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));
}
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
dInitODE();
world = dWorldCreate();
#if 1
space = dHashSpaceCreate (0);
#elif 0
dVector3 center = {0,0,0}, extents = { 100, 100, 100};
space = dQuadTreeSpaceCreate(0, center, extents, 5);
#elif 0
space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
#else
space = dSimpleSpaceCreate(0);
#endif
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
dWorldSetCFM (world,1e-5);
dWorldSetLinearDamping(world, 0.00001);
dWorldSetAngularDamping(world, 0.005);
dWorldSetMaxAngularSpeed(world, 200);
dWorldSetContactSurfaceLayer (world,0.001);
ground = dCreatePlane (space,0,0,1,0);
memset (obj,0,sizeof(obj));
// create lift platform
platform = dCreateBox(space, 4, 4, 1);
dGeomSetCategoryBits(ground, 1ul);
dGeomSetCategoryBits(platform, 2ul);
dGeomSetCollideBits(ground, ~2ul);
dGeomSetCollideBits(platform, ~1ul);
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
void PhysicsQuadTreeSpace::initQuadTree(dSpaceID space)
{
dVector3 c, e;
c[0]=getCenter().x();
c[1]=getCenter().y();
c[2]=getCenter().z();
e[0]=getExtent().x();
e[1]=getExtent().y();
e[2]=getExtent().z();
_SpaceID = dQuadTreeSpaceCreate(space, c, e, getDepth());
}
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/textures";
if(argc==2)
{
fn.path_to_textures = argv[1];
}
// create world
world = dWorldCreate();
dVector3 Center = {0, 0, 0, 0};
dVector3 Extents = {WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, 0};
//space = dSimpleSpaceCreate(0);
//space = dHashSpaceCreate (0);
space = dQuadTreeSpaceCreate (0, Center, Extents, 6);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
dWorldSetCFM (world,1e-5);
dCreatePlane (space,0,0,1,0);
memset (obj,0,sizeof(obj));
for (int i = 0; i < NUM; i++){
command('s');
}
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
return 0;
}
int main (int argc, char **argv)
{
int i;
// 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/textures";
if(argc==2)
{
fn.path_to_textures = argv[1];
}
dInitODE();
// test the simple space:
// space = dSimpleSpaceCreate();
// test the hash space:
// space = dHashSpaceCreate (0);
// dHashSpaceSetLevels (space,-10,10);
// test the quadtree space
dVector3 Center = {0, 0, 0, 0};
dVector3 Extents = {10, 0, 10, 0};
space = dQuadTreeSpaceCreate(0, Center, Extents, 7);
for (i=0; i < NUM; i++) geom[i] = 0;
init_test();
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dSpaceDestroy (space);
dCloseODE();
return 0;
}
void ODESimulator::initData(SimulatorData data)
{
Simulator::initData(data);
// We can only init ODE once.
if (0 == mInitCounter)
{
dInitODE();
}
++mInitCounter;
// Create ODE world.
mWorldID = dWorldCreate();
// Set default gravity.
setGravity(defaults::gravity);
// Create the root ODE space.
//mRootSpaceID = dSimpleSpaceCreate(0);
//dVector3 center = {0, 0, 0};
//dVector3 extents = {200, 100, 200};
//mRootSpaceID = dQuadTreeSpaceCreate(0, center, extents, 5);
if (data.useOctreeInsteadHash)
{
dVector3 center = { data.worldCenter[0],
data.worldCenter[1],
data.worldCenter[2] };
dVector3 extents = { data.worldSize[0],
data.worldSize[1],
data.worldSize[2] };
mRootSpaceID = dQuadTreeSpaceCreate(0, center, extents, data.octreeDepth);
}
else
{
mRootSpaceID = dHashSpaceCreate(0);
dHashSpaceSetLevels(mRootSpaceID, data.hashMinLevel, data.hashMaxLevel);
}
mRootSpace = new ODESpace(mRootSpaceID);
// Create the ODE contact joint group.
mContactJointGroupID = dJointGroupCreate(0);
// Set the ODE global CFM value that will be used by all Joints
// (including contacts). This affects normal Joint constraint
// operation and Joint limits. The user cannot adjust CFM, but
// they can adjust ERP (a.k.a. bounciness/restitution) for materials
// (i.e. contact settings) and Joint limits.
dWorldSetCFM(mWorldID, defaults::ode::globalCFM);
// Set the ODE global ERP value. This will only be used for Joints
// under normal conditions, not at their limits. Also, it will not
// affect contacts at all since they use material properties to
// calculate ERP.
dWorldSetERP(mWorldID, (real) 0.5 * (defaults::ode::maxERP +
defaults::ode::minERP));
dWorldSetContactSurfaceLayer(mWorldID, defaults::ode::surfaceLayer);
setSolverAccuracy(defaults::solverAccuracy);
mCollisionCount = 0;
// "mRaycastResult" is initialized in its own constructor.
mSensorSolid = NULL;
mRayContactGroup = defaults::shape::contactGroup;
}