refactor cloth
This commit is contained in:
Irlan
@@ -19,117 +19,324 @@
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#ifndef B3_CLOTH_H
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#define B3_CLOTH_H
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#include <bounce/common/math/vec3.h>
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#include <bounce/collision/collision.h>
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#include <bounce/common/math/mat33.h>
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#include <bounce/common/template/array.h>
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#include <bounce/common/memory/stack_allocator.h>
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struct b3Mesh;
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// Maximum number of shapes per cloth.
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#define B3_CLOTH_SHAPE_CAPACITY 32
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class b3Shape;
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struct b3ClothMesh;
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// Cloth mesh definition
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struct b3ClothDef
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{
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b3ClothDef()
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{
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mesh = NULL;
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mesh = nullptr;
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density = 0.0f;
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gravity.SetZero();
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k1 = 0.9f;
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k2 = 0.2f;
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kd = 0.1f;
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r = 0.0f;
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r = 0.05f;
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ks = 0.0f;
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kb = 0.0f;
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kd = 0.0f;
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}
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// Cloth mesh
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// Each edge must be shared by at most two triangles (manifold)
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const b3Mesh* mesh;
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// Cloth proxy mesh
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b3ClothMesh* mesh;
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// Cloth density in kilograms per meter squared
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// Radius
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// This should be a small value. It can be used for correcting visual artifacts when
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// the masses are colliding against a solid.
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float32 r;
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// Cloth density in kg/m^3
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float32 density;
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// Gravity force
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b3Vec3 gravity;
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// Streching stiffness
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float32 k1;
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float32 ks;
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// Bending stiffness
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float32 k2;
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// Damping
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float32 kd;
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float32 kb;
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// Cloth thickness
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float32 r;
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// Damping stiffness
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float32 kd;
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};
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// Static particles have zero mass and velocity, and therefore they can't move.
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// Kinematic particles are't moved by external and internal forces but can be moved by contact forces.
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// Dynamic particles have non-zero mass and can move due to internal and external forces.
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enum b3ParticleType
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{
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e_staticParticle,
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e_kinematicParticle,
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e_dynamicParticle
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};
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// Read-only particle
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struct b3Particle
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{
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float32 im;
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b3Vec3 p0;
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b3Vec3 p;
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b3Vec3 v;
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// Particle type
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b3ParticleType type;
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// Mass position
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b3Vec3 position;
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// Mass velocity
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b3Vec3 velocity;
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// Mass force
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b3Vec3 force;
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// Mass tension force for visualization
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b3Vec3 tension;
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// Mass
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float32 mass;
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// Inverse mass
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float32 invMass;
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// Radius
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float32 radius;
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// User data
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void* userData;
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// Translation used for direct position manipulation
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b3Vec3 translation;
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// Solver temp
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// Identifier
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u32 solverId;
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// Solution
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b3Vec3 x;
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};
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struct b3C1
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// Spring types
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enum b3SpringType
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{
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float32 L;
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u32 i1;
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u32 i2;
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e_strechSpring,
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e_bendSpring,
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};
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struct b3C2
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// Read-only spring
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struct b3Spring
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{
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float32 angle;
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u32 i1;
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u32 i2;
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u32 i3;
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u32 i4;
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// Spring type
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b3SpringType type;
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// Particle 1
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b3Particle* p1;
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// Particle 2
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b3Particle* p2;
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// Rest length
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float32 L0;
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// Structural stiffness
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float32 ks;
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// Damping stiffness
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float32 kd;
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};
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// Read-only contact
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struct b3ParticleContact
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{
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b3Particle* p1;
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b3Shape* s2;
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b3Vec3 n, t1, t2;
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float32 Fn, Ft1, Ft2;
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bool n_active, t1_active, t2_active;
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};
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// A cloth represents a deformable surface/mesh.
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// b3Cloth simulates this surface motion using particles and springs.
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class b3Cloth
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{
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public:
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b3Cloth();
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~b3Cloth();
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// Initialize this cloth from a definition.
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void Initialize(const b3ClothDef& def);
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void Step(float32 dt, u32 iterations);
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// Return the cloth mesh used to initialize this cloth.
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b3ClothMesh* GetMesh() const;
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u32 GetVertexCount() const
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{
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return m_pCount;
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}
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// Set the gravitational acceleration applied to this cloth.
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// Units are m/s^2.
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void SetGravity(const b3Vec3& gravity);
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const b3Particle* GetVertices() const
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{
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return m_ps;
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}
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// Return the gravitational acceleration applied to this cloth.
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const b3Vec3& GetGravity() const;
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b3Particle* GetVertices()
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{
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return m_ps;
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}
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// Return the number of particles in this cloth.
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u32 GetParticleCount() const;
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// Return the particle at a given index in this cloth.
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b3Particle* GetParticle(u32 i) const;
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// Set the type of a given particle.
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void SetType(b3Particle* p, b3ParticleType type);
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// Translate a particle in the next time step.
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void Translate(b3Particle* p, const b3Vec3& translation);
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// Set the velocity of a given particle.
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void SetVelocity(b3Particle* p, const b3Vec3& velocity);
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// Apply a force to a given particle.
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void ApplyForce(b3Particle* p, const b3Vec3& force);
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// Return the kinetic (or dynamic) energy in this system.
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float32 GetEnergy() const;
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// Add a collision shape to the list of shapes in this cloth.
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// The cloth will be able to respond to collisions with each shape in the list of shapes.
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// Current the shape will be treated as a static shape.
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void AddShape(b3Shape* shape);
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// Return the number of collision shapes in this cloth.
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u32 GetShapeCount() const;
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// Return the list of collision shapes added to this cloth.
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b3Shape** GetShapeList();
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// Perform a time step.
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void Step(float32 dt);
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// Set the positions of the mesh vertices to the positions of their associated particles.
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void Apply() const;
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// Debug draw the cloth using the associated cloth mesh.
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void Draw() const;
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private:
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void SolveC1();
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void SolveC2();
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protected:
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// Compute mass of each particle.
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void ResetMass();
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b3Particle* m_ps;
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u32 m_pCount;
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b3C1* m_c1s;
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u32 m_c1Count;
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b3C2* m_c2s;
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u32 m_c2Count;
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// Update contacts.
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// This is where some contacts might be initiated or terminated.
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void UpdateContacts();
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// Solve
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void Solve(float32 dt);
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b3StackAllocator m_allocator;
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float32 m_k1;
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float32 m_k2;
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float32 m_kd;
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float32 m_r;
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b3Vec3 m_gravity;
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const b3Mesh* m_mesh;
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u32 m_particleCount;
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b3Particle* m_particles;
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b3Spring* m_springs;
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u32 m_springCount;
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b3ParticleContact* m_contacts;
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//u32 m_contactCount;
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b3Shape* m_shapes[B3_CLOTH_SHAPE_CAPACITY];
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u32 m_shapeCount;
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b3ClothMesh* m_mesh;
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float32 m_density;
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};
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inline b3ClothMesh* b3Cloth::GetMesh() const
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{
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return m_mesh;
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}
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inline const b3Vec3& b3Cloth::GetGravity() const
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{
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return m_gravity;
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}
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inline void b3Cloth::SetGravity(const b3Vec3& gravity)
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{
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m_gravity = gravity;
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}
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inline u32 b3Cloth::GetParticleCount() const
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{
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return m_particleCount;
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}
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inline b3Particle* b3Cloth::GetParticle(u32 i) const
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{
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B3_ASSERT(i < m_particleCount);
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return m_particles + i;
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}
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inline void b3Cloth::SetType(b3Particle* p, b3ParticleType type)
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{
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if (p->type == type)
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{
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return;
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}
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p->type = type;
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p->force.SetZero();
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if (type == e_staticParticle)
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{
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p->velocity.SetZero();
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p->translation.SetZero();
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u32 ip = u32(p - m_particles);
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m_contacts[ip].n_active = false;
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m_contacts[ip].t1_active = false;
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m_contacts[ip].t2_active = false;
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}
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}
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inline void b3Cloth::Translate(b3Particle* p, const b3Vec3& translation)
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{
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p->translation += translation;
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}
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inline void b3Cloth::SetVelocity(b3Particle* p, const b3Vec3& velocity)
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{
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if (p->type == e_staticParticle)
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{
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return;
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}
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p->velocity = velocity;
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}
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inline void b3Cloth::ApplyForce(b3Particle* p, const b3Vec3& force)
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{
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if (p->type != e_dynamicParticle)
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{
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return;
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}
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p->force += force;
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}
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inline float32 b3Cloth::GetEnergy() const
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{
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float32 E = 0.0f;
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for (u32 i = 0; i < m_particleCount; ++i)
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{
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E += m_particles[i].mass * b3Dot(m_particles[i].velocity, m_particles[i].velocity);
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}
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return 0.5f * E;
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}
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inline u32 b3Cloth::GetShapeCount() const
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{
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return m_shapeCount;
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}
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inline b3Shape** b3Cloth::GetShapeList()
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{
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return m_shapes;
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}
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#endif
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@@ -16,48 +16,48 @@
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_SPRING_SOLVER_H
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#define B3_SPRING_SOLVER_H
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#ifndef B3_CLOTH_SOLVER_H
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#define B3_CLOTH_SOLVER_H
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#include <bounce/common/math/vec3.h>
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#include <bounce/common/math/mat33.h>
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class b3Shape;
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class b3SpringCloth;
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class b3StackAllocator;
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struct b3DenseVec3;
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struct b3DiagMat33;
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struct b3SparseMat33;
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struct b3MassContact;
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struct b3Particle;
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struct b3Spring;
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struct b3ParticleContact;
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enum class b3MassType : u32;
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class b3Shape;
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class b3StackAllocator;
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struct b3SpringSolverDef
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struct b3ClothSolverDef
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{
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b3SpringCloth* cloth;
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float32 dt;
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b3StackAllocator* stack;
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u32 particleCapacity;
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u32 springCapacity;
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u32 contactCapacity;
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};
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class b3SpringSolver
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class b3ClothSolver
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{
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public:
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b3SpringSolver(const b3SpringSolverDef& def);
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b3ClothSolver(const b3ClothSolverDef& def);
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~b3ClothSolver();
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void Add(b3Particle* p);
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void Add(b3Spring* s);
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void Add(b3ParticleContact* c);
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~b3SpringSolver();
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void Solve(b3DenseVec3& extraForces);
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u32 GetIterations() const;
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void Solve(float32 dt, const b3Vec3& gravity);
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private:
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// Apply internal forces and store their unique derivatives.
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void ApplySpringForces();
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// Compute forces.
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void Compute_f(b3DenseVec3& f, const b3DenseVec3& x, const b3DenseVec3& v, const b3Vec3& gravity);
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// Compute A and b in Ax = b
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void Compute_A_b(b3SparseMat33& A, b3DenseVec3& b) const;
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void Compute_A_b(b3SparseMat33& A, b3DenseVec3& b, const b3DenseVec3& f, const b3DenseVec3& x, const b3DenseVec3& v, const b3DenseVec3& y) const;
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// Compute S.
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void Compute_S(b3DiagMat33& S);
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@@ -67,38 +67,25 @@ private:
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// Solve Ax = b.
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// Output x and the residual error f = Ax - b ~ 0.
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void Solve(b3DenseVec3& x, b3DenseVec3& f, u32& iterations, const b3SparseMat33& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const;
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b3SpringCloth * m_cloth;
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float32 m_h;
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b3Mat33* m_Jx;
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b3Mat33* m_Jv;
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u32 m_iterations;
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void Solve(b3DenseVec3& x, u32& iterations, const b3SparseMat33& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const;
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b3StackAllocator* m_allocator;
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b3Vec3* m_x;
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b3Vec3* m_v;
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b3Vec3* m_f;
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float32* m_m;
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float32* m_inv_m;
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b3Vec3* m_y;
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b3Vec3* m_z;
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b3Vec3* m_x0;
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b3MassType* m_types;
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u32 m_massCount;
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float32 m_h;
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u32 m_particleCapacity;
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u32 m_particleCount;
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b3Particle** m_particles;
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b3MassContact* m_contacts;
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b3Spring* m_springs;
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u32 m_springCapacity;
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u32 m_springCount;
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b3Shape** m_shapes;
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b3Spring** m_springs;
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b3Mat33* m_Jx;
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b3Mat33* m_Jv;
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u32 m_contactCapacity;
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u32 m_contactCount;
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b3ParticleContact** m_contacts;
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};
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inline u32 b3SpringSolver::GetIterations() const
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{
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return m_iterations;
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}
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#endif
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@@ -1,356 +0,0 @@
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/*
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* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
|
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
|
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
|
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
|
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*/
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#ifndef B3_SPRING_CLOTH_H
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#define B3_SPRING_CLOTH_H
|
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|
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#include <bounce/common/math/mat33.h>
|
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#include <bounce/common/template/array.h>
|
||||
|
||||
// Maximum number of shapes per cloth.
|
||||
#define B3_CLOTH_SHAPE_CAPACITY 32
|
||||
|
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class b3StackAllocator;
|
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|
||||
class b3Shape;
|
||||
|
||||
struct b3ClothMesh;
|
||||
|
||||
struct b3SpringClothDef
|
||||
{
|
||||
b3SpringClothDef()
|
||||
{
|
||||
allocator = nullptr;
|
||||
mesh = nullptr;
|
||||
density = 0.0f;
|
||||
ks = 0.0f;
|
||||
kb = 0.0f;
|
||||
kd = 0.0f;
|
||||
r = 0.05f;
|
||||
gravity.SetZero();
|
||||
}
|
||||
|
||||
// Stack allocator
|
||||
b3StackAllocator* allocator;
|
||||
|
||||
// Cloth mesh
|
||||
b3ClothMesh* mesh;
|
||||
|
||||
// Cloth density in kg/m^3
|
||||
float32 density;
|
||||
|
||||
// Streching stiffness
|
||||
float32 ks;
|
||||
|
||||
// Bending stiffness
|
||||
float32 kb;
|
||||
|
||||
// Damping stiffness
|
||||
float32 kd;
|
||||
|
||||
// Mass radius
|
||||
// This should be a small value. It can be used for correcting visual artifacts when
|
||||
// the masses are colliding against a solid.
|
||||
float32 r;
|
||||
|
||||
// Acceleration due to gravity (m/s^2)
|
||||
b3Vec3 gravity;
|
||||
};
|
||||
|
||||
enum b3SpringType
|
||||
{
|
||||
e_strechSpring,
|
||||
e_bendSpring,
|
||||
// e_sewingSpring
|
||||
};
|
||||
|
||||
struct b3Spring
|
||||
{
|
||||
// Spring type
|
||||
b3SpringType type;
|
||||
|
||||
// Mass 1
|
||||
u32 i1;
|
||||
|
||||
// Mass 2
|
||||
u32 i2;
|
||||
|
||||
// Rest length
|
||||
float32 L0;
|
||||
|
||||
// Structural stiffness
|
||||
float32 ks;
|
||||
|
||||
// Damping stiffness
|
||||
float32 kd;
|
||||
};
|
||||
|
||||
// Static masses have zero mass and velocity, and therefore they can't move.
|
||||
// Kinematic masses are't moved by external and internal forces but can be moved by contact forces.
|
||||
// Dynamic masses have non-zero mass and can move due to internal and external forces.
|
||||
enum class b3MassType : u32
|
||||
{
|
||||
e_staticMass,
|
||||
e_kinematicMass,
|
||||
e_dynamicMass
|
||||
};
|
||||
|
||||
//
|
||||
struct b3MassContact
|
||||
{
|
||||
u32 j;
|
||||
b3Vec3 n, t1, t2;
|
||||
float32 Fn, Ft1, Ft2;
|
||||
bool lockN, lockT1, lockT2;
|
||||
};
|
||||
|
||||
// Time step statistics
|
||||
struct b3SpringClothStep
|
||||
{
|
||||
u32 iterations;
|
||||
};
|
||||
|
||||
// A cloth it treats cloth as a collection of masses connected by springs.
|
||||
// Large time steps can be taken.
|
||||
// If accuracy and stability are required, not performance,
|
||||
// you can use this class instead of using b3Cloth.
|
||||
class b3SpringCloth
|
||||
{
|
||||
public:
|
||||
b3SpringCloth();
|
||||
~b3SpringCloth();
|
||||
|
||||
// Initialize this cloth from a definition.
|
||||
void Initialize(const b3SpringClothDef& def);
|
||||
|
||||
// Return the cloth mesh used to initialize this cloth.
|
||||
b3ClothMesh* GetMesh() const;
|
||||
|
||||
// Set the gravitational acceleration applied to this cloth.
|
||||
// Units are m/s^2.
|
||||
void SetGravity(const b3Vec3& gravity);
|
||||
|
||||
// Return the number of masses in this cloth.
|
||||
u32 GetMassCount() const;
|
||||
|
||||
// Return the gravitational acceleration applied to this cloth.
|
||||
const b3Vec3& GetGravity() const;
|
||||
|
||||
// Set the type of a given point mass.
|
||||
void SetType(u32 i, b3MassType type);
|
||||
|
||||
// Return the type of a given point mass.
|
||||
b3MassType GetType(u32 i) const;
|
||||
|
||||
// Set the position of a given point mass.
|
||||
// This function will have effect on the position of the point mass
|
||||
// after performing a time step.
|
||||
void SetPosition(u32 i, const b3Vec3& position);
|
||||
|
||||
// Return the position of a given point mass.
|
||||
const b3Vec3& GetPosition(u32 i) const;
|
||||
|
||||
// Set the velocity of a given point mass.
|
||||
void SetVelocity(u32 i, const b3Vec3& velocity);
|
||||
|
||||
// Return the velocity of a given point mass.
|
||||
const b3Vec3& GetVelocity(u32 i) const;
|
||||
|
||||
// Apply a force to a given point mass.
|
||||
void ApplyForce(u32 i, const b3Vec3& force);
|
||||
|
||||
// Return the kinetic (or dynamic) energy in this system.
|
||||
float32 GetEnergy() const;
|
||||
|
||||
// Return the tension forces (due to springs) acting at each point mass.
|
||||
// Units are kg * m / s^2
|
||||
void GetTension(b3Array<b3Vec3>& tensions) const;
|
||||
|
||||
// Add a shape to the list of shapes in this cloth.
|
||||
// The cloth will be able to respond to collisions with each shape in the list of shapes.
|
||||
void AddShape(b3Shape* shape);
|
||||
|
||||
// Return the number of shapes added to this cloth.
|
||||
u32 GetShapeCount() const;
|
||||
|
||||
// Return the list of shapes added to this cloth.
|
||||
b3Shape** GetShapes();
|
||||
|
||||
// Return the statistics of the last time step.
|
||||
const b3SpringClothStep& GetStep() const;
|
||||
|
||||
// Perform a time step (marches time forward).
|
||||
void Step(float32 dt);
|
||||
|
||||
// Set the positions of the mesh vertices to the positions of their associated point masses.
|
||||
void Apply() const;
|
||||
|
||||
// Debug draw the cloth mesh.
|
||||
void Draw() const;
|
||||
protected:
|
||||
friend class b3SpringSolver;
|
||||
|
||||
// Update contacts.
|
||||
// This is where some contacts might be initiated or terminated.
|
||||
void UpdateContacts();
|
||||
|
||||
b3StackAllocator* m_allocator;
|
||||
|
||||
b3ClothMesh* m_mesh;
|
||||
float32 m_r;
|
||||
|
||||
b3Vec3 m_gravity;
|
||||
|
||||
b3Vec3* m_x;
|
||||
b3Vec3* m_v;
|
||||
b3Vec3* m_f;
|
||||
float32* m_m;
|
||||
float32* m_inv_m;
|
||||
b3Vec3* m_y;
|
||||
b3Vec3* m_z;
|
||||
b3Vec3* m_x0;
|
||||
b3MassType* m_types;
|
||||
u32 m_massCount;
|
||||
|
||||
b3MassContact* m_contacts;
|
||||
|
||||
b3Spring* m_springs;
|
||||
u32 m_springCount;
|
||||
|
||||
b3Shape* m_shapes[B3_CLOTH_SHAPE_CAPACITY];
|
||||
u32 m_shapeCount;
|
||||
|
||||
b3SpringClothStep m_step;
|
||||
};
|
||||
|
||||
inline b3ClothMesh* b3SpringCloth::GetMesh() const
|
||||
{
|
||||
return m_mesh;
|
||||
}
|
||||
|
||||
inline const b3Vec3& b3SpringCloth::GetGravity() const
|
||||
{
|
||||
return m_gravity;
|
||||
}
|
||||
|
||||
inline void b3SpringCloth::SetGravity(const b3Vec3& gravity)
|
||||
{
|
||||
m_gravity = gravity;
|
||||
}
|
||||
|
||||
inline u32 b3SpringCloth::GetMassCount() const
|
||||
{
|
||||
return m_massCount;
|
||||
}
|
||||
|
||||
inline b3MassType b3SpringCloth::GetType(u32 i) const
|
||||
{
|
||||
B3_ASSERT(i < m_massCount);
|
||||
return m_types[i];
|
||||
}
|
||||
|
||||
inline void b3SpringCloth::SetType(u32 i, b3MassType type)
|
||||
{
|
||||
B3_ASSERT(i < m_massCount);
|
||||
|
||||
if (m_types[i] == type)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
m_types[i] = type;
|
||||
|
||||
m_f[i].SetZero();
|
||||
|
||||
if (type == b3MassType::e_staticMass)
|
||||
{
|
||||
m_v[i].SetZero();
|
||||
m_y[i].SetZero();
|
||||
|
||||
m_contacts[i].lockN = false;
|
||||
}
|
||||
}
|
||||
|
||||
inline void b3SpringCloth::SetPosition(u32 i, const b3Vec3& position)
|
||||
{
|
||||
B3_ASSERT(i < m_massCount);
|
||||
m_y[i] += position - m_x[i];
|
||||
}
|
||||
|
||||
inline const b3Vec3& b3SpringCloth::GetPosition(u32 i) const
|
||||
{
|
||||
B3_ASSERT(i < m_massCount);
|
||||
return m_x[i];
|
||||
}
|
||||
|
||||
inline void b3SpringCloth::SetVelocity(u32 i, const b3Vec3& velocity)
|
||||
{
|
||||
B3_ASSERT(i < m_massCount);
|
||||
|
||||
if (m_types[i] == b3MassType::e_staticMass)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
m_v[i] = velocity;
|
||||
}
|
||||
|
||||
inline const b3Vec3& b3SpringCloth::GetVelocity(u32 i) const
|
||||
{
|
||||
B3_ASSERT(i < m_massCount);
|
||||
return m_v[i];
|
||||
}
|
||||
|
||||
inline void b3SpringCloth::ApplyForce(u32 i, const b3Vec3& force)
|
||||
{
|
||||
B3_ASSERT(i < m_massCount);
|
||||
|
||||
if (m_types[i] != b3MassType::e_dynamicMass)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
m_f[i] += force;
|
||||
}
|
||||
|
||||
inline float32 b3SpringCloth::GetEnergy() const
|
||||
{
|
||||
float32 E = 0.0f;
|
||||
for (u32 i = 0; i < m_massCount; ++i)
|
||||
{
|
||||
E += m_m[i] * b3Dot(m_v[i], m_v[i]);
|
||||
}
|
||||
return 0.5f * E;
|
||||
}
|
||||
|
||||
inline u32 b3SpringCloth::GetShapeCount() const
|
||||
{
|
||||
return m_shapeCount;
|
||||
}
|
||||
|
||||
inline b3Shape** b3SpringCloth::GetShapes()
|
||||
{
|
||||
return m_shapes;
|
||||
}
|
||||
|
||||
inline const b3SpringClothStep& b3SpringCloth::GetStep() const
|
||||
{
|
||||
return m_step;
|
||||
}
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user