void Object::setRotation(float x,float y,float z)
{
dMatrix3 R,R0,R1,R2,R3;
dRFromAxisAndAngle(R1,1,0,0,DEG2RAD(x));
dRFromAxisAndAngle(R2,0,1,0,DEG2RAD(y));
dRFromAxisAndAngle(R3,0,0,1,DEG2RAD(z));
dMultiply0 (R0,R1,R2,3,3,3);
dMultiply0 (R, R0,R3,3,3,3);
dGeomSetRotation(iGeom,R);
dBodySetRotation(iBody,R);
}
void Object::MakeGeom(dSpaceID space)
{
iGeom = dCreateBox(space,iSize.x,iSize.y,iSize.z);
dMatrix3 R,R0,R1,R2,R3;
dRFromAxisAndAngle(R1,1,0,0,DEG2RAD(iRotate.x));
dRFromAxisAndAngle(R2,0,1,0,DEG2RAD(iRotate.y));
dRFromAxisAndAngle(R3,0,0,1,DEG2RAD(iRotate.z));
dMultiply0 (R0,R1,R2,3,3,3);
dMultiply0 (R, R0,R3,3,3,3);
dGeomSetRotation(iGeom,R);
dGeomSetPosition(iGeom, iPosition.x, iPosition.y, iPosition.z);
};
void testInvertPDMatrix()
{
int i,j,ok;
dReal A[MSIZE4*MSIZE], Ainv[MSIZE4*MSIZE], I[MSIZE4*MSIZE];
HEADER;
dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
dMultiply2 (Ainv,A,A,MSIZE,MSIZE,MSIZE);
memcpy (A,Ainv,MSIZE4*MSIZE*sizeof(dReal));
dSetZero (Ainv,MSIZE4*MSIZE);
if (dInvertPDMatrix (A,Ainv,MSIZE))
printf ("\tpassed (1)\n"); else printf ("\tFAILED (1)\n");
dMultiply0 (I,A,Ainv,MSIZE,MSIZE,MSIZE);
// compare with identity
ok = 1;
for (i=0; i<MSIZE; i++) {
for (j=0; j<MSIZE; j++) {
if (i != j) if (cmp (I[i*MSIZE4+j],0.0)==0) ok = 0;
}
}
for (i=0; i<MSIZE; i++) {
if (cmp (I[i*MSIZE4+i],1.0)==0) ok = 0;
}
if (ok) printf ("\tpassed (2)\n"); else printf ("\tFAILED (2)\n");
}
void testMatrixMultiply()
{
// A is 2x3, B is 3x4, B2 is B except stored columnwise, C is 2x4
dReal A[8],B[12],A2[12],B2[16],C[8];
int i;
HEADER;
dSetZero (A,8);
for (i=0; i<3; i++) A[i] = i+2;
for (i=0; i<3; i++) A[i+4] = i+3+2;
for (i=0; i<12; i++) B[i] = i+8;
dSetZero (A2,12);
for (i=0; i<6; i++) A2[i+2*(i/2)] = A[i+i/3];
dSetZero (B2,16);
for (i=0; i<12; i++) B2[i+i/3] = B[i];
dMultiply0 (C,A,B,2,3,4);
if (C[0] != 116 || C[1] != 125 || C[2] != 134 || C[3] != 143 ||
C[4] != 224 || C[5] != 242 || C[6] != 260 || C[7] != 278)
printf ("\tFAILED (1)\n"); else printf ("\tpassed (1)\n");
dMultiply1 (C,A2,B,2,3,4);
if (C[0] != 160 || C[1] != 172 || C[2] != 184 || C[3] != 196 ||
C[4] != 196 || C[5] != 211 || C[6] != 226 || C[7] != 241)
printf ("\tFAILED (2)\n"); else printf ("\tpassed (2)\n");
dMultiply2 (C,A,B2,2,3,4);
if (C[0] != 83 || C[1] != 110 || C[2] != 137 || C[3] != 164 ||
C[4] != 164 || C[5] != 218 || C[6] != 272 || C[7] != 326)
printf ("\tFAILED (3)\n"); else printf ("\tpassed (3)\n");
}
bool wheelCallBack(dGeomID o1,dGeomID o2,PSurface* s)
{
//s->id2 is ground
const dReal* r; //wheels rotation matrix
//const dReal* p; //wheels rotation matrix
if ((o1==s->id1) && (o2==s->id2)) {
r=dBodyGetRotation(dGeomGetBody(o1));
//p=dGeomGetPosition(o1);//never read
} else if ((o1==s->id2) && (o2==s->id1)) {
r=dBodyGetRotation(dGeomGetBody(o2));
//p=dGeomGetPosition(o2);//never read
} else {
//XXX: in this case we dont have the rotation
// matrix, thus we must return
return false;
}
s->surface.mode = dContactFDir1 | dContactMu2 | dContactApprox1 | dContactSoftCFM;
s->surface.mu = fric(_w->cfg->robotSettings.WheelPerpendicularFriction);
s->surface.mu2 = fric(_w->cfg->robotSettings.WheelTangentFriction);
s->surface.soft_cfm = 0.002;
dVector3 v={0,0,1,1};
dVector3 axis;
dMultiply0(axis,r,v,4,3,1);
dReal l = sqrt(axis[0]*axis[0] + axis[1]*axis[1]);
s->fdir1[0] = axis[0]/l;
s->fdir1[1] = axis[1]/l;
s->fdir1[2] = 0;
s->fdir1[3] = 0;
s->usefdir1 = true;
return true;
}
void testSmallMatrixMultiply()
{
dMatrix3 A,B,C,A2;
dVector3 a,a2,x;
HEADER;
dMakeRandomMatrix (A,3,3,1.0);
dMakeRandomMatrix (B,3,3,1.0);
dMakeRandomMatrix (C,3,3,1.0);
dMakeRandomMatrix (x,3,1,1.0);
// dMultiply0_331()
dMultiply0_331 (a,B,x);
dMultiply0 (a2,B,x,3,3,1);
printf ("\t%s (1)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" :
"passed");
// dMultiply1_331()
dMultiply1_331 (a,B,x);
dMultiply1 (a2,B,x,3,3,1);
printf ("\t%s (2)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" :
"passed");
// dMultiply0_133
dMultiply0_133 (a,x,B);
dMultiply0 (a2,x,B,1,3,3);
printf ("\t%s (3)\n",(dMaxDifference (a,a2,1,3) > tol) ? "FAILED" :
"passed");
// dMultiply0_333()
dMultiply0_333 (A,B,C);
dMultiply0 (A2,B,C,3,3,3);
printf ("\t%s (4)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" :
"passed");
// dMultiply1_333()
dMultiply1_333 (A,B,C);
dMultiply1 (A2,B,C,3,3,3);
printf ("\t%s (5)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" :
"passed");
// dMultiply2_333()
dMultiply2_333 (A,B,C);
dMultiply2 (A2,B,C,3,3,3);
printf ("\t%s (6)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" :
"passed");
}
static void simLoop (int pause)
{
// stop after a given number of iterations, as long as we are not in
// interactive mode
if (cmd_graphics && !cmd_interactive &&
(iteration >= max_iterations)) {
dsStop();
return;
}
iteration++;
if (!pause) {
// do stuff for this test and check to see if the joint is behaving well
dReal error = doStuffAndGetError (test_num);
if (error > max_error) max_error = error;
if (cmd_interactive && error < dInfinity) {
printf ("scaled error = %.4e\n",error);
}
// take a step
dWorldStep (world,STEPSIZE);
// occasionally re-orient the first body to create a deliberate error.
if (cmd_occasional_error) {
static int count = 0;
if ((count % 20)==0) {
// randomly adjust orientation of body[0]
const dReal *R1;
dMatrix3 R2,R3;
R1 = dBodyGetRotation (body[0]);
dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
dRandReal()-0.5,dRandReal()-0.5);
dMultiply0 (R3,R1,R2,3,3,3);
dBodySetRotation (body[0],R3);
// randomly adjust position of body[0]
const dReal *pos = dBodyGetPosition (body[0]);
dBodySetPosition (body[0],
pos[0]+0.2*(dRandReal()-0.5),
pos[1]+0.2*(dRandReal()-0.5),
pos[2]+0.2*(dRandReal()-0.5));
}
count++;
}
}
if (cmd_graphics) {
dReal sides1[3] = {SIDE,SIDE,SIDE};
dReal sides2[3] = {SIDE*0.99f,SIDE*0.99f,SIDE*0.99f};
dsSetTexture (DS_WOOD);
dsSetColor (1,1,0);
dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
if (body[1]) {
dsSetColor (0,1,1);
dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
}
}
}
static void simLoop (int pause)
{
const dReal kd = -0.3; // angular damping constant
const dReal ks = 0.5; // spring constant
if (!pause) {
// add an oscillating torque to body 0, and also damp its rotational motion
static dReal a=0;
const dReal *w = dBodyGetAngularVel (body[0]);
dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a));
a += 0.01;
// add a spring force to keep the bodies together, otherwise they will
// fly apart along the slider axis.
const dReal *p1 = dBodyGetPosition (body[0]);
const dReal *p2 = dBodyGetPosition (body[1]);
dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]),
ks*(p2[2]-p1[2]));
dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]),
ks*(p1[2]-p2[2]));
// occasionally re-orient one of the bodies to create a deliberate error.
if (occasional_error) {
static int count = 0;
if ((count % 20)==0) {
// randomly adjust orientation of body[0]
const dReal *R1;
dMatrix3 R2,R3;
R1 = dBodyGetRotation (body[0]);
dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
dRandReal()-0.5,dRandReal()-0.5);
dMultiply0 (R3,R1,R2,3,3,3);
dBodySetRotation (body[0],R3);
// randomly adjust position of body[0]
const dReal *pos = dBodyGetPosition (body[0]);
dBodySetPosition (body[0],
pos[0]+0.2*(dRandReal()-0.5),
pos[1]+0.2*(dRandReal()-0.5),
pos[2]+0.2*(dRandReal()-0.5));
}
count++;
}
dWorldStep (world,0.05);
}
dReal sides1[3] = {SIDE,SIDE,SIDE};
dReal sides2[3] = {SIDE*0.8f,SIDE*0.8f,SIDE*2.0f};
dsSetTexture (DS_WOOD);
dsSetColor (1,1,0);
dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
dsSetColor (0,1,1);
dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
}
void testQuaternionMultiply()
{
HEADER;
dMatrix3 RA,RB,RC,Rtest;
dQuaternion qa,qb,qc;
dReal diff,maxdiff=0;
for (int i=0; i<100; i++) {
makeRandomRotation (RB);
makeRandomRotation (RC);
dRtoQ (RB,qb);
dRtoQ (RC,qc);
dMultiply0 (RA,RB,RC,3,3,3);
dQMultiply0 (qa,qb,qc);
dQtoR (qa,Rtest);
diff = dMaxDifference (Rtest,RA,3,3);
if (diff > maxdiff) maxdiff = diff;
dMultiply1 (RA,RB,RC,3,3,3);
dQMultiply1 (qa,qb,qc);
dQtoR (qa,Rtest);
diff = dMaxDifference (Rtest,RA,3,3);
if (diff > maxdiff) maxdiff = diff;
dMultiply2 (RA,RB,RC,3,3,3);
dQMultiply2 (qa,qb,qc);
dQtoR (qa,Rtest);
diff = dMaxDifference (Rtest,RA,3,3);
if (diff > maxdiff) maxdiff = diff;
dMultiply0 (RA,RC,RB,3,3,3);
transpose3x3 (RA);
dQMultiply3 (qa,qb,qc);
dQtoR (qa,Rtest);
diff = dMaxDifference (Rtest,RA,3,3);
if (diff > maxdiff) maxdiff = diff;
}
printf ("\tmaximum difference = %e - %s\n",maxdiff,
(maxdiff > tol) ? "FAILED" : "passed");
}
void Robot::setDir(float ang)
{
ang*=M_PI/180.0f;
chassis->setBodyRotation(0,0,1,ang);
kicker->box->setBodyRotation(0,0,1,ang);
dummy->setBodyRotation(0,0,1,ang);
dMatrix3 wLocalRot,wRot,cRot;
dVector3 localPos,finalPos,cPos;
chassis->getBodyPosition(cPos[0],cPos[1],cPos[2],false);
chassis->getBodyRotation(cRot,false);
kicker->box->getBodyPosition(localPos[0],localPos[1],localPos[2],true);
dMultiply0(finalPos,cRot,localPos,4,3,1);finalPos[0]+=cPos[0];finalPos[1]+=cPos[1];finalPos[2]+=cPos[2];
kicker->box->setBodyPosition(finalPos[0],finalPos[1],finalPos[2],false);
for (int i=0;i<4;i++)
{
wheels[i]->cyl->getBodyRotation(wLocalRot,true);
dMultiply0(wRot,cRot,wLocalRot,3,3,3);
dBodySetRotation(wheels[i]->cyl->body,wRot);
wheels[i]->cyl->getBodyPosition(localPos[0],localPos[1],localPos[2],true);
dMultiply0(finalPos,cRot,localPos,4,3,1);finalPos[0]+=cPos[0];finalPos[1]+=cPos[1];finalPos[2]+=cPos[2];
wheels[i]->cyl->setBodyPosition(finalPos[0],finalPos[1],finalPos[2],false);
}
}
void testCrossProduct()
{
HEADER;
dVector3 a1,a2,b,c;
dMatrix3 B;
dMakeRandomVector (b,3,1.0);
dMakeRandomVector (c,3,1.0);
dCalcVectorCross3(a1,b,c);
dSetZero (B,12);
dSetCrossMatrixPlus(B,b,4);
dMultiply0 (a2,B,c,3,3,1);
dReal diff = dMaxDifference(a1,a2,3,1);
printf ("\t%s\n", diff > tol ? "FAILED" : "passed");
}
extern "C" ODE_API int dTestSolveLCP()
{
const int n = 100;
//size_t memreq = EstimateTestSolveLCPMemoryReq(n);
//dxWorldProcessMemArena *arena = dxAllocateTemporaryWorldProcessMemArena(memreq, nullptr, nullptr);
//if (arena == nullptr) {
// return 0;
//}
//int i,nskip = dPAD(n);
int i;
int nskip = n;
#ifdef dDOUBLE
const dReal tol = REAL(1e-9);
#endif
#ifdef dSINGLE
const dReal tol = REAL(1e-4);
#endif
printf ("dTestSolveLCP()\n");
dReal *A = new dReal[n*nskip];
dReal *x = new dReal[n];
dReal *b = new dReal[n];
dReal *w = new dReal[n];
dReal *lo = new dReal[n];
dReal *hi = new dReal[n];
dReal *A2 = new dReal[n*nskip];
dReal *b2 = new dReal[n];
dReal *lo2 = new dReal[n];
dReal *hi2 = new dReal[n];
dReal *tmp1 = new dReal[n];
dReal *tmp2 = new dReal[n];
// double total_time = 0;
for (int count=0; count < 1000; count++) {
// form (A,b) = a random positive definite LCP problem
dMakeRandomMatrix (A2,n,n,1.0);
dMultiply2 (A,A2,A2,n,n,n);
dMakeRandomMatrix (x,n,1,1.0);
dMultiply0 (b,A,x,n,n,1);
for (i=0; i<n; i++) b[i] += (dRandReal()*REAL(0.2))-REAL(0.1);
// choose `nub' in the range 0..n-1
int nub = 50; //dRandInt (n);
// make limits
for (i=0; i<nub; i++) lo[i] = -dInfinity;
for (i=0; i<nub; i++) hi[i] = dInfinity;
//for (i=nub; i<n; i++) lo[i] = 0;
//for (i=nub; i<n; i++) hi[i] = dInfinity;
//for (i=nub; i<n; i++) lo[i] = -dInfinity;
//for (i=nub; i<n; i++) hi[i] = 0;
for (i=nub; i<n; i++) lo[i] = -(dRandReal()*REAL(1.0))-REAL(0.01);
for (i=nub; i<n; i++) hi[i] = (dRandReal()*REAL(1.0))+REAL(0.01);
// set a few limits to lo=hi=0
/*
for (i=0; i<10; i++) {
int j = dRandInt (n-nub) + nub;
lo[j] = 0;
hi[j] = 0;
}
*/
// solve the LCP. we must make copy of A,b,lo,hi (A2,b2,lo2,hi2) for
// SolveLCP() to permute. also, we'll clear the upper triangle of A2 to
// ensure that it doesn't get referenced (if it does, the answer will be
// wrong).
memcpy (A2,A,n*nskip*sizeof(dReal));
dClearUpperTriangle (A2,n);
memcpy (b2,b,n*sizeof(dReal));
memcpy (lo2,lo,n*sizeof(dReal));
memcpy (hi2,hi,n*sizeof(dReal));
dSetZero (x,n);
dSetZero (w,n);
dSolveLCP (n,A2,x,b2,w,nub,lo2,hi2,0);
// check the solution
dMultiply0 (tmp1,A,x,n,n,1);
for (i=0; i<n; i++) tmp2[i] = b[i] + w[i];
dReal diff = dMaxDifference (tmp1,tmp2,n,1);
// printf ("\tA*x = b+w, maximum difference = %.6e - %s (1)\n",diff,
// diff > tol ? "FAILED" : "passed");
if (diff > tol) dDebug (0,"A*x = b+w, maximum difference = %.6e",diff);
int n1=0,n2=0,n3=0;
for (i=0; i<n; i++) {
if (x[i]==lo[i] && w[i] >= 0) {
n1++; // ok
}
else if (x[i]==hi[i] && w[i] <= 0) {
n2++; // ok
}
else if (x[i] >= lo[i] && x[i] <= hi[i] && w[i] == 0) {
n3++; // ok
}
else {
dDebug (0,"FAILED: i=%d x=%.4e w=%.4e lo=%.4e hi=%.4e",i,
x[i],w[i],lo[i],hi[i]);
}
}
// pacifier
printf ("passed: NL=%3d NH=%3d C=%3d ",n1,n2,n3);
}
delete[] A;
delete[] x;
delete[] b;
delete[] w;
delete[] lo ;
delete[] hi ;
delete[] A2 ;
delete[] b2 ;
delete[] lo2;
delete[] hi2;
delete[] tmp1;
delete[] tmp2;
return 1;
}
extern "C" ODE_API int dTestSolveLCP()
{
const int n = 100;
size_t memreq = EstimateTestSolveLCPMemoryReq(n);
dxWorldProcessMemArena *arena = dxAllocateTemporaryWorldProcessMemArena(memreq, NULL, NULL);
if (arena == NULL) {
return 0;
}
int i,nskip = dPAD(n);
#ifdef dDOUBLE
const dReal tol = REAL(1e-9);
#endif
#ifdef dSINGLE
const dReal tol = REAL(1e-4);
#endif
printf ("dTestSolveLCP()\n");
dReal *A = arena->AllocateArray<dReal> (n*nskip);
dReal *x = arena->AllocateArray<dReal> (n);
dReal *b = arena->AllocateArray<dReal> (n);
dReal *w = arena->AllocateArray<dReal> (n);
dReal *lo = arena->AllocateArray<dReal> (n);
dReal *hi = arena->AllocateArray<dReal> (n);
dReal *A2 = arena->AllocateArray<dReal> (n*nskip);
dReal *b2 = arena->AllocateArray<dReal> (n);
dReal *lo2 = arena->AllocateArray<dReal> (n);
dReal *hi2 = arena->AllocateArray<dReal> (n);
dReal *tmp1 = arena->AllocateArray<dReal> (n);
dReal *tmp2 = arena->AllocateArray<dReal> (n);
double total_time = 0;
for (int count=0; count < 1000; count++) {
BEGIN_STATE_SAVE(arena, saveInner) {
// form (A,b) = a random positive definite LCP problem
dMakeRandomMatrix (A2,n,n,1.0);
dMultiply2 (A,A2,A2,n,n,n);
dMakeRandomMatrix (x,n,1,1.0);
dMultiply0 (b,A,x,n,n,1);
for (i=0; i<n; i++) b[i] += (dRandReal()*REAL(0.2))-REAL(0.1);
// choose `nub' in the range 0..n-1
int nub = 50; //dRandInt (n);
// make limits
for (i=0; i<nub; i++) lo[i] = -dInfinity;
for (i=0; i<nub; i++) hi[i] = dInfinity;
//for (i=nub; i<n; i++) lo[i] = 0;
//for (i=nub; i<n; i++) hi[i] = dInfinity;
//for (i=nub; i<n; i++) lo[i] = -dInfinity;
//for (i=nub; i<n; i++) hi[i] = 0;
for (i=nub; i<n; i++) lo[i] = -(dRandReal()*REAL(1.0))-REAL(0.01);
for (i=nub; i<n; i++) hi[i] = (dRandReal()*REAL(1.0))+REAL(0.01);
// set a few limits to lo=hi=0
/*
for (i=0; i<10; i++) {
int j = dRandInt (n-nub) + nub;
lo[j] = 0;
hi[j] = 0;
}
*/
// solve the LCP. we must make copy of A,b,lo,hi (A2,b2,lo2,hi2) for
// SolveLCP() to permute. also, we'll clear the upper triangle of A2 to
// ensure that it doesn't get referenced (if it does, the answer will be
// wrong).
memcpy (A2,A,n*nskip*sizeof(dReal));
dClearUpperTriangle (A2,n);
memcpy (b2,b,n*sizeof(dReal));
memcpy (lo2,lo,n*sizeof(dReal));
memcpy (hi2,hi,n*sizeof(dReal));
dSetZero (x,n);
dSetZero (w,n);
dStopwatch sw;
dStopwatchReset (&sw);
dStopwatchStart (&sw);
dSolveLCP (arena,n,A2,x,b2,w,nub,lo2,hi2,0);
dStopwatchStop (&sw);
double time = dStopwatchTime(&sw);
total_time += time;
double average = total_time / double(count+1) * 1000.0;
// check the solution
dMultiply0 (tmp1,A,x,n,n,1);
for (i=0; i<n; i++) tmp2[i] = b[i] + w[i];
dReal diff = dMaxDifference (tmp1,tmp2,n,1);
// printf ("\tA*x = b+w, maximum difference = %.6e - %s (1)\n",diff,
// diff > tol ? "FAILED" : "passed");
if (diff > tol) dDebug (0,"A*x = b+w, maximum difference = %.6e",diff);
int n1=0,n2=0,n3=0;
for (i=0; i<n; i++) {
if (x[i]==lo[i] && w[i] >= 0) {
n1++; // ok
}
else if (x[i]==hi[i] && w[i] <= 0) {
n2++; // ok
}
else if (x[i] >= lo[i] && x[i] <= hi[i] && w[i] == 0) {
n3++; // ok
}
else {
dDebug (0,"FAILED: i=%d x=%.4e w=%.4e lo=%.4e hi=%.4e",i,
x[i],w[i],lo[i],hi[i]);
}
}
// pacifier
printf ("passed: NL=%3d NH=%3d C=%3d ",n1,n2,n3);
printf ("time=%10.3f ms avg=%10.4f\n",time * 1000.0,average);
} END_STATE_SAVE(arena, saveInner);
}
/*** キー入力関数 ***/
void command(int cmd)
{
switch(cmd){
case '0':
if(act_flg)
act_flg = false;
else
act_flg = true;
break;
case 'a':
// ROD回転（y軸向かって、左方向）
rod_q_d += 5.0 * M_PI / 180.0;
break;
case 's':
// ROD回転（y軸向かって、右方向）
rod_q_d -= 2.0 * M_PI / 180.0;
break;
case 'e':
// RODリセット
rod_q_d = 0.0;
break;
case 'r':
// CANNONリセット
{
cannon_q_d[0] = 0.0;
cannon_q_d[1] = 0.0;
}
break;
case '[':
// CANNON回転（水平、左右方向）
cannon_q_d[0] += 0.101 * M_PI / 180.0;
break;
case ']':
// CANNON回転（水平、左右方向）
cannon_q_d[0] -= 0.101 * M_PI / 180.0;
break;
case '1':
// CANNON回転（仰角、上）
cannon_q_d[1] += 0.101 * M_PI / 180.0;
break;
case '2':
// CANNON回転（仰角、下）
cannon_q_d[1] -= 0.101 * M_PI / 180.0;
break;
case 'x':
// CANNON発射
{
mytime = 0.0;
dMatrix3 R2,R3,R4;
dRFromAxisAndAngle(R2,0,0,1,cannon_q_d[0]);
dRFromAxisAndAngle(R3,1,0,0,cannon_q_d[1] + 0.5 * M_PI);
dMultiply0 (R4,R2,R3,3,3,3);
dReal cpos[3] = {CANNON_X,CANNON_Y,CANNON_Z};
for(int i=0; i<3; i++){
cpos[i] += 3*R4[i*4+2];
}
dBodySetPosition(bullet.body,cpos[0],cpos[1],cpos[2]);
dReal force = 500;//500;
dBodySetLinearVel(bullet.body,force*R4[2],force*R4[6],force*R4[10]);
dBodySetAngularVel(bullet.body,0,0,0);
break;
}
default:
break;
}
}
dReal doStuffAndGetError (int n)
{
switch (n) {
// ********** fixed joint
case 0: { // 2 body
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
// check the orientations are the same
const dReal *R1 = dBodyGetRotation (body[0]);
const dReal *R2 = dBodyGetRotation (body[1]);
dReal err1 = dMaxDifference (R1,R2,3,3);
// check the body offset is correct
dVector3 p,pp;
const dReal *p1 = dBodyGetPosition (body[0]);
const dReal *p2 = dBodyGetPosition (body[1]);
for (int i=0; i<3; i++) p[i] = p2[i] - p1[i];
dMULTIPLY1_331 (pp,R1,p);
pp[0] += 0.5;
pp[1] += 0.5;
return (err1 + length (pp)) * 300;
}
case 1: { // 1 body to static env
addOscillatingTorque (0.1);
// check the orientation is the identity
dReal err1 = cmpIdentity (dBodyGetRotation (body[0]));
// check the body offset is correct
dVector3 p;
const dReal *p1 = dBodyGetPosition (body[0]);
for (int i=0; i<3; i++) p[i] = p1[i];
p[0] -= 0.25;
p[1] -= 0.25;
p[2] -= 1;
return (err1 + length (p)) * 1e6;
}
case 2: { // 2 body
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
// check the body offset is correct
// Should really check body rotation too. Oh well.
const dReal *R1 = dBodyGetRotation (body[0]);
dVector3 p,pp;
const dReal *p1 = dBodyGetPosition (body[0]);
const dReal *p2 = dBodyGetPosition (body[1]);
for (int i=0; i<3; i++) p[i] = p2[i] - p1[i];
dMULTIPLY1_331 (pp,R1,p);
pp[0] += 0.5;
pp[1] += 0.5;
return length(pp) * 300;
}
case 3: { // 1 body to static env with relative rotation
addOscillatingTorque (0.1);
// check the body offset is correct
dVector3 p;
const dReal *p1 = dBodyGetPosition (body[0]);
for (int i=0; i<3; i++) p[i] = p1[i];
p[0] -= 0.25;
p[1] -= 0.25;
p[2] -= 1;
return length (p) * 1e6;
}
// ********** hinge joint
case 200: // 2 body
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
return dInfinity;
case 220: // hinge angle polarity test
dBodyAddTorque (body[0],0,0,0.01);
dBodyAddTorque (body[1],0,0,-0.01);
if (iteration == 40) {
dReal a = dJointGetHingeAngle (joint);
if (a > 0.5 && a < 1) return 0; else return 10;
}
return 0;
case 221: { // hinge angle rate test
static dReal last_angle = 0;
dBodyAddTorque (body[0],0,0,0.01);
dBodyAddTorque (body[1],0,0,-0.01);
dReal a = dJointGetHingeAngle (joint);
dReal r = dJointGetHingeAngleRate (joint);
dReal er = (a-last_angle)/STEPSIZE; // estimated rate
last_angle = a;
return fabs(r-er) * 4e4;
}
case 230: // hinge motor rate (and polarity) test
case 231: { // ...with stops
static dReal a = 0;
dReal r = dJointGetHingeAngleRate (joint);
dReal err = fabs (cos(a) - r);
if (a==0) err = 0;
a += 0.03;
dJointSetHingeParam (joint,dParamVel,cos(a));
if (n==231) return dInfinity;
return err * 1e6;
}
// ********** slider joint
case 300: // 2 body
addOscillatingTorque (0.05);
dampRotationalMotion (0.1);
addSpringForce (0.5);
return dInfinity;
case 320: // slider angle polarity test
dBodyAddForce (body[0],0,0,0.1);
dBodyAddForce (body[1],0,0,-0.1);
if (iteration == 40) {
dReal a = dJointGetSliderPosition (joint);
if (a > 0.2 && a < 0.5) return 0; else return 10;
return a;
}
return 0;
case 321: { // slider angle rate test
static dReal last_pos = 0;
dBodyAddForce (body[0],0,0,0.1);
dBodyAddForce (body[1],0,0,-0.1);
dReal p = dJointGetSliderPosition (joint);
dReal r = dJointGetSliderPositionRate (joint);
dReal er = (p-last_pos)/STEPSIZE; // estimated rate (almost exact)
last_pos = p;
return fabs(r-er) * 1e9;
}
case 330: // slider motor rate (and polarity) test
case 331: { // ...with stops
static dReal a = 0;
dReal r = dJointGetSliderPositionRate (joint);
dReal err = fabs (0.7*cos(a) - r);
if (a < 0.04) err = 0;
a += 0.03;
dJointSetSliderParam (joint,dParamVel,0.7*cos(a));
if (n==331) return dInfinity;
return err * 1e6;
}
// ********** hinge-2 joint
case 420: // hinge-2 steering angle polarity test
dBodyAddTorque (body[0],0,0,0.01);
dBodyAddTorque (body[1],0,0,-0.01);
if (iteration == 40) {
dReal a = dJointGetHinge2Angle1 (joint);
if (a > 0.5 && a < 0.6) return 0; else return 10;
}
return 0;
case 421: { // hinge-2 steering angle rate test
static dReal last_angle = 0;
dBodyAddTorque (body[0],0,0,0.01);
dBodyAddTorque (body[1],0,0,-0.01);
dReal a = dJointGetHinge2Angle1 (joint);
dReal r = dJointGetHinge2Angle1Rate (joint);
dReal er = (a-last_angle)/STEPSIZE; // estimated rate
last_angle = a;
return fabs(r-er)*2e4;
}
case 430: // hinge 2 steering motor rate (+polarity) test
case 431: { // ...with stops
static dReal a = 0;
dReal r = dJointGetHinge2Angle1Rate (joint);
dReal err = fabs (cos(a) - r);
if (a==0) err = 0;
a += 0.03;
dJointSetHinge2Param (joint,dParamVel,cos(a));
if (n==431) return dInfinity;
return err * 1e6;
}
case 432: { // hinge 2 wheel motor rate (+polarity) test
static dReal a = 0;
dReal r = dJointGetHinge2Angle2Rate (joint);
dReal err = fabs (cos(a) - r);
if (a==0) err = 0;
a += 0.03;
dJointSetHinge2Param (joint,dParamVel2,cos(a));
return err * 1e6;
}
// ********** angular motor joint
case 600: { // test euler angle calculations
// desired euler angles from last iteration
static dReal a1,a2,a3;
// find actual euler angles
dReal aa1 = dJointGetAMotorAngle (joint,0);
dReal aa2 = dJointGetAMotorAngle (joint,1);
dReal aa3 = dJointGetAMotorAngle (joint,2);
// printf ("actual = %.4f %.4f %.4f\n\n",aa1,aa2,aa3);
dReal err = dInfinity;
if (iteration > 0) {
err = dFabs(aa1-a1) + dFabs(aa2-a2) + dFabs(aa3-a3);
err *= 1e10;
}
// get random base rotation for both bodies
dMatrix3 Rbase;
dRFromAxisAndAngle (Rbase, 3*(dRandReal()-0.5), 3*(dRandReal()-0.5),
3*(dRandReal()-0.5), 3*(dRandReal()-0.5));
dBodySetRotation (body[0],Rbase);
// rotate body 2 by random euler angles w.r.t. body 1
a1 = 3.14 * 2 * (dRandReal()-0.5);
a2 = 1.57 * 2 * (dRandReal()-0.5);
a3 = 3.14 * 2 * (dRandReal()-0.5);
dMatrix3 R1,R2,R3,Rtmp1,Rtmp2;
dRFromAxisAndAngle (R1,0,0,1,-a1);
dRFromAxisAndAngle (R2,0,1,0,a2);
dRFromAxisAndAngle (R3,1,0,0,-a3);
dMultiply0 (Rtmp1,R2,R3,3,3,3);
dMultiply0 (Rtmp2,R1,Rtmp1,3,3,3);
dMultiply0 (Rtmp1,Rbase,Rtmp2,3,3,3);
dBodySetRotation (body[1],Rtmp1);
// printf ("desired = %.4f %.4f %.4f\n",a1,a2,a3);
return err;
}
// ********** universal joint
case 700: { // 2 body: joint constraint
dVector3 ax1, ax2;
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
dJointGetUniversalAxis1(joint, ax1);
dJointGetUniversalAxis2(joint, ax2);
return fabs(10*dDOT(ax1, ax2));
}
case 701: { // 2 body: angle 1 rate
static dReal last_angle = 0;
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle1(joint);
dReal r = dJointGetUniversalAngle1Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
// I'm not sure why the error is so large here.
return fabs(r - er) * 1e1;
}
case 702: { // 2 body: angle 2 rate
static dReal last_angle = 0;
addOscillatingTorque (0.1);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle2(joint);
dReal r = dJointGetUniversalAngle2Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
// I'm not sure why the error is so large here.
return fabs(r - er) * 1e1;
}
case 720: { // universal transmit torque test: constraint error
dVector3 ax1, ax2;
addOscillatingTorqueAbout (0.1, 1, 1, 0);
dampRotationalMotion (0.1);
dJointGetUniversalAxis1(joint, ax1);
dJointGetUniversalAxis2(joint, ax2);
return fabs(10*dDOT(ax1, ax2));
}
case 721: { // universal transmit torque test: angle1 rate
static dReal last_angle = 0;
addOscillatingTorqueAbout (0.1, 1, 1, 0);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle1(joint);
dReal r = dJointGetUniversalAngle1Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 1e10;
}
case 722: { // universal transmit torque test: angle2 rate
static dReal last_angle = 0;
addOscillatingTorqueAbout (0.1, 1, 1, 0);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle2(joint);
dReal r = dJointGetUniversalAngle2Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 1e10;
}
case 730:{
dVector3 ax1, ax2;
dJointGetUniversalAxis1(joint, ax1);
dJointGetUniversalAxis2(joint, ax2);
addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
dampRotationalMotion (0.1);
return fabs(10*dDOT(ax1, ax2));
}
case 731:{
dVector3 ax1;
static dReal last_angle = 0;
dJointGetUniversalAxis1(joint, ax1);
addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle1(joint);
dReal r = dJointGetUniversalAngle1Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 2e3;
}
case 732:{
dVector3 ax1;
static dReal last_angle = 0;
dJointGetUniversalAxis1(joint, ax1);
addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle2(joint);
dReal r = dJointGetUniversalAngle2Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 1e10;
}
case 740:{
dVector3 ax1, ax2;
dJointGetUniversalAxis1(joint, ax1);
dJointGetUniversalAxis2(joint, ax2);
addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
dampRotationalMotion (0.1);
return fabs(10*dDOT(ax1, ax2));
}
case 741:{
dVector3 ax2;
static dReal last_angle = 0;
dJointGetUniversalAxis2(joint, ax2);
addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle1(joint);
dReal r = dJointGetUniversalAngle1Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 1e10;
}
case 742:{
dVector3 ax2;
static dReal last_angle = 0;
dJointGetUniversalAxis2(joint, ax2);
addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
dampRotationalMotion (0.1);
dReal a = dJointGetUniversalAngle2(joint);
dReal r = dJointGetUniversalAngle2Rate(joint);
dReal diff = a - last_angle;
if (diff > M_PI) diff -= 2*M_PI;
if (diff < -M_PI) diff += 2*M_PI;
dReal er = diff / STEPSIZE; // estimated rate
last_angle = a;
return fabs(r - er) * 1e4;
}
}
return dInfinity;
}
void reset_test()
{
int i;
dMass m,anchor_m;
dReal q[NUM][3], pm[NUM]; // particle positions and masses
dReal pos1[3] = {1,0,1}; // point of reference (POR)
dReal pos2[3] = {-1,0,1}; // point of reference (POR)
// make random particle positions (relative to POR) and masses
for (i=0; i<NUM; i++) {
pm[i] = dRandReal()+0.1;
q[i][0] = dRandReal()-0.5;
q[i][1] = dRandReal()-0.5;
q[i][2] = dRandReal()-0.5;
}
// adjust particle positions so centor of mass = POR
computeMassParams (&m,q,pm);
for (i=0; i<NUM; i++) {
q[i][0] -= m.c[0];
q[i][1] -= m.c[1];
q[i][2] -= m.c[2];
}
if (world) dWorldDestroy (world);
world = dWorldCreate();
anchor_body = dBodyCreate (world);
dBodySetPosition (anchor_body,pos1[0],pos1[1],pos1[2]);
dMassSetBox (&anchor_m,1,SIDE,SIDE,SIDE);
dMassAdjust (&anchor_m,0.1);
dBodySetMass (anchor_body,&anchor_m);
for (i=0; i<NUM; i++) {
particle[i] = dBodyCreate (world);
dBodySetPosition (particle[i],
pos1[0]+q[i][0],pos1[1]+q[i][1],pos1[2]+q[i][2]);
dMassSetBox (&m,1,SIDE,SIDE,SIDE);
dMassAdjust (&m,pm[i]);
dBodySetMass (particle[i],&m);
}
for (i=0; i < NUM; i++) {
particle_joint[i] = dJointCreateBall (world,0);
dJointAttach (particle_joint[i],anchor_body,particle[i]);
const dReal *p = dBodyGetPosition (particle[i]);
dJointSetBallAnchor (particle_joint[i],p[0],p[1],p[2]);
}
// make test_body with the same mass and inertia of the anchor_body plus
// all the particles
test_body = dBodyCreate (world);
dBodySetPosition (test_body,pos2[0],pos2[1],pos2[2]);
computeMassParams (&m,q,pm);
m.mass += anchor_m.mass;
for (i=0; i<12; i++) m.I[i] = m.I[i] + anchor_m.I[i];
dBodySetMass (test_body,&m);
// rotate the test and anchor bodies by a random amount
dQuaternion qrot;
for (i=0; i<4; i++) qrot[i] = dRandReal()-0.5;
dNormalize4 (qrot);
dBodySetQuaternion (anchor_body,qrot);
dBodySetQuaternion (test_body,qrot);
dMatrix3 R;
dQtoR (qrot,R);
for (i=0; i<NUM; i++) {
dVector3 v;
dMultiply0 (v,R,&q[i][0],3,3,1);
dBodySetPosition (particle[i],pos1[0]+v[0],pos1[1]+v[1],pos1[2]+v[2]);
}
// set random torque
for (i=0; i<3; i++) torque[i] = (dRandReal()-0.5) * 0.1;
iteration=0;
}
int test_box_point_depth()
{
int i,j;
dVector3 s,p,q,q2; // s = box sides
dMatrix3 R;
dReal ss,d; // ss = smallest side
dSimpleSpace space(0);
dGeomID box = dCreateBox (0,1,1,1);
dSpaceAdd (space,box);
// ********** make a random box
for (j=0; j<3; j++) s[j] = dRandReal() + 0.1;
dGeomBoxSetLengths (box,s[0],s[1],s[2]);
dMakeRandomVector (p,3,1.0);
dGeomSetPosition (box,p[0],p[1],p[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (box,R);
// ********** test center point has depth of smallest side
ss = 1e9;
for (j=0; j<3; j++) if (s[j] < ss) ss = s[j];
if (dFabs(dGeomBoxPointDepth (box,p[0],p[1],p[2]) - 0.5*ss) > tol)
FAILED();
// ********** test point on surface has depth 0
for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
i = dRandInt (3);
if (dRandReal() > 0.5) q[i] = 0.5*s[i]; else q[i] = -0.5*s[i];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
if (dFabs(dGeomBoxPointDepth (box,q2[0],q2[1],q2[2])) > tol) FAILED();
// ********** test points outside box have -ve depth
for (j=0; j<3; j++) {
q[j] = 0.5*s[j] + dRandReal() + 0.01;
if (dRandReal() > 0.5) q[j] = -q[j];
}
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
if (dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) >= 0) FAILED();
// ********** test points inside box have +ve depth
for (j=0; j<3; j++) q[j] = s[j] * 0.99 * (dRandReal()-0.5);
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
if (dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) <= 0) FAILED();
// ********** test random depth of point aligned along axis (up to ss deep)
i = dRandInt (3);
for (j=0; j<3; j++) q[j] = 0;
d = (dRandReal()*(ss*0.5+1)-1);
q[i] = s[i]*0.5 - d;
if (dRandReal() > 0.5) q[i] = -q[i];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
if (dFabs(dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) - d) >= tol) FAILED();
PASSED();
}
static void command (int cmd)
{
switch (cmd) {
case 'a': case 'A':
speed += 0.3;
break;
case 'z': case 'Z':
speed -= 0.3;
break;
case ',':
turn += 0.1;
if (turn > 0.3)
turn = 0.3;
break;
case '.':
turn -= 0.1;
if (turn < -0.3)
turn = -0.3;
break;
case ' ':
speed = 0;
turn = 0;
break;
case 'f': case 'F':
doFast = !doFast;
break;
case '+':
dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) + 1);
break;
case '-':
dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) - 1);
break;
case 'r': case 'R':
resetSimulation();
break;
case '[':
cannon_angle += 0.1;
break;
case ']':
cannon_angle -= 0.1;
break;
case '1':
cannon_elevation += 0.1;
break;
case '2':
cannon_elevation -= 0.1;
break;
case 'x': case 'X': {
dMatrix3 R2,R3,R4;
dRFromAxisAndAngle (R2,0,0,1,cannon_angle);
dRFromAxisAndAngle (R3,0,1,0,cannon_elevation);
dMultiply0 (R4,R2,R3,3,3,3);
dReal cpos[3] = {CANNON_X,CANNON_Y,1};
for (int i=0; i<3; i++) cpos[i] += 3*R4[i*4+2];
dBodySetPosition (cannon_ball_body,cpos[0],cpos[1],cpos[2]);
dReal force = 10;
dBodySetLinearVel (cannon_ball_body,force*R4[2],force*R4[6],force*R4[10]);
dBodySetAngularVel (cannon_ball_body,0,0,0);
break;
}
}
}
int test_ray_and_box()
{
int i,j;
dContactGeom contact;
dVector3 s,p,q,n,q2,q3,q4; // s = box sides
dMatrix3 R;
dReal k;
dSimpleSpace space(0);
dGeomID ray = dCreateRay (0,0);
dGeomID box = dCreateBox (0,1,1,1);
dSpaceAdd (space,ray);
dSpaceAdd (space,box);
// ********** make a random box
for (j=0; j<3; j++) s[j] = dRandReal() + 0.1;
dGeomBoxSetLengths (box,s[0],s[1],s[2]);
dMakeRandomVector (p,3,1.0);
dGeomSetPosition (box,p[0],p[1],p[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (box,R);
// ********** test zero length ray just inside box
dGeomRaySetLength (ray,0);
for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
i = dRandInt (3);
if (dRandReal() > 0.5) q[i] = 0.99*0.5*s[i]; else q[i] = -0.99*0.5*s[i];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
dGeomSetPosition (ray,q2[0],q2[1],q2[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (ray,R);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test zero length ray just outside box
dGeomRaySetLength (ray,0);
for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
i = dRandInt (3);
if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
dGeomSetPosition (ray,q2[0],q2[1],q2[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (ray,R);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test finite length ray totally contained inside the box
for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*0.99*s[j];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
for (j=0; j<3; j++) q3[j] = (dRandReal()-0.5)*0.99*s[j];
dMultiply0 (q4,dGeomGetRotation(box),q3,3,3,1);
for (j=0; j<3; j++) q4[j] += p[j];
for (j=0; j<3; j++) n[j] = q4[j] - q2[j];
dNormalize3 (n);
dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]);
dGeomRaySetLength (ray,dCalcPointsDistance3(q2,q4));
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test finite length ray totally outside the box
for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
i = dRandInt (3);
if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q3[j] = q2[j] + p[j];
dNormalize3 (q2);
dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]);
dGeomRaySetLength (ray,10);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray from outside to just above surface
for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
i = dRandInt (3);
if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q3[j] = 2*q2[j] + p[j];
k = dSqrt(q2[0]*q2[0] + q2[1]*q2[1] + q2[2]*q2[2]);
for (j=0; j<3; j++) q2[j] = -q2[j];
dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]);
dGeomRaySetLength (ray,k*0.99);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray from outside to just below surface
dGeomRaySetLength (ray,k*1.01);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
// ********** test contact point position for random rays
for (j=0; j<3; j++) q[j] = dRandReal()*s[j];
dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
for (j=0; j<3; j++) q2[j] += p[j];
for (j=0; j<3; j++) q3[j] = dRandReal()-0.5;
dNormalize3 (q3);
dGeomRaySet (ray,q2[0],q2[1],q2[2],q3[0],q3[1],q3[2]);
dGeomRaySetLength (ray,10);
if (dCollide (ray,box,1,&contact,sizeof(dContactGeom))) {
// check depth of contact point
if (dFabs (dGeomBoxPointDepth
(box,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
FAILED();
// check position of contact point
for (j=0; j<3; j++) contact.pos[j] -= p[j];
dMultiply1 (q,dGeomGetRotation(box),contact.pos,3,3,1);
if ( dFabs(dFabs (q[0]) - 0.5*s[0]) > tol &&
dFabs(dFabs (q[1]) - 0.5*s[1]) > tol &&
dFabs(dFabs (q[2]) - 0.5*s[2]) > tol) {
FAILED();
}
// also check normal signs
if (dCalcVectorDot3 (q3,contact.normal) > 0) FAILED();
draw_all_objects (space);
}
PASSED();
}
static void simLoop (int pause)
{
int i, j;
dsSetTexture (DS_WOOD);
if (!pause) {
#ifdef BOX
dBodyAddForce(body[bodies-1],lspeed,0,0);
#endif
for (j = 0; j < joints; j++)
{
dReal curturn = dJointGetHinge2Angle1 (joint[j]);
//dMessage (0,"curturn %e, turn %e, vel %e", curturn, turn, (turn-curturn)*1.0);
dJointSetHinge2Param(joint[j],dParamVel,(turn-curturn)*1.0);
dJointSetHinge2Param(joint[j],dParamFMax,dInfinity);
dJointSetHinge2Param(joint[j],dParamVel2,speed);
dJointSetHinge2Param(joint[j],dParamFMax2,FMAX);
dBodyEnable(dJointGetBody(joint[j],0));
dBodyEnable(dJointGetBody(joint[j],1));
}
if (doFast)
{
dSpaceCollide (space,0,&nearCallback);
#if defined(QUICKSTEP)
dWorldQuickStep (world,0.05);
#elif defined(STEPFAST)
dWorldStepFast1 (world,0.05,ITERS);
#endif
dJointGroupEmpty (contactgroup);
}
else
{
dSpaceCollide (space,0,&nearCallback);
dWorldStep (world,0.05);
dJointGroupEmpty (contactgroup);
}
for (i = 0; i < wb; i++)
{
b = dGeomGetBody(wall_boxes[i]);
if (dBodyIsEnabled(b))
{
bool disable = true;
const dReal *lvel = dBodyGetLinearVel(b);
dReal lspeed = lvel[0]*lvel[0]+lvel[1]*lvel[1]+lvel[2]*lvel[2];
if (lspeed > DISABLE_THRESHOLD)
disable = false;
const dReal *avel = dBodyGetAngularVel(b);
dReal aspeed = avel[0]*avel[0]+avel[1]*avel[1]+avel[2]*avel[2];
if (aspeed > DISABLE_THRESHOLD)
disable = false;
if (disable)
wb_stepsdis[i]++;
else
wb_stepsdis[i] = 0;
if (wb_stepsdis[i] > DISABLE_STEPS)
{
dBodyDisable(b);
dsSetColor(0.5,0.5,1);
}
else
dsSetColor(1,1,1);
}
else
dsSetColor(0.4,0.4,0.4);
dVector3 ss;
dGeomBoxGetLengths (wall_boxes[i], ss);
dsDrawBox(dGeomGetPosition(wall_boxes[i]), dGeomGetRotation(wall_boxes[i]), ss);
}
}
else
{
for (i = 0; i < wb; i++)
{
b = dGeomGetBody(wall_boxes[i]);
if (dBodyIsEnabled(b))
dsSetColor(1,1,1);
else
dsSetColor(0.4,0.4,0.4);
dVector3 ss;
dGeomBoxGetLengths (wall_boxes[i], ss);
dsDrawBox(dGeomGetPosition(wall_boxes[i]), dGeomGetRotation(wall_boxes[i]), ss);
}
}
dsSetColor (0,1,1);
dReal sides[3] = {LENGTH,WIDTH,HEIGHT};
for (i = 0; i < boxes; i++)
dsDrawBox (dGeomGetPosition(box[i]),dGeomGetRotation(box[i]),sides);
dsSetColor (1,1,1);
for (i=0; i< spheres; i++) dsDrawSphere (dGeomGetPosition(sphere[i]),
dGeomGetRotation(sphere[i]),RADIUS);
// draw the cannon
dsSetColor (1,1,0);
dMatrix3 R2,R3,R4;
dRFromAxisAndAngle (R2,0,0,1,cannon_angle);
dRFromAxisAndAngle (R3,0,1,0,cannon_elevation);
dMultiply0 (R4,R2,R3,3,3,3);
dReal cpos[3] = {CANNON_X,CANNON_Y,1};
dReal csides[3] = {2,2,2};
dsDrawBox (cpos,R2,csides);
for (i=0; i<3; i++) cpos[i] += 1.5*R4[i*4+2];
dsDrawCylinder (cpos,R4,3,0.5);
// draw the cannon ball
dsDrawSphere (dBodyGetPosition(cannon_ball_body),dBodyGetRotation(cannon_ball_body),
CANNON_BALL_RADIUS);
}
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");
}
