int main (int argc, char **argv)
{
// setup pointers to drawstuff callback functions
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = 0;
fn.stop = 0;
fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
if(argc==2)
{
fn.path_to_textures = argv[1];
}
// create world
dInitODE2(0);
int i;
contactgroup.create ();
world.setGravity (0,0,-0.5);
dWorldSetCFM (world.id(),1e-5);
dPlane plane (space,0,0,1,0);
for (i=0; i<NUM; i++) {
body[i].create (world);
dReal k = i*SIDE;
body[i].setPosition (k,k,k+0.4);
dMass m;
m.setBox (1,SIDE,SIDE,SIDE);
m.adjust (MASS);
body[i].setMass (&m);
body[i].setData ((void*)(size_t)i);
box[i].create (space,SIDE,SIDE,SIDE);
box[i].setBody (body[i]);
}
for (i=0; i<(NUM-1); i++) {
joint[i].create (world);
joint[i].attach (body[i],body[i+1]);
dReal k = (i+0.5)*SIDE;
joint[i].setAnchor (k,k,k+0.4);
}
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dCloseODE();
return 0;
}
// called when a key pressed
static void command (int cmd)
{
switch (cmd) {
case 'h' : case 'H' : case '?' :
printKeyBoardShortCut();
break;
// Force
case 'q' : case 'Q' :
body[D].addForce(40,0,0);
break;
case 'w' : case 'W' :
body[D].addForce(-40,0,0);
break;
case 'a' : case 'A' :
body[D].addForce(0,40,0);
break;
case 's' : case 'S' :
body[D].addForce(0,-40,0);
break;
case 'z' : case 'Z' :
body[D].addForce(0,0,40);
break;
case 'x' : case 'X' :
body[D].addForce(0,0,-40);
break;
// Torque
case 'e': case 'E':
body[D].addTorque(0.1,0,0);
break;
case 'r': case 'R':
body[D].addTorque(-0.1,0,0);
break;
case 'd': case 'D':
body[D].addTorque(0, 0.1,0);
break;
case 'f': case 'F':
body[D].addTorque(0,-0.1,0);
break;
case 'c': case 'C':
body[D].addTorque(0,0,0.1);
break;
case 'v': case 'V':
body[D].addTorque(0,0,0.1);
break;
// Velocity of joint
case ',': case '<' : {
dReal vel = joint->getParam (dParamVel3) - VEL_INC;
joint->setParam (dParamVel3, vel);
std::cout<<"Velocity = "<<vel<<" FMax = 2"<<'\n';
}
break;
case '.': case '>' : {
dReal vel = joint->getParam (dParamVel3) + VEL_INC;
joint->setParam (dParamVel3, vel);
std::cout<<"Velocity = "<<vel<<" FMax = 2"<<'\n';
}
break;
case 'l': case 'L' : {
dReal aLimit, lLimit, fmax;
if ( joint->getParam (dParamFMax) ) {
aLimit = dInfinity;
lLimit = dInfinity;
fmax = 0;
}
else {
aLimit = 0.25*PI;
lLimit = 0.5*axDim[LENGTH];
fmax = 0.02;
}
joint->setParam (dParamFMax1, fmax);
joint->setParam (dParamFMax2, fmax);
joint->setParam (dParamFMax3, fmax);
switch (joint->getType() ) {
case dJointTypePR : {
dPRJoint *pr = reinterpret_cast<dPRJoint *> (joint);
pr->setParam (dParamLoStop, -lLimit);
pr->setParam (dParamHiStop, -lLimit);
pr->setParam (dParamLoStop2, aLimit);
pr->setParam (dParamHiStop2, -aLimit);
}
break;
case dJointTypePU : {
dPUJoint *pu = reinterpret_cast<dPUJoint *> (joint);
pu->setParam (dParamLoStop1, -aLimit);
pu->setParam (dParamHiStop1, aLimit);
pu->setParam (dParamLoStop2, -aLimit);
pu->setParam (dParamHiStop2, aLimit);
pu->setParam (dParamLoStop3, -lLimit);
pu->setParam (dParamHiStop3, lLimit);
}
break;
default: {} // keep the compiler happy
}
}
break;
case 'g': case 'G' : {
dVector3 g;
world.getGravity(g);
if ( g[2]< -0.1 )
world.setGravity(0, 0, 0);
else
world.setGravity(0, 0, -0.5);
}
case 'p' :case 'P' : {
switch (joint->getType() ) {
case dJointTypeSlider : {
dSliderJoint *sj = reinterpret_cast<dSliderJoint *> (joint);
std::cout<<"Position ="<<sj->getPosition() <<"\n";
}
break;
case dJointTypePU : {
dPUJoint *pu = reinterpret_cast<dPUJoint *> (joint);
std::cout<<"Position ="<<pu->getPosition() <<"\n";
std::cout<<"Position Rate="<<pu->getPositionRate() <<"\n";
std::cout<<"Angle1 ="<<pu->getAngle1() <<"\n";
std::cout<<"Angle1 Rate="<<pu->getAngle1Rate() <<"\n";
std::cout<<"Angle2 ="<<pu->getAngle2() <<"\n";
std::cout<<"Angle2 Rate="<<pu->getAngle2Rate() <<"\n";
}
break;
default: {} // keep the compiler happy
}
}
break;
}
}
//===========================================================================================
//! \brief シミュレーションオブジェクトを作成
void create_world( void )
//===========================================================================================
{
// acrobot の回転軸（以下，支柱）は ここでは 直方体(Box)にしています．
const dReal param_h0 = 0.05; // 支柱（直方体）の高さ[m]
const dReal param_wx0 = 0.05; // 同幅(x)
const dReal param_wy0 = 0.80; // 同幅(y)
const dReal param_z0 = 1.20; // 支柱の垂直位置[m]
const dReal param_l1 = 0.50; // 第1リンク（支柱に近いリンク）の長さ[m]
const dReal param_d1 = 0.15; // 同直径[m]
const dReal param_l2 = 0.50; // 第2リンク（支柱に近いリンク）の長さ[m]
const dReal param_d2 = 0.15; // 同直径[m]
const dReal density = 1000.0; // 各リンクの密度[kg/m^3]. 参考(?)`人体の密度' は 900~1100 kg/m^3 (wikipedia)
int i;
contactgroup.create (0);
world.setGravity (0,0,-9.8); // 重力 [m/s^2]
dWorldSetCFM (world.id(),1e-5);
plane.create (space,0,0,1,0); // 地面（平面）．
i=0; {
body[i].create (world);
body[i].setPosition (0.0, 0.0, param_z0); // 支柱の中心座標
dReal xx=param_wx0, yy=param_wy0, zz=param_h0;
dMass m;
m.setBox (density,xx,yy,zz);
body[i].setMass (&m);
LinkBase.create (space,xx,yy,zz);
LinkBase.setBody (body[i]);
}
i=1; {
body[i].create (world);
body[i].setPosition (0.0, 0.0, param_z0-0.5*param_l1); // リンク1の中心座標
dReal rad=0.5*param_d1, len=param_l1-2.0*rad;
dMass m;
m.setCappedCylinder (density,3,rad,len); // direction(3): z-axis
body[i].setMass (&m);
Link1.create (space,rad,len);
Link1.setBody (body[i]);
}
i=2; {
body[i].create (world);
body[i].setPosition (0.0, 0.0, param_z0-param_l1-0.5*param_l2); // リンク2の中心座標
dReal rad=0.5*param_d2, len=param_l2-2.0*rad;
dMass m;
m.setCappedCylinder (density,3,rad,len); // direction(3): z-axis
body[i].setMass (&m);
Link2.create (space,rad,len);
Link2.setBody (body[i]);
}
i=0; {
const dReal *pos = body[0].getPosition();
joint[i].create (world);
joint[i].attach (body[0],body[1]);
joint[i].setAnchor (pos[0],pos[1],pos[2]); // 回転中心=支柱の中心(=原点)
joint[i].setAxis (0.0,1.0,0.0); // 回転軸=y軸
// joint[i].setParam (dParamHiStop, +0.5*M_PI); // 関節の可動範囲を制約するときに使う
// joint[i].setParam (dParamLoStop, -0.5*M_PI); // acrobot の場合は省略
}
i=1; {
const dReal *pos = body[1].getPosition();
joint[i].create (world);
joint[i].attach (body[1],body[2]);
joint[i].setAnchor (pos[0],pos[1],pos[2]-0.5*param_l1); // 回転中心=リンク1とリンク2の間
joint[i].setAxis (0.0,1.0,0.0); // 回転軸=y軸
}
base_joint.create(world);
base_joint.attach(body[0].id(),0); // 支柱(body[0]) と 平面(0)の間の固定リンク．支柱が固定される．
base_joint.set();
}