Merged 15170:15635 from trunk (no conflicts or even merges)
[blender.git] / source / blender / blenkernel / intern / collision.c
index 7f41ca033d330183c749c42f6a2fa83de57fcda1..26c5d186d8703b995d22aca66ccd1ede9d293ece 100644 (file)
@@ -541,7 +541,7 @@ int cloth_collision_response_static ( ClothModifierData *clmd, CollisionModifier
                        {
                                Normalize ( vrel_t_pre );
 
-                               impulse = 2.0 * magtangent / ( 1.0 + w1*w1 + w2*w2 + w3*w3 );
+                               impulse = magtangent / ( 1.0 + w1*w1 + w2*w2 + w3*w3 ); // 2.0 * 
                                VECADDMUL ( cloth1->verts[collpair->ap1].impulse, vrel_t_pre, w1 * impulse );
                                VECADDMUL ( cloth1->verts[collpair->ap2].impulse, vrel_t_pre, w2 * impulse );
                                VECADDMUL ( cloth1->verts[collpair->ap3].impulse, vrel_t_pre, w3 * impulse );
@@ -1291,52 +1291,223 @@ int cloth_collision_moving ( ClothModifierData *clmd, CollisionModifierData *col
        return 1;
 }
 
-int cloth_bvh_objcollisions_do ( ClothModifierData * clmd, CollisionModifierData *collmd, float step, float dt )
-{
+int cloth_do_selfcollisions(ClothModifierData * clmd)
+{      
+       int ret2 = 0, l;
        Cloth *cloth = clmd->clothObject;
-       BVHTree *cloth_bvh= ( BVHTree * ) cloth->bvhtree;
-       long i=0, j = 0, numfaces = 0, numverts = 0;
-       ClothVertex *verts = NULL;
-       CollPair *collisions = NULL, *collisions_index = NULL;
-       int ret = 0;
-       int result = 0;
-       float tnull[3] = {0,0,0};
-       BVHTreeOverlap *overlap = NULL;
-
-
-       numfaces = clmd->clothObject->numfaces;
-       numverts = clmd->clothObject->numverts;
-
-       verts = cloth->verts;
+       
+       if ( clmd->clothObject->bvhselftree )
+       {
+               for(l = 0; l < clmd->coll_parms->self_loop_count; l++)
+               {
+                       BVHTreeOverlap *overlap = NULL;
+                       ClothVertex *verts = clmd->clothObject->verts; // needed for openMP
+                       int k;
+                       int ret = 0, result = 0;
+                       
+                       // search for overlapping collision pairs 
+                       overlap = BLI_bvhtree_overlap ( cloth->bvhselftree, cloth->bvhselftree, &result );
+       
+// #pragma omp parallel for private(k, i, j) schedule(static)
+                       for ( k = 0; k < result; k++ )
+                       {
+                               float temp[3];
+                               float length = 0;
+                               float mindistance;
+                               int i, j;
+       
+                               i = overlap[k].indexA;
+                               j = overlap[k].indexB;
+       
+                               mindistance = clmd->coll_parms->selfepsilon* ( cloth->verts[i].avg_spring_len + cloth->verts[j].avg_spring_len );
+       
+                               if ( clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL )
+                               {
+                                       if ( ( cloth->verts [i].flags & CLOTH_VERT_FLAG_PINNED )
+                                       && ( cloth->verts [j].flags & CLOTH_VERT_FLAG_PINNED ) )
+                                       {
+                                               continue;
+                                       }
+                               }
+       
+                               VECSUB ( temp, verts[i].tx, verts[j].tx );
+       
+                               if ( ( ABS ( temp[0] ) > mindistance ) || ( ABS ( temp[1] ) > mindistance ) || ( ABS ( temp[2] ) > mindistance ) ) continue;
+       
+                               // check for adjacent points (i must be smaller j)
+                               if ( BLI_edgehash_haskey ( cloth->edgehash, MIN2(i, j), MAX2(i, j) ) )
+                               {
+                                       continue;
+                               }
+       
+                               length = Normalize ( temp );
+       
+                               if ( length < mindistance )
+                               {
+                                       float correction = mindistance - length;
+       
+                                       if ( cloth->verts [i].flags & CLOTH_VERT_FLAG_PINNED )
+                                       {
+                                               VecMulf ( temp, -correction );
+                                               VECADD ( verts[j].tx, verts[j].tx, temp );
+                                       }
+                                       else if ( cloth->verts [j].flags & CLOTH_VERT_FLAG_PINNED )
+                                       {
+                                               VecMulf ( temp, correction );
+                                               VECADD ( verts[i].tx, verts[i].tx, temp );
+                                       }
+                                       else
+                                       {
+                                               VecMulf ( temp, -correction*0.5 );
+                                               VECADD ( verts[j].tx, verts[j].tx, temp );
+       
+                                               VECSUB ( verts[i].tx, verts[i].tx, temp );
+                                       }
+                                       ret = 1;
+                                       ret2 += ret;
+                               }
+                               else
+                               {
+                                       // check for approximated time collisions
+                               }
+                       }
+       
+                       if ( overlap )
+                               MEM_freeN ( overlap );
+               
+                       if(!ret)
+                               break;
+                       
+               }
+               ////////////////////////////////////////////////////////////
+       
+               ////////////////////////////////////////////////////////////
+               // SELFCOLLISIONS: update velocities
+               ////////////////////////////////////////////////////////////
+               if ( ret2 )
+               {
+                       int i; 
+                       ClothVertex *verts = clmd->clothObject->verts; // needed for openMP
+                       
+                       for ( i = 0; i < cloth->numverts; i++ )
+                       {
+                               if ( ! ( verts [i].flags & CLOTH_VERT_FLAG_PINNED ) )
+                               {
+                                       VECSUB ( verts[i].tv, verts[i].tx, verts[i].txold );
+                               }
+                       }
+               }
+               ////////////////////////////////////////////////////////////
+       }
+       return ret2;
+}
 
-       if ( collmd->bvhtree )
+// return all collision objects in scene
+// collision object will exclude self 
+CollisionModifierData **get_collisionobjects(Object *self, int *numcollobj)
+{
+       Base *base=NULL;
+       CollisionModifierData **objs = NULL;
+       Object *coll_ob = NULL;
+       CollisionModifierData *collmd = NULL;
+       int numobj = 0, maxobj = 100;
+       
+       objs = MEM_callocN(sizeof(CollisionModifierData *)*maxobj, "CollisionObjectsArray");
+       // check all collision objects
+       for ( base = G.scene->base.first; base; base = base->next )
        {
-               /* get pointer to bounding volume hierarchy */
-               BVHTree *coll_bvh = collmd->bvhtree;
+               coll_ob = base->object;
+               collmd = ( CollisionModifierData * ) modifiers_findByType ( coll_ob, eModifierType_Collision );
+       
+               if ( !collmd )
+               {
+                       if ( coll_ob->dup_group )
+                       {
+                               GroupObject *go;
+                               Group *group = coll_ob->dup_group;
 
-               /* move object to position (step) in time */
-               collision_move_object ( collmd, step + dt, step );
+                               for ( go= group->gobject.first; go; go= go->next )
+                               {
+                                       coll_ob = go->ob;
 
-               /* search for overlapping collision pairs */
-               overlap = BLI_bvhtree_overlap ( cloth_bvh, coll_bvh, &result );
+                                       collmd = ( CollisionModifierData * ) modifiers_findByType ( coll_ob, eModifierType_Collision );
 
-               collisions = ( CollPair* ) MEM_mallocN ( sizeof ( CollPair ) * result*4, "collision array" ); //*4 since cloth_collision_static can return more than 1 collision
-               collisions_index = collisions;
+                                       if ( !collmd )
+                                               continue;
 
-               for ( i = 0; i < result; i++ )
-               {
-                       collisions_index = cloth_collision ( ( ModifierData * ) clmd, ( ModifierData * ) collmd, overlap+i, collisions_index );
-               }
+                                       if(coll_ob == self)
+                                               continue;
 
-               if ( overlap )
-                       MEM_freeN ( overlap );
+                                       if(numobj >= maxobj)
+                                       {
+                                               // realloc
+                                               int oldmax = maxobj;
+                                               CollisionModifierData **tmp;
+                                               maxobj *= 2;
+                                               tmp = MEM_callocN(sizeof(CollisionModifierData *)*maxobj, "CollisionObjectsArray");
+                                               memcpy(tmp, objs, sizeof(CollisionModifierData *)*oldmax);
+                                               MEM_freeN(objs);
+                                               objs = tmp;
+                                       }
+                                       
+                                       objs[numobj] = collmd;
+                                       numobj++;
+                               }
+                       }
+               }
+               else
+               {
+                       if(coll_ob == self)
+                               continue;
+                       
+                       if(numobj >= maxobj)
+                       {
+                               // realloc
+                               int oldmax = maxobj;
+                               CollisionModifierData **tmp;
+                               maxobj *= 2;
+                               tmp = MEM_callocN(sizeof(CollisionModifierData *)*maxobj, "CollisionObjectsArray");
+                               memcpy(tmp, objs, sizeof(CollisionModifierData *)*oldmax);
+                               MEM_freeN(objs);
+                               objs = tmp;
+                               
+                       }
+                       
+                       objs[numobj] = collmd;
+                       numobj++;
+               }       
        }
-       else
+       *numcollobj = numobj;
+       return objs;
+}
+
+void cloth_bvh_objcollisions_nearcheck ( ClothModifierData * clmd, CollisionModifierData *collmd, CollPair **collisions, CollPair **collisions_index, int numresult, BVHTreeOverlap *overlap)
+{
+       int i;
+       
+       *collisions = ( CollPair* ) MEM_mallocN ( sizeof ( CollPair ) * numresult * 4, "collision array" ); //*4 since cloth_collision_static can return more than 1 collision
+       *collisions_index = *collisions;
+
+       for ( i = 0; i < numresult; i++ )
        {
-               if ( G.rt > 0 )
-                       printf ( "cloth_bvh_objcollision: found a collision object with clothObject or collData NULL.\n" );
+               *collisions_index = cloth_collision ( ( ModifierData * ) clmd, ( ModifierData * ) collmd, overlap+i, *collisions_index );
        }
+}
 
+int cloth_bvh_objcollisions_resolve ( ClothModifierData * clmd, CollisionModifierData *collmd, CollPair *collisions, CollPair *collisions_index)
+{
+       Cloth *cloth = clmd->clothObject;
+       int i=0, j = 0, numfaces = 0, numverts = 0;
+       ClothVertex *verts = NULL;
+       int ret = 0;
+       int result = 0;
+       float tnull[3] = {0,0,0};
+       
+       numfaces = clmd->clothObject->numfaces;
+       numverts = clmd->clothObject->numverts;
+       verts = cloth->verts;
+       
        // process all collisions (calculate impulses, TODO: also repulses if distance too short)
        result = 1;
        for ( j = 0; j < 5; j++ ) // 5 is just a value that ensures convergence
@@ -1363,48 +1534,22 @@ int cloth_bvh_objcollisions_do ( ClothModifierData * clmd, CollisionModifierData
                                        }
                                }
                        }
-/*
-                       result += cloth_collision_moving ( clmd, collmd, collisions, collisions_index );
-
-                       // apply impulses in parallel
-                       if ( result )
-                       {
-                               for ( i = 0; i < numverts; i++ )
-                               {
-                                       // calculate "velocities" (just xnew = xold + v; no dt in v)
-                                       if ( verts[i].impulse_count )
-                                       {
-                                               VECADDMUL ( verts[i].tv, verts[i].impulse, 1.0f / verts[i].impulse_count );
-                                               VECCOPY ( verts[i].impulse, tnull );
-                                               verts[i].impulse_count = 0;
-
-                                               ret++;
-                                       }
-                               }
-                       }
-*/
                }
        }
-
-       if ( collisions ) MEM_freeN ( collisions );
-
        return ret;
 }
 
 // cloth - object collisions
-int cloth_bvh_objcollision ( ClothModifierData * clmd, float step, float dt )
+int cloth_bvh_objcollision ( Object *ob, ClothModifierData * clmd, float step, float dt )
 {
-       Base *base=NULL;
-       CollisionModifierData *collmd=NULL;
        Cloth *cloth=NULL;
-       Object *coll_ob=NULL;
        BVHTree *cloth_bvh=NULL;
-       long i=0, j = 0, k = 0, l = 0, numfaces = 0, numverts = 0;
-       int result = 0, rounds = 0; // result counts applied collisions; ic is for debug output;
+       long i=0, numfaces = 0, numverts = 0;
+       int rounds = 0; // result counts applied collisions; ic is for debug output;
        ClothVertex *verts = NULL;
        int ret = 0, ret2 = 0;
-       ClothModifierData *tclmd;
-       int collisions = 0;
+       CollisionModifierData **collobjs = NULL;
+       int numcollobj = 0;
 
        if ( ( clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_COLLOBJ ) || ! ( ( ( Cloth * ) clmd->clothObject )->bvhtree ) )
        {
@@ -1424,54 +1569,61 @@ int cloth_bvh_objcollision ( ClothModifierData * clmd, float step, float dt )
        // update cloth bvh
        bvhtree_update_from_cloth ( clmd, 1 ); // 0 means STATIC, 1 means MOVING (see later in this function)
        bvhselftree_update_from_cloth ( clmd, 0 ); // 0 means STATIC, 1 means MOVING (see later in this function)
+       
+       collobjs = get_collisionobjects(ob, &numcollobj);
+       
+       if(!collobjs)
+               return 0;
 
        do
        {
-               result = 0;
+               CollPair **collisions, **collisions_index;
+               
                ret2 = 0;
 
+               collisions = MEM_callocN(sizeof(CollPair *) *numcollobj , "CollPair");
+               collisions_index = MEM_callocN(sizeof(CollPair *) *numcollobj , "CollPair");
+               
                // check all collision objects
-               for ( base = G.scene->base.first; base; base = base->next )
+               for(i = 0; i < numcollobj; i++)
                {
-                       coll_ob = base->object;
-                       collmd = ( CollisionModifierData * ) modifiers_findByType ( coll_ob, eModifierType_Collision );
-
-                       if ( !collmd )
-                       {
-                               if ( coll_ob->dup_group )
-                               {
-                                       GroupObject *go;
-                                       Group *group = coll_ob->dup_group;
-
-                                       for ( go= group->gobject.first; go; go= go->next )
-                                       {
-                                               coll_ob = go->ob;
-
-                                               collmd = ( CollisionModifierData * ) modifiers_findByType ( coll_ob, eModifierType_Collision );
-
-                                               if ( !collmd )
-                                                       continue;
-
-                                               tclmd = ( ClothModifierData * ) modifiers_findByType ( coll_ob, eModifierType_Cloth );
-                                               if ( tclmd == clmd )
-                                                       continue;
-
-                                               ret += cloth_bvh_objcollisions_do ( clmd, collmd, step, dt );
-                                               ret2 += ret;
-                                       }
-                               }
-                       }
-                       else
+                       CollisionModifierData *collmd = collobjs[i];
+                       BVHTreeOverlap *overlap = NULL;
+                       int result = 0;
+                       
+                       /* move object to position (step) in time */
+                       collision_move_object ( collmd, step + dt, step );
+                       
+                       /* search for overlapping collision pairs */
+                       overlap = BLI_bvhtree_overlap ( cloth_bvh, collmd->bvhtree, &result );
+                               
+                       // go to next object if no overlap is there
+                       if(!result || !overlap)
                        {
-                               tclmd = ( ClothModifierData * ) modifiers_findByType ( coll_ob, eModifierType_Cloth );
-                               if ( tclmd == clmd )
-                                       continue;
-
-                               ret += cloth_bvh_objcollisions_do ( clmd, collmd, step, dt );
-                               ret2 += ret;
+                               if ( overlap )
+                                       MEM_freeN ( overlap );
+                               continue;
                        }
+                       
+                       /* check if collisions really happen (costly near check) */
+                       cloth_bvh_objcollisions_nearcheck ( clmd, collmd, &collisions[i], &collisions_index[i], result, overlap);
+                       
+                       // resolve nearby collisions
+                       ret += cloth_bvh_objcollisions_resolve ( clmd, collmd, collisions[i],  collisions_index[i]);
+                       ret2 += ret;
+                       
+                       if ( overlap )
+                               MEM_freeN ( overlap );
                }
                rounds++;
+               
+               for(i = 0; i < numcollobj; i++)
+               {
+                       if ( collisions[i] ) MEM_freeN ( collisions[i] );
+               }
+                       
+               MEM_freeN(collisions);
+               MEM_freeN(collisions_index);
 
                ////////////////////////////////////////////////////////////
                // update positions
@@ -1493,117 +1645,20 @@ int cloth_bvh_objcollision ( ClothModifierData * clmd, float step, float dt )
                }
                ////////////////////////////////////////////////////////////
 
-
+               
                ////////////////////////////////////////////////////////////
                // Test on *simple* selfcollisions
                ////////////////////////////////////////////////////////////
                if ( clmd->coll_parms->flags & CLOTH_COLLSETTINGS_FLAG_SELF )
                {
-                       for(l = 0; l < clmd->coll_parms->self_loop_count; l++)
-                       {
-                               // TODO: add coll quality rounds again
-                               BVHTreeOverlap *overlap = NULL;
-       
-                               collisions = 1;
-                               verts = cloth->verts; // needed for openMP
-       
-                               numfaces = clmd->clothObject->numfaces;
-                               numverts = clmd->clothObject->numverts;
-       
-                               verts = cloth->verts;
-       
-                               if ( cloth->bvhselftree )
-                               {
-                                       // search for overlapping collision pairs 
-                                       overlap = BLI_bvhtree_overlap ( cloth->bvhselftree, cloth->bvhselftree, &result );
-       
-       // #pragma omp parallel for private(k, i, j) schedule(static)
-                                       for ( k = 0; k < result; k++ )
-                                       {
-                                               float temp[3];
-                                               float length = 0;
-                                               float mindistance;
-       
-                                               i = overlap[k].indexA;
-                                               j = overlap[k].indexB;
-       
-                                               mindistance = clmd->coll_parms->selfepsilon* ( cloth->verts[i].avg_spring_len + cloth->verts[j].avg_spring_len );
-       
-                                               if ( clmd->sim_parms->flags & CLOTH_SIMSETTINGS_FLAG_GOAL )
-                                               {
-                                                       if ( ( cloth->verts [i].flags & CLOTH_VERT_FLAG_PINNED )
-                                                               && ( cloth->verts [j].flags & CLOTH_VERT_FLAG_PINNED ) )
-                                                       {
-                                                               continue;
-                                                       }
-                                               }
-       
-                                               VECSUB ( temp, verts[i].tx, verts[j].tx );
-       
-                                               if ( ( ABS ( temp[0] ) > mindistance ) || ( ABS ( temp[1] ) > mindistance ) || ( ABS ( temp[2] ) > mindistance ) ) continue;
-       
-                                               // check for adjacent points (i must be smaller j)
-                                               if ( BLI_edgehash_haskey ( cloth->edgehash, MIN2(i, j), MAX2(i, j) ) )
-                                               {
-                                                       continue;
-                                               }
-       
-                                               length = Normalize ( temp );
-       
-                                               if ( length < mindistance )
-                                               {
-                                                       float correction = mindistance - length;
-       
-                                                       if ( cloth->verts [i].flags & CLOTH_VERT_FLAG_PINNED )
-                                                       {
-                                                               VecMulf ( temp, -correction );
-                                                               VECADD ( verts[j].tx, verts[j].tx, temp );
-                                                       }
-                                                       else if ( cloth->verts [j].flags & CLOTH_VERT_FLAG_PINNED )
-                                                       {
-                                                               VecMulf ( temp, correction );
-                                                               VECADD ( verts[i].tx, verts[i].tx, temp );
-                                                       }
-                                                       else
-                                                       {
-                                                               VecMulf ( temp, -correction*0.5 );
-                                                               VECADD ( verts[j].tx, verts[j].tx, temp );
-       
-                                                               VECSUB ( verts[i].tx, verts[i].tx, temp );
-                                                       }
-                                                       ret = 1;
-                                                       ret2 += ret;
-                                               }
-                                               else
-                                               {
-                                                       // check for approximated time collisions
-                                               }
-                                       }
-       
-                                       if ( overlap )
-                                               MEM_freeN ( overlap );
-       
-                               }
-                       }
-                       ////////////////////////////////////////////////////////////
-
-                       ////////////////////////////////////////////////////////////
-                       // SELFCOLLISIONS: update velocities
-                       ////////////////////////////////////////////////////////////
-                       if ( ret2 )
-                       {
-                               for ( i = 0; i < cloth->numverts; i++ )
-                               {
-                                       if ( ! ( verts [i].flags & CLOTH_VERT_FLAG_PINNED ) )
-                                       {
-                                               VECSUB ( verts[i].tv, verts[i].tx, verts[i].txold );
-                                       }
-                               }
-                       }
-                       ////////////////////////////////////////////////////////////
+                       ret2 += cloth_do_selfcollisions(clmd);
                }
+               ////////////////////////////////////////////////////////////
        }
        while ( ret2 && ( clmd->coll_parms->loop_count>rounds ) );
+       
+       if(collobjs)
+               +               MEM_freeN(collobjs);
 
        return MIN2 ( ret, 1 );
 }