refactoring

examples/testbed/framework/body_dragger.cpp

@@ -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();
+}

examples/testbed/framework/body_dragger.h

@@ -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

examples/testbed/framework/cloth_dragger.cpp

@@ -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();
+}

examples/testbed/framework/cloth_dragger.h

@@ -16,37 +16,55 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef CLOTH_TESH_H
+#ifndef B3_CLOTH_DRAGGER_H
-#define CLOTH_TESH_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()
+	b3ClothDragger(b3Ray3* ray, b3Cloth* cloth);
-	{
+	~b3ClothDragger();
-		m_world.SetGravity(b3Vec3(0.0f, -10.0f, 0.0f));
-		m_cloth = nullptr;
-	}
 
-	void Step()
+	bool IsDragging() const;
-	{
-		Test::Step();
 
-		m_cloth->Draw();
+	bool StartDragging();
 
-		if (m_clothDragger.IsDragging() == true)
+	void Drag();
-		{
-			g_draw->DrawSegment(m_clothDragger.GetPointA(), m_clothDragger.GetPointB(), b3Color_white);
-		}
 
-		extern u32 b3_clothSolverIterations;
+	void StopDragging();
-		g_draw->DrawString(b3Color_white, "Iterations = %u", b3_clothSolverIterations);
 
-		float32 E = m_cloth->GetEnergy();
+	b3Vec3 GetPointA() const;
-		g_draw->DrawString(b3Color_white, "E = %f", E);
+
-	}
+	b3Vec3 GetPointB() const;
+private:
+	b3Ray3* m_ray;
+	float32 m_x;
 
 	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

examples/testbed/framework/test.cpp

@@ -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_bodyDragger(&m_ray, &m_world)
-	m_clothDragger(&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();
-	}
 }

examples/testbed/framework/test.h

@@ -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

@@ -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>

examples/testbed/tests/pinned_cloth.h

@@ -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);
 		
-		//  
+		// Rotate the mesh
-		b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
+		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);
@@ -66,22 +71,69 @@ public:
 			}
 		}
 		
+		m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
+	}
+
+	~PinnedCloth()
 	{
-			b3BodyDef bd;
+		delete m_clothDragger;
-			bd.type = e_dynamicBody;
+		delete m_cloth;
-			bd.position.Set(0.0f, 5.0f, 0.0f);
+	}
 
-			b3Body* b = m_world.CreateBody(bd);
+	void Step()
+	{
+		Test::Step();
 
-			b3SphereShape sphere;
+		m_cloth->Step(g_testSettings->inv_hertz);
-			sphere.m_center.SetZero();
-			sphere.m_radius = 2.0f;
 
-			b3ShapeDef sd;
+		m_cloth->Draw();
-			sd.shape = &sphere;
-			sd.density = 1.0f;
 
-			b3Shape* s = b->CreateShape(sd);
+		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();
 		}
 	}
 
@@ -93,6 +145,9 @@ public:
 	b3RectangleGarment m_rectangleGarment;
 	b3GarmentMesh m_rectangleGarmentMesh;
 	b3GarmentClothMesh m_rectangleClothMesh;
+
+	b3Cloth* m_cloth;
+	b3ClothDragger* m_clothDragger;
 };
 
 #endif

examples/testbed/tests/ray_cast.h

@@ -178,8 +178,8 @@ public:
 
 	void CastRay(const b3Vec3 p1, const b3Vec3 p2) const
 	{
-		b3RayCastSingleShapeOutput out;
+		b3RayCastSingleOutput out;
-		if (m_world.RayCastSingleShape(&out, p1, p2))
+		if (m_world.RayCastSingle(&out, p1, p2))
 		{
 			g_draw->DrawSegment(p1, out.point, b3Color_green);
 			

examples/testbed/tests/self_collision.h

@@ -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

examples/testbed/tests/shirt.h

@@ -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

examples/testbed/tests/table_cloth.h

@@ -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);
 
-		//  
+		// Rotate the mesh
-		b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
+		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;
 };
 

examples/testbed/tests/tension_mapping.h

@@ -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);
 		
-		//  
+		// Rotate the mesh
-		b3Mat33 dq = b3Mat33RotationX(0.5f * B3_PI);
+		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

include/bounce/bounce.h

@@ -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/rope/rope.h>
-#include <bounce/controllers/body_dragger.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

include/bounce/cloth/cloth.h

@@ -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

include/bounce/cloth/diag_mat33.h

@@ -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.

include/bounce/cloth/force.h

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

include/bounce/cloth/garment/garment.h

@@ -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
 {

include/bounce/cloth/particle.h

@@ -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;

include/bounce/cloth/sparse_sym_mat33.h

@@ -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/cloth/diag_mat33.h>
-#include <bounce/dynamics/cloth/dense_vec3.h>
+#include <bounce/cloth/dense_vec3.h>
 
 // An element in a sparse symmetric matrix.
 struct b3RowValue

include/bounce/cloth/spring_force.h

@@ -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
 {

include/bounce/controllers/body_dragger.h

@@ -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

include/bounce/controllers/cloth_dragger.h

@@ -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

include/bounce/dynamics/cloth/bend_force.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 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

include/bounce/dynamics/world.h

@@ -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;
+	bool RayCastSingle(b3RayCastSingleOutput* 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;
 
 	// Perform a AABB query with the world.
 	// The query listener will be notified when two shape AABBs are overlapping.
@@ -162,7 +130,6 @@ private :
 		e_clearForcesFlag = 0x0002,
 	};
 	
-	friend class b3Cloth;
 	friend class b3Body;
 	friend class b3Shape;
 	friend class b3Contact;
@@ -172,19 +139,15 @@ 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;
-	b3BlockPool m_bodyBlocks;
 	
-	// List of clothes
+	// Pool of bodies
-	b3List2<b3Cloth> m_clothList;
+	b3BlockPool m_bodyBlocks;
 
 	// List of bodies
 	b3List2<b3Body> m_bodyList;

include/bounce/dynamics/world_listeners.h

@@ -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 

premake5.lua

@@ -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", 

src/bounce/cloth/cloth.cpp

@@ -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/cloth/cloth.h>
-#include <bounce/dynamics/cloth/cloth_mesh.h>
+#include <bounce/cloth/cloth_mesh.h>
-#include <bounce/dynamics/cloth/particle.h>
+#include <bounce/cloth/particle.h>
-#include <bounce/dynamics/cloth/force.h>
+#include <bounce/cloth/force.h>
-#include <bounce/dynamics/cloth/spring_force.h>
+#include <bounce/cloth/spring_force.h>
-#include <bounce/dynamics/cloth/bend_force.h>
+#include <bounce/cloth/cloth_solver.h>
-#include <bounce/dynamics/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;
+		b3SpringForceDef fd;
-		fd.Initialize(p1, p2, p3, p4, def.bending, def.damping);
+		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);
 	}
 }
 

src/bounce/cloth/cloth_contact_solver.cpp

@@ -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/cloth/cloth_contact_solver.h>
-#include <bounce/dynamics/cloth/particle.h>
+#include <bounce/cloth/particle.h>
-#include <bounce/dynamics/cloth/dense_vec3.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)
 {

src/bounce/cloth/cloth_mesh.cpp

@@ -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/cloth/cloth_mesh.h>
-#include <bounce/garment/garment.h>
+#include <bounce/cloth/garment/garment.h>
-#include <bounce/garment/garment_mesh.h>
+#include <bounce/cloth/garment/garment_mesh.h>
-#include <bounce/garment/sewing_pattern.h>
+#include <bounce/cloth/garment/sewing_pattern.h>
 
 b3GarmentClothMesh::b3GarmentClothMesh()
 {

src/bounce/cloth/cloth_solver.cpp

@@ -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/cloth/cloth_solver.h>
-#include <bounce/dynamics/cloth/cloth_contact_solver.h>
+#include <bounce/cloth/cloth_contact_solver.h>
-#include <bounce/dynamics/cloth/cloth.h>
+#include <bounce/cloth/cloth.h>
-#include <bounce/dynamics/cloth/particle.h>
+#include <bounce/cloth/particle.h>
-#include <bounce/dynamics/cloth/force.h>
+#include <bounce/cloth/force.h>
-#include <bounce/dynamics/cloth/dense_vec3.h>
+#include <bounce/cloth/dense_vec3.h>
-#include <bounce/dynamics/cloth/diag_mat33.h>
+#include <bounce/cloth/diag_mat33.h>
-#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
+#include <bounce/cloth/sparse_sym_mat33.h>
-#include <bounce/dynamics/shapes/shape.h>
-#include <bounce/dynamics/body.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)
 		{

src/bounce/cloth/force.cpp

@@ -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/cloth/force.h>
-#include <bounce/dynamics/cloth/spring_force.h>
+#include <bounce/cloth/spring_force.h>
-#include <bounce/dynamics/cloth/bend_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);

src/bounce/cloth/garment/garment_mesh.cpp

@@ -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/cloth/garment/garment_mesh.h>
-#include <bounce/garment/garment.h>
+#include <bounce/cloth/garment/garment.h>
-#include <bounce/garment/sewing_pattern.h>
+#include <bounce/cloth/garment/sewing_pattern.h>
 
 #define ANSI_DECLARATORS
 #define REAL double

src/bounce/cloth/particle.cpp

@@ -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/cloth/particle.h>
-#include <bounce/dynamics/cloth/cloth.h>
+#include <bounce/cloth/cloth.h>
-#include <bounce/dynamics/cloth/cloth_solver.h>
+#include <bounce/cloth/cloth_solver.h>
-#include <bounce/dynamics/cloth/dense_vec3.h>
+#include <bounce/cloth/dense_vec3.h>
-#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
+#include <bounce/cloth/sparse_sym_mat33.h>
 
 void b3BodyContactWorldPoint::Initialize(const b3BodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB)
 {

src/bounce/cloth/spring_force.cpp

@@ -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/cloth/spring_force.h>
-#include <bounce/dynamics/cloth/particle.h>
+#include <bounce/cloth/particle.h>
-#include <bounce/dynamics/cloth/cloth_solver.h>
+#include <bounce/cloth/cloth_solver.h>
-#include <bounce/dynamics/cloth/dense_vec3.h>
+#include <bounce/cloth/dense_vec3.h>
-#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
+#include <bounce/cloth/sparse_sym_mat33.h>
 
 void b3SpringForceDef::Initialize(b3Particle* particle1, b3Particle* particle2, float32 structuralStiffness, float32 dampingStiffness)
 {

src/bounce/dynamics/cloth/bend_force.cpp

@@ -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;
-}

src/bounce/dynamics/world.cpp

@@ -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)

src/bounce/rope/rope.cpp

@@ -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/rope/rope.h>
-#include <bounce/dynamics/spatial.h>
+#include <bounce/rope/spatial.h>
 #include <bounce/common/draw.h>
 
 struct b3RopeBody