diff --git a/Base/Constraint/PbdConstraints/imstkPbdConstantDensityConstraint.cpp b/Base/Constraint/PbdConstraints/imstkPbdConstantDensityConstraint.cpp
index 81a3fb46f4afc02cad64f67044c688624419e33d..bbcb0c2a1052d4ad6926c88daffbd3df0520d3f5 100644
--- a/Base/Constraint/PbdConstraints/imstkPbdConstantDensityConstraint.cpp
+++ b/Base/Constraint/PbdConstraints/imstkPbdConstantDensityConstraint.cpp
@@ -24,7 +24,6 @@ limitations under the License.
namespace imstk
{
-
void
PbdConstantDensityConstraint::initConstraint(PbdModel& model, const double k)
{
@@ -45,9 +44,9 @@ PbdConstantDensityConstraint::initConstraint(PbdModel& model, const double k)
m_deltaPositions.resize(np);
m_neighbors.resize(np * m_maxNumNeighbors);
- m_xPosIndexes.resize(np);
- m_yPosIndexes.resize(np);
- m_zPosIndexes.resize(np);
+ m_xPosIndexes.resize(np);
+ m_yPosIndexes.resize(np);
+ m_zPosIndexes.resize(np);
}
bool
@@ -61,14 +60,14 @@ PbdConstantDensityConstraint::solvePositionConstraint(PbdModel& model)
//This loop should be replaced with parallellization
/*for (int index = 0; index < np; index++)
- {
- PointTable(pos[index], index);
- }*/
- for (int index = 0; index < np; index++)
- {
- //UpdateNeighbors(index, pos);
- UpdateNeighborsBruteForce(pos[index], index, pos);
- }
+ {
+ PointTable(pos[index], index);
+ }*/
+ for (int index = 0; index < np; index++)
+ {
+ //UpdateNeighbors(index, pos);
+ UpdateNeighborsBruteForce(pos[index], index, pos);
+ }
for (int index = 0; index < np; index++)
{
CalculateDensityEstimate(pos[index], index, pos);
@@ -144,83 +143,93 @@ PbdConstantDensityConstraint::Length(const Vec3d &p1)
inline void
PbdConstantDensityConstraint::ClearNeighbors(const int &np)
{
- m_numNeighbors.clear();
- m_neighbors.clear();
- m_numNeighbors.resize(np);
- m_neighbors.resize(np * m_maxNumNeighbors);
+ m_numNeighbors.clear();
+ m_neighbors.clear();
+ m_numNeighbors.resize(np);
+ m_neighbors.resize(np * m_maxNumNeighbors);
}
-inline void
+inline void
PbdConstantDensityConstraint::PointTable(const Vec3d &pi, const int &index)
{
- m_xPosIndexes[index] = (pi[0] - pi[0] * m_maxDist) / m_maxDist;
- m_yPosIndexes[index] = (pi[1] - pi[1] * m_maxDist) / m_maxDist;
- m_zPosIndexes[index] = (pi[2] - pi[2] * m_maxDist) / m_maxDist;
+ m_xPosIndexes[index] = (pi[0] - pi[0] * m_maxDist) / m_maxDist;
+ m_yPosIndexes[index] = (pi[1] - pi[1] * m_maxDist) / m_maxDist;
+ m_zPosIndexes[index] = (pi[2] - pi[2] * m_maxDist) / m_maxDist;
}
-inline void
+inline void
PbdConstantDensityConstraint::UpdateNeighbors(const int &index, const StdVectorOfVec3d &positions)
{
- int ip = m_xPosIndexes[index];
- int jp = m_yPosIndexes[index];
- int kp = m_zPosIndexes[index];
-
- int np = m_zPosIndexes.size();
- int neighborCount = 0;
-
- int ibound = ip - 2;
- if (ibound < 0)
- ibound = 0;
- int jbound = jp - 2;
- if (jbound < 0)
- jbound = 0;
- int kbound = kp - 2;
- if (kbound < 0)
- kbound = 0;
- for (int i = 0; i < np; i++)
- {
- if (neighborCount >= m_maxNumNeighbors || i == index)
- continue;
- if (m_xPosIndexes[i] > ibound && m_xPosIndexes[i] < (ip + 2))
- {
- if (m_yPosIndexes[i] > jbound && m_yPosIndexes[i] < (jp + 2))
- {
- if (m_zPosIndexes[i] > kbound && m_zPosIndexes[i] < (kp + 2))
- {
- m_neighbors[index * m_maxNumNeighbors + neighborCount] = i;
- neighborCount++;
- }
- }
- }
- }
- m_numNeighbors[index] = neighborCount;
+ int ip = m_xPosIndexes[index];
+ int jp = m_yPosIndexes[index];
+ int kp = m_zPosIndexes[index];
+
+ int np = m_zPosIndexes.size();
+ int neighborCount = 0;
+
+ int ibound = ip - 2;
+ if (ibound < 0)
+ {
+ ibound = 0;
+ }
+ int jbound = jp - 2;
+ if (jbound < 0)
+ {
+ jbound = 0;
+ }
+ int kbound = kp - 2;
+ if (kbound < 0)
+ {
+ kbound = 0;
+ }
+ for (int i = 0; i < np; i++)
+ {
+ if (neighborCount >= m_maxNumNeighbors || i == index)
+ {
+ continue;
+ }
+ if (m_xPosIndexes[i] > ibound && m_xPosIndexes[i] < (ip + 2))
+ {
+ if (m_yPosIndexes[i] > jbound && m_yPosIndexes[i] < (jp + 2))
+ {
+ if (m_zPosIndexes[i] > kbound && m_zPosIndexes[i] < (kp + 2))
+ {
+ m_neighbors[index * m_maxNumNeighbors + neighborCount] = i;
+ neighborCount++;
+ }
+ }
+ }
+ }
+ m_numNeighbors[index] = neighborCount;
}
//brute Force
-inline
+inline
void PbdConstantDensityConstraint::UpdateNeighborsBruteForce(const Vec3d &pi, const int &index, const StdVectorOfVec3d &positions)
{
- double neighborRadius = 2 * m_maxDist;
- Vec3d r;
- double rLength;
- int neighborCount = 0;
- //loop over all points
- for (int j = 0; j < positions.size(); j++)
- {
- if (j != index)
- {
- if (neighborCount >= m_maxNumNeighbors)
- continue;
- r = pi - positions[j];
- rLength = Length(r);
- if (rLength < neighborRadius)
- {
- m_neighbors[index * m_maxNumNeighbors + neighborCount] = j;
- neighborCount++;
- }
- }
- }
- m_numNeighbors[index] = neighborCount;
+ double neighborRadius = 2 * m_maxDist;
+ Vec3d r;
+ double rLength;
+ int neighborCount = 0;
+ //loop over all points
+ for (int j = 0; j < positions.size(); j++)
+ {
+ if (j != index)
+ {
+ if (neighborCount >= m_maxNumNeighbors)
+ {
+ continue;
+ }
+ r = pi - positions[j];
+ rLength = Length(r);
+ if (rLength < neighborRadius)
+ {
+ m_neighbors[index * m_maxNumNeighbors + neighborCount] = j;
+ neighborCount++;
+ }
+ }
+ }
+ m_numNeighbors[index] = neighborCount;
}
diff --git a/Base/Constraint/PbdConstraints/imstkPbdConstantDensityConstraint.h b/Base/Constraint/PbdConstraints/imstkPbdConstantDensityConstraint.h
index 35bd739db5bccee827b0c487e71c119db601dc97..5e611d12ba054fb25761367807e0b491b2a2d041 100644
--- a/Base/Constraint/PbdConstraints/imstkPbdConstantDensityConstraint.h
+++ b/Base/Constraint/PbdConstraints/imstkPbdConstantDensityConstraint.h
@@ -56,9 +56,9 @@ private:
double Length(const Vec3d &);
void PointTable(const Vec3d &pi, const int &index);
- void UpdateNeighbors(const int &index, const StdVectorOfVec3d &positions);
- void UpdateNeighborsBruteForce(const Vec3d &pi, const int &index, const StdVectorOfVec3d &positions);
- void ClearNeighbors(const int &np);
+ void UpdateNeighbors(const int &index, const StdVectorOfVec3d &positions);
+ void UpdateNeighborsBruteForce(const Vec3d &pi, const int &index, const StdVectorOfVec3d &positions);
+ void ClearNeighbors(const int &np);
void CalculateDensityEstimate(const Vec3d &pi, const int &index, const StdVectorOfVec3d &positions);
void CalculateLambdaScalingFactor(const Vec3d &pi, const int &index, const StdVectorOfVec3d &positions);
void DeltaPosition(const Vec3d &pi, const int &index, const StdVectorOfVec3d &positions);
@@ -77,9 +77,9 @@ private:
std::vector<Vec3d> m_deltaPositions; ///> delta positions
std::vector<int> m_neighbors; ///> index of neighbors
std::vector<int> m_numNeighbors; ///> number of neighbors
- std::vector<int> m_xPosIndexes;
- std::vector<int> m_yPosIndexes;
- std::vector<int> m_zPosIndexes;
+ std::vector<int> m_xPosIndexes;
+ std::vector<int> m_yPosIndexes;
+ std::vector<int> m_zPosIndexes;
};
}
diff --git a/Examples/Sandbox/main.cpp b/Examples/Sandbox/main.cpp
index 135eb797b9689efb41a1fcc5bfce5f3523891bda..34aa6b38eb5842ea94a8b0adde75141035d8ea68 100644
--- a/Examples/Sandbox/main.cpp
+++ b/Examples/Sandbox/main.cpp
@@ -1840,214 +1840,214 @@ void testPbdCollision()
void testPbdFluidBenchmarking()
{
- std::vector<int> nPointsList = { 5, 10, 20 };
- std::vector<int> cubeSizeList = { 1, 1, 2 };
-
- int nPointsPerSide = 10;
- double cubeLength = 1;
-
- auto sdk = std::make_shared<SimulationManager>();
- auto scene = sdk->createNewScene("PBDFluidBenchmarking");
-
- scene->getCamera()->setPosition(0, 10.0, 25.0);
-
- //Create Mesh
- imstk::StdVectorOfVec3d vertList;
- int nPoints = pow(nPointsPerSide, 3);
- const double spacing = cubeLength / nPointsPerSide;
-
- vertList.resize(nPoints);
- for (int i = 0; i < nPointsPerSide; ++i)
- {
- for (int j = 0; j < nPointsPerSide; j++)
- {
- for (int k = 0; k < nPointsPerSide; k++)
- {
- vertList[i*nPointsPerSide*nPointsPerSide + j*nPointsPerSide + k] = Vec3d((double)i * spacing, (double)j * spacing, (double)k * spacing);
- }
- }
- }
- std::vector<imstk::SurfaceMesh::TriangleArray> triangles;
- for (size_t i = 0; i < nPointsPerSide - 1; i++)
- {
- for (size_t j = 0; j < nPointsPerSide - 1; j++)
- {
- for (size_t k = 0; k < nPointsPerSide - 1; k++)
- {
- imstk::SurfaceMesh::TriangleArray tri[3];
- tri[0] = { { i*nPointsPerSide*nPointsPerSide + j*nPointsPerSide + k, i*nPointsPerSide*nPointsPerSide + (j + 1)*nPointsPerSide + k, (i + 1)*nPointsPerSide*nPointsPerSide + (j + 1)*nPointsPerSide + k } };
- tri[1] = { { i*nPointsPerSide*nPointsPerSide + j*nPointsPerSide + k, (i + 1)*nPointsPerSide*nPointsPerSide + j*nPointsPerSide + k, (i + 1)*nPointsPerSide*nPointsPerSide + (j + 1)*nPointsPerSide + k } };
- triangles.push_back(tri[0]);
- triangles.push_back(tri[1]);
- }
- }
- }
-
- auto cubeMeshColliding = std::make_shared<imstk::SurfaceMesh>();
- cubeMeshColliding->initialize(vertList, triangles);
- auto cubeMeshVisual = std::make_shared<imstk::SurfaceMesh>();
- cubeMeshVisual->initialize(vertList, triangles);
- auto cubeMeshPhysics = std::make_shared<imstk::SurfaceMesh>();
- cubeMeshPhysics->initialize(vertList, triangles);
-
- auto material1 = std::make_shared<RenderMaterial>();
- material1->setDisplayMode(RenderMaterial::DisplayMode::POINTS);
- cubeMeshVisual->setRenderMaterial(material1);
-
-
- auto cubeMapP2V = std::make_shared<imstk::OneToOneMap>();
- cubeMapP2V->setMaster(cubeMeshPhysics);
- cubeMapP2V->setSlave(cubeMeshVisual);
- cubeMapP2V->compute();
-
- auto cubeMapP2C = std::make_shared<imstk::OneToOneMap>();
- cubeMapP2C->setMaster(cubeMeshPhysics);
- cubeMapP2C->setSlave(cubeMeshColliding);
- cubeMapP2C->compute();
-
- auto cubeMapC2V = std::make_shared<imstk::OneToOneMap>();
- cubeMapC2V->setMaster(cubeMeshColliding);
- cubeMapC2V->setSlave(cubeMeshVisual);
- cubeMapC2V->compute();
-
- auto cube = std::make_shared<PbdObject>("Cube");
- cube->setCollidingGeometry(cubeMeshColliding);
- cube->setVisualGeometry(cubeMeshVisual);
- cube->setPhysicsGeometry(cubeMeshPhysics);
- cube->setPhysicsToCollidingMap(cubeMapP2C);
- cube->setPhysicsToVisualMap(cubeMapP2V);
- cube->setCollidingToVisualMap(cubeMapC2V);
-
- auto pbdModel = std::make_shared<PbdModel>();
- cube->setDynamicalModel(pbdModel);
-
- cube->initialize(/*Number of Constraints*/ 1,
- /*Constraint configuration*/ "ConstantDensity 1.0 0.3",
- /*Mass*/ 1.0,
- /*Gravity*/ "0 -9.8 0",
- /*TimeStep*/ 0.005,
- /*FixedPoint*/ "",
- /*NumberOfIterationInConstraintSolver*/ 2,
- /*Proximity*/ 0.1,
- /*Contact stiffness*/ 1.0);
-
- auto pbdSolver = std::make_shared<PbdSolver>();
- pbdSolver->setPbdObject(cube);
- scene->addNonlinearSolver(pbdSolver);
-
- scene->addSceneObject(cube);
-
- // plane
- double width = 40.0;
- double height = 40.0;
- int nRows = 2;
- int nCols = 2;
- vertList.resize(nRows*nCols);
- const double dy = width / (double)(nCols - 1);
- const double dx = height / (double)(nRows - 1);
- for (int i = 0; i < nRows; ++i)
- {
- for (int j = 0; j < nCols; j++)
- {
- const double y = (double)dy*j;
- const double x = (double)dx*i;
- vertList[i*nCols + j] = Vec3d(x - 20, -0.5, y - 20);
- }
- }
-
- // c. Add connectivity data
- triangles.clear();
- for (std::size_t i = 0; i < nRows - 1; ++i)
- {
- for (std::size_t j = 0; j < nCols - 1; j++)
- {
- imstk::SurfaceMesh::TriangleArray tri[2];
- tri[0] = { { i*nCols + j, i*nCols + j + 1, (i + 1)*nCols + j } };
- tri[1] = { { (i + 1)*nCols + j + 1, (i + 1)*nCols + j, i*nCols + j + 1 } };
- triangles.push_back(tri[0]);
- triangles.push_back(tri[1]);
- }
- }
-
- auto floorMeshColliding = std::make_shared<imstk::SurfaceMesh>();
- floorMeshColliding->initialize(vertList, triangles);
- auto floorMeshVisual = std::make_shared<imstk::SurfaceMesh>();
- floorMeshVisual->initialize(vertList, triangles);
- auto floorMeshPhysics = std::make_shared<imstk::SurfaceMesh>();
- floorMeshPhysics->initialize(vertList, triangles);
-
-
- auto floorMapP2V = std::make_shared<imstk::OneToOneMap>();
- floorMapP2V->setMaster(floorMeshPhysics);
- floorMapP2V->setSlave(floorMeshVisual);
- floorMapP2V->compute();
-
-
- auto floorMapP2C = std::make_shared<imstk::OneToOneMap>();
- floorMapP2C->setMaster(floorMeshPhysics);
- floorMapP2C->setSlave(floorMeshColliding);
- floorMapP2C->compute();
-
- auto floorMapC2V = std::make_shared<imstk::OneToOneMap>();
- floorMapC2V->setMaster(floorMeshColliding);
- floorMapC2V->setSlave(floorMeshVisual);
- floorMapC2V->compute();
-
- auto floor = std::make_shared<PbdObject>("Floor");
- floor->setCollidingGeometry(floorMeshColliding);
- floor->setVisualGeometry(floorMeshVisual);
- floor->setPhysicsGeometry(floorMeshPhysics);
- floor->setPhysicsToCollidingMap(floorMapP2C);
- floor->setPhysicsToVisualMap(floorMapP2V);
- floor->setCollidingToVisualMap(floorMapC2V);
-
- auto pbdModel2 = std::make_shared<PbdModel>();
- floor->setDynamicalModel(pbdModel2);
-
- floor->initialize(/*Number of Constraints*/ 0,
- /*Mass*/ 0.0,
- /*Proximity*/ 0.1,
- /*Contact stiffness*/ 1.0);
-
- auto pbdSolverfloor = std::make_shared<PbdSolver>();
- pbdSolverfloor->setPbdObject(floor);
- scene->addNonlinearSolver(pbdSolverfloor);
-
- scene->addSceneObject(floor);
-
- // Collisions
- auto colGraph = scene->getCollisionGraph();
- auto pair = std::make_shared<PbdInteractionPair>(PbdInteractionPair(cube, floor));
- pair->setNumberOfInterations(2);
-
- colGraph->addInteractionPair(pair);
-
- // Display UPS
- auto ups = std::make_shared<UPSCounter>();
- auto sceneManager = sdk->getSceneManager("PBDFluidBenchmarking");
- sceneManager->setPreInitCallback([](Module* module)
- {
- LOG(INFO) << "-- Pre initialization of " << module->getName() << " module";
- });
- sceneManager->setPreUpdateCallback([&ups](Module* module)
- {
- ups->setStartPointOfUpdate();
- });
- sceneManager->setPostUpdateCallback([&ups](Module* module)
- {
- ups->setEndPointOfUpdate();
- std::cout << "\r-- " << module->getName() << " running at "
- << ups->getUPS() << " ups " << std::flush;
- });
- sceneManager->setPostCleanUpCallback([](Module* module)
- {
- LOG(INFO) << "\n-- Post cleanup of " << module->getName() << " module";
- });
+ std::vector<int> nPointsList = { 5, 10, 20 };
+ std::vector<int> cubeSizeList = { 1, 1, 2 };
+
+ int nPointsPerSide = 10;
+ double cubeLength = 1;
+
+ auto sdk = std::make_shared<SimulationManager>();
+ auto scene = sdk->createNewScene("PBDFluidBenchmarking");
+
+ scene->getCamera()->setPosition(0, 10.0, 25.0);
+
+ //Create Mesh
+ imstk::StdVectorOfVec3d vertList;
+ int nPoints = pow(nPointsPerSide, 3);
+ const double spacing = cubeLength / nPointsPerSide;
+
+ vertList.resize(nPoints);
+ for (int i = 0; i < nPointsPerSide; ++i)
+ {
+ for (int j = 0; j < nPointsPerSide; j++)
+ {
+ for (int k = 0; k < nPointsPerSide; k++)
+ {
+ vertList[i*nPointsPerSide*nPointsPerSide + j*nPointsPerSide + k] = Vec3d((double)i * spacing, (double)j * spacing, (double)k * spacing);
+ }
+ }
+ }
+ std::vector<imstk::SurfaceMesh::TriangleArray> triangles;
+ for (size_t i = 0; i < nPointsPerSide - 1; i++)
+ {
+ for (size_t j = 0; j < nPointsPerSide - 1; j++)
+ {
+ for (size_t k = 0; k < nPointsPerSide - 1; k++)
+ {
+ imstk::SurfaceMesh::TriangleArray tri[3];
+ tri[0] = { { i*nPointsPerSide*nPointsPerSide + j*nPointsPerSide + k, i*nPointsPerSide*nPointsPerSide + (j + 1)*nPointsPerSide + k, (i + 1)*nPointsPerSide*nPointsPerSide + (j + 1)*nPointsPerSide + k } };
+ tri[1] = { { i*nPointsPerSide*nPointsPerSide + j*nPointsPerSide + k, (i + 1)*nPointsPerSide*nPointsPerSide + j*nPointsPerSide + k, (i + 1)*nPointsPerSide*nPointsPerSide + (j + 1)*nPointsPerSide + k } };
+ triangles.push_back(tri[0]);
+ triangles.push_back(tri[1]);
+ }
+ }
+ }
+
+ auto cubeMeshColliding = std::make_shared<imstk::SurfaceMesh>();
+ cubeMeshColliding->initialize(vertList, triangles);
+ auto cubeMeshVisual = std::make_shared<imstk::SurfaceMesh>();
+ cubeMeshVisual->initialize(vertList, triangles);
+ auto cubeMeshPhysics = std::make_shared<imstk::SurfaceMesh>();
+ cubeMeshPhysics->initialize(vertList, triangles);
+
+ auto material1 = std::make_shared<RenderMaterial>();
+ material1->setDisplayMode(RenderMaterial::DisplayMode::POINTS);
+ cubeMeshVisual->setRenderMaterial(material1);
+
+
+ auto cubeMapP2V = std::make_shared<imstk::OneToOneMap>();
+ cubeMapP2V->setMaster(cubeMeshPhysics);
+ cubeMapP2V->setSlave(cubeMeshVisual);
+ cubeMapP2V->compute();
+
+ auto cubeMapP2C = std::make_shared<imstk::OneToOneMap>();
+ cubeMapP2C->setMaster(cubeMeshPhysics);
+ cubeMapP2C->setSlave(cubeMeshColliding);
+ cubeMapP2C->compute();
+
+ auto cubeMapC2V = std::make_shared<imstk::OneToOneMap>();
+ cubeMapC2V->setMaster(cubeMeshColliding);
+ cubeMapC2V->setSlave(cubeMeshVisual);
+ cubeMapC2V->compute();
+
+ auto cube = std::make_shared<PbdObject>("Cube");
+ cube->setCollidingGeometry(cubeMeshColliding);
+ cube->setVisualGeometry(cubeMeshVisual);
+ cube->setPhysicsGeometry(cubeMeshPhysics);
+ cube->setPhysicsToCollidingMap(cubeMapP2C);
+ cube->setPhysicsToVisualMap(cubeMapP2V);
+ cube->setCollidingToVisualMap(cubeMapC2V);
+
+ auto pbdModel = std::make_shared<PbdModel>();
+ cube->setDynamicalModel(pbdModel);
+
+ cube->initialize(/*Number of Constraints*/ 1,
+ /*Constraint configuration*/ "ConstantDensity 1.0 0.3",
+ /*Mass*/ 1.0,
+ /*Gravity*/ "0 -9.8 0",
+ /*TimeStep*/ 0.005,
+ /*FixedPoint*/ "",
+ /*NumberOfIterationInConstraintSolver*/ 2,
+ /*Proximity*/ 0.1,
+ /*Contact stiffness*/ 1.0);
+
+ auto pbdSolver = std::make_shared<PbdSolver>();
+ pbdSolver->setPbdObject(cube);
+ scene->addNonlinearSolver(pbdSolver);
+
+ scene->addSceneObject(cube);
+
+ // plane
+ double width = 40.0;
+ double height = 40.0;
+ int nRows = 2;
+ int nCols = 2;
+ vertList.resize(nRows*nCols);
+ const double dy = width / (double)(nCols - 1);
+ const double dx = height / (double)(nRows - 1);
+ for (int i = 0; i < nRows; ++i)
+ {
+ for (int j = 0; j < nCols; j++)
+ {
+ const double y = (double)dy*j;
+ const double x = (double)dx*i;
+ vertList[i*nCols + j] = Vec3d(x - 20, -0.5, y - 20);
+ }
+ }
+
+ // c. Add connectivity data
+ triangles.clear();
+ for (std::size_t i = 0; i < nRows - 1; ++i)
+ {
+ for (std::size_t j = 0; j < nCols - 1; j++)
+ {
+ imstk::SurfaceMesh::TriangleArray tri[2];
+ tri[0] = { { i*nCols + j, i*nCols + j + 1, (i + 1)*nCols + j } };
+ tri[1] = { { (i + 1)*nCols + j + 1, (i + 1)*nCols + j, i*nCols + j + 1 } };
+ triangles.push_back(tri[0]);
+ triangles.push_back(tri[1]);
+ }
+ }
+
+ auto floorMeshColliding = std::make_shared<imstk::SurfaceMesh>();
+ floorMeshColliding->initialize(vertList, triangles);
+ auto floorMeshVisual = std::make_shared<imstk::SurfaceMesh>();
+ floorMeshVisual->initialize(vertList, triangles);
+ auto floorMeshPhysics = std::make_shared<imstk::SurfaceMesh>();
+ floorMeshPhysics->initialize(vertList, triangles);
+
+
+ auto floorMapP2V = std::make_shared<imstk::OneToOneMap>();
+ floorMapP2V->setMaster(floorMeshPhysics);
+ floorMapP2V->setSlave(floorMeshVisual);
+ floorMapP2V->compute();
+
+
+ auto floorMapP2C = std::make_shared<imstk::OneToOneMap>();
+ floorMapP2C->setMaster(floorMeshPhysics);
+ floorMapP2C->setSlave(floorMeshColliding);
+ floorMapP2C->compute();
+
+ auto floorMapC2V = std::make_shared<imstk::OneToOneMap>();
+ floorMapC2V->setMaster(floorMeshColliding);
+ floorMapC2V->setSlave(floorMeshVisual);
+ floorMapC2V->compute();
+
+ auto floor = std::make_shared<PbdObject>("Floor");
+ floor->setCollidingGeometry(floorMeshColliding);
+ floor->setVisualGeometry(floorMeshVisual);
+ floor->setPhysicsGeometry(floorMeshPhysics);
+ floor->setPhysicsToCollidingMap(floorMapP2C);
+ floor->setPhysicsToVisualMap(floorMapP2V);
+ floor->setCollidingToVisualMap(floorMapC2V);
+
+ auto pbdModel2 = std::make_shared<PbdModel>();
+ floor->setDynamicalModel(pbdModel2);
+
+ floor->initialize(/*Number of Constraints*/ 0,
+ /*Mass*/ 0.0,
+ /*Proximity*/ 0.1,
+ /*Contact stiffness*/ 1.0);
+
+ auto pbdSolverfloor = std::make_shared<PbdSolver>();
+ pbdSolverfloor->setPbdObject(floor);
+ scene->addNonlinearSolver(pbdSolverfloor);
+
+ scene->addSceneObject(floor);
+
+ // Collisions
+ auto colGraph = scene->getCollisionGraph();
+ auto pair = std::make_shared<PbdInteractionPair>(PbdInteractionPair(cube, floor));
+ pair->setNumberOfInterations(2);
+
+ colGraph->addInteractionPair(pair);
+
+ // Display UPS
+ auto ups = std::make_shared<UPSCounter>();
+ auto sceneManager = sdk->getSceneManager("PBDFluidBenchmarking");
+ sceneManager->setPreInitCallback([](Module* module)
+ {
+ LOG(INFO) << "-- Pre initialization of " << module->getName() << " module";
+ });
+ sceneManager->setPreUpdateCallback([&ups](Module* module)
+ {
+ ups->setStartPointOfUpdate();
+ });
+ sceneManager->setPostUpdateCallback([&ups](Module* module)
+ {
+ ups->setEndPointOfUpdate();
+ std::cout << "\r-- " << module->getName() << " running at "
+ << ups->getUPS() << " ups " << std::flush;
+ });
+ sceneManager->setPostCleanUpCallback([](Module* module)
+ {
+ LOG(INFO) << "\n-- Post cleanup of " << module->getName() << " module";
+ });
scene->getCamera()->setPosition(0, 10.0, 10.0);
- sdk->setCurrentScene(scene);
- sdk->startSimulation(true);
+ sdk->setCurrentScene(scene);
+ sdk->startSimulation(true);
}
void testPbdFluid()