Technical facts

Operating system(s) or programming environment(s)

Lubuntu 15.04 (vivid)

IDE(s):

Qt Creator 3.1.1

Project type:

Console application

C++ standard:

C++98

Compiler(s):

G++ 4.9.2

Libraries used:

STL: GNU ISO C++ Library, version 4.9.2

Qt project file: ./CppHelloOdeWindows/CppHelloOdeWindows.pro


TEMPLATE = app

CONFIG += console

CONFIG -= app_bundle

CONFIG -= qt



SOURCES += main.cpp

./CppHelloOdeWindows/main.cpp


#define dSINGLE

//D:\Projects\Libraries\ode-0.12\include\ode\common.h



//From http://ode-wiki.org/wiki/index.php?title=HOWTO_simple_bouncing_sphere

#include <ode/ode.h>

#include <drawstuff/drawstuff.h>



// dynamics and collision objects

static dWorldID world;

static dSpaceID space;

static dBodyID body;

static dGeomID geom;

static dMass m;

static dJointGroupID contactgroup;



// this is called by dSpaceCollide when two objects in space are

// potentially colliding.

static void nearCallback (void *data, dGeomID o1, dGeomID o2)

{



    dBodyID b1 = dGeomGetBody(o1);

    dBodyID b2 = dGeomGetBody(o2);

    dContact contact;

    contact.surface.mode = dContactBounce | dContactSoftCFM;

    // friction parameter

    contact.surface.mu = dInfinity;

    // bounce is the amount of "bouncyness".

    contact.surface.bounce = 0.9;

    // bounce_vel is the minimum incoming velocity to cause a bounce

    contact.surface.bounce_vel = 0.1;

    // constraint force mixing parameter

    contact.surface.soft_cfm = 0.001;

    if (int numc = dCollide (o1,o2,1,&contact.geom,sizeof(dContact))) {

        dJointID c = dJointCreateContact (world,contactgroup,&contact);

        dJointAttach (c,b1,b2);

    }

}



// start simulation - set viewpoint

static void start()

{

    static float xyz[3] = {2.0f,-2.0f,1.7600f};

    static float hpr[3] = {140.000f,-17.0000f,0.0000f};

    dsSetViewpoint (xyz,hpr);

}



// simulation loop

static void simLoop (int pause)

{

    const dReal *pos;

    const dReal *R;

    // 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 (geom);

    R = dGeomGetRotation (geom);

    dsDrawSphere(pos,R,dGeomSphereGetRadius (geom));

}



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.stop = 0;

    fn.command = 0;

    fn.path_to_textures = "../../drawstuff/textures";



    dInitODE ();

    // create world

    world = dWorldCreate ();

    space = dHashSpaceCreate (0);

    dWorldSetGravity (world,0,0,-0.2);

    dWorldSetCFM (world,1e-5);

    dCreatePlane (space,0,0,1,0);

    contactgroup = dJointGroupCreate (0);

    // create object

    body = dBodyCreate (world);

    geom = dCreateSphere (space,0.5);

    dMassSetSphere (&m,1,0.5);

    dBodySetMass (body,&m);

    dGeomSetBody (geom,body);

    // set initial position

    dBodySetPosition (body,0,0,3);

    // run simulation

    dsSimulationLoop (argc,argv,352,288,&fn);

    // clean up

    dJointGroupDestroy (contactgroup);

    dSpaceDestroy (space);

    dWorldDestroy (world);

    dCloseODE();

}



/*



DEFINES += dDOUBLE

DEFINES += CCD_DOUBLE



HEADERS += \

    ../../Libraries/ode-0.12/ode/src/array.h \

    ../../Libraries/ode-0.12/ode/src/collision_kernel.h \

    ../../Libraries/ode-0.12/ode/src/collision_libccd.h \

    ../../Libraries/ode-0.12/ode/src/collision_space_internal.h \

    ../../Libraries/ode-0.12/ode/src/collision_std.h \

    ../../Libraries/ode-0.12/ode/src/collision_transform.h \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_colliders.h \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_internal.h \

    ../../Libraries/ode-0.12/ode/src/collision_util.h \

    ../../Libraries/ode-0.12/ode/src/config.h \

    ../../Libraries/ode-0.12/ode/src/heightfield.h \

    ../../Libraries/ode-0.12/ode/src/lcp.h \

    ../../Libraries/ode-0.12/ode/src/mat.h \

    ../../Libraries/ode-0.12/ode/src/objects.h \

    ../../Libraries/ode-0.12/ode/src/obstack.h \

    ../../Libraries/ode-0.12/ode/src/odeou.h \

    ../../Libraries/ode-0.12/ode/src/odetls.h \

    ../../Libraries/ode-0.12/ode/src/quickstep.h \

    ../../Libraries/ode-0.12/ode/src/step.h \

    ../../Libraries/ode-0.12/ode/src/util.h \

    ../../Libraries/ode-0.12/ode/src/joints/amotor.h \

    ../../Libraries/ode-0.12/ode/src/joints/ball.h \

    ../../Libraries/ode-0.12/ode/src/joints/contact.h \

    ../../Libraries/ode-0.12/ode/src/joints/fixed.h \

    ../../Libraries/ode-0.12/ode/src/joints/hinge.h \

    ../../Libraries/ode-0.12/ode/src/joints/hinge2.h \

    ../../Libraries/ode-0.12/ode/src/joints/joint.h \

    ../../Libraries/ode-0.12/ode/src/joints/joint_internal.h \

    ../../Libraries/ode-0.12/ode/src/joints/joints.h \

    ../../Libraries/ode-0.12/ode/src/joints/lmotor.h \

    ../../Libraries/ode-0.12/ode/src/joints/null.h \

    ../../Libraries/ode-0.12/ode/src/joints/piston.h \

    ../../Libraries/ode-0.12/ode/src/joints/plane2d.h \

    ../../Libraries/ode-0.12/ode/src/joints/pr.h \

    ../../Libraries/ode-0.12/ode/src/joints/pu.h \

    ../../Libraries/ode-0.12/ode/src/joints/slider.h \

    ../../Libraries/ode-0.12/ode/src/joints/universal.h \

    ../../Libraries/ode-0.12/ode/src/../../Include/drawstuff/drawstuff.h



SOURCES += \

    ../../Libraries/ode-0.12/ode/src/array.cpp \

    ../../Libraries/ode-0.12/ode/src/box.cpp \

    ../../Libraries/ode-0.12/ode/src/capsule.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_cylinder_box.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_cylinder_plane.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_cylinder_sphere.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_cylinder_trimesh.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_kernel.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_libccd.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_quadtreespace.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_sapspace.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_space.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_transform.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_box.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_ccylinder.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_disabled.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_distance.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_gimpact.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_opcode.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_plane.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_ray.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_sphere.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_trimesh.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_trimesh_trimesh_new.cpp \

    ../../Libraries/ode-0.12/ode/src/collision_util.cpp \

    ../../Libraries/ode-0.12/ode/src/convex.cpp \

    ../../Libraries/ode-0.12/ode/src/cylinder.cpp \

    ../../Libraries/ode-0.12/ode/src/error.cpp \

    ../../Libraries/ode-0.12/ode/src/export-dif.cpp \

    ../../Libraries/ode-0.12/ode/src/fastdot.c \

    ../../Libraries/ode-0.12/ode/src/fastldlt.c \

    ../../Libraries/ode-0.12/ode/src/fastlsolve.c \

    ../../Libraries/ode-0.12/ode/src/fastltsolve.c \

    ../../Libraries/ode-0.12/ode/src/heightfield.cpp \

    ../../Libraries/ode-0.12/ode/src/lcp.cpp \

    ../../Libraries/ode-0.12/ode/src/mass.cpp \

    ../../Libraries/ode-0.12/ode/src/mat.cpp \

    ../../Libraries/ode-0.12/ode/src/matrix.cpp \

    ../../Libraries/ode-0.12/ode/src/memory.cpp \

    ../../Libraries/ode-0.12/ode/src/misc.cpp \

    ../../Libraries/ode-0.12/ode/src/nextafterf.c \

    ../../Libraries/ode-0.12/ode/src/obstack.cpp \

    ../../Libraries/ode-0.12/ode/src/ode.cpp \

    ../../Libraries/ode-0.12/ode/src/odeinit.cpp \

    ../../Libraries/ode-0.12/ode/src/odemath.cpp \

    ../../Libraries/ode-0.12/ode/src/odeou.cpp \

    ../../Libraries/ode-0.12/ode/src/odetls.cpp \

    ../../Libraries/ode-0.12/ode/src/plane.cpp \

    ../../Libraries/ode-0.12/ode/src/quickstep.cpp \

    ../../Libraries/ode-0.12/ode/src/ray.cpp \

    ../../Libraries/ode-0.12/ode/src/rotation.cpp \

    ../../Libraries/ode-0.12/ode/src/sphere.cpp \

    ../../Libraries/ode-0.12/ode/src/step.cpp \

    ../../Libraries/ode-0.12/ode/src/timer.cpp \

    ../../Libraries/ode-0.12/ode/src/util.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/amotor.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/ball.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/contact.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/fixed.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/hinge.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/hinge2.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/joint.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/lmotor.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/null.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/piston.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/plane2d.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/pr.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/pu.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/slider.cpp \

    ../../Libraries/ode-0.12/ode/src/joints/universal.cpp



*/

Go back to Richel Bilderbeek's C++ page.

Go back to Richel Bilderbeek's homepage.

This page has been created by the tool CodeToHtml

(C++) HelloOdeWindows

Technical facts

Qt project file: ./CppHelloOdeWindows/CppHelloOdeWindows.pro

./CppHelloOdeWindows/main.cpp