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 = dSimpleSpaceCreate(0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
dWorldSetCFM (world,1e-5);
dCreatePlane (space,0,0,1,0);
memset (obj,0,sizeof(obj));
// note: can't share tridata if intending to trimesh-trimesh collide
TriData1 = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
TriData2 = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
TriMesh1 = dCreateTriMesh(space, TriData1, 0, 0, 0);
TriMesh2 = dCreateTriMesh(space, TriData2, 0, 0, 0);
dGeomSetData(TriMesh1, TriData1);
dGeomSetData(TriMesh2, TriData2);
{dGeomSetPosition(TriMesh1, 0, 0, 0.9);
dMatrix3 Rotation;
dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
dGeomSetRotation(TriMesh1, Rotation);}
{dGeomSetPosition(TriMesh2, 1, 0, 0.9);
dMatrix3 Rotation;
dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
dGeomSetRotation(TriMesh2, Rotation);}
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
void cPhysicsObject::CreateTrimesh(cWorld* pWorld, const std::vector<spitfire::math::cVec3>& coords, const std::vector<unsigned int>& indices, const physvec_t& pos, const physvec_t& rot)
{
vVertices = coords;
vIndices = indices;
bBody = false;
bDynamic = false;
// Trimeshes are static for the moment
v[0] = 0.0f;
v[1] = 0.0f;
v[2] = 0.0f;
dTriMeshDataID trimeshData = dGeomTriMeshDataCreate();
const int VertexCount = vVertices.size();
const int IndexCount = vIndices.size();
dGeomTriMeshDataBuildSingle(
trimeshData,
(const void*)vVertices.data(), sizeof(spitfire::math::cVec3), (int)VertexCount, // Faces
(const void*)vIndices.data(), (int)IndexCount, 3 * sizeof(uint32_t) // Indices
);
geom = dCreateTriMesh(pWorld->GetSpaceStatic(), trimeshData, NULL , NULL , NULL);
InitCommon(pWorld, pos, rot);
}
void Obstacle::on_addToScene()
{
node_ = SceneGraph::addModel(name_, model_);
size_t batchCnt = 0;
TriangleBatch const *triBatch = model_->batches(&batchCnt);
size_t boneCnt = 0;
Bone const *bone = model_->bones(&boneCnt);
size_t vSize = model_->vertexSize();
char const * vertex = (char const *)model_->vertices();
unsigned int const *index = (unsigned int const *)model_->indices();
for (size_t bi = 0; bi != batchCnt; ++bi)
{
dTriMeshDataID tmd = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(tmd, vertex, vSize, triBatch[bi].maxVertexIndex + 1,
index + triBatch[bi].firstTriangle * 3, triBatch[bi].numTriangles * 3, 12);
dGeomID geom = dCreateTriMesh(gStaticSpace, tmd, 0, 0, 0);
tmd_.push_back(tmd);
geom_.push_back(geom);
Matrix bx;
get_bone_transform(bone, triBatch[bi].bone, bx);
Vec3 p(bx.translation());
addTo(p, pos());
dGeomSetPosition(geom, p.x, p.y, p.z);
dGeomSetRotation(geom, bx.rows[0]);
}
}
PhyMeshDataPtr PhyMeshDataPool::Load(
const String & name,
const Float3 * vertexData, int vertexCount,
const int * indexData, int indexCount,
const Float3 & scale)
{
d_assert (vertexData != NULL && indexData != NULL);
String uname;
uname.Format("%s_%.2f_%.2f_%.2f", name.c_str(), scale.x, scale.y, scale.z);
// Find
PhyMeshData * node = mMeshDataLinker;
while (node != NULL)
{
if (node->_uname == uname)
return node;
node = LINKER_NEXT(node);
}
// Create New Mesh
PhyMeshData * meshData = new PhyMeshData;
meshData->_dataId = dGeomTriMeshDataCreate();
meshData->_uname = uname;
meshData->_vertexData = new Float3[vertexCount];
meshData->_vertexCount = vertexCount;
meshData->_indexData = new int[indexCount];
meshData->_indexCount = indexCount;
for (int i = 0; i < vertexCount; ++i)
{
meshData->_vertexData[i] = vertexData[i] * scale;
}
for (int i = 0; i < indexCount; ++i)
{
meshData->_indexData[i] = indexData[i];
}
dGeomTriMeshDataBuildSingle((dTriMeshDataID)(meshData->_dataId),
meshData->_vertexData, sizeof(Float3), meshData->_vertexCount,
meshData->_indexData, meshData->_indexCount, 3 * sizeof(int));
LINKER_APPEND(mMeshDataLinker, meshData);
return meshData;
}
void StaticWorldObject::AddLeaf(ssgLeaf *leaf, sgVec3 initialpos)
{
// traverse the triangles
int cnt = leaf->getNumTriangles() ;
int nv = leaf->getNumVertices() ;
// int nn = leaf->getNumNormals() ;
float *vertices = new float[3*nv];
int *indices = new int[3*cnt];
int i;
for (i=0; i<nv; i++)
{
float *v = leaf->getVertex( i ) ;
assert(v);
memcpy(vertices+3*i, v, 3*sizeof(float));
}
for (i=0; i<cnt; i++)
{
short idx0, idx1, idx2 ;
leaf->getTriangle( i, &idx0, &idx1, &idx2 ) ;
indices[3*i+0]=idx0;
indices[3*i+1]=idx1;
indices[3*i+2]=idx2;
}
dTriMeshDataID data = dGeomTriMeshDataCreate();
dataids.push_back(data);
dGeomTriMeshDataBuildSingle
(
data,
vertices,
3*sizeof(float),
nv,
indices,
cnt*3,
3*sizeof(int)
);
//fprintf(stderr,"Adding trimesh with %d verts, %d indices\n", nv, cnt*3);
dGeomID trimesh = dCreateTriMesh(space, data, 0,0,0);
geomids.push_back(trimesh);
dGeomSetPosition(trimesh, initialpos[0], initialpos[1], initialpos[2]);
dMatrix3 R;
dRFromAxisAndAngle (R, 0,1,0, 0.0);
dGeomSetRotation (trimesh, R);
dGeomSetData(trimesh, this);
}
OdeTriMesh::OdeTriMesh(const Mesh& mesh) :
mTriMeshId(0),
mMesh(mesh)
{
mTriMeshId = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle
(
mTriMeshId,
mMesh.mVertices.get(),
sizeof(v3),
mMesh.mVertexCount,
mMesh.mIndices.get(),
mMesh.mIndexCount,
sizeof(u32)
);
}
void CollisionMesh::Finalize()
{
//create mesh data structure
meshData = dGeomTriMeshDataCreate();
//create indices
int indexlist = new int[TriangleList.size()*3];
for( int i = 0; i< TriangleList.size()*3; i++)
{
indexlist[i] = i;
}
//copy over vertex data into buffer
dReal* vertices = new dReal[TriangleList.size()*9];
int vi=0;
for ( int i=0; i<TriangleList.size(); i++ )
{
vertices[vi+0] = TriangleList[i].v1.x;
vertices[vi+1] = TriangleList[i].v1.y;
vertices[vi+2] = TriangleList[i].v1.z;
vertices[vi+3] = TriangleList[i].v2.x;
vertices[vi+4] = TriangleList[i].v2.y;
vertices[vi+5] = TriangleList[i].v2.z;
vertices[vi+6] = TriangleList[i].v3.x;
vertices[vi+7] = TriangleList[i].v3.y;
vertices[vi+8] = TriangleList[i].v3.z;
vi += 9;
}
dGeomTriMeshDataBuildSingle(meshData, vertices, sizeof(dReal)*3,
TriangleList.size()*3,
(const int*)indexlist,
TriangleList.size()*3, 3*sizeof( int ));
Geom = dCreateTriMesh(solver->GetSpaceID(true, Location.x, Location.y, Location.z), meshData, 0, 0, 0);
dGeomSetData( Geom, &SurfaceDesc );
dGeomSetPosition( Geom, Location.x, Location.y, Location.z );
dMatrix3 R;
dRFromEulerAngles (R, pitch, -yaw, roll);
dGeomSetRotation( Geom, R );
Initialized = true;
}
//===========================================================================
void cODEGenericBody::createDynamicMesh(bool a_staticObject,
const cVector3d& a_offsetPos,
const cMatrix3d& a_offsetRot)
{
// create ode dynamic body if object is non static
if (!a_staticObject)
{
m_ode_body = dBodyCreate(m_ODEWorld->m_ode_world);
// store pointer to current object
dBodySetData (m_ode_body, this);
}
m_static = a_staticObject;
// make sure body image has been defined
if (m_imageModel == NULL) { return; }
// check if body image is a mesh
cMesh* mesh = dynamic_cast<cMesh*>(m_imageModel);
if (mesh == NULL) { return; }
// store dynamic model type
m_typeDynamicCollisionModel = ODE_MODEL_TRIMESH;
// store dynamic model parameters
m_paramDynColModel0 = 0.0;
m_paramDynColModel1 = 0.0;
m_paramDynColModel2 = 0.0;
m_posOffsetDynColModel = a_offsetPos;
m_rotOffsetDynColModel = a_offsetRot;
// create a table which lists all vertices and triangles
// these vertices must be of type float and not double!
// even if we are using the double precision compiled version of ODE !
int numTriangles = mesh->getNumTriangles(true);
int vertexCount = mesh->getNumVertices(true);
m_vertices = new float[3 * vertexCount];
int indexCount = 3 * numTriangles;
m_vertexIndices = new int[indexCount];
// build table of ODE vertices and vertex indices recusevily
int nIndexOffset = 0;
int nVerticesCount = 0;
int nIndexCount = 0;
int nTriangles = buildMeshTable(mesh, nIndexOffset, nVerticesCount, nIndexCount);
// build box
m_ode_triMeshDataID = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(m_ode_triMeshDataID,
m_vertices, // vertex positions
3 * sizeof(float), // size of vertex
vertexCount, // number of vertices
m_vertexIndices, // triangle indices
3 * nTriangles, // number of triangles
3 * sizeof(int));
m_ode_geom = dCreateTriMesh(m_ODEWorld->m_ode_space, m_ode_triMeshDataID, 0, 0, 0);
// remember the mesh's dTriMeshDataID on its userdata for convenience.
dGeomSetData(m_ode_geom, m_ode_triMeshDataID);
// computing bounding box of geometry representation
m_imageModel->computeBoundaryBox(true);
// compute dimensions
cVector3d size = m_imageModel->getBoundaryMax() -
m_imageModel->getBoundaryMin();
// set inertia properties
if (!m_static)
{
dMassSetBox(&m_ode_mass, 1.0, size.x, size.y, size.z);
dMassAdjust(&m_ode_mass, m_mass);
dBodySetMass(m_ode_body,&m_ode_mass);
dGeomSetBody(m_ode_geom, m_ode_body);
}
// adjust position offset
dGeomSetPosition (m_ode_geom, a_offsetPos.x, a_offsetPos.y, a_offsetPos.z);
// adjust orientation offset
dMatrix3 R;
R[0] = a_offsetRot.m[0][0];
R[1] = a_offsetRot.m[0][1];
R[2] = a_offsetRot.m[0][2];
R[4] = a_offsetRot.m[1][0];
R[5] = a_offsetRot.m[1][1];
R[6] = a_offsetRot.m[1][2];
R[8] = a_offsetRot.m[2][0];
R[9] = a_offsetRot.m[2][1];
R[10] = a_offsetRot.m[2][2];
dGeomSetRotation (m_ode_geom, R);
}
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;
}
State* init() {
State* state = new State();
dInitODE();
SDL_Init(SDL_INIT_EVERYTHING);
state->screen = SDL_SetVideoMode(WIDTH, HEIGHT, 32, SDL_OPENGL);
SDL_WM_SetCaption("Physics", NULL);
SDL_Flip(state->screen);
SDL_ShowCursor(SDL_DISABLE);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(100, (float)WIDTH/HEIGHT, 0.5, 1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
GLfloat light_ambient[] = { 1, 1, 1, 1 };
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
GLfloat lightpos[] = {0, 4, 0, 1};
glLightfv(GL_LIGHT0, GL_POSITION, lightpos);
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_FASTEST);
glShadeModel(GL_SMOOTH);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
glClearColor(0, 0, 0, 1);
state->posx = 0;//21;
state->posy = 4;//8;
state->posz = 5;//21;
state->rotx = 0;
state->roty = 0;//-40;
state->rotz = 0;
state->wkey = false;
state->akey = false;
state->skey = false;
state->dkey = false;
state->gkey = false;
state->simSpeed = 60;
state->carcam = false;
state->carbodydrawable = new Drawable("objs/carbody.obj");
state->carwheeldrawable = new Drawable("objs/carwheel.obj");
state->map = new Drawable("objs/jump2.obj");
state->cube = new Drawable("objs/cube.obj");
// state->monkey = new Drawable("objs/monkey.obj");
state->world = dWorldCreate();
dWorldSetGravity(state->world, 0, -9.8, 0);
state->worldSpace = dHashSpaceCreate(0);
const double carHeight = 0.65;
const double carZ = 90;
const double carX = 0;
const float speed = -1000;
const float force = 200;
state->carbodybody = dBodyCreate(state->world);
dBodySetPosition(state->carbodybody, carX, carHeight, carZ);
dMass bodymass;
dMassSetBoxTotal(&bodymass, 100, 2, 4, 1);
dBodySetMass(state->carbodybody, &bodymass);
dGeomID carbodygeom = dCreateBox(state->worldSpace, 2, 1, 4);
dGeomSetBody(carbodygeom, state->carbodybody);
state->flcarwheelbody = dBodyCreate(state->world);
dBodySetPosition(state->flcarwheelbody, carX-1.5, carHeight - 0.5, carZ+2);
const dMatrix3 m = { 0, 0, 1, 0
, 0, 1, 0, 0
, 0, 0, 1, 0 };
dBodySetRotation(state->flcarwheelbody, m);
dMass wheelmass;
dMassSetCylinder(&wheelmass, 0.1, 2, 0.5, 0.2);
dBodySetMass(state->flcarwheelbody, &wheelmass);
dJointID joint = dJointCreateHinge(state->world, 0);
dJointAttach(joint, state->carbodybody, state->flcarwheelbody);
dJointSetHingeAnchor(joint, carX-1.5, carHeight - 0.5, carZ+2);
dJointSetHingeAxis(joint, 1, 0, 0);
dGeomID flcarwheelgeom = dCreateCylinder(state->worldSpace, 0.5, 0.2);
dGeomSetBody(flcarwheelgeom, state->flcarwheelbody);
dJointID motor = dJointCreateAMotor(state->world, 0);
dJointAttach(motor, state->flcarwheelbody, state->carbodybody);
dJointSetAMotorNumAxes(motor, 1);
dJointSetAMotorAxis(motor, 0, 1, 1, 0, 0);
dJointSetAMotorParam(motor, dParamVel, speed);
dJointSetAMotorParam(motor, dParamFMax, force);
state->frcarwheelbody = dBodyCreate(state->world);
dBodySetPosition(state->frcarwheelbody, carX+1.5, carHeight - 0.5, carZ+2);
dBodySetRotation(state->frcarwheelbody, m);
dBodySetMass(state->frcarwheelbody, &wheelmass);
joint = dJointCreateHinge(state->world, 0);
dJointAttach(joint, state->carbodybody, state->frcarwheelbody);
dJointSetHingeAnchor(joint, carX+1.5, carHeight - 0.5, carZ+2);
dJointSetHingeAxis(joint, 1, 0, 0);
dGeomID frcarwheelgeom = dCreateCylinder(state->worldSpace, 0.5, 0.2);
dGeomSetBody(frcarwheelgeom, state->frcarwheelbody);
motor = dJointCreateAMotor(state->world, 0);
dJointAttach(motor, state->frcarwheelbody, state->carbodybody);
dJointSetAMotorNumAxes(motor, 1);
dJointSetAMotorAxis(motor, 0, 1, 1, 0, 0);
dJointSetAMotorParam(motor, dParamVel, speed);
dJointSetAMotorParam(motor, dParamFMax, force);
state->blcarwheelbody = dBodyCreate(state->world);
dBodySetPosition(state->blcarwheelbody, carX-1.5, carHeight - 0.5, carZ-2);
dBodySetRotation(state->blcarwheelbody, m);
dBodySetMass(state->blcarwheelbody, &wheelmass);
joint = dJointCreateHinge(state->world, 0);
dJointAttach(joint, state->carbodybody, state->blcarwheelbody);
dJointSetHingeAnchor(joint, carX-1.5, carHeight - 0.5, carZ-2);
dJointSetHingeAxis(joint, 1, 0, 0);
dGeomID blcarwheelgeom = dCreateCylinder(state->worldSpace, 0.5, 0.2);
dGeomSetBody(blcarwheelgeom, state->blcarwheelbody);
motor = dJointCreateAMotor(state->world, 0);
dJointAttach(motor, state->blcarwheelbody, state->carbodybody);
dJointSetAMotorNumAxes(motor, 1);
dJointSetAMotorAxis(motor, 0, 1, 1, 0, 0);
dJointSetAMotorParam(motor, dParamVel, speed);
dJointSetAMotorParam(motor, dParamFMax, force);
state->brcarwheelbody = dBodyCreate(state->world);
dBodySetPosition(state->brcarwheelbody, carX+1.5, carHeight - 0.5, carZ-2);
dBodySetRotation(state->brcarwheelbody, m);
dBodySetMass(state->brcarwheelbody, &wheelmass);
joint = dJointCreateHinge(state->world, 0);
dJointAttach(joint, state->carbodybody, state->brcarwheelbody);
dJointSetHingeAnchor(joint, carX+1.5, carHeight - 0.5, carZ-2);
dJointSetHingeAxis(joint, 1, 0, 0);
dGeomID brcarwheelgeom = dCreateCylinder(state->worldSpace, 0.5, 0.2);
dGeomSetBody(brcarwheelgeom, state->brcarwheelbody);
motor = dJointCreateAMotor(state->world, 0);
dJointAttach(motor, state->brcarwheelbody, state->carbodybody);
dJointSetAMotorNumAxes(motor, 1);
dJointSetAMotorAxis(motor, 0, 1, 1, 0, 0);
dJointSetAMotorParam(motor, dParamVel, speed);
dJointSetAMotorParam(motor, dParamFMax, force);
state->var = new double[3];
state->var = dBodyGetPosition(state->carbodybody);
// cout << state->var[0] << " " << state->var[1] << " " << state->var[2] << endl;
//TODO check if translation matrix from dBody can be used.
dSpaceID cubespace = dHashSpaceCreate(state->worldSpace);
for(int i = 0; i < NUM_CUBES/10; i++) {
for(int k = 0; k < 10; k++) {
state->cubebody[i*10+k] = dBodyCreate(state->world);
dBodySetAutoDisableFlag(state->cubebody[i*10+k], 1);
dBodySetPosition(state->cubebody[i*10+k], (i*2.01)-4, 0.9 + 2.01*k, -70);
dGeomID cubegeom = dCreateBox(cubespace, 2, 2, 2);
dGeomSetBody(cubegeom, state->cubebody[i*10+k]);
}
}
{
int indexSize = state->map->vertices.size()/3;
unsigned int* index = new unsigned int[indexSize];
for(int i = 0; i < indexSize; i++)
index[i] = i;
dTriMeshDataID triMeshData = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(triMeshData, state->map->vertices.data(), 12, state->map->vertices.size()/3, index, indexSize, 12);
dGeomID mapGeom = dCreateTriMesh(state->worldSpace, triMeshData, NULL, NULL, NULL);
dGeomSetPosition(mapGeom, 0, 0, 0);
}
// state->monkeyBody = dBodyCreate(state->world);
// {
// int indexSize = state->monkey->vertices.size()/3;
// unsigned int* index = new unsigned int[indexSize];
// for(int i = 0; i < indexSize; i++)
// index[i] = i;
// dTriMeshDataID triMeshData = dGeomTriMeshDataCreate();
// dGeomTriMeshDataBuildSingle(triMeshData, state->monkey->vertices.data(), 12, state->monkey->vertices.size()/3, index, indexSize, 12);
// dGeomID monkeyGeom = dCreateTriMesh(state->worldSpace, triMeshData, NULL, NULL, NULL);
// dGeomSetPosition(monkeyGeom, 0, 2, 0);
// dGeomSetBody(monkeyGeom, state->monkeyBody);
// }
state->physicsContactgroup = dJointGroupCreate(0);
return state;
}
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
dInitODE2(0);
world = dWorldCreate();
space = dSimpleSpaceCreate(0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
dWorldSetCFM (world,1e-5);
//dCreatePlane (space,0,0,1,0);
memset (obj,0,sizeof(obj));
Size[0] = 5.0f;
Size[1] = 5.0f;
Size[2] = 2.5f;
Vertices[0][0] = -Size[0];
Vertices[0][1] = -Size[1];
Vertices[0][2] = Size[2];
Vertices[1][0] = Size[0];
Vertices[1][1] = -Size[1];
Vertices[1][2] = Size[2];
Vertices[2][0] = Size[0];
Vertices[2][1] = Size[1];
Vertices[2][2] = Size[2];
Vertices[3][0] = -Size[0];
Vertices[3][1] = Size[1];
Vertices[3][2] = Size[2];
Vertices[4][0] = 0;
Vertices[4][1] = 0;
Vertices[4][2] = 0;
Indices[0] = 0;
Indices[1] = 1;
Indices[2] = 4;
Indices[3] = 1;
Indices[4] = 2;
Indices[5] = 4;
Indices[6] = 2;
Indices[7] = 3;
Indices[8] = 4;
Indices[9] = 3;
Indices[10] = 0;
Indices[11] = 4;
dTriMeshDataID Data = dGeomTriMeshDataCreate();
//dGeomTriMeshDataBuildSimple(Data, (dReal*)Vertices, VertexCount, Indices, IndexCount);
dGeomTriMeshDataBuildSingle(Data, Vertices[0], 3 * sizeof(float), VertexCount, &Indices[0], IndexCount, 3 * sizeof(dTriIndex));
dGeomTriMeshDataPreprocess2(Data, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL);
TriMesh = dCreateTriMesh(space, Data, 0, 0, 0);
//dGeomSetPosition(TriMesh, 0, 0, 1.0);
Ray = dCreateRay(space, 0.9);
dVector3 Origin, Direction;
Origin[0] = 0.0;
Origin[1] = 0;
Origin[2] = 0.5;
Origin[3] = 0;
Direction[0] = 0;
Direction[1] = 1.1f;
Direction[2] = -1;
Direction[3] = 0;
dNormalize3(Direction);
dGeomRaySet(Ray, Origin[0], Origin[1], Origin[2], Direction[0], Direction[1], Direction[2]);
dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
// dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dThreadingImplementationShutdownProcessing(threading);
dThreadingFreeThreadPool(pool);
dWorldSetStepThreadingImplementation(world, NULL, NULL);
dThreadingFreeImplementation(threading);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
static void createMesh()
{
int i,k;
dReal sides[3];
dMass m;
loading = 1;
Sleep(100);
i = num;
num++;
obj[i].body = dBodyCreate (ode_world);
for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
dMatrix3 R;
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);
dBodySetRotation (obj[i].body,R);
dBodySetData (obj[i].body,(void*)(size_t)i);
cMesh* new_object = new cMesh(world);
new_object->loadFromFile("resources\\models\\bunny.obj");
new_object->computeGlobalPositions();
new_object->createAABBCollisionDetector(true, true);
new_object->computeAllNormals();
// set material properties of object
cMaterial new_material;
new_material.setStiffness(20.0);
new_material.setDynamicFriction(0.2);
new_material.setStaticFriction(0.4);
new_material.m_ambient.set(0.3, 0.3, 0.8);
new_material.m_diffuse.set(0.8, 0.8, 0.8);
new_material.m_specular.set(1.0, 1.0, 1.0);
new_material.setShininess(100);
new_object->useMaterial(true, true);
new_object->setMaterial(new_material, true);
new_object->useColors(false, true);
cODEProxy* new_proxy = new cODEProxy(default_proxy);
new_proxy->enableDynamicProxy(true);
cursor->setRenderingMode(RENDER_DEVICE);
new_proxy->m_defaultObject = new_object;
new_proxy->initialize(world, cursor->m_deviceGlobalPos);
cursor->m_pointForceAlgos.push_back(new_proxy);
VertexCount = new_object->getNumVertices(true);
Vertices = new float[VertexCount*3];
IndexCount = 3*new_object->getNumTriangles(true);
Indices = new int[IndexCount];
// This will hold all the parents we're still searching...
std::list<cMesh*> meshes_to_descend;
meshes_to_descend.push_front(new_object);
// While there are still parent meshes to process
int cnt = 0;
int cnt2 = 0;
while(meshes_to_descend.empty() == 0) {
// Grab the next parent
cMesh* cur_mesh = meshes_to_descend.front();
meshes_to_descend.pop_front();
// Put all his children on the list of parents to process
for(unsigned int i=0; i<cur_mesh->getNumChildren(); i++) {
cGenericObject* cur_object = cur_mesh->getChild(i);
// Only process cMesh children
cMesh* cur_mesh = dynamic_cast<cMesh*>(cur_object);
if (cur_mesh)
{
unsigned int i;
for (i=0; i<cur_mesh->getNumVertices(false); i++)
{
Vertices[cnt] = cur_mesh->getVertex(i)->getPos().x;
Vertices[cnt+1] = cur_mesh->getVertex(i)->getPos().y;
Vertices[cnt+2] = cur_mesh->getVertex(i)->getPos().z;
cnt+=3;
}
for (i=0; i<cur_mesh->getNumTriangles(false); i++)
{
Indices[cnt2] = cur_mesh->getTriangle(i)->getIndexVertex0();
Indices[cnt2+1] = cur_mesh->getTriangle(i)->getIndexVertex1();
Indices[cnt2+2] = cur_mesh->getTriangle(i)->getIndexVertex2();
cnt2+=3;
}
meshes_to_descend.push_back(cur_mesh);
}
}
}
dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, Indices, IndexCount, 3 * sizeof(int));
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);
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[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);
new_object->setPos(0,0,100);
new_object->computeGlobalPositions(1);
objects.push_back(new_object);
syncPoses();
world->addChild(new_object);
loading = 0;
Sleep(100);
}
/***************************************************************************\
* Field Set *
\***************************************************************************/
void PhysicsTriMeshGeom::setGeometryNode(NodePtr& node)
{
PhysicsTriMeshGeomPtr tmpPtr(*this);
GeometryPtr geo = GeometryPtr::dcast(node->getCore());
if(geo!=NullFC)
{
calcVertexNormals(geo, deg2rad( 30));
separateProperties(geo);
createSingleIndex(geo);
GeoPositions3f::StoredFieldType* positions =
GeoPositions3fPtr::dcast( geo->getPositions())->getFieldPtr();
GeoIndicesUI32::StoredFieldType* indices =
GeoIndicesUI32Ptr::dcast( geo->getIndices())->getFieldPtr();
GeoNormals3f::StoredFieldType* normals =
GeoNormals3fPtr::dcast( geo->getNormals())->getFieldPtr();
GeoPTypesPtr geoTypes = geo->getTypes();
bool triangles = false;
//has to be some triangle soup!
for( Int32 i=0; i < geoTypes->size(); ++i) {
switch( geoTypes->getValue(i)) {
case GL_TRIANGLES:
triangles=true;
break;
case GL_TRIANGLE_STRIP:
triangles=true;
break;
case GL_TRIANGLE_FAN:
triangles=true;
break;
}
}
UInt32 vertexCount =
GeoPositions3fPtr::dcast(geo->getPositions())->getSize();
UInt32 vertexStride = 3*sizeof(Real32);
UInt32 indexCount =
GeoIndicesUI32Ptr::dcast(geo->getIndices())->getSize();
UInt32 indexStride = 3*sizeof(UInt32);
//pass the pointers to ODE
if(tmpPtr->data)
dGeomTriMeshDataDestroy(tmpPtr->data);
tmpPtr->data = dGeomTriMeshDataCreate();
if(triangles)
{
dGeomTriMeshDataBuildSingle(tmpPtr->data, (Real32*)&positions->front(),
vertexStride, vertexCount, (Int32*)&indices->front(), indexCount,
indexStride/* just can't use this, (Real32*)&normals->front()*/);
tmpPtr->setData(tmpPtr->data);
/* use this method if you build with single precision
dGeomTriMeshDataBuildSingle1(tmpPtr->data, (Real32*)&positions->front(),
vertexStride, vertexCount, (Int32*)&indices->front(), indexCount,
indexStride, (Real32*)&normals->front());
tmpPtr->setData(tmpPtr->data);
*/
}
else
{
FWARNING(("No triangle mesh given to ODE! Convert to triangles first!\n"));
tmpPtr->setData(tmpPtr->data);
}
}
tmpPtr->geoNode=node;
PhysicsTriMeshGeomBase::setGeometryNode(node);
}
// called when a key pressed
static void command( int cmd )
{
int i,k;
dReal sides[3];
dMass m;
cmd = locase( cmd );
if ( cmd == 'v' || cmd == 'b' || cmd == 'c' || cmd == 's' )
{
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 == 's' )
{
sides[0] *= 0.5;
dMassSetSphere( &m,DENSITY,sides[0] );
obj[i].geom[0] = dCreateSphere( space,sides[0] );
}
else if ( cmd == 'v' )
{
obj[i].geom[0] = dCreateConvex( space,
convexBunnyPlanes,
convexBunnyPlaneCount,
convexBunnyPoints,
convexBunnyPointCount,
convexBunnyPolygons );
/// Use equivalent TriMesh to set mass
dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle( new_tmdata, &Vertices[0], 3 * sizeof( float ), VertexCount,
( dTriIndex* )&Indices[0], IndexCount, 3 * sizeof( dTriIndex ) );
dGeomID triMesh = dCreateTriMesh( 0, new_tmdata, 0, 0, 0 );
dMassSetTrimesh( &m, DENSITY, triMesh );
dGeomDestroy( triMesh );
dGeomTriMeshDataDestroy( new_tmdata );
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] );
}
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)
{
int i,j,k;
dReal sides[3];
dMass m;
bool setBody = false;
cmd = locase (cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' || cmd == 'v') {
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 == 'v') {
dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
obj[i].geom[0] = dCreateConvex(space,
planes,
planecount,
points,
pointcount,
polygons);
}
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));
dGeomTriMeshDataPreprocess2(new_tmdata, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL);
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') {
setBody = true;
// start accumulating masses for the composite geometries
dMass m2;
dMassSetZero (&m);
dReal dpos[GPB][3]; // delta-positions for composite 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);
}
if (!setBody) { // avoid calling for composite geometries
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;
}
}
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
dInitODE2(0);
world = dWorldCreate();
space = dSimpleSpaceCreate(0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
dWorldSetCFM (world,1e-5);
dCreatePlane (space,0,0,1,0);
memset (obj,0,sizeof(obj));
// note: can't share tridata if intending to trimesh-trimesh collide
const unsigned preprocessFlags = (1U << dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES) | (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES);
TriData1 = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
dGeomTriMeshDataPreprocess2(TriData1, preprocessFlags, NULL);
TriData2 = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
dGeomTriMeshDataPreprocess2(TriData2, preprocessFlags, NULL);
TriMesh1 = dCreateTriMesh(space, TriData1, 0, 0, 0);
TriMesh2 = dCreateTriMesh(space, TriData2, 0, 0, 0);
dGeomSetData(TriMesh1, TriData1);
dGeomSetData(TriMesh2, TriData2);
{dGeomSetPosition(TriMesh1, 0, 0, 0.9);
dMatrix3 Rotation;
dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
dGeomSetRotation(TriMesh1, Rotation);}
{dGeomSetPosition(TriMesh2, 1, 0, 0.9);
dMatrix3 Rotation;
dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
dGeomSetRotation(TriMesh2, Rotation);}
dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
// dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dThreadingImplementationShutdownProcessing(threading);
dThreadingFreeThreadPool(pool);
dWorldSetStepThreadingImplementation(world, NULL, NULL);
dThreadingFreeImplementation(threading);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 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
}
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;
}
}
// Create a mesh shape object, add it to ODE's collision space, and initialize the mass member.
bool CMeshShape::Attach(dSpaceID SpaceID)
{
if (!CShape::Attach(SpaceID)) FAIL;
n_assert(!pVBuffer);
n_assert(!pIBuffer);
//!!!REVISIT IT! Now it's copypaste from A. Sysoev's code
if (pInitMesh)
{
// load the vertices and indices
VertexCount = pInitMesh->GetNumVertices();
IndexCount = 3 * pInitMesh->GetNumIndices() - 6;
VertexWidth = pInitMesh->GetVertexWidth();
// allocate vertex and index buffer
int VBSize = pInitMesh->GetVertexBufferByteSize();
int IBSize = IndexCount * sizeof(int);
pVBuffer = (float*)n_malloc(VBSize);
pIBuffer = (int*)n_malloc(IBSize);
pInitMesh->SetUsage(nMesh2::ReadOnly);
// read vertices and indices
float *pVBuf = pInitMesh->LockVertices();
memcpy(pVBuffer,pVBuf,VBSize);
pInitMesh->UnlockVertices();
ushort *pIBuf = pInitMesh->LockIndices();
// copy with conversion TriStrip -> TriList
pIBuffer[0] = pIBuf[0];
pIBuffer[1] = pIBuf[1];
pIBuffer[2] = pIBuf[2];
for(int i = 3, j = 2; i < pInitMesh->GetNumIndices(); i++)
{
pIBuffer[++j] = pIBuffer[j - 2];
pIBuffer[++j] = pIBuffer[j - 2];
pIBuffer[++j] = pIBuf[i];
}
pInitMesh->UnlockIndices();
}
else
{
n_assert(FileName.IsValid());
if (FileName.CheckExtension("nvx2"))
{
nNvx2Loader MeshLoader;
if (!LoadFromFile(MeshLoader)) FAIL;
}
else if (FileName.CheckExtension("n3d2"))
{
nN3d2Loader MeshLoader;
if (!LoadFromFile(MeshLoader)) FAIL;
}
else
{
n_error("CMeshShape: invalid file extension in '%Sphere'", FileName.Get());
FAIL;
}
}
// fix my collide bits, we don't need to collide against other static and disabled entities
SetCategoryBits(Static);
SetCollideBits(Dynamic);
// create an ODE TriMeshData object from the loaded vertices and indices
ODETriMeshDataID = dGeomTriMeshDataCreate();
//!!!CHECK IT!
// index buffer оказывается должен быть всегда типа int[]
// хм, эта функция похоже никак не реагирует на передаваемый TriStride,
// пришлось конвертировать TriStrip в TriList
dGeomTriMeshDataBuildSingle(ODETriMeshDataID,
pVBuffer,
VertexWidth * sizeof(float),
VertexCount,
pIBuffer,
IndexCount,
3 * sizeof(int));
ODETriMeshID = dCreateTriMesh(0, ODETriMeshDataID, 0, 0, 0);
AttachGeom(ODETriMeshID, SpaceID);
//!!!!!!!FIXME: apply shape mass here!
OK;
}
