generate convex hull/cluster using 'G' while the tests are running

examples/testbed/tests/cluster.h

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+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* 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 CLUSTER_H
+#define CLUSTER_H
+
+#include <bounce/dynamics/contacts/contact_cluster.h>
+
+class Cluster : public Test
+{
+public:
+	enum
+	{
+		e_count = 64
+	};
+
+	Cluster()
+	{
+		Generate();
+	}
+
+	void Generate()
+	{
+		for (u32 i = 0; i < e_count; ++i)
+		{
+			float32 x = 3.0f * RandomFloat(-1.0f, 1.0f);
+			float32 y = 3.0f * RandomFloat(-1.0f, 1.0f);
+			float32 z = 3.0f * RandomFloat(-1.0f, 1.0f);
+
+			b3Vec3 p(x, y, z);
+			m_points[i] = p;
+		}
+
+		for (u32 i = 0; i < B3_MAX_MANIFOLDS; ++i)
+		{
+			float32 r = RandomFloat(0.0f, 1.0f);
+			float32 g = RandomFloat(0.0f, 1.0f);
+			float32 b = RandomFloat(0.0f, 1.0f);
+
+			b3Color c(r, g, b);
+			m_colors[i] = c;
+		}
+	}
+	
+	void KeyDown(int button)
+	{
+		if (button == GLFW_KEY_G)
+		{
+			Generate();
+		}
+	}
+
+	void Step()
+	{
+		b3ClusterSolver cluster;
+
+		// Initialize observations
+		for (u32 i = 0; i < e_count; ++i)
+		{
+			b3Observation obs;
+			obs.point = m_points[i];
+			obs.point = b3Normalize(obs.point);
+			obs.cluster = B3_NULL_CLUSTER;
+
+			cluster.AddObservation(obs);
+		}
+
+		// Run cluster
+		cluster.Solve();
+
+		// Draw
+		const b3Array<b3Observation>& observations = cluster.GetObservations();
+		
+		const b3Array<b3Cluster>& clusters = cluster.GetClusters();
+		B3_ASSERT(clusters.Count() <= B3_MAX_MANIFOLDS);
+
+		for (u32 i = 0; i < clusters.Count(); ++i)
+		{
+			b3Vec3 centroid = clusters[i].centroid;
+
+			g_draw->DrawSegment(b3Vec3_zero, centroid, b3Color_white);
+			g_draw->DrawPoint(centroid, 4.0f, m_colors[i]);
+
+			for (u32 j = 0; j < observations.Count(); ++j)
+			{
+				b3Observation obs = observations[j];
+				if (obs.cluster == i)
+				{
+					g_draw->DrawPoint(obs.point, 4.0f, m_colors[i]);
+				}
+			}
+		}
+		
+		g_draw->DrawString(b3Color_white, "G - Generate a random cluster");
+		g_draw->DrawString(b3Color_white, "Iterations = %d", cluster.GetIterations());
+	}
+
+	static Test* Create()
+	{
+		return new Cluster();
+	}
+
+	b3Vec3 m_points[e_count];
+	b3Color m_colors[B3_MAX_MANIFOLDS];
+};
+
+#endif