211 lines
6.9 KiB
C++
211 lines
6.9 KiB
C++
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 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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#endif
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// some constants
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#define SIDE (0.5f) // side length of a box
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#define MASS (1.0) // mass of a box
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// dynamics and collision objects
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static dWorldID world;
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static dBodyID body[2];
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static dGeomID geom[2];
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static dJointID lmotor[2];
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static dJointID amotor[2];
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static dSpaceID space;
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static dJointGroupID contactgroup;
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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] = {1.0382f,-1.0811f,1.4700f};
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static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
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dsSetViewpoint (xyz,hpr);
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printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n");
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printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n");
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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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if (cmd == 'q' || cmd == 'Q') {
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dJointSetLMotorParam(lmotor[0],dParamVel,0);
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dJointSetLMotorParam(lmotor[0],dParamVel2,0);
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dJointSetLMotorParam(lmotor[0],dParamVel3,0.1);
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} else if (cmd == 'a' || cmd == 'A') {
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dJointSetLMotorParam(lmotor[0],dParamVel,0);
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dJointSetLMotorParam(lmotor[0],dParamVel2,0);
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dJointSetLMotorParam(lmotor[0],dParamVel3,0);
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} else if (cmd == 'z' || cmd == 'Z') {
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dJointSetLMotorParam(lmotor[0],dParamVel,0);
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dJointSetLMotorParam(lmotor[0],dParamVel2,0);
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dJointSetLMotorParam(lmotor[0],dParamVel3,-0.1);
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} else if (cmd == 'w' || cmd == 'W') {
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dJointSetLMotorParam(lmotor[1],dParamVel,0.1);
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dJointSetLMotorParam(lmotor[1],dParamVel2,0);
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dJointSetLMotorParam(lmotor[1],dParamVel3,0);
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} else if (cmd == 'e' || cmd == 'E') {
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dJointSetLMotorParam(lmotor[1],dParamVel,0);
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dJointSetLMotorParam(lmotor[1],dParamVel2,0);
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dJointSetLMotorParam(lmotor[1],dParamVel3,0);
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} else if (cmd == 'r' || cmd == 'R') {
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dJointSetLMotorParam(lmotor[1],dParamVel,-0.1);
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dJointSetLMotorParam(lmotor[1],dParamVel2,0);
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dJointSetLMotorParam(lmotor[1],dParamVel3,0);
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}
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}
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static void nearCallback (void *data, dGeomID o1, dGeomID o2)
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{
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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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dContact contact;
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contact.surface.mode = 0;
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contact.surface.mu = dInfinity;
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if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
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dJointID c = dJointCreateContact (world,contactgroup,&contact);
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dJointAttach (c,b1,b2);
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}
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}
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// simulation loop
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static void simLoop (int pause)
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{
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if (!pause) {
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dSpaceCollide(space,0,&nearCallback);
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dWorldQuickStep (world,0.05);
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dJointGroupEmpty(contactgroup);
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}
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dReal sides1[3];
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dGeomBoxGetLengths(geom[0], sides1);
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dReal sides2[3];
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dGeomBoxGetLengths(geom[1], sides2);
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dsSetTexture (DS_WOOD);
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dsSetColor (1,1,0);
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dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
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dsSetColor (0,1,1);
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dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
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}
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int main (int argc, char **argv)
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{
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// setup pointers to drawstuff callback functions
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dsFunctions fn;
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fn.version = DS_VERSION;
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fn.start = &start;
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fn.step = &simLoop;
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fn.command = &command;
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fn.stop = 0;
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fn.path_to_textures = "../../drawstuff/textures";
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if(argc>=2)
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{
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fn.path_to_textures = argv[1];
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}
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// create world
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dInitODE();
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contactgroup = dJointGroupCreate(0);
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world = dWorldCreate();
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space = dSimpleSpaceCreate(0);
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dMass m;
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dMassSetBox (&m,1,SIDE,SIDE,SIDE);
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dMassAdjust (&m,MASS);
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body[0] = dBodyCreate (world);
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dBodySetMass (body[0],&m);
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dBodySetPosition (body[0],0,0,1);
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geom[0] = dCreateBox(space,SIDE,SIDE,SIDE);
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body[1] = dBodyCreate (world);
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dBodySetMass (body[1],&m);
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dBodySetPosition (body[1],0,0,2);
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geom[1] = dCreateBox(space,SIDE,SIDE,SIDE);
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dGeomSetBody(geom[0],body[0]);
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dGeomSetBody(geom[1],body[1]);
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lmotor[0] = dJointCreateLMotor (world,0);
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dJointAttach (lmotor[0],body[0],body[1]);
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lmotor[1] = dJointCreateLMotor (world,0);
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dJointAttach (lmotor[1],body[0],0);
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amotor[0] = dJointCreateAMotor(world,0);
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dJointAttach(amotor[0], body[0],body[1]);
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amotor[1] = dJointCreateAMotor(world,0);
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dJointAttach(amotor[1], body[0], 0);
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for (int i=0; i<2; i++) {
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dJointSetAMotorNumAxes(amotor[i], 3);
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dJointSetAMotorAxis(amotor[i],0,1,1,0,0);
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dJointSetAMotorAxis(amotor[i],1,1,0,1,0);
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dJointSetAMotorAxis(amotor[i],2,1,0,0,1);
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dJointSetAMotorParam(amotor[i],dParamFMax,0.00001);
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dJointSetAMotorParam(amotor[i],dParamFMax2,0.00001);
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dJointSetAMotorParam(amotor[i],dParamFMax3,0.00001);
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dJointSetAMotorParam(amotor[i],dParamVel,0);
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dJointSetAMotorParam(amotor[i],dParamVel2,0);
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dJointSetAMotorParam(amotor[i],dParamVel3,0);
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dJointSetLMotorNumAxes(lmotor[i],3);
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dJointSetLMotorAxis(lmotor[i],0,1,1,0,0);
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dJointSetLMotorAxis(lmotor[i],1,1,0,1,0);
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dJointSetLMotorAxis(lmotor[i],2,1,0,0,1);
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dJointSetLMotorParam(lmotor[i],dParamFMax,0.0001);
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dJointSetLMotorParam(lmotor[i],dParamFMax2,0.0001);
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dJointSetLMotorParam(lmotor[i],dParamFMax3,0.0001);
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}
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// run simulation
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dsSimulationLoop (argc,argv,352,288,&fn);
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dJointGroupDestroy(contactgroup);
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dSpaceDestroy (space);
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dWorldDestroy (world);
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dCloseODE();
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return 0;
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}
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