void DynamicPartialLoudnessGM::loadParameterSet(ParameterSet set)
{
//common to all
setTimeStep(0.001);
setHpf(true);
setDiffuseField(false);
setGoertzel(false);
setDiotic(true);
setUniform(true);
setInterpRoexBank(false);
setFilterSpacing(0.25);
setCompressionCriterion(0.0);
setFastBank(false);
setStereoToMono(true);
switch(set){
case GM02:
break;
case FASTER1:
setFastBank(true);
setInterpRoexBank(true);
setCompressionCriterion(0.3);
break;
default:
setFastBank(true);
setCompressionCriterion(0.3);
}
}
//sets species and periodic boundary
AngledPeriodicBoundaryUnitTest()
{
LinearViscoelasticFrictionReversibleAdhesiveSpecies species;
//set density such that mass is 1.0 for diameter 1.0 particles
species.setDensity(6.0 / constants::pi);
species.setStiffness(1e2);
species.setAdhesionStiffness(1e2);
//set such that the overlap for force balance is 10%
species.setAdhesionForceMax(1e-1 * species.getAdhesionStiffness());
species.setRollingFrictionCoefficient(1e20);
species.setRollingStiffness(1.0);
speciesHandler.copyAndAddObject(species);
setTimeStep(1e-5);
PeriodicBoundary b1;
b1.set({0,1,0},0,4);
//boundaryHandler.copyAndAddObject(b1);
AngledPeriodicBoundary b;
Mdouble c = cos(constants::pi/2.0);
Mdouble s = sqrt(1.0-c*c);
Vec3D normal_left(s,-c,0.0);
Vec3D normal_right(0.0,-1.0,0.0);
Vec3D origin(0.0,0.0,0.0);
b.set(normal_left,normal_right,origin);
//comment line below to see how the system behaves w/o AngledPeriodicBoundary
boundaryHandler.copyAndAddObject(b);
}
void AWidget::timerEvent(QTimerEvent *)
{
QElapsedTimer timer;
timer.start();
updateGL();
setTimeStep(timer.elapsed()+15);
}
Sim::Sim()
: sim::Sim(), _arena(0)
{
#if ODE == 1
DBG("Using ODE");
sim::ode::World *w = new sim::ode::World();
setWorld(w);
w->setCFM(.0001);
w->setERP(0.8);
w->setStepType(sim::ode::World::STEP_TYPE_QUICK);
w->setAutoDisable(0.01, 0.01, 5, 0.);
w->setContactApprox1(true);
w->setContactApprox2(true);
w->setContactBounce(0.1, 0.1);
#else
DBG("Using Bullet");
sim::bullet::World *w = new sim::bullet::World();
setWorld(w);
#endif
setTimeStep(sim::Time::fromMs(5));
setTimeSubSteps(2);
pauseSimulation();
setSimulateReal(false);
_povray = 0;
createArena();
createRobots();
}
// TODO: Changes for turbulent simulation not implemented yet!
void TurbulentSimulation::solveTimestep(){
// determine and set max. timestep which is allowed in this simulation
setTimeStep();
// compute fgh
_turbulentFghIterator.iterate();
// set global boundary values
_wallFGHIterator.iterate();
// compute the right hand side
_rhsIterator.iterate();
// solve for pressure
_solver.solve();
// TODO WS2: communicate pressure values
_parallelManagerTurbulent.communicatePressure();
// compute velocity
_velocityIterator.iterate();
// set obstacle boundaries
_obstacleIterator.iterate();
// TODO WS2: communicate velocity values
_parallelManagerTurbulent.communicateVelocity();
// Iterate for velocities on the boundary
_wallVelocityIterator.iterate();
_parallelManagerTurbulent.communicateCenterLineVelocity();
_turbulentViscosityIterator.iterate();
_parallelManagerTurbulent.communicateViscosity();
_turbulentViscosityBoundaryIterator.iterate();
}
ofxMSAPhysics::ofxMSAPhysics() {
verbose = false;
setTimeStep(0.000010);
setDrag();
setNumIterations();
enableCollision();
setGravity();
clearWorldSize();
#ifdef MSAPHYSICS_USE_RECORDER
_frameCounter = 0;
setReplayMode(OFX_MSA_DATA_IDLE);
setReplayFilename("recordedData/physics/physics");
#endif
}
void setupInitialConditions()
{
setParticleDimensions(2);
setSystemDimensions(2);
setXMin(-2.0);
setXMax(2.0);
setYMin(-2.0);
setYMax(2.0);
species->setDensity(6.0 / constants::pi);
setGravity(Vec3D(0.0, 0.0, 0.0));
species->setCollisionTimeAndRestitutionCoefficient(0.01, 1.0, 1.0);
setTimeStep(0.0002);
setTimeMax(1.0);
setSaveCount(helpers::getSaveCountFromNumberOfSavesAndTimeMaxAndTimestep(20, getTimeMax(), getTimeStep()));
p1f = particleHandler.copyAndAddObject(BaseParticle());
p2f = particleHandler.copyAndAddObject(BaseParticle());
p3f = particleHandler.copyAndAddObject(BaseParticle());
p1e = particleHandler.copyAndAddObject(BaseParticle());
p2e = particleHandler.copyAndAddObject(BaseParticle());
p3e = particleHandler.copyAndAddObject(BaseParticle());
triangle = wallHandler.copyAndAddObject(IntersectionOfWalls());
std::vector<Vec3D> points={Vec3D(0.5,-std::sqrt(3)/6.0,0.0),Vec3D(0.0,std::sqrt(3)/3.0,0.0),Vec3D(-0.5,-std::sqrt(3)/6.0,0.0),Vec3D(0.5,-std::sqrt(3)/6.0,0.0)};
triangle->createOpenPrism(points,Vec3D(0.0,0.0,1.0));
p1f->setRadius(0.1);
p2f->setRadius(0.1);
p3f->setRadius(0.1);
p1f->setPosition(Vec3D(-0.5, std::sqrt(3)/6.0,0.0));
p2f->setPosition(Vec3D(-0.0,-std::sqrt(3)/3.0,0.0));
p3f->setPosition(Vec3D( 0.5, std::sqrt(3)/6.0,0.0));
p1f->setVelocity(Vec3D( 0.5,-std::sqrt(3)/6.0,0.0));
p2f->setVelocity(Vec3D( 0.0, std::sqrt(3)/3.0,0.0));
p3f->setVelocity(Vec3D(-0.5,-std::sqrt(3)/6.0,0.0));
p1e->setRadius(0.1);
p2e->setRadius(0.1);
p3e->setRadius(0.1);
p1e->setPosition(1.5*Vec3D( 0.5,-std::sqrt(3)/6.0,0.0));
p2e->setPosition(1.5*Vec3D( 0.0, std::sqrt(3)/3.0,0.0));
p3e->setPosition(1.5*Vec3D(-0.5,-std::sqrt(3)/6.0,0.0));
p1e->setVelocity(Vec3D(-0.5, std::sqrt(3)/6.0,0.0));
p2e->setVelocity(Vec3D( 0.0,-std::sqrt(3)/3.0,0.0));
p3e->setVelocity(Vec3D( 0.5, std::sqrt(3)/6.0,0.0));
}
void setupInitialConditions()
{
relVelocity_ = 1e-1;
setName("AdhesiveForceUnitTest_ParticleWallInteractionWithPlasticForces");
setSystemDimensions(3);
setParticleDimensions(3);
setGravity(Vec3D(0,0,0));
species->setDensity(2000.0);
species->setStiffness(1e2);
species->setAdhesionStiffness(1e2);
species->setAdhesionForceMax(1e-5*species->getAdhesionStiffness());
Mdouble R = 1e-3;
species->setSlidingStiffness(1.2e1);
species->setSlidingFrictionCoefficient(0.01);
setTimeStep(5e-6 / 2.0);
setXMax( 2*R);
setYMax( R);
setZMax( R);
setXMin(0);
setYMin(-R);
setZMin(-R);
particleHandler.clear();
BaseParticle P;
P.setRadius(R);
P.setPosition(Vec3D(R+species->getInteractionDistance()*1/3,0,0));
P.setVelocity(Vec3D(-relVelocity_/2,0,0));
particleHandler.copyAndAddObject(P);
wallHandler.clear();
InfiniteWall w;
w.set(Vec3D(-1, 0, 0), Vec3D(getXMin(), 0, 0));
wallHandler.copyAndAddObject(w);
setTimeMax(getTimeStep()*250*4);
setFileType(FileType::ONE_FILE);
setSaveCount(1);
}
void setupInitialConditions()
{
setParticleDimensions(3);
setXMax(2);
setYMax(2);
setZMax(2);
setSystemDimensions(3);
species->setDensity(6.0 / constants::pi);
setGravity(Vec3D(0.0, 0.0, 0.0));
species->setCollisionTimeAndRestitutionCoefficient(0.01, 1.0, 1.0);
setTimeStep(0.0002);
setTimeMax(1.0);
setSaveCount(helpers::getSaveCountFromNumberOfSavesAndTimeMaxAndTimestep(20, getTimeMax(), getTimeStep()));
//set particles
particle->setRadius(0.5);
particle->setPosition(Vec3D(1.0, 1.0, 1.0));
particle->setVelocity(Vec3D(0.0, 0.0, -1.0));
//set walls
wall->setNormal(Vec3D(0.0, 0.0, -1.0));
}
InputControlerSet::InputControlerSet(Kernel::Model* model)
: Kernel::ControlerSet(model)
{
setTimeStep(0.02) ;
}
int main()
{
int dimension = 3;
auto resolution = Manta::Vec3i(128);
if (dimension == 2) resolution.z = 1;
auto main_solver = Manta::FluidSolver(resolution, dimension);
main_solver.setTimeStep(0.5f);
Real minParticles = pow(2, dimension);
Real radiusFactor = 1.0f;
// solver grids
auto flags = Manta::FlagGrid(&main_solver);
auto phi = Manta::LevelsetGrid(&main_solver);
auto vel = Manta::MACGrid(&main_solver);
auto vel_old = Manta::MACGrid(&main_solver);
auto pressure = Manta::Grid<Real>(&main_solver);
auto tmp_vec3 = Manta::Grid<Manta::Vec3>(&main_solver);
auto tstGrid = Manta::Grid<Real>(&main_solver);
// particles
auto pp = Manta::BasicParticleSystem(&main_solver);
auto pVel = Manta::PdataVec3(&pp);
auto pTest = Manta::PdataReal(&pp);
auto mesh = Manta::Mesh(&main_solver);
// acceleration data for particle nbs
auto pindex = Manta::ParticleIndexSystem(&main_solver);
auto gpi = Manta::Grid<int>(&main_solver);
int setup = 0;
int boundaryWidth = 1;
flags.initDomain(boundaryWidth);
auto fluidVel = Manta::Sphere(&main_solver, Manta::Vec3(0.0f), 1.0f);
Manta::Vec3 fluidSetVel;
if (setup == 0)
{
// breakin dam
auto fluidbox = Manta::Box(&main_solver, Manta::Vec3::Invalid,
Manta::Vec3(0.0f, 0.0f, 0.0f),
Manta::Vec3(resolution.x * 0.4f, resolution.y * 0.6f, resolution.z * 0.1f));
phi.copyFrom(fluidbox.computeLevelset());
} else if (setup == 1)
{
// drop into box
auto fluidbasin = Manta::Box(&main_solver, Manta::Vec3::Invalid,
Manta::Vec3(0.0f, 0.0f, 0.0f),
Manta::Vec3(resolution.x * 1.0f, resolution.y * 0.1f, resolution.z * 1.0f));
auto dropCenter = Manta::Vec3(0.5f, 0.3f, 0.5f);
Real dropRadius = 0.1f;
auto fluidDrop = Manta::Sphere(&main_solver, Manta::Vec3(resolution.x * dropCenter.x, resolution.y * dropCenter.y, resolution.z * dropCenter.z),
resolution.x * dropRadius);
fluidVel = Manta::Sphere(&main_solver, Manta::Vec3(resolution.x * dropCenter.x, resolution.y * dropCenter.y, resolution.z * dropCenter.z),
resolution.x * (dropRadius + 0.05f));
fluidSetVel = Manta::Vec3(0.0f, -1.0f, 0.0f);
phi.copyFrom(fluidbasin.computeLevelset());
phi.join(fluidDrop.computeLevelset());
}
flags.updateFromLevelset(phi);
Manta::sampleLevelsetWithParticles(phi, flags, pp, 2, 0.05f);
if (setup == 1)
{
fluidVel.applyToGrid(&vel, fluidSetVel);
Manta::mapGridToPartsVec3(vel, pp, pVel);
}
Manta::testInitGridWithPos(tstGrid);
pTest.setConst(0.1f);
for (int t = 0; t < 250; t++)
{
// FLIP
pp.advectInGrid(flags, vel, Manta::IntegrationMode::IntRK4, false);
// make sure we have velocities throught liquid region
Manta::mapParticlesToMAC(flags, vel, vel_old, pp, pVel, &tmp_vec3);
Manta::extrapolateMACFromWeight(vel, tmp_vec3, 2);
Manta::markFluidCells(pp, flags);
// create approximate surface level set, resample particles
Manta::gridParticleIndex(pp, pindex, flags, gpi);
Manta::unionParticleLevelset(pp, pindex, flags, gpi, phi, radiusFactor);
Manta::resetOutflow(flags, nullptr, &pp, nullptr, &gpi,&pindex);
// extend levelset somewhat, needed by particle resampling in adjustNumber
Manta::extrapolateLsSimple(phi, 4, true);
// forces and pressure solve
Manta::addGravity(flags, vel, Manta::Vec3(0.0f, -0.001f, 0.0f));
Manta::setWallBcs(flags, vel);
Manta::solvePressure(vel, pressure, flags, &phi);
Manta::setWallBcs(flags, vel);
// set source grids for resampling, used in adjustNumber!
pVel.setSource(&vel, true);
pTest.setSource(&tstGrid);
Manta::adjustNumber(pp, vel, flags, 1 * minParticles, 2 * minParticles, phi, radiusFactor);
// make sure we have proper velocities
Manta::extrapolateMACSimple(flags, vel);
Manta::flipVelocityUpdate(flags, vel, vel_old, pp, pVel, 0.97f);
if (dimension == 3) phi.createMesh(mesh);
main_solver.step();
// generate data directly and for flip03_gen.py surface generation scene
std::stringstream filename1, filename2;
filename1 << "simulation data\\flip02_surface\\fluidsurface_final_" << std::setw(4) << std::setfill('0') << t << ".bobj.gz";
filename2 << "simulation data\\flip02_surface\\flipParts_" << std::setw(4) << std::setfill('0') << t << ".uni";
mesh.save(filename1.str());
pp.save(filename2.str());
}
}
int main()
{
GLFWwindow* window;
if (!glfwInit())
{
printf("Error initializing GLFW\n");
return -1;
}
glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, GL_VERSION_MAJOR);
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, GL_VERSION_MINOR);
glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
//glfwWindowHint(GLFW_RESIZABLE, GL_FALSE);
glfwWindowHint(GLFW_SAMPLES, 8);
window = glfwCreateWindow(1920, 1080, "Test Window", glfwGetPrimaryMonitor(), NULL);
if (!window)
{
printf("Error creating GLFW window\n");
glfwTerminate();
return -1;
}
glfwMakeContextCurrent(window);
glfwSetKeyCallback(window, key_callback);
glfwSetMouseButtonCallback(window, mouse_button_callback);
glfwSetCursorPosCallback(window, cursor_position_callback);
glfwSetScrollCallback(window, scroll_callback);
if (gl3wInit())
{
printf("Error initializing OpenGL\n");
glfwTerminate();
return -1;
}
printf("OpenGL %s GLSL %s\n", glGetString(GL_VERSION), glGetString(GL_SHADING_LANGUAGE_VERSION));
if (!gl3wIsSupported(GL_VERSION_MAJOR, GL_VERSION_MINOR))
{
printf("OpenGL %i.%i is not supported\n", GL_VERSION_MAJOR, GL_VERSION_MINOR);
glfwTerminate();
return -1;
}
glViewport(0, 0, 1920, 1080);
glEnable(GL_CULL_FACE);
glEnable(GL_DEPTH_TEST);
GLuint programID = loadShadersvf("shaders/simple.vsh", "shaders/simple.fsh");
GLuint vao;
glGenVertexArrays(1, &vao);
glBindVertexArray(vao);
GLuint vbo;
glGenBuffers(1, &vbo);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
//glBufferData(GL_ARRAY_BUFFER, sizeof(vertex_buffer_data), vertex_buffer_data, GL_STATIC_DRAW);
glBufferData(GL_ARRAY_BUFFER, sizeof(sphere_model), sphere_model, GL_STATIC_DRAW);
GLuint ibo;
glGenBuffers(1, &ibo);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ibo);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(sphere_indices), sphere_indices, GL_STATIC_DRAW);
//glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(index_buffer_data), index_buffer_data, GL_STATIC_DRAW);
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, 0);
glDisableVertexAttribArray(0);
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindVertexArray(0);
double timesteps[] = {1, 60, 60 * 60, 60 * 60 * 24, 60 * 60 * 24 * 7, 60 * 60 * 24 * 30, 60 * 60 * 24 * 365};
int timestepCounter = 0;
World world;
world.num_functions = 0;
//Add the functions for gravitational attraction to the world's object list, and have it execute when updateWorld() is called
addFunction(&world, attract, COMPONENT_POSITION | COMPONENT_VELOCITY);
addFunction(&world, move, COMPONENT_POSITION | COMPONENT_VELOCITY);
unsigned int bodies[11];
//Create all the planets with the correct masses, sizes, and velocities
bodies[0] = createStar(&world, "Sun", 0, 0, 0, 0, 0, 0, 1.989 * pow(10, 30), 6.963 * pow(10,8), 1);
bodies[1] = createPlanet(&world, "Mercury", -0.35790 * AU, -0.04240 * AU, -0.11618 * AU,
-0.00000004 * AU, 0.00000003 * AU, 0.00000031 * AU, 3.285 * pow(10,23), 2.44 * pow(10,6), 0.4549, 0.4509, 0.4705);
bodies[2] = createPlanet(&world, "Venus", -0.46075 * AU, -0.03422 * AU, -0.56289 * AU,
-0.00000017 * AU, -0.00000001 * AU, 0.00000014 * AU, 4.867 * pow(10, 24), 6.052 * pow(10,6), 0.4627, 0.568, 0.380);
bodies[3] = createPlanet(&world, "Earth", 0.99542 * AU, 0, 0.01938 * AU,
0.00000001 * AU, 0, -0.00000019 * AU, 5.972 * pow(10, 24), 6.371 * pow(10,6), 0, 0.4, 0.6);
bodies[4] = createPlanet(&world, "Moon", 0.99708 * AU, -0.00016 * AU, 0.02141 * AU,
0.00000001 * AU + 722.66, 0, -0.00000019 * AU - 722.66, 7.348 * pow(10, 22), 1.737 * pow(10,6), 0.4, 0.4, 0.4);
bodies[5] = createPlanet(&world, "Mars", 1.38763 * AU, 0.01755 * AU, -0.79510 * AU,
-0.00000009 * AU, -0.00000001 * AU, -0.00000013 * AU, 6.39 * pow(10, 23), 3.39 * pow(10,6), 0.8157, 0.5294, 0.3922);
bodies[6] = createPlanet(&world, "Jupiter", 5.32462 * AU, 0.11488 * AU, 1.04223 * AU,
0.00000002 * AU, 0, -0.00000008 * AU, 1.898 * pow(10,27), 69.911 * pow(10,6), 0.8824, 0.7961, 0.7412);
bodies[7] = createPlanet(&world, "Saturn", 3.30063 * AU, 0.29595 * AU, -9.47771 * AU,
-0.00000006 * AU, 0, -0.00000002 * AU, 5.683 * pow(10,26), 58.232 * pow(10,6), 0.7843, 0.6392, 0.4314);
bodies[8] = createPlanet(&world, "Uranus", -18.76415 * AU, -0.21783 * AU, 6.83528 * AU,
0.00000002 * AU, 0, 0.00000004 * AU, 8.681 * pow(10,25), 25.362 * pow(10,6), 0.8314, 0.9804, 0.9922);
bodies[9] = createPlanet(&world, "Neptune", -28.07048 * AU, -0.42924 * AU, -10.42730 * AU,
-0.00000002 * AU, 0, 0.0000003 * AU, 1.024 * pow(10,26), 24.622 * pow(10,6), 0.2, 0.2902, 0.7451);
bodies[10] = createPlanet(&world, "Pluto", -8.88081 * AU, 0.86973 * AU, -31.76914 * AU,
-0.00000003 * AU, -0.00000001 * AU, 0.0000001 / 41.0 * AU, 1.309 * pow(10,22), 1.186 * pow(10, 6), 0.7137, 0.6824, 0.6314);
double mat4d_projection[4][4] = MATRIX_IDENTITY_4;
mat4dProjection(M_PI / 2.0, 16.0/9.0, pow(10,6), pow(10,13), mat4d_projection);
unsigned int parent = 3;
Camera camera;
makeCamera(&camera, 0, 0, pow(10, 9), &world, bodies[parent]);
double mat4d_camera[4][4] = MATRIX_IDENTITY_4;
float mat4_camera[4][4];
double sensitivity = 0.005;
printf("Starting main loop\n");
while (!glfwWindowShouldClose(window))
{
clearInput();
glfwPollEvents();
//rotate or zoom out the camera depending on camera movement and scrolling
double dx, dy, dz;
getMouseDelta(&dx, &dy, &dz);
updateCamera(&camera, dx * sensitivity, dy * sensitivity, dz);
if (getClicked())
{
if(++parent > 10) parent = 0;
changeCameraParent(&camera, pow(10, 9), &world, bodies[parent]);
}
timestepCounter += getTimeStepChange();
if (timestepCounter > 6) timestepCounter = 0;
else if (timestepCounter < 0) timestepCounter = 6;
setTimeStep(timesteps[timestepCounter]);
//get the time since the last frame to do proper delta-timing for the gravitational attraction and movement
double delta = timeTick();
updateWorld(&world, delta);
getCameraMatrix(&camera, mat4d_camera);
double modelView[4][4];
mat4dMlt(mat4d_projection, mat4d_camera, modelView);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glUseProgram(programID);
glBindVertexArray(vao);
glEnableVertexAttribArray(0);
//For each of the objects in the world, loop through them and render them if they have a position and radius,
//rendering works by rendering the same sphere over and over, with a different translation and scale
//because all objects in this program are spheres
for (int i = 0; i < WORLD_MAX_ENTITIES; ++i)
{
if (isEntity(&world, i, COMPONENT_POSITION | COMPONENT_RADIUS))
{
/*double pos[4] = {world.position[i].position[0], world.position[i].position[1], world.position[i].position[2], 1};
vec4dMltMat(mat4d_camera, pos, pos);
double distance = vec3dLength(pos);
printf("%i: %f\n", i, distance);
double mat4d_model[4][4] = MATRIX_IDENTITY_4;
double radius = world.radius[i].radius;
double scaleFactor = distance * (1 / pow(radius,2));
printf("Scale factor: %f\n", scaleFactor);
if (scaleFactor > pow(10,-3))
{
printf("Has been scaled\n");
radius = radius / scaleFactor;
}
printf("Radius: %f\n", radius);*/
double mat4d_model[4][4] = MATRIX_IDENTITY_4;
double radius = world.radius[i].radius;
double scale[3] = {radius, radius, radius};
mat4dGenScale(scale, mat4d_model);
mat4dTranslate(world.position[i].position, mat4d_model);
double modelViewProjection[4][4];
mat4dMlt(modelView, mat4d_model, modelViewProjection);
float modelViewProjectionf[4][4];
doubleToSingle(modelViewProjection[0], modelViewProjectionf[0], 16);
double color[3] = {1,1,1};
if (isEntity(&world, i, COMPONENT_COLOR))
{
vec3dSetEqual(world.color[i].color, color);
}
float colorf[3];
doubleToSingle(color, colorf, 3);
GLint colorLoc = glGetUniformLocation(programID, "in_color");
glUniform3fv(colorLoc, 1, colorf);
GLint mvpLoc = glGetUniformLocation(programID, "mvp");
glUniformMatrix4fv(mvpLoc, 1, GL_FALSE, modelViewProjectionf[0]);
glDrawElements(GL_TRIANGLES, sphere_num_indices, GL_UNSIGNED_INT, 0);
}
}
glDisableVertexAttribArray(0);
glBindVertexArray(0);
glfwSwapBuffers(window);
}
glfwDestroyWindow(window);
glfwTerminate();
return 0;
}
void Sequencer::touch(double nexttimestep){
touch();
setTimeStep(nexttimestep);
}
void Simulation::configure(const config::Configuration& config)
{
// Resize world
{
auto size = config.get<SizeVector>("world-size");
if (size.getWidth() == Zero || size.getHeight() == Zero)
throw config::Exception("Width or height is zero!");
setWorldSize(size);
}
// Time step
setTimeStep(config.get<units::Time>("dt"));
if (config.has("length-coefficient"))
{
m_converter.setLengthCoefficient(config.get<RealType>("length-coefficient"));
}
// Set gravity
setGravity(config.get("gravity", getGravity()));
// Number of iterations
setIterations(config.get("iterations", getIterations()));
// Background color
setBackgroundColor(config.get("background", getBackgroundColor()));
#if CONFIG_RENDER_TEXT_ENABLE
setFontColor(config.get("text-color", getBackgroundColor().inverted()));
#endif
#if CONFIG_RENDER_TEXT_ENABLE
setFontSize(config.get("text-size", getFontSize()));
#endif
#if CONFIG_RENDER_TEXT_ENABLE
setSimulationTimeRender(config.get("show-simulation-time", isSimulationTimeRender()));
#endif
#ifdef CECE_ENABLE_RENDER
setVisualized(config.get("visualized", isVisualized()));
#endif
// Parse plugins
for (auto&& pluginConfig : config.getConfigurations("plugin"))
{
// Returns valid pointer or throws an exception
requirePlugin(pluginConfig.get("name"))->configure(*this, pluginConfig);
}
// Parse parameters
for (auto&& parameterConfig : config.getConfigurations("parameter"))
{
setParameter(parameterConfig.get("name"), units::parse(parameterConfig.get("value")));
}
// Register user types
for (auto&& typeConfig : config.getConfigurations("type"))
{
addObjectType({
typeConfig.get("name"),
typeConfig.get("base"),
typeConfig.toMemory()
});
}
// Parse init
for (auto&& initConfig : config.getConfigurations("init"))
{
const String typeName = initConfig.has("language")
? initConfig.get("language")
: initConfig.get("type");
auto initializer = getPluginContext().createInitializer(typeName);
if (initializer)
{
// Configure initializer
initializer->loadConfig(*this, initConfig);
// Register initializer
addInitializer(std::move(initializer));
}
}
// Parse modules
for (auto&& moduleConfig : config.getConfigurations("module"))
{
// Get name
auto name = moduleConfig.get("name");
if (hasModule(name))
continue;
const String typeName = moduleConfig.has("language")
? moduleConfig.get("language")
: moduleConfig.has("type")
? moduleConfig.get("type")
: name
;
auto module = getPluginContext().createModule(typeName, *this);
if (module)
{
module->loadConfig(*this, moduleConfig);
addModule(std::move(name), std::move(module));
}
}
// Parse programs
for (auto&& programConfig : config.getConfigurations("program"))
{
const String typeName = programConfig.has("language")
? programConfig.get("language")
: programConfig.get("type");
auto program = getPluginContext().createProgram(typeName);
if (program)
{
// Configure program
program->loadConfig(*this, programConfig);
// Register program
addProgram(programConfig.get("name"), std::move(program));
}
}
// Parse objects
for (auto&& objectConfig : config.getConfigurations("object"))
{
// Create object
auto object = buildObject(
objectConfig.get("class"),
objectConfig.get("type", object::Object::Type::Dynamic)
);
if (object)
object->configure(objectConfig, *this);
}
if (config.has("data-out-objects-filename"))
{
m_dataOutObjects = makeUnique<OutFileStream>(config.get("data-out-objects-filename"));
*m_dataOutObjects << "iteration;totalTime;id;typeName;posX;posY;velX;velY\n";
}
}
void setupInitialConditions()
{
auto species = speciesHandler.copyAndAddObject(LinearViscoelasticFrictionSpecies());
species->setDensity(constants::pi / 6.0);
double stiffness = 1e5;
setParticleDimensions(2);
species->setDensity(2500);
species->setStiffness(stiffness);
species->setSlidingStiffness(2.0 / 7.0 * stiffness);
species->setSlidingFrictionCoefficient(0.5);
species->setRollingStiffness(2.0 / 5.0 * stiffness);
species->setRollingFrictionCoefficient(0.5);
species->setTorsionStiffness(2.0 / 5.0 * stiffness);
species->setTorsionFrictionCoefficient(0.5);
setGravity(Vec3D(0.0, 0.0, 0.0));
setTimeMax(8e-2);
setTimeStep(2.0e-4);
setFileType(FileType::NO_FILE);
setXMin(0.0);
setYMin(0.0);
setXMax(1.0);
setYMax(1.0);
PeriodicBoundary b0;
b0.set(Vec3D(1, 0, 0), getXMin(), getXMax());
boundaryHandler.copyAndAddObject(b0);
b0.set(Vec3D(0, 1, 0), getYMin(), getYMax());
boundaryHandler.copyAndAddObject(b0);
BaseParticle P0, P1, P2, P3, P4, P5, P6, P7;
//Particle to be removed
P0.setPosition(Vec3D(0.1, 0.1, 0.0));
P1.setPosition(Vec3D(0.3, 0.3, 0.0));
//Contacts starts normal becomes periodic
P2.setPosition(Vec3D(0.6, 0.041, 0.0));
P2.setAngularVelocity(Vec3D(0.3, 0.6, 0.9));
P3.setPosition(Vec3D(0.4, 0.001, 0.0));
//Normal case
P4.setPosition(Vec3D(0.6, 0.82, 0.0));
P4.setAngularVelocity(Vec3D(0.3, 0.6, 0.9));
P5.setPosition(Vec3D(0.4, 0.78, 0.0));
//Contact starts periodic becomes normal and periodic again
P6.setPosition(Vec3D(0.02, 0.42, 0.0));
P6.setAngularVelocity(Vec3D(0.3, 0.6, 0.9));
P7.setPosition(Vec3D(0.82, 0.38, 0.0));
P0.setVelocity(Vec3D(0.0, 0.0, 0.0));
P1.setVelocity(Vec3D(0.0, 0.0, 0.0));
P2.setVelocity(Vec3D(-1.0, 0.0, 0.0));
P3.setVelocity(Vec3D(1.0, 0.0, 0.0));
P4.setVelocity(Vec3D(-1.0, 0.0, 0.0));
P5.setVelocity(Vec3D(1.0, 0.0, 0.0));
P6.setVelocity(Vec3D(-1.0, 0.0, 0.0));
P7.setVelocity(Vec3D(1.0, 0.0, 0.0));
P0.setRadius(0.1);
P1.setRadius(0.1);
P2.setRadius(0.1);
P3.setRadius(0.1);
P4.setRadius(0.1);
P5.setRadius(0.1);
P6.setRadius(0.1);
P7.setRadius(0.1);
particleHandler.copyAndAddObject(P0);
particleHandler.copyAndAddObject(P1);
particleHandler.copyAndAddObject(P2);
particleHandler.copyAndAddObject(P3);
particleHandler.copyAndAddObject(P4);
particleHandler.copyAndAddObject(P5);
particleHandler.copyAndAddObject(P6);
particleHandler.copyAndAddObject(P7);
}
bool TimeSeriesMotion::load(const QString &fileName, bool defaults, double scale)
{
m_accel.clear();
setFileName(fileName);
const QString ext = m_fileName.right(3).toUpper();
// Load the file
QFile file(m_fileName);
if (!file.open( QIODevice::ReadOnly | QIODevice::Text )) {
qWarning() << "Unable to open the time series file:" << qPrintable(m_fileName);
return false;
}
QTextStream stream(&file);
if (defaults) {
if (ext == "AT2") {
// Set format
setFormat(Rows);
setStartLine(5);
setStopLine(0);
setScale(scale);
// Read in the header information
Q_UNUSED(stream.readLine());
setDescription(stream.readLine());
Q_UNUSED(stream.readLine());
QStringList parts = stream.readLine().split(QRegExp("\\s+"));
bool b;
const int count = parts.at(0).toInt(&b);
if (b && count > 1) {
// Greater than one condition to catch if an acceleration value is read
setPointCount(count);
} else {
qCritical() << "Unable to parse the point count in AT2 file!";
return false;
}
const double timeStep = parts.at(1).toDouble(&b);
if (b) {
setTimeStep(timeStep);
} else {
qCritical() << "Unable to parse the time step in AT2 file!";
return false;
}
} else {
// Unknown file format can't process with default settings
return false;
}
} else {
// Check the input
if (m_timeStep <= 0) {
qCritical("Time step must be greater than one");
return false;
}
if (m_startLine < 0) {
qCritical("Number of header lines must be positive");
return false;
}
}
// Move back to the start of the stream
stream.seek(0);
int lineNum = 1;
// Skip the header lines
while (lineNum < m_startLine) {
Q_UNUSED(stream.readLine());
++lineNum;
}
// Initialize the length of m_accel
m_accel.resize(m_pointCount);
// Process each of the lines
int index = 0;
// Read the first line
QString line =stream.readLine();
bool finished = false;
bool stopLineReached = false;
// Modify the scale for unit conversion
scale = unitConversionFactor() * m_scale;
while (!finished && !line.isNull()) {
// Stop if line exceeds number of lines. The line number has
// to be increased by one because the user display starts at
// line number 1 instead of 0
if (m_stopLine > 0 && m_stopLine <= lineNum+1) {
stopLineReached = true;
break;
}
// Read the line and split the line
QRegExp rx("(-?\\d*\\.\\d+(?:[eE][+-]?\\d+)?)");
int pos = 0;
QStringList row;
while ((pos = rx.indexIn(line, pos)) != -1) {
row << rx.cap(1);
pos += rx.matchedLength();
}
// Process the row based on the format
bool ok;
switch (m_format) {
case Rows:
// Use all parts of the data
for(int i = 0; i < row.size(); ++i) {
if ( index == m_pointCount ) {
qWarning("Point count reached before end of data!");
finished = true;
break;
}
// Apply the scale factor and read the acceleration
m_accel[index] = scale * row.at(i).trimmed().toDouble(&ok);
// Increment the index
++index;
// Stop if there was an error in the conversion
if (!ok) {
continue;
}
}
break;
case Columns:
// Use only the important column, however at the end of the
// file that column may not exist -- this only happens when the
// row format is applied, but it still causes the program to
// crash.
if ( m_dataColumn - 1 < row.size() ) {
m_accel[index] = scale * row.at(m_dataColumn-1).trimmed().toDouble(&ok);
}
// Increment the index
++index;
break;
}
// Throw an error if there was a problem
if (!ok) {
qCritical() << "Error converting string to double in line: \n\""
<< qPrintable(line) << "\"\nCheck starting line.";
return false;
}
// Read the next line
++lineNum;
line = stream.readLine();
}
if (m_pointCount != index) {
if (stopLineReached) {
qWarning() << "Number of points limited by stop line.";
} else {
qCritical() << "Number of points read does not equal specified point count!";
return false;
}
}
// Compute motion properties
calculate();
setIsLoaded(true);
return true;
}
