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Better API naming. Enable self-collision by default.

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This commit is contained in:
Irlan 2019-06-18 21:00:03 -03:00
parent 170793896d
commit 9765e72ab9
9 changed files with 85 additions and 79 deletions
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24
examples/testbed/framework/cloth_dragger.cpp
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@ -45,9 +45,9 @@ bool b3ClothDragger::StartDragging()
m_triangle = m_mesh->triangles + rayOut.triangle; m_triangle = m_mesh->triangles + rayOut.triangle;
m_x = rayOut.fraction; m_x = rayOut.fraction;
b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1); b3Particle* p1 = m_cloth->GetParticle(m_triangle->v1);
b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2); b3Particle* p2 = m_cloth->GetParticle(m_triangle->v2);
b3Particle* p3 = m_cloth->GetVertexParticle(m_triangle->v3); b3Particle* p3 = m_cloth->GetParticle(m_triangle->v3);
b3Vec3 v1 = p1->GetPosition(); b3Vec3 v1 = p1->GetPosition();
b3Vec3 v2 = p2->GetPosition(); b3Vec3 v2 = p2->GetPosition();
@ -133,13 +133,13 @@ void b3ClothDragger::Drag()
} }
else else
{ {
b3Particle* p1 = m_cloth->GetVertexParticle(m_triangle->v1); b3Particle* p1 = m_cloth->GetParticle(m_triangle->v1);
p1->ApplyTranslation(dx); p1->ApplyTranslation(dx);
b3Particle* p2 = m_cloth->GetVertexParticle(m_triangle->v2); b3Particle* p2 = m_cloth->GetParticle(m_triangle->v2);
p2->ApplyTranslation(dx); p2->ApplyTranslation(dx);
b3Particle* p3 = m_cloth->GetVertexParticle(m_triangle->v3); b3Particle* p3 = m_cloth->GetParticle(m_triangle->v3);
p3->ApplyTranslation(dx); p3->ApplyTranslation(dx);
} }
} }
@ -172,9 +172,9 @@ void b3ClothDragger::StopDragging()
} }
else else
{ {
m_cloth->GetVertexParticle(m_triangle->v1)->SetType(m_t1); m_cloth->GetParticle(m_triangle->v1)->SetType(m_t1);
m_cloth->GetVertexParticle(m_triangle->v2)->SetType(m_t2); m_cloth->GetParticle(m_triangle->v2)->SetType(m_t2);
m_cloth->GetVertexParticle(m_triangle->v3)->SetType(m_t3); m_cloth->GetParticle(m_triangle->v3)->SetType(m_t3);
} }
m_triangle = nullptr; m_triangle = nullptr;
@ -184,9 +184,9 @@ b3Vec3 b3ClothDragger::GetPointA() const
{ {
B3_ASSERT(IsDragging() == true); B3_ASSERT(IsDragging() == true);
b3Vec3 A = m_cloth->GetVertexParticle(m_triangle->v1)->GetPosition(); b3Vec3 A = m_cloth->GetParticle(m_triangle->v1)->GetPosition();
b3Vec3 B = m_cloth->GetVertexParticle(m_triangle->v2)->GetPosition(); b3Vec3 B = m_cloth->GetParticle(m_triangle->v2)->GetPosition();
b3Vec3 C = m_cloth->GetVertexParticle(m_triangle->v3)->GetPosition(); b3Vec3 C = m_cloth->GetParticle(m_triangle->v3)->GetPosition();
return m_u * A + m_v * B + (1.0f - m_u - m_v) * C; return m_u * A + m_v * B + (1.0f - m_u - m_v) * C;
} }

23
examples/testbed/tests/tension_mapping.h
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@ -130,8 +130,15 @@ public:
u32 v1 = s->GetParticle1()->GetVertex(); u32 v1 = s->GetParticle1()->GetVertex();
u32 v2 = s->GetParticle2()->GetVertex(); u32 v2 = s->GetParticle2()->GetVertex();
tension[v1] += s->GetActionForce(); if (v1 != ~0)
tension[v2] -= s->GetActionForce(); {
tension[v1] += s->GetActionForce();
}
if (v2 != ~0)
{
tension[v2] -= s->GetActionForce();
}
} }
} }
@ -139,13 +146,13 @@ public:
{ {
b3ClothMeshTriangle* t = mesh->triangles + i; b3ClothMeshTriangle* t = mesh->triangles + i;
b3Vec3 v1 = m_cloth->GetVertexParticle(t->v1)->GetPosition(); b3Vec3 v1 = m_cloth->GetParticle(t->v1)->GetPosition();
b3Vec3 v2 = m_cloth->GetVertexParticle(t->v2)->GetPosition(); b3Vec3 v2 = m_cloth->GetParticle(t->v2)->GetPosition();
b3Vec3 v3 = m_cloth->GetVertexParticle(t->v3)->GetPosition(); b3Vec3 v3 = m_cloth->GetParticle(t->v3)->GetPosition();
b3Draw_draw->DrawSegment(v1, v2, b3Color_black); g_draw->DrawSegment(v1, v2, b3Color_black);
b3Draw_draw->DrawSegment(v2, v3, b3Color_black); g_draw->DrawSegment(v2, v3, b3Color_black);
b3Draw_draw->DrawSegment(v3, v1, b3Color_black); g_draw->DrawSegment(v3, v1, b3Color_black);
b3Vec3 f1 = tension[t->v1]; b3Vec3 f1 = tension[t->v1];
float32 L1 = b3Length(f1); float32 L1 = b3Length(f1);

8
include/bounce/cloth/cloth.h
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@ -133,8 +133,8 @@ public:
// Return the cloth mesh proxy. // Return the cloth mesh proxy.
const b3ClothMesh* GetMesh() const; const b3ClothMesh* GetMesh() const;
// Return the particle associated with the given vertex. // Return the cloth particle given vertex index.
b3Particle* GetVertexParticle(u32 i); b3Particle* GetParticle(u32 i);
// Return the cloth triangle given the triangle index. // Return the cloth triangle given the triangle index.
b3ClothTriangle* GetTriangle(u32 i); b3ClothTriangle* GetTriangle(u32 i);
@ -179,8 +179,8 @@ private:
// Proxy mesh // Proxy mesh
const b3ClothMesh* m_mesh; const b3ClothMesh* m_mesh;
// Vertex particles // Particles
b3Particle** m_vertexParticles; b3Particle** m_particles;
// Triangles // Triangles
b3ClothTriangle* m_triangles; b3ClothTriangle* m_triangles;

3
include/bounce/cloth/cloth_triangle.h
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@ -67,6 +67,9 @@ private:
// AABB Proxy // AABB Proxy
b3ClothAABBProxy m_aabbProxy; b3ClothAABBProxy m_aabbProxy;
// Broadphase ID
u32 m_broadPhaseId;
}; };
inline u32 b3ClothTriangle::GetTriangle() const inline u32 b3ClothTriangle::GetTriangle() const

6
include/bounce/cloth/particle.h
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@ -102,8 +102,7 @@ enum b3ClothAABBProxyType
struct b3ClothAABBProxy struct b3ClothAABBProxy
{ {
b3ClothAABBProxyType type; b3ClothAABBProxyType type;
void* data; void* owner;
u32 broadPhaseId;
}; };
// A cloth particle. // A cloth particle.
@ -229,6 +228,9 @@ private:
// AABB Proxy // AABB Proxy
b3ClothAABBProxy m_aabbProxy; b3ClothAABBProxy m_aabbProxy;
// Broadphase ID
u32 m_broadPhaseId;
// Links to the cloth particle list. // Links to the cloth particle list.
b3Particle* m_prev; b3Particle* m_prev;
b3Particle* m_next; b3Particle* m_next;

74
src/bounce/cloth/cloth.cpp
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@ -33,8 +33,6 @@
#include <bounce/common/draw.h> #include <bounce/common/draw.h>
#define B3_ENABLE_SELF_COLLISION 0
static B3_FORCE_INLINE u32 b3NextIndex(u32 i) static B3_FORCE_INLINE u32 b3NextIndex(u32 i)
{ {
return i + 1 < 3 ? i + 1 : 0; return i + 1 < 3 ? i + 1 : 0;
@ -166,7 +164,7 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
const b3ClothMesh* m = m_mesh; const b3ClothMesh* m = m_mesh;
// Initialize particles // Initialize particles
m_vertexParticles = (b3Particle**)b3Alloc(m->vertexCount * sizeof(b3Particle*)); m_particles = (b3Particle**)b3Alloc(m->vertexCount * sizeof(b3Particle*));
for (u32 i = 0; i < m->vertexCount; ++i) for (u32 i = 0; i < m->vertexCount; ++i)
{ {
b3ParticleDef pd; b3ParticleDef pd;
@ -178,7 +176,7 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
b3Particle* p = CreateParticle(pd); b3Particle* p = CreateParticle(pd);
p->m_vertex = i; p->m_vertex = i;
m_vertexParticles[i] = p; m_particles[i] = p;
} }
// Compute mass // Compute mass
@ -205,8 +203,8 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
aabb.Extend(triangle->m_radius); aabb.Extend(triangle->m_radius);
triangle->m_aabbProxy.type = e_triangleProxy; triangle->m_aabbProxy.type = e_triangleProxy;
triangle->m_aabbProxy.data = triangle; triangle->m_aabbProxy.owner = triangle;
triangle->m_aabbProxy.broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &triangle->m_aabbProxy); triangle->m_broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &triangle->m_aabbProxy);
} }
// Initialize forces // Initialize forces
@ -225,8 +223,8 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
{ {
b3UniqueEdge* e = uniqueEdges + i; b3UniqueEdge* e = uniqueEdges + i;
b3Particle* p1 = m_vertexParticles[e->v1]; b3Particle* p1 = m_particles[e->v1];
b3Particle* p2 = m_vertexParticles[e->v2]; b3Particle* p2 = m_particles[e->v2];
b3SpringForceDef fd; b3SpringForceDef fd;
fd.Initialize(p1, p2, def.structural, def.damping); fd.Initialize(p1, p2, def.structural, def.damping);
@ -242,10 +240,10 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
{ {
b3SharedEdge* e = sharedEdges + i; b3SharedEdge* e = sharedEdges + i;
b3Particle* p1 = m_vertexParticles[e->v1]; b3Particle* p1 = m_particles[e->v1];
b3Particle* p2 = m_vertexParticles[e->v2]; b3Particle* p2 = m_particles[e->v2];
b3Particle* p3 = m_vertexParticles[e->nsv1]; b3Particle* p3 = m_particles[e->nsv1];
b3Particle* p4 = m_vertexParticles[e->nsv2]; b3Particle* p4 = m_particles[e->nsv2];
b3SpringForceDef fd; b3SpringForceDef fd;
fd.Initialize(p3, p4, def.bending, def.damping); fd.Initialize(p3, p4, def.bending, def.damping);
@ -264,8 +262,8 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
{ {
b3ClothMeshSewingLine* line = m->sewingLines + i; b3ClothMeshSewingLine* line = m->sewingLines + i;
b3Particle* p1 = m_vertexParticles[line->v1]; b3Particle* p1 = m_particles[line->v1];
b3Particle* p2 = m_vertexParticles[line->v2]; b3Particle* p2 = m_particles[line->v2];
b3SpringForceDef fd; b3SpringForceDef fd;
fd.Initialize(p1, p2, def.structural, def.damping); fd.Initialize(p1, p2, def.structural, def.damping);
@ -282,7 +280,7 @@ b3Cloth::b3Cloth(const b3ClothDef& def) :
b3Cloth::~b3Cloth() b3Cloth::~b3Cloth()
{ {
b3Free(m_vertexParticles); b3Free(m_particles);
b3Free(m_triangles); b3Free(m_triangles);
b3Particle* p = m_particleList.m_head; b3Particle* p = m_particleList.m_head;
@ -311,8 +309,8 @@ b3Particle* b3Cloth::CreateParticle(const b3ParticleDef& def)
aabb.Set(p->m_position, p->m_radius); aabb.Set(p->m_position, p->m_radius);
p->m_aabbProxy.type = e_particleProxy; p->m_aabbProxy.type = e_particleProxy;
p->m_aabbProxy.data = p; p->m_aabbProxy.owner = p;
p->m_aabbProxy.broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &p->m_aabbProxy); p->m_broadPhaseId = m_contactManager.m_broadPhase.CreateProxy(aabb, &p->m_aabbProxy);
m_particleList.PushFront(p); m_particleList.PushFront(p);
@ -341,7 +339,7 @@ void b3Cloth::DestroyParticle(b3Particle* particle)
particle->DestroyContacts(); particle->DestroyContacts();
// Destroy AABB proxy // Destroy AABB proxy
m_contactManager.m_broadPhase.DestroyProxy(particle->m_aabbProxy.broadPhaseId); m_contactManager.m_broadPhase.DestroyProxy(particle->m_broadPhaseId);
m_particleList.Remove(particle); m_particleList.Remove(particle);
particle->~b3Particle(); particle->~b3Particle();
@ -371,10 +369,10 @@ float32 b3Cloth::GetEnergy() const
return 0.5f * E; return 0.5f * E;
} }
b3Particle* b3Cloth::GetVertexParticle(u32 i) b3Particle* b3Cloth::GetParticle(u32 i)
{ {
B3_ASSERT(i < m_mesh->vertexCount); B3_ASSERT(i < m_mesh->vertexCount);
return m_vertexParticles[i]; return m_particles[i];
} }
b3ClothTriangle* b3Cloth::GetTriangle(u32 i) b3ClothTriangle* b3Cloth::GetTriangle(u32 i)
@ -407,9 +405,9 @@ void b3Cloth::ComputeMass()
float32 mass = rho * area; float32 mass = rho * area;
b3Particle* p1 = m_vertexParticles[triangle->v1]; b3Particle* p1 = m_particles[triangle->v1];
b3Particle* p2 = m_vertexParticles[triangle->v2]; b3Particle* p2 = m_particles[triangle->v2];
b3Particle* p3 = m_vertexParticles[triangle->v3]; b3Particle* p3 = m_particles[triangle->v3];
p1->m_mass += inv3 * mass; p1->m_mass += inv3 * mass;
p2->m_mass += inv3 * mass; p2->m_mass += inv3 * mass;
@ -438,7 +436,7 @@ struct b3ClothRayCastSingleCallback
return input.maxFraction; return input.maxFraction;
} }
b3ClothTriangle* triangle = (b3ClothTriangle*)proxy->data; b3ClothTriangle* triangle = (b3ClothTriangle*)proxy->owner;
u32 triangleIndex = triangle->GetTriangle(); u32 triangleIndex = triangle->GetTriangle();
b3RayCastOutput subOutput; b3RayCastOutput subOutput;
@ -495,9 +493,9 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
B3_ASSERT(triangleIndex < m_mesh->triangleCount); B3_ASSERT(triangleIndex < m_mesh->triangleCount);
b3ClothMeshTriangle* triangle = m_mesh->triangles + triangleIndex; b3ClothMeshTriangle* triangle = m_mesh->triangles + triangleIndex;
b3Vec3 v1 = m_vertexParticles[triangle->v1]->m_position; b3Vec3 v1 = m_particles[triangle->v1]->m_position;
b3Vec3 v2 = m_vertexParticles[triangle->v2]->m_position; b3Vec3 v2 = m_particles[triangle->v2]->m_position;
b3Vec3 v3 = m_vertexParticles[triangle->v3]->m_position; b3Vec3 v3 = m_particles[triangle->v3]->m_position;
return b3RayCast(output, input, v1, v2, v3); return b3RayCast(output, input, v1, v2, v3);
} }
@ -556,7 +554,7 @@ void b3Cloth::UpdateParticleBodyContacts()
continue; continue;
} }
b3AABB3 aabb = m_contactManager.m_broadPhase.GetAABB(p->m_aabbProxy.broadPhaseId); b3AABB3 aabb = m_contactManager.m_broadPhase.GetAABB(p->m_broadPhaseId);
b3ClothUpdateContactsQueryListener listener; b3ClothUpdateContactsQueryListener listener;
listener.sphere.vertex = p->m_position; listener.sphere.vertex = p->m_position;
@ -681,9 +679,9 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
{ {
b3ClothMeshTriangle* triangle = m_mesh->triangles + i; b3ClothMeshTriangle* triangle = m_mesh->triangles + i;
b3Particle* p1 = m_vertexParticles[triangle->v1]; b3Particle* p1 = m_particles[triangle->v1];
b3Particle* p2 = m_vertexParticles[triangle->v2]; b3Particle* p2 = m_particles[triangle->v2];
b3Particle* p3 = m_vertexParticles[triangle->v3]; b3Particle* p3 = m_particles[triangle->v3];
b3Vec3 v1 = p1->m_velocity; b3Vec3 v1 = p1->m_velocity;
b3Vec3 v2 = p2->m_velocity; b3Vec3 v2 = p2->m_velocity;
@ -696,12 +694,8 @@ void b3Cloth::Step(float32 dt, u32 velocityIterations, u32 positionIterations)
m_triangles[i].Synchronize(displacement); m_triangles[i].Synchronize(displacement);
} }
#if B3_ENABLE_SELF_COLLISION
// Find new self-contacts // Find new self-contacts
m_contactManager.FindNewContacts(); m_contactManager.FindNewContacts();
#endif
} }
void b3Cloth::Draw() const void b3Cloth::Draw() const
@ -741,8 +735,8 @@ void b3Cloth::Draw() const
for (u32 i = 0; i < m->sewingLineCount; ++i) for (u32 i = 0; i < m->sewingLineCount; ++i)
{ {
b3ClothMeshSewingLine* s = m->sewingLines + i; b3ClothMeshSewingLine* s = m->sewingLines + i;
b3Particle* p1 = m_vertexParticles[s->v1]; b3Particle* p1 = m_particles[s->v1];
b3Particle* p2 = m_vertexParticles[s->v2]; b3Particle* p2 = m_particles[s->v2];
b3Draw_draw->DrawSegment(p1->m_position, p2->m_position, b3Color_white); b3Draw_draw->DrawSegment(p1->m_position, p2->m_position, b3Color_white);
} }
@ -751,9 +745,9 @@ void b3Cloth::Draw() const
{ {
b3ClothMeshTriangle* t = m->triangles + i; b3ClothMeshTriangle* t = m->triangles + i;
b3Particle* p1 = m_vertexParticles[t->v1]; b3Particle* p1 = m_particles[t->v1];
b3Particle* p2 = m_vertexParticles[t->v2]; b3Particle* p2 = m_particles[t->v2];
b3Particle* p3 = m_vertexParticles[t->v3]; b3Particle* p3 = m_particles[t->v3];
b3Vec3 v1 = p1->m_position; b3Vec3 v1 = p1->m_position;
b3Vec3 v2 = p2->m_position; b3Vec3 v2 = p2->m_position;

14
src/bounce/cloth/cloth_contact_manager.cpp
View File

@ -61,13 +61,13 @@ void b3ClothContactManager::AddPair(void* data1, void* data2)
B3_ASSERT(proxy1->type == e_particleProxy); B3_ASSERT(proxy1->type == e_particleProxy);
B3_ASSERT(proxy2->type == e_triangleProxy); B3_ASSERT(proxy2->type == e_triangleProxy);
b3Particle* p1 = (b3Particle*)proxy1->data; b3Particle* p1 = (b3Particle*)proxy1->owner;
b3ClothTriangle* t2 = (b3ClothTriangle*)proxy2->data; b3ClothTriangle* t2 = (b3ClothTriangle*)proxy2->owner;
b3ClothMeshTriangle* triangle = m_cloth->m_mesh->triangles + t2->m_triangle; b3ClothMeshTriangle* triangle = m_cloth->m_mesh->triangles + t2->m_triangle;
b3Particle* p2 = m_cloth->m_vertexParticles[triangle->v1]; b3Particle* p2 = m_cloth->m_particles[triangle->v1];
b3Particle* p3 = m_cloth->m_vertexParticles[triangle->v2]; b3Particle* p3 = m_cloth->m_particles[triangle->v2];
b3Particle* p4 = m_cloth->m_vertexParticles[triangle->v3]; b3Particle* p4 = m_cloth->m_particles[triangle->v3];
// Check if there is a contact between the two entities. // Check if there is a contact between the two entities.
for (b3ParticleTriangleContact* c = m_particleTriangleContactList.m_head; c; c = c->m_next) for (b3ParticleTriangleContact* c = m_particleTriangleContactList.m_head; c; c = c->m_next)
@ -146,8 +146,8 @@ void b3ClothContactManager::UpdateContacts()
continue; continue;
} }
u32 proxy1 = c->m_p1->m_aabbProxy.broadPhaseId; u32 proxy1 = c->m_p1->m_broadPhaseId;
u32 proxy2 = c->m_t2->m_aabbProxy.broadPhaseId; u32 proxy2 = c->m_t2->m_broadPhaseId;
// Destroy the contact if primitive AABBs are not overlapping. // Destroy the contact if primitive AABBs are not overlapping.
bool overlap = m_broadPhase.TestOverlap(proxy1, proxy2); bool overlap = m_broadPhase.TestOverlap(proxy1, proxy2);

8
src/bounce/cloth/cloth_triangle.cpp
View File

@ -24,9 +24,9 @@ void b3ClothTriangle::Synchronize(const b3Vec3& displacement)
{ {
b3ClothMeshTriangle* triangle = m_cloth->m_mesh->triangles + m_triangle; b3ClothMeshTriangle* triangle = m_cloth->m_mesh->triangles + m_triangle;
b3Particle* p1 = m_cloth->m_vertexParticles[triangle->v1]; b3Particle* p1 = m_cloth->m_particles[triangle->v1];
b3Particle* p2 = m_cloth->m_vertexParticles[triangle->v2]; b3Particle* p2 = m_cloth->m_particles[triangle->v2];
b3Particle* p3 = m_cloth->m_vertexParticles[triangle->v3]; b3Particle* p3 = m_cloth->m_particles[triangle->v3];
b3Vec3 x1 = p1->m_position; b3Vec3 x1 = p1->m_position;
b3Vec3 x2 = p2->m_position; b3Vec3 x2 = p2->m_position;
@ -36,5 +36,5 @@ void b3ClothTriangle::Synchronize(const b3Vec3& displacement)
aabb.Set(x1, x2, x3); aabb.Set(x1, x2, x3);
aabb.Extend(m_radius); aabb.Extend(m_radius);
m_cloth->m_contactManager.m_broadPhase.MoveProxy(m_aabbProxy.broadPhaseId, aabb, displacement); m_cloth->m_contactManager.m_broadPhase.MoveProxy(m_broadPhaseId, aabb, displacement);
} }

4
src/bounce/cloth/particle.cpp
View File

@ -76,7 +76,7 @@ void b3Particle::Synchronize(const b3Vec3& displacement)
b3AABB3 aabb; b3AABB3 aabb;
aabb.Set(m_position, m_radius); aabb.Set(m_position, m_radius);
m_cloth->m_contactManager.m_broadPhase.MoveProxy(m_aabbProxy.broadPhaseId, aabb, displacement); m_cloth->m_contactManager.m_broadPhase.MoveProxy(m_broadPhaseId, aabb, displacement);
} }
void b3Particle::SynchronizeTriangles() void b3Particle::SynchronizeTriangles()
@ -140,5 +140,5 @@ void b3Particle::SetType(b3ParticleType type)
DestroyContacts(); DestroyContacts();
// Move the proxy so new contacts can be created. // Move the proxy so new contacts can be created.
m_cloth->m_contactManager.m_broadPhase.TouchProxy(m_aabbProxy.broadPhaseId); m_cloth->m_contactManager.m_broadPhase.TouchProxy(m_broadPhaseId);
} }