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Cloth collisions:

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Add repulse for near vertices. This code didn't make sense where it was before. Still leaving it also at the old place since it cannot hurt.
This commit is contained in:
Daniel Genrich
2012-05-15 13:46:50 +00:00
parent 9a8f98ddd8
commit 756bf3d052
1 changed files with 46 additions and 21 deletions
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67
source/blender/blenkernel/intern/collision.c
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@@ -220,6 +220,12 @@ static int cloth_collision_response_static ( ClothModifierData *clmd, CollisionM
cloth1 = clmd->clothObject;
for ( ; collpair != collision_end; collpair++ ) {
float i1[3], i2[3], i3[3];
zero_v3(i1);
zero_v3(i2);
zero_v3(i3);
// only handle static collisions here
if ( collpair->flag & COLLISION_IN_FUTURE )
continue;
@@ -260,11 +266,6 @@ static int cloth_collision_response_static ( ClothModifierData *clmd, CollisionM
double impulse = 0.0;
float vrel_t_pre[3];
float temp[3], spf;
float i1[3], i2[3], i3[3];
zero_v3(i1);
zero_v3(i2);
zero_v3(i3);
// calculate tangential velocity
copy_v3_v3 ( temp, collpair->normal );
@@ -318,24 +319,48 @@ static int cloth_collision_response_static ( ClothModifierData *clmd, CollisionM
VECADDMUL ( i3, collpair->normal, impulse );
}
{
int i = 0;
for(i = 0; i < 3; i++)
{
if(cloth1->verts[collpair->ap1].impulse_count > 0 && ABS(cloth1->verts[collpair->ap1].impulse[i]) < ABS(i1[i]))
cloth1->verts[collpair->ap1].impulse[i] = i1[i];
if(cloth1->verts[collpair->ap2].impulse_count > 0 && ABS(cloth1->verts[collpair->ap2].impulse[i]) < ABS(i2[i]))
cloth1->verts[collpair->ap2].impulse[i] = i2[i];
if(cloth1->verts[collpair->ap3].impulse_count > 0 && ABS(cloth1->verts[collpair->ap3].impulse[i]) < ABS(i3[i]))
cloth1->verts[collpair->ap3].impulse[i] = i3[i];
}
}
result = 1;
}
else
{
// Apply repulse impulse if distance too short
// I_r = -min(dt*kd, m(0, 1d/dt - v_n))
float spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;
float d = clmd->coll_parms->epsilon*8.0f/9.0f + epsilon2*8.0f/9.0f - collpair->distance;
if ( d > ALMOST_ZERO) {
// stay on the safe side and clamp repulse
float repulse = d*1.0f/spf;
float impulse = repulse / ( 1.0f + w1*w1 + w2*w2 + w3*w3 ); // original 2.0 / 0.25
VECADDMUL ( i1, collpair->normal, impulse );
VECADDMUL ( i2, collpair->normal, impulse );
VECADDMUL ( i3, collpair->normal, impulse );
cloth1->verts[collpair->ap1].impulse_count++;
cloth1->verts[collpair->ap2].impulse_count++;
cloth1->verts[collpair->ap3].impulse_count++;
result = 1;
}
}
if(result)
{
int i = 0;
for(i = 0; i < 3; i++)
{
if(cloth1->verts[collpair->ap1].impulse_count > 0 && ABS(cloth1->verts[collpair->ap1].impulse[i]) < ABS(i1[i]))
cloth1->verts[collpair->ap1].impulse[i] = i1[i];
if(cloth1->verts[collpair->ap2].impulse_count > 0 && ABS(cloth1->verts[collpair->ap2].impulse[i]) < ABS(i2[i]))
cloth1->verts[collpair->ap2].impulse[i] = i2[i];
if(cloth1->verts[collpair->ap3].impulse_count > 0 && ABS(cloth1->verts[collpair->ap3].impulse[i]) < ABS(i3[i]))
cloth1->verts[collpair->ap3].impulse[i] = i3[i];
}
}
}
return result;
}