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path: root/source/blender/blenkernel/intern/softbody.c
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Diffstat (limited to 'source/blender/blenkernel/intern/softbody.c')
-rw-r--r--source/blender/blenkernel/intern/softbody.c232
1 files changed, 24 insertions, 208 deletions
diff --git a/source/blender/blenkernel/intern/softbody.c b/source/blender/blenkernel/intern/softbody.c
index dac395645c9..25a4fdc0cc7 100644
--- a/source/blender/blenkernel/intern/softbody.c
+++ b/source/blender/blenkernel/intern/softbody.c
@@ -81,7 +81,6 @@ variables on the UI for now
#include "BKE_scene.h"
#include "PIL_time.h"
-// #include "ONL_opennl.h" remove linking to ONL for now
/* callbacks for errors and interrupts and some goo */
static int (*SB_localInterruptCallBack)(void) = NULL;
@@ -142,11 +141,6 @@ typedef struct SB_thread_context {
int tot;
} SB_thread_context;
-#define NLF_BUILD 1
-#if 0
-# define NLF_SOLVE 2
-#endif
-
#define MID_PRESERVE 1
#define SOFTGOALSNAP 0.999f
@@ -272,7 +266,6 @@ typedef struct ccdf_minmax {
} ccdf_minmax;
-
typedef struct ccd_Mesh {
int mvert_num, tri_num;
const MVert *mvert;
@@ -286,8 +279,6 @@ typedef struct ccd_Mesh {
} ccd_Mesh;
-
-
static ccd_Mesh *ccd_mesh_make(Object *ob)
{
CollisionModifierData *cmd;
@@ -561,8 +552,6 @@ static void ccd_update_deflector_hash(Scene *scene, Object *vertexowner, GHash *
}
-
-
/*--- collider caching and dicing ---*/
@@ -1224,9 +1213,9 @@ static int sb_detect_face_collisionCached(float face_v1[3], float face_v2[3], fl
sub_v3_v3v3(edge2, nv3, nv2);
cross_v3_v3v3(d_nvect, edge2, edge1);
normalize_v3(d_nvect);
- if (isect_line_tri_v3(nv1, nv2, face_v1, face_v2, face_v3, &t, NULL) ||
- isect_line_tri_v3(nv2, nv3, face_v1, face_v2, face_v3, &t, NULL) ||
- isect_line_tri_v3(nv3, nv1, face_v1, face_v2, face_v3, &t, NULL) )
+ if (isect_line_segment_tri_v3(nv1, nv2, face_v1, face_v2, face_v3, &t, NULL) ||
+ isect_line_segment_tri_v3(nv2, nv3, face_v1, face_v2, face_v3, &t, NULL) ||
+ isect_line_segment_tri_v3(nv3, nv1, face_v1, face_v2, face_v3, &t, NULL) )
{
madd_v3_v3fl(force, d_nvect, -0.5f);
*damp=tune*ob->pd->pdef_sbdamp;
@@ -1407,7 +1396,7 @@ static int sb_detect_edge_collisionCached(float edge_v1[3], float edge_v2[3], fl
cross_v3_v3v3(d_nvect, edge2, edge1);
normalize_v3(d_nvect);
- if ( isect_line_tri_v3(edge_v1, edge_v2, nv1, nv2, nv3, &t, NULL)) {
+ if (isect_line_segment_tri_v3(edge_v1, edge_v2, nv1, nv2, nv3, &t, NULL)) {
float v1[3], v2[3];
float intrusiondepth, i1, i2;
sub_v3_v3v3(v1, edge_v1, nv2);
@@ -1821,14 +1810,14 @@ static void dfdx_spring(int ia, int ic, int op, float dir[3], float L, float len
for (j=0;j<3;j++) {
delta_ij = (i==j ? (1.0f): (0.0f));
m=factor*(dir[i]*dir[j] + (1-L/len)*(delta_ij - dir[i]*dir[j]));
- nlMatrixAdd(ia+i, op+ic+j, m);
+ EIG_linear_solver_matrix_add(ia+i, op+ic+j, m);
}
}
else {
for (i=0;i<3;i++)
for (j=0;j<3;j++) {
m=factor*dir[i]*dir[j];
- nlMatrixAdd(ia+i, op+ic+j, m);
+ EIG_linear_solver_matrix_add(ia+i, op+ic+j, m);
}
}
}
@@ -1837,16 +1826,16 @@ static void dfdx_spring(int ia, int ic, int op, float dir[3], float L, float len
static void dfdx_goal(int ia, int ic, int op, float factor)
{
int i;
- for (i=0;i<3;i++) nlMatrixAdd(ia+i, op+ic+i, factor);
+ for (i=0;i<3;i++) EIG_linear_solver_matrix_add(ia+i, op+ic+i, factor);
}
static void dfdv_goal(int ia, int ic, float factor)
{
int i;
- for (i=0;i<3;i++) nlMatrixAdd(ia+i, ic+i, factor);
+ for (i=0;i<3;i++) EIG_linear_solver_matrix_add(ia+i, ic+i, factor);
}
*/
-static void sb_spring_force(Object *ob, int bpi, BodySpring *bs, float iks, float UNUSED(forcetime), int nl_flags)
+static void sb_spring_force(Object *ob, int bpi, BodySpring *bs, float iks, float UNUSED(forcetime))
{
SoftBody *sb= ob->soft; /* is supposed to be there */
BodyPoint *bp1, *bp2;
@@ -1920,23 +1909,6 @@ static void sb_spring_force(Object *ob, int bpi, BodySpring *bs, float iks, floa
projvel = dot_v3v3(dir, dvel);
kd *= absvel * projvel;
madd_v3_v3fl(bp1->force, dir, -kd);
-
- /* do jacobian stuff if needed */
- if (nl_flags & NLF_BUILD) {
- //int op =3*sb->totpoint;
- //float mvel = -forcetime*kd;
- //float mpos = -forcetime*forcefactor;
- /* depending on my pos */
- // dfdx_spring(ia, ia, op, dir, bs->len, distance, -mpos);
- /* depending on my vel */
- // dfdv_goal(ia, ia, mvel); // well that ignores geometie
- if (bp2->goal < SOFTGOALSNAP) { /* omit this bp when it snaps */
- /* depending on other pos */
- // dfdx_spring(ia, ic, op, dir, bs->len, distance, mpos);
- /* depending on other vel */
- // dfdv_goal(ia, ia, -mvel); // well that ignores geometie
- }
- }
}
@@ -2136,8 +2108,8 @@ static int _softbody_calc_forces_slice_in_a_thread(Scene *scene, Object *ob, flo
bp->choke = bs->cf;
}
- // sb_spring_force(Object *ob, int bpi, BodySpring *bs, float iks, float forcetime, int nl_flags)
- sb_spring_force(ob, ilast-bb, bs, iks, forcetime, 0);
+ // sb_spring_force(Object *ob, int bpi, BodySpring *bs, float iks, float forcetime)
+ sb_spring_force(ob, ilast-bb, bs, iks, forcetime);
}/* loop springs */
}/* existing spring list */
}/*any edges*/
@@ -2209,7 +2181,7 @@ static void sb_cf_threads_run(Scene *scene, Object *ob, float forcetime, float t
MEM_freeN(sb_threads);
}
-static void softbody_calc_forcesEx(Scene *scene, Object *ob, float forcetime, float timenow, int UNUSED(nl_flags))
+static void softbody_calc_forcesEx(Scene *scene, Object *ob, float forcetime, float timenow)
{
/* rule we never alter free variables :bp->vec bp->pos in here !
* this will ruin adaptive stepsize AKA heun! (BM)
@@ -2234,7 +2206,7 @@ static void softbody_calc_forcesEx(Scene *scene, Object *ob, float forcetime, fl
/* bproot= sb->bpoint; */ /* need this for proper spring addressing */ /* UNUSED */
if (do_springcollision || do_aero)
- sb_sfesf_threads_run(scene, ob, timenow, sb->totspring, NULL);
+ sb_sfesf_threads_run(scene, ob, timenow, sb->totspring, NULL);
/* after spring scan because it uses Effoctors too */
do_effector= pdInitEffectors(scene, ob, NULL, sb->effector_weights, true);
@@ -2254,13 +2226,11 @@ static void softbody_calc_forcesEx(Scene *scene, Object *ob, float forcetime, fl
}
-
-
-static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, float timenow, int nl_flags)
+static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, float timenow)
{
/* redirection to the new threaded Version */
if (!(G.debug_value & 0x10)) { // 16
- softbody_calc_forcesEx(scene, ob, forcetime, timenow, nl_flags);
+ softbody_calc_forcesEx(scene, ob, forcetime, timenow);
return;
}
else {
@@ -2283,18 +2253,7 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
float iks, ks, kd, gravity[3] = {0.0f, 0.0f, 0.0f};
float fieldfactor = -1.0f, windfactor = 0.25f;
float tune = sb->ballstiff;
- int a, b, do_deflector, do_selfcollision, do_springcollision, do_aero;
-
-
- /* jacobian
- NLboolean success;
-
- if (nl_flags) {
- nlBegin(NL_SYSTEM);
- nlBegin(NL_MATRIX);
- }
- */
-
+ int do_deflector, do_selfcollision, do_springcollision, do_aero;
if (scene->physics_settings.flag & PHYS_GLOBAL_GRAVITY) {
copy_v3_v3(gravity, scene->physics_settings.gravity);
@@ -2319,29 +2278,10 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
do_deflector = sb_detect_aabb_collisionCached(defforce, ob->lay, ob, timenow);
}
- for (a=sb->totpoint, bp= sb->bpoint; a>0; a--, bp++) {
+ bp = sb->bpoint;
+ for (int a = sb->totpoint; a > 0; a--, bp++) {
/* clear forces accumulator */
bp->force[0] = bp->force[1] = bp->force[2] = 0.0;
- if (nl_flags & NLF_BUILD) {
- //int ia =3*(sb->totpoint-a);
- //int op =3*sb->totpoint;
- /* dF/dV = v */
- /* jacobioan
- nlMatrixAdd(op+ia, ia, -forcetime);
- nlMatrixAdd(op+ia+1, ia+1, -forcetime);
- nlMatrixAdd(op+ia+2, ia+2, -forcetime);
-
- nlMatrixAdd(ia, ia, 1);
- nlMatrixAdd(ia+1, ia+1, 1);
- nlMatrixAdd(ia+2, ia+2, 1);
-
- nlMatrixAdd(op+ia, op+ia, 1);
- nlMatrixAdd(op+ia+1, op+ia+1, 1);
- nlMatrixAdd(op+ia+2, op+ia+2, 1);
- */
-
-
- }
/* naive ball self collision */
/* needs to be done if goal snaps or not */
@@ -2384,30 +2324,6 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
madd_v3_v3fl(bp->force, def, f * (1.0f - sb->balldamp));
madd_v3_v3fl(bp->force, dvel, sb->balldamp);
- if (nl_flags & NLF_BUILD) {
- //int ia =3*(sb->totpoint-a);
- //int ic =3*(sb->totpoint-c);
- //int op =3*sb->totpoint;
- //float mvel = forcetime*sb->nodemass*sb->balldamp;
- //float mpos = forcetime*tune*(1.0f-sb->balldamp);
- /*some quick and dirty entries to the jacobian*/
- //dfdx_goal(ia, ia, op, mpos);
- //dfdv_goal(ia, ia, mvel);
- /* exploit force(a, b) == -force(b, a) part1/2 */
- //dfdx_goal(ic, ic, op, mpos);
- //dfdv_goal(ic, ic, mvel);
-
-
- /*TODO sit down an X-out the true jacobian entries*/
- /*well does not make to much sense because the eigenvalues
- of the jacobian go negative; and negative eigenvalues
- on a complex iterative system z(n+1)=A * z(n)
- give imaginary roots in the charcateristic polynom
- --> solutions that to z(t)=u(t)* exp ( i omega t) --> oscilations we don't want here
- where u(t) is a unknown amplitude function (worst case rising fast)
- */
- }
-
/* exploit force(a, b) == -force(b, a) part2/2 */
sub_v3_v3v3(dvel, velcenter, obp->vec);
mul_v3_fl(dvel, (_final_mass(ob, bp)+_final_mass(ob, obp))/2.0f);
@@ -2433,14 +2349,6 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
bp->force[1]+= -ks*(auxvect[1]);
bp->force[2]+= -ks*(auxvect[2]);
- if (nl_flags & NLF_BUILD) {
- //int ia =3*(sb->totpoint-a);
- //int op =3*(sb->totpoint);
- /* depending on my pos */
- //dfdx_goal(ia, ia, op, ks*forcetime);
- }
-
-
/* calulate damping forces generated by goals*/
sub_v3_v3v3(velgoal, bp->origS, bp->origE);
kd = sb->goalfrict * sb_fric_force_scale(ob);
@@ -2450,12 +2358,6 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
bp->force[0]-= kd * (auxvect[0]);
bp->force[1]-= kd * (auxvect[1]);
bp->force[2]-= kd * (auxvect[2]);
- if (nl_flags & NLF_BUILD) {
- //int ia =3*(sb->totpoint-a);
- normalize_v3(auxvect);
- /* depending on my vel */
- //dfdv_goal(ia, ia, kd*forcetime);
- }
}
else {
@@ -2500,15 +2402,6 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
bp->force[1]-= bp->vec[1]*kd;
bp->force[2]-= bp->vec[2]*kd;
/* friction in media done */
- if (nl_flags & NLF_BUILD) {
- //int ia =3*(sb->totpoint-a);
- /* da/dv = */
-
- // nlMatrixAdd(ia, ia, forcetime*kd);
- // nlMatrixAdd(ia+1, ia+1, forcetime*kd);
- // nlMatrixAdd(ia+2, ia+2, forcetime*kd);
- }
-
}
/* +++cached collision targets */
bp->choke = 0.0f;
@@ -2519,7 +2412,7 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
kd = 1.0f;
if (sb_deflect_face(ob, bp->pos, facenormal, defforce, &cf, timenow, vel, &intrusion)) {
- if ((!nl_flags)&&(intrusion < 0.0f)) {
+ if (intrusion < 0.0f) {
if (G.debug_value & 0x01) { // 17 we did check for bit 0x10 before
/*fixing bug [17428] this forces adaptive step size to tiny steps
in some situations .. keeping G.debug_value==17 option for old files 'needing' the bug
@@ -2549,13 +2442,6 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
madd_v3_v3fl(bp->force, cfforce, -cf * 50.0f);
}
madd_v3_v3fl(bp->force, defforce, kd);
- if (nl_flags & NLF_BUILD) {
- // int ia =3*(sb->totpoint-a);
- // int op =3*sb->totpoint;
- //dfdx_goal(ia, ia, op, mpos); // don't do unless you know
- //dfdv_goal(ia, ia, -cf);
-
- }
}
@@ -2565,7 +2451,7 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
/* +++springs */
if (ob->softflag & OB_SB_EDGES) {
if (sb->bspring) { /* spring list exists at all ? */
- for (b=bp->nofsprings;b>0;b--) {
+ for (int b = bp->nofsprings; b > 0; b--) {
bs = sb->bspring + bp->springs[b-1];
if (do_springcollision || do_aero) {
add_v3_v3(bp->force, bs->ext_force);
@@ -2573,9 +2459,9 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
bp->choke = bs->cf;
}
- // sb_spring_force(Object *ob, int bpi, BodySpring *bs, float iks, float forcetime, int nl_flags)
+ // sb_spring_force(Object *ob, int bpi, BodySpring *bs, float iks, float forcetime)
// rather remove nl_falgs from code .. will make things a lot cleaner
- sb_spring_force(ob, sb->totpoint-a, bs, iks, forcetime, 0);
+ sb_spring_force(ob, sb->totpoint-a, bs, iks, forcetime);
}/* loop springs */
}/* existing spring list */
}/*any edges*/
@@ -2586,76 +2472,6 @@ static void softbody_calc_forces(Scene *scene, Object *ob, float forcetime, floa
/* finally add forces caused by face collision */
if (ob->softflag & OB_SB_FACECOLL) scan_for_ext_face_forces(ob, timenow);
-
- /* finish matrix and solve */
-#if (0) // remove onl linking for now .. still i am not sure .. the jacobian can be useful .. so keep that BM
- if (nl_flags & NLF_SOLVE) {
- //double sct, sst=PIL_check_seconds_timer();
- for (a=sb->totpoint, bp= sb->bpoint; a>0; a--, bp++) {
- int iv =3*(sb->totpoint-a);
- int ip =3*(2*sb->totpoint-a);
- int n;
- for (n=0;n<3;n++) {nlRightHandSideSet(0, iv+n, bp->force[0+n]);}
- for (n=0;n<3;n++) {nlRightHandSideSet(0, ip+n, bp->vec[0+n]);}
- }
- nlEnd(NL_MATRIX);
- nlEnd(NL_SYSTEM);
-
- if ((G.debug_value == 32) && (nl_flags & NLF_BUILD)) {
- printf("####MEE#####\n");
- nlPrintMatrix();
- }
-
- success= nlSolveAdvanced(NULL, 1);
-
- // nlPrintMatrix(); /* for debug purpose .. anyhow cropping B vector looks like working */
- if (success) {
- float f;
- int index =0;
- /* for debug purpose .. anyhow cropping B vector looks like working */
- if (G.debug_value ==32)
- for (a=2*sb->totpoint, bp= sb->bpoint; a>0; a--, bp++) {
- f=nlGetVariable(0, index);
- printf("(%f ", f);index++;
- f=nlGetVariable(0, index);
- printf("%f ", f);index++;
- f=nlGetVariable(0, index);
- printf("%f)", f);index++;
- }
-
- index =0;
- for (a=sb->totpoint, bp= sb->bpoint; a>0; a--, bp++) {
- f=nlGetVariable(0, index);
- bp->impdv[0] = f; index++;
- f=nlGetVariable(0, index);
- bp->impdv[1] = f; index++;
- f=nlGetVariable(0, index);
- bp->impdv[2] = f; index++;
- }
- /*
- for (a=sb->totpoint, bp= sb->bpoint; a>0; a--, bp++) {
- f=nlGetVariable(0, index);
- bp->impdx[0] = f; index++;
- f=nlGetVariable(0, index);
- bp->impdx[1] = f; index++;
- f=nlGetVariable(0, index);
- bp->impdx[2] = f; index++;
- }
- */
- }
- else {
- printf("Matrix inversion failed\n");
- for (a=sb->totpoint, bp= sb->bpoint; a>0; a--, bp++) {
- copy_v3_v3(bp->impdv, bp->force);
- }
-
- }
-
- //sct=PIL_check_seconds_timer();
- //if (sct-sst > 0.01f) printf(" implicit solver time %f %s \r", sct-sst, ob->id.name);
- }
- /* cleanup */
-#endif
pdEndEffectors(&do_effector);
}
}
@@ -3690,12 +3506,12 @@ static void softbody_step(Scene *scene, Object *ob, SoftBody *sb, float dtime)
sb->scratch->flag &= ~SBF_DOFUZZY;
/* do predictive euler step */
- softbody_calc_forces(scene, ob, forcetime, timedone/dtime, 0);
+ softbody_calc_forces(scene, ob, forcetime, timedone/dtime);
softbody_apply_forces(ob, forcetime, 1, NULL, mid_flags);
/* crop new slope values to do averaged slope step */
- softbody_calc_forces(scene, ob, forcetime, timedone/dtime, 0);
+ softbody_calc_forces(scene, ob, forcetime, timedone/dtime);
softbody_apply_forces(ob, forcetime, 2, &err, mid_flags);
softbody_apply_goalsnap(ob);
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-15 14:43:46 +0300