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merge into: kookroach:Ex3
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pull from: kookroach:Ex2
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5 Commits
Ex3 ... Ex2

Author SHA1 Message Date
youxie
2fe3bc4a27 Update PublicRigidBodiesTests.cpp 
test file update
 2022-12-05 10:49:02 +01:00
youxie
17f77bdcf9 Update quaternion.h 
typo fix for quaternion multiplication
 2022-11-09 16:20:31 +01:00
Brener
c7f66ad59c Including stdexcept in order to make retargeting to VS19 work 2021-11-15 13:18:46 +01:00
youxie
e1039eec4e Update readme.txt 2019-11-29 09:56:07 +01:00
youxie
25f977e43d for Ex2 2018-11-06 07:36:13 +01:00
10 changed files with 834 additions and 201 deletions
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1
DirectXTK/Src/Geometry.cpp
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@@ -14,6 +14,7 @@
#include "pch.h" #include "pch.h"
#include "Geometry.h" #include "Geometry.h"
#include "Bezier.h" #include "Bezier.h"
#include <stdexcept>
using namespace DirectX; using namespace DirectX;

46
Simulations/RigidBodySystemSimulator.h Normal file
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@@ -0,0 +1,46 @@
#ifndef RIGIDBODYSYSTEMSIMULATOR_h
#define RIGIDBODYSYSTEMSIMULATOR_h
#include "Simulator.h"
//add your header for your rigid body system, for e.g.,
//#include "rigidBodySystem.h"
#define TESTCASEUSEDTORUNTEST 2
class RigidBodySystemSimulator:public Simulator{
public:
// Construtors
RigidBodySystemSimulator();
// Functions
const char * getTestCasesStr();
void initUI(DrawingUtilitiesClass * DUC);
void reset();
void drawFrame(ID3D11DeviceContext* pd3dImmediateContext);
void notifyCaseChanged(int testCase);
void externalForcesCalculations(float timeElapsed);
void simulateTimestep(float timeStep);
void onClick(int x, int y);
void onMouse(int x, int y);
// ExtraFunctions
int getNumberOfRigidBodies();
Vec3 getPositionOfRigidBody(int i);
Vec3 getLinearVelocityOfRigidBody(int i);
Vec3 getAngularVelocityOfRigidBody(int i);
void applyForceOnBody(int i, Vec3 loc, Vec3 force);
void addRigidBody(Vec3 position, Vec3 size, int mass);
void setOrientationOf(int i,Quat orientation);
void setVelocityOf(int i, Vec3 velocity);
private:
// Attributes
// add your RigidBodySystem data members, for e.g.,
// RigidBodySystem * m_pRigidBodySystem;
Vec3 m_externalForce;
// UI Attributes
Point2D m_mouse;
Point2D m_trackmouse;
Point2D m_oldtrackmouse;
};
#endif

477
Simulations/collisionDetect.h Normal file
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@@ -0,0 +1,477 @@
// header file:
#include <DirectXMath.h>
#include <Vector>
using namespace DirectX;
// the return structure, with these values, you should be able to calculate the impulse
// the depth shouldn't be used in your impulse calculation, it is a redundant value
// if the normalWorld == XMVectorZero(), no collision
struct CollisionInfo{
bool isValid; // whether there is a collision point, true for yes
GamePhysics::Vec3 collisionPointWorld; // the position of the collision point in world space
GamePhysics::Vec3 normalWorld; // the direction of the impulse to A, negative of the collision face of A
float depth; // the distance of the collision point to the surface, not necessary.
};
// tool data structures/functions called by the collision detection method, you can ignore the details here
namespace collisionTools{
struct Projection{
float min, max;
};
inline std::vector<XMVECTOR> discritizeObject(const XMMATRIX& obj2World)
{
const XMVECTOR centerWorld = XMVector3Transform(XMVectorZero(), obj2World);
XMVECTOR edges[3];
std::vector<XMVECTOR> results;
for (int precession = 0.1; precession <= 0.5; precession += 0.1)
{
for (size_t i = 0; i < 3; ++i)
edges[i] = XMVector3TransformNormal(XMVectorSetByIndex(XMVectorZero(), precession, i), obj2World);
results.push_back(centerWorld - edges[0] - edges[1] - edges[2]);
results.push_back(centerWorld + edges[0] - edges[1] - edges[2]);
results.push_back(centerWorld - edges[0] + edges[1] - edges[2]);
results.push_back(centerWorld + edges[0] + edges[1] - edges[2]);
results.push_back(centerWorld - edges[0] - edges[1] + edges[2]);
results.push_back(centerWorld + edges[0] - edges[1] + edges[2]);
results.push_back(centerWorld - edges[0] + edges[1] + edges[2]);
results.push_back(centerWorld + edges[0] + edges[1] + edges[2]);
}
}
inline XMVECTOR getVectorConnnectingCenters(const XMMATRIX& obj2World_A, const XMMATRIX& obj2World_B)
{
const XMVECTOR centerWorld_A = XMVector3Transform(XMVectorZero(), obj2World_A);
const XMVECTOR centerWorld_B = XMVector3Transform(XMVectorZero(), obj2World_B);
return centerWorld_B - centerWorld_A;
}
// Get Corners
inline std::vector<XMVECTOR> getCorners(const XMMATRIX& obj2World)
{
const XMVECTOR centerWorld = XMVector3Transform(XMVectorZero(), obj2World);
XMVECTOR edges[3];
for (size_t i = 0; i < 3; ++i)
edges[i] = XMVector3TransformNormal(XMVectorSetByIndex(XMVectorZero(), 0.5f, i), obj2World);
std::vector<XMVECTOR> results;
results.push_back(centerWorld - edges[0] - edges[1] - edges[2]);
results.push_back(centerWorld + edges[0] - edges[1] - edges[2]);
results.push_back(centerWorld - edges[0] + edges[1] - edges[2]);
results.push_back(centerWorld + edges[0] + edges[1] - edges[2]); // this +,+,-
results.push_back(centerWorld - edges[0] - edges[1] + edges[2]);
results.push_back(centerWorld + edges[0] - edges[1] + edges[2]); //this +,-,+
results.push_back(centerWorld - edges[0] + edges[1] + edges[2]); //this -,+,+
results.push_back(centerWorld + edges[0] + edges[1] + edges[2]);//this +,+,+
return results;
}
// Get Rigid Box Size
inline XMVECTOR getBoxSize(const XMMATRIX& obj2World)
{
XMVECTOR size = XMVectorZero();
XMVECTOR edges[3];
for (size_t i = 0; i < 3; ++i){
edges[i] = XMVector3TransformNormal(XMVectorSetByIndex(XMVectorZero(), 0.5f, i), obj2World);
XMVECTOR length = XMVector3Length(edges[i]);
size = XMVectorSetByIndex(size, 2.0f*XMVectorGetByIndex(length, 0), i);
}
return size;
}
// Get important Edges
inline std::vector<XMVECTOR> getImportantEdges(const XMMATRIX& obj2World)
{
XMVECTOR xaxis = XMVectorSet(1, 0, 0, 1);
XMVECTOR yaxis = XMVectorSet(0, 1, 0, 1);
XMVECTOR zaxis = XMVectorSet(0, 0, 1, 1);
XMVECTOR edge1 = XMVector3TransformNormal(xaxis, obj2World);
XMVECTOR edge2 = XMVector3TransformNormal(yaxis, obj2World);
XMVECTOR edge3 = XMVector3TransformNormal(zaxis, obj2World);
std::vector<XMVECTOR> results;
results.push_back(edge1);
results.push_back(edge2);
results.push_back(edge3);
return results;
}
// Get the Normal to the faces
inline std::vector<XMVECTOR> getAxisNormalToFaces(const XMMATRIX& obj2World)
{
std::vector<XMVECTOR> edges;
XMVECTOR xaxis = XMVectorSet(1, 0, 0, 1);
XMVECTOR yaxis = XMVectorSet(0, 1, 0, 1);
XMVECTOR zaxis = XMVectorSet(0, 0, 1, 1);
XMVECTOR edge1 = XMVector3Normalize(XMVector3TransformNormal(xaxis, obj2World));
XMVECTOR edge2 = XMVector3Normalize(XMVector3TransformNormal(yaxis, obj2World));
XMVECTOR edge3 = XMVector3Normalize(XMVector3TransformNormal(zaxis, obj2World));
std::vector<XMVECTOR> results;
edges.push_back(edge1);
edges.push_back(edge2);
edges.push_back(edge3);
return edges;
}
// Get the pair of edges
inline std::vector<XMVECTOR> getPairOfEdges(const XMMATRIX& obj2World_A, const XMMATRIX& obj2World_B)
{
std::vector<XMVECTOR> edges1 = getAxisNormalToFaces(obj2World_A);
std::vector<XMVECTOR> edges2 = getAxisNormalToFaces(obj2World_B);
std::vector<XMVECTOR> results;
for (int i = 0; i < edges1.size(); i++)
{
for (int j = 0; j<edges2.size(); j++)
{
XMVECTOR vector = XMVector3Cross(edges1[i], edges2[j]);
if (XMVectorGetX(XMVector3Length(vector)) > 0)
results.push_back(XMVector3Normalize(vector));
}
}
return results;
}
// project a shape on an axis
inline Projection project(const XMMATRIX& obj2World, XMVECTOR axis)
{
// Get corners
std::vector<XMVECTOR> cornersWorld = getCorners(obj2World);
float min = XMVectorGetX(XMVector3Dot(cornersWorld[0], axis));
float max = min;
for (int i = 1; i < cornersWorld.size(); i++)
{
float p = XMVectorGetX(XMVector3Dot(cornersWorld[i], axis));
if (p < min) {
min = p;
}
else if (p > max) {
max = p;
}
}
Projection projection;
projection.max = max;
projection.min = min;
return projection;
}
inline bool overlap(Projection p1, Projection p2)
{
return !((p1.max > p2.max && p1.min > p2.max) || (p2.max > p1.max && p2.min > p1.max));
}
inline float getOverlap(Projection p1, Projection p2)
{
return XMMin(p1.max, p2.max) - XMMax(p1.min, p2.min);
}
static inline XMVECTOR contactPoint(
const XMVECTOR &pOne,
const XMVECTOR &dOne,
float oneSize,
const XMVECTOR &pTwo,
const XMVECTOR &dTwo,
float twoSize,
// If this is true, and the contact point is outside
// the edge (in the case of an edge-face contact) then
// we use one's midpoint, otherwise we use two's.
bool useOne)
{
XMVECTOR toSt, cOne, cTwo;
float dpStaOne, dpStaTwo, dpOneTwo, smOne, smTwo;
float denom, mua, mub;
smOne = XMVectorGetX(XMVector3LengthSq(dOne));
smTwo = XMVectorGetX(XMVector3LengthSq(dTwo));
dpOneTwo = XMVectorGetX(XMVector3Dot(dTwo, dOne));
toSt = pOne - pTwo;
dpStaOne = XMVectorGetX(XMVector3Dot(dOne, toSt));
dpStaTwo = XMVectorGetX(XMVector3Dot(dTwo, toSt));
denom = smOne * smTwo - dpOneTwo * dpOneTwo;
// Zero denominator indicates parrallel lines
if (abs(denom) < 0.0001f) {
return useOne ? pOne : pTwo;
}
mua = (dpOneTwo * dpStaTwo - smTwo * dpStaOne) / denom;
mub = (smOne * dpStaTwo - dpOneTwo * dpStaOne) / denom;
// If either of the edges has the nearest point out
// of bounds, then the edges aren't crossed, we have
// an edge-face contact. Our point is on the edge, which
// we know from the useOne parameter.
if (mua > oneSize ||
mua < -oneSize ||
mub > twoSize ||
mub < -twoSize)
{
return useOne ? pOne : pTwo;
}
else
{
cOne = pOne + dOne * mua;
cTwo = pTwo + dTwo * mub;
return cOne * 0.5 + cTwo * 0.5;
}
}
inline XMVECTOR handleVertexToface(const XMMATRIX& obj2World, const XMVECTOR& toCenter)
{
std::vector<XMVECTOR> corners = getCorners(obj2World);
float min = 1000;
XMVECTOR vertex;
for (int i = 0; i < corners.size(); i++)
{
float value = XMVectorGetX(XMVector3Dot(corners[i], toCenter));
if (value < min)
{
vertex = corners[i];
min = value;
}
}
return vertex;
}
inline CollisionInfo checkCollisionSATHelper(const XMMATRIX& obj2World_A, const XMMATRIX& obj2World_B, XMVECTOR size_A, XMVECTOR size_B)
{
CollisionInfo info;
info.isValid = false;
XMVECTOR collisionPoint = XMVectorZero();
float smallOverlap = 10000.0f;
XMVECTOR axis;
int index;
int fromWhere = -1;
bool bestSingleAxis = false;
XMVECTOR toCenter = getVectorConnnectingCenters(obj2World_A, obj2World_B);
std::vector<XMVECTOR> axes1 = getAxisNormalToFaces(obj2World_A);
std::vector<XMVECTOR> axes2 = getAxisNormalToFaces(obj2World_B);
std::vector<XMVECTOR> axes3 = getPairOfEdges(obj2World_A, obj2World_B);
// loop over the axes1
for (int i = 0; i < axes1.size(); i++) {
// project both shapes onto the axis
Projection p1 = project(obj2World_A, axes1[i]);
Projection p2 = project(obj2World_B, axes1[i]);
// do the projections overlap?
if (!overlap(p1, p2)) {
// then we can guarantee that the shapes do not overlap
return info;
}
else{
// get the overlap
float o = getOverlap(p1, p2);
// check for minimum
if (o < smallOverlap) {
// then set this one as the smallest
smallOverlap = o;
axis = axes1[i];
index = i;
fromWhere = 0;
}
}
}
// loop over the axes2
for (int i = 0; i < axes2.size(); i++) {
// project both shapes onto the axis
Projection p1 = project(obj2World_A, axes2[i]);
Projection p2 = project(obj2World_B, axes2[i]);
// do the projections overlap?
if (!overlap(p1, p2)) {
// then we can guarantee that the shapes do not overlap
return info;
}
else{
// get the overlap
float o = getOverlap(p1, p2);
// check for minimum
if (o < smallOverlap) {
// then set this one as the smallest
smallOverlap = o;
axis = axes2[i];
index = i;
fromWhere = 1;
bestSingleAxis = true;
}
}
}
int whichEdges = 0;
// loop over the axes3
for (int i = 0; i < axes3.size(); i++) {
// project both shapes onto the axis
Projection p1 = project(obj2World_A, axes3[i]);
Projection p2 = project(obj2World_B, axes3[i]);
// do the projections overlap?
if (!overlap(p1, p2)) {
// then we can guarantee that the shapes do not overlap
return info;
}
else{
// get the overlap
float o = getOverlap(p1, p2);
// check for minimum
if (o < smallOverlap) {
// then set this one as the smallest
smallOverlap = o;
axis = axes3[i];
index = i;
whichEdges = i;
fromWhere = 2;
}
}
}
// if we get here then we know that every axis had overlap on it
// so we can guarantee an intersection
XMVECTOR normal;
switch (fromWhere){
case 0:{
normal = axis;
if (XMVectorGetX(XMVector3Dot(axis, toCenter)) <= 0)
{
normal = normal * -1.0f;
}
collisionPoint = handleVertexToface(obj2World_B, toCenter);
}break;
case 1:{
normal = axis;
if (XMVectorGetX(XMVector3Dot(axis, toCenter)) <= 0)
{
normal = normal * -1.0f;
}
collisionPoint = handleVertexToface(obj2World_A, toCenter*-1);
}break;
case 2:{
XMVECTOR axis = XMVector3Normalize(XMVector3Cross(axes1[whichEdges / 3], axes2[whichEdges % 3]));
normal = axis;
if (XMVectorGetX(XMVector3Dot(axis, toCenter)) <= 0)
{
normal = normal * -1.0f;
}
XMVECTOR ptOnOneEdge = XMVectorSet(0.5, 0.5, 0.5, 1);
XMVECTOR ptOnTwoEdge = XMVectorSet(0.5, 0.5, 0.5, 1);
for (int i = 0; i < 3; i++)
{
if (i == whichEdges / 3) ptOnOneEdge = XMVectorSetByIndex(ptOnOneEdge, 0, i);
else if (XMVectorGetX(XMVector3Dot(axes1[i], normal)) < 0) ptOnOneEdge = XMVectorSetByIndex(ptOnOneEdge, -XMVectorGetByIndex(ptOnOneEdge, i), i);
if (i == whichEdges % 3) ptOnTwoEdge = XMVectorSetByIndex(ptOnTwoEdge, 0, i);
else if (XMVectorGetX(XMVector3Dot(axes2[i], normal)) > 0) ptOnTwoEdge = XMVectorSetByIndex(ptOnTwoEdge, -XMVectorGetByIndex(ptOnTwoEdge, i), i);
}
ptOnOneEdge = XMVector3Transform(ptOnOneEdge, obj2World_A);
ptOnTwoEdge = XMVector3Transform(ptOnTwoEdge, obj2World_B);
collisionPoint = contactPoint(ptOnOneEdge,
axes1[whichEdges / 3],
(float)XMVectorGetByIndex(size_A, (whichEdges / 3)),
ptOnTwoEdge,
axes2[whichEdges % 3],
XMVectorGetByIndex(size_B, (whichEdges % 3)),
bestSingleAxis);
}break;
}
info.isValid = true;
info.collisionPointWorld = collisionPoint;
info.depth = smallOverlap;
info.normalWorld = normal*-1;
return info;
}
}
/* params:
obj2World_A, the transfer matrix from object space of A to the world space
obj2World_B, the transfer matrix from object space of B to the world space
*/
inline CollisionInfo checkCollisionSAT(GamePhysics::Mat4& obj2World_A, GamePhysics::Mat4& obj2World_B) {
using namespace collisionTools;
XMMATRIX MatA = obj2World_A.toDirectXMatrix(), MatB = obj2World_B.toDirectXMatrix();
XMVECTOR calSizeA = getBoxSize(MatA);
XMVECTOR calSizeB = getBoxSize(MatB);
return checkCollisionSATHelper(MatA, MatB, calSizeA, calSizeB);
}
// example of using the checkCollisionSAT function
inline void testCheckCollision(int caseid){
if (caseid == 1){// simple examples, suppose that boxes A and B are cubes and have no rotation
GamePhysics::Mat4 AM; AM.initTranslation(1.0, 1.0, 1.0);// box A at (1.0,1.0,1.0)
GamePhysics::Mat4 BM; BM.initTranslation(2.0, 2.0, 2.0); //box B at (2.0,2.0,2.0)
// check for collision
CollisionInfo simpletest = checkCollisionSAT(AM, BM);// should find out a collision here
if (!simpletest.isValid)
std::printf("No Collision\n");
else {
std::printf("collision detected at normal: %f, %f, %f\n", simpletest.normalWorld.x, simpletest.normalWorld.y, simpletest.normalWorld.z);
std::printf("collision point : %f, %f, %f\n", (simpletest.collisionPointWorld).x, (simpletest.collisionPointWorld).y, simpletest.collisionPointWorld.z);
}
// case 1 result:
// collision detected at normal: -1.000000, -0.000000, -0.000000
// collision point : 1.500000, 1.500000, 1.500000
// Box A should be pushed to the left
}
else if (caseid == 2){// case 2, collide at a corner of Box B:
GamePhysics::Mat4 AM, BM;
AM.initTranslation(0.2f, 5.0f, 1.0f); // box A moves(0.2f, 5.0f, 1.0f) from origin
BM.initRotationZ(45); // box B rotates 45 degree around axis z
// box A size(9,2,3), box B size(5.656854f, 5.656854f, 2.0f)
GamePhysics::Mat4 SizeMat;
SizeMat.initScaling(9.0f, 2.0f, 3.0f);
AM = SizeMat * AM;
SizeMat.initScaling(5.656854f, 5.656854f, 2.0f);
BM = SizeMat * BM;
// check for collision
CollisionInfo simpletest = checkCollisionSAT(AM, BM);// should find out a collision here
if (!simpletest.isValid)
std::printf("No Collision\n");
else {
std::printf("collision detected at normal: %f, %f, %f\n", simpletest.normalWorld.x, simpletest.normalWorld.y, simpletest.normalWorld.z);
std::printf("collision point : %f, %f, %f\n", (simpletest.collisionPointWorld).x, (simpletest.collisionPointWorld).y, simpletest.collisionPointWorld.z);
}
// case 2 result:
// collision detected at normal : 0.000000, 1.000000, 0.000000
// collision point : 0.000000, 4.000000, 1.000000
}
else if (caseid == 3){// case 3, collide at a corner of Box A:
// box A first rotates 45 degree around axis z
// box A moves(-2.0f, 0.0f, 1.0f) from origin,(-2.0f,0.0f,1.0f) is the centre position of A in world space
// box A size(2.829f, 2.829f, 2.0f)
GamePhysics::Mat4 AM_rot; AM_rot.initRotationZ(45);
GamePhysics::Mat4 AM_tra; AM_tra.initTranslation(-2.0f, 0.0f, 1.0f);
GamePhysics::Mat4 AM_sca; AM_sca.initScaling(2.829f, 2.829f, 2.0f);
// get the object 2 world matrix of A
GamePhysics::Mat4 AM = AM_sca * AM_rot * AM_tra; // pay attention to the order!
// order, since we are working with the DirectX, we use left-handed matrixes!
// box B first rotates 90 degree around axis z
// box B then moves (1.0f,0.5f,0.0f) from origin, (1.0f,0.5f,0.0f) is also the centre position of B in world space
// box B size(9.0f, 2.0f, 4.0f)
GamePhysics::Mat4 BM_rot; BM_rot.initRotationZ(90);
GamePhysics::Mat4 BM_tra; BM_tra.initTranslation(1.0f, 0.5f, 0.0f);
GamePhysics::Mat4 BM_sca; BM_sca.initScaling(9.0f, 2.0f, 4.0f);
GamePhysics::Mat4 BM = BM_sca * BM_rot * BM_tra; // pay attention to the order!
// check for collision
CollisionInfo simpletest = checkCollisionSAT(AM, BM);// should find out a collision here
if (!simpletest.isValid)
std::printf("No Collision\n");
else {
std::printf("collision detected at normal: %f, %f, %f\n", simpletest.normalWorld.x, simpletest.normalWorld.y, simpletest.normalWorld.z);
std::printf("collision point : %f, %f, %f\n", (simpletest.collisionPointWorld).x, (simpletest.collisionPointWorld).y, simpletest.collisionPointWorld.z);
}
// case 3 result:
// collision detected at normal: -1.000000, 0.000000, -0.000000
// collision point : 0.000405, 0.000000, 0.000000
}
}

12
Simulations/util/matrixbase.h
View File

@@ -646,8 +646,8 @@ matrix4x4<Scalar>::initRotationX(Scalar rot)
this->initId(); this->initId();
value[1][1] = (Scalar) cos(drot); value[1][1] = (Scalar) cos(drot);
value[2][1] = (Scalar) sin(drot); value[1][2] = (Scalar) sin(drot);
value[1][2] = (Scalar)(-sin(drot)); value[2][1] = (Scalar)(-sin(drot));
value[2][2] = (Scalar) cos(drot); value[2][2] = (Scalar) cos(drot);
} }
template<class Scalar> template<class Scalar>
@@ -659,8 +659,8 @@ matrix4x4<Scalar>::initRotationY(Scalar rot)
this->initId(); this->initId();
value[0][0] = (Scalar) cos(drot); value[0][0] = (Scalar) cos(drot);
value[2][0] = (Scalar)(-sin(drot)); value[0][2] = (Scalar)(-sin(drot));
value[0][2] = (Scalar) sin(drot); value[2][0] = (Scalar) sin(drot);
value[2][2] = (Scalar) cos(drot); value[2][2] = (Scalar) cos(drot);
} }
template<class Scalar> template<class Scalar>
@@ -672,8 +672,8 @@ matrix4x4<Scalar>::initRotationZ(Scalar rot)
this->initId(); this->initId();
value[0][0] = (Scalar) cos(drot); value[0][0] = (Scalar) cos(drot);
value[1][0] = (Scalar) sin(drot); value[0][1] = (Scalar) sin(drot);
value[0][1] = (Scalar)(-sin(drot)); value[1][0] = (Scalar)(-sin(drot));
value[1][1] = (Scalar) cos(drot); value[1][1] = (Scalar) cos(drot);
} }
template<class Scalar> template<class Scalar>

4
Simulations/util/quaternion.h
View File

@@ -83,7 +83,7 @@ public:
inline const Quaternion operator*=(const Quaternion &q) inline const Quaternion operator*=(const Quaternion &q)
{ {
vector3Dim<Scalar> v1(x,y,z), v2(q.x,q.y,q.z); vector3Dim<Scalar> v1(x,y,z), v2(q.x,q.y,q.z);
vector3Dim<Scalar> nv = v1*q.w + v2*w + cross(v2,v1); vector3Dim<Scalar> nv = v1*q.w + v2*w + cross(v1,v2);
Scalar nw = w*q.w - (v1.x*v2.x+v1.y*v2.y+v1.z*v2.z); Scalar nw = w*q.w - (v1.x*v2.x+v1.y*v2.y+v1.z*v2.z);
x = nv.x; x = nv.x;
y = nv.y; y = nv.y;
@@ -106,7 +106,7 @@ public:
inline const Quaternion operator*(const Quaternion &q) const inline const Quaternion operator*(const Quaternion &q) const
{ {
vector3Dim<Scalar> v1(x,y,z), v2(q.x,q.y,q.z); vector3Dim<Scalar> v1(x,y,z), v2(q.x,q.y,q.z);
vector3Dim<Scalar> nv = v1*q.w + v2*w + cross(v2,v1); vector3Dim<Scalar> nv = v1*q.w + v2*w + cross(v1,v2);
Scalar nw = w*q.w - (v1.x*v2.x+v1.y*v2.y+v1.z*v2.z); Scalar nw = w*q.w - (v1.x*v2.x+v1.y*v2.y+v1.z*v2.z);
return Quaternion(nv.x,nv.y,nv.z,nw); return Quaternion(nv.x,nv.y,nv.z,nw);

105
SimulatorTester/PublicRigidBodiesTests.cpp Normal file
View File

@@ -0,0 +1,105 @@
#include "CppUnitTest.h"
#include "RigidBodySystemSimulator.h"
using namespace Microsoft::VisualStudio::CppUnitTestFramework;
namespace SimulatorTester
{
TEST_CLASS(PublicRigidBodiesTests)
{
public:
void setupBaseTest(RigidBodySystemSimulator * rbss) {
rbss->m_iTestCase = TESTCASEUSEDTORUNTEST;
rbss->addRigidBody(Vec3(-0.1f, -0.2f, 0.1f), Vec3(0.4f, 0.2f, 0.2f), 100.0f);
rbss->addRigidBody(Vec3(0.0f, 0.2f, 0.0f), Vec3(0.4f, 0.2f, 0.2f), 100.0);
rbss->setOrientationOf(1, Quat(Vec3(0.0f, 0.0f, 1.0f), (float)(M_PI)*0.25f));
rbss->setVelocityOf(1,Vec3(0.0f, -0.1f, 0.05f));
}
TEST_METHOD(TestRigidBodiesInitialization)
{
RigidBodySystemSimulator * rbss = new RigidBodySystemSimulator();
setupBaseTest(rbss);
Assert::AreEqual(2,(int)rbss->getNumberOfRigidBodies(),0.0001f,L"Number of Rigid bodies is not right",LINE_INFO());
Vec3 pos = rbss->getPositionOfRigidBody(0);
Assert::AreEqual(-0.1f,(float)pos.x,0.0001f,L"X coordinate of body 0 is not right",LINE_INFO());
Assert::AreEqual(-0.2f,(float)pos.y,0.0001f,L"Y coordinate of body 0 is not right",LINE_INFO());
Assert::AreEqual(0.1f,(float)pos.z,0.0001f,L"Z coordinate of body 0 is not right",LINE_INFO());
Vec3 vel = rbss->getLinearVelocityOfRigidBody(0);
Assert::AreEqual(0.0f,(float)vel.x,0.0001f,L"X componnent of body 0 is not right",LINE_INFO());
Assert::AreEqual(0.0f,(float)vel.y,0.0001f,L"Y componnent of body 0 is not right",LINE_INFO());
Assert::AreEqual(0.0f,(float)vel.z,0.0001f,L"Z componnent of body 0 is not right",LINE_INFO());
Vec3 angvel = rbss->getAngularVelocityOfRigidBody(0);
Assert::AreEqual(0.0f,(float)angvel.x,0.0001f,L"X componnent of body 0 is not right",LINE_INFO());
Assert::AreEqual(0.0f,(float)angvel.y,0.0001f,L"Y componnent of body 0 is not right",LINE_INFO());
Assert::AreEqual(0.0f,(float)angvel.z,0.0001f,L"Z componnent of body 0 is not right",LINE_INFO());
pos = rbss->getPositionOfRigidBody(1);
Assert::AreEqual(0.0f,(float)pos.x,0.0001f,L"X coordinate of body 1 is not right",LINE_INFO());
Assert::AreEqual(0.2f,(float)pos.y,0.0001f,L"Y coordinate of body 1 is not right",LINE_INFO());
Assert::AreEqual(0.0f,(float)pos.z,0.0001f,L"Z coordinate of body 1 is not right",LINE_INFO());
vel = rbss->getLinearVelocityOfRigidBody(1);
Assert::AreEqual(0.0f,(float)vel.x,0.0001f,L"X componnent of body 1 is not right",LINE_INFO());
Assert::AreEqual(-0.1f,(float)vel.y,0.0001f,L"Y componnent of body 1 is not right",LINE_INFO());
Assert::AreEqual(0.05f,(float)vel.z,0.0001f,L"Z componnent of body 1 is not right",LINE_INFO());
angvel = rbss->getAngularVelocityOfRigidBody(1);
Assert::AreEqual(0.0f,(float)angvel.x,0.0001f,L"X componnent of body 0 is not right",LINE_INFO());
Assert::AreEqual(0.0f,(float)angvel.y,0.0001f,L"Y componnent of body 0 is not right",LINE_INFO());
Assert::AreEqual(0.0f,(float)angvel.z,0.0001f,L"Z componnent of body 0 is not right",LINE_INFO());
delete rbss;
}
TEST_METHOD(TestRigidBodiesAfterForceApplication)
{
RigidBodySystemSimulator * rbss = new RigidBodySystemSimulator();
setupBaseTest(rbss);
rbss->applyForceOnBody(0,Vec3(0.0,0.0f,0.0),Vec3(0,0,200));
for(int i =0; i < 4;i++)
rbss->simulateTimestep(0.1);
Vec3 pos = rbss->getPositionOfRigidBody(0);
Assert::AreEqual(-0.1f,(float)pos.x,0.0001f,L"X coordinate of body 0 is not right",LINE_INFO());
Assert::AreEqual(-0.2f,(float)pos.y,0.0001f,L"Y coordinate of body 0 is not right",LINE_INFO());
Assert::AreEqual(0.16f,(float)pos.z,0.0001f,L"Z coordinate of body 0 is not right",LINE_INFO());
Vec3 vel = rbss->getLinearVelocityOfRigidBody(0);
Assert::AreEqual(0.0f,(float)vel.x,0.0001f,L"X componnent of body 0 is not right",LINE_INFO());
Assert::AreEqual(0.0f,(float)vel.y,0.0001f,L"Y componnent of body 0 is not right",LINE_INFO());
Assert::AreEqual(0.2f,(float)vel.z,0.0001f,L"Z componnent of body 0 is not right",LINE_INFO());
Vec3 angvel = rbss->getAngularVelocityOfRigidBody(0);
Assert::AreEqual(5.8590f,(float)angvel.x,0.0001f,L"X componnent of body 0 is not right",LINE_INFO());
Assert::AreEqual(-2.1106f,(float)angvel.y,0.0001f,L"Y componnent of body 0 is not right",LINE_INFO());
Assert::AreEqual(-1.1391f,(float)angvel.z,0.0001f,L"Z componnent of body 0 is not right",LINE_INFO());
delete rbss;
}
TEST_METHOD(TestRigidBodiesOneStepGivenTableTest)
{
RigidBodySystemSimulator * rbss = new RigidBodySystemSimulator();
rbss->m_iTestCase = TESTCASEUSEDTORUNTEST;
rbss->addRigidBody(Vec3(0.0f, 0.0f, 0.0f), Vec3(1.0f, 0.6f, 0.5f), 2.0f);
rbss->setOrientationOf(0, Quat(Vec3(0.0f, 0.0f, 1.0f), (float)(M_PI)* 0.5f));
rbss->applyForceOnBody(0, Vec3(0.3f, 0.5f, 0.25f), Vec3(1.0f, 1.0f, 0.0f));
rbss->simulateTimestep(2.0);
Vec3 pos = rbss->getPositionOfRigidBody(0);
Assert::AreEqual(0.0000f, (float)pos.x, 0.0001f, L"X coordinate of position of body 0 is not right", LINE_INFO());
Assert::AreEqual(0.0000f, (float)pos.y, 0.0001f, L"Y coordinate of position of body 0 is not right", LINE_INFO());
Assert::AreEqual(0.0000f, (float)pos.z, 0.0001f, L"Z coordinate of position of body 0 is not right", LINE_INFO());
Vec3 vel = rbss->getLinearVelocityOfRigidBody(0);
Assert::AreEqual(1.0000f, (float)vel.x, 0.0001f, L"X componnent of velocity of body 0 is not right", LINE_INFO());
Assert::AreEqual(1.0000f, (float)vel.y, 0.0001f, L"Y componnent of velocity of body 0 is not right", LINE_INFO());
Assert::AreEqual(0.0000f, (float)vel.z, 0.0001f, L"Z componnent of velocity of body 0 is not right", LINE_INFO());
Vec3 angvel = rbss->getAngularVelocityOfRigidBody(0);
Assert::AreEqual(-2.4000f, (float)angvel.x, 0.0001f, L"X componnent of angular velocity of body 0 is not right", LINE_INFO());
Assert::AreEqual(4.9180f, (float)angvel.y, 0.0001f, L"Y componnent of angular velocity of body 0 is not right", LINE_INFO());
Assert::AreEqual(-1.7647f, (float)angvel.z, 0.0001f, L"Z componnent of angular velocity of body 0 is not right", LINE_INFO());
Vec3 xa_world = Vec3(-0.3f, -0.5f, -0.25f) - pos;
Vec3 velocityA = vel + cross(angvel, xa_world);
Assert::AreEqual(-1.11186f, (float)velocityA.x, 0.0001f, L"X componnent of the velocity at the given point is not right", LINE_INFO());
Assert::AreEqual(0.929412f, (float)velocityA.y, 0.0001f, L"Y componnent of the velocity at the given point is not right", LINE_INFO());
Assert::AreEqual(2.67541f, (float)velocityA.z, 0.0001f, L"Z componnent of the velocity at the given point is not right", LINE_INFO());
delete rbss;
}
};
}

385
SimulatorTester/SimulatorTester_2013.vcxproj
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@@ -1,193 +1,194 @@
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1
SimulatorTester/SimulatorTester_2015.vcxproj
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1
SimulatorTester/SimulatorTester_2017.vcxproj
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@@ -164,6 +164,7 @@
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3
readme.txt
View File

@@ -4,6 +4,7 @@
--- Updated: Florian Ferstl, Sept 2014 ---------------------------------------- --- Updated: Florian Ferstl, Sept 2014 ----------------------------------------
--- Updated: Mina Saad Aziz, May 2016 ----------------------------------------- --- Updated: Mina Saad Aziz, May 2016 -----------------------------------------
--- Updated: Mengyu Chu, Nov 2017 ------------------------------------------ --- Updated: Mengyu Chu, Nov 2017 ------------------------------------------
--- Updated: You Xie, Nov 2019 ---------------------------------------------
------------------------------------------------------------------------------- -------------------------------------------------------------------------------
This solution contains the following components: This solution contains the following components:
@@ -45,4 +46,4 @@ Further Note:
DXUT are both based on the new DirectXMath API for linear algebra that comes DXUT are both based on the new DirectXMath API for linear algebra that comes
with the Windows 8.* SDKs (replacing the old D3DXMath). You can use it for with the Windows 8.* SDKs (replacing the old D3DXMath). You can use it for
all of your linear algebra tasks. all of your linear algebra tasks.
Documentation: https://msdn.microsoft.com/en-us/library/windows/desktop/hh437833(v=vs.85).aspx Documentation: https://msdn.microsoft.com/en-us/library/windows/desktop/hh437833(v=vs.85).aspx