fix #34

examples/testbed/tests/cloth_dragger.h

@@ -60,7 +60,7 @@ public:
 	b3Vec3 GetPointB() const
 	{
 		B3_ASSERT(m_isSelected);
-		return m_ray->origin + m_x * (m_ray->B() - m_ray->A());
+		return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
 	}
 
 	bool StartDragging()
@@ -77,9 +77,9 @@ public:
 		b3Mesh* m = m_cloth->GetMesh();
 		b3Triangle* t = m->triangles + m_selection;
 
-		m_cloth->SetType(t->v1, e_staticMass);
+		m_cloth->SetType(t->v1, b3MassType::e_staticMass);
-		m_cloth->SetType(t->v2, e_staticMass);
+		m_cloth->SetType(t->v2, b3MassType::e_staticMass);
-		m_cloth->SetType(t->v3, e_staticMass);
+		m_cloth->SetType(t->v3, b3MassType::e_staticMass);
 
 		b3Vec3 v1 = m_cloth->GetPosition(t->v1);
 		b3Vec3 v2 = m_cloth->GetPosition(t->v2);
@@ -137,9 +137,9 @@ public:
 		b3Mesh* m = m_cloth->GetMesh();
 		b3Triangle* t = m->triangles + m_selection;
 
-		m_cloth->SetType(t->v1, e_dynamicMass);
+		m_cloth->SetType(t->v1, b3MassType::e_dynamicMass);
-		m_cloth->SetType(t->v2, e_dynamicMass);
+		m_cloth->SetType(t->v2, b3MassType::e_dynamicMass);
-		m_cloth->SetType(t->v3, e_dynamicMass);
+		m_cloth->SetType(t->v3, b3MassType::e_dynamicMass);
 	}
 
 private:
@@ -209,22 +209,26 @@ public:
 		def.mesh = m_meshes + e_clothMesh;
 		def.density = 0.2f;
 		def.ks = 10000.0f;
-		def.r = 0.2f;
 		def.gravity.Set(0.0f, -10.0f, 0.0f);
 
 		m_cloth.Initialize(def);
 
-		m_clothCapsule.m_centers[0].Set(0.0f, -2.0f, 2.0f);
-		m_clothCapsule.m_centers[1].Set(0.0f, -2.0f, -2.0f);
-		m_clothCapsule.m_radius = 2.0f;
-
-		m_clothCapsule.SetFriction(1.0f);
-
-		m_cloth.AddShape(&m_clothCapsule);
-
 		m_clothRay.origin.SetZero();
 		m_clothRay.direction.Set(0.0f, 0.0f, -1.0f);
 		m_clothRay.fraction = g_camera.m_zFar;
+
+		b3AABB3 aabb;
+		
+		aabb.m_lower.Set(-5.0f, -1.0f, -6.0f);
+		aabb.m_upper.Set(5.0f, 1.0f, -4.0f);
+
+		for (u32 i = 0; i < def.mesh->vertexCount; ++i)
+		{
+			if (aabb.Contains(def.mesh->vertices[i]))
+			{
+				m_cloth.SetType(i, b3MassType::e_staticMass);
+			}
+		}
 	}
 
 	void Step()
@@ -244,7 +248,6 @@ public:
 		}
 
 		m_cloth.Step(dt);
-
 		m_cloth.Apply();
 
 		b3Shape** shapes = m_cloth.GetShapes();
@@ -307,8 +310,6 @@ public:
 
 	b3StackAllocator m_clothAllocator;
 	b3SpringCloth m_cloth;
-	b3CapsuleShape m_clothCapsule;
-
 	ClothDragger m_clothDragger;
 };
 

examples/testbed/tests/spring_cloth_test.h

@@ -35,6 +35,7 @@ public:
 		def.mesh = m_meshes + e_clothMesh;
 		def.density = 0.2f;
 		def.ks = 100000.0f;
+		def.kb = 1000000.0f;
 		def.kd = 100.0f;
 		def.gravity.Set(2.5f, 5.0f, -10.0f);
 
@@ -47,7 +48,7 @@ public:
 		{
 			if (m_aabb.Contains(def.mesh->vertices[i]))
 			{
-				m_cloth.SetType(i, e_staticMass);
+				m_cloth.SetType(i, b3MassType::e_staticMass);
 			}
 		}		
 	}

include/bounce/dynamics/cloth/spring_cloth.h

@@ -98,7 +98,7 @@ struct b3Spring
 
 // Static masses have zero mass and velocity, and therefore they can't move.
 // Dynamic masses have non-zero mass and can move due to internal and external forces.
-enum b3MassType
+enum class b3MassType : u32
 {
 	e_staticMass,
 	e_dynamicMass
@@ -247,7 +247,7 @@ inline void b3SpringCloth::SetType(u32 i, b3MassType type)
 	
 	m_f[i].SetZero();
 	
-	if (type == e_staticMass)
+	if (type == b3MassType::e_staticMass)
 	{
 		m_v[i].SetZero();
 		m_y[i].SetZero();
@@ -272,7 +272,7 @@ inline void b3SpringCloth::ApplyForce(u32 i, const b3Vec3& force)
 {
 	B3_ASSERT(i < m_massCount);
 	
-	if (m_types[i] != e_dynamicMass)
+	if (m_types[i] != b3MassType::e_dynamicMass)
 	{
 		return;
 	}

include/bounce/dynamics/cloth/spring_solver.h

@@ -31,7 +31,7 @@ struct b3SparseMat33;
 struct b3MassContact;
 struct b3Spring;
 
-enum b3MassType;
+enum class b3MassType : u32;
 
 struct b3SpringSolverDef
 {

src/bounce/dynamics/cloth/spring_cloth.cpp

@@ -193,7 +193,7 @@ void b3SpringCloth::Initialize(const b3SpringClothDef& def)
 		m_m[i] = 0.0f;
 		m_inv_m[i] = 0.0f;
 		m_y[i].SetZero();
-		m_types[i] = e_staticMass;
+		m_types[i] = b3MassType::e_staticMass;
 	}
 
 	// Initialize mass
@@ -223,7 +223,7 @@ void b3SpringCloth::Initialize(const b3SpringClothDef& def)
 	{
 		B3_ASSERT(m_m[i] > 0.0f);
 		m_inv_m[i] = 1.0f / m_m[i];
-		m_types[i] = e_dynamicMass;
+		m_types[i] = b3MassType::e_dynamicMass;
 	}
 
 	// Initialize springs
@@ -317,7 +317,7 @@ void b3SpringCloth::UpdateContacts()
 	for (u32 i = 0; i < m_massCount; ++i)
 	{
 		// Static masses can't participate in collisions.
-		if (m_types[i] == e_staticMass)
+		if (m_types[i] == b3MassType::e_staticMass)
 		{
 			continue;
 		}
@@ -486,7 +486,7 @@ void b3SpringCloth::Step(float32 dt)
 	// Apply gravity
 	for (u32 i = 0; i < m_massCount; ++i)
 	{
-		if (m_types[i] == e_dynamicMass)
+		if (m_types[i] == b3MassType::e_dynamicMass)
 		{
 			m_f[i] += m_gravity;
 		}

src/bounce/dynamics/cloth/spring_solver.cpp

@@ -380,12 +380,12 @@ static void b3Filter(b3DenseVec3& out,
 	{
 		switch (types[i])
 		{
-		case e_staticMass:
+		case b3MassType::e_staticMass:
 		{
 			out[i].SetZero();
 			break;
 		}
-		case e_dynamicMass:
+		case b3MassType::e_dynamicMass:
 		{
 			if (contacts[i].lockN == true)
 			{