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#include "ImplicitClothExample.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonCameraInterface.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonWindowInterface.h"
#include "stan/vecmath.h"
#include "stan/Cloth.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#ifdef _DEBUG
int numX = 20, numY=20;
#else
int numX = 60, numY=60;
#endif
const size_t total_points = (numX)*(numY);
struct ImplicitClothExample : public CommonExampleInterface
{
struct GUIHelperInterface* m_guiHelper;
int m_option;
Cloth* m_cloth;
public:
ImplicitClothExample(struct GUIHelperInterface* helper, int option)
:m_guiHelper(helper),
m_option(option),
m_cloth(0)
{
}
virtual void initPhysics();
virtual void exitPhysics();
virtual void stepSimulation(float deltaTime);
virtual void renderScene();
virtual void physicsDebugDraw(int debugFlags);//for now we reuse the flags in Bullet/src/LinearMath/btIDebugDraw.h
virtual bool mouseMoveCallback(float x,float y)
{
return false;
}
virtual bool mouseButtonCallback(int button, int state, float x, float y)
{
return false;
}
virtual bool keyboardCallback(int key, int state)
{
return false;
}
virtual void resetCamera()
{
float dist = 10;
float pitch = 62;
float yaw = 33;
float targetPos[3]={-3,2.4,-3.6};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
void ImplicitClothExample::initPhysics()
{
float size=10;
m_guiHelper->setUpAxis(1);
m_cloth = ClothCreate(numX,numY,size);
}
void ImplicitClothExample::exitPhysics()
{
delete m_cloth;
m_cloth=0;
}
void ImplicitClothExample::stepSimulation(float deltaTime)
{
m_cloth->Simulate(deltaTime);
m_cloth->cloth_gravity.y = -9.8;//-9.8;//-9.8;//-9.8;//0;//-9.8;//0;//-9.8;//0;//-9.8;
m_cloth->cloth_gravity.z =-9.8;//0;//-9.8;//0;//-9.8;
m_cloth->spring_struct=10000000.0f;
m_cloth->spring_shear=10000000.0f;
//m_cloth->spring_struct=1000000.0f;
//m_cloth->spring_shear=1000000.0f;
m_cloth->spring_damp = 0;//100;
}
void ImplicitClothExample::renderScene()
{
}
void ImplicitClothExample::physicsDebugDraw(int debugFlags)
{
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
b3AlignedObjectArray<unsigned int> indices;
for (int i=0;i<m_cloth->springs.count;i++)
{
indices.push_back(m_cloth->springs[i].a);
indices.push_back(m_cloth->springs[i].b);
}
float lineColor[4]={0.4,0.4,1.0,1};
renderer->drawLines(&m_cloth->X[0].x,lineColor,total_points,sizeof(float3),&indices[0],indices.size(),1);
float pointColor[4]={1,0.4,0.4,1};
// renderer->drawPoints(&m_cloth->X[0].x,pointColor,total_points,sizeof(float3),3);
}
class CommonExampleInterface* ImplicitClothCreateFunc(struct CommonExampleOptions& options)
{
return new ImplicitClothExample(options.m_guiHelper, options.m_option);
}
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