/************************************************************************* * * * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * * All rights reserved. Email: russ@q12.org Web: www.q12.org * * * * This library is free software; you can redistribute it and/or * * modify it under the terms of EITHER: * * (1) The GNU Lesser General Public License as published by the Free * * Software Foundation; either version 2.1 of the License, or (at * * your option) any later version. The text of the GNU Lesser * * General Public License is included with this library in the * * file LICENSE.TXT. * * (2) The BSD-style license that is included with this library in * * the file LICENSE-BSD.TXT. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * * LICENSE.TXT and LICENSE-BSD.TXT for more details. * * * *************************************************************************/ #include #include #ifdef _MSC_VER #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints #endif // select correct drawing functions #ifdef dDOUBLE #define dsDrawBox dsDrawBoxD #endif // some constants #define SIDE (0.5f) // side length of a box #define MASS (1.0) // mass of a box // dynamics and collision objects static dWorldID world; static dBodyID body[2]; static dGeomID geom[2]; static dJointID lmotor[2]; static dJointID amotor[2]; static dSpaceID space; static dJointGroupID contactgroup; // start simulation - set viewpoint static void start() { static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; dsSetViewpoint (xyz,hpr); printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n"); printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n"); } // called when a key pressed static void command (int cmd) { if (cmd == 'q' || cmd == 'Q') { dJointSetLMotorParam(lmotor[0],dParamVel,0); dJointSetLMotorParam(lmotor[0],dParamVel2,0); dJointSetLMotorParam(lmotor[0],dParamVel3,0.1); } else if (cmd == 'a' || cmd == 'A') { dJointSetLMotorParam(lmotor[0],dParamVel,0); dJointSetLMotorParam(lmotor[0],dParamVel2,0); dJointSetLMotorParam(lmotor[0],dParamVel3,0); } else if (cmd == 'z' || cmd == 'Z') { dJointSetLMotorParam(lmotor[0],dParamVel,0); dJointSetLMotorParam(lmotor[0],dParamVel2,0); dJointSetLMotorParam(lmotor[0],dParamVel3,-0.1); } else if (cmd == 'w' || cmd == 'W') { dJointSetLMotorParam(lmotor[1],dParamVel,0.1); dJointSetLMotorParam(lmotor[1],dParamVel2,0); dJointSetLMotorParam(lmotor[1],dParamVel3,0); } else if (cmd == 'e' || cmd == 'E') { dJointSetLMotorParam(lmotor[1],dParamVel,0); dJointSetLMotorParam(lmotor[1],dParamVel2,0); dJointSetLMotorParam(lmotor[1],dParamVel3,0); } else if (cmd == 'r' || cmd == 'R') { dJointSetLMotorParam(lmotor[1],dParamVel,-0.1); dJointSetLMotorParam(lmotor[1],dParamVel2,0); dJointSetLMotorParam(lmotor[1],dParamVel3,0); } } static void nearCallback (void *data, dGeomID o1, dGeomID o2) { // exit without doing anything if the two bodies are connected by a joint dBodyID b1 = dGeomGetBody(o1); dBodyID b2 = dGeomGetBody(o2); dContact contact; contact.surface.mode = 0; contact.surface.mu = dInfinity; if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) { dJointID c = dJointCreateContact (world,contactgroup,&contact); dJointAttach (c,b1,b2); } } // simulation loop static void simLoop (int pause) { if (!pause) { dSpaceCollide(space,0,&nearCallback); dWorldQuickStep (world,0.05); dJointGroupEmpty(contactgroup); } dReal sides1[3]; dGeomBoxGetLengths(geom[0], sides1); dReal sides2[3]; dGeomBoxGetLengths(geom[1], sides2); dsSetTexture (DS_WOOD); dsSetColor (1,1,0); dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); dsSetColor (0,1,1); dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); } int main (int argc, char **argv) { // setup pointers to drawstuff callback functions dsFunctions fn; fn.version = DS_VERSION; fn.start = &start; fn.step = &simLoop; fn.command = &command; fn.stop = 0; fn.path_to_textures = "../../drawstuff/textures"; if(argc>=2) { fn.path_to_textures = argv[1]; } // create world dInitODE(); contactgroup = dJointGroupCreate(0); world = dWorldCreate(); space = dSimpleSpaceCreate(0); dMass m; dMassSetBox (&m,1,SIDE,SIDE,SIDE); dMassAdjust (&m,MASS); body[0] = dBodyCreate (world); dBodySetMass (body[0],&m); dBodySetPosition (body[0],0,0,1); geom[0] = dCreateBox(space,SIDE,SIDE,SIDE); body[1] = dBodyCreate (world); dBodySetMass (body[1],&m); dBodySetPosition (body[1],0,0,2); geom[1] = dCreateBox(space,SIDE,SIDE,SIDE); dGeomSetBody(geom[0],body[0]); dGeomSetBody(geom[1],body[1]); lmotor[0] = dJointCreateLMotor (world,0); dJointAttach (lmotor[0],body[0],body[1]); lmotor[1] = dJointCreateLMotor (world,0); dJointAttach (lmotor[1],body[0],0); amotor[0] = dJointCreateAMotor(world,0); dJointAttach(amotor[0], body[0],body[1]); amotor[1] = dJointCreateAMotor(world,0); dJointAttach(amotor[1], body[0], 0); for (int i=0; i<2; i++) { dJointSetAMotorNumAxes(amotor[i], 3); dJointSetAMotorAxis(amotor[i],0,1,1,0,0); dJointSetAMotorAxis(amotor[i],1,1,0,1,0); dJointSetAMotorAxis(amotor[i],2,1,0,0,1); dJointSetAMotorParam(amotor[i],dParamFMax,0.00001); dJointSetAMotorParam(amotor[i],dParamFMax2,0.00001); dJointSetAMotorParam(amotor[i],dParamFMax3,0.00001); dJointSetAMotorParam(amotor[i],dParamVel,0); dJointSetAMotorParam(amotor[i],dParamVel2,0); dJointSetAMotorParam(amotor[i],dParamVel3,0); dJointSetLMotorNumAxes(lmotor[i],3); dJointSetLMotorAxis(lmotor[i],0,1,1,0,0); dJointSetLMotorAxis(lmotor[i],1,1,0,1,0); dJointSetLMotorAxis(lmotor[i],2,1,0,0,1); dJointSetLMotorParam(lmotor[i],dParamFMax,0.0001); dJointSetLMotorParam(lmotor[i],dParamFMax2,0.0001); dJointSetLMotorParam(lmotor[i],dParamFMax3,0.0001); } // run simulation dsSimulationLoop (argc,argv,352,288,&fn); dJointGroupDestroy(contactgroup); dSpaceDestroy (space); dWorldDestroy (world); dCloseODE(); return 0; }