add Stan Melax' ImplicitCloth demo

examples/Experiments/ImplicitCloth/ImplicitClothExample.cpp

@@ -0,0 +1,119 @@
+#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 = 0;
+	
+	
+	
+	
+public:
+	ImplicitClothExample(struct GUIHelperInterface* helper, int option)
+	:m_guiHelper(helper),
+	m_option(option)
+	{
+	}
+	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;
+	}
+
+
+	
+};
+
+
+void    ImplicitClothExample::initPhysics()
+{
+	float size=10;
+	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 PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+{
+	return new ImplicitClothExample(helper, option);
+}