ODE仿真引擎使用

Posted 2021-03-12 zhaochenliang

  新建C++空项目

  1、ode相关头文件加入工程文件中
属性->配置属性->C/C++ ->常规->附加包含目录 :

D:ODEode-0.16include D:ODEode-0.16odesrc D:ODEode-0.16odedemo 这三个都得添加

  2、引入 ode 依赖的库文件 ode_doubled.lib, drawstuffd.lib
属性->配置属性->链接器->输入->附加依赖项:

D:ODEode-0.16libDebugDoubleDLLode_doubled.lib D:ODEode-0.16libDebugDoubleDLLdrawstuffd.lib user32.lib winmm.lib gdi32.lib opengl32.lib glu32.lib

  3、加入预编译定义 dDOUBLE
属性->配置属性->C/C++ ->预处理器->预处理器定义->

_MT _DEBUG dIDEDOUBLE CCD_IDEDOUBLE WIN32 _CRT_SECURE_NO_DEPRECATE _SCL_SECURE_NO_WARNINGS _USE_MATH_DEFINES

  4、资源文件设置

  对应的dll文件复制到C/windows/sys32 or sysWOW64
  Drawstuffd.dll
  ode_doubled.dll

  #include "texturepath.h"
  头文件里面对应的位置F:/ODE/drawstuff/textures

  A typical simulation will proceed like this:

• Create a dynamics world.
• Create bodies in the dynamics world.
• Set the state (position etc) of all bodies.
• Create joints in the dynamics world.
• Attach the joints to the bodies.
• Set the parameters of all joints.
• Create a collision world and collision geometry objects, as necessary.
• Create a joint group to hold the contact joints.
• Loop:
• •     Apply forces to the bodies as necessary.
• •     Adjust the joint parameters as necessary.
• •     Call collision detection.
• •     Create a contact joint for every collision point, and put it in the contact joint group.
• •     Take a simulation step.
• •     Remove all joints in the contact joint group.
• Destroy the dynamics and collision worlds.