162 lines
3.4 KiB
C++
162 lines
3.4 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 BEAM_H
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#define BEAM_H
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#include <testbed/framework/softbody_dragger.h>
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class Beam : public Test
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{
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public:
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Beam()
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{
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// Create soft body
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b3SoftBodyDef def;
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def.mesh = &m_mesh;
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def.density = 0.2f;
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def.E = 1000.0f;
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def.nu = 0.33f;
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m_body = new b3SoftBody(def);
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b3Vec3 gravity(0.0f, -9.8f, 0.0f);
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m_body->SetGravity(gravity);
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m_body->SetWorld(&m_world);
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for (u32 i = 0; i < m_mesh.vertexCount; ++i)
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{
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b3SoftBodyNode* n = m_body->GetVertexNode(i);
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n->SetRadius(0.05f);
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n->SetFriction(0.2f);
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}
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// Create body
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{
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b3BodyDef bd;
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bd.type = e_staticBody;
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bd.position.x = -3.5f;
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b3Body* b = m_world.CreateBody(bd);
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m_wallHull.Set(1.0f, 5.0f, 5.0f);
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b3HullShape wallShape;
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wallShape.m_hull = &m_wallHull;
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b3ShapeDef sd;
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sd.shape = &wallShape;
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b3Shape* wall = b->CreateShape(sd);
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}
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b3AABB3 aabb;
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aabb.m_lower.Set(-3.0f, -5.0f, -5.0f);
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aabb.m_upper.Set(-2.0f, 5.0f, 5.0f);
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for (u32 i = 0; i < m_mesh.vertexCount; ++i)
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{
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b3SoftBodyNode* n = m_body->GetVertexNode(i);
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b3Vec3 p = n->GetPosition();
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if (aabb.Contains(p))
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{
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n->SetType(e_staticSoftBodyNode);
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}
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}
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m_bodyDragger = new b3SoftBodyDragger(&m_ray, m_body);
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}
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~Beam()
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{
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delete m_bodyDragger;
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delete m_body;
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}
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void Step()
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{
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Test::Step();
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if (m_bodyDragger->IsDragging())
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{
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m_bodyDragger->Drag();
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}
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m_body->Step(g_testSettings->inv_hertz, g_testSettings->velocityIterations, g_testSettings->positionIterations);
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m_body->Draw();
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if (m_bodyDragger->IsDragging())
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{
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b3Vec3 pA = m_bodyDragger->GetPointA();
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b3Vec3 pB = m_bodyDragger->GetPointB();
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g_draw->DrawPoint(pA, 2.0f, b3Color_green);
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g_draw->DrawPoint(pB, 2.0f, b3Color_green);
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g_draw->DrawSegment(pA, pB, b3Color_white);
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}
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extern u32 b3_softBodySolverIterations;
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g_draw->DrawString(b3Color_white, "Iterations = %d", b3_softBodySolverIterations);
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float32 E = m_body->GetEnergy();
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g_draw->DrawString(b3Color_white, "E = %f", E);
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}
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void MouseMove(const b3Ray3& pw)
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{
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Test::MouseMove(pw);
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}
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void MouseLeftDown(const b3Ray3& pw)
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{
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Test::MouseLeftDown(pw);
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if (m_bodyDragger->IsDragging() == false)
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{
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m_bodyDragger->StartDragging();
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}
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}
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void MouseLeftUp(const b3Ray3& pw)
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{
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Test::MouseLeftUp(pw);
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if (m_bodyDragger->IsDragging() == true)
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{
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m_bodyDragger->StopDragging();
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}
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}
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static Test* Create()
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{
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return new Beam();
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}
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b3BlockSoftBodyMesh<5, 2, 2> m_mesh;
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b3SoftBody* m_body;
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b3SoftBodyDragger* m_bodyDragger;
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b3BoxHull m_wallHull;
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};
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#endif |