From d6a243e91061136d50f2346e2fb652d9aedc0a40 Mon Sep 17 00:00:00 2001
From: amandaghassaei <amandaghassaei@gmail.com>
Date: Tue, 18 Apr 2017 01:05:05 -0400
Subject: [PATCH] simulation closer
---
js/staticSolver.js | 179 +++++++++++++++++++++++++++++++--------------
js/threeView.js | 2 +-
2 files changed, 124 insertions(+), 57 deletions(-)
diff --git a/js/staticSolver.js b/js/staticSolver.js
index 5e23cb4..14186b4 100644
--- a/js/staticSolver.js
+++ b/js/staticSolver.js
@@ -17,10 +17,10 @@ function initStaticSolver(){
var faces;
var creases;
- var Q, C, Ctrans, F;
+ var Q, C, Ctrans, F, F_rxn;
var Ctrans_Q, Ctrans_Q_C;
- var numFreeEdges, numVerticesFree, numVerticesFixed;
- var indicesMapping, fixedIndicesMapping, freeEdgesMapping;
+ var numFreeEdges, numVerticesFree, numVerticesFixed, numFreeCreases;
+ var indicesMapping, fixedIndicesMapping, freeEdgesMapping, freeCreasesMapping;
function syncNodesAndEdges(){
nodes = globals.model.getNodes();
@@ -69,54 +69,56 @@ function initStaticSolver(){
// console.log(JSON.stringify(Ctrans_Q_C));
var _F = F.slice();
- var nullEntries = [];
- var infiniteEntry = false;
- var X = initEmptyArray(numVerticesFree*3);
- for (var i=Ctrans_Q_C.length;i>=0;i--){
- if (numeric.dot(Ctrans_Q_C[i], Ctrans_Q_C[i]) == 0) {
- if (_F[i] < 0) {
- X[i] = -1;
- nullEntries.push([i, -1]);
- infiniteEntry = true;
- } else if (_F[i]>0) {
- X[i] = 1;
- nullEntries.push([i, 1]);
- infiniteEntry = true;
- } else nullEntries.push([i, 0]);
- Ctrans_Q_C.splice(i, 1);
- _F.splice(i,1);
- }
- }
-
- if (infiniteEntry){
- render(X);
- return;
- }
-
- if (nullEntries.length>0){//remove zero columns
- for (var i=0;i<Ctrans_Q_C.length;i++){
- for (var j=0;j<nullEntries.length;j++){
- Ctrans_Q_C[i].splice(nullEntries[j][0],1);
- }
- }
+ for (var i=0;i<_F.length;i++) {
+ _F[i] += F_rxn[i];
}
+ // var nullEntries = [];
+ // var infiniteEntry = false;
+ // var X = initEmptyArray(numVerticesFree*3);
+ // for (var i=Ctrans_Q_C.length;i>=0;i--){
+ // if (numeric.dot(Ctrans_Q_C[i], Ctrans_Q_C[i]) == 0) {
+ // if (_F[i] < 0) {
+ // X[i] = -1;
+ // nullEntries.push([i, -1]);
+ // infiniteEntry = true;
+ // } else if (_F[i]>0) {
+ // X[i] = 1;
+ // nullEntries.push([i, 1]);
+ // infiniteEntry = true;
+ // } else nullEntries.push([i, 0]);
+ // Ctrans_Q_C.splice(i, 1);
+ // _F.splice(i,1);
+ // }
+ // }
+ //
+ // if (infiniteEntry){
+ // render(X);
+ // return;
+ // }
+ //
+ // console.log(nullEntries);
+ // if (nullEntries.length>0){//remove zero columns
+ // for (var i=0;i<Ctrans_Q_C.length;i++){
+ // for (var j=0;j<nullEntries.length;j++){
+ // Ctrans_Q_C[i].splice(nullEntries[j][0],1);
+ // }
+ // }
+ // }
- // console.log(Ctrans_Q_C);
X = numeric.dot(numeric.inv(Ctrans_Q_C), _F);
- if (nullEntries.length>0){
- //add zeros back to X array
- console.log("here");
- for (var i=0;i<nullEntries.length;i++){
- X.splice(nullEntries[i][0], 0, 0);
- }
- }
+ // if (nullEntries.length>0){
+ // //add zeros back to X array
+ // console.log("here");
+ // for (var i=0;i<nullEntries.length;i++){
+ // X.splice(nullEntries[i][0], 0, 0);
+ // }
+ // }
render(X);
}
function render(X){
- console.log(X);
for (var i=0;i<numVerticesFree;i++){
@@ -140,6 +142,8 @@ function initStaticSolver(){
edges[i].render(true);
}
+ geometry.verticesNeedUpdate = true;
+ geometry.computeFaceNormals();
updateMatrices();
}
@@ -162,11 +166,10 @@ function initStaticSolver(){
}
function updateMatrices(){
- calcCs();
+ calcCsAndRxns();
Ctrans = numeric.transpose(C);
Ctrans_Q = numeric.dot(Ctrans, Q);
Ctrans_Q_C = numeric.dot(Ctrans_Q, C);
- // console.log(JSON.stringify(Ctrans_Q_C));
}
function setUpParams(){
@@ -174,35 +177,40 @@ function initStaticSolver(){
indicesMapping = [];
fixedIndicesMapping = [];
freeEdgesMapping = [];
+ freeCreasesMapping = [];
for (var i=0;i<nodes.length;i++){
- if (nodes[i].fixed) fixedIndicesMapping.push(nodes[i].getIndex());
+ if (nodes[i].fixed) fixedIndicesMapping.push(nodes[i].getIndex());//todo need this?
else indicesMapping.push(nodes[i].getIndex());//todo push(i)
}
for (var i=0;i<edges.length;i++){
if (edges[i].isFixed()) continue;
freeEdgesMapping.push(i);
}
+ for (var i=0;i<creases.length;i++){
+ freeCreasesMapping.push(i);//todo check for locked creases
+ }
numVerticesFree = indicesMapping.length;
numVerticesFixed = fixedIndicesMapping.length;
numFreeEdges = freeEdgesMapping.length;
+ numFreeCreases = freeCreasesMapping.length;
- //C = edges x 3nodes
- //Q = edges x edges
- //Ctrans = 3nodes x edges
+
+ //C = (edges + creases) x 3nodes
+ //Q = (edges + creases) x (edges + creases)
+ //Ctrans = 3nodes x (edges + creases)
//disp = 1 x 3nodes
- Q = initEmptyArray(numFreeEdges, numFreeEdges);
- C = initEmptyArray(numFreeEdges, 3*numVerticesFree);
+ Q = initEmptyArray(numFreeEdges+numFreeCreases, numFreeEdges+numFreeCreases);
+ C = initEmptyArray(numFreeEdges+numFreeCreases, 3*numVerticesFree);
calcQ();
-
F = initEmptyArray(numVerticesFree*3);
for (var i=0;i<numVerticesFree;i++){
F[3*i] = 0;
- F[3*i+1] = 10;
+ F[3*i+1] = 1;
F[3*i+2] = 0;
}
@@ -211,33 +219,92 @@ function initStaticSolver(){
startSolver();
}
- function calcCs(){
+ function calcCsAndRxns(){
+ F_rxn = initEmptyArray(numVerticesFree*3);
for (var j=0;j<numFreeEdges;j++){
var edge = edges[freeEdgesMapping[j]];
var _nodes = edge.nodes;
var edgeVector0 = edge.getVector(_nodes[0]);
- // edgeVector0.divideScalar(edge.getOriginalLength());
+
+ var length = edge.getOriginalLength();
+ var diff = edgeVector0.length() - length;
+ var rxnForceScale = globals.axialStiffness*diff/length;
+
edgeVector0.normalize();
if (!_nodes[0].fixed) {
var i = indicesMapping.indexOf(_nodes[0].getIndex());
C[j][3*i] = edgeVector0.x;
C[j][3*i+1] = edgeVector0.y;
C[j][3*i+2] = edgeVector0.z;
+ F_rxn[3*i] += edgeVector0.x*rxnForceScale;
+ F_rxn[3*i+1] += edgeVector0.y*rxnForceScale;
+ F_rxn[3*i+2] += edgeVector0.z*rxnForceScale;
}
if (!_nodes[1].fixed) {
var i = indicesMapping.indexOf(_nodes[1].getIndex());
C[j][3*i] = -edgeVector0.x;
C[j][3*i+1] = -edgeVector0.y;
C[j][3*i+2] = -edgeVector0.z;
+ F_rxn[3*i] -= edgeVector0.x*rxnForceScale;
+ F_rxn[3*i+1] -= edgeVector0.y*rxnForceScale;
+ F_rxn[3*i+2] -= edgeVector0.z*rxnForceScale;
+ }
+ }
+ // console.log(F_rxn);
+
+ for (var j=0;j<numFreeCreases;j++){
+ var crease = creases[freeCreasesMapping[j]];
+
+ var normal1 = geometry.faces[crease.face1Index].normal;
+ var normal2 = geometry.faces[crease.face2Index].normal;
+ var dotNormals = normal1.dot(normal2);
+ if (dotNormals < -0.999) dotNormals = -0.999;
+ else if (dotNormals > 0.999) dotNormals = 0.999;
+ var theta = Math.acos(dotNormals);
+
+ var creaseVector = crease.getVector();
+ var sign = (normal1.clone().cross(normal2)).dot(creaseVector);
+ if (sign < 0.0) theta *= -1.0;
+ // if (theta > 2.0 && lastTheta[0] < -2.0) theta -= TWO_PI*(1.0+floor(-lastTheta[0]/TWO_PI));
+ // if (theta < -2.0 && lastTheta[0] > 2.0) theta += TWO_PI*(1.0+floor(lastTheta[0]/TWO_PI));
+
+ var diff = theta - globals.creasePercent*crease.targetTheta;
+
+ if (!crease.node1.fixed){
+ var i = indicesMapping.indexOf(crease.node1.getIndex());
+ var dist = crease.getLengthToNode1();
+ C[j+numFreeEdges][3*i] = -normal1.x/dist;//todo not sure about sign
+ C[j+numFreeEdges][3*i+1] = -normal1.y/dist;
+ C[j+numFreeEdges][3*i+2] = -normal1.z/dist;
+ rxnForceScale = crease.getK()*diff/dist;
+ F_rxn[3*i] += normal1.x*rxnForceScale;
+ F_rxn[3*i+1] += normal1.y*rxnForceScale;
+ F_rxn[3*i+2] += normal1.z*rxnForceScale;
+ }
+ if (!crease.node2.fixed){
+ var i = indicesMapping.indexOf(crease.node2.getIndex());
+ // console.log(normal);
+ var dist = crease.getLengthToNode2();
+ C[j+numFreeEdges][3*i] = -normal2.x/dist;
+ C[j+numFreeEdges][3*i+1] = -normal2.y/dist;
+ C[j+numFreeEdges][3*i+2] = -normal2.z/dist;
+ rxnForceScale = crease.getK()*diff/dist;
+ F_rxn[3*i] += normal2.x*rxnForceScale;
+ F_rxn[3*i+1] += normal2.y*rxnForceScale;
+ F_rxn[3*i+2] += normal2.z*rxnForceScale;
}
}
- // console.log(C);
}
function calcQ() {
var axialStiffness = globals.axialStiffness;
for (var i = 0; i < numFreeEdges; i++) {
- Q[i][i] = axialStiffness;
+ var edge = edges[freeEdgesMapping[i]];
+ Q[i][i] = axialStiffness/edge.getOriginalLength();
+ }
+ for (var i = 0; i < numFreeCreases; i++) {
+ var crease = creases[freeCreasesMapping[i]];
+ Q[numFreeEdges+i][numFreeEdges+i] = crease.getK();
}
}
diff --git a/js/threeView.js b/js/threeView.js
index 802e85f..b75eb0f 100644
--- a/js/threeView.js
+++ b/js/threeView.js
@@ -43,7 +43,7 @@ function initThreeView(globals) {
//scene.fog = new THREE.FogExp2(0xf4f4f4, 1.7);
//renderer.setClearColor(scene.fog.color);
- camera.zoom = 1;
+ camera.zoom = 7;
camera.updateProjectionMatrix();
camera.position.x = 4000;
camera.position.y = 4000;
--
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