- added collision detection for arbitrary meshes based on cubic signe…

…d distance fields - added Discregrid library as external project to generate cubic signed distance fields
InteractiveComputerGraphics · Nov 10, 2017 · c69fd48 · c69fd48
1 parent 39a5099
commit c69fd48
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -11,11 +11,25 @@ set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 include(${PROJECT_PATH}/CMake/Common.cmake)
 
 if (WIN32)
-  subdirs(extern/freeglut extern/AntTweakBar extern/glew Demos PositionBasedDynamics)
+  subdirs(extern/freeglut extern/AntTweakBar extern/glew extern/md5 Demos PositionBasedDynamics)
 else()
-  subdirs(extern/AntTweakBar extern/glew Demos PositionBasedDynamics)
+  subdirs(extern/AntTweakBar extern/glew extern/md5 Demos PositionBasedDynamics)
 endif()
 
+include(ExternalProject)
+set(ExternalInstallDir "${CMAKE_SOURCE_DIR}/extern/install")
+set(EigenDir "${CMAKE_SOURCE_DIR}/extern/eigen")
+
+## Discregrid
+ExternalProject_Add(
+   ExternalProject_Discregrid
+   PREFIX "${CMAKE_SOURCE_DIR}/extern/Discregrid"
+   GIT_REPOSITORY https://github.com/InteractiveComputerGraphics/Discregrid.git
+   GIT_TAG "573c2f51f433c74de832454272e47f590140e80b"
+   INSTALL_DIR ${ExternalInstallDir}/Discregrid
+   CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=${ExternalInstallDir}/Discregrid -DBUILD_CMD_EXECUTABLE:BOOL=0 -DEIGEN3_INCLUDE_DIR:PATH=${EigenDir}
+) 
+
 install(DIRECTORY ./Common
 DESTINATION include
 FILES_MATCHING PATTERN "*.h")

diff --git a/Changelog.txt b/Changelog.txt
@@ -1,3 +1,6 @@
+1.6.0
+	- added collision detection for arbitrary meshes based on cubic signed distance fields
+	- added DiscreGrid library as external project to generate cubic signed distance fields
 	- added possibility to define motor target sequences in scene files
 	- added implementation of the paper Kugelstadt, Schoemer, "Position and Orientation Based Cosserat Rods", SCA 2016 and a corresponding demo
 	- update to Eigen 3.3.4

diff --git a/Demos/BarDemo/main.cpp b/Demos/BarDemo/main.cpp
@@ -8,14 +8,18 @@
 #include "Demos/Simulation/TimeStepController.h"
 #include <iostream>
 #include "Demos/Visualization/Visualization.h"
-#include "Demos/Utils/Utilities.h"
+#include "Demos/Utils/Logger.h"
 #include "Demos/Utils/Timing.h"
+#include "Demos/Utils/FileSystem.h"
 
 // Enable memory leak detection
 #if defined(_DEBUG) && !defined(EIGEN_ALIGN)
 	#define new DEBUG_NEW 
 #endif
 
+INIT_TIMING
+INIT_LOGGING
+
 using namespace PBD;
 using namespace Eigen;
 using namespace std;
@@ -62,7 +66,12 @@ int main( int argc, char **argv )
 {
 	REPORT_MEMORY_LEAKS
 
-	exePath = Utilities::getFilePath(argv[0]);
+	std::string logPath = FileSystem::normalizePath(FileSystem::getProgramPath() + "/log");
+	FileSystem::makeDirs(logPath);
+	logger.addSink(unique_ptr<ConsoleSink>(new ConsoleSink(LogLevel::INFO)));
+	logger.addSink(unique_ptr<FileSink>(new FileSink(LogLevel::DEBUG, logPath + "/PBD.log")));
+
+	exePath = FileSystem::getFilePath(argv[0]);
 	dataPath = exePath + "/" + std::string(PBD_DATA_PATH);
 
 	// OpenGL
@@ -385,8 +394,8 @@ void createMesh()
 		model.getTetModels()[cm]->updateMeshNormals(pd);
 	}
 
-	std::cout << "Number of tets: " << indices.size() / 4 << "\n";
-	std::cout << "Number of vertices: " << width*height*depth << "\n";
+	LOG_INFO << "Number of tets: " << indices.size() / 4;
+	LOG_INFO << "Number of vertices: " << width*height*depth;
 
 }
 

diff --git a/Demos/ClothDemo/main.cpp b/Demos/ClothDemo/main.cpp
@@ -8,14 +8,18 @@
 #include "Demos/Simulation/TimeStepController.h"
 #include <iostream>
 #include "Demos/Visualization/Visualization.h"
-#include "Demos/Utils/Utilities.h"
+#include "Demos/Utils/Logger.h"
 #include "Demos/Utils/Timing.h"
+#include "Demos/Utils/FileSystem.h"
 
 // Enable memory leak detection
 #if defined(_DEBUG) && !defined(EIGEN_ALIGN)
 	#define new DEBUG_NEW 
 #endif
 
+INIT_TIMING
+INIT_LOGGING
+
 using namespace PBD;
 using namespace Eigen;
 using namespace std;
@@ -77,7 +81,12 @@ int main( int argc, char **argv )
 {
 	REPORT_MEMORY_LEAKS
 
-	exePath = Utilities::getFilePath(argv[0]);
+	std::string logPath = FileSystem::normalizePath(FileSystem::getProgramPath() + "/log");
+	FileSystem::makeDirs(logPath);
+	logger.addSink(unique_ptr<ConsoleSink>(new ConsoleSink(LogLevel::INFO)));
+	logger.addSink(unique_ptr<FileSink>(new FileSink(LogLevel::DEBUG, logPath + "/PBD.log")));
+
+	exePath = FileSystem::getProgramPath();
 	dataPath = exePath + "/" + std::string(PBD_DATA_PATH);
 
 	// OpenGL
@@ -427,8 +436,8 @@ void createMesh()
 		}
 	}
 
-	std::cout << "Number of triangles: " << nIndices / 3 << "\n";
-	std::cout << "Number of vertices: " << nRows*nCols << "\n";
+	LOG_INFO << "Number of triangles: " << nIndices / 3;
+	LOG_INFO << "Number of vertices: " << nRows*nCols;
 
 }
 

diff --git a/Demos/CosseratRodsDemo/main.cpp b/Demos/CosseratRodsDemo/main.cpp
@@ -8,14 +8,18 @@
 #include "Demos/Simulation/TimeStepController.h"
 #include <iostream>
 #include "Demos/Visualization/Visualization.h"
-#include "Demos/Utils/Utilities.h"
+#include "Demos/Utils/Logger.h"
 #include "Demos/Utils/Timing.h"
+#include "Demos/Utils/FileSystem.h"
 
 // Enable memory leak detection
 #if defined(_DEBUG) && !defined(EIGEN_ALIGN)
 	#define new DEBUG_NEW 
 #endif
 
+INIT_TIMING
+INIT_LOGGING
+
 using namespace PBD;
 using namespace Eigen;
 using namespace std;
@@ -66,7 +70,12 @@ int main( int argc, char **argv )
 {
 	REPORT_MEMORY_LEAKS
 
-	exePath = Utilities::getFilePath(argv[0]);
+	std::string logPath = FileSystem::normalizePath(FileSystem::getProgramPath() + "/log");
+	FileSystem::makeDirs(logPath);
+	logger.addSink(unique_ptr<ConsoleSink>(new ConsoleSink(LogLevel::INFO)));
+	logger.addSink(unique_ptr<FileSink>(new FileSink(LogLevel::DEBUG, logPath + "/PBD.log")));
+
+	exePath = FileSystem::getProgramPath();
 	dataPath = exePath + "/" + std::string(PBD_DATA_PATH);
 
 	// OpenGL
@@ -339,8 +348,8 @@ void createHelix(const Vector3r &position, const Matrix3r &orientation, Real rad
 		model.addBendTwistConstraint(q1, q2);
 	}
 
-	//std::cout << "Number of particles: " << nPoints << "\n";
-	//std::cout << "Number of quaternions: " << nQuaternions << "\n";
+// 	LOG_INFO << "Number of particles: " << nPoints;
+// 	LOG_INFO << "Number of quaternions: " << nQuaternions;
 }
 
 void TW_CALL setTimeStep(const void *value, void *clientData)

diff --git a/Demos/CouplingDemos/RigidBodyClothCouplingDemo.cpp b/Demos/CouplingDemos/RigidBodyClothCouplingDemo.cpp
@@ -10,8 +10,9 @@
 #include "Demos/Simulation/Constraints.h"
 #include "Demos/Visualization/Visualization.h"
 #include "Demos/Utils/OBJLoader.h"
-#include "Demos/Utils/Utilities.h"
+#include "Demos/Utils/Logger.h"
 #include "Demos/Utils/Timing.h"
+#include "Demos/Utils/FileSystem.h"
 
 #define _USE_MATH_DEFINES
 #include "math.h"
@@ -21,6 +22,9 @@
 	#define new DEBUG_NEW 
 #endif
 
+INIT_TIMING
+INIT_LOGGING
+
 using namespace PBD;
 using namespace Eigen;
 using namespace std;
@@ -92,7 +96,12 @@ int main( int argc, char **argv )
 {
 	REPORT_MEMORY_LEAKS
 
-	exePath = Utilities::getFilePath(argv[0]);
+	std::string logPath = FileSystem::normalizePath(FileSystem::getProgramPath() + "/log");
+	FileSystem::makeDirs(logPath);
+	logger.addSink(unique_ptr<ConsoleSink>(new ConsoleSink(LogLevel::INFO)));
+	logger.addSink(unique_ptr<FileSink>(new FileSink(LogLevel::DEBUG, logPath + "/PBD.log")));
+
+	exePath = FileSystem::getProgramPath();
 	dataPath = exePath + "/" + std::string(PBD_DATA_PATH);
 
 	// OpenGL
@@ -404,7 +413,7 @@ void createRigidBodyModel()
 	SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
 	SimulationModel::ConstraintVector &constraints = model.getConstraints();
 
-	string fileName = Utilities::normalizePath(dataPath + "/models/cube.obj");
+	string fileName = FileSystem::normalizePath(dataPath + "/models/cube.obj");
 	IndexedFaceMesh mesh;
 	VertexData vd;
 	OBJLoader::loadObj(fileName, vd, mesh, Vector3r(width, height, depth));
@@ -696,8 +705,8 @@ void createClothMesh()
 		}
 	}
 
-	std::cout << "Number of triangles: " << nIndices / 3 << "\n";
-	std::cout << "Number of vertices: " << nRows*nCols << "\n";
+	LOG_INFO << "Number of triangles: " << nIndices / 3;
+	LOG_INFO << "Number of vertices: " << nRows*nCols;
 
 }
 

diff --git a/Demos/DistanceFieldDemos/ClothCollisionDemo.cpp b/Demos/DistanceFieldDemos/ClothCollisionDemo.cpp
@@ -9,16 +9,20 @@
 #include "Demos/Simulation/TimeStepController.h"
 #include <iostream>
 #include "Demos/Visualization/Visualization.h"
-#include "Demos/Utils/Utilities.h"
 #include "Demos/Simulation/DistanceFieldCollisionDetection.h"
 #include "Demos/Utils/OBJLoader.h"
+#include "Demos/Utils/Logger.h"
 #include "Demos/Utils/Timing.h"
+#include "Demos/Utils/FileSystem.h"
 
 // Enable memory leak detection
 #if defined(_DEBUG) && !defined(EIGEN_ALIGN)
 	#define new DEBUG_NEW 
 #endif
 
+INIT_TIMING
+INIT_LOGGING
+
 using namespace PBD;
 using namespace Eigen;
 using namespace std;
@@ -94,7 +98,12 @@ int main( int argc, char **argv )
 {
 	REPORT_MEMORY_LEAKS
 
-	exePath = Utilities::getFilePath(argv[0]);
+	std::string logPath = FileSystem::normalizePath(FileSystem::getProgramPath() + "/log");
+	FileSystem::makeDirs(logPath);
+	logger.addSink(unique_ptr<ConsoleSink>(new ConsoleSink(LogLevel::INFO)));
+	logger.addSink(unique_ptr<FileSink>(new FileSink(LogLevel::DEBUG, logPath + "/PBD.log")));
+
+	exePath = FileSystem::getProgramPath();
 	dataPath = exePath + "/" + std::string(PBD_DATA_PATH);
 
 	// OpenGL
@@ -252,12 +261,12 @@ void buildModel ()
 	createMesh();
 
 	// create static rigid body
-	string fileName = Utilities::normalizePath(dataPath + "/models/cube.obj");
+	string fileName = FileSystem::normalizePath(dataPath + "/models/cube.obj");
 	IndexedFaceMesh mesh;
 	VertexData vd;
 	OBJLoader::loadObj(fileName, vd, mesh);
 
-	string fileNameTorus = Utilities::normalizePath(dataPath + "/models/torus.obj");
+	string fileNameTorus = FileSystem::normalizePath(dataPath + "/models/torus.obj");
 	IndexedFaceMesh meshTorus;
 	VertexData vdTorus;
 	OBJLoader::loadObj(fileNameTorus, vdTorus, meshTorus);
@@ -563,8 +572,8 @@ void createMesh()
 		}
 	}
 
-	std::cout << "Number of triangles: " << nIndices / 3 << "\n";
-	std::cout << "Number of vertices: " << nRows*nCols << "\n";
+	LOG_INFO << "Number of triangles: " << nIndices / 3;
+	LOG_INFO << "Number of vertices: " << nRows*nCols;
 
 }
 

diff --git a/Demos/DistanceFieldDemos/DeformableCollisionDemo.cpp b/Demos/DistanceFieldDemos/DeformableCollisionDemo.cpp
@@ -8,16 +8,20 @@
 #include "Demos/Simulation/TimeStepController.h"
 #include <iostream>
 #include "Demos/Visualization/Visualization.h"
-#include "Demos/Utils/Utilities.h"
 #include "Demos/Simulation/DistanceFieldCollisionDetection.h"
 #include "Demos/Utils/OBJLoader.h"
+#include "Demos/Utils/Logger.h"
 #include "Demos/Utils/Timing.h"
+#include "Demos/Utils/FileSystem.h"
 
 // Enable memory leak detection
 #if defined(_DEBUG) && !defined(EIGEN_ALIGN)
 	#define new DEBUG_NEW 
 #endif
 
+INIT_TIMING
+INIT_LOGGING
+
 using namespace PBD;
 using namespace Eigen;
 using namespace std;
@@ -78,7 +82,12 @@ int main( int argc, char **argv )
 {
 	REPORT_MEMORY_LEAKS
 
-	exePath = Utilities::getFilePath(argv[0]);
+	std::string logPath = FileSystem::normalizePath(FileSystem::getProgramPath() + "/log");
+	FileSystem::makeDirs(logPath);
+	logger.addSink(unique_ptr<ConsoleSink>(new ConsoleSink(LogLevel::INFO)));
+	logger.addSink(unique_ptr<FileSink>(new FileSink(LogLevel::DEBUG, logPath + "/PBD.log")));
+
+	exePath = FileSystem::getProgramPath();
 	dataPath = exePath + "/" + std::string(PBD_DATA_PATH);
 
 	// OpenGL
@@ -210,12 +219,12 @@ void buildModel ()
 	createMesh();
 
 	// create static rigid body
-	string fileName = Utilities::normalizePath(dataPath + "/models/cube.obj");
+	string fileName = FileSystem::normalizePath(dataPath + "/models/cube.obj");
 	IndexedFaceMesh mesh;
 	VertexData vd;
 	OBJLoader::loadObj(fileName, vd, mesh);	
 
-	string fileNameTorus = Utilities::normalizePath(dataPath + "/models/torus.obj");
+	string fileNameTorus = FileSystem::normalizePath(dataPath + "/models/torus.obj");
 	IndexedFaceMesh meshTorus;
 	VertexData vdTorus;
 	OBJLoader::loadObj(fileNameTorus, vdTorus, meshTorus);
@@ -480,8 +489,8 @@ void createMesh()
 		model.getTetModels()[cm]->updateMeshNormals(pd);
 	}
 
-	std::cout << "Number of tets: " << indices.size() / 4 << "\n";
-	std::cout << "Number of vertices: " << width*height*depth << "\n";
+	LOG_INFO << "Number of tets: " << indices.size() / 4;
+	LOG_INFO << "Number of vertices: " << width*height*depth;
 
 }