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TAPs 0.7.7.3
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TAPs 0.7.7.3
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00001 /****************************************************************************** 00002 TAPsModelDeformableCPU.hpp 00003 ******************************************************************************/ 00007 /****************************************************************************** 00008 SUKITTI PUNAK (12/21/2006) 00009 UPDATE (08/05/2007) 00010 ******************************************************************************/ 00011 #ifndef TAPs_MODEL_DEFORMABLE_CPU_HPP 00012 #define TAPs_MODEL_DEFORMABLE_CPU_HPP 00013 00014 #include "../GLSL/TAPsGLSLFns.hpp" 00015 //#include "../GLSL/TAPsGLEXTFrameBufferObject.hpp" 00016 #include "TAPsOpenGLModel.hpp" 00017 #include "../CG/TAPsGridGenerator_ForTheDefModBasedOnMSS.hpp" 00018 00019 //============================================================================= 00020 // DEFINES / CHOICES 00021 //============================================================================= 00022 00023 //----------------------------------------------------------------------------- 00024 // VISUALIZATION 00025 //----------------------------------------------------------------------------- 00026 // Visualization/Rendering Selection 00027 // One of the defined statement below 00028 // should be declared in a file that declares and uses this class. 00029 // E.g. in the main file 00030 #define TAPs_DEFORMABLE_MODEL_VISUALIZATION_RT_GEN_MESH // Default 00031 //#define TAPs_DEFORMABLE_MODEL_VISUALIZATION_3D_TEXTURE // Not Finished Yet! 00032 //#define TAPs_DEFORMABLE_MODEL_VISUALIZATION_RAY_CASTING // Not Implemented Yet! 00033 //#define TAPs_DEFORMABLE_MODEL_VISUALIZATION_MESH // Not Implemented Yet! 00034 //----------------------------------------------------------------------------- 00035 #if defined ( TAPs_DEFORMABLE_MODEL_VISUALIZATION_RT_GEN_MESH ) 00036 #define TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00037 #elif defined ( TAPs_DEFORMABLE_MODEL_VISUALIZATION_3D_TEXTURE ) // Not Finished Yet! 00038 #define TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_3D_TEXTURE 00039 #elif defined ( TAPs_DEFORMABLE_MODEL_VISUALIZATION_RAY_CASTING ) // Not Implemented Yet! 00040 #define TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RAY_CASTING 00041 #elif defined ( TAPs_DEFORMABLE_MODEL_VISUALIZATION_MESH ) // Not Implemented Yet! 00042 #define TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_MESH 00043 #else 00044 //#define TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH // Default 00045 #endif 00046 #if defined ( TAPs_DEFORMABLE_MODEL_VISUALIZATION_RT_GEN_MESH ) 00047 #define TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00048 #endif 00049 #if defined ( TAPs_DEFORMABLE_MODEL_VISUALIZATION_3D_TEXTURE ) // Not Finished Yet! 00050 #define TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_3D_TEXTURE 00051 #endif 00052 #if defined ( TAPs_DEFORMABLE_MODEL_VISUALIZATION_RAY_CASTING ) // Not Implemented Yet! 00053 #define TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RAY_CASTING 00054 #endif 00055 #if defined ( TAPs_DEFORMABLE_MODEL_VISUALIZATION_MESH ) // Not Implemented Yet! 00056 #define TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_MESH 00057 #endif 00058 //----------------------------------------------------------------------------- 00059 // For Helping Coding 00060 //----------------------------------------------------------------------------- 00061 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00062 //... 00063 #endif 00064 //------------------------------------------------------------------- 00065 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_3D_TEXTURE // NOT FINISHED YET! 00066 //... 00067 #endif 00068 //------------------------------------------------------------------- 00069 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RAY_CASTING // NOT IMPLEMENTED YET! 00070 //... 00071 #endif 00072 //----------------------------------------------------------------------------- 00073 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_MESH // NOT IMPLEMENTED YET! 00074 //... 00075 #endif 00076 //----------------------------------------------------------------------------- 00077 00078 //============================================================================= 00079 // For Visualization 00080 //----------------------------------------------------------------------------- 00081 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00082 #include "TAPsModelDeformableCPU_Visualization_RTGenMesh.hpp" 00083 #endif 00084 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_3D_TEXTURE // NOT FINISHED YET! 00085 //#include "TAPsModelDeformableCPU_Visualization_3DTexture.hpp" 00086 #endif 00087 //----------------------------------------------------------------------------- 00088 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RAY_CASTING // NOT IMPLEMENTED YET! 00089 // #include "TAPsModelDeformableCPU_Visualization_RayCasting.hpp" 00090 #endif 00091 //----------------------------------------------------------------------------- 00092 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_MESH // NOT IMPLEMENTED YET! 00093 // #include "TAPsModelDeformableCPU_Visualization_Mesh.hpp" 00094 #endif 00095 //----------------------------------------------------------------------------- 00096 //============================================================================= 00097 //------------------------------------------------------------------- 00098 // Integration Method Selection 00099 // One of the defined statement below 00100 // should be declared in a file that declares and uses this class. 00101 // E.g. in the main file 00102 //#define TAPs_EXPLICIT_EULER_INTEGRATION 00103 //#define TAPs_VERLET_INTEGRATION 00104 //------------------------------------------------------------------- 00105 #ifdef TAPs_EXPLICIT_EULER_INTEGRATION 00106 #define TAPs_MODEL_DEFORMABLE_CPU_EXPLICIT_EULER_INTEGRATION 00107 #else if TAPs_VERLET_INTEGRATION 00108 #define TAPs_MODEL_DEFORMABLE_CPU_VERLET_INTEGRATION 00109 #endif 00110 //------------------------------------------------------------------- 00111 //----------------------------------------------------------------------------- 00112 //============================================================================= 00113 //----------------------------------------------------------------------------- 00114 // For Spring Properties (according to the type of connectivity) 00115 #include "Support/TAPsSpringPropertiesForDefModel.hpp" 00116 //============================================================================= 00117 00118 BEGIN_NAMESPACE_TAPs__OpenGL 00119 //============================================================================= 00120 template <typename T> 00121 class ModelDeformableCPU : public /*virtual*/ OpenGLModel<T> { 00122 //------------------------------------------------------------------------- 00123 // (Friend Fn) put it through ostream 00124 friend std::ostream & operator<< ( std::ostream &output, ModelDeformableCPU<T> const &o ) 00125 { 00126 output << "\n=========================================================\n" 00127 << "TAPs::OpenGL::ModelDeformableCPU<" << typeid(T).name() << "> Class:\n" 00128 << "=========================================================\n"; 00129 //------------------------------------------------- 00130 output << o.Info(); 00131 output << "\n=========================================================\n"; 00132 //------------------------------------------------- 00133 return output; 00134 } 00135 //----------------------------------------------------------------------------- 00136 // Member Functions ----------------------------------------------------------- 00137 public: 00138 //------------------------------------------------------------------------- 00139 // default constructor 00140 ModelDeformableCPU (); 00141 //------------------------------------------------------------------------- 00142 // destructor 00143 virtual ~ModelDeformableCPU (); 00144 //------------------------------------------------------------------------- 00145 virtual void Default (); 00146 virtual void Clear (); 00147 //------------------------------------------------------------------------- 00148 virtual void Initialize () {}; // Abstract Virtual Fn from Model class 00149 virtual int InitializeFromGridGeneratorDataFloat ( 00150 GridGenerator<T> * pGridGenerator 00151 ); 00152 //------------------------------------------------------------------------- 00153 virtual T GetMaxHalfLength () const; // Abstract Virtual Fn from Model class 00154 virtual void ApplyAndResetTransform (); 00155 //------------------------------------------------------------------------- 00156 // Calculate and set the normals 00157 virtual void CalAndSetNormals(); 00158 //------------------------------------------------------------------------- 00159 // Get/Set Fn(s) 00160 //------------------------------------------------------------------------- 00161 // New/Delete Fn(s) 00162 //========================================================================= 00163 // Rendering/Display/Drawing Fn(s) 00164 //------------------------------------------------------------------------- 00165 // OpenGL Display Fn(s) 00166 // Inherited from OpenGLSupport 00167 //virtual void DisplayGL ( OpenGL::Enum::DrawMode = OpenGL::Enum::POLYGON ); 00168 virtual void DrawGL ( GLenum eDrawMode ); 00169 //------------------------------------------- 00170 // Internal Drawing Mode 00171 static enum DrawType { 00172 AS_2D_TEXTURE, 00173 AS_3D_TEXTURE, 00174 POSITION_TEXTURE, 00175 ALL_ELEMENTS, 00176 ALL_ELEMENTS_WITH_CONNECTIVITIES, 00177 DUMMY_DrawType 00178 }; 00179 bool IsVisualizedByRTGenMesh () { 00180 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00181 return true; 00182 #else 00183 return false; 00184 #endif 00185 } 00186 /* Not Implemented Yet! 00187 bool IsVisualizedBy3DTexture () { 00188 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_3D_TEXTURE 00189 return true; 00190 #else 00191 return false; 00192 #endif 00193 } 00194 bool IsVisualizedByRayCasting () { 00195 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RAY_CASTING 00196 return true; 00197 #else 00198 return false; 00199 #endif 00200 } 00201 bool IsVisualizedByMesh () { 00202 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_MESH 00203 return true; 00204 #else 00205 return false; 00206 #endif 00207 } 00208 */ 00209 virtual void DrawByGL ( DrawType drawType = POSITION_TEXTURE ); 00210 //virtual void DrawByGLSL ( DrawType drawType = POSITION_TEXTURE ); 00211 virtual void Visualize ( DrawType drawType = ALL_ELEMENTS ); 00212 //--------------------------------- 00213 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00214 virtual inline void VisualizeByRTGenMesh ( DrawType drawType ); 00215 #endif 00216 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_3D_TEXTURE 00217 virtual inline void VisualizeBy3DTexture ( DrawType drawType ); 00218 #endif 00219 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RAY_CASTING 00220 virtual inline void VisualizeByRayCasting ( DrawType drawType ); 00221 #endif 00222 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_MESH 00223 virtual inline void VisualizeByMesh ( DrawType drawType ); 00224 #endif 00225 //--------------------------------- 00226 00227 //=============================================================== 00228 public: 00229 //--------------------------------------------------------------- 00230 // Check Available Visualizations 00231 bool IsVisualizedByRTGenMeshAvailable () const { 00232 #ifdef TAPs_MODEL_DEFORMABLE_GLSL_VISUALIZATION_RT_GEN_MESH 00233 if ( m_Visualization_RTGenMesh ) return true; 00234 #endif 00235 return false; 00236 } 00237 00238 // Not Implemented Yet! 00239 //bool IsVisualizedBy3DTextureAvailable () const { 00240 // #ifdef TAPs_MODEL_DEFORMABLE_GLSL_VISUALIZATION_3D_TEXTURE 00241 // if ( m_Visualization_3DTexture ) return true; 00242 // #endif 00243 // return false; 00244 //} 00245 00246 // Not Implemented Yet! 00247 //bool IsVisualizedByRayCastingAvailable () const { 00248 // #ifdef TAPs_MODEL_DEFORMABLE_GLSL_VISUALIZATION_RAY_CASTING 00249 // if ( m_Visualization_RayCasting ) return true; 00250 // #endif 00251 // return false; 00252 //} 00253 00254 // Not Implemented Yet! 00255 //bool IsVisualizedByMeshAvailable () const { 00256 // #ifdef TAPs_MODEL_DEFORMABLE_GLSL_VISUALIZATION_MESH 00257 // if ( m_Visualization_Mesh ) return true; 00258 // #endif 00259 // return false; 00260 //} 00261 //--------------------------------------------------------------- 00262 //=============================================================== 00263 // Get/Set Fns for Visualization by Real-Time Generate Mesh 00264 //--------------------------------------------------------------- 00265 bool GetRTGenMesh_MCUseGlobalInterpolationValue () const { 00266 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00267 if ( m_Visualization_RTGenMesh ) { 00268 return m_Visualization_RTGenMesh->GetUseGlobalInterpolationValue(); 00269 } 00270 #endif 00271 return false; 00272 } 00273 void SetRTGenMesh_MCUseGlobalInterpolationValue ( bool b ) { 00274 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00275 if ( m_Visualization_RTGenMesh ) { 00276 m_Visualization_RTGenMesh->SetUseGlobalInterpolationValue( b ); 00277 } 00278 #endif 00279 } 00286 T GetRTGenMesh_MCGlobalInterpolationValue () const { 00287 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00288 if ( m_Visualization_RTGenMesh ) { 00289 return m_Visualization_RTGenMesh->GetGlobalInterpolationValue(); 00290 } 00291 #endif 00292 return -1; 00293 } 00299 void SetRTGenMesh_MCGlobalInterpolationValue ( T val ) { 00300 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00301 if ( m_Visualization_RTGenMesh ) { 00302 m_Visualization_RTGenMesh->SetGlobalInterpolationValue( val ); 00303 } 00304 #endif 00305 } 00309 bool GetRTGenMesh_StatusDrawnWithPNTriangle () const { 00310 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00311 if ( m_Visualization_RTGenMesh ) { 00312 return m_Visualization_RTGenMesh->GetStatusDrawnWithPNTriangle(); 00313 } 00314 #endif 00315 return false; 00316 } 00320 void SetRTGenMesh_StatusDrawnWithPNTriangle ( bool b ) { 00321 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00322 if ( m_Visualization_RTGenMesh ) { 00323 m_Visualization_RTGenMesh->SetStatusDrawnWithPNTriangle( b ); 00324 } 00325 #endif 00326 } 00330 int GetRTGenMesh_PNTriangleSmoothness () const { 00331 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00332 if ( m_Visualization_RTGenMesh ) { 00333 return m_Visualization_RTGenMesh->GetPNTriangleSmoothness(); 00334 } 00335 #endif 00336 return -1; 00337 } 00341 void SetRTGenMesh_PNTriangleSmoothness ( int i ) { 00342 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00343 if ( m_Visualization_RTGenMesh ) { 00344 m_Visualization_RTGenMesh->SetPNTriangleSmoothness( i ); 00345 } 00346 #endif 00347 } 00351 void SetRTGenMesh_3DTexture ( GLuint i ) { 00352 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00353 if ( m_Visualization_RTGenMesh ) { 00354 m_Visualization_RTGenMesh->Set3DTexture( i ); 00355 } 00356 #endif 00357 } 00361 GLuint GetRTGenMesh_3DTexture () { 00362 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00363 if ( m_Visualization_RTGenMesh ) { 00364 return m_Visualization_RTGenMesh->Get3DTexture(); 00365 } 00366 #else 00367 return 0; 00368 #endif 00369 } 00370 //--------------------------------------------------------------- 00371 //=============================================================== 00372 00373 //--------------------------------- 00374 protected: 00375 virtual void DrawByGL_As2DTexture (); 00376 virtual void DrawByGL_As3DTexture (); 00377 virtual void DrawByGL_PositionTexture (); 00378 virtual void DrawByGL_AllElements (); 00379 virtual void DrawByGL_AllElementsWithConnectivities (); 00380 //------------------------------------------------------------------------- 00381 //========================================================================= 00382 //=============================================================== 00383 // Data Members for Visualization 00384 //--------------------------------------------------------------- 00385 // 00386 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RT_GEN_MESH 00387 protected: 00388 ModelDeformableCPU_Visualization_RTGenMesh<T> * m_Visualization_RTGenMesh; 00389 public: 00390 ModelDeformableCPU_Visualization_RTGenMesh<T> * const RetVisualRTGenMesh () 00391 { return m_Visualization_RTGenMesh; } 00392 protected: 00393 #endif 00394 // 00395 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_3D_TEXTURE 00396 ModelDeformableCPU_Visualization_3DTexture<T> * m_Visualization_3DTexture; 00397 public: 00398 ModelDeformableCPU_Visualization_3DTexture<T> * const RetVisual3DTexture () 00399 { return m_Visualization_3DTexture; } 00400 protected: 00401 #endif 00402 // 00403 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_RAY_CASTING 00404 ModelDeformableCPU_Visualization_RayCasting<T> * m_Visualization_RayCasting; 00405 public: 00406 ModelDeformableCPU_Visualization_RayCasting<T> * const RetVisualRayCasting () 00407 { return m_Visualization_RayCasting; } 00408 protected: 00409 #endif 00410 // 00411 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VISUALIZATION_MESH 00412 ModelDeformableCPU_Visualization_Mesh<T> * m_Visualization_Mesh; 00413 public: 00414 ModelDeformableCPU_Visualization_Mesh<T> * const RetVisualMesh () 00415 { return m_Visualization_Mesh; } 00416 protected: 00417 #endif 00418 // 00419 //--------------------------------------------------------------- 00420 // Helper Fn(s) 00421 void DefaultVisualization (); 00422 void ClearVisualization (); 00423 int SetupVisualization ( 00424 enum GridGenerator<T>::VertexFlag *** pFlagDataForXYZVoxels 00425 ); 00426 //--------------------------------------------------------------- 00427 //=============================================================== 00428 //--------------------------------------------------------------- 00429 00430 //========================================================================= 00431 // Simulation/Animation Fn(s) 00432 public: 00433 //------------------------------------------------------------------------- 00434 // Get/Set Fn(s) 00435 Vector3<int> const & RetGridResolution () const { return m_vGridResolution; } 00436 Vector3<T> const & RetGridDimension () const { return m_vGridDimension; } 00437 Vector3<int> GetGridResolution () const { return m_vGridResolution; } 00438 Vector3<T> GetGridDimension () const { return m_vGridDimension; } 00439 int GetTotalGridElements () const { return m_iTotalElements; } 00440 T GetGridElementVolume () const { return m_fElementVolume; } 00441 //------------------------------------------------------------------------- 00442 T * const ReturnPositionPointer () { 00443 return m_tpElementPos; 00444 } 00445 // Vector3<T> GetPositionOfElementNo ( int x, int y, int z ) const { 00446 // return m_tpElementPos[ TranslateElementNumber(x,y,z) ]; 00447 // } 00448 // void SetPositionOfElementNo ( int x, int y, int z, Vector3<T> & position ) { 00449 // m_tpElementPos[ TranslateElementNumber(x,y,z) ] = position; 00450 // } 00451 // void AddToPositionOfElementNo ( int x, int y, int z, Vector3<T> & position ) { 00452 // m_tpElementPos[ TranslateElementNumber(x,y,z) ] += position; 00453 // } 00454 void GetTheClosestElementToThePosition ( Vector3<T> const & position, 00455 int & x, int & y, int & z, T closestDistance ) { 00456 int iElementNo = 0; 00457 T tDistance; 00458 closestDistance = (m_tpElementPos[0] - position).Length(); 00459 Vector3<int> closetPt( 0, 0, 0 ); 00460 for ( int k = 0; k < m_vGridResolution[2]; ++k ) { 00461 for ( int j = 0; j < m_vGridResolution[1]; ++j ) { 00462 for ( int i = 0; i < m_vGridResolution[0]; ++i ) { 00463 tDistance = (m_tpElementPos[ iElementNo ] - position).Length(); 00464 if ( closestDistance > tDistance ) { 00465 closestDistance = tDistance; 00466 x = i; 00467 y = j; 00468 z = k; 00469 } 00470 ++iElementNo; 00471 } 00472 } 00473 } 00474 } 00475 //------------------------------------------------------------------------- 00476 //========================================================================= 00477 00478 //----------------------------------------------------------------------------- 00479 protected: 00480 //========================================================================= 00481 // Helper Fn(s): Creations/Initializations 00482 //------------------------------------------------------------------------- 00483 int TranslateElementNumber ( int x, int y, int z ) { 00484 assert( 0 <= x && x < m_vGridResolution[0] ); 00485 assert( 0 <= y && y < m_vGridResolution[1] ); 00486 assert( 0 <= z && z < m_vGridResolution[2] ); 00487 return (z * m_vGridResolution[1] + y) * m_vGridResolution[0] + x; 00488 } 00489 //------------------------------------------------------------------------- 00490 void CreateSurfaceBoundary (); 00491 void CreateConnections (); 00492 void CreateConnectionsFullOneRing (); 00493 void CreateConnectionsOfOneElementNotOnBoundary ( 00494 int z, int y, int x, int * connectionPattern, int connectionSize ); 00495 void CreateConnectionsOfOneElementOnBoundary ( 00496 int z, int y, int x, int * connectionPattern, int connectionSize ); 00497 //------------------------------------------------------------------------- 00498 //========================================================================= 00499 00500 //========================================================================= 00501 // Helper Fn(s): Simulation/Animation 00502 //------------------------------------------------------------------------- 00503 //--------------------------------------------------------------- 00507 void VoidAnElement ( int iElementID ); 00508 //--------------------------------------------------------------- 00512 void RemoveElementConnection ( int iElementID, int iConnection ); 00513 //--------------------------------------------------------------- 00518 void CalElementForceTotal ( int iElementID, T Vforce[3] ); 00522 void CalElementForceInternal ( int iElementID, T Vforce[3] ); 00526 void CalElementForceExternal ( int iElementID, T Vforce[3] ); 00527 //------------------------------------------- 00528 00529 //=========================================== 00530 // EXPLICIT EULER INTEGRATION -- EXPLICIT EULER INTEGRATION 00531 //------------------------------------------- 00532 #ifdef TAPs_MODEL_DEFORMABLE_CPU_EXPLICIT_EULER_INTEGRATION 00533 00537 void SwapCurrentStatesWithNextStatesForExplicitEulerIntegration () 00538 { 00539 T * tpTemp = m_tpElementPos; 00540 m_tpElementPos = m_tpElementPosNext; 00541 m_tpElementPosNext = tpTemp; 00542 //----------------------------- 00543 tpTemp = m_tpElementVel; 00544 m_tpElementVel = m_tpElementVelNext; 00545 m_tpElementVelNext = tpTemp; 00546 } 00547 //------------------------------------------- 00553 void AddDampedSpringForceForExplicitEulerIntegration ( 00554 T VfromPointPos[3], // I/P: start point position 00555 T VtoPointPos[3], // I/P: end point position 00556 T VfromPointVel[3], // I/P: start point velocity 00557 T VtoPointVel[3], // I/P: end point velocity 00558 T restLength, // I/P: spring rest length 00559 T Ks, // I/P: spring stiffness 00560 T Kd, // I/P: spring damping constant 00561 T Vforce[3] // O/P: force vector 00562 ) 00563 { 00564 T L[3] = { // Distance Vector 00565 VtoPointPos[0] - VfromPointPos[0], 00566 VtoPointPos[1] - VfromPointPos[1], 00567 VtoPointPos[2] - VfromPointPos[2] 00568 }; 00569 T V[3] = { // deformed velocity 00570 VtoPointVel[0] - VfromPointVel[0], 00571 VtoPointVel[1] - VfromPointVel[1], 00572 VtoPointVel[2] - VfromPointVel[2] 00573 }; 00574 //------------------------------------------------- 00575 T currentLength = sqrt( L[0]*L[0] + L[1]*L[1] + L[2]*L[2] ); 00576 T force = Ks * ( currentLength - restLength ) 00577 + Kd * sqrt( V[0]*L[0] + V[1]*L[1] + V[2]*L[2] ); 00578 //------------------------------------------------- 00579 Vforce[0] = L[0] * force; 00580 Vforce[1] = L[1] * force; 00581 Vforce[2] = L[2] * force; 00582 } 00583 //------------------------------------------- 00587 void CalElementNextPositionByExplicitEulerIntegration ( int iElementID ) 00588 { 00589 } 00590 //------------------------------------------- 00594 void SimStepByExplicitEulerIntegration ( T dt ); 00595 //------------------------------------------- 00596 //=========================================== 00597 #endif 00598 //=========================================== 00599 // VERLET INTEGRATION -- VERLET INTEGRATION 00600 //------------------------------------------- 00601 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VERLET_INTEGRATION 00602 00606 void SwapCurrentStatesWithNextStatesForVerletIntegration () 00607 { 00608 // Swap 00609 //std::cout << " ------> Swap Elements\n"; 00610 T * tpTemp = m_tpElementPosPrev; 00611 m_tpElementPosPrev = m_tpElementPos; 00612 m_tpElementPos = m_tpElementPosNext; 00613 m_tpElementPosNext = tpTemp; 00614 00615 /* 00616 // Copy 00617 std::cout << "Total Element: " << m_iTotalElements << "\n"; 00618 for ( int i = 0; i < m_iTotalElements * 4; ++i ) { 00619 // m_tpElementPosPrev[i] = m_tpElementPos[i]; 00620 m_tpElementPos[i] = m_tpElementPosNext[i]; 00621 } 00622 //*/ 00623 } 00624 //------------------------------------------- 00630 void AddUndampedSpringForceForVerletIntegration ( 00631 T VfromPointPos[3], // I/P: start point position 00632 T VtoPointPos[3], // I/P: end point position 00633 T restLength, // I/P: spring rest length 00634 T Ks, // I/P: spring stiffness 00635 T Vforce[3] // O/P: force vector 00636 ) 00637 { 00638 //------------------------------------------------- 00639 // Distance Vector 00640 T L[3] = { 00641 VtoPointPos[0] - VfromPointPos[0], 00642 VtoPointPos[1] - VfromPointPos[1], 00643 VtoPointPos[2] - VfromPointPos[2] 00644 }; 00645 T currentLength = sqrt( L[0]*L[0] + L[1]*L[1] + L[2]*L[2] ); 00646 //------------------------------------------------- 00647 //assert( fabs( currentLength ) > 1E-16 ); 00648 //------------------------------------------------- 00649 T differentLength = currentLength - restLength; 00650 //------------------------------------------------- 00651 // EQUATION FOR FORCE CALCULATION 00652 //-------------------------------- 00653 // Vforce = + ( [spring stiffness] * [diff length] / [unit distance vector] ) 00654 // Vforce has positive sign because the current length is calculated 00655 // from end position vector - start position vector. 00656 // Vforce is the force with direction of (end position vector - start position vector). 00657 // So if the different length (= current length - rest length) is 00658 // greater than (or equal to) zero then the force has to be positive, 00659 // or negative otherwise, to affect the start position to restore 00660 // the spring to return to the rest length. 00661 // In other word, the force is positive if the current length is 00662 // greather than the rest length (spring elongation) and the force 00663 // is negative if the currenet length is less than the rest length 00664 // (spring contraction). 00665 // The key to determine the sign of force is the direction of the force. 00666 // In most of literature, force direction is the start point minus the end point. 00667 // For our, the force direction is the end point minus the start point. 00668 //------------------------------------------------- 00669 // Calculate Force Vector 00670 //T activateLength = 0.001; // 1/1000 of the rest length 00671 // If different length is less than activate length, 00672 // then treat this force as zero. 00673 //if ( fabs( differentLength ) > 0.0001 ) { 00674 if ( fabs( differentLength ) > 0 ) { 00675 T force = Ks * differentLength / currentLength; 00676 Vforce[0] += L[0] * force; 00677 Vforce[1] += L[1] * force; 00678 Vforce[2] += L[2] * force; 00679 } 00680 00681 /* 00682 // DEBUG 00683 std::cout << "currentLength: " << currentLength << "\n"; 00684 std::cout << "differentLength: " << differentLength << "\n"; 00685 std::cout << "L: " << L[0] << " " << L[1] << " " << L[2] << "\n"; 00686 std::cout << "Vforce: " << Vforce[0] << " " << Vforce[1] << " " << Vforce[2] << "\n\n"; 00687 //*/ 00688 00689 00690 } 00691 //------------------------------------------- 00699 void CalElementNextPositionByVerletIntegration ( 00700 int iElementID, T dt, T dtdt_over_mass, T tScaleForDampedForce ) 00701 { 00702 // T dtdt_over_mass = dt * dt / m_tMass; 00703 T Ftotal[3] = { 0, 0, 0 }; 00704 //T Ftotal[3]; 00705 //------------------------------------------------- 00706 CalElementForceTotal( iElementID, Ftotal ); 00707 // std::cout << "Ftotal: " << Ftotal[0] << " " << Ftotal[1] << " " << Ftotal[2] << "\n"; // DEBUG 00708 //------------------------------------------------- 00709 //T tScaleForDampedForce = SPRING_PROP.Kdamping / dt; 00710 00711 int idx = iElementID * 4; 00712 00713 //* 00714 m_tpElementPosNext[idx] = Ftotal[0] * dtdt_over_mass + 2*m_tpElementPos[idx] - m_tpElementPosPrev[idx] 00715 - tScaleForDampedForce * ( m_tpElementPos[idx] - m_tpElementPosPrev[idx] ); 00716 ++idx; 00717 m_tpElementPosNext[idx] = Ftotal[1] * dtdt_over_mass + 2*m_tpElementPos[idx] - m_tpElementPosPrev[idx] 00718 - tScaleForDampedForce * ( m_tpElementPos[idx] - m_tpElementPosPrev[idx] ); 00719 ++idx; 00720 m_tpElementPosNext[idx] = Ftotal[2] * dtdt_over_mass + 2*m_tpElementPos[idx] - m_tpElementPosPrev[idx] 00721 - tScaleForDampedForce * ( m_tpElementPos[idx] - m_tpElementPosPrev[idx] ); 00722 00723 ++idx; 00724 m_tpElementPosNext[idx] = m_tpElementPos[idx]; 00725 //*/ 00726 00727 00728 /* 00729 m_tpElementPosNext[idx] = Ftotal[0] * dtdt_over_mass + 2*m_tpElementPos[idx] - m_tpElementPosPrev[idx]; 00730 ++idx; 00731 m_tpElementPosNext[idx] = Ftotal[1] * dtdt_over_mass + 2*m_tpElementPos[idx] - m_tpElementPosPrev[idx]; 00732 ++idx; 00733 m_tpElementPosNext[idx] = Ftotal[2] * dtdt_over_mass + 2*m_tpElementPos[idx] - m_tpElementPosPrev[idx]; 00734 ++idx; 00735 m_tpElementPosNext[idx] = m_tpElementPos[idx]; 00736 //*/ 00737 00738 /* 00739 m_tpElementPosNext[idx] = m_tpElementPos[idx]; 00740 ++idx; 00741 m_tpElementPosNext[idx] = m_tpElementPos[idx]; 00742 ++idx; 00743 m_tpElementPosNext[idx] = m_tpElementPos[idx]; 00744 ++idx; 00745 m_tpElementPosNext[idx] = m_tpElementPos[idx]; 00746 //*/ 00747 00748 /* 00749 // DEBUG 00750 std::cout << "dtdt_over_mass: " << dtdt_over_mass << "\n"; 00751 std::cout << "PositionPrev: " 00752 << m_tpElementPosPrev[idx-3] << " " 00753 << m_tpElementPosPrev[idx-2] << " " 00754 << m_tpElementPosPrev[idx-1] << "\n"; 00755 std::cout << "PositionNext: " 00756 << m_tpElementPosNext[idx-3] << " " 00757 << m_tpElementPosNext[idx-2] << " " 00758 << m_tpElementPosNext[idx-1] << "\n"; 00759 std::cout << "Position: " 00760 << m_tpElementPos[idx-3] << " " 00761 << m_tpElementPos[idx-2] << " " 00762 << m_tpElementPos[idx-1] << "\n"; 00763 std::cout << "Position Diff: " 00764 << m_tpElementPosNext[idx-3] - m_tpElementPos[idx-3] << " " 00765 << m_tpElementPosNext[idx-2] - m_tpElementPos[idx-2] << " " 00766 << m_tpElementPosNext[idx-1] - m_tpElementPos[idx-1] << "\n"; 00767 //*/ 00768 } 00769 //------------------------------------------- 00773 void SimStepByVerletIntegration ( T dt ); 00774 //------------------------------------------- 00775 //=========================================== 00776 #endif 00777 //------------------------------------------------------------------------- 00778 //========================================================================= 00779 00780 //------------------------------------------------------------------------- 00781 // virtual inline void CalAndSetFaceNormalsNotNormalized (); 00782 // virtual inline void NormalizeFaceNormals (); 00783 // virtual inline void DetermineFaceRings (); 00784 // virtual inline void CalAndSetElementNormals (); 00785 //------------------------------------------------------------------------- 00786 // Abstract Virtual Fns for Collision Detection from ColDetSupport class 00787 virtual void CalBoundingAABB (); 00788 virtual void CalBoundingEllipsoid (); 00789 virtual void CalBoundingSphere (); 00790 //----------------------------------------------------------------------------- 00791 // Data Members -------------------------------------------------------------- 00792 protected: 00793 //========================================================================= 00794 // GPU 00795 //------------------------------------------------------------------------- 00796 // For OpenGL Shading Language 00797 //GLSLShaderManager m_glslShaderManager; 00798 //GLSLProgramObject * m_glslProgramObject; 00799 //------------------------------------------------------------------------- 00800 //========================================================================= 00801 //------------------------------------------------------------------------- 00802 // Grid Sizes/Resolutions and Grid Dimensions 00803 Vector3< int > m_vGridResolution; // width, height, and depth numbers 00804 // e.g. 64 x 64 x 64 00805 Vector3< T > m_vGridDimension; // width, height, and depth lengths 00806 // e.g. 0.1 x 0.1 x 0.1 00807 int m_iTotalElements; // multiplication of the grid resolutions 00808 T m_fElementVolume; // multiplication of the grid dimensions 00809 //------------------------------------------------------------------------- 00810 //========================================================================= 00811 //------------------------------------------------------------------------- 00812 // For Helping Drawing 00813 OpenGLUsefulObj< T > m_OGLUsefulObj; // for drawing useful objects 00814 //------------------------------------------------------------------------- 00815 //========================================================================= 00816 // CPU 00817 //------------------------------------------------------------------------- 00833 //------------------------------------------- 00834 // Element Status and Connectivity 00838 //T * m_tpElementStatus; // vertex status (scalar) 00853 //------------------------------------------------------------------------- 00858 protected: 00859 //------------------------------------------------------------------------- 00864 int CONNECTION_INDEX[27]; 00865 //------------------------------------------------------------------------- 00869 void InitConnectionConstants (); 00870 //--------------------------------- 00871 int * m_ipElementConnect; // vertex connectivities for each vertex 00872 // arranged sequentially, 00873 // i.e. = new int[m_iTotalElements * m_iElementMaxValence]; 00874 int m_iElementMaxValence; // vertex max valence (up to 26) 00875 //--------------------------------- 00876 // Previous 00877 #ifdef TAPs_MODEL_DEFORMABLE_CPU_VERLET_INTEGRATION 00878 T * m_tpElementPosPrev; // vertex positions (x,y,z) + a flag 00879 #endif 00880 //--------------------------------- 00881 // Current 00882 T * m_tpElementPos; // vertex positions (x,y,z) + a flag 00883 #ifdef TAPs_MODEL_DEFORMABLE_CPU_EXPLICIT_EULER_INTEGRATION 00884 T * m_tpElementVel; // vertex velocities (u,v,w) 00885 #endif 00886 //--------------------------------- 00887 // Next 00888 T * m_tpElementPosNext; // vertex positions (x,y,z) + a flag 00889 #ifdef TAPs_MODEL_DEFORMABLE_CPU_EXPLICIT_EULER_INTEGRATION 00890 T * m_tpElementVelNext; // vertex velocities (u,v,w) 00891 #endif 00892 //--------------------------------- 00893 // Surface Boundary 00894 int * m_ipSurfaceBoundary; // surface boundary (by indices) 00895 //------------------------------------------------------------------------- 00896 //========================================================================= 00897 // For Simulation 00898 //------------------------------------------------------------------------- 00899 T m_tMass; // the mass of an element 00900 //------------------------------------------- 00905 public: 00906 typedef SpringPropertiesForDefModel<T> SpringProp; 00907 SpringProp SPRING_PROP; 00908 T GetSpringRestLength ( enum SpringProp::CONNECT springSelection ) 00909 { return SPRING_PROP.REST_LENGTH[ springSelection ]; } 00910 T GetSpringStiffness ( enum SpringProp::CONNECT springSelection ) 00911 { return SPRING_PROP.STIFFNESS[ springSelection ]; } 00912 void SetSpringRestLength ( enum SpringProp::CONNECT springSelection, T val ) 00913 { SPRING_PROP.REST_LENGTH[ springSelection ] = val; } 00914 void SetSpringStiffness ( enum SpringProp::CONNECT springSelection, T val ) 00915 { SPRING_PROP.STIFFNESS[ springSelection ] = val; } 00916 #ifdef TAPs_MODEL_DEFORMABLE_CPU_EXPLICIT_EULER_INTEGRATION 00917 T GetSpringDamper ( enum SpringProp::CONNECT springSelection ) 00918 { return SPRING_PROP.DAMPER[ springSelection ]; } 00919 void SetSpringDamper ( enum SpringProp::CONNECT springSelection, T val ) 00920 { SPRING_PROP.DAMPER[ springSelection ] = val; } 00921 #else // #ifdef TAPs_MODEL_DEFORMABLE_CPU_EXPLICIT_EULER_INTEGRATION 00922 #endif // #ifdef TAPs_MODEL_DEFORMABLE_CPU_EXPLICIT_EULER_INTEGRATION 00923 00924 //------------------------------------------------------------------------- 00925 // Helper Fns 00926 public: 00927 virtual std::string Info () const; 00928 //------------------------------------------------------------------------- 00929 virtual void InfoConnectionProperties ( std::string & addToStr, 00930 enum SpringProp::CONNECT connect, int maxNumConnections = 26 ) const { 00931 char cStr[80]; 00932 if ( connect <= maxNumConnections ) { 00933 #ifdef TAPs_MODEL_DEFORMABLE_CPU_EXPLICIT_EULER_INTEGRATION 00934 sprintf( cStr, " %g, %g, %g", 00935 SPRING_PROP.REST_LENGTH[ connect ], 00936 SPRING_PROP.STIFFNESS[ connect ], 00937 SPRING_PROP.DAMPER[ connect ] 00938 ); 00939 #else // #ifdef TAPs_MODEL_DEFORMABLE_CPU_EXPLICIT_EULER_INTEGRATION 00940 sprintf( cStr, " %g, %g", 00941 SPRING_PROP.REST_LENGTH[ connect ], 00942 SPRING_PROP.STIFFNESS[ connect ] 00943 ); 00944 #endif // #ifdef TAPs_MODEL_DEFORMABLE_CPU_EXPLICIT_EULER_INTEGRATION 00945 addToStr += cStr; 00946 } 00947 } 00948 //------------------------------------------------------------------------- 00949 //========================================================================= 00950 //------------------------------------------------------------------------- 00951 }; // CLASS END: ModelDeformableCPU ******************************************* 00952 //============================================================================= 00953 END_NAMESPACE_TAPs__OpenGL 00954 //----------------------------------------------------------------------------- 00955 // Include definition if TAPs_USE_EXPORT is not defined 00956 //#if !defined( TAPs_USE_EXPORT ) 00957 #include "TAPsModelDeformableCPU.cpp" 00958 //#endif 00959 //----------------------------------------------------------------------------- 00960 #endif 00961 //34567890123456789012345678901234567890123456789012345678901234567890123456789 00962 //--+----1----+----2----+----3----+----4----+----5----+----6----+----7----+----
1.7.4 
