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app.samples: add the SoftBodyCreator class
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src/test/java/testjoltjni/app/samples/SoftBodyCreator.java
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| /* | ||
| Copyright (c) 2024 Stephen Gold | ||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
| The above copyright notice and this permission notice shall be included in all | ||
| copies or substantial portions of the Software. | ||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| SOFTWARE. | ||
| */ | ||
| package testjoltjni.app.samples; | ||
| import com.github.stephengold.joltjni.*; | ||
| import com.github.stephengold.joltjni.enumerate.*; | ||
| import com.github.stephengold.joltjni.lambda.TriFunction; | ||
| import com.github.stephengold.joltjni.operator.Op; | ||
| import com.github.stephengold.joltjni.readonly.*; | ||
| import java.util.function.*; | ||
| /** | ||
| * A line-for-line Java translation of the soft-body creator namespace. | ||
| * <p> | ||
| * Compare with the original by Jorrit Rouwe at | ||
| * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Utils/SoftBodyCreator.cpp | ||
| */ | ||
| class SoftBodyCreator { | ||
| static SoftBodySharedSettingsRef CreateCloth(int inGridSizeX,int inGridSizeZ,float inGridSpacing,BiFunction<Integer,Integer,Float>inVertexGetInvMass) { | ||
| return CreateCloth(inGridSizeX,inGridSizeZ,inGridSpacing,inVertexGetInvMass,(Integer a,Integer b)->{return new Vec3();},EBendType.None,new VertexAttributes(1e-5f, 1e-5f, 1e-5f));} | ||
|
|
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| static SoftBodySharedSettingsRef CreateCloth(int inGridSizeX, int inGridSizeZ, float inGridSpacing, BiFunction<Integer,Integer,Float> inVertexGetInvMass, BiFunction<Integer,Integer,Vec3> inVertexPerturbation, EBendType inBendType, ConstVertexAttributes inVertexAttributes) | ||
| { | ||
| final float cOffsetX = -0.5f * inGridSpacing * (inGridSizeX - 1); | ||
| final float cOffsetZ = -0.5f * inGridSpacing * (inGridSizeZ - 1); | ||
|
|
||
| // Create settings | ||
| SoftBodySharedSettings settings = new SoftBodySharedSettings(); | ||
| for (int z = 0; z < inGridSizeZ; ++z) | ||
| for (int x = 0; x < inGridSizeX; ++x) | ||
| { | ||
| Vertex v=new Vertex(); | ||
| Vec3 position = Op.add(inVertexPerturbation.apply(x, z) , new Vec3(cOffsetX + x * inGridSpacing, 0.0f, cOffsetZ + z * inGridSpacing)); | ||
| v.setPosition(position); | ||
| v.setInvMass ( inVertexGetInvMass.apply(x, z)); | ||
| settings.addVertex(v); | ||
| } | ||
|
|
||
| // Function to get the vertex index of a point on the cloth | ||
| BinaryOperator<Integer> vertex_index = (Integer inX, Integer inY) -> | ||
| { | ||
| return inX + inY * inGridSizeX; | ||
| }; | ||
|
|
||
| // Create faces | ||
| for (int z = 0; z < inGridSizeZ - 1; ++z) | ||
| for (int x = 0; x < inGridSizeX - 1; ++x) | ||
| { | ||
| Face f=new Face(); | ||
| f.setVertex(0 , vertex_index.apply(x, z)); | ||
| f.setVertex(1 , vertex_index.apply(x, z + 1)); | ||
| f.setVertex(2 , vertex_index.apply(x + 1, z + 1)); | ||
| settings.addFace(f); | ||
|
|
||
| f.setVertex(1 , vertex_index.apply(x + 1, z + 1)); | ||
| f.setVertex(2 , vertex_index.apply(x + 1, z)); | ||
| settings.addFace(f); | ||
| } | ||
|
|
||
| // Create constraints | ||
| settings.createConstraints(inVertexAttributes, 1, inBendType); | ||
|
|
||
| // Optimize the settings | ||
| settings.optimize(); | ||
|
|
||
| return settings.toRef(); | ||
| } | ||
|
|
||
| static SoftBodySharedSettingsRef CreateClothWithFixatedCorners(int inGridSizeX, int inGridSizeZ, float inGridSpacing) | ||
| { | ||
| BiFunction<Integer,Integer,Float> inv_mass = (Integer inX, Integer inZ) -> { | ||
| return (inX == 0 && inZ == 0) | ||
| || (inX == inGridSizeX - 1 && inZ == 0) | ||
| || (inX == 0 && inZ == inGridSizeZ - 1) | ||
| || (inX == inGridSizeX - 1 && inZ == inGridSizeZ - 1)? 0.0f : 1.0f; | ||
| }; | ||
|
|
||
| return CreateCloth(inGridSizeX, inGridSizeZ, inGridSpacing, inv_mass); | ||
| } | ||
|
|
||
| static SoftBodySharedSettingsRef CreateCube(int inGridSize, float inGridSpacing) | ||
| { | ||
| Vec3Arg cOffset = Vec3.sReplicate(-0.5f * inGridSpacing * (inGridSize - 1)); | ||
|
|
||
| // Create settings | ||
| SoftBodySharedSettings settings = new SoftBodySharedSettings(); | ||
| for (int z = 0; z < inGridSize; ++z) | ||
| for (int y = 0; y < inGridSize; ++y) | ||
| for (int x = 0; x < inGridSize; ++x) | ||
| { | ||
| Vertex v=new Vertex(); | ||
| v.setPosition(Op.add(cOffset , Op.multiply(Vec3.sReplicate(inGridSpacing), new Vec3((float)(x), (float)(y), (float)(z))))); | ||
| settings.addVertex(v); | ||
| } | ||
|
|
||
| // Function to get the vertex index of a point on the cloth | ||
| TriFunction<Integer,Integer,Integer,Integer> vertex_index = (Integer inX, Integer inY, Integer inZ) -> { | ||
| return inX + inY * inGridSize + inZ * inGridSize * inGridSize; | ||
| }; | ||
|
|
||
| // Create edges | ||
| for (int z = 0; z < inGridSize; ++z) | ||
| for (int y = 0; y < inGridSize; ++y) | ||
| for (int x = 0; x < inGridSize; ++x) | ||
| { | ||
| Edge e=new Edge(); | ||
| e.setVertex(0 , vertex_index.apply(x, y, z)); | ||
| if (x < inGridSize - 1) | ||
| { | ||
| e.setVertex(1 , vertex_index.apply(x + 1, y, z)); | ||
| settings.addEdgeConstraint(e); | ||
| } | ||
| if (y < inGridSize - 1) | ||
| { | ||
| e.setVertex(1 , vertex_index.apply(x, y + 1, z)); | ||
| settings.addEdgeConstraint(e); | ||
| } | ||
| if (z < inGridSize - 1) | ||
| { | ||
| e.setVertex(1 , vertex_index.apply(x, y, z + 1)); | ||
| settings.addEdgeConstraint(e); | ||
| } | ||
| } | ||
| settings.calculateEdgeLengths(); | ||
|
|
||
| // Tetrahedrons to fill a cube | ||
| final int tetra_indices[][][] = { | ||
| { {0, 0, 0}, {0, 1, 1}, {0, 0, 1}, {1, 1, 1} }, | ||
| { {0, 0, 0}, {0, 1, 0}, {0, 1, 1}, {1, 1, 1} }, | ||
| { {0, 0, 0}, {0, 0, 1}, {1, 0, 1}, {1, 1, 1} }, | ||
| { {0, 0, 0}, {1, 0, 1}, {1, 0, 0}, {1, 1, 1} }, | ||
| { {0, 0, 0}, {1, 1, 0}, {0, 1, 0}, {1, 1, 1} }, | ||
| { {0, 0, 0}, {1, 0, 0}, {1, 1, 0}, {1, 1, 1} } | ||
| }; | ||
|
|
||
| // Create volume constraints | ||
| for (int z = 0; z < inGridSize - 1; ++z) | ||
| for (int y = 0; y < inGridSize - 1; ++y) | ||
| for (int x = 0; x < inGridSize - 1; ++x) | ||
| for (int t = 0; t < 6; ++t) | ||
| { | ||
| Volume v = new Volume(); | ||
| for (int i = 0; i < 4; ++i) | ||
| v.setVertex(i , vertex_index.apply(x + tetra_indices[t][i][0], y + tetra_indices[t][i][1], z + tetra_indices[t][i][2])); | ||
| settings.addVolumeConstraint(v); | ||
| } | ||
|
|
||
| settings.calculateVolumeConstraintVolumes(); | ||
|
|
||
| // Create faces | ||
| for (int y = 0; y < inGridSize - 1; ++y) | ||
| for (int x = 0; x < inGridSize - 1; ++x) | ||
| { | ||
| Face f=new Face(); | ||
|
|
||
| // Face 1 | ||
| f.setVertex(0 , vertex_index.apply(x, y, 0)); | ||
| f.setVertex(1 , vertex_index.apply(x, y + 1, 0)); | ||
| f.setVertex(2 , vertex_index.apply(x + 1, y + 1, 0)); | ||
| settings.addFace(f); | ||
|
|
||
| f.setVertex(1 , vertex_index.apply(x + 1, y + 1, 0)); | ||
| f.setVertex(2 , vertex_index.apply(x + 1, y, 0)); | ||
| settings.addFace(f); | ||
|
|
||
| // Face 2 | ||
| f.setVertex(0 , vertex_index.apply(x, y, inGridSize - 1)); | ||
| f.setVertex(1 , vertex_index.apply(x + 1, y + 1, inGridSize - 1)); | ||
| f.setVertex(2 , vertex_index.apply(x, y + 1, inGridSize - 1)); | ||
| settings.addFace(f); | ||
|
|
||
| f.setVertex(1 , vertex_index.apply(x + 1, y, inGridSize - 1)); | ||
| f.setVertex(2 , vertex_index.apply(x + 1, y + 1, inGridSize - 1)); | ||
| settings.addFace(f); | ||
|
|
||
| // Face 3 | ||
| f.setVertex(0 , vertex_index.apply(x, 0, y)); | ||
| f.setVertex(1 , vertex_index.apply(x + 1, 0, y + 1)); | ||
| f.setVertex(2 , vertex_index.apply(x, 0, y + 1)); | ||
| settings.addFace(f); | ||
|
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||
| f.setVertex(1 , vertex_index.apply(x + 1, 0, y)); | ||
| f.setVertex(2 , vertex_index.apply(x + 1, 0, y + 1)); | ||
| settings.addFace(f); | ||
|
|
||
| // Face 4 | ||
| f.setVertex(0 , vertex_index.apply(x, inGridSize - 1, y)); | ||
| f.setVertex(1 , vertex_index.apply(x, inGridSize - 1, y + 1)); | ||
| f.setVertex(2 , vertex_index.apply(x + 1, inGridSize - 1, y + 1)); | ||
| settings.addFace(f); | ||
|
|
||
| f.setVertex(1 , vertex_index.apply(x + 1, inGridSize - 1, y + 1)); | ||
| f.setVertex(2 , vertex_index.apply(x + 1, inGridSize - 1, y)); | ||
| settings.addFace(f); | ||
|
|
||
| // Face 5 | ||
| f.setVertex(0 , vertex_index.apply(0, x, y)); | ||
| f.setVertex(1 , vertex_index.apply(0, x, y + 1)); | ||
| f.setVertex(2 , vertex_index.apply(0, x + 1, y + 1)); | ||
| settings.addFace(f); | ||
|
|
||
| f.setVertex(1 , vertex_index.apply(0, x + 1, y + 1)); | ||
| f.setVertex(2 , vertex_index.apply(0, x + 1, y)); | ||
| settings.addFace(f); | ||
|
|
||
| // Face 6 | ||
| f.setVertex(0 , vertex_index.apply(inGridSize - 1, x, y)); | ||
| f.setVertex(1 , vertex_index.apply(inGridSize - 1, x + 1, y + 1)); | ||
| f.setVertex(2 , vertex_index.apply(inGridSize - 1, x, y + 1)); | ||
| settings.addFace(f); | ||
|
|
||
| f.setVertex(1 , vertex_index.apply(inGridSize - 1, x + 1, y)); | ||
| f.setVertex(2 , vertex_index.apply(inGridSize - 1, x + 1, y + 1)); | ||
| settings.addFace(f); | ||
| } | ||
|
|
||
| // Optimize the settings | ||
| settings.optimize(); | ||
|
|
||
| return settings.toRef(); | ||
| } | ||
|
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||
| static SoftBodySharedSettingsRef CreateSphere(float inRadius){return CreateSphere(inRadius,10,20,EBendType.None,new VertexAttributes(1e-4f,1e-4f,1e-3f));} | ||
| static SoftBodySharedSettingsRef CreateSphere(float inRadius, int inNumTheta, int inNumPhi, EBendType inBendType, ConstVertexAttributes inVertexAttributes) | ||
| { | ||
| // Create settings | ||
| SoftBodySharedSettings settings = new SoftBodySharedSettings(); | ||
|
|
||
| // Create vertices | ||
| // NOTE: This is not how you should create a soft body sphere, we explicitly use polar coordinates to make the vertices unevenly distributed. | ||
| // Doing it this way tests the pressure algorithm as it receives non-uniform triangles. Better is to use uniform triangles, | ||
| // see the use of DebugRenderer::Create8thSphere for an example. | ||
| Vertex v=new Vertex(); | ||
| v.setPosition(Op.multiply(inRadius , Vec3.sUnitSpherical(0, 0))); | ||
| settings.addVertex(v); | ||
| v.setPosition(Op.multiply(inRadius , Vec3.sUnitSpherical(Jolt.JPH_PI, 0))); | ||
| settings.addVertex(v); | ||
| for (int theta = 1; theta < inNumTheta - 1; ++theta) | ||
| for (int phi = 0; phi < inNumPhi; ++phi) | ||
| { | ||
| v.setPosition(Op.multiply(inRadius , Vec3.sUnitSpherical(Jolt.JPH_PI * theta / (inNumTheta - 1), 2.0f * Jolt.JPH_PI * phi / inNumPhi))); | ||
| settings.addVertex(v); | ||
| } | ||
|
|
||
| // Function to get the vertex index of a point on the sphere | ||
| BinaryOperator<Integer> vertex_index = (Integer inTheta, Integer inPhi) -> | ||
| { | ||
| if (inTheta == 0) | ||
| return 0; | ||
| else if (inTheta == inNumTheta - 1) | ||
| return 1; | ||
| else | ||
| return 2 + (inTheta - 1) * inNumPhi + inPhi % inNumPhi; | ||
| }; | ||
|
|
||
| // Create faces | ||
| Face f=new Face(); | ||
| for (int phi = 0; phi < inNumPhi; ++phi) | ||
| { | ||
| for (int theta = 0; theta < inNumTheta - 2; ++theta) | ||
| { | ||
| f.setVertex(0 , vertex_index.apply(theta, phi)); | ||
| f.setVertex(1 , vertex_index.apply(theta + 1, phi)); | ||
| f.setVertex(2 , vertex_index.apply(theta + 1, phi + 1)); | ||
| settings.addFace(f); | ||
|
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||
| if (theta > 0) | ||
| { | ||
| f.setVertex(1 , vertex_index.apply(theta + 1, phi + 1)); | ||
| f.setVertex(2 , vertex_index.apply(theta, phi + 1)); | ||
| settings.addFace(f); | ||
| } | ||
| } | ||
|
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| f.setVertex(0 , vertex_index.apply(inNumTheta - 2, phi + 1)); | ||
| f.setVertex(1 , vertex_index.apply(inNumTheta - 2, phi)); | ||
| f.setVertex(2 , vertex_index.apply(inNumTheta - 1, 0)); | ||
| settings.addFace(f); | ||
| } | ||
|
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||
| // Create constraints | ||
| settings.createConstraints(inVertexAttributes, 1, inBendType); | ||
|
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| // Optimize the settings | ||
| settings.optimize(); | ||
|
|
||
| return settings.toRef(); | ||
| } | ||
|
|
||
| }; |