For a while I've been attempting to simulate flowing water with algorithms I've scavenged from "Real-Time Fluid Dynamics for Games". The trouble is I don't seem to get out water-like behavior with those algorithms.
Myself I guess I'm doing something wrong and that those algorithms aren't all suitable for water-like fluids.
What am I doing wrong with these algorithms? Are these algorithms correct at all?
I have the associated project in bitbucket repository. (requires gletools and newest pyglet to run)
Voxel-based solutions are fine for simulating liquids, and are frequently used in film.
Ron Fedkiw's website gives some academic examples - all of the ones there are based on a grid. That code underpins many of the simulations used by Pixar and ILM.
A good source is also Robert Bridson's Fluid Simulation course notes from SIGGRAPH and his website. He has a book "Fluid Simulation for Computer Graphics" that goes through developing a liquid simulator in detail.
The most specific answer I can give to your question is that Stam's real-time fluids for games is focused on smoke, ie. where there isn't a boundary between the fluid (water), and an external air region. Basically smoke and liquids use the same underlying mechanism, but for liquid you also need to track the position of the liquid surface, and apply appropriate boundary conditions on the surface.
Cem Yuksel presented a fantastic talk about his Wave Particles at SIGGRAPH 2007. They give a very realistic effect for quite a low cost. He was even able to simulate interaction with rigid bodies like boxes and boats. Another interesting aspect is that the boat motion isn't scripted, it's simulated via the propeller's interaction with the fluid.
(source: cemyuksel.com)
At the conference he said he was planning to release the source code, but I haven't seen anything yet. His website contains the full paper and the videos he showed at the conference.
Edit: Just saw your comment about wanting to simulate flowing liquids rather than rippling pools. This wouldn't be suitable for that, but I'll leave it here in case someone else finds it useful.
What type of water are you trying to simulate? Pools of water that ripple, or flowing liquids?
I don't think I've ever seen flowing water ever, except in rendered movies. Rippling water is fairly easy to do, this site usually crops up in this type of question.
Yeah, this type of voxel based solution only really work if your liquid is confined to very discrete and static boundaries.
For simulating flowing liquid, do some investigation into particles. Quite alot of progress has been made recently accelerating them on the GPU, and you can get some stunning results.
Take a look at, http://nzone.com/object/nzone_cascades_home.html as a great example of what can be achieved.
Related
I'm currently developing an application with the initial goal of obtaining, in real time, a 3D model of the environment "seen" by a Kinect device. This information would be later on used for projection mapping but that's not an issue, for the moment.
There are a couple of challenges to overcome, namely the fact that the Kinect will be mounted on a mobile platform (robot) and the model generation has to be in real-time (or close to it).
After a long research on this topic, I came up with several possible (?) architectures:
1) Use the depth data obtained from Kinect, convert it into a point cloud (using PCL for this step), then a Mesh and then export it into Unity for further work.
2) Use the depth data obtained from Kinect, convert it into a point cloud (using PCL for this step), export it into Unity and then convert it into a Mesh.
3) Use KinectFusion that already the option of creating a Mesh model, and (somehow) automatically load the Mesh model created into Unity.
4) Use OpenNI+ZDK (+ wrapper) to obtain the depth map and generate the Mesh using Unity.
Quite honestly, I'm kinda lost here, my main issue is the real-time requirement along with being forced to integrate several software components makes this it tricky problem. I don't know which if any of these solutions are viable and the information/tutorials on these issues isn't exactly abundant like the one, for example, for Skeleton tracking .
Any sort of help would be greatly appreciated.
Regards,
Nuno
Sorry, I might not be providing a solution for realtime mesh creation within Unity - but the process discussion here, was interesting enough for me to reply.
In the hard science novel Memories with Maya - there is discussion of exactly such a scenario:
"“Point taken,” he said. “So… Satish showed me a demo of the Quad [Quad=Drone] acquiring real-time depth and texture maps.”
“Nothing new in that,” I said.
“Yeah, but look above us.”
I tilted my head up. The crude shape of the Quad came into view.
“The Quad is here, but you can't see it because the FishEye [Fisheye=Kinect 2] is on it aimed straight ahead.”
“So it's mapping video texture over live geometry? Cool,” I said.
“Yeah, the breakthrough is I can freeze a frame… freeze real life as it were, step out of the scene and study it.”
“All you do is block out the live world with the cross polarizers?”
“Yeah,” he said. “It's a big deal for AYREE to be able to use such data-sets.”
“The resolution has improved,” I said.
“Good observation,” he said. “So has the range sensing. The lens optics have also been upgraded.”
“I noticed that if I turn around I don't see the live feed, just the empty street,” I said.
“Yes, of course,” he replied. “The Quad is facing the other way around. It's why I'm standing in front of you. The whole street, however, is a 3D model done by a standard laser scan taken from the top of that high tower.”
Krish pointed to a building block at the far end of the street. I turned back to the live 3D view again. He walked in front of me.
“This is uber cool. Everyone looks so real.”
“Haha. You should see how cool it is when you're here in person with the Wizer on,” he said. “I'm here watching these real people pass by, only they have a mesh of themselves mapped onto them.”
“Ahhh! Yes.”
“Yeah, it's like they have living paint on them. I feel like reaching out and touching, just to feel the texture.”...
The work that you're thinking of doing in this area, and this use of a live mesh goes far beyond Projection Mapping for events- for sure!
Wishing you the best on the project, and I will be following your updates.
Some of the science behind the story is on www.dirrogate.com if the topic interests you.
Kind Regards.
I would use Kinect Fusion, as it has a sample with the ability to export to .obj, which unity supports. You can automatically save it, and import it to unity to generate a mesh automatically. Especially if you have multiple Kinects, then Microsoft even has a sample to show the basics of Kinect Fusion with multiple Kinects. Also, since Fusion is already pre-written, there is not much code you will have to write.
Here is an example of a mesh from Fusion with one camera:
I do want you to notice how many vertices there are though... This could cause performance problems later on.
Good luck!
I am working on a crowd controlled soundsystem for a music festival. Music would be controlled by individuals and the crowd as a whole, more or less 500 people.
While searching for crowd tracking techniques, I stumbled upon this one http://www.mikelrodriguez.com/crowd-analysis/#density; Matlab code and dataset are enclosed. Are you aware of similar techniques, maybe simpler, based eg on blob detection? Do you have an idea about how well this one would perform in a real-time scenario? Is there a known way to do this with eg OpenCV?
One of my former colleagues implemented something similar (controlling a few motors according to crowd movement) using optical flow. You can analyze the frames of video from a camera, calculate optical flow between frames, and use the values to estimate the crowd movement.
OpenCV has support to perform the above tasks, and comes with good code samples. A desktop should be able to do this in real-time (you might have to tweak with image resolution).
I am not exactly sure how to interface between a C++ program and a sound system. Pure Data (PD) is an alternative, but it might not have much support for motion analysis.
I was looking at some study i have to do in the future to do with procedural generation techniques and i was wondering what type of content you have:
Developed
Helped Develop
Seen implemented
Tried to develop
and what methods/techniques/procedures you used to develop it.
If you feel generous maybe you can even go into specifics of it such as data structures ad algorithms you have used to develop it.
If this needs to be put as community wiki because it is not me asking for a problem to be solved just let me know.
This is not a homework thread because it is a research unit that i'm not taking yet ;)
Introversion software, the makers of the games Defcon, Uplink and Darwinia (among others) have started working on a game about a year ago which extensively uses PCG for city generation, here is a video of their work, and you can read more about it on the development diary of the game (start from the first part at the bottom of the page!).
This immediately got me extremely interested, and seeing the potential for games I immediately started researching the technology. I have amassed a folder of 18 PDFs about the subject (research papers, SIGGRAPH presentations, etc). Here, I uploaded it for you.
The main approach is to use L-Systems, however, I never got around to understanding enough of that to make something out of this. I tried other, less successful approaches like using Voronois, recursively splitting a rectangular area into more smaller areas and shifting the boundaries a little to obtain a bit of randomness and polygon division.
The last method I had gotten from Mike's Code Blog's posts (here and here). The screenshots shown on his blog make me drool, it is my biggest programmer's dream to ever get something that looks like that. I emailed him to ask how he did it, and here is the relevant part of his reply, I'm sure he wouldn't mind me posting this here:
L-Systems is definitely one way to go, but that isn't what I'm doing. The basis of my method is polygon subdivision. I start with a simple polygon that represents the entire area of the city. Then, I split it (roughly) in half, and then split those two polygons, etc. until I get down to city-block size. At that point, the edges of all my polygons represent roads. I then use the same subdivision method to break the blocks down into building-size lots.
The devil is in the details, of course, but that is the basic method.
I for one still haven't managed to fully implement a solution of which I'm satisfied of, but it remains one of, if not my single biggest programmer's dream to ever achieve something like this.
Here are a few of the leaders in procedurally generated terrain (and to a lesser extent foliage). If you don't get a detailed answer here regarding methods and techniques, you might want to look in / ask in their forums. I have seen some discussions of techniques there.
TerraGen 2
World Builder
World Machine
Natural Graphics
Noone mentioned the demoscene that ONLY use procedural stuff?
So, go search for Werkkzeug, Kkrieger, MilkyTracker to start. Also you can visit the site pouet and see the wonder of well done procedural videos (yes, procedural videoclips! With music and graphics, all procedural!)
Allegorithmic's products are used in actual shipping titles. These guys focus on texture generation (both offline and at runtime).
They have some very pretty screenshots and demos.
Somebody know fluid engine for iphone?I need water and gases simulation.
Simulating fluids is a tremendous challenge for modern desktop computers, so I would not expect the greatest performance when trying to get this working on a mobile device. Running full Navier-Stokes calculations on the iPhone is probably going to chug pretty badly.
However, in the past I was able to perform 2-D fluid modeling simulations on limited hardware using lattice gas automata. With lattice gas automata, you approximate a fluid as a fine hexagonal grid, where particles can travel in one of six directions and obey specific collision rules. There are some limitations to this approach (addressed by the Lattice Boltzmann Method), but it can do a very good job of simulating fluids, even including compressible ones like air. Why this works well on limited hardware is that these calculations can be done using bitwise operators and simple lookup tables, without the need for any floating point calculations. You might be able to make something like this work on the iPhone's processor. For more on this technique, you can consult Appendix A of my Ph.D. dissertation, where I explain the process and have source code for a fluid modeler I wrote.
That said, if all you want to do is mimic the appearance of water in your application, the answers to the following questions provide some good suggestions:
"How to implement water ripples?"
"How do I make a water effect view with openGLES on the iPhone?"
I have just released an iPhone fluid simulator that uses a compressible particle in cell method. I have a video here: http://www.youtube.com/watch?v=-CCeeh8EzuA
An incompressible fluid simulator requires many iterations, so I use a compressible simulator. The good thing is if you can make a compressible simulator stable enough, it usually looks incompressible enough.
My app is called GFlow on the app store if you want to see it in action.
I have release two iPhone apps. One app solves the Navier Stokes equations:
http://itunes.apple.com/us/app/fluid-dynamics/id382274493?mt=8
and the other one uses a compressible particle in cell method:
http://itunes.apple.com/us/app/liquid-dynamics/id417814216?mt=8&ls=1
A description of the methods used is founde here:
http://www.infi.nl/blog/view/id/71/Navier_Stokes_iPhone_vs_iPad
and here:
http://www.infi.nl/blog/view/id/98/Liquid_on_iPhone_and_iPad
I would like to make a list of remarkable robot simulation environments including advantages and disadvantages of them. Some examples I know of are Webots and Player/Stage.
ROS will visualize your robot and any data you've recorded from it.
Packages to check out would rviz and nav_view
This made me remember the breve project.
breve is a free, open-source software package which makes it easy to build 3D simulations of multi-agent systems and artificial life.
There is also a wikipage listing Robotics simulators
Microsoft Robotics Studio/Microsoft Robotics Developer Studio 2008
Also read this article on MSDN Magazine
It all depends on what you want to do with the simulation.
I do legged robot simulation, I am coming from a perspective that is different than mobile robotics, but...
If you are interested in dynamics, then the one of the oldest but most difficult to use is sd/fast. The company that originally made it was acquired by a large cad outfit.
You might try heading to : http://www.sdfast.com/
It will cost you a bit of money, but I trust the accuracy of the simulation. There is no contact or collision model, so you have to roll you own. I have used it to simulate bipeds, swimming fish, etc.. There is also no visualization. So, it is for the hardcore programmer. However, it is well respected among us old folk.
OpenDynamics engine is used by people http://www.ode.org/ for "easier" simulation. It comes with an integrator and a primitive visualization package. There are python binding (Hurray for python!).
The build in friction model.. is ... well not very well documented. And did not make sense. Also, the simulations can suddenly "fly apart" for no apparent reason. The simulations may or may not be accurate.
Now, MapleSoft (in beautiful Waterloo Canada) has come out with maplesim. It will set you back a bit of money but here is what I like about it:
It goes beyond just robotics. You can virtually anything. I am sure you can simulate the suspension system on a car, gears, engines... I think it even interfaces with electrical circuit simulation. So, if you are building a high performance product, than MapleSim is a strong contender. Goto www.maplesoft.com and search for it.
They are pretty nice about giving you an eval copy for 30 days.
Of course, you can go home brew. You can solve the Lagrange-Euler equations of motion for most simple robots using a symbolic computation program like maple or mathematica.
EDIT: Have not be able to elegantly do certain derivatives in Maple. I have to resort to a hack.
However, be aware of speed issue.
Finally for more biologically motivated work, you might want to look at opensim (not to be confused with OpenSimulator).
EDIT: OpenSim shares a team member with SD/Fast.
There a lots of other specialized simulators. But, beware.
In sum here are the evaluation criteria for a simulator for robot oriented work:
(1) What kind of collision model do you have ? If it is a very stiff elastic collision, you may have problem in numerical stability during collisions
(2) Visualization- Can you add different terrains, etc..
(3) Handy graphical building tools so you don't have to code then see-what-you-get.
Handling complex system (say a full scale humanoid) is hard to think about in your head.
(4) What is the complexity of the underlying simulation algorithm. If it is O(N) then that is great. But it could be O(N^4) as would be the case for a straight Lagrange-Euler derivation... then your system just will not scale no matter how fast your machine.
(5) How accurate is it and do you care?
(6) Does it help you integrate sensors. For mobile robots you need to have a "robot-eyes view"
(7) If it does visualization, can it you do things like automatically follow the object as it is moving or do you have to chase it around?
Hope that helps!
It's not as impressive looking as Webots, but RobotBasic is free, easy to learn, and useful for prototyping simple robot movement algorithms. You can also program a BasicStamp from the IDE.
I've been programming against SimSpark. It's the open-source simulation engine behind the RoboCup 3D Simulated Soccer League.
It's extensible for different simulations. You can plug in your own sensors, actuators and models using C++, Ruby and/or RSG (Ruby Scene Graph) files.
ABB has a quite a solution called RobotStudio for simulating their huge industrial robots. I don't think it's free and I don't guess you'll get much fun out of it but it's quite impressive. Here's a page about it
I have been working with Carmen http://carmen.sourceforge.net/ and find it useful.
One of the disadvantages with Carmen is the documentation with all respect I think the webpage is a bit outdated and insufficient. So I like to hear from other people with experience in working with Carmen, or student reports/projects dealing with Carmen.
You can find a great list with simulation environments http://www.intorobotics.com/robotics-simulation-softwares-with-3d-modeling-and-programming-support/
MRDS is one of the best and it's free. Also LabView is good to be used in robotcs
National Instruments' LabView is a graphical programming environment for developing measurement, test, and control systems.
It could be used for 3D control simulation with SolidWorks.
MRDS is free and is one of the best simulation environment for robotics. Workspace also can be used, and please check this link if you want a complete list with robotics simulation software
Trik Studio has a nice and clear 2D model simulator and also visual and textual programming programming environments for them. They also soon will support 3D modeling tools based on Morse simulator. Also it is free and opensource and has multi-language interface.