コード例 #1
0
// start simulation - set viewpoint
static void start()
{
    dAllocateODEDataForThread(dAllocateMaskAll);

    dsSetViewpoint (xyz,hpr);
    printf ("This program demonstrates how the Piston joint works.\n");
    printf ("A Piston joint enables the sliding of a body with respect to another body\n");
    printf ("and the 2 bodies are free to rotate about the sliding axis.\n\n");
    printf ("The yellow body is fixed to the world\n");
    printf ("The yellow body and the blue body are attached by a Piston joint with\n");
    printf ("the axis along the x direction.\n");
    printf ("The purple object is a geometry obstacle.\n");

    printKeyBoardShortCut();
}
コード例 #2
0
ファイル: demo_jointPU.cpp プロジェクト: Belxjander/Asuna
// start simulation - set viewpoint
static void start()
{
  dAllocateODEDataForThread(dAllocateMaskAll);

  dsSetViewpoint (xyz,hpr);
  printf ("This program demonstrates how the PU joint works.\n");
  printf ("A PU joint is a combination of a Universal joint and a Slider joint.\n");
  printf ("It is a universal joint with a slider between the anchor point and \n");
  printf ("body 1.\n\n");
  printf ("The upper yellow body is fixed to the world\n");
  printf ("The lower yellow body is attached to the upper body by a PU joint\n");
  printf ("The green object is one aprt of the slider.\n");
  printf ("The purple object is the second part of the slider.\n");
  printf ("The red object represent the axis1 of the universal part. \n");
  printf ("The blue object represent the axis2 of the universal part. \n");
  printf ("The gray object represent the anchor2 of the PU joint. \n");
  printKeyBoardShortCut();
}
コード例 #3
0
ファイル: demo_jointPU.cpp プロジェクト: Belxjander/Asuna
// called when a key pressed
static void command (int cmd)
{
  switch (cmd) {
case 'h' : case 'H' : case '?' :
      printKeyBoardShortCut();
      break;

      // Force
  case 'q' : case 'Q' :
      body[D].addForce(40,0,0);
      break;
  case 'w' : case 'W' :
      body[D].addForce(-40,0,0);
      break;

  case 'a' : case 'A' :
      body[D].addForce(0,40,0);
      break;
  case 's' : case 'S' :
      body[D].addForce(0,-40,0);
      break;

  case 'z' : case 'Z' :
      body[D].addForce(0,0,40);
      break;
  case 'x' : case 'X' :
      body[D].addForce(0,0,-40);
      break;

      // Torque
  case 'e': case 'E':
      body[D].addTorque(0.1,0,0);
      break;
  case 'r': case 'R':
      body[D].addTorque(-0.1,0,0);
      break;

  case 'd': case 'D':
      body[D].addTorque(0, 0.1,0);
      break;
  case 'f': case 'F':
      body[D].addTorque(0,-0.1,0);
      break;

  case 'c': case 'C':
      body[D].addTorque(0,0,0.1);
      break;
  case 'v': case 'V':
      body[D].addTorque(0,0,0.1);
      break;

      // Velocity of joint
  case ',': case '<' : {
      dReal vel = joint->getParam (dParamVel3) - VEL_INC;
      joint->setParam (dParamVel3, vel);
      std::cout<<"Velocity = "<<vel<<"  FMax = 2"<<'\n';
    }
    break;

  case '.': case '>' : {
      dReal vel = joint->getParam (dParamVel3) + VEL_INC;
      joint->setParam (dParamVel3, vel);
      std::cout<<"Velocity = "<<vel<<"  FMax = 2"<<'\n';
    }
    break;

  case 'l': case 'L' : {
      dReal aLimit, lLimit, fmax;
      if (  joint->getParam (dParamFMax) ) {
        aLimit = dInfinity;
        lLimit = dInfinity;
        fmax = 0;
      }
      else {
        aLimit = 0.25*PI;
        lLimit = 0.5*axDim[LENGTH];
        fmax = 0.02;
      }

      joint->setParam (dParamFMax1, fmax);
      joint->setParam (dParamFMax2, fmax);
      joint->setParam (dParamFMax3, fmax);

      switch (joint->getType() ) {
        case dJointTypePR : {
          dPRJoint *pr = reinterpret_cast<dPRJoint *> (joint);
          pr->setParam (dParamLoStop, -lLimit);
          pr->setParam (dParamHiStop, -lLimit);
          pr->setParam (dParamLoStop2, aLimit);
          pr->setParam (dParamHiStop2, -aLimit);
        }
        break;
        case dJointTypePU : {
          dPUJoint *pu = reinterpret_cast<dPUJoint *> (joint);
          pu->setParam (dParamLoStop1, -aLimit);
          pu->setParam (dParamHiStop1, aLimit);
          pu->setParam (dParamLoStop2, -aLimit);
          pu->setParam (dParamHiStop2, aLimit);
          pu->setParam (dParamLoStop3, -lLimit);
          pu->setParam (dParamHiStop3, lLimit);
        }
        break;
        default: {} // keep the compiler happy
      }
    }

    break;

  case 'g': case 'G' : {
      dVector3 g;
      world.getGravity(g);
      if (  g[2]< -0.1 )
        world.setGravity(0, 0, 0);
      else
        world.setGravity(0, 0, -0.5);

    }

case 'p' :case 'P' : {
      switch (joint->getType() ) {
        case dJointTypeSlider : {
          dSliderJoint *sj = reinterpret_cast<dSliderJoint *> (joint);
          std::cout<<"Position ="<<sj->getPosition() <<"\n";
        }
        break;
        case dJointTypePU : {
          dPUJoint *pu = reinterpret_cast<dPUJoint *> (joint);
          std::cout<<"Position ="<<pu->getPosition() <<"\n";
          std::cout<<"Position Rate="<<pu->getPositionRate() <<"\n";
          std::cout<<"Angle1 ="<<pu->getAngle1() <<"\n";
          std::cout<<"Angle1 Rate="<<pu->getAngle1Rate() <<"\n";
          std::cout<<"Angle2 ="<<pu->getAngle2() <<"\n";
          std::cout<<"Angle2 Rate="<<pu->getAngle2Rate() <<"\n";
        }
        break;
        default: {} // keep the compiler happy
      }
    }
    break;
  }
}
コード例 #4
0
// called when a key pressed
static void command (int cmd)
{
    switch (cmd)
    {
    case 'h' :
    case 'H' :
    case '?' :
        printKeyBoardShortCut();
        break;

        // Force
    case 'q' :
    case 'Q' :
        dBodyAddForce (body[BODY1],4,0,0);
        break;
    case 'w' :
    case 'W' :
        dBodyAddForce (body[BODY1],-4,0,0);
        break;

    case 'a' :
    case 'A' :
        dBodyAddForce (body[BODY1],0,40,0);
        break;
    case 's' :
    case 'S' :
        dBodyAddForce (body[BODY1],0,-40,0);
        break;

    case 'z' :
    case 'Z' :
        dBodyAddForce (body[BODY1],0,0,4);
        break;
    case 'x' :
    case 'X' :
        dBodyAddForce (body[BODY1],0,0,-4);
        break;

        // Torque
    case 'e':
    case 'E':
        dBodyAddTorque (body[BODY1],0.1,0,0);
        break;
    case 'r':
    case 'R':
        dBodyAddTorque (body[BODY1],-0.1,0,0);
        break;

    case 'd':
    case 'D':
        dBodyAddTorque (body[BODY1],0, 0.1,0);
        break;
    case 'f':
    case 'F':
        dBodyAddTorque (body[BODY1],0,-0.1,0);
        break;

    case 'c':
    case 'C':
        dBodyAddTorque (body[BODY1],0.1,0,0);
        break;
    case 'v':
    case 'V':
        dBodyAddTorque (body[BODY1],-0.1,0,0);
        break;

    case 't':
    case 'T':
        if (joint->getType() == dJointTypePiston)
            dJointAddPistonForce (joint->id(),1);
        else
            dJointAddSliderForce (joint->id(),1);
        break;
    case 'y':
    case 'Y':
        if (joint->getType() == dJointTypePiston)
            dJointAddPistonForce (joint->id(),-1);
        else
            dJointAddSliderForce (joint->id(),-1);
        break;


    case '8' :
        dJointAttach(joint->id(), body[0], 0);
        break;
    case '9' :
        dJointAttach(joint->id(), 0, body[0]);
        break;

    case 'i':
    case 'I' :
        joint->setParam (dParamLoStop, 0);
        joint->setParam (dParamHiStop, 0);
        break;

    case 'o':
    case 'O' :
        joint->setParam (dParamLoStop2, 0);
        joint->setParam (dParamHiStop2, 0);
        break;

    case 'k':
    case 'K':
        joint->setParam (dParamLoStop2, -45.0*3.14159267/180.0);
        joint->setParam (dParamHiStop2,  45.0*3.14159267/180.0);
        break;
    case 'l':
    case 'L':
        joint->setParam (dParamLoStop2, -dInfinity);
        joint->setParam (dParamHiStop2, dInfinity);
        break;

        // Velocity of joint
    case ',':
    case '<' :
    {
        dReal vel = joint->getParam (dParamVel) - VEL_INC;
        joint->setParam (dParamVel, vel);
        std::cout<<"Velocity = "<<vel<<"  FMax = 2"<<'\n';
    }
    break;

    case '.':
    case '>' :
    {
        dReal vel = joint->getParam (dParamVel) + VEL_INC;
        joint->setParam (dParamVel, vel);
        std::cout<<"Velocity = "<<vel<<"  FMax = 2"<<'\n';
    }
    break;

    case 'p' :
    case 'P' :
    {
        switch (joint->getType() )
        {
        case dJointTypeSlider :
        {
            dSliderJoint *sj = reinterpret_cast<dSliderJoint *> (joint);
            std::cout<<"Position ="<<sj->getPosition() <<"\n";
        }
        break;
        case dJointTypePiston :
        {
            dPistonJoint *rj = reinterpret_cast<dPistonJoint *> (joint);
            std::cout<<"Position ="<<rj->getPosition() <<"\n";
        }
        break;
        default:
        {} // keep the compiler happy
        }
    }
    break;

    case '+' :
        (++tc) %= 4;
        setPositionBodies (tc);
        break;
    case '-' :
        (--tc) %= 4;
        setPositionBodies (tc);
        break;


    }
}