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NA_ODE by nassimamar

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Author: Archive | Viewed: 930 times | Language: BlitzBasic 3D | Category: Maths/Physics

;Title:NA_Ode(NassimAmar Ode) >>>>Ode 0.5b<<<<
;Description:Mapping Functions to B3d Standards
;
;
;Tutorial:
;	Creating Entities:
;				1. NaOde_CreateCylinder(name,space,enable) 
;				2. Cylinder=NaOde_CreateCylinder(name,space,enable)
;				 Naming Entities Differently is Most useful when you as a programmer
;				 would want to change the position or rotation of the latter.
;						-NaOde_CreateCylinder(name,space,enable)
;						-NaOde_CreateCylinder(name,space,enable)
;						-NAOde_PositionEntity(name,180,0,0)--> This Will Move Both objects Named "x"
;----------------------------------------------------------------------------------------------
;	Arrays:
;							Dim Cylinders(20)
;							For x=1 To 20
;							NaOde_CreateCylinder(name,space,enable)
;							NAOde_PositionEntity(name,Rnd(10),Rnd(10),Rnd(10))
;							Next
;								>>Put the x in the Name Place as NAOde. Doing So 
;								  will logically give the Various Entities Created
;								  different numbers, Hence allowing the use of specific
;								  functions. But since probably you'll be using numerous 
;								  arrays. Might as well as a string before the "x"
;										-NAOde_PositionEntity(name,rnd(10),rnd(10),rnd(10))
;

Const dParamLoStop 			= 0
Const dParamHiStop			= 1
Const dParamVel				= 2
Const dParamVel2			= 258
Const dParamFMax			= 3
Const dParamFMax2			= 259
Const dParamFudgeFactor		= 4
Const dParamBounce			= 5
Const dParamCFM				= 6
Const dParamStopERP			= 7
Const dParamStopCFM			= 8
Const dParamSuspensionERP	= 9
Const dParamSuspensionCFM	= 10

Const dContactMu2		= $001
Const dContactFDir1		= $002
Const dContactBounce	= $004
Const dContactSoftERP	= $008
Const dContactSoftCFM	= $010
Const dContactMotion1	= $020
Const dContactMotion2	= $040
Const dContactSlip1		= $080
Const dContactSlip2		= $100
Const dContactApprox0	= $0000
Const dContactApprox1_1	= $1000
Const dContactApprox1_2	= $2000
Const dContactApprox1	= $3000

Const NAOde_PrimitiveMeshes=1
Const NAOde_Meshes=2
Const NAOde_Joints=3

Const NAODE_Cube=1
Const NAODE_Sphere=2
Const NAODE_Cylinder=3

Const Hinge=1
Const Slider=2
Const Universal=3
Const Hinge2=4
Const Fixed=5
Const Motor=6
Const Ball=7
SeedRnd MilliSecs()

Type TODEGeom
	Field body%,joint%,typjoint
	Field geom%,tdata,enable,geo
	Field mesh%,mesh2%,name$,cnt,id,flag
End Type

Global space%=ODE_dWorldCreate(1)
;>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>My Functions<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
Function NAODE_Init(Gravity#=-1,Bounce#=0.2,BounceVelocity#=1,Friction#=0.6,Friction2#=0.6,EntitiesSoftness#=0,GroundSoftness#=0,Slip1#=0,Slip2#=0,Motion1#=0,Motion2#=0)
ODE_dWorldSetGravity(0, Gravity#, 0)
ODE_dSetBOUNCE(Bounce#)
ODE_dSetBOUNCE_VEL(BounceVelocity#)
ODE_dSetMU(Friction#); Friction
ODE_dSetMU2(Friction2#); Friction
ODE_dSetSOFT_ERP(EntitiesSoftness#)
ODE_dSetSOFT_CFM(GroundSoftness#)
ODE_dSetSLIP1(Slip1#)
ODE_dSetSLIP1(Slip2#)
ODE_dSetMOTION1(Motion1#)
ODE_dSetMOTION2(Motion2#)
End Function

Function NAODE_Features(all)
ODE_dSetContactMode(all)
End Function

Function NAODE_CountEntities(id)
num=0
For g.TodeGeom=Each TodeGeom
If g\id=id Then num=num+1
Return num
Next
End Function

Function NAODE_CreateCylinder(name$,world,gravmode=0)
g.TOdeGeom=New TOdeGeom
g\name$=Upper(name$)
g\id=NAOde_PrimitiveMeshes
g\cnt=NAOde_CountEntities(g\id)
g\enable=1
g\geo=NAODE_Cylinder
g\body=ODE_dBodyCreate()
g\geom=ODE_dCreateCCylinder(world,radius#,height#,mass#)
ODE_dGeomSetBody(g\geom,g\body)
g\mesh=CreateCylinder()
ScaleEntity g\mesh,1,1,1
ODE_dBodySetPosition g\body,0,0,0
ODE_dBodySetRotation g\body,0,0,0
ODE_dBodySetGravityMode(g\body,gravmode) 
Return g\mesh
End Function

Function NAODE_CreateCube(name$,world,gravmode=0)
g.TOdeGeom=New TOdeGeom
g\name$=Upper(name$)
g\id=NAOde_PrimitiveMeshes
g\cnt=NAOde_CountEntities(g\id)
g\geo=NAODE_Cube
g\mesh=CreateCube()
g\enable=1
ScaleEntity g\mesh,1,1,1
g\body=ODE_dBodyCreate()
g\geom=ODE_dCreateBox(world,MeshWidth(g\mesh),MeshHeight(g\mesh),MeshDepth(g\mesh),mass#)
ODE_dGeomSetBody(g\geom,g\body)
ODE_dBodySetPosition g\body,0,0,0
ODE_dBodySetRotation g\body,0,0,0
ODE_dBodySetGravityMode(g\body,gravmode) 
Return g\mesh
End Function 
 
Function NAODE_CreateSphere(name$,world,gravmode=0)
g.TOdeGeom=New TOdeGeom
g\name$=Upper(name$)
g\id=NAOde_PrimitiveMeshes
g\cnt=NAOde_CountEntities(g\id)
g\geo=NAODE_Sphere
g\body=ODE_dBodyCreate()
g\enable=1
g\geom=ODE_dCreateSphere%(world, radius#, mass#)
ODE_dGeomSetBody(g\geom,g\body)
g\mesh=CreateSphere()
ScaleEntity g\mesh,1,1,1
ODE_dBodySetPosition g\body,0,0,0
ODE_dBodySetRotation g\body,0,0,0
ODE_dBodySetGravityMode(g\body,gravmode) 
Return g\mesh
End Function

Function NAODE_SetMeshToBody(name$,meshpath$)
For g.TodeGeom=Each TodeGeom
If g\name$=Upper(name$) And g\id=NAODE_PrimitiveMeshes
g\mesh=LoadMesh(meshpath$)
Return g\mesh
EndIf 
Next
End Function

Function NAODE_LoadMesh%(path$,name$,x#=0,y#=0,z#=0,scale#=1) ;rx#=0,ry#=0,rz#=0 On A later Version
g.TODEGeom=New TODEGeom
	g\tdata=t_data
	g\name$=Upper(name$)
	g\id=NAODE_Meshes
	g\cnt=NAODE_CountEntities(g\id)
	g\mesh=LoadMesh(path$)
	mesh%=CopyMesh(g\mesh)
	tris_count% = 0
	vert_count% = 0
	For i = 1 To CountSurfaces(mesh)
		tris_count = tris_count + CountTriangles(GetSurface(mesh, i))
		vert_count = vert_count + CountVertices(GetSurface(mesh, i))
	Next
	DebugLog "Tris count: " + tris_count
	DebugLog "Vertices count: " + vert_count
		DebugLog "surface count: "+CountSurfaces(mesh)
	vertices_bank% = CreateBank(vert_count * 4 * 4)
	indices_bank% = CreateBank(tris_count * 3 * 4)

offset% = 0
	offset_tris% = 0
	baseverts=0
	For i = 1 To CountSurfaces(mesh)
		sf = GetSurface(mesh, i)
		For v = 0 To CountVertices(sf) - 1
			PokeFloat vertices_bank, offset, VertexX(sf, v)*(scale#)+x#
			offset = offset + 4
			PokeFloat vertices_bank, offset, VertexY(sf, v)*(scale#)+y#
			offset = offset + 4
			PokeFloat vertices_bank, offset, VertexZ(sf, v)*(scale#)+z#
			offset = offset + 8
		Next
		For t = 0 To CountTriangles(sf) - 1
			For j = 0 To 2
				v = TriangleVertex(sf, t, j)+baseverts
				PokeInt indices_bank, offset_tris, v
				offset_tris = offset_tris + 4
			Next
		Next
		baseverts=baseverts+CountVertices(sf)
	Next
	FreeEntity mesh
	PositionEntity g\mesh,x#,y#,z#
	RotateEntity g\mesh,rx#,ry#,rz#
	ScaleEntity g\mesh,scale#,scale#,scale#
	t_data = ODE_dGeomTriMeshDataCreate()
	ODE_dGeomTriMeshDataBuildSimple(t_data, vertices_bank, vert_count, indices_bank, tris_count * 3)
 	ODE_dCreateTriMesh(space, t_data)
	Return g\mesh
End Function

Function NAODE_PositionEntity(name$,x#,y#,z#)
For g.TOdeGeom=Each TOdeGeom
If g\name$=Upper(name$) ODE_dBodySetPosition g\body,x#,y#,z#
Next
End Function

Function NAODE_RotateEntity(name$,rx#,ry#,rz#)
For g.TOdeGeom=Each TOdeGeom
If g\name$=Upper(name$) ODE_dBodySetRotation g\body,rx#,ry#,rz#
Next
End Function

Function NAODE_ScaleEntity(name$,world,x#,y#,z#,mass#=1)
For g.TOdeGeom=Each TOdeGeom
If g\name$=Upper(name$) 
	If g\geo=NAODE_Cube 
		ODE_dGeomDestroy(g\geom)
		g\geom=ODE_dCreateBox(world,x#,y#,z#,mass#)
		ODE_dGeomSetBody(g\geom,g\body)
		ScaleEntity g\mesh,x#,y#,z#
	EndIf 
	If g\geo=NAODE_Sphere
		ODE_dGeomDestroy(g\geom)
		g\geom=ODE_dCreateSphere(world, x#, mass#)
		ODE_dGeomSetBody(g\geom,g\body)
		ScaleEntity g\mesh,x#,x#,x#
	EndIf 
	If g\geo=NAODE_Cylinder
		ODE_dGeomDestroy(g\geom)
		g\geom=ODE_dCreateCCylinder(world,x#,y#,mass#)
		ODE_dGeomSetBody(g\geom,g\body)
		ScaleEntity g\mesh,x#,y#,x#
	EndIf 	
EndIf
Next
End Function

Function NAODE_PushEntity(name$,x#,y#,z#)
For g.TOdeGeom=Each TOdeGeom
If g\name$=Upper(name$) ODE_dBodyAddForce g\body,x#,y#,z#
Next
End Function

Function NAODE_TorqueEntity(name$,x#,y#,z#)
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) ODE_dBodyAddTorque g\body,x#,y#,z#
Next
End Function

Function NAODE_TranslateEntity(name$,x#,y#,z#)
For g.TOdeGeom=Each TOdeGeom
If g\name$=Upper(name$) ODE_dBodyTranslateMass(g\body,x#,y#,z#)
Next
End Function

Function NAODE_EntityX(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetPositionX#(g\body)
Next
End Function

Function NAODE_EntityY(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetPositionY#(g\body)
Next
End Function

Function NAODE_EntityZ(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetPositionZ#(g\body)
Next
End Function

Function NAODE_EntityPitch(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetPitch#(g\body)
Next
End Function

Function NAODE_EntityYaw(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetYaw#(g\body)
Next
End Function

Function NAODE_EntityRoll(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetRoll#(g\body)
Next
End Function

Function NAODE_EnableEntity(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) body=g\body
g\enable=1
Next
ODE_dBodyEnable(body%)
End Function

Function NAODE_DisableEntity(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) body=g\body
g\enable=0
Next
ODE_dBodyDisable(body%)
End Function

Function NAODE_FreeEntity(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$)
body=g\body
FreeEntity g\mesh
Delete g
EndIf
Next
ODE_dBodyDestroy(body%)
End Function

Function NAODE_EntityMass(name$,mass#)
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) ODE_dBodySetMass(g\body,mass#)
Next
End Function

Function NAODE_Gravity(x#,y#,z#)
ODE_dWorldSetGravity(x#,y#,z#)
End Function

Function NAODE_CountCollisions(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetCollisionsCount%(g\body)
Next
End Function

Function NAODE_CollisionX(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetCollisionX#(g\body, index%)
Next

End Function

Function NAODE_CollisionY(name$,index) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetCollisionY#(g\body, index%)
Next

End Function

Function NAODE_CollisionZ(name$,index) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetCollisionZ#(g\body, index%)
Next
End Function

Function NAODE_CollisionNX(name$,index) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetCollisionNX#(g\body, index%)
Next
End Function

Function NAODE_CollisionNY(name$,index) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetCollisionNY#(g\body,index%)
Next
End Function

Function NAODE_CollisionNZ(name$,index) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) Return ODE_dBodyGetCollisionNZ#(g\body,index%)
Next
End Function

Function NAODE_EntityCollided(name$,index) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) body=g\body 
If g\body=ODE_dBodyGetCollisionBody%(body%, index%)
Return g\name$
EndIf 
Next
End Function

Function NAODE_EntityAngularVelX(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) 
Return ODE_dBodyGetAngularVelX(g\body)
End If
Next
End Function

Function NAODE_EntityAngularVelY(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) 
Return ODE_dBodyGetAngularVelY(g\body)
End If
Next
End Function

Function NAODE_EntityAngularVelZ(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) 
Return ODE_dBodyGetAngularVelZ(g\body)
End If
Next
End Function

Function NAODE_EntityAngularVel(name$,ax#,ay#,az#) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) 
	ODE_dBodySetAngularVel(g\body, ax#, ay#, az#)
End If
Next
End Function

Function NAODE_CreateJoint(name$,SelectWhichOne$)
g.TodeGeom=New TodeGeom
g\name$=Upper(name$)
g\id=NAODE_Joints
g\cnt=NAODE_CountEntities(g\id)
Select Upper(SelectWhichOne$)
		Case "BALL" 
			g\joint=ODE_dJointCreateBall()
			g\typjoint=Ball
		Case "HINGE" 
			g\joint=ODE_dJointCreateHinge()
			g\typjoint=Hinge
		Case "SLIDER" 
			g\joint=ODE_dJointCreateSlider()
			g\typjoint=Slider
		Case "UNIVERSAL" 
			g\joint=ODE_dJointCreateUniversal()	
			g\typjoint=Universal
		Case "HINGE2"
			g\joint=ODE_dJointCreateHinge2()
			g\typjoint=Hinge2
		Case "FIXED"
			g\joint=ODE_dJointCreateFixed()	
			g\typjoint=Fixed
		Case "MOTOR"
			g\joint=ODE_dJointCreateAMotor()
			g\typjoint=Motor
		Default 
			g\joint=ODE_dJointCreateHinge()	
			g\typjoint=Hinge
End Select
End Function

Function NAODE_AttachJoint(joint$,name1$,name2$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name2$) body2=g\body
If g\name$=Upper(joint$) joint=g\joint
If g\name$=Upper(name1$) body1=g\body
Next
ODE_dJointAttach(joint,body1,body2)
End Function

Function NAODE_DetachJoint(joint$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(joint$) joint=g\joint
Next
ODE_dJointDestroy(joint)
End Function

Function NAODE_DeleteVolume(name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) geom=g\geom
Next
ODE_dSpaceRemove(space%,geom)
End Function
		
Function NAODE_PositionJointAxises(jointname$,axis1x#,axis1y#,axis1z#,axis2x#,axis2y#,axis2z#)
For g.TodeGeom=Each TodeGeom
If g\name$=Upper(jointname$) And g\id=NAODE_Joints
	If g\typjoint=Hinge2
		ODE_dJointSetHinge2Axis1 (g\joint,axis1x#,axis1y#,axis1z#)
		ODE_dJointSetHinge2Axis2 (g\joint,axis2x#,axis2y#,axis2z#)
	EndIf 
	If g\typjoint=Hinge
		ODE_dJointSetHingeAxis(g\joint,axis1x#,axis1y#,axis1z#) 
	EndIf 
EndIf 
Next
End Function

Function NAODE_SetJointParameter(name$,Parameter,Suspension#=.3)
For g.TodeGeom=Each TodeGeom
If g\name$=Upper(jointname$) And g\id=NAODE_Joints
ODE_dJointSetHinge2Param(g\joint, Parameter,Suspension#)
EndIf 
Next
End Function

Function NAODE_JointHinge2Angle1(name$)
For g.TodeGeom=Each TodeGeom
If g\name$=Upper(jointname$) And g\id=NAODE_Joints
Return ODE_dJointGetHinge2Angle1(g\joint)
EndIf 
Next
End Function

Function NAODE_CreateSimpleSpace(space)
Return ODE_dSimpleSpaceCreate(space)
End Function

Function NAODE_AddSpace(space,name$) 
For g.TodeGeom=Each Todegeom
If g\name$=Upper(name$) ODE_dSpaceAdd(space%,g\geom)
Next
End Function

Function NAODE_PositionJoint(name$,x#,y#,z#)
For g.TodeGeom=Each TodeGeom
If g\name$=Upper(jointname$) And g\id=NAODE_Joints
ODE_dJointSetHinge2Anchor(g\joint,x#,y#,z#)
EndIf 
Next
End Function

Function NAODE_UpdateWorld(TypeofUpdate=1)				;Modified the Original One Just to Keep Track of Each Entity
	For g.TODEGeom = Each TODEGeom
	If g\id=NAOde_PrimitiveMeshes
	 For cnt=1 To NAOde_CountEntities(g\id)
	  If g\cnt=cnt	
		If g\enable=1
		ODE_dBodyEnable g\body
	    PositionEntity g\mesh, ODE_dGeomGetPositionX(g\geom), ODE_dGeomGetPositionY(g\geom), ODE_dGeomGetPositionZ(g\geom)
		RotateEntity g\mesh, ODE_dGeomGetPitch(g\geom), ODE_dGeomGetYaw(g\geom), ODE_dGeomGetRoll(g\geom), 1
	  EndIf 
	EndIf 	
	 Next
	EndIf
	Next
	Select TypeofUpdate
		Case 2	
			ODE_dWorldStep(0.1)
		Default
			ODE_dWorldQuickStep(0.1)
	End Select		
End Function

Author Comments:

Nothing special, thought id might contribute some stuff that im currently not using. I mapped most of the "Useful" commands. There is much place for improvement, and maybe i hope not some corrections. The little plus here is you can place the Trimesh and scaleit directly from the code. The System tracks the Entities with number indexing in order to control them (positionentity,rotateentity and other commands). I also allowed realtime scaling of the meshes during runtime... ps: Just post any fixes on the comments section ;) Seee Ya Nassim Amar First Contribution Cheers