Open Dynamics Engine for Linux 安装笔记

时间：2023-03-09 22:09:30
Open Dynamics Engine for Linux 安装笔记

下载

  • 在Bitbucket上可以下载到最新的版本（截止目前为0.14版）

  • 或者直接用wget下载

wget "https://bitbucket.org/odedevs/ode/downloads/ode-0.14.tar.gz"

编译

假设安装到/usr下

# 解压

tar xf ode-0.14.tar.gz

cd ode-0.14

# 依赖安装

sudo apt install automake -y

# 配置

./bootstrap

./configure --prefix=/usr --enable-double-precision --enable-static=PKGS --with-drawstuff=X11 --with-trimesh=opcode --enable-demos --enable-libccd

# --prefix=/usr  安装到/usr下，不加这一项则默认安装到/usr/local下

# --enable-double-precision  启用双精度浮点数

# --enable-static=PKGS 生成静态链接库

# --with-drawstuff=X11  启用极简图形库，基于X11

# --enable-demos  例子啦╮(╯▽╰)╭

# --enable-libccd 碰撞检测库

make   # 编译啦╮(╯_╰)╭

安装

sudo make install   # 安装啦

echo '╮(╯▽╰)╭'

注意，由于drawstuff没有默认安装_(:3」∠)_，因此需要手动安装。

sudo mkdir /usr/include/drawstuff

sudo cp ./include/drawstuff/drawstuff.h ./include/drawstuff/version.h /usr/include/drawstuff

sudo cp ./drawstuff/src/.lib/libdrawstuff.a ./drawstuff/src/.lib/libdrawstuff.la /usr/lib

# 更新库缓存

sudo ldconfig

使用库

drawstuff在链接时需要同时链接X11、GL、GLU、m这些库，若使用cmake，可以添加这一句：

target_link_libraries(target ode drawstuff X11 GLU GL m)

另外，drawstuff需要贴图，有自带的，位于<ode-0.14>/drawstuff/textures/下。需要自行复制到工程目录下。

测试代码

来源：HOWTO simple bouncing sphere - ODE Wiki

#include <ode/ode.h>

#include <drawstuff/drawstuff.h>

// dynamics and collision objects

static dWorldID world;

static dSpaceID space;

static dBodyID body;

static dGeomID geom;

static dMass m;

static dJointGroupID contactgroup;

// this is called by dSpaceCollide when two objects in space are

// potentially colliding.

static void nearCallback (void *data, dGeomID o1, dGeomID o2)

{

    dBodyID b1 = dGeomGetBody(o1);

    dBodyID b2 = dGeomGetBody(o2);

    dContact contact;

    contact.surface.mode = dContactBounce | dContactSoftCFM;

    // friction parameter

    contact.surface.mu = dInfinity;

    // bounce is the amount of "bouncyness".

    contact.surface.bounce = 0.9;

    // bounce_vel is the minimum incoming velocity to cause a bounce

    contact.surface.bounce_vel = 0.1;

    // constraint force mixing parameter

    contact.surface.soft_cfm = 0.001;

    if (int numc = dCollide (o1,o2,1,&contact.geom,sizeof(dContact))) {

        dJointID c = dJointCreateContact (world,contactgroup,&contact);

        dJointAttach (c,b1,b2);

    }

}

// start simulation - set viewpoint

static void start()

{

    static float xyz[3] = {2.0f,-2.0f,1.7600f};

    static float hpr[3] = {140.000f,-17.0000f,0.0000f};

    dsSetViewpoint (xyz,hpr);

}

// simulation loop

static void simLoop (int pause)

{

    const dReal *pos;

    const dReal *R;

    // find collisions and add contact joints

    dSpaceCollide (space,0,&nearCallback);

    // step the simulation

    dWorldQuickStep (world,0.01);

    // remove all contact joints

    dJointGroupEmpty (contactgroup);

    // redraw sphere at new location

    pos = dGeomGetPosition (geom);

    R = dGeomGetRotation (geom);

    dsDrawSphereD( pos,  R, dGeomSphereGetRadius (geom));

}

int main (int argc, char **argv)

{

    // setup pointers to drawstuff callback functions

    dsFunctions fn;

    fn.version = DS_VERSION;

    fn.start = &start;

    fn.step = &simLoop;

    fn.stop = 0;

    fn.command = 0;

    fn.path_to_textures = "../textures";   // 注意贴图路径！

    dInitODE ();

    // create world

    world = dWorldCreate ();

    space = dHashSpaceCreate (0);

    dWorldSetGravity (world,0,0,-9.8);

    dWorldSetCFM (world,1e-5);

    dCreatePlane (space,0,0,1,0);

    contactgroup = dJointGroupCreate (0);

    // create object

    body = dBodyCreate (world);

    geom = dCreateSphere (space,0.5);

    dMassSetSphere (&m,1,0.5);

    dBodySetMass (body,&m);

    dGeomSetBody (geom,body);

    // set initial position

    dBodySetPosition (body,0,0,5);

    // run simulation

    dsSimulationLoop (argc,argv,320,240,&fn);

    // clean up

    dJointGroupDestroy (contactgroup);

    dSpaceDestroy (space);

    dWorldDestroy (world);

    dCloseODE();

    return 0;

}

Open Dynamics Engine for Linux 安装笔记

References

[1] ODE Wiki, Manual: Install and Use,http://ode-wiki.org/wiki/index.php?title=Manual:_Install_and_Use, 2013-05-05

[2] ODE Wiki, HOWTO simple bouncing sphere, http://ode-wiki.org/wiki/index.php?title=HOWTO_simple_bouncing_sphere, 2012-01-08

[3] 小胖, 在 Ubuntu 14.04 下安装 Open Dynamics Engine (ODE) 0.14, http://czhou.cc/2016/04/29/install-ode-on-ubuntu/, 2016-04-29

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