SimulationModel.cpp

#include "SimulationModel.h"
#include "PositionBasedDynamics/PositionBasedRigidBodyDynamics.h"
#include "Constraints.h"

using namespace PBD;
using namespace GenParam;

SimulationModel::SimulationModel()
{
	m_contactStiffnessRigidBody = 1.0;
	m_contactStiffnessParticleRigidBody = 100.0;

	m_groupsInitialized = false;

	m_rigidBodyContactConstraints.reserve(10000);
	m_particleRigidBodyContactConstraints.reserve(10000);
	m_particleSolidContactConstraints.reserve(10000);
}

SimulationModel::~SimulationModel(void)
{
	cleanup();
}

void SimulationModel::init()
{
	initParameters();
}

void SimulationModel::cleanup()
{
	resetContacts();
	for (unsigned int i = 0; i < m_rigidBodies.size(); i++)
		delete m_rigidBodies[i];
	m_rigidBodies.clear();
	for (unsigned int i = 0; i < m_triangleModels.size(); i++)
		delete m_triangleModels[i];
	m_triangleModels.clear();
	for (unsigned int i = 0; i < m_tetModels.size(); i++)
		delete m_tetModels[i];
	m_tetModels.clear();
	for (unsigned int i = 0; i < m_lineModels.size(); i++)
		delete m_lineModels[i];
	m_lineModels.clear();
	for (unsigned int i = 0; i < m_constraints.size(); i++)
		delete m_constraints[i];
	m_constraints.clear();
	m_particles.release();
	m_orientations.release();
	m_groupsInitialized = false;
}

void SimulationModel::reset()
{
	resetContacts();

	// rigid bodies
	for (size_t i = 0; i < m_rigidBodies.size(); i++)
	{
		m_rigidBodies[i]->reset();
		m_rigidBodies[i]->getGeometry().updateMeshTransformation(m_rigidBodies[i]->getPosition(), m_rigidBodies[i]->getRotationMatrix());
	}

	// particles
	for (unsigned int i = 0; i < m_particles.size(); i++)
	{
		const Vector3r& x0 = m_particles.getPosition0(i);
		m_particles.getPosition(i) = x0;
		m_particles.getLastPosition(i) = m_particles.getPosition(i);
		m_particles.getOldPosition(i) = m_particles.getPosition(i);
		m_particles.getVelocity(i).setZero();
		m_particles.getAcceleration(i).setZero();
	}

	// orientations
	for(unsigned int i = 0; i < m_orientations.size(); i++)
	{
		const Quaternionr& q0 = m_orientations.getQuaternion0(i);
		m_orientations.getQuaternion(i) = q0;
		m_orientations.getLastQuaternion(i) = q0;
		m_orientations.getOldQuaternion(i) = q0;
		m_orientations.getVelocity(i).setZero();
		m_orientations.getAcceleration(i).setZero();
	}

	updateConstraints();
}

SimulationModel::RigidBodyVector & SimulationModel::getRigidBodies()
{
	return m_rigidBodies;
}

ParticleData & SimulationModel::getParticles()
{
	return m_particles;
}

OrientationData & SimulationModel::getOrientations()
{
	return m_orientations;
}

SimulationModel::TriangleModelVector & SimulationModel::getTriangleModels()
{
	return m_triangleModels;
}

SimulationModel::TetModelVector & SimulationModel::getTetModels()
{
	return m_tetModels;
}

SimulationModel::LineModelVector & SimulationModel::getLineModels()
{
	return m_lineModels;
}

SimulationModel::ConstraintVector & SimulationModel::getConstraints()
{
	return m_constraints;
}

SimulationModel::RigidBodyContactConstraintVector & SimulationModel::getRigidBodyContactConstraints()
{
	return m_rigidBodyContactConstraints;
}

SimulationModel::ParticleRigidBodyContactConstraintVector & SimulationModel::getParticleRigidBodyContactConstraints()
{
	return m_particleRigidBodyContactConstraints;
}

SimulationModel::ParticleSolidContactConstraintVector & SimulationModel::getParticleSolidContactConstraints()
{
	return m_particleSolidContactConstraints;
}

SimulationModel::ConstraintGroupVector & SimulationModel::getConstraintGroups()
{
	return m_constraintGroups;
}

void SimulationModel::updateConstraints()
{
	for (unsigned int i = 0; i < m_constraints.size(); i++)
		m_constraints[i]->updateConstraint(*this);
}


bool SimulationModel::addBallJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos)
{
	BallJoint *bj = new BallJoint();
	const bool res = bj->initConstraint(*this, rbIndex1, rbIndex2, pos);
	if (res)
	{
		m_constraints.push_back(bj);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addBallOnLineJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &dir)
{
	BallOnLineJoint *bj = new BallOnLineJoint();
	const bool res = bj->initConstraint(*this, rbIndex1, rbIndex2, pos, dir);
	if (res)
	{
		m_constraints.push_back(bj);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addHingeJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &axis)
{
	HingeJoint *hj = new HingeJoint();
	const bool res = hj->initConstraint(*this, rbIndex1, rbIndex2, pos, axis);
	if (res)
	{
		m_constraints.push_back(hj);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addUniversalJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &axis1, const Vector3r &axis2)
{
	UniversalJoint *uj = new UniversalJoint();
	const bool res = uj->initConstraint(*this, rbIndex1, rbIndex2, pos, axis1, axis2);
	if (res)
	{
		m_constraints.push_back(uj);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addSliderJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &axis)
{
	SliderJoint *joint = new SliderJoint();
	const bool res = joint->initConstraint(*this, rbIndex1, rbIndex2, axis);
	if (res)
	{
		m_constraints.push_back(joint);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addTargetPositionMotorSliderJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &axis)
{
	TargetPositionMotorSliderJoint *joint = new TargetPositionMotorSliderJoint();
	const bool res = joint->initConstraint(*this, rbIndex1, rbIndex2, axis);
	if (res)
	{
		m_constraints.push_back(joint);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addTargetVelocityMotorSliderJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &axis)
{
	TargetVelocityMotorSliderJoint *joint = new TargetVelocityMotorSliderJoint();
	const bool res = joint->initConstraint(*this, rbIndex1, rbIndex2, axis);
	if (res)
	{
		m_constraints.push_back(joint);
		m_groupsInitialized = false;
	}
	return res;
}


bool SimulationModel::addTargetAngleMotorHingeJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &axis)
{
	TargetAngleMotorHingeJoint *hj = new TargetAngleMotorHingeJoint();
	const bool res = hj->initConstraint(*this, rbIndex1, rbIndex2, pos, axis);
	if (res)
	{
		m_constraints.push_back(hj);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addTargetVelocityMotorHingeJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos, const Vector3r &axis)
{
	TargetVelocityMotorHingeJoint *hj = new TargetVelocityMotorHingeJoint();
	const bool res = hj->initConstraint(*this, rbIndex1, rbIndex2, pos, axis);
	if (res)
	{
		m_constraints.push_back(hj);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addDamperJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &axis, const Real stiffness)
{
	DamperJoint *joint = new DamperJoint();
	const bool res = joint->initConstraint(*this, rbIndex1, rbIndex2, axis, stiffness);
	if (res)
	{
		m_constraints.push_back(joint);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addRigidBodyParticleBallJoint(const unsigned int rbIndex, const unsigned int particleIndex)
{
	RigidBodyParticleBallJoint *bj = new RigidBodyParticleBallJoint();
	const bool res = bj->initConstraint(*this, rbIndex, particleIndex);
	if (res)
	{
		m_constraints.push_back(bj);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addRigidBodySpring(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos1, const Vector3r &pos2, const Real stiffness)
{
	RigidBodySpring *s = new RigidBodySpring();
	const bool res = s->initConstraint(*this, rbIndex1, rbIndex2, pos1, pos2, stiffness);
	if (res)
	{
		m_constraints.push_back(s);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addDistanceJoint(const unsigned int rbIndex1, const unsigned int rbIndex2, const Vector3r &pos1, const Vector3r &pos2)
{
	DistanceJoint *j = new DistanceJoint();
	const bool res = j->initConstraint(*this, rbIndex1, rbIndex2, pos1, pos2);
	if (res)
	{
		m_constraints.push_back(j);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addRigidBodyContactConstraint(const unsigned int rbIndex1, const unsigned int rbIndex2, 
	const Vector3r &cp1, const Vector3r &cp2, 
	const Vector3r &normal, const Real dist,
	const Real restitutionCoeff, const Real frictionCoeff)
{
	m_rigidBodyContactConstraints.emplace_back(RigidBodyContactConstraint());
	RigidBodyContactConstraint &cc = m_rigidBodyContactConstraints.back();
	const bool res = cc.initConstraint(*this, rbIndex1, rbIndex2, cp1, cp2, normal, dist, restitutionCoeff, m_contactStiffnessRigidBody, frictionCoeff);
	if (!res)
		m_rigidBodyContactConstraints.pop_back();
	return res;
}

 bool SimulationModel::addParticleRigidBodyContactConstraint(const unsigned int particleIndex, const unsigned int rbIndex, 
 	const Vector3r &cp1, const Vector3r &cp2, 
 	const Vector3r &normal, const Real dist,
 	const Real restitutionCoeff, const Real frictionCoeff)
{
	m_particleRigidBodyContactConstraints.emplace_back(ParticleRigidBodyContactConstraint());
 	ParticleRigidBodyContactConstraint &cc = m_particleRigidBodyContactConstraints.back();
 	const bool res = cc.initConstraint(*this, particleIndex, rbIndex, cp1, cp2, normal, dist, restitutionCoeff, m_contactStiffnessParticleRigidBody, frictionCoeff);
 	if (!res)
 		m_particleRigidBodyContactConstraints.pop_back();
 	return res;
}

bool SimulationModel::addParticleSolidContactConstraint(const unsigned int particleIndex, const unsigned int solidIndex, 
	const unsigned int tetIndex, const Vector3r &bary,
 	const Vector3r &cp1, const Vector3r &cp2, 
 	const Vector3r &normal, const Real dist,
 	const Real restitutionCoeff, const Real frictionCoeff)
{
	m_particleSolidContactConstraints.emplace_back(ParticleTetContactConstraint());
 	ParticleTetContactConstraint &cc = m_particleSolidContactConstraints.back();
 	const bool res = cc.initConstraint(*this, particleIndex, solidIndex, tetIndex, bary, cp1, cp2, normal, dist, frictionCoeff);
 	if (!res)
		m_particleSolidContactConstraints.pop_back();
 	return res;
}

bool SimulationModel::addDistanceConstraint(const unsigned int particle1, const unsigned int particle2, const Real stiffness)
{
	DistanceConstraint *c = new DistanceConstraint();
	const bool res = c->initConstraint(*this, particle1, particle2, stiffness);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addDistanceConstraint_XPBD(const unsigned int particle1, const unsigned int particle2, const Real stiffness)
{
	DistanceConstraint_XPBD* c = new DistanceConstraint_XPBD();
	const bool res = c->initConstraint(*this, particle1, particle2, stiffness);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addDihedralConstraint(const unsigned int particle1, const unsigned int particle2, 
											const unsigned int particle3, const unsigned int particle4, const Real stiffness)
{
	DihedralConstraint *c = new DihedralConstraint();
	const bool res = c->initConstraint(*this, particle1, particle2, particle3, particle4, stiffness);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addIsometricBendingConstraint(const unsigned int particle1, const unsigned int particle2,
													const unsigned int particle3, const unsigned int particle4, const Real stiffness)
{
	IsometricBendingConstraint *c = new IsometricBendingConstraint();
	const bool res = c->initConstraint(*this, particle1, particle2, particle3, particle4, stiffness);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addIsometricBendingConstraint_XPBD(const unsigned int particle1, const unsigned int particle2,
														const unsigned int particle3, const unsigned int particle4, const Real stiffness)
{
	IsometricBendingConstraint_XPBD* c = new IsometricBendingConstraint_XPBD();
	const bool res = c->initConstraint(*this, particle1, particle2, particle3, particle4, stiffness);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addFEMTriangleConstraint(const unsigned int particle1, const unsigned int particle2,
	const unsigned int particle3, const Real xxStiffness, const Real yyStiffness, const Real xyStiffness,
	const Real xyPoissonRatio, const Real yxPoissonRatio)
{
	FEMTriangleConstraint *c = new FEMTriangleConstraint();
	const bool res = c->initConstraint(*this, particle1, particle2, particle3, xxStiffness, 
		yyStiffness, xyStiffness, xyPoissonRatio, yxPoissonRatio);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addStrainTriangleConstraint(const unsigned int particle1, const unsigned int particle2,
	const unsigned int particle3, const Real xxStiffness, const Real yyStiffness, const Real xyStiffness,
	const bool normalizeStretch, const bool normalizeShear)
{
	StrainTriangleConstraint *c = new StrainTriangleConstraint();
	const bool res = c->initConstraint(*this, particle1, particle2, particle3, xxStiffness, 
		yyStiffness, xyStiffness, normalizeStretch, normalizeShear);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addVolumeConstraint(const unsigned int particle1, const unsigned int particle2,
										const unsigned int particle3, const unsigned int particle4, const Real stiffness)
{
	VolumeConstraint *c = new VolumeConstraint();
	const bool res = c->initConstraint(*this, particle1, particle2, particle3, particle4, stiffness);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addVolumeConstraint_XPBD(const unsigned int particle1, const unsigned int particle2,
	const unsigned int particle3, const unsigned int particle4, const Real stiffness)
{
	VolumeConstraint_XPBD* c = new VolumeConstraint_XPBD();
	const bool res = c->initConstraint(*this, particle1, particle2, particle3, particle4, stiffness);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addFEMTetConstraint(const unsigned int particle1, const unsigned int particle2,
										const unsigned int particle3, const unsigned int particle4, 
										const Real stiffness, const Real poissonRatio)
{
	FEMTetConstraint *c = new FEMTetConstraint();
	const bool res = c->initConstraint(*this, particle1, particle2, particle3, particle4, stiffness, poissonRatio);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addStrainTetConstraint(const unsigned int particle1, const unsigned int particle2,
										const unsigned int particle3, const unsigned int particle4,
										const Real stretchStiffness, const Real shearStiffness, 
										const bool normalizeStretch, const bool normalizeShear)
{
	StrainTetConstraint *c = new StrainTetConstraint();
	const bool res = c->initConstraint(*this, particle1, particle2, particle3, particle4, stretchStiffness, shearStiffness, 
		normalizeStretch, normalizeShear);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addShapeMatchingConstraint(const unsigned int numberOfParticles, const unsigned int particleIndices[], const unsigned int numClusters[], const Real stiffness)
{
	ShapeMatchingConstraint *c = new ShapeMatchingConstraint(numberOfParticles);
	const bool res = c->initConstraint(*this, particleIndices, numClusters, stiffness);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addStretchShearConstraint(const unsigned int particle1, const unsigned int particle2, 
	const unsigned int quaternion1, const Real stretchingStiffness,
	const Real shearingStiffness1, const Real shearingStiffness2)
{
	StretchShearConstraint *c = new StretchShearConstraint();
	const bool res = c->initConstraint(*this, particle1, particle2, quaternion1, stretchingStiffness, shearingStiffness1, shearingStiffness2);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool SimulationModel::addBendTwistConstraint(const unsigned int quaternion1, 
	const unsigned int quaternion2, const Real twistingStiffness,
	const Real bendingStiffness1, const Real bendingStiffness2)
{
	BendTwistConstraint *c = new BendTwistConstraint();
	const bool res = c->initConstraint(*this, quaternion1, quaternion2, twistingStiffness, bendingStiffness1, bendingStiffness2);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool PBD::SimulationModel::addStretchBendingTwistingConstraint(
	const unsigned int rbIndex1,
	const unsigned int rbIndex2,
	const Vector3r &pos,
	const Real averageRadius,
	const Real averageSegmentLength,
	const Real youngsModulus,
	const Real torsionModulus)
{
	StretchBendingTwistingConstraint *c = new StretchBendingTwistingConstraint();
	const bool res = c->initConstraint(*this, rbIndex1, rbIndex2, pos,
		averageRadius, averageSegmentLength, youngsModulus, torsionModulus);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

bool PBD::SimulationModel::addDirectPositionBasedSolverForStiffRodsConstraint(
	const std::vector<std::pair<unsigned int, unsigned int>> & jointSegmentIndices,
	const std::vector<Vector3r> &jointPositions,
	const std::vector<Real> &averageRadii,
	const std::vector<Real> &averageSegmentLengths,
	const std::vector<Real> &youngsModuli,
	const std::vector<Real> &torsionModuli
	)
{
	DirectPositionBasedSolverForStiffRodsConstraint *c = new DirectPositionBasedSolverForStiffRodsConstraint();
	const bool res = c->initConstraint(*this, jointSegmentIndices, jointPositions,
		averageRadii, averageSegmentLengths, youngsModuli, torsionModuli);
	if (res)
	{
		m_constraints.push_back(c);
		m_groupsInitialized = false;
	}
	return res;
}

void SimulationModel::addTriangleModel(
	const unsigned int nPoints, 
	const unsigned int nFaces, 
	Vector3r *points,
	unsigned int* indices, 
	const TriangleModel::ParticleMesh::UVIndices& uvIndices, 
	const TriangleModel::ParticleMesh::UVs& uvs)
{
	TriangleModel *triModel = new TriangleModel();
	m_triangleModels.push_back(triModel);

	unsigned int startIndex = m_particles.size();
	m_particles.reserve(startIndex + nPoints);

	for (unsigned int i = 0; i < nPoints; i++)
		m_particles.addVertex(points[i]);

	triModel->initMesh(nPoints, nFaces, startIndex, indices, uvIndices, uvs);

	// Update normals
	triModel->updateMeshNormals(m_particles);
}

void SimulationModel::addRegularTriangleModel(const int width, const int height,
	const Vector3r& translation,
	const Matrix3r& rotation,
	const Vector2r& scale)
{
	TriangleModel::ParticleMesh::UVs uvs;
	uvs.resize(width * height);

	const Real dy = scale[1] / (Real)(height - 1);
	const Real dx = scale[0] / (Real)(width - 1);

	std::vector<Vector3r> points;
	points.resize(width * height);
	for (int i = 0; i < height; i++)
	{
		for (int j = 0; j < width; j++)
		{
			const Real y = (Real)dy * i;
			const Real x = (Real)dx * j;
			points[i * width + j] = rotation * Vector3r(x, y, 0.0) + translation;

			uvs[i * width + j][0] = x / scale[0];
			uvs[i * width + j][1] = y / scale[1];
		}
	}
	const int nIndices = 6 * (height - 1) * (width - 1);

	TriangleModel::ParticleMesh::UVIndices uvIndices;
	uvIndices.resize(nIndices);

	std::vector<unsigned int> indices;
	indices.resize(nIndices);
	int index = 0;
	for (int i = 0; i < height - 1; i++)
	{
		for (int j = 0; j < width - 1; j++)
		{
			int helper = 0;
			if (i % 2 == j % 2)
				helper = 1;

			indices[index] = i * width + j;
			indices[index + 1] = i * width + j + 1;
			indices[index + 2] = (i + 1) * width + j + helper;

			uvIndices[index] = i * width + j;
			uvIndices[index + 1] = i * width + j + 1;
			uvIndices[index + 2] = (i + 1) * width + j + helper;
			index += 3;

			indices[index] = (i + 1) * width + j + 1;
			indices[index + 1] = (i + 1) * width + j;
			indices[index + 2] = i * width + j + 1 - helper;

			uvIndices[index] = (i + 1) * width + j + 1;
			uvIndices[index + 1] = (i + 1) * width + j;
			uvIndices[index + 2] = i * width + j + 1 - helper;
			index += 3;
		}
	}

	const unsigned int nPoints = height * width;
	const unsigned int nFaces = nIndices / 3;
	const auto modelIndex = m_triangleModels.size();
	addTriangleModel(nPoints, nFaces, points.data(), indices.data(), uvIndices, uvs);
	const auto offset = m_triangleModels[modelIndex]->getIndexOffset();

	ParticleData& pd = getParticles();
	for (unsigned int i = offset; i < offset + m_triangleModels[modelIndex]->getParticleMesh().numVertices(); i++)
		pd.setMass(i, 1.0);
}

void SimulationModel::addTetModel(
	const unsigned int nPoints,
	const unsigned int nTets,
	Vector3r *points,
	unsigned int* indices)
{
	TetModel *tetModel = new TetModel();
	m_tetModels.push_back(tetModel);

	unsigned int startIndex = m_particles.size();
	m_particles.reserve(startIndex + nPoints);

	for (unsigned int i = 0; i < nPoints; i++)
		m_particles.addVertex(points[i]);

	tetModel->initMesh(nPoints, nTets, startIndex, indices);
}

void SimulationModel::addRegularTetModel(const int width, const int height, const int depth,
	const Vector3r& translation,
	const Matrix3r& rotation,
	const Vector3r& scale)
{
	std::vector<Vector3r> points;
	points.resize(width * height * depth);

	const Real dx = scale[0] / (Real)(width - 1);
	const Real dy = scale[1] / (Real)(height - 1);
	const Real dz = scale[2] / (Real)(depth - 1);

	// center in origin
	const Vector3r t = translation - 0.5*scale;
	for (int i = 0; i < width; i++)
	{
		for (int j = 0; j < height; j++)
		{
			for (int k = 0; k < depth; k++)
			{
				const Real x = (Real)dx * i;
				const Real y = (Real)dy * j;
				const Real z = (Real)dz * k;

				points[i * height * depth + j * depth + k] = rotation * Vector3r(x, y, z) + t;
			}
		}
	}

	std::vector<unsigned int> indices;
	indices.reserve(width * height * depth * 5);
	for (int i = 0; i < width - 1; i++)
	{
		for (int j = 0; j < height - 1; j++)
		{
			for (int k = 0; k < depth - 1; k++)
			{
				// For each block, the 8 corners are numerated as:
				//     4*-----*7
				//     /|    /|
				//    / |   / |
				//  5*-----*6 |
				//   | 0*--|--*3
				//   | /   | /
				//   |/    |/
				//  1*-----*2
				unsigned int p0 = i * height * depth + j * depth + k;
				unsigned int p1 = p0 + 1;
				unsigned int p3 = (i + 1) * height * depth + j * depth + k;
				unsigned int p2 = p3 + 1;
				unsigned int p7 = (i + 1) * height * depth + (j + 1) * depth + k;
				unsigned int p6 = p7 + 1;
				unsigned int p4 = i * height * depth + (j + 1) * depth + k;
				unsigned int p5 = p4 + 1;

				// Ensure that neighboring tetras are sharing faces
				if ((i + j + k) % 2 == 1)
				{
					indices.push_back(p2); indices.push_back(p1); indices.push_back(p6); indices.push_back(p3);
					indices.push_back(p6); indices.push_back(p3); indices.push_back(p4); indices.push_back(p7);
					indices.push_back(p4); indices.push_back(p1); indices.push_back(p6); indices.push_back(p5);
					indices.push_back(p3); indices.push_back(p1); indices.push_back(p4); indices.push_back(p0);
					indices.push_back(p6); indices.push_back(p1); indices.push_back(p4); indices.push_back(p3);
				}
				else
				{
					indices.push_back(p0); indices.push_back(p2); indices.push_back(p5); indices.push_back(p1);
					indices.push_back(p7); indices.push_back(p2); indices.push_back(p0); indices.push_back(p3);
					indices.push_back(p5); indices.push_back(p2); indices.push_back(p7); indices.push_back(p6);
					indices.push_back(p7); indices.push_back(p0); indices.push_back(p5); indices.push_back(p4);
					indices.push_back(p0); indices.push_back(p2); indices.push_back(p7); indices.push_back(p5);
				}
			}
		}
	}
	const auto modelIndex = m_tetModels.size();
	addTetModel(width * height * depth, (unsigned int)indices.size() / 4u, points.data(), indices.data());
	const auto offset = m_tetModels[modelIndex]->getIndexOffset();

	ParticleData& pd = getParticles();
	for (unsigned int i = offset; i < offset + m_tetModels[modelIndex]->getParticleMesh().numVertices(); i++)
	{
		pd.setMass(i, 1.0);
	}
}

void SimulationModel::addLineModel(
	const unsigned int nPoints,
	const unsigned int nQuaternions,
	Vector3r *points,
	Quaternionr *quaternions,
	unsigned int *indices,
	unsigned int *indicesQuaternions)
{
	LineModel *lineModel = new LineModel();
	m_lineModels.push_back(lineModel);

	unsigned int startIndex = m_particles.size();
	m_particles.reserve(startIndex + nPoints);

	for (unsigned int i = 0; i < nPoints; i++)
		m_particles.addVertex(points[i]);

	unsigned int startIndexOrientations = m_orientations.size();
	m_orientations.reserve(startIndexOrientations + nQuaternions);

	for (unsigned int i = 0; i < nQuaternions; i++)
		m_orientations.addQuaternion(quaternions[i]);

	lineModel->initMesh(nPoints, nQuaternions, startIndex, startIndexOrientations, indices, indicesQuaternions);
}

void SimulationModel::initConstraintGroups()
{
	if (m_groupsInitialized)
		return;

	const unsigned int numConstraints = (unsigned int) m_constraints.size();
	const unsigned int numParticles = (unsigned int) m_particles.size();
	const unsigned int numRigidBodies = (unsigned int) m_rigidBodies.size();
	const unsigned int numBodies = numParticles + numRigidBodies;
	m_constraintGroups.clear();

	// Maps in which group a particle is or 0 if not yet mapped
	std::vector<unsigned char*> mapping;

	for (unsigned int i = 0; i < numConstraints; i++)
	{
		Constraint *constraint = m_constraints[i];

		bool addToNewGroup = true;
		for (unsigned int j = 0; j < m_constraintGroups.size(); j++)
		{
			bool addToThisGroup = true;

			for (unsigned int k = 0; k < constraint->numberOfBodies(); k++)
			{
				if (mapping[j][constraint->m_bodies[k]] != 0)
				{
					addToThisGroup = false;
					break;
				}
			}

			if (addToThisGroup)
			{
				m_constraintGroups[j].push_back(i);

				for (unsigned int k = 0; k < constraint->numberOfBodies(); k++)
					mapping[j][constraint->m_bodies[k]] = 1;

				addToNewGroup = false;
				break;
			}
		}
		if (addToNewGroup)
		{
			mapping.push_back(new unsigned char[numBodies]);
			memset(mapping[mapping.size() - 1], 0, sizeof(unsigned char)*numBodies);
			m_constraintGroups.resize(m_constraintGroups.size() + 1);
			m_constraintGroups[m_constraintGroups.size()-1].push_back(i);
			for (unsigned int k = 0; k < constraint->numberOfBodies(); k++)
				mapping[m_constraintGroups.size() - 1][constraint->m_bodies[k]] = 1;
		}
	}

	for (unsigned int i = 0; i < mapping.size(); i++)
	{
		delete[] mapping[i];
	}
	mapping.clear();

	m_groupsInitialized = true;
}

void SimulationModel::resetContacts()
{
	m_rigidBodyContactConstraints.clear();
	m_particleRigidBodyContactConstraints.clear();
	m_particleSolidContactConstraints.clear();
}

void SimulationModel::addClothConstraints(const TriangleModel* tm, const unsigned int clothMethod, 
	const Real distanceStiffness, const Real xxStiffness, const Real yyStiffness, 
	const Real xyStiffness,	const Real xyPoissonRatio, const Real yxPoissonRatio, 
	const bool normalizeStretch, const bool normalizeShear)
{
	if (clothMethod == 1)
	{
		const unsigned int offset = tm->getIndexOffset();
		const unsigned int nEdges = tm->getParticleMesh().numEdges();
		const Utilities::IndexedFaceMesh::Edge* edges = tm->getParticleMesh().getEdges().data();
		for (unsigned int i = 0; i < nEdges; i++)
		{
			const unsigned int v1 = edges[i].m_vert[0] + offset;
			const unsigned int v2 = edges[i].m_vert[1] + offset;

			addDistanceConstraint(v1, v2, distanceStiffness);
		}
	}
	else if (clothMethod == 2)
	{
		const unsigned int offset = tm->getIndexOffset();
		const TriangleModel::ParticleMesh& mesh = tm->getParticleMesh();
		const unsigned int* tris = mesh.getFaces().data();
		const unsigned int nFaces = mesh.numFaces();
		for (unsigned int i = 0; i < nFaces; i++)
		{
			const unsigned int v1 = tris[3 * i] + offset;
			const unsigned int v2 = tris[3 * i + 1] + offset;
			const unsigned int v3 = tris[3 * i + 2] + offset;
			addFEMTriangleConstraint(v1, v2, v3, xxStiffness, yyStiffness, xyStiffness, xyPoissonRatio, yxPoissonRatio);
		}
	}
	else if (clothMethod == 3)
	{
		const unsigned int offset = tm->getIndexOffset();
		const TriangleModel::ParticleMesh& mesh = tm->getParticleMesh();
		const unsigned int* tris = mesh.getFaces().data();
		const unsigned int nFaces = mesh.numFaces();
		for (unsigned int i = 0; i < nFaces; i++)
		{
			const unsigned int v1 = tris[3 * i] + offset;
			const unsigned int v2 = tris[3 * i + 1] + offset;
			const unsigned int v3 = tris[3 * i + 2] + offset;
			addStrainTriangleConstraint(v1, v2, v3, xxStiffness, yyStiffness, xyStiffness, normalizeStretch, normalizeShear);
		}
	}
	else if (clothMethod == 4)
	{
		const unsigned int offset = tm->getIndexOffset();
		const unsigned int nEdges = tm->getParticleMesh().numEdges();
		const Utilities::IndexedFaceMesh::Edge* edges = tm->getParticleMesh().getEdges().data();
		for (unsigned int i = 0; i < nEdges; i++)
		{
			const unsigned int v1 = edges[i].m_vert[0] + offset;
			const unsigned int v2 = edges[i].m_vert[1] + offset;

			addDistanceConstraint_XPBD(v1, v2, distanceStiffness);
		}
	}
}

void SimulationModel::addBendingConstraints(const TriangleModel *tm, const unsigned int bendingMethod, const Real stiffness)
{
	if ((bendingMethod < 1) || (bendingMethod > 3))
		return;

	const unsigned int offset = tm->getIndexOffset();
	const TriangleModel::ParticleMesh& mesh = tm->getParticleMesh();
	unsigned int nEdges = mesh.numEdges();
	const TriangleModel::ParticleMesh::Edge* edges = mesh.getEdges().data();
	const unsigned int* tris = mesh.getFaces().data();
	for (unsigned int i = 0; i < nEdges; i++)
	{
		const int tri1 = edges[i].m_face[0];
		const int tri2 = edges[i].m_face[1];
		if ((tri1 != 0xffffffff) && (tri2 != 0xffffffff))
		{
			// Find the triangle points which do not lie on the axis
			const int axisPoint1 = edges[i].m_vert[0];
			const int axisPoint2 = edges[i].m_vert[1];
			int point1 = -1;
			int point2 = -1;
			for (int j = 0; j < 3; j++)
			{
				if ((tris[3 * tri1 + j] != axisPoint1) && (tris[3 * tri1 + j] != axisPoint2))
				{
					point1 = tris[3 * tri1 + j];
					break;
				}
			}
			for (int j = 0; j < 3; j++)
			{
				if ((tris[3 * tri2 + j] != axisPoint1) && (tris[3 * tri2 + j] != axisPoint2))
				{
					point2 = tris[3 * tri2 + j];
					break;
				}
			}
			if ((point1 != -1) && (point2 != -1))
			{
				const unsigned int vertex1 = point1 + offset;
				const unsigned int vertex2 = point2 + offset;
				const unsigned int vertex3 = edges[i].m_vert[0] + offset;
				const unsigned int vertex4 = edges[i].m_vert[1] + offset;
				if (bendingMethod == 1)
					addDihedralConstraint(vertex1, vertex2, vertex3, vertex4, stiffness);
				else if (bendingMethod == 2)
					addIsometricBendingConstraint(vertex1, vertex2, vertex3, vertex4, stiffness);
				else if (bendingMethod == 3)
				{
					addIsometricBendingConstraint_XPBD(vertex1, vertex2, vertex3, vertex4, stiffness);
				}
			}
		}
	}
}

void SimulationModel::addSolidConstraints(const TetModel* tm, const unsigned int solidMethod, const Real stiffness,
	const Real poissonRatio, const Real volumeStiffness,
	const bool normalizeStretch, const bool normalizeShear)
{
	const unsigned int nTets = tm->getParticleMesh().numTets();
	const unsigned int* tets = tm->getParticleMesh().getTets().data();
	const Utilities::IndexedTetMesh::VerticesTets& vTets = tm->getParticleMesh().getVertexTets();
	const unsigned int offset = tm->getIndexOffset();
	if (solidMethod == 1)
	{
		const unsigned int nEdges = tm->getParticleMesh().numEdges();
		const Utilities::IndexedTetMesh::Edge* edges = tm->getParticleMesh().getEdges().data();
		for (unsigned int i = 0; i < nEdges; i++)
		{
			const unsigned int v1 = edges[i].m_vert[0] + offset;
			const unsigned int v2 = edges[i].m_vert[1] + offset;

			addDistanceConstraint(v1, v2, stiffness);
		}

		for (unsigned int i = 0; i < nTets; i++)
		{
			const unsigned int v1 = tets[4 * i] + offset;
			const unsigned int v2 = tets[4 * i + 1] + offset;
			const unsigned int v3 = tets[4 * i + 2] + offset;
			const unsigned int v4 = tets[4 * i + 3] + offset;

			addVolumeConstraint(v1, v2, v3, v4, volumeStiffness);
		}
	}
	else if (solidMethod == 2)
	{
		const TetModel::ParticleMesh& mesh = tm->getParticleMesh();
		for (unsigned int i = 0; i < nTets; i++)
		{
			const unsigned int v1 = tets[4 * i] + offset;
			const unsigned int v2 = tets[4 * i + 1] + offset;
			const unsigned int v3 = tets[4 * i + 2] + offset;
			const unsigned int v4 = tets[4 * i + 3] + offset;

			addFEMTetConstraint(v1, v2, v3, v4, stiffness, poissonRatio);
		}
	}
	else if (solidMethod == 3)
	{
		const TetModel::ParticleMesh& mesh = tm->getParticleMesh();
		for (unsigned int i = 0; i < nTets; i++)
		{
			const unsigned int v1 = tets[4 * i] + offset;
			const unsigned int v2 = tets[4 * i + 1] + offset;
			const unsigned int v3 = tets[4 * i + 2] + offset;
			const unsigned int v4 = tets[4 * i + 3] + offset;

			addStrainTetConstraint(v1, v2, v3, v4, stiffness, stiffness, normalizeStretch, normalizeStretch);
		}
	}
	else if (solidMethod == 4)
	{
		const TetModel::ParticleMesh& mesh = tm->getParticleMesh();
		for (unsigned int i = 0; i < nTets; i++)
		{
			const unsigned int v[4] = { tets[4 * i] + offset,
										tets[4 * i + 1] + offset,
										tets[4 * i + 2] + offset,
										tets[4 * i + 3] + offset };
			// Important: Divide position correction by the number of clusters 
			// which contain the vertex.
			const unsigned int nc[4] = { (unsigned int)vTets[v[0]-offset].size(), (unsigned int)vTets[v[1] - offset].size(), (unsigned int)vTets[v[2] - offset].size(), (unsigned int)vTets[v[3] - offset].size() };
			addShapeMatchingConstraint(4, v, nc, stiffness);

			if (v[0] == 1005)
				std::cout << v[0] << ", " << v[1] << ", " << v[2] << ", " << v[3] << "chk\n";
			if (v[1] == 1005)
				std::cout << v[0] << ", " << v[1] << ", " << v[2] << ", " << v[3] << "chk\n";
			if (v[2] == 1005)
				std::cout << v[0] << ", " << v[1] << ", " << v[2] << ", " << v[3] << "chk\n";
			if (v[3] == 1005)
				std::cout << v[0] << ", " << v[1] << ", " << v[2] << ", " << v[3] << "chk\n";
		}
	}
	else if (solidMethod == 5)
	{
		const unsigned int offset = tm->getIndexOffset();
		const unsigned int nEdges = tm->getParticleMesh().numEdges();
		const Utilities::IndexedTetMesh::Edge* edges = tm->getParticleMesh().getEdges().data();
		for (unsigned int i = 0; i < nEdges; i++)
		{
			const unsigned int v1 = edges[i].m_vert[0] + offset;
			const unsigned int v2 = edges[i].m_vert[1] + offset;

			addDistanceConstraint_XPBD(v1, v2, stiffness);
		}

		for (unsigned int i = 0; i < nTets; i++)
		{
			const unsigned int v1 = tets[4 * i] + offset;
			const unsigned int v2 = tets[4 * i + 1] + offset;
			const unsigned int v3 = tets[4 * i + 2] + offset;
			const unsigned int v4 = tets[4 * i + 3] + offset;

			addVolumeConstraint_XPBD(v1, v2, v3, v4, volumeStiffness);
		}
	}
}