// Called by Physics::Server when the Level is attached to the server.
void CLevel::Activate()
{
TimeToSim = 0.0;
// Initialize ODE //???per-Level?
dInitODE();
ODEWorldID = dWorldCreate();
dWorldSetQuickStepNumIterations(ODEWorldID, 20);
// FIXME(enno): is a quadtree significantly faster? -- can't count geoms with quadtree
ODECommonSpaceID = dSimpleSpaceCreate(NULL);
ODEDynamicSpaceID = dSimpleSpaceCreate(ODECommonSpaceID);
ODEStaticSpaceID = dSimpleSpaceCreate(ODECommonSpaceID);
dWorldSetGravity(ODEWorldID, Gravity.x, Gravity.y, Gravity.z);
dWorldSetContactSurfaceLayer(ODEWorldID, 0.001f);
dWorldSetContactMaxCorrectingVel(ODEWorldID, 100.0f);
dWorldSetERP(ODEWorldID, 0.2f); // ODE's default value
dWorldSetCFM(ODEWorldID, 0.001f); // the default is 10^-5
// setup autodisabling
dWorldSetAutoDisableFlag(ODEWorldID, 1);
dWorldSetAutoDisableSteps(ODEWorldID, 5);
//dWorldSetAutoDisableTime(ODEWorldID, 1.f);
dWorldSetAutoDisableLinearThreshold(ODEWorldID, 0.05f); // default is 0.01
dWorldSetAutoDisableAngularThreshold(ODEWorldID, 0.1f); // default is 0.01
// create a Contact group for joints
ContactJointGroup = dJointGroupCreate(0);
}
int main (int argc, char **argv)
{
doFast = true;
// 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];
}
dInitODE();
bodies = 0;
joints = 0;
boxes = 0;
spheres = 0;
resetSimulation();
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
/**
* \brief The constructor for the physical world.
*
* pre:
* - none
*
* post:
* - all private variables should be initialized correct
* should correct be spezified?
* - world, space, contactgroup and world_init to false (0)
*/
WorldPhysics::WorldPhysics(ControlCenter *control) {
this->control = control;
draw_contact_points = 0;
fast_step = 0;
world_cfm = 1e-10;
world_erp = 0.1;
world_gravity = Vector(0.0, 0.0, -9.81);
ground_friction = 20;
ground_cfm = 0.00000001;
ground_erp = 0.1;
world = 0;
space = 0;
contactgroup = 0;
world_init = 0;
num_contacts = 0;
create_contacts = 1;
log_contacts = 0;
// the step size in seconds
step_size = 0.01;
// dInitODE is relevant for using trimesh objects as correct as
// possible in the ode implementation
MutexLocker locker(&iMutex);
#ifdef ODE11
// for ode-0.11
dInitODE2(0);
dAllocateODEDataForThread(dAllocateMaskAll);
#else
dInitODE();
#endif
dSetErrorHandler (myErrorFunction);
dSetDebugHandler (myDebugFunction);
dSetMessageHandler (myMessageFunction);
}
int main()
{
dInitODE();
testRandomNumberGenerator();
testInfinity();
testPad();
testCrossProduct();
testSetZero();
testNormalize3();
//testReorthonormalize(); ... not any more
testPlaneSpace();
testMatrixMultiply();
testSmallMatrixMultiply();
testCholeskyFactorization();
testCholeskySolve();
testInvertPDMatrix();
testIsPositiveDefinite();
testFastLDLTFactorization();
testSolveLDLT();
testLDLTAddTL();
testLDLTRemove();
testMassFunctions();
testRtoQandQtoR();
testQuaternionMultiply();
testRotationFunctions();
dTestMatrixComparison();
dTestSolveLCP();
// dTestDataStructures();
dCloseODE();
return 0;
}
int main(int argc, char **argv)
{
PseudoRandomSeed();
dInitODE();
//create simulator and set robot position at (0, -8)
Simulator sim(0, -8);
//create motion planner
MotionPlanner mp(&sim);
//create graphics
Graphics graphics(&mp);
//create obstacles and terrain
CreateWorld1(&sim);
//if argument specified, set as maximum motion planning time
if(argc > 1)
graphics.SetMotionPlannerMaxTime(atof(argv[1]));
//print help messages
graphics.HandleEventOnHelp();
//enter event loop
graphics.MainLoop();
return 0;
}
int main (int argc, char **argv)
{
int i;
dInitODE();
// process the command line args. anything that starts with `-' is assumed
// to be a drawstuff argument.
for (i=1; i<argc; i++) {
if ( argv[i][0]=='-' && argv[i][1]=='i' && argv[i][2]==0) cmd_interactive = 1;
else if ( argv[i][0]=='-' && argv[i][1]=='g' && argv[i][2]==0) cmd_graphics = 0;
else if ( argv[i][0]=='-' && argv[i][1]=='e' && argv[i][2]==0) cmd_graphics = 0;
else if ( argv[i][0]=='-' && argv[i][1]=='n' && isdigit(argv[i][2]) ) {
char *endptr;
long int n = strtol (&(argv[i][2]),&endptr,10);
if (*endptr == 0) cmd_test_num = n;
}
else
cmd_path_to_textures = argv[i];
}
// do the tests
if (cmd_test_num == -1) {
for (i=0; i<NUM_JOINTS*100; i++) doTest (argc,argv,i,0);
}
else {
doTest (argc,argv,cmd_test_num,1);
}
dCloseODE();
return 0;
}
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)));
}
void PhysWorld::Initialize()
{
dInitODE();
mWorld = dWorldCreate();
mSpace = dSimpleSpaceCreate(0);
isInitialized = true;
}
/* ------------------------
* 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;
}
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 Init() {
if(!gODEInitialized) {
printf("Initializing ODE...\n");
dInitODE();
InitODECustomMesh();
gODEInitialized = 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;
// 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);
}
int main(int argc, char *argv[]) {
dsFunctions fn;
double x[4] = {0.00}, y[4] = {0.00}; // Center of gravity
double z[4] = { 0.05, 0.50, 1.50, 2.55};
double m[4] = {10.00, 2.00, 2.00, 2.00}; // mass
double anchor_x[4] = {0.00}, anchor_y[4] = {0.00};// anchors of joints
double anchor_z[4] = { 0.00, 0.10, 1.00, 2.00};
double axis_x[4] = { 0.00, 0.00, 0.00, 0.00}; // axises of joints
double axis_y[4] = { 0.00, 0.00, 1.00, 1.00};
double axis_z[4] = { 1.00, 1.00, 0.00, 0.00};
fn.version = DS_VERSION;
fn.start = &init;
fn.step = &simLoop;
fn.command = &command;
fn.path_to_textures = "drawstuff_texture";
dInitODE(); // Initialize ODE
world = dWorldCreate(); // Create a world
dWorldSetGravity(world, 0, 0, -9.8);
bool isDrawingEnabled = true;
Leg leg(world);
LegDraw legDraw(&leg);
/*
for (int i = 0; i < NUM; i++) {
dMass mass;
link[i] = dBodyCreate(world);
dBodySetPosition(link[i], x[i], y[i], z[i]); // Set a position
dMassSetZero(&mass); // Set mass parameter to zero
dMassSetCapsuleTotal(&mass,m[i],3,r[i],l[i]); // Calculate mass parameter
dBodySetMass(link[i], &mass); // Set mass
}
joint[0] = dJointCreateFixed(world, 0); // A fixed joint
dJointAttach(joint[0], link[0], 0); // Attach the joint between the ground and the base
dJointSetFixed(joint[0]); // Set the fixed joint
for (int j = 1; j < NUM; j++) {
joint[j] = dJointCreateHinge(world, 0); // Create a hinge joint
dJointAttach(joint[j], link[j-1], link[j]); // Attach the joint
dJointSetHingeAnchor(joint[j], anchor_x[j], anchor_y[j],anchor_z[j]);
dJointSetHingeAxis(joint[j], axis_x[j], axis_y[j], axis_z[j]);
}*/
dsSimulationLoop(argc, argv, 640, 480, &fn); // Simulation loop
dCloseODE();
return 0;
}
/**
* @brief Iniciar simulacao com alguns parametros
*
* Funcao executada apenas no inicio da simulacao
*
*/
void start()
{
// Initialize ODE
dInitODE();
// Set initial viewpoint for drawstuff
float xyz[3] = {0, 0, 125*SC};
float hpr[3] = {90, -90, 0};
dsSetViewpoint(xyz,hpr);
}
/*** 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;
}
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 main (int argc, char **argv)
{
// set for drawing
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = NULL;
fn.stop = NULL;
fn.path_to_textures = "../textures";
dInitODE(); // init ODE
world = dWorldCreate(); // create a dynamic world
dWorldSetGravity(world,0,0,-0.1);
dMass m; // a parameter for mass
dMassSetZero (&m); // initialize the parameter
//@a sphere
sphere.body = dBodyCreate (world); // create a rigid body
dReal radius = 0.5; // radius [m]
dMassSetSphere (&m,DENSITY,radius); // calculate a mass parameter for a sphere
dBodySetMass (sphere.body,&m); // set the mass parameter to the body
dBodySetPosition (sphere.body,0,1, 1); // set the position of the body
//@a box
box.body = dBodyCreate (world);
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
dBodySetMass (box.body,&m);
dBodySetPosition (box.body,0,2,1);
// a capsule
capsule.body = dBodyCreate (world);
dMassSetCapsule(&m,DENSITY,3,radius,length);
dBodySetMass (capsule.body,&m);
dBodySetPosition (capsule.body,0,4,1);
// a cylinder
cylinder.body = dBodyCreate (world);
dMassSetCylinder(&m,DENSITY,3,radius,length);
dBodySetMass (cylinder.body,&m);
dBodySetPosition (cylinder.body,0,3,1);
// do the simulation
dsSimulationLoop (argc,argv,960,480,&fn);
dWorldDestroy (world); // destroy the world
dCloseODE(); // close ODE
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;
}
int main (int argc, char **argv)
{
static dMass m;
dReal mass = 1.0;
// set for drawing
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = NULL;
fn.stop = NULL;
fn.path_to_textures = "../textures";
dInitODE(); // init ODE
world = dWorldCreate(); // create a dynamic world
space = dSimpleSpaceCreate (0);
//@a box
capsule = dBodyCreate (world);
geom = dCreateCapsule (space,radius,length); //create geometry.
dMassSetCapsule(&m,DENSITY,3,radius,length);
dBodySetMass (capsule,&m);
dGeomSetBody(geom,capsule);
dBodySetPosition (capsule,0,4,1);
//Gravedad y cosas de simulacion
dWorldSetGravity(world,0,0,-9.81);
dWorldSetCFM (world,1e-5);
dCreatePlane (space,0,0,1,0);
contactgroup = dJointGroupCreate (0);
// the simulation
dsSimulationLoop (argc,argv,960,480,&fn);
//-- Destroy the world!!!
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
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;
}
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;
}
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";
if(argc==2)
{
fn.path_to_textures = argv[1];
}
// create world
dInitODE();
world = dWorldCreate();
space = dHashSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
dWorldSetCFM (world,1e-5);
dWorldSetAutoDisableFlag (world,1);
#if 1
dWorldSetAutoDisableAverageSamplesCount( world, 10 );
#endif
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();
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;
}
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 = stop;
fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
// create world
dInitODE();
// run demo
dsSimulationLoop (argc, argv, 800, 600, &fn);
dCloseODE();
return 0;
}
void create_world(Controller* controller,bool log,bool bMoviePlay)
{
// create world
dRandSetSeed(10);
dInitODE();
creatures.clear();
world = dWorldCreate();
space = dHashSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-9.8);
floorplane = dCreatePlane (space,0,0,1, 0.0);
dWorldSetERP(world,0.1);
dWorldSetCFM(world,1E-4);
Biped* biped = new Biped(log,bMoviePlay);
dVector3 pos={0.0,0.0,0.0};
biped->Create(world,space,pos,controller);
creatures.push_back(biped);
}
int main (int argc, char **argv)
{
int i;
// 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];
}
dInitODE();
// test the simple space:
// space = dSimpleSpaceCreate();
// test the hash space:
// space = dHashSpaceCreate (0);
// dHashSpaceSetLevels (space,-10,10);
// test the quadtree space
dVector3 Center = {0, 0, 0, 0};
dVector3 Extents = {10, 0, 10, 0};
space = dQuadTreeSpaceCreate(0, Center, Extents, 7);
for (i=0; i < NUM; i++) geom[i] = 0;
init_test();
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dSpaceDestroy (space);
dCloseODE();
return 0;
}