Checkpoint. Waiting to implement constraint.

edisonlee0212 · Oct 16, 2024 · af3e89b · af3e89b
1 parent ac3c0be
commit af3e89b
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Showing 19 changed files with 456 additions and 908 deletions.
diff --git a/...onstraints/StiffRodUpdateConstraints.comp → ...traints/StiffRodBendTwistConstraints.comp b/...onstraints/StiffRodUpdateConstraints.comp → ...traints/StiffRodBendTwistConstraints.comp
@@ -4,7 +4,6 @@
 #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"
 
@@ -22,34 +21,39 @@ memoryBarrierShared(); \
 barrier();
 
 layout(push_constant) uniform PUSH_CONSTANTS {
-	uint constraint_size;
+	uint strand_size;
 };
 
 #define DYNAMIC_STRANDS_PHYSICS_SET 1
 #include "DynamicStrandsPhysics.glsl"
 
-void update_constraint(in uint rod_constraint_handle);
+void project_constraint(in int 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;
+		uint strand_index = baseID + local_index;
+
+		if(strand_index >= strand_size) break;
 
-		if(constraint_index >= constraint_size) break;
-		update_constraint(constraint_index);
+		PerStrandData strand_data = per_strand_data_list[strand_index];
+		int constraint_handle = strand_data.begin_constraint_handle;
+		while(constraint_handle != strand_data.end_constraint_handle){
+			project_constraint(constraint_handle);
+			constraint_handle = floatBitsToInt(constraints[constraint_handle].bending_and_torsion_compliance_next_constraint_handle.w);
+		}
+		project_constraint(constraint_handle);
 	}
 }
 
-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)];
+void project_constraint(in int constraint_handle){
+	Constraint constraint = constraints[constraint_handle];
+	int segment0_handle = floatBitsToInt(constraint.stiffness_coefficient_k_segment0_index.w);
+	int segment1_handle = floatBitsToInt(constraint.rest_darboux_vector_segment1_index.w);
+	Segment segment0 = segments[segment0_handle];
+	Segment segment1 = segments[segment1_handle];
 
-	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;
 }
diff --git a/...coSysLabResources/Shaders/Compute/DynamicStrands/Constraints/StiffRodInitConstraints.comp b/...coSysLabResources/Shaders/Compute/DynamicStrands/Constraints/StiffRodInitConstraints.comp
@@ -23,14 +23,27 @@ barrier();
 
 layout(push_constant) uniform PUSH_CONSTANTS {
 	uint constraint_size;
-	float time_step;
-	float inv_time_step;
+    float time_step;
 };
 
 #define DYNAMIC_STRANDS_PHYSICS_SET 1
 #include "DynamicStrandsPhysics.glsl"
 
-void init_constraint(in uint rod_constraint_handle);
+void init_stretch_bending_twisting_constraint(in vec3 stiffness_coefficient_k, in float time_step,
+                                              in float average_segment_length, out vec3 stretch_compliance,
+                                              out vec3 bending_and_torsion_compliance) {
+  float time_step_quadratic = time_step * time_step;
+
+  stretch_compliance = vec3(time_step_quadratic / stiffness_coefficient_k[0],
+                            time_step_quadratic / stiffness_coefficient_k[0],
+                            time_step_quadratic / stiffness_coefficient_k[0]);
+
+  bending_and_torsion_compliance = vec3(time_step_quadratic / stiffness_coefficient_k[1],
+                                        time_step_quadratic / stiffness_coefficient_k[1],
+                                        time_step_quadratic / stiffness_coefficient_k[2]);
+}
+
+void init_constraint(in uint constraint_handle);
 //Line 52
 void main(){
 
@@ -45,29 +58,19 @@ void main(){
 	}
 }
 
-void init_constraint(in uint rod_constraint_handle){
-	RodConstraint rod_constraint = rod_constraints[rod_constraint_handle];
-			
+void init_constraint(in uint constraint_handle){
+	Constraint constraint = constraints[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,
+		constraint.stiffness_coefficient_k_segment0_index.xyz, 
+		time_step,
+		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];
+		bending_and_torsion_compliance);
 
+	constraints[constraint_handle].stretch_compliance_average_segment_length.xyz = stretch_compliance;
+	constraints[constraint_handle].bending_and_torsion_compliance_next_constraint_handle.xyz = bending_and_torsion_compliance;
 }
diff --git a/...ysLabResources/Shaders/Compute/DynamicStrands/Constraints/StiffRodProjectConstraints.comp b/...ysLabResources/Shaders/Compute/DynamicStrands/Constraints/StiffRodProjectConstraints.comp
diff --git a/...Resources/Shaders/Compute/DynamicStrands/Constraints/StiffRodStretchShearConstraints.comp b/...Resources/Shaders/Compute/DynamicStrands/Constraints/StiffRodStretchShearConstraints.comp
@@ -0,0 +1,59 @@
+#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 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 constraint_handle = strand_data.begin_constraint_handle;
+		while(constraint_handle != strand_data.end_constraint_handle){
+			project_constraint(constraint_handle);
+			constraint_handle = floatBitsToInt(constraints[constraint_handle].bending_and_torsion_compliance_next_constraint_handle.w);
+		}
+		project_constraint(constraint_handle);
+	}
+}
+
+void project_constraint(in int constraint_handle){
+	Constraint constraint = constraints[constraint_handle];
+	int segment0_handle = floatBitsToInt(constraint.stiffness_coefficient_k_segment0_index.w);
+	int segment1_handle = floatBitsToInt(constraint.rest_darboux_vector_segment1_index.w);
+	Segment segment0 = segments[segment0_handle];
+	Segment segment1 = segments[segment1_handle];
+
+}
diff --git a/.../Internals/EcoSysLabResources/Shaders/Compute/DynamicStrands/Operators/ExternalForce.comp b/.../Internals/EcoSysLabResources/Shaders/Compute/DynamicStrands/Operators/ExternalForce.comp
@@ -44,9 +44,9 @@ void main(){
 		if(global_index >= command_size) break;
 
 		ExternalForce external_force = external_forces[global_index];
-		uint segment_index = floatBitsToUint(external_force.force_index.w);
+		uint particle_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;
+		Particle particle = particles[particle_index];
+		particles[particle_index].acceleration_inv_mass.xyz = force * particle.acceleration_inv_mass.w;
 	}
 }
diff --git a/...Internals/EcoSysLabResources/Shaders/Compute/DynamicStrands/Operators/PositionUpdate.comp b/...Internals/EcoSysLabResources/Shaders/Compute/DynamicStrands/Operators/PositionUpdate.comp
@@ -44,13 +44,14 @@ void main(){
 
 		PositionUpdate position_update = position_updates[global_index];
 
-		uint segment_index = floatBitsToUint(position_update.new_position_index.w);
+		uint particle_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 old_position = particles[particle_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;
+		particles[particle_index].x.xyz = new_position;
+		particles[particle_index].last_x.xyz = particles[particle_index].last_x.xyz + delta_position;
+		particles[particle_index].old_x.xyz = particles[particle_index].old_x.xyz + delta_position;
 	}
 }
diff --git a/...ders/Compute/DynamicStrands/PostStep.comp → ...mpute/DynamicStrands/ParticlePreStep.comp b/...ders/Compute/DynamicStrands/PostStep.comp → ...mpute/DynamicStrands/ParticlePreStep.comp
@@ -21,18 +21,35 @@ layout(local_size_x = WORKGROUP_SIZE, local_size_y = 1, local_size_z = 1) in;
 memoryBarrierShared(); \
 barrier();
 
-
 layout(push_constant) uniform PUSH_CONSTANTS {
-	uint segment_size;
+	uint particle_size;
+	float time_step;
+	float inv_time_step;
 };
 
 void main(){
 	for (uint i = 0; i < ITERATIONS_PER_TASK; i++)
 	{
 		uint local_index  = laneID + i * WORKGROUP_SIZE;
-		uint segment_index = baseID + local_index;
-
-		if(segment_index >= segment_size) break;
-		StrandSegment segment = strand_segments[segment_index];
+		uint particle_index = baseID + local_index;
+
+		if(particle_index >= particle_size) break;
+
+		Particle particle = particles[particle_index];
+
+		//Calculate velocity and apply acceleration.
+		vec3 velocity = vec3(0, 0, 0);
+		if(particle.acceleration_inv_mass.w != 0.0){
+			velocity = inv_time_step * (1.5 * particle.x.xyz - 2.0 * particle.old_x.xyz + 0.5 * particle.last_x.xyz);
+			velocity += particle.acceleration_inv_mass.xyz * time_step;
+		}
+
+		//Shift position values
+		particle.last_x.xyz = particle.old_x.xyz;
+		particle.old_x.xyz = particle.x.xyz;
+		//Apply velocity
+		particle.x.xyz += time_step * velocity;
+
+		particles[particle_index] = particle;
 	}
 }