/*
* File name: ClothAgent.java (package eas.users.fabian.cloth)
* Author(s): Fabian
* Java version: 6.0
* Generation date: 15.02.2012 (16:31:52)
*
* (c) This file and the EAS (Easy Agent Simulation) framework containing it
* is protected by Creative Commons by-nc-sa license. Any altered or
* further developed versions of this file have to meet the agreements
* stated by the license conditions.
*
* In a nutshell
* -------------
* You are free:
* - to Share -- to copy, distribute and transmit the work
* - to Remix -- to adapt the work
*
* Under the following conditions:
* - Attribution -- You must attribute the work in the manner specified by the
* author or licensor (but not in any way that suggests that they endorse
* you or your use of the work).
* - Noncommercial -- You may not use this work for commercial purposes.
* - Share Alike -- If you alter, transform, or build upon this work, you may
* distribute the resulting work only under the same or a similar license to
* this one.
*
* + Detailed license conditions (Germany):
* http://creativecommons.org/licenses/by-nc-sa/3.0/de/
* + Detailed license conditions (unported):
* http://creativecommons.org/licenses/by-nc-sa/3.0/deed.en
*
* This header must be placed in the beginning of any version of this file.
*/
package eas.users.students.fabian.cloth;
import org.ode4j.math.DVector3;
import org.ode4j.ode.DBody;
import org.ode4j.ode.DGeom;
import org.ode4j.ode.DJoint;
import org.ode4j.ode.DMass;
import org.ode4j.ode.DUniversalJoint;
import org.ode4j.ode.OdeHelper;
import eas.plugins.standard.visualization.visualization3D.VideoPluginLWJGL;
import eas.plugins.standard.visualization.visualization3D.VideoPluginLWJGL.DS_TEXTURE_NUMBER;
import eas.simulation.spatial.sim3D.physicalSimulation.standardAgents.AbstractAgentODE3D;
import eas.startSetup.ParCollection;
/**
* @author Fabian
*
*/
public class ClothAgent3 extends AbstractAgentODE3D<ClothEnv> {
/**
*
*/
private static final long serialVersionUID = 2253584057363925644L;
private double radius = .1;
double distance;
// private final double cfm = 0;
private final double sphereMass = 0.000001;
// private final double erp = .000001;
// private final double fmax = 100000;
private DBody[][] bodyMatrix;
private DGeom[][] geomMatrix;
/**
* @param id
* @param env
* @param params
*/
public ClothAgent3(int id, ClothEnv env, ParCollection params, int gridSize, double distancefactor) {
super(id, env, params);
this.distance = radius * distancefactor;
double initialOffset = -1.*gridSize/2. * distance;
DVector3 initialPos = new DVector3(initialOffset, initialOffset, 2.5);
// int bodycounter = 0;
bodyMatrix = new DBody[gridSize][gridSize];
geomMatrix = new DGeom[gridSize][gridSize];
int numberOfJoints = (gridSize)*(gridSize-1) + (gridSize-1)*(gridSize);// + (width-1)*(height-1)*2;
DUniversalJoint[] joints2 = new DUniversalJoint[numberOfJoints];
// place spheres
for (int x = 0; x < gridSize; x++) {
for (int y = 0; y < gridSize; y++) {
bodyMatrix[x][y] = OdeHelper.createBody(env.getWorld());
bodies.add(bodyMatrix[x][y]);
bodyMatrix[x][y].setPosition(initialPos.get0()+x*distance,
initialPos.get1() + y * distance,
initialPos.get2());
DMass mass = OdeHelper.createMass();
mass.setSphereTotal(sphereMass, radius);
masses.add(mass);
bodyMatrix[x][y].setMass(mass);
geomMatrix[x][y] = OdeHelper.createSphere(env.getSpace(),
radius);
geoms.add(geomMatrix[x][y]);
geomMatrix[x][y].setBody(bodyMatrix[x][y]);
}
}
bodyMatrix[1][1].setKinematic();
bodyMatrix[gridSize-2][1].setKinematic();
bodyMatrix[1][gridSize-2].setKinematic();
bodyMatrix[gridSize-2][gridSize-2].setKinematic();
int jointCounter = 0;
// attach vertical constraints
for (int x = 0; x < gridSize; x++) {
for (int y = 0; y < gridSize - 1; y++) {
joints2[jointCounter] = OdeHelper.createUniversalJoint(env.getWorld());
joints2[jointCounter].attach(bodyMatrix[x][y],bodyMatrix[x][y + 1]);
jointCounter++;
}
}
//
// attach horizontal constraints
for (int x = 0; x < gridSize - 1; x++) {
for (int y = 0; y < gridSize; y++) {
joints2[jointCounter] = OdeHelper.createUniversalJoint(env.getWorld());
joints2[jointCounter].attach(bodyMatrix[x][y],bodyMatrix[x+1][y]);
jointCounter++;
}
}
// attach diagonal constraints
// for (int x = 0; x < width - 1; x++) {
// for (int y = 0; y < height - 1; y++) {
// joints2[jointCounter] = OdeHelper.createUniversalJoint(env.getWorld());
// joints2[jointCounter].attach(bodyMatrix[x][y],bodyMatrix[x + 1][y + 1]);
// DVector3 ax1 = null;
// joints2[jointCounter].getAxis1(ax1);
// }
// }
// attach diagonal constraints
// for (int x = 0; x < width-1; x++) {
// for (int y = 0; y < height - 1; y++) {
// joints2[jointCounter] = OdeHelper.createUniversalJoint(env.getWorld());
// joints2[jointCounter].attach(bodyMatrix[x+1][y],bodyMatrix[x][y + 1]);
//
//
//
// jointCounter++;
// }
// }
// setup joints
for (int i = 0; i < joints2.length; i++) {
if (joints2[i] == null) {
System.out.println(i);
break;
}
joints2[i].setParam(DJoint.PARAM_N.dParamBounce1, 0);
joints2[i].setParam(DJoint.PARAM_N.dParamBounce2, 0);
}
}
/*
* (non-Javadoc)
*
* @see eas.simulation.spatial.sim3D.physicalSimulation.standardAgents.
* AbstractAgentLWJGLdrawable#isDrawableInLWJGL()
*/
@Override
public boolean isDrawableInLWJGL() {
return true;
}
@Override
public void drawInLWJGL() {
VideoPluginLWJGL.dsSetColor(.5f, .5f, .5f);
VideoPluginLWJGL.setTexture(DS_TEXTURE_NUMBER.DS_GROUND);
VideoPluginLWJGL.drawCloth(bodyMatrix);
// VideoPluginLWJGL.drawClothAsPatches(bodyMatrix);
// super.drawInLWJGL() ;
}
public DBody[][] getBodyMatrix() {
return this.bodyMatrix;
}
}