[Bf-blender-cvs] [88ab1c138dc] soc-2020-soft-body: more interface changes
over0219
noreply at git.blender.org
Tue Jun 23 02:00:36 CEST 2020
Commit: 88ab1c138dcb370829ae0362ad6ee8a462d8a6ca
Author: over0219
Date: Mon Jun 22 19:00:36 2020 -0500
Branches: soc-2020-soft-body
https://developer.blender.org/rB88ab1c138dcb370829ae0362ad6ee8a462d8a6ca
more interface changes
===================================================================
M extern/softbody/src/admmpd_collision.cpp
M extern/softbody/src/admmpd_collision.h
M extern/softbody/src/admmpd_solver.cpp
M extern/softbody/src/admmpd_solver.h
M extern/softbody/src/admmpd_types.h
M intern/softbody/admmpd_api.cpp
M intern/softbody/admmpd_api.h
===================================================================
diff --git a/extern/softbody/src/admmpd_collision.cpp b/extern/softbody/src/admmpd_collision.cpp
index 02a197c4138..54bca95729e 100644
--- a/extern/softbody/src/admmpd_collision.cpp
+++ b/extern/softbody/src/admmpd_collision.cpp
@@ -50,10 +50,10 @@ void EmbeddedMeshCollision::set_obstacles(
obs_tree.init(obs_aabbs);
} // end add obstacle
-
+ /*
void EmbeddedMeshCollision::detect(const Eigen::MatrixXd *x0, const Eigen::MatrixXd *x1)
{
- /*
+
// First, update the positions of the embedded vertex
// and perform collision detection against obstacles
int n_ev = emb_V0.rows();
@@ -93,9 +93,9 @@ void EmbeddedMeshCollision::detect(const Eigen::MatrixXd *x0, const Eigen::Matri
// Only bother with self collision if it
// is not colliding with an obstacle.
// This is only useful for discrete tests.
-*/
-} // end emb collision detect
+} // end emb collision detect
+*/
/*
void FloorCollider::detect(const Eigen::MatrixXd *x)
{
diff --git a/extern/softbody/src/admmpd_collision.h b/extern/softbody/src/admmpd_collision.h
index 5126d1a6958..2996249158e 100644
--- a/extern/softbody/src/admmpd_collision.h
+++ b/extern/softbody/src/admmpd_collision.h
@@ -4,10 +4,8 @@
#ifndef ADMMPD_COLLISION_H_
#define ADMMPD_COLLISION_H_
-#include <Eigen/Sparse>
-#include <Eigen/Geometry>
-#include <vector>
#include "admmpd_bvh.h"
+#include "admmpd_types.h"
namespace admmpd {
@@ -62,16 +60,23 @@ public:
const int *faces,
int nf);
- // Unlike set_obstacles, the pointers
- void set_embedded(
- const Eigen::MatrixXd *emb_barys,
- const Eigen::VectorXi *vtx_to_tet,
- const Eigen::MatrixXi *tets){}
+ // Updates the tetmesh BVH for self collisions
+ // TODO
+ void update_bvh(
+ const EmbeddedMeshData *mesh,
+ const Eigen::MatrixXd *x0,
+ const Eigen::MatrixXd *x1)
+ { (void)(mesh); (void)(x0); (void)(x1); }
// Given a list of deformable vertices (the lattice)
// perform collision detection of the surface mesh against
// obstacles and possibly self.
- void detect(const Eigen::MatrixXd *x0, const Eigen::MatrixXd *x1);
+ void detect(
+ const EmbeddedMeshData *mesh,
+ const Eigen::MatrixXd *x0,
+ const Eigen::MatrixXd *x1){
+
+ }
void jacobian(
const Eigen::MatrixXd *x,
diff --git a/extern/softbody/src/admmpd_solver.cpp b/extern/softbody/src/admmpd_solver.cpp
index da766d43cc1..17bd8c7d008 100644
--- a/extern/softbody/src/admmpd_solver.cpp
+++ b/extern/softbody/src/admmpd_solver.cpp
@@ -21,14 +21,14 @@ template <typename T> using RowSparseMatrix = SparseMatrix<T,RowMajor>;
typedef struct ThreadData {
const Options *options;
- Data *data;
+ SolverData *data;
} ThreadData;
bool Solver::init(
const Eigen::MatrixXd &V,
const Eigen::MatrixXi &T,
const Options *options,
- Data *data)
+ SolverData *data)
{
BLI_assert(data != NULL);
BLI_assert(options != NULL);
@@ -49,7 +49,7 @@ bool Solver::init(
int Solver::solve(
const Options *options,
- Data *data)
+ SolverData *data)
{
BLI_assert(data != NULL);
BLI_assert(options != NULL);
@@ -89,7 +89,7 @@ int Solver::solve(
void Solver::init_solve(
const Options *options,
- Data *data)
+ SolverData *data)
{
BLI_assert(data != NULL);
BLI_assert(options != NULL);
@@ -138,7 +138,7 @@ static void parallel_zu_update(
void Solver::solve_local_step(
const Options *options,
- Data *data)
+ SolverData *data)
{
BLI_assert(data != NULL);
BLI_assert(options != NULL);
@@ -152,7 +152,7 @@ void Solver::solve_local_step(
void Solver::update_constraints(
const Options *options,
- Data *data)
+ SolverData *data)
{
BLI_assert(data != NULL);
BLI_assert(options != NULL);
@@ -195,7 +195,7 @@ void Solver::update_constraints(
} // end update constraints
typedef struct LinSolveThreadData {
- Data *data;
+ SolverData *data;
MatrixXd *ls_x;
MatrixXd *ls_b;
} LinSolveThreadData;
@@ -211,7 +211,7 @@ static void parallel_lin_solve(
void Solver::solve_conjugate_gradients(
const Options *options,
- Data *data)
+ SolverData *data)
{
BLI_assert(data != NULL);
BLI_assert(options != NULL);
@@ -230,7 +230,7 @@ void Solver::solve_conjugate_gradients(
// Solve Ax = b in parallel
auto solve_Ax_b = [](
- Data *data_,
+ SolverData *data_,
MatrixXd *x_,
MatrixXd *b_)
{
@@ -267,7 +267,7 @@ void Solver::solve_conjugate_gradients(
};
// Update CGData
- admmpd::Data::CGData *cgdata = &data->cgdata;
+ admmpd::SolverData::CGData *cgdata = &data->cgdata;
double eps = options->min_res;
cgdata->b = data->b;
if (cgdata->r.rows() != nx)
@@ -316,7 +316,7 @@ void Solver::solve_conjugate_gradients(
bool Solver::compute_matrices(
const Options *options,
- Data *data)
+ SolverData *data)
{
BLI_assert(data != NULL);
BLI_assert(options != NULL);
@@ -392,7 +392,7 @@ bool Solver::compute_matrices(
void Solver::compute_masses(
const Options *options,
- Data *data)
+ SolverData *data)
{
BLI_assert(data != NULL);
BLI_assert(options != NULL);
@@ -432,7 +432,7 @@ void Solver::compute_masses(
void Solver::append_energies(
const Options *options,
- Data *data,
+ SolverData *data,
std::vector<Triplet<double> > &D_triplets)
{
BLI_assert(data != NULL);
diff --git a/extern/softbody/src/admmpd_solver.h b/extern/softbody/src/admmpd_solver.h
index 229411ae340..d26da293bc8 100644
--- a/extern/softbody/src/admmpd_solver.h
+++ b/extern/softbody/src/admmpd_solver.h
@@ -17,45 +17,45 @@ public:
const Eigen::MatrixXd &V, // vertices
const Eigen::MatrixXi &T, // tets
const Options *options,
- Data *data);
+ SolverData *data);
// Solve a single time step.
// Returns number of iterations.
int solve(
const Options *options,
- Data *data);
+ SolverData *data);
protected:
void update_constraints(
const Options *options,
- Data *data);
+ SolverData *data);
void init_solve(
const Options *options,
- Data *data);
+ SolverData *data);
void solve_local_step(
const Options *options,
- Data *data);
+ SolverData *data);
// Global step with CG:
// 1/2||Ax-b||^2 + k/2||Kx-l||^2
void solve_conjugate_gradients(
const Options *options,
- Data *data);
+ SolverData *data);
bool compute_matrices(
const Options *options,
- Data *data);
+ SolverData *data);
void compute_masses(
const Options *options,
- Data *data);
+ SolverData *data);
void append_energies(
const Options *options,
- Data *data,
+ SolverData *data,
std::vector<Eigen::Triplet<double> > &D_triplets);
}; // class ADMMPD_solver
diff --git a/extern/softbody/src/admmpd_types.h b/extern/softbody/src/admmpd_types.h
index 48f3121f721..925072b282f 100644
--- a/extern/softbody/src/admmpd_types.h
+++ b/extern/softbody/src/admmpd_types.h
@@ -36,9 +36,23 @@ struct Options {
{}
};
-struct Data {
+struct TetMesh {
+ Eigen::MatrixXd x_rest; // verts at rest
+ Eigen::MatrixXi faces; // surface elements, m x 3
+ Eigen::MatrixXi tets; // internal elements, m x 4
+}; // type 0
+
+struct EmbeddedMeshData { // i.e. the lattice
+ Eigen::MatrixXd x_rest; // embedded verts at rest
+ Eigen::MatrixXi faces; // embedded faces
+ Eigen::MatrixXi tets; // lattice elements, m x 4
+ Eigen::VectorXi vtx_to_tet; // what tet vtx is embedded in, p x 1
+ Eigen::MatrixXd barys; // barycoords of the embedding, p x 4
+}; // type 1
+
+struct SolverData {
// Set from input
- Eigen::MatrixXi tets; // elements t x 4
+ Eigen::MatrixXi tets; // elements t x 4, copy from mesh
Eigen::MatrixXd x; // vertices, n x 3
Eigen::MatrixXd v; // velocity, n x 3
// Set in compute_matrices:
@@ -71,14 +85,6 @@ struct Data {
std::vector<double> weights; // per-energy weights
};
-struct EmbeddedMeshData { // i.e. the lattice
- Eigen::MatrixXd x_rest; // embedded verts at rest
- Eigen::MatrixXi faces; // embedded faces
- Eigen::MatrixXi tets; // lattice elements, m x 4
- Eigen::VectorXi vtx_to_tet; // what tet vtx is embedded in, p x 1
- Eigen::MatrixXd barys; // barycoords of the embedding, p x 4
-};
-
} // namespace admmpd
#endif // ADMMPD_TYPES_H_
diff --git a/intern/softbody/admmpd_api.cpp b/intern/softbody/admmpd_api.cpp
index 56971ed4262..203ec9bf9c6 100644
--- a/intern/softbody/admmpd_api.cpp
+++ b/intern/softbody/admmpd_api.cpp
@@ -38,7 +38,7 @@
struct ADMMPDInternalData {
admmpd::Options *options;
- admmpd::Data *data;
+ admmpd::SolverData *data;
admmpd::EmbeddedMeshData *embmesh;
int in_totverts; // number of input verts
};
@@ -50,18 +50,18 @@ void admmpd_dealloc(ADMMPDInterfaceData *iface)
iface->totverts = 0; // output vertices
- if (iface->data)
+ if (iface->idata)
{
- if(iface->data->options)
- delete iface->data->options;
- if(iface->data->data)
- delete iface->data->data;
- if(iface->data->embmesh)
- delete iface->data->embmesh;
- delete iface->data;
+ if(iface->idata->options)
+ delete iface->idata->options;
+ if(iface->idata->data)
+ delete iface->idata->data;
+ if(iface->idata->embmesh)
+ delete iface->idata->embmesh;
+ delete iface->idata;
}
- iface->data = NULL;
+ iface->idata = NULL;
}
static int admmpd_init_with_tetgen(
@@ -133,11 +133,11 @@ static int admmpd_init_with_lattice(
}
iface->totverts = 0;
- bool success = admmpd::EmbeddedMesh().generate(in_V,in_F,iface->data->embmesh,V);
+ bool success = admmpd::EmbeddedMesh().generate(in_V,in_F,iface->idata->embmesh,V);
if (success)
{
iface->totverts = V->rows();
- *T = iface->data->embmesh->tets;
+ *T = iface->idata->embmesh->tets;
return 1;
}
@@ -157,12 +157,12 @@ int admmpd_init(ADMMPDInterfaceData *iface, float *in_verts, unsigned int *in_fa
admmpd_dealloc(iface);
// Generate solver data
- iface->data = new ADMMPDInternalData();
- iface->data->options = new admmpd::Options();
- admmpd::Options *options = iface->data->options;
- iface->
@@ Diff output truncated at 10240 characters. @@
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