Vessel.cpp

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#include "Vessel.h"
 
#include "Quat.h"
 
#include <GLSurfaceVisualModule.h>
#include "GLPhotorealisticInstanceRender.h"
 
#include "GltfFunc.h"
 
namespace dyno
{
    template<typename TDataType>
    Vessel<TDataType>::Vessel()
        : RigidBody<TDataType>()
    {
        this->varDensity()->setRange(1.0f, 10000.0f);
 
        auto callback = std::make_shared<FCallBackFunc>(std::bind(&Vessel<TDataType>::transform, this));
        this->varLocation()->attach(callback);
        this->varScale()->attach(callback);
        this->varRotation()->attach(callback);
 
        auto EnvelopeRender = std::make_shared<GLSurfaceVisualModule>();
        EnvelopeRender->setColor(Color(0.8f, 0.8f, 0.8f));
        this->stateEnvelope()->promoteOuput()->connect(EnvelopeRender->inTriangleSet());
        this->graphicsPipeline()->pushModule(EnvelopeRender);
        EnvelopeRender->setVisible(false);
 
 
        auto texMeshRender = std::make_shared<GLPhotorealisticInstanceRender>();
        this->stateTextureMesh()->connect(texMeshRender->inTextureMesh());
        this->stateInstanceTransform()->connect(texMeshRender->inTransform());
        this->graphicsPipeline()->pushModule(texMeshRender);
 
 
        auto evenlopeLoader = std::make_shared<FCallBackFunc>(
            [=]() {
                std::string name = this->varEnvelopeName()->getValue().string();
                bool succeed = mInitialEnvelope.loadObjFile(name);
 
                if (succeed)
                {
                    auto envelope = this->stateEnvelope()->getDataPtr();
 
                    envelope->copyFrom(mInitialEnvelope);
 
                    envelope->scale(this->varScale()->getValue());
                    envelope->rotate(this->varRotation()->getValue() * M_PI / 180);
                    envelope->translate(this->varLocation()->getValue());
                }
 
 
            }
        );
        evenlopeLoader->update();
 
        this->varEnvelopeName()->attach(evenlopeLoader);
 
        auto textureMeshLoader = std::make_shared<FCallBackFunc>(
            [=]() {
                std::string filepath = this->varTextureMeshName()->getValue().string();
                std::shared_ptr<TextureMesh> texMesh = this->stateTextureMesh()->getDataPtr();
                loadGLTFTextureMesh(texMesh, filepath);
            }
        );
 
        this->varTextureMeshName()->attach(textureMeshLoader);
 
        this->varDensity()->setValue(150.0f);
        this->varBarycenterOffset()->setValue(Vec3f(0.0f, 0.0f, -0.5f));
    }
 
    template<typename TDataType>
    Vessel<TDataType>::~Vessel()
    {
 
    }
 
    template<typename TDataType>
    NBoundingBox Vessel<TDataType>::boundingBox()
    {
        NBoundingBox box;
 
        mInitialEnvelope.requestBoundingBox(box.lower, box.upper);
 
        return box;
    }
 
    template<typename TDataType>
    void Vessel<TDataType>::resetStates()
    {
        if (this->stateEnvelope()->isEmpty()) this->stateEnvelope()->allocate();
        if (this->stateTextureMesh()->isEmpty()) this->stateTextureMesh()->allocate();
 
        std::string envFileName = getAssetPath() + "obj/boat_boundary.obj";
        if (this->varEnvelopeName()->getValue() != envFileName) {
            this->varEnvelopeName()->setValue(FilePath(envFileName));
        }
 
        std::string texMeshName = getAssetPath() + "gltf/SailBoat/SailBoat.gltf";
        if (this->varTextureMeshName()->getValue() != texMeshName) {
            this->varTextureMeshName()->setValue(FilePath(texMeshName));
        }
 
        this->transform();
 
        auto texMesh = this->stateTextureMesh()->constDataPtr();
 
        //Initialize states for the rigid body
        {
            Coord lo;
            Coord hi;
 
            if (mInitialEnvelope.isEmpty())
                return;
 
            mInitialEnvelope.requestBoundingBox(lo, hi);
 
            Coord scale = this->varScale()->getValue();
 
            mShapeCenter = 0.5f * (hi + lo);
 
 
            Real lx = hi.x - lo.x;
            Real ly = hi.y - lo.y;
            Real lz = hi.z - lo.z;
 
            Real rho = this->varDensity()->getData();
            Real mass = rho * lx * ly * lz;
 
            //Calculate mass using the bounding box
            Matrix inertia = 1.0f / 12.0f * mass
                * Mat3f(ly * ly + lz * lz, 0, 0,
                    0, lx * lx + lz * lz, 0,
                    0, 0, lx * lx + ly * ly);
 
 
            Coord location = this->varLocation()->getValue();
            Coord rot = this->varRotation()->getValue();
 
            auto quat = this->computeQuaternion();
            auto offset = this->varBarycenterOffset()->getValue();
 
            this->stateMass()->setValue(mass);
            this->stateCenter()->setValue(location + mShapeCenter);
            this->stateBarycenter()->setValue(location + mShapeCenter + quat.rotate(offset));
            this->stateVelocity()->setValue(Vec3f(0));
            this->stateAngularVelocity()->setValue(Vec3f(0));
            this->stateInertia()->setValue(inertia);
            this->stateQuaternion()->setValue(quat);
            this->stateInitialInertia()->setValue(inertia);
        }
 
        RigidBody<TDataType>::resetStates();
    }
 
    template<typename TDataType>
    void Vessel<TDataType>::updateStates()
    {
        RigidBody<TDataType>::updateStates();
 
        auto center = this->stateCenter()->getValue();
        auto quat = this->stateQuaternion()->getValue();
        auto scale = this->varScale()->getValue();
 
        auto offset = this->varBarycenterOffset()->getValue();
 
        this->stateBarycenter()->setValue(center + quat.rotate(offset));
 
        auto buoy = this->stateEnvelope()->getDataPtr();
        buoy->copyFrom(mInitialEnvelope);
        buoy->rotate(quat);
        buoy->scale(scale);
        buoy->translate(center - mShapeCenter);
 
        auto texMesh = this->stateTextureMesh()->getDataPtr();
        {
 
            uint N = texMesh->shapes().size();
 
            CArrayList<Transform3f> tms;
            tms.assign(this->stateInstanceTransform()->constData());
 
            for (uint i = 0; i < tms.size(); i++)
            {
                auto& list = tms[i];
                for (uint j = 0; j < list.size(); j++)
                {
                    list[j].translation() = center + quat.rotate(texMesh->shapes()[i]->boundingTransform.translation() * scale) - mShapeCenter; //
                    list[j].rotation() = quat.toMatrix3x3();
                    list[j].scale() = scale;
                }
 
            }
 
            auto instantanceTransform = this->stateInstanceTransform()->getDataPtr();
            instantanceTransform->assign(tms);
 
            tms.clear();
 
        }
    }
 
    template<typename TDataType>
    void Vessel<TDataType>::transform()
    {
 
        Coord location = this->varLocation()->getValue();
        Coord rot = this->varRotation()->getValue();
        Coord scale = this->varScale()->getValue();
 
        auto quat = this->computeQuaternion();
 
        auto envelope = this->stateEnvelope()->getDataPtr();
        envelope->copyFrom(mInitialEnvelope);
        envelope->scale(scale);
        envelope->rotate(quat);
        envelope->translate(location);
 
        if (this->stateTextureMesh()->isEmpty())
            return;
 
        auto texMesh = this->stateTextureMesh()->constDataPtr();
        {
            uint N = texMesh->shapes().size();
 
            CArrayList<Transform3f> tms;
            tms.resize(N, 1);
 
            for (uint i = 0; i < N; i++)
            {
                Transform3f t = texMesh->shapes()[i]->boundingTransform;
 
                tms[i].insert(Transform3f(t.translation() * scale + location, quat.toMatrix3x3(), t.scale() * scale));
            }
 
            if (this->stateInstanceTransform()->isEmpty())
            {
                this->stateInstanceTransform()->allocate();
            }
 
            auto instantanceTransform = this->stateInstanceTransform()->getDataPtr();
            instantanceTransform->assign(tms);
 
            tms.clear();
        }
    }
 
    DEFINE_CLASS(Vessel);
}