/* * 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. */ #pragma once /** \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 SIM_mass_spring_set_vertex_mass(struct Implicit_Data *data, int index, float mass); void SIM_mass_spring_set_rest_transform(struct Implicit_Data *data, int index, float tfm[3][3]); void SIM_mass_spring_set_motion_state(struct Implicit_Data *data, int index, const float x[3], const float v[3]); void SIM_mass_spring_set_position(struct Implicit_Data *data, int index, const float x[3]); void SIM_mass_spring_set_velocity(struct Implicit_Data *data, int index, const float v[3]); void SIM_mass_spring_get_motion_state(struct Implicit_Data *data, int index, float x[3], float v[3]); void SIM_mass_spring_get_position(struct Implicit_Data *data, int index, float x[3]); void SIM_mass_spring_get_velocity(struct Implicit_Data *data, int index, float v[3]); /* access to modified motion state during solver step */ void SIM_mass_spring_get_new_position(struct Implicit_Data *data, int index, float x[3]); void SIM_mass_spring_set_new_position(struct Implicit_Data *data, int index, const float x[3]); void SIM_mass_spring_get_new_velocity(struct Implicit_Data *data, int index, float v[3]); void SIM_mass_spring_set_new_velocity(struct Implicit_Data *data, int index, const float v[3]); void SIM_mass_spring_clear_constraints(struct Implicit_Data *data); void SIM_mass_spring_add_constraint_ndof0(struct Implicit_Data *data, int index, const float dV[3]); void SIM_mass_spring_add_constraint_ndof1(struct Implicit_Data *data, int index, const float c1[3], const float c2[3], const float dV[3]); void SIM_mass_spring_add_constraint_ndof2(struct Implicit_Data *data, int index, const float c1[3], const float dV[3]); bool SIM_mass_spring_solve_velocities(struct Implicit_Data *data, float dt, struct ImplicitSolverResult *result); bool SIM_mass_spring_solve_positions(struct Implicit_Data *data, float dt); void SIM_mass_spring_apply_result(struct Implicit_Data *data); /* Clear the force vector at the beginning of the time step */ void SIM_mass_spring_clear_forces(struct Implicit_Data *data); /* Fictitious forces introduced by moving coordinate systems */ void SIM_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 SIM_mass_spring_force_gravity(struct Implicit_Data *data, int index, float mass, const float g[3]); /* Global drag force (velocity damping) */ void SIM_mass_spring_force_drag(struct Implicit_Data *data, float drag); /* Custom external force */ void SIM_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 SIM_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 SIM_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 SIM_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 SIM_mass_spring_force_vertex_wind(struct Implicit_Data *data, int v, float radius, const float (*winvec)[3]); /* Linear spring force between two points */ bool SIM_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 SIM_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 SIM_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 SIM_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 SIM_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 SIM_tri_tetra_volume_signed_6x(struct Implicit_Data *data, int v1, int v2, int v3); float SIM_tri_area(struct Implicit_Data *data, int v1, int v2, int v3); void SIM_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 *SIM_hair_volume_create_vertex_grid(float cellsize, const float gmin[3], const float gmax[3]); void SIM_hair_volume_free_vertex_grid(struct HairGrid *grid); void SIM_hair_volume_grid_geometry( struct HairGrid *grid, float *cellsize, int res[3], float gmin[3], float gmax[3]); void SIM_hair_volume_grid_clear(struct HairGrid *grid); void SIM_hair_volume_add_vertex(struct HairGrid *grid, const float x[3], const float v[3]); void SIM_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 SIM_hair_volume_normalize_vertex_grid(struct HairGrid *grid); bool SIM_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 SIM_hair_volume_vertex_grid_filter_box(struct HairVertexGrid *grid, int kernel_size); #endif void SIM_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 SIM_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 SIM_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