(mkosarek) Completed simulations for all damped motion

7 files changed, 148 insertions, 34 deletions

diff --git a/2d/softbody/softbody_1.html b/2d/softbody/softbody_1.html
index 3f0fc40..ae4b743 100644
--- a/2d/softbody/softbody_1.html
+++ b/2d/softbody/softbody_1.html
@@ -86,6 +86,7 @@
 		  document.getElementById('damped_spring_length'),
           document.getElementById('damped_start_position'),
 		  document.getElementById('damped_spring_constant'),
+		  document.getElementById('damped_viscous_constant'),
           document.getElementById('damped_spring_mass')
       ]);
 
@@ -118,6 +119,7 @@
               Damped_SetDisplacement = Module.cwrap('Damped_SetDisplacement', 'void', ['number']),
               Damped_SetK = Module.cwrap('Damped_SetK', 'void', ['number']),
               Damped_SetMass = Module.cwrap('Damped_SetMass', 'void', ['number']),
+			  Damped_SetC = Module.cwrap('Damped_SetC', 'void', ['number']),
 			  
               Undamped_lengthSlider = document.getElementById('undamped_spring_length'),
               Undamped_displacementSlider = document.getElementById('undamped_start_position'),
@@ -128,6 +130,7 @@
               Damped_displacementSlider = document.getElementById('damped_start_position'),
               Damped_kSlider = document.getElementById('damped_spring_constant'),
               Damped_massSlider = document.getElementById('damped_spring_mass'),
+			  Damped_cSlider = document.getElementById('damped_viscous_constant'),
 			  
               undampedSetLength = function(value) {
                   value = Number(value);
@@ -171,6 +174,7 @@
           Damped_displacementSlider.addEventListener('change', function(event) { Damped_SetDisplacement(Number(event.target.value)); });
           Damped_kSlider.addEventListener('change', function(event) { Damped_SetK(Number(event.target.value)); });
           Damped_massSlider.addEventListener('change', function(event) { Damped_SetMass(Number(event.target.value)); });
+		  Damped_cSlider.addEventListener('change', function(event) { Damped_SetC(Number(event.target.value)); });
       };
   }
   
@@ -234,25 +238,31 @@
 	</h2>
     <p>
       <span class='widget_container'>
-        <label for='undamped_spring_length'>Spring Length (m)</label>
+        <label for='damped_spring_length'>Spring Length (m)</label>
         <input type='range' id='damped_spring_length' min="50" max="300" value="150"/>
         <span></span>
       </span>
       
       <span class='widget_container'>
-        <label for='undamped_start_position'>Start Displacement (m)</label>
+        <label for='damped_start_position'>Start Displacement (m)</label>
         <input type='range' id='damped_start_position' min='-150' max='150' value='0'/>
         <span></span>
       </span>
 
       <span class='widget_container'>
-        <label for='undamped_spring_constant'>Spring Constant (N / m)</label>
+        <label for='damped_spring_constant'>Spring Constant (N / m)</label>
         <input type='range' id='damped_spring_constant' min='0.1' max='20.0' value='1.0' step='0.1'/>
         <span></span>
       </span>
 
+	  <span class='widget_container'>
+        <label for='damped_viscous_constant'>Viscous Damping Constant (N / m)</label>
+        <input type='range' id='damped_viscous_constant' min='0.1' max='50.0' value='1.0' step='0.1'/>
+        <span></span>
+      </span>
+
       <span class='widget_container'>
-        <label for='undamped_spring_mass'>Mass (kg)</label>
+        <label for='damped_spring_mass'>Mass (kg)</label>
         <input type='range' id='damped_spring_mass' min='0.1' max='10.0' value='1.0' step='0.1'/>
         <span></span>
       </span>
diff --git a/2d/softbody/softbody_1.html.content b/2d/softbody/softbody_1.html.content
index bef14d8..c5fb3cc 100644
--- a/2d/softbody/softbody_1.html.content
+++ b/2d/softbody/softbody_1.html.content
@@ -33,6 +33,7 @@
 		  document.getElementById('damped_spring_length'),
           document.getElementById('damped_start_position'),
 		  document.getElementById('damped_spring_constant'),
+		  document.getElementById('damped_viscous_constant'),
           document.getElementById('damped_spring_mass')
       ]);
 
@@ -65,6 +66,7 @@
               Damped_SetDisplacement = Module.cwrap('Damped_SetDisplacement', 'void', ['number']),
               Damped_SetK = Module.cwrap('Damped_SetK', 'void', ['number']),
               Damped_SetMass = Module.cwrap('Damped_SetMass', 'void', ['number']),
+			  Damped_SetC = Module.cwrap('Damped_SetC', 'void', ['number']),
 			  
               Undamped_lengthSlider = document.getElementById('undamped_spring_length'),
               Undamped_displacementSlider = document.getElementById('undamped_start_position'),
@@ -75,6 +77,7 @@
               Damped_displacementSlider = document.getElementById('damped_start_position'),
               Damped_kSlider = document.getElementById('damped_spring_constant'),
               Damped_massSlider = document.getElementById('damped_spring_mass'),
+			  Damped_cSlider = document.getElementById('damped_viscous_constant'),
 			  
               undampedSetLength = function(value) {
                   value = Number(value);
@@ -118,6 +121,7 @@
           Damped_displacementSlider.addEventListener('change', function(event) { Damped_SetDisplacement(Number(event.target.value)); });
           Damped_kSlider.addEventListener('change', function(event) { Damped_SetK(Number(event.target.value)); });
           Damped_massSlider.addEventListener('change', function(event) { Damped_SetMass(Number(event.target.value)); });
+		  Damped_cSlider.addEventListener('change', function(event) { Damped_SetC(Number(event.target.value)); });
       };
   }
   
@@ -181,25 +185,31 @@
 	</h2>
     <p>
       <span class='widget_container'>
-        <label for='undamped_spring_length'>Spring Length (m)</label>
+        <label for='damped_spring_length'>Spring Length (m)</label>
         <input type='range' id='damped_spring_length' min="50" max="300" value="150"/>
         <span></span>
       </span>
       
       <span class='widget_container'>
-        <label for='undamped_start_position'>Start Displacement (m)</label>
+        <label for='damped_start_position'>Start Displacement (m)</label>
         <input type='range' id='damped_start_position' min='-150' max='150' value='0'/>
         <span></span>
       </span>
 
       <span class='widget_container'>
-        <label for='undamped_spring_constant'>Spring Constant (N / m)</label>
+        <label for='damped_spring_constant'>Spring Constant (N / m)</label>
         <input type='range' id='damped_spring_constant' min='0.1' max='20.0' value='1.0' step='0.1'/>
         <span></span>
       </span>
 
+	  <span class='widget_container'>
+        <label for='damped_viscous_constant'>Viscous Damping Constant (N / m)</label>
+        <input type='range' id='damped_viscous_constant' min='0.1' max='50.0' value='1.0' step='0.1'/>
+        <span></span>
+      </span>
+
       <span class='widget_container'>
-        <label for='undamped_spring_mass'>Mass (kg)</label>
+        <label for='damped_spring_mass'>Mass (kg)</label>
         <input type='range' id='damped_spring_mass' min='0.1' max='10.0' value='1.0' step='0.1'/>
         <span></span>
       </span>
diff --git a/2d/softbody/softbody_1/damped.cpp b/2d/softbody/softbody_1/damped.cpp
index 0344bd0..f56f346 100644
--- a/2d/softbody/softbody_1/damped.cpp
+++ b/2d/softbody/softbody_1/damped.cpp
@@ -52,13 +52,17 @@ namespace Damped {
         float32 gamma = 6.2;
         float32 discriminant = 0.f;
         float32 omega1       = 0.f;
+		float32 c1 = 0.f;
+		float32 c2 = 0.f;
+		float32 r1 = 0.f;
+		float32 r2 = 0.f;
 
         // Update variables
         float32 displacement = 0.f;
         float32 timeElapsed  = 0.f;
         
 
-        void load(Renderer2d* renderer, DampedSpringWeight* inWieight, float32 length, float32 loopRadius, float32 initialDisplacement);
+        void load(Renderer2d* renderer, DampedSpringWeight* inWieight, float32 length, float32 loopRadius, float32 initialDisplacement, float32 inK, float32 inC);
         void update(float32 dtSeconds);
         void render(Renderer2d* renderer);
         void unload();
@@ -92,7 +96,7 @@ namespace Damped {
         renderer.load(context);
 
         weight.load(&renderer, initVariables.mass, Vector4 { 55.f, 235.f, 35.f, 255.f }, Vector4 { 235.f, 5.f, 235.f, 255.f });
-        spring.load(&renderer, &weight, initVariables.springLength, 16.f, initVariables.initialDisplacement);
+        spring.load(&renderer, &weight, initVariables.springLength, 16.f, initVariables.initialDisplacement, initVariables.k, initVariables.c);
 
         mainLoop.run(update);
     }
@@ -164,30 +168,105 @@ namespace Damped {
 
     const float32 epsilon = 0.0001f;
 
-    void DampedSpring::load(Renderer2d* renderer, DampedSpringWeight* inWeight, float32 length, float32 loopRadius, float32 initialDisplacement) {
-		initialDisplacement = initialDisplacement;
+    void DampedSpring::load(Renderer2d* renderer, DampedSpringWeight* inWeight, float32 length, float32 loopRadius, float32 inInitialDisplacement, float32 inK, float32 inC) {
+		initialDisplacement = inInitialDisplacement;
         weight = inWeight;
-        discriminant = c * c - (4 * weight->mass * k);
+		k = inK;
+		c = inC;
 
-        if (discriminant < epsilon && discriminant > -epsilon) { // Real repeated root (~ zero): Overdamped motion
-			printf("Overdamped motion.\n");
-            type = DampedSpringType::Overdamped;
-        }
-        else if (discriminant > 0) { // Two real roots (greater than zero): Critically damped motion
+		// Set the quadratic terms to something that we're familiar with.
+		float32 A = weight->mass;
+		float32 B = c;
+		float32 C = k;
+		
+
+		discriminant = B * B - (4 * A * C);
+		timeElapsed = 0;
+		displacement = 0;
+
+        if (discriminant < epsilon && discriminant > -epsilon) {
+			// Real repeated root (~ zero): Critically damped motion
 			printf("Critically damped motion.\n");
-            type = DampedSpringType::Critical;
+			
+			type = DampedSpringType::Critical;
+
+			r1 = -B / (2 * A);
+			r2 = r1;
+
+			// Solve for the initial displacement.
+			c2 = (initialDisplacement - r1) / (r2);
+			c2 = r2 * c2;
+			c1 = r1;
+			printf("Equation: %f e^(%f t) + %f t e^(%f t)\n", c1, r1, c2, r2);
         }
-        else { // Complex pair (less than zero): Underdamped motion
+        else if (discriminant > 0) {
+			// Two real roots (greater than zero): Overdamped motion
+			printf("Overdamped motion.\n");
+			
+			type = DampedSpringType::Overdamped;
+
+			// Discover the two treal roots. Both of these WILL be negative.
+			float32 sqrtDis = sqrtf(discriminant);
+			r1 = (-B + sqrtDis) / (2 * A);
+			r2 = (-B - sqrtDis) / (2 * A);
+
+			// Now, solve for c1 and c2 given the initial displacement. The equation is:
+			// x(0) = r1 * c1 * e^(r1 * t) + r2 * c2 * e^(r2 * t)   ->
+			// x(0) = r1 * c1 + r2 * c2                             ->
+			// initialDisplacement  = r1 * c1 + r2 * c2;            -> if abs(r1) > abs(r2) => c1 = 1, else c2 = 1
+			if (r1 < r2) {
+				c2 = (initialDisplacement - r1) / (r2);
+				c2 = r2 * c2;
+				c1 = r1;
+			}
+			else {
+				c1 = (initialDisplacement - r2) / (r1);
+				c1 = r1 * c1;
+				c2 = r2;
+			}
+
+			printf("Equation: %f e^(%f t) + %f e^(%f t)\n", c1, r1, c2, r2);
+        }
+        else {
+			// Complex pair (less than zero): Underdamped motion
 			printf("Underdamped motion.\n");
 			
 			type = DampedSpringType::Underdamped;
-            omega1 = sqrtf(-discriminant) / (2.f * weight->mass); // Note that we negate the discriminant to get the REAL positive part.
+			float32 sqrtDis = sqrtf(-discriminant);
+            omega1 = sqrtf(sqrtDis) / (2.f * A); // Note that we negate the discriminant to get the REAL positive part.
+
+			r1 = (-B + sqrtDis) / (2 * A);
+			r2 = (-B - sqrtDis) / (2 * A);
+
+			// Now, solve for c1 and c2 given the initial displacement. The equation is:
+			// x(0) = r1 * c1 * e^(r1 * t) + r2 * c2 * e^(r2 * t)   ->
+			// x(0) = r1 * c1 + r2 * c2                             ->
+			// initialDisplacement  = r1 * c1 + r2 * c2;            -> if abs(r1) > abs(r2) => c1 = 1, else c2 = 1
+			if (r1 < r2) {
+				c2 = (initialDisplacement - r1) / (r2);
+				c2 = r2 * c2;
+				c1 = r1;
+			}
+			else {
+				c1 = (initialDisplacement - r2) / (r1);
+				c1 = r1 * c1;
+				c2 = r2;
+			}
+
+			// At this point, we have:
+			// x(t) = c1 cos(omega1 t) + c2 cos(omega1 t)     ->
+			// x(t) = A cos(omega1 t - Φ)                     ->
+			// Now we need to solve for A and Φ for our initial displacement, so:
+			// initialDisplacement = c1
+			R = sqrtf(c1 * c1 + c2 * c2);
+			if (initialDisplacement < 0) {
+				R = -R;
+			}
+			gamma = atanf(c2 / c1);
+
+			printf("Equation: %f e^(-(%f / %f) t) * cos(%f t - %f)\n", R, c, weight->mass, omega1, gamma);
         }
 
-		
-
-        timeElapsed = 0.f;
-
         const int32 verticesPerSegment = 6;
         numSegments = 256;
         numVertices = numSegments * verticesPerSegment;
@@ -226,16 +305,21 @@ namespace Damped {
 
 		float32 lastDisplacement = displacement;
 
-        if (discriminant < epsilon && discriminant > -epsilon) { // Real repeated root: Overdamped motion
-            
-        }
-        else if (discriminant > 0) { // Two real roots: Critically damped motion
-            
-        }
-        else { // Complex pair (less than zero): Underdamped motion
-            float32 exponent = (-c / (2 * weight->mass)) * timeElapsed;
+		switch (type) {
+		case DampedSpringType::Critical:
+			displacement = c1 * pow(E, r1 * timeElapsed) + c2 * timeElapsed * pow(E, r2 * timeElapsed);
+			break;
+		case DampedSpringType::Overdamped:
+			displacement = c1 * pow(E, r1 * timeElapsed) + c2 * pow(E, r2 * timeElapsed);
+			break;
+		case DampedSpringType::Underdamped:  {
+			float32 exponent = -(c / (2 * weight->mass)) * timeElapsed;
             displacement = R * pow(E, exponent) * (cosf(omega1 * timeElapsed - gamma));
-        }
+			break;
+		}
+		default:
+			break;
+		}
 
 		float32 dx = displacement - lastDisplacement;
         int32 vidx = 0;
diff --git a/2d/softbody/softbody_1/damped.h b/2d/softbody/softbody_1/damped.h
index eeb4aa9..47ae0ef 100644
--- a/2d/softbody/softbody_1/damped.h
+++ b/2d/softbody/softbody_1/damped.h
@@ -9,6 +9,7 @@ namespace Damped {
         float32 initialDisplacement = 10.f;
 		float32 mass = 1.f;
 		float32 k = 4.f;
+		float32 c = 1.f;
     };
 
     void init(WebglContext* inContext);
diff --git a/2d/softbody/softbody_1/dist/output.js b/2d/softbody/softbody_1/dist/output.js
index a304400..9de60fb 100644
--- a/2d/softbody/softbody_1/dist/output.js
+++ b/2d/softbody/softbody_1/dist/output.js
@@ -3105,6 +3105,9 @@ var _Damped_SetK = Module["_Damped_SetK"] = createExportWrapper("Damped_SetK");
 var _Damped_SetMass = Module["_Damped_SetMass"] = createExportWrapper("Damped_SetMass");
 
 /** @type {function(...*):?} */
+var _Damped_SetC = Module["_Damped_SetC"] = createExportWrapper("Damped_SetC");
+
+/** @type {function(...*):?} */
 var _main = Module["_main"] = createExportWrapper("main");
 
 /** @type {function(...*):?} */
diff --git a/2d/softbody/softbody_1/dist/output.wasm b/2d/softbody/softbody_1/dist/output.wasm
index 19696f3..4c82a10 100755
--- a/2d/softbody/softbody_1/dist/output.wasm
+++ b/2d/softbody/softbody_1/dist/output.wasm
diff --git a/2d/softbody/softbody_1/main.cpp b/2d/softbody/softbody_1/main.cpp
index 66792d3..355ba1c 100644
--- a/2d/softbody/softbody_1/main.cpp
+++ b/2d/softbody/softbody_1/main.cpp
@@ -65,4 +65,10 @@ extern "C" {
         initVariables.mass = mass;
         Damped::setInitVariables(initVariables);
     }
+
+	EMSCRIPTEN_KEEPALIVE void Damped_SetC(float c) {
+        Damped::DampedInitVariables initVariables = Damped::getInitVariables();
+        initVariables.c = c;
+        Damped::setInitVariables(initVariables);
+    }
 }