Added slides of Gregorius' talk "Robust Contact Creation for Physics Simulation"

CMakeLists.txt

@@ -41,7 +41,7 @@ target_include_directories(
 
 target_link_libraries(runsim ${PROJECT_NAME})
 
-target_sources(runsim PRIVATE src/main.cc)
+target_sources(runsim PRIVATE src/main.cc src/utils.cc)
 
 # Visualization
 add_executable(vissim)

src/simulator.cc

@@ -43,31 +43,17 @@ void simulator_init() {
 
   sWorld.mStaticShapes.push_back(sGroundShape);
 
-  double restitution = 0.3;
+  double restitution = 0.8;
 
-  int num_bodies = 10;
-  for (int i = 0; i < num_bodies; i++) {
-    SimBody body;
-
-    bool create_sphere = i %2;
-
-    if (!create_sphere) {
-      body = CreateBoxBody(
-          1.,
-          Vector3d(2., 1., 1.),
-          restitution,
-          Vector3d::Random() * 5.,
-          Vector3d::Zero());
-    } else {
-      body = CreateSphereBody(
-          1.,
-          1.,
-          restitution,
-          Vector3d::Random() * 5.,
-          Vector3d::Zero());
-    }
-
-    sWorld.mBodies.push_back(body);
+  int num_spheres = 7;
+  for (int i = 0; i < num_spheres; i++) {
+    SimBody sphere_body = CreateSphereBody(
+        1.,
+        1.,
+        restitution,
+        Vector3d::Random() * 5.,
+        Vector3d::Zero());
+    sWorld.mBodies.push_back(sphere_body);
   }
 
   for (int i = 0; i < sWorld.mBodies.size(); i++) {
@@ -164,6 +150,7 @@ void simulator_update(double dt) {
 
   ImGui::Text("Bodies");
   for (int i = 0; i < sWorld.mBodies.size(); i++) {
+		ImGui::PushID(i);
     SimBody& body = sWorld.mBodies[i];
     Vector3f body_pos = body.q.block(0, 0, 3, 1);
     ImGui::DragFloat3("Pos", body_pos.data(), 0.01f, -5.0f, 5.0f);
@@ -176,6 +163,7 @@ void simulator_update(double dt) {
     Vector4f body_rot = body.mModel.GetQuaternion(2, body.q);
     ImGui::DragFloat4("Rot", body_rot.data(), 0.01f, -20.0f, 20.0f);
 
+		ImGui::PopID();
     body.updateCollisionShapes();
   }
 
@@ -272,4 +260,4 @@ void simulator_draw(srcmdbuf* cmdbuf) {
       srcmdbuf_add(cmdbuf, &rcmd);
     }
   }
-}
+}