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pbd_test.cpp
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pbd_test.cpp
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#include "pbd_test.h"
#include "editor.h"
#include "pbd/pbd_particles.h"
#include "pbd/pbd_particles_collision.h"
#include "res_man.h"
#include "utils/vec.h"
#include "utils/camera_utils.h" // screen2world_vec
#include "utils/kernels.h"
#include "utils/math_utils.h"
#include "engine/profiler/profiler.h"
template<int N>
struct RandArray {
float random_floats[N];
unsigned int i;
RandArray(float mmin, float mmax):i(0) {
for(int ii=0;ii<N;ii++) {
random_floats[ii] = random(mmin, mmax);
}
}
float operator[](int idx) const { return random_floats[idx%N]; }
void reset() { i = 0; }
float get_next() { return random_floats[i++%N]; }
vec3 get_next_vec() {
vec3 r;
r.x = get_next();
r.y = get_next();
r.z = get_next();
return r;
}
};
static RandArray<1024> r_rotations(0, 1);
static RandArray<1024> r_jitters(-0.01f, 0.01f);
static RandArray<1024> r_offsets(-0.01f, 0.01f);
// TODO: move to input utils?
static vec3 get_ws_mouse_pos(RenderFrameContext* rfc, float z);
void initialize_particle_positions(struct PBDUnifiedSimulation* sim,
const ivec2& row_column, const vec2 offset,
float density0);
void initialize_fluid_particle_positions(struct PBDUnifiedSimulation* sim,
const vec2& dim, const vec2& offset,
int row_size, int count, int fluid_model_idx);
void initialize_particle_positions2(struct PBDUnifiedSimulation* sim, const vec2& offset,
int count, float density0, float mu_s, float mu_k,
float e);
void pbd_unified_sim_debug_draw_world(const struct PBDUnifiedSimulation* sim,
struct RenderFrameContext* rfc, PBDTestObject::DDFlags flags);
void collision_debug_draw(const struct CollisionWorld* cworld, RenderList* rl);
int add_soft_body(struct PBDUnifiedSimulation* sim, uint32_t sx, uint32_t sy,
const uint8_t* blueprint, vec2 pos, float density, uint32_t w, float alpha) {
const constexpr int BP_MAX_SIZE = 32;// blueprint max size
assert(sx > 0 && sy > 0);
assert(sx <= BP_MAX_SIZE && sy <= BP_MAX_SIZE);
PBDBodyLatticeData lattice[BP_MAX_SIZE*BP_MAX_SIZE] = {{0}};
pbd_util_build_connectivity_lattice(sx, sy, blueprint, lattice);
return pbd_unified_sim_add_soft_body(sim, sx, sy, lattice, -1, pos, density, w, alpha);
}
void scene_soft_body(PBDUnifiedSimulation* sim) {
const float r = pbd_unified_sim_get_particle_radius(sim);
vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
vec2 ppos = vec2(0.45f * world_size.x, 0.2f*world_size.y);
int w = 1;
float stiffness = 0.125f;
pbd_unified_sim_add_box_soft_body(sim, 8, 2, ppos, 0.0f, 1000, w, stiffness);
vec2 off(0,10*r);
pbd_unified_sim_add_box_rigid_body(sim, 2, 2, ppos + off + 1*vec2(r,0), 0.0f, 1000);
pbd_unified_sim_add_box_rigid_body(sim, 2, 2, ppos + off*2, 0.0f, 1000);
CollisionWorld* cworld = collision_create_world();
pbd_unified_sim_set_collision_world(sim, cworld);
{
SDFBoxCollision box;
box.pos = vec2(world_size.x * 0.27f, r * 3.0f);
box.rot = identity2();
box.scale = vec2(1,1);
box.size = vec2(3.0f * r, 3.0f * r);
collision_add_box(cworld, box);
}
SDFBoxCollision box;
box.pos = vec2(world_size.x * 0.63f, r * 3.0f);
box.rot = identity2();
box.scale = vec2(1,1);
box.size = vec2(3.0f * r, 3.0f * r);
collision_add_box(cworld, box);
}
void scene_soft_body_from_lattice(PBDUnifiedSimulation* sim, int body_type) {
const float r = pbd_unified_sim_get_particle_radius(sim);
vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
vec2 ppos = vec2(0.45f * world_size.x, 0.3f*world_size.y);
const PBDSettings* settings = pbd_unified_sim_settings(sim);
int w = 2;//1;
float stiffness = 0.125f;
uint8_t bp0[4][7] = {
{1, 1, 1, 1, 1, 1, 1},
{1, 0, 0, 1, 0, 0, 1},
{1, 0, 0, 1, 0, 0, 1},
{1, 1, 1, 1, 1, 1, 1},
};
uint8_t bp1a[5][6] = {
{0, 0, 1, 1, 0, 0},
{0, 1, 0, 0, 1, 0},
{1, 0, 0, 0, 0, 1},
{0, 1, 0, 0, 1, 0},
{0, 0, 1, 1, 0, 0},
};
uint8_t bp1b[5][6] = {
{0, 0, 1, 1, 0, 0},
{0, 1, 1, 1, 1, 0},
{1, 1, 0, 0, 1, 1},
{0, 1, 1, 1, 1, 0},
{0, 0, 1, 1, 0, 0},
};
uint8_t bp2[3][4] = {
{1, 1, 1, 1},
{1, 1, 1, 1},
{1, 1, 1, 1},
};
uint32_t sx = 0;
uint32_t sy = 0;
uint8_t* bp = nullptr;
if(body_type == 0) {
sx = 7;
sy = 4;
bp = &bp0[0][0];
} else if(body_type==1) {
sx = 6;
sy = 5;
bp = settings->supports_diag_links ? &bp1a[0][0]: &bp1b[0][0];
} else if(body_type==2) {
sx = 4;
sy = 3;
bp = &bp2[0][0];
} else {
assert(0);
}
//pbd_unified_sim_add_soft_body(sim, sx, sy, &bp[0][0], ppos, 1000, w, stiffness);
const constexpr int BP_MAX_SIZE = 32;// blueprint max size
assert(sx > 0 && sy > 0);
assert(sx <= BP_MAX_SIZE && sy <= BP_MAX_SIZE);
PBDBodyLatticeData lattice[BP_MAX_SIZE*BP_MAX_SIZE] = {{0}};
pbd_util_build_connectivity_lattice(sx, sy, bp, lattice);
#if 0
static const uint16_t kL = 0x1;
static const uint16_t kR = 0x2;
lattice[1*sx + 1].nflags &= ~kR;
lattice[1*sx + 2].nflags &= ~kL;
lattice[2*sx + 1].nflags &= ~kR;
lattice[2*sx + 2].nflags &= ~kL;
#endif
pbd_unified_sim_add_soft_body(sim, sx, sy, lattice, -1, ppos, 1000, w, stiffness);
vec2 off(0,10*r);
pbd_unified_sim_add_box_rigid_body(sim, 2, 2, ppos + off + 1*vec2(r,0), 0.0f, 100);
CollisionWorld* cworld = collision_create_world();
pbd_unified_sim_set_collision_world(sim, cworld);
SDFBoxCollision box;
box.pos = vec2(world_size.x * 0.45f, r * 3.0f);
box.rot = identity2();
box.scale = vec2(1,1);
box.size = vec2(1.0f * r, 3.0f * r);
collision_add_box(cworld, box);
}
void scene_soft_body_from_lattice0(PBDUnifiedSimulation* sim) {
scene_soft_body_from_lattice(sim, 0);
}
void scene_soft_body_from_lattice1(PBDUnifiedSimulation* sim) {
scene_soft_body_from_lattice(sim, 1);
}
void scene_soft_body_from_lattice2(PBDUnifiedSimulation* sim) {
scene_soft_body_from_lattice(sim, 2);
}
void scene_breakable_body(PBDUnifiedSimulation* sim) {
const float r = pbd_unified_sim_get_particle_radius(sim);
vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
vec2 ppos = vec2(0.45f * world_size.x, 0.2f*world_size.y);
int w = 1;
float stiffness = .5;//0.125f;
float fr_angle = 35.0f*3.1415f/180.0f;
float fr_rel_len = 1.9f;
const constexpr uint32_t sx = 8;
const constexpr uint32_t sy = 1;
uint8_t bp[sy][sx] = {
{1, 1, 1, 1, 1, 1, 1, 1},
//{1, 1, 1, 1, 1, 1, 1, 1},
};
pbd_unified_sim_add_breakable_soft_body(sim, sx, sy, &bp[0][0], ppos, 1000, w, stiffness, fr_rel_len, fr_angle);
vec2 off(0,10*r);
pbd_unified_sim_add_box_rigid_body(sim, 2, 2, ppos + off + 1*vec2(r,0), 0.0f, 1000);
pbd_unified_sim_add_box_rigid_body(sim, 2, 2, ppos + off*2, 0.0f, 1000);
#if 0
for(int i=1;i<3;i++) {
pbd_unified_sim_add_breakable_soft_body(sim, sx, sy, &bp[0][0], ppos + off*2 + i*vec2(0, 2*r), 1000, w, stiffness);
}
#endif
CollisionWorld* cworld = collision_create_world();
pbd_unified_sim_set_collision_world(sim, cworld);
SDFBoxCollision box;
box.pos = vec2(world_size.x * 0.45f, r * 3.0f);
box.rot = identity2();
box.scale = vec2(1,1);
box.size = vec2(1.0f * r, 3.0f * r);
collision_add_box(cworld, box);
}
// nice config if body is not breaking, cool scene
void scene_breakable_generic(PBDUnifiedSimulation* sim, bool b_with_rb) {
const float r = pbd_unified_sim_get_particle_radius(sim);
vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
vec2 ppos = vec2(0.45f * world_size.x, 0.4f*world_size.y);
int w = 1;
float stiffness = .25f;//0.125f;
float fr_angle = 20.0f*3.1415f/180.0f;
float fr_rel_len = b_with_rb ? 1.5f : 1.1f;
const constexpr uint32_t sx = 13;
const constexpr uint32_t sy = 2;
const uint8_t bp[sy][sx] = {
{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
};
pbd_unified_sim_add_breakable_soft_body(sim, sx, sy, &bp[0][0], ppos, 1000, w, stiffness, fr_rel_len, fr_angle);
//pbd_unified_sim_add_box_rigid_body(sim, 3, 2, ppos, 0.0f, 1000);
vec2 off(0,10*r);
if(b_with_rb) {
pbd_unified_sim_add_box_rigid_body(sim, 2, 2, ppos + off + 1*vec2(r,0), 0.0f, 1000);
pbd_unified_sim_add_box_rigid_body(sim, 2, 2, ppos + off*2, 0.0f, 1000);
}
#if 0
for(int i=0;i<3;i++) {
pbd_unified_sim_add_breakable_soft_body(sim, sx, sy, &bp[0][0],
ppos + off * 2 + (i+0) * vec2(0, 2 * r), 1000,
w, stiffness, fr_rel_len, fr_angle);
}
#endif
CollisionWorld* cworld = collision_create_world();
pbd_unified_sim_set_collision_world(sim, cworld);
{ SDFBoxCollision box;
box.pos = vec2(world_size.x * 0.13f, r * 3.0f);
box.rot = identity2();
box.scale = vec2(1,1);
box.size = vec2(1.0f * r, 2.5f * r);
collision_add_box(cworld, box); }
{ SDFBoxCollision box;
box.pos = vec2(world_size.x * 0.77f, r * 3.0f);
box.rot = identity2();
box.scale = vec2(1,1);
box.size = vec2(1.0f * r, 2.5f * r);
collision_add_box(cworld, box); }
{ SDFBoxCollision box;
box.pos = vec2(world_size.x * 0.45f, r * 3.0f);
box.rot = identity2();
box.scale = vec2(1,1);
box.size = vec2(1.0f * r, 10.0f * r);
collision_add_box(cworld, box); }
}
void scene_breakable_twice(PBDUnifiedSimulation* sim) {
scene_breakable_generic(sim, false);
}
void scene_breakable_with_rb(PBDUnifiedSimulation* sim) {
scene_breakable_generic(sim, true);
}
void scene_initial_penetration(PBDUnifiedSimulation* sim) {
vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
vec2 ppos = vec2(0.55f * world_size.x, 0.0f);
int idx = pbd_unified_sim_add_particle(sim, ppos, 1000);
const float e = 0.75f;
pbd_unified_sim_particle_set_params(sim, idx, 0.0f, 0.0f, e);
}
void scene_restitution_test(PBDUnifiedSimulation* sim) {
const float r = pbd_unified_sim_get_particle_radius(sim);
vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
const int num_particles = 10;
float e = 1.0f;
vec2 dp = vec2(4.0f * r, 0.0f);
vec2 pos = vec2(3.0f * r, world_size.y * 0.5f);
for (int i = 0; i < num_particles; ++i) {
int idx = pbd_unified_sim_add_particle(sim, pos, 1000);
pbd_unified_sim_particle_set_params(sim, idx, 0.0f, 0.0f, e);
pos += dp;
e -= 1.0f / num_particles;
}
}
void scene_static_particle_friction_test(PBDUnifiedSimulation* sim) {
const float r = pbd_unified_sim_get_particle_radius(sim);
vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
CollisionWorld* cworld = collision_create_world();
pbd_unified_sim_set_collision_world(sim, cworld);
vec2 ppos = vec2(0.35f * world_size.x, 0.3f * world_size.y);
int idx0 = pbd_unified_sim_add_particle(sim, ppos, 1000);
int idx1 = pbd_unified_sim_add_particle(sim, ppos + vec2(30*r,0), 1000);
pbd_unified_sim_particle_set_params(sim, idx0, 0.3f, 0.09f, 0.0);
pbd_unified_sim_particle_set_params(sim, idx1, 0.7f, 0.09f, 0.0);
{
SDFBoxCollision box;
box.pos = vec2(world_size.x * 0.3f, r * 3);
box.rot = rotate2(5.0f * M_PI / 180.0f);
box.scale = vec2(1,1);
box.size = vec2(15 * r, 3 * r);
collision_add_box(cworld, box);
}
if (1) {
SDFBoxCollision box;
box.pos = vec2(world_size.x * 0.3f + 30.0f*r, r * 3);
box.rot = rotate2(5.0f * M_PI / 180.0f);
box.scale = vec2(1,1);
box.size = vec2(15 * r, 3 * r);
collision_add_box(cworld, box);
}
}
void scene_dynamic_particle_friction_test(PBDUnifiedSimulation* sim) {
const float r = pbd_unified_sim_get_particle_radius(sim);
vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
CollisionWorld* cworld = collision_create_world();
pbd_unified_sim_set_collision_world(sim, cworld);
vec2 ppos = vec2(0.35f * world_size.x, 0.3f * world_size.y);
int idx0 = pbd_unified_sim_add_particle(sim, ppos, 1000);
int idx1 = pbd_unified_sim_add_particle(sim, ppos + vec2(30*r,0), 1000);
// first particle should reach end first because of less dynamic friction
pbd_unified_sim_particle_set_params(sim, idx0, 0.1f, 0.0f, 0.0);
pbd_unified_sim_particle_set_params(sim, idx1, 0.1f, 0.09f, 0.0);
{
SDFBoxCollision box;
box.pos = vec2(world_size.x * 0.3f, r * 3);
box.rot = rotate2(5.0f * M_PI / 180.0f);
box.scale = vec2(1,1);
box.size = vec2(15 * r, 3 * r);
collision_add_box(cworld, box);
}
if (1) {
SDFBoxCollision box;
box.pos = vec2(world_size.x * 0.3f + 30.0f*r, r * 3);
box.rot = rotate2(5.0f * M_PI / 180.0f);
box.scale = vec2(1,1);
box.size = vec2(15 * r, 3 * r);
collision_add_box(cworld, box);
}
}
// !NB: for exact effect need to remove sleeping functionality
void scene_restitution_chain_of_bodies(PBDUnifiedSimulation* sim) {
const float r = pbd_unified_sim_get_particle_radius(sim);
vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
// striker
vec2 pos0 = vec2(world_size.x * 0.2f, 1.0f * r);
// still particles
vec2 pos1 = vec2(world_size.x * 0.5f, 1.0f * r);
vec2 pos2 = vec2(world_size.x * 0.5f + 2.0f * r, 1.0f * r);
vec2 pos3 = vec2(world_size.x * 0.5f + 4.0f * r, 1.0f * r);
int idx0 = pbd_unified_sim_add_particle(sim, pos0, 1000);
int idx1 = pbd_unified_sim_add_particle(sim, pos1, 1000);
int idx2 = pbd_unified_sim_add_particle(sim, pos2, 1000);
int idx3 = pbd_unified_sim_add_particle(sim, pos3, 1000);
const float e = 1.0f; // try 1.0f and 0.0f
pbd_unified_sim_particle_set_params(sim, idx0, 0.0f, 0.0f, e);
pbd_unified_sim_particle_set_params(sim, idx1, 0.0f, 0.0f, e);
pbd_unified_sim_particle_set_params(sim, idx2, 0.0f, 0.0f, e);
pbd_unified_sim_particle_set_params(sim, idx3, 0.0f, 0.0f, e);
// shoot
pbd_unified_sim_particle_add_velocity(sim, idx0, vec2(3.0f, 0.0f));
}
#if 1
void scene_rigid_body_restitution_test(PBDUnifiedSimulation* sim) {
const float r = pbd_unified_sim_get_particle_radius(sim);
vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
const int num_rb = 4;
float e = 1.0f;
vec2 dp = vec2(5.0f*r, 0.0f);
vec2 pos = vec2(13.0f * r, world_size.y * 0.5f);
for (int i = 0; i < num_rb; ++i) {
/*int idx = */pbd_unified_sim_add_box_rigid_body(sim, 3, 2, pos, 0, 1000);
//pbd_unified_sim_particle_set_params(sim, idx, 0.0f, 0.0f, e);
pos += dp;
e -= 1.0f / num_rb;
}
}
#endif
void scene_stacking_particles(PBDUnifiedSimulation* sim) {
const float radius = pbd_unified_sim_get_particle_radius(sim);
vec2 offset = vec2(1.2f, 1.0f * radius+ 1);
initialize_particle_positions(sim, ivec2(10, 1), offset, 1000);
}
void scene_stacking_particles_and_box_above(PBDUnifiedSimulation* sim) {
const float radius = pbd_unified_sim_get_particle_radius(sim);
pbd_unified_sim_add_box_rigid_body(sim, 5, 4, vec2(1.0, 4), 0, 1000);
vec2 offset = vec2(1.2f, 1.0f * radius+ 1);
initialize_particle_positions(sim, ivec2(10, 1), offset, 1000);
}
void scene_friction_test(PBDUnifiedSimulation* sim) {
const float density0 = 1000;
const float radius = pbd_unified_sim_get_particle_radius(sim);
vec2 offset = vec2(1.2f, 1.0f * radius);
const float column_size = 4;
const float row_size = 10;
pbd_unified_sim_add_particle(sim, vec2(0.1f, 1.5f), vec2(7,3.0f), density0);
for (int y = 0; y < row_size; ++y) {
for (int x = 0; x < column_size; ++x) {
float jitter = 0;
vec2 pos = offset + vec2(x * 2.0f * radius + jitter, y * 2.0f * radius);
int pidx = pbd_unified_sim_add_particle(sim, pos, density0 - y*100);
pbd_unified_sim_particle_set_params(sim, pidx, .4f, 0.1f, 0.0f);
}
}
}
void scene_single_rb_friction_test(PBDUnifiedSimulation* sim) {
const float density0 = 1000;
// TODO: add functin to set material params (as for particles)
int rb2_idx = pbd_unified_sim_add_box_rigid_body(sim, 7, 3, vec2(2,0.3f), 0*30.0f* 3.1415f/180.0f, density0);
pbd_unified_sim_rb_add_velocity(sim, rb2_idx, vec2(10, 0));
}
void scene_rb_friction_test(PBDUnifiedSimulation* sim) {
const float density0 = 1000;
pbd_unified_sim_add_particle(sim, vec2(0.1f, 1.5f), vec2(7,3.0f), density0);
//vec2 rb_pos = vec2(0.2f, 3.2f);
//int rb_idx = pbd_unified_sim_add_box_rigid_body(sim, 5, 4, rb_pos, 1*30.0f* 3.1415f/180.0f, density0);
//pbd_unified_sim_rb_add_velocity(sim, rb_idx, vec2(3, 0));
int rb2_idx = pbd_unified_sim_add_box_rigid_body(sim, 7, 3, vec2(2,0.3f), 0*30.0f* 3.1415f/180.0f, density0);
pbd_unified_sim_rb_add_velocity(sim, rb2_idx, vec2(10, 0));
int rb3_idx = pbd_unified_sim_add_box_rigid_body(sim, 7, 3, vec2(2,2.0f), 0*30.0f* 3.1415f/180.0f, density0);
pbd_unified_sim_rb_add_velocity(sim, rb3_idx, vec2(5, 0));
pbd_unified_sim_add_box_rigid_body(sim, 7, 3, vec2(0.6f, 0.7f), -65.0f* 3.1415f/180.0f, density0);
}
void scene_rb_friction_test2(PBDUnifiedSimulation* sim) {
const float density0 = 1000;
const float radius = pbd_unified_sim_get_particle_radius(sim);
//pbd_unified_sim_add_particle(sim, vec2(0.1f, 1.5f), vec2(7,3.0f), density0);
int rb_dim_x = 4;
int rb_dim_y = 4;
vec2 rb_size = 2 * vec2(rb_dim_x*radius, rb_dim_y*radius);
constexpr const int column_size = 4;
constexpr const int row_size = 4;
vec2 offset = vec2(0.0f, 0.0f) + 1.0f * vec2(rb_size.x, rb_size.y);
for (int y = 0; y < row_size; ++y) {
for (int x = 0; x < column_size; ++x) {
float jitter = r_jitters[y * column_size + x];
float rot = r_rotations[y * column_size + x];
vec2 pos = offset + vec2(x * 1.5f * rb_size.x + jitter, y * 1.5f * rb_size.y);
pbd_unified_sim_add_box_rigid_body(sim, rb_dim_x, rb_dim_y, pos, rot * 2 * 3.1415f, density0);
}
}
}
void scene_particle_box_collision_test(PBDUnifiedSimulation* sim) {
const float density0 = 1000;
pbd_unified_sim_add_box_rigid_body(sim, 5, 4, vec2(4.0, 0.4f), 0, density0);
pbd_unified_sim_add_particle(sim, vec2(0.1f, 0.5f), vec2(7,3.0f), density0);
}
void scene_complex(PBDUnifiedSimulation* sim) {
const float radius = pbd_unified_sim_get_particle_radius(sim);
vec2 offset = vec2(1.2f, 1.0f * radius+ 1);
initialize_particle_positions(sim, ivec2(10, 0), offset, 1000);
vec2 rb_pos = vec2(0.2f, 3.2f);
pbd_unified_sim_add_box_rigid_body(sim, 3, 1, rb_pos, 0*45.0f* 3.1415f/180.0f, 1000);
pbd_unified_sim_add_box_rigid_body(sim, 3, 1, rb_pos - vec2(0,-0.6f), 0*-45.0f* 3.1415f/180.0f, 1000);
pbd_unified_sim_add_box_rigid_body(sim, 3, 1, rb_pos - vec2(0,-2*0.6f),0* 45.0f* 3.1415f/180.0f, 1000);
pbd_unified_sim_add_box_rigid_body(sim, 3, 1, rb_pos - vec2(0,-3*0.6f),0* -45.0f* 3.1415f/180.0f, 1000);
pbd_unified_sim_add_box_rigid_body(sim, 3, 1, rb_pos - vec2(0,-4*0.6f),0* 45.0f* 3.1415f/180.0f, 1000);
for(int i=0; i< 2; i++) {
vec2 pos = vec2(1.6f, 4.5f - i*1.4f);
float r = 0;//(i%2) ? -15.0f* 3.1415f/180.0f : 15.0f* 3.1415f/180.0f;
pbd_unified_sim_add_box_rigid_body(sim, 4 + i, 4, pos, r, 1000);
}
}
void scene_fluid_simple_expose_bug(PBDUnifiedSimulation* sim) {
const vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
const float radius = pbd_unified_sim_get_particle_radius(sim);
float desired_density0 = 100;
int fm_idx = pbd_unified_sim_add_fluid_model(sim, 0, desired_density0);
vec2 offset = vec2(0.5f, 1.0f * radius);
int row_size = 16;
initialize_fluid_particle_positions(sim, world_size, offset, row_size, 200, fm_idx);
vec2 rb_pos = vec2(world_size.x*0.500f, world_size.y - 12*radius-1);
pbd_unified_sim_add_box_rigid_body(sim, 3, 3, rb_pos, 0*45.0f* 3.1415f/180.0f, 50);
vec2 rb_pos2 = vec2(world_size.x*0.5f + 0*(3*2*radius + 0.5f), world_size.y - 3*radius-1);
pbd_unified_sim_add_box_rigid_body(sim, 3, 3, rb_pos2, 0*45.0f* 3.1415f/180.0f, 250);
vec2 rb_pos3 = vec2(world_size.x*0.1f + 3*2*radius + 0.5f, world_size.y - 3*radius-1);
pbd_unified_sim_add_box_rigid_body(sim, 1, 1, rb_pos3, 0*45.0f* 3.1415f/180.0f, 30);
}
int g_rb = 0;
void scene_fluid_simple(PBDUnifiedSimulation* sim) {
const vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
const float radius = pbd_unified_sim_get_particle_radius(sim);
float desired_density0 = 100;//m/(radius*radius*2*2);
int fm_idx = pbd_unified_sim_add_fluid_model(sim, 0, desired_density0);
vec2 offset = vec2(0.5f, 1.0f * radius);
int row_size = 16;
int num_fluid_particles = 200;
initialize_fluid_particle_positions(sim, world_size, offset, row_size, num_fluid_particles, fm_idx);
#if 1
vec2 rb_pos = vec2(world_size.x*0.550f, world_size.y - 13*radius-1);
g_rb = pbd_unified_sim_add_box_rigid_body(sim, 3, 3, rb_pos, 0*45.0f* 3.1415f/180.0f, 50);
//vec2 rb_pos2 = vec2(world_size.x*0.5f + 0*(3*2*radius + 0.5f), world_size.y - 3*radius-1);
//pbd_unified_sim_add_box_rigid_body(sim, 3, 3, rb_pos2, 0*45.0f* 3.1415f/180.0f, 250);
//vec2 rb_pos3 = vec2(world_size.x*0.1f + 3*2*radius + 0.5f, world_size.y - 3*radius-1);
vec2 rb_pos3 = vec2(world_size.x*0.7f + 3*2*radius + 0.5f, 23*radius-1);
pbd_unified_sim_add_box_rigid_body(sim, 3, 2, rb_pos3, 0*45.0f* 3.1415f/180.0f, 130);
vec2 rb_pos4 = vec2(world_size.x*0.7f + 3*2*radius + 0.5f, world_size.y - 3*radius-1);
pbd_unified_sim_add_box_rigid_body(sim, 1, 1, rb_pos4, 0*45.0f* 3.1415f/180.0f, 80);
#endif
#if 0
for(int i=0; i< 2; i++) {
vec2 pos = vec2(1.6f, 4.5f - i*1.4f);
float r = 0;//(i%2) ? -15.0f* 3.1415f/180.0f : 15.0f* 3.1415f/180.0f;
if(i==0)
pbd_unified_sim_add_box_rigid_body(sim, 4 + i, 4, pos, r, 1000);
else
pbd_unified_sim_add_box_rigid_body(sim, 4 + i, 4, pos, r, 1000);
}
#endif
}
void scene_fluid_and_solids(PBDUnifiedSimulation* sim) {
const vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
const float radius = pbd_unified_sim_get_particle_radius(sim);
float desired_density0 = 100;//m/(radius*radius*2*2);
int fm_idx = pbd_unified_sim_add_fluid_model(sim, 0, desired_density0);
vec2 offset = vec2(0.5f, 1.0f * radius);
int row_size = 16;
int num_fluid_particles = 200;
initialize_fluid_particle_positions(sim, world_size, offset, row_size, num_fluid_particles, fm_idx);
vec2 rb_pos = vec2(world_size.x*0.550f, world_size.y - 13*radius-1);
pbd_unified_sim_add_particle(sim,rb_pos, desired_density0/2.0f);
pbd_unified_sim_add_particle(sim, rb_pos + vec2(5*radius, 0.0f), desired_density0);
pbd_unified_sim_add_particle(sim, rb_pos + vec2(10*radius, 0.0f), desired_density0*2.0f);
}
void scene_two_fluids(PBDUnifiedSimulation* sim) {
const vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
const float radius = pbd_unified_sim_get_particle_radius(sim);
float desired_density0_heavy = 200;//m/(radius*radius*2*2);
float desired_density0_light = 50;//m/(radius*radius*2*2);
//vec2 offset_h = vec2(0.5f, 1.0f * radius);
//vec2 offset_l = vec2(1.5f, 12.0f * radius);
vec2 offset_h = vec2(radius, 1.0f * radius);
vec2 offset_l = vec2(radius, 15.0f * radius);
int row_size = int(world_size.x/(2*radius));
int num_heavy = 100;
int num_light = 100;
int fm_heavy_idx = pbd_unified_sim_add_fluid_model(sim, 0, desired_density0_heavy);
initialize_fluid_particle_positions(sim, world_size, offset_l, row_size, num_heavy, fm_heavy_idx);
int fm_light_idx = pbd_unified_sim_add_fluid_model(sim, 0, desired_density0_light);
initialize_fluid_particle_positions(sim, world_size, offset_h, row_size, num_light, fm_light_idx);
}
void scene_distant_constraint_simple(PBDUnifiedSimulation* sim) {
const vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
const float radius = pbd_unified_sim_get_particle_radius(sim);
const float density = 100;
const vec2 pos_a = 0.5f * world_size;
const vec2 pos_b = pos_a + vec2(3.0f*radius, 10.0f*radius);
const int idx_a = pbd_unified_sim_add_particle(sim, pos_a, density);
const int idx_b = pbd_unified_sim_add_particle(sim, pos_b, density);
pbd_unified_sim_particle_set_params(sim, idx_a, 0.0f, 0.0f, 0.0f);
pbd_unified_sim_particle_set_params(sim, idx_b, 0.0f, 0.0f, 0.0f);
const float len_ab = length(pos_a - pos_b);
pbd_unified_sim_add_distance_constraint(sim, idx_a, idx_b, len_ab);
}
int g_anchor1_c = kPBDInvalidIndex;
int g_anchor2_c = kPBDInvalidIndex;
void scene_distant_constraint_two_ropes(PBDUnifiedSimulation* sim) {
const vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
const float radius = pbd_unified_sim_get_particle_radius(sim);
{
float density = 100;
const vec2 pos_a = vec2(0.45f * world_size.x, 0.9f*world_size.x);
const int anchor_idx = pbd_unified_sim_add_particle(sim, pos_a, density);
g_anchor1_c = pbd_unified_sim_add_distance2_constraint(sim, anchor_idx, pos_a, 0.0f*radius);
constexpr const int num_links = 18;
//int chain[num_links];
int prev_link_idx = anchor_idx;
vec2 prev_link_pos = pos_a;
for(int i=0; i<num_links; ++i) {
//if(i==num_links-1)
//density -= 9;
const vec2 pos = prev_link_pos + vec2(2.0f*radius, 0.0f);
const int idx = pbd_unified_sim_add_particle(sim, pos, density);
const float len_ab = length(pos - prev_link_pos);
/*const int c_a2b_idx = */pbd_unified_sim_add_distance_constraint(sim, idx, prev_link_idx, len_ab);
prev_link_idx = idx;
prev_link_pos = pos;
}
}
if(1)
{
const float density = 1000;
const vec2 pos_a = vec2(0.40f * world_size.x - 5*radius, 0.9f*world_size.x);
const int anchor_idx = pbd_unified_sim_add_particle(sim, pos_a, density);
g_anchor2_c = pbd_unified_sim_add_distance2_constraint(sim, anchor_idx, pos_a, 0.0f*radius);
constexpr const int num_links = 10;
//int chain[num_links];
int prev_link_idx = anchor_idx;
vec2 prev_link_pos = pos_a;
for(int i=0; i<num_links; ++i) {
const vec2 pos = prev_link_pos - vec2(2.0f*radius, 0.0f);
const int idx = pbd_unified_sim_add_particle(sim, pos, density);
const float len_ab = length(pos - prev_link_pos);
/*const int c_a2b_idx = */pbd_unified_sim_add_distance_constraint(sim, idx, prev_link_idx, len_ab);
prev_link_idx = idx;
prev_link_pos = pos;
}
}
}
void scene_rope_and_rigid_body(PBDUnifiedSimulation* sim) {
const vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
const float radius = pbd_unified_sim_get_particle_radius(sim);
int rb_particle_idx = -1;
{
float density = 100;
const vec2 pos_a = vec2(0.45f * world_size.x, 0.9f * world_size.x);
const int anchor_idx = pbd_unified_sim_add_particle(sim, pos_a, density);
g_anchor1_c = pbd_unified_sim_add_distance2_constraint(sim, anchor_idx, pos_a,
0.0f * radius);
constexpr const int num_links = 8;
// int chain[num_links];
int prev_link_idx = anchor_idx;
vec2 prev_link_pos = pos_a;
for (int i = 0; i < num_links; ++i) {
// if(i==num_links-1)
// density -= 9;
const vec2 pos = prev_link_pos + vec2(0.0f, -2.0f * radius);
const int idx = pbd_unified_sim_add_particle(sim, pos, density);
const float len_ab = length(pos - prev_link_pos);
/*const int c_a2b_idx = */ pbd_unified_sim_add_distance_constraint(
sim, idx, prev_link_idx, len_ab);
prev_link_idx = idx;
prev_link_pos = pos;
}
vec2 rb_pos = vec2(prev_link_pos.x, prev_link_pos.y - 3 * radius);
const float len_rb_rope = length(rb_pos - prev_link_pos);
const int rb_idx = pbd_unified_sim_add_box_rigid_body(
sim, 2, 2, rb_pos, 0 * 45.0f * 3.1415f / 180.0f, 80);
const PBDRigidBody* rb = pbd_unified_sim_get_rigid_bodies(sim);
const int rb_part_data_start_idx = rb[rb_idx].start_pdata_idx;
const PBDRigidBodyParticleData* part_data =
pbd_unified_sim_get_rb_particle_data(sim);
rb_particle_idx = part_data[rb_part_data_start_idx].index;
pbd_unified_sim_add_distance_constraint(sim, rb_particle_idx, prev_link_idx,
len_rb_rope);
}
if (1) {
const float density = 1000;
const vec2 pos_a = vec2(0.40f * world_size.x - 5 * radius, 0.9f * world_size.x);
const int anchor_idx = pbd_unified_sim_add_particle(sim, pos_a, density);
g_anchor2_c = pbd_unified_sim_add_distance2_constraint(sim, anchor_idx, pos_a,
0.0f * radius);
constexpr const int num_links = 10;
// int chain[num_links];
int prev_link_idx = anchor_idx;
vec2 prev_link_pos = pos_a;
for (int i = 0; i < num_links; ++i) {
const vec2 pos = prev_link_pos - vec2(0.0f, 2.0f * radius);
const int idx = pbd_unified_sim_add_particle(sim, pos, density);
const float len_ab = length(pos - prev_link_pos);
/*const int c_a2b_idx = */ pbd_unified_sim_add_distance_constraint(
sim, idx, prev_link_idx, len_ab);
prev_link_idx = idx;
prev_link_pos = pos;
}
pbd_unified_sim_add_distance_constraint(sim, rb_particle_idx, prev_link_idx,
2.0f * radius);
}
}
void scene_rb_static_collision(PBDUnifiedSimulation* sim) {
const vec2 world_size = pbd_unified_sim_get_world_bounds(sim);
const float radius = pbd_unified_sim_get_particle_radius(sim);
CollisionWorld* cworld = collision_create_world();
pbd_unified_sim_set_collision_world(sim, cworld);
SDFBoxCollision box;
box.pos = vec2(world_size.x*0.9, radius*3);
box.rot = identity2();
box.scale = vec2(1,1);
box.size = vec2(5*radius, 3*radius);
//int cbox_idx =
collision_add_box(cworld, box);
const float density0 = 1000;
int rb2_idx = pbd_unified_sim_add_box_rigid_body(sim, 5, 2, vec2(25*radius, world_size.y*0.5f), -0*65.0f* 3.1415f/180.0f, density0);
pbd_unified_sim_rb_add_velocity(sim, rb2_idx, vec2(2, 0));
//pbd_unified_sim_add_box_rigid_body(sim, 5, 1, vec2(10*radius, world_size.y*0.5f), 0*30.0f* 3.1415f/180.0f, density0);
vec2 ppos = vec2(2*radius, radius*30);
pbd_unified_sim_add_particle(sim, ppos, density0);
}
typedef void(*phys_scene_constructor_fptr)(struct PBDUnifiedSimulation* );
int g_cur_phys_scene_index = 0;
phys_scene_constructor_fptr phys_scenes[] = {
scene_breakable_twice,
scene_breakable_with_rb,
scene_breakable_body,
scene_soft_body_from_lattice0,
scene_soft_body_from_lattice1,
scene_soft_body_from_lattice2,
scene_soft_body,
scene_initial_penetration,
scene_restitution_test,
scene_static_particle_friction_test,
scene_dynamic_particle_friction_test,
scene_restitution_chain_of_bodies,
scene_stacking_particles,
scene_stacking_particles_and_box_above,
scene_complex,
scene_particle_box_collision_test,
scene_friction_test,
scene_single_rb_friction_test,
scene_rb_friction_test,
scene_rb_friction_test2,
scene_fluid_simple,
scene_fluid_and_solids,
scene_two_fluids,
scene_distant_constraint_simple,
scene_distant_constraint_two_ropes,
scene_rope_and_rigid_body,
scene_rb_static_collision,
scene_rigid_body_restitution_test
};
StaticCollisionComponent* StaticCollisionComponent::Create(const PBDUnifiedSimulation*sim, const vec2 &dim) {
StaticCollisionComponent* c = new StaticCollisionComponent();
c->on_transformed_fptr_ = on_transformed;
SDFBoxCollision box;
box.pos = vec2(0,0);
box.rot = rotate2(0);
box.scale = vec2(1,1);
box.size = dim;
c->world_ = pbd_unified_sim_get_collision_world(sim);
c->id_ = collision_add_box(c->world_, box);
return c;
}
void StaticCollisionComponent::Destroy(StaticCollisionComponent* comp)
{
collision_remove_box(comp->world_, comp->id_);
delete comp;
}
void StaticCollisionComponent::on_transformed(TransformComponent* comp) {
StaticCollisionComponent* c = (StaticCollisionComponent*)comp;
assert(c->GetType() == ComponentType::kPBDStaticCollision);
const vec3 p = c->GetPosition();
const quaternion q = c->GetRotation();
const vec3 s = c->GetScale();
vec3 euler = q.to_euler();
collision_set_box_transform(c->world_, c->id_, p.xy(), euler.z, s.xy());
}
PBDStaticCollisionObj::PBDStaticCollisionObj(const PBDUnifiedSimulation* sim, const vec2& dim) {
Tuple_.tr_ = AddComponent<TransformComponent>();
Tuple_.coll_ = StaticCollisionComponent::Create(sim, dim);
AddComponent(Tuple_.coll_);
Tuple_.coll_->SetParent(Tuple_.tr_);
}
PBDStaticCollisionObj::~PBDStaticCollisionObj() {
delete RemoveComponent(Tuple_.tr_);
auto c = RemoveComponent(Tuple_.coll_);
StaticCollisionComponent::Destroy(c);
}
PBDTestObject* PBDTestObject::Create() {
PBDTestObject* o = new PBDTestObject;
o->sim_dim_ = vec2(5,5);
o->dbg_flags_.contacts = false;
o->dbg_flags_.friction = false;
o->dbg_flags_.sb_part_rot = true;
o->dbg_flags_.distance_constraints = true;
o->AddComponent<PBDVisComponent>();
(phys_scenes[g_cur_phys_scene_index])(unified_pbd_get());
return o;
}
PBDTestObject::~PBDTestObject() {
}
struct PBDParticleVDecl {
vec2 pos;
vec2 vel;
vec2 force;
float density;
float pressure;
uint32_t flags;
};
static HGOSVERTEXDECLARATION get_pbd_vdecl() {
static gosVERTEX_FORMAT_RECORD pbd_vdecl[] = {
// SVD
{0, 3, false, sizeof(SVD), 0, gosVERTEX_ATTRIB_TYPE::kFLOAT, 0},
{1, 2, false, sizeof(SVD), offsetof(SVD, uv), gosVERTEX_ATTRIB_TYPE::kFLOAT, 0},
{2, 3, false, sizeof(SVD), offsetof(SVD, normal), gosVERTEX_ATTRIB_TYPE::kFLOAT, 0},
// instance data: stream 1
{3, 2, false, sizeof(PBDParticleVDecl), 0, gosVERTEX_ATTRIB_TYPE::kFLOAT, 1},
{4, 2, false, sizeof(PBDParticleVDecl), offsetof(PBDParticleVDecl,vel), gosVERTEX_ATTRIB_TYPE::kFLOAT, 1},
{5, 2, false, sizeof(PBDParticleVDecl), offsetof(PBDParticleVDecl,force), gosVERTEX_ATTRIB_TYPE::kFLOAT, 1},
{6, 1, false, sizeof(PBDParticleVDecl), offsetof(PBDParticleVDecl,density), gosVERTEX_ATTRIB_TYPE::kFLOAT, 1},
{7, 1, false, sizeof(PBDParticleVDecl), offsetof(PBDParticleVDecl,pressure), gosVERTEX_ATTRIB_TYPE::kFLOAT, 1},
{8, 1, false, sizeof(PBDParticleVDecl), offsetof(PBDParticleVDecl,flags), gosVERTEX_ATTRIB_TYPE::kUNSIGNED_INT, 1},
};
static auto vdecl = gos_CreateVertexDeclaration(
pbd_vdecl, sizeof(pbd_vdecl) / sizeof(gosVERTEX_FORMAT_RECORD));
return vdecl;
}
extern int RendererGetNumBufferedFrames();
void PBDVisComponent::InitRenderResources() {
sphere_mesh_ = res_man_load_mesh("sphere");
gos_AddRenderMaterial("deferred_pbd_particle");
int num_buffers = RendererGetNumBufferedFrames() + 1;
inst_vb_.resize(num_buffers);
for (int32_t i = 0; i < num_buffers; ++i) {
inst_vb_[i] =
gos_CreateBuffer(gosBUFFER_TYPE::VERTEX, gosBUFFER_USAGE::DYNAMIC_DRAW,
sizeof(PBDParticleVDecl), 1000, nullptr);
}
vdecl_ = get_pbd_vdecl();
mat_ = gos_getRenderMaterial("deferred_pbd_particle");
b_initalized_rendering_resources = true;
state_ = Component::kInitialized;
}
void PBDVisComponent::DeinitRenderResources() {
b_initalized_rendering_resources = false;
delete sphere_mesh_;
sphere_mesh_ = nullptr;
for (auto& buf : inst_vb_) {
gos_DestroyBuffer(buf);
}
inst_vb_.clear();
gos_DestroyVertexDeclaration(vdecl_);