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Minor improvement to SIM_billiards

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This commit is contained in:
Jacqueline Deans 2022-07-20 15:56:02 -05:00
parent 3cd2a1606f
commit b69475175d
3 changed files with 32 additions and 128 deletions
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2
trick_sims/SIM_billiards/Modified_data/realtime.py
View File

@ -4,7 +4,7 @@ trick.exec_set_software_frame(0.01)
trick.itimer_enable()
trick.exec_set_enable_freeze(True)
trick.exec_set_freeze_command(True)
# trick.exec_set_freeze_command(True)
simControlPanel = trick.SimControlPanel()
trick.add_external_application(simControlPanel)

31
trick_sims/SIM_billiards/README.md Normal file
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@ -0,0 +1,31 @@
# Billiards Sim
Playable simulation of a billiards table. Includes friction, impulse collision handling, and cue forces currently.
Angular forces on cue ball, user control of parameters, and detailed physics writeup coming soon :)
<br><br>
# Pool Table Display
Located in models/graphics/cpp, uses the Libigl library for visualization.
## Compile
libigl must be downloaded from Github : https://github.com/libigl/libigl
Clone it somewhere accessible, like your home directory. It does not need to be compiled.
libigl depends on Eigen3, which may (or may not) need to be downloaded and installed : https://eigen.tuxfamily.org/index.php?title=Main_Page
To compile:
```
cd models/graphics/cpp
mkdir build
cd build
cmake ..
make
```
The provided input files will automatically run and connect to the display.

127
trick_sims/SIM_billiards/models/graphics/cpp/main.cpp
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@ -521,132 +521,6 @@ std::vector<int> parseTrickResponseInt(std::vector<std::string> list) {
return ret;
}
// void launchViewer (igl::opengl::glfw::Viewer *viewer) {
// std::cout << "About to launch the viewer" << std::endl;
// viewer->launch();
// }
// std::queue<std::string> messageQueue;
// std::mutex messageLock;
// std::mutex renderLock;
// igl::opengl::glfw::imgui::ImGuiMenu* menu;
// bool mouse_down (igl::opengl::glfw::Viewer& viewer, int button, int modifier) {
// mousePressed = true;
// return true;
// }
// bool mouse_up (igl::opengl::glfw::Viewer& viewer, int button, int modifier) {
// mousePressed = false;
// std::string cueRequest = "";
// std::string templateString = "dyn.table.applyCueForce(%.3f, %.3f) \n";
// char buf[128];
// sprintf(buf, templateString.c_str(), mouseX, mouseY);
// cueRequest += std::string(buf);
// messageLock.lock();
// messageQueue.push(cueRequest);
// messageLock.unlock();
// return true;
// }
// bool mouse_move (igl::opengl::glfw::Viewer& viewer, int mouse_x, int mouse_y) {
// Eigen::Vector3f pos(mouse_x, mouse_y, 0);
// Eigen::Matrix4f model = viewer.core().view;
// Eigen::Vector3f unproj = igl::unproject(pos, model, viewer.core().proj, viewer.core().viewport);
// mouseX = unproj[0];
// mouseY = -unproj[1];
// return true;
// }
// bool pre_draw (igl::opengl::glfw::Viewer& viewer) {
// std::string reply;
// socket >> reply;
// // std::cout << "Got data: " << reply << std::endl;
// std::vector<double> replyData = parseTrickResponse(split(reply, '\t'));
// // numBalls = (int)replyData[0];
// if (replyData.size() <= 1) {
// // std::cout << "Received bad reply" << std::endl;
// return false;
// }
// table.clearMovingShapes();
// Eigen::Vector2d cueBallPos(0,0);
// int cueBallIndex = 0;
// for (int i = 0; i < numBalls; i++) {
// double inPlay = replyData[1+(i*3 + 2)];
// if (inPlay == 0) {
// continue;
// }
// std::vector<double> circleData = {replyData[1+(i*3)], replyData[1+(i*3 + 1)], radii[i]};
// Eigen::Vector3d circleColor;
// if (i == cueBallIndex) {
// circleColor = Eigen::Vector3d(1,1,1);
// cueBallPos = Eigen::Vector2d(replyData[1+(i*2)], replyData[1+(i*2 + 1)]);
// } else {
// circleColor = ball_colors[i % ball_colors.size()];
// }
// table.addShape(circleData, circleColor, false, CIRCLE, layer_BALL);
// }
// if (mousePressed) {
// // Draw the cue
// double cue_width = 0.03;
// Eigen::Vector2d cue_end(mouseX, mouseY);
// Eigen::Vector2d vec = (cue_end - cueBallPos).normalized();
// Eigen::Vector2d off1(-vec(1), vec(0));
// Eigen::Vector2d off2(vec(1), -vec(0));
// Eigen::Vector2d point1 = cue_end + (off1 * cue_width);
// Eigen::Vector2d point2 = cue_end + (off2 * cue_width);
// std::vector<double> triangleData = {cueBallPos(0), cueBallPos(1), point1(0), point1(1), point2(0), point2(1)};
// table.addShape(triangleData, Eigen::Vector3d(0, 0, 0), false, TRIANGLE, layer_CUE);
// }
// renderLock.lock();
// std::tie(V, F, C) = table.getMesh();
// renderLock.lock();
// viewer.data().clear();
// viewer.core().orthographic = true;
// viewer.data().show_lines = false;
// viewer.data().set_face_based(false);
// viewer.data().double_sided = true;
// viewer.core().is_animating = true;
// viewer.core().camera_zoom = 2;
// viewer.data().set_mesh(V, F);
// viewer.data().set_colors(C);
// renderLock.unlock();
// }
// void draw_viewer_menu () {
// ImGui::Text("Menu");
// if (ImGui::Button("Reset Cue Ball", ImVec2(-1, 0)))
// {
// std::string message = "dyn.table.resetCueBall() \n";
// messageLock.lock();
// messageQueue.push(message);
// messageLock.unlock();
// }
// }
int main(int argc, char *argv[])
{
// Parse socket number out of argv
@ -837,7 +711,6 @@ int main(int argc, char *argv[])
plugin->widgets.push_back(menu);
view->callback_mouse_down = [&](igl::opengl::glfw::Viewer& viewer, int button, int modifier) -> bool {
std::cout << "Mouse down" << std::endl;
mousePressed = true;
return false;
};