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AMOEBA
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Amanda Ghassaei
AMOEBA
Commits
d89e2a3e
Commit
d89e2a3e
authored
Jul 09, 2016
by
amandaghassaei
Browse files
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Plain Diff
translational shader update
parent
e504b547
Changes
3
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3 changed files
with
265 additions
and
167 deletions
+265
-167
js/simulation/function/EM/emSimLattice.js
js/simulation/function/EM/emSimLattice.js
+118
-117
js/simulation/function/EM/shaders/positionCalcShader.js
js/simulation/function/EM/shaders/positionCalcShader.js
+2
-2
js/simulation/function/EM/shaders/velocityCalcShader.js
js/simulation/function/EM/shaders/velocityCalcShader.js
+145
-48
No files found.
js/simulation/function/EM/emSimLattice.js
View file @
d89e2a3e
This diff is collapsed.
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js/simulation/function/EM/shaders/positionCalcShader.js
View file @
d89e2a3e
...
...
@@ -5,13 +5,13 @@ uniform float u_dt;
uniform
sampler2D
u_velocity
;
uniform
sampler2D
u_lastTranslation
;
uniform
sampler2D
u_
fixed
;
uniform
sampler2D
u_
mass
;
void
main
(){
vec2
fragCoord
=
gl_FragCoord
.
xy
;
vec2
scaledFragCoord
=
fragCoord
/
u_textureDim
;
float
isFixed
=
texture2D
(
u_
fixed
,
scaledFragCoord
).
x
;
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
,
0
);
return
;
...
...
js/simulation/function/EM/shaders/velocityCalcShader.js
View file @
d89e2a3e
...
...
@@ -16,7 +16,6 @@ uniform float u_friction;
uniform
sampler2D
u_lastVelocity
;
uniform
sampler2D
u_lastTranslation
;
uniform
sampler2D
u_mass
;
uniform
sampler2D
u_fixed
;
uniform
sampler2D
u_neighborsXMapping
;
uniform
sampler2D
u_neighborsYMapping
;
uniform
sampler2D
u_compositeKs
;
...
...
@@ -102,39 +101,111 @@ float getActuatorVoltage(float wireIndex){
return
0.0
;
}
vec4
averageQuaternions
(
vec4
quaternion1
,
vec4
quaternion2
){
float
x
=
quaternion1
[
0
],
y
=
quaternion1
[
1
],
z
=
quaternion1
[
2
],
w
=
quaternion1
[
3
];
float
_x1
=
quaternion1
[
0
],
_y1
=
quaternion1
[
1
],
_z1
=
quaternion1
[
2
],
_w1
=
quaternion1
[
3
];
float
_x2
=
quaternion2
[
0
],
_y2
=
quaternion2
[
1
],
_z2
=
quaternion2
[
2
],
_w2
=
quaternion2
[
3
];
// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/
float
cosHalfTheta
=
w
*
_w2
+
x
*
_x2
+
y
*
_y2
+
z
*
_z2
;
if
(
cosHalfTheta
<
0.0
)
{
_w1
=
-
_w2
;
_x1
=
-
_x2
;
_y1
=
-
_y2
;
_z1
=
-
_z2
;
cosHalfTheta
=
-
cosHalfTheta
;
}
else
{
_w1
=
_w2
;
_x1
=
_x2
;
_y1
=
_y2
;
_z1
=
_z2
;
}
if
(
cosHalfTheta
>=
1.0
)
{
_w1
=
w
;
_x1
=
x
;
_y1
=
y
;
_z1
=
z
;
return
vec4
(
_x1
,
_y1
,
_z1
,
_w1
);
}
float
halfTheta
=
acos
(
cosHalfTheta
);
float
sinHalfTheta
=
sqrt
(
1.0
-
cosHalfTheta
*
cosHalfTheta
);
if
(
abs
(
sinHalfTheta
)
<
0.001
)
{
_w1
=
0.5
*
(
w
+
_w1
);
_x1
=
0.5
*
(
x
+
_x1
);
_y1
=
0.5
*
(
y
+
_y1
);
_z1
=
0.5
*
(
z
+
_z1
);
return
vec4
(
_x1
,
_y1
,
_z1
,
_w1
);
}
float
ratioA
=
sin
(
(
0.5
)
*
halfTheta
)
/
sinHalfTheta
,
ratioB
=
sin
(
0.5
*
halfTheta
)
/
sinHalfTheta
;
_w1
=
(
w
*
ratioA
+
_w1
*
ratioB
);
_x1
=
(
x
*
ratioA
+
_x1
*
ratioB
);
_y1
=
(
y
*
ratioA
+
_y1
*
ratioB
);
_z1
=
(
z
*
ratioA
+
_z1
*
ratioB
);
return
vec4
(
_x1
,
_y1
,
_z1
,
_w1
);
}
vec4
normalize4D
(
vec4
vector
){
float
length
=
sqrt
(
vector
[
0
]
*
vector
[
0
]
+
vector
[
1
]
*
vector
[
1
]
+
vector
[
2
]
*
vector
[
2
]
+
vector
[
3
]
*
vector
[
3
]);
return
vec4
(
vector
[
0
]
/
length
,
vector
[
1
]
/
length
,
vector
[
2
]
/
length
,
vector
[
3
]
/
length
);
}
vec4
invertQuaternion
(
vec4
quaternion
){
return
normalize4D
(
vec4
(
quaternion
[
0
]
*-
1.0
,
quaternion
[
1
]
*-
1.0
,
quaternion
[
2
]
*-
1.0
,
quaternion
[
3
]));
}
void
main
(){
vec2
fragCoord
=
gl_FragCoord
.
xy
;
vec2
scaledFragCoord
=
fragCoord
/
u_textureDim
;
float
isFixed
=
texture2D
(
u_
fixed
,
scaledFragCoord
).
x
;
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
,
0
);
return
;
}
float
mass
=
texture2D
(
u_mass
,
scaledFragCoord
).
x
;
vec3
lastTranslation
=
texture2D
(
u_lastTranslation
,
scaledFragCoord
).
xyz
;
vec3
lastVelocity
=
texture2D
(
u_lastVelocity
,
scaledFragCoord
).
xyz
;
vec3
force
=
u_gravity
*
mass
;
vec3
translation
=
texture2D
(
u_lastTranslation
,
scaledFragCoord
).
xyz
;
vec3
velocity
=
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
float
zPosition
=
texture2D
(
u_originalPosition
,
scaledFragCoord
).
z
+
lastT
ranslation
.
z
*
u_multiplier
-
u_groundHeight
;
float
zPosition
=
texture2D
(
u_originalPosition
,
scaledFragCoord
).
z
+
t
ranslation
.
z
*
u_multiplier
-
u_groundHeight
;
float
collisionK
=
1.0
;
if
(
zPosition
<
0.0
)
{
float
normalForce
=
-
zPosition
*
collisionK
-
lastV
elocity
.
z
*
collisionK
/
10.0
;
float
normalForce
=
-
zPosition
*
collisionK
-
v
elocity
.
z
*
collisionK
/
10.0
;
force
.
z
+=
normalForce
;
if
(
u_friction
>
0.5
){
float
mu
=
10.0
;
if
(
lastV
elocity
.
x
>
0.0
)
force
.
x
-=
mu
*
normalForce
;
else
if
(
lastV
elocity
.
x
<
0.0
)
force
.
x
+=
mu
*
normalForce
;
if
(
lastV
elocity
.
y
>
0.0
)
force
.
y
-=
mu
*
normalForce
;
else
if
(
lastV
elocity
.
y
<
0.0
)
force
.
y
+=
mu
*
normalForce
;
if
(
v
elocity
.
x
>
0.0
)
force
.
x
-=
mu
*
normalForce
;
else
if
(
v
elocity
.
x
<
0.0
)
force
.
x
+=
mu
*
normalForce
;
if
(
v
elocity
.
y
>
0.0
)
force
.
y
-=
mu
*
normalForce
;
else
if
(
v
elocity
.
y
<
0.0
)
force
.
y
+=
mu
*
normalForce
;
}
}
...
...
@@ -146,8 +217,12 @@ void main(){
vec2
mappingIndex
=
vec2
(
xIndex
/
(
u_textureDim
.
x
*
2.0
),
scaledFragCoord
.
y
);
vec3
neighborsXMapping
=
texture2D
(
u_neighborsXMapping
,
mappingIndex
).
xyz
;
vec3
neighborsYMapping
=
texture2D
(
u_neighborsYMapping
,
mappingIndex
).
xyz
;
vec3
compositeKs
=
texture2D
(
u_compositeKs
,
mappingIndex
).
xyz
;
vec3
compositeDs
=
texture2D
(
u_compositeDs
,
mappingIndex
).
xyz
;
vec3
longitudalK
=
texture2D
(
u_compositeKs
,
mappingIndex
).
xyz
;
vec3
shearK1
=
vec3
(
10
,
10
,
10
);
vec3
shearK2
=
vec3
(
10
,
10
,
10
);
vec3
longitudalD
=
texture2D
(
u_compositeDs
,
mappingIndex
).
xyz
;
vec3
shearD1
=
vec3
(
0.03
,
0.03
,
0.03
);
vec3
shearD2
=
vec3
(
0.03
,
0.03
,
0.03
);
for
(
int
j
=
0
;
j
<
3
;
j
++
){
...
...
@@ -165,44 +240,66 @@ void main(){
vec4
neighborQuaternion
=
texture2D
(
u_lastQuaternion
,
scaledNeighborIndex
);
vec3
nominalD
=
neighborOffset
(
i
*
3.0
+
float
(
j
));
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
);
vec3
halfNominalD
=
nominalD
/
2.0
;
vec3
cellHalfNominalD
=
applyQuaternion
(
halfNominalD
,
quaternion
);
//halfNominalD in cell's reference frame
vec3
neighborHalfNominalD
=
applyQuaternion
(
halfNominalD
,
neighborQuaternion
);
//halfNominalD in neighbor's reference frame
//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;
vec4
averageQuaternion
=
averageQuaternions
(
quaternion
,
neighborQuaternion
);
vec4
averageQuaternionInverse
=
invertQuaternion
(
averageQuaternion
);
vec3
translationalDelta
=
neighborTranslation
-
translation
+
nominalD
-
cellHalfNominalD
-
neighborHalfNominalD
;
vec3
translationalDeltaXYZ
=
applyQuaternion
(
translationalDelta
,
averageQuaternionInverse
);
vec3
velocityDelta
=
neighborVelocity
-
velocity
;
vec3
velocityDeltaXYZ
=
applyQuaternion
(
velocityDelta
,
averageQuaternionInverse
);
vec3
_force
=
vec3
(
0.0
,
0.0
,
0.0
);
//longitudal and shear
for
(
int
_axis
=
0
;
_axis
<
3
;
_axis
++
)
{
if
(
_axis
==
neighborAxis
)
{
_force
[
_axis
]
+=
longitudalK
[
_axis
]
*
translationalDeltaXYZ
[
_axis
]
+
longitudalD
[
_axis
]
*
velocityDeltaXYZ
[
_axis
];
}
else
{
if
(
neighborAxis
==
0
){
if
(
_axis
==
1
)
_force
[
_axis
]
+=
shearK1
[
0
]
*
translationalDeltaXYZ
[
_axis
]
+
shearD1
[
0
]
*
velocityDeltaXYZ
[
_axis
];
else
if
(
_axis
==
2
)
_force
[
_axis
]
+=
shearK1
[
1
]
*
translationalDeltaXYZ
[
_axis
]
+
shearD1
[
1
]
*
velocityDeltaXYZ
[
_axis
];
}
else
if
(
neighborAxis
==
1
){
if
(
_axis
==
0
)
_force
[
_axis
]
+=
shearK1
[
2
]
*
translationalDeltaXYZ
[
_axis
]
+
shearD1
[
2
]
*
velocityDeltaXYZ
[
_axis
];
else
if
(
_axis
==
2
)
_force
[
_axis
]
+=
shearK2
[
0
]
*
translationalDeltaXYZ
[
_axis
]
+
shearD2
[
0
]
*
velocityDeltaXYZ
[
_axis
];
}
else
if
(
neighborAxis
==
2
){
if
(
_axis
==
0
)
_force
[
_axis
]
+=
shearK2
[
1
]
*
translationalDeltaXYZ
[
_axis
]
+
shearD2
[
1
]
*
velocityDeltaXYZ
[
_axis
];
else
if
(
_axis
==
1
)
_force
[
_axis
]
+=
shearK2
[
2
]
*
translationalDeltaXYZ
[
_axis
]
+
shearD2
[
2
]
*
velocityDeltaXYZ
[
_axis
];
}
}
}
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
;
float
k
=
compositeKs
[
j
];
float
d
=
0.01
;
//compositeDs[j];
force
+=
k
*
(
neighborTranslation
-
lastTranslation
+
nominalD
-
rotatedNominalD
)
+
d
*
(
neighborVelocity
-
lastVelocity
);
//convert _force vector back into world reference frame
_force
=
applyQuaternion
(
_force
,
averageQuaternion
);
force
+=
_force
;
}
}
vec3
velocity
=
lastVelocity
+
force
/
mass
*
u_dt
;
velocity
+=
force
/
mass
*
u_dt
;
gl_FragColor
=
vec4
(
velocity
,
0
);
}
\ No newline at end of file
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