Commit: 7d21e08de6a2b96f43a2c32b2fdb41f2ca98da1e
Author: Lukas Tönne
Date: Fri Sep 12 10:26:43 2014 +0200
Branches: hair_immediate_fixes
https://developer.blender.org/rB7d21e08de6a2b96f43a2c32b2fdb41f2ca98da1e
Ported root frame transformation to the old cloth solver.
===================================================================
M source/blender/blenkernel/intern/implicit.c
===================================================================
diff --git a/source/blender/blenkernel/intern/implicit.c
b/source/blender/blenkernel/intern/implicit.c
index cffa7cf..09e1637 100644
--- a/source/blender/blenkernel/intern/implicit.c
+++ b/source/blender/blenkernel/intern/implicit.c
@@ -809,16 +809,28 @@ DO_INLINE void subadd_bfmatrixS_bfmatrixS( fmatrix3x3
*to, fmatrix3x3 *from, flo
///////////////////////////////////////////////////////////////////
// simulator start
///////////////////////////////////////////////////////////////////
+typedef struct RootTransform {
+ float loc[3];
+ float rot[3][3];
+
+ float vel[3];
+ float omega[3];
+
+ float acc[3];
+ float domega_dt[3];
+} RootTransform;
+
typedef struct Implicit_Data {
/* inputs */
fmatrix3x3 *bigI; /* identity (constant) */
fmatrix3x3 *M; /* masses */
+ lfVector *F; /* forces */
fmatrix3x3 *dFdV, *dFdX; /* force jacobians */
+ RootTransform *root; /* root transforms */
/* motion state data */
lfVector *X, *Xnew; /* positions */
lfVector *V, *Vnew; /* velocities */
- lfVector *F; /* forces */
/* internal solver data */
lfVector *B; /* B for A*dV = B */
@@ -870,6 +882,8 @@ int implicit_init(Object *UNUSED(ob), ClothModifierData
*clmd)
id->dV = create_lfvector(cloth->numverts);
id->z = create_lfvector(cloth->numverts);
+ id->root = MEM_callocN(sizeof(RootTransform) * cloth->numverts, "root
transforms");
+
for (i = 0; i < cloth->numverts; i++) {
id->A[i].r = id->A[i].c = id->dFdV[i].r = id->dFdV[i].c =
id->dFdX[i].r = id->dFdX[i].c = id->P[i].c = id->P[i].r = id->Pinv[i].c =
id->Pinv[i].r = id->bigI[i].c = id->bigI[i].r = id->M[i].r = id->M[i].c = i;
@@ -931,6 +945,8 @@ int implicit_free(ClothModifierData *clmd)
del_lfvector(id->dV);
del_lfvector(id->z);
+ MEM_freeN(id->root);
+
MEM_freeN(id);
}
}
@@ -938,6 +954,179 @@ int implicit_free(ClothModifierData *clmd)
return 1;
}
+/* ==== Transformation of Moving Reference Frame ====
+ * x_world, v_world, f_world, a_world, dfdx_world, dfdv_world : state
variables in world space
+ * x_root, v_root, f_root, a_root, dfdx_root, dfdv_root : state
variables in root space
+ *
+ * x0 : translation of the root frame (hair root location)
+ * v0 : linear velocity of the root frame
+ * a0 : acceleration of the root frame
+ * R : rotation matrix of the root frame
+ * w : angular velocity of the root frame
+ * dwdt : angular acceleration of the root frame
+ */
+
+/* x_root = R^T * x_world */
+BLI_INLINE void loc_world_to_root(float r[3], const float v[3], const
RootTransform *root)
+{
+ sub_v3_v3v3(r, v, root->loc);
+ mul_transposed_m3_v3((float (*)[3])root->rot, r);
+}
+
+/* x_world = R * x_root */
+BLI_INLINE void loc_root_to_world(float r[3], const float v[3], const
RootTransform *root)
+{
+ copy_v3_v3(r, v);
+ mul_m3_v3((float (*)[3])root->rot, r);
+ add_v3_v3(r, root->loc);
+}
+
+/* v_root = cross(w, x_root) + R^T*(v_world - v0) */
+BLI_INLINE void vel_world_to_root(float r[3], const float x_root[3], const
float v[3], const RootTransform *root)
+{
+ float angvel[3];
+ cross_v3_v3v3(angvel, root->omega, x_root);
+
+ sub_v3_v3v3(r, v, root->vel);
+ mul_transposed_m3_v3((float (*)[3])root->rot, r);
+ add_v3_v3(r, angvel);
+}
+
+/* v_world = R*(v_root - cross(w, x_root)) + v0 */
+BLI_INLINE void vel_root_to_world(float r[3], const float x_root[3], const
float v[3], const RootTransform *root)
+{
+ float angvel[3];
+ cross_v3_v3v3(angvel, root->omega, x_root);
+
+ sub_v3_v3v3(r, v, angvel);
+ mul_m3_v3((float (*)[3])root->rot, r);
+ add_v3_v3(r, root->vel);
+}
+
+/* a_root = -cross(dwdt, x_root) - 2*cross(w, v_root) - cross(w, cross(w,
x_root)) + R^T*(a_world - a0) */
+BLI_INLINE void force_world_to_root(float r[3], const float x_root[3], const
float v_root[3], const float force[3], float mass, const RootTransform *root)
+{
+ float euler[3], coriolis[3], centrifugal[3], rotvel[3];
+
+ cross_v3_v3v3(euler, root->domega_dt, x_root);
+ cross_v3_v3v3(coriolis, root->omega, v_root);
+ mul_v3_fl(coriolis, 2.0f);
+ cross_v3_v3v3(rotvel, root->omega, x_root);
+ cross_v3_v3v3(centrifugal, root->omega, rotvel);
+
+ madd_v3_v3v3fl(r, force, root->acc, mass);
+ mul_transposed_m3_v3((float (*)[3])root->rot, r);
+ madd_v3_v3fl(r, euler, mass);
+ madd_v3_v3fl(r, coriolis, mass);
+ madd_v3_v3fl(r, centrifugal, mass);
+}
+
+/* a_world = R*[ a_root + cross(dwdt, x_root) + 2*cross(w, v_root) + cross(w,
cross(w, x_root)) ] + a0 */
+BLI_INLINE void force_root_to_world(float r[3], const float x_root[3], const
float v_root[3], const float force[3], float mass, const RootTransform *root)
+{
+ float euler[3], coriolis[3], centrifugal[3], rotvel[3];
+
+ cross_v3_v3v3(euler, root->domega_dt, x_root);
+ cross_v3_v3v3(coriolis, root->omega, v_root);
+ mul_v3_fl(coriolis, 2.0f);
+ cross_v3_v3v3(rotvel, root->omega, x_root);
+ cross_v3_v3v3(centrifugal, root->omega, rotvel);
+
+ madd_v3_v3v3fl(r, force, euler, mass);
+ madd_v3_v3fl(r, coriolis, mass);
+ madd_v3_v3fl(r, centrifugal, mass);
+ mul_m3_v3((float (*)[3])root->rot, r);
+ madd_v3_v3fl(r, root->acc, mass);
+}
+
+BLI_INLINE void acc_world_to_root(float r[3], const float x_root[3], const
float v_root[3], const float acc[3], const RootTransform *root)
+{
+ force_world_to_root(r, x_root, v_root, acc, 1.0f, root);
+}
+
+BLI_INLINE void acc_root_to_world(float r[3], const float x_root[3], const
float v_root[3], const float acc[3], const RootTransform *root)
+{
+ force_root_to_world(r, x_root, v_root, acc, 1.0f, root);
+}
+
+BLI_INLINE void cross_m3_v3m3(float r[3][3], const float v[3], float m[3][3])
+{
+ cross_v3_v3v3(r[0], v, m[0]);
+ cross_v3_v3v3(r[1], v, m[1]);
+ cross_v3_v3v3(r[2], v, m[2]);
+}
+
+BLI_INLINE void cross_v3_identity(float r[3][3], const float v[3])
+{
+ r[0][0] = 0.0f; r[1][0] = v[2]; r[2][0] = -v[1];
+ r[0][1] = -v[2]; r[1][1] = 0.0f; r[2][1] = v[0];
+ r[0][2] = v[1]; r[1][2] = -v[0]; r[2][2] = 0.0f;
+}
+
+/* dfdx_root = m*[ -cross(dwdt, I) - cross(w, cross(w, I)) ] +
R^T*(dfdx_world) */
+BLI_INLINE void dfdx_world_to_root(float m[3][3], float dfdx[3][3], float
mass, const RootTransform *root)
+{
+ float t[3][3], u[3][3];
+
+ copy_m3_m3(t, (float (*)[3])root->rot);
+ transpose_m3(t);
+ mul_m3_m3m3(m, t, dfdx);
+
+ cross_v3_identity(t, root->domega_dt);
+ mul_m3_fl(t, mass);
+ sub_m3_m3m3(m, m, t);
+
+ cross_v3_identity(u, root->omega);
+ cross_m3_v3m3(t, root->omega, u);
+ mul_m3_fl(t, mass);
+ sub_m3_m3m3(m, m, t);
+}
+
+/* dfdx_world = R*(dfdx_root + m*[ cross(dwdt, I) + cross(w, cross(w, I)) ]) */
+BLI_INLINE void dfdx_root_to_world(float m[3][3], float dfdx[3][3], float
mass, const RootTransform *root)
+{
+ float t[3][3], u[3][3];
+
+ cross_v3_identity(t, root->domega_dt);
+ mul_m3_fl(t, mass);
+ add_m3_m3m3(m, dfdx, t);
+
+ cross_v3_identity(u, root->omega);
+ cross_m3_v3m3(t, root->omega, u);
+ mul_m3_fl(t, mass);
+ add_m3_m3m3(m, m, t);
+
+ mul_m3_m3m3(m, (float (*)[3])root->rot, m);
+}
+
+/* dfdv_root = -2*m*cross(w, I) + R^T*(dfdv_world) */
+BLI_INLINE void dfdv_world_to_root(float m[3][3], float dfdv[3][3], float
mass, const RootTransform *root)
+{
+ float t[3][3];
+
+ copy_m3_m3(t, (float (*)[3])root->rot);
+ transpose_m3(t);
+ mul_m3_m3m3(m, t, dfdv);
+
+ cross_v3_identity(t, root->omega);
+ mul_m3_fl(t, 2.0f*mass);
+ sub_m3_m3m3(m, m, t);
+}
+
+/* dfdv_world = R*(dfdv_root + 2*m*cross(w, I)) */
+BLI_INLINE void dfdv_root_to_world(float m[3][3], float dfdv[3][3], float
mass, const RootTransform *root)
+{
+ float t[3][3];
+
+ cross_v3_identity(t, root->omega);
+ mul_m3_fl(t, 2.0f*mass);
+ add_m3_m3m3(m, dfdv, t);
+
+ mul_m3_m3m3(m, (float (*)[3])root->rot, m);
+}
+
+/* ================================ */
+
DO_INLINE float fb(float length, float L)
{
float x = length / L;
@@ -2098,8 +2287,10 @@ static void cloth_calc_force(ClothModifierData *clmd,
float UNUSED(frame), lfVec
{
/* Collect forces and derivatives: F, dFdX, dFdV */
Cloth *cloth = clmd->clothObject;
+ ClothVertex *verts = cloth->verts;
+ RootTransform *roots = cloth->implicit->root;
unsigned int i = 0;
- float spring_air = clmd->sim_parms->Cvi * 0.01f; /*
viscosity of air scaled in percent */
+ float drag = clmd->sim_parms->Cvi * 0.01f; /* viscosity of
air scaled in percent */
float gravity[3] = {0.0f, 0.0f, 0.0f};
MFace *mfaces = cloth->mfaces;
unsigned int numverts = cloth->numverts;
@@ -2107,7 +2298,8 @@ static void cloth_calc_force(ClothModifierData *clmd,
float UNUSED(frame), lfVec
lfVector *winvec;
EffectedPoint epoint;
- /* set dFdX jacobi matrix to zero */
+ /* initialize forces to zero */
+ zero_lfvector(lF, numverts);
init_bfmatrix(dFdX, ZERO);
init_bfmatrix(dFdV, ZERO);
@@ -2117,14 +2309,14 @@ static void cloth_calc_force(ClothModifierData *clmd,
float UNUSED(frame), lfVec
copy_v3_v3(gravity, clmd->scene->physics_settings.gravity);
mul_fvector_S(gravity, gravity, 0.001f *
clmd->sim_parms->effector_weights->global_gravity); /* scale gravity force */
}
- init_lfvector(lF, gravity, numverts);
/* multiply lF with mass matrix
* force = mass * acceleration (in this case: gravity)
*/
for (i = 0; i < numverts; i++) {
- float temp[3];
- copy_v3_v3(temp, lF[i]);
- mul_fmatrix_fvector(lF[i], M[i].m, temp);
+ float g[3];
+ acc_world_to_root(g, lX[i], lV[i], gravity, &roots[i]);
+ mul_m3_v3(M[i].m, g);
+ add_v3_v3(lF[i], g);
}
#else
zero_lfvector(lF, numverts);
@@ -2135,11 +2327,34 @@ static void cloth_calc_force(ClothModifierData *clmd,
float UNUSED(frame), lfVec
#ifdef CLOTH_FORCE_DRAG
/* set dFdX jacobi matrix diagonal entries to -spring_air */
for (i = 0; i < numverts; i++) {
- dFdV[i].m[0][0] -= spring_air;
- dFdV[i].m[1][1] -= spring_air;
- dFdV[i].m[2][2] -= spring_air;
+ dFdV[i].m[0][0] -= drag;
+ dFdV[i].m[1][1] -= drag;
+ dFdV[i].m[2][2] -= drag;
+ }
+ submul_lfvectorS(lF, lV, drag, numverts);
+ for (i = 0; i < numverts; i++) {
+#if 1
+ float tmp[3][3];
+
+ /* NB: uses root space velocity, no need to transform */
+ madd_v3_v3fl(lF[i], lV[i], -drag);
+
+ copy_m3_m3(tmp, I);
+ mul_m3_fl(tmp, -drag);
+ add_m3_m3m3(dFdV[i].m, dFdV[i].m, tmp);
+#else
+ float f[3], tmp[3][3], drag_dfdv[3][3], t[3];
+
+ mul_v3_v3fl(f, lV[i], -drag);
+ force_world_to_root(t, lX[i]
@@ Diff output truncated at 10240 characters. @@
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