add rope

include/bounce/dynamics/cloth/cloth.h

@@ -0,0 +1,136 @@
+/*
+* 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 B3_CLOTH_H
+#define B3_CLOTH_H
+
+#include <bounce/common/math/vec3.h>
+#include <bounce/collision/collision.h>
+
+struct b3Mesh;
+class b3Draw;
+
+struct b3ClothDef
+{
+	b3ClothDef()
+	{
+		mesh = NULL;
+		density = 0.0f;
+		gravity.SetZero();
+		k1 = 0.9f;
+		k2 = 0.2f;
+		kd = 0.1f;
+		r = 0.0f;
+	}
+
+	// Cloth mesh
+	// Each edge must be shared by at most two triangles (manifold)
+	const b3Mesh* mesh;
+
+	// Cloth density in kilograms per meter squared
+	float32 density;
+
+	// Gravity force
+	b3Vec3 gravity;
+
+	// Streching stiffness
+	float32 k1;
+
+	// Bending stiffness
+	float32 k2;
+	
+	// Damping
+	float32 kd;
+
+	// Cloth thickness
+	float32 r;
+};
+
+struct b3Particle
+{
+	float32 im;
+	b3Vec3 p0;
+	b3Vec3 p;
+	b3Vec3 v;
+};
+
+struct b3C1
+{
+	float32 L;
+	u32 i1;
+	u32 i2;
+};
+
+struct b3C2
+{
+	float32 angle;
+	u32 i1;
+	u32 i2;
+	u32 i3;
+	u32 i4;
+};
+
+class b3Cloth
+{
+public:
+	b3Cloth();
+	~b3Cloth();
+
+	void Initialize(const b3ClothDef& def);
+
+	void Step(float32 dt, u32 iterations);
+
+	u32 GetVertexCount() const
+	{
+		return m_pCount;
+	}
+
+	const b3Particle* GetVertices() const
+	{
+		return m_ps;
+	}
+
+	b3Particle* GetVertices()
+	{
+		return m_ps;
+	}
+
+	void Draw(b3Draw* draw) const;
+private:
+	void SolveC1();
+	void SolveC2();
+
+	b3Particle* m_ps;
+	u32 m_pCount;
+	
+	b3C1* m_c1s;
+	u32 m_c1Count;
+	
+	b3C2* m_c2s;
+	u32 m_c2Count;
+
+	float32 m_k1;
+	float32 m_k2;
+	float32 m_kd;
+	float32 m_r;
+	b3Vec3 m_gravity;
+
+	const b3Mesh* m_mesh;
+};
+
+#endif