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add softbody script
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pmp-p committed Oct 5, 2024
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<html><head><meta charset=utf-8></head><script src=/pygbag/0.0/pythons.js type=module data-python=cpython3.12 id=__main__ data-os=gui async defer>#<!--
try:
__import__("os").chdir(__import__("tempfile").gettempdir())
except:
__import__("os").chdir("/tmp")

def fs_decode(fsname, o248):
import os
path = fsname.rsplit('/')
for i in range(len(path)):
try:
os.mkdir('/'.join( path[0:i] ))
except:
pass
with open(fsname, "wb") as fs:
for input in o248.split("\n"):
if not input:
continue
fs.write(bytes([ord(c) - 248 for c in input]))


fs_decode('./blob.png','''
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# ./main.py
"""
Python & Pygame implementation of pressure-based soft body paper
https://www.researchgate.net/publication/228574502_How_to_implement_a_pressure_soft_body_model
"""
import asyncio
from dataclasses import dataclass
from math import pi, sin, cos

import pygame
from pygame import Vector2
import pygame._sdl2.video as sdl2


async def main():

WINDOW_WIDTH = 750
WINDOW_HEIGHT = 750
MAX_FPS = 165
GRAVITY = 9.81
DT = 1.0 / 60.0
KS = 130.0
KD = 20.0
RESTITUTION = 0.1
PRESSURE = 300.0

pygame.init()
window = pygame._sdl2.video.Window(title="Pygame Pressure-based Softbody", size=(WINDOW_WIDTH, WINDOW_HEIGHT))
renderer = pygame._sdl2.video.Renderer(window)
clock = pygame.Clock()
is_running = True


@dataclass
class MassPoint:
position: Vector2
velocity: Vector2
force: Vector2
mass: float
mouse: bool = False

@dataclass
class Spring:
a: MassPoint
b: MassPoint
length: float
normal: Vector2
mouse: bool = False


masspoints: list[MassPoint] = []
uvs = []
springs: list[Spring] = []

n = 18
r = 6.0
for i in range(n):
masspoints.append(MassPoint(
Vector2(
37.5 + r * sin(i * (2.0 * pi) / n),
37.5 + r * cos(i * (2.0 * pi) / n)
),
Vector2(),
Vector2(),
1.0
))
uvs.append(
Vector2(
(sin(i * (2.0 * pi) / n) + 1) / 2,
(cos(i * (2.0 * pi) / n) + 1) / 2
)
)

for i in range(n):
a = masspoints[i - 1]
b = masspoints[i]
springs.append(Spring(
a,
b,
(b.position - a.position).length(),
Vector2()
))

ground = 65.0

def step(dt: float) -> None:
# Apply external forces
for p in masspoints:
if p.mouse: continue

p.force += Vector2(0, p.mass * GRAVITY)

# Apply spring forces
for s in springs:
delta = s.a.position - s.b.position
dist = delta.length()
if dist == 0.0: continue

rv = s.a.velocity - s.b.velocity
f = (dist - s.length) * KS + (rv.x * (s.a.position.x - s.b.position.x) + rv.y * (s.a.position.y - s.b.position.y)) * KD / dist

force = (delta / dist) * f

s.a.force -= force
s.b.force += force

# Delta perp?
s.normal = Vector2(
(s.a.position.y - s.b.position.y) / dist,
-(s.a.position.x - s.b.position.x) / dist
)

# Calculate valume
volume = 0.0
for s in springs:
if s.mouse: continue

delta = s.a.position - s.b.position
dist = delta.length()

volume += 0.5 * abs(s.a.position.x - s.b.position.x) * abs(s.normal.x) * dist

#print(volume)

# Apply pressure forces
for s in springs:
if s.mouse: continue

delta = s.a.position - s.b.position
dist = delta.length()

pressure = dist * PRESSURE * (1.0 / volume)

s.a.force += pressure * s.normal
s.b.force += pressure * s.normal

# Semi-implicit euler integration
for p in masspoints:
if p.mouse: continue

p.velocity += p.force / p.mass * dt

# Solve collisions before integrating velocities
dy = p.position.y + p.velocity.y * dt
dx = p.position.x + p.velocity.x * dt
if dy > ground or dy < 0:
p.velocity.y *= -RESTITUTION
if dx > 75 or dx < 0:
p.velocity.x *= -RESTITUTION

p.position += p.velocity * dt

# Reset force accumulator
p.force = Vector2()

mouse_p = MassPoint(Vector2(), Vector2(), Vector2(), 1.0, mouse=True)
mouse_spring = Spring(None, mouse_p, 0.0, Vector2(), mouse=True)

image = pygame.image.load("blob.png")
tex = sdl2.Texture.from_surface(renderer, image)


paused = True

while is_running:
dt = clock.tick(MAX_FPS) / 1000

mouse = pygame.Vector2(*pygame.mouse.get_pos())

for event in pygame.event.get():
if event.type == pygame.QUIT:
is_running = False

elif event.type == pygame.MOUSEBUTTONDOWN:
springs.append(mouse_spring)
paused = False

min_d = float("inf")
for p in masspoints:
if p.mouse: continue

d = (p.position - mouse / 10).length()
if d < min_d:
min_d = d
mouse_spring.a = p


elif event.type == pygame.MOUSEBUTTONUP:
springs.remove(mouse_spring)

mouse_p.position = mouse / 10

if not paused: step(DT)

#window.fill((255, 255, 255))
renderer.draw_color = pygame.Color(255, 255, 255)
renderer.clear()

#for p in masspoints:
# pygame.draw.circle(window, (255, 0, 0), p.position * 10, 5, 0)

#pygame.draw.polygon(window, (0, 255, 0), [p.position * 10 for p in masspoints if not p.mouse], 0)

#for s in springs:
# pygame.draw.line(window, (15, 125, 70), s.a.position * 10, s.b.position * 10, 3)

#pygame.draw.line(window, (170, 170, 170), (0, ground*10), (750, ground*10), 1)

c = Vector2()
for p in masspoints:
if p.mouse: continue
c += p.position
c /= n

m = [p for p in masspoints if not p.mouse]
for i in range(n):
a = m[i]
b = m[(i + 1) % n]

tex.draw_triangle(
a.position * 10,
b.position * 10,
c * 10,
uvs[i],
uvs[(i + 1) % n],
(0.5, 0.5)
)

#pygame.display.flip()
renderer.present()
await asyncio.sleep(0)

pygame.quit()

asyncio.run(main())
# --></script></html>

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