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;
}
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 ) );
// run simulation
dsSimulationLoop( argc,argv,352,288,&fn );
dJointGroupDestroy( contactgroup );
dSpaceDestroy( space );
dWorldDestroy( world );
dCloseODE();
return 0;
}
// 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;
}
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)));
}
Scene::Scene( void )
{
if( m_instance_count == 0 )
dInitODE2( 0 );
m_instance_count++;
m_obj_p = 0;
m_dworld = dWorldCreate();
collision_init();
for( int x = 0; x < 4; x++ )
{
for( int y = 0; y < 4; y++ )
{
float xpos = -160 + float(x)*76.0f + 46.5f;
float ypos = 240 - float(y)*88.0f - 61.5f;
SceneObj *arse_p = new SceneObj( this );
dBodySetPosition( arse_p->m_dbody, xpos, ypos, 0.0f );
arse_p->m_texid = x + y*4;
}
}
m_motion[0] = 0; m_motion_lopass[0] = 0; m_motion_hipass[0] = 0;
m_motion[1] = 0; m_motion_lopass[1] = 0; m_motion_hipass[1] = 0;
m_motion[2] = 0; m_motion_lopass[2] = 0; m_motion_hipass[2] = 0;
for( int t = 0; t < 16; t++ )
m_textures[t] = 0;
}
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 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);
}
/* ------------------------
* 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;
}
/**
* \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");
}
bool Physics::init(){
#ifdef LOOP_DEBUG
logs().main.write("START PHYSICS INIT");
#endif
#ifdef ODE
worldId=dWorldCreate();
#endif
#ifdef LOOP_DEBUG
logs().main.write("START PHYSICS INIT SCRIPT");
#endif
LuaType* luaa=script().add("physics");
LuaType* clua=script().add("gravity",luaa);
script().add("x",&gravity.x,clua);
script().add("y",&gravity.y,clua);
script().add("z",&gravity.z,clua);
script().add("collide",&collide,luaa);
script().add("trace",luaTrace,luaa);
#ifdef LOOP_DEBUG
logs().main.write("START PHYSICS INIT END");
#endif
return true;
}
void PhysWorld::Initialize()
{
dInitODE();
mWorld = dWorldCreate();
mSpace = dSimpleSpaceCreate(0);
isInitialized = true;
}
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
// 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);
}
void constructWorldForTest (dReal gravity, int bodycount,
/* body 1 pos */ dReal pos1x, dReal pos1y, dReal pos1z,
/* body 2 pos */ dReal pos2x, dReal pos2y, dReal pos2z,
/* body 1 rotation axis */ dReal ax1x, dReal ax1y, dReal ax1z,
/* body 1 rotation axis */ dReal ax2x, dReal ax2y, dReal ax2z,
/* rotation angles */ dReal a1, dReal a2)
{
// create world
world = dWorldCreate();
dWorldSetERP (world,0.2);
dWorldSetCFM (world,1e-6);
dWorldSetGravity (world,0,0,gravity);
dMass m;
dMassSetBox (&m,1,SIDE,SIDE,SIDE);
dMassAdjust (&m,MASS);
body[0] = dBodyCreate (world);
dBodySetMass (body[0],&m);
dBodySetPosition (body[0], pos1x, pos1y, pos1z);
dQuaternion q;
dQFromAxisAndAngle (q,ax1x,ax1y,ax1z,a1);
dBodySetQuaternion (body[0],q);
if (bodycount==2) {
body[1] = dBodyCreate (world);
dBodySetMass (body[1],&m);
dBodySetPosition (body[1], pos2x, pos2y, pos2z);
dQFromAxisAndAngle (q,ax2x,ax2y,ax2z,a2);
dBodySetQuaternion (body[1],q);
}
else body[1] = 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));
}
int main(int argc, char** argv)
{
init_gfx();
init_2d();
// create world and set gravity
world = dWorldCreate();
dWorldSetGravity(world, 0, -5, 0);
// create a body for our ball
dBodyID body = dBodyCreate(world);
dBodySetPosition(body, 0, 0, 0);
for (;;) { // infinite loop
// get the position and move there in OpenGL
const dReal* pos = dBodyGetPosition(body);
glTranslatef(pos[0], pos[1], pos[2]);
draw_circle();
// integrate all bodies
dWorldQuickStep(world, 0.01);
// redraw screen
step();
}
}
int main(int argc, char** argv)
{
init_gfx();
init_2d();
world = dWorldCreate();
dBodyID ball = dBodyCreate(world);
dBodySetPosition(ball, 0, 0, 0);
for (;;) {
Uint8* chars = SDL_GetKeyState(NULL);
if (chars[SDLK_LEFT]) {
dBodyAddForce(ball, -force, 0, 0);
}
if (chars[SDLK_RIGHT]) {
dBodyAddForce(ball, +force, 0, 0);
}
if (chars[SDLK_UP]) {
dBodyAddForce(ball, 0, +force, 0);
}
if (chars[SDLK_DOWN]) {
dBodyAddForce(ball, 0, -force, 0);
}
const dReal* pos = dBodyGetPosition(ball);
glTranslatef(pos[0], pos[1], pos[2]);
draw_circle();
dWorldQuickStep(world, 0.01);
step();
}
}
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;
}
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;
}
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;
}
bool JointInteraction::loadConfig(std::string configFile)
{
world = dWorldCreate();
space = dSimpleSpaceCreate(0);
isGrabbing = false;
stepsPerFrame = 50;
maxDist = 20;
deltaTrans = identityTransformation();
this->configFile = configFile;
return true;
} // loadConfig
IoODEWorld *IoODEWorld_rawClone(IoODEWorld *proto)
{
IoObject *self = IoObject_rawClonePrimitive(proto);
IoObject_setDataPointer_(self, calloc(1, sizeof(IoODEWorldData)));
WORLDID = dWorldCreate();
DATA(self)->bodies = List_new();
DATA(self)->jointGroups = List_new();
IoObject_inlineSetSlot_to_(self, IOSYMBOL("Body"), IoODEBody_newBodyProtoWithWorld(IOSTATE, self));
IoObject_inlineSetSlot_to_(self, IOSYMBOL("JointGroup"), IoODEJointGroup_newJointGroupProtoWithWorld(IOSTATE, self));
return self;
}
/*** 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)
{
// 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 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;
}
void ode::reset()
{
world = dWorldCreate();
space = dSweepAndPruneSpaceCreate(0, dSAP_AXES_XYZ );
dWorldSetGravity (world,0,300,0);
dWorldSetCFM (world, 1e-5);
dWorldSetERP (world, 0.8);
//dWorldSetQuickStepNumIterations (world,ITERS);
ground = dCreatePlane (space,0,0,100,0);
}
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;
}
