X-Git-Url: http://git.mutantstargoat.com/user/nuclear/?p=dosdemo;a=blobdiff_plain;f=tools%2Fropesim%2Fsrc%2Fmain.c;h=6037509d2b779307b2d87d8cf19027129bc72e21;hp=90bccdfad8ac9a90685742e54e21f4c49f42ec2c;hb=900d333da3db0d117e815dc181b5d73c31efa455;hpb=91571f90a9120404bc40a868a66d91ce4ce29580

diff --git a/tools/ropesim/src/main.c b/tools/ropesim/src/main.c
index 90bccdf..6037509 100644
--- a/tools/ropesim/src/main.c
+++ b/tools/ropesim/src/main.c
@@ -3,6 +3,7 @@
 #include <GL/glut.h>
 #include "cmesh.h"
 #include "cgmath/cgmath.h"
+#include "ropesim.h"
 
 int init(void);
 void cleanup(void);
@@ -30,10 +31,12 @@ 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];
 
+struct rsim_world rsim;
+
 int main(int argc, char **argv)
 {
 	glutInit(&argc, argv);
@@ -61,13 +64,19 @@ int main(int argc, char **argv)
 	return 0;
 }
 
+#define ROPE_MASSES			10
+#define ROPE_SPRINGS		(ROPE_MASSES - 1)
+#define ROPE_LEN			0.8f
+#define ROPE_MASSES_MASS	0.01f
+#define ROPE_K				180.0f
 
 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;
 
 	glEnable(GL_CULL_FACE);
 	glEnable(GL_DEPTH_TEST);
@@ -96,11 +105,42 @@ int init(void)
 		cmesh_remove_submesh(scn, idx);
 	}
 
+	rsim_init(&rsim);
+	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++) {
 		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;
+
+		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(&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);
+			}
+		}
 	}
 
 	return 0;
@@ -112,6 +152,8 @@ void cleanup(void)
 	cmesh_free(mesh_gout);
 	cmesh_free(mesh_gin);
 	cmesh_free(scn);
+
+	rsim_destroy(&rsim);
 }
 
 void update(long tmsec, float dt)
@@ -119,6 +161,7 @@ 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);
@@ -131,12 +174,16 @@ void update(long tmsec, float dt)
 	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[i * ROPE_MASSES].p = apt0;
 	}
+
+	rsim_step(&rsim, dt);
 }
 
 void display(void)
@@ -151,9 +198,10 @@ 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;
 
 	update(tmsec, (float)(tmsec - prev_tmsec) / 1000.0f);
 	prev_tmsec = tmsec;
@@ -186,7 +234,7 @@ void display(void)
 	cmesh_draw(mesh_gin);
 	glPopMatrix();
 
-	cmesh_draw(mesh_suz);
+	/*cmesh_draw(mesh_suz);*/
 
 	glPointSize(7);
 	glBegin(GL_POINTS);
@@ -195,6 +243,35 @@ void display(void)
 	}
 	glEnd();
 
+	glPushAttrib(GL_ENABLE_BIT);
+	glDisable(GL_LIGHTING);
+	glLineWidth(2);
+	glPointSize(5);
+
+	rope = rsim.ropes;
+	while(rope) {
+		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);
+		}
+		glEnd();
+		rope = rope->next;
+	}
+	glPopAttrib();
+
 	glutSwapBuffers();
 }
 void idle(void)