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;
if (argc >= 2 ) {
for (int i=1; i < argc; ++i) {
if ( 0 == strcmp ("-h", argv[i]) || 0 == strcmp ("--help", argv[i]) )
Help (argv);
if ( 0 == strcmp ("-p", argv[i]) || 0 == strcmp ("--PRJoint", argv[i]) )
type = dJointTypePR;
if (0 == strcmp ("-t", argv[i]) || 0 == strcmp ("--texture-path", argv[i]) ) {
int j = i+1;
if ( j+1 > argc || // Check if we have enough arguments
argv[j] == '\0' || // We should have a path here
argv[j][0] == '-' ) // We should have a path not a command line
Help (argv);
else
fn.path_to_textures = argv[++i]; // Increase i since we use this argument
}
}
}
dInitODE2(0);
world.setERP (0.8);
space = dSimpleSpaceCreate (0);
contactgroup = dJointGroupCreate (0);
geom[GROUND] = dCreatePlane (space, 0,0,1,0);
dGeomSetCategoryBits (geom[GROUND], catBits[GROUND]);
dGeomSetCollideBits (geom[GROUND], catBits[ALL]);
dMass m;
// Create the body attached to the World
body[W].create (world);
// Main axis of cylinder is along X=1
m.setBox (1, boxDim[X], boxDim[Y], boxDim[Z]);
m.adjust (Mass1);
geom[W] = dCreateBox (space, boxDim[X], boxDim[Y], boxDim[Z]);
dGeomSetBody (geom[W], body[W]);
dGeomSetCategoryBits (geom[W], catBits[W]);
dGeomSetCollideBits (geom[W], catBits[ALL] & (~catBits[W]) & (~catBits[JOINT]) );
body[W].setMass(m);
// Create the dandling body
body[D].create(world);
// Main axis of capsule is along X=1
m.setBox (1, boxDim[X], boxDim[Y], boxDim[Z]);
m.adjust (Mass1);
geom[D] = dCreateBox (space, boxDim[X], boxDim[Y], boxDim[Z]);
dGeomSetBody (geom[D], body[D]);
dGeomSetCategoryBits (geom[D], catBits[D]);
dGeomSetCollideBits (geom[D], catBits[ALL] & (~catBits[D]) & (~catBits[JOINT]) );
body[D].setMass(&m);
// Create the external part of the slider joint
geom[EXT] = dCreateBox (space, extDim[X], extDim[Y], extDim[Z]);
dGeomSetCategoryBits (geom[EXT], catBits[EXT]);
dGeomSetCollideBits (geom[EXT],
catBits[ALL] & (~catBits[JOINT]) & (~catBits[W]) & (~catBits[D]) );
// Create the internal part of the slider joint
geom[INT] = dCreateBox (space, INT_EXT_RATIO*extDim[X],
INT_EXT_RATIO*extDim[Y],
INT_EXT_RATIO*extDim[Z]);
dGeomSetCategoryBits (geom[INT], catBits[INT]);
dGeomSetCollideBits (geom[INT],
catBits[ALL] & (~catBits[JOINT]) & (~catBits[W]) & (~catBits[D]) );
dMatrix3 R;
dGeomID id;
// Create the first axis of the universal joi9nt
geom[AXIS1] = dCreateGeomTransform (space);
//Rotation of 90deg around y
dRFromAxisAndAngle (R, 0,1,0, 0.5*PI);
dGeomSetRotation (geom[AXIS1], R);
dGeomSetCategoryBits (geom[AXIS1], catBits[AXIS1]);
dGeomSetCollideBits (geom[AXIS1],
catBits[ALL] & ~catBits[JOINT] & ~catBits[W] & ~catBits[D]);
id = geom[AXIS1];
dGeomTransformSetGeom (geom[AXIS1], dCreateCylinder (0, axDim[RADIUS], axDim[LENGTH]) );
// Create the second axis of the universal joint
geom[AXIS2] = dCreateGeomTransform (space);
//Rotation of 90deg around y
dRFromAxisAndAngle (R, 1,0,0, 0.5*PI);
dGeomSetRotation (geom[AXIS2], R);
dGeomSetCategoryBits (geom[AXIS2], catBits[AXIS2]);
dGeomSetCollideBits (geom[AXIS2],
catBits[ALL] & ~catBits[JOINT] & ~catBits[W] & ~catBits[D]);
id = geom[AXIS2];
dGeomTransformSetGeom (geom[AXIS2], dCreateCylinder (0, axDim[RADIUS], axDim[LENGTH]) );
// Create the anchor
geom[ANCHOR] = dCreateBox (space, ancDim[X], ancDim[Y], ancDim[Z]);
dGeomSetCategoryBits (geom[ANCHOR], catBits[ANCHOR]);
dGeomSetCollideBits (geom[ANCHOR],
catBits[ALL] & (~catBits[JOINT]) & (~catBits[W]) & (~catBits[D]) );
if (body[W]) {
body[W].setPosition(0, 0, 5);
}
if (geom[EXT]) {
dGeomSetPosition (geom[EXT], 0,0,3.8);
}
if (geom[INT]) {
dGeomSetPosition (geom[INT], 0,0,2.6);
}
if (geom[AXIS1]) {
dGeomSetPosition (geom[AXIS1], 0,0,2.5);
}
if (geom[AXIS2]) {
dGeomSetPosition (geom[AXIS2], 0,0,2.5);
}
if (geom[ANCHOR]) {
dGeomSetPosition (geom[ANCHOR], 0,0,2.25);
}
if (body[D]) {
body[D].setPosition(0,0,1.5);
}
// Attache the upper box to the world
dJointID fixed = dJointCreateFixed (world,0);
dJointAttach (fixed , NULL, body[W]);
dJointSetFixed (fixed );
if (type == dJointTypePR) {
dPRJoint *pr = new dPRJoint (world, 0);
pr->attach (body[W], body[D]);
pr->setAxis1 (0, 0, -1);
pr->setAxis2 (1, 0, 0);
joint = pr;
dJointSetPRAnchor (pr->id(), 0, 0, 2.5);
}
else {
dPUJoint *pu = new dPUJoint (world, 0);
pu->attach (body[W], body[D]);
pu->setAxis1 (1, 0, 0);
pu->setAxis2 (0, 1, 0);
pu->setAxisP (0, 0, -1);
joint = pu;
dJointSetPUAnchor (pu->id(), 0, 0, 2.5);
}
// run simulation
dsSimulationLoop (argc,argv,400,300,&fn);
delete joint;
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
int setupTest (int n)
{
switch (n) {
// ********** fixed joint
case 0: { // 2 body
constructWorldForTest (0,2,
0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
1,1,0, 1,1,0,
0.25*M_PI,0.25*M_PI);
joint = dJointCreateFixed (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetFixed (joint);
return 1;
}
case 1: { // 1 body to static env
constructWorldForTest (0,1,
0.5*SIDE,0.5*SIDE,1, 0,0,0,
1,0,0, 1,0,0,
0,0);
joint = dJointCreateFixed (world,0);
dJointAttach (joint,body[0],0);
dJointSetFixed (joint);
return 1;
}
case 2: { // 2 body with relative rotation
constructWorldForTest (0,2,
0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
1,1,0, 1,1,0,
0.25*M_PI,-0.25*M_PI);
joint = dJointCreateFixed (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetFixed (joint);
return 1;
}
case 3: { // 1 body to static env with relative rotation
constructWorldForTest (0,1,
0.5*SIDE,0.5*SIDE,1, 0,0,0,
1,0,0, 1,0,0,
0.25*M_PI,0);
joint = dJointCreateFixed (world,0);
dJointAttach (joint,body[0],0);
dJointSetFixed (joint);
return 1;
}
// ********** hinge joint
case 200: // 2 body
constructWorldForTest (0,2,
0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI);
joint = dJointCreateHinge (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetHingeAnchor (joint,0,0,1);
dJointSetHingeAxis (joint,1,-1,1.41421356);
return 1;
case 220: // hinge angle polarity test
case 221: // hinge angle rate test
constructWorldForTest (0,2,
0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
1,0,0, 1,0,0, 0,0);
joint = dJointCreateHinge (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetHingeAnchor (joint,0,0,1);
dJointSetHingeAxis (joint,0,0,1);
max_iterations = 50;
return 1;
case 230: // hinge motor rate (and polarity) test
case 231: // ...with stops
constructWorldForTest (0,2,
0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
1,0,0, 1,0,0, 0,0);
joint = dJointCreateHinge (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetHingeAnchor (joint,0,0,1);
dJointSetHingeAxis (joint,0,0,1);
dJointSetHingeParam (joint,dParamFMax,1);
if (n==231) {
dJointSetHingeParam (joint,dParamLoStop,-0.5);
dJointSetHingeParam (joint,dParamHiStop,0.5);
}
return 1;
case 250: // limit bounce test (gravity down)
case 251: { // ...gravity up
constructWorldForTest ((n==251) ? 0.1 : -0.1, 2,
0.5*SIDE,0,1+0.5*SIDE, -0.5*SIDE,0,1-0.5*SIDE,
1,0,0, 1,0,0, 0,0);
joint = dJointCreateHinge (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetHingeAnchor (joint,0,0,1);
dJointSetHingeAxis (joint,0,1,0);
dJointSetHingeParam (joint,dParamLoStop,-0.9);
dJointSetHingeParam (joint,dParamHiStop,0.7854);
dJointSetHingeParam (joint,dParamBounce,0.5);
// anchor 2nd body with a fixed joint
dJointID j = dJointCreateFixed (world,0);
dJointAttach (j,body[1],0);
dJointSetFixed (j);
return 1;
}
// ********** slider
case 300: // 2 body
constructWorldForTest (0,2,
0,0,1, 0.2,0.2,1.2,
0,0,1, -1,1,0, 0,0.25*M_PI);
joint = dJointCreateSlider (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetSliderAxis (joint,1,1,1);
return 1;
case 320: // slider angle polarity test
case 321: // slider angle rate test
constructWorldForTest (0,2,
0,0,1, 0,0,1.2,
1,0,0, 1,0,0, 0,0);
joint = dJointCreateSlider (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetSliderAxis (joint,0,0,1);
max_iterations = 50;
return 1;
case 330: // slider motor rate (and polarity) test
case 331: // ...with stops
constructWorldForTest (0, 2,
0,0,1, 0,0,1.2,
1,0,0, 1,0,0, 0,0);
joint = dJointCreateSlider (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetSliderAxis (joint,0,0,1);
dJointSetSliderParam (joint,dParamFMax,100);
if (n==331) {
dJointSetSliderParam (joint,dParamLoStop,-0.4);
dJointSetSliderParam (joint,dParamHiStop,0.4);
}
return 1;
case 350: // limit bounce tests
case 351: {
constructWorldForTest ((n==351) ? 0.1 : -0.1, 2,
0,0,1, 0,0,1.2,
1,0,0, 1,0,0, 0,0);
joint = dJointCreateSlider (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetSliderAxis (joint,0,0,1);
dJointSetSliderParam (joint,dParamLoStop,-0.5);
dJointSetSliderParam (joint,dParamHiStop,0.5);
dJointSetSliderParam (joint,dParamBounce,0.5);
// anchor 2nd body with a fixed joint
dJointID j = dJointCreateFixed (world,0);
dJointAttach (j,body[1],0);
dJointSetFixed (j);
return 1;
}
// ********** hinge-2 joint
case 420: // hinge-2 steering angle polarity test
case 421: // hinge-2 steering angle rate test
constructWorldForTest (0,2,
0.5*SIDE,0,1, -0.5*SIDE,0,1,
1,0,0, 1,0,0, 0,0);
joint = dJointCreateHinge2 (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1);
dJointSetHinge2Axis1 (joint,0,0,1);
dJointSetHinge2Axis2 (joint,1,0,0);
max_iterations = 50;
return 1;
case 430: // hinge 2 steering motor rate (+polarity) test
case 431: // ...with stops
case 432: // hinge 2 wheel motor rate (+polarity) test
constructWorldForTest (0,2,
0.5*SIDE,0,1, -0.5*SIDE,0,1,
1,0,0, 1,0,0, 0,0);
joint = dJointCreateHinge2 (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1);
dJointSetHinge2Axis1 (joint,0,0,1);
dJointSetHinge2Axis2 (joint,1,0,0);
dJointSetHinge2Param (joint,dParamFMax,1);
dJointSetHinge2Param (joint,dParamFMax2,1);
if (n==431) {
dJointSetHinge2Param (joint,dParamLoStop,-0.5);
dJointSetHinge2Param (joint,dParamHiStop,0.5);
}
return 1;
// ********** angular motor joint
case 600: // test euler angle calculations
constructWorldForTest (0,2,
-SIDE*0.5,0,1, SIDE*0.5,0,1,
0,0,1, 0,0,1, 0,0);
joint = dJointCreateAMotor (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetAMotorNumAxes (joint,3);
dJointSetAMotorAxis (joint,0,1, 0,0,1);
dJointSetAMotorAxis (joint,2,2, 1,0,0);
dJointSetAMotorMode (joint,dAMotorEuler);
max_iterations = 200;
return 1;
// ********** universal joint
case 700: // 2 body
case 701:
case 702:
constructWorldForTest (0,2,
0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI);
joint = dJointCreateUniversal (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetUniversalAnchor (joint,0,0,1);
dJointSetUniversalAxis1 (joint, 1, -1, 1.41421356);
dJointSetUniversalAxis2 (joint, 1, -1, -1.41421356);
return 1;
case 720: // universal transmit torque test
case 721:
case 722:
case 730: // universal torque about axis 1
case 731:
case 732:
case 740: // universal torque about axis 2
case 741:
case 742:
constructWorldForTest (0,2,
0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
1,0,0, 1,0,0, 0,0);
joint = dJointCreateUniversal (world,0);
dJointAttach (joint,body[0],body[1]);
dJointSetUniversalAnchor (joint,0,0,1);
dJointSetUniversalAxis1 (joint,0,0,1);
dJointSetUniversalAxis2 (joint, 1, -1,0);
max_iterations = 100;
return 1;
// Joint PR (Prismatic and Rotoide)
case 800: // 2 body
case 801: // 2 bodies with spring force and prismatic fixed
case 802: // 2 bodies with torque on body1 and prismatic fixed
constructWorldForTest (0, 2,
-1.0, 0.0, 1.0,
1.0, 0.0, 1.0,
1,0,0, 1,0,0,
0, 0);
joint = dJointCreatePR (world, 0);
dJointAttach (joint, body[0], body[1]);
dJointSetPRAnchor (joint,-0.5, 0.0, 1.0);
dJointSetPRAxis1 (joint, 0, 1, 0);
dJointSetPRAxis2 (joint, 1, 0, 0);
dJointSetPRParam (joint,dParamLoStop,-0.5);
dJointSetPRParam (joint,dParamHiStop,0.5);
dJointSetPRParam (joint,dParamLoStop2,0);
dJointSetPRParam (joint,dParamHiStop2,0);
return 1;
case 803: // 2 bodies with spring force and prismatic NOT fixed
case 804: // 2 bodies with torque force and prismatic NOT fixed
case 805: // 2 bodies with force only on first body
constructWorldForTest (0, 2,
-1.0, 0.0, 1.0,
1.0, 0.0, 1.0,
1,0,0, 1,0,0,
0, 0);
joint = dJointCreatePR (world, 0);
dJointAttach (joint, body[0], body[1]);
dJointSetPRAnchor (joint,-0.5, 0.0, 1.0);
dJointSetPRAxis1 (joint, 0, 1, 0);
dJointSetPRAxis2 (joint, 1, 0, 0);
dJointSetPRParam (joint,dParamLoStop,-0.5);
dJointSetPRParam (joint,dParamHiStop,0.5);
dJointSetPRParam (joint,dParamLoStop2,-0.5);
dJointSetPRParam (joint,dParamHiStop2,0.5);
return 1;
}
return 0;
}
