void PhysicsBody::setCapsuleMassTotal( Real32 totalMass, Int32 direction,
Real32 radius, Real32 length )
{
dMass mass;
dMassSetCapsuleTotal(&mass, totalMass, direction, radius, length);
setMassStruct(mass);
}
void createPart(const dWorldID & _world , dPart & part, dReal * pos3){
dMass mass;
part.body = dBodyCreate(_world);
dBodySetPosition(part.body, pos3[0] , pos3[1], pos3[2]); // Set a position
dMassSetZero(&mass); // Set mass parameter to zero
dMassSetCapsuleTotal(&mass,part.mass,3,part.radius, part.length); // Calculate mass parameter
dBodySetMass(part.body, &mass); // Set mass
}
void capsule::set_mass(double mass)
{
if(body_id)
{
dMass dmass;
dMassSetZero(&dmass);
dMassSetSphereTotal(&dmass,mass,radius);
dMassSetCapsuleTotal(&dmass,mass,3,radius,length);
dBodySetMass (body_id, &dmass);
material.mass = mass;
}
}
void cPhysicsObject::CreateCapsule(cWorld* pWorld, const math::cVec3& pos, const math::cVec3& rot)
{
geom = dCreateCapsule(bDynamic ? pWorld->GetSpaceDynamic() : pWorld->GetSpaceStatic(), fRadius, fLength);
InitCommon(pWorld, pos, rot);
if (bBody) {
dMass mass;
dMassSetCapsuleTotal(&mass, fMassKg, uiDirectionX, 2.0f*fRadius, fLength);
dBodySetMass(body, &mass);
}
}
/*** ロボットアームの生成 ***/
void makeArm()
{
dMass mass; // 質量パラメータ
dReal x[NUM] = {0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00}; // 重心 x
dReal y[NUM] = {0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00}; // 重心 y
dReal z[NUM] = {0.05, 0.55, 1.55, 2.30, 2.80, 3.35, 3.85, 4.0}; // 重心 z
dReal length[NUM-1] = {0.10, 1.00, 1.00, 0.50, 0.50, 0.50, 0.50}; // 長さ
dReal weight[NUM] = {9.00, 2.00, 2.00, 1.00, 1.00, 0.50, 0.50, 0.50}; // 質量
dReal r[NUM-1] = {0.3, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1}; // 半径
dReal c_x[NUM] = {0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00}; // 関節中心点 x
dReal c_y[NUM] = {0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00}; // 関節中心点 y
dReal c_z[NUM] = {0.00, 0.10, 1.10, 2.10, 2.60, 3.10, 3.60, 3.9}; // 関節中心点 z
dReal axis_x[NUM] = {0, 0, 0, 0, 0, 0, 0, 0}; // 関節回転軸 x
dReal axis_y[NUM] = {0, 0, 1, 1, 0, 1, 0, 0}; // 関節回転軸 y
dReal axis_z[NUM] = {1, 1, 0, 0, 1, 0, 1, 1}; // 関節回転軸 z
// リンクの生成
for (int i = 0; i < NUM-1; i++) {
rlink[i].body = dBodyCreate(world);
dBodySetPosition(rlink[i].body, x[i], y[i], z[i]);
dMassSetZero(&mass);
dMassSetCapsuleTotal(&mass,weight[i],3,r[i],length[i]);
dBodySetMass(rlink[i].body, &mass);
rlink[i].geom = dCreateCapsule(space,r[i],length[i]);
dGeomSetBody(rlink[i].geom,rlink[i].body);
}
rlink[NUM-1].body = dBodyCreate(world);
dBodySetPosition(rlink[NUM-1].body, x[NUM-1], y[NUM-1], z[NUM-1]);
dMassSetZero(&mass);
dMassSetBoxTotal(&mass,weight[NUM-1],0.4,0.4,0.4);
dBodySetMass(rlink[NUM-1].body, &mass);
rlink[NUM-1].geom = dCreateBox(space,0.4,0.4,0.4);
dGeomSetBody(rlink[NUM-1].geom,rlink[NUM-1].body);
// ジョイントの生成とリンクへの取り付け
joint[0] = dJointCreateFixed(world, 0); // 固定ジョイント
dJointAttach(joint[0], rlink[0].body, 0);
dJointSetFixed(joint[0]);
for (int j = 1; j < NUM; j++) {
joint[j] = dJointCreateHinge(world, 0); // ヒンジジョイント
dJointAttach(joint[j], rlink[j].body, rlink[j-1].body);
dJointSetHingeAnchor(joint[j], c_x[j], c_y[j], c_z[j]);
dJointSetHingeAxis(joint[j], axis_x[j], axis_y[j],axis_z[j]);
}
}
int main(int argc, char *argv[]) {
dsFunctions fn;
double x[NUM] = {0.00}, y[NUM] = {0.00}; // Center of gravity
double z[NUM] = { 0.05, 0.50, 1.50, 2.55};
double m[NUM] = {10.00, 2.00, 2.00, 2.00}; // mass
double anchor_x[NUM] = {0.00}, anchor_y[NUM] = {0.00};// anchors of joints
double anchor_z[NUM] = { 0.00, 0.10, 1.00, 2.00};
double axis_x[NUM] = { 0.00, 0.00, 0.00, 0.00}; // axises of joints
double axis_y[NUM] = { 0.00, 0.00, 1.00, 1.00};
double axis_z[NUM] = { 1.00, 1.00, 0.00, 0.00};
fn.version = DS_VERSION; fn.start = &start; fn.step = &simLoop;
fn.command = &command;
fn.path_to_textures = "../../drawstuff/textures";
dInitODE(); // Initialize ODE
world = dWorldCreate(); // Create a world
dWorldSetGravity(world, 0, 0, -9.8);
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, 570, &fn); // Simulation loop
dCloseODE();
return 0;
}
void add_phys_mass(dMass *mass, dGeomID geom, const float p[3],
const float r[16])
{
dVector3 v;
dMatrix3 M;
dReal rad;
dReal len;
dMass add;
if (r) set_rotation(M, r);
if (dGeomGetClass(geom) != dPlaneClass)
{
dReal m = get_data(geom)->mass;
/* Create a new mass for the given geom. */
switch (dGeomGetClass(geom))
{
case dBoxClass:
dGeomBoxGetLengths(geom, v);
dMassSetBoxTotal(&add, m, v[0], v[1], v[2]);
break;
case dSphereClass:
rad = dGeomSphereGetRadius(geom);
dMassSetSphereTotal(&add, m, rad);
break;
case dCapsuleClass:
dGeomCapsuleGetParams(geom, &rad, &len);
dMassSetCapsuleTotal(&add, m, 3, rad, len);
break;
default:
dMassSetZero(&add);
break;
}
/* Transform the geom and mass to the given position and rotation. */
if(dGeomGetBody(geom))
{
if (p)
{
dGeomSetOffsetPosition(geom, p[0], p[1], p[2]);
dMassTranslate (&add, p[0], p[1], p[2]);
}
if (r)
{
dGeomSetOffsetRotation(geom, M);
dMassRotate (&add, M);
}
}
else
{
if (p) dGeomSetPosition(geom, p[0], p[1], p[2]);
if (r) dGeomSetRotation(geom, M);
}
/* Accumulate the new mass with the body's existing mass. */
dMassAdd(mass, &add);
}
}
void makeRobot_Nleg()
{
for(int segment = 0; segment < BODY_SEGMENTS; ++segment) {
dReal segmentOffsetFromMiddle = segment - MIDDLE_BODY_SEGMENT;
dReal torso_m = 50.0; // Mass of body
// torso_m[segment] = 10.0;
dReal l1m = 0.005,l2m = 0.5, l3m = 0.5; // Mass of leg segments
//for four legs
// dReal x[num_legs][num_links] = {{-cx1,-cx1,-cx1},// Position of each link (x coordinate)
// {-cx1,-cx1,-cx1}};
dReal x[num_legs][num_links] = {{0,0,0},// Position of each link (x coordinate)
{0,0,0}};
dReal y[num_legs][num_links] = {{ cy1, cy1, cy1},// Position of each link (y coordinate)
{-cy1,-cy1,-cy1}};
dReal z[num_legs][num_links] = { // Position of each link (z coordinate)
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2},
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2} };
dReal r[num_links] = { r1, r2, r3}; // radius of leg segment
dReal length[num_links] = { l1, l2, l3}; // Length of leg segment
dReal weight[num_links] = {l1m,l2m,l3m}; // Mass of leg segment
// //for one leg
// dReal axis_x[num_legs_pneat][num_links_pneat] = {{ 0,1, 0}};
// dReal axis_y[num_legs_pneat][num_links_pneat] = {{ 1,0, 1}};
// dReal axis_z[num_legs_pneat][num_links_pneat] = {{ 0,0, 0}};
//for four legs
dReal axis_x[num_legs][num_links];
dReal axis_y[num_legs][num_links];
dReal axis_z[num_legs][num_links];
for(int i = 0; i < num_legs; ++i) {
axis_x[i][0] = 0.0;
axis_x[i][1] = 1.0;
axis_x[i][2] = 0.0;
axis_y[i][0] = 1.0;
axis_y[i][1] = 0.0;
axis_y[i][2] = 1.0;
axis_z[i][0] = 0.0;
axis_z[i][1] = 0.0;
axis_z[i][2] = 0.0;
}
// For mation of the body
dMass mass;
torso[segment].body = dBodyCreate(world);
dMassSetZero(&mass);
dMassSetBoxTotal(&mass,torso_m, lx, ly, lz);
dBodySetMass(torso[segment].body,&mass);
torso[segment].geom = dCreateBox(space,lx, ly, lz);
dGeomSetBody(torso[segment].geom, torso[segment].body);
dBodySetPosition(torso[segment].body, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS), SY, SZ);
// Formation of leg
dMatrix3 R; // Revolution queue
dRFromAxisAndAngle(R,1,0,0,M_PI/2); // 90 degrees to turn, parallel with the land
for (int i = 0; i < num_legs; i++) {
for (int j = 0; j < num_links; j++) {
THETA[segment][i][j] = 0;
leg[segment][i][j].body = dBodyCreate(world);
if (j == 0)
dBodySetRotation(leg[segment][i][j].body,R);
dBodySetPosition(leg[segment][i][j].body, SX+x[i][j]+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS), SY+y[i][j], SZ+z[i][j]);
dMassSetZero(&mass);
dMassSetCapsuleTotal(&mass,weight[j],3,r[j],length[j]);
dBodySetMass(leg[segment][i][j].body, &mass);
//if(i==1 and j==2) //to set the length of one leg differently
//leg[i][j].geom = dCreateCapsule(space_pneat,r[j],length[j]+.5); //set the length of the leg
//else
leg[segment][i][j].geom = dCreateCapsule(space,r[j],length[j]); //set the length of the leg
dGeomSetBody(leg[segment][i][j].geom,leg[segment][i][j].body);
}
}
// Formation of joints (and connecting them up)
for (int i = 0; i < num_legs; i++) {
for (int j = 0; j < num_links; j++) {
leg[segment][i][j].joint = dJointCreateHinge(world, 0);
if (j == 0){
dJointAttach(leg[segment][i][j].joint, torso[segment].body, leg[segment][i][j].body); //connects hip to the environment
dJointSetHingeParam(leg[segment][i][j].joint, dParamLoStop, -.50*M_PI); //prevent the hip forward-back from going more than 90 degrees
dJointSetHingeParam(leg[segment][i][j].joint, dParamHiStop, .50*M_PI);
}
else
dJointAttach(leg[segment][i][j].joint, leg[segment][i][j-1].body, leg[segment][i][j].body);
dJointSetHingeAnchor(leg[segment][i][j].joint, SX+x[i][j]+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS), SY+c_y[i][j],SZ+c_z[i][j]);
dJointSetHingeAxis(leg[segment][i][j].joint, axis_x[i][j], axis_y[i][j],axis_z[i][j]);
}
}
}
#ifdef USE_NLEG_ROBOT
// link torsos
for(int segment = 0; segment < BODY_SEGMENTS-1; ++segment) {
dReal segmentOffsetFromMiddle = segment - MIDDLE_BODY_SEGMENT;
switch (hingeType) {
case 1: //Hinge Joint, X axis (back-breaker)
torso[segment].joint = dJointCreateHinge(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetHingeAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
dJointSetHingeAxis (torso[segment].joint, 1.0, 0.0, 0.0);
break;
case 2: //Hinge Joint, Y axis (???)
torso[segment].joint = dJointCreateHinge(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetHingeAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
dJointSetHingeAxis (torso[segment].joint, 0.0, 1.0, 0.0);
break;
case 3: //Hinge Joint, Z axis (snake-like)
torso[segment].joint = dJointCreateHinge(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetHingeAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
dJointSetHingeAxis (torso[segment].joint, 0.0, 0.0, 1.0);
break;
case 4: // Slider, Y axis (??)
torso[segment].joint = dJointCreateSlider(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetSliderAxis (torso[segment].joint, 0.0, 1.0, 0.0);
break;
case 5: // Slider, X axis (extendo)
torso[segment].joint = dJointCreateSlider(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetSliderAxis (torso[segment].joint, 1.0, 0.0, 0.0);
break;
case 6: //Universal Joint
torso[segment].joint = dJointCreateUniversal(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetUniversalAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
dJointSetUniversalAxis1(torso[segment].joint, 0.0, 1.0, 0.0);
dJointSetUniversalAxis2(torso[segment].joint, 0.0, 0.0, 1.0);
break;
case 7: //Ball Joint
torso[segment].joint = dJointCreateBall(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetBallAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
break;
case 8: // Fixed
torso[segment].joint = dJointCreateHinge(world, 0);
dJointAttach(torso[segment].joint, torso[segment].body, torso[segment+1].body);
dJointSetHingeAnchor(torso[segment].joint, SX+segmentOffsetFromMiddle*(lx+DISTANCE_BETWEEN_SEGMENTS)+(lx+DISTANCE_BETWEEN_SEGMENTS)/2, SY,SZ);
dJointSetHingeAxis (torso[segment].joint, 1.0, 0.0, 0.0);
dJointSetHingeParam(torso[segment].joint, dParamLoStop, -0.00*M_PI); //prevent the hip forward-back from going more than 90 degrees
dJointSetHingeParam(torso[segment].joint, dParamHiStop, 0.00*M_PI);
break;
default:
assert(false); // not a valid hinge type
break;
}
}
#endif
}
/*** Formation of robot ***/
void makeRobot()
{
dReal torso_m = 10.0; // Mass of body
dReal l1m = 0.005,l2m = 0.5, l3m = 0.5; // Mass of leg segments
//for four legs
dReal x[num_legs][num_links] = {{ cx1, cx1, cx1},{-cx1,-cx1,-cx1},// Position of each link (x coordinate)
{-cx1,-cx1,-cx1},{ cx1, cx1, cx1}};
dReal y[num_legs][num_links] = {{ cy1, cy1, cy1},{ cy1, cy1, cy1},// Position of each link (y coordinate)
{-cy1,-cy1,-cy1},{-cy1,-cy1,-cy1}};
dReal z[num_legs][num_links] = { // Position of each link (z coordinate)
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2},
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2},
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2},
{c_z[0][0],(c_z[0][0]+c_z[0][2])/2,c_z[0][2]-l3/2}};
dReal r[num_links] = { r1, r2, r3}; // radius of leg segment
dReal length[num_links] = { l1, l2, l3}; // Length of leg segment
dReal weight[num_links] = {l1m,l2m,l3m}; // Mass of leg segment
// //for one leg
// dReal axis_x[num_legs_pneat][num_links_pneat] = {{ 0,1, 0}};
// dReal axis_y[num_legs_pneat][num_links_pneat] = {{ 1,0, 1}};
// dReal axis_z[num_legs_pneat][num_links_pneat] = {{ 0,0, 0}};
//for four legs
dReal axis_x[num_legs][num_links] = {{ 0,1, 0},{ 0,1,0},{ 0, 1, 0},{ 0, 1, 0}};
dReal axis_y[num_legs][num_links] = {{ 1,0, 1},{ 1,0,1},{ 1, 0, 1},{ 1, 0, 1}};
dReal axis_z[num_legs][num_links] = {{ 0,0, 0},{ 0,0,0},{ 0, 0, 0},{ 0, 0, 0}};
// For mation of the body
dMass mass;
torso[0].body = dBodyCreate(world);
dMassSetZero(&mass);
dMassSetBoxTotal(&mass,torso_m, lx, ly, lz);
dBodySetMass(torso[0].body,&mass);
torso[0].geom = dCreateBox(space, lx, ly, lz);
dGeomSetBody(torso[0].geom, torso[0].body);
dBodySetPosition(torso[0].body, SX, SY, SZ);
// Formation of leg
dMatrix3 R; // Revolution queue
dRFromAxisAndAngle(R,1,0,0,M_PI/2); // 90 degrees to turn, parallel with the land
for (int i = 0; i < num_legs; i++) {
for (int j = 0; j < num_links; j++) {
leg[0][i][j].body = dBodyCreate(world);
if (j == 0) dBodySetRotation(leg[0][i][j].body,R);
dBodySetPosition(leg[0][i][j].body, SX+x[i][j], SY+y[i][j], SZ+z[i][j]);
dMassSetZero(&mass);
dMassSetCapsuleTotal(&mass,weight[j],3,r[j],length[j]);
dBodySetMass(leg[0][i][j].body, &mass);
//if(i==1 and j==2) //to set the length of one leg differently
//leg[i][j].geom = dCreateCapsule(space_pneat,r[j],length[j]+.5); //set the length of the leg
//else
leg[0][i][j].geom = dCreateCapsule(space,r[j],length[j]); //set the length of the leg
dGeomSetBody(leg[0][i][j].geom,leg[0][i][j].body);
}
}
// Formation of joints (and connecting them up)
for (int i = 0; i < num_legs; i++) {
for (int j = 0; j < num_links; j++) {
leg[0][i][j].joint = dJointCreateHinge(world, 0);
if (j == 0){
dJointAttach(leg[0][i][j].joint, torso[0].body, leg[0][i][j].body); //connects hip to the environment
dJointSetHingeParam(leg[0][i][j].joint, dParamLoStop, -.5*M_PI); //prevent the hip forward-back from going more than 90 degrees
dJointSetHingeParam(leg[0][i][j].joint, dParamHiStop, .5*M_PI);
}
else
dJointAttach(leg[0][i][j].joint, leg[0][i][j-1].body, leg[0][i][j].body);
dJointSetHingeAnchor(leg[0][i][j].joint, SX+c_x[i][j], SY+c_y[i][j],SZ+c_z[i][j]);
dJointSetHingeAxis(leg[0][i][j].joint, axis_x[i][j], axis_y[i][j],axis_z[i][j]);
}
}
}
void dMassSetCappedCylinderTotal(dMass *a, dReal b, int c, dReal d, dReal e)
{
return dMassSetCapsuleTotal(a,b,c,d,e);
}
