Hello World in ODE

ode用的是BSD license, 很亲善, 并且库本身质量还不错, 可以作为正经的用途.

并且API是c风格的,可以很轻松的用于其他语言.

作为熟悉引擎, 先写个最简单的小球下落作为HelloWorld.

结果就像这样:

Mac-mini:ode $ ./a.out
0	0	10
1	0	0	0
0	1	0	0
0	0	1	0

0	0	9.9755
1	0	0	0
0	1	0	0
0	0	1	0

0	0	9.9265
1	0	0	0
0	1	0	0
0	0	1	0

0	0	9.853
1	0	0	0
0	1	0	0
0	0	1	0

0	0	9.755
1	0	0	0
0	1	0	0
0	0	1	0

0	0	9.6325
1	0	0	0
0	1	0	0
0	0	1	0

0	0	9.4855
1	0	0	0
0	1	0	0
0	0	1	0

0	0	9.314
1	0	0	0
0	1	0	0
0	0	1	0

0	0	9.118
1	0	0	0
0	1	0	0
0	0	1	0

0	0	8.8975
1	0	0	0
0	1	0	0
0	0	1	0

0	0	8.6525
1	0	0	0
0	1	0	0
0	0	1	0

0	0	8.383
1	0	0	0
0	1	0	0
0	0	1	0

0	0	8.089
1	0	0	0
0	1	0	0
0	0	1	0

0	0	7.7705
1	0	0	0
0	1	0	0
0	0	1	0

虽然ode本身带了一个非常简单的图像引擎,不过我不打算用,

毕竟描画还是自己折腾openGL比较灵活高效,更何况已经写了objloader,至于要读模型文件,旋转平移就行了.

下面是源代码, 不知道为什么, 语法高亮失效了, 难道是我设置的问题?

Mac-mini:ode$ cat basic.d
import std.stdio, ode;

static dWorldID world;
dBodyID ball;
const dReal radius = .2;
const dReal mass = 1.;

static void simLoop(){
	dReal* pos;
	dReal* r;
	pos = dBodyGetPosition(ball);
	r = dBodyGetRotation(ball);

	writeln(*pos,"\t",*(pos+1),"\t",*(pos+2));
	foreach(i;0..3*4) write(*(r+i),((i+1)%4==0)?"\n":"\t");
	writeln();
	dWorldStep(world, 0.05);
}

void main(){
	dInitODE();
	world = dWorldCreate();
	dWorldSetGravity(world, 0, 0, -9.8);
	ball = dBodyCreate(world);
	dMass m1;
	dMassSetZero(&m1);
	dMassSetSphereTotal(&m1, mass, radius);
	dBodySetMass(ball, &m1);
	dBodySetPosition(ball, 0,0,10);
	foreach(i;1..40) simLoop();
	dWorldDestroy(world);
	dCloseODE();
}

连接的时候注意用g++才行,因为库用到了c++.其他的都交给pkg-config吧