Setting up DynamicStrands simulation pipeline. (#13)

The correction step simply create chaos... But at least it's moving strand segments now, incorrectly corrected though.

EvoEngine_Plugins/EcoSysLab/Internals/EcoSysLabResources/Shaders/Compute/DynamicStrands/Constraints/StiffRodInitConstraints.comp

@@ -0,0 +1,73 @@
+#extension GL_EXT_shader_explicit_arithmetic_types_int8 : require
+#extension GL_KHR_shader_subgroup_basic : require
+#extension GL_KHR_shader_subgroup_ballot : require
+#extension GL_KHR_shader_subgroup_vote : require
+#extension GL_ARB_shading_language_include : enable
+#extension GL_EXT_control_flow_attributes : require
+
+#define DYNAMIC_STRANDS_SET 0
+#include "DynamicStrands.glsl"
+
+const uint WORKGROUP_SIZE = EXT_TASK_SUBGROUP_COUNT * EXT_TASK_SUBGROUP_SIZE;
+
+const uint ITERATIONS_PER_TASK = ((EXT_INVOCATIONS_PER_TASK + WORKGROUP_SIZE - 1) / WORKGROUP_SIZE);
+
+uint baseID = gl_WorkGroupID.x * EXT_INVOCATIONS_PER_TASK;
+uint laneID = gl_LocalInvocationID.x;
+
+layout(local_size_x = WORKGROUP_SIZE, local_size_y = 1, local_size_z = 1) in;
+
+#define BARRIER() \
+memoryBarrierShared(); \
+barrier();
+
+layout(push_constant) uniform PUSH_CONSTANTS {
+	uint constraint_size;
+	float time_step;
+	float inv_time_step;
+};
+
+#define DYNAMIC_STRANDS_PHYSICS_SET 1
+#include "DynamicStrandsPhysics.glsl"
+
+void init_constraint(in uint rod_constraint_handle);
+//Line 52
+void main(){
+
+	[[unroll]]
+	for (uint i = 0; i < ITERATIONS_PER_TASK; i++)
+	{
+		uint local_index  = laneID + i * WORKGROUP_SIZE;
+		uint constraint_index = baseID + local_index;
+
+		if(constraint_index >= constraint_size) break;
+		init_constraint(constraint_index);
+	}
+}
+
+void init_constraint(in uint rod_constraint_handle){
+	RodConstraint rod_constraint = rod_constraints[rod_constraint_handle];
+
+	vec3 stretch_compliance;
+	vec3 bending_and_torsion_compliance;
+	vec6 lambda_sum;
+
+	init_stretch_bending_twisting_constraint(
+		rod_constraint.stiffness_coefficient_k_segment0_index.xyz, 
+		inv_time_step,
+		rod_constraint.stretch_compliance_average_segment_length.w,
+		stretch_compliance,
+		bending_and_torsion_compliance,
+		lambda_sum);
+
+	rod_constraints[rod_constraint_handle].stretch_compliance_average_segment_length.xyz = stretch_compliance;
+	rod_constraints[rod_constraint_handle].bending_and_torsion_compliance_next_constraint_handle.xyz = bending_and_torsion_compliance;
+
+	rod_constraints[rod_constraint_handle].lambda_sum0 = lambda_sum.v[0];
+	rod_constraints[rod_constraint_handle].lambda_sum1 = lambda_sum.v[1];
+	rod_constraints[rod_constraint_handle].lambda_sum2 = lambda_sum.v[2];
+	rod_constraints[rod_constraint_handle].lambda_sum3 = lambda_sum.v[3];
+	rod_constraints[rod_constraint_handle].lambda_sum4 = lambda_sum.v[4];
+	rod_constraints[rod_constraint_handle].lambda_sum5 = lambda_sum.v[5];
+
+}

EvoEngine_Plugins/EcoSysLab/Internals/EcoSysLabResources/Shaders/Compute/DynamicStrands/Constraints/StiffRodProjectConstraints.comp

@@ -0,0 +1,102 @@
+#extension GL_EXT_shader_explicit_arithmetic_types_int8 : require
+#extension GL_KHR_shader_subgroup_basic : require
+#extension GL_KHR_shader_subgroup_ballot : require
+#extension GL_KHR_shader_subgroup_vote : require
+#extension GL_ARB_shading_language_include : enable
+#extension GL_EXT_control_flow_attributes : require
+#define DYNAMIC_STRANDS_SET 0
+#include "DynamicStrands.glsl"
+
+const uint WORKGROUP_SIZE = EXT_TASK_SUBGROUP_COUNT * EXT_TASK_SUBGROUP_SIZE;
+
+const uint ITERATIONS_PER_TASK = ((EXT_INVOCATIONS_PER_TASK + WORKGROUP_SIZE - 1) / WORKGROUP_SIZE);
+
+uint baseID = gl_WorkGroupID.x * EXT_INVOCATIONS_PER_TASK;
+uint laneID = gl_LocalInvocationID.x;
+
+layout(local_size_x = WORKGROUP_SIZE, local_size_y = 1, local_size_z = 1) in;
+
+#define BARRIER() \
+memoryBarrierShared(); \
+barrier();
+
+layout(push_constant) uniform PUSH_CONSTANTS {
+	uint strand_size;
+};
+
+#define DYNAMIC_STRANDS_PHYSICS_SET 1
+#include "DynamicStrandsPhysics.glsl"
+
+void project_constraint(in int rod_constraint_handle);
+
+void main(){
+
+	[[unroll]]
+	for (uint i = 0; i < ITERATIONS_PER_TASK; i++)
+	{
+		uint local_index  = laneID + i * WORKGROUP_SIZE;
+		uint strand_index = baseID + local_index;
+
+		if(strand_index >= strand_size) break;
+
+		PerStrandData strand_data = per_strand_data_list[strand_index];
+		int rod_constraint_handle = strand_data.begin_rod_constraint_handle;
+		while(rod_constraint_handle != strand_data.end_rod_constraint_handle){
+			project_constraint(rod_constraint_handle);
+			rod_constraint_handle = floatBitsToInt(rod_constraints[rod_constraint_handle].bending_and_torsion_compliance_next_constraint_handle.w);
+		}
+		project_constraint(rod_constraint_handle);
+	}
+}
+
+void project_constraint(in int rod_constraint_handle){
+	RodConstraint rod_constraint = rod_constraints[rod_constraint_handle];
+
+	vec3 x0_correction, x1_correction;
+	vec4 q0_correction, q1_correction;
+	vec6 lambda_sum;
+	lambda_sum.v[0] = rod_constraint.lambda_sum0;
+	lambda_sum.v[1] = rod_constraint.lambda_sum1;
+	lambda_sum.v[2] = rod_constraint.lambda_sum2;
+	lambda_sum.v[3] = rod_constraint.lambda_sum3;
+	lambda_sum.v[4] = rod_constraint.lambda_sum4;
+	lambda_sum.v[5] = rod_constraint.lambda_sum5;
+
+	int segment0_handle = floatBitsToInt(rod_constraint.stiffness_coefficient_k_segment0_index.w);
+	int segment1_handle = floatBitsToInt(rod_constraint.rest_darboux_vector_segment1_index.w);
+	StrandSegment segment0 = strand_segments[segment0_handle];
+	StrandSegment segment1 = strand_segments[segment1_handle];
+
+	mat3 inverse_inertia_tensor_w0, inverse_inertia_tensor_w1;
+	inverse_inertia_tensor_w0 = mat3(segment0.inv_inertia_w);
+	inverse_inertia_tensor_w1 = mat3(segment1.inv_inertia_w);
+
+	solve_stretch_bending_twisting_constraints(
+		segment0.inv_inertia_tensor_inv_mass.w, segment0.x.xyz, inverse_inertia_tensor_w0, segment0.q,
+		segment1.inv_inertia_tensor_inv_mass.w, segment1.x.xyz, inverse_inertia_tensor_w1, segment1.q,
+		rod_constraint.rest_darboux_vector_segment1_index.xyz,
+		rod_constraint.stretch_compliance_average_segment_length.w,
+		rod_constraint.stretch_compliance_average_segment_length.xyz,
+		rod_constraint.bending_and_torsion_compliance_next_constraint_handle.xyz,
+		rod_constraint.constraint_info,
+		x0_correction, q0_correction,
+		x1_correction, q1_correction,
+		lambda_sum);
+
+	if(segment0.inv_inertia_tensor_inv_mass.w != 0.0){
+		strand_segments[segment0_handle].x.xyz = segment0.x.xyz + x0_correction;
+		strand_segments[segment0_handle].q = normalize(segment0.q + q0_correction);
+	}
+
+	if(segment1.inv_inertia_tensor_inv_mass.w != 0.0){
+		strand_segments[segment1_handle].x.xyz = segment1.x.xyz + x1_correction;
+		strand_segments[segment1_handle].q = normalize(segment1.q + q1_correction);
+	}
+
+	rod_constraints[rod_constraint_handle].lambda_sum0 = lambda_sum.v[0];
+	rod_constraints[rod_constraint_handle].lambda_sum1 = lambda_sum.v[1];
+	rod_constraints[rod_constraint_handle].lambda_sum2 = lambda_sum.v[2];
+	rod_constraints[rod_constraint_handle].lambda_sum3 = lambda_sum.v[3];
+	rod_constraints[rod_constraint_handle].lambda_sum4 = lambda_sum.v[4];
+	rod_constraints[rod_constraint_handle].lambda_sum5 = lambda_sum.v[5];
+}

EvoEngine_Plugins/EcoSysLab/Internals/EcoSysLabResources/Shaders/Compute/DynamicStrands/Constraints/StiffRodUpdateConstraints.comp

@@ -0,0 +1,55 @@
+#extension GL_EXT_shader_explicit_arithmetic_types_int8 : require
+#extension GL_KHR_shader_subgroup_basic : require
+#extension GL_KHR_shader_subgroup_ballot : require
+#extension GL_KHR_shader_subgroup_vote : require
+#extension GL_ARB_shading_language_include : enable
+#extension GL_EXT_control_flow_attributes : require
+
+#define DYNAMIC_STRANDS_SET 0
+#include "DynamicStrands.glsl"
+
+const uint WORKGROUP_SIZE = EXT_TASK_SUBGROUP_COUNT * EXT_TASK_SUBGROUP_SIZE;
+
+const uint ITERATIONS_PER_TASK = ((EXT_INVOCATIONS_PER_TASK + WORKGROUP_SIZE - 1) / WORKGROUP_SIZE);
+
+uint baseID = gl_WorkGroupID.x * EXT_INVOCATIONS_PER_TASK;
+uint laneID = gl_LocalInvocationID.x;
+
+layout(local_size_x = WORKGROUP_SIZE, local_size_y = 1, local_size_z = 1) in;
+
+#define BARRIER() \
+memoryBarrierShared(); \
+barrier();
+
+layout(push_constant) uniform PUSH_CONSTANTS {
+	uint constraint_size;
+};
+
+#define DYNAMIC_STRANDS_PHYSICS_SET 1
+#include "DynamicStrandsPhysics.glsl"
+
+void update_constraint(in uint rod_constraint_handle);
+
+void main(){
+
+	[[unroll]]
+	for (uint i = 0; i < ITERATIONS_PER_TASK; i++)
+	{
+		uint local_index  = laneID + i * WORKGROUP_SIZE;
+		uint constraint_index = baseID + local_index;
+
+		if(constraint_index >= constraint_size) break;
+		update_constraint(constraint_index);
+	}
+}
+
+void update_constraint(in uint rod_constraint_handle){
+	RodConstraint rod_constraint = rod_constraints[rod_constraint_handle];
+	mat4 constraint_info = rod_constraint.constraint_info;
+
+	StrandSegment strand_segment0 = strand_segments[floatBitsToInt(rod_constraint.stiffness_coefficient_k_segment0_index.w)];
+	StrandSegment strand_segment1 = strand_segments[floatBitsToInt(rod_constraint.rest_darboux_vector_segment1_index.w)];
+
+	update_stretch_bending_twisting_constraint(strand_segment0.x.xyz, strand_segment0.q, strand_segment1.x.xyz, strand_segment1.q, constraint_info);
+	rod_constraints[rod_constraint_handle].constraint_info = constraint_info;
+}

EvoEngine_Plugins/EcoSysLab/Internals/EcoSysLabResources/Shaders/Compute/DynamicStrands/Operators/ExternalForce.comp

@@ -0,0 +1,52 @@
+#extension GL_EXT_shader_explicit_arithmetic_types_int8 : require
+#extension GL_KHR_shader_subgroup_basic : require
+#extension GL_KHR_shader_subgroup_ballot : require
+#extension GL_KHR_shader_subgroup_vote : require
+#extension GL_ARB_shading_language_include : enable
+
+#define DYNAMIC_STRANDS_SET 0
+#include "DynamicStrands.glsl"
+
+#include "Math.glsl"
+
+const uint WORKGROUP_SIZE = EXT_TASK_SUBGROUP_COUNT * EXT_TASK_SUBGROUP_SIZE;
+
+const uint ITERATIONS_PER_TASK = ((EXT_INVOCATIONS_PER_TASK + WORKGROUP_SIZE - 1) / WORKGROUP_SIZE);
+
+uint baseID = gl_WorkGroupID.x * EXT_INVOCATIONS_PER_TASK;
+uint laneID = gl_LocalInvocationID.x;
+
+layout(local_size_x = WORKGROUP_SIZE, local_size_y = 1, local_size_z = 1) in;
+
+#define BARRIER() \
+memoryBarrierShared(); \
+barrier();
+
+struct ExternalForce{
+ vec4 force_index;
+};
+
+layout(std430, set = 1, binding = 0) readonly buffer EXTERNAL_FORCE_BLOCK {
+  ExternalForce external_forces[];
+};
+
+layout(push_constant) uniform PUSH_CONSTANTS {
+	uint command_size;
+	float delta_time;
+};
+
+void main(){
+	for (uint i = 0; i < ITERATIONS_PER_TASK; i++)
+	{
+		uint local_index  = laneID + i * WORKGROUP_SIZE;
+		uint global_index = baseID + local_index;
+
+		if(global_index >= command_size) break;
+
+		ExternalForce external_force = external_forces[global_index];
+		uint segment_index = floatBitsToUint(external_force.force_index.w);
+		vec3 force = external_force.force_index.xyz;
+		StrandSegment segment = strand_segments[segment_index];
+		strand_segments[segment_index].acceleration.xyz = force * segment.inv_inertia_tensor_inv_mass.w;
+	}
+}

EvoEngine_Plugins/EcoSysLab/Internals/EcoSysLabResources/Shaders/Compute/DynamicStrands/Operators/PositionUpdate.comp

@@ -0,0 +1,56 @@
+#extension GL_EXT_shader_explicit_arithmetic_types_int8 : require
+#extension GL_KHR_shader_subgroup_basic : require
+#extension GL_KHR_shader_subgroup_ballot : require
+#extension GL_KHR_shader_subgroup_vote : require
+#extension GL_ARB_shading_language_include : enable
+
+#define DYNAMIC_STRANDS_SET 0
+#include "DynamicStrands.glsl"
+
+#include "Math.glsl"
+
+const uint WORKGROUP_SIZE = EXT_TASK_SUBGROUP_COUNT * EXT_TASK_SUBGROUP_SIZE;
+
+const uint ITERATIONS_PER_TASK = ((EXT_INVOCATIONS_PER_TASK + WORKGROUP_SIZE - 1) / WORKGROUP_SIZE);
+
+uint baseID = gl_WorkGroupID.x * EXT_INVOCATIONS_PER_TASK;
+uint laneID = gl_LocalInvocationID.x;
+
+layout(local_size_x = WORKGROUP_SIZE, local_size_y = 1, local_size_z = 1) in;
+
+#define BARRIER() \
+memoryBarrierShared(); \
+barrier();
+
+struct PositionUpdate{
+	vec4 new_position_index;
+};
+
+layout(std430, set = 1, binding = 0) readonly buffer POSITION_UPDATE_BLOCK {
+  PositionUpdate position_updates[];
+};
+
+layout(push_constant) uniform PUSH_CONSTANTS {
+	uint command_size;
+};
+
+void main(){
+	for (uint i = 0; i < ITERATIONS_PER_TASK; i++)
+	{
+		uint local_index  = laneID + i * WORKGROUP_SIZE;
+		uint global_index = baseID + local_index;
+
+		if(global_index >= command_size) break;
+
+		PositionUpdate position_update = position_updates[global_index];
+
+		uint segment_index = floatBitsToUint(position_update.new_position_index.w);
+
+		vec3 new_position = position_update.new_position_index.xyz;
+		vec3 old_position = strand_segments[segment_index].x.xyz;
+		vec3 delta_position = new_position - old_position;
+
+		strand_segments[segment_index].x.xyz = new_position;
+		strand_segments[segment_index].last_x.xyz = strand_segments[segment_index].last_x.xyz + delta_position;
+	}
+}

EvoEngine_Plugins/EcoSysLab/Internals/EcoSysLabResources/Shaders/Compute/DynamicStrandsPrecompute.comp → EvoEngine_Plugins/EcoSysLab/Internals/EcoSysLabResources/Shaders/Compute/DynamicStrands/PostStep.comp

@@ -6,6 +6,7 @@
 
 #define DYNAMIC_STRANDS_SET 0
 #include "DynamicStrands.glsl"
+#include "Math.glsl"
 
 const uint WORKGROUP_SIZE = EXT_TASK_SUBGROUP_COUNT * EXT_TASK_SUBGROUP_SIZE;
 
@@ -20,28 +21,18 @@ layout(local_size_x = WORKGROUP_SIZE, local_size_y = 1, local_size_z = 1) in;
 memoryBarrierShared(); \
 barrier();
 
-struct PhysicsCommand{
-	int strand_segment_handle;
-	vec3 position_offset;
-};
-
-//#define PHYSICS_COMMANDS_SET 0
-//layout(std430, set = PHYSICS_COMMANDS_SET, binding = 0) readonly buffer PHYSICS_COMMAND_BLOCK {
-//	PhysicsCommand physics_commands[];
-//};
 
-layout(push_constant) uniform STRANDS_PRECOMPUTE_CONSTANTS {
-	uint strands_size;
-	uint strand_segments_size;
-	uint command_size;
+layout(push_constant) uniform PUSH_CONSTANTS {
+	uint segment_size;
 };
 
 void main(){
-
 	for (uint i = 0; i < ITERATIONS_PER_TASK; i++)
 	{
 		uint local_index  = laneID + i * WORKGROUP_SIZE;
-		uint global_index = baseID + local_index;
-		//strand_segments[global_index].end_position_thickness.y = 0.0;
+		uint segment_index = baseID + local_index;
+
+		if(segment_index >= segment_size) break;
+		StrandSegment segment = strand_segments[segment_index];
 	}
 }