func (s *Sim) Iter() {
angle += 0.05
body[len(body)-1].AddForce(ode.V3(0, 0, 1.5*(math.Sin(angle)+1)))
space.Collide(0, cb)
world.Step(0.05)
ctGrp.Empty()
}
func main() {
ode.Init(0, ode.AllAFlag)
world = ode.NewWorld()
space = ode.NilSpace().NewHashSpace()
body = make([]ode.Body, numSpheres)
joint = make([]ode.BallJoint, numSpheres-1)
ctGrp = ode.NewJointGroup(1000000)
sphere = make([]ode.Sphere, numSpheres)
mass = ode.NewMass()
world.SetGravity(ode.V3(0, 0, -0.5))
space.NewPlane(ode.V4(0, 0, 1, 0))
for i := 0; i < numSpheres; i++ {
k := float64(i) * sideLen
body[i] = world.NewBody()
body[i].SetPosition(ode.V3(k, k, k+0.4))
mass.SetBox(1, ode.V3(sideLen, sideLen, sideLen))
mass.Adjust(sphereMass)
body[i].SetMass(mass)
sphere[i] = space.NewSphere(sphereRadius)
sphere[i].SetBody(body[i])
}
for i := 0; i < numSpheres-1; i++ {
joint[i] = world.NewBallJoint(ode.JointGroup(0))
joint[i].Attach(body[i], body[i+1])
k := (float64(i) + 0.5) * sideLen
joint[i].SetAnchor(ode.V3(k, k, k+0.4))
}
if err := qml.Run(run); err != nil {
fmt.Fprintf(os.Stderr, "error: %v\n", err)
os.Exit(1)
}
}
func NewWorld() *World {
world := ode.NewWorld()
space := ode.NilSpace().NewHashSpace()
w := &World{
gravity: -9.82,
timestep: 0.01,
world: world,
space: space,
contacts: ode.NewJointGroup(10000),
}
world.SetGravity(ode.V3(0, float64(w.gravity), 0))
world.SetCFM(1.0e-5)
world.SetERP(0.2)
world.SetContactSurfaceLayer(0.001)
world.SetContactMaxCorrectingVelocity(0.9)
world.SetAutoDisable(true)
return w
}
func odeV3(x, y, z float32) ode.Vector3 {
return ode.V3(float64(x), float64(y), float64(z))
}