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

/*  cloth.c
*
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
*
* The Original Code is Copyright (C) Blender Foundation
* All rights reserved.
*
* Contributor(s): Daniel Genrich
*
* ***** END GPL LICENSE BLOCK *****
*/

#include "MEM_guardedalloc.h"

#include "BKE_cloth.h"

#include "DNA_cloth_types.h"
#include "DNA_mesh_types.h"
#include "DNA_object_force.h"
#include "DNA_scene_types.h"

#include "BKE_deform.h"
#include "BKE_DerivedMesh.h"
#include "BKE_cdderivedmesh.h"
#include "BKE_effect.h"
#include "BKE_global.h"
#include "BKE_object.h"
#include "BKE_modifier.h"
#include "BKE_utildefines.h"

#include "BKE_pointcache.h"

#ifdef _WIN32
void tstart ( void )
{}
void tend ( void )
{
}
double tval()
{
	return 0;
}
#else
#include <sys/time.h>
			 static struct timeval _tstart, _tend;
	 static struct timezone tz;
	 void tstart ( void )
{
	gettimeofday ( &_tstart, &tz );
}
void tend ( void )
{
	gettimeofday ( &_tend,&tz );
}
double tval()
{
	double t1, t2;
	t1 = ( double ) _tstart.tv_sec + ( double ) _tstart.tv_usec/ ( 1000*1000 );
	t2 = ( double ) _tend.tv_sec + ( double ) _tend.tv_usec/ ( 1000*1000 );
	return t2-t1;
}
#endif

/* Our available solvers. */
// 255 is the magic reserved number, so NEVER try to put 255 solvers in here!
// 254 = MAX!
static CM_SOLVER_DEF	solvers [] =
{
	{ "Implicit", CM_IMPLICIT, implicit_init, implicit_solver, implicit_free },
        // { "Implicit C++", CM_IMPLICITCPP, implicitcpp_init, implicitcpp_solver, implicitcpp_free },
};

/* ********** cloth engine ******* */
/* Prototypes for internal functions.
*/
static void cloth_to_object (Object *ob,  ClothModifierData *clmd, DerivedMesh *dm);
static void cloth_from_mesh ( Object *ob, ClothModifierData *clmd, DerivedMesh *dm );
static int cloth_from_object(Object *ob, ClothModifierData *clmd, DerivedMesh *dm, float framenr, int first);
int cloth_build_springs ( ClothModifierData *clmd, DerivedMesh *dm );
static void cloth_apply_vgroup ( ClothModifierData *clmd, DerivedMesh *dm );


/******************************************************************************
*
* External interface called by modifier.c clothModifier functions.
*
******************************************************************************/
/**
 * cloth_init -  creates a new cloth simulation.
 *
 * 1. create object
 * 2. fill object with standard values or with the GUI settings if given
 */
void cloth_init ( ClothModifierData *clmd )
{	
	/* Initialize our new data structure to reasonable values. */
	clmd->sim_parms->gravity [0] = 0.0;
	clmd->sim_parms->gravity [1] = 0.0;
	clmd->sim_parms->gravity [2] = -9.81;
	clmd->sim_parms->structural = 15.0;
	clmd->sim_parms->shear = 15.0;
	clmd->sim_parms->bending = 0.5;
	clmd->sim_parms->Cdis = 5.0; 
	clmd->sim_parms->Cvi = 1.0;
	clmd->sim_parms->mass = 0.3f;
	clmd->sim_parms->stepsPerFrame = 5;
	clmd->sim_parms->flags = 0;
	clmd->sim_parms->solver_type = 0;
	clmd->sim_parms->preroll = 0;
	clmd->sim_parms->maxspringlen = 10;
	clmd->sim_parms->vgroup_mass = 0;
	clmd->sim_parms->avg_spring_len = 0.0;
	clmd->sim_parms->presets = 2; /* cotton as start setting */
	clmd->sim_parms->timescale = 1.0f; /* speed factor, describes how fast cloth moves */
	
	clmd->coll_parms->self_friction = 5.0;
	clmd->coll_parms->friction = 5.0;
	clmd->coll_parms->loop_count = 3;
	clmd->coll_parms->epsilon = 0.015f;
	clmd->coll_parms->flags = CLOTH_COLLSETTINGS_FLAG_ENABLED;
	clmd->coll_parms->collision_list = NULL;
	clmd->coll_parms->self_loop_count = 1.0;
	clmd->coll_parms->selfepsilon = 0.75;

	/* These defaults are copied from softbody.c's
	* softbody_calc_forces() function.
	*/
	clmd->sim_parms->eff_force_scale = 1000.0;
	clmd->sim_parms->eff_wind_scale = 250.0;

	// also from softbodies
	clmd->sim_parms->maxgoal = 1.0f;
	clmd->sim_parms->mingoal = 0.0f;
	clmd->sim_parms->defgoal = 0.0f;
	clmd->sim_parms->goalspring = 1.0f;
	clmd->sim_parms->goalfrict = 0.0f;
}


BVH *bvh_build_from_cloth (ClothModifierData *clmd, float epsilon)
{
	unsigned int i = 0;
	BVH	*bvh=NULL;
	Cloth *cloth = clmd->clothObject;
	ClothVertex *verts = NULL;

	if(!clmd)
		return NULL;

	cloth = clmd->clothObject;

	if(!cloth)
		return NULL;
	
	verts = cloth->verts;
	
	// in the moment, return zero if no faces there
	if(!cloth->numfaces)
		return NULL;
	
	bvh = MEM_callocN(sizeof(BVH), "BVH");
	if (bvh == NULL) 
	{
		printf("bvh: Out of memory.\n");
		return NULL;
	}
	
	// springs = cloth->springs;
	// numsprings = cloth->numsprings;

	bvh->epsilon = epsilon;
	bvh->numfaces = cloth->numfaces;
	bvh->mfaces = cloth->mfaces;

	bvh->numverts = cloth->numverts;
	
	bvh->current_x = MEM_callocN ( sizeof ( MVert ) * bvh->numverts, "bvh->current_x" );
	
	if (bvh->current_x == NULL) 
	{
		printf("bvh: Out of memory.\n");
		MEM_freeN(bvh);
		return NULL;
	}
	
	for(i = 0; i < bvh->numverts; i++)
	{
		VECCOPY(bvh->current_x[i].co, verts[i].tx);
	}
	
	bvh_build (bvh);
	
	return bvh;
}

void bvh_update_from_cloth(ClothModifierData *clmd, int moving)
{
	unsigned int i = 0;
	Cloth *cloth = clmd->clothObject;
	BVH *bvh = cloth->tree;
	ClothVertex *verts = cloth->verts;
	
	if(!bvh)
		return;
	
	if(cloth->numverts!=bvh->numverts)
		return;
	
	if(cloth->verts)
	{
		for(i = 0; i < bvh->numverts; i++)
		{
			VECCOPY(bvh->current_x[i].co, verts[i].tx);
			VECCOPY(bvh->current_xold[i].co, verts[i].txold);
		}
	}
	
	bvh_update(bvh, moving);
}

int modifiers_indexInObject(Object *ob, ModifierData *md_seek);

int cloth_read_cache(Object *ob, ClothModifierData *clmd, float framenr)
{
	PTCacheID pid;
	PTCacheFile *pf;
	Cloth *cloth = clmd->clothObject;
	unsigned int a, ret = 1;
	
	if(!cloth)
		return 0;
	
	BKE_ptcache_id_from_cloth(&pid, ob, clmd);
	pf = BKE_ptcache_file_open(&pid, PTCACHE_FILE_READ, framenr);
	if(pf) {
		for(a = 0; a < cloth->numverts; a++) {
			if(!BKE_ptcache_file_read_floats(pf, cloth->verts[a].x, 3)) {
				ret = 0;
				break;
			}
			if(!BKE_ptcache_file_read_floats(pf, cloth->verts[a].xconst, 3)) {
				ret = 0;
				break;
			}
			if(!BKE_ptcache_file_read_floats(pf, cloth->verts[a].v, 3)) {
				ret = 0;
				break;
			}
		}
		
		BKE_ptcache_file_close(pf);
	}
	else
		ret = 0;
	
	return ret;
}

void cloth_clear_cache(Object *ob, ClothModifierData *clmd, float framenr)
{
	PTCacheID pid;
	
	BKE_ptcache_id_from_cloth(&pid, ob, clmd);

	// don't do anything as long as we're in editmode!
	if(pid.cache->flag & PTCACHE_BAKE_EDIT_ACTIVE)
		return;
	
	BKE_ptcache_id_clear(&pid, PTCACHE_CLEAR_AFTER, framenr);
}

void cloth_write_cache(Object *ob, ClothModifierData *clmd, float framenr)
{
	Cloth *cloth = clmd->clothObject;
	PTCacheID pid;
	PTCacheFile *pf;
	unsigned int a;
	
	if(!cloth)
		return;
	
	BKE_ptcache_id_from_cloth(&pid, ob, clmd);
	pf = BKE_ptcache_file_open(&pid, PTCACHE_FILE_WRITE, framenr);
	if(!pf)
		return;
	
	for(a = 0; a < cloth->numverts; a++) {
		BKE_ptcache_file_write_floats(pf, cloth->verts[a].x, 3);
		BKE_ptcache_file_write_floats(pf, cloth->verts[a].xconst, 3);
		BKE_ptcache_file_write_floats(pf, cloth->verts[a].v, 3);
	}
	
	BKE_ptcache_file_close(pf);
}

static int do_init_cloth(Object *ob, ClothModifierData *clmd, DerivedMesh *result, int framenr)
{
	PointCache *cache;

	cache= clmd->point_cache;

	/* initialize simulation data if it didn't exist already */
	if(clmd->clothObject == NULL) {	
		if(!cloth_from_object(ob, clmd, result, framenr, 1)) {
			cache->flag &= ~PTCACHE_SIMULATION_VALID;
			cache->simframe= 0;
			return 0;
		}
	
		if(clmd->clothObject == NULL) {
			cache->flag &= ~PTCACHE_SIMULATION_VALID;
			cache->simframe= 0;
			return 0;
		}
	
		implicit_set_positions(clmd);
	}

	return 1;
}

static int do_step_cloth(Object *ob, ClothModifierData *clmd, DerivedMesh *result, int framenr)
{
	ClothVertex *verts = NULL;
	Cloth *cloth;
	ListBase *effectors = NULL;
	MVert *mvert;
	int i, ret = 0;

	/* simulate 1 frame forward */
	cloth = clmd->clothObject;
	verts = cloth->verts;
	mvert = result->getVertArray(result);

	/* force any pinned verts to their constrained location. */
	for(i = 0; i < clmd->clothObject->numverts; i++, verts++) {
		/* save the previous position. */
		VECCOPY(verts->xold, verts->xconst);
		VECCOPY(verts->txold, verts->x);

		/* Get the current position. */
		VECCOPY(verts->xconst, mvert[i].co);
		Mat4MulVecfl(ob->obmat, verts->xconst);
	}
	
	tstart();

	/* call the solver. */
	if(solvers [clmd->sim_parms->solver_type].solver)
		ret = solvers[clmd->sim_parms->solver_type].solver(ob, framenr, clmd, effectors);

	tend();

	/* printf ( "Cloth simulation time: %f\n", ( float ) tval() ); */
	
	return ret;
}

/************************************************
 * clothModifier_do - main simulation function
************************************************/
DerivedMesh *clothModifier_do(ClothModifierData *clmd, Object *ob, DerivedMesh *dm, int useRenderParams, int isFinalCalc)
{
	DerivedMesh *result;
	PointCache *cache;
	PTCacheID pid;
	float timescale;
	int framedelta, framenr, startframe, endframe;

	framenr= (int)G.scene->r.cfra;
	cache= clmd->point_cache;
	result = CDDM_copy(dm);

	BKE_ptcache_id_from_cloth(&pid, ob, clmd);
	BKE_ptcache_id_time(&pid, framenr, &startframe, &endframe, &timescale);
	clmd->sim_parms->timescale= timescale;

	if(!result) {
		cache->flag &= ~PTCACHE_SIMULATION_VALID;
		cache->simframe= 0;
		return dm;
	}
	
	/* verify we still have the same number of vertices, if not do nothing.
	 * note that this should only happen if the number of vertices changes
	 * during an animation due to a preceding modifier, this should not
	 * happen because of object changes! */
	if(clmd->clothObject) {
		if(result->getNumVerts(result) != clmd->clothObject->numverts) {
			cache->flag &= ~PTCACHE_SIMULATION_VALID;
			cache->simframe= 0;
			return result;
		}
	}
	
	// unused in the moment, calculated seperately in implicit.c
	clmd->sim_parms->dt = clmd->sim_parms->timescale / clmd->sim_parms->stepsPerFrame;

	/* handle continuous simulation with the play button */
	if(BKE_ptcache_get_continue_physics()) {
		cache->flag &= ~PTCACHE_SIMULATION_VALID;
		cache->simframe= 0;

		/* do simulation */
		if(!do_init_cloth(ob, clmd, result, framenr))
			return result;

		do_step_cloth(ob, clmd, result, framenr);
		cloth_to_object(ob, clmd, result);

		return result;
	}

	/* simulation is only active during a specific period */
	if(framenr < startframe) {
		cache->flag &= ~PTCACHE_SIMULATION_VALID;
		cache->simframe= 0;
		return result;
	}
	else if(framenr > endframe) {
		framenr= endframe;
	}

	if(cache->flag & PTCACHE_SIMULATION_VALID)
		framedelta= framenr - cache->simframe;
	else
		framedelta= -1;

	/* initialize simulation data if it didn't exist already */
	if(!do_init_cloth(ob, clmd, result, framenr))
		return result;

	/* try to read from cache */
	if(cloth_read_cache(ob, clmd, framenr)) {
		cache->flag |= PTCACHE_SIMULATION_VALID;
		cache->simframe= framenr;

		implicit_set_positions(clmd);
		cloth_to_object (ob, clmd, result);

		return result;
	}
	else if(ob->id.lib || (cache->flag & PTCACHE_BAKED)) {
		/* if baked and nothing in cache, do nothing */
		cache->flag &= ~PTCACHE_SIMULATION_VALID;
		cache->simframe= 0;
		return result;
	}

	if(framenr == startframe) {
		cache->flag |= PTCACHE_SIMULATION_VALID;
		cache->simframe= framenr;

		/* don't write cache on first frame, but on second frame write
		 * cache for frame 1 and 2 */
	}
	else if(framedelta == 1) {
		/* if on second frame, write cache for first frame */
		if(framenr == startframe+1)
			cloth_write_cache(ob, clmd, startframe);

		/* do simulation */
		cache->flag |= PTCACHE_SIMULATION_VALID;
		cache->simframe= framenr;

		if(!do_step_cloth(ob, clmd, result, framenr)) {
			cache->flag &= ~PTCACHE_SIMULATION_VALID;
			cache->simframe= 0;
		}
		else
			cloth_write_cache(ob, clmd, framenr);

		cloth_to_object (ob, clmd, result);
	}
	else {
		cache->flag &= ~PTCACHE_SIMULATION_VALID;
		cache->simframe= 0;
	}

	return result;
}

/* frees all */
void cloth_free_modifier ( Object *ob, ClothModifierData *clmd )
{
	Cloth	*cloth = NULL;
	
	if ( !clmd )
		return;

	cloth = clmd->clothObject;

	
	if ( cloth )
	{	
		// If our solver provides a free function, call it
		if ( solvers [clmd->sim_parms->solver_type].free )
		{
			solvers [clmd->sim_parms->solver_type].free ( clmd );
		}

		// Free the verts.
		if ( cloth->verts != NULL )
			MEM_freeN ( cloth->verts );

		cloth->verts = NULL;
		cloth->numverts = 0;

		// Free the springs.
		if ( cloth->springs != NULL )
		{
			LinkNode *search = cloth->springs;
			while(search)
			{
				ClothSpring *spring = search->link;
						
				MEM_freeN ( spring );
				search = search->next;
			}
			BLI_linklist_free(cloth->springs, NULL);
		
			cloth->springs = NULL;
		}

		cloth->springs = NULL;
		cloth->numsprings = 0;

		// free BVH collision tree
		if ( cloth->tree )
			bvh_free ( ( BVH * ) cloth->tree );

		// we save our faces for collision objects
		if ( cloth->mfaces )
			MEM_freeN ( cloth->mfaces );
		
		if(cloth->edgehash)
			BLI_edgehash_free ( cloth->edgehash, NULL );
		
		
		/*
		if(clmd->clothObject->facemarks)
		MEM_freeN(clmd->clothObject->facemarks);
		*/
		MEM_freeN ( cloth );
		clmd->clothObject = NULL;
	}
}

/* frees all */
void cloth_free_modifier_extern ( ClothModifierData *clmd )
{
	Cloth	*cloth = NULL;
	if(G.rt > 0)
		printf("cloth_free_modifier_extern\n");
	
	if ( !clmd )
		return;

	cloth = clmd->clothObject;
	
	if ( cloth )
	{	
		if(G.rt > 0)
			printf("cloth_free_modifier_extern in\n");
		
		// If our solver provides a free function, call it
		if ( solvers [clmd->sim_parms->solver_type].free )
		{
			solvers [clmd->sim_parms->solver_type].free ( clmd );
		}

		// Free the verts.
		if ( cloth->verts != NULL )
			MEM_freeN ( cloth->verts );

		cloth->verts = NULL;
		cloth->numverts = 0;

		// Free the springs.
		if ( cloth->springs != NULL )
		{
			LinkNode *search = cloth->springs;
			while(search)
			{
				ClothSpring *spring = search->link;
						
				MEM_freeN ( spring );
				search = search->next;
			}
			BLI_linklist_free(cloth->springs, NULL);
		
			cloth->springs = NULL;
		}

		cloth->springs = NULL;
		cloth->numsprings = 0;

		// free BVH collision tree
		if ( cloth->tree )
			bvh_free ( ( BVH * ) cloth->tree );

		// we save our faces for collision objects
		if ( cloth->mfaces )
			MEM_freeN ( cloth->mfaces );
		
		if(cloth->edgehash)
			BLI_edgehash_free ( cloth->edgehash, NULL );
		
		
		/*
		if(clmd->clothObject->facemarks)
		MEM_freeN(clmd->clothObject->facemarks);
		*/
		MEM_freeN ( cloth );
		clmd->clothObject = NULL;
	}
}

/******************************************************************************
*
* Internal functions.
*
******************************************************************************/

/**
 * cloth_to_object - copies the deformed vertices to the object.
 *
 **/
static void cloth_to_object (Object *ob,  ClothModifierData *clmd, DerivedMesh *dm)
{
	unsigned int	i = 0;
	MVert *mvert = NULL;
	unsigned int numverts;
	Cloth *cloth = clmd->clothObject;

	if (clmd->clothObject) {
		/* inverse matrix is not uptodate... */
		Mat4Invert (ob->imat, ob->obmat);

		mvert = CDDM_get_verts(dm);
		numverts = dm->getNumVerts(dm);

		for (i = 0; i < numverts; i++)
		{
			VECCOPY (mvert[i].co, cloth->verts[i].x);
			Mat4MulVecfl (ob->imat, mvert[i].co);	/* cloth is in global coords */
		}
	}
}


/**
 * cloth_apply_vgroup - applies a vertex group as specified by type
 *
 **/
/* can be optimized to do all groups in one loop */
static void cloth_apply_vgroup ( ClothModifierData *clmd, DerivedMesh *dm )
{
	unsigned int i = 0;
	unsigned int j = 0;
	MDeformVert *dvert = NULL;
	Cloth *clothObj = NULL;
	unsigned int numverts = dm->getNumVerts ( dm );
	float goalfac = 0;
	ClothVertex *verts = NULL;

	clothObj = clmd->clothObject;

	if ( !dm )
		return;
	
	numverts = dm->getNumVerts ( dm );

	verts = clothObj->verts;
	
	if (((clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_SCALING ) || 
		     (clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL )) && 
		     ((clmd->sim_parms->vgroup_mass>0) || 
		     (clmd->sim_parms->vgroup_struct>0)||
		     (clmd->sim_parms->vgroup_bend>0)))
	{
		for ( i = 0; i < numverts; i++, verts++ )
		{	
			dvert = dm->getVertData ( dm, i, CD_MDEFORMVERT );
			if ( dvert )
			{
				for ( j = 0; j < dvert->totweight; j++ )
				{
					if (( dvert->dw[j].def_nr == (clmd->sim_parms->vgroup_mass-1)) && (clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL ))
					{
						verts->goal = dvert->dw [j].weight;
						goalfac= 1.0f;
						
						/*
						// Kicking goal factor to simplify things...who uses that anyway?
						// ABS ( clmd->sim_parms->maxgoal - clmd->sim_parms->mingoal );
						*/
						
						verts->goal  = ( float ) pow ( verts->goal , 4.0f );
						if ( verts->goal >=SOFTGOALSNAP )
						{
 							verts->flags |= CLOTH_VERT_FLAG_PINNED;
						}
					}
					
					if (clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_SCALING )
					{
						if( dvert->dw[j].def_nr == (clmd->sim_parms->vgroup_struct-1))
						{
							verts->struct_stiff = dvert->dw [j].weight;
							verts->shear_stiff = dvert->dw [j].weight;
						}
						
						if( dvert->dw[j].def_nr == (clmd->sim_parms->vgroup_bend-1))
						{
							verts->bend_stiff = dvert->dw [j].weight;
						}
					}
					/*
					// for later
					if( dvert->dw[j].def_nr == (clmd->sim_parms->vgroup_weight-1))
					{
						verts->mass = dvert->dw [j].weight;
					}
					*/
				}
			}
		}
	}
}

static int cloth_from_object(Object *ob, ClothModifierData *clmd, DerivedMesh *dm, float framenr, int first)
{
	unsigned int i = 0;
	MVert *mvert = NULL;
	ClothVertex *verts = NULL;
	float tnull[3] = {0,0,0};
	Cloth *cloth = NULL;

	// If we have a clothObject, free it. 
	if ( clmd->clothObject != NULL )
	{
		cloth_free_modifier ( ob, clmd );
		if(G.rt > 0)
			printf("cloth_free_modifier cloth_from_object\n");
	}

	// Allocate a new cloth object.
	clmd->clothObject = MEM_callocN ( sizeof ( Cloth ), "cloth" );
	if ( clmd->clothObject )
	{
		clmd->clothObject->old_solver_type = 255;
		// clmd->clothObject->old_collision_type = 255;
		cloth = clmd->clothObject;
		clmd->clothObject->edgehash = NULL;
	}
	else if ( !clmd->clothObject )
	{
		modifier_setError ( & ( clmd->modifier ), "Out of memory on allocating clmd->clothObject." );
		return 0;
	}

	// mesh input objects need DerivedMesh
	if ( !dm )
		return 0;

	cloth_from_mesh ( ob, clmd, dm );

	// create springs 
	clmd->clothObject->springs = NULL;
	clmd->clothObject->numsprings = -1;
	
	mvert = dm->getVertArray ( dm );
	verts = clmd->clothObject->verts;

	// set initial values
	for ( i = 0; i < dm->getNumVerts(dm); i++, verts++ )
	{
		if(first)
		{
			VECCOPY ( verts->x, mvert[i].co );
			Mat4MulVecfl ( ob->obmat, verts->x );
		}
		
		/* no GUI interface yet */
		verts->mass = clmd->sim_parms->mass; 
		verts->impulse_count = 0;

		if ( clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL )
			verts->goal= clmd->sim_parms->defgoal;
		else
			verts->goal= 0.0f;

		verts->flags = 0;
		VECCOPY ( verts->xold, verts->x );
		VECCOPY ( verts->xconst, verts->x );
		VECCOPY ( verts->txold, verts->x );
		VecMulf ( verts->v, 0.0f );

		verts->impulse_count = 0;
		VECCOPY ( verts->impulse, tnull );
	}
	
	// apply / set vertex groups
	// has to be happen before springs are build!
	cloth_apply_vgroup (clmd, dm);
	
	
	if ( !cloth_build_springs ( clmd, dm ) )
	{
		cloth_free_modifier ( ob, clmd );
		modifier_setError ( & ( clmd->modifier ), "Can't build springs." );
		printf("cloth_free_modifier cloth_build_springs\n");
		return 0;
	}
	
	for ( i = 0; i < dm->getNumVerts(dm); i++)
	{
		if((!(cloth->verts[i].flags & CLOTH_VERT_FLAG_PINNED)) && (cloth->verts[i].goal > ALMOST_ZERO))
		{
			cloth_add_spring (clmd, i, i, 0.0, CLOTH_SPRING_TYPE_GOAL);
		}
	}
	
	// init our solver
	if ( solvers [clmd->sim_parms->solver_type].init ) {
		solvers [clmd->sim_parms->solver_type].init ( ob, clmd );
	}
	
	if(!first)
		implicit_set_positions(clmd);

	clmd->clothObject->tree = bvh_build_from_cloth ( clmd, clmd->coll_parms->epsilon );

	return 1;
}


static void cloth_from_mesh ( Object *ob, ClothModifierData *clmd, DerivedMesh *dm )
{
	unsigned int numverts = dm->getNumVerts ( dm );
	unsigned int numfaces = dm->getNumFaces ( dm );
	MFace *mface = CDDM_get_faces(dm);
	unsigned int i = 0;

	/* Allocate our vertices. */
	clmd->clothObject->numverts = numverts;
	clmd->clothObject->verts = MEM_callocN ( sizeof ( ClothVertex ) * clmd->clothObject->numverts, "clothVertex" );
	if ( clmd->clothObject->verts == NULL )
	{
		cloth_free_modifier ( ob, clmd );
		modifier_setError ( & ( clmd->modifier ), "Out of memory on allocating clmd->clothObject->verts." );
		printf("cloth_free_modifier clmd->clothObject->verts\n");
		return;
	}

	// save face information
	clmd->clothObject->numfaces = numfaces;
	clmd->clothObject->mfaces = MEM_callocN ( sizeof ( MFace ) * clmd->clothObject->numfaces, "clothMFaces" );
	if ( clmd->clothObject->mfaces == NULL )
	{
		cloth_free_modifier ( ob, clmd );
		modifier_setError ( & ( clmd->modifier ), "Out of memory on allocating clmd->clothObject->mfaces." );
		printf("cloth_free_modifier clmd->clothObject->mfaces\n");
		return;
	}
	for ( i = 0; i < numfaces; i++ )
		memcpy ( &clmd->clothObject->mfaces[i], &mface[i], sizeof ( MFace ) );

	/* Free the springs since they can't be correct if the vertices
	* changed.
	*/
	if ( clmd->clothObject->springs != NULL )
		MEM_freeN ( clmd->clothObject->springs );

}

/***************************************************************************************
* SPRING NETWORK BUILDING IMPLEMENTATION BEGIN
***************************************************************************************/

// be carefull: implicit solver has to be resettet when using this one!
// --> only for implicit handling of this spring!
int cloth_add_spring ( ClothModifierData *clmd, unsigned int indexA, unsigned int indexB, float restlength, int spring_type)
{
	Cloth *cloth = clmd->clothObject;
	ClothSpring *spring = NULL;
	
	if(cloth)
	{
		// TODO: look if this spring is already there
		
		spring = ( ClothSpring * ) MEM_callocN ( sizeof ( ClothSpring ), "cloth spring" );
		
		if(!spring)
			return 0;
		
		spring->ij = indexA;
		spring->kl = indexB;
		spring->restlen =  restlength;
		spring->type = spring_type;
		spring->flags = 0;
		spring->stiffness = 0;
		
		cloth->numsprings++;
	
		BLI_linklist_prepend ( &cloth->springs, spring );
		
		return 1;
	}
	return 0;
}

void cloth_free_errorsprings(Cloth *cloth, EdgeHash *edgehash, LinkNode **edgelist)
{
	unsigned int i = 0;
	
	if ( cloth->springs != NULL )
	{
		LinkNode *search = cloth->springs;
		while(search)
		{
			ClothSpring *spring = search->link;
						
			MEM_freeN ( spring );
			search = search->next;
		}
		BLI_linklist_free(cloth->springs, NULL);
		
		cloth->springs = NULL;
	}
	
	if(edgelist)
	{
		for ( i = 0; i < cloth->numverts; i++ )
		{
			BLI_linklist_free ( edgelist[i],NULL );
		}

		MEM_freeN ( edgelist );
	}
	
	if(cloth->edgehash)
		BLI_edgehash_free ( cloth->edgehash, NULL );
}

int cloth_build_springs ( ClothModifierData *clmd, DerivedMesh *dm )
{
	Cloth *cloth = clmd->clothObject;
	ClothSpring *spring = NULL, *tspring = NULL, *tspring2 = NULL;
	unsigned int struct_springs = 0, shear_springs=0, bend_springs = 0;
	unsigned int i = 0;
	unsigned int numverts = dm->getNumVerts ( dm );
	unsigned int numedges = dm->getNumEdges ( dm );
	unsigned int numfaces = dm->getNumFaces ( dm );
	MEdge *medge = CDDM_get_edges ( dm );
	MFace *mface = CDDM_get_faces ( dm );
	unsigned int index2 = 0; // our second vertex index
	LinkNode **edgelist = NULL;
	EdgeHash *edgehash = NULL;
	LinkNode *search = NULL, *search2 = NULL;
	float temp[3];
	
	// error handling
	if ( numedges==0 )
		return 0;

	cloth->springs = NULL;

	edgelist = MEM_callocN ( sizeof ( LinkNode * ) * numverts, "cloth_edgelist_alloc" );
	
	if(!edgelist)
		return 0;
	
	for ( i = 0; i < numverts; i++ )
	{
		edgelist[i] = NULL;
	}

	if ( cloth->springs )
		MEM_freeN ( cloth->springs );

	// create spring network hash
	edgehash = BLI_edgehash_new();

	// structural springs
	for ( i = 0; i < numedges; i++ )
	{
		spring = ( ClothSpring * ) MEM_callocN ( sizeof ( ClothSpring ), "cloth spring" );

		if ( spring )
		{
			spring->ij = MIN2(medge[i].v1, medge[i].v2);
			spring->kl = MAX2(medge[i].v2, medge[i].v1);
			VECSUB ( temp, cloth->verts[spring->kl].x, cloth->verts[spring->ij].x );
			spring->restlen =  sqrt ( INPR ( temp, temp ) );
			clmd->sim_parms->avg_spring_len += spring->restlen;
			cloth->verts[spring->ij].avg_spring_len += spring->restlen;
			cloth->verts[spring->kl].avg_spring_len += spring->restlen;
			cloth->verts[spring->ij].spring_count++;
			cloth->verts[spring->kl].spring_count++;
			spring->type = CLOTH_SPRING_TYPE_STRUCTURAL;
			spring->flags = 0;
			spring->stiffness = (cloth->verts[spring->kl].struct_stiff + cloth->verts[spring->ij].struct_stiff) / 2.0;
			struct_springs++;
			
			BLI_linklist_prepend ( &cloth->springs, spring );
		}
		else
		{
			cloth_free_errorsprings(cloth, edgehash, edgelist);
			return 0;
		}
	}
	
	if(struct_springs > 0)
		clmd->sim_parms->avg_spring_len /= struct_springs;
	
	for(i = 0; i < numverts; i++)
	{
		cloth->verts[i].avg_spring_len = cloth->verts[i].avg_spring_len * 0.49 / ((float)cloth->verts[i].spring_count);
	}
	
	// shear springs
	for ( i = 0; i < numfaces; i++ )
	{
		// triangle faces already have shear springs due to structural geometry
		if ( !mface[i].v4 )
			continue; 
		
		spring = ( ClothSpring *) MEM_callocN ( sizeof ( ClothSpring ), "cloth spring" );
		
		if(!spring)
		{
			cloth_free_errorsprings(cloth, edgehash, edgelist);
			return 0;
		}

		spring->ij = MIN2(mface[i].v1, mface[i].v3);
		spring->kl = MAX2(mface[i].v3, mface[i].v1);
		VECSUB ( temp, cloth->verts[spring->kl].x, cloth->verts[spring->ij].x );
		spring->restlen =  sqrt ( INPR ( temp, temp ) );
		spring->type = CLOTH_SPRING_TYPE_SHEAR;
		spring->stiffness = (cloth->verts[spring->kl].shear_stiff + cloth->verts[spring->ij].shear_stiff) / 2.0;

		BLI_linklist_append ( &edgelist[spring->ij], spring );
		BLI_linklist_append ( &edgelist[spring->kl], spring );
		shear_springs++;

		BLI_linklist_prepend ( &cloth->springs, spring );

		
		// if ( mface[i].v4 ) --> Quad face
		spring = ( ClothSpring * ) MEM_callocN ( sizeof ( ClothSpring ), "cloth spring" );
		
		if(!spring)
		{
			cloth_free_errorsprings(cloth, edgehash, edgelist);
			return 0;
		}

		spring->ij = MIN2(mface[i].v2, mface[i].v4);
		spring->kl = MAX2(mface[i].v4, mface[i].v2);
		VECSUB ( temp, cloth->verts[spring->kl].x, cloth->verts[spring->ij].x );
		spring->restlen =  sqrt ( INPR ( temp, temp ) );
		spring->type = CLOTH_SPRING_TYPE_SHEAR;
		spring->stiffness = (cloth->verts[spring->kl].shear_stiff + cloth->verts[spring->ij].shear_stiff) / 2.0;

		BLI_linklist_append ( &edgelist[spring->ij], spring );
		BLI_linklist_append ( &edgelist[spring->kl], spring );
		shear_springs++;

		BLI_linklist_prepend ( &cloth->springs, spring );
	}
	
	// bending springs
	search2 = cloth->springs;
	for ( i = struct_springs; i < struct_springs+shear_springs; i++ )
	{
		if ( !search2 )
			break;

		tspring2 = search2->link;
		search = edgelist[tspring2->kl];
		while ( search )
		{
			tspring = search->link;
			index2 = ( ( tspring->ij==tspring2->kl ) ? ( tspring->kl ) : ( tspring->ij ) );
			
			// check for existing spring
			// check also if startpoint is equal to endpoint
			if ( !BLI_edgehash_haskey ( edgehash, MIN2(tspring2->ij, index2), MAX2(tspring2->ij, index2) )
			&& ( index2!=tspring2->ij ) )
			{
				spring = ( ClothSpring * ) MEM_callocN ( sizeof ( ClothSpring ), "cloth spring" );
				
				if(!spring)
				{
					cloth_free_errorsprings(cloth, edgehash, edgelist);
					return 0;
				}

				spring->ij = MIN2(tspring2->ij, index2);
				spring->kl = MAX2(tspring2->ij, index2);
				VECSUB ( temp, cloth->verts[spring->kl].x, cloth->verts[spring->ij].x );
				spring->restlen =  sqrt ( INPR ( temp, temp ) );
				spring->type = CLOTH_SPRING_TYPE_BENDING;
				spring->stiffness = (cloth->verts[spring->kl].bend_stiff + cloth->verts[spring->ij].bend_stiff) / 2.0;
				BLI_edgehash_insert ( edgehash, spring->ij, spring->kl, NULL );
				bend_springs++;

				BLI_linklist_prepend ( &cloth->springs, spring );
			}
			search = search->next;
		}
		search2 = search2->next;
	}
	
	/* insert other near springs in edgehash AFTER bending springs are calculated (for selfcolls) */
	for ( i = 0; i < numedges; i++ ) // struct springs
		BLI_edgehash_insert ( edgehash, MIN2(medge[i].v1, medge[i].v2), MAX2(medge[i].v2, medge[i].v1), NULL );
	
	for ( i = 0; i < numfaces; i++ ) // edge springs
	{
		if(mface[i].v4)
		{
			BLI_edgehash_insert ( edgehash, MIN2(mface[i].v1, mface[i].v3), MAX2(mface[i].v3, mface[i].v1), NULL );
			
			BLI_edgehash_insert ( edgehash, MIN2(mface[i].v2, mface[i].v4), MAX2(mface[i].v2, mface[i].v4), NULL );
		}
	}
	
	
	cloth->numsprings = struct_springs + shear_springs + bend_springs;
	
	if ( edgelist )
	{
		for ( i = 0; i < numverts; i++ )
		{
			BLI_linklist_free ( edgelist[i],NULL );
		}
	
		MEM_freeN ( edgelist );
	}
	
	cloth->edgehash = edgehash;
	
	if(G.rt>0)
		printf("avg_len: %f\n",clmd->sim_parms->avg_spring_len);

	return 1;

} /* cloth_build_springs */
/***************************************************************************************
* SPRING NETWORK BUILDING IMPLEMENTATION END
***************************************************************************************/