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kookroach:master kookroach:cmake kookroach:Ex2 kookroach:Ex3
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compare: kookroach:b1c4939b16a9ae408160e0d0d3dcd2a4872a1cb4
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kookroach:master kookroach:cmake kookroach:Ex2 kookroach:Ex3

14 Commits
Ex3 ... b1c4939b16

Author SHA1 Message Date
MuZiQiAM
b1c4939b16 test 2023-11-16 21:13:12 +01:00
kookroach
489ddce9b2 fix spring bug 2023-11-16 19:53:38 +01:00
kookroach
af0421a557 clean up after merge 2023-11-16 19:46:41 +01:00
kookroach
ef4251f664 clean up, add print method for springs, change Euler Function declaration, add demo, demo2 demo3 setup 2023-11-16 19:27:13 +01:00
MuZiQiAM
0647bb8735 TestCases, Midpoint push 2023-11-16 18:40:59 +01:00
Okay Uenal
82f103758d merge stuff demo 2 2023-11-08 15:19:29 +01:00
MuZiQiAM
03ebc33ec6 Merge branch 'master' of https://git.peroxy.dev/kookroach/game-physics 2023-11-08 15:14:20 +01:00
MuZiQiAM
3946a25f27 Demo 1 stuff 2023-11-08 15:14:17 +01:00
PfandBoss
741958d30b Mouse Input test stuff 2023-11-02 14:53:04 +01:00
kookroach
047b913dfa Fix Repo + add basics 2023-10-31 00:37:29 +01:00
Felix Koehler
5348c6e002 Update build system for VS 2022 2023-10-30 07:47:16 +01:00
youxie
07934c01d5 Update quaternion.h 
typo fix for quaternion multiplication
 2022-11-09 16:19:52 +01:00
Brener
84e7c726c9 Including stdexcept in order to make retargeting to VS19 work 2021-10-22 09:38:59 +02:00
youxie
7170c0b8f0 Update readme.txt 2019-11-29 09:55:47 +01:00
26 changed files with 4995 additions and 56 deletions
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47
.gitignore vendored Normal file
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# Prerequisites
*.d
# Compiled Object files
*.slo
*.lo
*.o
*.obj
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.dylib
*.dll
# Fortran module files
*.mod
*.smod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app
.DS_STORE
Win32
*.vcxproj.user
.vs
SimulationsRunner/Debug
SimulationsRunner/Release
x64/
Win32/
Debug/
Release/

496
AntTweakBar/src/AntTweakBar_2022.vcxproj Normal file
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5
AntTweakBar/src/TwMgr.cpp
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@@ -5748,8 +5748,13 @@ int ANT_CALL TwKeyTest(int _Key, int _Modifiers)
}
// ---------------------------------------------------------------------------
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struct StructCompare : public binary_function<TwType, TwType, bool>
#endif
{
bool operator()(const TwType& _Left, const TwType& _Right) const
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#pragma once
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struct MassPoint {
GamePhysics::Vec3 position;
GamePhysics::Vec3 velocity;
bool isFixed;
};

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#include "MassSpringSystemSimulator.h"
MassSpringSystemSimulator::MassSpringSystemSimulator()
{
m_iTestCase = 0;
m_fMass = 10;
m_fStiffness = 40;
int m_iIntegrater = 0;
auto first = addMassPoint(Vec3(0, 0, 0), Vec3(-1, 0, 0), true);
auto second = addMassPoint(Vec3(0, 2, 0), Vec3(1, 0, 0), true);
addSpring(first, second, 1.0);
}
const char* MassSpringSystemSimulator::getTestCasesStr()
{
//hier to change the choices
return "Euler,LeapFrog,Midpoint";
}
void MassSpringSystemSimulator::initUI(DrawingUtilitiesClass* DUC)
{
this->DUC = DUC;
switch (m_iTestCase)
{
case 0:break;
case 1:
break;
case 2:
break;
default:break;
}
}
void MassSpringSystemSimulator::reset()
{
m_mouse.x = m_mouse.y = 0;
m_trackmouse.x = m_trackmouse.y = 0;
m_oldtrackmouse.x = m_oldtrackmouse.y = 0;
}
void MassSpringSystemSimulator::drawFrame(ID3D11DeviceContext* pd3dImmediateContext)
{
for (size_t i = 0; i < springs.size(); i++) {
auto sp = springs.at(i);
if (!sp.isValid())
{
springs.erase(springs.begin() + i);
continue;
}
auto mp1 = sp.mp1.lock();
auto mp2 = sp.mp2.lock();
DUC->setUpLighting(Vec3(), 0.4 * Vec3(1, 1, 1), 100, 0.6 * Vec3(0.97, 0.86, 1));
DUC->drawSphere(mp1->position, Vec3(0.01));
DUC->drawSphere(mp2->position, Vec3(0.01));
DUC->beginLine();
DUC->drawLine(mp1->position, Vec3(1,0,0), mp2->position, Vec3(0,1,0));
DUC->endLine();
}
}
void MassSpringSystemSimulator::notifyCaseChanged(int testCase)
{
m_iTestCase = testCase;
switch (m_iTestCase)
{
case 0:
cout << "Euler !\n";
//simulateTimestep(1);
break;
case 1:
break;
case 2:
cout << "Midpoint \n";
//m_iNumSpheres = 100;
//m_fSphereSize = 0.05f;
break;
default:
//cout << "Demo4 !\n";
break;
}
}
void MassSpringSystemSimulator::externalForcesCalculations(float timeElapsed)
{
Point2D mouseDiff;
mouseDiff.x = m_trackmouse.x - m_oldtrackmouse.x;
mouseDiff.y = m_trackmouse.y - m_oldtrackmouse.y;
if (mouseDiff.x != 0 || mouseDiff.y != 0)
{
Mat4 worldViewInv = Mat4(DUC->g_camera.GetWorldMatrix() * DUC->g_camera.GetViewMatrix());
worldViewInv = worldViewInv.inverse();
Vec3 inputView = Vec3((float)mouseDiff.x, (float)-mouseDiff.y, 0);
Vec3 inputWorld = worldViewInv.transformVectorNormal(inputView);
// find a proper scale!
float inputScale = 0.001f;
inputWorld = inputWorld * inputScale;
//m_vfMovableObjectPos = m_vfMovableObjectFinalPos + inputWorld;
}
else {
//m_vfMovableObjectFinalPos = m_vfMovableObjectPos;
}
}
void MassSpringSystemSimulator::simulateTimestep(float timeStep)
{
//update current setup for each frame
switch (m_iTestCase) {
case 0:
//update the masspoint
cout << "Euler \n";
Euler(0, 1, 0, timeStep);
break;
case 1:
break;
case 2:cout << "midpoint \n";
Midpoint(0, 1, timeStep);
break;
default: break;
}
//Euler(0, 1, 0, timeStep);
}
void MassSpringSystemSimulator::onClick(int x, int y)
{
m_trackmouse.x = x;
m_trackmouse.y = y;
}
void MassSpringSystemSimulator::onMouse(int x, int y)
{
m_oldtrackmouse.x = x;
m_oldtrackmouse.y = y;
m_trackmouse.x = x;
m_trackmouse.y = y;
}
void MassSpringSystemSimulator::setMass(float mass)
{
m_fMass = mass;
}
void MassSpringSystemSimulator::setStiffness(float stiffness)
{
m_fStiffness = stiffness;
}
void MassSpringSystemSimulator::setDampingFactor(float damping)
{
m_fDamping = damping;
}
int MassSpringSystemSimulator::addMassPoint(Vec3 position, Vec3 Velocity, bool isFixed)
{
MassPoint masspoint;
masspoint.position = position;
masspoint.velocity = Velocity;
masspoint.isFixed = isFixed;
masspoints.push_back(std::make_shared<MassPoint>(masspoint));
return masspoints.size() - 1;
}
void MassSpringSystemSimulator::addSpring(int masspoint1, int masspoint2, float initialLength)
{
auto mp1 = masspoints.at(masspoint1);
auto mp2 = masspoints.at(masspoint2);
Spring spring;
spring.mp1 = mp1;
spring.mp2 = mp2;
spring.initialLength = initialLength;
springs.push_back(spring);
}
int MassSpringSystemSimulator::getNumberOfMassPoints()
{
return masspoints.size();
}
int MassSpringSystemSimulator::getNumberOfSprings()
{
return springs.size();
}
Vec3 MassSpringSystemSimulator::getPositionOfMassPoint(int index)
{
auto mp = masspoints.at(index);
return mp->position;
}
Vec3 MassSpringSystemSimulator::getVelocityOfMassPoint(int index)
{
auto mp = masspoints.at(index);
return mp->velocity;
}
void MassSpringSystemSimulator::applyExternalForce(Vec3 force)
{
//eine Vorstellung: for all Masspoints, update force
}
int MassSpringSystemSimulator::LengthCalculator(Vec3 position1, Vec3 position2) {
Vec3 PosVector = position1 - position2;
//wurzel aus Vektor
int length = sqrt(pow(PosVector.x, 2) + pow(PosVector.y, 2) + pow(PosVector.z, 2));
return length;
}
Vec3 MassSpringSystemSimulator::calculatePositionTimestepEuler(Vec3 oldPosition, float timestep, Vec3 velocity)
{
return oldPosition + timestep * velocity;
}
Vec3 MassSpringSystemSimulator::calculateVelocityTimestepEuler(Vec3 oldVelocity, float timestep, Vec3 acceleration)
{
return oldVelocity + acceleration * timestep;
}
Vec3 MassSpringSystemSimulator::calculateAcceleration(Vec3 force, float mass)
{
return force / mass;
}
void MassSpringSystemSimulator::Midpoint(int index1, int index2, float timestep) {
//here some implementation about Midpoint
auto massPoint1 = masspoints.at(index1);
auto massPoint2 = masspoints.at(index2);
//old position
auto mp = massPoint1->position;
auto mp2 = massPoint2 ->position;
//old Velocity
auto mOld_v = massPoint1->velocity;
auto m2Old_v = massPoint1->velocity;
Vec3 PosVector = mp - mp2;
//Abstand ausrechnen
int d = LengthCalculator(mp, mp2);
//normalize
Vec3 PosNorm1 = PosVector / d;
Vec3 PosNorm2 = -1 * PosNorm1;
Vec3 Force = -m_fStiffness * (d - springs.at(0).initialLength) * PosNorm1;
Vec3 Force2 = -1 * Force;
Vec3 oldAcc = calculateAcceleration(Force,m_fMass);
Vec3 oldAcc2 = calculateAcceleration(Force2, m_fMass);
//Midpoint calculator
//Pos of Midstep
Vec3 PosOfMidstep = mp + 0.5 * timestep * mOld_v;
Vec3 PosOfMidstep2 = mp2 + 0.5 * timestep * m2Old_v;
//Vel at Midstep
Vec3 VelAtMidstep = mOld_v + 0.5 * timestep * oldAcc;
Vec3 VelAtMidstep2 = m2Old_v + 0.5 * timestep * oldAcc2;
Vec3 NewPos = mp + timestep * VelAtMidstep;
Vec3 NewPos2 = mp2 + timestep * VelAtMidstep2;
Vec3 NewVel = mOld_v + timestep * oldAcc;
Vec3 NewVel2 = m2Old_v + timestep * oldAcc2;
cout << NewPos;
cout << NewVel;
massPoint1->position = NewPos;
massPoint1->velocity = NewVel;
massPoint2->position = NewPos2;
massPoint2->velocity = NewVel2;
}
void MassSpringSystemSimulator::Euler(int index1, int index2, int indexSpring, float timestep)
{
//take old position and send to calculatePositionTimestepEuler
auto mp = masspoints.at(index1);
auto mp2 = masspoints.at(index2);
Vec3 PosVector = mp->position - mp2->position;
auto lengthVector = sqrt(PosVector.x * PosVector.x + PosVector.y * PosVector.y + PosVector.z * PosVector.z);
auto normalized = PosVector / lengthVector;
// Actual Calculation
// Force of spring is -k * (l - L) * normalizedVector [for P2 we can take -F1)
auto force = -m_fStiffness * (lengthVector - springs.at(0).initialLength) * normalized;
auto foreP2 = -1 * force;
auto veloc = calculateVelocityTimestepEuler(mp->velocity, timestep, calculateAcceleration(force, 10.));
auto pos = calculatePositionTimestepEuler(mp->position, timestep, veloc);
auto veloc2 = calculateVelocityTimestepEuler(mp2->velocity, timestep, calculateAcceleration(foreP2, 10.));
auto pos2 = calculatePositionTimestepEuler(mp2->position, timestep, veloc2);
// Update Positions and Velocity
mp->position = pos;
mp->velocity = veloc;
mp2->position = pos2;
mp2->velocity = veloc2;
}

16
Simulations/MassSpringSystemSimulator.h
View File

@@ -1,6 +1,8 @@
#ifndef MASSSPRINGSYSTEMSIMULATOR_h
#define MASSSPRINGSYSTEMSIMULATOR_h
#include "Simulator.h"
#include "MassPoint.h"
#include "Spring.h"
// Do Not Change
#define EULER 0
@@ -37,6 +39,16 @@ public:
Vec3 getVelocityOfMassPoint(int index);
void applyExternalForce(Vec3 force);
void Midpoint(Spring& spring, float timestep);
int LengthCalculator(Vec3 position1, Vec3 position2);
Vec3 calculatePositionTimestepEuler(Vec3 oldPosition, float timestep, Vec3 veloctiy);
Vec3 calculateVelocityTimestepEuler(Vec3 oldVelocity, float timestep, Vec3 acceleration);
Vec3 calculateAcceleration(Vec3 acceleration, float mass);
void Euler(Spring& spring, float timestep);
void printSpring(const Spring& spring);
// Do Not Change
void setIntegrator(int integrator) {
m_iIntegrator = integrator;
@@ -54,5 +66,9 @@ private:
Point2D m_mouse;
Point2D m_trackmouse;
Point2D m_oldtrackmouse;
//Mass points and springs
std::vector<std::shared_ptr<MassPoint>> masspoints;
std::vector<Spring> springs;
};
#endif

0
Simulations/Spring.cpp Normal file
View File

11
Simulations/Spring.h Normal file
View File

@@ -0,0 +1,11 @@
#pragma once
struct Spring
{
std::weak_ptr<MassPoint> mp1;
std::weak_ptr<MassPoint> mp2;
float initialLength;
bool isValid() { return !mp1.expired() && !mp2.expired(); }
};

24
Simulations/main.cpp
View File

@@ -20,8 +20,8 @@ using namespace GamePhysics;
//#define ADAPTIVESTEP
#define TEMPLATE_DEMO
//#define MASS_SPRING_SYSTEM
//#define TEMPLATE_DEMO
#define MASS_SPRING_SYSTEM
//#define RIGID_BODY_SYSTEM
//#define SPH_SYSTEM
@@ -53,9 +53,14 @@ bool firstTime = true;
FFmpeg* g_pFFmpegVideoRecorder = nullptr;
// Input Stuff
float lastX;
float lastY;
void initTweakBar(){
g_pDUC->g_pTweakBar = TwNewBar("TweakBar");
TwDefine(" TweakBar color='0 128 128' alpha=128 ");
TwDefine(" TweakBar color='128 128 128' alpha=128 ");
TwType TW_TYPE_TESTCASE = TwDefineEnumFromString("Test Scene", g_pSimulator->getTestCasesStr());
TwAddVarRW(g_pDUC->g_pTweakBar, "Test Scene", TW_TYPE_TESTCASE, &g_iTestCase, "");
// HINT: For buttons you can directly pass the callback function as a lambda expression.
@@ -202,10 +207,23 @@ void CALLBACK OnMouse( bool bLeftButtonDown, bool bRightButtonDown, bool bMiddle
if (bLeftButtonDown)
{
g_pSimulator->onClick(xPos,yPos);
int x = xPos;
int y = yPos;
}
else
{
g_pSimulator->onMouse(xPos, yPos);
float deltaX = lastX - xPos;
float deltaY = lastY - yPos;
lastX = xPos;
lastY = yPos;
/*printf("X Delta: %f \n", deltaX);
printf("Y Delta: %f \n", deltaY);*/
}
}

4
Simulations/util/quaternion.h
View File

@@ -83,7 +83,7 @@ public:
inline const Quaternion operator*=(const Quaternion &q)
{
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);
x = nv.x;
y = nv.y;
@@ -106,7 +106,7 @@ public:
inline const Quaternion operator*(const Quaternion &q) const
{
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);
return Quaternion(nv.x,nv.y,nv.z,nw);

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SimulationsRunner/SimulationsRunner_2022.vcxproj Normal file
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9
readme.txt
View File

@@ -1,11 +1,18 @@
-------------------------------------------------------------------------------
--- Visual Studio 2013/15/17 Template Project for C++/DirectX11 Application ---
--- Visual Studio 2013/15/17/22 Template Project for C++/DirectX11 Application
--- Marc Treib, Florian Ferstl, Sept 2013 -------------------------------------
--- Updated: Florian Ferstl, Sept 2014 ----------------------------------------
--- Updated: Mina Saad Aziz, May 2016 -----------------------------------------
--- Updated: Mengyu Chu, Nov 2017 ------------------------------------------
--- Updated: You Xie, Nov 2019 ---------------------------------------------
--- Updated: Rene Winchenbach, Felix Koehler, Oct 2023 ---------------------
-------------------------------------------------------------------------------
!Important:
We recommend using the `Template_2022.sln` solution file together with Visual
Studio 2022 Community Edition.
This solution contains the following components:
- AntTweakBar 1.16