/* ------------------------
* メイン関数
------------------------ */
int main(int argc, char *argv[])
{
/* txtデータ読み込み */
LoadTxt("route.txt", routeX, routeY, routeZ, &lineRoute);
LoadTxt("obstacle.txt", obstX, obstY, obstZ, &lineObst);
/* ODEの初期化 */
dInitODE();
/* 描画関数の設定 */
setDrawStuff();
/* ワールド, スペース, 接触点グループの生成 */
world = dWorldCreate();
space = dHashSpaceCreate(0);
contactgroup = dJointGroupCreate(0);
/* 地面, 重力の生成 */
ground = dCreatePlane(space,0,0,1,0);
dWorldSetGravity(world, 0.0, 0.0, -9.8);
/* CFM, ERPの設定 */
dWorldSetCFM(world,1e-3);
dWorldSetERP(world,0.8);
/* 全方向移動ロボットの生成 */
t1 = clock();
MakeBox();
MakeOmni();
/* シミュレーションループ */
dsSimulationLoop(argc,argv,640,480,&fn);
/* 接触点グループ, スペース, ワールドの破壊, ODEの終了 */
dJointGroupDestroy(contactgroup);
dSpaceDestroy(space);
dWorldDestroy(world);
dCloseODE();
return 0;
}
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 = &command;
fn.stop = 0;
fn.path_to_textures = "../../drawstuff/textures";
// create world
world = dWorldCreate();
space = dHashSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
dWorldSetCFM (world,1e-5);
dWorldSetAutoDisableFlag (world,1);
dWorldSetContactMaxCorrectingVel (world,0.1);
dWorldSetContactSurfaceLayer (world,0.001);
dCreatePlane (space,0,0,1,0);
memset (obj,0,sizeof(obj));
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
return 0;
}
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 = &command;
fn.stop = 0;
fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
// create world
dInitODE2( 0 );
world = dWorldCreate();
space = dSimpleSpaceCreate( 0 );
contactgroup = dJointGroupCreate( 0 );
dWorldSetGravity( world,0,0,-0.5 );
dWorldSetCFM( world,1e-5 );
dCreatePlane( space,0,0,1,0 );
memset( obj,0,sizeof( obj ) );
// run simulation
dsSimulationLoop( argc,argv,352,288,&fn );
dJointGroupDestroy( contactgroup );
dSpaceDestroy( space );
dWorldDestroy( world );
dCloseODE();
return 0;
}
void constructWorldForTest (dReal gravity, int bodycount,
/* body 1 pos */ dReal pos1x, dReal pos1y, dReal pos1z,
/* body 2 pos */ dReal pos2x, dReal pos2y, dReal pos2z,
/* body 1 rotation axis */ dReal ax1x, dReal ax1y, dReal ax1z,
/* body 1 rotation axis */ dReal ax2x, dReal ax2y, dReal ax2z,
/* rotation angles */ dReal a1, dReal a2)
{
// create world
world = dWorldCreate();
dWorldSetERP (world,0.2);
dWorldSetCFM (world,1e-6);
dWorldSetGravity (world,0,0,gravity);
dMass m;
dMassSetBox (&m,1,SIDE,SIDE,SIDE);
dMassAdjust (&m,MASS);
body[0] = dBodyCreate (world);
dBodySetMass (body[0],&m);
dBodySetPosition (body[0], pos1x, pos1y, pos1z);
dQuaternion q;
dQFromAxisAndAngle (q,ax1x,ax1y,ax1z,a1);
dBodySetQuaternion (body[0],q);
if (bodycount==2) {
body[1] = dBodyCreate (world);
dBodySetMass (body[1],&m);
dBodySetPosition (body[1], pos2x, pos2y, pos2z);
dQFromAxisAndAngle (q,ax2x,ax2y,ax2z,a2);
dBodySetQuaternion (body[1],q);
}
else body[1] = 0;
}
CPhysicManager::CPhysicManager(IEngine* _Engine):CBaseObject(_Engine){
SetParam("BaseClass","PhysicManager");
SetParam("Type","CPhysicManager");
SetParam("Name","-");
dSetErrorHandler (SilenceMessage); //затыкаем рот идиотским ошибкам
dSetDebugHandler (SilenceMessage); //затыкаем рот идиотским ошибкам
dSetMessageHandler (SilenceMessage); //затыкаем рот идиотским ошибкам
calc_time= 0.0f;
world = dWorldCreate();
dWorldSetGravity(world, 0, 0, -0.01 );
space=dHashSpaceCreate(0);
contactgroup = dJointGroupCreate(0);
LOGGER->LogMsg("+CPhysicManager");
ptr_world = world;
ptr_contactgroup = contactgroup;
dWorldSetCFM(world, 1e-5);
dWorldSetERP(world, 0.2);
dWorldSetContactMaxCorrectingVel(world, 0.9);
dWorldSetContactSurfaceLayer(world, 0.001);
dWorldSetAutoDisableFlag(world, 1);
// ground =
#define SHIRINA 1000
//dGeomID tmp = dCreateBox( space, SHIRINA, SHIRINA, 1);
//dGeomSetPosition(tmp, SHIRINA/2, SHIRINA/2, 0); // двигаем центр координат
//tmp = dCreateBox( space, 1, SHIRINA, SHIRINA);
//dGeomSetPosition(tmp, 0, SHIRINA/2, SHIRINA/2); // двигаем центр координат
//tmp = dCreateBox( space, SHIRINA, 1, SHIRINA);
//dGeomSetPosition(tmp, SHIRINA/2, 0, SHIRINA/2); // двигаем центр координат
dCreatePlane (space,0,0,1,0);
//dCreatePlane (space,1,1,0,0);
//dCreatePlane (space,0,1,0,0);
//dCreatePlane (space,1,0,0,0);
//dCreatePlane (space,0,0,20,0);
//dCreatePlane (space,0,10,0,0);
//dCreatePlane (space,10,0,0,0);
//dCreatePlane (space,0,0,1,0);
//dCreatePlane (space,0,0,1,0);
//dCreatePlane (space,0,0,1,0);
//dCreatePlane (space,0,0,1,0);
//dCreatePlane (space,0,0,1,0);
};
void Scene::step( void )
{
//Our internal units are pixels, and at 160dpi there are 6300 pixels per meter
float gravity[3];
gravity[0] = (m_motion_lopass[0]*1 + m_motion_hipass[0]*10) * 6300;
gravity[1] = (m_motion_lopass[1]*1 + m_motion_hipass[1]*10) * 6300;
gravity[2] = (m_motion_lopass[2]*1 + m_motion_hipass[2]*10) * 6300;
float hisq = m_motion_hipass[0]*m_motion_hipass[0] + m_motion_hipass[1]*m_motion_hipass[1] + m_motion_hipass[2]*m_motion_hipass[2];
if( hisq > 1.0f )
{
int num_woken = 0;
for( SceneObj *obj_p=m_obj_p; obj_p; obj_p=obj_p->m_next_p )
{
if( !dBodyIsEnabled(obj_p->m_dbody) )
{
dBodyEnable( obj_p->m_dbody );
num_woken++;
if( num_woken == 3 )
break;
}
}
}
dWorldSetGravity( m_dworld, gravity[0], gravity[1], gravity[2] );
do_collision();
dWorldQuickStep( m_dworld, 1.0f/60.0f );
dJointGroupEmpty( m_colljoints );
}
int main(int argc, char** argv)
{
init_gfx();
init_2d();
// create world and set gravity
world = dWorldCreate();
dWorldSetGravity(world, 0, -5, 0);
// create a body for our ball
dBodyID body = dBodyCreate(world);
dBodySetPosition(body, 0, 0, 0);
for (;;) { // infinite loop
// get the position and move there in OpenGL
const dReal* pos = dBodyGetPosition(body);
glTranslatef(pos[0], pos[1], pos[2]);
draw_circle();
// integrate all bodies
dWorldQuickStep(world, 0.01);
// redraw screen
step();
}
}
// initialize server (supply world dimensions)
bool PhysicsServer::init(int groundSizeX, int groundSizeY)
{
if (groundSizeX <= 20 || groundSizeY <= 20)
return false;
// create global ODE world
_world = dWorldCreate();
// create global space
_space = dHashSpaceCreate(0);
// create group for handling collisions
_contactgroup = dJointGroupCreate (0);
// make ground a bit slippery :)
_envData.slip = 0.15;
// TODO: let user specify ground surface properties
// set world properties
dWorldSetGravity (_world,0,0,-(PHYS_GRAVITY*PHYS_MASS_SCALE));
dWorldSetERP (_world, 0.6);
// create ground and walls (0,0,0 is the ground's center)
// and put them in their own space
_envSpace = dSimpleSpaceCreate(_space);
_ground = dCreatePlane (_envSpace,0, 0, 1, 0);
dGeomSetData(_ground, (void*)&_envData);
_wall[0] = dCreatePlane(_envSpace, 1, 0, 0, -(groundSizeX/2.0) ); // a,b,c,d
_wall[1] = dCreatePlane(_envSpace, -1, 0, 0, -(groundSizeX/2.0) ); // a,b,c,d
_wall[2] = dCreatePlane(_envSpace, 0, 1, 0, -(groundSizeY/2.0) ); // a,b,c,d
_wall[3] = dCreatePlane(_envSpace, 0, -1, 0, -(groundSizeY/2.0) ); // a,b,c,d
return true;
}
// Called by Physics::Server when the Level is attached to the server.
void CLevel::Activate()
{
TimeToSim = 0.0;
// Initialize ODE //???per-Level?
dInitODE();
ODEWorldID = dWorldCreate();
dWorldSetQuickStepNumIterations(ODEWorldID, 20);
// FIXME(enno): is a quadtree significantly faster? -- can't count geoms with quadtree
ODECommonSpaceID = dSimpleSpaceCreate(NULL);
ODEDynamicSpaceID = dSimpleSpaceCreate(ODECommonSpaceID);
ODEStaticSpaceID = dSimpleSpaceCreate(ODECommonSpaceID);
dWorldSetGravity(ODEWorldID, Gravity.x, Gravity.y, Gravity.z);
dWorldSetContactSurfaceLayer(ODEWorldID, 0.001f);
dWorldSetContactMaxCorrectingVel(ODEWorldID, 100.0f);
dWorldSetERP(ODEWorldID, 0.2f); // ODE's default value
dWorldSetCFM(ODEWorldID, 0.001f); // the default is 10^-5
// setup autodisabling
dWorldSetAutoDisableFlag(ODEWorldID, 1);
dWorldSetAutoDisableSteps(ODEWorldID, 5);
//dWorldSetAutoDisableTime(ODEWorldID, 1.f);
dWorldSetAutoDisableLinearThreshold(ODEWorldID, 0.05f); // default is 0.01
dWorldSetAutoDisableAngularThreshold(ODEWorldID, 0.1f); // default is 0.01
// create a Contact group for joints
ContactJointGroup = dJointGroupCreate(0);
}
void PhysicsServer::SetGravity( Vec3 g )
{
m_Gravity = g;
Vec3 gr( g );
gr *= m_WorldScale;
if (m_WorldID) dWorldSetGravity( m_WorldID, gr.x, gr.y, gr.z );
} // PhysicsServer::SetGravity
void RigidBodyEnvironment::createWorld(void)
{
// BEGIN SETTING UP AN OPENDE ENVIRONMENT
// ***********************************
bodyWorld = dWorldCreate();
space = dHashSpaceCreate(0);
dWorldSetGravity(bodyWorld, 0, 0, -0.981);
double lx = 0.2;
double ly = 0.2;
double lz = 0.1;
dMassSetBox(&m, 1, lx, ly, lz);
boxGeom = dCreateBox(space, lx, ly, lz);
boxBody = dBodyCreate(bodyWorld);
dBodySetMass(boxBody, &m);
dGeomSetBody(boxGeom, boxBody);
// *********************************
// END SETTING UP AN OPENDE ENVIRONMENT
setPlanningParameters();
}
void CPHWorld::SetGravity(float g)
{
m_gravity =g;
dWorldID phWorld =0;
dWorldSetGravity (phWorld, 0,-m_gravity, 0);//-2.f*9.81f
}
void CDynamics3DEngine::Init(TConfigurationNode& t_tree) {
/* Init parent */
CPhysicsEngine::Init(t_tree);
/* Parse the XML */
GetNodeAttributeOrDefault(t_tree, "gravity", m_cGravity, CVector3(0.0f, 0.0f, -9.81f));
GetNodeAttributeOrDefault<Real>(t_tree, "erp", m_fERP, 0.8);
GetNodeAttributeOrDefault<Real>(t_tree, "cfm", m_fCFM, 0.01);
GetNodeAttributeOrDefault<UInt32>(t_tree, "iterations", m_unIterations, 20);
GetNodeAttributeOrDefault<size_t>(t_tree, "max_contacts", m_unMaxContacts, 32);
/* Init ODE stuff */
m_tWorldID = dWorldCreate();
m_tSpaceID = dHashSpaceCreate(0);
dSpaceSetSublevel(m_tSpaceID, 0);
m_tContactJointGroupID = dJointGroupCreate(0);
dWorldSetGravity(m_tWorldID, 0.0f, 0.0f, -9.81f);
dWorldSetERP(m_tWorldID, m_fERP);
dWorldSetCFM(m_tWorldID, m_fCFM);
dWorldSetQuickStepNumIterations(m_tWorldID, m_unIterations);
dInitODE();
/* Initialize contact information */
m_ptContacts = new dContact[m_unMaxContacts];
for(UInt32 i = 0; i < m_unMaxContacts; ++i) {
::memset(&(m_ptContacts[i].surface), 0, sizeof(dSurfaceParameters));
m_ptContacts[i].surface.mode = dContactMu2;
m_ptContacts[i].surface.mu = dInfinity;
m_ptContacts[i].surface.mu2 = dInfinity;
}
/* Add a planar floor */
m_tFloor = dCreatePlane(m_tSpaceID, 0, 0, 1.0f, 0.0f);
/* Set the random seed from a random number taken from ARGoS RNG */
m_pcRNG = CARGoSRandom::CreateRNG("argos");
dRandSetSeed(m_pcRNG->Uniform(CRange<UInt32>(1,65535)));
}
void HarrierSim::start2()
{
// setDrawStuff();
world = dWorldCreate();
space = dHashSpaceCreate(0);
contactgroup = dJointGroupCreate(0);
ground = dCreatePlane(space, 0, 0, 1, 0);
dWorldSetGravity(world,0,0,-0.5);
dWorldSetCFM (world,1e-6);
dWorldSetERP (world,1);
//dWorldSetAutoDisableFlag (world,1);
dWorldSetContactMaxCorrectingVel (world,0.1);
//set the contact penetration
dWorldSetContactSurfaceLayer(world, 0.001);
makeHarrier();
itsHarrierObject = vp->load3DSObject("./etc/spaceship.3ds", "./etc/textures/spaceshiptexture.ppm");
itsHarrierObject.scale = 0.1;
//set the viewpoint
double xyz[3] = {0 , 25.0, 20};
double hpr[3] = {-90.0,-35,0.0};
vp->dsSetViewpoint (xyz,hpr);
vp->setZoom(1.5);
}
/**
* \brief This function initializes the ode world.
*
* pre:
* - world_init = false
*
* post:
* - world, space and contactgroup should be created
* - the ODE world parameters should be set
* - at the end world_init have to become true
*/
void WorldPhysics::initTheWorld(void) {
MutexLocker locker(&iMutex);
// if world_init = true debug something
if (!world_init) {
//LOG_DEBUG("init physics world");
world = dWorldCreate();
space = dHashSpaceCreate(0);
contactgroup = dJointGroupCreate(0);
old_gravity = world_gravity;
old_cfm = world_cfm;
old_erp = world_erp;
dWorldSetGravity(world, world_gravity.x(), world_gravity.y(), world_gravity.z());
dWorldSetCFM(world, (dReal)world_cfm);
dWorldSetERP (world, (dReal)world_erp);
dWorldSetAutoDisableFlag (world,0);
// if usefull for some tests a ground can be created here
plane = 0; //dCreatePlane (space,0,0,1,0);
world_init = 1;
drawStruct draw;
draw.ptr_draw = (DrawInterface*)this;
if(control->graphics)
control->graphics->addDrawItems(&draw);
}
//printf("initTheWorld..\n");
}
void Simulator_Initialize(void) {
dInitODE2(0);
world = dWorldCreate();
space = dHashSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
ground = dCreatePlane (space,0,0,1,0);
}
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 = &command;
fn.stop = 0;
fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
// create world
dInitODE();
world = dWorldCreate();
#if 1
space = dHashSpaceCreate (0);
#elif 0
dVector3 center = {0,0,0}, extents = { 100, 100, 100};
space = dQuadTreeSpaceCreate(0, center, extents, 5);
#elif 0
space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
#else
space = dSimpleSpaceCreate(0);
#endif
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
dWorldSetCFM (world,1e-5);
dWorldSetLinearDamping(world, 0.00001);
dWorldSetAngularDamping(world, 0.005);
dWorldSetMaxAngularSpeed(world, 200);
dWorldSetContactSurfaceLayer (world,0.001);
ground = dCreatePlane (space,0,0,1,0);
memset (obj,0,sizeof(obj));
// create lift platform
platform = dCreateBox(space, 4, 4, 1);
dGeomSetCategoryBits(ground, 1ul);
dGeomSetCategoryBits(platform, 2ul);
dGeomSetCollideBits(ground, ~2ul);
dGeomSetCollideBits(platform, ~1ul);
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
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 = &command;
fn.stop = 0;
fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
if(argc==2)
{
fn.path_to_textures = argv[1];
}
// create world
dInitODE2(0);
world = dWorldCreate();
space = dSimpleSpaceCreate(0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
dWorldSetCFM (world,1e-5);
dCreatePlane (space,0,0,1,0);
memset (obj,0,sizeof(obj));
// note: can't share tridata if intending to trimesh-trimesh collide
TriData1 = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
TriData2 = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
TriMesh1 = dCreateTriMesh(space, TriData1, 0, 0, 0);
TriMesh2 = dCreateTriMesh(space, TriData2, 0, 0, 0);
dGeomSetData(TriMesh1, TriData1);
dGeomSetData(TriMesh2, TriData2);
{dGeomSetPosition(TriMesh1, 0, 0, 0.9);
dMatrix3 Rotation;
dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
dGeomSetRotation(TriMesh1, Rotation);}
{dGeomSetPosition(TriMesh2, 1, 0, 0.9);
dMatrix3 Rotation;
dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
dGeomSetRotation(TriMesh2, Rotation);}
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
void ODEDomain::setGravity(double x, double y, double z)
{
/*gravity_vector[0]=x;
gravity_vector[1]=y;
gravity_vector[2]=z;*/
BaseDomain::setGravity(x,y,z);
dWorldSetGravity(world,x,y,z);
}
WorldManagerServer::WorldManagerServer()
{
dInitODE();
mWorld = dWorldCreate();
mGlobalSpace = dHashSpaceCreate(0);
mContactGroup = dJointGroupCreate(0);
dWorldSetGravity(mWorld, 0, -100, 0);
mStaticSpace = dSimpleSpaceCreate(mGlobalSpace);
}
int main(int argc, char *argv[]) {
dsFunctions fn;
double x[4] = {0.00}, y[4] = {0.00}; // Center of gravity
double z[4] = { 0.05, 0.50, 1.50, 2.55};
double m[4] = {10.00, 2.00, 2.00, 2.00}; // mass
double anchor_x[4] = {0.00}, anchor_y[4] = {0.00};// anchors of joints
double anchor_z[4] = { 0.00, 0.10, 1.00, 2.00};
double axis_x[4] = { 0.00, 0.00, 0.00, 0.00}; // axises of joints
double axis_y[4] = { 0.00, 0.00, 1.00, 1.00};
double axis_z[4] = { 1.00, 1.00, 0.00, 0.00};
fn.version = DS_VERSION;
fn.start = &init;
fn.step = &simLoop;
fn.command = &command;
fn.path_to_textures = "drawstuff_texture";
dInitODE(); // Initialize ODE
world = dWorldCreate(); // Create a world
dWorldSetGravity(world, 0, 0, -9.8);
bool isDrawingEnabled = true;
Leg leg(world);
LegDraw legDraw(&leg);
/*
for (int i = 0; i < NUM; i++) {
dMass mass;
link[i] = dBodyCreate(world);
dBodySetPosition(link[i], x[i], y[i], z[i]); // Set a position
dMassSetZero(&mass); // Set mass parameter to zero
dMassSetCapsuleTotal(&mass,m[i],3,r[i],l[i]); // Calculate mass parameter
dBodySetMass(link[i], &mass); // Set mass
}
joint[0] = dJointCreateFixed(world, 0); // A fixed joint
dJointAttach(joint[0], link[0], 0); // Attach the joint between the ground and the base
dJointSetFixed(joint[0]); // Set the fixed joint
for (int j = 1; j < NUM; j++) {
joint[j] = dJointCreateHinge(world, 0); // Create a hinge joint
dJointAttach(joint[j], link[j-1], link[j]); // Attach the joint
dJointSetHingeAnchor(joint[j], anchor_x[j], anchor_y[j],anchor_z[j]);
dJointSetHingeAxis(joint[j], axis_x[j], axis_y[j], axis_z[j]);
}*/
dsSimulationLoop(argc, argv, 640, 480, &fn); // Simulation loop
dCloseODE();
return 0;
}
/*** シミュレーションの初期化 ***/
void dmInit()
{
dInitODE(); // ODEの初期化
world = dWorldCreate(); // 世界の創造
dWorldSetGravity(world, 0.0,0.0,-9.8); // 重力設定
space = dHashSpaceCreate(0); // 衝突用空間の創造
contactgroup = dJointGroupCreate(0); // ジョイントグループの生成
ground = dCreatePlane(space,0,0,1,0); // 地面（平面ジオメトリ）の生成
dsSetSphereQuality(3);
}
int main (int argc, char **argv)
{
int i;
dReal k;
dMass m;
/* 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/textures";
if(argc==2)
{
fn.path_to_textures = argv[1];
}
/* create world */
dInitODE();
world = dWorldCreate();
space = dHashSpaceCreate (0);
contactgroup = dJointGroupCreate (1000000);
dWorldSetGravity (world,0,0,-0.5);
dCreatePlane (space,0,0,1,0);
for (i=0; i<NUM; i++) {
body[i] = dBodyCreate (world);
k = i*SIDE;
dBodySetPosition (body[i],k,k,k+0.4);
dMassSetBox (&m,1,SIDE,SIDE,SIDE);
dMassAdjust (&m,MASS);
dBodySetMass (body[i],&m);
sphere[i] = dCreateSphere (space,RADIUS);
dGeomSetBody (sphere[i],body[i]);
}
for (i=0; i<(NUM-1); i++) {
joint[i] = dJointCreateBall (world,0);
dJointAttach (joint[i],body[i],body[i+1]);
k = (i+0.5)*SIDE;
dJointSetBallAnchor (joint[i],k,k,k+0.4);
}
/* run simulation */
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
int main (int argc, char **argv)
{
// 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
dWorldSetGravity(world,0,0,-0.1);
dMass m; // a parameter for mass
dMassSetZero (&m); // initialize the parameter
//@a sphere
sphere.body = dBodyCreate (world); // create a rigid body
dReal radius = 0.5; // radius [m]
dMassSetSphere (&m,DENSITY,radius); // calculate a mass parameter for a sphere
dBodySetMass (sphere.body,&m); // set the mass parameter to the body
dBodySetPosition (sphere.body,0,1, 1); // set the position of the body
//@a box
box.body = dBodyCreate (world);
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
dBodySetMass (box.body,&m);
dBodySetPosition (box.body,0,2,1);
// a capsule
capsule.body = dBodyCreate (world);
dMassSetCapsule(&m,DENSITY,3,radius,length);
dBodySetMass (capsule.body,&m);
dBodySetPosition (capsule.body,0,4,1);
// a cylinder
cylinder.body = dBodyCreate (world);
dMassSetCylinder(&m,DENSITY,3,radius,length);
dBodySetMass (cylinder.body,&m);
dBodySetPosition (cylinder.body,0,3,1);
// do the simulation
dsSimulationLoop (argc,argv,960,480,&fn);
dWorldDestroy (world); // destroy the world
dCloseODE(); // close ODE
return 0;
}
void ode::reset()
{
world = dWorldCreate();
space = dSweepAndPruneSpaceCreate(0, dSAP_AXES_XYZ );
dWorldSetGravity (world,0,300,0);
dWorldSetCFM (world, 1e-5);
dWorldSetERP (world, 0.8);
//dWorldSetQuickStepNumIterations (world,ITERS);
ground = dCreatePlane (space,0,0,100,0);
}
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.stop = 0;
fn.command = 0;
fn.path_to_textures = "../../drawstuff/textures";
dInitODE ();
// create world
world = dWorldCreate ();
space = dHashSpaceCreate (0);
dWorldSetGravity (world,0,0,0); //Original Gravity = -0.2
dWorldSetCFM (world,1e-5);
dCreatePlane (space,0,0,1,0);
contactgroup = dJointGroupCreate (0);
// create object
sphere0 = dBodyCreate (world);
sphere0_geom = dCreateSphere (space,0.5);
dMassSetSphere (&m,1,0.5);
dBodySetMass (sphere0,&m);
dGeomSetBody (sphere0_geom,sphere0);
sphere1 = dBodyCreate (world);
sphere1_geom = dCreateSphere (space,0.5);
dMassSetSphere (&m,1,0.5);
dBodySetMass (sphere1,&m);
dGeomSetBody (sphere1_geom,sphere1);
sphere2 = dBodyCreate (world);
sphere2_geom = dCreateSphere (space,0.5);
dMassSetSphere (&m,1,0.5);
dBodySetMass (sphere2,&m);
dGeomSetBody (sphere2_geom,sphere2);
// set initial position
dBodySetPosition (sphere0,0,0,4);
dBodySetPosition (sphere1,5,0,4);
dBodySetPosition (sphere2,-2,0,4);
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
// clean up
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
int startup_physics(void)
{
dInitODE();
world = dWorldCreate();
space = dHashSpaceCreate(0);
group = dJointGroupCreate(0);
dWorldSetGravity(world, 0, (dReal) -9.8, 0);
// dWorldSetAutoDisableFlag(world, 1);
return 1;
}
void initWorldModelling(int testcase)
{
/* create world */
dRandSetSeed(1);
dInitODE();
//dInitODE2(dInitFlagManualThreadCleanup);
//dAllocateODEDataForThread(dAllocateMaskAll);
world = dWorldCreate();
space = dHashSpaceCreate (0);
//dWorldSetAutoDisableFlag(World, 1);
// The parameter needs to be zero.
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,-9.81f,0);
dWorldSetCFM (world,1e-2f); //1e-5f was the originally value used.
dWorldSetERP(world,1.0f); // 1 is Error Correction is applied.
// Set Damping
dWorldSetLinearDamping(world, 0.01f); // 0.00001
dWorldSetAngularDamping(world, 0.005f); // 0.005
dWorldSetMaxAngularSpeed(world, 200);
// Set and get the depth of the surface layer around all geometry objects. Contacts are allowed to sink into the surface layer up to the given depth before coming to rest. The default value is zero. Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts being repeatedly made and broken.
dWorldSetContactSurfaceLayer (world,0.001f);
ground = dCreatePlane (space,0,1,0,0);
switch(testcase)
{
case 1:initIslands();test1();break;// Carrier stability
case 2:initIslands();test1();test2();break;// Manta landing on island.
case 3:initIslands();test1();test2();test3();break;// Manta crashing on structure
case 4:initIslands();test1();test2();test3();test4();break;// Manta landing on runway
case 5:initIslands();test1();test2();break;// Manta landing on aircraft
case 6:initIslands();test1();test6();break;// Carrier stranded on island
case 7:test1();test2();test7();break; //Manta crashing on water.
case 8:initIslands();test1();test8();break; // Walrus reaching island.
case 9:test1();test9();break; // Walrus stability.
case 10:initIslands();test1();test10();break; // Walrus arrive to island and build the command center.
case 11:initIslands();test11();break; // Carrier stability far away.
case 12:initIslands();test1();test12();break; // Bullets
case 13:initIslands();test13();break;
default:initIslands();test1();break;
}
testing = testcase;
}
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;
}
/***********************************************************
init function
***********************************************************/
void ODEPhysicHandler::Init()
{
dInitODE2(0);
dAllocateODEDataForThread(dAllocateFlagCollisionData);
_world = dWorldCreate();
_space = dHashSpaceCreate(0);
// Set up gravity force
dWorldSetGravity(_world, 0, -9.81f, 0);
// Create contact group
_contactgroup = dJointGroupCreate(0);
}
