Rope::Rope(Object* obja, Body* bodya, Object* objb, Body* bodyb) : obja_(obja), objb_(objb), selected_(false) { vec apos = bodya->position(); proxya_.set_position(apos); proxya_.set_velocity(bodya->velocity()); proxya_.set_mass(0.01, 1); hingea_ = dJointCreateHinge(LEVEL->world, 0); dJointAttach(hingea_, proxya_.body_id(), bodya->body_id()); dJointSetHingeAxis(hingea_, 0, 0, 1); vec bpos = bodyb->position(); proxyb_.set_position(bpos); proxyb_.set_velocity(bodyb->velocity()); proxyb_.set_mass(0.01, 1); hingeb_ = dJointCreateHinge(LEVEL->world, 0); dJointAttach(hingeb_, proxyb_.body_id(), bodyb->body_id()); dJointSetHingeAxis(hingeb_, 0, 0, 1); rope_ = dJointCreateSlider(LEVEL->world, 0); vec axis = bpos - apos; dJointAttach(rope_, proxya_.body_id(), proxyb_.body_id()); dJointSetSliderAxis(rope_, axis.x, axis.y, 0); dJointSetSliderParam(rope_, dParamLoStop, 0); dJointSetSliderParam(rope_, dParamStopCFM, 0.25); dJointSetSliderParam(rope_, dParamStopERP, 0.01); ext_ = base_ext_ = axis.norm(); }
void CubeBasePiece::attachToBase(dBodyID otherBody, dWorldID world, dJointGroupID jointGroup, dReal x, dReal y, dReal z, const dMatrix3 rotationMatrix) { dBodySetPosition(body,x,y,z); dJointID connectingJoint = dJointCreateSlider(world,jointGroup); dJointAttach(connectingJoint,otherBody,body); dJointSetSliderParam(connectingJoint,dParamLoStop,0); dJointSetSliderParam(connectingJoint,dParamHiStop,0); }
void CODESliderJoint::setParams() { dJointSetSliderAxis(mID, mAxisX, mAxisY, mAxisZ); dJointSetSliderParam(mID, dParamLoStop, mLowerLimit); dJointSetSliderParam(mID, dParamHiStop, mUpperLimit); if (mStopERP >= 0) dJointSetSliderParam(mID, dParamStopERP, mStopERP); if (mStopCFM >= 0) dJointSetSliderParam(mID, dParamStopCFM, mStopCFM); }
/** * This method is called if the joint should be attached. * It creates the ODE-joint, calculates the current * axis-orientation and attaches the Joint. * @param obj1 first ODE-object to attach with * @param obj2 second ODE-object to attach with **/ void SliderJoint::attachJoint(dBodyID obj1, dBodyID obj2) { gmtl::Vec3f newAxis; gmtl::Quatf entityRot; gmtl::AxisAnglef axAng; gmtl::Vec3f scale = gmtl::Vec3f(1,1,1); TransformationData entityTrans; joint = dJointCreateSlider(world, 0); dJointAttach(joint, obj1, obj2); newAxis = axis; if (mainEntity != NULL) { entityTrans = mainEntity->getEnvironmentTransformation(); // scale Axis by mainEntity-scale value because of possible distortion /* scale[0] = mainEntity->getXScale(); scale[1] = mainEntity->getYScale(); scale[2] = mainEntity->getZScale();*/ scale = entityTrans.scale; newAxis[0] *= scale[0]; newAxis[1] *= scale[1]; newAxis[2] *= scale[2]; gmtl::normalize(newAxis); // get the Rotation of the mainEntity // axAng[0] = mainEntity->getRotAngle(); // axAng[1] = mainEntity->getXRot(); // axAng[2] = mainEntity->getYRot(); // axAng[3] = mainEntity->getZRot(); // gmtl::set(entityRot, axAng); entityRot = entityTrans.orientation; // rotate Axis by mainEntity-rotation newAxis *= entityRot; } // if dJointSetSliderAxis(joint, newAxis[0], newAxis[1], newAxis[2]); // set the minimum and maximum joint-positions (if set). if (posSet) { gmtl::Vec3f minDistVec = newAxis * minPos; gmtl::Vec3f maxDistVec = newAxis * maxPos; minDistVec[0] *= scale[0]; minDistVec[1] *= scale[1]; minDistVec[2] *= scale[2]; maxDistVec[0] *= scale[0]; maxDistVec[1] *= scale[1]; maxDistVec[2] *= scale[2]; dJointSetSliderParam(joint, dParamLoStop, gmtl::dot(minDistVec,newAxis)); dJointSetSliderParam(joint, dParamHiStop, gmtl::dot(maxDistVec,newAxis)); } // if } // attachJoint
bool CODESliderJoint::init(dWorld& world, dJointGroupID groupID) { bool result = CODEJoint::init(world, groupID); if (mDryFriction > 0) { dJointSetSliderParam(mID, dParamVel, 0); dJointSetSliderParam(mID, dParamFMax, mDryFriction); } return result; }
/** *@brief ジョイントの速度制御の関数 * @param v 目標速度 */ void ODEJointObj::ControlJointVel(double v) { ms->mu->lock(); if(JointType == 0) { dJointSetSliderParam(joint, dParamVel, v); dJointSetSliderParam(joint, dParamFMax, 200); } else if(JointType == 2) { dJointSetHingeParam(joint,dParamVel, v); dJointSetHingeParam(joint,dParamFMax,50.); } ms->mu->unlock(); }
void Rope::lengthen(num amt) { ext_ += amt; if (ext_ < 0) { ext_ = 0; } dJointSetSliderParam(rope_, dParamLoStop, base_ext_ - ext_); }
void ServoMotor::create(Joint* joint) { ASSERT(dJointGetType(joint->joint) == dJointTypeHinge || dJointGetType(joint->joint) == dJointTypeSlider); this->joint = positionSensor.joint = joint; if(dJointGetType(joint->joint) == dJointTypeHinge) dJointSetHingeParam(joint->joint, dParamFMax, maxForce); else dJointSetSliderParam(joint->joint, dParamFMax, maxForce); }
void Machine::adjustPush(double m) { if(pushtime>0) { dJointSetSliderParam(joint, dParamVel, -100); dJointSetSliderParam(joint, dParamFMax, 5000); } else { dJointSetSliderParam(joint, dParamVel, 100); dJointSetSliderParam(joint, dParamFMax, 1000); } pushtime-=m; energy+=m; if(energy>4) energy=4; if(pushtime<0) pushtime=0; }
static void set_phys_joint_attr(dJointID j, int p, float v) { switch (dJointGetType(j)) { case dJointTypeHinge: dJointSetHingeParam (j, p, v); break; case dJointTypeSlider: dJointSetSliderParam (j, p, v); break; case dJointTypeHinge2: dJointSetHinge2Param (j, p, v); break; case dJointTypeUniversal: dJointSetUniversalParam(j, p, v); break; default: break; } }
/** * Creates a new IBDS::SliderJoint. * * @param body1 the first body to connect the joint to. * @param body2 the second body to connect the joint to. * @return a new IBDS::SliderJoint. */ dJointID ODE_SliderJoint::createJoint(dBodyID body1, dBodyID body2) { if(mFirstAxisPoint->get().equals(mSecondAxisPoint->get())) { Core::log("Invalid axes for ODE_SliderJoint."); return 0; } //if one of the bodyIDs is null, the joint is connected to a static object. dJointID newJoint = dJointCreateSlider(mWorldID, mGeneralJointGroup); dJointAttach(newJoint, body1, body2); Vector3D axis(mSecondAxisPoint->getX() - mFirstAxisPoint->getX(), mSecondAxisPoint->getY() - mFirstAxisPoint->getY(), mSecondAxisPoint->getZ() - mFirstAxisPoint->getZ()); axis.normalize(); dJointSetSliderAxis(newJoint, axis.getX(), axis.getY(), axis.getZ()); dJointSetSliderParam(newJoint, dParamLoStop, mMinPositionValue->get()); dJointSetSliderParam(newJoint, dParamHiStop, mMaxPositionValue->get()); dJointSetSliderParam(newJoint, dParamVel, 0.0); dJointSetSliderParam(newJoint, dParamFMax, mFrictionValue->get()); return newJoint; }
void Slider::createPhysics() { ASSERT(axis); ASSERT(axis->motor); // axis->create(); // ::PhysicalObject::createPhysics(); // find bodies to connect Body* parentBody = dynamic_cast<Body*>(parent); ASSERT(!parentBody || parentBody->body); ASSERT(!children.empty()); Body* childBody = dynamic_cast<Body*>(*children.begin()); ASSERT(childBody); ASSERT(childBody->body); // create joint joint = dJointCreateSlider(Simulation::simulation->physicalWorld, 0); dJointAttach(joint, childBody->body, parentBody ? parentBody->body : 0); //set Slider joint parameter Vector3<> globalAxis = pose.rotation * Vector3<>(axis->x, axis->y, axis->z); dJointSetSliderAxis(joint, globalAxis.x, globalAxis.y, globalAxis.z); if(axis->cfm != -1.f) dJointSetSliderParam(joint, dParamCFM, dReal(axis->cfm)); if(axis->deflection) { const Axis::Deflection& deflection = *axis->deflection; float minSliderLimit = deflection.min; float maxSliderLimit = deflection.max; if(minSliderLimit > maxSliderLimit) minSliderLimit = maxSliderLimit; //Set physical limits to higher values (+10%) to avoid strange Slider effects. //Otherwise, sometimes the motor exceeds the limits. float internalTolerance = (maxSliderLimit - minSliderLimit) * 0.1f; if(dynamic_cast<ServoMotor*>(axis->motor)) { minSliderLimit -= internalTolerance; maxSliderLimit += internalTolerance; } dJointSetSliderParam(joint, dParamLoStop, dReal(minSliderLimit)); dJointSetSliderParam(joint, dParamHiStop, dReal(maxSliderLimit)); // this has to be done due to the way ODE sets joint stops dJointSetSliderParam(joint, dParamLoStop, dReal(minSliderLimit)); if(deflection.stopCFM != -1.f) dJointSetSliderParam(joint, dParamStopCFM, dReal(deflection.stopCFM)); if(deflection.stopERP != -1.f) dJointSetSliderParam(joint, dParamStopERP, dReal(deflection.stopERP)); } // create motor axis->motor->create(this); OpenGLTools::convertTransformation(rotation, translation, transformation); }
void vmWishboneCar::setWheelSuspension(vm::WheelLoc loc, dReal step, dReal kps, dReal kds) { vmWheel *wnow; vmWishbone *snow; switch (loc) { case vm::WheelLoc::FR: wnow= &frWheel; snow= &frSuspension; break; case vm::WheelLoc::FL: wnow= &flWheel; snow= &flSuspension; break; case vm::WheelLoc::RR: wnow= &rrWheel; snow= &rrSuspension; break; case vm::WheelLoc::RL: wnow= &rlWheel; snow= &rlSuspension; break; default: break; } dJointSetSliderParam(snow->jStrutMid, dParamHiStop, 0.0); dJointSetSliderParam(snow->jStrutMid, dParamLoStop, 0.0); dJointSetSliderParam(snow->jStrutMid, dParamStopCFM, computeCFM(step,kps,kds)); dJointSetSliderParam(snow->jStrutMid, dParamStopERP, computeERP(step,kps,kds)); dJointSetSliderParam(snow->jStrutMid, dParamFMax, dInfinity); /*dJointSetLMotorParam(snow->jLowSpring, dParamHiStop, 0.0); dJointSetLMotorParam(snow->jLowSpring, dParamLoStop, 0.0); dJointSetLMotorParam(snow->jLowSpring, dParamStopCFM, computeCFM(step,kps,kds)); dJointSetLMotorParam(snow->jLowSpring, dParamStopERP, computeERP(step,kps,kds)); dJointSetLMotorParam(snow->jLowSpring, dParamFMax, dInfinity);*/ }
void ServoMotor::act() { const float currentPos = dJointGetType(joint->joint) == dJointTypeHinge ? dJointGetHingeAngle(joint->joint) : dJointGetSliderPosition(joint->joint); float setpoint = this->setpoint; const float maxValueChange = maxVelocity * Simulation::simulation->scene->stepLength; if(std::abs(setpoint - currentPos) > maxValueChange) { if(setpoint < currentPos) setpoint = currentPos - maxValueChange; else setpoint = currentPos + maxValueChange; } const float newVel = controller.getOutput(currentPos, setpoint); if(dJointGetType(joint->joint) == dJointTypeHinge) dJointSetHingeParam(joint->joint, dParamVel, dReal(newVel)); else dJointSetSliderParam(joint->joint, dParamVel, dReal(newVel)); }
//SetAllMovParams void JointSlider::SetAllMovParams(double LoStop, double HiStop, double Velocity, double MaxForce, double FudgeFactor, double Bounce, double StopERP, double StopCFM) { if (LoStop <= 0) dJointSetHingeParam(this->_id, dParamLoStop, LoStop); if (HiStop >= 0) dJointSetHingeParam(this->_id, dParamHiStop, HiStop); dJointSetSliderParam(this->_id, dParamVel, Velocity); dJointSetSliderParam(this->_id, dParamFMax, MaxForce); dJointSetSliderParam(this->_id, dParamFudgeFactor, FudgeFactor); dJointSetSliderParam(this->_id, dParamBounce, Bounce); dJointSetSliderParam(this->_id, dParamStopERP, StopERP); dJointSetSliderParam(this->_id, dParamStopCFM, StopCFM); }
void Machine::init() { int i; pushtime=0; energy=4; dMass m; for(i=0; i<3; i++) { wheel[i] = dBodyCreate(world); dMassSetSphere(&m, 1, 5); dMassAdjust(&m, 2); dBodySetMass(wheel[i], &m); sphere[i] = dCreateSphere(0, 5); dGeomSetBody(sphere[i], wheel[i]); } dBodySetPosition(wheel[0], 0, 12, 6); dBodySetPosition(wheel[1], -6, -7, 6); dBodySetPosition(wheel[2], 6, -7, 6); body[0] = dBodyCreate(world); dMassSetBox(&m, 1, 20, 80, 5); dMassAdjust(&m, 5); dBodySetMass(body[0], &m); dBodySetPosition(body[0], 0, 0, 6.5); geom[0] = dCreateBox(0, 19, 27, 10); dGeomSetBody(geom[0], body[0]); body[1] = dBodyCreate(world); dMassSetBox(&m, 1, 11, 5, 10); dMassAdjust(&m, 0.3); dBodySetMass(body[1], &m); dBodySetPosition(body[1], 0, 17, 6.5); geom[1] = dCreateBox(0, 11, 5, 10); dGeomSetBody(geom[1], body[1]); joint = dJointCreateSlider(world, 0); dJointAttach(joint, body[0], body[1]); dJointSetSliderAxis(joint, 0, 1, 0); dJointSetSliderParam(joint, dParamLoStop, -9); dJointSetSliderParam(joint, dParamHiStop, 0); for(i=0; i<2; i++) { geom[i+2] = dCreateGeomTransform(0); dGeomTransformSetCleanup(geom[i+2], 1); finE[i] = dCreateBox(0, 7, 5, 10); dGeomSetPosition(finE[i], i==0?-6.3:6.3, -2, 0); dMatrix3 R; dRFromAxisAndAngle(R, 0, 0, 1, i==0?M_PI/4:-M_PI/4); dGeomSetRotation(finE[i], R); dGeomTransformSetGeom(geom[i+2], finE[i]); dGeomSetBody(geom[i+2], body[1]); } for(i=0; i<3; i++) { wheeljoint[i] = dJointCreateHinge2(world, 0); dJointAttach(wheeljoint[i], body[0], wheel[i]); const dReal *wPos = dBodyGetPosition(wheel[i]); dJointSetHinge2Anchor(wheeljoint[i], wPos[0], wPos[1], wPos[2]); dJointSetHinge2Axis1(wheeljoint[i], 0, 0, 1); dJointSetHinge2Axis2(wheeljoint[i], 1, 0, 0); dJointSetHinge2Param(wheeljoint[i], dParamSuspensionERP, 0.8); dJointSetHinge2Param(wheeljoint[i], dParamSuspensionCFM, 0.01); dJointSetHinge2Param(wheeljoint[i], dParamLoStop, 0); dJointSetHinge2Param(wheeljoint[i], dParamHiStop, 0); dJointSetHinge2Param(wheeljoint[i], dParamCFM, 0.0001); dJointSetHinge2Param(wheeljoint[i], dParamStopERP, 0.8); dJointSetHinge2Param(wheeljoint[i], dParamStopCFM, 0.0001); } reset(); }
int setupTest (int n) { switch (n) { // ********** fixed joint case 0: { // 2 body constructWorldForTest (0,2, 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, 1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI); joint = dJointCreateFixed (world,0); dJointAttach (joint,body[0],body[1]); dJointSetFixed (joint); return 1; } case 1: { // 1 body to static env constructWorldForTest (0,1, 0.5*SIDE,0.5*SIDE,1, 0,0,0, 1,0,0, 1,0,0, 0,0); joint = dJointCreateFixed (world,0); dJointAttach (joint,body[0],0); dJointSetFixed (joint); return 1; } case 2: { // 2 body with relative rotation constructWorldForTest (0,2, 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, 1,1,0, 1,1,0, 0.25*M_PI,-0.25*M_PI); joint = dJointCreateFixed (world,0); dJointAttach (joint,body[0],body[1]); dJointSetFixed (joint); return 1; } case 3: { // 1 body to static env with relative rotation constructWorldForTest (0,1, 0.5*SIDE,0.5*SIDE,1, 0,0,0, 1,0,0, 1,0,0, 0.25*M_PI,0); joint = dJointCreateFixed (world,0); dJointAttach (joint,body[0],0); dJointSetFixed (joint); return 1; } // ********** hinge joint case 200: // 2 body constructWorldForTest (0,2, 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, 1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI); joint = dJointCreateHinge (world,0); dJointAttach (joint,body[0],body[1]); dJointSetHingeAnchor (joint,0,0,1); dJointSetHingeAxis (joint,1,-1,1.41421356); return 1; case 220: // hinge angle polarity test case 221: // hinge angle rate test constructWorldForTest (0,2, 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, 1,0,0, 1,0,0, 0,0); joint = dJointCreateHinge (world,0); dJointAttach (joint,body[0],body[1]); dJointSetHingeAnchor (joint,0,0,1); dJointSetHingeAxis (joint,0,0,1); max_iterations = 50; return 1; case 230: // hinge motor rate (and polarity) test case 231: // ...with stops constructWorldForTest (0,2, 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, 1,0,0, 1,0,0, 0,0); joint = dJointCreateHinge (world,0); dJointAttach (joint,body[0],body[1]); dJointSetHingeAnchor (joint,0,0,1); dJointSetHingeAxis (joint,0,0,1); dJointSetHingeParam (joint,dParamFMax,1); if (n==231) { dJointSetHingeParam (joint,dParamLoStop,-0.5); dJointSetHingeParam (joint,dParamHiStop,0.5); } return 1; case 250: // limit bounce test (gravity down) case 251: { // ...gravity up constructWorldForTest ((n==251) ? 0.1 : -0.1, 2, 0.5*SIDE,0,1+0.5*SIDE, -0.5*SIDE,0,1-0.5*SIDE, 1,0,0, 1,0,0, 0,0); joint = dJointCreateHinge (world,0); dJointAttach (joint,body[0],body[1]); dJointSetHingeAnchor (joint,0,0,1); dJointSetHingeAxis (joint,0,1,0); dJointSetHingeParam (joint,dParamLoStop,-0.9); dJointSetHingeParam (joint,dParamHiStop,0.7854); dJointSetHingeParam (joint,dParamBounce,0.5); // anchor 2nd body with a fixed joint dJointID j = dJointCreateFixed (world,0); dJointAttach (j,body[1],0); dJointSetFixed (j); return 1; } // ********** slider case 300: // 2 body constructWorldForTest (0,2, 0,0,1, 0.2,0.2,1.2, 0,0,1, -1,1,0, 0,0.25*M_PI); joint = dJointCreateSlider (world,0); dJointAttach (joint,body[0],body[1]); dJointSetSliderAxis (joint,1,1,1); return 1; case 320: // slider angle polarity test case 321: // slider angle rate test constructWorldForTest (0,2, 0,0,1, 0,0,1.2, 1,0,0, 1,0,0, 0,0); joint = dJointCreateSlider (world,0); dJointAttach (joint,body[0],body[1]); dJointSetSliderAxis (joint,0,0,1); max_iterations = 50; return 1; case 330: // slider motor rate (and polarity) test case 331: // ...with stops constructWorldForTest (0, 2, 0,0,1, 0,0,1.2, 1,0,0, 1,0,0, 0,0); joint = dJointCreateSlider (world,0); dJointAttach (joint,body[0],body[1]); dJointSetSliderAxis (joint,0,0,1); dJointSetSliderParam (joint,dParamFMax,100); if (n==331) { dJointSetSliderParam (joint,dParamLoStop,-0.4); dJointSetSliderParam (joint,dParamHiStop,0.4); } return 1; case 350: // limit bounce tests case 351: { constructWorldForTest ((n==351) ? 0.1 : -0.1, 2, 0,0,1, 0,0,1.2, 1,0,0, 1,0,0, 0,0); joint = dJointCreateSlider (world,0); dJointAttach (joint,body[0],body[1]); dJointSetSliderAxis (joint,0,0,1); dJointSetSliderParam (joint,dParamLoStop,-0.5); dJointSetSliderParam (joint,dParamHiStop,0.5); dJointSetSliderParam (joint,dParamBounce,0.5); // anchor 2nd body with a fixed joint dJointID j = dJointCreateFixed (world,0); dJointAttach (j,body[1],0); dJointSetFixed (j); return 1; } // ********** hinge-2 joint case 420: // hinge-2 steering angle polarity test case 421: // hinge-2 steering angle rate test constructWorldForTest (0,2, 0.5*SIDE,0,1, -0.5*SIDE,0,1, 1,0,0, 1,0,0, 0,0); joint = dJointCreateHinge2 (world,0); dJointAttach (joint,body[0],body[1]); dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1); dJointSetHinge2Axis1 (joint,0,0,1); dJointSetHinge2Axis2 (joint,1,0,0); max_iterations = 50; return 1; case 430: // hinge 2 steering motor rate (+polarity) test case 431: // ...with stops case 432: // hinge 2 wheel motor rate (+polarity) test constructWorldForTest (0,2, 0.5*SIDE,0,1, -0.5*SIDE,0,1, 1,0,0, 1,0,0, 0,0); joint = dJointCreateHinge2 (world,0); dJointAttach (joint,body[0],body[1]); dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1); dJointSetHinge2Axis1 (joint,0,0,1); dJointSetHinge2Axis2 (joint,1,0,0); dJointSetHinge2Param (joint,dParamFMax,1); dJointSetHinge2Param (joint,dParamFMax2,1); if (n==431) { dJointSetHinge2Param (joint,dParamLoStop,-0.5); dJointSetHinge2Param (joint,dParamHiStop,0.5); } return 1; // ********** angular motor joint case 600: // test euler angle calculations constructWorldForTest (0,2, -SIDE*0.5,0,1, SIDE*0.5,0,1, 0,0,1, 0,0,1, 0,0); joint = dJointCreateAMotor (world,0); dJointAttach (joint,body[0],body[1]); dJointSetAMotorNumAxes (joint,3); dJointSetAMotorAxis (joint,0,1, 0,0,1); dJointSetAMotorAxis (joint,2,2, 1,0,0); dJointSetAMotorMode (joint,dAMotorEuler); max_iterations = 200; return 1; // ********** universal joint case 700: // 2 body case 701: case 702: constructWorldForTest (0,2, 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, 1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI); joint = dJointCreateUniversal (world,0); dJointAttach (joint,body[0],body[1]); dJointSetUniversalAnchor (joint,0,0,1); dJointSetUniversalAxis1 (joint, 1, -1, 1.41421356); dJointSetUniversalAxis2 (joint, 1, -1, -1.41421356); return 1; case 720: // universal transmit torque test case 721: case 722: case 730: // universal torque about axis 1 case 731: case 732: case 740: // universal torque about axis 2 case 741: case 742: constructWorldForTest (0,2, 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, 1,0,0, 1,0,0, 0,0); joint = dJointCreateUniversal (world,0); dJointAttach (joint,body[0],body[1]); dJointSetUniversalAnchor (joint,0,0,1); dJointSetUniversalAxis1 (joint,0,0,1); dJointSetUniversalAxis2 (joint, 1, -1,0); max_iterations = 100; return 1; } return 0; }
dReal doStuffAndGetError (int n) { switch (n) { // ********** fixed joint case 0: { // 2 body addOscillatingTorque (0.1); dampRotationalMotion (0.1); // check the orientations are the same const dReal *R1 = dBodyGetRotation (body[0]); const dReal *R2 = dBodyGetRotation (body[1]); dReal err1 = dMaxDifference (R1,R2,3,3); // check the body offset is correct dVector3 p,pp; const dReal *p1 = dBodyGetPosition (body[0]); const dReal *p2 = dBodyGetPosition (body[1]); for (int i=0; i<3; i++) p[i] = p2[i] - p1[i]; dMULTIPLY1_331 (pp,R1,p); pp[0] += 0.5; pp[1] += 0.5; return (err1 + length (pp)) * 300; } case 1: { // 1 body to static env addOscillatingTorque (0.1); // check the orientation is the identity dReal err1 = cmpIdentity (dBodyGetRotation (body[0])); // check the body offset is correct dVector3 p; const dReal *p1 = dBodyGetPosition (body[0]); for (int i=0; i<3; i++) p[i] = p1[i]; p[0] -= 0.25; p[1] -= 0.25; p[2] -= 1; return (err1 + length (p)) * 1e6; } case 2: { // 2 body addOscillatingTorque (0.1); dampRotationalMotion (0.1); // check the body offset is correct // Should really check body rotation too. Oh well. const dReal *R1 = dBodyGetRotation (body[0]); dVector3 p,pp; const dReal *p1 = dBodyGetPosition (body[0]); const dReal *p2 = dBodyGetPosition (body[1]); for (int i=0; i<3; i++) p[i] = p2[i] - p1[i]; dMULTIPLY1_331 (pp,R1,p); pp[0] += 0.5; pp[1] += 0.5; return length(pp) * 300; } case 3: { // 1 body to static env with relative rotation addOscillatingTorque (0.1); // check the body offset is correct dVector3 p; const dReal *p1 = dBodyGetPosition (body[0]); for (int i=0; i<3; i++) p[i] = p1[i]; p[0] -= 0.25; p[1] -= 0.25; p[2] -= 1; return length (p) * 1e6; } // ********** hinge joint case 200: // 2 body addOscillatingTorque (0.1); dampRotationalMotion (0.1); return dInfinity; case 220: // hinge angle polarity test dBodyAddTorque (body[0],0,0,0.01); dBodyAddTorque (body[1],0,0,-0.01); if (iteration == 40) { dReal a = dJointGetHingeAngle (joint); if (a > 0.5 && a < 1) return 0; else return 10; } return 0; case 221: { // hinge angle rate test static dReal last_angle = 0; dBodyAddTorque (body[0],0,0,0.01); dBodyAddTorque (body[1],0,0,-0.01); dReal a = dJointGetHingeAngle (joint); dReal r = dJointGetHingeAngleRate (joint); dReal er = (a-last_angle)/STEPSIZE; // estimated rate last_angle = a; return fabs(r-er) * 4e4; } case 230: // hinge motor rate (and polarity) test case 231: { // ...with stops static dReal a = 0; dReal r = dJointGetHingeAngleRate (joint); dReal err = fabs (cos(a) - r); if (a==0) err = 0; a += 0.03; dJointSetHingeParam (joint,dParamVel,cos(a)); if (n==231) return dInfinity; return err * 1e6; } // ********** slider joint case 300: // 2 body addOscillatingTorque (0.05); dampRotationalMotion (0.1); addSpringForce (0.5); return dInfinity; case 320: // slider angle polarity test dBodyAddForce (body[0],0,0,0.1); dBodyAddForce (body[1],0,0,-0.1); if (iteration == 40) { dReal a = dJointGetSliderPosition (joint); if (a > 0.2 && a < 0.5) return 0; else return 10; return a; } return 0; case 321: { // slider angle rate test static dReal last_pos = 0; dBodyAddForce (body[0],0,0,0.1); dBodyAddForce (body[1],0,0,-0.1); dReal p = dJointGetSliderPosition (joint); dReal r = dJointGetSliderPositionRate (joint); dReal er = (p-last_pos)/STEPSIZE; // estimated rate (almost exact) last_pos = p; return fabs(r-er) * 1e9; } case 330: // slider motor rate (and polarity) test case 331: { // ...with stops static dReal a = 0; dReal r = dJointGetSliderPositionRate (joint); dReal err = fabs (0.7*cos(a) - r); if (a < 0.04) err = 0; a += 0.03; dJointSetSliderParam (joint,dParamVel,0.7*cos(a)); if (n==331) return dInfinity; return err * 1e6; } // ********** hinge-2 joint case 420: // hinge-2 steering angle polarity test dBodyAddTorque (body[0],0,0,0.01); dBodyAddTorque (body[1],0,0,-0.01); if (iteration == 40) { dReal a = dJointGetHinge2Angle1 (joint); if (a > 0.5 && a < 0.6) return 0; else return 10; } return 0; case 421: { // hinge-2 steering angle rate test static dReal last_angle = 0; dBodyAddTorque (body[0],0,0,0.01); dBodyAddTorque (body[1],0,0,-0.01); dReal a = dJointGetHinge2Angle1 (joint); dReal r = dJointGetHinge2Angle1Rate (joint); dReal er = (a-last_angle)/STEPSIZE; // estimated rate last_angle = a; return fabs(r-er)*2e4; } case 430: // hinge 2 steering motor rate (+polarity) test case 431: { // ...with stops static dReal a = 0; dReal r = dJointGetHinge2Angle1Rate (joint); dReal err = fabs (cos(a) - r); if (a==0) err = 0; a += 0.03; dJointSetHinge2Param (joint,dParamVel,cos(a)); if (n==431) return dInfinity; return err * 1e6; } case 432: { // hinge 2 wheel motor rate (+polarity) test static dReal a = 0; dReal r = dJointGetHinge2Angle2Rate (joint); dReal err = fabs (cos(a) - r); if (a==0) err = 0; a += 0.03; dJointSetHinge2Param (joint,dParamVel2,cos(a)); return err * 1e6; } // ********** angular motor joint case 600: { // test euler angle calculations // desired euler angles from last iteration static dReal a1,a2,a3; // find actual euler angles dReal aa1 = dJointGetAMotorAngle (joint,0); dReal aa2 = dJointGetAMotorAngle (joint,1); dReal aa3 = dJointGetAMotorAngle (joint,2); // printf ("actual = %.4f %.4f %.4f\n\n",aa1,aa2,aa3); dReal err = dInfinity; if (iteration > 0) { err = dFabs(aa1-a1) + dFabs(aa2-a2) + dFabs(aa3-a3); err *= 1e10; } // get random base rotation for both bodies dMatrix3 Rbase; dRFromAxisAndAngle (Rbase, 3*(dRandReal()-0.5), 3*(dRandReal()-0.5), 3*(dRandReal()-0.5), 3*(dRandReal()-0.5)); dBodySetRotation (body[0],Rbase); // rotate body 2 by random euler angles w.r.t. body 1 a1 = 3.14 * 2 * (dRandReal()-0.5); a2 = 1.57 * 2 * (dRandReal()-0.5); a3 = 3.14 * 2 * (dRandReal()-0.5); dMatrix3 R1,R2,R3,Rtmp1,Rtmp2; dRFromAxisAndAngle (R1,0,0,1,-a1); dRFromAxisAndAngle (R2,0,1,0,a2); dRFromAxisAndAngle (R3,1,0,0,-a3); dMultiply0 (Rtmp1,R2,R3,3,3,3); dMultiply0 (Rtmp2,R1,Rtmp1,3,3,3); dMultiply0 (Rtmp1,Rbase,Rtmp2,3,3,3); dBodySetRotation (body[1],Rtmp1); // printf ("desired = %.4f %.4f %.4f\n",a1,a2,a3); return err; } // ********** universal joint case 700: { // 2 body: joint constraint dVector3 ax1, ax2; addOscillatingTorque (0.1); dampRotationalMotion (0.1); dJointGetUniversalAxis1(joint, ax1); dJointGetUniversalAxis2(joint, ax2); return fabs(10*dDOT(ax1, ax2)); } case 701: { // 2 body: angle 1 rate static dReal last_angle = 0; addOscillatingTorque (0.1); dampRotationalMotion (0.1); dReal a = dJointGetUniversalAngle1(joint); dReal r = dJointGetUniversalAngle1Rate(joint); dReal diff = a - last_angle; if (diff > M_PI) diff -= 2*M_PI; if (diff < -M_PI) diff += 2*M_PI; dReal er = diff / STEPSIZE; // estimated rate last_angle = a; // I'm not sure why the error is so large here. return fabs(r - er) * 1e1; } case 702: { // 2 body: angle 2 rate static dReal last_angle = 0; addOscillatingTorque (0.1); dampRotationalMotion (0.1); dReal a = dJointGetUniversalAngle2(joint); dReal r = dJointGetUniversalAngle2Rate(joint); dReal diff = a - last_angle; if (diff > M_PI) diff -= 2*M_PI; if (diff < -M_PI) diff += 2*M_PI; dReal er = diff / STEPSIZE; // estimated rate last_angle = a; // I'm not sure why the error is so large here. return fabs(r - er) * 1e1; } case 720: { // universal transmit torque test: constraint error dVector3 ax1, ax2; addOscillatingTorqueAbout (0.1, 1, 1, 0); dampRotationalMotion (0.1); dJointGetUniversalAxis1(joint, ax1); dJointGetUniversalAxis2(joint, ax2); return fabs(10*dDOT(ax1, ax2)); } case 721: { // universal transmit torque test: angle1 rate static dReal last_angle = 0; addOscillatingTorqueAbout (0.1, 1, 1, 0); dampRotationalMotion (0.1); dReal a = dJointGetUniversalAngle1(joint); dReal r = dJointGetUniversalAngle1Rate(joint); dReal diff = a - last_angle; if (diff > M_PI) diff -= 2*M_PI; if (diff < -M_PI) diff += 2*M_PI; dReal er = diff / STEPSIZE; // estimated rate last_angle = a; return fabs(r - er) * 1e10; } case 722: { // universal transmit torque test: angle2 rate static dReal last_angle = 0; addOscillatingTorqueAbout (0.1, 1, 1, 0); dampRotationalMotion (0.1); dReal a = dJointGetUniversalAngle2(joint); dReal r = dJointGetUniversalAngle2Rate(joint); dReal diff = a - last_angle; if (diff > M_PI) diff -= 2*M_PI; if (diff < -M_PI) diff += 2*M_PI; dReal er = diff / STEPSIZE; // estimated rate last_angle = a; return fabs(r - er) * 1e10; } case 730:{ dVector3 ax1, ax2; dJointGetUniversalAxis1(joint, ax1); dJointGetUniversalAxis2(joint, ax2); addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]); dampRotationalMotion (0.1); return fabs(10*dDOT(ax1, ax2)); } case 731:{ dVector3 ax1; static dReal last_angle = 0; dJointGetUniversalAxis1(joint, ax1); addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]); dampRotationalMotion (0.1); dReal a = dJointGetUniversalAngle1(joint); dReal r = dJointGetUniversalAngle1Rate(joint); dReal diff = a - last_angle; if (diff > M_PI) diff -= 2*M_PI; if (diff < -M_PI) diff += 2*M_PI; dReal er = diff / STEPSIZE; // estimated rate last_angle = a; return fabs(r - er) * 2e3; } case 732:{ dVector3 ax1; static dReal last_angle = 0; dJointGetUniversalAxis1(joint, ax1); addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]); dampRotationalMotion (0.1); dReal a = dJointGetUniversalAngle2(joint); dReal r = dJointGetUniversalAngle2Rate(joint); dReal diff = a - last_angle; if (diff > M_PI) diff -= 2*M_PI; if (diff < -M_PI) diff += 2*M_PI; dReal er = diff / STEPSIZE; // estimated rate last_angle = a; return fabs(r - er) * 1e10; } case 740:{ dVector3 ax1, ax2; dJointGetUniversalAxis1(joint, ax1); dJointGetUniversalAxis2(joint, ax2); addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]); dampRotationalMotion (0.1); return fabs(10*dDOT(ax1, ax2)); } case 741:{ dVector3 ax2; static dReal last_angle = 0; dJointGetUniversalAxis2(joint, ax2); addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]); dampRotationalMotion (0.1); dReal a = dJointGetUniversalAngle1(joint); dReal r = dJointGetUniversalAngle1Rate(joint); dReal diff = a - last_angle; if (diff > M_PI) diff -= 2*M_PI; if (diff < -M_PI) diff += 2*M_PI; dReal er = diff / STEPSIZE; // estimated rate last_angle = a; return fabs(r - er) * 1e10; } case 742:{ dVector3 ax2; static dReal last_angle = 0; dJointGetUniversalAxis2(joint, ax2); addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]); dampRotationalMotion (0.1); dReal a = dJointGetUniversalAngle2(joint); dReal r = dJointGetUniversalAngle2Rate(joint); dReal diff = a - last_angle; if (diff > M_PI) diff -= 2*M_PI; if (diff < -M_PI) diff += 2*M_PI; dReal er = diff / STEPSIZE; // estimated rate last_angle = a; return fabs(r - er) * 1e4; } } return dInfinity; }
int main (int argc, char **argv) { dMass m; // 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 = dHashSpaceCreate (0); contactgroup = dJointGroupCreate (0); dWorldSetGravity (world,0,0,-9.8); dWorldSetQuickStepNumIterations (world, 20); int i; for (i=0; i<SEGMCNT; i++) { segbodies[i] = dBodyCreate (world); dBodySetPosition(segbodies[i], i - SEGMCNT/2.0, 0, 5); dMassSetBox (&m, 1, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]); dBodySetMass (segbodies[i], &m); seggeoms[i] = dCreateBox (0, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]); dGeomSetBody (seggeoms[i], segbodies[i]); dSpaceAdd (space, seggeoms[i]); } for (i=0; i<SEGMCNT-1; i++) { hinges[i] = dJointCreateHinge (world,0); dJointAttach (hinges[i], segbodies[i],segbodies[i+1]); dJointSetHingeAnchor (hinges[i], i + 0.5 - SEGMCNT/2.0, 0, 5); dJointSetHingeAxis (hinges[i], 0,1,0); dJointSetHingeParam (hinges[i],dParamFMax, 8000.0); // NOTE: // Here we tell ODE where to put the feedback on the forces for this hinge dJointSetFeedback (hinges[i], jfeedbacks+i); stress[i]=0; } for (i=0; i<STACKCNT; i++) { stackbodies[i] = dBodyCreate(world); dMassSetBox (&m, 2.0, 2, 2, 0.6); dBodySetMass(stackbodies[i],&m); stackgeoms[i] = dCreateBox(0, 2, 2, 0.6); dGeomSetBody(stackgeoms[i], stackbodies[i]); dBodySetPosition(stackbodies[i], 0,0,8+2*i); dSpaceAdd(space, stackgeoms[i]); } sliders[0] = dJointCreateSlider (world,0); dJointAttach(sliders[0], segbodies[0], 0); dJointSetSliderAxis (sliders[0], 1,0,0); dJointSetSliderParam (sliders[0],dParamFMax, 4000.0); dJointSetSliderParam (sliders[0],dParamLoStop, 0.0); dJointSetSliderParam (sliders[0],dParamHiStop, 0.2); sliders[1] = dJointCreateSlider (world,0); dJointAttach(sliders[1], segbodies[SEGMCNT-1], 0); dJointSetSliderAxis (sliders[1], 1,0,0); dJointSetSliderParam (sliders[1],dParamFMax, 4000.0); dJointSetSliderParam (sliders[1],dParamLoStop, 0.0); dJointSetSliderParam (sliders[1],dParamHiStop, -0.2); groundgeom = dCreatePlane(space, 0,0,1,0); for (i=0; i<SEGMCNT; i++) colours[i]=0.0; // run simulation dsSimulationLoop (argc,argv,352,288,&fn); dJointGroupEmpty (contactgroup); dJointGroupDestroy (contactgroup); // First destroy seggeoms, then space, then the world. for (i=0; i<SEGMCNT; i++) dGeomDestroy (seggeoms[i]); for (i=0; i<STACKCNT; i++) dGeomDestroy (stackgeoms[i]); dSpaceDestroy(space); dWorldDestroy (world); dCloseODE(); return 0; }
void PhysicsSliderJoint::changed(ConstFieldMaskArg whichField, UInt32 origin, BitVector details) { //Do not respond to changes that have a Sync origin if(origin & ChangedOrigin::Sync) { return; } if(whichField & WorldFieldMask) { if(_JointID) { dJointDestroy(_JointID); _JointID = dJointCreateSlider(getWorld()->getWorldID(), 0); } else { _JointID = dJointCreateSlider(getWorld()->getWorldID(), 0); if(!(whichField & HiStopFieldMask)) { setHiStop(dJointGetSliderParam(_JointID,dParamHiStop)); } if(!(whichField & LoStopFieldMask)) { setLoStop(dJointGetSliderParam(_JointID,dParamLoStop)); } if(!(whichField & BounceFieldMask)) { setBounce(dJointGetSliderParam(_JointID,dParamBounce)); } if(!(whichField & CFMFieldMask)) { setCFM(dJointGetSliderParam(_JointID,dParamCFM)); } if(!(whichField & StopCFMFieldMask)) { setStopCFM(dJointGetSliderParam(_JointID,dParamStopCFM)); } if(!(whichField & StopERPFieldMask)) { setStopERP(dJointGetSliderParam(_JointID,dParamStopERP)); } } } Inherited::changed(whichField, origin, details); if((whichField & AxisFieldMask) || (whichField & WorldFieldMask)) { dJointSetSliderAxis(_JointID, getAxis().x(), getAxis().y(), getAxis().z()); } if((whichField & HiStopFieldMask) || (whichField & WorldFieldMask)) { dJointSetSliderParam(_JointID, dParamHiStop, getHiStop()); } if((whichField & LoStopFieldMask) || (whichField & WorldFieldMask)) { dJointSetSliderParam(_JointID, dParamLoStop, getLoStop()); } if((whichField & BounceFieldMask) || (whichField & WorldFieldMask)) { dJointSetSliderParam(_JointID, dParamBounce, getBounce()); } if((whichField & CFMFieldMask) || (whichField & WorldFieldMask)) { dJointSetSliderParam(_JointID, dParamCFM, getCFM()); } if((whichField & StopERPFieldMask) || (whichField & WorldFieldMask)) { dJointSetSliderParam(_JointID, dParamStopERP, getStopERP()); } if((whichField & StopCFMFieldMask) || (whichField & WorldFieldMask)) { dJointSetSliderParam(_JointID, dParamStopCFM, getStopCFM()); } }
WorldPhysics::WorldPhysics() { enable_complex=0; bulldozer_state=1; tmp_scalar=0; tmp_wait=0; qsrand(QTime::currentTime().msec()); dInitODE(); world = dWorldCreate(); space = dHashSpaceCreate (0); contactgroup = dJointGroupCreate (0); dWorldSetGravity (world,0,0,-9.81); //ground_cheat = dCreatePlane (space,0,0,1,0); wall1=dCreatePlane (space,-1,0,0,-100); wall2=dCreatePlane (space,1,0,0,0); wall3=dCreatePlane (space,0,-1,0,-100); wall4=dCreatePlane (space,0,1,0,0); // our heightfield floor dHeightfieldDataID heightid = dGeomHeightfieldDataCreate(); // Create an finite heightfield. dGeomHeightfieldDataBuildCallback( heightid, NULL, near_heightfield_callback, HFIELD_WIDTH, HFIELD_DEPTH, HFIELD_WSTEP, HFIELD_DSTEP, REAL( 1.0 ), REAL( 0.0 ), REAL( 0.0 ), 0 ); // Give some very bounds which, while conservative, // makes AABB computation more accurate than +/-INF. //dGeomHeightfieldDataSetBounds( heightid, REAL( -4.0 ), REAL( +6.0 ) ); gheight = dCreateHeightfield( space, heightid, 1 ); // Rotate so Z is up, not Y (which is the default orientation) dMatrix3 R; dRSetIdentity( R ); dRFromAxisAndAngle( R, 1, 0, 0, DEGTORAD * 90 ); dGeomSetRotation( gheight, R ); dGeomSetPosition( gheight, 50,50,0 ); // for (int i=0;i<MAX_ITEMS;i++) { // items.push_back(generateItem()); //} generateItems(); bulldozer_space = dSimpleSpaceCreate(space); dSpaceSetCleanup (bulldozer_space,0); bulldozer=new BoxItem(world,bulldozer_space,LENGTH,WIDTH,HEIGHT,CMASS); bulldozer->setPosition(STARTX,STARTY,STARTZ); bulldozer_cabin=new BoxItem(world,bulldozer_space,LENGTH/2,WIDTH/2,2*HEIGHT,CMASS/3); bulldozer_cabin->setPosition(-LENGTH/4+STARTX,STARTY,3.0/2.0*HEIGHT+STARTZ); bulldozer_bucket_c=new BoxItem(world,bulldozer_space,BUCKET_LENGTH,BUCKET_WIDTH,BUCKET_HEIGHT,CMASS/10); bulldozer_bucket_c->setPosition(LENGTH/2+BUCKET_LENGTH/2+RADIUS+STARTX,STARTY,STARTZ); bulldozer_bucket_l=new BoxItem(world,bulldozer_space,BUCKET_WIDTH/5,BUCKET_LENGTH,BUCKET_HEIGHT,CMASS/20); bulldozer_bucket_l->setPosition(LENGTH/2+BUCKET_LENGTH+RADIUS+BUCKET_WIDTH/10+STARTX,-BUCKET_WIDTH/2+BUCKET_LENGTH/2+STARTY,STARTZ); bulldozer_bucket_r=new BoxItem(world,bulldozer_space,BUCKET_WIDTH/5,BUCKET_LENGTH,BUCKET_HEIGHT,CMASS/20); bulldozer_bucket_r->setPosition(LENGTH/2+BUCKET_LENGTH+RADIUS+BUCKET_WIDTH/10+STARTX,BUCKET_WIDTH/2-BUCKET_LENGTH/2+STARTY,STARTZ); for (int i=0; i<4; i++) { dQuaternion q; dQFromAxisAndAngle(q,1,0,0,M_PI*0.5); wheels[i] = new WheelItem(world,bulldozer_space,q,RADIUS,WMASS); } dBodySetPosition (wheels[0]->body,0.5*LENGTH+STARTX,WIDTH*0.5+STARTY,STARTZ-HEIGHT*0.5); dBodySetPosition (wheels[1]->body,0.5*LENGTH+STARTX,-WIDTH*0.5+STARTY,STARTZ-HEIGHT*0.5); dBodySetPosition (wheels[2]->body,-0.5*LENGTH+STARTX, WIDTH*0.5+STARTY,STARTZ-HEIGHT*0.5); dBodySetPosition (wheels[3]->body,-0.5*LENGTH+STARTX,-WIDTH*0.5+STARTY,STARTZ-HEIGHT*0.5); cabin_joint=dJointCreateSlider(world,0); dJointAttach(cabin_joint,bulldozer->body,bulldozer_cabin->body); dJointSetSliderAxis(cabin_joint,0,0,1); dJointSetSliderParam(cabin_joint,dParamLoStop,0); dJointSetSliderParam(cabin_joint,dParamHiStop,0); bucket_joint_c=dJointCreateSlider(world,0); dJointAttach(bucket_joint_c,bulldozer->body,bulldozer_bucket_c->body); dJointSetSliderAxis(bucket_joint_c,0,0,1); dJointSetSliderParam(bucket_joint_c,dParamLoStop,0); dJointSetSliderParam(bucket_joint_c,dParamHiStop,0); bucket_joint_l=dJointCreateSlider(world,0); dJointAttach(bucket_joint_l,bulldozer->body,bulldozer_bucket_l->body); dJointSetSliderAxis(bucket_joint_l,0,0,1); dJointSetSliderParam(bucket_joint_l,dParamLoStop,0); dJointSetSliderParam(bucket_joint_l,dParamHiStop,0); bucket_joint_r=dJointCreateSlider(world,0); dJointAttach(bucket_joint_r,bulldozer->body,bulldozer_bucket_r->body); dJointSetSliderAxis(bucket_joint_r,0,0,1); dJointSetSliderParam(bucket_joint_r,dParamLoStop,0); dJointSetSliderParam(bucket_joint_r,dParamHiStop,0); // front and back wheel hinges for (int i=0; i<4; i++) { wheelJoints[i] = dJointCreateHinge2 (world,0); dJointAttach (wheelJoints[i],bulldozer->body,wheels[i]->body); const dReal *a = dBodyGetPosition (wheels[i]->body); dJointSetHinge2Anchor (wheelJoints[i],a[0],a[1],a[2]); dJointSetHinge2Axis1 (wheelJoints[i],0,0,1); dJointSetHinge2Axis2 (wheelJoints[i],0,1,0); } // seeting ERP & CRM for (int i=0; i<4; i++) { dJointSetHinge2Param (wheelJoints[i],dParamSuspensionERP,0.5); dJointSetHinge2Param (wheelJoints[i],dParamSuspensionCFM,0.8); } // block back axis !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! for (int i=0; i<2; i++) { dJointSetHinge2Param (wheelJoints[i],dParamLoStop,0); dJointSetHinge2Param (wheelJoints[i],dParamHiStop,0); } }