bluecore/ode/src/export-dif.cpp

565 lines
16 KiB
C++

/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
/*
* Export a DIF (Dynamics Interchange Format) file.
*/
// @@@ TODO:
// * export all spaces, and geoms in spaces, not just ones attached to bodies
// (separate export function?)
// * say the space each geom is in, so reader can construct space heirarchy
// * limot --> separate out into limits and motors?
// * make sure ODE-specific parameters divided out
#include "ode/ode.h"
#include "objects.h"
#include "joint.h"
#include "collision_kernel.h"
//***************************************************************************
// utility
struct PrintingContext {
FILE *file; // file to write to
int precision; // digits of precision to print
int indent; // number of levels of indent
void printIndent();
void printReal (dReal x);
void print (const char *name, int x);
void print (const char *name, dReal x);
void print (const char *name, const dReal *x, int n=3);
void print (const char *name, const char *x=0);
void printNonzero (const char *name, dReal x);
void printNonzero (const char *name, const dReal x[3]);
};
void PrintingContext::printIndent()
{
for (int i=0; i<indent; i++) fputc ('\t',file);
}
void PrintingContext::print (const char *name, int x)
{
printIndent();
fprintf (file,"%s = %d,\n",name,x);
}
void PrintingContext::printReal (dReal x)
{
if (x==dInfinity) {
fprintf (file,"inf");
}
else if (x==-dInfinity) {
fprintf (file,"-inf");
}
else {
fprintf (file,"%.*g",precision,x);
}
}
void PrintingContext::print (const char *name, dReal x)
{
printIndent();
fprintf (file,"%s = ",name);
printReal (x);
fprintf (file,",\n");
}
void PrintingContext::print (const char *name, const dReal *x, int n)
{
printIndent();
fprintf (file,"%s = {",name);
for (int i=0; i<n; i++) {
printReal (x[i]);
if (i < n-1) fputc (',',file);
}
fprintf (file,"},\n");
}
void PrintingContext::print (const char *name, const char *x)
{
printIndent();
if (x) {
fprintf (file,"%s = \"%s\",\n",name,x);
}
else {
fprintf (file,"%s\n",name);
}
}
void PrintingContext::printNonzero (const char *name, dReal x)
{
if (x != 0) print (name,x);
}
void PrintingContext::printNonzero (const char *name, const dReal x[3])
{
if (x[0] != 0 && x[1] != 0 && x[2] != 0) print (name,x);
}
//***************************************************************************
// joints
static void printLimot (PrintingContext &c, dxJointLimitMotor &limot, int num)
{
if (num >= 0) {
c.printIndent();
fprintf (c.file,"limit%d = {\n",num);
}
else {
c.print ("limit = {");
}
c.indent++;
c.print ("low_stop",limot.lostop);
c.print ("high_stop",limot.histop);
c.printNonzero ("bounce",limot.bounce);
c.print ("ODE = {");
c.indent++;
c.printNonzero ("stop_erp",limot.stop_erp);
c.printNonzero ("stop_cfm",limot.stop_cfm);
c.indent--;
c.print ("},");
c.indent--;
c.print ("},");
if (num >= 0) {
c.printIndent();
fprintf (c.file,"motor%d = {\n",num);
}
else {
c.print ("motor = {");
}
c.indent++;
c.printNonzero ("vel",limot.vel);
c.printNonzero ("fmax",limot.fmax);
c.print ("ODE = {");
c.indent++;
c.printNonzero ("fudge_factor",limot.fudge_factor);
c.printNonzero ("normal_cfm",limot.normal_cfm);
c.indent--;
c.print ("},");
c.indent--;
c.print ("},");
}
static const char *getJointName (dxJoint *j)
{
switch (j->vtable->typenum) {
case dJointTypeBall: return "ball";
case dJointTypeHinge: return "hinge";
case dJointTypeSlider: return "slider";
case dJointTypeContact: return "contact";
case dJointTypeUniversal: return "universal";
case dJointTypeHinge2: return "ODE_hinge2";
case dJointTypeFixed: return "fixed";
case dJointTypeNull: return "null";
case dJointTypeAMotor: return "ODE_angular_motor";
case dJointTypeLMotor: return "ODE_linear_motor";
case dJointTypePR: return "PR";
}
return "unknown";
}
static void printBall (PrintingContext &c, dxJoint *j)
{
dxJointBall *b = (dxJointBall*) j;
c.print ("anchor1",b->anchor1);
c.print ("anchor2",b->anchor2);
}
static void printHinge (PrintingContext &c, dxJoint *j)
{
dxJointHinge *h = (dxJointHinge*) j;
c.print ("anchor1",h->anchor1);
c.print ("anchor2",h->anchor2);
c.print ("axis1",h->axis1);
c.print ("axis2",h->axis2);
c.print ("qrel",h->qrel,4);
printLimot (c,h->limot,-1);
}
static void printSlider (PrintingContext &c, dxJoint *j)
{
dxJointSlider *s = (dxJointSlider*) j;
c.print ("axis1",s->axis1);
c.print ("qrel",s->qrel,4);
c.print ("offset",s->offset);
printLimot (c,s->limot,-1);
}
static void printContact (PrintingContext &c, dxJoint *j)
{
dxJointContact *ct = (dxJointContact*) j;
int mode = ct->contact.surface.mode;
c.print ("pos",ct->contact.geom.pos);
c.print ("normal",ct->contact.geom.normal);
c.print ("depth",ct->contact.geom.depth);
//@@@ may want to write the geoms g1 and g2 that are involved, for debugging.
// to do this we must have written out all geoms in all spaces, not just
// geoms that are attached to bodies.
c.print ("mu",ct->contact.surface.mu);
if (mode & dContactMu2) c.print ("mu2",ct->contact.surface.mu2);
if (mode & dContactBounce) c.print ("bounce",ct->contact.surface.bounce);
if (mode & dContactBounce) c.print ("bounce_vel",ct->contact.surface.bounce_vel);
if (mode & dContactSoftERP) c.print ("soft_ERP",ct->contact.surface.soft_erp);
if (mode & dContactSoftCFM) c.print ("soft_CFM",ct->contact.surface.soft_cfm);
if (mode & dContactMotion1) c.print ("motion1",ct->contact.surface.motion1);
if (mode & dContactMotion2) c.print ("motion2",ct->contact.surface.motion2);
if (mode & dContactSlip1) c.print ("slip1",ct->contact.surface.slip1);
if (mode & dContactSlip2) c.print ("slip2",ct->contact.surface.slip2);
int fa = 0; // friction approximation code
if (mode & dContactApprox1_1) fa |= 1;
if (mode & dContactApprox1_2) fa |= 2;
if (fa) c.print ("friction_approximation",fa);
if (mode & dContactFDir1) c.print ("fdir1",ct->contact.fdir1);
}
static void printUniversal (PrintingContext &c, dxJoint *j)
{
dxJointUniversal *u = (dxJointUniversal*) j;
c.print ("anchor1",u->anchor1);
c.print ("anchor2",u->anchor2);
c.print ("axis1",u->axis1);
c.print ("axis2",u->axis2);
c.print ("qrel1",u->qrel1,4);
c.print ("qrel2",u->qrel2,4);
printLimot (c,u->limot1,1);
printLimot (c,u->limot2,2);
}
static void printHinge2 (PrintingContext &c, dxJoint *j)
{
dxJointHinge2 *h = (dxJointHinge2*) j;
c.print ("anchor1",h->anchor1);
c.print ("anchor2",h->anchor2);
c.print ("axis1",h->axis1);
c.print ("axis2",h->axis2);
c.print ("v1",h->v1); //@@@ much better to write out 'qrel' here, if it's available
c.print ("v2",h->v2);
c.print ("susp_erp",h->susp_erp);
c.print ("susp_cfm",h->susp_cfm);
printLimot (c,h->limot1,1);
printLimot (c,h->limot2,2);
}
static void printPR (PrintingContext &c, dxJoint *j)
{
dxJointPR *pr = (dxJointPR*) j;
c.print ("anchor2",pr->anchor2);
c.print ("axisR1",pr->axisR1);
c.print ("axisR2",pr->axisR2);
c.print ("axisP1",pr->axisP1);
c.print ("qrel",pr->qrel,4);
c.print ("offset",pr->offset);
printLimot (c,pr->limotP,1);
printLimot (c,pr->limotR,2);
}
static void printFixed (PrintingContext &c, dxJoint *j)
{
dxJointFixed *f = (dxJointFixed*) j;
c.print ("qrel",f->qrel);
c.print ("offset",f->offset);
}
static void printLMotor (PrintingContext &c, dxJoint *j)
{
dxJointLMotor *a = (dxJointLMotor*) j;
c.print("num", a->num);
c.printIndent();
fprintf (c.file,"rel = {%d,%d,%d},\n",a->rel[0],a->rel[1],a->rel[2]);
c.print ("axis1",a->axis[0]);
c.print ("axis2",a->axis[1]);
c.print ("axis3",a->axis[2]);
for (int i=0; i<3; i++) printLimot (c,a->limot[i],i+1);
}
static void printAMotor (PrintingContext &c, dxJoint *j)
{
dxJointAMotor *a = (dxJointAMotor*) j;
c.print ("num",a->num);
c.print ("mode",a->mode);
c.printIndent();
fprintf (c.file,"rel = {%d,%d,%d},\n",a->rel[0],a->rel[1],a->rel[2]);
c.print ("axis1",a->axis[0]);
c.print ("axis2",a->axis[1]);
c.print ("axis3",a->axis[2]);
for (int i=0; i<3; i++) printLimot (c,a->limot[i],i+1);
c.print ("angle1",a->angle[0]);
c.print ("angle2",a->angle[1]);
c.print ("angle3",a->angle[2]);
}
//***************************************************************************
// geometry
static void printGeom (PrintingContext &c, dxGeom *g);
static void printSphere (PrintingContext &c, dxGeom *g)
{
c.print ("type","sphere");
c.print ("radius",dGeomSphereGetRadius (g));
}
static void printBox (PrintingContext &c, dxGeom *g)
{
dVector3 sides;
dGeomBoxGetLengths (g,sides);
c.print ("type","box");
c.print ("sides",sides);
}
static void printCapsule (PrintingContext &c, dxGeom *g)
{
dReal radius,length;
dGeomCapsuleGetParams (g,&radius,&length);
c.print ("type","capsule");
c.print ("radius",radius);
c.print ("length",length);
}
static void printPlane (PrintingContext &c, dxGeom *g)
{
dVector4 e;
dGeomPlaneGetParams (g,e);
c.print ("type","plane");
c.print ("normal",e);
c.print ("d",e[3]);
}
static void printRay (PrintingContext &c, dxGeom *g)
{
dReal length = dGeomRayGetLength (g);
c.print ("type","ray");
c.print ("length",length);
}
static void printGeomTransform (PrintingContext &c, dxGeom *g)
{
dxGeom *g2 = dGeomTransformGetGeom (g);
const dReal *pos = dGeomGetPosition (g2);
dQuaternion q;
dGeomGetQuaternion (g2,q);
c.print ("type","transform");
c.print ("pos",pos);
c.print ("q",q,4);
c.print ("geometry = {");
c.indent++;
printGeom (c,g2);
c.indent--;
c.print ("}");
}
static void printTriMesh (PrintingContext &c, dxGeom *g)
{
c.print ("type","trimesh");
//@@@ i don't think that the trimesh accessor functions are really
// sufficient to read out all the triangle data, and anyway we
// should have a method of not duplicating trimesh data that is
// shared.
}
static void printGeom (PrintingContext &c, dxGeom *g)
{
unsigned long category = dGeomGetCategoryBits (g);
if (category != (unsigned long)(~0)) {
c.printIndent();
fprintf (c.file,"category_bits = %lu\n",category);
}
unsigned long collide = dGeomGetCollideBits (g);
if (collide != (unsigned long)(~0)) {
c.printIndent();
fprintf (c.file,"collide_bits = %lu\n",collide);
}
if (!dGeomIsEnabled (g)) {
c.print ("disabled",1);
}
switch (g->type) {
case dSphereClass: printSphere (c,g); break;
case dBoxClass: printBox (c,g); break;
case dCapsuleClass: printCapsule (c,g); break;
case dPlaneClass: printPlane (c,g); break;
case dRayClass: printRay (c,g); break;
case dGeomTransformClass: printGeomTransform (c,g); break;
case dTriMeshClass: printTriMesh (c,g); break;
}
}
//***************************************************************************
// world
void dWorldExportDIF (dWorldID w, FILE *file, const char *prefix)
{
PrintingContext c;
c.file = file;
#if defined(dSINGLE)
c.precision = 7;
#else
c.precision = 15;
#endif
c.indent = 1;
fprintf (file,"-- Dynamics Interchange Format v0.1\n\n%sworld = dynamics.world {\n",prefix);
c.print ("gravity",w->gravity);
c.print ("ODE = {");
c.indent++;
c.print ("ERP",w->global_erp);
c.print ("CFM",w->global_cfm);
c.print ("auto_disable = {");
c.indent++;
c.print ("linear_threshold",w->adis.linear_average_threshold);
c.print ("angular_threshold",w->adis.angular_average_threshold);
c.print ("average_samples",(int)w->adis.average_samples);
c.print ("idle_time",w->adis.idle_time);
c.print ("idle_steps",w->adis.idle_steps);
fprintf (file,"\t\t},\n\t},\n}\n");
c.indent -= 3;
// bodies
int num = 0;
fprintf (file,"%sbody = {}\n",prefix);
for (dxBody *b=w->firstbody; b; b=(dxBody*)b->next) {
b->tag = num;
fprintf (file,"%sbody[%d] = dynamics.body {\n\tworld = %sworld,\n",prefix,num,prefix);
c.indent++;
c.print ("pos",b->posr.pos);
c.print ("q",b->q,4);
c.print ("lvel",b->lvel);
c.print ("avel",b->avel);
c.print ("mass",b->mass.mass);
fprintf (file,"\tI = {{");
for (int i=0; i<3; i++) {
for (int j=0; j<3; j++) {
c.printReal (b->mass.I[i*4+j]);
if (j < 2) fputc (',',file);
}
if (i < 2) fprintf (file,"},{");
}
fprintf (file,"}},\n");
c.printNonzero ("com",b->mass.c);
c.print ("ODE = {");
c.indent++;
if (b->flags & dxBodyFlagFiniteRotation) c.print ("finite_rotation",1);
if (b->flags & dxBodyDisabled) c.print ("disabled",1);
if (b->flags & dxBodyNoGravity) c.print ("no_gravity",1);
if (b->flags & dxBodyAutoDisable) {
c.print ("auto_disable = {");
c.indent++;
c.print ("linear_threshold",b->adis.linear_average_threshold);
c.print ("angular_threshold",b->adis.angular_average_threshold);
c.print ("average_samples",(int)b->adis.average_samples);
c.print ("idle_time",b->adis.idle_time);
c.print ("idle_steps",b->adis.idle_steps);
c.print ("time_left",b->adis_timeleft);
c.print ("steps_left",b->adis_stepsleft);
c.indent--;
c.print ("},");
}
c.printNonzero ("facc",b->facc);
c.printNonzero ("tacc",b->tacc);
if (b->flags & dxBodyFlagFiniteRotationAxis) {
c.print ("finite_rotation_axis",b->finite_rot_axis);
}
c.indent--;
c.print ("},");
if (b->geom) {
c.print ("geometry = {");
c.indent++;
for (dxGeom *g=b->geom; g; g=g->body_next) {
c.print ("{");
c.indent++;
printGeom (c,g);
c.indent--;
c.print ("},");
}
c.indent--;
c.print ("},");
}
c.indent--;
c.print ("}");
num++;
}
// joints
num = 0;
fprintf (file,"%sjoint = {}\n",prefix);
for (dxJoint *j=w->firstjoint; j; j=(dxJoint*)j->next) {
c.indent++;
const char *name = getJointName (j);
fprintf (file,
"%sjoint[%d] = dynamics.%s_joint {\n"
"\tworld = %sworld,\n"
"\tbody = {%sbody[%d]"
,prefix,num,name,prefix,prefix,j->node[0].body->tag);
if (j->node[1].body) fprintf (file,",%sbody[%d]",prefix,j->node[1].body->tag);
fprintf (file,"},\n");
switch (j->vtable->typenum) {
case dJointTypeBall: printBall (c,j); break;
case dJointTypeHinge: printHinge (c,j); break;
case dJointTypeSlider: printSlider (c,j); break;
case dJointTypeContact: printContact (c,j); break;
case dJointTypeUniversal: printUniversal (c,j); break;
case dJointTypeHinge2: printHinge2 (c,j); break;
case dJointTypeFixed: printFixed (c,j); break;
case dJointTypeAMotor: printAMotor (c,j); break;
case dJointTypeLMotor: printLMotor (c,j); break;
case dJointTypePR: printPR (c,j); break;
}
c.indent--;
c.print ("}");
num++;
}
}