TEFUNC void keyHandler(unsigned char key) {
switch (key) {
case '1': constraintSystem.setComputationAlgorithm(1); break;
case '2': constraintSystem.setComputationAlgorithm(2); break;
case '3': constraintSystem.setComputationAlgorithm(3); break;
case '4': constraintSystem.setComputationAlgorithm(4); break;
case 'a':
if (loop) {
loop = false;
} else {
loop = true;
}
break;
case 'm':
if (move) {
move = false;
} else {
move = true;
}
break;
case 'p': postStabilization = true; break;
case 'P': postStabilization = false; break;
}
}
TEFUNC void keyHandler(unsigned char key) {
switch (key) {
case '1': cs.setComputationAlgorithm(1); break;
case '2': cs.setComputationAlgorithm(2); break;
case '3': cs.setComputationAlgorithm(3); break;
case '4': cs.setComputationAlgorithm(4); break;
case 'a': integrate = true; doConstraints = true; break;
case 'A': integrate = false; doConstraints = false; break;
case 't': if (doTorque) {doTorque=false;} else {doTorque=true;} break;
case 'b':
if (PrimaryConstraint::doesBaumgarteStabilisation()) {
PrimaryConstraint::doBaumgarteStabilisation(false);
} else {
PrimaryConstraint::doBaumgarteStabilisation(true);
}
break;
default:break;
case 'p': postStabilization = true; break;
case 'P': postStabilization = false; break;
}
}
/**
* \brief Start-Funktion der Testumgebung
*
* Diese Funktion wird einmal beim Starten der Testumgebung
* aufgerufen. Hier sollte alles reingeschrieben werden,
* was für die initialisierung der einzelnen Tests nötig ist.
*/
TEFUNC void initialize(int /*argc*/, char** /*argv*/) {
Id id1;
id1.setType(Id::typeBox);
id1.setNumber(1);
SmartPointer<RigidBody> rb = rbs.create(id1);
rb->setMass(200000);
rb->setPosition(Vector3<float>(30.0, 0.0, 0.0));
rb->setPrevPosition(Vector3<float>(30.0, 0.0, 0.0));
rb->setVelocity(Vector3<float>(0.00, 0.00, 0.00));
//rb->setForce(Vector3<float>(0.000, 0.00, 0.00));
rb->setForce(Vector3<float>(0.0, 0.00,0.00));
Quaternion q = Quaternion();
//q.normalize();
rb->setOrientation(q);
rb->setAngularVelocity(Vector3<float>(0.0, 0.0, 0.0));
rb->setInertiaTensor((rb->getMass()/12) * 7200, (rb->getMass()/12) * 7200, (rb->getMass()/12) * 7200);
//rb->setTorque(Vector3<float> (0.0, 0.00, -0.001));
rb->setTorque(Vector3<float> (0.0, 0.0, 0.0));
Id id2;
id2.setType(Id::typeBox);
id2.setNumber(2);
SmartPointer<RigidBody> rb2 = rbs.create(id2);
rb2->setMass(200);
rb2->setPosition(Vector3<float>(-30.0, 0.0, 0.0));
rb2->setPrevPosition(Vector3<float>(-30.0, 0.0, 0.0));
rb2->setVelocity(Vector3<float>(0.0, 0.00, 0.00));
//rb2->setForce(Vector3<float>(0.0,0.0, 0.0));
rb2->setForce(Vector3<float>(0.0,0.0,0.0));
Quaternion q2 = Quaternion();
//q2.normalize();
rb2->setOrientation(q2);
rb2->setAngularVelocity(Vector3<float>(0.0, 0.0, 0.0));
rb2->setInertiaTensor((rb2->getMass()/12) * 7200, (rb2->getMass()/12) * 7200, (rb2->getMass()/12) * 7200);
//rb2->setTorque(Vector3<float> (0.0, 0.0, 0.001));
rb2->setTorque(Vector3<float> (0.0, 0.0,0.0));
Id id3;
id3.setType(Id::typeBox);
id3.setNumber(3);
SmartPointer<RigidBody> rb3 = rbs.create(id3);
rb3->setMass(200);
rb3->setPosition(Vector3<float>(-90.0, 0.0, 0.0));
rb3->setPrevPosition(Vector3<float>(-90.0, 0.0, 0.0));
rb3->setVelocity(Vector3<float>(0.0, 0.00, 0.00));
//rb3->setForce(Vector3<float>(0.0,0.0, 0.0));
rb3->setForce(Vector3<float>(0.0,0.0,0.0));
Quaternion q3 = Quaternion();
//q2.normalize();
rb3->setOrientation(q3);
rb3->setAngularVelocity(Vector3<float>(0.0, 0.0, 0.0));
rb3->setInertiaTensor((rb3->getMass()/12) * 7200, (rb3->getMass()/12) * 7200, (rb3->getMass()/12) * 7200);
//rb3->setTorque(Vector3<float> (0.0, 0.0, 0.001));
rb3->setTorque(Vector3<float> (0.0, 0.0,0.0));
Id cid1;
cid1.setType(Id::typeHingeJoint);
cid1.setNumber(1);
Id cid2;
cid2.setType(Id::typeBallJoint);
cid2.setNumber(2);
Vector3 <float> eq(-30, 0, 0);
Vector3 <float> eq2(30, 0, 0);
//Vector3 <float> eu(-30, 90, 0);
Vector3 <float> eu(0, 0, 30);
//Vector3 <float> eu(10, 0, 0.0000000000000000000285);
//Vector3 <float> eu(10, 0, 0);
//Vector3 <float> eu2(30, 90, 0);
Vector3 <float> eu2(0, 0, 30);
//cs.createBallAndSocketConstraint(cid1, rb, rb2, eq, eq2);
cs.createHingeConstraint(cid1, rb, rb2, eq, eq2, eu, eu2);
//cs.createBallAndSocketConstraint(cid2, rb2, rb3, eq, eq2);
cs.createHingeConstraint(cid2, rb2, rb3, eq, eq2, eu, eu2);
//mc1 = cs.getHingeConstraint(cid1);
//cs.createBallAndSocketConstraint(cid1, rb, rb2, eq, eq2);
cs.buildGraphs();
mrb = rb;
mrb2 = rb2;
//mc1 = cs.getBallAndSocketConstraint(cid1);
//mc2 = cs.getBallAndSocketConstraint(cid2);
cs.printGraphs();
cs.setComputationAlgorithm(1);
cs.setTau(60);
SimonState::exemplar()->setViscositySlowdownAngular(0.7);
SimonState::exemplar()->setViscositySlowdownLinear(0.97);
/*mc1->computeConstraint();
cout << "Constraint:" << endl;
mc1->getConstraint().show();
cout << endl;
cout << "ConstraintDot:" << endl;
mc1->getConstraintDot().show();*/
//SimonState::exemplar()->setGravityVector(Vec3(0,-0.00181,0));
}