/*************************************************************************
* *
* 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. *
* *
*************************************************************************/
// Test for non-capped cylinder, by Bram Stolk
#include <ode/config.h>
#include <assert.h>
#ifdef HAVE_UNISTD_H
#include <unistd.h>
#endif
#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
#include "world_geom3.h" // this is our world mesh
#ifdef _MSC_VER
#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
#endif
#define BOX
#define CYL
// some constants
#define RADIUS 0.22 // wheel radius
#define WMASS 0.2 // wheel mass
#define WHEELW 0.2 // wheel width
#define BOXSZ 0.4 // box size
//#define CYL_GEOM_OFFSET // rotate cylinder using geom offset
// dynamics and collision objects (chassis, 3 wheels, environment)
static dWorldID world;
static dSpaceID space;
#ifdef BOX
static dBodyID boxbody;
static dGeomID boxgeom;
#endif
#ifdef CYL
static dBodyID cylbody;
static dGeomID cylgeom;
#endif
static dJointGroupID contactgroup;
static dGeomID world_mesh;
// this is called by dSpaceCollide when two objects in space are
// potentially colliding.
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
assert(o1);
assert(o2);
if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
{
fprintf(stderr,"testing space %p %p\n", o1,o2);
// colliding a space with something
dSpaceCollide2(o1,o2,data,&nearCallback);
// Note we do not want to test intersections within a space,
// only between spaces.
return;
}
// fprintf(stderr,"testing geoms %p %p\n", o1, o2);
const int N = 32;
dContact contact[N];
int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
if (n > 0)
{
for (int i=0; i<n; i++)
{
contact[i].surface.slip1 = 0.7;
contact[i].surface.slip2 = 0.7;
contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
contact[i].surface.mu = 50.0; // was: dInfinity
contact[i].surface.soft_erp = 0.96;
contact[i].surface.soft_cfm = 0.04;
dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
dJointAttach (c,
dGeomGetBody(contact[i].geom.g1),
dGeomGetBody(contact[i].geom.g2));
}
}
}
// start simulation - set viewpoint
static void start()
{
static float xyz[3] = {-8,-9,3};
static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
dsSetViewpoint (xyz,hpr);
}
static void reset_state(void)
{
float sx=-4, sy=-4, sz=2;
dQuaternion q;
dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
#ifdef BOX
dBodySetPosition (boxbody, sx, sy+1, sz);
dBodySetLinearVel (boxbody, 0,0,0);
dBodySetAngularVel (boxbody, 0,0,0);
dBodySetQuaternion (boxbody, q);
#endif
#ifdef CYL
dBodySetPosition (cylbody, sx, sy, sz);
dBodySetLinearVel (cylbody, 0,0,0);
dBodySetAngularVel (cylbody, 0,0,0);
dBodySetQuaternion (cylbody, q);
#endif
}
// called when a key pressed
static void command (int cmd)
{
switch (cmd)
{
case ' ':
reset_state();
break;
}
}
// simulation loop
static void simLoop (int pause)
{
double simstep = 0.005; // 5ms simulation steps
double dt = dsElapsedTime();
int nrofsteps = (int) ceilf(dt/simstep);
for (int i=0; i<nrofsteps && !pause; i++)
{
dSpaceCollide (space,0,&nearCallback);
dWorldQuickStep (world, simstep);
dJointGroupEmpty (contactgroup);
}
dsSetColor (1,1,1);
#ifdef BOX
const dReal *BPos = dBodyGetPosition(boxbody);
const dReal *BRot = dBodyGetRotation(boxbody);
float bpos[3] = {BPos[0], BPos[1], BPos[2]};
float brot[12] = { BRot[0], BRot[1], BRot[2], BRot[3], BRot[4], BRot[5], BRot[6], BRot[7], BRot[8], BRot[9], BRot[10], BRot[11] };
float sides[3] = {BOXSZ, BOXSZ, BOXSZ};
dsDrawBox
(
bpos,
brot,
sides
); // single precision
#endif
#ifdef CYL
const dReal *CPos = dGeomGetPosition(cylgeom);
const dReal *CRot = dGeomGetRotation(cylgeom);
float cpos[3] = {CPos[0], CPos[1], CPos[2]};
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] };
dsDrawCylinder
(
// dBodyGetPosition(cylbody),
// dBodyGetRotation(cylbody),
cpos,
crot,
WHEELW,
RADIUS
); // single precision
#endif
// draw world trimesh
dsSetColor(0.7,0.7,0.4);
dsSetTexture (DS_NONE);
const dReal* Pos = dGeomGetPosition(world_mesh);
float pos[3] = { Pos[0], Pos[1], Pos[2] };
const dReal* Rot = dGeomGetRotation(world_mesh);
float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] };
int numi = sizeof(world_indices) / sizeof(int);
for (int i=0; i<numi/3; i++)
{
int i0 = world_indices[i*3+0];
int i1 = world_indices[i*3+1];
int i2 = world_indices[i*3+2];
float *v0 = world_vertices+i0*3;
float *v1 = world_vertices+i1*3;
float *v2 = world_vertices+i2*3;
dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
}
}
int main (int argc, char **argv)
{
dMass m;
dMatrix3 R;
// 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();
space = dHashSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-9.8);
dWorldSetQuickStepNumIterations (world, 12);
// Create a static world using a triangle mesh that we can collide with.
int numv = sizeof(world_vertices)/(3*sizeof(float));
int numi = sizeof(world_indices)/ sizeof(int);
printf("numv=%d, numi=%d\n", numv, numi);
dTriMeshDataID Data = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle
(
Data,
world_vertices,
3 * sizeof(float),
numv,
world_indices,
numi,
3 * sizeof(int)
);
world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
dGeomSetPosition(world_mesh, 0, 0, 0.5);
dRFromAxisAndAngle (R, 0,1,0, 0.0);
dGeomSetRotation (world_mesh, R);
#ifdef BOX
boxbody = dBodyCreate (world);
dMassSetBox (&m,1, BOXSZ, BOXSZ, BOXSZ);
dMassAdjust (&m, 1);
dBodySetMass (boxbody,&m);
boxgeom = dCreateBox (0, BOXSZ, BOXSZ, BOXSZ);
dGeomSetBody (boxgeom,boxbody);
dSpaceAdd (space, boxgeom);
#endif
#ifdef CYL
cylbody = dBodyCreate (world);
dMassSetSphere (&m,1,RADIUS);
dMassAdjust (&m,WMASS);
dBodySetMass (cylbody,&m);
cylgeom = dCreateCylinder(0, RADIUS, WHEELW);
dGeomSetBody (cylgeom,cylbody);
#if defined(CYL_GEOM_OFFSET)
dMatrix3 mat;
dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0);
dGeomSetOffsetRotation(cylgeom,mat);
#endif
dSpaceAdd (space, cylgeom);
#endif
reset_state();
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupEmpty (contactgroup);
dJointGroupDestroy (contactgroup);
// First destroy geoms, then space, then the world.
#ifdef CYL
dGeomDestroy (cylgeom);
#endif
#ifdef BOX
dGeomDestroy (boxgeom);
#endif
dGeomDestroy (world_mesh);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}