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path: root/source/blender/blenkernel/intern/collision.c
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Diffstat (limited to 'source/blender/blenkernel/intern/collision.c')
-rw-r--r--source/blender/blenkernel/intern/collision.c300
1 files changed, 121 insertions, 179 deletions
diff --git a/source/blender/blenkernel/intern/collision.c b/source/blender/blenkernel/intern/collision.c
index b024ba5f4e1..9b49ac9c6ff 100644
--- a/source/blender/blenkernel/intern/collision.c
+++ b/source/blender/blenkernel/intern/collision.c
@@ -40,6 +40,7 @@
#include "BKE_DerivedMesh.h"
#include "BKE_global.h"
+#include "BKE_scene.h"
#include "BKE_mesh.h"
#include "BKE_object.h"
#include "BKE_modifier.h"
@@ -59,7 +60,7 @@ Collision modifier code start
/* step is limited from 0 (frame start position) to 1 (frame end position) */
void collision_move_object ( CollisionModifierData *collmd, float step, float prevstep )
{
- float tv[3] = {0,0,0};
+ float tv[3] = {0, 0, 0};
unsigned int i = 0;
for ( i = 0; i < collmd->numverts; i++ )
@@ -69,6 +70,7 @@ void collision_move_object ( CollisionModifierData *collmd, float step, float pr
VECADDS ( collmd->current_xnew[i].co, collmd->x[i].co, tv, step );
VECSUB ( 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 );
}
@@ -527,7 +529,7 @@ int cloth_collision_response_static ( ClothModifierData *clmd, CollisionModifier
float magtangent = 0, repulse = 0, d = 0;
double impulse = 0.0;
float vrel_t_pre[3];
- float temp[3];
+ float temp[3], spf;
// calculate tangential velocity
VECCOPY ( temp, collpair->normal );
@@ -565,10 +567,12 @@ int cloth_collision_response_static ( ClothModifierData *clmd, CollisionModifier
// Apply repulse impulse if distance too short
// I_r = -min(dt*kd, m(0,1d/dt - v_n))
+ spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;
+
d = clmd->coll_parms->epsilon*8.0/9.0 + epsilon2*8.0/9.0 - collpair->distance;
- if ( ( magrelVel < 0.1*d*clmd->sim_parms->stepsPerFrame ) && ( d > ALMOST_ZERO ) )
+ if ( ( magrelVel < 0.1*d*spf ) && ( d > ALMOST_ZERO ) )
{
- repulse = MIN2 ( d*1.0/clmd->sim_parms->stepsPerFrame, 0.1*d*clmd->sim_parms->stepsPerFrame - magrelVel );
+ repulse = MIN2 ( d*1.0/spf, 0.1*d*spf - magrelVel );
// stay on the safe side and clamp repulse
if ( impulse > ALMOST_ZERO )
@@ -1299,188 +1303,130 @@ static int cloth_collision_moving ( ClothModifierData *clmd, CollisionModifierDa
}
#endif
-
-// return all collision objects in scene
-// collision object will exclude self
-Object **get_collisionobjects(Scene *scene, Object *self, int *numcollobj)
+static void add_collision_object(Object ***objs, int *numobj, int *maxobj, Object *ob, Object *self, int level)
{
- Base *base=NULL;
- Object **objs = NULL;
- Object *coll_ob = NULL;
- CollisionModifierData *collmd = NULL;
- int numobj = 0, maxobj = 100;
+ CollisionModifierData *cmd= NULL;
+
+ if(ob == self)
+ return;
+
+ /* only get objects with collision modifier */
+ if(ob->pd && ob->pd->deflect)
+ cmd= (CollisionModifierData *)modifiers_findByType(ob, eModifierType_Collision);
- objs = MEM_callocN(sizeof(Object *)*maxobj, "CollisionObjectsArray");
- // check all collision objects
- for ( base = scene->base.first; base; base = base->next )
- {
- /*Only proceed for mesh object in same layer */
- if(!(base->object->type==OB_MESH && (base->lay & self->lay)))
- continue;
-
- coll_ob = base->object;
-
- if(coll_ob == self)
- continue;
-
- if(coll_ob->pd && coll_ob->pd->deflect)
- {
- collmd = ( CollisionModifierData * ) modifiers_findByType ( coll_ob, eModifierType_Collision );
+ if(cmd) {
+ /* extend array */
+ if(*numobj >= *maxobj) {
+ *maxobj *= 2;
+ *objs= MEM_reallocN(*objs, sizeof(Object*)*(*maxobj));
}
- else
- collmd = NULL;
- if ( collmd )
- {
- if(numobj >= maxobj)
- {
- // realloc
- int oldmax = maxobj;
- Object **tmp;
- maxobj *= 2;
- tmp = MEM_callocN(sizeof(Object *)*maxobj, "CollisionObjectsArray");
- memcpy(tmp, objs, sizeof(Object *)*oldmax);
- MEM_freeN(objs);
- objs = tmp;
-
- }
-
- objs[numobj] = coll_ob;
- numobj++;
- }
- else
- {
- if ( coll_ob->dup_group )
- {
- GroupObject *go;
- Group *group = coll_ob->dup_group;
+ (*objs)[*numobj] = ob;
+ (*numobj)++;
+ }
- for ( go= group->gobject.first; go; go= go->next )
- {
- coll_ob = go->ob;
- collmd = NULL;
-
- if(coll_ob == self)
- continue;
-
- if(coll_ob->pd && coll_ob->pd->deflect)
- {
- collmd = ( CollisionModifierData * ) modifiers_findByType ( coll_ob, eModifierType_Collision );
- }
- else
- collmd = NULL;
+ /* objects in dupli groups, one level only for now */
+ if(ob->dup_group && level == 0) {
+ GroupObject *go;
+ Group *group= ob->dup_group;
- if ( !collmd )
- continue;
-
- if( !collmd->bvhtree)
- continue;
+ /* add objects */
+ for(go= group->gobject.first; go; go= go->next)
+ add_collision_object(objs, numobj, maxobj, go->ob, self, level+1);
+ }
+}
- if(numobj >= maxobj)
- {
- // realloc
- int oldmax = maxobj;
- Object **tmp;
- maxobj *= 2;
- tmp = MEM_callocN(sizeof(Object *)*maxobj, "CollisionObjectsArray");
- memcpy(tmp, objs, sizeof(Object *)*oldmax);
- MEM_freeN(objs);
- objs = tmp;
- }
-
- objs[numobj] = coll_ob;
- numobj++;
- }
- }
- }
+// return all collision objects in scene
+// collision object will exclude self
+Object **get_collisionobjects(Scene *scene, Object *self, Group *group, int *numcollobj)
+{
+ Base *base;
+ Object **objs;
+ GroupObject *go;
+ int numobj= 0, maxobj= 100;
+
+ objs= MEM_callocN(sizeof(Object *)*maxobj, "CollisionObjectsArray");
+
+ /* gather all collision objects */
+ if(group) {
+ /* use specified group */
+ for(go= group->gobject.first; go; go= go->next)
+ add_collision_object(&objs, &numobj, &maxobj, go->ob, self, 0);
}
- *numcollobj = numobj;
+ else {
+ Scene *sce; /* for SETLOOPER macro */
+ /* add objects in same layer in scene */
+ for(SETLOOPER(scene, base)) {
+ if(base->lay & self->lay)
+ add_collision_object(&objs, &numobj, &maxobj, base->object, self, 0);
+
+ }
+ }
+
+ *numcollobj= numobj;
+
return objs;
}
-ListBase *get_collider_cache(Scene *scene, Object *self)
+static void add_collider_cache_object(ListBase **objs, Object *ob, Object *self, int level)
{
- Base *base=NULL;
- ListBase *objs = NULL;
- Object *coll_ob = NULL;
- CollisionModifierData *collmd = NULL;
+ CollisionModifierData *cmd= NULL;
ColliderCache *col;
+
+ if(ob == self)
+ return;
+
+ if(ob->pd && ob->pd->deflect)
+ cmd =(CollisionModifierData *)modifiers_findByType(ob, eModifierType_Collision);
- // check all collision objects
- for ( base = scene->base.first; base; base = base->next )
- {
- /*Only proceed for mesh object in same layer */
- if(base->object->type!=OB_MESH)
- continue;
+ if(cmd && cmd->bvhtree) {
+ if(*objs == NULL)
+ *objs = MEM_callocN(sizeof(ListBase), "ColliderCache array");
+
+ col = MEM_callocN(sizeof(ColliderCache), "ColliderCache");
+ col->ob = ob;
+ col->collmd = cmd;
+ /* make sure collider is properly set up */
+ collision_move_object(cmd, 1.0, 0.0);
+ BLI_addtail(*objs, col);
+ }
- if(self && (base->lay & self->lay)==0)
- continue;
+ /* objects in dupli groups, one level only for now */
+ if(ob->dup_group && level == 0) {
+ GroupObject *go;
+ Group *group= ob->dup_group;
-
- coll_ob = base->object;
-
- if(coll_ob == self)
- continue;
-
- if(coll_ob->pd && coll_ob->pd->deflect)
- {
- collmd = ( CollisionModifierData * ) modifiers_findByType ( coll_ob, eModifierType_Collision );
- }
- else
- collmd = NULL;
-
- if ( collmd )
- {
- if(objs == NULL)
- objs = MEM_callocN(sizeof(ListBase), "ColliderCache array");
-
- col = MEM_callocN(sizeof(ColliderCache), "ColliderCache");
- col->ob = coll_ob;
- col->collmd = collmd;
- /* make sure collider is properly set up */
- collision_move_object(collmd, 1.0, 0.0);
- BLI_addtail(objs, col);
- }
- else if ( coll_ob->dup_group )
- {
- GroupObject *go;
- Group *group = coll_ob->dup_group;
+ /* add objects */
+ for(go= group->gobject.first; go; go= go->next)
+ add_collider_cache_object(objs, go->ob, self, level+1);
+ }
+}
- for ( go= group->gobject.first; go; go= go->next )
- {
- coll_ob = go->ob;
- collmd = NULL;
-
- if(coll_ob == self)
- continue;
-
- if(coll_ob->pd && coll_ob->pd->deflect)
- {
- collmd = ( CollisionModifierData * ) modifiers_findByType ( coll_ob, eModifierType_Collision );
- }
- else
- collmd = NULL;
+ListBase *get_collider_cache(Scene *scene, Object *self, Group *group)
+{
+ GroupObject *go;
+ ListBase *objs= NULL;
+
+ /* add object in same layer in scene */
+ if(group) {
+ for(go= group->gobject.first; go; go= go->next)
+ add_collider_cache_object(&objs, go->ob, self, 0);
+ }
+ else {
+ Scene *sce; /* for SETLOOPER macro */
+ Base *base;
- if ( !collmd )
- continue;
-
- if( !collmd->bvhtree)
- continue;
-
- if(objs == NULL)
- objs = MEM_callocN(sizeof(ListBase), "ColliderCache array");
-
- col = MEM_callocN(sizeof(ColliderCache), "ColliderCache");
- col->ob = coll_ob;
- col->collmd = collmd;
- /* make sure collider is properly set up */
- collision_move_object(collmd, 1.0, 0.0);
- BLI_addtail(objs, col);
- }
- }
+ /* add objects in same layer in scene */
+ for(SETLOOPER(scene, base)) {
+ if(!self || (base->lay & self->lay))
+ add_collider_cache_object(&objs, base->object, self, 0);
+
+ }
}
+
return objs;
}
+
void free_collider_cache(ListBase **colliders)
{
if(*colliders) {
@@ -1489,6 +1435,7 @@ void free_collider_cache(ListBase **colliders)
*colliders = NULL;
}
}
+
static void cloth_bvh_objcollisions_nearcheck ( ClothModifierData * clmd, CollisionModifierData *collmd, CollPair **collisions, CollPair **collisions_index, int numresult, BVHTreeOverlap *overlap)
{
int i;
@@ -1574,7 +1521,7 @@ int cloth_bvh_objcollision (Object *ob, ClothModifierData * clmd, float step, fl
bvhtree_update_from_cloth ( clmd, 1 ); // 0 means STATIC, 1 means MOVING (see later in this function)
bvhselftree_update_from_cloth ( clmd, 0 ); // 0 means STATIC, 1 means MOVING (see later in this function)
- collobjs = get_collisionobjects(clmd->scene, ob, &numcollobj);
+ collobjs = get_collisionobjects(clmd->scene, ob, clmd->coll_parms->group, &numcollobj);
if(!collobjs)
return 0;
@@ -1606,20 +1553,15 @@ int cloth_bvh_objcollision (Object *ob, ClothModifierData * clmd, float step, fl
overlap = BLI_bvhtree_overlap ( cloth_bvh, collmd->bvhtree, &result );
// go to next object if no overlap is there
- if(!result || !overlap)
- {
- if ( overlap )
- MEM_freeN ( overlap );
- continue;
- }
-
- /* check if collisions really happen (costly near check) */
- cloth_bvh_objcollisions_nearcheck ( clmd, collmd, &collisions[i], &collisions_index[i], result, overlap);
-
- // resolve nearby collisions
- ret += cloth_bvh_objcollisions_resolve ( clmd, collmd, collisions[i], collisions_index[i]);
- ret2 += ret;
+ if( result && overlap ) {
+ /* check if collisions really happen (costly near check) */
+ cloth_bvh_objcollisions_nearcheck ( clmd, collmd, &collisions[i], &collisions_index[i], result, overlap);
+ // resolve nearby collisions
+ ret += cloth_bvh_objcollisions_resolve ( clmd, collmd, collisions[i], collisions_index[i]);
+ ret2 += ret;
+ }
+
if ( overlap )
MEM_freeN ( overlap );
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-23 04:28:28 +0300