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 | // select correct drawing functions |
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31 | #ifdef dDOUBLE |
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32 | #define dsDrawBox dsDrawBoxD |
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33 | #endif |
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34 | |
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35 | |
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36 | // some constants |
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37 | #define SIDE (0.5f) // side length of a box |
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38 | #define MASS (1.0) // mass of a box |
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39 | |
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40 | |
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41 | // dynamics and collision objects |
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42 | static dWorldID world; |
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43 | static dBodyID body[2]; |
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44 | static dJointID hinge; |
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45 | |
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46 | |
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47 | // state set by keyboard commands |
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48 | static int occasional_error = 0; |
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49 | |
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50 | |
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51 | // start simulation - set viewpoint |
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52 | |
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53 | static void start() |
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54 | { |
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55 | static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; |
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56 | static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; |
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57 | dsSetViewpoint (xyz,hpr); |
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58 | printf ("Press 'e' to start/stop occasional error.\n"); |
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59 | } |
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60 | |
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61 | |
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62 | // called when a key pressed |
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63 | |
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64 | static void command (int cmd) |
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65 | { |
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66 | if (cmd == 'e' || cmd == 'E') { |
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67 | occasional_error ^= 1; |
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68 | } |
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69 | } |
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70 | |
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71 | |
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72 | // simulation loop |
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73 | |
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74 | static void simLoop (int pause) |
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75 | { |
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76 | const dReal kd = -0.3; // angular damping constant |
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77 | if (!pause) { |
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78 | // add an oscillating torque to body 0, and also damp its rotational motion |
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79 | static dReal a=0; |
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80 | const dReal *w = dBodyGetAngularVel (body[0]); |
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81 | dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a)); |
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82 | dWorldStep (world,0.05); |
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83 | a += 0.01; |
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84 | |
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85 | // occasionally re-orient one of the bodies to create a deliberate error. |
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86 | if (occasional_error) { |
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87 | static int count = 0; |
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88 | if ((count % 20)==0) { |
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89 | // randomly adjust orientation of body[0] |
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90 | const dReal *R1; |
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91 | dMatrix3 R2,R3; |
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92 | R1 = dBodyGetRotation (body[0]); |
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93 | dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5, |
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94 | dRandReal()-0.5,dRandReal()-0.5); |
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95 | dMultiply0 (R3,R1,R2,3,3,3); |
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96 | dBodySetRotation (body[0],R3); |
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97 | |
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98 | // randomly adjust position of body[0] |
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99 | const dReal *pos = dBodyGetPosition (body[0]); |
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100 | dBodySetPosition (body[0], |
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101 | pos[0]+0.2*(dRandReal()-0.5), |
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102 | pos[1]+0.2*(dRandReal()-0.5), |
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103 | pos[2]+0.2*(dRandReal()-0.5)); |
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104 | } |
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105 | count++; |
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106 | } |
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107 | } |
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108 | |
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109 | dReal sides1[3] = {SIDE,SIDE,SIDE}; |
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110 | dReal sides2[3] = {SIDE,SIDE,SIDE*0.8f}; |
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111 | dsSetTexture (DS_WOOD); |
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112 | dsSetColor (1,1,0); |
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113 | dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); |
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114 | dsSetColor (0,1,1); |
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115 | dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); |
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116 | } |
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117 | |
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118 | |
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119 | int main (int argc, char **argv) |
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120 | { |
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121 | // setup pointers to drawstuff callback functions |
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122 | dsFunctions fn; |
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123 | fn.version = DS_VERSION; |
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124 | fn.start = &start; |
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125 | fn.step = &simLoop; |
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126 | fn.command = &command; |
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127 | fn.stop = 0; |
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128 | fn.path_to_textures = "../../drawstuff/textures"; |
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129 | if(argc==2) |
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130 | { |
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131 | fn.path_to_textures = argv[1]; |
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132 | } |
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133 | |
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134 | // create world |
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135 | dInitODE(); |
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136 | world = dWorldCreate(); |
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137 | |
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138 | dMass m; |
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139 | dMassSetBox (&m,1,SIDE,SIDE,SIDE); |
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140 | dMassAdjust (&m,MASS); |
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141 | |
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142 | dQuaternion q; |
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143 | dQFromAxisAndAngle (q,1,1,0,0.25*M_PI); |
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144 | |
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145 | body[0] = dBodyCreate (world); |
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146 | dBodySetMass (body[0],&m); |
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147 | dBodySetPosition (body[0],0.5*SIDE,0.5*SIDE,1); |
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148 | dBodySetQuaternion (body[0],q); |
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149 | |
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150 | body[1] = dBodyCreate (world); |
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151 | dBodySetMass (body[1],&m); |
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152 | dBodySetPosition (body[1],-0.5*SIDE,-0.5*SIDE,1); |
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153 | dBodySetQuaternion (body[1],q); |
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154 | |
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155 | hinge = dJointCreateHinge (world,0); |
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156 | dJointAttach (hinge,body[0],body[1]); |
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157 | dJointSetHingeAnchor (hinge,0,0,1); |
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158 | dJointSetHingeAxis (hinge,1,-1,1.41421356); |
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159 | |
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160 | // run simulation |
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161 | dsSimulationLoop (argc,argv,352,288,&fn); |
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162 | |
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163 | dWorldDestroy (world); |
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164 | dCloseODE(); |
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165 | return 0; |
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166 | } |
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