diff options
Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp | 729 |
1 files changed, 384 insertions, 345 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp index c1a87c7d57..f63e48f9a5 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp @@ -727,7 +727,7 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const int resy, int fixeds, bool gendiags, - btScalar perturbation) + btScalar perturbation) { #define IDX(_x_, _y_) ((_y_)*rx + (_x_)) /* Create nodes */ @@ -747,12 +747,12 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const for (int ix = 0; ix < rx; ++ix) { const btScalar tx = ix / (btScalar)(rx - 1); - btScalar pert = perturbation * btScalar(rand())/RAND_MAX; - btVector3 temp1 = py1; - temp1.setY(py1.getY() + pert); - btVector3 temp = py0; - pert = perturbation * btScalar(rand())/RAND_MAX; - temp.setY(py0.getY() + pert); + btScalar pert = perturbation * btScalar(rand()) / RAND_MAX; + btVector3 temp1 = py1; + temp1.setY(py1.getY() + pert); + btVector3 temp = py0; + pert = perturbation * btScalar(rand()) / RAND_MAX; + temp.setY(py0.getY() + pert); x[IDX(ix, iy)] = lerp(temp, temp1, tx); m[IDX(ix, iy)] = 1; } @@ -1233,9 +1233,9 @@ if(face&&face[0]) } } } - psb->initializeDmInverse(); - psb->m_tetraScratches.resize(psb->m_tetras.size()); - psb->m_tetraScratchesTn.resize(psb->m_tetras.size()); + psb->initializeDmInverse(); + psb->m_tetraScratches.resize(psb->m_tetras.size()); + psb->m_tetraScratchesTn.resize(psb->m_tetras.size()); printf("Nodes: %u\r\n", psb->m_nodes.size()); printf("Links: %u\r\n", psb->m_links.size()); printf("Faces: %u\r\n", psb->m_faces.size()); @@ -1245,61 +1245,62 @@ if(face&&face[0]) btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file) { - std::ifstream fs; - fs.open(vtk_file); - btAssert(fs); - - typedef btAlignedObjectArray<int> Index; - std::string line; - btAlignedObjectArray<btVector3> X; - btVector3 position; - btAlignedObjectArray<Index> indices; - bool reading_points = false; - bool reading_tets = false; - size_t n_points = 0; - size_t n_tets = 0; - size_t x_count = 0; - size_t indices_count = 0; - while (std::getline(fs, line)) - { - std::stringstream ss(line); - if (line.size() == (size_t)(0)) - { - } - else if (line.substr(0, 6) == "POINTS") - { - reading_points = true; - reading_tets = false; - ss.ignore(128, ' '); // ignore "POINTS" - ss >> n_points; - X.resize(n_points); - } - else if (line.substr(0, 5) == "CELLS") - { - reading_points = false; - reading_tets = true; - ss.ignore(128, ' '); // ignore "CELLS" - ss >> n_tets; - indices.resize(n_tets); - } - else if (line.substr(0, 10) == "CELL_TYPES") - { - reading_points = false; - reading_tets = false; - } - else if (reading_points) - { - btScalar p; - ss >> p; - position.setX(p); - ss >> p; - position.setY(p); - ss >> p; - position.setZ(p); - X[x_count++] = position; - } - else if (reading_tets) - { + std::ifstream fs; + fs.open(vtk_file); + btAssert(fs); + + typedef btAlignedObjectArray<int> Index; + std::string line; + btAlignedObjectArray<btVector3> X; + btVector3 position; + btAlignedObjectArray<Index> indices; + bool reading_points = false; + bool reading_tets = false; + size_t n_points = 0; + size_t n_tets = 0; + size_t x_count = 0; + size_t indices_count = 0; + while (std::getline(fs, line)) + { + std::stringstream ss(line); + if (line.size() == (size_t)(0)) + { + } + else if (line.substr(0, 6) == "POINTS") + { + reading_points = true; + reading_tets = false; + ss.ignore(128, ' '); // ignore "POINTS" + ss >> n_points; + X.resize(n_points); + } + else if (line.substr(0, 5) == "CELLS") + { + reading_points = false; + reading_tets = true; + ss.ignore(128, ' '); // ignore "CELLS" + ss >> n_tets; + indices.resize(n_tets); + } + else if (line.substr(0, 10) == "CELL_TYPES") + { + reading_points = false; + reading_tets = false; + } + else if (reading_points) + { + btScalar p; + ss >> p; + position.setX(p); + ss >> p; + position.setY(p); + ss >> p; + position.setZ(p); + //printf("v %f %f %f\n", position.getX(), position.getY(), position.getZ()); + X[x_count++] = position; + } + else if (reading_tets) + { int d; ss >> d; if (d != 4) @@ -1308,317 +1309,355 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, fs.close(); return 0; } - ss.ignore(128, ' '); // ignore "4" - Index tet; - tet.resize(4); - for (size_t i = 0; i < 4; i++) - { - ss >> tet[i]; - printf("%d ", tet[i]); - } - printf("\n"); - indices[indices_count++] = tet; - } - } - btSoftBody* psb = new btSoftBody(&worldInfo, n_points, &X[0], 0); - - for (int i = 0; i < n_tets; ++i) - { - const Index& ni = indices[i]; - psb->appendTetra(ni[0], ni[1], ni[2], ni[3]); - { - psb->appendLink(ni[0], ni[1], 0, true); - psb->appendLink(ni[1], ni[2], 0, true); - psb->appendLink(ni[2], ni[0], 0, true); - psb->appendLink(ni[0], ni[3], 0, true); - psb->appendLink(ni[1], ni[3], 0, true); - psb->appendLink(ni[2], ni[3], 0, true); - } - } - - - generateBoundaryFaces(psb); - psb->initializeDmInverse(); - psb->m_tetraScratches.resize(psb->m_tetras.size()); - psb->m_tetraScratchesTn.resize(psb->m_tetras.size()); - printf("Nodes: %u\r\n", psb->m_nodes.size()); - printf("Links: %u\r\n", psb->m_links.size()); - printf("Faces: %u\r\n", psb->m_faces.size()); - printf("Tetras: %u\r\n", psb->m_tetras.size()); - - fs.close(); - return psb; + ss.ignore(128, ' '); // ignore "4" + Index tet; + tet.resize(4); + for (size_t i = 0; i < 4; i++) + { + ss >> tet[i]; + //printf("%d ", tet[i]); + } + //printf("\n"); + indices[indices_count++] = tet; + } + } + btSoftBody* psb = new btSoftBody(&worldInfo, n_points, &X[0], 0); + + for (int i = 0; i < n_tets; ++i) + { + const Index& ni = indices[i]; + psb->appendTetra(ni[0], ni[1], ni[2], ni[3]); + { + psb->appendLink(ni[0], ni[1], 0, true); + psb->appendLink(ni[1], ni[2], 0, true); + psb->appendLink(ni[2], ni[0], 0, true); + psb->appendLink(ni[0], ni[3], 0, true); + psb->appendLink(ni[1], ni[3], 0, true); + psb->appendLink(ni[2], ni[3], 0, true); + } + } + + generateBoundaryFaces(psb); + psb->initializeDmInverse(); + psb->m_tetraScratches.resize(psb->m_tetras.size()); + psb->m_tetraScratchesTn.resize(psb->m_tetras.size()); + printf("Nodes: %u\r\n", psb->m_nodes.size()); + printf("Links: %u\r\n", psb->m_links.size()); + printf("Faces: %u\r\n", psb->m_faces.size()); + printf("Tetras: %u\r\n", psb->m_tetras.size()); + + fs.close(); + return psb; } void btSoftBodyHelpers::generateBoundaryFaces(btSoftBody* psb) { - int counter = 0; - for (int i = 0; i < psb->m_nodes.size(); ++i) - { - psb->m_nodes[i].index = counter++; - } - typedef btAlignedObjectArray<int> Index; - btAlignedObjectArray<Index> indices; - indices.resize(psb->m_tetras.size()); - for (int i = 0; i < indices.size(); ++i) - { - Index index; - index.push_back(psb->m_tetras[i].m_n[0]->index); - index.push_back(psb->m_tetras[i].m_n[1]->index); - index.push_back(psb->m_tetras[i].m_n[2]->index); - index.push_back(psb->m_tetras[i].m_n[3]->index); - indices[i] = index; - } - - std::map<std::vector<int>, std::vector<int> > dict; - for (int i = 0; i < indices.size(); ++i) - { - for (int j = 0; j < 4; ++j) - { - std::vector<int> f; - if (j == 0) - { - f.push_back(indices[i][1]); - f.push_back(indices[i][0]); - f.push_back(indices[i][2]); - } - if (j == 1) - { - f.push_back(indices[i][3]); - f.push_back(indices[i][0]); - f.push_back(indices[i][1]); - } - if (j == 2) - { - f.push_back(indices[i][3]); - f.push_back(indices[i][1]); - f.push_back(indices[i][2]); - } - if (j == 3) - { - f.push_back(indices[i][2]); - f.push_back(indices[i][0]); - f.push_back(indices[i][3]); - } - std::vector<int> f_sorted = f; - std::sort(f_sorted.begin(), f_sorted.end()); - if (dict.find(f_sorted) != dict.end()) - { - dict.erase(f_sorted); - } - else - { - dict.insert(std::make_pair(f_sorted, f)); - } - } - } - - for (std::map<std::vector<int>, std::vector<int> >::iterator it = dict.begin(); it != dict.end(); ++it) - { - std::vector<int> f = it->second; - psb->appendFace(f[0], f[1], f[2]); - } + int counter = 0; + for (int i = 0; i < psb->m_nodes.size(); ++i) + { + psb->m_nodes[i].index = counter++; + } + typedef btAlignedObjectArray<int> Index; + btAlignedObjectArray<Index> indices; + indices.resize(psb->m_tetras.size()); + for (int i = 0; i < indices.size(); ++i) + { + Index index; + index.push_back(psb->m_tetras[i].m_n[0]->index); + index.push_back(psb->m_tetras[i].m_n[1]->index); + index.push_back(psb->m_tetras[i].m_n[2]->index); + index.push_back(psb->m_tetras[i].m_n[3]->index); + indices[i] = index; + } + + std::map<std::vector<int>, std::vector<int> > dict; + for (int i = 0; i < indices.size(); ++i) + { + for (int j = 0; j < 4; ++j) + { + std::vector<int> f; + if (j == 0) + { + f.push_back(indices[i][1]); + f.push_back(indices[i][0]); + f.push_back(indices[i][2]); + } + if (j == 1) + { + f.push_back(indices[i][3]); + f.push_back(indices[i][0]); + f.push_back(indices[i][1]); + } + if (j == 2) + { + f.push_back(indices[i][3]); + f.push_back(indices[i][1]); + f.push_back(indices[i][2]); + } + if (j == 3) + { + f.push_back(indices[i][2]); + f.push_back(indices[i][0]); + f.push_back(indices[i][3]); + } + std::vector<int> f_sorted = f; + std::sort(f_sorted.begin(), f_sorted.end()); + if (dict.find(f_sorted) != dict.end()) + { + dict.erase(f_sorted); + } + else + { + dict.insert(std::make_pair(f_sorted, f)); + } + } + } + + for (std::map<std::vector<int>, std::vector<int> >::iterator it = dict.begin(); it != dict.end(); ++it) + { + std::vector<int> f = it->second; + psb->appendFace(f[0], f[1], f[2]); + //printf("f %d %d %d\n", f[0] + 1, f[1] + 1, f[2] + 1); + } } +//Write the surface mesh to an obj file. void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb) { - std::ofstream fs; - fs.open(filename); - btAssert(fs); - for (int i = 0; i < psb->m_nodes.size(); ++i) - { - fs << "v"; - for (int d = 0; d < 3; d++) - { - fs << " " << psb->m_nodes[i].m_x[d]; - } - fs << "\n"; - } - - for (int i = 0; i < psb->m_faces.size(); ++i) - { - fs << "f"; - for (int n = 0; n < 3; n++) - { - fs << " " << psb->m_faces[i].m_n[n]->index + 1; - } - fs << "\n"; - } - fs.close(); + std::ofstream fs; + fs.open(filename); + btAssert(fs); + + if (psb->m_tetras.size() > 0) + { + // For tetrahedron mesh, we need to re-index the surface mesh for it to be in obj file/ + std::map<int, int> dict; + for (int i = 0; i < psb->m_faces.size(); i++) + { + for (int d = 0; d < 3; d++) + { + int index = psb->m_faces[i].m_n[d]->index; + if (dict.find(index) == dict.end()) + { + int dict_size = dict.size(); + dict[index] = dict_size; + fs << "v"; + for (int k = 0; k < 3; k++) + { + fs << " " << psb->m_nodes[index].m_x[k]; + } + fs << "\n"; + } + } + } + // Write surface mesh. + for (int i = 0; i < psb->m_faces.size(); ++i) + { + fs << "f"; + for (int n = 0; n < 3; n++) + { + fs << " " << dict[psb->m_faces[i].m_n[n]->index] + 1; + } + fs << "\n"; + } + } + else + { + // For trimesh, directly write out all the nodes and faces.xs + for (int i = 0; i < psb->m_nodes.size(); ++i) + { + fs << "v"; + for (int d = 0; d < 3; d++) + { + fs << " " << psb->m_nodes[i].m_x[d]; + } + fs << "\n"; + } + + for (int i = 0; i < psb->m_faces.size(); ++i) + { + fs << "f"; + for (int n = 0; n < 3; n++) + { + fs << " " << psb->m_faces[i].m_n[n]->index + 1; + } + fs << "\n"; + } + } + fs.close(); } void btSoftBodyHelpers::duplicateFaces(const char* filename, const btSoftBody* psb) { - std::ifstream fs_read; - fs_read.open(filename); - std::string line; - btVector3 pos; - btAlignedObjectArray<btAlignedObjectArray<int> > additional_faces; - while (std::getline(fs_read, line)) - { - std::stringstream ss(line); - if (line[0] == 'v') - { - } - else if (line[0] == 'f') - { - ss.ignore(); - int id0, id1, id2; - ss >> id0; - ss >> id1; - ss >> id2; - btAlignedObjectArray<int> new_face; - new_face.push_back(id1); - new_face.push_back(id0); - new_face.push_back(id2); - additional_faces.push_back(new_face); - } - } - fs_read.close(); - - std::ofstream fs_write; - fs_write.open(filename, std::ios_base::app); - for (int i = 0; i < additional_faces.size(); ++i) - { - fs_write << "f"; - for (int n = 0; n < 3; n++) - { - fs_write << " " << additional_faces[i][n]; - } - fs_write << "\n"; - } - fs_write.close(); + std::ifstream fs_read; + fs_read.open(filename); + std::string line; + btVector3 pos; + btAlignedObjectArray<btAlignedObjectArray<int> > additional_faces; + while (std::getline(fs_read, line)) + { + std::stringstream ss(line); + if (line[0] == 'v') + { + } + else if (line[0] == 'f') + { + ss.ignore(); + int id0, id1, id2; + ss >> id0; + ss >> id1; + ss >> id2; + btAlignedObjectArray<int> new_face; + new_face.push_back(id1); + new_face.push_back(id0); + new_face.push_back(id2); + additional_faces.push_back(new_face); + } + } + fs_read.close(); + + std::ofstream fs_write; + fs_write.open(filename, std::ios_base::app); + for (int i = 0; i < additional_faces.size(); ++i) + { + fs_write << "f"; + for (int n = 0; n < 3; n++) + { + fs_write << " " << additional_faces[i][n]; + } + fs_write << "\n"; + } + fs_write.close(); } // Given a simplex with vertices a,b,c,d, find the barycentric weights of p in this simplex void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary) { - btVector3 vap = p - a; - btVector3 vbp = p - b; - - btVector3 vab = b - a; - btVector3 vac = c - a; - btVector3 vad = d - a; - - btVector3 vbc = c - b; - btVector3 vbd = d - b; - btScalar va6 = (vbp.cross(vbd)).dot(vbc); - btScalar vb6 = (vap.cross(vac)).dot(vad); - btScalar vc6 = (vap.cross(vad)).dot(vab); - btScalar vd6 = (vap.cross(vab)).dot(vac); - btScalar v6 = btScalar(1) / (vab.cross(vac).dot(vad)); - bary = btVector4(va6*v6, vb6*v6, vc6*v6, vd6*v6); + btVector3 vap = p - a; + btVector3 vbp = p - b; + + btVector3 vab = b - a; + btVector3 vac = c - a; + btVector3 vad = d - a; + + btVector3 vbc = c - b; + btVector3 vbd = d - b; + btScalar va6 = (vbp.cross(vbd)).dot(vbc); + btScalar vb6 = (vap.cross(vac)).dot(vad); + btScalar vc6 = (vap.cross(vad)).dot(vab); + btScalar vd6 = (vap.cross(vab)).dot(vac); + btScalar v6 = btScalar(1) / (vab.cross(vac).dot(vad)); + bary = btVector4(va6 * v6, vb6 * v6, vc6 * v6, vd6 * v6); } // Given a simplex with vertices a,b,c, find the barycentric weights of p in this simplex. bary[3] = 0. void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& p, btVector4& bary) { - btVector3 v0 = b - a, v1 = c - a, v2 = p - a; - btScalar d00 = btDot(v0, v0); - btScalar d01 = btDot(v0, v1); - btScalar d11 = btDot(v1, v1); - btScalar d20 = btDot(v2, v0); - btScalar d21 = btDot(v2, v1); - btScalar invDenom = 1.0 / (d00 * d11 - d01 * d01); - bary[1] = (d11 * d20 - d01 * d21) * invDenom; - bary[2] = (d00 * d21 - d01 * d20) * invDenom; - bary[0] = 1.0 - bary[1] - bary[2]; - bary[3] = 0; + btVector3 v0 = b - a, v1 = c - a, v2 = p - a; + btScalar d00 = btDot(v0, v0); + btScalar d01 = btDot(v0, v1); + btScalar d11 = btDot(v1, v1); + btScalar d20 = btDot(v2, v0); + btScalar d21 = btDot(v2, v1); + btScalar invDenom = 1.0 / (d00 * d11 - d01 * d01); + bary[1] = (d11 * d20 - d01 * d21) * invDenom; + bary[2] = (d00 * d21 - d01 * d20) * invDenom; + bary[0] = 1.0 - bary[1] - bary[2]; + bary[3] = 0; } // Iterate through all render nodes to find the simulation tetrahedron that contains the render node and record the barycentric weights // If the node is not inside any tetrahedron, assign it to the tetrahedron in which the node has the least negative barycentric weight void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb) { - psb->m_z.resize(0); - psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size()); - psb->m_renderNodesParents.resize(psb->m_renderNodes.size()); - for (int i = 0; i < psb->m_renderNodes.size(); ++i) - { - const btVector3& p = psb->m_renderNodes[i].m_x; - btVector4 bary; - btVector4 optimal_bary; - btScalar min_bary_weight = -1e3; - btAlignedObjectArray<const btSoftBody::Node*> optimal_parents; - for (int j = 0; j < psb->m_tetras.size(); ++j) - { - const btSoftBody::Tetra& t = psb->m_tetras[j]; - getBarycentricWeights(t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x, p, bary); - btScalar new_min_bary_weight = bary[0]; - for (int k = 1; k < 4; ++k) - { - new_min_bary_weight = btMin(new_min_bary_weight, bary[k]); - } - if (new_min_bary_weight > min_bary_weight) - { - btAlignedObjectArray<const btSoftBody::Node*> parents; - parents.push_back(t.m_n[0]); - parents.push_back(t.m_n[1]); - parents.push_back(t.m_n[2]); - parents.push_back(t.m_n[3]); - optimal_parents = parents; - optimal_bary = bary; - min_bary_weight = new_min_bary_weight; - // stop searching if p is inside the tetrahedron at hand - if (bary[0]>=0. && bary[1]>=0. && bary[2]>=0. && bary[3]>=0.) - { - break; - } - } - } - psb->m_renderNodesInterpolationWeights[i] = optimal_bary; - psb->m_renderNodesParents[i] = optimal_parents; - } + psb->m_z.resize(0); + psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size()); + psb->m_renderNodesParents.resize(psb->m_renderNodes.size()); + for (int i = 0; i < psb->m_renderNodes.size(); ++i) + { + const btVector3& p = psb->m_renderNodes[i].m_x; + btVector4 bary; + btVector4 optimal_bary; + btScalar min_bary_weight = -1e3; + btAlignedObjectArray<const btSoftBody::Node*> optimal_parents; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + const btSoftBody::Tetra& t = psb->m_tetras[j]; + getBarycentricWeights(t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x, p, bary); + btScalar new_min_bary_weight = bary[0]; + for (int k = 1; k < 4; ++k) + { + new_min_bary_weight = btMin(new_min_bary_weight, bary[k]); + } + if (new_min_bary_weight > min_bary_weight) + { + btAlignedObjectArray<const btSoftBody::Node*> parents; + parents.push_back(t.m_n[0]); + parents.push_back(t.m_n[1]); + parents.push_back(t.m_n[2]); + parents.push_back(t.m_n[3]); + optimal_parents = parents; + optimal_bary = bary; + min_bary_weight = new_min_bary_weight; + // stop searching if p is inside the tetrahedron at hand + if (bary[0] >= 0. && bary[1] >= 0. && bary[2] >= 0. && bary[3] >= 0.) + { + break; + } + } + } + psb->m_renderNodesInterpolationWeights[i] = optimal_bary; + psb->m_renderNodesParents[i] = optimal_parents; + } } - // Iterate through all render nodes to find the simulation triangle that's closest to the node in the barycentric sense. void btSoftBodyHelpers::extrapolateBarycentricWeights(btSoftBody* psb) { - psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size()); - psb->m_renderNodesParents.resize(psb->m_renderNodes.size()); - psb->m_z.resize(psb->m_renderNodes.size()); - for (int i = 0; i < psb->m_renderNodes.size(); ++i) - { - const btVector3& p = psb->m_renderNodes[i].m_x; - btVector4 bary; - btVector4 optimal_bary; - btScalar min_bary_weight = -SIMD_INFINITY; - btAlignedObjectArray<const btSoftBody::Node*> optimal_parents; - btScalar dist = 0, optimal_dist = 0; - for (int j = 0; j < psb->m_faces.size(); ++j) - { - const btSoftBody::Face& f = psb->m_faces[j]; - btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x); - btVector3 unit_n = n.normalized(); - dist = (p-f.m_n[0]->m_x).dot(unit_n); - btVector3 proj_p = p - dist*unit_n; - getBarycentricWeights(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, proj_p, bary); - btScalar new_min_bary_weight = bary[0]; - for (int k = 1; k < 3; ++k) - { - new_min_bary_weight = btMin(new_min_bary_weight, bary[k]); - } - - // p is out of the current best triangle, we found a traingle that's better - bool better_than_closest_outisde = (new_min_bary_weight > min_bary_weight && min_bary_weight<0.); - // p is inside of the current best triangle, we found a triangle that's better - bool better_than_best_inside = (new_min_bary_weight>=0 && min_bary_weight>=0 && btFabs(dist)<btFabs(optimal_dist)); - - if (better_than_closest_outisde || better_than_best_inside) - { - btAlignedObjectArray<const btSoftBody::Node*> parents; - parents.push_back(f.m_n[0]); - parents.push_back(f.m_n[1]); - parents.push_back(f.m_n[2]); - optimal_parents = parents; - optimal_bary = bary; - optimal_dist = dist; - min_bary_weight = new_min_bary_weight; - } - } - psb->m_renderNodesInterpolationWeights[i] = optimal_bary; - psb->m_renderNodesParents[i] = optimal_parents; - psb->m_z[i] = optimal_dist; - } + psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size()); + psb->m_renderNodesParents.resize(psb->m_renderNodes.size()); + psb->m_z.resize(psb->m_renderNodes.size()); + for (int i = 0; i < psb->m_renderNodes.size(); ++i) + { + const btVector3& p = psb->m_renderNodes[i].m_x; + btVector4 bary; + btVector4 optimal_bary; + btScalar min_bary_weight = -SIMD_INFINITY; + btAlignedObjectArray<const btSoftBody::Node*> optimal_parents; + btScalar dist = 0, optimal_dist = 0; + for (int j = 0; j < psb->m_faces.size(); ++j) + { + const btSoftBody::Face& f = psb->m_faces[j]; + btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x); + btVector3 unit_n = n.normalized(); + dist = (p - f.m_n[0]->m_x).dot(unit_n); + btVector3 proj_p = p - dist * unit_n; + getBarycentricWeights(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, proj_p, bary); + btScalar new_min_bary_weight = bary[0]; + for (int k = 1; k < 3; ++k) + { + new_min_bary_weight = btMin(new_min_bary_weight, bary[k]); + } + + // p is out of the current best triangle, we found a traingle that's better + bool better_than_closest_outisde = (new_min_bary_weight > min_bary_weight && min_bary_weight < 0.); + // p is inside of the current best triangle, we found a triangle that's better + bool better_than_best_inside = (new_min_bary_weight >= 0 && min_bary_weight >= 0 && btFabs(dist) < btFabs(optimal_dist)); + + if (better_than_closest_outisde || better_than_best_inside) + { + btAlignedObjectArray<const btSoftBody::Node*> parents; + parents.push_back(f.m_n[0]); + parents.push_back(f.m_n[1]); + parents.push_back(f.m_n[2]); + optimal_parents = parents; + optimal_bary = bary; + optimal_dist = dist; + min_bary_weight = new_min_bary_weight; + } + } + psb->m_renderNodesInterpolationWeights[i] = optimal_bary; + psb->m_renderNodesParents[i] = optimal_parents; + psb->m_z[i] = optimal_dist; + } } |