Exemplo n.º 1
0
bool Simulation::loadFile(const std::string& filename, std::list<std::string>& errors)
{
  ASSERT(scene == 0);

  Parser parser;
  if(!parser.parse(filename, errors))
    return false;

  ASSERT(scene);

  dInitODE();
  physicalWorld = dWorldCreate();
  rootSpace = dHashSpaceCreate(0);
  staticSpace = dHashSpaceCreate(rootSpace);
  movableSpace = dHashSpaceCreate(rootSpace);
  contactGroup = dJointGroupCreate(0);

  dWorldSetGravity(physicalWorld, 0, 0, scene->gravity);
  if(scene->erp != -1.f)
    dWorldSetERP(physicalWorld, scene->erp);
  if(scene->cfm != -1.f)
    dWorldSetCFM(physicalWorld, scene->cfm);
  if(scene->quickSolverIterations != -1)
    dWorldSetQuickStepNumIterations(physicalWorld, scene->quickSolverIterations);
#ifdef MULTI_THREADING
  threading = dThreadingAllocateMultiThreadedImplementation();
  pool = dThreadingAllocateThreadPool(std::thread::hardware_concurrency(), 0, dAllocateFlagBasicData, nullptr);
  dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
  dWorldSetStepThreadingImplementation(physicalWorld, dThreadingImplementationGetFunctions(threading), threading);
#endif

  scene->createPhysics();

  renderer.init();

  return true;
}
Exemplo n.º 2
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));
  
  Size[0] = 5.0f;
  Size[1] = 5.0f;
  Size[2] = 2.5f;
  
  Vertices[0][0] = -Size[0];
  Vertices[0][1] = -Size[1];
  Vertices[0][2] = Size[2];
  
  Vertices[1][0] = Size[0];
  Vertices[1][1] = -Size[1];
  Vertices[1][2] = Size[2];
  
  Vertices[2][0] = Size[0];
  Vertices[2][1] = Size[1];
  Vertices[2][2] = Size[2];
  
  Vertices[3][0] = -Size[0];
  Vertices[3][1] = Size[1];
  Vertices[3][2] = Size[2];
  
  Vertices[4][0] = 0;
  Vertices[4][1] = 0;
  Vertices[4][2] = 0;
  
  Indices[0] = 0;
  Indices[1] = 1;
  Indices[2] = 4;
  
  Indices[3] = 1;
  Indices[4] = 2;
  Indices[5] = 4;
  
  Indices[6] = 2;
  Indices[7] = 3;
  Indices[8] = 4;
  
  Indices[9] = 3;
  Indices[10] = 0;
  Indices[11] = 4;

  dTriMeshDataID Data = dGeomTriMeshDataCreate();

  //dGeomTriMeshDataBuildSimple(Data, (dReal*)Vertices, VertexCount, Indices, IndexCount);
  dGeomTriMeshDataBuildSingle(Data, Vertices[0], 3 * sizeof(float), VertexCount, &Indices[0], IndexCount, 3 * sizeof(dTriIndex));
  dGeomTriMeshDataPreprocess2(Data, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL);

  TriMesh = dCreateTriMesh(space, Data, 0, 0, 0);

  //dGeomSetPosition(TriMesh, 0, 0, 1.0);
  
  Ray = dCreateRay(space, 0.9);
  dVector3 Origin, Direction;
  Origin[0] = 0.0;
  Origin[1] = 0;
  Origin[2] = 0.5;
  Origin[3] = 0;
  
  Direction[0] = 0;
  Direction[1] = 1.1f;
  Direction[2] = -1;
  Direction[3] = 0;
  dNormalize3(Direction);
  
  dGeomRaySet(Ray, Origin[0], Origin[1], Origin[2], Direction[0], Direction[1], Direction[2]);
  
  dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
  dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
  dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
  // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
  dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);

  // run simulation
  dsSimulationLoop (argc,argv,352,288,&fn);

  dThreadingImplementationShutdownProcessing(threading);
  dThreadingFreeThreadPool(pool);
  dWorldSetStepThreadingImplementation(world, NULL, NULL);
  dThreadingFreeImplementation(threading);

  dJointGroupDestroy (contactgroup);
  dSpaceDestroy (space);
  dWorldDestroy (world);
  dCloseODE();
  return 0;
}
Exemplo n.º 3
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));

  // note: can't share tridata if intending to trimesh-trimesh collide
  const unsigned preprocessFlags = (1U << dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES) | (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES);
  TriData1 = dGeomTriMeshDataCreate();
  dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
  dGeomTriMeshDataPreprocess2(TriData1, preprocessFlags, NULL);
  TriData2 = dGeomTriMeshDataCreate();
  dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
  dGeomTriMeshDataPreprocess2(TriData2, preprocessFlags, NULL);
  
  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);}
  
  dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
  dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
  dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
  // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
  dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);

  // run simulation
  dsSimulationLoop (argc,argv,352,288,&fn);

  dThreadingImplementationShutdownProcessing(threading);
  dThreadingFreeThreadPool(pool);
  dWorldSetStepThreadingImplementation(world, NULL, NULL);
  dThreadingFreeImplementation(threading);

  dJointGroupDestroy (contactgroup);
  dSpaceDestroy (space);
  dWorldDestroy (world);
  dCloseODE();
  return 0;
}