static void simLoop (int pause)
{
double simstep = 0.001; // 1ms simulation steps
double dt = dsElapsedTime();
int nrofsteps = (int) ceilf(dt/simstep);
// fprintf(stderr, "dt=%f, nr of steps = %d\n", dt, nrofsteps);
for (int i=0; i<nrofsteps && !pause; i++)
{
dSpaceCollide (space,0,&nearCallback);
dWorldQuickStep (world, simstep);
dJointGroupEmpty (contactgroup);
}
dsSetColor (1,1,1);
const dReal *SPos = dBodyGetPosition(sphbody);
const dReal *SRot = dBodyGetRotation(sphbody);
float spos[3] = {SPos[0], SPos[1], SPos[2]};
float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] };
dsDrawSphere
(
spos,
srot,
RADIUS
);
// draw world trimesh
dsSetColor(0.4,0.7,0.9);
dsSetTexture (DS_NONE);
const dReal* Pos = dGeomGetPosition(world_mesh);
//dIASSERT(dVALIDVEC3(Pos));
float pos[3] = { Pos[0], Pos[1], Pos[2] };
const dReal* Rot = dGeomGetRotation(world_mesh);
//dIASSERT(dVALIDMAT3(Rot));
float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] };
int numi = sizeof(world_indices) / sizeof(int);
for (int i=0; i<numi/3; i++)
{
int i0 = world_indices[i*3+0];
int i1 = world_indices[i*3+1];
int i2 = world_indices[i*3+2];
float *v0 = world_vertices+i0*3;
float *v1 = world_vertices+i1*3;
float *v2 = world_vertices+i2*3;
dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
}
}
static void simLoop (int pause)
{
int i;
double simstep = 0.002; // 2ms simulation steps
double dt = dsElapsedTime();
int nrofsteps = (int) ceilf(dt/simstep);
for (i=0; i<nrofsteps && !pause; i++)
{
dSpaceCollide (space,0,&nearCallback);
dWorldQuickStep (world, simstep);
dJointGroupEmpty (contactgroup);
inspectJoints();
}
for (i=0; i<SEGMCNT; i++)
{
float r=0,g=0,b=0.2;
float v = colours[i];
if (v>1.0) v=1.0;
if (v<0.5)
{
r=2*v;
g=1.0;
}
else
{
r=1.0;
g=2*(1.0-v);
}
dsSetColor (r,g,b);
drawGeom(seggeoms[i]);
}
dsSetColor (1,1,1);
for (i=0; i<STACKCNT; i++)
drawGeom(stackgeoms[i]);
}
// simulation loop
static void simLoop (int pause)
{
static bool todo = false;
if ( todo ) { // DEBUG
static int cnt = 0;
++cnt;
if (cnt == 5)
command ( 'q' );
if (cnt == 10)
dsStop();
}
if (!pause) {
double simstep = 0.01; // 10ms simulation steps
double dt = dsElapsedTime();
int nrofsteps = (int) ceilf (dt/simstep);
if (!nrofsteps)
nrofsteps = 1;
for (int i=0; i<nrofsteps && !pause; i++) {
dSpaceCollide (space,0,&nearCallback);
dWorldStep (world, simstep);
dJointGroupEmpty (contactgroup);
}
update();
dReal radius, length;
dsSetTexture (DS_WOOD);
drawBox (geom[W], 1,1,0);
drawBox (geom[EXT], 0,1,0);
dVector3 anchorPos;
dReal ang1 = 0;
dReal ang2 = 0;
dVector3 axisP, axisR1, axisR2;
if ( dJointTypePU == type ) {
dPUJoint *pu = dynamic_cast<dPUJoint *> (joint);
ang1 = pu->getAngle1();
ang2 = pu->getAngle2();
pu->getAxis1 (axisR1);
pu->getAxis2 (axisR2);
pu->getAxisP (axisP);
dJointGetPUAnchor (pu->id(), anchorPos);
}
else if ( dJointTypePR == type ) {
dPRJoint *pr = dynamic_cast<dPRJoint *> (joint);
pr->getAxis1 (axisP);
pr->getAxis2 (axisR1);
dJointGetPRAnchor (pr->id(), anchorPos);
}
// Draw the axisR
if ( geom[INT] ) {
dsSetColor (1,0,1);
dVector3 l;
dGeomBoxGetLengths (geom[INT], l);
const dReal *rotBox = dGeomGetRotation (geom[W]);
dVector3 pos;
for (int i=0; i<3; ++i)
pos[i] = anchorPos[i] - 0.5*extDim[Z]*axisP[i];
dsDrawBox (pos, rotBox, l);
}
dsSetTexture (DS_CHECKERED);
if ( geom[AXIS1] ) {
dQuaternion q, qAng;
dQFromAxisAndAngle (qAng,axisR1[X], axisR1[Y], axisR1[Z], ang1);
dGeomGetQuaternion (geom[AXIS1], q);
dQuaternion qq;
dQMultiply1 (qq, qAng, q);
dMatrix3 R;
dQtoR (qq,R);
dGeomCylinderGetParams (dGeomTransformGetGeom (geom[AXIS1]), &radius, &length);
dsSetColor (1,0,0);
dsDrawCylinder (anchorPos, R, length, radius);
}
if ( dJointTypePU == type && geom[AXIS2] ) {
//dPUJoint *pu = dynamic_cast<dPUJoint *> (joint);
dQuaternion q, qAng, qq, qq1;
dGeomGetQuaternion (geom[AXIS2], q);
dQFromAxisAndAngle (qAng, 0, 1, 0, ang2);
dQMultiply1 (qq, qAng, q);
dQFromAxisAndAngle (qAng,axisR1[X], axisR1[Y], axisR1[Z], ang1);
dQMultiply1 (qq1, qAng, qq);
dMatrix3 R;
dQtoR (qq1,R);
dGeomCylinderGetParams (dGeomTransformGetGeom (geom[AXIS2]), &radius, &length);
dsSetColor (0,0,1);
dsDrawCylinder (anchorPos, R, length, radius);
}
dsSetTexture (DS_WOOD);
// Draw the anchor
if ( geom[ANCHOR] ) {
dsSetColor (1,1,1);
dVector3 l;
dGeomBoxGetLengths (geom[ANCHOR], l);
const dReal *rotBox = dGeomGetRotation (geom[D]);
const dReal *posBox = dGeomGetPosition (geom[D]);
dVector3 e;
for (int i=0; i<3; ++i)
e[i] = posBox[i] - anchorPos[i];
dNormalize3 (e);
dVector3 pos;
for (int i=0; i<3; ++i)
pos[i] = anchorPos[i] + 0.5 * l[Z]*e[i];
dsDrawBox (pos, rotBox, l);
}
drawBox (geom[D], 1,1,0);
}
}
// simulation loop
static void simLoop (int pause)
{
const dReal *rot;
dVector3 ax;
dReal l=0;
switch (joint->getType() )
{
case dJointTypeSlider :
( (dSliderJoint *) joint)->getAxis (ax);
l = ( (dSliderJoint *) joint)->getPosition();
break;
case dJointTypePiston :
( (dPistonJoint *) joint)->getAxis (ax);
l = ( (dPistonJoint *) joint)->getPosition();
break;
default:
{} // keep the compiler happy
}
if (!pause)
{
double simstep = 0.01; // 1ms simulation steps
double dt = dsElapsedTime();
int nrofsteps = (int) ceilf (dt/simstep);
if (!nrofsteps)
nrofsteps = 1;
for (int i=0; i<nrofsteps && !pause; i++)
{
dSpaceCollide (space,0,&nearCallback);
dWorldStep (world, simstep);
dJointGroupEmpty (contactgroup);
}
update();
dReal radius, length;
dsSetTexture (DS_WOOD);
drawBox (geom[BODY2], 1,1,0);
drawBox (geom[RECT], 0,0,1);
if ( geom[BODY1] )
{
const dReal *pos = dGeomGetPosition (geom[BODY1]);
rot = dGeomGetRotation (geom[BODY1]);
dsSetColor (0,0,1);
dGeomCapsuleGetParams (geom[BODY1], &radius, &length);
dsDrawCapsule (pos, rot, length, radius);
}
drawBox (geom[OBS], 1,0,1);
// Draw the prismatic axis
if ( geom[BODY1] )
{
const dReal *pos = dGeomGetPosition (geom[BODY1]);
rot = dGeomGetRotation (geom[BODY2]);
dVector3 p;
p[X] = pos[X] - l*ax[X];
p[Y] = pos[Y] - l*ax[Y];
p[Z] = pos[Z] - l*ax[Z];
dsSetColor (1,0,0);
dsDrawCylinder (p, rot, 3.75, 1.05*AXIS_RADIUS);
}
if (joint->getType() == dJointTypePiston )
{
dVector3 anchor;
dJointGetPistonAnchor(joint->id(), anchor);
// Draw the rotoide axis
rot = dGeomGetRotation (geom[BODY2]);
dsSetColor (1,0.5,0);
dsDrawCylinder (anchor, rot, 4, AXIS_RADIUS);
dsSetColor (0,1,1);
rot = dGeomGetRotation (geom[BODY1]);
dsDrawSphere (anchor, rot, 1.5*RADIUS);
}
}
}
IoObject *IoDrawStuff_dsElapsedTime(IoDrawStuff *self, IoObject *locals, IoMessage *m)
{
double elapsed = dsElapsedTime();
return self;
}
static void simLoop (int pause)
{
double simstep = 0.005; // 5ms simulation steps
double dt = dsElapsedTime();
int nrofsteps = (int) ceilf(dt/simstep);
for (int i=0; i<nrofsteps && !pause; i++)
{
dSpaceCollide (space,0,&nearCallback);
dWorldQuickStep (world, simstep);
dJointGroupEmpty (contactgroup);
}
dsSetColor (1,1,1);
#ifdef BOX
const dReal *BPos = dBodyGetPosition(boxbody);
const dReal *BRot = dBodyGetRotation(boxbody);
float bpos[3] = {BPos[0], BPos[1], BPos[2]};
float brot[12] = { BRot[0], BRot[1], BRot[2], BRot[3], BRot[4], BRot[5], BRot[6], BRot[7], BRot[8], BRot[9], BRot[10], BRot[11] };
float sides[3] = {BOXSZ, BOXSZ, BOXSZ};
dsDrawBox
(
bpos,
brot,
sides
); // single precision
#endif
#ifdef CYL
const dReal *CPos = dGeomGetPosition(cylgeom);
const dReal *CRot = dGeomGetRotation(cylgeom);
float cpos[3] = {CPos[0], CPos[1], CPos[2]};
float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
dsDrawCylinder
(
// dBodyGetPosition(cylbody),
// dBodyGetRotation(cylbody),
cpos,
crot,
WHEELW,
RADIUS
); // single precision
#endif
// draw world trimesh
dsSetColor(0.7,0.7,0.4);
dsSetTexture (DS_NONE);
const dReal* Pos = dGeomGetPosition(world_mesh);
float pos[3] = { Pos[0], Pos[1], Pos[2] };
const dReal* Rot = dGeomGetRotation(world_mesh);
float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] };
int numi = sizeof(world_indices) / sizeof(dTriIndex);
for (int i=0; i<numi/3; i++)
{
int i0 = world_indices[i*3+0];
int i1 = world_indices[i*3+1];
int i2 = world_indices[i*3+2];
float *v0 = world_vertices+i0*3;
float *v1 = world_vertices+i1*3;
float *v2 = world_vertices+i2*3;
dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
}
}
