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Rem Project: ODE Physics Test
Rem Created: 11/8/2005 11:46:03 PM

Rem ***** Main Source File *****

sync on: sync rate 40

`MY COMMANDS ******************
make object cube 100, 2 : hide object 100

` Create the ODE World
ode start
ode set world gravity 0,-5,0
ode set world step 0.05
ode set world erp (0.2)*2.5
ode set world cfm (10^-5)*2.5

` Create a static floor.  Implement in Dark Basic Professional first,
` and then ask ODE to do the same...
make object box 1,200,10,200
color object 1, rgb(128,255,128)
ode create static box 1
` Create 4 dynamic objects
` Implement in Dark Basic Professional first
` and then ask ODE to do the same...

make object box 2,10,5,8
`make object sphere 3,12,16,16
`make object cone 4, 10 : xrotate object 4, 90
`make object box 5,8,0.1,10 : xrotate object 5, 90

position object 2, -5,20,0
`position object 3, 3,40,3
`position object 4, 0,60,-3
`position object 5, 0,80,5

ode create dynamic box 2
`ode create dynamic sphere 3
`ode create dynamic triangle mesh 4
`ode create dynamic box 5

` continued…
` Add friction to our objects
ode set contact fdir1 1, 20.0
ode set contact fdir1 2, 1
`ode set contact fdir1 3, 20.0
`ode set contact fdir1 4, 20.0
`ode set contact fdir1 5, 20.0

` Position the camera, and watch what happens...
position camera 0, 50, -40
point camera 0,20,0

while spacekey() = 0
   setFakeVehicle(2, 100, 5)
   physicsObjectVehicle(2,100)

   text 0,0, str$(object angle x(2))
   text 0,10, str$(object angle y(2))
   text 0,20, str$(object angle z(2))

   point camera object position x(2), object position y(2), object position z(2)
   ode update
   sync
endwhile

` Tidy up...
ode end
end


function physicsObjectVehicle(objNum,fakeVehNum)
   vehicleNumPosX# = object position x(objNum)
   vehicleNumPosY# = object position y(objNum)
   vehicleNumPosZ# = object position z(objNum)
   fakeVehicleNumPosX# = object position x(fakeVehNum)
   fakeVehicleNumPosY# = object position y(fakeVehNum)
   fakeVehicleNumPosZ# = object position z(fakeVehNum)
   offsetX# = fakeVehicleNumPosX# - vehicleNumPosX#
   offsetY# = fakeVehicleNumPosY# - vehicleNumPosY#
   offsetZ# = fakeVehicleNumPosZ# - vehicleNumPosZ#
   if upkey()= 1 OR downkey() = 1 THEN ODE SET LINEAR VELOCITY objNum, offsetX#, offsetY#, offsetZ#
   if rightkey() = 1 THEN ODE SET ANGULAR VELOCITY 2, 0, 2, 0
   if leftkey() = 1 THEN ODE SET ANGULAR VELOCITY 2, 0, -2, 0
endfunction

function setFakeVehicle(objNum, fakeVehNum, speed)
   vehicleNumAngX# = object angle x(objNum)
   vehicleNumAngY# = object angle y(objNum)
   vehicleNumAngZ# = object angle z(objNum)
   value# = object angle x(fakeVehNum)
   rotate object fakeVehNum, vehicleNumAngX#, vehicleNumAngY#, vehicleNumAngZ#
   vehicleNumPosX# = object position x(objNum)
   vehicleNumPosY# = object position y(objNum)
   vehicleNumPosZ# = object position z(objNum)
   position object fakeVehNum, vehicleNumPosX#, vehicleNumPosY#, vehicleNumPosZ#
   move object fakeVehNum, speed
endfunction