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added support for hinge joints with anchor and axis

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git-svn-id: svn://anubis/anaglym/trunk@238 99a6e188-d820-4881-8870-2d33a10e2619
This commit is contained in:
Josh Holtrop 2010-01-31 06:07:31 +00:00
parent d26bf27114
commit b2d131075a
6 changed files with 142 additions and 14 deletions
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26
Engine.cc
View File

@ -312,6 +312,24 @@ int Engine::addAMotor(Object * o1, Object * o2)
return id;
}
int Engine::addHinge(Object * o1, Object * o2,
dReal anchor_x, dReal anchor_y, dReal anchor_z,
dReal axis_x, dReal axis_y, dReal axis_z)
{
dBodyID b1 = 0;
dBodyID b2 = 0;
if (o1 != NULL)
b1 = o1->getBody();
if (o2 != NULL)
b2 = o2->getBody();
dJointID jid = m_world.createHinge(b1, b2,
anchor_x, anchor_y, anchor_z,
axis_x, axis_y, axis_z);
int id = m_next_joint_index++;
m_joints[id] = jid;
return id;
}
void Engine::setAMotorAxis(int jid, int anum, int rel,
dReal x, dReal y, dReal z)
{
@ -329,6 +347,14 @@ void Engine::setAMotorNumAxes(int jid, int num_axes)
}
}
void Engine::setAMotorAngle(int jid, int anum, dReal val)
{
if (m_joints.find(jid) != m_joints.end())
{
m_world.setAMotorAngle(m_joints[jid], anum, val);
}
}
void Engine::setAMotorLoStop(int jid, dReal val)
{
if (m_joints.find(jid) != m_joints.end())

4
Engine.h
View File

@ -129,9 +129,13 @@ class Engine
int addObject(bool is_static, OdeWorld::GeomType geom_type,
refptr< std::vector<float> > args);
int addAMotor(Object * o1, Object * o2);
int addHinge(Object * o1, Object * o2,
dReal anchor_x, dReal anchor_y, dReal anchor_z,
dReal axis_x, dReal axis_y, dReal axis_z);
void setAMotorAxis(int jid, int anum, int rel,
dReal x, dReal y, dReal z);
void setAMotorNumAxes(int jid, int num_axes);
void setAMotorAngle(int jid, int anum, dReal val);
void setAMotorLoStop(int jid, dReal val);
void setAMotorHiStop(int jid, dReal val);
void setAMotorVel(int jid, dReal val);

71
ag.cc
View File

@ -63,6 +63,7 @@ namespace ag
{ "clearWorld", clearWorld },
{ "_createAMotor", _createAMotor },
{ "_createHinge", _createHinge },
/* managed object functions */
{ "createBox", createBox },
@ -283,6 +284,15 @@ namespace ag
lua_setfield(L, -2, "setAxis");
lua_pushcfunction(L, joint::setAMotorNumAxes);
lua_setfield(L, -2, "setNumAxes");
lua_pushcfunction(L, joint::setAMotorAngle);
lua_setfield(L, -2, "setAngle");
}
static void createLuaHinge(lua_State * L, int id)
{
lua_newtable(L);
lua_pushinteger(L, id);
lua_setfield(L, -2, "id");
}
int _createAMotor(lua_State * L)
@ -292,8 +302,10 @@ namespace ag
{
Engine::Object * o1 = object::getObject(L, 1);
Engine::Object * o2 = object::getObject(L, 2);
/* it is ok if o1 or o2 are NULL, this means that the motor
/* it is ok if o1 or o2 are NULL, this means that the joint
* is connected to the global environment */
if (o1 != NULL || o2 != NULL)
{
int jid = g_engine->addAMotor(o1, o2);
if (jid != 0)
{
@ -301,6 +313,42 @@ namespace ag
return 1;
}
}
}
lua_pushnil(L);
return 1;
}
int _createHinge(lua_State * L)
{
int argc = lua_gettop(L);
if (argc == 8
&& lua_isnumber(L, 3)
&& lua_isnumber(L, 4)
&& lua_isnumber(L, 5)
&& lua_isnumber(L, 6)
&& lua_isnumber(L, 7)
&& lua_isnumber(L, 8))
{
Engine::Object * o1 = object::getObject(L, 1);
Engine::Object * o2 = object::getObject(L, 2);
/* it is ok if o1 or o2 are NULL, this means that the joint
* is connected to the global environment */
if (o1 != NULL || o2 != NULL)
{
int jid = g_engine->addHinge(o1, o2,
lua_tonumber(L, 3),
lua_tonumber(L, 4),
lua_tonumber(L, 5),
lua_tonumber(L, 6),
lua_tonumber(L, 7),
lua_tonumber(L, 8));
if (jid != 0)
{
createLuaHinge(L, jid);
return 1;
}
}
}
lua_pushnil(L);
return 1;
}
@ -1330,6 +1378,27 @@ namespace ag
return 0;
}
int setAMotorAngle(lua_State * L)
{
int argc = lua_gettop(L);
if (argc == 3
&& lua_istable(L, 1)
&& lua_isnumber(L, 2)
&& lua_isnumber(L, 3))
{
lua_getfield(L, 1, "id");
if (lua_isnumber(L, -1))
{
int jid = lua_tointeger(L, -1);
g_engine->setAMotorAngle(jid,
lua_tointeger(L, 2),
lua_tonumber(L, 3));
}
lua_pop(L, 1);
}
return 0;
}
int setAMotorLoStop(lua_State * L)
{
int argc = lua_gettop(L);

2
ag.h
View File

@ -42,6 +42,7 @@ namespace ag
int clearWorld(lua_State * L);
int _createAMotor(lua_State * L);
int _createHinge(lua_State * L);
/* 2D overlay functions */
int drawArc(lua_State * L);
@ -94,6 +95,7 @@ namespace ag
{
int setAMotorAxis(lua_State * L);
int setAMotorNumAxes(lua_State * L);
int setAMotorAngle(lua_State * L);
int setAMotorLoStop(lua_State * L);
int setAMotorHiStop(lua_State * L);
int setAMotorVel(lua_State * L);

25
ag.lua
View File

@ -19,7 +19,7 @@ end
ag.createAMotor = function(obj1, obj2, axis0, axis1, axis2)
local function setAMotorAxis(amotor, anum, axis)
local rel, x, y, z, angle = 0, 1, 0, 0, 0
local rel, x, y, z = 0, 1, 0, 0
for k, v in pairs(axis) do
if (k == "rel") then
rel = v
@ -30,7 +30,7 @@ ag.createAMotor = function(obj1, obj2, axis0, axis1, axis2)
elseif (k == "z") then
z = v
elseif (k == "angle") then
angle = v
amotor:setAngle(anum, v)
elseif (k == "lo_stop") then
amotor:setLoStop(v)
elseif (k == "hi_stop") then
@ -85,3 +85,24 @@ ag.createAMotor = function(obj1, obj2, axis0, axis1, axis2)
return amotor
end
ag.createHinge = function(obj1, obj2, anchor, axis)
local o1 = obj1
local o2 = obj2
if (type(obj1) == "number") then
if (obj1 == 0) then
o1 = { id = 0 }
end
end
if (type(obj2) == "number") then
if (obj2 == 0) then
o2 = { id = 0 }
end
end
return ag._createHinge(o1, o2,
anchor[1], anchor[2], anchor[3],
axis[1], axis[2], axis[3])
end

20
tests/managed_objects.lua
View File

@ -39,12 +39,18 @@ function key_down_event(key)
ag.exit()
elseif (key == "r") then
-- creating a rotating cube
local box = ag.createBox(1, 1, 1)
init_obj(box)
ag.createAMotor(0, box,
{ x = 0, y = 0, z = 1, vel = 10, fmax = 10 })
local x, y, z = box:getPosition()
box:setPosition(x, y, 2)
box:setGravityMode(false)
local spinner = ag.createBox(10, 1, 0.5)
spinner:setPosition(0, 0, 1)
spinner:setColor(1, 0.7, 0.7)
spinner:setGravityMode(false)
ag.createAMotor(0, spinner,
{ x = 0, y = 0, z = 1, vel = 5, fmax = 50 })
ag.createHinge(0, spinner, {spinner:getPosition()}, {0, 0, 1})
-- local box = ag.createBox(1, 1, 1)
-- init_obj(box)
-- ag.createAMotor(0, box,
-- { x = 0, y = 0, z = 1, vel = 0, fmax = 0 })
-- local x, y, z = box:getPosition()
-- box:setPosition(x, y, 2)
end
end