/*cgm_quat grot = {0, 0, 0, 1};*/
float grot_theta, grot_phi;
float ginner_xform[16], gouter_xform[16];
-cgm_vec3 ganchor[4];
+cgm_vec3 ganchor[4], manchor[4];
cgm_vec3 dbgvec[4];
return 0;
}
-#define ROPE_MASSES 4
+#define ROPE_MASSES 10
#define ROPE_SPRINGS (ROPE_MASSES - 1)
-#define ROPE_LEN 1.0f
-#define ROPE_MASSES_MASS 0.1f
-#define ROPE_K 0.5f
+#define ROPE_LEN 0.8f
+#define ROPE_MASSES_MASS 0.01f
+#define ROPE_K 180.0f
int init(void)
{
static struct cmesh **meshes[] = {&mesh_suz, &mesh_gout, &mesh_gin};
static const float amb[] = {0.05, 0.05, 0.08, 1};
int i, j;
- struct rsim_rope *rope, *ropes_tail;
+ struct rsim_rope *rope;
glEnable(GL_CULL_FACE);
glEnable(GL_DEPTH_TEST);
}
rsim_init(&rsim);
- ropes_tail = 0;
+ rsim.damping = 0.3;
+
+ if(!(rope = rsim_alloc_rope(ROPE_MASSES * 4))) {
+ fprintf(stderr, "failed to allocate rope\n");
+ return -1;
+ }
+ rsim_add_rope(&rsim, rope);
/* anchor points on the inner gimbal */
for(i=0; i<4; i++) {
ganchor[i].y = (float)((i & 2) - 1) * 1.5f;
ganchor[i].z = 0;
- /* create a rope hanging from the anchor point */
- if(!(rope = rsim_alloc_rope(ROPE_MASSES, ROPE_SPRINGS))) {
- fprintf(stderr, "failed to allocate rope\n");
- return -1;
- }
+ manchor[i] = ganchor[i];
+ cgm_vscale(manchor + i, 0.32);
+
+
+
+ manchor[i].y += 0.15;
+
for(j=0; j<ROPE_MASSES; j++) {
- rope->masses[j].p = ganchor[i];
- rope->masses[j].p.y = ganchor[i].y - j * ROPE_LEN / ROPE_SPRINGS;
- rope->masses[j].m = 0.1f;
-
- if(j < ROPE_SPRINGS) {
- rope->springs[j].rest_len = ROPE_LEN / ROPE_SPRINGS;
- rope->springs[j].k = ROPE_K;
- rope->springs[j].mass[0] = rope->masses + j;
- rope->springs[j].mass[1] = rope->masses + j + 1;
- }
- }
- rsim_freeze_rope_mass(rope, rope->masses); /* freeze first mass */
+ int midx = i * ROPE_MASSES + j;
+ struct rsim_mass *mass = rope->masses + midx;
+
+ float t = (float)j / (float)(ROPE_MASSES - 1.0f);
+ cgm_vlerp(&mass->p, ganchor + i, manchor + i, t);
+ mass->m = ROPE_MASSES_MASS;
- if(!ropes_tail) {
- rsim.ropes = ropes_tail = rope;
- } else {
- ropes_tail->next = rope;
- ropes_tail = rope;
+ if(j == 0) {
+ rsim_freeze_rope_mass(rope, rope->masses + i * ROPE_MASSES); /* freeze first mass */
+ } else {
+ rsim_set_rope_spring(rope, midx, midx - 1, ROPE_K, RSIM_RLEN_DEFAULT);
+ }
}
- rope->next = 0;
}
return 0;
cgm_vmul_m4v3(&apt0, ginner_xform);
dbgvec[i] = apt0;
- rope->masses[0].p = apt0;
+ rope->masses[i * ROPE_MASSES].p = apt0;
}
rsim_step(&rsim, dt);
{0.5, 0.3, 0.2, 1},
{0.2, 0.3, 0.2, 1}
};
- int i, count;
+ int i, j, count;
long tmsec = glutGet(GLUT_ELAPSED_TIME) - start_msec;
static long prev_tmsec;
struct rsim_rope *rope;
cmesh_draw(mesh_gin);
glPopMatrix();
- cmesh_draw(mesh_suz);
+ /*cmesh_draw(mesh_suz);*/
glPointSize(7);
glBegin(GL_POINTS);
glPushAttrib(GL_ENABLE_BIT);
glDisable(GL_LIGHTING);
glLineWidth(2);
+ glPointSize(5);
rope = rsim.ropes;
while(rope) {
- glBegin(GL_LINE_STRIP);
+ glBegin(GL_LINES);
+ glColor3f(0.2, 1, 0.2);
+ for(i=0; i<rope->num_masses; i++) {
+ for(j=i+1; j<rope->num_masses; j++) {
+ if(rsim_have_spring(rope, i, j)) {
+ glVertex3f(rope->masses[i].p.x, rope->masses[i].p.y, rope->masses[i].p.z);
+ glVertex3f(rope->masses[j].p.x, rope->masses[j].p.y, rope->masses[j].p.z);
+ }
+ }
+ }
+ glEnd();
+
+ glBegin(GL_POINTS);
+ glColor3f(1, 0.2, 0.2);
for(i=0; i<rope->num_masses; i++) {
glVertex3f(rope->masses[i].p.x, rope->masses[i].p.y, rope->masses[i].p.z);
}