#include <GL/glut.h>
#include "cmesh.h"
#include "cgmath/cgmath.h"
+#include "ropesim.h"
int init(void);
void cleanup(void);
float cam_theta, cam_phi, cam_dist = 10;
int prev_mx, prev_my;
int bnstate[8];
+int modkeys;
+
+long start_msec;
struct cmesh *scn;
struct cmesh *mesh_gout, *mesh_gin, *mesh_suz;
-cgm_vec3 ganchor[4];
+
+cgm_vec3 gmove;
+/*cgm_quat grot = {0, 0, 0, 1};*/
+float grot_theta, grot_phi;
+float ginner_xform[16], gouter_xform[16];
+cgm_vec3 ganchor[4], manchor[4];
+
+cgm_vec3 dbgvec[4];
+
+struct rsim_world rsim;
int main(int argc, char **argv)
{
}
atexit(cleanup);
+ start_msec = glutGet(GLUT_ELAPSED_TIME);
glutMainLoop();
return 0;
}
+#define ROPE_MASSES 5
+#define ROPE_SPRINGS (ROPE_MASSES - 1)
+#define ROPE_LEN 0.6f
+#define ROPE_MASSES_MASS 0.1f
+#define ROPE_K 80.0f
int init(void)
{
static const char *meshnames[] = {"suzanne", "gimbal_outer", "gimbal_inner"};
static struct cmesh **meshes[] = {&mesh_suz, &mesh_gout, &mesh_gin};
static const float amb[] = {0.05, 0.05, 0.08, 1};
- int i;
+ int i, j;
+ struct rsim_rope *rope, *ropes_tail;
glEnable(GL_CULL_FACE);
glEnable(GL_DEPTH_TEST);
cmesh_remove_submesh(scn, idx);
}
+ rsim_init(&rsim);
+ ropes_tail = 0;
+
+ /* anchor points on the inner gimbal */
+ for(i=0; i<4; i++) {
+ ganchor[i].x = (float)(((i & 1) << 1) - 1) * 1.5f;
+ ganchor[i].y = (float)((i & 2) - 1) * 1.5f;
+ ganchor[i].z = 0;
+
+ manchor[i] = ganchor[i];
+ cgm_vscale(manchor + i, 0.32);
+
+
+
+ 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++) {
+ 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;
+ }
+ }
+ 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;
}
cmesh_free(mesh_gout);
cmesh_free(mesh_gin);
cmesh_free(scn);
+
+ rsim_destroy(&rsim);
+}
+
+void update(long tmsec, float dt)
+{
+ int i;
+ cgm_vec3 apt0, apt1;
+ float theta, phi, brot;
+ struct rsim_rope *rope;
+
+ /*
+ cgm_mrotation_quat(ginner_xform, &grot);
+ cgm_mtranslate(ginner_xform, gmove.x, gmove.y, gmove.z);
+ */
+
+ theta = cgm_deg_to_rad(grot_theta);
+ phi = cgm_deg_to_rad(grot_phi);
+
+ cgm_mrotation_euler(ginner_xform, phi, theta, 0, CGM_EULER_XYZ);
+ cgm_mrotation_euler(gouter_xform, phi, 0, 0, CGM_EULER_XYZ);
+
+ rope = rsim.ropes;
+ for(i=0; i<4; i++) {
+ apt0 = ganchor[i];
+ cgm_vmul_m4v3(&apt0, ginner_xform);
+
+ dbgvec[i] = apt0;
+ rope->masses[0].p = apt0;
+
+ rope = rope->next;
+ }
+
+ rsim_step(&rsim, dt);
}
void display(void)
{0.5, 0.3, 0.2, 1},
{0.2, 0.3, 0.2, 1}
};
- int i;
+ int i, count;
+ long tmsec = glutGet(GLUT_ELAPSED_TIME) - start_msec;
+ static long prev_tmsec;
+ struct rsim_rope *rope;
+
+ update(tmsec, (float)(tmsec - prev_tmsec) / 1000.0f);
+ prev_tmsec = tmsec;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLightfv(GL_LIGHT0 + i, GL_DIFFUSE, lcol[i]);
}
- cmesh_draw(scn);
+ count = cmesh_submesh_count(scn);
+ for(i=0; i<count; i++) {
+ cmesh_draw_submesh(scn, i);
+ }
+
+ glPushMatrix();
+ glMultMatrixf(gouter_xform);
+ cmesh_draw(mesh_gout);
+ glPopMatrix();
+
+ glPushMatrix();
+ glMultMatrixf(ginner_xform);
+ cmesh_draw(mesh_gin);
+ glPopMatrix();
+
+ cmesh_draw(mesh_suz);
+
+ glPointSize(7);
+ glBegin(GL_POINTS);
+ for(i=0; i<4; i++) {
+ glVertex3f(dbgvec[i].x, dbgvec[i].y, dbgvec[i].z);
+ }
+ glEnd();
+
+ glPushAttrib(GL_ENABLE_BIT);
+ glDisable(GL_LIGHTING);
+ glLineWidth(2);
+ glPointSize(5);
+
+ rope = rsim.ropes;
+ while(rope) {
+ glBegin(GL_LINE_STRIP);
+ 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);
+ }
+ 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);
+ }
+ glEnd();
+ rope = rope->next;
+ }
+ glPopAttrib();
glutSwapBuffers();
}
prev_mx = x;
prev_my = y;
bnstate[bn - GLUT_LEFT_BUTTON] = st == GLUT_DOWN;
+ modkeys = glutGetModifiers();
}
void motion(int x, int y)
if(!(dx | dy)) return;
- if(bnstate[0]) {
- cam_theta += dx * 0.5;
- cam_phi += dy * 0.5;
- if(cam_phi < -90) cam_phi = -90;
- if(cam_phi > 90) cam_phi = 90;
- }
+ if(modkeys) {
+ if(bnstate[0]) {
+ grot_theta += dx * 0.5;
+ grot_phi += dy * 0.5;
+ }
+ } else {
+ if(bnstate[0]) {
+ cam_theta += dx * 0.5;
+ cam_phi += dy * 0.5;
+ if(cam_phi < -90) cam_phi = -90;
+ if(cam_phi > 90) cam_phi = 90;
+ }
- if(bnstate[2]) {
- cam_dist += dy * 0.1;
- if(cam_dist < 0.0f) cam_dist = 0.0f;
+ if(bnstate[2]) {
+ cam_dist += dy * 0.1;
+ if(cam_dist < 0.0f) cam_dist = 0.0f;
+ }
}
}
void sball_motion(int x, int y, int z)
{
+ gmove.x += x * 0.001f;
+ gmove.y += y * 0.001f;
+ gmove.z -= z * 0.001f;
}
-void sball_rotate(int rx, int ry, int rz)
+void sball_rotate(int x, int y, int z)
{
+ /*
+ float axis_len, s;
+ axis_len = (float)sqrt(x * x + y * y + z * z);
+ s = axis_len == 0.0f ? 1.0f : 1.0f / axis_len;
+ cgm_qrotate(&grot, axis_len * 0.001f, -x * s, -y * s, z * s);
+ */
+
+ grot_theta += y * 0.03f;
+ grot_phi += x * 0.03f;
}
void sball_button(int bn, int st)
{
+ if(st == GLUT_DOWN) {
+ /*cgm_qcons(&grot, 0, 0, 0, 1);*/
+ grot_theta = grot_phi = 0.0f;
+ cgm_vcons(&gmove, 0, 0, 0);
+ }
}
projects / dosdemo / blobdiff