gpu with actuators

js/simulation/EM/emSimLattice.js

@@ -241,9 +241,13 @@ define(['underscore', 'backbone', 'threeModel', 'lattice', 'plist', 'emWire', 'G
                 gpuMath.setUniformForProgram("velocityCalc", "u_compositeDs", 7, "1i");
                 gpuMath.setUniformForProgram("velocityCalc", "u_originalPosition", 8, "1i");
                 gpuMath.setUniformForProgram("velocityCalc", "u_lastQuaternion", 9, "1i");
+                gpuMath.setUniformForProgram("velocityCalc", "u_wires", 10, "1i");
+                gpuMath.setUniformForProgram("velocityCalc", "u_wiresMeta", 11, "1i");
                 gpuMath.setUniformForProgram("velocityCalc", "u_textureDim", [textureDim, textureDim], "2f");
                 gpuMath.setUniformForProgram("velocityCalc", "u_multiplier", 1/(plist.allUnitTypes[lattice.getUnits()].multiplier), "1f");
                 gpuMath.setUniformForProgram("velocityCalc", "u_latticePitch", [latticePitch.x, latticePitch.y, latticePitch.z], "3f");
+                gpuMath.setUniformForProgram("velocityCalc", "u_wiresMetaLength", this.wiresMeta.length/4, "1f");
+                gpuMath.setUniformForProgram("velocityCalc", "u_time", 0, "1f");
 
                 gpuMath.createProgram("positionCalc", vertexShader, positionCalcShader);
                 gpuMath.setUniformForProgram("positionCalc", "u_velocity", 0, "1i");
@@ -369,6 +373,7 @@ define(['underscore', 'backbone', 'threeModel', 'lattice', 'plist', 'emWire', 'G
                     index++;
                 });
                 this.wiresMeta = wiresMeta;
+                gpuMath.initTextureFromData("u_wiresMeta", 1, this.wiresMeta.length/4, "FLOAT", this.wiresMeta, true);
             },
 
             _calcNumberDCConnectedComponents: function(cells){
@@ -460,8 +465,8 @@ define(['underscore', 'backbone', 'threeModel', 'lattice', 'plist', 'emWire', 'G
                 gpuMath.step("quaternionCalc", ["u_lastTranslation", "u_lastQuaternion", "u_fixed", "u_neighborsXMapping",
                     "u_neighborsYMapping", "u_compositeKs"], "u_quaternion", "u_wires", "u_wiresMeta", time);
                 gpuMath.step("velocityCalc", ["u_lastVelocity", "u_lastTranslation", "u_mass", "u_fixed", "u_neighborsXMapping",
-                    "u_neighborsYMapping", "u_compositeKs", "u_compositeDs", "u_originalPosition", "u_lastQuaternion"],
-                    "u_velocity");
+                    "u_neighborsYMapping", "u_compositeKs", "u_compositeDs", "u_originalPosition", "u_lastQuaternion", "u_wires",
+                    "u_wiresMeta"], "u_velocity", time);
                 gpuMath.step("positionCalc", ["u_velocity", "u_lastTranslation", "u_fixed"], "u_translation");
 
                 if (shouldRender) {

js/simulation/EM/shaders/quaternionCalcShader.js

@@ -145,8 +145,8 @@ vec3 neighborOffset(float i, int neighborAxis){
     return offset;
 }
 
-int calcNeighborAxis(int i){
-    return int(floor(float(i)/2.0+0.001));
+int calcNeighborAxis(float i){
+    return int(floor(i/2.0+0.001));
 }
 
 int convertToInt(float num){
@@ -154,9 +154,9 @@ int convertToInt(float num){
 }
 
 float getActuatorVoltage(float wireIndex){
-    vec2 wireCoord = vec2(0.5, (floor(wireIndex*4.0+0.001)+0.5)/u_wiresMetaLength);
+    vec2 wireCoord = vec2(0.5, (floor(wireIndex+0.001)+0.5)/u_wiresMetaLength);
     vec4 wireMeta = texture2D(u_wiresMeta, wireCoord);
-    int type = convertToInt(1.2);
+    int type = convertToInt(wireMeta[0]);
     if (type == -1) {
         //no signal connected
         return 0.0;
@@ -198,6 +198,9 @@ void main(){
     vec3 translation = texture2D(u_lastTranslation, scaledFragCoord).xyz;
     vec4 quaternion = texture2D(u_lastQuaternion, scaledFragCoord);
 
+    vec4 wiring = texture2D(u_wires, scaledFragCoord);
+    bool isActuator = wiring.x < -0.5;//-1
+
     vec3 rTotal = vec3(0);
     float rContrib = 0.0;
 
@@ -211,13 +214,10 @@ void main(){
         vec3 neighborsYMapping = texture2D(u_neighborsYMapping, mappingIndex).xyz;
         vec3 compositeKs = texture2D(u_compositeKs, mappingIndex).xyz;
 
-        vec4 wiring = texture2D(u_wires, mappingIndex);
-        bool isActuator = wiring.x < 0.5;//-1
-
         for (int j=0;j<3;j++){
             if (neighborsXMapping[j] < 0.0) continue;//no neighbor
 
-            int neighborAxis = calcNeighborAxis(j);
+            int neighborAxis = calcNeighborAxis(i*3.0+float(j));
 
             vec2 neighborIndex = vec2(neighborsXMapping[j], neighborsYMapping[j]);
             neighborIndex.x += 0.5;
@@ -241,13 +241,13 @@ void main(){
                 }
             }
             vec4 neighborWiring = texture2D(u_wires, scaledNeighborIndex);
-            if (neighborWiring[0] < 0.5){
-                if (neighborWiring[1]>0.1){
-                    actuation += 0.3*getActuatorVoltage(neighborWiring[1]-1.0);
-                } else if (neighborWiring[2]>0.1){
-                    actuation += 0.3*getActuatorVoltage(neighborWiring[1]-1.0);
-                } else if (neighborWiring[3]>0.1){
+            if (neighborWiring[0] < -0.5){
+                if (neighborAxis == 0 && neighborWiring[1]>0.1){
                     actuation += 0.3*getActuatorVoltage(neighborWiring[1]-1.0);
+                } else if (neighborAxis == 1 && neighborWiring[2]>0.1){
+                    actuation += 0.3*getActuatorVoltage(neighborWiring[2]-1.0);
+                } else if (neighborAxis == 2 && neighborWiring[3]>0.1){
+                    actuation += 0.3*getActuatorVoltage(neighborWiring[3]-1.0);
                 }
             }
             if (neighborAxis == 0) actuatedD[0] *= 1.0+actuation;

js/simulation/EM/shaders/velocityCalcShader.js

+#define M_PI 3.1415926535897932384626433832795
+
 precision mediump float;
 
 uniform vec2 u_textureDim;
@@ -5,6 +7,9 @@ uniform vec3 u_gravity;
 uniform float u_dt;
 uniform float u_multiplier;
 uniform vec3 u_latticePitch;
+uniform float u_wiresMetaLength;
+uniform float u_time;
+
 
 uniform sampler2D u_lastVelocity;
 uniform sampler2D u_lastTranslation;
@@ -16,6 +21,8 @@ uniform sampler2D u_compositeKs;
 uniform sampler2D u_compositeDs;
 uniform sampler2D u_originalPosition;
 uniform sampler2D u_lastQuaternion;
+uniform sampler2D u_wires;
+uniform sampler2D u_wiresMeta;
 
 vec3 applyQuaternion(vec3 vector, vec4 quaternion) {
 
@@ -54,6 +61,45 @@ vec3 neighborOffset(float i){
     return offset;
 }
 
+int calcNeighborAxis(float i){
+    return int(floor(i/2.0+0.001));
+}
+
+int convertToInt(float num){
+    return int(floor(num+0.001));
+}
+
+float getActuatorVoltage(float wireIndex){
+    vec2 wireCoord = vec2(0.5, (floor(wireIndex+0.001)+0.5)/u_wiresMetaLength);
+    vec4 wireMeta = texture2D(u_wiresMeta, wireCoord);
+    int type = convertToInt(wireMeta[0]);
+    if (type == -1) {
+        //no signal connected
+        return 0.0;
+    }
+    float frequency = wireMeta[1];
+    float period = 1.0/frequency;
+    float phase = wireMeta[2];
+    float currentPhase = mod(u_time+phase*period, period)/period;
+    if (type == 0){
+        return 0.5*sin(2.0*M_PI*currentPhase);
+    }
+    if (type == 1){
+        float pwm = wireMeta[3];
+        if (currentPhase < pwm) return 0.5;
+        return -0.5;
+    }
+    if (type == 2){
+        if (wireMeta[3]>0.5) return 0.5-currentPhase;
+        return currentPhase-0.5;
+    }
+    if (type == 3){
+        if (currentPhase < 0.5) return currentPhase*2.0-0.5;
+        return 0.5-(currentPhase-0.5)*2.0;
+    }
+    return 0.0;
+}
+
 
 void main(){
     vec2 fragCoord = gl_FragCoord.xy;
@@ -70,6 +116,9 @@ void main(){
     vec3 lastVelocity = texture2D(u_lastVelocity, scaledFragCoord).xyz;
     vec4 quaternion = texture2D(u_lastQuaternion, scaledFragCoord);
 
+    vec4 wiring = texture2D(u_wires, scaledFragCoord);
+    bool isActuator = wiring[0] < -0.5;//-1
+
     vec3 force = u_gravity*mass;
 
     //simple collision
@@ -92,6 +141,8 @@ void main(){
         for (int j=0;j<3;j++){
             if (neighborsXMapping[j] < 0.0) continue;//no neighbor
 
+            int neighborAxis = calcNeighborAxis(i*3.0+float(j));
+
             vec2 neighborIndex = vec2(neighborsXMapping[j], neighborsYMapping[j]);
             neighborIndex.x += 0.5;
             neighborIndex.y += 0.5;
@@ -102,10 +153,33 @@ void main(){
             vec4 neighborQuaternion = texture2D(u_lastQuaternion, scaledNeighborIndex);
 
             vec3 nominalD = neighborOffset(i*3.0+float(j));
-            vec3 actuatedD = nominalD;
-
-            vec3 rotatedNomD = applyQuaternion(nominalD, quaternion);
-            vec3 neighbRotatedNomD = applyQuaternion(nominalD, neighborQuaternion);
+            vec3 actuatedD = vec3(nominalD[0], nominalD[1], nominalD[2]);
+            float actuation = 0.0;
+            if (isActuator){
+                if (neighborAxis == 0 && wiring[1]>0.1){//>0
+                    actuation += 0.3*getActuatorVoltage(wiring[1]-1.0);
+                } else if (neighborAxis == 1 && wiring[2]>0.1){
+                    actuation += 0.3*getActuatorVoltage(wiring[2]-1.0);
+                } else if (neighborAxis == 2 && wiring[3]>0.1){
+                    actuation += 0.3*getActuatorVoltage(wiring[3]-1.0);
+                }
+            }
+            vec4 neighborWiring = texture2D(u_wires, scaledNeighborIndex);
+            if (neighborWiring[0] < -0.5){
+                if (neighborAxis == 0 && neighborWiring[1]>0.1){
+                    actuation += 0.3*getActuatorVoltage(neighborWiring[1]-1.0);
+                } else if (neighborAxis == 1 && neighborWiring[2]>0.1){
+                    actuation += 0.3*getActuatorVoltage(neighborWiring[2]-1.0);
+                } else if (neighborAxis == 2 && neighborWiring[3]>0.1){
+                    actuation += 0.3*getActuatorVoltage(neighborWiring[3]-1.0);
+                }
+            }
+            if (neighborAxis == 0) actuatedD[0] *= 1.0+actuation;
+            else if (neighborAxis == 1) actuatedD[1] *= 1.0+actuation;
+            else if (neighborAxis == 2) actuatedD[2] *= 1.0+actuation;
+
+            vec3 rotatedNomD = applyQuaternion(actuatedD, quaternion);
+            vec3 neighbRotatedNomD = applyQuaternion(actuatedD, neighborQuaternion);
             vec3 rotatedNominalD = (rotatedNomD + neighbRotatedNomD)*0.5;