Environment Class Reference

stores all rigid bodies and boundary and manages interaction among rigid bodies, fluids and the boundary More...

#include <Environment.h>

List of all members.

Public Member Functions
	Environment ()
	ctor
	~Environment ()
	dtor
void	loadGeometry ()
	load vbo geometry
void	draw (ngl::TransformStack _txStack, ShaderLibrary *io_sman, const std::string _boundaryShader, const std::string _obstacleShader)
	draws the obstacles
void	checkAndResolveCollision (Particle &io_currentParticle, bool &o_hitBoundary, bool &o_hitRBD, const bool _fromRBD)
	detect and handles collision among particles (sphere rbd and fluid particle)
void	updateObstacles (Integration *_integration)
	update the rigid bodies movements and rotations at every simulation iteration
std::vector< std::vector < ngl::Vector > >	getBoundaryPositionList ()
	return a 2d list of the faces of the boundary, used for caching
std::vector< std::string >	getBoundaryNameList ()
	return a list of the boundary box name, used for caching
std::vector< std::vector < ngl::Vector > >	getSpherePositionList ()
	return a 2d list of the position of spheres, used for caching
std::vector< std::string >	getSphereNameList ()
	return a list of the spheres id, used for caching
std::vector< std::vector < ngl::Vector > >	getCapsulePositionList ()
	return a 2d list of the position of capsules, used for caching
std::vector< std::string >	getCapsuleNameList ()
	return a list of the capsules id, used for caching
std::vector< Particle > &	getSphereObstacleList ()
	return the list of sphere RBD
std::vector< Capsule > &	getCapsuleObstacleList ()
	return the list of capsule RBD
bool	getObstacleEnabled () const
	return whether RBD interaction is enabled
ngl::Vector	getBoundaryDimension () const
	return the boundary dimension
ngl::Vector	getBoundaryPosition () const
	return the boundary centre position
bool	getBoundaryBoundTop () const
	return whether the top face of the boundary is closed
ngl::Real	getBoundaryRestitutionCoefficientForFluid () const
	return the restitution coefficient for fluid interaction with boundary
ngl::Real	getBoundaryRestitutionCoefficientForRBD () const
	return the restitution coefficient for RBD interaction with boundary
ngl::Real	getObstacleRestitutionCoefficient () const
	return the restitution coefficient for fluid interaction with RBD
int	getCapsuleResolution () const
	return the resolution of the capsule drawing
bool	getPeriodicWallEnabled () const
	return whether the boundary periodic wall is enabled
ngl::Real	getPeriodicWallMaxAmplitude () const
	return the maximum amplitude of the periodic wall
ngl::Real	getPeriodicWallSpeed () const
	return the angle speed factor of the periodic wall
ngl::Real	getAngleOfPeriodicWall () const
	return the angle of the periodic wall sine function
ngl::Real	getPeriodicWallAngleIncrement () const
	return the angle increment of the periodic wall sine function
void	setObstacleEnabled (const bool _v)
	set whether RBD interaction is enabled
void	setBoundaryDimension (const ngl::Vector _v)
	set the boundary dimension
void	setBoundaryPosition (ngl::Vector _v)
	set the boundary centre position
void	setBoundaryBoundTop (const bool _v)
	set whether the top face of the boundary is closed
void	setBoundaryRestitutionCoefficientForFluid (const ngl::Real _v)
	set the restitution coefficient for fluid interaction with boundary
void	setBoundaryRestitutionCoefficientForRBD (const ngl::Real _v)
	set the restitution coefficient for RBD interaction with boundary
void	setObstacleRestitutionCoefficient (const ngl::Real _v)
	set the restitution coefficient for fluid interaction with RBD
void	setCapsuleResolution (const int _v)
	set the resolution of the capsule drawing
void	setPeriodicWallEnabled (const bool _v)
	set whether the boundary periodic wall is enabled
void	setPeriodicWallMaxAmplitude (const ngl::Real _v)
	set the maximum amplitude of the periodic wall
void	setPeriodicWallSpeed (const ngl::Real _v)
	set the angle speed factor of the periodic wall
void	setAngleOfPeriodicWall (const ngl::Real _v)
	set the angle of the periodic wall sine function
void	setPeriodicWallAngleIncrement (const ngl::Real _v)
	set the angle increment of the periodic wall sine function
Private Member Functions
bool	checkAndResolveCollisionWithObstacle (Particle &io_currentParticle, Particle &_obstacle)
	handle collision between sphere/fluid and sphere
bool	checkAndResolveCollisionWithObstacle (Particle &io_currentParticle, Capsule &_obstacle)
	handle collision between sphere/fluid and capsule
bool	checkAndResolveCollisionWithBoundary (Particle &io_currentParticle, const bool _fromRBD)
	handle collision between RBD/fluid and boundary
void	resolveCollision (Particle &io_currentParticle, const ngl::Vector _contactPoint, const ngl::Vector _normal, const ngl::Real _penetrationDepth, const ngl::Real _restitutionCoefficient)
	perform the actual collision handling (calculation of new position and velocity) once collision is detected
void	updatePeriodicBoundingBox ()
	update the periodic wall position at each iteration
Private Attributes
bool	m_obstacleEnabled
	flag to determine if RBD interaction is enabled
ngl::Vector	m_boundaryDimension
	boundary dimension
ngl::Vector	m_boundaryPosition
	boundary centre position
ngl::BBox *	m_boundaryBBox
	boundary bounding box object used for collision handling
bool	m_boundaryBoundTop
	flag to determine if the top face of the boundary is closed
ngl::Real	m_boundaryRestitutionCoefficientForFluid
	restitution coefficient for fluid interaction with boundary
ngl::Real	m_boundaryRestitutionCoefficientForRBD
	restitution coefficient for RBD interaction with boundary
ngl::Real	m_obstacleRestitutionCoefficient
	restitution coefficient for fluid interaction with RBD
std::vector< Particle >	m_sphereObstacleList
	list of sphere RBD
std::vector< Capsule >	m_capsuleObstacleList
	list of capsule RBD
int	m_capsuleResolution
	resolution of the capsule drawing (the number of spheres used to draw the capsule)
bool	m_periodicWallEnabled
	flag to determine whether the boundary periodic wall is enabled
ngl::Real	m_periodicWallMaxAmplitude
	maximum amplitude of the periodic wall
ngl::Real	m_periodicWallSpeed
	angle speed factor of the periodic wall
ngl::Real	m_angleOfPeriodicWall
	angle of the periodic wall sine function
ngl::Real	m_periodicWallAngleIncrement
	angle increment of the periodic wall sine function

---

Detailed Description

stores all rigid bodies and boundary and manages interaction among rigid bodies, fluids and the boundary

Definition at line 26 of file Environment.h.

---

Constructor & Destructor Documentation

Environment::Environment

(

)

ctor

Definition at line 12 of file Environment.cpp.

References Configuration::initialiseEnvironment(), m_angleOfPeriodicWall, m_boundaryBBox, m_boundaryBoundTop, m_boundaryDimension, m_boundaryPosition, m_boundaryRestitutionCoefficientForFluid, m_boundaryRestitutionCoefficientForRBD, m_capsuleObstacleList, m_capsuleResolution, m_obstacleEnabled, m_obstacleRestitutionCoefficient, m_periodicWallAngleIncrement, m_periodicWallEnabled, m_periodicWallMaxAmplitude, m_periodicWallSpeed, and m_sphereObstacleList.

{
    //create params from config
    Configuration::initialiseEnvironment
                            (
                                m_obstacleEnabled,
                                m_boundaryPosition,
                                m_boundaryDimension,
                                m_boundaryRestitutionCoefficientForFluid,
                                m_boundaryRestitutionCoefficientForRBD,
                                m_boundaryBoundTop,
                                m_sphereObstacleList,
                                m_capsuleObstacleList,
                                m_obstacleRestitutionCoefficient,
                                m_periodicWallEnabled,
                                m_periodicWallMaxAmplitude,
                                m_periodicWallSpeed,
                                m_periodicWallAngleIncrement,
                                m_capsuleResolution
                            );

    //create bbox for boundary
    m_boundaryBBox = new ngl::BBox(m_boundaryPosition, m_boundaryDimension.m_x, m_boundaryDimension.m_y, m_boundaryDimension.m_z);

    //init params
    m_angleOfPeriodicWall = 0.0;
}

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Environment::~Environment

(

)

dtor

Definition at line 40 of file Environment.cpp.

References m_boundaryBBox.

{
    //clean up
    std::cout << "Environment Cleanup" << std::endl;

    delete m_boundaryBBox;
}

---

Member Function Documentation

void Environment::checkAndResolveCollision	(	Particle &	io_currentParticle,
		bool &	o_hitBoundary,
		bool &	o_hitRBD,
		const bool	_fromRBD
	)

detect and handles collision among particles (sphere rbd and fluid particle)

Parameters:

[in,out]	io_currentParticle	the particle affected by the collision resolution
[out]	o_hitBoundary	returns whether the particle collided against the boundary
[out]	o_hitRBD	returns whether the particle collided against a rigid body
[in]	_fromRBD	set whether this method was called by a sphere rigid body or by a fluid particle

Definition at line 179 of file Environment.cpp.

References Particle::getId().

{
    o_hitRBD = false;

    if (m_obstacleEnabled)
    {
        //sphere-sphere and fluid-sphere collision handling if enabled
        BOOST_FOREACH(Particle& obstacle, m_sphereObstacleList)
        {
            //prevent collision check of an obstacle against itself
            if (obstacle.getId() != io_currentParticle.getId())
            {
                //check collision against obstacle (sphere-sphere interaction)
                bool hit = checkAndResolveCollisionWithObstacle(io_currentParticle, obstacle);
                o_hitRBD = hit ? true : o_hitRBD;
            }
        }

        //sphere-capsule and fluid-capsule collision handling if enabled
        BOOST_FOREACH(Capsule& obstacle, m_capsuleObstacleList)
        {
            //prevent collision check of an obstacle against itself
            if (obstacle.getId() != io_currentParticle.getId())
            {
                //check collision against obstacle (sphere-capsule interaction)
                bool hit = checkAndResolveCollisionWithObstacle(io_currentParticle, obstacle);
                o_hitRBD = hit ? true : o_hitRBD;
            }
        }
    }

    //collision handling against the boundary
    o_hitBoundary = checkAndResolveCollisionWithBoundary(io_currentParticle, _fromRBD);
}

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bool Environment::checkAndResolveCollisionWithBoundary	(	Particle &	io_currentParticle,
		const bool	_fromRBD
	)		[private]

handle collision between RBD/fluid and boundary

Parameters:

[in,out]	io_currentParticle	the particle affected by the collision resolution
[in]	_fromRBD	flag to determine whether the affected particle is an RBD

Definition at line 340 of file Environment.cpp.

References Particle::getPosition(), Particle::getRadius(), Particle::getVelocity(), Particle::updatePosition(), and Particle::updateVelocity().

{
    //determine bounds of box
    ngl::Real xMax = m_boundaryBBox->center().m_x + (m_boundaryBBox->width()/2.0f);
    ngl::Real xMin = m_boundaryBBox->center().m_x - (m_boundaryBBox->width()/2.0f);
    ngl::Real yMax = m_boundaryBBox->center().m_y + (m_boundaryBBox->height()/2.0f);
    ngl::Real yMin = m_boundaryBBox->center().m_y - (m_boundaryBBox->height()/2.0f);
    ngl::Real zMax = m_boundaryBBox->center().m_z + (m_boundaryBBox->depth()/2.0f);
    ngl::Real zMin = m_boundaryBBox->center().m_z - (m_boundaryBBox->depth()/2.0f);

    //move bounds closer due to difference in particle's radius
    xMax -= io_currentParticle.getRadius();
    xMin += io_currentParticle.getRadius();
    yMax -= io_currentParticle.getRadius();
    yMin += io_currentParticle.getRadius();
    zMax -= io_currentParticle.getRadius();
    zMin += io_currentParticle.getRadius();

    //assume no collision
    bool hasCollisionOccured = false;

    //get position of particle
    ngl::Vector currentPosition = io_currentParticle.getPosition();

    //evaluate restitution coefficient to be used based on origin
    ngl::Real restitutionCoefficient = _fromRBD ? m_boundaryRestitutionCoefficientForRBD : m_boundaryRestitutionCoefficientForFluid;

    //collision check for XMax breach
    if (currentPosition.m_x > xMax)
    {
        hasCollisionOccured = true;

        //set position to boundary edge
        io_currentParticle.updatePosition(ngl::Vector(xMax, io_currentParticle.getPosition().m_y, io_currentParticle.getPosition().m_z));

        //calculate new velocity (reflect on face normal with restitution factor
        io_currentParticle.updateVelocity(ngl::Vector(-restitutionCoefficient * io_currentParticle.getVelocity().m_x, io_currentParticle.getVelocity().m_y, io_currentParticle.getVelocity().m_z));
    }

    //collision check for XMin breach
    if (currentPosition.m_x < xMin)
    {
        hasCollisionOccured = true;

        //set position to boundary edge
        io_currentParticle.updatePosition(ngl::Vector(xMin, io_currentParticle.getPosition().m_y, io_currentParticle.getPosition().m_z));

        //calculate new velocity (reflect on face normal with restitution factor
        io_currentParticle.updateVelocity(ngl::Vector(-restitutionCoefficient * io_currentParticle.getVelocity().m_x, io_currentParticle.getVelocity().m_y, io_currentParticle.getVelocity().m_z));
    }

    //collision check for YMin breach
    if (currentPosition.m_y < yMin)
    {
        hasCollisionOccured = true;

        //set position to boundary edge
        io_currentParticle.updatePosition(ngl::Vector(io_currentParticle.getPosition().m_x, yMin, io_currentParticle.getPosition().m_z));

        //calculate new velocity (reflect on face normal with restitution factor
        io_currentParticle.updateVelocity(ngl::Vector(io_currentParticle.getVelocity().m_x, -restitutionCoefficient * io_currentParticle.getVelocity().m_y, io_currentParticle.getVelocity().m_z));
    }

    //collision check for YMax breach if top is bound
    if (m_boundaryBoundTop && (currentPosition.m_y > yMax))
    {
        hasCollisionOccured = true;

        //set position to boundary edge
        io_currentParticle.updatePosition(ngl::Vector(io_currentParticle.getPosition().m_x, yMax, io_currentParticle.getPosition().m_z));

        //calculate new velocity (reflect on face normal with restitution factor
        io_currentParticle.updateVelocity(ngl::Vector(io_currentParticle.getVelocity().m_x, -restitutionCoefficient * io_currentParticle.getVelocity().m_y, io_currentParticle.getVelocity().m_z));
    }

    //collision check for ZMin breach
    if (currentPosition.m_z < zMin)
    {
        hasCollisionOccured = true;

        //set position to boundary edge
        io_currentParticle.updatePosition(ngl::Vector(io_currentParticle.getPosition().m_x, io_currentParticle.getPosition().m_y, zMin));

        //calculate new velocity (reflect on face normal with restitution factor
        io_currentParticle.updateVelocity(ngl::Vector(io_currentParticle.getVelocity().m_x, io_currentParticle.getVelocity().m_y, -restitutionCoefficient * io_currentParticle.getVelocity().m_z));
    }

    //collision check for ZMax breach
    if (currentPosition.m_z > zMax)
    {
        hasCollisionOccured = true;

        //set position to boundary edge
        io_currentParticle.updatePosition(ngl::Vector(io_currentParticle.getPosition().m_x, io_currentParticle.getPosition().m_y, zMax));

        //calculate new velocity (reflect on face normal with restitution factor
        io_currentParticle.updateVelocity(ngl::Vector(io_currentParticle.getVelocity().m_x, io_currentParticle.getVelocity().m_y, -restitutionCoefficient * io_currentParticle.getVelocity().m_z));
    }

    return hasCollisionOccured;
}

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bool Environment::checkAndResolveCollisionWithObstacle	(	Particle &	io_currentParticle,
		Particle &	_obstacle
	)		[private]

handle collision between sphere/fluid and sphere

Parameters:

[in,out]	io_currentParticle	the particle affected by the collision resolution
[in]	_obstacle	the rigid body against which collision is checked

Definition at line 220 of file Environment.cpp.

References Particle::getPosition(), and Particle::getRadius().

{
    //assume no collision
    bool hasCollisionOccured = false;

    //initialise variables
    ngl::Vector X = io_currentParticle.getPosition();
    ngl::Vector C = _obstacle.getPosition();
    ngl::Vector XC = X - C;
    ngl::Vector CX = C - X;

    ngl::Real r = io_currentParticle.getRadius() + _obstacle.getRadius();

    //calculate implicit function value for a sphere
    ngl::Real Fx = XC.lengthSquared() - (r * r);

    if (Fx < 0)
    {
        //collision occured
        hasCollisionOccured = true;

        //calculate contact point
        ngl::Vector CP = C + (r * (XC / XC.length()));

        //calculate penetration depth
        ngl::Real depth = fabs(CX.length() - r);

        //calculate normal
        ngl::Vector n = (Fx < 0 ? -1 : Fx == 0 ? 0 : 1) * (CX / CX.length());

        //calculate new position and velocity for particle
        resolveCollision(io_currentParticle, CP, n, depth, m_obstacleRestitutionCoefficient);
    }

    return hasCollisionOccured;
}

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bool Environment::checkAndResolveCollisionWithObstacle	(	Particle &	io_currentParticle,
		Capsule &	_obstacle
	)		[private]

handle collision between sphere/fluid and capsule

Parameters:

[in,out]	io_currentParticle	the particle affected by the collision resolution
[in]	_obstacle	the rigid body against which collision is checked

Definition at line 261 of file Environment.cpp.

References Capsule::getHeight(), Capsule::getPoint1(), Capsule::getPoint2(), Particle::getPosition(), and Particle::getRadius().

{
    //assume no collision
    bool hasCollisionOccured = false;

    //initialise variables
    ngl::Vector X = io_currentParticle.getPosition();
    ngl::Vector C = _obstacle.getPosition();
    ngl::Vector XC = X - C;

    ngl::Real r = io_currentParticle.getRadius() + (_obstacle.getRadius() + _obstacle.getHeight());

    //calculate implicit function value for the bounding sphere
    ngl::Real FxSphere = XC.lengthSquared() - (r * r);

    if (FxSphere < 0)
    {
        //collision occured with bounding sphere -> capsule collision handling must be done

        //initialise capsule parameters
        ngl::Vector P0 = _obstacle.getPoint1();
        ngl::Vector P1 = _obstacle.getPoint2();

        ngl::Vector P0X = P0 - X;
        ngl::Vector P1P0 = P1 - P0;

        ngl::Real a = std::min(1.0, std::max(0.0, -1.0 * (P0X.dot(P1P0) / P1P0.lengthSquared())));
        ngl::Vector Q = P0 + (a * P1P0);

        r = io_currentParticle.getRadius() + _obstacle.getRadius();

        //calculate implicit function value for a capsule
        ngl::Real FxCapsule = (Q - X).length() - r;

        if (FxCapsule < 0)
        {
            //collision with capsule
            hasCollisionOccured = true;

            //calculate contact point
            ngl::Vector CP = Q + (r * ((X - Q) / (X - Q).length()));

            //calculate penetration depth
            ngl::Real depth = fabs(FxCapsule);

            //calculate normal
            ngl::Vector n = (FxCapsule < 0 ? -1 : FxCapsule == 0 ? 0 : 1) * ((Q - X) / (Q - X).length());

            //calculate new position and velocity for particle
            resolveCollision(io_currentParticle, CP, n, depth, m_obstacleRestitutionCoefficient);
        }
    }

    return hasCollisionOccured;
}

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void Environment::draw	(	ngl::TransformStack	_txStack,
		ShaderLibrary *	io_sman,
		const std::string	_boundaryShader,
		const std::string	_obstacleShader
	)

draws the obstacles

Parameters:

[in]	_txStack	the transform stack, used for pushing and popping opengl states
[in,out]	io_sman	the shader library, used for shading/rendering of the objects
[in]	_boundaryShader	the shader used for boundary drawing
[in]	_obstacleShader	the shader used for obstacle drawing

Definition at line 57 of file Environment.cpp.

References Particle::getColour(), Capsule::getHeight(), Capsule::getOrientationVector(), Capsule::getPoint1(), Capsule::getPoint2(), Particle::getPosition(), Particle::getRadius(), Configuration::s_boundaryColour, ShaderLibrary::updateColor(), and ShaderLibrary::updateModel().

{
    //draw boundary
    _txStack.pushTransform();
    {
        //pass vertex info to shader
        io_sman->updateModel(_boundaryShader, _txStack.getCurrAndGlobal().getMatrix(), false);

        //pass color info to shader
        io_sman->updateColor(_boundaryShader, Configuration::s_boundaryColour, false);

        m_boundaryBBox->draw();
    }
    _txStack.popTransform();

    //draw obstacles if enabled
    if (m_obstacleEnabled)
    {
        ngl::VBOPrimitives* prim = ngl::VBOPrimitives::instance();

        //draw sphere
        _txStack.pushTransform();
        {
            BOOST_FOREACH(Particle& obstacle, m_sphereObstacleList)
            {
                _txStack.getCurrentTransform().setPosition(obstacle.getPosition().m_x, obstacle.getPosition().m_y, obstacle.getPosition().m_z);
                _txStack.getCurrentTransform().setScale(obstacle.getRadius(), obstacle.getRadius(), obstacle.getRadius());

                //pass vertex info to shader
                io_sman->updateModel(_obstacleShader, _txStack.getCurrAndGlobal().getMatrix(), false);

                //pass color info to shader (dont update gradient)
                io_sman->updateColor(_obstacleShader, obstacle.getColour(), false);

                prim->draw("obstacleSphere");
            }
        }
        _txStack.popTransform();

        //draw capsule
        _txStack.pushTransform();
        {
            BOOST_FOREACH(Capsule& obstacle, m_capsuleObstacleList)
            {
                _txStack.getCurrentTransform().setScale(obstacle.getRadius(), obstacle.getRadius(), obstacle.getRadius());

                //pass color info to shader (dont update gradient)
                io_sman->updateColor(_obstacleShader, obstacle.getColour(), false);

                float step = (obstacle.getHeight() * 2.0) / m_capsuleResolution;
                for (float i = 0; i < obstacle.getHeight() * 2; i += step)
                {
                    ngl::Vector position = obstacle.getPoint1() + (i * obstacle.getOrientationVector());

                    //draw sphere
                    _txStack.getCurrentTransform().setPosition(position);

                    //pass vertex info to shader
                    io_sman->updateModel(_obstacleShader, _txStack.getCurrAndGlobal().getMatrix(), false);

                    prim->draw("obstacleSphere");
                }

                //draw sphere
                _txStack.getCurrentTransform().setPosition(obstacle.getPoint2());

                //pass vertex info to shader
                io_sman->updateModel(_obstacleShader, _txStack.getCurrAndGlobal().getMatrix(), false);

                prim->draw("obstacleSphere");
            }
        }
        _txStack.popTransform();
    }
}

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ngl::Real Environment::getAngleOfPeriodicWall

(

)

const [inline]

return the angle of the periodic wall sine function

Definition at line 126 of file Environment.h.

References m_angleOfPeriodicWall.

{ return m_angleOfPeriodicWall; }

bool Environment::getBoundaryBoundTop

(

)

const [inline]

return whether the top face of the boundary is closed

Definition at line 102 of file Environment.h.

References m_boundaryBoundTop.

{ return m_boundaryBoundTop; }

ngl::Vector Environment::getBoundaryDimension

(

)

const [inline]

return the boundary dimension

Definition at line 96 of file Environment.h.

References m_boundaryDimension.

{ return m_boundaryDimension; }

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std::vector< std::string > Environment::getBoundaryNameList

(

)

return a list of the boundary box name, used for caching

Definition at line 498 of file Environment.cpp.

{
    std::vector<std::string> list;
    list.push_back("box");

    return list;
}

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ngl::Vector Environment::getBoundaryPosition

(

)

const [inline]

return the boundary centre position

Definition at line 99 of file Environment.h.

References m_boundaryPosition.

{ return m_boundaryPosition; }

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std::vector< std::vector< ngl::Vector > > Environment::getBoundaryPositionList

(

)

return a 2d list of the faces of the boundary, used for caching

Definition at line 468 of file Environment.cpp.

References m_boundaryBBox.

{
    std::vector<std::vector<ngl::Vector> > positionList;

    std::vector<ngl::Vector> list;
    list.reserve(8);

    //determine bounds of box
    ngl::Real xMax = m_boundaryBBox->center().m_x + (m_boundaryBBox->width()/2.0f);
    ngl::Real xMin = m_boundaryBBox->center().m_x - (m_boundaryBBox->width()/2.0f);
    ngl::Real yMax = m_boundaryBBox->center().m_y + (m_boundaryBBox->height()/2.0f);
    ngl::Real yMin = m_boundaryBBox->center().m_y - (m_boundaryBBox->height()/2.0f);
    ngl::Real zMax = m_boundaryBBox->center().m_z + (m_boundaryBBox->depth()/2.0f);
    ngl::Real zMin = m_boundaryBBox->center().m_z - (m_boundaryBBox->depth()/2.0f);

    //add vertices anticlockwise direction (2 faces : lower, then uppper)
    list.push_back(ngl::Vector(xMin, yMin, zMin));
    list.push_back(ngl::Vector(xMax, yMin, zMin));
    list.push_back(ngl::Vector(xMax, yMin, zMax));
    list.push_back(ngl::Vector(xMin, yMin, zMax));
    list.push_back(ngl::Vector(xMin, yMax, zMin));
    list.push_back(ngl::Vector(xMax, yMax, zMin));
    list.push_back(ngl::Vector(xMax, yMax, zMax));
    list.push_back(ngl::Vector(xMin, yMax, zMax));

    positionList.push_back(list);

    return positionList;
}

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ngl::Real Environment::getBoundaryRestitutionCoefficientForFluid

(

)

const [inline]

return the restitution coefficient for fluid interaction with boundary

Definition at line 105 of file Environment.h.

References m_boundaryRestitutionCoefficientForFluid.

{ return m_boundaryRestitutionCoefficientForFluid; }

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ngl::Real Environment::getBoundaryRestitutionCoefficientForRBD

(

)

const [inline]

return the restitution coefficient for RBD interaction with boundary

Definition at line 108 of file Environment.h.

References m_boundaryRestitutionCoefficientForRBD.

{ return m_boundaryRestitutionCoefficientForRBD; }

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std::vector< std::string > Environment::getCapsuleNameList

(

)

return a list of the capsules id, used for caching

Definition at line 569 of file Environment.cpp.

References m_capsuleObstacleList.

{
    std::vector<std::string> list;

    //loop through capsule list
    for (int i = 0; i < m_capsuleObstacleList.size(); ++i)
    {
        list.push_back(boost::lexical_cast<std::string>(i));
    }

    return list;
}

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std::vector<Capsule>& Environment::getCapsuleObstacleList

(

)

[inline]

return the list of capsule RBD

Definition at line 89 of file Environment.h.

References m_capsuleObstacleList.

{ return m_capsuleObstacleList; }

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std::vector< std::vector< ngl::Vector > > Environment::getCapsulePositionList

(

)

return a 2d list of the position of capsules, used for caching

Definition at line 541 of file Environment.cpp.

References m_capsuleObstacleList, and m_capsuleResolution.

{
    std::vector<std::vector<ngl::Vector> > positionList;

    //loop through capsule list
    for (int i = 0; i < m_capsuleObstacleList.size(); ++i)
    {
        std::vector<ngl::Vector> list;

        float step = (m_capsuleObstacleList[i].getHeight() * 2.0) / m_capsuleResolution;
        for (float j = 0; j < m_capsuleObstacleList[i].getHeight() * 2; j += step)
        {
            //calculate position of intermediate sphere
            ngl::Vector position = m_capsuleObstacleList[i].getPoint1() + (j * m_capsuleObstacleList[i].getOrientationVector());

            //add position to small list
            list.push_back(position);
        }

        list.push_back(m_capsuleObstacleList[i].getPoint2());

        //add to big list
        positionList.push_back(list);
    }

    return positionList;
}

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int Environment::getCapsuleResolution

(

)

const [inline]

return the resolution of the capsule drawing

Definition at line 114 of file Environment.h.

References m_capsuleResolution.

{ return m_capsuleResolution; }

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bool Environment::getObstacleEnabled

(

)

const [inline]

return whether RBD interaction is enabled

Definition at line 93 of file Environment.h.

References m_obstacleEnabled.

{ return m_obstacleEnabled; }

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ngl::Real Environment::getObstacleRestitutionCoefficient

(

)

const [inline]

return the restitution coefficient for fluid interaction with RBD

Definition at line 111 of file Environment.h.

References m_obstacleRestitutionCoefficient.

{ return m_obstacleRestitutionCoefficient; }

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ngl::Real Environment::getPeriodicWallAngleIncrement

(

)

const [inline]

return the angle increment of the periodic wall sine function

Definition at line 129 of file Environment.h.

References m_periodicWallAngleIncrement.

{ return m_periodicWallAngleIncrement; }

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bool Environment::getPeriodicWallEnabled

(

)

const [inline]

return whether the boundary periodic wall is enabled

Definition at line 117 of file Environment.h.

References m_periodicWallEnabled.

{ return m_periodicWallEnabled; }

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ngl::Real Environment::getPeriodicWallMaxAmplitude

(

)

const [inline]

return the maximum amplitude of the periodic wall

Definition at line 120 of file Environment.h.

References m_periodicWallMaxAmplitude.

{ return m_periodicWallMaxAmplitude; }

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ngl::Real Environment::getPeriodicWallSpeed

(

)

const [inline]

return the angle speed factor of the periodic wall

Definition at line 123 of file Environment.h.

References m_periodicWallSpeed.

{ return m_periodicWallSpeed; }

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std::vector< std::string > Environment::getSphereNameList

(

)

return a list of the spheres id, used for caching

Definition at line 528 of file Environment.cpp.

References m_sphereObstacleList.

{
    std::vector<std::string> list;

    //loop through sphere list
    for (int i = 0; i < m_sphereObstacleList.size(); ++i)
    {
        list.push_back(boost::lexical_cast<std::string>(i));
    }

    return list;
}

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std::vector<Particle>& Environment::getSphereObstacleList

(

)

[inline]

return the list of sphere RBD

Definition at line 86 of file Environment.h.

References m_sphereObstacleList.

{ return m_sphereObstacleList; }

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std::vector< std::vector< ngl::Vector > > Environment::getSpherePositionList

(

)

return a 2d list of the position of spheres, used for caching

Definition at line 506 of file Environment.cpp.

References m_sphereObstacleList.

{
    std::vector<std::vector<ngl::Vector> > positionList;

    std::vector<ngl::Vector> list;
    list.reserve(m_sphereObstacleList.size());

    //loop through sphere list
    for (int i = 0; i < m_sphereObstacleList.size(); ++i)
    {
        std::vector<ngl::Vector> list;

        //add sphere position to list
        list.push_back(m_sphereObstacleList[i].getPosition());

        //add small list to big position list
        positionList.push_back(list);
    }

    return positionList;
}

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void Environment::loadGeometry

(

)

load vbo geometry

Definition at line 48 of file Environment.cpp.

{
    ngl::VBOPrimitives *prim=ngl::VBOPrimitives::instance();

    prim->createVBOSphere("obstacleSphere", 1, 16);
    prim->createVBOCylinder("obstacleCylinder", 1, 1, 15, 20);
}

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void Environment::resolveCollision	(	Particle &	io_currentParticle,
		const ngl::Vector	_contactPoint,
		const ngl::Vector	_normal,
		const ngl::Real	_penetrationDepth,
		const ngl::Real	_restitutionCoefficient
	)		[private]

perform the actual collision handling (calculation of new position and velocity) once collision is detected

Parameters:

[in,out]	io_currentParticle	the particle affected by the collision resolution
[in]	_contactPoint	the contact point of collision
[in]	_normal	the unit surface normal at the point of collision
[in]	_penetrationDepth	the penetration depth of collision
[in]	_restitutionCoefficient	the restitution coefficient used to calculate the new velocity

Definition at line 321 of file Environment.cpp.

References Particle::getVelocity(), Particle::updatePosition(), and Particle::updateVelocity().

{
    //new position r = contact point
    io_currentParticle.updatePosition(_contactPoint);

    //calculate new velocity
    //u = u - (1 + Cr)(u.n)n
    ngl::Real dot = _normal.dot(io_currentParticle.getVelocity());
    ngl::Vector vel = io_currentParticle.getVelocity() - ((1.0 + _restitutionCoefficient) * dot * _normal);
    io_currentParticle.updateVelocity(vel);
}

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void Environment::setAngleOfPeriodicWall

(

const ngl::Real

_v

)

[inline]

set the angle of the periodic wall sine function

Parameters:

[in]

_v

the new value

Definition at line 184 of file Environment.h.

References m_angleOfPeriodicWall.

{ m_angleOfPeriodicWall = _v; }

void Environment::setBoundaryBoundTop

(

const bool

_v

)

[inline]

set whether the top face of the boundary is closed

Parameters:

[in]

_v

the new flag

Definition at line 152 of file Environment.h.

References m_boundaryBoundTop.

{ m_boundaryBoundTop = _v; }

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void Environment::setBoundaryDimension

(

const ngl::Vector

_v

)

[inline]

set the boundary dimension

Parameters:

[in]

_v

the new value

Definition at line 139 of file Environment.h.

References m_boundaryBBox, m_boundaryDimension, and m_boundaryPosition.

    {
        m_boundaryDimension = _v;
        delete m_boundaryBBox;
        m_boundaryBBox = new ngl::BBox(m_boundaryPosition, m_boundaryDimension.m_x, m_boundaryDimension.m_y, m_boundaryDimension.m_z);
    }

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void Environment::setBoundaryPosition

(

ngl::Vector

_v

)

[inline]

set the boundary centre position

Parameters:

[in]

_v

the new value

Definition at line 148 of file Environment.h.

References m_boundaryBBox, and m_boundaryPosition.

{ m_boundaryPosition = _v; m_boundaryBBox->setCenter(_v); }

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void Environment::setBoundaryRestitutionCoefficientForFluid

(

const ngl::Real

_v

)

[inline]

set the restitution coefficient for fluid interaction with boundary

Parameters:

[in]

_v

the new value

Definition at line 156 of file Environment.h.

References m_boundaryRestitutionCoefficientForFluid.

{ m_boundaryRestitutionCoefficientForFluid = _v; }

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void Environment::setBoundaryRestitutionCoefficientForRBD

(

const ngl::Real

_v

)

[inline]

set the restitution coefficient for RBD interaction with boundary

Parameters:

[in]

_v

the new value

Definition at line 160 of file Environment.h.

References m_boundaryRestitutionCoefficientForRBD.

{ m_boundaryRestitutionCoefficientForRBD = _v; }

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void Environment::setCapsuleResolution

(

const int

_v

)

[inline]

set the resolution of the capsule drawing

Parameters:

[in]

_v

the new value

Definition at line 168 of file Environment.h.

References m_capsuleResolution.

{ m_capsuleResolution = _v; }

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void Environment::setObstacleEnabled

(

const bool

_v

)

[inline]

set whether RBD interaction is enabled

Parameters:

[in]

_v

the new flag

Definition at line 135 of file Environment.h.

References m_obstacleEnabled.

{ m_obstacleEnabled = _v; }

void Environment::setObstacleRestitutionCoefficient

(

const ngl::Real

_v

)

[inline]

set the restitution coefficient for fluid interaction with RBD

Parameters:

[in]

_v

the new value

Definition at line 164 of file Environment.h.

References m_obstacleRestitutionCoefficient.

{ m_obstacleRestitutionCoefficient = _v; }

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void Environment::setPeriodicWallAngleIncrement

(

const ngl::Real

_v

)

[inline]

set the angle increment of the periodic wall sine function

Parameters:

[in]

_v

the new value

Definition at line 188 of file Environment.h.

References m_periodicWallAngleIncrement.

{ m_periodicWallAngleIncrement = _v; }

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void Environment::setPeriodicWallEnabled

(

const bool

_v

)

[inline]

set whether the boundary periodic wall is enabled

Parameters:

[in]

_v

the new flag

Definition at line 172 of file Environment.h.

References m_periodicWallEnabled.

{ m_periodicWallEnabled = _v; }

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void Environment::setPeriodicWallMaxAmplitude

(

const ngl::Real

_v

)

[inline]

set the maximum amplitude of the periodic wall

Parameters:

[in]

_v

the new value

Definition at line 176 of file Environment.h.

References m_periodicWallMaxAmplitude.

{ m_periodicWallMaxAmplitude = _v; }

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void Environment::setPeriodicWallSpeed

(

const ngl::Real

_v

)

[inline]

set the angle speed factor of the periodic wall

Parameters:

[in]

_v

the new value

Definition at line 180 of file Environment.h.

References m_periodicWallSpeed.

{ m_periodicWallSpeed = _v; }

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void Environment::updateObstacles

(

Integration *

_integration

)

update the rigid bodies movements and rotations at every simulation iteration

Definition at line 138 of file Environment.cpp.

References checkAndResolveCollision(), Particle::getMoveable(), Integration::integrateNext(), m_capsuleObstacleList, m_obstacleEnabled, m_periodicWallEnabled, m_sphereObstacleList, Configuration::s_accelerationOfFreeFall, Particle::setAcceleration(), updatePeriodicBoundingBox(), and Capsule::updateRotation().

{
    //update periodic wall if enabled
    if (m_periodicWallEnabled) updatePeriodicBoundingBox();

    //obstacles movement and collision handling if enabled
    if (m_obstacleEnabled)
    {
        //update capsule obstacles
        BOOST_FOREACH(Capsule& obstacle, m_capsuleObstacleList)
        {
            if (obstacle.getMoveable())
            {
                //rotate capsule
                obstacle.updateRotation();

                //no collision check for capsule against others
            }
        }

        //update sphere obstacles
        BOOST_FOREACH(Particle& obstacle, m_sphereObstacleList)
        {
            //calculate acceleration due to gravity
            obstacle.setAcceleration(ngl::Vector(0, Configuration::s_accelerationOfFreeFall, 0));

            if (obstacle.getMoveable())
            {
                //determine next (position, velocity) of obstacle
                _integration->integrateNext(obstacle);

                //check and resolve collision
                bool hitBoundary; bool hitRBD;
                checkAndResolveCollision(obstacle, hitBoundary, hitRBD, true);
            }
        }

    }
}

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void Environment::updatePeriodicBoundingBox

(

)

[private]

update the periodic wall position at each iteration

Definition at line 445 of file Environment.cpp.

References m_angleOfPeriodicWall, m_boundaryBBox, m_boundaryDimension, m_boundaryPosition, m_periodicWallAngleIncrement, m_periodicWallMaxAmplitude, and m_periodicWallSpeed.

{
    //increment angle
    m_angleOfPeriodicWall += m_periodicWallAngleIncrement;

    //convert degrees to radians
    ngl::Real angle = m_angleOfPeriodicWall * (M_PI / 180.0);

    //get amplitude from sin function
    ngl::Real amplitude = sin(m_periodicWallSpeed * angle) * m_periodicWallMaxAmplitude;

    //determine new center
    ngl::Vector newCenter = m_boundaryPosition;
    newCenter.m_x += (amplitude / 2.0);

    //determine new box width
    ngl::Real newWidth = m_boundaryDimension.m_x + amplitude;

    //update bounding box (cannot resize it dynamically -> only way is to re-create it!!!!)
    delete m_boundaryBBox;
    m_boundaryBBox = new ngl::BBox(newCenter, newWidth, m_boundaryDimension.m_y, m_boundaryDimension.m_z);
}

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---

Member Data Documentation

ngl::Real Environment::m_angleOfPeriodicWall [private]

angle of the periodic wall sine function

Definition at line 235 of file Environment.h.

ngl::BBox* Environment::m_boundaryBBox [private]

boundary bounding box object used for collision handling

Definition at line 202 of file Environment.h.

bool Environment::m_boundaryBoundTop [private]

flag to determine if the top face of the boundary is closed

Definition at line 205 of file Environment.h.

ngl::Vector Environment::m_boundaryDimension [private]

boundary dimension

Definition at line 196 of file Environment.h.

ngl::Vector Environment::m_boundaryPosition [private]

boundary centre position

Definition at line 199 of file Environment.h.

ngl::Real Environment::m_boundaryRestitutionCoefficientForFluid [private]

restitution coefficient for fluid interaction with boundary

Definition at line 208 of file Environment.h.

ngl::Real Environment::m_boundaryRestitutionCoefficientForRBD [private]

restitution coefficient for RBD interaction with boundary

Definition at line 211 of file Environment.h.

std::vector<Capsule> Environment::m_capsuleObstacleList [private]

list of capsule RBD

Definition at line 220 of file Environment.h.

int Environment::m_capsuleResolution [private]

resolution of the capsule drawing (the number of spheres used to draw the capsule)

Definition at line 223 of file Environment.h.

bool Environment::m_obstacleEnabled [private]

flag to determine if RBD interaction is enabled

Definition at line 193 of file Environment.h.

ngl::Real Environment::m_obstacleRestitutionCoefficient [private]

restitution coefficient for fluid interaction with RBD

Definition at line 214 of file Environment.h.

ngl::Real Environment::m_periodicWallAngleIncrement [private]

angle increment of the periodic wall sine function

Definition at line 238 of file Environment.h.

bool Environment::m_periodicWallEnabled [private]

flag to determine whether the boundary periodic wall is enabled

Definition at line 226 of file Environment.h.

ngl::Real Environment::m_periodicWallMaxAmplitude [private]

maximum amplitude of the periodic wall

Definition at line 229 of file Environment.h.

ngl::Real Environment::m_periodicWallSpeed [private]

angle speed factor of the periodic wall

Definition at line 232 of file Environment.h.

std::vector<Particle> Environment::m_sphereObstacleList [private]

list of sphere RBD

Definition at line 217 of file Environment.h.

---

The documentation for this class was generated from the following files:

• include/Environment.h
• src/Environment.cpp