restore drag in rotational motion, object mass distributed through pa…

…rticles

mesh.lua correctly placing mesh points for concave polygons

build.sh

@@ -65,6 +65,7 @@ DEMO=0
 ANDROID_NDK=""
 BENCHMARK=0
 STANDALONE=0
+CLEAN=1
 
 while [[ $# -gt 0 ]]; do
   case $1 in
@@ -109,6 +110,10 @@ while [[ $# -gt 0 ]]; do
       BENCHMARK=1
       shift
       ;;
+    -c|--continue)
+      CLEAN=0
+      shift
+      ;;
     -*|--*)
       echo "Unknown option $1"
       exit 1
@@ -120,24 +125,21 @@ while [[ $# -gt 0 ]]; do
   esac
 done
 
-for file in build CMakeFiles cmake_install.cmake CMakeCache.txt Makefile Jerboa
-do
-  if [ -d $file ];
-  then
-    rm -rf $file
-  fi
-  if [ -f $file ];
+if [[ $CLEAN -eq 1 ]]; 
+then
+  if [ -d build ];
   then
-    rm $file
+    rm -rf build
   fi
-done
+  cmake -E make_directory build
+fi
 
 echo "release ${RELEASE}"
 
 if [[ $WINDOWS -eq 0 ]];
 then 
-  cmake -E make_directory build
-  cmake -E chdir build cmake .. -D WINDOWS=ON -D STANDALONE=$STANDALONE  -D BUILD_DEMOS=$DEMO -D RELEASE=$RELEASE -D BENCHMARK=$BENCHMARK -D TEST_SUITE=$TEST -D SYNTAX_ONLY=$SYNTAX -D SANITISE=$SANITISE -D CMAKE_TOOLCHAIN_FILE=./windows.cmake && make -j 8 -C build
+  cd build
+  cmake .. -D WINDOWS=ON -D STANDALONE=$STANDALONE  -D BUILD_DEMOS=$DEMO -D RELEASE=$RELEASE -D BENCHMARK=$BENCHMARK -D TEST_SUITE=$TEST -D SYNTAX_ONLY=$SYNTAX -D SANITISE=$SANITISE -D CMAKE_TOOLCHAIN_FILE=./windows.cmake && make -j 8
   # now copy dlls
   PREFIX="x86_64-w64-mingw32"
 
@@ -179,10 +181,12 @@ then
       cp demo/desktop/include/SFML-2.5.1-mingw64/bin/sfml-window-d-2.dll build/
       cp demo/desktop/include/SFML-2.5.1-mingw64/bin/sfml-graphics-d-2.dll build/
   fi
+  cd ..
 elif [[ $OSX -eq 0 ]];
 then
-  cmake -E make_directory build
-  cmake -E chdir build cmake .. -D OSX=ON -D STANDALONE=$STANDALONE -D BUILD_DEMOS=$DEMO -D RELEASE=$RELEASE -D BENCHMARK=$BENCHMARK -D TEST_SUITE=$TEST -D SYNTAX_ONLY=$SYNTAX -D SANITISE=$SANITISE -D CMAKE_TOOLCHAIN_FILE=./osx.cmake && make -j 8 -C build
+  cd build
+  cmake .. -D OSX=ON -D STANDALONE=$STANDALONE -D BUILD_DEMOS=$DEMO -D RELEASE=$RELEASE -D BENCHMARK=$BENCHMARK -D TEST_SUITE=$TEST -D SYNTAX_ONLY=$SYNTAX -D SANITISE=$SANITISE -D CMAKE_TOOLCHAIN_FILE=./osx.cmake && make -j 8
+  cd ..
 elif [[ ! -z "$ANDROID_NDK" ]]
 then
   TOOL_CHAIN="$ANDROID_NDK/build/cmake/android.toolchain.cmake"
@@ -200,8 +204,9 @@ then
   buildAndroid x86_64
 
 else
-  cmake -E make_directory build
-  cmake -E chdir build cmake -D BUILD_DEMOS=$DEMO -D STANDALONE=$STANDALONE -D RELEASE=$RELEASE -D BENCHMARK=$BENCHMARK -D TEST_SUITE=$TEST -D SANITISE=$SANITISE -D SYNTAX_ONLY=$SYNTAX .. && make -j 8 -C build
+  cd build
+  cmake -D BUILD_DEMOS=$DEMO -D STANDALONE=$STANDALONE -D RELEASE=$RELEASE -D BENCHMARK=$BENCHMARK -D TEST_SUITE=$TEST -D SANITISE=$SANITISE -D SYNTAX_ONLY=$SYNTAX .. && make -j 8
+  cd ..
 fi
 
 

config.lua

@@ -2,7 +2,7 @@ config =
 {
     ["timeStep"]  = 1.0/1800.0,
     ["subSample"] = 2,
-    ["cofr"]      = 0.75 
+    ["cofr"]      = 0.75
 }
 
 hop.configure(config);

include/Debug/collisionMeshDebug.h

@@ -153,7 +153,7 @@ namespace Hop::Debugging
             "texCoord = pos;\n"
             "parameters.xy = rot * a_parameters.xy;\n"
             "parameters.zw = rot * a_parameters.zw;\n"
-            "oColour = vec4(0.0,0.0,1.0,1.0);\n"
+            "oColour = vec4(200.0/255.0,200.0/255.0,250.0/255.0,1.0);\n"
             "th = a_thickness;\n"
         "}";
 
@@ -173,7 +173,7 @@ namespace Hop::Debugging
             "q = mat2(d.x,-d.y,d.y,d.x)*q;\n"
             "q = abs(q)-vec2(l*0.5,th);\n"
             "float sd = length(max(q,0.0)) + min(max(q.x,q.y),0.0);"
-            "float alpha = 0.1;"
+            "float alpha = 1.0;"
             "if (sd <= 0.0) { colour = vec4(oColour.rgb,0.5); }"
             //"if (sd <= 0.1){ alpha = 1.0-smoothstep(0.0,0.1,sd); colour = vec4(oColour.rgb,alpha); }"
             "else { colour = vec4(oColour.rgb,alpha); }"

src/Collision/collisionMesh.cpp

@@ -121,7 +121,7 @@ namespace Hop::System::Physics
             }
         }
 
-        return m;
+        return m * (1.0/float(size()));
     }
 
     std::ostream & operator<<(std::ostream & o, Rectangle const & r)

src/System/sPhysics.cpp

@@ -160,7 +160,7 @@ namespace Hop::System::Physics
         ComponentArray<cPhysics> & physics = m->getComponentArray<cPhysics>();
         ComponentArray<cTransform> & transforms = m->getComponentArray<cTransform>();
 
-        double nx, ny, ntheta, at, bt, ct, sticktion, r, dx, dy, d;
+        double nx, ny, ntheta, at, bt, ct, sticktion, r, dx, dy, d, ar, br, cr;
 
         double DT_OVER_TWICE_MASS = dt / (2.0*PARTICLE_MASS);
 
@@ -184,12 +184,12 @@ namespace Hop::System::Physics
                 bt = 1.0/(1.0+ct);
                 at = (1.0-ct)*bt;
 
-                if (collideables.hasComponent(*it))
-                {
-                    cCollideable & data = collideables.get(*it);
-                    r = data.mesh.getRadius();
-                    dataP.tau -= dataP.phi * 50.0 * r*r;
-                }
+                // if (collideables.hasComponent(*it))
+                // {
+                //     cCollideable & data = collideables.get(*it);
+                //     r = data.mesh.getRadius();
+                //     dataP.tau -= dataP.phi * 50.0 * r*r;
+                // }
 
                 sticktion = std::sqrt(dataP.fx*dataP.fx+dataP.fy*dataP.fy);
 
@@ -234,18 +234,18 @@ namespace Hop::System::Physics
 
                 dataP.omega += dataP.tau;
 
-                // cr = dt * dataP.rotationalDrag / (2.0*dataP.momentOfInertia);
-                // br = 1.0/(1.0+cr);
-                // ar = (1.0-cr)*br;
+                cr = dt * dataP.rotationalDrag / (2.0*dataP.momentOfInertia);
+                br = 1.0/(1.0+cr);
+                ar = (1.0-cr)*br;
 
                 // std::cout << dataP.omega << "\n";
                 // if (sticktion < 9.81){
                 //     dataP.omega *= std::min((dataP.omega * dataP.omega), 1.0);
                 // }
 
-                ntheta = 2.0*dataT.theta - dataP.lastTheta + dtdt*dataP.omega/dataP.momentOfInertia;
+                // ntheta = 2.0*dataT.theta - dataP.lastTheta + dtdt*dataP.omega/dataP.momentOfInertia;
 
-                // ntheta = 2.0*br*dataT.theta-ar*dataP.lastTheta+br*dataP.omega*dtdt/dataP.momentOfInertia;
+                ntheta = 2.0*br*dataT.theta-ar*dataP.lastTheta+br*dataP.omega*dtdt/dataP.momentOfInertia;
 
                 dataP.phi = (ntheta-dataP.lastTheta)/(2.0*dt);
 

tests/DEM.lua

@@ -10,32 +10,7 @@ D_vertices =
     {0.08, -0.5}
 }
 
-E_vertices =
-{
-    {0.1, -0.5},
-    {-0.5, -0.5},
-    {-0.5,  0.5},
-    {0.25,   0.5},
-    {},
-    {-0.5, 0.0},
-    {0.25, 0.0},
-    {}
-}
-
-M_vertices =
-{
-    {-0.5, -0.5},
-    {-0.5, 0.5},
-    {0.0,  0.0},
-    {0.5,  0.5},
-    {0.5, -0.5},
-    {}
-}
-
-E_mesh = createMesh(E_vertices, 0.1)
--- table.remove(E_mesh, 1)
 D_mesh = createMesh(D_vertices, 0.1)
-M_mesh = createMesh(M_vertices, 0.1)
 
 s = 6.8*hop.maxCollisionPrimitiveSize()
 
@@ -57,7 +32,7 @@ for i = 1, 8 do
     o = {
 
         ["transform"] = {x,y,0.0,s},
-        -- ["colour"] = {200/255,200/255,250/255,1.0},
+        ["colour"] = {200/255,200/255,250/255,1.0},
         -- ["shader"] = "circleObjectShader",
         -- ["shader"] = "lineSegmentObjectShader",
         ["moveable"] = true,
@@ -68,35 +43,4 @@ for i = 1, 8 do
 
     hop.loadObject(o)
 
-    x = x + s
-
-    o = {
-
-        ["transform"] = {x,y,0.0,s},
-        -- ["colour"] = {200/255,200/255,250/255,1.0},
-        -- ["shader"] = "circleObjectShader",
-        -- ["shader"] = "lineSegmentObjectShader",
-        ["moveable"] = true,
-        ["collisionMesh"] = E_mesh,
-        ["name"] = ""
-
-    }
-
-    hop.loadObject(o)
-
-    x = x + s*0.75
-
-    o = {
-
-        ["transform"] = {x,y,0.0,s},
-        -- ["colour"] = {200/255,200/255,250/255,1.0},
-        -- ["shader"] = "circleObjectShader",
-        -- ["shader"] = "lineSegmentObjectShader",
-        ["moveable"] = true,
-        ["collisionMesh"] = M_mesh,
-        ["name"] = ""
-
-    }
-
-    hop.loadObject(o)
 end

tests/mesh.lua

@@ -15,6 +15,16 @@ function createMesh(vertices, radius)
     v = {}
     N = #vertices
 
+    place = {0.0, 0.0}
+    place[1] = vertices[1][1]
+    place[2] = vertices[1][2]
+    lastPlace = {0.0, 0.0}
+    lastPlace[1] = place[1]
+    lastPlace[2] = place[2]
+    table.insert(v, {place[1], place[2], radius})
+    postCorner = false
+    cornerDist = 0.0
+
     for i = 1, N do
 
         if (#vertices[i] > 0 and #vertices[next(i, N)] > 0) then
@@ -25,68 +35,62 @@ function createMesh(vertices, radius)
             n[2] = vertices[next(i, N)][2] - vertices[i][2]
 
             d = norm(n)
+            diff = {place[1]-lastPlace[1], place[2]-lastPlace[2]}
 
             if (d > 0) then
-                dm = math.floor(d/(2.0*radius))
-                dm = math.max(dm, 2)
-                m = 0.0
-                for j = 0, dm do
-                    c = {0.0, 0.0, radius}
-                    c[1] = vertices[i][1] + n[1] * m/d
-                    c[2] = vertices[i][2] + n[2] * m/d
-                    table.insert(v, c)
-                    m = m + 2.0*radius
+
+                l = 0.0
+
+                while l <= d do
+
+                    if postCorner then
+                        l = cornerDist
+                        postCorner = false
+                    end
+                    nextPlace = {vertices[i][1]+l*n[1]/d, vertices[i][2]+l*n[2]/d}
+                    if (l <= d) then 
+                        if (i == N) then 
+                            diff = {nextPlace[1]-v[1][1], nextPlace[2]-v[1][2]}
+                            if (norm(diff)<radius) then
+                                break
+                            end
+                        end
+                        -- can place, not off end
+                        place[1] = nextPlace[1]
+                        place[2] = nextPlace[2]
+                        print(place[1], place[2])
+                        table.insert(v, {place[1], place[2], radius})
+                    end
+
+                    l = l + radius*2.0
                 end
+
             end
 
         end
 
-    end
-
-    n = {0.0, 0.0}
-
-    n[1] = vertices[next(1, N)][1] - vertices[1][1]
-    n[2] = vertices[next(1, N)][2] - vertices[1][2]
-
-    nt = {n[2], -n[1]}
-    dnt = norm(nt)
-    nt[1] = nt[1] / dnt
-    nt[2] = nt[2] / dnt 
-
-    d = norm(n)
-
-    t = {0.0, 0.0}
-    t[1] = vertices[1][1] + n[1] * 0.5
-    t[2] = vertices[1][2] + n[2] * 0.5
-
-    c = {0.0, 0.0}
-    c[1] = t[1] + nt[1]*radius
-    c[2] = t[2] + nt[2]*radius
-
-    com = {0.0, 0.0}
-
-    for i = 1, N do 
-        if (#vertices[i] > 0) then
-            com[1] = com[1] + vertices[i][1]
-            com[2] = com[2] + vertices[i][2]
+        lastPlace[1] = place[1]
+        lastPlace[2] = place[2]
+
+        postCorner = true
+        l = norm({vertices[next(i, N)][1]-lastPlace[1], vertices[next(i, N)][2]-lastPlace[2]})
+        ai = i
+        bi = next(i,N)
+        ci = next(next(i,N),N)
+
+        s = {vertices[ai][1] - vertices[bi][1], vertices[ai][2] - vertices[bi][2]}
+        t = {vertices[ci][1] - vertices[bi][1], vertices[ci][2] - vertices[bi][2]}
+
+        ctheta = (s[1]*t[1]+s[2]*t[2])/(norm(s)*norm(t))
+        if (math.abs(ctheta) < 1e-3) then 
+            cornerDist = math.sqrt(l*l+4.0*radius*radius)
+        elseif ((ctheta*ctheta-1.0)*l*l+4.0*radius*radius < 0.0) then
+                cornerDist = math.sqrt(l*l+4.0*radius*radius)
+        else
+            s1 = l*ctheta + math.sqrt((ctheta*ctheta-1.0)*l*l+4.0*radius*radius)
+            s2 = l*ctheta - math.sqrt((ctheta*ctheta-1.0)*l*l+4.0*radius*radius)
+            cornerDist = math.max(s1,s2)
         end
-    end 
-    com[1] = com[1] / N
-    com[2] = com[2] / N
-
-    a = {0.0, 0.0}
-    b = {0.0, 0.0}
-
-    a[1] = c[1]-com[1]
-    a[2] = c[2]-com[2]
-    b[1] = t[1]-com[1]
-    b[2] = t[2]-com[2]
-
-    s = norm(a) / norm(b)
-
-    for i = 1, #v do
-        v[i][1] = s*(v[i][1]-com[1])+com[1]
-        v[i][2] = s*(v[i][2]-com[2])+com[2]
     end
 
     return v

tests/rectangles.lua

@@ -2,7 +2,7 @@ s = 0.9*hop.maxCollisionPrimitiveSize()
 
 math.randomseed(1)
 
-for i = 1,100 do
+for i = 1,2000 do
 
     -- x = 0.897; y = 0.6;
     x = 0.85+math.random(); y = math.random()+0.6;

tests/runtest.lua

@@ -1 +1 @@
-require("tests/mix")
+require("tests/DEM")