void CRigidCapsule::setDensity(F32 density){
if(!mBodyID)
return;
dMass m;
dMassSetCappedCylinder(&m, TO_WORLD(density), 3, TO_PHYSICS(mDimentions.x), TO_PHYSICS(mDimentions.y));
dBodySetMass(mBodyID, &m);
}
IoObject *IoODEMass_setCappedCylinderDensity(IoODEMass *self, IoObject *locals, IoMessage *m)
{
const double density = IoMessage_locals_doubleArgAt_(m, locals, 0);
const double direction = IoMessage_locals_doubleArgAt_(m, locals, 1);
const double radius = IoMessage_locals_doubleArgAt_(m, locals, 2);
const double length = IoMessage_locals_doubleArgAt_(m, locals, 3);
dMassSetCappedCylinder(DATA(self), density, direction, radius, length);
return self;
}
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 );
}
static void command (int cmd)
{
size_t i;
int j,k;
dReal sides[3];
dMass m;
cmd = locase (cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x'
/* || cmd == 'l' */) {
if (num < NUM) {
i = num;
num++;
}
else {
i = nextobj;
nextobj++;
if (nextobj >= num) nextobj = 0;
// destroy the body and geoms for slot i
dBodyDestroy (obj[i].body);
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
}
memset (&obj[i],0,sizeof(obj[i]));
}
obj[i].body = dBodyCreate (world);
for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
dMatrix3 R;
if (random_pos) {
dBodySetPosition (obj[i].body,
dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
}
else {
dReal maxheight = 0;
for (k=0; k<num; k++) {
const dReal *pos = dBodyGetPosition (obj[k].body);
if (pos[2] > maxheight) maxheight = pos[2];
}
dBodySetPosition (obj[i].body, 0,0,maxheight+1);
dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
}
dBodySetRotation (obj[i].body,R);
dBodySetData (obj[i].body,(void*) i);
if (cmd == 'b') {
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
}
else if (cmd == 'c') {
sides[0] *= 0.5;
dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]);
}
/*
// cylinder option not yet implemented
else if (cmd == 'l') {
sides[1] *= 0.5;
dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
}
*/
else if (cmd == 's') {
sides[0] *= 0.5;
dMassSetSphere (&m,DENSITY,sides[0]);
obj[i].geom[0] = dCreateSphere (space,sides[0]);
}
else if (cmd == 'x') {
dGeomID g2[GPB]; // encapsulated geometries
dReal dpos[GPB][3]; // delta-positions for encapsulated geometries
// start accumulating masses for the encapsulated geometries
dMass m2;
dMassSetZero (&m);
// set random delta positions
for (j=0; j<GPB; j++) {
for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
}
for (k=0; k<GPB; k++) {
obj[i].geom[k] = dCreateGeomTransform (space);
dGeomTransformSetCleanup (obj[i].geom[k],1);
if (k==0) {
dReal radius = dRandReal()*0.25+0.05;
g2[k] = dCreateSphere (0,radius);
dMassSetSphere (&m2,DENSITY,radius);
}
else if (k==1) {
g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
}
else {
dReal radius = dRandReal()*0.1+0.05;
dReal length = dRandReal()*1.0+0.1;
g2[k] = dCreateCCylinder (0,radius,length);
dMassSetCappedCylinder (&m2,DENSITY,3,radius,length);
}
dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
// set the transformation (adjust the mass too)
dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
dMatrix3 Rtx;
dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
dGeomSetRotation (g2[k],Rtx);
dMassRotate (&m2,Rtx);
// add to the total mass
dMassAdd (&m,&m2);
}
// move all encapsulated objects so that the center of mass is (0,0,0)
for (k=0; k<2; k++) {
dGeomSetPosition (g2[k],
dpos[k][0]-m.c[0],
dpos[k][1]-m.c[1],
dpos[k][2]-m.c[2]);
}
dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
}
for (k=0; k < GPB; k++) {
if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
}
dBodySetMass (obj[i].body,&m);
}
if (cmd == ' ') {
selected++;
if (selected >= num) selected = 0;
if (selected < 0) selected = 0;
}
else if (cmd == 'd' && selected >= 0 && selected < num) {
dBodyDisable (obj[selected].body);
}
else if (cmd == 'e' && selected >= 0 && selected < num) {
dBodyEnable (obj[selected].body);
}
else if (cmd == 'a') {
show_aabb ^= 1;
}
else if (cmd == 't') {
show_contacts ^= 1;
}
else if (cmd == 'r') {
random_pos ^= 1;
}
else if (cmd == '1') {
write_world = 1;
}
}
