Example: gui_gravity3d_example
This example demonstrates 3D objects rendering with a super simple gravitational simulator:
` <https://www.youtube.com/watch?v=jACGlPgWESw>`__
C++ example source code:
/* +------------------------------------------------------------------------+ | Mobile Robot Programming Toolkit (MRPT) | | https://www.mrpt.org/ | | | | Copyright (c) 2005-2022, Individual contributors, see AUTHORS file | | See: https://www.mrpt.org/Authors - All rights reserved. | | Released under BSD License. See: https://www.mrpt.org/License | +------------------------------------------------------------------------+ */ #include <mrpt/core/round.h> #include <mrpt/gui/CDisplayWindow3D.h> #include <mrpt/opengl/CGridPlaneXY.h> #include <mrpt/opengl/CSphere.h> #include <mrpt/random.h> #include <mrpt/system/CTicTac.h> #include <mrpt/system/os.h> #include <chrono> #include <iostream> #include <thread> using namespace mrpt; using namespace std; using namespace mrpt::gui; using namespace mrpt::random; using namespace mrpt::opengl; const size_t N_MASSES = 750; const double BOX = 500; const double V0 = 100; const double MASS_MIN = log(40.0), MASS_MAX = log(100.0); const double M2R = 2.0; const double LARGEST_STEP = 0.001; const double G = 300; const double COLLIS_LOSS = 0.98; struct TMass { TMass() : obj3d() {} double x{0}, y{0}, z{0}; double vx{0}, vy{0}, vz{0}; double mass{1}; double radius; opengl::CSphere::Ptr obj3d; }; void simulateGravity(vector<TMass>& objs, double At); // ------------------------------------------------------ // GravityDemo // ------------------------------------------------------ void GravityDemo() { CDisplayWindow3D win( "MRPT example: 3D gravity simulator- JLBC 2008", 1000, 700); getRandomGenerator().randomize(); win.setCameraElevationDeg(50.0f); win.setCameraZoom(1000); COpenGLScene::Ptr& theScene = win.get3DSceneAndLock(); // Modify the scene: // ------------------------------------------------------ { opengl::CGridPlaneXY::Ptr obj = opengl::CGridPlaneXY::Create(-2000, 2000, -2000, 2000, 0, 100); obj->setColor(0.3f, 0.3f, 0.3f); theScene->insert(obj); } // Create the masses: // ---------------------------------------------------- vector<TMass> masses(N_MASSES); // Init at random poses & create opengl objects: for (size_t i = 0; i < N_MASSES; i++) { masses[i].x = getRandomGenerator().drawUniform(-BOX, BOX); masses[i].y = getRandomGenerator().drawUniform(-BOX, BOX); masses[i].z = getRandomGenerator().drawUniform(-BOX, BOX) / 10; double a = atan2(masses[i].y, masses[i].x); masses[i].vx = -V0 * sin(a) + getRandomGenerator().drawUniform(-V0 * 0.01, V0 * 0.01); masses[i].vy = V0 * cos(a) + getRandomGenerator().drawUniform(-V0 * 0.01, V0 * 0.01); masses[i].vz = 0; // getRandomGenerator().drawUniform(-V0,V0); masses[i].mass = exp(getRandomGenerator().drawUniform(MASS_MIN, MASS_MAX)); opengl::CSphere::Ptr& obj = masses[i].obj3d = opengl::CSphere::Create(); obj->setColor( getRandomGenerator().drawUniform<float>(0.1, 0.9), getRandomGenerator().drawUniform<float>(0.1, 0.9), getRandomGenerator().drawUniform<float>(0.1, 0.9)); masses[i].radius = M2R * pow(masses[i].mass, 1.0 / 3.0); obj->setRadius(mrpt::d2f(masses[i].radius)); // Guess why ^(1/3) ;-) obj->setLocation(masses[i].x, masses[i].y, masses[i].z); theScene->insert(obj); } // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED! win.unlockAccess3DScene(); mrpt::system::CTicTac tictac; tictac.Tic(); double t0 = tictac.Tac(); while (!mrpt::system::os::kbhit() && win.isOpen()) { // Move the scene: double t1 = tictac.Tac(); double At = t1 - t0; t0 = t1; // Simulate a At, possibly in several small steps: // Update the 3D scene: win.get3DSceneAndLock(); size_t n_steps = mrpt::round(ceil(At / LARGEST_STEP) + 1); double At_steps = At / n_steps; n_steps = min(n_steps, size_t(3)); for (size_t j = 0; j < n_steps; j++) simulateGravity(masses, At_steps); for (size_t i = 0; i < masses.size(); i++) { opengl::CSphere::Ptr& obj = masses[i].obj3d; obj->setLocation(masses[i].x, masses[i].y, masses[i].z); } // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED! win.unlockAccess3DScene(); // Update window: win.forceRepaint(); std::this_thread::sleep_for(1ms); }; } struct TForce { TForce() { f[0] = f[1] = f[2] = 0; } double f[3]; }; void simulateGravity(vector<TMass>& objs, double At) { const size_t N = objs.size(); vector<TForce> forces(N); // Index in the array must be larger than its content!! vector<pair<size_t, double>> lstMass_i_joins_j( N, pair<size_t, double>(string::npos, 10000.0)); for (size_t i = 0; i < (N - 1); i++) { const double Ri = objs[i].radius; // Compute overall gravity force: for (size_t j = i + 1; j < N; j++) { double Ax = objs[j].x - objs[i].x; double Ay = objs[j].y - objs[i].y; double Az = objs[j].z - objs[i].z; double D2 = square(Ax) + square(Ay) + square(Az); double D = sqrt(D2); if (D == 0) continue; const double Rj = objs[j].radius; if (D < (Ri + Rj)) // Collission!! { // Index in the array must be larger than its content!! if (D < lstMass_i_joins_j[j].second) { lstMass_i_joins_j[j].first = i; lstMass_i_joins_j[j].second = D; } } else { double K = G * objs[i].mass * objs[j].mass / square(max(D, 1.0)); double D_1 = 1.0 / D; Ax *= D_1; Ay *= D_1; Az *= D_1; const double fx = Ax * K; const double fy = Ay * K; const double fz = Az * K; forces[i].f[0] += fx; forces[i].f[1] += fy; forces[i].f[2] += fz; forces[j].f[0] -= fx; forces[j].f[1] -= fy; forces[j].f[2] -= fz; } } } // F = m a for (size_t i = 0; i < N; i++) { const double M_1 = 1.0 / objs[i].mass; forces[i].f[0] *= M_1; forces[i].f[1] *= M_1; forces[i].f[2] *= M_1; objs[i].vx += forces[i].f[0] * At; objs[i].vy += forces[i].f[1] * At; objs[i].vz += forces[i].f[2] * At; objs[i].x += objs[i].vx * At; objs[i].y += objs[i].vy * At; objs[i].z += objs[i].vz * At; } // return; // Join masses that collided: for (int i = N - 1; i >= 0; i--) { const size_t newObj = lstMass_i_joins_j[i].first; if (newObj == string::npos) continue; const double Mi = objs[i].mass; const double Mj = objs[newObj].mass; const double newMass = Mi + Mj; const double newMass_1 = 1.0 / newMass; objs[newObj].vx = COLLIS_LOSS * newMass_1 * (Mj * objs[newObj].vx + Mi * objs[i].vx); objs[newObj].vy = COLLIS_LOSS * newMass_1 * (Mj * objs[newObj].vy + Mi * objs[i].vy); objs[newObj].vz = COLLIS_LOSS * newMass_1 * (Mj * objs[newObj].vz + Mi * objs[i].vz); objs[newObj].x = newMass_1 * (Mj * objs[newObj].x + Mi * objs[i].x); objs[newObj].y = newMass_1 * (Mj * objs[newObj].y + Mi * objs[i].y); objs[newObj].z = newMass_1 * (Mj * objs[newObj].z + Mi * objs[i].z); objs[newObj].mass = newMass; objs[newObj].radius = M2R * pow(newMass, 1.0 / 3.0); objs[newObj].obj3d->setRadius(mrpt::d2f(objs[newObj].radius)); objs[i].obj3d->setVisibility(false); // Hide sphere objs.erase(objs.begin() + i); } } // ------------------------------------------------------ // MAIN // ------------------------------------------------------ int main() { try { GravityDemo(); return 0; } catch (const std::exception& e) { std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl; return -1; } catch (...) { printf("Untyped exception!!"); return -1; } }