C++ dJointGroupCreate函数代码示例

/* ------------------------
* メイン関数
------------------------ */
int main(int argc, char *argv[])
{
    /* txtデータ読み込み */
    LoadTxt("route.txt", routeX, routeY, routeZ, &lineRoute);
    LoadTxt("obstacle.txt", obstX, obstY, obstZ, &lineObst);
    /* ODEの初期化 */
    dInitODE();
    /* 描画関数の設定 */
    setDrawStuff();
    /* ワールド, スペース, 接触点グループの生成 */
    world = dWorldCreate();
    space = dHashSpaceCreate(0);
    contactgroup = dJointGroupCreate(0);
    /* 地面, 重力の生成 */
    ground = dCreatePlane(space,0,0,1,0);
    dWorldSetGravity(world, 0.0, 0.0, -9.8);
    /* CFM, ERPの設定 */
    dWorldSetCFM(world,1e-3);
    dWorldSetERP(world,0.8);
    /* 全方向移動ロボットの生成 */
    t1 = clock();
    MakeBox();
    MakeOmni();
    /* シミュレーションループ */
    dsSimulationLoop(argc,argv,640,480,&fn);
    /* 接触点グループ, スペース, ワールドの破壊, ODEの終了 */
    dJointGroupDestroy(contactgroup);
    dSpaceDestroy(space);
    dWorldDestroy(world);
    dCloseODE();
    return 0;
}

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);
  contactgroup = dJointGroupCreate (0);
  dWorldSetGravity (world,0,0,-0.5);
  dWorldSetCFM (world,1e-5);
  dWorldSetAutoDisableFlag (world,1);
  dWorldSetContactMaxCorrectingVel (world,0.1);
  dWorldSetContactSurfaceLayer (world,0.001);
  dCreatePlane (space,0,0,1,0);
  memset (obj,0,sizeof(obj));

  // run simulation
  dsSimulationLoop (argc,argv,352,288,&fn);

  dJointGroupDestroy (contactgroup);
  dSpaceDestroy (space);
  dWorldDestroy (world);

  return 0;
}

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;

	// create world
	dInitODE2( 0 );
	world = dWorldCreate();

	space = dSimpleSpaceCreate( 0 );
	contactgroup = dJointGroupCreate( 0 );
	dWorldSetGravity( world,0,0,-0.5 );
	dWorldSetCFM( world,1e-5 );
	dCreatePlane( space,0,0,1,0 );
	memset( obj,0,sizeof( obj ) );

	// run simulation
	dsSimulationLoop( argc,argv,352,288,&fn );

	dJointGroupDestroy( contactgroup );
	dSpaceDestroy( space );
	dWorldDestroy( world );
	dCloseODE();
	return 0;
}

// Called by Physics::Server when the Level is attached to the server.
void CLevel::Activate()
{
	TimeToSim = 0.0;

	// Initialize ODE //???per-Level?
	dInitODE();
	ODEWorldID = dWorldCreate();
	dWorldSetQuickStepNumIterations(ODEWorldID, 20);

	// FIXME(enno): is a quadtree significantly faster? -- can't count geoms with quadtree
	ODECommonSpaceID  = dSimpleSpaceCreate(NULL);
	ODEDynamicSpaceID = dSimpleSpaceCreate(ODECommonSpaceID);
	ODEStaticSpaceID  = dSimpleSpaceCreate(ODECommonSpaceID);

	dWorldSetGravity(ODEWorldID, Gravity.x, Gravity.y, Gravity.z);
	dWorldSetContactSurfaceLayer(ODEWorldID, 0.001f);
	dWorldSetContactMaxCorrectingVel(ODEWorldID, 100.0f);
	dWorldSetERP(ODEWorldID, 0.2f);     // ODE's default value
	dWorldSetCFM(ODEWorldID, 0.001f);    // the default is 10^-5

	// setup autodisabling
	dWorldSetAutoDisableFlag(ODEWorldID, 1);
	dWorldSetAutoDisableSteps(ODEWorldID, 5);
	//dWorldSetAutoDisableTime(ODEWorldID, 1.f);
	dWorldSetAutoDisableLinearThreshold(ODEWorldID, 0.05f);   // default is 0.01
	dWorldSetAutoDisableAngularThreshold(ODEWorldID, 0.1f);  // default is 0.01

	// create a Contact group for joints
	ContactJointGroup = dJointGroupCreate(0);
}

CPhysicManager::CPhysicManager(IEngine* _Engine):CBaseObject(_Engine){

    SetParam("BaseClass","PhysicManager");
    SetParam("Type","CPhysicManager");
    SetParam("Name","-");

	dSetErrorHandler (SilenceMessage); //затыкаем рот идиотским ошибкам
    dSetDebugHandler (SilenceMessage); //затыкаем рот идиотским ошибкам
    dSetMessageHandler (SilenceMessage); //затыкаем рот идиотским ошибкам


    calc_time= 0.0f;

	world = dWorldCreate();
	dWorldSetGravity(world, 0, 0, -0.01 );
	space=dHashSpaceCreate(0);
	contactgroup = dJointGroupCreate(0);

    LOGGER->LogMsg("+CPhysicManager");

    ptr_world = world;
    ptr_contactgroup = contactgroup;

    dWorldSetCFM(world, 1e-5);
    dWorldSetERP(world, 0.2);
    dWorldSetContactMaxCorrectingVel(world, 0.9);
    dWorldSetContactSurfaceLayer(world, 0.001);
    dWorldSetAutoDisableFlag(world, 1);

//    ground =

#define SHIRINA 1000

    //dGeomID tmp = dCreateBox( space, SHIRINA, SHIRINA, 1);
    //dGeomSetPosition(tmp, SHIRINA/2, SHIRINA/2, 0); // двигаем центр координат

    //tmp = dCreateBox( space, 1, SHIRINA, SHIRINA);
    //dGeomSetPosition(tmp, 0, SHIRINA/2, SHIRINA/2); // двигаем центр координат

    //tmp = dCreateBox( space, SHIRINA, 1, SHIRINA);
    //dGeomSetPosition(tmp, SHIRINA/2, 0, SHIRINA/2); // двигаем центр координат

    dCreatePlane (space,0,0,1,0);

    //dCreatePlane (space,1,1,0,0);

    //dCreatePlane (space,0,1,0,0);
    //dCreatePlane (space,1,0,0,0);

    //dCreatePlane (space,0,0,20,0);
    //dCreatePlane (space,0,10,0,0);
    //dCreatePlane (space,10,0,0,0);

    //dCreatePlane (space,0,0,1,0);
    //dCreatePlane (space,0,0,1,0);
    //dCreatePlane (space,0,0,1,0);
    //dCreatePlane (space,0,0,1,0);
    //dCreatePlane (space,0,0,1,0);

};

ODEDomain::ODEDomain(char const *space_type, Input *input) : BaseDomain(input)
{
    printf("ODEDomain constructor\n");   
    dInitODE();
    world = dWorldCreate();
    contactgroup = dJointGroupCreate (0);
           
    //dWorldSetAutoDisableFlag(world,1);
    
    //dWorldSetCFM(world,1e-5);
    //Set and get the global CFM (constraint force mixing) value. Typical values are in the range 10-9 -- 1. The default is 10-5 if single precision is being used, or 10-10 if double precision is being used.
    
    //TODO HERE HAS TO BE ANOTHER PARAMETR
    //dWorldSetContactSurfaceLayer(world,0.001);

    //dWorldSetQuickStepNumIterations (world,ITERS);
    
    dRandSetSeed (time(NULL));
    setGravity(m_input->gravity_v[0],m_input->gravity_v[1],m_input->gravity_v[2]);

    if (space_type == std::string("quad"))
    {
        dVector3 Center = {boundaries[0][0]+delta[0]*0.5, boundaries[1][0]+delta[1]*0.5, boundaries[2][0]+delta[2]*0.5, 0};
        dVector3 Extents = {delta[0] * 0.55, delta[1] * 0.55, delta[2] * 0.55, 0};                
        printf(":::: Using Quad Tree Space\n");
        space = dQuadTreeSpaceCreate (0, Center, Extents, 6);        
    }
    else if (space_type == std::string("hash"))
    {                
        printf(":::: Using Hash Space\n");
        space = dHashSpaceCreate (0);
        //dHashSpaceSetLevels (space,-10,10);
    }
    else if (space_type == std::string("sap")) 
    {
        printf(":::: Using Sweep And Prune Space\n");
        space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
    }
    else if (space_type == std::string("simple")) 
    {
        printf(":::: Using Simple Space\n");
        space = dSimpleSpaceCreate(0);
    }

    if (!space) 
    {
        printf(":::: Using Sweep And Prune Space\n");
        space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);            
    }
    
    //TODO redo tests
    //I did tests: deposition of 10000 particles without& (~catBits[PARTICLES])& (~catBits[PARTICLES]) collisions.
    //SWAP: 6 sec
    //HASH: 7.15 sec
    //QUAD: 41.8 sec
    //SIMLE: 59 sec
    
    printf("ODE conf: %s", dGetConfiguration());      
    printf("\n:::: sizeof(dReal)=%lu\n\n", sizeof(dReal));
}

    /**
     *  \brief This function initializes the ode world.
     *
     * pre:
     *     - world_init = false
     *
     * post:
     *     - world, space and contactgroup should be created
     *     - the ODE world parameters should be set
     *     - at the end world_init have to become true
     */
    void WorldPhysics::initTheWorld(void) {
      MutexLocker locker(&iMutex);
  
      // if world_init = true debug something
      if (!world_init) {
        //LOG_DEBUG("init physics world");
        world = dWorldCreate();
        space = dHashSpaceCreate(0);
        contactgroup = dJointGroupCreate(0);

        old_gravity = world_gravity;
        old_cfm = world_cfm;
        old_erp = world_erp;

        dWorldSetGravity(world, world_gravity.x(), world_gravity.y(), world_gravity.z()); 
        dWorldSetCFM(world, (dReal)world_cfm);
        dWorldSetERP (world, (dReal)world_erp);

        dWorldSetAutoDisableFlag (world,0);
        // if usefull for some tests a ground can be created here
        plane = 0; //dCreatePlane (space,0,0,1,0);
        world_init = 1;
        drawStruct draw;
        draw.ptr_draw = (DrawInterface*)this;
        if(control->graphics)
          control->graphics->addDrawItems(&draw);
      }
      //printf("initTheWorld..\n");
    }

// initialize server (supply world dimensions)
bool PhysicsServer::init(int groundSizeX, int groundSizeY)
{
	if (groundSizeX <= 20 || groundSizeY <= 20)
		return false;

	// create global ODE world
	_world = dWorldCreate();

	// create global space
	_space = dHashSpaceCreate(0);

	// create group for handling collisions
	_contactgroup = dJointGroupCreate (0);

	// make ground a bit slippery :)
	_envData.slip = 0.15; 
	// TODO: let user specify ground surface properties

	// set world properties
	dWorldSetGravity (_world,0,0,-(PHYS_GRAVITY*PHYS_MASS_SCALE));
	dWorldSetERP (_world, 0.6);

	// create ground and walls (0,0,0 is the ground's center)
	// and put them in their own space
	_envSpace = dSimpleSpaceCreate(_space);
	_ground = dCreatePlane (_envSpace,0, 0, 1, 0);
	dGeomSetData(_ground, (void*)&_envData);

	_wall[0] = dCreatePlane(_envSpace,  1, 0,  0, -(groundSizeX/2.0) ); // a,b,c,d
	_wall[1] = dCreatePlane(_envSpace, -1, 0,  0, -(groundSizeX/2.0) ); // a,b,c,d
	_wall[2] = dCreatePlane(_envSpace,  0, 1,  0, -(groundSizeY/2.0) ); // a,b,c,d
	_wall[3] = dCreatePlane(_envSpace,  0, -1, 0, -(groundSizeY/2.0) ); // a,b,c,d

	return true;
}

void PhysicsServer::Init()
{
    if (m_bInited)
    {
        return;
    }
    RemoveChildren();
    m_Objects.clear();

    dInitODE();

    m_WorldID           = dWorldCreate();
    m_DefaultSpaceID    = dHashSpaceCreate( NULL );
    m_ContactGroupID    = dJointGroupCreate( 0 );

    dWorldSetAutoDisableFlag( m_WorldID, 1 );
    dWorldSetAutoDisableAverageSamplesCount( m_WorldID, 1 );

    if (m_WorldID)
    {
        SetERP( m_ERP );
        SetCFM( m_CFM );
        SetGravity( m_Gravity );
    }

    m_pDefMaterial = g_pObjectServer->FindObject<PhysMaterial>( "defaullt_mtl", this );
    if (!m_pDefMaterial) 
    {
        m_pDefMaterial = new PhysMaterial();
        m_pDefMaterial->SetName( "defaullt_mtl" );
        AddChild( m_pDefMaterial );
    }

    m_bInited = true;
} // PhysicsServer::Init

void HarrierSim::start2()
{
  //        setDrawStuff();
  world = dWorldCreate();
  space = dHashSpaceCreate(0);
  contactgroup = dJointGroupCreate(0);
  ground = dCreatePlane(space, 0, 0, 1, 0);
  dWorldSetGravity(world,0,0,-0.5);

  dWorldSetCFM (world,1e-6);
  dWorldSetERP (world,1);
  //dWorldSetAutoDisableFlag (world,1);
  dWorldSetContactMaxCorrectingVel (world,0.1);
  //set the contact penetration
  dWorldSetContactSurfaceLayer(world, 0.001);


  makeHarrier();

  itsHarrierObject = vp->load3DSObject("./etc/spaceship.3ds", "./etc/textures/spaceshiptexture.ppm");
  itsHarrierObject.scale = 0.1;


  //set the viewpoint
  double xyz[3] = {0 , 25.0, 20};
  double hpr[3] = {-90.0,-35,0.0};
  vp->dsSetViewpoint (xyz,hpr);
  vp->setZoom(1.5);

}

void Simulator_Initialize(void) {

	dInitODE2(0);
	world = dWorldCreate();
	space = dHashSpaceCreate (0);
	contactgroup = dJointGroupCreate (0);
	dWorldSetGravity (world,0,0,-0.5);
	ground = dCreatePlane (space,0,0,1,0);
}

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;

    // create world
    dInitODE();
    world = dWorldCreate();

#if 1
    space = dHashSpaceCreate (0);
#elif 0
    dVector3 center = {0,0,0}, extents = { 100, 100, 100};
    space = dQuadTreeSpaceCreate(0, center, extents, 5);
#elif 0
    space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
#else
    space = dSimpleSpaceCreate(0);
#endif

    contactgroup = dJointGroupCreate (0);
    dWorldSetGravity (world,0,0,-0.5);
    dWorldSetCFM (world,1e-5);
    
    dWorldSetLinearDamping(world, 0.00001);
    dWorldSetAngularDamping(world, 0.005);
    dWorldSetMaxAngularSpeed(world, 200);

    dWorldSetContactSurfaceLayer (world,0.001);
    ground = dCreatePlane (space,0,0,1,0);
    
    memset (obj,0,sizeof(obj));

    // create lift platform
    platform = dCreateBox(space, 4, 4, 1);

    dGeomSetCategoryBits(ground, 1ul);
    dGeomSetCategoryBits(platform, 2ul);
    dGeomSetCollideBits(ground, ~2ul);
    dGeomSetCollideBits(platform, ~1ul);

    // run simulation
    dsSimulationLoop (argc,argv,352,288,&fn);

    dJointGroupDestroy (contactgroup);
    dSpaceDestroy (space);
    dWorldDestroy (world);
    dCloseODE();
    return 0;
}

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)
    {
        fn.path_to_textures = argv[1];
    }

  // create world
  dInitODE2(0);
  world = dWorldCreate();
 
  space = dSimpleSpaceCreate(0);
  contactgroup = dJointGroupCreate (0);
  dWorldSetGravity (world,0,0,-0.5);
  dWorldSetCFM (world,1e-5);
  dCreatePlane (space,0,0,1,0);
  memset (obj,0,sizeof(obj));

  // note: can't share tridata if intending to trimesh-trimesh collide
  TriData1 = dGeomTriMeshDataCreate();
  dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
  TriData2 = dGeomTriMeshDataCreate();
  dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
  
  TriMesh1 = dCreateTriMesh(space, TriData1, 0, 0, 0);
  TriMesh2 = dCreateTriMesh(space, TriData2, 0, 0, 0);
  dGeomSetData(TriMesh1, TriData1);
  dGeomSetData(TriMesh2, TriData2);
  
  {dGeomSetPosition(TriMesh1, 0, 0, 0.9);
  dMatrix3 Rotation;
  dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
  dGeomSetRotation(TriMesh1, Rotation);}

  {dGeomSetPosition(TriMesh2, 1, 0, 0.9);
  dMatrix3 Rotation;
  dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
  dGeomSetRotation(TriMesh2, Rotation);}
  
  // run simulation
  dsSimulationLoop (argc,argv,352,288,&fn);

  dJointGroupDestroy (contactgroup);
  dSpaceDestroy (space);
  dWorldDestroy (world);
  dCloseODE();
  return 0;
}

WorldManagerServer::WorldManagerServer()
{
	dInitODE();
	mWorld = dWorldCreate();
	mGlobalSpace = dHashSpaceCreate(0);
	mContactGroup = dJointGroupCreate(0);
	dWorldSetGravity(mWorld, 0, -100, 0);

	mStaticSpace = dSimpleSpaceCreate(mGlobalSpace);
}

/*** シミュレーションの初期化 ***/
void dmInit()
{
	dInitODE();                              // ODEの初期化
	world = dWorldCreate();                  // 世界の創造
	dWorldSetGravity(world, 0.0,0.0,-9.8);        // 重力設定

	space        = dHashSpaceCreate(0);   // 衝突用空間の創造
	contactgroup = dJointGroupCreate(0);  // ジョイントグループの生成
	ground = dCreatePlane(space,0,0,1,0); // 地面（平面ジオメトリ）の生成
	dsSetSphereQuality(3);
}