Some initial collision code, without actual response forces still.

This is still using the old BVH tree collision methods to generate
contact points, similar to what cloth does. This should be replaced
by a Bullet collision check, but generating contacts in this way is
easier for now, and lets us test responses and stability (although in
more complex collision cases the BVH method fails utterly, beside being
terribly inefficient with many colliders).

1 files changed, 27 insertions, 18 deletions

diff --git a/source/blender/blenkernel/intern/implicit.c b/source/blender/blenkernel/intern/implicit.c
index 952140a78f9..13403795745 100644
--- a/source/blender/blenkernel/intern/implicit.c
+++ b/source/blender/blenkernel/intern/implicit.c
@@ -1926,9 +1926,8 @@ int implicit_solver(Object *ob, float frame, ClothModifierData *clmd, ListBase *
 	unsigned int numverts = cloth->numverts;
 	float dt = clmd->sim_parms->timescale / clmd->sim_parms->stepsPerFrame;
 	float spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;
-	float (*initial_cos)[3] = MEM_callocN(sizeof(float)*3*cloth->numverts, "initial_cos implicit.c");
+	/*float (*initial_cos)[3] = MEM_callocN(sizeof(float)*3*cloth->numverts, "initial_cos implicit.c");*/ /* UNUSED */
 	Implicit_Data *id = cloth->implicit;
-	int do_extra_solve;
 
 	if (clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL) { /* do goal stuff */
 		
@@ -1972,40 +1971,49 @@ int implicit_solver(Object *ob, float frame, ClothModifierData *clmd, ListBase *
 			copy_v3_v3(verts[i].txold, id->X[i]);
 		}
 
-		if (clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_ENABLED && clmd->clothObject->bvhtree) {
+		if (clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_ENABLED) {
+			bool do_extra_solve = false;
+			
 			// collisions 
 			// itstart();
 			
 			// update verts to current positions
 			for (i = 0; i < numverts; i++) {
 				copy_v3_v3(verts[i].tx, id->Xnew[i]);
-
+				
 				sub_v3_v3v3(verts[i].tv, verts[i].tx, verts[i].txold);
 				copy_v3_v3(verts[i].v, verts[i].tv);
 			}
-
-			for (i=0, cv=cloth->verts; i<cloth->numverts; i++, cv++) {
+			
+			/* unused */
+			/*for (i=0, cv=cloth->verts; i<cloth->numverts; i++, cv++) {
 				copy_v3_v3(initial_cos[i], cv->tx);
+			}*/
+			
+			if (clmd->clothObject->bvhtree) {
+				// call collision function
+				// TODO: check if "step" or "step+dt" is correct - dg
+				do_extra_solve = cloth_bvh_objcollision(ob, clmd, step/clmd->sim_parms->timescale, dt/clmd->sim_parms->timescale);
 			}
-
-			// call collision function
-			// TODO: check if "step" or "step+dt" is correct - dg
-			do_extra_solve = cloth_bvh_objcollision(ob, clmd, step/clmd->sim_parms->timescale, dt/clmd->sim_parms->timescale);
-
+			else if (clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_POINTS) {
+				do_extra_solve = cloth_points_objcollision(ob, clmd, step/clmd->sim_parms->timescale, dt/clmd->sim_parms->timescale);
+			}
+			
 			// copy corrected positions back to simulation
 			for (i = 0; i < numverts; i++) {
 				// correct velocity again, just to be sure we had to change it due to adaptive collisions
 				sub_v3_v3v3(verts[i].tv, verts[i].tx, id->X[i]);
 			}
-
-			//if (do_extra_solve)
-			//	cloth_calc_helper_forces(ob, clmd, initial_cos, step/clmd->sim_parms->timescale, dt/clmd->sim_parms->timescale);
+			
+			/* unused */
+			/*if (do_extra_solve)
+				cloth_calc_helper_forces(ob, clmd, initial_cos, step/clmd->sim_parms->timescale, dt/clmd->sim_parms->timescale);*/
 			
 			if (do_extra_solve) {
 				for (i = 0; i < numverts; i++) {				
 					if ((clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL) && (verts [i].flags & CLOTH_VERT_FLAG_PINNED))
 						continue;
-
+					
 					copy_v3_v3(id->Xnew[i], verts[i].tx);
 					copy_v3_v3(id->Vnew[i], verts[i].tv);
 					mul_v3_fl(id->Vnew[i], spf);
@@ -2014,13 +2022,13 @@ int implicit_solver(Object *ob, float frame, ClothModifierData *clmd, ListBase *
 			
 			// X = Xnew;
 			cp_lfvector(id->X, id->Xnew, numverts);
-
+			
 			// if there were collisions, advance the velocity from v_n+1/2 to v_n+1
 			
 			if (do_extra_solve) {
 				// V = Vnew;
 				cp_lfvector(id->V, id->Vnew, numverts);
-
+				
 				// calculate 
 				cloth_calc_force(clmd, frame, id->F, id->X, id->V, id->dFdV, id->dFdX, effectors, step+dt, id->M);
 				
@@ -2054,7 +2062,8 @@ int implicit_solver(Object *ob, float frame, ClothModifierData *clmd, ListBase *
 		}
 	}
 	
-	MEM_freeN(initial_cos);
+	/* unused */
+	/*MEM_freeN(initial_cos);*/
 	
 	return 1;
 }