diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/geometry/shape.rs | 2 | ||||
| -rw-r--r-- | src/lib.rs | 4 | ||||
| -rw-r--r-- | src/pipeline/fluids_pipeline.rs | 293 | ||||
| -rw-r--r-- | src/pipeline/mod.rs | 4 |
4 files changed, 2 insertions, 301 deletions
diff --git a/src/geometry/shape.rs b/src/geometry/shape.rs index ec43bf7..5c96f68 100644 --- a/src/geometry/shape.rs +++ b/src/geometry/shape.rs @@ -64,6 +64,8 @@ pub trait Shape: RayCast<f32> + PointQuery<f32> + DowncastSync { None } + // TODO: add a compute_local_aabb method? + /// Computes the AABB of this shape. fn compute_aabb(&self, position: &Isometry<f32>) -> AABB<f32>; @@ -16,10 +16,6 @@ pub extern crate nalgebra as na; pub extern crate ncollide2d as ncollide; #[cfg(feature = "dim3")] pub extern crate ncollide3d as ncollide; -#[cfg(feature = "dim2")] -pub extern crate salva2d as salva; -#[cfg(feature = "dim3")] -pub extern crate salva3d as salva; #[cfg(feature = "serde")] #[macro_use] extern crate serde; diff --git a/src/pipeline/fluids_pipeline.rs b/src/pipeline/fluids_pipeline.rs deleted file mode 100644 index 8d1a8d5..0000000 --- a/src/pipeline/fluids_pipeline.rs +++ /dev/null @@ -1,293 +0,0 @@ -use crate::approx::AbsDiffEq; -use crate::dynamics::RigidBodySet; -use crate::geometry::{ColliderHandle, ColliderSet}; -use crate::math::{Point, Vector}; -use crate::salva::solver::DFSPHSolver; -use crate::salva::LiquidWorld; -use na::{RealField, Unit}; -use ncollide::bounding_volume::BoundingVolume; -use ncollide::query::PointQuery; -use ncollide::shape::FeatureId; -use salva::coupling::CouplingManager; -use salva::geometry::{HGrid, HGridEntry}; -use salva::object::{BoundaryHandle, BoundarySet, Fluid}; -use salva::TimestepManager; -use std::collections::HashMap; -use std::sync::RwLock; - -/// Pipeline for particle-based fluid simulation. -pub struct FluidsPipeline { - liquid_world: LiquidWorld, - coupling: ColliderCouplingSet, -} - -impl FluidsPipeline { - /// Initialize a new pipeline for fluids simulation. - /// - /// # Parameters - /// - /// - `particle_radius`: the radius of every particle for the fluid simulation. - /// - `smoothing_factor`: the smoothing factor used to compute the SPH kernel radius. - /// The kernel radius will be computed as `particle_radius * smoothing_factor * 2.0. - pub fn new(particle_radius: f32, smoothing_factor: f32) -> Self { - let dfsph: DFSPHSolver = DFSPHSolver::new(); - - Self { - liquid_world: LiquidWorld::new(dfsph, particle_radius, smoothing_factor), - coupling: ColliderCouplingSet::new(), - } - } - - /// Advances the fluid simulation by `dt` milliseconds. - /// - /// All the fluid particles will be affected by an acceleration equal to `gravity`. - /// This `step` function may apply forces to some rigid-bodies that interact with fluids. - /// However, it will not integrate these forces. Use the `PhysicsPipeline` for this integration. - pub fn step( - &mut self, - gravity: &Vector<f32>, - dt: f32, - colliders: &ColliderSet, - bodies: &mut RigidBodySet, - ) { - self.liquid_world.step_with_coupling( - dt, - gravity, - &mut self.coupling.as_manager_mut(colliders, bodies), - ) - } -} - -/// The way a collider is coupled to a boundary object. -pub enum ParticleSampling { - /// The collider shape is approximated with the given sample points in local-space. - /// - /// It is recommended that those points are separated by a distance smaller or equal to twice - /// the particle radius used to initialize the LiquidWorld. - StaticSampling(Vec<Point<f32>>), - /// The collider shape is approximated by a dynamic set of points automatically computed based on contacts with fluid particles. - DynamicContactSampling, -} - -struct ColliderCouplingEntry { - coupling_method: ParticleSampling, - boundary: BoundaryHandle, - features: Vec<FeatureId>, -} - -/// Structure managing all the coupling between colliders from rapier with boundaries and fluids from salva. -pub struct ColliderCouplingSet { - entries: HashMap<ColliderHandle, ColliderCouplingEntry>, -} - -impl ColliderCouplingSet { - /// Create a new collider coupling manager. - pub fn new() -> Self { - Self { - entries: HashMap::new(), - } - } - - /// Register a coupling between a boundary and a collider. - /// There can be only up to one coupling between a collider and a boundary object. If a coupling - /// already exists for this collider when calling this function, the handle of the previously coupled - /// boundary is returned. - pub fn register_coupling( - &mut self, - boundary: BoundaryHandle, - collider: ColliderHandle, - coupling_method: ParticleSampling, - ) -> Option<BoundaryHandle> { - let old = self.entries.insert( - collider, - ColliderCouplingEntry { - coupling_method, - boundary, - features: Vec::new(), - }, - ); - - old.map(|e| e.boundary) - } - - /// Unregister a coupling between a boundary and a collider. - /// Note that this does not remove the boundary itself from the liquid world. - /// Returns the handle of the boundary this collider was coupled with. - pub fn unregister_coupling(&mut self, collider: ColliderHandle) -> Option<BoundaryHandle> { - let deleted = self.entries.remove(&collider); - deleted.map(|e| e.boundary) - } - - /// Use this collider coupling set as a coupling manager. - pub fn as_manager_mut<'a>( - &'a mut self, - colliders: &'a ColliderSet, - bodies: &'a mut RigidBodySet, - ) -> ColliderCouplingManager { - ColliderCouplingManager { - coupling: self, - colliders, - bodies, - } - } -} - -/// A manager for coupling colliders from rapier2d/rapier3D with the boundary -/// objects from salva. -pub struct ColliderCouplingManager<'a> { - coupling: &'a mut ColliderCouplingSet, - colliders: &'a ColliderSet, - bodies: &'a mut RigidBodySet, -} - -impl<'a> CouplingManager for ColliderCouplingManager<'a> { - fn update_boundaries( - &mut self, - timestep: &TimestepManager, - h: f32, - particle_radius: f32, - hgrid: &HGrid<HGridEntry>, - fluids: &mut [Fluid], - boundaries: &mut BoundarySet, - ) { - for (collider, coupling) in &mut self.coupling.entries { - if let (Some(collider), Some(boundary)) = ( - self.colliders.get(*collider), - boundaries.get_mut(coupling.boundary), - ) { - // Update the boundary's ability to receive forces. - let body = self.bodies.get(collider.parent()); - if let Some(body) = body { - if !body.is_dynamic() { - boundary.forces = None; - } else { - boundary.forces = Some(RwLock::new(Vec::new())); - boundary.clear_forces(true); - } - } - - // Update positions and velocities. - boundary.positions.clear(); - boundary.velocities.clear(); - boundary.volumes.clear(); - coupling.features.clear(); - - match &coupling.coupling_method { - ParticleSampling::StaticSampling(points) => { - for pt in points { - boundary.positions.push(collider.position() * pt); - // FIXME: how do we get the point-velocity of deformable bodies correctly? - let velocity = body.map(|b| b.velocity_at_point(pt)); - - boundary - .velocities - .push(velocity.unwrap_or(Vector::zeros())); - } - - boundary.volumes.resize(points.len(), na::zero::<f32>()); - } - ParticleSampling::DynamicContactSampling => { - let prediction = h * na::convert::<_, f32>(0.5); - let margin = particle_radius * na::convert::<_, f32>(0.1); - let collider_pos = collider.position(); - let aabb = collider - .shape() - .compute_aabb(&collider_pos) - .loosened(h + prediction); - - for particle in hgrid - .cells_intersecting_aabb(&aabb.mins, &aabb.maxs) - .flat_map(|e| e.1) - { - match particle { - HGridEntry::FluidParticle(fluid_id, particle_id) => { - let fluid = &mut fluids[*fluid_id]; - let particle_pos = fluid.positions[*particle_id] - + fluid.velocities[*particle_id] * timestep.dt(); - - if aabb.contains_local_point(&particle_pos) { - let (proj, feature) = - collider.shape().project_point_with_feature( - &collider_pos, - &particle_pos, - ); - - let dpt = particle_pos - proj.point; - - if let Some((normal, depth)) = - Unit::try_new_and_get(dpt, f32::default_epsilon()) - { - if proj.is_inside { - fluid.positions[*particle_id] -= - *normal * (depth + margin); - - let vel_err = - normal.dot(&fluid.velocities[*particle_id]); - - if vel_err > na::zero::<f32>() { - fluid.velocities[*particle_id] -= - *normal * vel_err; - } - } else if depth > h + prediction { - continue; - } - } - - let velocity = - body.map(|b| b.velocity_at_point(&proj.point)); - - boundary - .velocities - .push(velocity.unwrap_or(Vector::zeros())); - boundary.positions.push(proj.point); - boundary.volumes.push(na::zero::<f32>()); - coupling.features.push(feature); - } - } - HGridEntry::BoundaryParticle(..) => { - // Not yet implemented. - } - } - } - } - } - - boundary.clear_forces(true); - } - } - } - - fn transmit_forces(&mut self, boundaries: &BoundarySet) { - for (collider, coupling) in &self.coupling.entries { - if let (Some(collider), Some(boundary)) = ( - self.colliders.get(*collider), - boundaries.get(coupling.boundary), - ) { - if boundary.positions.is_empty() { - continue; - } - - if let Some(forces) = &boundary.forces { - let forces = forces.read().unwrap(); - if let Some(mut body) = self.bodies.get_mut(collider.parent) { - for (pos, force) in boundary.positions.iter().zip(forces.iter().cloned()) { - // FIXME: how do we deal with large density ratio? - // Is it only an issue with PBF? - // The following commented code was an attempt to limit the force applied - // to the bodies in order to avoid large forces. - // - // let ratio = na::convert::<_, f32>(3.0) - // * body.part(body_part.1).unwrap().inertia().mass(); - // - // if ratio < na::convert::<_, f32>(1.0) { - // force *= ratio; - // } - - body.apply_force_at_point(force, *pos) - } - } - } - } - } - } -} diff --git a/src/pipeline/mod.rs b/src/pipeline/mod.rs index 6212acb..287de9d 100644 --- a/src/pipeline/mod.rs +++ b/src/pipeline/mod.rs @@ -2,14 +2,10 @@ pub use collision_pipeline::CollisionPipeline; pub use event_handler::{ChannelEventCollector, EventHandler}; -#[cfg(feature = "fluids")] -pub use fluids_pipeline::FluidsPipeline; pub use physics_pipeline::PhysicsPipeline; pub use query_pipeline::QueryPipeline; mod collision_pipeline; mod event_handler; -#[cfg(feature = "fluids")] -mod fluids_pipeline; mod physics_pipeline; mod query_pipeline; |