Merge branch 'shaders'

1 files changed, 262 insertions, 0 deletions

diff --git a/wave-sim/src/system.cpp b/wave-sim/src/system.cpp
new file mode 100644
index 0000000..f0a4894
--- /dev/null
+++ b/wave-sim/src/system.cpp
@@ -0,0 +1,262 @@
+#include "system.h"
+#include <iostream>
+
+System::System()
+{
+    nodes = std::vector<Node*>();
+    tets = std::vector<Tet*>();
+}
+
+void System::initFromVecs(std::vector<Eigen::Vector3d> v, std::vector<Eigen::Vector4i> t) {
+    nodes = std::vector<Node*>();
+    tets = std::vector<Tet*>();
+
+    for(Eigen::Vector3d vertPos : v) {
+        nodes.push_back( new Node { vertPos } );
+    }
+    for(Eigen::Vector4i tetVerts : t) {
+        std::vector<Node*> definingNodes;
+        definingNodes.push_back(nodes.at(tetVerts[0]));
+        definingNodes.push_back(nodes.at(tetVerts[1]));
+        definingNodes.push_back(nodes.at(tetVerts[2]));
+        definingNodes.push_back(nodes.at(tetVerts[3]));
+        tets.push_back( new Tet(definingNodes) );
+    }
+    this->setParams( Params { } );
+}
+
+std::vector<Eigen::Vector3d> System::getPositions() {
+    std::vector<Eigen::Vector3d> res;
+    for(int i = 0 ; i < nodes.size(); ++i) {
+        res.push_back(nodes.at(i)->pos);
+    }
+
+    return res;
+}
+
+void System::setPositions(std::vector<Eigen::Vector3d> positions) {
+    assert(positions.size() == nodes.size());
+    for(int i = 0 ; i < positions.size(); ++i) {
+        nodes.at(i)->pos = positions.at(i);
+    }
+}
+
+std::vector<Eigen::Vector3d> System::getVelocities() {
+    std::vector<Eigen::Vector3d> res;
+    for(int i = 0 ; i < nodes.size(); ++i) {
+        res.push_back(nodes.at(i)->vel);
+    }
+
+    return res;
+}
+
+void System::setVelocities(std::vector<Eigen::Vector3d> velocities) {
+    assert(velocities.size() == nodes.size());
+    for(int i = 0 ; i < velocities.size(); ++i) {
+        nodes.at(i)->vel = velocities.at(i);
+    }
+}
+
+System::Face::Face(Node* a, Node* b, Node* c, Node* p){
+    area = (b->pos - a->pos).cross(c->pos - a->pos).norm() / 2;
+    normal = (b->pos - a->pos).cross(c->pos - a->pos).normalized();
+    if(normal.dot(p->pos - a->pos) >= 0) {
+        // If the normal faces towards the back point, flip it and wind nodes other way.
+        normal = -normal;
+        nodes.push_back(c);
+        nodes.push_back(b);
+        nodes.push_back(a);
+    }
+    else {
+        nodes.push_back(a);
+        nodes.push_back(b);
+        nodes.push_back(c);
+    }
+    opp = p;
+}
+
+void System::Face::calculateAreaNorms() {
+    Node* a = nodes.at(0);
+    Node* b = nodes.at(1);
+    Node* c = nodes.at(2);
+    this->area = (b->pos - a->pos).cross(c->pos - a->pos).norm() / 2;
+    this->normal = (b->pos - a->pos).cross(c->pos - a->pos).normalized();
+}
+
+System::Tet::Tet(std::vector<Node*> in_nodes)  {
+    nodes = in_nodes;
+
+    Eigen::Vector3d p0 = in_nodes.at(0)->pos;
+    Eigen::Vector3d p1 = in_nodes.at(1)->pos;
+    Eigen::Vector3d p2 = in_nodes.at(2)->pos;
+    Eigen::Vector3d p3 = in_nodes.at(3)->pos;
+
+    Node* a = nodes.at(0);
+    Node* b = nodes.at(1);
+    Node* c = nodes.at(2);
+    Node* d = nodes.at(3); // Origin at d
+
+    // Face 0 defined by 1, 0, 2
+    // Face 1 defined by 2, 0, 3
+    // Face 2 defined by 3, 1, 2
+    // Face 3 defined by 3, 0, 1
+    faces.push_back(new Face(b, a, c, d));
+    faces.push_back(new Face(c, a, d, b));
+    faces.push_back(new Face(d, b, c, a));
+    faces.push_back(new Face(d, a, b, c));
+
+    betaMat << (a->pos - d->pos), (b->pos - d->pos), (c->pos - d->pos);
+
+    posMat = betaMat;
+    betaMat = betaMat.inverse().eval();
+    this->velMat << (a->vel - d->vel), (b->vel - d->vel), (c->vel - d->vel);
+
+    Eigen::Matrix4d massDeterminer;
+
+    massDeterminer << a->pos[0], a->pos[1], a->pos[2], 1,
+                      b->pos[0], b->pos[1], b->pos[2], 1,
+                      c->pos[0], c->pos[1], c->pos[2], 1,
+                      d->pos[0], d->pos[1], d->pos[2], 1;
+
+    mass = this->_rho * (massDeterminer.determinant()) / 6.;
+
+    for(Node* n : this->nodes) {
+        n->mass += mass / 4;
+    }
+
+    for(Face* f : this->faces) {
+        f->calculateAreaNorms();
+//            totalFaceArea += f->area;
+    }
+}
+
+void System::updateCalculations() {
+    for(Node* n : nodes) {
+        n->force = Eigen::Vector3d::Zero();
+        n->force = this->_gravity * n->mass;
+    }
+
+    for(Tet* t : tets) {
+        t->update();
+    }
+}
+
+void System::resolveCollisions() {
+    double groundLevel = -2;
+    double radius = 1;
+
+    for(Node* n : nodes) {
+        if(n->pos[1] < groundLevel && std::abs(n->pos[0]) < 5 && std::abs(n->pos[2]) < 5) {
+//            n->vel[1] *= -1/(4) * (n->pos[1] + 2);
+            n->pos[1] = groundLevel + (groundLevel - n->pos[1]);
+            n->vel[0] /= this->groundTraction;
+            n->vel[1] = std::abs(n->vel[1]) / this->groundAbsorbance;
+        }
+        if(n->pos[0] * n->pos[0] + n->pos[2] * n->pos[2] + std::pow(n->pos[1] + 2, 2) < radius * radius) {
+            Eigen::Vector3d normal = (n->pos - Eigen::Vector3d(0, -2, 0)).normalized();
+//            n->pos = 2 * normal * radius + Eigen::Vector3d(0, -2, 0) - (n->pos - Eigen::Vector3d(0, -2, 0));
+            n->pos = normal * radius + Eigen::Vector3d(0, -2, 0);
+            Eigen::Vector3d normalComponent = n->vel.dot(normal) * normal;
+            Eigen::Vector3d tangentComponent = n->vel - normalComponent;
+            n->vel = -(normalComponent / this->groundAbsorbance) - tangentComponent / this->groundTraction;
+        }
+    }
+}
+
+void System::setParams(Params params) {
+    for(Tet* t : tets) {
+        t->_lambda = params._lambda;
+        t->_mu = params._mu;
+        t->_rho = params._rho;
+        t->_phi = params._phi;
+        t->_psi = params._psi;
+    }
+    this->_gravity = params.gravity;
+    this->groundAbsorbance = params._absorbance;
+    this->groundTraction = params._traction;
+}
+
+void System::updatePositions(double deltaTime) {
+//    double totalFaceArea = 0;
+    for(Node* n : nodes) {
+        n->acc = n->force * (1 / n->mass);
+        n->vel += n->acc * deltaTime;
+        n->pos += n->vel * deltaTime;
+    }
+//    this->resolveCollisions();
+//    std::cout << totalFaceArea << std::endl;
+}
+
+void System::Tet::update() {
+//    for(Face* f : this->faces) {
+//        f->calculateAreaNorms();
+////            totalFaceArea += f->area;
+//    }
+
+    Node* a = nodes.at(0);
+    Node* b = nodes.at(1);
+    Node* c = nodes.at(2);
+    Node* d = nodes.at(3); // Origin at d
+
+    this->posMat << (a->pos - d->pos), (b->pos - d->pos), (c->pos - d->pos);
+    this->velMat << (a->vel - d->vel), (b->vel - d->vel), (c->vel - d->vel);
+
+    this->FMat = posMat * betaMat;
+
+//    Eigen::Matrix3d test;
+//    test << Eigen::Vector3d(1, 2, 3), Eigen::Vector3d(4, 5, 6), Eigen::Vector3d(7, 8, 9);
+
+    if(this->FMat.isApprox(Eigen::Matrix3d::Identity())) {
+        this->FMat = Eigen::Matrix3d::Identity();
+    }
+
+    this->strain = (FMat.transpose() * FMat) - Eigen::Matrix3d::Identity();
+    this->strainRate = ((posMat * betaMat).transpose() * (velMat * betaMat)) + ((velMat * betaMat).transpose() * (posMat * betaMat));
+
+    Eigen::Matrix3d stressFromStrain = (this->_lambda * Eigen::Matrix3d::Identity() * strain.trace()) + (2 * this->_mu * strain);
+    Eigen::Matrix3d stressFromStrainRate = (this->_phi * Eigen::Matrix3d::Identity() * strainRate.trace()) + (2 * this->_psi * strainRate);
+    this->stress = stressFromStrain + stressFromStrainRate;
+
+//    for(Node* n : this->nodes) {
+////        n->force = Eigen::Vector3d(0., -.1, 0.) * n->mass;
+////        n->force = Eigen::Vector3d(0, 0, 0);
+////        n->acc = Ei
+//    }
+
+    for(Face* f : this->faces) {
+        Eigen::Vector3d faceForce = this->FMat * this->stress * f->area * f->normal;
+        for(Node* n : f->nodes) {
+            n->force += faceForce / 3;
+        }
+//        f->opp->force -= faceForce;
+    }
+}
+
+std::vector<Eigen::Vector3d> System::getNodePos() {
+    std::vector<Eigen::Vector3d> res;
+    for(Node* n : nodes) {
+        res.push_back(n->pos);
+    }
+    return res;
+}
+
+std::vector<Eigen::Vector3d> System::getNodeForces() {
+    std::vector<Eigen::Vector3d> res;
+    for(Node* n : nodes) {
+        res.push_back(n->force);
+    }
+    return res;
+}
+
+Eigen::VectorXd System::getState() {
+    std::vector<double> state;
+    for(Node* n : this->nodes) {
+        state.push_back(n->pos[0]);
+        state.push_back(n->pos[1]);
+        state.push_back(n->pos[2]);
+        state.push_back(n->vel[0]);
+        state.push_back(n->vel[1]);
+        state.push_back(n->vel[2]);
+    }
+    return Eigen::Map<Eigen::VectorXd>(state.data(), state.size());
+}