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In the middle of switching to own collision detection, WIP commit (don't expect anything to work, but compile)

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Daniel Genrich
2007-09-23 17:40:44 +00:00
parent 5b9140a209
commit b4fb141ea5
3 changed files with 323 additions and 34 deletions
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4
source/blender/blenkernel/BKE_cloth.h
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@@ -60,7 +60,7 @@ struct DerivedMesh;
/* This is approximately the smallest number that can be
* represented by a float, given its precision. */
#define ALMOST_ZERO 0.00001
#define ALMOST_ZERO 0.000001
/* Bits to or into the ClothVertex.flags. */
#define CVERT_FLAG_PINNED 1
@@ -240,7 +240,7 @@ typedef struct CollPair
float p1[3], p2[3]; // collision point p1 on face1, p2 on face2
int lastsign; // indicates if the distance sign has changed, unused itm
float time; // collision time, from 0 up to 1
int quadA, quadB; // indicates the used triangle of the quad: 0 means verts 1,2,3; 1 means verts 4,1,3
unsigned int Aindex1, Aindex2, Aindex3, Aindex4, Bindex1, Bindex2, Bindex3, Bindex4;
} CollPair;

2
source/blender/blenkernel/intern/cloth.c
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@@ -153,7 +153,7 @@ void cloth_init (ClothModifierData *clmd)
clmd->sim_parms.mass = 1.0f;
clmd->sim_parms.stepsPerFrame = 5;
clmd->sim_parms.sim_time = 1.0;
clmd->sim_parms.flags = CSIMSETT_FLAG_RESET | CSIMSETT_FLAG_CCACHE_PROTECT;
clmd->sim_parms.flags = CSIMSETT_FLAG_RESET;
clmd->sim_parms.solver_type = 0;
clmd->sim_parms.preroll = 0;
clmd->sim_parms.maxspringlen = 10;

351
source/blender/blenkernel/intern/collision.c
View File

@@ -211,14 +211,8 @@ void bvh_compute_barycentric (float pv[3], float p1[3], float p2[3], float p3[3]
w1[0] = (e * c - b * f) / d;
if(w1[0] < 0)
w1[0] = 0.0;
w2[0] = (f - b * w1[0]) / c;
if(w2[0] < 0)
w2[0] = 0.0;
w3[0] = 1.0f - w1[0] - w2[0];
}
@@ -241,7 +235,7 @@ DO_INLINE void calculateFrictionImpulse(float to[3], float vrel[3], float normal
VecMulf(to, MAX2(1.0f - frictionConstant * delta_V_n / INPR(vrel_t_pre,vrel_t_pre), 0.0f));
}
/*
int collision_static(ClothModifierData *clmd, ClothModifierData *coll_clmd, LinkNode **collision_list)
{
unsigned int i = 0, numfaces = 0;
@@ -343,12 +337,12 @@ int collision_static(ClothModifierData *clmd, ClothModifierData *coll_clmd, Link
// printf("friction applied: %f\n", magtangent);
// TODO check original code
/*
VECSUB(cloth1->verts[face1->v1].tv, cloth1->verts[face1->v1].tv,tangential);
VECSUB(cloth1->verts[face1->v1].tv, cloth1->verts[face1->v2].tv,tangential);
VECSUB(cloth1->verts[face1->v1].tv, cloth1->verts[face1->v3].tv,tangential);
VECSUB(cloth1->verts[face1->v1].tv, cloth1->verts[face1->v4].tv,tangential);
*/
}
impulse = -magrelVel / ( 1.0 + w1*w1 + w2*w2 + w3*w3);
@@ -397,7 +391,7 @@ int collision_static(ClothModifierData *clmd, ClothModifierData *coll_clmd, Link
// Apply the impulse and increase impulse counters.
/*
/
// calculateFrictionImpulse(tangential, collvel, collpair->normal, magtangent, clmd->coll_parms.friction*0.01, magtangent);
VECSUBS(vrel_t_pre, collvel, collpair->normal, magnormal);
// VecMulf(vrel_t_pre, clmd->coll_parms.friction*0.01f/INPR(vrel_t_pre,vrel_t_pre));
@@ -405,7 +399,7 @@ int collision_static(ClothModifierData *clmd, ClothModifierData *coll_clmd, Link
VecMulf(vrel_t_pre, MIN2(clmd->coll_parms.friction*0.01f*magnormal,magtangent));
VECSUB(cloth1->verts[face1->v1].tv, cloth1->verts[face1->v1].tv,vrel_t_pre);
*/
@@ -417,7 +411,8 @@ int collision_static(ClothModifierData *clmd, ClothModifierData *coll_clmd, Link
return result;
}
*/
// return distance between two triangles using bullet engine
double implicit_tri_check_coherence (ClothModifierData *clmd, ClothModifierData *coll_clmd, unsigned int tri_index1, unsigned int tri_index2, float pa[3], float pb[3], float normal[3], int quadA, int quadB)
{
@@ -540,37 +535,331 @@ double implicit_tri_check_coherence (ClothModifierData *clmd, ClothModifierData
return distance;
}
// calculate plane normal
void calcPlaneNormal(float normal[3], float p11[3], float p12[3], float p13[3])
{
float temp1[3], temp2[3];
float tnormal[3];
VECSUB(temp1, p12,p11);
VECSUB(temp2, p13,p11);
Crossf(normal, temp1, temp2);
Normalize(normal);
// VECCOPY(normal, tnormal);
}
float distance_triangle_point( float p11[3], float p12[3], float p13[3], float p21[3], float normal[3])
{
float temp[3];
float magnitude = 0;
VECSUB(temp, p21, p13);
magnitude = INPR(temp, normal);
if(magnitude < 0)
{
magnitude *= -1.0f;
// VecMulf(normal, -1.0f);
}
return magnitude;
}
float nearest_point_triangle_triangle(float p11[3], float p12[3], float p13[3], float p21[3], float p22[3], float p23[3], float normal[3])
{
float distance = 0, tdistance = 0, tnormal[3];
// first triangle 1-2-3 versus second triangle 1-2-3
calcPlaneNormal(normal, p11, p12, p13);
distance = distance_triangle_point(p11, p12, p13, p21, normal);
tdistance = distance_triangle_point(p11, p12, p13, p22, normal);
if(tdistance < distance)
{
distance = tdistance;
}
tdistance = distance_triangle_point(p11, p12, p13, p23, normal);
if(tdistance < distance)
{
distance = tdistance;
}
// second triangle 1-2-3 versus first triangle 1-2-3
calcPlaneNormal(tnormal, p21, p22, p23);
tdistance = distance_triangle_point(p21, p22, p23, p11, tnormal);
if(tdistance < distance)
{
distance = tdistance;
VECCOPY(normal, tnormal);
}
tdistance = distance_triangle_point(p21, p22, p23, p12, tnormal);
if(tdistance < distance)
{
distance = tdistance;
VECCOPY(normal, tnormal);
}
tdistance = distance_triangle_point(p21, p22, p23, p13, tnormal);
if(tdistance < distance)
{
distance = tdistance;
VECCOPY(normal, tnormal);
}
if (distance < 0) {
VecMulf(normal, -1.0f);
distance = -distance;
}
return distance;
}
int collision_static2(ClothModifierData *clmd, ClothModifierData *coll_clmd, LinkNode **collision_list)
{
unsigned int i = 0, numfaces = 0;
int result = 0;
LinkNode *search = NULL;
CollPair *collpair = NULL;
Cloth *cloth1, *cloth2;
MFace *face1, *face2;
double w1, w2, w3, u1, u2, u3, a1, a2, a3;
float v1[3], v2[3], relativeVelocity[3];
float magrelVel;
cloth1 = clmd->clothObject;
cloth2 = coll_clmd->clothObject;
numfaces = clmd->clothObject->numfaces;
for(i = 0; i < numfaces; i++)
{
search = collision_list[i];
while(search)
{
collpair = search->link;
face1 = &(cloth1->mfaces[collpair->face1]);
face2 = &(cloth2->mfaces[collpair->face2]);
// compute barycentric coordinates for both collision points
bvh_compute_barycentric(collpair->p1,
cloth1->verts[collpair->Aindex1].txold,
cloth1->verts[collpair->Aindex2].txold,
cloth1->verts[collpair->Aindex3].txold,
&w1, &w2, &w3);
bvh_compute_barycentric(collpair->p2,
cloth2->verts[collpair->Bindex1].txold,
cloth2->verts[collpair->Bindex1].txold,
cloth2->verts[collpair->Bindex3].txold,
&u1, &u2, &u3);
// Calculate relative "velocity".
interpolateOnTriangle(v1, cloth1->verts[collpair->Aindex1].tv, cloth1->verts[collpair->Aindex2].tv, cloth1->verts[collpair->Aindex3].tv, w1, w2, w3);
interpolateOnTriangle(v2, cloth2->verts[collpair->Bindex1].tv, cloth2->verts[collpair->Bindex2].tv, cloth2->verts[collpair->Bindex3].tv, u1, u2, u3);
VECSUB(relativeVelocity, v1, v2);
// Calculate the normal component of the relative velocity (actually only the magnitude - the direction is stored in 'normal').
magrelVel = INPR(relativeVelocity, collpair->normal);
// Calculate masses of points.
// 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.
// const double I_mag = v_n_mag / (1/m1 + 1/m2);
float magnitude_i = magrelVel / 2.0f; // TODO implement masses
float tangential[3], magtangent, magnormal, collvel[3];
float vrel_t_pre[3];
float vrel_t[3];
double impulse;
float epsilon = clmd->coll_parms.epsilon;
float overlap = (epsilon + ALMOST_ZERO-collpair->distance);
/*
impulse = -magrelVel / ( 1.0 + w1*w1 + w2*w2 + w3*w3);
VECADDMUL(cloth1->verts[face1->v1].impulse, collpair->normal, impulse);
cloth1->verts[face1->v1].impulse_count++;
VECADDMUL(cloth1->verts[face1->v2].impulse, collpair->normal, impulse);
cloth1->verts[face1->v2].impulse_count++;
VECADDMUL(cloth1->verts[face1->v3].impulse, collpair->normal, impulse);
cloth1->verts[face1->v3].impulse_count++;
*/
/*
if (overlap > ALMOST_ZERO) {
double I_mag = overlap * 0.1;
impulse = I_mag / ( 1.0 + w1*w1 + w2*w2 + w3*w3);
VECADDMUL(cloth1->verts[face1->v1].impulse, collpair->normal, impulse);
cloth1->verts[face1->v1].impulse_count++;
VECADDMUL(cloth1->verts[face1->v2].impulse, collpair->normal, impulse);
cloth1->verts[face1->v2].impulse_count++;
VECADDMUL(cloth1->verts[face1->v3].impulse, collpair->normal, impulse);
cloth1->verts[face1->v3].impulse_count++;
if(face1->v4)
{
VECADDMUL(cloth1->verts[face1->v4].impulse, collpair->normal, impulse);
cloth1->verts[face1->v4].impulse_count++;
}
}
*/
result = 1;
}
search = search->next;
}
}
return result;
}
void bvh_collision_response(ClothModifierData *clmd, ClothModifierData *coll_clmd, Tree * tree1, Tree * tree2)
{
CollPair *collpair = NULL;
LinkNode **linknode;
double distance = 0;
float epsilon = clmd->coll_parms.epsilon;
collpair = (CollPair *)MEM_callocN(sizeof(CollPair), "cloth coll pair");
float epsilon = clmd->coll_parms.epsilon, tdistance=0;
MFace *face1, *face2;
ClothVertex *verts1, *verts2;
Cloth *cloth1=NULL, *cloth2=NULL;
int i = 0;
linknode = clmd->coll_parms.temp;
cloth1 = clmd->clothObject;
cloth2 = coll_clmd->clothObject;
// calc SIPcode (?)
// calc distance + normal
distance = implicit_tri_check_coherence(clmd, coll_clmd, tree1->tri_index, tree2->tri_index, collpair->p1, collpair->p2, collpair->vector, collpair->quadA, collpair->quadB);
if ((distance <= (epsilon + ALMOST_ZERO)) && (distance > -1.0f)) // max overlap = 1.0
for(i = 0; i < 4; i++)
{
// printf("dist: %f\n", (float)distance);
collpair = (CollPair *)MEM_callocN(sizeof(CollPair), "cloth coll pair");
collpair->face1 = tree1->tri_index;
collpair->face2 = tree2->tri_index;
face1 = &(cloth1->mfaces[tree1->tri_index]);
face2 = &(cloth2->mfaces[tree2->tri_index]);
verts1 = cloth1->verts;
verts2 = cloth2->verts;
VECCOPY(collpair->normal, collpair->vector);
Normalize(collpair->normal);
if(i == 0)
{
collpair->Aindex1 = face1->v1;
collpair->Aindex2 = face1->v2;
collpair->Aindex3 = face1->v3;
collpair->Aindex4 = face1->v4;
collpair->Bindex1 = face2->v1;
collpair->Bindex2 = face2->v2;
collpair->Bindex3 = face2->v3;
collpair->Bindex4 = face2->v4;
}
collpair->distance = distance;
BLI_linklist_append(&linknode[tree1->tri_index], collpair);
}
else
{
MEM_freeN(collpair);
if(i == 1)
{
if(face2->v4)
{
collpair->Aindex1 = face1->v1;
collpair->Aindex2 = face1->v2;
collpair->Aindex3 = face1->v3;
collpair->Aindex4 = face1->v4;
collpair->Bindex1 = face2->v4;
collpair->Bindex2 = face2->v3;
collpair->Bindex3 = face2->v1;
collpair->Bindex4 = face2->v1;
}
else
i++;
}
if(i == 2)
{
if(face1->v4)
{
collpair->Aindex1 = face1->v4;
collpair->Aindex2 = face1->v3;
collpair->Aindex3 = face1->v1;
collpair->Aindex4 = face1->v2;
collpair->Bindex1 = face2->v1;
collpair->Bindex2 = face2->v2;
collpair->Bindex3 = face2->v3;
collpair->Bindex4 = face2->v4;
}
else
i++;
}
if(i == 3)
{
if((face2->v4) && (face1->v4))
{
collpair->Aindex1 = face1->v4;
collpair->Aindex2 = face1->v3;
collpair->Aindex3 = face1->v1;
collpair->Aindex4 = face1->v2;
collpair->Bindex1 = face2->v4;
collpair->Bindex2 = face2->v3;
collpair->Bindex3 = face2->v1;
collpair->Bindex4 = face2->v2;
}
else
i++;
}
if(i < 4)
{
distance = nearest_point_triangle_triangle(verts1[collpair->Aindex1].txold, verts1[collpair->Aindex2].txold, verts1[collpair->Aindex3].txold, verts2[collpair->Bindex1].txold, verts2[collpair->Bindex2].txold, verts2[collpair->Bindex3].txold, collpair->normal);
// calc distance + normal
// distance = implicit_tri_check_coherence(clmd, coll_clmd, tree1->tri_index, tree2->tri_index, collpair->p1, collpair->p2, collpair->vector, collpair->quadA, collpair->quadB);
if (distance <= (epsilon + ALMOST_ZERO)) // max overlap = 1.0
{
printf("dist: %f, tdist: %f\n", (float)distance, tdistance);
collpair->face1 = tree1->tri_index;
collpair->face2 = tree2->tri_index;
collpair->distance = distance;
BLI_linklist_append(&linknode[tree1->tri_index], collpair);
}
else
{
MEM_freeN(collpair);
}
}
}
}
@@ -684,7 +973,7 @@ int cloth_bvh_objcollision(ClothModifierData * clmd, float step, CM_COLLISION_RE
bvh_traverse(clmd, coll_clmd, cloth_bvh->root, coll_bvh->root, step, collision_response);
result += collision_static(clmd, coll_clmd, collision_list);
result += collision_static2(clmd, coll_clmd, collision_list);
// calculate velocities