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 2ccd695..6037509 100644 (file)
--- a/tools/ropesim/src/main.c
+++ b/tools/ropesim/src/main.c
@@ -31,7 +31,7 @@ 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];
+cgm_vec3 ganchor[4], manchor[4];
 
 cgm_vec3 dbgvec[4];
 
@@ -64,11 +64,11 @@ int main(int argc, char **argv)
        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)
 {
@@ -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);
@@ -106,7 +106,13 @@ int init(void)
        }
 
        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++) {
@@ -114,32 +120,27 @@ int init(void)
                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;
@@ -179,7 +180,7 @@ void update(long tmsec, float dt)
                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);
@@ -197,7 +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;
@@ -233,7 +234,7 @@ void display(void)
        cmesh_draw(mesh_gin);
        glPopMatrix();
 
-       cmesh_draw(mesh_suz);
+       /*cmesh_draw(mesh_suz);*/
 
        glPointSize(7);
        glBegin(GL_POINTS);
@@ -245,10 +246,24 @@ void display(void)
        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);
                }