Commit: 28f173b3e7b84c12dce5f2fd88c81818c253ec74 Author: Lukas Tönne Date: Mon Sep 15 14:18:40 2014 +0200 Branches: hair_immediate_fixes https://developer.blender.org/rB28f173b3e7b84c12dce5f2fd88c81818c253ec74
Added a calculation function for the fictitious forces introduced by moving hair root reference frames. This calculates Euler, Coriolis and Centrifugal forces which result from describing hair in a moving reference frame. http://en.wikipedia.org/wiki/Fictitious_force =================================================================== M source/blender/blenlib/BLI_math_matrix.h M source/blender/blenlib/intern/math_matrix.c M source/blender/editors/object/object_bake_api.c M source/blender/physics/intern/implicit.h M source/blender/physics/intern/implicit_blender.c =================================================================== diff --git a/source/blender/blenlib/BLI_math_matrix.h b/source/blender/blenlib/BLI_math_matrix.h index 7bcaab1..178c83b 100644 --- a/source/blender/blenlib/BLI_math_matrix.h +++ b/source/blender/blenlib/BLI_math_matrix.h @@ -121,7 +121,8 @@ void mul_m3_fl(float R[3][3], float f); void mul_m4_fl(float R[4][4], float f); void mul_mat3_m4_fl(float R[4][4], float f); -void negate_m3(float R[4][4]); +void negate_m3(float R[3][3]); +void negate_mat3_m4(float R[4][4]); void negate_m4(float R[4][4]); bool invert_m3_ex(float m[3][3], const float epsilon); diff --git a/source/blender/blenlib/intern/math_matrix.c b/source/blender/blenlib/intern/math_matrix.c index 09c581a..a7e0484 100644 --- a/source/blender/blenlib/intern/math_matrix.c +++ b/source/blender/blenlib/intern/math_matrix.c @@ -612,7 +612,16 @@ void mul_mat3_m4_fl(float m[4][4], float f) m[i][j] *= f; } -void negate_m3(float m[4][4]) +void negate_m3(float m[3][3]) +{ + int i, j; + + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + m[i][j] *= -1.0f; +} + +void negate_mat3_m4(float m[4][4]) { int i, j; diff --git a/source/blender/editors/object/object_bake_api.c b/source/blender/editors/object/object_bake_api.c index fd4db4f..2d8de6c 100644 --- a/source/blender/editors/object/object_bake_api.c +++ b/source/blender/editors/object/object_bake_api.c @@ -768,7 +768,7 @@ static int bake( normalize_m4_m4(highpoly[i].rotmat, highpoly[i].imat); zero_v3(highpoly[i].rotmat[3]); if (is_negative_m4(highpoly[i].rotmat)) - negate_m3(highpoly[i].rotmat); + negate_mat3_m4(highpoly[i].rotmat); i++; } diff --git a/source/blender/physics/intern/implicit.h b/source/blender/physics/intern/implicit.h index c7becfd..2577174 100644 --- a/source/blender/physics/intern/implicit.h +++ b/source/blender/physics/intern/implicit.h @@ -118,17 +118,27 @@ void BPH_mass_spring_add_constraint_ndof2(struct Implicit_Data *data, int index, bool BPH_mass_spring_solve(struct Implicit_Data *data, float dt); void BPH_mass_spring_apply_result(struct Implicit_Data *data); +/* Clear the force vector at the beginning of the time step */ void BPH_mass_spring_force_clear(struct Implicit_Data *data); +/* Fictitious forces introduced by moving coordinate systems */ +void BPH_mass_spring_force_reference_frame(struct Implicit_Data *data, int index); +/* Simple uniform gravity force */ void BPH_mass_spring_force_gravity(struct Implicit_Data *data, const float g[3]); +/* Global drag force (velocity damping) */ void BPH_mass_spring_force_drag(struct Implicit_Data *data, float drag); +/* Wind force, acting on a face */ void BPH_mass_spring_force_face_wind(struct Implicit_Data *data, int v1, int v2, int v3, int v4, const float (*winvec)[3]); +/* Wind force, acting on an edge */ void BPH_mass_spring_force_edge_wind(struct Implicit_Data *data, int v1, int v2, const float (*winvec)[3]); +/* Linear spring force between two points */ bool BPH_mass_spring_force_spring_linear(struct Implicit_Data *data, int i, int j, int spring_index, float restlen, float stiffness, float damping, bool no_compress, float clamp_force, float r_f[3], float r_dfdx[3][3], float r_dfdv[3][3]); +/* Bending force, forming a triangle at the base of two structural springs */ bool BPH_mass_spring_force_spring_bending(struct Implicit_Data *data, int i, int j, int spring_index, float restlen, float kb, float cb, float r_f[3], float r_dfdx[3][3], float r_dfdv[3][3]); +/* Global goal spring */ bool BPH_mass_spring_force_spring_goal(struct Implicit_Data *data, int i, int spring_index, const float goal_x[3], const float goal_v[3], float stiffness, float damping, float r_f[3], float r_dfdx[3][3], float r_dfdv[3][3]); diff --git a/source/blender/physics/intern/implicit_blender.c b/source/blender/physics/intern/implicit_blender.c index f493055..1317230 100644 --- a/source/blender/physics/intern/implicit_blender.c +++ b/source/blender/physics/intern/implicit_blender.c @@ -580,6 +580,20 @@ BLI_INLINE void outerproduct(float r[3][3], const float a[3], const float b[3]) mul_v3_v3fl(r[1], a, b[1]); mul_v3_v3fl(r[2], a, b[2]); } + +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; +} ///////////////////////////////////////////////////////////////// /////////////////////////// @@ -798,14 +812,14 @@ DO_INLINE void subadd_bfmatrixS_bfmatrixS( fmatrix3x3 *to, fmatrix3x3 *from, flo // simulator start /////////////////////////////////////////////////////////////////// typedef struct RootTransform { - float loc[3]; - float rot[3][3]; + float loc[3]; /* translation in world space */ + float rot[3][3]; /* rotation from root to world space */ - float vel[3]; - float omega[3]; + float vel[3]; /* velocity in root space */ + float omega[3]; /* angular velocity in root space */ - float acc[3]; - float domega_dt[3]; + float acc[3]; /* acceleration in root space */ + float domega_dt[3]; /* angular acceleration in root space */ } RootTransform; typedef struct Implicit_Data { @@ -1715,6 +1729,50 @@ void BPH_mass_spring_force_clear(Implicit_Data *data) init_bfmatrix(data->dFdV, ZERO); } +void BPH_mass_spring_force_reference_frame(Implicit_Data *data, int index) +{ +#ifdef CLOTH_ROOT_FRAME + RootTransform *root = &data->root[index]; + float f[3], dfdx[3][3], dfdv[3][3]; + float euler[3], coriolis[3], centrifugal[3], rotvel[3]; + float deuler[3][3], dcoriolis[3][3], dcentrifugal[3][3], drotvel[3][3]; + + cross_v3_v3v3(euler, root->domega_dt, data->X[index]); + cross_v3_v3v3(coriolis, root->omega, data->V[index]); + mul_v3_fl(coriolis, 2.0f); + cross_v3_v3v3(rotvel, root->omega, data->X[index]); + cross_v3_v3v3(centrifugal, root->omega, rotvel); + + sub_v3_v3v3(f, root->acc, euler); + sub_v3_v3(f, coriolis); + sub_v3_v3(f, centrifugal); + + mul_m3_v3(data->M[index].m, f); /* F = m * a */ + + cross_v3_identity(deuler, root->domega_dt); + cross_v3_identity(dcoriolis, root->omega); + mul_m3_fl(dcoriolis, 2.0f); + cross_v3_identity(drotvel, root->omega); + cross_m3_v3m3(dcentrifugal, root->omega, drotvel); + + add_m3_m3m3(dfdx, deuler, dcentrifugal); + negate_m3(dfdx); + mul_m3_m3m3(dfdx, data->M[index].m, dfdx); + + copy_m3_m3(dfdv, dcoriolis); + negate_m3(dfdv); + mul_m3_m3m3(dfdv, data->M[index].m, dfdv); + + add_v3_v3(data->F[index], f); + add_m3_m3m3(data->dFdX[index].m, data->dFdX[index].m, dfdx); + add_m3_m3m3(data->dFdV[index].m, data->dFdV[index].m, dfdv); + +#else + (void)data; + (void)index; +#endif +} + void BPH_mass_spring_force_gravity(Implicit_Data *data, const float g[3]) { int i, numverts = data->M[0].vcount; @@ -2026,9 +2084,7 @@ bool BPH_mass_spring_force_spring_goal(Implicit_Data *data, int i, int UNUSED(sp dfdv_damp(dfdv, dir, damping); add_v3_v3(data->F[i], f); - add_m3_m3m3(data->dFdX[i].m, data->dFdX[i].m, dfdx); - add_m3_m3m3(data->dFdV[i].m, data->dFdV[i].m, dfdv); if (r_f) copy_v3_v3(r_f, f); _______________________________________________ Bf-blender-cvs mailing list [email protected] http://lists.blender.org/mailman/listinfo/bf-blender-cvs
