Merge branch 'shaders'

1 files changed, 99 insertions, 0 deletions

diff --git a/wave-sim/src/system.h b/wave-sim/src/system.h
new file mode 100644
index 0000000..289aca3
--- /dev/null
+++ b/wave-sim/src/system.h
@@ -0,0 +1,99 @@
+#pragma once
+
+#include <Eigen/Dense>
+#include <vector>
+
+class System
+{
+public:
+    System();
+
+    struct Node;
+    struct Tet;
+
+    Eigen::Vector3d _gravity = Eigen::Vector3d(0., -1.0, 0.);
+    double groundAbsorbance = 4e4;
+    double groundTraction = 4e4;
+
+    std::vector<Node*> nodes;
+    std::vector<Tet*> tets;
+
+    std::vector<Eigen::Vector3d> getPositions();
+    void setPositions(std::vector<Eigen::Vector3d> positions);
+
+    std::vector<Eigen::Vector3d> getVelocities();
+    void setVelocities(std::vector<Eigen::Vector3d> velocities);
+
+    void initFromVecs(std::vector<Eigen::Vector3d> v, std::vector<Eigen::Vector4i> t);
+
+    struct Params {
+        const Eigen::Vector3d gravity = Eigen::Vector3d(0, -1, 0);
+        const double _lambda = 1e4; //incompressibility for the whole material
+        const double _mu = 1e4; //rigidity for the whole material
+        const double _rho = 1200.; //density
+        const double _phi = 1e1; //coefficients of viscosity
+        const double _psi = 1e1;
+        const double _traction = 4e4;
+        const double _absorbance = 1e1;
+    };
+
+    void setParams(Params params);
+
+    struct Node {
+        Eigen::Vector3d pos;
+        double mass = 0;
+
+        Eigen::Vector3d vel = Eigen::Vector3d(0., 0., 0.);
+        Eigen::Vector3d force = Eigen::Vector3d(0., 0., 0.);
+        Eigen::Vector3d acc = Eigen::Vector3d(0., 0., 0.);
+    };
+
+    struct Face {
+        double area;
+        Eigen::Vector3d normal;
+
+        std::vector<Node*> nodes;
+        Node* opp;
+
+        // P is unused point we use to see if normal is facing right way.
+        Face(Node* a, Node* b, Node* c, Node* p);
+
+        void calculateAreaNorms();
+    };
+
+    struct Tet {
+        double _lambda = 1e4; //incompressibility for the whole material
+        double _mu = 1e4; //rigidity for the whole material
+        double _rho = 1200.; //density
+        double _phi = 1e1; //coefficients of viscosity
+        double _psi = 1e1;
+
+        std::vector<Node*> nodes;
+//        Eigen::Vector4d faceAreas;
+//        std::vector<Eigen::Vector3d> normals;
+        std::vector<Face*> faces;
+        Eigen::Matrix3d betaMat;
+        Eigen::Matrix3d posMat;
+        Eigen::Matrix3d velMat;
+
+        Eigen::Matrix3d FMat;
+        Eigen::Matrix3d strain;
+        Eigen::Matrix3d strainRate;
+        Eigen::Matrix3d stress;
+
+        double mass;
+
+        Tet(std::vector<Node*> in_nodes);
+
+        void update();
+    };
+
+    void updateCalculations();
+    void resolveCollisions();
+    void updatePositions(double deltaTime);
+
+    std::vector<Eigen::Vector3d> getNodePos();
+    std::vector<Eigen::Vector3d> getNodeForces();
+
+    Eigen::VectorXd getState();
+};