Apply changes from latest known public version of bounce dated 2019-11-13
This commit is contained in:
Luke Benstead
@@ -22,15 +22,82 @@
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class ClothSelfCollision : public Test
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{
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public:
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enum
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{
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e_w1 = 5,
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e_h1 = 5,
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e_w2 = 5,
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e_h2 = 5
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};
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ClothSelfCollision()
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{
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// Translate the mesh
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for (u32 i = 0; i < m_clothMesh.vertexCount; ++i)
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b3GridClothMesh<e_w1, e_h1> mesh1;
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b3Quat qX = b3QuatRotationX(0.5f * B3_PI);
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for (u32 i = 0; i < mesh1.vertexCount; ++i)
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{
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m_clothMesh.vertices[i].y += 5.0f;
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mesh1.vertices[i] = b3Mul(qX, mesh1.vertices[i]);
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mesh1.vertices[i].y += 5.0f;
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}
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// Create cloth
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b3GridClothMesh<e_w2, e_h2> mesh2;
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b3Quat qY = b3QuatRotationY(0.5f * B3_PI);
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for (u32 i = 0; i < mesh2.vertexCount; ++i)
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{
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mesh2.vertices[i] = b3Mul(qY * qX, mesh2.vertices[i]);
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mesh2.vertices[i].y += 12.0f;
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}
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// Merge the meshes
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m_clothMesh.vertexCount = mesh1.vertexCount + mesh2.vertexCount;
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m_clothMesh.vertices = (b3Vec3*)b3Alloc(m_clothMesh.vertexCount * sizeof(b3Vec3));
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u32* newVertices1 = (u32*)b3Alloc(mesh1.vertexCount * sizeof(u32));
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u32 vertexIndex = 0;
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for (u32 i = 0; i < mesh1.vertexCount; ++i)
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{
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newVertices1[i] = vertexIndex;
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m_clothMesh.vertices[vertexIndex++] = mesh1.vertices[i];
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}
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u32* newVertices2 = (u32*)b3Alloc(mesh2.vertexCount * sizeof(u32));
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for (u32 i = 0; i < mesh2.vertexCount; ++i)
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{
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newVertices2[i] = vertexIndex;
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m_clothMesh.vertices[vertexIndex++] = mesh2.vertices[i];
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}
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m_clothMesh.triangleCount = mesh1.triangleCount + mesh2.triangleCount;
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m_clothMesh.triangles = (b3ClothMeshTriangle*)b3Alloc(m_clothMesh.triangleCount * sizeof(b3ClothMeshTriangle));
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u32 triangleIndex = 0;
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for (u32 i = 0; i < mesh1.triangleCount; ++i)
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{
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m_clothMesh.triangles[triangleIndex].v1 = newVertices1[mesh1.triangles[i].v1];
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m_clothMesh.triangles[triangleIndex].v2 = newVertices1[mesh1.triangles[i].v2];
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m_clothMesh.triangles[triangleIndex].v3 = newVertices1[mesh1.triangles[i].v3];
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++triangleIndex;
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}
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for (u32 i = 0; i < mesh2.triangleCount; ++i)
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{
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m_clothMesh.triangles[triangleIndex].v1 = newVertices2[mesh2.triangles[i].v1];
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m_clothMesh.triangles[triangleIndex].v2 = newVertices2[mesh2.triangles[i].v2];
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m_clothMesh.triangles[triangleIndex].v3 = newVertices2[mesh2.triangles[i].v3];
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++triangleIndex;
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}
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m_clothMesh.meshCount = 1;
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m_clothMesh.meshes = (b3ClothMeshMesh*)b3Alloc(sizeof(b3ClothMeshMesh));
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m_clothMesh.meshes->startTriangle = 0;
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m_clothMesh.meshes->triangleCount = m_clothMesh.triangleCount;
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m_clothMesh.meshes->startVertex = 0;
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m_clothMesh.meshes->vertexCount = m_clothMesh.vertexCount;
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m_clothMesh.shearingLineCount = 0;
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m_clothMesh.bendingLineCount = 0;
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m_clothMesh.sewingLineCount = 0;
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// Create the cloth
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b3ClothDef def;
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def.mesh = &m_clothMesh;
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def.density = 1.0f;
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@@ -41,24 +108,37 @@ public:
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m_cloth = new b3Cloth(def);
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m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
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m_cloth->SetWorld(&m_world);
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m_cloth->EnableSelfCollision(true);
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for (u32 i = 0; i < mesh1.vertexCount; ++i)
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{
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u32 newVertex = newVertices1[i];
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m_cloth->GetParticle(newVertex)->SetType(e_staticClothParticle);
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}
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b3Free(newVertices1);
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b3Free(newVertices2);
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{
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b3BodyDef bd;
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bd.type = e_staticBody;
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b3Body* b = m_world.CreateBody(bd);
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b3CapsuleShape capsuleShape;
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capsuleShape.m_centers[0].Set(0.0f, 0.0f, -5.0f);
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capsuleShape.m_centers[1].Set(0.0f, 0.0f, 5.0f);
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capsuleShape.m_radius = 1.0f;;
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b3HullShape hullShape;
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hullShape.m_hull = &m_groundHull;
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hullShape.m_radius = 0.0f;;
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b3ShapeDef sd;
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sd.shape = &capsuleShape;
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sd.shape = &hullShape;
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sd.friction = 1.0f;
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b->CreateShape(sd);
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b3Shape* s = b->CreateShape(sd);
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b3ClothWorldShapeDef csd;
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csd.shape = s;
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m_cloth->CreateWorldShape(csd);
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}
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m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
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@@ -66,6 +146,10 @@ public:
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~ClothSelfCollision()
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{
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b3Free(m_clothMesh.vertices);
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b3Free(m_clothMesh.triangles);
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b3Free(m_clothMesh.meshes);
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delete m_cloth;
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delete m_clothDragger;
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}
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@@ -83,17 +167,27 @@ public:
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b3Vec3 pA = m_clothDragger->GetPointA();
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b3Vec3 pB = m_clothDragger->GetPointB();
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g_draw->DrawPoint(pA, 2.0f, b3Color_green);
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g_draw->DrawPoint(pA, 4.0f, b3Color_green);
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g_draw->DrawPoint(pB, 2.0f, b3Color_green);
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g_draw->DrawPoint(pB, 4.0f, b3Color_green);
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g_draw->DrawSegment(pA, pB, b3Color_white);
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}
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g_draw->DrawString(b3Color_white, "S - Turn on/off self collision");
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if (m_cloth->IsSelfCollisionEnabled())
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{
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g_draw->DrawString(b3Color_white, "Self collision enabled");
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}
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else
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{
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g_draw->DrawString(b3Color_white, "Self collision disabled");
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}
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extern u32 b3_clothSolverIterations;
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g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
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float32 E = m_cloth->GetEnergy();
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scalar E = m_cloth->GetEnergy();
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g_draw->DrawString(b3Color_white, "E = %f", E);
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}
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@@ -127,12 +221,20 @@ public:
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}
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}
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void KeyDown(int key)
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{
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if (key == GLFW_KEY_S)
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{
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m_cloth->EnableSelfCollision(!m_cloth->IsSelfCollisionEnabled());
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}
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}
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static Test* Create()
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{
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return new ClothSelfCollision();
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}
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b3GridClothMesh<10, 10> m_clothMesh;
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b3ClothMesh m_clothMesh;
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b3Cloth* m_cloth;
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b3ClothDragger* m_clothDragger;
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};
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