128 lines
3.2 KiB
C++
128 lines
3.2 KiB
C++
/*
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* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#include <testbed/framework/softbody_dragger.h>
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b3SoftBodyDragger::b3SoftBodyDragger(b3Ray3* ray, b3SoftBody* body)
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{
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m_ray = ray;
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m_body = body;
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m_tetrahedron = nullptr;
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}
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b3SoftBodyDragger::~b3SoftBodyDragger()
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{
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}
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bool b3SoftBodyDragger::StartDragging()
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{
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B3_ASSERT(IsDragging() == false);
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b3SoftBodyRayCastSingleOutput rayOut;
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if (m_body->RayCastSingle(&rayOut, m_ray->A(), m_ray->B()) == false)
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{
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return false;
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}
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m_mesh = m_body->GetMesh();
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m_tetrahedron = m_mesh->tetrahedrons + rayOut.tetrahedron;
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m_v1 = m_tetrahedron->v1;
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m_v2 = m_tetrahedron->v2;
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m_v3 = m_tetrahedron->v3;
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m_v4 = m_tetrahedron->v4;
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m_x = rayOut.fraction;
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b3SoftBodyNode* n1 = m_body->GetVertexNode(m_v1);
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b3SoftBodyNode* n2 = m_body->GetVertexNode(m_v2);
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b3SoftBodyNode* n3 = m_body->GetVertexNode(m_v3);
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b3SoftBodyNode* n4 = m_body->GetVertexNode(m_v4);
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b3Vec3 v1 = n1->GetPosition();
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b3Vec3 v2 = n2->GetPosition();
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b3Vec3 v3 = n3->GetPosition();
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b3Vec3 v4 = n4->GetPosition();
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b3Vec3 B = GetPointB();
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float32 wABCD[5];
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b3BarycentricCoordinates(wABCD, v1, v2, v3, v4, B);
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if (wABCD[4] > B3_EPSILON)
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{
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m_tu = wABCD[0] / wABCD[4];
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m_tv = wABCD[1] / wABCD[4];
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m_tw = wABCD[2] / wABCD[4];
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m_tx = wABCD[3] / wABCD[4];
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}
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else
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{
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m_tu = m_tv = m_tw = m_tx = 0.0f;
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}
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return true;
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}
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void b3SoftBodyDragger::Drag()
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{
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B3_ASSERT(IsDragging() == true);
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b3Vec3 A = GetPointA();
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b3Vec3 B = GetPointB();
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b3Vec3 dx = B - A;
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const float32 k = 100.0f;
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b3Vec3 f = k * dx;
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b3Vec3 f1 = m_tu * f;
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b3Vec3 f2 = m_tv * f;
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b3Vec3 f3 = m_tw * f;
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b3Vec3 f4 = m_tx * f;
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m_body->GetVertexNode(m_v1)->ApplyForce(f1);
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m_body->GetVertexNode(m_v2)->ApplyForce(f2);
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m_body->GetVertexNode(m_v3)->ApplyForce(f3);
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m_body->GetVertexNode(m_v4)->ApplyForce(f4);
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}
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void b3SoftBodyDragger::StopDragging()
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{
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B3_ASSERT(IsDragging() == true);
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m_tetrahedron = nullptr;
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}
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b3Vec3 b3SoftBodyDragger::GetPointA() const
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{
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B3_ASSERT(IsDragging() == true);
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b3Vec3 A = m_body->GetVertexNode(m_v1)->GetPosition();
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b3Vec3 B = m_body->GetVertexNode(m_v2)->GetPosition();
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b3Vec3 C = m_body->GetVertexNode(m_v3)->GetPosition();
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b3Vec3 D = m_body->GetVertexNode(m_v4)->GetPosition();
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return m_tu * A + m_tv * B + m_tw * C + m_tx * D;
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}
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b3Vec3 b3SoftBodyDragger::GetPointB() const
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{
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B3_ASSERT(IsDragging() == true);
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return (1.0f - m_x) * m_ray->A() + m_x * m_ray->B();
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} |