[Bf-blender-cvs] [9887cc3] temp_merge_gooseberry_hair: Fix for own misconception of fictitious forces in the moving hair root frames.

[Lukas Tönne]

Commit: 9887cc3577d7234c677796e641e120f57ace797f
Author: Lukas Tönne
Date:   Mon Sep 15 12:51:18 2014 +0200
Branches: temp_merge_gooseberry_hair
https://developer.blender.org/rB9887cc3577d7234c677796e641e120f57ace797f

Fix for own misconception of fictitious forces in the moving hair root
frames.

These forces don't have to be calculated for each individual
contribution. Rather they can be split off and be calculated on top of
the basic force vector rotation (todo).

===================================================================

M	source/blender/physics/intern/implicit_blender.c

===================================================================

diff --git a/source/blender/physics/intern/implicit_blender.c b/source/blender/physics/intern/implicit_blender.c
index 783d3b5..5a37d8a 100644
--- a/source/blender/physics/intern/implicit_blender.c
+++ b/source/blender/physics/intern/implicit_blender.c
@@ -733,6 +733,34 @@ void BPH_mass_spring_solver_free(Implicit_Data *id)
  *   dwdt : angular acceleration of the root frame
  */
 
+BLI_INLINE void point_world_to_root(Implicit_Data *data, int index, float r[3], const float v[3])
+{
+	RootTransform *root = &data->root[index];
+	sub_v3_v3v3(r, v, root->loc);
+	mul_transposed_m3_v3(root->rot, r);
+}
+
+BLI_INLINE void point_root_to_world(Implicit_Data *data, int index, float r[3], const float v[3])
+{
+	RootTransform *root = &data->root[index];
+	mul_v3_m3v3(r, root->rot, v);
+	add_v3_v3(r, root->loc);
+}
+
+BLI_INLINE void direction_world_to_root(Implicit_Data *data, int index, float r[3], const float v[3])
+{
+	RootTransform *root = &data->root[index];
+	copy_v3_v3(r, v);
+	mul_transposed_m3_v3(root->rot, r);
+}
+
+BLI_INLINE void direction_root_to_world(Implicit_Data *data, int index, float r[3], const float v[3])
+{
+	RootTransform *root = &data->root[index];
+	mul_v3_m3v3(r, root->rot, v);
+}
+
+#if 0
 /* x_root = R^T * x_world */
 BLI_INLINE void loc_world_to_root(float r[3], const float v[3], const RootTransform *root)
 {
@@ -953,6 +981,7 @@ BLI_INLINE void dfdv_root_to_world(float m[3][3], float dfdv[3][3], float mass,
 	(void)root;
 #endif
 }
+#endif
 
 /* ================================ */
 
@@ -1416,28 +1445,24 @@ void BPH_mass_spring_set_root_motion(Implicit_Data *data, int index, const float
 
 void BPH_mass_spring_set_motion_state(Implicit_Data *data, int index, const float x[3], const float v[3])
 {
-	RootTransform *root = &data->root[index];
-	loc_world_to_root(data->X[index], x, root);
-	vel_world_to_root(data->V[index], data->X[index], v, root);
+	point_world_to_root(data, index, data->X[index], x);
+	direction_world_to_root(data, index, data->V[index], v);
 }
 
 void BPH_mass_spring_set_position(Implicit_Data *data, int index, const float x[3])
 {
-	RootTransform *root = &data->root[index];
-	loc_world_to_root(data->X[index], x, root);
+	point_world_to_root(data, index, data->X[index], x);
 }
 
 void BPH_mass_spring_set_velocity(Implicit_Data *data, int index, const float v[3])
 {
-	RootTransform *root = &data->root[index];
-	vel_world_to_root(data->V[index], data->X[index], v, root);
+	direction_world_to_root(data, index, data->V[index], v);
 }
 
 void BPH_mass_spring_get_motion_state(struct Implicit_Data *data, int index, float x[3], float v[3])
 {
-	RootTransform *root = &data->root[index];
-	if (x) loc_root_to_world(x, data->X[index], root);
-	if (v) vel_root_to_world(v, data->X[index], data->V[index], root);
+	if (x) point_root_to_world(data, index, x, data->X[index]);
+	if (v) direction_root_to_world(data, index, v, data->V[index]);
 }
 
 void BPH_mass_spring_set_vertex_mass(Implicit_Data *data, int index, float mass)
@@ -1539,7 +1564,7 @@ void BPH_mass_spring_force_gravity(Implicit_Data *data, const float g[3])
 	 */
 	for (i = 0; i < numverts; i++) {
 		float f[3];
-		acc_world_to_root(f, data->X[i], data->V[i], g, &data->root[i]);
+		direction_world_to_root(data, i, f, g);
 		mul_m3_v3(data->M[i].m, f);
 		
 		add_v3_v3(data->F[i], f);
@@ -1824,8 +1849,8 @@ bool BPH_mass_spring_force_spring_goal(Implicit_Data *data, int i, int UNUSED(sp
 	float f[3], dfdx[3][3], dfdv[3][3];
 	
 	/* goal is in world space */
-	loc_world_to_root(root_goal_x, goal_x, &data->root[i]);
-	vel_world_to_root(root_goal_v, root_goal_x, goal_v, &data->root[i]);
+	point_world_to_root(data, i, root_goal_x, goal_x);
+	direction_world_to_root(data, i, root_goal_v, goal_v);
 	
 	sub_v3_v3v3(extent, root_goal_x, data->X[i]);
 	sub_v3_v3v3(vel, root_goal_v, data->V[i]);