |
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139 | |
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140 | static void command (int cmd) |
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141 | { |
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142 | switch (cmd) |
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143 | { |
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144 | case ' ': |
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145 | reset_state(); |
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146 | break; |
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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 | // 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 | double simstep = 0.005; // 5ms simulation steps |
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157 | double dt = dsElapsedTime(); |
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158 | int nrofsteps = (int) ceilf(dt/simstep); |
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159 | for (int i=0; i<nrofsteps && !pause; i++) |
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160 | { |
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161 | dSpaceCollide (space,0,&nearCallback); |
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162 | dWorldQuickStep (world, simstep); |
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163 | dJointGroupEmpty (contactgroup); |
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164 | } |
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165 | |
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166 | dsSetColor (1,1,1); |
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167 | #ifdef BOX |
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168 | const dReal *BPos = dBodyGetPosition(boxbody); |
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169 | const dReal *BRot = dBodyGetRotation(boxbody); |
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170 | float bpos[3] = {BPos[0], BPos[1], BPos[2]}; |
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171 | float brot[12] = { BRot[0], BRot[1], BRot[2], BRot[3], BRot[4], BRot[5], BRot[6], BRot[7], BRot[8], BRot[9], BRot[10], BRot[11] }; |
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172 | float sides[3] = {BOXSZ, BOXSZ, BOXSZ}; |
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173 | dsDrawBox |
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174 | ( |
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175 | bpos, |
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176 | brot, |
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177 | sides |
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178 | ); // single precision |
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179 | #endif |
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180 | #ifdef CYL |
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181 | const dReal *CPos = dGeomGetPosition(cylgeom); |
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182 | const dReal *CRot = dGeomGetRotation(cylgeom); |
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183 | float cpos[3] = {CPos[0], CPos[1], CPos[2]}; |
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184 | float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] }; |
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185 | dsDrawCylinder |
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186 | ( |
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187 | // dBodyGetPosition(cylbody), |
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188 | // dBodyGetRotation(cylbody), |
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189 | cpos, |
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190 | crot, |
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191 | WHEELW, |
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192 | RADIUS |
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193 | ); // single precision |
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194 | #endif |
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195 | |
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196 | // draw world trimesh |
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197 | dsSetColor(0.7,0.7,0.4); |
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198 | dsSetTexture (DS_NONE); |
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199 | |
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200 | const dReal* Pos = dGeomGetPosition(world_mesh); |
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201 | float pos[3] = { Pos[0], Pos[1], Pos[2] }; |
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202 | |
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203 | const dReal* Rot = dGeomGetRotation(world_mesh); |
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204 | float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] }; |
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205 | |
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206 | int numi = sizeof(world_indices) / sizeof(int); |
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207 | |
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208 | for (int i=0; i<numi/3; i++) |
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209 | { |
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210 | int i0 = world_indices[i*3+0]; |
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211 | int i1 = world_indices[i*3+1]; |
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212 | int i2 = world_indices[i*3+2]; |
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213 | float *v0 = world_vertices+i0*3; |
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214 | float *v1 = world_vertices+i1*3; |
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215 | float *v2 = world_vertices+i2*3; |
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216 | dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw |
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217 | } |
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218 | } |
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219 | |
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220 | |
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221 | int main (int argc, char **argv) |
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222 | { |
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223 | dMass m; |
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224 | dMatrix3 R; |
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225 | |
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226 | // setup pointers to drawstuff callback functions |
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227 | dsFunctions fn; |
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228 | fn.version = DS_VERSION; |
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229 | fn.start = &start; |
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230 | fn.step = &simLoop; |
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231 | fn.command = &command; |
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232 | fn.stop = 0; |
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233 | fn.path_to_textures = "../../drawstuff/textures"; |
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234 | if(argc==2) |
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235 | { |
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236 | fn.path_to_textures = argv[1]; |
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237 | } |
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238 | |
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239 | // create world |
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240 | dInitODE(); |
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241 | world = dWorldCreate(); |
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242 | space = dHashSpaceCreate (0); |
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243 | contactgroup = dJointGroupCreate (0); |
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244 | dWorldSetGravity (world,0,0,-9.8); |
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245 | dWorldSetQuickStepNumIterations (world, 12); |
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246 | |
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247 | |
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248 | // Create a static world using a triangle mesh that we can collide with. |
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249 | int numv = sizeof(world_vertices)/(3*sizeof(float)); |
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250 | int numi = sizeof(world_indices)/ sizeof(int); |
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251 | printf("numv=%d, numi=%d\n", numv, numi); |
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252 | dTriMeshDataID Data = dGeomTriMeshDataCreate(); |
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253 | |
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254 | dGeomTriMeshDataBuildSingle |
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255 | ( |
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256 | Data, |
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257 | world_vertices, |
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258 | 3 * sizeof(float), |
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259 | numv, |
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260 | world_indices, |
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261 | numi, |
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262 | 3 * sizeof(int) |
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263 | ); |
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264 | |
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265 | world_mesh = dCreateTriMesh(space, Data, 0, 0, 0); |
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266 | dGeomSetPosition(world_mesh, 0, 0, 0.5); |
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267 | dRFromAxisAndAngle (R, 0,1,0, 0.0); |
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268 | dGeomSetRotation (world_mesh, R); |
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269 | |
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270 | |
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271 | #ifdef BOX |
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272 | boxbody = dBodyCreate (world); |
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273 | dMassSetBox (&m,1, BOXSZ, BOXSZ, BOXSZ); |
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274 | dMassAdjust (&m, 1); |
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275 | dBodySetMass (boxbody,&m); |
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276 | boxgeom = dCreateBox (0, BOXSZ, BOXSZ, BOXSZ); |
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277 | dGeomSetBody (boxgeom,boxbody); |
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278 | dSpaceAdd (space, boxgeom); |
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279 | #endif |
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280 | #ifdef CYL |
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281 | cylbody = dBodyCreate (world); |
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282 | dMassSetSphere (&m,1,RADIUS); |
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283 | dMassAdjust (&m,WMASS); |
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284 | dBodySetMass (cylbody,&m); |
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285 | cylgeom = dCreateCylinder(0, RADIUS, WHEELW); |
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286 | dGeomSetBody (cylgeom,cylbody); |
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287 | |
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288 | #if defined(CYL_GEOM_OFFSET) |
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289 | dMatrix3 mat; |
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290 | dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0); |
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291 | dGeomSetOffsetRotation(cylgeom,mat); |
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292 | #endif |
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293 | |
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294 | dSpaceAdd (space, cylgeom); |
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295 | #endif |
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296 | reset_state(); |
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297 | |
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298 | // run simulation |
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299 | dsSimulationLoop (argc,argv,352,288,&fn); |
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300 | |
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301 | dJointGroupEmpty (contactgroup); |
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302 | dJointGroupDestroy (contactgroup); |
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303 | |
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304 | // First destroy geoms, then space, then the world. |
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305 | #ifdef CYL |
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306 | dGeomDestroy (cylgeom); |
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307 | #endif |
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308 | #ifdef BOX |
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309 | dGeomDestroy (boxgeom); |
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310 | #endif |
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311 | dGeomDestroy (world_mesh); |
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312 | |
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313 | dSpaceDestroy (space); |
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314 | dWorldDestroy (world); |
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315 | dCloseODE(); |
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316 | return 0; |
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317 | } |
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318 | |
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