/* Function: modEuler
* Description: Modified Euler Integrator using Implicit and Explicit
* vi(t + h) = vi(t) + (ALPHA / h) * (gi(t) - xi(t)) + (h / mi) * Fext(t)
* xi(t + h) = xi(t) + h * vi(t + h)
* Input: None
* Output: None
*/
void ModEuler(phyzx *phyzxObj, int mIndex, int deformMode)
{
point vertex, velocity, extVel, position, velDamp;
point vDiff, velTotal, newPos, temp;
matrix R, matTemp;
memset( (void*)&temp, 0, sizeof(temp));
memset((void*)&extVel, 0, sizeof(point));
memset((void*)&velocity, 0, sizeof(point));
memset((void*)&position, 0, sizeof(point));
memset((void*)&vDiff, 0, sizeof(point));
memset((void*)&velTotal, 0, sizeof(point));
memset((void*)&newPos, 0, sizeof(point));
memset((void*)&phyzxObj->avgVel, 0, sizeof(point));
matInit(&R, 0, 0);
matInit(&matTemp, 0, 0);
if (deformMode == 3)
quadDeformRot(&R, phyzxObj);
for (unsigned int index = STARTFROM; index <= phyzxObj->model->numvertices; index++)
{
if (deformMode == 3)
{
// Compute Quadratic Deformation Goal Positions
matMult(R, phyzxObj->q[index], &matTemp); // R(q)
temp = matToPoint(matTemp); // Data type conversion
pSUM(temp, phyzxObj->cmDeformed, phyzxObj->goal[index]); // g = R(q) + xcm
} //end if
else
{
// Compute Goal Positions
matMult3331(phyzxObj->R, phyzxObj->relStableLoc[index], &temp); // R(xi0 - xcm0)
pSUM(temp, phyzxObj->cmDeformed, phyzxObj->goal[index]); // g = R(xi0 - xcm0) + xcm
} //end if
vertex.x = phyzxObj->model->vertices[3*index];
vertex.y = phyzxObj->model->vertices[3*index + 1];
vertex.z = phyzxObj->model->vertices[3*index + 2];\
if (stickyFloor == 1)
if (vertex.y <= -WALLDIST)
continue;
// Add user force
if (mIndex == iMouseModel && lMouseVal == 2 && objectName != -1)// && index == objectName)
{
//point uForce;
/*GLMnode *node;
node = NBVStruct[objectName];
while (node->next != NULL)
{
pSUM(phyzxObj->extForce[node->index], userForce, phyzxObj->extForce[node->index]);
node = node->next;
} //end while*/
/*if (index != objectName)
{
point extPos = vMake(phyzxObj->model->vertices[3*objectName], phyzxObj->model->vertices[3*objectName+1], phyzxObj->model->vertices[3*objectName+2]);
double dist = vecLeng(extPos, vertex);
//if (dist > 0.04)
//{
pMULTIPLY(userForce, (1.0/dist), uForce);
pSUM(phyzxObj->extForce[index], uForce, phyzxObj->extForce[index]);
//pDisp("user", userForce);
//} //end if
//else
//{
//pSUM(phyzxObj->extForce[index], userForce, phyzxObj->extForce[index]);
//} //end else
} //end if
else
{*/
pSUM(phyzxObj->extForce[index], userForce, phyzxObj->extForce[index]);
//} //end else
} //end if
// Explicit Euler Integrator for veloctiy -> vi(t + h)
pDIFFERENCE(phyzxObj->goal[index], vertex, vDiff); // gi(t) - xi(t)
pMULTIPLY(vDiff, (phyzxObj->alpha / phyzxObj->h), velocity); // vi(h) = (ALPHA / h) * (gi(t) - xi(t))
pMULTIPLY(phyzxObj->extForce[index], (phyzxObj->h / phyzxObj->mass[index]), extVel); // (h / mi) * Fext(t)
// pMULTIPLY(phyzxObj->extForce[index], phyzxObj->h, extVel); // (h / mi) * Fext(t)
pSUM(velocity, extVel, velTotal); // vi(h) = (ALPHA / h) * (gi(t) - xi(t)) + (h / mi) * Fext(t)
pSUM(phyzxObj->velocity[index], velTotal, phyzxObj->velocity[index]); // vi(t + h) = vi(t) + vi(h)
// Velocity Damping
pMULTIPLY(phyzxObj->velocity[index], -phyzxObj->delta, velDamp);
pSUM(phyzxObj->velocity[index], velDamp, phyzxObj->velocity[index]);
// Implicity Euler Integrator for position
pMULTIPLY(phyzxObj->velocity[index], phyzxObj->h, position); // xi(h) = h * vi(t + h)
pSUM(vertex, position, newPos); // xi(t + h) = xi(t) + xi(h)
// Store new position into data structure
phyzxObj->model->vertices[3*index] = newPos.x;
phyzxObj->model->vertices[3*index + 1] = newPos.y;
phyzxObj->model->vertices[3*index + 2] = newPos.z;
pSUM(phyzxObj->avgVel, phyzxObj->velocity[index], phyzxObj->avgVel);
//if (objCollide)
CheckForCollision(index, phyzxObj, mIndex);
} //end for
pMULTIPLY(phyzxObj->avgVel, 1.0 / phyzxObj->model->numvertices, phyzxObj->avgVel);
delete[] R.data;
delete[] matTemp.data;
} //end ModEuler()
/* parse the program options */
int parsop(pScene sc,pMesh mesh) {
FILE *in;
pMaterial pm;
double dd;
float r,g,b,ca,cb,cc,na,nb,nc;
int k,i,m,n,xs,ys,ret,ref,nbmat;
char *ptr,ub,data[128],key[256],buf[256],pscol[32];
/* check if user-specified parameters */
iniopt(sc,mesh);
strcpy(data,mesh->name);
ptr = (char *)strstr(data,".mesh");
if ( ptr ) *ptr = '\0';
in = 0;
if ( !strstr(data,".medit") ) {
strcat(data,".medit");
in = fopen(data,"r");
}
if ( !in ) {
sprintf(data,"%s",DEFAULT_FILE);
in = fopen(data,"r");
if ( !in ) {
fprintf(stdout," Loading default options\n");
sc->par.nbmat = MAX_MATERIAL;
matInit(sc);
return(1);
}
}
if ( !quiet ) fprintf(stdout," Reading %s\n",data);
m = n = 0;
while ( !feof(in) ) {
fscanf(in,"%s",key);
if ( feof(in) ) break;
for (i=0; i<strlen(key); i++) key[i] = tolower(key[i]);
if ( key[0] == '#' ) {
fgets(key,255,in);
}
else if ( !strcmp(key,"backgroundcolor") ) {
fscanf(in,"%f %f %f",&r,&g,&b);
sc->par.back[0] = r;
sc->par.back[1] = g;
sc->par.back[2] = b;
sc->par.back[3] = 1.0f;
}
else if ( !strcmp(key,"boundingbox") ) {
fscanf(in,"%f %f %f %f %f %f",&ca,&cb,&cc,&na,&nb,&nc);
mesh->xmin = ca;
mesh->ymin = cb;
mesh->zmin = cc;
mesh->xmax = na;
mesh->ymax = nb;
mesh->zmax = nc;
}
else if ( !strcmp(key,"clipplane") ) {
fscanf(in,"%f %f %f %f %f %f",&ca,&cb,&cc,&na,&nb,&nc);
sc->par.clip[0] = ca - mesh->xtra;
sc->par.clip[1] = cb - mesh->ytra;
sc->par.clip[2] = cc - mesh->ztra;
dd = sqrt(na*na + nb*nb + nc*nc);
if ( dd > EPS ) {
sc->par.clip[3] = na / dd;
sc->par.clip[4] = nb / dd;
sc->par.clip[5] = nc / dd;
}
}
else if ( !strcmp(key,"linecolor") ) {
fscanf(in,"%f %f %f",&r,&g,&b);
sc->par.line[0] = r;
sc->par.line[1] = g;
sc->par.line[2] = b;
sc->par.linc = 1;
}
else if ( !strcmp(key,"linewidth") ) {
fscanf(in,"%f",&r);
sc->par.linewidth = max(1.0,min(10.0,r));
sc->par.linc = 1;
}
else if ( !strcmp(key,"pointsize") ) {
fscanf(in,"%f",&r);
sc->par.pointsize = max(1.0,min(10.0,r));
sc->par.linc = 1;
}
else if ( !strcmp(key,"edgecolor") ) {
fscanf(in,"%f %f %f",&r,&g,&b);
sc->par.edge[0] = r; sc->par.edge[1] = g; sc->par.edge[2] = b;
sc->par.linc = 1;
}
else if ( !strcmp(key,"sunposition") ) {
fscanf(in,"%f %f %f",&r,&g,&b);
sc->dmax = mesh->xmax - mesh->xmin;
sc->dmax = max(sc->dmax,mesh->ymax - mesh->ymin);
sc->dmax = max(sc->dmax,mesh->zmax - mesh->zmin);
sc->dmax = fabs(sc->dmax);
sc->par.sunpos[0] = 2.0*sc->dmax*r;
sc->par.sunpos[1] = 2.0*sc->dmax*g;
sc->par.sunpos[2] = 2.0*sc->dmax*b;
sc->par.sunp = 1;
}
else if ( !strcmp(key,"windowsize") ) {
fscanf(in,"%d %d",&xs,&ys);
sc->par.xs = (short)xs; sc->par.ys = (short)ys;
}
else if ( !strcmp(key,"rendermode") ) {
fscanf(in,"%s",buf);
for (i=0; i<strlen(buf); i++) buf[i] = tolower(buf[i]);
if ( strstr(buf,"hidden") )
sc->mode = HIDDEN;
else if ( strstr(buf,"fill") )
sc->mode = FILL;
else if ( strstr(buf,"colorshadingline") )
sc->mode = SHADED + S_MATERIAL;
else if ( strstr(buf,"colorshading") )
sc->mode = S_FILL + S_COLOR + S_MATERIAL;
else if ( strstr(buf,"shading") )
sc->mode = SHADED;
}
else if ( strstr(key,"palette") ) {
sc->iso.palette = 1;
if ( !strcmp(key,"palettet") )
sc->iso.palette = 1;
else if ( !strcmp(key,"paletteb") )
sc->iso.palette = 2;
else if ( !strcmp(key,"palettel") )
sc->iso.palette = 3;
else if ( !strcmp(key,"paletter") )
sc->iso.palette = 4;
for (k=0; k<MAXISO; k++)
ret = fscanf(in,"%f",&sc->iso.val[k]);
if ( sc->iso.val[MAXISO-1] < sc->iso.val[0] ) sc->iso.palette = 0;
}
else if ( !strcmp(key,"postscript") ) {
fscanf(in,"%f %f %s %s",&sc->par.cm,&sc->par.dpi,
buf,pscol);
strncpy(sc->par.pscolor,pscol,10);
sc->par.coeff = atof(buf);
if ( sc->par.coeff < 0.0f ) sc->par.coeff = 0.0f;
if ( sc->par.coeff > 1.0f ) sc->par.coeff = 1.0f;
}
else if ( !strcmp(key,"time") ) {
ret = fscanf(in,"%f %f %f",&sc->par.maxtime,&sc->par.pertime,&sc->par.dt);
if ( !EatSpace(in) ) {
fscanf(in,"%c",&ub);
sc->par.nbpart = max(atoi(&ub),1);
}
}
else if ( !strcmp(key,"nbmaterial") ) {
fscanf(in,"%d",&nbmat);
sc->par.nbmat = max(2,nbmat);
matInit(sc);
}
else if ( !strcmp(key,"material") ) {
if ( sc->par.nbmat == -1 ) {
sc->par.nbmat = MAX_MATERIAL;
matInit(sc);
}
fgets(buf,255,in);
if ( n > sc->par.nbmat ) continue;
ret = sscanf(buf,"%s %d",buf,&ref);
ptr = strstr(buf,"DEFAULT");
pm = ptr ? &sc->material[DEFAULT_MAT] : &sc->material[++n];
strcpy(pm->name,buf);
if ( ret < 2 ) ref = 0;
pm->ref = ref ? ref : n;
fscanf(in,"%f %f %f %f",&pm->amb[0],&pm->amb[1],&pm->amb[2],&pm->amb[3]);
fscanf(in,"%f %f %f %f",&pm->dif[0],&pm->dif[1],&pm->dif[2],&pm->dif[3]);
fscanf(in,"%f %f %f %f",&pm->spe[0],&pm->spe[1],&pm->spe[2],&pm->spe[3]);
fscanf(in,"%f %f %f %f",&pm->emi[0],&pm->emi[1],&pm->emi[2],&pm->emi[3]);
fscanf(in,"%f",&pm->shininess);
if ( pm->amb[3] == 0.0 ) pm->amb[3] = 1.0;
if ( pm->dif[3] == 0.0 ) pm->dif[3] = 1.0;
if ( pm->spe[3] == 0.0 ) pm->spe[3] = 1.0;
if ( pm->emi[3] == 0.0 ) pm->emi[3] = 1.0;
pm->shininess = min(fabs(pm->shininess),128.0f);
pm->shininess = max(pm->shininess,3.0f);
++m;
}
/* stereo mode */
else if ( !strcmp(key,"eyesep") ) {
fscanf(in,"%f",&sc->par.eyesep);
}
}
fclose(in);
if ( sc->par.nbmat < 0 ) {
sc->par.nbmat = MAX_MATERIAL;
matInit(sc);
}
else if ( m == n ) sc->par.nbmat++;
if ( !sc->par.linc ) {
sc->par.line[0] = 1.0 - sc->par.back[0];
sc->par.line[1] = 1.0 - sc->par.back[1];
sc->par.line[2] = 1.0 - sc->par.back[2];
}
if ( ddebug ) fprintf(stdout," Materials %8d\n",sc->par.nbmat);
return(1);
}
