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ejcoumans
2006-05-25 19:18:29 +00:00
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Extras/test_BulletOde.cpp Normal file
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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
///Bullet Continuous Collision Detection and Physics Engine:
#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
//#include <bullet/bullet.h>
#include "CollisionDispatch/CollisionObject.h"
#include "CollisionDispatch/CollisionWorld.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "CollisionDispatch/CollisionDispatcher.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/CylinderShape.h"
#ifdef _MSC_VER
#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
#endif
// select correct drawing functions
#ifdef dDOUBLE
#define dsDrawBox dsDrawBoxD
#define dsDrawSphere dsDrawSphereD
#define dsDrawCylinder dsDrawCylinderD
#define dsDrawCappedCylinder dsDrawCappedCylinderD
#endif
// some constants
#define NUM 100 // max number of objects
#define DENSITY (5.0) // density of all objects
#define GPB 3 // maximum number of geometries per body
#define MAX_CONTACTS 4 // maximum number of contact points per body
// dynamics and collision objects
struct MyObject {
dBodyID body; // the body
CollisionObject collider; //the collisionShape
};
static int num=0; // number of objects in simulation
static int nextobj=0; // next object to recycle if num==NUM
static dWorldID world;
CollisionWorld* collisionWorld = 0;
static MyObject obj[NUM];
static dJointGroupID contactgroup;
static int selected = -1; // selected object
static int show_aabb = 0; // show geom AABBs?
static int show_contacts = 0; // show contact points?
static int random_pos = 1; // drop objects from random position?
static int write_world = 0;
SimdTransform GetTransformFromOde(const dReal* pos,const dReal* rot)
{
SimdTransform trans;
trans.setIdentity();
// rot is pointer to object's rotation matrix, 4*3 format!
SimdMatrix3x3 orn(rot[0],rot[1],rot[2],
rot[4],rot[5],rot[6],
rot[8],rot[9],rot[10]);
trans.setOrigin(SimdVector3(pos[0],pos[1],pos[2]));
trans.setBasis(orn);
return trans;
}
void GetOdeFromTransform(const SimdTransform& trans,dReal* pos,dReal* rot)
{
pos[0] = trans.getOrigin().x();
pos[1] = trans.getOrigin().y();
pos[2] = trans.getOrigin().z();
rot[0] = trans.getBasis()[0][0];
rot[1] = trans.getBasis()[0][1];
rot[2] = trans.getBasis()[0][2];
rot[4] = trans.getBasis()[1][0];
rot[5] = trans.getBasis()[1][1];
rot[6] = trans.getBasis()[1][2];
rot[8] = trans.getBasis()[2][0];
rot[9] = trans.getBasis()[2][1];
rot[10] = trans.getBasis()[2][2];
}
// start simulation - set viewpoint
static void start()
{
static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
dsSetViewpoint (xyz,hpr);
printf ("To drop another object, press:\n");
printf (" b for box.\n");
printf (" s for sphere.\n");
printf (" c for cylinder.\n");
printf (" x for a composite object.\n");
printf ("To select an object, press space.\n");
printf ("To disable the selected object, press d.\n");
printf ("To enable the selected object, press e.\n");
printf ("To toggle showing the geom AABBs, press a.\n");
printf ("To toggle showing the contact points, press t.\n");
printf ("To toggle dropping from random position/orientation, press r.\n");
printf ("To save the current state to 'state.dif', press 1.\n");
}
char locase (char c)
{
if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
else return c;
}
// called when a key pressed
static void command (int cmd)
{
size_t i;
int j,k;
dReal sides[3];
dMass m;
cmd = locase (cmd);
if (cmd == 'b' || cmd == 's' || cmd == 'c'
/* || cmd == 'l' */) {
if (num < NUM) {
i = num;
num++;
}
else {
i = nextobj;
nextobj++;
if (nextobj >= num) nextobj = 0;
// destroy the body and geoms for slot i
dBodyDestroy (obj[i].body);
collisionWorld->RemoveCollisionObject(&obj[i].collider);
obj[i].collider.m_broadphaseHandle = (BroadphaseProxy*)(-1);
//todo: destroy collider
}
obj[i].body = dBodyCreate (world);
for (k=0; k<3; k++) sides[k] = dRandReal()*0.2+0.1;
dMatrix3 R;
if (random_pos) {
dBodySetPosition (obj[i].body,
dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
}
else {
dReal maxheight = 0;
for (k=0; k<num; k++) {
const dReal *pos = dBodyGetPosition (obj[k].body);
if (pos[2] > maxheight) maxheight = pos[2];
}
dBodySetPosition (obj[i].body, 0,0,maxheight+0.3);
dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
}
dBodySetRotation (obj[i].body,R);
dBodySetData (obj[i].body,(void*) i);
if (cmd == 'b') {
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
obj[i].collider.m_collisionShape = new BoxShape(SimdVector3(0.5*sides[0],0.5*sides[1],0.5*sides[2]));
obj[i].collider.m_worldTransform = GetTransformFromOde(dBodyGetPosition(obj[i].body),dBodyGetRotation(obj[i].body));
collisionWorld->AddCollisionObject(&obj[i].collider);
obj[i].collider.m_userPointer = obj[i].body;
}
else if (cmd == 'c') {
sides[0] *= 0.2;
sides[1] *= 0.2;
sides[2] *= 0.2;
dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].collider.m_collisionShape = new CylinderShapeZ(SimdVector3(sides[0],sides[1],sides[1]));
obj[i].collider.m_worldTransform = GetTransformFromOde(dBodyGetPosition(obj[i].body),dBodyGetRotation(obj[i].body));
collisionWorld->AddCollisionObject(&obj[i].collider);
obj[i].collider.m_userPointer = obj[i].body;
//obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]);
}
/*
// cylinder option not yet implemented
else if (cmd == 'l') {
sides[1] *= 0.5;
dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
}
*/
else if (cmd == 's') {
sides[0] *= 0.5;
dMassSetSphere (&m,DENSITY,sides[0]);
obj[i].collider.m_collisionShape = new SphereShape(sides[0]);
obj[i].collider.m_worldTransform = GetTransformFromOde(dBodyGetPosition(obj[i].body),dBodyGetRotation(obj[i].body));
collisionWorld->AddCollisionObject(&obj[i].collider);
obj[i].collider.m_userPointer = obj[i].body;
//obj[i].geom[0] = dCreateSphere (space,sides[0]);
}
else if (cmd == 'x') {
}
for (k=0; k < GPB; k++) {
//if (obj[i].geom[k])
// dGeomSetBody (obj[i].geom[k],obj[i].body);
}
dBodySetMass (obj[i].body,&m);
}
if (cmd == ' ') {
selected++;
if (selected >= num) selected = 0;
if (selected < 0) selected = 0;
}
else if (cmd == 'd' && selected >= 0 && selected < num) {
dBodyDisable (obj[selected].body);
}
else if (cmd == 'e' && selected >= 0 && selected < num) {
dBodyEnable (obj[selected].body);
}
else if (cmd == 'a') {
show_aabb ^= 1;
}
else if (cmd == 't') {
show_contacts ^= 1;
}
else if (cmd == 'r') {
random_pos ^= 1;
}
else if (cmd == '1') {
write_world = 1;
}
}
// draw a geom
void drawGeom (CollisionObject& collider)//, const dReal *pos, const dReal *R, int show_aabb)
{
dReal pos[4];
dReal R[16];
GetOdeFromTransform(collider.m_worldTransform,&pos[0],&R[0]);
int i;
if (!collider.m_collisionShape) return;
int type = collider.m_collisionShape->GetShapeType();
if (type == BOX_SHAPE_PROXYTYPE) {
dVector3 sides;
BoxShape* boxShape = static_cast<BoxShape*>(collider.m_collisionShape);
sides[0] = 2.f*boxShape->GetHalfExtents().x();
sides[1] = 2.f*boxShape->GetHalfExtents().y();
sides[2] = 2.f*boxShape->GetHalfExtents().z();
///boxshape already has margins 'inside'
dsDrawBox (pos,R,sides);
}
else if (type == SPHERE_SHAPE_PROXYTYPE) {
SphereShape* sphereShape = static_cast<SphereShape*>(collider.m_collisionShape);
dReal radius = sphereShape->GetMargin();
dsDrawSphere (pos,R,radius);
}
else if (type == CYLINDER_SHAPE_PROXYTYPE) {
CylinderShapeZ* cylinder = static_cast<CylinderShapeZ*>(collider.m_collisionShape);
dReal radius = cylinder->GetHalfExtents()[0];
dReal length = 2.f*cylinder->GetHalfExtents()[1];
radius += cylinder->GetMargin();
length += 2.f*cylinder->GetMargin();
//dGeomCCylinderGetParams (g,&radius,&length);
dsDrawCylinder (pos,R,length,radius);
}
/*
// cylinder option not yet implemented
else if (type == dCylinderClass) {
dReal radius,length;
dGeomCylinderGetParams (g,&radius,&length);
dsDrawCylinder (pos,R,length,radius);
}
else if (type == dGeomTransformClass) {
dGeomID g2 = dGeomTransformGetGeom (g);
const dReal *pos2 = dGeomGetPosition (g2);
const dReal *R2 = dGeomGetRotation (g2);
dVector3 actual_pos;
dMatrix3 actual_R;
dMULTIPLY0_331 (actual_pos,R,pos2);
actual_pos[0] += pos[0];
actual_pos[1] += pos[1];
actual_pos[2] += pos[2];
dMULTIPLY0_333 (actual_R,R,R2);
drawGeom (g2,actual_pos,actual_R,0);
}
if (show_aabb) {
// draw the bounding box for this geom
dReal aabb[6];
dGeomGetAABB (g,aabb);
dVector3 bbpos;
for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
dVector3 bbsides;
for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
dMatrix3 RI;
dRSetIdentity (RI);
dsSetColorAlpha (1,0,0,0.5);
dsDrawBox (bbpos,RI,bbsides);
}
*/
}
// simulation loop
static void simLoop (int pause)
{
dsSetColor (0,0,2);
//dSpaceCollide (space,0,&nearCallback);
collisionWorld->PerformDiscreteCollisionDetection();
//now the collisionWorld contains all contact points... just copy them over to ODE and that's it
for (int i=0;i<collisionWorld->GetDispatcher()->GetNumManifolds();i++)
{
PersistentManifold* manifold = collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i);
CollisionObject* obj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* obj1 = static_cast<CollisionObject*>(manifold->GetBody1());
//RefreshContactPoints will update and/or remove existing contactpoints from previous frames
manifold->RefreshContactPoints(obj0->m_worldTransform,obj1->m_worldTransform);
for (int j=0;j<manifold->GetNumContacts();j++)
{
ManifoldPoint& pt = manifold->GetContactPoint(j);
if (pt.GetDistance()<0.f)
{
//report point to ODE
dContact contact;
contact.surface.mode = dContactBounce | dContactSoftCFM;
contact.surface.mu = 10.f;//dInfinity;
contact.surface.mu2 = 0;
contact.surface.bounce = 0.1;
contact.surface.bounce_vel = 0.1;
contact.surface.soft_cfm = 0.01;
contact.geom.depth = -pt.GetDistance();
contact.geom.normal[0] = pt.m_normalWorldOnB.x();
contact.geom.normal[1] = pt.m_normalWorldOnB.y();
contact.geom.normal[2] = pt.m_normalWorldOnB.z();
//contact.geom.g1 does it really need this?
contact.geom.g1 = 0;
contact.geom.g2 = 0;
contact.geom.pos[0] = pt.GetPositionWorldOnB().x();
contact.geom.pos[1] = pt.GetPositionWorldOnB().y();
contact.geom.pos[2] = pt.GetPositionWorldOnB().z();
contact.fdir1[0] = 0.f;
contact.fdir1[1] = 0.f;
contact.fdir1[2] = 0.f;
dJointID c = dJointCreateContact (world,contactgroup,&contact);
dBodyID b1 = (dBodyID)obj0->m_userPointer;
dBodyID b2 = (dBodyID)obj1->m_userPointer;
dJointAttach (c,b1,b2);
if (show_contacts)
{
dMatrix3 RI;
dRSetIdentity (RI);
const dReal ss[3] = {0.02,0.02,0.02};
dsDrawBox (contact.geom.pos,RI,ss);
}
}
}
}
if (!pause) dWorldQuickStep (world,0.05);
if (write_world) {
FILE *f = fopen ("state.dif","wt");
if (f) {
dWorldExportDIF (world,f,"X");
fclose (f);
}
write_world = 0;
}
// remove all contact joints
dJointGroupEmpty (contactgroup);
dsSetColor (1,1,0);
dsSetTexture (DS_WOOD);
for (int i=0; i<num; i++) {
for (int j=0; j < GPB; j++) {
if (i==selected) {
dsSetColor (0,0.7,1);
}
else if (! dBodyIsEnabled (obj[i].body)) {
dsSetColor (1,0.8,0);
}
else {
dsSetColor (1,1,0);
}
//sync transform
obj[i].collider.m_worldTransform = GetTransformFromOde(dBodyGetPosition(obj[i].body),dBodyGetRotation(obj[i].body));
drawGeom (obj[i].collider);//,0,0,show_aabb);
}
}
}
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";
// create world
world = dWorldCreate();
//space = dHashSpaceCreate (0);
float bpsize = 1000.f;
AxisSweep3 broadphase(SimdVector3(-bpsize,-bpsize,-bpsize),SimdVector3(bpsize,bpsize,bpsize));
//SimpleBroadphase broadphase;
CollisionDispatcher dispatcher;
collisionWorld = new CollisionWorld(&dispatcher,&broadphase);
contactgroup = dJointGroupCreate (0);
dWorldSetGravity (world,0,0,-0.5);
dWorldSetCFM (world,1e-5);
dWorldSetERP(world,0.2f);
dWorldSetAutoDisableFlag (world,1);
dWorldSetContactMaxCorrectingVel (world,0.5);
dWorldSetContactSurfaceLayer (world,0.001);
//dCreatePlane (space,0,0,1,0);
CollisionObject groundPlane;
groundPlane.m_worldTransform.setIdentity();
groundPlane.m_collisionShape = new BoxShape(SimdVector3(50,50,0.04));
groundPlane.m_collisionShape->SetMargin(0.005f);
collisionWorld->AddCollisionObject(&groundPlane);
groundPlane.m_userPointer = 0;
memset (obj,0,sizeof(obj));
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dJointGroupDestroy (contactgroup);
delete collisionWorld;
dWorldDestroy (world);
return 0;
}