oyk

OYK is ODE (Open Dynamics Engine) bindings for Rust yaw kinetics

ODE * https://github.com/nomissbowling/oyk/blob/master/img/oyk_512x100.png?raw=true

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
libgccsseh-1.dll
libwinpthread-1.dll

Samples

```rust use oyk::colors::; use oyk::ode::;

use std::ffi::{cvoid}; // used by implsimfn use implsim::{implsimfn, implsimderive};

pub struct SimApp { cnt: usize }

impl SimApp {

pub fn objsmut(&mut self, f: bool, s: &str) { let rode = self.supermut(); if f || rode.ismodified(false) { self.cnt = rode.num(); println!("obgs: {} in {}", self.cnt, s); let rode = self.superget(); // must re get let ids = rode.eachid(|key, id| { true }); // lambda may return false for id in ids { if id == 0 as dBodyID { continue; } // skipped by result of eachid let rode = self.supermut(); // must re get match rode.getmut(id) { Err(e) => { println!("{}", e); }, Ok(obg) => { // This is test code using eachid with getmut, but high cost. // Better to use self.supermut().findmut("ballbig".tostring()) if obg.key == "ballbig" { obg.col = [1.0, 0.0, 0.0, 0.8]; } println!("{}: {:018p} {:?}", obg.key, id, obg.col); // gettcmmut must be after accessing to obg members if obg.key == "ballbig" { let geom = obg.geom(); // must assign before gettcmmut let mgm = rode.getmgmmut(geom).unwrap(); // must care okor mgm.gettcm_mut().col = [1.0, 0.0, 0.0, 0.8]; } } } } } }

pub fn objsinfo(&mut self, f: bool, s: &str) { let rode = self.supermut(); if f || rode.ismodified(false) { self.cnt = rode.num(); println!("obgs: {} in {}", self.cnt, s); let rode = self.superget(); // must re get because borrow later self.cnt rode.each(|key, id, obg| { println!("{}: {:018p} {:?}", key, id, obg.col); true }); } }

/// create test balls pub fn createtestballs(&mut self) { let rode = self.supermut(); let m: dReal = 0.8; let r: dReal = 0.2; for i in 0..16 { let c: dVector4 = vec4fromu32(COLORS[i]); let p: dVector3 = [(i%4) as dReal - 1.5, (i/4) as dReal - 1.5, 2.0, 1.0]; let mib = MetaSphere::new(m, r, KRP095, 0, c); let (body, _, _) = rode.creatorm(format!("ball{:08X}", i).asstr(), mib); rode.getmut(body).expect("fail reg").setpos(p); } }

/// create test ball big pub fn createtestballbig(&mut self) { let rode = self.supermut(); let c: dVector4 = [1.0, 1.0, 0.0, 0.8]; let p: dVector3 = [0.0, 0.0, 10.0, 1.0]; let mib = MetaSphere::new(0.08 / (125.0 * PIt4), 1.0, KRP095, 0, c); let (body, , _) = rode.creator("ballbig", mib); rode.getmut(body).expect("fail reg").setpos(p); }

/// create test box small pub fn createtestboxsmall(&mut self) { let rode = self.supermut(); let miboxsmall = MetaBox::new(0.1, [1.0, 1.0, 1.0, 0.0], KRP095, 0, [0.0, 1.0, 1.0, 0.8]); let (body, _, _) = rode.creator("boxsmall", miboxsmall); rode.getmut(body).expect("fail reg").set_pos([-5.0, 5.0, 2.0, 1.0]); }

/// create test box frames pub fn createtestboxframes(&mut self) { let rode = self.supermut();

let miboxbig0 = MetaBox::new(0.1, [1.0, 5.0, 0.5, 0.0], KRP095, 0, [1.0, 0.0, 1.0, 0.8]); let (body, , _) = rode.creator("boxbig0", miboxbig0); rode.getmut(body).expect("fail reg").setpos([-9.0, -11.0, 2.0, 1.0]) .setrot(dMatrix3::fromaxisand_angle([0.0, 0.0, 1.0], PIx));

let miboxbig1 = MetaBox::new(0.1, [1.0, 12.0, 0.5, 0.0], KRP095, 0, [0.0, 1.0, 0.0, 0.8]); let (body, , _) = rode.creator("boxbig1", miboxbig1); rode.getmut(body).expect("fail reg").setpos([12.0, -12.0, 2.0, 1.0]) .setrot(dMatrix3::fromaxisand_angle([0.0, 0.0, 1.0], -PIq));

let miboxbig2 = MetaBox::new(0.1, [1.0, 12.0, 0.5, 0.0], KRP095, 0, [0.0, 1.0, 1.0, 0.8]); let (body, , _) = rode.creator("boxbig2", miboxbig2); rode.getmut(body).expect("fail reg").setpos([12.0, 12.0, 2.0, 1.0]) .setrot(dMatrix3::fromaxisand_angle([0.0, 0.0, 1.0], PIq));

let miboxbig3 = MetaBox::new(0.1, [1.0, 12.0, 0.5, 0.0], KRP095, 0, [0.0, 0.0, 1.0, 0.8]); let (body, , _) = rode.creator("boxbig3", miboxbig3); rode.getmut(body).expect("fail reg").setpos([-12.0, 12.0, 2.0, 1.0]) .setrot(dMatrix3::fromaxisand_angle([0.0, 0.0, 1.0], -PIq)); }

/// create test capsule frames pub fn createtestcapsuleframes(&mut self) { let rode = self.supermut();

let micap0 = MetaCapsule::new(0.001, 0.5, 16.0, KRP080, 0, [0.0, 1.0, 0.0, 0.8]); let (body, _, _) = rode.creator("capsule0", micap0); rode.getmut(body).expect("fail reg").setpos([-8.6, 0.0, 1.5, 1.0]) .setrot(dMatrix3::fromaxisand_angle([1.0, 0.0, 0.0], PIh));

let micap1 = MetaCapsule::new(0.001, 0.5, 16.0, KRP080, 0, [0.0, 0.0, 1.0, 0.8]); let (body, _, _) = rode.creator("capsule1", micap1); rode.getmut(body).expect("fail reg").setpos([8.6, 0.0, 1.5, 1.0]) .setrot(dMatrix3::fromaxisand_angle([1.0, 0.0, 0.0], PIh)); }

/// create test cylinder frames pub fn createtestcylinderframes(&mut self) { let rode = self.supermut();

let micyl0 = MetaCylinder::new(0.001, 0.5, 16.0, KRP080, 0, [1.0, 0.0, 1.0, 0.8]); let (body, _, _) = rode.creator("cylinder0", micyl0); rode.getmut(body).expect("fail reg").setpos([0.0, 8.6, 1.5, 1.0]) .setrot(dMatrix3::fromaxisand_angle([0.0, 1.0, 0.0], PIh));

let micyl1 = MetaCylinder::new(0.001, 0.5, 16.0, KRP080, 0, [0.0, 1.0, 1.0, 0.8]); let (body, _, _) = rode.creator("cylinder1", micyl1); rode.getmut(body).expect("fail reg").setpos([0.0, -8.6, 1.5, 1.0]) .setrot(dMatrix3::fromaxisand_angle([0.0, 1.0, 0.0], PIh)); }

/// create test composite pub fn createtestcomposite(&mut self) { let rode = self.super_mut();

let micmp0 = MetaComposite::new( vec![ MetaBox::new(0.1, [0.5, 0.5, 0.5, 0.0], KRP095, 0, [1.0, 0.0, 0.0, 0.8]), MetaBox::new(0.1, [0.5, 0.5, 0.5, 0.0], KRP095, 0, [0.0, 0.0, 1.0, 0.8]), MetaSphere::new(0.6 / PI, 0.5, KRP095, 0, [0.0, 1.0, 0.0, 0.8]), MetaSphere::new(0.0001, 0.1, KRPnk, 0, [1.0, 0.0, 1.0, 0.8])], vec![QI, QI, QI, QI], vec![ [-0.4, -0.4, -0.4, 1.0], [0.4, 0.4, 0.4, 1.0], [0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 0.0, 1.0]], KRPnk, 0, [1.0, 0.0, 0.0, 0.8]); let (body, _, _) = rode.creatorcomposite("composite0", micmp0); rode.getmut(body).expect("fail reg").setpos([-12.0, -2.0, 2.0, 1.0]) .setquaternion(dQuaternion::fromaxisandangle([0.0, 0.0, 1.0], -PIq3));

let micmp1 = MetaComposite::new( vec![ MetaBox::new(0.1, [0.5, 0.5, 0.5, 0.0], KRP095, 0, [1.0, 0.0, 0.0, 0.8]), MetaBox::new(0.1, [0.5, 0.5, 0.5, 0.0], KRP095, 0, [0.0, 0.0, 1.0, 0.8]), MetaSphere::new(0.6 / PI, 0.5, KRP095, 0, [0.0, 1.0, 0.0, 0.8])], vec![ dQuaternion::fromaxisandangle([-0.707, 0.707, 0.0], PIq), dQuaternion::fromaxisandangle([0.707, -0.707, 0.0], -PIq), dQuaternion::new()], vec![ [-0.4, -0.4, -0.4, 1.0], [0.4, 0.4, 0.4, 1.0], [0.0, 0.0, 0.0, 1.0]], KRP100, 0, [1.0, 0.0, 0.0, 0.8]); let (body, _, _) = rode.creatorcomposite("composite1", micmp1); rode.getmut(body).expect("fail reg").setpos([-12.0, 0.0, 2.0, 1.0]) .setquaternion(dQuaternion::fromaxisandangle([0.0, 0.0, 1.0], -PIq3)); }

/// create test custom pub fn createtestcustom(&mut self) { let rode = self.super_mut();

let mitmvcus0 = MetaTriMesh::new(false, 0.1, unsafe { &mut *custom::tmv }, KRP095, 0, [1.0, 0.5, 0.5, 0.8]); let (body, , _) = rode.creator("tmvcus0", mitmvcus0); rode.getmut(body).expect("fail reg").set_pos([-13.0, 6.0, 2.0, 1.0]);

let mifvpcus0 = MetaConvex::new(false, 0.1, unsafe { &mut *custom::fvp }, KRP095, 0, [0.5, 0.5, 1.0, 0.8]); let (body, , _) = rode.creator("fvpcus0", mifvpcus0); rode.getmut(body).expect("fail reg").set_pos([-13.0, 8.0, 2.0, 1.0]); }

/// create test tetra pub fn createtesttetra(&mut self) { let rode = self.super_mut();

let mitmvtetra0 = MetaTriMesh::new(false, 0.1, unsafe { &mut *tetra::tmv }, KRP095, 0, [1.0, 0.0, 0.0, 0.8]); let (body, , _) = rode.creator("tmvtetra0", mitmvtetra0); rode.getmut(body).expect("fail reg").set_pos([-13.0, -6.0, 2.0, 1.0]);

let mifvptetra0 = MetaConvex::new(false, 0.1, unsafe { &mut *tetra::fvp }, KRP095, 0, [0.0, 0.0, 1.0, 0.8]); let (body, , _) = rode.creator("fvptetra0", mifvptetra0); rode.getmut(body).expect("fail reg").set_pos([-13.0, -8.0, 2.0, 1.0]); }

/// create test cube pub fn createtestcube(&mut self) { let rode = self.super_mut();

let mitmvcube0 = MetaTriMesh::new(false, 0.1, unsafe { &mut *cube::tmv }, KRP095, 0, [1.0, 1.0, 0.0, 0.8]); let (body, , _) = rode.creator("tmvcube0", mitmvcube0); rode.getmut(body).expect("fail reg").set_pos([-7.0, 1.0, 2.0, 1.0]);

let mifvpcube0 = MetaConvex::new(false, 0.1, unsafe { &mut *cube::fvp }, KRP095, 0, [1.0, 0.0, 1.0, 0.8]); let (body, , _) = rode.creator("fvpcube0", mifvpcube0); rode.getmut(body).expect("fail reg").set_pos([-7.0, -1.0, 2.0, 1.0]); }

/// create test icosahedron pub fn createtesticosahedron(&mut self) { let rode = self.super_mut();

let mitmvicosahedron0 = MetaTriMesh::new(false, 0.1, unsafe { &mut *icosahedron::tmv }, KRP095, 0, [0.0, 1.0, 1.0, 0.8]); let (body, , _) = rode.creator("tmvicosahedron0", mitmvicosahedron0); rode.getmut(body).expect("fail reg").set_pos([-7.0, 3.0, 2.0, 1.0]);

let mifvpicosahedron0 = MetaConvex::new(false, 0.1, unsafe { &mut *icosahedron::fvp }, KRP095, 0, [1.0, 1.0, 0.0, 0.8]); let (body, , _) = rode.creator("fvpicosahedron0", mifvpicosahedron0); rode.getmut(body).expect("fail reg").set_pos([-7.0, -3.0, 2.0, 1.0]); }

/// create test bunny pub fn createtestbunny(&mut self) { let rode = self.supermut(); let q = dQuaternion::fromaxisandangle([1.0, 0.0, 0.0], PIh);

let mitmvbunny0 = MetaTriMesh::new(false, 0.1, unsafe { &mut *bunny::tmv }, KRP095, 0, [1.0, 0.0, 1.0, 0.8]); let (body, , _) = rode.creator("tmvbunny0", mitmvbunny0); rode.getmut(body).expect("fail reg").setpos([-4.0, 2.0, 2.0, 1.0]). setquaternion(q);

let mifvpbunny0 = MetaConvex::new(false, 0.1, unsafe { &mut *bunny::fvp }, KRP095, 0, [0.0, 1.0, 1.0, 0.8]); let (body, , _) = rode.creator("fvpbunny0", mifvpbunny0); rode.getmut(body).expect("fail reg").setpos([-4.0, -2.0, 2.0, 1.0]). setquaternion(q); }

/// create test plane pub fn createtestplane(&mut self) { let rode = self.supermut(); 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 = vec4fromu32(COLORS[0]); let pos: dVector3 = [-5.0, -5.0, 5.0, 0.0]; let mip = MetaPlane::new(dm, lxyz, norm, KRPnk, 0, col); let (body, _, _) = rode.creator("plane", mip); let q = dQuaternion::fromaxisandangle([1.0, 1.0, 0.0], PIq); rode.getmut(body).expect("fail reg").setpos(pos) // .setrot(dMatrix3::fromzaxis([0.7, 0.7, 0.0])); // .setrot(dMatrix3::from2axes([-0.7, 0.7, 0.0], [0.7, 0.7, 0.0])); // .setrot(dMatrix3::fromeulerangles(PIq, PIq, PIq)); // .setrot(dMatrix3::fromaxisandangle([0.0, 0.0, 1.0], PIq)); // .setrot(dMatrix3::new()); // .setrot(dMatrix3::fromQ(dQuaternion::new())); // .setrot(dQuaternion::new().toR()); // .setquaternion(dMatrix3::new().toQ()); // .setquaternion(dQuaternion::fromR(dMatrix3::new())); // .setquaternion(dQuaternion::new()); // .setquaternion(q); .setrot(q.toR()); }

}

[implsimderive(drawgeom, nearcallback, stop_callback)]

impl Sim for SimApp {

fn drawobjects(&mut self) { self.objsinfo(false, "draw"); // twice (after step) self.supermut().drawobjects(); }

fn startcallback(&mut self) { let tdelta = &mut self.supermut().tdelta; t_delta = 0.002; self.create_test_balls(); self.create_test_ball_big(); self.create_test_box_small(); self.create_test_box_frames(); self.create_test_capsule_frames(); self.create_test_cylinder_frames(); self.create_test_composite(); self.create_test_custom(); self.create_test_tetra(); self.create_test_cube(); self.create_test_icosahedron(); self.create_test_bunny(); / self.createTmBall(); self.createSlope(); self.createSphereApple(); self.createSphereBall(); self.createSphereRoll(); self.createUBall(); self.createLUBall(); self.createRUBall(); self.createVBall(); self.createLVBall(); self.createRVBall(); self.createIHBall(); self.createIIBall(); self.createTmTetra(); self.createTetra(); self.createTmCube(); self.createCube(); self.createTmIcosahedron(); self.createIcosahedron(); self.createTmBunny(); self.createBunny(); self.createTmCustom(); self.createCustom(); self.createTmBunny2(); self.createTmBunny3(); self.createBunny2(); self.createBunny3(); */ self.createtestplane(); self.supermut().start_callback(); }

fn stepcallback(&mut self, pause: i32) { self.objsinfo(false, "step"); // twice (before draw) self.supermut().stepcallback(pause); }

fn commandcallback(&mut self, cmd: i32) { match cmd as u8 as char { 'o' => { let k = "ballbig"; match self.supermut().findmut(k.tostring()) { Err(e) => { println!("{}", e); }, Ok(obg) => { println!("{}: {:018p} {:?}", k, obg.body(), obg.col); println!(" pos: {}", obg.posvec()); println!(" rot: {}", obg.rotmat3()); let pos: &mut [dReal] = obg.pos(); // re get mut pos[0] += 0.2; pos[1] += 0.2; pos[2] = 5.0; } } }, 'b' => { self.objsmut(true, "mut"); }, 'a' => { self.objsinfo(true, "cmd"); }, _ => {} } self.supermut().commandcallback(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(); } ```

License

MIT License