diff options
Diffstat (limited to 'source/blender/blenkernel/intern/implicit.c')
| -rw-r--r-- | source/blender/blenkernel/intern/implicit.c | 1964 |
1 files changed, 0 insertions, 1964 deletions
diff --git a/source/blender/blenkernel/intern/implicit.c b/source/blender/blenkernel/intern/implicit.c deleted file mode 100644 index 4cf9d52989f..00000000000 --- a/source/blender/blenkernel/intern/implicit.c +++ /dev/null @@ -1,1964 +0,0 @@ -/* - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) Blender Foundation - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -/** \file blender/blenkernel/intern/implicit.c - * \ingroup bke - */ - - -#include "MEM_guardedalloc.h" - -#include "DNA_scene_types.h" -#include "DNA_object_types.h" -#include "DNA_object_force.h" -#include "DNA_meshdata_types.h" - -#include "BLI_math.h" -#include "BLI_linklist.h" -#include "BLI_utildefines.h" - -#include "BKE_cloth.h" -#include "BKE_collision.h" -#include "BKE_effect.h" -#include "BKE_global.h" - - -#ifdef __GNUC__ -# pragma GCC diagnostic ignored "-Wtype-limits" -#endif - -#ifdef _OPENMP -# define CLOTH_OPENMP_LIMIT 512 -#endif - -#if 0 /* debug timing */ -#ifdef _WIN32 -#include <windows.h> -static LARGE_INTEGER _itstart, _itend; -static LARGE_INTEGER ifreq; -static void itstart(void) -{ - static int first = 1; - if (first) { - QueryPerformanceFrequency(&ifreq); - first = 0; - } - QueryPerformanceCounter(&_itstart); -} -static void itend(void) -{ - QueryPerformanceCounter(&_itend); -} -double itval(void) -{ - return ((double)_itend.QuadPart - - (double)_itstart.QuadPart)/((double)ifreq.QuadPart); -} -#else -#include <sys/time.h> -// intrinsics need better compile flag checking -// #include <xmmintrin.h> -// #include <pmmintrin.h> -// #include <pthread.h> - -static struct timeval _itstart, _itend; -static struct timezone itz; -static void itstart(void) -{ - gettimeofday(&_itstart, &itz); -} -static void itend(void) -{ - gettimeofday(&_itend, &itz); -} -static double itval(void) -{ - double t1, t2; - t1 = (double)_itstart.tv_sec + (double)_itstart.tv_usec/(1000*1000); - t2 = (double)_itend.tv_sec + (double)_itend.tv_usec/(1000*1000); - return t2-t1; -} -#endif -#endif /* debug timing */ - -static float I[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; -static float ZERO[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - -/* -#define C99 -#ifdef C99 -#defineDO_INLINE inline -#else -#defineDO_INLINE static -#endif -*/ -struct Cloth; - -////////////////////////////////////////// -/* fast vector / matrix library, enhancements are welcome :) -dg */ -///////////////////////////////////////// - -/* DEFINITIONS */ -typedef float lfVector[3]; -typedef struct fmatrix3x3 { - float m[3][3]; /* 3x3 matrix */ - unsigned int c, r; /* column and row number */ - /* int pinned; // is this vertex allowed to move? */ - float n1, n2, n3; /* three normal vectors for collision constrains */ - unsigned int vcount; /* vertex count */ - unsigned int scount; /* spring count */ -} fmatrix3x3; - -/////////////////////////// -// float[3] vector -/////////////////////////// -/* simple vector code */ -/* STATUS: verified */ -DO_INLINE void mul_fvector_S(float to[3], float from[3], float scalar) -{ - to[0] = from[0] * scalar; - to[1] = from[1] * scalar; - to[2] = from[2] * scalar; -} -/* simple cross product */ -/* STATUS: verified */ -DO_INLINE void cross_fvector(float to[3], float vectorA[3], float vectorB[3]) -{ - to[0] = vectorA[1] * vectorB[2] - vectorA[2] * vectorB[1]; - to[1] = vectorA[2] * vectorB[0] - vectorA[0] * vectorB[2]; - to[2] = vectorA[0] * vectorB[1] - vectorA[1] * vectorB[0]; -} -/* simple v^T * v product ("outer product") */ -/* STATUS: HAS TO BE verified (*should* work) */ -DO_INLINE void mul_fvectorT_fvector(float to[3][3], float vectorA[3], float vectorB[3]) -{ - mul_fvector_S(to[0], vectorB, vectorA[0]); - mul_fvector_S(to[1], vectorB, vectorA[1]); - mul_fvector_S(to[2], vectorB, vectorA[2]); -} -/* simple v^T * v product with scalar ("outer product") */ -/* STATUS: HAS TO BE verified (*should* work) */ -DO_INLINE void mul_fvectorT_fvectorS(float to[3][3], float vectorA[3], float vectorB[3], float aS) -{ - mul_fvectorT_fvector(to, vectorA, vectorB); - - mul_fvector_S(to[0], to[0], aS); - mul_fvector_S(to[1], to[1], aS); - mul_fvector_S(to[2], to[2], aS); -} - -#if 0 -/* printf vector[3] on console: for debug output */ -static void print_fvector(float m3[3]) -{ - printf("%f\n%f\n%f\n\n", m3[0], m3[1], m3[2]); -} - -/////////////////////////// -// long float vector float (*)[3] -/////////////////////////// -/* print long vector on console: for debug output */ -DO_INLINE void print_lfvector(float (*fLongVector)[3], unsigned int verts) -{ - unsigned int i = 0; - for (i = 0; i < verts; i++) { - print_fvector(fLongVector[i]); - } -} -#endif - -/* create long vector */ -DO_INLINE lfVector *create_lfvector(unsigned int verts) -{ - /* TODO: check if memory allocation was successful */ - return (lfVector *)MEM_callocN(verts * sizeof(lfVector), "cloth_implicit_alloc_vector"); - // return (lfVector *)cloth_aligned_malloc(&MEMORY_BASE, verts * sizeof(lfVector)); -} -/* delete long vector */ -DO_INLINE void del_lfvector(float (*fLongVector)[3]) -{ - if (fLongVector != NULL) { - MEM_freeN(fLongVector); - // cloth_aligned_free(&MEMORY_BASE, fLongVector); - } -} -/* copy long vector */ -DO_INLINE void cp_lfvector(float (*to)[3], float (*from)[3], unsigned int verts) -{ - memcpy(to, from, verts * sizeof(lfVector)); -} -/* init long vector with float[3] */ -DO_INLINE void init_lfvector(float (*fLongVector)[3], float vector[3], unsigned int verts) -{ - unsigned int i = 0; - for (i = 0; i < verts; i++) { - copy_v3_v3(fLongVector[i], vector); - } -} -/* zero long vector with float[3] */ -DO_INLINE void zero_lfvector(float (*to)[3], unsigned int verts) -{ - memset(to, 0.0f, verts * sizeof(lfVector)); -} -/* multiply long vector with scalar*/ -DO_INLINE void mul_lfvectorS(float (*to)[3], float (*fLongVector)[3], float scalar, unsigned int verts) -{ - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - mul_fvector_S(to[i], fLongVector[i], scalar); - } -} -/* multiply long vector with scalar*/ -/* A -= B * float */ -DO_INLINE void submul_lfvectorS(float (*to)[3], float (*fLongVector)[3], float scalar, unsigned int verts) -{ - unsigned int i = 0; - for (i = 0; i < verts; i++) { - VECSUBMUL(to[i], fLongVector[i], scalar); - } -} -/* dot product for big vector */ -DO_INLINE float dot_lfvector(float (*fLongVectorA)[3], float (*fLongVectorB)[3], unsigned int verts) -{ - long i = 0; - float temp = 0.0; -// XXX brecht, disabled this for now (first schedule line was already disabled), -// due to non-commutative nature of floating point ops this makes the sim give -// different results each time you run it! -// schedule(guided, 2) -//#pragma omp parallel for reduction(+: temp) if (verts > CLOTH_OPENMP_LIMIT) - for (i = 0; i < (long)verts; i++) { - temp += dot_v3v3(fLongVectorA[i], fLongVectorB[i]); - } - return temp; -} -/* A = B + C --> for big vector */ -DO_INLINE void add_lfvector_lfvector(float (*to)[3], float (*fLongVectorA)[3], float (*fLongVectorB)[3], unsigned int verts) -{ - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - VECADD(to[i], fLongVectorA[i], fLongVectorB[i]); - } - -} -/* A = B + C * float --> for big vector */ -DO_INLINE void add_lfvector_lfvectorS(float (*to)[3], float (*fLongVectorA)[3], float (*fLongVectorB)[3], float bS, unsigned int verts) -{ - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - VECADDS(to[i], fLongVectorA[i], fLongVectorB[i], bS); - - } -} -/* A = B * float + C * float --> for big vector */ -DO_INLINE void add_lfvectorS_lfvectorS(float (*to)[3], float (*fLongVectorA)[3], float aS, float (*fLongVectorB)[3], float bS, unsigned int verts) -{ - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - VECADDSS(to[i], fLongVectorA[i], aS, fLongVectorB[i], bS); - } -} -/* A = B - C * float --> for big vector */ -DO_INLINE void sub_lfvector_lfvectorS(float (*to)[3], float (*fLongVectorA)[3], float (*fLongVectorB)[3], float bS, unsigned int verts) -{ - unsigned int i = 0; - for (i = 0; i < verts; i++) { - VECSUBS(to[i], fLongVectorA[i], fLongVectorB[i], bS); - } - -} -/* A = B - C --> for big vector */ -DO_INLINE void sub_lfvector_lfvector(float (*to)[3], float (*fLongVectorA)[3], float (*fLongVectorB)[3], unsigned int verts) -{ - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - sub_v3_v3v3(to[i], fLongVectorA[i], fLongVectorB[i]); - } - -} -/////////////////////////// -// 3x3 matrix -/////////////////////////// -#if 0 -/* printf 3x3 matrix on console: for debug output */ -static void print_fmatrix(float m3[3][3]) -{ - printf("%f\t%f\t%f\n", m3[0][0], m3[0][1], m3[0][2]); - printf("%f\t%f\t%f\n", m3[1][0], m3[1][1], m3[1][2]); - printf("%f\t%f\t%f\n\n", m3[2][0], m3[2][1], m3[2][2]); -} -#endif - -/* copy 3x3 matrix */ -DO_INLINE void cp_fmatrix(float to[3][3], float from[3][3]) -{ - // memcpy(to, from, sizeof (float) * 9); - copy_v3_v3(to[0], from[0]); - copy_v3_v3(to[1], from[1]); - copy_v3_v3(to[2], from[2]); -} - -/* copy 3x3 matrix */ -DO_INLINE void initdiag_fmatrixS(float to[3][3], float aS) -{ - cp_fmatrix(to, ZERO); - - to[0][0] = aS; - to[1][1] = aS; - to[2][2] = aS; -} - -/* calculate determinant of 3x3 matrix */ -DO_INLINE float det_fmatrix(float m[3][3]) -{ - return m[0][0]*m[1][1]*m[2][2] + m[1][0]*m[2][1]*m[0][2] + m[0][1]*m[1][2]*m[2][0] - -m[0][0]*m[1][2]*m[2][1] - m[0][1]*m[1][0]*m[2][2] - m[2][0]*m[1][1]*m[0][2]; -} - -DO_INLINE void inverse_fmatrix(float to[3][3], float from[3][3]) -{ - unsigned int i, j; - float d; - - if ((d=det_fmatrix(from)) == 0) { - printf("can't build inverse"); - exit(0); - } - for (i=0;i<3;i++) { - for (j=0;j<3;j++) { - int i1=(i+1)%3; - int i2=(i+2)%3; - int j1=(j+1)%3; - int j2=(j+2)%3; - // reverse indexs i&j to take transpose - to[j][i] = (from[i1][j1]*from[i2][j2]-from[i1][j2]*from[i2][j1])/d; - /* - if (i==j) - to[i][j] = 1.0f / from[i][j]; - else - to[i][j] = 0; - */ - } - } - -} - -/* 3x3 matrix multiplied by a scalar */ -/* STATUS: verified */ -DO_INLINE void mul_fmatrix_S(float matrix[3][3], float scalar) -{ - mul_fvector_S(matrix[0], matrix[0], scalar); - mul_fvector_S(matrix[1], matrix[1], scalar); - mul_fvector_S(matrix[2], matrix[2], scalar); -} - -/* a vector multiplied by a 3x3 matrix */ -/* STATUS: verified */ -DO_INLINE void mul_fvector_fmatrix(float *to, float *from, float matrix[3][3]) -{ - to[0] = matrix[0][0]*from[0] + matrix[1][0]*from[1] + matrix[2][0]*from[2]; - to[1] = matrix[0][1]*from[0] + matrix[1][1]*from[1] + matrix[2][1]*from[2]; - to[2] = matrix[0][2]*from[0] + matrix[1][2]*from[1] + matrix[2][2]*from[2]; -} - -/* 3x3 matrix multiplied by a vector */ -/* STATUS: verified */ -DO_INLINE void mul_fmatrix_fvector(float *to, float matrix[3][3], float from[3]) -{ - to[0] = dot_v3v3(matrix[0], from); - to[1] = dot_v3v3(matrix[1], from); - to[2] = dot_v3v3(matrix[2], from); -} -/* 3x3 matrix multiplied by a 3x3 matrix */ -/* STATUS: verified */ -DO_INLINE void mul_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) -{ - mul_fvector_fmatrix(to[0], matrixA[0], matrixB); - mul_fvector_fmatrix(to[1], matrixA[1], matrixB); - mul_fvector_fmatrix(to[2], matrixA[2], matrixB); -} -/* 3x3 matrix addition with 3x3 matrix */ -DO_INLINE void add_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) -{ - VECADD(to[0], matrixA[0], matrixB[0]); - VECADD(to[1], matrixA[1], matrixB[1]); - VECADD(to[2], matrixA[2], matrixB[2]); -} -/* 3x3 matrix add-addition with 3x3 matrix */ -DO_INLINE void addadd_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) -{ - VECADDADD(to[0], matrixA[0], matrixB[0]); - VECADDADD(to[1], matrixA[1], matrixB[1]); - VECADDADD(to[2], matrixA[2], matrixB[2]); -} -/* 3x3 matrix sub-addition with 3x3 matrix */ -DO_INLINE void addsub_fmatrixS_fmatrixS(float to[3][3], float matrixA[3][3], float aS, float matrixB[3][3], float bS) -{ - VECADDSUBSS(to[0], matrixA[0], aS, matrixB[0], bS); - VECADDSUBSS(to[1], matrixA[1], aS, matrixB[1], bS); - VECADDSUBSS(to[2], matrixA[2], aS, matrixB[2], bS); -} -/* A -= B + C (3x3 matrix sub-addition with 3x3 matrix) */ -DO_INLINE void subadd_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) -{ - VECSUBADD(to[0], matrixA[0], matrixB[0]); - VECSUBADD(to[1], matrixA[1], matrixB[1]); - VECSUBADD(to[2], matrixA[2], matrixB[2]); -} -/* A -= B*x + C*y (3x3 matrix sub-addition with 3x3 matrix) */ -DO_INLINE void subadd_fmatrixS_fmatrixS(float to[3][3], float matrixA[3][3], float aS, float matrixB[3][3], float bS) -{ - VECSUBADDSS(to[0], matrixA[0], aS, matrixB[0], bS); - VECSUBADDSS(to[1], matrixA[1], aS, matrixB[1], bS); - VECSUBADDSS(to[2], matrixA[2], aS, matrixB[2], bS); -} -/* A = B - C (3x3 matrix subtraction with 3x3 matrix) */ -DO_INLINE void sub_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) -{ - sub_v3_v3v3(to[0], matrixA[0], matrixB[0]); - sub_v3_v3v3(to[1], matrixA[1], matrixB[1]); - sub_v3_v3v3(to[2], matrixA[2], matrixB[2]); -} -/* A += B - C (3x3 matrix add-subtraction with 3x3 matrix) */ -DO_INLINE void addsub_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) -{ - VECADDSUB(to[0], matrixA[0], matrixB[0]); - VECADDSUB(to[1], matrixA[1], matrixB[1]); - VECADDSUB(to[2], matrixA[2], matrixB[2]); -} -///////////////////////////////////////////////////////////////// -// special functions -///////////////////////////////////////////////////////////////// -/* a vector multiplied and added to/by a 3x3 matrix */ -DO_INLINE void muladd_fvector_fmatrix(float to[3], float from[3], float matrix[3][3]) -{ - to[0] += matrix[0][0]*from[0] + matrix[1][0]*from[1] + matrix[2][0]*from[2]; - to[1] += matrix[0][1]*from[0] + matrix[1][1]*from[1] + matrix[2][1]*from[2]; - to[2] += matrix[0][2]*from[0] + matrix[1][2]*from[1] + matrix[2][2]*from[2]; -} -/* 3x3 matrix multiplied and added to/by a 3x3 matrix and added to another 3x3 matrix */ -DO_INLINE void muladd_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) -{ - muladd_fvector_fmatrix(to[0], matrixA[0], matrixB); - muladd_fvector_fmatrix(to[1], matrixA[1], matrixB); - muladd_fvector_fmatrix(to[2], matrixA[2], matrixB); -} -/* a vector multiplied and sub'd to/by a 3x3 matrix */ -DO_INLINE void mulsub_fvector_fmatrix(float to[3], float from[3], float matrix[3][3]) -{ - to[0] -= matrix[0][0]*from[0] + matrix[1][0]*from[1] + matrix[2][0]*from[2]; - to[1] -= matrix[0][1]*from[0] + matrix[1][1]*from[1] + matrix[2][1]*from[2]; - to[2] -= matrix[0][2]*from[0] + matrix[1][2]*from[1] + matrix[2][2]*from[2]; -} -/* 3x3 matrix multiplied and sub'd to/by a 3x3 matrix and added to another 3x3 matrix */ -DO_INLINE void mulsub_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) -{ - mulsub_fvector_fmatrix(to[0], matrixA[0], matrixB); - mulsub_fvector_fmatrix(to[1], matrixA[1], matrixB); - mulsub_fvector_fmatrix(to[2], matrixA[2], matrixB); -} -/* 3x3 matrix multiplied+added by a vector */ -/* STATUS: verified */ -DO_INLINE void muladd_fmatrix_fvector(float to[3], float matrix[3][3], float from[3]) -{ - to[0] += dot_v3v3(matrix[0], from); - to[1] += dot_v3v3(matrix[1], from); - to[2] += dot_v3v3(matrix[2], from); -} -/* 3x3 matrix multiplied+sub'ed by a vector */ -DO_INLINE void mulsub_fmatrix_fvector(float to[3], float matrix[3][3], float from[3]) -{ - to[0] -= dot_v3v3(matrix[0], from); - to[1] -= dot_v3v3(matrix[1], from); - to[2] -= dot_v3v3(matrix[2], from); -} -///////////////////////////////////////////////////////////////// - -/////////////////////////// -// SPARSE SYMMETRIC big matrix with 3x3 matrix entries -/////////////////////////// -/* printf a big matrix on console: for debug output */ -#if 0 -static void print_bfmatrix(fmatrix3x3 *m3) -{ - unsigned int i = 0; - - for (i = 0; i < m3[0].vcount + m3[0].scount; i++) - { - print_fmatrix(m3[i].m); - } -} -#endif - -/* create big matrix */ -DO_INLINE fmatrix3x3 *create_bfmatrix(unsigned int verts, unsigned int springs) -{ - // TODO: check if memory allocation was successful */ - fmatrix3x3 *temp = (fmatrix3x3 *)MEM_callocN(sizeof(fmatrix3x3) * (verts + springs), "cloth_implicit_alloc_matrix"); - temp[0].vcount = verts; - temp[0].scount = springs; - return temp; -} -/* delete big matrix */ -DO_INLINE void del_bfmatrix(fmatrix3x3 *matrix) -{ - if (matrix != NULL) { - MEM_freeN(matrix); - } -} - -/* copy big matrix */ -DO_INLINE void cp_bfmatrix(fmatrix3x3 *to, fmatrix3x3 *from) -{ - // TODO bounds checking - memcpy(to, from, sizeof(fmatrix3x3) * (from[0].vcount+from[0].scount)); -} - -/* init big matrix */ -// slow in parallel -DO_INLINE void init_bfmatrix(fmatrix3x3 *matrix, float m3[3][3]) -{ - unsigned int i; - - for (i = 0; i < matrix[0].vcount+matrix[0].scount; i++) { - cp_fmatrix(matrix[i].m, m3); - } -} - -/* init the diagonal of big matrix */ -// slow in parallel -DO_INLINE void initdiag_bfmatrix(fmatrix3x3 *matrix, float m3[3][3]) -{ - unsigned int i, j; - float tmatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - - for (i = 0; i < matrix[0].vcount; i++) { - cp_fmatrix(matrix[i].m, m3); - } - for (j = matrix[0].vcount; j < matrix[0].vcount+matrix[0].scount; j++) { - cp_fmatrix(matrix[j].m, tmatrix); - } -} - -/* multiply big matrix with scalar*/ -DO_INLINE void mul_bfmatrix_S(fmatrix3x3 *matrix, float scalar) -{ - unsigned int i = 0; - for (i = 0; i < matrix[0].vcount+matrix[0].scount; i++) { - mul_fmatrix_S(matrix[i].m, scalar); - } -} - -/* SPARSE SYMMETRIC multiply big matrix with long vector*/ -/* STATUS: verified */ -DO_INLINE void mul_bfmatrix_lfvector( float (*to)[3], fmatrix3x3 *from, lfVector *fLongVector) -{ - unsigned int i = 0; - unsigned int vcount = from[0].vcount; - lfVector *temp = create_lfvector(vcount); - - zero_lfvector(to, vcount); - -#pragma omp parallel sections private(i) if (vcount > CLOTH_OPENMP_LIMIT) - { -#pragma omp section - { - for (i = from[0].vcount; i < from[0].vcount+from[0].scount; i++) { - muladd_fmatrix_fvector(to[from[i].c], from[i].m, fLongVector[from[i].r]); - } - } -#pragma omp section - { - for (i = 0; i < from[0].vcount+from[0].scount; i++) { - muladd_fmatrix_fvector(temp[from[i].r], from[i].m, fLongVector[from[i].c]); - } - } - } - add_lfvector_lfvector(to, to, temp, from[0].vcount); - - del_lfvector(temp); - - -} - -/* SPARSE SYMMETRIC multiply big matrix with long vector (for diagonal preconditioner) */ -/* STATUS: verified */ -DO_INLINE void mul_prevfmatrix_lfvector( float (*to)[3], fmatrix3x3 *from, lfVector *fLongVector) -{ - unsigned int i = 0; - - for (i = 0; i < from[0].vcount; i++) { - mul_fmatrix_fvector(to[from[i].r], from[i].m, fLongVector[from[i].c]); - } -} - -/* SPARSE SYMMETRIC add big matrix with big matrix: A = B + C*/ -DO_INLINE void add_bfmatrix_bfmatrix( fmatrix3x3 *to, fmatrix3x3 *from, fmatrix3x3 *matrix) -{ - unsigned int i = 0; - - /* process diagonal elements */ - for (i = 0; i < matrix[0].vcount+matrix[0].scount; i++) { - add_fmatrix_fmatrix(to[i].m, from[i].m, matrix[i].m); - } - -} -/* SPARSE SYMMETRIC add big matrix with big matrix: A += B + C */ -DO_INLINE void addadd_bfmatrix_bfmatrix( fmatrix3x3 *to, fmatrix3x3 *from, fmatrix3x3 *matrix) -{ - unsigned int i = 0; - - /* process diagonal elements */ - for (i = 0; i < matrix[0].vcount+matrix[0].scount; i++) { - addadd_fmatrix_fmatrix(to[i].m, from[i].m, matrix[i].m); - } - -} -/* SPARSE SYMMETRIC subadd big matrix with big matrix: A -= B + C */ -DO_INLINE void subadd_bfmatrix_bfmatrix( fmatrix3x3 *to, fmatrix3x3 *from, fmatrix3x3 *matrix) -{ - unsigned int i = 0; - - /* process diagonal elements */ - for (i = 0; i < matrix[0].vcount+matrix[0].scount; i++) { - subadd_fmatrix_fmatrix(to[i].m, from[i].m, matrix[i].m); - } - -} -/* A = B - C (SPARSE SYMMETRIC sub big matrix with big matrix) */ -DO_INLINE void sub_bfmatrix_bfmatrix( fmatrix3x3 *to, fmatrix3x3 *from, fmatrix3x3 *matrix) -{ - unsigned int i = 0; - - /* process diagonal elements */ - for (i = 0; i < matrix[0].vcount+matrix[0].scount; i++) { - sub_fmatrix_fmatrix(to[i].m, from[i].m, matrix[i].m); - } - -} -/* SPARSE SYMMETRIC sub big matrix with big matrix S (special constraint matrix with limited entries) */ -DO_INLINE void sub_bfmatrix_Smatrix( fmatrix3x3 *to, fmatrix3x3 *from, fmatrix3x3 *matrix) -{ - unsigned int i = 0; - - /* process diagonal elements */ - for (i = 0; i < matrix[0].vcount; i++) { - sub_fmatrix_fmatrix(to[matrix[i].c].m, from[matrix[i].c].m, matrix[i].m); - } - -} -/* A += B - C (SPARSE SYMMETRIC addsub big matrix with big matrix) */ -DO_INLINE void addsub_bfmatrix_bfmatrix( fmatrix3x3 *to, fmatrix3x3 *from, fmatrix3x3 *matrix) -{ - unsigned int i = 0; - - /* process diagonal elements */ - for (i = 0; i < matrix[0].vcount+matrix[0].scount; i++) { - addsub_fmatrix_fmatrix(to[i].m, from[i].m, matrix[i].m); - } - -} -/* SPARSE SYMMETRIC sub big matrix with big matrix*/ -/* A -= B * float + C * float --> for big matrix */ -/* VERIFIED */ -DO_INLINE void subadd_bfmatrixS_bfmatrixS( fmatrix3x3 *to, fmatrix3x3 *from, float aS, fmatrix3x3 *matrix, float bS) -{ - unsigned int i = 0; - - /* process diagonal elements */ - for (i = 0; i < matrix[0].vcount+matrix[0].scount; i++) { - subadd_fmatrixS_fmatrixS(to[i].m, from[i].m, aS, matrix[i].m, bS); - } - -} - -/////////////////////////////////////////////////////////////////// -// simulator start -/////////////////////////////////////////////////////////////////// -typedef struct Implicit_Data { - lfVector *X, *V, *Xnew, *Vnew, *olddV, *F, *B, *dV, *z; - fmatrix3x3 *A, *dFdV, *dFdX, *S, *P, *Pinv, *bigI, *M; -} Implicit_Data; - -/* Init constraint matrix */ -static void update_matrixS(ClothVertex *verts, int numverts, fmatrix3x3 *S) -{ - unsigned int pinned = 0; - int i = 0; - - /* Clear matrix from old vertex constraints */ - for (i = 0; i < S[0].vcount; i++) - S[i].c = S[i].r = 0; - - /* Set new vertex constraints */ - for (i = 0; i < numverts; i++) { - if (verts [i].flags & CLOTH_VERT_FLAG_PINNED) { - S[pinned].c = S[pinned].r = i; - pinned++; - } - } - - // S is special and needs specific vcount and scount - S[0].vcount = pinned; - S[0].scount = 0; -} - -int implicit_init(Object *UNUSED(ob), ClothModifierData *clmd) -{ - unsigned int i = 0; - Cloth *cloth = NULL; - ClothVertex *verts = NULL; - ClothSpring *spring = NULL; - Implicit_Data *id = NULL; - LinkNode *search = NULL; - - if (G.debug_value > 0) - printf("implicit_init\n"); - - // init memory guard - // BLI_listbase_clear(&MEMORY_BASE); - - cloth = (Cloth *)clmd->clothObject; - verts = cloth->verts; - - // create implicit base - id = (Implicit_Data *)MEM_callocN(sizeof(Implicit_Data), "implicit vecmat"); - cloth->implicit = id; - - /* process diagonal elements */ - id->A = create_bfmatrix(cloth->numverts, cloth->numsprings); - id->dFdV = create_bfmatrix(cloth->numverts, cloth->numsprings); - id->dFdX = create_bfmatrix(cloth->numverts, cloth->numsprings); - id->S = create_bfmatrix(cloth->numverts, 0); - id->Pinv = create_bfmatrix(cloth->numverts, cloth->numsprings); - id->P = create_bfmatrix(cloth->numverts, cloth->numsprings); - id->bigI = create_bfmatrix(cloth->numverts, cloth->numsprings); // TODO 0 springs - id->M = create_bfmatrix(cloth->numverts, cloth->numsprings); - id->X = create_lfvector(cloth->numverts); - id->Xnew = create_lfvector(cloth->numverts); - id->V = create_lfvector(cloth->numverts); - id->Vnew = create_lfvector(cloth->numverts); - id->olddV = create_lfvector(cloth->numverts); - zero_lfvector(id->olddV, cloth->numverts); - id->F = create_lfvector(cloth->numverts); - id->B = create_lfvector(cloth->numverts); - id->dV = create_lfvector(cloth->numverts); - id->z = create_lfvector(cloth->numverts); - - id->S[0].vcount = 0; - update_matrixS(verts, cloth->numverts, id->S); - - for (i = 0; i < cloth->numverts; i++) { - id->A[i].r = id->A[i].c = id->dFdV[i].r = id->dFdV[i].c = id->dFdX[i].r = id->dFdX[i].c = id->P[i].c = id->P[i].r = id->Pinv[i].c = id->Pinv[i].r = id->bigI[i].c = id->bigI[i].r = id->M[i].r = id->M[i].c = i; - - initdiag_fmatrixS(id->M[i].m, verts[i].mass); - } - - // init springs - search = cloth->springs; - for (i = 0; i < cloth->numsprings; i++) { - spring = search->link; - - // dFdV_start[i].r = big_I[i].r = big_zero[i].r = - id->A[i+cloth->numverts].r = id->dFdV[i+cloth->numverts].r = id->dFdX[i+cloth->numverts].r = - id->P[i+cloth->numverts].r = id->Pinv[i+cloth->numverts].r = id->bigI[i+cloth->numverts].r = id->M[i+cloth->numverts].r = spring->ij; - - // dFdV_start[i].c = big_I[i].c = big_zero[i].c = - id->A[i+cloth->numverts].c = id->dFdV[i+cloth->numverts].c = id->dFdX[i+cloth->numverts].c = - id->P[i+cloth->numverts].c = id->Pinv[i+cloth->numverts].c = id->bigI[i+cloth->numverts].c = id->M[i+cloth->numverts].c = spring->kl; - - spring->matrix_index = i + cloth->numverts; - - search = search->next; - } - - initdiag_bfmatrix(id->bigI, I); - - for (i = 0; i < cloth->numverts; i++) { - copy_v3_v3(id->X[i], verts[i].x); - } - - return 1; -} - -int implicit_free(ClothModifierData *clmd) -{ - Implicit_Data *id; - Cloth *cloth; - cloth = (Cloth *)clmd->clothObject; - - if (cloth) { - id = cloth->implicit; - - if (id) { - del_bfmatrix(id->A); - del_bfmatrix(id->dFdV); - del_bfmatrix(id->dFdX); - del_bfmatrix(id->S); - del_bfmatrix(id->P); - del_bfmatrix(id->Pinv); - del_bfmatrix(id->bigI); - del_bfmatrix(id->M); - - del_lfvector(id->X); - del_lfvector(id->Xnew); - del_lfvector(id->V); - del_lfvector(id->Vnew); - del_lfvector(id->olddV); - del_lfvector(id->F); - del_lfvector(id->B); - del_lfvector(id->dV); - del_lfvector(id->z); - - MEM_freeN(id); - } - } - - return 1; -} - -DO_INLINE float fb(float length, float L) -{ - float x = length / L; - return (-11.541f * powf(x, 4) + 34.193f * powf(x, 3) - 39.083f * powf(x, 2) + 23.116f * x - 9.713f); -} - -DO_INLINE float fbderiv(float length, float L) -{ - float x = length/L; - - return (-46.164f * powf(x, 3) + 102.579f * powf(x, 2) - 78.166f * x + 23.116f); -} - -DO_INLINE float fbstar(float length, float L, float kb, float cb) -{ - float tempfb_fl = kb * fb(length, L); - float fbstar_fl = cb * (length - L); - - if (tempfb_fl < fbstar_fl) - return fbstar_fl; - else - return tempfb_fl; -} - -// function to calculae bending spring force (taken from Choi & Co) -DO_INLINE float fbstar_jacobi(float length, float L, float kb, float cb) -{ - float tempfb_fl = kb * fb(length, L); - float fbstar_fl = cb * (length - L); - - if (tempfb_fl < fbstar_fl) { - return cb; - } - else { - return kb * fbderiv(length, L); - } -} - -DO_INLINE void filter(lfVector *V, fmatrix3x3 *S) -{ - unsigned int i=0; - - for (i = 0; i < S[0].vcount; i++) { - mul_fvector_fmatrix(V[S[i].r], V[S[i].r], S[i].m); - } -} - -static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S) -{ - // Solves for unknown X in equation AX=B - unsigned int conjgrad_loopcount=0, conjgrad_looplimit=100; - float conjgrad_epsilon=0.0001f /* , conjgrad_lasterror=0 */ /* UNUSED */; - lfVector *q, *d, *tmp, *r; - float s, starget, a, s_prev; - unsigned int numverts = lA[0].vcount; - q = create_lfvector(numverts); - d = create_lfvector(numverts); - tmp = create_lfvector(numverts); - r = create_lfvector(numverts); - - // zero_lfvector(ldV, CLOTHPARTICLES); - filter(ldV, S); - - add_lfvector_lfvector(ldV, ldV, z, numverts); - - // r = B - Mul(tmp, A, X); // just use B if X known to be zero - cp_lfvector(r, lB, numverts); - mul_bfmatrix_lfvector(tmp, lA, ldV); - sub_lfvector_lfvector(r, r, tmp, numverts); - - filter(r, S); - - cp_lfvector(d, r, numverts); - - s = dot_lfvector(r, r, numverts); - starget = s * sqrtf(conjgrad_epsilon); - - while (s>starget && conjgrad_loopcount < conjgrad_looplimit) { - // Mul(q, A, d); // q = A*d; - mul_bfmatrix_lfvector(q, lA, d); - - filter(q, S); - - a = s/dot_lfvector(d, q, numverts); - - // X = X + d*a; - add_lfvector_lfvectorS(ldV, ldV, d, a, numverts); - - // r = r - q*a; - sub_lfvector_lfvectorS(r, r, q, a, numverts); - - s_prev = s; - s = dot_lfvector(r, r, numverts); - - //d = r+d*(s/s_prev); - add_lfvector_lfvectorS(d, r, d, (s/s_prev), numverts); - - filter(d, S); - - conjgrad_loopcount++; - } - /* conjgrad_lasterror = s; */ /* UNUSED */ - - del_lfvector(q); - del_lfvector(d); - del_lfvector(tmp); - del_lfvector(r); - // printf("W/O conjgrad_loopcount: %d\n", conjgrad_loopcount); - - return conjgrad_loopcount<conjgrad_looplimit; // true means we reached desired accuracy in given time - ie stable -} - -// block diagonalizer -DO_INLINE void BuildPPinv(fmatrix3x3 *lA, fmatrix3x3 *P, fmatrix3x3 *Pinv) -{ - unsigned int i = 0; - - // Take only the diagonal blocks of A -// #pragma omp parallel for private(i) if (lA[0].vcount > CLOTH_OPENMP_LIMIT) - for (i = 0; i<lA[0].vcount; i++) { - // block diagonalizer - cp_fmatrix(P[i].m, lA[i].m); - inverse_fmatrix(Pinv[i].m, P[i].m); - - } -} -#if 0 -/* -// version 1.3 -static int cg_filtered_pre(lfVector *dv, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S, fmatrix3x3 *P, fmatrix3x3 *Pinv) -{ - unsigned int numverts = lA[0].vcount, iterations = 0, conjgrad_looplimit=100; - float delta0 = 0, deltaNew = 0, deltaOld = 0, alpha = 0; - float conjgrad_epsilon=0.0001; // 0.2 is dt for steps=5 - lfVector *r = create_lfvector(numverts); - lfVector *p = create_lfvector(numverts); - lfVector *s = create_lfvector(numverts); - lfVector *h = create_lfvector(numverts); - - BuildPPinv(lA, P, Pinv); - - filter(dv, S); - add_lfvector_lfvector(dv, dv, z, numverts); - - mul_bfmatrix_lfvector(r, lA, dv); - sub_lfvector_lfvector(r, lB, r, numverts); - filter(r, S); - - mul_prevfmatrix_lfvector(p, Pinv, r); - filter(p, S); - - deltaNew = dot_lfvector(r, p, numverts); - - delta0 = deltaNew * sqrt(conjgrad_epsilon); - - // itstart(); - - while ((deltaNew > delta0) && (iterations < conjgrad_looplimit)) - { - iterations++; - - mul_bfmatrix_lfvector(s, lA, p); - filter(s, S); - - alpha = deltaNew / dot_lfvector(p, s, numverts); - - add_lfvector_lfvectorS(dv, dv, p, alpha, numverts); - - add_lfvector_lfvectorS(r, r, s, -alpha, numverts); - - mul_prevfmatrix_lfvector(h, Pinv, r); - filter(h, S); - - deltaOld = deltaNew; - - deltaNew = dot_lfvector(r, h, numverts); - - add_lfvector_lfvectorS(p, h, p, deltaNew / deltaOld, numverts); - - filter(p, S); - - } - - // itend(); - // printf("cg_filtered_pre time: %f\n", (float)itval()); - - del_lfvector(h); - del_lfvector(s); - del_lfvector(p); - del_lfvector(r); - - printf("iterations: %d\n", iterations); - - return iterations<conjgrad_looplimit; -} -*/ -// version 1.4 -static int cg_filtered_pre(lfVector *dv, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S, fmatrix3x3 *P, fmatrix3x3 *Pinv, fmatrix3x3 *bigI) -{ - unsigned int numverts = lA[0].vcount, iterations = 0, conjgrad_looplimit=100; - float delta0 = 0, deltaNew = 0, deltaOld = 0, alpha = 0, tol = 0; - lfVector *r = create_lfvector(numverts); - lfVector *p = create_lfvector(numverts); - lfVector *s = create_lfvector(numverts); - lfVector *h = create_lfvector(numverts); - lfVector *bhat = create_lfvector(numverts); - lfVector *btemp = create_lfvector(numverts); - - BuildPPinv(lA, P, Pinv); - - initdiag_bfmatrix(bigI, I); - sub_bfmatrix_Smatrix(bigI, bigI, S); - - // x = Sx_0+(I-S)z - filter(dv, S); - add_lfvector_lfvector(dv, dv, z, numverts); - - // b_hat = S(b-A(I-S)z) - mul_bfmatrix_lfvector(r, lA, z); - mul_bfmatrix_lfvector(bhat, bigI, r); - sub_lfvector_lfvector(bhat, lB, bhat, numverts); - - // r = S(b-Ax) - mul_bfmatrix_lfvector(r, lA, dv); - sub_lfvector_lfvector(r, lB, r, numverts); - filter(r, S); - - // p = SP^-1r - mul_prevfmatrix_lfvector(p, Pinv, r); - filter(p, S); - - // delta0 = bhat^TP^-1bhat - mul_prevfmatrix_lfvector(btemp, Pinv, bhat); - delta0 = dot_lfvector(bhat, btemp, numverts); - - // deltaNew = r^TP - deltaNew = dot_lfvector(r, p, numverts); - - /* - filter(dv, S); - add_lfvector_lfvector(dv, dv, z, numverts); - - mul_bfmatrix_lfvector(r, lA, dv); - sub_lfvector_lfvector(r, lB, r, numverts); - filter(r, S); - - mul_prevfmatrix_lfvector(p, Pinv, r); - filter(p, S); - - deltaNew = dot_lfvector(r, p, numverts); - - delta0 = deltaNew * sqrt(conjgrad_epsilon); - */ - - // itstart(); - - tol = (0.01*0.2); - - while ((deltaNew > delta0*tol*tol) && (iterations < conjgrad_looplimit)) - { - iterations++; - - mul_bfmatrix_lfvector(s, lA, p); - filter(s, S); - - alpha = deltaNew / dot_lfvector(p, s, numverts); - - add_lfvector_lfvectorS(dv, dv, p, alpha, numverts); - - add_lfvector_lfvectorS(r, r, s, -alpha, numverts); - - mul_prevfmatrix_lfvector(h, Pinv, r); - filter(h, S); - - deltaOld = deltaNew; - - deltaNew = dot_lfvector(r, h, numverts); - - add_lfvector_lfvectorS(p, h, p, deltaNew / deltaOld, numverts); - - filter(p, S); - - } - - // itend(); - // printf("cg_filtered_pre time: %f\n", (float)itval()); - - del_lfvector(btemp); - del_lfvector(bhat); - del_lfvector(h); - del_lfvector(s); - del_lfvector(p); - del_lfvector(r); - - // printf("iterations: %d\n", iterations); - - return iterations<conjgrad_looplimit; -} -#endif - -// outer product is NOT cross product!!! -DO_INLINE void dfdx_spring_type1(float to[3][3], float extent[3], float length, float L, float dot, float k) -{ - // dir is unit length direction, rest is spring's restlength, k is spring constant. - // return (outerprod(dir, dir)*k + (I - outerprod(dir, dir))*(k - ((k*L)/length))); - float temp[3][3]; - float temp1 = k * (1.0f - (L / length)); - - mul_fvectorT_fvectorS(temp, extent, extent, 1.0f / dot); - sub_fmatrix_fmatrix(to, I, temp); - mul_fmatrix_S(to, temp1); - - mul_fvectorT_fvectorS(temp, extent, extent, k/ dot); - add_fmatrix_fmatrix(to, to, temp); - - /* - mul_fvectorT_fvector(temp, dir, dir); - sub_fmatrix_fmatrix(to, I, temp); - mul_fmatrix_S(to, k* (1.0f-(L/length))); - mul_fmatrix_S(temp, k); - add_fmatrix_fmatrix(to, temp, to); - */ -} - -DO_INLINE void dfdx_spring_type2(float to[3][3], float dir[3], float length, float L, float k, float cb) -{ - // return outerprod(dir, dir)*fbstar_jacobi(length, L, k, cb); - mul_fvectorT_fvectorS(to, dir, dir, fbstar_jacobi(length, L, k, cb)); -} - -DO_INLINE void dfdv_damp(float to[3][3], float dir[3], float damping) -{ - // derivative of force wrt velocity. - mul_fvectorT_fvectorS(to, dir, dir, damping); - -} - -DO_INLINE void dfdx_spring(float to[3][3], float dir[3], float length, float L, float k) -{ - // dir is unit length direction, rest is spring's restlength, k is spring constant. - //return ( (I-outerprod(dir, dir))*Min(1.0f, rest/length) - I) * -k; - mul_fvectorT_fvector(to, dir, dir); - sub_fmatrix_fmatrix(to, I, to); - - mul_fmatrix_S(to, (L/length)); - sub_fmatrix_fmatrix(to, to, I); - mul_fmatrix_S(to, -k); -} - -// unused atm -DO_INLINE void dfdx_damp(float to[3][3], float dir[3], float length, const float vel[3], float rest, float damping) -{ - // inner spring damping vel is the relative velocity of the endpoints. - // return (I-outerprod(dir, dir)) * (-damping * -(dot(dir, vel)/Max(length, rest))); - mul_fvectorT_fvector(to, dir, dir); - sub_fmatrix_fmatrix(to, I, to); - mul_fmatrix_S(to, (-damping * -(dot_v3v3(dir, vel)/MAX2(length, rest)))); - -} - -DO_INLINE void cloth_calc_spring_force(ClothModifierData *clmd, ClothSpring *s, lfVector *UNUSED(lF), lfVector *X, lfVector *V, fmatrix3x3 *UNUSED(dFdV), fmatrix3x3 *UNUSED(dFdX), float time) -{ - Cloth *cloth = clmd->clothObject; - ClothVertex *verts = cloth->verts; - float extent[3]; - float length = 0, dot = 0; - float dir[3] = {0, 0, 0}; - float vel[3]; - float k = 0.0f; - float L = s->restlen; - float cb; /* = clmd->sim_parms->structural; */ /*UNUSED*/ - - float nullf[3] = {0, 0, 0}; - float stretch_force[3] = {0, 0, 0}; - float bending_force[3] = {0, 0, 0}; - float damping_force[3] = {0, 0, 0}; - float nulldfdx[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - - float scaling = 0.0; - - int no_compress = clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_NO_SPRING_COMPRESS; - - copy_v3_v3(s->f, nullf); - cp_fmatrix(s->dfdx, nulldfdx); - cp_fmatrix(s->dfdv, nulldfdx); - - // calculate elonglation - sub_v3_v3v3(extent, X[s->kl], X[s->ij]); - sub_v3_v3v3(vel, V[s->kl], V[s->ij]); - dot = dot_v3v3(extent, extent); - length = sqrtf(dot); - - s->flags &= ~CLOTH_SPRING_FLAG_NEEDED; - - if (length > ALMOST_ZERO) { - /* - if (length>L) - { - if ((clmd->sim_parms->flags & CSIMSETT_FLAG_TEARING_ENABLED) && - ((((length-L)*100.0f/L) > clmd->sim_parms->maxspringlen))) // cut spring! - { - s->flags |= CSPRING_FLAG_DEACTIVATE; - return; - } - } - */ - mul_fvector_S(dir, extent, 1.0f/length); - } - else { - mul_fvector_S(dir, extent, 0.0f); - } - - // calculate force of structural + shear springs - if ((s->type & CLOTH_SPRING_TYPE_STRUCTURAL) || (s->type & CLOTH_SPRING_TYPE_SHEAR) || (s->type & CLOTH_SPRING_TYPE_SEWING) ) { - if (length > L || no_compress) { - s->flags |= CLOTH_SPRING_FLAG_NEEDED; - - k = clmd->sim_parms->structural; - - scaling = k + s->stiffness * fabsf(clmd->sim_parms->max_struct - k); - - k = scaling / (clmd->sim_parms->avg_spring_len + FLT_EPSILON); - - // TODO: verify, half verified (couldn't see error) - if (s->type & CLOTH_SPRING_TYPE_SEWING) { - // sewing springs usually have a large distance at first so clamp the force so we don't get tunnelling through colission objects - float force = k*(length-L); - if (force > clmd->sim_parms->max_sewing) { - force = clmd->sim_parms->max_sewing; - } - mul_fvector_S(stretch_force, dir, force); - } - else { - mul_fvector_S(stretch_force, dir, k * (length - L)); - } - - VECADD(s->f, s->f, stretch_force); - - // Ascher & Boxman, p.21: Damping only during elonglation - // something wrong with it... - mul_fvector_S(damping_force, dir, clmd->sim_parms->Cdis * dot_v3v3(vel, dir)); - VECADD(s->f, s->f, damping_force); - - /* VERIFIED */ - dfdx_spring(s->dfdx, dir, length, L, k); - - /* VERIFIED */ - dfdv_damp(s->dfdv, dir, clmd->sim_parms->Cdis); - - } - } - else if (s->type & CLOTH_SPRING_TYPE_GOAL) { - float tvect[3]; - - s->flags |= CLOTH_SPRING_FLAG_NEEDED; - - // current_position = xold + t * (newposition - xold) - sub_v3_v3v3(tvect, verts[s->ij].xconst, verts[s->ij].xold); - mul_fvector_S(tvect, tvect, time); - VECADD(tvect, tvect, verts[s->ij].xold); - - sub_v3_v3v3(extent, X[s->ij], tvect); - - // SEE MSG BELOW (these are UNUSED) - // dot = dot_v3v3(extent, extent); - // length = sqrt(dot); - - k = clmd->sim_parms->goalspring; - - scaling = k + s->stiffness * fabsf(clmd->sim_parms->max_struct - k); - - k = verts [s->ij].goal * scaling / (clmd->sim_parms->avg_spring_len + FLT_EPSILON); - - VECADDS(s->f, s->f, extent, -k); - - mul_fvector_S(damping_force, dir, clmd->sim_parms->goalfrict * 0.01f * dot_v3v3(vel, dir)); - VECADD(s->f, s->f, damping_force); - - // HERE IS THE PROBLEM!!!! - // dfdx_spring(s->dfdx, dir, length, 0.0, k); - // dfdv_damp(s->dfdv, dir, MIN2(1.0, (clmd->sim_parms->goalfrict/100.0))); - } - else { /* calculate force of bending springs */ - if (length < L) { - s->flags |= CLOTH_SPRING_FLAG_NEEDED; - - k = clmd->sim_parms->bending; - - scaling = k + s->stiffness * fabsf(clmd->sim_parms->max_bend - k); - cb = k = scaling / (20.0f * (clmd->sim_parms->avg_spring_len + FLT_EPSILON)); - - mul_fvector_S(bending_force, dir, fbstar(length, L, k, cb)); - VECADD(s->f, s->f, bending_force); - - dfdx_spring_type2(s->dfdx, dir, length, L, k, cb); - } - } -} - -DO_INLINE void cloth_apply_spring_force(ClothModifierData *UNUSED(clmd), ClothSpring *s, lfVector *lF, lfVector *UNUSED(X), lfVector *UNUSED(V), fmatrix3x3 *dFdV, fmatrix3x3 *dFdX) -{ - if (s->flags & CLOTH_SPRING_FLAG_NEEDED) { - if (!(s->type & CLOTH_SPRING_TYPE_BENDING)) { - sub_fmatrix_fmatrix(dFdV[s->ij].m, dFdV[s->ij].m, s->dfdv); - sub_fmatrix_fmatrix(dFdV[s->kl].m, dFdV[s->kl].m, s->dfdv); - add_fmatrix_fmatrix(dFdV[s->matrix_index].m, dFdV[s->matrix_index].m, s->dfdv); - } - - VECADD(lF[s->ij], lF[s->ij], s->f); - - if (!(s->type & CLOTH_SPRING_TYPE_GOAL)) - sub_v3_v3v3(lF[s->kl], lF[s->kl], s->f); - - sub_fmatrix_fmatrix(dFdX[s->kl].m, dFdX[s->kl].m, s->dfdx); - sub_fmatrix_fmatrix(dFdX[s->ij].m, dFdX[s->ij].m, s->dfdx); - add_fmatrix_fmatrix(dFdX[s->matrix_index].m, dFdX[s->matrix_index].m, s->dfdx); - } -} - - -static void CalcFloat( float *v1, float *v2, float *v3, float *n) -{ - float n1[3], n2[3]; - - n1[0] = v1[0]-v2[0]; - n2[0] = v2[0]-v3[0]; - n1[1] = v1[1]-v2[1]; - n2[1] = v2[1]-v3[1]; - n1[2] = v1[2]-v2[2]; - n2[2] = v2[2]-v3[2]; - n[0] = n1[1]*n2[2]-n1[2]*n2[1]; - n[1] = n1[2]*n2[0]-n1[0]*n2[2]; - n[2] = n1[0]*n2[1]-n1[1]*n2[0]; -} - -static void CalcFloat4( float *v1, float *v2, float *v3, float *v4, float *n) -{ - /* real cross! */ - float n1[3], n2[3]; - - n1[0] = v1[0]-v3[0]; - n1[1] = v1[1]-v3[1]; - n1[2] = v1[2]-v3[2]; - - n2[0] = v2[0]-v4[0]; - n2[1] = v2[1]-v4[1]; - n2[2] = v2[2]-v4[2]; - - n[0] = n1[1]*n2[2]-n1[2]*n2[1]; - n[1] = n1[2]*n2[0]-n1[0]*n2[2]; - n[2] = n1[0]*n2[1]-n1[1]*n2[0]; -} - -static float calculateVertexWindForce(const float wind[3], const float vertexnormal[3]) -{ - return dot_v3v3(wind, vertexnormal); -} - -typedef struct HairGridVert { - float velocity[3]; - float density; -} HairGridVert; -#define HAIR_GRID_INDEX(vec, min, max, axis) (int)((vec[axis] - min[axis]) / (max[axis] - min[axis]) * 9.99f) -/* Smoothing of hair velocities: - * adapted from - * Volumetric Methods for Simulation and Rendering of Hair - * by Lena Petrovic, Mark Henne and John Anderson - * Pixar Technical Memo #06-08, Pixar Animation Studios - */ -static void hair_velocity_smoothing(ClothModifierData *clmd, lfVector *lF, lfVector *lX, lfVector *lV, unsigned int numverts) -{ - /* TODO: This is an initial implementation and should be made much better in due time. - * What should at least be implemented is a grid size parameter and a smoothing kernel - * for bigger grids. - */ - - /* 10x10x10 grid gives nice initial results */ - HairGridVert grid[10][10][10]; - HairGridVert colg[10][10][10]; - ListBase *colliders = get_collider_cache(clmd->scene, NULL, NULL); - ColliderCache *col = NULL; - float gmin[3], gmax[3], density; - /* 2.0f is an experimental value that seems to give good results */ - float smoothfac = 2.0f * clmd->sim_parms->velocity_smooth; - float collfac = 2.0f * clmd->sim_parms->collider_friction; - unsigned int v = 0; - int i = 0; - int j = 0; - int k = 0; - - INIT_MINMAX(gmin, gmax); - - for (i = 0; i < numverts; i++) - DO_MINMAX(lX[i], gmin, gmax); - - /* initialize grid */ - for (i = 0; i < 10; i++) { - for (j = 0; j < 10; j++) { - for (k = 0; k < 10; k++) { - grid[i][j][k].velocity[0] = 0.0f; - grid[i][j][k].velocity[1] = 0.0f; - grid[i][j][k].velocity[2] = 0.0f; - grid[i][j][k].density = 0.0f; - - colg[i][j][k].velocity[0] = 0.0f; - colg[i][j][k].velocity[1] = 0.0f; - colg[i][j][k].velocity[2] = 0.0f; - colg[i][j][k].density = 0.0f; - } - } - } - - /* gather velocities & density */ - if (smoothfac > 0.0f) for (v = 0; v < numverts; v++) { - i = HAIR_GRID_INDEX(lX[v], gmin, gmax, 0); - j = HAIR_GRID_INDEX(lX[v], gmin, gmax, 1); - k = HAIR_GRID_INDEX(lX[v], gmin, gmax, 2); - if (i < 0 || j < 0 || k < 0 || i >= 10 || j >= 10 || k >= 10) - continue; - - grid[i][j][k].velocity[0] += lV[v][0]; - grid[i][j][k].velocity[1] += lV[v][1]; - grid[i][j][k].velocity[2] += lV[v][2]; - grid[i][j][k].density += 1.0f; - } - - /* gather colliders */ - if (colliders && collfac > 0.0f) for (col = colliders->first; col; col = col->next) { - MVert *loc0 = col->collmd->x; - MVert *loc1 = col->collmd->xnew; - float vel[3]; - - for (v=0; v<col->collmd->numverts; v++, loc0++, loc1++) { - i = HAIR_GRID_INDEX(loc1->co, gmin, gmax, 0); - - if (i>=0 && i<10) { - j = HAIR_GRID_INDEX(loc1->co, gmin, gmax, 1); - - if (j>=0 && j<10) { - k = HAIR_GRID_INDEX(loc1->co, gmin, gmax, 2); - - if (k>=0 && k<10) { - sub_v3_v3v3(vel, loc1->co, loc0->co); - - colg[i][j][k].velocity[0] += vel[0]; - colg[i][j][k].velocity[1] += vel[1]; - colg[i][j][k].velocity[2] += vel[2]; - colg[i][j][k].density += 1.0f; - } - } - } - } - } - - - /* divide velocity with density */ - for (i = 0; i < 10; i++) { - for (j = 0; j < 10; j++) { - for (k = 0; k < 10; k++) { - density = grid[i][j][k].density; - if (density > 0.0f) { - grid[i][j][k].velocity[0] /= density; - grid[i][j][k].velocity[1] /= density; - grid[i][j][k].velocity[2] /= density; - } - - density = colg[i][j][k].density; - if (density > 0.0f) { - colg[i][j][k].velocity[0] /= density; - colg[i][j][k].velocity[1] /= density; - colg[i][j][k].velocity[2] /= density; - } - } - } - } - - /* calculate forces */ - for (v = 0; v < numverts; v++) { - i = HAIR_GRID_INDEX(lX[v], gmin, gmax, 0); - j = HAIR_GRID_INDEX(lX[v], gmin, gmax, 1); - k = HAIR_GRID_INDEX(lX[v], gmin, gmax, 2); - if (i < 0 || j < 0 || k < 0 || i >= 10 || j >= 10 || k >= 10) - continue; - - lF[v][0] += smoothfac * (grid[i][j][k].velocity[0] - lV[v][0]); - lF[v][1] += smoothfac * (grid[i][j][k].velocity[1] - lV[v][1]); - lF[v][2] += smoothfac * (grid[i][j][k].velocity[2] - lV[v][2]); - - if (colg[i][j][k].density > 0.0f) { - lF[v][0] += collfac * (colg[i][j][k].velocity[0] - lV[v][0]); - lF[v][1] += collfac * (colg[i][j][k].velocity[1] - lV[v][1]); - lF[v][2] += collfac * (colg[i][j][k].velocity[2] - lV[v][2]); - } - } - - free_collider_cache(&colliders); -} - -static void cloth_calc_force(ClothModifierData *clmd, float UNUSED(frame), lfVector *lF, lfVector *lX, lfVector *lV, fmatrix3x3 *dFdV, fmatrix3x3 *dFdX, ListBase *effectors, float time, fmatrix3x3 *M) -{ - /* Collect forces and derivatives: F, dFdX, dFdV */ - Cloth *cloth = clmd->clothObject; - unsigned int i = 0; - float spring_air = clmd->sim_parms->Cvi * 0.01f; /* viscosity of air scaled in percent */ - float gravity[3] = {0.0f, 0.0f, 0.0f}; - float tm2[3][3] = {{0}}; - MFace *mfaces = cloth->mfaces; - unsigned int numverts = cloth->numverts; - LinkNode *search; - lfVector *winvec; - EffectedPoint epoint; - - tm2[0][0] = tm2[1][1] = tm2[2][2] = -spring_air; - - /* global acceleration (gravitation) */ - if (clmd->scene->physics_settings.flag & PHYS_GLOBAL_GRAVITY) { - copy_v3_v3(gravity, clmd->scene->physics_settings.gravity); - mul_fvector_S(gravity, gravity, 0.001f * clmd->sim_parms->effector_weights->global_gravity); /* scale gravity force */ - } - - /* set dFdX jacobi matrix to zero */ - init_bfmatrix(dFdX, ZERO); - /* set dFdX jacobi matrix diagonal entries to -spring_air */ - initdiag_bfmatrix(dFdV, tm2); - - init_lfvector(lF, gravity, numverts); - - if (clmd->sim_parms->velocity_smooth > 0.0f || clmd->sim_parms->collider_friction > 0.0f) - hair_velocity_smoothing(clmd, lF, lX, lV, numverts); - - /* multiply lF with mass matrix - * force = mass * acceleration (in this case: gravity) - */ - for (i = 0; i < numverts; i++) { - float temp[3]; - copy_v3_v3(temp, lF[i]); - mul_fmatrix_fvector(lF[i], M[i].m, temp); - } - - submul_lfvectorS(lF, lV, spring_air, numverts); - - /* handle external forces like wind */ - if (effectors) { - // 0 = force, 1 = normalized force - winvec = create_lfvector(cloth->numverts); - - if (!winvec) - printf("winvec: out of memory in implicit.c\n"); - - // precalculate wind forces - for (i = 0; i < cloth->numverts; i++) { - pd_point_from_loc(clmd->scene, (float*)lX[i], (float*)lV[i], i, &epoint); - pdDoEffectors(effectors, NULL, clmd->sim_parms->effector_weights, &epoint, winvec[i], NULL); - } - - for (i = 0; i < cloth->numfaces; i++) { - float trinormal[3] = {0, 0, 0}; // normalized triangle normal - float triunnormal[3] = {0, 0, 0}; // not-normalized-triangle normal - float tmp[3] = {0, 0, 0}; - float factor = (mfaces[i].v4) ? 0.25 : 1.0 / 3.0; - factor *= 0.02f; - - // calculate face normal - if (mfaces[i].v4) - CalcFloat4(lX[mfaces[i].v1], lX[mfaces[i].v2], lX[mfaces[i].v3], lX[mfaces[i].v4], triunnormal); - else - CalcFloat(lX[mfaces[i].v1], lX[mfaces[i].v2], lX[mfaces[i].v3], triunnormal); - - normalize_v3_v3(trinormal, triunnormal); - - // add wind from v1 - copy_v3_v3(tmp, trinormal); - mul_v3_fl(tmp, calculateVertexWindForce(winvec[mfaces[i].v1], triunnormal)); - VECADDS(lF[mfaces[i].v1], lF[mfaces[i].v1], tmp, factor); - - // add wind from v2 - copy_v3_v3(tmp, trinormal); - mul_v3_fl(tmp, calculateVertexWindForce(winvec[mfaces[i].v2], triunnormal)); - VECADDS(lF[mfaces[i].v2], lF[mfaces[i].v2], tmp, factor); - - // add wind from v3 - copy_v3_v3(tmp, trinormal); - mul_v3_fl(tmp, calculateVertexWindForce(winvec[mfaces[i].v3], triunnormal)); - VECADDS(lF[mfaces[i].v3], lF[mfaces[i].v3], tmp, factor); - - // add wind from v4 - if (mfaces[i].v4) { - copy_v3_v3(tmp, trinormal); - mul_v3_fl(tmp, calculateVertexWindForce(winvec[mfaces[i].v4], triunnormal)); - VECADDS(lF[mfaces[i].v4], lF[mfaces[i].v4], tmp, factor); - } - } - - /* Hair has only edges */ - if (cloth->numfaces == 0) { - ClothSpring *spring; - float edgevec[3] = {0, 0, 0}; //edge vector - float edgeunnormal[3] = {0, 0, 0}; // not-normalized-edge normal - float tmp[3] = {0, 0, 0}; - float factor = 0.01; - - search = cloth->springs; - while (search) { - spring = search->link; - - if (spring->type == CLOTH_SPRING_TYPE_STRUCTURAL) { - sub_v3_v3v3(edgevec, (float*)lX[spring->ij], (float*)lX[spring->kl]); - - project_v3_v3v3(tmp, winvec[spring->ij], edgevec); - sub_v3_v3v3(edgeunnormal, winvec[spring->ij], tmp); - /* hair doesn't stretch too much so we can use restlen pretty safely */ - VECADDS(lF[spring->ij], lF[spring->ij], edgeunnormal, spring->restlen * factor); - - project_v3_v3v3(tmp, winvec[spring->kl], edgevec); - sub_v3_v3v3(edgeunnormal, winvec[spring->kl], tmp); - VECADDS(lF[spring->kl], lF[spring->kl], edgeunnormal, spring->restlen * factor); - } - - search = search->next; - } - } - - del_lfvector(winvec); - } - - // calculate spring forces - search = cloth->springs; - while (search) { - // only handle active springs - ClothSpring *spring = search->link; - if (!(spring->flags & CLOTH_SPRING_FLAG_DEACTIVATE)) - cloth_calc_spring_force(clmd, search->link, lF, lX, lV, dFdV, dFdX, time); - - search = search->next; - } - - // apply spring forces - search = cloth->springs; - while (search) { - // only handle active springs - ClothSpring *spring = search->link; - if (!(spring->flags & CLOTH_SPRING_FLAG_DEACTIVATE)) - cloth_apply_spring_force(clmd, search->link, lF, lX, lV, dFdV, dFdX); - search = search->next; - } - // printf("\n"); -} - -static void simulate_implicit_euler(lfVector *Vnew, lfVector *UNUSED(lX), lfVector *lV, lfVector *lF, fmatrix3x3 *dFdV, fmatrix3x3 *dFdX, float dt, fmatrix3x3 *A, lfVector *B, lfVector *dV, fmatrix3x3 *S, lfVector *z, lfVector *olddV, fmatrix3x3 *UNUSED(P), fmatrix3x3 *UNUSED(Pinv), fmatrix3x3 *M, fmatrix3x3 *UNUSED(bigI)) -{ - unsigned int numverts = dFdV[0].vcount; - - lfVector *dFdXmV = create_lfvector(numverts); - zero_lfvector(dV, numverts); - - cp_bfmatrix(A, M); - - subadd_bfmatrixS_bfmatrixS(A, dFdV, dt, dFdX, (dt*dt)); - - mul_bfmatrix_lfvector(dFdXmV, dFdX, lV); - - add_lfvectorS_lfvectorS(B, lF, dt, dFdXmV, (dt*dt), numverts); - - // itstart(); - - cg_filtered(dV, A, B, z, S); /* conjugate gradient algorithm to solve Ax=b */ - // cg_filtered_pre(dV, A, B, z, S, P, Pinv, bigI); - - // itend(); - // printf("cg_filtered calc time: %f\n", (float)itval()); - - cp_lfvector(olddV, dV, numverts); - - // advance velocities - add_lfvector_lfvector(Vnew, lV, dV, numverts); - - - del_lfvector(dFdXmV); -} - -/* computes where the cloth would be if it were subject to perfectly stiff edges - * (edge distance constraints) in a lagrangian solver. then add forces to help - * guide the implicit solver to that state. this function is called after - * collisions*/ -static int UNUSED_FUNCTION(cloth_calc_helper_forces)(Object *UNUSED(ob), ClothModifierData *clmd, float (*initial_cos)[3], float UNUSED(step), float dt) -{ - Cloth *cloth= clmd->clothObject; - float (*cos)[3] = MEM_callocN(sizeof(float)*3*cloth->numverts, "cos cloth_calc_helper_forces"); - float *masses = MEM_callocN(sizeof(float)*cloth->numverts, "cos cloth_calc_helper_forces"); - LinkNode *node; - ClothSpring *spring; - ClothVertex *cv; - int i, steps; - - cv = cloth->verts; - for (i=0; i<cloth->numverts; i++, cv++) { - copy_v3_v3(cos[i], cv->tx); - - if (cv->goal == 1.0f || len_squared_v3v3(initial_cos[i], cv->tx) != 0.0f) { - masses[i] = 1e+10; - } - else { - masses[i] = cv->mass; - } - } - - steps = 55; - for (i=0; i<steps; i++) { - for (node=cloth->springs; node; node=node->next) { - /* ClothVertex *cv1, *cv2; */ /* UNUSED */ - int v1, v2; - float len, c, l, vec[3]; - - spring = node->link; - if (spring->type != CLOTH_SPRING_TYPE_STRUCTURAL && spring->type != CLOTH_SPRING_TYPE_SHEAR) - continue; - - v1 = spring->ij; v2 = spring->kl; - /* cv1 = cloth->verts + v1; */ /* UNUSED */ - /* cv2 = cloth->verts + v2; */ /* UNUSED */ - len = len_v3v3(cos[v1], cos[v2]); - - sub_v3_v3v3(vec, cos[v1], cos[v2]); - normalize_v3(vec); - - c = (len - spring->restlen); - if (c == 0.0f) - continue; - - l = c / ((1.0f / masses[v1]) + (1.0f / masses[v2])); - - mul_v3_fl(vec, -(1.0f / masses[v1]) * l); - add_v3_v3(cos[v1], vec); - - sub_v3_v3v3(vec, cos[v2], cos[v1]); - normalize_v3(vec); - - mul_v3_fl(vec, -(1.0f / masses[v2]) * l); - add_v3_v3(cos[v2], vec); - } - } - - cv = cloth->verts; - for (i=0; i<cloth->numverts; i++, cv++) { - float vec[3]; - - /*compute forces*/ - sub_v3_v3v3(vec, cos[i], cv->tx); - mul_v3_fl(vec, cv->mass*dt*20.0f); - add_v3_v3(cv->tv, vec); - //copy_v3_v3(cv->tx, cos[i]); - } - - MEM_freeN(cos); - MEM_freeN(masses); - - return 1; -} - -int implicit_solver(Object *ob, float frame, ClothModifierData *clmd, ListBase *effectors) -{ - unsigned int i=0; - float step=0.0f, tf=clmd->sim_parms->timescale; - Cloth *cloth = clmd->clothObject; - ClothVertex *verts = cloth->verts, *cv; - unsigned int numverts = cloth->numverts; - float dt = clmd->sim_parms->timescale / clmd->sim_parms->stepsPerFrame; - float spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale; - float (*initial_cos)[3] = MEM_callocN(sizeof(float)*3*cloth->numverts, "initial_cos implicit.c"); - Implicit_Data *id = cloth->implicit; - int do_extra_solve; - - if (clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL) { /* do goal stuff */ - - /* Update vertex constraints for pinned vertices */ - update_matrixS(verts, cloth->numverts, id->S); - - for (i = 0; i < numverts; i++) { - // update velocities with constrained velocities from pinned verts - if (verts [i].flags & CLOTH_VERT_FLAG_PINNED) { - sub_v3_v3v3(id->V[i], verts[i].xconst, verts[i].xold); - // mul_v3_fl(id->V[i], clmd->sim_parms->stepsPerFrame); - } - } - } - - while (step < tf) { - // damping velocity for artistic reasons - mul_lfvectorS(id->V, id->V, clmd->sim_parms->vel_damping, numverts); - - // calculate forces - cloth_calc_force(clmd, frame, id->F, id->X, id->V, id->dFdV, id->dFdX, effectors, step, id->M); - - // calculate new velocity - simulate_implicit_euler(id->Vnew, id->X, id->V, id->F, id->dFdV, id->dFdX, dt, id->A, id->B, id->dV, id->S, id->z, id->olddV, id->P, id->Pinv, id->M, id->bigI); - - // advance positions - add_lfvector_lfvectorS(id->Xnew, id->X, id->Vnew, dt, numverts); - - /* move pinned verts to correct position */ - for (i = 0; i < numverts; i++) { - if (clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL) { - if (verts[i].flags & CLOTH_VERT_FLAG_PINNED) { - float tvect[3] = {0.0f, 0.0f, 0.0f}; - sub_v3_v3v3(tvect, verts[i].xconst, verts[i].xold); - mul_fvector_S(tvect, tvect, step+dt); - VECADD(tvect, tvect, verts[i].xold); - copy_v3_v3(id->Xnew[i], tvect); - } - } - - copy_v3_v3(verts[i].txold, id->X[i]); - } - - if (clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_ENABLED && clmd->clothObject->bvhtree) { - // collisions - // itstart(); - - // update verts to current positions - for (i = 0; i < numverts; i++) { - copy_v3_v3(verts[i].tx, id->Xnew[i]); - - sub_v3_v3v3(verts[i].tv, verts[i].tx, verts[i].txold); - copy_v3_v3(verts[i].v, verts[i].tv); - } - - for (i=0, cv=cloth->verts; i<cloth->numverts; i++, cv++) { - copy_v3_v3(initial_cos[i], cv->tx); - } - - // 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++) { - // 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, id->X[i]); - } - - //if (do_extra_solve) - // cloth_calc_helper_forces(ob, clmd, initial_cos, step/clmd->sim_parms->timescale, dt/clmd->sim_parms->timescale); - - if (do_extra_solve) { - for (i = 0; i < numverts; i++) { - if ((clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL) && (verts [i].flags & CLOTH_VERT_FLAG_PINNED)) - continue; - - copy_v3_v3(id->Xnew[i], verts[i].tx); - copy_v3_v3(id->Vnew[i], verts[i].tv); - mul_v3_fl(id->Vnew[i], spf); - } - } - - // X = Xnew; - cp_lfvector(id->X, id->Xnew, numverts); - - // if there were collisions, advance the velocity from v_n+1/2 to v_n+1 - - if (do_extra_solve) { - // V = Vnew; - cp_lfvector(id->V, id->Vnew, numverts); - - // calculate - cloth_calc_force(clmd, frame, id->F, id->X, id->V, id->dFdV, id->dFdX, effectors, step+dt, id->M); - - simulate_implicit_euler(id->Vnew, id->X, id->V, id->F, id->dFdV, id->dFdX, dt / 2.0f, id->A, id->B, id->dV, id->S, id->z, id->olddV, id->P, id->Pinv, id->M, id->bigI); - } - } - else { - // X = Xnew; - cp_lfvector(id->X, id->Xnew, numverts); - } - - // itend(); - // printf("collision time: %f\n", (float)itval()); - - // V = Vnew; - cp_lfvector(id->V, id->Vnew, numverts); - - step += dt; - } - - for (i = 0; i < numverts; i++) { - if ((clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL) && (verts [i].flags & CLOTH_VERT_FLAG_PINNED)) { - copy_v3_v3(verts[i].txold, verts[i].xconst); // TODO: test --> should be .x - copy_v3_v3(verts[i].x, verts[i].xconst); - copy_v3_v3(verts[i].v, id->V[i]); - } - else { - copy_v3_v3(verts[i].txold, id->X[i]); - copy_v3_v3(verts[i].x, id->X[i]); - copy_v3_v3(verts[i].v, id->V[i]); - } - } - - MEM_freeN(initial_cos); - - return 1; -} - -void implicit_set_positions(ClothModifierData *clmd) -{ - Cloth *cloth = clmd->clothObject; - ClothVertex *verts = cloth->verts; - unsigned int numverts = cloth->numverts, i; - Implicit_Data *id = cloth->implicit; - - for (i = 0; i < numverts; i++) { - copy_v3_v3(id->X[i], verts[i].x); - copy_v3_v3(id->V[i], verts[i].v); - } - if (G.debug_value > 0) - printf("implicit_set_positions\n"); -} - |