436 lines
12 KiB
C++
436 lines
12 KiB
C++
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#include <ode/ode.h>
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#include <drawstuff/drawstuff.h>
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#ifdef _MSC_VER
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#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
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#endif
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// select correct drawing functions
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#ifdef dDOUBLE
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#define dsDrawBox dsDrawBoxD
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#define dsDrawSphere dsDrawSphereD
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#define dsDrawCylinder dsDrawCylinderD
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#define dsDrawCapsule dsDrawCapsuleD
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#endif
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// some constants
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#define NUM 10000 // max number of objects
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#define DENSITY (5.0) // density of all objects
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#define GPB 3 // maximum number of geometries per body
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#define MAX_CONTACTS 4 // maximum number of contact points per body
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#define WORLD_SIZE 100
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// dynamics and collision objects
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struct MyObject {
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dBodyID body; // the body
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dGeomID geom[GPB]; // geometries representing this body
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};
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static int num=0; // number of objects in simulation
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static int nextobj=0; // next object to recycle if num==NUM
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static dWorldID world;
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static dSpaceID space;
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static MyObject obj[NUM];
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static dJointGroupID contactgroup;
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static int selected = -1; // selected object
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static int show_aabb = 0; // show geom AABBs?
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static int show_contacts = 0; // show contact points?
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static int random_pos = 1; // drop objects from random position?
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static int draw_geom = 1;
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// this is called by dSpaceCollide when two objects in space are
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// potentially colliding.
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static void nearCallback (void *data, dGeomID o1, dGeomID o2)
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{
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int i;
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// if (o1->body && o2->body) return;
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// exit without doing anything if the two bodies are connected by a joint
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dBodyID b1 = dGeomGetBody(o1);
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dBodyID b2 = dGeomGetBody(o2);
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if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
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dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box
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for (i=0; i<MAX_CONTACTS; i++) {
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contact[i].surface.mode = dContactBounce | dContactSoftCFM;
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contact[i].surface.mu = dInfinity;
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contact[i].surface.mu2 = 0;
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contact[i].surface.bounce = 0.1;
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contact[i].surface.bounce_vel = 0.1;
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contact[i].surface.soft_cfm = 0.01;
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}
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if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
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sizeof(dContact))) {
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dMatrix3 RI;
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dRSetIdentity (RI);
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const dReal ss[3] = {0.02,0.02,0.02};
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for (i=0; i<numc; i++) {
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dJointID c = dJointCreateContact (world,contactgroup,contact+i);
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dJointAttach (c,b1,b2);
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if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
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}
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}
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}
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// start simulation - set viewpoint
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static void start()
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{
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static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
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static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
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dsSetViewpoint (xyz,hpr);
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printf ("To drop another object, press:\n");
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printf (" o to disable rendering.\n");
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printf (" b for box.\n");
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printf (" s for sphere.\n");
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printf (" c for cylinder.\n");
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printf (" x for a composite object.\n");
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printf ("To select an object, press space.\n");
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printf ("To disable the selected object, press d.\n");
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printf ("To enable the selected object, press e.\n");
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printf ("To toggle showing the geom AABBs, press a.\n");
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printf ("To toggle showing the contact points, press t.\n");
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printf ("To toggle dropping from random position/orientation, press r.\n");
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}
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char locase (char c)
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{
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if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
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else return c;
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}
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// called when a key pressed
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static void command (int cmd)
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{
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int i,j,k;
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dReal sides[3];
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dMass m;
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cmd = locase (cmd);
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if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x'
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/* || cmd == 'l' */) {
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if (num < NUM) {
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i = num;
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num++;
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}
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else {
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i = nextobj;
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nextobj++;
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if (nextobj >= num) nextobj = 0;
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// destroy the body and geoms for slot i
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dBodyDestroy (obj[i].body);
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for (k=0; k < GPB; k++) {
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if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
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}
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memset (&obj[i],0,sizeof(obj[i]));
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}
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obj[i].body = dBodyCreate (world);
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for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
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dMatrix3 R;
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if (random_pos) {
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dBodySetPosition (obj[i].body,
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dRandReal()*WORLD_SIZE-(WORLD_SIZE/2),dRandReal()*WORLD_SIZE-(WORLD_SIZE/2),dRandReal()+1);
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dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
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dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
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}
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else {
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dReal maxheight = 0;
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for (k=0; k<num; k++) {
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const dReal *pos = dBodyGetPosition (obj[k].body);
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if (pos[2] > maxheight) maxheight = pos[2];
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}
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dBodySetPosition (obj[i].body, 0,0,maxheight+1);
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dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
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}
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dBodySetRotation (obj[i].body,R);
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dBodySetData (obj[i].body,(void*)(size_t)i);
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if (cmd == 'b') {
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dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
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obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
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}
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else if (cmd == 'c') {
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sides[0] *= 0.5;
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dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
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obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
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}
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/*
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// cylinder option not yet implemented
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else if (cmd == 'l') {
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sides[1] *= 0.5;
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dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
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obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
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}
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*/
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else if (cmd == 's') {
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sides[0] *= 0.5;
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dMassSetSphere (&m,DENSITY,sides[0]);
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obj[i].geom[0] = dCreateSphere (space,sides[0]);
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}
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else if (cmd == 'x') {
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dGeomID g2[GPB]; // encapsulated geometries
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dReal dpos[GPB][3]; // delta-positions for encapsulated geometries
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// start accumulating masses for the encapsulated geometries
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dMass m2;
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dMassSetZero (&m);
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// set random delta positions
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for (j=0; j<GPB; j++) {
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for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
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}
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for (k=0; k<GPB; k++) {
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obj[i].geom[k] = dCreateGeomTransform (space);
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dGeomTransformSetCleanup (obj[i].geom[k],1);
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if (k==0) {
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dReal radius = dRandReal()*0.25+0.05;
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g2[k] = dCreateSphere (0,radius);
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dMassSetSphere (&m2,DENSITY,radius);
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}
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else if (k==1) {
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g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
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dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
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}
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else {
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dReal radius = dRandReal()*0.1+0.05;
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dReal length = dRandReal()*1.0+0.1;
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g2[k] = dCreateCapsule (0,radius,length);
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dMassSetCapsule (&m2,DENSITY,3,radius,length);
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}
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dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
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// set the transformation (adjust the mass too)
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dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
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dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
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dMatrix3 Rtx;
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dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
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dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
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dGeomSetRotation (g2[k],Rtx);
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dMassRotate (&m2,Rtx);
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// add to the total mass
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dMassAdd (&m,&m2);
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}
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// move all encapsulated objects so that the center of mass is (0,0,0)
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for (k=0; k<2; k++) {
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dGeomSetPosition (g2[k],
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dpos[k][0]-m.c[0],
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dpos[k][1]-m.c[1],
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dpos[k][2]-m.c[2]);
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}
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dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
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}
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for (k=0; k < GPB; k++) {
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if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
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}
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dBodySetMass (obj[i].body,&m);
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}
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if (cmd == ' ') {
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selected++;
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if (selected >= num) selected = 0;
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if (selected < 0) selected = 0;
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}
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else if (cmd == 'd' && selected >= 0 && selected < num) {
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dBodyDisable (obj[selected].body);
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}
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else if (cmd == 'e' && selected >= 0 && selected < num) {
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dBodyEnable (obj[selected].body);
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}
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else if (cmd == 'a') {
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show_aabb ^= 1;
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}
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else if (cmd == 't') {
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show_contacts ^= 1;
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}
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else if (cmd == 'r') {
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random_pos ^= 1;
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}
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else if (cmd == 'o') {
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draw_geom ^= 1;
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}
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}
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// draw a geom
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void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
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{
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if (!draw_geom){
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return;
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}
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if (!g) return;
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if (!pos) pos = dGeomGetPosition (g);
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if (!R) R = dGeomGetRotation (g);
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int type = dGeomGetClass (g);
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if (type == dBoxClass) {
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dVector3 sides;
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dGeomBoxGetLengths (g,sides);
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dsDrawBox (pos,R,sides);
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}
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else if (type == dSphereClass) {
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dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
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}
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else if (type == dCapsuleClass) {
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dReal radius,length;
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dGeomCapsuleGetParams (g,&radius,&length);
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dsDrawCapsule (pos,R,length,radius);
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}
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/*
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// cylinder option not yet implemented
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else if (type == dCylinderClass) {
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dReal radius,length;
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dGeomCylinderGetParams (g,&radius,&length);
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dsDrawCylinder (pos,R,length,radius);
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}
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*/
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else if (type == dGeomTransformClass) {
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dGeomID g2 = dGeomTransformGetGeom (g);
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const dReal *pos2 = dGeomGetPosition (g2);
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const dReal *R2 = dGeomGetRotation (g2);
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dVector3 actual_pos;
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dMatrix3 actual_R;
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dMULTIPLY0_331 (actual_pos,R,pos2);
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actual_pos[0] += pos[0];
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actual_pos[1] += pos[1];
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actual_pos[2] += pos[2];
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dMULTIPLY0_333 (actual_R,R,R2);
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drawGeom (g2,actual_pos,actual_R,0);
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}
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if (show_aabb) {
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// draw the bounding box for this geom
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dReal aabb[6];
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dGeomGetAABB (g,aabb);
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dVector3 bbpos;
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for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
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dVector3 bbsides;
|
||
|
|
for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2];
|
||
|
|
dMatrix3 RI;
|
||
|
|
dRSetIdentity (RI);
|
||
|
|
dsSetColorAlpha (1,0,0,0.5);
|
||
|
|
dsDrawBox (bbpos,RI,bbsides);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// simulation loop
|
||
|
|
|
||
|
|
static void simLoop (int pause)
|
||
|
|
{
|
||
|
|
dsSetColor (0,0,2);
|
||
|
|
dSpaceCollide (space,0,&nearCallback);
|
||
|
|
//if (!pause) dWorldStep (world,0.05);
|
||
|
|
//if (!pause) dWorldStepFast (world,0.05, 1);
|
||
|
|
|
||
|
|
// remove all contact joints
|
||
|
|
dJointGroupEmpty (contactgroup);
|
||
|
|
|
||
|
|
dsSetColor (1,1,0);
|
||
|
|
dsSetTexture (DS_WOOD);
|
||
|
|
for (int i=0; i<num; i++) {
|
||
|
|
for (int j=0; j < GPB; j++) {
|
||
|
|
if (i==selected) {
|
||
|
|
dsSetColor (0,0.7,1);
|
||
|
|
}
|
||
|
|
else if (! dBodyIsEnabled (obj[i].body)) {
|
||
|
|
dsSetColor (1,0,0);
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
dsSetColor (1,1,0);
|
||
|
|
}
|
||
|
|
drawGeom (obj[i].geom[j],0,0,show_aabb);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
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();
|
||
|
|
world = dWorldCreate();
|
||
|
|
|
||
|
|
|
||
|
|
dVector3 Center = {0, 0, 0, 0};
|
||
|
|
dVector3 Extents = {WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, 0};
|
||
|
|
|
||
|
|
//space = dSimpleSpaceCreate(0);
|
||
|
|
//space = dHashSpaceCreate (0);
|
||
|
|
space = dQuadTreeSpaceCreate (0, Center, Extents, 6);
|
||
|
|
|
||
|
|
contactgroup = dJointGroupCreate (0);
|
||
|
|
dWorldSetGravity (world,0,0,-0.5);
|
||
|
|
dWorldSetCFM (world,1e-5);
|
||
|
|
dCreatePlane (space,0,0,1,0);
|
||
|
|
memset (obj,0,sizeof(obj));
|
||
|
|
|
||
|
|
for (int i = 0; i < NUM; i++){
|
||
|
|
command('s');
|
||
|
|
}
|
||
|
|
|
||
|
|
// run simulation
|
||
|
|
dsSimulationLoop (argc,argv,352,288,&fn);
|
||
|
|
|
||
|
|
dJointGroupDestroy (contactgroup);
|
||
|
|
dSpaceDestroy (space);
|
||
|
|
dWorldDestroy (world);
|
||
|
|
dCloseODE();
|
||
|
|
return 0;
|
||
|
|
}
|