Commit: 6191b3d2db2d8788e6d8f12cc6e433d247377387
Author: over0219
Date: Wed Jul 15 14:58:46 2020 -0500
Branches: soc-2020-soft-body
https://developer.blender.org/rB6191b3d2db2d8788e6d8f12cc6e433d247377387
octree for lattice gen and smaller dt with CD only at init solve
===================================================================
M extern/softbody/src/admmpd_bvh.cpp
M extern/softbody/src/admmpd_bvh.h
M 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_solver.cpp
M extern/softbody/src/admmpd_solver.h
M extern/softbody/src/admmpd_types.h
===================================================================
diff --git a/extern/softbody/src/admmpd_bvh.cpp
b/extern/softbody/src/admmpd_bvh.cpp
index fffc8c33a74..6ea7a676d27 100644
--- a/extern/softbody/src/admmpd_bvh.cpp
+++ b/extern/softbody/src/admmpd_bvh.cpp
@@ -209,6 +209,133 @@ bool AABBTree<T,DIM>::traverse_children(
} // end traverse children
+template<typename T, int DIM>
+void Octree<T,DIM>::clear()
+{
+ m_root = std::make_shared<Node>();
+}
+
+template<typename T, int DIM>
+typename Octree<T,DIM>::AABB Octree<T,DIM>::bounds() const
+{
+ if (m_root)
+ return m_root->bounds();
+ return AABB();
+}
+
+template<typename T, int DIM>
+void Octree<T,DIM>::init(const MatrixXT *V, const Eigen::MatrixXi *F, int
stopdepth)
+{
+ BLI_assert(V != nullptr);
+ BLI_assert(F != nullptr);
+ BLI_assert(F->cols()==3);
+ m_root = std::make_shared<Node>();
+
+ if (DIM !=3 || F->cols()!=3)
+ {
+ return;
+ }
+
+ int nf = F->rows();
+ AABB global_box;
+ std::vector<AABB> boxes(nf);
+ std::vector<int> queue(nf);
+ for (int i=0; i<nf; ++i)
+ {
+ Eigen::RowVector3i f = F->row(i);
+ queue[i]=i;
+ boxes[i].extend(V->row(f[0]).transpose());
+ boxes[i].extend(V->row(f[1]).transpose());
+ boxes[i].extend(V->row(f[2]).transpose());
+ global_box.extend(boxes[i]);
+ }
+
+ T halfwidth = global_box.sizes().maxCoeff()*0.5;
+ m_root.reset(
+
create_children(global_box.center(),halfwidth,stopdepth,V,F,queue,boxes)
+ );
+}
+
+template<typename T, int DIM>
+typename Octree<T,DIM>::Node* Octree<T,DIM>::create_children(
+ const VecType ¢er, T halfwidth, int stopdepth,
+ const MatrixXT *V, const Eigen::MatrixXi *F,
+ const std::vector<int> &queue,
+ const std::vector<AABB> &boxes)
+{
+ BLI_assert((int)queue.size()>0);
+ BLI_assert((int)prim_boxes.size()>0);
+ BLI_assert(F != nullptr);
+ BLI_assert(V != nullptr);
+ BLI_assert(F->cols()==3);
+ BLI_assert(V->cols()==3);
+ if (stopdepth >= 0)
+ {
+ Node *node = new Node();
+ node->center = center;
+ node->halfwidth = halfwidth;
+ node->prims.clear();
+ AABB box = node->bounds();
+ // Set list of intersected prims
+ int nq = queue.size();
+ for (int i=0; i<nq; ++i)
+ {
+ int p_idx = queue[i];
+ if (box.intersects(boxes[p_idx]))
+ node->prims.emplace_back(p_idx);
+ }
+ // Create children only if prims intersect
+ int np = node->prims.size();
+ for (int i=0; i<nchild && np>0; ++i)
+ {
+
+ T step = node->halfwidth * 0.5;
+ VecType offset = VecType::Zero();
+ offset[0] = ((i & 1) ? step : -step);
+ offset[1] = ((i & 2) ? step : -step);
+ if (DIM==3) offset[2] = ((i & 4) ? step : -step);
+
+ node->children[i] = create_children(
+ node->center+offset, step, stopdepth-1,
+ V, F, node->prims, boxes);
+ }
+ return node;
+ }
+ return nullptr;
+}
+
+template<typename T, int DIM>
+Octree<T,DIM>::Node::Node() :
+ center(VecType::Zero()),
+ halfwidth(0)
+{
+ for (int i=0; i<nchild; ++i)
+ children[i] = nullptr;
+}
+
+template<typename T, int DIM>
+Octree<T,DIM>::Node::~Node()
+{
+ for (int i=0; i<nchild; ++i)
+ if (children[i] != nullptr)
+ delete children[i];
+}
+
+template<typename T, int DIM>
+bool Octree<T,DIM>::Node::is_leaf() const
+{
+ return children[0] == nullptr;
+}
+
+template<typename T, int DIM>
+typename Octree<T,DIM>::AABB Octree<T,DIM>::Node::bounds() const
+{
+ AABB box;
+ box.extend(center + VecType::Ones()*halfwidth);
+ box.extend(center - VecType::Ones()*halfwidth);
+ return box;
+}
+
// Compile types
template class admmpd::AABBTree<double,2>;
template class admmpd::AABBTree<double,3>;
@@ -218,5 +345,9 @@ template class admmpd::TraverserFromFunctionPtrs<double,2>;
template class admmpd::TraverserFromFunctionPtrs<double,3>;
template class admmpd::TraverserFromFunctionPtrs<float,2>;
template class admmpd::TraverserFromFunctionPtrs<float,3>;
+template class admmpd::Octree<double,2>;
+template class admmpd::Octree<double,3>;
+template class admmpd::Octree<float,2>;
+template class admmpd::Octree<float,3>;
} // namespace admmpd
\ No newline at end of file
diff --git a/extern/softbody/src/admmpd_bvh.h b/extern/softbody/src/admmpd_bvh.h
index 19f47545435..20b810ac7be 100644
--- a/extern/softbody/src/admmpd_bvh.h
+++ b/extern/softbody/src/admmpd_bvh.h
@@ -42,8 +42,6 @@ public:
std::function<void(const AABB&, bool&, const AABB&, bool&,
bool&)> t,
std::function<bool(const AABB&, int)> s) const;
-protected:
-
struct Node
{
AABB aabb;
@@ -60,6 +58,8 @@ protected:
}
};
+protected:
+
std::shared_ptr<Node> root;
void create_children(
@@ -77,6 +77,58 @@ protected:
}; // class AABBtree
+
+// Octree is actually a quadtree if DIM=2
+template<typename T, int DIM>
+class Octree
+{
+protected:
+ typedef Eigen::AlignedBox<T,DIM> AABB;
+ typedef Eigen::Matrix<T,DIM,1> VecType;
+ typedef Eigen::Matrix<T,Eigen::Dynamic,Eigen::Dynamic> MatrixXT;
+ static const int nchild = std::pow(2,DIM);
+public:
+
+ // Removes all BVH data
+ void clear();
+
+ // Creates the Octree up to depth with smart subdivision
+ // (only create children if it contains prims) and does not
+ // create a cell if it is outside the mesh.
+ // ** Assumes a closed mesh and only defined for 3D
+ void init(const MatrixXT *V, const Eigen::MatrixXi *F, int stopdepth);
+
+ // Returns bounding box of the root node
+ AABB bounds() const;
+
+ struct Node
+ {
+ VecType center;
+ T halfwidth;
+ Node *children[4*DIM];
+ std::vector<int> prims; // includes childen
+ bool is_leaf() const;
+ AABB bounds() const;
+ Node();
+ ~Node();
+ };
+
+ // Return ptr to the root node
+ // Becomes invalidated after init()
+ std::shared_ptr<Node> root() { return m_root; }
+
+protected:
+
+ std::shared_ptr<Node> m_root;
+
+ Node* create_children(
+ const VecType ¢er, T halfwidth, int stopdepth,
+ const MatrixXT *V, const Eigen::MatrixXi *F,
+ const std::vector<int> &queue,
+ const std::vector<AABB> &boxes);
+
+}; // class Octree
+
} // namespace admmpd
#endif // ADMMPD_BVH_H_
diff --git a/extern/softbody/src/admmpd_bvh_traverse.h
b/extern/softbody/src/admmpd_bvh_traverse.h
index ecbb85f3277..dce83d07a20 100644
--- a/extern/softbody/src/admmpd_bvh_traverse.h
+++ b/extern/softbody/src/admmpd_bvh_traverse.h
@@ -136,6 +136,7 @@ public:
struct Output {
std::vector< std::pair<int,T> > hits; // [prim,t]
int num_hits() const { return hits.size(); }
+ bool is_inside() const { return hits.size()%2==1; }
} output;
PointInTriangleMeshTraverse(
diff --git a/extern/softbody/src/admmpd_collision.cpp
b/extern/softbody/src/admmpd_collision.cpp
index 5e14bc3a756..a05b27287cc 100644
--- a/extern/softbody/src/admmpd_collision.cpp
+++ b/extern/softbody/src/admmpd_collision.cpp
@@ -308,9 +308,10 @@ void EmbeddedMeshCollision::linearize(
for (int i=0; i<np; ++i)
{
- Vector2i pair_idx = vf_pairs[i];
+ const Vector2i &pair_idx = vf_pairs[i];
VFCollisionPair &pair =
per_vertex_pairs[pair_idx[0]][pair_idx[1]];
int emb_p_idx = pair.p_idx;
+ Vector3d p_pt = mesh->get_mapped_vertex(x,emb_p_idx);
//
// If we collided with an obstacle
@@ -334,8 +335,17 @@ void EmbeddedMeshCollision::linearize(
};
q_n =
((q_tris[1]-q_tris[0]).cross(q_tris[2]-q_tris[0]));
q_n.normalize();
+
+ // Update constraint linearization
+ pair.q_pt =
geom::point_on_triangle<double>(p_pt,
+ q_tris[0], q_tris[1], q_tris[2]);
}
+ // Is the constraint active?
+ bool active = (p_pt-pair.q_pt).dot(q_n) <= 0.0;
+ if (!active)
+ continue;
+
// Get the four deforming verts that embed
// the surface vertices, and add constraints on those.
RowVector4d bary = mesh->emb_barys.row(emb_p_idx);
diff --git a/extern/softbody/src/admmpd_embeddedmesh.cpp
b/extern/softbody/src/admmpd_embeddedmesh.cpp
index b16d92b640a..7e677b42455 100644
--- a/extern/softbody/src/admmpd_embeddedmesh.cpp
+++ b/extern/softbody/src/admmpd_embeddedmesh.cpp
@@ -18,55 +18,6 @@
namespace admmpd {
using namespace Eigen;
-typedef struct KeepTetThreadData {
- const 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> tet_hits_mesh(
- tet_pts, td->pts, td->faces);
- bool hit = td->tree->traverse(tet_hits_mesh);
- if (!hit)
- {
- // We only need to check if one vertex of the
- // tet is inside the mesh. If a subset of
- // vertices are inside the mesh, then there would
- // be tri/tri intersection.
- PointInTriangleMeshTraverse<double> pt_in_mesh(
- tet_pts[0], td->pts, td->faces);
- td->tree->traverse(pt_in_mesh);
- if (pt_in_mesh.output.num_hits() % 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
-
// Gen lattice with subdivision
struct LatticeData {
//SDF<double> *emb_sdf;
@@ -114,110 +65,87 @@ static inline void merge_close_vertices(LatticeData
*data, double eps=1e-12)
}
}
-static inline void subdivide_cube(
- LatticeData *data,
- const std::vector<Vector3d> &cv,
- const std::vector<int> &faces,
- int level)
+static inline void add_tets_from_box(
+ const Vector3d &min,
+ const Vector3d &max,
+ std::vector<Vector3d> &verts,
+ std::vector<Vector4i> &tets)
{
- BLI_assert((int)cv.size()==8);
- auto add_tets_from_box = [&]()
+ std::vector<Vector3d> v
@@ Diff output truncated at 10240 characters. @@
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