diff options
Diffstat (limited to 'source/blender')
-rw-r--r-- | source/blender/blenkernel/BKE_cloth.h | 5 | ||||
-rw-r--r-- | source/blender/blenkernel/intern/cloth.c | 99 | ||||
-rw-r--r-- | source/blender/blenkernel/intern/particle_system.c | 21 | ||||
-rw-r--r-- | source/blender/physics/intern/BPH_mass_spring.cpp | 11 | ||||
-rw-r--r-- | source/blender/physics/intern/implicit.h | 2 | ||||
-rw-r--r-- | source/blender/physics/intern/implicit_blender.c | 83 |
6 files changed, 124 insertions, 97 deletions
diff --git a/source/blender/blenkernel/BKE_cloth.h b/source/blender/blenkernel/BKE_cloth.h index 8a2477aaa15..2a1741d1941 100644 --- a/source/blender/blenkernel/BKE_cloth.h +++ b/source/blender/blenkernel/BKE_cloth.h @@ -149,9 +149,6 @@ typedef struct ClothSpring { /* angular bending spring target and derivatives */ float target[3]; - float dtarget_dxij[3][3]; - float dtarget_dxkl[3][3]; - float dtarget_dxmn[3][3]; } ClothSpring; @@ -251,7 +248,7 @@ void cloth_clear_cache (struct Object *ob, struct ClothModifierData *clmd, float // needed for cloth.c int cloth_add_spring (struct ClothModifierData *clmd, unsigned int indexA, unsigned int indexB, float restlength, int spring_type); -void cloth_parallel_transport_hair_frame(float mat[3][3], float dir_old[3], const float x_cur[3], const float x_new[3]); +void cloth_parallel_transport_hair_frame(float mat[3][3], const float dir_old[3], const float dir_new[3]); //////////////////////////////////////////////// diff --git a/source/blender/blenkernel/intern/cloth.c b/source/blender/blenkernel/intern/cloth.c index a6df9942158..7768149bc12 100644 --- a/source/blender/blenkernel/intern/cloth.c +++ b/source/blender/blenkernel/intern/cloth.c @@ -1106,7 +1106,7 @@ static void cloth_update_bending_targets(ClothModifierData *clmd) Cloth *cloth = clmd->clothObject; ClothSpring *spring; LinkNode *search = NULL; - float hair_frame[3][3], dir[3]; + float hair_frame[3][3], dir_old[3], dir_new[3]; bool is_root; /* XXX Note: we need to propagate frames from the root up, @@ -1119,7 +1119,7 @@ static void cloth_update_bending_targets(ClothModifierData *clmd) is_root = true; for (search = cloth->springs; search; search = search->next) { - ClothHairRoot *hair_info; + ClothHairRoot *hair_ij, *hair_kl; spring = search->link; if (spring->type != CLOTH_SPRING_TYPE_BENDING_ANG) { @@ -1127,20 +1127,23 @@ static void cloth_update_bending_targets(ClothModifierData *clmd) continue; } - hair_info = &clmd->roots[spring->kl]; + hair_ij = &clmd->roots[spring->ij]; + hair_kl = &clmd->roots[spring->kl]; if (is_root) { /* initial hair frame from root orientation */ - copy_m3_m3(hair_frame, hair_info->rot); + copy_m3_m3(hair_frame, hair_ij->rot); /* surface normal is the initial direction, * parallel transport then keeps it aligned to the hair direction */ - copy_v3_v3(dir, hair_frame[2]); + copy_v3_v3(dir_new, hair_frame[2]); } - /* move frame to next hair segment */ - cloth_parallel_transport_hair_frame(hair_frame, dir, cloth->verts[spring->kl].x, cloth->verts[spring->mn].x); + copy_v3_v3(dir_old, dir_new); + sub_v3_v3v3(dir_new, cloth->verts[spring->mn].x, cloth->verts[spring->kl].x); + normalize_v3(dir_new); - if (clmd->debug_data) { +#if 1 + if (clmd->debug_data && (spring->ij == 0 || spring->ij == 1)) { float a[3], b[3]; copy_v3_v3(a, cloth->verts[spring->kl].x); @@ -1155,13 +1158,69 @@ static void cloth_update_bending_targets(ClothModifierData *clmd) mul_v3_v3fl(b, hair_frame[2], clmd->sim_parms->avg_spring_len); BKE_sim_debug_data_add_vector(clmd->debug_data, a, b, 0, 0, 1, "frames", hash_vertex(8249, hash_int_2d(spring->kl, spring->mn))); } +#endif + + /* get local targets for kl/mn vertices by putting rest targets into the current frame, + * then multiply with the rest length to get the actual goals + */ + + mul_v3_m3v3(spring->target, hair_frame, hair_kl->rest_target); + mul_v3_fl(spring->target, spring->restlen); + + /* move frame to next hair segment */ + cloth_parallel_transport_hair_frame(hair_frame, dir_old, dir_new); + + is_root = false; /* next bending spring not connected to root */ + } +} + +static void cloth_update_bending_rest_targets(ClothModifierData *clmd) +{ + Cloth *cloth = clmd->clothObject; + ClothSpring *spring; + LinkNode *search = NULL; + float hair_frame[3][3], dir_old[3], dir_new[3]; + bool is_root; + + /* XXX Note: we need to propagate frames from the root up, + * but structural hair springs are stored in reverse order. + * The bending springs however are then inserted in the same + * order as vertices again ... + * This messy situation can be resolved when solver data is + * generated directly from a dedicated hair system. + */ + + is_root = true; + for (search = cloth->springs; search; search = search->next) { + ClothHairRoot *hair_ij, *hair_kl; + + spring = search->link; + if (spring->type != CLOTH_SPRING_TYPE_BENDING_ANG) { + is_root = true; /* next bending spring connects to root */ + continue; + } - /* get target direction by putting rest target into the current frame */ - mul_v3_m3v3(spring->target, hair_frame, hair_info->rest_target); - /* XXX TODO */ - zero_m3(spring->dtarget_dxij); - zero_m3(spring->dtarget_dxkl); - zero_m3(spring->dtarget_dxmn); + hair_ij = &clmd->roots[spring->ij]; + hair_kl = &clmd->roots[spring->kl]; + if (is_root) { + /* initial hair frame from root orientation */ + copy_m3_m3(hair_frame, hair_ij->rot); + /* surface normal is the initial direction, + * parallel transport then keeps it aligned to the hair direction + */ + copy_v3_v3(dir_new, hair_frame[2]); + } + + copy_v3_v3(dir_old, dir_new); + sub_v3_v3v3(dir_new, cloth->verts[spring->mn].xrest, cloth->verts[spring->kl].xrest); + normalize_v3(dir_new); + + /* dir expressed in the hair frame defines the rest target direction */ + copy_v3_v3(hair_kl->rest_target, dir_new); + mul_transposed_m3_v3(hair_frame, hair_kl->rest_target); + + /* move frame to next hair segment */ + cloth_parallel_transport_hair_frame(hair_frame, dir_old, dir_new); is_root = false; /* next bending spring not connected to root */ } @@ -1232,23 +1291,15 @@ BLI_INLINE void madd_m3_m3fl(float r[3][3], float m[3][3], float f) r[2][2] += m[2][2] * f; } -void cloth_parallel_transport_hair_frame(float mat[3][3], float dir_old[3], const float x_cur[3], const float x_new[3]) +void cloth_parallel_transport_hair_frame(float mat[3][3], const float dir_old[3], const float dir_new[3]) { - float dir_new[3]; float rot[3][3]; - /* next segment direction */ - sub_v3_v3v3(dir_new, x_new, x_cur); - normalize_v3(dir_new); - /* rotation between segments */ rotation_between_vecs_to_mat3(rot, dir_old, dir_new); /* rotate the frame */ mul_m3_m3m3(mat, rot, mat); - - /* advance old variables */ - copy_v3_v3(dir_old, dir_new); } static int cloth_build_springs ( ClothModifierData *clmd, DerivedMesh *dm ) @@ -1491,6 +1542,8 @@ static int cloth_build_springs ( ClothModifierData *clmd, DerivedMesh *dm ) search2 = search2->next; } } + + cloth_update_bending_rest_targets(clmd); } /* note: the edges may already exist so run reinsert */ diff --git a/source/blender/blenkernel/intern/particle_system.c b/source/blender/blenkernel/intern/particle_system.c index 661e0c5c1be..a840b740068 100644 --- a/source/blender/blenkernel/intern/particle_system.c +++ b/source/blender/blenkernel/intern/particle_system.c @@ -4083,7 +4083,7 @@ static void do_hair_dynamics(ParticleSimulationData *sim) /* make vgroup for pin roots etc.. */ psys->particles->hair_index = 1; LOOP_PARTICLES { - float root_mat[4][4], hair_frame[3][3], dir[3]; + float root_mat[4][4]; bool use_hair = psys_hair_use_simulation(pa, max_length); if (p) @@ -4093,13 +4093,6 @@ static void do_hair_dynamics(ParticleSimulationData *sim) mul_m4_m4m4(root_mat, sim->ob->obmat, hairmat); normalize_m4(root_mat); - /* initial hair frame from root orientation */ - copy_m3_m4(hair_frame, root_mat); - /* surface normal is the initial direction, - * parallel transport then keeps it aligned to the hair direction - */ - copy_v3_v3(dir, hair_frame[2]); - for (k=0, key=pa->hair; k<pa->totkey; k++,key++) { ClothHairRoot *root; @@ -4111,10 +4104,6 @@ static void do_hair_dynamics(ParticleSimulationData *sim) copy_v3_v3(root->loc, root_mat[3]); copy_m3_m4(root->rot, root_mat); - /* dir expressed in the hair frame defines the rest target direction */ - copy_v3_v3(root->rest_target, dir); - mul_transposed_m3_v3(hair_frame, root->rest_target); - sub_v3_v3v3(temp, key->co, (key+1)->co); copy_v3_v3(mvert->co, key->co); add_v3_v3v3(mvert->co, mvert->co, temp); @@ -4133,14 +4122,6 @@ static void do_hair_dynamics(ParticleSimulationData *sim) copy_v3_v3(root->loc, root_mat[3]); copy_m3_m4(root->rot, root_mat); - if (k < pa->totkey-1) - /* move frame to next hair segment */ - cloth_parallel_transport_hair_frame(hair_frame, dir, key->co, (key+1)->co); - - /* dir expressed in the hair frame defines the rest target direction */ - copy_v3_v3(root->rest_target, dir); - mul_transposed_m3_v3(hair_frame, root->rest_target); - copy_v3_v3(mvert->co, key->co); mul_m4_v3(hairmat, mvert->co); mvert++; diff --git a/source/blender/physics/intern/BPH_mass_spring.cpp b/source/blender/physics/intern/BPH_mass_spring.cpp index 458a8f27ee7..89e9447f345 100644 --- a/source/blender/physics/intern/BPH_mass_spring.cpp +++ b/source/blender/physics/intern/BPH_mass_spring.cpp @@ -425,13 +425,18 @@ BLI_INLINE void cloth_calc_spring_force(ClothModifierData *clmd, ClothSpring *s, cb = kb = scaling / (20.0f * (parms->avg_spring_len + FLT_EPSILON)); /* XXX assuming same restlen for ij and jk segments here, this can be done correctly for hair later */ - BPH_mass_spring_force_spring_bending_angular(data, s->ij, s->kl, s->mn, s->matrix_ij_kl, s->matrix_kl_mn, s->matrix_ij_mn, s->restlen, s->restlen, kb, cb); + BPH_mass_spring_force_spring_bending_angular(data, s->ij, s->kl, s->mn, s->matrix_ij_kl, s->matrix_kl_mn, s->matrix_ij_mn, s->target, kb, cb); { float x[3], v[3], d[3]; + BPH_mass_spring_get_motion_state(data, s->kl, x, v); - mul_v3_v3fl(d, s->target, clmd->sim_parms->avg_spring_len); - BKE_sim_debug_data_add_vector(clmd->debug_data, x, d, 0.4, 0.4, 1, "target", hash_vertex(7982, s->kl)); + + copy_v3_v3(d, s->target); + BKE_sim_debug_data_add_vector(clmd->debug_data, x, d, 0.8, 0.8, 0.2, "target", hash_vertex(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", hash_vertex(7983, s->kl)); } #endif } diff --git a/source/blender/physics/intern/implicit.h b/source/blender/physics/intern/implicit.h index dd91d09cbb9..40b6174e250 100644 --- a/source/blender/physics/intern/implicit.h +++ b/source/blender/physics/intern/implicit.h @@ -152,7 +152,7 @@ bool BPH_mass_spring_force_spring_bending(struct Implicit_Data *data, int i, int float r_f[3], float r_dfdx[3][3], float r_dfdv[3][3]); /* Angular bending force based on local target vectors */ bool BPH_mass_spring_force_spring_bending_angular(struct Implicit_Data *data, int i, int j, int k, int block_ij, int block_jk, int block_ik, - float restlen_ij, float restlen_jk, float stiffness, float damping); + const float target[3], float stiffness, float damping); /* Global goal spring */ bool BPH_mass_spring_force_spring_goal(struct Implicit_Data *data, int i, int spring_index, const float goal_x[3], const float goal_v[3], float stiffness, float damping, diff --git a/source/blender/physics/intern/implicit_blender.c b/source/blender/physics/intern/implicit_blender.c index 0fd46b79aa0..7a4ff5581b0 100644 --- a/source/blender/physics/intern/implicit_blender.c +++ b/source/blender/physics/intern/implicit_blender.c @@ -1670,7 +1670,8 @@ BLI_INLINE void spring_grad_dir(Implicit_Data *data, int i, int j, float edge[3] } BLI_INLINE void spring_angbend_forces(Implicit_Data *data, int i, int j, int k, - float restlen_ij, float restlen_jk, float stiffness, float damping, + const float goal[3], + float stiffness, float damping, int p, int q, const float dx[3], const float dv[3], float r_f[3]) { @@ -1679,7 +1680,7 @@ BLI_INLINE void spring_angbend_forces(Implicit_Data *data, int i, int j, int k, float vel_ij[3], vel_jk[3], vel_ortho[3]; float f_bend[3], f_damp[3]; float fi[3], fj[3], fk[3]; - float target[3], dist[3]; + float dist[3]; zero_v3(fi); zero_v3(fj); @@ -1703,33 +1704,14 @@ BLI_INLINE void spring_angbend_forces(Implicit_Data *data, int i, int j, int k, if (q == j) sub_v3_v3(vel_jk, dv); if (q == k) add_v3_v3(vel_jk, dv); - /* XXX fi(x) == fk(x) 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. - */ - /* bending force */ - mul_v3_v3fl(target, dir_jk, restlen_ij); - sub_v3_v3v3(dist, target, edge_ij); - mul_v3_v3fl(f_bend, dist, stiffness); - - sub_v3_v3(fi, f_bend); - add_v3_v3(fj, f_bend); - - mul_v3_v3fl(target, dir_ij, restlen_jk); - sub_v3_v3v3(dist, target, edge_jk); + sub_v3_v3v3(dist, goal, edge_jk); mul_v3_v3fl(f_bend, dist, stiffness); sub_v3_v3(fj, f_bend); add_v3_v3(fk, f_bend); /* damping force */ - madd_v3_v3v3fl(vel_ortho, vel_ij, dir_ij, -dot_v3v3(vel_ij, dir_ij)); - mul_v3_v3fl(f_damp, vel_ortho, damping); - - add_v3_v3(fi, f_damp); - sub_v3_v3(fj, f_damp); - madd_v3_v3v3fl(vel_ortho, vel_jk, dir_jk, -dot_v3v3(vel_jk, dir_jk)); mul_v3_v3fl(f_damp, vel_ortho, damping); @@ -1746,7 +1728,8 @@ BLI_INLINE void spring_angbend_forces(Implicit_Data *data, int i, int j, int k, /* 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, - float restlen_ij, float restlen_jk, float stiffness, float damping, + const float goal[3], + float stiffness, float damping, int q, int p, float dfdx[3][3]) { const float delta = 0.00001f; // TODO find a good heuristic for this @@ -1760,12 +1743,14 @@ BLI_INLINE void spring_angbend_estimate_dfdx(Implicit_Data *data, int i, int j, 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, restlen_ij, restlen_jk, stiffness, damping, + spring_angbend_forces(data, i, j, k, goal, stiffness, damping, q, p, dvec_pos[a], dvec_null[a], f); copy_v3_v3(dfdx[a], f); - spring_angbend_forces(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, + spring_angbend_forces(data, i, j, k, goal, stiffness, damping, q, p, dvec_neg[a], dvec_null[a], f); sub_v3_v3(dfdx[a], f); @@ -1777,7 +1762,8 @@ BLI_INLINE void spring_angbend_estimate_dfdx(Implicit_Data *data, int i, int j, /* 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, - float restlen_ij, float restlen_jk, float stiffness, float damping, + const float goal[3], + float stiffness, float damping, int q, int p, float dfdv[3][3]) { const float delta = 0.00001f; // TODO find a good heuristic for this @@ -1791,12 +1777,14 @@ BLI_INLINE void spring_angbend_estimate_dfdv(Implicit_Data *data, int i, int j, 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, restlen_ij, restlen_jk, stiffness, damping, + spring_angbend_forces(data, i, j, k, goal, stiffness, damping, q, p, dvec_null[a], dvec_pos[a], f); copy_v3_v3(dfdv[a], f); - spring_angbend_forces(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, + spring_angbend_forces(data, i, j, k, goal, stiffness, damping, q, p, dvec_null[a], dvec_neg[a], f); sub_v3_v3(dfdv[a], f); @@ -1810,31 +1798,34 @@ BLI_INLINE void spring_angbend_estimate_dfdv(Implicit_Data *data, int i, int j, * 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, int block_ij, int block_jk, int block_ik, - float restlen_ij, float restlen_jk, float stiffness, float damping) + const float target[3], float stiffness, float damping) { + float goal[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 dfi_dvi[3][3], 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}; - spring_angbend_forces(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, i, -1, vecnull, vecnull, fi); - spring_angbend_forces(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, j, -1, vecnull, vecnull, fj); - spring_angbend_forces(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, k, -1, vecnull, vecnull, fk); - - spring_angbend_estimate_dfdx(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, i, i, dfi_dxi); - spring_angbend_estimate_dfdx(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, j, i, dfj_dxi); - spring_angbend_estimate_dfdx(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, j, j, dfj_dxj); - spring_angbend_estimate_dfdx(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, k, i, dfk_dxi); - spring_angbend_estimate_dfdx(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, k, j, dfk_dxj); - spring_angbend_estimate_dfdx(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, k, k, dfk_dxk); - - spring_angbend_estimate_dfdv(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, i, i, dfi_dvi); - spring_angbend_estimate_dfdv(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, j, i, dfj_dvi); - spring_angbend_estimate_dfdv(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, j, j, dfj_dvj); - spring_angbend_estimate_dfdv(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, k, i, dfk_dvi); - spring_angbend_estimate_dfdv(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, k, j, dfk_dvj); - spring_angbend_estimate_dfdv(data, i, j, k, restlen_ij, restlen_jk, stiffness, damping, k, k, dfk_dvk); + world_to_root_v3(data, j, goal, target); + + spring_angbend_forces(data, i, j, k, goal, stiffness, damping, i, -1, vecnull, vecnull, fi); + spring_angbend_forces(data, i, j, k, goal, stiffness, damping, j, -1, vecnull, vecnull, fj); + spring_angbend_forces(data, i, j, k, goal, stiffness, damping, k, -1, vecnull, vecnull, fk); + + spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, i, i, dfi_dxi); + spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, j, i, dfj_dxi); + spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, j, j, dfj_dxj); + spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, k, i, dfk_dxi); + spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, k, j, dfk_dxj); + spring_angbend_estimate_dfdx(data, i, j, k, goal, stiffness, damping, k, k, dfk_dxk); + + spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, i, i, dfi_dvi); + spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, j, i, dfj_dvi); + spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, j, j, dfj_dvj); + spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, k, i, dfk_dvi); + spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, k, j, dfk_dvj); + spring_angbend_estimate_dfdv(data, i, j, k, goal, stiffness, damping, k, k, dfk_dvk); /* add forces and jacobians to the solver data */ add_v3_v3(data->F[i], fi); |