1 | /************************************************************************* |
---|
2 | * * |
---|
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
---|
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
---|
5 | * * |
---|
6 | * This library is free software; you can redistribute it and/or * |
---|
7 | * modify it under the terms of EITHER: * |
---|
8 | * (1) The GNU Lesser General Public License as published by the Free * |
---|
9 | * Software Foundation; either version 2.1 of the License, or (at * |
---|
10 | * your option) any later version. The text of the GNU Lesser * |
---|
11 | * General Public License is included with this library in the * |
---|
12 | * file LICENSE.TXT. * |
---|
13 | * (2) The BSD-style license that is included with this library in * |
---|
14 | * the file LICENSE-BSD.TXT. * |
---|
15 | * * |
---|
16 | * This library is distributed in the hope that it will be useful, * |
---|
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
---|
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
---|
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
---|
20 | * * |
---|
21 | *************************************************************************/ |
---|
22 | |
---|
23 | // Test for cylinder vs sphere, by Bram Stolk |
---|
24 | |
---|
25 | #include <ode/config.h> |
---|
26 | #include <assert.h> |
---|
27 | #ifdef HAVE_UNISTD_H |
---|
28 | #include <unistd.h> |
---|
29 | #endif |
---|
30 | #include <ode/ode.h> |
---|
31 | #include <drawstuff/drawstuff.h> |
---|
32 | |
---|
33 | #ifdef _MSC_VER |
---|
34 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints |
---|
35 | #endif |
---|
36 | |
---|
37 | |
---|
38 | // dynamics and collision objects (chassis, 3 wheels, environment) |
---|
39 | |
---|
40 | static dWorldID world; |
---|
41 | static dSpaceID space; |
---|
42 | |
---|
43 | static dBodyID cylbody; |
---|
44 | static dGeomID cylgeom; |
---|
45 | |
---|
46 | static dBodyID sphbody; |
---|
47 | static dGeomID sphgeom; |
---|
48 | |
---|
49 | static dJointGroupID contactgroup; |
---|
50 | static dGeomID world_mesh; |
---|
51 | |
---|
52 | static bool show_contacts = true; |
---|
53 | |
---|
54 | #define CYLRADIUS 0.6 |
---|
55 | #define CYLLENGTH 2.0 |
---|
56 | #define SPHERERADIUS 0.5 |
---|
57 | |
---|
58 | |
---|
59 | #ifdef dDOUBLE |
---|
60 | #define dsDrawBox dsDrawBoxD |
---|
61 | #define dsDrawLine dsDrawLineD |
---|
62 | #endif |
---|
63 | |
---|
64 | |
---|
65 | |
---|
66 | // this is called by dSpaceCollide when two objects in space are |
---|
67 | // potentially colliding. |
---|
68 | |
---|
69 | static void nearCallback (void *data, dGeomID o1, dGeomID o2) |
---|
70 | { |
---|
71 | assert(o1); |
---|
72 | assert(o2); |
---|
73 | |
---|
74 | if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) |
---|
75 | { |
---|
76 | fprintf(stderr,"testing space %p %p\n", o1,o2); |
---|
77 | // colliding a space with something |
---|
78 | dSpaceCollide2(o1,o2,data,&nearCallback); |
---|
79 | // Note we do not want to test intersections within a space, |
---|
80 | // only between spaces. |
---|
81 | return; |
---|
82 | } |
---|
83 | |
---|
84 | const int N = 32; |
---|
85 | dContact contact[N]; |
---|
86 | int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); |
---|
87 | if (n > 0) |
---|
88 | { |
---|
89 | for (int i=0; i<n; i++) |
---|
90 | { |
---|
91 | contact[i].surface.mode = 0; |
---|
92 | contact[i].surface.mu = 50.0; // was: dInfinity |
---|
93 | dJointID c = dJointCreateContact (world,contactgroup,&contact[i]); |
---|
94 | dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2)); |
---|
95 | if (show_contacts) |
---|
96 | { |
---|
97 | dMatrix3 RI; |
---|
98 | dRSetIdentity (RI); |
---|
99 | const dReal ss[3] = {0.12,0.12,0.12}; |
---|
100 | dsSetColorAlpha (0,0,1,0.5); |
---|
101 | dsDrawBox (contact[i].geom.pos,RI,ss); |
---|
102 | dReal *pos = contact[i].geom.pos; |
---|
103 | dReal depth = contact[i].geom.depth; |
---|
104 | dReal *norm = contact[i].geom.normal; |
---|
105 | dReal endp[3] = {pos[0]+depth*norm[0], pos[1]+depth*norm[1], pos[2]+depth*norm[2]}; |
---|
106 | dsSetColorAlpha (1,1,1,1); |
---|
107 | dsDrawLine (contact[i].geom.pos, endp); |
---|
108 | } |
---|
109 | } |
---|
110 | } |
---|
111 | } |
---|
112 | |
---|
113 | |
---|
114 | // start simulation - set viewpoint |
---|
115 | |
---|
116 | static void start() |
---|
117 | { |
---|
118 | static float xyz[3] = {-8,-9,3}; |
---|
119 | static float hpr[3] = {45.0000f,-27.5000f,0.0000f}; |
---|
120 | dsSetViewpoint (xyz,hpr); |
---|
121 | } |
---|
122 | |
---|
123 | |
---|
124 | // called when a key pressed |
---|
125 | |
---|
126 | static void command (int cmd) |
---|
127 | { |
---|
128 | switch (cmd) |
---|
129 | { |
---|
130 | case ' ': |
---|
131 | break; |
---|
132 | } |
---|
133 | } |
---|
134 | |
---|
135 | |
---|
136 | |
---|
137 | // simulation loop |
---|
138 | |
---|
139 | static void simLoop (int pause) |
---|
140 | { |
---|
141 | dSpaceCollide (space,0,&nearCallback); |
---|
142 | if (!pause) |
---|
143 | { |
---|
144 | dWorldQuickStep (world, 0.01); // 100 Hz |
---|
145 | } |
---|
146 | dJointGroupEmpty (contactgroup); |
---|
147 | |
---|
148 | dsSetColorAlpha (1,1,0,0.5); |
---|
149 | |
---|
150 | const dReal *CPos = dBodyGetPosition(cylbody); |
---|
151 | const dReal *CRot = dBodyGetRotation(cylbody); |
---|
152 | float cpos[3] = {CPos[0], CPos[1], CPos[2]}; |
---|
153 | 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] }; |
---|
154 | dsDrawCylinder |
---|
155 | ( |
---|
156 | cpos, |
---|
157 | crot, |
---|
158 | CYLLENGTH, |
---|
159 | CYLRADIUS |
---|
160 | ); // single precision |
---|
161 | |
---|
162 | const dReal *SPos = dBodyGetPosition(sphbody); |
---|
163 | const dReal *SRot = dBodyGetRotation(sphbody); |
---|
164 | float spos[3] = {SPos[0], SPos[1], SPos[2]}; |
---|
165 | float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] }; |
---|
166 | dsDrawSphere |
---|
167 | ( |
---|
168 | spos, |
---|
169 | srot, |
---|
170 | SPHERERADIUS |
---|
171 | ); // single precision |
---|
172 | } |
---|
173 | |
---|
174 | |
---|
175 | int main (int argc, char **argv) |
---|
176 | { |
---|
177 | dMass m; |
---|
178 | |
---|
179 | // setup pointers to drawstuff callback functions |
---|
180 | dsFunctions fn; |
---|
181 | fn.version = DS_VERSION; |
---|
182 | fn.start = &start; |
---|
183 | fn.step = &simLoop; |
---|
184 | fn.command = &command; |
---|
185 | fn.stop = 0; |
---|
186 | fn.path_to_textures = "../../drawstuff/textures"; |
---|
187 | if(argc==2) |
---|
188 | fn.path_to_textures = argv[1]; |
---|
189 | |
---|
190 | // create world |
---|
191 | dInitODE(); |
---|
192 | world = dWorldCreate(); |
---|
193 | space = dHashSpaceCreate (0); |
---|
194 | contactgroup = dJointGroupCreate (0); |
---|
195 | dWorldSetGravity (world,0,0,-9.8); |
---|
196 | dWorldSetQuickStepNumIterations (world, 32); |
---|
197 | |
---|
198 | dCreatePlane (space,0,0,1, 0.0); |
---|
199 | |
---|
200 | cylbody = dBodyCreate (world); |
---|
201 | dQuaternion q; |
---|
202 | #if 0 |
---|
203 | dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); |
---|
204 | #else |
---|
205 | // dQFromAxisAndAngle (q,1,0,0, M_PI * 1.0); |
---|
206 | dQFromAxisAndAngle (q,1,0,0, M_PI * -0.77); |
---|
207 | #endif |
---|
208 | dBodySetQuaternion (cylbody,q); |
---|
209 | dMassSetCylinder (&m,1.0,3,CYLRADIUS,CYLLENGTH); |
---|
210 | dBodySetMass (cylbody,&m); |
---|
211 | cylgeom = dCreateCylinder(0, CYLRADIUS, CYLLENGTH); |
---|
212 | dGeomSetBody (cylgeom,cylbody); |
---|
213 | dBodySetPosition (cylbody, 0, 0, 3); |
---|
214 | dSpaceAdd (space, cylgeom); |
---|
215 | |
---|
216 | sphbody = dBodyCreate (world); |
---|
217 | dMassSetSphere (&m,1,SPHERERADIUS); |
---|
218 | dBodySetMass (sphbody,&m); |
---|
219 | sphgeom = dCreateSphere(0, SPHERERADIUS); |
---|
220 | dGeomSetBody (sphgeom,sphbody); |
---|
221 | dBodySetPosition (sphbody, 0, 0, 5.5); |
---|
222 | dSpaceAdd (space, sphgeom); |
---|
223 | |
---|
224 | // run simulation |
---|
225 | dsSimulationLoop (argc,argv,352,288,&fn); |
---|
226 | |
---|
227 | dJointGroupEmpty (contactgroup); |
---|
228 | dJointGroupDestroy (contactgroup); |
---|
229 | |
---|
230 | dGeomDestroy(sphgeom); |
---|
231 | dGeomDestroy (cylgeom); |
---|
232 | |
---|
233 | dSpaceDestroy (space); |
---|
234 | dWorldDestroy (world); |
---|
235 | dCloseODE(); |
---|
236 | return 0; |
---|
237 | } |
---|
238 | |
---|