diff options
author | Campbell Barton <ideasman42@gmail.com> | 2019-04-17 07:17:24 +0300 |
---|---|---|
committer | Campbell Barton <ideasman42@gmail.com> | 2019-04-17 07:21:24 +0300 |
commit | e12c08e8d170b7ca40f204a5b0423c23a9fbc2c1 (patch) | |
tree | 8cf3453d12edb177a218ef8009357518ec6cab6a /source/blender/physics/intern | |
parent | b3dabc200a4b0399ec6b81f2ff2730d07b44fcaa (diff) |
ClangFormat: apply to source, most of intern
Apply clang format as proposed in T53211.
For details on usage and instructions for migrating branches
without conflicts, see:
https://wiki.blender.org/wiki/Tools/ClangFormat
Diffstat (limited to 'source/blender/physics/intern')
-rw-r--r-- | source/blender/physics/intern/BPH_mass_spring.cpp | 1803 | ||||
-rw-r--r-- | source/blender/physics/intern/ConstrainedConjugateGradient.h | 211 | ||||
-rw-r--r-- | source/blender/physics/intern/eigen_utils.h | 265 | ||||
-rw-r--r-- | source/blender/physics/intern/hair_volume.cpp | 1780 | ||||
-rw-r--r-- | source/blender/physics/intern/implicit.h | 169 | ||||
-rw-r--r-- | source/blender/physics/intern/implicit_blender.c | 2831 | ||||
-rw-r--r-- | source/blender/physics/intern/implicit_eigen.cpp | 1956 |
7 files changed, 4767 insertions, 4248 deletions
diff --git a/source/blender/physics/intern/BPH_mass_spring.cpp b/source/blender/physics/intern/BPH_mass_spring.cpp index 1c78a0728b2..fa204e8a7f9 100644 --- a/source/blender/physics/intern/BPH_mass_spring.cpp +++ b/source/blender/physics/intern/BPH_mass_spring.cpp @@ -53,549 +53,602 @@ static float I3[3][3] = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}}; */ static int cloth_count_nondiag_blocks(Cloth *cloth) { - LinkNode *link; - int nondiag = 0; - - for (link = cloth->springs; link; link = link->next) { - ClothSpring *spring = (ClothSpring *)link->link; - switch (spring->type) { - case CLOTH_SPRING_TYPE_BENDING_HAIR: - /* angular bending combines 3 vertices */ - nondiag += 3; - break; - - default: - /* all other springs depend on 2 vertices only */ - nondiag += 1; - break; - } - } - - return nondiag; + LinkNode *link; + int nondiag = 0; + + for (link = cloth->springs; link; link = link->next) { + ClothSpring *spring = (ClothSpring *)link->link; + switch (spring->type) { + case CLOTH_SPRING_TYPE_BENDING_HAIR: + /* angular bending combines 3 vertices */ + nondiag += 3; + break; + + default: + /* all other springs depend on 2 vertices only */ + nondiag += 1; + break; + } + } + + return nondiag; } int BPH_cloth_solver_init(Object *UNUSED(ob), ClothModifierData *clmd) { - Cloth *cloth = clmd->clothObject; - ClothVertex *verts = cloth->verts; - const float ZERO[3] = {0.0f, 0.0f, 0.0f}; - Implicit_Data *id; - unsigned int i, nondiag; + Cloth *cloth = clmd->clothObject; + ClothVertex *verts = cloth->verts; + const float ZERO[3] = {0.0f, 0.0f, 0.0f}; + Implicit_Data *id; + unsigned int i, nondiag; - nondiag = cloth_count_nondiag_blocks(cloth); - cloth->implicit = id = BPH_mass_spring_solver_create(cloth->mvert_num, nondiag); + nondiag = cloth_count_nondiag_blocks(cloth); + cloth->implicit = id = BPH_mass_spring_solver_create(cloth->mvert_num, nondiag); - for (i = 0; i < cloth->mvert_num; i++) { - BPH_mass_spring_set_vertex_mass(id, i, verts[i].mass); - } + for (i = 0; i < cloth->mvert_num; i++) { + BPH_mass_spring_set_vertex_mass(id, i, verts[i].mass); + } - for (i = 0; i < cloth->mvert_num; i++) { - BPH_mass_spring_set_motion_state(id, i, verts[i].x, ZERO); - } + for (i = 0; i < cloth->mvert_num; i++) { + BPH_mass_spring_set_motion_state(id, i, verts[i].x, ZERO); + } - return 1; + return 1; } void BPH_cloth_solver_free(ClothModifierData *clmd) { - Cloth *cloth = clmd->clothObject; + Cloth *cloth = clmd->clothObject; - if (cloth->implicit) { - BPH_mass_spring_solver_free(cloth->implicit); - cloth->implicit = NULL; - } + if (cloth->implicit) { + BPH_mass_spring_solver_free(cloth->implicit); + cloth->implicit = NULL; + } } void BKE_cloth_solver_set_positions(ClothModifierData *clmd) { - Cloth *cloth = clmd->clothObject; - ClothVertex *verts = cloth->verts; - unsigned int mvert_num = cloth->mvert_num, i; - ClothHairData *cloth_hairdata = clmd->hairdata; - Implicit_Data *id = cloth->implicit; - - for (i = 0; i < mvert_num; i++) { - if (cloth_hairdata) { - ClothHairData *root = &cloth_hairdata[i]; - BPH_mass_spring_set_rest_transform(id, i, root->rot); - } - else - BPH_mass_spring_set_rest_transform(id, i, I3); - - BPH_mass_spring_set_motion_state(id, i, verts[i].x, verts[i].v); - } + Cloth *cloth = clmd->clothObject; + ClothVertex *verts = cloth->verts; + unsigned int mvert_num = cloth->mvert_num, i; + ClothHairData *cloth_hairdata = clmd->hairdata; + Implicit_Data *id = cloth->implicit; + + for (i = 0; i < mvert_num; i++) { + if (cloth_hairdata) { + ClothHairData *root = &cloth_hairdata[i]; + BPH_mass_spring_set_rest_transform(id, i, root->rot); + } + else + BPH_mass_spring_set_rest_transform(id, i, I3); + + BPH_mass_spring_set_motion_state(id, i, verts[i].x, verts[i].v); + } } -static bool collision_response(ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, float dt, float restitution, float r_impulse[3]) +static bool collision_response(ClothModifierData *clmd, + CollisionModifierData *collmd, + CollPair *collpair, + float dt, + float restitution, + float r_impulse[3]) { - Cloth *cloth = clmd->clothObject; - int index = collpair->ap1; - bool result = false; - - float v1[3], v2_old[3], v2_new[3], v_rel_old[3], v_rel_new[3]; - float epsilon2 = BLI_bvhtree_get_epsilon(collmd->bvhtree); - - float margin_distance = (float)collpair->distance - epsilon2; - float mag_v_rel; - - zero_v3(r_impulse); - - if (margin_distance > 0.0f) - return false; /* XXX tested before already? */ - - /* only handle static collisions here */ - if (collpair->flag & COLLISION_IN_FUTURE) - return false; - - /* velocity */ - copy_v3_v3(v1, cloth->verts[index].v); - collision_get_collider_velocity(v2_old, v2_new, collmd, collpair); - /* relative velocity = velocity of the cloth point relative to the collider */ - sub_v3_v3v3(v_rel_old, v1, v2_old); - sub_v3_v3v3(v_rel_new, v1, v2_new); - /* normal component of the relative velocity */ - mag_v_rel = dot_v3v3(v_rel_old, collpair->normal); - - /* only valid when moving toward the collider */ - if (mag_v_rel < -ALMOST_ZERO) { - float v_nor_old, v_nor_new; - float v_tan_old[3], v_tan_new[3]; - float bounce, repulse; - - /* Collision response based on - * "Simulating Complex Hair with Robust Collision Handling" (Choe, Choi, Ko, ACM SIGGRAPH 2005) - * http://graphics.snu.ac.kr/publications/2005-choe-HairSim/Choe_2005_SCA.pdf - */ - - v_nor_old = mag_v_rel; - v_nor_new = dot_v3v3(v_rel_new, collpair->normal); - - madd_v3_v3v3fl(v_tan_old, v_rel_old, collpair->normal, -v_nor_old); - madd_v3_v3v3fl(v_tan_new, v_rel_new, collpair->normal, -v_nor_new); - - bounce = -v_nor_old * restitution; - - repulse = -margin_distance / dt; /* base repulsion velocity in normal direction */ - /* XXX this clamping factor is quite arbitrary ... - * not sure if there is a more scientific approach, but seems to give good results - */ - CLAMP(repulse, 0.0f, 4.0f * bounce); - - if (margin_distance < -epsilon2) { - mul_v3_v3fl(r_impulse, collpair->normal, max_ff(repulse, bounce) - v_nor_new); - } - else { - bounce = 0.0f; - mul_v3_v3fl(r_impulse, collpair->normal, repulse - v_nor_new); - } - - result = true; - } - - return result; + Cloth *cloth = clmd->clothObject; + int index = collpair->ap1; + bool result = false; + + float v1[3], v2_old[3], v2_new[3], v_rel_old[3], v_rel_new[3]; + float epsilon2 = BLI_bvhtree_get_epsilon(collmd->bvhtree); + + float margin_distance = (float)collpair->distance - epsilon2; + float mag_v_rel; + + zero_v3(r_impulse); + + if (margin_distance > 0.0f) + return false; /* XXX tested before already? */ + + /* only handle static collisions here */ + if (collpair->flag & COLLISION_IN_FUTURE) + return false; + + /* velocity */ + copy_v3_v3(v1, cloth->verts[index].v); + collision_get_collider_velocity(v2_old, v2_new, collmd, collpair); + /* relative velocity = velocity of the cloth point relative to the collider */ + sub_v3_v3v3(v_rel_old, v1, v2_old); + sub_v3_v3v3(v_rel_new, v1, v2_new); + /* normal component of the relative velocity */ + mag_v_rel = dot_v3v3(v_rel_old, collpair->normal); + + /* only valid when moving toward the collider */ + if (mag_v_rel < -ALMOST_ZERO) { + float v_nor_old, v_nor_new; + float v_tan_old[3], v_tan_new[3]; + float bounce, repulse; + + /* Collision response based on + * "Simulating Complex Hair with Robust Collision Handling" (Choe, Choi, Ko, ACM SIGGRAPH 2005) + * http://graphics.snu.ac.kr/publications/2005-choe-HairSim/Choe_2005_SCA.pdf + */ + + v_nor_old = mag_v_rel; + v_nor_new = dot_v3v3(v_rel_new, collpair->normal); + + madd_v3_v3v3fl(v_tan_old, v_rel_old, collpair->normal, -v_nor_old); + madd_v3_v3v3fl(v_tan_new, v_rel_new, collpair->normal, -v_nor_new); + + bounce = -v_nor_old * restitution; + + repulse = -margin_distance / dt; /* base repulsion velocity in normal direction */ + /* XXX this clamping factor is quite arbitrary ... + * not sure if there is a more scientific approach, but seems to give good results + */ + CLAMP(repulse, 0.0f, 4.0f * bounce); + + if (margin_distance < -epsilon2) { + mul_v3_v3fl(r_impulse, collpair->normal, max_ff(repulse, bounce) - v_nor_new); + } + else { + bounce = 0.0f; + mul_v3_v3fl(r_impulse, collpair->normal, repulse - v_nor_new); + } + + result = true; + } + + return result; } /* Init constraint matrix * This is part of the modified CG method suggested by Baraff/Witkin in * "Large Steps in Cloth Simulation" (Siggraph 1998) */ -static void cloth_setup_constraints(ClothModifierData *clmd, ColliderContacts *contacts, int totcolliders, float dt) +static void cloth_setup_constraints(ClothModifierData *clmd, + ColliderContacts *contacts, + int totcolliders, + float dt) { - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - ClothVertex *verts = cloth->verts; - int mvert_num = cloth->mvert_num; - int i, j, v; - - const float ZERO[3] = {0.0f, 0.0f, 0.0f}; - - BPH_mass_spring_clear_constraints(data); - - for (v = 0; v < mvert_num; v++) { - if (verts[v].flags & CLOTH_VERT_FLAG_PINNED) { - /* pinned vertex constraints */ - BPH_mass_spring_add_constraint_ndof0(data, v, ZERO); /* velocity is defined externally */ - } - - verts[v].impulse_count = 0; - } - - for (i = 0; i < totcolliders; ++i) { - ColliderContacts *ct = &contacts[i]; - for (j = 0; j < ct->totcollisions; ++j) { - CollPair *collpair = &ct->collisions[j]; -// float restitution = (1.0f - clmd->coll_parms->damping) * (1.0f - ct->ob->pd->pdef_sbdamp); - float restitution = 0.0f; - int v = collpair->face1; - float impulse[3]; - - /* pinned verts handled separately */ - if (verts[v].flags & CLOTH_VERT_FLAG_PINNED) - continue; - - /* XXX cheap way of avoiding instability from multiple collisions in the same step - * this should eventually be supported ... - */ - if (verts[v].impulse_count > 0) - continue; - - /* calculate collision response */ - if (!collision_response(clmd, ct->collmd, collpair, dt, restitution, impulse)) - continue; - - BPH_mass_spring_add_constraint_ndof2(data, v, collpair->normal, impulse); - ++verts[v].impulse_count; - } - } + Cloth *cloth = clmd->clothObject; + Implicit_Data *data = cloth->implicit; + ClothVertex *verts = cloth->verts; + int mvert_num = cloth->mvert_num; + int i, j, v; + + const float ZERO[3] = {0.0f, 0.0f, 0.0f}; + + BPH_mass_spring_clear_constraints(data); + + for (v = 0; v < mvert_num; v++) { + if (verts[v].flags & CLOTH_VERT_FLAG_PINNED) { + /* pinned vertex constraints */ + BPH_mass_spring_add_constraint_ndof0(data, v, ZERO); /* velocity is defined externally */ + } + + verts[v].impulse_count = 0; + } + + for (i = 0; i < totcolliders; ++i) { + ColliderContacts *ct = &contacts[i]; + for (j = 0; j < ct->totcollisions; ++j) { + CollPair *collpair = &ct->collisions[j]; + // float restitution = (1.0f - clmd->coll_parms->damping) * (1.0f - ct->ob->pd->pdef_sbdamp); + float restitution = 0.0f; + int v = collpair->face1; + float impulse[3]; + + /* pinned verts handled separately */ + if (verts[v].flags & CLOTH_VERT_FLAG_PINNED) + continue; + + /* XXX cheap way of avoiding instability from multiple collisions in the same step + * this should eventually be supported ... + */ + if (verts[v].impulse_count > 0) + continue; + + /* calculate collision response */ + if (!collision_response(clmd, ct->collmd, collpair, dt, restitution, impulse)) + continue; + + BPH_mass_spring_add_constraint_ndof2(data, v, collpair->normal, impulse); + ++verts[v].impulse_count; + } + } } /* computes where the cloth would be if it were subject to perfectly stiff edges * (edge distance constraints) in a lagrangian solver. then add forces to help * guide the implicit solver to that state. this function is called after * collisions*/ -static int UNUSED_FUNCTION(cloth_calc_helper_forces)(Object *UNUSED(ob), ClothModifierData *clmd, float (*initial_cos)[3], float UNUSED(step), float dt) +static int UNUSED_FUNCTION(cloth_calc_helper_forces)(Object *UNUSED(ob), + ClothModifierData *clmd, + float (*initial_cos)[3], + float UNUSED(step), + float dt) { - Cloth *cloth = clmd->clothObject; - float(*cos)[3] = (float(*)[3])MEM_callocN(sizeof(float[3]) * cloth->mvert_num, "cos cloth_calc_helper_forces"); - float *masses = (float *)MEM_callocN(sizeof(float) * cloth->mvert_num, "cos cloth_calc_helper_forces"); - LinkNode *node; - ClothSpring *spring; - ClothVertex *cv; - int i, steps; - - cv = cloth->verts; - for (i = 0; i < cloth->mvert_num; i++, cv++) { - copy_v3_v3(cos[i], cv->tx); - - if (cv->goal == 1.0f || len_squared_v3v3(initial_cos[i], cv->tx) != 0.0f) { - masses[i] = 1e+10; - } - else { - masses[i] = cv->mass; - } - } - - steps = 55; - for (i = 0; i < steps; i++) { - for (node = cloth->springs; node; node = node->next) { - /* ClothVertex *cv1, *cv2; */ /* UNUSED */ - int v1, v2; - float len, c, l, vec[3]; - - spring = (ClothSpring *)node->link; - if (spring->type != CLOTH_SPRING_TYPE_STRUCTURAL && spring->type != CLOTH_SPRING_TYPE_SHEAR) - continue; - - v1 = spring->ij; v2 = spring->kl; - /* cv1 = cloth->verts + v1; */ /* UNUSED */ - /* cv2 = cloth->verts + v2; */ /* UNUSED */ - len = len_v3v3(cos[v1], cos[v2]); - - sub_v3_v3v3(vec, cos[v1], cos[v2]); - normalize_v3(vec); - - c = (len - spring->restlen); - if (c == 0.0f) - continue; - - l = c / ((1.0f / masses[v1]) + (1.0f / masses[v2])); - - mul_v3_fl(vec, -(1.0f / masses[v1]) * l); - add_v3_v3(cos[v1], vec); - - sub_v3_v3v3(vec, cos[v2], cos[v1]); - normalize_v3(vec); - - mul_v3_fl(vec, -(1.0f / masses[v2]) * l); - add_v3_v3(cos[v2], vec); - } - } - - cv = cloth->verts; - for (i = 0; i < cloth->mvert_num; i++, cv++) { - float vec[3]; - - /*compute forces*/ - sub_v3_v3v3(vec, cos[i], cv->tx); - mul_v3_fl(vec, cv->mass * dt * 20.0f); - add_v3_v3(cv->tv, vec); - //copy_v3_v3(cv->tx, cos[i]); - } - - MEM_freeN(cos); - MEM_freeN(masses); - - return 1; + Cloth *cloth = clmd->clothObject; + float(*cos)[3] = (float(*)[3])MEM_callocN(sizeof(float[3]) * cloth->mvert_num, + "cos cloth_calc_helper_forces"); + float *masses = (float *)MEM_callocN(sizeof(float) * cloth->mvert_num, + "cos cloth_calc_helper_forces"); + LinkNode *node; + ClothSpring *spring; + ClothVertex *cv; + int i, steps; + + cv = cloth->verts; + for (i = 0; i < cloth->mvert_num; i++, cv++) { + copy_v3_v3(cos[i], cv->tx); + + if (cv->goal == 1.0f || len_squared_v3v3(initial_cos[i], cv->tx) != 0.0f) { + masses[i] = 1e+10; + } + else { + masses[i] = cv->mass; + } + } + + steps = 55; + for (i = 0; i < steps; i++) { + for (node = cloth->springs; node; node = node->next) { + /* ClothVertex *cv1, *cv2; */ /* UNUSED */ + int v1, v2; + float len, c, l, vec[3]; + + spring = (ClothSpring *)node->link; + if (spring->type != CLOTH_SPRING_TYPE_STRUCTURAL && spring->type != CLOTH_SPRING_TYPE_SHEAR) + continue; + + v1 = spring->ij; + v2 = spring->kl; + /* cv1 = cloth->verts + v1; */ /* UNUSED */ + /* cv2 = cloth->verts + v2; */ /* UNUSED */ + len = len_v3v3(cos[v1], cos[v2]); + + sub_v3_v3v3(vec, cos[v1], cos[v2]); + normalize_v3(vec); + + c = (len - spring->restlen); + if (c == 0.0f) + continue; + + l = c / ((1.0f / masses[v1]) + (1.0f / masses[v2])); + + mul_v3_fl(vec, -(1.0f / masses[v1]) * l); + add_v3_v3(cos[v1], vec); + + sub_v3_v3v3(vec, cos[v2], cos[v1]); + normalize_v3(vec); + + mul_v3_fl(vec, -(1.0f / masses[v2]) * l); + add_v3_v3(cos[v2], vec); + } + } + + cv = cloth->verts; + for (i = 0; i < cloth->mvert_num; i++, cv++) { + float vec[3]; + + /*compute forces*/ + sub_v3_v3v3(vec, cos[i], cv->tx); + mul_v3_fl(vec, cv->mass * dt * 20.0f); + add_v3_v3(cv->tv, vec); + //copy_v3_v3(cv->tx, cos[i]); + } + + MEM_freeN(cos); + MEM_freeN(masses); + + return 1; } BLI_INLINE void cloth_calc_spring_force(ClothModifierData *clmd, ClothSpring *s) { - Cloth *cloth = clmd->clothObject; - ClothSimSettings *parms = clmd->sim_parms; - Implicit_Data *data = cloth->implicit; - bool using_angular = parms->bending_model == CLOTH_BENDING_ANGULAR; - bool resist_compress = (parms->flags & CLOTH_SIMSETTINGS_FLAG_RESIST_SPRING_COMPRESS) && !using_angular; + Cloth *cloth = clmd->clothObject; + ClothSimSettings *parms = clmd->sim_parms; + Implicit_Data *data = cloth->implicit; + bool using_angular = parms->bending_model == CLOTH_BENDING_ANGULAR; + bool resist_compress = (parms->flags & CLOTH_SIMSETTINGS_FLAG_RESIST_SPRING_COMPRESS) && + !using_angular; - s->flags &= ~CLOTH_SPRING_FLAG_NEEDED; + s->flags &= ~CLOTH_SPRING_FLAG_NEEDED; - /* Calculate force of bending springs. */ - if ((s->type & CLOTH_SPRING_TYPE_BENDING) && using_angular) { + /* Calculate force of bending springs. */ + if ((s->type & CLOTH_SPRING_TYPE_BENDING) && using_angular) { #ifdef CLOTH_FORCE_SPRING_BEND - float k, scaling; + float k, scaling; - s->flags |= CLOTH_SPRING_FLAG_NEEDED; + s->flags |= CLOTH_SPRING_FLAG_NEEDED; - scaling = parms->bending + s->ang_stiffness * fabsf(parms->max_bend - parms->bending); - k = scaling * s->restlen * 0.1f; /* Multiplying by 0.1, just to scale the forces to more reasonable values. */ + scaling = parms->bending + s->ang_stiffness * fabsf(parms->max_bend - parms->bending); + k = scaling * s->restlen * + 0.1f; /* Multiplying by 0.1, just to scale the forces to more reasonable values. */ - BPH_mass_spring_force_spring_angular(data, s->ij, s->kl, s->pa, s->pb, s->la, s->lb, - s->restang, k, parms->bending_damping); + BPH_mass_spring_force_spring_angular( + data, s->ij, s->kl, s->pa, s->pb, s->la, s->lb, s->restang, k, parms->bending_damping); #endif - } + } - /* Calculate force of structural + shear springs. */ - if (s->type & (CLOTH_SPRING_TYPE_STRUCTURAL | CLOTH_SPRING_TYPE_SEWING)) { + /* Calculate force of structural + shear springs. */ + if (s->type & (CLOTH_SPRING_TYPE_STRUCTURAL | CLOTH_SPRING_TYPE_SEWING)) { #ifdef CLOTH_FORCE_SPRING_STRUCTURAL - float k_tension, scaling_tension; - - s->flags |= CLOTH_SPRING_FLAG_NEEDED; - - scaling_tension = parms->tension + s->lin_stiffness * fabsf(parms->max_tension - parms->tension); - k_tension = scaling_tension / (parms->avg_spring_len + FLT_EPSILON); - - if (s->type & CLOTH_SPRING_TYPE_SEWING) { - // TODO: verify, half verified (couldn't see error) - // sewing springs usually have a large distance at first so clamp the force so we don't get tunnelling through colission objects - BPH_mass_spring_force_spring_linear(data, s->ij, s->kl, s->restlen, - k_tension, parms->tension_damp, - 0.0f, 0.0f, false, false, parms->max_sewing); - } - else { - float k_compression, scaling_compression; - scaling_compression = parms->compression + s->lin_stiffness * fabsf(parms->max_compression - parms->compression); - k_compression = scaling_compression / (parms->avg_spring_len + FLT_EPSILON); - - BPH_mass_spring_force_spring_linear(data, s->ij, s->kl, s->restlen, - k_tension, parms->tension_damp, - k_compression, parms->compression_damp, - resist_compress, using_angular, 0.0f); - } + float k_tension, scaling_tension; + + s->flags |= CLOTH_SPRING_FLAG_NEEDED; + + scaling_tension = parms->tension + + s->lin_stiffness * fabsf(parms->max_tension - parms->tension); + k_tension = scaling_tension / (parms->avg_spring_len + FLT_EPSILON); + + if (s->type & CLOTH_SPRING_TYPE_SEWING) { + // TODO: verify, half verified (couldn't see error) + // sewing springs usually have a large distance at first so clamp the force so we don't get tunnelling through colission objects + BPH_mass_spring_force_spring_linear(data, + s->ij, + s->kl, + s->restlen, + k_tension, + parms->tension_damp, + 0.0f, + 0.0f, + false, + false, + parms->max_sewing); + } + else { + float k_compression, scaling_compression; + scaling_compression = parms->compression + + s->lin_stiffness * fabsf(parms->max_compression - parms->compression); + k_compression = scaling_compression / (parms->avg_spring_len + FLT_EPSILON); + + BPH_mass_spring_force_spring_linear(data, + s->ij, + s->kl, + s->restlen, + k_tension, + parms->tension_damp, + k_compression, + parms->compression_damp, + resist_compress, + using_angular, + 0.0f); + } #endif - } - else if (s->type & CLOTH_SPRING_TYPE_SHEAR) { + } + else if (s->type & CLOTH_SPRING_TYPE_SHEAR) { #ifdef CLOTH_FORCE_SPRING_SHEAR - float k, scaling; - - s->flags |= CLOTH_SPRING_FLAG_NEEDED; - - scaling = parms->shear + s->lin_stiffness * fabsf(parms->max_shear - parms->shear); - k = scaling / (parms->avg_spring_len + FLT_EPSILON); - - BPH_mass_spring_force_spring_linear(data, s->ij, s->kl, s->restlen, k, parms->shear_damp, - 0.0f, 0.0f, resist_compress, false, 0.0f); + float k, scaling; + + s->flags |= CLOTH_SPRING_FLAG_NEEDED; + + scaling = parms->shear + s->lin_stiffness * fabsf(parms->max_shear - parms->shear); + k = scaling / (parms->avg_spring_len + FLT_EPSILON); + + BPH_mass_spring_force_spring_linear(data, + s->ij, + s->kl, + s->restlen, + k, + parms->shear_damp, + 0.0f, + 0.0f, + resist_compress, + false, + 0.0f); #endif - } - else if (s->type & CLOTH_SPRING_TYPE_BENDING) { /* calculate force of bending springs */ + } + else if (s->type & CLOTH_SPRING_TYPE_BENDING) { /* calculate force of bending springs */ #ifdef CLOTH_FORCE_SPRING_BEND - float kb, cb, scaling; + float kb, cb, scaling; - s->flags |= CLOTH_SPRING_FLAG_NEEDED; + s->flags |= CLOTH_SPRING_FLAG_NEEDED; - scaling = parms->bending + s->lin_stiffness * fabsf(parms->max_bend - parms->bending); - kb = scaling / (20.0f * (parms->avg_spring_len + FLT_EPSILON)); + scaling = parms->bending + s->lin_stiffness * fabsf(parms->max_bend - parms->bending); + kb = scaling / (20.0f * (parms->avg_spring_len + FLT_EPSILON)); - // Fix for [#45084] for cloth stiffness must have cb proportional to kb - cb = kb * parms->bending_damping; + // Fix for [#45084] for cloth stiffness must have cb proportional to kb + cb = kb * parms->bending_damping; - BPH_mass_spring_force_spring_bending(data, s->ij, s->kl, s->restlen, kb, cb); + BPH_mass_spring_force_spring_bending(data, s->ij, s->kl, s->restlen, kb, cb); #endif - } - else if (s->type & CLOTH_SPRING_TYPE_BENDING_HAIR) { + } + else if (s->type & CLOTH_SPRING_TYPE_BENDING_HAIR) { #ifdef CLOTH_FORCE_SPRING_BEND - float kb, cb, scaling; + float kb, cb, scaling; - s->flags |= CLOTH_SPRING_FLAG_NEEDED; + s->flags |= CLOTH_SPRING_FLAG_NEEDED; - /* XXX WARNING: angular bending springs for hair apply stiffness factor as an overall factor, unlike cloth springs! - * this is crap, but needed due to cloth/hair mixing ... - * max_bend factor is not even used for hair, so ... - */ - scaling = s->lin_stiffness * parms->bending; - kb = scaling / (20.0f * (parms->avg_spring_len + FLT_EPSILON)); + /* XXX WARNING: angular bending springs for hair apply stiffness factor as an overall factor, unlike cloth springs! + * this is crap, but needed due to cloth/hair mixing ... + * max_bend factor is not even used for hair, so ... + */ + scaling = s->lin_stiffness * parms->bending; + kb = scaling / (20.0f * (parms->avg_spring_len + FLT_EPSILON)); - // Fix for [#45084] for cloth stiffness must have cb proportional to kb - cb = kb * parms->bending_damping; + // Fix for [#45084] for cloth stiffness must have cb proportional to kb + cb = kb * parms->bending_damping; - /* XXX assuming same restlen for ij and jk segments here, this can be done correctly for hair later */ - BPH_mass_spring_force_spring_bending_hair(data, s->ij, s->kl, s->mn, s->target, kb, cb); + /* XXX assuming same restlen for ij and jk segments here, this can be done correctly for hair later */ + BPH_mass_spring_force_spring_bending_hair(data, s->ij, s->kl, s->mn, s->target, kb, cb); -#if 0 - { - float x_kl[3], x_mn[3], v[3], d[3]; +# if 0 + { + float x_kl[3], x_mn[3], v[3], d[3]; - BPH_mass_spring_get_motion_state(data, s->kl, x_kl, v); - BPH_mass_spring_get_motion_state(data, s->mn, x_mn, v); + BPH_mass_spring_get_motion_state(data, s->kl, x_kl, v); + BPH_mass_spring_get_motion_state(data, s->mn, x_mn, v); - BKE_sim_debug_data_add_dot(clmd->debug_data, x_kl, 0.9, 0.9, 0.9, "target", 7980, s->kl); - BKE_sim_debug_data_add_line(clmd->debug_data, x_kl, x_mn, 0.8, 0.8, 0.8, "target", 7981, s->kl); + BKE_sim_debug_data_add_dot(clmd->debug_data, x_kl, 0.9, 0.9, 0.9, "target", 7980, s->kl); + BKE_sim_debug_data_add_line(clmd->debug_data, x_kl, x_mn, 0.8, 0.8, 0.8, "target", 7981, s->kl); - copy_v3_v3(d, s->target); - BKE_sim_debug_data_add_vector(clmd->debug_data, x_kl, d, 0.8, 0.8, 0.2, "target", 7982, s->kl); + copy_v3_v3(d, s->target); + BKE_sim_debug_data_add_vector(clmd->debug_data, x_kl, d, 0.8, 0.8, 0.2, "target", 7982, s->kl); -// copy_v3_v3(d, s->target_ij); -// BKE_sim_debug_data_add_vector(clmd->debug_data, x, d, 1, 0.4, 0.4, "target", 7983, s->kl); - } -#endif +// copy_v3_v3(d, s->target_ij); +// BKE_sim_debug_data_add_vector(clmd->debug_data, x, d, 1, 0.4, 0.4, "target", 7983, s->kl); + } +# endif #endif - } + } } static void hair_get_boundbox(ClothModifierData *clmd, float gmin[3], float gmax[3]) { - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - unsigned int mvert_num = cloth->mvert_num; - int i; - - INIT_MINMAX(gmin, gmax); - for (i = 0; i < mvert_num; i++) { - float x[3]; - BPH_mass_spring_get_motion_state(data, i, x, NULL); - DO_MINMAX(x, gmin, gmax); - } + Cloth *cloth = clmd->clothObject; + Implicit_Data *data = cloth->implicit; + unsigned int mvert_num = cloth->mvert_num; + int i; + + INIT_MINMAX(gmin, gmax); + for (i = 0; i < mvert_num; i++) { + float x[3]; + BPH_mass_spring_get_motion_state(data, i, x, NULL); + DO_MINMAX(x, gmin, gmax); + } } -static void cloth_calc_force(Scene *scene, ClothModifierData *clmd, float UNUSED(frame), ListBase *effectors, float time) +static void cloth_calc_force( + Scene *scene, ClothModifierData *clmd, float UNUSED(frame), ListBase *effectors, float time) { - /* Collect forces and derivatives: F, dFdX, dFdV */ - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - unsigned int i = 0; - float drag = clmd->sim_parms->Cvi * 0.01f; /* viscosity of air scaled in percent */ - float gravity[3] = {0.0f, 0.0f, 0.0f}; - const MVertTri *tri = cloth->tri; - unsigned int mvert_num = cloth->mvert_num; - ClothVertex *vert; + /* Collect forces and derivatives: F, dFdX, dFdV */ + Cloth *cloth = clmd->clothObject; + Implicit_Data *data = cloth->implicit; + unsigned int i = 0; + float drag = clmd->sim_parms->Cvi * 0.01f; /* viscosity of air scaled in percent */ + float gravity[3] = {0.0f, 0.0f, 0.0f}; + const MVertTri *tri = cloth->tri; + unsigned int mvert_num = cloth->mvert_num; + ClothVertex *vert; #ifdef CLOTH_FORCE_GRAVITY - /* global acceleration (gravitation) */ - if (scene->physics_settings.flag & PHYS_GLOBAL_GRAVITY) { - /* scale gravity force */ - mul_v3_v3fl(gravity, scene->physics_settings.gravity, 0.001f * clmd->sim_parms->effector_weights->global_gravity); - } - - vert = cloth->verts; - for (i = 0; i < cloth->mvert_num; i++, vert++) { - BPH_mass_spring_force_gravity(data, i, vert->mass, gravity); - - /* Vertex goal springs */ - if ((!(vert->flags & CLOTH_VERT_FLAG_PINNED)) && (vert->goal > FLT_EPSILON)) { - float goal_x[3], goal_v[3]; - float k; - - /* divide by time_scale to prevent goal vertices' delta locations from being multiplied */ - interp_v3_v3v3(goal_x, vert->xold, vert->xconst, time / clmd->sim_parms->time_scale); - sub_v3_v3v3(goal_v, vert->xconst, vert->xold); /* distance covered over dt==1 */ - - k = vert->goal * clmd->sim_parms->goalspring / (clmd->sim_parms->avg_spring_len + FLT_EPSILON); - - BPH_mass_spring_force_spring_goal(data, i, goal_x, goal_v, k, clmd->sim_parms->goalfrict * 0.01f); - } - } + /* global acceleration (gravitation) */ + if (scene->physics_settings.flag & PHYS_GLOBAL_GRAVITY) { + /* scale gravity force */ + mul_v3_v3fl(gravity, + scene->physics_settings.gravity, + 0.001f * clmd->sim_parms->effector_weights->global_gravity); + } + + vert = cloth->verts; + for (i = 0; i < cloth->mvert_num; i++, vert++) { + BPH_mass_spring_force_gravity(data, i, vert->mass, gravity); + + /* Vertex goal springs */ + if ((!(vert->flags & CLOTH_VERT_FLAG_PINNED)) && (vert->goal > FLT_EPSILON)) { + float goal_x[3], goal_v[3]; + float k; + + /* divide by time_scale to prevent goal vertices' delta locations from being multiplied */ + interp_v3_v3v3(goal_x, vert->xold, vert->xconst, time / clmd->sim_parms->time_scale); + sub_v3_v3v3(goal_v, vert->xconst, vert->xold); /* distance covered over dt==1 */ + + k = vert->goal * clmd->sim_parms->goalspring / + (clmd->sim_parms->avg_spring_len + FLT_EPSILON); + + BPH_mass_spring_force_spring_goal( + data, i, goal_x, goal_v, k, clmd->sim_parms->goalfrict * 0.01f); + } + } #endif - /* cloth_calc_volume_force(clmd); */ + /* cloth_calc_volume_force(clmd); */ #ifdef CLOTH_FORCE_DRAG - BPH_mass_spring_force_drag(data, drag); + BPH_mass_spring_force_drag(data, drag); #endif - /* handle external forces like wind */ - if (effectors) { - /* cache per-vertex forces to avoid redundant calculation */ - float(*winvec)[3] = (float(*)[3])MEM_callocN(sizeof(float[3]) * mvert_num, "effector forces"); - for (i = 0; i < cloth->mvert_num; i++) { - float x[3], v[3]; - EffectedPoint epoint; - - BPH_mass_spring_get_motion_state(data, i, x, v); - pd_point_from_loc(scene, x, v, i, &epoint); - BKE_effectors_apply(effectors, NULL, clmd->sim_parms->effector_weights, &epoint, winvec[i], NULL); - } - - for (i = 0; i < cloth->tri_num; i++) { - const MVertTri *vt = &tri[i]; - BPH_mass_spring_force_face_wind(data, vt->tri[0], vt->tri[1], vt->tri[2], winvec); - } - - /* Hair has only edges */ - if (cloth->tri_num == 0) { + /* handle external forces like wind */ + if (effectors) { + /* cache per-vertex forces to avoid redundant calculation */ + float(*winvec)[3] = (float(*)[3])MEM_callocN(sizeof(float[3]) * mvert_num, "effector forces"); + for (i = 0; i < cloth->mvert_num; i++) { + float x[3], v[3]; + EffectedPoint epoint; + + BPH_mass_spring_get_motion_state(data, i, x, v); + pd_point_from_loc(scene, x, v, i, &epoint); + BKE_effectors_apply( + effectors, NULL, clmd->sim_parms->effector_weights, &epoint, winvec[i], NULL); + } + + for (i = 0; i < cloth->tri_num; i++) { + const MVertTri *vt = &tri[i]; + BPH_mass_spring_force_face_wind(data, vt->tri[0], vt->tri[1], vt->tri[2], winvec); + } + + /* Hair has only edges */ + if (cloth->tri_num == 0) { #if 0 - ClothHairData *hairdata = clmd->hairdata; - ClothHairData *hair_ij, *hair_kl; - - for (LinkNode *link = cloth->springs; link; link = link->next) { - ClothSpring *spring = (ClothSpring *)link->link; - if (spring->type == CLOTH_SPRING_TYPE_STRUCTURAL) { - if (hairdata) { - hair_ij = &hairdata[spring->ij]; - hair_kl = &hairdata[spring->kl]; - BPH_mass_spring_force_edge_wind(data, spring->ij, spring->kl, hair_ij->radius, hair_kl->radius, winvec); - } - else - BPH_mass_spring_force_edge_wind(data, spring->ij, spring->kl, 1.0f, 1.0f, winvec); - } - } + ClothHairData *hairdata = clmd->hairdata; + ClothHairData *hair_ij, *hair_kl; + + for (LinkNode *link = cloth->springs; link; link = link->next) { + ClothSpring *spring = (ClothSpring *)link->link; + if (spring->type == CLOTH_SPRING_TYPE_STRUCTURAL) { + if (hairdata) { + hair_ij = &hairdata[spring->ij]; + hair_kl = &hairdata[spring->kl]; + BPH_mass_spring_force_edge_wind(data, spring->ij, spring->kl, hair_ij->radius, hair_kl->radius, winvec); + } + else + BPH_mass_spring_force_edge_wind(data, spring->ij, spring->kl, 1.0f, 1.0f, winvec); + } + } #else - ClothHairData *hairdata = clmd->hairdata; - - vert = cloth->verts; - for (i = 0; i < cloth->mvert_num; i++, vert++) { - if (hairdata) { - ClothHairData *hair = &hairdata[i]; - BPH_mass_spring_force_vertex_wind(data, i, hair->radius, winvec); - } - else - BPH_mass_spring_force_vertex_wind(data, i, 1.0f, winvec); - } + ClothHairData *hairdata = clmd->hairdata; + + vert = cloth->verts; + for (i = 0; i < cloth->mvert_num; i++, vert++) { + if (hairdata) { + ClothHairData *hair = &hairdata[i]; + BPH_mass_spring_force_vertex_wind(data, i, hair->radius, winvec); + } + else + BPH_mass_spring_force_vertex_wind(data, i, 1.0f, winvec); + } #endif - } - - MEM_freeN(winvec); - } - - // calculate spring forces - for (LinkNode *link = cloth->springs; link; link = link->next) { - ClothSpring *spring = (ClothSpring *)link->link; - // only handle active springs - if (!(spring->flags & CLOTH_SPRING_FLAG_DEACTIVATE)) { - cloth_calc_spring_force(clmd, spring); - } - } + } + + MEM_freeN(winvec); + } + + // calculate spring forces + for (LinkNode *link = cloth->springs; link; link = link->next) { + ClothSpring *spring = (ClothSpring *)link->link; + // only handle active springs + if (!(spring->flags & CLOTH_SPRING_FLAG_DEACTIVATE)) { + cloth_calc_spring_force(clmd, spring); + } + } } /* returns vertexes' motion state */ -BLI_INLINE void cloth_get_grid_location(Implicit_Data *data, float cell_scale, const float cell_offset[3], - int index, float x[3], float v[3]) +BLI_INLINE void cloth_get_grid_location(Implicit_Data *data, + float cell_scale, + const float cell_offset[3], + int index, + float x[3], + float v[3]) { - BPH_mass_spring_get_position(data, index, x); - BPH_mass_spring_get_new_velocity(data, index, v); + BPH_mass_spring_get_position(data, index, x); + BPH_mass_spring_get_new_velocity(data, index, v); - mul_v3_fl(x, cell_scale); - add_v3_v3(x, cell_offset); + mul_v3_fl(x, cell_scale); + add_v3_v3(x, cell_offset); } /* returns next spring forming a continuous hair sequence */ BLI_INLINE LinkNode *hair_spring_next(LinkNode *spring_link) { - ClothSpring *spring = (ClothSpring *)spring_link->link; - LinkNode *next = spring_link->next; - if (next) { - ClothSpring *next_spring = (ClothSpring *)next->link; - if (next_spring->type == CLOTH_SPRING_TYPE_STRUCTURAL && next_spring->kl == spring->ij) - return next; - } - return NULL; + ClothSpring *spring = (ClothSpring *)spring_link->link; + LinkNode *next = spring_link->next; + if (next) { + ClothSpring *next_spring = (ClothSpring *)next->link; + if (next_spring->type == CLOTH_SPRING_TYPE_STRUCTURAL && next_spring->kl == spring->ij) + return next; + } + return NULL; } /* XXX this is nasty: cloth meshes do not explicitly store @@ -605,459 +658,481 @@ BLI_INLINE LinkNode *hair_spring_next(LinkNode *spring_link) * (3,4), (2,3), (1,2) * This is currently the only way to figure out hair geometry inside this code ... */ -static LinkNode *cloth_continuum_add_hair_segments(HairGrid *grid, const float cell_scale, const float cell_offset[3], Cloth *cloth, LinkNode *spring_link) +static LinkNode *cloth_continuum_add_hair_segments(HairGrid *grid, + const float cell_scale, + const float cell_offset[3], + Cloth *cloth, + LinkNode *spring_link) { - Implicit_Data *data = cloth->implicit; - LinkNode *next_spring_link = NULL; /* return value */ - ClothSpring *spring1, *spring2, *spring3; - // ClothVertex *verts = cloth->verts; - // ClothVertex *vert3, *vert4; - float x1[3], v1[3], x2[3], v2[3], x3[3], v3[3], x4[3], v4[3]; - float dir1[3], dir2[3], dir3[3]; - - spring1 = NULL; - spring2 = NULL; - spring3 = (ClothSpring *)spring_link->link; - - zero_v3(x1); zero_v3(v1); - zero_v3(dir1); - zero_v3(x2); zero_v3(v2); - zero_v3(dir2); - - // vert3 = &verts[spring3->kl]; - cloth_get_grid_location(data, cell_scale, cell_offset, spring3->kl, x3, v3); - // vert4 = &verts[spring3->ij]; - cloth_get_grid_location(data, cell_scale, cell_offset, spring3->ij, x4, v4); - sub_v3_v3v3(dir3, x4, x3); - normalize_v3(dir3); - - while (spring_link) { - /* move on */ - spring1 = spring2; - spring2 = spring3; - - // vert3 = vert4; - - copy_v3_v3(x1, x2); copy_v3_v3(v1, v2); - copy_v3_v3(x2, x3); copy_v3_v3(v2, v3); - copy_v3_v3(x3, x4); copy_v3_v3(v3, v4); - - copy_v3_v3(dir1, dir2); - copy_v3_v3(dir2, dir3); - - /* read next segment */ - next_spring_link = spring_link->next; - spring_link = hair_spring_next(spring_link); - - if (spring_link) { - spring3 = (ClothSpring *)spring_link->link; - // vert4 = &verts[spring3->ij]; - cloth_get_grid_location(data, cell_scale, cell_offset, spring3->ij, x4, v4); - sub_v3_v3v3(dir3, x4, x3); - normalize_v3(dir3); - } - else { - spring3 = NULL; - // vert4 = NULL; - zero_v3(x4); zero_v3(v4); - zero_v3(dir3); - } - - BPH_hair_volume_add_segment(grid, x1, v1, x2, v2, x3, v3, x4, v4, - spring1 ? dir1 : NULL, - dir2, - spring3 ? dir3 : NULL); - } - - return next_spring_link; + Implicit_Data *data = cloth->implicit; + LinkNode *next_spring_link = NULL; /* return value */ + ClothSpring *spring1, *spring2, *spring3; + // ClothVertex *verts = cloth->verts; + // ClothVertex *vert3, *vert4; + float x1[3], v1[3], x2[3], v2[3], x3[3], v3[3], x4[3], v4[3]; + float dir1[3], dir2[3], dir3[3]; + + spring1 = NULL; + spring2 = NULL; + spring3 = (ClothSpring *)spring_link->link; + + zero_v3(x1); + zero_v3(v1); + zero_v3(dir1); + zero_v3(x2); + zero_v3(v2); + zero_v3(dir2); + + // vert3 = &verts[spring3->kl]; + cloth_get_grid_location(data, cell_scale, cell_offset, spring3->kl, x3, v3); + // vert4 = &verts[spring3->ij]; + cloth_get_grid_location(data, cell_scale, cell_offset, spring3->ij, x4, v4); + sub_v3_v3v3(dir3, x4, x3); + normalize_v3(dir3); + + while (spring_link) { + /* move on */ + spring1 = spring2; + spring2 = spring3; + + // vert3 = vert4; + + copy_v3_v3(x1, x2); + copy_v3_v3(v1, v2); + copy_v3_v3(x2, x3); + copy_v3_v3(v2, v3); + copy_v3_v3(x3, x4); + copy_v3_v3(v3, v4); + + copy_v3_v3(dir1, dir2); + copy_v3_v3(dir2, dir3); + + /* read next segment */ + next_spring_link = spring_link->next; + spring_link = hair_spring_next(spring_link); + + if (spring_link) { + spring3 = (ClothSpring *)spring_link->link; + // vert4 = &verts[spring3->ij]; + cloth_get_grid_location(data, cell_scale, cell_offset, spring3->ij, x4, v4); + sub_v3_v3v3(dir3, x4, x3); + normalize_v3(dir3); + } + else { + spring3 = NULL; + // vert4 = NULL; + zero_v3(x4); + zero_v3(v4); + zero_v3(dir3); + } + + BPH_hair_volume_add_segment( + grid, x1, v1, x2, v2, x3, v3, x4, v4, spring1 ? dir1 : NULL, dir2, spring3 ? dir3 : NULL); + } + + return next_spring_link; } static void cloth_continuum_fill_grid(HairGrid *grid, Cloth *cloth) { #if 0 - Implicit_Data *data = cloth->implicit; - int mvert_num = cloth->mvert_num; - ClothVertex *vert; - int i; + Implicit_Data *data = cloth->implicit; + int mvert_num = cloth->mvert_num; + ClothVertex *vert; + int i; - for (i = 0, vert = cloth->verts; i < mvert_num; i++, vert++) { - float x[3], v[3]; + for (i = 0, vert = cloth->verts; i < mvert_num; i++, vert++) { + float x[3], v[3]; - cloth_get_vertex_motion_state(data, vert, x, v); - BPH_hair_volume_add_vertex(grid, x, v); - } + cloth_get_vertex_motion_state(data, vert, x, v); + BPH_hair_volume_add_vertex(grid, x, v); + } #else - LinkNode *link; - float cellsize, gmin[3], cell_scale, cell_offset[3]; - - /* scale and offset for transforming vertex locations into grid space - * (cell size is 0..1, gmin becomes origin) - */ - BPH_hair_volume_grid_geometry(grid, &cellsize, NULL, gmin, NULL); - cell_scale = cellsize > 0.0f ? 1.0f / cellsize : 0.0f; - mul_v3_v3fl(cell_offset, gmin, cell_scale); - negate_v3(cell_offset); - - link = cloth->springs; - while (link) { - ClothSpring *spring = (ClothSpring *)link->link; - if (spring->type == CLOTH_SPRING_TYPE_STRUCTURAL) - link = cloth_continuum_add_hair_segments(grid, cell_scale, cell_offset, cloth, link); - else - link = link->next; - } + LinkNode *link; + float cellsize, gmin[3], cell_scale, cell_offset[3]; + + /* scale and offset for transforming vertex locations into grid space + * (cell size is 0..1, gmin becomes origin) + */ + BPH_hair_volume_grid_geometry(grid, &cellsize, NULL, gmin, NULL); + cell_scale = cellsize > 0.0f ? 1.0f / cellsize : 0.0f; + mul_v3_v3fl(cell_offset, gmin, cell_scale); + negate_v3(cell_offset); + + link = cloth->springs; + while (link) { + ClothSpring *spring = (ClothSpring *)link->link; + if (spring->type == CLOTH_SPRING_TYPE_STRUCTURAL) + link = cloth_continuum_add_hair_segments(grid, cell_scale, cell_offset, cloth, link); + else + link = link->next; + } #endif - BPH_hair_volume_normalize_vertex_grid(grid); + BPH_hair_volume_normalize_vertex_grid(grid); } static void cloth_continuum_step(ClothModifierData *clmd, float dt) { - ClothSimSettings *parms = clmd->sim_parms; - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - int mvert_num = cloth->mvert_num; - ClothVertex *vert; - - const float fluid_factor = 0.95f; /* blend between PIC and FLIP methods */ - float smoothfac = parms->velocity_smooth; - /* XXX FIXME arbitrary factor!!! this should be based on some intuitive value instead, - * like number of hairs per cell and time decay instead of "strength" - */ - float density_target = parms->density_target; - float density_strength = parms->density_strength; - float gmin[3], gmax[3]; - int i; - - /* clear grid info */ - zero_v3_int(clmd->hair_grid_res); - zero_v3(clmd->hair_grid_min); - zero_v3(clmd->hair_grid_max); - clmd->hair_grid_cellsize = 0.0f; - - hair_get_boundbox(clmd, gmin, gmax); - - /* gather velocities & density */ - if (smoothfac > 0.0f || density_strength > 0.0f) { - HairGrid *grid = BPH_hair_volume_create_vertex_grid(clmd->sim_parms->voxel_cell_size, gmin, gmax); - - cloth_continuum_fill_grid(grid, cloth); - - /* main hair continuum solver */ - BPH_hair_volume_solve_divergence(grid, dt, density_target, density_strength); - - for (i = 0, vert = cloth->verts; i < mvert_num; i++, vert++) { - float x[3], v[3], nv[3]; - - /* calculate volumetric velocity influence */ - BPH_mass_spring_get_position(data, i, x); - BPH_mass_spring_get_new_velocity(data, i, v); - - BPH_hair_volume_grid_velocity(grid, x, v, fluid_factor, nv); - - interp_v3_v3v3(nv, v, nv, smoothfac); - - /* apply on hair data */ - BPH_mass_spring_set_new_velocity(data, i, nv); - } - - /* store basic grid info in the modifier data */ - BPH_hair_volume_grid_geometry(grid, &clmd->hair_grid_cellsize, clmd->hair_grid_res, clmd->hair_grid_min, clmd->hair_grid_max); + ClothSimSettings *parms = clmd->sim_parms; + Cloth *cloth = clmd->clothObject; + Implicit_Data *data = cloth->implicit; + int mvert_num = cloth->mvert_num; + ClothVertex *vert; + + const float fluid_factor = 0.95f; /* blend between PIC and FLIP methods */ + float smoothfac = parms->velocity_smooth; + /* XXX FIXME arbitrary factor!!! this should be based on some intuitive value instead, + * like number of hairs per cell and time decay instead of "strength" + */ + float density_target = parms->density_target; + float density_strength = parms->density_strength; + float gmin[3], gmax[3]; + int i; + + /* clear grid info */ + zero_v3_int(clmd->hair_grid_res); + zero_v3(clmd->hair_grid_min); + zero_v3(clmd->hair_grid_max); + clmd->hair_grid_cellsize = 0.0f; + + hair_get_boundbox(clmd, gmin, gmax); + + /* gather velocities & density */ + if (smoothfac > 0.0f || density_strength > 0.0f) { + HairGrid *grid = BPH_hair_volume_create_vertex_grid( + clmd->sim_parms->voxel_cell_size, gmin, gmax); + + cloth_continuum_fill_grid(grid, cloth); + + /* main hair continuum solver */ + BPH_hair_volume_solve_divergence(grid, dt, density_target, density_strength); + + for (i = 0, vert = cloth->verts; i < mvert_num; i++, vert++) { + float x[3], v[3], nv[3]; + + /* calculate volumetric velocity influence */ + BPH_mass_spring_get_position(data, i, x); + BPH_mass_spring_get_new_velocity(data, i, v); + + BPH_hair_volume_grid_velocity(grid, x, v, fluid_factor, nv); + + interp_v3_v3v3(nv, v, nv, smoothfac); + + /* apply on hair data */ + BPH_mass_spring_set_new_velocity(data, i, nv); + } + + /* store basic grid info in the modifier data */ + BPH_hair_volume_grid_geometry(grid, + &clmd->hair_grid_cellsize, + clmd->hair_grid_res, + clmd->hair_grid_min, + clmd->hair_grid_max); #if 0 /* DEBUG hair velocity vector field */ - { - const int size = 64; - int i, j; - float offset[3], a[3], b[3]; - const int axis = 0; - const float shift = 0.0f; - - copy_v3_v3(offset, clmd->hair_grid_min); - zero_v3(a); - zero_v3(b); - - offset[axis] = shift * clmd->hair_grid_cellsize; - a[(axis + 1) % 3] = clmd->hair_grid_max[(axis + 1) % 3] - clmd->hair_grid_min[(axis + 1) % 3]; - b[(axis + 2) % 3] = clmd->hair_grid_max[(axis + 2) % 3] - clmd->hair_grid_min[(axis + 2) % 3]; - - BKE_sim_debug_data_clear_category(clmd->debug_data, "grid velocity"); - for (j = 0; j < size; ++j) { - for (i = 0; i < size; ++i) { - float x[3], v[3], gvel[3], gvel_smooth[3], gdensity; - - madd_v3_v3v3fl(x, offset, a, (float)i / (float)(size - 1)); - madd_v3_v3fl(x, b, (float)j / (float)(size - 1)); - zero_v3(v); - - BPH_hair_volume_grid_interpolate(grid, x, &gdensity, gvel, gvel_smooth, NULL, NULL); - -// BKE_sim_debug_data_add_circle(clmd->debug_data, x, gdensity, 0.7, 0.3, 1, "grid density", i, j, 3111); - if (!is_zero_v3(gvel) || !is_zero_v3(gvel_smooth)) { - float dvel[3]; - sub_v3_v3v3(dvel, gvel_smooth, gvel); -// BKE_sim_debug_data_add_vector(clmd->debug_data, x, gvel, 0.4, 0, 1, "grid velocity", i, j, 3112); -// BKE_sim_debug_data_add_vector(clmd->debug_data, x, gvel_smooth, 0.6, 1, 1, "grid velocity", i, j, 3113); - BKE_sim_debug_data_add_vector(clmd->debug_data, x, dvel, 0.4, 1, 0.7, "grid velocity", i, j, 3114); -#if 0 - if (gdensity > 0.0f) { - float col0[3] = {0.0, 0.0, 0.0}; - float col1[3] = {0.0, 1.0, 0.0}; - float col[3]; - - interp_v3_v3v3(col, col0, col1, CLAMPIS(gdensity * clmd->sim_parms->density_strength, 0.0, 1.0)); -// BKE_sim_debug_data_add_circle(clmd->debug_data, x, gdensity * clmd->sim_parms->density_strength, 0, 1, 0.4, "grid velocity", i, j, 3115); -// BKE_sim_debug_data_add_dot(clmd->debug_data, x, col[0], col[1], col[2], "grid velocity", i, j, 3115); - BKE_sim_debug_data_add_circle(clmd->debug_data, x, 0.01f, col[0], col[1], col[2], "grid velocity", i, j, 3115); - } -#endif - } - } - } - } + { + const int size = 64; + int i, j; + float offset[3], a[3], b[3]; + const int axis = 0; + const float shift = 0.0f; + + copy_v3_v3(offset, clmd->hair_grid_min); + zero_v3(a); + zero_v3(b); + + offset[axis] = shift * clmd->hair_grid_cellsize; + a[(axis + 1) % 3] = clmd->hair_grid_max[(axis + 1) % 3] - clmd->hair_grid_min[(axis + 1) % 3]; + b[(axis + 2) % 3] = clmd->hair_grid_max[(axis + 2) % 3] - clmd->hair_grid_min[(axis + 2) % 3]; + + BKE_sim_debug_data_clear_category(clmd->debug_data, "grid velocity"); + for (j = 0; j < size; ++j) { + for (i = 0; i < size; ++i) { + float x[3], v[3], gvel[3], gvel_smooth[3], gdensity; + + madd_v3_v3v3fl(x, offset, a, (float)i / (float)(size - 1)); + madd_v3_v3fl(x, b, (float)j / (float)(size - 1)); + zero_v3(v); + + BPH_hair_volume_grid_interpolate(grid, x, &gdensity, gvel, gvel_smooth, NULL, NULL); + +// BKE_sim_debug_data_add_circle(clmd->debug_data, x, gdensity, 0.7, 0.3, 1, "grid density", i, j, 3111); + if (!is_zero_v3(gvel) || !is_zero_v3(gvel_smooth)) { + float dvel[3]; + sub_v3_v3v3(dvel, gvel_smooth, gvel); +// BKE_sim_debug_data_add_vector(clmd->debug_data, x, gvel, 0.4, 0, 1, "grid velocity", i, j, 3112); +// BKE_sim_debug_data_add_vector(clmd->debug_data, x, gvel_smooth, 0.6, 1, 1, "grid velocity", i, j, 3113); + BKE_sim_debug_data_add_vector(clmd->debug_data, x, dvel, 0.4, 1, 0.7, "grid velocity", i, j, 3114); +# if 0 + if (gdensity > 0.0f) { + float col0[3] = {0.0, 0.0, 0.0}; + float col1[3] = {0.0, 1.0, 0.0}; + float col[3]; + + interp_v3_v3v3(col, col0, col1, CLAMPIS(gdensity * clmd->sim_parms->density_strength, 0.0, 1.0)); +// BKE_sim_debug_data_add_circle(clmd->debug_data, x, gdensity * clmd->sim_parms->density_strength, 0, 1, 0.4, "grid velocity", i, j, 3115); +// BKE_sim_debug_data_add_dot(clmd->debug_data, x, col[0], col[1], col[2], "grid velocity", i, j, 3115); + BKE_sim_debug_data_add_circle(clmd->debug_data, x, 0.01f, col[0], col[1], col[2], "grid velocity", i, j, 3115); + } +# endif + } + } + } + } #endif - BPH_hair_volume_free_vertex_grid(grid); - } + BPH_hair_volume_free_vertex_grid(grid); + } } #if 0 static void cloth_calc_volume_force(ClothModifierData *clmd) { - ClothSimSettings *parms = clmd->sim_parms; - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - int mvert_num = cloth->mvert_num; - ClothVertex *vert; - - /* 2.0f is an experimental value that seems to give good results */ - float smoothfac = 2.0f * parms->velocity_smooth; - float collfac = 2.0f * parms->collider_friction; - float pressfac = parms->pressure; - float minpress = parms->pressure_threshold; - float gmin[3], gmax[3]; - int i; - - hair_get_boundbox(clmd, gmin, gmax); - - /* gather velocities & density */ - if (smoothfac > 0.0f || pressfac > 0.0f) { - HairVertexGrid *vertex_grid = BPH_hair_volume_create_vertex_grid(clmd->sim_parms->voxel_res, gmin, gmax); - - vert = cloth->verts; - for (i = 0; i < mvert_num; i++, vert++) { - float x[3], v[3]; - - if (vert->solver_index < 0) { - copy_v3_v3(x, vert->x); - copy_v3_v3(v, vert->v); - } - else { - BPH_mass_spring_get_motion_state(data, vert->solver_index, x, v); - } - BPH_hair_volume_add_vertex(vertex_grid, x, v); - } - BPH_hair_volume_normalize_vertex_grid(vertex_grid); - - vert = cloth->verts; - for (i = 0; i < mvert_num; i++, vert++) { - float x[3], v[3], f[3], dfdx[3][3], dfdv[3][3]; - - if (vert->solver_index < 0) - continue; - - /* calculate volumetric forces */ - BPH_mass_spring_get_motion_state(data, vert->solver_index, x, v); - BPH_hair_volume_vertex_grid_forces(vertex_grid, x, v, smoothfac, pressfac, minpress, f, dfdx, dfdv); - /* apply on hair data */ - BPH_mass_spring_force_extern(data, vert->solver_index, f, dfdx, dfdv); - } - - BPH_hair_volume_free_vertex_grid(vertex_grid); - } + ClothSimSettings *parms = clmd->sim_parms; + Cloth *cloth = clmd->clothObject; + Implicit_Data *data = cloth->implicit; + int mvert_num = cloth->mvert_num; + ClothVertex *vert; + + /* 2.0f is an experimental value that seems to give good results */ + float smoothfac = 2.0f * parms->velocity_smooth; + float collfac = 2.0f * parms->collider_friction; + float pressfac = parms->pressure; + float minpress = parms->pressure_threshold; + float gmin[3], gmax[3]; + int i; + + hair_get_boundbox(clmd, gmin, gmax); + + /* gather velocities & density */ + if (smoothfac > 0.0f || pressfac > 0.0f) { + HairVertexGrid *vertex_grid = BPH_hair_volume_create_vertex_grid(clmd->sim_parms->voxel_res, gmin, gmax); + + vert = cloth->verts; + for (i = 0; i < mvert_num; i++, vert++) { + float x[3], v[3]; + + if (vert->solver_index < 0) { + copy_v3_v3(x, vert->x); + copy_v3_v3(v, vert->v); + } + else { + BPH_mass_spring_get_motion_state(data, vert->solver_index, x, v); + } + BPH_hair_volume_add_vertex(vertex_grid, x, v); + } + BPH_hair_volume_normalize_vertex_grid(vertex_grid); + + vert = cloth->verts; + for (i = 0; i < mvert_num; i++, vert++) { + float x[3], v[3], f[3], dfdx[3][3], dfdv[3][3]; + + if (vert->solver_index < 0) + continue; + + /* calculate volumetric forces */ + BPH_mass_spring_get_motion_state(data, vert->solver_index, x, v); + BPH_hair_volume_vertex_grid_forces(vertex_grid, x, v, smoothfac, pressfac, minpress, f, dfdx, dfdv); + /* apply on hair data */ + BPH_mass_spring_force_extern(data, vert->solver_index, f, dfdx, dfdv); + } + + BPH_hair_volume_free_vertex_grid(vertex_grid); + } } #endif -static void cloth_solve_collisions(Depsgraph *depsgraph, Object *ob, ClothModifierData *clmd, float step, float dt) +static void cloth_solve_collisions( + Depsgraph *depsgraph, Object *ob, ClothModifierData *clmd, float step, float dt) { - Cloth *cloth = clmd->clothObject; - Implicit_Data *id = cloth->implicit; - ClothVertex *verts = cloth->verts; - int mvert_num = cloth->mvert_num; - const float time_multiplier = 1.0f / (clmd->sim_parms->dt * clmd->sim_parms->timescale); - int i; - - if (!(clmd->coll_parms->flags & (CLOTH_COLLSETTINGS_FLAG_ENABLED | CLOTH_COLLSETTINGS_FLAG_SELF))) - return; - - if (!clmd->clothObject->bvhtree) - return; - - BPH_mass_spring_solve_positions(id, dt); - - /* Update verts to current positions. */ - for (i = 0; i < mvert_num; i++) { - BPH_mass_spring_get_new_position(id, i, verts[i].tx); - - sub_v3_v3v3(verts[i].tv, verts[i].tx, verts[i].txold); - zero_v3(verts[i].dcvel); - } - - if (cloth_bvh_collision(depsgraph, ob, clmd, step / clmd->sim_parms->timescale, dt / clmd->sim_parms->timescale)) { - for (i = 0; i < mvert_num; i++) { - if ((clmd->sim_parms->vgroup_mass > 0) && (verts[i].flags & CLOTH_VERT_FLAG_PINNED)) - continue; - - BPH_mass_spring_get_new_velocity(id, i, verts[i].tv); - madd_v3_v3fl(verts[i].tv, verts[i].dcvel, time_multiplier); - BPH_mass_spring_set_new_velocity(id, i, verts[i].tv); - } - } + Cloth *cloth = clmd->clothObject; + Implicit_Data *id = cloth->implicit; + ClothVertex *verts = cloth->verts; + int mvert_num = cloth->mvert_num; + const float time_multiplier = 1.0f / (clmd->sim_parms->dt * clmd->sim_parms->timescale); + int i; + + if (!(clmd->coll_parms->flags & + (CLOTH_COLLSETTINGS_FLAG_ENABLED | CLOTH_COLLSETTINGS_FLAG_SELF))) + return; + + if (!clmd->clothObject->bvhtree) + return; + + BPH_mass_spring_solve_positions(id, dt); + + /* Update verts to current positions. */ + for (i = 0; i < mvert_num; i++) { + BPH_mass_spring_get_new_position(id, i, verts[i].tx); + + sub_v3_v3v3(verts[i].tv, verts[i].tx, verts[i].txold); + zero_v3(verts[i].dcvel); + } + + if (cloth_bvh_collision(depsgraph, + ob, + clmd, + step / clmd->sim_parms->timescale, + dt / clmd->sim_parms->timescale)) { + for (i = 0; i < mvert_num; i++) { + if ((clmd->sim_parms->vgroup_mass > 0) && (verts[i].flags & CLOTH_VERT_FLAG_PINNED)) + continue; + + BPH_mass_spring_get_new_velocity(id, i, verts[i].tv); + madd_v3_v3fl(verts[i].tv, verts[i].dcvel, time_multiplier); + BPH_mass_spring_set_new_velocity(id, i, verts[i].tv); + } + } } static void cloth_clear_result(ClothModifierData *clmd) { - ClothSolverResult *sres = clmd->solver_result; + ClothSolverResult *sres = clmd->solver_result; - sres->status = 0; - sres->max_error = sres->min_error = sres->avg_error = 0.0f; - sres->max_iterations = sres->min_iterations = 0; - sres->avg_iterations = 0.0f; + sres->status = 0; + sres->max_error = sres->min_error = sres->avg_error = 0.0f; + sres->max_iterations = sres->min_iterations = 0; + sres->avg_iterations = 0.0f; } static void cloth_record_result(ClothModifierData *clmd, ImplicitSolverResult *result, float dt) { - ClothSolverResult *sres = clmd->solver_result; - - if (sres->status) { /* already initialized ? */ - /* error only makes sense for successful iterations */ - if (result->status == BPH_SOLVER_SUCCESS) { - sres->min_error = min_ff(sres->min_error, result->error); - sres->max_error = max_ff(sres->max_error, result->error); - sres->avg_error += result->error * dt; - } - - sres->min_iterations = min_ii(sres->min_iterations, result->iterations); - sres->max_iterations = max_ii(sres->max_iterations, result->iterations); - sres->avg_iterations += (float)result->iterations * dt; - } - else { - /* error only makes sense for successful iterations */ - if (result->status == BPH_SOLVER_SUCCESS) { - sres->min_error = sres->max_error = result->error; - sres->avg_error += result->error * dt; - } - - sres->min_iterations = sres->max_iterations = result->iterations; - sres->avg_iterations += (float)result->iterations * dt; - } - - sres->status |= result->status; + ClothSolverResult *sres = clmd->solver_result; + + if (sres->status) { /* already initialized ? */ + /* error only makes sense for successful iterations */ + if (result->status == BPH_SOLVER_SUCCESS) { + sres->min_error = min_ff(sres->min_error, result->error); + sres->max_error = max_ff(sres->max_error, result->error); + sres->avg_error += result->error * dt; + } + + sres->min_iterations = min_ii(sres->min_iterations, result->iterations); + sres->max_iterations = max_ii(sres->max_iterations, result->iterations); + sres->avg_iterations += (float)result->iterations * dt; + } + else { + /* error only makes sense for successful iterations */ + if (result->status == BPH_SOLVER_SUCCESS) { + sres->min_error = sres->max_error = result->error; + sres->avg_error += result->error * dt; + } + + sres->min_iterations = sres->max_iterations = result->iterations; + sres->avg_iterations += (float)result->iterations * dt; + } + + sres->status |= result->status; } -int BPH_cloth_solve(Depsgraph *depsgraph, Object *ob, float frame, ClothModifierData *clmd, ListBase *effectors) +int BPH_cloth_solve( + Depsgraph *depsgraph, Object *ob, float frame, ClothModifierData *clmd, ListBase *effectors) { - /* Hair currently is a cloth sim in disguise ... - * Collision detection and volumetrics work differently then. - * Bad design, TODO - */ - Scene *scene = DEG_get_evaluated_scene(depsgraph); - const bool is_hair = (clmd->hairdata != NULL); - - unsigned int i = 0; - float step = 0.0f, tf = clmd->sim_parms->timescale; - Cloth *cloth = clmd->clothObject; - ClothVertex *verts = cloth->verts /*, *cv*/; - unsigned int mvert_num = cloth->mvert_num; - float dt = clmd->sim_parms->dt * clmd->sim_parms->timescale; - Implicit_Data *id = cloth->implicit; - ColliderContacts *contacts = NULL; - int totcolliders = 0; - - BKE_sim_debug_data_clear_category("collision"); - - if (!clmd->solver_result) - clmd->solver_result = (ClothSolverResult *)MEM_callocN(sizeof(ClothSolverResult), "cloth solver result"); - cloth_clear_result(clmd); - - if (clmd->sim_parms->vgroup_mass > 0) { /* Do goal stuff. */ - for (i = 0; i < mvert_num; i++) { - // update velocities with constrained velocities from pinned verts - if (verts[i].flags & CLOTH_VERT_FLAG_PINNED) { - float v[3]; - sub_v3_v3v3(v, verts[i].xconst, verts[i].xold); - // mul_v3_fl(v, clmd->sim_parms->stepsPerFrame); - /* divide by time_scale to prevent constrained velocities from being multiplied */ - mul_v3_fl(v, 1.0f / clmd->sim_parms->time_scale); - BPH_mass_spring_set_velocity(id, i, v); - } - } - } - - while (step < tf) { - ImplicitSolverResult result; - - if (is_hair) { - /* determine contact points */ - if (clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_ENABLED) { - cloth_find_point_contacts(depsgraph, ob, clmd, 0.0f, tf, &contacts, &totcolliders); - } - - /* setup vertex constraints for pinned vertices and contacts */ - cloth_setup_constraints(clmd, contacts, totcolliders, dt); - } - else { - /* setup vertex constraints for pinned vertices */ - cloth_setup_constraints(clmd, NULL, 0, dt); - } - - /* initialize forces to zero */ - BPH_mass_spring_clear_forces(id); - - // calculate forces - cloth_calc_force(scene, clmd, frame, effectors, step); - - // calculate new velocity and position - BPH_mass_spring_solve_velocities(id, dt, &result); - cloth_record_result(clmd, &result, dt); - - /* Calculate collision impulses. */ - if (!is_hair) { - cloth_solve_collisions(depsgraph, ob, clmd, step, dt); - } - - if (is_hair) { - cloth_continuum_step(clmd, dt); - } - - BPH_mass_spring_solve_positions(id, dt); - BPH_mass_spring_apply_result(id); - - /* move pinned verts to correct position */ - for (i = 0; i < mvert_num; i++) { - if (clmd->sim_parms->vgroup_mass > 0) { - if (verts[i].flags & CLOTH_VERT_FLAG_PINNED) { - float x[3]; - /* divide by time_scale to prevent pinned vertices' delta locations from being multiplied */ - interp_v3_v3v3(x, verts[i].xold, verts[i].xconst, (step + dt) / clmd->sim_parms->time_scale); - BPH_mass_spring_set_position(id, i, x); - } - } - - BPH_mass_spring_get_motion_state(id, i, verts[i].txold, NULL); - } - - /* free contact points */ - if (contacts) { - cloth_free_contacts(contacts, totcolliders); - } - - step += dt; - } - - /* copy results back to cloth data */ - for (i = 0; i < mvert_num; i++) { - BPH_mass_spring_get_motion_state(id, i, verts[i].x, verts[i].v); - copy_v3_v3(verts[i].txold, verts[i].x); - } - - return 1; + /* Hair currently is a cloth sim in disguise ... + * Collision detection and volumetrics work differently then. + * Bad design, TODO + */ + Scene *scene = DEG_get_evaluated_scene(depsgraph); + const bool is_hair = (clmd->hairdata != NULL); + + unsigned int i = 0; + float step = 0.0f, tf = clmd->sim_parms->timescale; + Cloth *cloth = clmd->clothObject; + ClothVertex *verts = cloth->verts /*, *cv*/; + unsigned int mvert_num = cloth->mvert_num; + float dt = clmd->sim_parms->dt * clmd->sim_parms->timescale; + Implicit_Data *id = cloth->implicit; + ColliderContacts *contacts = NULL; + int totcolliders = 0; + + BKE_sim_debug_data_clear_category("collision"); + + if (!clmd->solver_result) + clmd->solver_result = (ClothSolverResult *)MEM_callocN(sizeof(ClothSolverResult), + "cloth solver result"); + cloth_clear_result(clmd); + + if (clmd->sim_parms->vgroup_mass > 0) { /* Do goal stuff. */ + for (i = 0; i < mvert_num; i++) { + // update velocities with constrained velocities from pinned verts + if (verts[i].flags & CLOTH_VERT_FLAG_PINNED) { + float v[3]; + sub_v3_v3v3(v, verts[i].xconst, verts[i].xold); + // mul_v3_fl(v, clmd->sim_parms->stepsPerFrame); + /* divide by time_scale to prevent constrained velocities from being multiplied */ + mul_v3_fl(v, 1.0f / clmd->sim_parms->time_scale); + BPH_mass_spring_set_velocity(id, i, v); + } + } + } + + while (step < tf) { + ImplicitSolverResult result; + + if (is_hair) { + /* determine contact points */ + if (clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_ENABLED) { + cloth_find_point_contacts(depsgraph, ob, clmd, 0.0f, tf, &contacts, &totcolliders); + } + + /* setup vertex constraints for pinned vertices and contacts */ + cloth_setup_constraints(clmd, contacts, totcolliders, dt); + } + else { + /* setup vertex constraints for pinned vertices */ + cloth_setup_constraints(clmd, NULL, 0, dt); + } + + /* initialize forces to zero */ + BPH_mass_spring_clear_forces(id); + + // calculate forces + cloth_calc_force(scene, clmd, frame, effectors, step); + + // calculate new velocity and position + BPH_mass_spring_solve_velocities(id, dt, &result); + cloth_record_result(clmd, &result, dt); + + /* Calculate collision impulses. */ + if (!is_hair) { + cloth_solve_collisions(depsgraph, ob, clmd, step, dt); + } + + if (is_hair) { + cloth_continuum_step(clmd, dt); + } + + BPH_mass_spring_solve_positions(id, dt); + BPH_mass_spring_apply_result(id); + + /* move pinned verts to correct position */ + for (i = 0; i < mvert_num; i++) { + if (clmd->sim_parms->vgroup_mass > 0) { + if (verts[i].flags & CLOTH_VERT_FLAG_PINNED) { + float x[3]; + /* divide by time_scale to prevent pinned vertices' delta locations from being multiplied */ + interp_v3_v3v3( + x, verts[i].xold, verts[i].xconst, (step + dt) / clmd->sim_parms->time_scale); + BPH_mass_spring_set_position(id, i, x); + } + } + + BPH_mass_spring_get_motion_state(id, i, verts[i].txold, NULL); + } + + /* free contact points */ + if (contacts) { + cloth_free_contacts(contacts, totcolliders); + } + + step += dt; + } + + /* copy results back to cloth data */ + for (i = 0; i < mvert_num; i++) { + BPH_mass_spring_get_motion_state(id, i, verts[i].x, verts[i].v); + copy_v3_v3(verts[i].txold, verts[i].x); + } + + return 1; } diff --git a/source/blender/physics/intern/ConstrainedConjugateGradient.h b/source/blender/physics/intern/ConstrainedConjugateGradient.h index e5cdcb068c8..0d361f98f4e 100644 --- a/source/blender/physics/intern/ConstrainedConjugateGradient.h +++ b/source/blender/physics/intern/ConstrainedConjugateGradient.h @@ -35,119 +35,126 @@ namespace internal { * \param iters: On input the max number of iteration, on output the number of performed iterations. * \param tol_error: On input the tolerance error, on output an estimation of the relative error. */ -template<typename MatrixType, typename Rhs, typename Dest, typename FilterMatrixType, typename Preconditioner> -EIGEN_DONT_INLINE -void constrained_conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x, - const FilterMatrixType &filter, - const Preconditioner& precond, int& iters, - typename Dest::RealScalar& tol_error) +template<typename MatrixType, + typename Rhs, + typename Dest, + typename FilterMatrixType, + typename Preconditioner> +EIGEN_DONT_INLINE void constrained_conjugate_gradient(const MatrixType &mat, + const Rhs &rhs, + Dest &x, + const FilterMatrixType &filter, + const Preconditioner &precond, + int &iters, + typename Dest::RealScalar &tol_error) { - using std::sqrt; using std::abs; + using std::sqrt; typedef typename Dest::RealScalar RealScalar; typedef typename Dest::Scalar Scalar; - typedef Matrix<Scalar,Dynamic,1> VectorType; + typedef Matrix<Scalar, Dynamic, 1> VectorType; RealScalar tol = tol_error; int maxIters = iters; int n = mat.cols(); - VectorType residual = filter * (rhs - mat * x); //initial residual + VectorType residual = filter * (rhs - mat * x); //initial residual RealScalar rhsNorm2 = (filter * rhs).squaredNorm(); - if(rhsNorm2 == 0) - { + if (rhsNorm2 == 0) { /* XXX TODO set constrained result here */ x.setZero(); iters = 0; tol_error = 0; return; } - RealScalar threshold = tol*tol*rhsNorm2; + RealScalar threshold = tol * tol * rhsNorm2; RealScalar residualNorm2 = residual.squaredNorm(); - if (residualNorm2 < threshold) - { + if (residualNorm2 < threshold) { iters = 0; tol_error = sqrt(residualNorm2 / rhsNorm2); return; } VectorType p(n); - p = filter * precond.solve(residual); //initial search direction + p = filter * precond.solve(residual); //initial search direction VectorType z(n), tmp(n); - RealScalar absNew = numext::real(residual.dot(p)); // the square of the absolute value of r scaled by invM + RealScalar absNew = numext::real( + residual.dot(p)); // the square of the absolute value of r scaled by invM int i = 0; - while(i < maxIters) - { - tmp.noalias() = filter * (mat * p); // the bottleneck of the algorithm + while (i < maxIters) { + tmp.noalias() = filter * (mat * p); // the bottleneck of the algorithm - Scalar alpha = absNew / p.dot(tmp); // the amount we travel on dir - x += alpha * p; // update solution - residual -= alpha * tmp; // update residue + Scalar alpha = absNew / p.dot(tmp); // the amount we travel on dir + x += alpha * p; // update solution + residual -= alpha * tmp; // update residue residualNorm2 = residual.squaredNorm(); - if(residualNorm2 < threshold) + if (residualNorm2 < threshold) break; - z = precond.solve(residual); // approximately solve for "A z = residual" + z = precond.solve(residual); // approximately solve for "A z = residual" RealScalar absOld = absNew; - absNew = numext::real(residual.dot(z)); // update the absolute value of r - RealScalar beta = absNew / absOld; // calculate the Gram-Schmidt value used to create the new search direction - p = filter * (z + beta * p); // update search direction + absNew = numext::real(residual.dot(z)); // update the absolute value of r + RealScalar beta = + absNew / + absOld; // calculate the Gram-Schmidt value used to create the new search direction + p = filter * (z + beta * p); // update search direction i++; } tol_error = sqrt(residualNorm2 / rhsNorm2); iters = i; } -} +} // namespace internal #if 0 /* unused */ template<typename MatrixType> struct MatrixFilter { - MatrixFilter() : - m_cmat(NULL) - { - } + MatrixFilter() : + m_cmat(NULL) + { + } - MatrixFilter(const MatrixType &cmat) : - m_cmat(&cmat) - { - } + MatrixFilter(const MatrixType &cmat) : + m_cmat(&cmat) + { + } - void setMatrix(const MatrixType &cmat) { m_cmat = &cmat; } + void setMatrix(const MatrixType &cmat) { m_cmat = &cmat; } - template <typename VectorType> - void apply(VectorType v) const - { - v = (*m_cmat) * v; - } + template <typename VectorType> + void apply(VectorType v) const + { + v = (*m_cmat) * v; + } protected: - const MatrixType *m_cmat; + const MatrixType *m_cmat; }; #endif -template< typename _MatrixType, int _UpLo=Lower, - typename _FilterMatrixType = _MatrixType, - typename _Preconditioner = DiagonalPreconditioner<typename _MatrixType::Scalar> > +template<typename _MatrixType, + int _UpLo = Lower, + typename _FilterMatrixType = _MatrixType, + typename _Preconditioner = DiagonalPreconditioner<typename _MatrixType::Scalar>> class ConstrainedConjugateGradient; namespace internal { -template< typename _MatrixType, int _UpLo, typename _FilterMatrixType, typename _Preconditioner> -struct traits<ConstrainedConjugateGradient<_MatrixType,_UpLo,_FilterMatrixType,_Preconditioner> > -{ +template<typename _MatrixType, int _UpLo, typename _FilterMatrixType, typename _Preconditioner> +struct traits< + ConstrainedConjugateGradient<_MatrixType, _UpLo, _FilterMatrixType, _Preconditioner>> { typedef _MatrixType MatrixType; typedef _FilterMatrixType FilterMatrixType; typedef _Preconditioner Preconditioner; }; -} +} // namespace internal /** \ingroup IterativeLinearSolvers_Module * \brief A conjugate gradient solver for sparse self-adjoint problems with additional constraints @@ -197,16 +204,18 @@ struct traits<ConstrainedConjugateGradient<_MatrixType,_UpLo,_FilterMatrixType,_ * * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner */ -template< typename _MatrixType, int _UpLo, typename _FilterMatrixType, typename _Preconditioner> -class ConstrainedConjugateGradient : public IterativeSolverBase<ConstrainedConjugateGradient<_MatrixType,_UpLo,_FilterMatrixType,_Preconditioner> > -{ +template<typename _MatrixType, int _UpLo, typename _FilterMatrixType, typename _Preconditioner> +class ConstrainedConjugateGradient + : public IterativeSolverBase< + ConstrainedConjugateGradient<_MatrixType, _UpLo, _FilterMatrixType, _Preconditioner>> { typedef IterativeSolverBase<ConstrainedConjugateGradient> Base; - using Base::mp_matrix; using Base::m_error; - using Base::m_iterations; using Base::m_info; using Base::m_isInitialized; -public: + using Base::m_iterations; + using Base::mp_matrix; + + public: typedef _MatrixType MatrixType; typedef typename MatrixType::Scalar Scalar; typedef typename MatrixType::Index Index; @@ -214,14 +223,13 @@ public: typedef _FilterMatrixType FilterMatrixType; typedef _Preconditioner Preconditioner; - enum { - UpLo = _UpLo - }; - -public: + enum { UpLo = _UpLo }; + public: /** Default constructor. */ - ConstrainedConjugateGradient() : Base() {} + ConstrainedConjugateGradient() : Base() + { + } /** Initialize the solver with matrix \a A for further \c Ax=b solving. * @@ -233,44 +241,58 @@ public: * this class becomes invalid. Call compute() to update it with the new * matrix A, or modify a copy of A. */ - ConstrainedConjugateGradient(const MatrixType& A) : Base(A) {} + ConstrainedConjugateGradient(const MatrixType &A) : Base(A) + { + } - ~ConstrainedConjugateGradient() {} + ~ConstrainedConjugateGradient() + { + } - FilterMatrixType &filter() { return m_filter; } - const FilterMatrixType &filter() const { return m_filter; } + FilterMatrixType &filter() + { + return m_filter; + } + const FilterMatrixType &filter() const + { + return m_filter; + } /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A * \a x0 as an initial solution. * * \sa compute() */ - template<typename Rhs,typename Guess> + template<typename Rhs, typename Guess> inline const internal::solve_retval_with_guess<ConstrainedConjugateGradient, Rhs, Guess> - solveWithGuess(const MatrixBase<Rhs>& b, const Guess& x0) const + solveWithGuess(const MatrixBase<Rhs> &b, const Guess &x0) const { eigen_assert(m_isInitialized && "ConjugateGradient is not initialized."); - eigen_assert(Base::rows()==b.rows() - && "ConjugateGradient::solve(): invalid number of rows of the right hand side matrix b"); - return internal::solve_retval_with_guess - <ConstrainedConjugateGradient, Rhs, Guess>(*this, b.derived(), x0); + eigen_assert( + Base::rows() == b.rows() && + "ConjugateGradient::solve(): invalid number of rows of the right hand side matrix b"); + return internal::solve_retval_with_guess<ConstrainedConjugateGradient, Rhs, Guess>( + *this, b.derived(), x0); } /** \internal */ - template<typename Rhs,typename Dest> - void _solveWithGuess(const Rhs& b, Dest& x) const + template<typename Rhs, typename Dest> void _solveWithGuess(const Rhs &b, Dest &x) const { m_iterations = Base::maxIterations(); m_error = Base::m_tolerance; - for(int j=0; j<b.cols(); ++j) - { + for (int j = 0; j < b.cols(); ++j) { m_iterations = Base::maxIterations(); m_error = Base::m_tolerance; - typename Dest::ColXpr xj(x,j); - internal::constrained_conjugate_gradient(mp_matrix->template selfadjointView<UpLo>(), b.col(j), xj, m_filter, - Base::m_preconditioner, m_iterations, m_error); + typename Dest::ColXpr xj(x, j); + internal::constrained_conjugate_gradient(mp_matrix->template selfadjointView<UpLo>(), + b.col(j), + xj, + m_filter, + Base::m_preconditioner, + m_iterations, + m_error); } m_isInitialized = true; @@ -278,35 +300,34 @@ public: } /** \internal */ - template<typename Rhs,typename Dest> - void _solve(const Rhs& b, Dest& x) const + template<typename Rhs, typename Dest> void _solve(const Rhs &b, Dest &x) const { x.setOnes(); - _solveWithGuess(b,x); + _solveWithGuess(b, x); } -protected: + protected: FilterMatrixType m_filter; }; - namespace internal { template<typename _MatrixType, int _UpLo, typename _Filter, typename _Preconditioner, typename Rhs> -struct solve_retval<ConstrainedConjugateGradient<_MatrixType,_UpLo,_Filter,_Preconditioner>, Rhs> - : solve_retval_base<ConstrainedConjugateGradient<_MatrixType,_UpLo,_Filter,_Preconditioner>, Rhs> -{ - typedef ConstrainedConjugateGradient<_MatrixType,_UpLo,_Filter,_Preconditioner> Dec; - EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs) - - template<typename Dest> void evalTo(Dest& dst) const +struct solve_retval<ConstrainedConjugateGradient<_MatrixType, _UpLo, _Filter, _Preconditioner>, + Rhs> + : solve_retval_base<ConstrainedConjugateGradient<_MatrixType, _UpLo, _Filter, _Preconditioner>, + Rhs> { + typedef ConstrainedConjugateGradient<_MatrixType, _UpLo, _Filter, _Preconditioner> Dec; + EIGEN_MAKE_SOLVE_HELPERS(Dec, Rhs) + + template<typename Dest> void evalTo(Dest &dst) const { - dec()._solve(rhs(),dst); + dec()._solve(rhs(), dst); } }; -} // end namespace internal +} // end namespace internal -} // end namespace Eigen +} // end namespace Eigen -#endif // __CONSTRAINEDCONJUGATEGRADIENT_H__ +#endif // __CONSTRAINEDCONJUGATEGRADIENT_H__ diff --git a/source/blender/physics/intern/eigen_utils.h b/source/blender/physics/intern/eigen_utils.h index 16e1186441f..7d56fe1a608 100644 --- a/source/blender/physics/intern/eigen_utils.h +++ b/source/blender/physics/intern/eigen_utils.h @@ -39,69 +39,68 @@ #include "BLI_utildefines.h" - typedef float Scalar; /* slightly extended Eigen vector class * with conversion to/from plain C float array */ class Vector3 : public Eigen::Vector3f { -public: - typedef float *ctype; - - Vector3() - { - } - - Vector3(const ctype &v) - { - for (int k = 0; k < 3; ++k) - coeffRef(k) = v[k]; - } - - Vector3& operator =(const ctype &v) - { - for (int k = 0; k < 3; ++k) - coeffRef(k) = v[k]; - return *this; - } - - operator ctype() - { - return data(); - } + public: + typedef float *ctype; + + Vector3() + { + } + + Vector3(const ctype &v) + { + for (int k = 0; k < 3; ++k) + coeffRef(k) = v[k]; + } + + Vector3 &operator=(const ctype &v) + { + for (int k = 0; k < 3; ++k) + coeffRef(k) = v[k]; + return *this; + } + + operator ctype() + { + return data(); + } }; /* slightly extended Eigen matrix class * with conversion to/from plain C float array */ class Matrix3 : public Eigen::Matrix3f { -public: - typedef float (*ctype)[3]; - - Matrix3() - { - } - - Matrix3(const ctype &v) - { - for (int k = 0; k < 3; ++k) - for (int l = 0; l < 3; ++l) - coeffRef(l, k) = v[k][l]; - } - - Matrix3& operator =(const ctype &v) - { - for (int k = 0; k < 3; ++k) - for (int l = 0; l < 3; ++l) - coeffRef(l, k) = v[k][l]; - return *this; - } - - operator ctype() - { - return (ctype)data(); - } + public: + typedef float (*ctype)[3]; + + Matrix3() + { + } + + Matrix3(const ctype &v) + { + for (int k = 0; k < 3; ++k) + for (int l = 0; l < 3; ++l) + coeffRef(l, k) = v[k][l]; + } + + Matrix3 &operator=(const ctype &v) + { + for (int k = 0; k < 3; ++k) + for (int l = 0; l < 3; ++l) + coeffRef(l, k) = v[k][l]; + return *this; + } + + operator ctype() + { + return (ctype)data(); + } }; typedef Eigen::VectorXf lVector; @@ -110,29 +109,28 @@ typedef Eigen::VectorXf lVector; * providing 3-float block access for blenlib math functions */ class lVector3f : public Eigen::VectorXf { -public: - typedef Eigen::VectorXf base_t; - - lVector3f() - { - } - - template <typename T> - lVector3f& operator =(T rhs) - { - base_t::operator=(rhs); - return *this; - } - - float *v3(int vertex) - { - return &coeffRef(3 * vertex); - } - - const float *v3(int vertex) const - { - return &coeffRef(3 * vertex); - } + public: + typedef Eigen::VectorXf base_t; + + lVector3f() + { + } + + template<typename T> lVector3f &operator=(T rhs) + { + base_t::operator=(rhs); + return *this; + } + + float *v3(int vertex) + { + return &coeffRef(3 * vertex); + } + + const float *v3(int vertex) const + { + return &coeffRef(3 * vertex); + } }; typedef Eigen::Triplet<Scalar> Triplet; @@ -146,77 +144,78 @@ typedef Eigen::SparseMatrix<Scalar> lMatrix; * After all elements have been defined using the set() method, the actual matrix can be filled using construct(). */ struct lMatrix3fCtor { - lMatrix3fCtor() - { - } - - void reset() - { - m_trips.clear(); - } - - void reserve(int numverts) - { - /* reserve for diagonal entries */ - m_trips.reserve(numverts * 9); - } - - void add(int i, int j, const Matrix3 &m) - { - i *= 3; - j *= 3; - for (int k = 0; k < 3; ++k) - for (int l = 0; l < 3; ++l) - m_trips.push_back(Triplet(i + k, j + l, m.coeff(l, k))); - } - - void sub(int i, int j, const Matrix3 &m) - { - i *= 3; - j *= 3; - for (int k = 0; k < 3; ++k) - for (int l = 0; l < 3; ++l) - m_trips.push_back(Triplet(i + k, j + l, -m.coeff(l, k))); - } - - inline void construct(lMatrix &m) - { - m.setFromTriplets(m_trips.begin(), m_trips.end()); - m_trips.clear(); - } - -private: - TripletList m_trips; + lMatrix3fCtor() + { + } + + void reset() + { + m_trips.clear(); + } + + void reserve(int numverts) + { + /* reserve for diagonal entries */ + m_trips.reserve(numverts * 9); + } + + void add(int i, int j, const Matrix3 &m) + { + i *= 3; + j *= 3; + for (int k = 0; k < 3; ++k) + for (int l = 0; l < 3; ++l) + m_trips.push_back(Triplet(i + k, j + l, m.coeff(l, k))); + } + + void sub(int i, int j, const Matrix3 &m) + { + i *= 3; + j *= 3; + for (int k = 0; k < 3; ++k) + for (int l = 0; l < 3; ++l) + m_trips.push_back(Triplet(i + k, j + l, -m.coeff(l, k))); + } + + inline void construct(lMatrix &m) + { + m.setFromTriplets(m_trips.begin(), m_trips.end()); + m_trips.clear(); + } + + private: + TripletList m_trips; }; -typedef Eigen::ConjugateGradient<lMatrix, Eigen::Lower, Eigen::DiagonalPreconditioner<Scalar> > ConjugateGradient; +typedef Eigen::ConjugateGradient<lMatrix, Eigen::Lower, Eigen::DiagonalPreconditioner<Scalar>> + ConjugateGradient; using Eigen::ComputationInfo; BLI_INLINE void print_lvector(const lVector3f &v) { - for (int i = 0; i < v.rows(); ++i) { - if (i > 0 && i % 3 == 0) - printf("\n"); + for (int i = 0; i < v.rows(); ++i) { + if (i > 0 && i % 3 == 0) + printf("\n"); - printf("%f,\n", v[i]); - } + printf("%f,\n", v[i]); + } } BLI_INLINE void print_lmatrix(const lMatrix &m) { - for (int j = 0; j < m.rows(); ++j) { - if (j > 0 && j % 3 == 0) - printf("\n"); - - for (int i = 0; i < m.cols(); ++i) { - if (i > 0 && i % 3 == 0) - printf(" "); - - implicit_print_matrix_elem(m.coeff(j, i)); - } - printf("\n"); - } + for (int j = 0; j < m.rows(); ++j) { + if (j > 0 && j % 3 == 0) + printf("\n"); + + for (int i = 0; i < m.cols(); ++i) { + if (i > 0 && i % 3 == 0) + printf(" "); + + implicit_print_matrix_elem(m.coeff(j, i)); + } + printf("\n"); + } } #endif diff --git a/source/blender/physics/intern/hair_volume.cpp b/source/blender/physics/intern/hair_volume.cpp index 0eb26934b5d..878f055af01 100644 --- a/source/blender/physics/intern/hair_volume.cpp +++ b/source/blender/physics/intern/hair_volume.cpp @@ -57,282 +57,335 @@ static float I[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; BLI_INLINE int floor_int(float value) { - return value > 0.0f ? (int)value : ((int)value) - 1; + return value > 0.0f ? (int)value : ((int)value) - 1; } BLI_INLINE float floor_mod(float value) { - return value - floorf(value); + return value - floorf(value); } BLI_INLINE int hair_grid_size(const int res[3]) { - return res[0] * res[1] * res[2]; + return res[0] * res[1] * res[2]; } typedef struct HairGridVert { - int samples; - float velocity[3]; - float density; + int samples; + float velocity[3]; + float density; - float velocity_smooth[3]; + float velocity_smooth[3]; } HairGridVert; typedef struct HairGrid { - HairGridVert *verts; - int res[3]; - float gmin[3], gmax[3]; - float cellsize, inv_cellsize; + HairGridVert *verts; + int res[3]; + float gmin[3], gmax[3]; + float cellsize, inv_cellsize; } HairGrid; -#define HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, axis) (min_ii(max_ii( (int)((vec[axis] - gmin[axis]) * scale), 0), res[axis] - 2) ) +#define HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, axis) \ + (min_ii(max_ii((int)((vec[axis] - gmin[axis]) * scale), 0), res[axis] - 2)) -BLI_INLINE int hair_grid_offset(const float vec[3], const int res[3], const float gmin[3], float scale) +BLI_INLINE int hair_grid_offset(const float vec[3], + const int res[3], + const float gmin[3], + float scale) { - int i, j, k; - i = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 0); - j = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 1); - k = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 2); - return i + (j + k * res[1]) * res[0]; + int i, j, k; + i = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 0); + j = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 1); + k = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 2); + return i + (j + k * res[1]) * res[0]; } -BLI_INLINE int hair_grid_interp_weights(const int res[3], const float gmin[3], float scale, const float vec[3], float uvw[3]) +BLI_INLINE int hair_grid_interp_weights( + const int res[3], const float gmin[3], float scale, const float vec[3], float uvw[3]) { - int i, j, k, offset; + int i, j, k, offset; - i = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 0); - j = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 1); - k = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 2); - offset = i + (j + k * res[1]) * res[0]; + i = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 0); + j = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 1); + k = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 2); + offset = i + (j + k * res[1]) * res[0]; - uvw[0] = (vec[0] - gmin[0]) * scale - (float)i; - uvw[1] = (vec[1] - gmin[1]) * scale - (float)j; - uvw[2] = (vec[2] - gmin[2]) * scale - (float)k; + uvw[0] = (vec[0] - gmin[0]) * scale - (float)i; + uvw[1] = (vec[1] - gmin[1]) * scale - (float)j; + uvw[2] = (vec[2] - gmin[2]) * scale - (float)k; -// BLI_assert(0.0f <= uvw[0] && uvw[0] <= 1.0001f); -// BLI_assert(0.0f <= uvw[1] && uvw[1] <= 1.0001f); -// BLI_assert(0.0f <= uvw[2] && uvw[2] <= 1.0001f); + // BLI_assert(0.0f <= uvw[0] && uvw[0] <= 1.0001f); + // BLI_assert(0.0f <= uvw[1] && uvw[1] <= 1.0001f); + // BLI_assert(0.0f <= uvw[2] && uvw[2] <= 1.0001f); - return offset; + return offset; } -BLI_INLINE void hair_grid_interpolate( - const HairGridVert *grid, const int res[3], const float gmin[3], float scale, const float vec[3], - float *density, float velocity[3], float vel_smooth[3], float density_gradient[3], float velocity_gradient[3][3]) +BLI_INLINE void hair_grid_interpolate(const HairGridVert *grid, + const int res[3], + const float gmin[3], + float scale, + const float vec[3], + float *density, + float velocity[3], + float vel_smooth[3], + float density_gradient[3], + float velocity_gradient[3][3]) { - HairGridVert data[8]; - float uvw[3], muvw[3]; - int res2 = res[1] * res[0]; - int offset; - - offset = hair_grid_interp_weights(res, gmin, scale, vec, uvw); - muvw[0] = 1.0f - uvw[0]; - muvw[1] = 1.0f - uvw[1]; - muvw[2] = 1.0f - uvw[2]; - - data[0] = grid[offset ]; - data[1] = grid[offset + 1]; - data[2] = grid[offset + res[0] ]; - data[3] = grid[offset + res[0] + 1]; - data[4] = grid[offset + res2 ]; - data[5] = grid[offset + res2 + 1]; - data[6] = grid[offset + res2 + res[0] ]; - data[7] = grid[offset + res2 + res[0] + 1]; - - if (density) { - *density = muvw[2] * (muvw[1] * (muvw[0] * data[0].density + uvw[0] * data[1].density) + - uvw[1] * (muvw[0] * data[2].density + uvw[0] * data[3].density)) + - uvw[2] * (muvw[1] * (muvw[0] * data[4].density + uvw[0] * data[5].density) + - uvw[1] * (muvw[0] * data[6].density + uvw[0] * data[7].density)); - } - - if (velocity) { - int k; - for (k = 0; k < 3; ++k) { - velocity[k] = muvw[2] * (muvw[1] * (muvw[0] * data[0].velocity[k] + uvw[0] * data[1].velocity[k]) + - uvw[1] * (muvw[0] * data[2].velocity[k] + uvw[0] * data[3].velocity[k]) ) + - uvw[2] * (muvw[1] * (muvw[0] * data[4].velocity[k] + uvw[0] * data[5].velocity[k]) + - uvw[1] * (muvw[0] * data[6].velocity[k] + uvw[0] * data[7].velocity[k]) ); - } - } - - if (vel_smooth) { - int k; - for (k = 0; k < 3; ++k) { - vel_smooth[k] = muvw[2] * (muvw[1] * (muvw[0] * data[0].velocity_smooth[k] + uvw[0] * data[1].velocity_smooth[k]) + - uvw[1] * (muvw[0] * data[2].velocity_smooth[k] + uvw[0] * data[3].velocity_smooth[k]) ) + - uvw[2] * (muvw[1] * (muvw[0] * data[4].velocity_smooth[k] + uvw[0] * data[5].velocity_smooth[k]) + - uvw[1] * (muvw[0] * data[6].velocity_smooth[k] + uvw[0] * data[7].velocity_smooth[k]) ); - } - } - - if (density_gradient) { - density_gradient[0] = muvw[1] * muvw[2] * (data[0].density - data[1].density) + - uvw[1] * muvw[2] * (data[2].density - data[3].density) + - muvw[1] * uvw[2] * (data[4].density - data[5].density) + - uvw[1] * uvw[2] * (data[6].density - data[7].density); - - density_gradient[1] = muvw[2] * muvw[0] * (data[0].density - data[2].density) + - uvw[2] * muvw[0] * (data[4].density - data[6].density) + - muvw[2] * uvw[0] * (data[1].density - data[3].density) + - uvw[2] * uvw[0] * (data[5].density - data[7].density); - - density_gradient[2] = muvw[2] * muvw[0] * (data[0].density - data[4].density) + - uvw[2] * muvw[0] * (data[1].density - data[5].density) + - muvw[2] * uvw[0] * (data[2].density - data[6].density) + - uvw[2] * uvw[0] * (data[3].density - data[7].density); - } - - if (velocity_gradient) { - /* XXX TODO */ - zero_m3(velocity_gradient); - } + HairGridVert data[8]; + float uvw[3], muvw[3]; + int res2 = res[1] * res[0]; + int offset; + + offset = hair_grid_interp_weights(res, gmin, scale, vec, uvw); + muvw[0] = 1.0f - uvw[0]; + muvw[1] = 1.0f - uvw[1]; + muvw[2] = 1.0f - uvw[2]; + + data[0] = grid[offset]; + data[1] = grid[offset + 1]; + data[2] = grid[offset + res[0]]; + data[3] = grid[offset + res[0] + 1]; + data[4] = grid[offset + res2]; + data[5] = grid[offset + res2 + 1]; + data[6] = grid[offset + res2 + res[0]]; + data[7] = grid[offset + res2 + res[0] + 1]; + + if (density) { + *density = muvw[2] * (muvw[1] * (muvw[0] * data[0].density + uvw[0] * data[1].density) + + uvw[1] * (muvw[0] * data[2].density + uvw[0] * data[3].density)) + + uvw[2] * (muvw[1] * (muvw[0] * data[4].density + uvw[0] * data[5].density) + + uvw[1] * (muvw[0] * data[6].density + uvw[0] * data[7].density)); + } + + if (velocity) { + int k; + for (k = 0; k < 3; ++k) { + velocity[k] = muvw[2] * + (muvw[1] * (muvw[0] * data[0].velocity[k] + uvw[0] * data[1].velocity[k]) + + uvw[1] * (muvw[0] * data[2].velocity[k] + uvw[0] * data[3].velocity[k])) + + uvw[2] * + (muvw[1] * (muvw[0] * data[4].velocity[k] + uvw[0] * data[5].velocity[k]) + + uvw[1] * (muvw[0] * data[6].velocity[k] + uvw[0] * data[7].velocity[k])); + } + } + + if (vel_smooth) { + int k; + for (k = 0; k < 3; ++k) { + vel_smooth[k] = muvw[2] * (muvw[1] * (muvw[0] * data[0].velocity_smooth[k] + + uvw[0] * data[1].velocity_smooth[k]) + + uvw[1] * (muvw[0] * data[2].velocity_smooth[k] + + uvw[0] * data[3].velocity_smooth[k])) + + uvw[2] * (muvw[1] * (muvw[0] * data[4].velocity_smooth[k] + + uvw[0] * data[5].velocity_smooth[k]) + + uvw[1] * (muvw[0] * data[6].velocity_smooth[k] + + uvw[0] * data[7].velocity_smooth[k])); + } + } + + if (density_gradient) { + density_gradient[0] = muvw[1] * muvw[2] * (data[0].density - data[1].density) + + uvw[1] * muvw[2] * (data[2].density - data[3].density) + + muvw[1] * uvw[2] * (data[4].density - data[5].density) + + uvw[1] * uvw[2] * (data[6].density - data[7].density); + + density_gradient[1] = muvw[2] * muvw[0] * (data[0].density - data[2].density) + + uvw[2] * muvw[0] * (data[4].density - data[6].density) + + muvw[2] * uvw[0] * (data[1].density - data[3].density) + + uvw[2] * uvw[0] * (data[5].density - data[7].density); + + density_gradient[2] = muvw[2] * muvw[0] * (data[0].density - data[4].density) + + uvw[2] * muvw[0] * (data[1].density - data[5].density) + + muvw[2] * uvw[0] * (data[2].density - data[6].density) + + uvw[2] * uvw[0] * (data[3].density - data[7].density); + } + + if (velocity_gradient) { + /* XXX TODO */ + zero_m3(velocity_gradient); + } } -void BPH_hair_volume_vertex_grid_forces( - HairGrid *grid, const float x[3], const float v[3], - float smoothfac, float pressurefac, float minpressure, - float f[3], float dfdx[3][3], float dfdv[3][3]) +void BPH_hair_volume_vertex_grid_forces(HairGrid *grid, + const float x[3], + const float v[3], + float smoothfac, + float pressurefac, + float minpressure, + float f[3], + float dfdx[3][3], + float dfdv[3][3]) { - float gdensity, gvelocity[3], ggrad[3], gvelgrad[3][3], gradlen; - - hair_grid_interpolate(grid->verts, grid->res, grid->gmin, grid->inv_cellsize, x, &gdensity, gvelocity, NULL, ggrad, gvelgrad); - - zero_v3(f); - sub_v3_v3(gvelocity, v); - mul_v3_v3fl(f, gvelocity, smoothfac); - - gradlen = normalize_v3(ggrad) - minpressure; - if (gradlen > 0.0f) { - mul_v3_fl(ggrad, gradlen); - madd_v3_v3fl(f, ggrad, pressurefac); - } - - zero_m3(dfdx); - - sub_m3_m3m3(dfdv, gvelgrad, I); - mul_m3_fl(dfdv, smoothfac); + float gdensity, gvelocity[3], ggrad[3], gvelgrad[3][3], gradlen; + + hair_grid_interpolate(grid->verts, + grid->res, + grid->gmin, + grid->inv_cellsize, + x, + &gdensity, + gvelocity, + NULL, + ggrad, + gvelgrad); + + zero_v3(f); + sub_v3_v3(gvelocity, v); + mul_v3_v3fl(f, gvelocity, smoothfac); + + gradlen = normalize_v3(ggrad) - minpressure; + if (gradlen > 0.0f) { + mul_v3_fl(ggrad, gradlen); + madd_v3_v3fl(f, ggrad, pressurefac); + } + + zero_m3(dfdx); + + sub_m3_m3m3(dfdv, gvelgrad, I); + mul_m3_fl(dfdv, smoothfac); } -void BPH_hair_volume_grid_interpolate( - HairGrid *grid, const float x[3], - float *density, float velocity[3], float velocity_smooth[3], float density_gradient[3], float velocity_gradient[3][3]) +void BPH_hair_volume_grid_interpolate(HairGrid *grid, + const float x[3], + float *density, + float velocity[3], + float velocity_smooth[3], + float density_gradient[3], + float velocity_gradient[3][3]) { - hair_grid_interpolate(grid->verts, grid->res, grid->gmin, grid->inv_cellsize, x, density, velocity, velocity_smooth, density_gradient, velocity_gradient); + hair_grid_interpolate(grid->verts, + grid->res, + grid->gmin, + grid->inv_cellsize, + x, + density, + velocity, + velocity_smooth, + density_gradient, + velocity_gradient); } void BPH_hair_volume_grid_velocity( - HairGrid *grid, const float x[3], const float v[3], - float fluid_factor, - float r_v[3]) + HairGrid *grid, const float x[3], const float v[3], float fluid_factor, float r_v[3]) { - float gdensity, gvelocity[3], gvel_smooth[3], ggrad[3], gvelgrad[3][3]; - float v_pic[3], v_flip[3]; - - hair_grid_interpolate(grid->verts, grid->res, grid->gmin, grid->inv_cellsize, x, &gdensity, gvelocity, gvel_smooth, ggrad, gvelgrad); - - /* velocity according to PIC method (Particle-in-Cell) */ - copy_v3_v3(v_pic, gvel_smooth); - - /* velocity according to FLIP method (Fluid-Implicit-Particle) */ - sub_v3_v3v3(v_flip, gvel_smooth, gvelocity); - add_v3_v3(v_flip, v); - - interp_v3_v3v3(r_v, v_pic, v_flip, fluid_factor); + float gdensity, gvelocity[3], gvel_smooth[3], ggrad[3], gvelgrad[3][3]; + float v_pic[3], v_flip[3]; + + hair_grid_interpolate(grid->verts, + grid->res, + grid->gmin, + grid->inv_cellsize, + x, + &gdensity, + gvelocity, + gvel_smooth, + ggrad, + gvelgrad); + + /* velocity according to PIC method (Particle-in-Cell) */ + copy_v3_v3(v_pic, gvel_smooth); + + /* velocity according to FLIP method (Fluid-Implicit-Particle) */ + sub_v3_v3v3(v_flip, gvel_smooth, gvelocity); + add_v3_v3(v_flip, v); + + interp_v3_v3v3(r_v, v_pic, v_flip, fluid_factor); } void BPH_hair_volume_grid_clear(HairGrid *grid) { - const int size = hair_grid_size(grid->res); - int i; - for (i = 0; i < size; ++i) { - zero_v3(grid->verts[i].velocity); - zero_v3(grid->verts[i].velocity_smooth); - grid->verts[i].density = 0.0f; - grid->verts[i].samples = 0; - } + const int size = hair_grid_size(grid->res); + int i; + for (i = 0; i < size; ++i) { + zero_v3(grid->verts[i].velocity); + zero_v3(grid->verts[i].velocity_smooth); + grid->verts[i].density = 0.0f; + grid->verts[i].samples = 0; + } } BLI_INLINE bool hair_grid_point_valid(const float vec[3], float gmin[3], float gmax[3]) { - return !(vec[0] < gmin[0] || vec[1] < gmin[1] || vec[2] < gmin[2] || - vec[0] > gmax[0] || vec[1] > gmax[1] || vec[2] > gmax[2]); + return !(vec[0] < gmin[0] || vec[1] < gmin[1] || vec[2] < gmin[2] || vec[0] > gmax[0] || + vec[1] > gmax[1] || vec[2] > gmax[2]); } BLI_INLINE float dist_tent_v3f3(const float a[3], float x, float y, float z) { - float w = (1.0f - fabsf(a[0] - x)) * (1.0f - fabsf(a[1] - y)) * (1.0f - fabsf(a[2] - z)); - return w; + float w = (1.0f - fabsf(a[0] - x)) * (1.0f - fabsf(a[1] - y)) * (1.0f - fabsf(a[2] - z)); + return w; } BLI_INLINE float weights_sum(const float weights[8]) { - float totweight = 0.0f; - int i; - for (i = 0; i < 8; ++i) - totweight += weights[i]; - return totweight; + float totweight = 0.0f; + int i; + for (i = 0; i < 8; ++i) + totweight += weights[i]; + return totweight; } /* returns the grid array offset as well to avoid redundant calculation */ -BLI_INLINE int hair_grid_weights(const int res[3], const float gmin[3], float scale, const float vec[3], float weights[8]) +BLI_INLINE int hair_grid_weights( + const int res[3], const float gmin[3], float scale, const float vec[3], float weights[8]) { - int i, j, k, offset; - float uvw[3]; - - i = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 0); - j = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 1); - k = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 2); - offset = i + (j + k * res[1]) * res[0]; - - uvw[0] = (vec[0] - gmin[0]) * scale; - uvw[1] = (vec[1] - gmin[1]) * scale; - uvw[2] = (vec[2] - gmin[2]) * scale; - - weights[0] = dist_tent_v3f3(uvw, (float)i , (float)j , (float)k ); - weights[1] = dist_tent_v3f3(uvw, (float)(i + 1), (float)j , (float)k ); - weights[2] = dist_tent_v3f3(uvw, (float)i , (float)(j + 1), (float)k ); - weights[3] = dist_tent_v3f3(uvw, (float)(i + 1), (float)(j + 1), (float)k ); - weights[4] = dist_tent_v3f3(uvw, (float)i , (float)j , (float)(k + 1)); - weights[5] = dist_tent_v3f3(uvw, (float)(i + 1), (float)j , (float)(k + 1)); - weights[6] = dist_tent_v3f3(uvw, (float)i , (float)(j + 1), (float)(k + 1)); - weights[7] = dist_tent_v3f3(uvw, (float)(i + 1), (float)(j + 1), (float)(k + 1)); - -// BLI_assert(fabsf(weights_sum(weights) - 1.0f) < 0.0001f); - - return offset; + int i, j, k, offset; + float uvw[3]; + + i = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 0); + j = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 1); + k = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 2); + offset = i + (j + k * res[1]) * res[0]; + + uvw[0] = (vec[0] - gmin[0]) * scale; + uvw[1] = (vec[1] - gmin[1]) * scale; + uvw[2] = (vec[2] - gmin[2]) * scale; + + weights[0] = dist_tent_v3f3(uvw, (float)i, (float)j, (float)k); + weights[1] = dist_tent_v3f3(uvw, (float)(i + 1), (float)j, (float)k); + weights[2] = dist_tent_v3f3(uvw, (float)i, (float)(j + 1), (float)k); + weights[3] = dist_tent_v3f3(uvw, (float)(i + 1), (float)(j + 1), (float)k); + weights[4] = dist_tent_v3f3(uvw, (float)i, (float)j, (float)(k + 1)); + weights[5] = dist_tent_v3f3(uvw, (float)(i + 1), (float)j, (float)(k + 1)); + weights[6] = dist_tent_v3f3(uvw, (float)i, (float)(j + 1), (float)(k + 1)); + weights[7] = dist_tent_v3f3(uvw, (float)(i + 1), (float)(j + 1), (float)(k + 1)); + + // BLI_assert(fabsf(weights_sum(weights) - 1.0f) < 0.0001f); + + return offset; } BLI_INLINE void grid_to_world(HairGrid *grid, float vecw[3], const float vec[3]) { - copy_v3_v3(vecw, vec); - mul_v3_fl(vecw, grid->cellsize); - add_v3_v3(vecw, grid->gmin); + copy_v3_v3(vecw, vec); + mul_v3_fl(vecw, grid->cellsize); + add_v3_v3(vecw, grid->gmin); } void BPH_hair_volume_add_vertex(HairGrid *grid, const float x[3], const float v[3]) { - const int res[3] = { grid->res[0], grid->res[1], grid->res[2] }; - float weights[8]; - int di, dj, dk; - int offset; - - if (!hair_grid_point_valid(x, grid->gmin, grid->gmax)) - return; - - offset = hair_grid_weights(res, grid->gmin, grid->inv_cellsize, x, weights); - - for (di = 0; di < 2; ++di) { - for (dj = 0; dj < 2; ++dj) { - for (dk = 0; dk < 2; ++dk) { - int voffset = offset + di + (dj + dk * res[1]) * res[0]; - int iw = di + dj * 2 + dk * 4; - - grid->verts[voffset].density += weights[iw]; - madd_v3_v3fl(grid->verts[voffset].velocity, v, weights[iw]); - } - } - } + const int res[3] = {grid->res[0], grid->res[1], grid->res[2]}; + float weights[8]; + int di, dj, dk; + int offset; + + if (!hair_grid_point_valid(x, grid->gmin, grid->gmax)) + return; + + offset = hair_grid_weights(res, grid->gmin, grid->inv_cellsize, x, weights); + + for (di = 0; di < 2; ++di) { + for (dj = 0; dj < 2; ++dj) { + for (dk = 0; dk < 2; ++dk) { + int voffset = offset + di + (dj + dk * res[1]) * res[0]; + int iw = di + dj * 2 + dk * 4; + + grid->verts[voffset].density += weights[iw]; + madd_v3_v3fl(grid->verts[voffset].velocity, v, weights[iw]); + } + } + } } #if 0 @@ -340,29 +393,29 @@ BLI_INLINE void hair_volume_eval_grid_vertex( HairGridVert *vert, const float loc[3], float radius, float dist_scale, const float x2[3], const float v2[3], const float x3[3], const float v3[3]) { - float closest[3], lambda, dist, weight; + float closest[3], lambda, dist, weight; - lambda = closest_to_line_v3(closest, loc, x2, x3); - dist = len_v3v3(closest, loc); + lambda = closest_to_line_v3(closest, loc, x2, x3); + dist = len_v3v3(closest, loc); - weight = (radius - dist) * dist_scale; + weight = (radius - dist) * dist_scale; - if (weight > 0.0f) { - float vel[3]; + if (weight > 0.0f) { + float vel[3]; - interp_v3_v3v3(vel, v2, v3, lambda); - madd_v3_v3fl(vert->velocity, vel, weight); - vert->density += weight; - vert->samples += 1; - } + interp_v3_v3v3(vel, v2, v3, lambda); + madd_v3_v3fl(vert->velocity, vel, weight); + vert->density += weight; + vert->samples += 1; + } } BLI_INLINE int major_axis_v3(const float v[3]) { - const float a = fabsf(v[0]); - const float b = fabsf(v[1]); - const float c = fabsf(v[2]); - return a > b ? (a > c ? 0 : 2) : (b > c ? 1 : 2); + const float a = fabsf(v[0]); + const float b = fabsf(v[1]); + const float c = fabsf(v[2]); + return a > b ? (a > c ? 0 : 2) : (b > c ? 1 : 2); } BLI_INLINE void hair_volume_add_segment_2D( @@ -374,50 +427,50 @@ BLI_INLINE void hair_volume_add_segment_2D( HairGridVert *vert, int stride_j, int stride_k, const float loc[3], int axis_j, int axis_k, int debug_i) { - const float radius = 1.5f; - const float dist_scale = grid->inv_cellsize; - - int j, k; - - /* boundary checks to be safe */ - CLAMP_MIN(jmin, 0); - CLAMP_MAX(jmax, resj - 1); - CLAMP_MIN(kmin, 0); - CLAMP_MAX(kmax, resk - 1); - - HairGridVert *vert_j = vert + jmin * stride_j; - float loc_j[3] = { loc[0], loc[1], loc[2] }; - loc_j[axis_j] += (float)jmin; - for (j = jmin; j <= jmax; ++j, vert_j += stride_j, loc_j[axis_j] += 1.0f) { - - HairGridVert *vert_k = vert_j + kmin * stride_k; - float loc_k[3] = { loc_j[0], loc_j[1], loc_j[2] }; - loc_k[axis_k] += (float)kmin; - for (k = kmin; k <= kmax; ++k, vert_k += stride_k, loc_k[axis_k] += 1.0f) { - - hair_volume_eval_grid_vertex(vert_k, loc_k, radius, dist_scale, x2, v2, x3, v3); - -#if 0 - { - float wloc[3], x2w[3], x3w[3]; - grid_to_world(grid, wloc, loc_k); - grid_to_world(grid, x2w, x2); - grid_to_world(grid, x3w, x3); - - if (vert_k->samples > 0) - BKE_sim_debug_data_add_circle(wloc, 0.01f, 1.0, 1.0, 0.3, "grid", 2525, debug_i, j, k); - - if (grid->debug_value) { - BKE_sim_debug_data_add_dot(wloc, 1, 0, 0, "grid", 93, debug_i, j, k); - BKE_sim_debug_data_add_dot(x2w, 0.1, 0.1, 0.7, "grid", 649, debug_i, j, k); - BKE_sim_debug_data_add_line(wloc, x2w, 0.3, 0.8, 0.3, "grid", 253, debug_i, j, k); - BKE_sim_debug_data_add_line(wloc, x3w, 0.8, 0.3, 0.3, "grid", 254, debug_i, j, k); -// BKE_sim_debug_data_add_circle(x2w, len_v3v3(wloc, x2w), 0.2, 0.7, 0.2, "grid", 255, i, j, k); - } - } -#endif - } - } + const float radius = 1.5f; + const float dist_scale = grid->inv_cellsize; + + int j, k; + + /* boundary checks to be safe */ + CLAMP_MIN(jmin, 0); + CLAMP_MAX(jmax, resj - 1); + CLAMP_MIN(kmin, 0); + CLAMP_MAX(kmax, resk - 1); + + HairGridVert *vert_j = vert + jmin * stride_j; + float loc_j[3] = { loc[0], loc[1], loc[2] }; + loc_j[axis_j] += (float)jmin; + for (j = jmin; j <= jmax; ++j, vert_j += stride_j, loc_j[axis_j] += 1.0f) { + + HairGridVert *vert_k = vert_j + kmin * stride_k; + float loc_k[3] = { loc_j[0], loc_j[1], loc_j[2] }; + loc_k[axis_k] += (float)kmin; + for (k = kmin; k <= kmax; ++k, vert_k += stride_k, loc_k[axis_k] += 1.0f) { + + hair_volume_eval_grid_vertex(vert_k, loc_k, radius, dist_scale, x2, v2, x3, v3); + +# if 0 + { + float wloc[3], x2w[3], x3w[3]; + grid_to_world(grid, wloc, loc_k); + grid_to_world(grid, x2w, x2); + grid_to_world(grid, x3w, x3); + + if (vert_k->samples > 0) + BKE_sim_debug_data_add_circle(wloc, 0.01f, 1.0, 1.0, 0.3, "grid", 2525, debug_i, j, k); + + if (grid->debug_value) { + BKE_sim_debug_data_add_dot(wloc, 1, 0, 0, "grid", 93, debug_i, j, k); + BKE_sim_debug_data_add_dot(x2w, 0.1, 0.1, 0.7, "grid", 649, debug_i, j, k); + BKE_sim_debug_data_add_line(wloc, x2w, 0.3, 0.8, 0.3, "grid", 253, debug_i, j, k); + BKE_sim_debug_data_add_line(wloc, x3w, 0.8, 0.3, 0.3, "grid", 254, debug_i, j, k); +// BKE_sim_debug_data_add_circle(x2w, len_v3v3(wloc, x2w), 0.2, 0.7, 0.2, "grid", 255, i, j, k); + } + } +# endif + } + } } /* Uses a variation of Bresenham's algorithm for rasterizing a 3D grid with a line segment. @@ -431,191 +484,207 @@ void BPH_hair_volume_add_segment( const float x3[3], const float v3[3], const float x4[3], const float v4[3], const float dir1[3], const float dir2[3], const float dir3[3]) { - const int res[3] = { grid->res[0], grid->res[1], grid->res[2] }; - - /* find the primary direction from the major axis of the direction vector */ - const int axis0 = major_axis_v3(dir2); - const int axis1 = (axis0 + 1) % 3; - const int axis2 = (axis0 + 2) % 3; - - /* vertex buffer offset factors along cardinal axes */ - const int strides[3] = { 1, res[0], res[0] * res[1] }; - const int stride0 = strides[axis0]; - const int stride1 = strides[axis1]; - const int stride2 = strides[axis2]; - - /* increment of secondary directions per step in the primary direction - * note: we always go in the positive direction along axis0, so the sign can be inverted - */ - const float inc1 = dir2[axis1] / dir2[axis0]; - const float inc2 = dir2[axis2] / dir2[axis0]; - - /* start/end points, so increment along axis0 is always positive */ - const float *start = x2[axis0] < x3[axis0] ? x2 : x3; - const float *end = x2[axis0] < x3[axis0] ? x3 : x2; - const float start0 = start[axis0], start1 = start[axis1], start2 = start[axis2]; - const float end0 = end[axis0]; - - /* range along primary direction */ - const int imin = max_ii(floor_int(start[axis0]) - 1, 0); - const int imax = min_ii(floor_int(end[axis0]) + 2, res[axis0] - 1); - - float h = 0.0f; - HairGridVert *vert0; - float loc0[3]; - int j0, k0, j0_prev, k0_prev; - int i; - - for (i = imin; i <= imax; ++i) { - float shift1, shift2; /* fraction of a full cell shift [0.0, 1.0) */ - int jmin, jmax, kmin, kmax; - - h = CLAMPIS((float)i, start0, end0); - - shift1 = start1 + (h - start0) * inc1; - shift2 = start2 + (h - start0) * inc2; - - j0_prev = j0; - j0 = floor_int(shift1); - - k0_prev = k0; - k0 = floor_int(shift2); - - if (i > imin) { - jmin = min_ii(j0, j0_prev); - jmax = max_ii(j0, j0_prev); - kmin = min_ii(k0, k0_prev); - kmax = max_ii(k0, k0_prev); - } - else { - jmin = jmax = j0; - kmin = kmax = k0; - } - - vert0 = grid->verts + i * stride0; - loc0[axis0] = (float)i; - loc0[axis1] = 0.0f; - loc0[axis2] = 0.0f; - - hair_volume_add_segment_2D( - grid, x1, v1, x2, v2, x3, v3, x4, v4, dir1, dir2, dir3, - res[axis1], res[axis2], jmin - 1, jmax + 2, kmin - 1, kmax + 2, - vert0, stride1, stride2, loc0, axis1, axis2, - i); - } + const int res[3] = { grid->res[0], grid->res[1], grid->res[2] }; + + /* find the primary direction from the major axis of the direction vector */ + const int axis0 = major_axis_v3(dir2); + const int axis1 = (axis0 + 1) % 3; + const int axis2 = (axis0 + 2) % 3; + + /* vertex buffer offset factors along cardinal axes */ + const int strides[3] = { 1, res[0], res[0] * res[1] }; + const int stride0 = strides[axis0]; + const int stride1 = strides[axis1]; + const int stride2 = strides[axis2]; + + /* increment of secondary directions per step in the primary direction + * note: we always go in the positive direction along axis0, so the sign can be inverted + */ + const float inc1 = dir2[axis1] / dir2[axis0]; + const float inc2 = dir2[axis2] / dir2[axis0]; + + /* start/end points, so increment along axis0 is always positive */ + const float *start = x2[axis0] < x3[axis0] ? x2 : x3; + const float *end = x2[axis0] < x3[axis0] ? x3 : x2; + const float start0 = start[axis0], start1 = start[axis1], start2 = start[axis2]; + const float end0 = end[axis0]; + + /* range along primary direction */ + const int imin = max_ii(floor_int(start[axis0]) - 1, 0); + const int imax = min_ii(floor_int(end[axis0]) + 2, res[axis0] - 1); + + float h = 0.0f; + HairGridVert *vert0; + float loc0[3]; + int j0, k0, j0_prev, k0_prev; + int i; + + for (i = imin; i <= imax; ++i) { + float shift1, shift2; /* fraction of a full cell shift [0.0, 1.0) */ + int jmin, jmax, kmin, kmax; + + h = CLAMPIS((float)i, start0, end0); + + shift1 = start1 + (h - start0) * inc1; + shift2 = start2 + (h - start0) * inc2; + + j0_prev = j0; + j0 = floor_int(shift1); + + k0_prev = k0; + k0 = floor_int(shift2); + + if (i > imin) { + jmin = min_ii(j0, j0_prev); + jmax = max_ii(j0, j0_prev); + kmin = min_ii(k0, k0_prev); + kmax = max_ii(k0, k0_prev); + } + else { + jmin = jmax = j0; + kmin = kmax = k0; + } + + vert0 = grid->verts + i * stride0; + loc0[axis0] = (float)i; + loc0[axis1] = 0.0f; + loc0[axis2] = 0.0f; + + hair_volume_add_segment_2D( + grid, x1, v1, x2, v2, x3, v3, x4, v4, dir1, dir2, dir3, + res[axis1], res[axis2], jmin - 1, jmax + 2, kmin - 1, kmax + 2, + vert0, stride1, stride2, loc0, axis1, axis2, + i); + } } #else -BLI_INLINE void hair_volume_eval_grid_vertex_sample( - HairGridVert *vert, const float loc[3], float radius, float dist_scale, - const float x[3], const float v[3]) +BLI_INLINE void hair_volume_eval_grid_vertex_sample(HairGridVert *vert, + const float loc[3], + float radius, + float dist_scale, + const float x[3], + const float v[3]) { - float dist, weight; + float dist, weight; - dist = len_v3v3(x, loc); + dist = len_v3v3(x, loc); - weight = (radius - dist) * dist_scale; + weight = (radius - dist) * dist_scale; - if (weight > 0.0f) { - madd_v3_v3fl(vert->velocity, v, weight); - vert->density += weight; - vert->samples += 1; - } + if (weight > 0.0f) { + madd_v3_v3fl(vert->velocity, v, weight); + vert->density += weight; + vert->samples += 1; + } } /* XXX simplified test implementation using a series of discrete sample along the segment, * instead of finding the closest point for all affected grid vertices. */ -void BPH_hair_volume_add_segment( - HairGrid *grid, - const float UNUSED(x1[3]), const float UNUSED(v1[3]), const float x2[3], const float v2[3], - const float x3[3], const float v3[3], const float UNUSED(x4[3]), const float UNUSED(v4[3]), - const float UNUSED(dir1[3]), const float UNUSED(dir2[3]), const float UNUSED(dir3[3])) +void BPH_hair_volume_add_segment(HairGrid *grid, + const float UNUSED(x1[3]), + const float UNUSED(v1[3]), + const float x2[3], + const float v2[3], + const float x3[3], + const float v3[3], + const float UNUSED(x4[3]), + const float UNUSED(v4[3]), + const float UNUSED(dir1[3]), + const float UNUSED(dir2[3]), + const float UNUSED(dir3[3])) { - const float radius = 1.5f; - const float dist_scale = grid->inv_cellsize; - - const int res[3] = { grid->res[0], grid->res[1], grid->res[2] }; - const int stride[3] = { 1, res[0], res[0] * res[1] }; - const int num_samples = 10; - - int s; - - for (s = 0; s < num_samples; ++s) { - float x[3], v[3]; - int i, j, k; - - float f = (float)s / (float)(num_samples - 1); - interp_v3_v3v3(x, x2, x3, f); - interp_v3_v3v3(v, v2, v3, f); - - int imin = max_ii(floor_int(x[0]) - 2, 0); - int imax = min_ii(floor_int(x[0]) + 2, res[0] - 1); - int jmin = max_ii(floor_int(x[1]) - 2, 0); - int jmax = min_ii(floor_int(x[1]) + 2, res[1] - 1); - int kmin = max_ii(floor_int(x[2]) - 2, 0); - int kmax = min_ii(floor_int(x[2]) + 2, res[2] - 1); - - for (k = kmin; k <= kmax; ++k) { - for (j = jmin; j <= jmax; ++j) { - for (i = imin; i <= imax; ++i) { - float loc[3] = { (float)i, (float)j, (float)k }; - HairGridVert *vert = grid->verts + i * stride[0] + j * stride[1] + k * stride[2]; - - hair_volume_eval_grid_vertex_sample(vert, loc, radius, dist_scale, x, v); - } - } - } - } + const float radius = 1.5f; + const float dist_scale = grid->inv_cellsize; + + const int res[3] = {grid->res[0], grid->res[1], grid->res[2]}; + const int stride[3] = {1, res[0], res[0] * res[1]}; + const int num_samples = 10; + + int s; + + for (s = 0; s < num_samples; ++s) { + float x[3], v[3]; + int i, j, k; + + float f = (float)s / (float)(num_samples - 1); + interp_v3_v3v3(x, x2, x3, f); + interp_v3_v3v3(v, v2, v3, f); + + int imin = max_ii(floor_int(x[0]) - 2, 0); + int imax = min_ii(floor_int(x[0]) + 2, res[0] - 1); + int jmin = max_ii(floor_int(x[1]) - 2, 0); + int jmax = min_ii(floor_int(x[1]) + 2, res[1] - 1); + int kmin = max_ii(floor_int(x[2]) - 2, 0); + int kmax = min_ii(floor_int(x[2]) + 2, res[2] - 1); + + for (k = kmin; k <= kmax; ++k) { + for (j = jmin; j <= jmax; ++j) { + for (i = imin; i <= imax; ++i) { + float loc[3] = {(float)i, (float)j, (float)k}; + HairGridVert *vert = grid->verts + i * stride[0] + j * stride[1] + k * stride[2]; + + hair_volume_eval_grid_vertex_sample(vert, loc, radius, dist_scale, x, v); + } + } + } + } } #endif void BPH_hair_volume_normalize_vertex_grid(HairGrid *grid) { - int i, size = hair_grid_size(grid->res); - /* divide velocity with density */ - for (i = 0; i < size; i++) { - float density = grid->verts[i].density; - if (density > 0.0f) - mul_v3_fl(grid->verts[i].velocity, 1.0f / density); - } + int i, size = hair_grid_size(grid->res); + /* divide velocity with density */ + for (i = 0; i < size; i++) { + float density = grid->verts[i].density; + if (density > 0.0f) + mul_v3_fl(grid->verts[i].velocity, 1.0f / density); + } } -static const float density_threshold = 0.001f; /* cells with density below this are considered empty */ +static const float density_threshold = + 0.001f; /* cells with density below this are considered empty */ /* Contribution of target density pressure to the laplacian in the pressure poisson equation. * This is based on the model found in * "Two-way Coupled SPH and Particle Level Set Fluid Simulation" (Losasso et al., 2008) */ -BLI_INLINE float hair_volume_density_divergence(float density, float target_density, float strength) +BLI_INLINE float hair_volume_density_divergence(float density, + float target_density, + float strength) { - if (density > density_threshold && density > target_density) - return strength * logf(target_density / density); - else - return 0.0f; + if (density > density_threshold && density > target_density) + return strength * logf(target_density / density); + else + return 0.0f; } -bool BPH_hair_volume_solve_divergence(HairGrid *grid, float /*dt*/, float target_density, float target_strength) +bool BPH_hair_volume_solve_divergence(HairGrid *grid, + float /*dt*/, + float target_density, + float target_strength) { - const float flowfac = grid->cellsize; - const float inv_flowfac = 1.0f / grid->cellsize; + const float flowfac = grid->cellsize; + const float inv_flowfac = 1.0f / grid->cellsize; - /*const int num_cells = hair_grid_size(grid->res);*/ - const int res[3] = { grid->res[0], grid->res[1], grid->res[2] }; - const int resA[3] = { grid->res[0] + 2, grid->res[1] + 2, grid->res[2] + 2 }; + /*const int num_cells = hair_grid_size(grid->res);*/ + const int res[3] = {grid->res[0], grid->res[1], grid->res[2]}; + const int resA[3] = {grid->res[0] + 2, grid->res[1] + 2, grid->res[2] + 2}; - const int stride0 = 1; - const int stride1 = grid->res[0]; - const int stride2 = grid->res[1] * grid->res[0]; - const int strideA0 = 1; - const int strideA1 = grid->res[0] + 2; - const int strideA2 = (grid->res[1] + 2) * (grid->res[0] + 2); + const int stride0 = 1; + const int stride1 = grid->res[0]; + const int stride2 = grid->res[1] * grid->res[0]; + const int strideA0 = 1; + const int strideA1 = grid->res[0] + 2; + const int strideA2 = (grid->res[1] + 2) * (grid->res[0] + 2); - const int num_cells = res[0] * res[1] * res[2]; - const int num_cellsA = (res[0] + 2) * (res[1] + 2) * (res[2] + 2); + const int num_cells = res[0] * res[1] * res[2]; + const int num_cellsA = (res[0] + 2) * (res[1] + 2) * (res[2] + 2); - HairGridVert *vert_start = grid->verts - (stride0 + stride1 + stride2); - HairGridVert *vert; - int i, j, k; + HairGridVert *vert_start = grid->verts - (stride0 + stride1 + stride2); + HairGridVert *vert; + int i, j, k; #define MARGIN_i0 (i < 1) #define MARGIN_j0 (j < 1) @@ -631,259 +700,263 @@ bool BPH_hair_volume_solve_divergence(HairGrid *grid, float /*dt*/, float target #define NEIGHBOR_MARGIN_j1 (j >= resA[1] - 2) #define NEIGHBOR_MARGIN_k1 (k >= resA[2] - 2) - BLI_assert(num_cells >= 1); - - /* Calculate divergence */ - lVector B(num_cellsA); - for (k = 0; k < resA[2]; ++k) { - for (j = 0; j < resA[1]; ++j) { - for (i = 0; i < resA[0]; ++i) { - int u = i * strideA0 + j * strideA1 + k * strideA2; - bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || MARGIN_k1; - - if (is_margin) { - B[u] = 0.0f; - continue; - } - - vert = vert_start + i * stride0 + j * stride1 + k * stride2; - - const float *v0 = vert->velocity; - float dx = 0.0f, dy = 0.0f, dz = 0.0f; - if (!NEIGHBOR_MARGIN_i0) - dx += v0[0] - (vert - stride0)->velocity[0]; - if (!NEIGHBOR_MARGIN_i1) - dx += (vert + stride0)->velocity[0] - v0[0]; - if (!NEIGHBOR_MARGIN_j0) - dy += v0[1] - (vert - stride1)->velocity[1]; - if (!NEIGHBOR_MARGIN_j1) - dy += (vert + stride1)->velocity[1] - v0[1]; - if (!NEIGHBOR_MARGIN_k0) - dz += v0[2] - (vert - stride2)->velocity[2]; - if (!NEIGHBOR_MARGIN_k1) - dz += (vert + stride2)->velocity[2] - v0[2]; - - float divergence = -0.5f * flowfac * (dx + dy + dz); - - /* adjustment term for target density */ - float target = hair_volume_density_divergence(vert->density, target_density, target_strength); - - /* B vector contains the finite difference approximation of the velocity divergence. - * Note: according to the discretized Navier-Stokes equation the rhs vector - * and resulting pressure gradient should be multiplied by the (inverse) density; - * however, this is already included in the weighting of hair velocities on the grid! - */ - B[u] = divergence - target; + BLI_assert(num_cells >= 1); + + /* Calculate divergence */ + lVector B(num_cellsA); + for (k = 0; k < resA[2]; ++k) { + for (j = 0; j < resA[1]; ++j) { + for (i = 0; i < resA[0]; ++i) { + int u = i * strideA0 + j * strideA1 + k * strideA2; + bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || + MARGIN_k1; + + if (is_margin) { + B[u] = 0.0f; + continue; + } + + vert = vert_start + i * stride0 + j * stride1 + k * stride2; + + const float *v0 = vert->velocity; + float dx = 0.0f, dy = 0.0f, dz = 0.0f; + if (!NEIGHBOR_MARGIN_i0) + dx += v0[0] - (vert - stride0)->velocity[0]; + if (!NEIGHBOR_MARGIN_i1) + dx += (vert + stride0)->velocity[0] - v0[0]; + if (!NEIGHBOR_MARGIN_j0) + dy += v0[1] - (vert - stride1)->velocity[1]; + if (!NEIGHBOR_MARGIN_j1) + dy += (vert + stride1)->velocity[1] - v0[1]; + if (!NEIGHBOR_MARGIN_k0) + dz += v0[2] - (vert - stride2)->velocity[2]; + if (!NEIGHBOR_MARGIN_k1) + dz += (vert + stride2)->velocity[2] - v0[2]; + + float divergence = -0.5f * flowfac * (dx + dy + dz); + + /* adjustment term for target density */ + float target = hair_volume_density_divergence( + vert->density, target_density, target_strength); + + /* B vector contains the finite difference approximation of the velocity divergence. + * Note: according to the discretized Navier-Stokes equation the rhs vector + * and resulting pressure gradient should be multiplied by the (inverse) density; + * however, this is already included in the weighting of hair velocities on the grid! + */ + B[u] = divergence - target; #if 0 - { - float wloc[3], loc[3]; - float col0[3] = {0.0, 0.0, 0.0}; - float colp[3] = {0.0, 1.0, 1.0}; - float coln[3] = {1.0, 0.0, 1.0}; - float col[3]; - float fac; - - loc[0] = (float)(i - 1); - loc[1] = (float)(j - 1); - loc[2] = (float)(k - 1); - grid_to_world(grid, wloc, loc); - - if (divergence > 0.0f) { - fac = CLAMPIS(divergence * target_strength, 0.0, 1.0); - interp_v3_v3v3(col, col0, colp, fac); - } - else { - fac = CLAMPIS(-divergence * target_strength, 0.0, 1.0); - interp_v3_v3v3(col, col0, coln, fac); - } - if (fac > 0.05f) - BKE_sim_debug_data_add_circle(grid->debug_data, wloc, 0.01f, col[0], col[1], col[2], "grid", 5522, i, j, k); - } + { + float wloc[3], loc[3]; + float col0[3] = {0.0, 0.0, 0.0}; + float colp[3] = {0.0, 1.0, 1.0}; + float coln[3] = {1.0, 0.0, 1.0}; + float col[3]; + float fac; + + loc[0] = (float)(i - 1); + loc[1] = (float)(j - 1); + loc[2] = (float)(k - 1); + grid_to_world(grid, wloc, loc); + + if (divergence > 0.0f) { + fac = CLAMPIS(divergence * target_strength, 0.0, 1.0); + interp_v3_v3v3(col, col0, colp, fac); + } + else { + fac = CLAMPIS(-divergence * target_strength, 0.0, 1.0); + interp_v3_v3v3(col, col0, coln, fac); + } + if (fac > 0.05f) + BKE_sim_debug_data_add_circle(grid->debug_data, wloc, 0.01f, col[0], col[1], col[2], "grid", 5522, i, j, k); + } #endif - } - } - } - - /* Main Poisson equation system: - * This is derived from the discretezation of the Poisson equation - * div(grad(p)) = div(v) - * - * The finite difference approximation yields the linear equation system described here: - * https://en.wikipedia.org/wiki/Discrete_Poisson_equation - */ - lMatrix A(num_cellsA, num_cellsA); - /* Reserve space for the base equation system (without boundary conditions). - * Each column contains a factor 6 on the diagonal - * and up to 6 factors -1 on other places. - */ - A.reserve(Eigen::VectorXi::Constant(num_cellsA, 7)); - - for (k = 0; k < resA[2]; ++k) { - for (j = 0; j < resA[1]; ++j) { - for (i = 0; i < resA[0]; ++i) { - int u = i * strideA0 + j * strideA1 + k * strideA2; - bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || MARGIN_k1; - - vert = vert_start + i * stride0 + j * stride1 + k * stride2; - if (!is_margin && vert->density > density_threshold) { - int neighbors_lo = 0; - int neighbors_hi = 0; - int non_solid_neighbors = 0; - int neighbor_lo_index[3]; - int neighbor_hi_index[3]; - int n; - - /* check for upper bounds in advance - * to get the correct number of neighbors, - * needed for the diagonal element - */ - if (!NEIGHBOR_MARGIN_k0 && (vert - stride2)->density > density_threshold) - neighbor_lo_index[neighbors_lo++] = u - strideA2; - if (!NEIGHBOR_MARGIN_j0 && (vert - stride1)->density > density_threshold) - neighbor_lo_index[neighbors_lo++] = u - strideA1; - if (!NEIGHBOR_MARGIN_i0 && (vert - stride0)->density > density_threshold) - neighbor_lo_index[neighbors_lo++] = u - strideA0; - if (!NEIGHBOR_MARGIN_i1 && (vert + stride0)->density > density_threshold) - neighbor_hi_index[neighbors_hi++] = u + strideA0; - if (!NEIGHBOR_MARGIN_j1 && (vert + stride1)->density > density_threshold) - neighbor_hi_index[neighbors_hi++] = u + strideA1; - if (!NEIGHBOR_MARGIN_k1 && (vert + stride2)->density > density_threshold) - neighbor_hi_index[neighbors_hi++] = u + strideA2; - - /*int liquid_neighbors = neighbors_lo + neighbors_hi;*/ - non_solid_neighbors = 6; - - for (n = 0; n < neighbors_lo; ++n) - A.insert(neighbor_lo_index[n], u) = -1.0f; - A.insert(u, u) = (float)non_solid_neighbors; - for (n = 0; n < neighbors_hi; ++n) - A.insert(neighbor_hi_index[n], u) = -1.0f; - } - else { - A.insert(u, u) = 1.0f; - } - } - } - } - - ConjugateGradient cg; - cg.setMaxIterations(100); - cg.setTolerance(0.01f); - - cg.compute(A); - - lVector p = cg.solve(B); - - if (cg.info() == Eigen::Success) { - /* Calculate velocity = grad(p) */ - for (k = 0; k < resA[2]; ++k) { - for (j = 0; j < resA[1]; ++j) { - for (i = 0; i < resA[0]; ++i) { - int u = i * strideA0 + j * strideA1 + k * strideA2; - bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || MARGIN_k1; - if (is_margin) - continue; - - vert = vert_start + i * stride0 + j * stride1 + k * stride2; - if (vert->density > density_threshold) { - float p_left = p[u - strideA0]; - float p_right = p[u + strideA0]; - float p_down = p[u - strideA1]; - float p_up = p[u + strideA1]; - float p_bottom = p[u - strideA2]; - float p_top = p[u + strideA2]; - - /* finite difference estimate of pressure gradient */ - float dvel[3]; - dvel[0] = p_right - p_left; - dvel[1] = p_up - p_down; - dvel[2] = p_top - p_bottom; - mul_v3_fl(dvel, -0.5f * inv_flowfac); - - /* pressure gradient describes velocity delta */ - add_v3_v3v3(vert->velocity_smooth, vert->velocity, dvel); - } - else { - zero_v3(vert->velocity_smooth); - } - } - } - } + } + } + } + + /* Main Poisson equation system: + * This is derived from the discretezation of the Poisson equation + * div(grad(p)) = div(v) + * + * The finite difference approximation yields the linear equation system described here: + * https://en.wikipedia.org/wiki/Discrete_Poisson_equation + */ + lMatrix A(num_cellsA, num_cellsA); + /* Reserve space for the base equation system (without boundary conditions). + * Each column contains a factor 6 on the diagonal + * and up to 6 factors -1 on other places. + */ + A.reserve(Eigen::VectorXi::Constant(num_cellsA, 7)); + + for (k = 0; k < resA[2]; ++k) { + for (j = 0; j < resA[1]; ++j) { + for (i = 0; i < resA[0]; ++i) { + int u = i * strideA0 + j * strideA1 + k * strideA2; + bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || + MARGIN_k1; + + vert = vert_start + i * stride0 + j * stride1 + k * stride2; + if (!is_margin && vert->density > density_threshold) { + int neighbors_lo = 0; + int neighbors_hi = 0; + int non_solid_neighbors = 0; + int neighbor_lo_index[3]; + int neighbor_hi_index[3]; + int n; + + /* check for upper bounds in advance + * to get the correct number of neighbors, + * needed for the diagonal element + */ + if (!NEIGHBOR_MARGIN_k0 && (vert - stride2)->density > density_threshold) + neighbor_lo_index[neighbors_lo++] = u - strideA2; + if (!NEIGHBOR_MARGIN_j0 && (vert - stride1)->density > density_threshold) + neighbor_lo_index[neighbors_lo++] = u - strideA1; + if (!NEIGHBOR_MARGIN_i0 && (vert - stride0)->density > density_threshold) + neighbor_lo_index[neighbors_lo++] = u - strideA0; + if (!NEIGHBOR_MARGIN_i1 && (vert + stride0)->density > density_threshold) + neighbor_hi_index[neighbors_hi++] = u + strideA0; + if (!NEIGHBOR_MARGIN_j1 && (vert + stride1)->density > density_threshold) + neighbor_hi_index[neighbors_hi++] = u + strideA1; + if (!NEIGHBOR_MARGIN_k1 && (vert + stride2)->density > density_threshold) + neighbor_hi_index[neighbors_hi++] = u + strideA2; + + /*int liquid_neighbors = neighbors_lo + neighbors_hi;*/ + non_solid_neighbors = 6; + + for (n = 0; n < neighbors_lo; ++n) + A.insert(neighbor_lo_index[n], u) = -1.0f; + A.insert(u, u) = (float)non_solid_neighbors; + for (n = 0; n < neighbors_hi; ++n) + A.insert(neighbor_hi_index[n], u) = -1.0f; + } + else { + A.insert(u, u) = 1.0f; + } + } + } + } + + ConjugateGradient cg; + cg.setMaxIterations(100); + cg.setTolerance(0.01f); + + cg.compute(A); + + lVector p = cg.solve(B); + + if (cg.info() == Eigen::Success) { + /* Calculate velocity = grad(p) */ + for (k = 0; k < resA[2]; ++k) { + for (j = 0; j < resA[1]; ++j) { + for (i = 0; i < resA[0]; ++i) { + int u = i * strideA0 + j * strideA1 + k * strideA2; + bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || + MARGIN_k1; + if (is_margin) + continue; + + vert = vert_start + i * stride0 + j * stride1 + k * stride2; + if (vert->density > density_threshold) { + float p_left = p[u - strideA0]; + float p_right = p[u + strideA0]; + float p_down = p[u - strideA1]; + float p_up = p[u + strideA1]; + float p_bottom = p[u - strideA2]; + float p_top = p[u + strideA2]; + + /* finite difference estimate of pressure gradient */ + float dvel[3]; + dvel[0] = p_right - p_left; + dvel[1] = p_up - p_down; + dvel[2] = p_top - p_bottom; + mul_v3_fl(dvel, -0.5f * inv_flowfac); + + /* pressure gradient describes velocity delta */ + add_v3_v3v3(vert->velocity_smooth, vert->velocity, dvel); + } + else { + zero_v3(vert->velocity_smooth); + } + } + } + } #if 0 - { - int axis = 0; - float offset = 0.0f; - - int slice = (offset - grid->gmin[axis]) / grid->cellsize; - - for (k = 0; k < resA[2]; ++k) { - for (j = 0; j < resA[1]; ++j) { - for (i = 0; i < resA[0]; ++i) { - int u = i * strideA0 + j * strideA1 + k * strideA2; - bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || MARGIN_k1; - if (i != slice) - continue; - - vert = vert_start + i * stride0 + j * stride1 + k * stride2; - - float wloc[3], loc[3]; - float col0[3] = {0.0, 0.0, 0.0}; - float colp[3] = {0.0, 1.0, 1.0}; - float coln[3] = {1.0, 0.0, 1.0}; - float col[3]; - float fac; - - loc[0] = (float)(i - 1); - loc[1] = (float)(j - 1); - loc[2] = (float)(k - 1); - grid_to_world(grid, wloc, loc); - - float pressure = p[u]; - if (pressure > 0.0f) { - fac = CLAMPIS(pressure * grid->debug1, 0.0, 1.0); - interp_v3_v3v3(col, col0, colp, fac); - } - else { - fac = CLAMPIS(-pressure * grid->debug1, 0.0, 1.0); - interp_v3_v3v3(col, col0, coln, fac); - } - if (fac > 0.05f) - BKE_sim_debug_data_add_circle(grid->debug_data, wloc, 0.01f, col[0], col[1], col[2], "grid", 5533, i, j, k); - - if (!is_margin) { - float dvel[3]; - sub_v3_v3v3(dvel, vert->velocity_smooth, vert->velocity); -// BKE_sim_debug_data_add_vector(grid->debug_data, wloc, dvel, 1, 1, 1, "grid", 5566, i, j, k); - } - - if (!is_margin) { - float d = CLAMPIS(vert->density * grid->debug2, 0.0f, 1.0f); - float col0[3] = {0.3, 0.3, 0.3}; - float colp[3] = {0.0, 0.0, 1.0}; - float col[3]; - - interp_v3_v3v3(col, col0, colp, d); -// if (d > 0.05f) -// BKE_sim_debug_data_add_dot(grid->debug_data, wloc, col[0], col[1], col[2], "grid", 5544, i, j, k); - } - } - } - } - } + { + int axis = 0; + float offset = 0.0f; + + int slice = (offset - grid->gmin[axis]) / grid->cellsize; + + for (k = 0; k < resA[2]; ++k) { + for (j = 0; j < resA[1]; ++j) { + for (i = 0; i < resA[0]; ++i) { + int u = i * strideA0 + j * strideA1 + k * strideA2; + bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || MARGIN_k1; + if (i != slice) + continue; + + vert = vert_start + i * stride0 + j * stride1 + k * stride2; + + float wloc[3], loc[3]; + float col0[3] = {0.0, 0.0, 0.0}; + float colp[3] = {0.0, 1.0, 1.0}; + float coln[3] = {1.0, 0.0, 1.0}; + float col[3]; + float fac; + + loc[0] = (float)(i - 1); + loc[1] = (float)(j - 1); + loc[2] = (float)(k - 1); + grid_to_world(grid, wloc, loc); + + float pressure = p[u]; + if (pressure > 0.0f) { + fac = CLAMPIS(pressure * grid->debug1, 0.0, 1.0); + interp_v3_v3v3(col, col0, colp, fac); + } + else { + fac = CLAMPIS(-pressure * grid->debug1, 0.0, 1.0); + interp_v3_v3v3(col, col0, coln, fac); + } + if (fac > 0.05f) + BKE_sim_debug_data_add_circle(grid->debug_data, wloc, 0.01f, col[0], col[1], col[2], "grid", 5533, i, j, k); + + if (!is_margin) { + float dvel[3]; + sub_v3_v3v3(dvel, vert->velocity_smooth, vert->velocity); +// BKE_sim_debug_data_add_vector(grid->debug_data, wloc, dvel, 1, 1, 1, "grid", 5566, i, j, k); + } + + if (!is_margin) { + float d = CLAMPIS(vert->density * grid->debug2, 0.0f, 1.0f); + float col0[3] = {0.3, 0.3, 0.3}; + float colp[3] = {0.0, 0.0, 1.0}; + float col[3]; + + interp_v3_v3v3(col, col0, colp, d); +// if (d > 0.05f) +// BKE_sim_debug_data_add_dot(grid->debug_data, wloc, col[0], col[1], col[2], "grid", 5544, i, j, k); + } + } + } + } + } #endif - return true; - } - else { - /* Clear result in case of error */ - for (i = 0, vert = grid->verts; i < num_cells; ++i, ++vert) { - zero_v3(vert->velocity_smooth); - } + return true; + } + else { + /* Clear result in case of error */ + for (i = 0, vert = grid->verts; i < num_cells; ++i, ++vert) { + zero_v3(vert->velocity_smooth); + } - return false; - } + return false; + } } #if 0 /* XXX weighting is incorrect, disabled for now */ @@ -893,209 +966,216 @@ bool BPH_hair_volume_solve_divergence(HairGrid *grid, float /*dt*/, float target BLI_INLINE void hair_volume_filter_box_convolute(HairVertexGrid *grid, float invD, const int kernel_size[3], int i, int j, int k) { - int res = grid->res; - int p, q, r; - int minp = max_ii(i - kernel_size[0], 0), maxp = min_ii(i + kernel_size[0], res - 1); - int minq = max_ii(j - kernel_size[1], 0), maxq = min_ii(j + kernel_size[1], res - 1); - int minr = max_ii(k - kernel_size[2], 0), maxr = min_ii(k + kernel_size[2], res - 1); - int offset, kernel_offset, kernel_dq, kernel_dr; - HairGridVert *verts; - float *vel_smooth; - - offset = i + (j + k * res) * res; - verts = grid->verts; - vel_smooth = verts[offset].velocity_smooth; - - kernel_offset = minp + (minq + minr * res) * res; - kernel_dq = res; - kernel_dr = res * res; - for (r = minr; r <= maxr; ++r) { - for (q = minq; q <= maxq; ++q) { - for (p = minp; p <= maxp; ++p) { - - madd_v3_v3fl(vel_smooth, verts[kernel_offset].velocity, invD); - - kernel_offset += 1; - } - kernel_offset += kernel_dq; - } - kernel_offset += kernel_dr; - } + int res = grid->res; + int p, q, r; + int minp = max_ii(i - kernel_size[0], 0), maxp = min_ii(i + kernel_size[0], res - 1); + int minq = max_ii(j - kernel_size[1], 0), maxq = min_ii(j + kernel_size[1], res - 1); + int minr = max_ii(k - kernel_size[2], 0), maxr = min_ii(k + kernel_size[2], res - 1); + int offset, kernel_offset, kernel_dq, kernel_dr; + HairGridVert *verts; + float *vel_smooth; + + offset = i + (j + k * res) * res; + verts = grid->verts; + vel_smooth = verts[offset].velocity_smooth; + + kernel_offset = minp + (minq + minr * res) * res; + kernel_dq = res; + kernel_dr = res * res; + for (r = minr; r <= maxr; ++r) { + for (q = minq; q <= maxq; ++q) { + for (p = minp; p <= maxp; ++p) { + + madd_v3_v3fl(vel_smooth, verts[kernel_offset].velocity, invD); + + kernel_offset += 1; + } + kernel_offset += kernel_dq; + } + kernel_offset += kernel_dr; + } } void BPH_hair_volume_vertex_grid_filter_box(HairVertexGrid *grid, int kernel_size) { - int size = hair_grid_size(grid->res); - int kernel_sizev[3] = {kernel_size, kernel_size, kernel_size}; - int tot; - float invD; - int i, j, k; - - if (kernel_size <= 0) - return; - - tot = kernel_size * 2 + 1; - invD = 1.0f / (float)(tot * tot * tot); - - /* clear values for convolution */ - for (i = 0; i < size; ++i) { - zero_v3(grid->verts[i].velocity_smooth); - } - - for (i = 0; i < grid->res; ++i) { - for (j = 0; j < grid->res; ++j) { - for (k = 0; k < grid->res; ++k) { - hair_volume_filter_box_convolute(grid, invD, kernel_sizev, i, j, k); - } - } - } - - /* apply as new velocity */ - for (i = 0; i < size; ++i) { - copy_v3_v3(grid->verts[i].velocity, grid->verts[i].velocity_smooth); - } + int size = hair_grid_size(grid->res); + int kernel_sizev[3] = {kernel_size, kernel_size, kernel_size}; + int tot; + float invD; + int i, j, k; + + if (kernel_size <= 0) + return; + + tot = kernel_size * 2 + 1; + invD = 1.0f / (float)(tot * tot * tot); + + /* clear values for convolution */ + for (i = 0; i < size; ++i) { + zero_v3(grid->verts[i].velocity_smooth); + } + + for (i = 0; i < grid->res; ++i) { + for (j = 0; j < grid->res; ++j) { + for (k = 0; k < grid->res; ++k) { + hair_volume_filter_box_convolute(grid, invD, kernel_sizev, i, j, k); + } + } + } + + /* apply as new velocity */ + for (i = 0; i < size; ++i) { + copy_v3_v3(grid->verts[i].velocity, grid->verts[i].velocity_smooth); + } } #endif -HairGrid *BPH_hair_volume_create_vertex_grid(float cellsize, const float gmin[3], const float gmax[3]) +HairGrid *BPH_hair_volume_create_vertex_grid(float cellsize, + const float gmin[3], + const float gmax[3]) { - float scale; - float extent[3]; - int resmin[3], resmax[3], res[3]; - float gmin_margin[3], gmax_margin[3]; - int size; - HairGrid *grid; - int i; - - /* sanity check */ - if (cellsize <= 0.0f) - cellsize = 1.0f; - scale = 1.0f / cellsize; - - sub_v3_v3v3(extent, gmax, gmin); - for (i = 0; i < 3; ++i) { - resmin[i] = floor_int(gmin[i] * scale); - resmax[i] = floor_int(gmax[i] * scale) + 1; - - /* add margin of 1 cell */ - resmin[i] -= 1; - resmax[i] += 1; - - res[i] = resmax[i] - resmin[i] + 1; - /* sanity check: avoid null-sized grid */ - if (res[i] < 4) { - res[i] = 4; - resmax[i] = resmin[i] + 4; - } - /* sanity check: avoid too large grid size */ - if (res[i] > MAX_HAIR_GRID_RES) { - res[i] = MAX_HAIR_GRID_RES; - resmax[i] = resmin[i] + MAX_HAIR_GRID_RES; - } - - gmin_margin[i] = (float)resmin[i] * cellsize; - gmax_margin[i] = (float)resmax[i] * cellsize; - } - size = hair_grid_size(res); - - grid = (HairGrid *)MEM_callocN(sizeof(HairGrid), "hair grid"); - grid->res[0] = res[0]; - grid->res[1] = res[1]; - grid->res[2] = res[2]; - copy_v3_v3(grid->gmin, gmin_margin); - copy_v3_v3(grid->gmax, gmax_margin); - grid->cellsize = cellsize; - grid->inv_cellsize = scale; - grid->verts = (HairGridVert *)MEM_callocN(sizeof(HairGridVert) * size, "hair voxel data"); - - return grid; + float scale; + float extent[3]; + int resmin[3], resmax[3], res[3]; + float gmin_margin[3], gmax_margin[3]; + int size; + HairGrid *grid; + int i; + + /* sanity check */ + if (cellsize <= 0.0f) + cellsize = 1.0f; + scale = 1.0f / cellsize; + + sub_v3_v3v3(extent, gmax, gmin); + for (i = 0; i < 3; ++i) { + resmin[i] = floor_int(gmin[i] * scale); + resmax[i] = floor_int(gmax[i] * scale) + 1; + + /* add margin of 1 cell */ + resmin[i] -= 1; + resmax[i] += 1; + + res[i] = resmax[i] - resmin[i] + 1; + /* sanity check: avoid null-sized grid */ + if (res[i] < 4) { + res[i] = 4; + resmax[i] = resmin[i] + 4; + } + /* sanity check: avoid too large grid size */ + if (res[i] > MAX_HAIR_GRID_RES) { + res[i] = MAX_HAIR_GRID_RES; + resmax[i] = resmin[i] + MAX_HAIR_GRID_RES; + } + + gmin_margin[i] = (float)resmin[i] * cellsize; + gmax_margin[i] = (float)resmax[i] * cellsize; + } + size = hair_grid_size(res); + + grid = (HairGrid *)MEM_callocN(sizeof(HairGrid), "hair grid"); + grid->res[0] = res[0]; + grid->res[1] = res[1]; + grid->res[2] = res[2]; + copy_v3_v3(grid->gmin, gmin_margin); + copy_v3_v3(grid->gmax, gmax_margin); + grid->cellsize = cellsize; + grid->inv_cellsize = scale; + grid->verts = (HairGridVert *)MEM_callocN(sizeof(HairGridVert) * size, "hair voxel data"); + + return grid; } void BPH_hair_volume_free_vertex_grid(HairGrid *grid) { - if (grid) { - if (grid->verts) - MEM_freeN(grid->verts); - MEM_freeN(grid); - } + if (grid) { + if (grid->verts) + MEM_freeN(grid->verts); + MEM_freeN(grid); + } } -void BPH_hair_volume_grid_geometry(HairGrid *grid, float *cellsize, int res[3], float gmin[3], float gmax[3]) +void BPH_hair_volume_grid_geometry( + HairGrid *grid, float *cellsize, int res[3], float gmin[3], float gmax[3]) { - if (cellsize) *cellsize = grid->cellsize; - if (res) copy_v3_v3_int(res, grid->res); - if (gmin) copy_v3_v3(gmin, grid->gmin); - if (gmax) copy_v3_v3(gmax, grid->gmax); + if (cellsize) + *cellsize = grid->cellsize; + if (res) + copy_v3_v3_int(res, grid->res); + if (gmin) + copy_v3_v3(gmin, grid->gmin); + if (gmax) + copy_v3_v3(gmax, grid->gmax); } #if 0 static HairGridVert *hair_volume_create_collision_grid(ClothModifierData *clmd, lfVector *lX, unsigned int numverts) { - int res = hair_grid_res; - int size = hair_grid_size(res); - HairGridVert *collgrid; - ListBase *colliders; - ColliderCache *col = NULL; - float gmin[3], gmax[3], scale[3]; - /* 2.0f is an experimental value that seems to give good results */ - float collfac = 2.0f * clmd->sim_parms->collider_friction; - unsigned int v = 0; - int i = 0; - - hair_volume_get_boundbox(lX, numverts, gmin, gmax); - hair_grid_get_scale(res, gmin, gmax, scale); - - collgrid = MEM_mallocN(sizeof(HairGridVert) * size, "hair collider voxel data"); - - /* initialize grid */ - for (i = 0; i < size; ++i) { - zero_v3(collgrid[i].velocity); - collgrid[i].density = 0.0f; - } - - /* gather colliders */ - colliders = BKE_collider_cache_create(depsgraph, NULL, NULL); - if (colliders && collfac > 0.0f) { - for (col = colliders->first; col; col = col->next) { - MVert *loc0 = col->collmd->x; - MVert *loc1 = col->collmd->xnew; - float vel[3]; - float weights[8]; - int di, dj, dk; - - for (v = 0; v < col->collmd->numverts; v++, loc0++, loc1++) { - int offset; - - if (!hair_grid_point_valid(loc1->co, gmin, gmax)) - continue; - - offset = hair_grid_weights(res, gmin, scale, lX[v], weights); - - sub_v3_v3v3(vel, loc1->co, loc0->co); - - for (di = 0; di < 2; ++di) { - for (dj = 0; dj < 2; ++dj) { - for (dk = 0; dk < 2; ++dk) { - int voffset = offset + di + (dj + dk * res) * res; - int iw = di + dj * 2 + dk * 4; - - collgrid[voffset].density += weights[iw]; - madd_v3_v3fl(collgrid[voffset].velocity, vel, weights[iw]); - } - } - } - } - } - } - BKE_collider_cache_free(&colliders); - - /* divide velocity with density */ - for (i = 0; i < size; i++) { - float density = collgrid[i].density; - if (density > 0.0f) - mul_v3_fl(collgrid[i].velocity, 1.0f / density); - } - - return collgrid; + int res = hair_grid_res; + int size = hair_grid_size(res); + HairGridVert *collgrid; + ListBase *colliders; + ColliderCache *col = NULL; + float gmin[3], gmax[3], scale[3]; + /* 2.0f is an experimental value that seems to give good results */ + float collfac = 2.0f * clmd->sim_parms->collider_friction; + unsigned int v = 0; + int i = 0; + + hair_volume_get_boundbox(lX, numverts, gmin, gmax); + hair_grid_get_scale(res, gmin, gmax, scale); + + collgrid = MEM_mallocN(sizeof(HairGridVert) * size, "hair collider voxel data"); + + /* initialize grid */ + for (i = 0; i < size; ++i) { + zero_v3(collgrid[i].velocity); + collgrid[i].density = 0.0f; + } + + /* gather colliders */ + colliders = BKE_collider_cache_create(depsgraph, NULL, NULL); + if (colliders && collfac > 0.0f) { + for (col = colliders->first; col; col = col->next) { + MVert *loc0 = col->collmd->x; + MVert *loc1 = col->collmd->xnew; + float vel[3]; + float weights[8]; + int di, dj, dk; + + for (v = 0; v < col->collmd->numverts; v++, loc0++, loc1++) { + int offset; + + if (!hair_grid_point_valid(loc1->co, gmin, gmax)) + continue; + + offset = hair_grid_weights(res, gmin, scale, lX[v], weights); + + sub_v3_v3v3(vel, loc1->co, loc0->co); + + for (di = 0; di < 2; ++di) { + for (dj = 0; dj < 2; ++dj) { + for (dk = 0; dk < 2; ++dk) { + int voffset = offset + di + (dj + dk * res) * res; + int iw = di + dj * 2 + dk * 4; + + collgrid[voffset].density += weights[iw]; + madd_v3_v3fl(collgrid[voffset].velocity, vel, weights[iw]); + } + } + } + } + } + } + BKE_collider_cache_free(&colliders); + + /* divide velocity with density */ + for (i = 0; i < size; i++) { + float density = collgrid[i].density; + if (density > 0.0f) + mul_v3_fl(collgrid[i].velocity, 1.0f / density); + } + + return collgrid; } #endif diff --git a/source/blender/physics/intern/implicit.h b/source/blender/physics/intern/implicit.h index eac59a3edbb..a88a5785fee 100644 --- a/source/blender/physics/intern/implicit.h +++ b/source/blender/physics/intern/implicit.h @@ -54,24 +54,30 @@ extern "C" { struct Implicit_Data; typedef struct ImplicitSolverResult { - int status; + int status; - int iterations; - float error; + int iterations; + float error; } ImplicitSolverResult; BLI_INLINE void implicit_print_matrix_elem(float v) { - printf("%-8.3f", v); + printf("%-8.3f", v); } void BPH_mass_spring_set_vertex_mass(struct Implicit_Data *data, int index, float mass); void BPH_mass_spring_set_rest_transform(struct Implicit_Data *data, int index, float rot[3][3]); -void BPH_mass_spring_set_motion_state(struct Implicit_Data *data, int index, const float x[3], const float v[3]); +void BPH_mass_spring_set_motion_state(struct Implicit_Data *data, + int index, + const float x[3], + const float v[3]); void BPH_mass_spring_set_position(struct Implicit_Data *data, int index, const float x[3]); void BPH_mass_spring_set_velocity(struct Implicit_Data *data, int index, const float v[3]); -void BPH_mass_spring_get_motion_state(struct Implicit_Data *data, int index, float x[3], float v[3]); +void BPH_mass_spring_get_motion_state(struct Implicit_Data *data, + int index, + float x[3], + float v[3]); void BPH_mass_spring_get_position(struct Implicit_Data *data, int index, float x[3]); /* access to modified motion state during solver step */ @@ -81,46 +87,100 @@ void BPH_mass_spring_get_new_velocity(struct Implicit_Data *data, int index, flo void BPH_mass_spring_set_new_velocity(struct Implicit_Data *data, int index, const float v[3]); void BPH_mass_spring_clear_constraints(struct Implicit_Data *data); -void BPH_mass_spring_add_constraint_ndof0(struct Implicit_Data *data, int index, const float dV[3]); -void BPH_mass_spring_add_constraint_ndof1(struct Implicit_Data *data, int index, const float c1[3], const float c2[3], const float dV[3]); -void BPH_mass_spring_add_constraint_ndof2(struct Implicit_Data *data, int index, const float c1[3], const float dV[3]); - -bool BPH_mass_spring_solve_velocities(struct Implicit_Data *data, float dt, struct ImplicitSolverResult *result); +void BPH_mass_spring_add_constraint_ndof0(struct Implicit_Data *data, + int index, + const float dV[3]); +void BPH_mass_spring_add_constraint_ndof1(struct Implicit_Data *data, + int index, + const float c1[3], + const float c2[3], + const float dV[3]); +void BPH_mass_spring_add_constraint_ndof2(struct Implicit_Data *data, + int index, + const float c1[3], + const float dV[3]); + +bool BPH_mass_spring_solve_velocities(struct Implicit_Data *data, + float dt, + struct ImplicitSolverResult *result); bool BPH_mass_spring_solve_positions(struct Implicit_Data *data, float dt); void BPH_mass_spring_apply_result(struct Implicit_Data *data); /* Clear the force vector at the beginning of the time step */ void BPH_mass_spring_clear_forces(struct Implicit_Data *data); /* Fictitious forces introduced by moving coordinate systems */ -void BPH_mass_spring_force_reference_frame(struct Implicit_Data *data, int index, const float acceleration[3], const float omega[3], const float domega_dt[3], float mass); +void BPH_mass_spring_force_reference_frame(struct Implicit_Data *data, + int index, + const float acceleration[3], + const float omega[3], + const float domega_dt[3], + float mass); /* Simple uniform gravity force */ -void BPH_mass_spring_force_gravity(struct Implicit_Data *data, int index, float mass, const float g[3]); +void BPH_mass_spring_force_gravity(struct Implicit_Data *data, + int index, + float mass, + const float g[3]); /* Global drag force (velocity damping) */ void BPH_mass_spring_force_drag(struct Implicit_Data *data, float drag); /* Custom external force */ -void BPH_mass_spring_force_extern(struct Implicit_Data *data, int i, const float f[3], float dfdx[3][3], float dfdv[3][3]); +void BPH_mass_spring_force_extern( + struct Implicit_Data *data, int i, const float f[3], float dfdx[3][3], float dfdv[3][3]); /* Wind force, acting on a face */ -void BPH_mass_spring_force_face_wind(struct Implicit_Data *data, int v1, int v2, int v3, const float(*winvec)[3]); +void BPH_mass_spring_force_face_wind( + struct Implicit_Data *data, int v1, int v2, int v3, const float (*winvec)[3]); /* Wind force, acting on an edge */ -void BPH_mass_spring_force_edge_wind(struct Implicit_Data *data, int v1, int v2, float radius1, float radius2, const float(*winvec)[3]); +void BPH_mass_spring_force_edge_wind(struct Implicit_Data *data, + int v1, + int v2, + float radius1, + float radius2, + const float (*winvec)[3]); /* Wind force, acting on a vertex */ -void BPH_mass_spring_force_vertex_wind(struct Implicit_Data *data, int v, float radius, const float(*winvec)[3]); +void BPH_mass_spring_force_vertex_wind(struct Implicit_Data *data, + int v, + float radius, + const float (*winvec)[3]); /* Linear spring force between two points */ -bool BPH_mass_spring_force_spring_linear(struct Implicit_Data *data, int i, int j, float restlen, - float stiffness_tension, float damping_tension, - float stiffness_compression, float damping_compression, - bool resist_compress, bool new_compress, float clamp_force); +bool BPH_mass_spring_force_spring_linear(struct Implicit_Data *data, + int i, + int j, + float restlen, + float stiffness_tension, + float damping_tension, + float stiffness_compression, + float damping_compression, + bool resist_compress, + bool new_compress, + float clamp_force); /* Angular spring force between two polygons */ -bool BPH_mass_spring_force_spring_angular(struct Implicit_Data *data, int i, int j, int *i_a, int *i_b, int len_a, int len_b, - float restang, float stiffness, float damping); +bool BPH_mass_spring_force_spring_angular(struct Implicit_Data *data, + int i, + int j, + int *i_a, + int *i_b, + int len_a, + int len_b, + float restang, + float stiffness, + float damping); /* Bending force, forming a triangle at the base of two structural springs */ -bool BPH_mass_spring_force_spring_bending(struct Implicit_Data *data, int i, int j, float restlen, float kb, float cb); +bool BPH_mass_spring_force_spring_bending( + struct Implicit_Data *data, int i, int j, float restlen, float kb, float cb); /* Angular bending force based on local target vectors */ -bool BPH_mass_spring_force_spring_bending_hair(struct Implicit_Data *data, int i, int j, int k, - const float target[3], float stiffness, float damping); +bool BPH_mass_spring_force_spring_bending_hair(struct Implicit_Data *data, + int i, + int j, + int k, + const float target[3], + float stiffness, + float damping); /* Global goal spring */ -bool BPH_mass_spring_force_spring_goal(struct Implicit_Data *data, int i, const float goal_x[3], const float goal_v[3], - float stiffness, float damping); +bool BPH_mass_spring_force_spring_goal(struct Implicit_Data *data, + int i, + const float goal_x[3], + const float goal_v[3], + float stiffness, + float damping); /* ======== Hair Volumetric Forces ======== */ @@ -130,44 +190,67 @@ struct VoxelData; #define MAX_HAIR_GRID_RES 256 -struct HairGrid *BPH_hair_volume_create_vertex_grid(float cellsize, const float gmin[3], const float gmax[3]); +struct HairGrid *BPH_hair_volume_create_vertex_grid(float cellsize, + const float gmin[3], + const float gmax[3]); void BPH_hair_volume_free_vertex_grid(struct HairGrid *grid); -void BPH_hair_volume_grid_geometry(struct HairGrid *grid, float *cellsize, int res[3], float gmin[3], float gmax[3]); +void BPH_hair_volume_grid_geometry( + struct HairGrid *grid, float *cellsize, int res[3], float gmin[3], float gmax[3]); void BPH_hair_volume_grid_clear(struct HairGrid *grid); void BPH_hair_volume_add_vertex(struct HairGrid *grid, const float x[3], const float v[3]); void BPH_hair_volume_add_segment(struct HairGrid *grid, - const float x1[3], const float v1[3], const float x2[3], const float v2[3], - const float x3[3], const float v3[3], const float x4[3], const float v4[3], - const float dir1[3], const float dir2[3], const float dir3[3]); + const float x1[3], + const float v1[3], + const float x2[3], + const float v2[3], + const float x3[3], + const float v3[3], + const float x4[3], + const float v4[3], + const float dir1[3], + const float dir2[3], + const float dir3[3]); void BPH_hair_volume_normalize_vertex_grid(struct HairGrid *grid); -bool BPH_hair_volume_solve_divergence(struct HairGrid *grid, float dt, float target_density, float target_strength); +bool BPH_hair_volume_solve_divergence(struct HairGrid *grid, + float dt, + float target_density, + float target_strength); #if 0 /* XXX weighting is incorrect, disabled for now */ void BPH_hair_volume_vertex_grid_filter_box(struct HairVertexGrid *grid, int kernel_size); #endif -void BPH_hair_volume_grid_interpolate(struct HairGrid *grid, const float x[3], - float *density, float velocity[3], float velocity_smooth[3], - float density_gradient[3], float velocity_gradient[3][3]); +void BPH_hair_volume_grid_interpolate(struct HairGrid *grid, + const float x[3], + float *density, + float velocity[3], + float velocity_smooth[3], + float density_gradient[3], + float velocity_gradient[3][3]); /* Effect of fluid simulation grid on velocities. * fluid_factor controls blending between PIC (Particle-in-Cell) * and FLIP (Fluid-Implicit-Particle) methods (0 = only PIC, 1 = only FLIP) */ -void BPH_hair_volume_grid_velocity(struct HairGrid *grid, const float x[3], const float v[3], - float fluid_factor, - float r_v[3]); +void BPH_hair_volume_grid_velocity( + struct HairGrid *grid, const float x[3], const float v[3], float fluid_factor, float r_v[3]); /* XXX Warning: expressing grid effects on velocity as a force is not very stable, * due to discontinuities in interpolated values! * Better use hybrid approaches such as described in * "Detail Preserving Continuum Simulation of Straight Hair" * (McAdams, Selle 2009) */ -void BPH_hair_volume_vertex_grid_forces(struct HairGrid *grid, const float x[3], const float v[3], - float smoothfac, float pressurefac, float minpressure, - float f[3], float dfdx[3][3], float dfdv[3][3]); +void BPH_hair_volume_vertex_grid_forces(struct HairGrid *grid, + const float x[3], + const float v[3], + float smoothfac, + float pressurefac, + float minpressure, + float f[3], + float dfdx[3][3], + float dfdv[3][3]); #ifdef __cplusplus } diff --git a/source/blender/physics/intern/implicit_blender.c b/source/blender/physics/intern/implicit_blender.c index 83f586c4078..622a7093fd4 100644 --- a/source/blender/physics/intern/implicit_blender.c +++ b/source/blender/physics/intern/implicit_blender.c @@ -25,48 +25,48 @@ #ifdef IMPLICIT_SOLVER_BLENDER -#include "MEM_guardedalloc.h" +# include "MEM_guardedalloc.h" -#include "DNA_scene_types.h" -#include "DNA_object_types.h" -#include "DNA_object_force_types.h" -#include "DNA_meshdata_types.h" -#include "DNA_texture_types.h" +# include "DNA_scene_types.h" +# include "DNA_object_types.h" +# include "DNA_object_force_types.h" +# include "DNA_meshdata_types.h" +# include "DNA_texture_types.h" -#include "BLI_math.h" -#include "BLI_utildefines.h" +# include "BLI_math.h" +# include "BLI_utildefines.h" -#include "BKE_cloth.h" -#include "BKE_collision.h" -#include "BKE_effect.h" +# include "BKE_cloth.h" +# include "BKE_collision.h" +# include "BKE_effect.h" -#include "BPH_mass_spring.h" +# include "BPH_mass_spring.h" -#ifdef __GNUC__ -# pragma GCC diagnostic ignored "-Wtype-limits" -#endif +# ifdef __GNUC__ +# pragma GCC diagnostic ignored "-Wtype-limits" +# endif -#ifdef _OPENMP -# define CLOTH_OPENMP_LIMIT 512 -#endif +# ifdef _OPENMP +# define CLOTH_OPENMP_LIMIT 512 +# endif //#define DEBUG_TIME -#ifdef DEBUG_TIME -# include "PIL_time.h" -#endif +# ifdef DEBUG_TIME +# include "PIL_time.h" +# endif static float I[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; static float ZERO[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; -#if 0 -#define C99 -#ifdef C99 -#defineDO_INLINE inline -#else -#defineDO_INLINE static -#endif -#endif /* if 0 */ +# if 0 +# define C99 +# ifdef C99 +# defineDO_INLINE inline +# else +# defineDO_INLINE static +# endif +# endif /* if 0 */ struct Cloth; @@ -77,12 +77,12 @@ struct Cloth; /* DEFINITIONS */ typedef float lfVector[3]; typedef struct fmatrix3x3 { - float m[3][3]; /* 3x3 matrix */ - unsigned int c, r; /* column and row number */ - /* int pinned; // is this vertex allowed to move? */ - float n1, n2, n3; /* three normal vectors for collision constrains */ - unsigned int vcount; /* vertex count */ - unsigned int scount; /* spring count */ + float m[3][3]; /* 3x3 matrix */ + unsigned int c, r; /* column and row number */ + /* int pinned; // is this vertex allowed to move? */ + float n1, n2, n3; /* three normal vectors for collision constrains */ + unsigned int vcount; /* vertex count */ + unsigned int scount; /* spring count */ } fmatrix3x3; /////////////////////////// @@ -92,34 +92,34 @@ typedef struct fmatrix3x3 { /* STATUS: verified */ DO_INLINE void mul_fvector_S(float to[3], float from[3], float scalar) { - to[0] = from[0] * scalar; - to[1] = from[1] * scalar; - to[2] = from[2] * scalar; + to[0] = from[0] * scalar; + to[1] = from[1] * scalar; + to[2] = from[2] * scalar; } /* simple v^T * v product ("outer product") */ /* STATUS: HAS TO BE verified (*should* work) */ DO_INLINE void mul_fvectorT_fvector(float to[3][3], float vectorA[3], float vectorB[3]) { - mul_fvector_S(to[0], vectorB, vectorA[0]); - mul_fvector_S(to[1], vectorB, vectorA[1]); - mul_fvector_S(to[2], vectorB, vectorA[2]); + mul_fvector_S(to[0], vectorB, vectorA[0]); + mul_fvector_S(to[1], vectorB, vectorA[1]); + mul_fvector_S(to[2], vectorB, vectorA[2]); } /* simple v^T * v product with scalar ("outer product") */ /* STATUS: HAS TO BE verified (*should* work) */ DO_INLINE void mul_fvectorT_fvectorS(float to[3][3], float vectorA[3], float vectorB[3], float aS) { - mul_fvectorT_fvector(to, vectorA, vectorB); + mul_fvectorT_fvector(to, vectorA, vectorB); - mul_fvector_S(to[0], to[0], aS); - mul_fvector_S(to[1], to[1], aS); - mul_fvector_S(to[2], to[2], aS); + mul_fvector_S(to[0], to[0], aS); + mul_fvector_S(to[1], to[1], aS); + mul_fvector_S(to[2], to[2], aS); } -#if 0 +# if 0 /* printf vector[3] on console: for debug output */ static void print_fvector(float m3[3]) { - printf("%f\n%f\n%f\n\n", m3[0], m3[1], m3[2]); + printf("%f\n%f\n%f\n\n", m3[0], m3[1], m3[2]); } /////////////////////////// @@ -128,317 +128,341 @@ static void print_fvector(float m3[3]) /* print long vector on console: for debug output */ DO_INLINE void print_lfvector(float(*fLongVector)[3], unsigned int verts) { - unsigned int i = 0; - for (i = 0; i < verts; i++) { - print_fvector(fLongVector[i]); - } + unsigned int i = 0; + for (i = 0; i < verts; i++) { + print_fvector(fLongVector[i]); + } } -#endif +# endif /* create long vector */ DO_INLINE lfVector *create_lfvector(unsigned int verts) { - /* TODO: check if memory allocation was successful */ - return (lfVector *)MEM_callocN(verts * sizeof(lfVector), "cloth_implicit_alloc_vector"); - // return (lfVector *)cloth_aligned_malloc(&MEMORY_BASE, verts * sizeof(lfVector)); + /* TODO: check if memory allocation was successful */ + return (lfVector *)MEM_callocN(verts * sizeof(lfVector), "cloth_implicit_alloc_vector"); + // return (lfVector *)cloth_aligned_malloc(&MEMORY_BASE, verts * sizeof(lfVector)); } /* delete long vector */ -DO_INLINE void del_lfvector(float(*fLongVector)[3]) +DO_INLINE void del_lfvector(float (*fLongVector)[3]) { - if (fLongVector != NULL) { - MEM_freeN(fLongVector); - // cloth_aligned_free(&MEMORY_BASE, fLongVector); - } + if (fLongVector != NULL) { + MEM_freeN(fLongVector); + // cloth_aligned_free(&MEMORY_BASE, fLongVector); + } } /* copy long vector */ -DO_INLINE void cp_lfvector(float(*to)[3], float(*from)[3], unsigned int verts) +DO_INLINE void cp_lfvector(float (*to)[3], float (*from)[3], unsigned int verts) { - memcpy(to, from, verts * sizeof(lfVector)); + memcpy(to, from, verts * sizeof(lfVector)); } /* init long vector with float[3] */ -DO_INLINE void init_lfvector(float(*fLongVector)[3], float vector[3], unsigned int verts) +DO_INLINE void init_lfvector(float (*fLongVector)[3], float vector[3], unsigned int verts) { - unsigned int i = 0; - for (i = 0; i < verts; i++) { - copy_v3_v3(fLongVector[i], vector); - } + unsigned int i = 0; + for (i = 0; i < verts; i++) { + copy_v3_v3(fLongVector[i], vector); + } } /* zero long vector with float[3] */ -DO_INLINE void zero_lfvector(float(*to)[3], unsigned int verts) +DO_INLINE void zero_lfvector(float (*to)[3], unsigned int verts) { - memset(to, 0.0f, verts * sizeof(lfVector)); + memset(to, 0.0f, verts * sizeof(lfVector)); } /* multiply long vector with scalar*/ -DO_INLINE void mul_lfvectorS(float(*to)[3], float(*fLongVector)[3], float scalar, unsigned int verts) +DO_INLINE void mul_lfvectorS(float (*to)[3], + float (*fLongVector)[3], + float scalar, + unsigned int verts) { - unsigned int i = 0; + unsigned int i = 0; - for (i = 0; i < verts; i++) { - mul_fvector_S(to[i], fLongVector[i], scalar); - } + for (i = 0; i < verts; i++) { + mul_fvector_S(to[i], fLongVector[i], scalar); + } } /* multiply long vector with scalar*/ /* A -= B * float */ -DO_INLINE void submul_lfvectorS(float(*to)[3], float(*fLongVector)[3], float scalar, unsigned int verts) +DO_INLINE void submul_lfvectorS(float (*to)[3], + float (*fLongVector)[3], + float scalar, + unsigned int verts) { - unsigned int i = 0; - for (i = 0; i < verts; i++) { - VECSUBMUL(to[i], fLongVector[i], scalar); - } + unsigned int i = 0; + for (i = 0; i < verts; i++) { + VECSUBMUL(to[i], fLongVector[i], scalar); + } } /* dot product for big vector */ -DO_INLINE float dot_lfvector(float(*fLongVectorA)[3], float(*fLongVectorB)[3], unsigned int verts) -{ - long i = 0; - float temp = 0.0; -// XXX brecht, disabled this for now (first schedule line was already disabled), -// due to non-commutative nature of floating point ops this makes the sim give -// different results each time you run it! -// schedule(guided, 2) -//#pragma omp parallel for reduction(+: temp) if (verts > CLOTH_OPENMP_LIMIT) - for (i = 0; i < (long)verts; i++) { - temp += dot_v3v3(fLongVectorA[i], fLongVectorB[i]); - } - return temp; +DO_INLINE float dot_lfvector(float (*fLongVectorA)[3], + float (*fLongVectorB)[3], + unsigned int verts) +{ + long i = 0; + float temp = 0.0; + // XXX brecht, disabled this for now (first schedule line was already disabled), + // due to non-commutative nature of floating point ops this makes the sim give + // different results each time you run it! + // schedule(guided, 2) + //#pragma omp parallel for reduction(+: temp) if (verts > CLOTH_OPENMP_LIMIT) + for (i = 0; i < (long)verts; i++) { + temp += dot_v3v3(fLongVectorA[i], fLongVectorB[i]); + } + return temp; } /* A = B + C --> for big vector */ -DO_INLINE void add_lfvector_lfvector(float(*to)[3], float(*fLongVectorA)[3], float(*fLongVectorB)[3], unsigned int verts) +DO_INLINE void add_lfvector_lfvector(float (*to)[3], + float (*fLongVectorA)[3], + float (*fLongVectorB)[3], + unsigned int verts) { - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - add_v3_v3v3(to[i], fLongVectorA[i], fLongVectorB[i]); - } + unsigned int i = 0; + for (i = 0; i < verts; i++) { + add_v3_v3v3(to[i], fLongVectorA[i], fLongVectorB[i]); + } } /* A = B + C * float --> for big vector */ -DO_INLINE void add_lfvector_lfvectorS(float(*to)[3], float(*fLongVectorA)[3], float(*fLongVectorB)[3], float bS, unsigned int verts) +DO_INLINE void add_lfvector_lfvectorS(float (*to)[3], + float (*fLongVectorA)[3], + float (*fLongVectorB)[3], + float bS, + unsigned int verts) { - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - VECADDS(to[i], fLongVectorA[i], fLongVectorB[i], bS); + unsigned int i = 0; - } + for (i = 0; i < verts; i++) { + VECADDS(to[i], fLongVectorA[i], fLongVectorB[i], bS); + } } /* A = B * float + C * float --> for big vector */ -DO_INLINE void add_lfvectorS_lfvectorS(float(*to)[3], float(*fLongVectorA)[3], float aS, float(*fLongVectorB)[3], float bS, unsigned int verts) +DO_INLINE void add_lfvectorS_lfvectorS(float (*to)[3], + float (*fLongVectorA)[3], + float aS, + float (*fLongVectorB)[3], + float bS, + unsigned int verts) { - unsigned int i = 0; + unsigned int i = 0; - for (i = 0; i < verts; i++) { - VECADDSS(to[i], fLongVectorA[i], aS, fLongVectorB[i], bS); - } + for (i = 0; i < verts; i++) { + VECADDSS(to[i], fLongVectorA[i], aS, fLongVectorB[i], bS); + } } /* A = B - C * float --> for big vector */ -DO_INLINE void sub_lfvector_lfvectorS(float(*to)[3], float(*fLongVectorA)[3], float(*fLongVectorB)[3], float bS, unsigned int verts) +DO_INLINE void sub_lfvector_lfvectorS(float (*to)[3], + float (*fLongVectorA)[3], + float (*fLongVectorB)[3], + float bS, + unsigned int verts) { - unsigned int i = 0; - for (i = 0; i < verts; i++) { - VECSUBS(to[i], fLongVectorA[i], fLongVectorB[i], bS); - } - + unsigned int i = 0; + for (i = 0; i < verts; i++) { + VECSUBS(to[i], fLongVectorA[i], fLongVectorB[i], bS); + } } /* A = B - C --> for big vector */ -DO_INLINE void sub_lfvector_lfvector(float(*to)[3], float(*fLongVectorA)[3], float(*fLongVectorB)[3], unsigned int verts) +DO_INLINE void sub_lfvector_lfvector(float (*to)[3], + float (*fLongVectorA)[3], + float (*fLongVectorB)[3], + unsigned int verts) { - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - sub_v3_v3v3(to[i], fLongVectorA[i], fLongVectorB[i]); - } + unsigned int i = 0; + for (i = 0; i < verts; i++) { + sub_v3_v3v3(to[i], fLongVectorA[i], fLongVectorB[i]); + } } /////////////////////////// // 3x3 matrix /////////////////////////// -#if 0 +# if 0 /* printf 3x3 matrix on console: for debug output */ static void print_fmatrix(float m3[3][3]) { - printf("%f\t%f\t%f\n", m3[0][0], m3[0][1], m3[0][2]); - printf("%f\t%f\t%f\n", m3[1][0], m3[1][1], m3[1][2]); - printf("%f\t%f\t%f\n\n", m3[2][0], m3[2][1], m3[2][2]); + printf("%f\t%f\t%f\n", m3[0][0], m3[0][1], m3[0][2]); + printf("%f\t%f\t%f\n", m3[1][0], m3[1][1], m3[1][2]); + printf("%f\t%f\t%f\n\n", m3[2][0], m3[2][1], m3[2][2]); } static void print_sparse_matrix(fmatrix3x3 *m) { - if (m) { - unsigned int i; - for (i = 0; i < m[0].vcount + m[0].scount; i++) { - printf("%d:\n", i); - print_fmatrix(m[i].m); - } - } + if (m) { + unsigned int i; + for (i = 0; i < m[0].vcount + m[0].scount; i++) { + printf("%d:\n", i); + print_fmatrix(m[i].m); + } + } } -#endif +# endif -#if 0 +# if 0 static void print_lvector(lfVector *v, int numverts) { - int i; - for (i = 0; i < numverts; ++i) { - if (i > 0) - printf("\n"); + int i; + for (i = 0; i < numverts; ++i) { + if (i > 0) + printf("\n"); - printf("%f,\n", v[i][0]); - printf("%f,\n", v[i][1]); - printf("%f,\n", v[i][2]); - } + printf("%f,\n", v[i][0]); + printf("%f,\n", v[i][1]); + printf("%f,\n", v[i][2]); + } } -#endif +# endif -#if 0 +# if 0 static void print_bfmatrix(fmatrix3x3 *m) { - int tot = m[0].vcount + m[0].scount; - int size = m[0].vcount * 3; - float *t = MEM_callocN(sizeof(float) * size * size, "bfmatrix"); - int q, i, j; - - for (q = 0; q < tot; ++q) { - int k = 3 * m[q].r; - int l = 3 * m[q].c; - - for (j = 0; j < 3; ++j) { - for (i = 0; i < 3; ++i) { -// if (t[k + i + (l + j) * size] != 0.0f) { -// printf("warning: overwriting value at %d, %d\n", m[q].r, m[q].c); -// } - if (k == l) { - t[k + i + (k + j) * size] += m[q].m[i][j]; - } - else { - t[k + i + (l + j) * size] += m[q].m[i][j]; - t[l + j + (k + i) * size] += m[q].m[j][i]; - } - } - } - } - - for (j = 0; j < size; ++j) { - if (j > 0 && j % 3 == 0) - printf("\n"); - - for (i = 0; i < size; ++i) { - if (i > 0 && i % 3 == 0) - printf(" "); - - implicit_print_matrix_elem(t[i + j * size]); - } - printf("\n"); - } - - MEM_freeN(t); -} -#endif + int tot = m[0].vcount + m[0].scount; + int size = m[0].vcount * 3; + float *t = MEM_callocN(sizeof(float) * size * size, "bfmatrix"); + int q, i, j; + + for (q = 0; q < tot; ++q) { + int k = 3 * m[q].r; + int l = 3 * m[q].c; + + for (j = 0; j < 3; ++j) { + for (i = 0; i < 3; ++i) { +// if (t[k + i + (l + j) * size] != 0.0f) { +// printf("warning: overwriting value at %d, %d\n", m[q].r, m[q].c); +// } + if (k == l) { + t[k + i + (k + j) * size] += m[q].m[i][j]; + } + else { + t[k + i + (l + j) * size] += m[q].m[i][j]; + t[l + j + (k + i) * size] += m[q].m[j][i]; + } + } + } + } + + for (j = 0; j < size; ++j) { + if (j > 0 && j % 3 == 0) + printf("\n"); + + for (i = 0; i < size; ++i) { + if (i > 0 && i % 3 == 0) + printf(" "); + + implicit_print_matrix_elem(t[i + j * size]); + } + printf("\n"); + } + + MEM_freeN(t); +} +# endif /* copy 3x3 matrix */ DO_INLINE void cp_fmatrix(float to[3][3], float from[3][3]) { - // memcpy(to, from, sizeof (float) * 9); - copy_v3_v3(to[0], from[0]); - copy_v3_v3(to[1], from[1]); - copy_v3_v3(to[2], from[2]); + // memcpy(to, from, sizeof (float) * 9); + copy_v3_v3(to[0], from[0]); + copy_v3_v3(to[1], from[1]); + copy_v3_v3(to[2], from[2]); } /* copy 3x3 matrix */ DO_INLINE void initdiag_fmatrixS(float to[3][3], float aS) { - cp_fmatrix(to, ZERO); + cp_fmatrix(to, ZERO); - to[0][0] = aS; - to[1][1] = aS; - to[2][2] = aS; + to[0][0] = aS; + to[1][1] = aS; + to[2][2] = aS; } -#if 0 +# if 0 /* calculate determinant of 3x3 matrix */ DO_INLINE float det_fmatrix(float m[3][3]) { - return m[0][0] * m[1][1] * m[2][2] + m[1][0] * m[2][1] * m[0][2] + m[0][1] * m[1][2] * m[2][0] - - m[0][0] * m[1][2] * m[2][1] - m[0][1] * m[1][0] * m[2][2] - m[2][0] * m[1][1] * m[0][2]; + return m[0][0] * m[1][1] * m[2][2] + m[1][0] * m[2][1] * m[0][2] + m[0][1] * m[1][2] * m[2][0] - + m[0][0] * m[1][2] * m[2][1] - m[0][1] * m[1][0] * m[2][2] - m[2][0] * m[1][1] * m[0][2]; } DO_INLINE void inverse_fmatrix(float to[3][3], float from[3][3]) { - unsigned int i, j; - float d; - - if ((d = det_fmatrix(from)) == 0) { - printf("can't build inverse"); - exit(0); - } - for (i = 0; i < 3; i++) { - for (j = 0; j < 3; j++) { - int i1 = (i + 1) % 3; - int i2 = (i + 2) % 3; - int j1 = (j + 1) % 3; - int j2 = (j + 2) % 3; - /** Reverse indexes i&j to take transpose. */ - to[j][i] = (from[i1][j1] * from[i2][j2] - from[i1][j2] * from[i2][j1]) / d; - /** - * <pre> - * if (i == j) { - * to[i][j] = 1.0f / from[i][j]; - * } - * else { - * to[i][j] = 0; - * } - * </pre> - */ - } - } - -} -#endif + unsigned int i, j; + float d; + + if ((d = det_fmatrix(from)) == 0) { + printf("can't build inverse"); + exit(0); + } + for (i = 0; i < 3; i++) { + for (j = 0; j < 3; j++) { + int i1 = (i + 1) % 3; + int i2 = (i + 2) % 3; + int j1 = (j + 1) % 3; + int j2 = (j + 2) % 3; + /** Reverse indexes i&j to take transpose. */ + to[j][i] = (from[i1][j1] * from[i2][j2] - from[i1][j2] * from[i2][j1]) / d; + /** + * <pre> + * if (i == j) { + * to[i][j] = 1.0f / from[i][j]; + * } + * else { + * to[i][j] = 0; + * } + * </pre> + */ + } + } + +} +# endif /* 3x3 matrix multiplied by a scalar */ /* STATUS: verified */ DO_INLINE void mul_fmatrix_S(float matrix[3][3], float scalar) { - mul_fvector_S(matrix[0], matrix[0], scalar); - mul_fvector_S(matrix[1], matrix[1], scalar); - mul_fvector_S(matrix[2], matrix[2], scalar); + mul_fvector_S(matrix[0], matrix[0], scalar); + mul_fvector_S(matrix[1], matrix[1], scalar); + mul_fvector_S(matrix[2], matrix[2], scalar); } /* a vector multiplied by a 3x3 matrix */ /* STATUS: verified */ DO_INLINE void mul_fvector_fmatrix(float *to, float *from, float matrix[3][3]) { - to[0] = matrix[0][0] * from[0] + matrix[1][0] * from[1] + matrix[2][0] * from[2]; - to[1] = matrix[0][1] * from[0] + matrix[1][1] * from[1] + matrix[2][1] * from[2]; - to[2] = matrix[0][2] * from[0] + matrix[1][2] * from[1] + matrix[2][2] * from[2]; + to[0] = matrix[0][0] * from[0] + matrix[1][0] * from[1] + matrix[2][0] * from[2]; + to[1] = matrix[0][1] * from[0] + matrix[1][1] * from[1] + matrix[2][1] * from[2]; + to[2] = matrix[0][2] * from[0] + matrix[1][2] * from[1] + matrix[2][2] * from[2]; } /* 3x3 matrix multiplied by a vector */ /* STATUS: verified */ DO_INLINE void mul_fmatrix_fvector(float *to, float matrix[3][3], float from[3]) { - to[0] = dot_v3v3(matrix[0], from); - to[1] = dot_v3v3(matrix[1], from); - to[2] = dot_v3v3(matrix[2], from); + to[0] = dot_v3v3(matrix[0], from); + to[1] = dot_v3v3(matrix[1], from); + to[2] = dot_v3v3(matrix[2], from); } /* 3x3 matrix addition with 3x3 matrix */ DO_INLINE void add_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) { - add_v3_v3v3(to[0], matrixA[0], matrixB[0]); - add_v3_v3v3(to[1], matrixA[1], matrixB[1]); - add_v3_v3v3(to[2], matrixA[2], matrixB[2]); + add_v3_v3v3(to[0], matrixA[0], matrixB[0]); + add_v3_v3v3(to[1], matrixA[1], matrixB[1]); + add_v3_v3v3(to[2], matrixA[2], matrixB[2]); } /* A -= B*x + C*y (3x3 matrix sub-addition with 3x3 matrix) */ -DO_INLINE void subadd_fmatrixS_fmatrixS(float to[3][3], float matrixA[3][3], float aS, float matrixB[3][3], float bS) +DO_INLINE void subadd_fmatrixS_fmatrixS( + float to[3][3], float matrixA[3][3], float aS, float matrixB[3][3], float bS) { - VECSUBADDSS(to[0], matrixA[0], aS, matrixB[0], bS); - VECSUBADDSS(to[1], matrixA[1], aS, matrixB[1], bS); - VECSUBADDSS(to[2], matrixA[2], aS, matrixB[2], bS); + VECSUBADDSS(to[0], matrixA[0], aS, matrixB[0], bS); + VECSUBADDSS(to[1], matrixA[1], aS, matrixB[1], bS); + VECSUBADDSS(to[2], matrixA[2], aS, matrixB[2], bS); } /* A = B - C (3x3 matrix subtraction with 3x3 matrix) */ DO_INLINE void sub_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) { - sub_v3_v3v3(to[0], matrixA[0], matrixB[0]); - sub_v3_v3v3(to[1], matrixA[1], matrixB[1]); - sub_v3_v3v3(to[2], matrixA[2], matrixB[2]); + sub_v3_v3v3(to[0], matrixA[0], matrixB[0]); + sub_v3_v3v3(to[1], matrixA[1], matrixB[1]); + sub_v3_v3v3(to[2], matrixA[2], matrixB[2]); } ///////////////////////////////////////////////////////////////// // special functions @@ -447,50 +471,56 @@ DO_INLINE void sub_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float ma /* STATUS: verified */ DO_INLINE void muladd_fmatrix_fvector(float to[3], float matrix[3][3], float from[3]) { - to[0] += dot_v3v3(matrix[0], from); - to[1] += dot_v3v3(matrix[1], from); - to[2] += dot_v3v3(matrix[2], from); + to[0] += dot_v3v3(matrix[0], from); + to[1] += dot_v3v3(matrix[1], from); + to[2] += dot_v3v3(matrix[2], from); } DO_INLINE void muladd_fmatrixT_fvector(float to[3], float matrix[3][3], float from[3]) { - to[0] += matrix[0][0] * from[0] + matrix[1][0] * from[1] + matrix[2][0] * from[2]; - to[1] += matrix[0][1] * from[0] + matrix[1][1] * from[1] + matrix[2][1] * from[2]; - to[2] += matrix[0][2] * from[0] + matrix[1][2] * from[1] + matrix[2][2] * from[2]; + to[0] += matrix[0][0] * from[0] + matrix[1][0] * from[1] + matrix[2][0] * from[2]; + to[1] += matrix[0][1] * from[0] + matrix[1][1] * from[1] + matrix[2][1] * from[2]; + to[2] += matrix[0][2] * from[0] + matrix[1][2] * from[1] + matrix[2][2] * from[2]; } BLI_INLINE void outerproduct(float r[3][3], const float a[3], const float b[3]) { - mul_v3_v3fl(r[0], a, b[0]); - mul_v3_v3fl(r[1], a, b[1]); - mul_v3_v3fl(r[2], a, b[2]); + mul_v3_v3fl(r[0], a, b[0]); + mul_v3_v3fl(r[1], a, b[1]); + mul_v3_v3fl(r[2], a, b[2]); } 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]); + 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; + 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; } BLI_INLINE void madd_m3_m3fl(float r[3][3], float m[3][3], float f) { - r[0][0] += m[0][0] * f; - r[0][1] += m[0][1] * f; - r[0][2] += m[0][2] * f; - r[1][0] += m[1][0] * f; - r[1][1] += m[1][1] * f; - r[1][2] += m[1][2] * f; - r[2][0] += m[2][0] * f; - r[2][1] += m[2][1] * f; - r[2][2] += m[2][2] * f; + r[0][0] += m[0][0] * f; + r[0][1] += m[0][1] * f; + r[0][2] += m[0][2] * f; + r[1][0] += m[1][0] * f; + r[1][1] += m[1][1] * f; + r[1][2] += m[1][2] * f; + r[2][0] += m[2][0] * f; + r[2][1] += m[2][1] * f; + r[2][2] += m[2][2] * f; } ///////////////////////////////////////////////////////////////// @@ -499,126 +529,127 @@ BLI_INLINE void madd_m3_m3fl(float r[3][3], float m[3][3], float f) // SPARSE SYMMETRIC big matrix with 3x3 matrix entries /////////////////////////// /* printf a big matrix on console: for debug output */ -#if 0 +# if 0 static void print_bfmatrix(fmatrix3x3 *m3) { - unsigned int i = 0; + unsigned int i = 0; - for (i = 0; i < m3[0].vcount + m3[0].scount; i++) - { - print_fmatrix(m3[i].m); - } + for (i = 0; i < m3[0].vcount + m3[0].scount; i++) + { + print_fmatrix(m3[i].m); + } } -#endif +# endif BLI_INLINE void init_fmatrix(fmatrix3x3 *matrix, int r, int c) { - matrix->r = r; - matrix->c = c; + matrix->r = r; + matrix->c = c; } /* create big matrix */ DO_INLINE fmatrix3x3 *create_bfmatrix(unsigned int verts, unsigned int springs) { - // TODO: check if memory allocation was successful */ - fmatrix3x3 *temp = (fmatrix3x3 *)MEM_callocN(sizeof(fmatrix3x3) * (verts + springs), "cloth_implicit_alloc_matrix"); - int i; + // TODO: check if memory allocation was successful */ + fmatrix3x3 *temp = (fmatrix3x3 *)MEM_callocN(sizeof(fmatrix3x3) * (verts + springs), + "cloth_implicit_alloc_matrix"); + int i; - temp[0].vcount = verts; - temp[0].scount = springs; + temp[0].vcount = verts; + temp[0].scount = springs; - /* vertex part of the matrix is diagonal blocks */ - for (i = 0; i < verts; ++i) { - init_fmatrix(temp + i, i, i); - } + /* vertex part of the matrix is diagonal blocks */ + for (i = 0; i < verts; ++i) { + init_fmatrix(temp + i, i, i); + } - return temp; + return temp; } /* delete big matrix */ DO_INLINE void del_bfmatrix(fmatrix3x3 *matrix) { - if (matrix != NULL) { - MEM_freeN(matrix); - } + if (matrix != NULL) { + MEM_freeN(matrix); + } } /* copy big matrix */ DO_INLINE void cp_bfmatrix(fmatrix3x3 *to, fmatrix3x3 *from) { - // TODO bounds checking - memcpy(to, from, sizeof(fmatrix3x3) * (from[0].vcount + from[0].scount)); + // TODO bounds checking + memcpy(to, from, sizeof(fmatrix3x3) * (from[0].vcount + from[0].scount)); } /* init big matrix */ // slow in parallel DO_INLINE void init_bfmatrix(fmatrix3x3 *matrix, float m3[3][3]) { - unsigned int i; + unsigned int i; - for (i = 0; i < matrix[0].vcount + matrix[0].scount; i++) { - cp_fmatrix(matrix[i].m, m3); - } + for (i = 0; i < matrix[0].vcount + matrix[0].scount; i++) { + cp_fmatrix(matrix[i].m, m3); + } } /* init the diagonal of big matrix */ // slow in parallel DO_INLINE void initdiag_bfmatrix(fmatrix3x3 *matrix, float m3[3][3]) { - unsigned int i, j; - float tmatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; + unsigned int i, j; + float tmatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - for (i = 0; i < matrix[0].vcount; i++) { - cp_fmatrix(matrix[i].m, m3); - } - for (j = matrix[0].vcount; j < matrix[0].vcount + matrix[0].scount; j++) { - cp_fmatrix(matrix[j].m, tmatrix); - } + for (i = 0; i < matrix[0].vcount; i++) { + cp_fmatrix(matrix[i].m, m3); + } + for (j = matrix[0].vcount; j < matrix[0].vcount + matrix[0].scount; j++) { + cp_fmatrix(matrix[j].m, tmatrix); + } } /* SPARSE SYMMETRIC multiply big matrix with long vector*/ /* STATUS: verified */ -DO_INLINE void mul_bfmatrix_lfvector(float(*to)[3], fmatrix3x3 *from, lfVector *fLongVector) -{ - unsigned int i = 0; - unsigned int vcount = from[0].vcount; - lfVector *temp = create_lfvector(vcount); - - zero_lfvector(to, vcount); - -#pragma omp parallel sections private(i) if (vcount > CLOTH_OPENMP_LIMIT) - { -#pragma omp section - { - for (i = from[0].vcount; i < from[0].vcount + from[0].scount; i++) { - /* This is the lower triangle of the sparse matrix, - * therefore multiplication occurs with transposed submatrices. */ - muladd_fmatrixT_fvector(to[from[i].c], from[i].m, fLongVector[from[i].r]); - } - } -#pragma omp section - { - for (i = 0; i < from[0].vcount + from[0].scount; i++) { - muladd_fmatrix_fvector(temp[from[i].r], from[i].m, fLongVector[from[i].c]); - } - } - } - add_lfvector_lfvector(to, to, temp, from[0].vcount); - - del_lfvector(temp); +DO_INLINE void mul_bfmatrix_lfvector(float (*to)[3], fmatrix3x3 *from, lfVector *fLongVector) +{ + unsigned int i = 0; + unsigned int vcount = from[0].vcount; + lfVector *temp = create_lfvector(vcount); + + zero_lfvector(to, vcount); + +# pragma omp parallel sections private(i) if (vcount > CLOTH_OPENMP_LIMIT) + { +# pragma omp section + { + for (i = from[0].vcount; i < from[0].vcount + from[0].scount; i++) { + /* This is the lower triangle of the sparse matrix, + * therefore multiplication occurs with transposed submatrices. */ + muladd_fmatrixT_fvector(to[from[i].c], from[i].m, fLongVector[from[i].r]); + } + } +# pragma omp section + { + for (i = 0; i < from[0].vcount + from[0].scount; i++) { + muladd_fmatrix_fvector(temp[from[i].r], from[i].m, fLongVector[from[i].c]); + } + } + } + add_lfvector_lfvector(to, to, temp, from[0].vcount); + + del_lfvector(temp); } /* SPARSE SYMMETRIC sub big matrix with big matrix*/ /* A -= B * float + C * float --> for big matrix */ /* VERIFIED */ -DO_INLINE void subadd_bfmatrixS_bfmatrixS(fmatrix3x3 *to, fmatrix3x3 *from, float aS, fmatrix3x3 *matrix, float bS) +DO_INLINE void subadd_bfmatrixS_bfmatrixS( + fmatrix3x3 *to, fmatrix3x3 *from, float aS, fmatrix3x3 *matrix, float bS) { - unsigned int i = 0; - - /* process diagonal elements */ - for (i = 0; i < matrix[0].vcount + matrix[0].scount; i++) { - subadd_fmatrixS_fmatrixS(to[i].m, from[i].m, aS, matrix[i].m, bS); - } + unsigned int i = 0; + /* process diagonal elements */ + for (i = 0; i < matrix[0].vcount + matrix[0].scount; i++) { + subadd_fmatrixS_fmatrixS(to[i].m, from[i].m, aS, matrix[i].m, bS); + } } /////////////////////////////////////////////////////////////////// @@ -626,1136 +657,1211 @@ DO_INLINE void subadd_bfmatrixS_bfmatrixS(fmatrix3x3 *to, fmatrix3x3 *from, floa /////////////////////////////////////////////////////////////////// typedef struct Implicit_Data { - /* inputs */ - fmatrix3x3 *bigI; /* identity (constant) */ - fmatrix3x3 *tfm; /* local coordinate transform */ - fmatrix3x3 *M; /* masses */ - lfVector *F; /* forces */ - fmatrix3x3 *dFdV, *dFdX; /* force jacobians */ - int num_blocks; /* number of off-diagonal blocks (springs) */ - - /* motion state data */ - lfVector *X, *Xnew; /* positions */ - lfVector *V, *Vnew; /* velocities */ - - /* internal solver data */ - lfVector *B; /* B for A*dV = B */ - fmatrix3x3 *A; /* A for A*dV = B */ - - lfVector *dV; /* velocity change (solution of A*dV = B) */ - lfVector *z; /* target velocity in constrained directions */ - fmatrix3x3 *S; /* filtering matrix for constraints */ - fmatrix3x3 *P, *Pinv; /* pre-conditioning matrix */ + /* inputs */ + fmatrix3x3 *bigI; /* identity (constant) */ + fmatrix3x3 *tfm; /* local coordinate transform */ + fmatrix3x3 *M; /* masses */ + lfVector *F; /* forces */ + fmatrix3x3 *dFdV, *dFdX; /* force jacobians */ + int num_blocks; /* number of off-diagonal blocks (springs) */ + + /* motion state data */ + lfVector *X, *Xnew; /* positions */ + lfVector *V, *Vnew; /* velocities */ + + /* internal solver data */ + lfVector *B; /* B for A*dV = B */ + fmatrix3x3 *A; /* A for A*dV = B */ + + lfVector *dV; /* velocity change (solution of A*dV = B) */ + lfVector *z; /* target velocity in constrained directions */ + fmatrix3x3 *S; /* filtering matrix for constraints */ + fmatrix3x3 *P, *Pinv; /* pre-conditioning matrix */ } Implicit_Data; Implicit_Data *BPH_mass_spring_solver_create(int numverts, int numsprings) { - Implicit_Data *id = (Implicit_Data *)MEM_callocN(sizeof(Implicit_Data), "implicit vecmat"); + Implicit_Data *id = (Implicit_Data *)MEM_callocN(sizeof(Implicit_Data), "implicit vecmat"); - /* process diagonal elements */ - id->tfm = create_bfmatrix(numverts, 0); - id->A = create_bfmatrix(numverts, numsprings); - id->dFdV = create_bfmatrix(numverts, numsprings); - id->dFdX = create_bfmatrix(numverts, numsprings); - id->S = create_bfmatrix(numverts, 0); - id->Pinv = create_bfmatrix(numverts, numsprings); - id->P = create_bfmatrix(numverts, numsprings); - id->bigI = create_bfmatrix(numverts, numsprings); // TODO 0 springs - id->M = create_bfmatrix(numverts, numsprings); - id->X = create_lfvector(numverts); - id->Xnew = create_lfvector(numverts); - id->V = create_lfvector(numverts); - id->Vnew = create_lfvector(numverts); - id->F = create_lfvector(numverts); - id->B = create_lfvector(numverts); - id->dV = create_lfvector(numverts); - id->z = create_lfvector(numverts); + /* process diagonal elements */ + id->tfm = create_bfmatrix(numverts, 0); + id->A = create_bfmatrix(numverts, numsprings); + id->dFdV = create_bfmatrix(numverts, numsprings); + id->dFdX = create_bfmatrix(numverts, numsprings); + id->S = create_bfmatrix(numverts, 0); + id->Pinv = create_bfmatrix(numverts, numsprings); + id->P = create_bfmatrix(numverts, numsprings); + id->bigI = create_bfmatrix(numverts, numsprings); // TODO 0 springs + id->M = create_bfmatrix(numverts, numsprings); + id->X = create_lfvector(numverts); + id->Xnew = create_lfvector(numverts); + id->V = create_lfvector(numverts); + id->Vnew = create_lfvector(numverts); + id->F = create_lfvector(numverts); + id->B = create_lfvector(numverts); + id->dV = create_lfvector(numverts); + id->z = create_lfvector(numverts); - initdiag_bfmatrix(id->bigI, I); + initdiag_bfmatrix(id->bigI, I); - return id; + return id; } void BPH_mass_spring_solver_free(Implicit_Data *id) { - del_bfmatrix(id->tfm); - del_bfmatrix(id->A); - del_bfmatrix(id->dFdV); - del_bfmatrix(id->dFdX); - del_bfmatrix(id->S); - del_bfmatrix(id->P); - del_bfmatrix(id->Pinv); - del_bfmatrix(id->bigI); - del_bfmatrix(id->M); + del_bfmatrix(id->tfm); + del_bfmatrix(id->A); + del_bfmatrix(id->dFdV); + del_bfmatrix(id->dFdX); + del_bfmatrix(id->S); + del_bfmatrix(id->P); + del_bfmatrix(id->Pinv); + del_bfmatrix(id->bigI); + del_bfmatrix(id->M); - del_lfvector(id->X); - del_lfvector(id->Xnew); - del_lfvector(id->V); - del_lfvector(id->Vnew); - del_lfvector(id->F); - del_lfvector(id->B); - del_lfvector(id->dV); - del_lfvector(id->z); + del_lfvector(id->X); + del_lfvector(id->Xnew); + del_lfvector(id->V); + del_lfvector(id->Vnew); + del_lfvector(id->F); + del_lfvector(id->B); + del_lfvector(id->dV); + del_lfvector(id->z); - MEM_freeN(id); + MEM_freeN(id); } /* ==== Transformation from/to root reference frames ==== */ BLI_INLINE void world_to_root_v3(Implicit_Data *data, int index, float r[3], const float v[3]) { - copy_v3_v3(r, v); - mul_transposed_m3_v3(data->tfm[index].m, r); + copy_v3_v3(r, v); + mul_transposed_m3_v3(data->tfm[index].m, r); } BLI_INLINE void root_to_world_v3(Implicit_Data *data, int index, float r[3], const float v[3]) { - mul_v3_m3v3(r, data->tfm[index].m, v); + mul_v3_m3v3(r, data->tfm[index].m, v); } BLI_INLINE void world_to_root_m3(Implicit_Data *data, int index, float r[3][3], float m[3][3]) { - float trot[3][3]; - copy_m3_m3(trot, data->tfm[index].m); - transpose_m3(trot); - mul_m3_m3m3(r, trot, m); + float trot[3][3]; + copy_m3_m3(trot, data->tfm[index].m); + transpose_m3(trot); + mul_m3_m3m3(r, trot, m); } BLI_INLINE void root_to_world_m3(Implicit_Data *data, int index, float r[3][3], float m[3][3]) { - mul_m3_m3m3(r, data->tfm[index].m, m); + mul_m3_m3m3(r, data->tfm[index].m, m); } /* ================================ */ DO_INLINE void filter(lfVector *V, fmatrix3x3 *S) { - unsigned int i = 0; + unsigned int i = 0; - for (i = 0; i < S[0].vcount; i++) { - mul_m3_v3(S[i].m, V[S[i].r]); - } + for (i = 0; i < S[0].vcount; i++) { + mul_m3_v3(S[i].m, V[S[i].r]); + } } -#if 0 /* this version of the CG algorithm does not work very well with partial constraints (where S has non-zero elements) */ +# if 0 /* this version of the CG algorithm does not work very well with partial constraints (where S has non-zero elements) */ static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S) { - // Solves for unknown X in equation AX=B - unsigned int conjgrad_loopcount = 0, conjgrad_looplimit = 100; - float conjgrad_epsilon = 0.0001f /* , conjgrad_lasterror=0 */ /* UNUSED */; - lfVector *q, *d, *tmp, *r; - float s, starget, a, s_prev; - unsigned int numverts = lA[0].vcount; - q = create_lfvector(numverts); - d = create_lfvector(numverts); - tmp = create_lfvector(numverts); - r = create_lfvector(numverts); + // Solves for unknown X in equation AX=B + unsigned int conjgrad_loopcount = 0, conjgrad_looplimit = 100; + float conjgrad_epsilon = 0.0001f /* , conjgrad_lasterror=0 */ /* UNUSED */; + lfVector *q, *d, *tmp, *r; + float s, starget, a, s_prev; + unsigned int numverts = lA[0].vcount; + q = create_lfvector(numverts); + d = create_lfvector(numverts); + tmp = create_lfvector(numverts); + r = create_lfvector(numverts); - // zero_lfvector(ldV, CLOTHPARTICLES); - filter(ldV, S); + // zero_lfvector(ldV, CLOTHPARTICLES); + filter(ldV, S); - add_lfvector_lfvector(ldV, ldV, z, numverts); + add_lfvector_lfvector(ldV, ldV, z, numverts); - // r = B - Mul(tmp, A, X); // just use B if X known to be zero - cp_lfvector(r, lB, numverts); - mul_bfmatrix_lfvector(tmp, lA, ldV); - sub_lfvector_lfvector(r, r, tmp, numverts); + // r = B - Mul(tmp, A, X); // just use B if X known to be zero + cp_lfvector(r, lB, numverts); + mul_bfmatrix_lfvector(tmp, lA, ldV); + sub_lfvector_lfvector(r, r, tmp, numverts); - filter(r, S); + filter(r, S); - cp_lfvector(d, r, numverts); + cp_lfvector(d, r, numverts); - s = dot_lfvector(r, r, numverts); - starget = s * sqrtf(conjgrad_epsilon); + s = dot_lfvector(r, r, numverts); + starget = s * sqrtf(conjgrad_epsilon); - while (s > starget && conjgrad_loopcount < conjgrad_looplimit) { - // Mul(q, A, d); // q = A*d; - mul_bfmatrix_lfvector(q, lA, d); + while (s > starget && conjgrad_loopcount < conjgrad_looplimit) { + // Mul(q, A, d); // q = A*d; + mul_bfmatrix_lfvector(q, lA, d); - filter(q, S); + filter(q, S); - a = s / dot_lfvector(d, q, numverts); + a = s / dot_lfvector(d, q, numverts); - // X = X + d*a; - add_lfvector_lfvectorS(ldV, ldV, d, a, numverts); + // X = X + d*a; + add_lfvector_lfvectorS(ldV, ldV, d, a, numverts); - // r = r - q*a; - sub_lfvector_lfvectorS(r, r, q, a, numverts); + // r = r - q*a; + sub_lfvector_lfvectorS(r, r, q, a, numverts); - s_prev = s; - s = dot_lfvector(r, r, numverts); + s_prev = s; + s = dot_lfvector(r, r, numverts); - //d = r+d*(s/s_prev); - add_lfvector_lfvectorS(d, r, d, (s / s_prev), numverts); + //d = r+d*(s/s_prev); + add_lfvector_lfvectorS(d, r, d, (s / s_prev), numverts); - filter(d, S); + filter(d, S); - conjgrad_loopcount++; - } - /* conjgrad_lasterror = s; */ /* UNUSED */ + conjgrad_loopcount++; + } + /* conjgrad_lasterror = s; */ /* UNUSED */ - del_lfvector(q); - del_lfvector(d); - del_lfvector(tmp); - del_lfvector(r); - // printf("W/O conjgrad_loopcount: %d\n", conjgrad_loopcount); + del_lfvector(q); + del_lfvector(d); + del_lfvector(tmp); + del_lfvector(r); + // printf("W/O conjgrad_loopcount: %d\n", conjgrad_loopcount); - return conjgrad_loopcount < conjgrad_looplimit; // true means we reached desired accuracy in given time - ie stable + return conjgrad_loopcount < conjgrad_looplimit; // true means we reached desired accuracy in given time - ie stable } -#endif +# endif -static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S, ImplicitSolverResult *result) +static int cg_filtered(lfVector *ldV, + fmatrix3x3 *lA, + lfVector *lB, + lfVector *z, + fmatrix3x3 *S, + ImplicitSolverResult *result) { - // Solves for unknown X in equation AX=B - unsigned int conjgrad_loopcount = 0, conjgrad_looplimit = 100; - float conjgrad_epsilon = 0.01f; + // Solves for unknown X in equation AX=B + unsigned int conjgrad_loopcount = 0, conjgrad_looplimit = 100; + float conjgrad_epsilon = 0.01f; - unsigned int numverts = lA[0].vcount; - lfVector *fB = create_lfvector(numverts); - lfVector *AdV = create_lfvector(numverts); - lfVector *r = create_lfvector(numverts); - lfVector *c = create_lfvector(numverts); - lfVector *q = create_lfvector(numverts); - lfVector *s = create_lfvector(numverts); - float bnorm2, delta_new, delta_old, delta_target, alpha; + unsigned int numverts = lA[0].vcount; + lfVector *fB = create_lfvector(numverts); + lfVector *AdV = create_lfvector(numverts); + lfVector *r = create_lfvector(numverts); + lfVector *c = create_lfvector(numverts); + lfVector *q = create_lfvector(numverts); + lfVector *s = create_lfvector(numverts); + float bnorm2, delta_new, delta_old, delta_target, alpha; - cp_lfvector(ldV, z, numverts); + cp_lfvector(ldV, z, numverts); - /* d0 = filter(B)^T * P * filter(B) */ - cp_lfvector(fB, lB, numverts); - filter(fB, S); - bnorm2 = dot_lfvector(fB, fB, numverts); - delta_target = conjgrad_epsilon * conjgrad_epsilon * bnorm2; + /* d0 = filter(B)^T * P * filter(B) */ + cp_lfvector(fB, lB, numverts); + filter(fB, S); + bnorm2 = dot_lfvector(fB, fB, numverts); + delta_target = conjgrad_epsilon * conjgrad_epsilon * bnorm2; - /* r = filter(B - A * dV) */ - mul_bfmatrix_lfvector(AdV, lA, ldV); - sub_lfvector_lfvector(r, lB, AdV, numverts); - filter(r, S); + /* r = filter(B - A * dV) */ + mul_bfmatrix_lfvector(AdV, lA, ldV); + sub_lfvector_lfvector(r, lB, AdV, numverts); + filter(r, S); - /* c = filter(P^-1 * r) */ - cp_lfvector(c, r, numverts); - filter(c, S); + /* c = filter(P^-1 * r) */ + cp_lfvector(c, r, numverts); + filter(c, S); - /* delta = r^T * c */ - delta_new = dot_lfvector(r, c, numverts); + /* delta = r^T * c */ + delta_new = dot_lfvector(r, c, numverts); -#ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT - printf("==== A ====\n"); - print_bfmatrix(lA); - printf("==== z ====\n"); - print_lvector(z, numverts); - printf("==== B ====\n"); - print_lvector(lB, numverts); - printf("==== S ====\n"); - print_bfmatrix(S); -#endif +# ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT + printf("==== A ====\n"); + print_bfmatrix(lA); + printf("==== z ====\n"); + print_lvector(z, numverts); + printf("==== B ====\n"); + print_lvector(lB, numverts); + printf("==== S ====\n"); + print_bfmatrix(S); +# endif - while (delta_new > delta_target && conjgrad_loopcount < conjgrad_looplimit) { - mul_bfmatrix_lfvector(q, lA, c); - filter(q, S); + while (delta_new > delta_target && conjgrad_loopcount < conjgrad_looplimit) { + mul_bfmatrix_lfvector(q, lA, c); + filter(q, S); - alpha = delta_new / dot_lfvector(c, q, numverts); + alpha = delta_new / dot_lfvector(c, q, numverts); - add_lfvector_lfvectorS(ldV, ldV, c, alpha, numverts); + add_lfvector_lfvectorS(ldV, ldV, c, alpha, numverts); - add_lfvector_lfvectorS(r, r, q, -alpha, numverts); + add_lfvector_lfvectorS(r, r, q, -alpha, numverts); - /* s = P^-1 * r */ - cp_lfvector(s, r, numverts); - delta_old = delta_new; - delta_new = dot_lfvector(r, s, numverts); + /* s = P^-1 * r */ + cp_lfvector(s, r, numverts); + delta_old = delta_new; + delta_new = dot_lfvector(r, s, numverts); - add_lfvector_lfvectorS(c, s, c, delta_new / delta_old, numverts); - filter(c, S); + add_lfvector_lfvectorS(c, s, c, delta_new / delta_old, numverts); + filter(c, S); - conjgrad_loopcount++; - } + conjgrad_loopcount++; + } -#ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT - printf("==== dV ====\n"); - print_lvector(ldV, numverts); - printf("========\n"); -#endif +# ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT + printf("==== dV ====\n"); + print_lvector(ldV, numverts); + printf("========\n"); +# endif - del_lfvector(fB); - del_lfvector(AdV); - del_lfvector(r); - del_lfvector(c); - del_lfvector(q); - del_lfvector(s); - // printf("W/O conjgrad_loopcount: %d\n", conjgrad_loopcount); - - result->status = conjgrad_loopcount < conjgrad_looplimit ? BPH_SOLVER_SUCCESS : BPH_SOLVER_NO_CONVERGENCE; - result->iterations = conjgrad_loopcount; - result->error = bnorm2 > 0.0f ? sqrtf(delta_new / bnorm2) : 0.0f; - - return conjgrad_loopcount < conjgrad_looplimit; // true means we reached desired accuracy in given time - ie stable -} - -#if 0 + del_lfvector(fB); + del_lfvector(AdV); + del_lfvector(r); + del_lfvector(c); + del_lfvector(q); + del_lfvector(s); + // printf("W/O conjgrad_loopcount: %d\n", conjgrad_loopcount); + + result->status = conjgrad_loopcount < conjgrad_looplimit ? BPH_SOLVER_SUCCESS : + BPH_SOLVER_NO_CONVERGENCE; + result->iterations = conjgrad_loopcount; + result->error = bnorm2 > 0.0f ? sqrtf(delta_new / bnorm2) : 0.0f; + + return conjgrad_loopcount < + conjgrad_looplimit; // true means we reached desired accuracy in given time - ie stable +} + +# if 0 // block diagonalizer DO_INLINE void BuildPPinv(fmatrix3x3 *lA, fmatrix3x3 *P, fmatrix3x3 *Pinv) { - unsigned int i = 0; + unsigned int i = 0; - // Take only the diagonal blocks of A + // Take only the diagonal blocks of A // #pragma omp parallel for private(i) if (lA[0].vcount > CLOTH_OPENMP_LIMIT) - for (i = 0; i < lA[0].vcount; i++) { - // block diagonalizer - cp_fmatrix(P[i].m, lA[i].m); - inverse_fmatrix(Pinv[i].m, P[i].m); + for (i = 0; i < lA[0].vcount; i++) { + // block diagonalizer + cp_fmatrix(P[i].m, lA[i].m); + inverse_fmatrix(Pinv[i].m, P[i].m); - } + } } -#if 0 +# if 0 // version 1.3 static int cg_filtered_pre(lfVector *dv, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S, fmatrix3x3 *P, fmatrix3x3 *Pinv) { - unsigned int numverts = lA[0].vcount, iterations = 0, conjgrad_looplimit = 100; - float delta0 = 0, deltaNew = 0, deltaOld = 0, alpha = 0; - float conjgrad_epsilon = 0.0001; // 0.2 is dt for steps=5 - lfVector *r = create_lfvector(numverts); - lfVector *p = create_lfvector(numverts); - lfVector *s = create_lfvector(numverts); - lfVector *h = create_lfvector(numverts); + unsigned int numverts = lA[0].vcount, iterations = 0, conjgrad_looplimit = 100; + float delta0 = 0, deltaNew = 0, deltaOld = 0, alpha = 0; + float conjgrad_epsilon = 0.0001; // 0.2 is dt for steps=5 + lfVector *r = create_lfvector(numverts); + lfVector *p = create_lfvector(numverts); + lfVector *s = create_lfvector(numverts); + lfVector *h = create_lfvector(numverts); - BuildPPinv(lA, P, Pinv); + BuildPPinv(lA, P, Pinv); - filter(dv, S); - add_lfvector_lfvector(dv, dv, z, numverts); + filter(dv, S); + add_lfvector_lfvector(dv, dv, z, numverts); - mul_bfmatrix_lfvector(r, lA, dv); - sub_lfvector_lfvector(r, lB, r, numverts); - filter(r, S); + mul_bfmatrix_lfvector(r, lA, dv); + sub_lfvector_lfvector(r, lB, r, numverts); + filter(r, S); - mul_prevfmatrix_lfvector(p, Pinv, r); - filter(p, S); + mul_prevfmatrix_lfvector(p, Pinv, r); + filter(p, S); - deltaNew = dot_lfvector(r, p, numverts); + deltaNew = dot_lfvector(r, p, numverts); - delta0 = deltaNew * sqrt(conjgrad_epsilon); + delta0 = deltaNew * sqrt(conjgrad_epsilon); -#ifdef DEBUG_TIME - double start = PIL_check_seconds_timer(); -#endif +# ifdef DEBUG_TIME + double start = PIL_check_seconds_timer(); +# endif - while ((deltaNew > delta0) && (iterations < conjgrad_looplimit)) - { - iterations++; + while ((deltaNew > delta0) && (iterations < conjgrad_looplimit)) + { + iterations++; - mul_bfmatrix_lfvector(s, lA, p); - filter(s, S); + mul_bfmatrix_lfvector(s, lA, p); + filter(s, S); - alpha = deltaNew / dot_lfvector(p, s, numverts); + alpha = deltaNew / dot_lfvector(p, s, numverts); - add_lfvector_lfvectorS(dv, dv, p, alpha, numverts); + add_lfvector_lfvectorS(dv, dv, p, alpha, numverts); - add_lfvector_lfvectorS(r, r, s, -alpha, numverts); + add_lfvector_lfvectorS(r, r, s, -alpha, numverts); - mul_prevfmatrix_lfvector(h, Pinv, r); - filter(h, S); + mul_prevfmatrix_lfvector(h, Pinv, r); + filter(h, S); - deltaOld = deltaNew; + deltaOld = deltaNew; - deltaNew = dot_lfvector(r, h, numverts); + deltaNew = dot_lfvector(r, h, numverts); - add_lfvector_lfvectorS(p, h, p, deltaNew / deltaOld, numverts); + add_lfvector_lfvectorS(p, h, p, deltaNew / deltaOld, numverts); - filter(p, S); + filter(p, S); - } + } -#ifdef DEBUG_TIME - double end = PIL_check_seconds_timer(); - printf("cg_filtered_pre time: %f\n", (float)(end - start)); -#endif +# ifdef DEBUG_TIME + double end = PIL_check_seconds_timer(); + printf("cg_filtered_pre time: %f\n", (float)(end - start)); +# endif - del_lfvector(h); - del_lfvector(s); - del_lfvector(p); - del_lfvector(r); + del_lfvector(h); + del_lfvector(s); + del_lfvector(p); + del_lfvector(r); - printf("iterations: %d\n", iterations); + printf("iterations: %d\n", iterations); - return iterations < conjgrad_looplimit; + return iterations < conjgrad_looplimit; } -#endif +# endif // version 1.4 static int cg_filtered_pre(lfVector *dv, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S, fmatrix3x3 *P, fmatrix3x3 *Pinv, fmatrix3x3 *bigI) { - unsigned int numverts = lA[0].vcount, iterations = 0, conjgrad_looplimit = 100; - float delta0 = 0, deltaNew = 0, deltaOld = 0, alpha = 0, tol = 0; - lfVector *r = create_lfvector(numverts); - lfVector *p = create_lfvector(numverts); - lfVector *s = create_lfvector(numverts); - lfVector *h = create_lfvector(numverts); - lfVector *bhat = create_lfvector(numverts); - lfVector *btemp = create_lfvector(numverts); + unsigned int numverts = lA[0].vcount, iterations = 0, conjgrad_looplimit = 100; + float delta0 = 0, deltaNew = 0, deltaOld = 0, alpha = 0, tol = 0; + lfVector *r = create_lfvector(numverts); + lfVector *p = create_lfvector(numverts); + lfVector *s = create_lfvector(numverts); + lfVector *h = create_lfvector(numverts); + lfVector *bhat = create_lfvector(numverts); + lfVector *btemp = create_lfvector(numverts); - BuildPPinv(lA, P, Pinv); + BuildPPinv(lA, P, Pinv); - initdiag_bfmatrix(bigI, I); - sub_bfmatrix_Smatrix(bigI, bigI, S); + initdiag_bfmatrix(bigI, I); + sub_bfmatrix_Smatrix(bigI, bigI, S); - // x = Sx_0+(I-S)z - filter(dv, S); - add_lfvector_lfvector(dv, dv, z, numverts); + // x = Sx_0+(I-S)z + filter(dv, S); + add_lfvector_lfvector(dv, dv, z, numverts); - // b_hat = S(b-A(I-S)z) - mul_bfmatrix_lfvector(r, lA, z); - mul_bfmatrix_lfvector(bhat, bigI, r); - sub_lfvector_lfvector(bhat, lB, bhat, numverts); + // b_hat = S(b-A(I-S)z) + mul_bfmatrix_lfvector(r, lA, z); + mul_bfmatrix_lfvector(bhat, bigI, r); + sub_lfvector_lfvector(bhat, lB, bhat, numverts); - // r = S(b-Ax) - mul_bfmatrix_lfvector(r, lA, dv); - sub_lfvector_lfvector(r, lB, r, numverts); - filter(r, S); + // r = S(b-Ax) + mul_bfmatrix_lfvector(r, lA, dv); + sub_lfvector_lfvector(r, lB, r, numverts); + filter(r, S); - // p = SP^-1r - mul_prevfmatrix_lfvector(p, Pinv, r); - filter(p, S); + // p = SP^-1r + mul_prevfmatrix_lfvector(p, Pinv, r); + filter(p, S); - // delta0 = bhat^TP^-1bhat - mul_prevfmatrix_lfvector(btemp, Pinv, bhat); - delta0 = dot_lfvector(bhat, btemp, numverts); + // delta0 = bhat^TP^-1bhat + mul_prevfmatrix_lfvector(btemp, Pinv, bhat); + delta0 = dot_lfvector(bhat, btemp, numverts); - // deltaNew = r^TP - deltaNew = dot_lfvector(r, p, numverts); + // deltaNew = r^TP + deltaNew = dot_lfvector(r, p, numverts); -#if 0 - filter(dv, S); - add_lfvector_lfvector(dv, dv, z, numverts); +# if 0 + filter(dv, S); + add_lfvector_lfvector(dv, dv, z, numverts); - mul_bfmatrix_lfvector(r, lA, dv); - sub_lfvector_lfvector(r, lB, r, numverts); - filter(r, S); + mul_bfmatrix_lfvector(r, lA, dv); + sub_lfvector_lfvector(r, lB, r, numverts); + filter(r, S); - mul_prevfmatrix_lfvector(p, Pinv, r); - filter(p, S); + mul_prevfmatrix_lfvector(p, Pinv, r); + filter(p, S); - deltaNew = dot_lfvector(r, p, numverts); + deltaNew = dot_lfvector(r, p, numverts); - delta0 = deltaNew * sqrt(conjgrad_epsilon); -#endif + delta0 = deltaNew * sqrt(conjgrad_epsilon); +# endif -#ifdef DEBUG_TIME - double start = PIL_check_seconds_timer(); -#endif +# ifdef DEBUG_TIME + double start = PIL_check_seconds_timer(); +# endif - tol = (0.01 * 0.2); + tol = (0.01 * 0.2); - while ((deltaNew > delta0 * tol * tol) && (iterations < conjgrad_looplimit)) - { - iterations++; + while ((deltaNew > delta0 * tol * tol) && (iterations < conjgrad_looplimit)) + { + iterations++; - mul_bfmatrix_lfvector(s, lA, p); - filter(s, S); + mul_bfmatrix_lfvector(s, lA, p); + filter(s, S); - alpha = deltaNew / dot_lfvector(p, s, numverts); + alpha = deltaNew / dot_lfvector(p, s, numverts); - add_lfvector_lfvectorS(dv, dv, p, alpha, numverts); + add_lfvector_lfvectorS(dv, dv, p, alpha, numverts); - add_lfvector_lfvectorS(r, r, s, -alpha, numverts); + add_lfvector_lfvectorS(r, r, s, -alpha, numverts); - mul_prevfmatrix_lfvector(h, Pinv, r); - filter(h, S); + mul_prevfmatrix_lfvector(h, Pinv, r); + filter(h, S); - deltaOld = deltaNew; + deltaOld = deltaNew; - deltaNew = dot_lfvector(r, h, numverts); + deltaNew = dot_lfvector(r, h, numverts); - add_lfvector_lfvectorS(p, h, p, deltaNew / deltaOld, numverts); + add_lfvector_lfvectorS(p, h, p, deltaNew / deltaOld, numverts); - filter(p, S); + filter(p, S); - } + } -#ifdef DEBUG_TIME - double end = PIL_check_seconds_timer(); - printf("cg_filtered_pre time: %f\n", (float)(end - start)); -#endif +# ifdef DEBUG_TIME + double end = PIL_check_seconds_timer(); + printf("cg_filtered_pre time: %f\n", (float)(end - start)); +# endif - del_lfvector(btemp); - del_lfvector(bhat); - del_lfvector(h); - del_lfvector(s); - del_lfvector(p); - del_lfvector(r); + del_lfvector(btemp); + del_lfvector(bhat); + del_lfvector(h); + del_lfvector(s); + del_lfvector(p); + del_lfvector(r); - // printf("iterations: %d\n", iterations); + // printf("iterations: %d\n", iterations); - return iterations < conjgrad_looplimit; + return iterations < conjgrad_looplimit; } -#endif +# endif bool BPH_mass_spring_solve_velocities(Implicit_Data *data, float dt, ImplicitSolverResult *result) { - unsigned int numverts = data->dFdV[0].vcount; + unsigned int numverts = data->dFdV[0].vcount; - lfVector *dFdXmV = create_lfvector(numverts); - zero_lfvector(data->dV, numverts); + lfVector *dFdXmV = create_lfvector(numverts); + zero_lfvector(data->dV, numverts); - cp_bfmatrix(data->A, data->M); + cp_bfmatrix(data->A, data->M); - subadd_bfmatrixS_bfmatrixS(data->A, data->dFdV, dt, data->dFdX, (dt * dt)); + subadd_bfmatrixS_bfmatrixS(data->A, data->dFdV, dt, data->dFdX, (dt * dt)); - mul_bfmatrix_lfvector(dFdXmV, data->dFdX, data->V); + mul_bfmatrix_lfvector(dFdXmV, data->dFdX, data->V); - add_lfvectorS_lfvectorS(data->B, data->F, dt, dFdXmV, (dt * dt), numverts); + add_lfvectorS_lfvectorS(data->B, data->F, dt, dFdXmV, (dt * dt), numverts); -#ifdef DEBUG_TIME - double start = PIL_check_seconds_timer(); -#endif +# ifdef DEBUG_TIME + double start = PIL_check_seconds_timer(); +# endif - cg_filtered(data->dV, data->A, data->B, data->z, data->S, result); /* conjugate gradient algorithm to solve Ax=b */ - // cg_filtered_pre(id->dV, id->A, id->B, id->z, id->S, id->P, id->Pinv, id->bigI); + cg_filtered(data->dV, + data->A, + data->B, + data->z, + data->S, + result); /* conjugate gradient algorithm to solve Ax=b */ + // cg_filtered_pre(id->dV, id->A, id->B, id->z, id->S, id->P, id->Pinv, id->bigI); -#ifdef DEBUG_TIME - double end = PIL_check_seconds_timer(); - printf("cg_filtered calc time: %f\n", (float)(end - start)); -#endif +# ifdef DEBUG_TIME + double end = PIL_check_seconds_timer(); + printf("cg_filtered calc time: %f\n", (float)(end - start)); +# endif - // advance velocities - add_lfvector_lfvector(data->Vnew, data->V, data->dV, numverts); + // advance velocities + add_lfvector_lfvector(data->Vnew, data->V, data->dV, numverts); - del_lfvector(dFdXmV); + del_lfvector(dFdXmV); - return result->status == BPH_SOLVER_SUCCESS; + return result->status == BPH_SOLVER_SUCCESS; } bool BPH_mass_spring_solve_positions(Implicit_Data *data, float dt) { - int numverts = data->M[0].vcount; + int numverts = data->M[0].vcount; - // advance positions - add_lfvector_lfvectorS(data->Xnew, data->X, data->Vnew, dt, numverts); + // advance positions + add_lfvector_lfvectorS(data->Xnew, data->X, data->Vnew, dt, numverts); - return true; + return true; } void BPH_mass_spring_apply_result(Implicit_Data *data) { - int numverts = data->M[0].vcount; - cp_lfvector(data->X, data->Xnew, numverts); - cp_lfvector(data->V, data->Vnew, numverts); + int numverts = data->M[0].vcount; + cp_lfvector(data->X, data->Xnew, numverts); + cp_lfvector(data->V, data->Vnew, numverts); } void BPH_mass_spring_set_vertex_mass(Implicit_Data *data, int index, float mass) { - unit_m3(data->M[index].m); - mul_m3_fl(data->M[index].m, mass); + unit_m3(data->M[index].m); + mul_m3_fl(data->M[index].m, mass); } void BPH_mass_spring_set_rest_transform(Implicit_Data *data, int index, float tfm[3][3]) { -#ifdef CLOTH_ROOT_FRAME - copy_m3_m3(data->tfm[index].m, tfm); -#else - unit_m3(data->tfm[index].m); - (void)tfm; -#endif +# ifdef CLOTH_ROOT_FRAME + copy_m3_m3(data->tfm[index].m, tfm); +# else + unit_m3(data->tfm[index].m); + (void)tfm; +# endif } -void BPH_mass_spring_set_motion_state(Implicit_Data *data, int index, const float x[3], const float v[3]) +void BPH_mass_spring_set_motion_state(Implicit_Data *data, + int index, + const float x[3], + const float v[3]) { - world_to_root_v3(data, index, data->X[index], x); - world_to_root_v3(data, index, data->V[index], v); + world_to_root_v3(data, index, data->X[index], x); + world_to_root_v3(data, index, data->V[index], v); } void BPH_mass_spring_set_position(Implicit_Data *data, int index, const float x[3]) { - world_to_root_v3(data, index, data->X[index], x); + world_to_root_v3(data, index, data->X[index], x); } void BPH_mass_spring_set_velocity(Implicit_Data *data, int index, const float v[3]) { - world_to_root_v3(data, index, data->V[index], v); + world_to_root_v3(data, index, data->V[index], v); } -void BPH_mass_spring_get_motion_state(struct Implicit_Data *data, int index, float x[3], float v[3]) +void BPH_mass_spring_get_motion_state(struct Implicit_Data *data, + int index, + float x[3], + float v[3]) { - if (x) root_to_world_v3(data, index, x, data->X[index]); - if (v) root_to_world_v3(data, index, v, data->V[index]); + if (x) + root_to_world_v3(data, index, x, data->X[index]); + if (v) + root_to_world_v3(data, index, v, data->V[index]); } void BPH_mass_spring_get_position(struct Implicit_Data *data, int index, float x[3]) { - root_to_world_v3(data, index, x, data->X[index]); + root_to_world_v3(data, index, x, data->X[index]); } void BPH_mass_spring_get_new_position(struct Implicit_Data *data, int index, float x[3]) { - root_to_world_v3(data, index, x, data->Xnew[index]); + root_to_world_v3(data, index, x, data->Xnew[index]); } void BPH_mass_spring_set_new_position(struct Implicit_Data *data, int index, const float x[3]) { - world_to_root_v3(data, index, data->Xnew[index], x); + world_to_root_v3(data, index, data->Xnew[index], x); } void BPH_mass_spring_get_new_velocity(struct Implicit_Data *data, int index, float v[3]) { - root_to_world_v3(data, index, v, data->Vnew[index]); + root_to_world_v3(data, index, v, data->Vnew[index]); } void BPH_mass_spring_set_new_velocity(struct Implicit_Data *data, int index, const float v[3]) { - world_to_root_v3(data, index, data->Vnew[index], v); + world_to_root_v3(data, index, data->Vnew[index], v); } /* -------------------------------- */ static int BPH_mass_spring_add_block(Implicit_Data *data, int v1, int v2) { - int s = data->M[0].vcount + data->num_blocks; /* index from array start */ - BLI_assert(s < data->M[0].vcount + data->M[0].scount); - ++data->num_blocks; + int s = data->M[0].vcount + data->num_blocks; /* index from array start */ + BLI_assert(s < data->M[0].vcount + data->M[0].scount); + ++data->num_blocks; - /* tfm and S don't have spring entries (diagonal blocks only) */ - init_fmatrix(data->bigI + s, v1, v2); - init_fmatrix(data->M + s, v1, v2); - init_fmatrix(data->dFdX + s, v1, v2); - init_fmatrix(data->dFdV + s, v1, v2); - init_fmatrix(data->A + s, v1, v2); - init_fmatrix(data->P + s, v1, v2); - init_fmatrix(data->Pinv + s, v1, v2); + /* tfm and S don't have spring entries (diagonal blocks only) */ + init_fmatrix(data->bigI + s, v1, v2); + init_fmatrix(data->M + s, v1, v2); + init_fmatrix(data->dFdX + s, v1, v2); + init_fmatrix(data->dFdV + s, v1, v2); + init_fmatrix(data->A + s, v1, v2); + init_fmatrix(data->P + s, v1, v2); + init_fmatrix(data->Pinv + s, v1, v2); - return s; + return s; } void BPH_mass_spring_clear_constraints(Implicit_Data *data) { - int i, numverts = data->S[0].vcount; - for (i = 0; i < numverts; ++i) { - unit_m3(data->S[i].m); - zero_v3(data->z[i]); - } + int i, numverts = data->S[0].vcount; + for (i = 0; i < numverts; ++i) { + unit_m3(data->S[i].m); + zero_v3(data->z[i]); + } } void BPH_mass_spring_add_constraint_ndof0(Implicit_Data *data, int index, const float dV[3]) { - zero_m3(data->S[index].m); + zero_m3(data->S[index].m); - world_to_root_v3(data, index, data->z[index], dV); + world_to_root_v3(data, index, data->z[index], dV); } -void BPH_mass_spring_add_constraint_ndof1(Implicit_Data *data, int index, const float c1[3], const float c2[3], const float dV[3]) +void BPH_mass_spring_add_constraint_ndof1( + Implicit_Data *data, int index, const float c1[3], const float c2[3], const float dV[3]) { - float m[3][3], p[3], q[3], u[3], cmat[3][3]; + float m[3][3], p[3], q[3], u[3], cmat[3][3]; - world_to_root_v3(data, index, p, c1); - mul_fvectorT_fvector(cmat, p, p); - sub_m3_m3m3(m, I, cmat); + world_to_root_v3(data, index, p, c1); + mul_fvectorT_fvector(cmat, p, p); + sub_m3_m3m3(m, I, cmat); - world_to_root_v3(data, index, q, c2); - mul_fvectorT_fvector(cmat, q, q); - sub_m3_m3m3(m, m, cmat); + world_to_root_v3(data, index, q, c2); + mul_fvectorT_fvector(cmat, q, q); + sub_m3_m3m3(m, m, cmat); - /* XXX not sure but multiplication should work here */ - copy_m3_m3(data->S[index].m, m); -// mul_m3_m3m3(data->S[index].m, data->S[index].m, m); + /* XXX not sure but multiplication should work here */ + copy_m3_m3(data->S[index].m, m); + // mul_m3_m3m3(data->S[index].m, data->S[index].m, m); - world_to_root_v3(data, index, u, dV); - add_v3_v3(data->z[index], u); + world_to_root_v3(data, index, u, dV); + add_v3_v3(data->z[index], u); } -void BPH_mass_spring_add_constraint_ndof2(Implicit_Data *data, int index, const float c1[3], const float dV[3]) +void BPH_mass_spring_add_constraint_ndof2(Implicit_Data *data, + int index, + const float c1[3], + const float dV[3]) { - float m[3][3], p[3], u[3], cmat[3][3]; + float m[3][3], p[3], u[3], cmat[3][3]; - world_to_root_v3(data, index, p, c1); - mul_fvectorT_fvector(cmat, p, p); - sub_m3_m3m3(m, I, cmat); + world_to_root_v3(data, index, p, c1); + mul_fvectorT_fvector(cmat, p, p); + sub_m3_m3m3(m, I, cmat); - copy_m3_m3(data->S[index].m, m); -// mul_m3_m3m3(data->S[index].m, data->S[index].m, m); + copy_m3_m3(data->S[index].m, m); + // mul_m3_m3m3(data->S[index].m, data->S[index].m, m); - world_to_root_v3(data, index, u, dV); - add_v3_v3(data->z[index], u); + world_to_root_v3(data, index, u, dV); + add_v3_v3(data->z[index], u); } void BPH_mass_spring_clear_forces(Implicit_Data *data) { - int numverts = data->M[0].vcount; - zero_lfvector(data->F, numverts); - init_bfmatrix(data->dFdX, ZERO); - init_bfmatrix(data->dFdV, ZERO); - - data->num_blocks = 0; -} - -void BPH_mass_spring_force_reference_frame(Implicit_Data *data, int index, const float acceleration[3], const float omega[3], const float domega_dt[3], float mass) -{ -#ifdef CLOTH_ROOT_FRAME - float acc[3], w[3], dwdt[3]; - float f[3], dfdx[3][3], dfdv[3][3]; - float euler[3], coriolis[3], centrifugal[3], rotvel[3]; - float deuler[3][3], dcoriolis[3][3], dcentrifugal[3][3], drotvel[3][3]; - - world_to_root_v3(data, index, acc, acceleration); - world_to_root_v3(data, index, w, omega); - world_to_root_v3(data, index, dwdt, domega_dt); - - cross_v3_v3v3(euler, dwdt, data->X[index]); - cross_v3_v3v3(coriolis, w, data->V[index]); - mul_v3_fl(coriolis, 2.0f); - cross_v3_v3v3(rotvel, w, data->X[index]); - cross_v3_v3v3(centrifugal, w, rotvel); - - sub_v3_v3v3(f, acc, euler); - sub_v3_v3(f, coriolis); - sub_v3_v3(f, centrifugal); - - mul_v3_fl(f, mass); /* F = m * a */ - - cross_v3_identity(deuler, dwdt); - cross_v3_identity(dcoriolis, w); - mul_m3_fl(dcoriolis, 2.0f); - cross_v3_identity(drotvel, w); - cross_m3_v3m3(dcentrifugal, w, drotvel); - - add_m3_m3m3(dfdx, deuler, dcentrifugal); - negate_m3(dfdx); - mul_m3_fl(dfdx, mass); - - copy_m3_m3(dfdv, dcoriolis); - negate_m3(dfdv); - mul_m3_fl(dfdv, mass); - - add_v3_v3(data->F[index], f); - add_m3_m3m3(data->dFdX[index].m, data->dFdX[index].m, dfdx); - add_m3_m3m3(data->dFdV[index].m, data->dFdV[index].m, dfdv); -#else - (void)data; - (void)index; - (void)acceleration; - (void)omega; - (void)domega_dt; -#endif + int numverts = data->M[0].vcount; + zero_lfvector(data->F, numverts); + init_bfmatrix(data->dFdX, ZERO); + init_bfmatrix(data->dFdV, ZERO); + + data->num_blocks = 0; +} + +void BPH_mass_spring_force_reference_frame(Implicit_Data *data, + int index, + const float acceleration[3], + const float omega[3], + const float domega_dt[3], + float mass) +{ +# ifdef CLOTH_ROOT_FRAME + float acc[3], w[3], dwdt[3]; + float f[3], dfdx[3][3], dfdv[3][3]; + float euler[3], coriolis[3], centrifugal[3], rotvel[3]; + float deuler[3][3], dcoriolis[3][3], dcentrifugal[3][3], drotvel[3][3]; + + world_to_root_v3(data, index, acc, acceleration); + world_to_root_v3(data, index, w, omega); + world_to_root_v3(data, index, dwdt, domega_dt); + + cross_v3_v3v3(euler, dwdt, data->X[index]); + cross_v3_v3v3(coriolis, w, data->V[index]); + mul_v3_fl(coriolis, 2.0f); + cross_v3_v3v3(rotvel, w, data->X[index]); + cross_v3_v3v3(centrifugal, w, rotvel); + + sub_v3_v3v3(f, acc, euler); + sub_v3_v3(f, coriolis); + sub_v3_v3(f, centrifugal); + + mul_v3_fl(f, mass); /* F = m * a */ + + cross_v3_identity(deuler, dwdt); + cross_v3_identity(dcoriolis, w); + mul_m3_fl(dcoriolis, 2.0f); + cross_v3_identity(drotvel, w); + cross_m3_v3m3(dcentrifugal, w, drotvel); + + add_m3_m3m3(dfdx, deuler, dcentrifugal); + negate_m3(dfdx); + mul_m3_fl(dfdx, mass); + + copy_m3_m3(dfdv, dcoriolis); + negate_m3(dfdv); + mul_m3_fl(dfdv, mass); + + add_v3_v3(data->F[index], f); + add_m3_m3m3(data->dFdX[index].m, data->dFdX[index].m, dfdx); + add_m3_m3m3(data->dFdV[index].m, data->dFdV[index].m, dfdv); +# else + (void)data; + (void)index; + (void)acceleration; + (void)omega; + (void)domega_dt; +# endif } void BPH_mass_spring_force_gravity(Implicit_Data *data, int index, float mass, const float g[3]) { - /* force = mass * acceleration (in this case: gravity) */ - float f[3]; - world_to_root_v3(data, index, f, g); - mul_v3_fl(f, mass); + /* force = mass * acceleration (in this case: gravity) */ + float f[3]; + world_to_root_v3(data, index, f, g); + mul_v3_fl(f, mass); - add_v3_v3(data->F[index], f); + add_v3_v3(data->F[index], f); } void BPH_mass_spring_force_drag(Implicit_Data *data, float drag) { - int i, numverts = data->M[0].vcount; - for (i = 0; i < numverts; i++) { - float tmp[3][3]; + int i, numverts = data->M[0].vcount; + for (i = 0; i < numverts; i++) { + float tmp[3][3]; - /* NB: uses root space velocity, no need to transform */ - madd_v3_v3fl(data->F[i], data->V[i], -drag); + /* NB: uses root space velocity, no need to transform */ + madd_v3_v3fl(data->F[i], data->V[i], -drag); - copy_m3_m3(tmp, I); - mul_m3_fl(tmp, -drag); - add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, tmp); - } + copy_m3_m3(tmp, I); + mul_m3_fl(tmp, -drag); + add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, tmp); + } } -void BPH_mass_spring_force_extern(struct Implicit_Data *data, int i, const float f[3], float dfdx[3][3], float dfdv[3][3]) +void BPH_mass_spring_force_extern( + struct Implicit_Data *data, int i, const float f[3], float dfdx[3][3], float dfdv[3][3]) { - float tf[3], tdfdx[3][3], tdfdv[3][3]; - world_to_root_v3(data, i, tf, f); - world_to_root_m3(data, i, tdfdx, dfdx); - world_to_root_m3(data, i, tdfdv, dfdv); + float tf[3], tdfdx[3][3], tdfdv[3][3]; + world_to_root_v3(data, i, tf, f); + world_to_root_m3(data, i, tdfdx, dfdx); + world_to_root_m3(data, i, tdfdv, dfdv); - add_v3_v3(data->F[i], tf); - add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, tdfdx); - add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, tdfdv); + add_v3_v3(data->F[i], tf); + add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, tdfdx); + add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, tdfdv); } -static float calc_nor_area_tri(float nor[3], const float v1[3], const float v2[3], const float v3[3]) +static float calc_nor_area_tri(float nor[3], + const float v1[3], + const float v2[3], + const float v3[3]) { - float n1[3], n2[3]; + float n1[3], n2[3]; - sub_v3_v3v3(n1, v1, v2); - sub_v3_v3v3(n2, v2, v3); + sub_v3_v3v3(n1, v1, v2); + sub_v3_v3v3(n2, v2, v3); - cross_v3_v3v3(nor, n1, n2); - return normalize_v3(nor); + cross_v3_v3v3(nor, n1, n2); + return normalize_v3(nor); } /* XXX does not support force jacobians yet, since the effector system does not provide them either */ -void BPH_mass_spring_force_face_wind(Implicit_Data *data, int v1, int v2, int v3, const float(*winvec)[3]) +void BPH_mass_spring_force_face_wind( + Implicit_Data *data, int v1, int v2, int v3, const float (*winvec)[3]) { - const float effector_scale = 0.02f; - float win[3], nor[3], area; - float factor; + const float effector_scale = 0.02f; + float win[3], nor[3], area; + float factor; - /* calculate face normal and area */ - area = calc_nor_area_tri(nor, data->X[v1], data->X[v2], data->X[v3]); - factor = effector_scale * area / 3.0f; + /* calculate face normal and area */ + area = calc_nor_area_tri(nor, data->X[v1], data->X[v2], data->X[v3]); + factor = effector_scale * area / 3.0f; - world_to_root_v3(data, v1, win, winvec[v1]); - madd_v3_v3fl(data->F[v1], nor, factor * dot_v3v3(win, nor)); + world_to_root_v3(data, v1, win, winvec[v1]); + madd_v3_v3fl(data->F[v1], nor, factor * dot_v3v3(win, nor)); - world_to_root_v3(data, v2, win, winvec[v2]); - madd_v3_v3fl(data->F[v2], nor, factor * dot_v3v3(win, nor)); + world_to_root_v3(data, v2, win, winvec[v2]); + madd_v3_v3fl(data->F[v2], nor, factor * dot_v3v3(win, nor)); - world_to_root_v3(data, v3, win, winvec[v3]); - madd_v3_v3fl(data->F[v3], nor, factor * dot_v3v3(win, nor)); + world_to_root_v3(data, v3, win, winvec[v3]); + madd_v3_v3fl(data->F[v3], nor, factor * dot_v3v3(win, nor)); } -static void edge_wind_vertex(const float dir[3], float length, float radius, const float wind[3], float f[3], float UNUSED(dfdx[3][3]), float UNUSED(dfdv[3][3])) +static void edge_wind_vertex(const float dir[3], + float length, + float radius, + const float wind[3], + float f[3], + float UNUSED(dfdx[3][3]), + float UNUSED(dfdv[3][3])) { - const float density = 0.01f; /* XXX arbitrary value, corresponds to effect of air density */ - float cos_alpha, sin_alpha, cross_section; - float windlen = len_v3(wind); + const float density = 0.01f; /* XXX arbitrary value, corresponds to effect of air density */ + float cos_alpha, sin_alpha, cross_section; + float windlen = len_v3(wind); - if (windlen == 0.0f) { - zero_v3(f); - return; - } + if (windlen == 0.0f) { + zero_v3(f); + return; + } - /* angle of wind direction to edge */ - cos_alpha = dot_v3v3(wind, dir) / windlen; - sin_alpha = sqrtf(1.0f - cos_alpha * cos_alpha); - cross_section = radius * ((float)M_PI * radius * sin_alpha + length * cos_alpha); + /* angle of wind direction to edge */ + cos_alpha = dot_v3v3(wind, dir) / windlen; + sin_alpha = sqrtf(1.0f - cos_alpha * cos_alpha); + cross_section = radius * ((float)M_PI * radius * sin_alpha + length * cos_alpha); - mul_v3_v3fl(f, wind, density * cross_section); + mul_v3_v3fl(f, wind, density * cross_section); } -void BPH_mass_spring_force_edge_wind(Implicit_Data *data, int v1, int v2, float radius1, float radius2, const float(*winvec)[3]) +void BPH_mass_spring_force_edge_wind( + Implicit_Data *data, int v1, int v2, float radius1, float radius2, const float (*winvec)[3]) { - float win[3], dir[3], length; - float f[3], dfdx[3][3], dfdv[3][3]; + float win[3], dir[3], length; + float f[3], dfdx[3][3], dfdv[3][3]; - sub_v3_v3v3(dir, data->X[v1], data->X[v2]); - length = normalize_v3(dir); + sub_v3_v3v3(dir, data->X[v1], data->X[v2]); + length = normalize_v3(dir); - world_to_root_v3(data, v1, win, winvec[v1]); - edge_wind_vertex(dir, length, radius1, win, f, dfdx, dfdv); - add_v3_v3(data->F[v1], f); + world_to_root_v3(data, v1, win, winvec[v1]); + edge_wind_vertex(dir, length, radius1, win, f, dfdx, dfdv); + add_v3_v3(data->F[v1], f); - world_to_root_v3(data, v2, win, winvec[v2]); - edge_wind_vertex(dir, length, radius2, win, f, dfdx, dfdv); - add_v3_v3(data->F[v2], f); + world_to_root_v3(data, v2, win, winvec[v2]); + edge_wind_vertex(dir, length, radius2, win, f, dfdx, dfdv); + add_v3_v3(data->F[v2], f); } -void BPH_mass_spring_force_vertex_wind(Implicit_Data *data, int v, float UNUSED(radius), const float(*winvec)[3]) +void BPH_mass_spring_force_vertex_wind(Implicit_Data *data, + int v, + float UNUSED(radius), + const float (*winvec)[3]) { - const float density = 0.01f; /* XXX arbitrary value, corresponds to effect of air density */ + const float density = 0.01f; /* XXX arbitrary value, corresponds to effect of air density */ - float wind[3]; - float f[3]; + float wind[3]; + float f[3]; - world_to_root_v3(data, v, wind, winvec[v]); - mul_v3_v3fl(f, wind, density); - add_v3_v3(data->F[v], f); + world_to_root_v3(data, v, wind, winvec[v]); + mul_v3_v3fl(f, wind, density); + add_v3_v3(data->F[v], f); } BLI_INLINE void dfdx_spring(float to[3][3], const float dir[3], float length, float L, float k) { - // dir is unit length direction, rest is spring's restlength, k is spring constant. - //return ( (I-outerprod(dir, dir))*Min(1.0f, rest/length) - I) * -k; - outerproduct(to, dir, dir); - sub_m3_m3m3(to, I, to); + // dir is unit length direction, rest is spring's restlength, k is spring constant. + //return ( (I-outerprod(dir, dir))*Min(1.0f, rest/length) - I) * -k; + outerproduct(to, dir, dir); + sub_m3_m3m3(to, I, to); - mul_m3_fl(to, (L / length)); - sub_m3_m3m3(to, to, I); - mul_m3_fl(to, k); + mul_m3_fl(to, (L / length)); + sub_m3_m3m3(to, to, I); + mul_m3_fl(to, k); } /* unused */ -#if 0 +# if 0 BLI_INLINE void dfdx_damp(float to[3][3], const float dir[3], float length, const float vel[3], float rest, float damping) { - // inner spring damping vel is the relative velocity of the endpoints. - // return (I-outerprod(dir, dir)) * (-damping * -(dot(dir, vel)/Max(length, rest))); - mul_fvectorT_fvector(to, dir, dir); - sub_fmatrix_fmatrix(to, I, to); - mul_fmatrix_S(to, (-damping * -(dot_v3v3(dir, vel) / MAX2(length, rest)))); + // inner spring damping vel is the relative velocity of the endpoints. + // return (I-outerprod(dir, dir)) * (-damping * -(dot(dir, vel)/Max(length, rest))); + mul_fvectorT_fvector(to, dir, dir); + sub_fmatrix_fmatrix(to, I, to); + mul_fmatrix_S(to, (-damping * -(dot_v3v3(dir, vel) / MAX2(length, rest)))); } -#endif +# endif BLI_INLINE void dfdv_damp(float to[3][3], const float dir[3], float damping) { - // derivative of force wrt velocity - outerproduct(to, dir, dir); - mul_m3_fl(to, -damping); + // derivative of force wrt velocity + outerproduct(to, dir, dir); + mul_m3_fl(to, -damping); } BLI_INLINE float fb(float length, float L) { - float x = length / L; - float xx = x * x; - float xxx = xx * x; - float xxxx = xxx * x; - return (-11.541f * xxxx + 34.193f * xxx - 39.083f * xx + 23.116f * x - 9.713f); + float x = length / L; + float xx = x * x; + float xxx = xx * x; + float xxxx = xxx * x; + return (-11.541f * xxxx + 34.193f * xxx - 39.083f * xx + 23.116f * x - 9.713f); } BLI_INLINE float fbderiv(float length, float L) { - float x = length / L; - float xx = x * x; - float xxx = xx * x; - return (-46.164f * xxx + 102.579f * xx - 78.166f * x + 23.116f); + float x = length / L; + float xx = x * x; + float xxx = xx * x; + return (-46.164f * xxx + 102.579f * xx - 78.166f * x + 23.116f); } BLI_INLINE float fbstar(float length, float L, float kb, float cb) { - float tempfb_fl = kb * fb(length, L); - float fbstar_fl = cb * (length - L); + float tempfb_fl = kb * fb(length, L); + float fbstar_fl = cb * (length - L); - if (tempfb_fl < fbstar_fl) - return fbstar_fl; - else - return tempfb_fl; + if (tempfb_fl < fbstar_fl) + return fbstar_fl; + else + return tempfb_fl; } // function to calculae bending spring force (taken from Choi & Co) BLI_INLINE float fbstar_jacobi(float length, float L, float kb, float cb) { - float tempfb_fl = kb * fb(length, L); - float fbstar_fl = cb * (length - L); + float tempfb_fl = kb * fb(length, L); + float fbstar_fl = cb * (length - L); - if (tempfb_fl < fbstar_fl) { - return -cb; - } - else { - return -kb *fbderiv(length, L); - } + if (tempfb_fl < fbstar_fl) { + return -cb; + } + else { + return -kb * fbderiv(length, L); + } } /* calculate elonglation */ -BLI_INLINE bool spring_length(Implicit_Data *data, int i, int j, float r_extent[3], float r_dir[3], float *r_length, float r_vel[3]) -{ - sub_v3_v3v3(r_extent, data->X[j], data->X[i]); - sub_v3_v3v3(r_vel, data->V[j], data->V[i]); - *r_length = len_v3(r_extent); - - if (*r_length > ALMOST_ZERO) { -#if 0 - if (length > L) { - if ((clmd->sim_parms->flags & CSIMSETT_FLAG_TEARING_ENABLED) && - ( ((length - L) * 100.0f / L) > clmd->sim_parms->maxspringlen)) - { - // cut spring! - s->flags |= CSPRING_FLAG_DEACTIVATE; - return false; - } - } -#endif - mul_v3_v3fl(r_dir, r_extent, 1.0f / (*r_length)); - } - else { - zero_v3(r_dir); - } - - return true; -} - -BLI_INLINE void apply_spring(Implicit_Data *data, int i, int j, const float f[3], float dfdx[3][3], float dfdv[3][3]) -{ - int block_ij = BPH_mass_spring_add_block(data, i, j); - - add_v3_v3(data->F[i], f); - sub_v3_v3(data->F[j], f); - - add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfdx); - add_m3_m3m3(data->dFdX[j].m, data->dFdX[j].m, dfdx); - sub_m3_m3m3(data->dFdX[block_ij].m, data->dFdX[block_ij].m, dfdx); - - add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, dfdv); - add_m3_m3m3(data->dFdV[j].m, data->dFdV[j].m, dfdv); - sub_m3_m3m3(data->dFdV[block_ij].m, data->dFdV[block_ij].m, dfdv); -} - -bool BPH_mass_spring_force_spring_linear(Implicit_Data *data, int i, int j, float restlen, - float stiffness_tension, float damping_tension, - float stiffness_compression, float damping_compression, - bool resist_compress, bool new_compress, float clamp_force) -{ - float extent[3], length, dir[3], vel[3]; - float f[3], dfdx[3][3], dfdv[3][3]; - float damping = 0; - - // calculate elonglation - spring_length(data, i, j, extent, dir, &length, vel); - - /* This code computes not only the force, but also its derivative. - Zero derivative effectively disables the spring for the implicit solver. - Thus length > restlen makes cloth unconstrained at the start of simulation. */ - if ((length >= restlen && length > 0) || resist_compress) { - float stretch_force; - - damping = damping_tension; - - stretch_force = stiffness_tension * (length - restlen); - if (clamp_force > 0.0f && stretch_force > clamp_force) { - stretch_force = clamp_force; - } - mul_v3_v3fl(f, dir, stretch_force); - - dfdx_spring(dfdx, dir, length, restlen, stiffness_tension); - } - else if (new_compress) { - /* This is based on the Choi and Ko bending model, which works surprisingly well for compression. */ - float kb = stiffness_compression; - float cb = kb; /* cb equal to kb seems to work, but a factor can be added if necessary */ - - damping = damping_compression; - - mul_v3_v3fl(f, dir, fbstar(length, restlen, kb, cb)); - - outerproduct(dfdx, dir, dir); - mul_m3_fl(dfdx, fbstar_jacobi(length, restlen, kb, cb)); - } - else { - return false; - } - - madd_v3_v3fl(f, dir, damping * dot_v3v3(vel, dir)); - dfdv_damp(dfdv, dir, damping); - - apply_spring(data, i, j, f, dfdx, dfdv); - - return true; +BLI_INLINE bool spring_length(Implicit_Data *data, + int i, + int j, + float r_extent[3], + float r_dir[3], + float *r_length, + float r_vel[3]) +{ + sub_v3_v3v3(r_extent, data->X[j], data->X[i]); + sub_v3_v3v3(r_vel, data->V[j], data->V[i]); + *r_length = len_v3(r_extent); + + if (*r_length > ALMOST_ZERO) { +# if 0 + if (length > L) { + if ((clmd->sim_parms->flags & CSIMSETT_FLAG_TEARING_ENABLED) && + ( ((length - L) * 100.0f / L) > clmd->sim_parms->maxspringlen)) + { + // cut spring! + s->flags |= CSPRING_FLAG_DEACTIVATE; + return false; + } + } +# endif + mul_v3_v3fl(r_dir, r_extent, 1.0f / (*r_length)); + } + else { + zero_v3(r_dir); + } + + return true; +} + +BLI_INLINE void apply_spring( + Implicit_Data *data, int i, int j, const float f[3], float dfdx[3][3], float dfdv[3][3]) +{ + int block_ij = BPH_mass_spring_add_block(data, i, j); + + add_v3_v3(data->F[i], f); + sub_v3_v3(data->F[j], f); + + add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfdx); + add_m3_m3m3(data->dFdX[j].m, data->dFdX[j].m, dfdx); + sub_m3_m3m3(data->dFdX[block_ij].m, data->dFdX[block_ij].m, dfdx); + + add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, dfdv); + add_m3_m3m3(data->dFdV[j].m, data->dFdV[j].m, dfdv); + sub_m3_m3m3(data->dFdV[block_ij].m, data->dFdV[block_ij].m, dfdv); +} + +bool BPH_mass_spring_force_spring_linear(Implicit_Data *data, + int i, + int j, + float restlen, + float stiffness_tension, + float damping_tension, + float stiffness_compression, + float damping_compression, + bool resist_compress, + bool new_compress, + float clamp_force) +{ + float extent[3], length, dir[3], vel[3]; + float f[3], dfdx[3][3], dfdv[3][3]; + float damping = 0; + + // calculate elonglation + spring_length(data, i, j, extent, dir, &length, vel); + + /* This code computes not only the force, but also its derivative. + Zero derivative effectively disables the spring for the implicit solver. + Thus length > restlen makes cloth unconstrained at the start of simulation. */ + if ((length >= restlen && length > 0) || resist_compress) { + float stretch_force; + + damping = damping_tension; + + stretch_force = stiffness_tension * (length - restlen); + if (clamp_force > 0.0f && stretch_force > clamp_force) { + stretch_force = clamp_force; + } + mul_v3_v3fl(f, dir, stretch_force); + + dfdx_spring(dfdx, dir, length, restlen, stiffness_tension); + } + else if (new_compress) { + /* This is based on the Choi and Ko bending model, which works surprisingly well for compression. */ + float kb = stiffness_compression; + float cb = kb; /* cb equal to kb seems to work, but a factor can be added if necessary */ + + damping = damping_compression; + + mul_v3_v3fl(f, dir, fbstar(length, restlen, kb, cb)); + + outerproduct(dfdx, dir, dir); + mul_m3_fl(dfdx, fbstar_jacobi(length, restlen, kb, cb)); + } + else { + return false; + } + + madd_v3_v3fl(f, dir, damping * dot_v3v3(vel, dir)); + dfdv_damp(dfdv, dir, damping); + + apply_spring(data, i, j, f, dfdx, dfdv); + + return true; } /* See "Stable but Responsive Cloth" (Choi, Ko 2005) */ -bool BPH_mass_spring_force_spring_bending(Implicit_Data *data, int i, int j, float restlen, float kb, float cb) +bool BPH_mass_spring_force_spring_bending( + Implicit_Data *data, int i, int j, float restlen, float kb, float cb) { - float extent[3], length, dir[3], vel[3]; + float extent[3], length, dir[3], vel[3]; - // calculate elonglation - spring_length(data, i, j, extent, dir, &length, vel); + // calculate elonglation + spring_length(data, i, j, extent, dir, &length, vel); - if (length < restlen) { - float f[3], dfdx[3][3], dfdv[3][3]; + if (length < restlen) { + float f[3], dfdx[3][3], dfdv[3][3]; - mul_v3_v3fl(f, dir, fbstar(length, restlen, kb, cb)); + mul_v3_v3fl(f, dir, fbstar(length, restlen, kb, cb)); - outerproduct(dfdx, dir, dir); - mul_m3_fl(dfdx, fbstar_jacobi(length, restlen, kb, cb)); + outerproduct(dfdx, dir, dir); + mul_m3_fl(dfdx, fbstar_jacobi(length, restlen, kb, cb)); - /* XXX damping not supported */ - zero_m3(dfdv); + /* XXX damping not supported */ + zero_m3(dfdv); - apply_spring(data, i, j, f, dfdx, dfdv); + apply_spring(data, i, j, f, dfdx, dfdv); - return true; - } - else { - return false; - } + return true; + } + else { + return false; + } } BLI_INLINE void poly_avg(lfVector *data, int *inds, int len, float r_avg[3]) { - float fact = 1.0f / (float)len; + float fact = 1.0f / (float)len; - zero_v3(r_avg); + zero_v3(r_avg); - for (int i = 0; i < len; i++) { - madd_v3_v3fl(r_avg, data[inds[i]], fact); - } + for (int i = 0; i < len; i++) { + madd_v3_v3fl(r_avg, data[inds[i]], fact); + } } BLI_INLINE void poly_norm(lfVector *data, int i, int j, int *inds, int len, float r_dir[3]) { - float mid[3]; + float mid[3]; - poly_avg(data, inds, len, mid); + poly_avg(data, inds, len, mid); - normal_tri_v3(r_dir, data[i], data[j], mid); + normal_tri_v3(r_dir, data[i], data[j], mid); } BLI_INLINE void edge_avg(lfVector *data, int i, int j, float r_avg[3]) { - r_avg[0] = (data[i][0] + data[j][0]) * 0.5f; - r_avg[1] = (data[i][1] + data[j][1]) * 0.5f; - r_avg[2] = (data[i][2] + data[j][2]) * 0.5f; + r_avg[0] = (data[i][0] + data[j][0]) * 0.5f; + r_avg[1] = (data[i][1] + data[j][1]) * 0.5f; + r_avg[2] = (data[i][2] + data[j][2]) * 0.5f; } BLI_INLINE void edge_norm(lfVector *data, int i, int j, float r_dir[3]) { - sub_v3_v3v3(r_dir, data[i], data[j]); - normalize_v3(r_dir); + sub_v3_v3v3(r_dir, data[i], data[j]); + normalize_v3(r_dir); } BLI_INLINE float bend_angle(float dir_a[3], float dir_b[3], float dir_e[3]) { - float cos, sin; - float tmp[3]; + float cos, sin; + float tmp[3]; - cos = dot_v3v3(dir_a, dir_b); + cos = dot_v3v3(dir_a, dir_b); - cross_v3_v3v3(tmp, dir_a, dir_b); - sin = dot_v3v3(tmp, dir_e); + cross_v3_v3v3(tmp, dir_a, dir_b); + sin = dot_v3v3(tmp, dir_e); - return atan2f(sin, cos); + return atan2f(sin, cos); } -BLI_INLINE void spring_angle(Implicit_Data *data, int i, int j, int *i_a, int *i_b, int len_a, int len_b, - float r_dir_a[3], float r_dir_b[3], - float *r_angle, float r_vel_a[3], float r_vel_b[3]) +BLI_INLINE void spring_angle(Implicit_Data *data, + int i, + int j, + int *i_a, + int *i_b, + int len_a, + int len_b, + float r_dir_a[3], + float r_dir_b[3], + float *r_angle, + float r_vel_a[3], + float r_vel_b[3]) { - float dir_e[3], vel_e[3]; + float dir_e[3], vel_e[3]; - poly_norm(data->X, j, i, i_a, len_a, r_dir_a); - poly_norm(data->X, i, j, i_b, len_b, r_dir_b); + poly_norm(data->X, j, i, i_a, len_a, r_dir_a); + poly_norm(data->X, i, j, i_b, len_b, r_dir_b); - edge_norm(data->X, i, j, dir_e); + edge_norm(data->X, i, j, dir_e); - *r_angle = bend_angle(r_dir_a, r_dir_b, dir_e); + *r_angle = bend_angle(r_dir_a, r_dir_b, dir_e); - poly_avg(data->V, i_a, len_a, r_vel_a); - poly_avg(data->V, i_b, len_b, r_vel_b); + poly_avg(data->V, i_a, len_a, r_vel_a); + poly_avg(data->V, i_b, len_b, r_vel_b); - edge_avg(data->V, i, j, vel_e); + edge_avg(data->V, i, j, vel_e); - sub_v3_v3(r_vel_a, vel_e); - sub_v3_v3(r_vel_b, vel_e); + sub_v3_v3(r_vel_a, vel_e); + sub_v3_v3(r_vel_b, vel_e); } /* Angular springs roughly based on the bending model proposed by Baraff and Witkin in "Large Steps in Cloth Simulation". */ -bool BPH_mass_spring_force_spring_angular(Implicit_Data *data, int i, int j, int *i_a, int *i_b, int len_a, int len_b, - float restang, float stiffness, float damping) +bool BPH_mass_spring_force_spring_angular(Implicit_Data *data, + int i, + int j, + int *i_a, + int *i_b, + int len_a, + int len_b, + float restang, + float stiffness, + float damping) { - float angle, dir_a[3], dir_b[3], vel_a[3], vel_b[3]; - float f_a[3], f_b[3], f_e[3]; - float force; - int x; + float angle, dir_a[3], dir_b[3], vel_a[3], vel_b[3]; + float f_a[3], f_b[3], f_e[3]; + float force; + int x; - spring_angle(data, i, j, i_a, i_b, len_a, len_b, - dir_a, dir_b, &angle, vel_a, vel_b); + spring_angle(data, i, j, i_a, i_b, len_a, len_b, dir_a, dir_b, &angle, vel_a, vel_b); - /* spring force */ - force = stiffness * (angle - restang); + /* spring force */ + force = stiffness * (angle - restang); - /* damping force */ - force += -damping * (dot_v3v3(vel_a, dir_a) + dot_v3v3(vel_b, dir_b)); + /* damping force */ + force += -damping * (dot_v3v3(vel_a, dir_a) + dot_v3v3(vel_b, dir_b)); - mul_v3_v3fl(f_a, dir_a, force / len_a); - mul_v3_v3fl(f_b, dir_b, force / len_b); + mul_v3_v3fl(f_a, dir_a, force / len_a); + mul_v3_v3fl(f_b, dir_b, force / len_b); - for (x = 0; x < len_a; x++) { - add_v3_v3(data->F[i_a[x]], f_a); - } + for (x = 0; x < len_a; x++) { + add_v3_v3(data->F[i_a[x]], f_a); + } - for (x = 0; x < len_b; x++) { - add_v3_v3(data->F[i_b[x]], f_b); - } + for (x = 0; x < len_b; x++) { + add_v3_v3(data->F[i_b[x]], f_b); + } - mul_v3_v3fl(f_a, dir_a, force * 0.5f); - mul_v3_v3fl(f_b, dir_b, force * 0.5f); + mul_v3_v3fl(f_a, dir_a, force * 0.5f); + mul_v3_v3fl(f_b, dir_b, force * 0.5f); - add_v3_v3v3(f_e, f_a, f_b); + add_v3_v3v3(f_e, f_a, f_b); - sub_v3_v3(data->F[i], f_e); - sub_v3_v3(data->F[j], f_e); + sub_v3_v3(data->F[i], f_e); + sub_v3_v3(data->F[j], f_e); - return true; + return true; } /* Jacobian of a direction vector. @@ -1764,316 +1870,353 @@ bool BPH_mass_spring_force_spring_angular(Implicit_Data *data, int i, int j, int * * dD_ij/dx_i = -dD_ij/dx_j = (D_ij * D_ij^T - I) / len_ij */ -BLI_INLINE void spring_grad_dir(Implicit_Data *data, int i, int j, float edge[3], float dir[3], float grad_dir[3][3]) +BLI_INLINE void spring_grad_dir( + Implicit_Data *data, int i, int j, float edge[3], float dir[3], float grad_dir[3][3]) { - float length; + float length; - sub_v3_v3v3(edge, data->X[j], data->X[i]); - length = normalize_v3_v3(dir, edge); + sub_v3_v3v3(edge, data->X[j], data->X[i]); + length = normalize_v3_v3(dir, edge); - if (length > ALMOST_ZERO) { - outerproduct(grad_dir, dir, dir); - sub_m3_m3m3(grad_dir, I, grad_dir); - mul_m3_fl(grad_dir, 1.0f / length); - } - else { - zero_m3(grad_dir); - } + if (length > ALMOST_ZERO) { + outerproduct(grad_dir, dir, dir); + sub_m3_m3m3(grad_dir, I, grad_dir); + mul_m3_fl(grad_dir, 1.0f / length); + } + else { + zero_m3(grad_dir); + } } -BLI_INLINE void spring_hairbend_forces(Implicit_Data *data, int i, int j, int k, +BLI_INLINE void spring_hairbend_forces(Implicit_Data *data, + int i, + int j, + int k, const float goal[3], - float stiffness, float damping, - int q, const float dx[3], const float dv[3], + float stiffness, + float damping, + int q, + const float dx[3], + const float dv[3], float r_f[3]) { - float edge_ij[3], dir_ij[3]; - float edge_jk[3], dir_jk[3]; - float vel_ij[3], vel_jk[3], vel_ortho[3]; - float f_bend[3], f_damp[3]; - float fk[3]; - float dist[3]; + float edge_ij[3], dir_ij[3]; + float edge_jk[3], dir_jk[3]; + float vel_ij[3], vel_jk[3], vel_ortho[3]; + float f_bend[3], f_damp[3]; + float fk[3]; + float dist[3]; - zero_v3(fk); + zero_v3(fk); - sub_v3_v3v3(edge_ij, data->X[j], data->X[i]); - if (q == i) sub_v3_v3(edge_ij, dx); - if (q == j) add_v3_v3(edge_ij, dx); - normalize_v3_v3(dir_ij, edge_ij); + sub_v3_v3v3(edge_ij, data->X[j], data->X[i]); + if (q == i) + sub_v3_v3(edge_ij, dx); + if (q == j) + add_v3_v3(edge_ij, dx); + normalize_v3_v3(dir_ij, edge_ij); - sub_v3_v3v3(edge_jk, data->X[k], data->X[j]); - if (q == j) sub_v3_v3(edge_jk, dx); - if (q == k) add_v3_v3(edge_jk, dx); - normalize_v3_v3(dir_jk, edge_jk); + sub_v3_v3v3(edge_jk, data->X[k], data->X[j]); + if (q == j) + sub_v3_v3(edge_jk, dx); + if (q == k) + add_v3_v3(edge_jk, dx); + normalize_v3_v3(dir_jk, edge_jk); - sub_v3_v3v3(vel_ij, data->V[j], data->V[i]); - if (q == i) sub_v3_v3(vel_ij, dv); - if (q == j) add_v3_v3(vel_ij, dv); + sub_v3_v3v3(vel_ij, data->V[j], data->V[i]); + if (q == i) + sub_v3_v3(vel_ij, dv); + if (q == j) + add_v3_v3(vel_ij, dv); - sub_v3_v3v3(vel_jk, data->V[k], data->V[j]); - if (q == j) sub_v3_v3(vel_jk, dv); - if (q == k) add_v3_v3(vel_jk, dv); + sub_v3_v3v3(vel_jk, data->V[k], data->V[j]); + if (q == j) + sub_v3_v3(vel_jk, dv); + if (q == k) + add_v3_v3(vel_jk, dv); - /* bending force */ - sub_v3_v3v3(dist, goal, edge_jk); - mul_v3_v3fl(f_bend, dist, stiffness); + /* bending force */ + sub_v3_v3v3(dist, goal, edge_jk); + mul_v3_v3fl(f_bend, dist, stiffness); - add_v3_v3(fk, f_bend); + add_v3_v3(fk, f_bend); - /* damping force */ - madd_v3_v3v3fl(vel_ortho, vel_jk, dir_jk, -dot_v3v3(vel_jk, dir_jk)); - mul_v3_v3fl(f_damp, vel_ortho, damping); + /* damping force */ + madd_v3_v3v3fl(vel_ortho, vel_jk, dir_jk, -dot_v3v3(vel_jk, dir_jk)); + mul_v3_v3fl(f_damp, vel_ortho, damping); - sub_v3_v3(fk, f_damp); + sub_v3_v3(fk, f_damp); - copy_v3_v3(r_f, fk); + copy_v3_v3(r_f, fk); } /* Finite Differences method for estimating the jacobian of the force */ -BLI_INLINE void spring_hairbend_estimate_dfdx(Implicit_Data *data, int i, int j, int k, +BLI_INLINE void spring_hairbend_estimate_dfdx(Implicit_Data *data, + int i, + int j, + int k, const float goal[3], - float stiffness, float damping, - int q, float dfdx[3][3]) + float stiffness, + float damping, + int q, + float dfdx[3][3]) { - const float delta = 0.00001f; // TODO find a good heuristic for this - float dvec_null[3][3], dvec_pos[3][3], dvec_neg[3][3]; - float f[3]; - int a, b; + const float delta = 0.00001f; // TODO find a good heuristic for this + float dvec_null[3][3], dvec_pos[3][3], dvec_neg[3][3]; + float f[3]; + int a, b; - zero_m3(dvec_null); - unit_m3(dvec_pos); - mul_m3_fl(dvec_pos, delta * 0.5f); - copy_m3_m3(dvec_neg, dvec_pos); - negate_m3(dvec_neg); + zero_m3(dvec_null); + unit_m3(dvec_pos); + mul_m3_fl(dvec_pos, delta * 0.5f); + copy_m3_m3(dvec_neg, dvec_pos); + negate_m3(dvec_neg); - /* XXX TODO offset targets to account for position dependency */ + /* XXX TODO offset targets to account for position dependency */ - for (a = 0; a < 3; ++a) { - spring_hairbend_forces(data, i, j, k, goal, stiffness, damping, - q, dvec_pos[a], dvec_null[a], f); - copy_v3_v3(dfdx[a], f); + for (a = 0; a < 3; ++a) { + spring_hairbend_forces( + data, i, j, k, goal, stiffness, damping, q, dvec_pos[a], dvec_null[a], f); + copy_v3_v3(dfdx[a], f); - spring_hairbend_forces(data, i, j, k, goal, stiffness, damping, - q, dvec_neg[a], dvec_null[a], f); - sub_v3_v3(dfdx[a], f); + spring_hairbend_forces( + data, i, j, k, goal, stiffness, damping, q, dvec_neg[a], dvec_null[a], f); + sub_v3_v3(dfdx[a], f); - for (b = 0; b < 3; ++b) { - dfdx[a][b] /= delta; - } - } + for (b = 0; b < 3; ++b) { + dfdx[a][b] /= delta; + } + } } /* Finite Differences method for estimating the jacobian of the force */ -BLI_INLINE void spring_hairbend_estimate_dfdv(Implicit_Data *data, int i, int j, int k, +BLI_INLINE void spring_hairbend_estimate_dfdv(Implicit_Data *data, + int i, + int j, + int k, const float goal[3], - float stiffness, float damping, - int q, float dfdv[3][3]) + float stiffness, + float damping, + int q, + float dfdv[3][3]) { - const float delta = 0.00001f; // TODO find a good heuristic for this - float dvec_null[3][3], dvec_pos[3][3], dvec_neg[3][3]; - float f[3]; - int a, b; + const float delta = 0.00001f; // TODO find a good heuristic for this + float dvec_null[3][3], dvec_pos[3][3], dvec_neg[3][3]; + float f[3]; + int a, b; - zero_m3(dvec_null); - unit_m3(dvec_pos); - mul_m3_fl(dvec_pos, delta * 0.5f); - copy_m3_m3(dvec_neg, dvec_pos); - negate_m3(dvec_neg); + zero_m3(dvec_null); + unit_m3(dvec_pos); + mul_m3_fl(dvec_pos, delta * 0.5f); + copy_m3_m3(dvec_neg, dvec_pos); + negate_m3(dvec_neg); - /* XXX TODO offset targets to account for position dependency */ + /* XXX TODO offset targets to account for position dependency */ - for (a = 0; a < 3; ++a) { - spring_hairbend_forces(data, i, j, k, goal, stiffness, damping, - q, dvec_null[a], dvec_pos[a], f); - copy_v3_v3(dfdv[a], f); + for (a = 0; a < 3; ++a) { + spring_hairbend_forces( + data, i, j, k, goal, stiffness, damping, q, dvec_null[a], dvec_pos[a], f); + copy_v3_v3(dfdv[a], f); - spring_hairbend_forces(data, i, j, k, goal, stiffness, damping, - q, dvec_null[a], dvec_neg[a], f); - sub_v3_v3(dfdv[a], f); + spring_hairbend_forces( + data, i, j, k, goal, stiffness, damping, q, dvec_null[a], dvec_neg[a], f); + sub_v3_v3(dfdv[a], f); - for (b = 0; b < 3; ++b) { - dfdv[a][b] /= delta; - } - } + for (b = 0; b < 3; ++b) { + dfdv[a][b] /= delta; + } + } } /* Angular spring that pulls the vertex toward the local target * See "Artistic Simulation of Curly Hair" (Pixar technical memo #12-03a) */ -bool BPH_mass_spring_force_spring_bending_hair(Implicit_Data *data, int i, int j, int k, - const float target[3], float stiffness, float damping) -{ - float goal[3]; - float fj[3], fk[3]; - float dfj_dxi[3][3], dfj_dxj[3][3], dfk_dxi[3][3], dfk_dxj[3][3], dfk_dxk[3][3]; - float dfj_dvi[3][3], dfj_dvj[3][3], dfk_dvi[3][3], dfk_dvj[3][3], dfk_dvk[3][3]; - - const float vecnull[3] = {0.0f, 0.0f, 0.0f}; - - int block_ij = BPH_mass_spring_add_block(data, i, j); - int block_jk = BPH_mass_spring_add_block(data, j, k); - int block_ik = BPH_mass_spring_add_block(data, i, k); - - world_to_root_v3(data, j, goal, target); - - spring_hairbend_forces(data, i, j, k, goal, stiffness, damping, k, vecnull, vecnull, fk); - negate_v3_v3(fj, fk); /* counterforce */ - - spring_hairbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, i, dfk_dxi); - spring_hairbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, j, dfk_dxj); - spring_hairbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, k, dfk_dxk); - copy_m3_m3(dfj_dxi, dfk_dxi); negate_m3(dfj_dxi); - copy_m3_m3(dfj_dxj, dfk_dxj); negate_m3(dfj_dxj); - - spring_hairbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, i, dfk_dvi); - spring_hairbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, j, dfk_dvj); - spring_hairbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, k, dfk_dvk); - copy_m3_m3(dfj_dvi, dfk_dvi); negate_m3(dfj_dvi); - copy_m3_m3(dfj_dvj, dfk_dvj); negate_m3(dfj_dvj); - - /* add forces and jacobians to the solver data */ - - add_v3_v3(data->F[j], fj); - add_v3_v3(data->F[k], fk); - - add_m3_m3m3(data->dFdX[j].m, data->dFdX[j].m, dfj_dxj); - add_m3_m3m3(data->dFdX[k].m, data->dFdX[k].m, dfk_dxk); - - add_m3_m3m3(data->dFdX[block_ij].m, data->dFdX[block_ij].m, dfj_dxi); - add_m3_m3m3(data->dFdX[block_jk].m, data->dFdX[block_jk].m, dfk_dxj); - add_m3_m3m3(data->dFdX[block_ik].m, data->dFdX[block_ik].m, dfk_dxi); - - add_m3_m3m3(data->dFdV[j].m, data->dFdV[j].m, dfj_dvj); - add_m3_m3m3(data->dFdV[k].m, data->dFdV[k].m, dfk_dvk); - - add_m3_m3m3(data->dFdV[block_ij].m, data->dFdV[block_ij].m, dfj_dvi); - add_m3_m3m3(data->dFdV[block_jk].m, data->dFdV[block_jk].m, dfk_dvj); - add_m3_m3m3(data->dFdV[block_ik].m, data->dFdV[block_ik].m, dfk_dvi); - - - /* XXX analytical calculation of derivatives below is incorrect. - * This proved to be difficult, but for now just using the finite difference method for - * estimating the jacobians should be sufficient. - */ -#if 0 - float edge_ij[3], dir_ij[3], grad_dir_ij[3][3]; - float edge_jk[3], dir_jk[3], grad_dir_jk[3][3]; - float dist[3], vel_jk[3], vel_jk_ortho[3], projvel[3]; - float target[3]; - float tmp[3][3]; - float fi[3], fj[3], fk[3]; - float dfi_dxi[3][3], dfj_dxi[3][3], dfj_dxj[3][3], dfk_dxi[3][3], dfk_dxj[3][3], dfk_dxk[3][3]; - float dfdvi[3][3]; - - // TESTING - damping = 0.0f; - - zero_v3(fi); - zero_v3(fj); - zero_v3(fk); - zero_m3(dfi_dxi); - zero_m3(dfj_dxi); - zero_m3(dfk_dxi); - zero_m3(dfk_dxj); - zero_m3(dfk_dxk); - - /* jacobian of direction vectors */ - spring_grad_dir(data, i, j, edge_ij, dir_ij, grad_dir_ij); - spring_grad_dir(data, j, k, edge_jk, dir_jk, grad_dir_jk); - - sub_v3_v3v3(vel_jk, data->V[k], data->V[j]); - - /* bending force */ - mul_v3_v3fl(target, dir_ij, restlen); - sub_v3_v3v3(dist, target, edge_jk); - mul_v3_v3fl(fk, dist, stiffness); - - /* damping force */ - madd_v3_v3v3fl(vel_jk_ortho, vel_jk, dir_jk, -dot_v3v3(vel_jk, dir_jk)); - madd_v3_v3fl(fk, vel_jk_ortho, damping); - - /* XXX this only holds true as long as we assume straight rest shape! - * eventually will become a bit more involved since the opposite segment - * gets its own target, under condition of having equal torque on both sides. - */ - copy_v3_v3(fi, fk); - - /* counterforce on the middle point */ - sub_v3_v3(fj, fi); - sub_v3_v3(fj, fk); - - /* === derivatives === */ - - madd_m3_m3fl(dfk_dxi, grad_dir_ij, stiffness * restlen); - - madd_m3_m3fl(dfk_dxj, grad_dir_ij, -stiffness * restlen); - madd_m3_m3fl(dfk_dxj, I, stiffness); - - madd_m3_m3fl(dfk_dxk, I, -stiffness); - - copy_m3_m3(dfi_dxi, dfk_dxk); - negate_m3(dfi_dxi); - - /* dfj_dfi == dfi_dfj due to symmetry, - * dfi_dfj == dfk_dfj due to fi == fk - * XXX see comment above on future bent rest shapes - */ - copy_m3_m3(dfj_dxi, dfk_dxj); - - /* dfj_dxj == -(dfi_dxj + dfk_dxj) due to fj == -(fi + fk) */ - sub_m3_m3m3(dfj_dxj, dfj_dxj, dfj_dxi); - sub_m3_m3m3(dfj_dxj, dfj_dxj, dfk_dxj); - - /* add forces and jacobians to the solver data */ - add_v3_v3(data->F[i], fi); - add_v3_v3(data->F[j], fj); - add_v3_v3(data->F[k], fk); - - add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfi_dxi); - add_m3_m3m3(data->dFdX[j].m, data->dFdX[j].m, dfj_dxj); - add_m3_m3m3(data->dFdX[k].m, data->dFdX[k].m, dfk_dxk); - - add_m3_m3m3(data->dFdX[block_ij].m, data->dFdX[block_ij].m, dfj_dxi); - add_m3_m3m3(data->dFdX[block_jk].m, data->dFdX[block_jk].m, dfk_dxj); - add_m3_m3m3(data->dFdX[block_ik].m, data->dFdX[block_ik].m, dfk_dxi); -#endif - - return true; -} - -bool BPH_mass_spring_force_spring_goal(Implicit_Data *data, int i, const float goal_x[3], const float goal_v[3], - float stiffness, float damping) -{ - float root_goal_x[3], root_goal_v[3], extent[3], length, dir[3], vel[3]; - float f[3], dfdx[3][3], dfdv[3][3]; - - /* goal is in world space */ - world_to_root_v3(data, i, root_goal_x, goal_x); - world_to_root_v3(data, i, root_goal_v, goal_v); - - sub_v3_v3v3(extent, root_goal_x, data->X[i]); - sub_v3_v3v3(vel, root_goal_v, data->V[i]); - length = normalize_v3_v3(dir, extent); - - if (length > ALMOST_ZERO) { - mul_v3_v3fl(f, dir, stiffness * length); +bool BPH_mass_spring_force_spring_bending_hair(Implicit_Data *data, + int i, + int j, + int k, + const float target[3], + float stiffness, + float damping) +{ + float goal[3]; + float fj[3], fk[3]; + float dfj_dxi[3][3], dfj_dxj[3][3], dfk_dxi[3][3], dfk_dxj[3][3], dfk_dxk[3][3]; + float dfj_dvi[3][3], dfj_dvj[3][3], dfk_dvi[3][3], dfk_dvj[3][3], dfk_dvk[3][3]; + + const float vecnull[3] = {0.0f, 0.0f, 0.0f}; + + int block_ij = BPH_mass_spring_add_block(data, i, j); + int block_jk = BPH_mass_spring_add_block(data, j, k); + int block_ik = BPH_mass_spring_add_block(data, i, k); + + world_to_root_v3(data, j, goal, target); + + spring_hairbend_forces(data, i, j, k, goal, stiffness, damping, k, vecnull, vecnull, fk); + negate_v3_v3(fj, fk); /* counterforce */ + + spring_hairbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, i, dfk_dxi); + spring_hairbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, j, dfk_dxj); + spring_hairbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, k, dfk_dxk); + copy_m3_m3(dfj_dxi, dfk_dxi); + negate_m3(dfj_dxi); + copy_m3_m3(dfj_dxj, dfk_dxj); + negate_m3(dfj_dxj); + + spring_hairbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, i, dfk_dvi); + spring_hairbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, j, dfk_dvj); + spring_hairbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, k, dfk_dvk); + copy_m3_m3(dfj_dvi, dfk_dvi); + negate_m3(dfj_dvi); + copy_m3_m3(dfj_dvj, dfk_dvj); + negate_m3(dfj_dvj); + + /* add forces and jacobians to the solver data */ + + add_v3_v3(data->F[j], fj); + add_v3_v3(data->F[k], fk); + + add_m3_m3m3(data->dFdX[j].m, data->dFdX[j].m, dfj_dxj); + add_m3_m3m3(data->dFdX[k].m, data->dFdX[k].m, dfk_dxk); + + add_m3_m3m3(data->dFdX[block_ij].m, data->dFdX[block_ij].m, dfj_dxi); + add_m3_m3m3(data->dFdX[block_jk].m, data->dFdX[block_jk].m, dfk_dxj); + add_m3_m3m3(data->dFdX[block_ik].m, data->dFdX[block_ik].m, dfk_dxi); + + add_m3_m3m3(data->dFdV[j].m, data->dFdV[j].m, dfj_dvj); + add_m3_m3m3(data->dFdV[k].m, data->dFdV[k].m, dfk_dvk); + + add_m3_m3m3(data->dFdV[block_ij].m, data->dFdV[block_ij].m, dfj_dvi); + add_m3_m3m3(data->dFdV[block_jk].m, data->dFdV[block_jk].m, dfk_dvj); + add_m3_m3m3(data->dFdV[block_ik].m, data->dFdV[block_ik].m, dfk_dvi); + + /* XXX analytical calculation of derivatives below is incorrect. + * This proved to be difficult, but for now just using the finite difference method for + * estimating the jacobians should be sufficient. + */ +# if 0 + float edge_ij[3], dir_ij[3], grad_dir_ij[3][3]; + float edge_jk[3], dir_jk[3], grad_dir_jk[3][3]; + float dist[3], vel_jk[3], vel_jk_ortho[3], projvel[3]; + float target[3]; + float tmp[3][3]; + float fi[3], fj[3], fk[3]; + float dfi_dxi[3][3], dfj_dxi[3][3], dfj_dxj[3][3], dfk_dxi[3][3], dfk_dxj[3][3], dfk_dxk[3][3]; + float dfdvi[3][3]; + + // TESTING + damping = 0.0f; + + zero_v3(fi); + zero_v3(fj); + zero_v3(fk); + zero_m3(dfi_dxi); + zero_m3(dfj_dxi); + zero_m3(dfk_dxi); + zero_m3(dfk_dxj); + zero_m3(dfk_dxk); + + /* jacobian of direction vectors */ + spring_grad_dir(data, i, j, edge_ij, dir_ij, grad_dir_ij); + spring_grad_dir(data, j, k, edge_jk, dir_jk, grad_dir_jk); + + sub_v3_v3v3(vel_jk, data->V[k], data->V[j]); + + /* bending force */ + mul_v3_v3fl(target, dir_ij, restlen); + sub_v3_v3v3(dist, target, edge_jk); + mul_v3_v3fl(fk, dist, stiffness); + + /* damping force */ + madd_v3_v3v3fl(vel_jk_ortho, vel_jk, dir_jk, -dot_v3v3(vel_jk, dir_jk)); + madd_v3_v3fl(fk, vel_jk_ortho, damping); + + /* XXX this only holds true as long as we assume straight rest shape! + * eventually will become a bit more involved since the opposite segment + * gets its own target, under condition of having equal torque on both sides. + */ + copy_v3_v3(fi, fk); + + /* counterforce on the middle point */ + sub_v3_v3(fj, fi); + sub_v3_v3(fj, fk); + + /* === derivatives === */ + + madd_m3_m3fl(dfk_dxi, grad_dir_ij, stiffness * restlen); + + madd_m3_m3fl(dfk_dxj, grad_dir_ij, -stiffness * restlen); + madd_m3_m3fl(dfk_dxj, I, stiffness); + + madd_m3_m3fl(dfk_dxk, I, -stiffness); + + copy_m3_m3(dfi_dxi, dfk_dxk); + negate_m3(dfi_dxi); + + /* dfj_dfi == dfi_dfj due to symmetry, + * dfi_dfj == dfk_dfj due to fi == fk + * XXX see comment above on future bent rest shapes + */ + copy_m3_m3(dfj_dxi, dfk_dxj); + + /* dfj_dxj == -(dfi_dxj + dfk_dxj) due to fj == -(fi + fk) */ + sub_m3_m3m3(dfj_dxj, dfj_dxj, dfj_dxi); + sub_m3_m3m3(dfj_dxj, dfj_dxj, dfk_dxj); + + /* add forces and jacobians to the solver data */ + add_v3_v3(data->F[i], fi); + add_v3_v3(data->F[j], fj); + add_v3_v3(data->F[k], fk); + + add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfi_dxi); + add_m3_m3m3(data->dFdX[j].m, data->dFdX[j].m, dfj_dxj); + add_m3_m3m3(data->dFdX[k].m, data->dFdX[k].m, dfk_dxk); + + add_m3_m3m3(data->dFdX[block_ij].m, data->dFdX[block_ij].m, dfj_dxi); + add_m3_m3m3(data->dFdX[block_jk].m, data->dFdX[block_jk].m, dfk_dxj); + add_m3_m3m3(data->dFdX[block_ik].m, data->dFdX[block_ik].m, dfk_dxi); +# endif + + return true; +} + +bool BPH_mass_spring_force_spring_goal(Implicit_Data *data, + int i, + const float goal_x[3], + const float goal_v[3], + float stiffness, + float damping) +{ + float root_goal_x[3], root_goal_v[3], extent[3], length, dir[3], vel[3]; + float f[3], dfdx[3][3], dfdv[3][3]; + + /* goal is in world space */ + world_to_root_v3(data, i, root_goal_x, goal_x); + world_to_root_v3(data, i, root_goal_v, goal_v); + + sub_v3_v3v3(extent, root_goal_x, data->X[i]); + sub_v3_v3v3(vel, root_goal_v, data->V[i]); + length = normalize_v3_v3(dir, extent); + + if (length > ALMOST_ZERO) { + mul_v3_v3fl(f, dir, stiffness * length); - // Ascher & Boxman, p.21: Damping only during elonglation - // something wrong with it... - madd_v3_v3fl(f, dir, damping * dot_v3v3(vel, dir)); + // Ascher & Boxman, p.21: Damping only during elonglation + // something wrong with it... + madd_v3_v3fl(f, dir, damping * dot_v3v3(vel, dir)); - dfdx_spring(dfdx, dir, length, 0.0f, stiffness); - dfdv_damp(dfdv, dir, damping); + dfdx_spring(dfdx, dir, length, 0.0f, stiffness); + dfdv_damp(dfdv, dir, damping); - add_v3_v3(data->F[i], f); - add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfdx); - add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, dfdv); + add_v3_v3(data->F[i], f); + add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfdx); + add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, dfdv); - return true; - } - else { - return false; - } + return true; + } + else { + return false; + } } #endif /* IMPLICIT_SOLVER_BLENDER */ diff --git a/source/blender/physics/intern/implicit_eigen.cpp b/source/blender/physics/intern/implicit_eigen.cpp index 5319042ec13..2b9761f0ccc 100644 --- a/source/blender/physics/intern/implicit_eigen.cpp +++ b/source/blender/physics/intern/implicit_eigen.cpp @@ -26,59 +26,59 @@ #ifdef IMPLICIT_SOLVER_EIGEN //#define USE_EIGEN_CORE -#define USE_EIGEN_CONSTRAINED_CG +# define USE_EIGEN_CONSTRAINED_CG -#ifdef __GNUC__ -# pragma GCC diagnostic push +# ifdef __GNUC__ +# pragma GCC diagnostic push /* XXX suppress verbose warnings in eigen */ //# pragma GCC diagnostic ignored "-Wlogical-op" -#endif +# endif -#ifndef IMPLICIT_ENABLE_EIGEN_DEBUG -#ifdef NDEBUG -#define IMPLICIT_NDEBUG -#endif -#define NDEBUG -#endif +# ifndef IMPLICIT_ENABLE_EIGEN_DEBUG +# ifdef NDEBUG +# define IMPLICIT_NDEBUG +# endif +# define NDEBUG +# endif -#include <Eigen/Sparse> -#include <Eigen/src/Core/util/DisableStupidWarnings.h> +# include <Eigen/Sparse> +# include <Eigen/src/Core/util/DisableStupidWarnings.h> -#ifdef USE_EIGEN_CONSTRAINED_CG -#include <intern/ConstrainedConjugateGradient.h> -#endif +# ifdef USE_EIGEN_CONSTRAINED_CG +# include <intern/ConstrainedConjugateGradient.h> +# endif -#ifndef IMPLICIT_ENABLE_EIGEN_DEBUG -#ifndef IMPLICIT_NDEBUG -#undef NDEBUG -#else -#undef IMPLICIT_NDEBUG -#endif -#endif +# ifndef IMPLICIT_ENABLE_EIGEN_DEBUG +# ifndef IMPLICIT_NDEBUG +# undef NDEBUG +# else +# undef IMPLICIT_NDEBUG +# endif +# endif -#ifdef __GNUC__ -# pragma GCC diagnostic pop -#endif +# ifdef __GNUC__ +# pragma GCC diagnostic pop +# endif -#include "MEM_guardedalloc.h" +# include "MEM_guardedalloc.h" extern "C" { -#include "DNA_scene_types.h" -#include "DNA_object_types.h" -#include "DNA_object_force_types.h" -#include "DNA_meshdata_types.h" -#include "DNA_texture_types.h" +# include "DNA_scene_types.h" +# include "DNA_object_types.h" +# include "DNA_object_force_types.h" +# include "DNA_meshdata_types.h" +# include "DNA_texture_types.h" -#include "BLI_math.h" -#include "BLI_linklist.h" -#include "BLI_utildefines.h" +# include "BLI_math.h" +# include "BLI_linklist.h" +# include "BLI_utildefines.h" -#include "BKE_cloth.h" -#include "BKE_collision.h" -#include "BKE_effect.h" -#include "BKE_global.h" +# include "BKE_cloth.h" +# include "BKE_collision.h" +# include "BKE_effect.h" +# include "BKE_global.h" -#include "BPH_mass_spring.h" +# include "BPH_mass_spring.h" } typedef float Scalar; @@ -89,91 +89,90 @@ static float I[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; * with conversion to/from plain C float array */ class fVector : public Eigen::Vector3f { -public: - typedef float *ctype; - - fVector() - { - } - - fVector(const ctype &v) - { - for (int k = 0; k < 3; ++k) - coeffRef(k) = v[k]; - } - - fVector& operator =(const ctype &v) - { - for (int k = 0; k < 3; ++k) - coeffRef(k) = v[k]; - return *this; - } - - operator ctype() - { - return data(); - } + public: + typedef float *ctype; + + fVector() + { + } + + fVector(const ctype &v) + { + for (int k = 0; k < 3; ++k) + coeffRef(k) = v[k]; + } + + fVector &operator=(const ctype &v) + { + for (int k = 0; k < 3; ++k) + coeffRef(k) = v[k]; + return *this; + } + + operator ctype() + { + return data(); + } }; /* slightly extended Eigen matrix class * with conversion to/from plain C float array */ class fMatrix : public Eigen::Matrix3f { -public: - typedef float (*ctype)[3]; - - fMatrix() - { - } - - fMatrix(const ctype &v) - { - for (int k = 0; k < 3; ++k) - for (int l = 0; l < 3; ++l) - coeffRef(l, k) = v[k][l]; - } - - fMatrix& operator =(const ctype &v) - { - for (int k = 0; k < 3; ++k) - for (int l = 0; l < 3; ++l) - coeffRef(l, k) = v[k][l]; - return *this; - } - - operator ctype() - { - return (ctype)data(); - } + public: + typedef float (*ctype)[3]; + + fMatrix() + { + } + + fMatrix(const ctype &v) + { + for (int k = 0; k < 3; ++k) + for (int l = 0; l < 3; ++l) + coeffRef(l, k) = v[k][l]; + } + + fMatrix &operator=(const ctype &v) + { + for (int k = 0; k < 3; ++k) + for (int l = 0; l < 3; ++l) + coeffRef(l, k) = v[k][l]; + return *this; + } + + operator ctype() + { + return (ctype)data(); + } }; /* Extension of dense Eigen vectors, * providing 3-float block access for blenlib math functions */ class lVector : public Eigen::VectorXf { -public: - typedef Eigen::VectorXf base_t; - - lVector() - { - } - - template <typename T> - lVector& operator =(T rhs) - { - base_t::operator=(rhs); - return *this; - } - - float *v3(int vertex) - { - return &coeffRef(3 * vertex); - } - - const float *v3(int vertex) const - { - return &coeffRef(3 * vertex); - } + public: + typedef Eigen::VectorXf base_t; + + lVector() + { + } + + template<typename T> lVector &operator=(T rhs) + { + base_t::operator=(rhs); + return *this; + } + + float *v3(int vertex) + { + return &coeffRef(3 * vertex); + } + + const float *v3(int vertex) const + { + return &coeffRef(3 * vertex); + } }; typedef Eigen::Triplet<Scalar> Triplet; @@ -187,825 +186,898 @@ typedef Eigen::SparseMatrix<Scalar> lMatrix; * After all elements have been defined using the set() method, the actual matrix can be filled using construct(). */ struct lMatrixCtor { - lMatrixCtor() - { - } - - void reset() - { - m_trips.clear(); - } - - void reserve(int numverts) - { - /* reserve for diagonal entries */ - m_trips.reserve(numverts * 9); - } - - void add(int i, int j, const fMatrix &m) - { - i *= 3; - j *= 3; - for (int k = 0; k < 3; ++k) - for (int l = 0; l < 3; ++l) - m_trips.push_back(Triplet(i + k, j + l, m.coeff(l, k))); - } - - void sub(int i, int j, const fMatrix &m) - { - i *= 3; - j *= 3; - for (int k = 0; k < 3; ++k) - for (int l = 0; l < 3; ++l) - m_trips.push_back(Triplet(i + k, j + l, -m.coeff(l, k))); - } - - inline void construct(lMatrix &m) - { - m.setFromTriplets(m_trips.begin(), m_trips.end()); - m_trips.clear(); - } - -private: - TripletList m_trips; + lMatrixCtor() + { + } + + void reset() + { + m_trips.clear(); + } + + void reserve(int numverts) + { + /* reserve for diagonal entries */ + m_trips.reserve(numverts * 9); + } + + void add(int i, int j, const fMatrix &m) + { + i *= 3; + j *= 3; + for (int k = 0; k < 3; ++k) + for (int l = 0; l < 3; ++l) + m_trips.push_back(Triplet(i + k, j + l, m.coeff(l, k))); + } + + void sub(int i, int j, const fMatrix &m) + { + i *= 3; + j *= 3; + for (int k = 0; k < 3; ++k) + for (int l = 0; l < 3; ++l) + m_trips.push_back(Triplet(i + k, j + l, -m.coeff(l, k))); + } + + inline void construct(lMatrix &m) + { + m.setFromTriplets(m_trips.begin(), m_trips.end()); + m_trips.clear(); + } + + private: + TripletList m_trips; }; -#ifdef USE_EIGEN_CORE -typedef Eigen::ConjugateGradient<lMatrix, Eigen::Lower, Eigen::DiagonalPreconditioner<Scalar> > ConjugateGradient; -#endif -#ifdef USE_EIGEN_CONSTRAINED_CG -typedef Eigen::ConstrainedConjugateGradient<lMatrix, Eigen::Lower, lMatrix, - Eigen::DiagonalPreconditioner<Scalar> > +# ifdef USE_EIGEN_CORE +typedef Eigen::ConjugateGradient<lMatrix, Eigen::Lower, Eigen::DiagonalPreconditioner<Scalar>> + ConjugateGradient; +# endif +# ifdef USE_EIGEN_CONSTRAINED_CG +typedef Eigen::ConstrainedConjugateGradient<lMatrix, + Eigen::Lower, + lMatrix, + Eigen::DiagonalPreconditioner<Scalar>> ConstraintConjGrad; -#endif +# endif using Eigen::ComputationInfo; static void print_lvector(const lVector &v) { - for (int i = 0; i < v.rows(); ++i) { - if (i > 0 && i % 3 == 0) - printf("\n"); + for (int i = 0; i < v.rows(); ++i) { + if (i > 0 && i % 3 == 0) + printf("\n"); - printf("%f,\n", v[i]); - } + printf("%f,\n", v[i]); + } } static void print_lmatrix(const lMatrix &m) { - for (int j = 0; j < m.rows(); ++j) { - if (j > 0 && j % 3 == 0) - printf("\n"); + for (int j = 0; j < m.rows(); ++j) { + if (j > 0 && j % 3 == 0) + printf("\n"); - for (int i = 0; i < m.cols(); ++i) { - if (i > 0 && i % 3 == 0) - printf(" "); + for (int i = 0; i < m.cols(); ++i) { + if (i > 0 && i % 3 == 0) + printf(" "); - implicit_print_matrix_elem(m.coeff(j, i)); - } - printf("\n"); - } + implicit_print_matrix_elem(m.coeff(j, i)); + } + printf("\n"); + } } BLI_INLINE void lMatrix_reserve_elems(lMatrix &m, int num) { - m.reserve(Eigen::VectorXi::Constant(m.cols(), num)); + m.reserve(Eigen::VectorXi::Constant(m.cols(), num)); } BLI_INLINE float *lVector_v3(lVector &v, int vertex) { - return v.data() + 3 * vertex; + return v.data() + 3 * vertex; } BLI_INLINE const float *lVector_v3(const lVector &v, int vertex) { - return v.data() + 3 * vertex; + return v.data() + 3 * vertex; } -#if 0 +# if 0 BLI_INLINE void triplets_m3(TripletList &tlist, float m[3][3], int i, int j) { - i *= 3; - j *= 3; - for (int l = 0; l < 3; ++l) { - for (int k = 0; k < 3; ++k) { - tlist.push_back(Triplet(i + k, j + l, m[k][l])); - } - } + i *= 3; + j *= 3; + for (int l = 0; l < 3; ++l) { + for (int k = 0; k < 3; ++k) { + tlist.push_back(Triplet(i + k, j + l, m[k][l])); + } + } } BLI_INLINE void triplets_m3fl(TripletList &tlist, float m[3][3], int i, int j, float factor) { - i *= 3; - j *= 3; - for (int l = 0; l < 3; ++l) { - for (int k = 0; k < 3; ++k) { - tlist.push_back(Triplet(i + k, j + l, m[k][l] * factor)); - } - } + i *= 3; + j *= 3; + for (int l = 0; l < 3; ++l) { + for (int k = 0; k < 3; ++k) { + tlist.push_back(Triplet(i + k, j + l, m[k][l] * factor)); + } + } } BLI_INLINE void lMatrix_add_triplets(lMatrix &r, const TripletList &tlist) { - lMatrix t(r.rows(), r.cols()); - t.setFromTriplets(tlist.begin(), tlist.end()); - r += t; + lMatrix t(r.rows(), r.cols()); + t.setFromTriplets(tlist.begin(), tlist.end()); + r += t; } BLI_INLINE void lMatrix_madd_triplets(lMatrix &r, const TripletList &tlist, float f) { - lMatrix t(r.rows(), r.cols()); - t.setFromTriplets(tlist.begin(), tlist.end()); - r += f * t; + lMatrix t(r.rows(), r.cols()); + t.setFromTriplets(tlist.begin(), tlist.end()); + r += f * t; } BLI_INLINE void lMatrix_sub_triplets(lMatrix &r, const TripletList &tlist) { - lMatrix t(r.rows(), r.cols()); - t.setFromTriplets(tlist.begin(), tlist.end()); - r -= t; + lMatrix t(r.rows(), r.cols()); + t.setFromTriplets(tlist.begin(), tlist.end()); + r -= t; } -#endif +# endif BLI_INLINE void outerproduct(float r[3][3], const float a[3], const float b[3]) { - mul_v3_v3fl(r[0], a, b[0]); - mul_v3_v3fl(r[1], a, b[1]); - mul_v3_v3fl(r[2], a, b[2]); + mul_v3_v3fl(r[0], a, b[0]); + mul_v3_v3fl(r[1], a, b[1]); + mul_v3_v3fl(r[2], a, b[2]); } 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]); + 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; + 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; } BLI_INLINE void madd_m3_m3fl(float r[3][3], float m[3][3], float f) { - r[0][0] += m[0][0] * f; - r[0][1] += m[0][1] * f; - r[0][2] += m[0][2] * f; - r[1][0] += m[1][0] * f; - r[1][1] += m[1][1] * f; - r[1][2] += m[1][2] * f; - r[2][0] += m[2][0] * f; - r[2][1] += m[2][1] * f; - r[2][2] += m[2][2] * f; + r[0][0] += m[0][0] * f; + r[0][1] += m[0][1] * f; + r[0][2] += m[0][2] * f; + r[1][0] += m[1][0] * f; + r[1][1] += m[1][1] * f; + r[1][2] += m[1][2] * f; + r[2][0] += m[2][0] * f; + r[2][1] += m[2][1] * f; + r[2][2] += m[2][2] * f; } BLI_INLINE void madd_m3_m3m3fl(float r[3][3], float a[3][3], float b[3][3], float f) { - r[0][0] = a[0][0] + b[0][0] * f; - r[0][1] = a[0][1] + b[0][1] * f; - r[0][2] = a[0][2] + b[0][2] * f; - r[1][0] = a[1][0] + b[1][0] * f; - r[1][1] = a[1][1] + b[1][1] * f; - r[1][2] = a[1][2] + b[1][2] * f; - r[2][0] = a[2][0] + b[2][0] * f; - r[2][1] = a[2][1] + b[2][1] * f; - r[2][2] = a[2][2] + b[2][2] * f; + r[0][0] = a[0][0] + b[0][0] * f; + r[0][1] = a[0][1] + b[0][1] * f; + r[0][2] = a[0][2] + b[0][2] * f; + r[1][0] = a[1][0] + b[1][0] * f; + r[1][1] = a[1][1] + b[1][1] * f; + r[1][2] = a[1][2] + b[1][2] * f; + r[2][0] = a[2][0] + b[2][0] * f; + r[2][1] = a[2][1] + b[2][1] * f; + r[2][2] = a[2][2] + b[2][2] * f; } struct Implicit_Data { - typedef std::vector<fMatrix> fMatrixVector; + typedef std::vector<fMatrix> fMatrixVector; - Implicit_Data(int numverts) - { - resize(numverts); - } + Implicit_Data(int numverts) + { + resize(numverts); + } - void resize(int numverts) - { - this->numverts = numverts; - int tot = 3 * numverts; + void resize(int numverts) + { + this->numverts = numverts; + int tot = 3 * numverts; - M.resize(tot, tot); - F.resize(tot); - dFdX.resize(tot, tot); - dFdV.resize(tot, tot); + M.resize(tot, tot); + F.resize(tot); + dFdX.resize(tot, tot); + dFdV.resize(tot, tot); - tfm.resize(numverts, I); + tfm.resize(numverts, I); - X.resize(tot); - Xnew.resize(tot); - V.resize(tot); - Vnew.resize(tot); + X.resize(tot); + Xnew.resize(tot); + V.resize(tot); + Vnew.resize(tot); - A.resize(tot, tot); - B.resize(tot); + A.resize(tot, tot); + B.resize(tot); - dV.resize(tot); - z.resize(tot); - S.resize(tot, tot); + dV.resize(tot); + z.resize(tot); + S.resize(tot, tot); - iM.reserve(numverts); - idFdX.reserve(numverts); - idFdV.reserve(numverts); - iS.reserve(numverts); - } + iM.reserve(numverts); + idFdX.reserve(numverts); + idFdV.reserve(numverts); + iS.reserve(numverts); + } - int numverts; + int numverts; - /* inputs */ - lMatrix M; /* masses */ - lVector F; /* forces */ - lMatrix dFdX, dFdV; /* force jacobians */ + /* inputs */ + lMatrix M; /* masses */ + lVector F; /* forces */ + lMatrix dFdX, dFdV; /* force jacobians */ - fMatrixVector tfm; /* local coordinate transform */ + fMatrixVector tfm; /* local coordinate transform */ - /* motion state data */ - lVector X, Xnew; /* positions */ - lVector V, Vnew; /* velocities */ + /* motion state data */ + lVector X, Xnew; /* positions */ + lVector V, Vnew; /* velocities */ - /* internal solver data */ - lVector B; /* B for A*dV = B */ - lMatrix A; /* A for A*dV = B */ + /* internal solver data */ + lVector B; /* B for A*dV = B */ + lMatrix A; /* A for A*dV = B */ - lVector dV; /* velocity change (solution of A*dV = B) */ - lVector z; /* target velocity in constrained directions */ - lMatrix S; /* filtering matrix for constraints */ + lVector dV; /* velocity change (solution of A*dV = B) */ + lVector z; /* target velocity in constrained directions */ + lMatrix S; /* filtering matrix for constraints */ - /* temporary constructors */ - lMatrixCtor iM; /* masses */ - lMatrixCtor idFdX, idFdV; /* force jacobians */ - lMatrixCtor iS; /* filtering matrix for constraints */ + /* temporary constructors */ + lMatrixCtor iM; /* masses */ + lMatrixCtor idFdX, idFdV; /* force jacobians */ + lMatrixCtor iS; /* filtering matrix for constraints */ }; Implicit_Data *BPH_mass_spring_solver_create(int numverts, int numsprings) { - Implicit_Data *id = new Implicit_Data(numverts); - return id; + Implicit_Data *id = new Implicit_Data(numverts); + return id; } void BPH_mass_spring_solver_free(Implicit_Data *id) { - if (id) - delete id; + if (id) + delete id; } int BPH_mass_spring_solver_numvert(Implicit_Data *id) { - if (id) - return id->numverts; - else - return 0; + if (id) + return id->numverts; + else + return 0; } /* ==== Transformation from/to root reference frames ==== */ BLI_INLINE void world_to_root_v3(Implicit_Data *data, int index, float r[3], const float v[3]) { - copy_v3_v3(r, v); - mul_transposed_m3_v3(data->tfm[index], r); + copy_v3_v3(r, v); + mul_transposed_m3_v3(data->tfm[index], r); } BLI_INLINE void root_to_world_v3(Implicit_Data *data, int index, float r[3], const float v[3]) { - mul_v3_m3v3(r, data->tfm[index], v); + mul_v3_m3v3(r, data->tfm[index], v); } BLI_INLINE void world_to_root_m3(Implicit_Data *data, int index, float r[3][3], float m[3][3]) { - float trot[3][3]; - copy_m3_m3(trot, data->tfm[index]); - transpose_m3(trot); - mul_m3_m3m3(r, trot, m); + float trot[3][3]; + copy_m3_m3(trot, data->tfm[index]); + transpose_m3(trot); + mul_m3_m3m3(r, trot, m); } BLI_INLINE void root_to_world_m3(Implicit_Data *data, int index, float r[3][3], float m[3][3]) { - mul_m3_m3m3(r, data->tfm[index], m); + mul_m3_m3m3(r, data->tfm[index], m); } /* ================================ */ bool BPH_mass_spring_solve_velocities(Implicit_Data *data, float dt, ImplicitSolverResult *result) { -#ifdef USE_EIGEN_CORE - typedef ConjugateGradient solver_t; -#endif -#ifdef USE_EIGEN_CONSTRAINED_CG - typedef ConstraintConjGrad solver_t; -#endif - - data->iM.construct(data->M); - data->idFdX.construct(data->dFdX); - data->idFdV.construct(data->dFdV); - data->iS.construct(data->S); - - solver_t cg; - cg.setMaxIterations(100); - cg.setTolerance(0.01f); - -#ifdef USE_EIGEN_CONSTRAINED_CG - cg.filter() = data->S; -#endif - - data->A = data->M - dt * data->dFdV - dt * dt * data->dFdX; - cg.compute(data->A); - - data->B = dt * data->F + dt * dt * data->dFdX * data->V; - -#ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT - printf("==== A ====\n"); - print_lmatrix(id->A); - printf("==== z ====\n"); - print_lvector(id->z); - printf("==== B ====\n"); - print_lvector(id->B); - printf("==== S ====\n"); - print_lmatrix(id->S); -#endif - -#ifdef USE_EIGEN_CORE - data->dV = cg.solve(data->B); -#endif -#ifdef USE_EIGEN_CONSTRAINED_CG - data->dV = cg.solveWithGuess(data->B, data->z); -#endif - -#ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT - printf("==== dV ====\n"); - print_lvector(id->dV); - printf("========\n"); -#endif - - data->Vnew = data->V + data->dV; - - switch (cg.info()) { - case Eigen::Success: result->status = BPH_SOLVER_SUCCESS; break; - case Eigen::NoConvergence: result->status = BPH_SOLVER_NO_CONVERGENCE; break; - case Eigen::InvalidInput: result->status = BPH_SOLVER_INVALID_INPUT; break; - case Eigen::NumericalIssue: result->status = BPH_SOLVER_NUMERICAL_ISSUE; break; - } - - result->iterations = cg.iterations(); - result->error = cg.error(); - - return cg.info() == Eigen::Success; +# ifdef USE_EIGEN_CORE + typedef ConjugateGradient solver_t; +# endif +# ifdef USE_EIGEN_CONSTRAINED_CG + typedef ConstraintConjGrad solver_t; +# endif + + data->iM.construct(data->M); + data->idFdX.construct(data->dFdX); + data->idFdV.construct(data->dFdV); + data->iS.construct(data->S); + + solver_t cg; + cg.setMaxIterations(100); + cg.setTolerance(0.01f); + +# ifdef USE_EIGEN_CONSTRAINED_CG + cg.filter() = data->S; +# endif + + data->A = data->M - dt * data->dFdV - dt * dt * data->dFdX; + cg.compute(data->A); + + data->B = dt * data->F + dt * dt * data->dFdX * data->V; + +# ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT + printf("==== A ====\n"); + print_lmatrix(id->A); + printf("==== z ====\n"); + print_lvector(id->z); + printf("==== B ====\n"); + print_lvector(id->B); + printf("==== S ====\n"); + print_lmatrix(id->S); +# endif + +# ifdef USE_EIGEN_CORE + data->dV = cg.solve(data->B); +# endif +# ifdef USE_EIGEN_CONSTRAINED_CG + data->dV = cg.solveWithGuess(data->B, data->z); +# endif + +# ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT + printf("==== dV ====\n"); + print_lvector(id->dV); + printf("========\n"); +# endif + + data->Vnew = data->V + data->dV; + + switch (cg.info()) { + case Eigen::Success: + result->status = BPH_SOLVER_SUCCESS; + break; + case Eigen::NoConvergence: + result->status = BPH_SOLVER_NO_CONVERGENCE; + break; + case Eigen::InvalidInput: + result->status = BPH_SOLVER_INVALID_INPUT; + break; + case Eigen::NumericalIssue: + result->status = BPH_SOLVER_NUMERICAL_ISSUE; + break; + } + + result->iterations = cg.iterations(); + result->error = cg.error(); + + return cg.info() == Eigen::Success; } bool BPH_mass_spring_solve_positions(Implicit_Data *data, float dt) { - data->Xnew = data->X + data->Vnew * dt; - return true; + data->Xnew = data->X + data->Vnew * dt; + return true; } /* ================================ */ void BPH_mass_spring_apply_result(Implicit_Data *data) { - data->X = data->Xnew; - data->V = data->Vnew; + data->X = data->Xnew; + data->V = data->Vnew; } void BPH_mass_spring_set_vertex_mass(Implicit_Data *data, int index, float mass) { - float m[3][3]; - copy_m3_m3(m, I); - mul_m3_fl(m, mass); - data->iM.add(index, index, m); + float m[3][3]; + copy_m3_m3(m, I); + mul_m3_fl(m, mass); + data->iM.add(index, index, m); } void BPH_mass_spring_set_rest_transform(Implicit_Data *data, int index, float tfm[3][3]) { -#ifdef CLOTH_ROOT_FRAME - copy_m3_m3(data->tfm[index], tfm); -#else - unit_m3(data->tfm[index]); - (void)tfm; -#endif -} - -void BPH_mass_spring_set_motion_state(Implicit_Data *data, int index, const float x[3], const float v[3]) +# ifdef CLOTH_ROOT_FRAME + copy_m3_m3(data->tfm[index], tfm); +# else + unit_m3(data->tfm[index]); + (void)tfm; +# endif +} + +void BPH_mass_spring_set_motion_state(Implicit_Data *data, + int index, + const float x[3], + const float v[3]) { - world_to_root_v3(data, index, data->X.v3(index), x); - world_to_root_v3(data, index, data->V.v3(index), v); + world_to_root_v3(data, index, data->X.v3(index), x); + world_to_root_v3(data, index, data->V.v3(index), v); } void BPH_mass_spring_set_position(Implicit_Data *data, int index, const float x[3]) { - world_to_root_v3(data, index, data->X.v3(index), x); + world_to_root_v3(data, index, data->X.v3(index), x); } void BPH_mass_spring_set_velocity(Implicit_Data *data, int index, const float v[3]) { - world_to_root_v3(data, index, data->V.v3(index), v); + world_to_root_v3(data, index, data->V.v3(index), v); } -void BPH_mass_spring_get_motion_state(struct Implicit_Data *data, int index, float x[3], float v[3]) +void BPH_mass_spring_get_motion_state(struct Implicit_Data *data, + int index, + float x[3], + float v[3]) { - if (x) root_to_world_v3(data, index, x, data->X.v3(index)); - if (v) root_to_world_v3(data, index, v, data->V.v3(index)); + if (x) + root_to_world_v3(data, index, x, data->X.v3(index)); + if (v) + root_to_world_v3(data, index, v, data->V.v3(index)); } void BPH_mass_spring_get_position(struct Implicit_Data *data, int index, float x[3]) { - root_to_world_v3(data, index, x, data->X.v3(index)); + root_to_world_v3(data, index, x, data->X.v3(index)); } void BPH_mass_spring_get_new_velocity(Implicit_Data *data, int index, float v[3]) { - root_to_world_v3(data, index, v, data->V.v3(index)); + root_to_world_v3(data, index, v, data->V.v3(index)); } void BPH_mass_spring_set_new_velocity(Implicit_Data *data, int index, const float v[3]) { - world_to_root_v3(data, index, data->V.v3(index), v); + world_to_root_v3(data, index, data->V.v3(index), v); } void BPH_mass_spring_clear_constraints(Implicit_Data *data) { - int numverts = data->numverts; - for (int i = 0; i < numverts; ++i) { - data->iS.add(i, i, I); - zero_v3(data->z.v3(i)); - } + int numverts = data->numverts; + for (int i = 0; i < numverts; ++i) { + data->iS.add(i, i, I); + zero_v3(data->z.v3(i)); + } } void BPH_mass_spring_add_constraint_ndof0(Implicit_Data *data, int index, const float dV[3]) { - data->iS.sub(index, index, I); + data->iS.sub(index, index, I); - world_to_root_v3(data, index, data->z.v3(index), dV); + world_to_root_v3(data, index, data->z.v3(index), dV); } -void BPH_mass_spring_add_constraint_ndof1(Implicit_Data *data, int index, const float c1[3], const float c2[3], const float dV[3]) +void BPH_mass_spring_add_constraint_ndof1( + Implicit_Data *data, int index, const float c1[3], const float c2[3], const float dV[3]) { - float m[3][3], p[3], q[3], u[3], cmat[3][3]; + float m[3][3], p[3], q[3], u[3], cmat[3][3]; - world_to_root_v3(data, index, p, c1); - outerproduct(cmat, p, p); - copy_m3_m3(m, cmat); + world_to_root_v3(data, index, p, c1); + outerproduct(cmat, p, p); + copy_m3_m3(m, cmat); - world_to_root_v3(data, index, q, c2); - outerproduct(cmat, q, q); - add_m3_m3m3(m, m, cmat); + world_to_root_v3(data, index, q, c2); + outerproduct(cmat, q, q); + add_m3_m3m3(m, m, cmat); - /* XXX not sure but multiplication should work here */ - data->iS.sub(index, index, m); -// mul_m3_m3m3(data->S[index].m, data->S[index].m, m); + /* XXX not sure but multiplication should work here */ + data->iS.sub(index, index, m); + // mul_m3_m3m3(data->S[index].m, data->S[index].m, m); - world_to_root_v3(data, index, u, dV); - add_v3_v3(data->z.v3(index), u); + world_to_root_v3(data, index, u, dV); + add_v3_v3(data->z.v3(index), u); } -void BPH_mass_spring_add_constraint_ndof2(Implicit_Data *data, int index, const float c1[3], const float dV[3]) +void BPH_mass_spring_add_constraint_ndof2(Implicit_Data *data, + int index, + const float c1[3], + const float dV[3]) { - float m[3][3], p[3], u[3], cmat[3][3]; + float m[3][3], p[3], u[3], cmat[3][3]; - world_to_root_v3(data, index, p, c1); - outerproduct(cmat, p, p); - copy_m3_m3(m, cmat); + world_to_root_v3(data, index, p, c1); + outerproduct(cmat, p, p); + copy_m3_m3(m, cmat); - data->iS.sub(index, index, m); -// mul_m3_m3m3(data->S[index].m, data->S[index].m, m); + data->iS.sub(index, index, m); + // mul_m3_m3m3(data->S[index].m, data->S[index].m, m); - world_to_root_v3(data, index, u, dV); - add_v3_v3(data->z.v3(index), u); + world_to_root_v3(data, index, u, dV); + add_v3_v3(data->z.v3(index), u); } void BPH_mass_spring_clear_forces(Implicit_Data *data) { - data->F.setZero(); - data->dFdX.setZero(); - data->dFdV.setZero(); + data->F.setZero(); + data->dFdX.setZero(); + data->dFdV.setZero(); } -void BPH_mass_spring_force_reference_frame(Implicit_Data *data, int index, const float acceleration[3], const float omega[3], const float domega_dt[3], float mass) +void BPH_mass_spring_force_reference_frame(Implicit_Data *data, + int index, + const float acceleration[3], + const float omega[3], + const float domega_dt[3], + float mass) { -#ifdef CLOTH_ROOT_FRAME - float acc[3], w[3], dwdt[3]; - float f[3], dfdx[3][3], dfdv[3][3]; - float euler[3], coriolis[3], centrifugal[3], rotvel[3]; - float deuler[3][3], dcoriolis[3][3], dcentrifugal[3][3], drotvel[3][3]; - - world_to_root_v3(data, index, acc, acceleration); - world_to_root_v3(data, index, w, omega); - world_to_root_v3(data, index, dwdt, domega_dt); - - cross_v3_v3v3(euler, dwdt, data->X.v3(index)); - cross_v3_v3v3(coriolis, w, data->V.v3(index)); - mul_v3_fl(coriolis, 2.0f); - cross_v3_v3v3(rotvel, w, data->X.v3(index)); - cross_v3_v3v3(centrifugal, w, rotvel); - - sub_v3_v3v3(f, acc, euler); - sub_v3_v3(f, coriolis); - sub_v3_v3(f, centrifugal); - - mul_v3_fl(f, mass); /* F = m * a */ - - cross_v3_identity(deuler, dwdt); - cross_v3_identity(dcoriolis, w); - mul_m3_fl(dcoriolis, 2.0f); - cross_v3_identity(drotvel, w); - cross_m3_v3m3(dcentrifugal, w, drotvel); - - add_m3_m3m3(dfdx, deuler, dcentrifugal); - negate_m3(dfdx); - mul_m3_fl(dfdx, mass); - - copy_m3_m3(dfdv, dcoriolis); - negate_m3(dfdv); - mul_m3_fl(dfdv, mass); - - add_v3_v3(data->F.v3(index), f); - data->idFdX.add(index, index, dfdx); - data->idFdV.add(index, index, dfdv); -#else - (void)data; - (void)index; - (void)acceleration; - (void)omega; - (void)domega_dt; -#endif +# ifdef CLOTH_ROOT_FRAME + float acc[3], w[3], dwdt[3]; + float f[3], dfdx[3][3], dfdv[3][3]; + float euler[3], coriolis[3], centrifugal[3], rotvel[3]; + float deuler[3][3], dcoriolis[3][3], dcentrifugal[3][3], drotvel[3][3]; + + world_to_root_v3(data, index, acc, acceleration); + world_to_root_v3(data, index, w, omega); + world_to_root_v3(data, index, dwdt, domega_dt); + + cross_v3_v3v3(euler, dwdt, data->X.v3(index)); + cross_v3_v3v3(coriolis, w, data->V.v3(index)); + mul_v3_fl(coriolis, 2.0f); + cross_v3_v3v3(rotvel, w, data->X.v3(index)); + cross_v3_v3v3(centrifugal, w, rotvel); + + sub_v3_v3v3(f, acc, euler); + sub_v3_v3(f, coriolis); + sub_v3_v3(f, centrifugal); + + mul_v3_fl(f, mass); /* F = m * a */ + + cross_v3_identity(deuler, dwdt); + cross_v3_identity(dcoriolis, w); + mul_m3_fl(dcoriolis, 2.0f); + cross_v3_identity(drotvel, w); + cross_m3_v3m3(dcentrifugal, w, drotvel); + + add_m3_m3m3(dfdx, deuler, dcentrifugal); + negate_m3(dfdx); + mul_m3_fl(dfdx, mass); + + copy_m3_m3(dfdv, dcoriolis); + negate_m3(dfdv); + mul_m3_fl(dfdv, mass); + + add_v3_v3(data->F.v3(index), f); + data->idFdX.add(index, index, dfdx); + data->idFdV.add(index, index, dfdv); +# else + (void)data; + (void)index; + (void)acceleration; + (void)omega; + (void)domega_dt; +# endif } void BPH_mass_spring_force_gravity(Implicit_Data *data, int index, float mass, const float g[3]) { - /* force = mass * acceleration (in this case: gravity) */ - float f[3]; - world_to_root_v3(data, index, f, g); - mul_v3_fl(f, mass); + /* force = mass * acceleration (in this case: gravity) */ + float f[3]; + world_to_root_v3(data, index, f, g); + mul_v3_fl(f, mass); - add_v3_v3(data->F.v3(index), f); + add_v3_v3(data->F.v3(index), f); } void BPH_mass_spring_force_drag(Implicit_Data *data, float drag) { - int numverts = data->numverts; - for (int i = 0; i < numverts; i++) { - float tmp[3][3]; + int numverts = data->numverts; + for (int i = 0; i < numverts; i++) { + float tmp[3][3]; - /* NB: uses root space velocity, no need to transform */ - madd_v3_v3fl(data->F.v3(i), data->V.v3(i), -drag); + /* NB: uses root space velocity, no need to transform */ + madd_v3_v3fl(data->F.v3(i), data->V.v3(i), -drag); - copy_m3_m3(tmp, I); - mul_m3_fl(tmp, -drag); - data->idFdV.add(i, i, tmp); - } + copy_m3_m3(tmp, I); + mul_m3_fl(tmp, -drag); + data->idFdV.add(i, i, tmp); + } } -void BPH_mass_spring_force_extern(struct Implicit_Data *data, int i, const float f[3], float dfdx[3][3], float dfdv[3][3]) +void BPH_mass_spring_force_extern( + struct Implicit_Data *data, int i, const float f[3], float dfdx[3][3], float dfdv[3][3]) { - float tf[3], tdfdx[3][3], tdfdv[3][3]; - world_to_root_v3(data, i, tf, f); - world_to_root_m3(data, i, tdfdx, dfdx); - world_to_root_m3(data, i, tdfdv, dfdv); + float tf[3], tdfdx[3][3], tdfdv[3][3]; + world_to_root_v3(data, i, tf, f); + world_to_root_m3(data, i, tdfdx, dfdx); + world_to_root_m3(data, i, tdfdv, dfdv); - add_v3_v3(data->F.v3(i), tf); - data->idFdX.add(i, i, tdfdx); - data->idFdV.add(i, i, tdfdv); + add_v3_v3(data->F.v3(i), tf); + data->idFdX.add(i, i, tdfdx); + data->idFdV.add(i, i, tdfdv); } -static float calc_nor_area_tri(float nor[3], const float v1[3], const float v2[3], const float v3[3]) +static float calc_nor_area_tri(float nor[3], + const float v1[3], + const float v2[3], + const float v3[3]) { - float n1[3], n2[3]; + float n1[3], n2[3]; - sub_v3_v3v3(n1, v1, v2); - sub_v3_v3v3(n2, v2, v3); + sub_v3_v3v3(n1, v1, v2); + sub_v3_v3v3(n2, v2, v3); - cross_v3_v3v3(nor, n1, n2); - return normalize_v3(nor); + cross_v3_v3v3(nor, n1, n2); + return normalize_v3(nor); } /* XXX does not support force jacobians yet, since the effector system does not provide them either */ -void BPH_mass_spring_force_face_wind(Implicit_Data *data, int v1, int v2, int v3, const float(*winvec)[3]) +void BPH_mass_spring_force_face_wind( + Implicit_Data *data, int v1, int v2, int v3, const float (*winvec)[3]) { - const float effector_scale = 0.02f; - float win[3], nor[3], area; - float factor; + const float effector_scale = 0.02f; + float win[3], nor[3], area; + float factor; - // calculate face normal and area - area = calc_nor_area_tri(nor, data->X.v3(v1), data->X.v3(v2), data->X.v3(v3)); - factor = effector_scale * area / 3.0f; + // calculate face normal and area + area = calc_nor_area_tri(nor, data->X.v3(v1), data->X.v3(v2), data->X.v3(v3)); + factor = effector_scale * area / 3.0f; - world_to_root_v3(data, v1, win, winvec[v1]); - madd_v3_v3fl(data->F.v3(v1), nor, factor * dot_v3v3(win, nor)); + world_to_root_v3(data, v1, win, winvec[v1]); + madd_v3_v3fl(data->F.v3(v1), nor, factor * dot_v3v3(win, nor)); - world_to_root_v3(data, v2, win, winvec[v2]); - madd_v3_v3fl(data->F.v3(v2), nor, factor * dot_v3v3(win, nor)); + world_to_root_v3(data, v2, win, winvec[v2]); + madd_v3_v3fl(data->F.v3(v2), nor, factor * dot_v3v3(win, nor)); - world_to_root_v3(data, v3, win, winvec[v3]); - madd_v3_v3fl(data->F.v3(v3), nor, factor * dot_v3v3(win, nor)); + world_to_root_v3(data, v3, win, winvec[v3]); + madd_v3_v3fl(data->F.v3(v3), nor, factor * dot_v3v3(win, nor)); } -void BPH_mass_spring_force_edge_wind(Implicit_Data *data, int v1, int v2, const float(*winvec)[3]) +void BPH_mass_spring_force_edge_wind(Implicit_Data *data, int v1, int v2, const float (*winvec)[3]) { - const float effector_scale = 0.01; - float win[3], dir[3], nor[3], length; + const float effector_scale = 0.01; + float win[3], dir[3], nor[3], length; - sub_v3_v3v3(dir, data->X.v3(v1), data->X.v3(v2)); - length = normalize_v3(dir); + sub_v3_v3v3(dir, data->X.v3(v1), data->X.v3(v2)); + length = normalize_v3(dir); - world_to_root_v3(data, v1, win, winvec[v1]); - madd_v3_v3v3fl(nor, win, dir, -dot_v3v3(win, dir)); - madd_v3_v3fl(data->F.v3(v1), nor, effector_scale * length); + world_to_root_v3(data, v1, win, winvec[v1]); + madd_v3_v3v3fl(nor, win, dir, -dot_v3v3(win, dir)); + madd_v3_v3fl(data->F.v3(v1), nor, effector_scale * length); - world_to_root_v3(data, v2, win, winvec[v2]); - madd_v3_v3v3fl(nor, win, dir, -dot_v3v3(win, dir)); - madd_v3_v3fl(data->F.v3(v2), nor, effector_scale * length); + world_to_root_v3(data, v2, win, winvec[v2]); + madd_v3_v3v3fl(nor, win, dir, -dot_v3v3(win, dir)); + madd_v3_v3fl(data->F.v3(v2), nor, effector_scale * length); } BLI_INLINE void dfdx_spring(float to[3][3], const float dir[3], float length, float L, float k) { - // dir is unit length direction, rest is spring's restlength, k is spring constant. - //return ( (I-outerprod(dir, dir))*Min(1.0f, rest/length) - I) * -k; - outerproduct(to, dir, dir); - sub_m3_m3m3(to, I, to); + // dir is unit length direction, rest is spring's restlength, k is spring constant. + //return ( (I-outerprod(dir, dir))*Min(1.0f, rest/length) - I) * -k; + outerproduct(to, dir, dir); + sub_m3_m3m3(to, I, to); - mul_m3_fl(to, (L / length)); - sub_m3_m3m3(to, to, I); - mul_m3_fl(to, k); + mul_m3_fl(to, (L / length)); + sub_m3_m3m3(to, to, I); + mul_m3_fl(to, k); } /* unused */ -#if 0 +# if 0 BLI_INLINE void dfdx_damp(float to[3][3], const float dir[3], float length, const float vel[3], float rest, float damping) { - // inner spring damping vel is the relative velocity of the endpoints. - // return (I-outerprod(dir, dir)) * (-damping * -(dot(dir, vel)/Max(length, rest))); - mul_fvectorT_fvector(to, dir, dir); - sub_fmatrix_fmatrix(to, I, to); - mul_fmatrix_S(to, (-damping * -(dot_v3v3(dir, vel) / MAX2(length, rest)))); + // inner spring damping vel is the relative velocity of the endpoints. + // return (I-outerprod(dir, dir)) * (-damping * -(dot(dir, vel)/Max(length, rest))); + mul_fvectorT_fvector(to, dir, dir); + sub_fmatrix_fmatrix(to, I, to); + mul_fmatrix_S(to, (-damping * -(dot_v3v3(dir, vel) / MAX2(length, rest)))); } -#endif +# endif BLI_INLINE void dfdv_damp(float to[3][3], const float dir[3], float damping) { - // derivative of force wrt velocity - outerproduct(to, dir, dir); - mul_m3_fl(to, -damping); + // derivative of force wrt velocity + outerproduct(to, dir, dir); + mul_m3_fl(to, -damping); } BLI_INLINE float fb(float length, float L) { - float x = length / L; - return (-11.541f * powf(x, 4) + 34.193f * powf(x, 3) - 39.083f * powf(x, 2) + 23.116f * x - 9.713f); + float x = length / L; + return (-11.541f * powf(x, 4) + 34.193f * powf(x, 3) - 39.083f * powf(x, 2) + 23.116f * x - + 9.713f); } BLI_INLINE float fbderiv(float length, float L) { - float x = length / L; + float x = length / L; - return (-46.164f * powf(x, 3) + 102.579f * powf(x, 2) - 78.166f * x + 23.116f); + return (-46.164f * powf(x, 3) + 102.579f * powf(x, 2) - 78.166f * x + 23.116f); } BLI_INLINE float fbstar(float length, float L, float kb, float cb) { - float tempfb_fl = kb * fb(length, L); - float fbstar_fl = cb * (length - L); + float tempfb_fl = kb * fb(length, L); + float fbstar_fl = cb * (length - L); - if (tempfb_fl < fbstar_fl) - return fbstar_fl; - else - return tempfb_fl; + if (tempfb_fl < fbstar_fl) + return fbstar_fl; + else + return tempfb_fl; } // function to calculae bending spring force (taken from Choi & Co) BLI_INLINE float fbstar_jacobi(float length, float L, float kb, float cb) { - float tempfb_fl = kb * fb(length, L); - float fbstar_fl = cb * (length - L); + float tempfb_fl = kb * fb(length, L); + float fbstar_fl = cb * (length - L); - if (tempfb_fl < fbstar_fl) { - return -cb; - } - else { - return -kb *fbderiv(length, L); - } + if (tempfb_fl < fbstar_fl) { + return -cb; + } + else { + return -kb * fbderiv(length, L); + } } /* calculate elonglation */ -BLI_INLINE bool spring_length(Implicit_Data *data, int i, int j, float r_extent[3], float r_dir[3], float *r_length, float r_vel[3]) +BLI_INLINE bool spring_length(Implicit_Data *data, + int i, + int j, + float r_extent[3], + float r_dir[3], + float *r_length, + float r_vel[3]) { - sub_v3_v3v3(r_extent, data->X.v3(j), data->X.v3(i)); - sub_v3_v3v3(r_vel, data->V.v3(j), data->V.v3(i)); - *r_length = len_v3(r_extent); - - if (*r_length > ALMOST_ZERO) { -#if 0 - if (length > L) { - if ((clmd->sim_parms->flags & CSIMSETT_FLAG_TEARING_ENABLED) && - ( ((length - L) * 100.0f / L) > clmd->sim_parms->maxspringlen)) - { - // cut spring! - s->flags |= CSPRING_FLAG_DEACTIVATE; - return false; - } - } -#endif - mul_v3_v3fl(r_dir, r_extent, 1.0f / (*r_length)); - } - else { - zero_v3(r_dir); - } - - return true; -} - -BLI_INLINE void apply_spring(Implicit_Data *data, int i, int j, const float f[3], float dfdx[3][3], float dfdv[3][3]) + sub_v3_v3v3(r_extent, data->X.v3(j), data->X.v3(i)); + sub_v3_v3v3(r_vel, data->V.v3(j), data->V.v3(i)); + *r_length = len_v3(r_extent); + + if (*r_length > ALMOST_ZERO) { +# if 0 + if (length > L) { + if ((clmd->sim_parms->flags & CSIMSETT_FLAG_TEARING_ENABLED) && + ( ((length - L) * 100.0f / L) > clmd->sim_parms->maxspringlen)) + { + // cut spring! + s->flags |= CSPRING_FLAG_DEACTIVATE; + return false; + } + } +# endif + mul_v3_v3fl(r_dir, r_extent, 1.0f / (*r_length)); + } + else { + zero_v3(r_dir); + } + + return true; +} + +BLI_INLINE void apply_spring( + Implicit_Data *data, int i, int j, const float f[3], float dfdx[3][3], float dfdv[3][3]) { - add_v3_v3(data->F.v3(i), f); - sub_v3_v3(data->F.v3(j), f); - - data->idFdX.add(i, i, dfdx); - data->idFdX.add(j, j, dfdx); - data->idFdX.sub(i, j, dfdx); - data->idFdX.sub(j, i, dfdx); - - data->idFdV.add(i, i, dfdv); - data->idFdV.add(j, j, dfdv); - data->idFdV.sub(i, j, dfdv); - data->idFdV.sub(j, i, dfdv); -} - -bool BPH_mass_spring_force_spring_linear(Implicit_Data *data, int i, int j, float restlen, - float stiffness, float damping, bool no_compress, float clamp_force, - float r_f[3], float r_dfdx[3][3], float r_dfdv[3][3]) + add_v3_v3(data->F.v3(i), f); + sub_v3_v3(data->F.v3(j), f); + + data->idFdX.add(i, i, dfdx); + data->idFdX.add(j, j, dfdx); + data->idFdX.sub(i, j, dfdx); + data->idFdX.sub(j, i, dfdx); + + data->idFdV.add(i, i, dfdv); + data->idFdV.add(j, j, dfdv); + data->idFdV.sub(i, j, dfdv); + data->idFdV.sub(j, i, dfdv); +} + +bool BPH_mass_spring_force_spring_linear(Implicit_Data *data, + int i, + int j, + float restlen, + float stiffness, + float damping, + bool no_compress, + float clamp_force, + float r_f[3], + float r_dfdx[3][3], + float r_dfdv[3][3]) { - float extent[3], length, dir[3], vel[3]; + float extent[3], length, dir[3], vel[3]; - // calculate elonglation - spring_length(data, i, j, extent, dir, &length, vel); + // calculate elonglation + spring_length(data, i, j, extent, dir, &length, vel); - if (length > restlen || no_compress) { - float stretch_force, f[3], dfdx[3][3], dfdv[3][3]; + if (length > restlen || no_compress) { + float stretch_force, f[3], dfdx[3][3], dfdv[3][3]; - stretch_force = stiffness * (length - restlen); - if (clamp_force > 0.0f && stretch_force > clamp_force) { - stretch_force = clamp_force; - } - mul_v3_v3fl(f, dir, stretch_force); + stretch_force = stiffness * (length - restlen); + if (clamp_force > 0.0f && stretch_force > clamp_force) { + stretch_force = clamp_force; + } + mul_v3_v3fl(f, dir, stretch_force); - // Ascher & Boxman, p.21: Damping only during elonglation - // something wrong with it... - madd_v3_v3fl(f, dir, damping * dot_v3v3(vel, dir)); + // Ascher & Boxman, p.21: Damping only during elonglation + // something wrong with it... + madd_v3_v3fl(f, dir, damping * dot_v3v3(vel, dir)); - dfdx_spring(dfdx, dir, length, restlen, stiffness); - dfdv_damp(dfdv, dir, damping); + dfdx_spring(dfdx, dir, length, restlen, stiffness); + dfdv_damp(dfdv, dir, damping); - apply_spring(data, i, j, f, dfdx, dfdv); + apply_spring(data, i, j, f, dfdx, dfdv); - if (r_f) copy_v3_v3(r_f, f); - if (r_dfdx) copy_m3_m3(r_dfdx, dfdx); - if (r_dfdv) copy_m3_m3(r_dfdv, dfdv); + if (r_f) + copy_v3_v3(r_f, f); + if (r_dfdx) + copy_m3_m3(r_dfdx, dfdx); + if (r_dfdv) + copy_m3_m3(r_dfdv, dfdv); - return true; - } - else { - if (r_f) zero_v3(r_f); - if (r_dfdx) zero_m3(r_dfdx); - if (r_dfdv) zero_m3(r_dfdv); + return true; + } + else { + if (r_f) + zero_v3(r_f); + if (r_dfdx) + zero_m3(r_dfdx); + if (r_dfdv) + zero_m3(r_dfdv); - return false; - } + return false; + } } /* See "Stable but Responsive Cloth" (Choi, Ko 2005) */ -bool BPH_mass_spring_force_spring_bending(Implicit_Data *data, int i, int j, float restlen, - float kb, float cb, - float r_f[3], float r_dfdx[3][3], float r_dfdv[3][3]) +bool BPH_mass_spring_force_spring_bending(Implicit_Data *data, + int i, + int j, + float restlen, + float kb, + float cb, + float r_f[3], + float r_dfdx[3][3], + float r_dfdv[3][3]) { - float extent[3], length, dir[3], vel[3]; + float extent[3], length, dir[3], vel[3]; - // calculate elonglation - spring_length(data, i, j, extent, dir, &length, vel); + // calculate elonglation + spring_length(data, i, j, extent, dir, &length, vel); - if (length < restlen) { - float f[3], dfdx[3][3], dfdv[3][3]; + if (length < restlen) { + float f[3], dfdx[3][3], dfdv[3][3]; - mul_v3_v3fl(f, dir, fbstar(length, restlen, kb, cb)); + mul_v3_v3fl(f, dir, fbstar(length, restlen, kb, cb)); - outerproduct(dfdx, dir, dir); - mul_m3_fl(dfdx, fbstar_jacobi(length, restlen, kb, cb)); + outerproduct(dfdx, dir, dir); + mul_m3_fl(dfdx, fbstar_jacobi(length, restlen, kb, cb)); - /* XXX damping not supported */ - zero_m3(dfdv); + /* XXX damping not supported */ + zero_m3(dfdv); - apply_spring(data, i, j, f, dfdx, dfdv); + apply_spring(data, i, j, f, dfdx, dfdv); - if (r_f) copy_v3_v3(r_f, f); - if (r_dfdx) copy_m3_m3(r_dfdx, dfdx); - if (r_dfdv) copy_m3_m3(r_dfdv, dfdv); + if (r_f) + copy_v3_v3(r_f, f); + if (r_dfdx) + copy_m3_m3(r_dfdx, dfdx); + if (r_dfdv) + copy_m3_m3(r_dfdv, dfdv); - return true; - } - else { - if (r_f) zero_v3(r_f); - if (r_dfdx) zero_m3(r_dfdx); - if (r_dfdv) zero_m3(r_dfdv); + return true; + } + else { + if (r_f) + zero_v3(r_f); + if (r_dfdx) + zero_m3(r_dfdx); + if (r_dfdv) + zero_m3(r_dfdv); - return false; - } + return false; + } } /* Jacobian of a direction vector. @@ -1014,326 +1086,372 @@ bool BPH_mass_spring_force_spring_bending(Implicit_Data *data, int i, int j, flo * * dD_ij/dx_i = -dD_ij/dx_j = (D_ij * D_ij^T - I) / len_ij */ -BLI_INLINE void spring_grad_dir(Implicit_Data *data, int i, int j, float edge[3], float dir[3], float grad_dir[3][3]) +BLI_INLINE void spring_grad_dir( + Implicit_Data *data, int i, int j, float edge[3], float dir[3], float grad_dir[3][3]) { - float length; + float length; - sub_v3_v3v3(edge, data->X.v3(j), data->X.v3(i)); - length = normalize_v3_v3(dir, edge); + sub_v3_v3v3(edge, data->X.v3(j), data->X.v3(i)); + length = normalize_v3_v3(dir, edge); - if (length > ALMOST_ZERO) { - outerproduct(grad_dir, dir, dir); - sub_m3_m3m3(grad_dir, I, grad_dir); - mul_m3_fl(grad_dir, 1.0f / length); - } - else { - zero_m3(grad_dir); - } + if (length > ALMOST_ZERO) { + outerproduct(grad_dir, dir, dir); + sub_m3_m3m3(grad_dir, I, grad_dir); + mul_m3_fl(grad_dir, 1.0f / length); + } + else { + zero_m3(grad_dir); + } } -BLI_INLINE void spring_angbend_forces(Implicit_Data *data, int i, int j, int k, +BLI_INLINE void spring_angbend_forces(Implicit_Data *data, + int i, + int j, + int k, const float goal[3], - float stiffness, float damping, - int q, const float dx[3], const float dv[3], + float stiffness, + float damping, + int q, + const float dx[3], + const float dv[3], float r_f[3]) { - float edge_ij[3], dir_ij[3]; - float edge_jk[3], dir_jk[3]; - float vel_ij[3], vel_jk[3], vel_ortho[3]; - float f_bend[3], f_damp[3]; - float fk[3]; - float dist[3]; + float edge_ij[3], dir_ij[3]; + float edge_jk[3], dir_jk[3]; + float vel_ij[3], vel_jk[3], vel_ortho[3]; + float f_bend[3], f_damp[3]; + float fk[3]; + float dist[3]; - zero_v3(fk); + zero_v3(fk); - sub_v3_v3v3(edge_ij, data->X.v3(j), data->X.v3(i)); - if (q == i) sub_v3_v3(edge_ij, dx); - if (q == j) add_v3_v3(edge_ij, dx); - normalize_v3_v3(dir_ij, edge_ij); + sub_v3_v3v3(edge_ij, data->X.v3(j), data->X.v3(i)); + if (q == i) + sub_v3_v3(edge_ij, dx); + if (q == j) + add_v3_v3(edge_ij, dx); + normalize_v3_v3(dir_ij, edge_ij); - sub_v3_v3v3(edge_jk, data->X.v3(k), data->X.v3(j)); - if (q == j) sub_v3_v3(edge_jk, dx); - if (q == k) add_v3_v3(edge_jk, dx); - normalize_v3_v3(dir_jk, edge_jk); + sub_v3_v3v3(edge_jk, data->X.v3(k), data->X.v3(j)); + if (q == j) + sub_v3_v3(edge_jk, dx); + if (q == k) + add_v3_v3(edge_jk, dx); + normalize_v3_v3(dir_jk, edge_jk); - sub_v3_v3v3(vel_ij, data->V.v3(j), data->V.v3(i)); - if (q == i) sub_v3_v3(vel_ij, dv); - if (q == j) add_v3_v3(vel_ij, dv); + sub_v3_v3v3(vel_ij, data->V.v3(j), data->V.v3(i)); + if (q == i) + sub_v3_v3(vel_ij, dv); + if (q == j) + add_v3_v3(vel_ij, dv); - sub_v3_v3v3(vel_jk, data->V.v3(k), data->V.v3(j)); - if (q == j) sub_v3_v3(vel_jk, dv); - if (q == k) add_v3_v3(vel_jk, dv); + sub_v3_v3v3(vel_jk, data->V.v3(k), data->V.v3(j)); + if (q == j) + sub_v3_v3(vel_jk, dv); + if (q == k) + add_v3_v3(vel_jk, dv); - /* bending force */ - sub_v3_v3v3(dist, goal, edge_jk); - mul_v3_v3fl(f_bend, dist, stiffness); + /* bending force */ + sub_v3_v3v3(dist, goal, edge_jk); + mul_v3_v3fl(f_bend, dist, stiffness); - add_v3_v3(fk, f_bend); + add_v3_v3(fk, f_bend); - /* damping force */ - madd_v3_v3v3fl(vel_ortho, vel_jk, dir_jk, -dot_v3v3(vel_jk, dir_jk)); - mul_v3_v3fl(f_damp, vel_ortho, damping); + /* damping force */ + madd_v3_v3v3fl(vel_ortho, vel_jk, dir_jk, -dot_v3v3(vel_jk, dir_jk)); + mul_v3_v3fl(f_damp, vel_ortho, damping); - sub_v3_v3(fk, f_damp); + sub_v3_v3(fk, f_damp); - copy_v3_v3(r_f, fk); + copy_v3_v3(r_f, fk); } /* Finite Differences method for estimating the jacobian of the force */ -BLI_INLINE void spring_angbend_estimate_dfdx(Implicit_Data *data, int i, int j, int k, +BLI_INLINE void spring_angbend_estimate_dfdx(Implicit_Data *data, + int i, + int j, + int k, const float goal[3], - float stiffness, float damping, - int q, float dfdx[3][3]) + float stiffness, + float damping, + int q, + float dfdx[3][3]) { - const float delta = 0.00001f; // TODO find a good heuristic for this - float dvec_null[3][3], dvec_pos[3][3], dvec_neg[3][3]; - float f[3]; - int a, b; + const float delta = 0.00001f; // TODO find a good heuristic for this + float dvec_null[3][3], dvec_pos[3][3], dvec_neg[3][3]; + float f[3]; + int a, b; - zero_m3(dvec_null); - unit_m3(dvec_pos); - mul_m3_fl(dvec_pos, delta * 0.5f); - copy_m3_m3(dvec_neg, dvec_pos); - negate_m3(dvec_neg); + zero_m3(dvec_null); + unit_m3(dvec_pos); + mul_m3_fl(dvec_pos, delta * 0.5f); + copy_m3_m3(dvec_neg, dvec_pos); + negate_m3(dvec_neg); - /* XXX TODO offset targets to account for position dependency */ + /* XXX TODO offset targets to account for position dependency */ - for (a = 0; a < 3; ++a) { - spring_angbend_forces(data, i, j, k, goal, stiffness, damping, - q, dvec_pos[a], dvec_null[a], f); - copy_v3_v3(dfdx[a], f); + for (a = 0; a < 3; ++a) { + spring_angbend_forces( + data, i, j, k, goal, stiffness, damping, q, dvec_pos[a], dvec_null[a], f); + copy_v3_v3(dfdx[a], f); - spring_angbend_forces(data, i, j, k, goal, stiffness, damping, - q, dvec_neg[a], dvec_null[a], f); - sub_v3_v3(dfdx[a], f); + spring_angbend_forces( + data, i, j, k, goal, stiffness, damping, q, dvec_neg[a], dvec_null[a], f); + sub_v3_v3(dfdx[a], f); - for (b = 0; b < 3; ++b) { - dfdx[a][b] /= delta; - } - } + for (b = 0; b < 3; ++b) { + dfdx[a][b] /= delta; + } + } } /* Finite Differences method for estimating the jacobian of the force */ -BLI_INLINE void spring_angbend_estimate_dfdv(Implicit_Data *data, int i, int j, int k, +BLI_INLINE void spring_angbend_estimate_dfdv(Implicit_Data *data, + int i, + int j, + int k, const float goal[3], - float stiffness, float damping, - int q, float dfdv[3][3]) + float stiffness, + float damping, + int q, + float dfdv[3][3]) { - const float delta = 0.00001f; // TODO find a good heuristic for this - float dvec_null[3][3], dvec_pos[3][3], dvec_neg[3][3]; - float f[3]; - int a, b; + const float delta = 0.00001f; // TODO find a good heuristic for this + float dvec_null[3][3], dvec_pos[3][3], dvec_neg[3][3]; + float f[3]; + int a, b; - zero_m3(dvec_null); - unit_m3(dvec_pos); - mul_m3_fl(dvec_pos, delta * 0.5f); - copy_m3_m3(dvec_neg, dvec_pos); - negate_m3(dvec_neg); + zero_m3(dvec_null); + unit_m3(dvec_pos); + mul_m3_fl(dvec_pos, delta * 0.5f); + copy_m3_m3(dvec_neg, dvec_pos); + negate_m3(dvec_neg); - /* XXX TODO offset targets to account for position dependency */ + /* XXX TODO offset targets to account for position dependency */ - for (a = 0; a < 3; ++a) { - spring_angbend_forces(data, i, j, k, goal, stiffness, damping, - q, dvec_null[a], dvec_pos[a], f); - copy_v3_v3(dfdv[a], f); + for (a = 0; a < 3; ++a) { + spring_angbend_forces( + data, i, j, k, goal, stiffness, damping, q, dvec_null[a], dvec_pos[a], f); + copy_v3_v3(dfdv[a], f); - spring_angbend_forces(data, i, j, k, goal, stiffness, damping, - q, dvec_null[a], dvec_neg[a], f); - sub_v3_v3(dfdv[a], f); + spring_angbend_forces( + data, i, j, k, goal, stiffness, damping, q, dvec_null[a], dvec_neg[a], f); + sub_v3_v3(dfdv[a], f); - for (b = 0; b < 3; ++b) { - dfdv[a][b] /= delta; - } - } + for (b = 0; b < 3; ++b) { + dfdv[a][b] /= delta; + } + } } /* Angular spring that pulls the vertex toward the local target * See "Artistic Simulation of Curly Hair" (Pixar technical memo #12-03a) */ -bool BPH_mass_spring_force_spring_bending_angular(Implicit_Data *data, int i, int j, int k, - const float target[3], float stiffness, float damping) +bool BPH_mass_spring_force_spring_bending_angular(Implicit_Data *data, + int i, + int j, + int k, + const float target[3], + float stiffness, + float damping) { - float goal[3]; - float fj[3], fk[3]; - float dfj_dxi[3][3], dfj_dxj[3][3], dfk_dxi[3][3], dfk_dxj[3][3], dfk_dxk[3][3]; - float dfj_dvi[3][3], dfj_dvj[3][3], dfk_dvi[3][3], dfk_dvj[3][3], dfk_dvk[3][3]; - - const float vecnull[3] = {0.0f, 0.0f, 0.0f}; - - world_to_root_v3(data, j, goal, target); - - spring_angbend_forces(data, i, j, k, goal, stiffness, damping, k, vecnull, vecnull, fk); - negate_v3_v3(fj, fk); /* counterforce */ - - spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, i, dfk_dxi); - spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, j, dfk_dxj); - spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, k, dfk_dxk); - copy_m3_m3(dfj_dxi, dfk_dxi); negate_m3(dfj_dxi); - copy_m3_m3(dfj_dxj, dfk_dxj); negate_m3(dfj_dxj); - - spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, i, dfk_dvi); - spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, j, dfk_dvj); - spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, k, dfk_dvk); - copy_m3_m3(dfj_dvi, dfk_dvi); negate_m3(dfj_dvi); - copy_m3_m3(dfj_dvj, dfk_dvj); negate_m3(dfj_dvj); - - /* add forces and jacobians to the solver data */ - - add_v3_v3(data->F.v3(j), fj); - add_v3_v3(data->F.v3(k), fk); - - data->idFdX.add(j, j, dfj_dxj); - data->idFdX.add(k, k, dfk_dxk); - - data->idFdX.add(i, j, dfj_dxi); - data->idFdX.add(j, i, dfj_dxi); - data->idFdX.add(j, k, dfk_dxj); - data->idFdX.add(k, j, dfk_dxj); - data->idFdX.add(i, k, dfk_dxi); - data->idFdX.add(k, i, dfk_dxi); - - data->idFdV.add(j, j, dfj_dvj); - data->idFdV.add(k, k, dfk_dvk); - - data->idFdV.add(i, j, dfj_dvi); - data->idFdV.add(j, i, dfj_dvi); - data->idFdV.add(j, k, dfk_dvj); - data->idFdV.add(k, j, dfk_dvj); - data->idFdV.add(i, k, dfk_dvi); - data->idFdV.add(k, i, dfk_dvi); - - /* XXX analytical calculation of derivatives below is incorrect. - * This proved to be difficult, but for now just using the finite difference method for - * estimating the jacobians should be sufficient. - */ -#if 0 - float edge_ij[3], dir_ij[3], grad_dir_ij[3][3]; - float edge_jk[3], dir_jk[3], grad_dir_jk[3][3]; - float dist[3], vel_jk[3], vel_jk_ortho[3], projvel[3]; - float target[3]; - float tmp[3][3]; - float fi[3], fj[3], fk[3]; - float dfi_dxi[3][3], dfj_dxi[3][3], dfj_dxj[3][3], dfk_dxi[3][3], dfk_dxj[3][3], dfk_dxk[3][3]; - float dfdvi[3][3]; - - // TESTING - damping = 0.0f; - - zero_v3(fi); - zero_v3(fj); - zero_v3(fk); - zero_m3(dfi_dxi); - zero_m3(dfj_dxi); - zero_m3(dfk_dxi); - zero_m3(dfk_dxj); - zero_m3(dfk_dxk); - - /* jacobian of direction vectors */ - spring_grad_dir(data, i, j, edge_ij, dir_ij, grad_dir_ij); - spring_grad_dir(data, j, k, edge_jk, dir_jk, grad_dir_jk); - - sub_v3_v3v3(vel_jk, data->V[k], data->V[j]); - - /* bending force */ - mul_v3_v3fl(target, dir_ij, restlen); - sub_v3_v3v3(dist, target, edge_jk); - mul_v3_v3fl(fk, dist, stiffness); - - /* damping force */ - madd_v3_v3v3fl(vel_jk_ortho, vel_jk, dir_jk, -dot_v3v3(vel_jk, dir_jk)); - madd_v3_v3fl(fk, vel_jk_ortho, damping); - - /* XXX this only holds true as long as we assume straight rest shape! - * eventually will become a bit more involved since the opposite segment - * gets its own target, under condition of having equal torque on both sides. - */ - copy_v3_v3(fi, fk); - - /* counterforce on the middle point */ - sub_v3_v3(fj, fi); - sub_v3_v3(fj, fk); - - /* === derivatives === */ - - madd_m3_m3fl(dfk_dxi, grad_dir_ij, stiffness * restlen); - - madd_m3_m3fl(dfk_dxj, grad_dir_ij, -stiffness * restlen); - madd_m3_m3fl(dfk_dxj, I, stiffness); - - madd_m3_m3fl(dfk_dxk, I, -stiffness); - - copy_m3_m3(dfi_dxi, dfk_dxk); - negate_m3(dfi_dxi); - - /* dfj_dfi == dfi_dfj due to symmetry, - * dfi_dfj == dfk_dfj due to fi == fk - * XXX see comment above on future bent rest shapes - */ - copy_m3_m3(dfj_dxi, dfk_dxj); - - /* dfj_dxj == -(dfi_dxj + dfk_dxj) due to fj == -(fi + fk) */ - sub_m3_m3m3(dfj_dxj, dfj_dxj, dfj_dxi); - sub_m3_m3m3(dfj_dxj, dfj_dxj, dfk_dxj); - - /* add forces and jacobians to the solver data */ - add_v3_v3(data->F[i], fi); - add_v3_v3(data->F[j], fj); - add_v3_v3(data->F[k], fk); - - add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfi_dxi); - add_m3_m3m3(data->dFdX[j].m, data->dFdX[j].m, dfj_dxj); - add_m3_m3m3(data->dFdX[k].m, data->dFdX[k].m, dfk_dxk); - - add_m3_m3m3(data->dFdX[block_ij].m, data->dFdX[block_ij].m, dfj_dxi); - add_m3_m3m3(data->dFdX[block_jk].m, data->dFdX[block_jk].m, dfk_dxj); - add_m3_m3m3(data->dFdX[block_ik].m, data->dFdX[block_ik].m, dfk_dxi); -#endif - - return true; -} - -bool BPH_mass_spring_force_spring_goal(Implicit_Data *data, int i, const float goal_x[3], const float goal_v[3], - float stiffness, float damping, - float r_f[3], float r_dfdx[3][3], float r_dfdv[3][3]) + float goal[3]; + float fj[3], fk[3]; + float dfj_dxi[3][3], dfj_dxj[3][3], dfk_dxi[3][3], dfk_dxj[3][3], dfk_dxk[3][3]; + float dfj_dvi[3][3], dfj_dvj[3][3], dfk_dvi[3][3], dfk_dvj[3][3], dfk_dvk[3][3]; + + const float vecnull[3] = {0.0f, 0.0f, 0.0f}; + + world_to_root_v3(data, j, goal, target); + + spring_angbend_forces(data, i, j, k, goal, stiffness, damping, k, vecnull, vecnull, fk); + negate_v3_v3(fj, fk); /* counterforce */ + + spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, i, dfk_dxi); + spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, j, dfk_dxj); + spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, k, dfk_dxk); + copy_m3_m3(dfj_dxi, dfk_dxi); + negate_m3(dfj_dxi); + copy_m3_m3(dfj_dxj, dfk_dxj); + negate_m3(dfj_dxj); + + spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, i, dfk_dvi); + spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, j, dfk_dvj); + spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, k, dfk_dvk); + copy_m3_m3(dfj_dvi, dfk_dvi); + negate_m3(dfj_dvi); + copy_m3_m3(dfj_dvj, dfk_dvj); + negate_m3(dfj_dvj); + + /* add forces and jacobians to the solver data */ + + add_v3_v3(data->F.v3(j), fj); + add_v3_v3(data->F.v3(k), fk); + + data->idFdX.add(j, j, dfj_dxj); + data->idFdX.add(k, k, dfk_dxk); + + data->idFdX.add(i, j, dfj_dxi); + data->idFdX.add(j, i, dfj_dxi); + data->idFdX.add(j, k, dfk_dxj); + data->idFdX.add(k, j, dfk_dxj); + data->idFdX.add(i, k, dfk_dxi); + data->idFdX.add(k, i, dfk_dxi); + + data->idFdV.add(j, j, dfj_dvj); + data->idFdV.add(k, k, dfk_dvk); + + data->idFdV.add(i, j, dfj_dvi); + data->idFdV.add(j, i, dfj_dvi); + data->idFdV.add(j, k, dfk_dvj); + data->idFdV.add(k, j, dfk_dvj); + data->idFdV.add(i, k, dfk_dvi); + data->idFdV.add(k, i, dfk_dvi); + + /* XXX analytical calculation of derivatives below is incorrect. + * This proved to be difficult, but for now just using the finite difference method for + * estimating the jacobians should be sufficient. + */ +# if 0 + float edge_ij[3], dir_ij[3], grad_dir_ij[3][3]; + float edge_jk[3], dir_jk[3], grad_dir_jk[3][3]; + float dist[3], vel_jk[3], vel_jk_ortho[3], projvel[3]; + float target[3]; + float tmp[3][3]; + float fi[3], fj[3], fk[3]; + float dfi_dxi[3][3], dfj_dxi[3][3], dfj_dxj[3][3], dfk_dxi[3][3], dfk_dxj[3][3], dfk_dxk[3][3]; + float dfdvi[3][3]; + + // TESTING + damping = 0.0f; + + zero_v3(fi); + zero_v3(fj); + zero_v3(fk); + zero_m3(dfi_dxi); + zero_m3(dfj_dxi); + zero_m3(dfk_dxi); + zero_m3(dfk_dxj); + zero_m3(dfk_dxk); + + /* jacobian of direction vectors */ + spring_grad_dir(data, i, j, edge_ij, dir_ij, grad_dir_ij); + spring_grad_dir(data, j, k, edge_jk, dir_jk, grad_dir_jk); + + sub_v3_v3v3(vel_jk, data->V[k], data->V[j]); + + /* bending force */ + mul_v3_v3fl(target, dir_ij, restlen); + sub_v3_v3v3(dist, target, edge_jk); + mul_v3_v3fl(fk, dist, stiffness); + + /* damping force */ + madd_v3_v3v3fl(vel_jk_ortho, vel_jk, dir_jk, -dot_v3v3(vel_jk, dir_jk)); + madd_v3_v3fl(fk, vel_jk_ortho, damping); + + /* XXX this only holds true as long as we assume straight rest shape! + * eventually will become a bit more involved since the opposite segment + * gets its own target, under condition of having equal torque on both sides. + */ + copy_v3_v3(fi, fk); + + /* counterforce on the middle point */ + sub_v3_v3(fj, fi); + sub_v3_v3(fj, fk); + + /* === derivatives === */ + + madd_m3_m3fl(dfk_dxi, grad_dir_ij, stiffness * restlen); + + madd_m3_m3fl(dfk_dxj, grad_dir_ij, -stiffness * restlen); + madd_m3_m3fl(dfk_dxj, I, stiffness); + + madd_m3_m3fl(dfk_dxk, I, -stiffness); + + copy_m3_m3(dfi_dxi, dfk_dxk); + negate_m3(dfi_dxi); + + /* dfj_dfi == dfi_dfj due to symmetry, + * dfi_dfj == dfk_dfj due to fi == fk + * XXX see comment above on future bent rest shapes + */ + copy_m3_m3(dfj_dxi, dfk_dxj); + + /* dfj_dxj == -(dfi_dxj + dfk_dxj) due to fj == -(fi + fk) */ + sub_m3_m3m3(dfj_dxj, dfj_dxj, dfj_dxi); + sub_m3_m3m3(dfj_dxj, dfj_dxj, dfk_dxj); + + /* add forces and jacobians to the solver data */ + add_v3_v3(data->F[i], fi); + add_v3_v3(data->F[j], fj); + add_v3_v3(data->F[k], fk); + + add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfi_dxi); + add_m3_m3m3(data->dFdX[j].m, data->dFdX[j].m, dfj_dxj); + add_m3_m3m3(data->dFdX[k].m, data->dFdX[k].m, dfk_dxk); + + add_m3_m3m3(data->dFdX[block_ij].m, data->dFdX[block_ij].m, dfj_dxi); + add_m3_m3m3(data->dFdX[block_jk].m, data->dFdX[block_jk].m, dfk_dxj); + add_m3_m3m3(data->dFdX[block_ik].m, data->dFdX[block_ik].m, dfk_dxi); +# endif + + return true; +} + +bool BPH_mass_spring_force_spring_goal(Implicit_Data *data, + int i, + const float goal_x[3], + const float goal_v[3], + float stiffness, + float damping, + float r_f[3], + float r_dfdx[3][3], + float r_dfdv[3][3]) { - float root_goal_x[3], root_goal_v[3], extent[3], length, dir[3], vel[3]; - float f[3], dfdx[3][3], dfdv[3][3]; - - /* goal is in world space */ - world_to_root_v3(data, i, root_goal_x, goal_x); - world_to_root_v3(data, i, root_goal_v, goal_v); - - sub_v3_v3v3(extent, root_goal_x, data->X.v3(i)); - sub_v3_v3v3(vel, root_goal_v, data->V.v3(i)); - length = normalize_v3_v3(dir, extent); - - if (length > ALMOST_ZERO) { - mul_v3_v3fl(f, dir, stiffness * length); - - // Ascher & Boxman, p.21: Damping only during elonglation - // something wrong with it... - madd_v3_v3fl(f, dir, damping * dot_v3v3(vel, dir)); - - dfdx_spring(dfdx, dir, length, 0.0f, stiffness); - dfdv_damp(dfdv, dir, damping); - - add_v3_v3(data->F.v3(i), f); - data->idFdX.add(i, i, dfdx); - data->idFdV.add(i, i, dfdv); - - if (r_f) copy_v3_v3(r_f, f); - if (r_dfdx) copy_m3_m3(r_dfdx, dfdx); - if (r_dfdv) copy_m3_m3(r_dfdv, dfdv); - - return true; - } - else { - if (r_f) zero_v3(r_f); - if (r_dfdx) zero_m3(r_dfdx); - if (r_dfdv) zero_m3(r_dfdv); - - return false; - } + float root_goal_x[3], root_goal_v[3], extent[3], length, dir[3], vel[3]; + float f[3], dfdx[3][3], dfdv[3][3]; + + /* goal is in world space */ + world_to_root_v3(data, i, root_goal_x, goal_x); + world_to_root_v3(data, i, root_goal_v, goal_v); + + sub_v3_v3v3(extent, root_goal_x, data->X.v3(i)); + sub_v3_v3v3(vel, root_goal_v, data->V.v3(i)); + length = normalize_v3_v3(dir, extent); + + if (length > ALMOST_ZERO) { + mul_v3_v3fl(f, dir, stiffness * length); + + // Ascher & Boxman, p.21: Damping only during elonglation + // something wrong with it... + madd_v3_v3fl(f, dir, damping * dot_v3v3(vel, dir)); + + dfdx_spring(dfdx, dir, length, 0.0f, stiffness); + dfdv_damp(dfdv, dir, damping); + + add_v3_v3(data->F.v3(i), f); + data->idFdX.add(i, i, dfdx); + data->idFdV.add(i, i, dfdv); + + if (r_f) + copy_v3_v3(r_f, f); + if (r_dfdx) + copy_m3_m3(r_dfdx, dfdx); + if (r_dfdv) + copy_m3_m3(r_dfdv, dfdv); + + return true; + } + else { + if (r_f) + zero_v3(r_f); + if (r_dfdx) + zero_m3(r_dfdx); + if (r_dfdv) + zero_m3(r_dfdv); + + return false; + } } #endif /* IMPLICIT_SOLVER_EIGEN */ |