ODEDomain::ODEDomain(char const *space_type, Input *input) : BaseDomain(input)
{
printf("ODEDomain constructor\n");
dInitODE();
world = dWorldCreate();
contactgroup = dJointGroupCreate (0);
//dWorldSetAutoDisableFlag(world,1);
//dWorldSetCFM(world,1e-5);
//Set and get the global CFM (constraint force mixing) value. Typical values are in the range 10-9 -- 1. The default is 10-5 if single precision is being used, or 10-10 if double precision is being used.
//TODO HERE HAS TO BE ANOTHER PARAMETR
//dWorldSetContactSurfaceLayer(world,0.001);
//dWorldSetQuickStepNumIterations (world,ITERS);
dRandSetSeed (time(NULL));
setGravity(m_input->gravity_v[0],m_input->gravity_v[1],m_input->gravity_v[2]);
if (space_type == std::string("quad"))
{
dVector3 Center = {boundaries[0][0]+delta[0]*0.5, boundaries[1][0]+delta[1]*0.5, boundaries[2][0]+delta[2]*0.5, 0};
dVector3 Extents = {delta[0] * 0.55, delta[1] * 0.55, delta[2] * 0.55, 0};
printf(":::: Using Quad Tree Space\n");
space = dQuadTreeSpaceCreate (0, Center, Extents, 6);
}
else if (space_type == std::string("hash"))
{
printf(":::: Using Hash Space\n");
space = dHashSpaceCreate (0);
//dHashSpaceSetLevels (space,-10,10);
}
else if (space_type == std::string("sap"))
{
printf(":::: Using Sweep And Prune Space\n");
space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
}
else if (space_type == std::string("simple"))
{
printf(":::: Using Simple Space\n");
space = dSimpleSpaceCreate(0);
}
if (!space)
{
printf(":::: Using Sweep And Prune Space\n");
space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
}
//TODO redo tests
//I did tests: deposition of 10000 particles without& (~catBits[PARTICLES])& (~catBits[PARTICLES]) collisions.
//SWAP: 6 sec
//HASH: 7.15 sec
//QUAD: 41.8 sec
//SIMLE: 59 sec
printf("ODE conf: %s", dGetConfiguration());
printf("\n:::: sizeof(dReal)=%lu\n\n", sizeof(dReal));
}
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;
}
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);
}
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
}
