int main (int argc, char **argv)
{
static dMass m;
dReal mass = 1.0;
// set for drawing
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = NULL;
fn.stop = NULL;
fn.path_to_textures = "../textures";
dInitODE(); // init ODE
world = dWorldCreate(); // create a dynamic world
space = dSimpleSpaceCreate (0);
//@a box
capsule = dBodyCreate (world);
geom = dCreateCapsule (space,radius,length); //create geometry.
dMassSetCapsule(&m,DENSITY,3,radius,length);
dBodySetMass (capsule,&m);
dGeomSetBody(geom,capsule);
dBodySetPosition (capsule,0,4,1);
//Gravedad y cosas de simulacion
dWorldSetGravity(world,0,0,-9.81);
dWorldSetCFM (world,1e-5);
dCreatePlane (space,0,0,1,0);
contactgroup = dJointGroupCreate (0);
// the simulation
dsSimulationLoop (argc,argv,960,480,&fn);
//-- Destroy the world!!!
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
dGeomID set_phys_geom_type(dGeomID geom, dBodyID body,
int i, int t, const float *v)
{
/* Destroy the old geom and its data. */
if (geom)
{
free(dGeomGetData(geom));
dGeomDestroy(geom);
geom = 0;
}
/* Create a new geom of the required type. */
switch (t)
{
case dSphereClass:
geom = dCreateSphere(space, v[0]);
break;
case dCapsuleClass:
geom = dCreateCapsule(space, v[0], v[1]);
break;
case dBoxClass:
geom = dCreateBox(space, v[0], v[1], v[2]);
break;
case dPlaneClass:
geom = dCreatePlane(space, v[0], v[1], v[2], v[3]);
break;
case dRayClass:
geom = dCreateRay(space, (dReal) sqrt(v[3] * v[3] +
v[4] * v[4] +
v[5] * v[5]));
dGeomRaySet(geom, v[0], v[1], v[2], v[3], v[4], v[5]);
break;
}
/* Assign geom data and attach it to the body. */
if (geom)
{
dGeomSetData(geom, create_data(i));
dGeomSetBody(geom, body);
}
return geom;
}
/*
=================================================================================
createUniversalLeg
Use parameters to create leg body/geom and attach to body with universal joint
**Warning**
mass is not set
=================================================================================
*/
void createUniversalLeg(ODEObject &leg,
ODEObject &bodyAttachedTo,
dJointID& joint,
dReal xPos, dReal yPos, dReal zPos,
dReal xRot, dReal yRot, dReal zRot,
dReal radius, dReal length,
dReal maxAngle, dReal minAngle,
dReal anchorXPos, dReal anchorYPos, dReal anchorZPos)
{
dMatrix3 legOrient;
dRFromEulerAngles(legOrient, xRot, yRot, zRot);
//position and orientation
leg.Body = dBodyCreate(World);
dBodySetPosition(leg.Body, xPos, yPos, zPos);
dBodySetRotation(leg.Body, legOrient);
dBodySetLinearVel(leg.Body, 0, 0, 0);
dBodySetData(leg.Body, (void *)0);
//mass
dMass legMass;
dMassSetCapsule(&legMass, 1, 3, radius, length);
//dBodySetMass(leg.Body, &legMass);
//geometry
leg.Geom = dCreateCapsule(Space, radius, length);
dGeomSetBody(leg.Geom, leg.Body);
//universal joint
joint = dJointCreateUniversal(World, jointgroup);
//attach and anchor
dJointAttach(joint, bodyAttachedTo.Body, leg.Body);
dJointSetUniversalAnchor(joint, anchorXPos, anchorYPos, anchorZPos);
//axes
dJointSetUniversalAxis1(joint, 0, 0, 1);
dJointSetUniversalAxis2(joint, 0, 1, 0);
//Max and min angles
dJointSetUniversalParam(joint, dParamHiStop, maxAngle);
dJointSetUniversalParam(joint, dParamLoStop, minAngle);
dJointSetUniversalParam(joint, dParamHiStop2, maxAngle);
dJointSetUniversalParam(joint, dParamLoStop2, minAngle);
}
/*** ロボットアームの生成 ***/
void makeArm()
{
dMass mass; // 質量パラメータ
dReal x[NUM] = {0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00}; // 重心 x
dReal y[NUM] = {0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00}; // 重心 y
dReal z[NUM] = {0.05, 0.55, 1.55, 2.30, 2.80, 3.35, 3.85, 4.0}; // 重心 z
dReal length[NUM-1] = {0.10, 1.00, 1.00, 0.50, 0.50, 0.50, 0.50}; // 長さ
dReal weight[NUM] = {9.00, 2.00, 2.00, 1.00, 1.00, 0.50, 0.50, 0.50}; // 質量
dReal r[NUM-1] = {0.3, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1}; // 半径
dReal c_x[NUM] = {0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00}; // 関節中心点 x
dReal c_y[NUM] = {0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00}; // 関節中心点 y
dReal c_z[NUM] = {0.00, 0.10, 1.10, 2.10, 2.60, 3.10, 3.60, 3.9}; // 関節中心点 z
dReal axis_x[NUM] = {0, 0, 0, 0, 0, 0, 0, 0}; // 関節回転軸 x
dReal axis_y[NUM] = {0, 0, 1, 1, 0, 1, 0, 0}; // 関節回転軸 y
dReal axis_z[NUM] = {1, 1, 0, 0, 1, 0, 1, 1}; // 関節回転軸 z
// リンクの生成
for (int i = 0; i < NUM-1; i++) {
rlink[i].body = dBodyCreate(world);
dBodySetPosition(rlink[i].body, x[i], y[i], z[i]);
dMassSetZero(&mass);
dMassSetCapsuleTotal(&mass,weight[i],3,r[i],length[i]);
dBodySetMass(rlink[i].body, &mass);
rlink[i].geom = dCreateCapsule(space,r[i],length[i]);
dGeomSetBody(rlink[i].geom,rlink[i].body);
}
rlink[NUM-1].body = dBodyCreate(world);
dBodySetPosition(rlink[NUM-1].body, x[NUM-1], y[NUM-1], z[NUM-1]);
dMassSetZero(&mass);
dMassSetBoxTotal(&mass,weight[NUM-1],0.4,0.4,0.4);
dBodySetMass(rlink[NUM-1].body, &mass);
rlink[NUM-1].geom = dCreateBox(space,0.4,0.4,0.4);
dGeomSetBody(rlink[NUM-1].geom,rlink[NUM-1].body);
// ジョイントの生成とリンクへの取り付け
joint[0] = dJointCreateFixed(world, 0); // 固定ジョイント
dJointAttach(joint[0], rlink[0].body, 0);
dJointSetFixed(joint[0]);
for (int j = 1; j < NUM; j++) {
joint[j] = dJointCreateHinge(world, 0); // ヒンジジョイント
dJointAttach(joint[j], rlink[j].body, rlink[j-1].body);
dJointSetHingeAnchor(joint[j], c_x[j], c_y[j], c_z[j]);
dJointSetHingeAxis(joint[j], axis_x[j], axis_y[j],axis_z[j]);
}
}
AvatarGameObj::AvatarGameObj(const ORE1::ObjType& obj) :
GameObj(obj, Sim::gen_sphere_body(80, 0.5)), // TODO Load mass information from the ORE mission description
_xrot_delta(0.0),
_zrot_delta(0.0),
_ypos_delta(0.0),
_ylvel_delta(0.0),
_xavel_delta(0.0),
_zavel_delta(0.0),
_norm_coll_steptime(0),
_run_coll_steptime(0),
_mesh(MeshAnimation::load("mesh-LIBAvatar")),
_attached(false),
_attached_this_frame(false)
{
// TODO Load volume information from the ORE mission description
_height = 2.25;
_coll_rad = 0.25;
// Set up a geom for detecting regular collisions
get_entity().set_geom(
"physical",
dCreateCapsule(Sim::get_dyn_space(), _coll_rad, _height - 2*_coll_rad),
std::auto_ptr<CollisionHandler>(new AvatarContactHandler(this))
);
// TODO Maybe some missions start off in upright mode?
_uprightness = 0.0;
// Set up a geom at our feet to detect when we can run on a surface
get_entity().set_geom(
"sticky_attach",
dCreateRay(Sim::get_dyn_space(), RUNNING_MAX_DELTA_Y_POS*2),
std::auto_ptr<CollisionHandler>(new StickyAttachmentContactHandler(this))
);
dQuaternion rdq;
dQFromAxisAndAngle(rdq, 1, 0, 0, M_PI_2);
dGeomSetOffsetQuaternion(get_entity().get_geom("sticky_attach"), rdq);
dGeomDisable(get_entity().get_geom("sticky_attach"));
update_geom_offsets();
}
void dmCreateCapsule(dmObject *obj, double p[3], double R[12], double m, double r, double l, double color[3])
{
obj->body = dBodyCreate(world);
obj->m = m;
obj->r = r;
obj->l = l;
obj->R = R;
obj->p = p;
obj->color = color;
dMass mass; // 構造体massの宣言
dMassSetZero(&mass); // 構造体massの初期化
dMassSetBoxTotal(&mass,obj->m, 3, obj->r, obj->l); // 構造体massに質量を設定
dBodySetMass(obj->body,&mass); // ボールにmassを設定
dBodySetPosition(obj->body, obj->p[0], obj->p[1], obj->p[2]); // ボールの位置(x,y,z)を設定
dBodySetRotation(obj->body, obj->R);
obj->geom = dCreateCapsule(space,obj->r, obj->l); // 円柱ジオメトリの生成
dGeomSetBody(obj->geom, obj->body); // ボディとジオメトリの関連付け
}
Else::AcrobotArticulatedBody
::AcrobotArticulatedBody( dWorldID argWorldID,
dSpaceID argSpaceID,
double argScale )
: ArticulatedBody( argWorldID, argSpaceID ),
myRadius( 0.1 * argScale ),
myLength( argScale ),
myJointGroupID( 0 )
{
// create body
gmtl::Vec3d dims( 2*myRadius, 2*myRadius, 2*myRadius + myLength );
const double density = 1.0;
const int zDirection = 3;
const double extraSpace = 0.1*myLength;
dMass mass;
dBodyID body = dBodyCreate( myWorldID );
dBodySetData( body, this );
// create cylinder aligned to z-axis
dGeomID geom = dCreateCapsule( mySpaceID, myRadius, myLength );
dGeomSetBody( geom, body );
dBodySetPosition( body, 0, 0, extraSpace + 0.5*myLength + myRadius );
dMassSetCappedCylinder( &mass, density, zDirection, myRadius, myLength );
dBodySetMass( body, &mass );
dJointID joint = dJointCreateHinge( myWorldID, myJointGroupID );
dJointAttach( joint, NULL, body );
dJointSetHingeAnchor( joint, 0, 0, extraSpace + myLength + myRadius );
dVector3 axis;
axis[0] = 0; axis[1] = 1; axis[2] = 0;
dJointSetHingeAxis( joint, axis[0], axis[1], axis[2] );
myBodies[0] = body;
myJoints[0] = joint;
myBodyDims[0] = dims;
myGeoms.push_back( geom );
}
dGeomID PhysWorld::AddCapsule(dReal radius, dReal length)
{
return dCreateCapsule(mSpace, radius, length);
}
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;
}
}
void makeRobot_Nleg()
{
for(int segment = 0; segment < BODY_SEGMENTS; ++segment) {
dReal segmentOffsetFromMiddle = segment - MIDDLE_BODY_SEGMENT;
dReal torso_m = 50.0; // Mass of body
// torso_m[segment] = 10.0;
dReal l1m = 0.005,l2m = 0.5, l3m = 0.5; // Mass of leg segments
//for four legs
// dReal x[num_legs][num_links] = {{-cx1,-cx1,-cx1},// Position of each link (x coordinate)
// {-cx1,-cx1,-cx1}};
dReal x[num_legs][num_links] = {{0,0,0},// Position of each link (x coordinate)
{0,0,0}};
dReal y[num_legs][num_links] = {{ cy1, cy1, cy1},// Position of each link (y coordinate)
{-cy1,-cy1,-cy1}};
dReal z[num_legs][num_links] = { // Position of each link (z coordinate)
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2},
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2} };
dReal r[num_links] = { r1, r2, r3}; // radius of leg segment
dReal length[num_links] = { l1, l2, l3}; // Length of leg segment
dReal weight[num_links] = {l1m,l2m,l3m}; // Mass of leg segment
// //for one leg
// dReal axis_x[num_legs_pneat][num_links_pneat] = {{ 0,1, 0}};
// dReal axis_y[num_legs_pneat][num_links_pneat] = {{ 1,0, 1}};
// dReal axis_z[num_legs_pneat][num_links_pneat] = {{ 0,0, 0}};
//for four legs
dReal axis_x[num_legs][num_links];
dReal axis_y[num_legs][num_links];
dReal axis_z[num_legs][num_links];
for(int i = 0; i < num_legs; ++i) {
axis_x[i][0] = 0.0;
axis_x[i][1] = 1.0;
axis_x[i][2] = 0.0;
axis_y[i][0] = 1.0;
axis_y[i][1] = 0.0;
axis_y[i][2] = 1.0;
axis_z[i][0] = 0.0;
axis_z[i][1] = 0.0;
axis_z[i][2] = 0.0;
}
// For mation of the body
dMass mass;
torso[segment].body = dBodyCreate(world);
dMassSetZero(&mass);
dMassSetBoxTotal(&mass,torso_m, lx, ly, lz);
dBodySetMass(torso[segment].body,&mass);
torso[segment].geom = dCreateBox(space,lx, ly, lz);
dGeomSetBody(torso[segment].geom, torso[segment].body);
dBodySetPosition(torso[segment].body, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS), SY, SZ);
// Formation of leg
dMatrix3 R; // Revolution queue
dRFromAxisAndAngle(R,1,0,0,M_PI/2); // 90 degrees to turn, parallel with the land
for (int i = 0; i < num_legs; i++) {
for (int j = 0; j < num_links; j++) {
THETA[segment][i][j] = 0;
leg[segment][i][j].body = dBodyCreate(world);
if (j == 0)
dBodySetRotation(leg[segment][i][j].body,R);
dBodySetPosition(leg[segment][i][j].body, SX+x[i][j]+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS), SY+y[i][j], SZ+z[i][j]);
dMassSetZero(&mass);
dMassSetCapsuleTotal(&mass,weight[j],3,r[j],length[j]);
dBodySetMass(leg[segment][i][j].body, &mass);
//if(i==1 and j==2) //to set the length of one leg differently
//leg[i][j].geom = dCreateCapsule(space_pneat,r[j],length[j]+.5); //set the length of the leg
//else
leg[segment][i][j].geom = dCreateCapsule(space,r[j],length[j]); //set the length of the leg
dGeomSetBody(leg[segment][i][j].geom,leg[segment][i][j].body);
}
}
// Formation of joints (and connecting them up)
for (int i = 0; i < num_legs; i++) {
for (int j = 0; j < num_links; j++) {
leg[segment][i][j].joint = dJointCreateHinge(world, 0);
if (j == 0){
dJointAttach(leg[segment][i][j].joint, torso[segment].body, leg[segment][i][j].body); //connects hip to the environment
dJointSetHingeParam(leg[segment][i][j].joint, dParamLoStop, -.50*M_PI); //prevent the hip forward-back from going more than 90 degrees
dJointSetHingeParam(leg[segment][i][j].joint, dParamHiStop, .50*M_PI);
}
else
dJointAttach(leg[segment][i][j].joint, leg[segment][i][j-1].body, leg[segment][i][j].body);
dJointSetHingeAnchor(leg[segment][i][j].joint, SX+x[i][j]+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS), SY+c_y[i][j],SZ+c_z[i][j]);
dJointSetHingeAxis(leg[segment][i][j].joint, axis_x[i][j], axis_y[i][j],axis_z[i][j]);
}
}
}
#ifdef USE_NLEG_ROBOT
// link torsos
for(int segment = 0; segment < BODY_SEGMENTS-1; ++segment) {
dReal segmentOffsetFromMiddle = segment - MIDDLE_BODY_SEGMENT;
switch (hingeType) {
case 1: //Hinge Joint, X axis (back-breaker)
torso[segment].joint = dJointCreateHinge(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetHingeAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
dJointSetHingeAxis (torso[segment].joint, 1.0, 0.0, 0.0);
break;
case 2: //Hinge Joint, Y axis (???)
torso[segment].joint = dJointCreateHinge(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetHingeAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
dJointSetHingeAxis (torso[segment].joint, 0.0, 1.0, 0.0);
break;
case 3: //Hinge Joint, Z axis (snake-like)
torso[segment].joint = dJointCreateHinge(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetHingeAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
dJointSetHingeAxis (torso[segment].joint, 0.0, 0.0, 1.0);
break;
case 4: // Slider, Y axis (??)
torso[segment].joint = dJointCreateSlider(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetSliderAxis (torso[segment].joint, 0.0, 1.0, 0.0);
break;
case 5: // Slider, X axis (extendo)
torso[segment].joint = dJointCreateSlider(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetSliderAxis (torso[segment].joint, 1.0, 0.0, 0.0);
break;
case 6: //Universal Joint
torso[segment].joint = dJointCreateUniversal(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetUniversalAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
dJointSetUniversalAxis1(torso[segment].joint, 0.0, 1.0, 0.0);
dJointSetUniversalAxis2(torso[segment].joint, 0.0, 0.0, 1.0);
break;
case 7: //Ball Joint
torso[segment].joint = dJointCreateBall(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetBallAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
break;
case 8: // Fixed
torso[segment].joint = dJointCreateHinge(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetHingeAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
dJointSetHingeAxis (torso[segment].joint, 1.0, 0.0, 0.0);
dJointSetHingeParam(torso[segment].joint, dParamLoStop, -0.00*M_PI); //prevent the hip forward-back from going more than 90 degrees
dJointSetHingeParam(torso[segment].joint, dParamHiStop, 0.00*M_PI);
break;
default:
assert(false); // not a valid hinge type
break;
}
}
#endif
}
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;
}
}
void PhysicsCapsuleGeom::onCreate(const PhysicsCapsuleGeom *)
{
_GeomID = dCreateCapsule(0, getRadius(), getLength());
setCategoryBits(dGeomGetCategoryBits(_GeomID));
setCollideBits(dGeomGetCollideBits(_GeomID));
}
/*** Formation of robot ***/
void makeRobot()
{
dReal torso_m = 10.0; // Mass of body
dReal l1m = 0.005,l2m = 0.5, l3m = 0.5; // Mass of leg segments
//for four legs
dReal x[num_legs][num_links] = {{ cx1, cx1, cx1},{-cx1,-cx1,-cx1},// Position of each link (x coordinate)
{-cx1,-cx1,-cx1},{ cx1, cx1, cx1}};
dReal y[num_legs][num_links] = {{ cy1, cy1, cy1},{ cy1, cy1, cy1},// Position of each link (y coordinate)
{-cy1,-cy1,-cy1},{-cy1,-cy1,-cy1}};
dReal z[num_legs][num_links] = { // Position of each link (z coordinate)
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2},
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2},
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2},
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2}};
dReal r[num_links] = { r1, r2, r3}; // radius of leg segment
dReal length[num_links] = { l1, l2, l3}; // Length of leg segment
dReal weight[num_links] = {l1m,l2m,l3m}; // Mass of leg segment
// //for one leg
// dReal axis_x[num_legs_pneat][num_links_pneat] = {{ 0,1, 0}};
// dReal axis_y[num_legs_pneat][num_links_pneat] = {{ 1,0, 1}};
// dReal axis_z[num_legs_pneat][num_links_pneat] = {{ 0,0, 0}};
//for four legs
dReal axis_x[num_legs][num_links] = {{ 0,1, 0},{ 0,1,0},{ 0, 1, 0},{ 0, 1, 0}};
dReal axis_y[num_legs][num_links] = {{ 1,0, 1},{ 1,0,1},{ 1, 0, 1},{ 1, 0, 1}};
dReal axis_z[num_legs][num_links] = {{ 0,0, 0},{ 0,0,0},{ 0, 0, 0},{ 0, 0, 0}};
// For mation of the body
dMass mass;
torso[0].body = dBodyCreate(world);
dMassSetZero(&mass);
dMassSetBoxTotal(&mass,torso_m, lx, ly, lz);
dBodySetMass(torso[0].body,&mass);
torso[0].geom = dCreateBox(space, lx, ly, lz);
dGeomSetBody(torso[0].geom, torso[0].body);
dBodySetPosition(torso[0].body, SX, SY, SZ);
// Formation of leg
dMatrix3 R; // Revolution queue
dRFromAxisAndAngle(R,1,0,0,M_PI/2); // 90 degrees to turn, parallel with the land
for (int i = 0; i < num_legs; i++) {
for (int j = 0; j < num_links; j++) {
leg[0][i][j].body = dBodyCreate(world);
if (j == 0) dBodySetRotation(leg[0][i][j].body,R);
dBodySetPosition(leg[0][i][j].body, SX+x[i][j], SY+y[i][j], SZ+z[i][j]);
dMassSetZero(&mass);
dMassSetCapsuleTotal(&mass,weight[j],3,r[j],length[j]);
dBodySetMass(leg[0][i][j].body, &mass);
//if(i==1 and j==2) //to set the length of one leg differently
//leg[i][j].geom = dCreateCapsule(space_pneat,r[j],length[j]+.5); //set the length of the leg
//else
leg[0][i][j].geom = dCreateCapsule(space,r[j],length[j]); //set the length of the leg
dGeomSetBody(leg[0][i][j].geom,leg[0][i][j].body);
}
}
// Formation of joints (and connecting them up)
for (int i = 0; i < num_legs; i++) {
for (int j = 0; j < num_links; j++) {
leg[0][i][j].joint = dJointCreateHinge(world, 0);
if (j == 0){
dJointAttach(leg[0][i][j].joint, torso[0].body, leg[0][i][j].body); //connects hip to the environment
dJointSetHingeParam(leg[0][i][j].joint, dParamLoStop, -.5*M_PI); //prevent the hip forward-back from going more than 90 degrees
dJointSetHingeParam(leg[0][i][j].joint, dParamHiStop, .5*M_PI);
}
else
dJointAttach(leg[0][i][j].joint, leg[0][i][j-1].body, leg[0][i][j].body);
dJointSetHingeAnchor(leg[0][i][j].joint, SX+c_x[i][j], SY+c_y[i][j],SZ+c_z[i][j]);
dJointSetHingeAxis(leg[0][i][j].joint, axis_x[i][j], axis_y[i][j],axis_z[i][j]);
}
}
}
// called when a key pressed
static void command( int cmd )
{
int i,k;
dReal sides[3];
dMass m;
cmd = locase( cmd );
if ( cmd == 'v' || cmd == 'b' || cmd == 'c' || cmd == 's' )
{
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 == 's' )
{
sides[0] *= 0.5;
dMassSetSphere( &m,DENSITY,sides[0] );
obj[i].geom[0] = dCreateSphere( space,sides[0] );
}
else if ( cmd == 'v' )
{
obj[i].geom[0] = dCreateConvex( space,
convexBunnyPlanes,
convexBunnyPlaneCount,
convexBunnyPoints,
convexBunnyPointCount,
convexBunnyPolygons );
/// Use equivalent TriMesh to set mass
dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle( new_tmdata, &Vertices[0], 3 * sizeof( float ), VertexCount,
( dTriIndex* )&Indices[0], IndexCount, 3 * sizeof( dTriIndex ) );
dGeomID triMesh = dCreateTriMesh( 0, new_tmdata, 0, 0, 0 );
dMassSetTrimesh( &m, DENSITY, triMesh );
dGeomDestroy( triMesh );
dGeomTriMeshDataDestroy( new_tmdata );
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] );
}
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;
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()*WORLD_SIZE-(WORLD_SIZE/2),dRandReal()*WORLD_SIZE-(WORLD_SIZE/2),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') {
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;
}
else if (cmd == 'o') {
draw_geom ^= 1;
}
}
int test_ccylinder_point_depth()
{
int j;
dVector3 p,a;
dMatrix3 R;
dReal r,l,beta,x,y,d;
dSimpleSpace space(0);
dGeomID ccyl = dCreateCapsule (0,1,1);
dSpaceAdd (space,ccyl);
// ********** make a random ccyl
r = dRandReal()*0.5 + 0.01;
l = dRandReal()*1 + 0.01;
dGeomCapsuleSetParams (ccyl,r,l);
dMakeRandomVector (p,3,1.0);
dGeomSetPosition (ccyl,p[0],p[1],p[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (ccyl,R);
// ********** test point on axis has depth of 'radius'
beta = dRandReal()-0.5;
for (j=0; j<3; j++) a[j] = p[j] + l*beta*R[j*4+2];
if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - r) >= tol)
FAILED();
// ********** test point on surface (excluding caps) has depth 0
beta = dRandReal()*2*M_PI;
x = r*sin(beta);
y = r*cos(beta);
beta = dRandReal()-0.5;
for (j=0; j<3; j++) a[j] = p[j] + x*R[j*4+0] + y*R[j*4+1] + l*beta*R[j*4+2];
if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2])) >= tol) FAILED();
// ********** test point on surface of caps has depth 0
for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
dNormalize3 (a);
if (dCalcVectorDot3_14(a,R+2) > 0) {
for (j=0; j<3; j++) a[j] = p[j] + a[j]*r + l*0.5*R[j*4+2];
}
else {
for (j=0; j<3; j++) a[j] = p[j] + a[j]*r - l*0.5*R[j*4+2];
}
if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2])) >= tol) FAILED();
// ********** test point inside ccyl has positive depth
for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
dNormalize3 (a);
beta = dRandReal()-0.5;
for (j=0; j<3; j++) a[j] = p[j] + a[j]*r*0.99 + l*beta*R[j*4+2];
if (dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) < 0) FAILED();
// ********** test point depth (1)
d = (dRandReal()*2-1) * r;
beta = dRandReal()*2*M_PI;
x = (r-d)*sin(beta);
y = (r-d)*cos(beta);
beta = dRandReal()-0.5;
for (j=0; j<3; j++) a[j] = p[j] + x*R[j*4+0] + y*R[j*4+1] + l*beta*R[j*4+2];
if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - d) >= tol)
FAILED();
// ********** test point depth (2)
d = (dRandReal()*2-1) * r;
for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
dNormalize3 (a);
if (dCalcVectorDot3_14(a,R+2) > 0) {
for (j=0; j<3; j++) a[j] = p[j] + a[j]*(r-d) + l*0.5*R[j*4+2];
}
else {
for (j=0; j<3; j++) a[j] = p[j] + a[j]*(r-d) - l*0.5*R[j*4+2];
}
if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - d) >= tol)
FAILED();
PASSED();
}
int main (int argc, char **argv)
{
dInitODE2(0);
bool fixed = true;
// setup pointers to drawstuff callback functions
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = &command;
fn.stop = 0;
fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
dVector3 offset;
dSetZero (offset, 4);
// Default test case
if (argc >= 2 )
{
for (int i=1; i < argc; ++i)
{
//static int tata = 0;
if (1)
{
if ( 0 == strcmp ("-h", argv[i]) || 0 == strcmp ("--help", argv[i]) )
Help (argv);
if ( 0 == strcmp ("-s", argv[i]) || 0 == strcmp ("--slider", argv[i]) )
type = dJointTypeSlider;
if ( 0 == strcmp ("-t", argv[i]) || 0 == strcmp ("--texture-path", argv[i]) )
{
int j = i+1;
if ( j+1 > argc || // Check if we have enough arguments
argv[j] == '\0' || // We should have a path here
argv[j][0] == '-' ) // We should have a path not a command line
Help (argv);
else
fn.path_to_textures = argv[++i]; // Increase i since we use this argument
}
}
if ( 0 == strcmp ("-1", argv[i]) || 0 == strcmp ("--offset1", argv[i]) )
tc = 1;
if ( 0 == strcmp ("-2", argv[i]) || 0 == strcmp ("--offset2", argv[i]) )
tc = 2;
if ( 0 == strcmp ("-3", argv[i]) || 0 == strcmp ("--offset3", argv[i]) )
tc = 3;
if (0 == strcmp ("-n", argv[i]) || 0 == strcmp ("--notFixed", argv[i]) )
fixed = false;
}
}
world = dWorldCreate();
dWorldSetERP (world, 0.8);
space = dSimpleSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
geom[GROUND] = dCreatePlane (space, 0,0,1,0);
dGeomSetCategoryBits (geom[GROUND], catBits[GROUND]);
dGeomSetCollideBits (geom[GROUND], catBits[ALL]);
dMass m;
dMatrix3 R;
// Create the Obstacle
geom[OBS] = dCreateBox (space, OBS_SIDES[0], OBS_SIDES[1], OBS_SIDES[2]);
dGeomSetCategoryBits (geom[OBS], catBits[OBS]);
dGeomSetCollideBits (geom[OBS], catBits[ALL]);
//Rotation of 45deg around y
dRFromAxisAndAngle (R, 1,1,0, -0.25*PI);
dGeomSetRotation (geom[OBS], R);
dGeomSetPosition (geom[OBS], 1.95, -0.2, 0.5);
//Rotation of 90deg around y
// Will orient the Z axis along X
dRFromAxisAndAngle (R, 0,1,0, -0.5*PI);
// Create Body2 (Wiil be attached to the world)
body[BODY2] = dBodyCreate (world);
// Main axis of cylinder is along X=1
dMassSetBox (&m, 1, BODY2_SIDES[0], BODY2_SIDES[1], BODY2_SIDES[2]);
dMassAdjust (&m, Mass1);
geom[BODY2] = dCreateBox (space, BODY2_SIDES[0], BODY2_SIDES[1], BODY2_SIDES[2]);
dGeomSetBody (geom[BODY2], body[BODY2]);
dGeomSetOffsetRotation (geom[BODY2], R);
dGeomSetCategoryBits (geom[BODY2], catBits[BODY2]);
dGeomSetCollideBits (geom[BODY2], catBits[ALL] & (~catBits[BODY1]) );
dBodySetMass (body[BODY2], &m);
// Create Body 1 (Slider on the prismatic axis)
body[BODY1] = dBodyCreate (world);
// Main axis of capsule is along X=1
dMassSetCapsule (&m, 1, 1, RADIUS, BODY1_LENGTH);
dMassAdjust (&m, Mass1);
geom[BODY1] = dCreateCapsule (space, RADIUS, BODY1_LENGTH);
dGeomSetBody (geom[BODY1], body[BODY1]);
dGeomSetOffsetRotation (geom[BODY1], R);
dGeomSetCategoryBits (geom[BODY1], catBits[BODY1]);
dGeomSetCollideBits (geom[BODY1], catBits[ALL] & ~catBits[BODY2] & ~catBits[RECT]);
dMass mRect;
dMassSetBox (&mRect, 1, RECT_SIDES[0], RECT_SIDES[1], RECT_SIDES[2]);
dMassAdd (&m, &mRect);
// TODO: translate m?
geom[RECT] = dCreateBox (space, RECT_SIDES[0], RECT_SIDES[1], RECT_SIDES[2]);
dGeomSetBody (geom[RECT], body[BODY1]);
dGeomSetOffsetPosition (geom[RECT],
(BODY1_LENGTH-RECT_SIDES[0]) /2.0,
0.0,
-RADIUS -RECT_SIDES[2]/2.0);
dGeomSetCategoryBits (geom[RECT], catBits[RECT]);
dGeomSetCollideBits (geom[RECT], catBits[ALL] & (~catBits[BODY1]) );
dBodySetMass (body[BODY1], &m);
setPositionBodies (tc);
if ( fixed )
{
// Attache external cylinder to the world
dJointID fixed = dJointCreateFixed (world,0);
dJointAttach (fixed , NULL, body[BODY2]);
dJointSetFixed (fixed );
dWorldSetGravity (world,0,0,-0.8);
}
else
{
dWorldSetGravity (world,0,0,0);
}
// The static is here only to help debugging
switch (type)
{
case dJointTypeSlider :
{
dSliderJoint *sj = new dSliderJoint (world, 0);
sj->attach (body[BODY1], body[BODY2]);
sj->setAxis (1, 0, 0);
joint = sj;
}
break;
case dJointTypePiston : // fall through default
default:
{
dPistonJoint *pj = new dPistonJoint (world, 0);
pj->attach (body[BODY1], body[BODY2]);
pj->setAxis (1, 0, 0);
dJointSetPistonAnchor(pj->id(), anchor[X], anchor[Y], anchor[Z]);
joint = pj;
}
break;
};
// run simulation
dsSimulationLoop (argc,argv,400,300,&fn);
delete joint;
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
dGeomID ColCapsule::CreateGeom( dSpaceID spaceID )
{
float scale = PhysicsServer::s_pInstance->GetWorldScale();
float height = m_Height - m_Radius*2.0f;
return dCreateCapsule( spaceID, m_Radius*scale, height*scale );
} // ColCapsule::CreateGeom
/*******************************************************************************
Function to initialize ODE.
*******************************************************************************/
void initODE()
{
///////////////// Initializing the ODE general features ////////////////////
dInitODE(); //Initialize library.
World = dWorldCreate(); //Crate a new dynamics, empty world.
Space = dSimpleSpaceCreate(0); //Create a new space for collision (independent).
ContactGroup = dJointGroupCreate(0); //Create a joints container, without specifying size.
dWorldSetGravity( World, 0.0, -9.81, 0 ); //Add gravity to this World.
//Define error conrrection constants.
dWorldSetERP( World, 0.2 );
dWorldSetCFM( World, 1e-5 );
//Set the velocity that interpenetrating objects will separate at.
dWorldSetContactMaxCorrectingVel( World, 0.9 );
//Set the safety area for contacts to be considered at rest.
dWorldSetContactSurfaceLayer( World, 0.001 );
//Automatically disable objects that have come to a rest.
dWorldSetAutoDisableFlag( World, false );
/////////////// Initializing the rigid bodies in the world /////////////////
//Create a collision plane and add it to space. The next parameters are the
//literal components of ax + by + cz = d.
dCreatePlane( Space, 0.0, 1.0, 0.0, 0.0 );
const dReal xPos = 0;
const dReal yPos = 5;
const dReal zPos = 0;
const dReal xRot = 0;
const dReal yRot = 0;
const dReal zRot = 0;
const dReal radius = .75;
const dReal length = 4;
const dReal sides[3] = { 2, 2, 2 };
//Create body
body.Body = dBodyCreate(World);
dBodySetPosition(body.Body, xPos, yPos, zPos);
dMatrix3 Orient3;
//dRFromAxisAndAngle(Orient3, 0, 0, 1, 3.14/4);
dRFromEulerAngles(Orient3, xRot, yRot, zRot);
//dRFromEulerAngles(Orient3, 0, 0, 0);
dBodySetRotation(body.Body, Orient3);
dBodySetLinearVel(body.Body, 0, 0, 0);
dBodySetData(body.Body, (void *)0);
dMass bodyMass;
dMassSetCapsule(&bodyMass, 1.0, 3, radius, length);
//dMassSetBox(&bodyMass, 10, sides[0], sides[1], sides[2]);
dBodySetMass(body.Body, &bodyMass);
body.Geom = dCreateCapsule(Space, radius, length);
//body.Geom = dCreateBox(Space, sides[0], sides[1], sides[2]);
dGeomSetBody(body.Geom, body.Body);
float head_pos[ 3 ] = { 0.0f, 5.0f, -1.0f };
createInvisibleHead( head_pos );
createFrontLegs();
createMiddleLegs();
createBackLegs();
rng_engine.seed( std::chrono::duration_cast< std::chrono::microseconds >( std::chrono::system_clock::now().time_since_epoch() ).count() );
const int foodPrize = 10;
dReal position[3] = { 10.0f, 0.0f, -20.0f };
addFoodParticle( position, foodPrize, &World, &Space );
}
int test_ray_and_ccylinder()
{
int j;
dContactGeom contact;
dVector3 p,a,b,n;
dMatrix3 R;
dReal r,l,k,x,y;
dSimpleSpace space(0);
dGeomID ray = dCreateRay (0,0);
dGeomID ccyl = dCreateCapsule (0,1,1);
dSpaceAdd (space,ray);
dSpaceAdd (space,ccyl);
// ********** make a random capped cylinder
r = dRandReal()*0.5 + 0.01;
l = dRandReal()*1 + 0.01;
dGeomCapsuleSetParams (ccyl,r,l);
dMakeRandomVector (p,3,1.0);
dGeomSetPosition (ccyl,p[0],p[1],p[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (ccyl,R);
// ********** test ray completely within ccyl
for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
dNormalize3 (a);
k = (dRandReal()-0.5)*l;
for (j=0; j<3; j++) a[j] = p[j] + r*0.99*a[j] + k*0.99*R[j*4+2];
for (j=0; j<3; j++) b[j] = dRandReal()-0.5;
dNormalize3 (b);
k = (dRandReal()-0.5)*l;
for (j=0; j<3; j++) b[j] = p[j] + r*0.99*b[j] + k*0.99*R[j*4+2];
dGeomRaySetLength (ray,dCalcPointsDistance3(a,b));
for (j=0; j<3; j++) b[j] -= a[j];
dNormalize3 (b);
dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray outside ccyl that just misses (between caps)
k = dRandReal()*2*M_PI;
x = sin(k);
y = cos(k);
for (j=0; j<3; j++) a[j] = x*R[j*4+0] + y*R[j*4+1];
k = (dRandReal()-0.5)*l;
for (j=0; j<3; j++) b[j] = -a[j]*r*2 + k*R[j*4+2] + p[j];
dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]);
dGeomRaySetLength (ray,r*0.99);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray outside ccyl that just hits (between caps)
dGeomRaySetLength (ray,r*1.01);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
// check depth of contact point
if (dFabs (dGeomCapsulePointDepth
(ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
FAILED();
// ********** test ray outside ccyl that just misses (caps)
for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
dNormalize3 (a);
if (dCalcVectorDot3_14(a,R+2) < 0) {
for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r + l*0.5*R[j*4+2];
}
else {
for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r - l*0.5*R[j*4+2];
}
dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]);
dGeomRaySetLength (ray,r*0.99);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray outside ccyl that just hits (caps)
dGeomRaySetLength (ray,r*1.01);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
// check depth of contact point
if (dFabs (dGeomCapsulePointDepth
(ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
FAILED();
// ********** test random rays
for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
for (j=0; j<3; j++) n[j] = dRandReal()-0.5;
dNormalize3 (n);
dGeomRaySet (ray,a[0],a[1],a[2],n[0],n[1],n[2]);
dGeomRaySetLength (ray,10);
if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom))) {
// check depth of contact point
if (dFabs (dGeomCapsulePointDepth
(ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
FAILED();
// check normal signs
if (dCalcVectorDot3 (n,contact.normal) > 0) FAILED();
draw_all_objects (space);
}
PASSED();
}
bool WorldManagerServer::loadMap(const Ogre::String& mapName)
{
WorldManager::loadMap(mapName);
//cleanup
for (std::vector<dGeomID>::iterator igeom = mStaticGeometries.begin();
igeom != mStaticGeometries.end(); igeom++) {
dGeomDestroy(*igeom);
}
//creating new game and loading new map
Ogre::DataStreamPtr stream = Ogre::ResourceGroupManager::getSingleton().openResource(mapName);
MyGUI::xml::xmlDocument xml;
if (!xml.open(stream))
return false;
MyGUI::xml::xmlNodePtr root_node = xml.getRoot();
if (root_node->getName() != "map")
return false;
MyGUI::xml::xmlNodeIterator inode = root_node->getNodeIterator();
while (inode.nextNode()) {
if (inode->getName() == "geom") {
Ogre::String type = inode->findAttribute("type");
std::vector<Ogre::String> params = Ogre::StringUtil::split(inode->findAttribute("size"), " ");
dGeomID geom;
if (type == "box") {
geom = dCreateBox(mStaticSpace,
Ogre::StringConverter::parseReal(params[0]),
Ogre::StringConverter::parseReal(params[1]),
Ogre::StringConverter::parseReal(params[2])
);
} else if (type == "sphere") {
geom = dCreateSphere(mStaticSpace,
Ogre::StringConverter::parseReal(params[0])
);
} else if (type == "cylinder") {
geom = dCreateCylinder(mStaticSpace,
Ogre::StringConverter::parseReal(params[0]),
Ogre::StringConverter::parseReal(params[1])
);
} else if (type == "capsule") {
geom = dCreateCapsule(mStaticSpace,
Ogre::StringConverter::parseReal(params[0]),
Ogre::StringConverter::parseReal(params[1])
);
} else if (type == "plane") {
geom = dCreatePlane(mStaticSpace,
Ogre::StringConverter::parseReal(params[0]),
Ogre::StringConverter::parseReal(params[1]),
Ogre::StringConverter::parseReal(params[2]),
Ogre::StringConverter::parseReal(params[3])
);
} else {
return false;
}
mStaticGeometries.push_back(geom);
} else {
return false;
}
}
return true;
}
static void command (int cmd)
{
size_t i;
int k;
dReal sides[3];
dMass m;
int setBody;
cmd = locase (cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'y')
{
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
if (obj[i].body) {
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 + platpos[0],
dRandReal()*2-1 + platpos[1],
dRandReal()+2 + platpos[2]);
dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
}
else
{
dBodySetPosition (obj[i].body,
platpos[0],
platpos[1],
platpos[2]+2);
dRSetIdentity (R);
}
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]);
}
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]);
}
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);
}
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 == ' ') {
mov_time = 0;
}
else if (cmd == 'm') {
mov_type = mov_type==1 ? 2 : 1;
mov_time = 0;
}
}
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;
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;
}
}
