diff options
Diffstat (limited to 'source/blender/physics/intern/implicit_blender.c')
| -rw-r--r-- | source/blender/physics/intern/implicit_blender.c | 436 |
1 files changed, 218 insertions, 218 deletions
diff --git a/source/blender/physics/intern/implicit_blender.c b/source/blender/physics/intern/implicit_blender.c index 49798081cff..5fd9c6b50de 100644 --- a/source/blender/physics/intern/implicit_blender.c +++ b/source/blender/physics/intern/implicit_blender.c @@ -71,9 +71,9 @@ 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 +#defineDO_INLINE inline +#else +#defineDO_INLINE static #endif */ struct Cloth; @@ -90,7 +90,7 @@ typedef struct fmatrix3x3 { /* 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 */ + unsigned int scount; /* spring count */ } fmatrix3x3; /////////////////////////// @@ -115,9 +115,9 @@ DO_INLINE void mul_fvectorT_fvector(float to[3][3], float vectorA[3], float vect /* 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); @@ -288,7 +288,7 @@ static void print_lvector(lfVector *v, int numverts) for (i = 0; i < numverts; ++i) { if (i > 0) printf("\n"); - + printf("%f,\n", v[i][0]); printf("%f,\n", v[i][1]); printf("%f,\n", v[i][2]); @@ -303,11 +303,11 @@ static void print_bfmatrix(fmatrix3x3 *m) int size = m[0].vcount * 3; float *t = MEM_callocN(sizeof(float) * size*size, "bfmatrix"); int q, i, j; - + for (q = 0; q < tot; ++q) { int k = 3 * m[q].r; int l = 3 * m[q].c; - + for (j = 0; j < 3; ++j) { for (i = 0; i < 3; ++i) { // if (t[k + i + (l + j) * size] != 0.0f) { @@ -323,20 +323,20 @@ static void print_bfmatrix(fmatrix3x3 *m) } } } - + for (j = 0; j < size; ++j) { if (j > 0 && j % 3 == 0) printf("\n"); - + for (i = 0; i < size; ++i) { if (i > 0 && i % 3 == 0) printf(" "); - + implicit_print_matrix_elem(t[i + j * size]); } printf("\n"); } - + MEM_freeN(t); } #endif @@ -354,7 +354,7 @@ DO_INLINE void cp_fmatrix(float to[3][3], float from[3][3]) 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; @@ -532,15 +532,15 @@ 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"); int i; - + temp[0].vcount = verts; temp[0].scount = springs; - + /* vertex part of the matrix is diagonal blocks */ for (i = 0; i < verts; ++i) { init_fmatrix(temp + i, i, i); } - + return temp; } /* delete big matrix */ @@ -565,7 +565,7 @@ 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); + cp_fmatrix(matrix[i].m, m3); } } @@ -577,10 +577,10 @@ DO_INLINE void initdiag_bfmatrix(fmatrix3x3 *matrix, float m3[3][3]) 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); + 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); + cp_fmatrix(matrix[j].m, tmatrix); } } @@ -591,7 +591,7 @@ DO_INLINE void mul_bfmatrix_lfvector( float (*to)[3], fmatrix3x3 *from, lfVector 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) @@ -610,10 +610,10 @@ DO_INLINE void mul_bfmatrix_lfvector( float (*to)[3], fmatrix3x3 *from, lfVector } } add_lfvector_lfvector(to, to, temp, from[0].vcount); - + del_lfvector(temp); - - + + } /* SPARSE SYMMETRIC sub big matrix with big matrix*/ @@ -642,15 +642,15 @@ typedef struct Implicit_Data { lfVector *F; /* forces */ fmatrix3x3 *dFdV, *dFdX; /* force jacobians */ int num_blocks; /* number of off-diagonal blocks (springs) */ - + /* motion state data */ lfVector *X, *Xnew; /* positions */ lfVector *V, *Vnew; /* velocities */ - + /* internal solver data */ lfVector *B; /* B for A*dV = B */ fmatrix3x3 *A; /* A for A*dV = B */ - + lfVector *dV; /* velocity change (solution of A*dV = B) */ lfVector *z; /* target velocity in constrained directions */ fmatrix3x3 *S; /* filtering matrix for constraints */ @@ -660,7 +660,7 @@ typedef struct Implicit_Data { Implicit_Data *BPH_mass_spring_solver_create(int numverts, int numsprings) { Implicit_Data *id = (Implicit_Data *)MEM_callocN(sizeof(Implicit_Data), "implicit vecmat"); - + /* process diagonal elements */ id->tfm = create_bfmatrix(numverts, 0); id->A = create_bfmatrix(numverts, numsprings); @@ -696,7 +696,7 @@ void BPH_mass_spring_solver_free(Implicit_Data *id) del_bfmatrix(id->Pinv); del_bfmatrix(id->bigI); del_bfmatrix(id->M); - + del_lfvector(id->X); del_lfvector(id->Xnew); del_lfvector(id->V); @@ -705,7 +705,7 @@ void BPH_mass_spring_solver_free(Implicit_Data *id) del_lfvector(id->B); del_lfvector(id->dV); del_lfvector(id->z); - + MEM_freeN(id); } @@ -752,7 +752,7 @@ static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z // 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; + lfVector *q, *d, *tmp, *r; float s, starget, a, s_prev; unsigned int numverts = lA[0].vcount; q = create_lfvector(numverts); @@ -818,7 +818,7 @@ static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z, // Solves for unknown X in equation AX=B unsigned int conjgrad_loopcount=0, conjgrad_looplimit=100; float conjgrad_epsilon=0.01f; - + unsigned int numverts = lA[0].vcount; lfVector *fB = create_lfvector(numverts); lfVector *AdV = create_lfvector(numverts); @@ -827,27 +827,27 @@ static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z, lfVector *q = create_lfvector(numverts); lfVector *s = create_lfvector(numverts); float bnorm2, delta_new, delta_old, delta_target, alpha; - + cp_lfvector(ldV, z, numverts); - + /* d0 = filter(B)^T * P * filter(B) */ cp_lfvector(fB, lB, numverts); filter(fB, S); bnorm2 = dot_lfvector(fB, fB, numverts); delta_target = conjgrad_epsilon*conjgrad_epsilon * bnorm2; - + /* r = filter(B - A * dV) */ mul_bfmatrix_lfvector(AdV, lA, ldV); sub_lfvector_lfvector(r, lB, AdV, numverts); filter(r, S); - + /* c = filter(P^-1 * r) */ cp_lfvector(c, r, numverts); filter(c, S); - + /* delta = r^T * c */ delta_new = dot_lfvector(r, c, numverts); - + #ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT printf("==== A ====\n"); print_bfmatrix(lA); @@ -858,25 +858,25 @@ static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z, printf("==== S ====\n"); print_bfmatrix(S); #endif - + while (delta_new > delta_target && conjgrad_loopcount < conjgrad_looplimit) { mul_bfmatrix_lfvector(q, lA, c); filter(q, S); - + alpha = delta_new / dot_lfvector(c, q, numverts); - + add_lfvector_lfvectorS(ldV, ldV, c, alpha, numverts); - + add_lfvector_lfvectorS(r, r, q, -alpha, numverts); - + /* s = P^-1 * r */ cp_lfvector(s, r, numverts); delta_old = delta_new; delta_new = dot_lfvector(r, s, numverts); - + add_lfvector_lfvectorS(c, s, c, delta_new / delta_old, numverts); filter(c, S); - + conjgrad_loopcount++; } @@ -885,7 +885,7 @@ static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z, print_lvector(ldV, numverts); printf("========\n"); #endif - + del_lfvector(fB); del_lfvector(AdV); del_lfvector(r); @@ -906,14 +906,14 @@ static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z, 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); - + } } /* @@ -927,65 +927,65 @@ static int cg_filtered_pre(lfVector *dv, fmatrix3x3 *lA, lfVector *lB, lfVector 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); - + #ifdef DEBUG_TIME double start = PIL_check_seconds_timer(); #endif - + 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); - + } #ifdef DEBUG_TIME double end = PIL_check_seconds_timer(); printf("cg_filtered_pre time: %f\n", (float)(end - start)); #endif - + del_lfvector(h); del_lfvector(s); del_lfvector(p); del_lfvector(r); - + printf("iterations: %d\n", iterations); - + return iterations<conjgrad_looplimit; } */ @@ -1000,83 +1000,83 @@ static int cg_filtered_pre(lfVector *dv, fmatrix3x3 *lA, lfVector *lB, lfVector 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); */ #ifdef DEBUG_TIME double start = PIL_check_seconds_timer(); #endif - + 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); - + } #ifdef DEBUG_TIME @@ -1090,9 +1090,9 @@ static int cg_filtered_pre(lfVector *dv, fmatrix3x3 *lA, lfVector *lB, lfVector del_lfvector(s); del_lfvector(p); del_lfvector(r); - + // printf("iterations: %d\n", iterations); - + return iterations<conjgrad_looplimit; } #endif @@ -1128,17 +1128,17 @@ bool BPH_mass_spring_solve_velocities(Implicit_Data *data, float dt, ImplicitSol add_lfvector_lfvector(data->Vnew, data->V, data->dV, numverts); del_lfvector(dFdXmV); - + return result->status == BPH_SOLVER_SUCCESS; } bool BPH_mass_spring_solve_positions(Implicit_Data *data, float dt) { int numverts = data->M[0].vcount; - + // advance positions add_lfvector_lfvectorS(data->Xnew, data->X, data->Vnew, dt, numverts); - + return true; } @@ -1219,7 +1219,7 @@ static int BPH_mass_spring_add_block(Implicit_Data *data, int v1, int v2) int s = data->M[0].vcount + data->num_blocks; /* index from array start */ BLI_assert(s < data->M[0].vcount + data->M[0].scount); ++data->num_blocks; - + /* tfm and S don't have spring entries (diagonal blocks only) */ init_fmatrix(data->bigI + s, v1, v2); init_fmatrix(data->M + s, v1, v2); @@ -1228,7 +1228,7 @@ static int BPH_mass_spring_add_block(Implicit_Data *data, int v1, int v2) init_fmatrix(data->A + s, v1, v2); init_fmatrix(data->P + s, v1, v2); init_fmatrix(data->Pinv + s, v1, v2); - + return s; } @@ -1244,26 +1244,26 @@ void BPH_mass_spring_clear_constraints(Implicit_Data *data) void BPH_mass_spring_add_constraint_ndof0(Implicit_Data *data, int index, const float dV[3]) { zero_m3(data->S[index].m); - + world_to_root_v3(data, index, data->z[index], dV); } void BPH_mass_spring_add_constraint_ndof1(Implicit_Data *data, int index, const float c1[3], const float c2[3], const float dV[3]) { float m[3][3], p[3], q[3], u[3], cmat[3][3]; - + world_to_root_v3(data, index, p, c1); mul_fvectorT_fvector(cmat, p, p); sub_m3_m3m3(m, I, cmat); - + world_to_root_v3(data, index, q, c2); mul_fvectorT_fvector(cmat, q, q); sub_m3_m3m3(m, m, cmat); - + /* XXX not sure but multiplication should work here */ copy_m3_m3(data->S[index].m, m); // mul_m3_m3m3(data->S[index].m, data->S[index].m, m); - + world_to_root_v3(data, index, u, dV); add_v3_v3(data->z[index], u); } @@ -1271,14 +1271,14 @@ void BPH_mass_spring_add_constraint_ndof1(Implicit_Data *data, int index, const void BPH_mass_spring_add_constraint_ndof2(Implicit_Data *data, int index, const float c1[3], const float dV[3]) { float m[3][3], p[3], u[3], cmat[3][3]; - + world_to_root_v3(data, index, p, c1); mul_fvectorT_fvector(cmat, p, p); sub_m3_m3m3(m, I, cmat); - + copy_m3_m3(data->S[index].m, m); // mul_m3_m3m3(data->S[index].m, data->S[index].m, m); - + world_to_root_v3(data, index, u, dV); add_v3_v3(data->z[index], u); } @@ -1289,7 +1289,7 @@ void BPH_mass_spring_clear_forces(Implicit_Data *data) zero_lfvector(data->F, numverts); init_bfmatrix(data->dFdX, ZERO); init_bfmatrix(data->dFdV, ZERO); - + data->num_blocks = 0; } @@ -1300,37 +1300,37 @@ void BPH_mass_spring_force_reference_frame(Implicit_Data *data, int index, const float f[3], dfdx[3][3], dfdv[3][3]; float euler[3], coriolis[3], centrifugal[3], rotvel[3]; float deuler[3][3], dcoriolis[3][3], dcentrifugal[3][3], drotvel[3][3]; - + world_to_root_v3(data, index, acc, acceleration); world_to_root_v3(data, index, w, omega); world_to_root_v3(data, index, dwdt, domega_dt); - + cross_v3_v3v3(euler, dwdt, data->X[index]); cross_v3_v3v3(coriolis, w, data->V[index]); mul_v3_fl(coriolis, 2.0f); cross_v3_v3v3(rotvel, w, data->X[index]); cross_v3_v3v3(centrifugal, w, rotvel); - + sub_v3_v3v3(f, acc, euler); sub_v3_v3(f, coriolis); sub_v3_v3(f, centrifugal); - + mul_v3_fl(f, mass); /* F = m * a */ - + cross_v3_identity(deuler, dwdt); cross_v3_identity(dcoriolis, w); mul_m3_fl(dcoriolis, 2.0f); cross_v3_identity(drotvel, w); cross_m3_v3m3(dcentrifugal, w, drotvel); - + add_m3_m3m3(dfdx, deuler, dcentrifugal); negate_m3(dfdx); mul_m3_fl(dfdx, mass); - + copy_m3_m3(dfdv, dcoriolis); negate_m3(dfdv); mul_m3_fl(dfdv, mass); - + add_v3_v3(data->F[index], f); add_m3_m3m3(data->dFdX[index].m, data->dFdX[index].m, dfdx); add_m3_m3m3(data->dFdV[index].m, data->dFdV[index].m, dfdv); @@ -1349,7 +1349,7 @@ void BPH_mass_spring_force_gravity(Implicit_Data *data, int index, float mass, c float f[3]; world_to_root_v3(data, index, f, g); mul_v3_fl(f, mass); - + add_v3_v3(data->F[index], f); } @@ -1358,10 +1358,10 @@ void BPH_mass_spring_force_drag(Implicit_Data *data, float drag) int i, numverts = data->M[0].vcount; for (i = 0; i < numverts; i++) { float tmp[3][3]; - + /* NB: uses root space velocity, no need to transform */ madd_v3_v3fl(data->F[i], data->V[i], -drag); - + copy_m3_m3(tmp, I); mul_m3_fl(tmp, -drag); add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, tmp); @@ -1374,7 +1374,7 @@ void BPH_mass_spring_force_extern(struct Implicit_Data *data, int i, const float world_to_root_v3(data, i, tf, f); world_to_root_m3(data, i, tdfdx, dfdx); world_to_root_m3(data, i, tdfdv, dfdv); - + add_v3_v3(data->F[i], tf); add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, tdfdx); add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, tdfdv); @@ -1383,10 +1383,10 @@ void BPH_mass_spring_force_extern(struct Implicit_Data *data, int i, const float static float calc_nor_area_tri(float nor[3], const float v1[3], const float v2[3], const float v3[3]) { float n1[3], n2[3]; - + sub_v3_v3v3(n1, v1, v2); sub_v3_v3v3(n2, v2, v3); - + cross_v3_v3v3(nor, n1, n2); return normalize_v3(nor); } @@ -1397,17 +1397,17 @@ void BPH_mass_spring_force_face_wind(Implicit_Data *data, int v1, int v2, int v3 const float effector_scale = 0.02f; float win[3], nor[3], area; float factor; - + /* calculate face normal and area */ area = calc_nor_area_tri(nor, data->X[v1], data->X[v2], data->X[v3]); factor = effector_scale * area / 3.0f; - + world_to_root_v3(data, v1, win, winvec[v1]); madd_v3_v3fl(data->F[v1], nor, factor * dot_v3v3(win, nor)); - + world_to_root_v3(data, v2, win, winvec[v2]); madd_v3_v3fl(data->F[v2], nor, factor * dot_v3v3(win, nor)); - + world_to_root_v3(data, v3, win, winvec[v3]); madd_v3_v3fl(data->F[v3], nor, factor * dot_v3v3(win, nor)); } @@ -1417,17 +1417,17 @@ static void edge_wind_vertex(const float dir[3], float length, float radius, con const float density = 0.01f; /* XXX arbitrary value, corresponds to effect of air density */ float cos_alpha, sin_alpha, cross_section; float windlen = len_v3(wind); - + if (windlen == 0.0f) { zero_v3(f); return; } - + /* angle of wind direction to edge */ cos_alpha = dot_v3v3(wind, dir) / windlen; sin_alpha = sqrtf(1.0f - cos_alpha * cos_alpha); cross_section = radius * ((float)M_PI * radius * sin_alpha + length * cos_alpha); - + mul_v3_v3fl(f, wind, density * cross_section); } @@ -1435,14 +1435,14 @@ void BPH_mass_spring_force_edge_wind(Implicit_Data *data, int v1, int v2, float { float win[3], dir[3], length; float f[3], dfdx[3][3], dfdv[3][3]; - + sub_v3_v3v3(dir, data->X[v1], data->X[v2]); length = normalize_v3(dir); - + world_to_root_v3(data, v1, win, winvec[v1]); edge_wind_vertex(dir, length, radius1, win, f, dfdx, dfdv); add_v3_v3(data->F[v1], f); - + world_to_root_v3(data, v2, win, winvec[v2]); edge_wind_vertex(dir, length, radius2, win, f, dfdx, dfdv); add_v3_v3(data->F[v2], f); @@ -1451,10 +1451,10 @@ void BPH_mass_spring_force_edge_wind(Implicit_Data *data, int v1, int v2, float void BPH_mass_spring_force_vertex_wind(Implicit_Data *data, int v, float UNUSED(radius), const float (*winvec)[3]) { const float density = 0.01f; /* XXX arbitrary value, corresponds to effect of air density */ - + float wind[3]; float f[3]; - + world_to_root_v3(data, v, wind, winvec[v]); mul_v3_v3fl(f, wind, density); add_v3_v3(data->F[v], f); @@ -1466,8 +1466,8 @@ BLI_INLINE void dfdx_spring(float to[3][3], const float dir[3], float length, fl //return ( (I-outerprod(dir, dir))*Min(1.0f, rest/length) - I) * -k; outerproduct(to, dir, dir); sub_m3_m3m3(to, I, to); - - mul_m3_fl(to, (L/length)); + + mul_m3_fl(to, (L/length)); sub_m3_m3m3(to, to, I); mul_m3_fl(to, k); } @@ -1476,7 +1476,7 @@ BLI_INLINE void dfdx_spring(float to[3][3], const float dir[3], float length, fl #if 0 BLI_INLINE void dfdx_damp(float to[3][3], const float dir[3], float length, const float vel[3], float rest, float damping) { - // inner spring damping vel is the relative velocity of the endpoints. + // 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); @@ -1512,7 +1512,7 @@ BLI_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 @@ -1539,7 +1539,7 @@ BLI_INLINE bool spring_length(Implicit_Data *data, int i, int j, float r_extent[ sub_v3_v3v3(r_extent, data->X[j], data->X[i]); sub_v3_v3v3(r_vel, data->V[j], data->V[i]); *r_length = len_v3(r_extent); - + if (*r_length > ALMOST_ZERO) { /* if (length>L) { @@ -1557,21 +1557,21 @@ BLI_INLINE bool spring_length(Implicit_Data *data, int i, int j, float r_extent[ else { zero_v3(r_dir); } - + return true; } BLI_INLINE void apply_spring(Implicit_Data *data, int i, int j, const float f[3], float dfdx[3][3], float dfdv[3][3]) { int block_ij = BPH_mass_spring_add_block(data, i, j); - + add_v3_v3(data->F[i], f); sub_v3_v3(data->F[j], f); - + add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfdx); add_m3_m3m3(data->dFdX[j].m, data->dFdX[j].m, dfdx); sub_m3_m3m3(data->dFdX[block_ij].m, data->dFdX[block_ij].m, dfdx); - + add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, dfdv); add_m3_m3m3(data->dFdV[j].m, data->dFdV[j].m, dfdv); sub_m3_m3m3(data->dFdV[block_ij].m, data->dFdV[block_ij].m, dfdv); @@ -1581,7 +1581,7 @@ bool BPH_mass_spring_force_spring_linear(Implicit_Data *data, int i, int j, floa float stiffness, float damping, bool no_compress, float clamp_force) { float extent[3], length, dir[3], vel[3]; - + // calculate elonglation spring_length(data, i, j, extent, dir, &length, vel); @@ -1590,22 +1590,22 @@ bool BPH_mass_spring_force_spring_linear(Implicit_Data *data, int i, int j, floa Thus length > restlen makes cloth unconstrained at the start of simulation. */ if ((length >= restlen && length > 0) || no_compress) { float stretch_force, f[3], dfdx[3][3], dfdv[3][3]; - + stretch_force = stiffness * (length - restlen); if (clamp_force > 0.0f && stretch_force > clamp_force) { stretch_force = clamp_force; } mul_v3_v3fl(f, dir, stretch_force); - + // Ascher & Boxman, p.21: Damping only during elonglation // something wrong with it... madd_v3_v3fl(f, dir, damping * dot_v3v3(vel, dir)); - + dfdx_spring(dfdx, dir, length, restlen, stiffness); dfdv_damp(dfdv, dir, damping); - + apply_spring(data, i, j, f, dfdx, dfdv); - + return true; } else { @@ -1617,23 +1617,23 @@ bool BPH_mass_spring_force_spring_linear(Implicit_Data *data, int i, int j, floa bool BPH_mass_spring_force_spring_bending(Implicit_Data *data, int i, int j, float restlen, float kb, float cb) { float extent[3], length, dir[3], vel[3]; - + // calculate elonglation spring_length(data, i, j, extent, dir, &length, vel); - + if (length < restlen) { float f[3], dfdx[3][3], dfdv[3][3]; - + mul_v3_v3fl(f, dir, fbstar(length, restlen, kb, cb)); - + outerproduct(dfdx, dir, dir); mul_m3_fl(dfdx, fbstar_jacobi(length, restlen, kb, cb)); - + /* XXX damping not supported */ zero_m3(dfdv); - + apply_spring(data, i, j, f, dfdx, dfdv); - + return true; } else { @@ -1650,10 +1650,10 @@ bool BPH_mass_spring_force_spring_bending(Implicit_Data *data, int i, int j, flo BLI_INLINE void spring_grad_dir(Implicit_Data *data, int i, int j, float edge[3], float dir[3], float grad_dir[3][3]) { float length; - + sub_v3_v3v3(edge, data->X[j], data->X[i]); length = normalize_v3_v3(dir, edge); - + if (length > ALMOST_ZERO) { outerproduct(grad_dir, dir, dir); sub_m3_m3m3(grad_dir, I, grad_dir); @@ -1676,39 +1676,39 @@ BLI_INLINE void spring_angbend_forces(Implicit_Data *data, int i, int j, int k, float f_bend[3], f_damp[3]; float fk[3]; float dist[3]; - + zero_v3(fk); - + sub_v3_v3v3(edge_ij, data->X[j], data->X[i]); if (q == i) sub_v3_v3(edge_ij, dx); if (q == j) add_v3_v3(edge_ij, dx); normalize_v3_v3(dir_ij, edge_ij); - + sub_v3_v3v3(edge_jk, data->X[k], data->X[j]); if (q == j) sub_v3_v3(edge_jk, dx); if (q == k) add_v3_v3(edge_jk, dx); normalize_v3_v3(dir_jk, edge_jk); - + sub_v3_v3v3(vel_ij, data->V[j], data->V[i]); if (q == i) sub_v3_v3(vel_ij, dv); if (q == j) add_v3_v3(vel_ij, dv); - + sub_v3_v3v3(vel_jk, data->V[k], data->V[j]); if (q == j) sub_v3_v3(vel_jk, dv); if (q == k) add_v3_v3(vel_jk, dv); - + /* bending force */ sub_v3_v3v3(dist, goal, edge_jk); mul_v3_v3fl(f_bend, dist, stiffness); - + add_v3_v3(fk, f_bend); - + /* damping force */ madd_v3_v3v3fl(vel_ortho, vel_jk, dir_jk, -dot_v3v3(vel_jk, dir_jk)); mul_v3_v3fl(f_damp, vel_ortho, damping); - + sub_v3_v3(fk, f_damp); - + copy_v3_v3(r_f, fk); } @@ -1722,24 +1722,24 @@ BLI_INLINE void spring_angbend_estimate_dfdx(Implicit_Data *data, int i, int j, float dvec_null[3][3], dvec_pos[3][3], dvec_neg[3][3]; float f[3]; int a, b; - + zero_m3(dvec_null); unit_m3(dvec_pos); mul_m3_fl(dvec_pos, delta * 0.5f); copy_m3_m3(dvec_neg, dvec_pos); negate_m3(dvec_neg); - + /* XXX TODO offset targets to account for position dependency */ - + for (a = 0; a < 3; ++a) { spring_angbend_forces(data, i, j, k, goal, stiffness, damping, q, dvec_pos[a], dvec_null[a], f); copy_v3_v3(dfdx[a], f); - + spring_angbend_forces(data, i, j, k, goal, stiffness, damping, q, dvec_neg[a], dvec_null[a], f); sub_v3_v3(dfdx[a], f); - + for (b = 0; b < 3; ++b) { dfdx[a][b] /= delta; } @@ -1756,24 +1756,24 @@ BLI_INLINE void spring_angbend_estimate_dfdv(Implicit_Data *data, int i, int j, float dvec_null[3][3], dvec_pos[3][3], dvec_neg[3][3]; float f[3]; int a, b; - + zero_m3(dvec_null); unit_m3(dvec_pos); mul_m3_fl(dvec_pos, delta * 0.5f); copy_m3_m3(dvec_neg, dvec_pos); negate_m3(dvec_neg); - + /* XXX TODO offset targets to account for position dependency */ - + for (a = 0; a < 3; ++a) { spring_angbend_forces(data, i, j, k, goal, stiffness, damping, q, dvec_null[a], dvec_pos[a], f); copy_v3_v3(dfdv[a], f); - + spring_angbend_forces(data, i, j, k, goal, stiffness, damping, q, dvec_null[a], dvec_neg[a], f); sub_v3_v3(dfdv[a], f); - + for (b = 0; b < 3; ++b) { dfdv[a][b] /= delta; } @@ -1790,45 +1790,45 @@ bool BPH_mass_spring_force_spring_bending_angular(Implicit_Data *data, int i, in float fj[3], fk[3]; float dfj_dxi[3][3], dfj_dxj[3][3], dfk_dxi[3][3], dfk_dxj[3][3], dfk_dxk[3][3]; float dfj_dvi[3][3], dfj_dvj[3][3], dfk_dvi[3][3], dfk_dvj[3][3], dfk_dvk[3][3]; - + const float vecnull[3] = {0.0f, 0.0f, 0.0f}; - + int block_ij = BPH_mass_spring_add_block(data, i, j); int block_jk = BPH_mass_spring_add_block(data, j, k); int block_ik = BPH_mass_spring_add_block(data, i, k); - + world_to_root_v3(data, j, goal, target); - + spring_angbend_forces(data, i, j, k, goal, stiffness, damping, k, vecnull, vecnull, fk); negate_v3_v3(fj, fk); /* counterforce */ - + spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, i, dfk_dxi); spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, j, dfk_dxj); spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, k, dfk_dxk); copy_m3_m3(dfj_dxi, dfk_dxi); negate_m3(dfj_dxi); copy_m3_m3(dfj_dxj, dfk_dxj); negate_m3(dfj_dxj); - + spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, i, dfk_dvi); spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, j, dfk_dvj); spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, k, dfk_dvk); copy_m3_m3(dfj_dvi, dfk_dvi); negate_m3(dfj_dvi); copy_m3_m3(dfj_dvj, dfk_dvj); negate_m3(dfj_dvj); - + /* add forces and jacobians to the solver data */ - + add_v3_v3(data->F[j], fj); add_v3_v3(data->F[k], fk); - + add_m3_m3m3(data->dFdX[j].m, data->dFdX[j].m, dfj_dxj); add_m3_m3m3(data->dFdX[k].m, data->dFdX[k].m, dfk_dxk); - + add_m3_m3m3(data->dFdX[block_ij].m, data->dFdX[block_ij].m, dfj_dxi); add_m3_m3m3(data->dFdX[block_jk].m, data->dFdX[block_jk].m, dfk_dxj); add_m3_m3m3(data->dFdX[block_ik].m, data->dFdX[block_ik].m, dfk_dxi); - + add_m3_m3m3(data->dFdV[j].m, data->dFdV[j].m, dfj_dvj); add_m3_m3m3(data->dFdV[k].m, data->dFdV[k].m, dfk_dvk); - + add_m3_m3m3(data->dFdV[block_ij].m, data->dFdV[block_ij].m, dfj_dvi); add_m3_m3m3(data->dFdV[block_jk].m, data->dFdV[block_jk].m, dfk_dvj); add_m3_m3m3(data->dFdV[block_ik].m, data->dFdV[block_ik].m, dfk_dvi); @@ -1847,10 +1847,10 @@ bool BPH_mass_spring_force_spring_bending_angular(Implicit_Data *data, int i, in float fi[3], fj[3], fk[3]; float dfi_dxi[3][3], dfj_dxi[3][3], dfj_dxj[3][3], dfk_dxi[3][3], dfk_dxj[3][3], dfk_dxk[3][3]; float dfdvi[3][3]; - + // TESTING damping = 0.0f; - + zero_v3(fi); zero_v3(fj); zero_v3(fk); @@ -1859,68 +1859,68 @@ bool BPH_mass_spring_force_spring_bending_angular(Implicit_Data *data, int i, in zero_m3(dfk_dxi); zero_m3(dfk_dxj); zero_m3(dfk_dxk); - + /* jacobian of direction vectors */ spring_grad_dir(data, i, j, edge_ij, dir_ij, grad_dir_ij); spring_grad_dir(data, j, k, edge_jk, dir_jk, grad_dir_jk); - + sub_v3_v3v3(vel_jk, data->V[k], data->V[j]); - + /* bending force */ mul_v3_v3fl(target, dir_ij, restlen); sub_v3_v3v3(dist, target, edge_jk); mul_v3_v3fl(fk, dist, stiffness); - + /* damping force */ madd_v3_v3v3fl(vel_jk_ortho, vel_jk, dir_jk, -dot_v3v3(vel_jk, dir_jk)); madd_v3_v3fl(fk, vel_jk_ortho, damping); - + /* XXX this only holds true as long as we assume straight rest shape! * eventually will become a bit more involved since the opposite segment * gets its own target, under condition of having equal torque on both sides. */ copy_v3_v3(fi, fk); - + /* counterforce on the middle point */ sub_v3_v3(fj, fi); sub_v3_v3(fj, fk); - + /* === derivatives === */ - + madd_m3_m3fl(dfk_dxi, grad_dir_ij, stiffness * restlen); - + madd_m3_m3fl(dfk_dxj, grad_dir_ij, -stiffness * restlen); madd_m3_m3fl(dfk_dxj, I, stiffness); - + madd_m3_m3fl(dfk_dxk, I, -stiffness); - + copy_m3_m3(dfi_dxi, dfk_dxk); negate_m3(dfi_dxi); - + /* dfj_dfi == dfi_dfj due to symmetry, * dfi_dfj == dfk_dfj due to fi == fk * XXX see comment above on future bent rest shapes */ copy_m3_m3(dfj_dxi, dfk_dxj); - + /* dfj_dxj == -(dfi_dxj + dfk_dxj) due to fj == -(fi + fk) */ sub_m3_m3m3(dfj_dxj, dfj_dxj, dfj_dxi); sub_m3_m3m3(dfj_dxj, dfj_dxj, dfk_dxj); - + /* add forces and jacobians to the solver data */ add_v3_v3(data->F[i], fi); add_v3_v3(data->F[j], fj); add_v3_v3(data->F[k], fk); - + add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfi_dxi); add_m3_m3m3(data->dFdX[j].m, data->dFdX[j].m, dfj_dxj); add_m3_m3m3(data->dFdX[k].m, data->dFdX[k].m, dfk_dxk); - + add_m3_m3m3(data->dFdX[block_ij].m, data->dFdX[block_ij].m, dfj_dxi); add_m3_m3m3(data->dFdX[block_jk].m, data->dFdX[block_jk].m, dfk_dxj); add_m3_m3m3(data->dFdX[block_ik].m, data->dFdX[block_ik].m, dfk_dxi); #endif - + return true; } @@ -1929,29 +1929,29 @@ bool BPH_mass_spring_force_spring_goal(Implicit_Data *data, int i, const float g { float root_goal_x[3], root_goal_v[3], extent[3], length, dir[3], vel[3]; float f[3], dfdx[3][3], dfdv[3][3]; - + /* goal is in world space */ world_to_root_v3(data, i, root_goal_x, goal_x); world_to_root_v3(data, i, root_goal_v, goal_v); - + sub_v3_v3v3(extent, root_goal_x, data->X[i]); sub_v3_v3v3(vel, root_goal_v, data->V[i]); length = normalize_v3_v3(dir, extent); - + if (length > ALMOST_ZERO) { mul_v3_v3fl(f, dir, stiffness * length); - + // Ascher & Boxman, p.21: Damping only during elonglation // something wrong with it... madd_v3_v3fl(f, dir, damping * dot_v3v3(vel, dir)); - + dfdx_spring(dfdx, dir, length, 0.0f, stiffness); dfdv_damp(dfdv, dir, damping); - + add_v3_v3(data->F[i], f); add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfdx); add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, dfdv); - + return true; } else { |