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Added back the velocity smoothing implementation.

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This is now also decoupled from the internal solver data. The grid is
created as an opaque structure, filled with vertex or collider data
(todo), and then forces can be calculated by interpolating the grid at
random locations. These forces and derivatives are then fed into the
solver.
This commit is contained in:
Lukas Tönne
2014-09-16 20:44:25 +02:00
parent a8cf092160
commit 8876429edd
4 changed files with 212 additions and 122 deletions
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27
source/blender/physics/intern/implicit_blender.c
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@@ -764,6 +764,21 @@ BLI_INLINE void direction_root_to_world(Implicit_Data *data, int index, float r[
mul_v3_m3v3(r, root->rot, v);
}
BLI_INLINE void matrix_world_to_root(Implicit_Data *data, int index, float r[3][3], float m[3][3])
{
RootTransform *root = &data->root[index];
float trot[3][3];
copy_m3_m3(trot, root->rot);
transpose_m3(trot);
mul_m3_m3m3(r, trot, m);
}
BLI_INLINE void matrix_root_to_world(Implicit_Data *data, int index, float r[3][3], float m[3][3])
{
RootTransform *root = &data->root[index];
mul_m3_m3m3(r, root->rot, m);
}
/* ================================ */
DO_INLINE void filter(lfVector *V, fmatrix3x3 *S)
@@ -1367,6 +1382,18 @@ void BPH_mass_spring_force_drag(Implicit_Data *data, float drag)
}
}
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];
direction_world_to_root(data, i, tf, f);
matrix_world_to_root(data, i, tdfdx, dfdx);
matrix_world_to_root(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];