Commit: fd7bcb209aa7e888a32f980a01d17f79c59b0c51
Author: over0219
Date: Thu Jun 25 20:44:31 2020 -0500
Branches: soc-2020-soft-body
https://developer.blender.org/rBfd7bcb209aa7e888a32f980a01d17f79c59b0c51
ope forgot some files
===================================================================
A extern/softbody/src/admmpd_bvh_traverse.cpp
A extern/softbody/src/admmpd_bvh_traverse.h
M extern/softbody/src/admmpd_collision.cpp
M extern/softbody/src/admmpd_embeddedmesh.cpp
M extern/softbody/src/admmpd_embeddedmesh.h
M extern/softbody/src/admmpd_solver.cpp
M extern/softbody/src/admmpd_types.h
===================================================================
diff --git a/extern/softbody/src/admmpd_bvh_traverse.cpp
b/extern/softbody/src/admmpd_bvh_traverse.cpp
new file mode 100644
index 00000000000..0695aeef2b5
--- /dev/null
+++ b/extern/softbody/src/admmpd_bvh_traverse.cpp
@@ -0,0 +1,300 @@
+// Copyright Matt Overby 2020.
+// Distributed under the MIT License.
+
+#ifndef ADMMPD_BVH_H_
+#define ADMMPD_BVH_H_ 1
+
+#include "admmpd_bvh_traverse.h"
+#include "admmpd_math.h"
+#include "BLI_assert.h"
+#include "BLI_math_geom.h"
+
+namespace admmpd {
+using namespace Eigen;
+
+template <typename T>
+void PointInTetMeshTraverse<T>::traverse(
+ const AABB &left_aabb, bool &go_left,
+ const AABB &right_aabb, bool &go_right,
+ bool &go_left_first )
+{
+ if (left_aabb.contains(point))
+ go_left = true;
+ if (right_aabb.contains(point))
+ go_right = true;
+ (void)(go_left_first); // doesn't matter for point-in-tet
+}
+
+template <typename T>
+bool PointInTetMeshTraverse<T>::stop_traversing(
+ const AABB &aabb, int prim )
+{
+ BLI_assert(prim_verts->cols()==3);
+ BLI_assert(prim_inds->cols()==4);
+
+ if (!aabb.contains(point))
+ return false;
+
+ RowVector4i t = prim_inds->row(prim);
+ VecType v[4] = {
+ prim_verts->row(t[0]),
+ prim_verts->row(t[1]),
+ prim_verts->row(t[2]),
+ prim_verts->row(t[3])
+ };
+
+ bool hit = point_in_tet(
+ point.template cast<double>(),
+ v[0].template cast<double>(),
+ v[1].template cast<double>(),
+ v[2].template cast<double>(),
+ v[3].template cast<double>());
+
+ if (hit)
+ output.prim = prim;
+
+ return hit; // stop traversing if hit
+}
+
+template <typename T>
+PointInTriangleMeshTraverse<T>::PointInTriangleMeshTraverse(
+ const VecType &point_,
+ const MatrixXType *prim_verts_,
+ const Eigen::MatrixXi *prim_inds_) :
+ point(point_),
+ dir(0,0,1),
+ prim_verts(prim_verts_),
+ prim_inds(prim_inds_)
+{
+ BLI_assert(prim_verts->rows()>=0);
+ BLI_assert(prim_inds->rows()>=0);
+ BLI_assert(prim_inds->cols()==3);
+ dir.normalize(); // TODO random unit vector
+ for (int i=0; i<3; ++i)
+ {
+ o[i] = (float)point[i];
+ d[i] = (float)dir[i];
+ }
+}
+
+template <typename T>
+void PointInTriangleMeshTraverse<T>::traverse(
+ const AABB &left_aabb, bool &go_left,
+ const AABB &right_aabb, bool &go_right,
+ bool &go_left_first )
+{
+ float tmin = 0;
+ float tmax = std::numeric_limits<float>::max();
+ float l_bb_min[3] = { (float)left_aabb.min()[0],
(float)left_aabb.min()[1], (float)left_aabb.min()[2] };
+ float l_bb_max[3] = { (float)left_aabb.max()[0],
(float)left_aabb.max()[1], (float)left_aabb.max()[2] };
+ go_left = isect_ray_aabb_v3_simple(o,d,l_bb_min,l_bb_max,&tmin,&tmax);
+ tmin = 0;
+ tmax = std::numeric_limits<float>::max();
+ float r_bb_min[3] = { (float)right_aabb.min()[0],
(float)right_aabb.min()[1], (float)right_aabb.min()[2] };
+ float r_bb_max[3] = { (float)right_aabb.max()[0],
(float)right_aabb.max()[1], (float)right_aabb.max()[2] };
+ go_right = isect_ray_aabb_v3_simple(o,d,r_bb_min,r_bb_max,&tmin,&tmax);
+} // end point in mesh traverse
+
+template <typename T>
+bool PointInTriangleMeshTraverse<T>::stop_traversing(
+ const AABB &aabb, int prim )
+{
+ // Check if the tet box doesn't intersect the triangle box
+ {
+ float tmin = 0;
+ float tmax = std::numeric_limits<float>::max();
+ float bb_min[3] = { (float)aabb.min()[0], (float)aabb.min()[1],
(float)aabb.min()[2] };
+ float bb_max[3] = { (float)aabb.max()[0], (float)aabb.max()[1],
(float)aabb.max()[2] };
+ if (!isect_ray_aabb_v3_simple(o,d,bb_min,bb_max,&tmin,&tmax))
+ return false;
+ }
+
+ // Get the vertices of the face in float arrays
+ // to interface with Blender kernels.
+ BLI_assert(prim >= 0 && prim < prim_inds->rows());
+ RowVector3i q_f = prim_inds->row(prim);
+ BLI_assert(q_f[0] < prim_verts->rows());
+ BLI_assert(q_f[1] < prim_verts->rows());
+ BLI_assert(q_f[2] < prim_verts->rows());
+ float q0[3], q1[3], q2[3];
+ for (int i=0; i<3; ++i)
+ {
+ q0[i] = (float)prim_verts->operator()(q_f[0],i);
+ q1[i] = (float)prim_verts->operator()(q_f[1],i);
+ q2[i] = (float)prim_verts->operator()(q_f[2],i);
+ }
+
+ // If we didn't have a triangle-triangle intersection
+ // then record if it was a ray-hit.
+ float lambda = 0;
+ float uv[2] = {0,0};
+ bool hit = isect_ray_tri_watertight_v3_simple(
+ o, d, q0, q1, q2, &lambda, uv);
+
+ if (hit)
+ output.hits.emplace_back(std::make_pair(prim,lambda));
+
+ return false; // multi-hit, so keep traversing
+
+} // end point in mesh stop traversing
+
+template <typename T>
+void NearestTriangleTraverse<T>::traverse(
+ const AABB &left_aabb, bool &go_left,
+ const AABB &right_aabb, bool &go_right,
+ bool &go_left_first)
+{
+ T l_d2 = left_aabb.exteriorDistance(point);
+ go_left = l_d2 < output.dist;
+ T r_d2 = right_aabb.exteriorDistance(point);
+ go_right = r_d2 < output.dist;
+ go_left_first = go_left < go_right;
+}
+
+template <typename T>
+bool NearestTriangleTraverse<T>::stop_traversing(const AABB &aabb, int prim)
+{
+ BLI_assert(prim >= 0);
+ BLI_assert(prim < prim_inds->rows());
+ BLI_assert(prim_inds->cols()==3);
+
+ T b_dist = aabb.exteriorDistance(point);
+ if (b_dist > output.dist)
+ return false;
+
+ float p[3] = { (float)point[0], (float)point[1], (float)point[2] };
+ float r[3] = { p[0], p[1], p[2] };
+ RowVector3i tri = prim_inds->row(prim);
+ float t1[3], t2[3], t3[3];
+ for (int i=0; i<3; ++i)
+ {
+ t1[i] = (float)prim_verts->operator()(tri[0],i);
+ t2[i] = (float)prim_verts->operator()(tri[1],i);
+ t3[i] = (float)prim_verts->operator()(tri[2],i);
+ }
+
+ // I was hoping there would be kernels that are a bit faster
+ // to get point-triangle distance, but I guess this does what I need.
+ closest_on_tri_to_point_v3(r, p, t1, t2, t3);
+ VecType pt_on_tri((T)r[0], (T)r[1], (T)r[2]);
+ double d2 = (point-pt_on_tri).norm();
+ if (d2 < output.dist)
+ {
+ output.prim = prim;
+ output.dist = d2;
+ output.pt_on_tri = pt_on_tri;
+ }
+
+ return false;
+}
+
+template <typename T>
+TetIntersectsMeshTraverse<T>::TetIntersectsMeshTraverse(
+ const VecType points_[4],
+ const MatrixXType *prim_verts_,
+ const Eigen::MatrixXi *prim_inds_) :
+ prim_verts(prim_verts_),
+ prim_inds(prim_inds_)
+{
+ for (int i=0; i<4; ++i)
+ points[i] = points_[i];
+
+ BLI_assert(prim_verts->cols()==3);
+ BLI_assert(prim_inds->cols()==3);
+
+ for(int i=0; i<3; ++i)
+ {
+ p0[i] = (float)points[0][i];
+ p1[i] = (float)points[1][i];
+ p2[i] = (float)points[2][i];
+ p3[i] = (float)points[3][i];
+ }
+
+ tet_faces.resize(4,std::vector<float*>());
+ tet_faces[0] = {p0,p1,p2};
+ tet_faces[1] = {p0,p2,p3};
+ tet_faces[2] = {p0,p3,p1};
+ tet_faces[3] = {p1,p2,p3};
+
+ tet_aabb.setEmpty();
+ for (int i=0; i<4; ++i)
+ tet_aabb.extend(points[i]);
+
+} // end point in mesh constructor
+
+template <typename T>
+void TetIntersectsMeshTraverse<T>::traverse(
+ const AABB &left_aabb, bool &go_left,
+ const AABB &right_aabb, bool &go_right,
+ bool &go_left_first )
+{
+ go_left = false;
+ go_right = false;
+
+ if (tet_aabb.intersects(left_aabb))
+ go_left = true;
+ if (tet_aabb.intersects(right_aabb))
+ go_right = true;
+
+ go_left_first = true;
+ if (go_right && !go_left)
+ go_left_first = false;
+
+} // end point in mesh traverse
+
+template <typename T>
+bool TetIntersectsMeshTraverse<T>::stop_traversing(
+ const AABB &aabb, int prim )
+{
+ bool tet_hits_aabb = tet_aabb.intersects(aabb);
+ if(!tet_hits_aabb)
+ {
+ return false;
+ }
+
+ // Get the vertices of the face in float arrays
+ // to interface with Blender kernels.
+ BLI_assert(prim >= 0 && prim < prim_inds->rows());
+ RowVector3i q_f = prim_inds->row(prim);
+ float q0[3], q1[3], q2[3];
+ for (int i=0; i<3; ++i)
+ {
+ q0[i] = (float)prim_verts->operator()(q_f[0],i);
+ q1[i] = (float)prim_verts->operator()(q_f[1],i);
+ q2[i] = (float)prim_verts->operator()(q_f[2],i);
+ }
+
+ // If the tet-aabb intersects the triangle-aabb, then test
+ // the four faces of the tet against the triangle.
+ for (int i=0; i<4; ++i)
+ {
+ float r_i1[3] = {0,0,0};
+ float r_i2[3] = {0,0,0};
+ const std::vector<float*> &f = tet_faces[i];
+ bool hit = isect_tri_tri_epsilon_v3(
+ f[0], f[1], f[2], q0, q1, q2, r_i1, r_i2, 1e-8);
+ if (hit)
+ {
+ output.hit_face = prim;
+ return true;
+ }
+ }
+
+ return false; // multi-hit, so keep traversing
+
+} // end point in mesh stop traversing
+
+// Compile template types
+template class admmpd::PointInTetMeshTraverse<double>;
+template class admmpd::PointInTetMeshTraverse<float>;
+template class admmpd::PointInTriangleMeshTraverse<double>;
+template class admmpd::PointInTriangleMeshTraverse<float>;
+template class admmpd::NearestTriangleTraverse<double>;
+template class admmpd::NearestTriangleTraverse<float>;
+template class admmpd::TetIntersectsMeshTraverse<double>;
+template class admmpd::TetIntersectsMeshTraverse<float>;
+
+} // namespace admmpd
+
+#endif // ADMMPD_BVH_H_
+
diff --git a/extern/softbody/src/admmpd_bvh_traverse.h
b/extern/softbody/src/admmpd_bvh_traverse.h
new file mode 100644
index 00000000000..774eb6a6b10
--- /dev/null
+++ b/extern/softbody/src/admmpd_bvh_traverse.h
@@ -0,0 +1,191 @@
+// Copyright Matt Overby 2020.
+// Distributed under the MIT License.
+
+#ifndef ADMMPD_BVH_TRAVERSE_H_
+#define ADMMPD_BVH_TRAVERSE_H_ 1
+
+#include <Eigen/Geometry>
+#include <vector>
+
+namespace admmpd {
+
+// Traverse class for traversing the structures.
+template <typename T, int DIM>
+class Traverser
+{
+protected:
+ typedef Eigen::AlignedBox<T,DIM> AABB;
+public:
+ // Set the boolean flags if we should go left, right, or both.
+ // Default for all booleans is true if left unchanged.
+ // Note that if stop_traversing ever returns true, it may not
+ // go left/right, even if you set go_left/go_right.
+ virtual void traverse(
+ const AABB &left_aabb, bool &go_left,
+ const AABB &right_aabb, bool &go_right,
+ bool &go_left_first) = 0;
+
+ // Return true to stop traversing.
+ // I.e., returning true is equiv to "hit anything stop checking",
+ // finding a closest object should return false (continue traversing).
+ virtual bool stop_traversing(const AABB &aabb, int prim) = 0;
+};
+
+// Point in tet mesh traversal
+template <typename T>
+class PointInTetMeshTraverse : public Traverser<T,3>
+{
+protected:
+ using typename Traverser<T,3>::AABB;
+ typedef Eigen::Matrix<T,3,1> VecType;
+ typ
@@ Diff output truncated at 10240 characters. @@
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