forked from bartvdbraak/blender
softbodies again
unnesting aerodynamics from edge collision cleaning up softbody.c that is: removing old todos in comments adding some new :)
This commit is contained in:
Jens Ole Wund
parent
bc10cf38b9
commit
03be45c8c0
@ -96,12 +96,7 @@ typedef struct BodyPoint {
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typedef struct BodySpring {
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int v1, v2;
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float len, strength;
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float ext_force[3];
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/* ^^^^^^^^^ for collision now,
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but could be used for forces depending on orientations
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such as wind --> project the lenght on the (relative) wind
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via inner product force -> sin(<v_wind-v_spring,v1-v2>)
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*/
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float ext_force[3]; /* edges colliding and sailing */
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short order;
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short flag;
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} BodySpring;
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@ -169,7 +164,7 @@ static float sb_time_scale(Object *ob)
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/*+++ collider caching and dicing +++*/
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/********************
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for each target object/face the ortho bounding box (OBB) is stored
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for each target object/face the axis aligned bounding box (AABB) is stored
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faces paralell to global axes
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so only simple "value" in [min,max] ckecks are used
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float operations still
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@ -443,12 +438,6 @@ void ccd_build_deflector_cache(Object *vertexowner)
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if(base->object->type==OB_MESH && (base->lay & vertexowner->lay)) {
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ob= base->object;
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if((vertexowner) && (ob == vertexowner)){
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/* duuh thats myself! */
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/* anyhow to do some clever caching with o frozen version */
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/*
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if(ob->pd && ob->pd->deflect) {
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ob->sumohandle=ccd_mesh_make_self(ob);
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} no self intersection test yet*/
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/* if vertexowner is given we don't want to check collision with owner object */
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base = base->next;
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continue;
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@ -558,7 +547,6 @@ static void add_2nd_order_roller(Object *ob,float stiffness,int *counter, int ad
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int a,b,c,notthis,v0;
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if (!sb->bspring){return;} /* we are 2nd order here so 1rst should have been build :) */
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/* first run counting second run adding */
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/*run all body points*/
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*counter = 0;
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if (addsprings) bs3 = ob->soft->bspring+ob->soft->totspring;
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for(a=sb->totpoint, bp= sb->bpoint; a>0; a--, bp++) {
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@ -619,9 +607,8 @@ static void add_2nd_order_springs(Object *ob,float stiffness)
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int counter = 0;
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BodySpring *bs_new;
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add_2nd_order_roller(ob,stiffness,&counter,0);
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add_2nd_order_roller(ob,stiffness,&counter,0); /* counting */
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if (counter) {
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/* printf("Added %d springs \n", counter); */
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/* resize spring-array to hold additional springs */
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bs_new= MEM_callocN( (ob->soft->totspring + counter )*sizeof(BodySpring), "bodyspring");
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memcpy(bs_new,ob->soft->bspring,(ob->soft->totspring )*sizeof(BodySpring));
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@ -630,11 +617,9 @@ static void add_2nd_order_springs(Object *ob,float stiffness)
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MEM_freeN(ob->soft->bspring);
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ob->soft->bspring = bs_new;
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add_2nd_order_roller(ob,stiffness,&counter,1);
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add_2nd_order_roller(ob,stiffness,&counter,1); /* adding */
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ob->soft->totspring +=counter ;
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}
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}
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static void add_bp_springlist(BodyPoint *bp,int springID)
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@ -683,7 +668,6 @@ static void build_bps_springlist(Object *ob)
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add_bp_springlist(bp,sb->totspring -b);
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}
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}/*for springs*/
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/* if (bp->nofsprings) printf(" node %d has %d spring links\n",a,bp->nofsprings);*/
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}/*for bp*/
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}
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@ -732,7 +716,6 @@ static void calculate_collision_balls(Object *ob)
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}
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}
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else bp->colball=0;
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/* printf("CB %f \n",bp->colball); */
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}/*for bp*/
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}
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@ -771,6 +754,8 @@ static void renew_softbody(Object *ob, int totpoint, int totspring)
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bp->nofsprings= 0;
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bp->springs= NULL;
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bp->contactfrict = 0.0f;
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bp->colball = 0.0f;
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}
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}
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}
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@ -854,9 +839,7 @@ static void Vec3PlusStVec(float *v, float s, float *v1)
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v[2] += s*v1[2];
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}
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/* BEGIN the spring external section*/
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//#if (0)
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/* +++ the spring external section*/
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int sb_detect_edge_collisionCached(float edge_v1[3],float edge_v2[3],float *damp,
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float force[3], unsigned int par_layer,struct Object *vertexowner)
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@ -946,8 +929,6 @@ int sb_detect_edge_collisionCached(float edge_v1[3],float edge_v2[3],float *damp
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}
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}
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/* switch origin to be nv2*/
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VECSUB(edge1, nv1, nv2);
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VECSUB(edge2, nv3, nv2);
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@ -998,8 +979,6 @@ int sb_detect_edge_collisionCached(float edge_v1[3],float edge_v2[3],float *damp
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return deflected;
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}
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//#endif
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void scan_for_ext_spring_forces(Object *ob)
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{
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@ -1015,53 +994,57 @@ void scan_for_ext_spring_forces(Object *ob)
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BodySpring *bs = &sb->bspring[a];
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bs->ext_force[0]=bs->ext_force[1]=bs->ext_force[2]=0.0f;
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feedback[0]=feedback[1]=feedback[2]=0.0f;
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bs->flag &= ~BSF_INTERSECT;
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bs->flag &= ~BSF_INTERSECT;
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/* +++ springs colliding */
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if (bs->order ==1){
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if ( sb_detect_edge_collisionCached (sb->bpoint[bs->v1].pos , sb->bpoint[bs->v2].pos,
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&damp,feedback,ob->lay,ob)){
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VecAddf(bs->ext_force,bs->ext_force,feedback);
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bs->flag |= BSF_INTERSECT;
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}
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/* ---- springs colliding */
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/* +++ springs colliding */
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if (ob->softflag & OB_SB_EDGECOLL){
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if ( sb_detect_edge_collisionCached (sb->bpoint[bs->v1].pos , sb->bpoint[bs->v2].pos,
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&damp,feedback,ob->lay,ob)){
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VecAddf(bs->ext_force,bs->ext_force,feedback);
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bs->flag |= BSF_INTERSECT;
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/* +++ springs seeing wind ... n stuff depending on their orientation*/
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}
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}
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/* ---- springs colliding */
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/* +++ springs seeing wind ... n stuff depending on their orientation*/
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/* note we don't use sb->mediafrict but use sb->aeroedge for magnitude of effect*/
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if(sb->aeroedge){
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float vel[3],sp[3],pr[3],force[3];
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float f,windfactor = 1.0f;
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/*see if we have wind*/
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if(do_effector) {
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float speed[3],pos[3];
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VecMidf(pos, sb->bpoint[bs->v1].pos , sb->bpoint[bs->v2].pos);
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VecMidf(vel, sb->bpoint[bs->v1].vec , sb->bpoint[bs->v2].vec);
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pdDoEffectors(do_effector, pos, force, speed, (float)G.scene->r.cfra, 0.0f, PE_WIND_AS_SPEED);
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VecMulf(speed,windfactor); /*oh_ole*/
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VecAddf(vel,vel,speed);
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}
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/* media in rest */
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else{
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VECADD(vel, sb->bpoint[bs->v1].vec , sb->bpoint[bs->v2].vec);
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}
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f = Normalise(vel);
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f = -0.0001f*f*f*sb->aeroedge;
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float vel[3],sp[3],pr[3],force[3];
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float f,windfactor = 1.0f;
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/*see if we have wind*/
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if(do_effector) {
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float speed[3],pos[3];
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VecMidf(pos, sb->bpoint[bs->v1].pos , sb->bpoint[bs->v2].pos);
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VecMidf(vel, sb->bpoint[bs->v1].vec , sb->bpoint[bs->v2].vec);
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pdDoEffectors(do_effector, pos, force, speed, (float)G.scene->r.cfra, 0.0f, PE_WIND_AS_SPEED);
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VecMulf(speed,windfactor);
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VecAddf(vel,vel,speed);
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}
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/* media in rest */
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else{
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VECADD(vel, sb->bpoint[bs->v1].vec , sb->bpoint[bs->v2].vec);
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}
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f = Normalise(vel);
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f = -0.0001f*f*f*sb->aeroedge;
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/* todo add a nice angle dependant function */
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/* look up one at bergman scheafer */
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VECSUB(sp, sb->bpoint[bs->v1].pos , sb->bpoint[bs->v2].pos);
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Projf(pr,vel,sp);
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VECSUB(vel,vel,pr);
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Normalise(vel);
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Vec3PlusStVec(bs->ext_force,f,vel);
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VECSUB(sp, sb->bpoint[bs->v1].pos , sb->bpoint[bs->v2].pos);
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Projf(pr,vel,sp);
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VECSUB(vel,vel,pr);
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Normalise(vel);
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Vec3PlusStVec(bs->ext_force,f,vel);
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}
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/* --- springs seeing wind */
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/* --- springs seeing wind */
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}
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}
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}
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if(do_effector)
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pdEndEffectors(do_effector);
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}
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/* END the spring external section*/
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/* --- the spring external section*/
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int sb_detect_vertex_collisionCached(float opco[3], float facenormal[3], float *damp,
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float force[3], unsigned int par_layer,struct Object *vertexowner)
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@ -1157,8 +1140,6 @@ int sb_detect_vertex_collisionCached(float opco[3], float facenormal[3], float *
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}
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}
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/* switch origin to be nv2*/
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VECSUB(edge1, nv1, nv2);
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VECSUB(edge2, nv3, nv2);
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@ -1203,7 +1184,6 @@ int sb_detect_vertex_collisionCached(float opco[3], float facenormal[3], float *
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mface++;
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mima++;
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}/* while a */
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/* give it away */
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} /* if(ob->pd && ob->pd->deflect) */
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}/* if (base->object->type==OB_MESH && (base->lay & par_layer)) { */
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base = base->next;
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@ -1249,7 +1229,7 @@ static void softbody_calc_forces(Object *ob, float forcetime)
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ListBase *do_effector;
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float iks, ks, kd, gravity, actspringlen, forcefactor, sd[3];
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float fieldfactor = 1000.0f, windfactor = 250.0f;
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int a, b, do_deflector,do_selfcollision,do_springcollision;
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int a, b, do_deflector,do_selfcollision,do_springcollision,do_aero;
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/* clear forces */
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for(a=sb->totpoint, bp= sb->bpoint; a>0; a--, bp++) {
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@ -1258,18 +1238,19 @@ static void softbody_calc_forces(Object *ob, float forcetime)
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gravity = sb->grav * sb_grav_force_scale(ob);
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/* check! */
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/* check conditions for various options */
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do_deflector= is_there_deflection(ob->lay);
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do_effector= pdInitEffectors(ob,NULL);
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do_selfcollision=((ob->softflag & OB_SB_EDGES) && (sb->bspring)&& (ob->softflag & OB_SB_SELF));
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do_springcollision=do_deflector && (ob->softflag & OB_SB_EDGES) &&(ob->softflag & OB_SB_EDGECOLL);
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do_aero=((sb->aeroedge)&& (ob->softflag & OB_SB_EDGES));
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iks = 1.0f/(1.0f-sb->inspring)-1.0f ;/* inner spring constants function */
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bproot= sb->bpoint; /* need this for proper spring addressing */
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if (do_springcollision) scan_for_ext_spring_forces(ob);
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if (do_springcollision || do_aero) scan_for_ext_spring_forces(ob);
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for(a=sb->totpoint, bp= sb->bpoint; a>0; a--, bp++) {
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/* naive ball self collision */
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@ -1284,12 +1265,12 @@ static void softbody_calc_forces(Object *ob, float forcetime)
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float compare;
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for(c=sb->totpoint, obp= sb->bpoint; c>0; c--, obp++) {
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if (c < a ) continue; /* exploit force(a,b) == force(b,a) part1/2 */
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if (c < a ) continue; /* exploit force(a,b) == -force(b,a) part1/2 */
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compare = (obp->colball + bp->colball);
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VecSubf(def, bp->pos, obp->pos);
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distance = Normalise(def);
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if (distance < compare ){
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/* exclude body points attached with a spring */
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/* exclude body points attached with a spring */
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attached = 0;
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for(b=obp->nofsprings;b>0;b--){
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bs = sb->bspring + obp->springs[b-1];
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@ -1298,37 +1279,26 @@ static void softbody_calc_forces(Object *ob, float forcetime)
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continue;}
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}
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if (!attached){
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/* would need another UI parameter defining fricton on self contact */
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float ccfriction = sb->balldamp;
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float f = tune/(distance) + tune/(compare*compare)*distance - 2.0f*tune/compare ;
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VecMidf(velcenter, bp->vec, obp->vec);
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VecSubf(dvel,velcenter,bp->vec);
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VecMulf(dvel,sb->nodemass);
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VecMidf(velcenter, bp->vec, obp->vec);
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VecSubf(dvel,velcenter,bp->vec);
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VecMulf(dvel,sb->nodemass);
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Vec3PlusStVec(bp->force,ccfriction,dvel);
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Vec3PlusStVec(bp->force,f*(1.0f-ccfriction),def);
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/* exploit force(a,b) == force(b,a) part2/2 */
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VecSubf(dvel,velcenter,obp->vec);
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VecMulf(dvel,sb->nodemass);
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Vec3PlusStVec(bp->force,sb->balldamp,dvel);
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Vec3PlusStVec(bp->force,f*(1.0f-sb->balldamp),def);
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/* exploit force(a,b) == -force(b,a) part2/2 */
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VecSubf(dvel,velcenter,obp->vec);
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VecMulf(dvel,sb->nodemass);
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Vec3PlusStVec(obp->force,ccfriction,dvel);
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Vec3PlusStVec(obp->force,-f*(1.0f-ccfriction),def);
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Vec3PlusStVec(obp->force,sb->balldamp,dvel);
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Vec3PlusStVec(obp->force,-f*(1.0f-sb->balldamp),def);
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//Vec3PlusStVec(bp->force,f,def);
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//if (bp->contactfrict == 0.0f) bp->contactfrict = ccfriction*compare/distance;
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/* exploit force(a,b) == force(b,a) part2/2 */
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//Vec3PlusStVec(obp->force,-f,def);
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//if (obp->contactfrict == 0.0f) obp->contactfrict = ccfriction*compare/distance;
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}
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}
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}
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}
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/* naive ball self collision done */
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}
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/* naive ball self collision done */
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if(bp->goal < SOFTGOALSNAP){ /* ommit this bp when it snaps */
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float auxvect[3];
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@ -1372,13 +1342,11 @@ static void softbody_calc_forces(Object *ob, float forcetime)
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pdDoEffectors(do_effector, bp->pos, force, speed, (float)G.scene->r.cfra, 0.0f, PE_WIND_AS_SPEED);
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/* note: now we have wind as motion of media, so we can do anisotropic stuff here, */
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/* if we had vertex normals here(BM) */
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/* apply forcefield*/
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VecMulf(force,fieldfactor* eval_sb_fric_force_scale);
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VECADD(bp->force, bp->force, force);
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/* friction in moving media */
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/* BP friction in moving media */
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kd= sb->mediafrict* eval_sb_fric_force_scale;
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bp->force[0] -= kd * (bp->vec[0] + windfactor*speed[0]/eval_sb_fric_force_scale);
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bp->force[1] -= kd * (bp->vec[1] + windfactor*speed[1]/eval_sb_fric_force_scale);
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@ -1387,7 +1355,7 @@ static void softbody_calc_forces(Object *ob, float forcetime)
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}
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else {
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/* friction in media (not) moving*/
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/* BP friction in media (not) moving*/
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kd= sb->mediafrict* sb_fric_force_scale(ob);
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/* assume it to be proportional to actual velocity */
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bp->force[0]-= bp->vec[0]*kd;
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@ -1396,11 +1364,7 @@ static void softbody_calc_forces(Object *ob, float forcetime)
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/* friction in media done */
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}
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/*other forces*/
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/* this is the place where other forces can be added
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yes, constraints and collision stuff should go here too (read baraff papers on that!)
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*/
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/* moving collision targets */
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/* +++cached collision targets */
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if(do_deflector) {
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float defforce[3] = {0.0f,0.0f,0.0f}, collisionpos[3],facenormal[3], cf = 1.0f;
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kd = 1.0f;
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@ -1412,27 +1376,19 @@ static void softbody_calc_forces(Object *ob, float forcetime)
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else{
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bp->contactfrict = 0.0f;
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}
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}
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else
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{
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bp->contactfrict = 0.0f;
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}
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/* ---cached collision targets */
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/*other forces done*/
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/* nice things could be done with anisotropic friction
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like wind/air resistance in normal direction
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--> having a piece of cloth sailing down
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but this needs to have a *valid* vertex normal
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*valid* means to be calulated on time axis
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hrms .. may be a rough one could be used as well .. let's see
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*/
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/* +++springs */
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if(ob->softflag & OB_SB_EDGES) {
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if (sb->bspring){ /* spring list exists at all ? */
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for(b=bp->nofsprings;b>0;b--){
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bs = sb->bspring + bp->springs[b-1];
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if (do_springcollision){
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if (do_springcollision || do_aero){
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VecAddf(bp->force,bp->force,bs->ext_force);
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if (bs->flag & BSF_INTERSECT)
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bp->contactfrict = 0.9f; /* another ad hoc magic */
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@ -1485,12 +1441,12 @@ static void softbody_calc_forces(Object *ob, float forcetime)
|
||||
}/* loop springs */
|
||||
}/* existing spring list */
|
||||
}/*any edges*/
|
||||
/* ---springs */
|
||||
}/*omit on snap */
|
||||
}/*loop all bp's*/
|
||||
/* cleanup */
|
||||
if(do_effector)
|
||||
pdEndEffectors(do_effector);
|
||||
|
||||
/* cleanup */
|
||||
if(do_effector) pdEndEffectors(do_effector);
|
||||
}
|
||||
|
||||
|
||||
@ -1563,7 +1519,8 @@ static void softbody_apply_forces(Object *ob, float forcetime, int mode, float *
|
||||
maxerr = MAX2(maxerr,ABS(dx[0] - bp->prevdx[0]));
|
||||
maxerr = MAX2(maxerr,ABS(dx[1] - bp->prevdx[1]));
|
||||
maxerr = MAX2(maxerr,ABS(dx[2] - bp->prevdx[2]));
|
||||
/* kind of hack .. while inside collision target .. make movement more *viscous* */
|
||||
/* weak point: not knowing anything about targets dynamics we assume it to be resting */
|
||||
/* while inside collision target .. make movement more *viscous* */
|
||||
if (bp->contactfrict > 0.0f){
|
||||
bp->vec[0] *= (1.0f - bp->contactfrict);
|
||||
bp->vec[1] *= (1.0f - bp->contactfrict);
|
||||
|
||||
@ -2329,11 +2329,10 @@ static void object_softbodies(Object *ob)
|
||||
uiDefButS(block, ROW, B_DIFF, "Min",130,150,60,20, &sb->sbc_mode, 4.0,(float)2, 0, 0, "Minimal Spring lenght * Ball Size");
|
||||
uiDefButS(block, ROW, B_DIFF, "Max",190,150,60,20, &sb->sbc_mode, 4.0,(float)3, 0, 0, "Maximal Spring lenght * Ball Size");
|
||||
uiDefButS(block, ROW, B_DIFF, "AvMiMa",250,150,60,20, &sb->sbc_mode, 4.0,(float)4, 0, 0, "(Min+Max)/2 * Ball Size");
|
||||
uiDefButF(block, NUM, B_DIFF, "B Stiff:", 10,130,150,20, &sb->ballstiff, 0.001, 100.0, 10, 0, "");
|
||||
uiDefButF(block, NUM, B_DIFF, "B Damp:", 160,130,150,20, &sb->balldamp, 0.001, 1.0, 10, 0, "");
|
||||
uiDefButS(block, NUM, B_DIFF, "Aero:", 160,110,150,20, &sb->aeroedge, 0.00, 30000.0, 10, 0, "");
|
||||
uiDefButF(block, NUM, B_DIFF, "B Stiff:", 10,130,150,20, &sb->ballstiff, 0.001, 100.0, 10, 0, "Ball inflating presure");
|
||||
uiDefButF(block, NUM, B_DIFF, "B Damp:", 160,130,150,20, &sb->balldamp, 0.001, 1.0, 10, 0, "Blending to inelastic collision");
|
||||
uiBlockEndAlign(block);
|
||||
|
||||
uiDefButS(block, NUM, B_DIFF, "Aero:", 10,100,150,20, &sb->aeroedge, 0.00, 30000.0, 10, 0, "Make edges 'sail'");
|
||||
}
|
||||
/* OTHER OBJECTS COLLISION STUFF */
|
||||
if (ob->type==OB_MESH){
|
||||
|
||||
Loading…
Reference in New Issue
Block a user