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Differential D2166 Diff 7274 source/blender/blenkernel/intern/collision.c

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source/blender/blenkernel/intern/collision.c

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{ {
int result = 0; int result = 0;
Cloth *cloth1; Cloth *cloth1;
float w1, w2, w3, u1, u2, u3; float u1, u2, u3;
float w[3];
float v1[3], v2[3], relativeVelocity[3]; float v1[3], v2[3], relativeVelocity[3];
float magrelVel; float magrelVel;
float epsilon2 = BLI_bvhtree_get_epsilon ( collmd->bvhtree ); float epsilon2 = BLI_bvhtree_get_epsilon ( collmd->bvhtree );
float frict_diff;
int i;
cloth1 = clmd->clothObject; cloth1 = clmd->clothObject;
frict_diff = fabsf(clmd->coll_parms->max_frict - clmd->coll_parms->friction);
for ( ; collpair != collision_end; collpair++ ) { for ( ; collpair != collision_end; collpair++ ) {
float i1[3], i2[3], i3[3]; float impuplses[3][3];
zero_v3(i1); zero_v3(impuplses[0]);
zero_v3(i2); zero_v3(impuplses[1]);
zero_v3(i3); zero_v3(impuplses[2]);
/* only handle static collisions here */ /* only handle static collisions here */
if ( collpair->flag & COLLISION_IN_FUTURE ) if ( collpair->flag & COLLISION_IN_FUTURE )
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cloth1->verts[collpair->ap1].txold, cloth1->verts[collpair->ap1].txold,
cloth1->verts[collpair->ap2].txold, cloth1->verts[collpair->ap2].txold,
cloth1->verts[collpair->ap3].txold, cloth1->verts[collpair->ap3].txold,
&w1, &w2, &w3 ); &w[0], &w[1], &w[2] );
/* was: txold */ /* was: txold */
collision_compute_barycentric ( collpair->pb, collision_compute_barycentric ( collpair->pb,
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&u1, &u2, &u3 ); &u1, &u2, &u3 );
/* Calculate relative "velocity". */ /* Calculate relative "velocity". */
collision_interpolateOnTriangle ( v1, cloth1->verts[collpair->ap1].tv, cloth1->verts[collpair->ap2].tv, cloth1->verts[collpair->ap3].tv, w1, w2, w3 ); collision_interpolateOnTriangle ( v1, cloth1->verts[collpair->ap1].tv, cloth1->verts[collpair->ap2].tv, cloth1->verts[collpair->ap3].tv, w[0], w[1], w[2] );
collision_interpolateOnTriangle ( v2, collmd->current_v[collpair->bp1].co, collmd->current_v[collpair->bp2].co, collmd->current_v[collpair->bp3].co, u1, u2, u3 ); collision_interpolateOnTriangle ( v2, collmd->current_v[collpair->bp1].co, collmd->current_v[collpair->bp2].co, collmd->current_v[collpair->bp3].co, u1, u2, u3 );
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double impulse = 0.0; double impulse = 0.0;
float vrel_t_pre[3]; float vrel_t_pre[3];
float temp[3], spf; float temp[3], spf;
float frict_offset, vrel_t_pre_len;
float frict_factor[3];
frict_factor[0] = cloth1->verts[collpair->ap1].frict_factor;
frict_factor[1] = cloth1->verts[collpair->ap2].frict_factor;
frict_factor[2] = cloth1->verts[collpair->ap3].frict_factor;
/* calculate tangential velocity */ /* calculate tangential velocity */
copy_v3_v3 ( temp, collpair->normal ); copy_v3_v3 ( temp, collpair->normal );
mul_v3_fl(temp, magrelVel); mul_v3_fl(temp, magrelVel);
sub_v3_v3v3(vrel_t_pre, relativeVelocity, temp); sub_v3_v3v3(vrel_t_pre, relativeVelocity, temp);
/* Decrease in magnitude of relative tangential velocity due to coulomb friction vrel_t_pre_len = len_v3(vrel_t_pre);
* in original formula "magrelVel" should be the "change of relative velocity in normal direction" */ normalize_v3(vrel_t_pre);
magtangent = min_ff(clmd->coll_parms->friction * 0.01f * magrelVel, len_v3(vrel_t_pre));
/* Apply friction impulse. */ for (i = 0; i < 3; i++) {
if ( magtangent > ALMOST_ZERO ) { frict_offset = frict_factor[i] * frict_diff;
normalize_v3(vrel_t_pre);
/* 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 = min_ff((clmd->coll_parms->friction + frict_offset) * 0.01f * magrelVel, vrel_t_pre_len);
impulse = magtangent / ( 1.0f + w1*w1 + w2*w2 + w3*w3 ); /* 2.0 * */ /* Apply friction impulse. */
VECADDMUL ( i1, vrel_t_pre, w1 * impulse ); if ( magtangent > ALMOST_ZERO ) {
VECADDMUL ( i2, vrel_t_pre, w2 * impulse ); impulse = magtangent / ( 1.0f + w[0]*w[0] + w[1]*w[1] + w[2]*w[2] ); /* 2.0 * */
VECADDMUL ( i3, vrel_t_pre, w3 * impulse ); VECADDMUL ( impuplses[i], vrel_t_pre, w[i] * impulse );
}
} }
/* Apply velocity stopping impulse /* Apply velocity stopping impulse
* I_c = m * v_N / 2.0 * I_c = m * v_N / 2.0
* no 2.0 * magrelVel normally, but looks nicer DG */ * no 2.0 * magrelVel normally, but looks nicer DG */
impulse = magrelVel / ( 1.0 + w1*w1 + w2*w2 + w3*w3 ); impulse = magrelVel / ( 1.0 + w[0]*w[0] + w[1]*w[1] + w[2]*w[2] );
VECADDMUL ( i1, collpair->normal, w1 * impulse ); VECADDMUL ( impuplses[0], collpair->normal, w[0] * impulse );
cloth1->verts[collpair->ap1].impulse_count++; cloth1->verts[collpair->ap1].impulse_count++;
VECADDMUL ( i2, collpair->normal, w2 * impulse ); VECADDMUL ( impuplses[1], collpair->normal, w[1] * impulse );
cloth1->verts[collpair->ap2].impulse_count++; cloth1->verts[collpair->ap2].impulse_count++;
VECADDMUL ( i3, collpair->normal, w3 * impulse ); VECADDMUL ( impuplses[2], collpair->normal, w[2] * impulse );
cloth1->verts[collpair->ap3].impulse_count++; cloth1->verts[collpair->ap3].impulse_count++;
/* Apply repulse impulse if distance too short /* Apply repulse impulse if distance too short
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repulse = min_ff( repulse, 5.0*impulse ); repulse = min_ff( repulse, 5.0*impulse );
repulse = max_ff(impulse, repulse); repulse = max_ff(impulse, repulse);
impulse = repulse / ( 1.0f + w1*w1 + w2*w2 + w3*w3 ); /* original 2.0 / 0.25 */ impulse = repulse / ( 1.0f + w[0]*w[0] + w[1]*w[1] + w[2]*w[2] ); /* original 2.0 / 0.25 */
VECADDMUL ( i1, collpair->normal, impulse ); VECADDMUL ( impuplses[0], collpair->normal, impulse );
VECADDMUL ( i2, collpair->normal, impulse ); VECADDMUL ( impuplses[1], collpair->normal, impulse );
VECADDMUL ( i3, collpair->normal, impulse ); VECADDMUL ( impuplses[2], collpair->normal, impulse );
} }
result = 1; result = 1;
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/* stay on the safe side and clamp repulse */ /* stay on the safe side and clamp repulse */
float repulse = d*1.0f/spf; float repulse = d*1.0f/spf;
float impulse = repulse / ( 3.0f * ( 1.0f + w1*w1 + w2*w2 + w3*w3 )); /* original 2.0 / 0.25 */ float impulse = repulse / ( 3.0f * ( 1.0f + w[0]*w[0] + w[1]*w[1] + w[2]*w[2] )); /* original 2.0 / 0.25 */
VECADDMUL ( i1, collpair->normal, impulse ); VECADDMUL ( impuplses[0], collpair->normal, impulse );
VECADDMUL ( i2, collpair->normal, impulse ); VECADDMUL ( impuplses[1], collpair->normal, impulse );
VECADDMUL ( i3, collpair->normal, impulse ); VECADDMUL ( impuplses[2], collpair->normal, impulse );
cloth1->verts[collpair->ap1].impulse_count++; cloth1->verts[collpair->ap1].impulse_count++;
cloth1->verts[collpair->ap2].impulse_count++; cloth1->verts[collpair->ap2].impulse_count++;
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} }
if (result) { if (result) {
int i = 0;
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
if (cloth1->verts[collpair->ap1].impulse_count > 0 && ABS(cloth1->verts[collpair->ap1].impulse[i]) < ABS(i1[i])) if (cloth1->verts[collpair->ap1].impulse_count > 0 && ABS(cloth1->verts[collpair->ap1].impulse[i]) < ABS(impuplses[0][i]))
cloth1->verts[collpair->ap1].impulse[i] = i1[i]; cloth1->verts[collpair->ap1].impulse[i] = impuplses[0][i];
if (cloth1->verts[collpair->ap2].impulse_count > 0 && ABS(cloth1->verts[collpair->ap2].impulse[i]) < ABS(i2[i])) if (cloth1->verts[collpair->ap2].impulse_count > 0 && ABS(cloth1->verts[collpair->ap2].impulse[i]) < ABS(impuplses[1][i]))
cloth1->verts[collpair->ap2].impulse[i] = i2[i]; cloth1->verts[collpair->ap2].impulse[i] = impuplses[1][i];
if (cloth1->verts[collpair->ap3].impulse_count > 0 && ABS(cloth1->verts[collpair->ap3].impulse[i]) < ABS(i3[i])) if (cloth1->verts[collpair->ap3].impulse_count > 0 && ABS(cloth1->verts[collpair->ap3].impulse[i]) < ABS(impuplses[2][i]))
cloth1->verts[collpair->ap3].impulse[i] = i3[i]; cloth1->verts[collpair->ap3].impulse[i] = impuplses[2][i];
} }
} }
} }
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