[Bf-blender-cvs] [fc110d41b70] soc-2020-soft-body: working on nearest-face traversal
over0219
noreply at git.blender.org
Tue Jun 23 19:45:52 CEST 2020
Commit: fc110d41b7078a40aeaabc92c496eb88985a42c5
Author: over0219
Date: Mon Jun 22 22:58:33 2020 -0500
Branches: soc-2020-soft-body
https://developer.blender.org/rBfc110d41b7078a40aeaabc92c496eb88985a42c5
working on nearest-face traversal
===================================================================
M extern/softbody/src/admmpd_collision.cpp
M extern/softbody/src/admmpd_collision.h
M intern/softbody/admmpd_api.cpp
M intern/softbody/admmpd_api.h
M source/blender/blenkernel/intern/softbody.c
===================================================================
diff --git a/extern/softbody/src/admmpd_collision.cpp b/extern/softbody/src/admmpd_collision.cpp
index d190bacae43..78675ea3a0b 100644
--- a/extern/softbody/src/admmpd_collision.cpp
+++ b/extern/softbody/src/admmpd_collision.cpp
@@ -2,12 +2,15 @@
// Distributed under the MIT License.
#include "admmpd_collision.h"
+#include "admmpd_bvh_traverse.h"
#include "BLI_assert.h"
+#include "BLI_task.h"
+#include "BLI_threads.h"
namespace admmpd {
using namespace Eigen;
-EmbeddedMeshCollision::VFCollisionPair::VFCollisionPair() :
+VFCollisionPair::VFCollisionPair() :
p(-1), // point
p_is_obs(0), // 0 or 1
q(-1), // face
@@ -18,7 +21,7 @@ void EmbeddedMeshCollision::set_obstacles(
const float *v0,
const float *v1,
int nv,
- const int *faces,
+ const unsigned int *faces,
int nf)
{
if (obsdata.V0.rows() != nv)
@@ -63,8 +66,47 @@ typedef struct DetectThreadData {
const EmbeddedMeshCollision::ObstacleData *obsdata;
const Eigen::MatrixXd *x0;
const Eigen::MatrixXd *x1;
+ std::vector<std::vector<VFCollisionPair> > *pt_vf_pairs; // per thread pairs
} DetectThreadData;
+static void parallel_detect(
+ void *__restrict userdata,
+ const int i,
+ const TaskParallelTLS *__restrict tls)
+{
+ // Comments say "don't use this" but how else am I supposed
+ // to get the thread ID?
+ int thread_idx = BLI_task_parallel_thread_id(tls);
+ DetectThreadData *td = (DetectThreadData*)userdata;
+ std::vector<VFCollisionPair> &tl_pairs = td->pt_vf_pairs->at(thread_idx);
+
+ int tet_idx = td->mesh->vtx_to_tet[i];
+ RowVector4i tet = td->mesh->tets.row(tet_idx);
+ Vector4d bary = td->mesh->barys.row(i);
+
+ // First, get the surface vertex
+ Vector3d pt =
+ bary[0] * td->x1->row(tet[0]) +
+ bary[1] * td->x1->row(tet[1]) +
+ bary[2] * td->x1->row(tet[2]) +
+ bary[3] * td->x1->row(tet[3]);
+
+ // TODO
+ // This won't work for overlapping obstacles.
+ // We would instead need something like a signed distance field
+ // or continuous collision detection.
+
+ PointInTriangleMeshTraverse<double> pt_in_mesh(
+ pt, &td->obsdata->V1, &td->obsdata->F);
+ td->obsdata->tree.traverse(pt_in_mesh);
+ if (pt_in_mesh.output.num_hits() % 2 != 1)
+ return;
+
+ // If we are inside an obstacle, we
+ // have to project to the nearest surface
+
+} // end parallel lin solve
+
int EmbeddedMeshCollision::detect(
const Eigen::MatrixXd *x0,
const Eigen::MatrixXd *x1)
@@ -74,10 +116,32 @@ int EmbeddedMeshCollision::detect(
update_bvh(x0,x1);
+ int max_threads = std::max(1,BLI_system_thread_count());
+ std::vector<std::vector<VFCollisionPair> > pt_vf_pairs
+ (max_threads, std::vector<VFCollisionPair>());
+
+ DetectThreadData thread_data = {
+ .mesh = mesh,
+ .obsdata = &obsdata,
+ .x0 = x0,
+ .x1 = x1,
+ .pt_vf_pairs = &pt_vf_pairs
+ };
+
+ int nv = x1->rows();
+ TaskParallelSettings settings;
+ BLI_parallel_range_settings_defaults(&settings);
+ BLI_task_parallel_range(0, nv, &thread_data, parallel_detect, &settings);
+
+ // Combine thread-local results
+ vf_pairs.clear();
+ for (int i=0; i<max_threads; ++i)
+ {
+ const std::vector<VFCollisionPair> &tl_pairs = pt_vf_pairs[i];
+ vf_pairs.insert(vf_pairs.end(), tl_pairs.begin(), tl_pairs.end());
+ }
-
-
- return 0;
+ return vf_pairs.size();
}
/*
void EmbeddedMeshCollision::detect(const Eigen::MatrixXd *x0, const Eigen::MatrixXd *x1)
diff --git a/extern/softbody/src/admmpd_collision.h b/extern/softbody/src/admmpd_collision.h
index 4f2cb973b5c..34b870a30f3 100644
--- a/extern/softbody/src/admmpd_collision.h
+++ b/extern/softbody/src/admmpd_collision.h
@@ -9,6 +9,15 @@
namespace admmpd {
+struct VFCollisionPair {
+ int p; // point
+ int p_is_obs; // 0 or 1
+ int q; // face
+ int q_is_obs; // 0 or 1
+ VFCollisionPair();
+ Eigen::Vector3d barys;
+};
+
// I'll update this class/structure another day.
// For now let's get something in place to do floor collisions.
// Probably will work better to use uber-collision class for
@@ -16,11 +25,20 @@ namespace admmpd {
// for-all vertices loops.
class Collision {
public:
+ virtual ~Collision() {}
+
// Returns the number of active constraints
virtual int detect(
const Eigen::MatrixXd *x0,
const Eigen::MatrixXd *x1) = 0;
+ virtual void set_obstacles(
+ const float *v0,
+ const float *v1,
+ int nv,
+ const unsigned int *faces,
+ int nf) = 0;
+
// virtual void jacobian(
// const Eigen::MatrixXd *x,
// std::vector<Eigen::Triplet<double> > *trips_x,
@@ -32,20 +50,11 @@ public:
// Collision detection against multiple meshes
class EmbeddedMeshCollision : public Collision {
public:
- EmbeddedMeshCollision() :
- mesh(NULL),
+ EmbeddedMeshCollision(const EmbeddedMeshData *mesh_) :
+ mesh(mesh_),
floor_z(-std::numeric_limits<double>::max())
{}
- struct VFCollisionPair {
- int p; // point
- int p_is_obs; // 0 or 1
- int q; // face
- int q_is_obs; // 0 or 1
- VFCollisionPair();
- Eigen::Vector3d barys;
- };
-
// Obstacle data created in set_obstacles
struct ObstacleData {
Eigen::MatrixXd V0, V1;
@@ -60,16 +69,9 @@ public:
const float *v0,
const float *v1,
int nv,
- const int *faces,
+ const unsigned int *faces,
int nf);
- // Ptr is stored after this call. Should be
- // a smart ptr I guess...
- void set_mesh(const EmbeddedMeshData *mesh_)
- {
- mesh=mesh_;
- }
-
// A floor is so common that it makes sense to hard
// code floor collision instead of using a floor mesh.
void set_floor(double z)
diff --git a/intern/softbody/admmpd_api.cpp b/intern/softbody/admmpd_api.cpp
index 4fa549211d3..302f066ef5b 100644
--- a/intern/softbody/admmpd_api.cpp
+++ b/intern/softbody/admmpd_api.cpp
@@ -25,6 +25,8 @@
#include "admmpd_types.h"
#include "admmpd_solver.h"
#include "admmpd_embeddedmesh.h"
+#include "admmpd_collision.h"
+
#include "tetgen_api.h"
#include "DNA_mesh_types.h" // Mesh
#include "DNA_meshdata_types.h" // MVert
@@ -40,6 +42,7 @@ struct ADMMPDInternalData {
admmpd::Options *options;
admmpd::SolverData *data;
admmpd::EmbeddedMeshData *embmesh;
+ admmpd::Collision *collision;
int in_totverts; // number of input verts
};
@@ -52,12 +55,14 @@ void admmpd_dealloc(ADMMPDInterfaceData *iface)
if (iface->idata)
{
- if(iface->idata->options)
- delete iface->idata->options;
- if(iface->idata->data)
- delete iface->idata->data;
- if(iface->idata->embmesh)
- delete iface->idata->embmesh;
+ if (iface->idata->options)
+ delete iface->idata->options;
+ if (iface->idata->data)
+ delete iface->idata->data;
+ if (iface->idata->embmesh)
+ delete iface->idata->embmesh;
+ if (iface->idata->collision)
+ delete iface->idata->collision;
delete iface->idata;
}
@@ -163,6 +168,7 @@ int admmpd_init(ADMMPDInterfaceData *iface, float *in_verts, unsigned int *in_fa
iface->idata->data = new admmpd::SolverData();
admmpd::SolverData *data = iface->idata->data;
iface->idata->embmesh = new admmpd::EmbeddedMeshData();
+ iface->idata->collision = NULL;
// Generate tets and vertices
Eigen::MatrixXd V;
@@ -173,9 +179,11 @@ int admmpd_init(ADMMPDInterfaceData *iface, float *in_verts, unsigned int *in_fa
default:
case 0:
gen_success = admmpd_init_with_tetgen(iface,in_verts,in_faces,&V,&T);
+ //iface->idata->collision = new admmpd::EmbeddedMeshData();
break;
case 1:
gen_success = admmpd_init_with_lattice(iface,in_verts,in_faces,&V,&T);
+ iface->idata->collision = new admmpd::EmbeddedMeshCollision(iface->idata->embmesh);
break;
}
if (!gen_success || iface->totverts==0)
@@ -220,6 +228,25 @@ void admmpd_copy_from_bodypoint(ADMMPDInterfaceData *iface, const BodyPoint *pts
}
}
+void admmpd_update_obstacles(
+ ADMMPDInterfaceData *iface,
+ float *in_verts_0,
+ float *in_verts_1,
+ int nv,
+ unsigned int *in_faces,
+ int nf)
+{
+ if (iface==NULL || in_verts_0==NULL || in_verts_1==NULL || in_faces==NULL)
+ return;
+ if (iface->idata==NULL)
+ return;
+ if (iface->idata->collision==NULL)
+ return;
+
+ iface->idata->collision->set_obstacles(
+ in_verts_0, in_verts_1, nv, in_faces, nf);
+}
+
void admmpd_copy_to_bodypoint_and_object(ADMMPDInterfaceData *iface, BodyPoint *pts, float (*vertexCos)[3])
{
@@ -276,7 +303,7 @@ void admmpd_solve(ADMMPDInterfaceData *iface)
try
{
- admmpd::Solver().solve(iface->idata->options,iface->idata->data,NULL);
+ admmpd::Solver().solve(iface->idata->options,iface->idata->data,iface->idata->collision);
}
catch(const std::exception &e)
{
diff --git a/intern/softbody/admmpd_api.h b/intern/softbody/admmpd_api.h
index bd4ff9a3a1f..f29a3bbdc7d 100644
--- a/intern/softbody/admmpd_api.h
+++ b/intern/softbody/admmpd_api.h
@@ -54,6 +54,15 @@ int admmpd_init(ADMMPDInterfaceData*, float *in_verts, unsigned int *in_faces);
// to internal vertex position and velocity
void admmpd_copy_from_bodypoint(ADMMPDInterfaceData*, const BodyPoint *pts);
+// Sets the obstacle data for collisions
+void admmpd_update_obstacles(
+ ADMMPDInterfaceData*,
+ float *in_verts_0,
+ float *in_verts_1,
+ int nv,
+ unsigned int *in_faces,
+ int nf);
+
// Copies internal vertex position and velocity data
// to BodyPoints (from SoftBody) AND surface mesh vertices.
// If pts or vertexCos is null, its skipped
diff --git a/source/blender/blenkernel/intern/softbody.c b/source/blender/blenkernel/intern/softbody.c
index 12f44013bea..e4f04fbfe1f 100644
--- a/source/blender/blenkernel/intern/softbody.c
+++ b/source/blender/blenkernel/intern/softbody.c
@@ -3644,6 +3644,10 @@ static void admmpd_update_collider(
Collection *collection,
Object *vertexowner)
{
+ SoftBody *sb = vertexowner->soft;
+ if (sb->admmpd == NULL)
+ return;
+
unsigned int numobjects;
Object **objects = BKE_collision_objects_create(
depsgraph,
@@ -3652,18 +3656,67 @@ static void admmpd_update_collider(
&numobjects,
eModifierType_Collision);
@@ Diff output truncated at 10240 characters. @@
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