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refactoring

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This commit is contained in:
Irlan 2018-10-08 16:18:28 -03:00
parent b48b16843a
commit f98374143a
47 changed files with 895 additions and 1046 deletions
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98
examples/testbed/framework/body_dragger.cpp Normal file
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@ -0,0 +1,98 @@
/*
* 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.
*/
#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();
}

72
examples/testbed/framework/body_dragger.h Normal file
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@ -0,0 +1,72 @@
/*
* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
#ifndef B3_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

184
examples/testbed/framework/cloth_dragger.cpp Normal file
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@ -0,0 +1,184 @@
/*
* 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.
*/
#include <testbed/framework/cloth_dragger.h>
#include <bounce/common/draw.h>
b3ClothDragger::b3ClothDragger(b3Ray3* ray, b3Cloth* cloth)
{
m_spring = false;
m_ray = ray;
m_cloth = cloth;
m_triangle = nullptr;
}
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_triangle = m_mesh->triangles + rayOut.triangle;
m_x = rayOut.fraction;
b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1);
b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2);
b3Particle* p3 = m_cloth->GetVertexParticle(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_spring)
{
b3ParticleDef pd;
pd.type = e_staticParticle;
pd.position = B;
m_particle = m_cloth->CreateParticle(pd);
{
b3SpringForceDef sfd;
sfd.p1 = m_particle;
sfd.p2 = p1;
sfd.restLength = 0.0f;
sfd.structural = 10000.0f;
m_s1 = (b3SpringForce*)m_cloth->CreateForce(sfd);
}
{
b3SpringForceDef sfd;
sfd.p1 = m_particle;
sfd.p2 = p2;
sfd.restLength = 0.0f;
sfd.structural = 10000.0f;
m_s2 = (b3SpringForce*)m_cloth->CreateForce(sfd);
}
{
b3SpringForceDef sfd;
sfd.p1 = m_particle;
sfd.p2 = p3;
sfd.restLength = 0.0f;
sfd.structural = 10000.0f;
m_s3 = (b3SpringForce*)m_cloth->CreateForce(sfd);
}
}
else
{
m_t1 = p1->GetType();
p1->SetType(e_staticParticle);
m_t2 = p2->GetType();
p2->SetType(e_staticParticle);
m_t3 = p3->GetType();
p3->SetType(e_staticParticle);
}
return true;
}
void b3ClothDragger::Drag()
{
B3_ASSERT(IsDragging() == true);
b3Vec3 A = GetPointA();
b3Vec3 B = GetPointB();
b3Vec3 dx = B - A;
if (m_spring)
{
m_particle->SetPosition(B);
}
else
{
b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1);
p1->ApplyTranslation(dx);
b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2);
p2->ApplyTranslation(dx);
b3Particle* p3 = m_cloth->GetVertexParticle(m_triangle->v3);
p3->ApplyTranslation(dx);
}
}
void b3ClothDragger::StopDragging()
{
B3_ASSERT(IsDragging() == true);
if (m_spring)
{
m_cloth->DestroyForce(m_s1);
m_cloth->DestroyForce(m_s2);
m_cloth->DestroyForce(m_s3);
m_cloth->DestroyParticle(m_particle);
}
else
{
m_cloth->GetVertexParticle(m_triangle->v1)->SetType(m_t1);
m_cloth->GetVertexParticle(m_triangle->v2)->SetType(m_t2);
m_cloth->GetVertexParticle(m_triangle->v3)->SetType(m_t3);
}
m_triangle = nullptr;
}
b3Vec3 b3ClothDragger::GetPointA() const
{
B3_ASSERT(IsDragging() == true);
b3Vec3 A = m_cloth->GetVertexParticle(m_triangle->v1)->GetPosition();
b3Vec3 B = m_cloth->GetVertexParticle(m_triangle->v2)->GetPosition();
b3Vec3 C = m_cloth->GetVertexParticle(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();
}

64
examples/testbed/tests/cloth_test.h → examples/testbed/framework/cloth_dragger.h
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@ -16,37 +16,55 @@
* 3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CLOTH_TESH_H
#define CLOTH_TESH_H
#ifndef B3_CLOTH_DRAGGER_H
#define B3_CLOTH_DRAGGER_H
class ClothTest : public Test
#include <bounce/common/geometry.h>
#include <bounce/cloth/cloth.h>
#include <bounce/cloth/cloth_mesh.h>
#include <bounce/cloth/particle.h>
#include <bounce/cloth/spring_force.h>
// A cloth triangle dragger.
class b3ClothDragger
{
public:
ClothTest()
{
m_world.SetGravity(b3Vec3(0.0f, -10.0f, 0.0f));
m_cloth = nullptr;
}
b3ClothDragger(b3Ray3* ray, b3Cloth* cloth);
~b3ClothDragger();
void Step()
{
Test::Step();
bool IsDragging() const;
m_cloth->Draw();
bool StartDragging();
if (m_clothDragger.IsDragging() == true)
{
g_draw->DrawSegment(m_clothDragger.GetPointA(), m_clothDragger.GetPointB(), b3Color_white);
}
void Drag();
void StopDragging();
b3Vec3 GetPointA() const;
b3Vec3 GetPointB() const;
private:
b3Ray3* m_ray;
float32 m_x;
extern u32 b3_clothSolverIterations;
g_draw->DrawString(b3Color_white, "Iterations = %u", b3_clothSolverIterations);
float32 E = m_cloth->GetEnergy();
g_draw->DrawString(b3Color_white, "E = %f", E);
}
b3Cloth* m_cloth;
const b3ClothMesh* m_mesh;
b3ClothMeshTriangle* m_triangle;
float32 m_u, m_v;
bool m_spring;
b3Particle* m_particle;
b3SpringForce* m_s1;
b3SpringForce* m_s2;
b3SpringForce* m_s3;
b3ParticleType m_t1, m_t2, m_t3;
};
inline bool b3ClothDragger::IsDragging() const
{
return m_triangle != nullptr;
}
#endif

29
examples/testbed/framework/test.cpp
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@ -18,7 +18,6 @@
#include <testbed/framework/test.h>
#include <testbed/framework/profiler.h>
#include <imgui/imgui.h>
extern u32 b3_allocCalls, b3_maxAllocCalls;
extern u32 b3_convexCalls, b3_convexCacheHits;
@ -36,8 +35,7 @@ void b3EndProfileScope()
}
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;
@ -115,11 +113,6 @@ 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)
@ -130,11 +123,6 @@ void Test::MouseMove(const b3Ray3& pw)
{
m_bodyDragger.Drag();
}
if (m_clothDragger.IsDragging() == true)
{
m_clothDragger.Drag();
}
}
void Test::MouseLeftDown(const b3Ray3& pw)
@ -146,14 +134,6 @@ void Test::MouseLeftDown(const b3Ray3& pw)
BeginDragging();
}
}
if (m_clothDragger.IsDragging() == false)
{
if (m_clothDragger.StartDragging() == true)
{
BeginDragging();
}
}
}
void Test::MouseLeftUp(const b3Ray3& pw)
@ -164,11 +144,4 @@ void Test::MouseLeftUp(const b3Ray3& pw)
EndDragging();
}
if (m_clothDragger.IsDragging() == true)
{
m_clothDragger.StopDragging();
EndDragging();
}
}

29
examples/testbed/framework/test.h
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@ -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;

1
examples/testbed/framework/test_entries.cpp
View File

@ -60,7 +60,6 @@
#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>

87
examples/testbed/tests/pinned_cloth.h
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@ -19,7 +19,7 @@
#ifndef PINNED_CLOTH_H
#define PINNED_CLOTH_H
class PinnedCloth : public ClothTest
class PinnedCloth : public Test
{
public:
PinnedCloth() : m_rectangleGarment(5.0f, 5.0f)
@ -30,21 +30,26 @@ public:
// Create 3D mesh
m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
//
b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
// Rotate the mesh
b3Mat33 rotation = b3Mat33RotationX(0.5f * B3_PI);
for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
{
m_rectangleClothMesh.vertices[i] = dq * m_rectangleClothMesh.vertices[i];
m_rectangleClothMesh.vertices[i] = rotation * m_rectangleClothMesh.vertices[i];
}
// Create cloth
b3ClothDef def;
def.mesh = &m_rectangleClothMesh;
def.density = 0.2f;
def.structural = 100000.0f;
def.damping = 0.0f;
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 +70,70 @@ 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);
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();
}
}
@ -93,6 +145,9 @@ public:
b3RectangleGarment m_rectangleGarment;
b3GarmentMesh m_rectangleGarmentMesh;
b3GarmentClothMesh m_rectangleClothMesh;
b3Cloth* m_cloth;
b3ClothDragger* m_clothDragger;
};
#endif

4
examples/testbed/tests/ray_cast.h
View File

@ -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);

83
examples/testbed/tests/self_collision.h
View File

@ -19,7 +19,7 @@
#ifndef SELF_COLLISION_H
#define SELF_COLLISION_H
class SelfCollision : public ClothTest
class SelfCollision : public Test
{
public:
SelfCollision() : m_rectangleGarment(5.0f, 5.0f)
@ -30,19 +30,24 @@ public:
// Create 3D mesh
m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
b3Mat33 Rx = b3Mat33RotationX(0.5f * B3_PI);
// Rotate and translate the mesh
b3Mat33 rotation = 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] = rotation * m_rectangleClothMesh.vertices[i];
m_rectangleClothMesh.vertices[i].y += 5.0f;
}
// Create cloth
b3ClothDef def;
def.mesh = &m_rectangleClothMesh;
def.density = 1.0f;
def.structural = 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);
for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
{
@ -67,6 +72,71 @@ public:
b->CreateShape(sd);
}
m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
}
~SelfCollision()
{
delete m_cloth;
delete m_clothDragger;
}
void Step()
{
Test::Step();
m_cloth->Step(g_testSettings->inv_hertz);
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()
@ -77,6 +147,9 @@ public:
b3RectangleGarment m_rectangleGarment;
b3GarmentMesh m_rectangleGarmentMesh;
b3GarmentClothMesh m_rectangleClothMesh;
};
b3Cloth* m_cloth;
b3ClothDragger* m_clothDragger;
};
#endif

63
examples/testbed/tests/shirt.h
View File

@ -19,7 +19,7 @@
#ifndef SHIRT_H
#define SHIRT_H
class Shirt : public ClothTest
class Shirt : public Test
{
public:
Shirt()
@ -57,7 +57,63 @@ public:
def.density = 0.2f;
def.structural = 10000.0f;
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);
m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
}
~Shirt()
{
delete m_clothDragger;
delete m_cloth;
}
void Step()
{
Test::Step();
m_cloth->Step(g_testSettings->inv_hertz);
m_cloth->Draw();
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()
@ -68,6 +124,9 @@ public:
b3ShirtGarment m_shirtGarment;
b3GarmentMesh m_shirtGarmentMesh;
b3GarmentClothMesh m_shirtClothMesh;
b3Cloth* m_cloth;
b3ClothDragger* m_clothDragger;
};
#endif

82
examples/testbed/tests/table_cloth.h
View File

@ -19,7 +19,7 @@
#ifndef TABLE_CLOTH_H
#define TABLE_CLOTH_H
class TableCloth : public ClothTest
class TableCloth : public Test
{
public:
TableCloth() : m_rectangleGarment(5.0f, 5.0f)
@ -30,14 +30,15 @@ public:
// Create 3D mesh
m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
//
b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
// Rotate the mesh
b3Mat33 rotation = b3Mat33RotationX(0.5f * B3_PI);
for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
{
m_rectangleClothMesh.vertices[i] = dq * m_rectangleClothMesh.vertices[i];
m_rectangleClothMesh.vertices[i] = rotation * m_rectangleClothMesh.vertices[i];
m_rectangleClothMesh.vertices[i].y += 5.0f;
}
// Create cloth
b3ClothDef def;
def.mesh = &m_rectangleClothMesh;
def.density = 0.2f;
@ -45,7 +46,10 @@ public:
def.structural = 10000.0f;
def.damping = 0.0f;
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);
for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
{
@ -71,6 +75,71 @@ 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);
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()
@ -82,6 +151,9 @@ public:
b3GarmentMesh m_rectangleGarmentMesh;
b3GarmentClothMesh m_rectangleClothMesh;
b3Cloth* m_cloth;
b3ClothDragger* m_clothDragger;
b3QHull m_tableHull;
};

75
examples/testbed/tests/tension_mapping.h
View File

@ -55,7 +55,7 @@ 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)
@ -66,20 +66,25 @@ public:
// Create 3D mesh
m_rectangleClothMesh.Set(&m_rectangleGarmentMesh);
//
b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
// Rotate the mesh
b3Mat33 rotation = b3Mat33RotationX(0.5f * B3_PI);
for (u32 i = 0; i < m_rectangleClothMesh.vertexCount; ++i)
{
m_rectangleClothMesh.vertices[i] = dq * m_rectangleClothMesh.vertices[i];
m_rectangleClothMesh.vertices[i] = rotation * m_rectangleClothMesh.vertices[i];
}
// Create cloth
b3ClothDef def;
def.mesh = &m_rectangleClothMesh;
def.density = 0.2f;
def.structural = 10000.0f;
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 +96,22 @@ 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);
const b3ClothMesh* mesh = m_cloth->GetMesh();
b3StackArray<b3Vec3, 256> tension;
@ -120,9 +135,9 @@ public:
}
}
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();
@ -154,18 +169,55 @@ public:
g_draw->DrawSolidTriangle(n2, v1, v3, v2, 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();
@ -174,6 +226,9 @@ public:
b3RectangleGarment m_rectangleGarment;
b3GarmentMesh m_rectangleGarmentMesh;
b3GarmentClothMesh m_rectangleClothMesh;
b3Cloth* m_cloth;
b3ClothDragger* m_clothDragger;
};
#endif

23
include/bounce/bounce.h
View File

@ -56,23 +56,20 @@
#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/cloth.h>
#include <bounce/cloth/particle.h>
#include <bounce/cloth/spring_force.h>
#include <bounce/cloth/garment/sewing_pattern.h>
#include <bounce/cloth/garment/garment.h>
#include <bounce/cloth/garment/garment_mesh.h>
#endif

72
include/bounce/dynamics/cloth/cloth.h → include/bounce/cloth/cloth.h
View File

@ -21,6 +21,7 @@
#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>
class b3World;
@ -83,7 +84,20 @@ struct b3ClothDef
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 static shapes in the attached world.
void SetWorld(b3World* world);
// Get the world attached to this cloth.
const b3World* GetWorld() const;
b3World* GetWorld();
@ -99,9 +113,6 @@ 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;
@ -129,20 +140,14 @@ public:
// Get the next cloth in the world cloth list.
b3Cloth* GetNext();
// Perform a time step.
void Step(float32 dt);
// 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);
// Compute mass of each particle.
void ComputeMass();
@ -161,6 +166,15 @@ private:
// Solve
void Solve(float32 dt, const b3Vec3& gravity);
// 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;
@ -196,15 +210,23 @@ private:
// 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;
};
inline void b3Cloth::SetGravity(const b3Vec3& gravity)
{
m_gravity = gravity;
}
inline b3Vec3 b3Cloth::GetGravity() const
{
return m_gravity;
}
inline void b3Cloth::SetWorld(b3World* world)
{
m_world = world;
}
inline const b3World* b3Cloth::GetWorld() const
{
return m_world;
@ -230,14 +252,4 @@ 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

0
include/bounce/dynamics/cloth/cloth_contact_solver.h → include/bounce/cloth/cloth_contact_solver.h
View File

0
include/bounce/dynamics/cloth/cloth_mesh.h → include/bounce/cloth/cloth_mesh.h
View File

0
include/bounce/dynamics/cloth/cloth_solver.h → include/bounce/cloth/cloth_solver.h
View File

0
include/bounce/dynamics/cloth/dense_vec3.h → include/bounce/cloth/dense_vec3.h
View File

2
include/bounce/dynamics/cloth/diag_mat33.h → include/bounce/cloth/diag_mat33.h
View File

@ -20,7 +20,7 @@
#define B3_DIAG_MAT_33_H
#include <bounce/common/math/mat33.h>
#include <bounce/dynamics/cloth/dense_vec3.h>
#include <bounce/cloth/dense_vec3.h>
// Diagonal matrix storing only the diagonal elements of the
// original matrix.

2
include/bounce/dynamics/cloth/force.h → include/bounce/cloth/force.h
View File

@ -29,9 +29,7 @@ class b3Particle;
// Force types
enum b3ForceType
{
e_frictionForce,
e_springForce,
e_bendForce,
};
struct b3ForceDef

2
include/bounce/garment/garment.h → include/bounce/cloth/garment/garment.h
View File

@ -19,7 +19,7 @@
#ifndef B3_GARMENT_H
#define B3_GARMENT_H
#include <bounce/garment/sewing_pattern.h>
#include <bounce/cloth/garment/sewing_pattern.h>
struct b3SewingLine
{

0
include/bounce/garment/garment_mesh.h → include/bounce/cloth/garment/garment_mesh.h
View File

0
include/bounce/garment/sewing_pattern.h → include/bounce/cloth/garment/sewing_pattern.h
View File

4
include/bounce/dynamics/cloth/particle.h → include/bounce/cloth/particle.h
View File

@ -20,9 +20,9 @@
#define B3_PARTICLE_H
#include <bounce/common/math/transform.h>
#include <bounce/common/template/list.h>
#include <bounce/dynamics/cloth/force.h>
#include <bounce/common/math/vec2.h>
#include <bounce/common/template/list.h>
#include <bounce/cloth/force.h>
class b3Shape;
class b3Cloth;

4
include/bounce/dynamics/cloth/sparse_sym_mat33.h → include/bounce/cloth/sparse_sym_mat33.h
View File

@ -20,8 +20,8 @@
#define B3_SPARSE_SYM_MAT_33_H
#include <bounce/common/math/mat33.h>
#include <bounce/dynamics/cloth/diag_mat33.h>
#include <bounce/dynamics/cloth/dense_vec3.h>
#include <bounce/cloth/diag_mat33.h>
#include <bounce/cloth/dense_vec3.h>
// An element in a sparse symmetric matrix.
struct b3RowValue

2
include/bounce/dynamics/cloth/spring_force.h → include/bounce/cloth/spring_force.h
View File

@ -19,7 +19,7 @@
#ifndef B3_SPRING_FORCE_H
#define B3_SPRING_FORCE_H
#include <bounce/dynamics/cloth/force.h>
#include <bounce/cloth/force.h>
struct b3SpringForceDef : public b3ForceDef
{

129
include/bounce/controllers/body_dragger.h
View File

@ -1,129 +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 B3_BODY_DRAGGER_H
#define B3_BODY_DRAGGER_H
#include <bounce/common/geometry.h>
#include <bounce/dynamics/body.h>
// A body dragger.
class b3BodyDragger
{
public:
b3BodyDragger(b3Ray3* ray, b3World* world)
{
m_ray = ray;
m_world = world;
m_shape = nullptr;
m_mouseJoint = nullptr;
}
~b3BodyDragger()
{
}
bool IsDragging() const
{
return m_shape != nullptr;
}
bool StartDragging()
{
B3_ASSERT(IsDragging() == false);
b3RayCastSingleShapeOutput out;
if (m_world->RayCastSingleShape(&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 Drag()
{
B3_ASSERT(IsDragging() == true);
m_mouseJoint->SetTarget(GetPointB());
}
void 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;
}
b3Ray3* GetRay() const
{
return m_ray;
}
b3Body* GetBody() const
{
B3_ASSERT(IsDragging() == true);
return m_shape->GetBody();
}
b3Vec3 GetPointA() const
{
B3_ASSERT(IsDragging() == true);
return m_shape->GetBody()->GetWorldPoint(m_p);
}
b3Vec3 GetPointB() const
{
B3_ASSERT(IsDragging() == true);
return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
}
private:
b3Ray3 * m_ray;
float32 m_x;
b3World* m_world;
b3Shape* m_shape;
b3Vec3 m_p;
b3MouseJoint* m_mouseJoint;
};
#endif

224
include/bounce/controllers/cloth_dragger.h
View File

@ -1,224 +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 B3_CLOTH_DRAGGER_H
#define B3_CLOTH_DRAGGER_H
#include <bounce/collision/collision.h>
#include <bounce/dynamics/cloth/cloth.h>
#include <bounce/dynamics/cloth/cloth_mesh.h>
#include <bounce/dynamics/cloth/particle.h>
#include <bounce/dynamics/cloth/spring_force.h>
#include <bounce/dynamics/world.h>
// A cloth triangle dragger.
class b3ClothDragger
{
public:
b3ClothDragger(b3Ray3* ray, b3World* world)
{
m_spring = false;
m_ray = ray;
m_world = world;
m_cloth = nullptr;
}
~b3ClothDragger()
{
}
bool IsDragging() const
{
return m_cloth != nullptr;
}
bool StartDragging()
{
B3_ASSERT(IsDragging() == false);
b3RayCastSingleClothOutput rayOut;
if (m_world->RayCastSingleCloth(&rayOut, m_ray->A(), m_ray->B()) == false)
{
return false;
}
m_cloth = rayOut.cloth;
m_mesh = m_cloth->GetMesh();
m_triangle = m_mesh->triangles + rayOut.triangle;
m_x = rayOut.fraction;
b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1);
b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2);
b3Particle* p3 = m_cloth->GetVertexParticle(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_spring)
{
b3ParticleDef pd;
pd.type = e_staticParticle;
pd.position = B;
m_particle = m_cloth->CreateParticle(pd);
{
b3SpringForceDef sfd;
sfd.p1 = m_particle;
sfd.p2 = p1;
sfd.restLength = 0.0f;
sfd.structural = 10000.0f;
m_s1 = (b3SpringForce*)m_cloth->CreateForce(sfd);
}
{
b3SpringForceDef sfd;
sfd.p1 = m_particle;
sfd.p2 = p2;
sfd.restLength = 0.0f;
sfd.structural = 10000.0f;
m_s2 = (b3SpringForce*)m_cloth->CreateForce(sfd);
}
{
b3SpringForceDef sfd;
sfd.p1 = m_particle;
sfd.p2 = p3;
sfd.restLength = 0.0f;
sfd.structural = 10000.0f;
m_s3 = (b3SpringForce*)m_cloth->CreateForce(sfd);
}
}
else
{
m_t1 = p1->GetType();
p1->SetType(e_staticParticle);
m_t2 = p2->GetType();
p2->SetType(e_staticParticle);
m_t3 = p3->GetType();
p3->SetType(e_staticParticle);
}
return true;
}
void Drag()
{
B3_ASSERT(IsDragging() == true);
b3Vec3 A = GetPointA();
b3Vec3 B = GetPointB();
b3Vec3 dx = B - A;
if (m_spring)
{
m_particle->SetPosition(B);
}
else
{
b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1);
p1->ApplyTranslation(dx);
b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2);
p2->ApplyTranslation(dx);
b3Particle* p3 = m_cloth->GetVertexParticle(m_triangle->v3);
p3->ApplyTranslation(dx);
}
}
void StopDragging()
{
B3_ASSERT(IsDragging() == true);
if (m_spring)
{
m_cloth->DestroyForce(m_s1);
m_cloth->DestroyForce(m_s2);
m_cloth->DestroyForce(m_s3);
m_cloth->DestroyParticle(m_particle);
}
else
{
m_cloth->GetVertexParticle(m_triangle->v1)->SetType(m_t1);
m_cloth->GetVertexParticle(m_triangle->v2)->SetType(m_t2);
m_cloth->GetVertexParticle(m_triangle->v3)->SetType(m_t3);
}
m_cloth = nullptr;
}
b3Vec3 GetPointA() const
{
B3_ASSERT(IsDragging() == true);
b3Vec3 A = m_cloth->GetVertexParticle(m_triangle->v1)->GetPosition();
b3Vec3 B = m_cloth->GetVertexParticle(m_triangle->v2)->GetPosition();
b3Vec3 C = m_cloth->GetVertexParticle(m_triangle->v3)->GetPosition();
return m_u * A + m_v * B + (1.0f - m_u - m_v) * C;
}
b3Vec3 GetPointB() const
{
B3_ASSERT(IsDragging() == true);
return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
}
private:
b3Ray3* m_ray;
float32 m_x;
b3World* m_world;
b3Cloth* m_cloth;
const b3ClothMesh* m_mesh;
b3ClothMeshTriangle* m_triangle;
float32 m_u, m_v;
bool m_spring;
b3Particle* m_particle;
b3SpringForce* m_s1;
b3SpringForce* m_s2;
b3SpringForce* m_s3;
b3ParticleType m_t1, m_t2, m_t3;
};
#endif

158
include/bounce/dynamics/cloth/bend_force.h
View File

@ -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 B3_BEND_FORCE_H
#define B3_BEND_FORCE_H
#include <bounce/dynamics/cloth/force.h>
struct b3BendForceDef : public b3ForceDef
{
b3BendForceDef()
{
type = e_bendForce;
p1 = nullptr;
p2 = nullptr;
p3 = nullptr;
p4 = nullptr;
restDistance = 0.0f;
restAngle = 0.0f;
structural = 0.0f;
damping = 0.0f;
}
//
void Initialize(b3Particle* particle1, b3Particle* particle2, b3Particle* particle3, b3Particle* particle4,
float32 structuralStiffness, float32 dampingStiffness);
// Particle 1
b3Particle* p1;
// Particle 2
b3Particle* p2;
// Particle 3
b3Particle* p3;
// Particle 4
b3Particle* p4;
// Rest distance
float32 restDistance;
// Rest angle
float32 restAngle;
// Structural stiffness
float32 structural;
// Damping stiffness
float32 damping;
};
//
class b3BendForce : public b3Force
{
public:
b3Particle* GetParticle1();
b3Particle* GetParticle2();
b3Particle* GetParticle3();
b3Particle* GetParticle4();
float32 GetRestDistance() const;
float32 GetRestAngle() const;
float32 GetStructuralStiffness() const;
float32 GetDampingStiffness() const;
private:
friend class b3Force;
friend class b3Cloth;
b3BendForce(const b3BendForceDef* def);
~b3BendForce();
void Apply(const b3ClothSolverData* data);
// Solver shared
// Particle 1
b3Particle* m_p1;
// Particle 2
b3Particle* m_p2;
// Particle 3
b3Particle* m_p3;
// Particle 4
b3Particle* m_p4;
// Rest distance
float32 m_L0;
// Rest angle
float32 m_angle0;
// Structural stiffness
float32 m_ks;
// Structural stiffness
float32 m_kd;
};
inline b3Particle* b3BendForce::GetParticle1()
{
return m_p1;
}
inline b3Particle* b3BendForce::GetParticle2()
{
return m_p2;
}
inline b3Particle* b3BendForce::GetParticle3()
{
return m_p3;
}
inline b3Particle* b3BendForce::GetParticle4()
{
return m_p4;
}
inline float32 b3BendForce::GetRestAngle() const
{
return m_angle0;
}
inline float32 b3BendForce::GetStructuralStiffness() const
{
return m_ks;
}
inline float32 b3BendForce::GetDampingStiffness() const
{
return m_kd;
}
#endif

49
include/bounce/dynamics/world.h
View File

@ -26,17 +26,15 @@
#include <bounce/dynamics/joint_manager.h>
#include <bounce/dynamics/contact_manager.h>
struct b3ClothDef;
struct b3BodyDef;
class b3Cloth;
class b3Body;
class b3QueryListener;
class b3RayCastListener;
class b3ContactListener;
class b3ContactFilter;
struct b3RayCastSingleShapeOutput
struct b3RayCastSingleOutput
{
b3Shape* shape; // shape
b3Vec3 point; // intersection point on surface
@ -44,15 +42,6 @@ struct b3RayCastSingleShapeOutput
float32 fraction; // time of intersection on segment
};
struct b3RayCastSingleClothOutput
{
b3Cloth* cloth; // cloth
u32 triangle; // triangle
b3Vec3 point; // intersection point on surface
b3Vec3 normal; // surface normal of intersection
float32 fraction; // time of intersection on segment
};
// Use a physics world to create/destroy rigid bodies, execute ray cast and volume queries.
class b3World
{
@ -79,12 +68,6 @@ public:
// The acceleration has units of m/s^2.
void SetGravity(const b3Vec3& gravity);
// Create a new deformable cloth.
b3Cloth* CreateCloth(const b3ClothDef& def);
// Destroy an existing deformable cloth.
void DestroyCloth(b3Cloth* cloth);
// Create a new rigid body.
b3Body* CreateBody(const b3BodyDef& def);
@ -108,29 +91,14 @@ public:
// The ray cast output is the intercepted shape, the intersection
// point in world space, the face normal on the shape associated with the point,
// and the intersection fraction.
void RayCastShape(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
void RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
// Perform a ray cast with the world.
// If the ray doesn't intersect with a shape in the world then return false.
// The ray cast output is the intercepted shape, the intersection
// point in world space, the face normal on the shape associated with the point,
// and the intersection fraction.
bool RayCastSingleShape(b3RayCastSingleShapeOutput* output, const b3Vec3& p1, const b3Vec3& p2) const;
// Perform a ray cast with the world.
// The given ray cast listener will be notified when a ray intersects a shape
// in the world.
// The ray cast output is the intercepted cloth, the intersection
// point in world space, the face normal on the cloth associated with the point,
// and the intersection fraction.
void RayCastCloth(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
// Perform a ray cast with the world.
// If the ray doesn't intersect with a cloth in the world then return false.
// The ray cast output is the intercepted cloth, the intersection
// point in world space, the face normal on the cloth associated with the point,
// and the intersection fraction.
bool RayCastSingleCloth(b3RayCastSingleClothOutput* output, const b3Vec3& p1, const b3Vec3& p2) const;
bool RayCastSingle(b3RayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const;
// Perform a AABB query with the world.
// The query listener will be notified when two shape AABBs are overlapping.
@ -161,8 +129,7 @@ private :
e_shapeAddedFlag = 0x0001,
e_clearForcesFlag = 0x0002,
};
friend class b3Cloth;
friend class b3Body;
friend class b3Shape;
friend class b3Contact;
@ -172,20 +139,16 @@ private :
void Solve(float32 dt, u32 velocityIterations, u32 positionIterations);
void StepCloth(float32 dt);
bool m_sleeping;
bool m_warmStarting;
u32 m_flags;
b3Vec3 m_gravity;
b3StackAllocator m_stackAllocator;
b3BlockPool m_clothBlocks;
// Pool of bodies
b3BlockPool m_bodyBlocks;
// List of clothes
b3List2<b3Cloth> m_clothList;
// List of bodies
b3List2<b3Body> m_bodyList;

7
include/bounce/dynamics/world_listeners.h
View File

@ -22,7 +22,6 @@
#include <bounce/common/math/math.h>
class b3Shape;
class b3Cloth;
class b3Contact;
class b3QueryListener
@ -47,12 +46,6 @@ public:
// the intersection point on the shape, the surface normal associated with the point, and the
// intersection fraction for the ray.
virtual float32 ReportShape(b3Shape* shape, const b3Vec3& point, const b3Vec3& normal, float32 fraction) = 0;
// Report that a cloth was hit by the ray to this contact listener.
// The reported information are the shape hit by the ray,
// the intersection point on the cloth, the surface normal associated with the point, the
// intersection fraction for the ray, and the triangle.
virtual float32 ReportCloth(b3Cloth* cloth, const b3Vec3& point, const b3Vec3& normal, float32 fraction, u32 triangle) = 0;
};
class b3ContactListener

0
include/bounce/dynamics/rope/rope.h → include/bounce/rope/rope.h
View File

0
include/bounce/dynamics/spatial.h → include/bounce/rope/spatial.h
View File

6
premake5.lua
View File

@ -274,6 +274,12 @@ workspace(solution_name)
examples_src_dir .. "/testbed/framework/test.h",
examples_src_dir .. "/testbed/framework/body_dragger.h",
examples_src_dir .. "/testbed/framework/cloth_dragger.h",
examples_src_dir .. "/testbed/framework/body_dragger.cpp",
examples_src_dir .. "/testbed/framework/cloth_dragger.cpp",
examples_inc_dir .. "/testbed/tests/**.h",
examples_src_dir .. "/testbed/framework/draw.cpp",

82
src/bounce/dynamics/cloth/cloth.cpp → src/bounce/cloth/cloth.cpp
View File

@ -16,19 +16,16 @@
* 3. This notice may not be removed or altered from any source distribution.
*/
#include <bounce/dynamics/cloth/cloth.h>
#include <bounce/dynamics/cloth/cloth_mesh.h>
#include <bounce/dynamics/cloth/particle.h>
#include <bounce/dynamics/cloth/force.h>
#include <bounce/dynamics/cloth/spring_force.h>
#include <bounce/dynamics/cloth/bend_force.h>
#include <bounce/dynamics/cloth/cloth_solver.h>
#include <bounce/cloth/cloth.h>
#include <bounce/cloth/cloth_mesh.h>
#include <bounce/cloth/particle.h>
#include <bounce/cloth/force.h>
#include <bounce/cloth/spring_force.h>
#include <bounce/cloth/cloth_solver.h>
#include <bounce/dynamics/world.h>
#include <bounce/dynamics/world_listeners.h>
#include <bounce/dynamics/body.h>
#include <bounce/dynamics/shapes/shape.h>
#include <bounce/collision/collision.h>
#include <bounce/common/memory/stack_allocator.h>
#include <bounce/common/draw.h>
static B3_FORCE_INLINE u32 b3NextIndex(u32 i)
@ -149,7 +146,7 @@ static u32 b3FindSharedEdges(b3SharedEdge* sharedEdges, const b3ClothMesh* m)
return sharedCount;
}
b3Cloth::b3Cloth(const b3ClothDef& def, b3World* world) :
b3Cloth::b3Cloth(const b3ClothDef& def) :
m_particleBlocks(sizeof(b3Particle)),
m_bodyContactBlocks(sizeof(b3BodyContact)),
m_particleContactBlocks(sizeof(b3ParticleContact)),
@ -158,7 +155,6 @@ b3Cloth::b3Cloth(const b3ClothDef& def, b3World* world) :
B3_ASSERT(def.mesh);
B3_ASSERT(def.density > 0.0f);
m_world = world;
m_mesh = def.mesh;
m_density = def.density;
@ -184,7 +180,7 @@ b3Cloth::b3Cloth(const b3ClothDef& def, b3World* world) :
ComputeMass();
// Create forces
b3StackAllocator* allocator = &m_world->m_stackAllocator;
b3StackAllocator* allocator = &m_stackAllocator;
// Worst-case edge memory
u32 edgeCount = 3 * m->triangleCount;
@ -218,8 +214,8 @@ b3Cloth::b3Cloth(const b3ClothDef& def, b3World* world) :
b3Particle* p3 = m_vertexParticles[e->nsv1];
b3Particle* p4 = m_vertexParticles[e->nsv2];
b3BendForceDef fd;
fd.Initialize(p1, p2, p3, p4, def.bending, def.damping);
b3SpringForceDef fd;
fd.Initialize(p3, p4, def.bending, def.damping);
CreateForce(fd);
}
@ -240,6 +236,9 @@ b3Cloth::b3Cloth(const b3ClothDef& def, b3World* world) :
CreateForce(fd);
}
m_gravity.SetZero();
m_world = nullptr;
}
b3Cloth::~b3Cloth()
@ -354,33 +353,6 @@ void b3Cloth::ComputeMass()
}
}
void b3Cloth::RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2)
{
b3RayCastInput input;
input.p1 = p1;
input.p2 = p2;
input.maxFraction = 1.0f;
for (u32 i = 0; i < m_mesh->triangleCount; ++i)
{
b3RayCastOutput subOutput;
if (RayCast(&subOutput, &input, i))
{
float32 fraction = subOutput.fraction;
b3Vec3 point = (1.0f - fraction) * input.p1 + fraction * input.p2;
b3Vec3 normal = subOutput.normal;
float32 newFraction = listener->ReportCloth(this, point, normal, fraction, i);
if (newFraction == 0.0f)
{
// The client has stopped the query.
return;
}
}
}
}
bool b3Cloth::RayCastSingle(b3ClothRayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const
{
b3RayCastInput input;
@ -440,7 +412,6 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
return false;
}
B3_ASSERT(len > B3_EPSILON);
n /= len;
float32 numerator = b3Dot(n, v1 - p1);
@ -483,11 +454,8 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
float32 v = b3Dot(QC_x_QA, AB_x_AC);
float32 w = b3Dot(QA_x_QB, AB_x_AC);
// Characteristic length of triangle
const float32 kTol = -B3_EPSILON;
// Is the intersection on the triangle?
if (u > kTol && v > kTol && w > kTol)
if (u >= 0.0f && v >= 0.0f && w >= 0.0f)
{
output->fraction = fraction;
@ -509,6 +477,12 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
void b3Cloth::UpdateBodyContacts()
{
// Is there a world attached to this cloth?
if (m_world == nullptr)
{
return;
}
B3_PROFILE("Cloth Update Body Contacts");
// Clear buffer
@ -537,9 +511,13 @@ void b3Cloth::UpdateBodyContacts()
for (b3Body* body = m_world->GetBodyList().m_head; body; body = body->GetNext())
{
if (p->m_type != e_dynamicParticle && body->GetType() != e_dynamicBody)
if (p->m_type != e_dynamicParticle)
{
continue;
}
if (body->GetType() != e_staticBody)
{
// At least one body should be kinematic or dynamic.
continue;
}
@ -887,7 +865,7 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
// Solve
b3ClothSolverDef solverDef;
solverDef.stack = &m_world->m_stackAllocator;
solverDef.stack = &m_stackAllocator;
solverDef.particleCapacity = m_particleList.m_count;
solverDef.forceCapacity = m_forceList.m_count;
solverDef.bodyContactCapacity = m_bodyContactList.m_count;
@ -937,14 +915,16 @@ void b3Cloth::UpdateContacts()
// Update body contacts
UpdateBodyContacts();
#if 0
// Update particle contacts
UpdateParticleContacts();
// Update triangle contacts
UpdateTriangleContacts();
#endif
}
void b3Cloth::Step(float32 dt, const b3Vec3& gravity)
void b3Cloth::Step(float32 dt)
{
B3_PROFILE("Cloth Step");
@ -954,7 +934,7 @@ void b3Cloth::Step(float32 dt, const b3Vec3& gravity)
// Solve constraints, integrate state, clear forces and translations.
if (dt > 0.0f)
{
Solve(dt, gravity);
Solve(dt, m_gravity);
}
}

8
src/bounce/dynamics/cloth/cloth_contact_solver.cpp → src/bounce/cloth/cloth_contact_solver.cpp
View File

@ -16,12 +16,12 @@
* 3. This notice may not be removed or altered from any source distribution.
*/
#include <bounce/dynamics/cloth/cloth_contact_solver.h>
#include <bounce/dynamics/cloth/particle.h>
#include <bounce/dynamics/cloth/dense_vec3.h>
#include <bounce/cloth/cloth_contact_solver.h>
#include <bounce/cloth/particle.h>
#include <bounce/cloth/dense_vec3.h>
#include <bounce/common/memory/stack_allocator.h>
#include <bounce/dynamics/shapes/shape.h>
#include <bounce/dynamics/body.h>
#include <bounce/common/memory/stack_allocator.h>
b3ClothContactSolver::b3ClothContactSolver(const b3ClothContactSolverDef& def)
{

8
src/bounce/dynamics/cloth/cloth_mesh.cpp → src/bounce/cloth/cloth_mesh.cpp
View File

@ -16,10 +16,10 @@
* 3. This notice may not be removed or altered from any source distribution.
*/
#include <bounce/dynamics/cloth/cloth_mesh.h>
#include <bounce/garment/garment.h>
#include <bounce/garment/garment_mesh.h>
#include <bounce/garment/sewing_pattern.h>
#include <bounce/cloth/cloth_mesh.h>
#include <bounce/cloth/garment/garment.h>
#include <bounce/cloth/garment/garment_mesh.h>
#include <bounce/cloth/garment/sewing_pattern.h>
b3GarmentClothMesh::b3GarmentClothMesh()
{

22
src/bounce/dynamics/cloth/cloth_solver.cpp → src/bounce/cloth/cloth_solver.cpp
View File

@ -16,18 +16,18 @@
* 3. This notice may not be removed or altered from any source distribution.
*/
#include <bounce/dynamics/cloth/cloth_solver.h>
#include <bounce/dynamics/cloth/cloth_contact_solver.h>
#include <bounce/dynamics/cloth/cloth.h>
#include <bounce/dynamics/cloth/particle.h>
#include <bounce/dynamics/cloth/force.h>
#include <bounce/dynamics/cloth/dense_vec3.h>
#include <bounce/dynamics/cloth/diag_mat33.h>
#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
#include <bounce/dynamics/shapes/shape.h>
#include <bounce/dynamics/body.h>
#include <bounce/cloth/cloth_solver.h>
#include <bounce/cloth/cloth_contact_solver.h>
#include <bounce/cloth/cloth.h>
#include <bounce/cloth/particle.h>
#include <bounce/cloth/force.h>
#include <bounce/cloth/dense_vec3.h>
#include <bounce/cloth/diag_mat33.h>
#include <bounce/cloth/sparse_sym_mat33.h>
#include <bounce/common/memory/stack_allocator.h>
#include <bounce/common/math/mat.h>
#include <bounce/dynamics/shapes/shape.h>
#include <bounce/dynamics/body.h>
// Here, we solve Ax = b using the Modified Preconditioned Conjugate Gradient (MPCG) algorithm.
// described in the paper:
@ -298,7 +298,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
// Solve velocity constraints
{
const u32 kVelocityIterations = 5;
const u32 kVelocityIterations = 10;
for (u32 i = 0; i < kVelocityIterations; ++i)
{

18
src/bounce/dynamics/cloth/force.cpp → src/bounce/cloth/force.cpp
View File

@ -16,9 +16,8 @@
* 3. This notice may not be removed or altered from any source distribution.
*/
#include <bounce/dynamics/cloth/force.h>
#include <bounce/dynamics/cloth/spring_force.h>
#include <bounce/dynamics/cloth/bend_force.h>
#include <bounce/cloth/force.h>
#include <bounce/cloth/spring_force.h>
b3Force* b3Force::Create(const b3ForceDef* def)
{
@ -31,12 +30,6 @@ b3Force* b3Force::Create(const b3ForceDef* def)
force = new (block) b3SpringForce((b3SpringForceDef*)def);
break;
}
case e_bendForce:
{
void* block = b3Alloc(sizeof(b3BendForce));
force = new (block) b3BendForce((b3BendForceDef*)def);
break;
}
default:
{
B3_ASSERT(false);
@ -60,13 +53,6 @@ void b3Force::Destroy(b3Force* force)
b3Free(force);
break;
}
case e_bendForce:
{
b3BendForce* o = (b3BendForce*)force;
o->~b3BendForce();
b3Free(force);
break;
}
default:
{
B3_ASSERT(false);

6
src/bounce/garment/garment_mesh.cpp → src/bounce/cloth/garment/garment_mesh.cpp
View File

@ -16,9 +16,9 @@
* 3. This notice may not be removed or altered from any source distribution.
*/
#include <bounce/garment/garment_mesh.h>
#include <bounce/garment/garment.h>
#include <bounce/garment/sewing_pattern.h>
#include <bounce/cloth/garment/garment_mesh.h>
#include <bounce/cloth/garment/garment.h>
#include <bounce/cloth/garment/sewing_pattern.h>
#define ANSI_DECLARATORS
#define REAL double

10
src/bounce/dynamics/cloth/particle.cpp → src/bounce/cloth/particle.cpp
View File

@ -16,11 +16,11 @@
* 3. This notice may not be removed or altered from any source distribution.
*/
#include <bounce/dynamics/cloth/particle.h>
#include <bounce/dynamics/cloth/cloth.h>
#include <bounce/dynamics/cloth/cloth_solver.h>
#include <bounce/dynamics/cloth/dense_vec3.h>
#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
#include <bounce/cloth/particle.h>
#include <bounce/cloth/cloth.h>
#include <bounce/cloth/cloth_solver.h>
#include <bounce/cloth/dense_vec3.h>
#include <bounce/cloth/sparse_sym_mat33.h>
void b3BodyContactWorldPoint::Initialize(const b3BodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
{

10
src/bounce/dynamics/cloth/spring_force.cpp → src/bounce/cloth/spring_force.cpp
View File

@ -16,11 +16,11 @@
* 3. This notice may not be removed or altered from any source distribution.
*/
#include <bounce/dynamics/cloth/spring_force.h>
#include <bounce/dynamics/cloth/particle.h>
#include <bounce/dynamics/cloth/cloth_solver.h>
#include <bounce/dynamics/cloth/dense_vec3.h>
#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
#include <bounce/cloth/spring_force.h>
#include <bounce/cloth/particle.h>
#include <bounce/cloth/cloth_solver.h>
#include <bounce/cloth/dense_vec3.h>
#include <bounce/cloth/sparse_sym_mat33.h>
void b3SpringForceDef::Initialize(b3Particle* particle1, b3Particle* particle2, float32 structuralStiffness, float32 dampingStiffness)
{

128
src/bounce/dynamics/cloth/bend_force.cpp
View File

@ -1,128 +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.
*/
#include <bounce/dynamics/cloth/bend_force.h>
#include <bounce/dynamics/cloth/particle.h>
#include <bounce/dynamics/cloth/cloth_solver.h>
#include <bounce/dynamics/cloth/dense_vec3.h>
#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
void b3BendForceDef::Initialize(b3Particle* particle1, b3Particle* particle2, b3Particle* particle3, b3Particle* particle4, float32 structuralStiffness, float32 dampingStiffness)
{
type = e_bendForce;
p1 = particle1;
p2 = particle2;
p3 = particle3;
p4 = particle4;
b3Vec3 x1 = p1->GetPosition();
b3Vec3 x2 = p2->GetPosition();
b3Vec3 x3 = p3->GetPosition();
b3Vec3 x4 = p4->GetPosition();
restDistance = b3Distance(x2, x3);
structural = structuralStiffness;
damping = dampingStiffness;
}
b3BendForce::b3BendForce(const b3BendForceDef* def)
{
m_type = e_bendForce;
m_p1 = def->p1;
m_p2 = def->p2;
m_p3 = def->p3;
m_p4 = def->p4;
m_L0 = def->restDistance;
m_angle0 = def->restAngle;
m_ks = def->structural;
m_kd = def->damping;
}
b3BendForce::~b3BendForce()
{
}
void b3BendForce::Apply(const b3ClothSolverData* data)
{
b3DenseVec3& x = *data->x;
b3DenseVec3& v = *data->v;
b3DenseVec3& f = *data->f;
b3SparseSymMat33& dfdx = *data->dfdx;
b3SparseSymMat33& dfdv = *data->dfdv;
u32 i1 = m_p2->m_solverId;
u32 i2 = m_p3->m_solverId;
b3Vec3 x1 = x[i1];
b3Vec3 v1 = v[i1];
b3Vec3 x2 = x[i2];
b3Vec3 v2 = v[i2];
b3Mat33 I; I.SetIdentity();
b3Vec3 ef; ef.SetZero();
if (m_ks > 0.0f)
{
b3Vec3 dx = x1 - x2;
float32 L = b3Length(dx);
if (L >= m_L0)
{
// Apply tension
b3Vec3 n = dx / L;
ef += -m_ks * (L - m_L0) * n;
// Jacobian
b3Mat33 Jx11 = -m_ks * (b3Outer(dx, dx) + (1.0f - m_L0 / L) * (I - b3Outer(dx, dx)));
b3Mat33 Jx12 = -Jx11;
//b3Mat33 Jx21 = Jx12;
b3Mat33 Jx22 = Jx11;
dfdx(i1, i1) += Jx11;
dfdx(i1, i2) += Jx12;
//dfdx(i2, i1) += Jx21;
dfdx(i2, i2) += Jx22;
}
}
if (m_kd > 0.0f)
{
// Apply damping
b3Vec3 dv = v1 - v2;
ef += -m_kd * dv;
b3Mat33 Jv11 = -m_kd * I;
b3Mat33 Jv12 = -Jv11;
//b3Mat33 Jv21 = Jv12;
b3Mat33 Jv22 = Jv11;
dfdv(i1, i1) += Jv11;
dfdv(i1, i2) += Jv12;
//dfdv(i2, i1) += Jv21;
dfdv(i2, i2) += Jv22;
}
f[i1] += ef;
f[i2] -= ef;
}

90
src/bounce/dynamics/world.cpp
View File

@ -17,7 +17,6 @@
*/
#include <bounce/dynamics/world.h>
#include <bounce/dynamics/cloth/cloth.h>
#include <bounce/dynamics/body.h>
#include <bounce/dynamics/island.h>
#include <bounce/dynamics/world_listeners.h>
@ -32,7 +31,6 @@ extern u32 b3_gjkCalls, b3_gjkIters, b3_gjkMaxIters;
extern bool b3_convexCache;
b3World::b3World() :
m_clothBlocks(sizeof(b3Cloth)),
m_bodyBlocks(sizeof(b3Body))
{
b3_allocCalls = 0;
@ -54,14 +52,6 @@ b3World::b3World() :
b3World::~b3World()
{
b3Cloth* c = m_clothList.m_head;
while (c)
{
b3Cloth* c0 = c;
c = c->m_next;
c0->~b3Cloth();
}
b3Body* b = m_bodyList.m_head;
while (b)
{
@ -93,21 +83,6 @@ void b3World::SetSleeping(bool flag)
}
}
b3Cloth* b3World::CreateCloth(const b3ClothDef& def)
{
void* mem = m_clothBlocks.Allocate();
b3Cloth* c = new(mem) b3Cloth(def, this);
m_clothList.PushFront(c);
return c;
}
void b3World::DestroyCloth(b3Cloth* c)
{
m_clothList.Remove(c);
c->~b3Cloth();
m_clothBlocks.Free(c);
}
b3Body* b3World::CreateBody(const b3BodyDef& def)
{
void* mem = m_bodyBlocks.Allocate();
@ -166,11 +141,6 @@ void b3World::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
{
Solve(dt, velocityIterations, positionIterations);
}
//SolveTOI
// Step cloth dynamics
StepCloth(dt);
}
void b3World::Solve(float32 dt, u32 velocityIterations, u32 positionIterations)
@ -366,16 +336,6 @@ void b3World::Solve(float32 dt, u32 velocityIterations, u32 positionIterations)
}
}
void b3World::StepCloth(float32 dt)
{
B3_PROFILE("Step Cloth");
for (b3Cloth* c = m_clothList.m_head; c; c = c->GetNext())
{
c->Step(dt, m_gravity);
}
}
struct b3ShapeRayCastCallback
{
float32 Report(const b3RayCastInput& input, u32 proxyId)
@ -411,7 +371,7 @@ struct b3ShapeRayCastCallback
const b3BroadPhase* broadPhase;
};
void b3World::RayCastShape(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const
void b3World::RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const
{
b3RayCastInput input;
input.p1 = p1;
@ -456,7 +416,7 @@ struct b3RayCastSingleShapeCallback
const b3BroadPhase* broadPhase;
};
bool b3World::RayCastSingleShape(b3RayCastSingleShapeOutput* output, const b3Vec3& p1, const b3Vec3& p2) const
bool b3World::RayCastSingle(b3RayCastSingleOutput* output, const b3Vec3& p1, const b3Vec3& p2) const
{
b3RayCastInput input;
input.p1 = p1;
@ -489,52 +449,6 @@ bool b3World::RayCastSingleShape(b3RayCastSingleShapeOutput* output, const b3Vec
return false;
}
void b3World::RayCastCloth(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const
{
for (b3Cloth* c = m_clothList.m_head; c; c = c->m_next)
{
c->RayCast(listener, p1, p2);
}
}
bool b3World::RayCastSingleCloth(b3RayCastSingleClothOutput* output, const b3Vec3& p1, const b3Vec3& p2) const
{
b3Cloth* cloth0 = NULL;
b3ClothRayCastSingleOutput output0;
output0.fraction = B3_MAX_FLOAT;
for (b3Cloth* c = m_clothList.m_head; c; c = c->m_next)
{
b3ClothRayCastSingleOutput subOutput;
if (c->RayCastSingle(&subOutput, p1, p2))
{
if (subOutput.fraction < output0.fraction)
{
cloth0 = c;
output0 = subOutput;
}
}
}
if (cloth0 != NULL)
{
u32 triangle = output0.triangle;
float32 fraction = output0.fraction;
b3Vec3 point = (1.0f - fraction) * p1 + fraction * p2;
b3Vec3 normal = output0.normal;
output->cloth = cloth0;
output->triangle = triangle;
output->point = point;
output->normal = normal;
output->fraction = fraction;
return true;
}
return false;
}
struct b3QueryAABBCallback
{
bool Report(u32 proxyID)

4
src/bounce/dynamics/rope/rope.cpp → src/bounce/rope/rope.cpp
View File

@ -16,8 +16,8 @@
* 3. This notice may not be removed or altered from any source distribution.
*/
#include <bounce/dynamics/rope/rope.h>
#include <bounce/dynamics/spatial.h>
#include <bounce/rope/rope.h>
#include <bounce/rope/spatial.h>
#include <bounce/common/draw.h>
struct b3RopeBody

0
test/ignore.txt
View File