为 SimplePhysicsEngine 添加软体仿真

.github/workflows/workflow.yml

@@ -7,7 +7,6 @@ name: build
 
 on:
   - push
-  - pull_request
   - release
 
 env:
@@ -44,12 +43,28 @@ jobs:
     steps:
       - uses: actions/checkout@v3
 
+      - name: Check for CUDA
+        id: check_cuda
+        run: |
+          if command -v nvcc &> /dev/null; then
+            echo "CUDA is installed."
+            echo "has_cuda=true" >> $GITHUB_ENV
+          else
+            echo "CUDA is not installed."
+            echo "has_cuda=false" >> $GITHUB_ENV
+          fi
+
       - name: Install dependencies
         run: |
           sudo apt update
           sudo apt install --fix-missing -y doxygen graphviz clang-format clang-tidy cppcheck lcov
           sudo apt install --fix-missing -y gcc g++ libspdlog-dev libcgal-dev freeglut3-dev libboost-all-dev libvtk9-dev qtbase5-dev xorg-dev libglu1-mesa-dev libglm-dev libglfw3-dev libglew-dev
-          sudo apt-get install --no-install-recommends -y xvfb
+          sudo apt-get install --no-install-recommends -y xvfb ffmpeg
+
+          # Optionally install CUDA dependencies if CUDA is available
+          if [ "$has_cuda" = "true" ]; then
+            sudo apt install --fix-missing -y cuda-toolkit
+          fi
 
       - name: Build
         run: |
@@ -59,21 +74,133 @@ jobs:
 
       - name: Start Xvfb
         run: |
-          nohup Xvfb :99 -screen 0 1024x768x24 &
+          nohup Xvfb :99 -screen 0 800x600x24 &
           echo "DISPLAY=:99" >> $GITHUB_ENV
 
       - name: Run demo2d
         run: |
           for i in {1..7}; do
-            ./build/bin/demo2d --test --instruction $i
+            # Start recording with ffmpeg
+            ffmpeg -y -f x11grab -video_size 800x600 -i :99 -t 5 -r 10 ./build/bin/demo2d_$i.gif &
+            FFmpeg_PID=$!
+            # Run the demo2d program in the background
+            ./build/bin/demo2d --instruction $i &
+            Demo2d_PID=$!
+            # Wait for 5 seconds
+            sleep 5
+            # Stop the ffmpeg recording
+            kill $FFmpeg_PID
+            # Terminate the demo2d program
+            kill $Demo2d_PID
           done
         env:
           DISPLAY: :99
 
       - name: Run MassSpring3D
-        run: ./build/bin/MassSpring3D --test --instruction 1
+        run: |
+          for i in {1..1}; do
+            ffmpeg -y -f x11grab -video_size 800x600 -i :99 -t 5 -r 10 ./build/bin/MassSpring3D_$i.gif &
+            FFmpeg_PID=$!
+            ./build/bin/MassSpring3D --instruction $i --edge_num 101 &
+            MassSpring3D_PID=$!
+            sleep 5
+            kill $FFmpeg_PID
+            kill $MassSpring3D_PID
+          done
         env:
           DISPLAY: :99
+
+      - name: Upload GIFs
+        uses: actions/upload-artifact@v4
+        with:
+          name: gifs_ubuntu
+          path: build/bin/*.gif
+
+      - name: Upload coverage reports to Codecov
+        uses: codecov/codecov-action@v3
+        with:
+          files: build/coverage/coverage.info
+          verbose: true
+
+
+  check_nvidia_gpu:
+    runs-on: ubuntu-latest  # use own runner with NVIDIA GPU
+    outputs:
+      has_gpu: ${{ steps.check_gpu.outputs.has_gpu }}
+    steps:
+      - name: Check for NVIDIA GPU
+        id: check_gpu
+        run: |
+          if lspci | grep -i nvidia; then
+            echo "NVIDIA GPU found."
+            echo "::set-output name=has_gpu::true"
+          else
+            echo "No NVIDIA GPU found."
+            echo "::set-output name=has_gpu::false"
+          fi
+
+  build_ubuntu_with_cuda:
+    runs-on: ubuntu-latest  # use own runner with NVIDIA GPU
+    needs: check_nvidia_gpu
+    if: needs.check_nvidia_gpu.outputs.has_gpu == 'true'
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Set up CUDA
+        uses: Jimver/[email protected] # https://github.com/marketplace/actions/cuda-toolkit
+        with:
+          cuda: 11.7.0
+          sub-packages: '[]'
+          non-cuda-sub-packages: '[]'
+          method: network
+          linux-local-args: '["--toolkit", "--samples"]'
+          use-github-cache: true
+          use-local-cache: true
+          log-file-suffix: log.txt
+
+      - name: Install dependencies
+        run: |
+          sudo apt update
+          sudo apt install --fix-missing -y doxygen graphviz clang-format clang-tidy cppcheck lcov
+          sudo apt install --fix-missing -y gcc g++ libspdlog-dev libcgal-dev freeglut3-dev libboost-all-dev libvtk9-dev qtbase5-dev xorg-dev libglu1-mesa-dev libglm-dev libglfw3-dev libglew-dev
+          sudo apt-get install --no-install-recommends -y xvfb ffmpeg
+
+          # Optionally install CUDA dependencies if CUDA is available
+          if [ "$has_cuda" = "true" ]; then
+            sudo apt install --fix-missing -y cuda-toolkit
+          fi
+
+      - name: Build
+        run: |
+          ls
+          cmake --preset=build
+          cmake --build build --target all
+          cmake --build build --target coverage
+
+      - name: Start Xvfb
+        run: |
+          nohup Xvfb :99 -screen 0 800x600x24 &
+          echo "DISPLAY=:99" >> $GITHUB_ENV
+
+      - name: Run MassSpring3D
+        run: |
+          for i in {1..1}; do
+            ffmpeg -y -f x11grab -video_size 800x600 -i :99 -t 5 -r 10 ./build/bin/MassSpring3D_$i.gif &
+            FFmpeg_PID=$!
+            ./build/bin/MassSpring3D --instruction $i --edge_num 101 &
+            MassSpring3D_PID=$!
+            sleep 5
+            kill $FFmpeg_PID
+            kill $MassSpring3D_PID
+          done
+        env:
+          DISPLAY: :99
+
+      - name: Upload GIFs
+        uses: actions/upload-artifact@v4
+        with:
+          name: gifs_ubuntu
+          path: build/bin/*.gif
 
       - name: Upload coverage reports to Codecov
         uses: codecov/codecov-action@v3
@@ -88,19 +215,18 @@ jobs:
 
       - name: Install dependencies
         run: |
-          brew install doxygen graphviz llvm cppcheck lcov spdlog boost freeglut glfw glew vtk cgal glm
+          brew install doxygen graphviz llvm cppcheck lcov spdlog boost freeglut glfw glew vtk cgal glm ffmpeg
           ln -s "$(brew --prefix llvm)/bin/clang-format" "/usr/local/bin/clang-format"
           ln -s "$(brew --prefix llvm)/bin/clang-tidy" "/usr/local/bin/clang-tidy"
-
-      - name: Install XQuartz
-        run: |
           brew install --cask xquartz
 
       - name: Start Xvfb
         run: |
-          sudo Xvfb :99 -screen 0 1024x768x24 &
+          sudo /opt/X11/bin/Xvfb :99 -screen 0 800x600x24 &
           echo "DISPLAY=:99" >> $GITHUB_ENV
-
+          export DISPLAY=:99
+          sleep 3  # Give Xvfb some time to start
+
       - name: Build
         run: |
           cmake --preset=build
@@ -109,20 +235,54 @@ jobs:
       - name: Run demo2d
         run: |
           for i in {1..7}; do
-            ./build/bin/demo2d --test --instruction $i
+            # Start recording with ffmpeg
+            ffmpeg -y -f x11grab -video_size 800x600 -i :99 -t 5 -r 10 ./build/bin/demo2d_$i.gif &
+            FFmpeg_PID=$!
+            # Run the demo2d program in the background
+            ./build/bin/demo2d --instruction $i &
+            Demo2d_PID=$!
+            # Wait for 5 seconds
+            sleep 5
+            # Stop the ffmpeg recording
+            if ps -p $FFmpeg_PID > /dev/null; then
+              kill $FFmpeg_PID
+            fi
+            # Terminate the demo2d program
+            if ps -p $Demo2d_PID > /dev/null; then
+              kill $Demo2d_PID
+            fi
           done
         env:
           DISPLAY: :99
 
       - name: Run MassSpring3D
-        run: ./build/bin/MassSpring3D --test --instruction 1
+        run: |
+          for i in {1..1}; do
+            ffmpeg -y -f x11grab -video_size 800x600 -i :99 -t 5 -r 10 ./build/bin/MassSpring3D_$i.gif &
+            FFmpeg_PID=$!
+            ./build/bin/MassSpring3D --instruction $i --edge_num 101 &
+            MassSpring3D_PID=$!
+            sleep 5
+            if ps -p $FFmpeg_PID > /dev/null; then
+              kill $FFmpeg_PID
+            fi
+            if ps -p $MassSpring3D_PID > /dev/null; then
+              kill $MassSpring3D_PID
+            fi
+          done
         env:
           DISPLAY: :99
+
+      - name: Upload GIFs
+        uses: actions/upload-artifact@v4
+        with:
+          name: gifs_macos
+          path: build/bin/*.gif
 
       - name: Upload coverage reports to Codecov
         uses: codecov/codecov-action@v3
         with:
           files: build/coverage/coverage.info
           verbose: true
 # @bug 在 osx 下无法正常执行 lcov
-# cmake --build build --target coverage
+# cmake --build build --target coverage

CMakePresets.json

@@ -15,16 +15,14 @@
         "CMAKE_C_STANDARD": "17",
         "CMAKE_C_STANDARD_REQUIRED": "ON",
         "CMAKE_CXX_EXTENSIONS": "OFF",
-        "CMAKE_CXX_STANDARD": "20",
+        "CMAKE_CXX_STANDARD": "17",
         "CMAKE_CXX_STANDARD_REQUIRED": "ON"
       }
     },
     {
       "name": "configurePresets_base",
       "hidden": true,
-      "inherits": [
-        "std"
-      ],
+      "inherits": ["std"],
       "displayName": "configurePresets_base",
       "description": "base configurePresets",
       "binaryDir": "${sourceDir}/build",
@@ -54,11 +52,9 @@
     {
       "name": "build",
       "hidden": false,
-      "inherits": [
-        "configurePresets_base"
-      ],
+      "inherits": ["configurePresets_base"],
       "displayName": "build",
       "description": "build"
     }
   ]
-}
+}

README.md

@@ -117,6 +117,10 @@ dtk Render by Opengl.
 
 [ The Visualization ToolKit (VTK)](https://vtk.org/Wiki/VTK) is an open source, freely available software system for 3D computer graphics, image processing, and visualization used by thousands of researchers and developers around the world. VTK consists of a C++ class library, and several interpreted interface layers including Tcl/Tk, Java, and Python. Professional support and products for VTK are provided by [Kitware, Inc.](http://www.kitware.com/) VTK supports a wide variety of visualization algorithms including scalar, vector, tensor, texture, and volumetric methods; and advanced modeling techniques such as implicit modelling, polygon reduction, mesh smoothing, cutting, contouring, and Delaunay triangulation. In addition, dozens of imaging algorithms have been directly integrated to allow the user to mix 2D imaging / 3D graphics algorithms and data.
 
+## [Cuda](https://developer.nvidia.com/cuda-zone) \(Optional\)
+
+CUDA® is a parallel computing platform and programming model developed by NVIDIA for general computing on graphical processing units (GPUs). With CUDA, developers are able to dramatically speed up computing applications by harnessing the power of GPUs.
+
 ## How to build
 
 dtk is build by CMake. so you can build easily. You could build this project either in windows or linux. [tutorial on cmake build](https://preshing.com/20170511/how-to-build-a-cmake-based-project/)
@@ -178,44 +182,35 @@ $ cmake --build "DESTINATION_SHARED_DIR" --config Release --target install
 
 ## Demo with dtk
 
-### Rigid body Simulation Demo
-
- A physical simulation demo for 2D rigid body in real time. It deals with the collision of the rigid body which has no deformation by SAT and AABB methods.
-
-<div align="center">
-  <img src="./demo/img/dtkRigidBodySimulation.gif" width = "50%", height = "50%"/>
-</div>
-
-### Finite Element Method Simulation
-
-A finite element method physical simulation for 2D hyperelasticity deformation meterial body in real time.
-
-<div align="center">
-  <img src="./demo/img/dtkFemSimulation.gif" width = "50%", height = "50%"/>
-</div>
-
-### SPH Methods Simulation
-
-A physical simulation demo for 2D fluid in real time. It deals with the fluid body by a series of SPH methods, which include WCSPH, PCISPH and DFSPH.
-
-<div align = center>
-<img src="./demo/img/WCSPH.gif" width = "30%", height = "30%" /><img src="./demo/img/PCISPH.gif" width = "30%", height = "30%"/><img src="./demo/img/DFSPH.gif" width = "30%", height = "30%"/>
-</div>
-
-The SPH method is WCSPH, PCISPH and DFSPH from left to right.
-
-### Guidewire Simulation
-
-A blood flow induced physical simulation of guidewire shape for virtual vascular intervention training system in real time. Virtual vascular intervention training system, which is a low cost, safe and effective solution, is able to provide an immersive virtual training environment for trainees.
-
-<div align="center">
-  <img src="./demo/img/guideWire.jpg" width = "50%", height = "50%" />
-</div>
-### Finite Element Method Simulation in 3D
-
-<div align="center">
-  <img src="./demo/img/3dFEM.gif" width = "50%", height = "50%" />
-</div>
+### Demo2d
+
+<table align="center">
+  <tr>
+    <td><img src="./demo/img/demo2d_1.gif" style="width: 100%; height: auto;" /></td>
+    <td><img src="./demo/img/demo2d_2.gif" style="width: 100%; height: auto;" /></td>
+    <td><img src="./demo/img/demo2d_3.gif" style="width: 100%; height: auto;" /></td>
+    <td><img src="./demo/img/demo2d_4.gif" style="width: 100%; height: auto;" /></td>
+  </tr>
+  <tr>
+    <td><img src="./demo/img/demo2d_5.gif" style="width: 100%; height: auto;" /></td>
+    <td><img src="./demo/img/demo2d_6.gif" style="width: 100%; height: auto;" /></td>
+    <td><img src="./demo/img/demo2d_7.gif" style="width: 100%; height: auto;" /></td>
+    <td></td>
+  </tr>
+</table>
+
+### MassSpring3D
+
+CUDA can be used to accelerate the simulation of mass spring system. The following is the comparison between the simulation without CUDA (left) and with CUDA (right, Nvidia GPU 4060Ti).
+
+<table align="center">
+  <tr>
+    <td><img src="./demo/img/MassSpring3D_1.gif" style="width: 100%; height: auto;" /></td>
+    <td><img src="./demo/img/MassSpring3D_cuda_1.gif" style="width: 100%; height: auto;" /></td>
+    <td></td>
+    <td></td>
+  </tr>
+</table>
 
 ## Documentation
 

cmake/3rd.cmake

@@ -219,4 +219,14 @@ find_package(glfw3 REQUIRED)
 if (NOT glfw3_FOUND)
     message(FATAL_ERROR "glfw3 not found.\n"
             "Following https://www.glfw.org to install.")
+endif ()
+
+find_package(CUDAToolkit 11.7 QUIET)
+if (CUDAToolkit_FOUND)
+    message(STATUS "CUDAToolkit found.")
+    set(CUDA_ENABLED TRUE)
+else ()
+    message(WARNING "CUDAToolkit not found. CUDA features will be disabled.\n"
+            "Follow https://developer.nvidia.com/cuda-downloads to install.")
+    set(CUDA_ENABLED FALSE)
 endif ()