foo

diff --git a/tools/ropesim/src/ropesim.c b/tools/ropesim/src/ropesim.c
index 07af3ef..eea2add 100644 (file)
--- a/tools/ropesim/src/ropesim.c
+++ b/tools/ropesim/src/ropesim.c
@@ -1,6 +1,7 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <stdint.h>
+#include <assert.h>
 #include "ropesim.h"
 
 static void step(struct rsim_world *rsim, struct rsim_rope *rope, float dt);
@@ -58,12 +59,20 @@ static void step(struct rsim_world *rsim, struct rsim_rope *rope, float dt)
                        cgm_vsub(&dir, &rope->masses[j].p);
 
                        len = cgm_vlength(&dir);
+                       if(len > 100.0f) {
+                               abort();
+                       }
                        if(len != 0.0f) {
                                float s = 1.0f / len;
                                cgm_vscale(&dir, s);
                        }
                        fmag = (len - spr->rest_len) * spr->k;
+                       if(i == 5) {
+                               printf("%d-%d fmag: %f\n", i, j, fmag);
+                               if(fmag > 20) asm volatile("int $3");
+                       }
 
+                       assert(rope->masses[j].m != 0.0f);
                        cgm_vscale(&dir, fmag / rope->masses[j].m);
                        cgm_vadd(&rope->masses[j].f, &dir);
                }
@@ -173,7 +182,7 @@ void rsim_destroy_rope(struct rsim_rope *rope)
 int rsim_set_rope_spring(struct rsim_rope *rope, int ma, int mb, float k, float rlen)
 {
        cgm_vec3 dir;
-       struct rsim_spring *spr;
+       struct rsim_spring *spr, *rps;
 
        if(ma == mb || ma < 0 || ma >= rope->num_masses || mb < 0 || mb >= rope->num_masses) {
                return -1;
@@ -186,8 +195,9 @@ int rsim_set_rope_spring(struct rsim_rope *rope, int ma, int mb, float k, float
        }
 
        spr = rope->springs + ma * rope->num_masses + mb;
-       spr->k = fabs(k);
-       spr->rest_len = rlen;
+       rps = rope->springs + mb * rope->num_masses + ma;
+       spr->k = rps->k = fabs(k);
+       spr->rest_len = rps->rest_len = rlen;
        return 0;
 }