FEM Simulation Example

CMakeLists.txt

@@ -43,6 +43,7 @@ option(WITH_BOX2D_EXAMPLE "Build Box2D integration example" OFF)
 option(WITH_BULLET_EXAMPLE "Build Bullet integration example (requires the BulletIntegration library)" OFF)
 cmake_dependent_option(WITH_CUBEMAP_EXAMPLE "Build CubeMap example (requires some JPEG importer plugin)" OFF "NOT MAGNUM_TARGET_GLES" OFF)
 option(WITH_DART_EXAMPLE "Build DART integration example (requires the DartIntegration library)" OFF)
+option(WITH_FEMSIMULATION_EXAMPLE "Build Finite Element Method Simulation example (requires the ImGui integration and Eigen)" OFF)
 option(WITH_FLUIDSIMULATION2D_EXAMPLE "Build 2D Fluid Simulation example (requires the ImGui integration)" OFF)
 option(WITH_FLUIDSIMULATION3D_EXAMPLE "Build 3D Fluid Simulation example (requires the ImGui integration)" OFF)
 option(WITH_IMGUI_EXAMPLE "Build ImGui example" OFF)

doc/building-examples.dox

@@ -212,6 +212,8 @@ integration libraries, see @ref building-plugins, @ref building-integration and
     not available in OpenGL ES.
 -   `WITH_DART_EXAMPLE` --- Build the @ref examples-dart example. Requires
     the @ref DartIntegration library.
+-   `WITH_FEMSIMULATION_EXAMPLE` -- Build the @ref examples-femsimulation
+    example.
 -   `WITH_FLUIDSIMULATION3D_EXAMPLE` -- Build the @ref examples-fluidsimulation3d
     example.
 -   `WITH_LEAPMOTION_EXAMPLE` --- Build the @ref examples-leapmotion example.

doc/femsimulation.dox

@@ -0,0 +1,103 @@
+/*
+    This file is part of Magnum.
+
+    Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019,
+                2020 Vladimír Vondruš <mosra@centrum.cz>
+    2020 — Nghia Truong <nghiatruong.vn@gmail.com>
+
+    Permission is hereby granted, free of charge, to any person obtaining a
+    copy of this software and associated documentation files (the "Software"),
+    to deal in the Software without restriction, including without limitation
+    the rights to use, copy, modify, merge, publish, distribute, sublicense,
+    and/or sell copies of the Software, and to permit persons to whom the
+    Software is furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included
+    in all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+    DEALINGS IN THE SOFTWARE.
+*/
+
+namespace Magnum {
+/** @page examples-femsimulation Finite Element Method Simulation
+@brief Finite Element Method Simulation example.
+@m_since_{examples,2020,06}
+
+@m_footernavigation
+
+@image html femsimulation1.png width=400px
+@image html femsimulation2.png width=400px
+
+A Finite Element Method simulation using the technique proposed in the paper [Quasi-Newton Methods for Real-Time Simulation of Hyperelastic Materials](https://dl.acm.org/doi/10.1145/2990496).
+With a L-BFGS updates, the method can accelerate the simulation significantly, producing a real-time frame rate even for relatively large tetrahedral meshes.
+This example is heavily adopted from the [source code provided by the paper authors](https://github.com/ltt1598/Quasi-Newton-Methods-for-Real-time-Simulation-of-Hyperelastic-Materials).
+
+After the simulation started, wind force will be added after 10 seconds. The wind parameters, along with other simulation parameters, can be changed at run time.
+
+@section examples-femsimulation-controls Controls
+
+-   @m_class{m-label m-default} **mouse drag** rotates the view
+-   @m_class{m-label m-warning} **Shift** @m_class{m-label m-default} **mouse drag**
+    pans the view
+-   @m_class{m-label m-default} **H** shows / hides the overlay menu
+-   @m_class{m-label m-default} **S** toggle smooth camera navigation
+-   @m_class{m-label m-default} **R** resets the camera view
+-   @m_class{m-label m-default} **Space** starts/pauses the simulation
+-   @m_class{m-label m-default} **F5** resets the simulation
+
+@section examples-femsimulation-credits Credits
+
+This example was originally contributed by [Nghia Truong](https://github.com/ttnghia).
+
+@m_class{m-block m-success}
+
+@thirdparty This example makes use of the [Adobe Source Sans Pro](https://github.com/adobe-fonts/source-sans-pro)
+    font, licensed under @m_class{m-label m-success} **OFL 1.1**
+    ([license text](https://github.com/adobe-fonts/source-sans-pro/blob/release/LICENSE.txt),
+    [choosealicense.com](https://choosealicense.com/licenses/ofl-1.1/)).
+    Attribution is required for public use.
+
+@section examples-femsimulation-source Source
+
+Full source code is linked below and also available in the
+[magnum-examples GitHub repository](https://github.com/mosra/magnum-examples/tree/master/src/femsimulation).
+This example depends on the @ref examples-arcball example for camera
+navigation and @ref examples-fluidsimulation3d for wireframe grid rendering.
+In addition, it also requires the @ref ImGuiIntegration and Eigen libraries which are not parts
+of the core Magnum repository, see its documentation for usage instructions.
+
+-   @ref femsimulation/CMakeLists.txt "CMakeLists.txt"
+-   @ref femsimulation/Data/longbar.mesh "Data/longbar.mesh"
+-   @ref femsimulation/Data/squirrel.mesh "Data/squirrel.mesh"
+-   @ref femsimulation/FEMSimulationExample.cpp "FEMSimulationExample.cpp"
+-   @ref femsimulation/resources.conf "resources.conf"
+-   @ref femsimulation/Simulation/Constraints.cpp "Simulation/Constraints.cpp"
+-   @ref femsimulation/Simulation/Constraints.h "Simulation/Constraints.h"
+-   @ref femsimulation/Simulation/MathDefinitions.h "Simulation/MathDefinitions.h"
+-   @ref femsimulation/Simulation/Simulator.cpp "Simulation/Simulator.cpp"
+-   @ref femsimulation/Simulation/Simulator.h "Simulation/Simulator.h"
+-   @ref femsimulation/Simulation/TetMesh.cpp "Simulation/TetMesh.cpp"
+-   @ref femsimulation/Simulation/TetMesh.h "Simulation/TetMesh.h"
+
+
+@example femsimulation/CMakeLists.txt @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+@example femsimulation/Data/longbar.mesh @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+@example femsimulation/Data/squirrel.mesh @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+@example femsimulation/FEMSimulationExample.cpp @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+@example femsimulation/resources.conf @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+@example femsimulation/Simulation/Constraints.cpp @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+@example femsimulation/Simulation/Constraints.h @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+@example femsimulation/Simulation/MathDefinitions.h @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+@example femsimulation/Simulation/Simulator.cpp @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+@example femsimulation/Simulation/Simulator.h @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+@example femsimulation/Simulation/TetMesh.cpp @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+@example femsimulation/Simulation/TetMesh.h @m_examplenavigation{examples-femsimulation,femsimulation/} @m_footernavigation
+
+*/
+}

package/ci/appveyor-desktop-gles.bat

@@ -108,6 +108,7 @@ cmake .. ^
     -DWITH_BULLET_EXAMPLE=ON ^
     -DWITH_CUBEMAP_EXAMPLE=OFF ^
     -DWITH_DART_EXAMPLE=OFF ^
+    -DWITH_FEMSIMULATION_EXAMPLE=OFF ^
     -DWITH_FLUIDSIMULATION2D_EXAMPLE=OFF ^
     -DWITH_FLUIDSIMULATION3D_EXAMPLE=OFF ^
     -DWITH_IMGUI_EXAMPLE=ON ^

package/ci/appveyor-desktop-mingw.bat

@@ -112,6 +112,7 @@ cmake .. ^
     -DWITH_BULLET_EXAMPLE=ON ^
     -DWITH_CUBEMAP_EXAMPLE=ON ^
     -DWITH_DART_EXAMPLE=OFF ^
+    -DWITH_FEMSIMULATION_EXAMPLE=ON ^
     -DWITH_FLUIDSIMULATION2D_EXAMPLE=ON ^
     -DWITH_FLUIDSIMULATION3D_EXAMPLE=ON ^
     -DWITH_IMGUI_EXAMPLE=ON ^

package/ci/appveyor-desktop.bat

@@ -107,6 +107,7 @@ cmake .. ^
     -DWITH_BULLET_EXAMPLE=ON ^
     -DWITH_CUBEMAP_EXAMPLE=ON ^
     -DWITH_DART_EXAMPLE=OFF ^
+    -DWITH_FEMSIMULATION_EXAMPLE=ON ^
     -DWITH_FLUIDSIMULATION2D_EXAMPLE=ON ^
     -DWITH_FLUIDSIMULATION3D_EXAMPLE=ON ^
     -DWITH_IMGUI_EXAMPLE=ON ^

package/ci/travis-desktop-gles.sh

@@ -79,6 +79,7 @@ cmake .. \
     -DWITH_BULLET_EXAMPLE=ON \
     -DWITH_CUBEMAP_EXAMPLE=OFF \
     -DWITH_DART_EXAMPLE=OFF \
+    -DWITH_FEMSIMULATION_EXAMPLE=OFF \
     -DWITH_FLUIDSIMULATION2D_EXAMPLE=OFF \
     -DWITH_FLUIDSIMULATION3D_EXAMPLE=OFF \
     -DWITH_IMGUI_EXAMPLE=ON \

package/ci/travis-desktop.sh

@@ -84,6 +84,7 @@ cmake .. \
     -DWITH_BULLET_EXAMPLE=ON \
     -DWITH_CUBEMAP_EXAMPLE=ON \
     -DWITH_DART_EXAMPLE=$WITH_DART \
+    -DWITH_FEMSIMULATION_EXAMPLE=ON \
     -DWITH_FLUIDSIMULATION2D_EXAMPLE=ON \
     -DWITH_FLUIDSIMULATION3D_EXAMPLE=ON \
     -DWITH_IMGUI_EXAMPLE=ON \

src/CMakeLists.txt

@@ -72,6 +72,10 @@ if(WITH_DART_EXAMPLE)
     add_subdirectory(dart)
 endif()
 
+if(WITH_FEMSIMULATION_EXAMPLE)
+    add_subdirectory(femsimulation)
+endif()
+
 if(WITH_FLUIDSIMULATION2D_EXAMPLE)
     add_subdirectory(fluidsimulation2d)
 endif()

src/femsimulation/CMakeLists.txt

@@ -0,0 +1,92 @@
+#
+#   This file is part of Magnum.
+#
+#   Original authors — credit is appreciated but not required:
+#
+#       2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019, 2020 —
+#           Vladimír Vondruš <mosra@centrum.cz>
+#       2020 — Nghia Truong <nghiatruong.vn@gmail.com>
+#
+#   This is free and unencumbered software released into the public domain.
+#
+#   Anyone is free to copy, modify, publish, use, compile, sell, or distribute
+#   this software, either in source code form or as a compiled binary, for any
+#   purpose, commercial or non-commercial, and by any means.
+#
+#   In jurisdictions that recognize copyright laws, the author or authors of
+#   this software dedicate any and all copyright interest in the software to
+#   the public domain. We make this dedication for the benefit of the public
+#   at large and to the detriment of our heirs and successors. We intend this
+#   dedication to be an overt act of relinquishment in perpetuity of all
+#   present and future rights to this software under copyright law.
+#
+#   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+#   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+#   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+#   THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+#   IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+#   CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+
+cmake_minimum_required(VERSION 3.4)
+
+project(FEMSimulationExample CXX)
+
+# Add module path in case this is project root
+if(PROJECT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
+    set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/../../modules/" ${CMAKE_MODULE_PATH})
+endif()
+
+find_package(Corrade REQUIRED Main)
+find_package(Magnum REQUIRED
+    DebugTools
+    GL
+    MeshTools
+    Primitives
+    SceneGraph
+    Shaders
+    Sdl2Application)
+find_package(MagnumIntegration REQUIRED ImGui)
+find_package(Eigen3 REQUIRED NO_MODULE)
+
+set_directory_properties(PROPERTIES CORRADE_USE_PEDANTIC_FLAGS ON)
+corrade_add_resource(FEMSimulationExample_RESOURCES resources.conf)
+
+add_executable(magnum-femsimulation WIN32
+    ../arcball/ArcBall.cpp
+    ../fluidsimulation3d/DrawableObjects/WireframeObjects.h
+    FEMSimulationExample.cpp
+    Simulation/Constraints.cpp
+    Simulation/Constraints.h
+    Simulation/MathDefinitions.h
+    Simulation/Simulator.cpp
+    Simulation/Simulator.h
+    Simulation/TetMesh.cpp
+    Simulation/TetMesh.h
+    ${FEMSimulationExample_RESOURCES}
+    )
+
+# Need this to access WireframeGrid
+include_directories(../fluidsimulation3d)
+
+target_link_libraries(magnum-femsimulation PRIVATE
+    Corrade::Main
+    Magnum::Application
+    Magnum::DebugTools
+    Magnum::GL
+    Magnum::Magnum
+    Magnum::MeshTools
+    Magnum::Primitives
+    Magnum::SceneGraph
+    Magnum::Shaders
+    MagnumIntegration::ImGui
+    Eigen3::Eigen)
+
+target_include_directories(magnum-femsimulation PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_BINARY_DIR})
+
+install(TARGETS magnum-femsimulation DESTINATION ${MAGNUM_BINARY_INSTALL_DIR})
+
+# Make the executable a default target to build & run in Visual Studio
+set_property(DIRECTORY ${PROJECT_SOURCE_DIR} PROPERTY VS_STARTUP_PROJECT magnum-femsimulation)