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path: root/source/blender/blenkernel/intern/collision.c
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-rw-r--r--source/blender/blenkernel/intern/collision.c267
1 files changed, 115 insertions, 152 deletions
diff --git a/source/blender/blenkernel/intern/collision.c b/source/blender/blenkernel/intern/collision.c
index 763024ec565..db3642ae183 100644
--- a/source/blender/blenkernel/intern/collision.c
+++ b/source/blender/blenkernel/intern/collision.c
@@ -71,82 +71,92 @@ void collision_move_object(CollisionModifierData *collmd, float step, float prev
float tv[3] = {0, 0, 0};
unsigned int i = 0;
- for ( i = 0; i < collmd->numverts; i++ ) {
+ for (i = 0; i < collmd->mvert_num; i++) {
sub_v3_v3v3(tv, collmd->xnew[i].co, collmd->x[i].co);
VECADDS(collmd->current_x[i].co, collmd->x[i].co, tv, prevstep);
VECADDS(collmd->current_xnew[i].co, collmd->x[i].co, tv, step);
sub_v3_v3v3(collmd->current_v[i].co, collmd->current_xnew[i].co, collmd->current_x[i].co);
}
- bvhtree_update_from_mvert ( collmd->bvhtree, collmd->mfaces, collmd->numfaces, collmd->current_x, collmd->current_xnew, collmd->numverts, 1 );
+ bvhtree_update_from_mvert(
+ collmd->bvhtree, collmd->current_x, collmd->current_xnew,
+ collmd->tri, collmd->tri_num, true);
}
-BVHTree *bvhtree_build_from_mvert ( MFace *mfaces, unsigned int numfaces, MVert *x, unsigned int UNUSED(numverts), float epsilon )
+BVHTree *bvhtree_build_from_mvert(
+ const MVert *mvert,
+ const struct MVertTri *tri, int tri_num,
+ float epsilon)
{
BVHTree *tree;
- float co[12];
- unsigned int i;
- MFace *tface = mfaces;
+ const MVertTri *vt;
+ int i;
+
+ tree = BLI_bvhtree_new(tri_num, epsilon, 4, 26);
- tree = BLI_bvhtree_new ( numfaces*2, epsilon, 4, 26 );
+ /* fill tree */
+ for (i = 0, vt = tri; i < tri_num; i++, vt++) {
+ float co[3][3];
- // fill tree
- for ( i = 0; i < numfaces; i++, tface++ ) {
- copy_v3_v3 ( &co[0*3], x[tface->v1].co );
- copy_v3_v3 ( &co[1*3], x[tface->v2].co );
- copy_v3_v3 ( &co[2*3], x[tface->v3].co );
- if ( tface->v4 )
- copy_v3_v3 ( &co[3*3], x[tface->v4].co );
+ copy_v3_v3(co[0], mvert[vt->tri[0]].co);
+ copy_v3_v3(co[1], mvert[vt->tri[1]].co);
+ copy_v3_v3(co[2], mvert[vt->tri[2]].co);
- BLI_bvhtree_insert ( tree, i, co, ( mfaces->v4 ? 4 : 3 ) );
+ BLI_bvhtree_insert(tree, i, co[0], 3);
}
- // balance tree
- BLI_bvhtree_balance ( tree );
+ /* balance tree */
+ BLI_bvhtree_balance(tree);
return tree;
}
-void bvhtree_update_from_mvert(BVHTree *bvhtree, MFace *faces, int numfaces, MVert *x, MVert *xnew, int UNUSED(numverts), int moving )
+void bvhtree_update_from_mvert(
+ BVHTree *bvhtree,
+ const MVert *mvert, const MVert *mvert_moving,
+ const MVertTri *tri, int tri_num,
+ bool moving)
{
+ const MVertTri *vt;
int i;
- MFace *mfaces = faces;
- float co[12], co_moving[12];
- bool ret = false;
- if ( !bvhtree )
+ if ((bvhtree == NULL) || (mvert == NULL)) {
return;
+ }
- if ( x ) {
- for ( i = 0; i < numfaces; i++, mfaces++ ) {
- copy_v3_v3 ( &co[0*3], x[mfaces->v1].co );
- copy_v3_v3 ( &co[1*3], x[mfaces->v2].co );
- copy_v3_v3 ( &co[2*3], x[mfaces->v3].co );
- if ( mfaces->v4 )
- copy_v3_v3 ( &co[3*3], x[mfaces->v4].co );
-
- // copy new locations into array
- if ( moving && xnew ) {
- // update moving positions
- copy_v3_v3 ( &co_moving[0*3], xnew[mfaces->v1].co );
- copy_v3_v3 ( &co_moving[1*3], xnew[mfaces->v2].co );
- copy_v3_v3 ( &co_moving[2*3], xnew[mfaces->v3].co );
- if ( mfaces->v4 )
- copy_v3_v3 ( &co_moving[3*3], xnew[mfaces->v4].co );
-
- ret = BLI_bvhtree_update_node ( bvhtree, i, co, co_moving, ( mfaces->v4 ? 4 : 3 ) );
- }
- else {
- ret = BLI_bvhtree_update_node ( bvhtree, i, co, NULL, ( mfaces->v4 ? 4 : 3 ) );
- }
+ if (mvert_moving == NULL) {
+ moving = false;
+ }
+
+ for (i = 0, vt = tri; i < tri_num; i++, vt++) {
+ float co[3][3];
+ bool ret;
+
+ copy_v3_v3(co[0], mvert[vt->tri[0]].co);
+ copy_v3_v3(co[1], mvert[vt->tri[1]].co);
+ copy_v3_v3(co[2], mvert[vt->tri[2]].co);
- // check if tree is already full
- if ( !ret )
- break;
+ /* copy new locations into array */
+ if (moving) {
+ float co_moving[3][3];
+ /* update moving positions */
+ copy_v3_v3(co_moving[0], mvert_moving[vt->tri[0]].co);
+ copy_v3_v3(co_moving[1], mvert_moving[vt->tri[1]].co);
+ copy_v3_v3(co_moving[2], mvert_moving[vt->tri[2]].co);
+
+ ret = BLI_bvhtree_update_node(bvhtree, i, &co[0][0], &co_moving[0][0], 3);
+ }
+ else {
+ ret = BLI_bvhtree_update_node(bvhtree, i, &co[0][0], NULL, 3);
}
- BLI_bvhtree_update_tree ( bvhtree );
+ /* check if tree is already full */
+ if (ret == false) {
+ break;
+ }
}
+
+ BLI_bvhtree_update_tree(bvhtree);
}
/***********************************
@@ -380,80 +390,29 @@ static CollPair* cloth_collision(ModifierData *md1, ModifierData *md2,
ClothModifierData *clmd = (ClothModifierData *)md1;
CollisionModifierData *collmd = (CollisionModifierData *) md2;
/* Cloth *cloth = clmd->clothObject; */ /* UNUSED */
- MFace *face1=NULL, *face2 = NULL;
+ const MVertTri *tri_a, *tri_b;
#ifdef WITH_BULLET
ClothVertex *verts1 = clmd->clothObject->verts;
#endif
double distance = 0;
float epsilon1 = clmd->coll_parms->epsilon;
float epsilon2 = BLI_bvhtree_getepsilon ( collmd->bvhtree );
- int i;
- face1 = & ( clmd->clothObject->mfaces[overlap->indexA] );
- face2 = & ( collmd->mfaces[overlap->indexB] );
-
- // check all 4 possible collisions
- for ( i = 0; i < 4; i++ ) {
- if ( i == 0 ) {
- // fill faceA
- collpair->ap1 = face1->v1;
- collpair->ap2 = face1->v2;
- collpair->ap3 = face1->v3;
-
- // fill faceB
- collpair->bp1 = face2->v1;
- collpair->bp2 = face2->v2;
- collpair->bp3 = face2->v3;
- }
- else if ( i == 1 ) {
- if ( face1->v4 ) {
- // fill faceA
- collpair->ap1 = face1->v1;
- collpair->ap2 = face1->v3;
- collpair->ap3 = face1->v4;
-
- // fill faceB
- collpair->bp1 = face2->v1;
- collpair->bp2 = face2->v2;
- collpair->bp3 = face2->v3;
- }
- else {
- i++;
- }
- }
- if ( i == 2 ) {
- if ( face2->v4 ) {
- // fill faceA
- collpair->ap1 = face1->v1;
- collpair->ap2 = face1->v2;
- collpair->ap3 = face1->v3;
-
- // fill faceB
- collpair->bp1 = face2->v1;
- collpair->bp2 = face2->v4;
- collpair->bp3 = face2->v3;
- }
- else {
- break;
- }
- }
- else if ( i == 3 ) {
- if ( face1->v4 && face2->v4 ) {
- // fill faceA
- collpair->ap1 = face1->v1;
- collpair->ap2 = face1->v3;
- collpair->ap3 = face1->v4;
-
- // fill faceB
- collpair->bp1 = face2->v1;
- collpair->bp2 = face2->v3;
- collpair->bp3 = face2->v4;
- }
- else {
- break;
- }
- }
-
+ tri_a = &clmd->clothObject->tri[overlap->indexA];
+ tri_b = &collmd->tri[overlap->indexB];
+
+ /* fill face_a */
+ collpair->ap1 = tri_a->tri[0];
+ collpair->ap2 = tri_a->tri[1];
+ collpair->ap3 = tri_a->tri[2];
+
+ /* fill face_b */
+ collpair->bp1 = tri_b->tri[0];
+ collpair->bp2 = tri_b->tri[1];
+ collpair->bp3 = tri_b->tri[2];
+
+ {
+
#ifdef WITH_BULLET
// calc distance + normal
distance = plNearestPoints (
@@ -662,12 +621,12 @@ static void cloth_bvh_objcollisions_nearcheck ( ClothModifierData * clmd, Collis
static int cloth_bvh_objcollisions_resolve ( ClothModifierData * clmd, CollisionModifierData *collmd, CollPair *collisions, CollPair *collisions_index)
{
Cloth *cloth = clmd->clothObject;
- int i=0, j = 0, /*numfaces = 0, */ numverts = 0;
+ int i=0, j = 0, /*numfaces = 0, */ mvert_num = 0;
ClothVertex *verts = NULL;
int ret = 0;
int result = 0;
- numverts = clmd->clothObject->numverts;
+ mvert_num = clmd->clothObject->mvert_num;
verts = cloth->verts;
// process all collisions (calculate impulses, TODO: also repulses if distance too short)
@@ -680,7 +639,7 @@ static int cloth_bvh_objcollisions_resolve ( ClothModifierData * clmd, Collision
// apply impulses in parallel
if (result) {
- for (i = 0; i < numverts; i++) {
+ for (i = 0; i < mvert_num; i++) {
// calculate "velocities" (just xnew = xold + v; no dt in v)
if (verts[i].impulse_count) {
// VECADDMUL ( verts[i].tv, verts[i].impulse, 1.0f / verts[i].impulse_count );
@@ -706,7 +665,7 @@ int cloth_bvh_objcollision(Object *ob, ClothModifierData *clmd, float step, floa
{
Cloth *cloth= clmd->clothObject;
BVHTree *cloth_bvh= cloth->bvhtree;
- unsigned int i=0, /* numfaces = 0, */ /* UNUSED */ numverts = 0, k, l, j;
+ unsigned int i=0, /* numfaces = 0, */ /* UNUSED */ mvert_num = 0, k, l, j;
int rounds = 0; // result counts applied collisions; ic is for debug output;
ClothVertex *verts = NULL;
int ret = 0, ret2 = 0;
@@ -718,7 +677,7 @@ int cloth_bvh_objcollision(Object *ob, ClothModifierData *clmd, float step, floa
verts = cloth->verts;
/* numfaces = cloth->numfaces; */ /* UNUSED */
- numverts = cloth->numverts;
+ mvert_num = cloth->mvert_num;
////////////////////////////////////////////////////////////
// static collisions
@@ -794,8 +753,8 @@ int cloth_bvh_objcollision(Object *ob, ClothModifierData *clmd, float step, floa
// this is needed for bvh_calc_DOP_hull_moving() [kdop.c]
////////////////////////////////////////////////////////////
- // verts come from clmd
- for ( i = 0; i < numverts; i++ ) {
+ /* verts come from clmd */
+ for (i = 0; i < mvert_num; i++) {
if ( clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL ) {
if ( verts [i].flags & CLOTH_VERT_FLAG_PINNED ) {
continue;
@@ -820,7 +779,7 @@ int cloth_bvh_objcollision(Object *ob, ClothModifierData *clmd, float step, floa
verts = cloth->verts; // needed for openMP
/* numfaces = cloth->numfaces; */ /* UNUSED */
- numverts = cloth->numverts;
+ mvert_num = cloth->mvert_num;
verts = cloth->verts;
@@ -898,8 +857,8 @@ int cloth_bvh_objcollision(Object *ob, ClothModifierData *clmd, float step, floa
////////////////////////////////////////////////////////////
// SELFCOLLISIONS: update velocities
////////////////////////////////////////////////////////////
- if ( ret2 ) {
- for ( i = 0; i < cloth->numverts; i++ ) {
+ if (ret2) {
+ for (i = 0; i < cloth->mvert_num; i++) {
if ( ! ( verts [i].flags & CLOTH_VERT_FLAG_PINNED ) ) {
sub_v3_v3v3(verts[i].tv, verts[i].tx, verts[i].txold);
}
@@ -1104,10 +1063,11 @@ BLI_INLINE bool cloth_point_face_collision_params(const float p1[3], const float
#endif
}
-static CollPair *cloth_point_collpair(float p1[3], float p2[3], MVert *mverts, int bp1, int bp2, int bp3,
- int index_cloth, int index_coll, float epsilon, CollPair *collpair)
+static CollPair *cloth_point_collpair(
+ float p1[3], float p2[3], const MVert *mverts, int bp1, int bp2, int bp3,
+ int index_cloth, int index_coll, float epsilon, CollPair *collpair)
{
- float *co1 = mverts[bp1].co, *co2 = mverts[bp2].co, *co3 = mverts[bp3].co;
+ const float *co1 = mverts[bp1].co, *co2 = mverts[bp2].co, *co3 = mverts[bp3].co;
float lambda /*, distance1 */, distance2;
float facenor[3], v1p1[3], v1p2[3];
float w[4];
@@ -1149,22 +1109,25 @@ static CollPair *cloth_point_collpair(float p1[3], float p2[3], MVert *mverts, i
}
//Determines collisions on overlap, collisions are written to collpair[i] and collision+number_collision_found is returned
-static CollPair* cloth_point_collision(ModifierData *md1, ModifierData *md2,
- BVHTreeOverlap *overlap, float epsilon, CollPair *collpair, float UNUSED(dt))
+static CollPair *cloth_point_collision(
+ ModifierData *md1, ModifierData *md2,
+ BVHTreeOverlap *overlap, float epsilon, CollPair *collpair, float UNUSED(dt))
{
ClothModifierData *clmd = (ClothModifierData *)md1;
CollisionModifierData *collmd = (CollisionModifierData *) md2;
/* Cloth *cloth = clmd->clothObject; */ /* UNUSED */
ClothVertex *vert = NULL;
- MFace *face = NULL;
- MVert *mverts = collmd->current_x;
+ const MVertTri *vt;
+ const MVert *mverts = collmd->current_x;
vert = &clmd->clothObject->verts[overlap->indexA];
- face = &collmd->mfaces[overlap->indexB];
+ vt = &collmd->tri[overlap->indexB];
- collpair = cloth_point_collpair(vert->tx, vert->x, mverts, face->v1, face->v2, face->v3, overlap->indexA, overlap->indexB, epsilon, collpair);
- if (face->v4)
- collpair = cloth_point_collpair(vert->tx, vert->x, mverts, face->v3, face->v4, face->v1, overlap->indexA, overlap->indexB, epsilon, collpair);
+ collpair = cloth_point_collpair(
+ vert->tx, vert->x, mverts,
+ vt->tri[0], vt->tri[1], vt->tri[2],
+ overlap->indexA, overlap->indexB,
+ epsilon, collpair);
return collpair;
}
@@ -1189,7 +1152,7 @@ static int cloth_points_objcollisions_resolve(ClothModifierData * clmd, Collisio
CollPair *collisions, CollPair *collisions_index, float dt)
{
Cloth *cloth = clmd->clothObject;
- int i=0, numverts = clmd->clothObject->numverts;
+ int i = 0, mvert_num = clmd->clothObject->mvert_num;
ClothVertex *verts = cloth->verts;
int ret = 0;
@@ -1199,7 +1162,7 @@ static int cloth_points_objcollisions_resolve(ClothModifierData * clmd, Collisio
// apply impulses in parallel
if (result) {
- for (i = 0; i < numverts; i++) {
+ for (i = 0; i < mvert_num; i++) {
// calculate "velocities" (just xnew = xold + v; no dt in v)
if (verts[i].impulse_count) {
// VECADDMUL ( verts[i].tv, verts[i].impulse, 1.0f / verts[i].impulse_count );
@@ -1223,29 +1186,29 @@ int cloth_points_objcollision(Object *ob, ClothModifierData *clmd, float step, f
BVHTree *cloth_bvh;
int rounds = 0; // result counts applied collisions; ic is for debug output;
float round_dt = dt / (float)clmd->coll_parms->loop_count;
- unsigned int i=0, numverts = 0;
+ unsigned int i = 0, mvert_num = 0;
ClothVertex *verts = NULL;
int ret = 0, ret2 = 0;
Object **collobjs = NULL;
unsigned int numcollobj = 0;
verts = cloth->verts;
- numverts = cloth->numverts;
+ mvert_num = cloth->mvert_num;
////////////////////////////////////////////////////////////
// static collisions
////////////////////////////////////////////////////////////
// create temporary cloth points bvh
- cloth_bvh = BLI_bvhtree_new(numverts, MAX2(clmd->coll_parms->epsilon, clmd->coll_parms->distance_repel), 4, 6);
+ cloth_bvh = BLI_bvhtree_new(mvert_num, max_ff(clmd->coll_parms->epsilon, clmd->coll_parms->distance_repel), 4, 6);
/* fill tree */
- for (i = 0; i < numverts; i++) {
- float co[6];
+ for (i = 0; i < mvert_num; i++) {
+ float co[2][3];
- copy_v3_v3(&co[0*3], verts[i].x);
- copy_v3_v3(&co[1*3], verts[i].tx);
+ copy_v3_v3(co[0], verts[i].x);
+ copy_v3_v3(co[1], verts[i].tx);
- BLI_bvhtree_insert(cloth_bvh, i, co, 2);
+ BLI_bvhtree_insert(cloth_bvh, i, co[0], 2);
}
/* balance tree */
BLI_bvhtree_balance(cloth_bvh);
@@ -1318,7 +1281,7 @@ int cloth_points_objcollision(Object *ob, ClothModifierData *clmd, float step, f
////////////////////////////////////////////////////////////
// verts come from clmd
- for ( i = 0; i < numverts; i++ ) {
+ for (i = 0; i < mvert_num; i++) {
if ( clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL ) {
if ( verts [i].flags & CLOTH_VERT_FLAG_PINNED ) {
continue;
@@ -1344,7 +1307,7 @@ void cloth_find_point_contacts(Object *ob, ClothModifierData *clmd, float step,
{
Cloth *cloth= clmd->clothObject;
BVHTree *cloth_bvh;
- unsigned int i=0, numverts = 0;
+ unsigned int i = 0, mvert_num = 0;
ClothVertex *verts = NULL;
ColliderContacts *collider_contacts;
@@ -1353,16 +1316,16 @@ void cloth_find_point_contacts(Object *ob, ClothModifierData *clmd, float step,
unsigned int numcollobj = 0;
verts = cloth->verts;
- numverts = cloth->numverts;
+ mvert_num = cloth->mvert_num;
////////////////////////////////////////////////////////////
// static collisions
////////////////////////////////////////////////////////////
// create temporary cloth points bvh
- cloth_bvh = BLI_bvhtree_new(numverts, MAX2(clmd->coll_parms->epsilon, clmd->coll_parms->distance_repel), 4, 6);
+ cloth_bvh = BLI_bvhtree_new(mvert_num, max_ff(clmd->coll_parms->epsilon, clmd->coll_parms->distance_repel), 4, 6);
/* fill tree */
- for (i = 0; i < numverts; i++) {
+ for (i = 0; i < mvert_num; i++) {
float co[6];
copy_v3_v3(&co[0*3], verts[i].x);
@@ -1442,7 +1405,7 @@ void cloth_find_point_contacts(Object *ob, ClothModifierData *clmd, float step,
////////////////////////////////////////////////////////////
// verts come from clmd
- for (i = 0; i < numverts; i++) {
+ for (i = 0; i < mvert_num; i++) {
if (clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL) {
if (verts [i].flags & CLOTH_VERT_FLAG_PINNED) {
continue;
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-02 07:03:44 +0300