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;
}

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