JV-ODE Physics Wrapper

This modified sphere demo lets you push and pull the balls around with the mouse. Also demonstrates the autodisable feature to reduce physics overhead.

enjoy

; ###################################################################################################
; #									   JV-ODE - Spheres Demo										#
; #									Code by Jim Williams (VIP3R)									#
; ###################################################################################################

AppTitle "JV-ODE - Spheres Mouse Shot Demo"

Global snd1, piv1


Include "ode.bb"

Graphics3D 800,600,0,2



Type ODEGeom
	Field body
	Field geom
	Field mesh
End Type

; ###################################################################################################

;snd1=Load3DSound("Bounce.wav")
;piv1=CreatePivot()

; ### Setup ODE

Global World=dWorldCreate()
Global Space=dHashSpaceCreate(0)
Global ContactGroup=dJointGroupCreate(0)

dWorldSetGravity(World,0,-1,0)
dContactSetMode(dContactBounce + ContactSoftERP + dContactSoftCFM)
dContactSetMu(32)

; Autodisable bodies
dWorldSetAutoDisableFlag (World, 1)

; Increase to make bouncy
dContactSetBounce(0.3)

; Make contact surface soft
;dContactSetSoftERP(0.4)
;dContactSetSoftCFM(0.8)


; ### Create light

ShowPointer

Global Light=CreateLight()

RotateEntity Light,45,-90,0
LightColor Light,255,255,255
AmbientLight 130,130,130

; ### Create camera

Global Camera=CreateCamera()
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000

;mic1=CreateListener(camera) ; Create listener, make it child of camera 

PositionEntity Camera,0,20,-50
RotateEntity Camera,30,0,0

; ### Create plane

dCreatePlane(Space,0,1,0,0)

Plane=CreatePlane()

EntityAlpha Plane,0.8

PlaneTexture=CreateTexture(128,128,9)

ClsColor 0,200,80
Cls

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(PlaneTexture)
ScaleTexture PlaneTexture,20,20
EntityTexture Plane,PlaneTexture,0,0

Mirror=CreateMirror()

; ###################################################################################################

While Not KeyHit(1)

	PTime=MilliSecs()

	dSpaceCollide(Space,World,ContactGroup)
	UpdateFriction
	
	dWorldQuickStep(World,0.1)
	
	
	dJointGroupEmpty(ContactGroup)

	If MilliSecs()-Timer>700
		balls=balls+1
		If balls<10 Then
				AddObject()
		End If
		Timer=MilliSecs()
		End If

	UpdateGeoms()

	PhysicsTime#=MilliSecs()-PTime

	UpdateWorld

	RenderWorld

	Text 0,0,"JV-ODE Version "+dGetVersion()
	Text 0,15,"Physics Time:"+PhysicsTime
	Text 0,35,"LM Push: "
	Text 0,50,"RM Pull: "
 


	Flip
	
	
	; Push on the ball based on the entitypicked vector
	If MouseDown(1) Then 
	
		CameraPick(camera, MouseX(), MouseY())
		
		If PickedEntity()<>0 Then
			EntityColor PickedEntity(),0,255,0
			For ode.ODEGeom=Each ODEGeom
				If ode\mesh=PickedEntity()
					dBodyEnable(ode\body) 
					k=-10
					dBodyAddForce ode\body,k*PickedNX#(),k*PickedNY#(),k*PickedNZ#()
					Exit
				End If
			Next
		End If
	End If
	
	; Pull on the ball based on the entitypicked vector
	If MouseDown(2) Then 
	
		CameraPick(camera, MouseX(), MouseY())
		
		If PickedEntity()<>0 Then
			EntityColor PickedEntity(),0,255,0
			For ode.ODEGeom=Each ODEGeom
				If ode\mesh=PickedEntity()
					dBodyEnable(ode\body) 
					k=10
					dBodyAddForce ode\body,k*PickedNX#(),k*PickedNY#(),k*PickedNZ#()
					Exit
				End If
			Next
		End If
	End If

	

Wend

dJointGroupDestroy(ContactGroup)
dSpaceDestroy(Space)
dWorldDestroy(World)
dCloseODE()

End

; ###################################################################################################

Function AddObject()

xp=Rand(-8,8)
zp=Rand(-8,8)
ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp,30,zp)
ode\geom=dCreateSphere(Space,3)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateSphere()
ScaleMesh ode\mesh,3,3,3
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

;Set Autodisable parms to your liking
	dBodySetAutoDisableFlag(ode\body,1)
	dBodySetAutoDisableAngularThreshold(ode\body,.05)
	dBodySetAutoDisableLinearThreshold(ode\body,.05)
	dBodySetAutoDisableSteps (ode\body, 1)

;Allow sphere to be picked
EntityPickMode ode\mesh,2

End Function

; ###################################################################################################

Function UpdateGeoms()

For ode.ODEGeom=Each ODEGeom
If dBodyIsEnabled(ode\body)
	RotateEntity ode\mesh,dGeomGetPitch#(ode\geom),dGeomGetYaw#(ode\geom),dGeomGetRoll#(ode\geom)
	PositionEntity ode\mesh,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
Else
	EntityColor ode\mesh,255,0,0
End If
Next

End Function

; ###################################################################################################

Function AngularDamp(body,damp#)
  dBodyAddTorque body,dBodyGetAngularVelX(body)*-damp,dBodyGetAngularVelY(body)*-damp,dBodyGetAngularVelZ(body)*-damp
End Function

; ###################################################################################################

Function LinearDamp(body,damp#)
  dBodyAddForce body,dBodyGetLinearVelX(body)*-damp,dBodyGetLinearVelY(body)*-damp,dBodyGetLinearVelZ(body)*-damp
End Function

; ###################################################################################################

Function UpdateFriction()

For ode.ODEGeom=Each ODEGeom
	If dBodyIsEnabled(ode\body)
		numjoints=dBodyGetNumJoints(ode\body)
		If numjoints>0 
		
			For joints=0 To numjoints-1
				joint=dBodyGetJoint(ode\body,joints)
				If dJointGetType(joint)=dJointTypeContact
					
					; Get linear velocity vector
			  		ax#=dBodyGetLinearVelX#(ode\body)
			  		ay#=dBodyGetLinearVelY#(ode\body)
				    az#=dBodyGetLinearVelZ#(ode\body)
					; Get Angular velocity vector
			  		bx#=dBodyGetAngularVelX#(ode\body)
			  		by#=dBodyGetAngularVelY#(ode\body)
					bz#=dBodyGetAngularVelZ#(ode\body)
			  		; Calculate magnitudes
					ForceA#=Sqr(ax*ax+ay*ay+az*az)
					ForceB#=Sqr(bx*bx+by*by+bz*bz)
					
					
					If ForceA>.01
						LinearDamp(ode\body,.08)
					End If
					
	
					If ForceB>.01
						AngularDamp(ode\body,.08)
					End If
					
				End If
			Next
		End If
	End If
Next

End Function