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];
  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                     4
  68 #define ROPE_SPRINGS            (ROPE_MASSES - 1)
  69 #define ROPE_LEN                        1.0f
  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                 /* create a rope hanging from the anchor point */
 118                 if(!(rope = rsim_alloc_rope(ROPE_MASSES, ROPE_SPRINGS))) {
 119                         fprintf(stderr, "failed to allocate rope\n");
 120                         return -1;
 121                 }
 122                 for(j=0; j<ROPE_MASSES; j++) {
 123                         rope->masses[j].p = ganchor[i];
 124                         rope->masses[j].p.y = ganchor[i].y - j * ROPE_LEN / ROPE_SPRINGS;
 125                         rope->masses[j].m = 0.1f;
 126
 127                         if(j < ROPE_SPRINGS) {
 128                                 rope->springs[j].rest_len = ROPE_LEN / ROPE_SPRINGS;
 129                                 rope->springs[j].k = ROPE_K;
 130                                 rope->springs[j].mass[0] = rope->masses + j;
 131                                 rope->springs[j].mass[1] = rope->masses + j + 1;
 132                         }
 133                 }
 134                 rsim_freeze_rope_mass(rope, rope->masses);      /* freeze first mass */
 135
 136                 if(!ropes_tail) {
 137                         rsim.ropes = ropes_tail = rope;
 138                 } else {
 139                         ropes_tail->next = rope;
 140                         ropes_tail = rope;
 141                 }
 142                 rope->next = 0;
 143         }
 144
 145         return 0;
 146 }
 147
 148 void cleanup(void)
 149 {
 150         cmesh_free(mesh_suz);
 151         cmesh_free(mesh_gout);
 152         cmesh_free(mesh_gin);
 153         cmesh_free(scn);
 154
 155         rsim_destroy(&rsim);
 156 }
 157
 158 void update(long tmsec, float dt)
 159 {
 160         int i;
 161         cgm_vec3 apt0, apt1;
 162         float theta, phi, brot;
 163         struct rsim_rope *rope;
 164
 165         /*
 166         cgm_mrotation_quat(ginner_xform, &grot);
 167         cgm_mtranslate(ginner_xform, gmove.x, gmove.y, gmove.z);
 168         */
 169
 170         theta = cgm_deg_to_rad(grot_theta);
 171         phi = cgm_deg_to_rad(grot_phi);
 172
 173         cgm_mrotation_euler(ginner_xform, phi, theta, 0, CGM_EULER_XYZ);
 174         cgm_mrotation_euler(gouter_xform, phi, 0, 0, CGM_EULER_XYZ);
 175
 176         rope = rsim.ropes;
 177         for(i=0; i<4; i++) {
 178                 apt0 = ganchor[i];
 179                 cgm_vmul_m4v3(&apt0, ginner_xform);
 180
 181                 dbgvec[i] = apt0;
 182                 rope->masses[0].p = apt0;
 183
 184                 rope = rope->next;
 185         }
 186
 187         rsim_step(&rsim, dt);
 188 }
 189
 190 void display(void)
 191 {
 192         static const float lpos[][4] = {
 193                 {-100, 100, 200, 1},
 194                 {100, 80, 50, 1},
 195                 {20, -50, -150, 1}
 196         };
 197         static const float lcol[][4] = {
 198                 {0.9, 0.9, 0.9, 1},
 199                 {0.5, 0.3, 0.2, 1},
 200                 {0.2, 0.3, 0.2, 1}
 201         };
 202         int i, count;
 203         long tmsec = glutGet(GLUT_ELAPSED_TIME) - start_msec;
 204         static long prev_tmsec;
 205         struct rsim_rope *rope;
 206
 207         update(tmsec, (float)(tmsec - prev_tmsec) / 1000.0f);
 208         prev_tmsec = tmsec;
 209
 210         glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 211
 212         glMatrixMode(GL_MODELVIEW);
 213         glLoadIdentity();
 214         glTranslatef(0, 0, -cam_dist);
 215         glRotatef(cam_phi, 1, 0, 0);
 216         glRotatef(cam_theta, 0, 1, 0);
 217
 218         for(i=0; i<3; i++) {
 219                 glLightfv(GL_LIGHT0 + i, GL_POSITION, lpos[i]);
 220                 glLightfv(GL_LIGHT0 + i, GL_DIFFUSE, lcol[i]);
 221         }
 222
 223         count = cmesh_submesh_count(scn);
 224         for(i=0; i<count; i++) {
 225                 cmesh_draw_submesh(scn, i);
 226         }
 227
 228         glPushMatrix();
 229         glMultMatrixf(gouter_xform);
 230         cmesh_draw(mesh_gout);
 231         glPopMatrix();
 232
 233         glPushMatrix();
 234         glMultMatrixf(ginner_xform);
 235         cmesh_draw(mesh_gin);
 236         glPopMatrix();
 237
 238         cmesh_draw(mesh_suz);
 239
 240         glPointSize(7);
 241         glBegin(GL_POINTS);
 242         for(i=0; i<4; i++) {
 243                 glVertex3f(dbgvec[i].x, dbgvec[i].y, dbgvec[i].z);
 244         }
 245         glEnd();
 246
 247         glPushAttrib(GL_ENABLE_BIT);
 248         glDisable(GL_LIGHTING);
 249         glLineWidth(2);
 250         glPointSize(5);
 251
 252         rope = rsim.ropes;
 253         while(rope) {
 254                 glBegin(GL_LINE_STRIP);
 255                 glColor3f(0.2, 1, 0.2);
 256                 for(i=0; i<rope->num_masses; i++) {
 257                         glVertex3f(rope->masses[i].p.x, rope->masses[i].p.y, rope->masses[i].p.z);
 258                 }
 259                 glEnd();
 260
 261                 glBegin(GL_POINTS);
 262                 glColor3f(1, 0.2, 0.2);
 263                 for(i=0; i<rope->num_masses; i++) {
 264                         glVertex3f(rope->masses[i].p.x, rope->masses[i].p.y, rope->masses[i].p.z);
 265                 }
 266                 glEnd();
 267                 rope = rope->next;
 268         }
 269         glPopAttrib();
 270
 271         glutSwapBuffers();
 272 }
 273 void idle(void)
 274 {
 275         glutPostRedisplay();
 276 }
 277
 278 void reshape(int x, int y)
 279 {
 280         glViewport(0, 0, x, y);
 281         glMatrixMode(GL_PROJECTION);
 282         glLoadIdentity();
 283         gluPerspective(50.0, (float)x / (float)y, 0.5, 500.0);
 284 }
 285
 286 void keyb(unsigned char key, int x, int y)
 287 {
 288         switch(key) {
 289         case 27:
 290                 exit(0);
 291         }
 292 }
 293
 294 void mouse(int bn, int st, int x, int y)
 295 {
 296         prev_mx = x;
 297         prev_my = y;
 298         bnstate[bn - GLUT_LEFT_BUTTON] = st == GLUT_DOWN;
 299         modkeys = glutGetModifiers();
 300 }
 301
 302 void motion(int x, int y)
 303 {
 304         int dx = x - prev_mx;
 305         int dy = y - prev_my;
 306         prev_mx = x;
 307         prev_my = y;
 308
 309         if(!(dx | dy)) return;
 310
 311         if(modkeys) {
 312                 if(bnstate[0]) {
 313                         grot_theta += dx * 0.5;
 314                         grot_phi += dy * 0.5;
 315                 }
 316         } else {
 317                 if(bnstate[0]) {
 318                         cam_theta += dx * 0.5;
 319                         cam_phi += dy * 0.5;
 320                         if(cam_phi < -90) cam_phi = -90;
 321                         if(cam_phi > 90) cam_phi = 90;
 322                 }
 323
 324                 if(bnstate[2]) {
 325                         cam_dist += dy * 0.1;
 326                         if(cam_dist < 0.0f) cam_dist = 0.0f;
 327                 }
 328         }
 329 }
 330
 331 void sball_motion(int x, int y, int z)
 332 {
 333         gmove.x += x * 0.001f;
 334         gmove.y += y * 0.001f;
 335         gmove.z -= z * 0.001f;
 336 }
 337
 338 void sball_rotate(int x, int y, int z)
 339 {
 340         /*
 341         float axis_len, s;
 342         axis_len = (float)sqrt(x * x + y * y + z * z);
 343         s = axis_len == 0.0f ? 1.0f : 1.0f / axis_len;
 344         cgm_qrotate(&grot, axis_len * 0.001f, -x * s, -y * s, z * s);
 345         */
 346
 347         grot_theta += y * 0.03f;
 348         grot_phi += x * 0.03f;
 349 }
 350
 351 void sball_button(int bn, int st)
 352 {
 353         if(st == GLUT_DOWN) {
 354                 /*cgm_qcons(&grot, 0, 0, 0, 1);*/
 355                 grot_theta = grot_phi = 0.0f;
 356                 cgm_vcons(&gmove, 0, 0, 0);
 357         }
 358 }