Assignment 5 (Rigid Bodies)

Name: Karthik Ramesh Iyer UIN: 234009250

Prequisites

• OpenGL 4.x
• GLM
• GLEW
• Eigen

Set the following environment variables:

GLM_INCLUDE_DIR=/Users/karthik/lib/glm-0.9.9.8;GLFW_DIR=/Users/karthik/lib/glfw-3.3.8;GLEW_DIR=/Users/karthik/lib/glew-2.1.0

How to build and run

Clone the project and run the following commands in the root directory of the project:

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j4

To run the simulator:

./A4 ../resources ../data

Note

• The simulation and rendering loop are set up in main.cpp. The approach used is to run both threads in parallel and the simulation thread updates the state which is read by the rendering thread. The rendering thread does not wait for the simulation thread. If the timestep used is h and processing one timestep takes time x, the simulation loop waits for time = max(h - x, 0) before processing the next timestep. This makes sure that the simulation is displayed at the expected rate.
• All geometry is loaded in Scene.cpp, into the Shape class defined in Shape.h/Shape.cpp
• Rigid body dynamics are handles in the RigidBody class (RigidBody.cpp and RigidBody.h)
• Point-polygon and edge-edge collision is handled in the detectCollision, detectEdgeCollision and step functions in the the RigidBody class

Credits

This project uses:

• Rendering boilerplate code from Dr. Sueda's Computer Animation course (CSCE-689), which has been modified to support OpenGL 4, and to load multiple scenes whilepausing the simulation
• Eigen for vector math
• https://github.com/g-truc/glm for vector math and for opengl support
• Dear ImGui for immediate mode UI
• One TBB for parallel processing