=trunk=
authorJoseph Eagar <joeedh@gmail.com>
Sun, 1 May 2011 21:39:13 +0000 (21:39 +0000)
committerJoseph Eagar <joeedh@gmail.com>
Sun, 1 May 2011 21:39:13 +0000 (21:39 +0000)
Recommitted eltopo collision code (but disabled by default)
with Genscher's permission.

To use, you need to install liblapack and libblas

17 files changed:
CMakeLists.txt
build_files/scons/tools/btools.py
extern/CMakeLists.txt
extern/SConscript
release/scripts/startup/bl_ui/properties_physics_cloth.py
source/blender/blenkernel/BKE_cloth.h
source/blender/blenkernel/BKE_collision.h
source/blender/blenkernel/CMakeLists.txt
source/blender/blenkernel/SConscript
source/blender/blenkernel/intern/cloth.c
source/blender/blenkernel/intern/collision.c
source/blender/blenkernel/intern/implicit.c
source/blender/blenlib/BLI_math_geom.h
source/blender/blenlib/intern/math_geom.c
source/blender/makesdna/DNA_cloth_types.h
source/blender/makesrna/intern/rna_cloth.c
source/creator/CMakeLists.txt

index a3baf582b9f36a1fafca89141d65e49db435bf4c..f96f223c97db2ea5648311fdeb00ecedc6a5f000 100644 (file)
@@ -114,6 +114,7 @@ option(WITH_BUILDINFO     "Include extra build details (only disable for develop
 option(WITH_IK_ITASC      "Enable ITASC IK solver (only disable for development & for incompatible C++ compilers)" ON)
 option(WITH_FFTW3         "Enable FFTW3 support (Used for smoke and audio effects)" OFF)
 option(WITH_BULLET        "Enable Bullet (Physics Engine)" ON)
+option(WITH_ELTOPO        "Enable Eltopo Continuous Collision Engine" OFF)
 option(WITH_GAMEENGINE    "Enable Game Engine" ON)
 option(WITH_PLAYER        "Build Player" OFF)
 # (unix defaults to OpenMP On)
index a646b9084c2879b1ad5519b21f7373afa935b165..fcc782bd824245e4606efda1c1da50f6e32df348 100644 (file)
@@ -99,7 +99,7 @@ def validate_arguments(args, bc):
             'WITH_BF_INTERNATIONAL',
             'BF_GETTEXT', 'BF_GETTEXT_INC', 'BF_GETTEXT_LIB', 'WITH_BF_GETTEXT_STATIC', 'BF_GETTEXT_LIB_STATIC', 'BF_GETTEXT_LIBPATH',
             'WITH_BF_ICONV', 'BF_ICONV', 'BF_ICONV_INC', 'BF_ICONV_LIB', 'BF_ICONV_LIBPATH',
-            'WITH_BF_GAMEENGINE', 'WITH_BF_BULLET', 'BF_BULLET', 'BF_BULLET_INC', 'BF_BULLET_LIB',
+            'WITH_BF_GAMEENGINE', 'WITH_BF_BULLET', 'WITH_BF_ELTOPO', 'BF_BULLET', 'BF_BULLET_INC', 'BF_BULLET_LIB',
             'BF_WINTAB', 'BF_WINTAB_INC',
             'WITH_BF_FREETYPE', 'BF_FREETYPE', 'BF_FREETYPE_INC', 'BF_FREETYPE_LIB', 'BF_FREETYPE_LIBPATH', 'BF_FREETYPE_LIB_STATIC', 'WITH_BF_FREETYPE_STATIC',
             'WITH_BF_QUICKTIME', 'BF_QUICKTIME', 'BF_QUICKTIME_INC', 'BF_QUICKTIME_LIB', 'BF_QUICKTIME_LIBPATH',
@@ -365,6 +365,8 @@ def read_opts(env, cfg, args):
         (BoolVariable('WITH_BF_GAMEENGINE', 'Build with gameengine' , False)),
 
         (BoolVariable('WITH_BF_BULLET', 'Use Bullet if true', True)),
+        (BoolVariable('WITH_BF_ELTOPO', 'Use Eltopo collision library if true', False)),
+        
         ('BF_BULLET', 'Bullet base dir', ''),
         ('BF_BULLET_INC', 'Bullet include path', ''),
         ('BF_BULLET_LIB', 'Bullet library', ''),
index d74c6683f2c7dcdd4c95242a96b3efb8e4e10f6e..c146d6dba83bd77886e1e5f61a38f5fabd67c01c 100644 (file)
@@ -31,6 +31,10 @@ if(WITH_BULLET)
        add_subdirectory(bullet2)
 endif()
 
+if(WITH_ELTOPO)
+       add_subdirectory(eltopo)
+endif()
+
 if(WITH_BINRELOC)
        add_subdirectory(binreloc)
 endif()
index bd73d71f1238f4d57942dc18bb9b0daaa509448c..061bd1ba6a38bda04eab51704546efed9cec2a9b 100644 (file)
@@ -4,6 +4,9 @@ Import('env')
 
 SConscript(['glew/SConscript'])
 
+if env['WITH_BF_ELTOPO']:
+    SConscript(['eltopo/SConscript'])
+
 if env['WITH_BF_BULLET']:
     SConscript(['bullet2/src/SConscript'])
 
index 5c7882e97229e4546e1df9fb304f983dc87da2fd..bce6ab993a7fd8a3fa5745a6beaffe7de7684f92 100644 (file)
@@ -157,6 +157,8 @@ class PHYSICS_PT_cloth_collision(PhysicButtonsPanel, bpy.types.Panel):
         col = split.column()
         col.prop(cloth, "collision_quality", slider=True, text="Quality")
         col.prop(cloth, "distance_min", slider=True, text="Distance")
+        col.prop(cloth, "repel_force", slider=True, text="Repel")
+        col.prop(cloth, "distance_repel", slider=True, text="Repel Distance")
         col.prop(cloth, "friction")
 
         col = split.column()
index 1ee51cd2122db196a2dc1559a3da1921a6ee341f..a5c88000db2c251e68e8db2e2cd49061c5f0a69b 100644 (file)
@@ -35,6 +35,7 @@
  */
 
 #include <float.h>
+#include "BLI_math_inline.h"
 
 struct Object;
 struct ListBase;
@@ -44,16 +45,7 @@ struct DerivedMesh;
 struct ClothModifierData;
 struct CollisionTree;
 
-// this is needed for inlining behaviour
-#if defined _WIN32
-#   define DO_INLINE __inline
-#elif defined (__sgi)
-#   define DO_INLINE
-#elif defined (__sun) || defined (__sun__)
-#   define DO_INLINE
-#else
-#   define DO_INLINE static inline
-#endif
+#define DO_INLINE MALWAYS_INLINE
 
 #define CLOTH_MAX_THREAD 2
 
index b54d4275719729ba2480ab0ad6487c274d3dfd68..7018a638831c7a3abca20b488425f205aaa1de26 100644 (file)
@@ -63,7 +63,11 @@ struct LinkNode;
 /* COLLISION FLAGS */
 typedef enum
 {
-       COLLISION_IN_FUTURE = ( 1 << 1 ),
+       COLLISION_IN_FUTURE =           (1 << 1),
+#ifdef USE_ELTOPO
+       COLLISION_USE_COLLFACE =        (1 << 2),
+       COLLISION_IS_EDGES =            (1 << 3),
+#endif
 } COLLISION_FLAGS;
 
 
@@ -81,7 +85,13 @@ typedef struct CollPair
        float pa[3], pb[3]; // collision point p1 on face1, p2 on face2
        int flag;
        float time; // collision time, from 0 up to 1
+#ifdef USE_ELTOPO /*either ap* or bp* can be set, but not both*/
+       float bary[3];
+       int ap1, ap2, ap3, collp, bp1, bp2, bp3;
+       int collface;
+#else
        int ap1, ap2, ap3, bp1, bp2, bp3;
+#endif
        int pointsb[4];
 }
 CollPair;
@@ -109,6 +119,7 @@ typedef struct FaceCollPair
        float pa[3], pb[3]; // collision point p1 on face1, p2 on face2
 }
 FaceCollPair;
+
 ////////////////////////////////////////
 
 
index 0b616f81ef33dec1c7bedfb2c2c0acc2bbcb1cfd..4b36b714548228ee36779d784cd5332fe83966dd 100644 (file)
@@ -145,7 +145,7 @@ set(SRC
        intern/writeavi.c
        intern/writeffmpeg.c
        intern/writeframeserver.c
-
+       
        BKE_DerivedMesh.h
        BKE_action.h
        BKE_anim.h
@@ -240,6 +240,11 @@ if(WITH_BULLET)
        add_definitions(-DUSE_BULLET)
 endif()
 
+if(WITH_ELTOPO)
+       list(APPEND INC ../../../extern/eltopo)
+       add_definitions(-DUSE_ELTOPO)
+endif()
+
 if(WITH_IMAGE_OPENEXR)
        add_definitions(-DWITH_OPENEXR)
 endif()
index bef72d3bf67234cf6678fa8c1a5bf5995fe7bb92..66011c4f3962ea767d3b51886f1a7f1cf05bae95 100644 (file)
@@ -27,6 +27,10 @@ if env['WITH_BF_PYTHON']:
     if env['BF_DEBUG']:
         defs.append('DEBUG')
 
+if env['WITH_BF_ELTOPO']:
+    incs += ' ../../../extern/eltopo'
+    defs.append('USE_ELTOPO')
+        
 if env['WITH_BF_QUICKTIME']:
     incs += ' ../quicktime'
 
index 5eccf7242561e4b6a8069165c400b0a833f2b0be..ea055e90b45477df459c03ebc9faf66f51c2fbc9 100644 (file)
@@ -919,7 +919,7 @@ static int cloth_from_object(Object *ob, ClothModifierData *clmd, DerivedMesh *d
        if(!first)
                implicit_set_positions(clmd);
 
-       clmd->clothObject->bvhtree = bvhtree_build_from_cloth ( clmd, clmd->coll_parms->epsilon );
+       clmd->clothObject->bvhtree = bvhtree_build_from_cloth ( clmd, MAX2(clmd->coll_parms->epsilon, clmd->coll_parms->distance_repel) );
        
        for(i = 0; i < dm->getNumVerts(dm); i++)
        {
index ebdbbfcf7b4a5d1d1ed0586b7d54ada3b0320600..064f805d0467565b291ce71b0fabe42e75efde9f 100644 (file)
@@ -48,6 +48,9 @@
 #include "BLI_math.h"
 #include "BLI_edgehash.h"
 #include "BLI_utildefines.h"
+#include "BLI_ghash.h"
+#include "BLI_memarena.h"
+#include "BLI_rand.h"
 
 #include "BKE_DerivedMesh.h"
 #include "BKE_global.h"
 #include "BLI_kdopbvh.h"
 #include "BKE_collision.h"
 
+#ifdef USE_ELTOPO
+#include "eltopo-capi.h"
+#endif
+
 
 /***********************************
 Collision modifier code start
@@ -486,7 +493,7 @@ DO_INLINE void collision_interpolateOnTriangle ( float to[3], float v1[3], float
        VECADDMUL ( to, v3, w3 );
 }
 
-
+#ifndef USE_ELTOPO
 static int cloth_collision_response_static ( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
 {
        int result = 0;
@@ -601,12 +608,799 @@ static int cloth_collision_response_static ( ClothModifierData *clmd, CollisionM
        }
        return result;
 }
+#endif
+
+#ifdef USE_ELTOPO
+typedef struct edgepairkey {
+       int a1, a2, b1, b2;
+} edgepairkey;
+
+unsigned int edgepair_hash(void *vkey)
+{
+       edgepairkey *key = vkey;
+       int keys[4] = {key->a1, key->a2, key->b1, key->b2};
+       int i, j;
+       
+       for (i=0; i<4; i++) {
+               for (j=0; j<3; j++) {
+                       if (keys[j] >= keys[j+1]) {
+                               SWAP(int, keys[j], keys[j+1]);
+                       }
+               }
+       }
+       
+       return keys[0]*101 + keys[1]*72 + keys[2]*53 + keys[3]*34;
+}
+
+int edgepair_cmp(const void *va, const void *vb)
+{
+       edgepairkey *a = va, *b = vb;
+       int keysa[4] = {a->a1, a->a2, a->b1, a->b2};
+       int keysb[4] = {b->a1, b->a2, b->b1, b->b2};
+       int i;
+       
+       for (i=0; i<4; i++) {
+               int j, ok=0;
+               for (j=0; j<4; j++) {
+                       if (keysa[i] == keysa[j]) {
+                               ok = 1;
+                               break;
+                       }
+               }
+               if (!ok)
+                       return -1;
+       }
+       
+       return 0;
+}
+
+static void get_edgepairkey(edgepairkey *key, int a1, int a2, int b1, int b2)
+{
+       key->a1 = a1;
+       key->a2 = a2;
+       key->b1 = b1;
+       key->b2 = b2;
+}
+
+/*an immense amount of duplication goes on here. . .a major performance hit, I'm sure*/
+static CollPair* cloth_edge_collision ( ModifierData *md1, ModifierData *md2, 
+                                                                               BVHTreeOverlap *overlap, CollPair *collpair,
+                                                                               GHash *visithash, MemArena *arena)
+{
+       ClothModifierData *clmd = ( ClothModifierData * ) md1;
+       CollisionModifierData *collmd = ( CollisionModifierData * ) md2;
+       MFace *face1=NULL, *face2 = NULL;
+       ClothVertex *verts1 = clmd->clothObject->verts;
+       double distance = 0;
+       edgepairkey *key, tstkey;
+       float epsilon1 = clmd->coll_parms->epsilon;
+       float epsilon2 = BLI_bvhtree_getepsilon ( collmd->bvhtree );
+       float no[3], uv[3], t, relnor;
+       int i, i1, i2, i3, i4, i5, i6;
+       Cloth *cloth = clmd->clothObject;
+       float n1[3], n2[3], off[3], v1[2][3], v2[2][3], v3[2][3], v4[2][3], v5[2][3], v6[2][3];
+       void **verts[] = {v1, v2, v3, v4, v5, v6};
+       int j, ret, bp1, bp2, bp3, ap1, ap2, ap3, table[6];
+       
+       face1 = & ( clmd->clothObject->mfaces[overlap->indexA] );
+       face2 = & ( collmd->mfaces[overlap->indexB] );
+
+       // check all 4 possible collisions
+       for ( i = 0; i < 4; i++ )
+       {
+               if ( i == 0 )
+               {
+                       // fill faceA
+                       ap1 = face1->v1;
+                       ap2 = face1->v2;
+                       ap3 = face1->v3;
+
+                       // fill faceB
+                       bp1 = face2->v1;
+                       bp2 = face2->v2;
+                       bp3 = face2->v3;
+               }
+               else if ( i == 1 )
+               {
+                       if ( face1->v4 )
+                       {
+                               // fill faceA
+                               ap1 = face1->v1;
+                               ap2 = face1->v3;
+                               ap3 = face1->v4;
+
+                               // fill faceB
+                               bp1 = face2->v1;
+                               bp2 = face2->v2;
+                               bp3 = face2->v3;
+                       }
+                       else {
+                               continue;
+                       }
+               }
+               if ( i == 2 )
+               {
+                       if ( face2->v4 )
+                       {
+                               // fill faceA
+                               ap1 = face1->v1;
+                               ap2 = face1->v2;
+                               ap3 = face1->v3;
+
+                               // fill faceB
+                               bp1 = face2->v1;
+                               bp2 = face2->v3;
+                               bp3 = face2->v4;
+                       }
+                       else {
+                               continue;
+                       }
+               }
+               else if ( i == 3 )
+               {
+                       if ( face1->v4 && face2->v4 )
+                       {
+                               // fill faceA
+                               ap1 = face1->v1;
+                               ap2 = face1->v3;
+                               ap3 = face1->v4;
+
+                               // fill faceB
+                               bp1 = face2->v1;
+                               bp2 = face2->v3;
+                               bp3 = face2->v4;
+                       }
+                       else {
+                               continue;
+                       }
+               }
+               
+               copy_v3_v3(v1[0], cloth->verts[ap1].txold); 
+               copy_v3_v3(v1[1], cloth->verts[ap1].tx);
+               copy_v3_v3(v2[0], cloth->verts[ap2].txold);
+               copy_v3_v3(v2[1], cloth->verts[ap2].tx);
+               copy_v3_v3(v3[0], cloth->verts[ap3].txold);
+               copy_v3_v3(v3[1], cloth->verts[ap3].tx);
+               
+               copy_v3_v3(v4[0], collmd->current_x[bp1].co);
+               copy_v3_v3(v4[1], collmd->current_xnew[bp1].co);
+               copy_v3_v3(v5[0], collmd->current_x[bp2].co);
+               copy_v3_v3(v5[1], collmd->current_xnew[bp2].co);
+               copy_v3_v3(v6[0], collmd->current_x[bp3].co);
+               copy_v3_v3(v6[1], collmd->current_xnew[bp3].co);
+               
+               normal_tri_v3(n2, v4[1], v5[1], v6[1]);
+
+               /*offset new positions a bit, to account for margins*/
+               i1 = ap1; i2 = ap2; i3 = ap3;
+               i4 = bp1; i5 = bp2; i6 = bp3;
+
+               for (j=0; j<3; j++) {
+                       int collp1, collp2, k, j2 = (j+1)%3;
+                       
+                       table[0] = ap1; table[1] = ap2; table[2] = ap3;
+                       table[3] = bp1; table[4] = bp2; table[5] = bp3;
+                       for (k=0; k<3; k++) {
+                               float p1[3], p2[3];
+                               int k2 = (k+1)%3;
+                               
+                               get_edgepairkey(&tstkey, table[j], table[j2], table[k+3], table[k2+3]);
+                               //if (BLI_ghash_haskey(visithash, &tstkey))
+                               //      continue;
+                               
+                               key = BLI_memarena_alloc(arena, sizeof(edgepairkey));
+                               *key = tstkey;
+                               BLI_ghash_insert(visithash, key, NULL);
+
+                               sub_v3_v3v3(p1, verts[j], verts[j2]);
+                               sub_v3_v3v3(p2, verts[k+3], verts[k2+3]);
+                               
+                               cross_v3_v3v3(off, p1, p2);
+                               normalize_v3(off);
+
+                               if (dot_v3v3(n2, off) < 0.0)
+                                       negate_v3(off);
+                               
+                               mul_v3_fl(off,  epsilon1 + epsilon2 + ALMOST_ZERO);
+                               copy_v3_v3(p1, verts[k+3]);
+                               copy_v3_v3(p2, verts[k2+3]);
+                               add_v3_v3(p1, off);
+                               add_v3_v3(p2, off);
+                               
+                               ret = eltopo_line_line_moving_isect_v3v3_f(verts[j], table[j], verts[j2], table[j2], 
+                                                                                                                  p1, table[k+3], p2, table[k2+3], 
+                                                                                                                  no, uv, &t, &relnor);
+                               /*cloth vert versus coll face*/
+                               if (ret) {
+                                       collpair->ap1 = table[j]; collpair->ap2 = table[j2]; 
+                                       collpair->bp1 = table[k+3]; collpair->bp2 = table[k2+3];
+                                       
+                                       /*I'm not sure if this is correct, but hopefully it's 
+                                         better then simply ignoring back edges*/
+                                       if (dot_v3v3(n2, no) < 0.0) {
+                                               negate_v3(no);
+                                       }
+                                       
+                                       copy_v3_v3(collpair->normal, no);
+                                       mul_v3_v3fl(collpair->vector, collpair->normal, relnor);
+                                       collpair->distance = relnor;
+                                       collpair->time = t;
+                                       
+                                       copy_v2_v2(collpair->bary, uv);
+                                       
+                                       collpair->flag = COLLISION_IS_EDGES;
+                                       collpair++;
+                               }
+                       }
+               }
+       }
+       
+       return collpair;
+}
+
+static int cloth_edge_collision_response_moving ( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
+{
+       int result = 0;
+       Cloth *cloth1;
+       float w1, w2;
+       float v1[3], v2[3], relativeVelocity[3];
+       float magrelVel, pimpulse[3];
+
+       cloth1 = clmd->clothObject;
+
+       for ( ; collpair != collision_end; collpair++ )
+       {
+               if (!(collpair->flag & COLLISION_IS_EDGES))
+                       continue;
+               
+               // was: txold
+               w1 = collpair->bary[0]; w2 = collpair->bary[1];                 
+               
+               // Calculate relative "velocity".
+               VECADDFAC(v1, cloth1->verts[collpair->ap1].tv, cloth1->verts[collpair->ap2].tv, w1);
+               VECADDFAC(v2, collmd->current_v[collpair->bp1].co, collmd->current_v[collpair->bp2].co, w2);
+               
+               VECSUB ( relativeVelocity, v2, v1);
+               
+               // Calculate the normal component of the relative velocity (actually only the magnitude - the direction is stored in 'normal').
+               magrelVel = INPR ( relativeVelocity, collpair->normal );
+
+               // If v_n_mag < 0 the edges are approaching each other.
+               if ( magrelVel > ALMOST_ZERO )
+               {
+                       // Calculate Impulse magnitude to stop all motion in normal direction.
+                       float magtangent = 0, repulse = 0, d = 0;
+                       double impulse = 0.0;
+                       float vrel_t_pre[3];
+                       float temp[3], spf;
+                       
+                       zero_v3(pimpulse);
+                       
+                       // calculate tangential velocity
+                       VECCOPY ( temp, collpair->normal );
+                       mul_v3_fl( temp, magrelVel );
+                       VECSUB ( vrel_t_pre, relativeVelocity, temp );
+
+                       // Decrease in magnitude of relative tangential velocity due to coulomb friction
+                       // in original formula "magrelVel" should be the "change of relative velocity in normal direction"
+                       magtangent = MIN2 ( clmd->coll_parms->friction * 0.01 * magrelVel,sqrt ( INPR ( vrel_t_pre,vrel_t_pre ) ) );
+
+                       // Apply friction impulse.
+                       if ( magtangent > ALMOST_ZERO )
+                       {
+                               normalize_v3( vrel_t_pre );
+
+                               impulse = magtangent; 
+                               VECADDMUL ( pimpulse, vrel_t_pre, impulse);
+                       }
+
+                       // Apply velocity stopping impulse
+                       // I_c = m * v_N / 2.0
+                       // no 2.0 * magrelVel normally, but looks nicer DG
+                       impulse =  magrelVel;
+                       
+                       mul_v3_fl(collpair->normal, 0.5);
+                       VECADDMUL ( pimpulse, collpair->normal, impulse);
+
+                       // Apply repulse impulse if distance too short
+                       // I_r = -min(dt*kd, m(0,1d/dt - v_n))
+                       spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;
+
+                       d = collpair->distance;
+                       if ( ( magrelVel < 0.1*d*spf && ( d > ALMOST_ZERO ) ) )
+                       {
+                               repulse = MIN2 ( d*1.0/spf, 0.1*d*spf - magrelVel );
+
+                               // stay on the safe side and clamp repulse
+                               if ( impulse > ALMOST_ZERO )
+                                       repulse = MIN2 ( repulse, 5.0*impulse );
+                               repulse = MAX2 ( impulse, repulse );
+
+                               impulse = repulse / ( 5.0 ); // original 2.0 / 0.25
+                               VECADDMUL ( pimpulse, collpair->normal, impulse);
+                       }
+                       
+                       w2 = 1.0f-w1;
+                       if (w1 < 0.5)
+                               w1 *= 2.0;
+                       else
+                               w2 *= 2.0;
+                       
+                       VECADDFAC(cloth1->verts[collpair->ap1].impulse, cloth1->verts[collpair->ap1].impulse, pimpulse, w1*2.0);
+                       VECADDFAC(cloth1->verts[collpair->ap2].impulse, cloth1->verts[collpair->ap2].impulse, pimpulse, w2*2.0);
+                       
+                       cloth1->verts[collpair->ap1].impulse_count++;
+                       cloth1->verts[collpair->ap2].impulse_count++;
+                       
+                       result = 1;
+               }
+       } 
+       
+       return result;
+}
+
+static int cloth_collision_response_moving ( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
+{
+       int result = 0;
+       Cloth *cloth1;
+       float w1, w2, w3, u1, u2, u3;
+       float v1[3], v2[3], relativeVelocity[3];
+       float magrelVel;
+       float epsilon2 = BLI_bvhtree_getepsilon ( collmd->bvhtree );
+       
+       cloth1 = clmd->clothObject;
+
+       for ( ; collpair != collision_end; collpair++ )
+       {
+               if (collpair->flag & COLLISION_IS_EDGES)
+                       continue;
+               
+               if ( collpair->flag & COLLISION_USE_COLLFACE ) {
+                       // was: txold
+                       w1 = collpair->bary[0]; w2 = collpair->bary[1]; w3 = collpair->bary[2];                 
+
+                       // Calculate relative "velocity".
+                       collision_interpolateOnTriangle ( v1, collmd->current_v[collpair->bp1].co, collmd->current_v[collpair->bp2].co, collmd->current_v[collpair->bp3].co, w1, w2, w3);
+                       
+                       VECSUB ( relativeVelocity, v1, cloth1->verts[collpair->collp].tv);
+                       
+                       // Calculate the normal component of the relative velocity (actually only the magnitude - the direction is stored in 'normal').
+                       magrelVel = INPR ( relativeVelocity, collpair->normal );
+       
+                       // If v_n_mag < 0 the edges are approaching each other.
+                       if ( magrelVel > ALMOST_ZERO )
+                       {
+                               // Calculate Impulse magnitude to stop all motion in normal direction.
+                               float magtangent = 0, repulse = 0, d = 0;
+                               double impulse = 0.0;
+                               float vrel_t_pre[3];
+                               float temp[3], spf;
+       
+                               // calculate tangential velocity
+                               VECCOPY ( temp, collpair->normal );
+                               mul_v3_fl( temp, magrelVel );
+                               VECSUB ( vrel_t_pre, relativeVelocity, temp );
+       
+                               // Decrease in magnitude of relative tangential velocity due to coulomb friction
+                               // in original formula "magrelVel" should be the "change of relative velocity in normal direction"
+                               magtangent = MIN2 ( clmd->coll_parms->friction * 0.01 * magrelVel,sqrt ( INPR ( vrel_t_pre,vrel_t_pre ) ) );
+       
+                               // Apply friction impulse.
+                               if ( magtangent > ALMOST_ZERO )
+                               {
+                                       normalize_v3( vrel_t_pre );
+       
+                                       impulse = magtangent; // 2.0 * 
+                                       VECADDMUL ( cloth1->verts[collpair->collp].impulse, vrel_t_pre, impulse);
+                               }
+       
+                               // Apply velocity stopping impulse
+                               // I_c = m * v_N / 2.0
+                               // no 2.0 * magrelVel normally, but looks nicer DG
+                               impulse =  magrelVel/2.0;
+       
+                               VECADDMUL ( cloth1->verts[collpair->collp].impulse, collpair->normal, impulse);
+                               cloth1->verts[collpair->collp].impulse_count++;
+       
+                               // Apply repulse impulse if distance too short
+                               // I_r = -min(dt*kd, m(0,1d/dt - v_n))
+                               spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;
+       
+                               d = -collpair->distance;
+                               if ( ( magrelVel < 0.1*d*spf ) && ( d > ALMOST_ZERO ) )
+                               {
+                                       repulse = MIN2 ( d*1.0/spf, 0.1*d*spf - magrelVel );
+       
+                                       // stay on the safe side and clamp repulse
+                                       if ( impulse > ALMOST_ZERO )
+                                               repulse = MIN2 ( repulse, 5.0*impulse );
+                                       repulse = MAX2 ( impulse, repulse );
+       
+                                       impulse = repulse / ( 5.0 ); // original 2.0 / 0.25
+                                       VECADDMUL ( cloth1->verts[collpair->collp].impulse, collpair->normal, impulse);
+                               }
+       
+                               result = 1;
+                       }
+               } else {        
+                       w1 = collpair->bary[0]; w2 = collpair->bary[1]; w3 = collpair->bary[2];                 
+
+                       // Calculate relative "velocity".
+                       collision_interpolateOnTriangle ( v1, cloth1->verts[collpair->ap1].tv, cloth1->verts[collpair->ap2].tv, cloth1->verts[collpair->ap3].tv, w1, w2, w3 );
+       
+                       VECSUB ( relativeVelocity, collmd->current_v[collpair->collp].co, v1);
+                       
+                       // Calculate the normal component of the relative velocity (actually only the magnitude - the direction is stored in 'normal').
+                       magrelVel = INPR ( relativeVelocity, collpair->normal );
+       
+                       // If v_n_mag < 0 the edges are approaching each other.
+                       if ( magrelVel > ALMOST_ZERO )
+                       {
+                               // Calculate Impulse magnitude to stop all motion in normal direction.
+                               float magtangent = 0, repulse = 0, d = 0;
+                               double impulse = 0.0;
+                               float vrel_t_pre[3], pimpulse[3] = {0.0f, 0.0f, 0.0f};
+                               float temp[3], spf;
+       
+                               // calculate tangential velocity
+                               VECCOPY ( temp, collpair->normal );
+                               mul_v3_fl( temp, magrelVel );
+                               VECSUB ( vrel_t_pre, relativeVelocity, temp );
+       
+                               // Decrease in magnitude of relative tangential velocity due to coulomb friction
+                               // in original formula "magrelVel" should be the "change of relative velocity in normal direction"
+                               magtangent = MIN2 ( clmd->coll_parms->friction * 0.01 * magrelVel,sqrt ( INPR ( vrel_t_pre,vrel_t_pre ) ) );
+       
+                               // Apply friction impulse.
+                               if ( magtangent > ALMOST_ZERO )
+                               {
+                                       normalize_v3( vrel_t_pre );
+       
+                                       impulse = magtangent; // 2.0 * 
+                                       VECADDMUL ( pimpulse, vrel_t_pre, impulse);
+                               }
+       
+                               // Apply velocity stopping impulse
+                               // I_c = m * v_N / 2.0
+                               // no 2.0 * magrelVel normally, but looks nicer DG
+                               impulse =  magrelVel/2.0;
+       
+                               VECADDMUL ( pimpulse, collpair->normal, impulse);
+       
+                               // Apply repulse impulse if distance too short
+                               // I_r = -min(dt*kd, m(0,1d/dt - v_n))
+                               spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;
+       
+                               d = -collpair->distance;
+                               if ( ( magrelVel < 0.1*d*spf ) && ( d > ALMOST_ZERO ) )
+                               {
+                                       repulse = MIN2 ( d*1.0/spf, 0.1*d*spf - magrelVel );
+       
+                                       // stay on the safe side and clamp repulse
+                                       if ( impulse > ALMOST_ZERO )
+                                               repulse = MIN2 ( repulse, 5.0*impulse );
+                                       repulse = MAX2 ( impulse, repulse );
+       
+                                       impulse = repulse / ( 2.0 ); // original 2.0 / 0.25
+                                       VECADDMUL ( pimpulse, collpair->normal, impulse);
+                               }
+                               
+                               if (w1 < 0.5) w1 *= 2.0;
+                               if (w2 < 0.5) w2 *= 2.0;
+                               if (w3 < 0.5) w3 *= 2.0;
+                               
+                               VECADDMUL(cloth1->verts[collpair->ap1].impulse, pimpulse, w1*2.0);
+                               VECADDMUL(cloth1->verts[collpair->ap2].impulse, pimpulse, w2*2.0);
+                               VECADDMUL(cloth1->verts[collpair->ap3].impulse, pimpulse, w3*2.0);;
+                               cloth1->verts[collpair->ap1].impulse_count++;
+                               cloth1->verts[collpair->ap2].impulse_count++;
+                               cloth1->verts[collpair->ap3].impulse_count++;
+                               
+                               result = 1;
+                       }
+               }
+       } 
+       
+       return result;
+}
+
+
+typedef struct tripairkey {
+       int p, a1, a2, a3;
+} tripairkey;
+
+unsigned int tripair_hash(void *vkey)
+{
+       tripairkey *key = vkey;
+       int keys[4] = {key->p, key->a1, key->a2, key->a3};
+       int i, j;
+       
+       for (i=0; i<4; i++) {
+               for (j=0; j<3; j++) {
+                       if (keys[j] >= keys[j+1]) {
+                               SWAP(int, keys[j], keys[j+1]);
+                       }
+               }
+       }
+       
+       return keys[0]*101 + keys[1]*72 + keys[2]*53 + keys[3]*34;
+}
+
+int tripair_cmp(const void *va, const void *vb)
+{
+       tripairkey *a = va, *b = vb;
+       int keysa[4] = {a->p, a->a1, a->a2, a->a3};
+       int keysb[4] = {b->p, b->a1, b->a2, b->a3};
+       int i;
+       
+       for (i=0; i<4; i++) {
+               int j, ok=0;
+               for (j=0; j<4; j++) {
+                       if (keysa[i] == keysa[j]) {
+                               ok = 1;
+                               break;
+                       }
+               }
+               if (!ok)
+                       return -1;
+       }
+       
+       return 0;
+}
+
+static void get_tripairkey(tripairkey *key, int p, int a1, int a2, int a3)
+{
+       key->a1 = a1;
+       key->a2 = a2;
+       key->a3 = a3;
+       key->p = p;
+}
+
+static int checkvisit(MemArena *arena, GHash *gh, int p, int a1, int a2, int a3)
+{
+       tripairkey key, *key2;
+       
+       get_tripairkey(&key, p, a1, a2, a3);
+       if (BLI_ghash_haskey(gh, &key))
+               return 1;
+       
+       key2 = BLI_memarena_alloc(arena, sizeof(*key2));
+       *key2 = key;
+       BLI_ghash_insert(gh, key2, NULL);
+       
+       return 0;
+}
+
+int cloth_point_tri_moving_v3v3_f(float v1[2][3], int i1, float v2[2][3], int i2,
+                                   float v3[2][3],  int i3, float v4[2][3], int i4,
+                                   float normal[3], float bary[3], float *t, 
+                                                                  float *relnor, GHash *gh, MemArena *arena)
+{
+       if (checkvisit(arena, gh, i1, i2, i3, i4))
+               return 0;
+       
+       return eltopo_point_tri_moving_v3v3_f(v1, i1, v2, i2, v3, i3, v4, i4, normal, bary, t, relnor);
+}
+
+static CollPair* cloth_collision ( ModifierData *md1, ModifierData *md2, BVHTreeOverlap *overlap, 
+                                                                  CollPair *collpair, double dt, GHash *gh, MemArena *arena)
+{
+       ClothModifierData *clmd = ( ClothModifierData * ) md1;
+       CollisionModifierData *collmd = ( CollisionModifierData * ) md2;
+       MFace *face1=NULL, *face2 = NULL;
+       ClothVertex *verts1 = clmd->clothObject->verts;
+       double distance = 0;
+       float epsilon1 = clmd->coll_parms->epsilon;
+       float epsilon2 = BLI_bvhtree_getepsilon ( collmd->bvhtree );
+       float no[3], uv[3], t, relnor;
+       int i, i1, i2, i3, i4, i5, i6;
+       Cloth *cloth = clmd->clothObject;
+       float n1[3], sdis, p[3], l, n2[3], off[3], v1[2][3], v2[2][3], v3[2][3], v4[2][3], v5[2][3], v6[2][3];
+       int j, ret, bp1, bp2, bp3, ap1, ap2, ap3;
+       
+       face1 = & ( clmd->clothObject->mfaces[overlap->indexA] );
+       face2 = & ( collmd->mfaces[overlap->indexB] );
+
+       // check all 4 possible collisions
+       for ( i = 0; i < 4; i++ )
+       {
+               if ( i == 0 )
+               {
+                       // fill faceA
+                       ap1 = face1->v1;
+                       ap2 = face1->v2;
+                       ap3 = face1->v3;
+
+                       // fill faceB
+                       bp1 = face2->v1;
+                       bp2 = face2->v2;
+                       bp3 = face2->v3;
+               }
+               else if ( i == 1 )
+               {
+                       if ( face1->v4 )
+                       {
+                               // fill faceA
+                               ap1 = face1->v1;
+                               ap2 = face1->v3;
+                               ap3 = face1->v4;
+
+                               // fill faceB
+                               bp1 = face2->v1;
+                               bp2 = face2->v2;
+                               bp3 = face2->v3;
+                       }
+                       else {
+                               continue;
+                       }
+               }
+               if ( i == 2 )
+               {
+                       if ( face2->v4 )
+                       {
+                               // fill faceA
+                               ap1 = face1->v1;
+                               ap2 = face1->v2;
+                               ap3 = face1->v3;
+
+                               // fill faceB
+                               bp1 = face2->v1;
+                               bp2 = face2->v3;
+                               bp3 = face2->v4;
+                       }
+                       else {
+                               continue;
+                       }
+               }
+               else if ( i == 3 )
+               {
+                       if ( face1->v4 && face2->v4 )
+                       {
+                               // fill faceA
+                               ap1 = face1->v1;
+                               ap2 = face1->v3;
+                               ap3 = face1->v4;
+
+                               // fill faceB
+                               bp1 = face2->v1;
+                               bp2 = face2->v3;
+                               bp3 = face2->v4;
+                       }
+                       else {
+                               continue;
+                       }
+               }
+               
+               copy_v3_v3(v1[0], cloth->verts[ap1].txold); 
+               copy_v3_v3(v1[1], cloth->verts[ap1].tx);
+               copy_v3_v3(v2[0], cloth->verts[ap2].txold);
+               copy_v3_v3(v2[1], cloth->verts[ap2].tx);
+               copy_v3_v3(v3[0], cloth->verts[ap3].txold);
+               copy_v3_v3(v3[1], cloth->verts[ap3].tx);
+               
+               copy_v3_v3(v4[0], collmd->current_x[bp1].co);
+               copy_v3_v3(v4[1], collmd->current_xnew[bp1].co);
+               copy_v3_v3(v5[0], collmd->current_x[bp2].co);
+               copy_v3_v3(v5[1], collmd->current_xnew[bp2].co);
+               copy_v3_v3(v6[0], collmd->current_x[bp3].co);
+               copy_v3_v3(v6[1], collmd->current_xnew[bp3].co);
+               
+               normal_tri_v3(n2, v4[1], v5[1], v6[1]);
+               
+               sdis = clmd->coll_parms->distance_repel + epsilon2 + FLT_EPSILON;
+
+               /*apply a repulsion force, to help the solver along*/
+               copy_v3_v3(off, n2);
+               negate_v3(off);
+               if (isect_ray_plane_v3(v1[1], off, v4[1], v5[1], v6[1], &l, 0)) {
+                       if (l >= 0.0 && l < sdis) {
+                               mul_v3_fl(off, (l-sdis)*cloth->verts[ap1].mass*dt*clmd->coll_parms->repel_force*0.1);
+
+                               add_v3_v3(cloth->verts[ap1].tv, off);
+                               add_v3_v3(cloth->verts[ap2].tv, off);
+                               add_v3_v3(cloth->verts[ap3].tv, off);
+                       }
+               }
+
+               /*offset new positions a bit, to account for margins*/
+               copy_v3_v3(off, n2);
+               mul_v3_fl(off,  epsilon1 + epsilon2 + ALMOST_ZERO);
+               add_v3_v3(v4[1], off); add_v3_v3(v5[1], off); add_v3_v3(v6[1], off);
+               
+               i1 = ap1; i2 = ap2; i3 = ap3;
+               i4 = bp1+cloth->numverts; i5 = bp2+cloth->numverts; i6 = bp3+cloth->numverts;
+               
+               for (j=0; j<6; j++) {
+                       int collp;
+
+                       switch (j) {
+                       case 0:
+                               ret = cloth_point_tri_moving_v3v3_f(v1, i1, v4, i4, v5, i5, v6, i6, no, uv, &t, &relnor, gh, arena);
+                               collp = ap1;
+                               break;
+                       case 1:
+                               collp = ap2;
+                               ret = cloth_point_tri_moving_v3v3_f(v2, i2, v4, i4, v5, i5, v6, i6, no, uv, &t, &relnor, gh, arena);
+                               break;
+                       case 2:
+                               collp = ap3;
+                               ret = cloth_point_tri_moving_v3v3_f(v3, i3, v4, i4, v5, i5, v6, i6, no, uv, &t, &relnor, gh, arena);
+                               break;
+                       case 3:
+                               collp = bp1;
+                               ret = cloth_point_tri_moving_v3v3_f(v4, i4, v1, i1, v2, i2, v3, i3, no, uv, &t, &relnor, gh, arena);
+                               break;
+                       case 4:
+                               collp = bp2;                            
+                               ret = cloth_point_tri_moving_v3v3_f(v5, i5, v1, i1, v2, i2, v3, i3, no, uv, &t, &relnor, gh, arena);
+                               break;
+                       case 5:
+                               collp = bp3;
+                               ret = cloth_point_tri_moving_v3v3_f(v6, i6, v1, i1, v2, i2, v3, i3, no, uv, &t, &relnor, gh, arena);
+                               break;
+                       }
+                       
+                       /*cloth vert versus coll face*/
+                       if (ret && j < 3) {
+                               collpair->bp1 = bp1; collpair->bp2 = bp2; collpair->bp3 = bp3;
+                               collpair->collp = collp;
+                               
+                               copy_v3_v3(collpair->normal, no);
+                               mul_v3_v3fl(collpair->vector, collpair->normal, relnor);
+                               collpair->distance = relnor;
+                               collpair->time = t;
+                               
+                               copy_v3_v3(collpair->bary, uv);
+                               
+                               collpair->flag = COLLISION_USE_COLLFACE;
+                               collpair++;
+                       } else if (ret && j >= 3) { /*coll vert versus cloth face*/
+                               collpair->ap1 = ap1; collpair->ap2 = ap2; collpair->ap3 = ap3;
+                               collpair->collp = collp;
+                               
+                               copy_v3_v3(collpair->normal, no);
+                               mul_v3_v3fl(collpair->vector, collpair->normal, relnor);
+                               collpair->distance = relnor;
+                               collpair->time = t;
+                               
+                               copy_v3_v3(collpair->bary, uv);
+
+                               collpair->flag = 0;
+                               collpair++;
+                       }
+               }
+       }
+       
+       return collpair;
+}
+
+static void machine_epsilon_offset(Cloth *cloth) {
+       ClothVertex *cv;
+       int i, j;
+       
+       cv = cloth->verts;
+       for (i=0; i<cloth->numverts; i++, cv++) {
+               /*aggrevatingly enough, it's necassary to offset the coordinates
+                by a multiple of the 32-bit floating point epsilon when switching
+                into doubles*/
+               #define RNDSIGN (float)(-1*(BLI_rand()%2==0)|1)
+               for (j=0; j<3; j++) {
+                       cv->tx[j] += FLT_EPSILON*30.0f*RNDSIGN;
+                       cv->txold[j] += FLT_EPSILON*30.0f*RNDSIGN;
+                       cv->tv[j] += FLT_EPSILON*30.0f*RNDSIGN;
+               }               
+       }
+}
+
+#else
 
 //Determines collisions on overlap, collisions are written to collpair[i] and collision+number_collision_found is returned
-static CollPair* cloth_collision ( ModifierData *md1, ModifierData *md2, BVHTreeOverlap *overlap, CollPair *collpair )
+static CollPair* cloth_collision ( ModifierData *md1, ModifierData *md2, 
+       BVHTreeOverlap *overlap, CollPair *collpair, float dt )
 {
        ClothModifierData *clmd = ( ClothModifierData * ) md1;
        CollisionModifierData *collmd = ( CollisionModifierData * ) md2;
+       Cloth *cloth = clmd->clothObject;
        MFace *face1=NULL, *face2 = NULL;
 #ifdef USE_BULLET
        ClothVertex *verts1 = clmd->clothObject->verts;
@@ -614,6 +1408,7 @@ static CollPair* cloth_collision ( ModifierData *md1, ModifierData *md2, BVHTree
        double distance = 0;
        float epsilon1 = clmd->coll_parms->epsilon;
        float epsilon2 = BLI_bvhtree_getepsilon ( collmd->bvhtree );
+       float n2[3], sdis, l;
        int i;
 
        face1 = & ( clmd->clothObject->mfaces[overlap->indexA] );
@@ -685,7 +1480,28 @@ static CollPair* cloth_collision ( ModifierData *md1, ModifierData *md2, BVHTree
                        else
                                break;
                }
+               
+               normal_tri_v3(n2, collmd->current_xnew[collpair->bp1].co, 
+                       collmd->current_xnew[collpair->bp2].co, 
+                       collmd->current_xnew[collpair->bp3].co);
+               
+               sdis = clmd->coll_parms->distance_repel + epsilon2 + FLT_EPSILON;
+               
+               /*apply a repulsion force, to help the solver along.
+          this is kindof crude, it only tests one vert of the triangle*/
+               if (isect_ray_plane_v3(cloth->verts[collpair->ap1].tx, n2, collmd->current_xnew[collpair->bp1].co, 
+                       collmd->current_xnew[collpair->bp2].co,
+                       collmd->current_xnew[collpair->bp3].co, &l, 0))
+               {
+                       if (l >= 0.0 && l < sdis) {
+                               mul_v3_fl(n2, (l-sdis)*cloth->verts[collpair->ap1].mass*dt*clmd->coll_parms->repel_force*0.1);
 
+                               add_v3_v3(cloth->verts[collpair->ap1].tv, n2);
+                               add_v3_v3(cloth->verts[collpair->ap2].tv, n2);
+                               add_v3_v3(cloth->verts[collpair->ap3].tv, n2);
+                       }
+               }
+               
 #ifdef USE_BULLET
                // calc distance + normal
                distance = plNearestPoints (
@@ -741,6 +1557,8 @@ static CollPair* cloth_collision ( ModifierData *md1, ModifierData *md2, BVHTree
        }
        return collpair;
 }
+#endif
+
 
 #if 0
 static int cloth_collision_response_moving( ClothModifierData *clmd, CollisionModifierData *collmd, CollPair *collpair, CollPair *collision_end )
@@ -1446,17 +2264,45 @@ void free_collider_cache(ListBase **colliders)
        }
 }
 
-static void cloth_bvh_objcollisions_nearcheck ( ClothModifierData * clmd, CollisionModifierData *collmd, CollPair **collisions, CollPair **collisions_index, int numresult, BVHTreeOverlap *overlap)
+
+static void cloth_bvh_objcollisions_nearcheck ( ClothModifierData * clmd, CollisionModifierData *collmd,
+       CollPair **collisions, CollPair **collisions_index, int numresult, BVHTreeOverlap *overlap, double dt)
 {
        int i;
+#ifdef USE_ELTOPO
+       GHash *visithash = BLI_ghash_new(edgepair_hash, edgepair_cmp, "visthash, collision.c");
+       GHash *tri_visithash = BLI_ghash_new(tripair_hash, tripair_cmp, "tri_visthash, collision.c");
+       MemArena *arena = BLI_memarena_new(1<<16, "edge hash arena, collision.c");
+#endif
        
-       *collisions = ( CollPair* ) MEM_mallocN ( sizeof ( CollPair ) * numresult * 4, "collision array" ); //*4 since cloth_collision_static can return more than 1 collision
+       *collisions = ( CollPair* ) MEM_mallocN ( sizeof ( CollPair ) * numresult * 64, "collision array" ); //*4 since cloth_collision_static can return more than 1 collision
        *collisions_index = *collisions;
+       
+#ifdef USE_ELTOPO
+       machine_epsilon_offset(clmd->clothObject);
 
        for ( i = 0; i < numresult; i++ )
        {
-               *collisions_index = cloth_collision ( ( ModifierData * ) clmd, ( ModifierData * ) collmd, overlap+i, *collisions_index );
+               *collisions_index = cloth_collision ( ( ModifierData * ) clmd, ( ModifierData * ) collmd,
+                                                                                         overlap+i, *collisions_index, dt, tri_visithash, arena );
        }
+
+       for ( i = 0; i < numresult; i++ )
+       {
+               *collisions_index = cloth_edge_collision ( ( ModifierData * ) clmd, ( ModifierData * ) collmd,
+                                                                                                  overlap+i, *collisions_index, visithash, arena );
+       }
+       BLI_ghash_free(visithash, NULL, NULL);
+       BLI_ghash_free(tri_visithash, NULL, NULL);
+       BLI_memarena_free(arena);
+#else
+       for ( i = 0; i < numresult; i++ )
+       {
+               *collisions_index = cloth_collision ( ( ModifierData * ) clmd, ( ModifierData * ) collmd,
+                                                                                         overlap+i, *collisions_index, dt );
+       }
+#endif 
+
 }
 
 static int cloth_bvh_objcollisions_resolve ( ClothModifierData * clmd, CollisionModifierData *collmd, CollPair *collisions, CollPair *collisions_index)
@@ -1481,11 +2327,19 @@ static int cloth_bvh_objcollisions_resolve ( ClothModifierData * clmd, Collision
 
                if ( collmd->bvhtree )
                {
+#ifdef USE_ELTOPO
+                       result += cloth_collision_response_moving(clmd, collmd, collisions, collisions_index);
+                       result += cloth_edge_collision_response_moving(clmd, collmd, collisions, collisions_index);
+#else
                        result += cloth_collision_response_static ( clmd, collmd, collisions, collisions_index );
-
+#endif
+#ifdef USE_ELTOPO
+                       {
+#else
                        // apply impulses in parallel
                        if ( result )
                        {
+#endif
                                for ( i = 0; i < numverts; i++ )
                                {
                                        // calculate "velocities" (just xnew = xold + v; no dt in v)
@@ -1518,7 +2372,7 @@ int cloth_bvh_objcollision (Object *ob, ClothModifierData * clmd, float step, fl
 
        if ((clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_COLLOBJ) || cloth_bvh==NULL)
                return 0;
-
+       
        verts = cloth->verts;
        numfaces = cloth->numfaces;
        numverts = cloth->numverts;
@@ -1557,6 +2411,7 @@ int cloth_bvh_objcollision (Object *ob, ClothModifierData * clmd, float step, fl
                                continue;
                        
                        /* move object to position (step) in time */
+                       
                        collision_move_object ( collmd, step + dt, step );
                        
                        /* search for overlapping collision pairs */
@@ -1565,7 +2420,8 @@ int cloth_bvh_objcollision (Object *ob, ClothModifierData * clmd, float step, fl
                        // go to next object if no overlap is there
                        if( result && overlap ) {
                                /* check if collisions really happen (costly near check) */
-                               cloth_bvh_objcollisions_nearcheck ( clmd, collmd, &collisions[i], &collisions_index[i], result, overlap);
+                               cloth_bvh_objcollisions_nearcheck ( clmd, collmd, &collisions[i], 
+                                       &collisions_index[i], result, overlap, dt/(float)clmd->coll_parms->loop_count);
                        
                                // resolve nearby collisions
                                ret += cloth_bvh_objcollisions_resolve ( clmd, collmd, collisions[i],  collisions_index[i]);
@@ -1721,5 +2577,5 @@ int cloth_bvh_objcollision (Object *ob, ClothModifierData * clmd, float step, fl
        if(collobjs)
                MEM_freeN(collobjs);
 
-       return MIN2 ( ret, 1 );
+       return 1|MIN2 ( ret, 1 );
 }
index 7f0292b2f22a915917f64b73a6ddc1de77b546d0..c3a7b6b204d09bbc4c6e7ceb24c0cbe0da555324 100644 (file)
@@ -50,7 +50,7 @@
 #include "BKE_global.h"
 
 
-#define CLOTH_OPENMP_LIMIT 25
+#define CLOTH_OPENMP_LIMIT 512
 
 #ifdef _WIN32
 #include <windows.h>
@@ -939,7 +939,7 @@ static int  cg_filtered(lfVector *ldV, fmatrix3x3 *lA, lfVector *lB, lfVector *z
        s = dot_lfvector(r, r, numverts);
        starget = s * sqrt(conjgrad_epsilon);
 
-       while((s>starget && conjgrad_loopcount < conjgrad_looplimit))
+       while(s>starget && conjgrad_loopcount < conjgrad_looplimit)
        {       
                // Mul(q,A,d); // q = A*d;
                mul_bfmatrix_lfvector(q, lA, d);
@@ -1749,15 +1749,93 @@ static void simulate_implicit_euler(lfVector *Vnew, lfVector *UNUSED(lX), lfVect
        del_lfvector(dFdXmV);
 }
 
+/*computes where the cloth would be if it were subject to perfectly stiff edges
+  (edge distance constraints) in a lagrangian solver.  then add forces to help
+  guide the implicit solver to that state.  this function is called after
+  collisions*/
+int cloth_calc_helper_forces(Object *ob, ClothModifierData * clmd, float (*initial_cos)[3], float step, float dt)
+{
+       Cloth *cloth= clmd->clothObject;
+       float (*cos)[3] = MEM_callocN(sizeof(float)*3*cloth->numverts, "cos cloth_calc_helper_forces");
+       float *masses = MEM_callocN(sizeof(float)*cloth->numverts, "cos cloth_calc_helper_forces");
+       LinkNode *node;
+       ClothSpring *spring;
+       ClothVertex *cv;
+       int i, steps;
+       
+       cv = cloth->verts;
+       for (i=0; i<cloth->numverts; i++, cv++) {
+               copy_v3_v3(cos[i], cv->tx);
+               
+               if (cv->goal == 1.0f || len_v3v3(initial_cos[i], cv->tx) != 0.0) {
+                       masses[i] = 1e+10;      
+               } else {
+                       masses[i] = cv->mass;
+               }
+       }
+       
+       steps = 55;
+       for (i=0; i<steps; i++) {
+               for (node=cloth->springs; node; node=node->next) {
+                       ClothVertex *cv1, *cv2;
+                       int v1, v2;
+                       float len, c, l, vec[3];
+                       
+                       spring = node->link;
+                       if (spring->type != CLOTH_SPRING_TYPE_STRUCTURAL && spring->type != CLOTH_SPRING_TYPE_SHEAR) 
+                               continue;
+                       
+                       v1 = spring->ij; v2 = spring->kl;
+                       cv1 = cloth->verts + v1;
+                       cv2 = cloth->verts + v2;
+                       len = len_v3v3(cos[v1], cos[v2]);
+                       
+                       sub_v3_v3v3(vec, cos[v1], cos[v2]);
+                       normalize_v3(vec);
+                       
+                       c = (len - spring->restlen);
+                       if (c == 0.0)
+                               continue;
+                       
+                       l = c / ((1.0/masses[v1]) + (1.0/masses[v2]));
+                       
+                       mul_v3_fl(vec, -(1.0/masses[v1])*l);
+                       add_v3_v3(cos[v1], vec);
+       
+                       sub_v3_v3v3(vec, cos[v2], cos[v1]);
+                       normalize_v3(vec);
+                       
+                       mul_v3_fl(vec, -(1.0/masses[v2])*l);
+                       add_v3_v3(cos[v2], vec);
+               }
+       }
+       
+       cv = cloth->verts;
+       for (i=0; i<cloth->numverts; i++, cv++) {
+               float vec[3];
+               
+               /*compute forces*/
+               sub_v3_v3v3(vec, cos[i], cv->tx);
+               mul_v3_fl(vec, cv->mass*dt*20.0);
+               add_v3_v3(cv->tv, vec);
+               //copy_v3_v3(cv->tx, cos[i]);
+       }
+       
+       MEM_freeN(cos);
+       MEM_freeN(masses);
+       
+       return 1;
+}
 int implicit_solver (Object *ob, float frame, ClothModifierData *clmd, ListBase *effectors)
 {              
        unsigned int i=0;
        float step=0.0f, tf=clmd->sim_parms->timescale;
        Cloth *cloth = clmd->clothObject;
-       ClothVertex *verts = cloth->verts;
+       ClothVertex *verts = cloth->verts, *cv;
        unsigned int numverts = cloth->numverts;
        float dt = clmd->sim_parms->timescale / clmd->sim_parms->stepsPerFrame;
        float spf = (float)clmd->sim_parms->stepsPerFrame / clmd->sim_parms->timescale;
+       float (*initial_cos)[3] = MEM_callocN(sizeof(float)*3*cloth->numverts, "initial_cos implicit.c");
        Implicit_Data *id = cloth->implicit;
        int do_extra_solve;
 
@@ -1817,15 +1895,26 @@ int implicit_solver (Object *ob, float frame, ClothModifierData *clmd, ListBase
                                VECCOPY(verts[i].v, verts[i].tv);
                        }
 
+                       for (i=0, cv=cloth->verts; i<cloth->numverts; i++, cv++) {
+                               copy_v3_v3(initial_cos[i], cv->tx);
+                       }
+                       
                        // call collision function
                        // TODO: check if "step" or "step+dt" is correct - dg
                        do_extra_solve = cloth_bvh_objcollision(ob, clmd, step/clmd->sim_parms->timescale, dt/clmd->sim_parms->timescale);
-                       
+                                               
                        // copy corrected positions back to simulation
                        for(i = 0; i < numverts; i++)
                        {               
                                // correct velocity again, just to be sure we had to change it due to adaptive collisions
                                VECSUB(verts[i].tv, verts[i].tx, id->X[i]);
+                       }
+
+                       //if (do_extra_solve)
+                       //      cloth_calc_helper_forces(ob, clmd, initial_cos, step/clmd->sim_parms->timescale, dt/clmd->sim_parms->timescale);
+                       
+                       for(i = 0; i < numverts; i++)
+                       {               
 
                                if(do_extra_solve)
                                {
@@ -1886,6 +1975,8 @@ int implicit_solver (Object *ob, float frame, ClothModifierData *clmd, ListBase
                }
        }
        
+       MEM_freeN(initial_cos);
+       
        return 1;
 }
 
index 8937612b41bfdbfa55be686050deb52e9cc1580e..756d1501536a041b61ec7d3b67cfa886818a4d90 100644 (file)
@@ -91,6 +91,11 @@ int isect_line_line_v3(const float v1[3], const float v2[3],
 int isect_line_line_strict_v3(const float v1[3], const float v2[3],
        const float v3[3], const float v4[3], float vi[3], float *lambda);
 
+/*if clip is nonzero, will only return true if lambda is >= 0.0
+  (i.e. intersection point is along positive d)*/
+int isect_ray_plane_v3(float p1[3], float d[3], float v0[3], 
+                                          float v1[3], float v2[3], float *lambda, int clip);
+
 /* line/ray triangle */
 int isect_line_tri_v3(const float p1[3], const float p2[3],
        const float v0[3], const float v1[3], const float v2[3], float *lambda, float uv[2]);
index 4af56c66dde01e36c8fcee6f3d033912b4962410..afce5a602ed11ac8aa2971d3b28ee6d330638bf2 100644 (file)
@@ -486,7 +486,6 @@ int isect_line_tri_v3(const float p1[3], const float p2[3], const float v0[3], c
        
        return 1;
 }
-
 /* moved from effect.c
    test if the ray starting at p1 going in d direction intersects the triangle v0..v2
    return non zero if it does 
@@ -527,6 +526,35 @@ int isect_ray_tri_v3(const float p1[3], const float d[3], const float v0[3], con
        return 1;
 }
 
+int isect_ray_plane_v3(float p1[3], float d[3], float v0[3], float v1[3], float v2[3], float *lambda, int clip)
+{
+       float p[3], s[3], e1[3], e2[3], q[3];
+       float a, f, u, v;
+       
+       sub_v3_v3v3(e1, v1, v0);
+       sub_v3_v3v3(e2, v2, v0);
+       
+       cross_v3_v3v3(p, d, e2);
+       a = dot_v3v3(e1, p);
+       /* note: these values were 0.000001 in 2.4x but for projection snapping on
+        * a human head (1BU==1m), subsurf level 2, this gave many errors - campbell */
+       if ((a > -0.00000001f) && (a < 0.00000001f)) return 0;
+       f = 1.0f/a;
+       
+       sub_v3_v3v3(s, p1, v0);
+       
+       u = f * dot_v3v3(s, p);
+
+       cross_v3_v3v3(q, s, e1);
+       
+       v = f * dot_v3v3(d, q);
+
+       *lambda = f * dot_v3v3(e2, q);
+       if (clip && (*lambda < 0.0f)) return 0;
+
+       return 1;
+}
+
 int isect_ray_tri_epsilon_v3(const float p1[3], const float d[3], const float v0[3], const float v1[3], const float v2[3], float *lambda, float uv[2], const float epsilon)
 {
        float p[3], s[3], e1[3], e2[3], q[3];
index 1f78366287ff476a84ce6feeb6dccf246fdbacc5..b7a8f21d72413daefe4e7bea2f0d47e492a91ab5 100644 (file)
@@ -96,6 +96,7 @@ typedef struct ClothCollSettings
        float   self_friction;          /* Fiction/damping with self contact.                   */
        float   friction;               /* Friction/damping applied on contact with other object.*/
        float   selfepsilon;            /* for selfcollision */
+       float repel_force, distance_repel;
        int     flags;                  /* collision flags defined in BKE_cloth.h */
        short   self_loop_count;        /* How many iterations for the selfcollision loop       */
        short   loop_count;             /* How many iterations for the collision loop.          */
index a7f308742ac5ed4956c61302466b103118ccd038..afd30433c5d3ef06d23d05fcc9daed30aab21c4a 100644 (file)
@@ -428,6 +428,20 @@ static void rna_def_cloth_collision_settings(BlenderRNA *brna)
        RNA_def_property_boolean_sdna(prop, NULL, "flags", CLOTH_COLLSETTINGS_FLAG_ENABLED);
        RNA_def_property_ui_text(prop, "Enable Collision", "Enable collisions with other objects");
        RNA_def_property_update(prop, 0, "rna_cloth_update");
+
+       prop= RNA_def_property(srna, "repel_force", PROP_FLOAT, PROP_NONE);
+       RNA_def_property_float_sdna(prop, NULL, "repel_force");
+       RNA_def_property_range(prop, 0.0f, 20.0f);
+       RNA_def_property_float_default(prop, 1.0f);
+       RNA_def_property_ui_text(prop, "Repulsion Force", "Repulsion force to apply on cloth when close to colliding");
+       RNA_def_property_update(prop, 0, "rna_cloth_update");
+
+       prop= RNA_def_property(srna, "distance_repel", PROP_FLOAT, PROP_NONE);
+       RNA_def_property_float_sdna(prop, NULL, "distance_repel");
+       RNA_def_property_range(prop, 0.001f, 10.0f);
+       RNA_def_property_float_default(prop, 0.005f);
+       RNA_def_property_ui_text(prop, "Repulsion Distance", "Maximum distance to apply repulsion force, must be greater then minimum distance");
+       RNA_def_property_update(prop, 0, "rna_cloth_update");
        
        prop= RNA_def_property(srna, "distance_min", PROP_FLOAT, PROP_NONE);
        RNA_def_property_float_sdna(prop, NULL, "epsilon");
index d1f5cddc981b06ae0d8cc2211264227033703ba2..d8114ce9537a271121e526165d0276b875e586fa 100644 (file)
@@ -816,6 +816,10 @@ endif()
                bf_intern_mikktspace
        )
 
+    if(WITH_ELTOPO)
+               list(APPEND BLENDER_SORTED_LIBS extern_eltopo)
+    endif()
+
     if(WITH_BUILTIN_GLEW)
                list(APPEND BLENDER_SORTED_LIBS extern_glew)
     endif()