diff options
Diffstat (limited to 'source/blender/physics')
| -rw-r--r-- | source/blender/physics/BPH_mass_spring.h | 62 | ||||
| -rw-r--r-- | source/blender/physics/CMakeLists.txt | 57 | ||||
| -rw-r--r-- | source/blender/physics/intern/BPH_mass_spring.cpp | 1355 | ||||
| -rw-r--r-- | source/blender/physics/intern/ConstrainedConjugateGradient.h | 335 | ||||
| -rw-r--r-- | source/blender/physics/intern/eigen_utils.h | 236 | ||||
| -rw-r--r-- | source/blender/physics/intern/hair_volume.cpp | 1274 | ||||
| -rw-r--r-- | source/blender/physics/intern/implicit.h | 272 | ||||
| -rw-r--r-- | source/blender/physics/intern/implicit_blender.c | 2360 | ||||
| -rw-r--r-- | source/blender/physics/intern/implicit_eigen.cpp | 1509 |
9 files changed, 0 insertions, 7460 deletions
diff --git a/source/blender/physics/BPH_mass_spring.h b/source/blender/physics/BPH_mass_spring.h deleted file mode 100644 index 5a8c78812a4..00000000000 --- a/source/blender/physics/BPH_mass_spring.h +++ /dev/null @@ -1,62 +0,0 @@ -/* - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) Blender Foundation - * All rights reserved. - */ - -/** \file - * \ingroup bph - */ - -#ifndef __BPH_MASS_SPRING_H__ -#define __BPH_MASS_SPRING_H__ - -#ifdef __cplusplus -extern "C" { -#endif - -struct ClothModifierData; -struct Depsgraph; -struct Implicit_Data; -struct ListBase; -struct Object; - -typedef enum eMassSpringSolverStatus { - BPH_SOLVER_SUCCESS = (1 << 0), - BPH_SOLVER_NUMERICAL_ISSUE = (1 << 1), - BPH_SOLVER_NO_CONVERGENCE = (1 << 2), - BPH_SOLVER_INVALID_INPUT = (1 << 3), -} eMassSpringSolverStatus; - -struct Implicit_Data *BPH_mass_spring_solver_create(int numverts, int numsprings); -void BPH_mass_spring_solver_free(struct Implicit_Data *id); -int BPH_mass_spring_solver_numvert(struct Implicit_Data *id); - -int BPH_cloth_solver_init(struct Object *ob, struct ClothModifierData *clmd); -void BPH_cloth_solver_free(struct ClothModifierData *clmd); -int BPH_cloth_solve(struct Depsgraph *depsgraph, - struct Object *ob, - float frame, - struct ClothModifierData *clmd, - struct ListBase *effectors); -void BKE_cloth_solver_set_positions(struct ClothModifierData *clmd); -void BKE_cloth_solver_set_volume(ClothModifierData *clmd); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/source/blender/physics/CMakeLists.txt b/source/blender/physics/CMakeLists.txt deleted file mode 100644 index 10520a18513..00000000000 --- a/source/blender/physics/CMakeLists.txt +++ /dev/null @@ -1,57 +0,0 @@ -# ***** BEGIN GPL LICENSE BLOCK ***** -# -# This program is free software; you can redistribute it and/or -# modify it under the terms of the GNU General Public License -# as published by the Free Software Foundation; either version 2 -# of the License, or (at your option) any later version. -# -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. -# -# You should have received a copy of the GNU General Public License -# along with this program; if not, write to the Free Software Foundation, -# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. -# -# The Original Code is Copyright (C) 2014, Blender Foundation -# All rights reserved. -# ***** END GPL LICENSE BLOCK ***** - -set(INC - . - intern - ../blenkernel - ../blenlib - ../depsgraph - ../imbuf - ../makesdna - ../../../intern/guardedalloc -) - -set(INC_SYS - ${EIGEN3_INCLUDE_DIRS} -) - -set(SRC - intern/BPH_mass_spring.cpp - intern/ConstrainedConjugateGradient.h - intern/eigen_utils.h - intern/hair_volume.cpp - intern/implicit.h - intern/implicit_blender.c - intern/implicit_eigen.cpp - - BPH_mass_spring.h -) - -set(LIB -) - -if(WITH_OPENMP_STATIC) - list(APPEND LIB - ${OpenMP_LIBRARIES} - ) -endif() - -blender_add_lib(bf_physics "${SRC}" "${INC}" "${INC_SYS}" "${LIB}") diff --git a/source/blender/physics/intern/BPH_mass_spring.cpp b/source/blender/physics/intern/BPH_mass_spring.cpp deleted file mode 100644 index 051f11aa1d9..00000000000 --- a/source/blender/physics/intern/BPH_mass_spring.cpp +++ /dev/null @@ -1,1355 +0,0 @@ -/* - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) Blender Foundation - * All rights reserved. - */ - -/** \file - * \ingroup bph - */ - -#include "MEM_guardedalloc.h" - -#include "DNA_cloth_types.h" -#include "DNA_meshdata_types.h" -#include "DNA_modifier_types.h" -#include "DNA_object_force_types.h" -#include "DNA_object_types.h" -#include "DNA_scene_types.h" - -#include "BLI_linklist.h" -#include "BLI_math.h" -#include "BLI_utildefines.h" - -#include "BKE_cloth.h" -#include "BKE_collision.h" -#include "BKE_effect.h" - -#include "BPH_mass_spring.h" -#include "implicit.h" - -#include "DEG_depsgraph.h" -#include "DEG_depsgraph_query.h" - -static float I3[3][3] = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}}; - -/* Number of off-diagonal non-zero matrix blocks. - * Basically there is one of these for each vertex-vertex interaction. - */ -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; -} - -static bool cloth_get_pressure_weights(ClothModifierData *clmd, - const MVertTri *vt, - float *r_weights) -{ - /* We have custom vertex weights for pressure. */ - if (clmd->sim_parms->vgroup_pressure > 0) { - Cloth *cloth = clmd->clothObject; - ClothVertex *verts = cloth->verts; - - for (unsigned int j = 0; j < 3; j++) { - r_weights[j] = verts[vt->tri[j]].pressure_factor; - - /* Skip the entire triangle if it has a zero weight. */ - if (r_weights[j] == 0.0f) { - return false; - } - } - } - - return true; -} - -static void cloth_calc_pressure_gradient(ClothModifierData *clmd, - const float gradient_vector[3], - float *r_vertex_pressure) -{ - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - unsigned int mvert_num = cloth->mvert_num; - float pt[3]; - - for (unsigned int i = 0; i < mvert_num; i++) { - BPH_mass_spring_get_position(data, i, pt); - r_vertex_pressure[i] = dot_v3v3(pt, gradient_vector); - } -} - -static float cloth_calc_volume(ClothModifierData *clmd) -{ - /* Calculate the (closed) cloth volume. */ - Cloth *cloth = clmd->clothObject; - const MVertTri *tri = cloth->tri; - Implicit_Data *data = cloth->implicit; - float weights[3] = {1.0f, 1.0f, 1.0f}; - float vol = 0; - - /* Early exit for hair, as it never has volume. */ - if (clmd->hairdata) { - return 0.0f; - } - - for (unsigned int i = 0; i < cloth->primitive_num; i++) { - const MVertTri *vt = &tri[i]; - - if (cloth_get_pressure_weights(clmd, vt, weights)) { - vol += BPH_tri_tetra_volume_signed_6x(data, vt->tri[0], vt->tri[1], vt->tri[2]); - } - } - - /* We need to divide by 6 to get the actual volume. */ - vol = vol / 6.0f; - - return vol; -} - -static float cloth_calc_rest_volume(ClothModifierData *clmd) -{ - /* Calculate the (closed) cloth volume. */ - Cloth *cloth = clmd->clothObject; - const MVertTri *tri = cloth->tri; - const ClothVertex *v = cloth->verts; - float weights[3] = {1.0f, 1.0f, 1.0f}; - float vol = 0; - - /* Early exit for hair, as it never has volume. */ - if (clmd->hairdata) { - return 0.0f; - } - - for (unsigned int i = 0; i < cloth->primitive_num; i++) { - const MVertTri *vt = &tri[i]; - - if (cloth_get_pressure_weights(clmd, vt, weights)) { - vol += volume_tri_tetrahedron_signed_v3_6x( - v[vt->tri[0]].xrest, v[vt->tri[1]].xrest, v[vt->tri[2]].xrest); - } - } - - /* We need to divide by 6 to get the actual volume. */ - vol = vol / 6.0f; - - return vol; -} - -static float cloth_calc_average_pressure(ClothModifierData *clmd, const float *vertex_pressure) -{ - Cloth *cloth = clmd->clothObject; - const MVertTri *tri = cloth->tri; - Implicit_Data *data = cloth->implicit; - float weights[3] = {1.0f, 1.0f, 1.0f}; - float total_force = 0; - float total_area = 0; - - for (unsigned int i = 0; i < cloth->primitive_num; i++) { - const MVertTri *vt = &tri[i]; - - if (cloth_get_pressure_weights(clmd, vt, weights)) { - float area = BPH_tri_area(data, vt->tri[0], vt->tri[1], vt->tri[2]); - - total_force += (vertex_pressure[vt->tri[0]] + vertex_pressure[vt->tri[1]] + - vertex_pressure[vt->tri[2]]) * - area / 3.0f; - total_area += area; - } - } - - return total_force / total_area; -} - -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; - - 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_motion_state(id, i, verts[i].x, ZERO); - } - - return 1; -} - -void BPH_cloth_solver_free(ClothModifierData *clmd) -{ - Cloth *cloth = clmd->clothObject; - - 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); - } -} - -void BKE_cloth_solver_set_volume(ClothModifierData *clmd) -{ - Cloth *cloth = clmd->clothObject; - - cloth->initial_mesh_volume = cloth_calc_rest_volume(clmd); -} - -/* 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) -{ - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - ClothVertex *verts = cloth->verts; - int mvert_num = cloth->mvert_num; - int 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; - } -} - -/* computes where the cloth would be if it were subject to perfectly stiff edges - * (edge distance constraints) in a lagrangian solver. then add forces to help - * guide the implicit solver to that state. this function is called after - * collisions*/ -static int UNUSED_FUNCTION(cloth_calc_helper_forces)(Object *UNUSED(ob), - ClothModifierData *clmd, - float (*initial_cos)[3], - float UNUSED(step), - float dt) -{ - Cloth *cloth = clmd->clothObject; - float(*cos)[3] = (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; - - s->flags &= ~CLOTH_SPRING_FLAG_NEEDED; - - /* Calculate force of bending springs. */ - if ((s->type & CLOTH_SPRING_TYPE_BENDING) && using_angular) { -#ifdef CLOTH_FORCE_SPRING_BEND - float k, scaling; - - 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. */ - - 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 | CLOTH_SPRING_TYPE_INTERNAL)) { -#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 - * tunneling through collision 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 if (s->type & CLOTH_SPRING_TYPE_STRUCTURAL) { - 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); - } - else { - /* CLOTH_SPRING_TYPE_INTERNAL */ - BLI_assert(s->type & CLOTH_SPRING_TYPE_INTERNAL); - - scaling_tension = parms->internal_tension + - s->lin_stiffness * - fabsf(parms->max_internal_tension - parms->internal_tension); - k_tension = scaling_tension / (parms->avg_spring_len + FLT_EPSILON); - float scaling_compression = parms->internal_compression + - s->lin_stiffness * fabsf(parms->max_internal_compression - - parms->internal_compression); - float k_compression = scaling_compression / (parms->avg_spring_len + FLT_EPSILON); - - float k_tension_damp = parms->tension_damp; - float k_compression_damp = parms->compression_damp; - - if (k_tension == 0.0f) { - /* No damping so it behaves as if no tension spring was there at all. */ - k_tension_damp = 0.0f; - } - - if (k_compression == 0.0f) { - /* No damping so it behaves as if no compression spring was there at all. */ - k_compression_damp = 0.0f; - } - - BPH_mass_spring_force_spring_linear(data, - s->ij, - s->kl, - s->restlen, - k_tension, - k_tension_damp, - k_compression, - k_compression_damp, - resist_compress, - using_angular, - 0.0f); - } -#endif - } - 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); -#endif - } - else if (s->type & CLOTH_SPRING_TYPE_BENDING) { /* calculate force of bending springs */ -#ifdef CLOTH_FORCE_SPRING_BEND - float kb, cb, scaling; - - 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)); - - // 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); -#endif - } - else if (s->type & CLOTH_SPRING_TYPE_BENDING_HAIR) { -#ifdef CLOTH_FORCE_SPRING_BEND - float kb, cb, scaling; - - 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)); - - // 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); - -# 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); - - 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_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); - } -} - -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; - ClothSimSettings *parms = clmd->sim_parms; - 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); - } - } -#endif - - /* cloth_calc_volume_force(clmd); */ - -#ifdef CLOTH_FORCE_DRAG - BPH_mass_spring_force_drag(data, drag); -#endif - /* handle pressure forces (making sure that this never gets computed for hair). */ - if ((parms->flags & CLOTH_SIMSETTINGS_FLAG_PRESSURE) && (clmd->hairdata == NULL)) { - /* The difference in pressure between the inside and outside of the mesh.*/ - float pressure_difference = 0.0f; - float volume_factor = 1.0f; - - float init_vol; - if (parms->flags & CLOTH_SIMSETTINGS_FLAG_PRESSURE_VOL) { - init_vol = clmd->sim_parms->target_volume; - } - else { - init_vol = cloth->initial_mesh_volume; - } - - /* Check if we need to calculate the volume of the mesh. */ - if (init_vol > 1E-6f) { - float f; - float vol = cloth_calc_volume(clmd); - - /* If the volume is the same don't apply any pressure. */ - volume_factor = init_vol / vol; - pressure_difference = volume_factor - 1; - - /* Calculate an artificial maximum value for cloth pressure. */ - f = fabs(clmd->sim_parms->uniform_pressure_force) + 200.0f; - - /* Clamp the cloth pressure to the calculated maximum value. */ - CLAMP_MAX(pressure_difference, f); - } - - pressure_difference += clmd->sim_parms->uniform_pressure_force; - pressure_difference *= clmd->sim_parms->pressure_factor; - - /* Compute the hydrostatic pressure gradient if enabled. */ - float fluid_density = clmd->sim_parms->fluid_density * 1000; /* kg/l -> kg/m3 */ - float *hydrostatic_pressure = NULL; - - if (fabs(fluid_density) > 1e-6f) { - float hydrostatic_vector[3]; - copy_v3_v3(hydrostatic_vector, gravity); - - /* When the fluid is inside the object, factor in the acceleration of - * the object into the pressure field, as gravity is indistinguishable - * from acceleration from the inside. */ - if (fluid_density > 0) { - sub_v3_v3(hydrostatic_vector, cloth->average_acceleration); - - /* Preserve the total mass by scaling density to match the change in volume. */ - fluid_density *= volume_factor; - } - - mul_v3_fl(hydrostatic_vector, fluid_density); - - /* Compute an array of per-vertex hydrostatic pressure, and subtract the average. */ - hydrostatic_pressure = (float *)MEM_mallocN(sizeof(float) * mvert_num, - "hydrostatic pressure gradient"); - - cloth_calc_pressure_gradient(clmd, hydrostatic_vector, hydrostatic_pressure); - - pressure_difference -= cloth_calc_average_pressure(clmd, hydrostatic_pressure); - } - - /* Apply pressure. */ - if (hydrostatic_pressure || fabs(pressure_difference) > 1E-6f) { - float weights[3] = {1.0f, 1.0f, 1.0f}; - - for (i = 0; i < cloth->primitive_num; i++) { - const MVertTri *vt = &tri[i]; - - if (cloth_get_pressure_weights(clmd, vt, weights)) { - BPH_mass_spring_force_pressure(data, - vt->tri[0], - vt->tri[1], - vt->tri[2], - pressure_difference, - hydrostatic_pressure, - weights); - } - } - } - - if (hydrostatic_pressure) { - MEM_freeN(hydrostatic_pressure); - } - } - - /* handle external forces like wind */ - if (effectors) { - bool is_not_hair = (clmd->hairdata == NULL) && (cloth->primitive_num > 0); - bool has_wind = false, has_force = false; - - /* cache per-vertex forces to avoid redundant calculation */ - float(*winvec)[3] = (float(*)[3])MEM_callocN(sizeof(float[3]) * mvert_num * 2, - "effector forces"); - float(*forcevec)[3] = is_not_hair ? winvec + mvert_num : winvec; - - 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, - forcevec[i], - winvec[i], - NULL); - - has_wind = has_wind || !is_zero_v3(winvec[i]); - has_force = has_force || !is_zero_v3(forcevec[i]); - } - - /* Hair has only edges. */ - if (is_not_hair) { - for (i = 0; i < cloth->primitive_num; i++) { - const MVertTri *vt = &tri[i]; - if (has_wind) { - BPH_mass_spring_force_face_wind(data, vt->tri[0], vt->tri[1], vt->tri[2], winvec); - } - if (has_force) { - BPH_mass_spring_force_face_extern(data, vt->tri[0], vt->tri[1], vt->tri[2], forcevec); - } - } - } - else { -#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); - } - } - } -#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); - } - } -#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); - } - } -} - -/* 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]) -{ - 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); -} - -/* 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; -} - -/* XXX this is nasty: cloth meshes do not explicitly store - * the order of hair segments! - * We have to rely on the spring build function for now, - * which adds structural springs in reverse order: - * (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) -{ - 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; - - 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); - } -#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; - } - } -#endif - 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); - -#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 - } - } - } - } -#endif - - 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); - } -} -#endif - -static void cloth_calc_average_acceleration(ClothModifierData *clmd, float dt) -{ - Cloth *cloth = clmd->clothObject; - Implicit_Data *data = cloth->implicit; - int i, mvert_num = cloth->mvert_num; - float total[3] = {0.0f, 0.0f, 0.0f}; - - for (i = 0; i < mvert_num; i++) { - float v[3], nv[3]; - - BPH_mass_spring_get_velocity(data, i, v); - BPH_mass_spring_get_new_velocity(data, i, nv); - - sub_v3_v3(nv, v); - add_v3_v3(total, nv); - } - - mul_v3_fl(total, 1.0f / dt / mvert_num); - - /* Smooth the data using a running average to prevent instability. - * This is effectively an abstraction of the wave propagation speed in fluid. */ - interp_v3_v3v3(cloth->average_acceleration, total, cloth->average_acceleration, powf(0.25f, 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); - } - } -} - -static void cloth_clear_result(ClothModifierData *clmd) -{ - 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; -} - -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; -} - -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; - - /* Hydrostatic pressure gradient of the fluid inside the object is affected by acceleration. */ - bool use_acceleration = (clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_PRESSURE) && - (clmd->sim_parms->fluid_density > 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); - } - } - } - - if (!use_acceleration) { - zero_v3(cloth->average_acceleration); - } - - while (step < tf) { - ImplicitSolverResult result; - - /* setup vertex constraints for pinned vertices */ - cloth_setup_constraints(clmd); - - /* 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. */ - cloth_solve_collisions(depsgraph, ob, clmd, step, dt); - - if (is_hair) { - cloth_continuum_step(clmd, dt); - } - - if (use_acceleration) { - cloth_calc_average_acceleration(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); - } - - 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; -} diff --git a/source/blender/physics/intern/ConstrainedConjugateGradient.h b/source/blender/physics/intern/ConstrainedConjugateGradient.h deleted file mode 100644 index c924490f97d..00000000000 --- a/source/blender/physics/intern/ConstrainedConjugateGradient.h +++ /dev/null @@ -1,335 +0,0 @@ -/* - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) Blender Foundation - * All rights reserved. - */ - -#ifndef __CONSTRAINEDCONJUGATEGRADIENT_H__ -#define __CONSTRAINEDCONJUGATEGRADIENT_H__ - -#include <Eigen/Core> - -namespace Eigen { - -namespace internal { - -/** \internal Low-level conjugate gradient algorithm - * \param mat: The matrix A - * \param rhs: The right hand side vector b - * \param x: On input and initial solution, on output the computed solution. - * \param precond: A preconditioner being able to efficiently solve for an - * approximation of Ax=b (regardless of b) - * \param iters: On input the max number of iteration, - * on output the number of performed iterations. - * \param tol_error: On input the tolerance error, - * on output an estimation of the relative error. - */ -template<typename MatrixType, - typename Rhs, - typename Dest, - typename FilterMatrixType, - typename Preconditioner> -EIGEN_DONT_INLINE void constrained_conjugate_gradient(const MatrixType &mat, - const Rhs &rhs, - Dest &x, - const FilterMatrixType &filter, - const Preconditioner &precond, - int &iters, - typename Dest::RealScalar &tol_error) -{ - using std::abs; - using std::sqrt; - typedef typename Dest::RealScalar RealScalar; - typedef typename Dest::Scalar Scalar; - typedef Matrix<Scalar, Dynamic, 1> VectorType; - - RealScalar tol = tol_error; - int maxIters = iters; - - int n = mat.cols(); - - VectorType residual = filter * (rhs - mat * x); // initial residual - - RealScalar rhsNorm2 = (filter * rhs).squaredNorm(); - if (rhsNorm2 == 0) { - /* XXX TODO set constrained result here */ - x.setZero(); - iters = 0; - tol_error = 0; - return; - } - RealScalar threshold = tol * tol * rhsNorm2; - RealScalar residualNorm2 = residual.squaredNorm(); - if (residualNorm2 < threshold) { - iters = 0; - tol_error = sqrt(residualNorm2 / rhsNorm2); - return; - } - - VectorType p(n); - p = filter * precond.solve(residual); // initial search direction - - VectorType z(n), tmp(n); - RealScalar absNew = numext::real( - residual.dot(p)); // the square of the absolute value of r scaled by invM - int i = 0; - while (i < maxIters) { - tmp.noalias() = filter * (mat * p); // the bottleneck of the algorithm - - Scalar alpha = absNew / p.dot(tmp); // the amount we travel on dir - x += alpha * p; // update solution - residual -= alpha * tmp; // update residue - - residualNorm2 = residual.squaredNorm(); - if (residualNorm2 < threshold) { - break; - } - - z = precond.solve(residual); // approximately solve for "A z = residual" - - RealScalar absOld = absNew; - absNew = numext::real(residual.dot(z)); // update the absolute value of r - RealScalar beta = - absNew / - absOld; // calculate the Gram-Schmidt value used to create the new search direction - p = filter * (z + beta * p); // update search direction - i++; - } - tol_error = sqrt(residualNorm2 / rhsNorm2); - iters = i; -} - -} // namespace internal - -#if 0 /* unused */ -template<typename MatrixType> struct MatrixFilter { - MatrixFilter() : m_cmat(NULL) - { - } - - MatrixFilter(const MatrixType &cmat) : m_cmat(&cmat) - { - } - - void setMatrix(const MatrixType &cmat) - { - m_cmat = &cmat; - } - - template<typename VectorType> void apply(VectorType v) const - { - v = (*m_cmat) * v; - } - - protected: - const MatrixType *m_cmat; -}; -#endif - -template<typename _MatrixType, - int _UpLo = Lower, - typename _FilterMatrixType = _MatrixType, - typename _Preconditioner = DiagonalPreconditioner<typename _MatrixType::Scalar>> -class ConstrainedConjugateGradient; - -namespace internal { - -template<typename _MatrixType, int _UpLo, typename _FilterMatrixType, typename _Preconditioner> -struct traits< - ConstrainedConjugateGradient<_MatrixType, _UpLo, _FilterMatrixType, _Preconditioner>> { - typedef _MatrixType MatrixType; - typedef _FilterMatrixType FilterMatrixType; - typedef _Preconditioner Preconditioner; -}; - -} // namespace internal - -/** \ingroup IterativeLinearSolvers_Module - * \brief A conjugate gradient solver for sparse self-adjoint problems with additional constraints - * - * This class allows to solve for A.x = b sparse linear problems using a conjugate gradient - * algorithm. The sparse matrix A must be selfadjoint. The vectors x and b can be either dense or - * sparse. - * - * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix. - * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower - * or Upper. Default is Lower. - * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner - * - * The maximal number of iterations and tolerance value can be controlled via the - * setMaxIterations() and setTolerance() methods. The defaults are the size of the problem for the - * maximal number of iterations and NumTraits<Scalar>::epsilon() for the tolerance. - * - * This class can be used as the direct solver classes. Here is a typical usage example: - * \code - * int n = 10000; - * VectorXd x(n), b(n); - * SparseMatrix<double> A(n,n); - * // fill A and b - * ConjugateGradient<SparseMatrix<double> > cg; - * cg.compute(A); - * x = cg.solve(b); - * std::cout << "#iterations: " << cg.iterations() << std::endl; - * std::cout << "estimated error: " << cg.error() << std::endl; - * // update b, and solve again - * x = cg.solve(b); - * \endcode - * - * By default the iterations start with x=0 as an initial guess of the solution. - * One can control the start using the solveWithGuess() method. Here is a step by - * step execution example starting with a random guess and printing the evolution - * of the estimated error: - * * \code - * x = VectorXd::Random(n); - * cg.setMaxIterations(1); - * int i = 0; - * do { - * x = cg.solveWithGuess(b,x); - * std::cout << i << " : " << cg.error() << std::endl; - * ++i; - * } while (cg.info()!=Success && i<100); - * \endcode - * Note that such a step by step execution is slightly slower. - * - * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner - */ -template<typename _MatrixType, int _UpLo, typename _FilterMatrixType, typename _Preconditioner> -class ConstrainedConjugateGradient - : public IterativeSolverBase< - ConstrainedConjugateGradient<_MatrixType, _UpLo, _FilterMatrixType, _Preconditioner>> { - typedef IterativeSolverBase<ConstrainedConjugateGradient> Base; - using Base::m_error; - using Base::m_info; - using Base::m_isInitialized; - using Base::m_iterations; - using Base::mp_matrix; - - public: - typedef _MatrixType MatrixType; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::Index Index; - typedef typename MatrixType::RealScalar RealScalar; - typedef _FilterMatrixType FilterMatrixType; - typedef _Preconditioner Preconditioner; - - enum { UpLo = _UpLo }; - - public: - /** Default constructor. */ - ConstrainedConjugateGradient() : Base() - { - } - - /** Initialize the solver with matrix \a A for further \c Ax=b solving. - * - * This constructor is a shortcut for the default constructor followed - * by a call to compute(). - * - * \warning this class stores a reference to the matrix A as well as some - * precomputed values that depend on it. Therefore, if \a A is changed - * this class becomes invalid. Call compute() to update it with the new - * matrix A, or modify a copy of A. - */ - ConstrainedConjugateGradient(const MatrixType &A) : Base(A) - { - } - - ~ConstrainedConjugateGradient() - { - } - - FilterMatrixType &filter() - { - return m_filter; - } - const FilterMatrixType &filter() const - { - return m_filter; - } - - /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A - * \a x0 as an initial solution. - * - * \sa compute() - */ - template<typename Rhs, typename Guess> - inline const internal::solve_retval_with_guess<ConstrainedConjugateGradient, Rhs, Guess> - solveWithGuess(const MatrixBase<Rhs> &b, const Guess &x0) const - { - eigen_assert(m_isInitialized && "ConjugateGradient is not initialized."); - eigen_assert( - Base::rows() == b.rows() && - "ConjugateGradient::solve(): invalid number of rows of the right hand side matrix b"); - return internal::solve_retval_with_guess<ConstrainedConjugateGradient, Rhs, Guess>( - *this, b.derived(), x0); - } - - /** \internal */ - template<typename Rhs, typename Dest> void _solveWithGuess(const Rhs &b, Dest &x) const - { - m_iterations = Base::maxIterations(); - m_error = Base::m_tolerance; - - for (int j = 0; j < b.cols(); j++) { - m_iterations = Base::maxIterations(); - m_error = Base::m_tolerance; - - typename Dest::ColXpr xj(x, j); - internal::constrained_conjugate_gradient(mp_matrix->template selfadjointView<UpLo>(), - b.col(j), - xj, - m_filter, - Base::m_preconditioner, - m_iterations, - m_error); - } - - m_isInitialized = true; - m_info = m_error <= Base::m_tolerance ? Success : NoConvergence; - } - - /** \internal */ - template<typename Rhs, typename Dest> void _solve(const Rhs &b, Dest &x) const - { - x.setOnes(); - _solveWithGuess(b, x); - } - - protected: - FilterMatrixType m_filter; -}; - -namespace internal { - -template<typename _MatrixType, int _UpLo, typename _Filter, typename _Preconditioner, typename Rhs> -struct solve_retval<ConstrainedConjugateGradient<_MatrixType, _UpLo, _Filter, _Preconditioner>, - Rhs> - : solve_retval_base<ConstrainedConjugateGradient<_MatrixType, _UpLo, _Filter, _Preconditioner>, - Rhs> { - typedef ConstrainedConjugateGradient<_MatrixType, _UpLo, _Filter, _Preconditioner> Dec; - EIGEN_MAKE_SOLVE_HELPERS(Dec, Rhs) - - template<typename Dest> void evalTo(Dest &dst) const - { - dec()._solve(rhs(), dst); - } -}; - -} // end namespace internal - -} // end namespace Eigen - -#endif // __CONSTRAINEDCONJUGATEGRADIENT_H__ diff --git a/source/blender/physics/intern/eigen_utils.h b/source/blender/physics/intern/eigen_utils.h deleted file mode 100644 index c186cf567df..00000000000 --- a/source/blender/physics/intern/eigen_utils.h +++ /dev/null @@ -1,236 +0,0 @@ -/* - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) Blender Foundation - * All rights reserved. - */ - -#ifndef __EIGEN_UTILS_H__ -#define __EIGEN_UTILS_H__ - -/** \file - * \ingroup bph - */ - -#if defined(__GNUC__) && !defined(__clang__) -# pragma GCC diagnostic push -/* XXX suppress verbose warnings in eigen */ -# pragma GCC diagnostic ignored "-Wlogical-op" -#endif - -#include <Eigen/Sparse> -#include <Eigen/src/Core/util/DisableStupidWarnings.h> - -#ifdef __GNUC__ -# pragma GCC diagnostic pop -#endif - -#include "BLI_utildefines.h" -#include "implicit.h" - -typedef float Scalar; - -/* slightly extended Eigen vector class - * with conversion to/from plain C float array - */ -class Vector3 : public Eigen::Vector3f { - public: - typedef float *ctype; - - Vector3() - { - } - - Vector3(const ctype &v) - { - for (int k = 0; k < 3; k++) { - coeffRef(k) = v[k]; - } - } - - Vector3 &operator=(const ctype &v) - { - for (int k = 0; k < 3; k++) { - coeffRef(k) = v[k]; - } - return *this; - } - - operator ctype() - { - return data(); - } -}; - -/* slightly extended Eigen matrix class - * with conversion to/from plain C float array - */ -class Matrix3 : public Eigen::Matrix3f { - public: - typedef float (*ctype)[3]; - - Matrix3() - { - } - - Matrix3(const ctype &v) - { - for (int k = 0; k < 3; k++) { - for (int l = 0; l < 3; l++) { - coeffRef(l, k) = v[k][l]; - } - } - } - - Matrix3 &operator=(const ctype &v) - { - for (int k = 0; k < 3; k++) { - for (int l = 0; l < 3; l++) { - coeffRef(l, k) = v[k][l]; - } - } - return *this; - } - - operator ctype() - { - return (ctype)data(); - } -}; - -typedef Eigen::VectorXf lVector; - -/* Extension of dense Eigen vectors, - * providing 3-float block access for blenlib math functions - */ -class lVector3f : public Eigen::VectorXf { - public: - typedef Eigen::VectorXf base_t; - - lVector3f() - { - } - - template<typename T> lVector3f &operator=(T rhs) - { - base_t::operator=(rhs); - return *this; - } - - float *v3(int vertex) - { - return &coeffRef(3 * vertex); - } - - const float *v3(int vertex) const - { - return &coeffRef(3 * vertex); - } -}; - -typedef Eigen::Triplet<Scalar> Triplet; -typedef std::vector<Triplet> TripletList; - -typedef Eigen::SparseMatrix<Scalar> lMatrix; - -/* Constructor type that provides more convenient handling of Eigen triplets - * for efficient construction of sparse 3x3 block matrices. - * This should be used for building lMatrix instead of writing to such lMatrix directly (which is - * very inefficient). After all elements have been defined using the set() method, the actual - * matrix can be filled using construct(). - */ -struct lMatrix3fCtor { - lMatrix3fCtor() - { - } - - void reset() - { - m_trips.clear(); - } - - void reserve(int numverts) - { - /* reserve for diagonal entries */ - m_trips.reserve(numverts * 9); - } - - void add(int i, int j, const Matrix3 &m) - { - i *= 3; - j *= 3; - for (int k = 0; k < 3; k++) { - for (int l = 0; l < 3; l++) { - m_trips.push_back(Triplet(i + k, j + l, m.coeff(l, k))); - } - } - } - - void sub(int i, int j, const Matrix3 &m) - { - i *= 3; - j *= 3; - for (int k = 0; k < 3; k++) { - for (int l = 0; l < 3; l++) { - m_trips.push_back(Triplet(i + k, j + l, -m.coeff(l, k))); - } - } - } - - inline void construct(lMatrix &m) - { - m.setFromTriplets(m_trips.begin(), m_trips.end()); - m_trips.clear(); - } - - private: - TripletList m_trips; -}; - -typedef Eigen::ConjugateGradient<lMatrix, Eigen::Lower, Eigen::DiagonalPreconditioner<Scalar>> - ConjugateGradient; - -using Eigen::ComputationInfo; - -BLI_INLINE void print_lvector(const lVector3f &v) -{ - for (int i = 0; i < v.rows(); i++) { - if (i > 0 && i % 3 == 0) { - printf("\n"); - } - - printf("%f,\n", v[i]); - } -} - -BLI_INLINE void print_lmatrix(const lMatrix &m) -{ - for (int j = 0; j < m.rows(); j++) { - if (j > 0 && j % 3 == 0) { - printf("\n"); - } - - for (int i = 0; i < m.cols(); i++) { - if (i > 0 && i % 3 == 0) { - printf(" "); - } - - implicit_print_matrix_elem(m.coeff(j, i)); - } - printf("\n"); - } -} - -#endif diff --git a/source/blender/physics/intern/hair_volume.cpp b/source/blender/physics/intern/hair_volume.cpp deleted file mode 100644 index 1764d0a910c..00000000000 --- a/source/blender/physics/intern/hair_volume.cpp +++ /dev/null @@ -1,1274 +0,0 @@ -/* - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) Blender Foundation - * All rights reserved. - */ - -/** \file - * \ingroup bph - */ - -#include "MEM_guardedalloc.h" - -#include "BLI_math.h" -#include "BLI_utildefines.h" - -#include "DNA_texture_types.h" - -#include "BKE_effect.h" - -#include "eigen_utils.h" -#include "implicit.h" - -/* ================ Volumetric Hair Interaction ================ - * adapted from - * - * Volumetric Methods for Simulation and Rendering of Hair - * (Petrovic, Henne, Anderson, Pixar Technical Memo #06-08, Pixar Animation Studios) - * - * as well as - * - * "Detail Preserving Continuum Simulation of Straight Hair" - * (McAdams, Selle 2009) - */ - -/* Note about array indexing: - * Generally the arrays here are one-dimensional. - * The relation between 3D indices and the array offset is - * offset = x + res_x * y + res_x * res_y * z - */ - -static float I[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; - -BLI_INLINE int floor_int(float value) -{ - return value > 0.0f ? (int)value : ((int)value) - 1; -} - -BLI_INLINE float floor_mod(float value) -{ - return value - floorf(value); -} - -BLI_INLINE int hair_grid_size(const int res[3]) -{ - return res[0] * res[1] * res[2]; -} - -typedef struct HairGridVert { - int samples; - float velocity[3]; - float density; - - float velocity_smooth[3]; -} HairGridVert; - -typedef struct HairGrid { - HairGridVert *verts; - int res[3]; - float gmin[3], gmax[3]; - float cellsize, inv_cellsize; -} HairGrid; - -#define HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, axis) \ - (min_ii(max_ii((int)((vec[axis] - gmin[axis]) * scale), 0), res[axis] - 2)) - -BLI_INLINE int hair_grid_offset(const float vec[3], - const int res[3], - const float gmin[3], - float scale) -{ - int i, j, k; - i = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 0); - j = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 1); - k = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 2); - return i + (j + k * res[1]) * res[0]; -} - -BLI_INLINE int hair_grid_interp_weights( - const int res[3], const float gmin[3], float scale, const float vec[3], float uvw[3]) -{ - int i, j, k, offset; - - i = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 0); - j = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 1); - k = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 2); - offset = i + (j + k * res[1]) * res[0]; - - uvw[0] = (vec[0] - gmin[0]) * scale - (float)i; - uvw[1] = (vec[1] - gmin[1]) * scale - (float)j; - uvw[2] = (vec[2] - gmin[2]) * scale - (float)k; - - // BLI_assert(0.0f <= uvw[0] && uvw[0] <= 1.0001f); - // BLI_assert(0.0f <= uvw[1] && uvw[1] <= 1.0001f); - // BLI_assert(0.0f <= uvw[2] && uvw[2] <= 1.0001f); - - return offset; -} - -BLI_INLINE void hair_grid_interpolate(const HairGridVert *grid, - const int res[3], - const float gmin[3], - float scale, - const float vec[3], - float *density, - float velocity[3], - float vel_smooth[3], - float density_gradient[3], - float velocity_gradient[3][3]) -{ - HairGridVert data[8]; - float uvw[3], muvw[3]; - int res2 = res[1] * res[0]; - int offset; - - offset = hair_grid_interp_weights(res, gmin, scale, vec, uvw); - muvw[0] = 1.0f - uvw[0]; - muvw[1] = 1.0f - uvw[1]; - muvw[2] = 1.0f - uvw[2]; - - data[0] = grid[offset]; - data[1] = grid[offset + 1]; - data[2] = grid[offset + res[0]]; - data[3] = grid[offset + res[0] + 1]; - data[4] = grid[offset + res2]; - data[5] = grid[offset + res2 + 1]; - data[6] = grid[offset + res2 + res[0]]; - data[7] = grid[offset + res2 + res[0] + 1]; - - if (density) { - *density = muvw[2] * (muvw[1] * (muvw[0] * data[0].density + uvw[0] * data[1].density) + - uvw[1] * (muvw[0] * data[2].density + uvw[0] * data[3].density)) + - uvw[2] * (muvw[1] * (muvw[0] * data[4].density + uvw[0] * data[5].density) + - uvw[1] * (muvw[0] * data[6].density + uvw[0] * data[7].density)); - } - - if (velocity) { - int k; - for (k = 0; k < 3; k++) { - velocity[k] = muvw[2] * - (muvw[1] * (muvw[0] * data[0].velocity[k] + uvw[0] * data[1].velocity[k]) + - uvw[1] * (muvw[0] * data[2].velocity[k] + uvw[0] * data[3].velocity[k])) + - uvw[2] * - (muvw[1] * (muvw[0] * data[4].velocity[k] + uvw[0] * data[5].velocity[k]) + - uvw[1] * (muvw[0] * data[6].velocity[k] + uvw[0] * data[7].velocity[k])); - } - } - - if (vel_smooth) { - int k; - for (k = 0; k < 3; k++) { - vel_smooth[k] = muvw[2] * (muvw[1] * (muvw[0] * data[0].velocity_smooth[k] + - uvw[0] * data[1].velocity_smooth[k]) + - uvw[1] * (muvw[0] * data[2].velocity_smooth[k] + - uvw[0] * data[3].velocity_smooth[k])) + - uvw[2] * (muvw[1] * (muvw[0] * data[4].velocity_smooth[k] + - uvw[0] * data[5].velocity_smooth[k]) + - uvw[1] * (muvw[0] * data[6].velocity_smooth[k] + - uvw[0] * data[7].velocity_smooth[k])); - } - } - - if (density_gradient) { - density_gradient[0] = muvw[1] * muvw[2] * (data[0].density - data[1].density) + - uvw[1] * muvw[2] * (data[2].density - data[3].density) + - muvw[1] * uvw[2] * (data[4].density - data[5].density) + - uvw[1] * uvw[2] * (data[6].density - data[7].density); - - density_gradient[1] = muvw[2] * muvw[0] * (data[0].density - data[2].density) + - uvw[2] * muvw[0] * (data[4].density - data[6].density) + - muvw[2] * uvw[0] * (data[1].density - data[3].density) + - uvw[2] * uvw[0] * (data[5].density - data[7].density); - - density_gradient[2] = muvw[2] * muvw[0] * (data[0].density - data[4].density) + - uvw[2] * muvw[0] * (data[1].density - data[5].density) + - muvw[2] * uvw[0] * (data[2].density - data[6].density) + - uvw[2] * uvw[0] * (data[3].density - data[7].density); - } - - if (velocity_gradient) { - /* XXX TODO */ - zero_m3(velocity_gradient); - } -} - -void BPH_hair_volume_vertex_grid_forces(HairGrid *grid, - const float x[3], - const float v[3], - float smoothfac, - float pressurefac, - float minpressure, - float f[3], - float dfdx[3][3], - float dfdv[3][3]) -{ - float gdensity, gvelocity[3], ggrad[3], gvelgrad[3][3], gradlen; - - hair_grid_interpolate(grid->verts, - grid->res, - grid->gmin, - grid->inv_cellsize, - x, - &gdensity, - gvelocity, - NULL, - ggrad, - gvelgrad); - - zero_v3(f); - sub_v3_v3(gvelocity, v); - mul_v3_v3fl(f, gvelocity, smoothfac); - - gradlen = normalize_v3(ggrad) - minpressure; - if (gradlen > 0.0f) { - mul_v3_fl(ggrad, gradlen); - madd_v3_v3fl(f, ggrad, pressurefac); - } - - zero_m3(dfdx); - - sub_m3_m3m3(dfdv, gvelgrad, I); - mul_m3_fl(dfdv, smoothfac); -} - -void BPH_hair_volume_grid_interpolate(HairGrid *grid, - const float x[3], - float *density, - float velocity[3], - float velocity_smooth[3], - float density_gradient[3], - float velocity_gradient[3][3]) -{ - hair_grid_interpolate(grid->verts, - grid->res, - grid->gmin, - grid->inv_cellsize, - x, - density, - velocity, - velocity_smooth, - density_gradient, - velocity_gradient); -} - -void BPH_hair_volume_grid_velocity( - HairGrid *grid, const float x[3], const float v[3], float fluid_factor, float r_v[3]) -{ - float gdensity, gvelocity[3], gvel_smooth[3], ggrad[3], gvelgrad[3][3]; - float v_pic[3], v_flip[3]; - - hair_grid_interpolate(grid->verts, - grid->res, - grid->gmin, - grid->inv_cellsize, - x, - &gdensity, - gvelocity, - gvel_smooth, - ggrad, - gvelgrad); - - /* velocity according to PIC method (Particle-in-Cell) */ - copy_v3_v3(v_pic, gvel_smooth); - - /* velocity according to FLIP method (Fluid-Implicit-Particle) */ - sub_v3_v3v3(v_flip, gvel_smooth, gvelocity); - add_v3_v3(v_flip, v); - - interp_v3_v3v3(r_v, v_pic, v_flip, fluid_factor); -} - -void BPH_hair_volume_grid_clear(HairGrid *grid) -{ - const int size = hair_grid_size(grid->res); - int i; - for (i = 0; i < size; i++) { - zero_v3(grid->verts[i].velocity); - zero_v3(grid->verts[i].velocity_smooth); - grid->verts[i].density = 0.0f; - grid->verts[i].samples = 0; - } -} - -BLI_INLINE bool hair_grid_point_valid(const float vec[3], const float gmin[3], const float gmax[3]) -{ - return !(vec[0] < gmin[0] || vec[1] < gmin[1] || vec[2] < gmin[2] || vec[0] > gmax[0] || - vec[1] > gmax[1] || vec[2] > gmax[2]); -} - -BLI_INLINE float dist_tent_v3f3(const float a[3], float x, float y, float z) -{ - float w = (1.0f - fabsf(a[0] - x)) * (1.0f - fabsf(a[1] - y)) * (1.0f - fabsf(a[2] - z)); - return w; -} - -BLI_INLINE float weights_sum(const float weights[8]) -{ - float totweight = 0.0f; - int i; - for (i = 0; i < 8; i++) { - totweight += weights[i]; - } - return totweight; -} - -/* returns the grid array offset as well to avoid redundant calculation */ -BLI_INLINE int hair_grid_weights( - const int res[3], const float gmin[3], float scale, const float vec[3], float weights[8]) -{ - int i, j, k, offset; - float uvw[3]; - - i = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 0); - j = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 1); - k = HAIR_GRID_INDEX_AXIS(vec, res, gmin, scale, 2); - offset = i + (j + k * res[1]) * res[0]; - - uvw[0] = (vec[0] - gmin[0]) * scale; - uvw[1] = (vec[1] - gmin[1]) * scale; - uvw[2] = (vec[2] - gmin[2]) * scale; - - weights[0] = dist_tent_v3f3(uvw, (float)i, (float)j, (float)k); - weights[1] = dist_tent_v3f3(uvw, (float)(i + 1), (float)j, (float)k); - weights[2] = dist_tent_v3f3(uvw, (float)i, (float)(j + 1), (float)k); - weights[3] = dist_tent_v3f3(uvw, (float)(i + 1), (float)(j + 1), (float)k); - weights[4] = dist_tent_v3f3(uvw, (float)i, (float)j, (float)(k + 1)); - weights[5] = dist_tent_v3f3(uvw, (float)(i + 1), (float)j, (float)(k + 1)); - weights[6] = dist_tent_v3f3(uvw, (float)i, (float)(j + 1), (float)(k + 1)); - weights[7] = dist_tent_v3f3(uvw, (float)(i + 1), (float)(j + 1), (float)(k + 1)); - - // BLI_assert(fabsf(weights_sum(weights) - 1.0f) < 0.0001f); - - return offset; -} - -BLI_INLINE void grid_to_world(HairGrid *grid, float vecw[3], const float vec[3]) -{ - copy_v3_v3(vecw, vec); - mul_v3_fl(vecw, grid->cellsize); - add_v3_v3(vecw, grid->gmin); -} - -void BPH_hair_volume_add_vertex(HairGrid *grid, const float x[3], const float v[3]) -{ - const int res[3] = {grid->res[0], grid->res[1], grid->res[2]}; - float weights[8]; - int di, dj, dk; - int offset; - - if (!hair_grid_point_valid(x, grid->gmin, grid->gmax)) { - return; - } - - offset = hair_grid_weights(res, grid->gmin, grid->inv_cellsize, x, weights); - - for (di = 0; di < 2; di++) { - for (dj = 0; dj < 2; dj++) { - for (dk = 0; dk < 2; dk++) { - int voffset = offset + di + (dj + dk * res[1]) * res[0]; - int iw = di + dj * 2 + dk * 4; - - grid->verts[voffset].density += weights[iw]; - madd_v3_v3fl(grid->verts[voffset].velocity, v, weights[iw]); - } - } - } -} - -#if 0 -BLI_INLINE void hair_volume_eval_grid_vertex(HairGridVert *vert, - const float loc[3], - float radius, - float dist_scale, - const float x2[3], - const float v2[3], - const float x3[3], - const float v3[3]) -{ - float closest[3], lambda, dist, weight; - - lambda = closest_to_line_v3(closest, loc, x2, x3); - dist = len_v3v3(closest, loc); - - weight = (radius - dist) * dist_scale; - - if (weight > 0.0f) { - float vel[3]; - - interp_v3_v3v3(vel, v2, v3, lambda); - madd_v3_v3fl(vert->velocity, vel, weight); - vert->density += weight; - vert->samples += 1; - } -} - -BLI_INLINE int major_axis_v3(const float v[3]) -{ - const float a = fabsf(v[0]); - const float b = fabsf(v[1]); - const float c = fabsf(v[2]); - return a > b ? (a > c ? 0 : 2) : (b > c ? 1 : 2); -} - -BLI_INLINE void hair_volume_add_segment_2D(HairGrid *grid, - const float UNUSED(x1[3]), - const float UNUSED(v1[3]), - const float x2[3], - const float v2[3], - const float x3[3], - const float v3[3], - const float UNUSED(x4[3]), - const float UNUSED(v4[3]), - const float UNUSED(dir1[3]), - const float dir2[3], - const float UNUSED(dir3[3]), - int resj, - int resk, - int jmin, - int jmax, - int kmin, - int kmax, - HairGridVert *vert, - int stride_j, - int stride_k, - const float loc[3], - int axis_j, - int axis_k, - int debug_i) -{ - const float radius = 1.5f; - const float dist_scale = grid->inv_cellsize; - - int j, k; - - /* boundary checks to be safe */ - CLAMP_MIN(jmin, 0); - CLAMP_MAX(jmax, resj - 1); - CLAMP_MIN(kmin, 0); - CLAMP_MAX(kmax, resk - 1); - - HairGridVert *vert_j = vert + jmin * stride_j; - float loc_j[3] = {loc[0], loc[1], loc[2]}; - loc_j[axis_j] += (float)jmin; - for (j = jmin; j <= jmax; j++, vert_j += stride_j, loc_j[axis_j] += 1.0f) { - - HairGridVert *vert_k = vert_j + kmin * stride_k; - float loc_k[3] = {loc_j[0], loc_j[1], loc_j[2]}; - loc_k[axis_k] += (float)kmin; - for (k = kmin; k <= kmax; k++, vert_k += stride_k, loc_k[axis_k] += 1.0f) { - - hair_volume_eval_grid_vertex(vert_k, loc_k, radius, dist_scale, x2, v2, x3, v3); - -# if 0 - { - float wloc[3], x2w[3], x3w[3]; - grid_to_world(grid, wloc, loc_k); - grid_to_world(grid, x2w, x2); - grid_to_world(grid, x3w, x3); - - if (vert_k->samples > 0) { - BKE_sim_debug_data_add_circle(wloc, 0.01f, 1.0, 1.0, 0.3, "grid", 2525, debug_i, j, k); - } - - if (grid->debug_value) { - BKE_sim_debug_data_add_dot(wloc, 1, 0, 0, "grid", 93, debug_i, j, k); - BKE_sim_debug_data_add_dot(x2w, 0.1, 0.1, 0.7, "grid", 649, debug_i, j, k); - BKE_sim_debug_data_add_line(wloc, x2w, 0.3, 0.8, 0.3, "grid", 253, debug_i, j, k); - BKE_sim_debug_data_add_line(wloc, x3w, 0.8, 0.3, 0.3, "grid", 254, debug_i, j, k); - // BKE_sim_debug_data_add_circle( - // x2w, len_v3v3(wloc, x2w), 0.2, 0.7, 0.2, - // "grid", 255, i, j, k); - } - } -# endif - } - } -} - -/* Uses a variation of Bresenham's algorithm for rasterizing a 3D grid with a line segment. - * - * The radius of influence around a segment is assumed to be at most 2*cellsize, - * i.e. only cells containing the segment and their direct neighbors are examined. - */ -void BPH_hair_volume_add_segment(HairGrid *grid, - const float x1[3], - const float v1[3], - const float x2[3], - const float v2[3], - const float x3[3], - const float v3[3], - const float x4[3], - const float v4[3], - const float dir1[3], - const float dir2[3], - const float dir3[3]) -{ - const int res[3] = {grid->res[0], grid->res[1], grid->res[2]}; - - /* find the primary direction from the major axis of the direction vector */ - const int axis0 = major_axis_v3(dir2); - const int axis1 = (axis0 + 1) % 3; - const int axis2 = (axis0 + 2) % 3; - - /* vertex buffer offset factors along cardinal axes */ - const int strides[3] = {1, res[0], res[0] * res[1]}; - const int stride0 = strides[axis0]; - const int stride1 = strides[axis1]; - const int stride2 = strides[axis2]; - - /* increment of secondary directions per step in the primary direction - * note: we always go in the positive direction along axis0, so the sign can be inverted - */ - const float inc1 = dir2[axis1] / dir2[axis0]; - const float inc2 = dir2[axis2] / dir2[axis0]; - - /* start/end points, so increment along axis0 is always positive */ - const float *start = x2[axis0] < x3[axis0] ? x2 : x3; - const float *end = x2[axis0] < x3[axis0] ? x3 : x2; - const float start0 = start[axis0], start1 = start[axis1], start2 = start[axis2]; - const float end0 = end[axis0]; - - /* range along primary direction */ - const int imin = max_ii(floor_int(start[axis0]) - 1, 0); - const int imax = min_ii(floor_int(end[axis0]) + 2, res[axis0] - 1); - - float h = 0.0f; - HairGridVert *vert0; - float loc0[3]; - int j0, k0, j0_prev, k0_prev; - int i; - - for (i = imin; i <= imax; i++) { - float shift1, shift2; /* fraction of a full cell shift [0.0, 1.0) */ - int jmin, jmax, kmin, kmax; - - h = CLAMPIS((float)i, start0, end0); - - shift1 = start1 + (h - start0) * inc1; - shift2 = start2 + (h - start0) * inc2; - - j0_prev = j0; - j0 = floor_int(shift1); - - k0_prev = k0; - k0 = floor_int(shift2); - - if (i > imin) { - jmin = min_ii(j0, j0_prev); - jmax = max_ii(j0, j0_prev); - kmin = min_ii(k0, k0_prev); - kmax = max_ii(k0, k0_prev); - } - else { - jmin = jmax = j0; - kmin = kmax = k0; - } - - vert0 = grid->verts + i * stride0; - loc0[axis0] = (float)i; - loc0[axis1] = 0.0f; - loc0[axis2] = 0.0f; - - hair_volume_add_segment_2D(grid, - x1, - v1, - x2, - v2, - x3, - v3, - x4, - v4, - dir1, - dir2, - dir3, - res[axis1], - res[axis2], - jmin - 1, - jmax + 2, - kmin - 1, - kmax + 2, - vert0, - stride1, - stride2, - loc0, - axis1, - axis2, - i); - } -} -#else -BLI_INLINE void hair_volume_eval_grid_vertex_sample(HairGridVert *vert, - const float loc[3], - float radius, - float dist_scale, - const float x[3], - const float v[3]) -{ - float dist, weight; - - dist = len_v3v3(x, loc); - - weight = (radius - dist) * dist_scale; - - if (weight > 0.0f) { - madd_v3_v3fl(vert->velocity, v, weight); - vert->density += weight; - vert->samples += 1; - } -} - -/* XXX simplified test implementation using a series of discrete sample along the segment, - * instead of finding the closest point for all affected grid vertices. - */ -void BPH_hair_volume_add_segment(HairGrid *grid, - const float UNUSED(x1[3]), - const float UNUSED(v1[3]), - const float x2[3], - const float v2[3], - const float x3[3], - const float v3[3], - const float UNUSED(x4[3]), - const float UNUSED(v4[3]), - const float UNUSED(dir1[3]), - const float UNUSED(dir2[3]), - const float UNUSED(dir3[3])) -{ - const float radius = 1.5f; - const float dist_scale = grid->inv_cellsize; - - const int res[3] = {grid->res[0], grid->res[1], grid->res[2]}; - const int stride[3] = {1, res[0], res[0] * res[1]}; - const int num_samples = 10; - - int s; - - for (s = 0; s < num_samples; s++) { - float x[3], v[3]; - int i, j, k; - - float f = (float)s / (float)(num_samples - 1); - interp_v3_v3v3(x, x2, x3, f); - interp_v3_v3v3(v, v2, v3, f); - - int imin = max_ii(floor_int(x[0]) - 2, 0); - int imax = min_ii(floor_int(x[0]) + 2, res[0] - 1); - int jmin = max_ii(floor_int(x[1]) - 2, 0); - int jmax = min_ii(floor_int(x[1]) + 2, res[1] - 1); - int kmin = max_ii(floor_int(x[2]) - 2, 0); - int kmax = min_ii(floor_int(x[2]) + 2, res[2] - 1); - - for (k = kmin; k <= kmax; k++) { - for (j = jmin; j <= jmax; j++) { - for (i = imin; i <= imax; i++) { - float loc[3] = {(float)i, (float)j, (float)k}; - HairGridVert *vert = grid->verts + i * stride[0] + j * stride[1] + k * stride[2]; - - hair_volume_eval_grid_vertex_sample(vert, loc, radius, dist_scale, x, v); - } - } - } - } -} -#endif - -void BPH_hair_volume_normalize_vertex_grid(HairGrid *grid) -{ - int i, size = hair_grid_size(grid->res); - /* divide velocity with density */ - for (i = 0; i < size; i++) { - float density = grid->verts[i].density; - if (density > 0.0f) { - mul_v3_fl(grid->verts[i].velocity, 1.0f / density); - } - } -} - -/* Cells with density below this are considered empty. */ -static const float density_threshold = 0.001f; - -/* Contribution of target density pressure to the laplacian in the pressure poisson equation. - * This is based on the model found in - * "Two-way Coupled SPH and Particle Level Set Fluid Simulation" (Losasso et al., 2008) - */ -BLI_INLINE float hair_volume_density_divergence(float density, - float target_density, - float strength) -{ - if (density > density_threshold && density > target_density) { - return strength * logf(target_density / density); - } - else { - return 0.0f; - } -} - -bool BPH_hair_volume_solve_divergence(HairGrid *grid, - float /*dt*/, - float target_density, - float target_strength) -{ - const float flowfac = grid->cellsize; - const float inv_flowfac = 1.0f / grid->cellsize; - - /*const int num_cells = hair_grid_size(grid->res);*/ - const int res[3] = {grid->res[0], grid->res[1], grid->res[2]}; - const int resA[3] = {grid->res[0] + 2, grid->res[1] + 2, grid->res[2] + 2}; - - const int stride0 = 1; - const int stride1 = grid->res[0]; - const int stride2 = grid->res[1] * grid->res[0]; - const int strideA0 = 1; - const int strideA1 = grid->res[0] + 2; - const int strideA2 = (grid->res[1] + 2) * (grid->res[0] + 2); - - const int num_cells = res[0] * res[1] * res[2]; - const int num_cellsA = (res[0] + 2) * (res[1] + 2) * (res[2] + 2); - - HairGridVert *vert_start = grid->verts - (stride0 + stride1 + stride2); - HairGridVert *vert; - int i, j, k; - -#define MARGIN_i0 (i < 1) -#define MARGIN_j0 (j < 1) -#define MARGIN_k0 (k < 1) -#define MARGIN_i1 (i >= resA[0] - 1) -#define MARGIN_j1 (j >= resA[1] - 1) -#define MARGIN_k1 (k >= resA[2] - 1) - -#define NEIGHBOR_MARGIN_i0 (i < 2) -#define NEIGHBOR_MARGIN_j0 (j < 2) -#define NEIGHBOR_MARGIN_k0 (k < 2) -#define NEIGHBOR_MARGIN_i1 (i >= resA[0] - 2) -#define NEIGHBOR_MARGIN_j1 (j >= resA[1] - 2) -#define NEIGHBOR_MARGIN_k1 (k >= resA[2] - 2) - - BLI_assert(num_cells >= 1); - - /* Calculate divergence */ - lVector B(num_cellsA); - for (k = 0; k < resA[2]; k++) { - for (j = 0; j < resA[1]; j++) { - for (i = 0; i < resA[0]; i++) { - int u = i * strideA0 + j * strideA1 + k * strideA2; - bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || - MARGIN_k1; - - if (is_margin) { - B[u] = 0.0f; - continue; - } - - vert = vert_start + i * stride0 + j * stride1 + k * stride2; - - const float *v0 = vert->velocity; - float dx = 0.0f, dy = 0.0f, dz = 0.0f; - if (!NEIGHBOR_MARGIN_i0) { - dx += v0[0] - (vert - stride0)->velocity[0]; - } - if (!NEIGHBOR_MARGIN_i1) { - dx += (vert + stride0)->velocity[0] - v0[0]; - } - if (!NEIGHBOR_MARGIN_j0) { - dy += v0[1] - (vert - stride1)->velocity[1]; - } - if (!NEIGHBOR_MARGIN_j1) { - dy += (vert + stride1)->velocity[1] - v0[1]; - } - if (!NEIGHBOR_MARGIN_k0) { - dz += v0[2] - (vert - stride2)->velocity[2]; - } - if (!NEIGHBOR_MARGIN_k1) { - dz += (vert + stride2)->velocity[2] - v0[2]; - } - - float divergence = -0.5f * flowfac * (dx + dy + dz); - - /* adjustment term for target density */ - float target = hair_volume_density_divergence( - vert->density, target_density, target_strength); - - /* B vector contains the finite difference approximation of the velocity divergence. - * Note: according to the discretized Navier-Stokes equation the rhs vector - * and resulting pressure gradient should be multiplied by the (inverse) density; - * however, this is already included in the weighting of hair velocities on the grid! - */ - B[u] = divergence - target; - -#if 0 - { - float wloc[3], loc[3]; - float col0[3] = {0.0, 0.0, 0.0}; - float colp[3] = {0.0, 1.0, 1.0}; - float coln[3] = {1.0, 0.0, 1.0}; - float col[3]; - float fac; - - loc[0] = (float)(i - 1); - loc[1] = (float)(j - 1); - loc[2] = (float)(k - 1); - grid_to_world(grid, wloc, loc); - - if (divergence > 0.0f) { - fac = CLAMPIS(divergence * target_strength, 0.0, 1.0); - interp_v3_v3v3(col, col0, colp, fac); - } - else { - fac = CLAMPIS(-divergence * target_strength, 0.0, 1.0); - interp_v3_v3v3(col, col0, coln, fac); - } - if (fac > 0.05f) { - BKE_sim_debug_data_add_circle( - grid->debug_data, wloc, 0.01f, col[0], col[1], col[2], "grid", 5522, i, j, k); - } - } -#endif - } - } - } - - /* Main Poisson equation system: - * This is derived from the discretezation of the Poisson equation - * div(grad(p)) = div(v) - * - * The finite difference approximation yields the linear equation system described here: - * https://en.wikipedia.org/wiki/Discrete_Poisson_equation - */ - lMatrix A(num_cellsA, num_cellsA); - /* Reserve space for the base equation system (without boundary conditions). - * Each column contains a factor 6 on the diagonal - * and up to 6 factors -1 on other places. - */ - A.reserve(Eigen::VectorXi::Constant(num_cellsA, 7)); - - for (k = 0; k < resA[2]; k++) { - for (j = 0; j < resA[1]; j++) { - for (i = 0; i < resA[0]; i++) { - int u = i * strideA0 + j * strideA1 + k * strideA2; - bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || - MARGIN_k1; - - vert = vert_start + i * stride0 + j * stride1 + k * stride2; - if (!is_margin && vert->density > density_threshold) { - int neighbors_lo = 0; - int neighbors_hi = 0; - int non_solid_neighbors = 0; - int neighbor_lo_index[3]; - int neighbor_hi_index[3]; - int n; - - /* check for upper bounds in advance - * to get the correct number of neighbors, - * needed for the diagonal element - */ - if (!NEIGHBOR_MARGIN_k0 && (vert - stride2)->density > density_threshold) { - neighbor_lo_index[neighbors_lo++] = u - strideA2; - } - if (!NEIGHBOR_MARGIN_j0 && (vert - stride1)->density > density_threshold) { - neighbor_lo_index[neighbors_lo++] = u - strideA1; - } - if (!NEIGHBOR_MARGIN_i0 && (vert - stride0)->density > density_threshold) { - neighbor_lo_index[neighbors_lo++] = u - strideA0; - } - if (!NEIGHBOR_MARGIN_i1 && (vert + stride0)->density > density_threshold) { - neighbor_hi_index[neighbors_hi++] = u + strideA0; - } - if (!NEIGHBOR_MARGIN_j1 && (vert + stride1)->density > density_threshold) { - neighbor_hi_index[neighbors_hi++] = u + strideA1; - } - if (!NEIGHBOR_MARGIN_k1 && (vert + stride2)->density > density_threshold) { - neighbor_hi_index[neighbors_hi++] = u + strideA2; - } - - /*int liquid_neighbors = neighbors_lo + neighbors_hi;*/ - non_solid_neighbors = 6; - - for (n = 0; n < neighbors_lo; n++) { - A.insert(neighbor_lo_index[n], u) = -1.0f; - } - A.insert(u, u) = (float)non_solid_neighbors; - for (n = 0; n < neighbors_hi; n++) { - A.insert(neighbor_hi_index[n], u) = -1.0f; - } - } - else { - A.insert(u, u) = 1.0f; - } - } - } - } - - ConjugateGradient cg; - cg.setMaxIterations(100); - cg.setTolerance(0.01f); - - cg.compute(A); - - lVector p = cg.solve(B); - - if (cg.info() == Eigen::Success) { - /* Calculate velocity = grad(p) */ - for (k = 0; k < resA[2]; k++) { - for (j = 0; j < resA[1]; j++) { - for (i = 0; i < resA[0]; i++) { - int u = i * strideA0 + j * strideA1 + k * strideA2; - bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || - MARGIN_k1; - if (is_margin) { - continue; - } - - vert = vert_start + i * stride0 + j * stride1 + k * stride2; - if (vert->density > density_threshold) { - float p_left = p[u - strideA0]; - float p_right = p[u + strideA0]; - float p_down = p[u - strideA1]; - float p_up = p[u + strideA1]; - float p_bottom = p[u - strideA2]; - float p_top = p[u + strideA2]; - - /* finite difference estimate of pressure gradient */ - float dvel[3]; - dvel[0] = p_right - p_left; - dvel[1] = p_up - p_down; - dvel[2] = p_top - p_bottom; - mul_v3_fl(dvel, -0.5f * inv_flowfac); - - /* pressure gradient describes velocity delta */ - add_v3_v3v3(vert->velocity_smooth, vert->velocity, dvel); - } - else { - zero_v3(vert->velocity_smooth); - } - } - } - } - -#if 0 - { - int axis = 0; - float offset = 0.0f; - - int slice = (offset - grid->gmin[axis]) / grid->cellsize; - - for (k = 0; k < resA[2]; k++) { - for (j = 0; j < resA[1]; j++) { - for (i = 0; i < resA[0]; i++) { - int u = i * strideA0 + j * strideA1 + k * strideA2; - bool is_margin = MARGIN_i0 || MARGIN_i1 || MARGIN_j0 || MARGIN_j1 || MARGIN_k0 || - MARGIN_k1; - if (i != slice) { - continue; - } - - vert = vert_start + i * stride0 + j * stride1 + k * stride2; - - float wloc[3], loc[3]; - float col0[3] = {0.0, 0.0, 0.0}; - float colp[3] = {0.0, 1.0, 1.0}; - float coln[3] = {1.0, 0.0, 1.0}; - float col[3]; - float fac; - - loc[0] = (float)(i - 1); - loc[1] = (float)(j - 1); - loc[2] = (float)(k - 1); - grid_to_world(grid, wloc, loc); - - float pressure = p[u]; - if (pressure > 0.0f) { - fac = CLAMPIS(pressure * grid->debug1, 0.0, 1.0); - interp_v3_v3v3(col, col0, colp, fac); - } - else { - fac = CLAMPIS(-pressure * grid->debug1, 0.0, 1.0); - interp_v3_v3v3(col, col0, coln, fac); - } - if (fac > 0.05f) { - BKE_sim_debug_data_add_circle( - grid->debug_data, wloc, 0.01f, col[0], col[1], col[2], "grid", 5533, i, j, k); - } - - if (!is_margin) { - float dvel[3]; - sub_v3_v3v3(dvel, vert->velocity_smooth, vert->velocity); - // BKE_sim_debug_data_add_vector( - // grid->debug_data, wloc, dvel, 1, 1, 1, - // "grid", 5566, i, j, k); - } - - if (!is_margin) { - float d = CLAMPIS(vert->density * grid->debug2, 0.0f, 1.0f); - float col0[3] = {0.3, 0.3, 0.3}; - float colp[3] = {0.0, 0.0, 1.0}; - float col[3]; - - interp_v3_v3v3(col, col0, colp, d); - // if (d > 0.05f) { - // BKE_sim_debug_data_add_dot( - // grid->debug_data, wloc, col[0], col[1], col[2], - // "grid", 5544, i, j, k); - // } - } - } - } - } - } -#endif - - return true; - } - else { - /* Clear result in case of error */ - for (i = 0, vert = grid->verts; i < num_cells; i++, vert++) { - zero_v3(vert->velocity_smooth); - } - - return false; - } -} - -#if 0 /* XXX weighting is incorrect, disabled for now */ -/* Velocity filter kernel - * See https://en.wikipedia.org/wiki/Filter_%28large_eddy_simulation%29 - */ - -BLI_INLINE void hair_volume_filter_box_convolute( - HairVertexGrid *grid, float invD, const int kernel_size[3], int i, int j, int k) -{ - int res = grid->res; - int p, q, r; - int minp = max_ii(i - kernel_size[0], 0), maxp = min_ii(i + kernel_size[0], res - 1); - int minq = max_ii(j - kernel_size[1], 0), maxq = min_ii(j + kernel_size[1], res - 1); - int minr = max_ii(k - kernel_size[2], 0), maxr = min_ii(k + kernel_size[2], res - 1); - int offset, kernel_offset, kernel_dq, kernel_dr; - HairGridVert *verts; - float *vel_smooth; - - offset = i + (j + k * res) * res; - verts = grid->verts; - vel_smooth = verts[offset].velocity_smooth; - - kernel_offset = minp + (minq + minr * res) * res; - kernel_dq = res; - kernel_dr = res * res; - for (r = minr; r <= maxr; r++) { - for (q = minq; q <= maxq; q++) { - for (p = minp; p <= maxp; p++) { - - madd_v3_v3fl(vel_smooth, verts[kernel_offset].velocity, invD); - - kernel_offset += 1; - } - kernel_offset += kernel_dq; - } - kernel_offset += kernel_dr; - } -} - -void BPH_hair_volume_vertex_grid_filter_box(HairVertexGrid *grid, int kernel_size) -{ - int size = hair_grid_size(grid->res); - int kernel_sizev[3] = {kernel_size, kernel_size, kernel_size}; - int tot; - float invD; - int i, j, k; - - if (kernel_size <= 0) { - return; - } - - tot = kernel_size * 2 + 1; - invD = 1.0f / (float)(tot * tot * tot); - - /* clear values for convolution */ - for (i = 0; i < size; i++) { - zero_v3(grid->verts[i].velocity_smooth); - } - - for (i = 0; i < grid->res; i++) { - for (j = 0; j < grid->res; j++) { - for (k = 0; k < grid->res; k++) { - hair_volume_filter_box_convolute(grid, invD, kernel_sizev, i, j, k); - } - } - } - - /* apply as new velocity */ - for (i = 0; i < size; i++) { - copy_v3_v3(grid->verts[i].velocity, grid->verts[i].velocity_smooth); - } -} -#endif - -HairGrid *BPH_hair_volume_create_vertex_grid(float cellsize, - const float gmin[3], - const float gmax[3]) -{ - float scale; - float extent[3]; - int resmin[3], resmax[3], res[3]; - float gmin_margin[3], gmax_margin[3]; - int size; - HairGrid *grid; - int i; - - /* sanity check */ - if (cellsize <= 0.0f) { - cellsize = 1.0f; - } - scale = 1.0f / cellsize; - - sub_v3_v3v3(extent, gmax, gmin); - for (i = 0; i < 3; i++) { - resmin[i] = floor_int(gmin[i] * scale); - resmax[i] = floor_int(gmax[i] * scale) + 1; - - /* add margin of 1 cell */ - resmin[i] -= 1; - resmax[i] += 1; - - res[i] = resmax[i] - resmin[i] + 1; - /* sanity check: avoid null-sized grid */ - if (res[i] < 4) { - res[i] = 4; - resmax[i] = resmin[i] + 4; - } - /* sanity check: avoid too large grid size */ - if (res[i] > MAX_HAIR_GRID_RES) { - res[i] = MAX_HAIR_GRID_RES; - resmax[i] = resmin[i] + MAX_HAIR_GRID_RES; - } - - gmin_margin[i] = (float)resmin[i] * cellsize; - gmax_margin[i] = (float)resmax[i] * cellsize; - } - size = hair_grid_size(res); - - grid = (HairGrid *)MEM_callocN(sizeof(HairGrid), "hair grid"); - grid->res[0] = res[0]; - grid->res[1] = res[1]; - grid->res[2] = res[2]; - copy_v3_v3(grid->gmin, gmin_margin); - copy_v3_v3(grid->gmax, gmax_margin); - grid->cellsize = cellsize; - grid->inv_cellsize = scale; - grid->verts = (HairGridVert *)MEM_callocN(sizeof(HairGridVert) * size, "hair voxel data"); - - return grid; -} - -void BPH_hair_volume_free_vertex_grid(HairGrid *grid) -{ - if (grid) { - if (grid->verts) { - MEM_freeN(grid->verts); - } - MEM_freeN(grid); - } -} - -void BPH_hair_volume_grid_geometry( - HairGrid *grid, float *cellsize, int res[3], float gmin[3], float gmax[3]) -{ - if (cellsize) { - *cellsize = grid->cellsize; - } - if (res) { - copy_v3_v3_int(res, grid->res); - } - if (gmin) { - copy_v3_v3(gmin, grid->gmin); - } - if (gmax) { - copy_v3_v3(gmax, grid->gmax); - } -} - -#if 0 -static HairGridVert *hair_volume_create_collision_grid(ClothModifierData *clmd, - lfVector *lX, - unsigned int numverts) -{ - int res = hair_grid_res; - int size = hair_grid_size(res); - HairGridVert *collgrid; - ListBase *colliders; - ColliderCache *col = NULL; - float gmin[3], gmax[3], scale[3]; - /* 2.0f is an experimental value that seems to give good results */ - float collfac = 2.0f * clmd->sim_parms->collider_friction; - unsigned int v = 0; - int i = 0; - - hair_volume_get_boundbox(lX, numverts, gmin, gmax); - hair_grid_get_scale(res, gmin, gmax, scale); - - collgrid = MEM_mallocN(sizeof(HairGridVert) * size, "hair collider voxel data"); - - /* initialize grid */ - for (i = 0; i < size; i++) { - zero_v3(collgrid[i].velocity); - collgrid[i].density = 0.0f; - } - - /* gather colliders */ - colliders = BKE_collider_cache_create(depsgraph, NULL, NULL); - if (colliders && collfac > 0.0f) { - for (col = colliders->first; col; col = col->next) { - MVert *loc0 = col->collmd->x; - MVert *loc1 = col->collmd->xnew; - float vel[3]; - float weights[8]; - int di, dj, dk; - - for (v = 0; v < col->collmd->numverts; v++, loc0++, loc1++) { - int offset; - - if (!hair_grid_point_valid(loc1->co, gmin, gmax)) { - continue; - } - - offset = hair_grid_weights(res, gmin, scale, lX[v], weights); - - sub_v3_v3v3(vel, loc1->co, loc0->co); - - for (di = 0; di < 2; di++) { - for (dj = 0; dj < 2; dj++) { - for (dk = 0; dk < 2; dk++) { - int voffset = offset + di + (dj + dk * res) * res; - int iw = di + dj * 2 + dk * 4; - - collgrid[voffset].density += weights[iw]; - madd_v3_v3fl(collgrid[voffset].velocity, vel, weights[iw]); - } - } - } - } - } - } - BKE_collider_cache_free(&colliders); - - /* divide velocity with density */ - for (i = 0; i < size; i++) { - float density = collgrid[i].density; - if (density > 0.0f) { - mul_v3_fl(collgrid[i].velocity, 1.0f / density); - } - } - - return collgrid; -} -#endif diff --git a/source/blender/physics/intern/implicit.h b/source/blender/physics/intern/implicit.h deleted file mode 100644 index 8bc09755180..00000000000 --- a/source/blender/physics/intern/implicit.h +++ /dev/null @@ -1,272 +0,0 @@ -/* - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) Blender Foundation - * All rights reserved. - */ - -#ifndef __IMPLICIT_H__ -#define __IMPLICIT_H__ - -/** \file - * \ingroup bph - */ - -#include "stdio.h" - -#include "BLI_utildefines.h" - -#include "BKE_collision.h" - -#ifdef __cplusplus -extern "C" { -#endif - -//#define IMPLICIT_SOLVER_EIGEN -#define IMPLICIT_SOLVER_BLENDER - -#define CLOTH_ROOT_FRAME /* enable use of root frame coordinate transform */ - -#define CLOTH_FORCE_GRAVITY -#define CLOTH_FORCE_DRAG -#define CLOTH_FORCE_SPRING_STRUCTURAL -#define CLOTH_FORCE_SPRING_SHEAR -#define CLOTH_FORCE_SPRING_BEND -#define CLOTH_FORCE_SPRING_GOAL -#define CLOTH_FORCE_EFFECTORS - -//#define IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT - -//#define IMPLICIT_ENABLE_EIGEN_DEBUG - -struct Implicit_Data; - -typedef struct ImplicitSolverResult { - int status; - - int iterations; - float error; -} ImplicitSolverResult; - -BLI_INLINE void implicit_print_matrix_elem(float v) -{ - printf("%-8.3f", v); -} - -void BPH_mass_spring_set_vertex_mass(struct Implicit_Data *data, int index, float mass); -void BPH_mass_spring_set_rest_transform(struct Implicit_Data *data, int index, float rot[3][3]); - -void BPH_mass_spring_set_motion_state(struct Implicit_Data *data, - int index, - const float x[3], - const float v[3]); -void BPH_mass_spring_set_position(struct Implicit_Data *data, int index, const float x[3]); -void BPH_mass_spring_set_velocity(struct Implicit_Data *data, int index, const float v[3]); -void BPH_mass_spring_get_motion_state(struct Implicit_Data *data, - int index, - float x[3], - float v[3]); -void BPH_mass_spring_get_position(struct Implicit_Data *data, int index, float x[3]); -void BPH_mass_spring_get_velocity(struct Implicit_Data *data, int index, float v[3]); - -/* access to modified motion state during solver step */ -void BPH_mass_spring_get_new_position(struct Implicit_Data *data, int index, float x[3]); -void BPH_mass_spring_set_new_position(struct Implicit_Data *data, int index, const float x[3]); -void BPH_mass_spring_get_new_velocity(struct Implicit_Data *data, int index, float v[3]); -void BPH_mass_spring_set_new_velocity(struct Implicit_Data *data, int index, const float v[3]); - -void BPH_mass_spring_clear_constraints(struct Implicit_Data *data); -void BPH_mass_spring_add_constraint_ndof0(struct Implicit_Data *data, - int index, - const float dV[3]); -void BPH_mass_spring_add_constraint_ndof1(struct Implicit_Data *data, - int index, - const float c1[3], - const float c2[3], - const float dV[3]); -void BPH_mass_spring_add_constraint_ndof2(struct Implicit_Data *data, - int index, - const float c1[3], - const float dV[3]); - -bool BPH_mass_spring_solve_velocities(struct Implicit_Data *data, - float dt, - struct ImplicitSolverResult *result); -bool BPH_mass_spring_solve_positions(struct Implicit_Data *data, float dt); -void BPH_mass_spring_apply_result(struct Implicit_Data *data); - -/* Clear the force vector at the beginning of the time step */ -void BPH_mass_spring_clear_forces(struct Implicit_Data *data); -/* Fictitious forces introduced by moving coordinate systems */ -void BPH_mass_spring_force_reference_frame(struct Implicit_Data *data, - int index, - const float acceleration[3], - const float omega[3], - const float domega_dt[3], - float mass); -/* Simple uniform gravity force */ -void BPH_mass_spring_force_gravity(struct Implicit_Data *data, - int index, - float mass, - const float g[3]); -/* Global drag force (velocity damping) */ -void BPH_mass_spring_force_drag(struct Implicit_Data *data, float drag); -/* Custom external force */ -void BPH_mass_spring_force_extern( - struct Implicit_Data *data, int i, const float f[3], float dfdx[3][3], float dfdv[3][3]); -/* Wind force, acting on a face (only generates pressure from the normal component) */ -void BPH_mass_spring_force_face_wind( - struct Implicit_Data *data, int v1, int v2, int v3, const float (*winvec)[3]); -/* Arbitrary per-unit-area vector force field acting on a face. */ -void BPH_mass_spring_force_face_extern( - struct Implicit_Data *data, int v1, int v2, int v3, const float (*forcevec)[3]); -/* Wind force, acting on an edge */ -void BPH_mass_spring_force_edge_wind(struct Implicit_Data *data, - int v1, - int v2, - float radius1, - float radius2, - const float (*winvec)[3]); -/* Wind force, acting on a vertex */ -void BPH_mass_spring_force_vertex_wind(struct Implicit_Data *data, - int v, - float radius, - const float (*winvec)[3]); -/* Linear spring force between two points */ -bool BPH_mass_spring_force_spring_linear(struct Implicit_Data *data, - int i, - int j, - float restlen, - float stiffness_tension, - float damping_tension, - float stiffness_compression, - float damping_compression, - bool resist_compress, - bool new_compress, - float clamp_force); -/* Angular spring force between two polygons */ -bool BPH_mass_spring_force_spring_angular(struct Implicit_Data *data, - int i, - int j, - int *i_a, - int *i_b, - int len_a, - int len_b, - float restang, - float stiffness, - float damping); -/* Bending force, forming a triangle at the base of two structural springs */ -bool BPH_mass_spring_force_spring_bending( - struct Implicit_Data *data, int i, int j, float restlen, float kb, float cb); -/* Angular bending force based on local target vectors */ -bool BPH_mass_spring_force_spring_bending_hair(struct Implicit_Data *data, - int i, - int j, - int k, - const float target[3], - float stiffness, - float damping); -/* Global goal spring */ -bool BPH_mass_spring_force_spring_goal(struct Implicit_Data *data, - int i, - const float goal_x[3], - const float goal_v[3], - float stiffness, - float damping); - -float BPH_tri_tetra_volume_signed_6x(struct Implicit_Data *data, int v1, int v2, int v3); -float BPH_tri_area(struct Implicit_Data *data, int v1, int v2, int v3); - -void BPH_mass_spring_force_pressure(struct Implicit_Data *data, - int v1, - int v2, - int v3, - float common_pressure, - const float *vertex_pressure, - const float weights[3]); - -/* ======== Hair Volumetric Forces ======== */ - -struct HairGrid; - -#define MAX_HAIR_GRID_RES 256 - -struct HairGrid *BPH_hair_volume_create_vertex_grid(float cellsize, - const float gmin[3], - const float gmax[3]); -void BPH_hair_volume_free_vertex_grid(struct HairGrid *grid); -void BPH_hair_volume_grid_geometry( - struct HairGrid *grid, float *cellsize, int res[3], float gmin[3], float gmax[3]); - -void BPH_hair_volume_grid_clear(struct HairGrid *grid); -void BPH_hair_volume_add_vertex(struct HairGrid *grid, const float x[3], const float v[3]); -void BPH_hair_volume_add_segment(struct HairGrid *grid, - const float x1[3], - const float v1[3], - const float x2[3], - const float v2[3], - const float x3[3], - const float v3[3], - const float x4[3], - const float v4[3], - const float dir1[3], - const float dir2[3], - const float dir3[3]); - -void BPH_hair_volume_normalize_vertex_grid(struct HairGrid *grid); - -bool BPH_hair_volume_solve_divergence(struct HairGrid *grid, - float dt, - float target_density, - float target_strength); -#if 0 /* XXX weighting is incorrect, disabled for now */ -void BPH_hair_volume_vertex_grid_filter_box(struct HairVertexGrid *grid, int kernel_size); -#endif - -void BPH_hair_volume_grid_interpolate(struct HairGrid *grid, - const float x[3], - float *density, - float velocity[3], - float velocity_smooth[3], - float density_gradient[3], - float velocity_gradient[3][3]); - -/* Effect of fluid simulation grid on velocities. - * fluid_factor controls blending between PIC (Particle-in-Cell) - * and FLIP (Fluid-Implicit-Particle) methods (0 = only PIC, 1 = only FLIP) - */ -void BPH_hair_volume_grid_velocity( - struct HairGrid *grid, const float x[3], const float v[3], float fluid_factor, float r_v[3]); -/* XXX Warning: expressing grid effects on velocity as a force is not very stable, - * due to discontinuities in interpolated values! - * Better use hybrid approaches such as described in - * "Detail Preserving Continuum Simulation of Straight Hair" - * (McAdams, Selle 2009) - */ -void BPH_hair_volume_vertex_grid_forces(struct HairGrid *grid, - const float x[3], - const float v[3], - float smoothfac, - float pressurefac, - float minpressure, - float f[3], - float dfdx[3][3], - float dfdv[3][3]); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/source/blender/physics/intern/implicit_blender.c b/source/blender/physics/intern/implicit_blender.c deleted file mode 100644 index 54d38f3c10b..00000000000 --- a/source/blender/physics/intern/implicit_blender.c +++ /dev/null @@ -1,2360 +0,0 @@ -/* - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) Blender Foundation - * All rights reserved. - */ - -/** \file - * \ingroup bph - */ - -#include "implicit.h" - -#ifdef IMPLICIT_SOLVER_BLENDER - -# include "MEM_guardedalloc.h" - -# include "DNA_meshdata_types.h" -# include "DNA_object_force_types.h" -# include "DNA_object_types.h" -# include "DNA_scene_types.h" -# include "DNA_texture_types.h" - -# include "BLI_math.h" -# include "BLI_utildefines.h" - -# include "BKE_cloth.h" -# include "BKE_collision.h" -# include "BKE_effect.h" - -# include "BPH_mass_spring.h" - -# ifdef __GNUC__ -# pragma GCC diagnostic ignored "-Wtype-limits" -# endif - -# ifdef _OPENMP -# define CLOTH_OPENMP_LIMIT 512 -# endif - -//#define DEBUG_TIME - -# ifdef DEBUG_TIME -# include "PIL_time.h" -# endif - -static float I[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; -static float ZERO[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - -# if 0 -# define C99 -# ifdef C99 -# defineDO_INLINE inline -# else -# defineDO_INLINE static -# endif -# endif /* if 0 */ - -struct Cloth; - -////////////////////////////////////////// -/* fast vector / matrix library, enhancements are welcome :) -dg */ -///////////////////////////////////////// - -/* DEFINITIONS */ -typedef float lfVector[3]; -typedef struct fmatrix3x3 { - float m[3][3]; /* 3x3 matrix */ - unsigned int c, r; /* column and row number */ - /* int pinned; // is this vertex allowed to move? */ - float n1, n2, n3; /* three normal vectors for collision constrains */ - unsigned int vcount; /* vertex count */ - unsigned int scount; /* spring count */ -} fmatrix3x3; - -/////////////////////////// -// float[3] vector -/////////////////////////// -/* simple vector code */ -/* STATUS: verified */ -DO_INLINE void mul_fvector_S(float to[3], const float from[3], float scalar) -{ - to[0] = from[0] * scalar; - to[1] = from[1] * scalar; - to[2] = from[2] * scalar; -} -/* simple v^T * v product ("outer product") */ -/* STATUS: HAS TO BE verified (*should* work) */ -DO_INLINE void mul_fvectorT_fvector(float to[3][3], float vectorA[3], float vectorB[3]) -{ - mul_fvector_S(to[0], vectorB, vectorA[0]); - mul_fvector_S(to[1], vectorB, vectorA[1]); - mul_fvector_S(to[2], vectorB, vectorA[2]); -} -/* simple v^T * v product with scalar ("outer product") */ -/* STATUS: HAS TO BE verified (*should* work) */ -DO_INLINE void mul_fvectorT_fvectorS(float to[3][3], float vectorA[3], float vectorB[3], float aS) -{ - mul_fvectorT_fvector(to, vectorA, vectorB); - - mul_fvector_S(to[0], to[0], aS); - mul_fvector_S(to[1], to[1], aS); - mul_fvector_S(to[2], to[2], aS); -} - -# if 0 -/* printf vector[3] on console: for debug output */ -static void print_fvector(float m3[3]) -{ - printf("%f\n%f\n%f\n\n", m3[0], m3[1], m3[2]); -} - -/////////////////////////// -// long float vector float (*)[3] -/////////////////////////// -/* print long vector on console: for debug output */ -DO_INLINE void print_lfvector(float (*fLongVector)[3], unsigned int verts) -{ - unsigned int i = 0; - for (i = 0; i < verts; i++) { - print_fvector(fLongVector[i]); - } -} -# endif - -/* create long vector */ -DO_INLINE lfVector *create_lfvector(unsigned int verts) -{ - /* TODO: check if memory allocation was successful */ - return (lfVector *)MEM_callocN(verts * sizeof(lfVector), "cloth_implicit_alloc_vector"); - // return (lfVector *)cloth_aligned_malloc(&MEMORY_BASE, verts * sizeof(lfVector)); -} -/* delete long vector */ -DO_INLINE void del_lfvector(float (*fLongVector)[3]) -{ - if (fLongVector != NULL) { - MEM_freeN(fLongVector); - // cloth_aligned_free(&MEMORY_BASE, fLongVector); - } -} -/* copy long vector */ -DO_INLINE void cp_lfvector(float (*to)[3], float (*from)[3], unsigned int verts) -{ - memcpy(to, from, verts * sizeof(lfVector)); -} -/* init long vector with float[3] */ -DO_INLINE void init_lfvector(float (*fLongVector)[3], float vector[3], unsigned int verts) -{ - unsigned int i = 0; - for (i = 0; i < verts; i++) { - copy_v3_v3(fLongVector[i], vector); - } -} -/* zero long vector with float[3] */ -DO_INLINE void zero_lfvector(float (*to)[3], unsigned int verts) -{ - memset(to, 0.0f, verts * sizeof(lfVector)); -} -/* multiply long vector with scalar*/ -DO_INLINE void mul_lfvectorS(float (*to)[3], - float (*fLongVector)[3], - float scalar, - unsigned int verts) -{ - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - mul_fvector_S(to[i], fLongVector[i], scalar); - } -} -/* multiply long vector with scalar*/ -/* A -= B * float */ -DO_INLINE void submul_lfvectorS(float (*to)[3], - float (*fLongVector)[3], - float scalar, - unsigned int verts) -{ - unsigned int i = 0; - for (i = 0; i < verts; i++) { - VECSUBMUL(to[i], fLongVector[i], scalar); - } -} -/* dot product for big vector */ -DO_INLINE float dot_lfvector(float (*fLongVectorA)[3], - float (*fLongVectorB)[3], - unsigned int verts) -{ - long i = 0; - float temp = 0.0; - // XXX brecht, disabled this for now (first schedule line was already disabled), - // due to non-commutative nature of floating point ops this makes the sim give - // different results each time you run it! - // schedule(guided, 2) - //#pragma omp parallel for reduction(+: temp) if (verts > CLOTH_OPENMP_LIMIT) - for (i = 0; i < (long)verts; i++) { - temp += dot_v3v3(fLongVectorA[i], fLongVectorB[i]); - } - return temp; -} -/* A = B + C --> for big vector */ -DO_INLINE void add_lfvector_lfvector(float (*to)[3], - float (*fLongVectorA)[3], - float (*fLongVectorB)[3], - unsigned int verts) -{ - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - add_v3_v3v3(to[i], fLongVectorA[i], fLongVectorB[i]); - } -} -/* A = B + C * float --> for big vector */ -DO_INLINE void add_lfvector_lfvectorS(float (*to)[3], - float (*fLongVectorA)[3], - float (*fLongVectorB)[3], - float bS, - unsigned int verts) -{ - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - VECADDS(to[i], fLongVectorA[i], fLongVectorB[i], bS); - } -} -/* A = B * float + C * float --> for big vector */ -DO_INLINE void add_lfvectorS_lfvectorS(float (*to)[3], - float (*fLongVectorA)[3], - float aS, - float (*fLongVectorB)[3], - float bS, - unsigned int verts) -{ - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - VECADDSS(to[i], fLongVectorA[i], aS, fLongVectorB[i], bS); - } -} -/* A = B - C * float --> for big vector */ -DO_INLINE void sub_lfvector_lfvectorS(float (*to)[3], - float (*fLongVectorA)[3], - float (*fLongVectorB)[3], - float bS, - unsigned int verts) -{ - unsigned int i = 0; - for (i = 0; i < verts; i++) { - VECSUBS(to[i], fLongVectorA[i], fLongVectorB[i], bS); - } -} -/* A = B - C --> for big vector */ -DO_INLINE void sub_lfvector_lfvector(float (*to)[3], - float (*fLongVectorA)[3], - float (*fLongVectorB)[3], - unsigned int verts) -{ - unsigned int i = 0; - - for (i = 0; i < verts; i++) { - sub_v3_v3v3(to[i], fLongVectorA[i], fLongVectorB[i]); - } -} -/////////////////////////// -// 3x3 matrix -/////////////////////////// -# if 0 -/* printf 3x3 matrix on console: for debug output */ -static void print_fmatrix(float m3[3][3]) -{ - printf("%f\t%f\t%f\n", m3[0][0], m3[0][1], m3[0][2]); - printf("%f\t%f\t%f\n", m3[1][0], m3[1][1], m3[1][2]); - printf("%f\t%f\t%f\n\n", m3[2][0], m3[2][1], m3[2][2]); -} - -static void print_sparse_matrix(fmatrix3x3 *m) -{ - if (m) { - unsigned int i; - for (i = 0; i < m[0].vcount + m[0].scount; i++) { - printf("%d:\n", i); - print_fmatrix(m[i].m); - } - } -} -# endif - -# if 0 -static void print_lvector(lfVector *v, int numverts) -{ - int i; - 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]); - } -} -# endif - -# if 0 -static void print_bfmatrix(fmatrix3x3 *m) -{ - int tot = m[0].vcount + m[0].scount; - 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) { - // printf("warning: overwriting value at %d, %d\n", m[q].r, m[q].c); - // } - if (k == l) { - t[k + i + (k + j) * size] += m[q].m[i][j]; - } - else { - t[k + i + (l + j) * size] += m[q].m[i][j]; - t[l + j + (k + i) * size] += m[q].m[j][i]; - } - } - } - } - - 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 - -/* copy 3x3 matrix */ -DO_INLINE void cp_fmatrix(float to[3][3], float from[3][3]) -{ - // memcpy(to, from, sizeof (float) * 9); - copy_v3_v3(to[0], from[0]); - copy_v3_v3(to[1], from[1]); - copy_v3_v3(to[2], from[2]); -} - -/* copy 3x3 matrix */ -DO_INLINE void initdiag_fmatrixS(float to[3][3], float aS) -{ - cp_fmatrix(to, ZERO); - - to[0][0] = aS; - to[1][1] = aS; - to[2][2] = aS; -} - -# if 0 -/* calculate determinant of 3x3 matrix */ -DO_INLINE float det_fmatrix(float m[3][3]) -{ - return m[0][0] * m[1][1] * m[2][2] + m[1][0] * m[2][1] * m[0][2] + m[0][1] * m[1][2] * m[2][0] - - m[0][0] * m[1][2] * m[2][1] - m[0][1] * m[1][0] * m[2][2] - m[2][0] * m[1][1] * m[0][2]; -} - -DO_INLINE void inverse_fmatrix(float to[3][3], float from[3][3]) -{ - unsigned int i, j; - float d; - - if ((d = det_fmatrix(from)) == 0) { - printf("can't build inverse"); - exit(0); - } - for (i = 0; i < 3; i++) { - for (j = 0; j < 3; j++) { - int i1 = (i + 1) % 3; - int i2 = (i + 2) % 3; - int j1 = (j + 1) % 3; - int j2 = (j + 2) % 3; - /** Reverse indexes i&j to take transpose. */ - to[j][i] = (from[i1][j1] * from[i2][j2] - from[i1][j2] * from[i2][j1]) / d; - /** - * <pre> - * if (i == j) { - * to[i][j] = 1.0f / from[i][j]; - * } - * else { - * to[i][j] = 0; - * } - * </pre> - */ - } - } -} -# endif - -/* 3x3 matrix multiplied by a scalar */ -/* STATUS: verified */ -DO_INLINE void mul_fmatrix_S(float matrix[3][3], float scalar) -{ - mul_fvector_S(matrix[0], matrix[0], scalar); - mul_fvector_S(matrix[1], matrix[1], scalar); - mul_fvector_S(matrix[2], matrix[2], scalar); -} - -/* a vector multiplied by a 3x3 matrix */ -/* STATUS: verified */ -DO_INLINE void mul_fvector_fmatrix(float *to, const float *from, float matrix[3][3]) -{ - to[0] = matrix[0][0] * from[0] + matrix[1][0] * from[1] + matrix[2][0] * from[2]; - to[1] = matrix[0][1] * from[0] + matrix[1][1] * from[1] + matrix[2][1] * from[2]; - to[2] = matrix[0][2] * from[0] + matrix[1][2] * from[1] + matrix[2][2] * from[2]; -} - -/* 3x3 matrix multiplied by a vector */ -/* STATUS: verified */ -DO_INLINE void mul_fmatrix_fvector(float *to, float matrix[3][3], float from[3]) -{ - to[0] = dot_v3v3(matrix[0], from); - to[1] = dot_v3v3(matrix[1], from); - to[2] = dot_v3v3(matrix[2], from); -} -/* 3x3 matrix addition with 3x3 matrix */ -DO_INLINE void add_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) -{ - add_v3_v3v3(to[0], matrixA[0], matrixB[0]); - add_v3_v3v3(to[1], matrixA[1], matrixB[1]); - add_v3_v3v3(to[2], matrixA[2], matrixB[2]); -} -/* A -= B*x + C*y (3x3 matrix sub-addition with 3x3 matrix) */ -DO_INLINE void subadd_fmatrixS_fmatrixS( - float to[3][3], float matrixA[3][3], float aS, float matrixB[3][3], float bS) -{ - VECSUBADDSS(to[0], matrixA[0], aS, matrixB[0], bS); - VECSUBADDSS(to[1], matrixA[1], aS, matrixB[1], bS); - VECSUBADDSS(to[2], matrixA[2], aS, matrixB[2], bS); -} -/* A = B - C (3x3 matrix subtraction with 3x3 matrix) */ -DO_INLINE void sub_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3]) -{ - sub_v3_v3v3(to[0], matrixA[0], matrixB[0]); - sub_v3_v3v3(to[1], matrixA[1], matrixB[1]); - sub_v3_v3v3(to[2], matrixA[2], matrixB[2]); -} -///////////////////////////////////////////////////////////////// -// special functions -///////////////////////////////////////////////////////////////// -/* 3x3 matrix multiplied+added by a vector */ -/* STATUS: verified */ -DO_INLINE void muladd_fmatrix_fvector(float to[3], float matrix[3][3], float from[3]) -{ - to[0] += dot_v3v3(matrix[0], from); - to[1] += dot_v3v3(matrix[1], from); - to[2] += dot_v3v3(matrix[2], from); -} - -DO_INLINE void muladd_fmatrixT_fvector(float to[3], float matrix[3][3], const float from[3]) -{ - to[0] += matrix[0][0] * from[0] + matrix[1][0] * from[1] + matrix[2][0] * from[2]; - to[1] += matrix[0][1] * from[0] + matrix[1][1] * from[1] + matrix[2][1] * from[2]; - to[2] += matrix[0][2] * from[0] + matrix[1][2] * from[1] + matrix[2][2] * from[2]; -} - -BLI_INLINE void outerproduct(float r[3][3], const float a[3], const float b[3]) -{ - mul_v3_v3fl(r[0], a, b[0]); - mul_v3_v3fl(r[1], a, b[1]); - mul_v3_v3fl(r[2], a, b[2]); -} - -BLI_INLINE void cross_m3_v3m3(float r[3][3], const float v[3], float m[3][3]) -{ - cross_v3_v3v3(r[0], v, m[0]); - cross_v3_v3v3(r[1], v, m[1]); - cross_v3_v3v3(r[2], v, m[2]); -} - -BLI_INLINE void cross_v3_identity(float r[3][3], const float v[3]) -{ - r[0][0] = 0.0f; - r[1][0] = v[2]; - r[2][0] = -v[1]; - r[0][1] = -v[2]; - r[1][1] = 0.0f; - r[2][1] = v[0]; - r[0][2] = v[1]; - r[1][2] = -v[0]; - r[2][2] = 0.0f; -} - -BLI_INLINE void madd_m3_m3fl(float r[3][3], float m[3][3], float f) -{ - r[0][0] += m[0][0] * f; - r[0][1] += m[0][1] * f; - r[0][2] += m[0][2] * f; - r[1][0] += m[1][0] * f; - r[1][1] += m[1][1] * f; - r[1][2] += m[1][2] * f; - r[2][0] += m[2][0] * f; - r[2][1] += m[2][1] * f; - r[2][2] += m[2][2] * f; -} - -///////////////////////////////////////////////////////////////// - -/////////////////////////// -// SPARSE SYMMETRIC big matrix with 3x3 matrix entries -/////////////////////////// -/* printf a big matrix on console: for debug output */ -# if 0 -static void print_bfmatrix(fmatrix3x3 *m3) -{ - unsigned int i = 0; - - for (i = 0; i < m3[0].vcount + m3[0].scount; i++) { - print_fmatrix(m3[i].m); - } -} -# endif - -BLI_INLINE void init_fmatrix(fmatrix3x3 *matrix, int r, int c) -{ - matrix->r = r; - matrix->c = c; -} - -/* create big matrix */ -DO_INLINE fmatrix3x3 *create_bfmatrix(unsigned int verts, unsigned int springs) -{ - // TODO: check if memory allocation was successful */ - fmatrix3x3 *temp = (fmatrix3x3 *)MEM_callocN(sizeof(fmatrix3x3) * (verts + springs), - "cloth_implicit_alloc_matrix"); - 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 */ -DO_INLINE void del_bfmatrix(fmatrix3x3 *matrix) -{ - if (matrix != NULL) { - MEM_freeN(matrix); - } -} - -/* copy big matrix */ -DO_INLINE void cp_bfmatrix(fmatrix3x3 *to, fmatrix3x3 *from) -{ - // TODO bounds checking - memcpy(to, from, sizeof(fmatrix3x3) * (from[0].vcount + from[0].scount)); -} - -/* init big matrix */ -// slow in parallel -DO_INLINE void init_bfmatrix(fmatrix3x3 *matrix, float m3[3][3]) -{ - unsigned int i; - - for (i = 0; i < matrix[0].vcount + matrix[0].scount; i++) { - cp_fmatrix(matrix[i].m, m3); - } -} - -/* init the diagonal of big matrix */ -// slow in parallel -DO_INLINE void initdiag_bfmatrix(fmatrix3x3 *matrix, float m3[3][3]) -{ - unsigned int i, j; - float tmatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - - for (i = 0; i < matrix[0].vcount; i++) { - cp_fmatrix(matrix[i].m, m3); - } - for (j = matrix[0].vcount; j < matrix[0].vcount + matrix[0].scount; j++) { - cp_fmatrix(matrix[j].m, tmatrix); - } -} - -/* SPARSE SYMMETRIC multiply big matrix with long vector*/ -/* STATUS: verified */ -DO_INLINE void mul_bfmatrix_lfvector(float (*to)[3], fmatrix3x3 *from, lfVector *fLongVector) -{ - unsigned int vcount = from[0].vcount; - lfVector *temp = create_lfvector(vcount); - - zero_lfvector(to, vcount); - -# pragma omp parallel sections if (vcount > CLOTH_OPENMP_LIMIT) - { -# pragma omp section - { - for (unsigned int i = from[0].vcount; i < from[0].vcount + from[0].scount; i++) { - /* This is the lower triangle of the sparse matrix, - * therefore multiplication occurs with transposed submatrices. */ - muladd_fmatrixT_fvector(to[from[i].c], from[i].m, fLongVector[from[i].r]); - } - } -# pragma omp section - { - for (unsigned int i = 0; i < from[0].vcount + from[0].scount; i++) { - muladd_fmatrix_fvector(temp[from[i].r], from[i].m, fLongVector[from[i].c]); - } - } - } - add_lfvector_lfvector(to, to, temp, from[0].vcount); - - del_lfvector(temp); -} - -/* SPARSE SYMMETRIC sub big matrix with big matrix*/ -/* A -= B * float + C * float --> for big matrix */ -/* VERIFIED */ -DO_INLINE void subadd_bfmatrixS_bfmatrixS( - fmatrix3x3 *to, fmatrix3x3 *from, float aS, fmatrix3x3 *matrix, float bS) -{ - unsigned int i = 0; - - /* process diagonal elements */ - for (i = 0; i < matrix[0].vcount + matrix[0].scount; i++) { - subadd_fmatrixS_fmatrixS(to[i].m, from[i].m, aS, matrix[i].m, bS); - } -} - -/////////////////////////////////////////////////////////////////// -// simulator start -/////////////////////////////////////////////////////////////////// - -typedef struct Implicit_Data { - /* inputs */ - fmatrix3x3 *bigI; /* identity (constant) */ - fmatrix3x3 *tfm; /* local coordinate transform */ - fmatrix3x3 *M; /* masses */ - 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 */ - fmatrix3x3 *P, *Pinv; /* pre-conditioning matrix */ -} 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); - id->dFdV = create_bfmatrix(numverts, numsprings); - id->dFdX = create_bfmatrix(numverts, numsprings); - id->S = create_bfmatrix(numverts, 0); - id->Pinv = create_bfmatrix(numverts, numsprings); - id->P = create_bfmatrix(numverts, numsprings); - id->bigI = create_bfmatrix(numverts, numsprings); // TODO 0 springs - id->M = create_bfmatrix(numverts, numsprings); - id->X = create_lfvector(numverts); - id->Xnew = create_lfvector(numverts); - id->V = create_lfvector(numverts); - id->Vnew = create_lfvector(numverts); - id->F = create_lfvector(numverts); - id->B = create_lfvector(numverts); - id->dV = create_lfvector(numverts); - id->z = create_lfvector(numverts); - - initdiag_bfmatrix(id->bigI, I); - - return id; -} - -void BPH_mass_spring_solver_free(Implicit_Data *id) -{ - del_bfmatrix(id->tfm); - del_bfmatrix(id->A); - del_bfmatrix(id->dFdV); - del_bfmatrix(id->dFdX); - del_bfmatrix(id->S); - del_bfmatrix(id->P); - del_bfmatrix(id->Pinv); - del_bfmatrix(id->bigI); - del_bfmatrix(id->M); - - del_lfvector(id->X); - del_lfvector(id->Xnew); - del_lfvector(id->V); - del_lfvector(id->Vnew); - del_lfvector(id->F); - del_lfvector(id->B); - del_lfvector(id->dV); - del_lfvector(id->z); - - MEM_freeN(id); -} - -/* ==== Transformation from/to root reference frames ==== */ - -BLI_INLINE void world_to_root_v3(Implicit_Data *data, int index, float r[3], const float v[3]) -{ - copy_v3_v3(r, v); - mul_transposed_m3_v3(data->tfm[index].m, r); -} - -BLI_INLINE void root_to_world_v3(Implicit_Data *data, int index, float r[3], const float v[3]) -{ - mul_v3_m3v3(r, data->tfm[index].m, v); -} - -BLI_INLINE void world_to_root_m3(Implicit_Data *data, int index, float r[3][3], float m[3][3]) -{ - float trot[3][3]; - copy_m3_m3(trot, data->tfm[index].m); - transpose_m3(trot); - mul_m3_m3m3(r, trot, m); -} - -BLI_INLINE void root_to_world_m3(Implicit_Data *data, int index, float r[3][3], float m[3][3]) -{ - mul_m3_m3m3(r, data->tfm[index].m, m); -} - -/* ================================ */ - -DO_INLINE void filter(lfVector *V, fmatrix3x3 *S) -{ - unsigned int i = 0; - - for (i = 0; i < S[0].vcount; i++) { - mul_m3_v3(S[i].m, V[S[i].r]); - } -} - -/* this version of the CG algorithm does not work very well with partial constraints - * (where S has non-zero elements). */ -# if 0 -static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S) -{ - // Solves for unknown X in equation AX=B - unsigned int conjgrad_loopcount = 0, conjgrad_looplimit = 100; - float conjgrad_epsilon = 0.0001f /* , conjgrad_lasterror=0 */ /* UNUSED */; - lfVector *q, *d, *tmp, *r; - float s, starget, a, s_prev; - unsigned int numverts = lA[0].vcount; - q = create_lfvector(numverts); - d = create_lfvector(numverts); - tmp = create_lfvector(numverts); - r = create_lfvector(numverts); - - // zero_lfvector(ldV, CLOTHPARTICLES); - filter(ldV, S); - - add_lfvector_lfvector(ldV, ldV, z, numverts); - - // r = B - Mul(tmp, A, X); // just use B if X known to be zero - cp_lfvector(r, lB, numverts); - mul_bfmatrix_lfvector(tmp, lA, ldV); - sub_lfvector_lfvector(r, r, tmp, numverts); - - filter(r, S); - - cp_lfvector(d, r, numverts); - - s = dot_lfvector(r, r, numverts); - starget = s * sqrtf(conjgrad_epsilon); - - while (s > starget && conjgrad_loopcount < conjgrad_looplimit) { - // Mul(q, A, d); // q = A*d; - mul_bfmatrix_lfvector(q, lA, d); - - filter(q, S); - - a = s / dot_lfvector(d, q, numverts); - - // X = X + d*a; - add_lfvector_lfvectorS(ldV, ldV, d, a, numverts); - - // r = r - q*a; - sub_lfvector_lfvectorS(r, r, q, a, numverts); - - s_prev = s; - s = dot_lfvector(r, r, numverts); - - //d = r+d*(s/s_prev); - add_lfvector_lfvectorS(d, r, d, (s / s_prev), numverts); - - filter(d, S); - - conjgrad_loopcount++; - } - /* conjgrad_lasterror = s; */ /* UNUSED */ - - del_lfvector(q); - del_lfvector(d); - del_lfvector(tmp); - del_lfvector(r); - // printf("W/O conjgrad_loopcount: %d\n", conjgrad_loopcount); - - return conjgrad_loopcount < - conjgrad_looplimit; // true means we reached desired accuracy in given time - ie stable -} -# endif - -static int cg_filtered(lfVector *ldV, - fmatrix3x3 *lA, - lfVector *lB, - lfVector *z, - fmatrix3x3 *S, - ImplicitSolverResult *result) -{ - // 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); - lfVector *r = create_lfvector(numverts); - lfVector *c = create_lfvector(numverts); - 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); - printf("==== z ====\n"); - print_lvector(z, numverts); - printf("==== B ====\n"); - print_lvector(lB, numverts); - 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++; - } - -# ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT - printf("==== dV ====\n"); - print_lvector(ldV, numverts); - printf("========\n"); -# endif - - del_lfvector(fB); - del_lfvector(AdV); - del_lfvector(r); - del_lfvector(c); - del_lfvector(q); - del_lfvector(s); - // printf("W/O conjgrad_loopcount: %d\n", conjgrad_loopcount); - - result->status = conjgrad_loopcount < conjgrad_looplimit ? BPH_SOLVER_SUCCESS : - BPH_SOLVER_NO_CONVERGENCE; - result->iterations = conjgrad_loopcount; - result->error = bnorm2 > 0.0f ? sqrtf(delta_new / bnorm2) : 0.0f; - - return conjgrad_loopcount < - conjgrad_looplimit; // true means we reached desired accuracy in given time - ie stable -} - -# if 0 -// block diagonalizer -DO_INLINE void BuildPPinv(fmatrix3x3 *lA, fmatrix3x3 *P, fmatrix3x3 *Pinv) -{ - unsigned int i = 0; - - // Take only the diagonal blocks of A - // #pragma omp parallel for private(i) if (lA[0].vcount > CLOTH_OPENMP_LIMIT) - for (i = 0; i < lA[0].vcount; i++) { - // block diagonalizer - cp_fmatrix(P[i].m, lA[i].m); - inverse_fmatrix(Pinv[i].m, P[i].m); - } -} - -# if 0 -// version 1.3 -static int cg_filtered_pre(lfVector *dv, - fmatrix3x3 *lA, - lfVector *lB, - lfVector *z, - fmatrix3x3 *S, - fmatrix3x3 *P, - fmatrix3x3 *Pinv) -{ - unsigned int numverts = lA[0].vcount, iterations = 0, conjgrad_looplimit = 100; - float delta0 = 0, deltaNew = 0, deltaOld = 0, alpha = 0; - float conjgrad_epsilon = 0.0001; // 0.2 is dt for steps=5 - lfVector *r = create_lfvector(numverts); - lfVector *p = create_lfvector(numverts); - lfVector *s = create_lfvector(numverts); - lfVector *h = create_lfvector(numverts); - - BuildPPinv(lA, P, Pinv); - - filter(dv, S); - add_lfvector_lfvector(dv, dv, z, numverts); - - mul_bfmatrix_lfvector(r, lA, dv); - sub_lfvector_lfvector(r, lB, r, numverts); - filter(r, S); - - mul_prevfmatrix_lfvector(p, Pinv, r); - filter(p, S); - - deltaNew = dot_lfvector(r, p, numverts); - - delta0 = deltaNew * sqrt(conjgrad_epsilon); - -# 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; -} -# endif - -// version 1.4 -static int cg_filtered_pre(lfVector *dv, - fmatrix3x3 *lA, - lfVector *lB, - lfVector *z, - fmatrix3x3 *S, - fmatrix3x3 *P, - fmatrix3x3 *Pinv, - fmatrix3x3 *bigI) -{ - unsigned int numverts = lA[0].vcount, iterations = 0, conjgrad_looplimit = 100; - float delta0 = 0, deltaNew = 0, deltaOld = 0, alpha = 0, tol = 0; - lfVector *r = create_lfvector(numverts); - lfVector *p = create_lfvector(numverts); - lfVector *s = create_lfvector(numverts); - lfVector *h = create_lfvector(numverts); - lfVector *bhat = create_lfvector(numverts); - lfVector *btemp = create_lfvector(numverts); - - BuildPPinv(lA, P, Pinv); - - initdiag_bfmatrix(bigI, I); - sub_bfmatrix_Smatrix(bigI, bigI, S); - - // x = Sx_0+(I-S)z - filter(dv, S); - add_lfvector_lfvector(dv, dv, z, numverts); - - // b_hat = S(b-A(I-S)z) - mul_bfmatrix_lfvector(r, lA, z); - mul_bfmatrix_lfvector(bhat, bigI, r); - sub_lfvector_lfvector(bhat, lB, bhat, numverts); - - // r = S(b-Ax) - mul_bfmatrix_lfvector(r, lA, dv); - sub_lfvector_lfvector(r, lB, r, numverts); - filter(r, S); - - // p = SP^-1r - mul_prevfmatrix_lfvector(p, Pinv, r); - filter(p, S); - - // delta0 = bhat^TP^-1bhat - mul_prevfmatrix_lfvector(btemp, Pinv, bhat); - delta0 = dot_lfvector(bhat, btemp, numverts); - - // deltaNew = r^TP - deltaNew = dot_lfvector(r, p, numverts); - -# if 0 - 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); -# endif - -# 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 - double end = PIL_check_seconds_timer(); - printf("cg_filtered_pre time: %f\n", (float)(end - start)); -# endif - - del_lfvector(btemp); - del_lfvector(bhat); - del_lfvector(h); - del_lfvector(s); - del_lfvector(p); - del_lfvector(r); - - // printf("iterations: %d\n", iterations); - - return iterations < conjgrad_looplimit; -} -# endif - -bool BPH_mass_spring_solve_velocities(Implicit_Data *data, float dt, ImplicitSolverResult *result) -{ - unsigned int numverts = data->dFdV[0].vcount; - - lfVector *dFdXmV = create_lfvector(numverts); - zero_lfvector(data->dV, numverts); - - cp_bfmatrix(data->A, data->M); - - subadd_bfmatrixS_bfmatrixS(data->A, data->dFdV, dt, data->dFdX, (dt * dt)); - - mul_bfmatrix_lfvector(dFdXmV, data->dFdX, data->V); - - add_lfvectorS_lfvectorS(data->B, data->F, dt, dFdXmV, (dt * dt), numverts); - -# ifdef DEBUG_TIME - double start = PIL_check_seconds_timer(); -# endif - - /* Conjugate gradient algorithm to solve Ax=b. */ - cg_filtered(data->dV, data->A, data->B, data->z, data->S, result); - - // cg_filtered_pre(id->dV, id->A, id->B, id->z, id->S, id->P, id->Pinv, id->bigI); - -# ifdef DEBUG_TIME - double end = PIL_check_seconds_timer(); - printf("cg_filtered calc time: %f\n", (float)(end - start)); -# endif - - // advance velocities - 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; -} - -void BPH_mass_spring_apply_result(Implicit_Data *data) -{ - int numverts = data->M[0].vcount; - cp_lfvector(data->X, data->Xnew, numverts); - cp_lfvector(data->V, data->Vnew, numverts); -} - -void BPH_mass_spring_set_vertex_mass(Implicit_Data *data, int index, float mass) -{ - unit_m3(data->M[index].m); - mul_m3_fl(data->M[index].m, mass); -} - -void BPH_mass_spring_set_rest_transform(Implicit_Data *data, int index, float tfm[3][3]) -{ -# ifdef CLOTH_ROOT_FRAME - copy_m3_m3(data->tfm[index].m, tfm); -# else - unit_m3(data->tfm[index].m); - (void)tfm; -# endif -} - -void BPH_mass_spring_set_motion_state(Implicit_Data *data, - int index, - const float x[3], - const float v[3]) -{ - world_to_root_v3(data, index, data->X[index], x); - world_to_root_v3(data, index, data->V[index], v); -} - -void BPH_mass_spring_set_position(Implicit_Data *data, int index, const float x[3]) -{ - world_to_root_v3(data, index, data->X[index], x); -} - -void BPH_mass_spring_set_velocity(Implicit_Data *data, int index, const float v[3]) -{ - world_to_root_v3(data, index, data->V[index], v); -} - -void BPH_mass_spring_get_motion_state(struct Implicit_Data *data, - int index, - float x[3], - float v[3]) -{ - if (x) { - root_to_world_v3(data, index, x, data->X[index]); - } - if (v) { - root_to_world_v3(data, index, v, data->V[index]); - } -} - -void BPH_mass_spring_get_position(struct Implicit_Data *data, int index, float x[3]) -{ - root_to_world_v3(data, index, x, data->X[index]); -} - -void BPH_mass_spring_get_velocity(struct Implicit_Data *data, int index, float v[3]) -{ - root_to_world_v3(data, index, v, data->V[index]); -} - -void BPH_mass_spring_get_new_position(struct Implicit_Data *data, int index, float x[3]) -{ - root_to_world_v3(data, index, x, data->Xnew[index]); -} - -void BPH_mass_spring_set_new_position(struct Implicit_Data *data, int index, const float x[3]) -{ - world_to_root_v3(data, index, data->Xnew[index], x); -} - -void BPH_mass_spring_get_new_velocity(struct Implicit_Data *data, int index, float v[3]) -{ - root_to_world_v3(data, index, v, data->Vnew[index]); -} - -void BPH_mass_spring_set_new_velocity(struct Implicit_Data *data, int index, const float v[3]) -{ - world_to_root_v3(data, index, data->Vnew[index], v); -} - -/* -------------------------------- */ - -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); - init_fmatrix(data->dFdX + s, v1, v2); - init_fmatrix(data->dFdV + s, v1, v2); - init_fmatrix(data->A + s, v1, v2); - init_fmatrix(data->P + s, v1, v2); - init_fmatrix(data->Pinv + s, v1, v2); - - return s; -} - -void BPH_mass_spring_clear_constraints(Implicit_Data *data) -{ - int i, numverts = data->S[0].vcount; - for (i = 0; i < numverts; i++) { - unit_m3(data->S[i].m); - zero_v3(data->z[i]); - } -} - -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); -} - -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); -} - -void BPH_mass_spring_clear_forces(Implicit_Data *data) -{ - int numverts = data->M[0].vcount; - zero_lfvector(data->F, numverts); - init_bfmatrix(data->dFdX, ZERO); - init_bfmatrix(data->dFdV, ZERO); - - data->num_blocks = 0; -} - -void BPH_mass_spring_force_reference_frame(Implicit_Data *data, - int index, - const float acceleration[3], - const float omega[3], - const float domega_dt[3], - float mass) -{ -# ifdef CLOTH_ROOT_FRAME - float acc[3], w[3], dwdt[3]; - 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); -# else - (void)data; - (void)index; - (void)acceleration; - (void)omega; - (void)domega_dt; -# endif -} - -void BPH_mass_spring_force_gravity(Implicit_Data *data, int index, float mass, const float g[3]) -{ - /* force = mass * acceleration (in this case: gravity) */ - float f[3]; - world_to_root_v3(data, index, f, g); - mul_v3_fl(f, mass); - - add_v3_v3(data->F[index], f); -} - -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); - } -} - -void BPH_mass_spring_force_extern( - struct Implicit_Data *data, int i, const float f[3], float dfdx[3][3], float dfdv[3][3]) -{ - float tf[3], tdfdx[3][3], tdfdv[3][3]; - 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); -} - -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) / 2.0f; -} - -/* XXX does not support force jacobians yet, since the effector system does not provide them either - */ -void BPH_mass_spring_force_face_wind( - Implicit_Data *data, int v1, int v2, int v3, const float (*winvec)[3]) -{ - const float effector_scale = 0.02f; - int vs[3] = {v1, v2, v3}; - float win[3], nor[3], area; - float factor, base_force; - float force[3]; - - /* calculate face normal and area */ - area = calc_nor_area_tri(nor, data->X[v1], data->X[v2], data->X[v3]); - /* The force is calculated and split up evenly for each of the three face verts */ - factor = effector_scale * area / 3.0f; - - /* Calculate wind pressure at each vertex by projecting the wind field on the normal. */ - for (int i = 0; i < 3; i++) { - world_to_root_v3(data, vs[i], win, winvec[vs[i]]); - - force[i] = dot_v3v3(win, nor); - } - - /* Compute per-vertex force values from local pressures. - * From integrating the pressure over the triangle and deriving - * equivalent vertex forces, it follows that: - * - * force[idx] = (sum(pressure) + pressure[idx]) * area / 12 - * - * Effectively, 1/4 of the pressure acts just on its vertex, - * while 3/4 is split evenly over all three. - */ - mul_v3_fl(force, factor / 4.0f); - - base_force = force[0] + force[1] + force[2]; - - /* add pressure to each of the face verts */ - madd_v3_v3fl(data->F[v1], nor, base_force + force[0]); - madd_v3_v3fl(data->F[v2], nor, base_force + force[1]); - madd_v3_v3fl(data->F[v3], nor, base_force + force[2]); -} - -void BPH_mass_spring_force_face_extern( - Implicit_Data *data, int v1, int v2, int v3, const float (*forcevec)[3]) -{ - const float effector_scale = 0.02f; - int vs[3] = {v1, v2, v3}; - float nor[3], area; - float factor, base_force[3]; - float force[3][3]; - - /* calculate face normal and area */ - area = calc_nor_area_tri(nor, data->X[v1], data->X[v2], data->X[v3]); - /* The force is calculated and split up evenly for each of the three face verts */ - factor = effector_scale * area / 3.0f; - - /* Compute common and per-vertex force vectors from the original inputs. */ - zero_v3(base_force); - - for (int i = 0; i < 3; i++) { - world_to_root_v3(data, vs[i], force[i], forcevec[vs[i]]); - - mul_v3_fl(force[i], factor / 4.0f); - add_v3_v3(base_force, force[i]); - } - - /* Apply the common and vertex components to all vertices. */ - for (int i = 0; i < 3; i++) { - add_v3_v3(force[i], base_force); - add_v3_v3(data->F[vs[i]], force[i]); - } -} - -float BPH_tri_tetra_volume_signed_6x(Implicit_Data *data, int v1, int v2, int v3) -{ - /* The result will be 6x the volume */ - return volume_tri_tetrahedron_signed_v3_6x(data->X[v1], data->X[v2], data->X[v3]); -} - -float BPH_tri_area(struct Implicit_Data *data, int v1, int v2, int v3) -{ - float nor[3]; - - return calc_nor_area_tri(nor, data->X[v1], data->X[v2], data->X[v3]); -} - -void BPH_mass_spring_force_pressure(Implicit_Data *data, - int v1, - int v2, - int v3, - float common_pressure, - const float *vertex_pressure, - const float weights[3]) -{ - float nor[3], area; - float factor, base_force; - float force[3]; - - /* calculate face normal and area */ - area = calc_nor_area_tri(nor, data->X[v1], data->X[v2], data->X[v3]); - /* The force is calculated and split up evenly for each of the three face verts */ - factor = area / 3.0f; - base_force = common_pressure * factor; - - /* Compute per-vertex force values from local pressures. - * From integrating the pressure over the triangle and deriving - * equivalent vertex forces, it follows that: - * - * force[idx] = (sum(pressure) + pressure[idx]) * area / 12 - * - * Effectively, 1/4 of the pressure acts just on its vertex, - * while 3/4 is split evenly over all three. - */ - if (vertex_pressure) { - copy_v3_fl3(force, vertex_pressure[v1], vertex_pressure[v2], vertex_pressure[v3]); - mul_v3_fl(force, factor / 4.0f); - - base_force += force[0] + force[1] + force[2]; - } - else { - zero_v3(force); - } - - /* add pressure to each of the face verts */ - madd_v3_v3fl(data->F[v1], nor, (base_force + force[0]) * weights[0]); - madd_v3_v3fl(data->F[v2], nor, (base_force + force[1]) * weights[1]); - madd_v3_v3fl(data->F[v3], nor, (base_force + force[2]) * weights[2]); -} - -static void edge_wind_vertex(const float dir[3], - float length, - float radius, - const float wind[3], - float f[3], - float UNUSED(dfdx[3][3]), - float UNUSED(dfdv[3][3])) -{ - 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); -} - -void BPH_mass_spring_force_edge_wind( - Implicit_Data *data, int v1, int v2, float radius1, float radius2, const float (*winvec)[3]) -{ - 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); -} - -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); -} - -BLI_INLINE void dfdx_spring(float to[3][3], const float dir[3], float length, float L, float k) -{ - // dir is unit length direction, rest is spring's restlength, k is spring constant. - // return ( (I-outerprod(dir, dir))*Min(1.0f, rest/length) - I) * -k; - outerproduct(to, dir, dir); - sub_m3_m3m3(to, I, to); - - mul_m3_fl(to, (L / length)); - sub_m3_m3m3(to, to, I); - mul_m3_fl(to, k); -} - -/* unused */ -# 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. - // return (I-outerprod(dir, dir)) * (-damping * -(dot(dir, vel)/Max(length, rest))); - mul_fvectorT_fvector(to, dir, dir); - sub_fmatrix_fmatrix(to, I, to); - mul_fmatrix_S(to, (-damping * -(dot_v3v3(dir, vel) / MAX2(length, rest)))); -} -# endif - -BLI_INLINE void dfdv_damp(float to[3][3], const float dir[3], float damping) -{ - // derivative of force wrt velocity - outerproduct(to, dir, dir); - mul_m3_fl(to, -damping); -} - -BLI_INLINE float fb(float length, float L) -{ - float x = length / L; - float xx = x * x; - float xxx = xx * x; - float xxxx = xxx * x; - return (-11.541f * xxxx + 34.193f * xxx - 39.083f * xx + 23.116f * x - 9.713f); -} - -BLI_INLINE float fbderiv(float length, float L) -{ - float x = length / L; - float xx = x * x; - float xxx = xx * x; - return (-46.164f * xxx + 102.579f * xx - 78.166f * x + 23.116f); -} - -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 { - return tempfb_fl; - } -} - -// function to calculae bending spring force (taken from Choi & Co) -BLI_INLINE float fbstar_jacobi(float length, float L, float kb, float cb) -{ - float tempfb_fl = kb * fb(length, L); - float fbstar_fl = cb * (length - L); - - if (tempfb_fl < fbstar_fl) { - return -cb; - } - else { - return -kb * fbderiv(length, L); - } -} - -/* calculate elonglation */ -BLI_INLINE bool spring_length(Implicit_Data *data, - int i, - int j, - float r_extent[3], - float r_dir[3], - float *r_length, - float r_vel[3]) -{ - 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 0 - if (length > L) { - if ((clmd->sim_parms->flags & CSIMSETT_FLAG_TEARING_ENABLED) && - (((length - L) * 100.0f / L) > clmd->sim_parms->maxspringlen)) { - // cut spring! - s->flags |= CSPRING_FLAG_DEACTIVATE; - return false; - } - } -# endif - mul_v3_v3fl(r_dir, r_extent, 1.0f / (*r_length)); - } - 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); -} - -bool BPH_mass_spring_force_spring_linear(Implicit_Data *data, - int i, - int j, - float restlen, - float stiffness_tension, - float damping_tension, - float stiffness_compression, - float damping_compression, - bool resist_compress, - bool new_compress, - float clamp_force) -{ - float extent[3], length, dir[3], vel[3]; - float f[3], dfdx[3][3], dfdv[3][3]; - float damping = 0; - - // calculate elonglation - spring_length(data, i, j, extent, dir, &length, vel); - - /* This code computes not only the force, but also its derivative. - * Zero derivative effectively disables the spring for the implicit solver. - * Thus length > restlen makes cloth unconstrained at the start of simulation. */ - if ((length >= restlen && length > 0) || resist_compress) { - float stretch_force; - - damping = damping_tension; - - stretch_force = stiffness_tension * (length - restlen); - if (clamp_force > 0.0f && stretch_force > clamp_force) { - stretch_force = clamp_force; - } - mul_v3_v3fl(f, dir, stretch_force); - - dfdx_spring(dfdx, dir, length, restlen, stiffness_tension); - } - else if (new_compress) { - /* This is based on the Choi and Ko bending model, - * which works surprisingly well for compression. */ - float kb = stiffness_compression; - float cb = kb; /* cb equal to kb seems to work, but a factor can be added if necessary */ - - damping = damping_compression; - - mul_v3_v3fl(f, dir, fbstar(length, restlen, kb, cb)); - - outerproduct(dfdx, dir, dir); - mul_m3_fl(dfdx, fbstar_jacobi(length, restlen, kb, cb)); - } - else { - return false; - } - - madd_v3_v3fl(f, dir, damping * dot_v3v3(vel, dir)); - dfdv_damp(dfdv, dir, damping); - - apply_spring(data, i, j, f, dfdx, dfdv); - - return true; -} - -/* See "Stable but Responsive Cloth" (Choi, Ko 2005) */ -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 { - return false; - } -} - -BLI_INLINE void poly_avg(lfVector *data, const int *inds, int len, float r_avg[3]) -{ - float fact = 1.0f / (float)len; - - zero_v3(r_avg); - - for (int i = 0; i < len; i++) { - madd_v3_v3fl(r_avg, data[inds[i]], fact); - } -} - -BLI_INLINE void poly_norm(lfVector *data, int i, int j, int *inds, int len, float r_dir[3]) -{ - float mid[3]; - - poly_avg(data, inds, len, mid); - - normal_tri_v3(r_dir, data[i], data[j], mid); -} - -BLI_INLINE void edge_avg(lfVector *data, int i, int j, float r_avg[3]) -{ - r_avg[0] = (data[i][0] + data[j][0]) * 0.5f; - r_avg[1] = (data[i][1] + data[j][1]) * 0.5f; - r_avg[2] = (data[i][2] + data[j][2]) * 0.5f; -} - -BLI_INLINE void edge_norm(lfVector *data, int i, int j, float r_dir[3]) -{ - sub_v3_v3v3(r_dir, data[i], data[j]); - normalize_v3(r_dir); -} - -BLI_INLINE float bend_angle(float dir_a[3], float dir_b[3], float dir_e[3]) -{ - float cos, sin; - float tmp[3]; - - cos = dot_v3v3(dir_a, dir_b); - - cross_v3_v3v3(tmp, dir_a, dir_b); - sin = dot_v3v3(tmp, dir_e); - - return atan2f(sin, cos); -} - -BLI_INLINE void spring_angle(Implicit_Data *data, - int i, - int j, - int *i_a, - int *i_b, - int len_a, - int len_b, - float r_dir_a[3], - float r_dir_b[3], - float *r_angle, - float r_vel_a[3], - float r_vel_b[3]) -{ - float dir_e[3], vel_e[3]; - - poly_norm(data->X, j, i, i_a, len_a, r_dir_a); - poly_norm(data->X, i, j, i_b, len_b, r_dir_b); - - edge_norm(data->X, i, j, dir_e); - - *r_angle = bend_angle(r_dir_a, r_dir_b, dir_e); - - poly_avg(data->V, i_a, len_a, r_vel_a); - poly_avg(data->V, i_b, len_b, r_vel_b); - - edge_avg(data->V, i, j, vel_e); - - sub_v3_v3(r_vel_a, vel_e); - sub_v3_v3(r_vel_b, vel_e); -} - -/* Angular springs roughly based on the bending model proposed by Baraff and Witkin in "Large Steps - * in Cloth Simulation". */ -bool BPH_mass_spring_force_spring_angular(Implicit_Data *data, - int i, - int j, - int *i_a, - int *i_b, - int len_a, - int len_b, - float restang, - float stiffness, - float damping) -{ - float angle, dir_a[3], dir_b[3], vel_a[3], vel_b[3]; - float f_a[3], f_b[3], f_e[3]; - float force; - int x; - - spring_angle(data, i, j, i_a, i_b, len_a, len_b, dir_a, dir_b, &angle, vel_a, vel_b); - - /* spring force */ - force = stiffness * (angle - restang); - - /* damping force */ - force += -damping * (dot_v3v3(vel_a, dir_a) + dot_v3v3(vel_b, dir_b)); - - mul_v3_v3fl(f_a, dir_a, force / len_a); - mul_v3_v3fl(f_b, dir_b, force / len_b); - - for (x = 0; x < len_a; x++) { - add_v3_v3(data->F[i_a[x]], f_a); - } - - for (x = 0; x < len_b; x++) { - add_v3_v3(data->F[i_b[x]], f_b); - } - - mul_v3_v3fl(f_a, dir_a, force * 0.5f); - mul_v3_v3fl(f_b, dir_b, force * 0.5f); - - add_v3_v3v3(f_e, f_a, f_b); - - sub_v3_v3(data->F[i], f_e); - sub_v3_v3(data->F[j], f_e); - - return true; -} - -/* Jacobian of a direction vector. - * Basically the part of the differential orthogonal to the direction, - * inversely proportional to the length of the edge. - * - * dD_ij/dx_i = -dD_ij/dx_j = (D_ij * D_ij^T - I) / len_ij - */ -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); - mul_m3_fl(grad_dir, 1.0f / length); - } - else { - zero_m3(grad_dir); - } -} - -BLI_INLINE void spring_hairbend_forces(Implicit_Data *data, - int i, - int j, - int k, - const float goal[3], - float stiffness, - float damping, - int q, - const float dx[3], - const float dv[3], - float r_f[3]) -{ - float edge_ij[3], dir_ij[3]; - float edge_jk[3], dir_jk[3]; - float vel_ij[3], vel_jk[3], vel_ortho[3]; - 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); -} - -/* Finite Differences method for estimating the jacobian of the force */ -BLI_INLINE void spring_hairbend_estimate_dfdx(Implicit_Data *data, - int i, - int j, - int k, - const float goal[3], - float stiffness, - float damping, - int q, - float dfdx[3][3]) -{ - const float delta = 0.00001f; // TODO find a good heuristic for this - 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_hairbend_forces( - data, i, j, k, goal, stiffness, damping, q, dvec_pos[a], dvec_null[a], f); - copy_v3_v3(dfdx[a], f); - - spring_hairbend_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; - } - } -} - -/* Finite Differences method for estimating the jacobian of the force */ -BLI_INLINE void spring_hairbend_estimate_dfdv(Implicit_Data *data, - int i, - int j, - int k, - const float goal[3], - float stiffness, - float damping, - int q, - float dfdv[3][3]) -{ - const float delta = 0.00001f; // TODO find a good heuristic for this - 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_hairbend_forces( - data, i, j, k, goal, stiffness, damping, q, dvec_null[a], dvec_pos[a], f); - copy_v3_v3(dfdv[a], f); - - spring_hairbend_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; - } - } -} - -/* Angular spring that pulls the vertex toward the local target - * See "Artistic Simulation of Curly Hair" (Pixar technical memo #12-03a) - */ -bool BPH_mass_spring_force_spring_bending_hair(Implicit_Data *data, - int i, - int j, - int k, - const float target[3], - float stiffness, - float damping) -{ - float goal[3]; - 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_hairbend_forces(data, i, j, k, goal, stiffness, damping, k, vecnull, vecnull, fk); - negate_v3_v3(fj, fk); /* counterforce */ - - spring_hairbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, i, dfk_dxi); - spring_hairbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, j, dfk_dxj); - spring_hairbend_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_hairbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, i, dfk_dvi); - spring_hairbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, j, dfk_dvj); - spring_hairbend_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); - - /* XXX analytical calculation of derivatives below is incorrect. - * This proved to be difficult, but for now just using the finite difference method for - * estimating the jacobians should be sufficient. - */ -# if 0 - float edge_ij[3], dir_ij[3], grad_dir_ij[3][3]; - float edge_jk[3], dir_jk[3], grad_dir_jk[3][3]; - float dist[3], vel_jk[3], vel_jk_ortho[3], projvel[3]; - float target[3]; - float tmp[3][3]; - 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); - zero_m3(dfi_dxi); - zero_m3(dfj_dxi); - 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; -} - -bool BPH_mass_spring_force_spring_goal(Implicit_Data *data, - int i, - const float goal_x[3], - const float goal_v[3], - float stiffness, - float damping) -{ - 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 { - return false; - } -} - -#endif /* IMPLICIT_SOLVER_BLENDER */ diff --git a/source/blender/physics/intern/implicit_eigen.cpp b/source/blender/physics/intern/implicit_eigen.cpp deleted file mode 100644 index 58538c13116..00000000000 --- a/source/blender/physics/intern/implicit_eigen.cpp +++ /dev/null @@ -1,1509 +0,0 @@ -/* - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) Blender Foundation - * All rights reserved. - */ - -/** \file - * \ingroup bph - */ - -#include "implicit.h" - -#ifdef IMPLICIT_SOLVER_EIGEN - -//#define USE_EIGEN_CORE -# define USE_EIGEN_CONSTRAINED_CG - -# ifdef __GNUC__ -# pragma GCC diagnostic push -/* XXX suppress verbose warnings in eigen */ -//# pragma GCC diagnostic ignored "-Wlogical-op" -# endif - -# ifndef IMPLICIT_ENABLE_EIGEN_DEBUG -# ifdef NDEBUG -# define IMPLICIT_NDEBUG -# endif -# define NDEBUG -# endif - -# include <Eigen/Sparse> -# include <Eigen/src/Core/util/DisableStupidWarnings.h> - -# ifdef USE_EIGEN_CONSTRAINED_CG -# include <intern/ConstrainedConjugateGradient.h> -# endif - -# ifndef IMPLICIT_ENABLE_EIGEN_DEBUG -# ifndef IMPLICIT_NDEBUG -# undef NDEBUG -# else -# undef IMPLICIT_NDEBUG -# endif -# endif - -# ifdef __GNUC__ -# pragma GCC diagnostic pop -# endif - -# include "MEM_guardedalloc.h" - -extern "C" { -# include "DNA_meshdata_types.h" -# include "DNA_object_force_types.h" -# include "DNA_object_types.h" -# include "DNA_scene_types.h" -# include "DNA_texture_types.h" - -# include "BLI_linklist.h" -# include "BLI_math.h" -# include "BLI_utildefines.h" - -# include "BKE_cloth.h" -# include "BKE_collision.h" -# include "BKE_effect.h" -# include "BKE_global.h" - -# include "BPH_mass_spring.h" -} - -typedef float Scalar; - -static float I[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; - -/* slightly extended Eigen vector class - * with conversion to/from plain C float array - */ -class fVector : public Eigen::Vector3f { - public: - typedef float *ctype; - - fVector() - { - } - - fVector(const ctype &v) - { - for (int k = 0; k < 3; k++) { - coeffRef(k) = v[k]; - } - } - - fVector &operator=(const ctype &v) - { - for (int k = 0; k < 3; k++) { - coeffRef(k) = v[k]; - } - return *this; - } - - operator ctype() - { - return data(); - } -}; - -/* slightly extended Eigen matrix class - * with conversion to/from plain C float array - */ -class fMatrix : public Eigen::Matrix3f { - public: - typedef float (*ctype)[3]; - - fMatrix() - { - } - - fMatrix(const ctype &v) - { - for (int k = 0; k < 3; k++) { - for (int l = 0; l < 3; l++) { - coeffRef(l, k) = v[k][l]; - } - } - } - - fMatrix &operator=(const ctype &v) - { - for (int k = 0; k < 3; k++) { - for (int l = 0; l < 3; l++) { - coeffRef(l, k) = v[k][l]; - } - } - return *this; - } - - operator ctype() - { - return (ctype)data(); - } -}; - -/* Extension of dense Eigen vectors, - * providing 3-float block access for blenlib math functions - */ -class lVector : public Eigen::VectorXf { - public: - typedef Eigen::VectorXf base_t; - - lVector() - { - } - - template<typename T> lVector &operator=(T rhs) - { - base_t::operator=(rhs); - return *this; - } - - float *v3(int vertex) - { - return &coeffRef(3 * vertex); - } - - const float *v3(int vertex) const - { - return &coeffRef(3 * vertex); - } -}; - -typedef Eigen::Triplet<Scalar> Triplet; -typedef std::vector<Triplet> TripletList; - -typedef Eigen::SparseMatrix<Scalar> lMatrix; - -/* Constructor type that provides more convenient handling of Eigen triplets - * for efficient construction of sparse 3x3 block matrices. - * This should be used for building lMatrix instead of writing to such lMatrix directly (which is - * very inefficient). After all elements have been defined using the set() method, the actual - * matrix can be filled using construct(). - */ -struct lMatrixCtor { - lMatrixCtor() - { - } - - void reset() - { - m_trips.clear(); - } - - void reserve(int numverts) - { - /* reserve for diagonal entries */ - m_trips.reserve(numverts * 9); - } - - void add(int i, int j, const fMatrix &m) - { - i *= 3; - j *= 3; - for (int k = 0; k < 3; k++) { - for (int l = 0; l < 3; l++) { - m_trips.push_back(Triplet(i + k, j + l, m.coeff(l, k))); - } - } - } - - void sub(int i, int j, const fMatrix &m) - { - i *= 3; - j *= 3; - for (int k = 0; k < 3; k++) { - for (int l = 0; l < 3; l++) { - m_trips.push_back(Triplet(i + k, j + l, -m.coeff(l, k))); - } - } - } - - inline void construct(lMatrix &m) - { - m.setFromTriplets(m_trips.begin(), m_trips.end()); - m_trips.clear(); - } - - private: - TripletList m_trips; -}; - -# ifdef USE_EIGEN_CORE -typedef Eigen::ConjugateGradient<lMatrix, Eigen::Lower, Eigen::DiagonalPreconditioner<Scalar>> - ConjugateGradient; -# endif -# ifdef USE_EIGEN_CONSTRAINED_CG -typedef Eigen::ConstrainedConjugateGradient<lMatrix, - Eigen::Lower, - lMatrix, - Eigen::DiagonalPreconditioner<Scalar>> - ConstraintConjGrad; -# endif -using Eigen::ComputationInfo; - -static void print_lvector(const lVector &v) -{ - for (int i = 0; i < v.rows(); i++) { - if (i > 0 && i % 3 == 0) { - printf("\n"); - } - - printf("%f,\n", v[i]); - } -} - -static void print_lmatrix(const lMatrix &m) -{ - for (int j = 0; j < m.rows(); j++) { - if (j > 0 && j % 3 == 0) { - printf("\n"); - } - - for (int i = 0; i < m.cols(); i++) { - if (i > 0 && i % 3 == 0) { - printf(" "); - } - - implicit_print_matrix_elem(m.coeff(j, i)); - } - printf("\n"); - } -} - -BLI_INLINE void lMatrix_reserve_elems(lMatrix &m, int num) -{ - m.reserve(Eigen::VectorXi::Constant(m.cols(), num)); -} - -BLI_INLINE float *lVector_v3(lVector &v, int vertex) -{ - return v.data() + 3 * vertex; -} - -BLI_INLINE const float *lVector_v3(const lVector &v, int vertex) -{ - return v.data() + 3 * vertex; -} - -# if 0 -BLI_INLINE void triplets_m3(TripletList &tlist, float m[3][3], int i, int j) -{ - i *= 3; - j *= 3; - for (int l = 0; l < 3; l++) { - for (int k = 0; k < 3; k++) { - tlist.push_back(Triplet(i + k, j + l, m[k][l])); - } - } -} - -BLI_INLINE void triplets_m3fl(TripletList &tlist, float m[3][3], int i, int j, float factor) -{ - i *= 3; - j *= 3; - for (int l = 0; l < 3; l++) { - for (int k = 0; k < 3; k++) { - tlist.push_back(Triplet(i + k, j + l, m[k][l] * factor)); - } - } -} - -BLI_INLINE void lMatrix_add_triplets(lMatrix &r, const TripletList &tlist) -{ - lMatrix t(r.rows(), r.cols()); - t.setFromTriplets(tlist.begin(), tlist.end()); - r += t; -} - -BLI_INLINE void lMatrix_madd_triplets(lMatrix &r, const TripletList &tlist, float f) -{ - lMatrix t(r.rows(), r.cols()); - t.setFromTriplets(tlist.begin(), tlist.end()); - r += f * t; -} - -BLI_INLINE void lMatrix_sub_triplets(lMatrix &r, const TripletList &tlist) -{ - lMatrix t(r.rows(), r.cols()); - t.setFromTriplets(tlist.begin(), tlist.end()); - r -= t; -} -# endif - -BLI_INLINE void outerproduct(float r[3][3], const float a[3], const float b[3]) -{ - mul_v3_v3fl(r[0], a, b[0]); - mul_v3_v3fl(r[1], a, b[1]); - mul_v3_v3fl(r[2], a, b[2]); -} - -BLI_INLINE void cross_m3_v3m3(float r[3][3], const float v[3], float m[3][3]) -{ - cross_v3_v3v3(r[0], v, m[0]); - cross_v3_v3v3(r[1], v, m[1]); - cross_v3_v3v3(r[2], v, m[2]); -} - -BLI_INLINE void cross_v3_identity(float r[3][3], const float v[3]) -{ - r[0][0] = 0.0f; - r[1][0] = v[2]; - r[2][0] = -v[1]; - r[0][1] = -v[2]; - r[1][1] = 0.0f; - r[2][1] = v[0]; - r[0][2] = v[1]; - r[1][2] = -v[0]; - r[2][2] = 0.0f; -} - -BLI_INLINE void madd_m3_m3fl(float r[3][3], float m[3][3], float f) -{ - r[0][0] += m[0][0] * f; - r[0][1] += m[0][1] * f; - r[0][2] += m[0][2] * f; - r[1][0] += m[1][0] * f; - r[1][1] += m[1][1] * f; - r[1][2] += m[1][2] * f; - r[2][0] += m[2][0] * f; - r[2][1] += m[2][1] * f; - r[2][2] += m[2][2] * f; -} - -BLI_INLINE void madd_m3_m3m3fl(float r[3][3], float a[3][3], float b[3][3], float f) -{ - r[0][0] = a[0][0] + b[0][0] * f; - r[0][1] = a[0][1] + b[0][1] * f; - r[0][2] = a[0][2] + b[0][2] * f; - r[1][0] = a[1][0] + b[1][0] * f; - r[1][1] = a[1][1] + b[1][1] * f; - r[1][2] = a[1][2] + b[1][2] * f; - r[2][0] = a[2][0] + b[2][0] * f; - r[2][1] = a[2][1] + b[2][1] * f; - r[2][2] = a[2][2] + b[2][2] * f; -} - -struct Implicit_Data { - typedef std::vector<fMatrix> fMatrixVector; - - Implicit_Data(int numverts) - { - resize(numverts); - } - - void resize(int numverts) - { - this->numverts = numverts; - int tot = 3 * numverts; - - M.resize(tot, tot); - F.resize(tot); - dFdX.resize(tot, tot); - dFdV.resize(tot, tot); - - tfm.resize(numverts, I); - - X.resize(tot); - Xnew.resize(tot); - V.resize(tot); - Vnew.resize(tot); - - A.resize(tot, tot); - B.resize(tot); - - dV.resize(tot); - z.resize(tot); - S.resize(tot, tot); - - iM.reserve(numverts); - idFdX.reserve(numverts); - idFdV.reserve(numverts); - iS.reserve(numverts); - } - - int numverts; - - /* inputs */ - lMatrix M; /* masses */ - lVector F; /* forces */ - lMatrix dFdX, dFdV; /* force jacobians */ - - fMatrixVector tfm; /* local coordinate transform */ - - /* motion state data */ - lVector X, Xnew; /* positions */ - lVector V, Vnew; /* velocities */ - - /* internal solver data */ - lVector B; /* B for A*dV = B */ - lMatrix A; /* A for A*dV = B */ - - lVector dV; /* velocity change (solution of A*dV = B) */ - lVector z; /* target velocity in constrained directions */ - lMatrix S; /* filtering matrix for constraints */ - - /* temporary constructors */ - lMatrixCtor iM; /* masses */ - lMatrixCtor idFdX, idFdV; /* force jacobians */ - lMatrixCtor iS; /* filtering matrix for constraints */ -}; - -Implicit_Data *BPH_mass_spring_solver_create(int numverts, int numsprings) -{ - Implicit_Data *id = new Implicit_Data(numverts); - return id; -} - -void BPH_mass_spring_solver_free(Implicit_Data *id) -{ - if (id) { - delete id; - } -} - -int BPH_mass_spring_solver_numvert(Implicit_Data *id) -{ - if (id) { - return id->numverts; - } - else { - return 0; - } -} - -/* ==== Transformation from/to root reference frames ==== */ - -BLI_INLINE void world_to_root_v3(Implicit_Data *data, int index, float r[3], const float v[3]) -{ - copy_v3_v3(r, v); - mul_transposed_m3_v3(data->tfm[index], r); -} - -BLI_INLINE void root_to_world_v3(Implicit_Data *data, int index, float r[3], const float v[3]) -{ - mul_v3_m3v3(r, data->tfm[index], v); -} - -BLI_INLINE void world_to_root_m3(Implicit_Data *data, int index, float r[3][3], float m[3][3]) -{ - float trot[3][3]; - copy_m3_m3(trot, data->tfm[index]); - transpose_m3(trot); - mul_m3_m3m3(r, trot, m); -} - -BLI_INLINE void root_to_world_m3(Implicit_Data *data, int index, float r[3][3], float m[3][3]) -{ - mul_m3_m3m3(r, data->tfm[index], m); -} - -/* ================================ */ - -bool BPH_mass_spring_solve_velocities(Implicit_Data *data, float dt, ImplicitSolverResult *result) -{ -# ifdef USE_EIGEN_CORE - typedef ConjugateGradient solver_t; -# endif -# ifdef USE_EIGEN_CONSTRAINED_CG - typedef ConstraintConjGrad solver_t; -# endif - - data->iM.construct(data->M); - data->idFdX.construct(data->dFdX); - data->idFdV.construct(data->dFdV); - data->iS.construct(data->S); - - solver_t cg; - cg.setMaxIterations(100); - cg.setTolerance(0.01f); - -# ifdef USE_EIGEN_CONSTRAINED_CG - cg.filter() = data->S; -# endif - - data->A = data->M - dt * data->dFdV - dt * dt * data->dFdX; - cg.compute(data->A); - - data->B = dt * data->F + dt * dt * data->dFdX * data->V; - -# ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT - printf("==== A ====\n"); - print_lmatrix(id->A); - printf("==== z ====\n"); - print_lvector(id->z); - printf("==== B ====\n"); - print_lvector(id->B); - printf("==== S ====\n"); - print_lmatrix(id->S); -# endif - -# ifdef USE_EIGEN_CORE - data->dV = cg.solve(data->B); -# endif -# ifdef USE_EIGEN_CONSTRAINED_CG - data->dV = cg.solveWithGuess(data->B, data->z); -# endif - -# ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT - printf("==== dV ====\n"); - print_lvector(id->dV); - printf("========\n"); -# endif - - data->Vnew = data->V + data->dV; - - switch (cg.info()) { - case Eigen::Success: - result->status = BPH_SOLVER_SUCCESS; - break; - case Eigen::NoConvergence: - result->status = BPH_SOLVER_NO_CONVERGENCE; - break; - case Eigen::InvalidInput: - result->status = BPH_SOLVER_INVALID_INPUT; - break; - case Eigen::NumericalIssue: - result->status = BPH_SOLVER_NUMERICAL_ISSUE; - break; - } - - result->iterations = cg.iterations(); - result->error = cg.error(); - - return cg.info() == Eigen::Success; -} - -bool BPH_mass_spring_solve_positions(Implicit_Data *data, float dt) -{ - data->Xnew = data->X + data->Vnew * dt; - return true; -} - -/* ================================ */ - -void BPH_mass_spring_apply_result(Implicit_Data *data) -{ - data->X = data->Xnew; - data->V = data->Vnew; -} - -void BPH_mass_spring_set_vertex_mass(Implicit_Data *data, int index, float mass) -{ - float m[3][3]; - copy_m3_m3(m, I); - mul_m3_fl(m, mass); - data->iM.add(index, index, m); -} - -void BPH_mass_spring_set_rest_transform(Implicit_Data *data, int index, float tfm[3][3]) -{ -# ifdef CLOTH_ROOT_FRAME - copy_m3_m3(data->tfm[index], tfm); -# else - unit_m3(data->tfm[index]); - (void)tfm; -# endif -} - -void BPH_mass_spring_set_motion_state(Implicit_Data *data, - int index, - const float x[3], - const float v[3]) -{ - world_to_root_v3(data, index, data->X.v3(index), x); - world_to_root_v3(data, index, data->V.v3(index), v); -} - -void BPH_mass_spring_set_position(Implicit_Data *data, int index, const float x[3]) -{ - world_to_root_v3(data, index, data->X.v3(index), x); -} - -void BPH_mass_spring_set_velocity(Implicit_Data *data, int index, const float v[3]) -{ - world_to_root_v3(data, index, data->V.v3(index), v); -} - -void BPH_mass_spring_get_motion_state(struct Implicit_Data *data, - int index, - float x[3], - float v[3]) -{ - if (x) { - root_to_world_v3(data, index, x, data->X.v3(index)); - } - if (v) { - root_to_world_v3(data, index, v, data->V.v3(index)); - } -} - -void BPH_mass_spring_get_position(struct Implicit_Data *data, int index, float x[3]) -{ - root_to_world_v3(data, index, x, data->X.v3(index)); -} - -void BPH_mass_spring_get_new_velocity(Implicit_Data *data, int index, float v[3]) -{ - root_to_world_v3(data, index, v, data->V.v3(index)); -} - -void BPH_mass_spring_set_new_velocity(Implicit_Data *data, int index, const float v[3]) -{ - world_to_root_v3(data, index, data->V.v3(index), v); -} - -void BPH_mass_spring_clear_constraints(Implicit_Data *data) -{ - int numverts = data->numverts; - for (int i = 0; i < numverts; i++) { - data->iS.add(i, i, I); - zero_v3(data->z.v3(i)); - } -} - -void BPH_mass_spring_add_constraint_ndof0(Implicit_Data *data, int index, const float dV[3]) -{ - data->iS.sub(index, index, I); - - world_to_root_v3(data, index, data->z.v3(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); - outerproduct(cmat, p, p); - copy_m3_m3(m, cmat); - - world_to_root_v3(data, index, q, c2); - outerproduct(cmat, q, q); - add_m3_m3m3(m, m, cmat); - - /* XXX not sure but multiplication should work here */ - data->iS.sub(index, index, 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.v3(index), u); -} - -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); - outerproduct(cmat, p, p); - copy_m3_m3(m, cmat); - - data->iS.sub(index, index, 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.v3(index), u); -} - -void BPH_mass_spring_clear_forces(Implicit_Data *data) -{ - data->F.setZero(); - data->dFdX.setZero(); - data->dFdV.setZero(); -} - -void BPH_mass_spring_force_reference_frame(Implicit_Data *data, - int index, - const float acceleration[3], - const float omega[3], - const float domega_dt[3], - float mass) -{ -# ifdef CLOTH_ROOT_FRAME - float acc[3], w[3], dwdt[3]; - 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.v3(index)); - cross_v3_v3v3(coriolis, w, data->V.v3(index)); - mul_v3_fl(coriolis, 2.0f); - cross_v3_v3v3(rotvel, w, data->X.v3(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.v3(index), f); - data->idFdX.add(index, index, dfdx); - data->idFdV.add(index, index, dfdv); -# else - (void)data; - (void)index; - (void)acceleration; - (void)omega; - (void)domega_dt; -# endif -} - -void BPH_mass_spring_force_gravity(Implicit_Data *data, int index, float mass, const float g[3]) -{ - /* force = mass * acceleration (in this case: gravity) */ - float f[3]; - world_to_root_v3(data, index, f, g); - mul_v3_fl(f, mass); - - add_v3_v3(data->F.v3(index), f); -} - -void BPH_mass_spring_force_drag(Implicit_Data *data, float drag) -{ - int numverts = data->numverts; - for (int i = 0; i < numverts; i++) { - float tmp[3][3]; - - /* NB: uses root space velocity, no need to transform */ - madd_v3_v3fl(data->F.v3(i), data->V.v3(i), -drag); - - copy_m3_m3(tmp, I); - mul_m3_fl(tmp, -drag); - data->idFdV.add(i, i, tmp); - } -} - -void BPH_mass_spring_force_extern( - struct Implicit_Data *data, int i, const float f[3], float dfdx[3][3], float dfdv[3][3]) -{ - float tf[3], tdfdx[3][3], tdfdv[3][3]; - 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.v3(i), tf); - data->idFdX.add(i, i, tdfdx); - data->idFdV.add(i, i, tdfdv); -} - -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) / 2.0f; -} - -/* XXX does not support force jacobians yet, - * since the effector system does not provide them either. */ -void BPH_mass_spring_force_face_wind( - Implicit_Data *data, int v1, int v2, int v3, const float (*winvec)[3]) -{ - 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.v3(v1), data->X.v3(v2), data->X.v3(v3)); - factor = effector_scale * area / 3.0f; - - world_to_root_v3(data, v1, win, winvec[v1]); - madd_v3_v3fl(data->F.v3(v1), nor, factor * dot_v3v3(win, nor)); - - world_to_root_v3(data, v2, win, winvec[v2]); - madd_v3_v3fl(data->F.v3(v2), nor, factor * dot_v3v3(win, nor)); - - world_to_root_v3(data, v3, win, winvec[v3]); - madd_v3_v3fl(data->F.v3(v3), nor, factor * dot_v3v3(win, nor)); -} - -void BPH_mass_spring_force_edge_wind(Implicit_Data *data, int v1, int v2, const float (*winvec)[3]) -{ - const float effector_scale = 0.01; - float win[3], dir[3], nor[3], length; - - sub_v3_v3v3(dir, data->X.v3(v1), data->X.v3(v2)); - length = normalize_v3(dir); - - world_to_root_v3(data, v1, win, winvec[v1]); - madd_v3_v3v3fl(nor, win, dir, -dot_v3v3(win, dir)); - madd_v3_v3fl(data->F.v3(v1), nor, effector_scale * length); - - world_to_root_v3(data, v2, win, winvec[v2]); - madd_v3_v3v3fl(nor, win, dir, -dot_v3v3(win, dir)); - madd_v3_v3fl(data->F.v3(v2), nor, effector_scale * length); -} - -BLI_INLINE void dfdx_spring(float to[3][3], const float dir[3], float length, float L, float k) -{ - /* dir is unit length direction, rest is spring's restlength, k is spring constant. */ - // return ((I - outerprod(dir, dir)) * Min(1.0f, rest / length) - I) * -k; - outerproduct(to, dir, dir); - sub_m3_m3m3(to, I, to); - - mul_m3_fl(to, (L / length)); - sub_m3_m3m3(to, to, I); - mul_m3_fl(to, k); -} - -/* unused */ -# 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. - // return (I-outerprod(dir, dir)) * (-damping * -(dot(dir, vel)/Max(length, rest))); - mul_fvectorT_fvector(to, dir, dir); - sub_fmatrix_fmatrix(to, I, to); - mul_fmatrix_S(to, (-damping * -(dot_v3v3(dir, vel) / MAX2(length, rest)))); -} -# endif - -BLI_INLINE void dfdv_damp(float to[3][3], const float dir[3], float damping) -{ - // derivative of force wrt velocity - outerproduct(to, dir, dir); - mul_m3_fl(to, -damping); -} - -BLI_INLINE float fb(float length, float L) -{ - float x = length / L; - return (-11.541f * powf(x, 4) + 34.193f * powf(x, 3) - 39.083f * powf(x, 2) + 23.116f * x - - 9.713f); -} - -BLI_INLINE float fbderiv(float length, float L) -{ - float x = length / L; - - return (-46.164f * powf(x, 3) + 102.579f * powf(x, 2) - 78.166f * x + 23.116f); -} - -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 { - return tempfb_fl; - } -} - -// function to calculae bending spring force (taken from Choi & Co) -BLI_INLINE float fbstar_jacobi(float length, float L, float kb, float cb) -{ - float tempfb_fl = kb * fb(length, L); - float fbstar_fl = cb * (length - L); - - if (tempfb_fl < fbstar_fl) { - return -cb; - } - else { - return -kb * fbderiv(length, L); - } -} - -/* calculate elonglation */ -BLI_INLINE bool spring_length(Implicit_Data *data, - int i, - int j, - float r_extent[3], - float r_dir[3], - float *r_length, - float r_vel[3]) -{ - sub_v3_v3v3(r_extent, data->X.v3(j), data->X.v3(i)); - sub_v3_v3v3(r_vel, data->V.v3(j), data->V.v3(i)); - *r_length = len_v3(r_extent); - - if (*r_length > ALMOST_ZERO) { -# if 0 - if (length > L) { - if ((clmd->sim_parms->flags & CSIMSETT_FLAG_TEARING_ENABLED) && - (((length - L) * 100.0f / L) > clmd->sim_parms->maxspringlen)) { - // cut spring! - s->flags |= CSPRING_FLAG_DEACTIVATE; - return false; - } - } -# endif - mul_v3_v3fl(r_dir, r_extent, 1.0f / (*r_length)); - } - 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]) -{ - add_v3_v3(data->F.v3(i), f); - sub_v3_v3(data->F.v3(j), f); - - data->idFdX.add(i, i, dfdx); - data->idFdX.add(j, j, dfdx); - data->idFdX.sub(i, j, dfdx); - data->idFdX.sub(j, i, dfdx); - - data->idFdV.add(i, i, dfdv); - data->idFdV.add(j, j, dfdv); - data->idFdV.sub(i, j, dfdv); - data->idFdV.sub(j, i, dfdv); -} - -bool BPH_mass_spring_force_spring_linear(Implicit_Data *data, - int i, - int j, - float restlen, - float stiffness, - float damping, - bool no_compress, - float clamp_force, - float r_f[3], - float r_dfdx[3][3], - float r_dfdv[3][3]) -{ - float extent[3], length, dir[3], vel[3]; - - // calculate elonglation - spring_length(data, i, j, extent, dir, &length, vel); - - if (length > restlen || 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); - - if (r_f) { - copy_v3_v3(r_f, f); - } - if (r_dfdx) { - copy_m3_m3(r_dfdx, dfdx); - } - if (r_dfdv) { - copy_m3_m3(r_dfdv, dfdv); - } - - return true; - } - else { - if (r_f) { - zero_v3(r_f); - } - if (r_dfdx) { - zero_m3(r_dfdx); - } - if (r_dfdv) { - zero_m3(r_dfdv); - } - - return false; - } -} - -/* See "Stable but Responsive Cloth" (Choi, Ko 2005) */ -bool BPH_mass_spring_force_spring_bending(Implicit_Data *data, - int i, - int j, - float restlen, - float kb, - float cb, - float r_f[3], - float r_dfdx[3][3], - float r_dfdv[3][3]) -{ - 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); - - if (r_f) { - copy_v3_v3(r_f, f); - } - if (r_dfdx) { - copy_m3_m3(r_dfdx, dfdx); - } - if (r_dfdv) { - copy_m3_m3(r_dfdv, dfdv); - } - - return true; - } - else { - if (r_f) { - zero_v3(r_f); - } - if (r_dfdx) { - zero_m3(r_dfdx); - } - if (r_dfdv) { - zero_m3(r_dfdv); - } - - return false; - } -} - -/* Jacobian of a direction vector. - * Basically the part of the differential orthogonal to the direction, - * inversely proportional to the length of the edge. - * - * dD_ij/dx_i = -dD_ij/dx_j = (D_ij * D_ij^T - I) / len_ij - */ -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.v3(j), data->X.v3(i)); - length = normalize_v3_v3(dir, edge); - - if (length > ALMOST_ZERO) { - outerproduct(grad_dir, dir, dir); - sub_m3_m3m3(grad_dir, I, grad_dir); - mul_m3_fl(grad_dir, 1.0f / length); - } - else { - zero_m3(grad_dir); - } -} - -BLI_INLINE void spring_angbend_forces(Implicit_Data *data, - int i, - int j, - int k, - const float goal[3], - float stiffness, - float damping, - int q, - const float dx[3], - const float dv[3], - float r_f[3]) -{ - float edge_ij[3], dir_ij[3]; - float edge_jk[3], dir_jk[3]; - float vel_ij[3], vel_jk[3], vel_ortho[3]; - float f_bend[3], f_damp[3]; - float fk[3]; - float dist[3]; - - zero_v3(fk); - - sub_v3_v3v3(edge_ij, data->X.v3(j), data->X.v3(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.v3(k), data->X.v3(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.v3(j), data->V.v3(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.v3(k), data->V.v3(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); -} - -/* Finite Differences method for estimating the jacobian of the force */ -BLI_INLINE void spring_angbend_estimate_dfdx(Implicit_Data *data, - int i, - int j, - int k, - const float goal[3], - float stiffness, - float damping, - int q, - float dfdx[3][3]) -{ - const float delta = 0.00001f; // TODO find a good heuristic for this - 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; - } - } -} - -/* Finite Differences method for estimating the jacobian of the force */ -BLI_INLINE void spring_angbend_estimate_dfdv(Implicit_Data *data, - int i, - int j, - int k, - const float goal[3], - float stiffness, - float damping, - int q, - float dfdv[3][3]) -{ - const float delta = 0.00001f; // TODO find a good heuristic for this - 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; - } - } -} - -/* Angular spring that pulls the vertex toward the local target - * See "Artistic Simulation of Curly Hair" (Pixar technical memo #12-03a) - */ -bool BPH_mass_spring_force_spring_bending_angular(Implicit_Data *data, - int i, - int j, - int k, - const float target[3], - float stiffness, - float damping) -{ - float goal[3]; - 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}; - - 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.v3(j), fj); - add_v3_v3(data->F.v3(k), fk); - - data->idFdX.add(j, j, dfj_dxj); - data->idFdX.add(k, k, dfk_dxk); - - data->idFdX.add(i, j, dfj_dxi); - data->idFdX.add(j, i, dfj_dxi); - data->idFdX.add(j, k, dfk_dxj); - data->idFdX.add(k, j, dfk_dxj); - data->idFdX.add(i, k, dfk_dxi); - data->idFdX.add(k, i, dfk_dxi); - - data->idFdV.add(j, j, dfj_dvj); - data->idFdV.add(k, k, dfk_dvk); - - data->idFdV.add(i, j, dfj_dvi); - data->idFdV.add(j, i, dfj_dvi); - data->idFdV.add(j, k, dfk_dvj); - data->idFdV.add(k, j, dfk_dvj); - data->idFdV.add(i, k, dfk_dvi); - data->idFdV.add(k, i, dfk_dvi); - - /* XXX analytical calculation of derivatives below is incorrect. - * This proved to be difficult, but for now just using the finite difference method for - * estimating the jacobians should be sufficient. - */ -# if 0 - float edge_ij[3], dir_ij[3], grad_dir_ij[3][3]; - float edge_jk[3], dir_jk[3], grad_dir_jk[3][3]; - float dist[3], vel_jk[3], vel_jk_ortho[3], projvel[3]; - float target[3]; - float tmp[3][3]; - 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); - zero_m3(dfi_dxi); - zero_m3(dfj_dxi); - 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; -} - -bool BPH_mass_spring_force_spring_goal(Implicit_Data *data, - int i, - const float goal_x[3], - const float goal_v[3], - float stiffness, - float damping, - float r_f[3], - float r_dfdx[3][3], - float r_dfdv[3][3]) -{ - 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.v3(i)); - sub_v3_v3v3(vel, root_goal_v, data->V.v3(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.v3(i), f); - data->idFdX.add(i, i, dfdx); - data->idFdV.add(i, i, dfdv); - - if (r_f) { - copy_v3_v3(r_f, f); - } - if (r_dfdx) { - copy_m3_m3(r_dfdx, dfdx); - } - if (r_dfdv) { - copy_m3_m3(r_dfdv, dfdv); - } - - return true; - } - else { - if (r_f) { - zero_v3(r_f); - } - if (r_dfdx) { - zero_m3(r_dfdx); - } - if (r_dfdv) { - zero_m3(r_dfdv); - } - - return false; - } -} - -#endif /* IMPLICIT_SOLVER_EIGEN */ |