/* ------------------------
* 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;
}
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);
}
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;
}
/**
* \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");
}
// 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;
}
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));
}
void PhysicsServer::Init()
{
if (m_bInited)
{
return;
}
RemoveChildren();
m_Objects.clear();
dInitODE();
m_WorldID = dWorldCreate();
m_DefaultSpaceID = dHashSpaceCreate( NULL );
m_ContactGroupID = dJointGroupCreate( 0 );
dWorldSetAutoDisableFlag( m_WorldID, 1 );
dWorldSetAutoDisableAverageSamplesCount( m_WorldID, 1 );
if (m_WorldID)
{
SetERP( m_ERP );
SetCFM( m_CFM );
SetGravity( m_Gravity );
}
m_pDefMaterial = g_pObjectServer->FindObject<PhysMaterial>( "defaullt_mtl", this );
if (!m_pDefMaterial)
{
m_pDefMaterial = new PhysMaterial();
m_pDefMaterial->SetName( "defaullt_mtl" );
AddChild( m_pDefMaterial );
}
m_bInited = true;
} // PhysicsServer::Init
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 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)));
}
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 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;
}
WorldManagerServer::WorldManagerServer()
{
dInitODE();
mWorld = dWorldCreate();
mGlobalSpace = dHashSpaceCreate(0);
mContactGroup = dJointGroupCreate(0);
dWorldSetGravity(mWorld, 0, -100, 0);
mStaticSpace = dSimpleSpaceCreate(mGlobalSpace);
}
/*** 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;
}
ODESpace::ODESpace()
{
// Create the Space without adding it to another Space.
if (false)
mSpaceID = dSimpleSpaceCreate(0);
else
{
mSpaceID = dHashSpaceCreate(0);
dHashSpaceSetLevels(mSpaceID, 3, 9);
}
mParentSpaceID = NULL;
}
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;
}
bool DynamicsSolver::Init( int spaceDim, Real spaceWidth, Real spaceHeight)
{
Shutdown();
spaceDim = 1;
WorldID = dWorldCreate();
DynamicSpaceID = dHashSpaceCreate(0);
ActiveSpaceID = dSimpleSpaceCreate(0);
dSpaceSetCleanup ( ActiveSpaceID, 0 );
dSpaceSetCleanup ( DynamicSpaceID, 0 );
SpaceDim = spaceDim;
SpaceWidth = spaceWidth;
SpaceHeight = spaceHeight;
nCachedConstructions = 0;
StaticSpaceID = new dSpaceID[spaceDim*spaceDim];
SpaceDist = new int[spaceDim*spaceDim];
for (int i=0; i<spaceDim*spaceDim; i++)
{
StaticSpaceID[i] = dHashSpaceCreate(0);
//dVector3 center = { spaceWidth*.5f, 0, spaceHeight*.5f, 1.0f };
//dVector3 extent = { spaceWidth, 10000, spaceHeight, 1.0f };
//StaticSpaceID[i] = dQuadTreeSpaceCreate(NULL, center, extent, 4);
SpaceDist[i] = 0;
}
ContactGroup = dJointGroupCreate (0);
dWorldSetGravity (WorldID,0,-90, 0);
//dWorldSetERP (WorldID, 0.9 );
dWorldSetContactSurfaceLayer (WorldID, .01);
IsSetup = true;
return true;
}
PWorld::PWorld(dReal dt,dReal gravity,CGraphics* graphics)
{
//dInitODE2(0);
dInitODE();
world = dWorldCreate();
space = dHashSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-gravity);
objects_count = 0;
sur_matrix = NULL;
//dAllocateODEDataForThread(dAllocateMaskAll);
delta_time = dt;
g = graphics;
}
void construirMundo()
{
world = dWorldCreate(); // Inicializa o mundo (responsável pela dinâmica)
space = dHashSpaceCreate(0); // Inicializa o espaço (responsável pela colisão de geometrias)
contactgroup = dJointGroupCreate(0); // Inicializa o grupo de juntas de contato (responsáveis pelas forças reativas durante colisões)
dWorldSetGravity(world,0,0,GRAVITY); // Define a gravidade do mundo
ground = dCreatePlane(space,0,0,1,0); // Cria a geometria do chão (plano xy)
construirRobos(); // Cria os robôs
construirBola(); // Cria a bola
construirCampo(); // Cria o campo
}
/***********************************************************
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);
}
TouchSensor::TouchSensor(dSpaceID odeSpace, dBodyID sensorBody, float mass,
osg::Vec3 pos, float x, float y, float z, std::string label) :
collideSpace_(odeSpace), label_(label) {
// create own space to avoid physical collisions with other objects
sensorSpace_ = dHashSpaceCreate(0);
// create Sensor geom in this different space
dMass massOde;
dMassSetBoxTotal(&massOde, mass, x, y, z);
dBodySetMass(sensorBody, &massOde);
sensorGeometry_ = dCreateBox(sensorSpace_, x, y, z);
dBodySetPosition(sensorBody, pos.x(), pos.y(), pos.z());
dGeomSetPosition(sensorGeometry_, pos.x(), pos.y(), pos.z());
dGeomSetBody(sensorGeometry_, sensorBody);
}
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;
}
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 = dHashSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-GRAVITY);
dWorldSetCFM (world,1e-5);
dWorldSetAutoDisableFlag (world,1);
#if 1
dWorldSetAutoDisableAverageSamplesCount( world, 10 );
#endif
dWorldSetLinearDamping(world, 0.00001);
dWorldSetAngularDamping(world, 0.005);
dWorldSetMaxAngularSpeed(world, 200);
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);
dCloseODE();
return 0;
}
int main(int argc, char **argv)
{
dInitODE(); // ODEの初期化
setDrawStuff();
world = dWorldCreate(); // ワールドの生成
space = dHashSpaceCreate(0); // スペースの生成
contactgroup = dJointGroupCreate(0); // 接触グループの生成
ground = dCreatePlane(space, 0, 0, 1, 0); // 地面の生成
dWorldSetGravity(world, 0, 0, -9.8); // 重力の設定
makeArm(); // アームの生成
dsSimulationLoop(argc, argv, 640, 480, &fn); // シミュレーションループ
dSpaceDestroy(space); // スペースの破壊
dWorldDestroy(world); // ワールドの破壊
dCloseODE(); // ODEの終了
return 0;
}
CProtoHapticDoc::CProtoHapticDoc()
{
// TODO: add one-time construction code here
m_historyCount= 0;
m_shapeCount= 0;
m_memoCount= 0;
m_gravity= 0;
m_airResistance= 0.5;
m_simSpeed= 0.3;
m_hideMemos= false;
m_worldID= dWorldCreate();
m_spaceID= dHashSpaceCreate( 0 );
m_jointGroup= dJointGroupCreate (1000);
// Is dynamic surface change enabled in view mode (default: yes)
m_dynamicSurfaceChange= true;
}
int main (int argc, char *argv[]) {
dInitODE();
setDrawStuff();
world = dWorldCreate();
space = dHashSpaceCreate(0);
contactgroup = dJointGroupCreate(0);
dWorldSetGravity(world,0,0,0);
dWorldSetERP(world,1.0); // ERPの設定
dWorldSetCFM(world,0.0); // CFMの設定
ground = dCreatePlane(space,0,0,1,0);
create();
dsSimulationLoop (argc,argv,500,600,&fn);
dWorldDestroy (world);
dCloseODE();
return 0;
}
BOOL CProtoHapticDoc::OnNewDocument()
{
if (!CDocument::OnNewDocument())
return FALSE;
POSITION pos = GetFirstViewPosition();
while (pos != NULL)
{
CView* pView = GetNextView(pos);
((CProtoHapticView*)pView)->Pause();
((CProtoHapticView*)pView)->Deselect();
}
// Render an empty scene and syc, so that shape callbacks
// (which access shape data about to be deleted) are not called by rendering thread
// after data has been deleted by client thread
hlBeginFrame ();
hlEndFrame ();
clean(); //Destroy existing document
m_shapeCount= 0;
m_memoCount= 0;
m_historyCount= 0;
m_gravity= 0;
m_airResistance= 0.5;
m_simSpeed= 0.3;
OutputDebugString("NewDocument");
//dWorldDestroy(m_worldID);
//dSpaceDestroy(m_spaceID);
m_worldID= dWorldCreate();
m_spaceID= dHashSpaceCreate( 0 );
pos = GetFirstViewPosition();
while (pos != NULL)
{
CView* pView = GetNextView(pos);
((CProtoHapticView*)pView)->Play();
}
return TRUE;
}
