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Commit a8c30303 authored by Yuwei Xiao's avatar Yuwei Xiao
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ex2

parent cf071f8b
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.gitignore
View file @ a8c30303
...@@ -6,3 +6,5 @@ build/ ...@@ -6,3 +6,5 @@ build/
*.log *.log
*.gz *.gz
*.out *.out
(old)*
\ No newline at end of file
2-1_bead/BeadSim.cpp 0 → 100644
View file @ a8c30303
#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
2-1_bead/BeadSim.h 0 → 100644
View file @ a8c30303
#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
2-1_bead/CMakeLists.txt 0 → 100644
View file @ a8c30303
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
2-1_bead/main.cpp 0 → 100644
View file @ a8c30303
#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
2-2_pendulum/CMakeLists.txt 0 → 100644
View file @ a8c30303
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
2-2_pendulum/PendulumSim.cpp 0 → 100644
View file @ a8c30303
#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
2-2_pendulum/PendulumSim.h 0 → 100644
View file @ a8c30303
#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
2-2_pendulum/main.cpp 0 → 100644
View file @ a8c30303
#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
CMakeLists.txt
View file @ a8c30303
...@@ -28,6 +28,8 @@ if (NOT LIBIGL_FOUND) ...@@ -28,6 +28,8 @@ if (NOT LIBIGL_FOUND)
endif() endif()
# add_subdirectory(0_dummy) # add_subdirectory(0_dummy)
add_subdirectory(1-0_earth) # add_subdirectory(1-0_earth)
add_subdirectory(1-1_cannonball) # add_subdirectory(1-1_cannonball)
add_subdirectory(1-2_spring) # add_subdirectory(1-2_spring)
\ No newline at end of file add_subdirectory(2-1_bead)
add_subdirectory(2-2_pendulum)
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