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C-/C++-Quelltext

// ode-test.cpp


#include <windows.h>
#include <ode/ode.h>
#include <ogre.h>
#include <exampleapplication.h>

#pragma comment (lib, "ogremain_d.lib")
#pragma comment (lib, "ode.lib")

void NearCallback (void *data, dGeomID o1, dGeomID o2);

class OdeApplication : 
    public ExampleApplication, 
    public FrameListener
{
protected:
    dWorldID    mWorldId;
    dSpaceID    mSpaceId;
    dGeomID     mPlane;

    dGeomID     mBoxGeom;
    dBodyID     mBoxBody;
    dMass       mBoxMass;

    dJointGroupID   mContactGroup;

    Ogre::SceneNode*    mSceneNode;
    Ogre::SceneNode*    mPlaneNode;

public:
    friend void NearCallback (void *data, dGeomID o1, dGeomID o2);

    OdeApplication()
    {
        mWorldId = dWorldCreate();
        mSpaceId = dHashSpaceCreate(0);
        mContactGroup = dJointGroupCreate(0);

        mPlane = dCreatePlane(mSpaceId, 0, 1, 0, 0);

        dWorldSetGravity(mWorldId, 0, -9.81, 0);
        dWorldSetCFM(mWorldId, 1e-5);
        dWorldSetERP(mWorldId, 0.2);
        dWorldSetContactMaxCorrectingVel(mWorldId, 0.9);
        dWorldSetContactSurfaceLayer(mWorldId, 0);
        dWorldSetAutoDisableFlag(mWorldId, 0);
    }

    ~OdeApplication()
    {
        // ODE aufräumen

        dJointGroupDestroy(mContactGroup);
        dSpaceDestroy(mSpaceId);
        dWorldDestroy(mWorldId);
        dCloseODE();
    }

    void createCamera()
    {
        mCamera = mSceneMgr->createCamera("Spielerkamera");
        mCamera->setPosition(0, 100,-150);
        mCamera->lookAt(0, 100, 0);
    }

    void createScene()
    {
        Plane plane;
        plane.normal = Ogre::Vector3::UNIT_Y;
        plane.d = 0;

        Ogre::MeshManager::getSingleton().createPlane(
            "Untergrund", 
            Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
            plane, 
            150, 150, 20, 20, true, 1, 5, 5, Ogre::Vector3::UNIT_Z); 

        // den Untergrund erstellen

        Entity* entPlane;
        entPlane = mSceneMgr->createEntity("Boden", "Untergrund");
        entPlane->setMaterialName("Examples/RustySteel");
        mPlaneNode = mSceneMgr->getRootSceneNode()->createChildSceneNode();
        mPlaneNode->attachObject(entPlane);

        // Eine Box erstellen

        Entity* entBox;
        entBox = mSceneMgr->createEntity("Cube", "cube.mesh");
        entBox->setMaterialName("Examples/BumpyMetal");
        mSceneNode = mSceneMgr->getRootSceneNode()->createChildSceneNode();
        mSceneNode->attachObject(entBox);
        mSceneNode->scale(0.1, 0.1, 0.1);

        mBoxBody = dBodyCreate(mWorldId);
        dBodySetPosition(mBoxBody, 0, 15, 0);       
        dMassSetBox(&mBoxMass, 1, 10, 10, 10);
        mBoxGeom = dCreateBox(mSpaceId, 10, 10, 10);
        dGeomSetBody(mBoxGeom, mBoxBody);
        dBodySetMass(mBoxBody, &mBoxMass);  

        mCamera->setAutoTracking(true, mSceneNode);
    }

    void createFrameListener()
    {
        mRoot->addFrameListener(this);
    }

    bool frameStarted(const FrameEvent& evt)
    {

        dReal stepSize = evt.timeSinceLastFrame;

        if(stepSize > 0.0)
        {
            dSpaceCollide(mSpaceId, this, NearCallback);
            dWorldQuickStep(mWorldId, stepSize);
            dJointGroupEmpty(mContactGroup);
        }

        const dReal* pos;
        
        pos = dBodyGetPosition(mBoxBody);
        mSceneNode->setPosition(pos[0], pos[1], pos[2]);

        if(mWindow->isClosed())
            return false;

        return true;
    }

};

const int MAX_CONTACTS = 10;

void NearCallback (void *data, dGeomID o1, dGeomID o2)
{
    OdeApplication* app = reinterpret_cast<OdeApplication*>(data);

    dContact contact[MAX_CONTACTS];

    dBodyID b1 = dGeomGetBody(o1);
    dBodyID b2 = dGeomGetBody(o2);

    for(int i=0; i<MAX_CONTACTS; ++i)
    {
        contact[i].surface.mode = dContactBounce | dContactSoftCFM;
        contact[i].surface.mu = dInfinity;
        contact[i].surface.mu2 = 0;
        contact[i].surface.bounce = 0.01;
        contact[i].surface.bounce_vel = 0.1;
        contact[i].surface.soft_cfm = 0.01;
    }

    if(int numc = dCollide( o1, o2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact)))
    {
        for(int i=0; i<numc; ++i)
        {
            dJointID c = dJointCreateContact(app->mWorldId, app->mContactGroup, contact + i);
            dJointAttach(c, b1, b2);
        }
    }
}

int WINAPI WinMain(HINSTANCE, HINSTANCE, LPTSTR, int)
{
    OdeApplication app;

    try 
    {
        app.go();
    } 
    catch( Exception& e ) 
    {
        MessageBox( NULL, e.getFullDescription().c_str(), "An exception has occured!", MB_OK | MB_ICONERROR | MB_TASKMODAL);
    }
    return 0;
} 

C-/C++-Quelltext

mPlane = dCreatePlane(mSpaceId, 0, 1, 0, 0);