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First working version.
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@edisonlee0212
edisonlee0212 committed Oct 16, 2024
1 parent 8451545 commit c8d6aac
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Showing 7 changed files with 68 additions and 35 deletions.
19 changes: 16 additions & 3 deletions ...Resources/Shaders/Compute/DynamicStrands/Constraints/StiffRodStretchShearConstraints.comp
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Expand Up @@ -61,17 +61,28 @@ void project_constraint(in int segment_handle){

vec3 p0 = particle0.x.xyz;
vec3 p1 = particle1.x.xyz;



float inv_mass_p0 = particle0.acceleration_inv_mass.w;
float inv_mass_p1 = particle1.acceleration_inv_mass.w;
vec4 q = segment.q;
float inv_mass_q = segment.inv_mass;
vec3 stretching_and_shearing_k = vec3(segment.shearing_stiffness, segment.shearing_stiffness, segment.stretching_stiffness);
float rest_length = segment.torque_rest_length.w;


segments[segment_handle].p0.xyz = p0;
segments[segment_handle].p1.xyz = p1;
segments[segment_handle].p0.w = intBitsToFloat(particle0_handle);
segments[segment_handle].p1.w = intBitsToFloat(particle1_handle);

segments[segment_handle].original_gamma.xyz = (p1 - p0) / rest_length;

vec3 d3;
d3[0] = 2.0 * (q.x * q.z + q.w * q.y);
d3[1] = 2.0 * (q.y * q.z - q.w * q.x);
d3[2] = q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z;
d3[0] = -2.0 * (q.x * q.z + q.w * q.y);
d3[1] = -2.0 * (q.y * q.z - q.w * q.x);
d3[2] = -q.w * q.w + q.x * q.x + q.y * q.y - q.z * q.z;

vec3 gamma = (p1 - p0) / rest_length - d3;
gamma /= (inv_mass_p0 + inv_mass_p1) / rest_length + inv_mass_q * 4.0 * rest_length + 1e-6;
Expand Down Expand Up @@ -101,5 +112,7 @@ void project_constraint(in int segment_handle){
particles[particle1_handle].x.xyz += x1_correction;
segments[segment_handle].q = normalize(q_correction + segment.q);


segments[segment_handle].d3.xyz = d3;
segments[segment_handle].gamma.xyz = gamma;
}
4 changes: 4 additions & 0 deletions ...ngine_Plugins/EcoSysLab/Internals/EcoSysLabResources/Shaders/Includes/DynamicStrands.glsl
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Expand Up @@ -36,6 +36,10 @@ struct Segment {

int neighbors[8];

vec4 p0;
vec4 p1;
vec4 original_gamma;
vec4 d3;
vec4 gamma;
};

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2 changes: 1 addition & 1 deletion EvoEngine_Plugins/EcoSysLab/include/StrandModel/BrokenBranch.hpp
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Expand Up @@ -35,7 +35,7 @@ class BrokenBranch : public IPrivateComponent {
void Subdivide(float segment_length, const StrandModelStrandGroup& src);
void InitializeStrandParticles(const StrandModelStrandGroup& strand_group) const;
void ClearStrandParticles() const;

void Step();
void InitializeStrandConcaveMesh(const StrandModelStrandGroup& strand_group, float max_edge_length) const;
void ClearStrandConcaveMesh() const;
};
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12 changes: 10 additions & 2 deletions EvoEngine_Plugins/EcoSysLab/include/StrandModel/DynamicStrands.hpp
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Expand Up @@ -27,7 +27,7 @@ class DynamicStrands {
struct PhysicsParameters {
float time_step = 0.01f;
uint32_t sub_step = 1;
uint32_t max_iteration;
uint32_t max_iteration = 20;
};

struct RenderParameters {
Expand Down Expand Up @@ -93,6 +93,13 @@ class DynamicStrands {

int neighbors[8];

glm::vec3 p0;
int p0_handle;
glm::vec3 p1;
int p1_handle;

glm::vec4 original_gamma;
glm::vec4 d3;
glm::vec4 gamma;
};
struct GpuParticle {
Expand Down Expand Up @@ -163,6 +170,7 @@ void DynamicStrands::InitializeStrandsGroup(const InitializeParameters& initiali
}
});


segments.resize(target_strand_segments.size());
Jobs::RunParallelFor(target_strand_segments.size(), [&](const size_t i) {
auto& segment = segments[i];
Expand Down Expand Up @@ -202,7 +210,7 @@ void DynamicStrands::InitializeStrandsGroup(const InitializeParameters& initiali
segment.twisting_stiffness = shear_modulus * polar_moment_of_inertia / segment.rest_length;*/


segment.stretching_stiffness = segment.shearing_stiffness = 1.0f;
segment.stretching_stiffness = segment.shearing_stiffness = 0.5f;
segment.bending_stiffness = segment.twisting_stiffness = .5f;
});

Expand Down
51 changes: 30 additions & 21 deletions EvoEngine_Plugins/EcoSysLab/src/BrokenBranch.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,7 +135,7 @@ bool BrokenBranch::OnInspect(const std::shared_ptr<EditorLayer>& editor_layer) {
step_parameters.physics = true;
const bool resume_render = step_parameters.render;
step_parameters.render = false;
dynamic_strands.Step(step_parameters);
Step();
step_parameters.physics = false;
step_parameters.render = resume_render;
}
Expand All @@ -145,6 +145,8 @@ bool BrokenBranch::OnInspect(const std::shared_ptr<EditorLayer>& editor_layer) {
dynamic_strands.Download();
EVOENGINE_LOG("Downloaded data from GPU")
}


ImGui::SameLine();
if (ImGui::Button("Upload strands")) {
dynamic_strands.Upload();
Expand All @@ -155,24 +157,7 @@ bool BrokenBranch::OnInspect(const std::shared_ptr<EditorLayer>& editor_layer) {
return false;
}
void BrokenBranch::LateUpdate() {
if (enable_simulation && !dynamic_strands.segments.empty()) {
const auto owner = GetOwner();
const auto scene = GetScene();
const auto current_root_transform = scene->GetDataComponent<GlobalTransform>(owner);
GlobalTransform original_inverse_root_transform;
original_inverse_root_transform.value = glm::inverse(initialize_parameters.root_transform.value);
Jobs::RunParallelFor(position_update->commands.size(), [&](const size_t i) {
auto& command = position_update->commands[i];
command.new_position = current_root_transform.TransformPoint(
original_inverse_root_transform.TransformPoint(dynamic_strands.particles[command.particle_index].x0));
});
dynamic_strands.operators.clear();
//dynamic_strands.operators.emplace_back(external_force);
dynamic_strands.operators.emplace_back(position_update);
const auto editor_layer = Application::GetLayer<EditorLayer>();
step_parameters.render_parameters.target_camera = editor_layer->GetSceneCamera();
dynamic_strands.Step(step_parameters);
}
Step();
}

void BrokenBranch::FixedUpdate() {
Expand Down Expand Up @@ -201,11 +186,13 @@ void BrokenBranch::ExperimentSetup() {
const auto strand1_handle = strand_group.AllocateStrand();
auto& segment1 = strand_group.RefStrandSegment(strand_group.Extend(strand1_handle));
auto& strand1 = strand_group.RefStrand(strand1_handle);
segment1.end_position = glm::vec3(0, 0.5f, 0.);
segment1.end_position = glm::vec3(0, 5.0f, 0.);
strand1.start_color = segment1.end_color = glm::vec4(1, 0, 0, 0);
strand1.start_thickness = segment1.end_thickness = 0.01f;
strand1.start_thickness = segment1.end_thickness = 0.1f;

strand_group.CalculateRotations();

Subdivide(2, strand_group);
}

void BrokenBranch::Subdivide(const float segment_length, const StrandModelStrandGroup& src) {
Expand Down Expand Up @@ -251,6 +238,28 @@ void BrokenBranch::ClearStrandParticles() const {
}
}

void BrokenBranch::Step() {
if (!dynamic_strands.segments.empty()) {
dynamic_strands.operators.clear();
if (step_parameters.physics) {
const auto owner = GetOwner();
const auto scene = GetScene();
const auto current_root_transform = scene->GetDataComponent<GlobalTransform>(owner);
GlobalTransform original_inverse_root_transform;
original_inverse_root_transform.value = glm::inverse(initialize_parameters.root_transform.value);
Jobs::RunParallelFor(position_update->commands.size(), [&](const size_t i) {
auto& command = position_update->commands[i];
command.new_position = current_root_transform.TransformPoint(
original_inverse_root_transform.TransformPoint(dynamic_strands.particles[command.particle_index].x0));
});
dynamic_strands.operators.emplace_back(position_update);
}
const auto editor_layer = Application::GetLayer<EditorLayer>();
step_parameters.render_parameters.target_camera = editor_layer->GetSceneCamera();
dynamic_strands.Step(step_parameters);
}
}

void BrokenBranch::InitializeStrandConcaveMesh(const StrandModelStrandGroup& strand_group,
const float max_edge_length) const {
const auto scene = GetScene();
Expand Down
3 changes: 3 additions & 0 deletions EvoEngine_Plugins/EcoSysLab/src/DynamicStrands.cpp
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Expand Up @@ -57,6 +57,8 @@ void DynamicStrands::Step(const StepParameters& target_step_parameters) {
void DynamicStrands::Upload() const {
device_strands_buffer->UploadVector(strands);
device_segments_buffer->UploadVector(segments);
device_particles_buffer->UploadVector(particles);

for (const auto& op : operators) {
op->UploadData();
}
Expand All @@ -68,6 +70,7 @@ void DynamicStrands::Upload() const {
void DynamicStrands::Download() {
device_strands_buffer->DownloadVector(strands, strands.size());
device_segments_buffer->DownloadVector(segments, segments.size());
device_particles_buffer->DownloadVector(particles, particles.size());
for (const auto& op : operators) {
op->DownloadData();
}
Expand Down
12 changes: 4 additions & 8 deletions EvoEngine_Plugins/EcoSysLab/src/DynamicStrandsPhysics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -394,12 +394,9 @@ void DsStiffRod::Project(const DynamicStrands::PhysicsParameters& physics_parame
strands_physics_descriptor_sets[current_frame_index]->UpdateBufferDescriptorBinding(0, per_strand_data_list_buffer);
strands_physics_descriptor_sets[current_frame_index]->UpdateBufferDescriptorBinding(1, rod_constraints_buffer);

int num_sub_step = 1;
int num_iteration = 1;

InitConstraintConstant init_push_constant;
init_push_constant.constraint_size = rod_constraints.size();
init_push_constant.time_step = physics_parameters.time_step / num_sub_step;
init_push_constant.time_step = physics_parameters.time_step / physics_parameters.sub_step;

StretchShearConstraintConstant stretch_shear_constraint_constant;
stretch_shear_constraint_constant.strand_size = per_strand_data_list.size();
Expand All @@ -412,7 +409,7 @@ void DsStiffRod::Project(const DynamicStrands::PhysicsParameters& physics_parame

Platform::RecordCommandsMainQueue([&](const VkCommandBuffer vk_command_buffer) {
Platform::EverythingBarrier(vk_command_buffer);
for (int sub_step_i = 0; sub_step_i < num_sub_step; sub_step_i++) {
for (int sub_step_i = 0; sub_step_i < physics_parameters.sub_step; sub_step_i++) {
init_constraint_pipeline->Bind(vk_command_buffer);
init_constraint_pipeline->BindDescriptorSet(
vk_command_buffer, 0,
Expand All @@ -423,8 +420,7 @@ void DsStiffRod::Project(const DynamicStrands::PhysicsParameters& physics_parame
init_constraint_pipeline->PushConstant(vk_command_buffer, 0, init_push_constant);
vkCmdDispatch(vk_command_buffer, Platform::DivUp(init_push_constant.constraint_size, task_work_group_invocations),
1, 1);
Platform::EverythingBarrier(vk_command_buffer);
for (int iteration_i = 0; iteration_i < num_iteration; iteration_i++) {
for (int iteration_i = 0; iteration_i < physics_parameters.max_iteration; iteration_i++) {
stretch_shear_constraint_pipeline->Bind(vk_command_buffer);
stretch_shear_constraint_pipeline->BindDescriptorSet(
vk_command_buffer, 0,
Expand All @@ -437,7 +433,7 @@ void DsStiffRod::Project(const DynamicStrands::PhysicsParameters& physics_parame
Platform::DivUp(stretch_shear_constraint_constant.strand_size, task_work_group_invocations), 1,
1);
Platform::EverythingBarrier(vk_command_buffer);

bend_twist_constraint_pipeline->Bind(vk_command_buffer);
bend_twist_constraint_pipeline->BindDescriptorSet(
vk_command_buffer, 0,
Expand Down

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