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)); }
bool OdeSdlSimulationBundle::onBegin() { dInitODE2(0); yDebug("\nODE configuration: %s\n\n", dGetConfiguration()); return true; }
int main (int argc, char **argv) { printf("ODE configuration: %s\n", dGetConfiguration()); // Is trimesh support built into this ODE? g_allow_trimesh = dCheckConfiguration( "ODE_EXT_trimesh" ); // 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,-0.05); dWorldSetCFM (world,1e-5); dWorldSetAutoDisableFlag (world,1); dWorldSetContactMaxCorrectingVel (world,0.1); dWorldSetContactSurfaceLayer (world,0.001); memset (obj,0,sizeof(obj)); #if 1 dWorldSetAutoDisableAverageSamplesCount( world, 1 ); #endif // base plane to catch overspill dCreatePlane( space, 0, 0, 1, 0 ); // our heightfield floor dHeightfieldDataID heightid = dGeomHeightfieldDataCreate(); // Create an finite heightfield. dGeomHeightfieldDataBuildCallback( heightid, NULL, 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 ); dVector3 pos; pos[ 0 ] = 0; pos[ 1 ] = 0; pos[ 2 ] = 0; // Rotate so Z is up, not Y (which is the default orientation) dMatrix3 R; dRSetIdentity( R ); dRFromAxisAndAngle( R, 1, 0, 0, DEGTORAD * 90 ); // Place it. dGeomSetRotation( gheight, R ); dGeomSetPosition( gheight, pos[0], pos[1], pos[2] ); // run simulation dsSimulationLoop (argc,argv,352,288,&fn); dJointGroupDestroy (contactgroup); dSpaceDestroy (space); dWorldDestroy (world); // destroy heightfield data, because _we_ own it not ODE dGeomHeightfieldDataDestroy( heightid ); dCloseODE(); return 0; }