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-rw-r--r--source/blender/blenkernel/BKE_softbody.h3
-rw-r--r--source/blender/blenkernel/intern/softbody.c250
-rw-r--r--source/blender/editors/space_view3d/drawobject.c61
-rw-r--r--source/blender/makesdna/DNA_object_force.h10
4 files changed, 304 insertions, 20 deletions
diff --git a/source/blender/blenkernel/BKE_softbody.h b/source/blender/blenkernel/BKE_softbody.h
index d8053281ceb..92cb5542ad1 100644
--- a/source/blender/blenkernel/BKE_softbody.h
+++ b/source/blender/blenkernel/BKE_softbody.h
@@ -68,5 +68,8 @@ extern void sbObjectToSoftbody(struct Object *ob);
/* pass NULL to unlink again */
extern void sbSetInterruptCallBack(int (*f)(void));
+extern void SB_estimate_transform(Object *ob,float lloc[3],float lrot[3][3],float lscale[3][3]);
+
+
#endif
diff --git a/source/blender/blenkernel/intern/softbody.c b/source/blender/blenkernel/intern/softbody.c
index 34071b0034c..37ca61d913c 100644
--- a/source/blender/blenkernel/intern/softbody.c
+++ b/source/blender/blenkernel/intern/softbody.c
@@ -108,6 +108,16 @@ typedef struct BodyFace {
short flag;
} BodyFace;
+typedef struct ReferenceVert {
+ float pos[3]; /* position relative to com */
+ float mass; /* node mass */
+} ReferenceVert;
+
+typedef struct ReferenceState {
+ float com[3]; /* center of mass*/
+ ReferenceVert *ivert; /* list of intial values */
+}ReferenceState ;
+
/*private scratch pad for caching and other data only needed when alive*/
typedef struct SBScratch {
@@ -117,6 +127,7 @@ typedef struct SBScratch {
BodyFace *bodyface;
int totface;
float aabbmin[3],aabbmax[3];
+ ReferenceState Ref;
}SBScratch;
typedef struct SB_thread_context {
@@ -882,6 +893,9 @@ static void free_scratch(SoftBody *sb)
if (sb->scratch->bodyface){
MEM_freeN(sb->scratch->bodyface);
}
+ if (sb->scratch->Ref.ivert){
+ MEM_freeN(sb->scratch->Ref.ivert);
+ }
MEM_freeN(sb->scratch);
sb->scratch = NULL;
}
@@ -3332,6 +3346,27 @@ static void mesh_faces_to_scratch(Object *ob)
}
sb->scratch->totface = me->totface;
}
+static void reference_to_scratch(Object *ob)
+{
+ SoftBody *sb= ob->soft;
+ ReferenceVert *rp;
+ BodyPoint *bp;
+ float accu_pos[3] ={0.f,0.f,0.f};
+ float accu_mass = 0.f;
+ int a;
+
+ sb->scratch->Ref.ivert = MEM_mallocN(sizeof(ReferenceVert)*sb->totpoint,"SB_Reference");
+ bp= ob->soft->bpoint;
+ rp= sb->scratch->Ref.ivert;
+ for(a=0; a<sb->totpoint; a++, rp++, bp++) {
+ VECCOPY(rp->pos,bp->pos);
+ VECADD(accu_pos,accu_pos,bp->pos);
+ accu_mass += bp-> mass;
+ }
+ mul_v3_fl(accu_pos,1.0f/accu_mass);
+ VECCOPY(sb->scratch->Ref.com,accu_pos);
+ /* printf("reference_to_scratch \n"); */
+}
/*
helper function to get proper spring length
@@ -3569,16 +3604,19 @@ static void curve_surf_to_softbody(Scene *scene, Object *ob)
/* copies softbody result back in object */
static void softbody_to_object(Object *ob, float (*vertexCos)[3], int numVerts, int local)
{
- BodyPoint *bp= ob->soft->bpoint;
- int a;
-
- /* inverse matrix is not uptodate... */
- invert_m4_m4(ob->imat, ob->obmat);
-
- for(a=0; a<numVerts; a++, bp++) {
- VECCOPY(vertexCos[a], bp->pos);
- if(local==0)
- mul_m4_v3(ob->imat, vertexCos[a]); /* softbody is in global coords, baked optionally not */
+ SoftBody *sb= ob->soft;
+ if(sb){
+ BodyPoint *bp= sb->bpoint;
+ int a;
+ if(sb->solverflags & SBSO_MONITOR ||sb->solverflags & SBSO_ESTIMATEIPO){SB_estimate_transform(ob,sb->lcom,sb->lrot,sb->lscale);}
+ /* inverse matrix is not uptodate... */
+ invert_m4_m4(ob->imat, ob->obmat);
+
+ for(a=0; a<numVerts; a++, bp++) {
+ VECCOPY(vertexCos[a], bp->pos);
+ if(local==0)
+ mul_m4_v3(ob->imat, vertexCos[a]); /* softbody is in global coords, baked optionally not */
+ }
}
}
@@ -3592,6 +3630,7 @@ static void sb_new_scratch(SoftBody *sb)
sb->scratch->totface = 0;
sb->scratch->aabbmax[0]=sb->scratch->aabbmax[1]=sb->scratch->aabbmax[2] = 1.0e30f;
sb->scratch->aabbmin[0]=sb->scratch->aabbmin[1]=sb->scratch->aabbmin[2] = -1.0e30f;
+ sb->scratch->Ref.ivert = NULL;
}
/* --- ************ maintaining scratch *************** */
@@ -3713,6 +3752,178 @@ static void softbody_update_positions(Object *ob, SoftBody *sb, float (*vertexCo
}
}
+/* void SB_estimate_transform */
+/* input Object *ob out (says any object that can do SB like mesh,lattice,curve )
+ output float lloc[3],float lrot[3][3],float lscale[3][3]
+ that is:
+ a precise position vector denoting the motion of the center of mass
+ give a rotation/scale matrix using averaging method, that's why estimate and not calculate
+ see: this is kind of reverse engeneering: having to states of a point cloud and recover what happend
+ our advantage here we know the identity of the vertex
+ there are others methods giving other results.
+ lloc,lrot,lscale are allowed to be NULL, just in case you don't need it.
+ should be pretty useful for pythoneers :)
+ not! velocity .. 2nd order stuff
+ */
+
+/* can't believe there is none in math utils */
+float _det_m3(float m2[3][3])
+{
+ float det = 0.f;
+ if (m2){
+ det= m2[0][0]* (m2[1][1]*m2[2][2] - m2[1][2]*m2[2][1])
+ -m2[1][0]* (m2[0][1]*m2[2][2] - m2[0][2]*m2[2][1])
+ +m2[2][0]* (m2[0][1]*m2[1][2] - m2[0][2]*m2[1][1]);
+ }
+ return det;
+}
+
+static void SB_estimate_transform(Object *ob,float lloc[3],float lrot[3][3],float lscale[3][3])
+{
+ BodyPoint *bp;
+ ReferenceVert *rp;
+ float accu_pos[3] = {0.0f,0.0f,0.0f};
+ float com[3],va[3],vb[3],rcom[3];
+ float accu_mass = 0.0f,la = 0.0f,lb = 0.0f,eps = 0.000001f;
+ SoftBody *sb = 0;
+ int a,i=0,imax=16;
+ int _localdebug;
+
+ if (lloc) zero_v3(lloc);
+ if (lrot) zero_m3(lrot);
+ if (lscale) zero_m3(lscale);
+
+
+ if(!ob ||!ob->soft) return; /* why did we get here ? */
+ sb= ob->soft;
+ /*for threading there should be a lock */
+ /* sb-> lock; */
+ /* calculate center of mass */
+ if(!sb || !sb->bpoint) return;
+ _localdebug=sb->solverflags & SBSO_MONITOR; /* turn this on/off if you (don't) want to see progress on console */
+ for(a=0,bp=sb->bpoint; a<sb->totpoint; a++, bp++) {
+ VECADD(accu_pos,accu_pos,bp->pos);
+ accu_mass += bp->mass;
+ }
+ VECCOPY(com,accu_pos);
+ mul_v3_fl(com,1.0f/accu_mass);
+ /* center of mass done*/
+ if (sb->scratch){
+ float dcom[3],stunt[3];
+ float m[3][3],mr[3][3],q[3][3],qi[3][3];
+ float odet,ndet;
+ zero_m3(m);
+ zero_m3(mr);
+ VECSUB(dcom,com,sb->scratch->Ref.com);
+ VECCOPY(rcom,sb->scratch->Ref.com);
+ if (_localdebug) {
+ printf("DCOM %f %f %f\n",dcom[0],dcom[1],dcom[2]);
+ }
+ if (lloc) VECCOPY(lloc,dcom);
+ VECCOPY(sb->lcom,dcom);
+ /* build 'projection' matrix */
+ for(a=0, bp=sb->bpoint, rp=sb->scratch->Ref.ivert; a<sb->totpoint; a++, bp++, rp++) {
+ VECSUB(va,rp->pos,rcom);
+ la += len_v3(va);
+ /* mul_v3_fl(va,bp->mass); mass needs renormalzation here ?? */
+ VECSUB(vb,bp->pos,com);
+ lb += len_v3(vb);
+ /* mul_v3_fl(va,rp->mass); */
+ m[0][0] += va[0] * vb[0];
+ m[0][1] += va[0] * vb[1];
+ m[0][2] += va[0] * vb[2];
+
+ m[1][0] += va[1] * vb[0];
+ m[1][1] += va[1] * vb[1];
+ m[1][2] += va[1] * vb[2];
+
+ m[2][0] += va[2] * vb[0];
+ m[2][1] += va[2] * vb[1];
+ m[2][2] += va[2] * vb[2];
+
+ /* building the referenc matrix on the fly
+ needed to scale properly later*/
+
+ mr[0][0] += va[0] * va[0];
+ mr[0][1] += va[0] * va[1];
+ mr[0][2] += va[0] * va[2];
+
+ mr[1][0] += va[1] * va[0];
+ mr[1][1] += va[1] * va[1];
+ mr[1][2] += va[1] * va[2];
+
+ mr[2][0] += va[2] * va[0];
+ mr[2][1] += va[2] * va[1];
+ mr[2][2] += va[2] * va[2];
+ }
+ /* we are pretty much set up here and we could return that raw mess containing essential information
+ but being nice fellows we proceed:
+ knowing we did split off the tanslational part to the center of mass (com) part
+ however let's do some more reverse engeneering and see if we can split
+ rotation from scale ->Polardecompose
+ */
+ copy_m3_m3(q,m);
+ stunt[0] = q[0][0]; stunt[1] = q[1][1]; stunt[2] = q[2][2];
+ /* nothing to see here but renormalizing works nicely
+ printf("lenght stunt %5.3f a %5.3f b %5.3f %5.3f\n",len_v3(stunt),la,lb,sqrt(la*lb));
+ */
+ mul_m3_fl(q,1.f/len_v3(stunt));
+ /* not too much to see here
+ if(_localdebug){
+ printf("q0 %5.3f %5.3f %5.3f\n",q[0][0],q[0][1],q[0][2]);
+ printf("q1 %5.3f %5.3f %5.3f\n",q[1][0],q[1][1],q[1][2]);
+ printf("q2 %5.3f %5.3f %5.3f\n",q[2][0],q[2][1],q[2][2]);
+ }
+ */
+ /* this is pretty much Polardecompose 'inline' the algo based on Higham's thesis */
+ /* without the far case !!! but seems to work here pretty neat */
+ odet = 0.f;
+ ndet = _det_m3(q);
+ while((odet-ndet)*(odet-ndet) > eps && i<imax){
+ invert_m3_m3(qi,q);
+ transpose_m3(qi);
+ add_m3_m3m3(q,q,qi);
+ mul_m3_fl(q,0.5f);
+ odet =ndet;
+ ndet =_det_m3(q);
+ i++;
+ }
+ if (i){
+ float scale[3][3];
+ float irot[3][3];
+ if(lrot) copy_m3_m3(lrot,q);
+ copy_m3_m3(sb->lrot,q);
+ if(_localdebug){
+ printf("Rot .. i %d\n",i);
+ printf("!q0 %5.3f %5.3f %5.3f\n",q[0][0],q[0][1],q[0][2]);
+ printf("!q1 %5.3f %5.3f %5.3f\n",q[1][0],q[1][1],q[1][2]);
+ printf("!q2 %5.3f %5.3f %5.3f\n",q[2][0],q[2][1],q[2][2]);
+ }
+ invert_m3_m3(irot,q);
+ /* now that's where we need mr to get scaling right */
+ invert_m3_m3(qi,mr);
+ mul_m3_m3m3(q,m,qi);
+
+ //mul_m3_m3m3(scale,q,irot);
+ mul_m3_m3m3(scale,irot,q); /* i always have a problem with this C functions left/right operator applies first*/
+ mul_m3_fl(scale,lb/la); /* 0 order scale was normalized away so put it back here dunno if that is needed here ???*/
+
+ if(lscale) copy_m3_m3(lscale,scale);
+ copy_m3_m3(sb->lscale,scale);
+ if(_localdebug){
+ printf("Scale .. \n");
+ printf("!s0 %5.3f %5.3f %5.3f\n",scale[0][0],scale[0][1],scale[0][2]);
+ printf("!s1 %5.3f %5.3f %5.3f\n",scale[1][0],scale[1][1],scale[1][2]);
+ printf("!s2 %5.3f %5.3f %5.3f\n",scale[2][0],scale[2][1],scale[2][2]);
+ }
+
+
+ }
+ }
+ /*for threading there should be a unlock */
+ /* sb-> unlock; */
+}
+
static void softbody_reset(Object *ob, SoftBody *sb, float (*vertexCos)[3], int numVerts)
{
BodyPoint *bp;
@@ -3750,6 +3961,7 @@ static void softbody_reset(Object *ob, SoftBody *sb, float (*vertexCos)[3], int
sb->scratch->needstobuildcollider=1;
/* copy some info to scratch */
+ if (1) reference_to_scratch(ob); /* wa only need that if we want to reconstruct IPO */
switch(ob->type) {
case OB_MESH:
if (ob->softflag & OB_SB_FACECOLL) mesh_faces_to_scratch(ob);
@@ -3932,7 +4144,6 @@ void sbObjectStep(Scene *scene, Object *ob, float cfra, float (*vertexCos)[3], i
cache->flag &= ~PTCACHE_SIMULATION_VALID;
cache->simframe= 0;
//cache->last_exact= 0;
-
return;
}
else if(framenr > endframe) {
@@ -3967,22 +4178,23 @@ void sbObjectStep(Scene *scene, Object *ob, float cfra, float (*vertexCos)[3], i
if(BKE_ptcache_get_continue_physics()) {
cache->flag &= ~PTCACHE_SIMULATION_VALID;
cache->simframe= 0;
-
/* do simulation */
dtime = timescale;
-
softbody_update_positions(ob, sb, vertexCos, numVerts);
softbody_step(scene, ob, sb, dtime);
+ if(sb->solverflags & SBSO_MONITOR ){
+ printf("Picked from cache continue_physics %d\n",framenr);
+ }
softbody_to_object(ob, vertexCos, numVerts, 0);
-
return;
}
/* still no points? go away */
- if(sb->totpoint==0) return;
-
- if(framenr == startframe) {
+ if(sb->totpoint==0) {
+ return;
+ }
+ if(framenr == startframe) {
BKE_ptcache_id_reset(scene, &pid, PTCACHE_RESET_OUTDATED);
/* first frame, no simulation to do, just set the positions */
@@ -3998,6 +4210,9 @@ void sbObjectStep(Scene *scene, Object *ob, float cfra, float (*vertexCos)[3], i
cache_result = BKE_ptcache_read_cache(&pid, framenr, scene->r.frs_sec);
if(cache_result == PTCACHE_READ_EXACT || cache_result == PTCACHE_READ_INTERPOLATED) {
+ if(sb->solverflags & SBSO_MONITOR ){
+ printf("Picked from cache at frame %d\n",framenr);
+ }
softbody_to_object(ob, vertexCos, numVerts, sb->local);
cache->simframe= framenr;
@@ -4035,7 +4250,6 @@ void sbObjectStep(Scene *scene, Object *ob, float cfra, float (*vertexCos)[3], i
cache->simframe= framenr;
cache->flag |= PTCACHE_SIMULATION_VALID;
-
BKE_ptcache_write_cache(&pid, framenr);
}
diff --git a/source/blender/editors/space_view3d/drawobject.c b/source/blender/editors/space_view3d/drawobject.c
index a0c13b6d6ee..496af5ef1b8 100644
--- a/source/blender/editors/space_view3d/drawobject.c
+++ b/source/blender/editors/space_view3d/drawobject.c
@@ -91,6 +91,7 @@
#include "BKE_particle.h"
#include "BKE_pointcache.h"
#include "BKE_property.h"
+#include "BKE_softbody.h"
#include "BKE_smoke.h"
#include "BKE_unit.h"
#include "BKE_utildefines.h"
@@ -4325,7 +4326,65 @@ static void draw_ptcache_edit(Scene *scene, View3D *v3d, RegionView3D *rv3d, Obj
glPointSize(1.0);
}
+static void draw_sb_motion(Scene *scene, Object *ob)
+{
+ SoftBody *sb = 0;
+ if (sb= ob->soft){
+ if(sb->solverflags & SBSO_MONITOR ||sb->solverflags & SBSO_ESTIMATEIPO){
+ /* draw com */
+ float rt[3][3],sc[3][3],tr[3][3];
+ /* looks like to swap a b in reverse */
+ copy_m3_m3(sc,sb->lscale);
+ copy_m3_m3(rt,sb->lrot);
+ mul_m3_m3m3(tr,rt,sc);
+ if(1){
+ float root[3],tip[3];
+
+ glBegin(GL_LINES);
+ root[1] = root[2] = 0.0f;
+ root[0] = -1.0f;
+ mul_m3_v3(tr,root);
+ VECADD(root,root,sb->lcom);
+ glVertex3fv(root);
+ tip[1] = tip[2] = 0.0f;
+ tip[0] = 1.0f;
+ mul_m3_v3(tr,tip);
+ VECADD(tip,tip,sb->lcom);
+ glVertex3fv(tip);
+ glEnd();
+
+ glBegin(GL_LINES);
+ root[0] = root[2] = 0.0f;
+ root[1] = -1.0f;
+ mul_m3_v3(tr,root);
+ VECADD(root,root,sb->lcom);
+ glVertex3fv(root);
+ tip[0] = tip[2] = 0.0f;
+ tip[1] = 1.0f;
+ mul_m3_v3(tr,tip);
+ VECADD(tip,tip,sb->lcom);
+ glVertex3fv(tip);
+ glEnd();
+
+ glBegin(GL_LINES);
+ root[0] = root[1] = 0.0f;
+ root[2] = -1.0f;
+ mul_m3_v3(tr,root);
+ VECADD(root,root,sb->lcom);
+ glVertex3fv(root);
+ tip[0] = tip[1] = 0.0f;
+ tip[2] = 1.0f;
+ mul_m3_v3(tr,tip);
+ VECADD(tip,tip,sb->lcom);
+ glVertex3fv(tip);
+ glEnd();
+ }
+
+ }
+ }
+};
+/*place to add drawers */
unsigned int nurbcol[8]= {
0, 0x9090, 0x409030, 0x603080, 0, 0x40fff0, 0x40c033, 0xA090F0 };
@@ -5720,6 +5779,8 @@ void draw_object(Scene *scene, ARegion *ar, View3D *v3d, Base *base, int flag)
default:
drawaxes(1.0, flag, OB_ARROWS);
}
+ if(ob->soft /*&& flag & OB_SBMOTION*/) draw_sb_motion(scene, ob);
+
if(ob->pd && ob->pd->forcefield) draw_forcefield(scene, ob);
/* particle mode has to be drawn first so that possible child particles get cached in edit mode */
diff --git a/source/blender/makesdna/DNA_object_force.h b/source/blender/makesdna/DNA_object_force.h
index 1376a08eb3e..adccf8893d4 100644
--- a/source/blender/makesdna/DNA_object_force.h
+++ b/source/blender/makesdna/DNA_object_force.h
@@ -301,6 +301,11 @@ typedef struct SoftBody {
struct ListBase ptcaches;
struct EffectorWeights *effector_weights;
+ /* reverse esimated obmatrix .. no need to store in blend file .. how ever who cares */
+ float lcom[3];
+ float lrot[3][3];
+ float lscale[3][3];
+ char pad4[4];
} SoftBody;
@@ -379,8 +384,9 @@ typedef struct SoftBody {
#define OB_SB_AERO_ANGLE 16384
/* sb->solverflags */
-#define SBSO_MONITOR 1
-#define SBSO_OLDERR 2
+#define SBSO_MONITOR 1
+#define SBSO_OLDERR 2
+#define SBSO_ESTIMATEIPO 4
/* sb->sbc_mode */
#define SBC_MODE_MANUAL 0
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-21 23:06:11 +0300