261 lines
7.1 KiB
C#
261 lines
7.1 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using Drawstuff.NET;
|
|
|
|
namespace Ode.NET
|
|
{
|
|
#if dDOUBLE
|
|
using dReal = System.Double;
|
|
#else
|
|
using dReal = System.Single;
|
|
#endif
|
|
|
|
public class TestBoxStack
|
|
{
|
|
#region Description of convex shape
|
|
|
|
static dReal[] planes =
|
|
{
|
|
1.0f, 0.0f, 0.0f, 0.25f,
|
|
0.0f, 1.0f, 0.0f, 0.25f,
|
|
0.0f, 0.0f, 1.0f, 0.25f,
|
|
0.0f, 0.0f, -1.0f, 0.25f,
|
|
0.0f, -1.0f, 0.0f, 0.25f,
|
|
-1.0f, 0.0f , 0.0f, 0.25f
|
|
};
|
|
|
|
static dReal[] points =
|
|
{
|
|
0.25f, 0.25f, 0.25f,
|
|
-0.25f, 0.25f, 0.25f,
|
|
0.25f, -0.25f, 0.25f,
|
|
-0.25f, -0.25f, 0.25f,
|
|
0.25f, 0.25f, -0.25f,
|
|
-0.25f,0.25f,-0.25f,
|
|
0.25f,-0.25f,-0.25f,
|
|
-0.25f,-0.25f,-0.25f,
|
|
};
|
|
|
|
static int[] polygons =
|
|
{
|
|
4, 0, 2, 6, 4,
|
|
4, 1, 0, 4, 5,
|
|
4, 0, 1, 3, 2,
|
|
4, 3, 1, 5, 7,
|
|
4, 2, 3, 7, 6,
|
|
4, 5, 4, 6, 7,
|
|
};
|
|
|
|
#endregion
|
|
|
|
const int NUM = 100;
|
|
const float DENSITY = 5.0f;
|
|
const int MAX_CONTACTS = 8;
|
|
|
|
static IntPtr world;
|
|
static IntPtr space;
|
|
static IntPtr contactgroup;
|
|
|
|
static Queue<IntPtr> obj = new Queue<IntPtr>();
|
|
|
|
static d.Vector3 xyz = new d.Vector3(2.1640f, -1.3079f, 1.7600f);
|
|
static d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
|
|
|
|
static d.NearCallback nearCallback = near;
|
|
static d.ContactGeom[] contacts = new d.ContactGeom[MAX_CONTACTS];
|
|
static d.Contact contact;
|
|
|
|
|
|
// Called when window is opened - sets up viewpoint and prints usage
|
|
static void start(int unused)
|
|
{
|
|
ds.SetViewpoint(ref xyz, ref hpr);
|
|
Console.WriteLine("To drop another object, press:");
|
|
Console.WriteLine(" b for box.");
|
|
Console.WriteLine(" s for sphere.");
|
|
Console.WriteLine(" c for capsule.");
|
|
Console.WriteLine(" y for cylinder.");
|
|
Console.WriteLine(" v for a convex object.");
|
|
Console.WriteLine(" x for a composite object.");
|
|
Console.WriteLine("To select an object, press space.");
|
|
Console.WriteLine("To disable the selected object, press d.");
|
|
Console.WriteLine("To enable the selected object, press e.");
|
|
Console.WriteLine("To toggle showing the geom AABBs, press a.");
|
|
Console.WriteLine("To toggle showing the contact points, press t.");
|
|
Console.WriteLine("To toggle dropping from random position/orientation, press r.");
|
|
Console.WriteLine("To save the current state to 'state.dif', press 1.");
|
|
}
|
|
|
|
|
|
// Near callback - creates contact joints
|
|
static void near(IntPtr space, IntPtr g1, IntPtr g2)
|
|
{
|
|
IntPtr b1 = d.GeomGetBody(g1);
|
|
IntPtr b2 = d.GeomGetBody(g2);
|
|
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
|
|
return;
|
|
|
|
int count = d.Collide(g1, g2, MAX_CONTACTS, contacts, d.ContactGeom.SizeOf);
|
|
for (int i = 0; i < count; ++i)
|
|
{
|
|
contact.geom = contacts[i];
|
|
IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
|
|
d.JointAttach(joint, b1, b2);
|
|
}
|
|
}
|
|
|
|
|
|
// Adds a new object to the scene - attaches a body to the geom and
|
|
// sets the initial position and orientation
|
|
static void addObject(IntPtr geom, d.Mass mass)
|
|
{
|
|
// Create a body for this object
|
|
IntPtr body = d.BodyCreate(world);
|
|
d.GeomSetBody(geom, body);
|
|
d.BodySetMass(body, ref mass);
|
|
obj.Enqueue(geom);
|
|
|
|
// Set the position of the new object
|
|
d.Matrix3 R;
|
|
d.BodySetPosition(body, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() + 2);
|
|
d.RFromAxisAndAngle(out R, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 10 - 5);
|
|
d.BodySetRotation(body, ref R);
|
|
|
|
// Cap the total number of objects
|
|
if (obj.Count > NUM)
|
|
{
|
|
geom = obj.Dequeue();
|
|
body = d.GeomGetBody(geom);
|
|
d.BodyDestroy(body);
|
|
d.GeomDestroy(geom);
|
|
}
|
|
}
|
|
|
|
|
|
// Keyboard callback
|
|
static void command(int cmd)
|
|
{
|
|
IntPtr geom;
|
|
d.Mass mass;
|
|
d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
|
|
|
|
Char ch = Char.ToLower((Char)cmd);
|
|
switch ((Char)ch)
|
|
{
|
|
case 'b':
|
|
d.MassSetBox(out mass, DENSITY, sides.X, sides.Y, sides.Z);
|
|
geom = d.CreateBox(space, sides.X, sides.Y, sides.Z);
|
|
addObject(geom, mass);
|
|
break;
|
|
|
|
case 'c':
|
|
sides.X *= 0.5f;
|
|
d.MassSetCapsule(out mass, DENSITY, 3, sides.X, sides.Y);
|
|
geom = d.CreateCapsule(space, sides.X, sides.Y);
|
|
addObject(geom, mass);
|
|
break;
|
|
|
|
case 'v':
|
|
d.MassSetBox(out mass, DENSITY, 0.25f, 0.25f, 0.25f);
|
|
geom = d.CreateConvex(space, planes, planes.Length / 4, points, points.Length / 3, polygons);
|
|
addObject(geom, mass);
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
// Draw an object in the scene
|
|
static void drawGeom(IntPtr geom)
|
|
{
|
|
IntPtr body = d.GeomGetBody(geom);
|
|
|
|
d.Vector3 pos;
|
|
d.BodyCopyPosition(body, out pos);
|
|
|
|
d.Matrix3 R;
|
|
d.BodyCopyRotation(body, out R);
|
|
|
|
d.GeomClassID type = d.GeomGetClass(geom);
|
|
switch (type)
|
|
{
|
|
case d.GeomClassID.BoxClass:
|
|
d.Vector3 sides;
|
|
d.GeomBoxGetLengths(geom, out sides);
|
|
ds.DrawBox(ref pos, ref R, ref sides);
|
|
break;
|
|
case d.GeomClassID.CapsuleClass:
|
|
dReal radius, length;
|
|
d.GeomCapsuleGetParams(geom, out radius, out length);
|
|
ds.DrawCapsule(ref pos, ref R, length, radius);
|
|
break;
|
|
case d.GeomClassID.ConvexClass:
|
|
ds.DrawConvex(ref pos, ref R, planes, planes.Length / 4, points, points.Length / 3, polygons);
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
// Called once per frame; updates the scene
|
|
static void step(int pause)
|
|
{
|
|
d.SpaceCollide(space, IntPtr.Zero, nearCallback);
|
|
if (pause == 0)
|
|
d.WorldQuickStep(world, 0.02f);
|
|
d.JointGroupEmpty(contactgroup);
|
|
|
|
ds.SetColor(1.0f, 1.0f, 0.0f);
|
|
ds.SetTexture(ds.Texture.Wood);
|
|
|
|
foreach (IntPtr geom in obj)
|
|
{
|
|
drawGeom(geom);
|
|
}
|
|
}
|
|
|
|
|
|
static void Main(string[] args)
|
|
{
|
|
// Setup pointers to drawstuff callback functions
|
|
ds.Functions fn;
|
|
fn.version = ds.VERSION;
|
|
fn.start = new ds.CallbackFunction(start);
|
|
fn.step = new ds.CallbackFunction(step);
|
|
fn.command = new ds.CallbackFunction(command);
|
|
fn.stop = null;
|
|
fn.path_to_textures = "../../../../drawstuff/textures";
|
|
if (args.Length > 0)
|
|
{
|
|
fn.path_to_textures = args[0];
|
|
}
|
|
|
|
// Set up contact response parameters
|
|
contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
|
|
contact.surface.mu = d.Infinity;
|
|
contact.surface.mu2 = 0.0f;
|
|
contact.surface.bounce = 0.1f;
|
|
contact.surface.bounce_vel = 0.1f;
|
|
contact.surface.soft_cfm = 0.01f;
|
|
|
|
// Initialize the scene
|
|
world = d.WorldCreate();
|
|
space = d.HashSpaceCreate(IntPtr.Zero);
|
|
contactgroup = d.JointGroupCreate(0);
|
|
d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
|
|
d.WorldSetCFM(world, 1e-5f);
|
|
d.WorldSetAutoDisableFlag(world, true);
|
|
d.WorldSetContactMaxCorrectingVel(world, 0.1f);
|
|
d.WorldSetContactSurfaceLayer(world, 0.001f);
|
|
d.CreatePlane(space, 0, 0, 1, 0);
|
|
|
|
// Run the scene
|
|
ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
|
|
|
|
// Clean up
|
|
d.JointGroupDestroy(contactgroup);
|
|
d.SpaceDestroy(space);
|
|
d.WorldDestroy(world);
|
|
d.CloseODE();
|
|
}
|
|
}
|
|
}
|