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b9c871328b
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
84 lines
2.2 KiB
C++
84 lines
2.2 KiB
C++
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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 "trick/memorymanager_c_intf.h"
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Ball::Ball() {}
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int Ball::init() {
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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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