git.mutantstargoat.com Git - dosdemo/blob - tools/ropesim/src/main.c

   1 #include <stdio.h>
   2 #include <stdlib.h>
   3 #include <GL/glut.h>
   4 #include "cmesh.h"
   5 #include "cgmath/cgmath.h"
   6 #include "ropesim.h"
   7
   8 int init(void);
   9 void cleanup(void);
  10 void display(void);
  11 void idle(void);
  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);
  19
  20 float cam_theta, cam_phi, cam_dist = 10;
  21 int prev_mx, prev_my;
  22 int bnstate[8];
  23 int modkeys;
  24
  25 long start_msec;
  26
  27 struct cmesh *scn;
  28 struct cmesh *mesh_gout, *mesh_gin, *mesh_suz;
  29
  30 cgm_vec3 gmove;
  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];
  35
  36 cgm_vec3 dbgvec[4];
  37
  38 struct rsim_world rsim;
  39
  40 int main(int argc, char **argv)
  41 {
  42         glutInit(&argc, argv);
  43         glutInitWindowSize(1280, 800);
  44         glutInitDisplayMode(GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE);
  45         glutCreateWindow("ropesim");
  46
  47         glutDisplayFunc(display);
  48         glutIdleFunc(idle);
  49         glutReshapeFunc(reshape);
  50         glutKeyboardFunc(keyb);
  51         glutMouseFunc(mouse);
  52         glutMotionFunc(motion);
  53         glutSpaceballMotionFunc(sball_motion);
  54         glutSpaceballRotateFunc(sball_rotate);
  55         glutSpaceballButtonFunc(sball_button);
  56
  57         if(init() == -1) {
  58                 return 1;
  59         }
  60         atexit(cleanup);
  61
  62         start_msec = glutGet(GLUT_ELAPSED_TIME);
  63         glutMainLoop();
  64         return 0;
  65 }
  66
  67 #define ROPE_MASSES                     5
  68 #define ROPE_SPRINGS            (ROPE_MASSES - 1)
  69 #define ROPE_LEN                        0.6f
  70 #define ROPE_MASSES_MASS        0.1f
  71 #define ROPE_K                          80.0f
  72
  73 int init(void)
  74 {
  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};
  78         int i, j;
  79         struct rsim_rope *rope, *ropes_tail;
  80
  81         glEnable(GL_CULL_FACE);
  82         glEnable(GL_DEPTH_TEST);
  83         glEnable(GL_LIGHTING);
  84         glEnable(GL_LIGHT0);
  85         glEnable(GL_LIGHT1);
  86         glEnable(GL_LIGHT2);
  87
  88         glLightModelfv(GL_LIGHT_MODEL_AMBIENT, amb);
  89
  90         if(!(scn = cmesh_alloc()) || cmesh_load(scn, "gimbal.obj") == -1) {
  91                 fprintf(stderr, "failed to load scene file\n");
  92                 return -1;
  93         }
  94
  95         for(i=0; i<sizeof meshes / sizeof *meshes; i++) {
  96                 int idx;
  97                 if((idx = cmesh_find_submesh(scn, meshnames[i])) == -1) {
  98                         fprintf(stderr, "failed to locate required submesh (%s)\n", meshnames[i]);
  99                         return -1;
 100                 }
 101                 if(!(*meshes[i] = cmesh_alloc()) || cmesh_clone_submesh(*meshes[i], scn, idx) == -1) {
 102                         fprintf(stderr, "failed to clone submesh\n");
 103                         return -1;
 104                 }
 105                 cmesh_remove_submesh(scn, idx);
 106         }
 107
 108         rsim_init(&rsim);
 109         ropes_tail = 0;
 110
 111         /* anchor points on the inner gimbal */
 112         for(i=0; i<4; i++) {
 113                 ganchor[i].x = (float)(((i & 1) << 1) - 1) * 1.5f;
 114                 ganchor[i].y = (float)((i & 2) - 1) * 1.5f;
 115                 ganchor[i].z = 0;
 116
 117                 manchor[i] = ganchor[i];
 118                 cgm_vscale(manchor + i, 0.32);
 119
 120
 121
 122                 manchor[i].y += 0.15;
 123
 124                 /* create a rope hanging from the anchor point */
 125                 if(!(rope = rsim_alloc_rope(ROPE_MASSES, ROPE_SPRINGS))) {
 126                         fprintf(stderr, "failed to allocate rope\n");
 127                         return -1;
 128                 }
 129                 for(j=0; j<ROPE_MASSES; j++) {
 130                         float t = (float)j / (float)(ROPE_MASSES - 1.0f);
 131                         cgm_vlerp(&rope->masses[j].p, ganchor + i, manchor + i, t);
 132                         rope->masses[j].m = 0.1f;
 133
 134                         if(j < ROPE_SPRINGS) {
 135                                 rope->springs[j].rest_len = ROPE_LEN / ROPE_SPRINGS;
 136                                 rope->springs[j].k = ROPE_K;
 137                                 rope->springs[j].mass[0] = rope->masses + j;
 138                                 rope->springs[j].mass[1] = rope->masses + j + 1;
 139                         }
 140                 }
 141                 rsim_freeze_rope_mass(rope, rope->masses);      /* freeze first mass */
 142                 rsim_freeze_rope_mass(rope, rope->masses + j - 1);      /* freeze last mass */
 143
 144                 if(!ropes_tail) {
 145                         rsim.ropes = ropes_tail = rope;
 146                 } else {
 147                         ropes_tail->next = rope;
 148                         ropes_tail = rope;
 149                 }
 150                 rope->next = 0;
 151         }
 152
 153         return 0;
 154 }
 155
 156 void cleanup(void)
 157 {
 158         cmesh_free(mesh_suz);
 159         cmesh_free(mesh_gout);
 160         cmesh_free(mesh_gin);
 161         cmesh_free(scn);
 162
 163         rsim_destroy(&rsim);
 164 }
 165
 166 void update(long tmsec, float dt)
 167 {
 168         int i;
 169         cgm_vec3 apt0, apt1;
 170         float theta, phi, brot;
 171         struct rsim_rope *rope;
 172
 173         /*
 174         cgm_mrotation_quat(ginner_xform, &grot);
 175         cgm_mtranslate(ginner_xform, gmove.x, gmove.y, gmove.z);
 176         */
 177
 178         theta = cgm_deg_to_rad(grot_theta);
 179         phi = cgm_deg_to_rad(grot_phi);
 180
 181         cgm_mrotation_euler(ginner_xform, phi, theta, 0, CGM_EULER_XYZ);
 182         cgm_mrotation_euler(gouter_xform, phi, 0, 0, CGM_EULER_XYZ);
 183
 184         rope = rsim.ropes;
 185         for(i=0; i<4; i++) {
 186                 apt0 = ganchor[i];
 187                 cgm_vmul_m4v3(&apt0, ginner_xform);
 188
 189                 dbgvec[i] = apt0;
 190                 rope->masses[0].p = apt0;
 191
 192                 rope = rope->next;
 193         }
 194
 195         rsim_step(&rsim, dt);
 196 }
 197
 198 void display(void)
 199 {
 200         static const float lpos[][4] = {
 201                 {-100, 100, 200, 1},
 202                 {100, 80, 50, 1},
 203                 {20, -50, -150, 1}
 204         };
 205         static const float lcol[][4] = {
 206                 {0.9, 0.9, 0.9, 1},
 207                 {0.5, 0.3, 0.2, 1},
 208                 {0.2, 0.3, 0.2, 1}
 209         };
 210         int i, count;
 211         long tmsec = glutGet(GLUT_ELAPSED_TIME) - start_msec;
 212         static long prev_tmsec;
 213         struct rsim_rope *rope;
 214
 215         update(tmsec, (float)(tmsec - prev_tmsec) / 1000.0f);
 216         prev_tmsec = tmsec;
 217
 218         glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 219
 220         glMatrixMode(GL_MODELVIEW);
 221         glLoadIdentity();
 222         glTranslatef(0, 0, -cam_dist);
 223         glRotatef(cam_phi, 1, 0, 0);
 224         glRotatef(cam_theta, 0, 1, 0);
 225
 226         for(i=0; i<3; i++) {
 227                 glLightfv(GL_LIGHT0 + i, GL_POSITION, lpos[i]);
 228                 glLightfv(GL_LIGHT0 + i, GL_DIFFUSE, lcol[i]);
 229         }
 230
 231         count = cmesh_submesh_count(scn);
 232         for(i=0; i<count; i++) {
 233                 cmesh_draw_submesh(scn, i);
 234         }
 235
 236         glPushMatrix();
 237         glMultMatrixf(gouter_xform);
 238         cmesh_draw(mesh_gout);
 239         glPopMatrix();
 240
 241         glPushMatrix();
 242         glMultMatrixf(ginner_xform);
 243         cmesh_draw(mesh_gin);
 244         glPopMatrix();
 245
 246         cmesh_draw(mesh_suz);
 247
 248         glPointSize(7);
 249         glBegin(GL_POINTS);
 250         for(i=0; i<4; i++) {
 251                 glVertex3f(dbgvec[i].x, dbgvec[i].y, dbgvec[i].z);
 252         }
 253         glEnd();
 254
 255         glPushAttrib(GL_ENABLE_BIT);
 256         glDisable(GL_LIGHTING);
 257         glLineWidth(2);
 258         glPointSize(5);
 259
 260         rope = rsim.ropes;
 261         while(rope) {
 262                 glBegin(GL_LINE_STRIP);
 263                 glColor3f(0.2, 1, 0.2);
 264                 for(i=0; i<rope->num_masses; i++) {
 265                         glVertex3f(rope->masses[i].p.x, rope->masses[i].p.y, rope->masses[i].p.z);
 266                 }
 267                 glEnd();
 268
 269                 glBegin(GL_POINTS);
 270                 glColor3f(1, 0.2, 0.2);
 271                 for(i=0; i<rope->num_masses; i++) {
 272                         glVertex3f(rope->masses[i].p.x, rope->masses[i].p.y, rope->masses[i].p.z);
 273                 }
 274                 glEnd();
 275                 rope = rope->next;
 276         }
 277         glPopAttrib();
 278
 279         glutSwapBuffers();
 280 }
 281 void idle(void)
 282 {
 283         glutPostRedisplay();
 284 }
 285
 286 void reshape(int x, int y)
 287 {
 288         glViewport(0, 0, x, y);
 289         glMatrixMode(GL_PROJECTION);
 290         glLoadIdentity();
 291         gluPerspective(50.0, (float)x / (float)y, 0.5, 500.0);
 292 }
 293
 294 void keyb(unsigned char key, int x, int y)
 295 {
 296         switch(key) {
 297         case 27:
 298                 exit(0);
 299         }
 300 }
 301
 302 void mouse(int bn, int st, int x, int y)
 303 {
 304         prev_mx = x;
 305         prev_my = y;
 306         bnstate[bn - GLUT_LEFT_BUTTON] = st == GLUT_DOWN;
 307         modkeys = glutGetModifiers();
 308 }
 309
 310 void motion(int x, int y)
 311 {
 312         int dx = x - prev_mx;
 313         int dy = y - prev_my;
 314         prev_mx = x;
 315         prev_my = y;
 316
 317         if(!(dx | dy)) return;
 318
 319         if(modkeys) {
 320                 if(bnstate[0]) {
 321                         grot_theta += dx * 0.5;
 322                         grot_phi += dy * 0.5;
 323                 }
 324         } else {
 325                 if(bnstate[0]) {
 326                         cam_theta += dx * 0.5;
 327                         cam_phi += dy * 0.5;
 328                         if(cam_phi < -90) cam_phi = -90;
 329                         if(cam_phi > 90) cam_phi = 90;
 330                 }
 331
 332                 if(bnstate[2]) {
 333                         cam_dist += dy * 0.1;
 334                         if(cam_dist < 0.0f) cam_dist = 0.0f;
 335                 }
 336         }
 337 }
 338
 339 void sball_motion(int x, int y, int z)
 340 {
 341         gmove.x += x * 0.001f;
 342         gmove.y += y * 0.001f;
 343         gmove.z -= z * 0.001f;
 344 }
 345
 346 void sball_rotate(int x, int y, int z)
 347 {
 348         /*
 349         float axis_len, s;
 350         axis_len = (float)sqrt(x * x + y * y + z * z);
 351         s = axis_len == 0.0f ? 1.0f : 1.0f / axis_len;
 352         cgm_qrotate(&grot, axis_len * 0.001f, -x * s, -y * s, z * s);
 353         */
 354
 355         grot_theta += y * 0.03f;
 356         grot_phi += x * 0.03f;
 357 }
 358
 359 void sball_button(int bn, int st)
 360 {
 361         if(st == GLUT_DOWN) {
 362                 /*cgm_qcons(&grot, 0, 0, 0, 1);*/
 363                 grot_theta = grot_phi = 0.0f;
 364                 cgm_vcons(&gmove, 0, 0, 0);
 365         }
 366 }