int main(int argc, const char *argv[]) try
{
std::vector<RigidBody> rbs;
for (auto const &b : bodysizes)
{
auto verts = genboxverts(b);
auto tris = calchull(verts, 8);
rbs.push_back(RigidBody({ Shape(verts, tris) }, float3(0, 0, 0)));
}
rbscalemass(&rbs[0], 5.0f); // make torso heavier than limb bones
rbs[0].position.z = 1.0f; // lift a meter off the ground.
DXWin mywin("Joint Drive - powered rag doll model", { 800,600 });
std::vector<Mesh> meshes;
for (auto &rb : rbs)
{
meshes.push_back(MeshSmoothish(rb.shapes[0].verts, rb.shapes[0].tris)); // 1 shape each is known
rb.damping = 0.8f; //rb.gravscale = 0;
}
for (auto &joint : joints)
{
rbs[joint.b0].ignore.push_back(&rbs[joint.b1]);
rbs[joint.b1].ignore.push_back(&rbs[joint.b0]);
rbs[joint.b1].position = rbs[joint.b0].pose() * joint.p0 - qrot(rbs[joint.b1].orientation,joint.p1);
}
WingMesh ground_wm = WingMeshBox({ -5, -5, -2.0f }, { 5, 5, -1.0f });
auto ground = MeshFlatShadeTex(ground_wm.verts, WingMeshTris(ground_wm));
ground.hack = { 0.25f, 0.75f, 0.25f, 1 };
Pose camera = { { 0, -8, 0 }, normalize(float4(0.9f, 0, 0, 1)) }; // where we view the rendered scene from.
float time = 0; // our global clock, used to generate the circular animation for upper limbs to follow
float torquelimit = 38.0f; // how much torque we let each joint apply each frame
while (mywin.WindowUp())
{
time += 0.06f;
std::vector<LimitAngular> angulars;
std::vector<LimitLinear> linears;
for (auto const &joint : joints)
{
Append(linears, ConstrainPositionNailed(&rbs[joint.b0], joint.p0, &rbs[joint.b1], joint.p1));
Append(angulars, ConstrainAngularDrive(&rbs[joint.b0], &rbs[joint.b1], (float4(0, joint.a*cos(time), joint.a*sin(time), sqrt(1.0f - joint.a*joint.a))), torquelimit));
}
PhysicsUpdate(Addresses<RigidBody>(rbs), linears, angulars, { &ground_wm.verts });
for (unsigned int i = 0; i < rbs.size(); i++)
meshes[i].pose = rbs[i].pose();
mywin.RenderScene(camera, Append(Addresses(meshes), std::vector<Mesh*>({ &ground })));
}
return 0;
}
catch (std::exception e)
{
MessageBoxA(GetActiveWindow(), e.what(), "FAIL", 0);
return -1;
}
int APIENTRY WinMain(HINSTANCE hCurrentInst, HINSTANCE hPreviousInst,LPSTR lpszCmdLine, int nCmdShow) // int main(int argc, char *argv[])
{
std::cout << "Test Physics\n";
std::vector<RigidBody*> rigidbodies;
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(1)) }, { 1.5f, 0.0f, 1.5f }));
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(1)) }, { -1.5f, 0.0f, 1.5f }));
rigidbodies.back()->orientation = normalize(float4(0.1f, 0.01f, 0.3f, 1.0f));
auto seesaw = new RigidBody({ AsShape(WingMeshBox( { 3, 0.5f, 0.1f })) }, { 0, -2.5, 0.25f });
rigidbodies.push_back(seesaw);
rigidbodies.push_back( new RigidBody({ AsShape(WingMeshCube(0.25f)) }, seesaw->position_start + float3( 2.5f, 0, 0.4f)));
rigidbodies.push_back( new RigidBody({ AsShape(WingMeshCube(0.50f)) }, seesaw->position_start + float3(-2.5f, 0, 5.0f)));
rbscalemass(rigidbodies.back(), 4.0f);
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshBox({1,0.2f,0.2f})),AsShape(WingMeshBox({0.2f,1,0.2f})),AsShape(WingMeshBox({0.2f,0.2f,1})) }, { -1.5f, 0.5f, 7.5f }));
for (float z = 5.5f; z < 14.0f; z += 3.0f)
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(0.5f)) }, { 0.0f, 0.0f, z }));
for (float z = 15.0f; z < 20.0f; z += 3.0f)
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshDual(WingMeshCube(0.5f), 0.65f)) }, { 2.0f, -1.0f, z }));
WingMesh world_slab = WingMeshBox({ -10, -10, -5 }, { 10, 10, -2 }); // world_geometry
GLWin glwin("TestPhys sample");
glwin.ViewAngle = 60.0f;
glwin.keyboardfunc = [&](unsigned char key, int x, int y)->void
{
switch (std::tolower(key))
{
case ' ':
g_simulate = !g_simulate;
break;
case 'q': case 27: // ESC
exit(0); break;
case 'r':
for (auto &rb : rigidbodies)
{
rb->position = rb->position_start;
//rb->orientation = rb->orientation_start; // when commented out this provides some variation
rb->linear_momentum = float3(0, 0, 0);
rb->angular_momentum = float3(0, 0, 0);
}
seesaw->orientation = { 0, 0, 0, 1 };
break;
default:
std::cout << "unassigned key (" << (int)key << "): '" << key << "'\n";
break;
}
};
InitTex();
int2 mouseprev;
while (glwin.WindowUp())
{
if (glwin.MouseState) // on mouse drag
{
g_yaw += (glwin.MouseX - mouseprev.x) * 0.3f; // poor man's trackball
g_pitch += (glwin.MouseY - mouseprev.y) * 0.3f;
}
mouseprev = { glwin.MouseX, glwin.MouseY };
if (g_simulate)
{
std::vector<LimitAngular> angulars;
std::vector<LimitLinear> linears;
Append(linears , ConstrainPositionNailed(NULL, seesaw->position_start, seesaw, { 0, 0, 0 }));
Append(angulars, ConstrainAngularRange(NULL, seesaw, { 0, 0, 0, 1 }, { 0, -20, 0 }, { 0, 20, 0 }));
PhysicsUpdate(rigidbodies, linears, angulars, { &world_slab.verts });
}
glPushAttrib(GL_ALL_ATTRIB_BITS);
glViewport(0, 0, glwin.Width,glwin.Height); // Set up the viewport
glClearColor(0.1f, 0.1f, 0.15f, 1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
// Set up matrices
glMatrixMode(GL_PROJECTION); glPushMatrix(); glLoadIdentity();
gluPerspective(glwin.ViewAngle, (double)glwin.Width/ glwin.Height, 0.01, 50);
glMatrixMode(GL_MODELVIEW); glPushMatrix(); glLoadIdentity();
gluLookAt(0, -8, 5, 0, 0, 0, 0, 0, 1);
glRotatef(g_pitch, 1, 0, 0);
glRotatef(g_yaw, 0, 0, 1);
wmdraw(world_slab); // world_geometry
glEnable(GL_POLYGON_OFFSET_FILL);
glPolygonOffset(1., 1. / (float)0x10000);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_TEXTURE_2D);
glColor3f(0.5f, 0.5f, 0.5f);
for (auto &rb : rigidbodies)
rbdraw(rb);
glPopAttrib(); // Restore state
glMatrixMode(GL_PROJECTION); glPopMatrix();
glMatrixMode(GL_MODELVIEW); glPopMatrix();
glwin.PrintString("ESC/q quits. SPACE to simulate. r to restart", 5, 0);
char buf[256];
sprintf_s(buf, "simulation %s", (g_simulate)?"ON":"OFF");
glwin.PrintString(buf, 5, 1);
glwin.SwapBuffers();
}
std::cout << "\n";
return 0;
}
int main(int argc, const char *argv[]) try
{
std::vector<Joint> joints;
std::vector<RigidBody> rbs;
std::map<std::string,unsigned int> rbindex;
auto xml = XMLParseFile("./default_hand.chr"); // replace string with whatever model you want to test. uses xml variation of John Ratcliff's easy mesh (ezm) file format.
auto const &skx = xml.child("model").child("skeleton");
for (auto const &b : skx.children)
{
rbindex[b.attribute("name")] = rbs.size();
auto verts = ArrayImport<float3>(b.child("verts").body);
auto tris = calchull(verts, verts.size());
float3 pos = StringTo<float3>(b.attribute("position"));
int parent = (b.hasAttribute("parent")) ? (int)rbindex[b.attribute("parent")] : -1;
rbs.push_back(RigidBody({ Shape(verts,tris) }, pos + ((parent>=0)?rbs[parent].position-rbs[parent].com:float3(0,0,0))));
if (parent>=0)
joints.push_back({ parent, (int)rbs.size() - 1, pos, float3(0,0,0), StringTo<float3>(b.child("jointlimitmin").body), StringTo<float3>(b.child("jointlimitmax").body) });
}
rbscalemass(&rbs[0], 3.0f);
rbscalemass(&rbs[1], 5.0f);
DXWin mywin("DX testing articulated rigged model", { 800,600 });
std::vector<Mesh> meshes;
for (auto &rb : rbs)
{
meshes.push_back(MeshSmoothish(rb.shapes[0].verts, rb.shapes[0].tris)); // 1 shape each is known
rb.damping = 0.8f;
//rb.gravscale = 0;
}
for (auto &joint : joints)
{
rbs[joint.rbi0].ignore.push_back(&rbs[joint.rbi1]);
rbs[joint.rbi1].ignore.push_back(&rbs[joint.rbi0]);
joint.p0 -= rbs[joint.rbi0].com;
joint.p1 -= rbs[joint.rbi1].com;
}
for (auto &ja : joints) for (auto &jb : joints) if (ja.rbi0 == jb.rbi0 && ja.rbi1 != jb.rbi1) // ignore siblings
{
rbs[ja.rbi1].ignore.push_back(&rbs[jb.rbi1]);
rbs[jb.rbi1].ignore.push_back(&rbs[ja.rbi1]);
}
for (auto &ja : joints) for (auto &jb : joints) if (ja.rbi1 == jb.rbi0 ) // ignore grandparents
{
rbs[ja.rbi0].ignore.push_back(&rbs[jb.rbi1]);
rbs[jb.rbi1].ignore.push_back(&rbs[ja.rbi0]);
}
std::vector<float3> groundpoints = { { -5.0f, -5.0f, -5.0f }, { 5.0f, -5.0f, -5.0f }, { 5.0f, 10.0f, -5.0f }, { -5.0f, 10.0f, -5.0f }, { -5.0f, -5.0f, -10.0f }, { 5.0f, -5.0f, -10.0f }, { 5.0f, 10.0f, -10.0f }, { -5.0f, 10.0f, -10.0f } };
Mesh ground = MeshSmoothish(groundpoints, { { 0, 1, 2 }, { 2, 3,0 } });
ground.hack = { 1, 1, 0 ,1};
WingMesh cube_wm = WingMeshCube(0.025f);
auto mesh_cube = MeshFlatShadeTex(cube_wm.verts, WingMeshTris(cube_wm));
mesh_cube.hack = { 0, 1, 0, 1 };
Pose camera = { { 0, -10, 0 }, normalize(float4(1, 0, 0, 1)) };
RigidBody *selected = NULL;
float3 spoint=camera * float3(0,0,-10);
float3 rbpoint;
struct Pin{ float3 w; RigidBody* rb; float3 p; };
std::vector<Pin> pins;
mywin.keyboardfunc = [&](int key, int, int)
{
if (key == 'g') for (auto &rb : rbs) rb.gravscale = 1.0f - rb.gravscale;
if (key == 'p' && selected)
Append<Pin>(pins, { spoint, selected, rbpoint });
};
while (mywin.WindowUp())
{
float3 ray = qrot(camera.orientation, normalize(mywin.MouseVector));
if (!selected)
{
for (auto &rb : rbs)
{
float3 v1 = camera.position + ray*100.0f;
if (auto h=ConvexHitCheck(Planes(rb.shapes[0].verts, rb.shapes[0].tris),rb.pose(),camera.position,v1))
{
v1 = h.impact;
selected = &rb;
spoint = h.impact;
rbpoint = rb.pose().inverse()*h.impact;
}
}
}
spoint = camera.position + ray * length(spoint - camera.position)*powf(1.025f, (float)mywin.mousewheel);
mesh_cube.pose.position = spoint;
if (!mywin.MouseState)
selected = NULL;
std::vector<LimitAngular> angulars;
std::vector<LimitLinear> linears;
for (auto const &joint : joints)
{
Append(linears, ConstrainPositionNailed(&rbs[joint.rbi0], joint.p0, &rbs[joint.rbi1], joint.p1));
Append(angulars, ConstrainAngularRange(&rbs[joint.rbi0], &rbs[joint.rbi1], { 0, 0, 0, 1 }, joint.jointlimitmin, joint.jointlimitmax));
}
if (selected)
Append(linears, ConstrainPositionNailed(NULL, spoint, selected, rbpoint));
for(auto &p:pins)
Append(linears, ConstrainPositionNailed(NULL, p.w,p.rb,p.p));
PhysicsUpdate(Addresses(rbs), linears, angulars, { &groundpoints });
for (unsigned int i = 0; i < rbs.size(); i++)
{
meshes[i].pose = rbs[i].pose();
}
mywin.RenderScene(camera, Append(Addresses(meshes),std::vector<Mesh*>({ &ground, &mesh_cube })));
}
}
catch (std::exception e)
{
MessageBoxA(GetActiveWindow(), e.what(), "FAIL", 0);
return -1;
}
