tsmathlib/src/physics/particle_system.ts

Typescript Version Math/Physics/CG Library

/*
 * @Author: Xu.Wang
 * @Date: 2020-04-03 18:18:27
 * @Last Modified by: Xu.Wang
 * @Last Modified time: 2020-04-16 18:37:59
 */
import { ParticleSystemData } from './particle_system_data'
import { Vector3 } from '../math/vector3'
import { PHY_GRAVITY } from './physics_constants'
import { clamp } from '../math/math_utils'
import { ConstantVectorField } from '../math/vector_field'
import { Collider } from './collider'
import { BoundingBox } from './bounding_box'
import { BccPointGenerator } from '../generator'
import { Point3 } from '../math'

export class ParticleSystem  {
  _dragCoefficient: number = 1e-4
  _restitutionCoefficient: number = 0.0
  _gravity: Vector3 = new Vector3(0.0, PHY_GRAVITY, 0.0)

  _collider?: Collider

  _wind: ConstantVectorField

  _particleSystemData: ParticleSystemData
  _newPositions: Array<Vector3> = new Array<Vector3>()
  _newVelocities: Array<Vector3> = new Array<Vector3>()
  _newForces: Array<Vector3> = new Array<Vector3>()

  _pointsGen: BccPointGenerator

  constructor(radius: number = 1e-3, mass: number = 1e-3) {
    this._particleSystemData = new ParticleSystemData(radius, mass)
    this._wind = new ConstantVectorField(new Vector3(0.0, 0.0, 0.0))
    this._pointsGen = new BccPointGenerator()
  }

  collider() {
    return this._collider
  }

  setCollider(newCollider: Collider) {
    this._collider = newCollider
  }

  resolveCollision() {
    if (this._collider !== undefined) {
      let numberOfParticles = this._particleSystemData.numberOfParticles()
      let radius = this._particleSystemData.particleRadius()

      for (let idx = 0; idx < numberOfParticles; idx++) {
        let result = this._collider.resolveCollision(
          radius,
          this._restitutionCoefficient,
          this._newPositions[idx],
          this._newVelocities[idx]
        )
            // console.log(this._newPositions[idx],result.position)
        this._newPositions[idx] = result.pos
        this._newVelocities[idx] = result.vel
      }
    }
  }

  setParticleSystemData(newParticles: ParticleSystemData) {
    this._particleSystemData = newParticles
  }

  particleSystemData(): ParticleSystemData {
    return this._particleSystemData
  }
  dragCoefficient(): number {
    return this._dragCoefficient
  }

  setDragCoefficient(newDragCoefficient: number) {
    this._dragCoefficient = Math.max(newDragCoefficient, 0.0)
  }

  restitutionCoefficient(): number {
    return this._restitutionCoefficient
  }

  setRestitutionCoefficient(newRestitutionCoefficient: number) {
    this._restitutionCoefficient = clamp(newRestitutionCoefficient, 0.0, 1.0)
  }

  gravity(): Vector3 {
    return this._gravity
  }

  setGravity(newGravity: Vector3) {
    this._gravity = newGravity
  }

  calcExternalForces() {
    let n = this._particleSystemData.numberOfParticles()
    let forces = this._particleSystemData.forces()
    let velocities = this._particleSystemData.velocities()
    let positions = this._particleSystemData.positions()
    let mass = this._particleSystemData.particleMass()
    for (let idx = 0; idx < n; idx++) {
      let forceGravity = this._gravity.mul(mass)
      let forceWind = velocities[idx].sub(this._wind.sample(positions[idx]))
      let force = forceGravity.sub(forceWind.mul(this._dragCoefficient))
      forces[idx] = forces[idx].add(force)
    }
  }

  timeIntegration(timeStepInSeconds: number) {
    let n = this._particleSystemData.numberOfParticles()
    let forces = this._particleSystemData.forces()
    let velocities = this._particleSystemData.velocities()
    let positions = this._particleSystemData.positions()
    let mass = this._particleSystemData.particleMass()

    for (let i = 0; i < n; i++) {
      // Integrate velocity first
      this._newVelocities[i] = velocities[i].add(
        forces[i].mul(timeStepInSeconds).div(mass)
      )

      // Integrate position.
      this._newPositions[i] = positions[i].add(
        this._newVelocities[i].mul(timeStepInSeconds)
      )
    }
  }


  // ! add bcc-box structure particles
  addBccBox(bbox: BoundingBox, bOffset: boolean = false) {
    let spacing = this.particleSystemData().particleRadius() * 2.0
    let points = new Array<Point3>()

    this._pointsGen.generate(bbox, spacing, points, bOffset)

    let p = new Array<Vector3>(points.length)
    let v = new Array<Vector3>(points.length)
    let f = new Array<Vector3>(points.length)
    for (let idx = 0; idx < points.length; idx++) {
      p[idx] = points[idx].toVector3()
      v[idx] = new Vector3()
      f[idx] = new Vector3()
    }
    this.particleSystemData().addParticles(p, v, f)
  }

    allocateBuffers() {
          // Allocate buffers
    let n = this._particleSystemData.numberOfParticles()
    this._newPositions = new Array<Vector3>(n)
    this._newVelocities = new Array<Vector3>(n)
    this._newForces = new Array<Vector3>(n)
    }
    
    updateParticlesData() {
    // Update data
    let n = this._particleSystemData.numberOfParticles()
    let positions = this._particleSystemData.positions()
    let velocities = this._particleSystemData.velocities()

    for (let index = 0; index < n; index++) {
      positions[index] = this._newPositions[index]
      velocities[index] = this._newVelocities[index]
    }
  }

  // Overridable Method
  onBeginAdvanceTimeStep(_: number) {
    // console.log('onBeginAdvanceTimeStep:', timeStepInSeconds)
  }

  onEndAdvanceTimeStep(_: number) {
    // console.log('onEndAdvanceTimeStep:', timeStepInSeconds)
  }
}