VERLET INTEGRATION - couple of questions

Blitz3D Forums/Blitz3D Programming/VERLET INTEGRATION - couple of questions

Stevie G

(Posted 2005) [#1]

I think I've had a look at almost every verlet system available in the code archives and decided to have a go myself.
The basics are relatively straighforward and I've managed to successfully create a rigid body tank
moving over a custom terrain using blitz collisions applied to each particle.

1---2
!\!/!
!-0-!
!/!\!
4---3

Using a dual analogue control system ( one for each track ) it was quite simple to apply forces to the particles,
representing the tracks which had collided with the terrain (1&4)+(2&3) to allow for both rotation and forward / backward movement.

What I really want to be able to do is create more of a rear wheel drive car. I know I can apply a forward force to
the rear wheels for straight movement - I'm kind of stumped with the steering?!

Assuming the body is moving upwards, where particle 0 is the centre of the body, particle 1&2
represent the front wheels, 3&4 represent the rear wheels and particles 5-8 form the top of the body.

Note that the front wheels can turn @ +-45 degrees, local to the body - how do I simulate the steering / assuming
the force is only coming from the rear wheels? Assume I have to distribute the force applied to the rear wheels on to
the front somehow? I also need to be able to turn the car realistically when no acceleration is being applied and avoid
hovercraft style movement - i.e. apply greater friction to the particles not moving in the forward direction?

I'm not asking for anyone to write this for me - I'm really looking for some pointers from those who have done
something similar and overcome the intial headaches - so any help is much appreciated.

Cheers
Stevie

Techlord

(Posted 2005) [#2]

Stevie G

I gave Verlet Integration a go a while back. It merged BVH Boneset, Verlets, and Springs into one system. However, I placed it back on the burner.

;ANIMATE CLASS SPRINGLET + BVH STRUCTURE
;verlet + spring physics model system merge with bvh
Const SPRINGLING_MAX_CONSTRIANTS=128
Const SPRINGLING_MAX_NEIGHBORS%=128
Const SPRINGLING_MAX_SPRINGLETS%=128
Const SPRINGLING_MAX_ANCHOR_SPRINGLETS%=128

Global warpgravity.vector=vectorNew() ;global warp gravity
Global springlettempvector.vector=vectorNew()
Global springletpositionvector.vector=vectorNew()
Global springletdeltavector.vector=vectorNew() ;springletdeltavector
Global springletforcedirection.vector=vectorNew();
Global springletaccumulator.vector=vectorNew();
Global springletresultant.vector=vectorNew()

;============================
;BVHFRAMESET
;============================
Const BVHFRAMESET_MAX=256
Dim bvhframesetID.bvhframeset(BVHFRAMESET_MAX)
Global bvhframesetIndex.stack=stackCreateIndex(4,BVHFRAMESET_MAX,1)
Type bvhframeset
	Field id%
	Field typeid%
	Field time#
	Field springlets%
	Field frames%
	Field springletpointer%
	Field framepointer%
	Field bank%
End Type

Function bvhframesetStart.bvhframeset(filename$="Default")
	;load from config
	bvhframesetopen(filename$)
	;setup
	For this.bvhframeset=Each bvhframeset
	Next
	Return First bvhframeset
End Function

Function bvhframesetStop()
	For this.bvhframeset=Each bvhframeset
		bvhframesetDelete(this)
	Next
End Function

Function bvhframesetNew.bvhframeset()
	this.bvhframeset=New bvhframeset
	this\id%=0
	this\typeid%=0
	this\time#=0.0
	this\springlets%=0
	this\frames%=0
	this\springletpointer%=0
	this\framepointer%=0
	this\bank%=0
	this\id%=StackPop(bvhframesetIndex.stack,1)
	bvhframesetID(this\id)=this
	Return this
End Function

Function bvhframesetDelete(this.bvhframeset)
	bvhframesetID(this\id)=Null
	StackPush(bvhframesetIndex.stack,this\id%,1)
	FreeBank this\bank%
	this\time#=0.0
	Delete this
End Function

Function bvhframesetManager()
	For this.bvhframeset=Each bvhframeset
	Next
End Function

Function bvhframesetRead.bvhframeset(file)
	this.bvhframeset=New bvhframeset
	this\id%=ReadInt(file)
	this\typeid%=ReadInt(file)
	this\time#=ReadFloat(file)
	this\springlets%=ReadInt(file)
	this\frames%=ReadInt(file)
	this\springletpointer%=ReadInt(file)
	this\framepointer%=ReadInt(file)
	this\bank%=ReadInt(file)
	Return this
End Function

Function bvhframesetWrite(file,this.bvhframeset)
	WriteInt(file,this\id%)
	WriteInt(file,this\typeid%)
	WriteFloat(file,this\time#)
	WriteInt(file,this\springlets%)
	WriteInt(file,this\frames%)
	WriteInt(file,this\springletpointer%)
	WriteInt(file,this\framepointer%)
	WriteInt(file,this\bank%)
End Function

Function bvhframesetSave(filename$="Default")
	file=WriteFile(filename$+".bvhframeset")
	For this.bvhframeset= Each bvhframeset
		bvhframesetWrite(file,this)
	Next
	CloseFile(file)
End Function

Function bvhframesetOpen(filename$="Default")
	file=ReadFile(filename+".bvhframeset")
	Repeat
		bvhframesetRead(file)
	Until Eof(file)
	CloseFile(file)
End Function

Function bvhframesetCopy.bvhframeset(this.bvhframeset)
	copy.bvhframeset=New bvhframeset
	copy\id%=this\id%
	copy\typeid%=this\typeid%
	copy\time#=this\time#
	copy\springlets%=this\springlets%
	copy\frames%=this\frames%
	copy\springletpointer%=this\springletpointer%
	copy\framepointer%=this\framepointer%
	copy\bank%=this\bank%
	Return copy
End Function

Function bvhframesetMimic(mimic.bvhframeset,this.bvhframeset)
	mimic\id%=this\id%
	mimic\typeid%=this\typeid%
	mimic\time#=this\time#
	mimic\springlets%=this\springlets%
	mimic\frames%=this\frames%
	mimic\springletpointer%=this\springletpointer%
	mimic\framepointer%=this\framepointer%
	mimic\bank%=this\bank%
End Function

Function bvhframesetCreate.bvhframeset(typeid%,time#,springlets%,frames%,springletpointer%,framepointer%,bank%)
	this.bvhframeset=bvhframesetNew()
	this\typeid%=typeid%
	this\time#=time#
	this\springlets%=springlets%
	this\frames%=frames%
	this\springletpointer%=springletpointer%
	this\framepointer%=framepointer%
	this\bank%=bank%
	Return this
End Function

Function bvhFrameSetLoad.bvhFrameSet(filename$,typeid=0)
	filename$=filename$+".bvh"
	file%=ReadFile(filename$)
	If file% ;File Exist then process else exit
		this.bvhframeset=bvhframesetNew() ;create new BVH FrameSet
		this\typeid%=typeid%
		Repeat
			Select Upper(parseword$(file%,33,125))
				Case "ROOT","JOINT" 
					this\springlets%=this\springlets%+1
					;DebugLog parseword$(file%,33,125);name
				Case "MOTION"
						;FRAMES
						If Upper(parseword$(file%,33,125))="FRAMES:" this\frames%=parseword$(file%,48,57)
						;create bank
						this\bank=CreateBank(((this\springlets%+1)*12)*this\frames%)
						;FRAME TIME
						keyword$=Upper(parseword$(file%,33,122)) ;skip word FRAME
						If Upper(parseword$(file%,33,122))="TIME:" this\time#=parseword$(file%,45,57) ;store word in dummy
						;springlet CHANNEL DATA
						Repeat							
							PokeFloat(this\bank%,offset%,parseword$(file%,45,57))
							offset%=offset%+4 
						Until Eof(file)	
				
			End Select	
		Until Eof(file%)			
		CloseFile(file%)
		Return this 		
	EndIf 
End Function

;============================
;SPRINGLINGFRAMESET
;============================

Const SPRINGLINGFRAMESET_MAX=256
Dim springlingframesetID.springlingframeset(SPRINGLINGFRAMESET_MAX)
Global springlingframesetIndex.stack=stackCreateIndex(4,SPRINGLINGFRAMESET_MAX,1)

Type springlingframeset
	Field id%
	Field typeid%
	Field springlets%
	Field frames%
	Field springletpointer%
	Field framepointer%
	Field bank%
End Type

Function springlingframesetNew.springlingframeset()
	this.springlingframeset=New springlingframeset
	this\id%=0
	this\typeid%=0
	this\springlets%=0
	this\frames%=0
	this\springletpointer%=0
	this\framepointer%=0
	this\bank%=0
	this\id%=StackPop(springlingframesetIndex.stack,1)
	springlingframesetID(this\id)=this
	Return this
End Function

Function SpringlingFrameSetSave(filename$,springling.springling,bvhframeset.bvhframeset)
	file%=WriteFile(filename$+".springletframeset")
	DebugLog "Writing "+filename$+".springletframeset"
	;springling.springlingframeset=springlingframesetNew() ;create new BVH FrameSet
	;springling\typeid%=typeid%
	;springling\bank=CreateBank(BankSize(bvhframeset\bank%))
	
	WriteInt(file%,BankSize(bvhframeset\bank%))
	WriteShort(file%,bvhframeset\springlets%)
	WriteShort(file%,bvhframeset\frames%)
	
	For frame = 0 To bvhframeset\frames%-1
		;increment frameset frame pointer
		bvhframeset\framepointer%=((bvhframeset\springlets%+1)*12)*frame%

		;ROOT
		springlet%=1
		PositionEntity springling\springlet[springlet%]\entity%,PeekFloat(bvhframeset\bank%,bvhframeset\framepointer+springling\springlet[springlet]\channeltypeid[1]),PeekFloat(bvhframeset\bank,bvhframeset\framepointer+springling\springlet[springlet]\channeltypeid[2]),PeekFloat(bvhframeset\bank%,bvhframeset\framepointer%+springling\springlet[springlet]\channeltypeid%[3])
		RotateEntity springling\springlet[springlet%]\entity%,PeekFloat(bvhframeset\bank%,bvhframeset\framepointer+springling\springlet[springlet]\channeltypeid[4]+12),PeekFloat(bvhframeset\bank,bvhframeset\framepointer+springling\springlet[springlet]\channeltypeid[5]+12),PeekFloat(bvhframeset\bank%,bvhframeset\framepointer%+springling\springlet[springlet]\channeltypeid%[6]+12)
		
		;Write to file
		WriteFloat(file%,EntityX(springling\springlet[springlet%]\entity%,True))
		WriteFloat(file%,EntityY(springling\springlet[springlet%]\entity%,True))
		WriteFloat(file%,EntityZ(springling\springlet[springlet%]\entity%,True))	
	
		For loop = 24 To bvhframeset\springlets%*12 Step 12
			;springlets
			springlet%=springlet%+1
			RotateEntity springling\springlet[springlet%]\entity%,PeekFloat(bvhframeset\bank%,bvhframeset\framepointer%+loop%+springling\springlet[springlet]\channeltypeid%[1]),PeekFloat(bvhframeset\bank,bvhframeset\framepointer+loop+springling\springlet[springlet]\channeltypeid[2]),PeekFloat(bvhframeset\bank,bvhframeset\framepointer%+loop%+springling\springlet[springlet%]\channeltypeid%[3])
			
			WriteFloat(file%,EntityX(springling\springlet[springlet%]\entity%,True))
			WriteFloat(file%,EntityY(springling\springlet[springlet%]\entity%,True))
			WriteFloat(file%,EntityZ(springling\springlet[springlet%]\entity%,True))					
			
		Next
	
	Next
	CloseFile(file%)	
	;Return springling
End Function

Function SpringlingFrameSetLoad.springlingframeset(filename$,springling.springling)
	file%=ReadFile(filename$+".springletframeset")
	DebugLog "Reading "+filename$+".springletframeset"
	this.springlingframeset=springlingframesetNew() ;create new springling FrameSet
	this\bank=CreateBank(ReadInt(file%))
	this\springlets%=ReadShort(file%)
	this\frames%=ReadShort(file%)
	
	Repeat		
		PokeFloat(this\bank%,offset%,ReadFloat(file))
		offset%=offset%+4
	Until Eof(file)
	
	CloseFile(file%)	
	Return this
End Function

;============================
;SPRINGLET
;============================
Type springlet ;verlet+spring = springlet v2
	Field typeid%
	Field entity
	Field parent.springlet
	Field name$
	Field open
	Field channels
	Field channeltypeid[6]
	Field position.vector ;current position and offset; restlength = distance
	Field angle.vector
	Field old.vector; previous positions
	Field velocity.vector; position velocity
	Field force.vector 
	Field mass#; mass
	Field timestep#;
End Type

Function springletNew.springlet()
	this.springlet=New springlet
	this\typeid%=0
	this\entity%=0
	this\parent.springlet=Null 
	this\name$=""
	this\open%=0
	this\channels%=0
	this\position.vector=vectorNew()
	this\angle.vector=vectorNew()
	this\old.vector=vectorNew()
	this\velocity.vector=vectorNew()
	this\force.vector =vectorNew()
	this\mass#=0.0
	this\timestep#=0.0
	Return this
End Function

Function springletDelete(this.springlet)
	this\timestep#=0.0
	this\mass#=0.0
	vectorDelete(this\force.vector )
	vectorDelete(this\velocity.vector)
	vectorDelete(this\old.vector)
	vectorDelete(this\angle.vector)
	vectorDelete(this\position.vector)
	this\name$=""
	springletDelete(this\parent.springlet)
	FreeEntity this\entity%
	Delete this
End Function

Function springletRead.springlet(file)
	this.springlet=New springlet
	this\typeid%=ReadInt(file)
	this\entity%=ReadInt(file)
	this\parent.springlet=springletRead(file)
	this\name$=ReadLine(file)
	this\open%=ReadInt(file)
	this\channels%=ReadInt(file)
	For loop=1 To 6:this\channeltypeid[loop]=ReadByte(file):Next
	this\position.vector=vectorRead(file)
	this\angle.vector=vectorRead(file)
	this\old.vector=vectorRead(file)
	this\velocity.vector=vectorRead(file)
	this\force.vector=vectorRead(file)
	this\mass#=ReadFloat(file)
	this\timestep#=ReadFloat(file)
	Return this
End Function

Function springletWrite(file,this.springlet)
	WriteInt(file,this\typeid%)
	WriteInt(file,this\entity%)
	springletWrite(file,this\parent.springlet)
	WriteLine(file,this\name$)
	WriteInt(file,this\open%)
	WriteInt(file,this\channels%)
	For loop=1 To 6:WriteByte(file,this\channeltypeid[loop]):Next
	vectorWrite(file,this\position.vector)
	vectorWrite(file,this\angle.vector)
	vectorWrite(file,this\old.vector)
	vectorWrite(file,this\velocity.vector)
	vectorWrite(file,this\force.vector )
	WriteFloat(file,this\mass#)
	WriteFloat(file,this\timestep#)
End Function

;============================
;SPRINGLETANCHOR
;============================
Type springletanchor
	Field position.vector;
	Field springlet.springlet
End Type

Function springletanchorNew.springletanchor()
	this.springletanchor=New springletanchor
	;this\springlet.springlet=springletNew()
	this\position.vector=vectorNew()
	Return this	
End Function

Function springletanchorRead.springletanchor(file)
	this.springletanchor=New springletanchor
	this\position.vector=vectorRead(file)
	this\springlet.springlet=springletRead(file)
	Return this
End Function

Function springletanchorWrite(file,this.springletanchor)
	vectorWrite(file,this\position.vector)
	springletWrite(file,this\springlet.springlet)
End Function

;============================
;SPRINGLETCONSTRAINT
;============================
Type springletconstraint
	Field springlet.springlet
	Field neighbors%;
	Field neighbor.springlet[SPRINGLING_MAX_NEIGHBORS%];
	Field neighbordistance#[SPRINGLING_MAX_NEIGHBORS%];restlength#
End Type

Function springletconstraintCreate.springletconstraint(springlet1.springlet,springlet2.springlet,restlength#)
	this.springletconstraint=New springletconstraint
	this\springlet.springlet=springlet1
	this\neighbors%=1	
	this\neighbor[this\neighbors%]=springlet2
	this\neighbordistance#[this\neighbors%]=restlength#*restlength#
	Return this
End Function 

Function springletconstraintRead.springletconstraint(file)
	this.springletconstraint=New springletconstraint
	this\neighbors%=ReadInt(file)
	For loop=1 To 128:this\neighbor.springlet[loop]=springletRead(file):Next
	For loop=1 To 128:this\neighbordistance#[loop]=ReadFloat(file):Next
	Return this
End Function

Function springletconstraintWrite(file,this.springletconstraint)
	WriteInt(file,this\neighbors%)
	For loop=1 To 128:springletWrite(file,this\neighbor.springlet[loop]):Next
	For loop=1 To 128:WriteFloat(file,this\neighbordistance#[loop]):Next
End Function

;====================
;SPRINGLING 
;====================
;Advance Character Physics, <a href="http://www.gamasutra.com/resource_guide/20030121/jacobson_pfv.htm" target="_blank">http://www.gamasutra.com/resource_guide/20030121/jacobson_pfv.htm</a>
;Exploring Spring Models, <a href="http://www.gamasutra.com/features/20011005/oliveira_01.htm" target="_blank">http://www.gamasutra.com/features/20011005/oliveira_01.htm</a>
Global SPRINGLING_MAX%=256
Dim springlingID.springling(SPRINGLING_MAX%)
Global springlingIndex.stack=stackCreateIndex(4,SPRINGLING_MAX%,1)

Type springling
	Field id%
	Field typeid%
	Field springletpivot.springlet;central pivot connects to entity
	Field springlets%;
	Field springlet.springlet[SPRINGLING_MAX_SPRINGLETS]; ;array of springling springlets
	Field springletanchors%;
	Field springletanchor.springletanchor[SPRINGLING_MAX_ANCHOR_SPRINGLETS]; ;stability  debug
	Field springletconstraints%
	Field springletconstraint.springletconstraint[SPRINGLING_MAX_CONSTRIANTS]
	Field k_coef#;
	Field energyloss#;
	Field mass#;
	Field tolerance#;
	Field iterations%
	Field gravity.vector ;local gravity
End Type

Function springlingNew.springling()
	this.springling=New springling
	this\gravity.vector=vectorNew()
	this\id%=0
	this\typeid%=0
	this\springlets%=0
	this\iterations%=1
	this\id%=StackPop(springlingIndex.stack,1)
	springlingID(this\id)=this
	Return this
End Function

Function springlingDelete(this.springling)
	springlingID(this\id)=Null
	StackPush(springlingIndex.stack,this\id%,1)
	;For loop = 1 To 256
	;	If this\springlet[loop]<>Null springletdelete(this\springlet[loop])
	;Next
	Delete this
End Function

Function springlingRead.springling(file)
	this.springling=New springling
	this\id%=ReadInt(file)
	this\typeid%=ReadInt(file)
	this\springlets%=ReadInt(file)
	For loop=1 To 128:this\springlet.springlet[loop]=springletRead(file):Next
	this\springletanchors%=ReadInt(file)
	For loop=1 To 128:this\springletanchor.springletanchor[loop]=springletanchorRead(file):Next
	this\springletconstraints%=ReadInt(file)
	For loop=1 To 128:this\springletconstraint.springletconstraint[loop]=springletconstraintRead(file):Next
	this\k_coef#=ReadFloat(file)
	this\energyloss#=ReadFloat(file)
	this\mass#=ReadFloat(file)
	this\tolerance#=ReadFloat(file)
	this\iterations%=ReadInt(file)
	this\gravity.vector=vectorRead(file)
	Return this
End Function

Function springlingWrite(file,this.springling)
	WriteInt(file,this\id%)
	WriteInt(file,this\typeid%)
	WriteInt(file,this\springlets%)
	For loop=1 To 128:springletWrite(file,this\springlet.springlet[loop]):Next
	WriteInt(file,this\springletanchors%)
	For loop=1 To 128:springletanchorWrite(file,this\springletanchor.springletanchor[loop]):Next
	WriteInt(file,this\springletconstraints%)
	For loop=1 To 128:springletconstraintWrite(file,this\springletconstraint.springletconstraint[loop]):Next
	WriteFloat(file,this\k_coef#)
	WriteFloat(file,this\energyloss#)
	WriteFloat(file,this\mass#)
	WriteFloat(file,this\tolerance#)
	WriteInt(file,this\iterations%)
	vectorWrite(file,this\gravity.vector)
End Function


;----------------------------
;SPRINGLING ANIMATION
;----------------------------
Function springlingbvhLoad.springling(filename$)
	file%=ReadFile(filename$+".bvh")
	If file% 
		;creatE skeleton
		this.springling=springlingnew()
			Repeat ;iterate through data til "HIERARCHY"
				keyword$=Upper(parseword$(file%,33,125));get word
				Select keyword$
					Case "ROOT","JOINT","END"
						this\springlets%=this\springlets%+1;inc springlet ct
						this\springlet[this\springlets%]=springletNew()
						this\springlet[this\springlets%]\entity%=CreatePivot()
						this\springlet[this\springlets%]\typeid%=Len(keyword$)-4 ;0=root, 1=springlet, -1=end
						;If this\springlet[this\springlets%]\typeid%=0 Root.springlet=springlet.springlet ;root springlet
						this\springlet[this\springlets%]\name$=parseword$(file%,32,123);name
						;testing
						;DebugLog "Reading "+keyword$+" "+this\springlet[this\springlets%]\name$
						NameEntity this\springlet[this\springlets%]\entity%,this\springlet[this\springlets%]\name$
						this\springlet[this\springlets%]\mass#=1.0
						this\springlet[this\springlets%]\timestep#=.1						
					Case "OFFSET"
						;replaced offset with position
						this\springlet[this\springlets%]\position\x#=parseword$(file%,45,57)
						this\springlet[this\springlets%]\position\y#=parseword$(file%,45,57)
						this\springlet[this\springlets%]\position\z#=parseword$(file%,45,57)
	
					Case "CHANNELS"
						this\springlet[this\springlets%]\channels=parseword$(file%,46,57)
						;parse channel Types
						For loop=1 To this\springlet[this\springlets%]\channels
							Select Upper(parseword$(file%,65,122))
								Case "XPOSITION" this\springlet[this\springlets%]\channeltypeid[loop]=0
								Case "YPOSITION" this\springlet[this\springlets%]\channeltypeid[loop]=4
								Case "ZPOSITION" this\springlet[this\springlets%]\channeltypeid[loop]=8
								Case "XROTATION" this\springlet[this\springlets%]\channeltypeid[loop]=0
								Case "YROTATION" this\springlet[this\springlets%]\channeltypeid[loop]=4
								Case "ZROTATION" this\springlet[this\springlets%]\channeltypeid[loop]=8
							End Select
						Next
						
						;order
						Restore bvhRotationOrder
						Read channel1%,channel2%,channel3%,x%,y%,z%
						For loop = 1 To 2
							If this\springlet[this\springlets%]\channeltypeid[1]=channel1% And this\springlet[this\springlets%]\channeltypeid[2]=channel2% And this\springlet[this\springlets%]\channeltypeid[3]=channel3%
								this\springlet[this\springlets%]\channeltypeid[1]=x%
								this\springlet[this\springlets%]\channeltypeid[2]=y%
								this\springlet[this\springlets%]\channeltypeid[3]=z%	
							EndIf						
							If this\springlet[this\springlets%]\channeltypeid[4]=channel1 And this\springlet[this\springlets%]\channeltypeid[5]=channel2 And this\springlet[this\springlets%]\channeltypeid[6]=channel3
								this\springlet[this\springlets%]\channeltypeid[4]=x%
								this\springlet[this\springlets%]\channeltypeid[5]=y%
								this\springlet[this\springlets%]\channeltypeid[6]=z%	
							EndIf
						Next
								
		
					Case "{"
						this\springlet[this\springlets%]\open=True ;open position springlet hieararchy
						;locate parentspringlet by transversing springlet hieararchy backwards Until parent (open springlet) is found
						Parentspringlet.springlet=this\springlet[this\springlets%]	;make parentspringlet equal to position springlet
						Repeat
							If Not Parentspringlet=First springlet Parentspringlet=Before Parentspringlet ;if typeid not equal to root then tranverse hieararchy
							If  Parentspringlet\Open this\springlet[this\springlets%]\Parent=Parentspringlet
						Until Parentspringlet\Open
	
					Case "}"
						this\springlet[this\springlets%]\Open=False ;close position springlet
						;Find Parentspringlet
						For loop = 1 To this\springlets%
							If this\springlet[loop]=this\springlet[this\springlets%]\parent.springlet
								this\springlet[this\springlets%]=this\springlet[loop] ;make parentspringlet position springlet
								Exit
							EndIf
						Next
				End Select
	
			Until keyword$="MOTION"
	
			CloseFile(file%);close file
		EndIf
		
		;correct end sites, duplicates
		springling2.springling=springlingNew()
		For loop=1 To this\springlets%
			duplicate=False
			For loop2=1 To springling2\springlets
				If this\springlet[loop]\name$=springling2\springlet[loop2]\name$
					duplicate=True
					Exit
				EndIf
			Next
			If Not duplicate
				springling2\springlets%=springling2\springlets%+1
				springling2\springlet[springling2\springlets%]=this\springlet[loop]
				If loop>1
					springling2\springletconstraints%=springling2\springletconstraints%+1
					springling2\springletconstraint[springling2\springletconstraints%]=springletconstraintCreate(springling2\springlet[springling2\springlets%],springling2\springlet[springling2\springlets%]\parent,vectorAbsHigher#(springling2\springlet[springling2\springlets%]\position))
					EntityParent(springling2\springlet[springling2\springlets%]\entity,springling2\springlet[springling2\springlets%]\parent\entity)
				EndIf	
			EndIf
		Next
		
		For loop = 1 To  springling2\springlets%
			TranslateEntity springling2\springlet[loop]\entity,springling2\springlet[loop]\position\x#,springling2\springlet[loop]\position\y#,springling2\springlet[loop]\position\z#
		Next
		springlingDelete(this)
		;adjust pointers
		springling2\tolerance#=0.0000000005
		springling2\k_coef#=.30;
		springling2\energyloss#=.75;
		springling2\mass#=1.0;
		springling2\gravity\y#=-1.5;global gravity modifier
		Return springling2
End Function

Function springlingBind(this.springling,parent%)
	children%=CountChildren(parent%)
	For loop = 1 To children%
		child%=GetChild (parent%,loop)
		name$=EntityName$(child%)
		DebugLog name$
		;bind
		For loop1 = 1 To this\springlets
			If name$=this\springlet[loop1]\name$
				;DebugLog "Child:"+name$+" binded to Skeleton:"+this\springlet[loop1]\name$
				this\springlet[loop1]\entity=child%
			EndIf
		Next
		springlingBind(this,child%)
	Next
End Function	

Function springlingBVHAnimateNext(this.springling,bvhframesetIndex%,frame%)
	;increment frameset frame pointer
	;this.springling=First springling;(this\skeletonid)testing
	bvhframeset.bvhframeset=bvhframesetID(bvhframesetIndex)
	bvhframeset\framepointer=((bvhframeset\springlets+1)*12)*frame%
	;ROOT
	springlet%=1
	PositionEntity this\springlet[springlet%]\entity%,PeekFloat(bvhframeset\bank,bvhframeset\framepointer+this\springlet[springlet]\channeltypeid[1]),PeekFloat(bvhframeset\bank,bvhframeset\framepointer+this\springlet[springlet]\channeltypeid[2]),PeekFloat(bvhframeset\bank,bvhframeset\framepointer+this\springlet[springlet]\channeltypeid[3])
	RotateEntity this\springlet[springlet%]\entity%,PeekFloat(bvhframeset\bank,bvhframeset\framepointer+this\springlet[springlet]\channeltypeid[4]+12),PeekFloat(bvhframeset\bank,bvhframeset\framepointer+this\springlet[springlet]\channeltypeid[5]+12),PeekFloat(bvhframeset\bank,bvhframeset\framepointer+this\springlet[springlet]\channeltypeid[6]+12)	
	this\springlet[springlet%]\position\x#=EntityX(this\springlet[springlet%]\entity%,True)
	this\springlet[springlet%]\position\y#=EntityY(this\springlet[springlet%]\entity%,True)
	this\springlet[springlet%]\position\z#=EntityZ(this\springlet[springlet%]\entity%,True)
	For loop = 24 To bvhframeset\springlets%*12 Step 12
		;springlets
		springlet%=springlet%+1
		RotateEntity this\springlet[springlet%]\entity%,PeekFloat(bvhframeset\bank,bvhframeset\framepointer+loop+this\springlet[springlet]\channeltypeid[1]),PeekFloat(bvhframeset\bank,bvhframeset\framepointer+loop+this\springlet[springlet]\channeltypeid[2]),PeekFloat(bvhframeset\bank,bvhframeset\framepointer+loop+this\springlet[springlet]\channeltypeid[3])
		this\springlet[springlet%]\position\x#=EntityX(this\springlet[springlet%]\entity%,True)
		this\springlet[springlet%]\position\y#=EntityY(this\springlet[springlet%]\entity%,True)
		this\springlet[springlet%]\position\z#=EntityZ(this\springlet[springlet%]\entity%,True)
	Next
End Function

Function springlingAnimateNext(this.springling,springlingframesetIndex%,frame%)
	;increment frameset frame pointer
	springlingframeset.springlingframeset=springlingframesetID(springlingframesetIndex)
	springlingframeset\framepointer=((springlingframeset\springlets)*12)*frame%
	For loop = 0 To (springlingframeset\springlets-1)*12 Step 12
		springlet%=springlet%+1
		vectorMimic(this\springlet[springlet%]\old,this\springlet[springlet%]\position)
		this\springlet[springlet%]\position\x#=PeekFloat(springlingframeset\bank,springlingframeset\framepointer+loop)
		this\springlet[springlet%]\position\y#=PeekFloat(springlingframeset\bank,springlingframeset\framepointer+loop+4)
		this\springlet[springlet%]\position\z#=PeekFloat(springlingframeset\bank,springlingframeset\framepointer+loop+8)
	Next
End Function

;----------------------------
;SPRINGLING VERLET PHYICS
;----------------------------
Function springlingVerletCreate.springling(springlets,x#,y#,z#)
	this.springling=springlingNew()  
	this\springlets=springlets
	For i=1 To this\springlets
		this\springlet.springlet[i]=springletNew()
		this\springlet[i]\position\x#=x#
		this\springlet[i]\position\y#=y#
		this\springlet[i]\position\z#=z#
		this\springlet[i]\mass#=1.0
		this\springlet[i]\timestep#=.1
	Next
	vectorSet(this\gravity,0,-1.5,0) 
	Return this
End Function

;springlet verlet integration Step
Function  springlingVerletIntegrator(this.springling) 
   For i=1 To this\springlets
		;temp=old
		vectorMimic(springlettempvector,this\springlet[i]\position)
		;x = (x+(x-oldx)) + (a*fTimeStep#*fTimeStep#)  ;a=F/m acceleration=Force/mass
		vectorAdd(vectorAdd(this\springlet[i]\position,vectorSubtract2(springletpositionvector,this\springlet[i]\position,this\springlet[i]\old)),vectorScalarMultiply(this\springlet[i]\force,this\springlet[i]\timestep#*this\springlet[i]\timestep#))
		;oldx=temp
		vectorMimic(this\springlet[i]\old,springlettempvector);
   Next
End Function

; This Function should accumulate forces For Each springlet
Function springlingVerletAccumulateForces(this.springling)
	; All springlets are influenced by gravity
	For i=1 To this\springlets
		vectorMimic(this\springlet[i]\force,this\gravity);this\springlet[i]\gravity)
	Next	
End Function 

; Here springletconstraints should be satisfied
Function springlingVerletSatisfyConstraints(this.springling)
	For j=1 To this\iterations%
		;C1
		For loop=1 To this\springlets
			this\springlet[loop]\position=vectorScalarMin(vectorScalarMax(this\springlet[loop]\position,100),0);
		Next
		For loop=1 To this\springletconstraints%
			For loop1= 1 To this\springletconstraint[this\springletconstraints%]\neighbors%
				;C2
				;Pseudo-code For satisfying (C2) using sqrt approximation
				;delta = x2-x1;
				vectorSubtract2(springletdeltavector,this\springletconstraint[loop]\neighbor[loop1]\position,this\springletconstraint[loop]\springlet\position)
				;delta = delta * restlength*restlength/(dotproduct(delta)+restlength*restlength)-0.5;
				;Note that delta is a vector so delta*delta is actually a dot product. With restlength=100 the above pseudo-code will push apart Or pull together the springlets such that they once more attain the correct distance of 100 between them. Again we may think of the situation as If a very stiff spring with rest length 100 has been inserted between the springlets such that they are instantly placed correctly.
				;restlength#=restlength#^2
				vectorScalarMultiply(springletdeltavector,this\springletconstraint[loop]\neighbordistance#[loop1]/(vectorDotProduct(springletdeltavector,springletdeltavector)+this\springletconstraint[loop]\neighbordistance#[loop1])-0.5)
				;x1 -= delta;
				vectorSubtract(this\springletconstraint[loop]\springlet\position,springletdeltavector)	
				;x2 += delta;
				vectorAdd(this\springletconstraint[loop]\neighbor[loop1]\position,springletdeltavector)
			Next
		Next
	Next
End Function

Function springlingVerletTimeStep(this.springling)
   springlingVerletAccumulateForces(this);
   springlingVerletIntegrator(this);
   springlingVerletSatisfyConstraints(this);
End Function

;----------------------------
;SPRINGLING SPRING PHYICS
;----------------------------
Function springlingSpringStringCreate.springling(distance#, springlets%, k_coef#, energyloss#, mass#, gravity#)
	;If ((distance# < 0.005) Or (springlets% < 3)) Return Null
	this.springling=springlingNew();
	;adjust pointers
	this\tolerance#=0.0000000005
	this\k_coef#=k_coef#;
	this\energyloss#=energyloss#;
	this\mass#=mass#;
	this\springlets%=springlets%
	this\gravity\y#=gravity#;global gravity modifier
	;setup springlets position aligned with the xz+axis
	For loop=1 To springlets
		this\springlet.springlet[loop]=springletNew()
    	this\springlet[loop]\position\x#=distance#*loop;
		this\springlet[loop]\timestep#=.1
	Next
	;connect springlets And setup the inertial x# distances
	;far Left springletconstraints
	this\springletconstraints%=this\springletconstraints%+1
	this\springletconstraint[this\springletconstraints%]=springletconstraintCreate(this\springlet[1],this\springlet[2],distance#)
	;inner springletconstraint
	For loop=2 To springlets-1
		this\springletconstraints%=this\springletconstraints%+1	
		this\springletconstraint[this\springletconstraints%]=New springletconstraint		
		this\springletconstraint[this\springletconstraints%]\springlet=this\springlet[loop]
	    ;connect To the previous
    	this\springletconstraint[this\springletconstraints%]\neighbor[1]=this\springlet[loop-1];
	    this\springletconstraint[this\springletconstraints%]\neighbordistance#[1]=distance#;
    	;connect To the Next
	    this\springletconstraint[this\springletconstraints%]\neighbor[2]=this\springlet[loop+1];
    	this\springletconstraint[this\springletconstraints%]\neighbordistance#[2]=distance#;
		this\springletconstraint[this\springletconstraints%]\neighbors%=this\springletconstraint[this\springletconstraints%]\neighbors%+2;
	Next
	;far Right springletconstraint
	this\springletconstraints%=this\springletconstraints%+1
	this\springletconstraint[this\springletconstraints%]=springletconstraintCreate(this\springlet[springlets],this\springlet[springlets-1],distance#)
	; setup springletanchor springlet, Right springlet is the only springletanchor
	this\springletanchor.springletanchor[1]=springletanchorNew()
	this\springletanchor[1]\springlet.springlet=this\springlet[1]
	this\springletanchor[1]\position\x#=this\springlet[1]\position\x#;
	this\springletanchors%=this\springletanchors%+1
	Return this;
End Function

Function springlingSpringComputeSingleForce(this.springling, force.vector, pa.vector, pb.vector, k#, delta_distance#)
	;get the distance
	vectorSubtract2(springletdeltavector,pb,pa)
	distance#=Sqr(vectorDotProduct(springletdeltavector,springletdeltavector));
	If distance# < this\tolerance#
		vectorReset(force)
	    Return;
	EndIf
	vectorMimic(springletforcedirection,springletdeltavector)
	;normalize
	vectorScalarDivide(springletforcedirection,distance#)
	;store
	vectorScalarMultiply2(force,springletforcedirection,k*distance#-delta_distance#);force & intensity#
End Function

Function springlingSpringAccumulateForces(this.springling)
	;accumulate all forces
	For loop=1 To this\springletconstraints%
	    ;Null out springletresultant
	    vectorReset(springletresultant)
	    For loop1=1 To this\springletconstraint[loop]\neighbors%
			vectorMimic(this\springlet[loop]\old,this\springlet[loop]\position)
		    springlingSpringComputeSingleForce(this,springlettempvector,this\springletconstraint[loop]\springlet\position,this\springletconstraint[loop]\neighbor[loop1]\position,this\k_coef#,this\springletconstraint[loop]\neighbordistance#[loop1]);
		    VectorAdd(springletresultant,springlettempvector);
	    Next
		vectorMimic(this\springletconstraint[loop]\springlet\force,springletresultant)
	Next
End Function

Function springlingSpringApplyForces(this.springling)
	vectorReset(springletaccumulator)
	;apply resultant forces To increase velocity of Each springling
	For loop=1 To this\springlets
		vectorAdd2(springletaccumulator,this\springlet[loop]\force,this\gravity)
		;vectorScalarDivide(springletaccumulator,this\mass)	;mass is in somehow unecessary
		vectorAdd(this\springlet[loop]\velocity,springletaccumulator) 
		vectorAdd(this\springlet[loop]\position,this\springlet[loop]\velocity)
		;energy loss For velocity
		vectorScalarMultiply(this\springlet[loop]\velocity,this\energyloss#)
	Next
End Function

Function springlingSpringAnchorCheck(this.springling)
	For loop=1 To this\springletanchors%
		If this\springletanchor[loop]\springlet\position\x#<>this\springletanchor[loop]\position\x# this\springletanchor[loop]\springlet\position\x#=this\springletanchor[loop]\position\x#
		If this\springletanchor[loop]\springlet\position\y#<>this\springletanchor[loop]\position\y# this\springletanchor[loop]\springlet\position\y#=this\springletanchor[loop]\position\y#
		If this\springletanchor[loop]\springlet\position\z#<>this\springletanchor[loop]\position\z# this\springletanchor[loop]\springlet\position\z#=this\springletanchor[loop]\position\z#
	Next
	;for loop=1 to this\springlets%
	;if this\springlet[loop]=anchor type vectorMimic(springlet[loop]\position,springlet[loop]\old)
	;next	
End Function

Function springlingSpringTimeStep(this.springling)
	springlingSpringAccumulateForces(this);
	springlingSpringApplyForces(this);
	springlingSpringAnchorCheck(this);
End Function

;============================
;MAN
;============================
Global MAN_MAX%=256
Dim manID.man(MAN_MAX%)
Global manIndex.stack=stackCreateIndex(4,MAN_MAX%,1)
Type man
	Field id%
	Field typeid%
	Field bvhframesetId%
	Field bvhframe%
	Field lod.lod
	Field position.vector
	Field angle.vector
End Type

Function manStart.man(filename$="Default")
	;load from config
	manopen(filename$)
	;setup
	For this.man=Each man
	Next
	Return First man
End Function

Function manStop()
	For this.man=Each man
		manDelete(this)
	Next
End Function

Function manNew.man()
	this.man=New man
	this\id%=0
	this\typeid%=0
	this\bvhframe%=0
	this\lod.lod=lodNew()
	this\position.vector=vectorNew()
	this\angle.vector=vectorNew()
	this\id%=StackPop(manIndex.stack,1)
	manID(this\id)=this
	Return this
End Function

Function manDelete(this.man)
	manID(this\id)=Null
	StackPush(manIndex.stack,this\id%,1)
	vectorDelete(this\angle.vector)
	vectorDelete(this\position.vector)
	lodDelete(this\lod.lod)
	Delete this
End Function

Function manManager()
	For this.man=Each man
	Next
End Function

Function manRead.man(file)
	this.man=New man
	this\id%=ReadInt(file)
	this\typeid%=ReadInt(file)
	this\bvhframe%=ReadInt(file)
	this\lod.lod=lodRead(file)
	this\position.vector=vectorRead(file)
	this\angle.vector=vectorRead(file)
	Return this
End Function

Function manWrite(file,this.man)
	WriteInt(file,this\id%)
	WriteInt(file,this\typeid%)
	WriteInt(file,this\bvhframe%)
	lodWrite(file,this\lod.lod)
	vectorWrite(file,this\position.vector)
	vectorWrite(file,this\angle.vector)
End Function

Function manSave(filename$="Default")
	file=WriteFile(filename$+".man")
	For this.man= Each man
		manWrite(file,this)
	Next
	CloseFile(file)
End Function

Function manOpen(filename$="Default")
	file=ReadFile(filename+".man")
	Repeat
		manRead(file)
	Until Eof(file)
	CloseFile(file)
End Function

Function manCopy.man(this.man)
	copy.man=New man
	copy\id%=this\id%
	copy\typeid%=this\typeid%
	copy\bvhframe%=this\bvhframe%
	copy\lod.lod=lodCopy(this\lod.lod)
	copy\position.vector=vectorCopy(this\position.vector)
	copy\angle.vector=vectorCopy(this\angle.vector)
	Return copy
End Function

Function manMimic(mimic.man,this.man)
	mimic\id%=this\id%
	mimic\typeid%=this\typeid%
	mimic\bvhframe%=this\bvhframe%
	lodMimic(mimic\lod.lod,this\lod.lod)
	vectorMimic(mimic\position.vector,this\position.vector)
	vectorMimic(mimic\angle.vector,this\angle.vector)
End Function

Function manCreate.man(id%,typeid%,bvhframe%,lod.lod,position.vector,angle.vector)
	this.man=manNew()
	this\id%=id%
	this\typeid%=typeid%
	this\bvhframe%=bvhframe%
	this\lod.lod=lod.lod
	this\position.vector=position.vector
	this\angle.vector=angle.vector
	Return this
End Function

Function parseword$(file%,min%=33,max%=125) ;ascii character range min=33, max=125
	If file%				
		Repeat
			byte%=ReadByte(file%); byte
			char$=Chr$(byte%); char
			If byte%>=min% And byte%<=max%
				word$=word$+char$ ;word
				charct%=charct%+1 ;inc charct, count characters valid after first character in range has be accounted for
			Else
				If charct%>0 
					;DebugLog word$
					Return word$
				EndIf	
			EndIf
		Until Eof(file%)=True
		If charct>0 
			;DebugLog word$
			Return word$
		EndIf	
	EndIf
End Function

Function vectorAbsHigher#(this.vector)
	n#=Abs(this\x#)
	If Abs(this\y#)>n# n#=Abs(this\y#)
	If Abs(this\z#)>n# n#=Abs(this\z#)
	Return n#
End Function


.bvhRotationOrder
;0=x,4=y,8=z
Data 8,0,4,4,8,0;zxy
Data 4,8,0,8,0,4;yzx
Data 8,4,0,8,4,0;zyx
Data 4,0,8,4,0,8;yxz
Data 0,4,8,0,4,8;xyz
Data 0,8,4,0,8,4;xzy

It would be nice to see a high performance physics system made with Blitz3D.

Clarks

(Posted 2005) [#3]

verlets are good but rotations are very difficult to calculate.

Stevie G

(Posted 2005) [#4]

Thanks folks - this doesn't really tell me what I need to know though :(

flying willy

(Posted 2005) [#5]

Another astounding post by clarks.

Techlord

(Posted 2005) [#6]

Stevie G

Sorry, I failed to read the entire post. I really didn't get as far as you have. I'm not sure that anyone has with a blitz-made verlet system.

Considering a tank is a all wheel traction vehicle, you may to have to contend with both front and back steer. My approach to a tank would have been much different only using the verlet for the chassis, springs for the L/R Front & L/R Rear suspension. I would totally fake movement and steering (rotation) from the center of the body with the standard translation functions. Stiff movement and steering with a tank is ok.

Stevie G

(Posted 2005) [#7]

Thanks Frank,

No problems with the tank - I only apply force to the track which is moving and touching the ground, therefore if you only push the right analogue forward it turns slowly to the left, if you move the left analogue back and the right forward it spins on the spot to the left. It works quite well so this isn't the issue. I would however be interested on how you would bring springs into the equation - assume for some form of suspension? Would they work in a similar fashion to verlets but with an elasticity factor for the contraint?

The question is really about simulating a car rather than a tank but I'm interested in all aspects.