JV-ODE Physics Thread 3

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Wayne
 #1
Hi guys, I need a hand with this one. I'm working with the Trimesh car demo and want to use more than one Trimesh.

Should I be creating the SPACE, and then creating a new space for each object including trimeshes within that space?

The demo works fine if I use just one trimesh, but really slows down with more than one. Just wondering how this should be done. Maybe I'm doing something wrong, or need to tell ode not to compare the trimeshes.

code attached

All help appreciated, thanks.

; ###################################################################################################
; #									  JV-ODE TriMesh Car Demo										#
; #									Code by Jim Williams (VIP3R)									#		#
; #						Feel free to use this code, any credit appreciated							#
; ###################################################################################################

AppTitle "ODE MARS Terrain Demo"

Include "JV-ODE.bb"

Graphics3D 800,600,0,2

Global CMass#=200			; ### Car Mass
Global WMass#=8				; ### Wheel Mass

Global WorldERP#=1			; ### World Error Correction
Global WorldFriction#=64	; ### World Friction
Global HingeTorque#=24		; ### Hinge Torque
Global SuspensionHS#=0.01	; ### Hinge Suspension Hardness/Softness (Higher=Softer - Lower=Harder)

Global Speed#=0
Global Steer#=0

Global Car
Global CGeom
Global CMesh

Global CarStartY=40

Dim Wheel(4)
Dim WGeom(4)
Dim Joint(4)

Type ODEGeom
	Field body
	Field geom
	Field mesh
End Type

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

; ### Setup ODE

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

dWorldSetAutoDisableFlag(World,1)
dWorldSetGravity(World,0,-0.98,0)
dWorldSetERP(World,WorldERP)

dContactSetMode(dContactSlip1)
dContactSetMu(WorldFriction)

; ### Create car body

ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
Car=ode\body
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,0,CarStartY,0)
mass=dMassCreate()
dMassSetBox(mass,1,3,1,4)
dMassSetBoxTotal(mass,CMass,3,1,4)
dMassTranslate(mass,0,-1,0)
dBodySetMass(ode\body,mass)
dMassDestroy(mass)
ode\geom=dCreateBox(Space,3,1,4)
CGeom=ode\geom
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
CMesh=ode\mesh
ScaleMesh ode\mesh,1.5,0.5,2
RotateMesh ode\mesh,0,0,0
PositionMesh ode\mesh,0,0,0
EntityColor ode\mesh,40,80,255
EntityAlpha ode\mesh,1

; ### Create wheels

For count=1 To 4
	ode.ODEGeom=New ODEGeom
	ode\body=dBodyCreate(World)
	Wheel(count)=ode\body
	dBodySetRotation(ode\body,0,0,0)
	dBodySetPosition(ode\body,0,0,0)
	mass=dMassCreate()
	dMassSetSphere(mass,1,0.7)
	dMassSetSphereTotal(mass,WMass,0.7)
	dBodySetMass(ode\body,mass)
	dMassDestroy(mass)
	ode\geom=dCreateSphere(Space,0.7)
	WGeom(count)=ode\geom
	dGeomSetBody(ode\geom,ode\body)
	ode\mesh=CreateCylinder(8)
	ScaleMesh ode\mesh,0.7,0.25,0.7
	RotateMesh ode\mesh,0,0,90
	PositionMesh ode\mesh,0,0,0
	EntityColor ode\mesh,255,255,255
Next

dBodySetPosition(Wheel(1),-2,CarStartY-0.5,+2)
dBodySetPosition(Wheel(2),+2,CarStartY-0.5,+2)
dBodySetPosition(Wheel(3),-2,CarStartY-0.5,-2)
dBodySetPosition(Wheel(4),+2,CarStartY-0.5,-2)

; ### Create some objects

SeedRnd MilliSecs()

For spheres=1 To 20
	ode.ODEGeom=New ODEGeom
	ode\body=dBodyCreate(World)
	dBodySetRotation(ode\body,0,0,0)
	dBodySetPosition(ode\body,Rnd(-100,100),44,Rnd(-100,100))
	ode\geom=dCreateSphere(Space,4)
	dGeomSetBody(ode\geom,ode\body)
	ode\mesh=CreateSphere()
	ScaleMesh ode\mesh,4,4,4
	RotateMesh ode\mesh,0,0,0
	PositionMesh ode\mesh,0,0,0
	EntityColor ode\mesh,Rnd(255),Rnd(255),Rnd(255)
	EntityAlpha ode\mesh,1
	EntityShininess ode\mesh,0.7
Next

; ### Create light

Global Light=CreateLight()

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

; ### Create camera

Global CameraPivot=CreatePivot(CMesh)
PositionEntity CameraPivot,0,2,-7

Global Camera=CreateCamera()
CameraClsColor Camera,0,0,0
CameraRange Camera,.1,180


;--------------------------------------------------------------
;load terrain 
;--------------------------------------------------------------
Dim map(8,8)
Dim Tm(8,8)
Dim spc(8,8)

dir$="."

For b=1 To 8
	For a=1 To 8
		map(a,b)= LoadMesh(dir+"mars("+a+","+b+").b3d")
		correctoffset(map(a,b))
		UpdateNormals map(a,b)
		PositionEntity map(a,b),(a-1)*200,0,(b-1)*200
		EntityType map(a,b),2
		;spc(a,b)=dHashSpaceCreate(space)
		tm(a,b)=CreateTriMesh(space,map(a,b))
	Next
Next


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

; ### CREATE TRIMESH

;demomesh=map(1,1)
;ScaleMesh demomesh,1,0.7,1

;trimesh=CreateTriMesh(Space,demomesh)
;dGeomSetRotation(trimesh,0,0,0)
;dGeomSetPosition(trimesh,0,0,0)

;RotateEntity demomesh,0,0,0
;PositionEntity demomesh,0,0,0

;EntityColor demomesh,255,255,255
;EntityAlpha demomesh,1

;demotexture=LoadTexture("media\terrain.png")
;ScaleTexture demotexture,0.08,0.08
;EntityTexture demomesh,demotexture

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

SetupCar()

While Not KeyHit(1)

	UpdateKeys()

	PTime=MilliSecs()

	UpdateCar()

	UpdateGeoms()

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

	PhysicsTime#=MilliSecs()-PTime

	UpdateCam()

	UpdateWorld

	RenderWorld

	Text 0,0,"JV-ODE Version "+dGetVersion()
	Text 0,15,"Physics Time:"+PhysicsTime
	Text 0,30,"Car Speed:"+Speed
	Text 640,0,"A - Accelerate"
	Text 640,15,"Z - Brake/Reverse"
	Text 640,30,"Arrows - Steering"
	Text 640,45,"Space - Reset Car"

	Flip

Wend

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

End

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

Function SetupCar()

For count=1 To 4
	Joint(count)=dJointCreateHinge2(World,0)
	dJointAttach(Joint(count),Car,Wheel(count))
	dJointSetHinge2Anchor(Joint(count),dBodyGetPositionX(Wheel(count)),dBodyGetPositionY(Wheel(count)),dBodyGetPositionZ(Wheel(count)))
	dJointSetHinge2Axis1(Joint(count),0,1,0)
	dJointSetHinge2Axis2(Joint(count),-1,0,0)
	dJointSetHinge2Param(Joint(count),dParamSuspensionERP,0.8)
	dJointSetHinge2Param(Joint(count),dParamSuspensionCFM,SuspensionHS)
	If count>2
		dJointSetHinge2Param(Joint(count),dParamLoStop,0)
		dJointSetHinge2Param(Joint(count),dParamHiStop,0)
		End If
Next

Speed=0

End Function

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

Function UpdateKeys()

If KeyDown(30)=1
	Speed=Speed+0.08
	If Speed>30 Then Speed=30
	End If

If KeyDown(44)=1
	Speed=Speed-0.1
	If Speed<-10 Then Speed=-10
	If Speed>0 Then Speed=Speed*0.97
	End If

If KeyDown(30)=0 And KeyDown(44)=0 Then Speed=Speed*0.99

If KeyDown(203)=1 Or KeyDown(205)=1
	If KeyDown(203)=1
		Steer=0.5
		Else
		Steer=-0.5
		End If
	Else
	Steer=0
	End If

If KeyHit(57)=1
	Speed=0
	dBodySetRotation(Car,0,0,0)
	End If

End Function

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

Function UpdateCar()

For count=1 To 4
	dBodyEnable(Wheel(count))
Next

dBodyEnable(Car)

For count=1 To 4
	dJointSetHinge2Param(Joint(count),dParamVel2,Speed)
	dJointSetHinge2Param(Joint(count),dParamFMax2,HingeTorque)
Next

For count=1 To 2
	angle#=Steer-dJointGetHinge2Angle1(Joint(count))
	dJointSetHinge2Param(Joint(count),dParamVel,angle)
	dJointSetHinge2Param(Joint(count),dParamFMax,400)
Next

End Function

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

Function UpdateCam()

PositionEntity CameraPivot,0,3,-12

camx#=EntityX(CameraPivot,1)-EntityX(Camera)
camy#=EntityY(CameraPivot,1)-EntityY(Camera)
camz#=EntityZ(CameraPivot,1)-EntityZ(Camera)

TranslateEntity Camera,camx*0.5,camy*0.5,camz*0.5

PointEntity Camera,CMesh

End Function

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

Function UpdateGeoms()

For ode.ODEGeom=Each ODEGeom
	RotateEntity ode\mesh,dGeomGetPitch#(ode\geom),dGeomGetYaw#(ode\geom),dGeomGetRoll#(ode\geom)
	PositionEntity ode\mesh,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
Next

End Function

; ###################################################################################################
Function CorrectOffset(mesh,offx#=0,offy#=0,offz#=0)
Local x#,y#,z#, surf,s,v, minx#=100000,miny#=100000,minz#=100000
Local mw#=MeshWidth(mesh), mh#=MeshHeight(mesh), md#=MeshDepth(mesh)
For s=1 To CountSurfaces(mesh)
	surf=GetSurface(mesh,s)
	For v=0 To CountVertices(surf)-1
		x=VertexX(surf,v)
		y=VertexY(surf,v)
		z=VertexZ(surf,v)
		If x<minx Then minx=x
		If y<miny Then miny=y
		If z<minz Then minz=z
	Next
Next
TFormPoint minx+mw*0.5-offx,miny+mh*0.5-offy,minz+md*0.5-offz,mesh,GetParent(mesh)

TranslateEntity mesh,TFormedX(),TFormedY(),TFormedZ()
FitMesh mesh,-mw*0.5+offx,-mh*0.5+offy,-md*0.5+offz,mw,mh,md
End Function