Revision: 15049
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=15049
Author: genscher
Date: 2008-05-29 16:23:08 +0200 (Thu, 29 May 2008)
Log Message:
-----------
-= Collisions =-
Getting some weird results on moving fast edges. This is a backup commit, will
try another thing
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
2008-05-29 13:07:45 UTC (rev 15048)
+++ branches/cloth/blender/source/blender/blenkernel/intern/collision.c
2008-05-29 14:23:08 UTC (rev 15049)
@@ -388,8 +388,8 @@
printf("v3 x: %f, y: %f, z: %f\n", f[0], f[1], f[2]);
printf("t^3: %lf, t^2: %lf, t^1: %lf, t^0: %lf\n", j, i, h, g);
- */
-
+
+*/
// Solve cubic equation to determine times t1, t2, t3, when the
collision will occur.
if ( ABS ( j ) > DBL_EPSILON )
{
@@ -453,6 +453,7 @@
return num_sols;
}
+
// w3 is not perfect
void collision_compute_barycentric ( float pv[3], float p1[3], float p2[3],
float p3[3], float *w1, float *w2, float *w3 )
{
@@ -713,50 +714,41 @@
}
else
{
- // check for collision in the future
- collpair->flag |= COLLISION_IN_FUTURE;
- }
- collpair++;
- }
- return collpair;
-}
+ float w1, w2, w3, u1, u2, u3;
+ float v1[3], v2[3], relativeVelocity[3];
-int cloth_are_edges_adjacent ( ClothModifierData *clmd, CollisionModifierData
*collmd, EdgeCollPair *edgecollpair )
-{
- Cloth *cloth1 = NULL;
- ClothVertex *verts1 = NULL;
- float temp[3];
- MVert *verts2 = collmd->current_x; // old x
+ // calc relative velocity
+
+ // compute barycentric coordinates for both collision
points
+ collision_compute_barycentric ( collpair->pa,
+ verts1[collpair->ap1].txold,
+ verts1[collpair->ap2].txold,
+ verts1[collpair->ap3].txold,
+ &w1, &w2, &w3 );
- cloth1 = clmd->clothObject;
- verts1 = cloth1->verts;
+ // was: txold
+ collision_compute_barycentric ( collpair->pb,
+ collmd->current_x[collpair->bp1].co,
+ collmd->current_x[collpair->bp2].co,
+ collmd->current_x[collpair->bp3].co,
+ &u1, &u2, &u3 );
- VECSUB ( temp, verts1[edgecollpair->p11].txold,
verts2[edgecollpair->p21].co );
- if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
- return 1;
+ // Calculate relative "velocity".
+ collision_interpolateOnTriangle ( v1,
verts1[collpair->ap1].tv, verts1[collpair->ap2].tv, verts1[collpair->ap3].tv,
w1, w2, w3 );
- VECSUB ( temp, verts1[edgecollpair->p11].txold,
verts2[edgecollpair->p22].co );
- if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
- return 1;
+ collision_interpolateOnTriangle ( v2,
collmd->current_v[collpair->bp1].co, collmd->current_v[collpair->bp2].co,
collmd->current_v[collpair->bp3].co, u1, u2, u3 );
- VECSUB ( temp, verts1[edgecollpair->p12].txold,
verts2[edgecollpair->p21].co );
- if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
- return 1;
+ VECSUB ( relativeVelocity, v2, v1 );
- VECSUB ( temp, verts1[edgecollpair->p12].txold,
verts2[edgecollpair->p22].co );
- if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
- return 1;
-
- VECSUB ( temp, verts1[edgecollpair->p11].txold,
verts1[edgecollpair->p12].txold );
- if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
- return 1;
-
- VECSUB ( temp, verts2[edgecollpair->p21].co,
verts2[edgecollpair->p22].co );
- if ( ABS ( INPR ( temp, temp ) ) < ALMOST_ZERO )
- return 1;
-
-
- return 0;
+ if(sqrt(INPR(relativeVelocity, relativeVelocity)) >=
distance)
+ {
+ // check for collision in the future
+ collpair->flag |= COLLISION_IN_FUTURE;
+ }
+ }
+ collpair++;
+ }
+ return collpair;
}
int cloth_collision_response_moving( ClothModifierData *clmd,
CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
@@ -879,13 +871,18 @@
static void calculateEENormal(float *np1, float *np2, float *np3, float
*np4,float *out_normal)
{
- float line1[33], line2[3];
+ float line1[3], line2[3];
float length;
VECSUB(line1, np2, np1);
VECSUB(line2, np3, np1);
+ // printf("l1: %f, l1: %f, l2: %f, l2: %f\n", line1[0], line1[1],
line2[0], line2[1]);
+
Crossf(out_normal, line1, line2);
+
+
+
length = Normalize(out_normal);
if (length <= FLT_EPSILON)
{ // lines are collinear
@@ -1102,10 +1099,9 @@
unsigned int i = 0, j = 0, k = 0;
int numsolutions = 0;
double x1[3], v1[3], x2[3], v2[3], x3[3], v3[3];
- double solution[3];
+ double solution[3], solution2[3];
MVert *verts2 = collmd->current_x; // old x
MVert *velocity2 = collmd->current_v; // velocity
- float mintime = FLT_MAX;
float distance;
float triA[3][3], triB[3][3];
int result = 0;
@@ -1189,17 +1185,15 @@
edgecollpair.p21 = collpair->bp1;
edgecollpair.p22 = collpair->bp3;
}
-
- if((edgecollpair.p11 == 3) && (edgecollpair.p12 == 6))
+ /*
+ if((edgecollpair.p11 == 3) && (edgecollpair.p12 == 16))
printf("Ahier!\n");
- if((edgecollpair.p11 == 6) && (edgecollpair.p12 == 3))
+ if((edgecollpair.p11 == 16) && (edgecollpair.p12 == 3))
printf("Ahier!\n");
+ */
- if ( !cloth_are_edges_adjacent ( clmd, collmd, &edgecollpair ) )
+ // 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 );
@@ -1212,6 +1206,16 @@
numsolutions = cloth_get_collision_time ( x1, v1, x2,
v2, x3, v3, solution );
+ if((edgecollpair.p11 == 3 && edgecollpair.p12==16)||
(edgecollpair.p11==16 && edgecollpair.p12==3))
+ {
+ if(edgecollpair.p21==6 || edgecollpair.p22 == 6)
+ {
+ printf("dist: %f, sol[k]: %lf, sol2[k]:
%lf\n", distance, solution[k], solution2[k]);
+ printf("a1: %f, a2: %f, b1: %f, b2:
%f\n", x1[0], x2[0], x3[0], v1[0]);
+ printf("b21: %d, b22: %d\n",
edgecollpair.p21, edgecollpair.p22);
+ }
+ }
+
for ( k = 0; k < numsolutions; k++ )
{
// printf("sol %d: %lf\n", k, solution[k]);
@@ -1225,11 +1229,11 @@
float m1, m2;
// move verts
- VECADDS(triA[0],
verts1[edgecollpair.p11].txold, verts1[edgecollpair.p11].tv, mintime);
- VECADDS(triA[1],
verts1[edgecollpair.p12].txold, verts1[edgecollpair.p12].tv, mintime);
+ VECADDS(triA[0],
verts1[edgecollpair.p11].txold, verts1[edgecollpair.p11].tv, solution[k]);
+ VECADDS(triA[1],
verts1[edgecollpair.p12].txold, verts1[edgecollpair.p12].tv, solution[k]);
- VECADDS(triB[0],
collmd->current_x[edgecollpair.p21].co, collmd->current_v[edgecollpair.p21].co,
mintime);
- VECADDS(triB[1],
collmd->current_x[edgecollpair.p22].co, collmd->current_v[edgecollpair.p22].co,
mintime);
+ VECADDS(triB[0],
collmd->current_x[edgecollpair.p21].co, collmd->current_v[edgecollpair.p21].co,
solution[k]);
+ VECADDS(triB[1],
collmd->current_x[edgecollpair.p22].co, collmd->current_v[edgecollpair.p22].co,
solution[k]);
// TODO: check for collisions
distance = edgedge_distance(triA[0],
triA[1], triB[0], triB[1], &a, &b, out_normal);
@@ -1255,13 +1259,14 @@
VECSUB(vrel_1_to_2,
vrel_1_to_2, temp);
out_normalVelocity =
INPR(vrel_1_to_2, out_normal);
-
+/*
+ // this correction results in
wrong normals sometimes?
if(out_normalVelocity < 0.0)
{
out_normalVelocity*=
-1.0;
VecMulf(out_normal,
-1.0);
}
-
+*/
/* Inelastic repulsion impulse.
*/
// Calculate which normal
velocity we need.
@@ -1287,7 +1292,7 @@
{
// missing from collision.hpp
}
- mintime = MIN2(mintime,
(float)solution[k]);
+ // mintime = MIN2(mintime,
(float)solution[k]);
break;
}
@@ -1429,7 +1434,7 @@
}
}
}
-
+/*
result += cloth_collision_moving ( clmd, collmd,
collisions, collisions_index );
// apply impulses in parallel
@@ -1448,7 +1453,7 @@
}
}
}
-
+*/
}
}
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