///TODO: render the system (ie draw the particles)
void ClothSystem::draw()
{
float temp = sqrt(m_numParticles);
int numParticles = int(temp);
for (int i = 0; i < numParticles; i++) {
for(int j = 0; j < numParticles; j++){
int index = indexOf(i, j);
vector<Vector2f> neighbors = getNeighbors(i,j);
Vector3f pos = m_vVecState[index];
glPushMatrix();
glBegin(GL_LINES);
for(int n = 0; n < neighbors.size(); n++){
Vector2f pair = neighbors[n];
Vector3f other_pos = m_vVecState[indexOf(pair[0], pair[1])];
Vector2f test = pair - Vector2f(i, j);
if(test.abs() == 1.0){
glVertex3f(pos[0], pos[1], pos[2]);
glVertex3f(other_pos[0], other_pos[1], other_pos[2]);
}
}
glEnd();
glTranslatef(pos[0], pos[1], pos[2]);
glutSolidSphere(0.075f,10.0f,10.0f);
glPopMatrix();
}
}
}
Vector3f ClothSystem::sumForces(int i, int j, vector<Vector3f> state){
//anchored case
int numParticles = int(sqrt(m_numParticles));
if( (i == 0 || i == numParticles - 1) && j == 0){
return Vector3f(0,0,0);
}
float mass = 5;
int k = 4;
float r = 0.5;
//computing the gravity vector
Vector3f Fg = mass * Vector3f(0,-1,0);
//computing the drag vector
Vector3f Fd = -1.0 * k * state[ClothSystem::indexOf(i,j) + 1];
Vector3f pos = state[ClothSystem::indexOf(i,j)];
Vector3f F_spring = Vector3f(0,0,0);
vector<Vector2f> neighbors = getNeighbors(i, j);
for(int n = 0; n < neighbors.size(); n++){
Vector2f pair = neighbors[n];
Vector3f other_pos = state[indexOf(pair[0], pair[1])];
Vector2f test = pair - Vector2f(i, j);
//Adjacent neighbors only
if(test.abs() == 1.0){
// if(pair[0] - i > 0){
Vector3f d = pos - other_pos;
float length = d.abs();
float scalar = -1.0 * k * (length - r) / length;
F_spring = F_spring + (scalar * d);
}
}
neighbors = getShear(i, j);
for(int n = 0; n < neighbors.size(); n++){
Vector2f pair = neighbors[n];
Vector3f other_pos = state[indexOf(pair[0], pair[1])];
Vector3f d = pos - other_pos;
float length = d.abs();
float scalar = -1.0 * k * (length - r) / length;
F_spring = F_spring + (scalar * d);
}
neighbors = getFlex(i, j);
if(neighbors.size() == 3){
//top left
if(inFlex(i, j + 2) && inFlex(i+2, j)){
Vector3f other_pos = state[indexOf(i, j+2)];
Vector3f d = pos - other_pos;
float length = d.abs();
float scalar = -1.0 * k * (length - r) / length;
F_spring = F_spring + (scalar * d);
other_pos = state[indexOf(i+2, j)];
d = pos - other_pos;
length = d.abs();
scalar = -1.0 * k * (length - r) / length;
F_spring = F_spring + (scalar * d);
}//top right
else if(inFlex(i-2,j) && inFlex(i,j+2)){
Vector3f other_pos = state[indexOf(i-2, j)];
Vector3f d = pos - other_pos;
float length = d.abs();
float scalar = -1.0 * k * (length - r) / length;
F_spring = F_spring + (scalar * d);
other_pos = state[indexOf(i, j+2)];
d = pos - other_pos;
length = d.abs();
scalar = -1.0 * k * (length - r) / length;
F_spring = F_spring + (scalar * d);
}//bottom left
else if(inFlex(i, j-2) && inFlex(i+2,j)){
Vector3f other_pos = state[indexOf(i, j-2)];
Vector3f d = pos - other_pos;
float length = d.abs();
float scalar = -1.0 * k * (length - r) / length;
F_spring = F_spring + (scalar * d);
other_pos = state[indexOf(i+2, j)];
d = pos - other_pos;
length = d.abs();
scalar = -1.0 * k * (length - r) / length;
F_spring = F_spring + (scalar * d);
}//bottom right
else if(inFlex(i,j-2) && inFlex(i-2, j)){
Vector3f other_pos = state[indexOf(i, j-2)];
Vector3f d = pos - other_pos;
float length = d.abs();
float scalar = -1.0 * k * (length - r) / length;
F_spring = F_spring + (scalar * d);
other_pos = state[indexOf(i-2, j)];
d = pos - other_pos;
length = d.abs();
scalar = -1.0 * k * (length - r) / length;
F_spring = F_spring + (scalar * d);
}
}else if(neighbors.size() == 1){
Vector3f other_pos = state[indexOf(neighbors[0][0], neighbors[0][1])];
Vector3f d = pos - other_pos;
float length = d.abs();
float scalar = -1.0 * k * (length - r) / length;
F_spring = F_spring + ( scalar * d);
}
return (1.0/mass) * (Fg + Fd + F_spring);
}
void QD3D11MultiViewportViewer::mouseMoveEvent( QMouseEvent* event )
{
Vector2i curPos( event->x(), event->y() );
Vector2f delta = curPos - m_prevPos;
#if 1
float pitchSpeed = m_flipMouseUpDown ? m_mousePitchSpeed : -m_mousePitchSpeed;
const float yawSpeed = 0.005f;
const float panSpeed = 0.005f;
const float walkSpeed = -0.005f;
Matrix3f worldToCamera = m_perspectiveCamera.viewMatrix().getSubmatrix3x3( 0, 0 );
Matrix3f cameraToWorld = m_perspectiveCamera.inverseViewMatrix().getSubmatrix3x3( 0, 0 );
Vector3f eye = m_perspectiveCamera.eye();
Vector3f x = m_perspectiveCamera.right();
Vector3f y = m_perspectiveCamera.up();
Vector3f z = m_perspectiveCamera.forward();
// rotate
if( event->buttons() == Qt::LeftButton )
{
// pitch around the local x axis
float pitch = pitchSpeed * delta.y;
Matrix3f pitchMatrix = Matrix3f::rotateX( pitch );
y = cameraToWorld * pitchMatrix * worldToCamera * y;
z = cameraToWorld * pitchMatrix * worldToCamera * z;
// yaw around the world up vector
float yaw = yawSpeed * delta.x;
Matrix3f yawMatrix = m_groundPlaneToWorld * Matrix3f::rotateY( yaw ) * m_worldToGroundPlane;
x = yawMatrix * x;
y = yawMatrix * y;
z = yawMatrix * z;
m_perspectiveCamera.setLookAt( eye, eye + z, y );
}
// walk
else if( event->buttons() == Qt::RightButton )
{
float dx = panSpeed * delta.x;
float dz = walkSpeed * delta.y;
translate( dx, 0, dz );
}
// move up/down
else if( event->buttons() == Qt::MiddleButton )
{
float dy = -panSpeed * delta.y;
translate( 0, dy, 0 );
}
#else
if(event->buttons() & Qt::RightButton) //rotate
{
float rotSpeed = 0.005f; //radians per pixel
Quat4f rotation;
rotation.setAxisAngle(rotSpeed * delta.abs(), Vector3f(-delta[1], -delta[0], 0));
Matrix3f rotMatrix = Matrix3f::rotation(rotation);
Matrix3f viewMatrix = m_camera.getViewMatrix().getSubmatrix3x3(0, 0);
rotMatrix = viewMatrix.transposed() * rotMatrix * viewMatrix;
Vector3f eye, center, up;
m_camera.getLookAt(&eye, ¢er, &up);
m_camera.setLookAt(center + rotMatrix * (eye - center), center, rotMatrix * up);
}
else if(event->buttons() & Qt::LeftButton) //translate
{
float speed = 10.f;
Vector3f screenDelta(delta[0], delta[1], 0);
screenDelta[0] /= -double(width());
screenDelta[1] /= double(height());
Matrix4f iViewProjMatrix = m_camera.getInverseViewProjectionMatrix();
Vector3f worldDelta = iViewProjMatrix.getSubmatrix3x3(0, 0) * (speed * screenDelta);
Vector3f eye, center, up;
m_camera.getLookAt(&eye, ¢er, &up);
m_camera.setLookAt(eye + worldDelta, center + worldDelta, up);
}
#endif
m_prevPos = curPos;
update();
}
