X-Git-Url: http://git.mutantstargoat.com/user/nuclear/?p=dosdemo;a=blobdiff_plain;f=tools%2Fropesim%2Fsrc%2Fmain.c;h=3c616f67f8f9ece4379dfb682e6586f89fc9dcde;hp=dcabef5a2e5b8f69b861e4490b1aa238eb8cf796;hb=1ae209a77434dcdf7266d2cf95d3f20c0de7a0e9;hpb=be72aee3c4a0a5516bdccf06c5419efe3e026ee4

diff --git a/tools/ropesim/src/main.c b/tools/ropesim/src/main.c
index dcabef5..3c616f6 100644
--- a/tools/ropesim/src/main.c
+++ b/tools/ropesim/src/main.c
@@ -2,6 +2,8 @@
 #include <stdlib.h>
 #include <GL/glut.h>
 #include "cmesh.h"
+#include "cgmath/cgmath.h"
+#include "ropesim.h"
 
 int init(void);
 void cleanup(void);
@@ -18,13 +20,27 @@ void sball_button(int bn, int st);
 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 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)
 {
 	glutInit(&argc, argv);
-	glutInitWindowSize(800, 600);
+	glutInitWindowSize(1280, 800);
 	glutInitDisplayMode(GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE);
 	glutCreateWindow("ropesim");
 
@@ -43,14 +59,24 @@ 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)
 {
-	float amb[] = {0.05, 0.05, 0.08, 1};
+	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, j;
+	struct rsim_rope *rope, *ropes_tail;
 
 	glEnable(GL_CULL_FACE);
 	glEnable(GL_DEPTH_TEST);
@@ -65,12 +91,108 @@ int init(void)
 		fprintf(stderr, "failed to load scene file\n");
 		return -1;
 	}
+
+	for(i=0; i<sizeof meshes / sizeof *meshes; i++) {
+		int idx;
+		if((idx = cmesh_find_submesh(scn, meshnames[i])) == -1) {
+			fprintf(stderr, "failed to locate required submesh (%s)\n", meshnames[i]);
+			return -1;
+		}
+		if(!(*meshes[i] = cmesh_alloc()) || cmesh_clone_submesh(*meshes[i], scn, idx) == -1) {
+			fprintf(stderr, "failed to clone submesh\n");
+			return -1;
+		}
+		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;
 }
 
 void cleanup(void)
 {
+	cmesh_free(mesh_suz);
+	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)
@@ -85,7 +207,13 @@ 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);
 
@@ -100,7 +228,53 @@ void display(void)
 		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();
 }
@@ -130,6 +304,7 @@ void mouse(int bn, int st, int x, int y)
 	prev_mx = x;
 	prev_my = y;
 	bnstate[bn - GLUT_LEFT_BUTTON] = st == GLUT_DOWN;
+	modkeys = glutGetModifiers();
 }
 
 void motion(int x, int y)
@@ -141,27 +316,51 @@ 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);
+	}
 }