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Amanda Ghassaei
AMOEBA
Commits
4a33f810
Commit
4a33f810
authored
Jul 09, 2016
by
amandaghassaei
Browse files
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Plain Diff
rotation in shader
parent
5121a394
Changes
4
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Showing
4 changed files
with
139 additions
and
91 deletions
+139
-91
js/simulation/function/EM/emSimLattice.js
js/simulation/function/EM/emSimLattice.js
+79
-86
js/simulation/function/EM/shaders/angVelocityCalcShader.js
js/simulation/function/EM/shaders/angVelocityCalcShader.js
+3
-3
js/simulation/function/EM/shaders/quaternionCalcShader.js
js/simulation/function/EM/shaders/quaternionCalcShader.js
+53
-0
js/simulation/function/EM/shaders/velocityCalcShader.js
js/simulation/function/EM/shaders/velocityCalcShader.js
+4
-2
No files found.
js/simulation/function/EM/emSimLattice.js
View file @
4a33f810
...
...
@@ -5,9 +5,9 @@
define
([
'
underscore
'
,
'
backbone
'
,
'
threeModel
'
,
'
lattice
'
,
'
plist
'
,
'
emWire
'
,
'
GPUMath
'
,
"
text!simulation/shaders/vertexShader.js
"
,
"
text!simulation/function/EM/shaders/velocityCalcShader.js
"
,
"
text!simulation/shaders/packToBytesShader.js
"
,
"
text!simulation/function/EM/shaders/positionCalcShader.js
"
,
"
text!simulation/function/EM/shaders/angVelocityCalcShader.js
"
,
'
emSimCell
'
],
"
text!simulation/function/EM/shaders/angVelocityCalcShader.js
"
,
"
text!simulation/function/EM/shaders/quaternionCalcShader.js
"
,
'
emSimCell
'
],
function
(
_
,
Backbone
,
three
,
lattice
,
plist
,
EMWire
,
gpuMath
,
vertexShader
,
velocityCalcShader
,
packToBytesShader
,
positionCalcShader
,
angVelocityCalcShader
)
{
positionCalcShader
,
angVelocityCalcShader
,
quaternionCalcShader
)
{
var
EMSimLattice
=
Backbone
.
Model
.
extend
({
...
...
@@ -280,22 +280,6 @@ define(['underscore', 'backbone', 'threeModel', 'lattice', 'plist', 'emWire', 'G
//programs
//gpuMath.createProgram("quaternionCalc", vertexShader, quaternionCalcShader);
//gpuMath.createProgram("angVelocityCalc", vertexShader, quaternionCalcShader);
//gpuMath.setUniformForProgram("angVelocityCalc", "u_lastTranslation", 0, "1i");
//gpuMath.setUniformForProgram("angVelocityCalc", "u_lastQuaternion", 1, "1i");
//gpuMath.setUniformForProgram("angVelocityCalc", "u_mass", 2, "1i");
//gpuMath.setUniformForProgram("angVelocityCalc", "u_neighborsXMapping", 3, "1i");
//gpuMath.setUniformForProgram("angVelocityCalc", "u_neighborsYMapping", 4, "1i");
//gpuMath.setUniformForProgram("angVelocityCalc", "u_compositeKs", 5, "1i");
//gpuMath.setUniformForProgram("angVelocityCalc", "u_wires", 6, "1i");
//gpuMath.setUniformForProgram("angVelocityCalc", "u_wiresMeta", 7, "1i");
//gpuMath.setUniformForProgram("angVelocityCalc", "u_textureDim", [textureDim, textureDim], "2f");
//gpuMath.setUniformForProgram("angVelocityCalc", "u_latticePitch", [latticePitch.x, latticePitch.y, latticePitch.z], "3f");
//gpuMath.setUniformForProgram("angVelocityCalc", "u_wiresMetaLength", this.wiresMeta.length/4, "1f");
//gpuMath.setUniformForProgram("angVelocityCalc", "u_time", 0, "1f");
//
gpuMath
.
createProgram
(
"
angVelocityCalc
"
,
vertexShader
,
angVelocityCalcShader
);
gpuMath
.
setUniformForProgram
(
"
angVelocityCalc
"
,
"
u_lastAngVelocity
"
,
0
,
"
1i
"
);
...
...
@@ -315,6 +299,12 @@ define(['underscore', 'backbone', 'threeModel', 'lattice', 'plist', 'emWire', 'G
gpuMath
.
setUniformForProgram
(
"
angVelocityCalc
"
,
"
u_wiresMetaLength
"
,
this
.
wiresMeta
.
length
/
4
,
"
1f
"
);
gpuMath
.
setUniformForProgram
(
"
angVelocityCalc
"
,
"
u_time
"
,
0
,
"
1f
"
);
gpuMath
.
createProgram
(
"
quaternionCalc
"
,
vertexShader
,
quaternionCalcShader
);
gpuMath
.
setUniformForProgram
(
"
quaternionCalc
"
,
"
u_angVelocity
"
,
0
,
"
1i
"
);
gpuMath
.
setUniformForProgram
(
"
quaternionCalc
"
,
"
u_lastQuaternion
"
,
1
,
"
1i
"
);
gpuMath
.
setUniformForProgram
(
"
quaternionCalc
"
,
"
u_mass
"
,
2
,
"
1i
"
);
gpuMath
.
setUniformForProgram
(
"
quaternionCalc
"
,
"
u_textureDim
"
,
[
textureDim
,
textureDim
],
"
2f
"
);
gpuMath
.
createProgram
(
"
velocityCalc
"
,
vertexShader
,
velocityCalcShader
);
gpuMath
.
setUniformForProgram
(
"
velocityCalc
"
,
"
u_lastVelocity
"
,
0
,
"
1i
"
);
gpuMath
.
setUniformForProgram
(
"
velocityCalc
"
,
"
u_lastTranslation
"
,
1
,
"
1i
"
);
...
...
@@ -561,77 +551,80 @@ define(['underscore', 'backbone', 'threeModel', 'lattice', 'plist', 'emWire', 'G
gpuMath
.
setUniformForProgram
(
"
positionCalc
"
,
"
u_dt
"
,
dt
,
"
1f
"
);
gpuMath
.
setProgram
(
"
angVelocityCalc
"
);
gpuMath
.
setUniformForProgram
(
"
angVelocityCalc
"
,
"
u_dt
"
,
dt
,
"
1f
"
);
//
gpuMath.setProgram("quaternionCalc");
//
gpuMath.setUniformForProgram("quaternionCalc", "u_dt", dt, "1f");
gpuMath
.
setProgram
(
"
quaternionCalc
"
);
gpuMath
.
setUniformForProgram
(
"
quaternionCalc
"
,
"
u_dt
"
,
dt
,
"
1f
"
);
},
iter
:
function
(
time
,
runConstants
,
shouldRender
){
////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_neighborsXMapping",
// "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_mass"], "u_translation");
//
//if (shouldRender) {
// var textureSize = this.textureSize[0]*this.textureSize[1];
//
// //get position
// var vectorLength = 3;
// gpuMath.setProgram("packToBytes");
// gpuMath.setUniformForProgram("packToBytes", "u_vectorLength", vectorLength, "1f");
// gpuMath.setSize(this.textureSize[0]*vectorLength, this.textureSize[1]);
// gpuMath.step("packToBytes", ["u_translation"], "outputPositionBytes");
// var pixels = new Uint8Array(textureSize * 4*vectorLength);
// if (gpuMath.readyToRead()) {
// gpuMath.readPixels(0, 0, this.textureSize[0] * vectorLength, this.textureSize[1], pixels);
// var parsedPixels = new Float32Array(pixels.buffer);
// var cells = lattice.getCells();
// var multiplier = 1 / (plist.allUnitTypes[lattice.getUnits()].multiplier);
// for (var i = 0; i < textureSize; i++) {
// var rgbaIndex = 4 * i;
// if (this.mass[rgbaIndex+1] < 0) continue;//no more cells
// var index = [this.cellsArrayMapping[rgbaIndex], this.cellsArrayMapping[rgbaIndex + 1], this.cellsArrayMapping[rgbaIndex + 2]];
// var parsePixelsIndex = vectorLength * i;
// var translation = [parsedPixels[parsePixelsIndex], parsedPixels[parsePixelsIndex + 1], parsedPixels[parsePixelsIndex + 2]];
// var position = [this.originalPosition[rgbaIndex], this.originalPosition[rgbaIndex + 1], this.originalPosition[rgbaIndex + 2]];
// position[0] += multiplier * translation[0];
// position[1] += multiplier * translation[1];
// position[2] += multiplier * translation[2];
// cells[index[0]][index[1]][index[2]].object3D.position.set(position[0], position[1], position[2]);
// }
// }
//
// vectorLength = 4;
// gpuMath.setUniformForProgram("packToBytes", "u_vectorLength", vectorLength, "1f");
// gpuMath.setSize(this.textureSize[0]*vectorLength, this.textureSize[1]);
// gpuMath.step("packToBytes", ["u_quaternion"], "outputQuaternionBytes");
// pixels = new Uint8Array(textureSize * 4*vectorLength);
// if (gpuMath.readyToRead()) {
// gpuMath.readPixels(0, 0, this.textureSize[0] * vectorLength, this.textureSize[1], pixels);
// parsedPixels = new Float32Array(pixels.buffer);
// for (var i = 0; i < textureSize; i++) {
// var rgbaIndex = 4 * i;
// if (this.mass[rgbaIndex+1] < 0) break;//no more cells
// var index = [this.cellsArrayMapping[rgbaIndex], this.cellsArrayMapping[rgbaIndex + 1], this.cellsArrayMapping[rgbaIndex + 2]];
// var parsePixelsIndex = vectorLength * i;
//
// var quaternion = this._multiplyQuaternions([parsedPixels[parsePixelsIndex], parsedPixels[parsePixelsIndex + 1], parsedPixels[parsePixelsIndex + 2], parsedPixels[parsePixelsIndex + 3]],
// [this.originalQuaternion[rgbaIndex], this.originalQuaternion[rgbaIndex+1], this.originalQuaternion[rgbaIndex+2], this.originalQuaternion[rgbaIndex+3]]);
// var rotation = this._eulerFromQuaternion(quaternion);
//
// cells[index[0]][index[1]][index[2]].object3D.rotation.set(rotation[0], rotation[1], rotation[2]);
// }
// }
//
// gpuMath.setSize(this.textureSize[0], this.textureSize[1]);
//}
//
//gpuMath.swapTextures("u_velocity", "u_lastVelocity");
//gpuMath.swapTextures("u_translation", "u_lastTranslation");
////gpuMath.swapTextures("u_quaternion", "u_lastQuaternion");
//return;
gpuMath
.
step
(
"
velocityCalc
"
,
[
"
u_lastVelocity
"
,
"
u_lastTranslation
"
,
"
u_mass
"
,
"
u_neighborsXMapping
"
,
"
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_mass
"
],
"
u_translation
"
);
gpuMath
.
step
(
"
angVelocityCalc
"
,
[
"
u_lastAngVelocity
"
,
"
u_lastVelocity
"
,
"
u_lastTranslation
"
,
"
u_mass
"
,
"
u_neighborsXMapping
"
,
"
u_neighborsYMapping
"
,
"
u_compositeKs
"
,
"
u_compositeDs
"
,
"
u_lastQuaternion
"
,
"
u_wires
"
,
"
u_wiresMeta
"
],
"
u_angVelocity
"
,
time
);
gpuMath
.
step
(
"
quaternionCalc
"
,
[
"
u_angVelocity
"
,
"
u_lastQuaternion
"
,
"
u_mass
"
],
"
u_quaternion
"
);
if
(
shouldRender
)
{
var
textureSize
=
this
.
textureSize
[
0
]
*
this
.
textureSize
[
1
];
//get position
var
vectorLength
=
3
;
gpuMath
.
setProgram
(
"
packToBytes
"
);
gpuMath
.
setUniformForProgram
(
"
packToBytes
"
,
"
u_vectorLength
"
,
vectorLength
,
"
1f
"
);
gpuMath
.
setSize
(
this
.
textureSize
[
0
]
*
vectorLength
,
this
.
textureSize
[
1
]);
gpuMath
.
step
(
"
packToBytes
"
,
[
"
u_translation
"
],
"
outputPositionBytes
"
);
var
pixels
=
new
Uint8Array
(
textureSize
*
4
*
vectorLength
);
if
(
gpuMath
.
readyToRead
())
{
gpuMath
.
readPixels
(
0
,
0
,
this
.
textureSize
[
0
]
*
vectorLength
,
this
.
textureSize
[
1
],
pixels
);
var
parsedPixels
=
new
Float32Array
(
pixels
.
buffer
);
var
cells
=
lattice
.
getCells
();
var
multiplier
=
1
/
(
plist
.
allUnitTypes
[
lattice
.
getUnits
()].
multiplier
);
for
(
var
i
=
0
;
i
<
textureSize
;
i
++
)
{
var
rgbaIndex
=
4
*
i
;
if
(
this
.
mass
[
rgbaIndex
+
1
]
<
0
)
continue
;
//no more cells
var
index
=
[
this
.
cellsArrayMapping
[
rgbaIndex
],
this
.
cellsArrayMapping
[
rgbaIndex
+
1
],
this
.
cellsArrayMapping
[
rgbaIndex
+
2
]];
var
parsePixelsIndex
=
vectorLength
*
i
;
var
translation
=
[
parsedPixels
[
parsePixelsIndex
],
parsedPixels
[
parsePixelsIndex
+
1
],
parsedPixels
[
parsePixelsIndex
+
2
]];
var
position
=
[
this
.
originalPosition
[
rgbaIndex
],
this
.
originalPosition
[
rgbaIndex
+
1
],
this
.
originalPosition
[
rgbaIndex
+
2
]];
position
[
0
]
+=
multiplier
*
translation
[
0
];
position
[
1
]
+=
multiplier
*
translation
[
1
];
position
[
2
]
+=
multiplier
*
translation
[
2
];
cells
[
index
[
0
]][
index
[
1
]][
index
[
2
]].
object3D
.
position
.
set
(
position
[
0
],
position
[
1
],
position
[
2
]);
}
}
vectorLength
=
4
;
gpuMath
.
setUniformForProgram
(
"
packToBytes
"
,
"
u_vectorLength
"
,
vectorLength
,
"
1f
"
);
gpuMath
.
setSize
(
this
.
textureSize
[
0
]
*
vectorLength
,
this
.
textureSize
[
1
]);
gpuMath
.
step
(
"
packToBytes
"
,
[
"
u_quaternion
"
],
"
outputQuaternionBytes
"
);
pixels
=
new
Uint8Array
(
textureSize
*
4
*
vectorLength
);
if
(
gpuMath
.
readyToRead
())
{
gpuMath
.
readPixels
(
0
,
0
,
this
.
textureSize
[
0
]
*
vectorLength
,
this
.
textureSize
[
1
],
pixels
);
parsedPixels
=
new
Float32Array
(
pixels
.
buffer
);
for
(
var
i
=
0
;
i
<
textureSize
;
i
++
)
{
var
rgbaIndex
=
4
*
i
;
if
(
this
.
mass
[
rgbaIndex
+
1
]
<
0
)
break
;
//no more cells
var
index
=
[
this
.
cellsArrayMapping
[
rgbaIndex
],
this
.
cellsArrayMapping
[
rgbaIndex
+
1
],
this
.
cellsArrayMapping
[
rgbaIndex
+
2
]];
var
parsePixelsIndex
=
vectorLength
*
i
;
var
quaternion
=
this
.
_multiplyQuaternions
([
parsedPixels
[
parsePixelsIndex
],
parsedPixels
[
parsePixelsIndex
+
1
],
parsedPixels
[
parsePixelsIndex
+
2
],
parsedPixels
[
parsePixelsIndex
+
3
]],
[
this
.
originalQuaternion
[
rgbaIndex
],
this
.
originalQuaternion
[
rgbaIndex
+
1
],
this
.
originalQuaternion
[
rgbaIndex
+
2
],
this
.
originalQuaternion
[
rgbaIndex
+
3
]]);
var
rotation
=
this
.
_eulerFromQuaternion
(
quaternion
);
cells
[
index
[
0
]][
index
[
1
]][
index
[
2
]].
object3D
.
rotation
.
set
(
rotation
[
0
],
rotation
[
1
],
rotation
[
2
]);
}
}
gpuMath
.
setSize
(
this
.
textureSize
[
0
],
this
.
textureSize
[
1
]);
}
gpuMath
.
swapTextures
(
"
u_velocity
"
,
"
u_lastVelocity
"
);
gpuMath
.
swapTextures
(
"
u_translation
"
,
"
u_lastTranslation
"
);
gpuMath
.
swapTextures
(
"
u_angVelocity
"
,
"
u_lastAngVelocity
"
);
gpuMath
.
swapTextures
(
"
u_quaternion
"
,
"
u_lastQuaternion
"
);
return
;
var
gravity
=
runConstants
.
gravity
;
var
groundHeight
=
runConstants
.
groundHeight
;
...
...
@@ -774,7 +767,7 @@ define(['underscore', 'backbone', 'threeModel', 'lattice', 'plist', 'emWire', 'G
this
.
lastAngVelocity
[
rgbaIndex
+
2
]
=
angVelocity
[
2
];
var
nextQuaternion
=
this
.
_multiplyQuaternions
(
quaternion
,
quaternionDelta
);
rotation
=
this
.
_eulerFromQuaternion
(
nextQuaternion
);
//
rotation = this._eulerFromQuaternion(nextQuaternion);
//nextQuaternion = this._normalize4D(nextQuaternion);
this
.
quaternion
[
rgbaIndex
]
=
nextQuaternion
[
0
];
...
...
js/simulation/function/EM/shaders/angVelocityCalcShader.js
View file @
4a33f810
...
...
@@ -11,7 +11,7 @@ uniform float u_wiresMetaLength;
uniform
float
u_time
;
uniform
sampler2D
u_
angular
Velocity
;
uniform
sampler2D
u_
lastAng
Velocity
;
uniform
sampler2D
u_lastVelocity
;
uniform
sampler2D
u_lastTranslation
;
uniform
sampler2D
u_mass
;
...
...
@@ -284,7 +284,7 @@ void main(){
vec3
translation
=
texture2D
(
u_lastTranslation
,
scaledFragCoord
).
xyz
;
vec3
velocity
=
texture2D
(
u_lastVelocity
,
scaledFragCoord
).
xyz
;
vec4
quaternion
=
texture2D
(
u_lastQuaternion
,
scaledFragCoord
);
vec3
angVelocity
=
texture2D
(
u_
angular
Velocity
,
scaledFragCoord
).
xyz
;
vec3
angVelocity
=
texture2D
(
u_
lastAng
Velocity
,
scaledFragCoord
).
xyz
;
vec4
wiring
=
texture2D
(
u_wires
,
scaledFragCoord
);
bool
isActuator
=
wiring
[
0
]
<
-
0.5
;
//-1
...
...
@@ -372,6 +372,6 @@ void main(){
}
}
angVelocity
+=
torque
/
momOfInertia
;
angVelocity
+=
(
torque
/
momOfInertia
)
*
u_dt
;
gl_FragColor
=
vec4
(
angVelocity
,
0
);
}
\ No newline at end of file
js/simulation/function/EM/shaders/quaternionCalcShader.js
0 → 100644
View file @
4a33f810
#
define
M_PI
3.1415926535897932384626433832795
precision
mediump
float
;
uniform
vec2
u_textureDim
;
uniform
float
u_dt
;
uniform
sampler2D
u_angVelocity
;
uniform
sampler2D
u_lastQuaternion
;
uniform
sampler2D
u_mass
;
vec4
quaternionFromEuler
(
vec3
euler
)
{
float
c1
=
cos
(
euler
[
0
]
/
2.0
);
float
c2
=
cos
(
euler
[
1
]
/
2.0
);
float
c3
=
cos
(
euler
[
2
]
/
2.0
);
float
s1
=
sin
(
euler
[
0
]
/
2.0
);
float
s2
=
sin
(
euler
[
1
]
/
2.0
);
float
s3
=
sin
(
euler
[
2
]
/
2.0
);
return
vec4
(
s1
*
c2
*
c3
-
c1
*
s2
*
s3
,
c1
*
s2
*
c3
+
s1
*
c2
*
s3
,
c1
*
c2
*
s3
-
s1
*
s2
*
c3
,
c1
*
c2
*
c3
+
s1
*
s2
*
s3
);
//zyx
}
vec4
multiplyQuaternions
(
vec4
a
,
vec4
b
){
float
qax
=
a
[
0
];
float
qay
=
a
[
1
];
float
qaz
=
a
[
2
];
float
qaw
=
a
[
3
];
float
qbx
=
b
[
0
];
float
qby
=
b
[
1
];
float
qbz
=
b
[
2
];
float
qbw
=
b
[
3
];
return
vec4
(
qax
*
qbw
+
qaw
*
qbx
+
qay
*
qbz
-
qaz
*
qby
,
qay
*
qbw
+
qaw
*
qby
+
qaz
*
qbx
-
qax
*
qbz
,
qaz
*
qbw
+
qaw
*
qbz
+
qax
*
qby
-
qay
*
qbx
,
qaw
*
qbw
-
qax
*
qbx
-
qay
*
qby
-
qaz
*
qbz
);
}
void
main
(){
vec2
fragCoord
=
gl_FragCoord
.
xy
;
vec2
scaledFragCoord
=
fragCoord
/
u_textureDim
;
float
isFixed
=
texture2D
(
u_mass
,
scaledFragCoord
).
y
;
if
(
isFixed
<
0.0
||
isFixed
==
1.0
){
//no cell or is fixed
gl_FragColor
=
vec4
(
0
,
0
,
0
,
1
);
return
;
}
vec4
quaternion
=
texture2D
(
u_lastQuaternion
,
scaledFragCoord
);
vec3
angVelocity
=
texture2D
(
u_angVelocity
,
scaledFragCoord
).
xyz
;
vec4
quaternionDelta
=
quaternionFromEuler
(
angVelocity
*
u_dt
);
gl_FragColor
=
multiplyQuaternions
(
quaternion
,
quaternionDelta
);
}
\ No newline at end of file
js/simulation/function/EM/shaders/velocityCalcShader.js
View file @
4a33f810
...
...
@@ -178,13 +178,15 @@ void main(){
vec2
fragCoord
=
gl_FragCoord
.
xy
;
vec2
scaledFragCoord
=
fragCoord
/
u_textureDim
;
float
isFixed
=
texture2D
(
u_mass
,
scaledFragCoord
).
y
;
vec3
massData
=
texture2D
(
u_mass
,
scaledFragCoord
).
xyz
;
float
isFixed
=
massData
.
y
;
if
(
isFixed
<
0.0
||
isFixed
==
1.0
){
//no cell or is fixed
gl_FragColor
=
vec4
(
0
,
0
,
0
,
0
);
return
;
}
float
mass
=
texture2D
(
u_mass
,
scaledFragCoord
)
.
x
;
float
mass
=
massData
.
x
;
vec3
force
=
u_gravity
*
mass
;
vec3
translation
=
texture2D
(
u_lastTranslation
,
scaledFragCoord
).
xyz
;
...
...
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