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-= Collisions =-

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Getting some weird results on moving fast edges. This is a backup commit, will try another thing
This commit is contained in:
Daniel Genrich
2008-05-29 14:23:08 +00:00
parent 6a802f63b6
commit f1d54f892b
1 changed files with 66 additions and 61 deletions
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127
source/blender/blenkernel/intern/collision.c
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@@ -388,8 +388,8 @@ int cloth_get_collision_time ( double a[3], double b[3], double c[3], double d[3
printf("v3 x: %f, y: %f, z: %f\n", f[0], f[1], f[2]);
printf("t^3: %lf, t^2: %lf, t^1: %lf, t^0: %lf\n", j, i, h, g);
*/
*/
// Solve cubic equation to determine times t1, t2, t3, when the collision will occur.
if ( ABS ( j ) > DBL_EPSILON )
{
@@ -453,6 +453,7 @@ int cloth_get_collision_time ( double a[3], double b[3], double c[3], double d[3
return num_sols;
}
// w3 is not perfect
void collision_compute_barycentric ( float pv[3], float p1[3], float p2[3], float p3[3], float *w1, float *w2, float *w3 )
{
@@ -713,52 +714,43 @@ CollPair* cloth_collision ( ModifierData *md1, ModifierData *md2, BVHTreeOverlap
}
else
{
// check for collision in the future
collpair->flag |= COLLISION_IN_FUTURE;
float w1, w2, w3, u1, u2, u3;
float v1[3], v2[3], relativeVelocity[3];
// calc relative velocity
// compute barycentric coordinates for both collision points
collision_compute_barycentric ( collpair->pa,
verts1[collpair->ap1].txold,
verts1[collpair->ap2].txold,
verts1[collpair->ap3].txold,
&w1, &w2, &w3 );
// was: txold
collision_compute_barycentric ( collpair->pb,
collmd->current_x[collpair->bp1].co,
collmd->current_x[collpair->bp2].co,
collmd->current_x[collpair->bp3].co,
&u1, &u2, &u3 );
// Calculate relative "velocity".
collision_interpolateOnTriangle ( v1, verts1[collpair->ap1].tv, verts1[collpair->ap2].tv, verts1[collpair->ap3].tv, w1, w2, w3 );
collision_interpolateOnTriangle ( v2, collmd->current_v[collpair->bp1].co, collmd->current_v[collpair->bp2].co, collmd->current_v[collpair->bp3].co, u1, u2, u3 );
VECSUB ( relativeVelocity, v2, v1 );
if(sqrt(INPR(relativeVelocity, relativeVelocity)) >= distance)
{
// check for collision in the future
collpair->flag |= COLLISION_IN_FUTURE;
}
}
collpair++;
}
return collpair;
}
int cloth_are_edges_adjacent ( ClothModifierData *clmd, CollisionModifierData *collmd, EdgeCollPair *edgecollpair )
{
Cloth *cloth1 = NULL;
ClothVertex *verts1 = NULL;
float temp[3];
MVert *verts2 = collmd->current_x; // old x
cloth1 = clmd->clothObject;
verts1 = cloth1->verts;
VECSUB ( temp, verts1[edgecollpair->p11].txold, verts2[edgecollpair->p21].co );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
VECSUB ( temp, verts1[edgecollpair->p11].txold, verts2[edgecollpair->p22].co );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
VECSUB ( temp, verts1[edgecollpair->p12].txold, verts2[edgecollpair->p21].co );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
VECSUB ( temp, verts1[edgecollpair->p12].txold, verts2[edgecollpair->p22].co );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
VECSUB ( temp, verts1[edgecollpair->p11].txold, verts1[edgecollpair->p12].txold );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
VECSUB ( temp, verts2[edgecollpair->p21].co, verts2[edgecollpair->p22].co );
if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
return 1;
return 0;
}
int cloth_collision_response_moving( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
{
int result = 0;
@@ -879,13 +871,18 @@ static float projectPointOntoLine(float *p, float *a, float *b)
static void calculateEENormal(float *np1, float *np2, float *np3, float *np4,float *out_normal)
{
float line1[33], line2[3];
float line1[3], line2[3];
float length;
VECSUB(line1, np2, np1);
VECSUB(line2, np3, np1);
// printf("l1: %f, l1: %f, l2: %f, l2: %f\n", line1[0], line1[1], line2[0], line2[1]);
Crossf(out_normal, line1, line2);
length = Normalize(out_normal);
if (length <= FLT_EPSILON)
{ // lines are collinear
@@ -1102,10 +1099,9 @@ int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierDat
unsigned int i = 0, j = 0, k = 0;
int numsolutions = 0;
double x1[3], v1[3], x2[3], v2[3], x3[3], v3[3];
double solution[3];
double solution[3], solution2[3];
MVert *verts2 = collmd->current_x; // old x
MVert *velocity2 = collmd->current_v; // velocity
float mintime = FLT_MAX;
float distance;
float triA[3][3], triB[3][3];
int result = 0;
@@ -1189,17 +1185,15 @@ int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierDat
edgecollpair.p21 = collpair->bp1;
edgecollpair.p22 = collpair->bp3;
}
if((edgecollpair.p11 == 3) && (edgecollpair.p12 == 6))
/*
if((edgecollpair.p11 == 3) && (edgecollpair.p12 == 16))
printf("Ahier!\n");
if((edgecollpair.p11 == 6) && (edgecollpair.p12 == 3))
if((edgecollpair.p11 == 16) && (edgecollpair.p12 == 3))
printf("Ahier!\n");
*/
if ( !cloth_are_edges_adjacent ( clmd, collmd, &edgecollpair ) )
// if ( !cloth_are_edges_adjacent ( clmd, collmd, &edgecollpair ) )
{
// printf("Collision between:\n");
// printf("p11: %d, p12: %d, p21: %d, p22: %d\n", edgecollpair.p11, edgecollpair.p12, edgecollpair.p21, edgecollpair.p22);
// always put coll points in p21/p22
VECSUB ( x1, verts1[edgecollpair.p12].txold, verts1[edgecollpair.p11].txold );
VECSUB ( v1, verts1[edgecollpair.p12].tv, verts1[edgecollpair.p11].tv );
@@ -1212,6 +1206,16 @@ int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierDat
numsolutions = cloth_get_collision_time ( x1, v1, x2, v2, x3, v3, solution );
if((edgecollpair.p11 == 3 && edgecollpair.p12==16)|| (edgecollpair.p11==16 && edgecollpair.p12==3))
{
if(edgecollpair.p21==6 || edgecollpair.p22 == 6)
{
printf("dist: %f, sol[k]: %lf, sol2[k]: %lf\n", distance, solution[k], solution2[k]);
printf("a1: %f, a2: %f, b1: %f, b2: %f\n", x1[0], x2[0], x3[0], v1[0]);
printf("b21: %d, b22: %d\n", edgecollpair.p21, edgecollpair.p22);
}
}
for ( k = 0; k < numsolutions; k++ )
{
// printf("sol %d: %lf\n", k, solution[k]);
@@ -1225,11 +1229,11 @@ int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierDat
float m1, m2;
// move verts
VECADDS(triA[0], verts1[edgecollpair.p11].txold, verts1[edgecollpair.p11].tv, mintime);
VECADDS(triA[1], verts1[edgecollpair.p12].txold, verts1[edgecollpair.p12].tv, mintime);
VECADDS(triA[0], verts1[edgecollpair.p11].txold, verts1[edgecollpair.p11].tv, solution[k]);
VECADDS(triA[1], verts1[edgecollpair.p12].txold, verts1[edgecollpair.p12].tv, solution[k]);
VECADDS(triB[0], collmd->current_x[edgecollpair.p21].co, collmd->current_v[edgecollpair.p21].co, mintime);
VECADDS(triB[1], collmd->current_x[edgecollpair.p22].co, collmd->current_v[edgecollpair.p22].co, mintime);
VECADDS(triB[0], collmd->current_x[edgecollpair.p21].co, collmd->current_v[edgecollpair.p21].co, solution[k]);
VECADDS(triB[1], collmd->current_x[edgecollpair.p22].co, collmd->current_v[edgecollpair.p22].co, solution[k]);
// TODO: check for collisions
distance = edgedge_distance(triA[0], triA[1], triB[0], triB[1], &a, &b, out_normal);
@@ -1255,13 +1259,14 @@ int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierDat
VECSUB(vrel_1_to_2, vrel_1_to_2, temp);
out_normalVelocity = INPR(vrel_1_to_2, out_normal);
/*
// this correction results in wrong normals sometimes?
if(out_normalVelocity < 0.0)
{
out_normalVelocity*= -1.0;
VecMulf(out_normal, -1.0);
}
*/
/* Inelastic repulsion impulse. */
// Calculate which normal velocity we need.
@@ -1287,7 +1292,7 @@ int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierDat
{
// missing from collision.hpp
}
mintime = MIN2(mintime, (float)solution[k]);
// mintime = MIN2(mintime, (float)solution[k]);
break;
}
@@ -1429,7 +1434,7 @@ int cloth_bvh_objcollisions_do ( ClothModifierData * clmd, CollisionModifierData
}
}
}
/*
result += cloth_collision_moving ( clmd, collmd, collisions, collisions_index );
// apply impulses in parallel
@@ -1448,7 +1453,7 @@ int cloth_bvh_objcollisions_do ( ClothModifierData * clmd, CollisionModifierData
}
}
}
*/
}
}