New feature: soft bodies!

examples/testbed/framework/softbody_dragger.cpp

@@ -0,0 +1,128 @@
+/*
+* 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 <testbed/framework/softbody_dragger.h>
+
+b3SoftBodyDragger::b3SoftBodyDragger(b3Ray3* ray, b3SoftBody* body)
+{
+	m_ray = ray;
+	m_body = body;
+	m_tetrahedron = nullptr;
+}
+
+b3SoftBodyDragger::~b3SoftBodyDragger()
+{
+
+}
+
+bool b3SoftBodyDragger::StartDragging()
+{
+	B3_ASSERT(IsDragging() == false);
+
+	b3SoftBodyRayCastSingleOutput rayOut;
+	if (m_body->RayCastSingle(&rayOut, m_ray->A(), m_ray->B()) == false)
+	{
+		return false;
+	}
+
+	m_mesh = m_body->GetMesh();
+	m_tetrahedron = m_mesh->tetrahedrons + rayOut.tetrahedron;
+	m_v1 = m_tetrahedron->v1;
+	m_v2 = m_tetrahedron->v2;
+	m_v3 = m_tetrahedron->v3;
+	m_v4 = m_tetrahedron->v4;
+	m_x = rayOut.fraction;
+
+	b3SoftBodyNode* n1 = m_body->GetVertexNode(m_v1);
+	b3SoftBodyNode* n2 = m_body->GetVertexNode(m_v2);
+	b3SoftBodyNode* n3 = m_body->GetVertexNode(m_v3);
+	b3SoftBodyNode* n4 = m_body->GetVertexNode(m_v4);
+
+	b3Vec3 v1 = n1->GetPosition();
+	b3Vec3 v2 = n2->GetPosition();
+	b3Vec3 v3 = n3->GetPosition();
+	b3Vec3 v4 = n4->GetPosition();
+
+	b3Vec3 B = GetPointB();
+
+	float32 wABCD[5];
+	b3BarycentricCoordinates(wABCD, v1, v2, v3, v4, B);
+
+	if (wABCD[4] > B3_EPSILON)
+	{
+		m_tu = wABCD[0] / wABCD[4];
+		m_tv = wABCD[1] / wABCD[4];
+		m_tw = wABCD[2] / wABCD[4];
+		m_tx = wABCD[3] / wABCD[4];
+	}
+	else
+	{
+		m_tu = m_tv = m_tw = m_tx = 0.0f;
+	}
+
+	return true;
+}
+
+void b3SoftBodyDragger::Drag()
+{
+	B3_ASSERT(IsDragging() == true);
+
+	b3Vec3 A = GetPointA();
+	b3Vec3 B = GetPointB();
+
+	b3Vec3 dx = B - A;
+
+	const float32 k = 100.0f;
+
+	b3Vec3 f = k * dx;
+
+	b3Vec3 f1 = m_tu * f;
+	b3Vec3 f2 = m_tv * f;
+	b3Vec3 f3 = m_tw * f;
+	b3Vec3 f4 = m_tx * f;
+
+	m_body->GetVertexNode(m_v1)->ApplyForce(f1);
+	m_body->GetVertexNode(m_v2)->ApplyForce(f2);
+	m_body->GetVertexNode(m_v3)->ApplyForce(f3);
+	m_body->GetVertexNode(m_v4)->ApplyForce(f4);
+}
+
+void b3SoftBodyDragger::StopDragging()
+{
+	B3_ASSERT(IsDragging() == true);
+	
+	m_tetrahedron = nullptr;
+}
+
+b3Vec3 b3SoftBodyDragger::GetPointA() const
+{
+	B3_ASSERT(IsDragging() == true);
+
+	b3Vec3 A = m_body->GetVertexNode(m_v1)->GetPosition();
+	b3Vec3 B = m_body->GetVertexNode(m_v2)->GetPosition();
+	b3Vec3 C = m_body->GetVertexNode(m_v3)->GetPosition();
+	b3Vec3 D = m_body->GetVertexNode(m_v4)->GetPosition();
+
+	return m_tu * A + m_tv * B + m_tw * C + m_tx * D;
+}
+
+b3Vec3 b3SoftBodyDragger::GetPointB() const
+{
+	B3_ASSERT(IsDragging() == true);
+	return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
+}

examples/testbed/framework/softbody_dragger.h

@@ -0,0 +1,61 @@
+/*
+* 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 B3_SOFTBODY_DRAGGER_H
+#define B3_SOFTBODY_DRAGGER_H
+
+#include <bounce/common/geometry.h>
+#include <bounce/softbody/softbody.h>
+#include <bounce/softbody/softbody_mesh.h>
+#include <bounce/softbody/softbody_node.h>
+
+// A soft body triangle dragger.
+class b3SoftBodyDragger
+{
+public:
+	b3SoftBodyDragger(b3Ray3* ray, b3SoftBody* body);
+	~b3SoftBodyDragger();
+
+	bool IsDragging() const;
+
+	bool StartDragging();
+
+	void Drag();
+
+	void StopDragging();
+
+	b3Vec3 GetPointA() const;
+
+	b3Vec3 GetPointB() const;
+private:
+	b3Ray3* m_ray;
+	float32 m_x;
+
+	b3SoftBody* m_body;
+	const b3SoftBodyMesh* m_mesh;
+	const b3SoftBodyMeshTetrahedron* m_tetrahedron;
+	u32 m_v1, m_v2, m_v3, m_v4;
+	float32 m_tu, m_tv, m_tw, m_tx;
+};
+
+inline bool b3SoftBodyDragger::IsDragging() const
+{
+	return m_tetrahedron != nullptr;
+}
+
+#endif

examples/testbed/framework/test_entries.cpp

@@ -65,8 +65,10 @@
 #include <testbed/tests/particle_types.h>
 #include <testbed/tests/tension_mapping.h>
 #include <testbed/tests/self_collision.h>
-#include <testbed/tests/soft_body.h>
 #include <testbed/tests/rope_test.h>
+#include <testbed/tests/softbody.h>
+#include <testbed/tests/pinned_softbody.h>
+#include <testbed/tests/smash_softbody.h>
 
 TestEntry g_tests[] =
 {
@@ -118,6 +120,8 @@ TestEntry g_tests[] =
 	{ "Tension Mapping", &TensionMapping::Create },
 	{ "Self-Collision", &SelfCollision::Create },
 	{ "Soft Body", &SoftBody::Create },
+	{ "Pinned Soft Body", &PinnedSoftBody::Create },
+	{ "Smash Soft Body", &SmashSoftBody::Create },
 	{ "Rope", &Rope::Create },
 	{ NULL, NULL }
 };

examples/testbed/tests/pinned_softbody.h

@@ -0,0 +1,135 @@
+/*
+* 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 PINNED_SOFTBODY_H
+#define PINNED_SOFTBODY_H
+
+#include <testbed/framework/softbody_dragger.h>
+
+class PinnedSoftBody : public Test
+{
+public:
+	PinnedSoftBody()
+	{
+		m_mesh.SetAsSphere(5.0f, 0);
+
+		// Create soft body
+		b3SoftBodyDef def;
+		def.mesh = &m_mesh;
+		def.density = 0.2f;
+		def.E = 100.0f;
+		def.nu = 0.33f;
+
+		m_body = new b3SoftBody(def);
+
+		u32 pinIndex = ~0;
+		float32 pinDot = -B3_MAX_FLOAT;
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			float32 dot = b3Dot(m_mesh.vertices[i], b3Vec3_y);
+			if (dot > pinDot)
+			{
+				pinDot = dot;
+				pinIndex = i;
+			}
+		}
+
+		b3SoftBodyNode* pinNode = m_body->GetVertexNode(pinIndex);
+		pinNode->SetType(e_staticSoftBodyNode);
+
+		b3Vec3 gravity(0.0f, -9.8f, 0.0f);
+		m_body->SetGravity(gravity);
+
+		m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
+	}
+
+	~PinnedSoftBody()
+	{
+		delete m_bodyDragger;
+		delete m_body;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			m_bodyDragger->Drag();
+		}
+
+		m_body->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_body->Draw();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			b3Vec3 pA = m_bodyDragger->GetPointA();
+			b3Vec3 pB = m_bodyDragger->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_softBodySolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_softBodySolverIterations);
+
+		float32 E = m_body->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_bodyDragger->IsDragging() == false)
+		{
+			m_bodyDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_bodyDragger->IsDragging() == true)
+		{
+			m_bodyDragger->StopDragging();
+		}
+	}
+
+	static Test* Create()
+	{
+		return new PinnedSoftBody();
+	}
+
+	b3QSoftBodyMesh m_mesh;
+
+	b3SoftBody* m_body;
+	b3SoftBodyDragger* m_bodyDragger;
+};
+
+#endif

examples/testbed/tests/smash_softbody.h

@@ -0,0 +1,172 @@
+/*
+* 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 SMASH_SOFTBODY_H
+#define SMASH_SOFTBODY_H
+
+#include <testbed/framework/softbody_dragger.h>
+
+class SmashSoftBody : public Test
+{
+public:
+	SmashSoftBody()
+	{
+		m_mesh.SetAsSphere(2.0f, 1);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			m_mesh.vertices[i].y += 3.0f;
+		}
+
+		// Create soft body
+		b3SoftBodyDef def;
+		def.mesh = &m_mesh;
+		def.density = 0.2f;
+		def.E = 100.0f;
+		def.nu = 0.33f;
+
+		m_body = new b3SoftBody(def);
+
+		b3Vec3 gravity(0.0f, -9.8f, 0.0f);
+		m_body->SetGravity(gravity);
+		m_body->SetWorld(&m_world);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			b3SoftBodyNode* n = m_body->GetVertexNode(i);
+
+			n->SetRadius(0.05f);
+			n->SetFriction(0.2f);
+		}
+
+		// Create ground
+		{
+			b3BodyDef bd;
+			bd.type = e_staticBody;
+
+			b3Body* b = m_world.CreateBody(bd);
+
+			b3HullShape groundShape;
+			groundShape.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &groundShape;
+			sd.friction = 0.3f;
+
+			b->CreateShape(sd);
+		}
+
+		// Create body
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.y = 10.0f;
+
+			b3Body* b = m_world.CreateBody(bd);
+
+			static b3BoxHull boxHull(5.0f, 1.0f, 5.0f);
+
+			b3HullShape boxShape;
+			boxShape.m_hull = &boxHull;
+
+			b3ShapeDef sd;
+			sd.shape = &boxShape;
+			sd.density = 0.1f;
+			sd.friction = 0.3f;
+
+			b->CreateShape(sd);
+		}
+		
+		m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
+	}
+
+	~SmashSoftBody()
+	{
+		delete m_bodyDragger;
+		delete m_body;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			m_bodyDragger->Drag();
+		}
+
+		m_body->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_body->Draw();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			b3Vec3 pA = m_bodyDragger->GetPointA();
+			b3Vec3 pB = m_bodyDragger->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_softBodySolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_softBodySolverIterations);
+
+		float32 E = m_body->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_bodyDragger->IsDragging() == false)
+		{
+			m_bodyDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_bodyDragger->IsDragging() == true)
+		{
+			m_bodyDragger->StopDragging();
+		}
+	}
+
+	static Test* Create()
+	{
+		return new SmashSoftBody();
+	}
+
+	b3QSoftBodyMesh m_mesh;
+
+	b3SoftBody* m_body;
+	b3SoftBodyDragger* m_bodyDragger;
+};
+
+#endif

examples/testbed/tests/soft_body.h

@@ -1,293 +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 SOFT_BODY_H
-#define SOFT_BODY_H
-
-#include <bounce/meshgen/sphere_mesh.h>
-
-struct b3QClothMesh : public b3ClothMesh
-{
-	b3StackArray<b3Vec3, 256> clothVertices;
-	b3StackArray<b3ClothMeshTriangle, 256> clothTriangles;
-	b3ClothMeshMesh clothMesh;
-
-	b3QClothMesh()
-	{
-		vertices = nullptr;
-		vertexCount = 0;
-		triangles = nullptr;
-		triangleCount = 0;
-		meshCount = 0;
-		meshes = nullptr;
-		sewingLineCount = 0;
-		sewingLines = nullptr;
-	}
-
-	void SetAsSphere(float32 radius = 1.0f)
-	{
-		smMesh mesh;
-		smCreateMesh(mesh, 2);
-
-		clothVertices.Resize(mesh.vertexCount);
-		for (u32 i = 0; i < mesh.vertexCount; ++i)
-		{
-			clothVertices[i] = radius * mesh.vertices[i];
-		}
-
-		clothTriangles.Resize(mesh.indexCount / 3);
-		for (u32 i = 0; i < mesh.indexCount / 3; ++i)
-		{
-			clothTriangles[i].v1 = mesh.indices[3 * i + 0];
-			clothTriangles[i].v2 = mesh.indices[3 * i + 1];
-			clothTriangles[i].v3 = mesh.indices[3 * i + 2];
-		}
-
-		clothMesh.startTriangle = 0;
-		clothMesh.triangleCount = clothTriangles.Count();
-		clothMesh.startVertex = 0;
-		clothMesh.vertexCount = clothVertices.Count();
-
-		vertices = clothVertices.Begin();
-		vertexCount = clothVertices.Count();
-		triangles = clothTriangles.Begin();
-		triangleCount = clothTriangles.Count();
-		meshCount = 1;
-		meshes = &clothMesh;
-	}
-};
-
-class SoftBody : public Test
-{
-public:
-	SoftBody()
-	{
-		m_mesh.SetAsSphere(2.0f);
-
-		// Translate the cloth mesh upwards
-		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
-		{
-			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<b3Vec3, 256> 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;
-
-			const float32 inv3 = 1.0f / 3.0f;
-
-			b3Vec3 f = inv3 * FP;
-
-			// Distribute
-			p1->ApplyForce(f);
-			p2->ApplyForce(f);
-			p3->ApplyForce(f);
-		}
-	}
-
-	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();
-	}
-
-	b3QClothMesh m_mesh;
-	b3Cloth* m_cloth;
-	b3ClothDragger* m_clothDragger;
-};
-
-#endif

examples/testbed/tests/softbody.h

@@ -0,0 +1,155 @@
+/*
+* 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 SOFTBODY_H
+#define SOFTBODY_H
+
+#include <testbed/framework/softbody_dragger.h>
+
+class SoftBody : public Test
+{
+public:
+	SoftBody()
+	{
+		m_mesh.SetAsSphere(5.0f, 1);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			m_mesh.vertices[i].y += 10.0f;
+		}
+
+		// Create soft body
+		b3SoftBodyDef def;
+		def.mesh = &m_mesh;
+		def.density = 0.2f;
+		def.E = 100.0f;
+		def.nu = 0.33f;
+
+		m_body = new b3SoftBody(def);
+
+		b3Vec3 gravity(0.0f, -9.8f, 0.0f);
+		m_body->SetGravity(gravity);
+		m_body->SetWorld(&m_world);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			b3SoftBodyNode* n = m_body->GetVertexNode(i);
+
+			n->SetRadius(0.05f);
+			n->SetFriction(0.2f);
+		}
+
+		// Create ground
+		{
+			b3BodyDef bd;
+			bd.type = e_staticBody;
+
+			b3Body* b = m_world.CreateBody(bd);
+
+			m_groundHull.SetAsCylinder(20.0f, 2.0f);
+
+			b3HullShape groundShape;
+			groundShape.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &groundShape;
+			sd.friction = 0.3f;
+
+			b->CreateShape(sd);
+		}
+
+		m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
+	}
+
+	~SoftBody()
+	{
+		delete m_bodyDragger;
+		delete m_body;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			m_bodyDragger->Drag();
+		}
+
+		m_body->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_body->Draw();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			b3Vec3 pA = m_bodyDragger->GetPointA();
+			b3Vec3 pB = m_bodyDragger->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_softBodySolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_softBodySolverIterations);
+
+		float32 E = m_body->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_bodyDragger->IsDragging() == false)
+		{
+			m_bodyDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_bodyDragger->IsDragging() == true)
+		{
+			m_bodyDragger->StopDragging();
+		}
+	}
+
+	static Test* Create()
+	{
+		return new SoftBody();
+	}
+
+	b3QSoftBodyMesh m_mesh;
+	
+	b3SoftBody* m_body;
+	b3SoftBodyDragger* m_bodyDragger;
+	
+	b3QHull m_groundHull;
+};
+
+#endif