Merge remote-tracking branch 'upstream/master'

examples/hello_world/main.cpp

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/framework/body_dragger.cpp

@@ -0,0 +1,98 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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.
+*/
+
+#include <testbed/framework/body_dragger.h>
+
+b3BodyDragger::b3BodyDragger(b3Ray3* ray, b3World* world)
+{
+	m_ray = ray;
+	m_world = world;
+	m_shape = nullptr;
+	m_mouseJoint = nullptr;
+}
+
+b3BodyDragger::~b3BodyDragger()
+{
+
+}
+
+bool b3BodyDragger::StartDragging()
+{
+	B3_ASSERT(IsDragging() == false);
+
+	b3RayCastSingleOutput out;
+	if (m_world->RayCastSingle(&out, m_ray->A(), m_ray->B()) == false)
+	{
+		return false;
+	}
+
+	m_x = out.fraction;
+	m_shape = out.shape;
+
+	b3BodyDef bd;
+	b3Body* groundBody = m_world->CreateBody(bd);
+
+	b3Body* body = m_shape->GetBody();
+	body->SetAwake(true);
+
+	b3MouseJointDef jd;
+	jd.bodyA = groundBody;
+	jd.bodyB = body;
+	jd.target = out.point;
+	jd.maxForce = 2000.0f * body->GetMass();
+
+	m_mouseJoint = (b3MouseJoint*)m_world->CreateJoint(jd);
+
+	m_p = body->GetLocalPoint(out.point);
+
+	return true;
+}
+
+void b3BodyDragger::Drag()
+{
+	B3_ASSERT(IsDragging() == true);
+	m_mouseJoint->SetTarget(GetPointB());
+}
+
+void b3BodyDragger::StopDragging()
+{
+	B3_ASSERT(IsDragging() == true);
+	b3Body* groundBody = m_mouseJoint->GetBodyA();
+	m_world->DestroyJoint(m_mouseJoint);
+	m_mouseJoint = nullptr;
+	m_world->DestroyBody(groundBody);
+	m_shape = nullptr;
+}
+
+b3Body* b3BodyDragger::GetBody() const
+{
+	B3_ASSERT(IsDragging() == true);
+	return m_shape->GetBody();
+}
+
+b3Vec3 b3BodyDragger::GetPointA() const
+{
+	B3_ASSERT(IsDragging() == true);
+	return m_shape->GetBody()->GetWorldPoint(m_p);
+}
+
+b3Vec3 b3BodyDragger::GetPointB() const
+{
+	B3_ASSERT(IsDragging() == true);
+	return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
+}

examples/testbed/framework/body_dragger.h

@@ -0,0 +1,72 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_BODY_DRAGGER_H
+#define B3_BODY_DRAGGER_H
+
+#include <bounce/common/geometry.h>
+#include <bounce/common/geometry.h>
+#include <bounce/dynamics/shapes/shape.h>
+#include <bounce/dynamics/body.h>
+#include <bounce/dynamics/world.h>
+#include <bounce/dynamics/joints/mouse_joint.h>
+
+// A body shape dragger.
+class b3BodyDragger
+{
+public:
+	b3BodyDragger(b3Ray3* ray, b3World* world);
+	~b3BodyDragger();
+
+	bool StartDragging();
+
+	void Drag();
+
+	void StopDragging();
+
+	bool IsDragging() const;
+
+	b3Ray3* GetRay() const;
+
+	b3Body* GetBody() const;
+
+	b3Vec3 GetPointA() const;
+
+	b3Vec3 GetPointB() const;
+private:
+	b3Ray3 * m_ray;
+	float32 m_x;
+
+	b3World* m_world;
+	
+	b3Shape* m_shape;
+	b3Vec3 m_p;
+	b3MouseJoint* m_mouseJoint;
+};
+
+inline bool b3BodyDragger::IsDragging() const
+{
+	return m_shape != nullptr;
+}
+
+inline b3Ray3* b3BodyDragger::GetRay() const
+{
+	return m_ray;
+}
+
+#endif

examples/testbed/framework/cloth_dragger.cpp

@@ -0,0 +1,185 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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.
+*/
+
+#include <testbed/framework/cloth_dragger.h>
+
+b3ClothDragger::b3ClothDragger(b3Ray3* ray, b3Cloth* cloth)
+{
+	m_staticDrag = true;
+	m_ray = ray;
+	m_cloth = cloth;
+	m_triangle = nullptr;
+	m_km = 10000.0f;
+	m_kd = 0.0f;
+}
+
+b3ClothDragger::~b3ClothDragger()
+{
+
+}
+
+bool b3ClothDragger::StartDragging()
+{
+	B3_ASSERT(IsDragging() == false);
+
+	b3ClothRayCastSingleOutput rayOut;
+	if (m_cloth->RayCastSingle(&rayOut, m_ray->A(), m_ray->B()) == false)
+	{
+		return false;
+	}
+
+	m_mesh = m_cloth->GetMesh();
+	m_triangleIndex = rayOut.triangle;
+	m_triangle = m_mesh->triangles + m_triangleIndex;
+	m_x = rayOut.fraction;
+
+	b3Particle* p1 = m_cloth->GetParticle(m_triangle->v1);
+	b3Particle* p2 = m_cloth->GetParticle(m_triangle->v2);
+	b3Particle* p3 = m_cloth->GetParticle(m_triangle->v3);
+
+	b3Vec3 v1 = p1->GetPosition();
+	b3Vec3 v2 = p2->GetPosition();
+	b3Vec3 v3 = p3->GetPosition();
+
+	b3Vec3 B = GetPointB();
+
+	float32 wABC[4];
+	b3BarycentricCoordinates(wABC, v1, v2, v3, B);
+
+	if (wABC[3] > B3_EPSILON)
+	{
+		m_u = wABC[0] / wABC[3];
+		m_v = wABC[1] / wABC[3];
+	}
+	else
+	{
+		m_u = m_v = 0.0f;
+	}
+
+	if (m_staticDrag)
+	{
+		m_t1 = p1->GetType();
+		p1->SetType(e_staticParticle);
+
+		m_t2 = p2->GetType();
+		p2->SetType(e_staticParticle);
+
+		m_t3 = p3->GetType();
+		p3->SetType(e_staticParticle);
+	}
+	else
+	{
+		b3ParticleDef pd;
+		pd.type = e_staticParticle;
+		pd.position = GetPointA();
+
+		m_particle = m_cloth->CreateParticle(pd);
+
+		b3ClothTriangle* triangle = m_cloth->GetTriangle(m_triangleIndex);
+
+		b3MouseForceDef def;
+		def.particle = m_particle;
+		def.triangle = triangle;
+		def.w2 = m_u;
+		def.w3 = m_v;
+		def.w4 = (1.0f - m_u - m_v);
+		def.mouse = m_km;
+		def.damping = m_kd;
+
+		m_mf = (b3MouseForce*)m_cloth->CreateForce(def);
+	}
+
+	return true;
+}
+
+void b3ClothDragger::Drag()
+{
+	B3_ASSERT(IsDragging() == true);
+
+	b3Vec3 A = GetPointA();
+	b3Vec3 B = GetPointB();
+
+	b3Vec3 dx = B - A;
+
+	if (m_staticDrag)
+	{
+		b3Particle* p1 = m_cloth->GetParticle(m_triangle->v1);
+		p1->ApplyTranslation(dx);
+
+		b3Particle* p2 = m_cloth->GetParticle(m_triangle->v2);
+		p2->ApplyTranslation(dx);
+
+		b3Particle* p3 = m_cloth->GetParticle(m_triangle->v3);
+		p3->ApplyTranslation(dx);
+	}
+	else
+	{
+		m_particle->SetPosition(B);
+	}
+}
+
+void b3ClothDragger::SetStaticDrag(bool bit)
+{
+	if (bit == m_staticDrag)
+	{
+		return;
+	}
+
+	if (IsDragging())
+	{
+		StopDragging();
+	}
+
+	m_staticDrag = bit;
+}
+
+void b3ClothDragger::StopDragging()
+{
+	B3_ASSERT(IsDragging() == true);
+
+	if (m_staticDrag)
+	{
+		m_cloth->GetParticle(m_triangle->v1)->SetType(m_t1);
+		m_cloth->GetParticle(m_triangle->v2)->SetType(m_t2);
+		m_cloth->GetParticle(m_triangle->v3)->SetType(m_t3);
+	}
+	else
+	{
+		m_cloth->DestroyForce(m_mf);
+		m_cloth->DestroyParticle(m_particle);
+	}
+
+	m_triangle = nullptr;
+}
+
+b3Vec3 b3ClothDragger::GetPointA() const
+{
+	B3_ASSERT(IsDragging() == true);
+
+	b3Vec3 A = m_cloth->GetParticle(m_triangle->v1)->GetPosition();
+	b3Vec3 B = m_cloth->GetParticle(m_triangle->v2)->GetPosition();
+	b3Vec3 C = m_cloth->GetParticle(m_triangle->v3)->GetPosition();
+
+	return m_u * A + m_v * B + (1.0f - m_u - m_v) * C;
+}
+
+b3Vec3 b3ClothDragger::GetPointB() const
+{
+	B3_ASSERT(IsDragging() == true);
+	return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
+}

examples/testbed/framework/cloth_dragger.h

@@ -0,0 +1,108 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_DRAGGER_H
+#define B3_CLOTH_DRAGGER_H
+
+#include <bounce/common/geometry.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth_triangle.h>
+#include <bounce/cloth/forces/mouse_force.h>
+
+// A cloth triangle dragger.
+class b3ClothDragger
+{
+public:
+	b3ClothDragger(b3Ray3* ray, b3Cloth* cloth);
+	~b3ClothDragger();
+
+	void SetStaticDrag(bool bit);
+
+	bool GetStaticDrag() const;
+
+	void SetMouseStiffness(float32 k);
+
+	float32 GetMouseStiffness();
+
+	void SetMouseDamping(float32 k);
+
+	float32 GetMouseDamping();
+	
+	bool IsDragging() const;
+
+	bool StartDragging();
+
+	void Drag();
+
+	void StopDragging();
+
+	b3Vec3 GetPointA() const;
+
+	b3Vec3 GetPointB() const;
+private:
+	b3Ray3* m_ray;
+	float32 m_x;
+
+	b3Cloth* m_cloth;
+	const b3ClothMesh* m_mesh;
+	u32 m_triangleIndex;
+	b3ClothMeshTriangle* m_triangle;
+	float32 m_u, m_v;
+
+	float32 m_km;
+	float32 m_kd;
+	b3Particle* m_particle;
+	b3MouseForce* m_mf;
+
+	bool m_staticDrag;
+	b3ParticleType m_t1, m_t2, m_t3;
+};
+
+inline bool b3ClothDragger::GetStaticDrag() const
+{
+	return m_staticDrag;
+}
+
+inline void b3ClothDragger::SetMouseStiffness(float32 k)
+{
+	m_km = k;
+}
+
+inline float32 b3ClothDragger::GetMouseStiffness()
+{
+	return m_km;
+}
+
+inline void b3ClothDragger::SetMouseDamping(float32 k)
+{
+	m_kd = k;
+}
+
+inline float32 b3ClothDragger::GetMouseDamping()
+{
+	return m_kd;
+}
+
+inline bool b3ClothDragger::IsDragging() const
+{
+	return m_triangle != nullptr;
+}
+
+#endif

examples/testbed/framework/draw.cpp

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -251,24 +251,9 @@ void Draw::DrawSolidPolygon(const b3Vec3& normal, const b3Vec3* vertices, u32 co
 
 void Draw::DrawCircle(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
 {
-	// Build a tangent vector to normal.
-	b3Vec3 u = b3Cross(normal, b3Vec3(1.0f, 0.0f, 0.0f));
-	b3Vec3 v = b3Cross(normal, b3Vec3(0.0f, 1.0f, 0.0f));
+	b3Vec3 n1, n3;
+	b3ComputeBasis(normal, n1, n3);
 
-	// Handle edge cases (zero cross product).
-	b3Vec3 n1;
-	if (b3LengthSquared(u) > b3LengthSquared(v))
-	{
-		n1 = u;
-	}
-	else
-	{
-		n1 = v;
-	}
-
-	n1.Normalize();
-
-	// Build a quaternion to rotate the tangent about the normal.
 	u32 kEdgeCount = 20;
 	float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
 	b3Quat q(normal, kAngleInc);
@@ -292,24 +277,9 @@ void Draw::DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, float32 r
 	b3Color fillColor(color.r, color.g, color.b, color.a);
 	b3Color frameColor(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 1.0f);
 
-	// Build a tangent vector to normal.
-	b3Vec3 u = b3Cross(normal, b3Vec3(1.0f, 0.0f, 0.0f));
-	b3Vec3 v = b3Cross(normal, b3Vec3(0.0f, 1.0f, 0.0f));
+	b3Vec3 n1, n3;
+	b3ComputeBasis(normal, n1, n3);
 
-	// Handle edge cases (zero cross product).
-	b3Vec3 n1;
-	if (b3LengthSquared(u) > b3LengthSquared(v))
-	{
-		n1 = u;
-	}
-	else
-	{
-		n1 = v;
-	}
-
-	n1.Normalize();
-
-	// Build a quaternion to rotate the tangent about the normal.
 	const u32 kEdgeCount = 20;
 	const float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
 	b3Quat q(normal, kAngleInc);
@@ -332,16 +302,16 @@ void Draw::DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, float32 r
 void Draw::DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color)
 {
 	b3Transform xf;
-	xf.SetIdentity();
+	xf.rotation.SetIdentity();
 	xf.position = center;
 
 	m_wire->DrawSphere(radius, color, xf);
 }
 
-void Draw::DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Color& color)
+void Draw::DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Mat33& rotation, const b3Color& color)
 {
 	b3Transform xf;
-	xf.SetIdentity();
+	xf.rotation = rotation;
 	xf.position = center;
 
 	m_solid->DrawSphere(radius, color, xf);
@@ -352,10 +322,10 @@ void Draw::DrawCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const
 	float32 height = b3Length(c1 - c2);
 
 	{
-		b3Transform xfc;
-		xfc.rotation.SetIdentity();
-		xfc.position = c1;
-		m_wire->DrawSphere(radius, color, xfc);
+		b3Transform xf;
+		xf.rotation.SetIdentity();
+		xf.position = c1;
+		m_wire->DrawSphere(radius, color, xf);
 	}
 
 	if (height > 0.0f)
@@ -363,23 +333,23 @@ void Draw::DrawCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const
 		DrawSegment(c1, c2, color);
 
 		{
-			b3Transform xfc;
-			xfc.rotation.SetIdentity();
-			xfc.position = c2;
-			m_wire->DrawSphere(radius, color, xfc);
+			b3Transform xf;
+			xf.rotation.SetIdentity();
+			xf.position = c2;
+			m_wire->DrawSphere(radius, color, xf);
 		}
 	}
 }
 
-void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Color& c)
+void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Mat33& rotation, const b3Color& c)
 {
 	float32 height = b3Length(c1 - c2);
 
 	{
-		b3Transform xfc;
-		xfc.rotation.SetIdentity();
-		xfc.position = c1;
-		m_solid->DrawSphere(radius, c, xfc);
+		b3Transform xf;
+		xf.rotation = rotation;
+		xf.position = c1;
+		m_solid->DrawSphere(radius, c, xf);
 	}
 
 	if (height > 0.0f)
@@ -387,21 +357,20 @@ void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius,
 		{
 			b3Mat33 R;
 			R.y = (1.0f / height) * (c1 - c2);
-			R.z = b3Perp(R.y);
-			R.x = b3Cross(R.y, R.z);
+			b3ComputeBasis(R.y, R.z, R.x);
 
-			b3Transform xfc;
-			xfc.position = 0.5f * (c1 + c2);
-			xfc.rotation = R;
+			b3Transform xf;
+			xf.position = 0.5f * (c1 + c2);
+			xf.rotation = R;
 
-			m_solid->DrawCylinder(radius, height, c, xfc);
+			m_solid->DrawCylinder(radius, height, c, xf);
 		}
 
 		{
-			b3Transform xfc;
-			xfc.rotation.SetIdentity();
-			xfc.position = c2;
-			m_solid->DrawSphere(radius, c, xfc);
+			b3Transform xf;
+			xf.rotation = rotation;
+			xf.position = c2;
+			m_solid->DrawSphere(radius, c, xf);
 		}
 	}
 }
@@ -410,10 +379,6 @@ void Draw::DrawTransform(const b3Transform& xf)
 {
 	float32 lenght = 1.0f;
 
-	b3Color red(1.0f, 0.0f, 0.0f, 1.0f);
-	b3Color green(0.0f, 1.0f, 0.0f, 1.0f);
-	b3Color blue(0.0f, 0.0f, 1.0f, 1.0f);
-
 	b3Vec3 position = xf.position;
 	b3Mat33 rotation = xf.rotation;
 
@@ -421,9 +386,9 @@ void Draw::DrawTransform(const b3Transform& xf)
 	b3Vec3 B = position + lenght * rotation.y;
 	b3Vec3 C = position + lenght * rotation.z;
 
-	DrawSegment(position, A, red);
-	DrawSegment(position, B, green);
-	DrawSegment(position, C, blue);
+	DrawSegment(position, A, b3Color_red);
+	DrawSegment(position, B, b3Color_green);
+	DrawSegment(position, C, b3Color_blue);
 }
 
 void Draw::DrawAABB(const b3AABB3& aabb, const b3Color& color)
@@ -460,6 +425,54 @@ void Draw::DrawAABB(const b3AABB3& aabb, const b3Color& color)
 	DrawSegment(vs[1], vs[7], color);
 }
 
+void Draw::DrawPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
+{
+	b3Vec3 n1, n2;
+	b3ComputeBasis(normal, n1, n2);
+
+	float32 scale = 2.0f * radius;
+	
+	// v1__v4
+	// |    |
+	// v2__v3
+	b3Vec3 v1 = center - scale * n1 - scale * n2;
+	b3Vec3 v2 = center + scale * n1 - scale * n2;
+	b3Vec3 v3 = center + scale * n1 + scale * n2;
+	b3Vec3 v4 = center - scale * n1 + scale * n2;
+
+	DrawSegment(v1, v2, color);
+	DrawSegment(v2, v3, color);
+	DrawSegment(v3, v4, color);
+	DrawSegment(v4, v1, color);
+	
+	DrawSegment(center, center + normal, color);
+}
+
+void Draw::DrawSolidPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
+{
+	b3Color frameColor(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 1.0f);
+
+	b3Vec3 n1, n2;
+	b3ComputeBasis(normal, n1, n2);
+
+	float32 scale = 2.0f * radius;
+
+	b3Vec3 v1 = center - scale * n1 - scale * n2;
+	b3Vec3 v2 = center + scale * n1 - scale * n2;
+	b3Vec3 v3 = center + scale * n1 + scale * n2;
+	b3Vec3 v4 = center - scale * n1 + scale * n2;
+	
+	DrawSegment(v1, v2, frameColor);
+	DrawSegment(v2, v3, frameColor);
+	DrawSegment(v3, v4, frameColor);
+	DrawSegment(v4, v1, frameColor);
+
+	DrawSegment(center, center + normal, frameColor);
+
+	DrawSolidTriangle(normal, v1, v2, v3, color);
+	DrawSolidTriangle(normal, v3, v4, v1, color);
+}
+
 void Draw::DrawString(const b3Color& color, const b3Vec2& ps, const char* text, ...)
 {
 	va_list args;
@@ -480,13 +493,17 @@ void Draw::DrawString(const b3Color& color, const b3Vec3& pw, const char* text,
 
 	va_list args;
 	va_start(args, text);
+	
+	ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f);
 	ImGui::SetNextWindowBgAlpha(0.0f);
 	ImGui::SetNextWindowPos(ImVec2(0.0f, 0.0f));
-	ImGui::SetNextWindowSize(ImVec2(g_camera->m_width, g_camera->m_height));
+	ImGui::SetNextWindowSize(ImVec2(0.0f, 0.0f));
 	ImGui::Begin("Superlay", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
 	ImGui::SetCursorPos(ImVec2(ps.x, ps.y));
 	ImGui::TextColoredV(ImVec4(color.r, color.g, color.b, color.a), text, args);
 	ImGui::End();
+	ImGui::PopStyleVar();
+	
 	va_end(args);
 }
 
@@ -495,181 +512,18 @@ void Draw::DrawString(const b3Color& color, const char* text, ...)
 	va_list args;
 	va_start(args, text);
 
+	ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f); 
 	ImGui::SetNextWindowBgAlpha(0.0f);
 	ImGui::SetNextWindowPos(ImVec2(0.0f, 40.0f));
-	ImGui::SetNextWindowSize(ImVec2(g_camera->m_width, g_camera->m_height));
+	ImGui::SetNextWindowSize(ImVec2(0.0f, 0.0f));
 	ImGui::Begin("Overlay", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
 	ImGui::TextColoredV(ImVec4(color.r, color.g, color.b, color.a), text, args);
 	ImGui::End();
-
+	ImGui::PopStyleVar();
+	
 	va_end(args);
 }
 
-void Draw::DrawSolidSphere(const b3SphereShape* s, const b3Color& c, const b3Transform& xf)
-{
-	b3Transform xfc;
-	xfc.rotation = xf.rotation;
-	xfc.position = xf * s->m_center;
-	m_solid->DrawSphere(s->m_radius, c, xfc);
-}
-
-void Draw::DrawSolidCapsule(const b3CapsuleShape* s, const b3Color& c, const b3Transform& xf)
-{
-	b3Vec3 c1 = s->m_centers[0];
-	b3Vec3 c2 = s->m_centers[1];
-	float32 height = b3Length(c1 - c2);
-	float32 radius = s->m_radius;
-
-	{
-		b3Transform xfc;
-		xfc.rotation = xf.rotation;
-		xfc.position = xf * c1;
-		m_solid->DrawSphere(radius, c, xfc);
-	}
-
-	if (height > 0.0f)
-	{
-		{
-			b3Mat33 R;
-			R.y = (1.0f / height) * (c1 - c2);
-			R.z = b3Perp(R.y);
-			R.x = b3Cross(R.y, R.z);
-
-			b3Transform xfc;
-			xfc.position = xf * (0.5f * (c1 + c2));
-			xfc.rotation = xf.rotation * R;
-
-			m_solid->DrawCylinder(radius, height, c, xfc);
-		}
-
-		{
-			b3Transform xfc;
-			xfc.rotation = xf.rotation;
-			xfc.position = xf * c2;
-			m_solid->DrawSphere(radius, c, xfc);
-		}
-	}
-}
-
-void Draw::DrawSolidHull(const b3HullShape* s, const b3Color& c, const b3Transform& xf)
-{
-	const b3Hull* hull = s->m_hull;
-
-	for (u32 i = 0; i < hull->faceCount; ++i)
-	{
-		const b3Face* face = hull->GetFace(i);
-		const b3HalfEdge* begin = hull->GetEdge(face->edge);
-
-		b3Vec3 n = xf.rotation * hull->planes[i].normal;
-
-		const b3HalfEdge* edge = hull->GetEdge(begin->next);
-		do
-		{
-			u32 i1 = begin->origin;
-			u32 i2 = edge->origin;
-			const b3HalfEdge* next = hull->GetEdge(edge->next);
-			u32 i3 = next->origin;
-
-			b3Vec3 p1 = xf * hull->vertices[i1];
-			b3Vec3 p2 = xf * hull->vertices[i2];
-			b3Vec3 p3 = xf * hull->vertices[i3];
-
-			m_triangles->Vertex(p1, c, n);
-			m_triangles->Vertex(p2, c, n);
-			m_triangles->Vertex(p3, c, n);
-
-			edge = next;
-		} while (hull->GetEdge(edge->next) != begin);
-	}
-}
-
-void Draw::DrawSolidMesh(const b3MeshShape* s, const b3Color& c, const b3Transform& xf)
-{
-	const b3Mesh* mesh = s->m_mesh;
-	for (u32 i = 0; i < mesh->triangleCount; ++i)
-	{
-		const b3Triangle* t = mesh->triangles + i;
-
-		b3Vec3 p1 = xf * mesh->vertices[t->v1];
-		b3Vec3 p2 = xf * mesh->vertices[t->v2];
-		b3Vec3 p3 = xf * mesh->vertices[t->v3];
-
-		b3Vec3 n1 = b3Cross(p2 - p1, p3 - p1);
-		n1.Normalize();
-
-		m_triangles->Vertex(p1, c, n1);
-		m_triangles->Vertex(p2, c, n1);
-		m_triangles->Vertex(p3, c, n1);
-
-		b3Vec3 n2 = -n1;
-
-		m_triangles->Vertex(p1, c, n2);
-		m_triangles->Vertex(p3, c, n2);
-		m_triangles->Vertex(p2, c, n2);
-	}
-}
-
-void Draw::DrawSolidShape(const b3Shape* s, const b3Color& c, const b3Transform& xf)
-{
-	switch (s->GetType())
-	{
-	case e_sphereShape:
-	{
-		DrawSolidSphere((b3SphereShape*)s, c, xf);
-		break;
-	}
-	case e_capsuleShape:
-	{
-		DrawSolidCapsule((b3CapsuleShape*)s, c, xf);
-		break;
-	}
-	case e_hullShape:
-	{
-		DrawSolidHull((b3HullShape*)s, c, xf);
-		break;
-	}
-	case e_meshShape:
-	{
-		DrawSolidMesh((b3MeshShape*)s, c, xf);
-		break;
-	}
-	default:
-	{
-		break;
-	}
-	}
-}
-
-void Draw::DrawSolidShapes(const b3World& world)
-{
-	for (b3Body* b = world.GetBodyList().m_head; b; b = b->GetNext())
-	{
-		b3Color c;
-		if (b->IsAwake() == false)
-		{
-			c = b3Color(0.5f, 0.25f, 0.25f, 1.0f);
-		}
-		else if (b->GetType() == e_staticBody)
-		{
-			c = b3Color(0.5f, 0.5f, 0.5f, 1.0f);
-		}
-		else if (b->GetType() == e_dynamicBody)
-		{
-			c = b3Color(1.0f, 0.5f, 0.5f, 1.0f);
-		}
-		else
-		{
-			c = b3Color(0.5f, 0.5f, 1.0f, 1.0f);
-		}
-
-		b3Transform xf = b->GetTransform();
-		for (b3Shape* s = b->GetShapeList().m_head; s; s = s->GetNext())
-		{
-			DrawSolidShape(s, c, xf);
-		}
-	}
-}
-
 void Draw::Flush()
 {
 	m_triangles->Flush();

examples/testbed/framework/draw.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -85,11 +85,15 @@ public:
 
 	void DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color);
 	
-	void DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Color& color);
+	void DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Mat33& rotation, const b3Color& color);
 
 	void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
 
-	void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
+	void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Mat33& rotation, const b3Color& color);
+
+	void DrawPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color);
+
+	void DrawSolidPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color);
 
 	void DrawAABB(const b3AABB3& aabb, const b3Color& color);
 
@@ -101,18 +105,6 @@ public:
 
 	void DrawString(const b3Color& color, const char* string, ...);
 
-	void DrawSolidSphere(const b3SphereShape* s, const b3Color& c, const b3Transform& xf);
-
-	void DrawSolidCapsule(const b3CapsuleShape* s, const b3Color& c, const b3Transform& xf);
-	
-	void DrawSolidHull(const b3HullShape* s, const b3Color& c, const b3Transform& xf);
-	
-	void DrawSolidMesh(const b3MeshShape* s, const b3Color& c, const b3Transform& xf);
-
-	void DrawSolidShape(const b3Shape* s, const b3Color& c, const b3Transform& xf);
-
-	void DrawSolidShapes(const b3World& world);
-
 	void Flush();
 private:
 	friend struct DrawPoints;

examples/testbed/framework/draw_gl2.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -28,6 +28,9 @@
 #include <bounce/common/math/mat44.h>
 #include <bounce/common/draw.h>
 
+#include <bounce/meshgen/sphere_mesh.h>
+#include <bounce/meshgen/cylinder_mesh.h>
+
 #define BUFFER_OFFSET(i) ((char*)NULL + (i))
 
 extern bool g_glDrawPoints;
@@ -535,72 +538,22 @@ struct DrawTriangles
 
 struct DrawWireSphere
 {
-	enum
-	{
-		e_rings = 12,
-		e_sectors = 12,
-		e_vertexCount = e_rings * e_sectors,
-		e_indexCount = (e_rings - 1) * (e_sectors - 1) * 8
-	};
-
 	DrawWireSphere()
 	{
-		float32 R = 1.0f / float32(e_rings - 1);
-		float32 S = 1.0f / float32(e_sectors - 1);
+		smMesh mesh;
+		smCreateMesh(mesh, 2);
 
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
-		b3Color cs[e_vertexCount];
-
-		u32 vc = 0;
-		for (u32 r = 0; r < e_rings; r++)
-		{
-			for (u32 s = 0; s < e_sectors; s++)
-			{
-				float32 y = sin(-0.5f * B3_PI + B3_PI * r * R);
-				float32 x = cos(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
-				float32 z = sin(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
-
-				vs[vc].Set(x, y, z);
-				cs[vc] = b3Color(1.0f, 1.0f, 1.0f, 1.0f);
-				++vc;
-			}
-		}
-
-		u32 is[e_indexCount];
-
-		u32 ic = 0;
-		for (u32 r = 0; r < e_rings - 1; r++)
-		{
-			for (u32 s = 0; s < e_sectors - 1; s++)
-			{
-				u32 i1 = r * e_sectors + s;
-				u32 i2 = (r + 1) * e_sectors + s;
-				u32 i3 = (r + 1) * e_sectors + (s + 1);
-				u32 i4 = r * e_sectors + (s + 1);
-
-				is[ic++] = i1;
-				is[ic++] = i2;
-
-				is[ic++] = i2;
-				is[ic++] = i3;
-
-				is[ic++] = i3;
-				is[ic++] = i4;
-
-				is[ic++] = i4;
-				is[ic++] = i1;
-			}
-		}
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(1, &m_vboId);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboId);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -616,6 +569,8 @@ struct DrawWireSphere
 
 	GLuint m_vboId;
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawWire
@@ -670,6 +625,7 @@ struct DrawWire
 		b3Mat44 m3 = g_glProjectionMatrix;
 		b3Mat44 m = m3 * m2 * m1;
 
+		glUniform4fv(m_colorUniform, 1, &c.r);
 		glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_sphere.m_vboId);
@@ -677,7 +633,7 @@ struct DrawWire
 		glEnableVertexAttribArray(m_vertexAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId);
-		glDrawElements(GL_LINES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_LINES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glDisableVertexAttribArray(m_vertexAttribute);
 
@@ -697,84 +653,25 @@ struct DrawWire
 
 struct DrawSolidSphere
 {
-	enum
-	{
-		e_rings = 18,
-		e_sectors = 18,
-		e_vertexCount = e_rings * e_sectors,
-		e_indexCount = (e_rings - 1) * (e_sectors - 1) * 6,
-		e_faceCount = e_indexCount / 3
-	};
-
 	DrawSolidSphere()
 	{
-		float32 R = 1.0f / float32(e_rings - 1);
-		float32 S = 1.0f / float32(e_sectors - 1);
+		smMesh mesh;
+		smCreateMesh(mesh, 2);
 
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
-
-		u32 vc = 0;
-		for (u32 r = 0; r < e_rings; r++)
-		{
-			for (u32 s = 0; s < e_sectors; s++)
-			{
-				float32 a1 = 2.0f * B3_PI * float32(s) * S;
-				float32 c1 = cos(a1);
-				float32 s1 = sin(a1);
-
-				float32 a2 = -0.5f * B3_PI + B3_PI * float32(r) * R;
-				float32 s2 = sin(a2);
-
-				float32 a3 = B3_PI * float32(r) * R;
-				float32 s3 = sin(a3);
-
-				float32 x = c1 * s3;
-				float32 y = s2;
-				float32 z = s1 * s3;
-				
-				b3Vec3 v(x, y, z);
-				v.Normalize();
-
-				vs[vc] = v;
-				ns[vc] = v;
-				++vc;
-			}
-		}
-
-		u32 is[e_indexCount];
-
-		u32 ic = 0;
-		for (u32 r = 0; r < e_rings - 1; r++)
-		{
-			for (u32 s = 0; s < e_sectors - 1; s++)
-			{
-				u32 i1 = r * e_sectors + s;
-				u32 i2 = (r + 1) * e_sectors + s;
-				u32 i3 = (r + 1) * e_sectors + (s + 1);
-				u32 i4 = r * e_sectors + (s + 1);
-
-				is[ic++] = i1;
-				is[ic++] = i2;
-				is[ic++] = i3;
-
-				is[ic++] = i1;
-				is[ic++] = i3;
-				is[ic++] = i4;
-			}
-		}
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(3, m_vboIds);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), ns, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.normals, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -790,100 +687,31 @@ struct DrawSolidSphere
 
 	GLuint m_vboIds[2];
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawSolidCylinder
 {
-	enum
-	{
-		e_segments = 64,
-		e_vertexCount = e_segments * 6,
-	};
-
 	DrawSolidCylinder()
 	{
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
+		cymMesh mesh;
+		cymCreateMesh(mesh, 20);
 
-		u32 vc = 0;
-		for (u32 i = 0; i < e_segments; ++i)
-		{
-			float32 t0 = 2.0f * B3_PI * float32(i) / float32(e_segments);
-			float32 t1 = 2.0f * B3_PI * float32(i + 1) / float32(e_segments);
-
-			float32 c0 = cos(t0);
-			float32 s0 = sin(t0);
-
-			float32 c1 = cos(t1);
-			float32 s1 = sin(t1);
-
-			b3Vec3 v1;
-			v1.x = s0;
-			v1.y = -0.5f;
-			v1.z = c0;
-			
-			b3Vec3 v2;
-			v2.x = s1;
-			v2.y = -0.5f;
-			v2.z = c1;
-			
-			b3Vec3 v3;
-			v3.x = s1;
-			v3.y = 0.5f;
-			v3.z = c1;
-			
-			b3Vec3 v4;
-			v4.x = s0;
-			v4.y = 0.5f;
-			v4.z = c0;
-			
-			b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
-			n.Normalize();
-
-			vs[vc] = v1;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v2;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v3;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v1;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v3;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v4;
-			ns[vc] = n;
-			++vc;
-		}
-
-		u32 is[e_vertexCount];
-
-		u32 ic = vc;
-		for (u32 i = 0; i < vc; ++i)
-		{
-			is[i] = i;
-		}
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(2, m_vboIds);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), ns, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.normals, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -899,6 +727,8 @@ struct DrawSolidCylinder
 
 	GLuint m_vboIds[2];
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawSolid
@@ -978,7 +808,7 @@ struct DrawSolid
 		glEnableVertexAttribArray(m_normalAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_cylinder.m_iboId);
-		glDrawElements(GL_TRIANGLES, m_cylinder.e_vertexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_TRIANGLES, m_cylinder.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glDisableVertexAttribArray(m_normalAttribute);
 
@@ -1021,7 +851,7 @@ struct DrawSolid
 		glEnableVertexAttribArray(m_normalAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId);
-		glDrawElements(GL_TRIANGLES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_TRIANGLES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glDisableVertexAttribArray(m_normalAttribute);
 

examples/testbed/framework/draw_gl4.h

@@ -28,6 +28,9 @@
 #include <bounce/common/math/mat44.h>
 #include <bounce/common/draw.h>
 
+#include <bounce/meshgen/sphere_mesh.h>
+#include <bounce/meshgen/cylinder_mesh.h>
+
 #define BUFFER_OFFSET(i) ((char*)NULL + (i))
 
 extern bool g_glDrawPoints;
@@ -551,72 +554,22 @@ struct DrawTriangles
 
 struct DrawWireSphere
 {
-	enum
-	{
-		e_rings = 12,
-		e_sectors = 12,
-		e_vertexCount = e_rings * e_sectors,
-		e_indexCount = (e_rings - 1) * (e_sectors - 1) * 8
-	};
-
 	DrawWireSphere()
 	{
-		float32 R = 1.0f / float32(e_rings - 1);
-		float32 S = 1.0f / float32(e_sectors - 1);
+		smMesh mesh;
+		smCreateMesh(mesh, 2);
 
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
-		b3Color cs[e_vertexCount];
-
-		u32 vc = 0;
-		for (u32 r = 0; r < e_rings; r++)
-		{
-			for (u32 s = 0; s < e_sectors; s++)
-			{
-				float32 y = sin(-0.5f * B3_PI + B3_PI * r * R);
-				float32 x = cos(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
-				float32 z = sin(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
-
-				vs[vc].Set(x, y, z);
-				cs[vc] = b3Color(1.0f, 1.0f, 1.0f, 1.0f);
-				++vc;
-			}
-		}
-
-		u32 is[e_indexCount];
-
-		u32 ic = 0;
-		for (u32 r = 0; r < e_rings - 1; r++)
-		{
-			for (u32 s = 0; s < e_sectors - 1; s++)
-			{
-				u32 i1 = r * e_sectors + s;
-				u32 i2 = (r + 1) * e_sectors + s;
-				u32 i3 = (r + 1) * e_sectors + (s + 1);
-				u32 i4 = r * e_sectors + (s + 1);
-
-				is[ic++] = i1;
-				is[ic++] = i2;
-
-				is[ic++] = i2;
-				is[ic++] = i3;
-
-				is[ic++] = i3;
-				is[ic++] = i4;
-
-				is[ic++] = i4;
-				is[ic++] = i1;
-			}
-		}
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(1, &m_vboId);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboId);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -632,6 +585,8 @@ struct DrawWireSphere
 
 	GLuint m_vboId;
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawWire
@@ -694,7 +649,7 @@ struct DrawWire
 		glEnableVertexAttribArray(m_vertexAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId);
-		glDrawElements(GL_LINES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_LINES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 		glBindBuffer(GL_ARRAY_BUFFER, 0);
@@ -712,84 +667,25 @@ struct DrawWire
 
 struct DrawSolidSphere
 {
-	enum
-	{
-		e_rings = 18,
-		e_sectors = 18,
-		e_vertexCount = e_rings * e_sectors,
-		e_indexCount = (e_rings - 1) * (e_sectors - 1) * 6,
-		e_faceCount = e_indexCount / 3
-	};
-
 	DrawSolidSphere()
 	{
-		float32 R = 1.0f / float32(e_rings - 1);
-		float32 S = 1.0f / float32(e_sectors - 1);
+		smMesh mesh;
+		smCreateMesh(mesh, 2);
 
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
-
-		u32 vc = 0;
-		for (u32 r = 0; r < e_rings; r++)
-		{
-			for (u32 s = 0; s < e_sectors; s++)
-			{
-				float32 a1 = 2.0f * B3_PI * float32(s) * S;
-				float32 c1 = cos(a1);
-				float32 s1 = sin(a1);
-
-				float32 a2 = -0.5f * B3_PI + B3_PI * float32(r) * R;
-				float32 s2 = sin(a2);
-
-				float32 a3 = B3_PI * float32(r) * R;
-				float32 s3 = sin(a3);
-
-				float32 x = c1 * s3;
-				float32 y = s2;
-				float32 z = s1 * s3;
-				
-				b3Vec3 v(x, y, z);
-				v.Normalize();
-
-				vs[vc] = v;
-				ns[vc] = v;
-				++vc;
-			}
-		}
-
-		u32 is[e_indexCount];
-
-		u32 ic = 0;
-		for (u32 r = 0; r < e_rings - 1; r++)
-		{
-			for (u32 s = 0; s < e_sectors - 1; s++)
-			{
-				u32 i1 = r * e_sectors + s;
-				u32 i2 = (r + 1) * e_sectors + s;
-				u32 i3 = (r + 1) * e_sectors + (s + 1);
-				u32 i4 = r * e_sectors + (s + 1);
-
-				is[ic++] = i1;
-				is[ic++] = i2;
-				is[ic++] = i3;
-
-				is[ic++] = i1;
-				is[ic++] = i3;
-				is[ic++] = i4;
-			}
-		}
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(3, m_vboIds);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), ns, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -805,100 +701,31 @@ struct DrawSolidSphere
 
 	GLuint m_vboIds[2];
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawSolidCylinder
 {
-	enum
-	{
-		e_segments = 64,
-		e_vertexCount = e_segments * 6,
-	};
-
 	DrawSolidCylinder()
 	{
-		b3Vec3 vs[e_vertexCount];
-		b3Vec3 ns[e_vertexCount];
+		cymMesh mesh;
+		cymCreateMesh(mesh, 20);
 
-		u32 vc = 0;
-		for (u32 i = 0; i < e_segments; ++i)
-		{
-			float32 t0 = 2.0f * B3_PI * float32(i) / float32(e_segments);
-			float32 t1 = 2.0f * B3_PI * float32(i + 1) / float32(e_segments);
-
-			float32 c0 = cos(t0);
-			float32 s0 = sin(t0);
-
-			float32 c1 = cos(t1);
-			float32 s1 = sin(t1);
-
-			b3Vec3 v1;
-			v1.x = s0;
-			v1.y = -0.5f;
-			v1.z = c0;
-			
-			b3Vec3 v2;
-			v2.x = s1;
-			v2.y = -0.5f;
-			v2.z = c1;
-			
-			b3Vec3 v3;
-			v3.x = s1;
-			v3.y = 0.5f;
-			v3.z = c1;
-			
-			b3Vec3 v4;
-			v4.x = s0;
-			v4.y = 0.5f;
-			v4.z = c0;
-			
-			b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
-			n.Normalize();
-
-			vs[vc] = v1;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v2;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v3;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v1;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v3;
-			ns[vc] = n;
-			++vc;
-
-			vs[vc] = v4;
-			ns[vc] = n;
-			++vc;
-		}
-
-		u32 is[e_vertexCount];
-
-		u32 ic = vc;
-		for (u32 i = 0; i < vc; ++i)
-		{
-			is[i] = i;
-		}
+		m_vertexCount = mesh.vertexCount;
+		m_indexCount = mesh.indexCount;
 
 		glGenBuffers(2, m_vboIds);
 		glGenBuffers(1, &m_iboId);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), vs, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.vertices, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
-		glBufferData(GL_ARRAY_BUFFER, vc * sizeof(b3Vec3), ns, GL_STATIC_DRAW);
+		glBufferData(GL_ARRAY_BUFFER, m_vertexCount * sizeof(b3Vec3), mesh.normals, GL_STATIC_DRAW);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_iboId);
-		glBufferData(GL_ELEMENT_ARRAY_BUFFER, ic * sizeof(u32), is, GL_STATIC_DRAW);
+		glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexCount * sizeof(u32), mesh.indices, GL_STATIC_DRAW);
 
 		AssertGL();
 
@@ -914,6 +741,8 @@ struct DrawSolidCylinder
 
 	GLuint m_vboIds[2];
 	GLuint m_iboId;
+	u32 m_vertexCount;
+	u32 m_indexCount;
 };
 
 struct DrawSolid
@@ -994,7 +823,7 @@ struct DrawSolid
 		glEnableVertexAttribArray(m_normalAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_cylinder.m_iboId);
-		glDrawElements(GL_TRIANGLES, m_cylinder.e_vertexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_TRIANGLES, m_cylinder.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 		glBindBuffer(GL_ARRAY_BUFFER, 0);
@@ -1033,7 +862,7 @@ struct DrawSolid
 		glEnableVertexAttribArray(m_normalAttribute);
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_sphere.m_iboId);
-		glDrawElements(GL_TRIANGLES, m_sphere.e_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
+		glDrawElements(GL_TRIANGLES, m_sphere.m_indexCount, GL_UNSIGNED_INT, BUFFER_OFFSET(0));
 
 		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 		glBindBuffer(GL_ARRAY_BUFFER, 0);

examples/testbed/framework/json_profiler.cpp

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -18,6 +18,8 @@
 
 #include <testbed/framework/json_profiler.h>
 
+JsonProfiler* g_jsonProfiler = nullptr;
+
 #define STRING(x) String(x, sizeof(x) - 1)
 
 JsonProfiler::JsonProfiler()
@@ -75,7 +77,7 @@ void JsonProfiler::EndEvents()
 	m_file = nullptr;
 }
 
-void JsonProfiler::BeginEvent(i32 tid, i32 pid, const char* name, float64 t)
+void JsonProfiler::BeginEvent(const char* name, float64 t)
 {
 	if (!m_writer)
 	{
@@ -87,8 +89,8 @@ void JsonProfiler::BeginEvent(i32 tid, i32 pid, const char* name, float64 t)
 	float64 scale = 1000.0;
 
 	m_writer->StartObject();
-	m_writer->STRING("pid");  m_writer->Int(pid);
-	m_writer->STRING("tid");  m_writer->Int(tid);
+	m_writer->STRING("pid");  m_writer->Int(0);
+	m_writer->STRING("tid");  m_writer->Int(0);
 	m_writer->STRING("ts");   m_writer->Int64((u64)(t * scale));
 	m_writer->STRING("ph");   m_writer->String(phase, 1);
 	m_writer->STRING("cat");  m_writer->STRING("physics");
@@ -97,7 +99,7 @@ void JsonProfiler::BeginEvent(i32 tid, i32 pid, const char* name, float64 t)
 	m_writer->EndObject();
 }
 
-void JsonProfiler::EndEvent(i32 tid, i32 pid, const char* name, float64 t)
+void JsonProfiler::EndEvent(const char* name, float64 t)
 {
 	if (!m_writer)
 	{
@@ -109,8 +111,8 @@ void JsonProfiler::EndEvent(i32 tid, i32 pid, const char* name, float64 t)
 	float64 scale = 1000.0;
 
 	m_writer->StartObject();
-	m_writer->STRING("pid");  m_writer->Int(pid);
-	m_writer->STRING("tid");  m_writer->Int(tid);
+	m_writer->STRING("pid");  m_writer->Int(0);
+	m_writer->STRING("tid");  m_writer->Int(0);
 	m_writer->STRING("ts");   m_writer->Int64((u64)(t * scale));
 	m_writer->STRING("ph");   m_writer->String(phase, 1);
 	m_writer->STRING("cat");  m_writer->STRING("physics");

examples/testbed/framework/json_profiler.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -26,7 +26,7 @@
 
 using namespace rapidjson;
 
-// The following profiler listener is notified by a profiler when events are initiated 
+// The following profiler is notified when events are initiated 
 // or terminated.
 // When it receives the notification it immediately saves its data into a .json file format.
 // The .json file can be read and interpreted by the Google Chrome Tracing.
@@ -43,13 +43,15 @@ public:
 
 	void EndEvents();
 
-	void BeginEvent(i32 tid, i32 pid, const char* name, float64 time);
+	void BeginEvent(const char* name, float64 time);
 
-	void EndEvent(i32 tid, i32 pid, const char* name, float64 time);
+	void EndEvent(const char* name, float64 time);
 private:
-	FILE * m_file;
+	FILE* m_file;
 	FileWriteStream* m_stream;
 	Writer<FileWriteStream>* m_writer;
 };
 
+extern JsonProfiler* g_jsonProfiler;
+
 #endif

examples/testbed/framework/main.cpp

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -31,7 +31,7 @@
 #include <testbed/framework/view_model.h>
 
 //
-static GLFWwindow* g_window;
+GLFWwindow* g_window;
 
 //
 static Model* g_model;
@@ -100,13 +100,17 @@ static void Run()
 	int w, h;
 	glfwGetWindowSize(g_window, &w, &h);
 	g_view->Event_SetWindowSize(u32(w), u32(h));
-	
+
 	while (glfwWindowShouldClose(g_window) == 0)
 	{
 		g_profiler->Begin();
-
-		g_profiler->PushEvent("Frame");
 		
+		g_profilerSt->Begin();
+
+		g_profiler->BeginScope("Frame");
+
+		g_profilerSt->BeginScope("Frame");
+
 		g_view->BeginInterface();
 
 		if (g_model->IsPaused())
@@ -118,25 +122,33 @@ static void Run()
 			g_draw->DrawString(b3Color_white, "*PLAYING*");
 		}
 
-		if (g_settings->drawProfile)
-		{
-			const b3Array<ProfilerRecord>& records = g_profilerRecorder->GetRecords();
-			for (u32 i = 0; i < records.Count(); ++i)
-			{
-				const ProfilerRecord& r = records[i];
-				g_draw->DrawString(b3Color_white, "%s %.4f (%.4f) [ms]", r.name, r.elapsed, r.maxElapsed);
-			}
-		}
-
 		g_view->Interface();
 
 		g_model->Update();
 
-		g_view->EndInterface();
-
-		g_profiler->PopEvent();
+		g_profilerSt->EndScope();
 		
-		g_profiler->End(g_profilerListener);
+		g_profiler->EndScope();
+		
+		if (g_settings->drawProfileTree)
+		{
+			g_view->InterfaceProfileTree();
+		}
+
+		if (g_settings->drawProfileTreeStats)
+		{
+			g_view->InterfaceProfileTreeStats();
+		}
+
+		g_profilerSt->End();
+
+#if PROFILE_JSON == 1
+		g_model->UpdateJson();
+#endif
+
+		g_profiler->End();
+		
+		g_view->EndInterface();
 
 		glfwSwapBuffers(g_window);
 		glfwPollEvents();

examples/testbed/framework/model.cpp

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -26,8 +26,11 @@ Model::Model()
 	g_draw = &m_draw;
 	g_camera = &m_camera;
 	g_profiler = &m_profiler;
-	g_profilerRecorder = &m_profilerListener.m_recorderProfiler;
-	g_profilerListener = &m_profilerListener;
+	g_profilerSt = &m_profilerSt;
+	
+#if (PROFILE_JSON == 1)
+	g_jsonProfiler = &m_jsonProfiler;
+#endif
 
 	m_test = nullptr;
 
@@ -53,8 +56,11 @@ Model::~Model()
 	g_draw = nullptr;
 	g_camera = nullptr;
 	g_profiler = nullptr;
-	g_profilerRecorder = nullptr;
-	g_profilerListener = nullptr;
+	g_profilerSt = nullptr;
+
+#if (PROFILE_JSON == 1)
+	g_jsonProfiler = nullptr;
+#endif
 
 	delete m_test;
 }
@@ -223,4 +229,34 @@ void Model::Update()
 	m_test->Step();
 
 	m_draw.Flush();
-}
+}
+
+#if (PROFILE_JSON == 1)
+
+static inline void RecurseEvents(ProfilerNode* node)
+{
+	g_jsonProfiler->BeginEvent(node->name, node->t0);
+	
+	g_jsonProfiler->EndEvent(node->name, node->t1);
+
+	for (u32 i = 0; i < node->children.Count(); ++i)
+	{
+		RecurseEvents(node->children[i]);
+	}
+}
+
+void Model::UpdateJson()
+{
+	m_jsonProfiler.BeginEvents();
+
+	ProfilerNode* root = m_profiler.GetRoot();
+
+	if (root)
+	{
+		RecurseEvents(root);
+	}
+
+	m_jsonProfiler.EndEvents();
+}
+
+#endif

examples/testbed/framework/model.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -20,7 +20,15 @@
 #define MODEL_H
 
 #include <testbed/framework/draw.h>
-#include <testbed/framework/testbed_listener.h>
+#include <testbed/framework/profiler.h>
+#include <testbed/framework/profiler_st.h>
+
+// Set to 1 to write profile events into a .json file. Set to 0 otherwise.
+#define PROFILE_JSON 0
+
+#if (PROFILE_JSON == 1)
+#include <testbed/framework/json_profiler.h>
+#endif
 
 class Test;
 
@@ -53,7 +61,11 @@ public:
 	void Command_ZoomCamera(float32 d);
 
 	void Update();
-	
+
+#if (PROFILE_JSON == 1)
+	void UpdateJson();
+#endif
+
 	bool IsPaused() const { return m_pause; }
 private:
 	friend class ViewModel;
@@ -63,7 +75,12 @@ private:
 	Draw m_draw;
 	Camera m_camera;
 	Profiler m_profiler;
-	TestbedListener m_profilerListener;
+	ProfilerSt m_profilerSt;
+
+#if (PROFILE_JSON == 1)
+	JsonProfiler m_jsonProfiler;
+#endif
+
 	Test* m_test;
 	bool m_setTest;
 	bool m_pause;

examples/testbed/framework/profiler.cpp

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -19,73 +19,92 @@
 #include <testbed/framework/profiler.h>
 
 Profiler* g_profiler = nullptr;
-ProfilerListener* g_profilerListener = nullptr;
 
-Profiler::Profiler()
+Profiler::Profiler() : m_pool(sizeof(ProfilerNode))
 {
+	m_root = nullptr;
 	m_top = nullptr;
 }
 
 Profiler::~Profiler()
 {
+	assert(m_root == nullptr);
+	assert(m_top == nullptr);
 }
 
-bool Profiler::PushEvent(const char* name)
+ProfilerNode* Profiler::CreateNode()
+{
+	void* block = m_pool.Allocate();
+	ProfilerNode* n = new (block) ProfilerNode();
+	return n;
+}
+
+void Profiler::DestroyNode(ProfilerNode* node)
+{
+	node->~ProfilerNode();
+	m_pool.Free(node);
+}
+
+void Profiler::BeginScope(const char* name)
 {
 	m_time.Update();
 
-	ProfilerEvent e;
-	e.tid = -1;
-	e.pid = -1;
-	e.t0 = m_time.GetCurrentMilis();
-	e.t1 = 0.0;
-	e.name = name;
-	e.parent = m_top;
+	ProfilerNode* n = CreateNode();
+	n->name = name;
+	n->t0 = m_time.GetCurrentMilis();
+	n->t1 = 0.0;
+	n->parent = m_top;
 
-	ProfilerEvent* back = m_events.Push(e);
-	if (back)
+	if (m_root == nullptr)
 	{
-		m_top = back;
+		m_root = n;
+		m_top = n;
+		return;
 	}
 
-	return back != NULL;
+	if (m_top)
+	{
+		m_top->children.PushBack(n);
+	}
+
+	m_top = n;
 }
 
-void Profiler::PopEvent()
+void Profiler::EndScope()
 {
-	B3_ASSERT(m_top);
-	B3_ASSERT(m_top->t1 == 0.0);
-
 	m_time.Update();
+	
+	assert(m_top != nullptr);
 	m_top->t1 = m_time.GetCurrentMilis();
-	B3_ASSERT(m_top->t1 != 0.0);
+	assert(m_top->t1 > m_top->t0);
+
 	m_top = m_top->parent;
 }
 
 void Profiler::Begin()
 {
 	// If this assert is hit then it means Profiler::End hasn't been called.
-	B3_ASSERT(m_events.IsEmpty());
+	assert(m_root == nullptr);
+	assert(m_top == nullptr);
 }
 
-void Profiler::End(ProfilerListener* listener)
+void Profiler::RecurseDestroyNode(ProfilerNode* node)
 {
-	listener->BeginEvents();
-
-	while (m_events.IsEmpty() == false)
+	for (u32 i = 0; i < node->children.Count(); ++i)
 	{
-		const ProfilerEvent& e = m_events.Front();
-
-		m_events.Pop();
-
-		listener->BeginEvent(e.tid, e.pid, e.name, e.t0);
-
-		listener->EndEvent(e.tid, e.pid, e.name, e.t1);
-	
-		listener->Duration(e.name, e.t1 - e.t0);
+		RecurseDestroyNode(node->children[i]);
 	}
 
-	B3_ASSERT(m_events.IsEmpty());
+	DestroyNode(node);
+}
 
-	listener->EndEvents();
+void Profiler::End()
+{
+	assert(m_top == nullptr);
+
+	if (m_root)
+	{
+		RecurseDestroyNode(m_root);
+		m_root = nullptr;
+	}
 }

examples/testbed/framework/profiler.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -20,28 +20,21 @@
 #define PROFILER_H
 
 #include <bounce/common/math/math.h>
-#include <bounce/common/time.h>
-#include <bounce/common/template/queue.h>
+#include <bounce/common/memory/block_pool.h>
 #include <bounce/common/template/array.h>
+#include <bounce/common/time.h>
 
-// This defines the maximum number of profiler events that can be 
-// queued per frame until the function Profiler::Flush is called.
-#define MAX_PROFILER_EVENTS 256
-
-class ProfilerListener;
-
-// A time-stamped profiler event.
-struct ProfilerEvent
+// Profiler node
+struct ProfilerNode
 {
-	i32 tid;
-	i32 pid;
 	const char* name;
 	float64 t0;
 	float64 t1;
-	ProfilerEvent* parent;
+	ProfilerNode* parent;
+	b3StackArray<ProfilerNode*, 32> children;
 };
 
-// A single-threaded event-based profiler.
+// A single-threaded profiler.
 class Profiler
 {
 public:
@@ -53,67 +46,28 @@ public:
 	void Begin();
 
 	// Must be called after profiling.
-	// The function will report all events in this profiler 
-	// to the given event listener in the correct calling order.
-	// This function also flushes the profiler.
-	void End(ProfilerListener* listener);
+	void End();
 
-	// Add a profiler event to the queue.
-	// Return true if the even has been added to the event queue 
-	// or false if the queue is full.
-	// You can control the maximum number of profiler events using 
-	// MAX_PROFILER_EVENTS.
-	bool PushEvent(const char* name);
+	// Begin a new scope.
+	void BeginScope(const char* name);
 	
-	// Remove the top profiler event.
-	void PopEvent();
+	// End the top scope.
+	void EndScope();
+
+	// Get the root profiler node.
+	ProfilerNode* GetRoot() { return m_root; }
 private:
-	b3Time m_time;
-	b3BoundedQueue<ProfilerEvent, MAX_PROFILER_EVENTS> m_events;
-	ProfilerEvent* m_top;
+	ProfilerNode* CreateNode();
+	void DestroyNode(ProfilerNode* node);
+	
+	void RecurseDestroyNode(ProfilerNode* node);
+
+	b3BlockPool m_pool; // pool of nodes
+	b3Time m_time; // timer
+	ProfilerNode* m_root; // tree root node
+	ProfilerNode* m_top; // top node
 };
 
 extern Profiler* g_profiler;
 
-// Any implementation of this interface passed to Profiler::End will listen to profile events.
-class ProfilerListener
-{
-public:
-	virtual ~ProfilerListener() { }
-
-	// This function is called when profiling has began.
-	virtual void BeginEvents() { }
-
-	// This function is called when profiling has ended.
-	virtual void EndEvents() { }
-	
-	// This function is called when a profiler event begins.
-	virtual void BeginEvent(i32 tid, i32 pid, const char* name, float64 time) 
-	{
-		B3_NOT_USED(tid);
-		B3_NOT_USED(pid);
-		B3_NOT_USED(name);
-		B3_NOT_USED(time);
-	}
-
-	// This function is called when a profiler event ends.
-	virtual void EndEvent(i32 tid, i32 pid, const char* name, float64 time)
-	{
-		B3_NOT_USED(tid);
-		B3_NOT_USED(pid);
-		B3_NOT_USED(name);
-		B3_NOT_USED(time);
-	}
-
-	// This function is called when a profiler event ends.
-	// However it supplies the duration of the last begin and end events.
-	virtual void Duration(const char* name, float64 duration)
-	{
-		B3_NOT_USED(name);
-		B3_NOT_USED(duration);
-	}
-};
-
-extern ProfilerListener* g_profilerListener;
-
 #endif

examples/testbed/framework/profiler_st.cpp

@@ -0,0 +1,197 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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.
+*/
+
+#include <testbed/framework/profiler_st.h>
+
+ProfilerSt* g_profilerSt = nullptr;
+
+ProfilerSt::ProfilerSt() : m_pool(sizeof(ProfilerStNode))
+{
+	m_root = nullptr;
+	m_top = nullptr;
+}
+
+ProfilerSt::~ProfilerSt()
+{
+	assert(m_root == nullptr);
+	assert(m_top == nullptr);
+}
+
+ProfilerStNodeStat* ProfilerSt::FindStat(const char* name)
+{
+	for (u32 i = 0; i < m_stats.Count(); ++i)
+	{
+		if (m_stats[i].name == name)
+		{
+			return &m_stats[i];
+		}
+	}
+
+	return nullptr;
+}
+
+ProfilerStNodeStat* ProfilerSt::CreateStat()
+{
+	m_stats.PushBack(ProfilerStNodeStat());
+	return &m_stats.Back();
+}
+
+ProfilerStNode* ProfilerSt::CreateNode()
+{
+	void* block = m_pool.Allocate();
+	return new (block) ProfilerStNode();
+}
+
+void ProfilerSt::DestroyNode(ProfilerStNode* node)
+{
+	node->~ProfilerStNode();
+	m_pool.Free(node);
+}
+
+void ProfilerSt::RecurseDestroyNode(ProfilerStNode* node)
+{
+	for (u32 i = 0; i < node->children.Count(); ++i)
+	{
+		return RecurseDestroyNode(node->children[i]);
+	}
+
+	DestroyNode(node);
+}
+
+static ProfilerStNode* RecurseFindNode(ProfilerStNode* node, const char* name)
+{
+	if (node->name == name)
+	{
+		return node;
+	}
+
+	ProfilerStNode* result = nullptr;
+	for (u32 i = 0; result == nullptr && i < node->children.Count(); ++i)
+	{
+		result = RecurseFindNode(node->children[i], name);
+	}
+
+	return result;
+}
+
+ProfilerStNode* ProfilerSt::FindNode(const char* name)
+{
+	if (m_top)
+	{
+		return RecurseFindNode(m_top, name);
+	}
+
+	if (m_root)
+	{
+		return RecurseFindNode(m_root, name);
+	}
+
+	return nullptr;
+}
+
+void ProfilerSt::BeginScope(const char* name)
+{
+	ProfilerStNode* fn = FindNode(name);
+
+	if (fn)
+	{
+		m_time.Update();
+		fn->t0 = m_time.GetCurrentMilis();
+		++fn->callCount;
+		m_top = fn;
+		return;
+	}
+
+	m_time.Update();
+
+	ProfilerStNode* n = CreateNode();
+	n->name = name;
+	n->t0 = m_time.GetCurrentMilis();
+	n->elapsed = 0.0f;
+	n->callCount = 1;
+	n->parent = m_top;
+	n->stat = nullptr;
+
+	if (m_root == nullptr)
+	{
+		m_root = n;
+		m_top = n;
+
+		return;
+	}
+
+	if (m_top)
+	{
+		m_top->children.PushBack(n);
+	}
+
+	m_top = n;
+}
+
+void ProfilerSt::EndScope()
+{
+	assert(m_top != nullptr);
+
+	m_time.Update();
+
+	m_top->t1 = m_time.GetCurrentMilis();
+	
+	float64 elapsedTime = m_top->t1 - m_top->t0;
+
+	m_top->elapsed += elapsedTime;
+	
+	ProfilerStNodeStat* stat = FindStat(m_top->name);
+
+	if (stat == nullptr)
+	{
+		stat = CreateStat();
+		stat->name = m_top->name;
+		stat->minElapsed = elapsedTime;
+		stat->maxElapsed = elapsedTime;	
+	}
+	else
+	{
+		stat->minElapsed = b3Min(stat->minElapsed, elapsedTime);
+		stat->maxElapsed = b3Max(stat->maxElapsed, elapsedTime);
+	}
+
+	if (m_top->stat == nullptr)
+	{
+		m_top->stat = stat;
+	}
+
+	assert(m_top->stat == stat);
+
+	m_top = m_top->parent;
+}
+
+void ProfilerSt::Begin()
+{
+	assert(m_top == nullptr);
+}
+
+void ProfilerSt::End()
+{
+	assert(m_top == nullptr);
+	
+	if (m_root)
+	{
+		RecurseDestroyNode(m_root);
+		m_root = nullptr;
+	}
+}

examples/testbed/framework/profiler_st.h

@@ -0,0 +1,94 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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 PROFILER_ST_H
+#define PROFILER_ST_H
+
+#include <bounce/common/math/math.h>
+#include <bounce/common/memory/block_pool.h>
+#include <bounce/common/template/array.h>
+#include <bounce/common/time.h>
+
+// Profiler tree node statistics
+struct ProfilerStNodeStat
+{
+	const char* name;
+	float64 minElapsed;
+	float64 maxElapsed;
+};
+
+// A profiler tree node
+struct ProfilerStNode
+{
+	const char* name; 
+	float64 t0;
+	float64 t1; 
+	
+	float64 elapsed;
+	u32 callCount;
+	
+	ProfilerStNode* parent;
+	b3StackArray<ProfilerStNode*, 32> children;
+
+	ProfilerStNodeStat* stat;
+};
+
+// A profiler tree 
+class ProfilerSt
+{
+public:
+	ProfilerSt();
+	
+	~ProfilerSt();
+
+	// Must be called before profiling. 
+	void Begin();
+
+	// Must be called after profiling.
+	void End();
+
+	// Begin a new scope.
+	void BeginScope(const char* name);
+
+	// End the top scope.
+	void EndScope();
+
+	ProfilerStNode* GetRoot() { return m_root; }
+private:
+	ProfilerStNode* CreateNode();
+	void DestroyNode(ProfilerStNode* node);
+	
+	void RecurseDestroyNode(ProfilerStNode* node);
+
+	ProfilerStNode* FindNode(const char* name);
+
+	ProfilerStNodeStat* CreateStat();
+
+	ProfilerStNodeStat* FindStat(const char* name);
+
+	b3BlockPool m_pool; // pool of nodes
+	b3Time m_time; // timer
+	ProfilerStNode* m_root; // tree root node
+	ProfilerStNode* m_top; // top node
+
+	b3StackArray<ProfilerStNodeStat, 256> m_stats; // node statistics
+};
+
+extern ProfilerSt* g_profilerSt;
+
+#endif

examples/testbed/framework/softbody_dragger.cpp

@@ -0,0 +1,128 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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.
+*/
+
+#include <testbed/framework/softbody_dragger.h>
+
+b3SoftBodyDragger::b3SoftBodyDragger(b3Ray3* ray, b3SoftBody* body)
+{
+	m_ray = ray;
+	m_body = body;
+	m_tetrahedron = nullptr;
+}
+
+b3SoftBodyDragger::~b3SoftBodyDragger()
+{
+
+}
+
+bool b3SoftBodyDragger::StartDragging()
+{
+	B3_ASSERT(IsDragging() == false);
+
+	b3SoftBodyRayCastSingleOutput rayOut;
+	if (m_body->RayCastSingle(&rayOut, m_ray->A(), m_ray->B()) == false)
+	{
+		return false;
+	}
+
+	m_mesh = m_body->GetMesh();
+	m_tetrahedron = m_mesh->tetrahedrons + rayOut.tetrahedron;
+	m_v1 = m_tetrahedron->v1;
+	m_v2 = m_tetrahedron->v2;
+	m_v3 = m_tetrahedron->v3;
+	m_v4 = m_tetrahedron->v4;
+	m_x = rayOut.fraction;
+
+	b3SoftBodyNode* n1 = m_body->GetVertexNode(m_v1);
+	b3SoftBodyNode* n2 = m_body->GetVertexNode(m_v2);
+	b3SoftBodyNode* n3 = m_body->GetVertexNode(m_v3);
+	b3SoftBodyNode* n4 = m_body->GetVertexNode(m_v4);
+
+	b3Vec3 v1 = n1->GetPosition();
+	b3Vec3 v2 = n2->GetPosition();
+	b3Vec3 v3 = n3->GetPosition();
+	b3Vec3 v4 = n4->GetPosition();
+
+	b3Vec3 B = GetPointB();
+
+	float32 wABCD[5];
+	b3BarycentricCoordinates(wABCD, v1, v2, v3, v4, B);
+
+	if (wABCD[4] > B3_EPSILON)
+	{
+		m_tu = wABCD[0] / wABCD[4];
+		m_tv = wABCD[1] / wABCD[4];
+		m_tw = wABCD[2] / wABCD[4];
+		m_tx = wABCD[3] / wABCD[4];
+	}
+	else
+	{
+		m_tu = m_tv = m_tw = m_tx = 0.0f;
+	}
+
+	return true;
+}
+
+void b3SoftBodyDragger::Drag()
+{
+	B3_ASSERT(IsDragging() == true);
+
+	b3Vec3 A = GetPointA();
+	b3Vec3 B = GetPointB();
+
+	b3Vec3 dx = B - A;
+
+	const float32 k = 100.0f;
+
+	b3Vec3 f = k * dx;
+
+	b3Vec3 f1 = m_tu * f;
+	b3Vec3 f2 = m_tv * f;
+	b3Vec3 f3 = m_tw * f;
+	b3Vec3 f4 = m_tx * f;
+
+	m_body->GetVertexNode(m_v1)->ApplyForce(f1);
+	m_body->GetVertexNode(m_v2)->ApplyForce(f2);
+	m_body->GetVertexNode(m_v3)->ApplyForce(f3);
+	m_body->GetVertexNode(m_v4)->ApplyForce(f4);
+}
+
+void b3SoftBodyDragger::StopDragging()
+{
+	B3_ASSERT(IsDragging() == true);
+	
+	m_tetrahedron = nullptr;
+}
+
+b3Vec3 b3SoftBodyDragger::GetPointA() const
+{
+	B3_ASSERT(IsDragging() == true);
+
+	b3Vec3 A = m_body->GetVertexNode(m_v1)->GetPosition();
+	b3Vec3 B = m_body->GetVertexNode(m_v2)->GetPosition();
+	b3Vec3 C = m_body->GetVertexNode(m_v3)->GetPosition();
+	b3Vec3 D = m_body->GetVertexNode(m_v4)->GetPosition();
+
+	return m_tu * A + m_tv * B + m_tw * C + m_tx * D;
+}
+
+b3Vec3 b3SoftBodyDragger::GetPointB() const
+{
+	B3_ASSERT(IsDragging() == true);
+	return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
+}

examples/testbed/framework/softbody_dragger.h

@@ -0,0 +1,61 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_SOFTBODY_DRAGGER_H
+#define B3_SOFTBODY_DRAGGER_H
+
+#include <bounce/common/geometry.h>
+#include <bounce/softbody/softbody.h>
+#include <bounce/softbody/softbody_mesh.h>
+#include <bounce/softbody/softbody_node.h>
+
+// A soft body triangle dragger.
+class b3SoftBodyDragger
+{
+public:
+	b3SoftBodyDragger(b3Ray3* ray, b3SoftBody* body);
+	~b3SoftBodyDragger();
+
+	bool IsDragging() const;
+
+	bool StartDragging();
+
+	void Drag();
+
+	void StopDragging();
+
+	b3Vec3 GetPointA() const;
+
+	b3Vec3 GetPointB() const;
+private:
+	b3Ray3* m_ray;
+	float32 m_x;
+
+	b3SoftBody* m_body;
+	const b3SoftBodyMesh* m_mesh;
+	const b3SoftBodyMeshTetrahedron* m_tetrahedron;
+	u32 m_v1, m_v2, m_v3, m_v4;
+	float32 m_tu, m_tv, m_tw, m_tx;
+};
+
+inline bool b3SoftBodyDragger::IsDragging() const
+{
+	return m_tetrahedron != nullptr;
+}
+
+#endif

examples/testbed/framework/test.cpp

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -18,32 +18,27 @@
 
 #include <testbed/framework/test.h>
 #include <testbed/framework/profiler.h>
-#include <imgui/imgui.h>
+#include <testbed/framework/profiler_st.h>
 
 extern u32 b3_allocCalls, b3_maxAllocCalls;
 extern u32 b3_convexCalls, b3_convexCacheHits;
 extern u32 b3_gjkCalls, b3_gjkIters, b3_gjkMaxIters;
 extern bool b3_convexCache;
 
-static bool push_ok = false;
-
 void b3BeginProfileScope(const char* name)
 {
-	push_ok = g_profiler->PushEvent(name);
+	g_profiler->BeginScope(name);
+	g_profilerSt->BeginScope(name);
 }
 
 void b3EndProfileScope()
 {
-	if (push_ok)
-	{
-		g_profiler->PopEvent();
-		push_ok = false;
-	}
+	g_profiler->EndScope();
+	g_profilerSt->EndScope();
 }
 
 Test::Test() : 
-	m_bodyDragger(&m_ray, &m_world),
-	m_clothDragger(&m_ray, &m_world)
+	m_bodyDragger(&m_ray, &m_world)
 {
 	b3Draw_draw = g_draw;
 	b3_convexCache = g_testSettings->convexCache;
@@ -93,7 +88,7 @@ void Test::Step()
 
 	if (g_settings->drawTriangles)
 	{
-		g_draw->DrawSolidShapes(m_world);
+		m_world.DrawSolid();
 	}
 
 	if (g_settings->drawStats)
@@ -121,11 +116,6 @@ void Test::Step()
 		g_draw->DrawString(b3Color_white, "Convex Cache Hits %d (%f)", b3_convexCacheHits, convexCacheHitRatio);
 		g_draw->DrawString(b3Color_white, "Frame Allocations %d (%d)", b3_allocCalls, b3_maxAllocCalls);
 	}
-
-	if (m_clothDragger.IsDragging() == true)
-	{
-		g_draw->DrawSegment(m_clothDragger.GetPointA(), m_clothDragger.GetPointB(), b3Color_white);
-	}
 }
 
 void Test::MouseMove(const b3Ray3& pw)
@@ -136,11 +126,6 @@ void Test::MouseMove(const b3Ray3& pw)
 	{
 		m_bodyDragger.Drag();
 	}
-	
-	if (m_clothDragger.IsDragging() == true)
-	{
-		m_clothDragger.Drag();
-	}
 }
 
 void Test::MouseLeftDown(const b3Ray3& pw)
@@ -152,14 +137,6 @@ void Test::MouseLeftDown(const b3Ray3& pw)
 			BeginDragging();
 		}
 	}
-
-	if (m_clothDragger.IsDragging() == false)
-	{
-		if (m_clothDragger.StartDragging() == true)
-		{
-			BeginDragging();
-		}
-	}
 }
 
 void Test::MouseLeftUp(const b3Ray3& pw)
@@ -170,11 +147,4 @@ void Test::MouseLeftUp(const b3Ray3& pw)
 
 		EndDragging();
 	}
-	
-	if (m_clothDragger.IsDragging() == true)
-	{
-		m_clothDragger.StopDragging();
-
-		EndDragging();
-	}
 }

examples/testbed/framework/test.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -22,6 +22,9 @@
 #include <glfw/glfw3.h>
 #include <bounce/bounce.h>
 
+#include <testbed/framework/body_dragger.h>
+#include <testbed/framework/cloth_dragger.h>
+
 #include <testbed/framework/draw.h>
 #include <testbed/framework/view_model.h>
 
@@ -33,27 +36,6 @@ inline float32 RandomFloat(float32 a, float32 b)
 	return a + r;
 }
 
-class RayCastListener : public b3RayCastListener
-{
-public:
-	float32 ReportShape(b3Shape* shape, const b3Vec3& point, const b3Vec3& normal, float32 fraction)
-	{
-		hit.shape = shape;
-		hit.point = point;
-		hit.normal = normal;
-		hit.fraction = fraction;
-		return 1.0f;
-	}
-
-	float32 ReportCloth(b3Shape* shape, const b3Vec3& point, const b3Vec3& normal, float32 fraction)
-	{
-		B3_ASSERT(false);
-		return 1.0f;
-	}
-	
-	b3RayCastSingleShapeOutput hit;
-};
-
 class Test : public b3ContactListener
 {
 public:
@@ -77,10 +59,9 @@ public:
 	void EndContact(b3Contact* c) override { }
 	void PreSolve(b3Contact* c) override { }
 
-	b3World m_world;
-
 	b3Ray3 m_ray;
-	b3ClothDragger m_clothDragger;
+	
+	b3World m_world;
 	b3BodyDragger m_bodyDragger;
 
 	b3BoxHull m_groundHull;

examples/testbed/framework/test_entries.cpp

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -20,6 +20,7 @@
 #include <testbed/tests/convex_hull.h>
 #include <testbed/tests/cluster.h>
 #include <testbed/tests/distance_test.h>
+#include <testbed/tests/shape_cast.h>
 #include <testbed/tests/collide_test.h>
 #include <testbed/tests/capsule_collision.h>
 #include <testbed/tests/hull_collision.h>
@@ -53,28 +54,27 @@
 #include <testbed/tests/pyramids.h>
 #include <testbed/tests/ray_cast.h>
 #include <testbed/tests/sensor_test.h>
-#include <testbed/tests/point_click.h>
 #include <testbed/tests/body_types.h>
 #include <testbed/tests/varying_friction.h>
 #include <testbed/tests/varying_restitution.h>
 #include <testbed/tests/tumbler.h>
 #include <testbed/tests/multiple_pendulum.h>
-#include <testbed/tests/cloth_test.h>
 #include <testbed/tests/table_cloth.h>
 #include <testbed/tests/pinned_cloth.h>
-#include <testbed/tests/shirt.h>
 #include <testbed/tests/particle_types.h>
 #include <testbed/tests/tension_mapping.h>
-#include <testbed/tests/self_collision.h>
-#include <testbed/tests/single_pendulum.h>
+#include <testbed/tests/cloth_self_collision.h>
 #include <testbed/tests/rope_test.h>
-#include <testbed/tests/mass_spring.h>
+#include <testbed/tests/beam.h>
+#include <testbed/tests/pinned_softbody.h>
+#include <testbed/tests/smash_softbody.h>
 
 TestEntry g_tests[] =
 {
 	{ "Convex Hull", &ConvexHull::Create },
 	{ "Cluster", &Cluster::Create },
 	{ "Distance", &Distance::Create },
+	{ "Shape Cast", &ShapeCast::Create },
 	{ "Capsule Collision", &CapsuleCollision::Create },
 	{ "Hull Collision", &HullCollision::Create },
 	{ "Deep Capsule", &DeepCapsule::Create },
@@ -106,7 +106,6 @@ TestEntry g_tests[] =
 	{ "Box Pyramid Rows", &Pyramids::Create },
 	{ "Ray Cast", &RayCast::Create },
 	{ "Sensor Test", &SensorTest::Create },
-	{ "Point & Click", &PointClick::Create },
 	{ "Body Types", &BodyTypes::Create },
 	{ "Varying Friction", &VaryingFriction::Create },
 	{ "Varying Restitution", &VaryingRestitution::Create },
@@ -115,12 +114,12 @@ TestEntry g_tests[] =
 	{ "Multiple Pendulum", &MultiplePendulum::Create },
 	{ "Table Cloth", &TableCloth::Create },
 	{ "Pinned Cloth", &PinnedCloth::Create },
-	{ "Shirt", &Shirt::Create },
 	{ "Particle Types", &ParticleTypes::Create },
 	{ "Tension Mapping", &TensionMapping::Create },
-	{ "Self-Collision", &SelfCollision::Create },
-	{ "Mass-Spring System", &MassSpring::Create },
-	{ "Single Pendulum", &SinglePendulum::Create },
+	{ "Cloth Self-Collision", &ClothSelfCollision::Create },
+	{ "Beam", &Beam::Create },
+	{ "Pinned Soft Body", &PinnedSoftBody::Create },
+	{ "Smash Soft Body", &SmashSoftBody::Create },
 	{ "Rope", &Rope::Create },
 	{ NULL, NULL }
 };

examples/testbed/framework/testbed_listener.h

@@ -1,86 +0,0 @@
-/*
-* 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 TESTBED_LISTENER_H
-#define TESTBED_LISTENER_H
-
-#include <testbed/framework/profiler.h>
-#include <testbed/framework/recorder_profiler.h>
-
-// Set to 1 then the testbed listener will write profile events into a .json file.
-// Set to 0 otherwise.
-#define PROFILE_JSON 0
-
-#if (PROFILE_JSON == 1)
-	#include <testbed\framework\json_profiler.h>
-#endif
-
-
-class TestbedListener : public ProfilerListener
-{
-public:
-	void BeginEvents() override
-	{
-		m_recorderProfiler.BeginEvents();
-
-#if (PROFILE_JSON == 1)
-		m_jsonListener.BeginEvents();
-#endif
-
-	}
-
-	void EndEvents() override
-	{
-		m_recorderProfiler.EndEvents();
-
-#if (PROFILE_JSON == 1)
-		m_jsonListener.EndEvents();
-#endif
-
-	}
-
-	void BeginEvent(i32 tid, i32 pid, const char* name, float64 time) override
-	{
-#if (PROFILE_JSON == 1)
-		m_jsonListener.BeginEvent(tid, pid, name, time);
-#endif
-
-	}
-
-	void EndEvent(i32 tid, i32 pid, const char* name, float64 time) override
-	{
-#if (PROFILE_JSON == 1)
-		m_jsonListener.EndEvent(tid, pid, name, time);
-#endif
-
-	}
-
-	void Duration(const char* name, float64 time) override
-	{
-		m_recorderProfiler.Add(name, time);
-	}
-
-	RecorderProfiler m_recorderProfiler;
-
-#if (PROFILE_JSON == 1)
-	JsonProfiler m_jsonListener;
-#endif
-
-};
-
-#endif

examples/testbed/framework/view.cpp

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -19,6 +19,8 @@
 #include <testbed/framework/view.h>
 #include <testbed/framework/view_model.h>
 #include <testbed/framework/test.h>
+#include <testbed/framework/profiler.h>
+#include <testbed/framework/profiler_st.h>
 
 #include <imgui/imgui.h>
 #if defined (U_OPENGL_2)
@@ -217,7 +219,8 @@ void View::Interface()
 
 		if (ImGui::BeginMenu("View"))
 		{
-			ImGui::MenuItem("Profile", "", &settings.drawProfile);
+			ImGui::MenuItem("Profile Tree", "", &settings.drawProfileTree);
+			ImGui::MenuItem("Profile Tree Statistics", "", &settings.drawProfileTreeStats);
 			ImGui::MenuItem("Statistics", "", &settings.drawStats);
 
 			ImGui::Separator();
@@ -400,6 +403,111 @@ void View::Interface()
 	ImGui::End();
 }
 
+static void TreeNode(ProfilerNode* node, u32& index)
+{
+	ImGui::PushID(index);
+	++index;
+
+	if (ImGui::TreeNode(node->name))
+	{
+		float64 elapsedTime = node->t1 - node->t0;
+		ImGui::Text("%.4f [ms]", elapsedTime);
+
+		for (u32 i = 0; i < node->children.Count(); ++i)
+		{
+			TreeNode(node->children[i], index);
+		}
+		ImGui::TreePop();
+	}	
+	
+	ImGui::PopID();
+}
+
+void View::InterfaceProfileTree()
+{
+	ImGui::Begin("Overlay", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
+	ImVec2 ws = ImGui::GetWindowSize();
+	ImVec2 wp = ImGui::GetWindowPos();
+	ImGui::End();
+
+	ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f);
+	
+	ImGui::SetNextWindowBgAlpha(0.0f);
+	ImGui::SetNextWindowPos(ImVec2(0.0f, wp.y + ws.y));
+	ImGui::SetNextWindowSize(ImVec2(g_camera->m_width - 250.0f, 0.0f));
+
+	ImGui::Begin("Profile Tree", NULL, ImGuiWindowFlags_AlwaysAutoResize);
+
+	ProfilerNode* root = g_profiler->GetRoot();
+	if (root)
+	{
+		u32 index = 0;
+		TreeNode(root, index);
+	}
+	
+	ImGui::End();
+	
+	ImGui::PopStyleVar();
+}
+
+static void TreeNode(ProfilerStNode* node, u32& index)
+{
+	ImGui::PushID(index);
+	++index;
+
+	if (ImGui::TreeNode(node->name))
+	{
+		ImGui::Text("%.4f (min = %.4f) (max = %.4f) (calls = %d) [ms]", node->elapsed, node->stat->minElapsed, node->stat->maxElapsed, node->callCount);
+
+		for (u32 i = 0; i < node->children.Count(); ++i)
+		{
+			TreeNode(node->children[i], index);
+		}
+		ImGui::TreePop();
+	}
+
+	ImGui::PopID();
+}
+
+void View::InterfaceProfileTreeStats()
+{
+	ImGui::Begin("Overlay", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
+	ImVec2 wp = ImGui::GetWindowPos();
+	ImVec2 ws = ImGui::GetWindowSize();
+	ImGui::End();
+
+	wp.y = wp.y + ws.y;
+
+	if (g_settings->drawProfileTree)
+	{
+		ImGui::Begin("Profile Tree", NULL, ImGuiWindowFlags_AlwaysAutoResize);
+		ImVec2 ptwp = ImGui::GetWindowPos();
+		ImVec2 ptws = ImGui::GetWindowSize();
+		ImGui::End();
+
+		wp.y = ptwp.y + ptws.y;
+	}
+
+	ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f);
+
+	ImGui::SetNextWindowBgAlpha(0.0f);
+	ImGui::SetNextWindowPos(ImVec2(0.0f, wp.y));
+	ImGui::SetNextWindowSize(ImVec2(g_camera->m_width - 250.0f, 0.0f));
+
+	ImGui::Begin("Profile Tree Statistics", NULL, ImGuiWindowFlags_AlwaysAutoResize);
+
+	ProfilerStNode* root = g_profilerSt->GetRoot();
+	if (root)
+	{
+		u32 index = 0;
+		TreeNode(root, index);
+	}
+
+	ImGui::End();
+
+	ImGui::PopStyleVar();
+}
+
 void View::EndInterface()
 {
 	ImGui::PopStyleVar();

examples/testbed/framework/view.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -41,6 +41,8 @@ public:
 
 	void BeginInterface();
 	void Interface();
+	void InterfaceProfileTree();
+	void InterfaceProfileTreeStats();
 	void EndInterface();
 private:
 	friend class ViewModel;

examples/testbed/framework/view_model.cpp

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/framework/view_model.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -32,7 +32,8 @@ struct Settings
 		drawLines = true;
 		drawTriangles = true;
 		drawGrid = true;
-		drawProfile = false;
+		drawProfileTree = false;
+		drawProfileTreeStats = false;
 		drawStats = false;
 	}
 
@@ -42,7 +43,8 @@ struct Settings
 	bool drawLines;
 	bool drawTriangles;
 	bool drawGrid;
-	bool drawProfile;
+	bool drawProfileTree;
+	bool drawProfileTreeStats;
 	bool drawStats;
 };
 

examples/testbed/tests/angular_motion.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/beam.h

@@ -0,0 +1,162 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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 BEAM_H
+#define BEAM_H
+
+#include <testbed/framework/softbody_dragger.h>
+
+class Beam : public Test
+{
+public:
+	Beam()
+	{
+		// Create soft body
+		b3SoftBodyDef def;
+		def.mesh = &m_mesh;
+		def.density = 0.2f;
+		def.E = 1000.0f;
+		def.nu = 0.33f;
+
+		m_body = new b3SoftBody(def);
+
+		b3Vec3 gravity(0.0f, -9.8f, 0.0f);
+		m_body->SetGravity(gravity);
+		m_body->SetWorld(&m_world);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			b3SoftBodyNode* n = m_body->GetVertexNode(i);
+
+			n->SetRadius(0.05f);
+			n->SetFriction(0.2f);
+		}
+
+		// Create body
+		{
+			b3BodyDef bd;
+			bd.type = e_staticBody;
+			bd.position.x = -3.5f;
+
+			b3Body* b = m_world.CreateBody(bd);
+
+			m_wallHull.Set(1.0f, 5.0f, 5.0f);
+
+			b3HullShape wallShape;
+			wallShape.m_hull = &m_wallHull;
+
+			b3ShapeDef sd;
+			sd.shape = &wallShape;
+
+			b3Shape* wall = b->CreateShape(sd);
+		}
+
+		b3AABB3 aabb;
+		aabb.m_lower.Set(-3.0f, -5.0f, -5.0f);
+		aabb.m_upper.Set(-2.0f, 5.0f, 5.0f);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			b3SoftBodyNode* n = m_body->GetVertexNode(i);
+			b3Vec3 p = n->GetPosition();
+			if (aabb.Contains(p))
+			{
+				n->SetType(e_staticSoftBodyNode);
+			}
+		}
+
+		m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
+	}
+
+	~Beam()
+	{
+		delete m_bodyDragger;
+		delete m_body;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			m_bodyDragger->Drag();
+		}
+
+		m_body->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_body->Draw();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			b3Vec3 pA = m_bodyDragger->GetPointA();
+			b3Vec3 pB = m_bodyDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
+
+		extern u32 b3_softBodySolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_softBodySolverIterations);
+
+		float32 E = m_body->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_bodyDragger->IsDragging() == false)
+		{
+			m_bodyDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_bodyDragger->IsDragging() == true)
+		{
+			m_bodyDragger->StopDragging();
+		}
+	}
+
+	static Test* Create()
+	{
+		return new Beam();
+	}
+
+	b3BlockSoftBodyMesh<5, 2, 2> m_mesh;
+	
+	b3SoftBody* m_body;
+	b3SoftBodyDragger* m_bodyDragger;
+	
+	b3BoxHull m_wallHull;
+};
+
+#endif

examples/testbed/tests/body_types.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/box_edge_contact.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/box_face_contact.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/box_stack.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/capsule_collision.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/capsule_spin.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/capsule_stack.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/cloth_self_collision.h

@@ -0,0 +1,140 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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 CLOTH_SELF_COLLISION_H
+#define CLOTH_SELF_COLLISION_H
+
+class ClothSelfCollision : public Test
+{
+public:
+	ClothSelfCollision()
+	{
+		// Translate the mesh
+		for (u32 i = 0; i < m_clothMesh.vertexCount; ++i)
+		{
+			m_clothMesh.vertices[i].y += 5.0f;
+		}
+
+		// Create cloth
+		b3ClothDef def;
+		def.mesh = &m_clothMesh;
+		def.density = 1.0f;
+		def.streching = 100000.0f;
+		def.thickness = 0.2f;
+		def.friction = 0.3f;
+
+		m_cloth = new b3Cloth(def);
+
+		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
+		m_cloth->SetWorld(&m_world);
+
+		{
+			b3BodyDef bd;
+			bd.type = e_staticBody;
+
+			b3Body* b = m_world.CreateBody(bd);
+
+			b3CapsuleShape capsuleShape;
+			capsuleShape.m_centers[0].Set(0.0f, 0.0f, -5.0f);
+			capsuleShape.m_centers[1].Set(0.0f, 0.0f, 5.0f);
+			capsuleShape.m_radius = 1.0f;;
+
+			b3ShapeDef sd;
+			sd.shape = &capsuleShape;
+			sd.friction = 1.0f;
+
+			b->CreateShape(sd);
+		}
+
+		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
+	}
+
+	~ClothSelfCollision()
+	{
+		delete m_cloth;
+		delete m_clothDragger;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		m_cloth->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_cloth->Draw();
+
+		if (m_clothDragger->IsDragging())
+		{
+			b3Vec3 pA = m_clothDragger->GetPointA();
+			b3Vec3 pB = m_clothDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
+
+		extern u32 b3_clothSolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
+
+		float32 E = m_cloth->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->Drag();
+		}
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_clothDragger->IsDragging() == false)
+		{
+			m_clothDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->StopDragging();
+		}
+	}
+
+	static Test* Create()
+	{
+		return new ClothSelfCollision();
+	}
+
+	b3GridClothMesh<10, 10> m_clothMesh;
+	b3Cloth* m_cloth;
+	b3ClothDragger* m_clothDragger; 
+};
+
+#endif

examples/testbed/tests/cluster.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/collide_test.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -50,13 +50,13 @@ public:
 			g_draw->DrawSegment(pw, pw + wm.points[i].normal, b3Color_white);
 		}
 
-		m_world.DrawShape(m_xfA, m_shapeA);
-		m_world.DrawShape(m_xfB, m_shapeB);
+		m_world.DrawShape(m_xfA, m_shapeA, b3Color_black);
+		m_world.DrawShape(m_xfB, m_shapeB, b3Color_black);
 
 		g_draw->Flush();
 
-		g_draw->DrawSolidShape(m_shapeA, b3Color(1.0f, 1.0f, 1.0f, 0.25f), m_xfA);
-		g_draw->DrawSolidShape(m_shapeB, b3Color(1.0f, 1.0f, 1.0f, 0.25f), m_xfB);
+		m_world.DrawSolidShape(m_xfA, m_shapeA, b3Color(1.0f, 1.0f, 1.0f, 0.25f));
+		m_world.DrawSolidShape(m_xfB, m_shapeB, b3Color(1.0f, 1.0f, 1.0f, 0.25f));
 
 		g_draw->DrawString(b3Color_white, "Left/Right/Up/Down Arrow - Translate shape");
 		g_draw->DrawString(b3Color_white, "X/Y/Z - Rotate shape");

examples/testbed/tests/compound_body.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/cone_test.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/convex_hull.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/deep_capsule.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/degenerate_capsule.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/distance_test.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -68,8 +68,8 @@ public:
 		g_draw->DrawTransform(m_xfA);
 		g_draw->DrawTransform(m_xfB);
 		
-		m_world.DrawShape(m_xfA, &m_shapeA);
-		m_world.DrawShape(m_xfB, &m_shapeB);
+		m_world.DrawShape(m_xfA, &m_shapeA, b3Color_black);
+		m_world.DrawShape(m_xfB, &m_shapeB, b3Color_black);
 
 		g_draw->DrawString(b3Color_white, "Left/Right/Up/Down Arrow - Translate shape");
 		g_draw->DrawString(b3Color_white, "X/Y/Z - Rotate shape");

examples/testbed/tests/gyro_motion.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/hinge_chain.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/hinge_motor.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/hull_collision.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/hull_contact_test.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/initial_overlap.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/jenga.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/linear_motion.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/mass_spring.h

@@ -1,158 +0,0 @@
-/*
-* 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 MASS_SPRING_H
-#define MASS_SPRING_H
-
-class MassSpring : public Test
-{
-public:
-	MassSpring()
-	{
-		m_x.Set(0.0f, 5.0f, 0.0f);
-
-		m_v.SetZero();
-
-		m_k = 100.0f;
-
-		m_iterations = 0;
-	}
-
-	void Solve(float32 h)
-	{
-		// ODE
-		// f(Y) = dY / dt = [v] 
-		//				    [-k * x]
-
-		// 1. Apply Implicit Euler
-		
-		// Y(t + h) = Y(t) + h * f( Y(t + h) )
-		// G( Y(t + h) ) = Y(t + h) - Y(t) - h * f( Y(t + h) ) = 0
-		
-		// 2. Solve G = 0
-		
-		// Newton-Raphson Iteration
-		//
-		// Y(t + h) = 
-		// Y(t + h)_0 - G( Y(t + h)_0 ) / G'( Y(t + h)_0 ) = 
-		// Y(t + h)_0 - G'( Y(t + h)_0 )^-1 * ( Y(t + h)_0 - Y(t) - h * f( Y(t + h)_0 )
-
-		// G'( Y ) = I - h * del_f / del_Y  
-
-		// del_f / del_Y = [del_f1 / del_x del_f1 / del_v] = [0        I]
-		//                 [del_f2 / del_x del_f2 / del_v]   [-k * I   0]
-
-		// G'( Y ) = [I 0] - [0           h * I] =  [I            -h * I]         
-		//	         [0 I]   [-h * k * I      0]    [h * k * I         I]  
-
-		// Compute Jacobian
-		b3Mat33 I = b3Mat33_identity;
-
-		b3Mat33 A, B, C, D;
-
-		A = I;
-		B = -h * I;
-		C = h * m_k * I;
-		D = I;
-
-		// Invert 
-		// Block matrix inversion
-		b3Mat33 invD = b3Inverse(D);
-		b3Mat33 B_invD = B * invD;
-
-		b3Mat33 invJ_A = b3Inverse(A - B_invD * C);
-		b3Mat33 invJ_B = -invJ_A * B_invD;
-		b3Mat33 invJ_C = -invD * C * invJ_A;
-		b3Mat33 invJ_D = invD + invD * C * invJ_A * B_invD;
-
-		// Initial guess 
-		b3Vec3 f1 = m_v;
-		b3Vec3 f2 = -m_k * m_x;
-
-		b3Vec3 Y1 = m_x + h * f1;
-		b3Vec3 Y2 = m_v + h * f2;
-		
-		const float32 kTol = 0.05f;
-
-		const u32 kMaxIterations = 20;
-		
-		float32 eps0 = 0.0f;
-
-		float32 eps1 = B3_MAX_FLOAT;
-
-		m_iterations = 0;
-
-		while (m_iterations < kMaxIterations && eps1 > kTol * kTol * eps0)
-		{	
-			// Evaluate f(Y_n-1)
-			f1 = Y2;
-			f2 = -m_k * Y1;
-			
-			// Residual vector 
-			b3Vec3 G1 = Y1 - m_x - h * f1;
-			b3Vec3 G2 = Y2 - m_v - h * f2;
-
-			eps1 = b3Dot(G1, G1) + b3Dot(G2, G2);
-
-			// Solve Ax = b 
-			b3Vec3 x1 = invJ_A * G1 + invJ_B * G2;
-			b3Vec3 x2 = invJ_C * G1 + invJ_D * G2;
-
-			Y1 -= x1;
-			Y2 -= x2;
-
-			++m_iterations;
-		}
-
-		// Update state
-		m_x = Y1;
-		m_v = Y2;
-	}
-
-	void Step()
-	{
-		float32 h = g_testSettings->inv_hertz;
-
-		Solve(h);
-
-		g_draw->DrawSolidSphere(m_x, 0.25f, b3Color_white);
-		
-		g_draw->DrawSegment(b3Vec3_zero, m_x, b3Color_white);
-
-		g_draw->DrawString(b3Color_white, "Iterations = %u", m_iterations);
-
-		float32 E = 0.5f * b3Dot(m_v, m_v);
-		g_draw->DrawString(b3Color_white, "E = %f", E);
-	}
-
-	static Test* Create()
-	{
-		return new MassSpring();
-	}
-
-	// State
-	b3Vec3 m_x, m_v;
-
-	// Stiffness
-	float32 m_k;
-
-	//
-	u32 m_iterations;
-};
-
-#endif

examples/testbed/tests/mesh_contact_test.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -24,6 +24,8 @@ class MeshContactTest : public Test
 public:
 	MeshContactTest()
 	{
+		m_gridMesh.BuildTree();
+
 		// Transform grid into a terrain
 		for (u32 i = 0; i < m_terrainMesh.vertexCount; ++i)
 		{
@@ -37,7 +39,7 @@ public:
 			m_ground = m_world.CreateBody(bd);
 
 			b3MeshShape ms;
-			ms.m_mesh = &m_groundMesh;
+			ms.m_mesh = &m_gridMesh;
 
 			b3ShapeDef sd;
 			sd.shape = &ms;
@@ -138,7 +140,7 @@ public:
 			if (key == GLFW_KEY_G)
 			{
 				b3MeshShape ms;
-				ms.m_mesh = &m_groundMesh;
+				ms.m_mesh = &m_gridMesh;
 
 				b3ShapeDef sd;
 				sd.shape = &ms;
@@ -176,7 +178,8 @@ public:
 	}
 
 	b3GridMesh<25, 25> m_terrainMesh;
-	
+	b3GridMesh<25, 25> m_gridMesh;
+
 	b3Body* m_ground;
 	b3Body* m_body;
 };

examples/testbed/tests/multiple_pendulum.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/newton_cradle.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/particle_types.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/pinned_cloth.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -19,32 +19,23 @@
 #ifndef PINNED_CLOTH_H
 #define PINNED_CLOTH_H
 
-class PinnedCloth : public ClothTest
+class PinnedCloth : public Test
 {
 public:
-	PinnedCloth() : m_rectangleGarment(5.0f, 5.0f)
+	PinnedCloth()
 	{
-		// Generate 2D mesh
-		m_rectangleGarmentMesh.Set(&m_rectangleGarment, 1.0f);
-
-		// Create 3D mesh
-		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
-		
-		//  
-		b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
-		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
-		{
-			m_rectangleClothMesh.vertices[i] = dq * m_rectangleClothMesh.vertices[i];
-		}
-
+		// Create cloth
 		b3ClothDef def;
-		def.mesh = &m_rectangleClothMesh;
+		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
-		def.structural = 100000.0f;
-		def.damping = 0.0f;
+		def.streching = 100000.0f;
 
-		m_cloth = m_world.CreateCloth(def);
+		m_cloth = new b3Cloth(def);
 
+		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
+		m_cloth->SetWorld(&m_world);
+
+		// Freeze some particles
 		b3AABB3 aabb1;
 		aabb1.m_lower.Set(-5.0f, -1.0f, -6.0f);
 		aabb1.m_upper.Set(5.0f, 1.0f, -4.0f);
@@ -65,23 +56,70 @@ public:
 				p->SetType(e_staticParticle);
 			}
 		}
+		
+		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
+	}
 
+	~PinnedCloth()
+	{
+		delete m_clothDragger;
+		delete m_cloth;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		m_cloth->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_cloth->Draw();
+
+		if (m_clothDragger->IsDragging())
 		{
-			b3BodyDef bd;
-			bd.type = e_dynamicBody;
-			bd.position.Set(0.0f, 5.0f, 0.0f);
+			b3Vec3 pA = m_clothDragger->GetPointA();
+			b3Vec3 pB = m_clothDragger->GetPointB();
 
-			b3Body* b = m_world.CreateBody(bd);
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
 
-			b3SphereShape sphere;
-			sphere.m_center.SetZero();
-			sphere.m_radius = 2.0f;
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
 
-			b3ShapeDef sd;
-			sd.shape = &sphere;
-			sd.density = 1.0f;
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
 
-			b3Shape* s = b->CreateShape(sd);
+		extern u32 b3_clothSolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
+
+		float32 E = m_cloth->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->Drag();
+		}
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_clothDragger->IsDragging() == false)
+		{
+			m_clothDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->StopDragging();
 		}
 	}
 
@@ -90,9 +128,9 @@ public:
 		return new PinnedCloth();
 	}
 
-	b3RectangleGarment m_rectangleGarment;
-	b3GarmentMesh m_rectangleGarmentMesh;
-	b3GarmentClothMesh m_rectangleClothMesh;
+	b3GridClothMesh<10, 10> m_clothMesh;
+	b3Cloth* m_cloth;
+	b3ClothDragger* m_clothDragger;
 };
 
 #endif

examples/testbed/tests/pinned_softbody.h

@@ -0,0 +1,144 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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 PINNED_SOFTBODY_H
+#define PINNED_SOFTBODY_H
+
+#include <testbed/framework/softbody_dragger.h>
+
+class PinnedSoftBody : public Test
+{
+public:
+	PinnedSoftBody()
+	{
+		m_mesh.SetAsSphere(5.0f, 0);
+
+		// Create soft body
+		b3SoftBodyDef def;
+		def.mesh = &m_mesh;
+		def.density = 0.2f;
+		def.E = 1000.0f;
+		def.nu = 0.33f;		
+		def.c_yield = 0.1f;
+		def.c_creep = 0.5f;
+		def.c_max = 1.0f;
+
+		m_body = new b3SoftBody(def);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			b3SoftBodyNode* n = m_body->GetVertexNode(i);
+			n->SetMassDamping(0.2f);
+		}
+
+		u32 pinIndex = ~0;
+		float32 pinDot = -B3_MAX_FLOAT;
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			float32 dot = b3Dot(m_mesh.vertices[i], b3Vec3_y);
+			if (dot > pinDot)
+			{
+				pinDot = dot;
+				pinIndex = i;
+			}
+		}
+
+		b3SoftBodyNode* pinNode = m_body->GetVertexNode(pinIndex);
+		pinNode->SetType(e_staticSoftBodyNode);
+
+		b3Vec3 gravity(0.0f, -9.8f, 0.0f);
+		m_body->SetGravity(gravity);
+
+		m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
+	}
+
+	~PinnedSoftBody()
+	{
+		delete m_bodyDragger;
+		delete m_body;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			m_bodyDragger->Drag();
+		}
+
+		m_body->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_body->Draw();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			b3Vec3 pA = m_bodyDragger->GetPointA();
+			b3Vec3 pB = m_bodyDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
+
+		extern u32 b3_softBodySolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_softBodySolverIterations);
+
+		float32 E = m_body->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_bodyDragger->IsDragging() == false)
+		{
+			m_bodyDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_bodyDragger->IsDragging() == true)
+		{
+			m_bodyDragger->StopDragging();
+		}
+	}
+
+	static Test* Create()
+	{
+		return new PinnedSoftBody();
+	}
+
+	b3QSoftBodyMesh m_mesh;
+
+	b3SoftBody* m_body;
+	b3SoftBodyDragger* m_bodyDragger;
+};
+
+#endif

examples/testbed/tests/point_click.h

@@ -1,98 +0,0 @@
-/*
-* 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 POINT_CLICK_H
-#define POINT_CLICK_H
-
-class PointClick : public Test
-{
-public:
-	PointClick()
-	{
-		{
-			b3BodyDef bdef;
-			b3Body* ground = m_world.CreateBody(bdef);
-
-			b3MeshShape ms;
-			ms.m_mesh = &m_groundMesh;
-
-			b3ShapeDef sd;
-			sd.shape = &ms;
-			
-			ground->CreateShape(sd);
-		}
-
-		{
-			b3BodyDef bdef;
-			bdef.type = b3BodyType::e_dynamicBody;
-			bdef.fixedRotationY = true;
-			bdef.position.Set(0.0f, 5.0f, 0.0f);
-			
-			m_character = m_world.CreateBody(bdef);
-
-			b3CapsuleShape cap;
-			cap.m_centers[0].Set(0.0f, 1.0f, 0.0f);
-			cap.m_centers[1].Set(0.0f, -1.0f, 0.0f);
-			cap.m_radius = 1.0f;
-
-			b3ShapeDef sdef;
-			sdef.shape = ∩
-			sdef.density = 1.0f;
-			sdef.friction = 0.5f;
-
-			m_character->CreateShape(sdef);
-		}
-	}
-
-	void BeginDragging()
-	{
-		if (m_bodyDragger.GetBody() == m_character)
-		{
-			m_bodyDragger.StopDragging();
-		}
-	}
-
-	void Step()
-	{
-		if (m_bodyDragger.IsDragging())
-		{
-			if (m_bodyDragger.GetBody() != m_character)
-			{
-				b3Vec3 p1 = m_character->GetPosition();
-				b3Vec3 p2 = m_bodyDragger.GetPointA();
-				
-				b3Vec3 n = b3Normalize(p2 - p1);
-				const float32 k = 1000.0f;
-				b3Vec3 f = k * n;
-
-				m_character->ApplyForceToCenter(f, true);
-			}
-		}
-
-		Test::Step();
-	}
-
-	static Test* Create()
-	{
-		return new PointClick();
-	}
-
-	b3Body* m_character;
-};
-
-#endif

examples/testbed/tests/pyramid.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/pyramids.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/quadric_shapes.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/ragdoll.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/ray_cast.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -178,8 +178,8 @@ public:
 
 	void CastRay(const b3Vec3 p1, const b3Vec3 p2) const
 	{
-		b3RayCastSingleShapeOutput out;
-		if (m_world.RayCastSingleShape(&out, p1, p2))
+		b3RayCastSingleOutput out;
+		if (m_world.RayCastSingle(&out, p1, p2))
 		{
 			g_draw->DrawSegment(p1, out.point, b3Color_green);
 			

examples/testbed/tests/rope_test.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be hebd liable for any damages

examples/testbed/tests/self_collision.h

@@ -1,82 +0,0 @@
-/*
-* 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 SELF_COLLISION_H
-#define SELF_COLLISION_H
-
-class SelfCollision : public ClothTest
-{
-public:
-	SelfCollision() : m_rectangleGarment(5.0f, 5.0f)
-	{
-		// Generate 2D mesh
-		m_rectangleGarmentMesh.Set(&m_rectangleGarment, 1.0f);
-
-		// Create 3D mesh
-		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
-
-		b3Mat33 Rx = b3Mat33RotationX(0.5f * B3_PI);
-		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
-		{
-			m_rectangleClothMesh.vertices[i] = Rx * m_rectangleClothMesh.vertices[i];
-			m_rectangleClothMesh.vertices[i].y += 5.0f;
-		}
-
-		b3ClothDef def;
-		def.mesh = &m_rectangleClothMesh;
-		def.density = 1.0f;
-		def.structural = 100000.0f;
-		
-		m_cloth = m_world.CreateCloth(def);
-
-		for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
-		{
-			p->SetRadius(0.2f);
-			p->SetFriction(0.2f);
-		}
-
-		{
-			b3BodyDef bd;
-			bd.type = e_staticBody;
-
-			b3Body* b = m_world.CreateBody(bd);
-
-			b3CapsuleShape capsuleShape;
-			capsuleShape.m_centers[0].Set(0.0f, 0.0f, -5.0f);
-			capsuleShape.m_centers[1].Set(0.0f, 0.0f, 5.0f);
-			capsuleShape.m_radius = 1.0f;;
-
-			b3ShapeDef sd;
-			sd.shape = &capsuleShape;
-			sd.friction = 1.0f;
-
-			b->CreateShape(sd);
-		}
-	}
-
-	static Test* Create()
-	{
-		return new SelfCollision();
-	}
-
-	b3RectangleGarment m_rectangleGarment;
-	b3GarmentMesh m_rectangleGarmentMesh;
-	b3GarmentClothMesh m_rectangleClothMesh;
-};
-
-#endif

examples/testbed/tests/sensor_test.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/shape_cast.h

@@ -0,0 +1,121 @@
+#ifndef SHAPE_CAST_H
+#define SHAPE_CAST_H
+
+class ShapeCast : public Test
+{
+public:
+	ShapeCast()
+	{
+		m_shapeA.m_hull = &b3BoxHull_identity;
+		m_shapeA.m_radius = 0.0f;
+
+		m_shapeB.m_hull = &b3BoxHull_identity;
+		m_shapeB.m_radius = 0.0f;
+
+		m_xfA.position.Set(-5.0f, 0.0f, 0.0f);
+		m_xfA.rotation.SetIdentity();
+
+		m_xfB.position.Set(10.0f, 0.0f, 0.0f);
+		m_xfB.rotation.SetIdentity();
+		
+		m_proxyA.Set(&m_shapeA, 0);
+		m_proxyB.Set(&m_shapeB, 0);
+	}
+
+	void Step()
+	{
+		g_draw->DrawString(b3Color_white, "Left/Right/Up/Down Arrow - Translate shape");
+		g_draw->DrawString(b3Color_white, "X/Y/Z - Rotate shape");
+
+		g_draw->DrawTransform(m_xfA);
+		g_draw->DrawTransform(m_xfB);
+
+		m_world.DrawShape(m_xfA, &m_shapeA, b3Color_black);
+		m_world.DrawShape(m_xfB, &m_shapeB, b3Color_black);
+
+		m_world.DrawSolidShape(m_xfA, &m_shapeA, b3Color_white);
+		m_world.DrawSolidShape(m_xfB, &m_shapeB, b3Color_white);
+
+		b3Vec3 translationB = -100.0f * b3Vec3_x;
+		g_draw->DrawSegment(m_xfB.position, m_xfB.position + translationB, b3Color_white);
+
+		b3GJKShapeCastOutput out;
+		bool hit = b3GJKShapeCast(&out, m_xfA, m_proxyA, m_xfB, m_proxyB, translationB);
+
+		g_draw->DrawString(b3Color_white, "Iterations = %d", out.iterations);
+
+		if (hit)
+		{
+			g_draw->DrawPoint(out.point, 4.0f, b3Color_green);
+			g_draw->DrawSegment(out.point, out.point + out.normal, b3Color_green);
+
+			b3Transform xfB;
+			xfB.rotation = m_xfB.rotation;
+			xfB.position = m_xfB.position + out.t * translationB;
+
+			m_world.DrawShape(xfB, &m_shapeB, b3Color_black);
+		}
+	}
+
+	void KeyDown(int key)
+	{
+		if (key == GLFW_KEY_LEFT)
+		{
+			m_xfB.position.x -= 0.105f;
+		}
+
+		if (key == GLFW_KEY_RIGHT)
+		{
+			m_xfB.position.x += 0.105f;
+		}
+
+		if (key == GLFW_KEY_UP)
+		{
+			m_xfB.position.y += 0.105f;
+		}
+
+		if (key == GLFW_KEY_DOWN)
+		{
+			m_xfB.position.y -= 0.105f;
+		}
+
+		if (key == GLFW_KEY_X)
+		{
+			b3Quat qx(b3Vec3(1.0f, 0.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfx = b3QuatMat33(qx);
+
+			m_xfB.rotation = m_xfB.rotation * xfx;
+		}
+
+		if (key == GLFW_KEY_Y)
+		{
+			b3Quat qy(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfy = b3QuatMat33(qy);
+
+			m_xfB.rotation = m_xfB.rotation * xfy;
+		}
+
+		if (key == GLFW_KEY_Z)
+		{
+			b3Quat qy(b3Vec3(0.0f, 0.0f, 1.0f), 0.05f * B3_PI);
+			b3Mat33 xfz = b3QuatMat33(qy);
+
+			m_xfB.rotation = m_xfB.rotation * xfz;
+		}
+	}
+
+	static Test* Create()
+	{
+		return new ShapeCast();
+	}
+
+	b3HullShape m_shapeA;
+	b3Transform m_xfA;
+	b3ShapeGJKProxy m_proxyA;
+
+	b3HullShape m_shapeB;
+	b3Transform m_xfB;
+	b3ShapeGJKProxy m_proxyB;
+};
+
+#endif

examples/testbed/tests/shape_stack.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/sheet_stack.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/shirt.h

@@ -1,73 +0,0 @@
-/*
-* 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 SHIRT_H
-#define SHIRT_H
-
-class Shirt : public ClothTest
-{
-public:
-	Shirt()
-	{
-		// Generate 2D mesh
-		m_shirtGarmentMesh.Set(&m_shirtGarment, 0.1f);
-
-		// Create 3D mesh
-		m_shirtClothMesh.Set(&m_shirtGarmentMesh);
-
-		// Perform fitting
-		for (u32 i = 0; i < 3; ++i)
-		{
-			b3ClothMeshMesh* front = m_shirtClothMesh.meshes + i;
-			for (u32 j = 0; j < front->vertexCount; ++j)
-			{
-				u32 v = front->startVertex + j;
-				m_shirtClothMesh.vertices[v].z = -1.0f;
-			}
-		}
-
-		for (u32 i = 3; i < 6; ++i)
-		{
-			b3ClothMeshMesh* back = m_shirtClothMesh.meshes + i;
-			for (u32 j = 0; j < back->vertexCount; ++j)
-			{
-				u32 v = back->startVertex + j;
-				m_shirtClothMesh.vertices[v].z = 1.0f;
-			}
-		}
-
-		// Create cloth
-		b3ClothDef def;
-		def.mesh = &m_shirtClothMesh;
-		def.density = 0.2f;
-		def.structural = 10000.0f;
-
-		m_cloth = m_world.CreateCloth(def);
-	}
-
-	static Test* Create()
-	{
-		return new Shirt();
-	}
-
-	b3ShirtGarment m_shirtGarment;
-	b3GarmentMesh m_shirtGarmentMesh;
-	b3GarmentClothMesh m_shirtClothMesh;
-};
-
-#endif

examples/testbed/tests/single_pendulum.h

@@ -1,99 +0,0 @@
-/*
-* 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 PENDULUM_H
-#define PENDULUM_H
-
-class SinglePendulum : public Test
-{
-public:
-	SinglePendulum()
-	{
-		m_g = -10.0f;
-
-		m_r = 10.0f;
-		m_m = 1.0f;
-		m_I = m_m * m_r * m_r;
-		
-		// Initial state
-		m_theta = -0.5f * B3_PI;
-		m_omega = 0.0f;
-	}
-
-	void Step()
-	{
-		float32 h = g_testSettings->inv_hertz;
-
-		// Solution (acceleration)
-		float32 omega_dot = -m_g / m_r * sin(m_theta);
-
-		// Integrate acceleration
-		m_omega += h * omega_dot;
-
-		// Integrate velocity
-		m_theta += h * m_omega;
-
-		// Convert from polar coordinates (r, theta) to Cartesian coordinates (x, y)
-		b3Vec3 c;
-		c.x = m_r * sin(m_theta);
-		c.y = m_r * cos(m_theta);
-		c.z = 0.0f;
-		g_draw->DrawSolidSphere(c, 1.0f, b3Color_white);
-
-		b3Vec3 pole;
-		pole.SetZero();
-		g_draw->DrawSegment(pole, c, b3Color_white);
-
-		// Kinetic energy
-		float32 T = 0.5f * m_I * m_omega * m_omega;
-
-		// Potential energy
-		float32 V = -m_m * m_g * m_r * cos(m_theta);
-
-		// Lagrangian
-		float32 L = T - V;
-
-		//
-		g_draw->DrawString(b3Color_white, "T = %f \nV = %f \nL = %f", T, V, L);
-	}
-
-	static Test* Create()
-	{
-		return new SinglePendulum();
-	}
-
-	// Gravity
-	float32 m_g;
-	
-	// Mass, inertia
-	float32 m_m, m_I;
-
-	// Radial coordinate
-	float32 m_r;
-
-	// The allowable generalized coordinate in polar coordinate frame.
-	// Only motions satisfying the constraints can be described 
-	// in this frame. Therefore, all solutions satisfy the constraints.
-	// This is the so called reduced coordinates approach.
-	float32 m_theta;  
-	
-	// Velocity
-	float32 m_omega; 
-};
-
-#endif

examples/testbed/tests/smash_softbody.h

@@ -0,0 +1,175 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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 SMASH_SOFTBODY_H
+#define SMASH_SOFTBODY_H
+
+#include <testbed/framework/softbody_dragger.h>
+
+class SmashSoftBody : public Test
+{
+public:
+	SmashSoftBody()
+	{
+		m_mesh.SetAsSphere(2.0f, 1);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			m_mesh.vertices[i].y += 3.0f;
+		}
+
+		// Create soft body
+		b3SoftBodyDef def;
+		def.mesh = &m_mesh;
+		def.density = 0.2f;
+		def.E = 100.0f;
+		def.nu = 0.33f;
+		def.c_yield = 0.6f;
+		def.c_creep = 1.0f;
+		def.c_max = 1.0f;
+
+		m_body = new b3SoftBody(def);
+
+		b3Vec3 gravity(0.0f, -9.8f, 0.0f);
+		m_body->SetGravity(gravity);
+		m_body->SetWorld(&m_world);
+
+		for (u32 i = 0; i < m_mesh.vertexCount; ++i)
+		{
+			b3SoftBodyNode* n = m_body->GetVertexNode(i);
+
+			n->SetRadius(0.05f);
+			n->SetFriction(0.2f);
+		}
+
+		// Create ground
+		{
+			b3BodyDef bd;
+			bd.type = e_staticBody;
+
+			b3Body* b = m_world.CreateBody(bd);
+
+			b3HullShape groundShape;
+			groundShape.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &groundShape;
+			sd.friction = 0.3f;
+
+			b->CreateShape(sd);
+		}
+
+		// Create body
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.y = 10.0f;
+
+			b3Body* b = m_world.CreateBody(bd);
+
+			static b3BoxHull boxHull(5.0f, 1.0f, 5.0f);
+
+			b3HullShape boxShape;
+			boxShape.m_hull = &boxHull;
+
+			b3ShapeDef sd;
+			sd.shape = &boxShape;
+			sd.density = 0.1f;
+			sd.friction = 0.3f;
+
+			b->CreateShape(sd);
+		}
+		
+		m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
+	}
+
+	~SmashSoftBody()
+	{
+		delete m_bodyDragger;
+		delete m_body;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			m_bodyDragger->Drag();
+		}
+
+		m_body->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_body->Draw();
+
+		if (m_bodyDragger->IsDragging())
+		{
+			b3Vec3 pA = m_bodyDragger->GetPointA();
+			b3Vec3 pB = m_bodyDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
+
+		extern u32 b3_softBodySolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_softBodySolverIterations);
+
+		float32 E = m_body->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_bodyDragger->IsDragging() == false)
+		{
+			m_bodyDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_bodyDragger->IsDragging() == true)
+		{
+			m_bodyDragger->StopDragging();
+		}
+	}
+
+	static Test* Create()
+	{
+		return new SmashSoftBody();
+	}
+
+	b3QSoftBodyMesh m_mesh;
+
+	b3SoftBody* m_body;
+	b3SoftBodyDragger* m_bodyDragger;
+};
+
+#endif

examples/testbed/tests/sphere_stack.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/spring.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/table_cloth.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -19,39 +19,31 @@
 #ifndef TABLE_CLOTH_H
 #define TABLE_CLOTH_H
 
-class TableCloth : public ClothTest
+class TableCloth : public Test
 {
 public:
-	TableCloth() : m_rectangleGarment(5.0f, 5.0f)
+	TableCloth()
 	{
-		// Generate 2D mesh
-		m_rectangleGarmentMesh.Set(&m_rectangleGarment, 1.0f);
-
-		// Create 3D mesh
-		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
-
-		//  
-		b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
-		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
+		// Translate the mesh
+		for (u32 i = 0; i < m_clothMesh.vertexCount; ++i)
 		{
-			m_rectangleClothMesh.vertices[i] = dq * m_rectangleClothMesh.vertices[i];
-			m_rectangleClothMesh.vertices[i].y += 5.0f;
+			m_clothMesh.vertices[i].y += 5.0f;
 		}
-		
+
+		// Create cloth
 		b3ClothDef def;
-		def.mesh = &m_rectangleClothMesh;
+		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
-		def.bending = 10000.0f;
-		def.structural = 10000.0f;
-		def.damping = 0.0f;
+		def.streching = 10000.0f;
+		//def.shearing = 10000.0f;
+		def.damping = 100.0f;
+		def.thickness = 0.2f;
+		def.friction = 0.1f;
 
-		m_cloth = m_world.CreateCloth(def);
+		m_cloth = new b3Cloth(def);
 
-		for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
-		{
-			p->SetRadius(0.2f);
-			p->SetFriction(0.2f);
-		}
+		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
+		m_cloth->SetWorld(&m_world);
 
 		{
 			b3BodyDef bd;
@@ -63,7 +55,6 @@ public:
 
 			b3HullShape tableShape;
 			tableShape.m_hull = &m_tableHull;
-			tableShape.m_radius = 0.2f;
 
 			b3ShapeDef sd;
 			sd.shape = &tableShape;
@@ -71,6 +62,71 @@ public:
 
 			b->CreateShape(sd);
 		}
+
+		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
+	}
+
+	~TableCloth()
+	{
+		delete m_clothDragger;
+		delete m_cloth;
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		m_cloth->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
+		m_cloth->Draw();
+
+		if (m_clothDragger->IsDragging())
+		{
+			b3Vec3 pA = m_clothDragger->GetPointA();
+			b3Vec3 pB = m_clothDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
+		}
+
+		extern u32 b3_clothSolverIterations;
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
+
+		float32 E = m_cloth->GetEnergy();
+		g_draw->DrawString(b3Color_white, "E = %f", E);
+	}
+
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->Drag();
+		}
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_clothDragger->IsDragging() == false)
+		{
+			m_clothDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->StopDragging();
+		}
 	}
 
 	static Test* Create()
@@ -78,10 +134,10 @@ public:
 		return new TableCloth();
 	}
 
-	b3RectangleGarment m_rectangleGarment;
-	b3GarmentMesh m_rectangleGarmentMesh;
-	b3GarmentClothMesh m_rectangleClothMesh;
-	
+	b3GridClothMesh<10, 10> m_clothMesh;
+	b3Cloth* m_cloth;
+	b3ClothDragger* m_clothDragger;
+
 	b3QHull m_tableHull;
 };
 

examples/testbed/tests/tension_mapping.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -55,31 +55,25 @@ static inline b3Color Color(float32 x, float32 a, float32 b)
 	return c;
 }
 
-class TensionMapping : public ClothTest
+class TensionMapping : public Test
 {
 public:
-	TensionMapping() : m_rectangleGarment(5.0f, 5.0f)
+	TensionMapping()
 	{
-		// Generate 2D mesh
-		m_rectangleGarmentMesh.Set(&m_rectangleGarment, 1.0f);
-
-		// Create 3D mesh
-		m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
-		
-		//  
-		b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
-		for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
-		{
-			m_rectangleClothMesh.vertices[i] = dq * m_rectangleClothMesh.vertices[i];
-		}
-
+		// Create cloth
 		b3ClothDef def;
-		def.mesh = &m_rectangleClothMesh;
+		def.mesh = &m_clothMesh;
 		def.density = 0.2f;
-		def.structural = 10000.0f;
+		def.streching = 10000.0f;
+		def.shearing = 5000.0f;
+		def.damping = 100.0f;
 
-		m_cloth = m_world.CreateCloth(def);
+		m_cloth = new b3Cloth(def);
 
+		m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
+		m_cloth->SetWorld(&m_world);
+
+		// Freeze some particles
 		b3AABB3 aabb;
 		aabb.m_lower.Set(-5.0f, -1.0f, -6.0f);
 		aabb.m_upper.Set(5.0f, 1.0f, -4.0f);
@@ -91,12 +85,22 @@ public:
 				p->SetType(e_staticParticle);
 			}
 		}
+
+		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
+	}
+
+	~TensionMapping()
+	{
+		delete m_clothDragger;
+		delete m_cloth;
 	}
 
 	void Step()
 	{
 		Test::Step();
 
+		m_cloth->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
+
 		const b3ClothMesh* mesh = m_cloth->GetMesh();
 
 		b3StackArray<b3Vec3, 256> tension;
@@ -108,29 +112,45 @@ public:
 
 		for (b3Force* f = m_cloth->GetForceList().m_head; f; f = f->GetNext())
 		{
-			if (f->GetType() == e_springForce)
+			if (f->GetType() == e_strechForce)
 			{
-				b3SpringForce* s = (b3SpringForce*)f;
+				b3StrechForce* s = (b3StrechForce*)f;
+				
+				b3ClothTriangle* triangle = s->GetTriangle();
+				u32 triangleIndex = triangle->GetTriangle();
+				b3ClothMeshTriangle* mesh_triangle = m_clothMesh.triangles + triangleIndex;
+				
+				u32 v1 = mesh_triangle->v1;
+				u32 v2 = mesh_triangle->v2;
+				u32 v3 = mesh_triangle->v3;
 
-				u32 v1 = s->GetParticle1()->GetVertex();
-				u32 v2 = s->GetParticle2()->GetVertex();
+				b3Vec3 f1 = s->GetActionForce1();
+				b3Vec3 f2 = s->GetActionForce2();
+				b3Vec3 f3 = s->GetActionForce3();
 
-				tension[v1] += s->GetActionForce();
-				tension[v2] -= s->GetActionForce();
+				tension[v1] += f1;
+				tension[v2] += f2;
+				tension[v3] += f3;
 			}
 		}
 
-		for (u32 i = 0; i < m_rectangleClothMesh.triangleCount; ++i)
+		for (u32 i = 0; i < mesh->triangleCount; ++i)
 		{
-			b3ClothMeshTriangle* t = m_rectangleClothMesh.triangles + i;
+			b3ClothMeshTriangle* t = mesh->triangles + i;
 
-			b3Vec3 v1 = m_cloth->GetVertexParticle(t->v1)->GetPosition();
-			b3Vec3 v2 = m_cloth->GetVertexParticle(t->v2)->GetPosition();
-			b3Vec3 v3 = m_cloth->GetVertexParticle(t->v3)->GetPosition();
+			b3Vec3 v1 = m_cloth->GetParticle(t->v1)->GetPosition();
+			b3Vec3 v2 = m_cloth->GetParticle(t->v2)->GetPosition();
+			b3Vec3 v3 = m_cloth->GetParticle(t->v3)->GetPosition();
+			
+			g_draw->DrawTriangle(v1, v2, v3, b3Color_black);
 
-			b3Draw_draw->DrawSegment(v1, v2, b3Color_black);
-			b3Draw_draw->DrawSegment(v2, v3, b3Color_black);
-			b3Draw_draw->DrawSegment(v3, v1, b3Color_black);
+			b3Vec3 c = (v1 + v2 + v3) / 3.0f;
+
+			float32 s = 0.9f;
+
+			v1 = s * (v1 - c) + c;
+			v2 = s * (v2 - c) + c;
+			v3 = s * (v3 - c) + c;
 
 			b3Vec3 f1 = tension[t->v1];
 			float32 L1 = b3Length(f1);
@@ -143,7 +163,7 @@ public:
 
 			float32 L = (L1 + L2 + L3) / 3.0f;
 
-			const float32 kMaxT = 100000.0f;
+			const float32 kMaxT = 10000.0f;
 			b3Color color = Color(L, 0.0f, kMaxT);
 			
 			b3Vec3 n1 = b3Cross(v2 - v1, v3 - v1);
@@ -151,29 +171,66 @@ public:
 			g_draw->DrawSolidTriangle(n1, v1, v2, v3, color);
 
 			b3Vec3 n2 = -n1;
-			g_draw->DrawSolidTriangle(n2, v1, v3, v2, color);
+			g_draw->DrawSolidTriangle(n2, v3, v2, v1, color);
 		}
 
-		if (m_clothDragger.IsDragging() == true)
+		if (m_clothDragger->IsDragging())
 		{
-			g_draw->DrawSegment(m_clothDragger.GetPointA(), m_clothDragger.GetPointB(), b3Color_white);
+			b3Vec3 pA = m_clothDragger->GetPointA();
+			b3Vec3 pB = m_clothDragger->GetPointB();
+
+			g_draw->DrawPoint(pA, 2.0f, b3Color_green);
+
+			g_draw->DrawPoint(pB, 2.0f, b3Color_green);
+
+			g_draw->DrawSegment(pA, pB, b3Color_white);
 		}
 
 		extern u32 b3_clothSolverIterations;
-		g_draw->DrawString(b3Color_white, "Iterations = %u", b3_clothSolverIterations);
+		g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
 
 		float32 E = m_cloth->GetEnergy();
 		g_draw->DrawString(b3Color_white, "E = %f", E);
 	}
 
+	void MouseMove(const b3Ray3& pw)
+	{
+		Test::MouseMove(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->Drag();
+		}
+	}
+
+	void MouseLeftDown(const b3Ray3& pw)
+	{
+		Test::MouseLeftDown(pw);
+
+		if (m_clothDragger->IsDragging() == false)
+		{
+			m_clothDragger->StartDragging();
+		}
+	}
+
+	void MouseLeftUp(const b3Ray3& pw)
+	{
+		Test::MouseLeftUp(pw);
+
+		if (m_clothDragger->IsDragging() == true)
+		{
+			m_clothDragger->StopDragging();
+		}
+	}
+
 	static Test* Create()
 	{
 		return new TensionMapping();
 	}
 
-	b3RectangleGarment m_rectangleGarment;
-	b3GarmentMesh m_rectangleGarmentMesh;
-	b3GarmentClothMesh m_rectangleClothMesh;
+	b3GridClothMesh<10, 10> m_clothMesh;
+	b3Cloth* m_cloth;
+	b3ClothDragger* m_clothDragger; 
 };
 
 #endif

examples/testbed/tests/tumbler.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/varying_friction.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/varying_restitution.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

examples/testbed/tests/weld_test.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages

include/bounce/bounce.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -56,23 +56,32 @@
 #include <bounce/dynamics/contacts/convex_contact.h>
 #include <bounce/dynamics/contacts/mesh_contact.h>
 
-#include <bounce/dynamics/rope/rope.h>
-
-#include <bounce/garment/sewing_pattern.h>
-#include <bounce/garment/garment.h>
-#include <bounce/garment/garment_mesh.h>
-
-#include <bounce/dynamics/cloth/cloth_mesh.h>
-#include <bounce/dynamics/cloth/cloth.h>
-#include <bounce/dynamics/cloth/particle.h>
-#include <bounce/dynamics/cloth/spring_force.h>
-
 #include <bounce/dynamics/body.h>
 
 #include <bounce/dynamics/world.h>
 #include <bounce/dynamics/world_listeners.h>
 
-#include <bounce/controllers/cloth_dragger.h>
-#include <bounce/controllers/body_dragger.h>
+#include <bounce/rope/rope.h>
+
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/grid_cloth_mesh.h>
+#include <bounce/cloth/garment_cloth_mesh.h>
+#include <bounce/cloth/cloth.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/cloth/cloth_triangle.h>
+
+#include <bounce/cloth/forces/strech_force.h>
+#include <bounce/cloth/forces/shear_force.h>
+#include <bounce/cloth/forces/spring_force.h>
+#include <bounce/cloth/forces/mouse_force.h>
+
+#include <bounce/cloth/garment/sewing_pattern.h>
+#include <bounce/cloth/garment/garment.h>
+#include <bounce/cloth/garment/garment_mesh.h>
+
+#include <bounce/softbody/softbody_mesh.h>
+#include <bounce/softbody/block_softbody_mesh.h>
+#include <bounce/softbody/softbody.h>
+#include <bounce/softbody/softbody_node.h>
 
 #endif

include/bounce/cloth/cloth.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -19,21 +19,21 @@
 #ifndef B3_CLOTH_H
 #define B3_CLOTH_H
 
-#include <bounce/common/math/transform.h>
 #include <bounce/common/template/list.h>
+#include <bounce/common/memory/stack_allocator.h>
 #include <bounce/common/memory/block_pool.h>
+#include <bounce/common/math/transform.h>
+#include <bounce/cloth/cloth_contact_manager.h>
 
 class b3World;
-class b3Shape;
-
-class b3Particle;
-class b3Force;
-class b3BodyContact;
-class b3ParticleContact;
-class b3TriangleContact;
 
 struct b3ParticleDef;
+class b3Particle;
+
 struct b3ForceDef;
+class b3Force;
+
+class b3ClothTriangle;
 
 struct b3ClothMesh;
 
@@ -57,33 +57,62 @@ struct b3ClothDef
 	{
 		mesh = nullptr;
 		density = 0.0f;
-		structural = 0.0f;
+		streching = 0.0f;
+		shearing = 0.0f;
 		bending = 0.0f;
+		sewing = 0.0f;
 		damping = 0.0f;
+		thickness = 0.0f;
+		friction = 0.2f;
 	}
 
 	// Cloth mesh 
 	const b3ClothMesh* mesh;
 
-	// Cloth density in kg/m^3
+	// Cloth density in kg/m^2
 	float32 density;
 
-	// Structural stiffness
-	float32 structural;
+	// Streching stiffness
+	float32 streching;
 
+	// Shearing stiffness
+	float32 shearing;
+	
 	// Bending stiffness
 	float32 bending;
 
+	// Sewing stiffness
+	float32 sewing;
+	
 	// Damping stiffness
 	float32 damping;
+
+	// Cloth thickness
+	float32 thickness;
+
+	// Cloth coefficient of friction
+	float32 friction;
 };
 
 // A cloth represents a deformable surface as a collection of particles.
-// Particles may be connected with each other.
+// Particles may be connected with each other by springs.
 class b3Cloth
 {
 public:
-	// Get the world the cloth belongs to.
+	b3Cloth(const b3ClothDef& def);
+	~b3Cloth();
+
+	// Set the acceleration of gravity.
+	void SetGravity(const b3Vec3& gravity);
+
+	// Get the acceleration of gravity.
+	b3Vec3 GetGravity() const;
+
+	// Attach a world to this cloth. 
+	// The cloth will be able to respond to collisions with the rigid bodies in the attached world.
+	void SetWorld(b3World* world);
+
+	// Get the world attached to this cloth.
 	const b3World* GetWorld() const;
 	b3World* GetWorld();
 
@@ -99,9 +128,6 @@ public:
 	// Destroy a given force.
 	void DestroyForce(b3Force* force);
 
-	// Perform a ray cast with the cloth.
-	void RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2);
-
 	// Perform a ray cast with the cloth.
 	bool RayCastSingle(b3ClothRayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const;
 
@@ -111,8 +137,11 @@ public:
 	// Return the cloth mesh proxy.
 	const b3ClothMesh* GetMesh() const;
 
-	// Return the particle associated with the given vertex.
-	b3Particle* GetVertexParticle(u32 i);
+	// Return the cloth particle given the vertex index.
+	b3Particle* GetParticle(u32 i);
+
+	// Return the cloth triangle given the triangle index.
+	b3ClothTriangle* GetTriangle(u32 i);
 
 	// Return the list of particles in this cloth.
 	const b3List2<b3Particle>& GetParticleList() const;
@@ -123,49 +152,43 @@ public:
 	// Return the kinetic (or dynamic) energy in this system.
 	float32 GetEnergy() const;
 
-	// Get the next cloth in the world cloth list.
-	const b3Cloth* GetNext() const;
-
-	// Get the next cloth in the world cloth list.
-	b3Cloth* GetNext();
+	// Perform a time step. 
+	void Step(float32 dt, u32 velocityIterations, u32 positionIterations);
 
 	// Debug draw the cloth using the associated cloth mesh.
 	void Draw() const;
 private:
-	friend class b3World;
-
-	friend class b3List2<b3Cloth>;
-
-	b3Cloth(const b3ClothDef& def, b3World* world);
-	~b3Cloth();
-
-	// Perform a time step. 
-	// Called only inside b3World.
-	void Step(float32 dt, const b3Vec3& gravity);
+	friend class b3Particle;
+	friend class b3ClothTriangle;
+	friend class b3ShearForce;
+	friend class b3StrechForce;
+	friend class b3SpringForce;
+	friend class b3MouseForce;
+	friend class b3ClothContactManager;
 
 	// Compute mass of each particle.
 	void ComputeMass();
 
-	// Update body contacts. 
-	void UpdateBodyContacts();
-
-	// Update particle contacts. 
-	void UpdateParticleContacts();
-	
-	// Update triangle contacts. 
-	void UpdateTriangleContacts();
-
-	// Update contacts
-	void UpdateContacts();
-
 	// Solve
-	void Solve(float32 dt, const b3Vec3& gravity);
+	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
+
+	// Stack allocator
+	b3StackAllocator m_stackAllocator;
+
+	// The world attached to this cloth
+	b3World* m_world;
+
+	// Gravity acceleration
+	b3Vec3 m_gravity;
 
 	// Proxy mesh
 	const b3ClothMesh* m_mesh;
 	
-	// Vertex particles
-	b3Particle** m_vertexParticles;
+	// Particles
+	b3Particle** m_particles;
+
+	// Triangles
+	b3ClothTriangle* m_triangles;
 
 	// Cloth density
 	float32 m_density;
@@ -173,38 +196,26 @@ private:
 	// Pool of particles
 	b3BlockPool m_particleBlocks;
 
-	// Pool of body contacts
-	b3BlockPool m_bodyContactBlocks;
-	
-	// Pool of particle contacts
-	b3BlockPool m_particleContactBlocks;
-	
-	// Pool of triangle contacts
-	b3BlockPool m_triangleContactBlocks;
-	
 	// List of particles
 	b3List2<b3Particle> m_particleList;
-	
+
 	// List of forces
 	b3List2<b3Force> m_forceList;
 
-	// List of particle contacts
-	b3List2<b3BodyContact> m_bodyContactList;
-	
-	// List of particle contacts
-	b3List2<b3ParticleContact> m_particleContactList;
-	
-	// List of triangle contacts
-	b3List2<b3TriangleContact> m_triangleContactList;
-	
-	// The parent world of this cloth.
-	b3World* m_world;
-	
-	// Links to the world cloth list.
-	b3Cloth* m_prev;
-	b3Cloth* m_next;
+	// Contact manager
+	b3ClothContactManager m_contactManager;
 };
 
+inline void b3Cloth::SetGravity(const b3Vec3& gravity)
+{
+	m_gravity = gravity;
+}
+
+inline b3Vec3 b3Cloth::GetGravity() const
+{
+	return m_gravity;
+}
+
 inline const b3World* b3Cloth::GetWorld() const
 {
 	return m_world;
@@ -230,14 +241,4 @@ inline const b3List2<b3Force>& b3Cloth::GetForceList() const
 	return m_forceList;
 }
 
-inline const b3Cloth* b3Cloth::GetNext() const
-{
-	return m_next;
-}
-
-inline b3Cloth* b3Cloth::GetNext()
-{
-	return m_next;
-}
-
 #endif

include/bounce/cloth/cloth_collision.h

@@ -0,0 +1,38 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_COLLISION_H
+#define B3_CLOTH_COLLISION_H
+
+#include <bounce/common/math/vec3.h>
+
+// Cloth primitive type
+enum b3ClothAABBProxyType
+{
+	e_particleProxy,
+	e_triangleProxy
+};
+
+// Cloth primitive broadphase proxy
+struct b3ClothAABBProxy
+{
+	b3ClothAABBProxyType type;
+	void* owner;
+};
+
+#endif

include/bounce/cloth/cloth_contact_manager.h

@@ -0,0 +1,63 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_CONTACT_MANAGER_H
+#define B3_CLOTH_CONTACT_MANAGER_H
+
+#include <bounce/cloth/contacts/cloth_particle_body_contact.h>
+#include <bounce/cloth/contacts/cloth_particle_triangle_contact.h>
+#include <bounce/collision/broad_phase.h>
+#include <bounce/common/memory/block_pool.h>
+#include <bounce/common/template/list.h>
+
+class b3Cloth;
+
+// Contact delegator for b3Cloth.
+class b3ClothContactManager
+{
+public:
+	b3ClothContactManager();
+
+	void FindNewContacts();
+	
+	void AddPair(void* data1, void* data2);
+	void FindNewClothContacts();
+
+	void AddPSPair(b3Particle* p1, b3Shape* s2);
+	void FindNewBodyContacts();
+
+	void UpdateContacts();
+	void UpdateClothContacts();
+	void UpdateBodyContacts();
+
+	b3ParticleTriangleContact* CreateParticleTriangleContact();
+	void Destroy(b3ParticleTriangleContact* c);
+
+	b3ParticleBodyContact* CreateParticleBodyContact();
+	void Destroy(b3ParticleBodyContact* c);
+
+	b3BlockPool m_particleTriangleContactBlocks;
+	b3BlockPool m_particleBodyContactBlocks;
+
+	b3Cloth* m_cloth;
+	b3BroadPhase m_broadPhase;
+	b3List2<b3ParticleTriangleContact> m_particleTriangleContactList;
+	b3List2<b3ParticleBodyContact> m_particleBodyContactList;
+};
+
+#endif

include/bounce/cloth/cloth_force_solver.h

@@ -0,0 +1,77 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_FORCE_SOLVER_H
+#define B3_CLOTH_FORCE_SOLVER_H
+
+#include <bounce/common/math/mat22.h>
+#include <bounce/common/math/mat33.h>
+
+class b3StackAllocator;
+
+class b3Particle;
+class b3Force;
+
+struct b3DenseVec3;
+struct b3DiagMat33;
+struct b3SparseMat33;
+struct b3SparseMat33View;
+
+struct b3ClothForceSolverDef
+{
+	b3StackAllocator* stack;
+	u32 particleCount;
+	b3Particle** particles;
+	u32 forceCount;
+	b3Force** forces;
+};
+
+struct b3ClothForceSolverData
+{
+	b3DenseVec3* x;
+	b3DenseVec3* v;
+	b3DenseVec3* f;
+	b3DenseVec3* y;
+	b3SparseMat33* dfdx;
+	b3SparseMat33* dfdv;
+	b3DiagMat33* S;
+	b3DenseVec3* z;
+};
+
+class b3ClothForceSolver
+{
+public:
+	b3ClothForceSolver(const b3ClothForceSolverDef& def);
+	~b3ClothForceSolver();
+
+	void Solve(float32 dt, const b3Vec3& gravity);
+private:
+	void ApplyForces();
+
+	b3StackAllocator* m_allocator;
+
+	u32 m_particleCount;
+	b3Particle** m_particles;
+
+	u32 m_forceCount;
+	b3Force** m_forces;
+
+	b3ClothForceSolverData m_solverData;
+};
+
+#endif

include/bounce/cloth/cloth_mesh.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -19,7 +19,6 @@
 #ifndef B3_CLOTH_MESH_H
 #define B3_CLOTH_MESH_H
 
-#include <bounce/common/math/vec2.h>
 #include <bounce/common/math/vec3.h>
 
 struct b3ClothMeshTriangle
@@ -53,16 +52,4 @@ struct b3ClothMesh
 	b3ClothMeshSewingLine* sewingLines;
 };
 
-struct b3GarmentMesh;
-
-// Convenience structure.
-struct b3GarmentClothMesh : public b3ClothMesh
-{
-	b3GarmentClothMesh();
-	~b3GarmentClothMesh();
-
-	// Set this mesh from a 2D garment mesh.
-	void Set(const b3GarmentMesh* garment);
-};
-
 #endif

include/bounce/cloth/cloth_solver.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -25,16 +25,9 @@
 class b3StackAllocator;
 
 class b3Particle;
-class b3Body;
 class b3Force;
-
-struct b3DenseVec3;
-struct b3DiagMat33;
-struct b3SparseSymMat33;
-
-class b3BodyContact;
-class b3ParticleContact;
-class b3TriangleContact;
+class b3ParticleBodyContact;
+class b3ParticleTriangleContact;
 
 struct b3ClothSolverDef
 {
@@ -42,33 +35,9 @@ struct b3ClothSolverDef
 	u32 particleCapacity;
 	u32 forceCapacity;
 	u32 bodyContactCapacity;
-	u32 particleContactCapacity;
 	u32 triangleContactCapacity;
 };
 
-struct b3ClothSolverData
-{
-	b3DenseVec3* x;
-	b3DenseVec3* v;
-	b3DenseVec3* f;
-	b3DenseVec3* y;
-	b3SparseSymMat33* dfdx;
-	b3SparseSymMat33* dfdv;
-	b3DiagMat33* S;
-	b3DenseVec3* z;
-	float32 dt;
-	float32 invdt;
-};
-
-struct b3AccelerationConstraint
-{
-	u32 i1;
-	u32 ndof;
-	b3Vec3 p, q, z;
-
-	void Apply(const b3ClothSolverData* data);
-};
-
 class b3ClothSolver
 {
 public:
@@ -77,21 +46,11 @@ public:
 	
 	void Add(b3Particle* p);
 	void Add(b3Force* f);
-	void Add(b3BodyContact* c);
-	void Add(b3ParticleContact* c);
-	void Add(b3TriangleContact* c);
+	void Add(b3ParticleBodyContact* c);
+	void Add(b3ParticleTriangleContact* c);
 
-	void Solve(float32 dt, const b3Vec3& gravity);
+	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 private:
-	// Apply forces.
-	void ApplyForces();
-	
-	// Apply constraints.
-	void ApplyConstraints();
-
-	// Solve Ax = b.
-	void Solve(b3DenseVec3& x, u32& iterations, const b3SparseSymMat33& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const;
-
 	b3StackAllocator* m_allocator;
 
 	u32 m_particleCapacity;
@@ -101,24 +60,14 @@ private:
 	u32 m_forceCapacity;
 	u32 m_forceCount;
 	b3Force** m_forces;
-	
-	u32 m_constraintCapacity;
-	u32 m_constraintCount;
-	b3AccelerationConstraint* m_constraints;
-	
+
 	u32 m_bodyContactCapacity;
 	u32 m_bodyContactCount;
-	b3BodyContact** m_bodyContacts;
+	b3ParticleBodyContact** m_bodyContacts;
 
-	u32 m_particleContactCapacity;
-	u32 m_particleContactCount;
-	b3ParticleContact** m_particleContacts;
-	
 	u32 m_triangleContactCapacity;
 	u32 m_triangleContactCount;
-	b3TriangleContact** m_triangleContacts;
-	
-	b3ClothSolverData m_solverData;
+	b3ParticleTriangleContact** m_triangleContacts;
 };
 
 #endif

include/bounce/cloth/cloth_triangle.h

@@ -0,0 +1,112 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_TRIANGLE_H
+#define B3_CLOTH_TRIANGLE_H
+
+#include <bounce/cloth/cloth_collision.h>
+
+// A cloth triangle
+class b3ClothTriangle
+{
+public:
+	// Return the triangle index.
+	u32 GetTriangle() const;
+
+	// Set the triangle radius.
+	void SetRadius(float32 radius);
+
+	// Return the triangle radius.
+	float32 GetRadius() const;
+
+	// Set the triangle coefficient of friction.
+	void SetFriction(float32 friction);
+
+	// Return the triangle coefficient of friction.
+	float32 GetFriction() const;
+private:
+	friend class b3Cloth;
+	friend class b3Particle;
+	friend class b3ShearForce;
+	friend class b3StrechForce;
+	friend class b3MouseForce;
+	friend class b3ClothContactManager;
+	friend class b3ParticleTriangleContact;
+	friend class b3ClothSolver;
+	friend class b3ClothContactSolver;
+
+	b3ClothTriangle() { }
+	~b3ClothTriangle() { }
+
+	// Synchronize AABB
+	void Synchronize(const b3Vec3& displacement);
+
+	// Cloth
+	b3Cloth* m_cloth;
+
+	// Triangle index
+	u32 m_triangle;
+
+	// Radius
+	float32 m_radius;
+
+	// Coefficient of friction
+	float32 m_friction;
+
+	// AABB Proxy
+	b3ClothAABBProxy m_aabbProxy;
+
+	// Broadphase ID
+	u32 m_broadPhaseId;
+
+	// Alpha
+	float32 m_alpha;
+
+	// Strech matrix
+	float32 m_du1, m_dv1;
+	float32 m_du2, m_dv2;
+	float32 m_inv_det;
+};
+
+inline u32 b3ClothTriangle::GetTriangle() const
+{
+	return m_triangle;
+}
+
+inline void b3ClothTriangle::SetRadius(float32 radius) 
+{
+	m_radius = radius;
+	Synchronize(b3Vec3_zero);
+}
+
+inline float32 b3ClothTriangle::GetRadius() const
+{
+	return m_radius;
+}
+
+inline void b3ClothTriangle::SetFriction(float32 friction)
+{
+	m_friction = friction;
+}
+
+inline float32 b3ClothTriangle::GetFriction() const
+{
+	return m_friction;
+}
+
+#endif

include/bounce/cloth/contacts/cloth_contact_solver.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -27,11 +27,8 @@ class b3StackAllocator;
 class b3Particle;
 class b3Body;
 
-class b3BodyContact;
-class b3ParticleContact;
-class b3TriangleContact;
-
-struct b3DenseVec3;
+class b3ParticleBodyContact;
+class b3ParticleTriangleContact;
 
 struct b3ClothSolverBodyContactVelocityConstraint
 {
@@ -77,44 +74,11 @@ struct b3ClothSolverBodyContactPositionConstraint
 	b3Vec3 rA;
 	b3Vec3 rB;
 
+	b3Vec3 normalA;
 	b3Vec3 localPointA;
 	b3Vec3 localPointB;
 };
 
-struct b3ClothSolverParticleContactVelocityConstraint
-{
-	u32 indexA;
-	float32 invMassA;
-
-	u32 indexB;
-	float32 invMassB;
-
-	float32 friction;
-
-	b3Vec3 point;
-
-	b3Vec3 normal;
-	float32 normalMass;
-	float32 normalImpulse;
-	float32 velocityBias;
-
-	b3Vec3 tangent1;
-	b3Vec3 tangent2;
-	b3Mat22 tangentMass;
-	b3Vec2 tangentImpulse;
-};
-
-struct b3ClothSolverParticleContactPositionConstraint
-{
-	u32 indexA;
-	float32 invMassA;
-	float32 radiusA;
-
-	u32 indexB;
-	float32 invMassB;
-	float32 radiusB;
-};
-
 struct b3ClothSolverTriangleContactVelocityConstraint
 {
 	u32 indexA;
@@ -126,14 +90,21 @@ struct b3ClothSolverTriangleContactVelocityConstraint
 	float32 invMassC;
 	u32 indexD;
 	float32 invMassD;
+	
+	float32 wB, wC, wD;
 
-	b3Vec3 JA;
-	b3Vec3 JB;
-	b3Vec3 JC;
-	b3Vec3 JD;
-
+	b3Vec3 normal;
 	float32 normalMass;
 	float32 normalImpulse;
+
+	float32 friction;
+
+	b3Vec3 tangent1;
+	b3Vec3 tangent2;
+	float32 tangentMass1;
+	float32 tangentMass2;
+	float32 tangentImpulse1;
+	float32 tangentImpulse2;
 };
 
 struct b3ClothSolverTriangleContactPositionConstraint
@@ -150,24 +121,21 @@ struct b3ClothSolverTriangleContactPositionConstraint
 	float32 invMassD;
 	float32 triangleRadius;
 
-	bool front;
+	float32 wB, wC, wD;
 };
 
 struct b3ClothContactSolverDef
 {
 	b3StackAllocator* allocator;
 	
-	b3DenseVec3* positions;
-	b3DenseVec3* velocities;
+	b3Vec3* positions;
+	b3Vec3* velocities;
 	
 	u32 bodyContactCount;
-	b3BodyContact** bodyContacts;
-	
-	u32 particleContactCount;
-	b3ParticleContact** particleContacts;
+	b3ParticleBodyContact** bodyContacts;
 
 	u32 triangleContactCount;
-	b3TriangleContact** triangleContacts;
+	b3ParticleTriangleContact** triangleContacts;
 };
 
 inline float32 b3MixFriction(float32 u1, float32 u2)
@@ -182,45 +150,31 @@ public:
 	~b3ClothContactSolver();
 
 	void InitializeBodyContactConstraints();
-
-	void InitializeParticleContactConstraints();
-
 	void InitializeTriangleContactConstraints();
 
-	void WarmStart();
+	void WarmStartBodyContactConstraints();
+	void WarmStartTriangleContactConstraints();
 
 	void SolveBodyContactVelocityConstraints();
-
-	void SolveParticleContactVelocityConstraints();
-
 	void SolveTriangleContactVelocityConstraints();
 
 	void StoreImpulses();
 
 	bool SolveBodyContactPositionConstraints();
-
-	bool SolveParticleContactPositionConstraints();
-
 	bool SolveTriangleContactPositionConstraints();
-
 protected:
 	b3StackAllocator* m_allocator;
 
-	b3DenseVec3* m_positions;
-	b3DenseVec3* m_velocities;
+	b3Vec3* m_positions;
+	b3Vec3* m_velocities;
 
 	u32 m_bodyContactCount;
-	b3BodyContact** m_bodyContacts;
+	b3ParticleBodyContact** m_bodyContacts;
 	b3ClothSolverBodyContactVelocityConstraint* m_bodyVelocityConstraints;
 	b3ClothSolverBodyContactPositionConstraint* m_bodyPositionConstraints;
 
-	u32 m_particleContactCount;
-	b3ParticleContact** m_particleContacts;
-	b3ClothSolverParticleContactVelocityConstraint* m_particleVelocityConstraints;
-	b3ClothSolverParticleContactPositionConstraint* m_particlePositionConstraints;
-
 	u32 m_triangleContactCount;
-	b3TriangleContact** m_triangleContacts;
+	b3ParticleTriangleContact** m_triangleContacts;
 	b3ClothSolverTriangleContactVelocityConstraint* m_triangleVelocityConstraints;
 	b3ClothSolverTriangleContactPositionConstraint* m_trianglePositionConstraints;
 };

include/bounce/cloth/contacts/cloth_particle_body_contact.h

@@ -0,0 +1,76 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_PARTICLE_BODY_CONTACT_H
+#define B3_CLOTH_PARTICLE_BODY_CONTACT_H
+
+#include <bounce/common/template/list.h>
+#include <bounce/common/math/vec2.h>
+#include <bounce/common/math/vec3.h>
+#include <bounce/common/math/transform.h>
+
+class b3Particle;
+class b3Shape;
+
+// A contact between a particle and a body
+class b3ParticleBodyContact
+{
+public:
+private:
+	friend class b3List2<b3ParticleBodyContact>;
+	friend class b3Cloth;
+	friend class b3Particle;
+	friend class b3ClothContactManager;
+	friend class b3ClothSolver;
+	friend class b3ClothContactSolver;
+	friend struct b3ParticleBodyContactWorldPoint;
+
+	b3ParticleBodyContact() { }
+	~b3ParticleBodyContact() { }
+
+	void Update();
+
+	b3Particle* m_p1;
+	b3Shape* m_s2;
+
+	bool m_active;
+	
+	// Contact constraint
+	b3Vec3 m_normal1;
+	b3Vec3 m_localPoint1;
+	b3Vec3 m_localPoint2;
+	float32 m_normalImpulse;
+
+	// Friction constraint
+	b3Vec3 m_tangent1, m_tangent2;
+	b3Vec2 m_tangentImpulse;
+
+	b3ParticleBodyContact* m_prev;
+	b3ParticleBodyContact* m_next;
+};
+
+struct b3ParticleBodyContactWorldPoint
+{
+	void Initialize(const b3ParticleBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
+
+	b3Vec3 point;
+	b3Vec3 normal;
+	float32 separation;
+};
+
+#endif

include/bounce/cloth/contacts/cloth_particle_triangle_contact.h

@@ -0,0 +1,65 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_PARTICLE_TRIANGLE_CONTACT_H
+#define B3_CLOTH_PARTICLE_TRIANGLE_CONTACT_H
+
+#include <bounce/common/template/list.h>
+
+class b3Particle;
+class b3ClothTriangle;
+
+// Contact between particle and a triangle
+class b3ParticleTriangleContact
+{
+public:
+private:
+	friend class b3List2<b3ParticleTriangleContact>;
+	friend class b3Cloth;
+	friend class b3Particle;
+	friend class b3ClothTriangle;
+	friend class b3ClothContactManager;
+	friend class b3ClothContactSolver;
+
+	b3ParticleTriangleContact() { }
+	~b3ParticleTriangleContact() { }
+
+	void Update();
+
+	// Particle
+	b3Particle* m_p1;
+
+	// Triangle
+	b3ClothTriangle* m_t2;
+	b3Particle* m_p2;
+	b3Particle* m_p3;
+	b3Particle* m_p4;
+
+	float32 m_w2, m_w3, m_w4;
+
+	float32 m_normalImpulse;
+	float32 m_tangentImpulse1;
+	float32 m_tangentImpulse2;
+
+	bool m_active;
+
+	b3ParticleTriangleContact* m_prev;
+	b3ParticleTriangleContact* m_next;
+};
+
+#endif

include/bounce/cloth/forces/force.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -22,16 +22,17 @@
 #include <bounce/common/math/transform.h>
 #include <bounce/common/template/list.h>
 
-struct b3ClothSolverData;
+struct b3ClothForceSolverData;
 
 class b3Particle;
 
 // Force types
 enum b3ForceType
 {
-	e_frictionForce,
+	e_strechForce,
+	e_shearForce,
 	e_springForce,
-	e_bendForce,
+	e_mouseForce,
 };
 
 struct b3ForceDef
@@ -48,10 +49,13 @@ public:
 
 	//
 	b3Force* GetNext();
+
+	//
+	virtual bool HasParticle(const b3Particle* particle) const = 0;
 protected:
 	friend class b3List2<b3Force>;
 	friend class b3Cloth;
-	friend class b3ClothSolver;
+	friend class b3ClothForceSolver;
 	friend class b3Particle;
 
 	static b3Force* Create(const b3ForceDef* def);
@@ -60,7 +64,7 @@ protected:
 	b3Force() { }
 	virtual ~b3Force() { }
 
-	virtual void Apply(const b3ClothSolverData* data) = 0;
+	virtual void Apply(const b3ClothForceSolverData* data) = 0;
 
 	// Force type
 	b3ForceType m_type;

include/bounce/cloth/forces/mouse_force.h

@@ -0,0 +1,140 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_MOUSE_FORCE_H
+#define B3_MOUSE_FORCE_H
+
+#include <bounce/cloth/forces/force.h>
+
+class b3ClothTriangle;
+
+struct b3MouseForceDef : public b3ForceDef
+{
+	b3MouseForceDef()
+	{
+		type = e_mouseForce;
+	}
+
+	// Particle
+	b3Particle* particle;
+
+	// Triangle
+	b3ClothTriangle* triangle;
+
+	// Barycentric coordinates on triangle
+	float32 w2, w3, w4;
+
+	// Mouse stiffness
+	float32 mouse;
+
+	// Damping stiffness
+	float32 damping;
+};
+
+// Mouse force acting on a particle and triangle.
+class b3MouseForce : public b3Force
+{
+public:
+	bool HasParticle(const b3Particle* particle) const;
+
+	b3Particle* GetParticle() const;
+	
+	b3ClothTriangle* GetTriangle() const;
+
+	float32 GetMouseStiffness() const;
+
+	float32 GetDampingStiffness() const;
+
+	b3Vec3 GetActionForce1() const;
+
+	b3Vec3 GetActionForce2() const;
+
+	b3Vec3 GetActionForce3() const;
+
+	b3Vec3 GetActionForce4() const;
+private:
+	friend class b3Force;
+	friend class b3Cloth;
+
+	b3MouseForce(const b3MouseForceDef* def);
+	~b3MouseForce();
+
+	void Apply(const b3ClothForceSolverData* data);
+
+	// Solver shared
+
+	// Particle
+	b3Particle* m_particle;
+	
+	// Triangle
+	b3ClothTriangle* m_triangle;
+
+	// Barycentric coordinates
+	float32 m_w2, m_w3, m_w4;
+
+	// Mouse stiffness
+	float32 m_km;
+
+	// Damping stiffness
+	float32 m_kd;
+
+	// Action forces
+	b3Vec3 m_f1, m_f2, m_f3, m_f4;
+};
+
+inline b3Particle* b3MouseForce::GetParticle() const
+{
+	return m_particle;
+}
+
+inline b3ClothTriangle* b3MouseForce::GetTriangle() const
+{
+	return m_triangle;
+}
+
+inline float32 b3MouseForce::GetMouseStiffness() const
+{
+	return m_km;
+}
+
+inline float32 b3MouseForce::GetDampingStiffness() const
+{
+	return m_kd;
+}
+
+inline b3Vec3 b3MouseForce::GetActionForce1() const
+{
+	return m_f1;
+}
+
+inline b3Vec3 b3MouseForce::GetActionForce2() const
+{
+	return m_f2;
+}
+
+inline b3Vec3 b3MouseForce::GetActionForce3() const
+{
+	return m_f3;
+}
+
+inline b3Vec3 b3MouseForce::GetActionForce4() const
+{
+	return m_f4;
+}
+
+#endif

include/bounce/cloth/forces/shear_force.h

@@ -0,0 +1,114 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_SHEAR_FORCE_H
+#define B3_SHEAR_FORCE_H
+
+#include <bounce/cloth/forces/force.h>
+
+class b3ClothTriangle;
+
+struct b3ShearForceDef : public b3ForceDef
+{
+	b3ShearForceDef()
+	{
+		type = e_shearForce;
+	}
+
+	// Triangle
+	b3ClothTriangle* triangle;
+
+	// Shearing stiffness
+	float32 shearing;
+
+	// Damping stiffness
+	float32 damping;
+};
+
+// Shear force acting on a cloth triangle.
+class b3ShearForce : public b3Force
+{
+public:
+	bool HasParticle(const b3Particle* particle) const;
+
+	b3ClothTriangle* GetTriangle() const;
+
+	float32 GetShearingStiffness() const;
+
+	float32 GetDampingStiffness() const;
+
+	b3Vec3 GetActionForce1() const;
+
+	b3Vec3 GetActionForce2() const;
+
+	b3Vec3 GetActionForce3() const;
+private:
+	friend class b3Force;
+	friend class b3Cloth;
+
+	b3ShearForce(const b3ShearForceDef* def);
+	~b3ShearForce();
+
+	void Apply(const b3ClothForceSolverData* data);
+
+	// Solver shared
+
+	// Triangle
+	b3ClothTriangle* m_triangle;
+
+	// Shearing stiffness
+	float32 m_ks;
+
+	// Damping stiffness
+	float32 m_kd;
+
+	// Action forces
+	b3Vec3 m_f1, m_f2, m_f3;
+};
+
+inline b3ClothTriangle* b3ShearForce::GetTriangle() const
+{
+	return m_triangle;
+}
+
+inline float32 b3ShearForce::GetShearingStiffness() const
+{
+	return m_ks;
+}
+
+inline float32 b3ShearForce::GetDampingStiffness() const
+{
+	return m_kd;
+}
+
+inline b3Vec3 b3ShearForce::GetActionForce1() const
+{
+	return m_f1;
+}
+
+inline b3Vec3 b3ShearForce::GetActionForce2() const
+{
+	return m_f2;
+}
+
+inline b3Vec3 b3ShearForce::GetActionForce3() const
+{
+	return m_f3;
+}
+
+#endif

include/bounce/cloth/forces/spring_force.h

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
@@ -19,7 +19,7 @@
 #ifndef B3_SPRING_FORCE_H
 #define B3_SPRING_FORCE_H
 
-#include <bounce/dynamics/cloth/force.h>
+#include <bounce/cloth/forces/force.h>
 
 struct b3SpringForceDef : public b3ForceDef
 {
@@ -67,6 +67,8 @@ public:
 	float32 GetDampingStiffness() const;
 
 	b3Vec3 GetActionForce() const;
+
+	bool HasParticle(const b3Particle* particle) const;
 private:
 	friend class b3Force;
 	friend class b3Cloth;
@@ -74,7 +76,7 @@ private:
 	b3SpringForce(const b3SpringForceDef* def);
 	~b3SpringForce();
 
-	void Apply(const b3ClothSolverData* data);
+	void Apply(const b3ClothForceSolverData* data);
 
 	// Solver shared
 
@@ -127,4 +129,9 @@ inline b3Vec3 b3SpringForce::GetActionForce() const
 	return m_f;
 }
 
+inline bool b3SpringForce::HasParticle(const b3Particle* particle) const
+{
+	return m_p1 == particle || m_p2 == particle;
+}
+
 #endif

include/bounce/cloth/forces/strech_force.h

@@ -0,0 +1,126 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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_STRECH_FORCE_H
+#define B3_STRECH_FORCE_H
+
+#include <bounce/cloth/forces/force.h>
+
+class b3ClothTriangle;
+
+struct b3StrechForceDef : public b3ForceDef
+{
+	b3StrechForceDef()
+	{
+		type = e_strechForce;
+	}
+
+	// Triangle
+	b3ClothTriangle* triangle;
+
+	// Streching stiffness
+	float32 streching;
+
+	// Damping stiffness
+	float32 damping;
+	
+	// Desired strechiness in u direction
+	float32 bu;
+
+	// Desired strechiness in v direction
+	float32 bv;
+};
+
+// Strech force acting on a cloth triangle.
+class b3StrechForce : public b3Force
+{
+public:
+	bool HasParticle(const b3Particle* particle) const;
+
+	b3ClothTriangle* GetTriangle() const;
+
+	float32 GetStrechingStiffness() const;
+
+	float32 GetDampingStiffness() const;
+	
+	b3Vec3 GetActionForce1() const;
+
+	b3Vec3 GetActionForce2() const;
+	
+	b3Vec3 GetActionForce3() const;
+private:
+	friend class b3Force;
+	friend class b3Cloth;
+
+	b3StrechForce(const b3StrechForceDef* def);
+	~b3StrechForce();
+
+	void Apply(const b3ClothForceSolverData* data);
+
+	// Solver shared
+
+	// Triangle
+	b3ClothTriangle* m_triangle;
+
+	// Streching stiffness
+	float32 m_ks;
+
+	// Damping stiffness
+	float32 m_kd;
+	
+	// Desired strechiness in u direction
+	float32 m_bu;
+
+	// Desired strechiness in v direction
+	float32 m_bv;
+
+	// Action forces
+	b3Vec3 m_f1, m_f2, m_f3;
+};
+
+inline b3ClothTriangle* b3StrechForce::GetTriangle() const
+{
+	return m_triangle;
+}
+
+inline float32 b3StrechForce::GetStrechingStiffness() const
+{
+	return m_ks;
+}
+
+inline float32 b3StrechForce::GetDampingStiffness() const
+{
+	return m_kd;
+}
+
+inline b3Vec3 b3StrechForce::GetActionForce1() const
+{
+	return m_f1;
+}
+
+inline b3Vec3 b3StrechForce::GetActionForce2() const
+{
+	return m_f2;
+}
+
+inline b3Vec3 b3StrechForce::GetActionForce3() const
+{
+	return m_f3;
+}
+
+#endif