void TimeStepFluidModel::step(FluidModel &model)
{
TimeManager *tm = TimeManager::getCurrent ();
const float h = tm->getTimeStepSize();
ParticleData &pd = model.getParticles();
clearAccelerations(model);
// Compute viscosity forces
if (TimeManager::getCurrent()->getTime() > 0.0) // in the first step we do not know the neighbors
{
computeDensities(model);
computeViscosityAccels(model);
}
// Update time step size by CFL condition
updateTimeStepSizeCFL(model, 0.0001f, 0.005f);
// Time integration
for (unsigned int i = 0; i < pd.size(); i++)
{
model.getDeltaX(i).setZero();
pd.getLastPosition(i) = pd.getOldPosition(i);
pd.getOldPosition(i) = pd.getPosition(i);
TimeIntegration::semiImplicitEuler(h, pd.getMass(i), pd.getPosition(i), pd.getVelocity(i), pd.getAcceleration(i));
}
// Perform neighborhood search
model.getNeighborhoodSearch()->neighborhoodSearch(&model.getParticles().getPosition(0), model.numBoundaryParticles(), &model.getBoundaryX(0));
// Solve density constraint
constraintProjection(model);
// Update velocities
for (unsigned int i = 0; i < pd.size(); i++)
{
if (m_velocityUpdateMethod == 0)
TimeIntegration::velocityUpdateFirstOrder(h, pd.getMass(i), pd.getPosition(i), pd.getOldPosition(i), pd.getVelocity(i));
else
TimeIntegration::velocityUpdateSecondOrder(h, pd.getMass(i), pd.getPosition(i), pd.getOldPosition(i), pd.getLastPosition(i), pd.getVelocity(i));
}
// Compute new time
tm->setTime (tm->getTime () + h);
model.getNeighborhoodSearch()->update();
}
void TimeStepController::step(SimulationModel &model)
{
TimeManager *tm = TimeManager::getCurrent ();
const float h = tm->getTimeStepSize();
//////////////////////////////////////////////////////////////////////////
// rigid body model
//////////////////////////////////////////////////////////////////////////
clearAccelerations(model);
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
ParticleData &pd = model.getParticles();
ParticleData &pg = model.getGhostParticles();
#pragma omp parallel default(shared)
{
#pragma omp for schedule(static) nowait
for (int i = 0; i < (int) rb.size(); i++)
{
rb[i]->getLastPosition() = rb[i]->getOldPosition();
rb[i]->getOldPosition() = rb[i]->getPosition();
TimeIntegration::semiImplicitEuler(h, rb[i]->getMass(), rb[i]->getPosition(), rb[i]->getVelocity(), rb[i]->getAcceleration());
rb[i]->getLastRotation() = rb[i]->getOldRotation();
rb[i]->getOldRotation() = rb[i]->getRotation();
TimeIntegration::semiImplicitEulerRotation(h, rb[i]->getMass(), rb[i]->getInertiaTensorInverseW(), rb[i]->getRotation(), rb[i]->getAngularVelocity(), rb[i]->getTorque());
rb[i]->rotationUpdated();
}
//////////////////////////////////////////////////////////////////////////
// particle model
//////////////////////////////////////////////////////////////////////////
#pragma omp for schedule(static)
for (int i = 0; i < (int) pd.size(); i++)
{
pd.getLastPosition(i) = pd.getOldPosition(i);
pd.getOldPosition(i) = pd.getPosition(i);
pd.getVelocity(i) *= (1.0f - m_damping);
TimeIntegration::semiImplicitEuler(h, pd.getMass(i), pd.getPosition(i), pd.getVelocity(i), pd.getAcceleration(i));
}
for (int i = 0; i < (int)pg.size(); i++)
{
pg.getLastPosition(i) = pg.getOldPosition(i);
pg.getOldPosition(i) = pg.getPosition(i);
pg.getVelocity(i) *= (1.0f - m_damping);
TimeIntegration::semiImplicitEuler(h, pg.getMass(i), pg.getPosition(i), pg.getVelocity(i), pg.getAcceleration(i));
}
}
positionConstraintProjection(model);
#pragma omp parallel default(shared)
{
// Update velocities
#pragma omp for schedule(static) nowait
for (int i = 0; i < (int) rb.size(); i++)
{
if (m_velocityUpdateMethod == 0)
{
TimeIntegration::velocityUpdateFirstOrder(h, rb[i]->getMass(), rb[i]->getPosition(), rb[i]->getOldPosition(), rb[i]->getVelocity());
TimeIntegration::angularVelocityUpdateFirstOrder(h, rb[i]->getMass(), rb[i]->getRotation(), rb[i]->getOldRotation(), rb[i]->getAngularVelocity());
}
else
{
TimeIntegration::velocityUpdateSecondOrder(h, rb[i]->getMass(), rb[i]->getPosition(), rb[i]->getOldPosition(), rb[i]->getLastPosition(), rb[i]->getVelocity());
TimeIntegration::angularVelocityUpdateSecondOrder(h, rb[i]->getMass(), rb[i]->getRotation(), rb[i]->getOldRotation(), rb[i]->getLastRotation(), rb[i]->getAngularVelocity());
}
}
// Update velocities
#pragma omp for schedule(static)
for (int i = 0; i < (int) pd.size(); i++)
{
if (m_velocityUpdateMethod == 0)
TimeIntegration::velocityUpdateFirstOrder(h, pd.getMass(i), pd.getPosition(i), pd.getOldPosition(i), pd.getVelocity(i));
else
TimeIntegration::velocityUpdateSecondOrder(h, pd.getMass(i), pd.getPosition(i), pd.getOldPosition(i), pd.getLastPosition(i), pd.getVelocity(i));
}
#pragma omp for schedule(static)
for (int i = 0; i < (int)pg.size(); i++)
{
if (m_velocityUpdateMethod == 0)
TimeIntegration::velocityUpdateFirstOrder(h, pg.getMass(i), pg.getPosition(i), pg.getOldPosition(i), pg.getVelocity(i));
else
TimeIntegration::velocityUpdateSecondOrder(h, pg.getMass(i), pg.getPosition(i), pg.getOldPosition(i), pg.getLastPosition(i), pg.getVelocity(i));
}
}
velocityConstraintProjection(model);
// compute new time
tm->setTime (tm->getTime () + h);
}