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Zadanie 1 finish pendulum issues

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This commit is contained in:
Władysław Kuczerenko 2024-06-29 19:10:36 +02:00
parent 98ac748dbe
commit 9cda311475
3 changed files with 115 additions and 83 deletions
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179
zadanie-1/main.cpp
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@ -5,16 +5,34 @@
#include <vector>
#include "shader.h"
// Konstante
const float g = 9.81f; // przyspieszenie ziemskie
const float r = 0.6f; // długość nici
const float dt = 0.01f; // krok czasowy
// Constants
const float g = 9.81f; // Gravitational acceleration
const float r = 0.6f; // Length of the string
const float initialDt = 0.01f; // Initial time step
// Zmienne globalne
float theta = 0.5f; // początkowy kąt
float omega = 0.0f; // początkowa prędkość kątowa
const float initTheta = 0.785f; // Initial angle
const float initOmega = 2.0f; // Initial angular velocity
const float initPrevTheta = initTheta - initialDt * initOmega; // Initial previous angle
GLuint VBO, VAO, EBO, shaderProgram;
float dt = initialDt;
float currentT = 0.0f;
// Pendulum state structure
struct Pendulum {
float theta; // Angle
float omega; // Angular velocity
float prev_theta; // Previous angle (for Verlet method)
};
// Pendulums
Pendulum pendulums[3] = {
{initTheta, initOmega, initPrevTheta}, // Pendulum 1 (Euler)
{initTheta, initOmega, initPrevTheta}, // Pendulum 2 (Verlet)
{initTheta, initOmega, initPrevTheta}, // Pendulum 3 (Runge-Kutta)
};
GLuint VBO, VAO, shaderProgram;
void compileShaders(){
Shader shader("pendulum_vs.glsl", "pendulum_fs.glsl");
@ -32,12 +50,16 @@ void initOpenGL()
glBindVertexArray(VAO);
glBindBuffer(GL_ARRAY_BUFFER, VBO);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * 4, nullptr, GL_DYNAMIC_DRAW);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * 40, nullptr, GL_DYNAMIC_DRAW); // 4 pendulums * 2 vertices * (2 positions + 3 colors)
// Pozycja
glVertexAttribPointer(0, 2, GL_FLOAT, GL_FALSE, 2 * sizeof(float), (void*)0);
// Position attribute
glVertexAttribPointer(0, 2, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void*)0);
glEnableVertexAttribArray(0);
// Color attribute
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void*)(2 * sizeof(float)));
glEnableVertexAttribArray(1);
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindVertexArray(0);
}
@ -46,64 +68,82 @@ float f(float theta){
return -(g / r) * sin(theta);
}
// Metoda Eulera
void updateEuler()
// Euler method
void updateEuler(Pendulum& p)
{
float alpha = f(theta); // przyspieszenie kątowe
omega += alpha * dt; // aktualizacja prędkości kątowej
theta += omega * dt; // aktualizacja kąta
p.theta = p.theta + dt * p.omega;
p.omega = p.omega + f(p.theta) * dt;
}
// Metoda Verleta
void updateVerlet()
// Verlet method
void updateVerlet(Pendulum& p)
{
static float prev_theta = theta;
float alpha = f(theta); // przyspieszenie kątowe
float new_theta = 2 * theta - prev_theta + alpha * dt * dt; // aktualizacja kąta
prev_theta = theta;
theta = new_theta;
float new_theta = 2 * p.theta - p.prev_theta + f(p.theta) * dt * dt;
float old_theta = p.theta;
p.theta = new_theta;
p.prev_theta = old_theta;
// Aktualizacja omega
p.omega = (p.theta - p.prev_theta) / (2 * dt);
}
// Metoda Rungego-Kutty rzędu 4
void updateRungeKutta()
// Runge-Kutta 4th order method
void updateRungeKutta(Pendulum& p)
{
float k1_theta = omega;
float k1_omega = f(theta);
float k1_theta = p.omega;
float k1_omega = f(p.theta);
float k2_theta = omega + 0.5f * dt * k1_omega;
float k2_omega = f(theta + 0.5f * dt * k1_theta);
float k2_theta = p.omega + 0.5f * dt * k1_omega;
float k2_omega = f(p.theta + 0.5f * dt * k1_theta);
float k3_theta = omega + 0.5f * dt * k2_omega;
float k3_omega = f(theta + 0.5f * dt * k2_theta);
float k3_theta = p.omega + 0.5f * dt * k2_omega;
float k3_omega = f(p.theta + 0.5f * dt * k2_theta);
float k4_theta = omega + dt * k3_omega;
float k4_omega = f(theta + dt * k3_theta);
float k4_theta = p.omega + dt * k3_omega;
float k4_omega = f(p.theta + dt * k3_theta);
theta += (dt / 6.0f) * (k1_theta + 2.0f * k2_theta + 2.0f * k3_theta + k4_theta);
omega += (dt / 6.0f) * (k1_omega + 2.0f * k2_omega + 2.0f * k3_omega + k4_omega);
p.theta += (dt / 6.0f) * (k1_theta + 2.0f * k2_theta + 2.0f * k3_theta + k4_theta);
p.omega += (dt / 6.0f) * (k1_omega + 2.0f * k2_omega + 2.0f * k3_omega + k4_omega);
}
void drawPendulum()
void drawPendulums()
{
float x = r * sin(theta);
float y = -r * cos(theta);
float vertices[] = {
0.0f, 0.0f, // Punkt zaczepienia
x, y // Punkt masy
};
glBindBuffer(GL_ARRAY_BUFFER, VBO);
glBufferSubData(GL_ARRAY_BUFFER, 0, sizeof(vertices), vertices);
glBindBuffer(GL_ARRAY_BUFFER, 0);
glClear(GL_COLOR_BUFFER_BIT);
glUseProgram(shaderProgram);
glBindVertexArray(VAO);
glDrawArrays(GL_LINES, 0, 2);
glDrawArrays(GL_POINTS, 1, 1);
std::vector<std::vector<float>> colors = {
{1.0f, 0.0f, 0.0f}, // EULER
{0.0f, 1.0f, 0.0f}, // VERLET
{0.0f, 0.0f, 1.0f}, // RK
{1.0f, 1.0f, 0.0f} // SIMPLE
};
std::vector<float> vertices;
for (int i = 0; i < 3; ++i) {
float x = r * sin(pendulums[i].theta);
float y = -r * cos(pendulums[i].theta);
// Append vertices for the current pendulum
vertices.insert(vertices.end(), {
0.0f, 0.0f, colors[i][0], colors[i][1], colors[i][2], // Attachment point
x, y, colors[i][0], colors[i][1], colors[i][2] // Mass point
});
// Debugging output for each pendulum's vertices
// std::cout << "Pendulum " << i + 1 << ": (" << x << ", " << y << "), Color: ("
// << colors[i][0] << ", " << colors[i][1] << ", " << colors[i][2] << ")" << std::endl;
}
glBindBuffer(GL_ARRAY_BUFFER, VBO);
glBufferSubData(GL_ARRAY_BUFFER, 0, sizeof(float) * vertices.size(), vertices.data());
for (int i = 0; i < 3; ++i) {
glDrawArrays(GL_LINES, i * 2, 2);
glDrawArrays(GL_POINTS, i * 2 + 1, 1);
}
glBindVertexArray(0);
}
@ -112,7 +152,7 @@ int main()
{
if (!glfwInit())
{
std::cerr << "Nie można zainicjalizować GLFW" << std::endl;
std::cerr << "Failed to initialize GLFW" << std::endl;
return -1;
}
@ -121,12 +161,10 @@ int main()
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
GLFWwindow* window = glfwCreateWindow(800, 600, "Wahadło Matematyczne", NULL, NULL);
GLFWwindow* window = glfwCreateWindow(800, 600, "Mathematical Pendulums", NULL, NULL);
if (!window)
{
std::cerr << "Nie można utworzyć okna GLFW" << std::endl;
std::cerr << "Failed to create GLFW window" << std::endl;
glfwTerminate();
return -1;
}
@ -135,7 +173,7 @@ int main()
glewExperimental = GL_TRUE;
if (glewInit() != GLEW_OK)
{
std::cerr << "Nie można zainicjalizować GLEW" << std::endl;
std::cerr << "Failed to initialize GLEW" << std::endl;
return -1;
}
@ -144,37 +182,24 @@ int main()
glOrtho(-2, 2, -2, 2, -1, 1);
glMatrixMode(GL_MODELVIEW);
glPointSize(10.0f);
glPointSize(35.0f);
initOpenGL();
int method = 1; // Domyślnie metoda Eulera
std::cout << "Wybierz metodę: (1) Euler, (2) Verlet, (3) Runge-Kutta: ";
std::cin >> method;
while (!glfwWindowShouldClose(window))
{
switch (method)
{
case 1:
updateEuler();
break;
case 2:
updateVerlet();
break;
case 3:
updateRungeKutta();
break;
default:
updateEuler();
break;
}
updateEuler(pendulums[0]);
updateVerlet(pendulums[1]);
updateRungeKutta(pendulums[2]);
drawPendulum();
drawPendulums();
glfwSwapBuffers(window);
glfwPollEvents();
currentT += dt;
}
glDeleteVertexArrays(1, &VAO);

6
zadanie-1/pendulum_fs.glsl
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@ -1,6 +1,8 @@
#version 330 core
out vec4 FragColor;
in vec3 fragColor;
out vec4 color;
void main()
{
FragColor = vec4(1.0, 1.0, 1.0, 1.0);
color = vec4(fragColor, 1.0);
}

9
zadanie-1/pendulum_vs.glsl
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@ -1,6 +1,11 @@
#version 330 core
layout(location = 0) in vec2 aPos;
layout(location = 0) in vec2 position;
layout(location = 1) in vec3 color;
out vec3 fragColor;
void main()
{
gl_Position = vec4(aPos, 0.0, 1.0);
gl_Position = vec4(position, 0.0, 1.0);
fragColor = color;
}