reorganizing the rope sim

[dosdemo] / tools / ropesim / src / main.c

diff --git a/tools/ropesim/src/main.c b/tools/ropesim/src/main.c
index f300a57..6037509 100644 (file)
--- a/tools/ropesim/src/main.c
+++ b/tools/ropesim/src/main.c
@@ -76,7 +76,7 @@ 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);
@@ -107,7 +107,12 @@ int init(void)
 
        rsim_init(&rsim);
        rsim.damping = 0.3;
-       ropes_tail = 0;
+
+       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++) {
@@ -122,33 +127,20 @@ int init(void)
 
                manchor[i].y += 0.15;
 
-               /* 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;
-               }
                for(j=0; j<ROPE_MASSES; j++) {
+                       int midx = i * ROPE_MASSES + j;
+                       struct rsim_mass *mass = rope->masses + midx;
+
                        float t = (float)j / (float)(ROPE_MASSES - 1.0f);
-                       cgm_vlerp(&rope->masses[j].p, ganchor + i, manchor + i, t);
-                       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;
+                       cgm_vlerp(&mass->p, ganchor + i, manchor + i, t);
+                       mass->m = ROPE_MASSES_MASS;
+
+                       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);
                        }
                }
-               rsim_freeze_rope_mass(rope, rope->masses);      /* freeze first mass */
-               rsim_freeze_rope_mass(rope, rope->masses + j - 1);      /* freeze last mass */
-
-               if(!ropes_tail) {
-                       rsim.ropes = ropes_tail = rope;
-               } else {
-                       ropes_tail->next = rope;
-                       ropes_tail = rope;
-               }
-               rope->next = 0;
        }
 
        return 0;
@@ -188,9 +180,7 @@ void update(long tmsec, float dt)
                cgm_vmul_m4v3(&apt0, ginner_xform);
 
                dbgvec[i] = apt0;
-               rope->masses[0].p = apt0;
-
-               rope = rope->next;
+               rope->masses[i * ROPE_MASSES].p = apt0;
        }
 
        rsim_step(&rsim, dt);
@@ -208,7 +198,7 @@ void display(void)
                {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;
@@ -260,10 +250,15 @@ void display(void)
 
        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++) {
-                       glVertex3f(rope->masses[i].p.x, rope->masses[i].p.y, rope->masses[i].p.z);
+                       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();