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// K-3D
// Copyright (c) 1995-2009, Timothy M. Shead
//
// Contact: tshead@k-3d.com
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public
// License as published by the Free Software Foundation; either
// version 2 of the License, or (at your option) any later version.
//
// This program 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 GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public
// License along with this program; if not, read to the Free Software
// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
/** \file
\author Timothy M. Shead
*/
#include "isimulation.h"
#include <k3d-i18n-config.h>
#include <k3dsdk/document_plugin_factory.h>
#include <k3dsdk/node.h>
#include <k3dsdk/time_sink.h>
#include <k3dsdk/vector3.h>
namespace module
{
namespace ode
{
/////////////////////////////////////////////////////////////////////////////
// simulation
class simulation :
public k3d::time_sink<k3d::node>,
public isimulation
{
typedef k3d::time_sink<k3d::node> base;
public:
simulation(k3d::iplugin_factory& Factory, k3d::idocument& Document) :
base(Factory, Document),
m_world_id(dWorldCreate()),
m_space_id(dSimpleSpaceCreate(0)),
m_plane_id(dCreatePlane(m_space_id, 0, 0, 1, 0)),
m_contact_joint_group_id(dJointGroupCreate(0)),
m_last_time(0.0),
m_modified(false),
m_gravity(init_owner(*this) + init_name("gravity") + init_label(_("Gravity")) + init_description(_("Defines the gravity direction and magnitude (if any).")) + init_value(k3d::vector3(0, 0, -9.81)))
{
dInitODE();
m_time.changed_signal().connect(sigc::mem_fun(*this, &simulation::time_changed));
}
~simulation()
{
dJointGroupDestroy(m_contact_joint_group_id);
dGeomDestroy(m_plane_id);
dSpaceDestroy(m_space_id);
dWorldDestroy(m_world_id);
}
const dWorldID world()
{
return m_world_id;
}
const dSpaceID space()
{
return m_space_id;
}
sigc::connection connect_simulation_changed_signal(const sigc::slot<void>& Slot)
{
return m_simulation_changed_signal.connect(Slot);
}
sigc::connection connect_initial_state_signal(const sigc::slot<void>& Slot)
{
return m_initial_state_signal.connect(Slot);
}
sigc::connection connect_update_state_signal(const sigc::slot<void>& Slot)
{
return m_update_state_signal.connect(Slot);
}
void simulation_changed()
{
m_modified = true;
m_simulation_changed_signal.emit();
}
void update()
{
if(!m_modified)
return;
m_modified = false;
const k3d::double_t current_time = m_time.pipeline_value();
const k3d::double_t delta_time = current_time - m_last_time;
m_last_time = current_time;
if(delta_time > 0.0)
{
// Setup the world state ...
const k3d::vector3 gravity = m_gravity.pipeline_value();
dWorldSetGravity(m_world_id, gravity[0], gravity[1], gravity[2]);
// Set body states ...
m_update_state_signal.emit();
// Detect collisions ...
dSpaceCollide(m_space_id, this, raw_collision_callback);
// Step the simulation ...
dWorldStep(m_world_id, delta_time);
// Reset collisions ...
dJointGroupEmpty(m_contact_joint_group_id);
}
else
{
// Set initial body states ...
m_initial_state_signal.emit();
}
}
void time_changed(k3d::ihint*)
{
m_modified = true;
m_simulation_changed_signal.emit();
}
static void raw_collision_callback(void* Data, dGeomID Geometry1, dGeomID Geometry2)
{
reinterpret_cast<simulation*>(Data)->collision_callback(Geometry1, Geometry2);
}
void collision_callback(dGeomID Geometry1, dGeomID Geometry2)
{
const int max_contact_count = 64;
dContact contacts[max_contact_count];
dContact* const contact_begin = contacts;
dContact* const contact_end = contact_begin + dCollide(Geometry1, Geometry2, max_contact_count, &contacts[0].geom, sizeof(dContact));
for(dContact* contact = contact_begin; contact != contact_end; ++contact)
{
// contact->surface.mode = dContactBounce | dContactSoftCFM;
contact->surface.mode = 0;
// contact->surface.mu = dInfinity;
contact->surface.mu = 0;
contact->surface.mu2 = 0;
contact->surface.bounce = 0.0;
contact->surface.bounce_vel = 0.0;
contact->surface.soft_cfm = 0.00;
const dJointID joint_id = dJointCreateContact(m_world_id, m_contact_joint_group_id, contact);
dJointAttach(joint_id, dGeomGetBody(Geometry1), dGeomGetBody(Geometry2));
}
}
static k3d::iplugin_factory& get_factory()
{
static k3d::document_plugin_factory<simulation,
k3d::interface_list<k3d::itime_sink> > factory(
k3d::uuid(0x0df159e6, 0x4d49063c, 0x391217b5, 0x8079599e),
"ODESimulation",
_("Rigid-body dynamics simulation."),
"Simulation",
k3d::iplugin_factory::EXPERIMENTAL);
return factory;
}
private:
dWorldID m_world_id;
dSpaceID m_space_id;
dGeomID m_plane_id;
dJointGroupID m_contact_joint_group_id;
k3d::bool_t m_modified;
sigc::signal<void> m_simulation_changed_signal;
sigc::signal<void> m_initial_state_signal;
sigc::signal<void> m_update_state_signal;
k3d::double_t m_last_time;
k3d_data(k3d::vector3, immutable_name, change_signal, with_undo, local_storage, no_constraint, writable_property, with_serialization) m_gravity;
};
/////////////////////////////////////////////////////////////////////////////
// simulation_factory
k3d::iplugin_factory& simulation_factory()
{
return simulation::get_factory();
}
} // namespace ode
} // namespace module
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