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// Copyright 2006-2007 Nanorex, Inc. See LICENSE file for details.
#include "simulator.h"
#include "rigid-ode.h"
#ifdef USE_ODE
#include <ode/ode.h>
// There is a sphere centered on a station point on body1, whose
// radius is the square root of this value (in pm). The corrosponding
// station point on body2 must be inside that sphere.
#define STATION_TOLERANCE 0.04
// similar for axes
#define AXIS_TOLERANCE 0.04
struct ode_info
{
dWorldID world;
dBodyID *bodies;
dJointID *joints;
};
static void
findStationPoint(struct part *p,
int jointNumber,
char *jointType,
int body1index,
int body2index,
dBodyID body1,
dBodyID body2,
int station1index,
int station2index,
dVector3 station1)
{
struct xyz s1;
struct xyz s2;
dVector3 station2;
dReal deltax;
dReal deltay;
dReal deltaz;
s1 = p->rigidBodies[body1index].stations[station1index];
s2 = p->rigidBodies[body2index].stations[station2index];
dBodyGetRelPointPos(body1, (dReal)s1.x, (dReal)s1.y, (dReal)s1.z, station1);
dBodyGetRelPointPos(body2, (dReal)s2.x, (dReal)s2.y, (dReal)s2.z, station2);
deltax = station1[0] - station2[0];
deltay = station1[1] - station2[1];
deltaz = station1[2] - station2[2];
if (deltax * deltax + deltay * deltay + deltaz * deltaz > STATION_TOLERANCE) {
ERROR5("joint %d, a %s, StationPoint mismatch: (%f, %f, %f)", jointNumber, jointType, deltax, deltay, deltaz);
dBodyGetPosRelPoint(body2, station1[0], station1[1], station1[2], station2);
ERROR3("StationPoint on body2 would be (%f, %f, %f) to match body1", station2[0], station2[1], station2[2]);
p->parseError(p->stream);
}
}
static void
findAxis(struct part *p,
int jointNumber,
char *jointType,
int body1index,
int body2index,
dBodyID body1,
dBodyID body2,
int axis1index,
int axis2index,
dVector3 axis1)
{
struct xyz a1;
struct xyz a2;
dVector3 axis2;
dReal deltax;
dReal deltay;
dReal deltaz;
a1 = p->rigidBodies[body1index].axes[axis1index];
a2 = p->rigidBodies[body2index].axes[axis2index];
dBodyVectorToWorld(body1, (dReal)a1.x, (dReal)a1.y, (dReal)a1.z, axis1);
dBodyVectorToWorld(body2, (dReal)a2.x, (dReal)a2.y, (dReal)a2.z, axis2);
deltax = axis1[0] - axis2[0];
deltay = axis1[1] - axis2[1];
deltaz = axis1[2] - axis2[2];
if (deltax * deltax + deltay * deltay + deltaz * deltaz > AXIS_TOLERANCE) {
ERROR5("joint %d, a %s, Axis mismatch: (%f, %f, %f)", jointNumber, jointType, deltax, deltay, deltaz);
dBodyVectorFromWorld(body2, axis1[0], axis1[1], axis1[2], axis2);
ERROR3("AxisPoint on body2 would be (%f, %f, %f) to match body1", axis2[0], axis2[1], axis2[2]);
p->parseError(p->stream);
}
}
void
rigid_ode_init(struct part *p)
{
int i;
int k;
struct xyz attachAtomLocation;
struct rigidBody *rb;
struct joint *j;
struct ode_info *ode;
dWorldID world;
dBodyID body;
dJointID joint;
dQuaternion q;
int b1;
int b2;
dBodyID body1;
dBodyID body2;
dVector3 station1;
dVector3 axis1;
if (p->num_rigidBodies < 2) {
return;
}
ode = (struct ode_info *)allocate(sizeof(struct ode_info));
p->rigid_body_info = (void *)ode;
ode->world = world = dWorldCreate();
ode->bodies = (dBodyID *)allocate((p->num_rigidBodies) * sizeof(dBodyID));
ode->bodies[0] = 0;
ode->joints = (dJointID *)allocate((p->num_joints) * sizeof(dJointID));
for (i=1; i<p->num_rigidBodies; i++) {
rb = &p->rigidBodies[i];
ode->bodies[i] = body = dBodyCreate(world);
dBodySetPosition(body, (dReal)rb->position.x, (dReal)rb->position.y, (dReal)rb->position.z);
// XXX check the ordering of these, they're not defined in ode docs.
q[0] = (dReal)rb->orientation.x;
q[1] = (dReal)rb->orientation.y;
q[2] = (dReal)rb->orientation.z;
q[3] = (dReal)rb->orientation.a;
dBodySetQuaternion(body, q);
for (k=0; k<rb->num_attachments; k++) {
attachAtomLocation = p->positions[rb->attachmentAtomIndices[k]];
dBodyGetPosRelPoint(body,
(dReal)attachAtomLocation.x,
(dReal)attachAtomLocation.y,
(dReal)attachAtomLocation.z,
station1);
rb->attachmentLocations[k].x = (double)station1[0];
rb->attachmentLocations[k].y = (double)station1[1];
rb->attachmentLocations[k].z = (double)station1[2];
}
}
for (i=0; i<p->num_joints; i++) {
j = &p->joints[i];
b1 = j->rigidBody1;
b2 = j->rigidBody2;
body1 = ode->bodies[b1];
body2 = ode->bodies[b2];
switch (j->type) {
case JointBall:
ode->joints[i] = joint = dJointCreateBall(world, 0);
dJointAttach(joint, body1, body2);
findStationPoint(p, i, "Ball", b1, b2, body1, body2, j->station1_1, j->station2_1, station1);
dJointSetBallAnchor(joint, station1[0], station1[1], station1[2]);
break;
case JointHinge:
ode->joints[i] = joint = dJointCreateHinge(world, 0);
dJointAttach(joint, body1, body2);
findStationPoint(p, i, "Hinge", b1, b2, body1, body2, j->station1_1, j->station2_1, station1);
dJointSetHingeAnchor(joint, station1[0], station1[1], station1[2]);
findAxis(p, i, "Hinge", b1, b2, body1, body2, j->axis1_1, j->axis2_1, axis1);
dJointSetHingeAxis(joint, axis1[0], axis1[1], axis1[2]);
break;
case JointSlider:
ode->joints[i] = joint = dJointCreateSlider(world, 0);
dJointAttach(joint, body1, body2);
findAxis(p, i, "Slider", b1, b2, body1, body2, j->axis1_1, j->axis2_1, axis1);
dJointSetSliderAxis(joint, axis1[0], axis1[1], axis1[2]);
break;
default:
ERROR1("unknown joint type for joint %d", i);
p->parseError(p->stream);
}
}
}
void
rigid_ode_destroy(struct part *p)
{
int i;
struct ode_info *ode;
if (p->num_rigidBodies < 2) {
return;
}
ode = (struct ode_info *)p->rigid_body_info;
NULLPTR(ode);
NULLPTR(ode->bodies);
for (i=1; i<p->num_rigidBodies; i++) {
dBodyDestroy(ode->bodies[i]);
}
free(ode->bodies);
ode->bodies = NULL;
for (i=0; i<p->num_joints; i++) {
dJointDestroy(ode->joints[i]);
}
free(ode->joints);
ode->joints = NULL;
dWorldDestroy(ode->world);
free(ode);
// XXX we may want to call this somewhere.
//dCloseODE();
}
void
rigid_ode_relative_to_absolute(struct part *p, int bodyIndex, struct xyz relative, struct xyz *absolute)
{
ERROR("rigid_ode_relative_to_absolute not implemented");
}
void
rigid_ode_apply_force_relative(struct part *p, int bodyIndex, struct xyz force_location_relative, struct xyz force_direction_absolute)
{
ERROR("rigid_ode_apply_force_relative not implemented");
}
#endif
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