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janbenderjanbender
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- added implementation of "Position-Based Elastic Rods" paper and a corresponding demo
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+1528
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lines changed

‎CMake/Common.cmake‎

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@@ -11,7 +11,8 @@ set(CMAKE_MINSIZEREL_POSTFIX "_ms")
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if (WIN32)
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set(CMAKE_USE_RELATIVE_PATHS "1")
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# Set compiler flags for "release"
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set(CMAKE_CXX_FLAGS_RELEASE "/MD /EHsc /Ox /Ob2 /Oi /Ot /GL /D NDEBUG /openmp")
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set(CMAKE_CXX_FLAGS_RELEASE "/MD /EHsc /Ox /Ob2 /Oi /Ot /GL /D NDEBUG /openmp" CACHE STRING "Flags used by the compiler during release builds." FORCE)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /EHsc" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
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set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/INCREMENTAL:NO /LTCG")
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set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "/INCREMENTAL:NO /LTCG")
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set(CMAKE_STATIC_LINKER_FLAGS_RELEASE "/INCREMENTAL:NO /LTCG")

‎Changelog.txt‎

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- added implementation of "Position-Based Elastic Rods" paper and a corresponding demo
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- fixed some problems with VS2015
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1.5.0
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- added SceneGenerator.py to generate new scenarios easily by simple Python scripting
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- added scene loader demo

‎Demos/CMakeLists.txt‎

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include(Visualization/CMakeLists.txt)
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add_definitions(-DPBD_DATA_PATH="../data")
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subdirs(Simulation BarDemo ClothDemo DistanceFieldDemos FluidDemo RigidBodyDemos CouplingDemos GenericConstraintsDemos SceneLoaderDemo)
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subdirs(Simulation BarDemo ClothDemo PositionBasedElasticRodsDemo DistanceFieldDemos FluidDemo RigidBodyDemos CouplingDemos GenericConstraintsDemos SceneLoaderDemo)
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‎Demos/PositionBasedElasticRodsDemo/CMakeLists.txt‎

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set(SIMULATION_LINK_LIBRARIES AntTweakBar glew PositionBasedDynamics Simulation)
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set(SIMULATION_DEPENDENCIES AntTweakBar glew PositionBasedDynamics Simulation)
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if(WIN32)
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set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
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set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
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else()
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find_package(GLUT REQUIRED)
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find_package(OpenGL REQUIRED)
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set(SIMULATION_LINK_LIBRARIES
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${SIMULATION_LINK_LIBRARIES}
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${GLUT_LIBRARIES}
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${OPENGL_LIBRARIES}
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)
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endif()
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add_executable(ElasticRodDemo
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PositionBasedElasticRodsDemo.cpp
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PositionBasedElasticRodsConstraints.cpp
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PositionBasedElasticRodsConstraints.h
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PositionBasedElasticRodsModel.cpp
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PositionBasedElasticRodsModel.h
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PositionBasedElasticRodsTSC.cpp
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PositionBasedElasticRodsTSC.h
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${VIS_FILES}
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${PROJECT_PATH}/Common/Common.h
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${PROJECT_PATH}/Demos/Common/Config.h
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${PROJECT_PATH}/Demos/Utils/IndexedFaceMesh.cpp
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${PROJECT_PATH}/Demos/Utils/IndexedFaceMesh.h
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${PROJECT_PATH}/Demos/Utils/IndexedTetMesh.cpp
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${PROJECT_PATH}/Demos/Utils/IndexedTetMesh.h
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${PROJECT_PATH}/Demos/Utils/Utilities.cpp
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${PROJECT_PATH}/Demos/Utils/Utilities.h
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${PROJECT_PATH}/Demos/Utils/VolumeIntegration.cpp
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${PROJECT_PATH}/Demos/Utils/VolumeIntegration.h
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CMakeLists.txt
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)
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add_definitions(-DTW_NO_LIB_PRAGMA -DTW_STATIC)
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find_package( Eigen3 REQUIRED )
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include_directories( ${EIGEN3_INCLUDE_DIR} )
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include_directories(${PROJECT_PATH}/extern/freeglut/include)
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include_directories(${PROJECT_PATH}/extern/glew/include)
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set_target_properties(ElasticRodDemo PROPERTIES FOLDER "Demos")
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set_target_properties(ElasticRodDemo PROPERTIES DEBUG_POSTFIX ${CMAKE_DEBUG_POSTFIX})
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set_target_properties(ElasticRodDemo PROPERTIES RELWITHDEBINFO_POSTFIX ${CMAKE_RELWITHDEBINFO_POSTFIX})
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set_target_properties(ElasticRodDemo PROPERTIES MINSIZEREL_POSTFIX ${CMAKE_MINSIZEREL_POSTFIX})
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add_dependencies(ElasticRodDemo ${SIMULATION_DEPENDENCIES})
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target_link_libraries(ElasticRodDemo ${SIMULATION_LINK_LIBRARIES})
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VIS_SOURCE_GROUPS()

‎Demos/PositionBasedElasticRodsDemo/PositionBasedElasticRodsConstraints.cpp‎

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#include "PositionBasedElasticRodsConstraints.h"
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#include "Demos/Simulation/SimulationModel.h"
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#include "PositionBasedDynamics/PositionBasedDynamics.h"
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#include "PositionBasedDynamics/PositionBasedElasticRods.h"
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#include "Demos/Simulation/IDFactory.h"
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using namespace PBD;
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int PerpendiculaBisectorConstraint::TYPE_ID = IDFactory::getId();
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int GhostPointEdgeDistanceConstraint::TYPE_ID = IDFactory::getId();
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int DarbouxVectorConstraint::TYPE_ID = IDFactory::getId();
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//////////////////////////////////////////////////////////////////////////
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// PerpendiculaBisectorConstraint
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//////////////////////////////////////////////////////////////////////////
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bool PerpendiculaBisectorConstraint::initConstraint(SimulationModel &model,
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const unsigned int particle1, const unsigned int particle2, const unsigned int particle3)
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{
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m_bodies[0] = particle1;
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m_bodies[1] = particle2;
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m_bodies[2] = particle3;
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return true;
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}
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bool PerpendiculaBisectorConstraint::solvePositionConstraint(SimulationModel &model)
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{
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PositionBasedElasticRodsModel &simModel = static_cast<PositionBasedElasticRodsModel&>(model);
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ParticleData &pd = model.getParticles();
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ParticleData &pg = simModel.getGhostParticles();
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const unsigned i1 = m_bodies[0];
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const unsigned i2 = m_bodies[1];
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const unsigned i3 = m_bodies[2];
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Vector3r &x1 = pd.getPosition(i1);
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Vector3r &x2 = pd.getPosition(i2);
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Vector3r &x3 = pg.getPosition(i3);
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const Real invMass1 = pd.getInvMass(i1);
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const Real invMass2 = pd.getInvMass(i2);
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const Real invMass3 = pg.getInvMass(i3);
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Vector3r corr[3];
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const bool res = PositionBasedElasticRods::solve_PerpendiculaBisectorConstraint(
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x1, invMass1,
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x2, invMass2,
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x3, invMass3,
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1.0,
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corr[0], corr[1], corr[2]);
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if (res)
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{
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if (invMass1 != 0.0f)
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x1 += corr[0];
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if (invMass2 != 0.0f)
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x2 += corr[1];
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if (invMass2 != 0.0f)
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x3 += corr[2];
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}
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return res;
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}
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//////////////////////////////////////////////////////////////////////////
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// GhostPointEdgeDistanceConstraint
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//////////////////////////////////////////////////////////////////////////
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bool GhostPointEdgeDistanceConstraint::initConstraint(PositionBasedElasticRodsModel &model, const unsigned int particle1, const unsigned int particle2, const unsigned int particle3)
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{
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m_bodies[0] = particle1;
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m_bodies[1] = particle2;
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m_bodies[2] = particle3;
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ParticleData &pd = model.getParticles();
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ParticleData &pg = model.getGhostParticles();
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Vector3r &x1 = pd.getPosition( particle1);
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Vector3r &x2 = pd.getPosition( particle2);
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Vector3r &x3 = pg.getPosition( particle3);
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Vector3r xm = 0.5 * (x1 + x2);
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m_restLength = (x3 - xm).norm();
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return true;
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}
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bool GhostPointEdgeDistanceConstraint::solvePositionConstraint(SimulationModel &model)
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{
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PositionBasedElasticRodsModel &simModel = static_cast<PositionBasedElasticRodsModel&>(model);
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ParticleData &pd = model.getParticles();
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ParticleData &pg = simModel.getGhostParticles();
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const unsigned i1 = m_bodies[0];
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const unsigned i2 = m_bodies[1];
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const unsigned i3 = m_bodies[2];
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Vector3r &x1 = pd.getPosition(i1);
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Vector3r &x2 = pd.getPosition(i2);
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Vector3r &x3 = pg.getPosition(i3);
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const Real invMass1 = pd.getInvMass(i1);
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const Real invMass2 = pd.getInvMass(i2);
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const Real invMass3 = pg.getInvMass(i3);
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Vector3r corr[3];
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const bool res = PositionBasedElasticRods::solve_GhostPointEdgeDistanceConstraint(x1, invMass1, x2, invMass2, x3, invMass3, 1.0, m_restLength, corr[0], corr[1], corr[2]);
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if (res)
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{
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if (invMass1 != 0.0f)
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x1 += corr[0];
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if (invMass2 != 0.0f)
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x2 += corr[1];
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if (invMass3 != 0.0f)
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x3 += corr[2];
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}
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return res;
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}
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//////////////////////////////////////////////////////////////////////////
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// DarbouxVectorConstraint
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//////////////////////////////////////////////////////////////////////////
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bool DarbouxVectorConstraint::initConstraint(PositionBasedElasticRodsModel &model, const unsigned int particle1, const unsigned int particle2,
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const unsigned int particle3, const unsigned int particle4, const unsigned int particle5)
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{
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m_bodies[0] = particle1;
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m_bodies[1] = particle2;
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m_bodies[2] = particle3;
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m_bodies[3] = particle4; //ghost point id
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m_bodies[4] = particle5; //ghost point id
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ParticleData &pd = model.getParticles();
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ParticleData &pg = model.getGhostParticles();
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const Vector3r &x1 = pd.getPosition0(m_bodies[0]);
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const Vector3r &x2 = pd.getPosition0(m_bodies[1]);
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const Vector3r &x3 = pd.getPosition0(m_bodies[2]);
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const Vector3r &x4 = pg.getPosition0(m_bodies[3]);
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const Vector3r &x5 = pg.getPosition0(m_bodies[4]);
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PositionBasedElasticRods::computeMaterialFrame(x1, x2, x4, m_dA);
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PositionBasedElasticRods::computeMaterialFrame(x2, x3, x5, m_dB);
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Vector3r restDarbouxVector;
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PositionBasedElasticRods::computeDarbouxVector(m_dA, m_dB, 1.0, restDarbouxVector);
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model.setRestDarbouxVector(restDarbouxVector);
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return true;
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}
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bool DarbouxVectorConstraint::solvePositionConstraint(SimulationModel &model)
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{
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PositionBasedElasticRodsModel &simModel = static_cast<PositionBasedElasticRodsModel&>(model);
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ParticleData &pd = model.getParticles();
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ParticleData &pg = simModel.getGhostParticles();
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Vector3r &x1 = pd.getPosition(m_bodies[0]);
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Vector3r &x2 = pd.getPosition(m_bodies[1]);
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Vector3r &x3 = pd.getPosition(m_bodies[2]);
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Vector3r &x4 = pg.getPosition(m_bodies[3]);
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Vector3r &x5 = pg.getPosition(m_bodies[4]);
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const Real invMass1 = pd.getInvMass(m_bodies[0]);
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const Real invMass2 = pd.getInvMass(m_bodies[1]);
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const Real invMass3 = pd.getInvMass(m_bodies[2]);
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const Real invMass4 = pg.getInvMass(m_bodies[3]);
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const Real invMass5 = pg.getInvMass(m_bodies[4]);
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Vector3r corr[5];
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bool res = PositionBasedElasticRods::solve_DarbouxVectorConstraint(
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x1, invMass1, x2, invMass2, x3, invMass3, x4, invMass4, x5, invMass5,
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simModel.getBendingAndTwistingStiffness(), 1.0, simModel.getRestDarbouxVector(),
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corr[0], corr[1], corr[2], corr[3], corr[4]);
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if (res)
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{
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if (invMass1 != 0.0f)
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x1 += corr[0];
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if (invMass2 != 0.0f)
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x2 += corr[1];
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if (invMass3 != 0.0f)
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x3 += corr[2];
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if (invMass4 != 0.0f)
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x4 += corr[3];
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if (invMass5 != 0.0f)
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x5 += corr[4];
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}
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return res;
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}
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‎Demos/PositionBasedElasticRodsDemo/PositionBasedElasticRodsConstraints.h‎

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#ifndef _POSITIONBASEDELASTICRODSCONSTRAINTS_H
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#define _POSITIONBASEDELASTICRODSCONSTRAINTS_H
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#include "Demos/Common/Config.h"
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#include <Eigen/Dense>
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#include "Demos/Simulation/Constraints.h"
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#include "PositionBasedElasticRodsModel.h"
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namespace PBD
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{
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class SimulationModel;
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class GhostPointEdgeDistanceConstraint : public Constraint
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{
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public:
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static int TYPE_ID;
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Real m_restLength;
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GhostPointEdgeDistanceConstraint() : Constraint(3) {}
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virtual int &getTypeId() const { return TYPE_ID; }
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bool initConstraint(PositionBasedElasticRodsModel &model, const unsigned int particle1, const unsigned int particle2, const unsigned int particle3);
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virtual bool solvePositionConstraint(SimulationModel &model);
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};
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class PerpendiculaBisectorConstraint : public Constraint
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{
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public:
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static int TYPE_ID;
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PerpendiculaBisectorConstraint() : Constraint(3) {}
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virtual int &getTypeId() const { return TYPE_ID; }
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bool initConstraint(SimulationModel &model, const unsigned int particle1, const unsigned int particle2, const unsigned int particle3);
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virtual bool solvePositionConstraint(SimulationModel &model);
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};
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class DarbouxVectorConstraint : public Constraint
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{
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public:
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static int TYPE_ID;
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Matrix3r m_dA; //material frame A
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Matrix3r m_dB; //material frame B
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DarbouxVectorConstraint() : Constraint(5) {}
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virtual int &getTypeId() const { return TYPE_ID; }
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virtual bool initConstraint(PositionBasedElasticRodsModel &model, const unsigned int particle1, const unsigned int particle2,
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const unsigned int particle3, const unsigned int particle4, const unsigned int particle5);
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virtual bool solvePositionConstraint(SimulationModel &model);
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};
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}
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#endif

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