=cloth collisions=
authorJoseph Eagar <joeedh@gmail.com>
Sat, 9 Apr 2011 23:19:11 +0000 (23:19 +0000)
committerJoseph Eagar <joeedh@gmail.com>
Sat, 9 Apr 2011 23:19:11 +0000 (23:19 +0000)
Plugged the eltopo library into the cloth solver.
I was playing with it earlier, and it's so easy to
use I decided to quickly put it in (trunk's) cloth.

See http://www.cs.ubc.ca/labs/imager/tr/2009/eltopo/eltopo.html
.  The authors are on the bleeding edge of continuous collision
detection (one of them did ILM's cloth sim).
I
don't really have to time to plug it into softbody, particles,
bullet, fluid, etc, but doing so would be pretty straightforward.
I'll leave that up to someone else.

To use, turn on USE_ELTOPO (in cmake) or WITH_BF_ELTOPO in scons.

build_files/cmake/FindPythonLibsUnix.cmake
build_files/scons/tools/btools.py
extern/CMakeLists.txt
extern/SConscript
source/blender/blenkernel/BKE_collision.h
source/blender/blenkernel/CMakeLists.txt
source/blender/blenkernel/SConscript
source/blender/blenkernel/intern/collision.c
source/blenderplayer/CMakeLists.txt
source/creator/CMakeLists.txt

index 0752de4ce3cd18a93514b2c029ab62bf2e5946cb..4c79edb07b8886e72e964bde1a9de7cf11ec872b 100644 (file)
@@ -4,7 +4,7 @@
 #  PYTHON_INCLUDE_DIRS
 #  PYTHON_LIBRARY
 #  PYTHON_LIBPATH
-#  PYTHON_LINKFLAGS
+#  PYTHON_LINKFLAGSPYTHON
 
 #=============================================================================
 
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 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 aaa596862c5040daac85dbeaed39335130e9d5a5..0a2aaffa3d103345dfa6a0097d0f8b36e9c93351 100644 (file)
@@ -140,7 +140,7 @@ set(SRC
        intern/writeavi.c
        intern/writeffmpeg.c
        intern/writeframeserver.c
-
+       
        BKE_DerivedMesh.h
        BKE_action.h
        BKE_anim.h
@@ -235,6 +235,11 @@ 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 88b6ca296c7747ebd3f37f5cf580a8eb86486bca..a5f07f56d3661a8daa0cd83504613ecbe1be5952 100644 (file)
@@ -48,6 +48,8 @@
 #include "BLI_math.h"
 #include "BLI_edgehash.h"
 #include "BLI_utildefines.h"
+#include "BLI_ghash.h"
+#include "BLI_memarena.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 +492,7 @@ 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;
@@ -601,6 +607,662 @@ 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*/
+               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; 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++) {
+                               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);
+
+                               ret = eltopo_line_line_moving_isect_v3v3_f(verts[j], table[j], verts[j2], table[j2], 
+                                                                                                                  verts[k+3], table[k+3], verts[k2+3], table[k2+3], 
+                                                                                                                  no, uv, &t, &relnor);
+                               
+                               /*cloth vert versus coll face*/
+                               if (ret && dot_v3v3(n2, no) > 0.0) {
+                                       collpair->ap1 = table[j]; collpair->ap2 = table[j2]; 
+                                       collpair->bp1 = table[k+3]; collpair->bp2 = table[k2+3];
+                                       
+                                       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; // 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;
+
+                       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;
+}
+
+static CollPair* cloth_collision ( ModifierData *md1, ModifierData *md2, BVHTreeOverlap *overlap, 
+                                                                  CollPair *collpair)
+{
+       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], 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]);
+
+               /*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; i5 = bp2; i6 = bp3;
+               
+               for (j=0; j<6; j++) {
+                       int collp;
+
+                       switch (j) {
+                       case 0:
+                               ret = eltopo_point_tri_moving_v3v3_f(v1, i1, v4, i4, v5, i5, v6, i6, no, uv, &t, &relnor);
+                               collp = ap1;
+                               break;
+                       case 1:
+                               collp = ap2;
+                               ret = eltopo_point_tri_moving_v3v3_f(v2, i2, v4, i4, v5, i5, v6, i6, no, uv, &t, &relnor);
+                               break;
+                       case 2:
+                               collp = ap3;
+                               ret = eltopo_point_tri_moving_v3v3_f(v3, i3, v4, i4, v5, i5, v6, i6, no, uv, &t, &relnor);
+                               break;
+                       case 3:
+                               collp = bp1;
+                               ret = eltopo_point_tri_moving_v3v3_f(v4, i4, v1, i1, v2, i2, v3, i3, no, uv, &t, &relnor);
+                               break;
+                       case 4:
+                               collp = bp2;                            
+                               ret = eltopo_point_tri_moving_v3v3_f(v5, i5, v1, i1, v2, i2, v3, i3, no, uv, &t, &relnor);
+                               break;
+                       case 5:
+                               collp = bp3;
+                               ret = eltopo_point_tri_moving_v3v3_f(v6, i6, v1, i1, v2, i2, v3, i3, no, uv, &t, &relnor);
+                               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;
+}
+#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 )
@@ -741,6 +1403,8 @@ 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 +2110,32 @@ 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)
 {
        int i;
+#ifdef USE_ELTOPO
+       GHash *visithash = BLI_ghash_new(edgepair_hash, edgepair_cmp, "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;
 
        for ( i = 0; i < numresult; i++ )
        {
                *collisions_index = cloth_collision ( ( ModifierData * ) clmd, ( ModifierData * ) collmd, overlap+i, *collisions_index );
        }
+
+#ifdef USE_ELTOPO
+       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_memarena_free(arena);
+#endif 
 }
 
 static int cloth_bvh_objcollisions_resolve ( ClothModifierData * clmd, CollisionModifierData *collmd, CollPair *collisions, CollPair *collisions_index)
@@ -1481,8 +2160,12 @@ 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
                        // apply impulses in parallel
                        if ( result )
                        {
@@ -1557,6 +2240,7 @@ 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 */
index d48228407cb42b4dcaaa1a84dd951a9816576248..eba394bcce60c76051405d5d566c835eaf23c20c 100644 (file)
@@ -128,6 +128,10 @@ if(UNIX)
                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()
index 2a21755b5142c45c4cb385c8bd7f81456e96c39b..1ddab5992fd1e45027aeb6663c3f51bd5f2efbb4 100644 (file)
@@ -789,6 +789,10 @@ 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()