1929 lines
52 KiB
C
1929 lines
52 KiB
C
/*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) Blender Foundation
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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/** \file blender/blenkernel/intern/implicit.c
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* \ingroup bph
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*/
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#include "implicit.h"
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#ifdef IMPLICIT_SOLVER_BLENDER
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#include "MEM_guardedalloc.h"
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#include "DNA_scene_types.h"
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#include "DNA_object_types.h"
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#include "DNA_object_force.h"
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#include "DNA_meshdata_types.h"
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#include "DNA_texture_types.h"
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#include "BLI_math.h"
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#include "BLI_linklist.h"
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#include "BLI_utildefines.h"
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#include "BKE_cloth.h"
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#include "BKE_collision.h"
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#include "BKE_effect.h"
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#include "BKE_global.h"
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#include "BPH_mass_spring.h"
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#ifdef __GNUC__
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# pragma GCC diagnostic ignored "-Wtype-limits"
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#endif
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#ifdef _OPENMP
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# define CLOTH_OPENMP_LIMIT 512
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#endif
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#if 0 /* debug timing */
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#ifdef _WIN32
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#include <windows.h>
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static LARGE_INTEGER _itstart, _itend;
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static LARGE_INTEGER ifreq;
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static void itstart(void)
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{
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static int first = 1;
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if (first) {
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QueryPerformanceFrequency(&ifreq);
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first = 0;
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}
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QueryPerformanceCounter(&_itstart);
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}
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static void itend(void)
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{
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QueryPerformanceCounter(&_itend);
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}
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double itval(void)
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{
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return ((double)_itend.QuadPart -
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(double)_itstart.QuadPart)/((double)ifreq.QuadPart);
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}
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#else
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#include <sys/time.h>
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// intrinsics need better compile flag checking
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// #include <xmmintrin.h>
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// #include <pmmintrin.h>
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// #include <pthread.h>
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static struct timeval _itstart, _itend;
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static struct timezone itz;
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static void itstart(void)
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{
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gettimeofday(&_itstart, &itz);
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}
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static void itend(void)
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{
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gettimeofday(&_itend, &itz);
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}
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static double itval(void)
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{
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double t1, t2;
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t1 = (double)_itstart.tv_sec + (double)_itstart.tv_usec/(1000*1000);
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t2 = (double)_itend.tv_sec + (double)_itend.tv_usec/(1000*1000);
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return t2-t1;
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}
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#endif
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#endif /* debug timing */
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static float I[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
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static float ZERO[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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/*
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#define C99
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#ifdef C99
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#defineDO_INLINE inline
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#else
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#defineDO_INLINE static
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#endif
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*/
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struct Cloth;
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//////////////////////////////////////////
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/* fast vector / matrix library, enhancements are welcome :) -dg */
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/////////////////////////////////////////
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/* DEFINITIONS */
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typedef float lfVector[3];
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typedef struct fmatrix3x3 {
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float m[3][3]; /* 3x3 matrix */
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unsigned int c, r; /* column and row number */
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/* int pinned; // is this vertex allowed to move? */
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float n1, n2, n3; /* three normal vectors for collision constrains */
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unsigned int vcount; /* vertex count */
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unsigned int scount; /* spring count */
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} fmatrix3x3;
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///////////////////////////
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// float[3] vector
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///////////////////////////
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/* simple vector code */
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/* STATUS: verified */
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DO_INLINE void mul_fvector_S(float to[3], float from[3], float scalar)
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{
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to[0] = from[0] * scalar;
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to[1] = from[1] * scalar;
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to[2] = from[2] * scalar;
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}
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/* simple v^T * v product ("outer product") */
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/* STATUS: HAS TO BE verified (*should* work) */
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DO_INLINE void mul_fvectorT_fvector(float to[3][3], float vectorA[3], float vectorB[3])
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{
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mul_fvector_S(to[0], vectorB, vectorA[0]);
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mul_fvector_S(to[1], vectorB, vectorA[1]);
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mul_fvector_S(to[2], vectorB, vectorA[2]);
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}
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/* simple v^T * v product with scalar ("outer product") */
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/* STATUS: HAS TO BE verified (*should* work) */
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DO_INLINE void mul_fvectorT_fvectorS(float to[3][3], float vectorA[3], float vectorB[3], float aS)
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{
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mul_fvectorT_fvector(to, vectorA, vectorB);
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mul_fvector_S(to[0], to[0], aS);
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mul_fvector_S(to[1], to[1], aS);
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mul_fvector_S(to[2], to[2], aS);
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}
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#if 0
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/* printf vector[3] on console: for debug output */
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static void print_fvector(float m3[3])
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{
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printf("%f\n%f\n%f\n\n", m3[0], m3[1], m3[2]);
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}
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///////////////////////////
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// long float vector float (*)[3]
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///////////////////////////
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/* print long vector on console: for debug output */
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DO_INLINE void print_lfvector(float (*fLongVector)[3], unsigned int verts)
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{
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unsigned int i = 0;
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for (i = 0; i < verts; i++) {
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print_fvector(fLongVector[i]);
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}
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}
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#endif
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/* create long vector */
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DO_INLINE lfVector *create_lfvector(unsigned int verts)
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{
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/* TODO: check if memory allocation was successful */
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return (lfVector *)MEM_callocN(verts * sizeof(lfVector), "cloth_implicit_alloc_vector");
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// return (lfVector *)cloth_aligned_malloc(&MEMORY_BASE, verts * sizeof(lfVector));
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}
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/* delete long vector */
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DO_INLINE void del_lfvector(float (*fLongVector)[3])
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{
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if (fLongVector != NULL) {
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MEM_freeN(fLongVector);
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// cloth_aligned_free(&MEMORY_BASE, fLongVector);
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}
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}
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/* copy long vector */
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DO_INLINE void cp_lfvector(float (*to)[3], float (*from)[3], unsigned int verts)
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{
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memcpy(to, from, verts * sizeof(lfVector));
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}
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/* init long vector with float[3] */
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DO_INLINE void init_lfvector(float (*fLongVector)[3], float vector[3], unsigned int verts)
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{
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unsigned int i = 0;
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for (i = 0; i < verts; i++) {
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copy_v3_v3(fLongVector[i], vector);
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}
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}
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/* zero long vector with float[3] */
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DO_INLINE void zero_lfvector(float (*to)[3], unsigned int verts)
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{
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memset(to, 0.0f, verts * sizeof(lfVector));
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}
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/* multiply long vector with scalar*/
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DO_INLINE void mul_lfvectorS(float (*to)[3], float (*fLongVector)[3], float scalar, unsigned int verts)
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{
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unsigned int i = 0;
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for (i = 0; i < verts; i++) {
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mul_fvector_S(to[i], fLongVector[i], scalar);
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}
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}
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/* multiply long vector with scalar*/
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/* A -= B * float */
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DO_INLINE void submul_lfvectorS(float (*to)[3], float (*fLongVector)[3], float scalar, unsigned int verts)
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{
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unsigned int i = 0;
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for (i = 0; i < verts; i++) {
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VECSUBMUL(to[i], fLongVector[i], scalar);
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}
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}
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/* dot product for big vector */
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DO_INLINE float dot_lfvector(float (*fLongVectorA)[3], float (*fLongVectorB)[3], unsigned int verts)
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{
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long i = 0;
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float temp = 0.0;
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// XXX brecht, disabled this for now (first schedule line was already disabled),
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// due to non-commutative nature of floating point ops this makes the sim give
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// different results each time you run it!
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// schedule(guided, 2)
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//#pragma omp parallel for reduction(+: temp) if (verts > CLOTH_OPENMP_LIMIT)
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for (i = 0; i < (long)verts; i++) {
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temp += dot_v3v3(fLongVectorA[i], fLongVectorB[i]);
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}
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return temp;
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}
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/* A = B + C --> for big vector */
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DO_INLINE void add_lfvector_lfvector(float (*to)[3], float (*fLongVectorA)[3], float (*fLongVectorB)[3], unsigned int verts)
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{
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unsigned int i = 0;
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for (i = 0; i < verts; i++) {
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VECADD(to[i], fLongVectorA[i], fLongVectorB[i]);
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}
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}
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/* A = B + C * float --> for big vector */
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DO_INLINE void add_lfvector_lfvectorS(float (*to)[3], float (*fLongVectorA)[3], float (*fLongVectorB)[3], float bS, unsigned int verts)
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{
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unsigned int i = 0;
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for (i = 0; i < verts; i++) {
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VECADDS(to[i], fLongVectorA[i], fLongVectorB[i], bS);
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}
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}
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/* A = B * float + C * float --> for big vector */
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DO_INLINE void add_lfvectorS_lfvectorS(float (*to)[3], float (*fLongVectorA)[3], float aS, float (*fLongVectorB)[3], float bS, unsigned int verts)
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{
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unsigned int i = 0;
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for (i = 0; i < verts; i++) {
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VECADDSS(to[i], fLongVectorA[i], aS, fLongVectorB[i], bS);
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}
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}
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/* A = B - C * float --> for big vector */
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DO_INLINE void sub_lfvector_lfvectorS(float (*to)[3], float (*fLongVectorA)[3], float (*fLongVectorB)[3], float bS, unsigned int verts)
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{
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unsigned int i = 0;
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for (i = 0; i < verts; i++) {
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VECSUBS(to[i], fLongVectorA[i], fLongVectorB[i], bS);
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}
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}
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/* A = B - C --> for big vector */
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DO_INLINE void sub_lfvector_lfvector(float (*to)[3], float (*fLongVectorA)[3], float (*fLongVectorB)[3], unsigned int verts)
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{
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unsigned int i = 0;
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for (i = 0; i < verts; i++) {
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sub_v3_v3v3(to[i], fLongVectorA[i], fLongVectorB[i]);
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}
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}
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///////////////////////////
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// 3x3 matrix
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///////////////////////////
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#if 0
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/* printf 3x3 matrix on console: for debug output */
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static void print_fmatrix(float m3[3][3])
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{
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printf("%f\t%f\t%f\n", m3[0][0], m3[0][1], m3[0][2]);
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printf("%f\t%f\t%f\n", m3[1][0], m3[1][1], m3[1][2]);
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printf("%f\t%f\t%f\n\n", m3[2][0], m3[2][1], m3[2][2]);
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}
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static void print_sparse_matrix(fmatrix3x3 *m)
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{
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if (m) {
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unsigned int i;
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for (i = 0; i < m[0].vcount + m[0].scount; i++) {
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printf("%d:\n", i);
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print_fmatrix(m[i].m);
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}
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}
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}
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#endif
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static void print_lvector(lfVector *v, int numverts)
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{
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int i;
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for (i = 0; i < numverts; ++i) {
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if (i > 0)
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printf("\n");
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printf("%f,\n", v[i][0]);
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printf("%f,\n", v[i][1]);
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printf("%f,\n", v[i][2]);
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}
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}
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static void print_bfmatrix(fmatrix3x3 *m)
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{
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int tot = m[0].vcount + m[0].scount;
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int size = m[0].vcount * 3;
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float *t = MEM_callocN(sizeof(float) * size*size, "bfmatrix");
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int q, i, j;
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for (q = 0; q < tot; ++q) {
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int k = 3 * m[q].r;
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int l = 3 * m[q].c;
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for (j = 0; j < 3; ++j) {
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for (i = 0; i < 3; ++i) {
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// if (t[k + i + (l + j) * size] != 0.0f) {
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// printf("warning: overwriting value at %d, %d\n", m[q].r, m[q].c);
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// }
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if (k == l) {
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t[k + i + (k + j) * size] += m[q].m[i][j];
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}
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else {
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t[k + i + (l + j) * size] += m[q].m[i][j];
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t[l + j + (k + i) * size] += m[q].m[j][i];
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}
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}
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}
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}
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for (j = 0; j < size; ++j) {
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if (j > 0 && j % 3 == 0)
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printf("\n");
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for (i = 0; i < size; ++i) {
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if (i > 0 && i % 3 == 0)
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printf(" ");
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implicit_print_matrix_elem(t[i + j * size]);
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}
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printf("\n");
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}
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MEM_freeN(t);
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}
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/* copy 3x3 matrix */
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DO_INLINE void cp_fmatrix(float to[3][3], float from[3][3])
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{
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// memcpy(to, from, sizeof (float) * 9);
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copy_v3_v3(to[0], from[0]);
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copy_v3_v3(to[1], from[1]);
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copy_v3_v3(to[2], from[2]);
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}
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/* copy 3x3 matrix */
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DO_INLINE void initdiag_fmatrixS(float to[3][3], float aS)
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{
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cp_fmatrix(to, ZERO);
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to[0][0] = aS;
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to[1][1] = aS;
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to[2][2] = aS;
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}
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#if 0
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/* calculate determinant of 3x3 matrix */
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DO_INLINE float det_fmatrix(float m[3][3])
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{
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return m[0][0]*m[1][1]*m[2][2] + m[1][0]*m[2][1]*m[0][2] + m[0][1]*m[1][2]*m[2][0]
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-m[0][0]*m[1][2]*m[2][1] - m[0][1]*m[1][0]*m[2][2] - m[2][0]*m[1][1]*m[0][2];
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}
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DO_INLINE void inverse_fmatrix(float to[3][3], float from[3][3])
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{
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unsigned int i, j;
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float d;
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if ((d=det_fmatrix(from)) == 0) {
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printf("can't build inverse");
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exit(0);
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}
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for (i=0;i<3;i++) {
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for (j=0;j<3;j++) {
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int i1=(i+1)%3;
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int i2=(i+2)%3;
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int j1=(j+1)%3;
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int j2=(j+2)%3;
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// reverse indexs i&j to take transpose
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to[j][i] = (from[i1][j1]*from[i2][j2]-from[i1][j2]*from[i2][j1])/d;
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/*
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if (i==j)
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to[i][j] = 1.0f / from[i][j];
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else
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to[i][j] = 0;
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*/
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}
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}
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}
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#endif
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/* 3x3 matrix multiplied by a scalar */
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/* STATUS: verified */
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DO_INLINE void mul_fmatrix_S(float matrix[3][3], float scalar)
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{
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mul_fvector_S(matrix[0], matrix[0], scalar);
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mul_fvector_S(matrix[1], matrix[1], scalar);
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mul_fvector_S(matrix[2], matrix[2], scalar);
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}
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/* a vector multiplied by a 3x3 matrix */
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/* STATUS: verified */
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DO_INLINE void mul_fvector_fmatrix(float *to, float *from, float matrix[3][3])
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{
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to[0] = matrix[0][0]*from[0] + matrix[1][0]*from[1] + matrix[2][0]*from[2];
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to[1] = matrix[0][1]*from[0] + matrix[1][1]*from[1] + matrix[2][1]*from[2];
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to[2] = matrix[0][2]*from[0] + matrix[1][2]*from[1] + matrix[2][2]*from[2];
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}
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/* 3x3 matrix multiplied by a vector */
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/* STATUS: verified */
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DO_INLINE void mul_fmatrix_fvector(float *to, float matrix[3][3], float from[3])
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{
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to[0] = dot_v3v3(matrix[0], from);
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to[1] = dot_v3v3(matrix[1], from);
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to[2] = dot_v3v3(matrix[2], from);
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}
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/* 3x3 matrix addition with 3x3 matrix */
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DO_INLINE void add_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3])
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{
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VECADD(to[0], matrixA[0], matrixB[0]);
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VECADD(to[1], matrixA[1], matrixB[1]);
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VECADD(to[2], matrixA[2], matrixB[2]);
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}
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/* A -= B*x + C*y (3x3 matrix sub-addition with 3x3 matrix) */
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DO_INLINE void subadd_fmatrixS_fmatrixS(float to[3][3], float matrixA[3][3], float aS, float matrixB[3][3], float bS)
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{
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VECSUBADDSS(to[0], matrixA[0], aS, matrixB[0], bS);
|
|
VECSUBADDSS(to[1], matrixA[1], aS, matrixB[1], bS);
|
|
VECSUBADDSS(to[2], matrixA[2], aS, matrixB[2], bS);
|
|
}
|
|
/* A = B - C (3x3 matrix subtraction with 3x3 matrix) */
|
|
DO_INLINE void sub_fmatrix_fmatrix(float to[3][3], float matrixA[3][3], float matrixB[3][3])
|
|
{
|
|
sub_v3_v3v3(to[0], matrixA[0], matrixB[0]);
|
|
sub_v3_v3v3(to[1], matrixA[1], matrixB[1]);
|
|
sub_v3_v3v3(to[2], matrixA[2], matrixB[2]);
|
|
}
|
|
/////////////////////////////////////////////////////////////////
|
|
// special functions
|
|
/////////////////////////////////////////////////////////////////
|
|
/* 3x3 matrix multiplied+added by a vector */
|
|
/* STATUS: verified */
|
|
DO_INLINE void muladd_fmatrix_fvector(float to[3], float matrix[3][3], float from[3])
|
|
{
|
|
to[0] += dot_v3v3(matrix[0], from);
|
|
to[1] += dot_v3v3(matrix[1], from);
|
|
to[2] += dot_v3v3(matrix[2], from);
|
|
}
|
|
/////////////////////////////////////////////////////////////////
|
|
|
|
///////////////////////////
|
|
// SPARSE SYMMETRIC big matrix with 3x3 matrix entries
|
|
///////////////////////////
|
|
/* printf a big matrix on console: for debug output */
|
|
#if 0
|
|
static void print_bfmatrix(fmatrix3x3 *m3)
|
|
{
|
|
unsigned int i = 0;
|
|
|
|
for (i = 0; i < m3[0].vcount + m3[0].scount; i++)
|
|
{
|
|
print_fmatrix(m3[i].m);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
BLI_INLINE void init_fmatrix(fmatrix3x3 *matrix, int r, int c)
|
|
{
|
|
matrix->r = r;
|
|
matrix->c = c;
|
|
}
|
|
|
|
/* create big matrix */
|
|
DO_INLINE fmatrix3x3 *create_bfmatrix(unsigned int verts, unsigned int springs)
|
|
{
|
|
// TODO: check if memory allocation was successful */
|
|
fmatrix3x3 *temp = (fmatrix3x3 *)MEM_callocN(sizeof(fmatrix3x3) * (verts + springs), "cloth_implicit_alloc_matrix");
|
|
int i;
|
|
|
|
temp[0].vcount = verts;
|
|
temp[0].scount = springs;
|
|
|
|
/* vertex part of the matrix is diagonal blocks */
|
|
for (i = 0; i < verts; ++i) {
|
|
init_fmatrix(temp + i, i, i);
|
|
}
|
|
|
|
return temp;
|
|
}
|
|
/* delete big matrix */
|
|
DO_INLINE void del_bfmatrix(fmatrix3x3 *matrix)
|
|
{
|
|
if (matrix != NULL) {
|
|
MEM_freeN(matrix);
|
|
}
|
|
}
|
|
|
|
/* copy big matrix */
|
|
DO_INLINE void cp_bfmatrix(fmatrix3x3 *to, fmatrix3x3 *from)
|
|
{
|
|
// TODO bounds checking
|
|
memcpy(to, from, sizeof(fmatrix3x3) * (from[0].vcount+from[0].scount));
|
|
}
|
|
|
|
/* init big matrix */
|
|
// slow in parallel
|
|
DO_INLINE void init_bfmatrix(fmatrix3x3 *matrix, float m3[3][3])
|
|
{
|
|
unsigned int i;
|
|
|
|
for (i = 0; i < matrix[0].vcount+matrix[0].scount; i++) {
|
|
cp_fmatrix(matrix[i].m, m3);
|
|
}
|
|
}
|
|
|
|
/* init the diagonal of big matrix */
|
|
// slow in parallel
|
|
DO_INLINE void initdiag_bfmatrix(fmatrix3x3 *matrix, float m3[3][3])
|
|
{
|
|
unsigned int i, j;
|
|
float tmatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
|
|
for (i = 0; i < matrix[0].vcount; i++) {
|
|
cp_fmatrix(matrix[i].m, m3);
|
|
}
|
|
for (j = matrix[0].vcount; j < matrix[0].vcount+matrix[0].scount; j++) {
|
|
cp_fmatrix(matrix[j].m, tmatrix);
|
|
}
|
|
}
|
|
|
|
/* SPARSE SYMMETRIC multiply big matrix with long vector*/
|
|
/* STATUS: verified */
|
|
DO_INLINE void mul_bfmatrix_lfvector( float (*to)[3], fmatrix3x3 *from, lfVector *fLongVector)
|
|
{
|
|
unsigned int i = 0;
|
|
unsigned int vcount = from[0].vcount;
|
|
lfVector *temp = create_lfvector(vcount);
|
|
|
|
zero_lfvector(to, vcount);
|
|
|
|
#pragma omp parallel sections private(i) if (vcount > CLOTH_OPENMP_LIMIT)
|
|
{
|
|
#pragma omp section
|
|
{
|
|
for (i = from[0].vcount; i < from[0].vcount+from[0].scount; i++) {
|
|
muladd_fmatrix_fvector(to[from[i].c], from[i].m, fLongVector[from[i].r]);
|
|
}
|
|
}
|
|
#pragma omp section
|
|
{
|
|
for (i = 0; i < from[0].vcount+from[0].scount; i++) {
|
|
muladd_fmatrix_fvector(temp[from[i].r], from[i].m, fLongVector[from[i].c]);
|
|
}
|
|
}
|
|
}
|
|
add_lfvector_lfvector(to, to, temp, from[0].vcount);
|
|
|
|
del_lfvector(temp);
|
|
|
|
|
|
}
|
|
|
|
/* SPARSE SYMMETRIC sub big matrix with big matrix*/
|
|
/* A -= B * float + C * float --> for big matrix */
|
|
/* VERIFIED */
|
|
DO_INLINE void subadd_bfmatrixS_bfmatrixS( fmatrix3x3 *to, fmatrix3x3 *from, float aS, fmatrix3x3 *matrix, float bS)
|
|
{
|
|
unsigned int i = 0;
|
|
|
|
/* process diagonal elements */
|
|
for (i = 0; i < matrix[0].vcount+matrix[0].scount; i++) {
|
|
subadd_fmatrixS_fmatrixS(to[i].m, from[i].m, aS, matrix[i].m, bS);
|
|
}
|
|
|
|
}
|
|
|
|
///////////////////////////////////////////////////////////////////
|
|
// simulator start
|
|
///////////////////////////////////////////////////////////////////
|
|
typedef struct RootTransform {
|
|
float loc[3];
|
|
float rot[3][3];
|
|
|
|
float vel[3];
|
|
float omega[3];
|
|
|
|
float acc[3];
|
|
float domega_dt[3];
|
|
} RootTransform;
|
|
|
|
typedef struct Implicit_Data {
|
|
/* inputs */
|
|
fmatrix3x3 *bigI; /* identity (constant) */
|
|
fmatrix3x3 *M; /* masses */
|
|
lfVector *F; /* forces */
|
|
fmatrix3x3 *dFdV, *dFdX; /* force jacobians */
|
|
RootTransform *root; /* root transforms */
|
|
|
|
/* motion state data */
|
|
lfVector *X, *Xnew; /* positions */
|
|
lfVector *V, *Vnew; /* velocities */
|
|
|
|
/* internal solver data */
|
|
lfVector *B; /* B for A*dV = B */
|
|
fmatrix3x3 *A; /* A for A*dV = B */
|
|
|
|
lfVector *dV; /* velocity change (solution of A*dV = B) */
|
|
lfVector *z; /* target velocity in constrained directions */
|
|
fmatrix3x3 *S; /* filtering matrix for constraints */
|
|
fmatrix3x3 *P, *Pinv; /* pre-conditioning matrix */
|
|
} Implicit_Data;
|
|
|
|
Implicit_Data *BPH_mass_spring_solver_create(int numverts, int numsprings)
|
|
{
|
|
Implicit_Data *id = (Implicit_Data *)MEM_callocN(sizeof(Implicit_Data), "implicit vecmat");
|
|
|
|
/* process diagonal elements */
|
|
id->A = create_bfmatrix(numverts, numsprings);
|
|
id->dFdV = create_bfmatrix(numverts, numsprings);
|
|
id->dFdX = create_bfmatrix(numverts, numsprings);
|
|
id->S = create_bfmatrix(numverts, 0);
|
|
id->Pinv = create_bfmatrix(numverts, numsprings);
|
|
id->P = create_bfmatrix(numverts, numsprings);
|
|
id->bigI = create_bfmatrix(numverts, numsprings); // TODO 0 springs
|
|
id->M = create_bfmatrix(numverts, numsprings);
|
|
id->X = create_lfvector(numverts);
|
|
id->Xnew = create_lfvector(numverts);
|
|
id->V = create_lfvector(numverts);
|
|
id->Vnew = create_lfvector(numverts);
|
|
id->F = create_lfvector(numverts);
|
|
id->B = create_lfvector(numverts);
|
|
id->dV = create_lfvector(numverts);
|
|
id->z = create_lfvector(numverts);
|
|
|
|
id->root = MEM_callocN(sizeof(RootTransform) * numverts, "root transforms");
|
|
|
|
initdiag_bfmatrix(id->bigI, I);
|
|
|
|
return id;
|
|
}
|
|
|
|
void BPH_mass_spring_solver_free(Implicit_Data *id)
|
|
{
|
|
del_bfmatrix(id->A);
|
|
del_bfmatrix(id->dFdV);
|
|
del_bfmatrix(id->dFdX);
|
|
del_bfmatrix(id->S);
|
|
del_bfmatrix(id->P);
|
|
del_bfmatrix(id->Pinv);
|
|
del_bfmatrix(id->bigI);
|
|
del_bfmatrix(id->M);
|
|
|
|
del_lfvector(id->X);
|
|
del_lfvector(id->Xnew);
|
|
del_lfvector(id->V);
|
|
del_lfvector(id->Vnew);
|
|
del_lfvector(id->F);
|
|
del_lfvector(id->B);
|
|
del_lfvector(id->dV);
|
|
del_lfvector(id->z);
|
|
|
|
MEM_freeN(id->root);
|
|
|
|
MEM_freeN(id);
|
|
}
|
|
|
|
/* ==== Transformation of Moving Reference Frame ====
|
|
* x_world, v_world, f_world, a_world, dfdx_world, dfdv_world : state variables in world space
|
|
* x_root, v_root, f_root, a_root, dfdx_root, dfdv_root : state variables in root space
|
|
*
|
|
* x0 : translation of the root frame (hair root location)
|
|
* v0 : linear velocity of the root frame
|
|
* a0 : acceleration of the root frame
|
|
* R : rotation matrix of the root frame
|
|
* w : angular velocity of the root frame
|
|
* dwdt : angular acceleration of the root frame
|
|
*/
|
|
|
|
/* x_root = R^T * x_world */
|
|
BLI_INLINE void loc_world_to_root(float r[3], const float v[3], const RootTransform *root)
|
|
{
|
|
#ifdef CLOTH_ROOT_FRAME
|
|
sub_v3_v3v3(r, v, root->loc);
|
|
mul_transposed_m3_v3((float (*)[3])root->rot, r);
|
|
#else
|
|
copy_v3_v3(r, v);
|
|
(void)root;
|
|
#endif
|
|
}
|
|
|
|
/* x_world = R * x_root */
|
|
BLI_INLINE void loc_root_to_world(float r[3], const float v[3], const RootTransform *root)
|
|
{
|
|
#ifdef CLOTH_ROOT_FRAME
|
|
copy_v3_v3(r, v);
|
|
mul_m3_v3((float (*)[3])root->rot, r);
|
|
add_v3_v3(r, root->loc);
|
|
#else
|
|
copy_v3_v3(r, v);
|
|
(void)root;
|
|
#endif
|
|
}
|
|
|
|
/* v_root = cross(w, x_root) + R^T*(v_world - v0) */
|
|
BLI_INLINE void vel_world_to_root(float r[3], const float x_root[3], const float v[3], const RootTransform *root)
|
|
{
|
|
#ifdef CLOTH_ROOT_FRAME
|
|
float angvel[3];
|
|
cross_v3_v3v3(angvel, root->omega, x_root);
|
|
|
|
sub_v3_v3v3(r, v, root->vel);
|
|
mul_transposed_m3_v3((float (*)[3])root->rot, r);
|
|
add_v3_v3(r, angvel);
|
|
#else
|
|
copy_v3_v3(r, v);
|
|
(void)x_root;
|
|
(void)root;
|
|
#endif
|
|
}
|
|
|
|
/* v_world = R*(v_root - cross(w, x_root)) + v0 */
|
|
BLI_INLINE void vel_root_to_world(float r[3], const float x_root[3], const float v[3], const RootTransform *root)
|
|
{
|
|
#ifdef CLOTH_ROOT_FRAME
|
|
float angvel[3];
|
|
cross_v3_v3v3(angvel, root->omega, x_root);
|
|
|
|
sub_v3_v3v3(r, v, angvel);
|
|
mul_m3_v3((float (*)[3])root->rot, r);
|
|
add_v3_v3(r, root->vel);
|
|
#else
|
|
copy_v3_v3(r, v);
|
|
(void)x_root;
|
|
(void)root;
|
|
#endif
|
|
}
|
|
|
|
/* a_root = -cross(dwdt, x_root) - 2*cross(w, v_root) - cross(w, cross(w, x_root)) + R^T*(a_world - a0) */
|
|
BLI_INLINE void force_world_to_root(float r[3], const float x_root[3], const float v_root[3], const float force[3], float mass, const RootTransform *root)
|
|
{
|
|
#ifdef CLOTH_ROOT_FRAME
|
|
float euler[3], coriolis[3], centrifugal[3], rotvel[3];
|
|
|
|
cross_v3_v3v3(euler, root->domega_dt, x_root);
|
|
cross_v3_v3v3(coriolis, root->omega, v_root);
|
|
mul_v3_fl(coriolis, 2.0f);
|
|
cross_v3_v3v3(rotvel, root->omega, x_root);
|
|
cross_v3_v3v3(centrifugal, root->omega, rotvel);
|
|
|
|
madd_v3_v3v3fl(r, force, root->acc, mass);
|
|
mul_transposed_m3_v3((float (*)[3])root->rot, r);
|
|
madd_v3_v3fl(r, euler, mass);
|
|
madd_v3_v3fl(r, coriolis, mass);
|
|
madd_v3_v3fl(r, centrifugal, mass);
|
|
#else
|
|
copy_v3_v3(r, force);
|
|
(void)x_root;
|
|
(void)v_root;
|
|
(void)mass;
|
|
(void)root;
|
|
#endif
|
|
}
|
|
|
|
/* a_world = R*[ a_root + cross(dwdt, x_root) + 2*cross(w, v_root) + cross(w, cross(w, x_root)) ] + a0 */
|
|
BLI_INLINE void force_root_to_world(float r[3], const float x_root[3], const float v_root[3], const float force[3], float mass, const RootTransform *root)
|
|
{
|
|
#ifdef CLOTH_ROOT_FRAME
|
|
float euler[3], coriolis[3], centrifugal[3], rotvel[3];
|
|
|
|
cross_v3_v3v3(euler, root->domega_dt, x_root);
|
|
cross_v3_v3v3(coriolis, root->omega, v_root);
|
|
mul_v3_fl(coriolis, 2.0f);
|
|
cross_v3_v3v3(rotvel, root->omega, x_root);
|
|
cross_v3_v3v3(centrifugal, root->omega, rotvel);
|
|
|
|
madd_v3_v3v3fl(r, force, euler, mass);
|
|
madd_v3_v3fl(r, coriolis, mass);
|
|
madd_v3_v3fl(r, centrifugal, mass);
|
|
mul_m3_v3((float (*)[3])root->rot, r);
|
|
madd_v3_v3fl(r, root->acc, mass);
|
|
#else
|
|
copy_v3_v3(r, force);
|
|
(void)x_root;
|
|
(void)v_root;
|
|
(void)mass;
|
|
(void)root;
|
|
#endif
|
|
}
|
|
|
|
BLI_INLINE void acc_world_to_root(float r[3], const float x_root[3], const float v_root[3], const float acc[3], const RootTransform *root)
|
|
{
|
|
force_world_to_root(r, x_root, v_root, acc, 1.0f, root);
|
|
}
|
|
|
|
BLI_INLINE void acc_root_to_world(float r[3], const float x_root[3], const float v_root[3], const float acc[3], const RootTransform *root)
|
|
{
|
|
force_root_to_world(r, x_root, v_root, acc, 1.0f, root);
|
|
}
|
|
|
|
BLI_INLINE void cross_m3_v3m3(float r[3][3], const float v[3], float m[3][3])
|
|
{
|
|
cross_v3_v3v3(r[0], v, m[0]);
|
|
cross_v3_v3v3(r[1], v, m[1]);
|
|
cross_v3_v3v3(r[2], v, m[2]);
|
|
}
|
|
|
|
BLI_INLINE void cross_v3_identity(float r[3][3], const float v[3])
|
|
{
|
|
r[0][0] = 0.0f; r[1][0] = v[2]; r[2][0] = -v[1];
|
|
r[0][1] = -v[2]; r[1][1] = 0.0f; r[2][1] = v[0];
|
|
r[0][2] = v[1]; r[1][2] = -v[0]; r[2][2] = 0.0f;
|
|
}
|
|
|
|
/* dfdx_root = m*[ -cross(dwdt, I) - cross(w, cross(w, I)) ] + R^T*(dfdx_world) */
|
|
BLI_INLINE void dfdx_world_to_root(float m[3][3], float dfdx[3][3], float mass, const RootTransform *root)
|
|
{
|
|
#ifdef CLOTH_ROOT_FRAME
|
|
float t[3][3], u[3][3];
|
|
|
|
copy_m3_m3(t, (float (*)[3])root->rot);
|
|
transpose_m3(t);
|
|
mul_m3_m3m3(m, t, dfdx);
|
|
|
|
cross_v3_identity(t, root->domega_dt);
|
|
mul_m3_fl(t, mass);
|
|
sub_m3_m3m3(m, m, t);
|
|
|
|
cross_v3_identity(u, root->omega);
|
|
cross_m3_v3m3(t, root->omega, u);
|
|
mul_m3_fl(t, mass);
|
|
sub_m3_m3m3(m, m, t);
|
|
#else
|
|
copy_m3_m3(m, dfdx);
|
|
(void)mass;
|
|
(void)root;
|
|
#endif
|
|
}
|
|
|
|
/* dfdx_world = R*(dfdx_root + m*[ cross(dwdt, I) + cross(w, cross(w, I)) ]) */
|
|
BLI_INLINE void dfdx_root_to_world(float m[3][3], float dfdx[3][3], float mass, const RootTransform *root)
|
|
{
|
|
#ifdef CLOTH_ROOT_FRAME
|
|
float t[3][3], u[3][3];
|
|
|
|
cross_v3_identity(t, root->domega_dt);
|
|
mul_m3_fl(t, mass);
|
|
add_m3_m3m3(m, dfdx, t);
|
|
|
|
cross_v3_identity(u, root->omega);
|
|
cross_m3_v3m3(t, root->omega, u);
|
|
mul_m3_fl(t, mass);
|
|
add_m3_m3m3(m, m, t);
|
|
|
|
mul_m3_m3m3(m, (float (*)[3])root->rot, m);
|
|
#else
|
|
copy_m3_m3(m, dfdx);
|
|
(void)mass;
|
|
(void)root;
|
|
#endif
|
|
}
|
|
|
|
/* dfdv_root = -2*m*cross(w, I) + R^T*(dfdv_world) */
|
|
BLI_INLINE void dfdv_world_to_root(float m[3][3], float dfdv[3][3], float mass, const RootTransform *root)
|
|
{
|
|
#ifdef CLOTH_ROOT_FRAME
|
|
float t[3][3];
|
|
|
|
copy_m3_m3(t, (float (*)[3])root->rot);
|
|
transpose_m3(t);
|
|
mul_m3_m3m3(m, t, dfdv);
|
|
|
|
cross_v3_identity(t, root->omega);
|
|
mul_m3_fl(t, 2.0f*mass);
|
|
sub_m3_m3m3(m, m, t);
|
|
#else
|
|
copy_m3_m3(m, dfdv);
|
|
(void)mass;
|
|
(void)root;
|
|
#endif
|
|
}
|
|
|
|
/* dfdv_world = R*(dfdv_root + 2*m*cross(w, I)) */
|
|
BLI_INLINE void dfdv_root_to_world(float m[3][3], float dfdv[3][3], float mass, const RootTransform *root)
|
|
{
|
|
#ifdef CLOTH_ROOT_FRAME
|
|
float t[3][3];
|
|
|
|
cross_v3_identity(t, root->omega);
|
|
mul_m3_fl(t, 2.0f*mass);
|
|
add_m3_m3m3(m, dfdv, t);
|
|
|
|
mul_m3_m3m3(m, (float (*)[3])root->rot, m);
|
|
#else
|
|
copy_m3_m3(m, dfdv);
|
|
(void)mass;
|
|
(void)root;
|
|
#endif
|
|
}
|
|
|
|
/* ================================ */
|
|
|
|
DO_INLINE float fb(float length, float L)
|
|
{
|
|
float x = length / L;
|
|
float xx = x * x;
|
|
float xxx = xx * x;
|
|
float xxxx = xxx * x;
|
|
return (-11.541f * xxxx + 34.193f * xxx - 39.083f * xx + 23.116f * x - 9.713f);
|
|
}
|
|
|
|
DO_INLINE float fbderiv(float length, float L)
|
|
{
|
|
float x = length/L;
|
|
float xx = x * x;
|
|
float xxx = xx * x;
|
|
return (-46.164f * xxx + 102.579f * xx - 78.166f * x + 23.116f);
|
|
}
|
|
|
|
DO_INLINE float fbstar(float length, float L, float kb, float cb)
|
|
{
|
|
float tempfb_fl = kb * fb(length, L);
|
|
float fbstar_fl = cb * (length - L);
|
|
|
|
if (tempfb_fl < fbstar_fl)
|
|
return fbstar_fl;
|
|
else
|
|
return tempfb_fl;
|
|
}
|
|
|
|
// function to calculae bending spring force (taken from Choi & Co)
|
|
DO_INLINE float fbstar_jacobi(float length, float L, float kb, float cb)
|
|
{
|
|
float tempfb_fl = kb * fb(length, L);
|
|
float fbstar_fl = cb * (length - L);
|
|
|
|
if (tempfb_fl < fbstar_fl) {
|
|
return cb;
|
|
}
|
|
else {
|
|
return kb * fbderiv(length, L);
|
|
}
|
|
}
|
|
|
|
DO_INLINE void filter(lfVector *V, fmatrix3x3 *S)
|
|
{
|
|
unsigned int i=0;
|
|
|
|
for (i = 0; i < S[0].vcount; i++) {
|
|
mul_m3_v3(S[i].m, V[S[i].r]);
|
|
}
|
|
}
|
|
|
|
#if 0 /* this version of the CG algorithm does not work very well with partial constraints (where S has non-zero elements) */
|
|
static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S)
|
|
{
|
|
// Solves for unknown X in equation AX=B
|
|
unsigned int conjgrad_loopcount=0, conjgrad_looplimit=100;
|
|
float conjgrad_epsilon=0.0001f /* , conjgrad_lasterror=0 */ /* UNUSED */;
|
|
lfVector *q, *d, *tmp, *r;
|
|
float s, starget, a, s_prev;
|
|
unsigned int numverts = lA[0].vcount;
|
|
q = create_lfvector(numverts);
|
|
d = create_lfvector(numverts);
|
|
tmp = create_lfvector(numverts);
|
|
r = create_lfvector(numverts);
|
|
|
|
// zero_lfvector(ldV, CLOTHPARTICLES);
|
|
filter(ldV, S);
|
|
|
|
add_lfvector_lfvector(ldV, ldV, z, numverts);
|
|
|
|
// r = B - Mul(tmp, A, X); // just use B if X known to be zero
|
|
cp_lfvector(r, lB, numverts);
|
|
mul_bfmatrix_lfvector(tmp, lA, ldV);
|
|
sub_lfvector_lfvector(r, r, tmp, numverts);
|
|
|
|
filter(r, S);
|
|
|
|
cp_lfvector(d, r, numverts);
|
|
|
|
s = dot_lfvector(r, r, numverts);
|
|
starget = s * sqrtf(conjgrad_epsilon);
|
|
|
|
while (s>starget && conjgrad_loopcount < conjgrad_looplimit) {
|
|
// Mul(q, A, d); // q = A*d;
|
|
mul_bfmatrix_lfvector(q, lA, d);
|
|
|
|
filter(q, S);
|
|
|
|
a = s/dot_lfvector(d, q, numverts);
|
|
|
|
// X = X + d*a;
|
|
add_lfvector_lfvectorS(ldV, ldV, d, a, numverts);
|
|
|
|
// r = r - q*a;
|
|
sub_lfvector_lfvectorS(r, r, q, a, numverts);
|
|
|
|
s_prev = s;
|
|
s = dot_lfvector(r, r, numverts);
|
|
|
|
//d = r+d*(s/s_prev);
|
|
add_lfvector_lfvectorS(d, r, d, (s/s_prev), numverts);
|
|
|
|
filter(d, S);
|
|
|
|
conjgrad_loopcount++;
|
|
}
|
|
/* conjgrad_lasterror = s; */ /* UNUSED */
|
|
|
|
del_lfvector(q);
|
|
del_lfvector(d);
|
|
del_lfvector(tmp);
|
|
del_lfvector(r);
|
|
// printf("W/O conjgrad_loopcount: %d\n", conjgrad_loopcount);
|
|
|
|
return conjgrad_loopcount<conjgrad_looplimit; // true means we reached desired accuracy in given time - ie stable
|
|
}
|
|
#endif
|
|
|
|
static int cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S)
|
|
{
|
|
// Solves for unknown X in equation AX=B
|
|
unsigned int conjgrad_loopcount=0, conjgrad_looplimit=100;
|
|
float conjgrad_epsilon=0.01f;
|
|
|
|
unsigned int numverts = lA[0].vcount;
|
|
lfVector *fB = create_lfvector(numverts);
|
|
lfVector *AdV = create_lfvector(numverts);
|
|
lfVector *r = create_lfvector(numverts);
|
|
lfVector *c = create_lfvector(numverts);
|
|
lfVector *q = create_lfvector(numverts);
|
|
lfVector *s = create_lfvector(numverts);
|
|
float delta_new, delta_old, delta_target, alpha;
|
|
|
|
cp_lfvector(ldV, z, numverts);
|
|
|
|
/* d0 = filter(B)^T * P * filter(B) */
|
|
cp_lfvector(fB, lB, numverts);
|
|
filter(fB, S);
|
|
delta_target = conjgrad_epsilon*conjgrad_epsilon * dot_lfvector(fB, fB, numverts);
|
|
|
|
/* r = filter(B - A * dV) */
|
|
mul_bfmatrix_lfvector(AdV, lA, ldV);
|
|
sub_lfvector_lfvector(r, lB, AdV, numverts);
|
|
filter(r, S);
|
|
|
|
/* c = filter(P^-1 * r) */
|
|
cp_lfvector(c, r, numverts);
|
|
filter(c, S);
|
|
|
|
/* delta = r^T * c */
|
|
delta_new = dot_lfvector(r, c, numverts);
|
|
|
|
#ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT
|
|
printf("==== A ====\n");
|
|
print_bfmatrix(lA);
|
|
printf("==== z ====\n");
|
|
print_lvector(z, numverts);
|
|
printf("==== B ====\n");
|
|
print_lvector(lB, numverts);
|
|
printf("==== S ====\n");
|
|
print_bfmatrix(S);
|
|
#endif
|
|
|
|
while (delta_new > delta_target && conjgrad_loopcount < conjgrad_looplimit) {
|
|
mul_bfmatrix_lfvector(q, lA, c);
|
|
filter(q, S);
|
|
|
|
alpha = delta_new / dot_lfvector(c, q, numverts);
|
|
|
|
add_lfvector_lfvectorS(ldV, ldV, c, alpha, numverts);
|
|
|
|
add_lfvector_lfvectorS(r, r, q, -alpha, numverts);
|
|
|
|
/* s = P^-1 * r */
|
|
cp_lfvector(s, r, numverts);
|
|
delta_old = delta_new;
|
|
delta_new = dot_lfvector(r, s, numverts);
|
|
|
|
add_lfvector_lfvectorS(c, s, c, delta_new / delta_old, numverts);
|
|
filter(c, S);
|
|
|
|
conjgrad_loopcount++;
|
|
}
|
|
|
|
#ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT
|
|
printf("==== dV ====\n");
|
|
print_lvector(ldV, numverts);
|
|
printf("========\n");
|
|
#endif
|
|
|
|
del_lfvector(fB);
|
|
del_lfvector(AdV);
|
|
del_lfvector(r);
|
|
del_lfvector(c);
|
|
del_lfvector(q);
|
|
del_lfvector(s);
|
|
// printf("W/O conjgrad_loopcount: %d\n", conjgrad_loopcount);
|
|
|
|
return conjgrad_loopcount < conjgrad_looplimit; // true means we reached desired accuracy in given time - ie stable
|
|
}
|
|
|
|
#if 0
|
|
// block diagonalizer
|
|
DO_INLINE void BuildPPinv(fmatrix3x3 *lA, fmatrix3x3 *P, fmatrix3x3 *Pinv)
|
|
{
|
|
unsigned int i = 0;
|
|
|
|
// Take only the diagonal blocks of A
|
|
// #pragma omp parallel for private(i) if (lA[0].vcount > CLOTH_OPENMP_LIMIT)
|
|
for (i = 0; i<lA[0].vcount; i++) {
|
|
// block diagonalizer
|
|
cp_fmatrix(P[i].m, lA[i].m);
|
|
inverse_fmatrix(Pinv[i].m, P[i].m);
|
|
|
|
}
|
|
}
|
|
/*
|
|
// version 1.3
|
|
static int cg_filtered_pre(lfVector *dv, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S, fmatrix3x3 *P, fmatrix3x3 *Pinv)
|
|
{
|
|
unsigned int numverts = lA[0].vcount, iterations = 0, conjgrad_looplimit=100;
|
|
float delta0 = 0, deltaNew = 0, deltaOld = 0, alpha = 0;
|
|
float conjgrad_epsilon=0.0001; // 0.2 is dt for steps=5
|
|
lfVector *r = create_lfvector(numverts);
|
|
lfVector *p = create_lfvector(numverts);
|
|
lfVector *s = create_lfvector(numverts);
|
|
lfVector *h = create_lfvector(numverts);
|
|
|
|
BuildPPinv(lA, P, Pinv);
|
|
|
|
filter(dv, S);
|
|
add_lfvector_lfvector(dv, dv, z, numverts);
|
|
|
|
mul_bfmatrix_lfvector(r, lA, dv);
|
|
sub_lfvector_lfvector(r, lB, r, numverts);
|
|
filter(r, S);
|
|
|
|
mul_prevfmatrix_lfvector(p, Pinv, r);
|
|
filter(p, S);
|
|
|
|
deltaNew = dot_lfvector(r, p, numverts);
|
|
|
|
delta0 = deltaNew * sqrt(conjgrad_epsilon);
|
|
|
|
// itstart();
|
|
|
|
while ((deltaNew > delta0) && (iterations < conjgrad_looplimit))
|
|
{
|
|
iterations++;
|
|
|
|
mul_bfmatrix_lfvector(s, lA, p);
|
|
filter(s, S);
|
|
|
|
alpha = deltaNew / dot_lfvector(p, s, numverts);
|
|
|
|
add_lfvector_lfvectorS(dv, dv, p, alpha, numverts);
|
|
|
|
add_lfvector_lfvectorS(r, r, s, -alpha, numverts);
|
|
|
|
mul_prevfmatrix_lfvector(h, Pinv, r);
|
|
filter(h, S);
|
|
|
|
deltaOld = deltaNew;
|
|
|
|
deltaNew = dot_lfvector(r, h, numverts);
|
|
|
|
add_lfvector_lfvectorS(p, h, p, deltaNew / deltaOld, numverts);
|
|
|
|
filter(p, S);
|
|
|
|
}
|
|
|
|
// itend();
|
|
// printf("cg_filtered_pre time: %f\n", (float)itval());
|
|
|
|
del_lfvector(h);
|
|
del_lfvector(s);
|
|
del_lfvector(p);
|
|
del_lfvector(r);
|
|
|
|
printf("iterations: %d\n", iterations);
|
|
|
|
return iterations<conjgrad_looplimit;
|
|
}
|
|
*/
|
|
// version 1.4
|
|
static int cg_filtered_pre(lfVector *dv, fmatrix3x3 *lA, lfVector *lB, lfVector *z, fmatrix3x3 *S, fmatrix3x3 *P, fmatrix3x3 *Pinv, fmatrix3x3 *bigI)
|
|
{
|
|
unsigned int numverts = lA[0].vcount, iterations = 0, conjgrad_looplimit=100;
|
|
float delta0 = 0, deltaNew = 0, deltaOld = 0, alpha = 0, tol = 0;
|
|
lfVector *r = create_lfvector(numverts);
|
|
lfVector *p = create_lfvector(numverts);
|
|
lfVector *s = create_lfvector(numverts);
|
|
lfVector *h = create_lfvector(numverts);
|
|
lfVector *bhat = create_lfvector(numverts);
|
|
lfVector *btemp = create_lfvector(numverts);
|
|
|
|
BuildPPinv(lA, P, Pinv);
|
|
|
|
initdiag_bfmatrix(bigI, I);
|
|
sub_bfmatrix_Smatrix(bigI, bigI, S);
|
|
|
|
// x = Sx_0+(I-S)z
|
|
filter(dv, S);
|
|
add_lfvector_lfvector(dv, dv, z, numverts);
|
|
|
|
// b_hat = S(b-A(I-S)z)
|
|
mul_bfmatrix_lfvector(r, lA, z);
|
|
mul_bfmatrix_lfvector(bhat, bigI, r);
|
|
sub_lfvector_lfvector(bhat, lB, bhat, numverts);
|
|
|
|
// r = S(b-Ax)
|
|
mul_bfmatrix_lfvector(r, lA, dv);
|
|
sub_lfvector_lfvector(r, lB, r, numverts);
|
|
filter(r, S);
|
|
|
|
// p = SP^-1r
|
|
mul_prevfmatrix_lfvector(p, Pinv, r);
|
|
filter(p, S);
|
|
|
|
// delta0 = bhat^TP^-1bhat
|
|
mul_prevfmatrix_lfvector(btemp, Pinv, bhat);
|
|
delta0 = dot_lfvector(bhat, btemp, numverts);
|
|
|
|
// deltaNew = r^TP
|
|
deltaNew = dot_lfvector(r, p, numverts);
|
|
|
|
/*
|
|
filter(dv, S);
|
|
add_lfvector_lfvector(dv, dv, z, numverts);
|
|
|
|
mul_bfmatrix_lfvector(r, lA, dv);
|
|
sub_lfvector_lfvector(r, lB, r, numverts);
|
|
filter(r, S);
|
|
|
|
mul_prevfmatrix_lfvector(p, Pinv, r);
|
|
filter(p, S);
|
|
|
|
deltaNew = dot_lfvector(r, p, numverts);
|
|
|
|
delta0 = deltaNew * sqrt(conjgrad_epsilon);
|
|
*/
|
|
|
|
// itstart();
|
|
|
|
tol = (0.01*0.2);
|
|
|
|
while ((deltaNew > delta0*tol*tol) && (iterations < conjgrad_looplimit))
|
|
{
|
|
iterations++;
|
|
|
|
mul_bfmatrix_lfvector(s, lA, p);
|
|
filter(s, S);
|
|
|
|
alpha = deltaNew / dot_lfvector(p, s, numverts);
|
|
|
|
add_lfvector_lfvectorS(dv, dv, p, alpha, numverts);
|
|
|
|
add_lfvector_lfvectorS(r, r, s, -alpha, numverts);
|
|
|
|
mul_prevfmatrix_lfvector(h, Pinv, r);
|
|
filter(h, S);
|
|
|
|
deltaOld = deltaNew;
|
|
|
|
deltaNew = dot_lfvector(r, h, numverts);
|
|
|
|
add_lfvector_lfvectorS(p, h, p, deltaNew / deltaOld, numverts);
|
|
|
|
filter(p, S);
|
|
|
|
}
|
|
|
|
// itend();
|
|
// printf("cg_filtered_pre time: %f\n", (float)itval());
|
|
|
|
del_lfvector(btemp);
|
|
del_lfvector(bhat);
|
|
del_lfvector(h);
|
|
del_lfvector(s);
|
|
del_lfvector(p);
|
|
del_lfvector(r);
|
|
|
|
// printf("iterations: %d\n", iterations);
|
|
|
|
return iterations<conjgrad_looplimit;
|
|
}
|
|
#endif
|
|
|
|
DO_INLINE void dfdx_spring_type2(float to[3][3], float dir[3], float length, float L, float k, float cb)
|
|
{
|
|
// return outerprod(dir, dir)*fbstar_jacobi(length, L, k, cb);
|
|
mul_fvectorT_fvectorS(to, dir, dir, fbstar_jacobi(length, L, k, cb));
|
|
}
|
|
|
|
DO_INLINE void dfdv_damp(float to[3][3], float dir[3], float damping)
|
|
{
|
|
// derivative of force wrt velocity.
|
|
mul_fvectorT_fvectorS(to, dir, dir, damping);
|
|
|
|
}
|
|
|
|
DO_INLINE void dfdx_spring(float to[3][3], float dir[3], float length, float L, float k)
|
|
{
|
|
// dir is unit length direction, rest is spring's restlength, k is spring constant.
|
|
//return ( (I-outerprod(dir, dir))*Min(1.0f, rest/length) - I) * -k;
|
|
mul_fvectorT_fvector(to, dir, dir);
|
|
sub_fmatrix_fmatrix(to, I, to);
|
|
|
|
mul_fmatrix_S(to, (L/length));
|
|
sub_fmatrix_fmatrix(to, to, I);
|
|
mul_fmatrix_S(to, -k);
|
|
}
|
|
|
|
DO_INLINE void cloth_calc_spring_force(ClothModifierData *clmd, ClothSpring *s, lfVector *UNUSED(lF), lfVector *X, lfVector *V, fmatrix3x3 *UNUSED(dFdV), fmatrix3x3 *UNUSED(dFdX), float time)
|
|
{
|
|
Cloth *cloth = clmd->clothObject;
|
|
ClothVertex *verts = cloth->verts;
|
|
float extent[3];
|
|
float length = 0, dot = 0;
|
|
float dir[3] = {0, 0, 0};
|
|
float vel[3];
|
|
float k = 0.0f;
|
|
float L = s->restlen;
|
|
float cb; /* = clmd->sim_parms->structural; */ /*UNUSED*/
|
|
|
|
float nullf[3] = {0, 0, 0};
|
|
float stretch_force[3] = {0, 0, 0};
|
|
float bending_force[3] = {0, 0, 0};
|
|
float damping_force[3] = {0, 0, 0};
|
|
float nulldfdx[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
|
|
float scaling = 0.0;
|
|
|
|
int no_compress = clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_NO_SPRING_COMPRESS;
|
|
|
|
copy_v3_v3(s->f, nullf);
|
|
cp_fmatrix(s->dfdx, nulldfdx);
|
|
cp_fmatrix(s->dfdv, nulldfdx);
|
|
|
|
// calculate elonglation
|
|
sub_v3_v3v3(extent, X[s->kl], X[s->ij]);
|
|
sub_v3_v3v3(vel, V[s->kl], V[s->ij]);
|
|
dot = dot_v3v3(extent, extent);
|
|
length = sqrtf(dot);
|
|
|
|
s->flags &= ~CLOTH_SPRING_FLAG_NEEDED;
|
|
|
|
if (length > ALMOST_ZERO) {
|
|
/*
|
|
if (length>L)
|
|
{
|
|
if ((clmd->sim_parms->flags & CSIMSETT_FLAG_TEARING_ENABLED) &&
|
|
((((length-L)*100.0f/L) > clmd->sim_parms->maxspringlen))) // cut spring!
|
|
{
|
|
s->flags |= CSPRING_FLAG_DEACTIVATE;
|
|
return;
|
|
}
|
|
}
|
|
*/
|
|
mul_fvector_S(dir, extent, 1.0f/length);
|
|
}
|
|
else {
|
|
mul_fvector_S(dir, extent, 0.0f);
|
|
}
|
|
|
|
// calculate force of structural + shear springs
|
|
if ((s->type & CLOTH_SPRING_TYPE_STRUCTURAL) || (s->type & CLOTH_SPRING_TYPE_SHEAR) || (s->type & CLOTH_SPRING_TYPE_SEWING) ) {
|
|
#ifdef CLOTH_FORCE_SPRING_STRUCTURAL
|
|
if (length > L || no_compress) {
|
|
s->flags |= CLOTH_SPRING_FLAG_NEEDED;
|
|
|
|
k = clmd->sim_parms->structural;
|
|
|
|
scaling = k + s->stiffness * fabsf(clmd->sim_parms->max_struct - k);
|
|
|
|
k = scaling / (clmd->sim_parms->avg_spring_len + FLT_EPSILON);
|
|
|
|
// TODO: verify, half verified (couldn't see error)
|
|
if (s->type & CLOTH_SPRING_TYPE_SEWING) {
|
|
// sewing springs usually have a large distance at first so clamp the force so we don't get tunnelling through colission objects
|
|
float force = k*(length-L);
|
|
if (force > clmd->sim_parms->max_sewing) {
|
|
force = clmd->sim_parms->max_sewing;
|
|
}
|
|
mul_fvector_S(stretch_force, dir, force);
|
|
}
|
|
else {
|
|
mul_fvector_S(stretch_force, dir, k * (length - L));
|
|
}
|
|
|
|
VECADD(s->f, s->f, stretch_force);
|
|
|
|
// Ascher & Boxman, p.21: Damping only during elonglation
|
|
// something wrong with it...
|
|
mul_fvector_S(damping_force, dir, clmd->sim_parms->Cdis * dot_v3v3(vel, dir));
|
|
VECADD(s->f, s->f, damping_force);
|
|
|
|
/* VERIFIED */
|
|
dfdx_spring(s->dfdx, dir, length, L, k);
|
|
|
|
/* VERIFIED */
|
|
dfdv_damp(s->dfdv, dir, clmd->sim_parms->Cdis);
|
|
|
|
}
|
|
#endif
|
|
}
|
|
else if (s->type & CLOTH_SPRING_TYPE_GOAL) {
|
|
#ifdef CLOTH_FORCE_SPRING_GOAL
|
|
float tvect[3];
|
|
|
|
s->flags |= CLOTH_SPRING_FLAG_NEEDED;
|
|
|
|
// current_position = xold + t * (newposition - xold)
|
|
sub_v3_v3v3(tvect, verts[s->ij].xconst, verts[s->ij].xold);
|
|
mul_fvector_S(tvect, tvect, time);
|
|
VECADD(tvect, tvect, verts[s->ij].xold);
|
|
|
|
sub_v3_v3v3(extent, X[s->ij], tvect);
|
|
|
|
// SEE MSG BELOW (these are UNUSED)
|
|
// dot = dot_v3v3(extent, extent);
|
|
// length = sqrt(dot);
|
|
|
|
k = clmd->sim_parms->goalspring;
|
|
|
|
scaling = k + s->stiffness * fabsf(clmd->sim_parms->max_struct - k);
|
|
|
|
k = verts [s->ij].goal * scaling / (clmd->sim_parms->avg_spring_len + FLT_EPSILON);
|
|
|
|
VECADDS(s->f, s->f, extent, -k);
|
|
|
|
mul_fvector_S(damping_force, dir, clmd->sim_parms->goalfrict * 0.01f * dot_v3v3(vel, dir));
|
|
VECADD(s->f, s->f, damping_force);
|
|
|
|
// HERE IS THE PROBLEM!!!!
|
|
// dfdx_spring(s->dfdx, dir, length, 0.0, k);
|
|
// dfdv_damp(s->dfdv, dir, MIN2(1.0, (clmd->sim_parms->goalfrict/100.0)));
|
|
#endif
|
|
}
|
|
else { /* calculate force of bending springs */
|
|
#ifdef CLOTH_FORCE_SPRING_BEND
|
|
if (length < L) {
|
|
s->flags |= CLOTH_SPRING_FLAG_NEEDED;
|
|
|
|
k = clmd->sim_parms->bending;
|
|
|
|
scaling = k + s->stiffness * fabsf(clmd->sim_parms->max_bend - k);
|
|
cb = k = scaling / (20.0f * (clmd->sim_parms->avg_spring_len + FLT_EPSILON));
|
|
|
|
mul_fvector_S(bending_force, dir, fbstar(length, L, k, cb));
|
|
VECADD(s->f, s->f, bending_force);
|
|
|
|
dfdx_spring_type2(s->dfdx, dir, length, L, k, cb);
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
DO_INLINE void cloth_apply_spring_force(ClothModifierData *UNUSED(clmd), ClothSpring *s, lfVector *lF, lfVector *UNUSED(X), lfVector *UNUSED(V), fmatrix3x3 *dFdV, fmatrix3x3 *dFdX)
|
|
{
|
|
if (s->flags & CLOTH_SPRING_FLAG_NEEDED) {
|
|
if (!(s->type & CLOTH_SPRING_TYPE_BENDING)) {
|
|
sub_fmatrix_fmatrix(dFdV[s->ij].m, dFdV[s->ij].m, s->dfdv);
|
|
sub_fmatrix_fmatrix(dFdV[s->kl].m, dFdV[s->kl].m, s->dfdv);
|
|
add_fmatrix_fmatrix(dFdV[s->matrix_index].m, dFdV[s->matrix_index].m, s->dfdv);
|
|
}
|
|
|
|
VECADD(lF[s->ij], lF[s->ij], s->f);
|
|
|
|
if (!(s->type & CLOTH_SPRING_TYPE_GOAL))
|
|
sub_v3_v3v3(lF[s->kl], lF[s->kl], s->f);
|
|
|
|
sub_fmatrix_fmatrix(dFdX[s->kl].m, dFdX[s->kl].m, s->dfdx);
|
|
sub_fmatrix_fmatrix(dFdX[s->ij].m, dFdX[s->ij].m, s->dfdx);
|
|
add_fmatrix_fmatrix(dFdX[s->matrix_index].m, dFdX[s->matrix_index].m, s->dfdx);
|
|
}
|
|
}
|
|
|
|
|
|
static void CalcFloat( float *v1, float *v2, float *v3, float *n)
|
|
{
|
|
float n1[3], n2[3];
|
|
|
|
n1[0] = v1[0]-v2[0];
|
|
n2[0] = v2[0]-v3[0];
|
|
n1[1] = v1[1]-v2[1];
|
|
n2[1] = v2[1]-v3[1];
|
|
n1[2] = v1[2]-v2[2];
|
|
n2[2] = v2[2]-v3[2];
|
|
n[0] = n1[1]*n2[2]-n1[2]*n2[1];
|
|
n[1] = n1[2]*n2[0]-n1[0]*n2[2];
|
|
n[2] = n1[0]*n2[1]-n1[1]*n2[0];
|
|
}
|
|
|
|
static void CalcFloat4( float *v1, float *v2, float *v3, float *v4, float *n)
|
|
{
|
|
/* real cross! */
|
|
float n1[3], n2[3];
|
|
|
|
n1[0] = v1[0]-v3[0];
|
|
n1[1] = v1[1]-v3[1];
|
|
n1[2] = v1[2]-v3[2];
|
|
|
|
n2[0] = v2[0]-v4[0];
|
|
n2[1] = v2[1]-v4[1];
|
|
n2[2] = v2[2]-v4[2];
|
|
|
|
n[0] = n1[1]*n2[2]-n1[2]*n2[1];
|
|
n[1] = n1[2]*n2[0]-n1[0]*n2[2];
|
|
n[2] = n1[0]*n2[1]-n1[1]*n2[0];
|
|
}
|
|
|
|
static float calculateVertexWindForce(const float wind[3], const float vertexnormal[3])
|
|
{
|
|
return dot_v3v3(wind, vertexnormal);
|
|
}
|
|
|
|
static void cloth_calc_force(ClothModifierData *clmd, float UNUSED(frame), lfVector *lF, lfVector *lX, lfVector *lV, fmatrix3x3 *dFdV, fmatrix3x3 *dFdX, ListBase *effectors, float time, fmatrix3x3 *M)
|
|
{
|
|
/* Collect forces and derivatives: F, dFdX, dFdV */
|
|
Cloth *cloth = clmd->clothObject;
|
|
ClothVertex *verts = cloth->verts;
|
|
RootTransform *roots = cloth->implicit->root;
|
|
unsigned int i = 0;
|
|
float drag = clmd->sim_parms->Cvi * 0.01f; /* viscosity of air scaled in percent */
|
|
float gravity[3] = {0.0f, 0.0f, 0.0f};
|
|
MFace *mfaces = cloth->mfaces;
|
|
unsigned int numverts = cloth->numverts;
|
|
LinkNode *search;
|
|
lfVector *winvec;
|
|
EffectedPoint epoint;
|
|
|
|
/* initialize forces to zero */
|
|
zero_lfvector(lF, numverts);
|
|
init_bfmatrix(dFdX, ZERO);
|
|
init_bfmatrix(dFdV, ZERO);
|
|
|
|
#ifdef CLOTH_FORCE_GRAVITY
|
|
/* global acceleration (gravitation) */
|
|
if (clmd->scene->physics_settings.flag & PHYS_GLOBAL_GRAVITY) {
|
|
copy_v3_v3(gravity, clmd->scene->physics_settings.gravity);
|
|
mul_fvector_S(gravity, gravity, 0.001f * clmd->sim_parms->effector_weights->global_gravity); /* scale gravity force */
|
|
}
|
|
/* multiply lF with mass matrix
|
|
* force = mass * acceleration (in this case: gravity)
|
|
*/
|
|
for (i = 0; i < numverts; i++) {
|
|
float g[3];
|
|
acc_world_to_root(g, lX[i], lV[i], gravity, &roots[i]);
|
|
mul_m3_v3(M[i].m, g);
|
|
add_v3_v3(lF[i], g);
|
|
}
|
|
#else
|
|
zero_lfvector(lF, numverts);
|
|
#endif
|
|
|
|
// XXX TODO
|
|
// hair_volume_forces(clmd, lF, lX, lV, numverts);
|
|
|
|
#ifdef CLOTH_FORCE_DRAG
|
|
/* set dFdX jacobi matrix diagonal entries to -spring_air */
|
|
for (i = 0; i < numverts; i++) {
|
|
dFdV[i].m[0][0] -= drag;
|
|
dFdV[i].m[1][1] -= drag;
|
|
dFdV[i].m[2][2] -= drag;
|
|
}
|
|
submul_lfvectorS(lF, lV, drag, numverts);
|
|
for (i = 0; i < numverts; i++) {
|
|
#if 1
|
|
float tmp[3][3];
|
|
|
|
/* NB: uses root space velocity, no need to transform */
|
|
madd_v3_v3fl(lF[i], lV[i], -drag);
|
|
|
|
copy_m3_m3(tmp, I);
|
|
mul_m3_fl(tmp, -drag);
|
|
add_m3_m3m3(dFdV[i].m, dFdV[i].m, tmp);
|
|
#else
|
|
float f[3], tmp[3][3], drag_dfdv[3][3], t[3];
|
|
|
|
mul_v3_v3fl(f, lV[i], -drag);
|
|
force_world_to_root(t, lX[i], lV[i], f, verts[i].mass, &roots[i]);
|
|
add_v3_v3(lF[i], t);
|
|
|
|
copy_m3_m3(drag_dfdv, I);
|
|
mul_m3_fl(drag_dfdv, -drag);
|
|
dfdv_world_to_root(tmp, drag_dfdv, verts[i].mass, &roots[i]);
|
|
add_m3_m3m3(dFdV[i].m, dFdV[i].m, tmp);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
/* handle external forces like wind */
|
|
if (effectors) {
|
|
// 0 = force, 1 = normalized force
|
|
winvec = create_lfvector(cloth->numverts);
|
|
|
|
if (!winvec)
|
|
printf("winvec: out of memory in implicit.c\n");
|
|
|
|
// precalculate wind forces
|
|
for (i = 0; i < cloth->numverts; i++) {
|
|
pd_point_from_loc(clmd->scene, (float*)lX[i], (float*)lV[i], i, &epoint);
|
|
pdDoEffectors(effectors, NULL, clmd->sim_parms->effector_weights, &epoint, winvec[i], NULL);
|
|
}
|
|
|
|
for (i = 0; i < cloth->numfaces; i++) {
|
|
float trinormal[3] = {0, 0, 0}; // normalized triangle normal
|
|
float triunnormal[3] = {0, 0, 0}; // not-normalized-triangle normal
|
|
float tmp[3] = {0, 0, 0};
|
|
float factor = (mfaces[i].v4) ? 0.25 : 1.0 / 3.0;
|
|
factor *= 0.02f;
|
|
|
|
// calculate face normal
|
|
if (mfaces[i].v4)
|
|
CalcFloat4(lX[mfaces[i].v1], lX[mfaces[i].v2], lX[mfaces[i].v3], lX[mfaces[i].v4], triunnormal);
|
|
else
|
|
CalcFloat(lX[mfaces[i].v1], lX[mfaces[i].v2], lX[mfaces[i].v3], triunnormal);
|
|
|
|
normalize_v3_v3(trinormal, triunnormal);
|
|
|
|
// add wind from v1
|
|
copy_v3_v3(tmp, trinormal);
|
|
mul_v3_fl(tmp, calculateVertexWindForce(winvec[mfaces[i].v1], triunnormal));
|
|
VECADDS(lF[mfaces[i].v1], lF[mfaces[i].v1], tmp, factor);
|
|
|
|
// add wind from v2
|
|
copy_v3_v3(tmp, trinormal);
|
|
mul_v3_fl(tmp, calculateVertexWindForce(winvec[mfaces[i].v2], triunnormal));
|
|
VECADDS(lF[mfaces[i].v2], lF[mfaces[i].v2], tmp, factor);
|
|
|
|
// add wind from v3
|
|
copy_v3_v3(tmp, trinormal);
|
|
mul_v3_fl(tmp, calculateVertexWindForce(winvec[mfaces[i].v3], triunnormal));
|
|
VECADDS(lF[mfaces[i].v3], lF[mfaces[i].v3], tmp, factor);
|
|
|
|
// add wind from v4
|
|
if (mfaces[i].v4) {
|
|
copy_v3_v3(tmp, trinormal);
|
|
mul_v3_fl(tmp, calculateVertexWindForce(winvec[mfaces[i].v4], triunnormal));
|
|
VECADDS(lF[mfaces[i].v4], lF[mfaces[i].v4], tmp, factor);
|
|
}
|
|
}
|
|
|
|
/* Hair has only edges */
|
|
if (cloth->numfaces == 0) {
|
|
ClothSpring *spring;
|
|
float edgevec[3] = {0, 0, 0}; //edge vector
|
|
float edgeunnormal[3] = {0, 0, 0}; // not-normalized-edge normal
|
|
float tmp[3] = {0, 0, 0};
|
|
float factor = 0.01;
|
|
|
|
search = cloth->springs;
|
|
while (search) {
|
|
spring = search->link;
|
|
|
|
if (spring->type == CLOTH_SPRING_TYPE_STRUCTURAL) {
|
|
sub_v3_v3v3(edgevec, (float*)lX[spring->ij], (float*)lX[spring->kl]);
|
|
|
|
project_v3_v3v3(tmp, winvec[spring->ij], edgevec);
|
|
sub_v3_v3v3(edgeunnormal, winvec[spring->ij], tmp);
|
|
/* hair doesn't stretch too much so we can use restlen pretty safely */
|
|
VECADDS(lF[spring->ij], lF[spring->ij], edgeunnormal, spring->restlen * factor);
|
|
|
|
project_v3_v3v3(tmp, winvec[spring->kl], edgevec);
|
|
sub_v3_v3v3(edgeunnormal, winvec[spring->kl], tmp);
|
|
VECADDS(lF[spring->kl], lF[spring->kl], edgeunnormal, spring->restlen * factor);
|
|
}
|
|
|
|
search = search->next;
|
|
}
|
|
}
|
|
|
|
del_lfvector(winvec);
|
|
}
|
|
|
|
// calculate spring forces
|
|
search = cloth->springs;
|
|
while (search) {
|
|
// only handle active springs
|
|
ClothSpring *spring = search->link;
|
|
if (!(spring->flags & CLOTH_SPRING_FLAG_DEACTIVATE))
|
|
cloth_calc_spring_force(clmd, search->link, lF, lX, lV, dFdV, dFdX, time);
|
|
|
|
search = search->next;
|
|
}
|
|
|
|
// apply spring forces
|
|
search = cloth->springs;
|
|
while (search) {
|
|
// only handle active springs
|
|
ClothSpring *spring = search->link;
|
|
if (!(spring->flags & CLOTH_SPRING_FLAG_DEACTIVATE))
|
|
cloth_apply_spring_force(clmd, search->link, lF, lX, lV, dFdV, dFdX);
|
|
search = search->next;
|
|
}
|
|
// printf("\n");
|
|
}
|
|
|
|
bool BPH_mass_spring_solve(Implicit_Data *data, float dt)
|
|
{
|
|
unsigned int numverts = data->dFdV[0].vcount;
|
|
bool ok;
|
|
|
|
lfVector *dFdXmV = create_lfvector(numverts);
|
|
zero_lfvector(data->dV, numverts);
|
|
|
|
cp_bfmatrix(data->A, data->M);
|
|
|
|
subadd_bfmatrixS_bfmatrixS(data->A, data->dFdV, dt, data->dFdX, (dt*dt));
|
|
|
|
mul_bfmatrix_lfvector(dFdXmV, data->dFdX, data->V);
|
|
|
|
add_lfvectorS_lfvectorS(data->B, data->F, dt, dFdXmV, (dt*dt), numverts);
|
|
|
|
// itstart();
|
|
|
|
ok = cg_filtered(data->dV, data->A, data->B, data->z, data->S); /* conjugate gradient algorithm to solve Ax=b */
|
|
// cg_filtered_pre(id->dV, id->A, id->B, id->z, id->S, id->P, id->Pinv, id->bigI);
|
|
|
|
// itend();
|
|
// printf("cg_filtered calc time: %f\n", (float)itval());
|
|
|
|
// advance velocities
|
|
add_lfvector_lfvector(data->Vnew, data->V, data->dV, numverts);
|
|
// advance positions
|
|
add_lfvector_lfvectorS(data->Xnew, data->X, data->Vnew, dt, numverts);
|
|
|
|
del_lfvector(dFdXmV);
|
|
|
|
return ok;
|
|
}
|
|
|
|
void BPH_mass_spring_apply_result(Implicit_Data *data)
|
|
{
|
|
int numverts = data->M[0].vcount;
|
|
cp_lfvector(data->X, data->Xnew, numverts);
|
|
cp_lfvector(data->V, data->Vnew, numverts);
|
|
}
|
|
|
|
void BPH_mass_spring_set_root_motion(Implicit_Data *data, int index, const float loc[3], const float vel[3], float rot[3][3], const float angvel[3])
|
|
{
|
|
RootTransform *root = &data->root[index];
|
|
|
|
#ifdef CLOTH_ROOT_FRAME
|
|
copy_v3_v3(root->loc, loc);
|
|
copy_v3_v3(root->vel, vel);
|
|
copy_m3_m3(root->rot, rot);
|
|
copy_v3_v3(root->omega, angvel);
|
|
/* XXX root frame acceleration ignored for now */
|
|
zero_v3(root->acc);
|
|
zero_v3(root->domega_dt);
|
|
#else
|
|
zero_v3(root->loc);
|
|
zero_v3(root->vel);
|
|
unit_m3(root->rot);
|
|
zero_v3(root->omega);
|
|
zero_v3(root->acc);
|
|
zero_v3(root->domega_dt);
|
|
(void)loc;
|
|
(void)vel;
|
|
(void)rot;
|
|
(void)angvel;
|
|
#endif
|
|
}
|
|
|
|
void BPH_mass_spring_set_motion_state(Implicit_Data *data, int index, const float x[3], const float v[3])
|
|
{
|
|
RootTransform *root = &data->root[index];
|
|
loc_world_to_root(data->X[index], x, root);
|
|
vel_world_to_root(data->V[index], data->X[index], v, root);
|
|
}
|
|
|
|
void BPH_mass_spring_set_position(Implicit_Data *data, int index, const float x[3])
|
|
{
|
|
RootTransform *root = &data->root[index];
|
|
loc_world_to_root(data->X[index], x, root);
|
|
}
|
|
|
|
void BPH_mass_spring_set_velocity(Implicit_Data *data, int index, const float v[3])
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{
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RootTransform *root = &data->root[index];
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vel_world_to_root(data->V[index], data->X[index], v, root);
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}
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void BPH_mass_spring_get_motion_state(struct Implicit_Data *data, int index, float x[3], float v[3])
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{
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RootTransform *root = &data->root[index];
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if (x) loc_root_to_world(x, data->X[index], root);
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if (v) vel_root_to_world(v, data->X[index], data->V[index], root);
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}
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void BPH_mass_spring_set_vertex_mass(Implicit_Data *data, int index, float mass)
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{
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unit_m3(data->M[index].m);
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mul_m3_fl(data->M[index].m, mass);
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}
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int BPH_mass_spring_init_spring(Implicit_Data *data, int index, int v1, int v2)
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{
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int s = data->M[0].vcount + index; /* index from array start */
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init_fmatrix(data->bigI + s, v1, v2);
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init_fmatrix(data->M + s, v1, v2);
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init_fmatrix(data->dFdX + s, v1, v2);
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init_fmatrix(data->dFdV + s, v1, v2);
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init_fmatrix(data->A + s, v1, v2);
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// init_fmatrix(data->S + s, v1, v2); // has no off-diagonal spring entries
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init_fmatrix(data->P + s, v1, v2);
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init_fmatrix(data->Pinv + s, v1, v2);
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return s;
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}
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void BPH_mass_spring_clear_constraints(Implicit_Data *data)
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{
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int i, numverts = data->S[0].vcount;
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for (i = 0; i < numverts; ++i) {
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unit_m3(data->S[i].m);
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zero_v3(data->z[i]);
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}
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}
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void BPH_mass_spring_add_constraint_ndof0(Implicit_Data *data, int index, const float dV[3])
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{
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RootTransform *root = &data->root[index];
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zero_m3(data->S[index].m);
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copy_v3_v3(data->z[index], dV);
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mul_transposed_m3_v3(root->rot, data->z[index]);
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}
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void BPH_mass_spring_add_constraint_ndof1(Implicit_Data *data, int index, const float c1[3], const float c2[3], const float dV[3])
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{
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RootTransform *root = &data->root[index];
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float m[3][3], p[3], q[3], u[3], cmat[3][3];
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copy_v3_v3(p, c1);
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mul_transposed_m3_v3(root->rot, p);
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mul_fvectorT_fvector(cmat, p, p);
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sub_m3_m3m3(m, I, cmat);
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copy_v3_v3(q, c2);
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mul_transposed_m3_v3(root->rot, q);
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mul_fvectorT_fvector(cmat, q, q);
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sub_m3_m3m3(m, m, cmat);
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/* XXX not sure but multiplication should work here */
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copy_m3_m3(data->S[index].m, m);
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// mul_m3_m3m3(data->S[index].m, data->S[index].m, m);
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copy_v3_v3(u, dV);
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mul_transposed_m3_v3(root->rot, u);
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add_v3_v3(data->z[index], u);
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}
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void BPH_mass_spring_add_constraint_ndof2(Implicit_Data *data, int index, const float c1[3], const float dV[3])
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{
|
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RootTransform *root = &data->root[index];
|
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float m[3][3], p[3], u[3], cmat[3][3];
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copy_v3_v3(p, c1);
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mul_transposed_m3_v3(root->rot, p);
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mul_fvectorT_fvector(cmat, p, p);
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sub_m3_m3m3(m, I, cmat);
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copy_m3_m3(data->S[index].m, m);
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// mul_m3_m3m3(data->S[index].m, data->S[index].m, m);
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copy_v3_v3(u, dV);
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mul_transposed_m3_v3(root->rot, u);
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add_v3_v3(data->z[index], u);
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}
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#endif /* IMPLICIT_SOLVER_BLENDER */
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