[Bf-blender-cvs] [4bab6e6d83c] soc-2020-soft-body: better pin scale
over0219
noreply at git.blender.org
Thu Jul 9 22:34:01 CEST 2020
Commit: 4bab6e6d83cd64f2918430b003c96ffae08ecd85
Author: over0219
Date: Thu Jul 9 15:33:56 2020 -0500
Branches: soc-2020-soft-body
https://developer.blender.org/rB4bab6e6d83cd64f2918430b003c96ffae08ecd85
better pin scale
===================================================================
M extern/softbody/src/admmpd_collision.cpp
M extern/softbody/src/admmpd_collision.h
M extern/softbody/src/admmpd_linsolve.cpp
M extern/softbody/src/admmpd_solver.cpp
M extern/softbody/src/admmpd_types.h
===================================================================
diff --git a/extern/softbody/src/admmpd_collision.cpp b/extern/softbody/src/admmpd_collision.cpp
index 9508b74a740..4d2444e6a52 100644
--- a/extern/softbody/src/admmpd_collision.cpp
+++ b/extern/softbody/src/admmpd_collision.cpp
@@ -219,6 +219,12 @@ int EmbeddedMeshCollision::detect(
if (mesh==NULL)
return 0;
+ // Do we even need to process collisions?
+ if (!this->settings.test_floor &&
+ !this->settings.self_collision &&
+ this->obsdata.F.rows()==0)
+ return 0;
+
update_bvh(x0,x1);
int max_threads = std::max(1,BLI_system_thread_count());
diff --git a/extern/softbody/src/admmpd_collision.h b/extern/softbody/src/admmpd_collision.h
index baf92c28754..efde21db25e 100644
--- a/extern/softbody/src/admmpd_collision.h
+++ b/extern/softbody/src/admmpd_collision.h
@@ -33,10 +33,11 @@ public:
struct Settings {
double floor_z;
bool test_floor;
+ bool self_collision;
Settings() :
- floor_z(-0.5),
-// floor_z(-std::numeric_limits<double>::max()),
- test_floor(true)
+ floor_z(-std::numeric_limits<double>::max()),
+ test_floor(false),
+ self_collision(false)
{}
} settings;
diff --git a/extern/softbody/src/admmpd_linsolve.cpp b/extern/softbody/src/admmpd_linsolve.cpp
index 7d5a29eb964..b91d3041913 100644
--- a/extern/softbody/src/admmpd_linsolve.cpp
+++ b/extern/softbody/src/admmpd_linsolve.cpp
@@ -77,8 +77,9 @@ void ConjugateGradients::solve(
make_n3(data->A, gsdata->A3);
}
- gsdata->CtC = data->spring_k * data->C.transpose()*data->C;
- gsdata->Ctd = data->spring_k * data->C.transpose()*data->d;
+ double col_k = options->mult_ck * data->A_diag_max;
+ gsdata->CtC = col_k * data->C.transpose()*data->C;
+ gsdata->Ctd = col_k * data->C.transpose()*data->d;
gsdata->A3_CtC_PtP = gsdata->A3 + gsdata->CtC + data->PtP;
VectorXd x3(nx*3);
for (int i=0; i<nx; ++i)
@@ -319,8 +320,9 @@ void GaussSeidel::init_solve(
// Finally, the new global matrix and rhs
if (has_constraints)
{
- data->gsdata.CtC = data->spring_k * data->C.transpose()*data->C;
- data->gsdata.Ctd.noalias() = data->spring_k * data->C.transpose()*data->d;
+ double col_k = options->mult_ck * data->A_diag_max;
+ data->gsdata.CtC = col_k * data->C.transpose()*data->C;
+ data->gsdata.Ctd.noalias() = col_k * data->C.transpose()*data->d;
data->gsdata.A3_CtC_PtP = data->gsdata.A3 + data->gsdata.CtC;
data->gsdata.b3_Ctd_Ptx.resize(nx*3);
for (int i=0; i<nx; ++i)
diff --git a/extern/softbody/src/admmpd_solver.cpp b/extern/softbody/src/admmpd_solver.cpp
index 922f6a58612..f8847a15a9d 100644
--- a/extern/softbody/src/admmpd_solver.cpp
+++ b/extern/softbody/src/admmpd_solver.cpp
@@ -105,7 +105,6 @@ void Solver::init_solve(
BLI_assert(options != NULL);
int nx = data->x.rows();
BLI_assert(nx > 0);
- BLI_assert(data->pin_sqrt_k.rows()==nx);
(void)(collision);
if (data->M_xbar.rows() != nx)
@@ -141,7 +140,7 @@ void Solver::init_solve(
else
{
// Scale stiffness by A diagonal max
- double pin_k_scale = data->A_diag_max;
+ double pin_k_scale = options->mult_pk * data->A_diag_max;
int np = q_coeffs.size();
RowSparseMatrix<double> P(np, nx*3);
P.setFromTriplets(trips.begin(), trips.end());
@@ -241,7 +240,6 @@ bool Solver::compute_matrices(
int nx = data->x.rows();
BLI_assert(nx > 0);
BLI_assert(data->x.cols() == 3);
- BLI_assert(data->pin_sqrt_k.rows() == nx);
// Allocate per-vertex data
data->x_start = data->x;
@@ -293,13 +291,12 @@ bool Solver::compute_matrices(
data->A_diag_max = data->A.diagonal().maxCoeff();
// Constraint data
- data->spring_k = options->mult_k*data->A_diag_max;
data->C.resize(1,nx*3);
data->d = VectorXd::Zero(1);
data->PtP.resize(nx*3,nx*3);
- data->pin_sqrt_k.resize(nx);
- data->pin_sqrt_k.setZero();
+ data->Ptq.resize(nx*3);
+ data->Ptq.setZero();
// ADMM dual/lagrange
data->z.resize(n_row_D,3);
diff --git a/extern/softbody/src/admmpd_types.h b/extern/softbody/src/admmpd_types.h
index d951687f11c..aa33380d2f7 100644
--- a/extern/softbody/src/admmpd_types.h
+++ b/extern/softbody/src/admmpd_types.h
@@ -21,7 +21,8 @@ struct Options {
int max_cg_iters;
int max_gs_iters;
double gs_omega; // Gauss-Seidel relaxation
- double mult_k; // stiffness multiplier for constraints
+ double mult_ck; // stiffness multiplier for constraints
+ double mult_pk; // (global) stiffness multiplier for pins
double min_res; // exit tolerance for global step
double youngs; // Young's modulus // TODO variable per-tet
double poisson; // Poisson ratio // TODO variable per-tet
@@ -32,9 +33,10 @@ struct Options {
max_cg_iters(10),
max_gs_iters(100),
gs_omega(1),
- mult_k(1),
+ mult_ck(1),
+ mult_pk(0.001),
min_res(1e-8),
- youngs(10000000),
+ youngs(1000000),
poisson(0.399),
grav(0,0,-9.8)
{}
@@ -79,10 +81,8 @@ struct SolverData {
double A_diag_max; // Max coeff of diag of A
RowSparseMatrix<double> C; // linearized constraints (cols = n x 3)
Eigen::VectorXd d; // constraints rhs
- double spring_k; // constraint stiffness
RowSparseMatrix<double> PtP; // pin_k Pt P
Eigen::VectorXd Ptq; // pin_k Pt q
- Eigen::VectorXd pin_sqrt_k; // per-vertex pin (goal) sqrt stiffness
Eigen::SimplicialLDLT<Eigen::SparseMatrix<double> > ldltA;
struct GlobalStepData { // Temporaries used in global step
RowSparseMatrix<double> A3; // (M + D'W^2D) n3 x n3
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