122 lines
2.8 KiB
C++
122 lines
2.8 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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#ifndef CLUSTER_H
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#define CLUSTER_H
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#include <bounce/dynamics/contacts/contact_cluster.h>
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class Cluster : public Test
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{
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public:
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enum
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{
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e_count = 64
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};
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Cluster()
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{
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Generate();
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}
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void Generate()
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{
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for (u32 i = 0; i < e_count; ++i)
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{
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float32 x = 3.0f * RandomFloat(-1.0f, 1.0f);
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float32 y = 3.0f * RandomFloat(-1.0f, 1.0f);
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float32 z = 3.0f * RandomFloat(-1.0f, 1.0f);
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b3Vec3 p(x, y, z);
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m_points[i] = p;
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}
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for (u32 i = 0; i < B3_MAX_MANIFOLDS; ++i)
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{
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float32 r = RandomFloat(0.0f, 1.0f);
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float32 g = RandomFloat(0.0f, 1.0f);
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float32 b = RandomFloat(0.0f, 1.0f);
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b3Color c(r, g, b);
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m_colors[i] = c;
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}
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}
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void KeyDown(int button)
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{
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if (button == GLFW_KEY_G)
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{
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Generate();
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}
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}
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void Step()
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{
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b3ClusterSolver cluster;
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// Initialize observations
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for (u32 i = 0; i < e_count; ++i)
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{
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b3Observation obs;
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obs.point = m_points[i];
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obs.point = b3Normalize(obs.point);
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obs.cluster = B3_NULL_CLUSTER;
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cluster.AddObservation(obs);
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}
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// Run cluster
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cluster.Solve();
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// Draw
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const b3Array<b3Observation>& observations = cluster.GetObservations();
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const b3Array<b3Cluster>& clusters = cluster.GetClusters();
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B3_ASSERT(clusters.Count() <= B3_MAX_MANIFOLDS);
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for (u32 i = 0; i < clusters.Count(); ++i)
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{
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b3Vec3 centroid = clusters[i].centroid;
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g_draw->DrawSegment(b3Vec3_zero, centroid, b3Color_white);
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g_draw->DrawPoint(centroid, 4.0f, m_colors[i]);
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for (u32 j = 0; j < observations.Count(); ++j)
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{
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b3Observation obs = observations[j];
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if (obs.cluster == i)
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{
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g_draw->DrawPoint(obs.point, 4.0f, m_colors[i]);
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}
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}
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}
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g_draw->DrawString(b3Color_white, "G - Generate a random cluster");
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g_draw->DrawString(b3Color_white, "Iterations = %d", cluster.GetIterations());
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}
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static Test* Create()
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{
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return new Cluster();
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}
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b3Vec3 m_points[e_count];
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b3Color m_colors[B3_MAX_MANIFOLDS];
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};
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#endif |