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Add an interaction group to specify fluid/boundary interactions (#62)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,180 @@ | ||
| extern crate nalgebra as na; | ||
|
|
||
| use na::{DVector, Point2, Point3, Vector2}; | ||
| use rapier2d::dynamics::{ImpulseJointSet, MultibodyJointSet, RigidBodyBuilder, RigidBodySet}; | ||
| use rapier2d::geometry::{Collider, ColliderBuilder, ColliderSet}; | ||
| use rapier_testbed2d::Testbed; | ||
| use salva2d::integrations::rapier::{ColliderSampling, FluidsPipeline, FluidsTestbedPlugin}; | ||
| use salva2d::object::interaction_groups::{Group, InteractionGroups}; | ||
| use salva2d::object::{Boundary, Fluid}; | ||
| use salva2d::solver::{ArtificialViscosity, Becker2009Elasticity, XSPHViscosity}; | ||
| use std::f32; | ||
|
|
||
| const PARTICLE_RADIUS: f32 = 0.1; | ||
| const SMOOTHING_FACTOR: f32 = 2.0; | ||
|
|
||
| pub fn init_world(testbed: &mut Testbed) { | ||
| /* | ||
| * World | ||
| */ | ||
| let gravity = Vector2::y() * -9.81; | ||
| let mut plugin = FluidsTestbedPlugin::new(); | ||
| let mut bodies = RigidBodySet::new(); | ||
| let mut colliders = ColliderSet::new(); | ||
| let impulse_joints = ImpulseJointSet::new(); | ||
| let multibody_joints = MultibodyJointSet::new(); | ||
| let mut fluids_pipeline = FluidsPipeline::new(PARTICLE_RADIUS, SMOOTHING_FACTOR); | ||
|
|
||
| // Liquid. | ||
| let mut points1 = Vec::new(); | ||
| let mut points2 = Vec::new(); | ||
| let mut points3 = Vec::new(); | ||
| let ni = 25; | ||
| let nj = 15; | ||
|
|
||
| let shift2 = (nj as f32) * PARTICLE_RADIUS * 2.0; | ||
|
|
||
| for i in 0..ni / 2 { | ||
| for j in 0..nj { | ||
| let x = (i as f32) * PARTICLE_RADIUS * 2.0 - ni as f32 * PARTICLE_RADIUS; | ||
| let y = (j as f32 + 1.0) * PARTICLE_RADIUS * 2.0 + 0.5; | ||
| points1.push(Point2::new(x, y)); | ||
| points2.push(Point2::new(x + ni as f32 * PARTICLE_RADIUS, y)); | ||
| } | ||
| } | ||
|
|
||
| for i in 0..ni { | ||
| for j in 0..nj * 2 { | ||
| let x = (i as f32) * PARTICLE_RADIUS * 2.0 - ni as f32 * PARTICLE_RADIUS; | ||
| let y = (j as f32 + 1.0) * PARTICLE_RADIUS * 2.0 + 0.5; | ||
| points3.push(Point2::new(x, y + shift2)); | ||
| } | ||
| } | ||
|
|
||
| let elasticity: Becker2009Elasticity = Becker2009Elasticity::new(1_000.0, 0.3, true); | ||
| let viscosity = XSPHViscosity::new(0.5, 1.0); | ||
| let mut fluid = Fluid::new( | ||
| points1, | ||
| PARTICLE_RADIUS, | ||
| 1.0, | ||
| InteractionGroups::new(Group::GROUP_1, Group::GROUP_1), | ||
| ); | ||
| fluid.nonpressure_forces.push(Box::new(elasticity)); | ||
| fluid.nonpressure_forces.push(Box::new(viscosity.clone())); | ||
| let fluid_handle = fluids_pipeline.liquid_world.add_fluid(fluid); | ||
| plugin.set_fluid_color(fluid_handle, Point3::new(0.8, 0.7, 1.0)); | ||
|
|
||
| let elasticity: Becker2009Elasticity = Becker2009Elasticity::new(1_000.0, 0.3, true); | ||
| let viscosity = XSPHViscosity::new(0.5, 1.0); | ||
| let mut fluid = Fluid::new( | ||
| points2, | ||
| PARTICLE_RADIUS, | ||
| 1.0, | ||
| InteractionGroups::new(Group::GROUP_2, Group::GROUP_2), | ||
| ); | ||
| fluid.nonpressure_forces.push(Box::new(elasticity)); | ||
| fluid.nonpressure_forces.push(Box::new(viscosity.clone())); | ||
| let fluid_handle = fluids_pipeline.liquid_world.add_fluid(fluid); | ||
| plugin.set_fluid_color(fluid_handle, Point3::new(1.0, 0.4, 0.6)); | ||
|
|
||
| let viscosity = ArtificialViscosity::new(0.5, 0.0); | ||
| let mut fluid = Fluid::new(points3, PARTICLE_RADIUS, 1.0, InteractionGroups::none()); | ||
| fluid.nonpressure_forces.push(Box::new(viscosity.clone())); | ||
| let fluid_handle = fluids_pipeline.liquid_world.add_fluid(fluid); | ||
| plugin.set_fluid_color(fluid_handle, Point3::new(0.6, 0.8, 0.5)); | ||
|
|
||
| /* | ||
| * Ground | ||
| */ | ||
| let ground_size = Vector2::new(10.0, 1.0); | ||
| let nsubdivs = 50; | ||
|
|
||
| let heights = DVector::from_fn(nsubdivs + 1, |i, _| { | ||
| if i == 0 || i == nsubdivs { | ||
| 20.0 | ||
| } else { | ||
| (i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 0.5 | ||
| } | ||
| }); | ||
|
|
||
| let rigid_body = RigidBodyBuilder::fixed().build(); | ||
| let handle = bodies.insert(rigid_body); | ||
| let collider = ColliderBuilder::heightfield(heights, ground_size).build(); | ||
| let co_handle = colliders.insert_with_parent(collider, handle, &mut bodies); | ||
| let bo_handle = fluids_pipeline | ||
| .liquid_world | ||
| .add_boundary(Boundary::new(Vec::new(), InteractionGroups::all())); | ||
| fluids_pipeline.coupling.register_coupling( | ||
| bo_handle, | ||
| co_handle, | ||
| ColliderSampling::DynamicContactSampling, | ||
| ); | ||
|
|
||
| /* | ||
| * Create a dynamic rigid-bodies. | ||
| */ | ||
| let rad = 0.4; | ||
| let mut build_rigid_body_with_coupling = | ||
| |x, y, mut collider: Collider, interaction_group: InteractionGroups| { | ||
| let samples = | ||
| salva2d::sampling::shape_surface_ray_sample(collider.shape(), PARTICLE_RADIUS) | ||
| .unwrap(); | ||
| let rb = RigidBodyBuilder::dynamic() | ||
| .translation(Vector2::new(x, y)) | ||
| .build(); | ||
| let rb_handle = bodies.insert(rb); | ||
| let membership: u32 = interaction_group.memberships.into(); | ||
| let filter: u32 = interaction_group.filter.into(); | ||
| collider.set_collision_groups(rapier2d::geometry::InteractionGroups::new( | ||
| rapier2d::geometry::Group::from(membership), | ||
| rapier2d::geometry::Group::from(filter), | ||
| )); | ||
| let co_handle = colliders.insert_with_parent(collider, rb_handle, &mut bodies); | ||
| let bo_handle = fluids_pipeline | ||
| .liquid_world | ||
| .add_boundary(Boundary::new(Vec::new(), interaction_group)); | ||
| fluids_pipeline.coupling.register_coupling( | ||
| bo_handle, | ||
| co_handle, | ||
| ColliderSampling::StaticSampling(samples.clone()), | ||
| ); | ||
| }; | ||
|
|
||
| let co1 = ColliderBuilder::cuboid(rad, rad).density(0.8).build(); | ||
| let co2 = ColliderBuilder::ball(rad).density(0.8).build(); | ||
| let co3 = ColliderBuilder::capsule_y(rad, rad).density(0.8).build(); | ||
| build_rigid_body_with_coupling( | ||
| 0.0, | ||
| 10.0, | ||
| co1, | ||
| InteractionGroups::new(Group::GROUP_2, Group::GROUP_2), | ||
| ); | ||
| build_rigid_body_with_coupling( | ||
| -2.0, | ||
| 10.0, | ||
| co2, | ||
| InteractionGroups::new(Group::GROUP_1, Group::GROUP_1), | ||
| ); | ||
| build_rigid_body_with_coupling( | ||
| 2.0, | ||
| 10.5, | ||
| co3, | ||
| InteractionGroups::new(Group::GROUP_3, Group::GROUP_3), | ||
| ); | ||
|
|
||
| /* | ||
| * Set up the testbed. | ||
| */ | ||
| plugin.set_pipeline(fluids_pipeline); | ||
| testbed.add_plugin(plugin); | ||
| testbed.set_world_with_params( | ||
| bodies, | ||
| colliders, | ||
| impulse_joints, | ||
| multibody_joints, | ||
| gravity, | ||
| (), | ||
| ); | ||
| testbed.integration_parameters_mut().dt = 1.0 / 200.0; | ||
| // testbed.enable_boundary_particles_rendering(true); | ||
| } |
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