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Introduce Open Dynamics Engine examples
Added a 3 wheeled car example from the ODE demos. I collapsed all of the separate classes handling the world, objects, and drawings into a single class. Each world is different and just including that with the objects for these simple examples is easier. Same goes for the drawing. refs #172
This commit is contained in:
parent
362366b908
commit
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trick_models/ODE
Ball
Buggy
DrawStuff
OdeWorld
trick_sims
SIM_ode_ball
SIM_ode_buggy
@ -1,18 +1,83 @@
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#include <ode/ode.h>
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#include <drawstuff/drawstuff.h>
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#include "Ball.hh"
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#include "ODE/OdeWorld/OdeWorld.hh"
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#include "trick/memorymanager_c_intf.h"
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Ball::Ball() {}
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int Ball::init() {
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body = dBodyCreate (OdeWorld::getWorldID());
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geom = dCreateSphere (OdeWorld::getSpaceID(),0.5);
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dInitODE ();
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world = dWorldCreate ();
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space = dHashSpaceCreate (0);
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dWorldSetGravity (world,0,0,-9.81);
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dWorldSetCFM (world,1e-5);
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dCreatePlane (space,0,0,1,0);
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contactgroup = dJointGroupCreate (0);
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body = dBodyCreate (world);
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geom = dCreateSphere (space,0.5);
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dMassSetSphere (&m,1,0.5);
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dBodySetMass (body,&m);
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dGeomSetBody (geom,body);
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// set initial position
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dBodySetPosition (body,0,0,3);
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pos = (dReal *)dGeomGetPosition(geom) ;
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TMM_declare_ext_var_1d( pos , "float" , 3) ;
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add_object() ;
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return 0 ;
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}
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int Ball::step( double time_step) {
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// find collisions and add contact joints
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dSpaceCollide (space,this,&Ball::nearCallback);
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// step the simulation
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//dWorldQuickStep (world,time_step);
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dWorldStep (world,time_step);
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// remove all contact joints
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dJointGroupEmpty (contactgroup);
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return 0 ;
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}
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int Ball::shutdown() {
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// clean up
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dJointGroupDestroy (contactgroup);
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dSpaceDestroy (space);
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dWorldDestroy (world);
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dCloseODE();
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return 0 ;
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}
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int Ball::draw() {
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dsDrawSphere (dGeomGetPosition(geom),dGeomGetRotation(geom),dGeomSphereGetRadius(geom));
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return 0 ;
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}
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// this is called by dSpaceCollide when two objects in space are
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// potentially colliding.
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void Ball::nearCallback (void * void_ball, dGeomID o1, dGeomID o2) {
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Ball * bp = (Ball *)void_ball ;
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dBodyID b1 = dGeomGetBody(o1);
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dBodyID b2 = dGeomGetBody(o2);
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dContact contact;
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contact.surface.mode = dContactBounce | dContactSoftCFM;
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// friction parameter
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contact.surface.mu = dInfinity;
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// bounce is the amount of "bouncyness".
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contact.surface.bounce = 0.999;
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// bounce_vel is the minimum incoming velocity to cause a bounce
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contact.surface.bounce_vel = 0.1;
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// constraint force mixing parameter
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contact.surface.soft_cfm = 0.001;
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if (int numc = dCollide (o1,o2,1,&contact.geom,sizeof(dContact))) {
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dJointID c = dJointCreateContact (bp->world,bp->contactgroup,&contact);
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dJointAttach (c,b1,b2);
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}
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}
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@ -11,16 +11,30 @@ LIBRARY DEPENDENCY:
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#include <ode/common.h>
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#include <ode/src/objects.h>
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#include "ODE/DrawStuff/DrawStuffObject.hh"
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class Ball {
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class Ball : public DrawStuffObject {
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public:
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dBodyID body;
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dGeomID geom;
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dMass m;
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dWorldID world; // ** world
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dSpaceID space; // ** space
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dJointGroupID contactgroup; // ** contact
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dBodyID body; // ** the ball body
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dGeomID geom; // ** contact geometry
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dMass m; // ** the mass of the ball
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dReal * pos ;
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Ball() ;
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int init() ;
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int step(double time_step) ;
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int shutdown() ;
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virtual int draw() ;
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static void nearCallback(void *data, dGeomID o1, dGeomID o2) ;
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} ;
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@ -1,18 +0,0 @@
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#include <ode/collision.h>
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#include <drawstuff/drawstuff.h>
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#include "BallDrawStuffObject.hh"
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BallDrawStuffObject::BallDrawStuffObject() {}
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int BallDrawStuffObject::init(dGeomID in_geom) {
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geom = in_geom ;
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add_object() ;
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return 0 ;
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}
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int BallDrawStuffObject::draw() {
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dsDrawSphere (dGeomGetPosition(geom),dGeomGetRotation(geom),dGeomSphereGetRadius(geom));
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return 0 ;
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}
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@ -1,24 +0,0 @@
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/*
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PURPOSE:
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(Bouncing ball)
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LIBRARY DEPENDENCY:
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((BallDrawStuffObject.cpp))
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*/
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#ifndef ODEBALLDRAWSTUFFOBJECT_HH
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#define ODEBALLDRAWSTUFFOBJECT_HH
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#include <ode/common.h>
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#include "ODE/DrawStuff/DrawStuffObject.hh"
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class BallDrawStuffObject : public DrawStuffObject {
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public:
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dGeomID geom ;
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BallDrawStuffObject() ;
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int init(dGeomID in_geom) ;
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virtual int draw() ;
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} ;
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#endif
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217
trick_models/ODE/Buggy/Buggy.cpp
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217
trick_models/ODE/Buggy/Buggy.cpp
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@ -0,0 +1,217 @@
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#include <ode/ode.h>
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#include <drawstuff/drawstuff.h>
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#include "Buggy.hh"
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#include "trick/memorymanager_c_intf.h"
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Buggy::Buggy() :
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gravity(-0.5),
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chassis_length(0.7),
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chassis_width(0.5),
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chassis_height(0.2),
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chassis_mass(1.0),
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wheel_radius(.18),
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wheel_width(0.02),
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wheel_mass(0.2),
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start_z(0.5)
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{}
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int Buggy::init() {
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dMass m;
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int i ;
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dInitODE2(0);
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world = dWorldCreate ();
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space = dHashSpaceCreate (0);
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contactgroup = dJointGroupCreate(0);
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dWorldSetGravity (world,0,0,gravity);
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ground = dCreatePlane (space,0,0,1,0);
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// chassis body
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body[0] = dBodyCreate (world);
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dBodySetPosition (body[0],0,0,start_z);
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dMassSetBox (&m,1,chassis_length,chassis_width,chassis_height);
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dMassAdjust (&m,chassis_mass);
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dBodySetMass (body[0],&m);
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box[0] = dCreateBox (0,chassis_length,chassis_width,chassis_height);
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dGeomSetBody (box[0],body[0]);
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buggy_body_pos = (dReal *)dGeomGetPosition(box[0]) ;
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TMM_declare_ext_var_1d( buggy_body_pos , "float" , 3) ;
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// wheel bodies
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for (i=1; i<=3; i++) {
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body[i] = dBodyCreate (world);
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dQuaternion q;
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dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
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dBodySetQuaternion (body[i],q);
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dMassSetSphere (&m,1,wheel_radius);
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dMassAdjust (&m,wheel_mass);
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dBodySetMass (body[i],&m);
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sphere[i-1] = dCreateSphere (0,wheel_radius);
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dGeomSetBody (sphere[i-1],body[i]);
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}
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dBodySetPosition (body[1],0.5*chassis_length,0,start_z-chassis_height*0.5);
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dBodySetPosition (body[2],-0.5*chassis_length, chassis_width*0.5,start_z-chassis_height*0.5);
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dBodySetPosition (body[3],-0.5*chassis_length,-chassis_width*0.5,start_z-chassis_height*0.5);
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// front and back wheel hinges
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for (i=0; i<3; i++) {
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joint[i] = dJointCreateHinge2 (world,0);
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dJointAttach (joint[i],body[0],body[i+1]);
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const dReal *a = dBodyGetPosition (body[i+1]);
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dJointSetHinge2Anchor (joint[i],a[0],a[1],a[2]);
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dJointSetHinge2Axis1 (joint[i],0,0,1);
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dJointSetHinge2Axis2 (joint[i],0,1,0);
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}
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// set joint suspension
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for (i=0; i<3; i++) {
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dJointSetHinge2Param (joint[i],dParamSuspensionERP,0.4);
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dJointSetHinge2Param (joint[i],dParamSuspensionCFM,0.8);
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}
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// lock back wheels along the steering axis
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for (i=1; i<3; i++) {
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// set stops to make sure wheels always stay in alignment
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dJointSetHinge2Param (joint[i],dParamLoStop,0);
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dJointSetHinge2Param (joint[i],dParamHiStop,0);
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}
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// create car space and add it to the top level space
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car_space = dSimpleSpaceCreate (space);
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dSpaceSetCleanup (car_space,0);
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dSpaceAdd (car_space,box[0]);
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dSpaceAdd (car_space,sphere[0]);
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dSpaceAdd (car_space,sphere[1]);
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dSpaceAdd (car_space,sphere[2]);
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// environment
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ground_box = dCreateBox (space,2,1.5,1);
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dMatrix3 R;
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dRFromAxisAndAngle (R,0,1,0,-0.15);
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dGeomSetPosition (ground_box,2,0,-0.34);
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dGeomSetRotation (ground_box,R);
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// Add this object to DrawStuff
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add_object() ;
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return 0 ;
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}
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int Buggy::step(double time_step) {
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dJointSetHinge2Param (joint[0],dParamVel2,-speed);
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dJointSetHinge2Param (joint[0],dParamFMax2,0.1);
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// steering
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dReal v = steer - dJointGetHinge2Angle1 (joint[0]);
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if (v > 0.1) v = 0.1;
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if (v < -0.1) v = -0.1;
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v *= 10.0;
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dJointSetHinge2Param (joint[0],dParamVel,v);
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dJointSetHinge2Param (joint[0],dParamFMax,0.2);
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dJointSetHinge2Param (joint[0],dParamLoStop,-0.75);
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dJointSetHinge2Param (joint[0],dParamHiStop,0.75);
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dJointSetHinge2Param (joint[0],dParamFudgeFactor,0.1);
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dSpaceCollide (space,this,&Buggy::nearCallback);
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dWorldStep (world,time_step);
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// remove all contact joints
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dJointGroupEmpty (contactgroup);
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return 0 ;
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}
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int Buggy::shutdown() {
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dGeomDestroy (box[0]);
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dGeomDestroy (sphere[0]);
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dGeomDestroy (sphere[1]);
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dGeomDestroy (sphere[2]);
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dJointGroupDestroy (contactgroup);
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dSpaceDestroy (space);
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dWorldDestroy (world);
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dCloseODE();
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return 0 ;
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}
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int Buggy::draw() {
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int i ;
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dsSetColor (0,1,1);
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dsSetTexture (DS_WOOD);
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dReal sides[3] = {chassis_length,chassis_width,chassis_height};
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dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides);
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dsSetColor (1,1,1);
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for (i=1; i<=3; i++) {
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dsDrawCylinder (dBodyGetPosition(body[i]), dBodyGetRotation(body[i]),wheel_width,wheel_radius);
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}
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dVector3 ss;
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dGeomBoxGetLengths (ground_box,ss);
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dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss);
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return 0 ;
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}
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void Buggy::command( int cmd ) {
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switch (cmd) {
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case 'a': case 'A':
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speed += 0.3;
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break;
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case 'z': case 'Z':
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speed -= 0.3;
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break;
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case ',':
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steer -= 0.5;
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break;
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case '.':
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steer += 0.5;
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break;
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case ' ':
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speed = 0;
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steer = 0;
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break;
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case '1': {
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FILE *f = fopen ("state.dif","wt");
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if (f) {
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dWorldExportDIF (world,f,"");
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fclose (f);
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}
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}
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}
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}
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// this is called by dSpaceCollide when two objects in space are
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// potentially colliding.
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void Buggy::nearCallback (void * void_buggy , dGeomID o1, dGeomID o2) {
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int i,n;
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Buggy * bp = (Buggy *)void_buggy ;
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// only collide things with the ground
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int g1 = (o1 == bp->ground || o1 == bp->ground_box);
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int g2 = (o2 == bp->ground || o2 == bp->ground_box);
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if (!(g1 ^ g2)) return;
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const int N = 10;
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dContact contact[N];
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n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
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if (n > 0) {
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for (i=0; i<n; i++) {
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contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
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dContactSoftERP | dContactSoftCFM | dContactApprox1;
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contact[i].surface.mu = dInfinity;
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contact[i].surface.slip1 = 0.1;
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contact[i].surface.slip2 = 0.1;
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contact[i].surface.soft_erp = 0.5;
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contact[i].surface.soft_cfm = 0.3;
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dJointID c = dJointCreateContact (bp->world,bp->contactgroup,&contact[i]);
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dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
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}
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}
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}
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72
trick_models/ODE/Buggy/Buggy.hh
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72
trick_models/ODE/Buggy/Buggy.hh
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/*
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PURPOSE:
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(Bouncing ball)
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LIBRARY DEPENDENCY:
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((Buggy.cpp))
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*/
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#ifndef BUGGY_HH
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#define BUGGY_HH
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#include <ode/common.h>
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#include <ode/src/objects.h>
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#include "ODE/DrawStuff/DrawStuffObject.hh"
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#if SWIG
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%apply float { dReal }
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#endif
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class Buggy : public DrawStuffObject {
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public:
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dWorldID world; // ** world
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dSpaceID space; // ** space
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dJointGroupID contactgroup; // ** contact
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dReal speed ;
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dReal steer ;
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dReal * buggy_body_pos ;
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dReal gravity ;
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dReal chassis_length ;
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dReal chassis_width ;
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dReal chassis_height ;
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dReal chassis_mass ;
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dReal wheel_radius ;
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dReal wheel_width ;
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dReal wheel_mass ;
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dReal start_z ;
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Buggy() ;
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// Simulation jobs
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int init() ;
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int step(double time_step) ;
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int shutdown() ;
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// DrawStuff callbacks
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virtual int draw() ;
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virtual void command(int cmd) ;
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// collision callback
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static void nearCallback(void *data, dGeomID o1, dGeomID o2) ;
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protected:
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dBodyID body[4]; // ** buggy body and 3 wheels
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dJointID joint[3]; // ** joints from body to wheels
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dSpaceID car_space; // ** car space. :P
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dGeomID box[1]; // ** collision for buggy body
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dGeomID sphere[3]; // ** collision for wheels
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dGeomID ground; // ** ground
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dGeomID ground_box; // ** ground
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} ;
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#endif
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@ -18,6 +18,13 @@ void DrawStuff::step(int) {
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}
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}
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void DrawStuff::command(int cmd) {
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std::vector<DrawStuffObject *>::iterator it ;
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for( it = objects.begin() ; it != objects.end() ; it++ ) {
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(*it)->command(cmd) ;
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}
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}
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DrawStuff::DrawStuff() :
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fn(),
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window_width(1024),
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@ -28,6 +35,7 @@ DrawStuff::DrawStuff() :
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fn.start = &DrawStuff::start ;
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fn.step = &DrawStuff::step ;
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fn.command = &DrawStuff::command ;
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}
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|
||||
int DrawStuff::draw() {
|
||||
|
@ -15,7 +15,7 @@ LIBRARY DEPENDENCY:
|
||||
|
||||
class DrawStuff {
|
||||
public:
|
||||
dsFunctions fn;
|
||||
dsFunctions fn; // ** draw stuff function pointer structure
|
||||
|
||||
int window_width ;
|
||||
int window_height ;
|
||||
@ -23,6 +23,7 @@ class DrawStuff {
|
||||
DrawStuff() ;
|
||||
static void start() ;
|
||||
static void step(int) ;
|
||||
static void command(int) ;
|
||||
|
||||
int draw() ;
|
||||
int shutdown() ;
|
||||
|
@ -2,7 +2,11 @@
|
||||
#include "DrawStuffObject.hh"
|
||||
#include "DrawStuff.hh"
|
||||
|
||||
DrawStuffObject::~DrawStuffObject() {}
|
||||
|
||||
void DrawStuffObject::add_object() {
|
||||
DrawStuff::add_object(this) ;
|
||||
}
|
||||
|
||||
void DrawStuffObject::command(int) {
|
||||
}
|
||||
|
@ -11,9 +11,10 @@ LIBRARY DEPENDENCY:
|
||||
|
||||
class DrawStuffObject {
|
||||
public:
|
||||
virtual ~DrawStuffObject() {}
|
||||
void add_object() ;
|
||||
virtual ~DrawStuffObject() ;
|
||||
virtual void add_object() ;
|
||||
virtual int draw() = 0 ;
|
||||
virtual void command(int cmd) ;
|
||||
} ;
|
||||
|
||||
#endif
|
||||
|
@ -1,77 +0,0 @@
|
||||
|
||||
#include <ode/ode.h>
|
||||
#include "OdeWorld.hh"
|
||||
|
||||
dWorldID OdeWorld::world ;
|
||||
dSpaceID OdeWorld::space ;
|
||||
dJointGroupID OdeWorld::contactgroup ;
|
||||
|
||||
extern int current_state ;
|
||||
|
||||
OdeWorld::OdeWorld() {}
|
||||
|
||||
int OdeWorld::init() {
|
||||
dInitODE ();
|
||||
world = dWorldCreate ();
|
||||
space = dHashSpaceCreate (0);
|
||||
dWorldSetGravity (world,0,0,-9.81);
|
||||
dWorldSetCFM (world,1e-5);
|
||||
dCreatePlane (space,0,0,1,0);
|
||||
contactgroup = dJointGroupCreate (0);
|
||||
return 0 ;
|
||||
}
|
||||
|
||||
int OdeWorld::step( double time_step) {
|
||||
|
||||
// find collisions and add contact joints
|
||||
dSpaceCollide (space,0,&OdeWorld::nearCallback);
|
||||
|
||||
// step the simulation
|
||||
//dWorldQuickStep (world,time_step);
|
||||
dWorldStep (world,time_step);
|
||||
// remove all contact joints
|
||||
dJointGroupEmpty (contactgroup);
|
||||
|
||||
return 0 ;
|
||||
}
|
||||
|
||||
int OdeWorld::shutdown() {
|
||||
// clean up
|
||||
dJointGroupDestroy (contactgroup);
|
||||
dSpaceDestroy (space);
|
||||
dWorldDestroy (world);
|
||||
dCloseODE();
|
||||
|
||||
return 0 ;
|
||||
}
|
||||
|
||||
// this is called by dSpaceCollide when two objects in space are
|
||||
// potentially colliding.
|
||||
void OdeWorld::nearCallback (void *, dGeomID o1, dGeomID o2)
|
||||
{
|
||||
dBodyID b1 = dGeomGetBody(o1);
|
||||
dBodyID b2 = dGeomGetBody(o2);
|
||||
dContact contact;
|
||||
contact.surface.mode = dContactBounce | dContactSoftCFM;
|
||||
// friction parameter
|
||||
contact.surface.mu = dInfinity;
|
||||
// bounce is the amount of "bouncyness".
|
||||
contact.surface.bounce = 0.999;
|
||||
// bounce_vel is the minimum incoming velocity to cause a bounce
|
||||
contact.surface.bounce_vel = 0.1;
|
||||
// constraint force mixing parameter
|
||||
contact.surface.soft_cfm = 0.001;
|
||||
if (int numc = dCollide (o1,o2,1,&contact.geom,sizeof(dContact))) {
|
||||
dJointID c = dJointCreateContact (OdeWorld::world,OdeWorld::contactgroup,&contact);
|
||||
dJointAttach (c,b1,b2);
|
||||
}
|
||||
}
|
||||
|
||||
dWorldID OdeWorld::getWorldID() {
|
||||
return world ;
|
||||
}
|
||||
|
||||
dSpaceID OdeWorld::getSpaceID() {
|
||||
return space ;
|
||||
}
|
||||
|
@ -1,33 +0,0 @@
|
||||
|
||||
/*
|
||||
PURPOSE:
|
||||
(Create the ODE world)
|
||||
LIBRARY DEPENDENCY:
|
||||
((OdeWorld.cpp))
|
||||
*/
|
||||
|
||||
#ifndef ODEWORLD_HH
|
||||
#define ODEWORLD_HH
|
||||
|
||||
#include <ode/common.h>
|
||||
|
||||
class OdeWorld {
|
||||
public:
|
||||
static dWorldID world;
|
||||
static dJointGroupID contactgroup;
|
||||
static dSpaceID space;
|
||||
|
||||
static dWorldID getWorldID() ;
|
||||
static dSpaceID getSpaceID() ;
|
||||
|
||||
OdeWorld() ;
|
||||
|
||||
int init() ;
|
||||
int step(double time_step) ;
|
||||
int shutdown() ;
|
||||
|
||||
static void nearCallback(void *data, dGeomID o1, dGeomID o2) ;
|
||||
|
||||
} ;
|
||||
|
||||
#endif
|
@ -10,55 +10,37 @@ LIBRARY DEPENDENCIES:
|
||||
|
||||
#include "sim_objects/default_trick_sys.sm"
|
||||
|
||||
##include "ODE/OdeWorld/OdeWorld.hh"
|
||||
##include "ODE/Ball/Ball.hh"
|
||||
##include "ODE/DrawStuff/DrawStuff.hh"
|
||||
|
||||
##include "ODE/Ball/Ball.hh"
|
||||
##include "ODE/Ball/BallDrawStuffObject.hh"
|
||||
|
||||
%{
|
||||
const double OdeWorldSimObject::time_step = 0.01 ;
|
||||
const double OdeBallSimObject::time_step = 0.01 ;
|
||||
%}
|
||||
|
||||
/**
|
||||
This class is the base ball class
|
||||
*/
|
||||
class OdeWorldSimObject : public Trick::SimObject {
|
||||
class OdeBallSimObject : public Trick::SimObject {
|
||||
|
||||
public:
|
||||
|
||||
OdeWorld ode_world ;
|
||||
Ball ball ;
|
||||
DrawStuff drawstuff ;
|
||||
|
||||
static const double time_step ;
|
||||
|
||||
/** Constructor to add the jobs */
|
||||
OdeWorldSimObject() {
|
||||
("initialization") ode_world.init() ;
|
||||
(time_step, "scheduled") ode_world.step(time_step) ;
|
||||
OdeBallSimObject() {
|
||||
("initialization") ball.init() ;
|
||||
(time_step, "scheduled") ball.step(time_step) ;
|
||||
DRAW_THREAD (1000000.0, "scheduled") drawstuff.draw() ;
|
||||
("shutdown") drawstuff.shutdown() ;
|
||||
("shutdown") ode_world.shutdown() ;
|
||||
}
|
||||
} ;
|
||||
|
||||
class OdeObjectsSimObject : public Trick::SimObject {
|
||||
|
||||
public:
|
||||
|
||||
Ball ball ;
|
||||
BallDrawStuffObject ball_drawstuff_object ;
|
||||
|
||||
/** Constructor to add the jobs */
|
||||
OdeObjectsSimObject() {
|
||||
("initialization") ball.init() ;
|
||||
("initialization") ball_drawstuff_object.init(ball.geom) ;
|
||||
("shutdown") ball.shutdown() ;
|
||||
}
|
||||
} ;
|
||||
|
||||
// Instantiations
|
||||
OdeWorldSimObject world ;
|
||||
OdeObjectsSimObject ode_objects ;
|
||||
OdeBallSimObject ball_so ;
|
||||
|
||||
// Connect objects
|
||||
void create_connections() {
|
@ -1,7 +1,7 @@
|
||||
|
||||
ODE_HOME = /users/alin/ode-0.14
|
||||
ODE_HOME = ${HOME}/ode-0.14
|
||||
|
||||
TRICK_ICG_EXCLUDE = ${ODE_HOME}/ode/src/array.h:${ODE_HOME}/ode/src/threading_base.h
|
||||
TRICK_ICG_EXCLUDE = ${ODE_HOME}
|
||||
TRICK_ICG_NOCOMMENT = ${ODE_HOME}
|
||||
TRICK_SWIG_EXCLUDE = ${ODE_HOME}
|
||||
|
26
trick_sims/SIM_ode_buggy/RUN_test/input.py
Normal file
26
trick_sims/SIM_ode_buggy/RUN_test/input.py
Normal file
@ -0,0 +1,26 @@
|
||||
|
||||
import trick
|
||||
|
||||
def main():
|
||||
buggy_so.buggy.chassis_length = 1.2
|
||||
buggy_so.buggy.chassis_width = 1.0
|
||||
|
||||
buggy_so.buggy.wheel_width = 0.2
|
||||
|
||||
trick.sim_control_panel_set_enabled(True)
|
||||
trick.real_time_enable()
|
||||
trick.itimer_enable()
|
||||
|
||||
trick.exec_set_software_frame(0.05)
|
||||
trick.exec_set_freeze_frame(0.05)
|
||||
trick.exec_set_freeze_command(True)
|
||||
|
||||
trick.frame_log_on()
|
||||
|
||||
trick.exec_set_thread_process_type(1, trick.PROCESS_TYPE_ASYNC_CHILD)
|
||||
trick.exec_set_thread_amf_cycle_time(1, 0.1)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
|
50
trick_sims/SIM_ode_buggy/S_define
Normal file
50
trick_sims/SIM_ode_buggy/S_define
Normal file
@ -0,0 +1,50 @@
|
||||
/************************TRICK HEADER*************************
|
||||
PURPOSE:
|
||||
(blah blah blah)
|
||||
LIBRARY DEPENDENCIES:
|
||||
(
|
||||
)
|
||||
*************************************************************/
|
||||
|
||||
#define DRAW_THREAD C1
|
||||
|
||||
#include "sim_objects/default_trick_sys.sm"
|
||||
|
||||
##include "ODE/Buggy/Buggy.hh"
|
||||
##include "ODE/DrawStuff/DrawStuff.hh"
|
||||
|
||||
%{
|
||||
const double BuggySimObject::time_step = 0.05 ;
|
||||
%}
|
||||
|
||||
/**
|
||||
This class is the base ball class
|
||||
*/
|
||||
class BuggySimObject : public Trick::SimObject {
|
||||
|
||||
public:
|
||||
|
||||
Buggy buggy ;
|
||||
DrawStuff drawstuff ;
|
||||
|
||||
static const double time_step ;
|
||||
|
||||
/** Constructor to add the jobs */
|
||||
BuggySimObject() {
|
||||
("initialization") buggy.init() ;
|
||||
(time_step, "scheduled") buggy.step(time_step) ;
|
||||
DRAW_THREAD (1000000.0, "scheduled") drawstuff.draw() ;
|
||||
("shutdown") drawstuff.shutdown() ;
|
||||
("shutdown") buggy.shutdown() ;
|
||||
}
|
||||
} ;
|
||||
|
||||
// Instantiations
|
||||
BuggySimObject buggy_so ;
|
||||
|
||||
// Connect objects
|
||||
void create_connections() {
|
||||
// Set the default termination time
|
||||
//exec_set_terminate_time(300.0) ;
|
||||
}
|
||||
|
11
trick_sims/SIM_ode_buggy/S_overrides.mk
Normal file
11
trick_sims/SIM_ode_buggy/S_overrides.mk
Normal file
@ -0,0 +1,11 @@
|
||||
|
||||
ODE_HOME ?= ${HOME}/ode-0.14
|
||||
|
||||
TRICK_ICG_EXCLUDE = ${ODE_HOME}
|
||||
TRICK_ICG_NOCOMMENT = ${ODE_HOME}
|
||||
TRICK_SWIG_EXCLUDE = ${ODE_HOME}
|
||||
|
||||
TRICK_CFLAGS += -I${TRICK_HOME}/trick_models -I${ODE_HOME}/include -I${ODE_HOME}
|
||||
TRICK_CXXFLAGS += -I${TRICK_HOME}/trick_models -I${ODE_HOME}/include -I${ODE_HOME}
|
||||
|
||||
TRICK_EXEC_LINK_LIBS += -L${ODE_HOME}/drawstuff/src/.libs -ldrawstuff -L${ODE_HOME}/ode/src/.libs -lode -lGLU -lGL -L/usr/X11R6/lib -lXext -lX11
|
Loading…
Reference in New Issue
Block a user