172 lines
4.9 KiB
C
172 lines
4.9 KiB
C
/*************************************************************************
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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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/* exercise the C interface */
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#include <stdio.h>
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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 10 /* number of boxes */
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#define SIDE (0.2) /* side length of a box */
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#define MASS (1.0) /* mass of a box */
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#define RADIUS (0.1732f) /* sphere radius */
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/* dynamics and collision objects */
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static dWorldID world;
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static dSpaceID space;
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static dBodyID body[NUM];
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static dJointID joint[NUM-1];
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static dJointGroupID contactgroup;
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static dGeomID sphere[NUM];
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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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*/
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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,b2;
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dContact contact;
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b1 = dGeomGetBody(o1);
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b2 = dGeomGetBody(o2);
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if (b1 && b2 && dAreConnected (b1,b2)) return;
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contact.surface.mode = 0;
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contact.surface.mu = 0.1;
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contact.surface.mu2 = 0;
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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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/* 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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}
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/* simulation loop */
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static void simLoop (int pause)
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{
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int i;
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if (!pause) {
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static double angle = 0;
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angle += 0.05;
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dBodyAddForce (body[NUM-1],0,0,1.5*(sin(angle)+1.0));
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dSpaceCollide (space,0,&nearCallback);
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dWorldStep (world,0.05);
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/* remove all contact joints */
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dJointGroupEmpty (contactgroup);
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}
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dsSetColor (1,1,0);
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dsSetTexture (DS_WOOD);
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for (i=0; i<NUM; i++) dsDrawSphere (dBodyGetPosition(body[i]),
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dBodyGetRotation(body[i]),RADIUS);
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}
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int main (int argc, char **argv)
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{
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int i;
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dReal k;
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dMass m;
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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 = 0;
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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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world = dWorldCreate();
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space = dHashSpaceCreate (0);
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contactgroup = dJointGroupCreate (1000000);
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dWorldSetGravity (world,0,0,-0.5);
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dCreatePlane (space,0,0,1,0);
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for (i=0; i<NUM; i++) {
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body[i] = dBodyCreate (world);
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k = i*SIDE;
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dBodySetPosition (body[i],k,k,k+0.4);
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dMassSetBox (&m,1,SIDE,SIDE,SIDE);
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dMassAdjust (&m,MASS);
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dBodySetMass (body[i],&m);
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sphere[i] = dCreateSphere (space,RADIUS);
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dGeomSetBody (sphere[i],body[i]);
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}
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for (i=0; i<(NUM-1); i++) {
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joint[i] = dJointCreateBall (world,0);
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dJointAttach (joint[i],body[i],body[i+1]);
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k = (i+0.5)*SIDE;
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dJointSetBallAnchor (joint[i],k,k,k+0.4);
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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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