Sample color model

Cargo.toml

@@ -23,15 +23,28 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 ] }
 
 [patch.crates-io]
-parry2d = { path = "../parry/crates/parry2d" }
-parry3d = { path = "../parry/crates/parry3d" }
-encase = { path = "../encase" }
-wgcore = { path = "../wgmath/crates/wgcore" }
-wgebra = { path = "../wgmath/crates/wgebra" }
-wgparry2d = { path = "../wgmath/crates/wgparry/crates/wgparry2d" }
-wgparry3d = { path = "../wgmath/crates/wgparry/crates/wgparry3d" }
-wgrapier2d = { path = "../wgmath/crates/wgrapier/crates/wgrapier2d" }
-wgrapier3d = { path = "../wgmath/crates/wgrapier/crates/wgrapier3d" }
+# parry2d = { path = "../parry/crates/parry2d" }
+# parry3d = { path = "../parry/crates/parry3d" }
+# encase = { path = "../encase" }
+# wgcore = { path = "../wgmath/crates/wgcore" }
+# wgebra = { path = "../wgmath/crates/wgebra" }
+# wgparry2d = { path = "../wgmath/crates/wgparry/crates/wgparry2d" }
+# wgparry3d = { path = "../wgmath/crates/wgparry/crates/wgparry3d" }
+# wgrapier2d = { path = "../wgmath/crates/wgrapier/crates/wgrapier2d" }
+# wgrapier3d = { path = "../wgmath/crates/wgrapier/crates/wgrapier3d" }
+
+parry2d = { git = "https://github.com/dimforge/parry.git", rev = "407fb449504dde7ba0a3d80a8de7e37ac991a77a" }
+parry3d = { git = "https://github.com/dimforge/parry.git", rev = "407fb449504dde7ba0a3d80a8de7e37ac991a77a" }
+encase = { git = "https://github.com/sebcrozet/encase.git", rev = "6755c1414c225cbeac9fde1ff9394b70d3b05404" }
+# wgcore = { git = "https://github.com/dimforge/wgmath.git", rev = "32b54c802be6040c5f003e7d3def4a33e4730d92" }
+wgcore = { git = "https://github.com/dimforge/wgmath.git", branch = "wgml-chat" }
+wgcore-derive = { git = "https://github.com/dimforge/wgmath.git", branch = "wgml-chat" }
+wgebra = { git = "https://github.com/dimforge/wgmath.git", branch = "wgml-chat" }
+# wgparry2d = { git = "https://github.com/dimforge/wgmath.git", rev = "32b54c802be6040c5f003e7d3def4a33e4730d92" }
+wgparry3d = { git = "https://github.com/dimforge/wgmath.git", branch = "wgml-chat" }
+# wgrapier2d = { git = "https://github.com/dimforge/wgmath.git", rev = "32b54c802be6040c5f003e7d3def4a33e4730d92" }
+wgrapier3d = { git = "https://github.com/dimforge/wgmath.git", branch = "wgml-chat" }
+rapier3d = { git = "https://github.com/vrixyz/rapier.git", branch = "uber_physics_context" }
 
 [profile.release]
 opt-level = 'z'

crates/wgsparkl3d/Cargo.toml

@@ -39,5 +39,47 @@ futures-test = "0.3"
 serial_test = "3"
 approx = "0.5"
 async-std = { version = "1", features = ["attributes"] }
-bevy = { version = "0.15.0", features = ["shader_format_glsl", "shader_format_spirv", "webgpu"] }
-wgsparkl_testbed3d = { path = "../wgsparkl-testbed3d" }
+bevy = { version = "0.15.0", features = [
+    "shader_format_glsl",
+    "shader_format_spirv",
+    "webgpu",
+    "jpeg",
+] }
+wgsparkl_testbed3d = { path = "../wgsparkl-testbed3d", features = ["dim3"] }
+obj-rs = { version = "0.7", default-features = false }
+bevy_editor_cam = "*"
+image = "0.25"
+gltf = { version = "1.3", features = ["KHR_materials_pbrSpecularGlossiness"] }
+
+[package.metadata.docs.rs]
+cargo-args = ["-Zunstable-options", "-Zrustdoc-scrape-examples"]
+
+[[example]]
+name = "banana3"
+path = "examples/banana3.rs"
+doc-scrape-examples = true
+crate-type = ["lib"]
+
+[[example]]
+name = "elastic_cut3"
+path = "examples/elastic_cut.rs"
+doc-scrape-examples = true
+crate-type = ["lib"]
+
+[[example]]
+name = "heightfield3"
+path = "examples/heightfield3.rs"
+doc-scrape-examples = true
+crate-type = ["lib"]
+
+[[example]]
+name = "sand3"
+path = "examples/sand3.rs"
+doc-scrape-examples = true
+crate-type = ["lib"]
+
+[[example]]
+name = "default_scene"
+path = "examples/libs/default_scene.rs"
+doc-scrape-examples = true
+crate-type = ["lib"]

crates/wgsparkl3d/assets/credits.txt

@@ -0,0 +1,8 @@
+# Thanks 
+
+- Shiba from zixisun02 at https://sketchfab.com/3d-models/shiba-faef9fe5ace445e7b2989d1c1ece361c
+- Banana from ReCo_3D at https://sketchfab.com/3d-models/banana-ed0537c2201d4ad7b8ddb8368d844174
+- Chef's knife from Davide Specchi at https://sketchfab.com/3d-models/chefs-knife-85ededce157545e68e51fa87768a08cb
+  - modifications:
+    - set origin to the middle of the blade + rotated so blade is facing Y down.
+    - inverted faces on a blade side to properly cut

crates/wgsparkl3d/examples/banana3.rs

@@ -0,0 +1,152 @@
+#![allow(unused)]
+
+#[path = "libs/default_scene.rs"]
+pub mod default_scene;
+#[path = "libs/extract_mesh.rs"]
+pub mod extract_mesh;
+#[path = "libs/glb_to_point_cloud.rs"]
+pub mod glb_to_point_cloud;
+
+use glb_to_point_cloud::load_model_trimeshes;
+use glb_to_point_cloud::load_model_with_colors;
+
+use bevy::color::palettes::css;
+use bevy::{prelude::*, render::renderer::RenderDevice, scene::SceneInstanceReady};
+use nalgebra::vector;
+use rapier3d::prelude::RigidBodyHandle;
+use rapier3d::prelude::{ColliderBuilder, RigidBodyBuilder, SharedShape, TriMeshFlags};
+use wgsparkl3d::pipeline::MpmData;
+use wgsparkl3d::solver::SimulationParams;
+use wgsparkl_testbed3d::CallBeforeSimulation;
+use wgsparkl_testbed3d::RapierData;
+use wgsparkl_testbed3d::{AppState, PhysicsContext};
+
+pub fn demo(
+    mut commands: Commands,
+    device: Res<RenderDevice>,
+    mut app_state: ResMut<AppState>,
+    asset_server: Res<AssetServer>,
+) {
+    let pc_grid = load_model_with_colors(
+        "assets/banana.glb",
+        Transform::from_scale(Vec3::splat(0.35))
+            .with_translation(Vec3::Y * 2.6f32)
+            .with_rotation(Quat::from_rotation_y(-90f32.to_radians())),
+        Some(css::BLANCHED_ALMOND.into()),
+    );
+    let params = SimulationParams {
+        gravity: vector![0.0, -9.81, 0.0] * app_state.gravity_factor,
+        dt: (1.0 / 60.0) / (app_state.num_substeps as f32),
+    };
+    let mut rapier_data = RapierData::default();
+    default_scene::set_default_app_state(app_state);
+    default_scene::spawn_ground_and_walls(&mut rapier_data);
+
+    let mut particles = vec![];
+    for (pos, color) in pc_grid {
+        let particle = default_scene::create_particle(&pos, Some(color));
+        particles.push(particle);
+    }
+    // Slicer
+    let mut slicer_trimeshes = load_model_trimeshes("assets/chefs_knife_open_blade.glb");
+    slicer_trimeshes.iter_mut().for_each(|trimesh| {
+        trimesh.0.iter_mut().for_each(|v| {
+            *v *= 10f32;
+        });
+    });
+
+    let rb = RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 5.0, 0.0]);
+    let parent_handle = rapier_data.bodies.insert(rb);
+    for (vertices, indices) in slicer_trimeshes.iter() {
+        // Insert collider into rapier state.
+
+        let collider = ColliderBuilder::new(
+            SharedShape::trimesh_with_flags(
+                vertices.clone(),
+                indices
+                    .chunks_exact(3)
+                    .map(|i| [i[0] as u32, i[1] as u32, i[2] as u32])
+                    .collect(),
+                TriMeshFlags::FIX_INTERNAL_EDGES,
+            )
+            .unwrap(),
+        );
+        rapier_data
+            .colliders
+            .insert_with_parent(collider, parent_handle, &mut rapier_data.bodies);
+    }
+    commands.spawn((
+        Knife(parent_handle),
+        SceneRoot(
+            // This is a bit redundant with load_model_trimeshes, but it's a simple way to get the scene loaded visually.
+            asset_server.load(GltfAssetLabel::Scene(0).from_asset("chefs_knife_modified.glb")),
+        ),
+        Transform::from_scale(Vec3::splat(10f32)).with_translation(Vec3::Y * 5f32),
+    ));
+
+    let data = MpmData::new(
+        device.wgpu_device(),
+        params,
+        &particles,
+        &rapier_data.bodies,
+        &rapier_data.colliders,
+        1f32 / default_scene::SAMPLE_PER_UNIT,
+        60_000,
+    );
+
+    let physics = PhysicsContext {
+        data,
+        rapier_data,
+        particles,
+    };
+    commands.insert_resource(physics);
+    //
+    let system_id = commands.register_system(move_knife);
+    commands.spawn(CallBeforeSimulation(system_id));
+}
+
+#[derive(Debug, Component)]
+pub struct Knife(pub RigidBodyHandle);
+
+fn move_knife(
+    app_state: Res<AppState>,
+    mut knife: Query<(&mut Transform, &Knife)>,
+    mut physics: ResMut<PhysicsContext>,
+) {
+    for (mut pos, knife) in knife.iter_mut() {
+        let t = app_state.physics_time_seconds as f32;
+
+        let body = physics.rapier_data.bodies.get_mut(knife.0).unwrap();
+        let length = 1.50;
+        let width = 0.5;
+        let x_pos = 3.0;
+        let y_pos = 1.5;
+        let z_pos = -1.5;
+        let velocity = 0.8;
+        let period = (2f32 * length + 3f32 * width) / velocity;
+
+        let i = (t / period).floor();
+        let dis = velocity * (t - period * i);
+
+        let new_pos = if dis < length {
+            vector![x_pos - width * i, y_pos - dis, z_pos]
+        } else if length <= dis && dis < length + width {
+            vector![x_pos - width * i + (dis - length), y_pos - length, z_pos]
+        } else if length + width <= dis && dis < 2f32 * length + width {
+            vector![
+                x_pos - width * i + width,
+                y_pos - (2.0 * length + width - dis),
+                z_pos
+            ]
+        } else {
+            vector![
+                x_pos - width * i + width - (dis - 2.0 * length - width),
+                y_pos,
+                z_pos
+            ]
+        };
+
+        body.set_translation(new_pos, true);
+        pos.translation = Vec3::new(new_pos[0], new_pos[1], new_pos[2]);
+    }
+}

crates/wgsparkl3d/examples/elastic_cut3.rs

@@ -2,23 +2,15 @@ use wgsparkl_testbed3d::{wgsparkl, RapierData};
 
 use bevy::prelude::*;
 use bevy::render::renderer::RenderDevice;
-use nalgebra::{vector, DMatrix, Isometry3, Similarity3, Vector3};
+use nalgebra::{vector, DMatrix, Isometry3};
 use rapier3d::geometry::HeightField;
 use rapier3d::prelude::{ColliderBuilder, RigidBodyBuilder};
-use wgebra::GpuSim3;
-use wgparry3d::parry::shape::Cuboid;
-use wgrapier3d::dynamics::BodyDesc;
-use wgsparkl::models::DruckerPrager;
 use wgsparkl::{
     models::ElasticCoefficients,
     pipeline::MpmData,
     solver::{Particle, ParticleDynamics, ParticlePhase, SimulationParams},
 };
-use wgsparkl_testbed3d::{init_testbed, AppState, PhysicsContext, SceneInits};
-
-fn main() {
-    panic!("Run the `testbed3` example instead.");
-}
+use wgsparkl_testbed3d::{AppState, PhysicsContext};
 
 pub fn elastic_cut_demo(
     mut commands: Commands,
@@ -51,6 +43,7 @@ pub fn elastic_cut_demo(
                         phase: 1.0,
                         max_stretch: f32::MAX,
                     }),
+                    color: None,
                 });
             }
         }