mirror of https://github.com/axmolengine/axmol.git
154 lines
3.2 KiB
C++
154 lines
3.2 KiB
C++
// MIT License
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// Copyright (c) 2019 Erin Catto
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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#ifndef B2_ROPE_H
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#define B2_ROPE_H
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#include "b2_api.h"
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#include "b2_math.h"
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class b2Draw;
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struct b2RopeStretch;
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struct b2RopeBend;
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enum b2StretchingModel
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{
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b2_pbdStretchingModel,
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b2_xpbdStretchingModel
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};
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enum b2BendingModel
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{
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b2_springAngleBendingModel = 0,
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b2_pbdAngleBendingModel,
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b2_xpbdAngleBendingModel,
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b2_pbdDistanceBendingModel,
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b2_pbdHeightBendingModel,
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b2_pbdTriangleBendingModel
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};
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///
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struct B2_API b2RopeTuning
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{
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b2RopeTuning()
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{
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stretchingModel = b2_pbdStretchingModel;
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bendingModel = b2_pbdAngleBendingModel;
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damping = 0.0f;
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stretchStiffness = 1.0f;
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bendStiffness = 0.5f;
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bendHertz = 1.0f;
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bendDamping = 0.0f;
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isometric = false;
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fixedEffectiveMass = false;
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warmStart = false;
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}
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b2StretchingModel stretchingModel;
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b2BendingModel bendingModel;
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float damping;
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float stretchStiffness;
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float stretchHertz;
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float stretchDamping;
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float bendStiffness;
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float bendHertz;
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float bendDamping;
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bool isometric;
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bool fixedEffectiveMass;
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bool warmStart;
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};
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///
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struct B2_API b2RopeDef
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{
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b2RopeDef()
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{
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position.SetZero();
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vertices = nullptr;
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count = 0;
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masses = nullptr;
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gravity.SetZero();
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}
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b2Vec2 position;
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b2Vec2* vertices;
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int32 count;
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float* masses;
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b2Vec2 gravity;
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b2RopeTuning tuning;
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};
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///
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class B2_API b2Rope
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{
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public:
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b2Rope();
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~b2Rope();
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///
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void Create(const b2RopeDef& def);
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///
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void SetTuning(const b2RopeTuning& tuning);
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///
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void Step(float timeStep, int32 iterations, const b2Vec2& position);
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///
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void Reset(const b2Vec2& position);
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///
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void Draw(b2Draw* draw) const;
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private:
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void SolveStretch_PBD();
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void SolveStretch_XPBD(float dt);
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void SolveBend_PBD_Angle();
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void SolveBend_XPBD_Angle(float dt);
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void SolveBend_PBD_Distance();
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void SolveBend_PBD_Height();
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void SolveBend_PBD_Triangle();
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void ApplyBendForces(float dt);
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b2Vec2 m_position;
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int32 m_count;
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int32 m_stretchCount;
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int32 m_bendCount;
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b2RopeStretch* m_stretchConstraints;
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b2RopeBend* m_bendConstraints;
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b2Vec2* m_bindPositions;
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b2Vec2* m_ps;
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b2Vec2* m_p0s;
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b2Vec2* m_vs;
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float* m_invMasses;
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b2Vec2 m_gravity;
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b2RopeTuning m_tuning;
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};
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#endif
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