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blender-archive/source/blender/blenkernel/intern/collision.c

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/*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* 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.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
/** \file blender/blenkernel/intern/collision.c
* \ingroup bke
*/
#include "MEM_guardedalloc.h"
#include "BKE_cloth.h"
#include "DNA_cloth_types.h"
#include "DNA_group_types.h"
#include "DNA_mesh_types.h"
#include "DNA_object_types.h"
#include "DNA_object_force.h"
#include "DNA_scene_types.h"
#include "DNA_meshdata_types.h"
#include "BLI_blenlib.h"
#include "BLI_math.h"
#include "BLI_edgehash.h"
#include "BLI_utildefines.h"
#include "BLI_ghash.h"
#include "BLI_memarena.h"
#include "BLI_rand.h"
#include "BKE_DerivedMesh.h"
#include "BKE_global.h"
#include "BKE_scene.h"
#include "BKE_mesh.h"
#include "BKE_object.h"
#include "BKE_modifier.h"
#include "BKE_DerivedMesh.h"
#ifdef USE_BULLET
#include "Bullet-C-Api.h"
#endif
#include "BLI_kdopbvh.h"
#include "BKE_collision.h"
#ifdef WITH_ELTOPO
#include "eltopo-capi.h"
#endif
/***********************************
Collision modifier code start
***********************************/
/* step is limited from 0 (frame start position) to 1 (frame end position) */
void collision_move_object ( CollisionModifierData *collmd, float step, float prevstep )
{
float tv[3] = {0, 0, 0};
unsigned int i = 0;
for ( i = 0; i < collmd->numverts; i++ )
{
VECSUB ( tv, collmd->xnew[i].co, collmd->x[i].co );
VECADDS ( collmd->current_x[i].co, collmd->x[i].co, tv, prevstep );
VECADDS ( collmd->current_xnew[i].co, collmd->x[i].co, tv, step );
VECSUB ( collmd->current_v[i].co, collmd->current_xnew[i].co, collmd->current_x[i].co );
}
bvhtree_update_from_mvert ( collmd->bvhtree, collmd->mfaces, collmd->numfaces, collmd->current_x, collmd->current_xnew, collmd->numverts, 1 );
}
BVHTree *bvhtree_build_from_mvert ( MFace *mfaces, unsigned int numfaces, MVert *x, unsigned int UNUSED(numverts), float epsilon )
{
BVHTree *tree;
float co[12];
unsigned int i;
MFace *tface = mfaces;
tree = BLI_bvhtree_new ( numfaces*2, epsilon, 4, 26 );
// fill tree
for ( i = 0; i < numfaces; i++, tface++ )
{
copy_v3_v3 ( &co[0*3], x[tface->v1].co );
copy_v3_v3 ( &co[1*3], x[tface->v2].co );
copy_v3_v3 ( &co[2*3], x[tface->v3].co );
if ( tface->v4 )
copy_v3_v3 ( &co[3*3], x[tface->v4].co );
BLI_bvhtree_insert ( tree, i, co, ( mfaces->v4 ? 4 : 3 ) );
}
// balance tree
BLI_bvhtree_balance ( tree );
return tree;
}
void bvhtree_update_from_mvert ( BVHTree * bvhtree, MFace *faces, int numfaces, MVert *x, MVert *xnew, int UNUSED(numverts), int moving )
{
int i;
MFace *mfaces = faces;
float co[12], co_moving[12];
int ret = 0;
if ( !bvhtree )
return;
if ( x )
{
for ( i = 0; i < numfaces; i++, mfaces++ )
{
copy_v3_v3 ( &co[0*3], x[mfaces->v1].co );
copy_v3_v3 ( &co[1*3], x[mfaces->v2].co );
copy_v3_v3 ( &co[2*3], x[mfaces->v3].co );
if ( mfaces->v4 )
copy_v3_v3 ( &co[3*3], x[mfaces->v4].co );
// copy new locations into array
if ( moving && xnew )
{
// update moving positions
copy_v3_v3 ( &co_moving[0*3], xnew[mfaces->v1].co );
copy_v3_v3 ( &co_moving[1*3], xnew[mfaces->v2].co );
copy_v3_v3 ( &co_moving[2*3], xnew[mfaces->v3].co );
if ( mfaces->v4 )
copy_v3_v3 ( &co_moving[3*3], xnew[mfaces->v4].co );
ret = BLI_bvhtree_update_node ( bvhtree, i, co, co_moving, ( mfaces->v4 ? 4 : 3 ) );
}
else
{
ret = BLI_bvhtree_update_node ( bvhtree, i, co, NULL, ( mfaces->v4 ? 4 : 3 ) );
}
// check if tree is already full
if ( !ret )
break;
}
BLI_bvhtree_update_tree ( bvhtree );
}
}
/***********************************
Collision modifier code end
***********************************/
/**
* gsl_poly_solve_cubic -
*
* copied from SOLVE_CUBIC.C --> GSL
*/
#define mySWAP(a,b) do { double tmp = b ; b = a ; a = tmp ; } while(0)
#if 0 /* UNUSED */
static int
gsl_poly_solve_cubic (double a, double b, double c,
double *x0, double *x1, double *x2)
{
double q = (a * a - 3 * b);
double r = (2 * a * a * a - 9 * a * b + 27 * c);
double Q = q / 9;
double R = r / 54;
double Q3 = Q * Q * Q;
double R2 = R * R;
double CR2 = 729 * r * r;
double CQ3 = 2916 * q * q * q;
if (R == 0 && Q == 0)
{
*x0 = - a / 3 ;
*x1 = - a / 3 ;
*x2 = - a / 3 ;
return 3 ;
}
else if (CR2 == CQ3)
{
/* this test is actually R2 == Q3, written in a form suitable
for exact computation with integers */
/* Due to finite precision some double roots may be missed, and
considered to be a pair of complex roots z = x +/- epsilon i
close to the real axis. */
double sqrtQ = sqrt (Q);
if (R > 0)
{
*x0 = -2 * sqrtQ - a / 3;
*x1 = sqrtQ - a / 3;
*x2 = sqrtQ - a / 3;
}
else
{
*x0 = - sqrtQ - a / 3;
*x1 = - sqrtQ - a / 3;
*x2 = 2 * sqrtQ - a / 3;
}
return 3 ;
}
else if (CR2 < CQ3) /* equivalent to R2 < Q3 */
{
double sqrtQ = sqrt (Q);
double sqrtQ3 = sqrtQ * sqrtQ * sqrtQ;
double theta = acos (R / sqrtQ3);
double norm = -2 * sqrtQ;
*x0 = norm * cos (theta / 3) - a / 3;
*x1 = norm * cos ((theta + 2.0 * M_PI) / 3) - a / 3;
*x2 = norm * cos ((theta - 2.0 * M_PI) / 3) - a / 3;
/* Sort *x0, *x1, *x2 into increasing order */
if (*x0 > *x1)
mySWAP(*x0, *x1) ;
if (*x1 > *x2)
{
mySWAP(*x1, *x2) ;
if (*x0 > *x1)
mySWAP(*x0, *x1) ;
}
return 3;
}
else
{
double sgnR = (R >= 0 ? 1 : -1);
double A = -sgnR * pow (fabs (R) + sqrt (R2 - Q3), 1.0/3.0);
double B = Q / A ;
*x0 = A + B - a / 3;
return 1;
}
}
/**
* gsl_poly_solve_quadratic
*
* copied from GSL
*/
static int
gsl_poly_solve_quadratic (double a, double b, double c,
double *x0, double *x1)
{
double disc = b * b - 4 * a * c;
if (a == 0) /* Handle linear case */
{
if (b == 0)
{
return 0;
}
else
{
*x0 = -c / b;
return 1;
};
}
if (disc > 0)
{
if (b == 0)
{
double r = fabs (0.5 * sqrt (disc) / a);
*x0 = -r;
*x1 = r;
}
else
{
double sgnb = (b > 0 ? 1 : -1);
double temp = -0.5 * (b + sgnb * sqrt (disc));
double r1 = temp / a ;
double r2 = c / temp ;
if (r1 < r2)
{
*x0 = r1 ;
*x1 = r2 ;
}
else
{
*x0 = r2 ;
*x1 = r1 ;
}
}
return 2;
}
else if (disc == 0)
{
*x0 = -0.5 * b / a ;
*x1 = -0.5 * b / a ;
return 2 ;
}
else
{
return 0;
}
}
#endif /* UNUSED */
/*
* See Bridson et al. "Robust Treatment of Collision, Contact and Friction for Cloth Animation"
* page 4, left column
*/
#if 0
static int cloth_get_collision_time ( double a[3], double b[3], double c[3], double d[3], double e[3], double f[3], double solution[3] )
{
int num_sols = 0;
// x^0 - checked
double g = a[0] * c[1] * e[2] - a[0] * c[2] * e[1] +
a[1] * c[2] * e[0] - a[1] * c[0] * e[2] +
a[2] * c[0] * e[1] - a[2] * c[1] * e[0];
// x^1
double h = -b[2] * c[1] * e[0] + b[1] * c[2] * e[0] - a[2] * d[1] * e[0] +
a[1] * d[2] * e[0] + b[2] * c[0] * e[1] - b[0] * c[2] * e[1] +
a[2] * d[0] * e[1] - a[0] * d[2] * e[1] - b[1] * c[0] * e[2] +
b[0] * c[1] * e[2] - a[1] * d[0] * e[2] + a[0] * d[1] * e[2] -
a[2] * c[1] * f[0] + a[1] * c[2] * f[0] + a[2] * c[0] * f[1] -
a[0] * c[2] * f[1] - a[1] * c[0] * f[2] + a[0] * c[1] * f[2];
// x^2
double i = -b[2] * d[1] * e[0] + b[1] * d[2] * e[0] +
b[2] * d[0] * e[1] - b[0] * d[2] * e[1] -
b[1] * d[0] * e[2] + b[0] * d[1] * e[2] -
b[2] * c[1] * f[0] + b[1] * c[2] * f[0] -
a[2] * d[1] * f[0] + a[1] * d[2] * f[0] +
b[2] * c[0] * f[1] - b[0] * c[2] * f[1] +
a[2] * d[0] * f[1] - a[0] * d[2] * f[1] -
b[1] * c[0] * f[2] + b[0] * c[1] * f[2] -
a[1] * d[0] * f[2] + a[0] * d[1] * f[2];
// x^3 - checked
double j = -b[2] * d[1] * f[0] + b[1] * d[2] * f[0] +
b[2] * d[0] * f[1] - b[0] * d[2] * f[1] -
b[1] * d[0] * f[2] + b[0] * d[1] * f[2];
/*
printf("r1: %lf\n", a[0] * c[1] * e[2] - a[0] * c[2] * e[1]);
printf("r2: %lf\n", a[1] * c[2] * e[0] - a[1] * c[0] * e[2]);
printf("r3: %lf\n", a[2] * c[0] * e[1] - a[2] * c[1] * e[0]);
printf("x1 x: %f, y: %f, z: %f\n", a[0], a[1], a[2]);
printf("x2 x: %f, y: %f, z: %f\n", c[0], c[1], c[2]);
printf("x3 x: %f, y: %f, z: %f\n", e[0], e[1], e[2]);
printf("v1 x: %f, y: %f, z: %f\n", b[0], b[1], b[2]);
printf("v2 x: %f, y: %f, z: %f\n", d[0], d[1], d[2]);
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 )
{
i /= j;
h /= j;
g /= j;
num_sols = gsl_poly_solve_cubic ( i, h, g, &solution[0], &solution[1], &solution[2] );
}
else
{
num_sols = gsl_poly_solve_quadratic ( i, h, g, &solution[0], &solution[1] );
solution[2] = -1.0;
}
// printf("num_sols: %d, sol1: %lf, sol2: %lf, sol3: %lf\n", num_sols, solution[0], solution[1], solution[2]);
// Discard negative solutions
if ( ( num_sols >= 1 ) && ( solution[0] < DBL_EPSILON ) )
{
--num_sols;
solution[0] = solution[num_sols];
}
if ( ( num_sols >= 2 ) && ( solution[1] < DBL_EPSILON ) )
{
--num_sols;
solution[1] = solution[num_sols];
}
if ( ( num_sols == 3 ) && ( solution[2] < DBL_EPSILON ) )
{
--num_sols;
}
// Sort
if ( num_sols == 2 )
{
if ( solution[0] > solution[1] )
{
double tmp = solution[0];
solution[0] = solution[1];
solution[1] = tmp;
}
}
else if ( num_sols == 3 )
{
// Bubblesort
if ( solution[0] > solution[1] )
{
double tmp = solution[0]; solution[0] = solution[1]; solution[1] = tmp;
}
if ( solution[1] > solution[2] )
{
double tmp = solution[1]; solution[1] = solution[2]; solution[2] = tmp;
}
if ( solution[0] > solution[1] )
{
double tmp = solution[0]; solution[0] = solution[1]; solution[1] = tmp;
}
}
return num_sols;
}
#endif
// w3 is not perfect
static void collision_compute_barycentric ( float pv[3], float p1[3], float p2[3], float p3[3], float *w1, float *w2, float *w3 )
{
double tempV1[3], tempV2[3], tempV4[3];
double a,b,c,d,e,f;
VECSUB ( tempV1, p1, p3 );
VECSUB ( tempV2, p2, p3 );
VECSUB ( tempV4, pv, p3 );
a = INPR ( tempV1, tempV1 );
b = INPR ( tempV1, tempV2 );
c = INPR ( tempV2, tempV2 );
e = INPR ( tempV1, tempV4 );
f = INPR ( tempV2, tempV4 );
d = ( a * c - b * b );
if ( ABS ( d ) < (double)ALMOST_ZERO )
{
*w1 = *w2 = *w3 = 1.0 / 3.0;
return;
}
w1[0] = ( float ) ( ( e * c - b * f ) / d );
if ( w1[0] < 0 )
w1[0] = 0;
w2[0] = ( float ) ( ( f - b * ( double ) w1[0] ) / c );
if ( w2[0] < 0 )
w2[0] = 0;
w3[0] = 1.0f - w1[0] - w2[0];
}
DO_INLINE void collision_interpolateOnTriangle ( float to[3], float v1[3], float v2[3], float v3[3], double w1, double w2, double w3 )
{
to[0] = to[1] = to[2] = 0;
VECADDMUL ( to, v1, w1 );
VECADDMUL ( to, v2, w2 );
VECADDMUL ( to, v3, w3 );
}
#ifndef WITH_ELTOPO
static int cloth_collision_response_static ( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
{
int result = 0;
Cloth *cloth1;
float w1, w2, w3, u1, u2, u3;
float v1[3], v2[3], relativeVelocity[3];
float magrelVel;
float epsilon2 = BLI_bvhtree_getepsilon ( collmd->bvhtree );
cloth1 = clmd->clothObject;
for ( ; collpair != collision_end; collpair++ )
{
// only handle static collisions here
if ( collpair->flag & COLLISION_IN_FUTURE )
continue;
// compute barycentric coordinates for both collision points
collision_compute_barycentric ( collpair->pa,
cloth1->verts[collpair->ap1].txold,
cloth1->verts[collpair->ap2].txold,
cloth1->verts[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, cloth1->verts[collpair->ap1].tv, cloth1->verts[collpair->ap2].tv, cloth1->verts[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 );
// Calculate the normal component of the relative velocity (actually only the magnitude - the direction is stored in 'normal').
magrelVel = INPR ( relativeVelocity, collpair->normal );
// printf("magrelVel: %f\n", magrelVel);
// Calculate masses of points.
// TODO
// If v_n_mag < 0 the edges are approaching each other.
if ( magrelVel > ALMOST_ZERO )
{
// Calculate Impulse magnitude to stop all motion in normal direction.
float magtangent = 0, repulse = 0, d = 0;
double impulse = 0.0;
float vrel_t_pre[3];
float temp[3], spf;
// calculate tangential velocity
copy_v3_v3 ( temp, collpair->normal );
mul_v3_fl( temp, magrelVel );
VECSUB ( vrel_t_pre, relativeVelocity, temp );
// Decrease in magnitude of relative tangential velocity due to coulomb friction
// in original formula "magrelVel" should be the "change of relative velocity in normal direction"
magtangent = MIN2 ( clmd->coll_parms->friction * 0.01f * magrelVel, sqrtf( INPR ( vrel_t_pre,vrel_t_pre ) ) );
// Apply friction impulse.
if ( magtangent > ALMOST_ZERO )
{
normalize_v3( vrel_t_pre );
impulse = magtangent / ( 1.0f + w1*w1 + w2*w2 + w3*w3 ); // 2.0 *
VECADDMUL ( cloth1->verts[collpair->ap1].impulse, vrel_t_pre, w1 * impulse );
VECADDMUL ( cloth1->verts[collpair->ap2].impulse, vrel_t_pre, w2 * impulse );
VECADDMUL ( cloth1->verts[collpair->ap3].impulse, vrel_t_pre, w3 * impulse );
}
// Apply velocity stopping impulse
// I_c = m * v_N / 2.0
// no 2.0 * magrelVel normally, but looks nicer DG
impulse = magrelVel / ( 1.0 + w1*w1 + w2*w2 + w3*w3 );
VECADDMUL ( cloth1->verts[collpair->ap1].impulse, collpair->normal, w1 * impulse );
cloth1->verts[collpair->ap1].impulse_count++;
VECADDMUL ( cloth1->verts[collpair->ap2].impulse, collpair->normal, w2 * impulse );
cloth1->verts[collpair->ap2].impulse_count++;
VECADDMUL ( cloth1->verts[collpair->ap3].impulse, collpair->normal, w3 * impulse );
cloth1->verts[collpair->ap3].impulse_count++;
// Apply repulse impulse if distance too short
// I_r = -min(dt*kd, m(0,1d/dt - v_n))
spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;
d = clmd->coll_parms->epsilon*8.0f/9.0f + epsilon2*8.0f/9.0f - collpair->distance;
if ( ( magrelVel < 0.1f*d*spf ) && ( d > ALMOST_ZERO ) )
{
repulse = MIN2 ( d*1.0f/spf, 0.1f*d*spf - magrelVel );
// stay on the safe side and clamp repulse
if ( impulse > ALMOST_ZERO )
repulse = MIN2 ( repulse, 5.0*impulse );
repulse = MAX2 ( impulse, repulse );
impulse = repulse / ( 1.0f + w1*w1 + w2*w2 + w3*w3 ); // original 2.0 / 0.25
VECADDMUL ( cloth1->verts[collpair->ap1].impulse, collpair->normal, impulse );
VECADDMUL ( cloth1->verts[collpair->ap2].impulse, collpair->normal, impulse );
VECADDMUL ( cloth1->verts[collpair->ap3].impulse, collpair->normal, impulse );
}
result = 1;
}
}
return result;
}
#endif /* !WITH_ELTOPO */
#ifdef WITH_ELTOPO
typedef struct edgepairkey {
int a1, a2, b1, b2;
} edgepairkey;
unsigned int edgepair_hash(void *vkey)
{
edgepairkey *key = vkey;
int keys[4] = {key->a1, key->a2, key->b1, key->b2};
int i, j;
for (i=0; i<4; i++) {
for (j=0; j<3; j++) {
if (keys[j] >= keys[j+1]) {
SWAP(int, keys[j], keys[j+1]);
}
}
}
return keys[0]*101 + keys[1]*72 + keys[2]*53 + keys[3]*34;
}
int edgepair_cmp(const void *va, const void *vb)
{
edgepairkey *a = va, *b = vb;
int keysa[4] = {a->a1, a->a2, a->b1, a->b2};
int keysb[4] = {b->a1, b->a2, b->b1, b->b2};
int i;
for (i=0; i<4; i++) {
int j, ok=0;
for (j=0; j<4; j++) {
if (keysa[i] == keysa[j]) {
ok = 1;
break;
}
}
if (!ok)
return -1;
}
return 0;
}
static void get_edgepairkey(edgepairkey *key, int a1, int a2, int b1, int b2)
{
key->a1 = a1;
key->a2 = a2;
key->b1 = b1;
key->b2 = b2;
}
/*an immense amount of duplication goes on here. . .a major performance hit, I'm sure*/
static CollPair* cloth_edge_collision ( ModifierData *md1, ModifierData *md2,
BVHTreeOverlap *overlap, CollPair *collpair,
GHash *visithash, MemArena *arena)
{
ClothModifierData *clmd = ( ClothModifierData * ) md1;
CollisionModifierData *collmd = ( CollisionModifierData * ) md2;
MFace *face1=NULL, *face2 = NULL;
ClothVertex *verts1 = clmd->clothObject->verts;
double distance = 0;
edgepairkey *key, tstkey;
float epsilon1 = clmd->coll_parms->epsilon;
float epsilon2 = BLI_bvhtree_getepsilon ( collmd->bvhtree );
float no[3], uv[3], t, relnor;
int i, i1, i2, i3, i4, i5, i6;
Cloth *cloth = clmd->clothObject;
float n1[3], n2[3], off[3], v1[2][3], v2[2][3], v3[2][3], v4[2][3], v5[2][3], v6[2][3];
void **verts[] = {v1, v2, v3, v4, v5, v6};
int j, ret, bp1, bp2, bp3, ap1, ap2, ap3, table[6];
face1 = & ( clmd->clothObject->mfaces[overlap->indexA] );
face2 = & ( collmd->mfaces[overlap->indexB] );
// check all 4 possible collisions
for ( i = 0; i < 4; i++ )
{
if ( i == 0 )
{
// fill faceA
ap1 = face1->v1;
ap2 = face1->v2;
ap3 = face1->v3;
// fill faceB
bp1 = face2->v1;
bp2 = face2->v2;
bp3 = face2->v3;
}
else if ( i == 1 )
{
if ( face1->v4 )
{
// fill faceA
ap1 = face1->v1;
ap2 = face1->v3;
ap3 = face1->v4;
// fill faceB
bp1 = face2->v1;
bp2 = face2->v2;
bp3 = face2->v3;
}
else {
continue;
}
}
if ( i == 2 )
{
if ( face2->v4 )
{
// fill faceA
ap1 = face1->v1;
ap2 = face1->v2;
ap3 = face1->v3;
// fill faceB
bp1 = face2->v1;
bp2 = face2->v3;
bp3 = face2->v4;
}
else {
continue;
}
}
else if ( i == 3 )
{
if ( face1->v4 && face2->v4 )
{
// fill faceA
ap1 = face1->v1;
ap2 = face1->v3;
ap3 = face1->v4;
// fill faceB
bp1 = face2->v1;
bp2 = face2->v3;
bp3 = face2->v4;
}
else {
continue;
}
}
copy_v3_v3(v1[0], cloth->verts[ap1].txold);
copy_v3_v3(v1[1], cloth->verts[ap1].tx);
copy_v3_v3(v2[0], cloth->verts[ap2].txold);
copy_v3_v3(v2[1], cloth->verts[ap2].tx);
copy_v3_v3(v3[0], cloth->verts[ap3].txold);
copy_v3_v3(v3[1], cloth->verts[ap3].tx);
copy_v3_v3(v4[0], collmd->current_x[bp1].co);
copy_v3_v3(v4[1], collmd->current_xnew[bp1].co);
copy_v3_v3(v5[0], collmd->current_x[bp2].co);
copy_v3_v3(v5[1], collmd->current_xnew[bp2].co);
copy_v3_v3(v6[0], collmd->current_x[bp3].co);
copy_v3_v3(v6[1], collmd->current_xnew[bp3].co);
normal_tri_v3(n2, v4[1], v5[1], v6[1]);
/*offset new positions a bit, to account for margins*/
i1 = ap1; i2 = ap2; i3 = ap3;
i4 = bp1; i5 = bp2; i6 = bp3;
for (j=0; j<3; j++) {
int collp1, collp2, k, j2 = (j+1)%3;
table[0] = ap1; table[1] = ap2; table[2] = ap3;
table[3] = bp1; table[4] = bp2; table[5] = bp3;
for (k=0; k<3; k++) {
float p1[3], p2[3];
int k2 = (k+1)%3;
get_edgepairkey(&tstkey, table[j], table[j2], table[k+3], table[k2+3]);
//if (BLI_ghash_haskey(visithash, &tstkey))
// continue;
key = BLI_memarena_alloc(arena, sizeof(edgepairkey));
*key = tstkey;
BLI_ghash_insert(visithash, key, NULL);
sub_v3_v3v3(p1, verts[j], verts[j2]);
sub_v3_v3v3(p2, verts[k+3], verts[k2+3]);
cross_v3_v3v3(off, p1, p2);
normalize_v3(off);
if (dot_v3v3(n2, off) < 0.0)
negate_v3(off);
mul_v3_fl(off, epsilon1 + epsilon2 + ALMOST_ZERO);
copy_v3_v3(p1, verts[k+3]);
copy_v3_v3(p2, verts[k2+3]);
add_v3_v3(p1, off);
add_v3_v3(p2, off);
ret = eltopo_line_line_moving_isect_v3v3_f(verts[j], table[j], verts[j2], table[j2],
p1, table[k+3], p2, table[k2+3],
no, uv, &t, &relnor);
/*cloth vert versus coll face*/
if (ret) {
collpair->ap1 = table[j]; collpair->ap2 = table[j2];
collpair->bp1 = table[k+3]; collpair->bp2 = table[k2+3];
/*I'm not sure if this is correct, but hopefully it's
better then simply ignoring back edges*/
if (dot_v3v3(n2, no) < 0.0) {
negate_v3(no);
}
copy_v3_v3(collpair->normal, no);
mul_v3_v3fl(collpair->vector, collpair->normal, relnor);
collpair->distance = relnor;
collpair->time = t;
copy_v2_v2(collpair->bary, uv);
collpair->flag = COLLISION_IS_EDGES;
collpair++;
}
}
}
}
return collpair;
}
static int cloth_edge_collision_response_moving ( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
{
int result = 0;
Cloth *cloth1;
float w1, w2;
float v1[3], v2[3], relativeVelocity[3];
float magrelVel, pimpulse[3];
cloth1 = clmd->clothObject;
for ( ; collpair != collision_end; collpair++ )
{
if (!(collpair->flag & COLLISION_IS_EDGES))
continue;
// was: txold
w1 = collpair->bary[0]; w2 = collpair->bary[1];
// Calculate relative "velocity".
VECADDFAC(v1, cloth1->verts[collpair->ap1].tv, cloth1->verts[collpair->ap2].tv, w1);
VECADDFAC(v2, collmd->current_v[collpair->bp1].co, collmd->current_v[collpair->bp2].co, w2);
VECSUB ( relativeVelocity, v2, v1);
// Calculate the normal component of the relative velocity (actually only the magnitude - the direction is stored in 'normal').
magrelVel = INPR ( relativeVelocity, collpair->normal );
// If v_n_mag < 0 the edges are approaching each other.
if ( magrelVel > ALMOST_ZERO )
{
// Calculate Impulse magnitude to stop all motion in normal direction.
float magtangent = 0, repulse = 0, d = 0;
double impulse = 0.0;
float vrel_t_pre[3];
float temp[3], spf;
zero_v3(pimpulse);
// calculate tangential velocity
VECCOPY ( temp, collpair->normal );
mul_v3_fl( temp, magrelVel );
VECSUB ( vrel_t_pre, relativeVelocity, temp );
// Decrease in magnitude of relative tangential velocity due to coulomb friction
// in original formula "magrelVel" should be the "change of relative velocity in normal direction"
magtangent = MIN2 ( clmd->coll_parms->friction * 0.01 * magrelVel,sqrt ( INPR ( vrel_t_pre,vrel_t_pre ) ) );
// Apply friction impulse.
if ( magtangent > ALMOST_ZERO )
{
normalize_v3( vrel_t_pre );
impulse = magtangent;
VECADDMUL ( pimpulse, vrel_t_pre, impulse);
}
// Apply velocity stopping impulse
// I_c = m * v_N / 2.0
// no 2.0 * magrelVel normally, but looks nicer DG
impulse = magrelVel;
mul_v3_fl(collpair->normal, 0.5);
VECADDMUL ( pimpulse, collpair->normal, impulse);
// Apply repulse impulse if distance too short
// I_r = -min(dt*kd, m(0,1d/dt - v_n))
spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;
d = collpair->distance;
if ( ( magrelVel < 0.1*d*spf && ( d > ALMOST_ZERO ) ) )
{
repulse = MIN2 ( d*1.0/spf, 0.1*d*spf - magrelVel );
// stay on the safe side and clamp repulse
if ( impulse > ALMOST_ZERO )
repulse = MIN2 ( repulse, 5.0*impulse );
repulse = MAX2 ( impulse, repulse );
impulse = repulse / ( 5.0 ); // original 2.0 / 0.25
VECADDMUL ( pimpulse, collpair->normal, impulse);
}
w2 = 1.0f-w1;
if (w1 < 0.5)
w1 *= 2.0;
else
w2 *= 2.0;
VECADDFAC(cloth1->verts[collpair->ap1].impulse, cloth1->verts[collpair->ap1].impulse, pimpulse, w1*2.0);
VECADDFAC(cloth1->verts[collpair->ap2].impulse, cloth1->verts[collpair->ap2].impulse, pimpulse, w2*2.0);
cloth1->verts[collpair->ap1].impulse_count++;
cloth1->verts[collpair->ap2].impulse_count++;
result = 1;
}
}
return result;
}
static int cloth_collision_response_moving ( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
{
int result = 0;
Cloth *cloth1;
float w1, w2, w3, u1, u2, u3;
float v1[3], v2[3], relativeVelocity[3];
float magrelVel;
float epsilon2 = BLI_bvhtree_getepsilon ( collmd->bvhtree );
cloth1 = clmd->clothObject;
for ( ; collpair != collision_end; collpair++ )
{
if (collpair->flag & COLLISION_IS_EDGES)
continue;
if ( collpair->flag & COLLISION_USE_COLLFACE ) {
// was: txold
w1 = collpair->bary[0]; w2 = collpair->bary[1]; w3 = collpair->bary[2];
// Calculate relative "velocity".
collision_interpolateOnTriangle ( v1, collmd->current_v[collpair->bp1].co, collmd->current_v[collpair->bp2].co, collmd->current_v[collpair->bp3].co, w1, w2, w3);
VECSUB ( relativeVelocity, v1, cloth1->verts[collpair->collp].tv);
// Calculate the normal component of the relative velocity (actually only the magnitude - the direction is stored in 'normal').
magrelVel = INPR ( relativeVelocity, collpair->normal );
// If v_n_mag < 0 the edges are approaching each other.
if ( magrelVel > ALMOST_ZERO )
{
// Calculate Impulse magnitude to stop all motion in normal direction.
float magtangent = 0, repulse = 0, d = 0;
double impulse = 0.0;
float vrel_t_pre[3];
float temp[3], spf;
// calculate tangential velocity
VECCOPY ( temp, collpair->normal );
mul_v3_fl( temp, magrelVel );
VECSUB ( vrel_t_pre, relativeVelocity, temp );
// Decrease in magnitude of relative tangential velocity due to coulomb friction
// in original formula "magrelVel" should be the "change of relative velocity in normal direction"
magtangent = MIN2 ( clmd->coll_parms->friction * 0.01 * magrelVel,sqrt ( INPR ( vrel_t_pre,vrel_t_pre ) ) );
// Apply friction impulse.
if ( magtangent > ALMOST_ZERO )
{
normalize_v3( vrel_t_pre );
impulse = magtangent; // 2.0 *
VECADDMUL ( cloth1->verts[collpair->collp].impulse, vrel_t_pre, impulse);
}
// Apply velocity stopping impulse
// I_c = m * v_N / 2.0
// no 2.0 * magrelVel normally, but looks nicer DG
impulse = magrelVel/2.0;
VECADDMUL ( cloth1->verts[collpair->collp].impulse, collpair->normal, impulse);
cloth1->verts[collpair->collp].impulse_count++;
// Apply repulse impulse if distance too short
// I_r = -min(dt*kd, m(0,1d/dt - v_n))
spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;
d = -collpair->distance;
if ( ( magrelVel < 0.1*d*spf ) && ( d > ALMOST_ZERO ) )
{
repulse = MIN2 ( d*1.0/spf, 0.1*d*spf - magrelVel );
// stay on the safe side and clamp repulse
if ( impulse > ALMOST_ZERO )
repulse = MIN2 ( repulse, 5.0*impulse );
repulse = MAX2 ( impulse, repulse );
impulse = repulse / ( 5.0 ); // original 2.0 / 0.25
VECADDMUL ( cloth1->verts[collpair->collp].impulse, collpair->normal, impulse);
}
result = 1;
}
} else {
w1 = collpair->bary[0]; w2 = collpair->bary[1]; w3 = collpair->bary[2];
// Calculate relative "velocity".
collision_interpolateOnTriangle ( v1, cloth1->verts[collpair->ap1].tv, cloth1->verts[collpair->ap2].tv, cloth1->verts[collpair->ap3].tv, w1, w2, w3 );
VECSUB ( relativeVelocity, collmd->current_v[collpair->collp].co, v1);
// Calculate the normal component of the relative velocity (actually only the magnitude - the direction is stored in 'normal').
magrelVel = INPR ( relativeVelocity, collpair->normal );
// If v_n_mag < 0 the edges are approaching each other.
if ( magrelVel > ALMOST_ZERO )
{
// Calculate Impulse magnitude to stop all motion in normal direction.
float magtangent = 0, repulse = 0, d = 0;
double impulse = 0.0;
float vrel_t_pre[3], pimpulse[3] = {0.0f, 0.0f, 0.0f};
float temp[3], spf;
// calculate tangential velocity
VECCOPY ( temp, collpair->normal );
mul_v3_fl( temp, magrelVel );
VECSUB ( vrel_t_pre, relativeVelocity, temp );
// Decrease in magnitude of relative tangential velocity due to coulomb friction
// in original formula "magrelVel" should be the "change of relative velocity in normal direction"
magtangent = MIN2 ( clmd->coll_parms->friction * 0.01 * magrelVel,sqrt ( INPR ( vrel_t_pre,vrel_t_pre ) ) );
// Apply friction impulse.
if ( magtangent > ALMOST_ZERO )
{
normalize_v3( vrel_t_pre );
impulse = magtangent; // 2.0 *
VECADDMUL ( pimpulse, vrel_t_pre, impulse);
}
// Apply velocity stopping impulse
// I_c = m * v_N / 2.0
// no 2.0 * magrelVel normally, but looks nicer DG
impulse = magrelVel/2.0;
VECADDMUL ( pimpulse, collpair->normal, impulse);
// Apply repulse impulse if distance too short
// I_r = -min(dt*kd, m(0,1d/dt - v_n))
spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;
d = -collpair->distance;
if ( ( magrelVel < 0.1*d*spf ) && ( d > ALMOST_ZERO ) )
{
repulse = MIN2 ( d*1.0/spf, 0.1*d*spf - magrelVel );
// stay on the safe side and clamp repulse
if ( impulse > ALMOST_ZERO )
repulse = MIN2 ( repulse, 5.0*impulse );
repulse = MAX2 ( impulse, repulse );
impulse = repulse / ( 2.0 ); // original 2.0 / 0.25
VECADDMUL ( pimpulse, collpair->normal, impulse);
}
if (w1 < 0.5) w1 *= 2.0;
if (w2 < 0.5) w2 *= 2.0;
if (w3 < 0.5) w3 *= 2.0;
VECADDMUL(cloth1->verts[collpair->ap1].impulse, pimpulse, w1*2.0);
VECADDMUL(cloth1->verts[collpair->ap2].impulse, pimpulse, w2*2.0);
VECADDMUL(cloth1->verts[collpair->ap3].impulse, pimpulse, w3*2.0);
cloth1->verts[collpair->ap1].impulse_count++;
cloth1->verts[collpair->ap2].impulse_count++;
cloth1->verts[collpair->ap3].impulse_count++;
result = 1;
}
}
}
return result;
}
typedef struct tripairkey {
int p, a1, a2, a3;
} tripairkey;
unsigned int tripair_hash(void *vkey)
{
tripairkey *key = vkey;
int keys[4] = {key->p, key->a1, key->a2, key->a3};
int i, j;
for (i=0; i<4; i++) {
for (j=0; j<3; j++) {
if (keys[j] >= keys[j+1]) {
SWAP(int, keys[j], keys[j+1]);
}
}
}
return keys[0]*101 + keys[1]*72 + keys[2]*53 + keys[3]*34;
}
int tripair_cmp(const void *va, const void *vb)
{
tripairkey *a = va, *b = vb;
int keysa[4] = {a->p, a->a1, a->a2, a->a3};
int keysb[4] = {b->p, b->a1, b->a2, b->a3};
int i;
for (i=0; i<4; i++) {
int j, ok=0;
for (j=0; j<4; j++) {
if (keysa[i] == keysa[j]) {
ok = 1;
break;
}
}
if (!ok)
return -1;
}
return 0;
}
static void get_tripairkey(tripairkey *key, int p, int a1, int a2, int a3)
{
key->a1 = a1;
key->a2 = a2;
key->a3 = a3;
key->p = p;
}
static int checkvisit(MemArena *arena, GHash *gh, int p, int a1, int a2, int a3)
{
tripairkey key, *key2;
get_tripairkey(&key, p, a1, a2, a3);
if (BLI_ghash_haskey(gh, &key))
return 1;
key2 = BLI_memarena_alloc(arena, sizeof(*key2));
*key2 = key;
BLI_ghash_insert(gh, key2, NULL);
return 0;
}
int cloth_point_tri_moving_v3v3_f(float v1[2][3], int i1, float v2[2][3], int i2,
float v3[2][3], int i3, float v4[2][3], int i4,
float normal[3], float bary[3], float *t,
float *relnor, GHash *gh, MemArena *arena)
{
if (checkvisit(arena, gh, i1, i2, i3, i4))
return 0;
return eltopo_point_tri_moving_v3v3_f(v1, i1, v2, i2, v3, i3, v4, i4, normal, bary, t, relnor);
}
static CollPair* cloth_collision ( ModifierData *md1, ModifierData *md2, BVHTreeOverlap *overlap,
CollPair *collpair, double dt, GHash *gh, MemArena *arena)
{
ClothModifierData *clmd = ( ClothModifierData * ) md1;
CollisionModifierData *collmd = ( CollisionModifierData * ) md2;
MFace *face1=NULL, *face2 = NULL;
ClothVertex *verts1 = clmd->clothObject->verts;
double distance = 0;
float epsilon1 = clmd->coll_parms->epsilon;
float epsilon2 = BLI_bvhtree_getepsilon ( collmd->bvhtree );
float no[3], uv[3], t, relnor;
int i, i1, i2, i3, i4, i5, i6;
Cloth *cloth = clmd->clothObject;
float n1[3], sdis, p[3], l, n2[3], off[3], v1[2][3], v2[2][3], v3[2][3], v4[2][3], v5[2][3], v6[2][3];
int j, ret, bp1, bp2, bp3, ap1, ap2, ap3;
face1 = & ( clmd->clothObject->mfaces[overlap->indexA] );
face2 = & ( collmd->mfaces[overlap->indexB] );
// check all 4 possible collisions
for ( i = 0; i < 4; i++ )
{
if ( i == 0 )
{
// fill faceA
ap1 = face1->v1;
ap2 = face1->v2;
ap3 = face1->v3;
// fill faceB
bp1 = face2->v1;
bp2 = face2->v2;
bp3 = face2->v3;
}
else if ( i == 1 )
{
if ( face1->v4 )
{
// fill faceA
ap1 = face1->v1;
ap2 = face1->v3;
ap3 = face1->v4;
// fill faceB
bp1 = face2->v1;
bp2 = face2->v2;
bp3 = face2->v3;
}
else {
continue;
}
}
if ( i == 2 )
{
if ( face2->v4 )
{
// fill faceA
ap1 = face1->v1;
ap2 = face1->v2;
ap3 = face1->v3;
// fill faceB
bp1 = face2->v1;
bp2 = face2->v3;
bp3 = face2->v4;
}
else {
continue;
}
}
else if ( i == 3 )
{
if ( face1->v4 && face2->v4 )
{
// fill faceA
ap1 = face1->v1;
ap2 = face1->v3;
ap3 = face1->v4;
// fill faceB
bp1 = face2->v1;
bp2 = face2->v3;
bp3 = face2->v4;
}
else {
continue;
}
}
copy_v3_v3(v1[0], cloth->verts[ap1].txold);
copy_v3_v3(v1[1], cloth->verts[ap1].tx);
copy_v3_v3(v2[0], cloth->verts[ap2].txold);
copy_v3_v3(v2[1], cloth->verts[ap2].tx);
copy_v3_v3(v3[0], cloth->verts[ap3].txold);
copy_v3_v3(v3[1], cloth->verts[ap3].tx);
copy_v3_v3(v4[0], collmd->current_x[bp1].co);
copy_v3_v3(v4[1], collmd->current_xnew[bp1].co);
copy_v3_v3(v5[0], collmd->current_x[bp2].co);
copy_v3_v3(v5[1], collmd->current_xnew[bp2].co);
copy_v3_v3(v6[0], collmd->current_x[bp3].co);
copy_v3_v3(v6[1], collmd->current_xnew[bp3].co);
normal_tri_v3(n2, v4[1], v5[1], v6[1]);
sdis = clmd->coll_parms->distance_repel + epsilon2 + FLT_EPSILON;
/*apply a repulsion force, to help the solver along*/
copy_v3_v3(off, n2);
negate_v3(off);
if (isect_ray_plane_v3(v1[1], off, v4[1], v5[1], v6[1], &l, 0)) {
if (l >= 0.0 && l < sdis) {
mul_v3_fl(off, (l-sdis)*cloth->verts[ap1].mass*dt*clmd->coll_parms->repel_force*0.1);
add_v3_v3(cloth->verts[ap1].tv, off);
add_v3_v3(cloth->verts[ap2].tv, off);
add_v3_v3(cloth->verts[ap3].tv, off);
}
}
/*offset new positions a bit, to account for margins*/
copy_v3_v3(off, n2);
mul_v3_fl(off, epsilon1 + epsilon2 + ALMOST_ZERO);
add_v3_v3(v4[1], off); add_v3_v3(v5[1], off); add_v3_v3(v6[1], off);
i1 = ap1; i2 = ap2; i3 = ap3;
i4 = bp1+cloth->numverts; i5 = bp2+cloth->numverts; i6 = bp3+cloth->numverts;
for (j=0; j<6; j++) {
int collp;
switch (j) {
case 0:
ret = cloth_point_tri_moving_v3v3_f(v1, i1, v4, i4, v5, i5, v6, i6, no, uv, &t, &relnor, gh, arena);
collp = ap1;
break;
case 1:
collp = ap2;
ret = cloth_point_tri_moving_v3v3_f(v2, i2, v4, i4, v5, i5, v6, i6, no, uv, &t, &relnor, gh, arena);
break;
case 2:
collp = ap3;
ret = cloth_point_tri_moving_v3v3_f(v3, i3, v4, i4, v5, i5, v6, i6, no, uv, &t, &relnor, gh, arena);
break;
case 3:
collp = bp1;
ret = cloth_point_tri_moving_v3v3_f(v4, i4, v1, i1, v2, i2, v3, i3, no, uv, &t, &relnor, gh, arena);
break;
case 4:
collp = bp2;
ret = cloth_point_tri_moving_v3v3_f(v5, i5, v1, i1, v2, i2, v3, i3, no, uv, &t, &relnor, gh, arena);
break;
case 5:
collp = bp3;
ret = cloth_point_tri_moving_v3v3_f(v6, i6, v1, i1, v2, i2, v3, i3, no, uv, &t, &relnor, gh, arena);
break;
}
/*cloth vert versus coll face*/
if (ret && j < 3) {
collpair->bp1 = bp1; collpair->bp2 = bp2; collpair->bp3 = bp3;
collpair->collp = collp;
copy_v3_v3(collpair->normal, no);
mul_v3_v3fl(collpair->vector, collpair->normal, relnor);
collpair->distance = relnor;
collpair->time = t;
copy_v3_v3(collpair->bary, uv);
collpair->flag = COLLISION_USE_COLLFACE;
collpair++;
} else if (ret && j >= 3) { /*coll vert versus cloth face*/
collpair->ap1 = ap1; collpair->ap2 = ap2; collpair->ap3 = ap3;
collpair->collp = collp;
copy_v3_v3(collpair->normal, no);
mul_v3_v3fl(collpair->vector, collpair->normal, relnor);
collpair->distance = relnor;
collpair->time = t;
copy_v3_v3(collpair->bary, uv);
collpair->flag = 0;
collpair++;
}
}
}
return collpair;
}
static void machine_epsilon_offset(Cloth *cloth)
{
ClothVertex *cv;
int i, j;
cv = cloth->verts;
for (i=0; i<cloth->numverts; i++, cv++) {
/*aggrevatingly enough, it's necassary to offset the coordinates
by a multiple of the 32-bit floating point epsilon when switching
into doubles*/
#define RNDSIGN (float)(-1*(BLI_rand()%2==0)|1)
for (j=0; j<3; j++) {
cv->tx[j] += FLT_EPSILON*30.0f*RNDSIGN;
cv->txold[j] += FLT_EPSILON*30.0f*RNDSIGN;
cv->tv[j] += FLT_EPSILON*30.0f*RNDSIGN;
}
}
}
#else /* !WITH_ELTOPO */
//Determines collisions on overlap, collisions are written to collpair[i] and collision+number_collision_found is returned
static CollPair* cloth_collision ( ModifierData *md1, ModifierData *md2,
BVHTreeOverlap *overlap, CollPair *collpair, float dt )
{
ClothModifierData *clmd = ( ClothModifierData * ) md1;
CollisionModifierData *collmd = ( CollisionModifierData * ) md2;
Cloth *cloth = clmd->clothObject;
MFace *face1=NULL, *face2 = NULL;
#ifdef USE_BULLET
ClothVertex *verts1 = clmd->clothObject->verts;
#endif
double distance = 0;
float epsilon1 = clmd->coll_parms->epsilon;
float epsilon2 = BLI_bvhtree_getepsilon ( collmd->bvhtree );
float n2[3], sdis, l;
int i;
face1 = & ( clmd->clothObject->mfaces[overlap->indexA] );
face2 = & ( collmd->mfaces[overlap->indexB] );
// check all 4 possible collisions
for ( i = 0; i < 4; i++ )
{
if ( i == 0 )
{
// fill faceA
collpair->ap1 = face1->v1;
collpair->ap2 = face1->v2;
collpair->ap3 = face1->v3;
// fill faceB
collpair->bp1 = face2->v1;
collpair->bp2 = face2->v2;
collpair->bp3 = face2->v3;
}
else if ( i == 1 )
{
if ( face1->v4 )
{
// fill faceA
collpair->ap1 = face1->v1;
collpair->ap2 = face1->v4;
collpair->ap3 = face1->v3;
// fill faceB
collpair->bp1 = face2->v1;
collpair->bp2 = face2->v2;
collpair->bp3 = face2->v3;
}
else
i++;
}
if ( i == 2 )
{
if ( face2->v4 )
{
// fill faceA
collpair->ap1 = face1->v1;
collpair->ap2 = face1->v2;
collpair->ap3 = face1->v3;
// fill faceB
collpair->bp1 = face2->v1;
collpair->bp2 = face2->v4;
collpair->bp3 = face2->v3;
}
else
break;
}
else if ( i == 3 )
{
if ( face1->v4 && face2->v4 )
{
// fill faceA
collpair->ap1 = face1->v1;
collpair->ap2 = face1->v4;
collpair->ap3 = face1->v3;
// fill faceB
collpair->bp1 = face2->v1;
collpair->bp2 = face2->v4;
collpair->bp3 = face2->v3;
}
else
break;
}
normal_tri_v3(n2, collmd->current_xnew[collpair->bp1].co,
collmd->current_xnew[collpair->bp2].co,
collmd->current_xnew[collpair->bp3].co);
sdis = clmd->coll_parms->distance_repel + epsilon2 + FLT_EPSILON;
/* apply a repulsion force, to help the solver along.
* this is kindof crude, it only tests one vert of the triangle */
if (isect_ray_plane_v3(cloth->verts[collpair->ap1].tx, n2, collmd->current_xnew[collpair->bp1].co,
collmd->current_xnew[collpair->bp2].co,
collmd->current_xnew[collpair->bp3].co, &l, 0))
{
if (l >= 0.0f && l < sdis) {
mul_v3_fl(n2, (l-sdis)*cloth->verts[collpair->ap1].mass*dt*clmd->coll_parms->repel_force*0.1f);
add_v3_v3(cloth->verts[collpair->ap1].tv, n2);
add_v3_v3(cloth->verts[collpair->ap2].tv, n2);
add_v3_v3(cloth->verts[collpair->ap3].tv, n2);
}
}
#ifdef USE_BULLET
// calc distance + normal
distance = plNearestPoints (
verts1[collpair->ap1].txold, verts1[collpair->ap2].txold, verts1[collpair->ap3].txold, collmd->current_x[collpair->bp1].co, collmd->current_x[collpair->bp2].co, collmd->current_x[collpair->bp3].co, collpair->pa,collpair->pb,collpair->vector );
#else
// just be sure that we don't add anything
distance = 2.0 * (double)( epsilon1 + epsilon2 + ALMOST_ZERO );
#endif
if ( distance <= ( epsilon1 + epsilon2 + ALMOST_ZERO ) )
{
normalize_v3_v3( collpair->normal, collpair->vector );
collpair->distance = distance;
collpair->flag = 0;
collpair++;
}/*
else
{
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;
}
#endif /* WITH_ELTOPO */
#if 0
static int cloth_collision_response_moving( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
{
int result = 0;
Cloth *cloth1;
float w1, w2, w3, u1, u2, u3;
float v1[3], v2[3], relativeVelocity[3];
float magrelVel;
cloth1 = clmd->clothObject;
for ( ; collpair != collision_end; collpair++ )
{
// compute barycentric coordinates for both collision points
collision_compute_barycentric ( collpair->pa,
cloth1->verts[collpair->ap1].txold,
cloth1->verts[collpair->ap2].txold,
cloth1->verts[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, cloth1->verts[collpair->ap1].tv, cloth1->verts[collpair->ap2].tv, cloth1->verts[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 );
// Calculate the normal component of the relative velocity (actually only the magnitude - the direction is stored in 'normal').
magrelVel = INPR ( relativeVelocity, collpair->normal );
// printf("magrelVel: %f\n", magrelVel);
// Calculate masses of points.
// TODO
// If v_n_mag < 0 the edges are approaching each other.
if ( magrelVel > ALMOST_ZERO )
{
// Calculate Impulse magnitude to stop all motion in normal direction.
float magtangent = 0;
double impulse = 0.0;
float vrel_t_pre[3];
float temp[3];
// calculate tangential velocity
VECCOPY ( temp, collpair->normal );
mul_v3_fl( temp, magrelVel );
VECSUB ( vrel_t_pre, relativeVelocity, temp );
// Decrease in magnitude of relative tangential velocity due to coulomb friction
// in original formula "magrelVel" should be the "change of relative velocity in normal direction"
magtangent = MIN2 ( clmd->coll_parms->friction * 0.01 * magrelVel,sqrt ( INPR ( vrel_t_pre,vrel_t_pre ) ) );
// Apply friction impulse.
if ( magtangent > ALMOST_ZERO )
{
normalize_v3( vrel_t_pre );
impulse = 2.0 * magtangent / ( 1.0 + w1*w1 + w2*w2 + w3*w3 );
VECADDMUL ( cloth1->verts[collpair->ap1].impulse, vrel_t_pre, w1 * impulse );
VECADDMUL ( cloth1->verts[collpair->ap2].impulse, vrel_t_pre, w2 * impulse );
VECADDMUL ( cloth1->verts[collpair->ap3].impulse, vrel_t_pre, w3 * impulse );
}
// Apply velocity stopping impulse
// I_c = m * v_N / 2.0
// no 2.0 * magrelVel normally, but looks nicer DG
impulse = magrelVel / ( 1.0 + w1*w1 + w2*w2 + w3*w3 );
VECADDMUL ( cloth1->verts[collpair->ap1].impulse, collpair->normal, w1 * impulse );
cloth1->verts[collpair->ap1].impulse_count++;
VECADDMUL ( cloth1->verts[collpair->ap2].impulse, collpair->normal, w2 * impulse );
cloth1->verts[collpair->ap2].impulse_count++;
VECADDMUL ( cloth1->verts[collpair->ap3].impulse, collpair->normal, w3 * impulse );
cloth1->verts[collpair->ap3].impulse_count++;
// Apply repulse impulse if distance too short
// I_r = -min(dt*kd, m(0,1d/dt - v_n))
/*
d = clmd->coll_parms->epsilon*8.0/9.0 + epsilon2*8.0/9.0 - collpair->distance;
if ( ( magrelVel < 0.1*d*clmd->sim_parms->stepsPerFrame ) && ( d > ALMOST_ZERO ) )
{
repulse = MIN2 ( d*1.0/clmd->sim_parms->stepsPerFrame, 0.1*d*clmd->sim_parms->stepsPerFrame - magrelVel );
// stay on the safe side and clamp repulse
if ( impulse > ALMOST_ZERO )
repulse = MIN2 ( repulse, 5.0*impulse );
repulse = MAX2 ( impulse, repulse );
impulse = repulse / ( 1.0 + w1*w1 + w2*w2 + w3*w3 ); // original 2.0 / 0.25
VECADDMUL ( cloth1->verts[collpair->ap1].impulse, collpair->normal, impulse );
VECADDMUL ( cloth1->verts[collpair->ap2].impulse, collpair->normal, impulse );
VECADDMUL ( cloth1->verts[collpair->ap3].impulse, collpair->normal, impulse );
}
*/
result = 1;
}
}
return result;
}
#endif
#if 0
static float projectPointOntoLine(float *p, float *a, float *b)
{
float ba[3], pa[3];
VECSUB(ba, b, a);
VECSUB(pa, p, a);
return INPR(pa, ba) / INPR(ba, ba);
}
static void calculateEENormal(float *np1, float *np2, float *np3, float *np4,float *out_normal)
{
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]);
cross_v3_v3v3(out_normal, line1, line2);
length = normalize_v3(out_normal);
if (length <= FLT_EPSILON)
{ // lines are collinear
VECSUB(out_normal, np2, np1);
normalize_v3(out_normal);
}
}
static void findClosestPointsEE(float *x1, float *x2, float *x3, float *x4, float *w1, float *w2)
{
float temp[3], temp2[3];
double a, b, c, e, f;
VECSUB(temp, x2, x1);
a = INPR(temp, temp);
VECSUB(temp2, x4, x3);
b = -INPR(temp, temp2);
c = INPR(temp2, temp2);
VECSUB(temp2, x3, x1);
e = INPR(temp, temp2);
VECSUB(temp, x4, x3);
f = -INPR(temp, temp2);
*w1 = (e * c - b * f) / (a * c - b * b);
*w2 = (f - b * *w1) / c;
}
// calculates the distance of 2 edges
static float edgedge_distance(float np11[3], float np12[3], float np21[3], float np22[3], float *out_a1, float *out_a2, float *out_normal)
{
float line1[3], line2[3], cross[3];
float length;
float temp[3], temp2[3];
float dist_a1, dist_a2;
VECSUB(line1, np12, np11);
VECSUB(line2, np22, np21);
cross_v3_v3v3(cross, line1, line2);
length = INPR(cross, cross);
if (length < FLT_EPSILON)
{
*out_a2 = projectPointOntoLine(np11, np21, np22);
if ((*out_a2 >= -FLT_EPSILON) && (*out_a2 <= 1.0 + FLT_EPSILON))
{
*out_a1 = 0;
calculateEENormal(np11, np12, np21, np22, out_normal);
VECSUB(temp, np22, np21);
mul_v3_fl(temp, *out_a2);
VECADD(temp2, temp, np21);
VECADD(temp2, temp2, np11);
return INPR(temp2, temp2);
}
CLAMP(*out_a2, 0.0, 1.0);
if (*out_a2 > .5)
{ // == 1.0
*out_a1 = projectPointOntoLine(np22, np11, np12);
if ((*out_a1 >= -FLT_EPSILON) && (*out_a1 <= 1.0 + FLT_EPSILON))
{
calculateEENormal(np11, np12, np21, np22, out_normal);
// return (np22 - (np11 + (np12 - np11) * out_a1)).lengthSquared();
VECSUB(temp, np12, np11);
mul_v3_fl(temp, *out_a1);
VECADD(temp2, temp, np11);
VECSUB(temp2, np22, temp2);
return INPR(temp2, temp2);
}
}
else
{ // == 0.0
*out_a1 = projectPointOntoLine(np21, np11, np12);
if ((*out_a1 >= -FLT_EPSILON) && (*out_a1 <= 1.0 + FLT_EPSILON))
{
calculateEENormal(np11, np11, np21, np22, out_normal);
// return (np21 - (np11 + (np12 - np11) * out_a1)).lengthSquared();
VECSUB(temp, np12, np11);
mul_v3_fl(temp, *out_a1);
VECADD(temp2, temp, np11);
VECSUB(temp2, np21, temp2);
return INPR(temp2, temp2);
}
}
CLAMP(*out_a1, 0.0, 1.0);
calculateEENormal(np11, np12, np21, np22, out_normal);
if(*out_a1 > .5)
{
if(*out_a2 > .5)
{
VECSUB(temp, np12, np22);
}
else
{
VECSUB(temp, np12, np21);
}
}
else
{
if(*out_a2 > .5)
{
VECSUB(temp, np11, np22);
}
else
{
VECSUB(temp, np11, np21);
}
}
return INPR(temp, temp);
}
else
{
// If the lines aren't parallel (but coplanar) they have to intersect
findClosestPointsEE(np11, np12, np21, np22, out_a1, out_a2);
// If both points are on the finite edges, we're done.
if (*out_a1 >= 0.0 && *out_a1 <= 1.0 && *out_a2 >= 0.0 && *out_a2 <= 1.0)
{
float p1[3], p2[3];
// p1= np11 + (np12 - np11) * out_a1;
VECSUB(temp, np12, np11);
mul_v3_fl(temp, *out_a1);
VECADD(p1, np11, temp);
// p2 = np21 + (np22 - np21) * out_a2;
VECSUB(temp, np22, np21);
mul_v3_fl(temp, *out_a2);
VECADD(p2, np21, temp);
calculateEENormal(np11, np12, np21, np22, out_normal);
VECSUB(temp, p1, p2);
return INPR(temp, temp);
}
/*
* Clamp both points to the finite edges.
* The one that moves most during clamping is one part of the solution.
*/
dist_a1 = *out_a1;
CLAMP(dist_a1, 0.0, 1.0);
dist_a2 = *out_a2;
CLAMP(dist_a2, 0.0, 1.0);
// Now project the "most clamped" point on the other line.
if (dist_a1 > dist_a2)
{
/* keep out_a1 */
float p1[3];
// p1 = np11 + (np12 - np11) * out_a1;
VECSUB(temp, np12, np11);
mul_v3_fl(temp, *out_a1);
VECADD(p1, np11, temp);
*out_a2 = projectPointOntoLine(p1, np21, np22);
CLAMP(*out_a2, 0.0, 1.0);
calculateEENormal(np11, np12, np21, np22, out_normal);
// return (p1 - (np21 + (np22 - np21) * out_a2)).lengthSquared();
VECSUB(temp, np22, np21);
mul_v3_fl(temp, *out_a2);
VECADD(temp, temp, np21);
VECSUB(temp, p1, temp);
return INPR(temp, temp);
}
else
{
/* keep out_a2 */
float p2[3];
// p2 = np21 + (np22 - np21) * out_a2;
VECSUB(temp, np22, np21);
mul_v3_fl(temp, *out_a2);
VECADD(p2, np21, temp);
*out_a1 = projectPointOntoLine(p2, np11, np12);
CLAMP(*out_a1, 0.0, 1.0);
calculateEENormal(np11, np12, np21, np22, out_normal);
// return ((np11 + (np12 - np11) * out_a1) - p2).lengthSquared();
VECSUB(temp, np12, np11);
mul_v3_fl(temp, *out_a1);
VECADD(temp, temp, np11);
VECSUB(temp, temp, p2);
return INPR(temp, temp);
}
}
printf("Error in edgedge_distance: end of function\n");
return 0;
}
static int cloth_collision_moving_edges ( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair )
{
EdgeCollPair edgecollpair;
Cloth *cloth1=NULL;
ClothVertex *verts1=NULL;
unsigned int i = 0, k = 0;
int numsolutions = 0;
double x1[3], v1[3], x2[3], v2[3], x3[3], v3[3];
double solution[3], solution2[3];
MVert *verts2 = collmd->current_x; // old x
MVert *velocity2 = collmd->current_v; // velocity
float distance = 0;
float triA[3][3], triB[3][3];
int result = 0;
cloth1 = clmd->clothObject;
verts1 = cloth1->verts;
for(i = 0; i < 9; i++)
{
// 9 edge - edge possibilities
if(i == 0) // cloth edge: 1-2; coll edge: 1-2
{
edgecollpair.p11 = collpair->ap1;
edgecollpair.p12 = collpair->ap2;
edgecollpair.p21 = collpair->bp1;
edgecollpair.p22 = collpair->bp2;
}
else if(i == 1) // cloth edge: 1-2; coll edge: 2-3
{
edgecollpair.p11 = collpair->ap1;
edgecollpair.p12 = collpair->ap2;
edgecollpair.p21 = collpair->bp2;
edgecollpair.p22 = collpair->bp3;
}
else if(i == 2) // cloth edge: 1-2; coll edge: 1-3
{
edgecollpair.p11 = collpair->ap1;
edgecollpair.p12 = collpair->ap2;
edgecollpair.p21 = collpair->bp1;
edgecollpair.p22 = collpair->bp3;
}
else if(i == 3) // cloth edge: 2-3; coll edge: 1-2
{
edgecollpair.p11 = collpair->ap2;
edgecollpair.p12 = collpair->ap3;
edgecollpair.p21 = collpair->bp1;
edgecollpair.p22 = collpair->bp2;
}
else if(i == 4) // cloth edge: 2-3; coll edge: 2-3
{
edgecollpair.p11 = collpair->ap2;
edgecollpair.p12 = collpair->ap3;
edgecollpair.p21 = collpair->bp2;
edgecollpair.p22 = collpair->bp3;
}
else if(i == 5) // cloth edge: 2-3; coll edge: 1-3
{
edgecollpair.p11 = collpair->ap2;
edgecollpair.p12 = collpair->ap3;
edgecollpair.p21 = collpair->bp1;
edgecollpair.p22 = collpair->bp3;
}
else if(i ==6) // cloth edge: 1-3; coll edge: 1-2
{
edgecollpair.p11 = collpair->ap1;
edgecollpair.p12 = collpair->ap3;
edgecollpair.p21 = collpair->bp1;
edgecollpair.p22 = collpair->bp2;
}
else if(i ==7) // cloth edge: 1-3; coll edge: 2-3
{
edgecollpair.p11 = collpair->ap1;
edgecollpair.p12 = collpair->ap3;
edgecollpair.p21 = collpair->bp2;
edgecollpair.p22 = collpair->bp3;
}
else if(i == 8) // cloth edge: 1-3; coll edge: 1-3
{
edgecollpair.p11 = collpair->ap1;
edgecollpair.p12 = collpair->ap3;
edgecollpair.p21 = collpair->bp1;
edgecollpair.p22 = collpair->bp3;
}
/*
if((edgecollpair.p11 == 3) && (edgecollpair.p12 == 16))
printf("Ahier!\n");
if((edgecollpair.p11 == 16) && (edgecollpair.p12 == 3))
printf("Ahier!\n");
*/
// if ( !cloth_are_edges_adjacent ( clmd, collmd, &edgecollpair ) )
{
// 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 );
VECSUB ( x2, verts2[edgecollpair.p21].co, verts1[edgecollpair.p11].txold );
VECSUB ( v2, velocity2[edgecollpair.p21].co, verts1[edgecollpair.p11].tv );
VECSUB ( x3, verts2[edgecollpair.p22].co, verts1[edgecollpair.p11].txold );
VECSUB ( v3, velocity2[edgecollpair.p22].co, verts1[edgecollpair.p11].tv );
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]: %f, sol2[k]: %f\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]);
if ( ( solution[k] >= ALMOST_ZERO ) && ( solution[k] <= 1.0 ) && ( solution[k] > ALMOST_ZERO))
{
float a,b;
float out_normal[3];
float distance;
float impulse = 0;
float I_mag;
// move verts
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, 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);
if ((distance <= clmd->coll_parms->epsilon + BLI_bvhtree_getepsilon ( collmd->bvhtree ) + ALMOST_ZERO) && (INPR(out_normal, out_normal) > 0))
{
float vrel_1_to_2[3], temp[3], temp2[3], out_normalVelocity;
float desiredVn;
VECCOPY(vrel_1_to_2, verts1[edgecollpair.p11].tv);
mul_v3_fl(vrel_1_to_2, 1.0 - a);
VECCOPY(temp, verts1[edgecollpair.p12].tv);
mul_v3_fl(temp, a);
VECADD(vrel_1_to_2, vrel_1_to_2, temp);
VECCOPY(temp, verts1[edgecollpair.p21].tv);
mul_v3_fl(temp, 1.0 - b);
VECCOPY(temp2, verts1[edgecollpair.p22].tv);
mul_v3_fl(temp2, b);
VECADD(temp, temp, temp2);
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;
negate_v3(out_normal);
}
*/
/* Inelastic repulsion impulse. */
// Calculate which normal velocity we need.
desiredVn = (out_normalVelocity * (float)solution[k] - (.1 * (clmd->coll_parms->epsilon + BLI_bvhtree_getepsilon ( collmd->bvhtree )) - sqrt(distance)) - ALMOST_ZERO);
// Now calculate what impulse we need to reach that velocity.
I_mag = (out_normalVelocity - desiredVn) / 2.0; // / (1/m1 + 1/m2);
// Finally apply that impulse.
impulse = (2.0 * -I_mag) / (a*a + (1.0-a)*(1.0-a) + b*b + (1.0-b)*(1.0-b));
VECADDMUL ( verts1[edgecollpair.p11].impulse, out_normal, (1.0-a) * impulse );
verts1[edgecollpair.p11].impulse_count++;
VECADDMUL ( verts1[edgecollpair.p12].impulse, out_normal, a * impulse );
verts1[edgecollpair.p12].impulse_count++;
// return true;
result = 1;
break;
}
else
{
// missing from collision.hpp
}
// mintime = MIN2(mintime, (float)solution[k]);
break;
}
}
}
}
return result;
}
static int cloth_collision_moving ( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
{
Cloth *cloth1;
cloth1 = clmd->clothObject;
for ( ; collpair != collision_end; collpair++ )
{
// only handle moving collisions here
if (!( collpair->flag & COLLISION_IN_FUTURE ))
continue;
cloth_collision_moving_edges ( clmd, collmd, collpair);
// cloth_collision_moving_tris ( clmd, collmd, collpair);
}
return 1;
}
#endif
static void add_collision_object(Object ***objs, unsigned int *numobj, unsigned int *maxobj, Object *ob, Object *self, int level)
{
CollisionModifierData *cmd= NULL;
if(ob == self)
return;
/* only get objects with collision modifier */
if(ob->pd && ob->pd->deflect)
cmd= (CollisionModifierData *)modifiers_findByType(ob, eModifierType_Collision);
if(cmd) {
/* extend array */
if(*numobj >= *maxobj) {
*maxobj *= 2;
*objs= MEM_reallocN(*objs, sizeof(Object*)*(*maxobj));
}
(*objs)[*numobj] = ob;
(*numobj)++;
}
/* objects in dupli groups, one level only for now */
if(ob->dup_group && level == 0) {
GroupObject *go;
Group *group= ob->dup_group;
/* add objects */
for(go= group->gobject.first; go; go= go->next)
add_collision_object(objs, numobj, maxobj, go->ob, self, level+1);
}
}
// return all collision objects in scene
// collision object will exclude self
Object **get_collisionobjects(Scene *scene, Object *self, Group *group, unsigned int *numcollobj)
{
Base *base;
Object **objs;
GroupObject *go;
unsigned int numobj= 0, maxobj= 100;
objs= MEM_callocN(sizeof(Object *)*maxobj, "CollisionObjectsArray");
/* gather all collision objects */
if(group) {
/* use specified group */
for(go= group->gobject.first; go; go= go->next)
add_collision_object(&objs, &numobj, &maxobj, go->ob, self, 0);
}
else {
Scene *sce_iter;
/* add objects in same layer in scene */
for(SETLOOPER(scene, sce_iter, base)) {
if(base->lay & self->lay)
add_collision_object(&objs, &numobj, &maxobj, base->object, self, 0);
}
}
*numcollobj= numobj;
return objs;
}
static void add_collider_cache_object(ListBase **objs, Object *ob, Object *self, int level)
{
CollisionModifierData *cmd= NULL;
ColliderCache *col;
if(ob == self)
return;
if(ob->pd && ob->pd->deflect)
cmd =(CollisionModifierData *)modifiers_findByType(ob, eModifierType_Collision);
if(cmd && cmd->bvhtree) {
if(*objs == NULL)
*objs = MEM_callocN(sizeof(ListBase), "ColliderCache array");
col = MEM_callocN(sizeof(ColliderCache), "ColliderCache");
col->ob = ob;
col->collmd = cmd;
/* make sure collider is properly set up */
collision_move_object(cmd, 1.0, 0.0);
BLI_addtail(*objs, col);
}
/* objects in dupli groups, one level only for now */
if(ob->dup_group && level == 0) {
GroupObject *go;
Group *group= ob->dup_group;
/* add objects */
for(go= group->gobject.first; go; go= go->next)
add_collider_cache_object(objs, go->ob, self, level+1);
}
}
ListBase *get_collider_cache(Scene *scene, Object *self, Group *group)
{
GroupObject *go;
ListBase *objs= NULL;
/* add object in same layer in scene */
if(group) {
for(go= group->gobject.first; go; go= go->next)
add_collider_cache_object(&objs, go->ob, self, 0);
}
else {
Scene *sce_iter;
Base *base;
/* add objects in same layer in scene */
for(SETLOOPER(scene, sce_iter, base)) {
if(!self || (base->lay & self->lay))
add_collider_cache_object(&objs, base->object, self, 0);
}
}
return objs;
}
void free_collider_cache(ListBase **colliders)
{
if(*colliders) {
BLI_freelistN(*colliders);
MEM_freeN(*colliders);
*colliders = NULL;
}
}
static void cloth_bvh_objcollisions_nearcheck ( ClothModifierData * clmd, CollisionModifierData *collmd,
CollPair **collisions, CollPair **collisions_index, int numresult, BVHTreeOverlap *overlap, double dt)
{
int i;
#ifdef WITH_ELTOPO
GHash *visithash = BLI_ghash_new(edgepair_hash, edgepair_cmp, "visthash, collision.c");
GHash *tri_visithash = BLI_ghash_new(tripair_hash, tripair_cmp, "tri_visthash, collision.c");
MemArena *arena = BLI_memarena_new(1<<16, "edge hash arena, collision.c");
#endif
*collisions = ( CollPair* ) MEM_mallocN ( sizeof ( CollPair ) * numresult * 64, "collision array" ); //*4 since cloth_collision_static can return more than 1 collision
*collisions_index = *collisions;
#ifdef WITH_ELTOPO
machine_epsilon_offset(clmd->clothObject);
for ( i = 0; i < numresult; i++ )
{
*collisions_index = cloth_collision ( ( ModifierData * ) clmd, ( ModifierData * ) collmd,
overlap+i, *collisions_index, dt, tri_visithash, arena );
}
for ( i = 0; i < numresult; i++ )
{
*collisions_index = cloth_edge_collision ( ( ModifierData * ) clmd, ( ModifierData * ) collmd,
overlap+i, *collisions_index, visithash, arena );
}
BLI_ghash_free(visithash, NULL, NULL);
BLI_ghash_free(tri_visithash, NULL, NULL);
BLI_memarena_free(arena);
#else /* WITH_ELTOPO */
for ( i = 0; i < numresult; i++ )
{
*collisions_index = cloth_collision ( ( ModifierData * ) clmd, ( ModifierData * ) collmd,
overlap+i, *collisions_index, dt );
}
#endif /* WITH_ELTOPO */
}
static int cloth_bvh_objcollisions_resolve ( ClothModifierData * clmd, CollisionModifierData *collmd, CollPair *collisions, CollPair *collisions_index)
{
Cloth *cloth = clmd->clothObject;
int i=0, j = 0, /*numfaces = 0,*/ numverts = 0;
ClothVertex *verts = NULL;
int ret = 0;
int result = 0;
float tnull[3] = {0,0,0};
/*numfaces = clmd->clothObject->numfaces;*/ /*UNUSED*/
numverts = clmd->clothObject->numverts;
verts = cloth->verts;
// process all collisions (calculate impulses, TODO: also repulses if distance too short)
result = 1;
for ( j = 0; j < 5; j++ ) // 5 is just a value that ensures convergence
{
result = 0;
if ( collmd->bvhtree )
{
#ifdef WITH_ELTOPO
result += cloth_collision_response_moving(clmd, collmd, collisions, collisions_index);
result += cloth_edge_collision_response_moving(clmd, collmd, collisions, collisions_index);
#else
result += cloth_collision_response_static ( clmd, collmd, collisions, collisions_index );
#endif
#ifdef WITH_ELTOPO
{
#else
// apply impulses in parallel
if ( result )
{
#endif
for ( i = 0; i < numverts; i++ )
{
// calculate "velocities" (just xnew = xold + v; no dt in v)
if ( verts[i].impulse_count )
{
VECADDMUL ( verts[i].tv, verts[i].impulse, 1.0f / verts[i].impulse_count );
copy_v3_v3 ( verts[i].impulse, tnull );
verts[i].impulse_count = 0;
ret++;
}
}
}
}
}
return ret;
}
// cloth - object collisions
int cloth_bvh_objcollision (Object *ob, ClothModifierData * clmd, float step, float dt )
{
Cloth *cloth= clmd->clothObject;
BVHTree *cloth_bvh= cloth->bvhtree;
unsigned int i=0, /* numfaces = 0, */ /* UNUSED */ numverts = 0, k, l, j;
int rounds = 0; // result counts applied collisions; ic is for debug output;
ClothVertex *verts = NULL;
int ret = 0, ret2 = 0;
Object **collobjs = NULL;
unsigned int numcollobj = 0;
if ((clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_COLLOBJ) || cloth_bvh==NULL)
return 0;
verts = cloth->verts;
/* numfaces = cloth->numfaces; */ /* UNUSED */
numverts = cloth->numverts;
////////////////////////////////////////////////////////////
// static collisions
////////////////////////////////////////////////////////////
// update cloth bvh
bvhtree_update_from_cloth ( clmd, 1 ); // 0 means STATIC, 1 means MOVING (see later in this function)
bvhselftree_update_from_cloth ( clmd, 0 ); // 0 means STATIC, 1 means MOVING (see later in this function)
collobjs = get_collisionobjects(clmd->scene, ob, clmd->coll_parms->group, &numcollobj);
if(!collobjs)
return 0;
do
{
CollPair **collisions, **collisions_index;
ret2 = 0;
collisions = MEM_callocN(sizeof(CollPair *) *numcollobj , "CollPair");
collisions_index = MEM_callocN(sizeof(CollPair *) *numcollobj , "CollPair");
// check all collision objects
for(i = 0; i < numcollobj; i++)
{
Object *collob= collobjs[i];
CollisionModifierData *collmd = (CollisionModifierData*)modifiers_findByType(collob, eModifierType_Collision);
BVHTreeOverlap *overlap = NULL;
unsigned int result = 0;
if(!collmd->bvhtree)
continue;
/* move object to position (step) in time */
collision_move_object ( collmd, step + dt, step );
/* search for overlapping collision pairs */
overlap = BLI_bvhtree_overlap ( cloth_bvh, collmd->bvhtree, &result );
// go to next object if no overlap is there
if( result && overlap ) {
/* check if collisions really happen (costly near check) */
cloth_bvh_objcollisions_nearcheck ( clmd, collmd, &collisions[i],
&collisions_index[i], result, overlap, dt/(float)clmd->coll_parms->loop_count);
// resolve nearby collisions
ret += cloth_bvh_objcollisions_resolve ( clmd, collmd, collisions[i], collisions_index[i]);
ret2 += ret;
}
if ( overlap )
MEM_freeN ( overlap );
}
rounds++;
for(i = 0; i < numcollobj; i++)
{
if ( collisions[i] ) MEM_freeN ( collisions[i] );
}
MEM_freeN(collisions);
MEM_freeN(collisions_index);
////////////////////////////////////////////////////////////
// update positions
// this is needed for bvh_calc_DOP_hull_moving() [kdop.c]
////////////////////////////////////////////////////////////
// verts come from clmd
for ( i = 0; i < numverts; i++ )
{
if ( clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL )
{
if ( verts [i].flags & CLOTH_VERT_FLAG_PINNED )
{
continue;
}
}
VECADD ( verts[i].tx, verts[i].txold, verts[i].tv );
}
////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////
// Test on *simple* selfcollisions
////////////////////////////////////////////////////////////
if ( clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_SELF )
{
for(l = 0; l < (unsigned int)clmd->coll_parms->self_loop_count; l++)
{
// TODO: add coll quality rounds again
BVHTreeOverlap *overlap = NULL;
unsigned int result = 0;
// collisions = 1;
verts = cloth->verts; // needed for openMP
/* numfaces = cloth->numfaces; */ /* UNUSED */
numverts = cloth->numverts;
verts = cloth->verts;
if ( cloth->bvhselftree )
{
// search for overlapping collision pairs
overlap = BLI_bvhtree_overlap ( cloth->bvhselftree, cloth->bvhselftree, &result );
// #pragma omp parallel for private(k, i, j) schedule(static)
for ( k = 0; k < result; k++ )
{
float temp[3];
float length = 0;
float mindistance;
i = overlap[k].indexA;
j = overlap[k].indexB;
mindistance = clmd->coll_parms->selfepsilon* ( cloth->verts[i].avg_spring_len + cloth->verts[j].avg_spring_len );
if ( clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL )
{
if ( ( cloth->verts [i].flags & CLOTH_VERT_FLAG_PINNED )
&& ( cloth->verts [j].flags & CLOTH_VERT_FLAG_PINNED ) )
{
continue;
}
}
VECSUB ( temp, verts[i].tx, verts[j].tx );
if ( ( ABS ( temp[0] ) > mindistance ) || ( ABS ( temp[1] ) > mindistance ) || ( ABS ( temp[2] ) > mindistance ) ) continue;
// check for adjacent points (i must be smaller j)
if ( BLI_edgehash_haskey ( cloth->edgehash, MIN2(i, j), MAX2(i, j) ) )
{
continue;
}
length = normalize_v3( temp );
if ( length < mindistance )
{
float correction = mindistance - length;
if ( cloth->verts [i].flags & CLOTH_VERT_FLAG_PINNED )
{
mul_v3_fl( temp, -correction );
VECADD ( verts[j].tx, verts[j].tx, temp );
}
else if ( cloth->verts [j].flags & CLOTH_VERT_FLAG_PINNED )
{
mul_v3_fl( temp, correction );
VECADD ( verts[i].tx, verts[i].tx, temp );
}
else
{
mul_v3_fl( temp, correction * -0.5 );
VECADD ( verts[j].tx, verts[j].tx, temp );
VECSUB ( verts[i].tx, verts[i].tx, temp );
}
ret = 1;
ret2 += ret;
}
else
{
// check for approximated time collisions
}
}
if ( overlap )
MEM_freeN ( overlap );
}
}
////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////
// SELFCOLLISIONS: update velocities
////////////////////////////////////////////////////////////
if ( ret2 )
{
for ( i = 0; i < cloth->numverts; i++ )
{
if ( ! ( verts [i].flags & CLOTH_VERT_FLAG_PINNED ) )
{
VECSUB ( verts[i].tv, verts[i].tx, verts[i].txold );
}
}
}
////////////////////////////////////////////////////////////
}
}
while ( ret2 && ( clmd->coll_parms->loop_count>rounds ) );
if(collobjs)
MEM_freeN(collobjs);
return 1|MIN2 ( ret, 1 );
}
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