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main.cpp
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main.cpp
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#include "Scene.h"
#include "cameras/OrbitCamera.h"
#include "Engine.h"
#include "physics/HXPbdSolver.h"
#include "PbrMaterial.h"
#include "physics/RigidBody.h"
#include "physics/SoftBody.h"
#include "physics/UniformAccelerationField.h"
#include "AABBHelper.h"
#include <glm/gtx/norm.hpp>
#include "imgui/imgui.h"
#include "physics/PhysicsBodyHelper.h"
/*void showNormals(Mesh *mesh, Scene &scene) {
for (unsigned int i = 0; i < mesh->vertexData().positions.size(); i += 3) {
glm::vec3 p1 = glm::vec3(mesh->vertexData().positions[i], mesh->vertexData().positions[i + 1],
mesh->vertexData().positions[i + 2]);
glm::vec3 n1 = glm::vec3(mesh->vertexData().normals[i], mesh->vertexData().normals[i + 1],
mesh->vertexData().normals[i + 2]);
glm::vec3 p2 = p1 + n1 * 1.0f;
auto line = MeshBuilder::makeLine("line", scene, p1, p2);
line->transform()->setParent(mesh->transform());
}
}*/
int main() {
Engine engine(1300, 800, "HPBD Cloth Simulation");
Scene scene((std::shared_ptr<Engine>(&engine)));
srand(time(0));
OrbitCamera camera(&engine);
camera.setRadius(20.0);
camera.setTarget(glm::vec3(0, 5, 0));
camera.rotateTheta(-3.14 / 4.0);
camera.rotatePhi(3.14 / 3.0);
scene.setActiveCamera(std::shared_ptr<Camera>(&camera));
DirectionalLight light("sun", -1.0, 1.0, 0.0);
scene.addDirectionalLight(std::shared_ptr<DirectionalLight>(&light));
auto shadowRenderer = std::make_shared<ShadowRenderer>(std::shared_ptr<DirectionalLight>(&light), 4096, 4096);
scene.addShadowRenderer(shadowRenderer);
PostProcessing colorCorrection("./assets/shaders/colorCorrection", &engine);
colorCorrection.onBeforeRenderObservable.add([&]() {
colorCorrection.shader()->setFloat("gamma", 1.0f);
colorCorrection.shader()->setFloat("exposure", 1.0f);
colorCorrection.shader()->setFloat("contrast", 1.1f);
colorCorrection.shader()->setFloat("saturation", 1.1f);
colorCorrection.shader()->setFloat("brightness", 0.0f);
});
scene.addPostProcess(std::shared_ptr<PostProcessing>(&colorCorrection));
HXPbdSolver solver;
auto gravity = std::make_shared<UniformAccelerationField>(glm::vec3(0.0, -9.81, 0.0));
solver.addField(gravity);
std::map<std::shared_ptr<PhysicsBody>, PhysicsBodyHelper *> bodyHelpers;
const int clothResolution = 32;
auto clothMesh = MeshBuilder::makePlane("cloth", scene, clothResolution);
clothMesh->transform()->setScale(10);
clothMesh->transform()->setPosition(0, 7, 0);
auto cloth = std::make_shared<SoftBody>(clothMesh, 1.0f, 0.1f, 0.01f);
// fixed particles
cloth->addFixedConstraint(std::make_shared<FixedConstraint>(cloth->particles()[0]));
cloth->addFixedConstraint(std::make_shared<FixedConstraint>(cloth->particles()[clothResolution - 1]));
cloth->addFixedConstraint(
std::make_shared<FixedConstraint>(cloth->particles()[clothResolution * (clothResolution - 1)]));
cloth->addFixedConstraint(
std::make_shared<FixedConstraint>(cloth->particles()[clothResolution * clothResolution - 1]));
solver.addBody(cloth);
cloth->setCollisionLevel(1);
auto clothMaterial = std::make_shared<PbrMaterial>(std::shared_ptr<Scene>(&scene));
clothMaterial->setAlbedoColor(2.0, 2.0, 2.0);
clothMaterial->setAlbedoTexture(new Texture("./assets/textures/carpet.jpg"));
clothMaterial->setRoughnessTexture(new Texture("./assets/textures/carpet_roughness.jpg"));
clothMaterial->setNormalTexture(new Texture("./assets/textures/carpet_normal.png"));
clothMaterial->setMetallic(0.0f);
clothMaterial->setBackFaceCullingEnabled(false);
clothMaterial->receiveShadows(shadowRenderer);
cloth->mesh()->setMaterial(clothMaterial);
shadowRenderer->addShadowCaster(cloth->mesh());
bodyHelpers.insert({cloth, new PhysicsBodyHelper(cloth, std::shared_ptr<Scene>(&scene))});
auto cloth2Mesh = MeshBuilder::makePlane("cloth2", scene, clothResolution);
cloth2Mesh->transform()->setScale(10);
cloth2Mesh->transform()->setPosition(0, 7, 0);
cloth2Mesh->setMaterial(clothMaterial);
shadowRenderer->addShadowCaster(cloth2Mesh);
auto cloth2 = std::make_shared<SoftBody>(cloth2Mesh, 1.0f, 0.1f, 0.01f);
solver.addBody(cloth2);
bodyHelpers.insert({cloth2, new PhysicsBodyHelper(cloth2, std::shared_ptr<Scene>(&scene))});
// fixed particles
cloth2->addFixedConstraint(std::make_shared<FixedConstraint>(cloth2->particles()[0]));
cloth2->addFixedConstraint(
std::make_shared<FixedConstraint>(
cloth2->particles()[clothResolution * clothResolution / 2 + clothResolution / 2]));
auto cubeMaterial = std::make_shared<PbrMaterial>(std::shared_ptr<Scene>(&scene));
cubeMaterial->setAlbedoColor(1.0, 0.6, 0.0);
cubeMaterial->setMetallic(0.2);
cubeMaterial->setRoughness(0.8);
auto cube = MeshBuilder::makeUVCube("cube", scene);
cube->transform()->setPosition(5.0, 4, -8.0);
cube->setMaterial(cubeMaterial);
auto cubeBody = std::make_shared<RigidBody>(cube, 1.0f);
solver.addBody(cubeBody);
shadowRenderer->addShadowCaster(cube);
bodyHelpers.insert({cubeBody, new PhysicsBodyHelper(cubeBody, std::shared_ptr<Scene>(&scene))});
solver.onBeforeSolveObservable.addOnce(
[&] { cubeBody->particles()[0]->externalForces.emplace_back(Utils::RandomDirection() * 500.0f); });
auto sphere = MeshBuilder::makeIcoSphere("sphere", scene, 2);
sphere->transform()->setScale(1.5);
//sphere->transform()->setPosition(4, 5, 10);
sphere->transform()->setPosition(0, 9, 0);
auto sphereMaterial = std::make_shared<PbrMaterial>(std::shared_ptr<Scene>(&scene));
sphereMaterial->setAlbedoTexture(new Texture("./assets/textures/earth.jpg"));
sphereMaterial->setMetallic(0.2f);
sphereMaterial->setRoughness(0.6f);
sphere->setMaterial(sphereMaterial);
shadowRenderer->addShadowCaster(sphere);
auto sphereBody = std::make_shared<SoftBody>(sphere, 1.0f, 0.0001f, 0.0001f);
solver.addBody(sphereBody);
bodyHelpers.insert({sphereBody, new PhysicsBodyHelper(sphereBody, std::shared_ptr<Scene>(&scene))});
auto bunnyMaterial = std::make_shared<PbrMaterial>(std::shared_ptr<Scene>(&scene));
bunnyMaterial->setAlbedoColor(0.4, 0.4, 1.0);
bunnyMaterial->setMetallic(0.1);
bunnyMaterial->setRoughness(0.8);
auto bunny = MeshBuilder::FromObjFile("../assets/models/bunny.obj", scene);
bunny->setEnabled(false);
auto simplifiedBunny = MeshBuilder::Simplify("simpleBunny", bunny.get(), 2, scene);
simplifiedBunny->setMaterial(bunnyMaterial);
simplifiedBunny->transform()->translate(glm::vec3(10, 3.0, -8));
shadowRenderer->addShadowCaster(simplifiedBunny);
auto softBunny = std::make_shared<SoftBody>(simplifiedBunny, 1.0, 0.0001f, 0.0001f);
solver.addBody(softBunny);
softBunny->setCollisionLevel(1);
//bodyHelpers.insert({softBunny, new PhysicsBodyHelper(softBunny, std::shared_ptr<Scene>(&scene))});
auto armadillo = MeshBuilder::FromObjFile("../assets/models/armadillo.obj", scene);
auto simplifiedData = armadillo->vertexData();
for (unsigned int i = 0; i < 3; i++) {
simplifiedData = simplifiedData.simplify();
}
armadillo->setVertexData(simplifiedData);
armadillo->setMaterial(cubeMaterial);
armadillo->transform()->setPosition(5, 5, 10);
armadillo->transform()->setScale(2.0f);
shadowRenderer->addShadowCaster(armadillo);
auto armadilloBody = std::make_shared<RigidBody>(armadillo, 1.0f);
armadilloBody->addGlobalVolumeConstraint(
std::make_shared<GlobalVolumeConstraint>(armadilloBody->particles(), armadillo->vertexData().indices,
0.0001f,
0.0001f));
solver.addBody(armadilloBody);
armadilloBody->setCollisionLevel(1);
bodyHelpers.insert({armadilloBody, new PhysicsBodyHelper(armadilloBody, std::shared_ptr<Scene>(&scene))});
auto ground = MeshBuilder::makePlane("ground", scene, 2);
ground->transform()->setPosition(0, 0, 0);
ground->transform()->setScale(40);
ground->setPickingEnabled(false);
auto groundMaterial = std::make_shared<PbrMaterial>(std::shared_ptr<Scene>(&scene));
groundMaterial->setAlbedoColor(0.5, 0.5, 0.5);
groundMaterial->setMetallic(0.5f);
groundMaterial->setRoughness(0.4f);
groundMaterial->setBackFaceCullingEnabled(false);
groundMaterial->receiveShadows(shadowRenderer);
ground->setMaterial(groundMaterial);
auto groundBody = std::make_shared<RigidBody>(ground, 0.0f);
solver.addBody(groundBody);
// for all bodyHelpers, set enabled to false
for (const auto &bodyHelper: bodyHelpers) {
bodyHelper.second->setEnabled(false);
}
// Seed the random number generator
std::random_device rd;
std::mt19937 gen(rd());
// Define the distribution for indices
std::uniform_real_distribution<> distribution(-10.0, 10.0);
bool realTimePhysics = false;
bool fixedTimeStep = true;
bool wireframe = false;
bool bodyHelperEnabled = false;
bool clothEnabled = true;
bool cloth2Enabled = false;
bool cubeEnabled = false;
bool sphereEnabled = true;
bool bunnyEnabled = true;
bool armadilloEnabled = false;
int nbIterations = 4;
std::shared_ptr<PhysicsBody> currentBody = softBunny;
int currentBodyCollisionLevel = currentBody->collisionLevel();
float currentBodyPressure = 1.0f;
float stretchCompliance = 0.0001f;
float bendCompliance = 0.0001f;
float fixedConstraintCompliance = 0.0f;
std::vector<std::shared_ptr<PhysicsBody>> additionalBodies;
scene.onRenderGuiObservable.add([&] {
ImGui::Begin("HPBD Controls");
// show number of FPS
ImGui::Text("FPS: %.1f", ImGui::GetIO().Framerate);
// show number of particles
ImGui::Text("Nb particles: %d", solver.nbParticles());
// show number of collision constraints
int nbCollisionConstraints = 0;
for (const auto &body: solver.physicsBodies()) {
nbCollisionConstraints += body->collisionConstraints().size();
}
ImGui::Text("Nb collision constraints: %d", nbCollisionConstraints);
// set solver nb iterations
ImGui::SliderInt("Solver iterations", &nbIterations, 1, 20);
solver.setIterations(nbIterations);
if (currentBody != nullptr) {
ImGui::Text("Selected body: %s", currentBody->mesh()->name().c_str());
}
if (currentBody != nullptr && bodyHelpers.find(currentBody) != bodyHelpers.end()) {
ImGui::Checkbox("Show helper", &bodyHelperEnabled);
bodyHelpers[currentBody]->setEnabled(bodyHelperEnabled);
}
if (currentBody != nullptr) {
ImGui::SliderInt("Collision level", ¤tBodyCollisionLevel, 0,
(int) currentBody->trianglesPerLevel().size() - 2);
currentBody->setCollisionLevel(currentBodyCollisionLevel);
}
if (currentBody != nullptr && !currentBody->globalVolumeConstraints().empty()) {
// pressure slider
ImGui::SliderFloat("Pressure", ¤tBodyPressure, 0.0001f, 4.0f);
currentBody->globalVolumeConstraints()[0]->setPressure(currentBodyPressure);
}
if (currentBody != nullptr && !currentBody->distanceConstraints().empty()) {
// stretch compliance slider
ImGui::SliderFloat("Stretch compliance", &stretchCompliance, 0.0001f, 2.0f, "%.4f");
for (const auto &constraint: currentBody->distanceConstraints()) {
if (constraint->compliance() > 0.0f) constraint->setCompliance(stretchCompliance);
}
// apply compliance to hierarchy
for (const auto &level: currentBody->distanceConstraintsPerLevel()) {
for (const auto &constraint: level) {
if (constraint->compliance() > 0.0f) constraint->setCompliance(stretchCompliance);
}
}
}
if (currentBody != nullptr && !currentBody->fastBendConstraints().empty()) {
// bend compliance slider
ImGui::SliderFloat("Bend compliance", &bendCompliance, 0.0001f, 2.0f, "%.4f");
for (const auto &constraint: currentBody->fastBendConstraints()) {
constraint->setCompliance(bendCompliance);
}
}
if (currentBody != nullptr && !currentBody->fixedConstraints().empty()) {
// fixed constraint compliance slider
ImGui::SliderFloat("Fixed constraint compliance", &fixedConstraintCompliance, 0.0f, 30.0f, "%.4f");
for (const auto &constraint: currentBody->fixedConstraints()) {
constraint->setCompliance(fixedConstraintCompliance);
}
}
// fixed time step
ImGui::Checkbox("Fixed time step", &fixedTimeStep);
// set wireframe
ImGui::Checkbox("Wireframe", &wireframe);
clothMaterial->setWireframe(wireframe);
sphereMaterial->setWireframe(wireframe);
cubeMaterial->setWireframe(wireframe);
bunnyMaterial->setWireframe(wireframe);
groundMaterial->setWireframe(wireframe);
// set enabled
ImGui::Checkbox("Cloth enabled", &clothEnabled);
cloth->mesh()->setEnabled(clothEnabled);
ImGui::Checkbox("Cloth2 enabled", &cloth2Enabled);
cloth2->mesh()->setEnabled(cloth2Enabled);
ImGui::Checkbox("Cube enabled", &cubeEnabled);
cube->setEnabled(cubeEnabled);
ImGui::Checkbox("Sphere enabled", &sphereEnabled);
sphere->setEnabled(sphereEnabled);
ImGui::Checkbox("Bunny enabled", &bunnyEnabled);
simplifiedBunny->setEnabled(bunnyEnabled);
ImGui::Checkbox("Armadillo enabled", &armadilloEnabled);
armadillo->setEnabled(armadilloEnabled);
// spawn sphere button
if (ImGui::Button("Spawn sphere")) {
auto sphere = MeshBuilder::makeIcoSphere("sphere", scene, 2);
sphere->transform()->setScale(1.5);
sphere->transform()->setPosition(distribution(gen), 10, distribution(gen));
sphere->setMaterial(sphereMaterial);
shadowRenderer->addShadowCaster(sphere);
auto sphereBody = std::make_shared<SoftBody>(sphere, 1.0f, 0.01f, 0.01f);
solver.addBody(sphereBody);
additionalBodies.push_back(sphereBody);
}
ImGui::SameLine();
// spawn cube button
if (ImGui::Button("Spawn cube")) {
auto cube = MeshBuilder::makeUVCube("cube", scene);
cube->transform()->setPosition(distribution(gen), 11, distribution(gen));
cube->setMaterial(cubeMaterial);
auto cubeBody = std::make_shared<RigidBody>(cube, 1.0f);
solver.addBody(cubeBody);
shadowRenderer->addShadowCaster(cube);
additionalBodies.push_back(cubeBody);
solver.onBeforeSolveObservable.addOnce(
[cubeBody] {
cubeBody->particles()[0]->externalForces.emplace_back(Utils::RandomDirection() * 50.0f);
});
}
ImGui::SameLine();
// spawn bunny button
if (ImGui::Button("Spawn bunny")) {
auto bunny = MeshBuilder::FromObjFile("../assets/models/bunny.obj", scene);
auto simplifiedData = bunny->vertexData();
for (unsigned int i = 0; i < 2; i++) {
simplifiedData = simplifiedData.simplify();
}
bunny->setVertexData(simplifiedData);
bunny->setMaterial(bunnyMaterial);
bunny->transform()->setPosition(distribution(gen), 12, distribution(gen));
shadowRenderer->addShadowCaster(bunny);
auto bunnyBody = std::make_shared<SoftBody>(bunny, 1.0, 0.01f, 0.01f);
solver.addBody(bunnyBody);
bunnyBody->setCollisionLevel(1);
additionalBodies.push_back(bunnyBody);
}
// start button
if (ImGui::Button("Toggle simulation")) {
realTimePhysics = !realTimePhysics;
}
ImGui::SameLine();
// physics step button
if (ImGui::Button("Step simulation")) {
solver.solve(1.0f / 60.0f);
}
ImGui::SameLine();
// reset button
if (ImGui::Button("Reset simulation")) {
solver.reset();
for (const auto &body: additionalBodies) {
solver.removeBody(body);
scene.removeMesh(body->mesh());
shadowRenderer->removeShadowCaster(body->mesh());
}
additionalBodies.clear();
}
ImGui::End();
});
engine.onKeyPressObservable.add([&](int key) {
if (key == GLFW_KEY_W) {
wireframe = !wireframe;
}
if (key == GLFW_KEY_SPACE) realTimePhysics = !realTimePhysics;
if (!realTimePhysics && key == GLFW_KEY_ENTER) solver.solve(1.0f / 60.0f);
});
bool isDraggingABody = false;
std::shared_ptr<PhysicsBody> draggedBody = nullptr;
int draggedFace = 0;
float dragDistance = 0.0;
scene.onBeforeRenderObservable.add([&]() {
float deltaTime = engine.getDeltaSeconds();
if (!engine.isMousePressed()) isDraggingABody = false;
if (engine.isMousePressed() && engine.isKeyPressed(GLFW_KEY_LEFT_SHIFT)) {
glm::vec3 rayOrigin = camera.position();
glm::vec2 mousePos = engine.getMousePosition();
glm::vec2 windowSize = engine.getWindowSize();
glm::vec3 rayDirection = camera.getRayFromMouse(mousePos.x, mousePos.y, windowSize.x, windowSize.y);
if (!isDraggingABody) {
auto pickResult = scene.pickWithRay(rayOrigin, rayDirection);
if (pickResult.second.hasHit) {
auto pickedMesh = pickResult.first;
// find associated physics body
for (const auto &body: solver.physicsBodies()) {
if (body->mesh() == pickedMesh) {
currentBody = body;
currentBodyCollisionLevel = currentBody->collisionLevel();
if (!currentBody->globalVolumeConstraints().empty()) currentBodyPressure = currentBody->globalVolumeConstraints()[0]->pressure();
if (!currentBody->distanceConstraints().empty()) stretchCompliance = currentBody->distanceConstraints()[0]->compliance();
if (!currentBody->fastBendConstraints().empty()) bendCompliance = currentBody->fastBendConstraints()[0]->compliance();
if (!currentBody->fixedConstraints().empty()) fixedConstraintCompliance = currentBody->fixedConstraints()[0]->compliance();
break;
}
}
auto hitPoint = pickResult.second.hitPoint;
isDraggingABody = true;
draggedBody = currentBody;
dragDistance = glm::length(hitPoint - rayOrigin);
draggedFace = pickResult.second.faceIndex;
}
}
if (isDraggingABody) {
int index0 = currentBody->mesh()->vertexData().indices[draggedFace * 3];
int index1 = currentBody->mesh()->vertexData().indices[draggedFace * 3 + 1];
int index2 = currentBody->mesh()->vertexData().indices[draggedFace * 3 + 2];
auto particle0 = currentBody->particles()[index0];
auto particle1 = currentBody->particles()[index1];
auto particle2 = currentBody->particles()[index2];
glm::vec3 t0 = particle0->position;
glm::vec3 t1 = particle1->position;
glm::vec3 t2 = particle2->position;
glm::vec3 barycenter = (t0 + t1 + t2) / 3.0f;
glm::vec3 hitPoint = rayOrigin + rayDirection * dragDistance;
glm::vec3 translation = hitPoint - barycenter;
for (const auto &particle: currentBody->particles()) {
float weight = 1.0f / (1.0f + glm::length(particle->position - barycenter));
particle->position += translation * weight;
}
currentBody->mesh()->vertexData().computeNormals();
currentBody->mesh()->sendVertexDataToGPU();
}
}
float theta = 0.1f * engine.getElapsedSeconds() + 3.14f;
glm::vec3 newLightDirection = glm::normalize(glm::vec3(cosf(theta), 1.0f, sinf(theta)));
light.setDirection(newLightDirection);
if (realTimePhysics) solver.solve(fixedTimeStep ? 1.0f / 60.0f : deltaTime); // fixed time step of 60 fps
camera.update();
});
engine.onExecuteLoopObservable.add([&scene] {
scene.render();
});
engine.start();
return 0;
}