638 lines
18 KiB
C
638 lines
18 KiB
C
/* collision.c
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*
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*
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* ***** BEGIN GPL/BL DUAL 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. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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/BL DUAL LICENSE BLOCK *****
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*/
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#include <math.h>
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#include <stdlib.h>
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#include <string.h>
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#include "MEM_guardedalloc.h"
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/* types */
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#include "DNA_curve_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_cloth_types.h"
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#include "DNA_key_types.h"
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#include "DNA_mesh_types.h"
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#include "DNA_meshdata_types.h"
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#include "DNA_lattice_types.h"
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#include "DNA_scene_types.h"
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#include "DNA_modifier_types.h"
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#include "BLI_blenlib.h"
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#include "BLI_arithb.h"
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#include "BLI_edgehash.h"
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#include "BLI_linklist.h"
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#include "BKE_curve.h"
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#include "BKE_deform.h"
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#include "BKE_DerivedMesh.h"
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#include "BKE_cdderivedmesh.h"
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#include "BKE_displist.h"
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#include "BKE_effect.h"
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#include "BKE_global.h"
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#include "BKE_mesh.h"
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#include "BKE_object.h"
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#include "BKE_cloth.h"
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#include "BKE_modifier.h"
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#include "BKE_utildefines.h"
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#include "BKE_DerivedMesh.h"
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#include "DNA_screen_types.h"
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#include "BSE_headerbuttons.h"
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#include "BIF_screen.h"
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#include "BIF_space.h"
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#include "mydevice.h"
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#include "Bullet-C-Api.h"
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#define DERANDOMIZE 1
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enum TRIANGLE_MARK
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{
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TM_MV = 1,
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TM_ME = 2,
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TM_V1 = 4,
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TM_V2 = 8,
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TM_V3 = 16,
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TM_E1 = 32,
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TM_E2 = 64,
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TM_E3 = 128
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};
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DO_INLINE int hasTriangleMark(unsigned char mark, unsigned char bit) { return mark & bit; }
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DO_INLINE void setTriangleMark(unsigned char *mark, unsigned char bit) { mark[0] |= bit; }
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DO_INLINE void clearTriangleMark(unsigned char *mark, unsigned char bit) { mark[0] &= ~bit; }
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void generateTriangleMarks()
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{
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/*
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unsigned int firstEdge = 0;
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// 1. Initialization
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memset(m_triangleMarks, 0, sizeof(unsigned char) * m_triangleCount);
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// 2. The Marking Process
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// 2.1 Randomly mark triangles for covering vertices.
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for (unsigned int v = 0; v < m_vertexCount; ++v)
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{
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if (vertexCover(v) == 0)
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{
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// Randomly select an edge whose first triangle we're going to flag.
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#ifndef DERANDOMIZE
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firstEdge = (unsigned int)((float)(random() & 0x7FFFFFFF) /
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(float)(0x80000000) *
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(float)(m_vertices[v].getEdgeCount()));
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#endif
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for (unsigned int ofs = 0; ofs < m_vertices[v].getEdgeCount(); ++ofs)
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{
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unsigned int edgeIdx = (firstEdge + ofs) % m_vertices[v].getEdgeCount();
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if (m_edges[m_vertices[v].getEdge(edgeIdx)].getTriangleCount())
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setTriangleMark(m_triangleMarks[m_edges[m_vertices[v].getEdge(edgeIdx)].getTriangle(0)], TM_MV);
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}
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}
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}
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*/
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/* If the Cloth is malformed (vertices without adjacent triangles) there might still be uncovered vertices. (Bad luck.) */
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/*
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// 2.2 Randomly mark triangles for covering edges.
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for (unsigned int e = 0; e < m_edgeCount; ++e)
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{
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if (m_edges[e].getTriangleCount() && (edgeCover(e) == 0))
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{
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#ifndef DERANDOMIZE
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setTriangleMark(m_triangleMarks[m_edges[e].getTriangle(static_cast<UINT32>((float)(random() & 0x7FFFFFFF) /
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(float)(0x80000000) *
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(float)(m_edges[e].getTriangleCount())))], TM_ME);
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#else
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setTriangleMark(m_triangleMarks[m_edges[e].getTriangle(0)], TM_ME);
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#endif
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}
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}
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// 3. The Unmarking Process
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for (unsigned int t = 0; (t < m_triangleCount); ++t)
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{
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bool overCoveredVertices = true;
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bool overCoveredEdges = true;
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for (unsigned char i = 0; (i < 3) && (overCoveredVertices || overCoveredEdges); ++i)
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{
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if (vertexCover(m_triangles[t].getVertex(i)) == 1)
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overCoveredVertices = false;
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if (edgeCover(m_triangles[t].getEdge(i)) == 1)
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overCoveredEdges = false;
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assert(vertexCover(m_triangles[t].getVertex(i)) > 0);
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assert(edgeCover(m_triangles[t].getEdge(i)) > 0);
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}
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if (overCoveredVertices)
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clearTriangleMark(m_triangleMarks[t], TM_MV);
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if (overCoveredEdges)
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clearTriangleMark(m_triangleMarks[t], TM_ME);
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}
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// 4. The Bit Masking Process
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vector<bool> vertexAssigned(m_vertexCount, false);
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vector<bool> edgeAssigned(m_edgeCount, false);
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for (unsigned int t = 0; (t < m_triangleCount); ++t)
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{
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for (unsigned char i = 0; i < 3; ++i)
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{
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if (!vertexAssigned[m_triangles[t].getVertex(i)])
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{
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vertexAssigned[m_triangles[t].getVertex(i)] = true;
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setTriangleMark(m_triangleMarks[t], 1 << (2 + i));
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}
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if (!edgeAssigned[m_triangles[t].getEdge(i)])
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{
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edgeAssigned[m_triangles[t].getEdge(i)] = true;
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setTriangleMark(m_triangleMarks[t], 1 << (5 + i));
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}
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}
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}
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*/
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}
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void bvh_compute_barycentric (float pv[3], float p1[3], float p2[3], float p3[3], double *w1, double *w2, double *w3)
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{
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float tempV1[3], tempV2[3], tempV4[3];
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double a,b,c,e,f;
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VECSUB (tempV1, p1, p3); /* x1 - x3 */
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VECSUB (tempV2, p2, p3); /* x2 - x3 */
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VECSUB (tempV4, pv, p3); /* pv - x3 */
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a = INPR (tempV1, tempV1);
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b = INPR (tempV1, tempV2);
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c = INPR (tempV2, tempV2);
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e = INPR (tempV1, tempV4);
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f = INPR (tempV2, tempV4);
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w1[0] = (e * c - b * f) / (a * c - b * b);
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w2[0] = (f - b * w1[0]) / c;
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w3[0] = 1.0 - w1[0] - w2[0];
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}
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DO_INLINE void interpolateOnTriangle(float to[3], float v1[3], float v2[3], float v3[3], double w1, double w2, double w3)
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{
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to[0] = to[1] = to[2] = 0;
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VECADDMUL(to, v1, w1);
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VECADDMUL(to, v2, w2);
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VECADDMUL(to, v3, w3);
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}
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DO_INLINE void calculateFrictionImpulse(float to[3], float vrel[3], float normal[3], double normalVelocity,
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double frictionConstant, double delta_V_n)
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{
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float vrel_t_pre[3];
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float vrel_t[3];
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VECSUBS(vrel_t_pre, vrel, normal, normalVelocity);
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VECCOPY(vrel_t, vrel_t_pre);
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VecMulf(vrel_t, MAX2(1.0f - frictionConstant * delta_V_n / INPR(vrel_t_pre,vrel_t_pre), 0.0f));
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VECSUB(to, vrel_t_pre, vrel_t);
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VecMulf(to, 1.0f / 2.0f);
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}
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int collision_static(ClothModifierData *clmd, ClothModifierData *coll_clmd, LinkNode **collision_list)
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{
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unsigned int i = 0, numverts=0;
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int result = 0;
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LinkNode *search = NULL;
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CollPair *collpair = NULL;
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Cloth *cloth1, *cloth2;
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MFace *face1, *face2;
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double w1, w2, w3, u1, u2, u3;
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float v1[3], v2[3], relativeVelocity[3];
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float magrelVel;
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cloth1 = clmd->clothObject;
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cloth2 = coll_clmd->clothObject;
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numverts = clmd->clothObject->numverts;
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/*
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for(i = 0; i < LIST_LENGTH; i++)
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{
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// calc SIP-code
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// TODO for later: calculateSipCode()
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// calc distance (?)
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// calc impulse
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// apply impulse
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}
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*/
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for(i = 0; i < numverts; i++)
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{
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search = collision_list[i];
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while(search)
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{
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collpair = search->link;
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face1 = &(cloth1->mfaces[collpair->face1]);
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face2 = &(cloth2->mfaces[collpair->face2]);
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// compute barycentric coordinates for both collision points
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if(!collpair->quadA)
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bvh_compute_barycentric(collpair->p1,
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cloth1->verts[face1->v1].txold,
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cloth1->verts[face1->v2].txold,
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cloth1->verts[face1->v3].txold,
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&w1, &w2, &w3);
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else
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bvh_compute_barycentric(collpair->p1,
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cloth1->verts[face1->v4].txold,
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cloth1->verts[face1->v1].txold,
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cloth1->verts[face1->v3].txold,
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&w1, &w2, &w3);
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if(!collpair->quadB)
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bvh_compute_barycentric(collpair->p2,
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cloth2->verts[face2->v1].txold,
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cloth2->verts[face2->v2].txold,
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cloth2->verts[face2->v3].txold,
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&u1, &u2, &u3);
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else
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bvh_compute_barycentric(collpair->p2,
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cloth2->verts[face2->v4].txold,
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cloth2->verts[face2->v1].txold,
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cloth2->verts[face2->v3].txold,
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&u1, &u2, &u3);
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// Calculate relative velocity.
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if(!collpair->quadA)
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interpolateOnTriangle(v1, cloth1->verts[face1->v1].v, cloth1->verts[face1->v2].v, cloth1->verts[face1->v3].v, w1, w2, w3);
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else
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interpolateOnTriangle(v1, cloth1->verts[face1->v4].v, cloth1->verts[face1->v1].v, cloth1->verts[face1->v3].v, w1, w2, w3);
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if(!collpair->quadB)
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interpolateOnTriangle(v2, cloth2->verts[face2->v1].v, cloth2->verts[face2->v2].v, cloth2->verts[face2->v3].v, u1, u2, u3);
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else
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interpolateOnTriangle(v2, cloth2->verts[face2->v4].v, cloth2->verts[face2->v1].v, cloth2->verts[face2->v3].v, u1, u2, u3);
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VECSUB(relativeVelocity, v1, v2);
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// Calculate the normal component of the relative velocity (actually only the magnitude - the direction is stored in 'normal').
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magrelVel = INPR(relativeVelocity, collpair->normal);
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// Calculate masses of points.
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// printf("relativeVelocity -> x: %f, y: %f, z: %f\n", relativeVelocity[0], relativeVelocity[1],relativeVelocity[2]);
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// If v_n_mag > 0 the edges are approaching each other.
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if(magrelVel > ALMOST_ZERO)
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{
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// Calculate Impulse magnitude to stop all motion in normal direction.
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// const double I_mag = v_n_mag / (1/m1 + 1/m2);
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float magnitude_i = magrelVel / 2.0f; // TODO implement masses
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float tangential[3], magtangent;
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calculateFrictionImpulse(tangential, relativeVelocity, collpair->normal, magrelVel, clmd->coll_parms.friction*0.01, magrelVel);
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magtangent = INPR(tangential, tangential);
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// Apply friction impulse.
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if (magtangent > ALMOST_ZERO)
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{
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/*
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printf("friction applied: %f\n", magtangent);
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// TODO check original code
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VECSUB(cloth1->verts[face1->v1].tv, cloth1->verts[face1->v1].tv,tangential);
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VECSUB(cloth1->verts[face1->v1].tv, cloth1->verts[face1->v2].tv,tangential);
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VECSUB(cloth1->verts[face1->v1].tv, cloth1->verts[face1->v3].tv,tangential);
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VECSUB(cloth1->verts[face1->v1].tv, cloth1->verts[face1->v4].tv,tangential);
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*/
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}
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// printf("magnitude_i: %f\n", magnitude_i); // negative before collision in my case
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// Apply the impulse and increase impulse counters.
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/*
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VECADDMUL(cloth1->verts[face1->v1].tv,collpair->normal, -magnitude_i);
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VECADDMUL(cloth1->verts[face1->v2].tv,collpair->normal, -magnitude_i);
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VECADDMUL(cloth1->verts[face1->v3].tv,collpair->normal, -magnitude_i);
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VECADDMUL(cloth1->verts[face1->v4].tv,collpair->normal, -magnitude_i);
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*/
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// my try
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magtangent = INPR(cloth1->verts[face1->v1].tv, collpair->normal);
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VECADDMUL(cloth1->verts[face1->v1].tv, collpair->normal, -magtangent);
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magtangent = INPR(cloth1->verts[face1->v2].tv, collpair->normal);
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VECADDMUL(cloth1->verts[face1->v2].tv, collpair->normal, -magtangent);
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magtangent = INPR(cloth1->verts[face1->v3].tv, collpair->normal);
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VECADDMUL(cloth1->verts[face1->v3].tv, collpair->normal, -magtangent);
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magtangent = INPR(cloth1->verts[face1->v4].tv, collpair->normal);
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VECADDMUL(cloth1->verts[face1->v4].tv, collpair->normal, -magtangent);
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result = 1;
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}
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search = search->next;
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}
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}
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return result;
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}
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// return distance between two triangles using bullet engine
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double implicit_tri_check_coherence (ClothModifierData *clmd, ClothModifierData *coll_clmd, unsigned int tri_index1, unsigned int tri_index2, float pa[3], float pb[3], float normal[3], int quadA, int quadB)
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{
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MFace *face1=NULL, *face2=NULL;
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float a[3][3];
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float b[3][3];
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double distance=0, tempdistance=0;
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Cloth *cloth1=NULL, *cloth2=NULL;
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float tpa[3], tpb[3], tnormal[3];
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unsigned int indexA=0, indexB=0, indexC=0, indexD=0, indexE=0, indexF=0;
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int i = 0;
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cloth1 = clmd->clothObject;
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cloth2 = coll_clmd->clothObject;
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face1 = &(cloth1->mfaces[tri_index1]);
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face2 = &(cloth2->mfaces[tri_index2]);
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// face a1 + face b1
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VECCOPY(a[0], cloth1->verts[face1->v1].txold);
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VECCOPY(a[1], cloth1->verts[face1->v2].txold);
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VECCOPY(a[2], cloth1->verts[face1->v3].txold);
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VECCOPY(b[0], cloth2->verts[face2->v1].txold);
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VECCOPY(b[1], cloth2->verts[face2->v2].txold);
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VECCOPY(b[2], cloth2->verts[face2->v3].txold);
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#pragma omp critical
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distance = plNearestPoints(a,b,pa,pb,normal);
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quadA = quadB = 0;
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for(i = 0; i < 3; i++)
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{
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if(i == 0)
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{
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indexA = face1->v4;
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indexB = face1->v1;
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indexC = face1->v3;
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indexD = face2->v1;
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indexE = face2->v2;
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indexF = face2->v3;
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}
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else if(i == 1)
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{
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indexA = face1->v4;
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indexB = face1->v1;
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indexC = face1->v3;
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indexD = face2->v4;
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indexE = face2->v1;
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indexF = face2->v3;
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}
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else if(i == 2)
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{
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indexA = face1->v1;
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indexB = face1->v2;
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indexC = face1->v3;
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indexD = face2->v4;
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indexE = face2->v1;
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indexF = face2->v3;
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}
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// face a2 + face b1
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VECCOPY(a[0], cloth1->verts[indexA].txold);
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VECCOPY(a[1], cloth1->verts[indexB].txold);
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VECCOPY(a[2], cloth1->verts[indexC].txold);
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VECCOPY(b[0], cloth2->verts[indexD].txold);
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VECCOPY(b[1], cloth2->verts[indexE].txold);
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VECCOPY(b[2], cloth2->verts[indexF].txold);
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#pragma omp critical
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tempdistance = plNearestPoints(a,b,tpa,tpb,tnormal);
|
|
|
|
if(tempdistance < distance)
|
|
{
|
|
VECCOPY(pa, tpa);
|
|
VECCOPY(pb, tpb);
|
|
VECCOPY(normal, tnormal);
|
|
distance = tempdistance;
|
|
|
|
if(i == 0)
|
|
{
|
|
quadA = 1; quadB = 0;
|
|
}
|
|
else if(i == 1)
|
|
{
|
|
quadA = quadB = 1;
|
|
}
|
|
else if(i == 2)
|
|
{
|
|
quadA = 0; quadB = 1;
|
|
}
|
|
}
|
|
}
|
|
return distance;
|
|
}
|
|
|
|
void bvh_collision_response(ClothModifierData *clmd, ClothModifierData *coll_clmd, Tree * tree1, Tree * tree2)
|
|
{
|
|
CollPair *collpair = NULL;
|
|
LinkNode **linknode;
|
|
double distance = 0;
|
|
float epsilon = clmd->coll_parms.epsilon;
|
|
|
|
collpair = (CollPair *)MEM_callocN(sizeof(CollPair), "cloth coll pair");
|
|
linknode = clmd->coll_parms.temp;
|
|
|
|
// calc SIPcode (?)
|
|
|
|
// calc distance + normal
|
|
distance = implicit_tri_check_coherence(clmd, coll_clmd, tree1->tri_index, tree2->tri_index, collpair->p1, collpair->p2, collpair->vector, collpair->quadA, collpair->quadB);
|
|
|
|
if (ABS(distance) <= (epsilon + ALMOST_ZERO))
|
|
{
|
|
// printf("distance: %f, epsilon: %f\n", (float)distance, epsilon + ALMOST_ZERO);
|
|
|
|
collpair->face1 = tree1->tri_index;
|
|
collpair->face2 = tree2->tri_index;
|
|
|
|
VECCOPY(collpair->normal, collpair->vector);
|
|
Normalize(collpair->normal);
|
|
|
|
// printf("normal x: %f, y: %f, z: %f\n", collpair->normal[0], collpair->normal[1], collpair->normal[2]);
|
|
|
|
collpair->distance = distance;
|
|
BLI_linklist_append(&linknode[tree1->tri_index], collpair);
|
|
}
|
|
else
|
|
{
|
|
MEM_freeN(collpair);
|
|
}
|
|
}
|
|
|
|
|
|
int cloth_bvh_objcollision(ClothModifierData * clmd, float step, CM_COLLISION_RESPONSE collision_response, float dt)
|
|
{
|
|
Base *base=NULL;
|
|
ClothModifierData *coll_clmd=NULL;
|
|
Cloth *cloth=NULL;
|
|
Object *coll_ob=NULL;
|
|
BVH *cloth_bvh=NULL;
|
|
unsigned int i=0, numverts=0;
|
|
int result = 0;
|
|
|
|
if ((clmd->sim_parms.flags & CSIMSETT_FLAG_COLLOBJ) || !(((Cloth *)clmd->clothObject)->tree))
|
|
{
|
|
return 0;
|
|
}
|
|
cloth = clmd->clothObject;
|
|
cloth_bvh = (BVH *) cloth->tree;
|
|
numverts = clmd->clothObject->numverts;
|
|
|
|
////////////////////////////////////////////////////////////
|
|
// static collisions
|
|
////////////////////////////////////////////////////////////
|
|
|
|
// update cloth bvh
|
|
bvh_update_static(clmd, cloth_bvh);
|
|
|
|
// search all objects for collision object
|
|
for (base = G.scene->base.first; base; base = base->next)
|
|
{
|
|
|
|
coll_ob = base->object;
|
|
coll_clmd = (ClothModifierData *) modifiers_findByType (coll_ob, eModifierType_Cloth);
|
|
if (!coll_clmd)
|
|
continue;
|
|
|
|
// if collision object go on
|
|
if (coll_clmd->sim_parms.flags & CSIMSETT_FLAG_COLLOBJ)
|
|
{
|
|
if (coll_clmd->clothObject && coll_clmd->clothObject->tree)
|
|
{
|
|
unsigned int coll_numverts = coll_clmd->clothObject->numverts;
|
|
Cloth *coll_cloth = coll_clmd->clothObject;
|
|
|
|
LinkNode **collision_list = MEM_callocN (sizeof(LinkNode *)*numverts, "collision_list");
|
|
BVH *coll_bvh = coll_clmd->clothObject->tree;
|
|
|
|
if(collision_list)
|
|
{
|
|
// memset(collision_list, 0, sizeof(LinkNode *)*numverts);
|
|
|
|
for(i = 0; i < numverts; i++)
|
|
{
|
|
collision_list[i] = NULL;
|
|
}
|
|
|
|
clmd->coll_parms.temp = collision_list;
|
|
|
|
// update position of collision object
|
|
for(i = 0; i < coll_numverts; i++)
|
|
{
|
|
VECCOPY(coll_cloth->verts[i].txold, coll_cloth->verts[i].tx);
|
|
|
|
VECADDS(coll_cloth->verts[i].tx, coll_cloth->verts[i].xold, coll_cloth->verts[i].v, step);
|
|
|
|
VECSUB(coll_cloth->verts[i].tv, coll_cloth->verts[i].tx, coll_cloth->verts[i].txold);
|
|
}
|
|
|
|
// update BVH of collision object
|
|
bvh_update_static(coll_clmd, coll_bvh);
|
|
|
|
bvh_traverse(clmd, coll_clmd, cloth_bvh->root, coll_bvh->root, step, collision_response);
|
|
|
|
result += collision_static(clmd, coll_clmd, collision_list);
|
|
|
|
// calculate velocities
|
|
|
|
// free temporary list
|
|
for(i = 0; i < numverts; i++)
|
|
{
|
|
LinkNode *search = collision_list[i];
|
|
while(search)
|
|
{
|
|
LinkNode *next= search->next;
|
|
CollPair *collpair = search->link;
|
|
|
|
if(collpair)
|
|
MEM_freeN(collpair);
|
|
|
|
search = next;
|
|
}
|
|
|
|
BLI_linklist_free(collision_list[i],NULL);
|
|
}
|
|
if(collision_list)
|
|
MEM_freeN(collision_list);
|
|
|
|
clmd->coll_parms.temp = NULL;
|
|
}
|
|
|
|
|
|
}
|
|
else
|
|
printf ("cloth_bvh_objcollision: found a collision object with clothObject or collData NULL.\n");
|
|
}
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////
|
|
// update positions + velocities
|
|
////////////////////////////////////////////////////////////
|
|
|
|
// TODO
|
|
|
|
|
|
////////////////////////////////////////////////////////////
|
|
// moving collisions
|
|
////////////////////////////////////////////////////////////
|
|
|
|
// TODO
|
|
// bvh_update_moving(clmd, clmd->clothObject->tree);
|
|
|
|
return MIN2(result, 1);
|
|
}
|