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Amanda Ghassaei
AMOEBA
Commits
dac26064
Commit
dac26064
authored
Jul 10, 2016
by
amandaghassaei
Browse files
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Plain Diff
verlet integration in gpu
parent
147f2aba
Changes
5
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5 changed files
with
418 additions
and
364 deletions
+418
-364
js/simulation/GPUMath.js
js/simulation/GPUMath.js
+11
-0
js/simulation/function/EM/emSimLattice.js
js/simulation/function/EM/emSimLattice.js
+111
-94
js/simulation/function/EM/shaders/accelerationCalcShader.js
js/simulation/function/EM/shaders/accelerationCalcShader.js
+285
-0
js/simulation/function/EM/shaders/positionCalcShader.js
js/simulation/function/EM/shaders/positionCalcShader.js
+5
-3
js/simulation/function/EM/shaders/velocityCalcShader.js
js/simulation/function/EM/shaders/velocityCalcShader.js
+6
-267
No files found.
js/simulation/GPUMath.js
View file @
dac26064
...
...
@@ -116,6 +116,17 @@ define(['glBoilerplate'], function(glBoilerplate){
this
.
frameBuffers
[
texture2Name
]
=
temp
;
};
GPUMath
.
prototype
.
swap3Textures
=
function
(
texture1Name
,
texture2Name
,
texture3Name
){
var
temp
=
this
.
textures
[
texture3Name
];
this
.
textures
[
texture3Name
]
=
this
.
textures
[
texture2Name
];
this
.
textures
[
texture2Name
]
=
this
.
textures
[
texture1Name
];
this
.
textures
[
texture1Name
]
=
temp
;
temp
=
this
.
frameBuffers
[
texture3Name
];
this
.
frameBuffers
[
texture3Name
]
=
this
.
frameBuffers
[
texture2Name
];
this
.
frameBuffers
[
texture2Name
]
=
this
.
frameBuffers
[
texture1Name
];
this
.
frameBuffers
[
texture1Name
]
=
temp
;
};
GPUMath
.
prototype
.
readyToRead
=
function
(){
return
gl
.
checkFramebufferStatus
(
gl
.
FRAMEBUFFER
)
==
gl
.
FRAMEBUFFER_COMPLETE
;
};
...
...
js/simulation/function/EM/emSimLattice.js
View file @
dac26064
This diff is collapsed.
Click to expand it.
js/simulation/function/EM/shaders/accelerationCalcShader.js
0 → 100644
View file @
dac26064
#
define
M_PI
3.1415926535897932384626433832795
precision
mediump
float
;
uniform
vec2
u_textureDim
;
uniform
vec3
u_gravity
;
uniform
float
u_multiplier
;
uniform
vec3
u_latticePitch
;
uniform
float
u_wiresMetaLength
;
uniform
float
u_time
;
uniform
float
u_groundHeight
;
uniform
float
u_friction
;
uniform
sampler2D
u_lastVelocity
;
uniform
sampler2D
u_lastTranslation
;
uniform
sampler2D
u_mass
;
uniform
sampler2D
u_neighborsXMapping
;
uniform
sampler2D
u_neighborsYMapping
;
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
)
{
float
x
=
vector
[
0
];
float
y
=
vector
[
1
];
float
z
=
vector
[
2
];
float
qx
=
quaternion
[
0
];
float
qy
=
quaternion
[
1
];
float
qz
=
quaternion
[
2
];
float
qw
=
quaternion
[
3
];
// calculate quat * vector
float
ix
=
qw
*
x
+
qy
*
z
-
qz
*
y
;
float
iy
=
qw
*
y
+
qz
*
x
-
qx
*
z
;
float
iz
=
qw
*
z
+
qx
*
y
-
qy
*
x
;
float
iw
=
-
qx
*
x
-
qy
*
y
-
qz
*
z
;
// calculate result * inverse quat
return
vec3
(
ix
*
qw
+
iw
*
-
qx
+
iy
*
-
qz
-
iz
*
-
qy
,
iy
*
qw
+
iw
*
-
qy
+
iz
*
-
qx
-
ix
*
-
qz
,
iz
*
qw
+
iw
*
-
qz
+
ix
*
-
qy
-
iy
*
-
qx
);
}
float
neighborSign
(
float
i
){
if
(
mod
(
i
+
0.001
,
2.0
)
<
0.5
)
return
-
1.0
;
return
1.0
;
}
vec3
neighborOffset
(
float
i
){
vec3
offset
=
vec3
(
0
);
int
neighborAxis
=
int
(
floor
(
i
/
2.0
+
0.001
));
if
(
neighborAxis
==
0
)
offset
[
0
]
=
neighborSign
(
i
)
*
u_latticePitch
[
0
];
else
if
(
neighborAxis
==
1
)
offset
[
1
]
=
neighborSign
(
i
)
*
u_latticePitch
[
1
];
else
if
(
neighborAxis
==
2
)
offset
[
2
]
=
neighborSign
(
i
)
*
u_latticePitch
[
2
];
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
;
}
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
;
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
=
massData
.
x
;
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
//simple collision
float
zPosition
=
texture2D
(
u_originalPosition
,
scaledFragCoord
).
z
+
translation
.
z
*
u_multiplier
-
u_groundHeight
;
float
collisionK
=
1.0
;
if
(
zPosition
<
0.0
)
{
float
normalForce
=
-
zPosition
*
collisionK
-
velocity
.
z
*
collisionK
/
10.0
;
force
.
z
+=
normalForce
;
if
(
u_friction
>
0.5
){
float
mu
=
10.0
;
if
(
velocity
.
x
>
0.0
)
force
.
x
-=
mu
*
normalForce
;
else
if
(
velocity
.
x
<
0.0
)
force
.
x
+=
mu
*
normalForce
;
if
(
velocity
.
y
>
0.0
)
force
.
y
-=
mu
*
normalForce
;
else
if
(
velocity
.
y
<
0.0
)
force
.
y
+=
mu
*
normalForce
;
}
}
for
(
float
i
=
0.0
;
i
<
2.0
;
i
+=
1.0
){
float
xIndex
=
2.0
*
(
fragCoord
.
x
-
0.5
)
+
0.5
;
if
(
i
>
0.0
)
xIndex
+=
1.0
;
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
;
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
;
vec2
scaledNeighborIndex
=
neighborIndex
/
u_textureDim
;
vec3
neighborTranslation
=
texture2D
(
u_lastTranslation
,
scaledNeighborIndex
).
xyz
;
vec3
neighborVelocity
=
texture2D
(
u_lastVelocity
,
scaledNeighborIndex
).
xyz
;
vec4
neighborQuaternion
=
texture2D
(
u_lastQuaternion
,
scaledNeighborIndex
);
vec3
nominalD
=
neighborOffset
(
i
*
3.0
+
float
(
j
));
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;
vec2
kIndex
=
vec2
(((
fragCoord
.
x
-
0.5
)
*
12.0
+
2.0
*
(
i
*
3.0
+
float
(
j
))
+
0.5
)
/
(
u_textureDim
.
x
*
12.0
),
scaledFragCoord
.
y
);
vec3
translationalK
=
texture2D
(
u_compositeKs
,
kIndex
).
xyz
;
vec3
translationalD
=
texture2D
(
u_compositeDs
,
kIndex
).
xyz
;
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
=
translationalK
*
translationalDeltaXYZ
+
translationalD
*
velocityDeltaXYZ
;
//convert _force vector back into world reference frame
_force
=
applyQuaternion
(
_force
,
averageQuaternion
);
force
+=
_force
;
}
}
gl_FragColor
=
vec4
(
force
/
mass
,
0
);
}
\ No newline at end of file
js/simulation/function/EM/shaders/positionCalcShader.js
View file @
dac26064
...
...
@@ -3,8 +3,9 @@ precision highp float;
uniform
vec2
u_textureDim
;
uniform
float
u_dt
;
uniform
sampler2D
u_
velocity
;
uniform
sampler2D
u_
acceleration
;
uniform
sampler2D
u_lastTranslation
;
uniform
sampler2D
u_lastLastTranslation
;
uniform
sampler2D
u_mass
;
void
main
(){
...
...
@@ -18,9 +19,10 @@ void main(){
}
vec3
lastTranslation
=
texture2D
(
u_lastTranslation
,
scaledFragCoord
).
xyz
;
vec3
velocity
=
texture2D
(
u_velocity
,
scaledFragCoord
).
xyz
;
vec3
lastLastTranslation
=
texture2D
(
u_lastLastTranslation
,
scaledFragCoord
).
xyz
;
vec3
acceleration
=
texture2D
(
u_acceleration
,
scaledFragCoord
).
xyz
;
vec3
translation
=
lastTranslation
+
velocity
*
u_dt
;
vec3
translation
=
2.0
*
lastTranslation
-
lastLastTranslation
+
acceleration
*
u_dt
*
u_dt
;
gl_FragColor
=
vec4
(
translation
,
0
);
}
\ No newline at end of file
js/simulation/function/EM/shaders/velocityCalcShader.js
View file @
dac26064
#
define
M_PI
3.1415926535897932384626433832795
precision
mediump
float
;
precision
highp
float
;
uniform
vec2
u_textureDim
;
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
float
u_groundHeight
;
uniform
float
u_friction
;
uniform
sampler2D
u_
lastVelocity
;
uniform
sampler2D
u_
translation
;
uniform
sampler2D
u_lastTranslation
;
uniform
sampler2D
u_mass
;
uniform
sampler2D
u_neighborsXMapping
;
uniform
sampler2D
u_neighborsYMapping
;
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
)
{
float
x
=
vector
[
0
];
float
y
=
vector
[
1
];
float
z
=
vector
[
2
];
float
qx
=
quaternion
[
0
];
float
qy
=
quaternion
[
1
];
float
qz
=
quaternion
[
2
];
float
qw
=
quaternion
[
3
];
// calculate quat * vector
float
ix
=
qw
*
x
+
qy
*
z
-
qz
*
y
;
float
iy
=
qw
*
y
+
qz
*
x
-
qx
*
z
;
float
iz
=
qw
*
z
+
qx
*
y
-
qy
*
x
;
float
iw
=
-
qx
*
x
-
qy
*
y
-
qz
*
z
;
// calculate result * inverse quat
return
vec3
(
ix
*
qw
+
iw
*
-
qx
+
iy
*
-
qz
-
iz
*
-
qy
,
iy
*
qw
+
iw
*
-
qy
+
iz
*
-
qx
-
ix
*
-
qz
,
iz
*
qw
+
iw
*
-
qz
+
ix
*
-
qy
-
iy
*
-
qx
);
}
float
neighborSign
(
float
i
){
if
(
mod
(
i
+
0.001
,
2.0
)
<
0.5
)
return
-
1.0
;
return
1.0
;
}
vec3
neighborOffset
(
float
i
){
vec3
offset
=
vec3
(
0
);
int
neighborAxis
=
int
(
floor
(
i
/
2.0
+
0.001
));
if
(
neighborAxis
==
0
)
offset
[
0
]
=
neighborSign
(
i
)
*
u_latticePitch
[
0
];
else
if
(
neighborAxis
==
1
)
offset
[
1
]
=
neighborSign
(
i
)
*
u_latticePitch
[
1
];
else
if
(
neighborAxis
==
2
)
offset
[
2
]
=
neighborSign
(
i
)
*
u_latticePitch
[
2
];
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
;
}
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
;
vec3
massData
=
texture2D
(
u_mass
,
scaledFragCoord
).
xyz
;
float
isFixed
=
massData
.
y
;
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
=
massData
.
x
;
vec3
force
=
u_gravity
*
mass
;
vec3
lastTranslation
=
texture2D
(
u_lastTranslation
,
scaledFragCoord
).
xyz
;
vec3
translation
=
texture2D
(
u_translation
,
scaledFragCoord
).
xyz
;
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
//simple collision
float
zPosition
=
texture2D
(
u_originalPosition
,
scaledFragCoord
).
z
+
translation
.
z
*
u_multiplier
-
u_groundHeight
;
float
collisionK
=
1.0
;
if
(
zPosition
<
0.0
)
{
float
normalForce
=
-
zPosition
*
collisionK
-
velocity
.
z
*
collisionK
/
10.0
;
force
.
z
+=
normalForce
;
if
(
u_friction
>
0.5
){
float
mu
=
10.0
;
if
(
velocity
.
x
>
0.0
)
force
.
x
-=
mu
*
normalForce
;
else
if
(
velocity
.
x
<
0.0
)
force
.
x
+=
mu
*
normalForce
;
if
(
velocity
.
y
>
0.0
)
force
.
y
-=
mu
*
normalForce
;
else
if
(
velocity
.
y
<
0.0
)
force
.
y
+=
mu
*
normalForce
;
}
}
for
(
float
i
=
0.0
;
i
<
2.0
;
i
+=
1.0
){
float
xIndex
=
2.0
*
(
fragCoord
.
x
-
0.5
)
+
0.5
;
if
(
i
>
0.0
)
xIndex
+=
1.0
;
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
;
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
;
vec2
scaledNeighborIndex
=
neighborIndex
/
u_textureDim
;
vec3
neighborTranslation
=
texture2D
(
u_lastTranslation
,
scaledNeighborIndex
).
xyz
;
vec3
neighborVelocity
=
texture2D
(
u_lastVelocity
,
scaledNeighborIndex
).
xyz
;
vec4
neighborQuaternion
=
texture2D
(
u_lastQuaternion
,
scaledNeighborIndex
);
vec3
nominalD
=
neighborOffset
(
i
*
3.0
+
float
(
j
));
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);
// }