首先把上次的模拟结果全部画到了一张图里, 可以看一下模拟效果.
还是很有趣.






这次是可控制的关节运动, 不像上次一样全部是纯自然的动作了.
不过这次没法保证代码和结果是完全对的, 参数太多,没太多时间挨个改...


先来看效果








这些展示了关节重心的移动过程, 基本上是在很疯狂的旋转.
第一个关节设定了和大地的fixJoint却还能小幅旋转, 真是神奇....






总之先放在这吧


【关节运动模拟 in ODE】

Mac-mini:ode$ cat example6.d import std.stdio; import ode; static dWorldID world; static dSpaceID space; static dJointGroupID contactgroup; struct cot{ dBodyID link; dJointID joint; dReal l,r,theta; dReal x,y,z; dReal mass; dReal anchorx,anchory,anchorz; dReal axisx, axisy, axisz; }cot*[] links; const double k1 = 10., fMax = 100.; void control(){ foreach(l; links[1..$]){ double tmp = l.theta - dJointGetHingeAngle(l.joint); dJointSetHingeParam(l.joint, dParamVel, k1*tmp); dJointSetHingeParam(l.joint, dParamFMax, fMax); } }extern(System) void nearCallBack(void* date, dGeomID o1, dGeomID o2){ const maxContacts = 10; dContact[maxContacts] contact; int numc = dCollide(o1, o2, maxContacts, &contact[0].geom, dContact.sizeof); if (numc>0) { for (uint i = 0; i< numc; i++) { with (contact[i].surface){ mode = dContactSoftCFM | dContactSoftERP | dContactApprox1; mu = dInfinity; soft_cfm = 1e-8; soft_erp = 1.; } dJointID c = dJointCreateContact(world, contactgroup, &contact[i]); dJointAttach(c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2)); } } }void simLoop(){ control(); dSpaceCollide(space, null ,&nearCallBack); dWorldStep(world, 0.01); dJointGroupEmpty(contactgroup); dReal* pos; foreach(k,b; links){ pos = dBodyGetPosition(b.link); foreach(i; 0..3) writef("%.6f\t",*(pos+i)); } writeln(); }void create(cot* b){ b.link = dBodyCreate(world); dMass m1; dMassSetZero(&m1); dMassSetCylinderTotal(&m1,b.mass,2,b.r, b.l); dBodySetMass(b.link,&m1); dBodySetPosition(b.link, b.x,b.y,b.z); }void createFixedJoint(cot* b1, cot* b2){ b1.joint = dJointCreateFixed(world,null); if (!b2){ dJointAttach(b1.joint, b1.link, null); } else{ dJointAttach(b1.joint,b1.link,b2.link); } dJointSetFixed(b1.joint); }void createHinge(cot* a1, cot* b1){ b1.joint = dJointCreateHinge(world, null); dJointAttach(b1.joint,a1.link, b1.link); dJointSetHingeAnchor(b1.joint, b1.anchorx, b1.anchory, b1.anchorz); dJointSetHingeAxis(b1.joint, b1.axisx, b1.axisy, b1.axisz); }/* struct cot{ dBodyID link; dJointID joint; dReal l,r,theta; dReal x,y,z; dReal mass; dReal anchorx,anchory,anchorz; dReal axisx, axisy, axisz; }*/void main(){ links ~= new cot(null,null,0.1,0.2,0,0,0,0.05,10,0,0,0,0,0,1); links ~= new cot(null,null,0.9,0.04,90,0.0,0,0.5,2,0,0,0.1,0,0,1); links ~= new cot(null,null,1,0.04,120,0,0.0,1.5,2,0,0,1,0,1,0); links ~= new cot(null,null,1,0.04,70,0,0,2.55,2,0,0,2,0,1,0); dInitODE(); world = dWorldCreate(); space = dHashSpaceCreate(null); contactgroup = dJointGroupCreate(0); dWorldSetERP(world, 0.5); dWorldSetCFM(world, 1e-3); dWorldSetGravity(world, 0, 0, -9.8); foreach(b; links) create(b); createFixedJoint(links[0], null); for(uint i=1; i