[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [24902] trunk/blender/source/blender: adding function
Jens Ole Wund (bjornmose)
bjornmose at gmx.net
Thu Nov 26 00:54:22 CET 2009
Revision: 24902
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=24902
Author: bjornmose
Date: 2009-11-26 00:54:21 +0100 (Thu, 26 Nov 2009)
Log Message:
-----------
adding function
vcloud_estimate_transform(..) to math library
comments there (@math_geom.c) should explain what it does
-- removing attached clutter from softbody.c
Modified Paths:
--------------
trunk/blender/source/blender/blenkernel/intern/softbody.c
trunk/blender/source/blender/blenlib/BLI_math_geom.h
trunk/blender/source/blender/blenlib/intern/math_geom.c
Modified: trunk/blender/source/blender/blenkernel/intern/softbody.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/softbody.c 2009-11-25 23:51:30 UTC (rev 24901)
+++ trunk/blender/source/blender/blenkernel/intern/softbody.c 2009-11-25 23:54:21 UTC (rev 24902)
@@ -3752,6 +3752,7 @@
}
}
+
/* void SB_estimate_transform */
/* input Object *ob out (says any object that can do SB like mesh,lattice,curve )
output float lloc[3],float lrot[3][3],float lscale[3][3]
@@ -3764,164 +3765,40 @@
lloc,lrot,lscale are allowed to be NULL, just in case you don't need it.
should be pretty useful for pythoneers :)
not! velocity .. 2nd order stuff
+ vcloud_estimate_transform see
*/
-/* can't believe there is none in math utils */
-float _det_m3(float m2[3][3])
-{
- float det = 0.f;
- if (m2){
- det= m2[0][0]* (m2[1][1]*m2[2][2] - m2[1][2]*m2[2][1])
- -m2[1][0]* (m2[0][1]*m2[2][2] - m2[0][2]*m2[2][1])
- +m2[2][0]* (m2[0][1]*m2[1][2] - m2[0][2]*m2[1][1]);
- }
- return det;
-}
-
void SB_estimate_transform(Object *ob,float lloc[3],float lrot[3][3],float lscale[3][3])
{
BodyPoint *bp;
ReferenceVert *rp;
- float accu_pos[3] = {0.0f,0.0f,0.0f};
- float com[3],va[3],vb[3],rcom[3];
- float accu_mass = 0.0f,la = 0.0f,lb = 0.0f,eps = 0.000001f;
SoftBody *sb = 0;
- int a,i=0,imax=16;
- int _localdebug;
-
- if (lloc) zero_v3(lloc);
- if (lrot) zero_m3(lrot);
- if (lscale) zero_m3(lscale);
+ float (*opos)[3];
+ float (*rpos)[3];
+ float com[3],rcom[3];
+ int a;
-
if(!ob ||!ob->soft) return; /* why did we get here ? */
sb= ob->soft;
- /*for threading there should be a lock */
- /* sb-> lock; */
- /* calculate center of mass */
if(!sb || !sb->bpoint) return;
- _localdebug=sb->solverflags & SBSO_MONITOR; /* turn this on/off if you (don't) want to see progress on console */
- for(a=0,bp=sb->bpoint; a<sb->totpoint; a++, bp++) {
- VECADD(accu_pos,accu_pos,bp->pos);
- accu_mass += bp->mass;
+ opos= MEM_callocN( (sb->totpoint)*3*sizeof(float), "SB_OPOS");
+ rpos= MEM_callocN( (sb->totpoint)*3*sizeof(float), "SB_RPOS");
+ /* might filter vertex selection with a vertex group */
+ for(a=0, bp=sb->bpoint, rp=sb->scratch->Ref.ivert; a<sb->totpoint; a++, bp++, rp++) {
+ VECCOPY(rpos[a],rp->pos);
+ VECCOPY(opos[a],bp->pos);
}
- VECCOPY(com,accu_pos);
- mul_v3_fl(com,1.0f/accu_mass);
- /* center of mass done*/
- if (sb->scratch){
- float dcom[3],stunt[3];
- float m[3][3],mr[3][3],q[3][3],qi[3][3];
- float odet,ndet;
- zero_m3(m);
- zero_m3(mr);
- VECSUB(dcom,com,sb->scratch->Ref.com);
- VECCOPY(rcom,sb->scratch->Ref.com);
- if (_localdebug) {
- printf("DCOM %f %f %f\n",dcom[0],dcom[1],dcom[2]);
- }
- if (lloc) VECCOPY(lloc,dcom);
- VECCOPY(sb->lcom,dcom);
- /* build 'projection' matrix */
- for(a=0, bp=sb->bpoint, rp=sb->scratch->Ref.ivert; a<sb->totpoint; a++, bp++, rp++) {
- VECSUB(va,rp->pos,rcom);
- la += len_v3(va);
- /* mul_v3_fl(va,bp->mass); mass needs renormalzation here ?? */
- VECSUB(vb,bp->pos,com);
- lb += len_v3(vb);
- /* mul_v3_fl(va,rp->mass); */
- m[0][0] += va[0] * vb[0];
- m[0][1] += va[0] * vb[1];
- m[0][2] += va[0] * vb[2];
- m[1][0] += va[1] * vb[0];
- m[1][1] += va[1] * vb[1];
- m[1][2] += va[1] * vb[2];
+ vcloud_estimate_transform(sb->totpoint, opos, NULL, rpos, NULL, com, rcom,lrot,lscale);
+ //VECSUB(com,com,rcom);
+ if (lloc) VECCOPY(lloc,com);
+ VECCOPY(sb->lcom,com);
+ if (lscale) copy_m3_m3(sb->lscale,lscale);
+ if (lrot) copy_m3_m3(sb->lrot,lrot);
- m[2][0] += va[2] * vb[0];
- m[2][1] += va[2] * vb[1];
- m[2][2] += va[2] * vb[2];
-
- /* building the referenc matrix on the fly
- needed to scale properly later*/
-
- mr[0][0] += va[0] * va[0];
- mr[0][1] += va[0] * va[1];
- mr[0][2] += va[0] * va[2];
-
- mr[1][0] += va[1] * va[0];
- mr[1][1] += va[1] * va[1];
- mr[1][2] += va[1] * va[2];
-
- mr[2][0] += va[2] * va[0];
- mr[2][1] += va[2] * va[1];
- mr[2][2] += va[2] * va[2];
- }
- /* we are pretty much set up here and we could return that raw mess containing essential information
- but being nice fellows we proceed:
- knowing we did split off the tanslational part to the center of mass (com) part
- however let's do some more reverse engeneering and see if we can split
- rotation from scale ->Polardecompose
- */
- copy_m3_m3(q,m);
- stunt[0] = q[0][0]; stunt[1] = q[1][1]; stunt[2] = q[2][2];
- /* nothing to see here but renormalizing works nicely
- printf("lenght stunt %5.3f a %5.3f b %5.3f %5.3f\n",len_v3(stunt),la,lb,sqrt(la*lb));
- */
- mul_m3_fl(q,1.f/len_v3(stunt));
- /* not too much to see here
- if(_localdebug){
- printf("q0 %5.3f %5.3f %5.3f\n",q[0][0],q[0][1],q[0][2]);
- printf("q1 %5.3f %5.3f %5.3f\n",q[1][0],q[1][1],q[1][2]);
- printf("q2 %5.3f %5.3f %5.3f\n",q[2][0],q[2][1],q[2][2]);
- }
- */
- /* this is pretty much Polardecompose 'inline' the algo based on Higham's thesis */
- /* without the far case !!! but seems to work here pretty neat */
- odet = 0.f;
- ndet = _det_m3(q);
- while((odet-ndet)*(odet-ndet) > eps && i<imax){
- invert_m3_m3(qi,q);
- transpose_m3(qi);
- add_m3_m3m3(q,q,qi);
- mul_m3_fl(q,0.5f);
- odet =ndet;
- ndet =_det_m3(q);
- i++;
- }
- if (i){
- float scale[3][3];
- float irot[3][3];
- if(lrot) copy_m3_m3(lrot,q);
- copy_m3_m3(sb->lrot,q);
- if(_localdebug){
- printf("Rot .. i %d\n",i);
- printf("!q0 %5.3f %5.3f %5.3f\n",q[0][0],q[0][1],q[0][2]);
- printf("!q1 %5.3f %5.3f %5.3f\n",q[1][0],q[1][1],q[1][2]);
- printf("!q2 %5.3f %5.3f %5.3f\n",q[2][0],q[2][1],q[2][2]);
- }
- invert_m3_m3(irot,q);
- /* now that's where we need mr to get scaling right */
- invert_m3_m3(qi,mr);
- mul_m3_m3m3(q,m,qi);
-
- //mul_m3_m3m3(scale,q,irot);
- mul_m3_m3m3(scale,irot,q); /* i always have a problem with this C functions left/right operator applies first*/
- mul_m3_fl(scale,lb/la); /* 0 order scale was normalized away so put it back here dunno if that is needed here ???*/
-
- if(lscale) copy_m3_m3(lscale,scale);
- copy_m3_m3(sb->lscale,scale);
- if(_localdebug){
- printf("Scale .. \n");
- printf("!s0 %5.3f %5.3f %5.3f\n",scale[0][0],scale[0][1],scale[0][2]);
- printf("!s1 %5.3f %5.3f %5.3f\n",scale[1][0],scale[1][1],scale[1][2]);
- printf("!s2 %5.3f %5.3f %5.3f\n",scale[2][0],scale[2][1],scale[2][2]);
- }
-
-
- }
- }
- /*for threading there should be a unlock */
- /* sb-> unlock; */
+
+ MEM_freeN(opos);
+ MEM_freeN(rpos);
}
static void softbody_reset(Object *ob, SoftBody *sb, float (*vertexCos)[3], int numVerts)
@@ -4182,10 +4059,6 @@
dtime = timescale;
softbody_update_positions(ob, sb, vertexCos, numVerts);
softbody_step(scene, ob, sb, dtime);
- if(sb->solverflags & SBSO_MONITOR ){
- printf("Picked from cache continue_physics %d\n",framenr);
- }
-
softbody_to_object(ob, vertexCos, numVerts, 0);
return;
}
@@ -4210,9 +4083,6 @@
cache_result = BKE_ptcache_read_cache(&pid, framenr, scene->r.frs_sec);
if(cache_result == PTCACHE_READ_EXACT || cache_result == PTCACHE_READ_INTERPOLATED) {
- if(sb->solverflags & SBSO_MONITOR ){
- printf("Picked from cache at frame %d\n",framenr);
- }
softbody_to_object(ob, vertexCos, numVerts, sb->local);
cache->simframe= framenr;
Modified: trunk/blender/source/blender/blenlib/BLI_math_geom.h
===================================================================
--- trunk/blender/source/blender/blenlib/BLI_math_geom.h 2009-11-25 23:51:30 UTC (rev 24901)
+++ trunk/blender/source/blender/blenlib/BLI_math_geom.h 2009-11-25 23:54:21 UTC (rev 24902)
@@ -148,6 +148,12 @@
void tangent_from_uv(float *uv1, float *uv2, float *uv3,
float *co1, float *co2, float *co3, float *n, float *tang);
+/********************************* vector clouds******************************/
+
+
+void vcloud_estimate_transform(int list_size, float (*pos)[3], float *weight,float (*rpos)[3], float *rweight,
+ float lloc[3],float rloc[3],float lrot[3][3],float lscale[3][3]);
+
#ifdef __cplusplus
}
#endif
Modified: trunk/blender/source/blender/blenlib/intern/math_geom.c
===================================================================
--- trunk/blender/source/blender/blenlib/intern/math_geom.c 2009-11-25 23:51:30 UTC (rev 24901)
+++ trunk/blender/source/blender/blenlib/intern/math_geom.c 2009-11-25 23:54:21 UTC (rev 24902)
@@ -1597,3 +1597,161 @@
negate_v3(tang);
}
+/********************************************************/
+
+/* vector clouds */
+/* void vcloud_estimate_transform(int list_size, float (*pos)[3], float *weight,float (*rpos)[3], float *rweight,
+ float lloc[3],float rloc[3],float lrot[3][3],float lscale[3][3])
+/*
+input
+(
+int list_size
+4 lists as pointer to array[list_size]
+1. current pos array of 'new' positions
+2. current weight array of 'new'weights (may be NULL pointer if you have no weights )
+3. reference rpos array of 'old' positions
+4. reference rweight array of 'old'weights (may be NULL pointer if you have no weights )
+)
+output
+(
+float lloc[3] center of mass pos
+float rloc[3] center of mass rpos
+float lrot[3][3] rotation matrix
+float lscale[3][3] scale matrix
+pointers may be NULL if not needed
+)
+
+*/
+/* can't believe there is none in math utils */
+float _det_m3(float m2[3][3])
+{
+ float det = 0.f;
+ if (m2){
+ det= m2[0][0]* (m2[1][1]*m2[2][2] - m2[1][2]*m2[2][1])
+ -m2[1][0]* (m2[0][1]*m2[2][2] - m2[0][2]*m2[2][1])
+ +m2[2][0]* (m2[0][1]*m2[1][2] - m2[0][2]*m2[1][1]);
+ }
+ return det;
+}
+
+
+void vcloud_estimate_transform(int list_size, float (*pos)[3], float *weight,float (*rpos)[3], float *rweight,
+ float lloc[3],float rloc[3],float lrot[3][3],float lscale[3][3])
+{
+ float accu_com[3]= {0.0f,0.0f,0.0f}, accu_rcom[3]= {0.0f,0.0f,0.0f};
+ float accu_weight = 0.0f,accu_rweight = 0.0f,eps = 0.000001f;
+
+ int a;
+ /* first set up a nice default response */
+ if (lloc) zero_v3(lloc);
+ if (rloc) zero_v3(rloc);
+ if (lrot) unit_m3(lrot);
+ if (lscale) unit_m3(lscale);
+ /* do com for both clouds */
+ if (pos && rpos && (list_size > 0)) /* paranoya check */
+ {
+ /* do com for both clouds */
+ for(a=0; a<list_size; a++){
+ if (weight){
+ float v[3];
+ copy_v3_v3(v,pos[a]);
+ mul_v3_fl(v,weight[a]);
+ add_v3_v3v3(accu_com,accu_com,v);
+ accu_weight +=weight[a];
+ }
+ else add_v3_v3v3(accu_com,accu_com,pos[a]);
+
@@ Diff output truncated at 10240 characters. @@
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