Commit: 38855afd50a6d1a7b7069f5732d08e03e0f585bf
Author: over0219
Date: Tue Jun 16 15:51:38 2020 -0500
Branches: soc-2020-soft-body
https://developer.blender.org/rB38855afd50a6d1a7b7069f5732d08e03e0f585bf
lattice gen better but some bug on monkey, sometimes. probably a ptr error
somewhere
===================================================================
M extern/softbody/CMakeLists.txt
M extern/softbody/src/admmpd_lattice.cpp
M extern/softbody/src/admmpd_lattice.h
M extern/softbody/src/admmpd_solver.cpp
M extern/softbody/src/admmpd_solver.h
M intern/softbody/admmpd_api.cpp
===================================================================
diff --git a/extern/softbody/CMakeLists.txt b/extern/softbody/CMakeLists.txt
index 63961cbb334..09fdc947dde 100644
--- a/extern/softbody/CMakeLists.txt
+++ b/extern/softbody/CMakeLists.txt
@@ -24,7 +24,8 @@ set(INC
set(INC_SYS
${EIGEN3_INCLUDE_DIRS}
- ../../source/blender/blenlib # BLI_task for threading
+ ../../source/blender/blenlib
+ ../../source/blender/makesdna # BLI_math_geom requires DNA
)
set(SRC
diff --git a/extern/softbody/src/admmpd_lattice.cpp
b/extern/softbody/src/admmpd_lattice.cpp
index 2440c6f4042..84b65260ded 100644
--- a/extern/softbody/src/admmpd_lattice.cpp
+++ b/extern/softbody/src/admmpd_lattice.cpp
@@ -7,14 +7,55 @@
#include "admmpd_bvh_traverse.h"
#include <iostream>
#include <unordered_map>
+#include <set>
#include "BLI_task.h" // threading
namespace admmpd {
using namespace Eigen;
+typedef struct KeepTetThreadData {
+ AABBTree<double,3> *tree; // of embedded faces
+ const MatrixXd *pts; // of embedded verts
+ const MatrixXi *faces; // embedded faces
+ const std::vector<Vector3d> *tet_x;
+ const std::vector<Vector4i> *tets;
+ std::vector<int> *keep_tet; // 0 or 1
+} KeepTetThreadData;
+
+static void parallel_keep_tet(
+ void *__restrict userdata,
+ const int i,
+ const TaskParallelTLS *__restrict UNUSED(tls))
+{
+ KeepTetThreadData *td = (KeepTetThreadData*)userdata;
+ RowVector4i tet = td->tets->at(i);
+ Vector3d tet_pts[4] = {
+ td->tet_x->at(tet[0]),
+ td->tet_x->at(tet[1]),
+ td->tet_x->at(tet[2]),
+ td->tet_x->at(tet[3])
+ };
+
+ // Returns true if the tet intersects the
+ // surface mesh. Even if it doesn't, we want to keep
+ // the tet if it's totally enclosed in the mesh.
+ TetIntersectsMeshTraverse<double> traverser(
+ tet_pts, td->pts, td->faces);
+ bool hit = td->tree->traverse(traverser);
+ if (!hit)
+ {
+ if (traverser.output.ray_hit_count % 2 == 1)
+ hit = true;
+ }
+
+ if (hit) { td->keep_tet->at(i) = 1; }
+ else { td->keep_tet->at(i) = 0; }
+
+} // end parallel test if keep tet
bool Lattice::generate(
const Eigen::MatrixXd &V,
+ const Eigen::MatrixXi &F,
Eigen::MatrixXd *X, // lattice vertices, n x 3
Eigen::MatrixXi *T) // lattice elements, m x 4
{
@@ -100,24 +141,90 @@ bool Lattice::generate(
} // end create boxes and vertices
- // Copy data into matrices
+ // We only want to keep tets that are either
+ // a) intersecting the surface mesh
+ // b) totally inside the surface mesh
+ std::set<int> refd_verts;
+ {
+ int nf = F.rows();
+ std::vector<AlignedBox<double,3> > face_aabb(nf);
+ for (int i=0; i<nf; ++i)
+ {
+ RowVector3i f = F.row(i);
+ face_aabb[i].setEmpty();
+ for (int j=0; j<3; ++j)
+ face_aabb[i].extend(V.row(f[j]).transpose());
+ }
+
+ int nt0 = tets.size();
+ std::vector<int> keep_tet(nt0,1);
+
+ AABBTree<double,3> mesh_tree;
+ mesh_tree.init(face_aabb);
+ KeepTetThreadData thread_data = {
+ .tree = &mesh_tree,
+ .pts = &V,
+ .faces = &F,
+ .tet_x = &verts,
+ .tets = &tets,
+ .keep_tet = &keep_tet
+ };
+ TaskParallelSettings settings;
+ BLI_parallel_range_settings_defaults(&settings);
+ BLI_task_parallel_range(0, nt0, &thread_data,
parallel_keep_tet, &settings);
+
+ // Loop over tets and remove as needed.
+ // Mark referenced vertices to compute a mapping.
+ int tet_idx = 0;
+ for (std::vector<Vector4i>::iterator it = tets.begin(); it !=
tets.end(); ++tet_idx)
+ {
+ bool keep = keep_tet[tet_idx];
+ if (keep)
+ {
+ refd_verts.emplace((*it)[0]);
+ refd_verts.emplace((*it)[1]);
+ refd_verts.emplace((*it)[2]);
+ refd_verts.emplace((*it)[3]);
+ ++it;
+ }
+ else { it = tets.erase(it); }
+ }
+
+ } // end remove unnecessary tets
+
+ // Copy data into matrices and remove unreferenced
{
- nv = verts.size();
- X->resize(nv,3);
- for(int i=0; i<nv; ++i){
- for(int j=0; j<3; ++j){
- X->operator()(i,j) = verts[i][j];
+ // Computing a mapping of vertices from old to new
+ std::unordered_map<int,int> vtx_old_to_new;
+ int ntv0 = verts.size(); // original num verts
+ int ntv1 = refd_verts.size(); // reduced num verts
+ X->resize(ntv1,3);
+ int vtx_count = 0;
+ for (int i=0; i<ntv0; ++i)
+ {
+ if (refd_verts.count(i)>0)
+ {
+ for(int j=0; j<3; ++j){
+ X->operator()(vtx_count,j) =
verts[i][j];
+ }
+ vtx_old_to_new[i] = vtx_count;
+ vtx_count++;
}
}
+
+ // Copy tets to matrix data and update vertices
int nt = tets.size();
T->resize(nt,4);
for(int i=0; i<nt; ++i){
for(int j=0; j<4; ++j){
- T->operator()(i,j) = tets[i][j];
+ int old_idx = tets[i][j];
+ BLI_assert(vtx_old_to_new.count(old_idx)>0);
+ T->operator()(i,j) = vtx_old_to_new[old_idx];
}
}
}
+ // Now compute the baryweighting for embedded vertices
return compute_vtx_tet_mapping(
&V, &vtx_to_tet, &barys,
X, T);
diff --git a/extern/softbody/src/admmpd_lattice.h
b/extern/softbody/src/admmpd_lattice.h
index 0190e8eaf40..41454a1650c 100644
--- a/extern/softbody/src/admmpd_lattice.h
+++ b/extern/softbody/src/admmpd_lattice.h
@@ -16,7 +16,8 @@ public:
// Returns true on success
bool generate(
- const Eigen::MatrixXd &V,
+ const Eigen::MatrixXd &V, // embedded verts
+ const Eigen::MatrixXi &F, // embedded faces
Eigen::MatrixXd *x, // lattice vertices, n x 3
Eigen::MatrixXi *tets); // lattice elements, m x 4
diff --git a/extern/softbody/src/admmpd_solver.cpp
b/extern/softbody/src/admmpd_solver.cpp
index 48f89a5c7ed..027ba921d07 100644
--- a/extern/softbody/src/admmpd_solver.cpp
+++ b/extern/softbody/src/admmpd_solver.cpp
@@ -13,6 +13,7 @@
#include <iostream>
#include "BLI_task.h" // threading
+#include "BLI_assert.h" // assert
namespace admmpd {
using namespace Eigen;
@@ -29,6 +30,7 @@ bool Solver::init(
const Options *options,
Data *data)
{
+ BLI_assert(data != NULL);
if (!data || !options)
throw std::runtime_error("init: data/options null");
diff --git a/extern/softbody/src/admmpd_solver.h
b/extern/softbody/src/admmpd_solver.h
index 6a066f5c05f..b10105eba84 100644
--- a/extern/softbody/src/admmpd_solver.h
+++ b/extern/softbody/src/admmpd_solver.h
@@ -34,6 +34,7 @@ struct Options {
{}
};
+// TODO template type for float/double
struct Data {
// Set from input
Eigen::MatrixXi tets; // elements t x 4
diff --git a/intern/softbody/admmpd_api.cpp b/intern/softbody/admmpd_api.cpp
index 41bde09ee5f..1895b973fef 100644
--- a/intern/softbody/admmpd_api.cpp
+++ b/intern/softbody/admmpd_api.cpp
@@ -112,7 +112,6 @@ static int admmpd_init_with_lattice(
ADMMPDInterfaceData *iface, float *in_verts, unsigned int *in_faces,
Eigen::MatrixXd *V, Eigen::MatrixXi *T)
{
- (void)(in_faces);
int nv = iface->mesh_totverts;
Eigen::MatrixXd in_V(nv,3);
for (int i=0; i<nv; ++i)
@@ -123,8 +122,18 @@ static int admmpd_init_with_lattice(
}
}
+ int nf = iface->mesh_totfaces;
+ Eigen::MatrixXi in_F(nf,3);
+ for (int i=0; i<nf; ++i)
+ {
+ for (int j=0; j<3; ++j)
+ {
+ in_F(i,j) = in_faces[i*3+j];
+ }
+ }
+
iface->totverts = 0;
- bool success = iface->data->lattice->generate(in_V,V,T);
+ bool success = iface->data->lattice->generate(in_V,in_F,V,T);
if (success)
{
iface->totverts = V->rows();
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