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| Original file line number | Diff line number | Diff line change |
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| /************************************************************************* | ||
| * * | ||
| * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * | ||
| * All rights reserved. Email: [email protected] Web: www.q12.org * | ||
| * Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke * | ||
| * All rights reserved. Email: [email protected] Web: www.ode4j.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 ODE-LICENSE-BSD.TXT and ODE4J-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, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more * | ||
| * details. * | ||
| * * | ||
| *************************************************************************/ | ||
| package org.ode4j.demo; | ||
|
|
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| import org.ode4j.math.DQuaternion; | ||
| import org.ode4j.math.DVector3; | ||
| import org.ode4j.math.DVector3C; | ||
| import org.ode4j.ode.*; | ||
|
|
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| import static org.ode4j.drawstuff.DrawStuff.*; | ||
| import static org.ode4j.ode.OdeMath.dQFromAxisAndAngle; | ||
|
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|
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| /** | ||
| * Hinge demo. | ||
| */ | ||
| public class DemoHingeX extends dsFunctions { | ||
| private static final double SIDE = 5; // side length of a box | ||
| private static final double MASS = 125; // mass of a box | ||
|
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|
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| // dynamics and collision objects | ||
| private DWorld world; | ||
| private final DBody[] body = new DBody[3]; | ||
| private DFixedJoint fixed0; | ||
| private DHingeJoint hinge01; | ||
| private DHingeJoint hinge12; | ||
|
|
||
| // start simulation - set viewpoint | ||
| private static final float[] xyz = {5.0382f, -5.0811f, 18.4700f}; | ||
| private static final float[] hpr = {135.0000f, -19.5000f, 0.0000f}; | ||
|
|
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| @Override | ||
| public void start() { | ||
| dsSetViewpoint(xyz, hpr); | ||
| System.out.println("Press 'e' to start/stop occasional error."); | ||
| } | ||
|
|
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| // called when a key pressed | ||
| @Override | ||
| public void command(char cmd) { | ||
| if (cmd == 'e' || cmd == 'E') { | ||
| //TZ occasional_error ^= 1; | ||
| } | ||
| } | ||
|
|
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| // simulation loop | ||
| private static double a = 0; | ||
|
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| private void simLoop(boolean pause) { | ||
| final double kd = -0.3; // angular damping constant | ||
| if (!pause) { | ||
| // add an oscillating torque to body 0, and also damp its rotational motion | ||
| final DVector3C w = body[0].getAngularVel(); | ||
| //body[0].addTorque ( kd*w.get0(), kd*w.get1()+10.1*Math.cos(a), kd*w.get2()+10.1*Math.sin(a)); | ||
| body[1].addTorque(0, 0, kd * w.get2() + 10 * Math.sin(a)); | ||
| world.step(0.05); | ||
| a += 0.01; | ||
| } | ||
|
|
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| DVector3 sides0 = new DVector3(SIDE, SIDE, SIDE); | ||
| DVector3 sides1 = new DVector3(SIDE, SIDE, SIDE * 0.8f); | ||
| DVector3 sides2 = new DVector3(SIDE, SIDE, SIDE); | ||
| dsSetTexture(DS_TEXTURE_NUMBER.DS_WOOD); | ||
| dsSetColor(1, 1, 0); | ||
| dsDrawBox(body[0].getPosition(), body[0].getRotation(), sides0); | ||
| dsSetColor(0, 1, 1); | ||
| dsDrawBox(body[1].getPosition(), body[1].getRotation(), sides1); | ||
| dsSetColor(1, 0, 1); | ||
| dsDrawBox(body[2].getPosition(), body[2].getRotation(), sides2); | ||
| } | ||
|
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|
|
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| /** | ||
| * @param args args | ||
| */ | ||
| public static void main(String[] args) { | ||
| new DemoHingeX().demo(args); | ||
| } | ||
|
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| private void demo(String[] args) { | ||
| // create world | ||
| OdeHelper.initODE2(0); | ||
| world = OdeHelper.createWorld(); | ||
|
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| DMass m = OdeHelper.createMass(); | ||
| m.setBox(1, SIDE, SIDE, SIDE); | ||
| m.adjust(MASS); | ||
|
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| DQuaternion q = new DQuaternion(); | ||
| dQFromAxisAndAngle(q, 1, 1, 0, 0. * Math.PI); | ||
|
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| body[0] = OdeHelper.createBody(world); | ||
| body[0].setMass(m); | ||
| body[0].setPosition(0, 0, 3); | ||
| //body[0].setQuaternion (q); | ||
|
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| fixed0 = OdeHelper.createFixedJoint(world, null); | ||
| fixed0.attach(null, body[0]); | ||
| fixed0.setFixed(); | ||
|
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| body[1] = OdeHelper.createBody(world); | ||
| body[1].setMass(m); | ||
| body[1].setPosition(SIDE, SIDE, 3); | ||
| //body[1].setQuaternion (q); | ||
|
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| hinge01 = OdeHelper.createHingeJoint(world, null); | ||
| hinge01.attach(body[0], body[1]); | ||
| hinge01.setAnchor(0.5 * SIDE, 0.5 * SIDE, 3); | ||
| hinge01.setAxis(0, 0, 1); | ||
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| body[2] = OdeHelper.createBody(world); | ||
| body[2].setMass(m); | ||
| body[2].setPosition(2.0 * SIDE, 2.0 * SIDE, 3); | ||
| //body[2].setQuaternion (q); | ||
|
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| hinge12 = OdeHelper.createHingeJoint(world, null); | ||
| hinge12.attach(body[1], body[2]); | ||
| hinge12.setAnchor(1.5 * SIDE, 1.5 * SIDE, 3); | ||
| hinge12.setAxis(0, 0, 1); | ||
|
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| // run simulation | ||
| dsSimulationLoop(args, 640, 480, this); | ||
|
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| world.destroy(); | ||
| OdeHelper.closeODE(); | ||
| } | ||
|
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| @Override | ||
| public void step(boolean pause) { | ||
| simLoop(pause); | ||
| } | ||
|
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| @Override | ||
| public void stop() { | ||
| // Nothing to do | ||
| } | ||
| } |
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