diff options
| -rw-r--r-- | source/blender/physics/intern/BPH_mass_spring.cpp | 107 | ||||
| -rw-r--r-- | source/blender/physics/intern/implicit.h | 4 | ||||
| -rw-r--r-- | source/blender/physics/intern/implicit_blender.c | 10 |
3 files changed, 116 insertions, 5 deletions
diff --git a/source/blender/physics/intern/BPH_mass_spring.cpp b/source/blender/physics/intern/BPH_mass_spring.cpp index 6cddbc6aa46..483dfd08abd 100644 --- a/source/blender/physics/intern/BPH_mass_spring.cpp +++ b/source/blender/physics/intern/BPH_mass_spring.cpp @@ -51,6 +51,11 @@ extern "C" { #include "BPH_mass_spring.h"
#include "implicit.h"
+/* old collision stuff for cloth, use for continuity
+ * until a good replacement is ready
+ */
+#define USE_COLLISION_DOUBLE_SOLVE
+
static float I3[3][3] = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}};
/* Number of off-diagonal non-zero matrix blocks.
@@ -214,6 +219,8 @@ static void cloth_setup_constraints(ClothModifierData *clmd, ColliderContacts *c const float ZERO[3] = {0.0f, 0.0f, 0.0f};
+ BPH_mass_spring_clear_constraints(data);
+
for (v = 0; v < numverts; v++) {
if (verts[v].flags & CLOTH_VERT_FLAG_PINNED) {
/* pinned vertex constraints */
@@ -848,6 +855,86 @@ static void cloth_calc_volume_force(ClothModifierData *clmd) }
#endif
+static void cloth_collision_solve_extra(Object *ob, ClothModifierData *clmd, ListBase *effectors, float frame, float step, float dt)
+{
+ Cloth *cloth = clmd->clothObject;
+ Implicit_Data *id = cloth->implicit;
+ ClothVertex *verts = cloth->verts;
+ int numverts = cloth->numverts;
+ const float spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;;
+
+ bool do_extra_solve;
+ int i;
+
+ if (!(clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_ENABLED))
+ return;
+ if (!clmd->clothObject->bvhtree)
+ return;
+
+ // update verts to current positions
+ for (i = 0; i < numverts; i++) {
+ BPH_mass_spring_get_new_position(id, i, verts[i].tx);
+
+ sub_v3_v3v3(verts[i].tv, verts[i].tx, verts[i].txold);
+ copy_v3_v3(verts[i].v, verts[i].tv);
+ }
+
+#if 0 /* unused */
+ for (i=0, cv=cloth->verts; i<cloth->numverts; i++, cv++) {
+ copy_v3_v3(initial_cos[i], cv->tx);
+ }
+#endif
+
+ // call collision function
+ // TODO: check if "step" or "step+dt" is correct - dg
+ do_extra_solve = cloth_bvh_objcollision(ob, clmd, step/clmd->sim_parms->timescale, dt/clmd->sim_parms->timescale);
+
+ // copy corrected positions back to simulation
+ for (i = 0; i < numverts; i++) {
+ float curx[3];
+ BPH_mass_spring_get_position(id, i, curx);
+ // correct velocity again, just to be sure we had to change it due to adaptive collisions
+ sub_v3_v3v3(verts[i].tv, verts[i].tx, curx);
+ }
+
+ if (do_extra_solve) {
+// cloth_calc_helper_forces(ob, clmd, initial_cos, step/clmd->sim_parms->timescale, dt/clmd->sim_parms->timescale);
+
+ for (i = 0; i < numverts; i++) {
+
+ float newv[3];
+
+ if ((clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL) && (verts [i].flags & CLOTH_VERT_FLAG_PINNED))
+ continue;
+
+ BPH_mass_spring_set_new_position(id, i, verts[i].tx);
+ mul_v3_v3fl(newv, verts[i].tv, spf);
+ BPH_mass_spring_set_new_velocity(id, i, newv);
+ }
+ }
+
+ // X = Xnew;
+ BPH_mass_spring_apply_result(id);
+
+ if (do_extra_solve) {
+ ImplicitSolverResult result;
+
+ /* initialize forces to zero */
+ BPH_mass_spring_clear_forces(id);
+
+ // calculate forces
+ cloth_calc_force(clmd, frame, effectors, step);
+
+ // calculate new velocity and position
+ BPH_mass_spring_solve_velocities(id, dt, &result);
+// cloth_record_result(clmd, &result, clmd->sim_parms->stepsPerFrame);
+
+ /* note: positions are advanced only once in the main solver step! */
+
+ BPH_mass_spring_apply_result(id);
+ }
+}
+
static void cloth_clear_result(ClothModifierData *clmd)
{
ClothSolverResult *sres = clmd->solver_result;
@@ -897,8 +984,10 @@ int BPH_cloth_solve(Object *ob, float frame, ClothModifierData *clmd, ListBase * unsigned int numverts = cloth->numverts;
float dt = clmd->sim_parms->timescale / clmd->sim_parms->stepsPerFrame;
Implicit_Data *id = cloth->implicit;
+#ifndef USE_COLLISION_DOUBLE_SOLVE
ColliderContacts *contacts = NULL;
int totcolliders = 0;
+#endif
BKE_sim_debug_data_clear_category("collision");
@@ -921,16 +1010,13 @@ int BPH_cloth_solve(Object *ob, float frame, ClothModifierData *clmd, ListBase * while (step < tf) {
ImplicitSolverResult result;
- /* initialize forces to zero */
- BPH_mass_spring_clear_forces(id);
- BPH_mass_spring_clear_constraints(id);
-
/* copy velocities for collision */
for (i = 0; i < numverts; i++) {
BPH_mass_spring_get_motion_state(id, i, NULL, verts[i].tv);
copy_v3_v3(verts[i].v, verts[i].tv);
}
+#ifndef USE_COLLISION_DOUBLE_SOLVE
/* determine contact points */
if (clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_ENABLED) {
if (clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_POINTS) {
@@ -940,6 +1026,13 @@ int BPH_cloth_solve(Object *ob, float frame, ClothModifierData *clmd, ListBase * /* 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);
+#endif
+
+ /* initialize forces to zero */
+ BPH_mass_spring_clear_forces(id);
// damping velocity for artistic reasons
// this is a bad way to do it, should be removed imo - lukas_t
@@ -963,6 +1056,10 @@ int BPH_cloth_solve(Object *ob, float frame, ClothModifierData *clmd, ListBase * BPH_mass_spring_solve_positions(id, dt);
+#ifdef USE_COLLISION_DOUBLE_SOLVE
+ cloth_collision_solve_extra(ob, clmd, effectors, frame, step, dt);
+#endif
+
BPH_mass_spring_apply_result(id);
/* move pinned verts to correct position */
@@ -978,10 +1075,12 @@ int BPH_cloth_solve(Object *ob, float frame, ClothModifierData *clmd, ListBase * BPH_mass_spring_get_motion_state(id, i, verts[i].txold, NULL);
}
+#ifndef USE_COLLISION_DOUBLE_SOLVE
/* free contact points */
if (contacts) {
cloth_free_contacts(contacts, totcolliders);
}
+#endif
step += dt;
}
diff --git a/source/blender/physics/intern/implicit.h b/source/blender/physics/intern/implicit.h index 7ded479f578..d286d3df1a5 100644 --- a/source/blender/physics/intern/implicit.h +++ b/source/blender/physics/intern/implicit.h @@ -82,7 +82,9 @@ void BPH_mass_spring_set_velocity(struct Implicit_Data *data, int index, const f 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]); -/* modified velocity during solver step */ +/* access to modified motion state during solver step */ +void BPH_mass_spring_get_new_position(struct Implicit_Data *data, int index, float x[3]); +void BPH_mass_spring_set_new_position(struct Implicit_Data *data, int index, const float x[3]); void BPH_mass_spring_get_new_velocity(struct Implicit_Data *data, int index, float v[3]); void BPH_mass_spring_set_new_velocity(struct Implicit_Data *data, int index, const float v[3]); diff --git a/source/blender/physics/intern/implicit_blender.c b/source/blender/physics/intern/implicit_blender.c index e6ba55ab605..5b1d83a3eef 100644 --- a/source/blender/physics/intern/implicit_blender.c +++ b/source/blender/physics/intern/implicit_blender.c @@ -1225,6 +1225,16 @@ void BPH_mass_spring_get_position(struct Implicit_Data *data, int index, float x 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]); +} + +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); +} + 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]); |