void
Object::applyDragForces(void)
{
double xf = m_linear_drag_coef[0] * m_linear_velocity[0];
double yf = (m_linear_drag_coef[1] * m_linear_velocity[1] +
m_linear_drag_coef[6] * m_angular_velocity[2]);
double zf = (m_linear_drag_coef[2] * m_linear_velocity[2] +
m_linear_drag_coef[7] * m_angular_velocity[1]);
double pf = m_linear_drag_coef[3] * m_angular_velocity[0];
double qf = (m_linear_drag_coef[4] * m_angular_velocity[1] +
m_linear_drag_coef[8] * m_linear_velocity[2]);
double rf = (m_linear_drag_coef[5] * m_angular_velocity[2] +
m_linear_drag_coef[9] * m_linear_velocity[1]);
addForces(xf, yf, zf, pf, qf, rf);
xf = m_quad_drag_coef[0] * m_linear_velocity[0] * std::fabs(m_linear_velocity[0]);
yf = (m_quad_drag_coef[1] * m_linear_velocity[1] * std::fabs(m_linear_velocity[1]) +
m_quad_drag_coef[6] * m_angular_velocity[2] * std::fabs(m_angular_velocity[2]));
zf = (m_quad_drag_coef[2] * m_linear_velocity[2] * std::fabs(m_linear_velocity[2]) +
m_quad_drag_coef[7] * m_angular_velocity[1] * std::fabs(m_angular_velocity[1]));
pf = m_quad_drag_coef[3] * m_angular_velocity[0] * std::fabs(m_angular_velocity[0]);
qf = (m_quad_drag_coef[4] * m_angular_velocity[1] * std::fabs(m_angular_velocity[1]) +
m_quad_drag_coef[8] * m_linear_velocity[2] * std::fabs(m_linear_velocity[2]));
rf = (m_quad_drag_coef[5] * m_angular_velocity[2] * std::fabs(m_angular_velocity[2]) +
m_quad_drag_coef[9] * m_linear_velocity[1] * std::fabs(m_linear_velocity[1]));
addForces(xf, yf, zf, pf, qf, rf);
}
void FluidSimulator::advectVelocity(){
Cell ** updatedCells = new Cell*[simulationGrid->width];
for (int i = 0; i < simulationGrid->width; i++){
updatedCells[i] = new Cell[simulationGrid->height];
}
computeTimeStep();
for (int i = 0; i < simulationGrid->width; i++){
for (int j = 0; j < simulationGrid->height; j++){
updatedCells[i][j] = advectCell(i, j);
}
}
simulationGrid->cells = updatedCells;
for (int i = 0; i < simulationGrid->width; i++){
for (int j = 0; j < simulationGrid->height; j++){
addForces(i, j);
}
}
//std::cout << simulationGrid->getVelocityVector(4, 2);
}
//Default update for an Entity
void Entity::update(float deltaTime) {
//Add force of gravity
addForces({ 0.f, md_.mass * gravityScale_ });
integrate(deltaTime);
}
void motion(int x, int y, int nx, int ny, float fx, float fy, int spy, int spx)
{
if (clicked && nx < DIM-FR && nx > FR-1 && ny < DIM-FR && ny > FR-1)
{
addForces(dvfield, DIM, DIM, spx, spy, FORCE * DT * fx, FORCE * DT * fy, FR);
lastx = x;
lasty = y;
}
glutPostRedisplay();
}
void autoTest(char **argv)
{
CFrameBufferObject *fbo = new CFrameBufferObject(wWidth, wHeight, 4, false, GL_TEXTURE_2D);
g_CheckRender = new CheckFBO(wWidth, wHeight, 4, fbo);
g_CheckRender->setPixelFormat(GL_RGBA);
g_CheckRender->setExecPath(argv[0]);
g_CheckRender->EnableQAReadback(true);
fbo->bindRenderPath();
reshape(wWidth, wHeight);
for (int count=0; count<g_iFrameToCompare; count++)
{
simulateFluids();
// add in a little force so the automated testing is interesing.
if (ref_file)
{
int x = wWidth/(count+1);
int y = wHeight/(count+1);
float fx = (x / (float)wWidth);
float fy = (y / (float)wHeight);
int nx = (int)(fx * DIM);
int ny = (int)(fy * DIM);
int ddx = 35;
int ddy = 35;
fx = ddx / (float)wWidth;
fy = ddy / (float)wHeight;
int spy = ny-FR;
int spx = nx-FR;
addForces(dvfield, DIM, DIM, spx, spy, FORCE * DT * fx, FORCE * DT * fy, FR);
lastx = x;
lasty = y;
}
}
display();
fbo->unbindRenderPath();
// compare to offical reference image, printing PASS or FAIL.
printf("> (Frame %d) Readback BackBuffer\n", 100);
g_CheckRender->readback(wWidth, wHeight);
g_CheckRender->savePPM("fluidsGL.ppm", true, NULL);
if (!g_CheckRender->PPMvsPPM("fluidsGL.ppm", ref_file, MAX_EPSILON_ERROR, 0.25f))
{
g_TotalErrors++;
}
}
void
ASV::applyAsvActuation(void)
{
// Original parameters.
double T2CLeft[] = {-0.7428, 1.6420, 4.0325, -0.769};
double T2CRight[] = {-0.7428, 1.6420, 4.0325, -0.769};
updateActuation(0);
updateActuation(1);
double Tl = m_actuation[0];
double Tr = m_actuation[1];
double turnLeft_i[4] = {m_asvm.turnLeft_k_2, m_asvm.turnLeft_k_1, Tl * std::fabs(Tl), Tl};
double turnRight_i[4] = {m_asvm.turnRight_k_2, m_asvm.turnRight_k_1, Tr * std::fabs(Tr), Tr};
double turnLeft = std::inner_product(turnLeft_i, turnLeft_i + 4, T2CLeft, 0.0);
double turnRight = std::inner_product(turnRight_i, turnRight_i + 4, T2CRight, 0.0);
double curL = 0.0;
double curR = 0.0;
if (m_asvm.turnLeft_k_1)
curL = std::sqrt(std::fabs(m_asvm.turnLeft_k_1)) * (std::fabs(m_asvm.turnLeft_k_1) / m_asvm.turnLeft_k_1);
if (m_asvm.turnRight_k_1)
curR = std::sqrt(std::fabs(m_asvm.turnRight_k_1)) * (std::fabs(m_asvm.turnRight_k_1) / m_asvm.turnRight_k_1);
double Xf = 25 * (curL + curR);
double Nf = 0.00088667 * (curL - curR);
addForces(Xf, 0, 0, 0, 0, Nf);
// Set auxiliary memory.
m_asvm.turnLeft_k_2 = m_asvm.turnLeft_k_1;
m_asvm.turnLeft_k_1 = turnLeft;
m_asvm.turnRight_k_2 = m_asvm.turnRight_k_1;
m_asvm.turnRight_k_1 = turnRight;
}
void motion(int x, int y)
{
// Convert motion coordinates to domain
float fx = (lastx / (float)wWidth);
float fy = (lasty / (float)wHeight);
int nx = (int)(fx * DIM);
int ny = (int)(fy * DIM);
if (clicked && nx < DIM-FR && nx > FR-1 && ny < DIM-FR && ny > FR-1)
{
int ddx = x - lastx;
int ddy = y - lasty;
fx = ddx / (float)wWidth;
fy = ddy / (float)wHeight;
int spy = ny-FR;
int spx = nx-FR;
addForces(dvfield, DIM, DIM, spx, spy, FORCE * DT * fx, FORCE * DT * fy, FR);
lastx = x;
lasty = y;
}
glutPostRedisplay();
}
void GLFluids::mouseMoveEvent(QMouseEvent *event)
{
int x = event->x(); int y = event->y();
// Convert motion coordinates to domain
float fx = (lastx / (float)wWidth);
float fy = (lasty / (float)wHeight);
int nx = (int)(fx * DIM);
int ny = (int)(fy * DIM);
if (event->buttons() & Qt::LeftButton) {
int ddx = x - lastx;
int ddy = y - lasty;
fx = ddx / (float)wWidth;
fy = ddy / (float)wHeight;
int spy = ny-FR;
int spx = nx-FR;
addForces(dvfield, DIM, DIM, spx, spy, FORCE * DT * fx, FORCE * DT * fy, FR);
}
lastx = x;
lasty = y;
}
