Updated program to only call ODE physics code every 15ms.
Graphics3D 800,600,16,1 Include "BlitzODE.bb" Global Cvis=False cmass#=150; chassis mass tmass#=80 ; tire mass ice=False jeep=LoadMesh("jeep1.3ds") ScaleEntity jeep,.4,.4,.4 TranslateEntity jeep,0,-1.6,-1.5 cam=CreateCamera() PositionEntity cam,0,2,-8 l=CreateLight(2) PositionEntity l,-5,10,-5 LightRange l,10 AmbientLight 200,200,200 pl=CreatePlane(16) EntityAlpha pl,.5 texpl=CreateTexture(128,128,1+8) Color 255,255,255 Rect 0,0,64,64,1 Rect 64,64,64,64,1 CopyRect 0,0,128,128,0,0,BackBuffer(),TextureBuffer(texpl) ScaleTexture texpl,6,6 EntityTexture pl,texpl,0,0 m=CreateMirror() ;---- Setting contact parameters --- ;ODE_dSetContactMode(dContactBounce + dContactSoftERP + dContactSoftCFM + dSlip1 + dSlip2) ODE_dSetMU(1.9); Friction (smaller slippery) ODE_dSetBOUNCE(.5) ODE_dSetSOFT_ERP(.5) ODE_dSetSOFT_CFM(.01) ;------------------------------- ;Crear un Espacio para ODE: Global space = ODE_dWorldCreate(1) ;------------------------------- ;Chassis ode_body1=ODE_dBodyCreate() geom=ODE_dCreateBox(space,.3,.5,4,10) ODE_dGeomSetBody geom,ode_body1 ODE_dBodySetPosition ode_body1,0,4,-2 ODE_dBodySetRotation ode_body1,0,0,0 ODE_dBodySetMass ode_body1,cmass vis1=CreateCube() ScaleEntity vis1,.15,.25,2 EntityColor vis1,255,100,0 ;rueda der ode_body2=ODE_dBodyCreate() ;geom=ODE_dCreateBox(space,.25,1,1,10) geom=ODE_dCreateSphere(space,1,10) ODE_dGeomSetBody geom,ode_body2 ODE_dBodySetPosition ode_body2,2,3,0 ODE_dBodySetRotation ode_body2,0,0,0 ODE_dBodySetMass ode_body2,tmass vis2=CreateCube() ScaleEntity vis2,.125,.5,.5 EntityColor vis2,100,255,0 ;rueda izq ode_body3=ODE_dBodyCreate() ;geom=ODE_dCreateBox(space,.25,1,1,10) geom=ODE_dCreateSphere(space,1,10) ODE_dGeomSetBody geom,ode_body3 ODE_dBodySetPosition ode_body3,-2,3,0 ODE_dBodySetRotation ode_body3,0,0,0 ODE_dBodySetMass ode_body3,tmass vis3=CreateCube() ScaleEntity vis3,.125,.5,.5 EntityColor vis3,100,255,0 ;Traseras ;rueda der ode_body4=ODE_dBodyCreate() ;geom=ODE_dCreateBox(space,.25,1,1,10) geom=ODE_dCreateSphere(space,1,10) ODE_dGeomSetBody geom,ode_body4 ODE_dBodySetPosition ode_body4,2,3,-4 ODE_dBodySetRotation ode_body4,0,0,0 ODE_dBodySetMass ode_body4,tmass vis4=CreateCube() ScaleEntity vis4,.125,.5,.5 EntityColor vis4,0,0,255 ;rueda izq ode_body5=ODE_dBodyCreate() ;geom=ODE_dCreateBox(space,.25,1,1,10) geom=ODE_dCreateSphere(space,1,10) ODE_dGeomSetBody geom,ode_body5 ODE_dBodySetPosition ode_body5,-2,3,-4 ODE_dBodySetRotation ode_body5,0,0,0 ODE_dBodySetMass ode_body5,tmass vis5=CreateCube() ScaleEntity vis5,.125,.5,.5 EntityColor vis5,0,0,255 ;Joints joint1=ODE_dJointCreateBall() ODE_dJointAttach joint1,0,ode_body1 ODE_dJointSetBallAnchor joint1,0,5,0 ;ODE_dJointSetUniversalAxis1 joint1,0,0,.1 ;ODE_dJointSetUniversalAxis2 joint1,1,0,0 suspension_hard#=8 suspension_soft#=.15 ; Increase to make shocks soft and springy ;Roll cage ;joint0=ODE_dJointCreateFixed() ; ODE_dJointAttach joint0,ode_body1,ode_body6 ;rueda der joint2=ODE_dJointCreateHinge2() ODE_dJointAttach joint2,ode_body1,ode_body2 ODE_dJointSetHinge2Anchor joint2,1.875,3,0 ODE_dJointSetHinge2Axis1 joint2,0,1,0 ODE_dJointSetHinge2Axis2 joint2,1,0,0 ODE_dJointSetHinge2Param joint2,dParamLoStop,0;-Pi/4 ODE_dJointSetHinge2Param joint2,dParamHiStop,0;Pi/4 ODE_dJointSetHinge2Param joint2,dParamSuspensionERP,suspension_hard ODE_dJointSetHinge2Param joint2,dParamSuspensionCFM,suspension_soft ;rueda izq joint3=ODE_dJointCreateHinge2() ODE_dJointAttach joint3,ode_body1,ode_body3 ODE_dJointSetHinge2Anchor joint3,-1.875,3,0 ODE_dJointSetHinge2Axis1 joint3,0,1,0 ODE_dJointSetHinge2Axis2 joint3,1,0,0 ODE_dJointSetHinge2Param joint3,dParamLoStop,0;-Pi/4 ODE_dJointSetHinge2Param joint3,dParamHiStop,0;Pi/4 ODE_dJointSetHinge2Param joint3,dParamSuspensionERP,suspension_hard ODE_dJointSetHinge2Param joint3,dParamSuspensionCFM,suspension_soft ;Joints Traseros: ;rueda der joint4=ODE_dJointCreateHinge2() ODE_dJointAttach joint4,ode_body1,ode_body4 ODE_dJointSetHinge2Anchor joint4,1.875,3,-4 ODE_dJointSetHinge2Axis1 joint4,0,1,0 ODE_dJointSetHinge2Axis2 joint4,1,0,0 ODE_dJointSetHinge2Param joint4,dParamLoStop,0;-Pi/4 ODE_dJointSetHinge2Param joint4,dParamHiStop,0;Pi/4 ODE_dJointSetHinge2Param joint4,dParamSuspensionERP,suspension_hard ODE_dJointSetHinge2Param joint4,dParamSuspensionCFM,suspension_soft ;rueda izq joint5=ODE_dJointCreateHinge2() ODE_dJointAttach joint5,ode_body1,ode_body5 ODE_dJointSetHinge2Anchor joint5,-1.875,3,-4 ODE_dJointSetHinge2Axis1 joint5,0,1,0 ODE_dJointSetHinge2Axis2 joint5,1,0,0 ODE_dJointSetHinge2Param joint5,dParamLoStop,0;-Pi/4 ODE_dJointSetHinge2Param joint5,dParamHiStop,0;Pi/4 ODE_dJointSetHinge2Param joint5,dParamSuspensionERP,suspension_hard ODE_dJointSetHinge2Param joint5,dParamSuspensionCFM,suspension_soft EntityParent jeep,vis1 ;------- Create fixed box ---------- geom = ODE_dCreateBox(space, 15, .1, 35, 10) ODE_dGeomSetPosition(geom, 40, 2.5, 0) ODE_dGeomSetRotation(geom, 0, 0, 20) mesh = CreateCube() PositionEntity mesh, 40, 2.5, 0 RotateEntity mesh, 0, 0, 20 ScaleMesh mesh, .5, .05, .5 ScaleEntity mesh, 15, 1, 35 EntityAlpha vis1,cvis EntityAlpha vis2,cvis EntityAlpha vis3,cvis EntityAlpha vis4,cvis EntityAlpha vis5,cvis millis#=MilliSecs() elapsed#=millis#-millis2# millis2#=millis1# While Not KeyDown(1) millis1=MilliSecs() elapsed=millis1-millis millis=millis1 ODE_dBodyEnable ode_body1 ODE_dBodyEnable ode_body2 ODE_dBodyEnable ode_body3 ODE_dBodyEnable ode_body4 ODE_dBodyEnable ode_body5 mxs#=mxs#+(MouseXSpeed()-mxs#)/3 mys#=mys#+(MouseYSpeed()-mys#)/3 MoveMouse GraphicsWidth()/2,GraphicsHeight()/2 If KeyDown(203) Or KeyDown(205) Then mxs=0 EndIf If KeyDown(200) ODE_dBodyAddRelTorque ode_body2,40,0,0 ODE_dBodyAddRelTorque ode_body3,40,0,0 EndIf If KeyDown(208) ODE_dBodyAddRelTorque ode_body2,-40,0,0 ODE_dBodyAddRelTorque ode_body3,-40,0,0 EndIf If mxs=0 Then angle#=Pi/4 Else angle#=Pi/(90/Abs(mxs)) EndIf If KeyDown(203) Or mxs<0 ODE_dJointSetHinge2Param joint2,dParamLoStop,angle ODE_dJointSetHinge2Param joint2,dParamHiStop,angle ODE_dJointSetHinge2Param joint3,dParamLoStop,angle ODE_dJointSetHinge2Param joint3,dParamHiStop,angle ElseIf KeyDown(205) Or mxs>0 ODE_dJointSetHinge2Param joint2,dParamLoStop,-angle ODE_dJointSetHinge2Param joint2,dParamHiStop,-angle ODE_dJointSetHinge2Param joint3,dParamLoStop,-angle ODE_dJointSetHinge2Param joint3,dParamHiStop,-angle Else ODE_dJointSetHinge2Param joint2,dParamLoStop,0;-Pi/4 ODE_dJointSetHinge2Param joint2,dParamHiStop,0;Pi/4 ODE_dJointSetHinge2Param joint3,dParamLoStop,0;-Pi/4 ODE_dJointSetHinge2Param joint3,dParamHiStop,0;Pi/4 EndIf If KeyHit(30) ODE_dJointAttach joint1,0,0 EndIf If KeyHit(31) ODE_dJointAttach joint1,0,ode_body1 EndIf ; (I)ce If KeyHit(23) Then Ice=Not Ice If Ice Then ODE_dSetMU(.1); Else ODE_dSetMU(1.8); End If End If If KeyHit(19) Then cvis=Not cvis EntityAlpha vis1,cvis EntityAlpha vis2,cvis EntityAlpha vis3,cvis EntityAlpha vis4,cvis EntityAlpha vis5,cvis End If ;------------- PositionEntity vis1,ODE_dBodyGetPositionX(ode_body1),ODE_dBodyGetPositionY(ode_body1),ODE_dBodyGetPositionZ(ode_body1) RotateEntity vis1,ODE_dBodyGetPitch(ode_body1),ODE_dBodyGetYaw(ode_body1),ODE_dBodyGetRoll(ode_body1) PositionEntity vis2,ODE_dBodyGetPositionX(ode_body2),ODE_dBodyGetPositionY(ode_body2),ODE_dBodyGetPositionZ(ode_body2) RotateEntity vis2,ODE_dBodyGetPitch(ode_body2),ODE_dBodyGetYaw(ode_body2),ODE_dBodyGetRoll(ode_body2) PositionEntity vis3,ODE_dBodyGetPositionX(ode_body3),ODE_dBodyGetPositionY(ode_body3),ODE_dBodyGetPositionZ(ode_body3) RotateEntity vis3,ODE_dBodyGetPitch(ode_body3),ODE_dBodyGetYaw(ode_body3),ODE_dBodyGetRoll(ode_body3) PositionEntity vis4,ODE_dBodyGetPositionX(ode_body4),ODE_dBodyGetPositionY(ode_body4),ODE_dBodyGetPositionZ(ode_body4) RotateEntity vis4,ODE_dBodyGetPitch(ode_body4),ODE_dBodyGetYaw(ode_body4),ODE_dBodyGetRoll(ode_body4) PositionEntity vis5,ODE_dBodyGetPositionX(ode_body5),ODE_dBodyGetPositionY(ode_body5),ODE_dBodyGetPositionZ(ode_body5) RotateEntity vis5,ODE_dBodyGetPitch(ode_body5),ODE_dBodyGetYaw(ode_body5),ODE_dBodyGetRoll(ode_body5) ;PositionEntity vis6,ODE_dBodyGetPositionX(ode_body6),ODE_dBodyGetPositionY(ode_body6),ODE_dBodyGetPositionZ(ode_body6) ;RotateEntity vis6,ODE_dBodyGetPitch(ode_body6),ODE_dBodyGetYaw(ode_body6),ODE_dBodyGetRoll(ode_body6) ;------------- PrimeTime#=PrimeTime+elapsed# If PrimeTime#>15 Then Ptime1#=MilliSecs() ODE_dWorldQuickStep .1 ODE_dWorldQuickStep .1 Ptime2#=MilliSecs() PrimeTime#=PrimeTime#-15 End If ; chase_cam_dist=15 PointEntity cam,vis1 ed#=EntityDistance(cam,vis1) If ed#>chase_cam_dist Then MoveEntity cam,0,0,(ed#-chase_cam_dist)/2 PositionEntity cam,EntityX(cam),EntityY(vis1)+5,EntityZ(cam) End If UpdateWorld If ice Then CameraClsColor cam,200,200,200 Else CameraClsColor cam,0,0,128 End If If EntityY(vis1)>4 Then ODE_dBodyAddForce(ode_body1, 0,650,0) EndIf RenderWorld Text 10,10,"Time: "+ elapsed# + "ms" Text 10,20,"Ang Vel: " + ODE_dBodyGetAngularVelX(ode_body2) Text 10,30,"press A to release the car attach" Text 10,40,"press S to force a re-attach of the car" Text 10,50,"press R to hide/show rigid body frame" Text 10,60,"Ice=" + ice Text 10,70,"Hgt: " + EntityY(vis1) Text 10,90,"Physics Time: " + Str(Ptime2#-Ptime1#) + "ms" Text 10,100,"use ARROWS to move" If elapsed>max_elapsed Then max_elapsed=elapsed EndIf Flip Wend ODE_dCloseODE() MoveMouse 400,300:End