本文整理汇总了C++中dGeomGetBody函数的典型用法代码示例。如果您正苦于以下问题:C++ dGeomGetBody函数的具体用法?C++ dGeomGetBody怎么用?C++ dGeomGetBody使用的例子?那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。
在下文中一共展示了dGeomGetBody函数的15个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: wheelCallBack
bool wheelCallBack(dGeomID o1,dGeomID o2,PSurface* s)
{
//s->id2 is ground
const dReal* r; //wheels rotation matrix
//const dReal* p; //wheels rotation matrix
if ((o1==s->id1) && (o2==s->id2)) {
r=dBodyGetRotation(dGeomGetBody(o1));
//p=dGeomGetPosition(o1);//never read
} else if ((o1==s->id2) && (o2==s->id1)) {
r=dBodyGetRotation(dGeomGetBody(o2));
//p=dGeomGetPosition(o2);//never read
} else {
//XXX: in this case we dont have the rotation
// matrix, thus we must return
return false;
}
s->surface.mode = dContactFDir1 | dContactMu2 | dContactApprox1 | dContactSoftCFM;
s->surface.mu = fric(_w->cfg->robotSettings.WheelPerpendicularFriction);
s->surface.mu2 = fric(_w->cfg->robotSettings.WheelTangentFriction);
s->surface.soft_cfm = 0.002;
dVector3 v={0,0,1,1};
dVector3 axis;
dMultiply0(axis,r,v,4,3,1);
dReal l = sqrt(axis[0]*axis[0] + axis[1]*axis[1]);
s->fdir1[0] = axis[0]/l;
s->fdir1[1] = axis[1]/l;
s->fdir1[2] = 0;
s->fdir1[3] = 0;
s->usefdir1 = true;
return true;
}
示例2: dGeomGetBody
void PhysicsWorld::collide(void *_data, dGeomID _o1, dGeomID _o2)
{
int i;
//std::cout<<"collide\n";
// exit without doing anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(_o1);
dBodyID b2 = dGeomGetBody(_o2);
if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
for (i=0; i<m_maxContacts; i++)
{
m_contact[i].surface.mode = dContactBounce;// | dContactSoftCFM;
m_contact[i].surface.mu = dInfinity;
m_contact[i].surface.mu2 = 0;
m_contact[i].surface.bounce = 0.3;
m_contact[i].surface.bounce_vel = 0.1;
m_contact[i].surface.soft_cfm = 0.01;
}
if (int numc = dCollide (_o1,_o2,m_maxContacts,&m_contact[0].geom,sizeof(dContact)))
{
dMatrix3 RI;
dRSetIdentity (RI);
const dReal ss[3] = {0.02,0.02,0.02};
for (i=0; i<numc; i++)
{
dJointID c = dJointCreateContact (m_world,m_contactgroup,m_contact+i);
dJointAttach (c,b1,b2);
}
}
}
示例3: nearCallback
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
int i;
// if (o1->body && o2->body) return;
// exit without doing anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box
for (i=0; i<MAX_CONTACTS; i++) {
contact[i].surface.mode = dContactBounce | dContactSoftCFM;
contact[i].surface.mu = dInfinity;
contact[i].surface.mu2 = 0;
contact[i].surface.bounce = 0.1;
contact[i].surface.bounce_vel = 0.1;
contact[i].surface.soft_cfm = 0.01;
}
if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
sizeof(dContact))) {
dMatrix3 RI;
dRSetIdentity (RI);
const dReal ss[3] = {0.02,0.02,0.02};
for (i=0; i<numc; i++) {
dJointID c = dJointCreateContact (world,contactgroup,contact+i);
dJointAttach (c,b1,b2);
if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
}
}
}
示例4: GetContacts
///Will produce bogus o1 and o2 vectors
void GetContacts(dBodyID a,vector<ODEContactList>& contacts)
{
if(a == 0) return;
contacts.resize(0);
for(list<ODEContactResult>::iterator i=gContacts.begin();i!=gContacts.end();i++) {
if(a == dGeomGetBody(i->o1) || a == dGeomGetBody(i->o2)) {
dBodyID b = dGeomGetBody(i->o2);
bool reverse = false;
if(b == a) { b = dGeomGetBody(i->o1); reverse = true; }
contacts.resize(contacts.size()+1);
contacts.back().points.resize(i->contacts.size());
contacts.back().forces.resize(i->feedback.size());
for(size_t j=0;j<i->feedback.size();j++) {
CopyVector(contacts.back().forces[j],i->feedback[j].f1);
CopyVector(contacts.back().points[j].x,i->contacts[j].pos);
CopyVector(contacts.back().points[j].n,i->contacts[j].normal);
//contacts.back().points[j].kFriction = i->contacts[j].surface.mu;
contacts.back().points[j].kFriction = 0;
if(reverse) {
contacts.back().forces[j].inplaceNegative();
contacts.back().points[j].n.inplaceNegative();
}
}
}
}
}
示例5: dCollide
void WorldPhysics::handleCollisionBetween(dGeomID o0, dGeomID o1) {
int i,n;
// only collide things with the ground
//int g1 = (o1 == ground || o1 == ground_box);
//int g2 = (o2 == ground || o2 == ground_box);
//if (!(g1 ^ g2)) return;
// for(int i=0;i<4;i++) {
// if (((o0==bulldozer->geom) && (o1==wheels[i]->geom)) ||
// ((o0==wheels[i]->geom) && (o1==bulldozer->geom))) return;
// }
const int N = 100;
dContact contact[N];
n = dCollide (o0,o1,N,&contact[0].geom,sizeof(dContact));
if (n > 0) {
for (i=0; i<n; i++) {
contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
dContactSoftERP | dContactSoftCFM | dContactApprox1;
contact[i].surface.mu = 1.7;
contact[i].surface.slip1 = 0.1;
contact[i].surface.slip2 = 0.1;
contact[i].surface.soft_erp = 0.5;
contact[i].surface.soft_cfm = 0.3;
dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
dJointAttach (c,
dGeomGetBody(contact[i].geom.g1),
dGeomGetBody(contact[i].geom.g2));
}
}
}
示例6: NodynamicsCollide
void NodynamicsCollide(bool& do_colide,bool bo1,dContact& c,SGameMtl * /*material_1*/,SGameMtl * /*material_2*/)
{
dBodyID body1=dGeomGetBody(c.geom.g1);
dBodyID body2=dGeomGetBody(c.geom.g2);
if(!body1||!body2||(dGeomUserDataHasCallback(c.geom.g1,NodynamicsCollide)&&dGeomUserDataHasCallback(c.geom.g2,NodynamicsCollide)))return;
do_colide=false;
}
示例7: dGeomGetBody
void BodyVerifier::collisionCallback(void *data, dGeomID o1, dGeomID o2) {
CollisionData *collisionData = (CollisionData *) data;
const int MAX_CONTACTS = 32; // maximum number of contact points per body
// TODO will it work with just 1 point? Probably yes.
// exit without doing anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact)) {
return;
}
dContact contact[MAX_CONTACTS];
for (int i = 0; i < MAX_CONTACTS; i++) {
contact[i].surface.mode = 0;
}
if (dGeomGetClass(o1) == dCylinderClass &&
dGeomGetClass(o2) == dCylinderClass) {
collisionData->cylinders.push_back(o1);
collisionData->cylinders.push_back(o2);
}
int collisionCounts = dCollide(o1, o2, MAX_CONTACTS, &contact[0].geom,
sizeof(dContact));
if (collisionCounts != 0) {
collisionData->offendingBodies.push_back(std::pair<dBodyID,
dBodyID>(b1, b2));
}
}
示例8: nearCallback
void nearCallback(void *data, dGeomID o1, dGeomID o2) {
State* state = (State*)data;
if(dGeomIsSpace(o1) || dGeomIsSpace(o2)) {
dSpaceCollide2(o1, o2, data, &nearCallback);
if(dGeomIsSpace(o1))
dSpaceCollide((dSpaceID)o1, data, &nearCallback);
if(dGeomIsSpace(o2))
dSpaceCollide((dSpaceID)o2, data, &nearCallback);
} else {
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
const int MAX_CONTACTS = 18;
dContact contact[MAX_CONTACTS];
for(int i = 0; i < MAX_CONTACTS; i++) {
contact[i].surface.mode = dContactBounce;
contact[i].surface.mu = 2000;
contact[i].surface.bounce = 0.1;
contact[i].surface.bounce_vel = 0.15;
}
if(int numc = dCollide(o1, o2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact))) {
for(int i = 0; i < numc; i++) {
dJointID c = dJointCreateContact(state->world, state->physicsContactgroup, &contact[i]);
dJointAttach(c, b1, b2);
}
}
}
}
示例9: nearCallback
static void nearCallback(void *data, dGeomID o1, dGeomID o2)
{
// if a collision has not already been detected
if (!reinterpret_cast<CallbackParam *>(data)->collision)
{
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if ((b1 != nullptr) && (b2 != nullptr) && (dAreConnectedExcluding(b1, b2, dJointTypeContact) != 0))
return;
dContact contact[1]; // one contact is sufficient
int numc = dCollide(o1, o2, 1, &contact[0].geom, sizeof(dContact));
// check if there is really a collision
if (numc != 0)
{
// check if the collision is allowed
bool valid = reinterpret_cast<CallbackParam *>(data)->env->isValidCollision(o1, o2, contact[0]);
reinterpret_cast<CallbackParam *>(data)->collision = !valid;
if (reinterpret_cast<CallbackParam *>(data)->env->verboseContacts_)
{
OMPL_DEBUG("%s contact between %s and %s", (valid ? "Valid" : "Invalid"),
reinterpret_cast<CallbackParam *>(data)->env->getGeomName(o1).c_str(),
reinterpret_cast<CallbackParam *>(data)->env->getGeomName(o2).c_str());
}
}
}
}
示例10: nearCallback
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
int i,n;
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnected(b1, b2))
return;
const int N = 4;
dContact contact[N];
n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
if (n > 0) {
for (i=0; i<n; i++) {
contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1;
if (dGeomGetClass(o1) == dSphereClass || dGeomGetClass(o2) == dSphereClass)
contact[i].surface.mu = 20;
else
contact[i].surface.mu = 0.5;
contact[i].surface.slip1 = 0.0;
contact[i].surface.slip2 = 0.0;
contact[i].surface.soft_erp = 0.8;
contact[i].surface.soft_cfm = 0.01;
dJointID c = dJointCreateContact (world,contactgroup,contact+i);
dJointAttach (c,dGeomGetBody(o1),dGeomGetBody(o2));
}
}
}
示例11: nearCallback
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
assert(o1);
assert(o2);
if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
{
fprintf(stderr,"testing space %p %p\n", o1,o2);
// colliding a space with something
dSpaceCollide2(o1,o2,data,&nearCallback);
// Note we do not want to test intersections within a space,
// only between spaces.
return;
}
const int N = 32;
dContact contact[N];
int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
if (n > 0)
{
for (int i=0; i<n; i++)
{
contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1;
contact[i].surface.mu = 100.0;
contact[i].surface.soft_erp = 0.96;
contact[i].surface.soft_cfm = 0.02;
dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
dJointAttach (c,
dGeomGetBody(contact[i].geom.g1),
dGeomGetBody(contact[i].geom.g2));
}
}
}
示例12: dGeomGetBody
/***********************************************************
hanlde collision
***********************************************************/
void ODEPhysicHandler::handleCollisionBetween(dGeomID o0, dGeomID o1)
{
// Create an array of dContact objects to hold the contact joints
static const int MAX_CONTACTS = 10;
dContact contact[MAX_CONTACTS];
for (int i = 0; i < MAX_CONTACTS; i++)
{
contact[i].surface.mode = dContactBounce | dContactSoftCFM;
contact[i].surface.mu = dInfinity;
contact[i].surface.mu2 = 0;
contact[i].surface.bounce = 0.8;
contact[i].surface.bounce_vel = 0.1;
contact[i].surface.soft_cfm = 0.01;
}
if (int numc = dCollide(o0, o1, MAX_CONTACTS, &contact[0].geom, sizeof(dContact)))
{
// Get the dynamics body for each geom
dBodyID b1 = dGeomGetBody(o0);
dBodyID b2 = dGeomGetBody(o1);
// To add each contact point found to our joint group we call dJointCreateContact which is just one of the many
// different joint types available.
for (int i = 0; i < numc; i++)
{
// dJointCreateContact needs to know which world and joint group to work with as well as the dContact
// object itself. It returns a new dJointID which we then use with dJointAttach to finally create the
// temporary contact joint between the two geom bodies.
dJointID c = dJointCreateContact(_world, _contactgroup, contact + i);
dJointAttach(c, b1, b2);
}
}
}
示例13: nearCallback
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
// for drawing the contact points
dMatrix3 RI;
dRSetIdentity (RI);
const dReal ss[3] = {0.02,0.02,0.02};
int i;
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
dContact contact[MAX_CONTACTS];
int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
sizeof(dContact));
for (i=0; i<numc; i++) {
contact[i].surface.mode = dContactApprox1;
contact[i].surface.mu = 2;
dJointID c = dJointCreateContact (*world,contactgroup,contact+i);
dJointAttach (c,b1,b2);
if (show_contacts)
dsDrawBox (contact[i].geom.pos, RI, ss);
}
}
示例14: dCollide
void CProtoHapticDoc::nearCallback(dGeomID o1, dGeomID o2)
{
int index1= (int)dGeomGetData(o1);
int index2= (int)dGeomGetData(o2);
if(m_shapes[index1]->isCollisionDynamic() ||
m_shapes[index2]->isCollisionDynamic()) {
int n, i;
const int N = 50;
dContact contact[N];
n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
if (n > 0) {
OutputDebugString("Collision\n");
for (i=0; i<n; i++) {
contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1;
if (dGeomGetClass(o1) == dSphereClass || dGeomGetClass(o2) == dSphereClass)
contact[i].surface.mu = 20;
else
contact[i].surface.mu = 0.5;
contact[i].surface.slip1 = 1.0 - (m_shapes[index1]->getSurfaceFriction());
contact[i].surface.slip2 = 1.0 - (m_shapes[index2]->getSurfaceFriction());
contact[i].surface.soft_erp = 0.8;
contact[i].surface.soft_cfm = 0.01;
dJointID c = dJointCreateContact (m_worldID,m_jointGroup,contact+i);
dJointAttach (c,dGeomGetBody(o1),dGeomGetBody(o2));
}
}
}
}
示例15: dGeomGetBody
//description
//Default behavior.
//Default collision of bodies
void ODEBaseScene::Collide(dGeomID g1, dGeomID g2)
{
int n;
dBodyID b1 = dGeomGetBody(g1);
dBodyID b2 = dGeomGetBody(g2);
if (b1 && b2 && dAreConnected(b1, b2))
return;
const int N = 4;
dContact contact[N];
n = dCollide (g1,g2,N,&contact[0].geom,sizeof(dContact));
if (n > 0)
{
// printf("Body %d hits body %d.\n", (size_t) dGeomGetData(g1),(size_t) dGeomGetData(g2));
for (int i=0; i<n; ++i)
{
// contact[i].surface.mode = dContactBounce | dContactSoftCFM;
contact[i].surface.mode = dContactBounce;
//contact[i].surface.mu = dInfinity;
contact[i].surface.mu = 0.5;
//contact[i].surface.mu2 = 0.5;
contact[i].surface.bounce = 0.000999990;
//contact[i].surface.bounce_vel = 0.1;
//contact[i].surface.soft_cfm = 0.001;
//contact[i].surface.mode = dContactBounce|dContactSoftERP|dContactSoftCFM;
contact[i].surface.soft_erp = 1.0; //1.0;
contact[i].surface.soft_cfm = 1e-10;
dJointID j = dJointCreateContact (m_domain->getWorld(), m_domain->getContactGroup(), contact+i);
dJointAttach(j, b1, b2);
}
}
}