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--bug fix (own collection)

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face collision did overreact on dagger edges
This commit is contained in:
Jens Ole Wund(bjornmose)
2008-01-31 23:00:08 +00:00
parent c931ceeaf7
commit 2fc05a1f38
2 changed files with 194 additions and 46 deletions
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2
source/blender/blenkernel/BKE_softbody.h
View File

@@ -43,7 +43,7 @@ typedef struct BodyPoint {
float prevpos[3], prevvec[3], prevdx[3], prevdv[3]; /* used for Heun integration */
float impdv[3],impdx[3];
int nofsprings; int *springs;
float choke;
float choke,choke2,frozen;
float colball;
short flag;
char octantflag;

238
source/blender/blenkernel/intern/softbody.c
View File

@@ -106,7 +106,7 @@ typedef struct BodySpring {
typedef struct BodyFace {
int v1, v2, v3 ,v4;
float ext_force[3]; /* edges colliding and sailing */
float ext_force[3]; /* faces colliding */
short flag;
} BodyFace;
@@ -135,7 +135,9 @@ typedef struct SBScratch {
#define BSF_INTERSECT 1 /* edge intersects collider face */
#define SBF_DOFUZZY 1 /* edge intersects collider face */
#define BFF_INTERSECT 1 /* edge intersects collider face */
#define BFF_INTERSECT 1 /* collider edge intrudes face */
#define BFF_CLOSEVERT 2 /* collider vertex repulses face */
float SoftHeunTol = 1.0f; /* humm .. this should be calculated from sb parameters and sizes */
@@ -892,6 +894,8 @@ static void renew_softbody(Object *ob, int totpoint, int totspring)
bp->nofsprings= 0;
bp->springs= NULL;
bp->choke = 0.0f;
bp->choke2 = 0.0f;
bp->frozen = 1.0f;
bp->colball = 0.0f;
bp->flag = 0;
@@ -1110,6 +1114,103 @@ int sb_detect_aabb_collisionCached( float force[3], unsigned int par_layer,struc
/* +++ the face external section*/
int sb_detect_face_pointCached(float face_v1[3],float face_v2[3],float face_v3[3],float *damp,
float force[3], unsigned int par_layer,struct Object *vertexowner,float time)
{
Object *ob;
GHash *hash;
GHashIterator *ihash;
float nv1[3], edge1[3], edge2[3], d_nvect[3], aabbmin[3],aabbmax[3];
float facedist,outerfacethickness,tune = 10.f;
int a, deflected=0;
aabbmin[0] = MIN3(face_v1[0],face_v2[0],face_v3[0]);
aabbmin[1] = MIN3(face_v1[1],face_v2[1],face_v3[1]);
aabbmin[2] = MIN3(face_v1[2],face_v2[2],face_v3[2]);
aabbmax[0] = MAX3(face_v1[0],face_v2[0],face_v3[0]);
aabbmax[1] = MAX3(face_v1[1],face_v2[1],face_v3[1]);
aabbmax[2] = MAX3(face_v1[2],face_v2[2],face_v3[2]);
/* calculate face normal once again SIGH */
VECSUB(edge1, face_v1, face_v2);
VECSUB(edge2, face_v3, face_v2);
Crossf(d_nvect, edge2, edge1);
Normalize(d_nvect);
hash = vertexowner->soft->scratch->colliderhash;
ihash = BLI_ghashIterator_new(hash);
while (!BLI_ghashIterator_isDone(ihash) ) {
ccd_Mesh *ccdm = BLI_ghashIterator_getValue (ihash);
ob = BLI_ghashIterator_getKey (ihash);
/* only with deflecting set */
if(ob->pd && ob->pd->deflect) {
MVert *mvert= NULL;
MVert *mprevvert= NULL;
if(ccdm){
mvert= ccdm->mvert;
a = ccdm->totvert;
mprevvert= ccdm->mprevvert;
outerfacethickness =ob->pd->pdef_sboft;
if ((aabbmax[0] < ccdm->bbmin[0]) ||
(aabbmax[1] < ccdm->bbmin[1]) ||
(aabbmax[2] < ccdm->bbmin[2]) ||
(aabbmin[0] > ccdm->bbmax[0]) ||
(aabbmin[1] > ccdm->bbmax[1]) ||
(aabbmin[2] > ccdm->bbmax[2]) ) {
/* boxes dont intersect */
BLI_ghashIterator_step(ihash);
continue;
}
}
else{
/*aye that should be cached*/
printf("missing cache error \n");
BLI_ghashIterator_step(ihash);
continue;
}
/* use mesh*/
if (mvert) {
while(a){
VECCOPY(nv1,mvert[a-1].co);
if(mprevvert){
VecMulf(nv1,time);
Vec3PlusStVec(nv1,(1.0f-time),mprevvert[a-1].co);
}
/* origin to face_v2*/
VECSUB(nv1, nv1, face_v2);
facedist = Inpf(nv1,d_nvect);
if (ABS(facedist)<outerfacethickness){
if (point_in_tri_prism(nv1, face_v1,face_v2,face_v3) ){
float df;
if (facedist > 0){
df = (outerfacethickness-facedist)/outerfacethickness;
}
else {
df = (outerfacethickness+facedist)/outerfacethickness;
}
*damp=df*tune*ob->pd->pdef_sbdamp;
df = 0.01f*exp(- 100.0f*df);
Vec3PlusStVec(force,-df,d_nvect);
deflected = 3;
}
}
a--;
}/* while(a)*/
} /* if (mvert) */
} /* if(ob->pd && ob->pd->deflect) */
BLI_ghashIterator_step(ihash);
} /* while () */
BLI_ghashIterator_free(ihash);
return deflected;
}
int sb_detect_face_collisionCached(float face_v1[3],float face_v2[3],float face_v3[3],float *damp,
float force[3], unsigned int par_layer,struct Object *vertexowner,float time)
@@ -1118,7 +1219,7 @@ int sb_detect_face_collisionCached(float face_v1[3],float face_v2[3],float face_
GHash *hash;
GHashIterator *ihash;
float nv1[3], nv2[3], nv3[3], nv4[3], edge1[3], edge2[3], d_nvect[3], aabbmin[3],aabbmax[3];
float t;
float t,tune = 10.0f;
int a, deflected=0;
aabbmin[0] = MIN3(face_v1[0],face_v2[0],face_v3[0]);
@@ -1217,8 +1318,8 @@ int sb_detect_face_collisionCached(float face_v1[3],float face_v2[3],float face_
LineIntersectsTriangle(nv1, nv2, face_v1, face_v2, face_v3, &t, NULL) ||
LineIntersectsTriangle(nv2, nv3, face_v1, face_v2, face_v3, &t, NULL) ||
LineIntersectsTriangle(nv3, nv1, face_v1, face_v2, face_v3, &t, NULL) ){
Vec3PlusStVec(force,-1.0f,d_nvect);
*damp=ob->pd->pdef_sbdamp;
Vec3PlusStVec(force,-0.5f,d_nvect);
*damp=tune*ob->pd->pdef_sbdamp;
deflected = 2;
}
if (mface->v4){ /* quad */
@@ -1228,11 +1329,12 @@ int sb_detect_face_collisionCached(float face_v1[3],float face_v2[3],float face_
Crossf(d_nvect, edge2, edge1);
Normalize(d_nvect);
if (
LineIntersectsTriangle(nv1, nv3, face_v1, face_v2, face_v3, &t, NULL) ||
/* LineIntersectsTriangle(nv1, nv3, face_v1, face_v2, face_v3, &t, NULL) ||
we did that edge allready */
LineIntersectsTriangle(nv3, nv4, face_v1, face_v2, face_v3, &t, NULL) ||
LineIntersectsTriangle(nv4, nv1, face_v1, face_v2, face_v3, &t, NULL) ){
Vec3PlusStVec(force,-1.0f,d_nvect);
*damp=ob->pd->pdef_sbdamp;
Vec3PlusStVec(force,-0.5f,d_nvect);
*damp=tune*ob->pd->pdef_sbdamp;
deflected = 2;
}
}
@@ -1253,7 +1355,7 @@ void scan_for_ext_face_forces(Object *ob,float timenow)
SoftBody *sb = ob->soft;
BodyFace *bf;
int a;
float damp;
float damp=0.0f,choke=1.0f;
float tune = -10.0f;
float feedback[3];
@@ -1263,43 +1365,71 @@ void scan_for_ext_face_forces(Object *ob,float timenow)
bf = sb->scratch->bodyface;
for(a=0; a<sb->scratch->totface; a++, bf++) {
bf->ext_force[0]=bf->ext_force[1]=bf->ext_force[2]=0.0f;
/*+++edges intruding*/
bf->flag &= ~BFF_INTERSECT;
feedback[0]=feedback[1]=feedback[2]=0.0f;
bf->flag &= ~BFF_INTERSECT;
if (sb_detect_face_collisionCached(sb->bpoint[bf->v1].pos,sb->bpoint[bf->v2].pos, sb->bpoint[bf->v3].pos,
&damp, feedback, ob->lay ,ob , timenow)){
Vec3PlusStVec(bf->ext_force,tune,feedback);
Vec3PlusStVec(sb->bpoint[bf->v1].force,tune,feedback);
Vec3PlusStVec(sb->bpoint[bf->v2].force,tune,feedback);
Vec3PlusStVec(sb->bpoint[bf->v3].force,tune,feedback);
// Vec3PlusStVec(bf->ext_force,tune,feedback);
bf->flag |= BFF_INTERSECT;
choke = MIN2(MAX2(damp,choke),1.0f);
}
feedback[0]=feedback[1]=feedback[2]=0.0f;
if ((bf->v4) && (sb_detect_face_collisionCached(sb->bpoint[bf->v1].pos,sb->bpoint[bf->v3].pos, sb->bpoint[bf->v4].pos,
&damp, feedback, ob->lay ,ob , timenow))){
Vec3PlusStVec(bf->ext_force,tune,feedback);
bf->flag |= BFF_INTERSECT;
Vec3PlusStVec(sb->bpoint[bf->v1].force,tune,feedback);
Vec3PlusStVec(sb->bpoint[bf->v3].force,tune,feedback);
Vec3PlusStVec(sb->bpoint[bf->v4].force,tune,feedback);
// Vec3PlusStVec(bf->ext_force,tune,feedback);
bf->flag |= BFF_INTERSECT;
choke = MIN2(MAX2(damp,choke),1.0f);
}
}
/*---edges intruding*/
bf = sb->scratch->bodyface;
for(a=0; a<sb->scratch->totface; a++, bf++) {
if ( bf->flag & BFF_INTERSECT)
{
VECADD(sb->bpoint[bf->v1].force,sb->bpoint[bf->v1].force,bf->ext_force);
VECADD(sb->bpoint[bf->v2].force,sb->bpoint[bf->v2].force,bf->ext_force);
VECADD(sb->bpoint[bf->v3].force,sb->bpoint[bf->v3].force,bf->ext_force);
if (bf->v4){
VECADD(sb->bpoint[bf->v4].force,sb->bpoint[bf->v4].force,bf->ext_force);
/*+++ close vertices*/
if (( bf->flag & BFF_INTERSECT)==0){
bf->flag &= ~BFF_CLOSEVERT;
tune = -1.0f;
feedback[0]=feedback[1]=feedback[2]=0.0f;
if (sb_detect_face_pointCached(sb->bpoint[bf->v1].pos,sb->bpoint[bf->v2].pos, sb->bpoint[bf->v3].pos,
&damp, feedback, ob->lay ,ob , timenow)){
Vec3PlusStVec(sb->bpoint[bf->v1].force,tune,feedback);
Vec3PlusStVec(sb->bpoint[bf->v2].force,tune,feedback);
Vec3PlusStVec(sb->bpoint[bf->v3].force,tune,feedback);
// Vec3PlusStVec(bf->ext_force,tune,feedback);
bf->flag |= BFF_CLOSEVERT;
choke = MIN2(MAX2(damp,choke),1.0f);
}
feedback[0]=feedback[1]=feedback[2]=0.0f;
if ((bf->v4) && (sb_detect_face_pointCached(sb->bpoint[bf->v1].pos,sb->bpoint[bf->v3].pos, sb->bpoint[bf->v4].pos,
&damp, feedback, ob->lay ,ob , timenow))){
Vec3PlusStVec(sb->bpoint[bf->v1].force,tune,feedback);
Vec3PlusStVec(sb->bpoint[bf->v3].force,tune,feedback);
Vec3PlusStVec(sb->bpoint[bf->v4].force,tune,feedback);
// Vec3PlusStVec(bf->ext_force,tune,feedback);
bf->flag |= BFF_CLOSEVERT;
choke = MIN2(MAX2(damp,choke),1.0f);
}
}
/*--- close vertices*/
}
bf = sb->scratch->bodyface;
for(a=0; a<sb->scratch->totface; a++, bf++) {
if (( bf->flag & BFF_INTERSECT) || ( bf->flag & BFF_CLOSEVERT))
{
sb->bpoint[bf->v1].choke2=MAX2(sb->bpoint[bf->v1].choke2,choke);
sb->bpoint[bf->v2].choke2=MAX2(sb->bpoint[bf->v2].choke2,choke);
sb->bpoint[bf->v3].choke2=MAX2(sb->bpoint[bf->v3].choke2,choke);
if (bf->v4){
sb->bpoint[bf->v2].choke2=MAX2(sb->bpoint[bf->v2].choke2,choke);
}
}
}
}
}
@@ -2458,6 +2588,7 @@ static void softbody_calc_forces(Object *ob, float forcetime, float timenow, int
}
/* +++cached collision targets */
bp->choke = 0.0f;
bp->choke2 = 0.0f;
bp->flag &= ~SBF_DOFUZZY;
if(do_deflector) {
float cfforce[3],defforce[3] ={0.0f,0.0f,0.0f}, vel[3] = {0.0f,0.0f,0.0f}, facenormal[3], cf = 1.0f,intrusion;
@@ -2671,6 +2802,11 @@ static void softbody_apply_fake_implicit_forces(Object *ob, float forcetime, flo
dx[1]*=(1.0f - bp->choke);
dx[2]*=(1.0f - bp->choke);
}
if (bp->choke2 > 0.0f){
dx[0]*=(1.0f - bp->choke2);
dx[1]*=(1.0f - bp->choke2);
dx[2]*=(1.0f - bp->choke2);
}
/* should be possible to get more out of the matrix inversion
@@ -2725,7 +2861,7 @@ static void softbody_apply_forces(Object *ob, float forcetime, int mode, float *
SoftBody *sb= ob->soft; /* is supposed to be there */
BodyPoint *bp;
float dx[3],dv[3],aabbmin[3],aabbmax[3],cm[3]={0.0f,0.0f,0.0f};
float timeovermass;
float timeovermass,freezeloc=0.00001f,freezeforce=0.00000000001f;
float maxerrpos= 0.0f,maxerrvel = 0.0f;
int a,fuzzy=0;
@@ -2740,15 +2876,14 @@ static void softbody_apply_forces(Object *ob, float forcetime, int mode, float *
for(a=sb->totpoint, bp= sb->bpoint; a>0; a--, bp++) {
if(bp->goal < SOFTGOALSNAP){
if(mid_flags & MID_PRESERVE) VECCOPY(dx,bp->vec);
/* this makes t~ = t */
if(mid_flags & MID_PRESERVE) VECCOPY(dx,bp->vec);
/* so here is (v)' = a(cceleration) = sum(F_springs)/m + gravitation + some friction forces + more forces*/
/* the ( ... )' operator denotes derivate respective time */
/* the euler step for velocity then becomes */
/* v(t + dt) = v(t) + a(t) * dt */
bp->force[0]*= timeovermass; /* individual mass of node here */
bp->force[1]*= timeovermass;
bp->force[2]*= timeovermass;
VecMulf(bp->force,timeovermass);/* individual mass of node here */
/* some nasty if's to have heun in here too */
VECCOPY(dv,bp->force);
@@ -2769,13 +2904,25 @@ static void softbody_apply_forces(Object *ob, float forcetime, int mode, float *
}
else {VECADD(bp->vec, bp->vec, bp->force);}
/* this makes t~ = t+dt */
if(!(mid_flags & MID_PRESERVE)) VECCOPY(dx,bp->vec);
/* so here is (x)'= v(elocity) */
/* the euler step for location then becomes */
/* x(t + dt) = x(t) + v(t) * dt */
if(!(mid_flags & MID_PRESERVE)) VECCOPY(dx,bp->vec);
dx[0]*=forcetime;
dx[1]*=forcetime;
dx[2]*=forcetime;
/* x(t + dt) = x(t) + v(t~) * dt */
VecMulf(dx,forcetime);
/* the freezer */
/* disable slip stich for now
if ((Inpf(dx,dx)<freezeloc )&&(Inpf(bp->force,bp->force)<freezeforce )){
bp->frozen /=2;
}
else{
bp->frozen =MIN2(bp->frozen*1.05f,1.0f);
}
VecMulf(dx,bp->frozen);
*/
/* again some nasty if's to have heun in here too */
if (mode ==1){
VECCOPY(bp->prevpos,bp->pos);
@@ -2785,7 +2932,7 @@ static void softbody_apply_forces(Object *ob, float forcetime, int mode, float *
if (mode ==2){
bp->pos[0] = bp->prevpos[0] + 0.5f * ( dx[0] + bp->prevdx[0]);
bp->pos[1] = bp->prevpos[1] + 0.5f * ( dx[1] + bp->prevdx[1]);
bp->pos[2] = bp->prevpos[2] + 0.5f* ( dx[2] + bp->prevdx[2]);
bp->pos[2] = bp->prevpos[2] + 0.5f * ( dx[2] + bp->prevdx[2]);
maxerrpos = MAX2(maxerrpos,ABS(dx[0] - bp->prevdx[0]));
maxerrpos = MAX2(maxerrpos,ABS(dx[1] - bp->prevdx[1]));
maxerrpos = MAX2(maxerrpos,ABS(dx[2] - bp->prevdx[2]));
@@ -2794,10 +2941,11 @@ static void softbody_apply_forces(Object *ob, float forcetime, int mode, float *
the collider object signals to get out by pushing hard. on the other hand
we don't want to end up in deep space so we add some <viscosity>
to balance that out */
if (bp->choke2 > 0.0f){
VecMulf(bp->vec,(1.0f - bp->choke2));
}
if (bp->choke > 0.0f){
bp->vec[0] = bp->vec[0]*(1.0f - bp->choke);
bp->vec[1] = bp->vec[1]*(1.0f - bp->choke);
bp->vec[2] = bp->vec[2]*(1.0f - bp->choke);
VecMulf(bp->vec,(1.0f - bp->choke));
}
}