C++ dJointGroupEmpty函数代码示例

void CPhysicManager::Update(float tms){

        calc_time+=tms;

//		printf("update %f\n",calc_time);

//		float full_time = tms;
//		float dt=1.0/30.0f;
        //if ( dt > tms ) dt = tms;

if (calc_time>10) {
        //fast!!
		dSpaceCollide (space,0,&nearCallback);
		dWorldQuickStep(world, tms );
		dJointGroupEmpty(contactgroup);
        calc_time=0.0f;
}
else
		while (calc_time>1.0/30.0f) {

		dSpaceCollide (space,0,&nearCallback);
		dWorldQuickStep(world, (1.0/30.0f) );
		dJointGroupEmpty(contactgroup);
        calc_time-=1.0/30.0f;

		};

};

void simLoop (int pause)
{
    if (!pause) {

        const dReal step = 0.02;
        const unsigned nsteps = 1;

        for (unsigned i=0; i<nsteps; ++i) {
            dSpaceCollide(space, 0, nearCallback);
            dWorldQuickStep(world, step);
            dJointGroupEmpty(contact_group);
        }
    } else {
        dSpaceCollide(space, 0, nearCallback);
        dJointGroupEmpty(contact_group);
    }
    
    // now we draw everything
    unsigned ngeoms = dSpaceGetNumGeoms(space);
    for (unsigned i=0; i<ngeoms; ++i) {
        dGeomID g = dSpaceGetGeom(space, i);

        if (g == ground)
            continue; // drawstuff is already drawing it for us

        drawGeom(g);
    }
    
    if (dBodyGetPosition(ball1_body)[0] < -track_len)
        resetSim();
}

void Scene::step( void )
{
	//Our internal units are pixels, and at 160dpi there are 6300 pixels per meter
	float gravity[3];
	gravity[0] = (m_motion_lopass[0]*1 + m_motion_hipass[0]*10) * 6300;
	gravity[1] = (m_motion_lopass[1]*1 + m_motion_hipass[1]*10) * 6300;
	gravity[2] = (m_motion_lopass[2]*1 + m_motion_hipass[2]*10) * 6300;
	
	float hisq = m_motion_hipass[0]*m_motion_hipass[0] + m_motion_hipass[1]*m_motion_hipass[1] + m_motion_hipass[2]*m_motion_hipass[2];
	if( hisq > 1.0f )
	{
		int num_woken = 0;
		for( SceneObj *obj_p=m_obj_p; obj_p; obj_p=obj_p->m_next_p )
		{
			if( !dBodyIsEnabled(obj_p->m_dbody) )
			{
				dBodyEnable( obj_p->m_dbody );
				num_woken++;
				if( num_woken == 3 )
					break;
			}
		}
	}

	dWorldSetGravity( m_dworld, gravity[0], gravity[1], gravity[2] );

	do_collision();
	dWorldQuickStep( m_dworld, 1.0f/60.0f );
	dJointGroupEmpty( m_colljoints );
}

ODEDomain::~ODEDomain()
{
    dJointGroupEmpty (contactgroup);
    dJointGroupDestroy (contactgroup);        
    
    //deleting Heightfields starting from the end
    for (int i=heightfields.size()-1; i>=0; i--)
        DeleteHeightfield(i);
    heightfields.clear();            
            
    
    //deleting trimeshes starting from the end
    for (int i=trimeshes.size()-1; i>=0; i--)
        DeleteTriMesh(i);
    trimeshes.clear();
    
    //deleting bodies starting from the end
    for (int i=bodies.size()-1; i>=0; i--)
        DeleteBody(i);
    bodies.clear();

    //deleting Kinematic_bodies starting from the end
    for (int i=kinematic_bodies.size()-1; i>=0; i--)
        DeleteKinematicBody(i);
    kinematic_bodies.clear();
    
    dSpaceDestroy (space);        
    dWorldDestroy (world);    
    dCloseODE();        
    
    printf("ODEDomain destructor\n");   
}

void CPHWorld::StepTouch()
{
	PH_OBJECT_I			i_object;
	for(i_object=m_objects.begin();m_objects.end() != i_object;)
	{
		CPHObject* obj=(*i_object);
		obj->Collide();

		++i_object;
	}

	for(i_object=m_objects.begin();m_objects.end() != i_object;)
	{
		CPHObject* obj=(*i_object);
		++i_object;
		obj->Island().Enable();
	}
	for(i_object=m_objects.begin();m_objects.end() != i_object;)
	{
		CPHObject* obj=(*i_object);
		++i_object;
		obj->IslandReinit();
		obj->spatial_move();
	}
	dJointGroupEmpty(ContactGroup);
	ContactFeedBacks.empty();
	ContactEffectors.empty();
}

static void simLoop (int pause)
{
  dsSetColor (0,0,2);
  dSpaceCollide (space,0,&nearCallback);
  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);
      }
      drawGeom (obj[i].geom[j],0,0,show_aabb);
    }
  }
}

void avancarPasso(dReal dt)
{
    dWorldSetQuickStepNumIterations (world, 20);
    dSpaceCollide(space,0,&nearCallback);
    dWorldQuickStep(world, dt);		// Esse valor deve ser sincronizado com as chamadas da função.
    dJointGroupEmpty(contactgroup);
}

bool Simulator::SimulateOneStep(const double speed, const double steer)
{
//set desired speed    
    dJointSetHinge2Param(m_robotJoints[0], dParamVel2, -speed); // hinge-2 velocity = -speed
    dJointSetHinge2Param(m_robotJoints[0], dParamFMax2, 10);   // maximum torque = 0.1
    
//set desired steering angle
    dReal v = steer - dJointGetHinge2Angle1 (m_robotJoints[0]);
    //if (v > 0.1) v = 0.1;
    //if (v < -0.1) v = -0.1;
    v *= 10.0;
    dJointSetHinge2Param(m_robotJoints[0], dParamVel, v);
    dJointSetHinge2Param(m_robotJoints[0], dParamFMax, 0.2);
    dJointSetHinge2Param(m_robotJoints[0], dParamLoStop, -0.75);
    dJointSetHinge2Param(m_robotJoints[0], dParamHiStop, 0.75);
    dJointSetHinge2Param(m_robotJoints[0], dParamFudgeFactor, 0.1);
    
//simulate the dynamics for one time step (set to 0.05)
    m_collision = false;

    dSpaceCollide(m_space, reinterpret_cast<void *>(this), &CollisionCheckingCallbackFn);
    dWorldStep(m_world, 0.2); // setting time step for integral
    dJointGroupEmpty(m_contacts);

    return !m_collision;    
}

void ompl::control::OpenDEStatePropagator::propagate(const base::State *state, const Control* control, const double duration, base::State *result) const
{
    env_->mutex_.lock();

    // place the OpenDE world at the start state
    si_->getStateSpace()->as<OpenDEStateSpace>()->writeState(state);

    // apply the controls
    env_->applyControl(control->as<RealVectorControlSpace::ControlType>()->values);

    // created contacts as needed
    CallbackParam cp = { env_.get(), false };
    for (unsigned int i = 0 ; i < env_->collisionSpaces_.size() ; ++i)
        dSpaceCollide(env_->collisionSpaces_[i],  &cp, &nearCallback);

    // propagate one step forward
    dWorldQuickStep(env_->world_, (const dReal)duration);

    // remove created contacts
    dJointGroupEmpty(env_->contactGroup_);

    // read the final state from the OpenDE world
    si_->getStateSpace()->as<OpenDEStateSpace>()->readState(result);

    env_->mutex_.unlock();

    // update the collision flag for the start state, if needed
    if (!(state->as<OpenDEStateSpace::StateType>()->collision & (1 << OpenDEStateSpace::STATE_COLLISION_KNOWN_BIT)))
    {
        if (cp.collision)
            state->as<OpenDEStateSpace::StateType>()->collision &= (1 << OpenDEStateSpace::STATE_COLLISION_VALUE_BIT);
        state->as<OpenDEStateSpace::StateType>()->collision &= (1 << OpenDEStateSpace::STATE_COLLISION_KNOWN_BIT);
    }
}

static void simLoop (int pause)
{
  dsSetColor (0,0,2);
  dSpaceCollide (space,0,&nearCallback);
  //if (!pause) dWorldStep (world,0.05);
  //if (!pause) dWorldStepFast (world,0.05, 1);

  // 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 (1,0,0);
      }
      else {
	dsSetColor (1,1,0);
      }
      drawGeom (obj[i].geom[j],0,0,show_aabb);
    }
  }
}

// シミュレーションループ
static void simLoop(int pause) {
  control();
  dSpaceCollide(space,0,&nearCallback);  // 衝突検出計算
  dWorldStep(world,0.0001);                // 1ステップ進める
  dJointGroupEmpty(contactgroup);        // 衝突変数をリセット
  draw();  // ロボットの描画
}

static void simLoop (int pause)
{
  dSpaceCollide (space,0,&nearCallback);
  if (!pause)
  {
    dWorldQuickStep (world, 0.01); // 100 Hz
  }
  dJointGroupEmpty (contactgroup);

  dsSetColorAlpha (1,1,0,0.5);

  const dReal *CPos = dBodyGetPosition(cylbody);
  const dReal *CRot = dBodyGetRotation(cylbody);
  float cpos[3] = {CPos[0], CPos[1], CPos[2]};
  float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
  dsDrawCylinder
  (
    cpos,
    crot,
    CYLLENGTH,
    CYLRADIUS
  ); // single precision

  const dReal *SPos = dBodyGetPosition(sphbody);
  const dReal *SRot = dBodyGetRotation(sphbody);
  float spos[3] = {SPos[0], SPos[1], SPos[2]};
  float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] };
  dsDrawSphere
  (
    spos,
    srot,
    SPHERERADIUS
  ); // single precision
}

// simulation loop
static void simLoop (int pause)
{
    const dReal *pos;
    const dReal *R;
    // force for the spheres
  
    // find collisions and add contact joints
    dSpaceCollide (space,0,&nearCallback);
    // step the simulation
    dWorldQuickStep (world,0.01);  
    // remove all contact joints
    dJointGroupEmpty (contactgroup);
    // redraw sphere at new location
    pos = dGeomGetPosition (sphere0_geom);
    R = dGeomGetRotation (sphere0_geom);
    dsDrawSphere (pos,R,dGeomSphereGetRadius (sphere0_geom));
     
    pos = dGeomGetPosition (sphere1_geom);
    R = dGeomGetRotation (sphere1_geom);
    dsDrawSphere (pos,R,dGeomSphereGetRadius (sphere1_geom));

    pos = dGeomGetPosition (sphere2_geom);
    R = dGeomGetRotation (sphere2_geom);
    dsDrawSphere (pos,R,dGeomSphereGetRadius (sphere2_geom));
}

void Simulate(int pause) {

	if ( showGraphics )
		envs->Draw();

	if ( envs->recordingVideo )

		envs->Video_Record();

	if ( !pause ) {

		dSpaceCollide (space,0,&nearCallback);
		dWorldStep (world,STEP_SIZE);
		dJointGroupEmpty(contactgroup);

		if ( envs->In_Evolution_Mode() )

			envs->Evolve(		world,
						space);

		else if ( envs->In_Champ_Mode() )

			envs->Show_Champ(	world, 
						space);

	}
}

static void simLoop (int pause)
{
  dsSetColor (0,0,2);
  dSpaceCollide (space,0,&nearCallback);
  if (!pause) dWorldQuickStep (world,0.02);

  if (write_world) {
    FILE *f = fopen ("state.dif","wt");
    if (f) {
      dWorldExportDIF (world,f,"X");
      fclose (f);
    }
    write_world = 0;
  }


  if (doFeedback)
  {
    if (fbnum>MAX_FEEDBACKNUM)
      printf("joint feedback buffer overflow!\n");
    else
    {
      dVector3 sum = {0, 0, 0};
      printf("\n");
      for (int i=0; i<fbnum; i++) {
        dReal* f = feedbacks[i].first?feedbacks[i].fb.f1:feedbacks[i].fb.f2;
        printf("%f %f %f\n", f[0], f[1], f[2]);
        sum[0] += f[0];
        sum[1] += f[1];
        sum[2] += f[2];
      }
      printf("Sum: %f %f %f\n", sum[0], sum[1], sum[2]);
      dMass m;
      dBodyGetMass(obj[selected].body, &m);
      printf("Object G=%f\n", GRAVITY*m.mass);
    }
    doFeedback = 0;
    fbnum = 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);
      }
      drawGeom (obj[i].geom[j],0,0,show_aabb);
    }
  }
}