add collision (no friction)

examples/testbed/framework/test_entries.cpp

@@ -58,11 +58,12 @@
 #include <testbed/tests/tumbler.h>
 #include <testbed/tests/single_pendulum.h>
 #include <testbed/tests/multiple_pendulum.h>
-#include <testbed/tests/rope_test.h>
 #include <testbed/tests/cloth_test.h>
-#include <testbed/tests/implicit_spring.h>
 #include <testbed/tests/spring_cloth_test.h>
+#include <testbed/tests/spring_cloth_collision_test.h>
+#include <testbed/tests/rope_test.h>
 //#include <testbed/tests/tree_test.h>
+#include <testbed/tests/implicit_spring.h>
 
 TestEntry g_tests[] =
 {
@@ -106,10 +107,11 @@ TestEntry g_tests[] =
 	{ "Initial Overlap", &InitialOverlap::Create },
 	{ "Single Pendulum", &SinglePendulum::Create },
 	{ "Multiple Pendulum", &MultiplePendulum::Create },
-	{ "Rope", &Rope::Create },
-	{ "Implicit Spring", &ImplicitSpring::Create },
 	{ "Cloth", &Cloth::Create },
 	{ "Spring Cloth", &SpringCloth::Create },
+	{ "Spring Cloth Collision", &SpringClothCollision::Create },
+	{ "Rope", &Rope::Create },
 	//{ "Tree", &Tree::Create },
+	{ "Implicit Spring", &ImplicitSpring::Create },
 	{ NULL, NULL }
 };

examples/testbed/tests/spring_cloth_collision_test.h

@@ -0,0 +1,82 @@
+/*
+* 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 SPRING_CLOTH_COLLISION_TESH_H
+#define SPRING_CLOTH_COLLISION_TESH_H
+
+extern DebugDraw* g_debugDraw;
+extern Camera g_camera;
+extern Settings g_settings;
+
+class SpringClothCollision : public Test
+{
+public:
+	SpringClothCollision()
+	{
+		g_camera.m_zoom = 25.0f;
+
+		b3SpringClothDef def;
+		def.allocator = &m_clothAllocator;
+		def.mesh = m_meshes + e_clothMesh;
+		def.density = 0.2f;
+		def.ks = 1000.0f;
+		def.kd = 10.0f;
+		def.r = 0.2f;
+		def.gravity.Set(0.0f, -10.0f, 0.0f);
+
+		m_cloth.Initialize(def);
+
+		b3Sphere* sphere = m_cloth.CreateSphere(b3Vec3(0.0f, -5.0f, 0.0f), 4.0f);
+	}
+
+	void Step()
+	{
+		float32 dt = g_settings.hertz > 0.0f ? 1.0f / g_settings.hertz : 0.0f;
+
+		if (g_settings.pause)
+		{
+			if (g_settings.singleStep)
+			{
+				g_settings.singleStep = false;
+			}
+			else
+			{
+				dt = 0.0f;
+			}
+		}
+
+		m_cloth.Step(dt);
+		m_cloth.Draw(g_debugDraw);
+
+		b3SpringClothStep step = m_cloth.GetStep();
+
+		char text[256];
+		sprintf(text, "Iterations = %u", step.iterations);
+		g_debugDraw->DrawString(text, b3Color_white);
+	}
+
+	static Test* Create()
+	{
+		return new SpringClothCollision();
+	}
+
+	b3StackAllocator m_clothAllocator;
+	b3SpringCloth m_cloth;
+};
+
+#endif