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FEMSdoc2
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FEMS VERSION 2.3 DOCUMENTATION FILE
===================================
This file describes, in a more complete way than the magazine
articles, the syntax of script files for FEMS version 2.3, as supplied on
the cover disk of the February 1994 BBC Acorn User. In the interests of
clarity, some parts of the articles are also included in this file.
For a summary of the differences between this file and the one
supplied on the January cover disk, please see the file "Changes2�3".
DESIGNING YOUR OWN SCENES
To give maximum flexibility in the setting up of simulations, and
because there are so many possibilities, the scene and parameters are
described in a text file "script" which tells the program what to do. Even
if you don't feel up to creating your own scenes, fiddling with the provided
definition files will allow you to change things like the screen resolution,
rendering style (whether the picture is drawn with dots or lines) and the
viewpoint used. Since the simulation setup files are just text files, they
can be created and modified in Edit or any other text editor. The magazine
explains the general idea of script files and some hints for the successful
creation of animations.
SCRIPT FILES: GENERAL
1 The first line of a script must be "FEMS2". This is so the program
can recognize valid definition files, and knows which version they are.
2 The program doesn't care whether the letters in the script are upper
or lower case, as it converts them all to lower case when it reads the file.
3 Lines can be concatenated by replacing a newline with a colon, and
spaces can be used instead of commas if you wish.
4 Comments are anything between a /* and a */ (like in C), and are
ignored. Comments can be nested (unlike in C).
5 A "block" consists of a block name followed by several commands
enclosed in curly brackets. The brackets must have a separator to either
side of them ie. use "rendering { type dots }" not "rendering{ type dots} "
6 A script consists of some global parameters, a "rendering" block,
and any number of "solid" and "background" blocks.
SCRIPT FILES: UNITS
At points in a script where you need to specify a distance, a
velocity or an angle, you have a choice of the units you can use. The units
must come straight after the number, without a separating space, ie. use
"12cm" not "12 cm".
Recognized units for distance:
in inches
ft feet
cm centimetres
mm millimetres
the default unit is 1/46080 of an inch
Recognised units for velocity:
ips inches per second
ftps feet per second
cmps centimetres per second
mmps millimetres per second
the default unit is 1/(921.6) of an inch per second
Recognised units for angles:
deg degrees
rad radians
the default unit is degrees
Recognised units for angular velocity:
degps degrees per second
radps radians per second
rpm revolutions per minute
the default unit is 0.056889 degrees per second
GLOBAL PARAMETERS
There are three global parameter commands:
frame_aim <number>
gravity <number>,<number>,<number>
time_div <number>
The number after frame_aim is the number of frames you want to aim
for. All this does is cause the program to pause after that many frames, so
you don't overshoot if the computer is being left unattended. It also sets
the number of frames used to estimate the finishing time. If the program
has continued past the aim point, or there is not enough space to store the
number of frames aimed for, the finishing time is based on the estimated
maximum number of frames.
"Gravity" sets the direction and speed with which things fall.
There are three numbers for the amounts in the x, y and z directions.
Normally these will be something like 0, 0 and -600 so things fall
downwards. The script "UpStairs" uses a sideways gravity to make the cube
appear to climb the stairs.
The "time_div" command sets the number of times the finite element
simulation procedures are called between frames, or in other words how
finely divided the time steps are. The number must be a power of 2, eg.
1,2,4,8 etc. The main purpose of this is to allow objects to be stiffer
without exploding, so the spring constants in the objects are automatically
increased when this value is increased.
THE RENDERING BLOCK
The other set of options affects the appearance of the picture on
the screen. This is called the "rendering block" and looks like this:
rendering {
type <render_type>
resolution <number>,<number>
view <number>,<number>
background <back_type>
}
<render_type> is one of "dots", "lines", "all_dots" or "wireframe".
"Dots" draws the points at the corners of the surface facets, and "lines"
draws the edges of the surface facets. The other two options do the same
but without removing hidden surfaces. The "dots" option uses the least
memory for frame storage, and "all_dots" is the quickest to draw.
The "resolution" command lets you choose the screen resolution you
want to use, by specifying the number of horizontal and vertical pixels.
Useful values are 320,256 (low resolution) 640,256 (high resolution) and
640,512 (multisync monitors), but you can use any resolution for which there
is a screen mode. The program will give an error of there is no mode which
fits. When choosing a resolution, bear in mind that higher resolutions will
take more frame storage space.
"View" specifies the angle from which you look at the scene. The
numbers are angles in degrees, the first being the direction in the x-y
plane. This is the angle through which the scene is rotated about the
vertical axis. If this is 0, the x direction is horizontally across your
screen (+x on the right, -y on the left) and the +y direction is out of the
screen towards you. The second number is the "elevation": an value of zero
will put the viewpoint on the x-y plane (looking horizontally, +z axis
vertically upwards), and an angle of 90 would have you looking directly down
from above.
The "background" command is optional: if you include "background
back" in the rendering block, the program assumes that the background
object(s) are always behind the solid object(s), and does not redraw the
background every frame. This is useful, for example, when the background is
a set of stairs, as it reduces the frame drawing time. The default setting
is "background mix" which lets the background object(s) be partly in front
of and partly behind the solid(s).
The order in which any of the above options are arranged does not
matter, as long as the rendering options are kept inside the rendering
block.
CREATING OBJECTS: BACKGROUND OBJECTS
Background objects are the fixed pieces of scenery which the moving
objects interact with. You can have as many background objects as you want:
they are all created at the origin but they can be moved to any position.
The script to create a background object is as follows:
background {
create {
type <object_type>
points <points_spec>
size <size_spec>
}
translate <x>,<y>,<z>
}
The indentation is optional: it was added for clarity. The first
thing in a background block must be a create block, and there must be only
one of these. The translate command is optional, and there may be any
number of these. The three parameters are the amounts by which to move the
object in the x, y and z directions. All distances should be followed by a
unit, eg 3.3in (with no separating space) as described earlier. The default
unit is 1/640 of a printer's point (a very small distance), so if the
translate command has no visible effect, check the units.
The first word in the create block must be "type", because the
effect of the "points" and "size" commands are dependant on the object type.
For a background object, <object_type> must be one of "sheet", "sphere" or
"stairs".
THE SPHERE OBJECT
This has one "points" parameter and one "size" parameter, i.e. the
word "points" must be followed by one number, and "size" must be followed by
a distance. The previous remarks about units for distances also apply to
all size parameters. The size parameter for a sphere sets its radius. The
points parameter sets the number of points used to draw the sphere: if this
parameter is P, there are P rings of points, and the widest one contains 2P
points. 12 is an adequate value for this parameter.
You should avoid creating objects which extend into a sphere,
because these will be ejected outwards violently.
THE SHEET OBJECT
This has one "points" parameter and one "size" parameter. Sheets
are always square: the points parameter sets the number of points along one
side, and the size parameter sets the length of one side. For example, if
you use "points 21" and "size 5in" the program will create a sheet with 21 x
21 = 441 points, so if you use "lines" as the rendering type the sheet will
be divided into 20 x 20 squares, each 0.25in x 0.25in. The sheet is created
horizontal (ie. on the x-y plane) and centred on the origin, so in the above
example the sheet would extend from -5in to +5in in the x direction, from
-5in to +5in in the y direction, and have z=0 for all points.
When the sheet is created as a background object, it defines a
"floor". No solid will be allowed to pass below the height of the sheet.
You should avoid creating objects which extend below the floor, because
these will be ejected upwards violently. Note that the floor effect does
not depend on the size of the sheet, only on its vertical position.: the
effective floor is an infinite plane at the same height as the sheet. If
you wanted an invisible floor, therefore, you could create a small sheet
with points set to 2, and move it out of sight in the x or y direction.
THE STAIRS OBJECT
Being a more complex object, this takes three points parameters and
three size parameters. Just to confuse things, the points parameters do not
correspond to the same features as the size parameters, unlike the other
objects. Let's take the size parameters first; these are:
size <step_width>,<step_height>,<step_depth>
These are quite obvious: <step_width> is the width of the steps
along the x axis (see diagram below), <step_height> is the amount you would
have to lift your feet (z direction) and <step_depth> is the amount of room
you have for your feet on each step (y direction).
The points parameters are:
points <pts_width>,<steps>,<pts_depth>
The first and third of these just set the number of points used to
draw the horizontal part of the steps: the second sets the number of steps.
+
|\
+---+ \ Axes:
|\ \ \ z
+---+ \ \ + |
|\ \ \ \| |
+---+ \ \ +---+ *-----y
\ \ \ \| \
O \ +---+ \
\ \| x
+---+ O is the position of the origin
The above diagram shows the orientation and initial position of the
stairs. You will normally want to translate the stairs in the -y,-z
direction after creating them. Note that due to the orientation, the first
view parameter will need to be between 90 and 270 for the viewpoint to be on
the right side of the stairs.
Like the sheet, the extent of the stairs is in fact infinite: solids
do not fall off the sides of the stairs, and the stairs continue above and
below those which are visible.
CREATING OBJECTS: SOLID OBJECTS
solid {
create {
type <object_type>
points <points_spec>
size <size_spec>
}
scale <xs>,<ys>,<zs>
nearbonds {
spring_const <lambda>
range <range_val>
}
<other commands>
}
The block to create a solid starts with a "create" block, like
backgrounds. The only difference here is the choice of objects you can
create: a sheet, a cuboid, a cube, a tube or a compound object. These will
be described individually later.
The scale command is optional: it lets you scale an object in the x,
y and z directions. This command is mainly present to allow you to change
the size of a compound object, which would otherwise be very tedious. I
would advise that you keep the x, y and z scalings similar, as objects which
have different point spacings in different directions tend to be unstable.
The scale command goes before nearbonds because otherwise would get
stretched: you may want to use this effect, but keep the scale factors close
to 1 to prevent explosions.
The "nearbonds" block is what makes the solid a solid (but see
"solid_damp -1" for another way). It needs to be put after the "create"
block, because it creates all the little springs which hold the points in
the object together. It is called "nearbonds" because it only bonds
together points which are fairly close. The number after "spring_const"
sets the stiffness of the springs, and "range" sets how near two points have
to be for a spring to connect them. For each object, the program works out
an average "nearest-neighbour" distance (call this D), and the "range" value
is in terms of D. Points with a separation of between D/2 and D are linked
with a spring of strength <lambda>, and points with a separation between D
and D*<range_val> are linked with a spring of strength which decreases
smoothly down to 0 for D*<range_val>. Points with a separation of less
than D/2 are not connected.
OTHER COMMANDS
There are two commands you can use to place the object where you
want it:
translate <x>,<y>,<z>
rotate <xr>,<yr>,<zr>
The translate command has been described above. The rotate command
rotates the object ABOUT THE ORIGIN. It rotates by <xr>, <yr> and <zr>
degrees about the x, y, and z axes respectively. You can have any number of
translate and rotate commands without fear of slowing down the program,
because the commands only affect the initial setting up. For example, if
you want to rotate by 15 degrees about the point (1in,1in,2in), around the x
axis, you could use:
translate -1in,-1in,-2in
rotate 15,0,0
translate 1in,1in,2in
and then translate the solid to where you want it.
There are some other commands which can go in a solid block, but
these should only be given once in each solid. They are:
velocity <xv>,<yv>,<zv>
spin <xr>,<yr>,<zr>
air_damp <damp_val>
solid_damp <damp_val>
damping <damp_val>
fix_vel <box_x>,<box_y>,<box_z>,<box_w>,<box_d>,<box_h>,
<xv>,<yv>,<zv>
pull <first>,<last>,<step>,<xv>,<yv>,<zv>
repel <repel_strength>
THE VELOCITY COMMAND
The "velocity" command just gives the object an initial velocity, by
setting the velocity of all the points to the amount specified. The
parameters are the velocity components in the x, y and z directions, which
can be given in various units as described earlier. NB: The velocity of an
object is not rotated when you rotate the object.
THE SPIN COMMAND
The "spin" command gives the object an angular velocity. The three
parameters are the components of angular velocity about the x, y and z axes.
The centre of the rotation is always the origin: make sure that the point
you want the object to spin around is at the origin when you use the "spin"
command. If you want to give an object both a spin and a linear velocity,
you must use the "velocity" command first, because "velocity" just sets the
velocities of the points, whereas "spin" adds to the velocities already
present.
THE AIR_DAMP COMMAND
"air_damp <damp_val>" is a command which simulates wind resistance
on objects, by slowing down points on the surface of objects. This replaces
the old command "damping" which affected all the points in an object, and
was also slightly direction-dependant. The parameter for this command is an
integer value: 4 is a good starting point. Increasing this value by 1
halves the amount of wind resistance, and decreasing it by 1 doubles it.
Values below 2 may cause the object to explode. The use of this command is
appropriate for:
a/ Sheet-type objects, which in real life are slowed a lot by air
pressure
b/ Objects which are picking up speed too fast: try running the
animation "FlopCube" with no air damping.
THE "SOLID_DAMP" COMMAND:
The damping routine in the previous version of FEMS used a simple
method whose effect was similar to having wind resistance on every element
in an object: the faster a point was moving, the more it was slowed down.
This gave a realistic effect for objects like cloths, whose behaviour is
strongly affected by air resistance, but it also rapidly slows the rotation
of a spinning ball, for example, and prevents freely-falling solids from
picking up much speed. The solid_damp command damps out wobbles without
these side-effects, and makes the object slightly less floppy in the
process. The parameter is the same as for air_damp, except...
If you use the command "solid_damp -1", the object will be made
completely solid ("frozen"). In this case any bonds in the object are not
used, and can be left out of the script. You may notice that the frozen
object will tend to stick into background objects: this is a consequence of
the background objects being modelled as "force fields" and the frozen
object being capable of applying much greater forces on them, where the
non-frozen object would have bent or squashed. You can still have air
damping on the same object, and there is nothing to stop you having a
mixture of frozen and normal objects in one simulation.
THE DAMPING COMMAND
The "damping" command takes the same type of parameter as the other
types of damping. This type of damping has drawbacks which are described
above, but the command has been left in for downwards compatibility.
THE FIX_VEL COMMAND
Often in an animation, you need to give part or all of an object a
fixed velocity or to hold it still. The "fix_vel" command lets you do this.
The first six parameters define a cuboid of space. Any points which are in
this cuboid at the time the "fix_vel" command is done are given a fixed
velocity, which can be zero. The first three parameters are the position of
the corner of the cuboid, and the next three are its extent in the x, y and
z directions. In other words, the cuboid goes from <box_x> to
<box_x>+<box_w> in the x direction, from <box_y> to <box_y>+<box_d> in the y
direction, and from <box_z> to <box_z>+<box_h> in the z direction. The last
three parameters are the velocity components in the three directions.
You can have any number of "fix_vel" commands in a create block, but
you can only have a maximum of 63 different velocities used by "fix_vel"
commands in an animation script.
THE PULL COMMAND
The "pull" command is rather low-level: it needs to refer to the
numbering of the points in an object. The first three parameters are like a
FOR-NEXT loop which defines a set of points, and these points are given a
fixed velocity given by the last three parameters. This command is only
present for downwards compatibility: you should now use "fix_vel" instead.
You can now have any number of "pull" commands for an object, but only 63
different pull velocities in a script.
THE REPEL COMMAND
The "repel" command causes solid objects to repel each other when
they get close. The parameter specifies the strength of the repulsion.
This command works by making the surface points of solids repel each other
when they get within a certain range. For two solids to interact, they must
both have a "repel" command in their create block.
The range of the repulsive force is set to be twice the spacing of
the points, so that the force is not too small in the gaps between the
points. The unfortunate side effect of this is that objects start repelling
each other before they meet. The only way round this is to reduce the
repulsion until the objects just touch before separating again, but the
value you need to make this happen will depend on how fast the objects are
moving, how heavy they are, etc. You can reduce the range by using more
points on the surfaces of the objects, but this means there are more points
which have to be compared with each other, which slows things down. A
compromise, which is used in the animation "repel.BallBlocks", is to have
one object with closely spaced points, and one with widely separated points.
The repulsion force range is twice the shorter point spacing, and the
number of comparisons is the product of (repulsive points on first object)
and (repulsive points on second object), so this gives the best of both
worlds.
The strength of the repulsive force used when two objects meet is
the product of the "repel" parameter given for the two objects.
As well as making the surface points repulsive, the program also
makes the "second layer in" points repulsive, with four times the repulsion
strength. This is why there is a pause during the reading of the script
when a "repel" command is found: the program is working out which points are
in the second layer. This is done so that objects will continue to repel
even if they pass into each other slightly.
THE CUBOID OBJECT
To create a cuboid, use the following parameters in the "create"
block:
type cuboid
size <x_size>,<y_size>,<z_size>
points <x_pts>,<y_pts>,<z_pts>
The meaning of the parameters is hopefully obvious. It is a good
idea to keep the separation of the points the same in all three directions,
ie. <size>/<pts> should be similar for x, y and z. The cuboid is created
initially with one corner at the origin, with the rest of the object in the
+x, +y, +z octant.
THE CUBE OBJECT
The setup for a cube is:
type cube
size <size>
points <pts>
This is basically the same as a cuboid, except the parameters for
the three directions are all set to be equal, and the cube is created
centred on the origin.
THE SOLID SPHERE OBJECT
type solid_sphere
size <radius>
points <pts>,<thick>
The "sphere" object just creates the outer shell of a sphere. The
"solid_sphere" object makes this more solid by adding concentric spheres of
points inside the original sphere. The <radius> and <pts> parameters are
the same as as for a sphere, and the <thick> parameter specifies how many
concentric spheres are made (including the outer one). If you specify more
than will fit, the program will put in as many as it can. The difference in
the radii of the concentric spheres is PI*<radius>/<pts>.
THE TUBE OBJECT
type tube
size <length>,<radius>,<thickness>
points <length_pts>,<circ_points>,<thick_points>
The <length> parameter sets the length of the tube. <Radius> sets
the distance from the axis of the tube to the centre of its walls, and
<thickness> sets the wall thickness.
The three points parameters set the number of points along the
length, around the circumference and across the wall respectively.
As I mentioned earlier, it is a good idea to keep the
"nearest-neighbour" distance fairly constant, so as a rough guide, try to
keep:
<length_pts> <circ_points> <thick_points>
------------ = ------------- = --------------
<length> 2*PI*<radius> <thickness>
and
<radius> > 2*<thickness>
These are only approximate rules, so feel free to try things out and
see what happens.
COMPOUND OBJECTS
Compound objects let you stick together any number of other solids
to create a more complex object. Here is an example of how a compound
object might look:
create {
type compound
part {
type cuboid
points 7,3,3
size 3in,1in,1in
offset 1in,0,0
}
part { type cuboid:points 3,3,11:size 1in,1in,5in }
part { type cuboid:points 3,7,3:size 1in,3in,1in:offset
0,1in,0 }
}
The first line in the "create" block is "type compound", then there
is a list of "part" blocks. Each of these is much like a "create" block (it
has type, size and points commands), but with the following differences:
1 You can add an "offset" command at the end
2 You cannot have a compound type object as a part!
The "offset" command is exactly equivalent to a "translate" command,
but only applies to the particular part whose block it is in.
In the example above, the first "part" block is written out with one
command per line, but the rest are contracted onto one line each by
replacing newlines with colons. Remember that the curly brackets must be
separated from the commands, else you will get an error. There is no limit
on the number of parts a compound object can have. Compound solids work by
letting you create several objects before you use the "nearbonds" command.
When you do use this command, it connects the parts together. This method
means that parts will not get connected if they are separated by more than
the range of the "nearbonds" command. You should also not let parts pass
through each other, as the resulting compound object is unstable.
GETTING SCREENSHOTS
There is no built-in facility for obtaining screenshots, but it is
simple to do this by adding a line to PROCframe_actions in the program.
This procedure is called after each frame has been drawn, with the frame
number passed in frame%. To save a picture of frame 30, add a line at the
beginning of PROCframe_actions which says:
IF frame%=30 THEN *ScreenSave FEMSpic30
You could also make the ScreenSave conditional on the Alt key being
held down, for example.
FACET OUTPUT
I have included in the program a facility to output the coordinates
of all the triangular "facets" which make up the surfaces of the objects.
You could use this data to create an input file for a ray tracer or other 3D
rendering program. As for screenshots, you just add a line to
PROCframe_actions like:
IF frame%=30 THEN PROCoutput_facets("$.Temp.facets30")
which will create a data file when the program reaches the 30th
frame. The data file consists of a list of numbers which can the read by a
INPUT#chan%,A%
type BASIC statement. You can read the file with a program which
looks something like this:
REPEAT
INPUT#chan%,A%
IF A%<>1 THEN ERROR 1,"Bad file"
INPUT#chan%,N%
FOR i%=1 TO N%
INPUT#chan%,X1%,Y1%,Z1%
INPUT#chan%,X2%,Y2%,Z2%
INPUT#chan%,X3%,Y3%,Z3%
REM do something with the data here
NEXT
UNTIL EOF#chan%
The coordinates of the three corners of each facet are given in
units of 1/640th of a point, in other words 1/&B400 of an inch.
Have fun!
00000000 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 |. |
00000010 20 46 45 4d 53 20 56 45 52 53 49 4f 4e 20 32 2e | FEMS VERSION 2.|
00000020 33 20 44 4f 43 55 4d 45 4e 54 41 54 49 4f 4e 20 |3 DOCUMENTATION |
00000030 46 49 4c 45 0a 20 20 20 20 20 20 20 20 20 20 20 |FILE. |
00000040 20 20 20 20 20 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d | ===========|
00000050 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d |================|
00000060 3d 3d 3d 3d 3d 3d 3d 3d 0a 0a 20 20 20 20 20 20 |========.. |
00000070 20 20 54 68 69 73 20 66 69 6c 65 20 64 65 73 63 | This file desc|
00000080 72 69 62 65 73 2c 20 69 6e 20 61 20 6d 6f 72 65 |ribes, in a more|
00000090 20 63 6f 6d 70 6c 65 74 65 20 77 61 79 20 74 68 | complete way th|
000000a0 61 6e 20 74 68 65 20 6d 61 67 61 7a 69 6e 65 0a |an the magazine.|
000000b0 61 72 74 69 63 6c 65 73 2c 20 74 68 65 20 73 79 |articles, the sy|
000000c0 6e 74 61 78 20 6f 66 20 73 63 72 69 70 74 20 66 |ntax of script f|
000000d0 69 6c 65 73 20 66 6f 72 20 46 45 4d 53 20 76 65 |iles for FEMS ve|
000000e0 72 73 69 6f 6e 20 32 2e 33 2c 20 61 73 20 73 75 |rsion 2.3, as su|
000000f0 70 70 6c 69 65 64 20 6f 6e 0a 74 68 65 20 63 6f |pplied on.the co|
00000100 76 65 72 20 64 69 73 6b 20 6f 66 20 74 68 65 20 |ver disk of the |
00000110 46 65 62 72 75 61 72 79 20 31 39 39 34 20 42 42 |February 1994 BB|
00000120 43 20 41 63 6f 72 6e 20 55 73 65 72 2e 20 20 49 |C Acorn User. I|
00000130 6e 20 74 68 65 20 69 6e 74 65 72 65 73 74 73 20 |n the interests |
00000140 6f 66 0a 63 6c 61 72 69 74 79 2c 20 73 6f 6d 65 |of.clarity, some|
00000150 20 70 61 72 74 73 20 6f 66 20 74 68 65 20 61 72 | parts of the ar|
00000160 74 69 63 6c 65 73 20 61 72 65 20 61 6c 73 6f 20 |ticles are also |
00000170 69 6e 63 6c 75 64 65 64 20 69 6e 20 74 68 69 73 |included in this|
00000180 20 66 69 6c 65 2e 0a 0a 20 20 20 20 20 20 20 20 | file... |
00000190 46 6f 72 20 61 20 73 75 6d 6d 61 72 79 20 6f 66 |For a summary of|
000001a0 20 74 68 65 20 64 69 66 66 65 72 65 6e 63 65 73 | the differences|
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