From a8c303037641a2cc673ae499fd3d732465bbfaa5 Mon Sep 17 00:00:00 2001
From: Yuwei Xiao <xyw1105@126.com>
Date: Tue, 17 Mar 2020 20:49:25 +0800
Subject: [PATCH] ex2
---
.gitignore | 4 +-
2-1_bead/BeadSim.cpp | 23 ++++++
2-1_bead/BeadSim.h | 95 ++++++++++++++++++++++
2-1_bead/CMakeLists.txt | 43 ++++++++++
2-1_bead/main.cpp | 45 +++++++++++
2-2_pendulum/CMakeLists.txt | 43 ++++++++++
2-2_pendulum/PendulumSim.cpp | 29 +++++++
2-2_pendulum/PendulumSim.h | 150 +++++++++++++++++++++++++++++++++++
2-2_pendulum/main.cpp | 102 ++++++++++++++++++++++++
CMakeLists.txt | 8 +-
10 files changed, 538 insertions(+), 4 deletions(-)
create mode 100644 2-1_bead/BeadSim.cpp
create mode 100644 2-1_bead/BeadSim.h
create mode 100644 2-1_bead/CMakeLists.txt
create mode 100644 2-1_bead/main.cpp
create mode 100644 2-2_pendulum/CMakeLists.txt
create mode 100644 2-2_pendulum/PendulumSim.cpp
create mode 100644 2-2_pendulum/PendulumSim.h
create mode 100644 2-2_pendulum/main.cpp
diff --git a/.gitignore b/.gitignore
index d901eda..231f144 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,4 +5,6 @@ build/
*.aux
*.log
*.gz
-*.out
\ No newline at end of file
+*.out
+
+(old)*
\ No newline at end of file
diff --git a/2-1_bead/BeadSim.cpp b/2-1_bead/BeadSim.cpp
new file mode 100644
index 0000000..6f74a4d
--- /dev/null
+++ b/2-1_bead/BeadSim.cpp
@@ -0,0 +1,23 @@
+#include "BeadSim.h"
+
+
+bool BeadSim::advance() {
+
+
+ auto v = p_bead->getLinearVelocity();
+ auto p = p_bead->getPosition();
+
+ // TODO update position and velcity of p_bead
+ // constraint C(x) = 0.5*(p.dot(p) - m_radius^2) = 0;
+
+
+ m_time += m_dt;
+ m_step++;
+
+ // log
+ if ((m_step % m_log_frequency) == 0) {
+ m_trajectories.back().push_back(p_bead->getPosition());
+ }
+ return false;
+
+}
\ No newline at end of file
diff --git a/2-1_bead/BeadSim.h b/2-1_bead/BeadSim.h
new file mode 100644
index 0000000..63a254f
--- /dev/null
+++ b/2-1_bead/BeadSim.h
@@ -0,0 +1,95 @@
+#include "Simulation.h"
+#include "igl/PI.h"
+
+using namespace std;
+
+
+class BeadSim : public Simulation {
+public:
+ BeadSim() : Simulation() {
+ init();
+ m_trajectories.clear();
+ m_trajectoryColors.clear();
+ }
+
+ virtual void init() override {
+ std::string path = "sphere.off";
+ m_objects.clear();
+ m_objects.push_back(RigidObject(path));
+ p_bead = &m_objects[0];
+
+ m_dt = 5e-2;
+ m_mass = 1.0;
+ m_log_frequency = 30;
+ m_radius = 10;
+ m_gravity << 0, -9.81, 0;
+
+ reset();
+ }
+
+ virtual void resetMembers() override {
+ p_bead->reset();
+ p_bead->setScale(0.1);
+ // initial position, should be valid for constraints
+ p_bead->setPosition(Eigen::Vector3d(m_radius*cos(igl::PI/3), m_radius*sin(igl::PI/3.0), 0));
+
+ if (m_trajectories.size() == 0 || m_trajectories.back().size() > 1) {
+ m_trajectories.push_back(vector<Eigen::Vector3d>());
+ m_trajectoryColors.push_back(m_color);
+ } else {
+ m_trajectoryColors.back() = m_color;
+ }
+ }
+
+ virtual void updateRenderGeometry() override {
+ p_bead->getMesh(m_renderV, m_renderF);
+ }
+
+ virtual bool advance() override;
+
+ virtual void renderRenderGeometry(igl::opengl::glfw::Viewer &viewer) override {
+ viewer.data().set_mesh(m_renderV, m_renderF);
+
+ for (size_t trajectory = 0; trajectory < m_trajectories.size(); trajectory++) {
+ for (size_t point = 1; point < m_trajectories[trajectory].size(); point++) {
+ viewer.data().add_edges(m_trajectories[trajectory][point-1].transpose(),
+ m_trajectories[trajectory][point].transpose(),
+ m_trajectoryColors[trajectory]);
+ // viewer.data().add_points(
+ // m_trajectories[trajectory][point].transpose(),
+ // m_trajectoryColors[trajectory]);
+ }
+ }
+ }
+
+ void clearTrajectories() {
+ m_trajectories.clear();
+ m_trajectories.push_back(vector<Eigen::Vector3d>());
+ m_trajectoryColors.clear();
+ m_trajectoryColors.push_back(m_color);
+ }
+ void setRadius(double r) { m_radius = r; }
+ void setLogFrequency(int f) { m_log_frequency = f; }
+ void getTrajectories(int index, Eigen::MatrixX3d &mat) const {
+ int num_points = m_trajectories[index].size();
+ mat.resize(num_points, 3);
+ for (int i = 0; i < num_points; i++) {
+ mat.row(i) = m_trajectories[index][i];
+ }
+ }
+ int getNumTrajectories() const { return m_trajectories.size(); }
+private:
+ RigidObject *p_bead;
+ double m_radius;
+ double m_mass;
+
+ Eigen::Vector3d m_gravity;
+
+ Eigen::MatrixXd m_renderV; // vertex positions for rendering
+ Eigen::MatrixXi m_renderF; // face indices for rendering
+
+ int m_log_frequency; // how often should we log the COM in the GUI
+ vector<vector<Eigen::Vector3d>> m_trajectories;
+ Eigen::RowVector3d m_color;
+ vector<Eigen::RowVector3d> m_trajectoryColors;
+};
\ No newline at end of file
diff --git a/2-1_bead/CMakeLists.txt b/2-1_bead/CMakeLists.txt
new file mode 100644
index 0000000..9464a64
--- /dev/null
+++ b/2-1_bead/CMakeLists.txt
@@ -0,0 +1,43 @@
+
+cmake_minimum_required(VERSION 3.1)
+project(2-bead)
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/../cmake)
+set(CMAKE_CXX_FLAGS "-Wall")
+
+# libigl
+option(LIBIGL_USE_STATIC_LIBRARY "Use libigl as static library" OFF)
+option(LIBIGL_WITH_ANTTWEAKBAR "Use AntTweakBar" OFF)
+option(LIBIGL_WITH_CGAL "Use CGAL" OFF)
+option(LIBIGL_WITH_COMISO "Use CoMiso" OFF)
+option(LIBIGL_WITH_CORK "Use Cork" OFF)
+option(LIBIGL_WITH_EMBREE "Use Embree" OFF)
+option(LIBIGL_WITH_LIM "Use LIM" OFF)
+option(LIBIGL_WITH_MATLAB "Use Matlab" OFF)
+option(LIBIGL_WITH_MOSEK "Use MOSEK" OFF)
+option(LIBIGL_WITH_OPENGL "Use OpenGL" ON)
+option(LIBIGL_WITH_OPENGL_GLFW "Use GLFW" ON)
+option(LIBIGL_WITH_OPENGL_GLFW_IMGUI "Use ImGui" ON)
+option(LIBIGL_WITH_PNG "Use PNG" OFF)
+option(LIBIGL_WITH_PYTHON "Use Python" OFF)
+option(LIBIGL_WITH_TETGEN "Use Tetgen" OFF)
+option(LIBIGL_WITH_TRIANGLE "Use Triangle" OFF)
+option(LIBIGL_WITH_VIEWER "Use OpenGL viewer" ON)
+option(LIBIGL_WITH_XML "Use XML" OFF)
+
+if (NOT LIBIGL_FOUND)
+ find_package(LIBIGL REQUIRED QUIET)
+endif()
+
+# Add default project files
+file(GLOB LIBFILES ${PROJECT_SOURCE_DIR}/../include/*.*)
+source_group("Library Files" FILES ${LIBFILES})
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../include)
+
+# Add your project files
+file(GLOB SRCFILES *.cpp)
+file(GLOB HFILES *.h)
+
+add_definitions(-DIGL_VIEWER_VIEWER_QUIET)
+add_executable(${PROJECT_NAME} ${SRCFILES} ${HFILES} ${LIBFILES} )
+target_link_libraries(${PROJECT_NAME} igl::core igl::opengl_glfw igl::opengl_glfw_imgui)
\ No newline at end of file
diff --git a/2-1_bead/main.cpp b/2-1_bead/main.cpp
new file mode 100644
index 0000000..d8c744e
--- /dev/null
+++ b/2-1_bead/main.cpp
@@ -0,0 +1,45 @@
+#include "BeadSim.h"
+#include "Gui.h"
+
+/*
+ * GUI for the bead simulation.
+ */
+class BeadGui : public Gui {
+ public:
+ // simulation parameters
+ float m_dt = 1e-2;
+ float m_radius = 10.0;
+ int m_log_frequency = 30;
+
+ BeadSim *p_BeadSim = NULL;
+
+ BeadGui() {
+ p_BeadSim = new BeadSim();
+ setSimulation(p_BeadSim);
+
+ start();
+ }
+
+ virtual void updateSimulationParameters() override {
+ // change all parameters of the simulation to the values that are set in the GUI
+ p_BeadSim->setTimestep(m_dt);
+ p_BeadSim->setRadius(m_radius);
+ p_BeadSim->setLogFrequency(m_log_frequency);
+ }
+
+
+ virtual void drawSimulationParameterMenu() override {
+ ImGui::InputFloat("Radius", &m_radius, 0, 0);
+ ImGui::InputFloat("dt", &m_dt, 0, 0);
+ }
+
+ virtual void clearSimulation() override {
+ p_BeadSim->clearTrajectories();
+ }
+};
+
+int main(int argc, char *argv[]) {
+ new BeadGui();
+
+ return 0;
+}
\ No newline at end of file
diff --git a/2-2_pendulum/CMakeLists.txt b/2-2_pendulum/CMakeLists.txt
new file mode 100644
index 0000000..c7541b9
--- /dev/null
+++ b/2-2_pendulum/CMakeLists.txt
@@ -0,0 +1,43 @@
+
+cmake_minimum_required(VERSION 3.1)
+project(2-2_pendulum)
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/../cmake)
+set(CMAKE_CXX_FLAGS "-Wall")
+
+# libigl
+option(LIBIGL_USE_STATIC_LIBRARY "Use libigl as static library" OFF)
+option(LIBIGL_WITH_ANTTWEAKBAR "Use AntTweakBar" OFF)
+option(LIBIGL_WITH_CGAL "Use CGAL" OFF)
+option(LIBIGL_WITH_COMISO "Use CoMiso" OFF)
+option(LIBIGL_WITH_CORK "Use Cork" OFF)
+option(LIBIGL_WITH_EMBREE "Use Embree" OFF)
+option(LIBIGL_WITH_LIM "Use LIM" OFF)
+option(LIBIGL_WITH_MATLAB "Use Matlab" OFF)
+option(LIBIGL_WITH_MOSEK "Use MOSEK" OFF)
+option(LIBIGL_WITH_OPENGL "Use OpenGL" ON)
+option(LIBIGL_WITH_OPENGL_GLFW "Use GLFW" ON)
+option(LIBIGL_WITH_OPENGL_GLFW_IMGUI "Use ImGui" ON)
+option(LIBIGL_WITH_PNG "Use PNG" OFF)
+option(LIBIGL_WITH_PYTHON "Use Python" OFF)
+option(LIBIGL_WITH_TETGEN "Use Tetgen" OFF)
+option(LIBIGL_WITH_TRIANGLE "Use Triangle" OFF)
+option(LIBIGL_WITH_VIEWER "Use OpenGL viewer" ON)
+option(LIBIGL_WITH_XML "Use XML" OFF)
+
+if (NOT LIBIGL_FOUND)
+ find_package(LIBIGL REQUIRED QUIET)
+endif()
+
+# Add default project files
+file(GLOB LIBFILES ${PROJECT_SOURCE_DIR}/../include/*.*)
+source_group("Library Files" FILES ${LIBFILES})
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../include)
+
+# Add your project files
+file(GLOB SRCFILES *.cpp)
+file(GLOB HFILES *.h)
+
+add_definitions(-DIGL_VIEWER_VIEWER_QUIET)
+add_executable(${PROJECT_NAME} ${SRCFILES} ${HFILES} ${LIBFILES} )
+target_link_libraries(${PROJECT_NAME} igl::core igl::opengl_glfw igl::opengl_glfw_imgui)
\ No newline at end of file
diff --git a/2-2_pendulum/PendulumSim.cpp b/2-2_pendulum/PendulumSim.cpp
new file mode 100644
index 0000000..b925948
--- /dev/null
+++ b/2-2_pendulum/PendulumSim.cpp
@@ -0,0 +1,29 @@
+#include "PendulumSim.h"
+
+typedef Eigen::Matrix<double, 6, 1> Vector6d;
+typedef Eigen::Matrix<double, 2, 6> Matrix26d;
+
+bool PendulumSim::advance() {
+ auto pos1 = p1->getPosition();
+ auto pos2 = p2->getPosition();
+ auto vel1 = p1->getLinearVelocity();
+ auto vel2 = p2->getLinearVelocity();
+
+ // TODO update positions and velocities of particle p1, p2
+ // c1 = 0.5 * (x1.dot(x1) - l1^2) = 0
+ // c2 = 0.5 * ((xi-x2).dot(xi-x2) - l2^2) = 0
+
+
+
+ // advance m_time
+ m_time += m_dt;
+ m_step++;
+
+ // log
+ if ((m_step % m_log_frequency) == 0) {
+ m_trajectories[0].push_back(p1->getPosition());
+ m_trajectories[1].push_back(p2->getPosition());
+ }
+
+ return false;
+}
\ No newline at end of file
diff --git a/2-2_pendulum/PendulumSim.h b/2-2_pendulum/PendulumSim.h
new file mode 100644
index 0000000..94adc7e
--- /dev/null
+++ b/2-2_pendulum/PendulumSim.h
@@ -0,0 +1,150 @@
+#include "Simulation.h"
+#include "igl/PI.h"
+
+using namespace std;
+
+struct DoublePendulum {
+public:
+ double m1, m2;
+ double l1, l2;
+};
+
+/*
+ */
+class PendulumSim : public Simulation {
+public:
+ PendulumSim() : Simulation() {
+ init();
+ m_trajectories.clear();
+ m_trajectoryColors.clear();
+ }
+
+ virtual void init() override {
+ std::string path = "sphere.off";
+ m_objects.clear();
+ m_objects.push_back(RigidObject(path));
+ m_objects.push_back(RigidObject(path));
+ p1 = &m_objects[0];
+ p2 = &m_objects[1];
+
+ m_dt = 1e-2;
+ m_log_frequency = 30;
+ m_gravity << 0, -9.81, 0;
+ // visualization color for sphere and trajectories
+ m_color1 << 1.0, 0.5, 0;
+ m_color2 << 0.0, 0.5, 1.0;
+ reset();
+ }
+
+ virtual void resetMembers() override {
+ p1->reset(); p2->reset();
+ p1->setScale(0.04); p2->setScale(0.04);
+ p1->setPosition(Eigen::Vector3d(m_pendulum.l1*cos(igl::PI/4), m_pendulum.l1*sin(igl::PI/4.0), 0));
+ p2->setPosition(Eigen::Vector3d((m_pendulum.l1+m_pendulum.l2)*cos(igl::PI/4), (m_pendulum.l1+m_pendulum.l2)*sin(igl::PI/4.0), 0));
+ p1->setColors(m_color1);
+ p2->setColors(m_color2);
+
+ clearTrajectories();
+ }
+
+ virtual void updateRenderGeometry() override {
+ for (size_t i = 0; i < m_objects.size(); i++) {
+ RigidObject &o = m_objects[i];
+ if (o.getID() < 0) { // negative id means newly created object, reverse memory for it
+ m_renderVs.emplace_back();
+ m_renderFs.emplace_back();
+ }
+
+ m_objects[i].getMesh(m_renderVs[i], m_renderFs[i]);
+ }
+ }
+
+ virtual bool advance() override;
+
+ virtual void renderRenderGeometry(igl::opengl::glfw::Viewer &viewer) override {
+ // render point
+ for (size_t i = 0; i < m_objects.size(); i++) {
+ RigidObject &o = m_objects[i];
+ if (o.getID() < 0) {
+ int new_id = 0;
+ if (i > 0) {
+ new_id = viewer.append_mesh();
+ o.setID(new_id);
+ } else {
+ o.setID(new_id);
+ }
+
+ size_t meshIndex = viewer.mesh_index(o.getID());
+ viewer.data_list[meshIndex].set_face_based(true);
+ viewer.data_list[meshIndex].point_size = 2.0f;
+ viewer.data_list[meshIndex].clear();
+ }
+ size_t meshIndex = viewer.mesh_index(o.getID());
+
+ viewer.data_list[meshIndex].set_mesh(m_renderVs[i], m_renderFs[i]);
+ viewer.data_list[meshIndex].compute_normals();
+
+ Eigen::MatrixXd color;
+ o.getColors(color);
+ viewer.data_list[meshIndex].set_colors(color);
+ }
+
+ for (size_t trajectory = 0; trajectory < m_trajectories.size(); trajectory++) {
+ if(m_trajectories[trajectory].size() <= 1)
+ continue;
+ Eigen::MatrixXd p1s, p2s, cs;
+ p1s.resize(m_trajectories[trajectory].size()-1, 3);
+ p2s.resize(m_trajectories[trajectory].size()-1, 3);
+ cs.resize(m_trajectories[trajectory].size()-1, 3);
+ for (size_t point = 1; point < m_trajectories[trajectory].size(); point++) {
+ p1s.row(point-1) << m_trajectories[trajectory][point-1].transpose();
+ p2s.row(point-1) << m_trajectories[trajectory][point].transpose();
+ cs.row(point-1) << m_trajectoryColors[trajectory];
+ // viewer.data().add_edges(m_trajectories[trajectory][point-1].transpose(),
+ // m_trajectories[trajectory][point].transpose(),
+ // m_trajectoryColors[trajectory]);
+ }
+ viewer.data(0).add_edges(p1s, p2s, cs);
+ }
+
+ // draw the pendulum
+ viewer.data(0).add_edges(Eigen::RowVector3d::Zero(), p1->getPosition().transpose(), m_color);
+ viewer.data(0).add_edges(p1->getPosition().transpose(), p2->getPosition().transpose(), m_color);
+ }
+
+ void clearTrajectories() {
+ m_trajectories.clear();
+ m_trajectories.push_back(vector<Eigen::Vector3d>()); // for p1
+ m_trajectories.push_back(vector<Eigen::Vector3d>()); // for p2
+ m_trajectoryColors.clear();
+ m_trajectoryColors.push_back(m_color1); // p1 color
+ m_trajectoryColors.push_back(m_color2); // p1 color
+ }
+
+ void setPendulum(DoublePendulum &s) { m_pendulum = s; }
+ void setLogFrequency(int f) { m_log_frequency = f; }
+
+ void getTrajectories(int index, Eigen::MatrixX3d &mat) const {
+ int num_points = m_trajectories[index].size();
+ mat.resize(num_points, 3);
+ for (int i = 0; i < num_points; i++) {
+ mat.row(i) = m_trajectories[index][i];
+ }
+ }
+ int getNumTrajectories() const { return m_trajectories.size(); }
+
+private:
+
+ Eigen::Vector3d m_gravity;
+
+ DoublePendulum m_pendulum;
+ RigidObject *p1, *p2;
+
+ std::vector<Eigen::MatrixXd> m_renderVs; // vertex positions for rendering
+ std::vector<Eigen::MatrixXi> m_renderFs; // face indices for rendering
+
+ int m_log_frequency; // how often should we log the COM in the GUI
+ vector<vector<Eigen::Vector3d>> m_trajectories;
+ Eigen::RowVector3d m_color, m_color1, m_color2;
+ vector<Eigen::RowVector3d> m_trajectoryColors;
+};
\ No newline at end of file
diff --git a/2-2_pendulum/main.cpp b/2-2_pendulum/main.cpp
new file mode 100644
index 0000000..a10247c
--- /dev/null
+++ b/2-2_pendulum/main.cpp
@@ -0,0 +1,102 @@
+#include <igl/writeOFF.h>
+#include <thread>
+#include "Gui.h"
+#include "Simulator.h"
+#include "PendulumSim.h"
+
+/*
+ */
+class PendulumGui : public Gui {
+ public:
+ // simulation parameters
+ float m_dt = 1e-2;
+ int m_log_frequency = 30;
+
+ DoublePendulum m_pendulum; // stores properties of the pendulum
+ PendulumSim *p_pendulumSim = NULL;
+
+ // const vector<char const *> m_integrators = {"Analytic", "Explicit Euler", "Symplectic Euler", "Midpoint"};
+ // int m_selected_integrator = 0;
+
+ PendulumGui() {
+ // initialize the pendulum to be used
+ m_pendulum.l1 = 5.0;
+ m_pendulum.l2 = 6.0;
+ m_pendulum.m1 = 0.1;
+ m_pendulum.m2 = 0.3;
+
+ p_pendulumSim = new PendulumSim();
+ p_pendulumSim->setPendulum(m_pendulum);
+ setSimulation(p_pendulumSim);
+
+ // show vertex velocity instead of normal
+ callback_clicked_vertex =
+ [&](int clickedVertexIndex, int clickedObjectIndex, Eigen::Vector3d &pos, Eigen::Vector3d &dir) {
+ RigidObject &o = p_pendulumSim->getObjects()[clickedObjectIndex];
+ pos = o.getVertexPosition(clickedVertexIndex);
+ dir = o.getVelocity(pos);
+ };
+ start();
+ }
+
+ virtual void updateSimulationParameters() override {
+ // change all parameters of the simulation to the values that are set in the GUI
+ p_pendulumSim->setPendulum(m_pendulum);
+ p_pendulumSim->setTimestep(m_dt);
+ p_pendulumSim->setLogFrequency(m_log_frequency);
+ }
+
+ virtual void clearSimulation() override {
+ p_pendulumSim->clearTrajectories();
+ }
+
+ /*
+ * Writes each trajectory to an individual off-file.
+ */
+ void exportTrajectories() {
+ Eigen::MatrixX3d mat;
+ for (int i = 0; i < p_pendulumSim->getNumTrajectories(); i++) {
+ string filename = "trajectory" + to_string(i) + ".off";
+ p_pendulumSim->getTrajectories(i, mat);
+ if (mat.rows() <= 1) {
+ continue;
+ }
+ if (igl::writeOFF(filename, mat, Eigen::MatrixXi())) {
+ cout << "Wrote trajectory to " << filename << endl;
+ } else {
+ cout << "Failed to write trajectory to " << filename << endl;
+ }
+ }
+ }
+
+ virtual bool childKeyCallback(igl::opengl::glfw::Viewer &viewer,
+ unsigned int key, int modifiers) override {
+ switch (key) {
+ case 'e':
+ case 'E':
+ exportTrajectories();
+ return true;
+ }
+ return false;
+ }
+
+ virtual void drawSimulationParameterMenu() override {
+ if (ImGui::Button("Export Trajectories", ImVec2(-1, 0))) {
+ exportTrajectories();
+ }
+ ImGui::InputDouble("mass 1", &m_pendulum.m1, 0, 0);
+ ImGui::InputDouble("mass 2", &m_pendulum.m2, 0, 0);
+ ImGui::InputDouble("L1", &m_pendulum.l1, 0, 0);
+ ImGui::InputDouble("L2", &m_pendulum.l2, 0, 0);
+ ImGui::InputFloat("dt", &m_dt, 0, 0);
+ // ImGui::Combo("Integrator", &m_selected_integrator, m_integrators.data(), m_integrators.size());
+ ImGui::InputInt("Log Frequency", &m_log_frequency, 0, 0);
+ }
+};
+
+int main(int argc, char *argv[]) {
+ // create a new instance of the GUI for the pendulum simulation
+ new PendulumGui();
+
+ return 0;
+}
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 54f8925..c49e975 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,6 +28,8 @@ if (NOT LIBIGL_FOUND)
endif()
# add_subdirectory(0_dummy)
-add_subdirectory(1-0_earth)
-add_subdirectory(1-1_cannonball)
-add_subdirectory(1-2_spring)
\ No newline at end of file
+# add_subdirectory(1-0_earth)
+# add_subdirectory(1-1_cannonball)
+# add_subdirectory(1-2_spring)
+add_subdirectory(2-1_bead)
+add_subdirectory(2-2_pendulum)
--
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