[ODE] ODE freezes, can you help?
Ivan Bolcina
ivan.bolcina at volja.net
Thu Dec 19 13:10:02 2002
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Hi!
Thanks for all useful info about debugging. Unfortunately, I am still =
having big trouble with ode.
Cases:
world gravity=3D0 =3D=3D> error
world gravity!=3D0 =3D=3D> OK
world gravity!=3D0 && body gravity mode=3D0 =3D=3D> error
so if force of gravity becomes one way or another 0, than all my objects =
are throw way out of context. ODE throws all objects in the same spot, =
so Collision function is busy as hell.
How could I have influenced ODE with my code this =
way????!!!!??!?!??!?!?!
Here is my code which has something to do with ode. Can someone PLEASE =
please have a look, I am going crazy here.
initialization:
HRESULT WFMApp::OneTimeSceneInit()
{
world =3D dWorldCreate();
space =3D dSimpleSpaceCreate (0);
contactgroup =3D dJointGroupCreate (1000000);
dWorldSetGravity (world,0.0001f,0.0001f,0.0001f); //if I uncomment this, =
I get error
....
}
For objects:
void SObject::createPhy(int mode)
{
PhyBody =3D dBodyCreate (app->world);
dBodySetPosition (PhyBody,m_Position.x,m_Position.y,m_Position.z);=20
dMass m;
float vol=3Dm_radius*m_radius*m_radius*3.1459;
float den=3DMass/vol;
dMassSetSphere (&m,den,m_radius);=20
dBodySetMass (PhyBody,&m);
PhyGeom =3D dCreateSphere(app->space,m_radius);
dGeomSetBody (PhyGeom,PhyBody);
}
and world step:
dWorldStep (this->world, getElapsedTime());
dJointGroupEmpty (contactgroup);
and finally,collsion which I do by hand
for (Ship_Iterator =
itr=3Dapp->ships.begin();itr!=3Dapp->ships.end();itr++)
{
SOShip * tmp=3D*itr;
if (tmp=3D=3Dthis || !tmp->alive) continue;
if (Collision(tmp))
{
if (!PhyBody || !tmp->PhyBody) return;
if (dAreConnected(PhyBody,tmp->PhyBody)) return;
D3DXVECTOR3 diff=3Dm_Position-tmp->GetPosition();
float len=3DD3DXVec3Length(&diff);
if (len<=3D0.0f)
{
diff=3DD3DXVECTOR3(1,0,0);
len=3D1;
}
diff*=3D(1.0f/len);
dContact contact;
contact.surface.mode =3D 0;
contact.surface.mu =3D 0.1;
contact.surface.mu2 =3D 0;
convertVector(diff,contact.geom.normal);
convertVector(m_Position-diff*m_radius,contact.geom.pos);
D3DXVECTOR3 spe=3Dmove-tmp->move;
len=3DD3DXVec3Length(&spe);
len*=3Dapp->getElapsedTime();
contact.geom.depth=3D3+len;
contact.geom.g1=3Dthis->PhyGeom;
contact.geom.g2=3Dtmp->PhyGeom;
dJointID c =3D dJointCreateContact =
(app->world,app->contactgroup,&contact);
dJointAttach (c,this->PhyBody,tmp->PhyBody);
}
}
other than that, I just apply forces and torques to objects.
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<DIV>Hi!</DIV>
<DIV><FONT size=3D2></FONT> </DIV>
<DIV>Thanks for all useful info about debugging. Unfortunately, I am =
still=20
having big trouble with ode.</DIV>
<DIV>Cases:</DIV>
<DIV><FONT size=3D2></FONT> </DIV>
<DIV>world gravity=3D0 =3D=3D> error</DIV>
<DIV>world gravity!=3D0 =3D=3D> OK</DIV>
<DIV>world gravity!=3D0 && body gravity mode=3D0 =3D=3D> =
error</DIV>
<DIV><FONT size=3D2></FONT> </DIV>
<DIV>so if force of gravity becomes one way or another 0, than all my =
objects=20
are throw way out of context. ODE throws all objects in the same spot, =
so=20
Collision function is busy as hell.</DIV>
<DIV>How could I have influenced ODE with my code this=20
way????!!!!??!?!??!?!?!</DIV>
<DIV><FONT size=3D2></FONT> </DIV>
<DIV>Here is my code which has something to do with ode. Can someone =
PLEASE=20
please have a look, I am going crazy here.</DIV>
<DIV><FONT size=3D2></FONT> </DIV>
<DIV><FONT size=3D2></FONT> </DIV>
<DIV>initialization:</DIV>
<DIV><FONT size=3D2></FONT> </DIV>
<DIV><FONT size=3D2>
<P>HRESULT WFMApp::OneTimeSceneInit()<BR>{<BR>world =3D =
dWorldCreate();<BR>space =3D=20
dSimpleSpaceCreate (0);<BR>contactgroup =3D dJointGroupCreate=20
(1000000);<BR>dWorldSetGravity (world,0.0001f,0.0001f,0.0001f); //if I =
uncomment=20
this, I get error<BR>....<BR>}</P>
<P>For objects:</P><FONT color=3D#0000ff size=3D2>
<P>void</FONT><FONT size=3D2> SObject::createPhy(</FONT><FONT =
color=3D#0000ff=20
size=3D2>int</FONT><FONT size=3D2> mode)<BR></FONT><FONT =
size=3D2>{<BR> PhyBody=20
=3D dBodyCreate (app->world);<BR> dBodySetPosition=20
(PhyBody,m_Position.x,m_Position.y,m_Position.z); <BR> dMass=20
m;<BR></FONT><FONT color=3D#0000ff size=3D2> float</FONT><FONT =
size=3D2>=20
vol=3Dm_radius*m_radius*m_radius*3.1459;<BR></FONT><FONT color=3D#0000ff =
size=3D2> float</FONT><FONT size=3D2> den=3DMass/vol;<BR> =
dMassSetSphere=20
(&m,den,m_radius); <BR> dBodySetMass =
(PhyBody,&m);<BR> =20
PhyGeom =3D dCreateSphere(app->space,m_radius);<BR> =
dGeomSetBody=20
(PhyGeom,PhyBody);<BR></FONT><FONT size=3D2>}</FONT></P>
<P><FONT size=3D2>and world step:</FONT></P><FONT size=3D2>
<P>dWorldStep (</FONT><FONT color=3D#0000ff size=3D2>this</FONT><FONT=20
size=3D2>->world, getElapsedTime());<BR>dJointGroupEmpty=20
(contactgroup);</P></FONT>
<P><FONT size=3D2>and finally,collsion which I do by =
hand</FONT></P><FONT size=3D2>
<P></FONT><FONT color=3D#0000ff size=3D2>for</FONT><FONT size=3D2> =
(Ship_Iterator=20
itr=3Dapp->ships.begin();itr!=3Dapp->ships.end();itr++)<BR>{<BR>&nb=
sp; SOShip=20
* tmp=3D*itr;<BR> </FONT><FONT color=3D#0000ff =
size=3D2>if</FONT><FONT size=3D2>=20
(tmp=3D=3D</FONT><FONT color=3D#0000ff size=3D2>this</FONT><FONT =
size=3D2> ||=20
!tmp->alive) </FONT><FONT color=3D#0000ff =
size=3D2>continue</FONT><FONT=20
size=3D2>;<BR> </FONT><FONT color=3D#0000ff =
size=3D2>if</FONT><FONT size=3D2>=20
(Collision(tmp))<BR> {<BR> </FONT><FONT =
color=3D#0000ff=20
size=3D2>if</FONT><FONT size=3D2> (!PhyBody || !tmp->PhyBody) =
</FONT><FONT=20
color=3D#0000ff size=3D2>return</FONT><FONT =
size=3D2>;<BR> =20
</FONT><FONT color=3D#0000ff size=3D2>if</FONT><FONT size=3D2>=20
(dAreConnected(PhyBody,tmp->PhyBody)) </FONT><FONT color=3D#0000ff=20
size=3D2>return</FONT><FONT size=3D2>;<BR> D3DXVECTOR3 =
diff=3Dm_Position-tmp->GetPosition();<BR> =
</FONT><FONT=20
color=3D#0000ff size=3D2>float</FONT><FONT size=3D2>=20
len=3DD3DXVec3Length(&diff);<BR> </FONT><FONT =
color=3D#0000ff=20
size=3D2>if</FONT><FONT size=3D2> (len<=3D0.0f)<BR> =
{<BR> =20
diff=3DD3DXVECTOR3(1,0,0);<BR> =20
len=3D1;<BR> }<BR> =20
diff*=3D(1.0f/len);<BR> dContact =
contact;<BR> =20
contact.surface.mode =3D 0;<BR> contact.surface.mu =3D =
0.1;<BR> contact.surface.mu2 =3D =
0;<BR> =20
convertVector(diff,contact.geom.normal);<BR> =20
convertVector(m_Position-diff*m_radius,contact.geom.pos);<BR> =
=20
D3DXVECTOR3 spe=3Dmove-tmp->move;<BR> =20
len=3DD3DXVec3Length(&spe);<BR> =20
len*=3Dapp->getElapsedTime();<BR> =20
contact.geom.depth=3D3+len;<BR> =
contact.geom.g1=3D</FONT><FONT=20
color=3D#0000ff size=3D2>this</FONT><FONT =
size=3D2>->PhyGeom;<BR> =20
contact.geom.g2=3Dtmp->PhyGeom;<BR> dJointID c =3D=20
dJointCreateContact=20
(app->world,app->contactgroup,&contact);<BR> =
dJointAttach (c,</FONT><FONT color=3D#0000ff size=3D2>this</FONT><FONT=20
size=3D2>->PhyBody,tmp->PhyBody);<BR> </FONT><FONT=20
size=3D2>}<BR>}</P></FONT>
<P>other than that, I just apply forces and torques to objects.</P>
<P> </P>
<P><FONT size=3D2> </P></FONT></FONT></DIV></BODY></HTML>
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