const dMass& Mass::createMass() { if(!created) { assembleMass(); for(std::list<SimObject*>::const_iterator iter = children.begin(), end = children.end(); iter != end; ++iter) { Mass* childMassDesc = dynamic_cast<Mass*>(*iter); ASSERT(childMassDesc); const dMass& childMass = childMassDesc->createMass(); if(childMassDesc->translation || childMassDesc->rotation) { dMass shiftedChildMass = childMass; if(childMassDesc->rotation) { dMatrix3 matrix; ODETools::convertMatrix(*childMassDesc->rotation, matrix); dMassRotate(&shiftedChildMass, matrix); } if(childMassDesc->translation) dMassTranslate(&shiftedChildMass, childMassDesc->translation->x, childMassDesc->translation->y, childMassDesc->translation->z); dMassAdd(&mass, &shiftedChildMass); } else dMassAdd(&mass, &childMass); } created = true; } return mass; }
void TSRODERigidBody::AddCylinderGeometry( TSRPhysicsWorld* _pWorldInterface, const TSRMatrix4& _bodyToGeomTransform, float _fRadius,float _fLength, float _fDensity ) { TSRODEPhysicsWorld* _pWorld = ( TSRODEPhysicsWorld* ) _pWorldInterface; dMass totalMass; dBodyGetMass( m_BodyID, &totalMass ); if ( m_GeomIDs.size() == 0 ) { dMassSetZero( &totalMass ); } dMatrix4 R; dVector3 P; Matrix4ToODE( _bodyToGeomTransform, R, P ); dGeomID geomTransform = dCreateGeomTransform( _pWorld->m_SpaceID ); dGeomID encapsulatedGeom = 0; dMass currMass; dMassSetZero( &currMass ); encapsulatedGeom = dCreateCylinder( 0, _fRadius, _fLength ); dMassSetCylinder( &currMass, _fDensity, 0, _fRadius, _fLength ); dMassRotate( &currMass, R ); //dMassTranslate(&currMass,P[0],P[1],P[2]); dMassAdd( &totalMass, &currMass ); dGeomSetPosition( encapsulatedGeom, P[ 0 ], P[ 1 ], P[ 2 ] ); dGeomSetRotation( encapsulatedGeom, R ); dGeomTransformSetCleanup( geomTransform, 1 ); dGeomTransformSetGeom( geomTransform, encapsulatedGeom ); dGeomSetBody( geomTransform, m_BodyID ); m_GeomIDs.push_back( geomTransform ); dBodySetMass( m_BodyID, &totalMass ); }
void CBoxGeom::get_mass(dMass& m) { Fvector& hside=m_box.m_halfsize; dMassSetBox(&m,1.f,hside.x*2.f,hside.y*2.f,hside.z*2.f); dMatrix3 DMatx; PHDynamicData::FMX33toDMX(m_box.m_rotate,DMatx); dMassRotate(&m,DMatx); }
// Transform the own dMass structure by the own Transform matrix. void CShape::TransformMass() { dMatrix3 ODERotation; CPhysicsServer::Matrix44ToOde(Transform, ODERotation); dMassRotate(&ODEMass, ODERotation); const vector3& Pos = Transform.pos_component(); dMassTranslate(&ODEMass, Pos.x, Pos.y, Pos.z); }
void CCylinderGeom::get_mass(dMass& m) { dMassSetCylinder(&m,1.f,2,m_cylinder.m_radius,m_cylinder.m_height); dMatrix3 DMatx; Fmatrix33 m33; m33.j.set(m_cylinder.m_direction); Fvector::generate_orthonormal_basis(m33.j,m33.k,m33.i); PHDynamicData::FMX33toDMX(m33,DMatx); dMassRotate(&m,DMatx); }
void HarrierSim::makeHarrier() { dMass mass; itsHarrierBody = dBodyCreate(world); //pos[0] = 0; pos[1] = 1.0*5; pos[2] = 1.80; dBodySetPosition(itsHarrierBody,0,0.2*5,4.94); dMatrix3 R; dRFromAxisAndAngle (R,1,0,0,0); dBodySetRotation(itsHarrierBody, R); dMassSetZero(&mass); dMassSetBoxTotal(&mass, itsHarrierWeight,itsHarrierWidth, itsHarrierLength, 0.5); //dMassSetCappedCylinderTotal(&mass,itsHarrierWeight,3,itsHarrierWidth,itsHarrierLength/2); dMassRotate(&mass, R); dBodySetMass(itsHarrierBody,&mass); itsHarrierGeom = dCreateBox(space, itsHarrierWidth, itsHarrierLength, 0.5); dGeomSetRotation(itsHarrierGeom, R); dGeomSetBody(itsHarrierGeom, itsHarrierBody); }
void PhysicsBody::rotateMass( const Matrix& R) { dMatrix3 rotation; Vec4f v1 = R[0]; Vec4f v2 = R[1]; Vec4f v3 = R[2]; rotation[0] = v1.x(); rotation[1] = v1.y(); rotation[2] = v1.z(); rotation[3] = 0; rotation[4] = v2.x(); rotation[5] = v2.y(); rotation[6] = v2.z(); rotation[7] = 0; rotation[8] = v3.x(); rotation[9] = v3.y(); rotation[10] = v3.z(); rotation[11] = 0; dMass mass; getMassStruct(mass); dMassRotate(&mass, rotation); setMassStruct(mass); }
static void command (int cmd) { int i,j,k; dReal sides[3]; dMass m; cmd = locase (cmd); if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' ) { if (num < NUM) { i = num; num++; } else { i = nextobj; nextobj++; if (nextobj >= num) nextobj = 0; // destroy the body and geoms for slot i dBodyDestroy (obj[i].body); for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); } memset (&obj[i],0,sizeof(obj[i])); } obj[i].body = dBodyCreate (world); for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; dMatrix3 R; if (random_pos) { dBodySetPosition (obj[i].body, dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3); dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); } else { dReal maxheight = 0; for (k=0; k<num; k++) { const dReal *pos = dBodyGetPosition (obj[k].body); if (pos[2] > maxheight) maxheight = pos[2]; } dBodySetPosition (obj[i].body, 0,0,maxheight+1); dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); } dBodySetRotation (obj[i].body,R); dBodySetData (obj[i].body,(void*)(size_t)i); if (cmd == 'b') { dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); } else if (cmd == 'c') { sides[0] *= 0.5; dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); } else if (cmd == 'y') { sides[1] *= 0.5; dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); } else if (cmd == 's') { sides[0] *= 0.5; dMassSetSphere (&m,DENSITY,sides[0]); obj[i].geom[0] = dCreateSphere (space,sides[0]); } else if (cmd == 'm') { dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex)); obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); // remember the mesh's dTriMeshDataID on its userdata for convenience. dGeomSetData(obj[i].geom[0], new_tmdata); dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); } else if (cmd == 'x') { dGeomID g2[GPB]; // encapsulated geometries dReal dpos[GPB][3]; // delta-positions for encapsulated geometries // start accumulating masses for the encapsulated geometries dMass m2; dMassSetZero (&m); // set random delta positions for (j=0; j<GPB; j++) { for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; } for (k=0; k<GPB; k++) { obj[i].geom[k] = dCreateGeomTransform (space); dGeomTransformSetCleanup (obj[i].geom[k],1); if (k==0) { dReal radius = dRandReal()*0.25+0.05; g2[k] = dCreateSphere (0,radius); dMassSetSphere (&m2,DENSITY,radius); } else if (k==1) { g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); } else { dReal radius = dRandReal()*0.1+0.05; dReal length = dRandReal()*1.0+0.1; g2[k] = dCreateCapsule (0,radius,length); dMassSetCapsule (&m2,DENSITY,3,radius,length); } dGeomTransformSetGeom (obj[i].geom[k],g2[k]); // set the transformation (adjust the mass too) dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); dMatrix3 Rtx; dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); dGeomSetRotation (g2[k],Rtx); dMassRotate (&m2,Rtx); // add to the total mass dMassAdd (&m,&m2); } // move all encapsulated objects so that the center of mass is (0,0,0) for (k=0; k<2; k++) { dGeomSetPosition (g2[k], dpos[k][0]-m.c[0], dpos[k][1]-m.c[1], dpos[k][2]-m.c[2]); } dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); } for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); } dBodySetMass (obj[i].body,&m); } if (cmd == ' ') { selected++; if (selected >= num) selected = 0; if (selected < 0) selected = 0; } else if (cmd == 'd' && selected >= 0 && selected < num) { dBodyDisable (obj[selected].body); } else if (cmd == 'e' && selected >= 0 && selected < num) { dBodyEnable (obj[selected].body); } else if (cmd == 'a') { show_aabb ^= 1; } else if (cmd == 't') { show_contacts ^= 1; } else if (cmd == 'r') { random_pos ^= 1; } }
static void command (int cmd) { size_t i; int j,k; dReal sides[3]; dMass m; cmd = locase (cmd); if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' /* || cmd == 'l' */) { if (num < NUM) { i = num; num++; } else { i = nextobj; nextobj++; if (nextobj >= num) nextobj = 0; // destroy the body and geoms for slot i dBodyDestroy (obj[i].body); for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); } memset (&obj[i],0,sizeof(obj[i])); } obj[i].body = dBodyCreate (world); for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; dMatrix3 R; if (random_pos) { dBodySetPosition (obj[i].body, dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2); dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); } else { dReal maxheight = 0; for (k=0; k<num; k++) { const dReal *pos = dBodyGetPosition (obj[k].body); if (pos[2] > maxheight) maxheight = pos[2]; } dBodySetPosition (obj[i].body, 0,0,maxheight+1); dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); } dBodySetRotation (obj[i].body,R); dBodySetData (obj[i].body,(void*) i); if (cmd == 'b') { dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); } else if (cmd == 'c') { sides[0] *= 0.5; dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]); } /* // cylinder option not yet implemented else if (cmd == 'l') { sides[1] *= 0.5; dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); } */ else if (cmd == 's') { sides[0] *= 0.5; dMassSetSphere (&m,DENSITY,sides[0]); obj[i].geom[0] = dCreateSphere (space,sides[0]); } else if (cmd == 'x') { dGeomID g2[GPB]; // encapsulated geometries dReal dpos[GPB][3]; // delta-positions for encapsulated geometries // start accumulating masses for the encapsulated geometries dMass m2; dMassSetZero (&m); // set random delta positions for (j=0; j<GPB; j++) { for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; } for (k=0; k<GPB; k++) { obj[i].geom[k] = dCreateGeomTransform (space); dGeomTransformSetCleanup (obj[i].geom[k],1); if (k==0) { dReal radius = dRandReal()*0.25+0.05; g2[k] = dCreateSphere (0,radius); dMassSetSphere (&m2,DENSITY,radius); } else if (k==1) { g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); } else { dReal radius = dRandReal()*0.1+0.05; dReal length = dRandReal()*1.0+0.1; g2[k] = dCreateCCylinder (0,radius,length); dMassSetCappedCylinder (&m2,DENSITY,3,radius,length); } dGeomTransformSetGeom (obj[i].geom[k],g2[k]); // set the transformation (adjust the mass too) dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); dMatrix3 Rtx; dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); dGeomSetRotation (g2[k],Rtx); dMassRotate (&m2,Rtx); // add to the total mass dMassAdd (&m,&m2); } // move all encapsulated objects so that the center of mass is (0,0,0) for (k=0; k<2; k++) { dGeomSetPosition (g2[k], dpos[k][0]-m.c[0], dpos[k][1]-m.c[1], dpos[k][2]-m.c[2]); } dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); } for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); } dBodySetMass (obj[i].body,&m); } if (cmd == ' ') { selected++; if (selected >= num) selected = 0; if (selected < 0) selected = 0; } else if (cmd == 'd' && selected >= 0 && selected < num) { dBodyDisable (obj[selected].body); } else if (cmd == 'e' && selected >= 0 && selected < num) { dBodyEnable (obj[selected].body); } else if (cmd == 'a') { show_aabb ^= 1; } else if (cmd == 't') { show_contacts ^= 1; } else if (cmd == 'r') { random_pos ^= 1; } else if (cmd == '1') { write_world = 1; } }
void add_phys_mass(dMass *mass, dGeomID geom, const float p[3], const float r[16]) { dVector3 v; dMatrix3 M; dReal rad; dReal len; dMass add; if (r) set_rotation(M, r); if (dGeomGetClass(geom) != dPlaneClass) { dReal m = get_data(geom)->mass; /* Create a new mass for the given geom. */ switch (dGeomGetClass(geom)) { case dBoxClass: dGeomBoxGetLengths(geom, v); dMassSetBoxTotal(&add, m, v[0], v[1], v[2]); break; case dSphereClass: rad = dGeomSphereGetRadius(geom); dMassSetSphereTotal(&add, m, rad); break; case dCapsuleClass: dGeomCapsuleGetParams(geom, &rad, &len); dMassSetCapsuleTotal(&add, m, 3, rad, len); break; default: dMassSetZero(&add); break; } /* Transform the geom and mass to the given position and rotation. */ if(dGeomGetBody(geom)) { if (p) { dGeomSetOffsetPosition(geom, p[0], p[1], p[2]); dMassTranslate (&add, p[0], p[1], p[2]); } if (r) { dGeomSetOffsetRotation(geom, M); dMassRotate (&add, M); } } else { if (p) dGeomSetPosition(geom, p[0], p[1], p[2]); if (r) dGeomSetRotation(geom, M); } /* Accumulate the new mass with the body's existing mass. */ dMassAdd(mass, &add); } }
static void command (int cmd) { int i,j,k; dReal sides[3]; dMass m; bool setBody = false; cmd = locase (cmd); if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'v' /* || cmd == 'l' */) { if (num < NUM) { i = num; num++; } else { i = nextobj; nextobj++; if (nextobj >= num) nextobj = 0; // destroy the body and geoms for slot i dBodyDestroy (obj[i].body); for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); } memset (&obj[i],0,sizeof(obj[i])); } obj[i].body = dBodyCreate (world); for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; dMatrix3 R; if (random_pos) { dBodySetPosition (obj[i].body, dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1); dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); } else { dReal maxheight = 0; for (k=0; k<num; k++) { const dReal *pos = dBodyGetPosition (obj[k].body); if (pos[2] > maxheight) maxheight = pos[2]; } dBodySetPosition (obj[i].body, 0,0,maxheight+1); dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); } dBodySetRotation (obj[i].body,R); dBodySetData (obj[i].body,(void*)(size_t)i); if (cmd == 'b') { dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); } else if (cmd == 'c') { sides[0] *= 0.5; dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); } /* // cylinder option not yet implemented else if (cmd == 'l') { sides[1] *= 0.5; dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); } */ else if (cmd == 's') { sides[0] *= 0.5; dMassSetSphere (&m,DENSITY,sides[0]); obj[i].geom[0] = dCreateSphere (space,sides[0]); } else if (cmd == 'x') { setBody = true; // start accumulating masses for the composite geometries dMass m2; dMassSetZero (&m); dReal dpos[GPB][3]; // delta-positions for composite geometries dMatrix3 drot[GPB]; // set random delta positions for (j=0; j<GPB; j++) for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; for (k=0; k<GPB; k++) { if (k==0) { dReal radius = dRandReal()*0.25+0.05; obj[i].geom[k] = dCreateSphere (space,radius); dMassSetSphere (&m2,DENSITY,radius); } else if (k==1) { obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]); dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]); } else { dReal radius = dRandReal()*0.1+0.05; dReal length = dRandReal()*1.0+0.1; obj[i].geom[k] = dCreateCapsule(space,radius,length); dMassSetCapsule(&m2,DENSITY,3,radius,length); } dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); dMassRotate(&m2,drot[k]); dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]); // add to the total mass dMassAdd(&m,&m2); } for (k=0; k<GPB; k++) { dGeomSetBody(obj[i].geom[k],obj[i].body); dGeomSetOffsetPosition(obj[i].geom[k], dpos[k][0]-m.c[0], dpos[k][1]-m.c[1], dpos[k][2]-m.c[2]); dGeomSetOffsetRotation(obj[i].geom[k], drot[k]); } dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]); dBodySetMass(obj[i].body,&m); } else if (cmd == 'v') { dMassSetBox (&m,DENSITY,0.25,0.25,0.25); obj[i].geom[0] = dCreateConvex(space, planes, planecount, points, pointcount, polygons); } if (!setBody) { // avoid calling for composite geometries for (k=0; k < GPB; k++) if (obj[i].geom[k]) dGeomSetBody(obj[i].geom[k],obj[i].body); dBodySetMass(obj[i].body,&m); } } if (cmd == ' ') { selected++; if (selected >= num) selected = 0; if (selected < 0) selected = 0; } else if (cmd == 'd' && selected >= 0 && selected < num) { dBodyDisable (obj[selected].body); } else if (cmd == 'e' && selected >= 0 && selected < num) { dBodyEnable (obj[selected].body); } else if (cmd == 'a') { show_aabb ^= 1; } else if (cmd == 't') { show_contacts ^= 1; } else if (cmd == 'r') { random_pos ^= 1; } }
static void command (int cmd) { int i,j,k; dReal sides[3]; dMass m; bool setBody = false; cmd = locase (cmd); if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' || cmd == 'v') { if (num < NUM) { i = num; num++; } else { i = nextobj; nextobj++; if (nextobj >= num) nextobj = 0; // destroy the body and geoms for slot i dBodyDestroy (obj[i].body); for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); } memset (&obj[i],0,sizeof(obj[i])); } obj[i].body = dBodyCreate (world); for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; dMatrix3 R; if (random_pos) { dBodySetPosition (obj[i].body, dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3); dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); } else { dReal maxheight = 0; for (k=0; k<num; k++) { const dReal *pos = dBodyGetPosition (obj[k].body); if (pos[2] > maxheight) maxheight = pos[2]; } dBodySetPosition (obj[i].body, 0,0,maxheight+1); dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); } dBodySetRotation (obj[i].body,R); dBodySetData (obj[i].body,(void*)(size_t)i); if (cmd == 'b') { dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); } else if (cmd == 'c') { sides[0] *= 0.5; dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); } else if (cmd == 'v') { dMassSetBox (&m,DENSITY,0.25,0.25,0.25); obj[i].geom[0] = dCreateConvex(space, planes, planecount, points, pointcount, polygons); } else if (cmd == 'y') { sides[1] *= 0.5; dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); } else if (cmd == 's') { sides[0] *= 0.5; dMassSetSphere (&m,DENSITY,sides[0]); obj[i].geom[0] = dCreateSphere (space,sides[0]); } else if (cmd == 'm') { dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex)); dGeomTriMeshDataPreprocess2(new_tmdata, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL); obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); // remember the mesh's dTriMeshDataID on its userdata for convenience. dGeomSetData(obj[i].geom[0], new_tmdata); dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); } else if (cmd == 'x') { setBody = true; // start accumulating masses for the composite geometries dMass m2; dMassSetZero (&m); dReal dpos[GPB][3]; // delta-positions for composite geometries dMatrix3 drot[GPB]; // set random delta positions for (j=0; j<GPB; j++) for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; for (k=0; k<GPB; k++) { if (k==0) { dReal radius = dRandReal()*0.25+0.05; obj[i].geom[k] = dCreateSphere (space,radius); dMassSetSphere (&m2,DENSITY,radius); } else if (k==1) { obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]); dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]); } else { dReal radius = dRandReal()*0.1+0.05; dReal length = dRandReal()*1.0+0.1; obj[i].geom[k] = dCreateCapsule(space,radius,length); dMassSetCapsule(&m2,DENSITY,3,radius,length); } dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); dMassRotate(&m2,drot[k]); dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]); // add to the total mass dMassAdd(&m,&m2); } for (k=0; k<GPB; k++) { dGeomSetBody(obj[i].geom[k],obj[i].body); dGeomSetOffsetPosition(obj[i].geom[k], dpos[k][0]-m.c[0], dpos[k][1]-m.c[1], dpos[k][2]-m.c[2]); dGeomSetOffsetRotation(obj[i].geom[k], drot[k]); } dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]); dBodySetMass(obj[i].body,&m); } if (!setBody) { // avoid calling for composite geometries for (k=0; k < GPB; k++) if (obj[i].geom[k]) dGeomSetBody(obj[i].geom[k],obj[i].body); dBodySetMass(obj[i].body,&m); } } if (cmd == ' ') { selected++; if (selected >= num) selected = 0; if (selected < 0) selected = 0; } else if (cmd == 'd' && selected >= 0 && selected < num) { dBodyDisable (obj[selected].body); } else if (cmd == 'e' && selected >= 0 && selected < num) { dBodyEnable (obj[selected].body); } else if (cmd == 'a') { show_aabb ^= 1; } else if (cmd == 't') { show_contacts ^= 1; } else if (cmd == 'r') { random_pos ^= 1; } }
static void command (int cmd) { size_t i; int j,k; dReal sides[3]; dMass m; int setBody; cmd = locase (cmd); if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v') { setBody = 0; if (num < NUM) { i = num; num++; } else { i = nextobj; nextobj++; if (nextobj >= num) nextobj = 0; // destroy the body and geoms for slot i dBodyDestroy (obj[i].body); for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); } memset (&obj[i],0,sizeof(obj[i])); } obj[i].body = dBodyCreate (world); for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; dMatrix3 R; if (random_pos) { dBodySetPosition (obj[i].body, dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2); dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); } else { dReal maxheight = 0; for (k=0; k<num; k++) { const dReal *pos = dBodyGetPosition (obj[k].body); if (pos[2] > maxheight) maxheight = pos[2]; } dBodySetPosition (obj[i].body, 0,0,maxheight+1); dRSetIdentity (R); //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0); } dBodySetRotation (obj[i].body,R); dBodySetData (obj[i].body,(void*) i); if (cmd == 'b') { dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); } else if (cmd == 'c') { sides[0] *= 0.5; dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); } //<---- Convex Object else if (cmd == 'v') { dMassSetBox (&m,DENSITY,0.25,0.25,0.25); #if 0 obj[i].geom[0] = dCreateConvex (space, planes, planecount, points, pointcount, polygons); #else obj[i].geom[0] = dCreateConvex (space, Sphere_planes, Sphere_planecount, Sphere_points, Sphere_pointcount, Sphere_polygons); #endif } //----> Convex Object else if (cmd == 'y') { dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); } else if (cmd == 's') { sides[0] *= 0.5; dMassSetSphere (&m,DENSITY,sides[0]); obj[i].geom[0] = dCreateSphere (space,sides[0]); } else if (cmd == 'x' && USE_GEOM_OFFSET) { setBody = 1; // start accumulating masses for the encapsulated geometries dMass m2; dMassSetZero (&m); dReal dpos[GPB][3]; // delta-positions for encapsulated geometries dMatrix3 drot[GPB]; // set random delta positions for (j=0; j<GPB; j++) { for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; } for (k=0; k<GPB; k++) { if (k==0) { dReal radius = dRandReal()*0.25+0.05; obj[i].geom[k] = dCreateSphere (space,radius); dMassSetSphere (&m2,DENSITY,radius); } else if (k==1) { obj[i].geom[k] = dCreateBox (space,sides[0],sides[1],sides[2]); dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); } else { dReal radius = dRandReal()*0.1+0.05; dReal length = dRandReal()*1.0+0.1; obj[i].geom[k] = dCreateCapsule (space,radius,length); dMassSetCapsule (&m2,DENSITY,3,radius,length); } dRFromAxisAndAngle (drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); dMassRotate (&m2,drot[k]); dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); // add to the total mass dMassAdd (&m,&m2); } for (k=0; k<GPB; k++) { dGeomSetBody (obj[i].geom[k],obj[i].body); dGeomSetOffsetPosition (obj[i].geom[k], dpos[k][0]-m.c[0], dpos[k][1]-m.c[1], dpos[k][2]-m.c[2]); dGeomSetOffsetRotation(obj[i].geom[k], drot[k]); } dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); dBodySetMass (obj[i].body,&m); } else if (cmd == 'x') { dGeomID g2[GPB]; // encapsulated geometries dReal dpos[GPB][3]; // delta-positions for encapsulated geometries // start accumulating masses for the encapsulated geometries dMass m2; dMassSetZero (&m); // set random delta positions for (j=0; j<GPB; j++) { for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; } for (k=0; k<GPB; k++) { obj[i].geom[k] = dCreateGeomTransform (space); dGeomTransformSetCleanup (obj[i].geom[k],1); if (k==0) { dReal radius = dRandReal()*0.25+0.05; g2[k] = dCreateSphere (0,radius); dMassSetSphere (&m2,DENSITY,radius); } else if (k==1) { g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); } else { dReal radius = dRandReal()*0.1+0.05; dReal length = dRandReal()*1.0+0.1; g2[k] = dCreateCapsule (0,radius,length); dMassSetCapsule (&m2,DENSITY,3,radius,length); } dGeomTransformSetGeom (obj[i].geom[k],g2[k]); // set the transformation (adjust the mass too) dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); dMatrix3 Rtx; dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); dGeomSetRotation (g2[k],Rtx); dMassRotate (&m2,Rtx); // Translation *after* rotation dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); // add to the total mass dMassAdd (&m,&m2); } // move all encapsulated objects so that the center of mass is (0,0,0) for (k=0; k<GPB; k++) { dGeomSetPosition (g2[k], dpos[k][0]-m.c[0], dpos[k][1]-m.c[1], dpos[k][2]-m.c[2]); } dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); } if (!setBody) for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); } dBodySetMass (obj[i].body,&m); } if (cmd == ' ') { selected++; if (selected >= num) selected = 0; if (selected < 0) selected = 0; } else if (cmd == 'd' && selected >= 0 && selected < num) { dBodyDisable (obj[selected].body); } else if (cmd == 'e' && selected >= 0 && selected < num) { dBodyEnable (obj[selected].body); } else if (cmd == 'a') { show_aabb ^= 1; } else if (cmd == 't') { show_contacts ^= 1; } else if (cmd == 'r') { random_pos ^= 1; } else if (cmd == '1') { write_world = 1; } else if (cmd == 'p'&& selected >= 0) { const dReal* pos = dGeomGetPosition(obj[selected].geom[0]); const dReal* rot = dGeomGetRotation(obj[selected].geom[0]); printf("POSITION:\n\t[%f,%f,%f]\n\n",pos[0],pos[1],pos[2]); printf("ROTATION:\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\n", rot[0],rot[1],rot[2],rot[3], rot[4],rot[5],rot[6],rot[7], rot[8],rot[9],rot[10],rot[11]); } else if (cmd == 'f' && selected >= 0 && selected < num) { if (dBodyIsEnabled(obj[selected].body)) doFeedback = 1; } }
void testMassFuncs(void) { PLmass m; plMassSet(&m, 5.0, 0.0, 0.0, 0.0, 10.0, 20.0, 30.0, 1.0, 2.0, 3.0); dMass dm; dMassSetParameters(&dm, 5.0, 0.0, 0.0, 0.0, 10.0, 20.0, 30.0, 1.0, 2.0, 3.0); printf("lm: %f : %f %f %f : %f %f %f\n", m.m, m.I[0][0], m.I[1][1], m.I[2][2], m.I[0][1], m.I[0][2], m.I[1][2]); printf("om: %f : %f %f %f : %f %f %f\n", dm.mass, dm.I[0*4+0], dm.I[1*4+1], dm.I[2*4+2], dm.I[0*4+1], dm.I[0*4+2], dm.I[1*4+2]); plMassTranslate(&m, 5.0, 10.0, 15.0); dMassTranslate(&dm, 5.0, 10.0, 15.0); printf("lmt: %f : %f %f %f : %f %f %f\n", m.m, m.I[0][0], m.I[1][1], m.I[2][2], m.I[0][1], m.I[0][2], m.I[1][2]); printf("omt: %f : %f %f %f : %f %f %f\n", dm.mass, dm.I[0*4+0], dm.I[1*4+1], dm.I[2*4+2], dm.I[0*4+1], dm.I[0*4+2], dm.I[1*4+2]); float3x3 mrot; mf3_rot(mrot, 1.0, 0.0, 0.0, 0.5); dReal rdr[16]; rdr[0] = mrot[0].x; rdr[1] = mrot[0].y; rdr[2] = mrot[0].z; rdr[3] = 0.0; rdr[4] = mrot[1].x; rdr[5] = mrot[1].y; rdr[6] = mrot[1].z; rdr[7] = 0.0; rdr[8] = mrot[2].x; rdr[9] = mrot[2].y; rdr[10] = mrot[2].z; rdr[11] = 0.0; rdr[12] = mrot[3].x; rdr[13] = mrot[3].y; rdr[14] = mrot[3].z; rdr[15] = 0.0; dMassRotate(&dm, rdr); plMassRotateM(&m, mrot); printf("lmr: %f : %f %f %f : %f %f %f : %f %f %f\n", m.m, m.I[0][0], m.I[1][1], m.I[2][2], m.I[0][1], m.I[0][2], m.I[1][2], m.cog.x, m.cog.y, m.cog.z); printf("omr: %f : %f %f %f : %f %f %f : %f %f %f\n", dm.mass, dm.I[0*4+0], dm.I[1*4+1], dm.I[2*4+2], dm.I[0*4+1], dm.I[0*4+2], dm.I[1*4+2], dm.c[0], dm.c[1], dm.c[2]); }
void testMassFunctions() { dMass m; int i,j; dReal q[NUMP][3]; // particle positions dReal pm[NUMP]; // particle masses dMass m1,m2; dMatrix3 R; HEADER; printf ("\t"); dMassSetZero (&m); TRAP_MESSAGE (dMassSetParameters (&m,10, 0,0,0, 1,2,3, 4,5,6), printf (" FAILED (1)\n"), printf (" passed (1)\n")); printf ("\t"); dMassSetZero (&m); TRAP_MESSAGE (dMassSetParameters (&m,10, 0.1,0.2,0.15, 3,5,14, 3.1,3.2,4), printf ("passed (2)\n") , printf (" FAILED (2)\n")); if (m.mass==10 && m.c[0]==REAL(0.1) && m.c[1]==REAL(0.2) && m.c[2]==REAL(0.15) && m._I(0,0)==3 && m._I(1,1)==5 && m._I(2,2)==14 && m._I(0,1)==REAL(3.1) && m._I(0,2)==REAL(3.2) && m._I(1,2)==4 && m._I(1,0)==REAL(3.1) && m._I(2,0)==REAL(3.2) && m._I(2,1)==4) printf ("\tpassed (3)\n"); else printf ("\tFAILED (3)\n"); dMassSetZero (&m); dMassSetSphere (&m,1.4, 0.86); if (cmp(m.mass,3.73002719949386) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && cmp(m._I(0,0),1.10349124669826) && cmp(m._I(1,1),1.10349124669826) && cmp(m._I(2,2),1.10349124669826) && m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) printf ("\tpassed (4)\n"); else printf ("\tFAILED (4)\n"); dMassSetZero (&m); dMassSetCapsule (&m,1.3,1,0.76,1.53); if (cmp(m.mass,5.99961928996029) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && cmp(m._I(0,0),1.59461986077384) && cmp(m._I(1,1),4.21878433864904) && cmp(m._I(2,2),4.21878433864904) && m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) printf ("\tpassed (5)\n"); else printf ("\tFAILED (5)\n"); dMassSetZero (&m); dMassSetBox (&m,0.27,3,4,5); if (cmp(m.mass,16.2) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && cmp(m._I(0,0),55.35) && cmp(m._I(1,1),45.9) && cmp(m._I(2,2),33.75) && m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) printf ("\tpassed (6)\n"); else printf ("\tFAILED (6)\n"); // test dMassAdjust? // make random particles and compute the mass, COM and inertia, then // translate and repeat. for (i=0; i<NUMP; i++) { pm[i] = dRandReal()+0.5; for (j=0; j<3; j++) { q[i][j] = 2.0*(dRandReal()-0.5); } } computeMassParams (&m1,q,pm); memcpy (&m2,&m1,sizeof(dMass)); dMassTranslate (&m2,1,2,-3); for (i=0; i<NUMP; i++) { q[i][0] += 1; q[i][1] += 2; q[i][2] -= 3; } computeMassParams (&m1,q,pm); compareMassParams (&m1,&m2,"7"); // rotate the masses _R(0,0) = -0.87919618797635; _R(0,1) = 0.15278881840384; _R(0,2) = -0.45129772879842; _R(1,0) = -0.47307856232664; _R(1,1) = -0.39258064912909; _R(1,2) = 0.78871864932708; _R(2,0) = -0.05666336483842; _R(2,1) = 0.90693771059546; _R(2,2) = 0.41743652473765; dMassRotate (&m2,R); for (i=0; i<NUMP; i++) { dReal a[3]; dMultiply0 (a,&_R(0,0),&q[i][0],3,3,1); q[i][0] = a[0]; q[i][1] = a[1]; q[i][2] = a[2]; } computeMassParams (&m1,q,pm); compareMassParams (&m1,&m2,"8"); }
void createTest() { int i,j; if (world) dWorldDestroy (world); world = dWorldCreate(); // create random bodies for (i=0; i<NUM; i++) { // create bodies at random position and orientation body[i] = dBodyCreate (world); // dBodySetPosition (body[i],dRandReal()*2-1,dRandReal()*2-1, // dRandReal()*2+RADIUS); dBodySetPosition (body[i],dRandReal()*SIDE-1,dRandReal()*SIDE-1, dRandReal()*SIDE+RADIUS); dReal q[4]; for (j=0; j<4; j++) q[j] = dRandReal()*2-1; dBodySetQuaternion (body[i],q); // set random velocity dBodySetLinearVel (body[i], dRandReal()*2-1,dRandReal()*2-1, dRandReal()*2-1); dBodySetAngularVel (body[i], dRandReal()*2-1,dRandReal()*2-1, dRandReal()*2-1); // set random mass (random diagonal mass rotated by a random amount) dMass m; dMatrix3 R; dMassSetBox (&m,1,dRandReal()+0.1,dRandReal()+0.1,dRandReal()+0.1); dMassAdjust (&m,dRandReal()+1); for (j=0; j<4; j++) q[j] = dRandReal()*2-1; dQtoR (q,R); dMassRotate (&m,R); dBodySetMass (body[i],&m); } // create ball-n-socket joints at random positions, linking random bodies // (but make sure not to link the same pair of bodies twice) for (i=0; i<NUM*NUM; i++) linked[i] = 0; for (i=0; i<NUMJ; i++) { int b1,b2; do { b1 = dRandInt (NUM); b2 = dRandInt (NUM); } while (linked[b1*NUM + b2] || b1==b2); linked[b1*NUM + b2] = 1; linked[b2*NUM + b1] = 1; joint[i] = dJointCreateBall (world,0); dJointAttach (joint[i],body[b1],body[b2]); dJointSetBallAnchor (joint[i],dRandReal()*2-1, dRandReal()*2-1,dRandReal()*2+RADIUS); } for (i=0; i<NUM; i++) { // move bodies a bit to get some joint error const dReal *pos = dBodyGetPosition (body[i]); dBodySetPosition (body[i],pos[0]+dRandReal()*0.2-0.1, pos[1]+dRandReal()*0.2-0.1,pos[2]+dRandReal()*0.2-0.1); } }