controllers, ray3
This commit is contained in:
Irlan
@ -72,4 +72,7 @@
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#include <bounce/dynamics/world.h>
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#include <bounce/dynamics/world_listeners.h>
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#include <bounce/controllers/cloth_dragger.h>
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#include <bounce/controllers/body_dragger.h>
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#endif
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@ -22,6 +22,24 @@
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#include <bounce/common/math/math.h>
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#include <bounce/common/math/transform.h>
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// A ray.
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struct b3Ray3
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{
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b3Vec3 A() const
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{
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return origin;
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}
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b3Vec3 B() const
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{
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return origin + fraction * direction;
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}
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b3Vec3 direction;
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b3Vec3 origin;
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float32 fraction;
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};
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// A plane in constant normal form.
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// dot(n, p) - d = 0.
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struct b3Plane
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131
include/bounce/controllers/body_dragger.h
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131
include/bounce/controllers/body_dragger.h
Normal file
@ -0,0 +1,131 @@
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/*
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* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_BODY_DRAGGER_H
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#define B3_BODY_DRAGGER_H
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#include <bounce/common/geometry.h>
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#include <bounce/dynamics/body.h>
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// A body dragger.
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class b3BodyDragger
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{
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public:
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b3BodyDragger(b3Ray3* ray, b3World* world)
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{
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m_ray = ray;
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m_world = world;
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m_shape = nullptr;
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m_mouseJoint = nullptr;
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}
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~b3BodyDragger()
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{
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}
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bool StartDragging()
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{
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B3_ASSERT(m_mouseJoint == nullptr);
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b3RayCastSingleOutput out;
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if (m_world->RayCastSingle(&out, m_ray->A(), m_ray->B()) == false)
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{
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return false;
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}
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m_x = out.fraction;
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m_shape = out.shape;
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b3BodyDef bd;
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b3Body* groundBody = m_world->CreateBody(bd);
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b3Body* body = m_shape->GetBody();
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body->SetAwake(true);
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b3MouseJointDef jd;
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jd.bodyA = groundBody;
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jd.bodyB = body;
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jd.target = out.point;
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jd.maxForce = 2000.0f * body->GetMass();
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m_mouseJoint = (b3MouseJoint*)m_world->CreateJoint(jd);
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m_p = body->GetLocalPoint(out.point);
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return true;
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}
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void Drag()
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{
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B3_ASSERT(m_mouseJoint);
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m_mouseJoint->SetTarget(GetPointB());
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}
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void StopDragging()
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{
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B3_ASSERT(m_mouseJoint);
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b3Body* groundBody = m_mouseJoint->GetBodyA();
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m_world->DestroyJoint(m_mouseJoint);
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m_mouseJoint = nullptr;
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m_world->DestroyBody(groundBody);
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m_shape = nullptr;
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}
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bool IsSelected() const
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{
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return m_mouseJoint != nullptr;
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}
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b3Ray3* GetRay() const
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{
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return m_ray;
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}
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b3Body* GetBody() const
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{
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B3_ASSERT(m_shape);
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return m_shape->GetBody();
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}
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b3Vec3 GetPointA() const
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{
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B3_ASSERT(m_shape);
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return m_shape->GetBody()->GetWorldPoint(m_p);
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}
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b3Vec3 GetPointB() const
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{
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B3_ASSERT(m_mouseJoint);
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return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
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}
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private:
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b3Ray3 * m_ray;
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float32 m_x;
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b3World* m_world;
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b3Shape* m_shape;
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b3Vec3 m_p;
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b3MouseJoint* m_mouseJoint;
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};
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#endif
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242
include/bounce/controllers/cloth_dragger.h
Normal file
242
include/bounce/controllers/cloth_dragger.h
Normal file
@ -0,0 +1,242 @@
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/*
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* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_CLOTH_DRAGGER_H
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#define B3_CLOTH_DRAGGER_H
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#include <bounce/collision/collision.h>
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#include <bounce/dynamics/cloth/cloth.h>
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#include <bounce/dynamics/cloth/particle.h>
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#include <bounce/dynamics/cloth/spring_force.h>
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#include <bounce/dynamics/cloth/cloth_mesh.h>
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// A cloth triangle dragger.
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class b3ClothDragger
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{
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public:
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b3ClothDragger(b3Ray3* ray, b3Cloth*& cloth) : m_ray(ray), m_cloth(cloth)
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{
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m_isSelected = false;
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m_spring = false;
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}
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~b3ClothDragger()
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{
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}
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bool IsSelected() const
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{
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return m_isSelected;
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}
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b3Vec3 GetPointA() const
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{
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B3_ASSERT(m_isSelected);
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b3ClothMesh* m = m_cloth->GetMesh();
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b3ClothMeshTriangle* t = m->triangles + m_selection;
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b3Vec3 A = m->vertices[t->v1];
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b3Vec3 B = m->vertices[t->v2];
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b3Vec3 C = m->vertices[t->v3];
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return m_u * A + m_v * B + (1.0f - m_u - m_v) * C;
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}
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b3Vec3 GetPointB() const
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{
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B3_ASSERT(m_isSelected);
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return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
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}
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bool StartDragging()
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{
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B3_ASSERT(m_isSelected == false);
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b3RayCastInput rayIn;
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rayIn.p1 = m_ray->A();
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rayIn.p2 = m_ray->B();
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rayIn.maxFraction = B3_MAX_FLOAT;
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b3ClothRayCastOutput rayOut;
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if (m_cloth->RayCast(&rayOut, &rayIn) == false)
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{
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return false;
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}
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m_isSelected = true;
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m_selection = rayOut.triangle;
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m_x = rayOut.fraction;
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b3ClothMesh* m = m_cloth->GetMesh();
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b3ClothMeshTriangle* t = m->triangles + m_selection;
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b3Particle* p1 = m->particles[t->v1];
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b3Particle* p2 = m->particles[t->v2];
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b3Particle* p3 = m->particles[t->v3];
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b3Vec3 v1 = p1->GetPosition();
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b3Vec3 v2 = p2->GetPosition();
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b3Vec3 v3 = p3->GetPosition();
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b3Vec3 B = GetPointB();
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float32 wABC[4];
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b3BarycentricCoordinates(wABC, v1, v2, v3, B);
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if (wABC[3] > B3_EPSILON)
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{
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m_u = wABC[0] / wABC[3];
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m_v = wABC[1] / wABC[3];
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}
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else
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{
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m_u = m_v = 0.0f;
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}
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if (m_spring)
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{
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b3ParticleDef pd;
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pd.type = e_staticParticle;
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pd.position = B;
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m_particle = m_cloth->CreateParticle(pd);
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{
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b3SpringForceDef sfd;
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sfd.p1 = m_particle;
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sfd.p2 = p1;
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sfd.restLength = 0.0f;
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sfd.structural = 10000.0f;
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m_s1 = (b3SpringForce*)m_cloth->CreateForce(sfd);
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}
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{
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b3SpringForceDef sfd;
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sfd.p1 = m_particle;
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sfd.p2 = p2;
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sfd.restLength = 0.0f;
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sfd.structural = 10000.0f;
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m_s2 = (b3SpringForce*)m_cloth->CreateForce(sfd);
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}
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{
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b3SpringForceDef sfd;
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sfd.p1 = m_particle;
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sfd.p2 = p3;
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sfd.restLength = 0.0f;
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sfd.structural = 10000.0f;
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m_s3 = (b3SpringForce*)m_cloth->CreateForce(sfd);
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}
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}
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else
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{
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m_t1 = p1->GetType();
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p1->SetType(e_staticParticle);
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m_t2 = p2->GetType();
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p2->SetType(e_staticParticle);
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m_t3 = p3->GetType();
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p3->SetType(e_staticParticle);
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}
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return true;
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}
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void Drag()
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{
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B3_ASSERT(m_isSelected);
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b3ClothMesh* m = m_cloth->GetMesh();
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b3ClothMeshTriangle* t = m->triangles + m_selection;
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b3Vec3 A = GetPointA();
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b3Vec3 B = GetPointB();
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b3Vec3 dx = B - A;
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if (m_spring)
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{
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m_particle->SetPosition(B);
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}
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else
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{
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b3Particle* p1 = m->particles[t->v1];
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p1->ApplyTranslation(dx);
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b3Particle* p2 = m->particles[t->v2];
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p2->ApplyTranslation(dx);
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b3Particle* p3 = m->particles[t->v3];
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p3->ApplyTranslation(dx);
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}
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}
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void StopDragging()
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{
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B3_ASSERT(m_isSelected);
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m_isSelected = false;
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if (m_spring)
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{
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m_cloth->DestroyForce(m_s1);
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m_cloth->DestroyForce(m_s2);
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m_cloth->DestroyForce(m_s3);
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m_cloth->DestroyParticle(m_particle);
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}
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else
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{
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b3ClothMesh* m = m_cloth->GetMesh();
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b3ClothMeshTriangle* t = m->triangles + m_selection;
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b3Particle* p1 = m->particles[t->v1];
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p1->SetType(m_t1);
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b3Particle* p2 = m->particles[t->v2];
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p2->SetType(m_t2);
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b3Particle* p3 = m->particles[t->v3];
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p3->SetType(m_t3);
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}
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}
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private:
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bool m_isSelected;
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b3Ray3* m_ray;
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float32 m_x;
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b3Cloth*& m_cloth;
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u32 m_selection;
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float32 m_u, m_v;
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bool m_spring;
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b3Particle* m_particle;
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b3SpringForce* m_s1;
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b3SpringForce* m_s2;
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b3SpringForce* m_s3;
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b3ParticleType m_t1, m_t2, m_t3;
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};
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#endif
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