void TSRODERigidBody::AddCylinderGeometry( TSRPhysicsWorld* _pWorldInterface, const TSRMatrix4& _bodyToGeomTransform, float _fRadius,float _fLength, float _fDensity ) { TSRODEPhysicsWorld* _pWorld = ( TSRODEPhysicsWorld* ) _pWorldInterface; dMass totalMass; dBodyGetMass( m_BodyID, &totalMass ); if ( m_GeomIDs.size() == 0 ) { dMassSetZero( &totalMass ); } dMatrix4 R; dVector3 P; Matrix4ToODE( _bodyToGeomTransform, R, P ); dGeomID geomTransform = dCreateGeomTransform( _pWorld->m_SpaceID ); dGeomID encapsulatedGeom = 0; dMass currMass; dMassSetZero( &currMass ); encapsulatedGeom = dCreateCylinder( 0, _fRadius, _fLength ); dMassSetCylinder( &currMass, _fDensity, 0, _fRadius, _fLength ); dMassRotate( &currMass, R ); //dMassTranslate(&currMass,P[0],P[1],P[2]); dMassAdd( &totalMass, &currMass ); dGeomSetPosition( encapsulatedGeom, P[ 0 ], P[ 1 ], P[ 2 ] ); dGeomSetRotation( encapsulatedGeom, R ); dGeomTransformSetCleanup( geomTransform, 1 ); dGeomTransformSetGeom( geomTransform, encapsulatedGeom ); dGeomSetBody( geomTransform, m_BodyID ); m_GeomIDs.push_back( geomTransform ); dBodySetMass( m_BodyID, &totalMass ); }
// Universal method for all specific ODE geom types, which add the // geom to the collide space, using an ODE proxy geom to offset the // geom by the provided transformation matrix. The geom will also // be attached to the rigid body, if any is set. void CShape::AttachGeom(dGeomID GeomId, dSpaceID SpaceID) { n_assert(GeomId); n_assert(!IsAttached()); // set the geom's local Transform const vector3& Pos = Transform.pos_component(); dGeomSetPosition(GeomId, Pos.x, Pos.y, Pos.z); dMatrix3 ODERotation; CPhysicsServer::Matrix44ToOde(Transform, ODERotation); dGeomSetRotation(GeomId, ODERotation); // if attached to rigid body, create a geom Transform "proxy" object && attach it to the rigid body // else directly set Transform and rotation if (pRigidBody) { ODEGeomID = dCreateGeomTransform(0); dGeomTransformSetCleanup(ODEGeomID, 1); dGeomTransformSetGeom(ODEGeomID, GeomId); dGeomSetBody(ODEGeomID, pRigidBody->GetODEBodyID()); } else ODEGeomID = GeomId; dGeomSetCategoryBits(ODEGeomID, CatBits); dGeomSetCollideBits(ODEGeomID, CollBits); dGeomSetData(ODEGeomID, this); AttachToSpace(SpaceID); }
void CODEGeom::init() { dGeomID geom=create(); m_geom_transform=dCreateGeomTransform(0); dGeomTransformSetCleanup(m_geom_transform,0); dGeomSetData(m_geom_transform,0); dGeomTransformSetGeom(m_geom_transform,geom); dGeomTransformSetInfo(m_geom_transform,1); dGeomCreateUserData(geom); dGeomUserDataSetBoneId(geom,m_bone_id); }
CRigidCapsule::CRigidCapsule(S32 parent, CSceneObject *so, const CVector3 &d ) : CRigidBody(parent, so) { if(parent == 0)parent = (S32)space; #ifdef SIM mGeomID = dCreateGeomTransform ((dSpaceID)parent); dGeomTransformSetCleanup (mGeomID, 1); F32 radius = sqrt(d.x * d.x + d.z * d.z) / 2.0; //F32 radius = d.x / 2; dGeomID mGeomSphere = dCreateSphere(0, TO_PHYSICS(radius)); dGeomTransformSetGeom (mGeomID, mGeomSphere); dGeomSetPosition (mGeomSphere, 0, TO_PHYSICS(-d.y/2 + radius), 0); mGeomID2 = dCreateGeomTransform ((dSpaceID)parent); dGeomTransformSetCleanup (mGeomID2, 1); dGeomID mGeomBox = dCreateBox(0, TO_PHYSICS(d.x), TO_PHYSICS(d.y - radius), TO_PHYSICS(d.z)); dGeomTransformSetGeom (mGeomID2, mGeomBox); dGeomSetPosition (mGeomBox, 0, TO_PHYSICS(radius / 2), 0); #else F32 length = d.y - d.x * 2; mGeomID = dCreateCCylinder((dSpaceID)parent, TO_PHYSICS(d.x), TO_PHYSICS(length)); #endif mBodyID = dBodyCreate(world); dGeomSetBody(mGeomID, mBodyID); #ifdef SIM dGeomSetBody(mGeomID2, mBodyID); #endif dGeomSetData(mGeomID, static_cast<void *>(this)); #ifdef SIM dGeomSetData(mGeomID2, static_cast<void *>(this)); #endif mDimentions = d; mDimentions.y = length; setDensity(0.0001); dBodySetAutoDisableFlag(mBodyID, 0); mGroundBox.setBounds(CVector3(-d.x, -d.y / 2 - 5.0, -d.z), CVector3(d.x, -d.y / 2 + 20.0, d.z)); }
void Transform::init(const OdeHandle& odeHandle, double mass, const OsgHandle& osgHandle, char mode) { // Primitive::body is ignored (removed) from mode assert(parent && parent->getBody() != 0 && child); // parent and child must exist assert(child->getBody() == 0 && child->getGeom() == 0); // child should not be initialised this->mode = mode | Primitive::_Transform; if (!substanceManuallySet) substance = odeHandle.substance; QMP_CRITICAL(6); // our own geom is just a transform geom = dCreateGeomTransform(odeHandle.space); dGeomTransformSetInfo(geom, 1); dGeomTransformSetCleanup(geom, 0); // the child geom must go into space 0 (because it inherits the space from the transform geom) OdeHandle odeHandleChild(odeHandle); odeHandleChild.space = 0; // the root node for the child is the transform node of the parent OsgHandle osgHandleChild(osgHandle); osgHandleChild.parent = parent->getOSGPrimitive()->getTransform(); assert(osgHandleChild.scene); // initialise the child child->init(odeHandleChild, mass, osgHandleChild, (mode & ~Primitive::Body) | Primitive::_Child ); // move the child to the right place (in local coordinates) child->setPose(pose); // assoziate the child with the transform geom dGeomTransformSetGeom (geom, child->getGeom()); // finally bind the transform the body of parent dGeomSetBody (geom, parent->getBody()); dGeomSetData(geom, (void*)this); // set primitive as geom data // we assign the body here. Since our mode is Transform it is not destroyed body=parent->getBody(); QMP_END_CRITICAL(6); }
static void command (int cmd) { int i,j,k; dReal sides[3]; dMass m; cmd = locase (cmd); if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' ) { if (num < NUM) { i = num; num++; } else { i = nextobj; nextobj++; if (nextobj >= num) nextobj = 0; // destroy the body and geoms for slot i dBodyDestroy (obj[i].body); for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); } memset (&obj[i],0,sizeof(obj[i])); } obj[i].body = dBodyCreate (world); for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; dMatrix3 R; if (random_pos) { dBodySetPosition (obj[i].body, dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3); dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); } else { dReal maxheight = 0; for (k=0; k<num; k++) { const dReal *pos = dBodyGetPosition (obj[k].body); if (pos[2] > maxheight) maxheight = pos[2]; } dBodySetPosition (obj[i].body, 0,0,maxheight+1); dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); } dBodySetRotation (obj[i].body,R); dBodySetData (obj[i].body,(void*)(size_t)i); if (cmd == 'b') { dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); } else if (cmd == 'c') { sides[0] *= 0.5; dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); } else if (cmd == 'y') { sides[1] *= 0.5; dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); } else if (cmd == 's') { sides[0] *= 0.5; dMassSetSphere (&m,DENSITY,sides[0]); obj[i].geom[0] = dCreateSphere (space,sides[0]); } else if (cmd == 'm') { dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex)); obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); // remember the mesh's dTriMeshDataID on its userdata for convenience. dGeomSetData(obj[i].geom[0], new_tmdata); dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); } else if (cmd == 'x') { dGeomID g2[GPB]; // encapsulated geometries dReal dpos[GPB][3]; // delta-positions for encapsulated geometries // start accumulating masses for the encapsulated geometries dMass m2; dMassSetZero (&m); // set random delta positions for (j=0; j<GPB; j++) { for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; } for (k=0; k<GPB; k++) { obj[i].geom[k] = dCreateGeomTransform (space); dGeomTransformSetCleanup (obj[i].geom[k],1); if (k==0) { dReal radius = dRandReal()*0.25+0.05; g2[k] = dCreateSphere (0,radius); dMassSetSphere (&m2,DENSITY,radius); } else if (k==1) { g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); } else { dReal radius = dRandReal()*0.1+0.05; dReal length = dRandReal()*1.0+0.1; g2[k] = dCreateCapsule (0,radius,length); dMassSetCapsule (&m2,DENSITY,3,radius,length); } dGeomTransformSetGeom (obj[i].geom[k],g2[k]); // set the transformation (adjust the mass too) dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); dMatrix3 Rtx; dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); dGeomSetRotation (g2[k],Rtx); dMassRotate (&m2,Rtx); // add to the total mass dMassAdd (&m,&m2); } // move all encapsulated objects so that the center of mass is (0,0,0) for (k=0; k<2; k++) { dGeomSetPosition (g2[k], dpos[k][0]-m.c[0], dpos[k][1]-m.c[1], dpos[k][2]-m.c[2]); } dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); } for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); } dBodySetMass (obj[i].body,&m); } if (cmd == ' ') { selected++; if (selected >= num) selected = 0; if (selected < 0) selected = 0; } else if (cmd == 'd' && selected >= 0 && selected < num) { dBodyDisable (obj[selected].body); } else if (cmd == 'e' && selected >= 0 && selected < num) { dBodyEnable (obj[selected].body); } else if (cmd == 'a') { show_aabb ^= 1; } else if (cmd == 't') { show_contacts ^= 1; } else if (cmd == 'r') { random_pos ^= 1; } }
static void command (int cmd) { size_t i; int j,k; dReal sides[3]; dMass m; cmd = locase (cmd); if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' /* || cmd == 'l' */) { if (num < NUM) { i = num; num++; } else { i = nextobj; nextobj++; if (nextobj >= num) nextobj = 0; // destroy the body and geoms for slot i dBodyDestroy (obj[i].body); for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); } memset (&obj[i],0,sizeof(obj[i])); } obj[i].body = dBodyCreate (world); for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; dMatrix3 R; if (random_pos) { dBodySetPosition (obj[i].body, dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2); dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); } else { dReal maxheight = 0; for (k=0; k<num; k++) { const dReal *pos = dBodyGetPosition (obj[k].body); if (pos[2] > maxheight) maxheight = pos[2]; } dBodySetPosition (obj[i].body, 0,0,maxheight+1); dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); } dBodySetRotation (obj[i].body,R); dBodySetData (obj[i].body,(void*) i); if (cmd == 'b') { dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); } else if (cmd == 'c') { sides[0] *= 0.5; dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]); } /* // cylinder option not yet implemented else if (cmd == 'l') { sides[1] *= 0.5; dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); } */ else if (cmd == 's') { sides[0] *= 0.5; dMassSetSphere (&m,DENSITY,sides[0]); obj[i].geom[0] = dCreateSphere (space,sides[0]); } else if (cmd == 'x') { dGeomID g2[GPB]; // encapsulated geometries dReal dpos[GPB][3]; // delta-positions for encapsulated geometries // start accumulating masses for the encapsulated geometries dMass m2; dMassSetZero (&m); // set random delta positions for (j=0; j<GPB; j++) { for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; } for (k=0; k<GPB; k++) { obj[i].geom[k] = dCreateGeomTransform (space); dGeomTransformSetCleanup (obj[i].geom[k],1); if (k==0) { dReal radius = dRandReal()*0.25+0.05; g2[k] = dCreateSphere (0,radius); dMassSetSphere (&m2,DENSITY,radius); } else if (k==1) { g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); } else { dReal radius = dRandReal()*0.1+0.05; dReal length = dRandReal()*1.0+0.1; g2[k] = dCreateCCylinder (0,radius,length); dMassSetCappedCylinder (&m2,DENSITY,3,radius,length); } dGeomTransformSetGeom (obj[i].geom[k],g2[k]); // set the transformation (adjust the mass too) dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); dMatrix3 Rtx; dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); dGeomSetRotation (g2[k],Rtx); dMassRotate (&m2,Rtx); // add to the total mass dMassAdd (&m,&m2); } // move all encapsulated objects so that the center of mass is (0,0,0) for (k=0; k<2; k++) { dGeomSetPosition (g2[k], dpos[k][0]-m.c[0], dpos[k][1]-m.c[1], dpos[k][2]-m.c[2]); } dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); } for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); } dBodySetMass (obj[i].body,&m); } if (cmd == ' ') { selected++; if (selected >= num) selected = 0; if (selected < 0) selected = 0; } else if (cmd == 'd' && selected >= 0 && selected < num) { dBodyDisable (obj[selected].body); } else if (cmd == 'e' && selected >= 0 && selected < num) { dBodyEnable (obj[selected].body); } else if (cmd == 'a') { show_aabb ^= 1; } else if (cmd == 't') { show_contacts ^= 1; } else if (cmd == 'r') { random_pos ^= 1; } else if (cmd == '1') { write_world = 1; } }
static void command (int cmd) { size_t i; int j,k; dReal sides[3]; dMass m; int setBody; cmd = locase (cmd); if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v') { setBody = 0; if (num < NUM) { i = num; num++; } else { i = nextobj; nextobj++; if (nextobj >= num) nextobj = 0; // destroy the body and geoms for slot i dBodyDestroy (obj[i].body); for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); } memset (&obj[i],0,sizeof(obj[i])); } obj[i].body = dBodyCreate (world); for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; dMatrix3 R; if (random_pos) { dBodySetPosition (obj[i].body, dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2); dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); } else { dReal maxheight = 0; for (k=0; k<num; k++) { const dReal *pos = dBodyGetPosition (obj[k].body); if (pos[2] > maxheight) maxheight = pos[2]; } dBodySetPosition (obj[i].body, 0,0,maxheight+1); dRSetIdentity (R); //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0); } dBodySetRotation (obj[i].body,R); dBodySetData (obj[i].body,(void*) i); if (cmd == 'b') { dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); } else if (cmd == 'c') { sides[0] *= 0.5; dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); } //<---- Convex Object else if (cmd == 'v') { dMassSetBox (&m,DENSITY,0.25,0.25,0.25); #if 0 obj[i].geom[0] = dCreateConvex (space, planes, planecount, points, pointcount, polygons); #else obj[i].geom[0] = dCreateConvex (space, Sphere_planes, Sphere_planecount, Sphere_points, Sphere_pointcount, Sphere_polygons); #endif } //----> Convex Object else if (cmd == 'y') { dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); } else if (cmd == 's') { sides[0] *= 0.5; dMassSetSphere (&m,DENSITY,sides[0]); obj[i].geom[0] = dCreateSphere (space,sides[0]); } else if (cmd == 'x' && USE_GEOM_OFFSET) { setBody = 1; // start accumulating masses for the encapsulated geometries dMass m2; dMassSetZero (&m); dReal dpos[GPB][3]; // delta-positions for encapsulated geometries dMatrix3 drot[GPB]; // set random delta positions for (j=0; j<GPB; j++) { for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; } for (k=0; k<GPB; k++) { if (k==0) { dReal radius = dRandReal()*0.25+0.05; obj[i].geom[k] = dCreateSphere (space,radius); dMassSetSphere (&m2,DENSITY,radius); } else if (k==1) { obj[i].geom[k] = dCreateBox (space,sides[0],sides[1],sides[2]); dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); } else { dReal radius = dRandReal()*0.1+0.05; dReal length = dRandReal()*1.0+0.1; obj[i].geom[k] = dCreateCapsule (space,radius,length); dMassSetCapsule (&m2,DENSITY,3,radius,length); } dRFromAxisAndAngle (drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); dMassRotate (&m2,drot[k]); dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); // add to the total mass dMassAdd (&m,&m2); } for (k=0; k<GPB; k++) { dGeomSetBody (obj[i].geom[k],obj[i].body); dGeomSetOffsetPosition (obj[i].geom[k], dpos[k][0]-m.c[0], dpos[k][1]-m.c[1], dpos[k][2]-m.c[2]); dGeomSetOffsetRotation(obj[i].geom[k], drot[k]); } dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); dBodySetMass (obj[i].body,&m); } else if (cmd == 'x') { dGeomID g2[GPB]; // encapsulated geometries dReal dpos[GPB][3]; // delta-positions for encapsulated geometries // start accumulating masses for the encapsulated geometries dMass m2; dMassSetZero (&m); // set random delta positions for (j=0; j<GPB; j++) { for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15; } for (k=0; k<GPB; k++) { obj[i].geom[k] = dCreateGeomTransform (space); dGeomTransformSetCleanup (obj[i].geom[k],1); if (k==0) { dReal radius = dRandReal()*0.25+0.05; g2[k] = dCreateSphere (0,radius); dMassSetSphere (&m2,DENSITY,radius); } else if (k==1) { g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]); dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]); } else { dReal radius = dRandReal()*0.1+0.05; dReal length = dRandReal()*1.0+0.1; g2[k] = dCreateCapsule (0,radius,length); dMassSetCapsule (&m2,DENSITY,3,radius,length); } dGeomTransformSetGeom (obj[i].geom[k],g2[k]); // set the transformation (adjust the mass too) dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]); dMatrix3 Rtx; dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); dGeomSetRotation (g2[k],Rtx); dMassRotate (&m2,Rtx); // Translation *after* rotation dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]); // add to the total mass dMassAdd (&m,&m2); } // move all encapsulated objects so that the center of mass is (0,0,0) for (k=0; k<GPB; k++) { dGeomSetPosition (g2[k], dpos[k][0]-m.c[0], dpos[k][1]-m.c[1], dpos[k][2]-m.c[2]); } dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]); } if (!setBody) for (k=0; k < GPB; k++) { if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); } dBodySetMass (obj[i].body,&m); } if (cmd == ' ') { selected++; if (selected >= num) selected = 0; if (selected < 0) selected = 0; } else if (cmd == 'd' && selected >= 0 && selected < num) { dBodyDisable (obj[selected].body); } else if (cmd == 'e' && selected >= 0 && selected < num) { dBodyEnable (obj[selected].body); } else if (cmd == 'a') { show_aabb ^= 1; } else if (cmd == 't') { show_contacts ^= 1; } else if (cmd == 'r') { random_pos ^= 1; } else if (cmd == '1') { write_world = 1; } else if (cmd == 'p'&& selected >= 0) { const dReal* pos = dGeomGetPosition(obj[selected].geom[0]); const dReal* rot = dGeomGetRotation(obj[selected].geom[0]); printf("POSITION:\n\t[%f,%f,%f]\n\n",pos[0],pos[1],pos[2]); printf("ROTATION:\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\n", rot[0],rot[1],rot[2],rot[3], rot[4],rot[5],rot[6],rot[7], rot[8],rot[9],rot[10],rot[11]); } else if (cmd == 'f' && selected >= 0 && selected < num) { if (dBodyIsEnabled(obj[selected].body)) doFeedback = 1; } }
void Machine::init() { int i; pushtime=0; energy=4; dMass m; for(i=0; i<3; i++) { wheel[i] = dBodyCreate(world); dMassSetSphere(&m, 1, 5); dMassAdjust(&m, 2); dBodySetMass(wheel[i], &m); sphere[i] = dCreateSphere(0, 5); dGeomSetBody(sphere[i], wheel[i]); } dBodySetPosition(wheel[0], 0, 12, 6); dBodySetPosition(wheel[1], -6, -7, 6); dBodySetPosition(wheel[2], 6, -7, 6); body[0] = dBodyCreate(world); dMassSetBox(&m, 1, 20, 80, 5); dMassAdjust(&m, 5); dBodySetMass(body[0], &m); dBodySetPosition(body[0], 0, 0, 6.5); geom[0] = dCreateBox(0, 19, 27, 10); dGeomSetBody(geom[0], body[0]); body[1] = dBodyCreate(world); dMassSetBox(&m, 1, 11, 5, 10); dMassAdjust(&m, 0.3); dBodySetMass(body[1], &m); dBodySetPosition(body[1], 0, 17, 6.5); geom[1] = dCreateBox(0, 11, 5, 10); dGeomSetBody(geom[1], body[1]); joint = dJointCreateSlider(world, 0); dJointAttach(joint, body[0], body[1]); dJointSetSliderAxis(joint, 0, 1, 0); dJointSetSliderParam(joint, dParamLoStop, -9); dJointSetSliderParam(joint, dParamHiStop, 0); for(i=0; i<2; i++) { geom[i+2] = dCreateGeomTransform(0); dGeomTransformSetCleanup(geom[i+2], 1); finE[i] = dCreateBox(0, 7, 5, 10); dGeomSetPosition(finE[i], i==0?-6.3:6.3, -2, 0); dMatrix3 R; dRFromAxisAndAngle(R, 0, 0, 1, i==0?M_PI/4:-M_PI/4); dGeomSetRotation(finE[i], R); dGeomTransformSetGeom(geom[i+2], finE[i]); dGeomSetBody(geom[i+2], body[1]); } for(i=0; i<3; i++) { wheeljoint[i] = dJointCreateHinge2(world, 0); dJointAttach(wheeljoint[i], body[0], wheel[i]); const dReal *wPos = dBodyGetPosition(wheel[i]); dJointSetHinge2Anchor(wheeljoint[i], wPos[0], wPos[1], wPos[2]); dJointSetHinge2Axis1(wheeljoint[i], 0, 0, 1); dJointSetHinge2Axis2(wheeljoint[i], 1, 0, 0); dJointSetHinge2Param(wheeljoint[i], dParamSuspensionERP, 0.8); dJointSetHinge2Param(wheeljoint[i], dParamSuspensionCFM, 0.01); dJointSetHinge2Param(wheeljoint[i], dParamLoStop, 0); dJointSetHinge2Param(wheeljoint[i], dParamHiStop, 0); dJointSetHinge2Param(wheeljoint[i], dParamCFM, 0.0001); dJointSetHinge2Param(wheeljoint[i], dParamStopERP, 0.8); dJointSetHinge2Param(wheeljoint[i], dParamStopCFM, 0.0001); } reset(); }