89 lines
2.3 KiB
C++
89 lines
2.3 KiB
C++
/*
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* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
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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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Cluster()
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{
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// Initialize observations
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for (u32 i = 0; i < 90; ++i)
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{
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float32 x = RandomFloat(-1.0f, 1.0f);
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float32 y = RandomFloat(-1.0f, 1.0f);
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float32 z = RandomFloat(-1.0f, 1.0f);
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b3Observation obs;
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obs.point.Set(x, y, z);
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obs.point = b3Normalize(obs.point);
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obs.cluster = B3_NULL_CLUSTER;
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m_solver.AddObservation(obs);
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}
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// Initialize clusters
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m_solver.Solve();
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const b3Array<b3Cluster>& clusters = m_solver.GetClusters();
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m_colors.Resize(clusters.Count());
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for (u32 i = 0; i < clusters.Count(); ++i)
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{
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m_colors[i] = b3Color(RandomFloat(0.0f, 1.0f), RandomFloat(0.0f, 1.0f), RandomFloat(0.0f, 1.0f));
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}
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}
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void Step()
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{
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const b3Array<b3Observation>& observations = m_solver.GetObservations();
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const b3Array<b3Cluster>& clusters = m_solver.GetClusters();
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for (u32 i = 0; i < clusters.Count(); ++i)
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{
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g_draw->DrawSegment(b3Vec3(0, 0, 0), clusters[i].centroid, b3Color(1, 1, 1));
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g_draw->DrawPoint(clusters[i].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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}
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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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b3ClusterSolver m_solver;
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b3StackArray<b3Color, 32> m_colors;
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};
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#endif
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