void initialize_practical_01_scene(Viewer& viewer)
{
// create all shaders of this scene, then add them to the viewer
ShaderProgramPtr defaultShader
= std::make_shared<ShaderProgram>("../shaders/defaultVertex.glsl",
"../shaders/defaultFragment.glsl");
ShaderProgramPtr flatShader
= std::make_shared<ShaderProgram>("../shaders/flatVertex.glsl",
"../shaders/flatFragment.glsl");
viewer.addShaderProgram(defaultShader);
viewer.addShaderProgram(flatShader);
// create renderable objects
viewer.addRenderable(std::make_shared<FrameRenderable>(defaultShader));
std::shared_ptr<teachers::CubeRenderable> teachersCube
= std::make_shared<teachers::CubeRenderable>(flatShader);
teachersCube->setModelMatrix(glm::translate(glm::mat4(), glm::vec3(2.0, 0.0, 0.0)));
viewer.addRenderable(teachersCube);
std::shared_ptr<teachers::IndexedCubeRenderable> teachersIndexedCube
= std::make_shared<teachers::IndexedCubeRenderable>(flatShader);
teachersIndexedCube->setModelMatrix(glm::translate(glm::mat4(), glm::vec3(-2.0, 0.0, 0.0)));
viewer.addRenderable(teachersIndexedCube);
// MeshRenderablePtr mesh = std::make_shared<MeshRenderable>(pointLightShader, "./../meshes/suzanne.obj");
// mesh->setModelMatrix( glm::translate(glm::mat4(1.0), glm::vec3(-6,2,0)) );
// viewer.addRenderable(mesh);
}
void initialize_practical_05_scene( Viewer& viewer )
{
//Set up a shader and add a 3D frame.
ShaderProgramPtr flatShader = std::make_shared<ShaderProgram>( "../../sfmlGraphicsPipeline/shaders/flatVertex.glsl",
"../../sfmlGraphicsPipeline/shaders/flatFragment.glsl");
viewer.addShaderProgram( flatShader );
FrameRenderablePtr frame = std::make_shared<FrameRenderable>(flatShader);
viewer.addRenderable(frame);
//Initialize a dynamic system (Solver, Time step, Restitution coefficient)
DynamicSystemPtr system = std::make_shared<DynamicSystem>();
EulerExplicitSolverPtr solver = std::make_shared<EulerExplicitSolver>();
system->setSolver(solver);
system->setDt(0.01);
//Create a renderable associated to the dynamic system
//This renderable is responsible for calling DynamicSystem::computeSimulationStep() in the animate() function
//It is also responsible for some of the key/mouse events
DynamicSystemRenderablePtr systemRenderable = std::make_shared<DynamicSystemRenderable>(system);
viewer.addRenderable(systemRenderable);
//Populate the dynamic system with particles, forcefields and create renderables associated to them for visualization.
//Uncomment only one of the following line
practical05_particles(viewer, system, systemRenderable);
//practical05_springs(viewer, system, systemRenderable);
//practical05_collisions(viewer, system, systemRenderable);
//practical05_playPool(viewer, system, systemRenderable);
//Finally activate animation
viewer.startAnimation();
}
void practical05_particles(Viewer& viewer, DynamicSystemPtr& system, DynamicSystemRenderablePtr &systemRenderable)
{
//Position the camera
viewer.getCamera().setViewMatrix( glm::lookAt( glm::vec3( 0, -6, 0 ), glm::vec3(0,0,0), glm::vec3(0,0,1)));
//Initialize a shader for the following renderables
ShaderProgramPtr flatShader = std::make_shared<ShaderProgram>( "../../sfmlGraphicsPipeline/shaders/flatVertex.glsl",
"../../sfmlGraphicsPipeline/shaders/flatFragment.glsl");
viewer.addShaderProgram( flatShader );
//We diminish the time step to be able to see what happens before particles go too far
system->setDt(5e-4);
//Deactivate collision detection
system->setCollisionsDetection(false);
glm::vec3 px,pv;
float pm, pr;
//Particles with gravity and damping
{
//Initialize a particle with position, velocity, mass and radius and add it to the system
px = glm::vec3(0.0,0.0,1.0);
pv = glm::vec3(3.0,0.0,0.0);
pr = 0.1;
pm = 1.0;
ParticlePtr particle1 = std::make_shared<Particle>( px, pv, pm, pr);
system->addParticle( particle1 );
px = glm::vec3(0.0,0.0,1.5);
pv = glm::vec3(6.0,0.0,0.0);
pr = 0.1;
pm = 1.0;
ParticlePtr particle2 = std::make_shared<Particle>( px, pv, pm, pr);
system->addParticle( particle2 );
//Initialize a force field that apply to all the particles of the system to simulate gravity
//Add it to the system as a force field
ConstantForceFieldPtr gravityForceField = std::make_shared<ConstantForceField>(system->getParticles(), glm::vec3{0,0,-10} );
system->addForceField( gravityForceField );
//Create a particleRenderable for each particle of the system
//DynamicSystemRenderable act as a hierarchical renderable
//This which allows to easily apply transformation on the visualiazation of a dynamicSystem
ParticleRenderablePtr particleRenderable1 = std::make_shared<ParticleRenderable>(flatShader, particle1);
HierarchicalRenderable::addChild( systemRenderable, particleRenderable1 );
ParticleRenderablePtr particleRenderable2 = std::make_shared<ParticleRenderable>(flatShader, particle2);
HierarchicalRenderable::addChild( systemRenderable, particleRenderable2 );
}
}
void practical05_playPool(Viewer& viewer, DynamicSystemPtr& system, DynamicSystemRenderablePtr& systemRenderable)
{
//Initialize a shader for the following renderables
ShaderProgramPtr flatShader = std::make_shared<ShaderProgram>( "../../sfmlGraphicsPipeline/shaders/flatVertex.glsl",
"../../sfmlGraphicsPipeline/shaders/flatFragment.glsl");
viewer.addShaderProgram( flatShader );
//Position the camera
viewer.getCamera().setViewMatrix( glm::lookAt( glm::vec3(0,0,10), glm::vec3(0,0,0), glm::vec3(0,1,0)));
//Initialize two particles with position, velocity, mass and radius and add it to the system
glm::vec3 px(0.0,0.0,0.0),pv(0.0,0.0,0.0);
float pm=1.0, pr=1.0;
px = glm::vec3(0.0,0.0,1.0);
ParticlePtr mobile = std::make_shared<Particle>( px, pv, pm, pr);
system->addParticle( mobile );
px = glm::vec3(0.0,5.0,1.0);
ParticlePtr other = std::make_shared<Particle>( px, pv, pm, pr);
system->addParticle( other );
//Create a particleRenderable for each particle of the system
//Add them to the system renderable
ParticleRenderablePtr mobileRenderable = std::make_shared<ParticleRenderable>( flatShader, mobile );
HierarchicalRenderable::addChild(systemRenderable, mobileRenderable);
ParticleRenderablePtr otherRenderable = std::make_shared<ParticleRenderable>( flatShader, other );
HierarchicalRenderable::addChild(systemRenderable, otherRenderable);
//Initialize four planes to create walls arround the particles
glm::vec3 planeNormal, planePoint;
planeNormal = glm::vec3(-1,0,0);
planePoint = glm::vec3(10,0,0);
PlanePtr p0 = std::make_shared<Plane>( planeNormal, planePoint);
system->addPlaneObstacle( p0 );
planeNormal = glm::vec3(1,0,0);
planePoint = glm::vec3(-10,0,0);
PlanePtr p1 = std::make_shared<Plane>( planeNormal, planePoint);
system->addPlaneObstacle( p1 );
planeNormal = glm::vec3(0,-1,0);
planePoint = glm::vec3(0,10,0);
PlanePtr p2 = std::make_shared<Plane>( planeNormal, planePoint);
system->addPlaneObstacle( p2 );
planeNormal = glm::vec3(0,1,0);
planePoint = glm::vec3(0,-10,0);
PlanePtr p3 = std::make_shared<Plane>( planeNormal, planePoint);
system->addPlaneObstacle( p3 );
planeNormal = glm::vec3(0,0,1);
planePoint = glm::vec3(0,0,0);
PlanePtr floor = std::make_shared<Plane>( planeNormal, planePoint);
system->addPlaneObstacle( floor );
//Create plane renderables to display each obstacle
//Add them to the system renderable
glm::vec3 x1, x2, x3, x4;
glm::vec4 color;
x1 = glm::vec3( 10, 10,5);
x2 = glm::vec3( 10, 10,0);
x3 = glm::vec3( 10,-10,0);
x4 = glm::vec3( 10,-10,5);
color = glm::vec4( 0.4, 0.2, 0.2, 1.0);
PlaneRenderablePtr p1Renderable = std::make_shared<QuadRenderable>( flatShader, x1, x2, x3, x4, color);
HierarchicalRenderable::addChild(systemRenderable, p1Renderable);
x1 = glm::vec3( -10, 10,5);
x2 = glm::vec3( -10, 10,0);
x3 = glm::vec3( 10, 10,0);
x4 = glm::vec3( 10, 10,5);
color = glm::vec4( 0.4, 0.2, 0.2, 1.0);
PlaneRenderablePtr p2Renderable = std::make_shared<QuadRenderable>( flatShader, x1, x2, x3, x4, color);
HierarchicalRenderable::addChild(systemRenderable, p2Renderable);
x1 = glm::vec3( -10, -10,5);
x2 = glm::vec3( -10, -10,0);
x3 = glm::vec3( -10,10,0);
x4 = glm::vec3( -10,10,5);
color = glm::vec4( 0.2, 0.4, 0.4, 1.0 );
PlaneRenderablePtr p3Renderable = std::make_shared<QuadRenderable>( flatShader, x1, x2, x3, x4, color);
HierarchicalRenderable::addChild(systemRenderable, p3Renderable);
x1 = glm::vec3( 10, -10,5);
x2 = glm::vec3( 10, -10,0);
x3 = glm::vec3( -10,-10,0);
x4 = glm::vec3( -10,-10,5);
color = glm::vec4(0.2, 0.4, 0.4, 1.0);
PlaneRenderablePtr p4Renderable = std::make_shared<QuadRenderable>( flatShader, x1, x2, x3, x4, color);
HierarchicalRenderable::addChild(systemRenderable, p4Renderable);
//Initialize a force field that apply only to the mobile particle
glm::vec3 nullForce(0.0,0.0,0.0);
std::vector<ParticlePtr> vParticle;
vParticle.push_back(mobile);
ConstantForceFieldPtr force = std::make_shared<ConstantForceField>(vParticle, nullForce);
system->addForceField( force );
//Initialize a renderable for the force field applied on the mobile particle.
//This renderable allows to modify the attribute of the force by key/mouse events
//Add this renderable to the systemRenderable.
ControlledForceFieldRenderablePtr forceRenderable = std::make_shared<ControlledForceFieldRenderable>( flatShader, force );
HierarchicalRenderable::addChild(systemRenderable, forceRenderable);
//Add a damping force field to the mobile.
DampingForceFieldPtr dampingForceField = std::make_shared<DampingForceField>(vParticle, 0.9);
system->addForceField( dampingForceField );
//Activate collision and set the restitution coefficient to 1.0
system->setCollisionsDetection(true);
system->setRestitution(1.0f);
}
void practical05_collisions(Viewer& viewer, DynamicSystemPtr& system, DynamicSystemRenderablePtr &systemRenderable)
{
//Position the camera
viewer.getCamera().setViewMatrix( glm::lookAt( glm::vec3( 0, 2, 2 ), glm::vec3(0,0,0), glm::vec3(0,0,1)));
//Initialize a shader for the following renderables
ShaderProgramPtr flatShader = std::make_shared<ShaderProgram>( "../../sfmlGraphicsPipeline/shaders/flatVertex.glsl",
"../../sfmlGraphicsPipeline/shaders/flatFragment.glsl");
viewer.addShaderProgram( flatShader );
//Activate collision detection
system->setCollisionsDetection(true);
//Initialize the restitution coefficient for collision
//1.0 = full elastic response
//0.0 = full absorption
system->setRestitution(1.0f);
//Initialize a plane from 3 points and add it to the system as an obstacle
glm::vec3 p1(-1.0,-1.0,0.0),p2(1.0,-1.0,0.0), p3(1.0,1.0,0.0), p4(-1.0,1.0,0.0);
PlanePtr plane = std::make_shared<Plane>(p1, p2, p3);
system->addPlaneObstacle(plane);
//Create a plane renderable to display the obstacle
PlaneRenderablePtr planeRenderable = std::make_shared<QuadRenderable>(flatShader, p1,p2,p3,p4);
HierarchicalRenderable::addChild( systemRenderable, planeRenderable );
glm::vec3 px,pv;
float pm, pr;
//Particle vs Plane collision
{
//Initialize a particle with position, velocity, mass and radius and add it to the system
px = glm::vec3(0.0,0.0,1.0);
pv = glm::vec3(0.0,0.0,0.0);
pr = 0.1;
pm = 1.0;
ParticlePtr particle = std::make_shared<Particle>( px, pv, pm, pr);
system->addParticle( particle );
//Create a particleRenderable for each particle of the system
//DynamicSystemRenderable act as a hierarchical renderable
//This which allows to easily apply transformation on the visualiazation of a dynamicSystem
ParticleRenderablePtr particleRenderable = std::make_shared<ParticleRenderable>(flatShader, particle);
HierarchicalRenderable::addChild( systemRenderable, particleRenderable );
}
//Particle vs Particle collision
{
//Initialize two particles with position, velocity, mass and radius and add it to the system
//One of the particle is fixed
px = glm::vec3(0.5,0.0,0.1);
pv = glm::vec3(0.0,0.0,0.0);
pr = 0.1;
pm = 1000.0;
ParticlePtr particle1 = std::make_shared<Particle>( px, pv, pm, pr);
particle1->setFixed(true);
system->addParticle( particle1 );
px = glm::vec3(0.5,0.0,1.0);
pv = glm::vec3(0.0,0.0,-0.5);
pr = 0.1;
pm = 1.0;
ParticlePtr particle2 = std::make_shared<Particle>( px, pv, pm, pr);
system->addParticle( particle2 );
//Create a particleRenderable for each particle of the system
ParticleRenderablePtr particleRenderable1 = std::make_shared<ParticleRenderable>(flatShader, particle1);
HierarchicalRenderable::addChild( systemRenderable, particleRenderable1 );
ParticleRenderablePtr particleRenderable2 = std::make_shared<ParticleRenderable>(flatShader, particle2);
HierarchicalRenderable::addChild( systemRenderable, particleRenderable2 );
}
//Initialize a force field that apply to all the particles of the system to simulate gravity
//Add it to the system as a force field
ConstantForceFieldPtr gravityForceField = std::make_shared<ConstantForceField>(system->getParticles(), glm::vec3{0,0,-10} );
system->addForceField( gravityForceField );
}
void practical05_springs(Viewer& viewer, DynamicSystemPtr& system, DynamicSystemRenderablePtr &systemRenderable)
{
//Position the camera
viewer.getCamera().setViewMatrix( glm::lookAt( glm::vec3( -10, 0, 2 ), glm::vec3(0,0,0), glm::vec3(0,0,1)));
//Initialize a shader for the following renderables
ShaderProgramPtr flatShader = std::make_shared<ShaderProgram>( "../../sfmlGraphicsPipeline/shaders/flatVertex.glsl",
"../../sfmlGraphicsPipeline/shaders/flatFragment.glsl");
viewer.addShaderProgram( flatShader );
//Initialize particle attributes (radius, mass)
float pr = 0.1, pm = 10.0;
glm::vec3 px(0.0,0.0,0.0), pv(0.0,0.0,0.0);
//Create particles on a squared uniform grid starting at origin
std::vector<ParticlePtr> particles;
glm::vec3 origin(0,-2.0,1.0), displacement(0.0,0.0,0.0);
int particlePerLine = 11;
float gridWidth=4.0, gridHeight=4.0;
float ystep = gridWidth / (float)(particlePerLine-1);
float zstep = gridHeight / (float)(particlePerLine-1);
particles.resize(particlePerLine*particlePerLine);
for( size_t i = 0; i < particlePerLine; ++ i )
{
for( size_t j = 0; j < particlePerLine; ++ j )
{
displacement = glm::vec3(0, i*ystep, j*zstep);
px = origin + displacement;
particles[i*particlePerLine+j] = std::make_shared<Particle>( px, pv, pm, pr );
system->addParticle( particles[i*particlePerLine+j] );
}
}
//Fix particles on the y-borders
for( size_t j = 0; j < particlePerLine; ++ j )
{
particles[0*particlePerLine+j]->setFixed( true );
particles[10*particlePerLine+j]->setFixed( true );
}
//Initialize springs attributes (stiffness, rest length, damping)
float stiffness = 4e3, l0 = gridWidth / (particlePerLine-1), damping = 0.0;
//Create springs between particles of the grid, horizontally and vertically
//Store them in a list
std::list<SpringForceFieldPtr> springForceFields;
//Interior
for( size_t i = 1; i < particlePerLine; ++ i )
{
for( size_t j = 1; j < particlePerLine; ++ j )
{
SpringForceFieldPtr spring1 = std::make_shared<SpringForceField>( particles[(i-1)*particlePerLine+j], particles[i*particlePerLine+j], stiffness, l0, damping );
springForceFields.push_back(spring1);
system->addForceField( spring1 );
SpringForceFieldPtr spring2 = std::make_shared<SpringForceField>( particles[i*particlePerLine+(j-1)], particles[i*particlePerLine+j], stiffness, l0, damping );
springForceFields.push_back(spring2);
system->addForceField( spring2 );
}
}
//Border case 1
for( size_t j = 1; j < particlePerLine; ++ j )
{
SpringForceFieldPtr spring = std::make_shared<SpringForceField>( particles[0*particlePerLine+j], particles[0*particlePerLine+(j-1)], stiffness, l0, damping );
springForceFields.push_back(spring);
system->addForceField( spring );
}
//Border case 2
for( size_t i = 1; i < particlePerLine; ++ i )
{
SpringForceFieldPtr spring = std::make_shared<SpringForceField>( particles[(i-1)*particlePerLine+0], particles[i*particlePerLine+0], stiffness, l0, damping );
springForceFields.push_back(spring);
system->addForceField( spring );
}
//Initialize a force field that apply to all the particles of the system to simulate gravity
//Add it to the system as a force field
ConstantForceFieldPtr gravityForceField = std::make_shared<ConstantForceField>(system->getParticles(), glm::vec3{0,0,-10} );
system->addForceField( gravityForceField );
//Initialize a force field that apply to all the particles of the system to simulate vicosity (air friction)
float dampingCoefficient = 0.0;
DampingForceFieldPtr dampingForceField = std::make_shared<DampingForceField>(system->getParticles(), dampingCoefficient);
system->addForceField(dampingForceField);
//Create a particleListRenderable to efficiently visualize the particles of the system
ParticleListRenderablePtr particleListRenderable = std::make_shared<ParticleListRenderable>( flatShader, particles);
HierarchicalRenderable::addChild(systemRenderable, particleListRenderable);
//Create a springListRenderable to efficiently visualize the springs of the system
SpringListRenderablePtr springsRenderable = std::make_shared<SpringListRenderable>(flatShader, springForceFields);
HierarchicalRenderable::addChild( systemRenderable, springsRenderable );
//Display gravity
ConstantForceFieldRenderablePtr gravityRenderable = std::make_shared<ConstantForceFieldRenderable>(flatShader, gravityForceField);
HierarchicalRenderable::addChild( systemRenderable, gravityRenderable );
}
