better pin scalesoftbody-stable-v2

5 files changed, 24 insertions, 18 deletions

diff --git a/extern/softbody/src/admmpd_collision.cpp b/extern/softbody/src/admmpd_collision.cpp
index 9508b74a740..4d2444e6a52 100644
--- a/extern/softbody/src/admmpd_collision.cpp
+++ b/extern/softbody/src/admmpd_collision.cpp
@@ -219,6 +219,12 @@ int EmbeddedMeshCollision::detect(
 	if (mesh==NULL)
 		return 0;
 
+	// Do we even need to process collisions?
+	if (!this->settings.test_floor &&
+		!this->settings.self_collision &&
+		this->obsdata.F.rows()==0)
+		return 0;
+
 	update_bvh(x0,x1);
 
 	int max_threads = std::max(1,BLI_system_thread_count());
diff --git a/extern/softbody/src/admmpd_collision.h b/extern/softbody/src/admmpd_collision.h
index baf92c28754..efde21db25e 100644
--- a/extern/softbody/src/admmpd_collision.h
+++ b/extern/softbody/src/admmpd_collision.h
@@ -33,10 +33,11 @@ public:
     struct Settings {
         double floor_z;
         bool test_floor;
+        bool self_collision;
         Settings() :
-            floor_z(-0.5),
-//            floor_z(-std::numeric_limits<double>::max()),
-            test_floor(true)
+            floor_z(-std::numeric_limits<double>::max()),
+            test_floor(false),
+            self_collision(false)
             {}
     } settings;
 
diff --git a/extern/softbody/src/admmpd_linsolve.cpp b/extern/softbody/src/admmpd_linsolve.cpp
index 7d5a29eb964..b91d3041913 100644
--- a/extern/softbody/src/admmpd_linsolve.cpp
+++ b/extern/softbody/src/admmpd_linsolve.cpp
@@ -77,8 +77,9 @@ void ConjugateGradients::solve(
 		make_n3(data->A, gsdata->A3);
 	}
 
-	gsdata->CtC = data->spring_k * data->C.transpose()*data->C;
-	gsdata->Ctd = data->spring_k * data->C.transpose()*data->d;
+	double col_k = options->mult_ck * data->A_diag_max;
+	gsdata->CtC = col_k * data->C.transpose()*data->C;
+	gsdata->Ctd = col_k * data->C.transpose()*data->d;
 	gsdata->A3_CtC_PtP = gsdata->A3 + gsdata->CtC + data->PtP;
 	VectorXd x3(nx*3);
 	for (int i=0; i<nx; ++i)
@@ -319,8 +320,9 @@ void GaussSeidel::init_solve(
 	// Finally, the new global matrix and rhs
 	if (has_constraints)
 	{
-		data->gsdata.CtC = data->spring_k * data->C.transpose()*data->C;
-		data->gsdata.Ctd.noalias() = data->spring_k * data->C.transpose()*data->d;
+		double col_k = options->mult_ck * data->A_diag_max;
+		data->gsdata.CtC = col_k * data->C.transpose()*data->C;
+		data->gsdata.Ctd.noalias() = col_k * data->C.transpose()*data->d;
 		data->gsdata.A3_CtC_PtP = data->gsdata.A3 + data->gsdata.CtC;
 		data->gsdata.b3_Ctd_Ptx.resize(nx*3);
 		for (int i=0; i<nx; ++i)
diff --git a/extern/softbody/src/admmpd_solver.cpp b/extern/softbody/src/admmpd_solver.cpp
index 922f6a58612..f8847a15a9d 100644
--- a/extern/softbody/src/admmpd_solver.cpp
+++ b/extern/softbody/src/admmpd_solver.cpp
@@ -105,7 +105,6 @@ void Solver::init_solve(
 	BLI_assert(options != NULL);
 	int nx = data->x.rows();
 	BLI_assert(nx > 0);
-	BLI_assert(data->pin_sqrt_k.rows()==nx);
 	(void)(collision);
 
 	if (data->M_xbar.rows() != nx)
@@ -141,7 +140,7 @@ void Solver::init_solve(
 		else
 		{
 			// Scale stiffness by A diagonal max
-			double pin_k_scale = data->A_diag_max;
+			double pin_k_scale = options->mult_pk * data->A_diag_max;
 			int np = q_coeffs.size();
 			RowSparseMatrix<double> P(np, nx*3);
 			P.setFromTriplets(trips.begin(), trips.end());
@@ -241,7 +240,6 @@ bool Solver::compute_matrices(
 	int nx = data->x.rows();
 	BLI_assert(nx > 0);
 	BLI_assert(data->x.cols() == 3);
-	BLI_assert(data->pin_sqrt_k.rows() == nx);
 
 	// Allocate per-vertex data
 	data->x_start = data->x;
@@ -293,13 +291,12 @@ bool Solver::compute_matrices(
 	data->A_diag_max = data->A.diagonal().maxCoeff();
 
 	// Constraint data
-	data->spring_k = options->mult_k*data->A_diag_max;
 	data->C.resize(1,nx*3);
 	data->d = VectorXd::Zero(1);
 
 	data->PtP.resize(nx*3,nx*3);
-	data->pin_sqrt_k.resize(nx);
-	data->pin_sqrt_k.setZero();
+	data->Ptq.resize(nx*3);
+	data->Ptq.setZero();
 
 	// ADMM dual/lagrange
 	data->z.resize(n_row_D,3);
diff --git a/extern/softbody/src/admmpd_types.h b/extern/softbody/src/admmpd_types.h
index d951687f11c..aa33380d2f7 100644
--- a/extern/softbody/src/admmpd_types.h
+++ b/extern/softbody/src/admmpd_types.h
@@ -21,7 +21,8 @@ struct Options {
     int max_cg_iters;
     int max_gs_iters;
     double gs_omega; // Gauss-Seidel relaxation
-    double mult_k; // stiffness multiplier for constraints
+    double mult_ck; // stiffness multiplier for constraints
+    double mult_pk; // (global) stiffness multiplier for pins
     double min_res; // exit tolerance for global step
     double youngs; // Young's modulus // TODO variable per-tet
     double poisson; // Poisson ratio // TODO variable per-tet
@@ -32,9 +33,10 @@ struct Options {
         max_cg_iters(10),
         max_gs_iters(100),
         gs_omega(1),
-        mult_k(1),
+        mult_ck(1),
+        mult_pk(0.001),
         min_res(1e-8),
-        youngs(10000000),
+        youngs(1000000),
         poisson(0.399),
         grav(0,0,-9.8)
         {}
@@ -79,10 +81,8 @@ struct SolverData {
     double A_diag_max; // Max coeff of diag of A
     RowSparseMatrix<double> C; // linearized constraints (cols = n x 3)
     Eigen::VectorXd d; // constraints rhs
-    double spring_k; // constraint stiffness
     RowSparseMatrix<double> PtP; // pin_k Pt P
     Eigen::VectorXd Ptq; // pin_k Pt q
-    Eigen::VectorXd pin_sqrt_k; // per-vertex pin (goal) sqrt stiffness
 	Eigen::SimplicialLDLT<Eigen::SparseMatrix<double> > ldltA;
     struct GlobalStepData { // Temporaries used in global step
         RowSparseMatrix<double> A3; // (M + D'W^2D) n3 x n3