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main.cpp
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#include <boost/shared_ptr.hpp>
using namespace boost;
#include <ode/ode.h>
#include <GL/glut.h>
#include <iostream>
#include <windows.h>
using namespace std;
#include <XInput.h>
#pragma comment(lib, "XInput.lib")
const int MAX_CONTROLLERS = 4;
const int LEFT_JOYSTICK = 0;
const int RIGHT_JOYSTICK = 1;
const int JOYSTICK_X = 0;
const int JOYSTICK_Y = 1;
XINPUT_STATE controllerStates[MAX_CONTROLLERS];
float joysticks[MAX_CONTROLLERS][2][2];
void updateControllerStates()
{
for(int i = 0; i < MAX_CONTROLLERS; ++i)
{
if(XInputGetState(i, &controllerStates[i]) != ERROR_SUCCESS)
{
joysticks[i][LEFT_JOYSTICK][JOYSTICK_X] = 0;
joysticks[i][LEFT_JOYSTICK][JOYSTICK_Y] = 0;
joysticks[i][RIGHT_JOYSTICK][JOYSTICK_X] = 0;
joysticks[i][RIGHT_JOYSTICK][JOYSTICK_Y] = 0;
continue;
}
// zero value if thumbsticks are within the dead zone
if( ( controllerStates[i].Gamepad.sThumbLX < XINPUT_GAMEPAD_LEFT_THUMB_DEADZONE &&
controllerStates[i].Gamepad.sThumbLX > -XINPUT_GAMEPAD_LEFT_THUMB_DEADZONE ) &&
( controllerStates[i].Gamepad.sThumbLY < XINPUT_GAMEPAD_LEFT_THUMB_DEADZONE &&
controllerStates[i].Gamepad.sThumbLY > -XINPUT_GAMEPAD_LEFT_THUMB_DEADZONE ) )
{
controllerStates[i].Gamepad.sThumbLX = 0;
controllerStates[i].Gamepad.sThumbLY = 0;
}
if( ( controllerStates[i].Gamepad.sThumbRX < XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE &&
controllerStates[i].Gamepad.sThumbRX > -XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE ) &&
( controllerStates[i].Gamepad.sThumbRY < XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE &&
controllerStates[i].Gamepad.sThumbRY > -XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE ) )
{
controllerStates[i].Gamepad.sThumbRX = 0;
controllerStates[i].Gamepad.sThumbRY = 0;
}
joysticks[i][LEFT_JOYSTICK][JOYSTICK_X] = (float) controllerStates[i].Gamepad.sThumbLX / 32767.0f;
joysticks[i][LEFT_JOYSTICK][JOYSTICK_Y] = (float) controllerStates[i].Gamepad.sThumbLY / 32767.0f;
joysticks[i][RIGHT_JOYSTICK][JOYSTICK_X] = (float) controllerStates[i].Gamepad.sThumbRX / 32767.0f;
joysticks[i][RIGHT_JOYSTICK][JOYSTICK_Y] = (float) controllerStates[i].Gamepad.sThumbRY / 32767.0f;
}
}
const dReal PI = 3.141592654f;
const dReal EPSILON = 0.01f;
void drawPanel()
{
glBegin(GL_TRIANGLES);
//looking from +z axis
glVertex3f(-0.5,-0.5,0);
glVertex3f(-0.5,0.5,0);
glVertex3f(0.5,-0.5,0);
glVertex3f(-0.5,0.5,0);
glVertex3f(0.5,0.5,0);
glVertex3f(0.5,-0.5,0);
glEnd();
}
void drawSquare(float r, float g, float b)
{
glLineWidth(2);
glColor3f(1,0.5,0);
glBegin(GL_LINE_STRIP);
glVertex3f(-0.5,-0.5,0.5);
glVertex3f(-0.5,0.5,0.5);
glVertex3f(0.5,0.5,0.5);
glVertex3f(0.5,-0.5,0.5);
glVertex3f(-0.5,-0.5,0.5);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex3f(-0.5,-0.5,-0.5);
glVertex3f(-0.5,0.5,-0.5);
glVertex3f(0.5,0.5,-0.5);
glVertex3f(0.5,-0.5,-0.5);
glVertex3f(-0.5,-0.5,-0.5);
glEnd();
glBegin(GL_LINES);
glVertex3f(-0.5,-0.5,0.5);
glVertex3f(-0.5,-0.5,-0.5);
glVertex3f(-0.5,0.5,0.5);
glVertex3f(-0.5,0.5,-0.5);
glVertex3f(0.5,0.5,0.5);
glVertex3f(0.5,0.5,-0.5);
glVertex3f(0.5,-0.5,0.5);
glVertex3f(0.5,-0.5,-0.5);
glEnd();
glColor3f(r,g,b);
glBegin(GL_TRIANGLES);
//looking from +z axis
glVertex3f(-0.5,-0.5,0.5);
glVertex3f(-0.5,0.5,0.5);
glVertex3f(0.5,-0.5,0.5);
glVertex3f(-0.5,0.5,0.5);
glVertex3f(0.5,0.5,0.5);
glVertex3f(0.5,-0.5,0.5);
//looking from -z axis
glVertex3f(0.5,-0.5,0.5);
glVertex3f(0.5,0.5,0.5);
glVertex3f(-0.5,-0.5,0.5);
glVertex3f(0.5,0.5,0.5);
glVertex3f(-0.5,0.5,0.5);
glVertex3f(-0.5,-0.5,0.5);
//looking from +x axis
glVertex3f(0.5,0.5,0.5);
glVertex3f(0.5,0.5,-0.5);
glVertex3f(0.5,-0.5,0.5);
glVertex3f(0.5,-0.5,0.5);
glVertex3f(0.5,0.5,-0.5);
glVertex3f(0.5,-0.5,-0.5);
//looking from -x axis
glVertex3f(-0.5,0.5,-0.5);
glVertex3f(-0.5,0.5,0.5);
glVertex3f(-0.5,-0.5,-0.5);
glVertex3f(-0.5,-0.5,-0.5);
glVertex3f(-0.5,0.5,0.5);
glVertex3f(-0.5,-0.5,0.5);
//looking from +y axis
glVertex3f(0.5,0.5,-0.5);
glVertex3f(0.5,0.5,0.5);
glVertex3f(-0.5,0.5,0.5);
glVertex3f(-0.5,0.5,0.5);
glVertex3f(-0.5,0.5,-0.5);
glVertex3f(0.5,0.5,-0.5);
//looking from -y axis
glVertex3f(0.5,-0.5,0.5);
glVertex3f(0.5,-0.5,-0.5);
glVertex3f(-0.5,-0.5,-0.5);
glVertex3f(-0.5,-0.5,-0.5);
glVertex3f(-0.5,-0.5,0.5);
glVertex3f(0.5,-0.5,0.5);
glEnd();
}
const float CYLINDER_SIDES = 32.0f;
void drawCylinder(bool highlight)
{
float r = 0.5;
float g = 0;
if(highlight)
{
r = 1;
g = 1;
}
glBegin(GL_TRIANGLES);
float inc = (2*PI) / CYLINDER_SIDES;
float oldX = 0;
float oldY = 0;
int c = 0;
for(float i = 2 * PI; i > -EPSILON; i -= inc)
{
++c;
const int mod = c % 6;
if(mod < 3)
{
glColor3f(r, g, 0);
}
else
{
glColor3f(0,0.5,0.5);
}
if(c == 3)
{
glColor3f(1,1,1);
}
float x = cosf(i);
float y = sinf(i);
//top piece
glVertex3f(oldX, oldY, 0.5);
glVertex3f(x, y, 0.5);
glVertex3f(0.0, 0.0, 0.5);
//bottom piece
glVertex3f(x, y, -0.5);
glVertex3f(oldX, oldY, -0.5);
glVertex3f(0.0, 0.0, -0.5);
//side piece
glVertex3f(x,y,0.5);
glVertex3f(oldX,oldY,0.5);
glVertex3f(x,y,-0.5);
glVertex3f(x,y,-0.5);
glVertex3f(oldX,oldY,0.5);
glVertex3f(oldX,oldY,-0.5);
oldX = x;
oldY = y;
}
glEnd();
}
dWorldID world;
dSpaceID space;
void ODEtoOGL(float* M, const dReal* p, const dReal* R)
{
M[0] = R[0]; M[1] = R[4]; M[2] = R[8]; M[3] = 0;
M[4] = R[1]; M[5] = R[5]; M[6] = R[9]; M[7] = 0;
M[8] = R[2]; M[9] = R[6]; M[10] = R[10]; M[11] = 0;
M[12] = p[0]; M[13] = p[1]; M[14] = p[2]; M[15] = 1;
}
const dReal ROBOT_DIMENSION_X = 0.9652;
const dReal ROBOT_DIMENSION_Y = 0.7112;
const dReal WHEEL_RADIUS = (3.0 * 2.5) / 100.0;
const dReal ROBOT_DIMENSION_Z = WHEEL_RADIUS * 0.5;
const dReal WHEEL_THICKNESS = 0.15;
const dReal WHEEL_EDGE_X = WHEEL_RADIUS + 0.05;
const dReal WHEEL_EDGE_Y = WHEEL_THICKNESS + 0.05;
const dReal TRAILER_RADIUS = (14.0*2.5)/100.0;
enum
{
LEFT_FRONT_WHEEL = 1,
LEFT_BACK_WHEEL = 2,
RIGHT_FRONT_WHEEL = 3,
RIGHT_BACK_WHEEL = 4,
};
enum
{
BOX_GEOM,
WHEEL_GEOM,
PLANE,
WALL_GEOM,
HITCH_GEOM,
};
const dReal MAX_SPEED = 40;
class Robot
{
public:
Robot(dVector3 pos, dReal mass, dReal wheelMass, dReal wheelFMax, bool wide, dReal trailerWeight, dReal hitchLength, bool steerable)
: hitchLength(hitchLength), steerable(steerable)
{
for(int i = 0;i < 4; ++i)
{
curWheelSpeed[i] = 0;
}
myWidth = ROBOT_DIMENSION_Y;
myHeight = ROBOT_DIMENSION_X;
if(wide)
{
myWidth = ROBOT_DIMENSION_X;
myHeight = ROBOT_DIMENSION_Y;
}
boxBody = dBodyCreate(world);
dMassSetBoxTotal(&boxMass, mass, myWidth, myHeight, ROBOT_DIMENSION_Z);
dBodySetMass(boxBody, &boxMass);
dBodySetPosition(boxBody, pos[0], pos[1], pos[2]);
boxGeom = dCreateBox(space, myWidth, myHeight, ROBOT_DIMENSION_Z);
dGeomSetBody(boxGeom, boxBody);
dMatrix3 wheelRot;//wheels are on z-axis - need to be on 9
dRFromAxisAndAngle(wheelRot, 1, 0, 0, PI/2);
//back left wheel
wheelBody1 = dBodyCreate(world);
dMassSetCylinderTotal(&wheelMass1, wheelMass, 3, WHEEL_RADIUS, WHEEL_THICKNESS);
dBodySetMass(wheelBody1, &wheelMass1);
dBodySetPosition(wheelBody1, pos[0] - myWidth / 2 + WHEEL_EDGE_X, pos[1] + myHeight / 2 - WHEEL_EDGE_Y, pos[2] - ROBOT_DIMENSION_Z / 2);
dBodySetRotation(wheelBody1, wheelRot);
wheelGeom1 = dCreateCCylinder(space, WHEEL_RADIUS, WHEEL_THICKNESS);
dGeomSetBody(wheelGeom1, wheelBody1);
//front left wheel
wheelBody2 = dBodyCreate(world);
dMassSetCylinderTotal(&wheelMass2, wheelMass, 3, WHEEL_RADIUS, WHEEL_THICKNESS);
dBodySetMass(wheelBody2, &wheelMass2);
dBodySetPosition(wheelBody2, pos[0] + myWidth / 2 - WHEEL_EDGE_X, pos[1] + myHeight / 2 - WHEEL_EDGE_Y, pos[2] - ROBOT_DIMENSION_Z / 2);
dBodySetRotation(wheelBody2, wheelRot);
wheelGeom2 = dCreateCCylinder(space, WHEEL_RADIUS, WHEEL_THICKNESS);
dGeomSetBody(wheelGeom2, wheelBody2);
//back right wheel
wheelBody3 = dBodyCreate(world);
dMassSetCylinderTotal(&wheelMass3, wheelMass, 3, WHEEL_RADIUS, WHEEL_THICKNESS);
dBodySetMass(wheelBody3, &wheelMass3);
dBodySetPosition(wheelBody3, pos[0] - myWidth / 2 + WHEEL_EDGE_X, pos[1] - myHeight / 2 + WHEEL_EDGE_Y, pos[2] - ROBOT_DIMENSION_Z / 2);
dBodySetRotation(wheelBody3, wheelRot);
wheelGeom3 = dCreateCCylinder(space, WHEEL_RADIUS, WHEEL_THICKNESS);
dGeomSetBody(wheelGeom3, wheelBody3);
//front right wheel
wheelBody4 = dBodyCreate(world);
dMassSetCylinderTotal(&wheelMass4, wheelMass, 3, WHEEL_RADIUS, WHEEL_THICKNESS);
dBodySetMass(wheelBody4, &wheelMass4);
dBodySetPosition(wheelBody4, pos[0] + myWidth / 2 - WHEEL_EDGE_X, pos[1] - myHeight / 2 + WHEEL_EDGE_Y, pos[2] - ROBOT_DIMENSION_Z / 2);
dBodySetRotation(wheelBody4, wheelRot);
wheelGeom4 = dCreateCCylinder(space, WHEEL_RADIUS, WHEEL_THICKNESS);
dGeomSetBody(wheelGeom4, wheelBody4);
if(!steerable)
{
wheelJoint1 = dJointCreateHinge(world, 0);
wheelJoint2 = dJointCreateHinge(world, 0);
wheelJoint3 = dJointCreateHinge(world, 0);
wheelJoint4 = dJointCreateHinge(world, 0);
dJointAttach(wheelJoint1, boxBody, wheelBody1);
dJointAttach(wheelJoint2, boxBody, wheelBody2);
dJointAttach(wheelJoint3, boxBody, wheelBody3);
dJointAttach(wheelJoint4, boxBody, wheelBody4);
dJointSetHingeAnchor(wheelJoint1, dBodyGetPosition(wheelBody1)[0], dBodyGetPosition(wheelBody1)[1], dBodyGetPosition(wheelBody1)[2]);
dJointSetHingeAnchor(wheelJoint2, dBodyGetPosition(wheelBody2)[0], dBodyGetPosition(wheelBody2)[1], dBodyGetPosition(wheelBody2)[2]);
dJointSetHingeAnchor(wheelJoint3, dBodyGetPosition(wheelBody3)[0], dBodyGetPosition(wheelBody3)[1], dBodyGetPosition(wheelBody3)[2]);
dJointSetHingeAnchor(wheelJoint4, dBodyGetPosition(wheelBody4)[0], dBodyGetPosition(wheelBody4)[1], dBodyGetPosition(wheelBody4)[2]);
dJointSetHingeAxis(wheelJoint1, 0, -1, 0);
dJointSetHingeAxis(wheelJoint2, 0, 1, 0);
dJointSetHingeAxis(wheelJoint3, 0, -1, 0);
dJointSetHingeAxis(wheelJoint4, 0, 1, 0);
dJointSetHingeParam(wheelJoint1, dParamFMax, wheelFMax);
dJointSetHingeParam(wheelJoint2, dParamFMax, wheelFMax);
dJointSetHingeParam(wheelJoint3, dParamFMax, wheelFMax);
dJointSetHingeParam(wheelJoint4, dParamFMax, wheelFMax);
}
else
{
wheelJoint1 = dJointCreateHinge(world, 0);
wheelJoint2 = dJointCreateHinge2(world, 0);
wheelJoint3 = dJointCreateHinge(world, 0);
wheelJoint4 = dJointCreateHinge2(world, 0);
dJointAttach(wheelJoint1, boxBody, wheelBody1);
dJointAttach(wheelJoint2, boxBody, wheelBody2);
dJointAttach(wheelJoint3, boxBody, wheelBody3);
dJointAttach(wheelJoint4, boxBody, wheelBody4);
dJointSetHingeAnchor(wheelJoint1, dBodyGetPosition(wheelBody1)[0], dBodyGetPosition(wheelBody1)[1], dBodyGetPosition(wheelBody1)[2]);
dJointSetHinge2Anchor(wheelJoint2, dBodyGetPosition(wheelBody2)[0], dBodyGetPosition(wheelBody2)[1], dBodyGetPosition(wheelBody2)[2]);
dJointSetHingeAnchor(wheelJoint3, dBodyGetPosition(wheelBody3)[0], dBodyGetPosition(wheelBody3)[1], dBodyGetPosition(wheelBody3)[2]);
dJointSetHinge2Anchor(wheelJoint4, dBodyGetPosition(wheelBody4)[0], dBodyGetPosition(wheelBody4)[1], dBodyGetPosition(wheelBody4)[2]);
dJointSetHingeAxis(wheelJoint1, 0, -1, 0);
dJointSetHinge2Axis2(wheelJoint2, 0, 1, 0);
dJointSetHinge2Axis1(wheelJoint2, 0, 0, 1);
dJointSetHingeAxis(wheelJoint3, 0, -1, 0);
dJointSetHinge2Axis2(wheelJoint4, 0, 1, 0);
dJointSetHinge2Axis1(wheelJoint4, 0, 0, 1);
dJointSetHingeParam(wheelJoint1, dParamFMax, wheelFMax);
dJointSetHinge2Param(wheelJoint2, dParamFMax2, wheelFMax);
dJointSetHinge2Param(wheelJoint2, dParamFMax, 10);
dJointSetHingeParam(wheelJoint3, dParamFMax, wheelFMax);
dJointSetHinge2Param(wheelJoint4, dParamFMax2, wheelFMax);
dJointSetHinge2Param(wheelJoint4, dParamFMax, 10);
dJointSetHinge2Param(wheelJoint2, dParamLoStop, -PI/4);
dJointSetHinge2Param(wheelJoint4, dParamLoStop, -PI/4);
dJointSetHinge2Param(wheelJoint2, dParamHiStop, PI/4);
dJointSetHinge2Param(wheelJoint4, dParamHiStop, PI/4);
}
dGeomSetData(boxGeom, (void*)BOX_GEOM);
dGeomSetData(wheelGeom1, (void*)WHEEL_GEOM);
dGeomSetData(wheelGeom2, (void*)WHEEL_GEOM);
dGeomSetData(wheelGeom3, (void*)WHEEL_GEOM);
dGeomSetData(wheelGeom4, (void*)WHEEL_GEOM);
trailerBody = dBodyCreate(world);
dMassSetBoxTotal(&trailerMass, wheelMass, TRAILER_RADIUS*2.0, TRAILER_RADIUS*2.0, ROBOT_DIMENSION_Z);
dBodySetMass(trailerBody, &trailerMass);
dBodySetPosition(trailerBody, pos[0] - myWidth / 2.0 - hitchLength - TRAILER_RADIUS, pos[1], pos[2]);
trailerGeom = dCreateBox(space, TRAILER_RADIUS*2.0, TRAILER_RADIUS*2.0, ROBOT_DIMENSION_Z);
dGeomSetBody(trailerGeom, trailerBody);
hitchBody = dBodyCreate(world);
dMassSetBoxTotal(&hitchMass, wheelMass, hitchLength, ROBOT_DIMENSION_Z, ROBOT_DIMENSION_Z);
dBodySetMass(hitchBody, &hitchMass);
dBodySetPosition(hitchBody, pos[0] - myWidth / 2.0 - hitchLength / 2.0, pos[1], pos[2]);
hitchGeom = dCreateBox(space, hitchLength, ROBOT_DIMENSION_Z, ROBOT_DIMENSION_Z);
dGeomSetBody(hitchGeom, hitchBody);
dGeomSetData(trailerGeom, (void*)BOX_GEOM);
dGeomSetData(hitchGeom, (void*)HITCH_GEOM);
trailerJoint1 = dJointCreateHinge(world, 0);
trailerJoint2 = dJointCreateFixed(world, 0);
dJointAttach(trailerJoint1, boxBody, hitchBody);
dJointAttach(trailerJoint2, trailerBody, hitchBody);
dJointSetHingeAnchor(trailerJoint1, pos[0] - myWidth / 2, pos[1], pos[2]);
dJointSetHingeAxis(trailerJoint1, 0, 0, 1);
dJointSetFixed(trailerJoint2);
//trailer wheel 2
wheelBody5 = dBodyCreate(world);
dMassSetCylinderTotal(&wheelMass5, wheelMass, 3, WHEEL_RADIUS, WHEEL_THICKNESS);
dBodySetMass(wheelBody5, &wheelMass5);
dBodySetPosition(wheelBody5, pos[0] - myWidth / 2.0 - hitchLength - TRAILER_RADIUS, pos[1] + TRAILER_RADIUS/2.0, pos[2]);
dBodySetRotation(wheelBody5, wheelRot);
wheelGeom5 = dCreateCCylinder(space, WHEEL_RADIUS, WHEEL_THICKNESS);
dGeomSetBody(wheelGeom5, wheelBody5);
//trailer wheel 1
wheelBody6 = dBodyCreate(world);
dMassSetCylinderTotal(&wheelMass6, wheelMass, 3, WHEEL_RADIUS, WHEEL_THICKNESS);
dBodySetMass(wheelBody6, &wheelMass6);
dBodySetPosition(wheelBody6, pos[0] - myWidth / 2.0 - hitchLength - TRAILER_RADIUS, pos[1] - TRAILER_RADIUS/2.0, pos[2]);
dBodySetRotation(wheelBody6, wheelRot);
wheelGeom6 = dCreateCCylinder(space, WHEEL_RADIUS, WHEEL_THICKNESS);
dGeomSetBody(wheelGeom6, wheelBody6);
wheelJoint5 = dJointCreateHinge(world, 0);
wheelJoint6 = dJointCreateHinge(world, 0);
dJointAttach(wheelJoint5, trailerBody, wheelBody5);
dJointAttach(wheelJoint6, trailerBody, wheelBody6);
dJointSetHingeAnchor(wheelJoint5, dBodyGetPosition(wheelBody5)[0], dBodyGetPosition(wheelBody5)[1], dBodyGetPosition(wheelBody5)[2]);
dJointSetHingeAnchor(wheelJoint6, dBodyGetPosition(wheelBody6)[0], dBodyGetPosition(wheelBody6)[1], dBodyGetPosition(wheelBody6)[2]);
dJointSetHingeAxis(wheelJoint5, 0, -1, 0);
dJointSetHingeAxis(wheelJoint6, 0, 1, 0);
dGeomSetData(wheelGeom5, (void*)WHEEL_GEOM);
dGeomSetData(wheelGeom6, (void*)WHEEL_GEOM);
}
virtual ~Robot()
{
dJointDestroy(wheelJoint1);
dJointDestroy(wheelJoint2);
dJointDestroy(wheelJoint3);
dJointDestroy(wheelJoint4);
dGeomDestroy(boxGeom);
dBodyDestroy(boxBody);
dGeomDestroy(wheelGeom1);
dBodyDestroy(wheelBody1);
dGeomDestroy(wheelGeom2);
dBodyDestroy(wheelBody2);
dGeomDestroy(wheelGeom3);
dBodyDestroy(wheelBody3);
dGeomDestroy(wheelGeom4);
dBodyDestroy(wheelBody4);
dGeomDestroy(hitchGeom);
dBodyDestroy(hitchBody);
dGeomDestroy(trailerGeom);
dBodyDestroy(trailerBody);
dJointDestroy(trailerJoint1);
dJointDestroy(trailerJoint2);
}
void draw(float r, float g, float b)
{
float transform[16];
const dReal* pos = dBodyGetPosition(boxBody);
const dReal* rot = dBodyGetRotation(boxBody);
glPushMatrix();
ODEtoOGL(transform, pos, rot);
glMultMatrixf(transform);
glScalef(myWidth, myHeight, ROBOT_DIMENSION_Z);
drawSquare(r,g,b);
glPopMatrix();
pos = dBodyGetPosition(hitchBody);
rot = dBodyGetRotation(hitchBody);
glPushMatrix();
ODEtoOGL(transform, pos, rot);
glMultMatrixf(transform);
glScalef(hitchLength, ROBOT_DIMENSION_Z, ROBOT_DIMENSION_Z);
drawSquare(r,g,b);
glPopMatrix();
pos = dBodyGetPosition(trailerBody);
rot = dBodyGetRotation(trailerBody);
glPushMatrix();
ODEtoOGL(transform, pos, rot);
glMultMatrixf(transform);
glScalef(TRAILER_RADIUS*2.0, TRAILER_RADIUS*2.0, ROBOT_DIMENSION_Z);
drawSquare(r,g,b);
glPopMatrix();
pos = dBodyGetPosition(wheelBody1);
rot = dBodyGetRotation(wheelBody1);
glPushMatrix();
ODEtoOGL(transform, pos, rot);
glMultMatrixf(transform);
glScalef(WHEEL_RADIUS, WHEEL_RADIUS, WHEEL_THICKNESS);
drawCylinder(isWheelSlipping(1));
glPopMatrix();
pos = dBodyGetPosition(wheelBody2);
rot = dBodyGetRotation(wheelBody2);
glPushMatrix();
ODEtoOGL(transform, pos, rot);
glMultMatrixf(transform);
glScalef(WHEEL_RADIUS, WHEEL_RADIUS, WHEEL_THICKNESS);
drawCylinder(isWheelSlipping(2));
glPopMatrix();
pos = dBodyGetPosition(wheelBody3);
rot = dBodyGetRotation(wheelBody3);
glPushMatrix();
ODEtoOGL(transform, pos, rot);
glMultMatrixf(transform);
glScalef(WHEEL_RADIUS, WHEEL_RADIUS, WHEEL_THICKNESS);
drawCylinder(isWheelSlipping(3));
glPopMatrix();
pos = dBodyGetPosition(wheelBody4);
rot = dBodyGetRotation(wheelBody4);
glPushMatrix();
ODEtoOGL(transform, pos, rot);
glMultMatrixf(transform);
glScalef(WHEEL_RADIUS, WHEEL_RADIUS, WHEEL_THICKNESS);
drawCylinder(isWheelSlipping(4));
glPopMatrix();
pos = dBodyGetPosition(wheelBody5);
rot = dBodyGetRotation(wheelBody5);
glPushMatrix();
ODEtoOGL(transform, pos, rot);
glMultMatrixf(transform);
glScalef(WHEEL_RADIUS, WHEEL_RADIUS, WHEEL_THICKNESS);
drawCylinder(false);
glPopMatrix();
pos = dBodyGetPosition(wheelBody6);
rot = dBodyGetRotation(wheelBody6);
glPushMatrix();
ODEtoOGL(transform, pos, rot);
glMultMatrixf(transform);
glScalef(WHEEL_RADIUS, WHEEL_RADIUS, WHEEL_THICKNESS);
drawCylinder(false);
glPopMatrix();
}
virtual void update()
{
}
void setWheelSpeed(int num, dReal vel)
{
dJointID theJoint;
dReal mult = 1.0f;
switch(num)
{
case 1:
theJoint = wheelJoint1;
break;
case 2:
theJoint = wheelJoint2;
mult = -1.0f;
break;
case 3:
theJoint = wheelJoint3;
break;
case 4:
theJoint = wheelJoint4;
mult = -1.0f;
break;
default:
return;
}
if(!steerable)
{
dJointSetHingeParam(theJoint, dParamVel, vel * mult);
}
else
{
if(num == 1 || num == 3)
{
dJointSetHingeParam(theJoint, dParamVel, vel * mult);
}
else
{
dJointSetHinge2Param(theJoint, dParamVel2, vel * mult);
}
}
}
void setWheelSpeedAll(dReal vel)
{
for(int i = 1; i <= 4; ++i)
{
setWheelSpeed(i, vel);
}
}
void setWheelSpeedLeft(dReal vel)
{
setWheelSpeed(1, vel);
setWheelSpeed(2, vel);
}
void setWheelSpeedRight(dReal vel)
{
setWheelSpeed(3, vel);
setWheelSpeed(4, vel);
}
dReal getWheelSpeed(int num)
{
dJointID theJoint;
switch(num)
{
case 1:
theJoint = wheelJoint1;
break;
case 2:
theJoint = wheelJoint2;
break;
case 3:
theJoint = wheelJoint3;
break;
case 4:
theJoint = wheelJoint4;
break;
default:
return 0;
}
if(!steerable)
{
return dJointGetHingeParam(theJoint, dParamVel);
}
else
{
if(num == 1 || num == 3)
{
return dJointGetHingeParam(theJoint, dParamVel);
}
else
{
return dJointGetHinge2Param(theJoint, dParamVel2);
}
}
}
bool isWheelSlipping(int num)
{
dBodyID theBody;
switch(num)
{
case 1:
theBody = wheelBody1;
break;
case 2:
theBody = wheelBody2;
break;
case 3:
theBody = wheelBody3;
break;
case 4:
theBody = wheelBody4;
break;
default:
return false;
}
dReal speed = getSpeed();
dReal wheelSpeed = getWheelSpeed(num);
dReal wheelVelocityAtFloor = wheelSpeed * WHEEL_RADIUS;
if(wheelVelocityAtFloor < 0)
{
wheelVelocityAtFloor *= -1.0f;
}
dReal delta = wheelVelocityAtFloor - speed;
const dReal SPEED_EPSILON = 0.1f;
//check if the wheel isn't really spinning (ie. it's dragging, not slipping)
if(wheelVelocityAtFloor > -SPEED_EPSILON && wheelVelocityAtFloor < SPEED_EPSILON)
{
return false;
}
return delta > SPEED_EPSILON;
}
dReal getSpeed()
{
const dReal* vel = dBodyGetLinearVel(boxBody);
dReal speed = sqrtf((vel[0]*vel[0] + vel[1]*vel[1] + vel[2]*vel[2]));
return speed;
}
virtual void setThrottles(dReal timeDiff, dReal left, dReal right)
{
if(steerable)
{
cout << "don't set throttles for steerable robots" << endl;
}
setWheelSpeedLeft(left*MAX_SPEED);
setWheelSpeedRight(right*MAX_SPEED);
}
void setThrottle(dReal timeDiff, dReal speed)
{
setWheelSpeedAll(speed * MAX_SPEED);
}
void setSteering(dReal dir)
{
if(!steerable)
{
cout << "don't set steering for non-steerable robots" << endl;
}
if(dir < PI/8 && dir > -PI/8)
{
dir = 0;
}
if(dir == 0)
{
dReal newSpeed = 0;
dReal curAngle = dJointGetHinge2Angle1(wheelJoint2);
if(curAngle > EPSILON || curAngle < -EPSILON)
{
newSpeed = -10.0 * curAngle;
}
dJointSetHinge2Param(wheelJoint2, dParamVel1, newSpeed);
curAngle = dJointGetHinge2Angle1(wheelJoint4);
if(curAngle > EPSILON || curAngle < -EPSILON)
{
newSpeed = -10.0 * curAngle;
}
dJointSetHinge2Param(wheelJoint4, dParamVel1, newSpeed);
}
else
{
dJointSetHinge2Param(wheelJoint2, dParamVel1, dir * 10.0);
dJointSetHinge2Param(wheelJoint4, dParamVel1, dir * 10.0);
}
}
bool isSteerable()
{
return steerable;
}
private:
dReal hitchLength;
bool steerable;
dGeomID boxGeom;
dBodyID boxBody;
dMass boxMass;
dMass wheelMass1;
dGeomID wheelGeom1;
dBodyID wheelBody1;
dJointID wheelJoint1;
dMass wheelMass2;
dGeomID wheelGeom2;
dBodyID wheelBody2;
dJointID wheelJoint2;
dMass wheelMass3;
dGeomID wheelGeom3;
dBodyID wheelBody3;
dJointID wheelJoint3;
dMass wheelMass4;
dGeomID wheelGeom4;
dBodyID wheelBody4;
dJointID wheelJoint4;
dMass wheelMass5;
dGeomID wheelGeom5;
dBodyID wheelBody5;
dJointID wheelJoint5;
dMass wheelMass6;
dGeomID wheelGeom6;
dBodyID wheelBody6;
dJointID wheelJoint6;
dReal myWidth;
dReal myHeight;
dMass trailerMass;
dGeomID trailerGeom;
dBodyID trailerBody;
dJointID trailerJoint1;
dJointID trailerJoint2;
dMass hitchMass;
dGeomID hitchGeom;
dBodyID hitchBody;
dReal curWheelSpeed[4];
};
const int MAX_CONTACTS = 256;
dJointGroupID contactGroup = 0;
const dReal FLOOR_WHEEL_FRICTION = 0.1;
const dReal STANDARD_FRICTION = 1.0;
const dReal BOUNCINESS = 0;
void doCollide(void *data, dGeomID o1, dGeomID o2)
{
if((dGeomGetData(o1) == (void*)BOX_GEOM && dGeomGetData(o2) == (void*)WHEEL_GEOM)
|| (dGeomGetData(o1) == (void*)WHEEL_GEOM && dGeomGetData(o2) == (void*)BOX_GEOM)
|| (dGeomGetData(o1) == (void*)WHEEL_GEOM && dGeomGetData(o2) == (void*)WHEEL_GEOM))
{
return;
}
if(dGeomGetData(o1) == (void*)WALL_GEOM && dGeomGetData(o2) == (void*)WALL_GEOM)
{
return;
}
if(dGeomGetData(o1) == (void*)HITCH_GEOM || dGeomGetData(o2) == (void*)HITCH_GEOM)
{
return;
}
dBodyID body1 = dGeomGetBody(o1);
dBodyID body2 = dGeomGetBody(o2);
dContact contact[MAX_CONTACTS];
dReal friction = STANDARD_FRICTION;
if((dGeomGetData(o1) == (void*)PLANE && dGeomGetData(o2) == (void*)WHEEL_GEOM)
|| (dGeomGetData(o1) == (void*)WHEEL_GEOM && dGeomGetData(o2) == (void*)PLANE))
{
friction = FLOOR_WHEEL_FRICTION;
}
for (int i = 0; i < MAX_CONTACTS; i++)
{
contact[i].surface.mode = dContactBounce | dContactApprox1;
contact[i].surface.bounce = BOUNCINESS;
contact[i].surface.mu = friction;
}
int collisions = dCollide(o1, o2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
if (collisions)
{
for (int i = 0; i < collisions; ++i)
{
dJointID c = dJointCreateContact(world, contactGroup, &contact[i]);
dJointAttach(c, body1, body2);
}
}
}
const int NUM_ROBOTS = 6;
shared_ptr<Robot> robots[NUM_ROBOTS];
float robotColours[NUM_ROBOTS][3] =
{
{0, 0, 1},
{0, 1, 0},
{0, 1, 1},
{1, 0, 0},
{1, 0, 1},
{1, 1, 0},
};
dReal fieldWidth = 16.4592;
dReal fieldHeight = 8.2296;
dReal FOV = PI/4;
dReal viewPointZ = (fieldWidth / tanf(FOV)) * 0.9;
dReal viewPointY = viewPointZ * tanf(PI/8.0);
dReal WALL_LENGTH = 50;
dReal WALL_THICKNESS = 1;
dReal wallPositions[4][3] =
{
{fieldWidth/2 + WALL_THICKNESS/2, 0, WALL_THICKNESS/2 + EPSILON},
{-fieldWidth/2 - WALL_THICKNESS/2, 0, WALL_THICKNESS/2 + EPSILON},
{0, fieldHeight/2 + WALL_THICKNESS/2, WALL_THICKNESS/2 + EPSILON},
{0, -fieldHeight/2 - WALL_THICKNESS/2, WALL_THICKNESS/2 + EPSILON},
};
dReal wallRotations[4][16];
dBodyID wallBodies[4];
dGeomID wallGeoms[4];
dMass wallMasses[4];
dReal leftThrottle = 0;
dReal rightThrottle = 0;
dReal steerThrottle = 0;
dReal steerDir = 0;
dReal angle=0.0;
DWORD lastTime = timeGetTime();
void renderScene(void)
{
DWORD curTime = timeGetTime();
DWORD deltaTime = curTime - lastTime;
dReal delta = ((dReal)deltaTime) / 1000.0;
lastTime = curTime;
dReal stepsize = delta;
if(stepsize > 1.0/60.0)
{
stepsize = 1.0/60.0;
}
dJointGroupEmpty(contactGroup);
dSpaceCollide(space, NULL, &doCollide);
dWorldQuickStep(world, stepsize);
glMatrixMode(GL_MODELVIEW);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_DEPTH_TEST);
glColor3f(0.25, 0.25, 0.25);
glBegin(GL_TRIANGLE_STRIP);
glVertex3f(-1000, -1000, 0);
glVertex3f(-1000, 1000, 0);
glVertex3f(1000, -1000, 0);
glVertex3f(1000, 1000, 0);
glEnd();
glColor3f(0.05, 0.05, 0.05);
for(dReal x = -20; x < 20 + EPSILON; x += 2)
{
glPushMatrix();
glTranslatef(x, 0, 0);
glScalef(1, 2000, 1);
drawPanel();
glPopMatrix();
}
for(dReal y = -20; y < 20 + EPSILON; y += 2)
{
glPushMatrix();
glTranslatef(0, y, 0);
glScalef(2000, 1, 1);
drawPanel();
glPopMatrix();
}
glEnable(GL_DEPTH_TEST);
float transform[16];
for(int i = 0; i < 4; ++i)
{
glPushMatrix();
ODEtoOGL(transform, dBodyGetPosition(wallBodies[i]), dBodyGetRotation(wallBodies[i]));
glMultMatrixf(transform);
glScalef(WALL_LENGTH, WALL_THICKNESS, WALL_THICKNESS);