diff options
Diffstat (limited to 'intern/softbody/admmpd_api.cpp')
| -rw-r--r-- | intern/softbody/admmpd_api.cpp | 289 |
1 files changed, 173 insertions, 116 deletions
diff --git a/intern/softbody/admmpd_api.cpp b/intern/softbody/admmpd_api.cpp index 85d4718bf7f..a9699eb936b 100644 --- a/intern/softbody/admmpd_api.cpp +++ b/intern/softbody/admmpd_api.cpp @@ -31,32 +31,18 @@ #endif #include "DNA_mesh_types.h" // Mesh #include "DNA_meshdata_types.h" // MVert +#include "DNA_modifier_types.h" // CollisionModifierData #include "DNA_object_force_types.h" // Enums #include "BKE_mesh.h" // BKE_mesh_free #include "BKE_softbody.h" // BodyPoint #include "BKE_deform.h" // BKE_defvert_find_index +#include "BKE_modifier.h" // BKE_modifiers_findby_type #include "MEM_guardedalloc.h" #include <iostream> #include <memory> #include <algorithm> -// Collision obstacles are cached until -// solve(...) is called. If we are substepping, -// the obstacle is interpolated from start to end. -struct CollisionObstacle -{ - Eigen::VectorXf x0, x1; - std::vector<unsigned int> F; - bool needs_sdf_recompute; - void reset() { - x0 = Eigen::VectorXf(); - x1 = Eigen::VectorXf(); - F.clear(); - needs_sdf_recompute = true; - } -}; - struct ADMMPDInternalData { // Created in admmpd_update_mesh @@ -66,7 +52,8 @@ struct ADMMPDInternalData std::shared_ptr<admmpd::Options> options; std::shared_ptr<admmpd::SolverData> data; // Created in set_obstacles - CollisionObstacle obs; + std::vector<Eigen::MatrixXd> obs_x0, obs_x1; + std::vector<Eigen::MatrixXi> obs_F; }; @@ -104,6 +91,7 @@ static inline void options_from_object( op->linsolver = std::max(0, std::min(LINSOLVER_NUM-1, sb->admmpd_linsolver)); op->strain_limit[0] = std::min(1.f, sb->admmpd_strainlimit_min); op->strain_limit[1] = std::max(1.f, sb->admmpd_strainlimit_max); + op->lattice_subdiv = std::max(1,sb->admmpd_embed_res); if (!skip_require_reset) { @@ -186,10 +174,8 @@ static inline int admmpd_init_with_lattice(ADMMPDInterfaceData *iface, Object *o std::vector<unsigned int> f; vecs_from_object(ob,vertexCos,v,f); iface->idata->mesh = std::make_shared<admmpd::EmbeddedMesh>(); - - admmpd::EmbeddedMesh* emb_msh = static_cast<admmpd::EmbeddedMesh*>(iface->idata->mesh.get()); - emb_msh->options.max_subdiv_levels = ob->soft->admmpd_embed_res; bool success = iface->idata->mesh->create( + iface->idata->options.get(), v.data(), v.size()/3, f.data(), @@ -197,7 +183,7 @@ static inline int admmpd_init_with_lattice(ADMMPDInterfaceData *iface, Object *o nullptr, 0); - if (!success) { + if (!success) { // soft unknown fail strcpy_error(iface, "EmbeddedMesh failed on creation"); return 0; } @@ -214,6 +200,7 @@ static inline int admmpd_init_as_cloth(ADMMPDInterfaceData *iface, Object *ob, f iface->idata->mesh = std::make_shared<admmpd::TriangleMesh>(); bool success = iface->idata->mesh->create( + iface->idata->options.get(), v.data(), v.size()/3, f.data(), @@ -230,6 +217,53 @@ static inline int admmpd_init_as_cloth(ADMMPDInterfaceData *iface, Object *ob, f return 1; } +void admmpd_compute_lattice( + int subdiv, + float *in_verts, int in_nv, + unsigned int *in_faces, int in_nf, + float **out_verts, int *out_nv, + unsigned int **out_tets, int *out_nt) +{ + + admmpd::EmbeddedMesh emesh; + admmpd::Options opt; + opt.lattice_subdiv = subdiv; + bool success = emesh.create( + &opt, + in_verts, in_nv, + in_faces, in_nf, + nullptr, + 0); + + if (!success) { + return; + } + + const Eigen::MatrixXd &vt = *emesh.rest_prim_verts(); + const Eigen::MatrixXi &t = *emesh.prims(); + if (vt.rows()==0 || t.rows()==0) { + return; + } + + *out_nv = vt.rows(); + *out_verts = (float*)MEM_callocN(sizeof(float)*3*(vt.rows()), "ADMMPD_lattice_verts"); + *out_nt = t.rows(); + *out_tets = (unsigned int*)MEM_callocN(sizeof(unsigned int)*4*(t.rows()), "ADMMPD_lattice_tets"); + + for (int i=0; i<vt.rows(); ++i) { + (*out_verts)[i*3+0] = vt(i,0); + (*out_verts)[i*3+1] = vt(i,1); + (*out_verts)[i*3+2] = vt(i,2); + } + + for (int i=0; i<t.rows(); ++i) { + (*out_tets)[i*4+0] = t(i,0); + (*out_tets)[i*4+1] = t(i,1); + (*out_tets)[i*4+2] = t(i,2); + (*out_tets)[i*4+3] = t(i,3); + } +} + int admmpd_mesh_needs_update(ADMMPDInterfaceData *iface, Object *ob) { if (!iface) { return 0; } @@ -244,6 +278,7 @@ int admmpd_mesh_needs_update(ADMMPDInterfaceData *iface, Object *ob) // Mode or topology change? int mode = ob->soft->admmpd_mesh_mode; int mesh_type = iface->idata->mesh->type(); + if (mode != mesh_type) { return 1; } if (!iface->idata->mesh->rest_facet_verts()) { return 1; } int nx = iface->idata->mesh->rest_facet_verts()->rows(); @@ -258,9 +293,15 @@ int admmpd_update_mesh(ADMMPDInterfaceData *iface, Object *ob, float (*vertexCos if (!ob) { return 0; } if (!ob->soft) { return 0; } - if (!iface->idata) + if (!iface->idata) { iface->idata = (ADMMPDInternalData*)MEM_callocN(sizeof(ADMMPDInternalData), "ADMMPD_idata"); + } + if (!iface->idata->options) { + iface->idata->options = std::make_shared<admmpd::Options>(); + } + + options_from_object(iface,NULL,ob,iface->idata->options.get(),false); int mode = ob->soft->admmpd_mesh_mode; iface->idata->mesh.reset(); @@ -362,9 +403,13 @@ int admmpd_update_solver(ADMMPDInterfaceData *iface, Scene *sc, Object *ob, flo if (!iface->idata->mesh) { return 0; } // Reset options and data - iface->idata->options = std::make_shared<admmpd::Options>(); + if (!iface->idata->options) { + iface->idata->options = std::make_shared<admmpd::Options>(); + } iface->idata->data = std::make_shared<admmpd::SolverData>(); - iface->idata->obs.reset(); + iface->idata->obs_x0.clear(); + iface->idata->obs_x1.clear(); + iface->idata->obs_F.clear(); admmpd::Options *op = iface->idata->options.get(); options_from_object(iface,sc,ob,op,false); @@ -417,11 +462,18 @@ void admmpd_copy_to_object(ADMMPDInterfaceData *iface, Object *ob, float (*verte if (ob && ob->soft) { SoftBody *sb = ob->soft; + if (!sb->bpoint) { if (!ob->soft->bpoint) { sb->bpoint = (BodyPoint*)MEM_callocN(nx*sizeof(BodyPoint), "ADMMPD_bpoint"); } + sb->totpoint = nx; + sb->totspring = 0; + } + if (sb->totpoint != nx && sb->totpoint>0) { + MEM_freeN(sb->bpoint); + sb->bpoint = (BodyPoint*)MEM_callocN(nx*sizeof(BodyPoint), "ADMMPD_bpoint"); sb->totpoint = nx; sb->totspring = 0; } @@ -454,66 +506,6 @@ void admmpd_copy_to_object(ADMMPDInterfaceData *iface, Object *ob, float (*verte } } -void admmpd_update_obstacles( - ADMMPDInterfaceData *iface, - float *in_verts_0, - float *in_verts_1, - int nv, - unsigned int *in_faces, - int nf) -{ - if (iface==NULL || in_verts_0==NULL || in_verts_1==NULL || in_faces==NULL) { - return; - } - if (!iface->idata) { return; } - - if (nf==0 || nv==0) { return; } - int nv3 = nv*3; - int nf3 = nf*3; - iface->idata->obs.needs_sdf_recompute = false; - - if (iface->idata->obs.x0.size()!=nv3) { - iface->idata->obs.x0.resize(nv3); - iface->idata->obs.needs_sdf_recompute = true; - } - - if (iface->idata->obs.x1.size()!=nv3) { - iface->idata->obs.x1.resize(nv3); - iface->idata->obs.needs_sdf_recompute = true; - } - - if (iface->idata->obs.F.size()!=nf3) { - iface->idata->obs.F.resize(nf3); - iface->idata->obs.needs_sdf_recompute = true; - } - - for (int i=0; i<nv3; ++i) { - - // Change in x? - if (!iface->idata->obs.needs_sdf_recompute) { - if (std::abs(iface->idata->obs.x0[i]-in_verts_0[i])>1e-8 || - std::abs(iface->idata->obs.x1[i]-in_verts_1[i])>1e-8 ) { - iface->idata->obs.needs_sdf_recompute = true; - } - } - - iface->idata->obs.x0[i] = in_verts_0[i]; - iface->idata->obs.x1[i] = in_verts_1[i]; - } - for (int i=0; i<nf3; ++i) { - - // Change in f? - if (!iface->idata->obs.needs_sdf_recompute) { - if (iface->idata->obs.F[i] != in_faces[i]) { - iface->idata->obs.needs_sdf_recompute = true; - } - } - - iface->idata->obs.F[i] = in_faces[i]; - } - -} - static inline void admmpd_update_goals(ADMMPDInterfaceData *iface, Object *ob, float (*vertexCos)[3]) { if (!iface) { return; } @@ -603,11 +595,18 @@ int admmpd_solve(ADMMPDInterfaceData *iface, Object *ob, float (*vertexCos)[3]) return 0; } - if (!iface->idata || !iface->idata->options || !iface->idata->data) { + if (!iface->idata || !iface->idata->options || + !iface->idata->data || !iface->idata->mesh) { strcpy_error(iface, "NULL internal data"); return 0; } + std::string meshname(ob->id.name); + + // Set to true if certain conditions should + // throw a warning flag. + bool return_warning = false; + // Change only options that do not cause a reset of the solver. bool skip_solver_reset = true; options_from_object( @@ -617,6 +616,19 @@ int admmpd_solve(ADMMPDInterfaceData *iface, Object *ob, float (*vertexCos)[3]) iface->idata->options.get(), skip_solver_reset); + // Disable self collision flag if the mesh does not support it. + if (iface->idata->options->self_collision && + !iface->idata->mesh->self_collision_allowed()) { + // Special message if embedded, in which the mesh is not closed. + std::string err = "Cannot do self collisions on object "+meshname+" for selected mesh type"; + if (iface->idata->mesh->type() == MESHTYPE_EMBEDDED) { + err = "Cannot do self collisions on object "+meshname+", mesh is not closed."; + } + strcpy_error(iface, err.c_str()); + iface->idata->options->self_collision = false; + return_warning = true; + } + // Goals and self collision group can change // between time steps. If the goal indices/weights change, // it will trigger a refactorization in the solver. @@ -625,12 +637,11 @@ int admmpd_solve(ADMMPDInterfaceData *iface, Object *ob, float (*vertexCos)[3]) // Obstacle collisions not yet implemented // for cloth or tet mesh. - bool had_set_obstacle_error = false; if ((ob->soft->admmpd_mesh_mode == MESHTYPE_TET || ob->soft->admmpd_mesh_mode == MESHTYPE_TRIANGLE) && - iface->idata->obs.x0.size()>0) + iface->idata->obs_x0.size()>0) { - had_set_obstacle_error = true; + return_warning = true; strcpy_error(iface, "Obstacle collision not yet available for selected mesh mode."); } @@ -640,47 +651,40 @@ int admmpd_solve(ADMMPDInterfaceData *iface, Object *ob, float (*vertexCos)[3]) // b) the obstacle positions have changed from the last frame bool has_obstacles = iface->idata->collision && - iface->idata->obs.x0.size() > 0 && - iface->idata->obs.F.size() > 0 && - iface->idata->obs.x0.size()==iface->idata->obs.x1.size(); - bool lerp_obstacles = - has_obstacles && - iface->idata->options->substeps>1 && - (iface->idata->obs.x0-iface->idata->obs.x1).lpNorm<Eigen::Infinity>()>1e-6; - - if (has_obstacles && iface->idata->obs.needs_sdf_recompute && !lerp_obstacles) { + iface->idata->obs_x0.size() > 0 && + iface->idata->obs_x1.size() > 0 && + iface->idata->obs_x0[0].size()==iface->idata->obs_x1[0].size(); + + int substeps = std::max(1,iface->idata->options->substeps); + int n_obs = iface->idata->obs_x0.size(); + if (has_obstacles && substeps == 1) { // no lerp necessary std::string set_obs_error = ""; if (!iface->idata->collision->set_obstacles( - iface->idata->obs.x0.data(), - iface->idata->obs.x1.data(), - iface->idata->obs.x0.size()/3, - iface->idata->obs.F.data(), - iface->idata->obs.F.size()/3, + iface->idata->obs_x0, iface->idata->obs_x1, iface->idata->obs_F, &set_obs_error)) { strcpy_error(iface, set_obs_error.c_str()); - had_set_obstacle_error = true; + return_warning = true; } } try { - Eigen::VectorXf obs_x1; // used if substeps > 1 - int substeps = std::max(1,iface->idata->options->substeps); + std::vector<Eigen::MatrixXd> obs_x1_t; for (int i=0; i<substeps; ++i) { - if (lerp_obstacles) { + // Interpolate obstacles + if (has_obstacles && substeps>1) { float t = float(i)/float(substeps-1); - obs_x1 = (1.f-t)*iface->idata->obs.x0 + t*iface->idata->obs.x1; + obs_x1_t.resize(n_obs); + for (int j=0; j<n_obs; ++j) { + obs_x1_t[j] = (1.f-t)*iface->idata->obs_x0[j] + t*iface->idata->obs_x1[j]; + } std::string set_obs_error = ""; - if (iface->idata->collision->set_obstacles( - iface->idata->obs.x0.data(), - obs_x1.data(), - iface->idata->obs.x0.size()/3, - iface->idata->obs.F.data(), - iface->idata->obs.F.size()/3, + if (!iface->idata->collision->set_obstacles( + iface->idata->obs_x0, iface->idata->obs_x1, iface->idata->obs_F, &set_obs_error)) { strcpy_error(iface, set_obs_error.c_str()); - had_set_obstacle_error = true; + return_warning = true; } } @@ -699,8 +703,7 @@ int admmpd_solve(ADMMPDInterfaceData *iface, Object *ob, float (*vertexCos)[3]) return 0; } - if (had_set_obstacle_error) { - // Return warning (-1). + if (return_warning) { // We've already copied the error message. return -1; } @@ -708,6 +711,59 @@ int admmpd_solve(ADMMPDInterfaceData *iface, Object *ob, float (*vertexCos)[3]) return 1; } +void admmpd_update_obstacles(ADMMPDInterfaceData *iface, Object **obstacles, int numobjects) +{ + // Because substepping may occur, we'll buffer the start and end states + // of the obstacles. They will not be copied over to the collision pointer + // until solve(), depending on the number of substeps, in which case + // they are LERP'd + iface->idata->obs_x0.clear(); + iface->idata->obs_x1.clear(); + iface->idata->obs_F.clear(); + if (!iface) { return; } + if (!iface->idata) { return; } + if (!obstacles || numobjects==0) { return; } + + for (int i = 0; i < numobjects; ++i) { + Object *ob = obstacles[i]; + if (!ob) { + continue; // uh? + } + if (ob->type != OB_MESH) { + continue; // is not a mesh type + } + if (!ob->pd || !ob->pd->deflect) { + continue; // is a non-collider + } + if (strcmp(ob->id.name,iface->name)==0) { + continue; // skip self + } + + CollisionModifierData *cmd = (CollisionModifierData *)BKE_modifiers_findby_type( + ob, eModifierType_Collision); + if (!cmd) { + continue; + } + + int idx = iface->idata->obs_x0.size(); + iface->idata->obs_x0.emplace_back(Eigen::MatrixXd(cmd->mvert_num,3)); + iface->idata->obs_x1.emplace_back(Eigen::MatrixXd(cmd->mvert_num,3)); + iface->idata->obs_F.emplace_back(Eigen::MatrixXi(cmd->tri_num,3)); + + for (int j=0; j<cmd->mvert_num; ++j) { + for (int k=0; k<3; ++k) { + iface->idata->obs_x0[idx](j,k) = cmd->x[j].co[k]; + iface->idata->obs_x1[idx](j,k) = cmd->xnew[j].co[k]; + } + } + + for (int j=0; j<cmd->tri_num; ++j) { + for (int k=0; k<3; ++k) { + iface->idata->obs_F[idx](j,k) = cmd->tri[j].tri[k]; + } + } + } +} #ifdef WITH_TETGEN @@ -864,6 +920,7 @@ static inline int admmpd_init_with_tetgen(ADMMPDInterfaceData *iface, Object *ob iface->idata->mesh = std::make_shared<admmpd::TetMesh>(); bool success = iface->idata->mesh->create( + iface->idata->options.get(), verts.data(), nv, faces.data(), |