Use sphere mesh. Add soft body test.
This commit is contained in:
Irlan
@ -1,158 +0,0 @@
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/*
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* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
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||||
*
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||||
* This software is provided 'as-is', without any express or implied
|
||||
* warranty. In no event will the authors be held liable for any damages
|
||||
* arising from the use of this software.
|
||||
* Permission is granted to anyone to use this software for any purpose,
|
||||
* including commercial applications, and to alter it and redistribute it
|
||||
* freely, subject to the following restrictions:
|
||||
* 1. The origin of this software must not be misrepresented; you must not
|
||||
* claim that you wrote the original software. If you use this software
|
||||
* in a product, an acknowledgment in the product documentation would be
|
||||
* appreciated but is not required.
|
||||
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||
* misrepresented as being the original software.
|
||||
* 3. This notice may not be removed or altered from any source distribution.
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||||
*/
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#ifndef MASS_SPRING_H
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#define MASS_SPRING_H
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class MassSpring : public Test
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{
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public:
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MassSpring()
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{
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m_x.Set(0.0f, 5.0f, 0.0f);
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m_v.SetZero();
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m_k = 100.0f;
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m_iterations = 0;
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}
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void Solve(float32 h)
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{
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// ODE
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// f(Y) = dY / dt = [v]
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// [-k * x]
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// 1. Apply Implicit Euler
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// Y(t + h) = Y(t) + h * f( Y(t + h) )
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// G( Y(t + h) ) = Y(t + h) - Y(t) - h * f( Y(t + h) ) = 0
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// 2. Solve G = 0
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// Newton-Raphson Iteration
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//
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// Y(t + h) =
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// Y(t + h)_0 - G( Y(t + h)_0 ) / G'( Y(t + h)_0 ) =
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// Y(t + h)_0 - G'( Y(t + h)_0 )^-1 * ( Y(t + h)_0 - Y(t) - h * f( Y(t + h)_0 )
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// G'( Y ) = I - h * del_f / del_Y
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// del_f / del_Y = [del_f1 / del_x del_f1 / del_v] = [0 I]
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// [del_f2 / del_x del_f2 / del_v] [-k * I 0]
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// G'( Y ) = [I 0] - [0 h * I] = [I -h * I]
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// [0 I] [-h * k * I 0] [h * k * I I]
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// Compute Jacobian
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b3Mat33 I = b3Mat33_identity;
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b3Mat33 A, B, C, D;
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A = I;
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B = -h * I;
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C = h * m_k * I;
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D = I;
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// Invert
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// Block matrix inversion
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b3Mat33 invD = b3Inverse(D);
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b3Mat33 B_invD = B * invD;
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b3Mat33 invJ_A = b3Inverse(A - B_invD * C);
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b3Mat33 invJ_B = -invJ_A * B_invD;
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b3Mat33 invJ_C = -invD * C * invJ_A;
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b3Mat33 invJ_D = invD + invD * C * invJ_A * B_invD;
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// Initial guess
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b3Vec3 f1 = m_v;
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b3Vec3 f2 = -m_k * m_x;
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b3Vec3 Y1 = m_x + h * f1;
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b3Vec3 Y2 = m_v + h * f2;
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const float32 kTol = 0.05f;
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const u32 kMaxIterations = 20;
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float32 eps0 = 0.0f;
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float32 eps1 = B3_MAX_FLOAT;
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m_iterations = 0;
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while (m_iterations < kMaxIterations && eps1 > kTol * kTol * eps0)
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{
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// Evaluate f(Y_n-1)
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f1 = Y2;
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f2 = -m_k * Y1;
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// Residual vector
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b3Vec3 G1 = Y1 - m_x - h * f1;
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b3Vec3 G2 = Y2 - m_v - h * f2;
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eps1 = b3Dot(G1, G1) + b3Dot(G2, G2);
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// Solve Ax = b
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b3Vec3 x1 = invJ_A * G1 + invJ_B * G2;
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b3Vec3 x2 = invJ_C * G1 + invJ_D * G2;
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Y1 -= x1;
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Y2 -= x2;
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++m_iterations;
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}
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// Update state
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m_x = Y1;
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m_v = Y2;
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}
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void Step()
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{
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float32 h = g_testSettings->inv_hertz;
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Solve(h);
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g_draw->DrawSolidSphere(m_x, 0.25f, b3Color_white);
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g_draw->DrawSegment(b3Vec3_zero, m_x, b3Color_white);
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g_draw->DrawString(b3Color_white, "Iterations = %u", m_iterations);
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float32 E = 0.5f * b3Dot(m_v, m_v);
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g_draw->DrawString(b3Color_white, "E = %f", E);
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}
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static Test* Create()
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{
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return new MassSpring();
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}
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// State
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b3Vec3 m_x, m_v;
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// Stiffness
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float32 m_k;
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//
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u32 m_iterations;
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};
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#endif
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@ -1,142 +0,0 @@
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/*
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* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
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*
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* This software is provided 'as-is', without any express or implied
|
||||
* warranty. In no event will the authors be held liable for any damages
|
||||
* arising from the use of this software.
|
||||
* Permission is granted to anyone to use this software for any purpose,
|
||||
* including commercial applications, and to alter it and redistribute it
|
||||
* freely, subject to the following restrictions:
|
||||
* 1. The origin of this software must not be misrepresented; you must not
|
||||
* claim that you wrote the original software. If you use this software
|
||||
* in a product, an acknowledgment in the product documentation would be
|
||||
* appreciated but is not required.
|
||||
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||
* misrepresented as being the original software.
|
||||
* 3. This notice may not be removed or altered from any source distribution.
|
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*/
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#ifndef SHIRT_H
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#define SHIRT_H
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class Shirt : public Test
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{
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public:
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Shirt()
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{
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// Generate 2D mesh
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m_shirtGarmentMesh.Set(&m_shirtGarment, 0.1f);
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// Create 3D mesh
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m_shirtClothMesh.Set(&m_shirtGarmentMesh);
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// Create cloth
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b3ClothDef def;
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def.mesh = &m_shirtClothMesh;
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def.density = 0.2f;
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def.structural = 1000.0f;
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m_cloth = new b3Cloth(def);
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// Perform fitting
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for (u32 i = 0; i < 3; ++i)
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{
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b3ClothMeshMesh* front = m_shirtClothMesh.meshes + i;
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for (u32 j = 0; j < front->vertexCount; ++j)
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{
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u32 v = front->startVertex + j;
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b3Particle* p = m_cloth->GetVertexParticle(v);
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b3Vec3 x = p->GetPosition();
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x.z = -1.0f;
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p->SetPosition(x);
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}
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}
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for (u32 i = 3; i < 6; ++i)
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{
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b3ClothMeshMesh* back = m_shirtClothMesh.meshes + i;
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for (u32 j = 0; j < back->vertexCount; ++j)
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{
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u32 v = back->startVertex + j;
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b3Particle* p = m_cloth->GetVertexParticle(v);
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b3Vec3 x = p->GetPosition();
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x.z = 1.0f;
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p->SetPosition(x);
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}
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}
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m_cloth->SetGravity(b3Vec3(0.0f, -9.8f, 0.0f));
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m_cloth->SetWorld(&m_world);
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m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
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}
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~Shirt()
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{
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delete m_clothDragger;
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delete m_cloth;
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}
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void Step()
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{
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Test::Step();
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m_cloth->Step(g_testSettings->inv_hertz);
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m_cloth->Draw();
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extern u32 b3_clothSolverIterations;
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g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
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float32 E = m_cloth->GetEnergy();
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g_draw->DrawString(b3Color_white, "E = %f", E);
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}
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void MouseMove(const b3Ray3& pw)
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{
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Test::MouseMove(pw);
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if (m_clothDragger->IsDragging() == true)
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{
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m_clothDragger->Drag();
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}
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}
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void MouseLeftDown(const b3Ray3& pw)
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{
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Test::MouseLeftDown(pw);
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if (m_clothDragger->IsDragging() == false)
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{
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m_clothDragger->StartDragging();
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}
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}
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void MouseLeftUp(const b3Ray3& pw)
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{
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Test::MouseLeftUp(pw);
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if (m_clothDragger->IsDragging() == true)
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{
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m_clothDragger->StopDragging();
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}
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}
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static Test* Create()
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{
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return new Shirt();
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}
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b3ShirtGarment m_shirtGarment;
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b3GarmentMesh m_shirtGarmentMesh;
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b3GarmentClothMesh m_shirtClothMesh;
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b3Cloth* m_cloth;
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b3ClothDragger* m_clothDragger;
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};
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#endif
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@ -1,99 +0,0 @@
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/*
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* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
|
||||
*
|
||||
* This software is provided 'as-is', without any express or implied
|
||||
* warranty. In no event will the authors be held liable for any damages
|
||||
* arising from the use of this software.
|
||||
* Permission is granted to anyone to use this software for any purpose,
|
||||
* including commercial applications, and to alter it and redistribute it
|
||||
* freely, subject to the following restrictions:
|
||||
* 1. The origin of this software must not be misrepresented; you must not
|
||||
* claim that you wrote the original software. If you use this software
|
||||
* in a product, an acknowledgment in the product documentation would be
|
||||
* appreciated but is not required.
|
||||
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||
* misrepresented as being the original software.
|
||||
* 3. This notice may not be removed or altered from any source distribution.
|
||||
*/
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#ifndef PENDULUM_H
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#define PENDULUM_H
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class SinglePendulum : public Test
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{
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public:
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SinglePendulum()
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{
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m_g = -10.0f;
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m_r = 10.0f;
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m_m = 1.0f;
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m_I = m_m * m_r * m_r;
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// Initial state
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m_theta = -0.5f * B3_PI;
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m_omega = 0.0f;
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}
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void Step()
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{
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float32 h = g_testSettings->inv_hertz;
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// Solution (acceleration)
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float32 omega_dot = -m_g / m_r * sin(m_theta);
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// Integrate acceleration
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m_omega += h * omega_dot;
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// Integrate velocity
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m_theta += h * m_omega;
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// Convert from polar coordinates (r, theta) to Cartesian coordinates (x, y)
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b3Vec3 c;
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c.x = m_r * sin(m_theta);
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c.y = m_r * cos(m_theta);
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c.z = 0.0f;
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g_draw->DrawSolidSphere(c, 1.0f, b3Color_white);
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b3Vec3 pole;
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pole.SetZero();
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g_draw->DrawSegment(pole, c, b3Color_white);
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// Kinetic energy
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float32 T = 0.5f * m_I * m_omega * m_omega;
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// Potential energy
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float32 V = -m_m * m_g * m_r * cos(m_theta);
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// Lagrangian
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float32 L = T - V;
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//
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g_draw->DrawString(b3Color_white, "T = %f \nV = %f \nL = %f", T, V, L);
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}
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static Test* Create()
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{
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return new SinglePendulum();
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}
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// Gravity
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float32 m_g;
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// Mass, inertia
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float32 m_m, m_I;
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// Radial coordinate
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float32 m_r;
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// The allowable generalized coordinate in polar coordinate frame.
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// Only motions satisfying the constraints can be described
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// in this frame. Therefore, all solutions satisfy the constraints.
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// This is the so called reduced coordinates approach.
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float32 m_theta;
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// Velocity
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float32 m_omega;
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};
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#endif
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278
examples/testbed/tests/soft_body.h
Normal file
278
examples/testbed/tests/soft_body.h
Normal file
@ -0,0 +1,278 @@
|
||||
/*
|
||||
* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
|
||||
*
|
||||
* This software is provided 'as-is', without any express or implied
|
||||
* warranty. In no event will the authors be held liable for any damages
|
||||
* arising from the use of this software.
|
||||
* Permission is granted to anyone to use this software for any purpose,
|
||||
* including commercial applications, and to alter it and redistribute it
|
||||
* freely, subject to the following restrictions:
|
||||
* 1. The origin of this software must not be misrepresented; you must not
|
||||
* claim that you wrote the original software. If you use this software
|
||||
* in a product, an acknowledgment in the product documentation would be
|
||||
* appreciated but is not required.
|
||||
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||
* misrepresented as being the original software.
|
||||
* 3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
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#ifndef SOFT_BODY_H
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#define SOFT_BODY_H
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#include <testbed/framework/sphere_mesh.h>
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struct b3SphereClothMesh : public b3ClothMesh
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{
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b3StackArray<b3Vec3, 256> sphereVertices;
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b3StackArray<b3ClothMeshTriangle, 256> sphereTriangles;
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b3ClothMeshMesh sphereMesh;
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b3SphereClothMesh()
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{
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smMesh mesh;
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smCreateMesh(mesh, 1);
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sphereVertices.Resize(mesh.vertices.Count());
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for (u32 i = 0; i < mesh.vertices.Count(); ++i)
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{
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sphereVertices[i] = mesh.vertices[i];
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}
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sphereTriangles.Resize(mesh.triangleIndices.Count() / 3);
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for (u32 i = 0; i < mesh.triangleIndices.Count() / 3; ++i)
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{
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sphereTriangles[i].v1 = mesh.triangleIndices[3 * i + 0];
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sphereTriangles[i].v2 = mesh.triangleIndices[3 * i + 1];
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sphereTriangles[i].v3 = mesh.triangleIndices[3 * i + 2];
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}
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sphereMesh.startTriangle = 0;
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sphereMesh.triangleCount = sphereTriangles.Count();
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sphereMesh.startVertex = 0;
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sphereMesh.vertexCount = sphereVertices.Count();
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vertexCount = sphereVertices.Count();
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vertices = sphereVertices.Begin();
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triangleCount = sphereTriangles.Count();
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triangles = sphereTriangles.Begin();
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||||
meshCount = 1;
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||||
meshes = &sphereMesh;
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sewingLineCount = 0;
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||||
sewingLines = nullptr;
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||||
}
|
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};
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||||
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class SoftBody : public Test
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||||
{
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||||
public:
|
||||
SoftBody()
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||||
{
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||||
// Scale and translate the cloth mesh upwards
|
||||
for (u32 i = 0; i < m_mesh.vertexCount; ++i)
|
||||
{
|
||||
m_mesh.vertices[i] *= 2.0f;
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||||
m_mesh.vertices[i].y += 10.0f;
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||||
}
|
||||
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||||
// Create cloth
|
||||
b3ClothDef def;
|
||||
def.mesh = &m_mesh;
|
||||
def.density = 0.2f;
|
||||
def.structural = 10000.0f;
|
||||
def.bending = 0.0f;
|
||||
def.damping = 0.0f;
|
||||
|
||||
m_cloth = new b3Cloth(def);
|
||||
|
||||
for (b3Particle* p = m_cloth->GetParticleList().m_head; p; p = p->GetNext())
|
||||
{
|
||||
p->SetRadius(0.05f);
|
||||
p->SetFriction(0.5f);
|
||||
}
|
||||
|
||||
b3Vec3 gravity(0.0f, -9.8f, 0.0f);
|
||||
|
||||
m_cloth->SetGravity(gravity);
|
||||
|
||||
// Attach a world to the cloth
|
||||
m_cloth->SetWorld(&m_world);
|
||||
|
||||
// Create static shapes
|
||||
{
|
||||
b3BodyDef bd;
|
||||
bd.type = e_staticBody;
|
||||
|
||||
b3Body* b = m_world.CreateBody(bd);
|
||||
|
||||
static b3BoxHull boxHull(10.0f, 1.0f, 10.0f);
|
||||
|
||||
b3HullShape boxShape;
|
||||
boxShape.m_hull = &boxHull;
|
||||
|
||||
b3ShapeDef sd;
|
||||
sd.shape = &boxShape;
|
||||
sd.friction = 0.5f;
|
||||
|
||||
b->CreateShape(sd);
|
||||
}
|
||||
|
||||
m_clothDragger = new b3ClothDragger(&m_ray, m_cloth);
|
||||
}
|
||||
|
||||
~SoftBody()
|
||||
{
|
||||
delete m_clothDragger;
|
||||
delete m_cloth;
|
||||
}
|
||||
|
||||
// Compute the volume of soft body
|
||||
float32 ComputeVolume() const
|
||||
{
|
||||
const b3ClothMesh* mesh = m_cloth->GetMesh();
|
||||
|
||||
b3StackArray<b3Vec3, 256> positions;
|
||||
positions.Resize(mesh->vertexCount);
|
||||
|
||||
for (u32 i = 0; i < mesh->vertexCount; ++i)
|
||||
{
|
||||
b3Particle* p = m_cloth->GetVertexParticle(i);
|
||||
positions[i] = p->GetPosition();
|
||||
}
|
||||
|
||||
b3AABB3 aabb;
|
||||
aabb.Compute(positions.Begin(), positions.Count());
|
||||
|
||||
return aabb.Volume();
|
||||
}
|
||||
|
||||
// Apply pressure forces
|
||||
// Explanation available in the paper
|
||||
// "Pressure Model of Soft Body Simulation"
|
||||
void ApplyPressureForces()
|
||||
{
|
||||
const b3ClothMesh* mesh = m_cloth->GetMesh();
|
||||
|
||||
// Volume in m^3
|
||||
float32 V = ComputeVolume();
|
||||
|
||||
// Inverse volume
|
||||
float32 invV = V > 0.0f ? 1.0f / V : 0.0f;
|
||||
|
||||
// Apply pressure forces on particles
|
||||
for (u32 i = 0; i < m_mesh.triangleCount; ++i)
|
||||
{
|
||||
u32 i1 = m_mesh.triangles[i].v1;
|
||||
u32 i2 = m_mesh.triangles[i].v2;
|
||||
u32 i3 = m_mesh.triangles[i].v3;
|
||||
|
||||
b3Particle* p1 = m_cloth->GetVertexParticle(i1);
|
||||
b3Particle* p2 = m_cloth->GetVertexParticle(i2);
|
||||
b3Particle* p3 = m_cloth->GetVertexParticle(i3);
|
||||
|
||||
b3Vec3 v1 = p1->GetPosition();
|
||||
b3Vec3 v2 = p2->GetPosition();
|
||||
b3Vec3 v3 = p3->GetPosition();
|
||||
|
||||
b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
|
||||
|
||||
// Triangle area
|
||||
float32 A = n.Normalize();
|
||||
A *= 0.5f;
|
||||
|
||||
// Ideal Gas Approximation
|
||||
|
||||
// Number of gas moles
|
||||
const float32 k_n = 1.0f;
|
||||
|
||||
// Ideal Gas Constant [J / K mol]
|
||||
const float32 k_R = 8.31f;
|
||||
|
||||
// Gas temperature in Kelvin
|
||||
const float32 k_T = 100.0f;
|
||||
|
||||
// Pressure in Pascals
|
||||
float32 P = invV * k_n * k_R * k_T;
|
||||
|
||||
// Pressure vector
|
||||
b3Vec3 Pn = P * n;
|
||||
|
||||
// Pressure force
|
||||
b3Vec3 FP = Pn * A;
|
||||
|
||||
// Distribute
|
||||
p1->ApplyForce(FP);
|
||||
p2->ApplyForce(FP);
|
||||
p3->ApplyForce(FP);
|
||||
}
|
||||
}
|
||||
|
||||
void Step()
|
||||
{
|
||||
Test::Step();
|
||||
|
||||
ApplyPressureForces();
|
||||
|
||||
m_cloth->Step(g_testSettings->inv_hertz);
|
||||
|
||||
m_cloth->Draw();
|
||||
|
||||
if (m_clothDragger->IsDragging())
|
||||
{
|
||||
b3Vec3 pA = m_clothDragger->GetPointA();
|
||||
b3Vec3 pB = m_clothDragger->GetPointB();
|
||||
|
||||
g_draw->DrawPoint(pA, 2.0f, b3Color_green);
|
||||
|
||||
g_draw->DrawPoint(pB, 2.0f, b3Color_green);
|
||||
|
||||
g_draw->DrawSegment(pA, pB, b3Color_white);
|
||||
}
|
||||
|
||||
extern u32 b3_clothSolverIterations;
|
||||
g_draw->DrawString(b3Color_white, "Iterations = %d", b3_clothSolverIterations);
|
||||
|
||||
float32 E = m_cloth->GetEnergy();
|
||||
g_draw->DrawString(b3Color_white, "E = %f", E);
|
||||
}
|
||||
|
||||
void MouseMove(const b3Ray3& pw)
|
||||
{
|
||||
Test::MouseMove(pw);
|
||||
|
||||
if (m_clothDragger->IsDragging() == true)
|
||||
{
|
||||
m_clothDragger->Drag();
|
||||
}
|
||||
}
|
||||
|
||||
void MouseLeftDown(const b3Ray3& pw)
|
||||
{
|
||||
Test::MouseLeftDown(pw);
|
||||
|
||||
if (m_clothDragger->IsDragging() == false)
|
||||
{
|
||||
m_clothDragger->StartDragging();
|
||||
}
|
||||
}
|
||||
|
||||
void MouseLeftUp(const b3Ray3& pw)
|
||||
{
|
||||
Test::MouseLeftUp(pw);
|
||||
|
||||
if (m_clothDragger->IsDragging() == true)
|
||||
{
|
||||
m_clothDragger->StopDragging();
|
||||
}
|
||||
}
|
||||
|
||||
static Test* Create()
|
||||
{
|
||||
return new SoftBody();
|
||||
}
|
||||
|
||||
b3SphereClothMesh m_mesh;
|
||||
b3Cloth* m_cloth;
|
||||
b3ClothDragger* m_clothDragger;
|
||||
};
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user