Implement Compatible Particle-In-Cel (CPIC) Particle-Rigid-Body Coupling

examples2d/basic2.rs

@@ -33,11 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
     for i in 0..=n {
         heigths.push(-(i as f32 * std::f32::consts::PI / (n as f32)).sin());
     }
-    colliders.insert(
-        ColliderBuilder::heightfield(heigths.into(), vector![2.0, 1.0])
-            .translation(vector![0.5, 1.5])
-            .build(),
-    );
+    colliders.insert(ColliderBuilder::heightfield(heigths.into(), vector![2.0, 1.0]).build());
 
     for _ in 0..1 {
         let snow_model = models.insert(ParticleModel::with_plasticity(
@@ -47,7 +43,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
         let snow = helper::sample_shape(
             &*SharedShape::cuboid(0.1, 0.2), // w, w / 2.0),
-            Isometry::translation(cell_width * 40.0, ground_shift + 0.6 + 0.2),
+            Isometry::translation(-0.2, -0.6),
             snow_model,
             cell_width / 4.0,
             1000.0,
@@ -64,7 +60,8 @@ pub fn init_world(testbed: &mut Testbed) {
 
         for p in &mut sand {
             p.model = sand_model;
-            p.position.y += 0.5;
+            p.position.x += 0.4;
+            p.position.y += 0.4;
         }
         particles.insert_batch(sand);
     }
@@ -89,14 +86,14 @@ pub fn init_world(testbed: &mut Testbed) {
     let shape = SharedShape::convex_decomposition(&star, &indices);
 
     let model = ParticleModel::with_failure(
-        CorotatedLinearElasticity::new(1.0e5, 0.2),
+        CorotatedLinearElasticity::new(1.0e5, -0.2),
         MaximumStressFailure::new(1.0e5, Real::MAX),
     );
     let star_model = models.insert(model);
 
     let star = helper::sample_shape(
         &*shape.0,
-        Isometry::translation(cell_width * 40.0, 1.7),
+        Isometry::translation(0.0, 0.0),
         star_model,
         cell_width / 4.0,
         4000.0,
@@ -114,7 +111,8 @@ pub fn init_world(testbed: &mut Testbed) {
         ImpulseJointSet::new(),
         MultibodyJointSet::new(),
     );
-    testbed.integration_parameters_mut().dt = 1.0 / 60.0;
+    testbed.integration_parameters_mut().dt = 1.0 / 120.0;
+    testbed.look_at(Point::new(0.0, -0.3), 400.0);
 }
 
 fn main() {

examples2d/cube_through_sand2.rs

@@ -0,0 +1,84 @@
+use crate::helper;
+use na::{point, vector};
+use rapier2d::prelude::*;
+use rapier_testbed2d::{Testbed, TestbedApp};
+use sparkl2d::cuda::CudaColliderOptions;
+use sparkl2d::prelude::*;
+use sparkl2d::third_party::rapier::MpmTestbedPlugin;
+
+pub fn init_world(testbed: &mut Testbed) {
+    let mut models = ParticleModelSet::new();
+    let mut particles = ParticleSet::new();
+    let mut colliders = ColliderSet::new();
+    let mut bodies = RigidBodySet::new();
+
+    let cell_width = 0.1;
+    let particle_rad = cell_width / 2.0;
+    let particles_width = 100;
+    let particles_height = 50;
+
+    let height_offset = 10.0 * particle_rad;
+    let width = 30.0;
+    let height = (particles_height as f32 + 1.0) * particle_rad * 2.0;
+    let thickness = 3.0 * cell_width;
+
+    colliders.insert(
+        ColliderBuilder::cuboid(width, thickness)
+            .translation(vector![0.0, -thickness])
+            .build(),
+    );
+
+    let block_body = RigidBodyBuilder::new(RigidBodyType::Dynamic)
+        .translation(vector![-3.0, 2.0])
+        .linvel(vector![10.0, 0.0])
+        .angvel(0.0)
+        .gravity_scale(1.0)
+        .build();
+
+    let block_collider = ColliderBuilder::cuboid(1.0, 1.0).density(10000.0).build();
+
+    let block_body_handle = bodies.insert(block_body);
+    let block_collider_handle =
+        colliders.insert_with_parent(block_collider, block_body_handle, &mut bodies);
+
+    let collider_options = vec![CudaColliderOptions {
+        handle: block_collider_handle,
+        enable_cdf: true,
+        ..Default::default()
+    }];
+
+    let sand_model = models.insert(ParticleModel::with_plasticity(
+        CorotatedLinearElasticity::new(1.0e6, 0.2),
+        DruckerPragerPlasticity::new(1.0e6, 0.2),
+    ));
+
+    let block1 = helper::cube_particles(
+        point![5.0 - (particles_width as f32) * particle_rad, height_offset],
+        particles_width,
+        particles_height,
+        sand_model,
+        particle_rad,
+        1000.0,
+        false,
+    );
+
+    particles.insert_batch(block1);
+
+    let mut plugin = MpmTestbedPlugin::new(models, particles, cell_width);
+    plugin.solver_params.force_fluids_volume_recomputation = true;
+    plugin.collider_options = collider_options;
+    testbed.add_plugin(plugin);
+    testbed.set_world(
+        bodies,
+        colliders,
+        ImpulseJointSet::new(),
+        MultibodyJointSet::new(),
+    );
+    testbed.integration_parameters_mut().dt = 1.0 / 60.0;
+    testbed.look_at(Point::new(0.0, 3.0), 30.0);
+}
+
+fn main() {
+    let testbed = TestbedApp::from_builders(0, vec![("Elasticity", init_world)]);
+    testbed.run()
+}

examples2d/cutting_sand2.rs

@@ -0,0 +1,83 @@
+use crate::helper;
+use na::{point, vector};
+use rapier2d::prelude::*;
+use rapier_testbed2d::{Testbed, TestbedApp};
+use sparkl2d::cuda::CudaColliderOptions;
+use sparkl2d::prelude::*;
+use sparkl2d::third_party::rapier::MpmTestbedPlugin;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut models = ParticleModelSet::new();
+    let mut particles = ParticleSet::new();
+    let mut colliders = ColliderSet::new();
+
+    let cell_width = 0.1;
+    let particle_rad = cell_width / 2.0;
+    let particles_width = 100;
+    let particles_height = 50;
+
+    let height_offset = 100.0 * particle_rad;
+    let width = 30.0;
+    let height = (particles_height as f32 + 1.0) * particle_rad * 2.0;
+    let thickness = 3.0 * cell_width;
+
+    colliders.insert(
+        ColliderBuilder::cuboid(width, thickness)
+            .translation(vector![0.0, -thickness])
+            .build(),
+    );
+
+    let collider_handle = colliders.insert(
+        ColliderBuilder::polyline(vec![point![0.0, 0.0], point![0.0, height]], None).build(),
+    );
+
+    const NU: Real = 0.2;
+    const E: Real = 1.0e6;
+
+    let plasticity = DruckerPragerPlasticity::new(E, NU);
+    let sand_model = models.insert(ParticleModel::with_plasticity(
+        CorotatedLinearElasticity::new(E, NU),
+        plasticity,
+    ));
+
+    let block1 = helper::cube_particles(
+        point![-(particles_width as f32) * particle_rad, height_offset],
+        particles_width,
+        particles_height,
+        sand_model,
+        particle_rad,
+        1000.0,
+        false,
+    );
+
+    particles.insert_batch(block1);
+
+    let bodies = RigidBodySet::new();
+
+    let collider_options = vec![CudaColliderOptions {
+        handle: collider_handle,
+        enable_cdf: true,
+        ..Default::default()
+    }];
+
+    let mut plugin = MpmTestbedPlugin::new(models, particles, cell_width);
+    plugin.solver_params.force_fluids_volume_recomputation = true;
+    plugin.collider_options = collider_options;
+    testbed.add_plugin(plugin);
+    testbed.set_world(
+        bodies,
+        colliders,
+        ImpulseJointSet::new(),
+        MultibodyJointSet::new(),
+    );
+    testbed.integration_parameters_mut().dt = 1.0 / 60.0;
+    testbed.look_at(Point::new(0.0, 3.0), 30.0);
+}
+
+fn main() {
+    let testbed = TestbedApp::from_builders(0, vec![("Elasticity", init_world)]);
+    testbed.run()
+}

examples2d/elasticity2.rs

@@ -21,29 +21,34 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut particles = ParticleSet::new();
     let mut models = ParticleModelSet::new();
+    let mut colliders = ColliderSet::new();
 
     let cell_width = 0.05;
-    let mut colliders = ColliderSet::new();
-    let ground_height = cell_width * 10.0;
-    let ground_shift = cell_width * 40.0;
+    let particle_rad = cell_width / 4.0;
+
+    let height_offset = 0.5;
+    let width = 6.0;
+    let height = 3.0;
+    let thickness = cell_width * 3.0;
+
     colliders.insert(
-        ColliderBuilder::cuboid(1000.0, ground_height)
-            .translation(vector![0.0, ground_shift - ground_height])
-            // .rotation(0.1)
+        ColliderBuilder::cuboid(width, thickness)
+            .translation(vector![width, -thickness])
+            .friction(0.0)
             .build(),
     );
 
     colliders.insert(
-        ColliderBuilder::cuboid(ground_height, 1000.0)
-            .translation(vector![ground_shift - ground_height, 0.0])
+        ColliderBuilder::cuboid(thickness, height)
+            .translation(vector![-thickness, height - 2.0 * thickness])
+            .friction(0.0)
             .build(),
     );
+
     colliders.insert(
-        ColliderBuilder::cuboid(ground_height, 1000.0)
-            .translation(vector![
-                ground_shift - ground_height + ground_shift * 8.0,
-                0.0
-            ])
+        ColliderBuilder::cuboid(thickness, height)
+            .translation(vector![2.0 * width + thickness, height - 2.0 * thickness])
+            .friction(0.0)
             .build(),
     );
 
@@ -64,7 +69,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let shape = SharedShape::convex_decomposition(&star, &indices);
 
     let mut rng = oorandom::Rand32::new(42);
-    let mut gen = || ground_shift + cell_width * 40.0 * (rng.rand_u32() % 5 + 1) as Real;
+    let mut gen = || height_offset + cell_width * 40.0 * (rng.rand_u32() % 5 + 1) as Real;
     let model = ParticleModel::with_plasticity(
         CorotatedLinearElasticity::new(E, NU),
         RankinePlasticity::new(E, NU, 1.0e2, 5.0),
@@ -76,7 +81,7 @@ pub fn init_world(testbed: &mut Testbed) {
             &*shape.0,
             Isometry::translation(gen(), gen()),
             model,
-            cell_width / 4.0,
+            particle_rad,
             2.0,
             false,
         );
@@ -101,7 +106,7 @@ pub fn init_world(testbed: &mut Testbed) {
         MultibodyJointSet::new(),
     );
     testbed.integration_parameters_mut().dt = 1.0 / 60.0;
-    // testbed.physics_state_mut().gravity.y = -981.0;
+    testbed.look_at(Point::new(width, 2.0), 39.0);
 }
 
 fn main() {

examples2d/fluids2.rs

@@ -19,13 +19,13 @@ pub fn init_world(testbed: &mut Testbed) {
     colliders.insert(
         ColliderBuilder::cuboid(1000.0, ground_height)
             .translation(vector![0.0, ground_shift - ground_height])
-            .friction(0.0)
+            .friction(1.0)
             .build(),
     );
     colliders.insert(
         ColliderBuilder::cuboid(ground_height, 1000.0)
             .translation(vector![ground_shift - ground_height, 0.0])
-            .friction(0.0)
+            .friction(1.0)
             .build(),
     );
 
@@ -35,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 ground_shift - ground_height + ground_shift * 8.0,
                 0.0
             ])
-            .friction(0.0)
+            .friction(1.0)
             .build(),
     );
 

examples2d/l_panel2.rs

@@ -104,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
     plugin.hooks = Box::new(BoundaryConditions {
         origins: l_panel_origins,
     });
-    plugin.solver_params.boundary_handling = BoundaryHandling::Stick;
+    plugin.solver_params.boundary_condition = BoundaryCondition::Stick;
     plugin.solver_params.damage_model = DamageModel::Eigenerosion;
     testbed.add_plugin(plugin);
     testbed.set_world(

examples2d/main.rs

@@ -3,10 +3,13 @@
 extern crate nalgebra as na;
 
 mod basic2;
+mod cube_through_sand2;
+mod cutting_sand2;
 mod elasticity2;
 mod fluids2;
 mod helper;
 mod l_panel2;
+mod wheel2;
 
 #[cfg(target_arch = "wasm32")]
 use wasm_bindgen::prelude::*;
@@ -56,6 +59,9 @@ pub fn main() {
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Basic", basic2::init_world),
+        ("Cube through sand", cube_through_sand2::init_world),
+        ("Cutting sand", cutting_sand2::init_world),
+        ("Wheel", wheel2::init_world),
         ("Elasticity", elasticity2::init_world),
         ("Fluids", fluids2::init_world),
     ];