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Implemented gradient transformation for forces in the root frame (dFdX,

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dFdV).
This commit is contained in:
Lukas Tönne
2014-09-12 10:19:41 +02:00
parent 2410dc32ff
commit 9f28ced756
1 changed files with 182 additions and 24 deletions
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206
source/blender/blenkernel/intern/implicit_eigen.cpp
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@@ -266,6 +266,9 @@ struct RootTransform {
float vel[3];
float omega[3];
float acc[3];
float domega_dt[3];
};
struct Implicit_Data {
@@ -323,43 +326,179 @@ struct Implicit_Data {
lMatrix S; /* filtering matrix for constraints */
};
BLI_INLINE void loc_world_to_root(float r[3], const float v[3], Implicit_Data *id, int i)
/* ==== Transformation of Moving Reference Frame ====
* x_world, v_world, f_world, a_world, dfdx_world, dfdv_world : state variables in world space
* x_root, v_root, f_root, a_root, dfdx_root, dfdv_root : state variables in root space
*
* x0 : translation of the root frame (hair root location)
* v0 : linear velocity of the root frame
* a0 : acceleration of the root frame
* R : rotation matrix of the root frame
* w : angular velocity of the root frame
* dwdt : angular acceleration of the root frame
*/
/* x_root = R^T * x_world */
BLI_INLINE void loc_world_to_root(float r[3], const float v[3], const RootTransform &root)
{
RootTransform &root = id->root[i];
sub_v3_v3v3(r, v, root.loc);
mul_transposed_m3_v3(root.rot, r);
mul_transposed_m3_v3((float (*)[3])root.rot, r);
}
BLI_INLINE void loc_root_to_world(float r[3], const float v[3], Implicit_Data *id, int i)
/* x_world = R * x_root */
BLI_INLINE void loc_root_to_world(float r[3], const float v[3], const RootTransform &root)
{
RootTransform &root = id->root[i];
copy_v3_v3(r, v);
mul_m3_v3(root.rot, r);
mul_m3_v3((float (*)[3])root.rot, r);
add_v3_v3(r, root.loc);
}
BLI_INLINE void vel_world_to_root(float r[3], const float x_root[3], const float v[3], Implicit_Data *id, int i)
/* v_root = cross(w, x_root) + R^T*(v_world - v0) */
BLI_INLINE void vel_world_to_root(float r[3], const float x_root[3], const float v[3], const RootTransform &root)
{
RootTransform &root = id->root[i];
float angvel[3];
cross_v3_v3v3(angvel, root.omega, x_root);
sub_v3_v3v3(r, v, root.vel);
mul_transposed_m3_v3(root.rot, r);
mul_transposed_m3_v3((float (*)[3])root.rot, r);
add_v3_v3(r, angvel);
}
BLI_INLINE void vel_root_to_world(float r[3], const float x_root[3], const float v[3], Implicit_Data *id, int i)
/* v_world = R*(v_root - cross(w, x_root)) + v0 */
BLI_INLINE void vel_root_to_world(float r[3], const float x_root[3], const float v[3], const RootTransform &root)
{
RootTransform &root = id->root[i];
float angvel[3];
cross_v3_v3v3(angvel, root.omega, x_root);
sub_v3_v3v3(r, v, angvel);
mul_m3_v3(root.rot, r);
mul_m3_v3((float (*)[3])root.rot, r);
add_v3_v3(r, root.vel);
}
/* a_root = -cross(dwdt, x_root) - 2*cross(w, v_root) - cross(w, cross(w, x_root)) + R^T*(a_world - a0) */
BLI_INLINE void force_world_to_root(float r[3], const float x_root[3], const float v_root[3], const float force[3], float mass, const RootTransform &root)
{
float euler[3], coriolis[3], centrifugal[3], rotvel[3];
cross_v3_v3v3(euler, root.domega_dt, x_root);
cross_v3_v3v3(coriolis, root.omega, v_root);
mul_v3_fl(coriolis, 2.0f);
cross_v3_v3v3(rotvel, root.omega, x_root);
cross_v3_v3v3(centrifugal, root.omega, rotvel);
madd_v3_v3v3fl(r, force, root.acc, mass);
mul_transposed_m3_v3((float (*)[3])root.rot, r);
madd_v3_v3fl(r, euler, mass);
madd_v3_v3fl(r, coriolis, mass);
madd_v3_v3fl(r, centrifugal, mass);
}
/* a_world = R*[ a_root + cross(dwdt, x_root) + 2*cross(w, v_root) + cross(w, cross(w, x_root)) ] + a0 */
BLI_INLINE void force_root_to_world(float r[3], const float x_root[3], const float v_root[3], const float force[3], float mass, const RootTransform &root)
{
float euler[3], coriolis[3], centrifugal[3], rotvel[3];
cross_v3_v3v3(euler, root.domega_dt, x_root);
cross_v3_v3v3(coriolis, root.omega, v_root);
mul_v3_fl(coriolis, 2.0f);
cross_v3_v3v3(rotvel, root.omega, x_root);
cross_v3_v3v3(centrifugal, root.omega, rotvel);
madd_v3_v3v3fl(r, force, euler, mass);
madd_v3_v3fl(r, coriolis, mass);
madd_v3_v3fl(r, centrifugal, mass);
mul_m3_v3((float (*)[3])root.rot, r);
madd_v3_v3fl(r, root.acc, mass);
}
BLI_INLINE void acc_world_to_root(float r[3], const float x_root[3], const float v_root[3], const float acc[3], const RootTransform &root)
{
force_world_to_root(r, x_root, v_root, acc, 1.0f, root);
}
BLI_INLINE void acc_root_to_world(float r[3], const float x_root[3], const float v_root[3], const float acc[3], const RootTransform &root)
{
force_root_to_world(r, x_root, v_root, acc, 1.0f, root);
}
BLI_INLINE void cross_m3_v3m3(float r[3][3], const float v[3], float m[3][3])
{
cross_v3_v3v3(r[0], v, m[0]);
cross_v3_v3v3(r[1], v, m[1]);
cross_v3_v3v3(r[2], v, m[2]);
}
BLI_INLINE void cross_v3_identity(float r[3][3], const float v[3])
{
r[0][0] = 0.0f; r[1][0] = v[2]; r[2][0] = -v[1];
r[0][1] = -v[2]; r[1][1] = 0.0f; r[2][1] = v[0];
r[0][2] = v[1]; r[1][2] = -v[0]; r[2][2] = 0.0f;
}
/* dfdx_root = m*[ -cross(dwdt, I) - cross(w, cross(w, I)) ] + R^T*(dfdx_world) */
BLI_INLINE void dfdx_world_to_root(float m[3][3], float dfdx[3][3], float mass, const RootTransform &root)
{
float t[3][3], u[3][3];
copy_m3_m3(t, (float (*)[3])root.rot);
transpose_m3(t);
mul_m3_m3m3(m, t, dfdx);
cross_v3_identity(t, root.domega_dt);
mul_m3_fl(t, mass);
sub_m3_m3m3(m, m, t);
cross_v3_identity(u, root.omega);
cross_m3_v3m3(t, root.omega, u);
mul_m3_fl(t, mass);
sub_m3_m3m3(m, m, t);
}
/* dfdx_world = R*(dfdx_root + m*[ cross(dwdt, I) + cross(w, cross(w, I)) ]) */
BLI_INLINE void dfdx_root_to_world(float m[3][3], float dfdx[3][3], float mass, const RootTransform &root)
{
float t[3][3];
cross_v3_identity(t, root.domega_dt);
mul_m3_fl(t, mass);
add_m3_m3m3(m, dfdx, t);
cross_v3_identity(u, root.omega);
cross_m3_v3m3(t, root.omega, u);
mul_m3_fl(t, mass);
add_m3_m3m3(m, m, t);
mul_m3_m3m3(m, (float (*)[3])root.rot, m);
}
/* dfdv_root = -2*m*cross(w, I) + R^T*(dfdv_world) */
BLI_INLINE void dfdv_world_to_root(float m[3][3], float dfdv[3][3], float mass, const RootTransform &root)
{
float t[3][3];
copy_m3_m3(t, (float (*)[3])root.rot);
transpose_m3(t);
mul_m3_m3m3(m, t, dfdv);
cross_v3_identity(t, root.omega);
mul_m3_fl(t, 2.0f*mass);
sub_m3_m3m3(m, m, t);
}
/* dfdv_world = R*(dfdv_root + 2*m*cross(w, I)) */
BLI_INLINE void dfdv_root_to_world(float m[3][3], float dfdv[3][3], float mass, const RootTransform &root)
{
float t[3][3];
cross_v3_identity(t, root.omega);
mul_m3_fl(t, 2.0f*mass);
add_m3_m3m3(m, dfdv, t);
mul_m3_m3m3(m, (float (*)[3])root.rot, m);
}
/* ================================ */
static bool simulate_implicit_euler(Implicit_Data *id, float dt)
{
#ifdef USE_EIGEN_CORE
@@ -665,10 +804,12 @@ static float calc_nor_area_quad(float nor[3], const float v1[3], const float v2[
static void cloth_calc_force(ClothModifierData *clmd, lVector &F, lMatrix &dFdX, lMatrix &dFdV, const lVector &X, const lVector &V, const lMatrix &M, ListBase *effectors, float time)
{
Cloth *cloth = clmd->clothObject;
Implicit_Data *id = cloth->implicit;
unsigned int numverts = cloth->numverts;
ClothVertex *verts = cloth->verts;
float drag = clmd->sim_parms->Cvi * 0.01f; /* viscosity of air scaled in percent */
float gravity[3] = {0,0,0};
float f[3], dfdx[3][3], dfdv[3][3];
F.setZero();
dFdX.setZero();
@@ -685,16 +826,34 @@ static void cloth_calc_force(ClothModifierData *clmd, lVector &F, lMatrix &dFdX,
mul_v3_v3fl(gravity, clmd->scene->physics_settings.gravity, 0.001f * clmd->sim_parms->effector_weights->global_gravity);
}
for (int i = 0; i < numverts; ++i) {
float acc[3];
/* gravitational mass same as inertial mass */
madd_v3_v3fl(lVector_v3(F, i), gravity, verts[i].mass);
acc_world_to_root(acc, lVector_v3(X, i), lVector_v3(V, i), gravity, id->root[i]);
madd_v3_v3fl(lVector_v3(F, i), acc, verts[i].mass);
}
#endif
#ifdef CLOTH_FORCE_DRAG
/* air drag */
for (int i = 0; i < numverts; ++i) {
madd_v3_v3fl(lVector_v3(F, i), lVector_v3(V, i), -drag);
#if 1
/* NB: uses root space velocity, no need to transform */
mul_v3_v3fl(f, lVector_v3(V, i), -drag);
add_v3_v3(lVector_v3(F, i), f);
triplets_m3fl(tlist_dFdV, I, i, i, -drag);
#else
float drag_dfdv[3][3], t[3];
mul_v3_v3fl(f, lVector_v3(V, i), -drag);
force_world_to_root(t, lVector_v3(X, i), lVector_v3(V, i), f, verts[i].mass, id->root[i]);
add_v3_v3(lVector_v3(F, i), t);
copy_m3_m3(drag_dfdv, I);
mul_m3_fl(drag_dfdv, -drag);
dfdv_world_to_root(dfdv, drag_dfdv, verts[i].mass, id->root[i]);
triplets_m3(tlist_dFdV, dfdv, i, i);
#endif
}
#endif
@@ -874,7 +1033,7 @@ int implicit_solver(Object *ob, float frame, ClothModifierData *clmd, ListBase *
sub_v3_v3v3(v, verts[i].xconst, verts[i].xold);
// mul_v3_fl(id->V[i], clmd->sim_parms->stepsPerFrame);
/* note: should be zero for root vertices, but other verts could be pinned as well */
vel_world_to_root(lVector_v3(id->V, i), lVector_v3(id->X, i), v, id, i);
vel_world_to_root(lVector_v3(id->V, i), lVector_v3(id->X, i), v, id->root[i]);
}
}
}
@@ -889,7 +1048,7 @@ int implicit_solver(Object *ob, float frame, ClothModifierData *clmd, ListBase *
/* copy velocities for collision */
for (int i = 0; i < numverts; i++) {
vel_root_to_world(verts[i].tv, lVector_v3(id->X, i), lVector_v3(id->V, i), id, i);
vel_root_to_world(verts[i].tv, lVector_v3(id->X, i), lVector_v3(id->V, i), id->root[i]);
copy_v3_v3(verts[i].v, verts[i].tv);
}
@@ -921,11 +1080,11 @@ int implicit_solver(Object *ob, float frame, ClothModifierData *clmd, ListBase *
if (verts[i].flags & CLOTH_VERT_FLAG_PINNED) {
float x[3];
interp_v3_v3v3(x, verts[i].xold, verts[i].xconst, step + dt);
loc_world_to_root(lVector_v3(id->Xnew, i), x, id, i);
loc_world_to_root(lVector_v3(id->Xnew, i), x, id->root[i]);
}
}
loc_root_to_world(verts[i].txold, lVector_v3(id->X, i), id, i);
loc_root_to_world(verts[i].txold, lVector_v3(id->X, i), id->root[i]);
if (!(verts[i].flags & CLOTH_VERT_FLAG_PINNED) && i > 0) {
BKE_sim_debug_data_add_line(clmd->debug_data, lVector_v3(id->X, i), lVector_v3(id->X, i-1), 0.6, 0.3, 0.3, "hair", hash_vertex(4892, i));
@@ -951,13 +1110,13 @@ int implicit_solver(Object *ob, float frame, ClothModifierData *clmd, ListBase *
copy_v3_v3(verts[i].x, verts[i].xconst);
copy_v3_v3(verts[i].txold, verts[i].x);
vel_root_to_world(verts[i].v, lVector_v3(id->X, i), lVector_v3(id->V, i), id, i);
vel_root_to_world(verts[i].v, lVector_v3(id->X, i), lVector_v3(id->V, i), id->root[i]);
}
else {
loc_root_to_world(verts[i].x, lVector_v3(id->X, i), id, i);
loc_root_to_world(verts[i].x, lVector_v3(id->X, i), id->root[i]);
copy_v3_v3(verts[i].txold, verts[i].x);
vel_root_to_world(verts[i].v, lVector_v3(id->X, i), lVector_v3(id->V, i), id, i);
vel_root_to_world(verts[i].v, lVector_v3(id->X, i), lVector_v3(id->V, i), id->root[i]);
}
}
@@ -967,7 +1126,6 @@ int implicit_solver(Object *ob, float frame, ClothModifierData *clmd, ListBase *
void implicit_set_positions(ClothModifierData *clmd)
{
Cloth *cloth = clmd->clothObject;
Implicit_Data *id = cloth->implicit;
ClothVertex *verts = cloth->verts;
ClothHairRoot *cloth_roots = clmd->roots;
unsigned int numverts = cloth->numverts, i;
@@ -980,8 +1138,8 @@ void implicit_set_positions(ClothModifierData *clmd)
copy_v3_v3(root[i].loc, cloth_roots[i].loc);
copy_m3_m3(root[i].rot, cloth_roots[i].rot);
loc_world_to_root(lVector_v3(X, i), verts[i].x, id, i);
vel_world_to_root(lVector_v3(V, i), lVector_v3(X, i), verts[i].v, id, i);
loc_world_to_root(lVector_v3(X, i), verts[i].x, root[i]);
vel_world_to_root(lVector_v3(V, i), lVector_v3(X, i), verts[i].v, root[i]);
}
}