feat: implement CPIC (two-ways rigid-body coupling) (#9)

* feat: add basic CPIC implementation

* feat: support one-way coupling with CPIC

* feat: kinematic body coupling with rapier

* feat: implement two-ways coupling with cpic

* fix incorrect stress calculation for neo-hookean (was cauchy instead of kirchoff).

* feat: some adjustments for two-ways coupling

* feat: support more geometric primitives

* Fix 3D

* Fix timestamps

* feat(wgsparkl2d): support polyline colliders

* feat(wgsparkl3d): support trimesh colliders

* feat: support kinematic bodies for rigid particles + misc coupling fixes

* feat: make the DruckerPrager fields public

* chore: cargo fmt

* fix: move path deps to cargo patches

* fix 2D simulations

* Fix support of non-macos platforms

* fix: disable the wireframe plugin on web

* feat(wasm): group some of the particle properties to reduce the number of storage bindings

* feat: further reduce storage binding counts to fix web support

* feat: add COPY_SRC to the particle position flags

* fix dependencies to compile

* chore: switch to wgmath/main

* chore: add CI

* chore: clippy fixes

* chore: fix tests

* chore: don’t run tests on CI, they will fail because there is no gpu

---------

Co-authored-by: Thierry Berger <contact@thierryberger.com>

Author: sebcrozet

.cargo/config.toml

@@ -1,2 +1,4 @@
 [target.wasm32-unknown-unknown]
-runner = "wasm-server-runner"
+runner = "wasm-server-runner"
+# Needed for getrandom/uuid: https://github.com/uuid-rs/uuid/issues/792
+rustflags = ['--cfg', 'getrandom_backend="wasm_js"']

.github/workflows/ci.yaml

@@ -0,0 +1,78 @@
+name: CI
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+env:
+  CARGO_TERM_COLOR: always
+  RUSTFLAGS: --deny warnings
+  RUSTDOCFLAGS: --deny warnings
+
+jobs:
+  # Run clippy lints.
+  clippy:
+    name: Clippy
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install Rust toolchain
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy
+
+      - name: Install dependencies
+        run: sudo apt-get update; sudo apt-get install --no-install-recommends libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
+
+      - name: Populate target directory from cache
+        uses: Leafwing-Studios/cargo-cache@v2
+        with:
+          sweep-cache: true
+
+      - name: Run clippy lints
+        run: cargo clippy --locked --workspace --all-targets --all-features -- --deny warnings
+
+  # Check formatting.
+  format:
+    name: Format
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install Rust toolchain
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
+
+      - name: Run cargo fmt
+        run: cargo fmt --all -- --check
+
+  # Check documentation.
+  doc:
+    name: Docs
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install Rust toolchain
+        uses: dtolnay/rust-toolchain@stable
+
+      - name: Install dependencies
+        run: sudo apt-get update; sudo apt-get install --no-install-recommends libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
+
+      - name: Populate target directory from cache
+        uses: Leafwing-Studios/cargo-cache@v2
+        with:
+          sweep-cache: true
+
+      - name: Check documentation
+        run: cargo doc --locked --workspace --all-features --document-private-items --no-deps

Cargo.toml

@@ -11,10 +11,8 @@ resolver = "2"
 nalgebra = { version = "0.33", features = ["convert-bytemuck"] }
 wgpu = { version = "23", features = ["naga-ir"] }
 bytemuck = { version = "1", features = ["derive"] }
-anyhow = "1"
 async-channel = "2"
 naga_oil = "0.16"
-thiserror = "1"
 encase = { version = "0.10.0", features = ["nalgebra"] }
 
 [workspace.lints]
@@ -23,6 +21,17 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 ] }
 
 [patch.crates-io]
+parry2d = { git = "https://github.com/dimforge/parry.git", rev = "407fb449504dde7ba0a3d80a8de7e37ac991a77a" }
+parry3d = { git = "https://github.com/dimforge/parry.git", rev = "407fb449504dde7ba0a3d80a8de7e37ac991a77a" }
+encase = { git = "https://github.com/sebcrozet/encase.git", rev = "6755c1414c225cbeac9fde1ff9394b70d3b05404" }
+wgcore = { git = "https://github.com/dimforge/wgmath.git", rev = "6d17942bd841efdfcc696d8455b22be3a8ddfe8d" }
+wgcore-derive = { git = "https://github.com/dimforge/wgmath.git", rev = "6d17942bd841efdfcc696d8455b22be3a8ddfe8d" }
+wgebra = { git = "https://github.com/dimforge/wgmath.git", rev = "6d17942bd841efdfcc696d8455b22be3a8ddfe8d" }
+wgparry3d = { git = "https://github.com/dimforge/wgmath.git", rev = "6d17942bd841efdfcc696d8455b22be3a8ddfe8d" }
+wgparry2d = { git = "https://github.com/dimforge/wgmath.git", rev = "6d17942bd841efdfcc696d8455b22be3a8ddfe8d" }
+wgrapier3d = { git = "https://github.com/dimforge/wgmath.git", rev = "6d17942bd841efdfcc696d8455b22be3a8ddfe8d" }
+wgrapier2d = { git = "https://github.com/dimforge/wgmath.git", rev = "6d17942bd841efdfcc696d8455b22be3a8ddfe8d" }
+rapier3d = { git = "https://github.com/vrixyz/rapier.git", branch = "uber_physics_context" }
 
 [profile.release]
 opt-level = 'z'

crates/wgsparkl-testbed2d/Cargo.toml

@@ -14,7 +14,7 @@ required-features = ["dim2"]
 
 [features]
 dim2 = []
-default_features = ["dim2"]
+default = ["dim2"]
 
 [dependencies]
 nalgebra = { workspace = true, features = ["rand"] }
@@ -23,17 +23,25 @@ naga_oil = { workspace = true }
 bytemuck = { workspace = true }
 async-channel = { workspace = true }
 
-wgcore = { version = "0.2", path = "../../../wgmath/crates/wgcore" }
-wgebra = { version = "0.2", path = "../../../wgmath/crates/wgebra" }
-wgparry2d = { version = "0.2", path = "../../../wgmath/crates/wgparry/crates/wgparry2d" }
+wgcore = "0.2"
+wgebra = "0.2"
+wgparry2d = "0.2"
 
 futures-test = "0.3"
 serial_test = "3"
 approx = "0.5"
 async-std = { version = "1", features = ["attributes"] }
-bevy = { version = "0.15.0", features = ["shader_format_glsl", "shader_format_spirv", "webgpu"] }
+bevy = { version = "0.15.0", features = [
+    "shader_format_glsl",
+    "shader_format_spirv",
+    "webgpu",
+] }
 #bevy_wasm_window_resize = "0.4"
-#bevy_editor_cam = "0.3"
-#bevy_mod_picking = { version = "0.20", default-features = false }
-bevy_egui = { version = "0.31", default-features = false, features = ["default_fonts", "render"] }
+bevy_editor_cam = "0.5"
+bevy_egui = { version = "0.31", default-features = false, features = [
+    "default_fonts",
+    "render",
+] }
+bevy_sprite = "0.15"
 wgsparkl2d = { path = "../wgsparkl2d" }
+futures = "0.3"

crates/wgsparkl-testbed3d/Cargo.toml

@@ -14,7 +14,7 @@ required-features = ["dim3"]
 
 [features]
 dim3 = []
-default_features = ["dim3"]
+default = ["dim3"]
 
 [dependencies]
 nalgebra = { workspace = true, features = ["rand"] }
@@ -23,17 +23,25 @@ naga_oil = { workspace = true }
 bytemuck = { workspace = true }
 async-channel = { workspace = true }
 
-wgcore = { version = "0.2", path = "../../../wgmath/crates/wgcore" }
-wgebra = { version = "0.2", path = "../../../wgmath/crates/wgebra" }
-wgparry3d = { version = "0.2", path = "../../../wgmath/crates/wgparry/crates/wgparry3d" }
+wgcore = "0.2"
+wgebra = "0.2"
+wgparry3d = "0.2"
 
 futures-test = "0.3"
 serial_test = "3"
 approx = "0.5"
 async-std = { version = "1", features = ["attributes"] }
-bevy = { version = "0.15.0", features = ["shader_format_glsl", "shader_format_spirv", "webgpu"] }
-#bevy_editor_cam = "0.3"
+bevy = { version = "0.15.0", features = [
+    "shader_format_glsl",
+    "shader_format_spirv",
+    "webgpu",
+] }
+bevy_editor_cam = "0.5"
 #bevy_mod_picking = { version = "0.20", default-features = false }
 #bevy_wasm_window_resize = "0.4"
-bevy_egui = { version = "0.31", default-features = false, features = ["default_fonts", "render"] }
+bevy_egui = { version = "0.31", default-features = false, features = [
+    "default_fonts",
+    "render",
+] }
 wgsparkl3d = { path = "../wgsparkl3d" }
+futures = "0.3"

crates/wgsparkl2d/Cargo.toml

@@ -23,10 +23,17 @@ naga_oil = { workspace = true }
 bytemuck = { workspace = true }
 encase = { workspace = true }
 
-wgcore = { version = "0.2", path = "../../../wgmath/crates/wgcore", features = ["hot_reloading"] }
-wgebra = { version = "0.2", path = "../../../wgmath/crates/wgebra" }
-wgparry2d = { version = "0.2", path = "../../../wgmath/crates/wgparry/crates/wgparry2d" }
-wgrapier2d = { version = "0.2", path = "../../../wgmath/crates/wgrapier/crates/wgrapier2d" }
+wgcore = "0.2"
+wgebra = "0.2"
+wgparry2d = "0.2"
+wgrapier2d = "0.2"
+
+# TODO: make rapier optional?
+rapier2d = "0.23"
+
+# For wasm?
+getrandom = { version = "0.3.1", features = ["wasm_js"] }
+uuid = { version = "1", features = ["js"] }
 
 [dev-dependencies]
 nalgebra = { version = "0.33", features = ["rand"] }
@@ -35,4 +42,4 @@ serial_test = "3"
 approx = "0.5"
 async-std = { version = "1", features = ["attributes"] }
 bevy = { version = "0.15.0", features = ["shader_format_glsl", "shader_format_spirv", "webgpu"] }
-wgsparkl_testbed2d = { path = "../wgsparkl-testbed2d" }
+wgsparkl_testbed2d = { path = "../wgsparkl-testbed2d", features = ["dim2"] }

crates/wgsparkl2d/examples/elastic_cut2.rs

@@ -0,0 +1,123 @@
+use wgsparkl_testbed2d::{wgsparkl, RapierData};
+
+use bevy::prelude::*;
+use bevy::render::renderer::RenderDevice;
+use nalgebra::{point, vector, Vector2};
+use rapier2d::prelude::{ColliderBuilder, RigidBodyBuilder};
+use wgsparkl::solver::ParticlePhase;
+use wgsparkl::{
+    models::ElasticCoefficients,
+    pipeline::MpmData,
+    solver::{Particle, SimulationParams},
+};
+use wgsparkl2d::solver::ParticleDynamics;
+use wgsparkl_testbed2d::{AppState, PhysicsContext};
+
+#[allow(dead_code)]
+fn main() {
+    panic!("Run the `testbed3` example instead.");
+}
+
+pub fn elastic_cut_demo(
+    mut commands: Commands,
+    device: Res<RenderDevice>,
+    mut app_state: ResMut<AppState>,
+) {
+    let mut rapier_data = RapierData::default();
+    let device = device.wgpu_device();
+
+    let offset_y = 46.0;
+    // let cell_width = 0.1;
+    let cell_width = 0.2;
+    let mut particles = vec![];
+    for i in 0..700 {
+        for j in 0..700 {
+            let position = vector![i as f32 + 0.5, j as f32 + 0.5] * cell_width / 2.0
+                + Vector2::y() * offset_y;
+            let density = 1000.0;
+            let radius = cell_width / 4.0;
+            particles.push(Particle {
+                position,
+                dynamics: ParticleDynamics::with_density(radius, density),
+                model: ElasticCoefficients::from_young_modulus(5_000_000.0, 0.2),
+                plasticity: None,
+                phase: Some(ParticlePhase {
+                    phase: 1.0,
+                    max_stretch: f32::MAX,
+                }),
+            });
+        }
+    }
+
+    if !app_state.restarting {
+        app_state.num_substeps = 15;
+        app_state.gravity_factor = 1.0;
+    };
+
+    let params = SimulationParams {
+        gravity: vector![0.0, -9.81] * app_state.gravity_factor,
+        dt: (1.0 / 60.0) / (app_state.num_substeps as f32),
+        padding: 0.0,
+    };
+
+    // const ANGVEL: f32 = 1.0; // 2.0;
+
+    /*
+     * Static platforms.
+     */
+    let rb = RigidBodyBuilder::fixed().translation(vector![35.0, 20.0]);
+    let rb_handle = rapier_data.bodies.insert(rb);
+    let co = ColliderBuilder::cuboid(70.0, 1.0);
+    rapier_data
+        .colliders
+        .insert_with_parent(co, rb_handle, &mut rapier_data.bodies);
+
+    let mut polyline = vec![];
+    let subdivs = 100;
+    let length = 84.0;
+    let start = point![35.0, 70.0] - vector![length / 2.0, 0.0];
+
+    for i in 0..=subdivs {
+        let step = length / (subdivs as f32);
+        let dx = i as f32 * step;
+        polyline.push(start + vector![dx, dx.sin()])
+    }
+
+    let rb = RigidBodyBuilder::fixed();
+    let rb_handle = rapier_data.bodies.insert(rb);
+    let co = ColliderBuilder::polyline(polyline, None).build();
+    rapier_data
+        .colliders
+        .insert_with_parent(co, rb_handle, &mut rapier_data.bodies);
+
+    for k in 0..6 {
+        let rb = RigidBodyBuilder::fixed();
+        let rb_handle = rapier_data.bodies.insert(rb);
+        let co = ColliderBuilder::polyline(
+            vec![
+                point![0.0 + k as f32 * 15.0, 20.0],
+                point![-10.0 + k as f32 * 15.0, 45.0],
+            ],
+            None,
+        )
+        .build();
+        rapier_data
+            .colliders
+            .insert_with_parent(co, rb_handle, &mut rapier_data.bodies);
+    }
+
+    let data = MpmData::new(
+        device,
+        params,
+        &particles,
+        &rapier_data.bodies,
+        &rapier_data.colliders,
+        cell_width,
+        60_000,
+    );
+    commands.insert_resource(PhysicsContext {
+        data,
+        rapier_data,
+        particles,
+    });
+}