qyy
/
RigidElasticSim
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

add single_color_model; colormap_model

cflin
cflin 2 years ago
parent
5f1810d8da
commit
76faa16a95
18 changed files with 130296 additions and 181 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      .gitignore
  2. 315
      CMakeLists.txt
  3. 129725
      assets/armadillo.obj
  4. 2
      comparisons/Bullet/README.md
  5. 3
      engine/CMakeLists.txt
  6. 26
      engine/engine.json.in
  7. 1
      src/CMakeLists.txt
  8. 14
      src/main.cpp
  9. 7
      src/path_config.h.in
  10. 8
      src/viewer/UIMenu.cpp
  11. 4
      src/viewer/UISimState.cpp
  12. 12
      src/viewer/UISimState.hpp
  13. 10
      src/viewer/UIStaticSimState.cpp
  14. 169
      src/viewer/UIStaticSimState.h
  15. 16
      static_sim/CMakeLists.txt
  16. 46
      static_sim/SimTargetOption.h
  17. 8
      static_sim/StaticSim.cpp
  18. 107
      static_sim/StaticSim.h

4
.gitignore
View File

@ -1,4 +1,6 @@
cmake-*/
.idea/
stl/
output/
*.und/
path_config.h
engine.json

315
CMakeLists.txt
View File

@ -1,50 +1,54 @@
# Detects whether this is a top-level project
get_directory_property(HAS_PARENT PARENT_DIRECTORY)
if(HAS_PARENT)
if (HAS_PARENT)
set(RIGID_IPC_TOPLEVEL_PROJECT OFF)
else()
else ()
set(RIGID_IPC_TOPLEVEL_PROJECT ON)
endif()
endif ()
# Check required CMake version
set(REQUIRED_CMAKE_VERSION "3.14.0")
if(RIGID_IPC_TOPLEVEL_PROJECT)
if (RIGID_IPC_TOPLEVEL_PROJECT)
cmake_minimum_required(VERSION ${REQUIRED_CMAKE_VERSION})
else()
else ()
# Don't use cmake_minimum_required here to avoid implicitly overriding parent policies
if(${CMAKE_VERSION} VERSION_LESS ${REQUIRED_CMAKE_VERSION})
if (${CMAKE_VERSION} VERSION_LESS ${REQUIRED_CMAKE_VERSION})
message(FATAL_ERROR "CMake required version to build Rigid IPC is ${REQUIRED_CMAKE_VERSION}")
endif()
endif()
endif ()
endif ()
# Include user-provided default options if available. We do that before the main
# `project()` so that we can define the C/C++ compilers from the option file.
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/RigidIPCOptions.cmake)
if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/RigidIPCOptions.cmake)
message(STATUS "Using local options file: ${CMAKE_CURRENT_SOURCE_DIR}/RigidIPCOptions.cmake")
include(${CMAKE_CURRENT_SOURCE_DIR}/RigidIPCOptions.cmake)
endif()
endif ()
# Edit start
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Edit end
################################################################################
project(RigidIPC
DESCRIPTION "Robust, intersection-free, simulations of rigid bodies."
LANGUAGES CXX)
option(RIGID_IPC_WITH_UNIT_TESTS "Build unit-tests" ${RIGID_IPC_TOPLEVEL_PROJECT})
option(RIGID_IPC_WITH_OPENGL "Build GUI" ${RIGID_IPC_TOPLEVEL_PROJECT})
option(RIGID_IPC_WITH_TOOLS "Build tools" ${RIGID_IPC_TOPLEVEL_PROJECT})
option(RIGID_IPC_WITH_PROFILING "Profile functions" OFF)
option(RIGID_IPC_WITH_COMPARISONS "Build comparisons" OFF)
option(RIGID_IPC_WITH_SIMD "Enable SIMD" OFF)
option(RIGID_IPC_WITH_PYTHON "Build Python bindings" OFF)
option(RIGID_IPC_WITH_DERIVATIVE_CHECK "Check derivatives using finite differences" OFF)
option(RIGID_IPC_WITH_UNIT_TESTS "Build unit-tests" ${RIGID_IPC_TOPLEVEL_PROJECT})
option(RIGID_IPC_WITH_OPENGL "Build GUI" ${RIGID_IPC_TOPLEVEL_PROJECT})
option(RIGID_IPC_WITH_TOOLS "Build tools" ${RIGID_IPC_TOPLEVEL_PROJECT})
option(RIGID_IPC_WITH_PROFILING "Profile functions" OFF)
option(RIGID_IPC_WITH_COMPARISONS "Build comparisons" OFF)
option(RIGID_IPC_WITH_SIMD "Enable SIMD" OFF)
option(RIGID_IPC_WITH_PYTHON "Build Python bindings" OFF)
option(RIGID_IPC_WITH_DERIVATIVE_CHECK "Check derivatives using finite differences" OFF)
# Set default minimum C++ standard
if(RIGID_IPC_TOPLEVEL_PROJECT)
if (RIGID_IPC_TOPLEVEL_PROJECT)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
endif()
endif ()
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/rigid_ipc/")
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/recipes/")
@ -63,21 +67,21 @@ mark_as_advanced(CLEAR CMAKE_BUILD_TYPE)
# libigl options
option(LIBIGL_USE_STATIC_LIBRARY "Use libigl as static library" OFF)
option(LIBIGL_WITH_PREDICATES "Use exact predicates" ON)
option(LIBIGL_WITH_PREDICATES "Use exact predicates" ON)
set(LIBIGL_WITH_OPENGL_GLFW_IMGUI ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use OpenGL" FORCE)
set(LIBIGL_WITH_OPENGL_GLFW ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use GLFW" FORCE)
set(LIBIGL_WITH_OPENGL ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use IMGUI" FORCE)
set(LIBIGL_WITH_PNG ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use PNG" FORCE)
set(LIBIGL_WITH_OPENGL_GLFW ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use GLFW" FORCE)
set(LIBIGL_WITH_OPENGL ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use IMGUI" FORCE)
set(LIBIGL_WITH_PNG ${RIGID_IPC_WITH_OPENGL} CACHE BOOL "Use PNG" FORCE)
# PolySolve settings
option(POLYSOLVE_WITH_CHOLMOD "Enable Cholmod library" ON)
option(POLYSOLVE_WITH_UMFPACK "Enable UmfPack library" OFF)
option(POLYSOLVE_WITH_SUPERLU "Enable SuperLU library" OFF)
option(POLYSOLVE_WITH_MKL "Enable MKL library" OFF)
option(POLYSOLVE_WITH_PARDISO "Enable Pardiso library" OFF)
option(POLYSOLVE_WITH_HYPRE "Enable hypre" OFF)
option(POLYSOLVE_WITH_AMGCL "Use AMGCL" OFF)
option(POLYSOLVE_WITH_SPECTRA "Enable computing spectrum" OFF)
option(POLYSOLVE_WITH_CHOLMOD "Enable Cholmod library" ON)
option(POLYSOLVE_WITH_UMFPACK "Enable UmfPack library" OFF)
option(POLYSOLVE_WITH_SUPERLU "Enable SuperLU library" OFF)
option(POLYSOLVE_WITH_MKL "Enable MKL library" OFF)
option(POLYSOLVE_WITH_PARDISO "Enable Pardiso library" OFF)
option(POLYSOLVE_WITH_HYPRE "Enable hypre" OFF)
option(POLYSOLVE_WITH_AMGCL "Use AMGCL" OFF)
option(POLYSOLVE_WITH_SPECTRA "Enable computing spectrum" OFF)
set(TIGHT_INCLUSION_WITH_NO_ZERO_TOI OFF CACHE BOOL "Enable refinement if CCD produces a zero ToI" FORCE)
@ -86,74 +90,74 @@ set(TIGHT_INCLUSION_WITH_NO_ZERO_TOI OFF CACHE BOOL "Enable refinement if CCD pr
################################################################################
add_library(ipc_rigid
src/autodiff/autodiff.cpp
src/utils/sinc.cpp
src/ccd/impact.cpp
src/ccd/ccd.cpp
src/ccd/linear/broad_phase.cpp
src/ccd/piecewise_linear/time_of_impact.cpp
src/interval/filib_rounding.cpp
src/interval/interval_root_finder.cpp
src/ccd/rigid/broad_phase.cpp
src/ccd/rigid/rigid_body_hash_grid.cpp
src/ccd/rigid/rigid_body_bvh.cpp
src/ccd/rigid/time_of_impact.cpp
src/ccd/rigid/rigid_trajectory_aabb.cpp
src/ccd/redon/time_of_impact.cpp
src/ccd/save_queries.cpp
src/geometry/intersection.cpp
src/io/serialize_json.cpp
src/io/read_rb_scene.cpp
src/io/read_obj.cpp
src/io/write_obj.cpp
src/io/write_gltf.cpp
src/physics/mass.cpp
src/utils/mesh_selector.cpp
src/physics/rigid_body.cpp
src/physics/rigid_body_assembler.cpp
src/physics/rigid_body_problem.cpp
src/barrier/barrier.cpp
src/barrier/barrier_chorner.cpp
src/opt/distance_barrier_constraint.cpp
src/opt/collision_constraint.cpp
src/opt/optimization_problem.cpp
src/opt/optimization_results.cpp
src/problems/barrier_problem.cpp
src/solvers/newton_solver.cpp
src/solvers/ipc_solver.cpp
src/solvers/homotopy_solver.cpp
src/solvers/solver_factory.cpp
# src/solvers/line_search.cpp
src/problems/rigid_body_collision_constraint.cpp
src/problems/distance_barrier_rb_problem.cpp
src/problems/split_distance_barrier_rb_problem.cpp
src/problems/problem_factory.cpp
src/time_stepper/sympletic_euler_time_stepper.cpp
src/time_stepper/verlet_time_stepper.cpp
src/time_stepper/exponential_euler_time_stepper.cpp
src/time_stepper/dmv_time_stepper.cpp
src/time_stepper/time_stepper_factory.cpp
src/utils/tensor.cpp
src/utils/eigen_ext.cpp
src/utils/regular_2d_grid.cpp
src/utils/get_rss.cpp
src/SimState.cpp
src/logger.cpp
src/profiler.cpp
)
src/autodiff/autodiff.cpp
src/utils/sinc.cpp
src/ccd/impact.cpp
src/ccd/ccd.cpp
src/ccd/linear/broad_phase.cpp
src/ccd/piecewise_linear/time_of_impact.cpp
src/interval/filib_rounding.cpp
src/interval/interval_root_finder.cpp
src/ccd/rigid/broad_phase.cpp
src/ccd/rigid/rigid_body_hash_grid.cpp
src/ccd/rigid/rigid_body_bvh.cpp
src/ccd/rigid/time_of_impact.cpp
src/ccd/rigid/rigid_trajectory_aabb.cpp
src/ccd/redon/time_of_impact.cpp
src/ccd/save_queries.cpp
src/geometry/intersection.cpp
src/io/serialize_json.cpp
src/io/read_rb_scene.cpp
src/io/read_obj.cpp
src/io/write_obj.cpp
src/io/write_gltf.cpp
src/physics/mass.cpp
src/utils/mesh_selector.cpp
src/physics/rigid_body.cpp
src/physics/rigid_body_assembler.cpp
src/physics/rigid_body_problem.cpp
src/barrier/barrier.cpp
src/barrier/barrier_chorner.cpp
src/opt/distance_barrier_constraint.cpp
src/opt/collision_constraint.cpp
src/opt/optimization_problem.cpp
src/opt/optimization_results.cpp
src/problems/barrier_problem.cpp
src/solvers/newton_solver.cpp
src/solvers/ipc_solver.cpp
src/solvers/homotopy_solver.cpp
src/solvers/solver_factory.cpp
# src/solvers/line_search.cpp
src/problems/rigid_body_collision_constraint.cpp
src/problems/distance_barrier_rb_problem.cpp
src/problems/split_distance_barrier_rb_problem.cpp
src/problems/problem_factory.cpp
src/time_stepper/sympletic_euler_time_stepper.cpp
src/time_stepper/verlet_time_stepper.cpp
src/time_stepper/exponential_euler_time_stepper.cpp
src/time_stepper/dmv_time_stepper.cpp
src/time_stepper/time_stepper_factory.cpp
src/utils/tensor.cpp
src/utils/eigen_ext.cpp
src/utils/regular_2d_grid.cpp
src/utils/get_rss.cpp
src/SimState.cpp
src/logger.cpp
src/profiler.cpp
)
target_include_directories(ipc_rigid PUBLIC src)
add_library(ipc::rigid ALIAS ipc_rigid)
@ -168,14 +172,14 @@ add_library(ipc::rigid ALIAS ipc_rigid)
set(RIGID_IPC_MESH_DIR ${CMAKE_CURRENT_SOURCE_DIR}/meshes)
target_compile_definitions(ipc_rigid PUBLIC RIGID_IPC_MESHES_DIR=\"${RIGID_IPC_MESH_DIR}\")
if(RIGID_IPC_WITH_DERIVATIVE_CHECK)
target_compile_definitions(ipc_rigid PUBLIC RIGID_IPC_WITH_DERIVATIVE_CHECK)
endif()
if (RIGID_IPC_WITH_DERIVATIVE_CHECK)
target_compile_definitions(ipc_rigid PUBLIC RIGID_IPC_WITH_DERIVATIVE_CHECK)
endif ()
if(RIGID_IPC_WITH_PROFILING)
message(STATUS "Profiling Enabled")
target_compile_definitions(ipc_rigid PUBLIC RIGID_IPC_PROFILE_FUNCTIONS)
endif()
if (RIGID_IPC_WITH_PROFILING)
message(STATUS "Profiling Enabled")
target_compile_definitions(ipc_rigid PUBLIC RIGID_IPC_PROFILE_FUNCTIONS)
endif ()
# For MSVC, do not use the min and max macros.
target_compile_definitions(ipc_rigid PUBLIC NOMINMAX)
@ -192,10 +196,10 @@ target_link_libraries(ipc_rigid PRIVATE ipc::rigid::warnings)
include(eigen)
include(libigl)
target_link_libraries(ipc_rigid PUBLIC
Eigen3::Eigen
igl::core
igl::predicates
)
Eigen3::Eigen
igl::core
igl::predicates
)
# JSON Parser
include(json)
@ -250,26 +254,26 @@ target_link_libraries(ipc_rigid PUBLIC ghc::filesystem)
################################################################################
## SIMD support
if(RIGID_IPC_WITH_SIMD)
# Figure out SSE level support
message(STATUS "Seaching for SSE...")
find_package(SSE)
# Apple broke AVX instructions with clang:
# https://gitlab.com/libeigen/eigen/-/commit/71aa53dd6dfdc497324d9e87f59c4ba820191856
if(NOT APPLE)
# Figure out AVX level support
message(STATUS "Searching for AVX...")
find_package(AVX)
# Figure out FMA level support
message(STATUS "Searching for FMA...")
find_package(FMA)
else()
message(WARNING "Disabling AVX support: clang compiler shipped with XCode 11.[012] generates broken assembly with -macosx-version-min=10.15 and AVX enabled.")
endif()
# Add SSE, AVX, and FMA flags to compiler flags
string(REPLACE " " ";" SIMD_FLAGS "${SSE_FLAGS} ${AVX_FLAGS} ${FMA_FLAGS}")
target_compile_options(ipc_rigid PUBLIC ${SIMD_FLAGS})
endif()
if (RIGID_IPC_WITH_SIMD)
# Figure out SSE level support
message(STATUS "Seaching for SSE...")
find_package(SSE)
# Apple broke AVX instructions with clang:
# https://gitlab.com/libeigen/eigen/-/commit/71aa53dd6dfdc497324d9e87f59c4ba820191856
if (NOT APPLE)
# Figure out AVX level support
message(STATUS "Searching for AVX...")
find_package(AVX)
# Figure out FMA level support
message(STATUS "Searching for FMA...")
find_package(FMA)
else ()
message(WARNING "Disabling AVX support: clang compiler shipped with XCode 11.[012] generates broken assembly with -macosx-version-min=10.15 and AVX enabled.")
endif ()
# Add SSE, AVX, and FMA flags to compiler flags
string(REPLACE " " ";" SIMD_FLAGS "${SSE_FLAGS} ${AVX_FLAGS} ${FMA_FLAGS}")
target_compile_options(ipc_rigid PUBLIC ${SIMD_FLAGS})
endif ()
# Use C++17
target_compile_features(ipc_rigid PUBLIC cxx_std_17)
@ -279,45 +283,48 @@ target_compile_features(ipc_rigid PUBLIC cxx_std_17)
################################################################################
add_executable(rigid_ipc_sim src/main.cpp)
if(RIGID_IPC_WITH_OPENGL)
if (RIGID_IPC_WITH_OPENGL)
target_sources(rigid_ipc_sim PUBLIC
src/viewer/imgui_ext.cpp
src/viewer/igl_viewer_ext.cpp
src/viewer/UISimState.cpp
src/viewer/UIMenu.cpp
)
endif()
src/viewer/imgui_ext.cpp
src/viewer/igl_viewer_ext.cpp
src/viewer/UISimState.cpp
src/viewer/UIMenu.cpp
# Edit start
src/viewer/UIStaticSimState.cpp
# Edit end
)
endif ()
target_link_libraries(rigid_ipc_sim PUBLIC ipc::rigid)
include(cli11)
target_link_libraries(rigid_ipc_sim PUBLIC CLI11::CLI11)
if(RIGID_IPC_WITH_OPENGL)
if (RIGID_IPC_WITH_OPENGL)
target_compile_definitions(rigid_ipc_sim PUBLIC RIGID_IPC_WITH_OPENGL)
include(libigl)
target_link_libraries(rigid_ipc_sim PUBLIC
igl::opengl igl::opengl_glfw igl::opengl_glfw_imgui igl::png)
igl::opengl igl::opengl_glfw igl::opengl_glfw_imgui igl::png)
# Charlie Tangora's gif-h library
include(gif_h)
target_link_libraries(rigid_ipc_sim PRIVATE gif_h::gif_h)
endif()
endif ()
################################################################################
# Tools
################################################################################
if(RIGID_IPC_WITH_TOOLS)
add_subdirectory(src/tools)
endif()
if (RIGID_IPC_WITH_TOOLS)
add_subdirectory(src/tools)
endif ()
################################################################################
# Tests
################################################################################
# Enable unit testing at the root level
if(RIGID_IPC_WITH_UNIT_TESTS)
if (RIGID_IPC_WITH_UNIT_TESTS)
include(CTest)
enable_testing()
@ -327,19 +334,23 @@ if(RIGID_IPC_WITH_UNIT_TESTS)
include("${catch2_SOURCE_DIR}/contrib/Catch.cmake")
add_subdirectory(tests)
endif()
endif ()
################################################################################
# Comparisons to other methods
################################################################################
if(RIGID_IPC_WITH_COMPARISONS)
add_subdirectory(comparisons)
endif()
if (RIGID_IPC_WITH_COMPARISONS)
add_subdirectory(comparisons)
endif ()
################################################################################
# Python bindings
################################################################################
if(RIGID_IPC_WITH_PYTHON)
add_subdirectory(python)
endif()
if (RIGID_IPC_WITH_PYTHON)
add_subdirectory(python)
endif ()
add_subdirectory(src)
add_subdirectory(engine)
add_subdirectory(static_sim)

129725
assets/armadillo.obj
View File

File diff suppressed because it is too large

2
comparisons/Bullet/README.md
View File

@ -2,7 +2,7 @@
Bullet provides two ways of modeling contacts between complex geometries. Similar to our method, the first way uses the triangle mesh geometry directly (`btGImpactMeshShape`). The second way uses convex shapes (or compound convex shapes). Bullet additionally, provides a direct way of generating approximate convex decompositions of concave shapes through Volumetric Hierarchical Approximate Decomposition (V-HACD).
## Triangle Mesh Collisions (`btGImpactMeshShape`)
## Triangle Model Collisions (`btGImpactMeshShape`)
We modified the ImportMJCFDemo example to automatically take an MJCF scene file as input, run the scene for 10 simulated seconds, and then terminate. We use `GImpact` for any input triangle meshes, and enforce only one substep for each time step (time step size fixed at `1e-2`, `1e-3`, or `1e-4` s for our experiments). To do this we implemented mesh volume computation and enabled automatic mass computation from density input (`m=ρV`), and we also enabled mesh scaling, `dt`, and `mu` setting from MJCF file which are not supported in the original demo.

3
engine/CMakeLists.txt
View File

@ -0,0 +1,3 @@
# replace the absolute path to the local directory with a relative one
set(LOCAL_DIR_PATH ${CMAKE_CURRENT_SOURCE_DIR} CACHE PATH "PATH TO LOCAL DIR")
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/engine.json.in ${CMAKE_CURRENT_SOURCE_DIR}/engine.json @ONLY)

26
engine/engine.json → engine/engine.json.in
View File

@ -6,7 +6,7 @@
"coefficient_restitution": -1,
"gravity": [0, 9.8, 0],
"rigid_bodies": [{
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/crank.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/crank.stl",
"density": 1000,
"angular_velocity": [0, 0, 450],
"torque": [0, 0, 300],
@ -14,59 +14,59 @@
"is_dof_fixed": [true, true, true, true, true, false],
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston1_head.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston1_head.stl",
"is_dof_fixed": [true, false, true, true, true, true],
"density": 1000,
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston1_pin.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston1_pin.stl",
"is_dof_fixed": [true, false, true, true, true, true],
"density": 1000,
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston1_mid.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston1_mid.stl",
"density": 1000,
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston2_head.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston2_head.stl",
"is_dof_fixed": [true, false, true, true, true, true],
"density": 1000,
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston2_pin.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston2_pin.stl",
"is_dof_fixed": [true, false, true, true, true, true],
"density": 1000,
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston2_mid.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston2_mid.stl",
"density": 1000,
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston3_head.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston3_head.stl",
"is_dof_fixed": [true, false, true, true, true, true],
"density": 1000,
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston3_pin.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston3_pin.stl",
"is_dof_fixed": [true, false, true, true, true, true],
"density": 1000,
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston3_mid.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston3_mid.stl",
"density": 1000,
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston4_head.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston4_head.stl",
"is_dof_fixed": [true, false, true, true, true, true],
"density": 1000,
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston4_pin.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston4_pin.stl",
"is_dof_fixed": [true, false, true, true, true, true],
"density": 1000,
"scale": 0.001
}, {
"mesh": "/home/oo/project/vscode/rigid_ipc/rigid-ipc/engine/stl/piston4_mid.stl",
"mesh": "@LOCAL_DIR_PATH@/stl/piston4_mid.stl",
"density": 1000,
"scale": 0.001
}]

1
src/CMakeLists.txt
View File

@ -0,0 +1 @@
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/path_config.h.in ${CMAKE_CURRENT_SOURCE_DIR}/path_config.h @ONLY)

14
src/main.cpp
View File

@ -11,10 +11,11 @@
#include <SimState.hpp>
#ifdef RIGID_IPC_WITH_OPENGL
#include <viewer/UISimState.hpp>
#include "viewer/UIStaticSimState.h"
#endif
#include <logger.hpp>
#include <profiler.hpp>
#include "path_config.h"
int main(int argc, char* argv[])
{
using namespace ipc::rigid;
@ -88,7 +89,16 @@ int main(int argc, char* argv[])
if (with_viewer) {
#ifdef RIGID_IPC_WITH_OPENGL
UISimState ui;
// UISimState ui;
// ui.launch(scene_path);
// Static Simulation
ssim::SimTargetOption option;
option.set_option(option.U_NORM);
std::string obj_path=CMAKE_SOURCE_DIR "/assets/armadillo.obj";
std::shared_ptr<ssim::StaticSim> sp_StaticSim = std::make_shared<ssim::StaticSim>(option,obj_path);
UIStaticSimState ui(sp_StaticSim);
ui.launch(scene_path);
#else
exit(app.exit(CLI::Error(

7
src/path_config.h.in
View File

@ -0,0 +1,7 @@
#ifndef PATH_CONFIG_H_IN
#define PATH_CONFIG_H_IN
#cmakedefine CMAKE_SOURCE_DIR "@CMAKE_SOURCE_DIR@"
#endif

8
src/viewer/UIMenu.cpp
View File

@ -236,10 +236,10 @@ void UISimState::draw_settings()
ImGui::EndTooltip();
}
if (ImGui::Button("应力##IO", ImVec2(-1, 0))) {
std::string fname = igl::file_dialog_open();
if (fname != "") {
load(fname);
}
// std::string fname = igl::file_dialog_open();
// if (fname != "") {
// load(fname);
// }
}
}

4
src/viewer/UISimState.cpp
View File

@ -5,7 +5,7 @@
#include <physics/rigid_body_problem.hpp>
#include <utils/eigen_ext.hpp>
#include "path_config.h"
namespace ipc::rigid {
UISimState::UISimState()
@ -55,7 +55,7 @@ void UISimState::init(igl::opengl::glfw::Viewer* _viewer)
ImGuiIO& io = ImGui::GetIO();
io.Fonts->Clear();
io.Fonts->AddFontFromFileTTF(
"/home/oo/project/vscode/rigid_ipc/rigid-ipc/src/viewer/Arial Unicode MS.TTF",
CMAKE_SOURCE_DIR "/src/viewer/Arial Unicode MS.TTF",
14.0f, nullptr, io.Fonts->GetGlyphRangesChineseFull());
viewer->data().clear();

12
src/viewer/UISimState.hpp
View File

@ -28,7 +28,7 @@ class UISimState : public igl::opengl::glfw::imgui::ImGuiMenu {
public:
UISimState();
~UISimState() override {}
virtual ~UISimState() override {}
enum PlayerState { Playing = 0, Paused, TotalPlayerStatus };
@ -40,11 +40,11 @@ public:
std::shared_ptr<igl::opengl::ViewerDataExt>
get_data(const std::string& data) const;
void launch(const std::string& inital_scene);
void load_scene();
void redraw_scene();
bool pre_draw_loop();
bool post_draw_loop();
virtual void launch(const std::string& inital_scene);
virtual void load_scene();
virtual void redraw_scene();
virtual bool pre_draw_loop();
virtual bool post_draw_loop();
bool custom_key_pressed(unsigned int unicode_key, int modifiers);

10
src/viewer/UIStaticSimState.cpp
View File

@ -0,0 +1,10 @@
//
// Created by cflin on 4/7/23.
//
#include "UIStaticSimState.h"
namespace ipc {
namespace rigid {
} // ipc
} // rigid

169
src/viewer/UIStaticSimState.h
View File

@ -0,0 +1,169 @@
//
// Created by cflin on 4/7/23.
//
#ifndef RIGIDIPC_UISTATICSIMSTATE_H
#define RIGIDIPC_UISTATICSIMSTATE_H
#include <memory> // shared_ptr
#include <spdlog/spdlog.h>
#include <igl/Timer.h>
#include <igl/opengl/glfw/Viewer.h>
#include <igl/opengl/glfw/imgui/ImGuiMenu.h>
#include <igl/png/render_to_png.h>
#include <igl/png/writePNG.h>
#include <igl/jet.h>
#include <viewer/igl_viewer_ext.hpp>
#include "UISimState.hpp"
#include "path_config.h"
#include "../../static_sim/StaticSim.h"
namespace ipc {
namespace rigid {
struct GUICtrl {
bool mesh_visible = true;
bool single_color = false;
};
class UIStaticSimState : public UISimState {
typedef igl::opengl::glfw::imgui::ImGuiMenu Super;
public:
UIStaticSimState(std::shared_ptr<ssim::StaticSim> sp_StaticSim) : UISimState(),sp_StaticSim_(sp_StaticSim),display_target(ssim::SimTargetOption::U_NORM) {
// set gui_ctrl_;
gui_ctrl_.single_color = true;
gui_ctrl_.mesh_visible = true;
}
virtual ~UIStaticSimState() override {}
virtual void init(igl::opengl::glfw::Viewer *_viewer) override {
Super::init(_viewer);
ImGuiIO &io = ImGui::GetIO();
io.Fonts->Clear();
io.Fonts->AddFontFromFileTTF(
CMAKE_SOURCE_DIR "/src/viewer/Arial Unicode MS.TTF",
14.0f, nullptr, io.Fonts->GetGlyphRangesChineseFull());
viewer->data().clear();
load_scene();
}
// virtual void draw_menu() override;
void load_scene() {
ssim::Model model = sp_StaticSim_->get_mesh();
const Eigen::MatrixXd &V = model.V;
const Eigen::MatrixXi &F = model.F;
Eigen::MatrixXd Target = sp_StaticSim_->EvaluateTarget(display_target);
// plot
viewer->data().set_mesh(V, F);
// colormap
Eigen::MatrixXd C;
igl::jet(Target, true, C);
viewer->data().set_colors(C);
m_has_scene = true;
int dim = V.cols();
m_viewer.core().trackball_angle.setIdentity();
m_viewer.core().set_rotation_type(
dim == 2 ? igl::opengl::ViewerCore::ROTATION_TYPE_NO_ROTATION
: igl::opengl::ViewerCore::
ROTATION_TYPE_TWO_AXIS_VALUATOR_FIXED_UP);
m_viewer.core().orthographic = dim == 2;
m_viewer.core().lighting_factor = 0.0; // dim == 2 ? 0.0 : 1.0;
// mesh_data->data().set_face_based(true);
assert(dim == 3.0);
m_viewer.core().align_camera_center(
V, F);
// Default colors
m_viewer.core().background_color << 0.9f, 0.9f, 0.9f, 0.4f;
// background_color << 0.3f, 0.3f, 0.5f, 1.0f;
// Camera parameters
m_viewer.core().camera_zoom = 1.0f;
m_viewer.core().camera_translation << 0, 0, 0;
}
void launch(const std::string &inital_scene) override {
m_viewer.plugins.push_back(this);
m_viewer.core().set_rotation_type(
igl::opengl::ViewerCore::ROTATION_TYPE_NO_ROTATION);
m_viewer.core().orthographic = true;
m_viewer.core().is_animating = true;
m_viewer.core().lighting_factor = 0.0;
m_viewer.core().animation_max_fps = 120.0;
// this->inital_scene = inital_scene;
m_viewer.callback_pre_draw = [&](igl::opengl::glfw::Viewer &) {
return pre_draw_loop();
};
m_viewer.callback_post_draw = [&](igl::opengl::glfw::Viewer &) {
return post_draw_loop();
};
m_viewer.callback_key_pressed = [&](igl::opengl::glfw::Viewer &,
unsigned int unicode_key,
int modifiers) {
return custom_key_pressed(unicode_key, modifiers);
};
m_viewer.launch(
/*resizable=*/true, /*fullscreen=*/false,
/*name=*/"静力学仿真");
}
// void load_scene();
void redraw_scene() {
ssim::Model model = sp_StaticSim_->get_mesh();
const Eigen::MatrixXd &V = model.V;
const Eigen::MatrixXi &F = model.F;
Eigen::MatrixXd Target = sp_StaticSim_->EvaluateTarget(display_target);
// plot
viewer->data().set_mesh(V, F);
if (!gui_ctrl_.mesh_visible) {
viewer->data().show_overlay = false;
viewer->data().show_lines = false;
}
if (!gui_ctrl_.single_color) {
// colormap
Eigen::MatrixXd C;
igl::jet(Target, true, C);
viewer->data().set_colors(C);
} else {
// single color
viewer->data().set_colors(Eigen::RowVector3d(1, 0, 0));
}
}
bool pre_draw_loop() {
redraw_scene();
return false;
}
bool post_draw_loop() {
return false;
}
private:
std::shared_ptr<ssim::StaticSim> sp_StaticSim_;
ssim::SimTargetOption::Target display_target;
GUICtrl gui_ctrl_;
};
} // ipc
} // rigid
#endif //RIGIDIPC_UISTATICSIMSTATE_H

16
static_sim/CMakeLists.txt
View File

@ -0,0 +1,16 @@
# Static Simulation Project
add_library(StaticSim STATIC StaticSim.cpp)
# eigen
target_link_libraries(StaticSim PUBLIC Eigen3::Eigen)
# igl
include(libigl)
target_link_libraries(StaticSim PUBLIC
igl::core
igl::predicates
)
target_link_libraries(StaticSim PUBLIC spdlog::spdlog)
# IPC link static simulation
target_link_libraries(rigid_ipc_sim PUBLIC StaticSim)

46
static_sim/SimTargetOption.h
View File

@ -0,0 +1,46 @@
//
// Created by cflin on 4/7/23.
//
#ifndef RIGIDIPC_SIMTARGETOPTION_H
#define RIGIDIPC_SIMTARGETOPTION_H
namespace ssim {
class SimTargetOption {
public:
static const int NUM_TARGETS = 10;
enum Target{
U_NORM = 0,S_NORM, S_X, S_Y, S_Z
};
SimTargetOption(int init_state=0) : state(init_state) {}
void set_option(int option) {
state |= (1 << option);
}
void unset_option(int option) {
state &= ~(1 << option);
}
bool is_option_set(int option) const {
return state & (1 << option);
}
void clear() {
state = 0;
}
void set() {
state = INT_MAX;
}
private:
int state;
};
} // ssim
#endif //RIGIDIPC_SIMTARGETOPTION_H

8
static_sim/StaticSim.cpp
View File

@ -0,0 +1,8 @@
//
// Created by cflin on 4/7/23.
//
#include "StaticSim.h"
namespace ssim {
} // ssim

107
static_sim/StaticSim.h
View File

@ -0,0 +1,107 @@
//
// Created by cflin on 4/7/23.
//
#ifndef RIGIDIPC_STATICSIM_H
#define RIGIDIPC_STATICSIM_H
#include <igl/readOBJ.h>
#include <Eigen/Dense>
#include <spdlog/spdlog.h>
#include "SimTargetOption.h"
namespace ssim {
struct Model {
Eigen::MatrixX3d V;
Eigen::MatrixX3i F;
Model() = default;
Model(const Eigen::MatrixX3d &V, const Eigen::MatrixX3i &F) : V(V), F(F) {}
int NumVertex() const{
return V.rows();
};
};
class StaticSim {
using MeshModel = Model;
using StlModel = Model;
public:
StaticSim(const SimTargetOption &option,const std::string & obj_path){
igl::readOBJ(obj_path,mesh_.V,mesh_.F);
// set option
option_=option;
map_target_to_evaluated_.resize(option_.NUM_TARGETS);
for (int i = 0; i < option_.NUM_TARGETS; ++i) {
if(option_.is_option_set(i))
MapAppendTarget(i);
}
}
StaticSim(const StlModel &stl, const SimTargetOption &option) : stl_(stl), option_(option) {
map_target_to_evaluated_.resize(option_.NUM_TARGETS);
// TODO: boundary condition && solve
for (int i = 0; i < option_.NUM_TARGETS; ++i) {
MapAppendTarget(i);
}
// ...
}
Eigen::MatrixXd EvaluateTarget(SimTargetOption::Target target) {
if (!option_.is_option_set(target)) {
// new target, update option_ and map_
MapAppendTarget(target);
option_.set_option(target);
}
return map_target_to_evaluated_[target];
}
void set_stl(const std::string &stl_path) {
// TODO read stl file
}
Model get_mesh() const {
return mesh_;
}
Model get_stl() const {
return stl_;
}
private:
MeshModel mesh_;
StlModel stl_;
SimTargetOption option_;
std::vector<Eigen::MatrixXd> map_target_to_evaluated_;
Eigen::MatrixXd EvaluateUNorm() const {
// TODO
return (Eigen::VectorXd::Random(mesh_.NumVertex()).array() + 1.0) * 50;
}
Eigen::MatrixXd EvaluateSNorm() const {
// TODO
return (Eigen::VectorXd::Random(mesh_.NumVertex()).array() + 1.0) * 50;
}
void MapAppendTarget(int target) {
switch (target) {
case SimTargetOption::U_NORM:
map_target_to_evaluated_[target] = EvaluateUNorm();
break;
case SimTargetOption::S_NORM:
map_target_to_evaluated_[target] = EvaluateSNorm();
break;
default:
spdlog::warn("Wrong target {:d} !(TODO)", target);
}
}
};
} // ssim
#endif //RIGIDIPC_STATICSIM_H
Write Preview
Loading…
Cancel
Save