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

#111) * restore drag in rotational motion, object mass distributed through particles mesh.lua correctly placing mesh points for concave polygons
JerboaBurrow · Nov 24, 2023 · fb7114d · fb7114d
1 parent ae58812
commit fb7114d
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Showing 9 changed files with 167 additions and 181 deletions.
diff --git a/build.sh b/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 +125,22 @@ 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
+  cd ..
   # now copy dlls
   PREFIX="x86_64-w64-mingw32"
 
@@ -179,10 +182,12 @@ 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 +205,9 @@ 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
 
 

diff --git a/config.lua b/config.lua
@@ -2,7 +2,7 @@ config =
 {
     ["timeStep"]  = 1.0/1800.0,
     ["subSample"] = 2,
-    ["cofr"]      = 0.75 
+    ["cofr"]      = 0.75
 }
 
 hop.configure(config);
diff --git a/include/Debug/collisionMeshDebug.h b/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); }"

diff --git a/src/Collision/collisionMesh.cpp b/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)

diff --git a/src/System/sPhysics.cpp b/src/System/sPhysics.cpp
@@ -150,17 +150,11 @@ namespace Hop::System::Physics
     void sPhysics::update(EntityComponentSystem * m, ThreadPool * workers)
     {
 
-        // if (workers != nullptr)
-        // {
-        //     updateThreaded(m, workers);
-        //     return;
-        // }
-
         ComponentArray<cCollideable> & collideables = m->getComponentArray<cCollideable>();
         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);
 
@@ -184,23 +178,13 @@ 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;
-                }
-
                 sticktion = std::sqrt(dataP.fx*dataP.fx+dataP.fy*dataP.fy);
 
                 if (sticktion > 0.0){
 
                     nx = 2.0*bt*dataT.x - at*dataP.lastX + bt*dataP.fx*dtdt/PARTICLE_MASS;
                     ny = 2.0*bt*dataT.y - at*dataP.lastY + bt*dataP.fy*dtdt/PARTICLE_MASS;
 
-                    // nx = 2.0*dataT.x - dataP.lastX + dataP.fx*dtdt / PARTICLE_MASS;
-                    // ny = 2.0*dataT.y - dataP.lastY + dataP.fy*dtdt / PARTICLE_MASS;
-
                     if (r > 0)
                     {
                         dx = nx - dataT.x;
@@ -234,18 +218,11 @@ 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;
-
-                // 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;
+                cr = dt * dataP.rotationalDrag / (2.0*dataP.momentOfInertia);
+                br = 1.0/(1.0+cr);
+                ar = (1.0-cr)*br;
 
-                // 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);
 
@@ -294,28 +271,7 @@ namespace Hop::System::Physics
 
             dataP.fx += fx;
             dataP.fy += fy;
-
-            // if (m->hasComponent<cCollideable>(it->id))
-            // {
-            //     cCollideable & dataC = m->getComponent<cCollideable>(it->id);
-
-            //     for (unsigned i = 0; i < dataC.mesh.size(); i++)
-            //     {
-            //         std::shared_ptr<CollisionPrimitive> p = dataC.mesh[i];
-            //         Rectangle * r = dynamic_cast<Rectangle*>(p.get());
-
-            //         if (r == nullptr)
-            //         {
-            //             dataP.fx += fx;
-            //             dataP.fy += fy;
-            //         }
-            //         else
-            //         {
-            //             dataP.fx += fx;
-            //             dataP.fy += fy;
-            //         }
-            //     }
-            // }
+
         }
 
     }

diff --git a/tests/DEM.lua b/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
-Original file line number
+Diff line change
@@ Expand Up / @@ -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)
@@ Expand Down @@