Revision: 46664
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=46664
Author: genscher
Date: 2012-05-15 13:46:50 +0000 (Tue, 15 May 2012)
Log Message:
-----------
Cloth collisions:
Add repulse for near vertices. This code didn't make sense where it was before.
Still leaving it also at the old place since it cannot hurt.
Modified Paths:
--------------
trunk/blender/source/blender/blenkernel/intern/collision.c
Modified: trunk/blender/source/blender/blenkernel/intern/collision.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/collision.c 2012-05-15
13:39:44 UTC (rev 46663)
+++ trunk/blender/source/blender/blenkernel/intern/collision.c 2012-05-15
13:46:50 UTC (rev 46664)
@@ -220,6 +220,12 @@
cloth1 = clmd->clothObject;
for ( ; collpair != collision_end; collpair++ ) {
+ float i1[3], i2[3], i3[3];
+
+ zero_v3(i1);
+ zero_v3(i2);
+ zero_v3(i3);
+
// only handle static collisions here
if ( collpair->flag & COLLISION_IN_FUTURE )
continue;
@@ -260,12 +266,7 @@
double impulse = 0.0;
float vrel_t_pre[3];
float temp[3], spf;
- float i1[3], i2[3], i3[3];
- zero_v3(i1);
- zero_v3(i2);
- zero_v3(i3);
-
// calculate tangential velocity
copy_v3_v3 ( temp, collpair->normal );
mul_v3_fl(temp, magrelVel);
@@ -318,23 +319,47 @@
VECADDMUL ( i3, collpair->normal, impulse );
}
- {
- int i = 0;
+ result = 1;
+ }
+ else
+ {
+ // Apply repulse impulse if distance too short
+ // I_r = -min(dt*kd, m(0, 1d/dt - v_n))
+ float spf = (float)clmd->sim_parms->stepsPerFrame /
clmd->sim_parms->timescale;
- for(i = 0; i < 3; i++)
- {
-
if(cloth1->verts[collpair->ap1].impulse_count > 0 &&
ABS(cloth1->verts[collpair->ap1].impulse[i]) < ABS(i1[i]))
-
cloth1->verts[collpair->ap1].impulse[i] = i1[i];
+ float d = clmd->coll_parms->epsilon*8.0f/9.0f +
epsilon2*8.0f/9.0f - collpair->distance;
+ if ( d > ALMOST_ZERO) {
+ // stay on the safe side and clamp repulse
+ float repulse = d*1.0f/spf;
-
if(cloth1->verts[collpair->ap2].impulse_count > 0 &&
ABS(cloth1->verts[collpair->ap2].impulse[i]) < ABS(i2[i]))
-
cloth1->verts[collpair->ap2].impulse[i] = i2[i];
+ float impulse = repulse / ( 1.0f + w1*w1 +
w2*w2 + w3*w3 ); // original 2.0 / 0.25
+ VECADDMUL ( i1, collpair->normal, impulse );
+ VECADDMUL ( i2, collpair->normal, impulse );
+ VECADDMUL ( i3, collpair->normal, impulse );
-
if(cloth1->verts[collpair->ap3].impulse_count > 0 &&
ABS(cloth1->verts[collpair->ap3].impulse[i]) < ABS(i3[i]))
-
cloth1->verts[collpair->ap3].impulse[i] = i3[i];
- }
+ cloth1->verts[collpair->ap1].impulse_count++;
+ cloth1->verts[collpair->ap2].impulse_count++;
+ cloth1->verts[collpair->ap3].impulse_count++;
+
+ result = 1;
}
+ }
- result = 1;
+ if(result)
+ {
+ int i = 0;
+
+ for(i = 0; i < 3; i++)
+ {
+ if(cloth1->verts[collpair->ap1].impulse_count >
0 && ABS(cloth1->verts[collpair->ap1].impulse[i]) < ABS(i1[i]))
+ cloth1->verts[collpair->ap1].impulse[i]
= i1[i];
+
+ if(cloth1->verts[collpair->ap2].impulse_count >
0 && ABS(cloth1->verts[collpair->ap2].impulse[i]) < ABS(i2[i]))
+ cloth1->verts[collpair->ap2].impulse[i]
= i2[i];
+
+ if(cloth1->verts[collpair->ap3].impulse_count >
0 && ABS(cloth1->verts[collpair->ap3].impulse[i]) < ABS(i3[i]))
+ cloth1->verts[collpair->ap3].impulse[i]
= i3[i];
+ }
}
}
return result;
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