diff options
Diffstat (limited to 'source/blender/physics/intern/BPH_mass_spring.cpp')
| -rw-r--r-- | source/blender/physics/intern/BPH_mass_spring.cpp | 1803 |
1 files changed, 939 insertions, 864 deletions
diff --git a/source/blender/physics/intern/BPH_mass_spring.cpp b/source/blender/physics/intern/BPH_mass_spring.cpp index 1c78a0728b2..fa204e8a7f9 100644 --- a/source/blender/physics/intern/BPH_mass_spring.cpp +++ b/source/blender/physics/intern/BPH_mass_spring.cpp @@ -53,549 +53,602 @@ static float I3[3][3] = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}}; */ static int cloth_count_nondiag_blocks(Cloth *cloth) { - LinkNode *link; - int nondiag = 0; - - for (link = cloth->springs; link; link = link->next) { - ClothSpring *spring = (ClothSpring *)link->link; - switch (spring->type) { - case CLOTH_SPRING_TYPE_BENDING_HAIR: - /* angular bending combines 3 vertices */ - nondiag += 3; - break; - - default: - /* all other springs depend on 2 vertices only */ - nondiag += 1; - break; - } - } - - return nondiag; + LinkNode *link; + int nondiag = 0; + + for (link = cloth->springs; link; link = link->next) { + ClothSpring *spring = (ClothSpring *)link->link; + switch (spring->type) { + case CLOTH_SPRING_TYPE_BENDING_HAIR: + /* angular bending combines 3 vertices */ + nondiag += 3; + break; + + default: + /* all other springs depend on 2 vertices only */ + nondiag += 1; + break; + } + } + + return nondiag; } int BPH_cloth_solver_init(Object *UNUSED(ob), ClothModifierData *clmd) { - Cloth *cloth = clmd->clothObject; - ClothVertex *verts = cloth->verts; - const float ZERO[3] = {0.0f, 0.0f, 0.0f}; - Implicit_Data *id; - unsigned int i, nondiag; + Cloth *cloth = clmd->clothObject; + ClothVertex *verts = cloth->verts; + const float ZERO[3] = {0.0f, 0.0f, 0.0f}; + Implicit_Data *id; + unsigned int i, nondiag; - nondiag = cloth_count_nondiag_blocks(cloth); - cloth->implicit = id = BPH_mass_spring_solver_create(cloth->mvert_num, nondiag); + nondiag = cloth_count_nondiag_blocks(cloth); + cloth->implicit = id = BPH_mass_spring_solver_create(cloth->mvert_num, nondiag); - for (i = 0; i < cloth->mvert_num; i++) { - BPH_mass_spring_set_vertex_mass(id, i, verts[i].mass); - } + for (i = 0; i < cloth->mvert_num; i++) { + BPH_mass_spring_set_vertex_mass(id, i, verts[i].mass); + } - for (i = 0; i < cloth->mvert_num; i++) { - BPH_mass_spring_set_motion_state(id, i, verts[i].x, ZERO); - } + for (i = 0; i < cloth->mvert_num; i++) { + BPH_mass_spring_set_motion_state(id, i, verts[i].x, ZERO); + } - return 1; + return 1; } void BPH_cloth_solver_free(ClothModifierData *clmd) { - Cloth *cloth = clmd->clothObject; + Cloth *cloth = clmd->clothObject; - if (cloth->implicit) { - BPH_mass_spring_solver_free(cloth->implicit); - cloth->implicit = NULL; - } + if (cloth->implicit) { + BPH_mass_spring_solver_free(cloth->implicit); + cloth->implicit = NULL; + } } void BKE_cloth_solver_set_positions(ClothModifierData *clmd) { - Cloth *cloth = clmd->clothObject; - ClothVertex *verts = cloth->verts; - unsigned int mvert_num = cloth->mvert_num, i; - ClothHairData *cloth_hairdata = clmd->hairdata; - Implicit_Data *id = cloth->implicit; - - for (i = 0; i < mvert_num; i++) { - if (cloth_hairdata) { - ClothHairData *root = &cloth_hairdata[i]; - BPH_mass_spring_set_rest_transform(id, i, root->rot); - } - else - BPH_mass_spring_set_rest_transform(id, i, I3); - - BPH_mass_spring_set_motion_state(id, i, verts[i].x, verts[i].v); - } + Cloth *cloth = clmd->clothObject; + ClothVertex *verts = cloth->verts; + unsigned int mvert_num = cloth->mvert_num, i; + ClothHairData *cloth_hairdata = clmd->hairdata; + Implicit_Data *id = cloth->implicit; + + for (i = 0; i < mvert_num; i++) { + if (cloth_hairdata) { + ClothHairData *root = &cloth_hairdata[i]; + BPH_mass_spring_set_rest_transform(id, i, root->rot); + } + else + BPH_mass_spring_set_rest_transform(id, i, I3); + + BPH_mass_spring_set_motion_state(id, i, verts[i].x, verts[i].v); + } } -static bool collision_response(ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, float dt, float restitution, float r_impulse[3]) +static bool collision_response(ClothModifierData *clmd, + CollisionModifierData *collmd, + CollPair *collpair, + float dt, + float restitution, + float r_impulse[3]) { - Cloth *cloth = clmd->clothObject; - int index = collpair->ap1; - bool result = false; - - float v1[3], v2_old[3], v2_new[3], v_rel_old[3], v_rel_new[3]; - float epsilon2 = BLI_bvhtree_get_epsilon(collmd->bvhtree); - - float margin_distance = (float)collpair->distance - epsilon2; - float mag_v_rel; - - zero_v3(r_impulse); - - if (margin_distance > 0.0f) - return false; /* XXX tested before already? */ - - /* only handle static collisions here */ - if (collpair->flag & COLLISION_IN_FUTURE) - return false; - - /* velocity */ - copy_v3_v3(v1, cloth->verts[index].v); - collision_get_collider_velocity(v2_old, v2_new, collmd, collpair); - /* relative velocity = velocity of the cloth point relative to the collider */ - sub_v3_v3v3(v_rel_old, v1, v2_old); - sub_v3_v3v3(v_rel_new, v1, v2_new); - /* normal component of the relative velocity */ - mag_v_rel = dot_v3v3(v_rel_old, collpair->normal); - - /* only valid when moving toward the collider */ - if (mag_v_rel < -ALMOST_ZERO) { - float v_nor_old, v_nor_new; - float v_tan_old[3], v_tan_new[3]; - float bounce, repulse; - - /* Collision response based on - * "Simulating Complex Hair with Robust Collision Handling" (Choe, Choi, Ko, ACM SIGGRAPH 2005) - * http://graphics.snu.ac.kr/publications/2005-choe-HairSim/Choe_2005_SCA.pdf - */ - - v_nor_old = mag_v_rel; - v_nor_new = dot_v3v3(v_rel_new, collpair->normal); - - madd_v3_v3v3fl(v_tan_old, v_rel_old, collpair->normal, -v_nor_old); - madd_v3_v3v3fl(v_tan_new, v_rel_new, collpair->normal, -v_nor_new); - - bounce = -v_nor_old * restitution; - - repulse = -margin_distance / dt; /* base repulsion velocity in normal direction */ - /* XXX this clamping factor is quite arbitrary ... - * not sure if there is a more scientific approach, but seems to give good results - */ - CLAMP(repulse, 0.0f, 4.0f * bounce); - - if (margin_distance < -epsilon2) { - mul_v3_v3fl(r_impulse, collpair->normal, max_ff(repulse, bounce) - v_nor_new); - } - else { - bounce = 0.0f; - mul_v3_v3fl(r_impulse, collpair->normal, repulse - v_nor_new); - } - - result = true; - } - - return result; + Cloth *cloth = clmd->clothObject; + int index = collpair->ap1; + bool result = false; + + float v1[3], v2_old[3], v2_new[3], v_rel_old[3], v_rel_new[3]; + float epsilon2 = BLI_bvhtree_get_epsilon(collmd->bvhtree); + + float margin_distance = (float)collpair->distance - epsilon2; + float mag_v_rel; + + zero_v3(r_impulse); + + if (margin_distance > 0.0f) + return false; /* XXX tested before already? */ + + /* only handle static collisions here */ + if (collpair->flag & COLLISION_IN_FUTURE) + return false; + + /* velocity */ + copy_v3_v3(v1, cloth->verts[index].v); + collision_get_collider_velocity(v2_old, v2_new, collmd, collpair); + /* relative velocity = velocity of the cloth point relative to the collider */ + sub_v3_v3v3(v_rel_old, v1, v2_old); + sub_v3_v3v3(v_rel_new, v1, v2_new); + /* normal component of the relative velocity */ + mag_v_rel = dot_v3v3(v_rel_old, collpair->normal); + + /* only valid when moving toward the collider */ + if (mag_v_rel < -ALMOST_ZERO) { + float v_nor_old, v_nor_new; + float v_tan_old[3], v_tan_new[3]; + float bounce, repulse; + + /* Collision response based on + * "Simulating Complex Hair with Robust Collision Handling" (Choe, Choi, Ko, ACM SIGGRAPH 2005) + * http://graphics.snu.ac.kr/publications/2005-choe-HairSim/Choe_2005_SCA.pdf + */ + + v_nor_old = mag_v_rel; + v_nor_new = dot_v3v3(v_rel_new, collpair->normal); + + madd_v3_v3v3fl(v_tan_old, v_rel_old, collpair->normal, -v_nor_old); + madd_v3_v3v3fl(v_tan_new, v_rel_new, collpair->normal, -v_nor_new); + + bounce = -v_nor_old * restitution; + + repulse = -margin_distance / dt; /* base repulsion velocity in normal direction */ + /* XXX this clamping factor is quite arbitrary ... + * not sure if there is a more scientific approach, but seems to give good results + */ + CLAMP(repulse, 0.0f, 4.0f * bounce); + + if (margin_distance < -epsilon2) { + mul_v3_v3fl(r_impulse, collpair->normal, max_ff(repulse, bounce) - v_nor_new); + } + else { + bounce = 0.0f; + mul_v3_v3fl(r_impulse, collpair->normal, repulse - v_nor_new); + } + + result = true; + } + + return result; } /* Init constraint matrix * This is part of the modified CG method suggested by Baraff/Witkin in * "Large Steps in Cloth Simulation" (Siggraph 1998) */ -static void cloth_setup_constraints(ClothModifierData *clmd, ColliderContacts *contacts, int totcolliders, float dt) +static void cloth_setup_constraints(ClothModifierData *clmd, + ColliderContacts *contacts, + int totcolliders, + float dt) { - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - ClothVertex *verts = cloth->verts; - int mvert_num = cloth->mvert_num; - int i, j, v; - - const float ZERO[3] = {0.0f, 0.0f, 0.0f}; - - BPH_mass_spring_clear_constraints(data); - - for (v = 0; v < mvert_num; v++) { - if (verts[v].flags & CLOTH_VERT_FLAG_PINNED) { - /* pinned vertex constraints */ - BPH_mass_spring_add_constraint_ndof0(data, v, ZERO); /* velocity is defined externally */ - } - - verts[v].impulse_count = 0; - } - - for (i = 0; i < totcolliders; ++i) { - ColliderContacts *ct = &contacts[i]; - for (j = 0; j < ct->totcollisions; ++j) { - CollPair *collpair = &ct->collisions[j]; -// float restitution = (1.0f - clmd->coll_parms->damping) * (1.0f - ct->ob->pd->pdef_sbdamp); - float restitution = 0.0f; - int v = collpair->face1; - float impulse[3]; - - /* pinned verts handled separately */ - if (verts[v].flags & CLOTH_VERT_FLAG_PINNED) - continue; - - /* XXX cheap way of avoiding instability from multiple collisions in the same step - * this should eventually be supported ... - */ - if (verts[v].impulse_count > 0) - continue; - - /* calculate collision response */ - if (!collision_response(clmd, ct->collmd, collpair, dt, restitution, impulse)) - continue; - - BPH_mass_spring_add_constraint_ndof2(data, v, collpair->normal, impulse); - ++verts[v].impulse_count; - } - } + Cloth *cloth = clmd->clothObject; + Implicit_Data *data = cloth->implicit; + ClothVertex *verts = cloth->verts; + int mvert_num = cloth->mvert_num; + int i, j, v; + + const float ZERO[3] = {0.0f, 0.0f, 0.0f}; + + BPH_mass_spring_clear_constraints(data); + + for (v = 0; v < mvert_num; v++) { + if (verts[v].flags & CLOTH_VERT_FLAG_PINNED) { + /* pinned vertex constraints */ + BPH_mass_spring_add_constraint_ndof0(data, v, ZERO); /* velocity is defined externally */ + } + + verts[v].impulse_count = 0; + } + + for (i = 0; i < totcolliders; ++i) { + ColliderContacts *ct = &contacts[i]; + for (j = 0; j < ct->totcollisions; ++j) { + CollPair *collpair = &ct->collisions[j]; + // float restitution = (1.0f - clmd->coll_parms->damping) * (1.0f - ct->ob->pd->pdef_sbdamp); + float restitution = 0.0f; + int v = collpair->face1; + float impulse[3]; + + /* pinned verts handled separately */ + if (verts[v].flags & CLOTH_VERT_FLAG_PINNED) + continue; + + /* XXX cheap way of avoiding instability from multiple collisions in the same step + * this should eventually be supported ... + */ + if (verts[v].impulse_count > 0) + continue; + + /* calculate collision response */ + if (!collision_response(clmd, ct->collmd, collpair, dt, restitution, impulse)) + continue; + + BPH_mass_spring_add_constraint_ndof2(data, v, collpair->normal, impulse); + ++verts[v].impulse_count; + } + } } /* 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) +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] = (float(*)[3])MEM_callocN(sizeof(float[3]) * cloth->mvert_num, "cos cloth_calc_helper_forces"); - float *masses = (float *)MEM_callocN(sizeof(float) * cloth->mvert_num, "cos cloth_calc_helper_forces"); - LinkNode *node; - ClothSpring *spring; - ClothVertex *cv; - int i, steps; - - cv = cloth->verts; - for (i = 0; i < cloth->mvert_num; 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 = (ClothSpring *)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->mvert_num; 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; + Cloth *cloth = clmd->clothObject; + float(*cos)[3] = (float(*)[3])MEM_callocN(sizeof(float[3]) * cloth->mvert_num, + "cos cloth_calc_helper_forces"); + float *masses = (float *)MEM_callocN(sizeof(float) * cloth->mvert_num, + "cos cloth_calc_helper_forces"); + LinkNode *node; + ClothSpring *spring; + ClothVertex *cv; + int i, steps; + + cv = cloth->verts; + for (i = 0; i < cloth->mvert_num; 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 = (ClothSpring *)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->mvert_num; 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; } BLI_INLINE void cloth_calc_spring_force(ClothModifierData *clmd, ClothSpring *s) { - Cloth *cloth = clmd->clothObject; - ClothSimSettings *parms = clmd->sim_parms; - Implicit_Data *data = cloth->implicit; - bool using_angular = parms->bending_model == CLOTH_BENDING_ANGULAR; - bool resist_compress = (parms->flags & CLOTH_SIMSETTINGS_FLAG_RESIST_SPRING_COMPRESS) && !using_angular; + Cloth *cloth = clmd->clothObject; + ClothSimSettings *parms = clmd->sim_parms; + Implicit_Data *data = cloth->implicit; + bool using_angular = parms->bending_model == CLOTH_BENDING_ANGULAR; + bool resist_compress = (parms->flags & CLOTH_SIMSETTINGS_FLAG_RESIST_SPRING_COMPRESS) && + !using_angular; - s->flags &= ~CLOTH_SPRING_FLAG_NEEDED; + s->flags &= ~CLOTH_SPRING_FLAG_NEEDED; - /* Calculate force of bending springs. */ - if ((s->type & CLOTH_SPRING_TYPE_BENDING) && using_angular) { + /* Calculate force of bending springs. */ + if ((s->type & CLOTH_SPRING_TYPE_BENDING) && using_angular) { #ifdef CLOTH_FORCE_SPRING_BEND - float k, scaling; + float k, scaling; - s->flags |= CLOTH_SPRING_FLAG_NEEDED; + s->flags |= CLOTH_SPRING_FLAG_NEEDED; - scaling = parms->bending + s->ang_stiffness * fabsf(parms->max_bend - parms->bending); - k = scaling * s->restlen * 0.1f; /* Multiplying by 0.1, just to scale the forces to more reasonable values. */ + scaling = parms->bending + s->ang_stiffness * fabsf(parms->max_bend - parms->bending); + k = scaling * s->restlen * + 0.1f; /* Multiplying by 0.1, just to scale the forces to more reasonable values. */ - BPH_mass_spring_force_spring_angular(data, s->ij, s->kl, s->pa, s->pb, s->la, s->lb, - s->restang, k, parms->bending_damping); + BPH_mass_spring_force_spring_angular( + data, s->ij, s->kl, s->pa, s->pb, s->la, s->lb, s->restang, k, parms->bending_damping); #endif - } + } - /* Calculate force of structural + shear springs. */ - if (s->type & (CLOTH_SPRING_TYPE_STRUCTURAL | CLOTH_SPRING_TYPE_SEWING)) { + /* Calculate force of structural + shear springs. */ + if (s->type & (CLOTH_SPRING_TYPE_STRUCTURAL | CLOTH_SPRING_TYPE_SEWING)) { #ifdef CLOTH_FORCE_SPRING_STRUCTURAL - float k_tension, scaling_tension; - - s->flags |= CLOTH_SPRING_FLAG_NEEDED; - - scaling_tension = parms->tension + s->lin_stiffness * fabsf(parms->max_tension - parms->tension); - k_tension = scaling_tension / (parms->avg_spring_len + FLT_EPSILON); - - if (s->type & CLOTH_SPRING_TYPE_SEWING) { - // TODO: verify, half verified (couldn't see error) - // sewing springs usually have a large distance at first so clamp the force so we don't get tunnelling through colission objects - BPH_mass_spring_force_spring_linear(data, s->ij, s->kl, s->restlen, - k_tension, parms->tension_damp, - 0.0f, 0.0f, false, false, parms->max_sewing); - } - else { - float k_compression, scaling_compression; - scaling_compression = parms->compression + s->lin_stiffness * fabsf(parms->max_compression - parms->compression); - k_compression = scaling_compression / (parms->avg_spring_len + FLT_EPSILON); - - BPH_mass_spring_force_spring_linear(data, s->ij, s->kl, s->restlen, - k_tension, parms->tension_damp, - k_compression, parms->compression_damp, - resist_compress, using_angular, 0.0f); - } + float k_tension, scaling_tension; + + s->flags |= CLOTH_SPRING_FLAG_NEEDED; + + scaling_tension = parms->tension + + s->lin_stiffness * fabsf(parms->max_tension - parms->tension); + k_tension = scaling_tension / (parms->avg_spring_len + FLT_EPSILON); + + if (s->type & CLOTH_SPRING_TYPE_SEWING) { + // TODO: verify, half verified (couldn't see error) + // sewing springs usually have a large distance at first so clamp the force so we don't get tunnelling through colission objects + BPH_mass_spring_force_spring_linear(data, + s->ij, + s->kl, + s->restlen, + k_tension, + parms->tension_damp, + 0.0f, + 0.0f, + false, + false, + parms->max_sewing); + } + else { + float k_compression, scaling_compression; + scaling_compression = parms->compression + + s->lin_stiffness * fabsf(parms->max_compression - parms->compression); + k_compression = scaling_compression / (parms->avg_spring_len + FLT_EPSILON); + + BPH_mass_spring_force_spring_linear(data, + s->ij, + s->kl, + s->restlen, + k_tension, + parms->tension_damp, + k_compression, + parms->compression_damp, + resist_compress, + using_angular, + 0.0f); + } #endif - } - else if (s->type & CLOTH_SPRING_TYPE_SHEAR) { + } + else if (s->type & CLOTH_SPRING_TYPE_SHEAR) { #ifdef CLOTH_FORCE_SPRING_SHEAR - float k, scaling; - - s->flags |= CLOTH_SPRING_FLAG_NEEDED; - - scaling = parms->shear + s->lin_stiffness * fabsf(parms->max_shear - parms->shear); - k = scaling / (parms->avg_spring_len + FLT_EPSILON); - - BPH_mass_spring_force_spring_linear(data, s->ij, s->kl, s->restlen, k, parms->shear_damp, - 0.0f, 0.0f, resist_compress, false, 0.0f); + float k, scaling; + + s->flags |= CLOTH_SPRING_FLAG_NEEDED; + + scaling = parms->shear + s->lin_stiffness * fabsf(parms->max_shear - parms->shear); + k = scaling / (parms->avg_spring_len + FLT_EPSILON); + + BPH_mass_spring_force_spring_linear(data, + s->ij, + s->kl, + s->restlen, + k, + parms->shear_damp, + 0.0f, + 0.0f, + resist_compress, + false, + 0.0f); #endif - } - else if (s->type & CLOTH_SPRING_TYPE_BENDING) { /* calculate force of bending springs */ + } + else if (s->type & CLOTH_SPRING_TYPE_BENDING) { /* calculate force of bending springs */ #ifdef CLOTH_FORCE_SPRING_BEND - float kb, cb, scaling; + float kb, cb, scaling; - s->flags |= CLOTH_SPRING_FLAG_NEEDED; + s->flags |= CLOTH_SPRING_FLAG_NEEDED; - scaling = parms->bending + s->lin_stiffness * fabsf(parms->max_bend - parms->bending); - kb = scaling / (20.0f * (parms->avg_spring_len + FLT_EPSILON)); + scaling = parms->bending + s->lin_stiffness * fabsf(parms->max_bend - parms->bending); + kb = scaling / (20.0f * (parms->avg_spring_len + FLT_EPSILON)); - // Fix for [#45084] for cloth stiffness must have cb proportional to kb - cb = kb * parms->bending_damping; + // Fix for [#45084] for cloth stiffness must have cb proportional to kb + cb = kb * parms->bending_damping; - BPH_mass_spring_force_spring_bending(data, s->ij, s->kl, s->restlen, kb, cb); + BPH_mass_spring_force_spring_bending(data, s->ij, s->kl, s->restlen, kb, cb); #endif - } - else if (s->type & CLOTH_SPRING_TYPE_BENDING_HAIR) { + } + else if (s->type & CLOTH_SPRING_TYPE_BENDING_HAIR) { #ifdef CLOTH_FORCE_SPRING_BEND - float kb, cb, scaling; + float kb, cb, scaling; - s->flags |= CLOTH_SPRING_FLAG_NEEDED; + s->flags |= CLOTH_SPRING_FLAG_NEEDED; - /* XXX WARNING: angular bending springs for hair apply stiffness factor as an overall factor, unlike cloth springs! - * this is crap, but needed due to cloth/hair mixing ... - * max_bend factor is not even used for hair, so ... - */ - scaling = s->lin_stiffness * parms->bending; - kb = scaling / (20.0f * (parms->avg_spring_len + FLT_EPSILON)); + /* XXX WARNING: angular bending springs for hair apply stiffness factor as an overall factor, unlike cloth springs! + * this is crap, but needed due to cloth/hair mixing ... + * max_bend factor is not even used for hair, so ... + */ + scaling = s->lin_stiffness * parms->bending; + kb = scaling / (20.0f * (parms->avg_spring_len + FLT_EPSILON)); - // Fix for [#45084] for cloth stiffness must have cb proportional to kb - cb = kb * parms->bending_damping; + // Fix for [#45084] for cloth stiffness must have cb proportional to kb + cb = kb * parms->bending_damping; - /* XXX assuming same restlen for ij and jk segments here, this can be done correctly for hair later */ - BPH_mass_spring_force_spring_bending_hair(data, s->ij, s->kl, s->mn, s->target, kb, cb); + /* XXX assuming same restlen for ij and jk segments here, this can be done correctly for hair later */ + BPH_mass_spring_force_spring_bending_hair(data, s->ij, s->kl, s->mn, s->target, kb, cb); -#if 0 - { - float x_kl[3], x_mn[3], v[3], d[3]; +# if 0 + { + float x_kl[3], x_mn[3], v[3], d[3]; - BPH_mass_spring_get_motion_state(data, s->kl, x_kl, v); - BPH_mass_spring_get_motion_state(data, s->mn, x_mn, v); + BPH_mass_spring_get_motion_state(data, s->kl, x_kl, v); + BPH_mass_spring_get_motion_state(data, s->mn, x_mn, v); - BKE_sim_debug_data_add_dot(clmd->debug_data, x_kl, 0.9, 0.9, 0.9, "target", 7980, s->kl); - BKE_sim_debug_data_add_line(clmd->debug_data, x_kl, x_mn, 0.8, 0.8, 0.8, "target", 7981, s->kl); + BKE_sim_debug_data_add_dot(clmd->debug_data, x_kl, 0.9, 0.9, 0.9, "target", 7980, s->kl); + BKE_sim_debug_data_add_line(clmd->debug_data, x_kl, x_mn, 0.8, 0.8, 0.8, "target", 7981, s->kl); - copy_v3_v3(d, s->target); - BKE_sim_debug_data_add_vector(clmd->debug_data, x_kl, d, 0.8, 0.8, 0.2, "target", 7982, s->kl); + copy_v3_v3(d, s->target); + BKE_sim_debug_data_add_vector(clmd->debug_data, x_kl, d, 0.8, 0.8, 0.2, "target", 7982, s->kl); -// copy_v3_v3(d, s->target_ij); -// BKE_sim_debug_data_add_vector(clmd->debug_data, x, d, 1, 0.4, 0.4, "target", 7983, s->kl); - } -#endif +// copy_v3_v3(d, s->target_ij); +// BKE_sim_debug_data_add_vector(clmd->debug_data, x, d, 1, 0.4, 0.4, "target", 7983, s->kl); + } +# endif #endif - } + } } static void hair_get_boundbox(ClothModifierData *clmd, float gmin[3], float gmax[3]) { - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - unsigned int mvert_num = cloth->mvert_num; - int i; - - INIT_MINMAX(gmin, gmax); - for (i = 0; i < mvert_num; i++) { - float x[3]; - BPH_mass_spring_get_motion_state(data, i, x, NULL); - DO_MINMAX(x, gmin, gmax); - } + Cloth *cloth = clmd->clothObject; + Implicit_Data *data = cloth->implicit; + unsigned int mvert_num = cloth->mvert_num; + int i; + + INIT_MINMAX(gmin, gmax); + for (i = 0; i < mvert_num; i++) { + float x[3]; + BPH_mass_spring_get_motion_state(data, i, x, NULL); + DO_MINMAX(x, gmin, gmax); + } } -static void cloth_calc_force(Scene *scene, ClothModifierData *clmd, float UNUSED(frame), ListBase *effectors, float time) +static void cloth_calc_force( + Scene *scene, ClothModifierData *clmd, float UNUSED(frame), ListBase *effectors, float time) { - /* Collect forces and derivatives: F, dFdX, dFdV */ - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - unsigned int i = 0; - float drag = clmd->sim_parms->Cvi * 0.01f; /* viscosity of air scaled in percent */ - float gravity[3] = {0.0f, 0.0f, 0.0f}; - const MVertTri *tri = cloth->tri; - unsigned int mvert_num = cloth->mvert_num; - ClothVertex *vert; + /* Collect forces and derivatives: F, dFdX, dFdV */ + Cloth *cloth = clmd->clothObject; + Implicit_Data *data = cloth->implicit; + unsigned int i = 0; + float drag = clmd->sim_parms->Cvi * 0.01f; /* viscosity of air scaled in percent */ + float gravity[3] = {0.0f, 0.0f, 0.0f}; + const MVertTri *tri = cloth->tri; + unsigned int mvert_num = cloth->mvert_num; + ClothVertex *vert; #ifdef CLOTH_FORCE_GRAVITY - /* global acceleration (gravitation) */ - if (scene->physics_settings.flag & PHYS_GLOBAL_GRAVITY) { - /* scale gravity force */ - mul_v3_v3fl(gravity, scene->physics_settings.gravity, 0.001f * clmd->sim_parms->effector_weights->global_gravity); - } - - vert = cloth->verts; - for (i = 0; i < cloth->mvert_num; i++, vert++) { - BPH_mass_spring_force_gravity(data, i, vert->mass, gravity); - - /* Vertex goal springs */ - if ((!(vert->flags & CLOTH_VERT_FLAG_PINNED)) && (vert->goal > FLT_EPSILON)) { - float goal_x[3], goal_v[3]; - float k; - - /* divide by time_scale to prevent goal vertices' delta locations from being multiplied */ - interp_v3_v3v3(goal_x, vert->xold, vert->xconst, time / clmd->sim_parms->time_scale); - sub_v3_v3v3(goal_v, vert->xconst, vert->xold); /* distance covered over dt==1 */ - - k = vert->goal * clmd->sim_parms->goalspring / (clmd->sim_parms->avg_spring_len + FLT_EPSILON); - - BPH_mass_spring_force_spring_goal(data, i, goal_x, goal_v, k, clmd->sim_parms->goalfrict * 0.01f); - } - } + /* global acceleration (gravitation) */ + if (scene->physics_settings.flag & PHYS_GLOBAL_GRAVITY) { + /* scale gravity force */ + mul_v3_v3fl(gravity, + scene->physics_settings.gravity, + 0.001f * clmd->sim_parms->effector_weights->global_gravity); + } + + vert = cloth->verts; + for (i = 0; i < cloth->mvert_num; i++, vert++) { + BPH_mass_spring_force_gravity(data, i, vert->mass, gravity); + + /* Vertex goal springs */ + if ((!(vert->flags & CLOTH_VERT_FLAG_PINNED)) && (vert->goal > FLT_EPSILON)) { + float goal_x[3], goal_v[3]; + float k; + + /* divide by time_scale to prevent goal vertices' delta locations from being multiplied */ + interp_v3_v3v3(goal_x, vert->xold, vert->xconst, time / clmd->sim_parms->time_scale); + sub_v3_v3v3(goal_v, vert->xconst, vert->xold); /* distance covered over dt==1 */ + + k = vert->goal * clmd->sim_parms->goalspring / + (clmd->sim_parms->avg_spring_len + FLT_EPSILON); + + BPH_mass_spring_force_spring_goal( + data, i, goal_x, goal_v, k, clmd->sim_parms->goalfrict * 0.01f); + } + } #endif - /* cloth_calc_volume_force(clmd); */ + /* cloth_calc_volume_force(clmd); */ #ifdef CLOTH_FORCE_DRAG - BPH_mass_spring_force_drag(data, drag); + BPH_mass_spring_force_drag(data, drag); #endif - /* handle external forces like wind */ - if (effectors) { - /* cache per-vertex forces to avoid redundant calculation */ - float(*winvec)[3] = (float(*)[3])MEM_callocN(sizeof(float[3]) * mvert_num, "effector forces"); - for (i = 0; i < cloth->mvert_num; i++) { - float x[3], v[3]; - EffectedPoint epoint; - - BPH_mass_spring_get_motion_state(data, i, x, v); - pd_point_from_loc(scene, x, v, i, &epoint); - BKE_effectors_apply(effectors, NULL, clmd->sim_parms->effector_weights, &epoint, winvec[i], NULL); - } - - for (i = 0; i < cloth->tri_num; i++) { - const MVertTri *vt = &tri[i]; - BPH_mass_spring_force_face_wind(data, vt->tri[0], vt->tri[1], vt->tri[2], winvec); - } - - /* Hair has only edges */ - if (cloth->tri_num == 0) { + /* handle external forces like wind */ + if (effectors) { + /* cache per-vertex forces to avoid redundant calculation */ + float(*winvec)[3] = (float(*)[3])MEM_callocN(sizeof(float[3]) * mvert_num, "effector forces"); + for (i = 0; i < cloth->mvert_num; i++) { + float x[3], v[3]; + EffectedPoint epoint; + + BPH_mass_spring_get_motion_state(data, i, x, v); + pd_point_from_loc(scene, x, v, i, &epoint); + BKE_effectors_apply( + effectors, NULL, clmd->sim_parms->effector_weights, &epoint, winvec[i], NULL); + } + + for (i = 0; i < cloth->tri_num; i++) { + const MVertTri *vt = &tri[i]; + BPH_mass_spring_force_face_wind(data, vt->tri[0], vt->tri[1], vt->tri[2], winvec); + } + + /* Hair has only edges */ + if (cloth->tri_num == 0) { #if 0 - ClothHairData *hairdata = clmd->hairdata; - ClothHairData *hair_ij, *hair_kl; - - for (LinkNode *link = cloth->springs; link; link = link->next) { - ClothSpring *spring = (ClothSpring *)link->link; - if (spring->type == CLOTH_SPRING_TYPE_STRUCTURAL) { - if (hairdata) { - hair_ij = &hairdata[spring->ij]; - hair_kl = &hairdata[spring->kl]; - BPH_mass_spring_force_edge_wind(data, spring->ij, spring->kl, hair_ij->radius, hair_kl->radius, winvec); - } - else - BPH_mass_spring_force_edge_wind(data, spring->ij, spring->kl, 1.0f, 1.0f, winvec); - } - } + ClothHairData *hairdata = clmd->hairdata; + ClothHairData *hair_ij, *hair_kl; + + for (LinkNode *link = cloth->springs; link; link = link->next) { + ClothSpring *spring = (ClothSpring *)link->link; + if (spring->type == CLOTH_SPRING_TYPE_STRUCTURAL) { + if (hairdata) { + hair_ij = &hairdata[spring->ij]; + hair_kl = &hairdata[spring->kl]; + BPH_mass_spring_force_edge_wind(data, spring->ij, spring->kl, hair_ij->radius, hair_kl->radius, winvec); + } + else + BPH_mass_spring_force_edge_wind(data, spring->ij, spring->kl, 1.0f, 1.0f, winvec); + } + } #else - ClothHairData *hairdata = clmd->hairdata; - - vert = cloth->verts; - for (i = 0; i < cloth->mvert_num; i++, vert++) { - if (hairdata) { - ClothHairData *hair = &hairdata[i]; - BPH_mass_spring_force_vertex_wind(data, i, hair->radius, winvec); - } - else - BPH_mass_spring_force_vertex_wind(data, i, 1.0f, winvec); - } + ClothHairData *hairdata = clmd->hairdata; + + vert = cloth->verts; + for (i = 0; i < cloth->mvert_num; i++, vert++) { + if (hairdata) { + ClothHairData *hair = &hairdata[i]; + BPH_mass_spring_force_vertex_wind(data, i, hair->radius, winvec); + } + else + BPH_mass_spring_force_vertex_wind(data, i, 1.0f, winvec); + } #endif - } - - MEM_freeN(winvec); - } - - // calculate spring forces - for (LinkNode *link = cloth->springs; link; link = link->next) { - ClothSpring *spring = (ClothSpring *)link->link; - // only handle active springs - if (!(spring->flags & CLOTH_SPRING_FLAG_DEACTIVATE)) { - cloth_calc_spring_force(clmd, spring); - } - } + } + + MEM_freeN(winvec); + } + + // calculate spring forces + for (LinkNode *link = cloth->springs; link; link = link->next) { + ClothSpring *spring = (ClothSpring *)link->link; + // only handle active springs + if (!(spring->flags & CLOTH_SPRING_FLAG_DEACTIVATE)) { + cloth_calc_spring_force(clmd, spring); + } + } } /* returns vertexes' motion state */ -BLI_INLINE void cloth_get_grid_location(Implicit_Data *data, float cell_scale, const float cell_offset[3], - int index, float x[3], float v[3]) +BLI_INLINE void cloth_get_grid_location(Implicit_Data *data, + float cell_scale, + const float cell_offset[3], + int index, + float x[3], + float v[3]) { - BPH_mass_spring_get_position(data, index, x); - BPH_mass_spring_get_new_velocity(data, index, v); + BPH_mass_spring_get_position(data, index, x); + BPH_mass_spring_get_new_velocity(data, index, v); - mul_v3_fl(x, cell_scale); - add_v3_v3(x, cell_offset); + mul_v3_fl(x, cell_scale); + add_v3_v3(x, cell_offset); } /* returns next spring forming a continuous hair sequence */ BLI_INLINE LinkNode *hair_spring_next(LinkNode *spring_link) { - ClothSpring *spring = (ClothSpring *)spring_link->link; - LinkNode *next = spring_link->next; - if (next) { - ClothSpring *next_spring = (ClothSpring *)next->link; - if (next_spring->type == CLOTH_SPRING_TYPE_STRUCTURAL && next_spring->kl == spring->ij) - return next; - } - return NULL; + ClothSpring *spring = (ClothSpring *)spring_link->link; + LinkNode *next = spring_link->next; + if (next) { + ClothSpring *next_spring = (ClothSpring *)next->link; + if (next_spring->type == CLOTH_SPRING_TYPE_STRUCTURAL && next_spring->kl == spring->ij) + return next; + } + return NULL; } /* XXX this is nasty: cloth meshes do not explicitly store @@ -605,459 +658,481 @@ BLI_INLINE LinkNode *hair_spring_next(LinkNode *spring_link) * (3,4), (2,3), (1,2) * This is currently the only way to figure out hair geometry inside this code ... */ -static LinkNode *cloth_continuum_add_hair_segments(HairGrid *grid, const float cell_scale, const float cell_offset[3], Cloth *cloth, LinkNode *spring_link) +static LinkNode *cloth_continuum_add_hair_segments(HairGrid *grid, + const float cell_scale, + const float cell_offset[3], + Cloth *cloth, + LinkNode *spring_link) { - Implicit_Data *data = cloth->implicit; - LinkNode *next_spring_link = NULL; /* return value */ - ClothSpring *spring1, *spring2, *spring3; - // ClothVertex *verts = cloth->verts; - // ClothVertex *vert3, *vert4; - float x1[3], v1[3], x2[3], v2[3], x3[3], v3[3], x4[3], v4[3]; - float dir1[3], dir2[3], dir3[3]; - - spring1 = NULL; - spring2 = NULL; - spring3 = (ClothSpring *)spring_link->link; - - zero_v3(x1); zero_v3(v1); - zero_v3(dir1); - zero_v3(x2); zero_v3(v2); - zero_v3(dir2); - - // vert3 = &verts[spring3->kl]; - cloth_get_grid_location(data, cell_scale, cell_offset, spring3->kl, x3, v3); - // vert4 = &verts[spring3->ij]; - cloth_get_grid_location(data, cell_scale, cell_offset, spring3->ij, x4, v4); - sub_v3_v3v3(dir3, x4, x3); - normalize_v3(dir3); - - while (spring_link) { - /* move on */ - spring1 = spring2; - spring2 = spring3; - - // vert3 = vert4; - - copy_v3_v3(x1, x2); copy_v3_v3(v1, v2); - copy_v3_v3(x2, x3); copy_v3_v3(v2, v3); - copy_v3_v3(x3, x4); copy_v3_v3(v3, v4); - - copy_v3_v3(dir1, dir2); - copy_v3_v3(dir2, dir3); - - /* read next segment */ - next_spring_link = spring_link->next; - spring_link = hair_spring_next(spring_link); - - if (spring_link) { - spring3 = (ClothSpring *)spring_link->link; - // vert4 = &verts[spring3->ij]; - cloth_get_grid_location(data, cell_scale, cell_offset, spring3->ij, x4, v4); - sub_v3_v3v3(dir3, x4, x3); - normalize_v3(dir3); - } - else { - spring3 = NULL; - // vert4 = NULL; - zero_v3(x4); zero_v3(v4); - zero_v3(dir3); - } - - BPH_hair_volume_add_segment(grid, x1, v1, x2, v2, x3, v3, x4, v4, - spring1 ? dir1 : NULL, - dir2, - spring3 ? dir3 : NULL); - } - - return next_spring_link; + Implicit_Data *data = cloth->implicit; + LinkNode *next_spring_link = NULL; /* return value */ + ClothSpring *spring1, *spring2, *spring3; + // ClothVertex *verts = cloth->verts; + // ClothVertex *vert3, *vert4; + float x1[3], v1[3], x2[3], v2[3], x3[3], v3[3], x4[3], v4[3]; + float dir1[3], dir2[3], dir3[3]; + + spring1 = NULL; + spring2 = NULL; + spring3 = (ClothSpring *)spring_link->link; + + zero_v3(x1); + zero_v3(v1); + zero_v3(dir1); + zero_v3(x2); + zero_v3(v2); + zero_v3(dir2); + + // vert3 = &verts[spring3->kl]; + cloth_get_grid_location(data, cell_scale, cell_offset, spring3->kl, x3, v3); + // vert4 = &verts[spring3->ij]; + cloth_get_grid_location(data, cell_scale, cell_offset, spring3->ij, x4, v4); + sub_v3_v3v3(dir3, x4, x3); + normalize_v3(dir3); + + while (spring_link) { + /* move on */ + spring1 = spring2; + spring2 = spring3; + + // vert3 = vert4; + + copy_v3_v3(x1, x2); + copy_v3_v3(v1, v2); + copy_v3_v3(x2, x3); + copy_v3_v3(v2, v3); + copy_v3_v3(x3, x4); + copy_v3_v3(v3, v4); + + copy_v3_v3(dir1, dir2); + copy_v3_v3(dir2, dir3); + + /* read next segment */ + next_spring_link = spring_link->next; + spring_link = hair_spring_next(spring_link); + + if (spring_link) { + spring3 = (ClothSpring *)spring_link->link; + // vert4 = &verts[spring3->ij]; + cloth_get_grid_location(data, cell_scale, cell_offset, spring3->ij, x4, v4); + sub_v3_v3v3(dir3, x4, x3); + normalize_v3(dir3); + } + else { + spring3 = NULL; + // vert4 = NULL; + zero_v3(x4); + zero_v3(v4); + zero_v3(dir3); + } + + BPH_hair_volume_add_segment( + grid, x1, v1, x2, v2, x3, v3, x4, v4, spring1 ? dir1 : NULL, dir2, spring3 ? dir3 : NULL); + } + + return next_spring_link; } static void cloth_continuum_fill_grid(HairGrid *grid, Cloth *cloth) { #if 0 - Implicit_Data *data = cloth->implicit; - int mvert_num = cloth->mvert_num; - ClothVertex *vert; - int i; + Implicit_Data *data = cloth->implicit; + int mvert_num = cloth->mvert_num; + ClothVertex *vert; + int i; - for (i = 0, vert = cloth->verts; i < mvert_num; i++, vert++) { - float x[3], v[3]; + for (i = 0, vert = cloth->verts; i < mvert_num; i++, vert++) { + float x[3], v[3]; - cloth_get_vertex_motion_state(data, vert, x, v); - BPH_hair_volume_add_vertex(grid, x, v); - } + cloth_get_vertex_motion_state(data, vert, x, v); + BPH_hair_volume_add_vertex(grid, x, v); + } #else - LinkNode *link; - float cellsize, gmin[3], cell_scale, cell_offset[3]; - - /* scale and offset for transforming vertex locations into grid space - * (cell size is 0..1, gmin becomes origin) - */ - BPH_hair_volume_grid_geometry(grid, &cellsize, NULL, gmin, NULL); - cell_scale = cellsize > 0.0f ? 1.0f / cellsize : 0.0f; - mul_v3_v3fl(cell_offset, gmin, cell_scale); - negate_v3(cell_offset); - - link = cloth->springs; - while (link) { - ClothSpring *spring = (ClothSpring *)link->link; - if (spring->type == CLOTH_SPRING_TYPE_STRUCTURAL) - link = cloth_continuum_add_hair_segments(grid, cell_scale, cell_offset, cloth, link); - else - link = link->next; - } + LinkNode *link; + float cellsize, gmin[3], cell_scale, cell_offset[3]; + + /* scale and offset for transforming vertex locations into grid space + * (cell size is 0..1, gmin becomes origin) + */ + BPH_hair_volume_grid_geometry(grid, &cellsize, NULL, gmin, NULL); + cell_scale = cellsize > 0.0f ? 1.0f / cellsize : 0.0f; + mul_v3_v3fl(cell_offset, gmin, cell_scale); + negate_v3(cell_offset); + + link = cloth->springs; + while (link) { + ClothSpring *spring = (ClothSpring *)link->link; + if (spring->type == CLOTH_SPRING_TYPE_STRUCTURAL) + link = cloth_continuum_add_hair_segments(grid, cell_scale, cell_offset, cloth, link); + else + link = link->next; + } #endif - BPH_hair_volume_normalize_vertex_grid(grid); + BPH_hair_volume_normalize_vertex_grid(grid); } static void cloth_continuum_step(ClothModifierData *clmd, float dt) { - ClothSimSettings *parms = clmd->sim_parms; - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - int mvert_num = cloth->mvert_num; - ClothVertex *vert; - - const float fluid_factor = 0.95f; /* blend between PIC and FLIP methods */ - float smoothfac = parms->velocity_smooth; - /* XXX FIXME arbitrary factor!!! this should be based on some intuitive value instead, - * like number of hairs per cell and time decay instead of "strength" - */ - float density_target = parms->density_target; - float density_strength = parms->density_strength; - float gmin[3], gmax[3]; - int i; - - /* clear grid info */ - zero_v3_int(clmd->hair_grid_res); - zero_v3(clmd->hair_grid_min); - zero_v3(clmd->hair_grid_max); - clmd->hair_grid_cellsize = 0.0f; - - hair_get_boundbox(clmd, gmin, gmax); - - /* gather velocities & density */ - if (smoothfac > 0.0f || density_strength > 0.0f) { - HairGrid *grid = BPH_hair_volume_create_vertex_grid(clmd->sim_parms->voxel_cell_size, gmin, gmax); - - cloth_continuum_fill_grid(grid, cloth); - - /* main hair continuum solver */ - BPH_hair_volume_solve_divergence(grid, dt, density_target, density_strength); - - for (i = 0, vert = cloth->verts; i < mvert_num; i++, vert++) { - float x[3], v[3], nv[3]; - - /* calculate volumetric velocity influence */ - BPH_mass_spring_get_position(data, i, x); - BPH_mass_spring_get_new_velocity(data, i, v); - - BPH_hair_volume_grid_velocity(grid, x, v, fluid_factor, nv); - - interp_v3_v3v3(nv, v, nv, smoothfac); - - /* apply on hair data */ - BPH_mass_spring_set_new_velocity(data, i, nv); - } - - /* store basic grid info in the modifier data */ - BPH_hair_volume_grid_geometry(grid, &clmd->hair_grid_cellsize, clmd->hair_grid_res, clmd->hair_grid_min, clmd->hair_grid_max); + ClothSimSettings *parms = clmd->sim_parms; + Cloth *cloth = clmd->clothObject; + Implicit_Data *data = cloth->implicit; + int mvert_num = cloth->mvert_num; + ClothVertex *vert; + + const float fluid_factor = 0.95f; /* blend between PIC and FLIP methods */ + float smoothfac = parms->velocity_smooth; + /* XXX FIXME arbitrary factor!!! this should be based on some intuitive value instead, + * like number of hairs per cell and time decay instead of "strength" + */ + float density_target = parms->density_target; + float density_strength = parms->density_strength; + float gmin[3], gmax[3]; + int i; + + /* clear grid info */ + zero_v3_int(clmd->hair_grid_res); + zero_v3(clmd->hair_grid_min); + zero_v3(clmd->hair_grid_max); + clmd->hair_grid_cellsize = 0.0f; + + hair_get_boundbox(clmd, gmin, gmax); + + /* gather velocities & density */ + if (smoothfac > 0.0f || density_strength > 0.0f) { + HairGrid *grid = BPH_hair_volume_create_vertex_grid( + clmd->sim_parms->voxel_cell_size, gmin, gmax); + + cloth_continuum_fill_grid(grid, cloth); + + /* main hair continuum solver */ + BPH_hair_volume_solve_divergence(grid, dt, density_target, density_strength); + + for (i = 0, vert = cloth->verts; i < mvert_num; i++, vert++) { + float x[3], v[3], nv[3]; + + /* calculate volumetric velocity influence */ + BPH_mass_spring_get_position(data, i, x); + BPH_mass_spring_get_new_velocity(data, i, v); + + BPH_hair_volume_grid_velocity(grid, x, v, fluid_factor, nv); + + interp_v3_v3v3(nv, v, nv, smoothfac); + + /* apply on hair data */ + BPH_mass_spring_set_new_velocity(data, i, nv); + } + + /* store basic grid info in the modifier data */ + BPH_hair_volume_grid_geometry(grid, + &clmd->hair_grid_cellsize, + clmd->hair_grid_res, + clmd->hair_grid_min, + clmd->hair_grid_max); #if 0 /* DEBUG hair velocity vector field */ - { - const int size = 64; - int i, j; - float offset[3], a[3], b[3]; - const int axis = 0; - const float shift = 0.0f; - - copy_v3_v3(offset, clmd->hair_grid_min); - zero_v3(a); - zero_v3(b); - - offset[axis] = shift * clmd->hair_grid_cellsize; - a[(axis + 1) % 3] = clmd->hair_grid_max[(axis + 1) % 3] - clmd->hair_grid_min[(axis + 1) % 3]; - b[(axis + 2) % 3] = clmd->hair_grid_max[(axis + 2) % 3] - clmd->hair_grid_min[(axis + 2) % 3]; - - BKE_sim_debug_data_clear_category(clmd->debug_data, "grid velocity"); - for (j = 0; j < size; ++j) { - for (i = 0; i < size; ++i) { - float x[3], v[3], gvel[3], gvel_smooth[3], gdensity; - - madd_v3_v3v3fl(x, offset, a, (float)i / (float)(size - 1)); - madd_v3_v3fl(x, b, (float)j / (float)(size - 1)); - zero_v3(v); - - BPH_hair_volume_grid_interpolate(grid, x, &gdensity, gvel, gvel_smooth, NULL, NULL); - -// BKE_sim_debug_data_add_circle(clmd->debug_data, x, gdensity, 0.7, 0.3, 1, "grid density", i, j, 3111); - if (!is_zero_v3(gvel) || !is_zero_v3(gvel_smooth)) { - float dvel[3]; - sub_v3_v3v3(dvel, gvel_smooth, gvel); -// BKE_sim_debug_data_add_vector(clmd->debug_data, x, gvel, 0.4, 0, 1, "grid velocity", i, j, 3112); -// BKE_sim_debug_data_add_vector(clmd->debug_data, x, gvel_smooth, 0.6, 1, 1, "grid velocity", i, j, 3113); - BKE_sim_debug_data_add_vector(clmd->debug_data, x, dvel, 0.4, 1, 0.7, "grid velocity", i, j, 3114); -#if 0 - if (gdensity > 0.0f) { - float col0[3] = {0.0, 0.0, 0.0}; - float col1[3] = {0.0, 1.0, 0.0}; - float col[3]; - - interp_v3_v3v3(col, col0, col1, CLAMPIS(gdensity * clmd->sim_parms->density_strength, 0.0, 1.0)); -// BKE_sim_debug_data_add_circle(clmd->debug_data, x, gdensity * clmd->sim_parms->density_strength, 0, 1, 0.4, "grid velocity", i, j, 3115); -// BKE_sim_debug_data_add_dot(clmd->debug_data, x, col[0], col[1], col[2], "grid velocity", i, j, 3115); - BKE_sim_debug_data_add_circle(clmd->debug_data, x, 0.01f, col[0], col[1], col[2], "grid velocity", i, j, 3115); - } -#endif - } - } - } - } + { + const int size = 64; + int i, j; + float offset[3], a[3], b[3]; + const int axis = 0; + const float shift = 0.0f; + + copy_v3_v3(offset, clmd->hair_grid_min); + zero_v3(a); + zero_v3(b); + + offset[axis] = shift * clmd->hair_grid_cellsize; + a[(axis + 1) % 3] = clmd->hair_grid_max[(axis + 1) % 3] - clmd->hair_grid_min[(axis + 1) % 3]; + b[(axis + 2) % 3] = clmd->hair_grid_max[(axis + 2) % 3] - clmd->hair_grid_min[(axis + 2) % 3]; + + BKE_sim_debug_data_clear_category(clmd->debug_data, "grid velocity"); + for (j = 0; j < size; ++j) { + for (i = 0; i < size; ++i) { + float x[3], v[3], gvel[3], gvel_smooth[3], gdensity; + + madd_v3_v3v3fl(x, offset, a, (float)i / (float)(size - 1)); + madd_v3_v3fl(x, b, (float)j / (float)(size - 1)); + zero_v3(v); + + BPH_hair_volume_grid_interpolate(grid, x, &gdensity, gvel, gvel_smooth, NULL, NULL); + +// BKE_sim_debug_data_add_circle(clmd->debug_data, x, gdensity, 0.7, 0.3, 1, "grid density", i, j, 3111); + if (!is_zero_v3(gvel) || !is_zero_v3(gvel_smooth)) { + float dvel[3]; + sub_v3_v3v3(dvel, gvel_smooth, gvel); +// BKE_sim_debug_data_add_vector(clmd->debug_data, x, gvel, 0.4, 0, 1, "grid velocity", i, j, 3112); +// BKE_sim_debug_data_add_vector(clmd->debug_data, x, gvel_smooth, 0.6, 1, 1, "grid velocity", i, j, 3113); + BKE_sim_debug_data_add_vector(clmd->debug_data, x, dvel, 0.4, 1, 0.7, "grid velocity", i, j, 3114); +# if 0 + if (gdensity > 0.0f) { + float col0[3] = {0.0, 0.0, 0.0}; + float col1[3] = {0.0, 1.0, 0.0}; + float col[3]; + + interp_v3_v3v3(col, col0, col1, CLAMPIS(gdensity * clmd->sim_parms->density_strength, 0.0, 1.0)); +// BKE_sim_debug_data_add_circle(clmd->debug_data, x, gdensity * clmd->sim_parms->density_strength, 0, 1, 0.4, "grid velocity", i, j, 3115); +// BKE_sim_debug_data_add_dot(clmd->debug_data, x, col[0], col[1], col[2], "grid velocity", i, j, 3115); + BKE_sim_debug_data_add_circle(clmd->debug_data, x, 0.01f, col[0], col[1], col[2], "grid velocity", i, j, 3115); + } +# endif + } + } + } + } #endif - BPH_hair_volume_free_vertex_grid(grid); - } + BPH_hair_volume_free_vertex_grid(grid); + } } #if 0 static void cloth_calc_volume_force(ClothModifierData *clmd) { - ClothSimSettings *parms = clmd->sim_parms; - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - int mvert_num = cloth->mvert_num; - ClothVertex *vert; - - /* 2.0f is an experimental value that seems to give good results */ - float smoothfac = 2.0f * parms->velocity_smooth; - float collfac = 2.0f * parms->collider_friction; - float pressfac = parms->pressure; - float minpress = parms->pressure_threshold; - float gmin[3], gmax[3]; - int i; - - hair_get_boundbox(clmd, gmin, gmax); - - /* gather velocities & density */ - if (smoothfac > 0.0f || pressfac > 0.0f) { - HairVertexGrid *vertex_grid = BPH_hair_volume_create_vertex_grid(clmd->sim_parms->voxel_res, gmin, gmax); - - vert = cloth->verts; - for (i = 0; i < mvert_num; i++, vert++) { - float x[3], v[3]; - - if (vert->solver_index < 0) { - copy_v3_v3(x, vert->x); - copy_v3_v3(v, vert->v); - } - else { - BPH_mass_spring_get_motion_state(data, vert->solver_index, x, v); - } - BPH_hair_volume_add_vertex(vertex_grid, x, v); - } - BPH_hair_volume_normalize_vertex_grid(vertex_grid); - - vert = cloth->verts; - for (i = 0; i < mvert_num; i++, vert++) { - float x[3], v[3], f[3], dfdx[3][3], dfdv[3][3]; - - if (vert->solver_index < 0) - continue; - - /* calculate volumetric forces */ - BPH_mass_spring_get_motion_state(data, vert->solver_index, x, v); - BPH_hair_volume_vertex_grid_forces(vertex_grid, x, v, smoothfac, pressfac, minpress, f, dfdx, dfdv); - /* apply on hair data */ - BPH_mass_spring_force_extern(data, vert->solver_index, f, dfdx, dfdv); - } - - BPH_hair_volume_free_vertex_grid(vertex_grid); - } + ClothSimSettings *parms = clmd->sim_parms; + Cloth *cloth = clmd->clothObject; + Implicit_Data *data = cloth->implicit; + int mvert_num = cloth->mvert_num; + ClothVertex *vert; + + /* 2.0f is an experimental value that seems to give good results */ + float smoothfac = 2.0f * parms->velocity_smooth; + float collfac = 2.0f * parms->collider_friction; + float pressfac = parms->pressure; + float minpress = parms->pressure_threshold; + float gmin[3], gmax[3]; + int i; + + hair_get_boundbox(clmd, gmin, gmax); + + /* gather velocities & density */ + if (smoothfac > 0.0f || pressfac > 0.0f) { + HairVertexGrid *vertex_grid = BPH_hair_volume_create_vertex_grid(clmd->sim_parms->voxel_res, gmin, gmax); + + vert = cloth->verts; + for (i = 0; i < mvert_num; i++, vert++) { + float x[3], v[3]; + + if (vert->solver_index < 0) { + copy_v3_v3(x, vert->x); + copy_v3_v3(v, vert->v); + } + else { + BPH_mass_spring_get_motion_state(data, vert->solver_index, x, v); + } + BPH_hair_volume_add_vertex(vertex_grid, x, v); + } + BPH_hair_volume_normalize_vertex_grid(vertex_grid); + + vert = cloth->verts; + for (i = 0; i < mvert_num; i++, vert++) { + float x[3], v[3], f[3], dfdx[3][3], dfdv[3][3]; + + if (vert->solver_index < 0) + continue; + + /* calculate volumetric forces */ + BPH_mass_spring_get_motion_state(data, vert->solver_index, x, v); + BPH_hair_volume_vertex_grid_forces(vertex_grid, x, v, smoothfac, pressfac, minpress, f, dfdx, dfdv); + /* apply on hair data */ + BPH_mass_spring_force_extern(data, vert->solver_index, f, dfdx, dfdv); + } + + BPH_hair_volume_free_vertex_grid(vertex_grid); + } } #endif -static void cloth_solve_collisions(Depsgraph *depsgraph, Object *ob, ClothModifierData *clmd, float step, float dt) +static void cloth_solve_collisions( + Depsgraph *depsgraph, Object *ob, ClothModifierData *clmd, float step, float dt) { - Cloth *cloth = clmd->clothObject; - Implicit_Data *id = cloth->implicit; - ClothVertex *verts = cloth->verts; - int mvert_num = cloth->mvert_num; - const float time_multiplier = 1.0f / (clmd->sim_parms->dt * clmd->sim_parms->timescale); - int i; - - if (!(clmd->coll_parms->flags & (CLOTH_COLLSETTINGS_FLAG_ENABLED | CLOTH_COLLSETTINGS_FLAG_SELF))) - return; - - if (!clmd->clothObject->bvhtree) - return; - - BPH_mass_spring_solve_positions(id, dt); - - /* Update verts to current positions. */ - for (i = 0; i < mvert_num; i++) { - BPH_mass_spring_get_new_position(id, i, verts[i].tx); - - sub_v3_v3v3(verts[i].tv, verts[i].tx, verts[i].txold); - zero_v3(verts[i].dcvel); - } - - if (cloth_bvh_collision(depsgraph, ob, clmd, step / clmd->sim_parms->timescale, dt / clmd->sim_parms->timescale)) { - for (i = 0; i < mvert_num; i++) { - if ((clmd->sim_parms->vgroup_mass > 0) && (verts[i].flags & CLOTH_VERT_FLAG_PINNED)) - continue; - - BPH_mass_spring_get_new_velocity(id, i, verts[i].tv); - madd_v3_v3fl(verts[i].tv, verts[i].dcvel, time_multiplier); - BPH_mass_spring_set_new_velocity(id, i, verts[i].tv); - } - } + Cloth *cloth = clmd->clothObject; + Implicit_Data *id = cloth->implicit; + ClothVertex *verts = cloth->verts; + int mvert_num = cloth->mvert_num; + const float time_multiplier = 1.0f / (clmd->sim_parms->dt * clmd->sim_parms->timescale); + int i; + + if (!(clmd->coll_parms->flags & + (CLOTH_COLLSETTINGS_FLAG_ENABLED | CLOTH_COLLSETTINGS_FLAG_SELF))) + return; + + if (!clmd->clothObject->bvhtree) + return; + + BPH_mass_spring_solve_positions(id, dt); + + /* Update verts to current positions. */ + for (i = 0; i < mvert_num; i++) { + BPH_mass_spring_get_new_position(id, i, verts[i].tx); + + sub_v3_v3v3(verts[i].tv, verts[i].tx, verts[i].txold); + zero_v3(verts[i].dcvel); + } + + if (cloth_bvh_collision(depsgraph, + ob, + clmd, + step / clmd->sim_parms->timescale, + dt / clmd->sim_parms->timescale)) { + for (i = 0; i < mvert_num; i++) { + if ((clmd->sim_parms->vgroup_mass > 0) && (verts[i].flags & CLOTH_VERT_FLAG_PINNED)) + continue; + + BPH_mass_spring_get_new_velocity(id, i, verts[i].tv); + madd_v3_v3fl(verts[i].tv, verts[i].dcvel, time_multiplier); + BPH_mass_spring_set_new_velocity(id, i, verts[i].tv); + } + } } static void cloth_clear_result(ClothModifierData *clmd) { - ClothSolverResult *sres = clmd->solver_result; + ClothSolverResult *sres = clmd->solver_result; - sres->status = 0; - sres->max_error = sres->min_error = sres->avg_error = 0.0f; - sres->max_iterations = sres->min_iterations = 0; - sres->avg_iterations = 0.0f; + sres->status = 0; + sres->max_error = sres->min_error = sres->avg_error = 0.0f; + sres->max_iterations = sres->min_iterations = 0; + sres->avg_iterations = 0.0f; } static void cloth_record_result(ClothModifierData *clmd, ImplicitSolverResult *result, float dt) { - ClothSolverResult *sres = clmd->solver_result; - - if (sres->status) { /* already initialized ? */ - /* error only makes sense for successful iterations */ - if (result->status == BPH_SOLVER_SUCCESS) { - sres->min_error = min_ff(sres->min_error, result->error); - sres->max_error = max_ff(sres->max_error, result->error); - sres->avg_error += result->error * dt; - } - - sres->min_iterations = min_ii(sres->min_iterations, result->iterations); - sres->max_iterations = max_ii(sres->max_iterations, result->iterations); - sres->avg_iterations += (float)result->iterations * dt; - } - else { - /* error only makes sense for successful iterations */ - if (result->status == BPH_SOLVER_SUCCESS) { - sres->min_error = sres->max_error = result->error; - sres->avg_error += result->error * dt; - } - - sres->min_iterations = sres->max_iterations = result->iterations; - sres->avg_iterations += (float)result->iterations * dt; - } - - sres->status |= result->status; + ClothSolverResult *sres = clmd->solver_result; + + if (sres->status) { /* already initialized ? */ + /* error only makes sense for successful iterations */ + if (result->status == BPH_SOLVER_SUCCESS) { + sres->min_error = min_ff(sres->min_error, result->error); + sres->max_error = max_ff(sres->max_error, result->error); + sres->avg_error += result->error * dt; + } + + sres->min_iterations = min_ii(sres->min_iterations, result->iterations); + sres->max_iterations = max_ii(sres->max_iterations, result->iterations); + sres->avg_iterations += (float)result->iterations * dt; + } + else { + /* error only makes sense for successful iterations */ + if (result->status == BPH_SOLVER_SUCCESS) { + sres->min_error = sres->max_error = result->error; + sres->avg_error += result->error * dt; + } + + sres->min_iterations = sres->max_iterations = result->iterations; + sres->avg_iterations += (float)result->iterations * dt; + } + + sres->status |= result->status; } -int BPH_cloth_solve(Depsgraph *depsgraph, Object *ob, float frame, ClothModifierData *clmd, ListBase *effectors) +int BPH_cloth_solve( + Depsgraph *depsgraph, Object *ob, float frame, ClothModifierData *clmd, ListBase *effectors) { - /* Hair currently is a cloth sim in disguise ... - * Collision detection and volumetrics work differently then. - * Bad design, TODO - */ - Scene *scene = DEG_get_evaluated_scene(depsgraph); - const bool is_hair = (clmd->hairdata != NULL); - - unsigned int i = 0; - float step = 0.0f, tf = clmd->sim_parms->timescale; - Cloth *cloth = clmd->clothObject; - ClothVertex *verts = cloth->verts /*, *cv*/; - unsigned int mvert_num = cloth->mvert_num; - float dt = clmd->sim_parms->dt * clmd->sim_parms->timescale; - Implicit_Data *id = cloth->implicit; - ColliderContacts *contacts = NULL; - int totcolliders = 0; - - BKE_sim_debug_data_clear_category("collision"); - - if (!clmd->solver_result) - clmd->solver_result = (ClothSolverResult *)MEM_callocN(sizeof(ClothSolverResult), "cloth solver result"); - cloth_clear_result(clmd); - - if (clmd->sim_parms->vgroup_mass > 0) { /* Do goal stuff. */ - for (i = 0; i < mvert_num; i++) { - // update velocities with constrained velocities from pinned verts - if (verts[i].flags & CLOTH_VERT_FLAG_PINNED) { - float v[3]; - sub_v3_v3v3(v, verts[i].xconst, verts[i].xold); - // mul_v3_fl(v, clmd->sim_parms->stepsPerFrame); - /* divide by time_scale to prevent constrained velocities from being multiplied */ - mul_v3_fl(v, 1.0f / clmd->sim_parms->time_scale); - BPH_mass_spring_set_velocity(id, i, v); - } - } - } - - while (step < tf) { - ImplicitSolverResult result; - - if (is_hair) { - /* determine contact points */ - if (clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_ENABLED) { - cloth_find_point_contacts(depsgraph, ob, clmd, 0.0f, tf, &contacts, &totcolliders); - } - - /* setup vertex constraints for pinned vertices and contacts */ - cloth_setup_constraints(clmd, contacts, totcolliders, dt); - } - else { - /* setup vertex constraints for pinned vertices */ - cloth_setup_constraints(clmd, NULL, 0, dt); - } - - /* initialize forces to zero */ - BPH_mass_spring_clear_forces(id); - - // calculate forces - cloth_calc_force(scene, clmd, frame, effectors, step); - - // calculate new velocity and position - BPH_mass_spring_solve_velocities(id, dt, &result); - cloth_record_result(clmd, &result, dt); - - /* Calculate collision impulses. */ - if (!is_hair) { - cloth_solve_collisions(depsgraph, ob, clmd, step, dt); - } - - if (is_hair) { - cloth_continuum_step(clmd, dt); - } - - BPH_mass_spring_solve_positions(id, dt); - BPH_mass_spring_apply_result(id); - - /* move pinned verts to correct position */ - for (i = 0; i < mvert_num; i++) { - if (clmd->sim_parms->vgroup_mass > 0) { - if (verts[i].flags & CLOTH_VERT_FLAG_PINNED) { - float x[3]; - /* divide by time_scale to prevent pinned vertices' delta locations from being multiplied */ - interp_v3_v3v3(x, verts[i].xold, verts[i].xconst, (step + dt) / clmd->sim_parms->time_scale); - BPH_mass_spring_set_position(id, i, x); - } - } - - BPH_mass_spring_get_motion_state(id, i, verts[i].txold, NULL); - } - - /* free contact points */ - if (contacts) { - cloth_free_contacts(contacts, totcolliders); - } - - step += dt; - } - - /* copy results back to cloth data */ - for (i = 0; i < mvert_num; i++) { - BPH_mass_spring_get_motion_state(id, i, verts[i].x, verts[i].v); - copy_v3_v3(verts[i].txold, verts[i].x); - } - - return 1; + /* Hair currently is a cloth sim in disguise ... + * Collision detection and volumetrics work differently then. + * Bad design, TODO + */ + Scene *scene = DEG_get_evaluated_scene(depsgraph); + const bool is_hair = (clmd->hairdata != NULL); + + unsigned int i = 0; + float step = 0.0f, tf = clmd->sim_parms->timescale; + Cloth *cloth = clmd->clothObject; + ClothVertex *verts = cloth->verts /*, *cv*/; + unsigned int mvert_num = cloth->mvert_num; + float dt = clmd->sim_parms->dt * clmd->sim_parms->timescale; + Implicit_Data *id = cloth->implicit; + ColliderContacts *contacts = NULL; + int totcolliders = 0; + + BKE_sim_debug_data_clear_category("collision"); + + if (!clmd->solver_result) + clmd->solver_result = (ClothSolverResult *)MEM_callocN(sizeof(ClothSolverResult), + "cloth solver result"); + cloth_clear_result(clmd); + + if (clmd->sim_parms->vgroup_mass > 0) { /* Do goal stuff. */ + for (i = 0; i < mvert_num; i++) { + // update velocities with constrained velocities from pinned verts + if (verts[i].flags & CLOTH_VERT_FLAG_PINNED) { + float v[3]; + sub_v3_v3v3(v, verts[i].xconst, verts[i].xold); + // mul_v3_fl(v, clmd->sim_parms->stepsPerFrame); + /* divide by time_scale to prevent constrained velocities from being multiplied */ + mul_v3_fl(v, 1.0f / clmd->sim_parms->time_scale); + BPH_mass_spring_set_velocity(id, i, v); + } + } + } + + while (step < tf) { + ImplicitSolverResult result; + + if (is_hair) { + /* determine contact points */ + if (clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_ENABLED) { + cloth_find_point_contacts(depsgraph, ob, clmd, 0.0f, tf, &contacts, &totcolliders); + } + + /* setup vertex constraints for pinned vertices and contacts */ + cloth_setup_constraints(clmd, contacts, totcolliders, dt); + } + else { + /* setup vertex constraints for pinned vertices */ + cloth_setup_constraints(clmd, NULL, 0, dt); + } + + /* initialize forces to zero */ + BPH_mass_spring_clear_forces(id); + + // calculate forces + cloth_calc_force(scene, clmd, frame, effectors, step); + + // calculate new velocity and position + BPH_mass_spring_solve_velocities(id, dt, &result); + cloth_record_result(clmd, &result, dt); + + /* Calculate collision impulses. */ + if (!is_hair) { + cloth_solve_collisions(depsgraph, ob, clmd, step, dt); + } + + if (is_hair) { + cloth_continuum_step(clmd, dt); + } + + BPH_mass_spring_solve_positions(id, dt); + BPH_mass_spring_apply_result(id); + + /* move pinned verts to correct position */ + for (i = 0; i < mvert_num; i++) { + if (clmd->sim_parms->vgroup_mass > 0) { + if (verts[i].flags & CLOTH_VERT_FLAG_PINNED) { + float x[3]; + /* divide by time_scale to prevent pinned vertices' delta locations from being multiplied */ + interp_v3_v3v3( + x, verts[i].xold, verts[i].xconst, (step + dt) / clmd->sim_parms->time_scale); + BPH_mass_spring_set_position(id, i, x); + } + } + + BPH_mass_spring_get_motion_state(id, i, verts[i].txold, NULL); + } + + /* free contact points */ + if (contacts) { + cloth_free_contacts(contacts, totcolliders); + } + + step += dt; + } + + /* copy results back to cloth data */ + for (i = 0; i < mvert_num; i++) { + BPH_mass_spring_get_motion_state(id, i, verts[i].x, verts[i].v); + copy_v3_v3(verts[i].txold, verts[i].x); + } + + return 1; } |