本文整理汇总了C++中dBodySetMass函数的典型用法代码示例。如果您正苦于以下问题:C++ dBodySetMass函数的具体用法?C++ dBodySetMass怎么用?C++ dBodySetMass使用的例子?那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。
在下文中一共展示了dBodySetMass函数的20个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于我们的系统推荐出更棒的C++代码示例。
示例1: createBallandPole
// Create a ball and a pole
void createBallandPole() {
dMass m1;
dReal x0 = 0.0, y0 = 0.0, z0 = 2.5;
// ball
ball.radius = 0.2;
ball.mass = 1.0;
ball.body = dBodyCreate(world);
dMassSetZero(&m1);
dMassSetSphereTotal(&m1, ball.mass, ball.radius);
dBodySetMass(ball.body, &m1);
dBodySetPosition(ball.body, x0, y0, z0);
ball.geom = dCreateSphere(space, ball.radius);
dGeomSetBody(ball.geom, ball.body);
// pole
pole.radius = 0.025;
pole.length = 1.0;
pole.mass = 1.0;
pole.body = dBodyCreate(world);
dMassSetZero(&m1);
dMassSetCapsule(&m1, pole.mass, 3, pole.radius, pole.length);
dBodySetMass(pole.body, &m1);
dBodySetPosition(pole.body, x0, y0, z0 - 0.5 * pole.length);
pole.geom = dCreateCCylinder(space, pole.radius, pole.length);
dGeomSetBody(pole.geom, pole.body);
// hinge joint
joint = dJointCreateHinge(world, 0);
dJointAttach(joint, ball.body, pole.body);
dJointSetHingeAnchor(joint, x0, y0, z0 - ball.radius);
dJointSetHingeAxis(joint, 1, 0, 0);
}
开发者ID:rk0dama,项目名称:InvertedPendulum,代码行数:36,代码来源:main.cpp
示例2: constructWorldForTest
void constructWorldForTest (dReal gravity, int bodycount,
/* body 1 pos */ dReal pos1x, dReal pos1y, dReal pos1z,
/* body 2 pos */ dReal pos2x, dReal pos2y, dReal pos2z,
/* body 1 rotation axis */ dReal ax1x, dReal ax1y, dReal ax1z,
/* body 1 rotation axis */ dReal ax2x, dReal ax2y, dReal ax2z,
/* rotation angles */ dReal a1, dReal a2)
{
// create world
world = dWorldCreate();
dWorldSetERP (world,0.2);
dWorldSetCFM (world,1e-6);
dWorldSetGravity (world,0,0,gravity);
dMass m;
dMassSetBox (&m,1,SIDE,SIDE,SIDE);
dMassAdjust (&m,MASS);
body[0] = dBodyCreate (world);
dBodySetMass (body[0],&m);
dBodySetPosition (body[0], pos1x, pos1y, pos1z);
dQuaternion q;
dQFromAxisAndAngle (q,ax1x,ax1y,ax1z,a1);
dBodySetQuaternion (body[0],q);
if (bodycount==2) {
body[1] = dBodyCreate (world);
dBodySetMass (body[1],&m);
dBodySetPosition (body[1], pos2x, pos2y, pos2z);
dQFromAxisAndAngle (q,ax2x,ax2y,ax2z,a2);
dBodySetQuaternion (body[1],q);
}
else body[1] = 0;
}
开发者ID:CentreForBioRobotics,项目名称:lpzrobots,代码行数:33,代码来源:test_joints.cpp
示例3: main
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); //Original Gravity = -0.2
dWorldSetCFM (world,1e-5);
dCreatePlane (space,0,0,1,0);
contactgroup = dJointGroupCreate (0);
// create object
sphere0 = dBodyCreate (world);
sphere0_geom = dCreateSphere (space,0.5);
dMassSetSphere (&m,1,0.5);
dBodySetMass (sphere0,&m);
dGeomSetBody (sphere0_geom,sphere0);
sphere1 = dBodyCreate (world);
sphere1_geom = dCreateSphere (space,0.5);
dMassSetSphere (&m,1,0.5);
dBodySetMass (sphere1,&m);
dGeomSetBody (sphere1_geom,sphere1);
sphere2 = dBodyCreate (world);
sphere2_geom = dCreateSphere (space,0.5);
dMassSetSphere (&m,1,0.5);
dBodySetMass (sphere2,&m);
dGeomSetBody (sphere2_geom,sphere2);
// set initial position
dBodySetPosition (sphere0,0,0,4);
dBodySetPosition (sphere1,5,0,4);
dBodySetPosition (sphere2,-2,0,4);
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
// clean up
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
dCloseODE();
return 0;
}
开发者ID:oakleyKatt,项目名称:FPGA-ODE-Collision-Detection,代码行数:53,代码来源:uss_test5.cpp
示例4: main
int main (int argc, char **argv)
{
// set for drawing
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = NULL;
fn.stop = NULL;
fn.path_to_textures = "../textures";
dInitODE(); // init ODE
world = dWorldCreate(); // create a dynamic world
dWorldSetGravity(world,0,0,-0.1);
dMass m; // a parameter for mass
dMassSetZero (&m); // initialize the parameter
//@a sphere
sphere.body = dBodyCreate (world); // create a rigid body
dReal radius = 0.5; // radius [m]
dMassSetSphere (&m,DENSITY,radius); // calculate a mass parameter for a sphere
dBodySetMass (sphere.body,&m); // set the mass parameter to the body
dBodySetPosition (sphere.body,0,1, 1); // set the position of the body
//@a box
box.body = dBodyCreate (world);
dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
dBodySetMass (box.body,&m);
dBodySetPosition (box.body,0,2,1);
// a capsule
capsule.body = dBodyCreate (world);
dMassSetCapsule(&m,DENSITY,3,radius,length);
dBodySetMass (capsule.body,&m);
dBodySetPosition (capsule.body,0,4,1);
// a cylinder
cylinder.body = dBodyCreate (world);
dMassSetCylinder(&m,DENSITY,3,radius,length);
dBodySetMass (cylinder.body,&m);
dBodySetPosition (cylinder.body,0,3,1);
// do the simulation
dsSimulationLoop (argc,argv,960,480,&fn);
dWorldDestroy (world); // destroy the world
dCloseODE(); // close ODE
return 0;
}
开发者ID:minroth,项目名称:Robot-Simulator,代码行数:53,代码来源:sample4.cpp
示例5: dMassSetCappedCylinderTotal
void CRigidCapsule::setMass(F32 mass){
if(!mBodyID)
return;
dMass m;
dMassSetCappedCylinderTotal(&m, TO_WORLD(mass), 3, TO_PHYSICS(mDimentions.x), TO_PHYSICS(mDimentions.y));
dBodySetMass(mBodyID, &m);
}
开发者ID:harkal,项目名称:sylphis3d,代码行数:7,代码来源:rigidcapsule.cpp
示例6: m_meshName
GameObject::GameObject(GameWorld& gw, const ObjectPrototype& proto, double x, double y, double z, int id) :
m_meshName(proto.m_meshName), m_sceneEntity(nullptr), m_sceneNode(nullptr), m_lockRotation(proto.m_lockRotation), m_isKinematic(proto.m_isKinematic),
m_maxTurn(proto.m_maxTurnAngle), m_maxForward(proto.m_maxForward), m_maxBackward(proto.m_maxBackward),
m_hitPoints(proto.m_maxHitPoints), m_collisionAccum(0), m_totalDamage(0), m_hasAgent(proto.m_hasAgent), m_gw(gw), m_id(id), m_oldGS(nullptr), m_newGS(nullptr)
{
m_sceneEntity = gw.GetScene()->createEntity(gw.GetMesh(m_meshName));
m_sceneNode = gw.GetScene()->getRootSceneNode()->createChildSceneNode();
m_sceneNode->attachObject(m_sceneEntity);
Ogre::Vector3 size = m_sceneEntity->getBoundingBox().getSize();
m_body = dBodyCreate(gw.GetPhysicsWorld());
m_geom = dCreateBox(gw.GetPhysicsSpace(), size.x, size.y, size.z);
dMassSetBox(&m_mass, proto.m_density, size.x, size.y, size.z);
dBodySetMass(m_body, &m_mass);
dGeomSetBody(m_geom, m_body);
dBodySetPosition(m_body, x, y, z);
// automagically disable things when the body is still for long enough
dBodySetAutoDisableFlag(m_body, 1);
dBodySetAutoDisableLinearThreshold(m_body, 0.1f);
dBodySetAutoDisableAngularThreshold(m_body, 0.25f);
dBodySetAutoDisableSteps(m_body, 1);
// improve simulation accuracy
dBodySetDamping(m_body, 0.0f, 0.1f);
if (proto.m_registerCollisions) {
gw.RegisterForCollisions(this);
}
if (proto.m_isKinematic) {
dBodySetKinematic(m_body);
}
}
开发者ID:mmoscat,项目名称:ai-project-2014,代码行数:35,代码来源:GameObject.cpp
示例7: dCreateBox
void PhysicsActor::postLoad(){
dMass m;
if (type==CUBESHAPE)
{
geom = dCreateBox(space,shape.x,shape.y,shape.z);
dMassSetBox(&m,1.0f,shape.x,shape.y,shape.z);
}
if (type==CAPSULESHAPE)
{
geom = dCreateCapsule(space,shape.x,shape.y);
dMassSetCapsule(&m, shape.z, 3, shape.x, shape.y); //the '3' means align on z-axis and density is shape.z
generateCapsuleList();
}
dMassAdjust(&m,mass);
dBodySetMass(body,&m);
dGeomSetBody(geom,body);
//initialise position
if (base){
Matrix4f bGlobal= base->baseMatrix * renderer->inverseCameraMatrix;
dBodySetPosition(body,bGlobal.data[12] + originalMatrix.data[12] + transformMatrix.data[12],bGlobal.data[13] + originalMatrix.data[13] + transformMatrix.data[13],bGlobal.data[14] + originalMatrix.data[14] + transformMatrix.data[14]);
}else{
dBodySetPosition(body,originalMatrix.data[12] + transformMatrix.data[12],originalMatrix.data[13] + transformMatrix.data[13],originalMatrix.data[14] + transformMatrix.data[14]);
}
dBodySetDamping(body, linearDamp, angleDamp);
bInit=true;
}
开发者ID:ElementalSpork,项目名称:Moviesandbox,代码行数:34,代码来源:physicsActor.cpp
示例8: dMassSetBox
void CRigidBox::setDensity(F32 density){
if(!mBodyID)
return;
dMass m;
dMassSetBox(&m, TO_WORLD(density), TO_PHYSICS(mDimentions.x), TO_PHYSICS(mDimentions.y), TO_PHYSICS(mDimentions.z));
dBodySetMass(mBodyID, &m);
}
开发者ID:harkal,项目名称:sylphis3d,代码行数:7,代码来源:rigidbox.cpp
示例9: dBodyCreate
void TrackedVehicle::create() {
this->vehicleBody = dBodyCreate(this->environment->world);
this->vehicleGeom = dCreateBox(this->environment->space, this->leftTrack->m->distance, this->width, this->leftTrack->m->radius[0]);
this->environment->setGeomName(this->vehicleGeom, name + ".vehicleGeom");
dMassSetBox(&this->vehicleMass, this->density, this->leftTrack->m->distance, this->width, this->leftTrack->m->radius[0]);
//dMassAdjust(&this->vehicleMass, 2.40);
dGeomSetCategoryBits(this->vehicleGeom, Category::OBSTACLE);
dGeomSetCollideBits(this->vehicleGeom, Category::OBSTACLE | Category::TERRAIN);
dBodySetMass(this->vehicleBody, &this->vehicleMass);
dGeomSetBody(this->vehicleGeom, this->vehicleBody);
dGeomSetOffsetPosition(this->vehicleGeom, 0, 0, this->leftTrack->m->radius[0]);
this->leftTrack->create();
this->rightTrack->create();
dReal w = this->width + 2*trackWidth + 2 * trackVehicleSpace;
dRigidBodyArraySetPosition(leftTrack->bodyArray, -wheelBase/2, -(w - trackWidth)/2, 0);
dRigidBodyArraySetPosition(rightTrack->bodyArray, -wheelBase/2, (w - trackWidth)/2, 0);
this->leftTrackJoint = dJointCreateFixed(this->environment->world, 0);
this->rightTrackJoint = dJointCreateFixed(this->environment->world, 0);
dJointAttach(this->leftTrackJoint, this->vehicleBody, this->leftTrack->trackBody);
dJointAttach(this->rightTrackJoint, this->vehicleBody, this->rightTrack->trackBody);
dJointSetFixed(this->leftTrackJoint);
dJointSetFixed(this->rightTrackJoint);
this->bodyArray = dRigidBodyArrayCreate(this->vehicleBody);
dRigidBodyArrayAdd(this->bodyArray, this->leftTrack->bodyArray);
dRigidBodyArrayAdd(this->bodyArray, this->rightTrack->bodyArray);
}
开发者ID:fferri,项目名称:tvs,代码行数:30,代码来源:TrackedVehicle.cpp
示例10: dWorldCreate
void RigidBodyEnvironment::createWorld(void)
{
// BEGIN SETTING UP AN OPENDE ENVIRONMENT
// ***********************************
bodyWorld = dWorldCreate();
space = dHashSpaceCreate(0);
dWorldSetGravity(bodyWorld, 0, 0, -0.981);
double lx = 0.2;
double ly = 0.2;
double lz = 0.1;
dMassSetBox(&m, 1, lx, ly, lz);
boxGeom = dCreateBox(space, lx, ly, lz);
boxBody = dBodyCreate(bodyWorld);
dBodySetMass(boxBody, &m);
dGeomSetBody(boxGeom, boxBody);
// *********************************
// END SETTING UP AN OPENDE ENVIRONMENT
setPlanningParameters();
}
开发者ID:danathughes,项目名称:ompl-release,代码行数:26,代码来源:OpenDERigidBodyPlanning.cpp
示例11: createFixedLeg
/*
=================================================================================
createFixedLeg
Use parameters to create leg body/geom and attach to body with fixed joint
=================================================================================
*/
void createFixedLeg(ODEObject &leg,
ODEObject &bodyAttachedTo,
dJointID& joint,
dReal xPos, dReal yPos, dReal zPos,
dReal xRot, dReal yRot, dReal zRot,
dReal radius,
dReal length)
{
dMatrix3 legOrient;
dRFromEulerAngles(legOrient, xRot, yRot, zRot);
//position and orientation
leg.Body = dBodyCreate(World);
dBodySetPosition(leg.Body, xPos, yPos, zPos);
dBodySetRotation(leg.Body, legOrient);
dBodySetLinearVel(leg.Body, 0, 0, 0);
dBodySetData(leg.Body, (void *)0);
//mass
dMass legMass;
dMassSetCapsule(&legMass, 1, 3, radius, length);
dBodySetMass(leg.Body, &legMass);
//geometry
leg.Geom = dCreateCapsule(Space, radius, length);
dGeomSetBody(leg.Geom, leg.Body);
//fixed joint
joint = dJointCreateFixed(World, jointgroup);
dJointAttach(joint, bodyAttachedTo.Body, leg.Body);
dJointSetFixed(joint);
}
开发者ID:bmarcott,项目名称:cs275,代码行数:39,代码来源:main.cpp
示例12: createInvisibleHead
void createInvisibleHead( float* pos )
{
dMatrix3 head_orientation;
dRFromEulerAngles(head_orientation, 0.0, 0.0, 0.0);
//position and orientation
head.Body = dBodyCreate(World);
dBodySetPosition(head.Body, pos[ 0 ], pos[ 1 ], pos[ 2 ]);
dBodySetRotation(head.Body, head_orientation);
dBodySetLinearVel(head.Body, 0, 0, 0);
dBodySetData(head.Body, (void *)0);
//mass
dMass head_mass;
dMassSetBox(&head_mass, 1.0, 1.0, 1.0, 1.0);
dBodySetMass(head.Body, &head_mass);
//geometry
head.Geom = dCreateBox(Space, 1.0, 1.0, 1.0);
dGeomSetBody(head.Geom, head.Body);
//fixed joint
invis_box_joint = dJointCreateFixed(World, jointgroup);
dJointAttach(invis_box_joint, body.Body, head.Body);
dJointSetFixed(invis_box_joint);
}
开发者ID:bmarcott,项目名称:cs275,代码行数:26,代码来源:main.cpp
示例13: dMassSetCappedCylinder
void CRigidCapsule::setDensity(F32 density){
if(!mBodyID)
return;
dMass m;
dMassSetCappedCylinder(&m, TO_WORLD(density), 3, TO_PHYSICS(mDimentions.x), TO_PHYSICS(mDimentions.y));
dBodySetMass(mBodyID, &m);
}
开发者ID:harkal,项目名称:sylphis3d,代码行数:7,代码来源:rigidcapsule.cpp
示例14: m_odeWorld
ODEObject::ODEObject(OscObject *obj, dGeomID odeGeom, dWorldID odeWorld, dSpaceID odeSpace)
: m_odeWorld(odeWorld), m_odeSpace(odeSpace)
{
m_object = obj;
m_odeGeom = odeGeom;
m_odeBody = NULL;
m_odeBody = dBodyCreate(m_odeWorld);
assert(m_odeGeom!=NULL);
dBodySetPosition(m_odeBody, 0, 0, 0);
dGeomSetPosition(m_odeGeom, 0, 0, 0);
// note: owners must override this by setting the density. can't
// do it here because obj->m_pSpecial is not yet
// initialized.
dMassSetSphere(&m_odeMass, 1, 1);
dBodySetMass(m_odeBody, &m_odeMass);
dGeomSetBody(m_odeGeom, m_odeBody);
dGeomSetData(m_odeGeom, obj);
if (!obj) return;
obj->m_rotation.setSetCallback(ODEObject::on_set_rotation, this);
obj->m_position.setSetCallback(ODEObject::on_set_position, this);
obj->m_velocity.setSetCallback(ODEObject::on_set_velocity, this);
obj->m_accel.setSetCallback(ODEObject::on_set_accel, this);
obj->m_force.setSetCallback(ODEObject::on_set_force, this);
obj->addHandler("push", "ffffff", ODEObject::push_handler);
}
开发者ID:funkmeisterb,项目名称:dimple,代码行数:33,代码来源:PhysicsSim.cpp
示例15: dMassSetCylinderTotal
void PCylinder::setMass(dReal mass)
{
m_mass = mass;
dMass m;
dMassSetCylinderTotal (&m,m_mass,1,m_radius,m_length);
dBodySetMass (body,&m);
}
开发者ID:jbohren-forks,项目名称:cnc-msl,代码行数:7,代码来源:pcylinder.cpp
示例16: dMassSetParameters
/** sets full mass specification.
\b cg is center of gravity vector
\b I are parts of the 3x3 interia tensor
*/
void Primitive::setMass(double mass, double cgx, double cgy, double cgz,
double I11, double I22, double I33,
double I12, double I13, double I23){
dMass mass0;
dMassSetParameters(&mass0, mass, cgx, cgy, cgz, I11, I22, I33, I12, I13, I23);
dBodySetMass(body, &mass0);
}
开发者ID:CentreForBioRobotics,项目名称:lpzrobots,代码行数:11,代码来源:primitive.cpp
示例17: dMassSetBoxTotal
void CRigidBox::setMass(F32 mass){
if(!mBodyID)
return;
dMass m;
dMassSetBoxTotal(&m, mass, TO_PHYSICS(mDimentions.x), TO_PHYSICS(mDimentions.y), TO_PHYSICS(mDimentions.z));
dBodySetMass(mBodyID, &m);
}
开发者ID:harkal,项目名称:sylphis3d,代码行数:7,代码来源:rigidbox.cpp
示例18: dBodyGetMass
void TSRODERigidBody::AddCylinderGeometry( TSRPhysicsWorld* _pWorldInterface, const TSRMatrix4& _bodyToGeomTransform, float _fRadius,float _fLength, float _fDensity )
{
TSRODEPhysicsWorld* _pWorld = ( TSRODEPhysicsWorld* ) _pWorldInterface;
dMass totalMass;
dBodyGetMass( m_BodyID, &totalMass );
if ( m_GeomIDs.size() == 0 )
{
dMassSetZero( &totalMass );
}
dMatrix4 R;
dVector3 P;
Matrix4ToODE( _bodyToGeomTransform, R, P );
dGeomID geomTransform = dCreateGeomTransform( _pWorld->m_SpaceID );
dGeomID encapsulatedGeom = 0;
dMass currMass;
dMassSetZero( &currMass );
encapsulatedGeom = dCreateCylinder( 0, _fRadius, _fLength );
dMassSetCylinder( &currMass, _fDensity, 0, _fRadius, _fLength );
dMassRotate( &currMass, R );
//dMassTranslate(&currMass,P[0],P[1],P[2]);
dMassAdd( &totalMass, &currMass );
dGeomSetPosition( encapsulatedGeom, P[ 0 ], P[ 1 ], P[ 2 ] );
dGeomSetRotation( encapsulatedGeom, R );
dGeomTransformSetCleanup( geomTransform, 1 );
dGeomTransformSetGeom( geomTransform, encapsulatedGeom );
dGeomSetBody( geomTransform, m_BodyID );
m_GeomIDs.push_back( geomTransform );
dBodySetMass( m_BodyID, &totalMass );
}
开发者ID:ShadyEM,项目名称:Twister3D,代码行数:33,代码来源:TSRODERigidBody.cpp
示例19: dBodyCreate
WheelPiece::WheelPiece(dWorldID& world,dSpaceID& space, float x, float y, float z)
{
dBodyCreate(world);
body = dBodyCreate(world);
radius = .35;
thickness = .25;
activationDirection = 0;
geom = dCreateCylinder(space, radius, thickness);
dGeomSetBody(geom, body);
dGeomSetData(geom, this);
dMass mass;
mass.setCylinder(.5, 1, radius, thickness);
dBodySetMass(body, &mass);
const dMatrix3 rotationMatrix = {1,0,0,0,
0,1,0,0,
0,0,1,0
};
dBodySetRotation(body, rotationMatrix);
dBodySetPosition(body,x,y,z);
attachmentOffset = thickness + .25;
color[0] = .5;
color[1] = 1;
color[2] = 1;
}
开发者ID:kinggryan,项目名称:machinebuilder,代码行数:31,代码来源:wheelpiece.cpp
示例20: dBodyCreate
CubeBasePiece::CubeBasePiece(dWorldID& world,dSpaceID& space, float x, float y, float z)
{
body = dBodyCreate(world);
geom = dCreateBox(space, sides[0], sides[1], sides[2]);
dGeomSetBody(geom, body);
dGeomSetData(geom, this);
dMass mass;
mass.setBox(CUBE_PIECE_DENSITY, sides[0], sides[1], sides[2]);
dBodySetMass(body, &mass);
const dMatrix3 rotationMatrix = {1,0,0,0,
0,1,0,0,
0,0,1,0};
dBodySetRotation(body, rotationMatrix);
dBodySetPosition(body,x,y,z);
for(int i = 0 ; i < 6 ; i++)
attachedPieces[i] = NULL; // initialize attached piece array to all null pointers
color[0] = 1;
color[1] = 1;
color[2] = 1;
}
开发者ID:kinggryan,项目名称:machinebuilder,代码行数:25,代码来源:cubebasepiece.cpp
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