Ejemplo n.º 1
0
	void ODESimulator::setSolverAccuracy(SolverAccuracyLevel level)
	{
		Simulator::setSolverAccuracy(level);

		switch (level)
		{
			case SOLVER_ACCURACY_VERY_LOW:
				mSolverType = SOLVER_QUICKSTEP;
				dWorldSetQuickStepNumIterations(mWorldID, 5);
				break;
			case SOLVER_ACCURACY_LOW:
				mSolverType = SOLVER_QUICKSTEP;
				dWorldSetQuickStepNumIterations(mWorldID, 10);
				break;
			case SOLVER_ACCURACY_MEDIUM:
				mSolverType = SOLVER_QUICKSTEP;
				// 20 is the default in ODE
				dWorldSetQuickStepNumIterations(mWorldID, 20);
				break;
			case SOLVER_ACCURACY_HIGH:
				mSolverType = SOLVER_QUICKSTEP;
				dWorldSetQuickStepNumIterations(mWorldID, 40);
				break;
			case SOLVER_ACCURACY_VERY_HIGH:
				mSolverType = SOLVER_WORLDSTEP;
				break;
			default:
				assert(false);
				break;
		}
	}
Ejemplo n.º 2
0
// 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);
}
Ejemplo n.º 3
0
void avancarPasso(dReal dt)
{
    dWorldSetQuickStepNumIterations (world, 20);
    dSpaceCollide(space,0,&nearCallback);
    dWorldQuickStep(world, dt);		// Esse valor deve ser sincronizado com as chamadas da função.
    dJointGroupEmpty(contactgroup);
}
Ejemplo n.º 4
0
 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)));
 }
Ejemplo n.º 5
0
int main(int argc, char **argv)
{
    dInitODE();
    
    // 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;
    
    
    world = dWorldCreate();
    dWorldSetGravity(world, 0, 0, -0.5);
    dWorldSetQuickStepNumIterations(world, 50); // <-- increase for more stability
    
    space = dSimpleSpaceCreate(0);
    contactgroup = dJointGroupCreate(0);
    dGeomID ground = dCreatePlane(space, 0, 0, 1, 0);
    
    place_cards();
    
    // run simulation
    dsSimulationLoop (argc, argv, 640, 480, &fn);
    
    levels = 0;
    place_cards();
    
    dJointGroupDestroy(contactgroup);
    dWorldDestroy(world);
    dGeomDestroy(ground);
    dSpaceDestroy(space);
    
    dCloseODE();
}
Ejemplo n.º 6
0
bool Simulation::loadFile(const std::string& filename, std::list<std::string>& errors)
{
  ASSERT(scene == 0);

  Parser parser;
  if(!parser.parse(filename, errors))
    return false;

  ASSERT(scene);

  dInitODE();
  physicalWorld = dWorldCreate();
  rootSpace = dHashSpaceCreate(0);
  staticSpace = dHashSpaceCreate(rootSpace);
  movableSpace = dHashSpaceCreate(rootSpace);
  contactGroup = dJointGroupCreate(0);

  dWorldSetGravity(physicalWorld, 0, 0, scene->gravity);
  if(scene->erp != -1.f)
    dWorldSetERP(physicalWorld, scene->erp);
  if(scene->cfm != -1.f)
    dWorldSetCFM(physicalWorld, scene->cfm);
  if(scene->quickSolverIterations != -1)
    dWorldSetQuickStepNumIterations(physicalWorld, scene->quickSolverIterations);
#ifdef MULTI_THREADING
  threading = dThreadingAllocateMultiThreadedImplementation();
  pool = dThreadingAllocateThreadPool(std::thread::hardware_concurrency(), 0, dAllocateFlagBasicData, nullptr);
  dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
  dWorldSetStepThreadingImplementation(physicalWorld, dThreadingImplementationGetFunctions(threading), threading);
#endif

  scene->createPhysics();

  renderer.init();

  return true;
}
Ejemplo n.º 7
0
bool physics_init(void)
{
	printlog(0, "Initiating physics");
	dInitODE2(0);
	dAllocateODEDataForThread(dAllocateFlagBasicData | dAllocateFlagCollisionData);

	world = dWorldCreate();

	//TODO: move to "dQuadTreeSpaceCreate()" - much better performance!!!
	printlog(1, "TODO: create world space using dQuadTreeSpaceCreate() - much better performance!");
	space = dHashSpaceCreate(0);
	contactgroup = dJointGroupCreate(0);

	dWorldSetQuickStepNumIterations (world, internal.iterations);

	//autodisable
	dWorldSetAutoDisableFlag (world, 1);
	dWorldSetAutoDisableLinearThreshold (world, internal.dis_linear);
	dWorldSetAutoDisableAngularThreshold (world, internal.dis_angular);
	dWorldSetAutoDisableSteps (world, internal.dis_steps);
	dWorldSetAutoDisableTime (world, internal.dis_time);
	
	return true;
}
Ejemplo n.º 8
0
int main (int argc, char **argv)
{
  dMass m;

  // 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 = dHashSpaceCreate (0);
  contactgroup = dJointGroupCreate (0);
  dWorldSetGravity (world,0,0,-9.8);
  dWorldSetQuickStepNumIterations (world, 32);

  dCreatePlane (space,0,0,1, 0.0);

  cylbody = dBodyCreate (world);
  dQuaternion q;
#if 0
  dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
#else
//  dQFromAxisAndAngle (q,1,0,0, M_PI * 1.0);
  dQFromAxisAndAngle (q,1,0,0, M_PI * -0.77);
#endif
  dBodySetQuaternion (cylbody,q);
  dMassSetCylinder (&m,1.0,3,CYLRADIUS,CYLLENGTH);
  dBodySetMass (cylbody,&m);
  cylgeom = dCreateCylinder(0, CYLRADIUS, CYLLENGTH);
  dGeomSetBody (cylgeom,cylbody);
  dBodySetPosition (cylbody, 0, 0, 3);
  dSpaceAdd (space, cylgeom);

  sphbody = dBodyCreate (world);
  dMassSetSphere (&m,1,SPHERERADIUS);
  dBodySetMass (sphbody,&m);
  sphgeom = dCreateSphere(0, SPHERERADIUS);
  dGeomSetBody (sphgeom,sphbody);
  dBodySetPosition (sphbody, 0, 0, 5.5);
  dSpaceAdd (space, sphgeom);

  // run simulation
  dsSimulationLoop (argc,argv,352,288,&fn);

  dJointGroupEmpty (contactgroup);
  dJointGroupDestroy (contactgroup);

  dGeomDestroy(sphgeom);
  dGeomDestroy (cylgeom);

  dSpaceDestroy (space);
  dWorldDestroy (world);
  dCloseODE();
  return 0;
}
Ejemplo n.º 9
0
void resetSimulation()
{
	int i;
	i = 0;
	// destroy world if it exists
	if (bodies)
	{
		dJointGroupDestroy (contactgroup);
		dSpaceDestroy (space);
		dWorldDestroy (world);
	}
	
	for (i = 0; i < 1000; i++)
		wb_stepsdis[i] = 0;

	// recreate world
	
	world = dWorldCreate();

//	space = dHashSpaceCreate( 0 );
//	space = dSimpleSpaceCreate( 0 );
	space = dSweepAndPruneSpaceCreate( 0, dSAP_AXES_XYZ );

	contactgroup = dJointGroupCreate (0);
	dWorldSetGravity (world,0,0,-1.5);
	dWorldSetCFM (world, 1e-5);
	dWorldSetERP (world, 0.8);
	dWorldSetQuickStepNumIterations (world,ITERS);
	ground = dCreatePlane (space,0,0,1,0);
	
	bodies = 0;
	joints = 0;
	boxes = 0;
	spheres = 0;
	wb = 0;
	
#ifdef CARS
	for (dReal x = 0.0; x < COLS*(LENGTH+RADIUS); x += LENGTH+RADIUS)
		for (dReal y = -((ROWS-1)*(WIDTH/2+RADIUS)); y <= ((ROWS-1)*(WIDTH/2+RADIUS)); y += WIDTH+RADIUS*2)
			makeCar(x, y, bodies, joints, boxes, spheres);
#endif
#ifdef WALL
	bool offset = false;
	for (dReal z = WBOXSIZE/2.0; z <= WALLHEIGHT; z+=WBOXSIZE)
	{
		offset = !offset;
		for (dReal y = (-WALLWIDTH+z)/2; y <= (WALLWIDTH-z)/2; y+=WBOXSIZE)
		{
			wall_bodies[wb] = dBodyCreate (world);
			dBodySetPosition (wall_bodies[wb],-20,y,z);
			dMassSetBox (&m,1,WBOXSIZE,WBOXSIZE,WBOXSIZE);
			dMassAdjust (&m, WALLMASS);
			dBodySetMass (wall_bodies[wb],&m);
			wall_boxes[wb] = dCreateBox (space,WBOXSIZE,WBOXSIZE,WBOXSIZE);
			dGeomSetBody (wall_boxes[wb],wall_bodies[wb]);
			//dBodyDisable(wall_bodies[wb++]);
			wb++;
		}
	}
	dMessage(0,"wall boxes: %i", wb);
#endif
#ifdef BALLS
	for (dReal x = -7; x <= -4; x+=1)
		for (dReal y = -1.5; y <= 1.5; y+=1)
			for (dReal z = 1; z <= 4; z+=1)
			{
				b = dBodyCreate (world);
				dBodySetPosition (b,x*RADIUS*2,y*RADIUS*2,z*RADIUS*2);
				dMassSetSphere (&m,1,RADIUS);
				dMassAdjust (&m, BALLMASS);
				dBodySetMass (b,&m);
				sphere[spheres] = dCreateSphere (space,RADIUS);
				dGeomSetBody (sphere[spheres++],b);
			}
#endif
#ifdef ONEBALL
	b = dBodyCreate (world);
	dBodySetPosition (b,0,0,2);
	dMassSetSphere (&m,1,RADIUS);
	dMassAdjust (&m, 1);
	dBodySetMass (b,&m);
	sphere[spheres] = dCreateSphere (space,RADIUS);
	dGeomSetBody (sphere[spheres++],b);
#endif
#ifdef BALLSTACK
	for (dReal z = 1; z <= 6; z+=1)
	{
		b = dBodyCreate (world);
		dBodySetPosition (b,0,0,z*RADIUS*2);
		dMassSetSphere (&m,1,RADIUS);
		dMassAdjust (&m, 0.1);
		dBodySetMass (b,&m);
		sphere[spheres] = dCreateSphere (space,RADIUS);
		dGeomSetBody (sphere[spheres++],b);
	}
#endif
#ifdef CENTIPEDE
	dBodyID lastb = 0;
	for (dReal y = 0; y < 10*LENGTH; y+=LENGTH+0.1)
	{
		// chassis body
		
		b = body[bodies] = dBodyCreate (world);
		dBodySetPosition (body[bodies],-15,y,STARTZ);
		dMassSetBox (&m,1,WIDTH,LENGTH,HEIGHT);
		dMassAdjust (&m,CMASS);
		dBodySetMass (body[bodies],&m);
		box[boxes] = dCreateBox (space,WIDTH,LENGTH,HEIGHT);
		dGeomSetBody (box[boxes++],body[bodies++]);
		
		for (dReal x = -17; x > -20; x-=RADIUS*2)
		{
			body[bodies] = dBodyCreate (world);
			dBodySetPosition(body[bodies], x, y, STARTZ);
			dMassSetSphere(&m, 1, RADIUS);
			dMassAdjust(&m, WMASS);
			dBodySetMass(body[bodies], &m);
			sphere[spheres] = dCreateSphere (space, RADIUS);
			dGeomSetBody (sphere[spheres++], body[bodies]);
			
			joint[joints] = dJointCreateHinge2 (world,0);
			if (x == -17)
				dJointAttach (joint[joints],b,body[bodies]);
			else
				dJointAttach (joint[joints],body[bodies-2],body[bodies]);
			const dReal *a = dBodyGetPosition (body[bodies++]);
			dJointSetHinge2Anchor (joint[joints],a[0],a[1],a[2]);
			dJointSetHinge2Axis1 (joint[joints],0,0,1);
			dJointSetHinge2Axis2 (joint[joints],1,0,0);
			dJointSetHinge2Param (joint[joints],dParamSuspensionERP,1.0);
			dJointSetHinge2Param (joint[joints],dParamSuspensionCFM,1e-5);
			dJointSetHinge2Param (joint[joints],dParamLoStop,0);
			dJointSetHinge2Param (joint[joints],dParamHiStop,0);
			dJointSetHinge2Param (joint[joints],dParamVel2,-10.0);
			dJointSetHinge2Param (joint[joints++],dParamFMax2,FMAX);

			body[bodies] = dBodyCreate (world);
			dBodySetPosition(body[bodies], -30 - x, y, STARTZ);
			dMassSetSphere(&m, 1, RADIUS);
			dMassAdjust(&m, WMASS);
			dBodySetMass(body[bodies], &m);
			sphere[spheres] = dCreateSphere (space, RADIUS);
			dGeomSetBody (sphere[spheres++], body[bodies]);
			
			joint[joints] = dJointCreateHinge2 (world,0);
			if (x == -17)
				dJointAttach (joint[joints],b,body[bodies]);
			else
				dJointAttach (joint[joints],body[bodies-2],body[bodies]);
			const dReal *b = dBodyGetPosition (body[bodies++]);
			dJointSetHinge2Anchor (joint[joints],b[0],b[1],b[2]);
			dJointSetHinge2Axis1 (joint[joints],0,0,1);
			dJointSetHinge2Axis2 (joint[joints],1,0,0);
			dJointSetHinge2Param (joint[joints],dParamSuspensionERP,1.0);
			dJointSetHinge2Param (joint[joints],dParamSuspensionCFM,1e-5);
			dJointSetHinge2Param (joint[joints],dParamLoStop,0);
			dJointSetHinge2Param (joint[joints],dParamHiStop,0);
			dJointSetHinge2Param (joint[joints],dParamVel2,10.0);
			dJointSetHinge2Param (joint[joints++],dParamFMax2,FMAX);
		}
		if (lastb)
		{
			dJointID j = dJointCreateFixed(world,0);
			dJointAttach (j, b, lastb);
			dJointSetFixed(j);
		}
		lastb = b;
	}
#endif
#ifdef BOX
	body[bodies] = dBodyCreate (world);
	dBodySetPosition (body[bodies],0,0,HEIGHT/2);
	dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT);
	dMassAdjust (&m, 1);
	dBodySetMass (body[bodies],&m);
	box[boxes] = dCreateBox (space,LENGTH,WIDTH,HEIGHT);
	dGeomSetBody (box[boxes++],body[bodies++]);	
#endif
#ifdef CANNON
	cannon_ball_body = dBodyCreate (world);
	cannon_ball_geom = dCreateSphere (space,CANNON_BALL_RADIUS);
	dMassSetSphereTotal (&m,CANNON_BALL_MASS,CANNON_BALL_RADIUS);
	dBodySetMass (cannon_ball_body,&m);
	dGeomSetBody (cannon_ball_geom,cannon_ball_body);
	dBodySetPosition (cannon_ball_body,CANNON_X,CANNON_Y,CANNON_BALL_RADIUS);
#endif
}
Ejemplo n.º 10
0
int main (int argc, char **argv)
{
  dMass m;

  // 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 = dHashSpaceCreate (0);
  contactgroup = dJointGroupCreate (0);
  dWorldSetGravity (world,0,0,-9.8);
  dWorldSetQuickStepNumIterations (world, 20);

  int i;
  for (i=0; i<SEGMCNT; i++)
  {
    segbodies[i] = dBodyCreate (world);
    dBodySetPosition(segbodies[i], i - SEGMCNT/2.0, 0, 5);
    dMassSetBox (&m, 1, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]);
    dBodySetMass (segbodies[i], &m);
    seggeoms[i] = dCreateBox (0, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]);
    dGeomSetBody (seggeoms[i], segbodies[i]);
    dSpaceAdd (space, seggeoms[i]);
  }

  for (i=0; i<SEGMCNT-1; i++)
  {
    hinges[i] = dJointCreateHinge (world,0);
    dJointAttach (hinges[i], segbodies[i],segbodies[i+1]);
    dJointSetHingeAnchor (hinges[i], i + 0.5 - SEGMCNT/2.0, 0, 5);
    dJointSetHingeAxis (hinges[i], 0,1,0);
    dJointSetHingeParam (hinges[i],dParamFMax,  8000.0);
    // NOTE:
    // Here we tell ODE where to put the feedback on the forces for this hinge
    dJointSetFeedback (hinges[i], jfeedbacks+i);
    stress[i]=0;
  }

  for (i=0; i<STACKCNT; i++)
  {
    stackbodies[i] = dBodyCreate(world);
    dMassSetBox (&m, 2.0, 2, 2, 0.6);
    dBodySetMass(stackbodies[i],&m);

    stackgeoms[i] = dCreateBox(0, 2, 2, 0.6);
    dGeomSetBody(stackgeoms[i], stackbodies[i]);
    dBodySetPosition(stackbodies[i], 0,0,8+2*i);
    dSpaceAdd(space, stackgeoms[i]);
  }

  sliders[0] = dJointCreateSlider (world,0);
  dJointAttach(sliders[0], segbodies[0], 0);
  dJointSetSliderAxis (sliders[0], 1,0,0);
  dJointSetSliderParam (sliders[0],dParamFMax,  4000.0);
  dJointSetSliderParam (sliders[0],dParamLoStop,   0.0);
  dJointSetSliderParam (sliders[0],dParamHiStop,   0.2);

  sliders[1] = dJointCreateSlider (world,0);
  dJointAttach(sliders[1], segbodies[SEGMCNT-1], 0);
  dJointSetSliderAxis (sliders[1], 1,0,0);
  dJointSetSliderParam (sliders[1],dParamFMax,  4000.0);
  dJointSetSliderParam (sliders[1],dParamLoStop,   0.0);
  dJointSetSliderParam (sliders[1],dParamHiStop,  -0.2);

  groundgeom = dCreatePlane(space, 0,0,1,0);

  for (i=0; i<SEGMCNT; i++)
    colours[i]=0.0;

  // run simulation
  dsSimulationLoop (argc,argv,352,288,&fn);

  dJointGroupEmpty (contactgroup);
  dJointGroupDestroy (contactgroup);

  // First destroy seggeoms, then space, then the world.
  for (i=0; i<SEGMCNT; i++)
    dGeomDestroy (seggeoms[i]);
  for (i=0; i<STACKCNT; i++)
    dGeomDestroy (stackgeoms[i]);

  dSpaceDestroy(space);
  dWorldDestroy (world);
  dCloseODE();
  return 0;
}
Ejemplo n.º 11
0
int main (int argc, char **argv)
{
  dMass m;
  dMatrix3 R;

  // 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";
  if(argc==2)
    fn.path_to_textures = argv[1];

  // create world
  world = dWorldCreate();
  space = dHashSpaceCreate (0);

  contactgroup = dJointGroupCreate (0);
  dWorldSetGravity (world,0,0,-9.8);
  dWorldSetQuickStepNumIterations (world, 64);

  // Create a static world using a triangle mesh that we can collide with.
  int numv = sizeof(world_vertices)/(3*sizeof(float));
  int numi = sizeof(world_indices)/ sizeof(int);
  printf("numv=%d, numi=%d\n", numv, numi);
  dTriMeshDataID Data = dGeomTriMeshDataCreate();

//  fprintf(stderr,"Building Single Precision Mesh\n");

  dGeomTriMeshDataBuildSingle
  (
    Data, 
    world_vertices, 
    3 * sizeof(float), 
    numv, 
    world_indices, 
    numi, 
    3 * sizeof(int)
  );

  world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
  dGeomTriMeshEnableTC(world_mesh, dSphereClass, false);
  dGeomTriMeshEnableTC(world_mesh, dBoxClass, false);
  dGeomSetPosition(world_mesh, 0, 0, 0.5);
  dRSetIdentity(R);
  //dIASSERT(dVALIDMAT3(R));

  dGeomSetRotation (world_mesh, R);

  float sx=0.0, sy=3.40, sz=6.80;
  sphbody = dBodyCreate (world);
  dMassSetSphere (&m,1,RADIUS);
  dBodySetMass (sphbody,&m);
  sphgeom = dCreateSphere(0, RADIUS);
  dGeomSetBody (sphgeom,sphbody);
  reset_ball();
  dSpaceAdd (space, sphgeom);

  // run simulation
  dsSimulationLoop (argc,argv,352,288,&fn);

  // Causes segm violation? Why?
  // (because dWorldDestroy() destroys body connected to geom; must call first!)
  dGeomDestroy(sphgeom);
  dGeomDestroy (world_mesh);

  dJointGroupEmpty (contactgroup);
  dJointGroupDestroy (contactgroup);
  dSpaceDestroy (space);
  dWorldDestroy (world);

  return 0;
}
Ejemplo n.º 12
0
int main (int argc, char **argv)
{
  dMass m;
  dMatrix3 R;

  // 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 = dHashSpaceCreate (0);
  contactgroup = dJointGroupCreate (0);
  dWorldSetGravity (world,0,0,-9.8);
  dWorldSetQuickStepNumIterations (world, 12);


  // Create a static world using a triangle mesh that we can collide with.
  int numv = sizeof(world_vertices)/(3*sizeof(float));
  int numi = sizeof(world_indices)/ sizeof(dTriIndex);
  printf("numv=%d, numi=%d\n", numv, numi);
  dTriMeshDataID Data = dGeomTriMeshDataCreate();

  dGeomTriMeshDataBuildSingle
  (
    Data, 
    world_vertices, 
    3 * sizeof(float), 
    numv, 
    world_indices, 
    numi, 
    3 * sizeof(dTriIndex)
  );

  world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
  dGeomSetPosition(world_mesh, 0, 0, 0.5);
  dRFromAxisAndAngle (R, 0,1,0, 0.0);
  dGeomSetRotation (world_mesh, R);


#ifdef BOX
  boxbody = dBodyCreate (world);
  dMassSetBox (&m,1, BOXSZ, BOXSZ, BOXSZ);
  dMassAdjust (&m, 1);
  dBodySetMass (boxbody,&m);
  boxgeom = dCreateBox (0, BOXSZ, BOXSZ, BOXSZ);
  dGeomSetBody (boxgeom,boxbody);
  dSpaceAdd (space, boxgeom);
#endif
#ifdef CYL
  cylbody = dBodyCreate (world);
  dMassSetSphere (&m,1,RADIUS);
  dMassAdjust (&m,WMASS);
  dBodySetMass (cylbody,&m);
  cylgeom = dCreateCylinder(0, RADIUS, WHEELW);
  dGeomSetBody (cylgeom,cylbody);
  
  #if defined(CYL_GEOM_OFFSET)
  dMatrix3 mat;
  dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0);
  dGeomSetOffsetRotation(cylgeom,mat);
  #endif
    
  dSpaceAdd (space, cylgeom);
#endif
  reset_state();

  // run simulation
  dsSimulationLoop (argc,argv,352,288,&fn);

  dJointGroupEmpty (contactgroup);
  dJointGroupDestroy (contactgroup);

  // First destroy geoms, then space, then the world.
#ifdef CYL
  dGeomDestroy (cylgeom);
#endif
#ifdef BOX
  dGeomDestroy (boxgeom);
#endif
  dGeomDestroy (world_mesh);

  dSpaceDestroy (space);
  dWorldDestroy (world);
  dCloseODE();
  return 0;
  (void)world_normals; // get rid of compiler warnings
}
Ejemplo n.º 13
0
	  virtual void	Execute	(LPCSTR args)
	  {
		  CCC_Integer::Execute	(args);
		  dWorldSetQuickStepNumIterations(NULL,phIterations);
	  }