Revision: 15020
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=15020
Author: genscher
Date: 2008-05-28 00:46:57 +0200 (Wed, 28 May 2008)
Log Message:
-----------
-= Collisions -=
1. Test for fast moving edges
Modified Paths:
--------------
branches/cloth/blender/source/blender/blenkernel/intern/collision.c
Modified: branches/cloth/blender/source/blender/blenkernel/intern/collision.c
===================================================================
--- branches/cloth/blender/source/blender/blenkernel/intern/collision.c
2008-05-27 22:42:38 UTC (rev 15019)
+++ branches/cloth/blender/source/blender/blenkernel/intern/collision.c
2008-05-27 22:46:57 UTC (rev 15020)
@@ -498,6 +498,7 @@
VECADDMUL ( to, v3, w3 );
}
+
int cloth_collision_response_static ( ClothModifierData *clmd,
CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
{
int result = 0;
@@ -1189,8 +1190,16 @@
edgecollpair.p22 = collpair->bp3;
}
+ if((edgecollpair.p11 == 3) && (edgecollpair.p12 == 6))
+ printf("Ahier!\n");
+ if((edgecollpair.p11 == 6) && (edgecollpair.p12 == 3))
+ printf("Ahier!\n");
+
if ( !cloth_are_edges_adjacent ( clmd, collmd, &edgecollpair ) )
{
+ // printf("Collision between:\n");
+ // printf("p11: %d, p12: %d, p21: %d, p22: %d\n",
edgecollpair.p11, edgecollpair.p12, edgecollpair.p21, edgecollpair.p22);
+
// always put coll points in p21/p22
VECSUB ( x1, verts1[edgecollpair.p12].txold,
verts1[edgecollpair.p11].txold );
VECSUB ( v1, verts1[edgecollpair.p12].tv,
verts1[edgecollpair.p11].tv );
@@ -1206,11 +1215,14 @@
for ( k = 0; k < numsolutions; k++ )
{
// printf("sol %d: %lf\n", k, solution[k]);
- if ( ( solution[k] >= DBL_EPSILON ) && (
solution[k] <= 1.0 ) )
+ if ( ( solution[k] >= ALMOST_ZERO ) && (
solution[k] <= 1.0 ) && ( solution[k] > ALMOST_ZERO))
{
float a,b;
float out_normal[3];
float distance;
+ float impulse = 0;
+ float I_mag;
+ float m1, m2;
// move verts
VECADDS(triA[0],
verts1[edgecollpair.p11].txold, verts1[edgecollpair.p11].tv, mintime);
@@ -1224,28 +1236,57 @@
if ((distance <=
clmd->coll_parms->epsilon + BLI_bvhtree_getepsilon ( collmd->bvhtree ) +
ALMOST_ZERO) && (INPR(out_normal, out_normal) > 0))
{
- // printf("found edge, dist:
%f\n", distance);
+ float vrel_1_to_2[3], temp[3],
temp2[3], out_normalVelocity;
+ float desiredVn;
+ VECCOPY(vrel_1_to_2,
verts1[edgecollpair.p11].tv);
+ VecMulf(vrel_1_to_2, 1.0 - a);
+ VECCOPY(temp,
verts1[edgecollpair.p12].tv);
+ VecMulf(temp, a);
+
+ VECADD(vrel_1_to_2,
vrel_1_to_2, temp);
+
+ VECCOPY(temp,
verts1[edgecollpair.p21].tv);
+ VecMulf(temp, 1.0 - b);
+ VECCOPY(temp2,
verts1[edgecollpair.p22].tv);
+ VecMulf(temp2, b);
+ VECADD(temp, temp, temp2);
+
+ VECSUB(vrel_1_to_2,
vrel_1_to_2, temp);
+
+ out_normalVelocity =
INPR(vrel_1_to_2, out_normal);
+
+ if(out_normalVelocity < 0.0)
+ {
+ out_normalVelocity*=
-1.0;
+ VecMulf(out_normal,
-1.0);
+ }
+
/* Inelastic repulsion impulse.
*/
-/*
+
// Calculate which normal
velocity we need.
- float desiredVn =
(normalVelocity * (float)solution[k] - (.1 * (clmd->coll_parms->epsilon +
BLI_bvhtree_getepsilon ( collmd->bvhtree )) - sqrt(squaredDistance)) -
ALMOST_ZERO);
+ desiredVn = (out_normalVelocity
* (float)solution[k] - (.1 * (clmd->coll_parms->epsilon +
BLI_bvhtree_getepsilon ( collmd->bvhtree )) - sqrt(distance)) - ALMOST_ZERO);
// Now calculate what impulse
we need to reach that velocity.
- float m1 =
interpolateOnEdge(cloth1.getVertexWeight(v11idx),
cloth1.getVertexWeight(v12idx), a1);
- float m2 =
interpolateOnEdge(cloth2.getVertexWeight(v21idx),
cloth2.getVertexWeight(v22idx), a2);
- float I_mag = (normalVelocity -
desiredVn) / (1/m1 + 1/m2);
+ I_mag = (out_normalVelocity -
desiredVn) / 2.0; // / (1/m1 + 1/m2);
// Finally apply that impulse.
-
applyInterpolatedImpulsesEdge(out_impulses1[v11idx], out_impulses1[v12idx],
out_impulses2[v21idx], out_impulses2[v22idx],
- a1, a2, -I_mag, normal);
- ++out_impulseCounter1[v11idx];
++out_impulseCounter1[v12idx];
- ++out_impulseCounter2[v21idx];
++out_impulseCounter2[v22idx];
+ impulse = (2.0 * -I_mag) / (a*a
+ (1.0-a)*(1.0-a) + b*b + (1.0-b)*(1.0-b));
- */ // return true;
+ VECADDMUL (
verts1[edgecollpair.p11].impulse, out_normal, (1.0-a) * impulse );
+
verts1[edgecollpair.p11].impulse_count++;
+
+ VECADDMUL (
verts1[edgecollpair.p12].impulse, out_normal, a * impulse );
+
verts1[edgecollpair.p12].impulse_count++;
+
+ // return true;
result = 1;
+ break;
}
-
+ else
+ {
+ // missing from collision.hpp
+ }
mintime = MIN2(mintime,
(float)solution[k]);
break;
@@ -1253,37 +1294,6 @@
}
}
}
-/*
- if(result)
- {
- // move triangles to collision point in time
- VECADDS(triA[0], verts1[collpair->ap1].txold,
verts1[collpair->ap1].tv, mintime);
- VECADDS(triA[1], verts1[collpair->ap2].txold,
verts1[collpair->ap2].tv, mintime);
- VECADDS(triA[2], verts1[collpair->ap3].txold,
verts1[collpair->ap3].tv, mintime);
-
- VECADDS(triB[0], collmd->current_x[collpair->bp1].co,
collmd->current_v[collpair->bp1].co, mintime);
- VECADDS(triB[1], collmd->current_x[collpair->bp2].co,
collmd->current_v[collpair->bp2].co, mintime);
- VECADDS(triB[2], collmd->current_x[collpair->bp3].co,
collmd->current_v[collpair->bp3].co, mintime);
-
- // check distance there
- distance = plNearestPoints (triA[0], triA[1], triA[2], triB[0],
triB[1], triB[2], collpair->pa,collpair->pb,collpair->vector );
-
- if(distance <= (clmd->coll_parms->epsilon +
BLI_bvhtree_getepsilon ( collmd->bvhtree ) + ALMOST_ZERO))
- {
- CollPair *next = collpair;
- next++;
-
- collpair->distance = clmd->coll_parms->epsilon;
- collpair->time = mintime;
-
- VECCOPY ( collpair->normal, collpair->vector );
- Normalize ( collpair->normal );
-
- // cloth_collision_response_moving ( clmd, collmd,
collpair, next );
-
- }
- }
-*/
return result;
}
@@ -1419,7 +1429,7 @@
}
}
}
-/*
+
result += cloth_collision_moving ( clmd, collmd,
collisions, collisions_index );
// apply impulses in parallel
@@ -1438,7 +1448,7 @@
}
}
}
-*/
+
}
}
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