VS2010+OpenInventor-弹性模拟

#include "Scene.h" #include "Primitives.h" #include "Exercise.h" #include "Vec2.h" #include <iostream> using namespace std; #include <Inventor/nodes/SoMaterial.h> #include <Inventor/nodes/SoSeparator.h> #include <Inventor/SbTime.h> int Scene::xPoints=5; int Scene::yPoints=5; int Scene::zPoints=5; float Scene::xSize=1.0f; float Scene::ySize=1.0f; float Scene::zSize=1.0f; float Scene::step=0.01f; float Scene::mass=1.0f; float Scene::stiffness=10.0f; float Scene::damping=0.01f; Scene::Method Scene::method=EULER_MODIF; Scene::Testcase Scene::testcase=SPRING1D; Scene::Scene(void) { Init(); PrintSettings(); } //some default call: -testcase hanging -method Euler -stiff 10 -mass 0.1 -step 0.003 -damp 0.01 Scene::Scene(int argc, char* argv[]) { // defaults: testcase = SPRING1D; method = EULER_MODIF; stiffness = 10.0f; mass = 0.1f; step = 0.003f; damping = 0.01f; int arg=1; while(arg<argc) { //Testcase if(!strcmp(argv[arg], "-testcase")) { arg++; //for(unsigned int i=0; i<strlen(argv[arg]); i++) argv[arg][i] = tolower(argv[arg][i]); if(!strcmp(argv[arg], "hanging")) { testcase=HANGING; } else if(!strcmp(argv[arg], "spring1d")) { testcase=SPRING1D; } else { cerr << "Unrecognized testcase " << argv[arg] << endl; exit(1); } arg++; } //Integration method else if(!strcmp(argv[arg], "-method")) { arg++; //for(unsigned int i=0; i<strlen(argv[arg]); i++) argv[arg][i] = tolower(argv[arg][i]); if(!strcmp(argv[arg], "euler")) { method=EULER; } else if(!strcmp(argv[arg], "backeuler")) { method=BACK_EULER; } else if(!strcmp(argv[arg], "eulermodif")) { method=EULER_MODIF; } else if(!strcmp(argv[arg], "midpoint")) { method=MIDPOINT; } else { cerr << "Unrecognized method " << argv[arg] << endl; exit(1); } arg++; } //Object size else if(!strcmp(argv[arg], "-size")) { xPoints=atoi(argv[++arg]); yPoints=atoi(argv[++arg]); zPoints=atoi(argv[++arg]); arg++; } //Step size else if(!strcmp(argv[arg], "-step")) { step=(float)atof(argv[++arg]); arg++; } //Stiffness else if(!strcmp(argv[arg], "-stiff")) { stiffness=(float)atof(argv[++arg]); arg++; } //Damping else if(!strcmp(argv[arg], "-damp")) { damping=(float)atof(argv[++arg]); arg++; } //Mass else if(!strcmp(argv[arg], "-mass")) { mass=(float)atof(argv[++arg]); arg++; } //Others else { //Print instructions cerr << endl << "Unrecognized option " << argv[arg] << endl; cerr << "Usage: Test.exe -[option1] [settings] -[option2] [settings] ..." << endl; cerr << "Options:" << endl; cerr << "\t-testcase [spring1d,hanging,falling,circle]" << endl; cerr << "\t-method [Euler,LeapFrog,Midpoint,BackEuler]" << endl; cerr << "\t-step [step size in secs]" << endl; cerr << "\t-stiff [stiffness value]" << endl; cerr << "\t-damp [damping value]" << endl << endl; break; } } PrintSettings(); Init(); } Scene::~Scene(void) { } void Scene::PrintSettings(void) { cerr << endl << "Current Settings:" << endl; cerr << "\t-testcase " << (int)testcase << endl; if(method==BACK_EULER) { cerr << "\t-method BackEuler" << endl; } else if(method==MIDPOINT) { cerr << "\t-method Midpoint" << endl; } else if(method==EULER) { cerr << "\t-method Euler" << endl; } else if(method==EULER_MODIF) { cerr << "\t-method EulerModif" << endl; } else { cerr << "\t-method ?" << endl; } cerr << "\t-mass " << mass << endl; cerr << "\t-step " << step << endl; cerr << "\t-stiff " << stiffness << endl; cerr << "\t-damp " << damping << endl << endl; } void Scene::Init(void) { //Animation settings pause=true; //Create points & springs if(testcase == SPRING1D) { nPoints=2; } else nPoints=3; //Allocate vector points.reserve(nPoints); for(int i=0; i<nPoints; i++) { points.push_back(new Sphere()); } const float pi=3.1416f; Vec2 c(0.0f, 0.0f); Vec2 zero(0.0f, 0.0f); p1 = c + Vec2(0, 1); p2 = c + Vec2(cos(210.0f/180.0f*pi), sin(210.0f/180.0f*pi)); p3 = c + Vec2(cos(330.0f/180.0f*pi), sin(330.0f/180.0f*pi)); v1 = v2 = v3 = zero; L = (p1-p2).length(); if(testcase == SPRING1D) { p2 = 0.5f*c; L = (p1-p2).length(); } points[0]->position = SbVec3f(p1[0],p1[1], 0.); points[0]->fixed=true; points[1]->position = SbVec3f(p2[0],p2[1], 0.); if(nPoints > 2) { points[2]->position = SbVec3f(p3[0],p3[1], 0.); } //Create spheres and transformations spheres.reserve(nPoints); pointXForms.reserve(nPoints); for(int i=0; i<nPoints; i++) { spheres.push_back(new SoSphere()); spheres[i]->radius.setValue(0.15f/(float)xPoints); spheres[i]->setUserData(points[i]); pointXForms.push_back(new SoTranslation()); pointXForms[i]->translation.setValue(points[i]->position); } nSprings=3; if(nPoints == 2) { nSprings=1; } //Allocate vector springs.reserve(nSprings); for(int i=0; i<nSprings; i++) { springs.push_back(new Tube()); } springs[0]->Initialize(points[0],points[1]); if(nPoints>2) { springs[1]->Initialize(points[1],points[2]); springs[2]->Initialize(points[2],points[0]); } //Create cylinders and transformations cylinders.reserve(nSprings); springXForms.reserve(nSprings); for(int i=0; i<nSprings; i++) { cylinders.push_back(new SoCylinder()); cylinders[i]->radius.setValue(0.05f/(float)xPoints); cylinders[i]->height.setValue(springs[i]->length); cylinders[i]->setUserData(springs[i]); springXForms.push_back(new SoTransform()); springXForms[i]->pointAt(springs[i]->position, springs[i]->x->position); } } void Scene::Update(void) { if(pause) { return; } //Perform animation switch(testcase) { case SPRING1D: AdvanceTimeStep1(stiffness, mass, damping, L, step, method, p1[1], v1[1], p2[1], v2[1]); break; case HANGING: AdvanceTimeStep2(stiffness, mass, damping, L, step, method, p1, v1, p2, v2, p3, v3); break; } points[0]->position = SbVec3f(p1[0],p1[1], 0.); points[1]->position = SbVec3f(p2[0],p2[1], 0.); if(nPoints>2) { points[2]->position = SbVec3f(p3[0],p3[1], 0.); } for(int i=0; i<nSprings; i++) springs[i]->Update(); //Update the rendering objects for(int i=0; i<nPoints; i++) { //Update sphere xform based on point pointXForms[i]->translation.setValue(points[i]->position); } for(int i=0; i<nSprings; i++) { //Update cylinder xform based on spring springXForms[i]->pointAt(springs[i]->position, springs[i]->x->position); //Update cylinder length cylinders[i]->height=springs[i]->length; } // reduce frame rate a bit SbTime t = SbTime::getTimeOfDay(); while(SbTime::getTimeOfDay().getValue()-t.getValue()<0.00125) { // delay } } void Scene::Add(SoSeparator *root) { //Add separator for moving points SoSeparator *pointSeparator=new SoSeparator; ro