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mpm.cc
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#include <iostream>
#include <openvdb/openvdb.h>
#include <openvdb/tools/LevelSetSphere.h>
#include <openvdb/points/PointCount.h>
#include <openvdb/tools/Interpolation.h>
#include <openvdb/tools/VolumeAdvect.h>
#include <openvdb/tools/PointAdvect.h>
#include <openvdb/tools/PointScatter.h>
#include <openvdb/util/NullInterrupter.h>
#include <openvdb/points/PointConversion.h>
#include <openvdb/math/Transform.h>
#include <Eigen/Eigen>
#include <Eigen/Sparse>
#include <Eigen/SVD>
#include <Eigen/IterativeLinearSolvers>
#include <mutex>
#include <time.h>
#include "deformHeader.h"
clock_t end;
double cpu_time_used;
clock_t start = clock();
typedef Eigen::Triplet<double> Triplet;
double factor = 1.0;
double spline(double x)
{
x -= 0.5;
if (x < 0)
{
x *= -1.0*factor;
}
if (x < 0.5*factor)
{
return 1.0 * (4.0*x*x*x/(factor*factor*factor) - 4.0*x*x/(factor*factor) + 2.0/3.0);
}
if (x <= 1.0*factor)
{
return 1.0* ((-8.0 * (x * x * x)/(6.0*factor*factor*factor)) + 4.0*x*x/(factor*factor) - 4.0*x/(factor) + 4.0/3.0);
}
return 0;
}
bool isWithinBounds(openvdb::Coord xyz, int bound)
{
if (fabs(xyz.x()) > bound || fabs(xyz.y()) > bound || fabs(xyz.z()) > bound)
{
return false;
}
return true;
}
bool isSolid(openvdb::Coord xyz, openvdb::FloatGrid::Ptr solidGrid)
{
openvdb::FloatGrid::Accessor saccessor = solidGrid->getAccessor();
if (saccessor.getValue(xyz) == 1)
{
return true;
}
else
{
return false;
}
}
openvdb::Vec3d getVelocity(openvdb::Coord c, openvdb::Vec3dGrid::Ptr velocity)
{
openvdb::Coord ipjk(c.x()+1, c.y(), c.z());
openvdb::Coord ijpk(c.x(), c.y()+1, c.z());
openvdb::Coord ijkp(c.x(), c.y(), c.z()+1);
openvdb::Vec3dGrid::Accessor vaccessor = velocity->getAccessor();
openvdb::Vec3d vel = vaccessor.getValue(c);
double u = (vel.x() + vaccessor.getValue(ipjk).x())/2.0;
double v = (vel.y() + vaccessor.getValue(ijpk).y())/2.0;
double w = (vel.z() + vaccessor.getValue(ijkp).z())/2.0;
return openvdb::Vec3d(u, v, w);
}
openvdb::Vec3d clampedCatmullRom(openvdb::Vec3d c, openvdb::Vec3dGrid::Ptr velocity, int bound, openvdb::FloatGrid::Ptr fluidGrid)
{
int fcx = round(c.x());
int fcy = round(c.y());
int fcz = round(c.z());
int minx = fcx - 1 > -1 * bound ? fcx - 1 : -1 * bound;
int miny = fcy - 1 > -1 * bound ? fcy - 1 : -1 * bound;
int minz = fcz - 1 > -1 * bound ? fcz - 1 : -1 * bound;
int maxx = fcx + 1 < bound ? fcx + 1 : bound;
int maxy = fcy + 1 < bound ? fcy + 1 : bound;
int maxz = fcz + 1 < bound ? fcz + 1 : bound;
openvdb::Vec3dGrid::Accessor vaccessor = velocity->getAccessor();
openvdb::FloatGrid::Accessor faccessor = fluidGrid->getAccessor();
double u = 0;
double v = 0;
double w = 0;
double weight = 0;
openvdb::Vec3d velc = vaccessor.getValue(openvdb::Coord(fcx, fcy, fcz));
double minu = velc.x();
double minv = velc.y();
double minw = velc.z();
double maxu = velc.x();
double maxv = velc.y();
double maxw = velc.z();
for (int x = minx; x <= maxx; ++x)
{
for (int y = miny; y <= maxy; ++y)
{
for (int z = minz; z <= maxz; ++z)
{
if (isWithinBounds(openvdb::Coord(x, y, z), 13))
{
velc = getVelocity(openvdb::Coord(x, y, z), velocity);
minu = velc.x() < minu ? velc.x() : minu;
minv = velc.y() < minv ? velc.y() : minv;
minw = velc.z() < minw ? velc.z() : minw;
maxu = velc.x() > maxu ? velc.x() : maxu;
maxv = velc.y() > maxv ? velc.y() : maxv;
maxw = velc.z() > maxw ? velc.z() : maxw;
double mass = faccessor.getValue(openvdb::Coord(x, y, z));
// if (mass > 0)
// {
double cw = spline(c.x() - x) * spline(c.y() - y) * spline(c.z() - z);//should it be mass*?
weight += cw;
u += velc.x() * cw;
v += velc.y() * cw;
w += velc.z() * cw;
// }
}
}
}
}
// weight = 1.0;//experiment
if (weight != 0)
{
u /= weight;
v /= weight;
w /= weight;
}
else
{
return openvdb::Vec3d(0, 0, 0);
}
// u = u > maxu ? maxu : u;
// v = v > maxv ? maxv : v;
// w = w > maxw ? maxw : w;
// u = u < minu ? minu : u;
// v = v < minv ? minv : v;
// w = w < minw ? minw : w;
return openvdb::Vec3d(u, v, w);
}
openvdb::Vec3d CatmullRomFLIP(openvdb::Vec3d c, openvdb::Vec3d vel, openvdb::Vec3dGrid::Ptr velocity, int bound, openvdb::Vec3dGrid::Ptr velBeforeUpdate, openvdb::FloatGrid::Ptr fluidGrid, openvdb::FloatGrid::Ptr solidGrid)
{
int fcx = round(c.x());
int fcy = round(c.y());
int fcz = round(c.z());
int minx = fcx - 1 > -1 * bound ? fcx - 1 : -1 * bound;
int miny = fcy - 1 > -1 * bound ? fcy - 1 : -1 * bound;
int minz = fcz - 1 > -1 * bound ? fcz - 1 : -1 * bound;
int maxx = fcx + 1 < bound ? fcx + 1 : bound;
int maxy = fcy + 1 < bound ? fcy + 1 : bound;
int maxz = fcz + 1 < bound ? fcz + 1 : bound;
openvdb::Vec3dGrid::Accessor vaccessor = velocity->getAccessor();
openvdb::Vec3dGrid::Accessor vpaccessor = velBeforeUpdate->getAccessor();
openvdb::FloatGrid::Accessor faccessor = fluidGrid->getAccessor();
double weight = 0;
openvdb::Vec3d velc;
openvdb::Vec3d velp;
openvdb::Vec3d delta(0, 0, 0);
for (int x = minx; x <= maxx; ++x)
{
for (int y = miny; y <= maxy; ++y)
{
for (int z = minz; z <= maxz; ++z)
{
if(isWithinBounds(openvdb::Coord(x, y, z), 13))
{
velc = getVelocity(openvdb::Coord(x, y, z), velocity);
velp = getVelocity(openvdb::Coord(x, y, z), velBeforeUpdate);
double mass = faccessor.getValue(openvdb::Coord(x, y, z));
// if (mass > 0.1)
// {
double cw = spline(c.x() - x) * spline(c.y() - y) * spline(c.z() - z);//should it be mass*?
// cw = mass;
weight += cw;
// cw = 1.0;
// weight = 1.0;//experi
// The difference is not between current particle velocity and grid velocity, but it's between previous and current grid velocities
delta += (velc - velp) * cw;
// }
}
}
}
}
if (weight == 0)
{
return openvdb::Vec3d(0, 0, 0);
}
return delta/weight;
}
void p2gCatmullRom(openvdb::Vec3d c, openvdb::Vec3d velc, openvdb::Vec3dGrid::Ptr velocity, openvdb::FloatGrid::Ptr weights, int bound, std::mutex ***locks, openvdb::FloatGrid::Ptr solidGrid)
{
int fcx = round(c.x());
int fcy = round(c.y());
int fcz = round(c.z());
int minx = fcx - 1 > -1 * bound ? fcx - 1 : -1 * bound;
int miny = fcy - 1 > -1 * bound ? fcy - 1 : -1 * bound;
int minz = fcz - 1 > -1 * bound ? fcz - 1 : -1 * bound;
int maxx = fcx + 1 < bound ? fcx + 1 : bound;
int maxy = fcy + 1 < bound ? fcy + 1 : bound;
int maxz = fcz + 1 < bound ? fcz + 1 : bound;
openvdb::Vec3dGrid::Accessor vaccessor = velocity->getAccessor();
openvdb::FloatGrid::Accessor waccessor = weights->getAccessor();
for (int x = minx; x <= maxx; ++x)
{
for (int y = miny; y <= maxy; ++y)
{
for (int z = minz; z <= maxz; ++z)
{
openvdb::Coord tc = openvdb::Coord(x, y, z);
if (!isSolid(tc, solidGrid) && isWithinBounds(tc, bound - 2))
{
locks[x+bound][y+bound][z+bound].lock();
double cw = spline(c.x() - x) * spline(c.y() - y) * spline(c.z() - z);
waccessor.setValue(tc, waccessor.getValue(tc) + cw);
vaccessor.setValue(tc, vaccessor.getValue(tc) + cw * velc);
locks[x+bound][y+bound][z+bound].unlock();
}
}
}
}
}
void extrapolate(openvdb::Vec3dGrid::Ptr velocity, openvdb::BoolGrid::Ptr defined, int bound, openvdb::FloatGrid::Ptr solidGrid)
{
openvdb::Int32Grid::Ptr numTimesDefined = openvdb::Int32Grid::create();
openvdb::Int32Grid::Accessor ndaccessor = numTimesDefined->getAccessor();
numTimesDefined->fill(openvdb::CoordBBox(openvdb::Coord(-1 * bound), openvdb::Coord(bound)), 0);
numTimesDefined->tree().voxelizeActiveTiles();
openvdb::BoolGrid::Accessor daccessor = defined->getAccessor();
openvdb::Vec3dGrid::Accessor vaccessor = velocity->getAccessor();
std::vector<openvdb::Coord> definedCoord;
for(int x = -15; x <=15; x++)
{
for(int y = -15; y <=15; y++)
{
for (int z = -15; z <= 15; z++)
{
openvdb::Coord c = openvdb::Coord(x, y, z);
if (daccessor.getValue(c) && !isSolid(c, solidGrid) && isWithinBounds(c, 13))
{
int minx = c.x() == -1*bound ? c.x() : c.x() - 1;
int miny = c.y() == -1*bound ? c.y() : c.y() - 1;
int minz = c.z() == -1*bound ? c.z() : c.z() - 1;
int maxx = c.x() == bound ? c.x() : c.x() + 1;
int maxy = c.y() == bound ? c.y() : c.y() + 1;
int maxz = c.z() == bound ? c.z() : c.z() + 1;
for (int i = minx; i <= maxx; ++i)
{
for (int j = miny; j <= maxy; ++j)
{
for (int k = minz; k <= maxz; ++k)
{
openvdb::Coord neighbour = openvdb::Coord(i, j, k);
if (!daccessor.getValue(neighbour))
{
if (ndaccessor.getValue(neighbour) == 0)
{
definedCoord.push_back(neighbour);
}
ndaccessor.setValue(neighbour, ndaccessor.getValue(neighbour) + 1);
vaccessor.setValue(neighbour, vaccessor.getValue(c) + vaccessor.getValue(neighbour));
}
}
}
}
}
}
}
}
for (int i = 0; i < definedCoord.size(); ++i)
{
vaccessor.setValue(definedCoord[i], vaccessor.getValue(definedCoord[i])/ndaccessor.getValue(definedCoord[i]));
daccessor.setValue(definedCoord[i], true);
}
while(definedCoord.size())
{
std::vector<openvdb::Coord> tempCoord;
for (int iter = 0; iter < definedCoord.size(); ++iter)
{
openvdb::Coord c = definedCoord[iter];
int minx = c.x() == -1*bound ? c.x() : c.x() - 1;
int miny = c.y() == -1*bound ? c.y() : c.y() - 1;
int minz = c.z() == -1*bound ? c.z() : c.z() - 1;
int maxx = c.x() == bound ? c.x() : c.x() + 1;
int maxy = c.y() == bound ? c.y() : c.y() + 1;
int maxz = c.z() == bound ? c.z() : c.z() + 1;
for (int i = minx; i <= maxx; ++i)
{
for (int j = miny; j <= maxy; ++j)
{
for (int k = minz; k <= maxz; ++k)
{
openvdb::Coord neighbour = openvdb::Coord(i, j, k);
if (!daccessor.getValue(neighbour))
{
if (ndaccessor.getValue(neighbour) == 0)
{
tempCoord.push_back(neighbour);
}
ndaccessor.setValue(neighbour, ndaccessor.getValue(neighbour) + 1);
vaccessor.setValue(neighbour, vaccessor.getValue(c) + vaccessor.getValue(neighbour));
}
}
}
}
}
for (int i = 0; i < tempCoord.size(); ++i)
{
vaccessor.setValue(tempCoord[i], vaccessor.getValue(tempCoord[i])/ndaccessor.getValue(tempCoord[i]));
daccessor.setValue(tempCoord[i], true);
}
definedCoord.clear();
definedCoord = tempCoord;
}
}
struct PointList
{
std::vector<openvdb::Vec3d> positions;
std::vector<openvdb::Vec3d> velocities;
std::vector<Eigen::Matrix3d> FEvec;
std::vector<Eigen::Matrix3d> FPvec;
std::vector<Eigen::Matrix3d> gradV;
std::vector<double> volume;
std::vector<bool> initializedVelocities;
openvdb::FloatGrid::Ptr weights;
openvdb::BoolGrid::Ptr defined;
std::mutex ***locks;
std::map<std::pair<int, int>, Eigen::Matrix3d> mapMatrix;
int boundary;
PointList(){};
void populateMatrices(Eigen::SparseMatrix<double> &A, Eigen::VectorXd &b, double beta, double dt, int numActive, openvdb::Int32Grid::Ptr indices, openvdb::FloatGrid::Ptr solidGrid, openvdb::Vec3dGrid::Ptr gridForces, openvdb::FloatGrid::Ptr fluid, openvdb::Vec3dGrid::Ptr velocity, openvdb::Vec3d gravity)
{
openvdb::FloatGrid::Accessor faccessor = fluid->getAccessor();
openvdb::Vec3dGrid::Accessor vaccessor = velocity->getAccessor();
openvdb::Vec3dGrid::Accessor gaccessor = gridForces->getAccessor();
openvdb::Int32Grid::Accessor indaccessor = indices->getAccessor();
std::vector<Triplet> tripletList;
double maxForceCoeff = 0;
double maxForceCoeff2 = 0;
double maxMi = 0;
bool yes = false;
openvdb::Vec3d Force;
// Again hardcoded according to boundary
for (int x = -15; x <= 15; ++x)
{
for (int y = -15; y <= 15; ++y)
{
for (int z = -15; z <= 15; ++z)
{
openvdb::Coord xi(x, y, z);
double mi = faccessor.getValue(xi);
int k = indaccessor.getValue(xi);
if (mi > 0.1)
{
yes = true;
openvdb::Vec3d v = vaccessor.getValue(xi);
openvdb::Vec3d f = gaccessor.getValue(xi);
double maxf = std::max(fabs(f.x()), std::max(fabs(f.y()), fabs(f.z())));
if (maxf > maxForceCoeff)
{
maxForceCoeff = maxf;
}
if (maxf/mi > maxForceCoeff2)
{
maxForceCoeff2 = maxf/mi;
maxMi = mi;
Force = dt*f/mi;
}
Eigen::Vector3d vs(v.x() + dt*((1.0/mi)*f.x() + gravity.x()), v.y() + dt*((1.0/mi)*f.y() + gravity.y()), v.z() + dt*((1.0/mi)*f.z()+gravity.z()));
b[k*3] = vs(0);
b[k*3+1] = vs(1);
b[k*3+2] = vs(2);
}
}
}
}
std::cout << "Max Force " << Force << " " << maxMi << " " << maxForceCoeff2 << " " << yes << std::endl;
for(std::map<std::pair<int, int>, Eigen::Matrix3d>::iterator it = mapMatrix.begin(); it != mapMatrix.end(); it++)
{
Eigen::Matrix3d mt;
int i = it->first.first;
int j = it->first.second;
if (i == j)
{
mt = Eigen::Matrix3d::Identity() + beta*dt*dt*(it->second);
}
else
{
mt = beta*dt*dt*(it->second);
}
for (int p = 0; p < 3; ++p)
{
for (int q = 0; q < 3; ++q)
{
tripletList.push_back(Triplet(i*3+p, j*3+q, mt(p,q)));
}
}
}
std::cout << "GARR" << std::endl;
A.setFromTriplets(tripletList.begin(), tripletList.end());
std::cout << "after" << std::endl;
}
void initialize(int bound, openvdb::math::Transform::Ptr trans)
{
weights = openvdb::FloatGrid::create();
weights->setTransform(trans);
boundary = bound;
weights->fill(openvdb::CoordBBox(openvdb::Coord(-1 * boundary), openvdb::Coord(boundary)), 0);
weights->tree().voxelizeActiveTiles();
defined = openvdb::BoolGrid::create();
defined->setTransform(trans);
defined->fill(openvdb::CoordBBox(openvdb::Coord(-1 * boundary), openvdb::Coord(boundary)), false);
defined->tree().voxelizeActiveTiles();
locks = new std::mutex**[2*boundary+1];
for (int i = 0; i < (2*boundary+1); ++i)
{
locks[i] = new std::mutex*[2*boundary+1];
for (int j = 0; j < (2*boundary+1); ++j)
{
locks[i][j] = new std::mutex[(2*boundary+1)*(2*boundary+1)];
}
}
}
openvdb::Index64 size() const { return openvdb::Index64(positions.size()); }
// Bad approach used here
void add(const openvdb::Vec3d &p)
{
if(fabs(p.x()) < boundary - 2 && fabs(p.y()) < boundary - 2 && fabs(p.z()) < boundary - 2)
{
positions.push_back(p);
// if (p.y() > -11)
// {
// velocities.push_back(openvdb::Vec3d(0, 20, 0));
// }
// else
// {
// velocities.push_back(openvdb::Vec3d(0, 0, 0));
// }
velocities.push_back(openvdb::Vec3d(0, -50, 0));
initializedVelocities.push_back(false);
FEvec.push_back(Eigen::Matrix3d::Identity());
FPvec.push_back(Eigen::Matrix3d::Identity());
gradV.push_back(Eigen::Matrix3d::Zero());
volume.push_back(0.0);
}
}
void updateDeformationGradient(openvdb::Vec3dGrid::Ptr velocity, openvdb::FloatGrid::Ptr solidGrid, double dt, double dx, double thetac, double thetas)
{
double minv = 1 - thetac;
double maxv = 1 + thetas;
// for (int i = 0; i < size(); ++i)
// {
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
openvdb::Vec3dGrid::Accessor vaccessor = velocity->getAccessor();
openvdb::Vec3d c = positions[i];
int fcx = round(c.x());
int fcy = round(c.y());
int fcz = round(c.z());
openvdb::Coord fv(fcx, fcy, fcz);
openvdb::Vec3d fvv(fcx, fcy, fcz);
int minx = fcx - 1 > -1 * boundary ? fcx - 1 : -1 * boundary;
int miny = fcy - 1 > -1 * boundary ? fcy - 1 : -1 * boundary;
int minz = fcz - 1 > -1 * boundary ? fcz - 1 : -1 * boundary;
int maxx = fcx + 1 < boundary ? fcx + 1 : boundary;
int maxy = fcy + 1 < boundary ? fcy + 1 : boundary;
int maxz = fcz + 1 < boundary ? fcz + 1 : boundary;
gradV[i] = Eigen::Matrix3d::Zero();
for (int x = minx; x <= maxx; ++x)
{
for (int y = miny; y <= maxy; ++y)
{
for (int z = minz; z <= maxz; ++z)
{
openvdb::Coord tc = openvdb::Coord(x, y, z);
if (!isSolid(tc, solidGrid))
{
// Eigen::Vector3d gradSpline = getGradW(tc, c);
Eigen::Vector3d gradSpline = getGradW(tc, c);
openvdb::Vec3d vel = vaccessor.getValue(tc);
Eigen::Vector3d evel(vel.x(), vel.y(), vel.z());
Eigen::Matrix3d gradient = evel * gradSpline.transpose();
// Eigen::Matrix3d gradient = getGradV(tc, p, dx, velocity);
gradV[i] += gradient;
}
}
}
}
});
// }
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
// for (int i = 0; i < size(); ++i)
// {
Eigen::Matrix3d tFE = (Eigen::Matrix3d::Identity() + dt * gradV[i]) * FEvec[i];
Eigen::Matrix3d F = tFE * FPvec[i];
Eigen::JacobiSVD<Eigen::Matrix3d> svd(tFE, Eigen::ComputeThinU | Eigen::ComputeThinV);
// Eigen::Matrix3d singular = svd.singularValues();
Eigen::Vector3d singular = svd.singularValues();
singular(0) = singular(0) > minv ? singular(0) : minv;
singular(0) = singular(0) < maxv ? singular(0) : maxv;
singular(1) = singular(1) > minv ? singular(1) : minv;
singular(1) = singular(1) < maxv ? singular(1) : maxv;
singular(2) = singular(2) > minv ? singular(2) : minv;
singular(2) = singular(2) < maxv ? singular(2) : maxv;
FEvec[i] = svd.matrixU() * singular.asDiagonal() * svd.matrixV().transpose();
FPvec[i] = svd.matrixV() * singular.asDiagonal().inverse() * svd.matrixU().transpose() * F;
});
// }
double maxGrad = 0;
double maxFe = 0;
double maxFp = 0;
for (int i = 0; i < size(); ++i)
{
double t = std::max(gradV[i].maxCoeff(), -1*gradV[i].minCoeff());
double t2 = FPvec[i].determinant();
double t3 = FEvec[i].determinant();
if (t2 < 0)
{
std::cout << "FP determinant negative!!!" << std::endl;
}
if (maxGrad < t)
{
maxGrad = t;
}
if (maxFp < t2)
{
maxFp = t2;
}
if (maxFe < t3)
{
maxFe = t3;
}
}
std::cout << "MAX " << maxGrad << " " << maxFp << " " << maxFe << std::endl;
}
void populateGridForces(openvdb::Vec3dGrid::Ptr gridForces, openvdb::Int32Grid::Ptr indices, openvdb::FloatGrid::Ptr solidGrid, openvdb::FloatGrid::Ptr fluid, int numActive, double mu, double lambda, double epsilon, double dx)
{
std::cout << "GAH" << std::endl;
mapMatrix.clear();
openvdb::Vec3dGrid::Accessor gaccessor = gridForces->getAccessor();
openvdb::FloatGrid::Accessor faccessor = fluid->getAccessor();
openvdb::Int32Grid::Accessor indaccessor = indices->getAccessor();
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
// for (int i = 0; i < size(); ++i)
// {
// Eigen::JacobiSVD<Eigen::Matrix3d> svd(FEvec[i], Eigen::ComputeThinU | Eigen::ComputeThinV);
openvdb::Vec3d c = positions[i];
int fcx = round(c.x());
int fcy = round(c.y());
int fcz = round(c.z());
openvdb::Coord fv(fcx, fcy, fcz);
openvdb::Vec3d fvv(fcx, fcy, fcz);
int minx = fcx - 1 > -1 * boundary ? fcx - 1 : -1 * boundary;
int miny = fcy - 1 > -1 * boundary ? fcy - 1 : -1 * boundary;
int minz = fcz - 1 > -1 * boundary ? fcz - 1 : -1 * boundary;
int maxx = fcx + 1 < boundary ? fcx + 1 : boundary;
int maxy = fcy + 1 < boundary ? fcy + 1 : boundary;
int maxz = fcz + 1 < boundary ? fcz + 1 : boundary;
Eigen::Matrix3d sigma = getSigma(mu, lambda, epsilon, FEvec[i], FPvec[i]);
for (int x = minx; x <= maxx; ++x)
{
for (int y = miny; y <= maxy; ++y)
{
for (int z = minz; z <= maxz; ++z)
{
openvdb::Coord tc = openvdb::Coord(x, y, z);
if (!isSolid(tc, solidGrid))
{
double mi = faccessor.getValue(tc);
Eigen::Vector3d gradSpline = getGradW(tc, c);
// Eigen::Vector3d gradSpline = getGradW(tc, fvv);
Eigen::Vector3d eforce = -1*volume[i]*sigma*gradSpline;
// double maxef = std::max(fabs(eforce.x()), std::max())
openvdb::Vec3d force(eforce(0), eforce(1), eforce(2));
// openvdb::Vec3d wipj(0, -1.0*mi*gravity.y()*spline(tc.x() - c.x())*spline(tc.y() - c.y())*(spline(tc.z() - c.z())), 0);
// Eigen::Vector3d eterm2 = -1.0*mi*gravity.y()*(tc.y()+15)*gradSpline;
// Eigen::Vector3d eterm2 = -1.0*mi*gravity.y()*(c.y()+15)*gradSpline;
// openvdb::Vec3d term2(eterm2(0), eterm2(1), eterm2(2));
locks[x+boundary][y+boundary][z+boundary].lock();
// gaccessor.setValue(tc, gaccessor.getValue(tc) + force + term2);
gaccessor.setValue(tc, gaccessor.getValue(tc) + force);
locks[x+boundary][y+boundary][z+boundary].unlock();
}
}
}
}
});
// }
double maxsigma = 0;
for (int i = 0; i < size(); ++i)
{
// Eigen::Matrix3d sigmat = getSigma(mu, lambda, epsilon, FEvec[i], FPvec[i]);
// maxsigma = std::max(maxsigma, sigmat.maxCoeff());
// maxsigma = std::max(maxsigma, -1* sigmat.minCoeff());
openvdb::Vec3d c = positions[i];
int fcx = round(c.x());
int fcy = round(c.y());
int fcz = round(c.z());
int minx = fcx - 1 > -1 * boundary ? fcx - 1 : -1 * boundary;
int miny = fcy - 1 > -1 * boundary ? fcy - 1 : -1 * boundary;
int minz = fcz - 1 > -1 * boundary ? fcz - 1 : -1 * boundary;
int maxx = fcx + 1 < boundary ? fcx + 1 : boundary;
int maxy = fcy + 1 < boundary ? fcy + 1 : boundary;
int maxz = fcz + 1 < boundary ? fcz + 1 : boundary;
for (int x = minx; x <= maxx; ++x)
{
for (int y = miny; y <= maxy; ++y)
{
for (int z = minz; z <= maxz; ++z)
{
openvdb::Coord xi = openvdb::Coord(x, y, z);
double mi = faccessor.getValue(xi);
if (!isSolid(xi, solidGrid) && mi > 0.1)
{
for (int x2 = minx; x2 <= maxx; ++x2)
{
for (int y2 = miny; y2 <= maxy; ++y2)
{
for (int z2 = minz; z2 <= maxz; ++z2)
{
openvdb::Coord xj = openvdb::Coord(x2, y2, z2);
if (!isSolid(xj, solidGrid) && faccessor.getValue(xj) > 0.1)
{
// hardcoded according to solid boundaries
int indexi = indaccessor.getValue(xi);
int indexj = indaccessor.getValue(xj);
std::pair<int, int> tp = std::make_pair(indexi, indexj);
if (mapMatrix.find(tp) == mapMatrix.end())
{
mapMatrix[tp] = Eigen::Matrix3d::Zero();
}
mapMatrix[tp] += (1.0/mi)*volume[i]*getdPsydx2(xi, xj, c, FEvec[i], FPvec[i], lambda, mu, epsilon);
}
}
}
}
}
}
}
}
}
std::cout << "DAH" << std::endl;
}
void updateVelocity(Eigen::VectorXd ans, openvdb::Int32Grid::Ptr indices, openvdb::Vec3dGrid::Ptr velocity, openvdb::Vec3dGrid::Ptr gridForces, double dt, openvdb::Vec3d gravity, openvdb::FloatGrid::Ptr fluid, openvdb::FloatGrid::Ptr solidGrid)
{
openvdb::Vec3dGrid::Accessor vaccessor = velocity->getAccessor();
openvdb::Vec3dGrid::Accessor gaccessor = gridForces->getAccessor();
openvdb::FloatGrid::Accessor faccessor = fluid->getAccessor();
openvdb::Int32Grid::Accessor indaccessor = indices->getAccessor();
openvdb::Vec3d zero(0,0,0);
for(int x = -15; x <=15; x++)
{
for(int y = -15; y <=15; y++)
{
for (int z = -15; z <= 15; z++)
{
openvdb::Coord c = openvdb::Coord(x, y, z);
if (!isSolid(c, solidGrid))
{
// vaccessor.setValue(c, vaccessor.getValue(c) + dt * (gaccessor.getValue(c) / faccessor.getValue(c)));
if (faccessor.getValue(c) > 0.1)
{
int index = indaccessor.getValue(c);
vaccessor.setValue(c, openvdb::Vec3d(ans(3*index), ans(3*index+1), ans(3*index+2)));
}
else
{
vaccessor.setValue(c, openvdb::Vec3d(0,0,0));
}
// vaccessor.setValue(c, vaccessor.getValue(c) + dt * (gravity - gaccessor.getValue(c)));
// vaccessor.setValue(c, vaccessor.getValue(c) + dt * (gravity));
}
}
}
}
}
void findVolume(openvdb::FloatGrid::Ptr fluid, openvdb::FloatGrid::Ptr solidGrid)
{
openvdb::FloatGrid::Accessor faccessor = fluid->getAccessor();
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
openvdb::Vec3d c = positions[i];
int fcx = round(c.x());
int fcy = round(c.y());
int fcz = round(c.z());
int minx = fcx - 1 > -1 * boundary ? fcx - 1 : -1 * boundary;
int miny = fcy - 1 > -1 * boundary ? fcy - 1 : -1 * boundary;
int minz = fcz - 1 > -1 * boundary ? fcz - 1 : -1 * boundary;
int maxx = fcx + 1 < boundary ? fcx + 1 : boundary;
int maxy = fcy + 1 < boundary ? fcy + 1 : boundary;
int maxz = fcz + 1 < boundary ? fcz + 1 : boundary;
for (int x = minx; x <= maxx; ++x)
{
for (int y = miny; y <= maxy; ++y)
{
for (int z = minz; z <= maxz; ++z)
{
openvdb::Coord tc = openvdb::Coord(x, y, z);
if (!isSolid(tc, solidGrid))
{
volume[i] += faccessor.getValue(tc) * spline(c.x() - tc.x()) * spline(c.y() - tc.y()) * spline(c.z() - tc.z());
}
}
}
}
volume[i] = 1.0/volume[i];
});
}
void interpolate(openvdb::FloatGrid::Ptr containerGrid, openvdb::FloatGrid::Ptr solidGrid)
{
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
openvdb::Vec3d c = positions[i];
int fcx = round(c.x());
int fcy = round(c.y());
int fcz = round(c.z());
int minx = fcx - 1 > -1 * boundary ? fcx - 1 : -1 * boundary;
int miny = fcy - 1 > -1 * boundary ? fcy - 1 : -1 * boundary;
int minz = fcz - 1 > -1 * boundary ? fcz - 1 : -1 * boundary;
int maxx = fcx + 1 < boundary ? fcx + 1 : boundary;
int maxy = fcy + 1 < boundary ? fcy + 1 : boundary;
int maxz = fcz + 1 < boundary ? fcz + 1 : boundary;
openvdb::FloatGrid::Accessor caccessor = containerGrid->getAccessor();
for (int x = minx; x <= maxx; ++x)
{
for (int y = miny; y <= maxy; ++y)
{
for (int z = minz; z <= maxz; ++z)
{
openvdb::Coord tc = openvdb::Coord(x, y, z);
double cw = spline(c.x() - x) * spline(c.y() - y) * spline(c.z() - z);
if (!isSolid(tc, solidGrid) && cw > 0)
{
locks[x+boundary][y+boundary][z+boundary].lock();
caccessor.setValue(tc, caccessor.getValue(tc) + cw);
locks[x+boundary][y+boundary][z+boundary].unlock();
}
}
}
}
});
}
void interpFromGrid(openvdb::Vec3dGrid::Ptr velocity, int bound, openvdb::FloatGrid::Ptr fluidGrid)
{
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
if (!initializedVelocities[i])
{
openvdb::Vec3d position = positions[i];
openvdb::Vec3d vel = clampedCatmullRom(position, velocity, bound, fluidGrid);
velocities[i] = vel;
initializedVelocities[i] = true;
}
});
}
void initializeAllVelocities()
{
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
initializedVelocities[i] = true;
});
}
void advect(double maxTimeStep, double dx, double ×tep, openvdb::Vec3dGrid::Ptr velocity, int bound, openvdb::FloatGrid::Ptr fluidGrid, openvdb::FloatGrid::Ptr solidGrid)
{
double e = 0.5;
double maxSpeed = 0.0;
std::mutex l;
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
openvdb::Vec3d vel = clampedCatmullRom(positions[i], velocity, bound, fluidGrid);
// positions[i] = position;
velocities[i] = vel;
if (maxSpeed < velocities[i].length())
{
l.lock();
if (maxSpeed < velocities[i].length())
{
maxSpeed = velocities[i].length();
}
l.unlock();
}
});
if (maxSpeed != 0)
{
timestep = maxTimeStep < dx/maxSpeed ? maxTimeStep : dx/maxSpeed;
}
else
{
timestep = maxTimeStep;
}
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
openvdb::Vec3d position = positions[i];
position += timestep * velocities[i];
int rx = round(position.x());
int ry = round(position.y());
int rz = round(position.z());
openvdb::Coord rcoord = openvdb::Coord(rx, ry, rz);
if (isSolid(rcoord, solidGrid))
{
openvdb::Vec3d vx = openvdb::Vec3d(velocities[i].x() * timestep, 0, 0);
openvdb::Vec3d vy = openvdb::Vec3d(0, velocities[i].y() * timestep, 0);
openvdb::Vec3d vz = openvdb::Vec3d(0, 0, velocities[i].z() * timestep);
if (isSolid(openvdb::Coord(round((positions[i]+vx).x()), positions[i].y(), positions[i].z()), solidGrid))
{
velocities[i].x() *= -1.0*e;
// velocities[i].x() *= 0;
}
if (isSolid(openvdb::Coord(positions[i].x(), round((positions[i]+vy).y()), positions[i].z()), solidGrid))
{
velocities[i].y() *= -1.0*e;
// velocities[i].y() *= 0;
}
if (isSolid(openvdb::Coord(positions[i].x(), positions[i].y(), round((positions[i]+vz).z())), solidGrid))
{
velocities[i].z() *= -1.0*e;
// velocities[i].z() *= 0;
}
// positions[i] += velocities[i]*timestep;
positions[i] += velocities[i]*timestep;
}
else
{
positions[i] = position;
}
}
);
}
void FLIPadvect(double maxTimeStep, double dx, double ×tep, openvdb::Vec3dGrid::Ptr velocity, int bound, openvdb::Vec3dGrid::Ptr velBeforeUpdate, openvdb::FloatGrid::Ptr fluidGrid, openvdb::FloatGrid::Ptr solidGrid, openvdb::Vec3dGrid::Ptr normals)
{
double e = 0.0;
openvdb::Vec3dGrid::Accessor naccessor = normals->getAccessor();
double maxSpeed = 0.0;
std::mutex l;
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
openvdb::Vec3d vel = CatmullRomFLIP(positions[i], velocities[i], velocity, bound, velBeforeUpdate, fluidGrid, solidGrid);
velocities[i] += vel;
if (maxSpeed < velocities[i].length())
{
l.lock();
if (maxSpeed < velocities[i].length())
{
maxSpeed = velocities[i].length();
}
l.unlock();
}
});
if (maxSpeed != 0)
{
timestep = maxTimeStep < dx/maxSpeed ? maxTimeStep : dx/maxSpeed;
}
else
{
timestep = maxTimeStep;
}
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
openvdb::Vec3d position = positions[i];
position += timestep * velocities[i];
// Code to take care of stuck particles
int rx = position.x() > 0 ? ceil(position.x()) : floor(position.x());
int ry = position.y() > 0 ? ceil(position.y()) : floor(position.y());
int rz = position.z() > 0 ? ceil(position.z()) : floor(position.z());
openvdb::Coord rcoord = openvdb::Coord(rx, ry, rz);
if (isSolid(rcoord, solidGrid))
{
if (isSolid(openvdb::Coord(rx, positions[i].y(), positions[i].z()), solidGrid))
{
velocities[i].x() *= -1.0*e;
}
if (isSolid(openvdb::Coord(positions[i].x(), ry, positions[i].z()), solidGrid))
{
velocities[i].y() *= -1.0*e;
}
if (isSolid(openvdb::Coord(positions[i].x(), positions[i].y(), rz), solidGrid))
{
velocities[i].z() *= -1.0*e;
}
positions[i] += velocities[i]*timestep;
}
else
{
positions[i] = position;
}
}
);
}
void P2Gtransfer(openvdb::Vec3dGrid::Ptr velocity, openvdb::FloatGrid::Ptr solidGrid, openvdb::FloatGrid::Ptr fluid)
{
weights->fill(openvdb::CoordBBox(openvdb::Coord(-1 * boundary), openvdb::Coord(boundary)), 0);
defined->fill(openvdb::CoordBBox(openvdb::Coord(-1 * boundary), openvdb::Coord(boundary)), false);
openvdb::BoolGrid::Accessor daccessor = defined->getAccessor();
openvdb::Vec3dGrid::Accessor vaccessor = velocity->getAccessor();
for(int x = -15; x <=15; x++)
{
for(int y = -15; y <=15; y++)
{
for (int z = -15; z <= 15; z++)
{
openvdb::Coord c = openvdb::Coord(x, y, z);
if (fabs(c.x()) > 13 || fabs(c.y()) > 13 || fabs(c.z()) > 13 || isSolid(c, solidGrid))
{
daccessor.setValue(c, true);
}
}
}
}
tbb::parallel_for( size_t(0), size(), [&]( size_t i )
{
p2gCatmullRom(positions[i], velocities[i], velocity, weights, boundary, locks, solidGrid);
});
// openvdb::FloatGrid::Accessor waccessor = weights->getAccessor();
openvdb::FloatGrid::Accessor waccessor = fluid->getAccessor();
for(int x = -15; x <=15; x++)
{
for(int y = -15; y <=15; y++)
{
for (int z = -15; z <= 15; z++)