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Pre merge commit (includes commented moving stuff)

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This commit is contained in:
Daniel Genrich
2008-05-14 16:09:56 +00:00
parent 83c2acccfb
commit 4d8b5587b8
4 changed files with 251 additions and 104 deletions
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40
source/blender/blenkernel/intern/cloth.c
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@@ -47,6 +47,8 @@
#include "BLI_kdopbvh.h"
#include <time.h>
#ifdef _WIN32
void tstart ( void )
{}
@@ -78,6 +80,40 @@ double tval()
}
#endif
/* Util macros */
#define TO_STR(a) #a
#define JOIN(a,b) a##b
/* Benchmark macros */
#if 1
#define BENCH(a) \
do { \
clock_t _clock_init = clock(); \
(a); \
printf("%s: %fms\n", #a, (float)(clock()-_clock_init)*1000/CLOCKS_PER_SEC); \
} while(0)
#define BENCH_VAR(name) clock_t JOIN(_bench_step,name) = 0, JOIN(_bench_total,name) = 0
#define BENCH_BEGIN(name) JOIN(_bench_step, name) = clock()
#define BENCH_END(name) JOIN(_bench_total,name) += clock() - JOIN(_bench_step,name)
#define BENCH_RESET(name) JOIN(_bench_total, name) = 0
#define BENCH_REPORT(name) printf("%s: %fms\n", TO_STR(name), JOIN(_bench_total,name)*1000.0f/CLOCKS_PER_SEC)
#else
#define BENCH(a) (a)
#define BENCH_VAR(name)
#define BENCH_BEGIN(name)
#define BENCH_END(name)
#define BENCH_RESET(name)
#define BENCH_REPORT(name)
#endif
/* Our available solvers. */
// 255 is the magic reserved number, so NEVER try to put 255 solvers in here!
// 254 = MAX!
@@ -178,7 +214,7 @@ BVHTree *bvhtree_build_from_cloth (ClothModifierData *clmd, float epsilon)
return NULL;
// create quadtree with k=26
bvhtree = BLI_bvhtree_new(cloth->numfaces, epsilon, 4, 26);
bvhtree = BLI_bvhtree_new(cloth->numfaces, epsilon, 8, 6);
// fill tree
for(i = 0; i < cloth->numfaces; i++, mfaces++)
@@ -866,7 +902,7 @@ static int cloth_from_object(Object *ob, ClothModifierData *clmd, DerivedMesh *d
if(!first)
implicit_set_positions(clmd);
clmd->clothObject->bvhtree = bvhtree_build_from_cloth ( clmd, clmd->coll_parms->epsilon );
BENCH(clmd->clothObject->bvhtree = bvhtree_build_from_cloth ( clmd, clmd->coll_parms->epsilon ));
return 1;
}

276
source/blender/blenkernel/intern/collision.c
View File

@@ -608,22 +608,9 @@ int cloth_collision_response_static ( ClothModifierData *clmd, CollisionModifier
result = 1;
}
}
return result;
}
int cloth_collision_response_moving_tris ( ClothModifierData *clmd, ClothModifierData *coll_clmd )
{
return 1;
}
int cloth_collision_response_moving_edges ( ClothModifierData *clmd, ClothModifierData *coll_clmd )
{
return 1;
}
//Determines collisions on overlap, collisions are writen to collpair[i] and collision+number_collision_found is returned
CollPair* cloth_collision ( ModifierData *md1, ModifierData *md2, BVHTreeOverlap *overlap, CollPair *collpair )
{
@@ -743,25 +730,148 @@ int cloth_are_edges_adjacent ( ClothModifierData *clmd, CollisionModifierData *c
cloth1 = clmd->clothObject;
verts1 = cloth1->verts;
VECSUB ( temp, verts1[edgecollpair->p11].xold, verts2[edgecollpair->p21].co );
VECSUB ( temp, verts1[edgecollpair->p11].txold, verts2[edgecollpair->p21].co );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
VECSUB ( temp, verts1[edgecollpair->p11].xold, verts2[edgecollpair->p22].co );
VECSUB ( temp, verts1[edgecollpair->p11].txold, verts2[edgecollpair->p22].co );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
VECSUB ( temp, verts1[edgecollpair->p12].xold, verts2[edgecollpair->p21].co );
VECSUB ( temp, verts1[edgecollpair->p12].txold, verts2[edgecollpair->p21].co );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
VECSUB ( temp, verts1[edgecollpair->p12].xold, verts2[edgecollpair->p22].co );
VECSUB ( temp, verts1[edgecollpair->p12].txold, verts2[edgecollpair->p22].co );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
VECSUB ( temp, verts1[edgecollpair->p11].txold, verts1[edgecollpair->p12].txold );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
VECSUB ( temp, verts2[edgecollpair->p21].co, verts2[edgecollpair->p22].co );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
return 0;
}
int cloth_collision_response_moving( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
{
int result = 0;
Cloth *cloth1;
float w1, w2, w3, u1, u2, u3;
float v1[3], v2[3], relativeVelocity[3];
float magrelVel;
float epsilon2 = BLI_bvhtree_getepsilon ( collmd->bvhtree );
cloth1 = clmd->clothObject;
for ( ; collpair != collision_end; collpair++ )
{
// only handle static collisions here
if ( collpair->flag & COLLISION_IN_FUTURE )
continue;
// compute barycentric coordinates for both collision points
collision_compute_barycentric ( collpair->pa,
cloth1->verts[collpair->ap1].txold,
cloth1->verts[collpair->ap2].txold,
cloth1->verts[collpair->ap3].txold,
&w1, &w2, &w3 );
// was: txold
collision_compute_barycentric ( collpair->pb,
collmd->current_x[collpair->bp1].co,
collmd->current_x[collpair->bp2].co,
collmd->current_x[collpair->bp3].co,
&u1, &u2, &u3 );
// Calculate relative "velocity".
collision_interpolateOnTriangle ( v1, cloth1->verts[collpair->ap1].tv, cloth1->verts[collpair->ap2].tv, cloth1->verts[collpair->ap3].tv, w1, w2, w3 );
collision_interpolateOnTriangle ( v2, collmd->current_v[collpair->bp1].co, collmd->current_v[collpair->bp2].co, collmd->current_v[collpair->bp3].co, u1, u2, u3 );
VECSUB ( relativeVelocity, v2, v1 );
// Calculate the normal component of the relative velocity (actually only the magnitude - the direction is stored in 'normal').
magrelVel = INPR ( relativeVelocity, collpair->normal );
// printf("magrelVel: %f\n", magrelVel);
// Calculate masses of points.
// TODO
// If v_n_mag < 0 the edges are approaching each other.
if ( magrelVel > ALMOST_ZERO )
{
// Calculate Impulse magnitude to stop all motion in normal direction.
float magtangent = 0, repulse = 0, d = 0;
double impulse = 0.0;
float vrel_t_pre[3];
float temp[3];
// calculate tangential velocity
VECCOPY ( temp, collpair->normal );
VecMulf ( temp, magrelVel );
VECSUB ( vrel_t_pre, relativeVelocity, temp );
// Decrease in magnitude of relative tangential velocity due to coulomb friction
// in original formula "magrelVel" should be the "change of relative velocity in normal direction"
magtangent = MIN2 ( clmd->coll_parms->friction * 0.01 * magrelVel,sqrt ( INPR ( vrel_t_pre,vrel_t_pre ) ) );
// Apply friction impulse.
if ( magtangent > ALMOST_ZERO )
{
Normalize ( vrel_t_pre );
impulse = 2.0 * magtangent / ( 1.0 + w1*w1 + w2*w2 + w3*w3 );
VECADDMUL ( cloth1->verts[collpair->ap1].impulse, vrel_t_pre, w1 * impulse );
VECADDMUL ( cloth1->verts[collpair->ap2].impulse, vrel_t_pre, w2 * impulse );
VECADDMUL ( cloth1->verts[collpair->ap3].impulse, vrel_t_pre, w3 * impulse );
}
// Apply velocity stopping impulse
// I_c = m * v_N / 2.0
// no 2.0 * magrelVel normally, but looks nicer DG
impulse = magrelVel / ( 1.0 + w1*w1 + w2*w2 + w3*w3 );
VECADDMUL ( cloth1->verts[collpair->ap1].impulse, collpair->normal, w1 * impulse );
cloth1->verts[collpair->ap1].impulse_count++;
VECADDMUL ( cloth1->verts[collpair->ap2].impulse, collpair->normal, w2 * impulse );
cloth1->verts[collpair->ap2].impulse_count++;
VECADDMUL ( cloth1->verts[collpair->ap3].impulse, collpair->normal, w3 * impulse );
cloth1->verts[collpair->ap3].impulse_count++;
// Apply repulse impulse if distance too short
// I_r = -min(dt*kd, m(0,1d/dt - v_n))
/*
d = clmd->coll_parms->epsilon*8.0/9.0 + epsilon2*8.0/9.0 - collpair->distance;
if ( ( magrelVel < 0.1*d*clmd->sim_parms->stepsPerFrame ) && ( d > ALMOST_ZERO ) )
{
repulse = MIN2 ( d*1.0/clmd->sim_parms->stepsPerFrame, 0.1*d*clmd->sim_parms->stepsPerFrame - magrelVel );
// stay on the safe side and clamp repulse
if ( impulse > ALMOST_ZERO )
repulse = MIN2 ( repulse, 5.0*impulse );
repulse = MAX2 ( impulse, repulse );
impulse = repulse / ( 1.0 + w1*w1 + w2*w2 + w3*w3 ); // original 2.0 / 0.25
VECADDMUL ( cloth1->verts[collpair->ap1].impulse, collpair->normal, impulse );
VECADDMUL ( cloth1->verts[collpair->ap2].impulse, collpair->normal, impulse );
VECADDMUL ( cloth1->verts[collpair->ap3].impulse, collpair->normal, impulse );
}
*/
result = 1;
}
}
return result;
}
int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair )
{
EdgeCollPair edgecollpair;
@@ -781,53 +891,6 @@ int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierDat
cloth1 = clmd->clothObject;
verts1 = cloth1->verts;
/*
double p[4][3] = {{0,0,0},{0,2,0},{1,1,-1},{1,1,1}};
double v[4][3] = {{0,0,0},{1,0,0},{-2,0,0},{-2,0,0}};
double pp[2][3] = {{-1,-1,-1}, {2,2,2}};
VECSUB ( x1, p[1], p[0] );
VECSUB ( v1, v[1], v[0] );
VECSUB ( x2, p[2], p[0] );
VECSUB ( v2, v[2], v[0] );
VECSUB ( x3, p[3], p[0] );
VECSUB ( v3, v[3], v[0] );
printf("x1 x: %f, y: %f, z: %f\n", x1[0], x1[1], x1[2]);
printf("x2 x: %f, y: %f, z: %f\n", x2[0], x2[1], x2[2]);
printf("x3 x: %f, y: %f, z: %f\n", x3[0], x3[1], x3[2]);
printf("v1 x: %f, y: %f, z: %f\n", v1[0], v1[1], v1[2]);
printf("v2 x: %f, y: %f, z: %f\n", v2[0], v2[1], v2[2]);
printf("v3 x: %f, y: %f, z: %f\n", v3[0], v3[1], v3[2]);
numsolutions = cloth_get_collision_time ( x1, v1, x2, v2, x3, v3, solution );
for ( k = 0; k < numsolutions; k++ )
printf("mintime: %f\n", solution[k]);
mintime = solution[0];
// move triangles to collision point in time
VECADDS(triA[0], pp[0], v[0], solution[0]);
VECADDS(triA[1], p[0], v[0], solution[0]);
VECADDS(triA[2], p[1], v[1], solution[0]);
VECADDS(triB[0], pp[1], v[0], solution[0]);
VECADDS(triB[1], p[2], v[2], solution[0]);
VECADDS(triB[2], p[3], v[3], solution[0]);
// check distance there
distance = plNearestPoints (triA[0], triA[1], triA[2], triB[0], triB[1], triB[2], collpair->pa,collpair->pb,collpair->vector );
printf("mintime: %f, dist: %f\n", mintime, distance);
exit(0);
*/
for(i = 0; i < 9; i++)
{
// 9 edge - edge possibilities
@@ -916,19 +979,12 @@ int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierDat
VECSUB ( x3, verts2[edgecollpair.p22].co, verts1[edgecollpair.p11].txold );
VECSUB ( v3, velocity2[edgecollpair.p22].co, verts1[edgecollpair.p11].tv );
/*
printf("A x: %f, y: %f, z: %f\n", a[0], a[1], a[2]);
printf("B x: %f, y: %f, z: %f\n", b[0], b[1], b[2]);
printf("C x: %f, y: %f, z: %f\n", c[0], c[1], c[2]);
printf("D x: %f, y: %f, z: %f\n", d[0], d[1], d[2]);
printf("E x: %f, y: %f, z: %f\n", e[0], e[1], e[2]);
printf("F x: %f, y: %f, z: %f\n", f[0], f[1], f[2]);
exit(0);
*/
numsolutions = cloth_get_collision_time ( x1, v1, x2, v2, x3, v3, solution );
for ( k = 0; k < numsolutions; k++ )
{
// printf("sol %d: %lf\n", k, solution[k]);
if ( ( solution[k] >= DBL_EPSILON ) && ( solution[k] <= 1.0 ) )
{
//float out_collisionTime = solution[k];
@@ -939,8 +995,6 @@ int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierDat
mintime = MIN2(mintime, (float)solution[k]);
// printf("mt: %f, %lf, %f\n", mintime, solution[k], (float)solution[k]);
result = 1;
break;
}
@@ -962,12 +1016,25 @@ int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierDat
// check distance there
distance = plNearestPoints (triA[0], triA[1], triA[2], triB[0], triB[1], triB[2], collpair->pa,collpair->pb,collpair->vector );
printf("mintime: %f, dist: %f\n", mintime, distance);
if(distance <= (clmd->coll_parms->epsilon + BLI_bvhtree_getepsilon ( collmd->bvhtree ) + ALMOST_ZERO))
{
CollPair *next = collpair;
next++;
collpair->distance = clmd->coll_parms->epsilon;
collpair->time = mintime;
VECCOPY ( collpair->normal, collpair->vector );
Normalize ( collpair->normal );
cloth_collision_response_moving ( clmd, collmd, collpair, next );
}
}
return result;
}
/*
void cloth_collision_moving_tris ( ClothModifierData *clmd, ClothModifierData *coll_clmd, CollisionTree *tree1, CollisionTree *tree2 )
{
CollPair collpair;
@@ -1060,16 +1127,6 @@ void cloth_collision_moving_tris ( ClothModifierData *clmd, ClothModifierData *c
}
}
}
/*
void cloth_collision_moving ( ClothModifierData *clmd, ClothModifierData *coll_clmd, CollisionTree *tree1, CollisionTree *tree2 )
{
// TODO: check for adjacent
cloth_collision_moving_edges ( clmd, coll_clmd, tree1, tree2 );
cloth_collision_moving_tris ( clmd, coll_clmd, tree1, tree2 );
cloth_collision_moving_tris ( coll_clmd, clmd, tree2, tree1 );
}
*/
int cloth_collision_moving ( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
@@ -1150,24 +1207,43 @@ int cloth_bvh_objcollisions_do ( ClothModifierData * clmd, CollisionModifierData
if ( collmd->bvhtree )
{
result += cloth_collision_response_static ( clmd, collmd, collisions, collisions_index );
result += cloth_collision_moving ( clmd, collmd, collisions, collisions_index );
}
// apply impulses in parallel
if ( result )
{
for ( i = 0; i < numverts; i++ )
// apply impulses in parallel
if ( result )
{
// calculate "velocities" (just xnew = xold + v; no dt in v)
if ( verts[i].impulse_count )
for ( i = 0; i < numverts; i++ )
{
VECADDMUL ( verts[i].tv, verts[i].impulse, 1.0f / verts[i].impulse_count );
VECCOPY ( verts[i].impulse, tnull );
verts[i].impulse_count = 0;
ret++;
// calculate "velocities" (just xnew = xold + v; no dt in v)
if ( verts[i].impulse_count )
{
VECADDMUL ( verts[i].tv, verts[i].impulse, 1.0f / verts[i].impulse_count );
VECCOPY ( verts[i].impulse, tnull );
verts[i].impulse_count = 0;
ret++;
}
}
}
/*
result += cloth_collision_moving ( clmd, collmd, collisions, collisions_index );
// apply impulses in parallel
if ( result )
{
for ( i = 0; i < numverts; i++ )
{
// calculate "velocities" (just xnew = xold + v; no dt in v)
if ( verts[i].impulse_count )
{
VECADDMUL ( verts[i].tv, verts[i].impulse, 1.0f / verts[i].impulse_count );
VECCOPY ( verts[i].impulse, tnull );
verts[i].impulse_count = 0;
ret++;
}
}
}
*/
}
}
@@ -1207,7 +1283,7 @@ int cloth_bvh_objcollision ( ClothModifierData * clmd, float step, float dt )
////////////////////////////////////////////////////////////
// update cloth bvh
bvhtree_update_from_cloth ( clmd, 0 ); // 0 means STATIC, 1 means MOVING (see later in this function)
bvhtree_update_from_cloth ( clmd, 1 ); // 0 means STATIC, 1 means MOVING (see later in this function)
do
{

2
source/blender/blenkernel/intern/modifier.c
View File

@@ -5417,7 +5417,7 @@ static void collisionModifier_deformVerts(
else
{
// recalc static bounding boxes
bvhtree_update_from_mvert ( collmd->bvhtree, collmd->mfaces, collmd->numfaces, collmd->current_x, NULL, collmd->numverts, 0 );
bvhtree_update_from_mvert ( collmd->bvhtree, collmd->mfaces, collmd->numfaces, collmd->current_x, collmd->current_xnew, collmd->numverts, 1 );
}
collmd->time = current_time;

37
source/blender/blenlib/intern/BLI_kdopbvh.c
View File

@@ -46,6 +46,41 @@
#include <omp.h>
#endif
#include <time.h>
/* Util macros */
#define TO_STR(a) #a
#define JOIN(a,b) a##b
/* Benchmark macros */
#if 1
#define BENCH(a) \
do { \
clock_t _clock_init = clock(); \
(a); \
printf("%s: %fms\n", #a, (float)(clock()-_clock_init)*1000/CLOCKS_PER_SEC); \
} while(0)
#define BENCH_VAR(name) clock_t JOIN(_bench_step,name) = 0, JOIN(_bench_total,name) = 0
#define BENCH_BEGIN(name) JOIN(_bench_step, name) = clock()
#define BENCH_END(name) JOIN(_bench_total,name) += clock() - JOIN(_bench_step,name)
#define BENCH_RESET(name) JOIN(_bench_total, name) = 0
#define BENCH_REPORT(name) printf("%s: %fms\n", TO_STR(name), JOIN(_bench_total,name)*1000.0f/CLOCKS_PER_SEC)
#else
#define BENCH(a) (a)
#define BENCH_VAR(name)
#define BENCH_BEGIN(name)
#define BENCH_END(name)
#define BENCH_RESET(name)
#define BENCH_REPORT(name)
#endif
typedef struct BVHNode
{
struct BVHNode *children[8]; // max 8 children
@@ -61,7 +96,7 @@ struct BVHTree
{
BVHNode **nodes;
BVHNode *nodearray; /* pre-alloc branch nodes */
float epsilon; /* epslion is used for inflation of the k-dop */
float epsilon; /* epsilon is used for inflation of the k-dop */
int totleaf; // leafs
int totbranch;
char tree_type; // type of tree (4 => quadtree)