5 #include "cgmath/cgmath.h"
12 void reshape(int x, int y);
13 void keyb(unsigned char key, int x, int y);
14 void mouse(int bn, int st, int x, int y);
15 void motion(int x, int y);
16 void sball_motion(int x, int y, int z);
17 void sball_rotate(int rx, int ry, int rz);
18 void sball_button(int bn, int st);
20 float cam_theta, cam_phi, cam_dist = 10;
28 struct cmesh *mesh_gout, *mesh_gin, *mesh_suz;
31 /*cgm_quat grot = {0, 0, 0, 1};*/
32 float grot_theta, grot_phi;
33 float ginner_xform[16], gouter_xform[16];
34 cgm_vec3 ganchor[4], manchor[4];
38 struct rsim_world rsim;
40 int main(int argc, char **argv)
42 glutInit(&argc, argv);
43 glutInitWindowSize(1280, 800);
44 glutInitDisplayMode(GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE);
45 glutCreateWindow("ropesim");
47 glutDisplayFunc(display);
49 glutReshapeFunc(reshape);
50 glutKeyboardFunc(keyb);
52 glutMotionFunc(motion);
53 glutSpaceballMotionFunc(sball_motion);
54 glutSpaceballRotateFunc(sball_rotate);
55 glutSpaceballButtonFunc(sball_button);
62 start_msec = glutGet(GLUT_ELAPSED_TIME);
67 #define ROPE_MASSES 10
68 #define ROPE_SPRINGS (ROPE_MASSES - 1)
70 #define ROPE_MASSES_MASS 0.01f
75 static const char *meshnames[] = {"suzanne", "gimbal_outer", "gimbal_inner"};
76 static struct cmesh **meshes[] = {&mesh_suz, &mesh_gout, &mesh_gin};
77 static const float amb[] = {0.05, 0.05, 0.08, 1};
79 struct rsim_rope *rope;
81 glEnable(GL_CULL_FACE);
82 glEnable(GL_DEPTH_TEST);
83 glEnable(GL_LIGHTING);
88 glLightModelfv(GL_LIGHT_MODEL_AMBIENT, amb);
90 if(!(scn = cmesh_alloc()) || cmesh_load(scn, "gimbal.obj") == -1) {
91 fprintf(stderr, "failed to load scene file\n");
95 for(i=0; i<sizeof meshes / sizeof *meshes; i++) {
97 if((idx = cmesh_find_submesh(scn, meshnames[i])) == -1) {
98 fprintf(stderr, "failed to locate required submesh (%s)\n", meshnames[i]);
101 if(!(*meshes[i] = cmesh_alloc()) || cmesh_clone_submesh(*meshes[i], scn, idx) == -1) {
102 fprintf(stderr, "failed to clone submesh\n");
105 cmesh_remove_submesh(scn, idx);
111 if(!(rope = rsim_alloc_rope(ROPE_MASSES * 4))) {
112 fprintf(stderr, "failed to allocate rope\n");
115 rsim_add_rope(&rsim, rope);
117 /* anchor points on the inner gimbal */
119 ganchor[i].x = (float)(((i & 1) << 1) - 1) * 1.5f;
120 ganchor[i].y = (float)((i & 2) - 1) * 1.5f;
123 manchor[i] = ganchor[i];
124 cgm_vscale(manchor + i, 0.32);
128 manchor[i].y += 0.15;
130 for(j=0; j<ROPE_MASSES; j++) {
131 int midx = i * ROPE_MASSES + j;
132 struct rsim_mass *mass = rope->masses + midx;
134 float t = (float)j / (float)(ROPE_MASSES - 1.0f);
135 cgm_vlerp(&mass->p, ganchor + i, manchor + i, t);
136 mass->m = ROPE_MASSES_MASS;
139 rsim_freeze_rope_mass(rope, rope->masses + i * ROPE_MASSES); /* freeze first mass */
141 rsim_set_rope_spring(rope, midx, midx - 1, ROPE_K, RSIM_RLEN_DEFAULT);
151 cmesh_free(mesh_suz);
152 cmesh_free(mesh_gout);
153 cmesh_free(mesh_gin);
159 void update(long tmsec, float dt)
163 float theta, phi, brot;
164 struct rsim_rope *rope;
167 cgm_mrotation_quat(ginner_xform, &grot);
168 cgm_mtranslate(ginner_xform, gmove.x, gmove.y, gmove.z);
171 theta = cgm_deg_to_rad(grot_theta);
172 phi = cgm_deg_to_rad(grot_phi);
174 cgm_mrotation_euler(ginner_xform, phi, theta, 0, CGM_EULER_XYZ);
175 cgm_mrotation_euler(gouter_xform, phi, 0, 0, CGM_EULER_XYZ);
180 cgm_vmul_m4v3(&apt0, ginner_xform);
183 rope->masses[i * ROPE_MASSES].p = apt0;
186 rsim_step(&rsim, dt);
191 static const float lpos[][4] = {
196 static const float lcol[][4] = {
202 long tmsec = glutGet(GLUT_ELAPSED_TIME) - start_msec;
203 static long prev_tmsec;
204 struct rsim_rope *rope;
206 update(tmsec, (float)(tmsec - prev_tmsec) / 1000.0f);
209 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
211 glMatrixMode(GL_MODELVIEW);
213 glTranslatef(0, 0, -cam_dist);
214 glRotatef(cam_phi, 1, 0, 0);
215 glRotatef(cam_theta, 0, 1, 0);
218 glLightfv(GL_LIGHT0 + i, GL_POSITION, lpos[i]);
219 glLightfv(GL_LIGHT0 + i, GL_DIFFUSE, lcol[i]);
222 count = cmesh_submesh_count(scn);
223 for(i=0; i<count; i++) {
224 cmesh_draw_submesh(scn, i);
228 glMultMatrixf(gouter_xform);
229 cmesh_draw(mesh_gout);
233 glMultMatrixf(ginner_xform);
234 cmesh_draw(mesh_gin);
237 /*cmesh_draw(mesh_suz);*/
242 glVertex3f(dbgvec[i].x, dbgvec[i].y, dbgvec[i].z);
246 glPushAttrib(GL_ENABLE_BIT);
247 glDisable(GL_LIGHTING);
254 glColor3f(0.2, 1, 0.2);
255 for(i=0; i<rope->num_masses; i++) {
256 for(j=i+1; j<rope->num_masses; j++) {
257 if(rsim_have_spring(rope, i, j)) {
258 glVertex3f(rope->masses[i].p.x, rope->masses[i].p.y, rope->masses[i].p.z);
259 glVertex3f(rope->masses[j].p.x, rope->masses[j].p.y, rope->masses[j].p.z);
266 glColor3f(1, 0.2, 0.2);
267 for(i=0; i<rope->num_masses; i++) {
268 glVertex3f(rope->masses[i].p.x, rope->masses[i].p.y, rope->masses[i].p.z);
282 void reshape(int x, int y)
284 glViewport(0, 0, x, y);
285 glMatrixMode(GL_PROJECTION);
287 gluPerspective(50.0, (float)x / (float)y, 0.5, 500.0);
290 void keyb(unsigned char key, int x, int y)
298 void mouse(int bn, int st, int x, int y)
302 bnstate[bn - GLUT_LEFT_BUTTON] = st == GLUT_DOWN;
303 modkeys = glutGetModifiers();
306 void motion(int x, int y)
308 int dx = x - prev_mx;
309 int dy = y - prev_my;
313 if(!(dx | dy)) return;
317 grot_theta += dx * 0.5;
318 grot_phi += dy * 0.5;
322 cam_theta += dx * 0.5;
324 if(cam_phi < -90) cam_phi = -90;
325 if(cam_phi > 90) cam_phi = 90;
329 cam_dist += dy * 0.1;
330 if(cam_dist < 0.0f) cam_dist = 0.0f;
335 void sball_motion(int x, int y, int z)
337 gmove.x += x * 0.001f;
338 gmove.y += y * 0.001f;
339 gmove.z -= z * 0.001f;
342 void sball_rotate(int x, int y, int z)
346 axis_len = (float)sqrt(x * x + y * y + z * z);
347 s = axis_len == 0.0f ? 1.0f : 1.0f / axis_len;
348 cgm_qrotate(&grot, axis_len * 0.001f, -x * s, -y * s, z * s);
351 grot_theta += y * 0.03f;
352 grot_phi += x * 0.03f;
355 void sball_button(int bn, int st)
357 if(st == GLUT_DOWN) {
358 /*cgm_qcons(&grot, 0, 0, 0, 1);*/
359 grot_theta = grot_phi = 0.0f;
360 cgm_vcons(&gmove, 0, 0, 0);