diff --git a/examples/testbed/framework/draw_gl2.h b/examples/testbed/framework/draw_gl2.h index 3cf7810..20ed762 100644 --- a/examples/testbed/framework/draw_gl2.h +++ b/examples/testbed/framework/draw_gl2.h @@ -28,6 +28,8 @@ #include #include +#include + #define BUFFER_OFFSET(i) ((char*)NULL + (i)) extern bool g_glDrawPoints; @@ -535,72 +537,22 @@ struct DrawTriangles struct DrawWireSphere { - enum - { - e_rings = 12, - e_sectors = 12, - e_vertexCount = e_rings * e_sectors, - e_indexCount = (e_rings - 1) * (e_sectors - 1) * 8 - }; - DrawWireSphere() { - float32 R = 1.0f / float32(e_rings - 1); - float32 S = 1.0f / float32(e_sectors - 1); + smMesh mesh; + smCreateMesh(mesh, 1); - b3Vec3 vs[e_vertexCount]; - b3Vec3 ns[e_vertexCount]; - b3Color cs[e_vertexCount]; - - u32 vc = 0; - for (u32 r = 0; r < e_rings; r++) - { - for (u32 s = 0; s < e_sectors; s++) - { - float32 y = sin(-0.5f * B3_PI + B3_PI * r * R); - float32 x = cos(2.0f * B3_PI * s * S) * sin(B3_PI * r * R); - float32 z = sin(2.0f * B3_PI * s * S) * sin(B3_PI * r * R); - - vs[vc].Set(x, y, z); - cs[vc] = b3Color(1.0f, 1.0f, 1.0f, 1.0f); - ++vc; - } - } - - u32 is[e_indexCount]; - - u32 ic = 0; - for (u32 r = 0; r < e_rings - 1; r++) - { - for (u32 s = 0; s < e_sectors - 1; s++) - { - u32 i1 = r * e_sectors + s; - u32 i2 = (r + 1) * e_sectors + s; - u32 i3 = (r + 1) * e_sectors + (s + 1); - u32 i4 = r * e_sectors + (s + 1); - - is[ic++] = i1; - is[ic++] = i2; - - is[ic++] = i2; - is[ic++] = i3; - - is[ic++] = i3; - is[ic++] = i4; - - is[ic++] = i4; - is[ic++] = i1; - } - } + m_vertexCount = mesh.vertices.Count(); + m_indexCount = mesh.triangleIndices.Count(); glGenBuffers(1, &m_vboId); glGenBuffers(1, &m_iboId); glBindBuffer(GL_ARRAY_BUFFER, m_vboId); - glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW); + glBufferData(GL_ARRAY_BUFFER, mesh.vertices.Count() * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId); - glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW); + glBufferData(GL_ELEMENT_ARRAY_BUFFER, mesh.triangleIndices.Count() * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW); AssertGL(); @@ -616,6 +568,8 @@ struct DrawWireSphere GLuint m_vboId; GLuint m_iboId; + u32 m_vertexCount; + u32 m_indexCount; }; struct DrawWire @@ -677,7 +631,7 @@ struct DrawWire glEnableVertexAttribArray(m_vertexAttribute); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId); - glDrawElements(GL_LINES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0)); + glDrawElements(GL_LINES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0)); glDisableVertexAttribArray(m_vertexAttribute); @@ -697,84 +651,25 @@ struct DrawWire struct DrawSolidSphere { - enum - { - e_rings = 18, - e_sectors = 18, - e_vertexCount = e_rings * e_sectors, - e_indexCount = (e_rings - 1) * (e_sectors - 1) * 6, - e_faceCount = e_indexCount / 3 - }; - DrawSolidSphere() { - float32 R = 1.0f / float32(e_rings - 1); - float32 S = 1.0f / float32(e_sectors - 1); + smMesh mesh; + smCreateMesh(mesh, 1); - b3Vec3 vs[e_vertexCount]; - b3Vec3 ns[e_vertexCount]; - - u32 vc = 0; - for (u32 r = 0; r < e_rings; r++) - { - for (u32 s = 0; s < e_sectors; s++) - { - float32 a1 = 2.0f * B3_PI * float32(s) * S; - float32 c1 = cos(a1); - float32 s1 = sin(a1); - - float32 a2 = -0.5f * B3_PI + B3_PI * float32(r) * R; - float32 s2 = sin(a2); - - float32 a3 = B3_PI * float32(r) * R; - float32 s3 = sin(a3); - - float32 x = c1 * s3; - float32 y = s2; - float32 z = s1 * s3; - - b3Vec3 v(x, y, z); - v.Normalize(); - - vs[vc] = v; - ns[vc] = v; - ++vc; - } - } - - u32 is[e_indexCount]; - - u32 ic = 0; - for (u32 r = 0; r < e_rings - 1; r++) - { - for (u32 s = 0; s < e_sectors - 1; s++) - { - u32 i1 = r * e_sectors + s; - u32 i2 = (r + 1) * e_sectors + s; - u32 i3 = (r + 1) * e_sectors + (s + 1); - u32 i4 = r * e_sectors + (s + 1); - - is[ic++] = i1; - is[ic++] = i2; - is[ic++] = i3; - - is[ic++] = i1; - is[ic++] = i3; - is[ic++] = i4; - } - } + m_vertexCount = mesh.vertices.Count(); + m_indexCount = mesh.triangleIndices.Count(); glGenBuffers(3, m_vboIds); glGenBuffers(1, &m_iboId); glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]); - glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW); + glBufferData(GL_ARRAY_BUFFER, mesh.vertices.Count() * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW); glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]); - glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), ns, GL_STATIC_DRAW); + glBufferData(GL_ARRAY_BUFFER, mesh.vertices.Count() * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId); - glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW); + glBufferData(GL_ELEMENT_ARRAY_BUFFER, mesh.triangleIndices.Count() * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW); AssertGL(); @@ -790,6 +685,8 @@ struct DrawSolidSphere GLuint m_vboIds[2]; GLuint m_iboId; + u32 m_vertexCount; + u32 m_indexCount; }; struct DrawSolidCylinder @@ -1021,7 +918,7 @@ struct DrawSolid glEnableVertexAttribArray(m_normalAttribute); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId); - glDrawElements(GL_TRIANGLES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0)); + glDrawElements(GL_TRIANGLES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0)); glDisableVertexAttribArray(m_normalAttribute); diff --git a/examples/testbed/framework/draw_gl4.h b/examples/testbed/framework/draw_gl4.h index 1cc6261..0838b3c 100644 --- a/examples/testbed/framework/draw_gl4.h +++ b/examples/testbed/framework/draw_gl4.h @@ -28,6 +28,8 @@ #include #include +#include + #define BUFFER_OFFSET(i) ((char*)NULL + (i)) extern bool g_glDrawPoints; @@ -551,72 +553,22 @@ struct DrawTriangles struct DrawWireSphere { - enum - { - e_rings = 12, - e_sectors = 12, - e_vertexCount = e_rings * e_sectors, - e_indexCount = (e_rings - 1) * (e_sectors - 1) * 8 - }; - DrawWireSphere() { - float32 R = 1.0f / float32(e_rings - 1); - float32 S = 1.0f / float32(e_sectors - 1); + smMesh mesh; + smCreateMesh(mesh, 1); - b3Vec3 vs[e_vertexCount]; - b3Vec3 ns[e_vertexCount]; - b3Color cs[e_vertexCount]; - - u32 vc = 0; - for (u32 r = 0; r < e_rings; r++) - { - for (u32 s = 0; s < e_sectors; s++) - { - float32 y = sin(-0.5f * B3_PI + B3_PI * r * R); - float32 x = cos(2.0f * B3_PI * s * S) * sin(B3_PI * r * R); - float32 z = sin(2.0f * B3_PI * s * S) * sin(B3_PI * r * R); - - vs[vc].Set(x, y, z); - cs[vc] = b3Color(1.0f, 1.0f, 1.0f, 1.0f); - ++vc; - } - } - - u32 is[e_indexCount]; - - u32 ic = 0; - for (u32 r = 0; r < e_rings - 1; r++) - { - for (u32 s = 0; s < e_sectors - 1; s++) - { - u32 i1 = r * e_sectors + s; - u32 i2 = (r + 1) * e_sectors + s; - u32 i3 = (r + 1) * e_sectors + (s + 1); - u32 i4 = r * e_sectors + (s + 1); - - is[ic++] = i1; - is[ic++] = i2; - - is[ic++] = i2; - is[ic++] = i3; - - is[ic++] = i3; - is[ic++] = i4; - - is[ic++] = i4; - is[ic++] = i1; - } - } + m_vertexCount = mesh.vertices.Count(); + m_indexCount = mesh.triangleIndices.Count(); glGenBuffers(1, &m_vboId); glGenBuffers(1, &m_iboId); glBindBuffer(GL_ARRAY_BUFFER, m_vboId); - glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW); + glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId); - glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW); + glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW); AssertGL(); @@ -632,6 +584,8 @@ struct DrawWireSphere GLuint m_vboId; GLuint m_iboId; + u32 m_vertexCount; + u32 m_indexCount; }; struct DrawWire @@ -694,7 +648,7 @@ struct DrawWire glEnableVertexAttribArray(m_vertexAttribute); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId); - glDrawElements(GL_LINES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0)); + glDrawElements(GL_LINES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0)); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); glBindBuffer(GL_ARRAY_BUFFER, 0); @@ -712,84 +666,25 @@ struct DrawWire struct DrawSolidSphere { - enum - { - e_rings = 18, - e_sectors = 18, - e_vertexCount = e_rings * e_sectors, - e_indexCount = (e_rings - 1) * (e_sectors - 1) * 6, - e_faceCount = e_indexCount / 3 - }; - DrawSolidSphere() { - float32 R = 1.0f / float32(e_rings - 1); - float32 S = 1.0f / float32(e_sectors - 1); + smMesh mesh; + smCreateMesh(mesh, 1); - b3Vec3 vs[e_vertexCount]; - b3Vec3 ns[e_vertexCount]; - - u32 vc = 0; - for (u32 r = 0; r < e_rings; r++) - { - for (u32 s = 0; s < e_sectors; s++) - { - float32 a1 = 2.0f * B3_PI * float32(s) * S; - float32 c1 = cos(a1); - float32 s1 = sin(a1); - - float32 a2 = -0.5f * B3_PI + B3_PI * float32(r) * R; - float32 s2 = sin(a2); - - float32 a3 = B3_PI * float32(r) * R; - float32 s3 = sin(a3); - - float32 x = c1 * s3; - float32 y = s2; - float32 z = s1 * s3; - - b3Vec3 v(x, y, z); - v.Normalize(); - - vs[vc] = v; - ns[vc] = v; - ++vc; - } - } - - u32 is[e_indexCount]; - - u32 ic = 0; - for (u32 r = 0; r < e_rings - 1; r++) - { - for (u32 s = 0; s < e_sectors - 1; s++) - { - u32 i1 = r * e_sectors + s; - u32 i2 = (r + 1) * e_sectors + s; - u32 i3 = (r + 1) * e_sectors + (s + 1); - u32 i4 = r * e_sectors + (s + 1); - - is[ic++] = i1; - is[ic++] = i2; - is[ic++] = i3; - - is[ic++] = i1; - is[ic++] = i3; - is[ic++] = i4; - } - } + m_vertexCount = mesh.vertices.Count(); + m_indexCount = mesh.triangleIndices.Count(); glGenBuffers(3, m_vboIds); glGenBuffers(1, &m_iboId); glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]); - glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW); + glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW); glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]); - glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), ns, GL_STATIC_DRAW); + glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices.Begin(), GL_STATIC_DRAW); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId); - glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW); + glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.triangleIndices.Begin(), GL_STATIC_DRAW); AssertGL(); @@ -805,6 +700,8 @@ struct DrawSolidSphere GLuint m_vboIds[2]; GLuint m_iboId; + u32 m_vertexCount; + u32 m_indexCount; }; struct DrawSolidCylinder @@ -1033,7 +930,7 @@ struct DrawSolid glEnableVertexAttribArray(m_normalAttribute); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId); - glDrawElements(GL_TRIANGLES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0)); + glDrawElements(GL_TRIANGLES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0)); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); glBindBuffer(GL_ARRAY_BUFFER, 0); diff --git a/examples/testbed/framework/sphere_mesh.cpp b/examples/testbed/framework/sphere_mesh.cpp new file mode 100644 index 0000000..59118e3 --- /dev/null +++ b/examples/testbed/framework/sphere_mesh.cpp @@ -0,0 +1,149 @@ +/* +* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io +* +* This software is provided 'as-is', without any express or implied +* warranty. In no event will the authors be held liable for any damages +* arising from the use of this software. +* Permission is granted to anyone to use this software for any purpose, +* including commercial applications, and to alter it and redistribute it +* freely, subject to the following restrictions: +* 1. The origin of this software must not be misrepresented; you must not +* claim that you wrote the original software. If you use this software +* in a product, an acknowledgment in the product documentation would be +* appreciated but is not required. +* 2. Altered source versions must be plainly marked as such, and must not be +* misrepresented as being the original software. +* 3. This notice may not be removed or altered from any source distribution. +*/ + +#include + +// References: +// https://github.com/caosdoar/spheres +// https://schneide.blog/2016/07/15/generating-an-icosphere-in-c/ + +struct smEdge +{ + smEdge() { } + + smEdge(u32 _v1, u32 _v2) + { + v1 = _v1; + v2 = _v2; + } + + u32 v1, v2; +}; + +struct smEdgeVertexPair +{ + smEdgeVertexPair() { } + + smEdgeVertexPair(const smEdge& _edge, u32 _vertex) + { + edge = _edge; + vertex = _vertex; + } + + smEdge edge; + u32 vertex; +}; + +struct smEdgeVertexMap +{ + smEdgeVertexMap() { } + + smEdgeVertexPair* Find(const smEdge& edge) + { + for (u32 i = 0; i < pairs.Count(); ++i) + { + smEdgeVertexPair* pair = pairs.Get(i); + + if ((pair->edge.v1 == edge.v1 && pair->edge.v2 == edge.v2) || + (pair->edge.v1 == edge.v2 && pair->edge.v2 == edge.v1) ) + { + return pair; + } + } + return nullptr; + } + + b3StackArray pairs; +}; + +// +static inline u32 smSubdivideEdge(u32 i1, u32 i2, + const b3Vec3& v1, const b3Vec3& v2, + smEdgeVertexMap& edgeVertexMap, + smMesh& output) +{ + smEdge edge(i1, i2); + + smEdgeVertexPair* pair = edgeVertexMap.Find(edge); + + if (pair) + { + return pair->vertex; + } + + smEdge newEdge(i1, i2); + u32 newVertex = output.vertices.Count(); + + b3Vec3 v = 0.5f * (v1 + v2); + float32 len = v.Normalize(); + + output.AddVertex(v.x, v.y, v.z); + + smEdgeVertexPair newPair(newEdge, newVertex); + + edgeVertexMap.pairs.PushBack(newPair); + + return newVertex; +} + +// +static inline void smSubdivideMesh(smMesh& output, const smMesh& input) +{ + output.vertices = input.vertices; + + smEdgeVertexMap edgeVertexMap; + + for (u32 i = 0; i < input.triangleIndices.Count() / 3; ++i) + { + u32 vi1 = input.triangleIndices[3 * i + 0]; + u32 vi2 = input.triangleIndices[3 * i + 1]; + u32 vi3 = input.triangleIndices[3 * i + 2]; + + b3Vec3 v1 = input.vertices[vi1]; + b3Vec3 v2 = input.vertices[vi2]; + b3Vec3 v3 = input.vertices[vi3]; + + u32 vi4 = smSubdivideEdge(vi1, vi2, v1, v2, edgeVertexMap, output); + u32 vi5 = smSubdivideEdge(vi2, vi3, v2, v3, edgeVertexMap, output); + u32 vi6 = smSubdivideEdge(vi3, vi1, v3, v1, edgeVertexMap, output); + + output.AddTriangle(vi1, vi4, vi6); + output.AddTriangle(vi4, vi2, vi5); + output.AddTriangle(vi5, vi3, vi6); + output.AddTriangle(vi4, vi5, vi6); + } +} + +// +void smCreateMesh(smMesh& output, u32 subdivisions) +{ + B3_ASSERT(output.vertices.Count() == 0); + B3_ASSERT(output.triangleIndices.Count() == 0); + + smMesh input; + input.SetAsIcosahedron(); + + for (u32 i = 0; i < subdivisions; ++i) + { + smMesh subOutput; + smSubdivideMesh(subOutput, input); + input = subOutput; + } + + output = input; +} diff --git a/examples/testbed/framework/sphere_mesh.h b/examples/testbed/framework/sphere_mesh.h new file mode 100644 index 0000000..0e0b2d9 --- /dev/null +++ b/examples/testbed/framework/sphere_mesh.h @@ -0,0 +1,113 @@ +/* +* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io +* +* This software is provided 'as-is', without any express or implied +* warranty. In no event will the authors be held liable for any damages +* arising from the use of this software. +* Permission is granted to anyone to use this software for any purpose, +* including commercial applications, and to alter it and redistribute it +* freely, subject to the following restrictions: +* 1. The origin of this software must not be misrepresented; you must not +* claim that you wrote the original software. If you use this software +* in a product, an acknowledgment in the product documentation would be +* appreciated but is not required. +* 2. Altered source versions must be plainly marked as such, and must not be +* misrepresented as being the original software. +* 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SPHERE_MESH_H +#define SPHERE_MESH_H + +#include + +// +struct smMesh +{ + smMesh() { } + + smMesh& operator=(const smMesh& other) + { + Copy(other); + return *this; + } + + void Copy(const smMesh& other) + { + vertices = other.vertices; + triangleIndices = other.triangleIndices; + } + + void AddVertex(float32 x, float32 y, float32 z) + { + vertices.PushBack(b3Vec3(x, y, z)); + } + + void AddTriangle(u32 v1, u32 v2, u32 v3) + { + triangleIndices.PushBack(v1); + triangleIndices.PushBack(v2); + triangleIndices.PushBack(v3); + } + + void SetAsIcosahedron() + { + assert(vertices.Count() == 0); + + float32 t = 0.5f * (1.0f + b3Sqrt(5.0f)); + + AddVertex(-1.0f, t, 0.0f); + AddVertex(1.0f, t, 0.0f); + AddVertex(-1.0f, -t, 0.0f); + AddVertex(1.0f, -t, 0.0f); + + AddVertex(0.0f, -1.0f, t); + AddVertex(0.0f, 1.0f, t); + AddVertex(0.0f, -1.0f, -t); + AddVertex(0.0f, 1.0f, -t); + + AddVertex(t, 0.0f, -1.0f); + AddVertex(t, 0.0f, 1.0f); + AddVertex(-t, 0.0f, -1.0f); + AddVertex(-t, 0.0f, 1.0f); + + for (u32 i = 0; i < vertices.Count(); ++i) + { + vertices[i].Normalize(); + } + + assert(triangleIndices.Count() == 0); + + AddTriangle(0, 11, 5); + AddTriangle(0, 5, 1); + AddTriangle(0, 1, 7); + AddTriangle(0, 7, 10); + AddTriangle(0, 10, 11); + + AddTriangle(1, 5, 9); + AddTriangle(5, 11, 4); + AddTriangle(11, 10, 2); + AddTriangle(10, 7, 6); + AddTriangle(7, 1, 8); + + AddTriangle(3, 9, 4); + AddTriangle(3, 4, 2); + AddTriangle(3, 2, 6); + AddTriangle(3, 6, 8); + AddTriangle(3, 8, 9); + + AddTriangle(4, 9, 5); + AddTriangle(2, 4, 11); + AddTriangle(6, 2, 10); + AddTriangle(8, 6, 7); + AddTriangle(9, 8, 1); + } + + b3StackArray vertices; + b3StackArray triangleIndices; +}; + +// Generate an icosphere given the number of subdivisions. +void smCreateMesh(smMesh& output, u32 subdivisions); + +#endif SPHERE_MESH_H \ No newline at end of file diff --git a/examples/testbed/framework/test_entries.cpp b/examples/testbed/framework/test_entries.cpp index 8526371..d0aaca9 100644 --- a/examples/testbed/framework/test_entries.cpp +++ b/examples/testbed/framework/test_entries.cpp @@ -62,13 +62,11 @@ #include #include #include -#include #include #include #include -#include +#include #include -#include TestEntry g_tests[] = { @@ -116,12 +114,10 @@ TestEntry g_tests[] = { "Multiple Pendulum", &MultiplePendulum::Create }, { "Table Cloth", &TableCloth::Create }, { "Pinned Cloth", &PinnedCloth::Create }, - { "Shirt", &Shirt::Create }, { "Particle Types", &ParticleTypes::Create }, { "Tension Mapping", &TensionMapping::Create }, { "Self-Collision", &SelfCollision::Create }, - { "Mass-Spring System", &MassSpring::Create }, - { "Single Pendulum", &SinglePendulum::Create }, + { "Soft Body", &SoftBody::Create }, { "Rope", &Rope::Create }, { NULL, NULL } }; diff --git a/examples/testbed/tests/mass_spring.h b/examples/testbed/tests/mass_spring.h deleted file mode 100644 index dac0e58..0000000 --- a/examples/testbed/tests/mass_spring.h +++ /dev/null @@ -1,158 +0,0 @@ -/* -* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io -* -* This software is provided 'as-is', without any express or implied -* warranty. In no event will the authors be held liable for any damages -* arising from the use of this software. -* Permission is granted to anyone to use this software for any purpose, -* including commercial applications, and to alter it and redistribute it -* freely, subject to the following restrictions: -* 1. The origin of this software must not be misrepresented; you must not -* claim that you wrote the original software. If you use this software -* in a product, an acknowledgment in the product documentation would be -* appreciated but is not required. -* 2. Altered source versions must be plainly marked as such, and must not be -* misrepresented as being the original software. -* 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef MASS_SPRING_H -#define MASS_SPRING_H - -class MassSpring : public Test -{ -public: - MassSpring() - { - m_x.Set(0.0f, 5.0f, 0.0f); - - m_v.SetZero(); - - m_k = 100.0f; - - m_iterations = 0; - } - - void Solve(float32 h) - { - // ODE - // f(Y) = dY / dt = [v] - // [-k * x] - - // 1. Apply Implicit Euler - - // Y(t + h) = Y(t) + h * f( Y(t + h) ) - // G( Y(t + h) ) = Y(t + h) - Y(t) - h * f( Y(t + h) ) = 0 - - // 2. Solve G = 0 - - // Newton-Raphson Iteration - // - // Y(t + h) = - // Y(t + h)_0 - G( Y(t + h)_0 ) / G'( Y(t + h)_0 ) = - // Y(t + h)_0 - G'( Y(t + h)_0 )^-1 * ( Y(t + h)_0 - Y(t) - h * f( Y(t + h)_0 ) - - // G'( Y ) = I - h * del_f / del_Y - - // del_f / del_Y = [del_f1 / del_x del_f1 / del_v] = [0 I] - // [del_f2 / del_x del_f2 / del_v] [-k * I 0] - - // G'( Y ) = [I 0] - [0 h * I] = [I -h * I] - // [0 I] [-h * k * I 0] [h * k * I I] - - // Compute Jacobian - b3Mat33 I = b3Mat33_identity; - - b3Mat33 A, B, C, D; - - A = I; - B = -h * I; - C = h * m_k * I; - D = I; - - // Invert - // Block matrix inversion - b3Mat33 invD = b3Inverse(D); - b3Mat33 B_invD = B * invD; - - b3Mat33 invJ_A = b3Inverse(A - B_invD * C); - b3Mat33 invJ_B = -invJ_A * B_invD; - b3Mat33 invJ_C = -invD * C * invJ_A; - b3Mat33 invJ_D = invD + invD * C * invJ_A * B_invD; - - // Initial guess - b3Vec3 f1 = m_v; - b3Vec3 f2 = -m_k * m_x; - - b3Vec3 Y1 = m_x + h * f1; - b3Vec3 Y2 = m_v + h * f2; - - const float32 kTol = 0.05f; - - const u32 kMaxIterations = 20; - - float32 eps0 = 0.0f; - - float32 eps1 = B3_MAX_FLOAT; - - m_iterations = 0; - - while (m_iterations < kMaxIterations && eps1 > kTol * kTol * eps0) - { - // Evaluate f(Y_n-1) - f1 = Y2; - f2 = -m_k * Y1; - - // Residual vector - b3Vec3 G1 = Y1 - m_x - h * f1; - b3Vec3 G2 = Y2 - m_v - h * f2; - - eps1 = b3Dot(G1, G1) + b3Dot(G2, G2); - - // Solve Ax = b - b3Vec3 x1 = invJ_A * G1 + invJ_B * G2; - b3Vec3 x2 = invJ_C * G1 + invJ_D * G2; - - Y1 -= x1; - Y2 -= x2; - - ++m_iterations; - } - - // Update state - m_x = Y1; - m_v = Y2; - } - - void Step() - { - float32 h = g_testSettings->inv_hertz; - - Solve(h); - - g_draw->DrawSolidSphere(m_x, 0.25f, b3Color_white); - - g_draw->DrawSegment(b3Vec3_zero, m_x, b3Color_white); - - g_draw->DrawString(b3Color_white, "Iterations = %u", m_iterations); - - float32 E = 0.5f * b3Dot(m_v, m_v); - g_draw->DrawString(b3Color_white, "E = %f", E); - } - - static Test* Create() - { - return new MassSpring(); - } - - // State - b3Vec3 m_x, m_v; - - // Stiffness - float32 m_k; - - // - u32 m_iterations; -}; - -#endif \ No newline at end of file diff --git a/examples/testbed/tests/shirt.h b/examples/testbed/tests/shirt.h deleted file mode 100644 index f081326..0000000 --- a/examples/testbed/tests/shirt.h +++ /dev/null @@ -1,142 +0,0 @@ -/* -* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io -* -* This software is provided 'as-is', without any express or implied -* warranty. In no event will the authors be held liable for any damages -* arising from the use of this software. -* Permission is granted to anyone to use this software for any purpose, -* including commercial applications, and to alter it and redistribute it -* freely, subject to the following restrictions: -* 1. The origin of this software must not be misrepresented; you must not -* claim that you wrote the original software. If you use this software -* in a product, an acknowledgment in the product documentation would be -* appreciated but is not required. -* 2. Altered source versions must be plainly marked as such, and must not be -* misrepresented as being the original software. -* 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef SHIRT_H -#define SHIRT_H - -class Shirt : public Test -{ -public: - Shirt() - { - // Generate 2D mesh - m_shirtGarmentMesh.Set(&m_shirtGarment, 0.1f); - - // Create 3D mesh - m_shirtClothMesh.Set(&m_shirtGarmentMesh); - - // Create cloth - b3ClothDef def; - def.mesh = &m_shirtClothMesh; - def.density = 0.2f; - def.structural = 1000.0f; - - m_cloth = new b3Cloth(def); - - // Perform fitting - for (u32 i = 0; i < 3; ++i) - { - b3ClothMeshMesh* front = m_shirtClothMesh.meshes + i; - for (u32 j = 0; j < front->vertexCount; ++j) - { - u32 v = front->startVertex + j; - b3Particle* p = m_cloth->GetVertexParticle(v); - - b3Vec3 x = p->GetPosition(); - x.z = -1.0f; - - p->SetPosition(x); - } - } - - for (u32 i = 3; i < 6; ++i) - { - b3ClothMeshMesh* back = m_shirtClothMesh.meshes + i; - for (u32 j = 0; j < back->vertexCount; ++j) - { - u32 v = back->startVertex + j; - b3Particle* p = m_cloth->GetVertexParticle(v); - - b3Vec3 x = p->GetPosition(); - x.z = 1.0f; - - p->SetPosition(x); - } - } - - m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f)); - m_cloth->SetWorld(&m_world); - - m_clothDragger = new b3ClothDragger(&m_ray, m_cloth); - } - - ~Shirt() - { - delete m_clothDragger; - delete m_cloth; - } - - void Step() - { - Test::Step(); - - m_cloth->Step(g_testSettings->inv_hertz); - - m_cloth->Draw(); - - extern u32 b3_clothSolverIterations; - g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations); - - float32 E = m_cloth->GetEnergy(); - g_draw->DrawString(b3Color_white, "E = %f", E); - } - - void MouseMove(const b3Ray3& pw) - { - Test::MouseMove(pw); - - if (m_clothDragger->IsDragging() == true) - { - m_clothDragger->Drag(); - } - } - - void MouseLeftDown(const b3Ray3& pw) - { - Test::MouseLeftDown(pw); - - if (m_clothDragger->IsDragging() == false) - { - m_clothDragger->StartDragging(); - } - } - - void MouseLeftUp(const b3Ray3& pw) - { - Test::MouseLeftUp(pw); - - if (m_clothDragger->IsDragging() == true) - { - m_clothDragger->StopDragging(); - } - } - - static Test* Create() - { - return new Shirt(); - } - - b3ShirtGarment m_shirtGarment; - b3GarmentMesh m_shirtGarmentMesh; - b3GarmentClothMesh m_shirtClothMesh; - - b3Cloth* m_cloth; - b3ClothDragger* m_clothDragger; -}; - -#endif \ No newline at end of file diff --git a/examples/testbed/tests/single_pendulum.h b/examples/testbed/tests/single_pendulum.h deleted file mode 100644 index 3808548..0000000 --- a/examples/testbed/tests/single_pendulum.h +++ /dev/null @@ -1,99 +0,0 @@ -/* -* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io -* -* This software is provided 'as-is', without any express or implied -* warranty. In no event will the authors be held liable for any damages -* arising from the use of this software. -* Permission is granted to anyone to use this software for any purpose, -* including commercial applications, and to alter it and redistribute it -* freely, subject to the following restrictions: -* 1. The origin of this software must not be misrepresented; you must not -* claim that you wrote the original software. If you use this software -* in a product, an acknowledgment in the product documentation would be -* appreciated but is not required. -* 2. Altered source versions must be plainly marked as such, and must not be -* misrepresented as being the original software. -* 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef PENDULUM_H -#define PENDULUM_H - -class SinglePendulum : public Test -{ -public: - SinglePendulum() - { - m_g = -10.0f; - - m_r = 10.0f; - m_m = 1.0f; - m_I = m_m * m_r * m_r; - - // Initial state - m_theta = -0.5f * B3_PI; - m_omega = 0.0f; - } - - void Step() - { - float32 h = g_testSettings->inv_hertz; - - // Solution (acceleration) - float32 omega_dot = -m_g / m_r * sin(m_theta); - - // Integrate acceleration - m_omega += h * omega_dot; - - // Integrate velocity - m_theta += h * m_omega; - - // Convert from polar coordinates (r, theta) to Cartesian coordinates (x, y) - b3Vec3 c; - c.x = m_r * sin(m_theta); - c.y = m_r * cos(m_theta); - c.z = 0.0f; - g_draw->DrawSolidSphere(c, 1.0f, b3Color_white); - - b3Vec3 pole; - pole.SetZero(); - g_draw->DrawSegment(pole, c, b3Color_white); - - // Kinetic energy - float32 T = 0.5f * m_I * m_omega * m_omega; - - // Potential energy - float32 V = -m_m * m_g * m_r * cos(m_theta); - - // Lagrangian - float32 L = T - V; - - // - g_draw->DrawString(b3Color_white, "T = %f \nV = %f \nL = %f", T, V, L); - } - - static Test* Create() - { - return new SinglePendulum(); - } - - // Gravity - float32 m_g; - - // Mass, inertia - float32 m_m, m_I; - - // Radial coordinate - float32 m_r; - - // The allowable generalized coordinate in polar coordinate frame. - // Only motions satisfying the constraints can be described - // in this frame. Therefore, all solutions satisfy the constraints. - // This is the so called reduced coordinates approach. - float32 m_theta; - - // Velocity - float32 m_omega; -}; - -#endif \ No newline at end of file diff --git a/examples/testbed/tests/soft_body.h b/examples/testbed/tests/soft_body.h new file mode 100644 index 0000000..d12fdc8 --- /dev/null +++ b/examples/testbed/tests/soft_body.h @@ -0,0 +1,278 @@ +/* +* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io +* +* This software is provided 'as-is', without any express or implied +* warranty. In no event will the authors be held liable for any damages +* arising from the use of this software. +* Permission is granted to anyone to use this software for any purpose, +* including commercial applications, and to alter it and redistribute it +* freely, subject to the following restrictions: +* 1. The origin of this software must not be misrepresented; you must not +* claim that you wrote the original software. If you use this software +* in a product, an acknowledgment in the product documentation would be +* appreciated but is not required. +* 2. Altered source versions must be plainly marked as such, and must not be +* misrepresented as being the original software. +* 3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef SOFT_BODY_H +#define SOFT_BODY_H + +#include + +struct b3SphereClothMesh : public b3ClothMesh +{ + b3StackArray sphereVertices; + b3StackArray sphereTriangles; + b3ClothMeshMesh sphereMesh; + + b3SphereClothMesh() + { + smMesh mesh; + smCreateMesh(mesh, 1); + + sphereVertices.Resize(mesh.vertices.Count()); + for (u32 i = 0; i < mesh.vertices.Count(); ++i) + { + sphereVertices[i] = mesh.vertices[i]; + } + + sphereTriangles.Resize(mesh.triangleIndices.Count() / 3); + for (u32 i = 0; i < mesh.triangleIndices.Count() / 3; ++i) + { + sphereTriangles[i].v1 = mesh.triangleIndices[3 * i + 0]; + sphereTriangles[i].v2 = mesh.triangleIndices[3 * i + 1]; + sphereTriangles[i].v3 = mesh.triangleIndices[3 * i + 2]; + } + + sphereMesh.startTriangle = 0; + sphereMesh.triangleCount = sphereTriangles.Count(); + sphereMesh.startVertex = 0; + sphereMesh.vertexCount = sphereVertices.Count(); + + vertexCount = sphereVertices.Count(); + vertices = sphereVertices.Begin(); + triangleCount = sphereTriangles.Count(); + triangles = sphereTriangles.Begin(); + meshCount = 1; + meshes = &sphereMesh; + sewingLineCount = 0; + sewingLines = nullptr; + } +}; + +class SoftBody : public Test +{ +public: + SoftBody() + { + // Scale and translate the cloth mesh upwards + for (u32 i = 0; i < m_mesh.vertexCount; ++i) + { + m_mesh.vertices[i] *= 2.0f; + m_mesh.vertices[i].y += 10.0f; + } + + // Create cloth + b3ClothDef def; + def.mesh = &m_mesh; + def.density = 0.2f; + def.structural = 10000.0f; + def.bending = 0.0f; + def.damping = 0.0f; + + m_cloth = new b3Cloth(def); + + for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext()) + { + p->SetRadius(0.05f); + p->SetFriction(0.5f); + } + + b3Vec3 gravity(0.0f, -9.8f, 0.0f); + + m_cloth->SetGravity(gravity); + + // Attach a world to the cloth + m_cloth->SetWorld(&m_world); + + // Create static shapes + { + b3BodyDef bd; + bd.type = e_staticBody; + + b3Body* b = m_world.CreateBody(bd); + + static b3BoxHull boxHull(10.0f, 1.0f, 10.0f); + + b3HullShape boxShape; + boxShape.m_hull = &boxHull; + + b3ShapeDef sd; + sd.shape = &boxShape; + sd.friction = 0.5f; + + b->CreateShape(sd); + } + + m_clothDragger = new b3ClothDragger(&m_ray, m_cloth); + } + + ~SoftBody() + { + delete m_clothDragger; + delete m_cloth; + } + + // Compute the volume of soft body + float32 ComputeVolume() const + { + const b3ClothMesh* mesh = m_cloth->GetMesh(); + + b3StackArray positions; + positions.Resize(mesh->vertexCount); + + for (u32 i = 0; i < mesh->vertexCount; ++i) + { + b3Particle* p = m_cloth->GetVertexParticle(i); + positions[i] = p->GetPosition(); + } + + b3AABB3 aabb; + aabb.Compute(positions.Begin(), positions.Count()); + + return aabb.Volume(); + } + + // Apply pressure forces + // Explanation available in the paper + // "Pressure Model of Soft Body Simulation" + void ApplyPressureForces() + { + const b3ClothMesh* mesh = m_cloth->GetMesh(); + + // Volume in m^3 + float32 V = ComputeVolume(); + + // Inverse volume + float32 invV = V > 0.0f ? 1.0f / V : 0.0f; + + // Apply pressure forces on particles + for (u32 i = 0; i < m_mesh.triangleCount; ++i) + { + u32 i1 = m_mesh.triangles[i].v1; + u32 i2 = m_mesh.triangles[i].v2; + u32 i3 = m_mesh.triangles[i].v3; + + b3Particle* p1 = m_cloth->GetVertexParticle(i1); + b3Particle* p2 = m_cloth->GetVertexParticle(i2); + b3Particle* p3 = m_cloth->GetVertexParticle(i3); + + b3Vec3 v1 = p1->GetPosition(); + b3Vec3 v2 = p2->GetPosition(); + b3Vec3 v3 = p3->GetPosition(); + + b3Vec3 n = b3Cross(v2 - v1, v3 - v1); + + // Triangle area + float32 A = n.Normalize(); + A *= 0.5f; + + // Ideal Gas Approximation + + // Number of gas moles + const float32 k_n = 1.0f; + + // Ideal Gas Constant [J / K mol] + const float32 k_R = 8.31f; + + // Gas temperature in Kelvin + const float32 k_T = 100.0f; + + // Pressure in Pascals + float32 P = invV * k_n * k_R * k_T; + + // Pressure vector + b3Vec3 Pn = P * n; + + // Pressure force + b3Vec3 FP = Pn * A; + + // Distribute + p1->ApplyForce(FP); + p2->ApplyForce(FP); + p3->ApplyForce(FP); + } + } + + void Step() + { + Test::Step(); + + ApplyPressureForces(); + + m_cloth->Step(g_testSettings->inv_hertz); + + m_cloth->Draw(); + + if (m_clothDragger->IsDragging()) + { + b3Vec3 pA = m_clothDragger->GetPointA(); + b3Vec3 pB = m_clothDragger->GetPointB(); + + g_draw->DrawPoint(pA, 2.0f, b3Color_green); + + g_draw->DrawPoint(pB, 2.0f, b3Color_green); + + g_draw->DrawSegment(pA, pB, b3Color_white); + } + + extern u32 b3_clothSolverIterations; + g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations); + + float32 E = m_cloth->GetEnergy(); + g_draw->DrawString(b3Color_white, "E = %f", E); + } + + void MouseMove(const b3Ray3& pw) + { + Test::MouseMove(pw); + + if (m_clothDragger->IsDragging() == true) + { + m_clothDragger->Drag(); + } + } + + void MouseLeftDown(const b3Ray3& pw) + { + Test::MouseLeftDown(pw); + + if (m_clothDragger->IsDragging() == false) + { + m_clothDragger->StartDragging(); + } + } + + void MouseLeftUp(const b3Ray3& pw) + { + Test::MouseLeftUp(pw); + + if (m_clothDragger->IsDragging() == true) + { + m_clothDragger->StopDragging(); + } + } + + static Test* Create() + { + return new SoftBody(); + } + + b3SphereClothMesh m_mesh; + b3Cloth* m_cloth; + b3ClothDragger* m_clothDragger; +}; + +#endif \ No newline at end of file diff --git a/premake5.lua b/premake5.lua index f0ef7e9..707cbcc 100644 --- a/premake5.lua +++ b/premake5.lua @@ -273,6 +273,10 @@ workspace(solution_name) examples_src_dir .. "/testbed/framework/test.h", + examples_src_dir .. "/testbed/framework/sphere_mesh.h", + + examples_src_dir .. "/testbed/framework/sphere_mesh.cpp", + examples_src_dir .. "/testbed/framework/body_dragger.h", examples_src_dir .. "/testbed/framework/cloth_dragger.h",