Organize cloth contacts

include/bounce/cloth/cloth_contact.h

@@ -0,0 +1,64 @@
+/*
+* 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_H
+#define B3_CLOTH_CONTACT_H
+
+#include <bounce/common/template/list.h>
+
+class b3Particle;
+struct b3ClothMeshTriangle;
+struct b3ClothAABBProxy;
+
+// Contact between particle and a triangle
+class b3ParticleTriangleContact
+{
+public:
+private:
+	friend class b3Cloth;
+	friend class b3Particle;
+	friend class b3ClothContactManager;
+	friend class b3List2<b3ParticleTriangleContact>;
+	friend class b3ClothContactSolver;
+
+	b3ParticleTriangleContact() { }
+	~b3ParticleTriangleContact() { }
+
+	void Update();
+
+	// Particle
+	b3Particle* m_p1;
+
+	// Triangle
+	b3ClothMeshTriangle* m_triangle;
+	b3ClothAABBProxy* m_triangleProxy;
+	b3Particle* m_p2;
+	b3Particle* m_p3;
+	b3Particle* m_p4;
+
+	float32 m_normalImpulse;
+
+	bool m_front;
+
+	bool m_active;
+
+	b3ParticleTriangleContact* m_prev;
+	b3ParticleTriangleContact* m_next;
+};
+
+#endif

include/bounce/cloth/cloth_contact_manager.h

@@ -19,36 +19,12 @@
 #ifndef B3_CLOTH_CONTACT_MANAGER_H
 #define B3_CLOTH_CONTACT_MANAGER_H
 
+#include <bounce/cloth/cloth_contact.h>
+#include <bounce/collision/broad_phase.h>
 #include <bounce/common/memory/block_pool.h>
 #include <bounce/common/template/list.h>
-#include <bounce/collision/broad_phase.h>
 
 class b3Cloth;
-class b3Particle;
-struct b3ClothMeshTriangle;
-struct b3ClothAABBProxy;
-
-// Contact between particle and a triangle
-class b3ParticleTriangleContact
-{
-public:
-	b3Particle* m_p1;
-	
-	b3ClothMeshTriangle* m_triangle;
-	b3ClothAABBProxy* m_triangleProxy;
-	b3Particle* m_p2;
-	b3Particle* m_p3;
-	b3Particle* m_p4;
-
-	bool m_front;
-	
-	bool m_active;
-
-	float32 m_normalImpulse;
-
-	b3ParticleTriangleContact* m_prev;
-	b3ParticleTriangleContact* m_next;
-};
 
 // Contact delegator for b3Cloth.
 class b3ClothContactManager
@@ -63,18 +39,13 @@ public:
 
 	void UpdateContacts();
 
-	b3ParticleTriangleContact* Create();
+	b3ParticleTriangleContact* CreateParticleTriangleContact();
-	
 	void Destroy(b3ParticleTriangleContact* c);
 
-	void Update(b3ParticleTriangleContact* c);
-
-	b3Cloth* m_cloth;
-
 	b3BlockPool m_particleTriangleContactBlocks;
 	
+	b3Cloth* m_cloth;
 	b3BroadPhase m_broadPhase;
-
 	b3List2<b3ParticleTriangleContact> m_particleTriangleContactList;
 };
 

include/bounce/cloth/particle.h

@@ -19,10 +19,10 @@
 #ifndef B3_PARTICLE_H
 #define B3_PARTICLE_H
 
+#include <bounce/cloth/force.h>
 #include <bounce/common/math/transform.h>
 #include <bounce/common/math/vec2.h>
 #include <bounce/common/template/list.h>
-#include <bounce/cloth/force.h>
 
 class b3Shape;
 class b3Cloth;
@@ -91,12 +91,14 @@ struct b3ParticleBodyContactWorldPoint
 	float32 separation;
 };
 
+// Cloth primitive type
 enum b3ClothAABBProxyType
 {
 	e_particleProxy,
 	e_triangleProxy
 };
 
+// Cloth primitive broadphase proxy
 struct b3ClothAABBProxy
 {
 	b3ClothAABBProxyType type;
@@ -160,6 +162,7 @@ private:
 	friend class b3Cloth;
 	friend class b3ClothSolver;
 	friend class b3ClothContactManager;
+	friend class b3ParticleTriangleContact;
 	friend class b3ClothContactSolver;
 	friend class b3Force;
 	friend class b3SpringForce;
@@ -226,10 +229,8 @@ private:
 	// AABB Proxy
 	b3ClothAABBProxy m_aabbProxy;
 
-	// 
+	// Links to the cloth particle list.
 	b3Particle* m_prev;
-
-	//
 	b3Particle* m_next;
 };
 

src/bounce/cloth/cloth_contact.cpp

@@ -0,0 +1,183 @@
+/*
+* 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 <bounce/cloth/cloth_contact.h>
+#include <bounce/cloth/cloth_mesh.h>
+#include <bounce/cloth/particle.h>
+#include <bounce/common/geometry.h>
+
+// 
+static void b3Solve3(float32 out[3],
+	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
+	const b3Vec3& Q)
+{
+	// Test vertex regions
+	float32 wAB[3], wBC[3], wCA[3];
+	b3BarycentricCoordinates(wAB, A, B, Q);
+	b3BarycentricCoordinates(wBC, B, C, Q);
+	b3BarycentricCoordinates(wCA, C, A, Q);
+
+	// R A
+	if (wAB[1] <= 0.0f && wCA[0] <= 0.0f)
+	{
+		out[0] = 1.0f;
+		out[1] = 0.0f;
+		out[2] = 0.0f;
+		return;
+	}
+
+	// R B
+	if (wAB[0] <= 0.0f && wBC[1] <= 0.0f)
+	{
+		out[0] = 0.0f;
+		out[1] = 1.0f;
+		out[2] = 0.0f;
+		return;
+	}
+
+	// R C
+	if (wBC[0] <= 0.0f && wCA[1] <= 0.0f)
+	{
+		out[0] = 0.0f;
+		out[1] = 0.0f;
+		out[2] = 1.0f;
+		return;
+	}
+
+	// Test edge regions		
+	float32 wABC[4];
+	b3BarycentricCoordinates(wABC, A, B, C, Q);
+
+	// R AB
+	if (wAB[0] > 0.0f && wAB[1] > 0.0f && wABC[3] * wABC[2] <= 0.0f)
+	{
+		float32 divisor = wAB[2];
+		B3_ASSERT(divisor > 0.0f);
+		float32 s = 1.0f / divisor;
+		out[0] = s * wAB[0];
+		out[1] = s * wAB[1];
+		out[2] = 0.0f;
+		return;
+	}
+
+	// R BC
+	if (wBC[0] > 0.0f && wBC[1] > 0.0f && wABC[3] * wABC[0] <= 0.0f)
+	{
+		float32 divisor = wBC[2];
+		B3_ASSERT(divisor > 0.0f);
+		float32 s = 1.0f / divisor;
+		out[0] = 0.0f;
+		out[1] = s * wBC[0];
+		out[2] = s * wBC[1];
+		return;
+	}
+
+	// R CA
+	if (wCA[0] > 0.0f && wCA[1] > 0.0f && wABC[3] * wABC[1] <= 0.0f)
+	{
+		float32 divisor = wCA[2];
+		B3_ASSERT(divisor > 0.0f);
+		float32 s = 1.0f / divisor;
+		out[0] = s * wCA[1];
+		out[1] = 0.0f;
+		out[2] = s * wCA[0];
+		return;
+	}
+
+	// R ABC/ACB
+	float32 divisor = wABC[3];
+	if (divisor == 0.0f)
+	{
+		float32 s = 1.0f / 3.0f;
+		out[0] = s;
+		out[1] = s;
+		out[2] = s;
+		return;
+	}
+
+	B3_ASSERT(divisor > 0.0f);
+	float32 s = 1.0f / divisor;
+	out[0] = s * wABC[0];
+	out[1] = s * wABC[1];
+	out[2] = s * wABC[2];
+}
+
+void b3ParticleTriangleContact::Update()
+{
+	b3Vec3 A = m_p2->m_position;
+	b3Vec3 B = m_p3->m_position;
+	b3Vec3 C = m_p4->m_position;
+
+	b3Vec3 N = b3Cross(B - A, C - A);
+	float32 len = N.Normalize();
+
+	// Is ABC degenerate?
+	if (len == 0.0f)
+	{
+		m_active = false;
+		return;
+	}
+
+	float32 r1 = m_p1->m_radius;
+	float32 r2 = 0.0f;
+
+	float32 totalRadius = r1 + r2;
+
+	b3Vec3 P1 = m_p1->m_position;
+
+	float32 distance = b3Dot(N, P1 - A);
+
+	// Is P1 below the plane?
+	if (distance < -totalRadius)
+	{
+		m_active = false;
+		return;
+	}
+
+	// Is P1 above the plane?
+	if (distance > totalRadius)
+	{
+		m_active = false;
+		return;
+	}
+
+	// Closest point on ABC to P1
+	float32 wABC[3];
+	b3Solve3(wABC, A, B, C, P1);
+
+	b3Vec3 P2 = wABC[0] * A + wABC[1] * B + wABC[2] * C;
+
+	if (b3DistanceSquared(P1, P2) > totalRadius * totalRadius)
+	{
+		m_active = false;
+		return;
+	}
+
+	// Activate the contact
+	m_active = true;
+
+	// Is P1 in front or back of the plane? 
+	if (distance >= 0.0f)
+	{
+		m_front = true;
+	}
+	else
+	{
+		m_front = false;
+	}
+}

src/bounce/cloth/cloth_contact_manager.cpp

@@ -93,26 +93,23 @@ void b3ClothContactManager::AddPair(void* data1, void* data2)
 	}
 	
 	// Create a new contact.
-	b3ParticleTriangleContact* c = Create();
+	b3ParticleTriangleContact* c = CreateParticleTriangleContact();
 
 	c->m_p1 = p1;
-	
+	c->m_triangle = triangle;
+	c->m_triangleProxy = proxy2;
 	c->m_p2 = p2;
 	c->m_p3 = p3;
 	c->m_p4 = p4;
-	c->m_triangle = triangle;
+	c->m_normalImpulse = 0.0f;
-	c->m_triangleProxy = proxy2;
-
 	c->m_front = false;
 	c->m_active = false;
 
-	c->m_normalImpulse = 0.0f;
-
 	// Add the contact to the cloth contact list.
 	m_particleTriangleContactList.PushFront(c);
 }
 
-b3ParticleTriangleContact* b3ClothContactManager::Create()
+b3ParticleTriangleContact* b3ClothContactManager::CreateParticleTriangleContact()
 {
 	void* block = m_particleTriangleContactBlocks.Allocate();
 	return new(block) b3ParticleTriangleContact();
@@ -127,177 +124,11 @@ void b3ClothContactManager::Destroy(b3ParticleTriangleContact* c)
 	m_particleTriangleContactBlocks.Free(c);
 }
 
-static void b3Solve3(float32 out[3],
-	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
-	const b3Vec3& Q)
-{
-	// Test vertex regions
-	float32 wAB[3], wBC[3], wCA[3];
-	b3BarycentricCoordinates(wAB, A, B, Q);
-	b3BarycentricCoordinates(wBC, B, C, Q);
-	b3BarycentricCoordinates(wCA, C, A, Q);
-
-	// R A
-	if (wAB[1] <= 0.0f && wCA[0] <= 0.0f)
-	{
-		out[0] = 1.0f;
-		out[1] = 0.0f;
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R B
-	if (wAB[0] <= 0.0f && wBC[1] <= 0.0f)
-	{
-		out[0] = 0.0f;
-		out[1] = 1.0f;
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R C
-	if (wBC[0] <= 0.0f && wCA[1] <= 0.0f)
-	{
-		out[0] = 0.0f;
-		out[1] = 0.0f;
-		out[2] = 1.0f;
-		return;
-	}
-
-	// Test edge regions		
-	float32 wABC[4];
-	b3BarycentricCoordinates(wABC, A, B, C, Q);
-
-	// R AB
-	if (wAB[0] > 0.0f && wAB[1] > 0.0f && wABC[3] * wABC[2] <= 0.0f)
-	{
-		float32 divisor = wAB[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = s * wAB[0];
-		out[1] = s * wAB[1];
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R BC
-	if (wBC[0] > 0.0f && wBC[1] > 0.0f && wABC[3] * wABC[0] <= 0.0f)
-	{
-		float32 divisor = wBC[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = 0.0f;
-		out[1] = s * wBC[0];
-		out[2] = s * wBC[1];
-		return;
-	}
-
-	// R CA
-	if (wCA[0] > 0.0f && wCA[1] > 0.0f && wABC[3] * wABC[1] <= 0.0f)
-	{
-		float32 divisor = wCA[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = s * wCA[1];
-		out[1] = 0.0f;
-		out[2] = s * wCA[0];
-		return;
-	}
-
-	// R ABC/ACB
-	float32 divisor = wABC[3];
-	if (divisor == 0.0f)
-	{
-		float32 s = 1.0f / 3.0f;
-		out[0] = s;
-		out[1] = s;
-		out[2] = s;
-		return;
-	}
-
-	B3_ASSERT(divisor > 0.0f);
-	float32 s = 1.0f / divisor;
-	out[0] = s * wABC[0];
-	out[1] = s * wABC[1];
-	out[2] = s * wABC[2];
-}
-
-void b3ClothContactManager::Update(b3ParticleTriangleContact* c)
-{
-	b3Particle* p1 = c->m_p1;
-	
-	b3Particle* p2 = c->m_p2;
-	b3Particle* p3 = c->m_p3;
-	b3Particle* p4 = c->m_p4;
-
-	float32 r1 = p1->m_radius;
-	float32 r2 = 0.0f;
-
-	float32 totalRadius = r1 + r2;
-
-	b3Vec3 A = p2->m_position;
-	b3Vec3 B = p3->m_position;
-	b3Vec3 C = p4->m_position;
-
-	b3Vec3 n = b3Cross(B - A, C - A);
-	float32 len = n.Normalize();
-
-	// Is ABC degenerate?
-	if (len == 0.0f)
-	{
-		c->m_active = false;
-		return;
-	}
-
-	b3Vec3 P1 = p1->m_position;
-
-	float32 distance = b3Dot(n, P1 - A);
-
-	// Is P1 below the plane?
-	if (distance < -totalRadius)
-	{
-		c->m_active = false;
-		return;
-	}
-
-	// Is P1 above the plane?
-	if (distance > totalRadius)
-	{
-		c->m_active = false;
-		return;
-	}
-
-	// Closest point on ABC to P1
-	float32 wABC[3];
-	b3Solve3(wABC, A, B, C, P1);
-
-	b3Vec3 P2 = wABC[0] * A + wABC[1] * B + wABC[2] * C;
-
-	if (b3DistanceSquared(P1, P2) > totalRadius * totalRadius)
-	{
-		c->m_active = false;
-		return;
-	}
-
-	// Activate the contact
-	c->m_active = true;
-
-	// Is the the other point in front of the plane? 
-	if (distance >= 0.0f)
-	{
-		c->m_front = true;
-	}
-	else
-	{
-		c->m_front = false;
-	}
-}
-
 void b3ClothContactManager::UpdateContacts()
 {
 	B3_PROFILE("Cloth Update Contacts");
 	
-	// Update the state of all triangle contacts.
+	// Update the state of particle-triangle contacts.
 	b3ParticleTriangleContact* c = m_particleTriangleContactList.m_head;
 	while (c)
 	{
@@ -327,7 +158,7 @@ void b3ClothContactManager::UpdateContacts()
 		}
 
 		// The contact persists.
-		Update(c);
+		c->Update();
 
 		c = c->m_next;
 	}