Sphere and particles

While learning openGL I try to recreate stunning visualisations I found here, on Vimeo. Now, it's time for flight404. Flight404 videos are awesome! Technically impressive and just beautiful. In this video I've tried to add physics to the particles, which are textured quads, that face the center of a sphere. I've used perlin noise for the motion, added some trails and random forces. I've had some help from Robert, but I'm not sure how he implements his gravitational/magnetism physics. I tried to use Newtons law of gravitation but this didn't gave me the results I wanted. When Roberts video is all magnetism based I definitely want to find out how he did it ;-). Especially if the particles rotate based on attraction. Im using standard Euler based particles and stiff springs to keep the particles on the sphere.
7 March 2010
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Attiny2313, AVRdude and Arduino & AVRisp

Today I've tested the avrdude, avrisp and arduino & avrisp toolchain (AAAA-toolchain) to program avr chips, especially the attiny2313 chip. Arduino is a very robust board used in various hardware projects. Using the arduino programming environment you can easily program the chip. With the AAAA-toolchain you can use your arduino board to program other AVR chips. Below I'll describe the steps necessary to program an attiny2313 chip to blink a led.

What you need

arduino ide version 0.018 - download
mega-isp version 0.3 - download
avrdude version 5.10. Download WinAVR version 2010.01.10 which includes avrdude for windows.

Installation

Arduino
Simply unpack the arduino zip file. Copy the arduino-0018 directory to a place you like, I used C:\Program Files\arduino-0018

Mega-isp
Unpack the zip which contains the avrisp.pde file. This is the Arduino project file which you need to burn to your Arduino.

WinAVR

Follow the installation wizard
Add the binary path to your system PATH variable. On windows, I used the default installation directory (C:\WinAVR-20100110\bin). By adding this to your PATH environment variable you're able to execute the "avrdude" command from any CMD window, in any path. Google for a description on how to set your PATH environment variable.

The hardware

Okay, when you've downloaded and installed all necessary files you're ready to create your circuit. But first some info, so you know what you're doing. Using the AAAA-toolchain you use the arduino to program another AVR chip. The arduino uses ICSP (in circuit serial programming) for this. Basically this means that you need to connect a couple of wires from the arduino to your AVR chip (attiny2313). We need to connect the standard MOSI, MISO, SCK, RST wires for ICSP. Use this wiring:

Programming wires

Arduino	Attiny2313
Pin 10	Pin 1 - RST
Pin 11	Pin 17 - MOSI
Pin 12	Pin 18 - MISO
Pin 13	Pin 19 - SCK
Vcc (+5V)	Pin 20 - Vcc
Gnd	Pin 10

Prepping the Arduino

Start the Arduino IDE and open the avrisp.pde file you downloaded before. Connect your Arduino, select the correct board and COM port and upload the avr-isp code to the arduino. I'll not explain this more thoroughly as it's basic arduino programming. When you've uploaded avrisp to the arduino you're ready to create the "hello world", blinking led application to test this avr-isp programming method.

Programming the attiny2313

When you want to program your attiny2313, you need to understand that we use different steps to get the program-code on the chip. To program the attiny2313 you need to use "avrdude", which is also used by Arduino (under the hood, if I'm correct). AVRDude is able to put the program-code on the chip using the avrisp programming method. WinAVR is set of tools you need to program an attiny (or other avr) without Arduino, using avrdude. The steps you need to take are:

● write the application code in C
● compile the code for the attiny2313 chip using avr-gcc
● upload the compiled code (hex file) to your attiny2313 using avrdude

Application code
I just googled for a attiny2313 blinking led example that I'll use. Connect pin 12 of your attiny2313 to a led with a current limiting resistor. Copy and paste this code in a file named blinking_led_2313.c.

#define F_CPU 1000000UL
#include <avr/io.h>
#include <util/delay.h>
 
int main(void) {
    DDRB |= 1<<PB0; /* set PB0 to output */
    while(1) {
        PORTB &= ~(1<<PB0); /* LED on */
        _delay_ms(100);
        PORTB |= 1<<PB0; /* LED off */
        _delay_ms(900);
    }
    return 0;
}

Compile the code to a hex file
Create a new file in the same directory of your blinking_led_2313.c file with the name "Makefile" and put this code in it (see below). You can easily reuse this makefile for other projects by changing the "PRJSRC" variable.

# See: http://electrons.psychogenic.com/modules/arms/view.php?w=art&idx=8&page=2
##### This Makefile will make compiling Atmel AVR 
##### micro controller projects simple with Linux 
##### or other Unix workstations and the AVR-GCC 
##### tools.
#####
##### It supports C, C++ and Assembly source files.
#####
##### Customize the values as indicated below and :
##### make
##### make disasm 
##### make stats 
##### make hex
##### make writeflash
##### make gdbinit
##### or make clean
#####
##### See the http://electrons.psychogenic.com/ 
##### website for detailed instructions
 
 
####################################################
#####                                          #####
#####              Configuration               #####
#####                                          #####
##### Customize the values in this section for #####
##### your project. MCU, PROJECTNAME and       #####
##### PRJSRC must be setup for all projects,   #####
##### the remaining variables are only         #####
##### relevant to those needing additional     #####
##### include dirs or libraries and those      #####
##### who wish to use the avrdude programmer   #####
#####                                          #####
##### See http://electrons.psychogenic.com/    #####
##### for further details.                     #####
#####                                          #####
####################################################
 
 
#####         Target Specific Details          #####
#####     Customize these for your project     #####
 
# Name of target controller 
# (e.g. 'at90s8515', see the available avr-gcc mmcu 
# options for possible values)
MCU=attiny2313
 
# Name of our project
# (use a single word, e.g. 'myproject')
PROJECTNAME=blinking_led_2313
 
# Source files
# List C/C++/Assembly source files:
# (list all files to compile, e.g. 'a.c b.cpp as.S'):
# Use .cc, .cpp or .C suffix for C++ files, use .S 
# (NOT .s !!!) for assembly source code files.
PRJSRC=blinking_led_2313.c
 
# additional includes (e.g. -I/path/to/mydir)
INC=
 
# libraries to link in (e.g. -lmylib)
LIBS=
 
# Optimization level, 
# use s (size opt), 1, 2, 3 or 0 (off)
OPTLEVEL=s
 
 
#####      AVR Dude 'writeflash' options       #####
#####  If you are using the avrdude program
#####  (http://www.bsdhome.com/avrdude/) to write
#####  to the MCU, you can set the following config
#####  options and use 'make writeflash' to program
#####  the device.
 
 
# programmer id--check the avrdude for complete list
# of available opts.  These should include stk500,
# avr910, avrisp, bsd, pony and more.  Set this to
# one of the valid "-c PROGRAMMER-ID" values 
# described in the avrdude info page.
# 
AVRDUDE_PROGRAMMERID=avrisp
 
# port--serial or parallel port to which your 
# hardware programmer is attached
#
AVRDUDE_PORT=com12
 
 
####################################################
#####                Config Done               #####
#####                                          #####
##### You should not need to edit anything      #####
##### below to use the makefile but may wish   #####
##### to override a few of the flags           #####
##### nonetheless                              #####
#####                                          #####
####################################################
 
 
##### Flags ####
 
# HEXFORMAT -- format for .hex file output
HEXFORMAT=ihex
 
# compiler
CFLAGS=-I. $(INC) -g -mmcu=$(MCU) -O$(OPTLEVEL) \
    -fpack-struct -fshort-enums             \
    -funsigned-bitfields -funsigned-char    \
    -Wall -Wstrict-prototypes               \
    -Wa,-ahlms=$(firstword                  \
    $(filter %.lst, $(<:.c=.lst)))
 
# c++ specific flags
CPPFLAGS=-fno-exceptions               \
    -Wa,-ahlms=$(firstword         \
    $(filter %.lst, $(<:.cpp=.lst))\
    $(filter %.lst, $(<:.cc=.lst)) \
    $(filter %.lst, $(<:.C=.lst)))
 
# assembler
ASMFLAGS =-I. $(INC) -mmcu=$(MCU)        \
    -x assembler-with-cpp            \
    -Wa,-gstabs,-ahlms=$(firstword   \
        $(<:.S=.lst) $(<.s=.lst))
 
 
# linker
LDFLAGS=-Wl,-Map,$(TRG).map -mmcu=$(MCU) \
    -lm $(LIBS)
 
##### executables ####
CC=avr-gcc
OBJCOPY=avr-objcopy
OBJDUMP=avr-objdump
SIZE=avr-size
AVRDUDE=avrdude
REMOVE=rm -f
 
##### automatic target names ####
TRG=$(PROJECTNAME).out
DUMPTRG=$(PROJECTNAME).s
 
HEXROMTRG=$(PROJECTNAME).hex 
HEXTRG=$(HEXROMTRG) $(PROJECTNAME).ee.hex
GDBINITFILE=gdbinit-$(PROJECTNAME)
 
# Define all object files.
 
# Start by splitting source files by type
#  C++
CPPFILES=$(filter %.cpp, $(PRJSRC))
CCFILES=$(filter %.cc, $(PRJSRC))
BIGCFILES=$(filter %.C, $(PRJSRC))
#  C
CFILES=$(filter %.c, $(PRJSRC))
#  Assembly
ASMFILES=$(filter %.S, $(PRJSRC))
 
 
# List all object files we need to create
OBJDEPS=$(CFILES:.c=.o)    \
    $(CPPFILES:.cpp=.o)\
    $(BIGCFILES:.C=.o) \
    $(CCFILES:.cc=.o)  \
    $(ASMFILES:.S=.o)
 
# Define all lst files.
LST=$(filter %.lst, $(OBJDEPS:.o=.lst))
 
# All the possible generated assembly 
# files (.s files)
GENASMFILES=$(filter %.s, $(OBJDEPS:.o=.s)) 
 
 
.SUFFIXES : .c .cc .cpp .C .o .out .s .S \
    .hex .ee.hex .h .hh .hpp
 
 
.PHONY: writeflash clean stats gdbinit stats
 
# Make targets:
# all, disasm, stats, hex, writeflash/install, clean
all: $(TRG)
 
disasm: $(DUMPTRG) stats
 
stats: $(TRG)
    $(OBJDUMP) -h $(TRG)
    $(SIZE) $(TRG) 
 
hex: $(HEXTRG)
 
 
writeflash: hex
    $(AVRDUDE) -c $(AVRDUDE_PROGRAMMERID)   \
     -p $(MCU) -P $(AVRDUDE_PORT) -e        \
     -b 19200 \
     -U flash:w:$(HEXROMTRG)
 
install: writeflash
 
$(DUMPTRG): $(TRG) 
    $(OBJDUMP) -S  $< > $@
 
 
$(TRG): $(OBJDEPS) 
    $(CC) $(LDFLAGS) -o $(TRG) $(OBJDEPS)
 
 
#### Generating assembly ####
# asm from C
%.s: %.c
    $(CC) -S $(CFLAGS) $< -o $@
 
# asm from (hand coded) asm
%.s: %.S
    $(CC) -S $(ASMFLAGS) $< > $@
 
 
# asm from C++
.cpp.s .cc.s .C.s :
    $(CC) -S $(CFLAGS) $(CPPFLAGS) $< -o $@
 
 
 
#### Generating object files ####
# object from C
.c.o: 
    $(CC) $(CFLAGS) -c $<
 
 
# object from C++ (.cc, .cpp, .C files)
.cc.o .cpp.o .C.o :
    $(CC) $(CFLAGS) $(CPPFLAGS) -c $<
 
# object from asm
.S.o :
    $(CC) $(ASMFLAGS) -c $< -o $@
 
 
#### Generating hex files ####
# hex files from elf
#####  Generating a gdb initialisation file    #####
.out.hex:
    $(OBJCOPY) -j .text                    \
        -j .data                       \
        -O $(HEXFORMAT) $< $@
 
.out.ee.hex:
    $(OBJCOPY) -j .eeprom                  \
        --change-section-lma .eeprom=0 \
        -O $(HEXFORMAT) $< $@
 
 
#####  Generating a gdb initialisation file    #####
##### Use by launching simulavr and avr-gdb:   #####
#####   avr-gdb -x gdbinit-myproject           #####
gdbinit: $(GDBINITFILE)
 
$(GDBINITFILE): $(TRG)
    @echo "file $(TRG)" > $(GDBINITFILE)
 
    @echo "target remote localhost:1212" \
                        >> $(GDBINITFILE)
 
    @echo "load"        >> $(GDBINITFILE) 
    @echo "break main"  >> $(GDBINITFILE)
    @echo "continue"    >> $(GDBINITFILE)
    @echo
    @echo "Use 'avr-gdb -x $(GDBINITFILE)'"
 
 
#### Cleanup ####
clean:
    $(REMOVE) $(TRG) $(TRG).map $(DUMPTRG)
    $(REMOVE) $(OBJDEPS)
    $(REMOVE) $(LST) $(GDBINITFILE)
    $(REMOVE) $(GENASMFILES)
    $(REMOVE) $(HEXTRG)
 
 
 
#####                    EOF                   #####

After you've created this Makefile in the same directory as your blinking_led_2313.c file, open a CMD window and go to that directory where the makefile is located. Then type make (but be sure you've closed the Arduino-IDE before doing so!!).

Upload the code to the chip

In the same CMD window type: make install and you should see a blinking LED in a couple of seconds.

Some helpfull links

http://dddanmar.net/
blinking led

Extra

MCU names for avr-gcc

avr2
at90s2313
at90s2323
at90s2333
at90s2343
attiny22
attiny26
at90s4414
at90s4433
at90s4434
at90s8515
at90c8534
at90s8535
at86rf401
attiny13
attiny2313
avr3
atmega103
atmega603
at43usb320
at43usb355
at76c711
avr4
atmega8
atmega48
atmega88
atmega8515
atmega8535
avr5
atmega16
atmega161
atmega162
atmega163
atmega165
atmega168
atmega169
atmega32
atmega323
atmega325
atmega3250
atmega64
atmega645
atmega6450
atmega128
at90can128
at94k
avr1
at90s1200
attiny11
attiny12
attiny15
attiny28

4 March 2010

3D Math

I've been reading up with 3D math, openGL, physics etc.. for a while now and yes, finally I think I'm getting somewhere. The first results, although still extremely basic, but quite fun are ready to be shown. I've created a sphere from ofxVec3f objects (3d vector objects, in C++), which get randomly distributed using a simple spatial algorithm.

Then, after I've calculated the positions for the points I create rectangles, actually just openGL GL_QUADS, but using the crossproduct to get the perpendicular lines/positions that make up de quad. When I've got the positions of the QUADs I use an alpha transparent image and put that as a texture on it.

Calculating the points for the quad
Below is the code I've used to calculate the vertices for the QUAD. I'm not sure if this is the best solution, but it works perfect!

void TestQuad::draw() {
    ofEnableAlphaBlending();
 
 
    glBegin(GL_LINE_STRIP);
    for(int i = 0; i < tail.size(); ++i) {
        float a = ((float)tail.size()-i)/(float)tail.size() * .2;
        glColor4f(1.0, 0.0, 0.6,a);
        glVertex3f(tail.at(i).x, tail.at(i).y, tail.at(i).z);
    }
    glEnd();
 
    ofxVec3f normal = position - center;
    ofxVec3f up_vec(0,1,0);
    ofxVec3f p1 = normal.getCrossed(up_vec).normalize().scale(size);
    ofxVec3f p2 = normal.getCrossed(p1).normalize().scale(size);
    ofxVec3f p3 = normal.getCrossed(p2).normalize().scale(size);
    ofxVec3f p4 = normal.getCrossed(p3).normalize().scale(size);
    ofxVec3f pp1 = position+p1;
    ofxVec3f pp2 = position+p2;
    ofxVec3f pp3 = position+p3;
    ofxVec3f pp4 = position+p4;
 
 
    glColor4f(1.0,1.0,1.0,0.9f);
    glEnable(GL_TEXTURE_2D);
    glBindTexture(GL_TEXTURE_2D,texture_id);
 
    glBegin(GL_QUADS);
        glTexCoord2f(0.0f, 0.0f); glVertex3f(pp1.x, pp1.y, pp1.z);
        glTexCoord2f(1.0f, 0.0f); glVertex3f(pp2.x, pp2.y, pp2.z);
        glTexCoord2f(1.0f, 1.0f); glVertex3f(pp3.x, pp3.y, pp3.z);
        glTexCoord2f(0.0f, 1.0f); glVertex3f(pp4.x, pp4.y, pp4.z); 
    glEnd();
    glDisable(GL_TEXTURE_2D);
}

Distributing points on a sphere

// from: http://local.wasp.uwa.edu.au/~pbourke/geometry/spherepoints/
#include "stdio.h"
#include "stdlib.h"
#include "math.h"
 
/*
   Create N points on a sphere aproximately equi-distant from each other
   Basically, N points are randomly placed on the sphere and then moved
   around until then moved around until the minimal distance between the
   closed two points is minimaised.
   Paul Bourke, July 1996
*/
 
#define ABS(x) (x < 0 ? -(x) : (x))
 
typedef struct {
  double x,y,z;
} XYZ;
 
void Normalise(XYZ *,double);
double Distance(XYZ,XYZ);
 
/*
   Called with three arguments, the number of points to distribute, the
   radius of the sphere, and the maximum number of iterations to perform.
*/
int main(argc,argv)
int argc;
char **argv;
{
   int i,j,n;
   int counter = 0,countmax = 100;
   int minp1,minp2;
   double r,d,mind,maxd;
   XYZ p[1000],p1,p2;
 
   /* Check we have the right number of arguments */
   if (argc < 4) {
      fprintf(stderr,"Usage: %s npoints radius niterations\n",argv[0]);
      exit(0);
   }
   if ((n = atoi(argv[1])) < 2)
      n = 3;
   if ((r = atof(argv[2])) < 0.001)
      r = 0.001;
   if ((countmax = atoi(argv[3])) < 100)
      countmax = 100;
 
   /* Create the initial random cloud */
   for (i=0;i<n;i++) {
       p[i].x = (rand()%1000)-500;
       p[i].y = (rand()%1000)-500;
       p[i].z = (rand()%1000)-500;
       Normalise(&p[i],r);
    }
 
    while (counter < countmax) {
 
        /* Find the closest two points */
        minp1 = 0;
        minp2 = 1;
        mind = Distance(p[minp1],p[minp2]);
        maxd = mind;
        for (i=0;i<n-1;i++) {
            for (j=i+1;j<n;j++) {
                if ((d = Distance(p[i],p[j])) < mind) {
                   mind = d;
                   minp1 = i;
                   minp2 = j;
                }
                if (d > maxd)
                   maxd = d;
            }
        }
 
        /*
           Move the two minimal points apart, in this case by 1%
           but should really vary this for refinement
        */
        p1 = p[minp1];
        p2 = p[minp2];
        p[minp2].x = p1.x + 1.01 * (p2.x - p1.x);
        p[minp2].y = p1.y + 1.01 * (p2.y - p1.y);
        p[minp2].z = p1.z + 1.01 * (p2.z - p1.z);
        p[minp1].x = p1.x - 0.01 * (p2.x - p1.x);
        p[minp1].y = p1.y - 0.01 * (p2.y - p1.y);
        p[minp1].z = p1.z - 0.01 * (p2.z - p1.z);
        Normalise(&p[minp1],r);
        Normalise(&p[minp2],r);
 
        counter++;
    }
 
    /* Write out the points in your favorite format */
 
}
 
void Normalise(p,r)
XYZ *p;
double r;
{
   double l;
 
   l = r / sqrt(p->x*p->x + p->y*p->y + p->z*p->z);
   p->x *= l;
   p->y *= l;
   p->z *= l;
}
 
double Distance(p1,p2)
XYZ p1,p2;
{
   XYZ p;
 
   p.x = p1.x - p2.x;
   p.y = p1.y - p2.y;
   p.z = p1.z - p2.z;
   return(sqrt(p.x*p.x + p.y*p.y + p.z*p.z));
}

14 February 2010

Sphere and particles