// 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();
}
// 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();
}
// 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;
}
}
// 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;
}
}
