addons/ODE/samples/tutorial3.io

   1 #!/usr/bin/env io
   2
   3 # Port of http://pyode.sourceforge.net/tutorials/tutorial3.html
   4
   5 appendProto(OpenGL)
   6
   7 scalp := method(vec, scal,
   8         vec *= scal
   9 )
  10
  11 length := method(vec,
  12         vec rootMeanSquare
  13 )
  14
  15 drawBody := method(body,
  16         pos := body position
  17         r := body rotation
  18         rot := list(r at(0), r at(3), r at(6), 0, r at(1), r at(4), r at(7), 0, r at(2), r at(5), r at(8), 0, pos x, pos y, pos z, 1)
  19         glPushMatrix()
  20         glMultMatrixd(rot)
  21         if(body shape == "box",
  22                 body size glScale
  23                 glColor4d(0,0,1, 1)
  24                 glutSolidCube(1)
  25                 glEnable(GL_BLEND)
  26
  27         glDisable(GL_LIGHTING)
  28                 glColor4d(.4,.4,.4, 1)
  29                 glutWireCube(1.002)
  30                 glEnable(GL_LIGHTING)
  31         )
  32         glPopMatrix
  33 )
  34
  35 geoms := list # work around for bug which means geoms were gc'ed too early
  36 createBox := method(world, space, density, lx, ly, lz,
  37         # Create body
  38         body := world Body clone
  39         body setMass(ODEMass clone setBoxDensity(density, lx, ly, lz))
  40
  41         # Set parameters for drawing the body
  42         body shape := "box"
  43         body size := vector(lx, ly, lz)
  44
  45         # Create a box geom for collision detection
  46         geom := space box(lx, ly, lz) setBody(body)
  47         geoms append(geom)
  48
  49         body
  50 )
  51
  52 dropObject := method(
  53         body := createBox(world, space, 2000, 9/9, 1/9, 4/9)
  54         body setPosition(Random gaussian(0, 0.5), 3.0, Random gaussian(0, 0.5))
  55
  56         theta := Random value * 2 * Number constants pi * 2
  57         ct := theta cos
  58         st := theta sin
  59         body setRotation(ct, 0, -st, 0, 1, 0, st, 0, ct)
  60
  61         bodies append(body)
  62         counter = 0
  63         objCount = objCount + 1
  64 )
  65
  66 origin := vector(0,0,0)
  67
  68 explosion := method(
  69         bodies foreach(b,
  70                 l := b position
  71                 l setY(1)
  72                 d := l distanceTo(origin)
  73                 force := 300000 / (1 + d)
  74                 l normalize *= force
  75                 b addForce(l x, l y, l z)
  76         )
  77 )
  78
  79 bump := method(
  80         bodies foreach(b,
  81                 b addForce(0,20000,0)
  82         )
  83 )
  84
  85 implode := method(
  86         bodies foreach(b,
  87                 l := b position clone
  88                 d := l distanceTo(origin)
  89                 force := -45000 * d sqrt
  90                 l normalize *= force
  91                 b addForce(l x, l y, l z)
  92         )
  93 )
  94
  95 nearCallback := method(geom1, geom2,
  96         contacts := geom1 collide(geom2, 8) # find a max of 8 contacts
  97         contacts foreach(contact,
  98                 contact setBounce(0.2) setMu(5000)
  99                 contactgroup createContact(contact) attach(geom1 body, geom2 body)
 100         )
 101 )
 102
 103
 104 ######################################################################
 105
 106 # Create a world object
 107 world := ODEWorld clone setGravity(0, -9.81, 0)
 108 world setErp(0.8)
 109 world setCfm(1E-5)
 110
 111 # Create a space object
 112 space := ODESimpleSpace clone
 113
 114 # Create a plane geom which prevent the objects from falling forever
 115 floor := space plane(0, 1, 0, 0)
 116
 117 # A list with ODE bodies
 118 bodies := list
 119
 120 # A joint group for the contact joints that are generated whenever
 121 # two bodies collide
 122 contactgroup := world JointGroup clone
 123
 124 # Some variables used inside the simulation loop
 125
 126 # Glut events object
 127 Screen := Object clone do(
 128         newSlot("width", 640)
 129         newSlot("height", 480)
 130
 131         newSlot("state", 0)
 132         newSlot("counter", 0)
 133         newSlot("objCount", 0)
 134
 135         reshape := method( w, h,
 136                 setWidth(w) setHeight(h)
 137         glMatrixMode(GL_PROJECTION)
 138                 glLoadIdentity
 139                 gluPerspective(45, w / h, 1.0, 20.0)
 140                 glMatrixMode(GL_MODELVIEW)
 141                 glViewport(0, 0, w, h)
 142         )
 143
 144         display := method(
 145                 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
 146                 glLoadIdentity
 147             gluLookAt (2.4, 3.6, 4.8, 0.5, 0.5, 0, 0, 1, 0)
 148             glPushMatrix
 149             glScaled(1,0,1)
 150         //glutSolidCube(10)
 151         glDisable(GL_LIGHTING)
 152         glLineWidth(1)
 153         glColor4d(1,1,1,.4)
 154             for(x, -10, 10,
 155             for(z, -10, 10,
 156             glPushMatrix
 157             glTranslated(x,0,z)
 158             glutWireCube(1)
 159             glPopMatrix
 160         ))
 161         glEnable(GL_LIGHTING)
 162         glPopMatrix
 163                 bodies foreach(b, drawBody(b))
 164                 glFlush
 165                 glutSwapBuffers
 166         )
 167
 168         timer := method(arg,
 169                 counter = counter + 1
 170
 171                 if(state == 0,
 172                         if(counter == 50, dropObject)
 173                         if(objCount == 20, state = 1; counter = 0)
 174                 ,
 175                         if(counter == 100, explosion)
 176                         if(counter > 400,  if(counter % 20 == 0, bump; implode))
 177                         if(counter == 600, counter = 0)
 178                 )
 179
 180                 glutPostRedisplay
 181
 182                 n := 2
 183
 184                 # Simulate
 185                 n repeat(
 186                         # Detect collisions and create contact joints
 187                         space collide(Lobby, message(nearCallback))
 188
 189                         # Simulation step
 190                         world step(arg / 1200 / n)
 191
 192                         # Remove all contact joints
 193                         contactgroup empty
 194                 )
 195
 196                 glutTimerFunc( arg, arg )
 197         )
 198 )
 199
 200 glutInitDisplayMode( GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
 201 glutInitWindowSize( Screen width, Screen height )
 202 glutInit
 203 glutCreateWindow("ODE Example")
 204 glutEventTarget( Screen )
 205 glutReshapeFunc
 206 glutDisplayFunc
 207 glutTimerFunc( 0, 10 )
 208
 209 glClearColor(1,1,1, 1 )
 210 glClearColor(0,0,0, 1 )
 211 glEnable( GL_DEPTH_TEST )
 212 glEnable( GL_LIGHTING )
 213 glEnable( GL_LIGHT0 )
 214 glEnable(GL_DEPTH_TEST)
 215 glEnable(GL_NORMALIZE)
 216 glShadeModel(GL_SMOOTH)
 217 glDisable(GL_CULL_FACE)
 218
 219 glEnable(GL_LINE_SMOOTH)
 220 glEnable(GL_BLEND)
 221 glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
 222 glHint(GL_LINE_SMOOTH_HINT, GL_NICEST)
 223
 224 glLightfv(GL_LIGHT0,GL_POSITION, list(0,0,1,0))
 225 glLightfv(GL_LIGHT0,GL_DIFFUSE, list(1,1,1,1))
 226 glLightfv(GL_LIGHT0,GL_SPECULAR, list(1,1,1,1))
 227 glEnable(GL_LIGHT0)
 228
 229 # View transformation
 230 Coroutine setStackSize(1024*1024)
 231 e := try(
 232     glutMainLoop
 233 )
 234 if(e, e showStack)