oyk-0.6.7 has been yanked.
oyk
OYK is ODE (Open Dynamics Engine) bindings for Rust yaw kinetics
Now this crate is tested on ode-0.16.2 dll version.
ode.dll drawstuff.dll for x64 Windows binary compiled with -DdDOUBLE by mingw
(It may work with VC, or other platforms.)
Requirements
to build dll
- premake4 --with-demos --only-double --with-libccd --cc=gcc --platform--x64 --os=windows codeblocks
- premake4 --with-demos --only-double --with-libccd --platform--x64 --os=windows vs2010
in the running directory
- drawstuff.dll
- ode.dll
- libstdc++-6.dll
- libgcc_s_seh-1.dll
- libwinpthread-1.dll
Samples
use oyk::colors::*;
use oyk::ode::*;
use impl_sim::{impl_sim_fn, impl_sim_derive};
pub struct SimApp {
cnt: usize
}
impl SimApp {
pub fn objs_mut(&mut self, f: bool, s: &str) {
let rode = self.super_mut();
if f || rode.is_modified(false) {
self.cnt = rode.num();
println!("obgs: {} in {}", self.cnt, s);
let rode = self.super_get(); // must re get
let ids = rode.each_id(|_key, _id| { true }); // lambda may return false
for id in ids {
if id == 0 as dBodyID { continue; } // skipped by result of each_id
let rode = self.super_mut(); // must re get
match rode.get_mut(id) {
Err(e) => { println!("{}", e); },
Ok(obg) => {
// This is test code using each_id with get_mut, but high cost.
// Better to use self.super_mut().find_mut("ball_big".to_string())
if obg.key == "ball_big" { obg.col = [1.0, 0.0, 0.0, 0.8]; }
println!("{}: {:018p} {:?}", obg.key, id, obg.col);
// get_tcm_mut must be after accessing to obg members
if obg.key == "ball_big" {
let geom = obg.geom(); // must assign before get_tcm_mut
let tcm = rode.get_tcm_mut(geom).unwrap(); // must care ok_or
tcm.col = [1.0, 0.0, 0.0, 0.8];
}
}
}
}
}
}
pub fn objs_info(&mut self, f: bool, s: &str) {
let rode = self.super_mut();
if f || rode.is_modified(false) {
self.cnt = rode.num();
println!("obgs: {} in {}", self.cnt, s);
let rode = self.super_get(); // must re get because borrow later self.cnt
rode.each(|key, id, obg| {
println!("{}: {:018p} {:?}", key, id, obg.col);
true
});
}
}
}
#[impl_sim_derive(draw_geom, near_callback, stop_callback)]
impl Sim for SimApp {
fn draw_objects(&mut self) {
self.objs_info(false, "draw"); // twice (after step)
self.super_mut().draw_objects();
}
fn start_callback(&mut self) {
let rode = self.super_mut();
let t_delta = &mut rode.t_delta;
*t_delta = 0.002;
let m: dReal = 1.0;
let r: dReal = 0.2;
for i in 0..16 {
let c: dVector4 = vec4_from_u32(COLORS[i]);
let p: dVector3 = [(i%4) as dReal - 1.5, (i/4) as dReal - 1.5, 2.0, 1.0];
let mib = Box::new(MetaSphere::new(m, r, 1.0, 0, c));
let body = rode.creator(format!("ball_{:08X}", i), mib);
rode.get_mut(body).expect("fail reg").set_pos(p);
}
let c: dVector4 = [1.0, 1.0, 0.0, 0.8];
let p: dVector3 = [0.0, 0.0, 10.0, 1.0];
let mib = Box::new(MetaSphere::new(0.1, 1.0, 0.5, 0, c));
let body = rode.creator("ball_big".to_string(), mib);
rode.get_mut(body).expect("fail reg").set_pos(p);
let mi = Box::new(MetaBox::new(0.1, [1.0, 1.0, 1.0, 0.0], 0.8,
0, [0.0, 1.0, 1.0, 0.8]));
let body = rode.creator("box_big".to_string(), mi);
rode.get_mut(body).expect("fail reg").set_pos([-5.0, 5.0, 2.0, 1.0]);
let micap_0 = Box::new(MetaCapsule::new(0.1, 0.5, 16.0, 0.5,
0, [0.0, 1.0, 0.0, 0.8]));
let body = rode.creator("capsule_big".to_string(), micap_0);
rode.get_mut(body).expect("fail reg").set_pos([-8.6, 0.0, 1.5, 1.0])
.set_rot(dMatrix3::from_axis_and_angle([1.0, 0.0, 0.0], 1.57));
let micyl_0 = Box::new(MetaCylinder::new(0.1, 0.5, 16.0, 0.5,
0, [1.0, 0.0, 1.0, 0.8]));
let body = rode.creator("cylinder_big".to_string(), micyl_0);
rode.get_mut(body).expect("fail reg").set_pos([0.0, 8.6, 1.5, 1.0])
.set_rot(dMatrix3::from_axis_and_angle([0.0, 1.0, 0.0], 1.57));
let micap_1 = Box::new(MetaCapsule::new(0.1, 0.5, 16.0, 0.5,
0, [0.0, 0.0, 1.0, 0.8]));
let body = rode.creator("capsule_big".to_string(), micap_1);
rode.get_mut(body).expect("fail reg").set_pos([8.6, 0.0, 1.5, 1.0])
.set_rot(dMatrix3::from_axis_and_angle([1.0, 0.0, 0.0], 1.57));
let micyl_1 = Box::new(MetaCylinder::new(0.1, 0.5, 16.0, 0.5,
0, [0.0, 1.0, 1.0, 0.8]));
let body = rode.creator("cylinder_big".to_string(), micyl_1);
rode.get_mut(body).expect("fail reg").set_pos([0.0, -8.6, 1.5, 1.0])
.set_rot(dMatrix3::from_axis_and_angle([0.0, 1.0, 0.0], 1.57));
let dm: dReal = 0.1;
let lxyz: dVector3 = [10.0, 10.0, 0.05, 0.0];
let norm: dVector4 = [0.0, 0.0, 1.0, 0.0];
let col: dVector4 = vec4_from_u32(COLORS[0]);
let pos: dVector3 = [-5.0, -5.0, 5.0, 0.0];
let mip = Box::new(MetaPlane::new(dm, lxyz, norm, 1.0, 0, col));
let body = rode.creator("plane".to_string(), mip);
let q = dQuaternion::from_axis_and_angle([1.0, 1.0, 0.0], 0.78);
rode.get_mut(body).expect("fail reg").set_pos(pos)
// .set_rot(dMatrix3::from_z_axis([0.7, 0.7, 0.0]));
// .set_rot(dMatrix3::from_2_axes([-0.7, 0.7, 0.0], [0.7, 0.7, 0.0]));
// .set_rot(dMatrix3::from_euler_angles(0.78, 0.78, 0.78));
// .set_rot(dMatrix3::from_axis_and_angle([0.0, 0.0, 1.0], 0.78));
// .set_rot(dMatrix3::new());
// .set_rot(dMatrix3::from_Q(dQuaternion::new()));
// .set_rot(dQuaternion::new().to_R());
// .set_quaternion(dMatrix3::new().to_Q());
// .set_quaternion(dQuaternion::from_R(dMatrix3::new()));
// .set_quaternion(dQuaternion::new());
// .set_quaternion(q);
.set_rot(q.to_R());
rode.start_callback();
}
fn step_callback(&mut self, pause: i32) {
self.objs_info(false, "step"); // twice (before draw)
self.super_mut().step_callback(pause);
}
fn command_callback(&mut self, cmd: i32) {
match cmd as u8 as char {
'o' => {
let k = "ball_big";
match self.super_mut().find_mut(k.to_string()) {
Err(e) => { println!("{}", e); },
Ok(obg) => {
println!("{}: {:018p} {:?}", k, obg.body(), obg.col);
println!(" pos: {}", obg.pos_vec());
println!(" rot: {}", obg.rot_mat3());
let pos: &mut [dReal] = obg.pos_(); // re get mut
pos[0] += 0.2;
pos[1] += 0.2;
pos[2] = 5.0;
}
}
},
'b' => {
self.objs_mut(true, "mut");
},
'a' => {
self.objs_info(true, "cmd");
},
_ => {}
}
self.super_mut().command_callback(cmd);
}
} // impl Sim for SimApp
fn main() {
ODE::open();
ODE::sim_loop(
640, 480, // 800, 600,
Some(Box::new(SimApp{cnt: 0})),
b"./resources");
ODE::close();
}
see also
License
MIT License