diff options
Diffstat (limited to 'thirdparty')
160 files changed, 16447 insertions, 6932 deletions
diff --git a/thirdparty/README.md b/thirdparty/README.md index 9571ee49b9..8143b4af56 100644 --- a/thirdparty/README.md +++ b/thirdparty/README.md @@ -8,25 +8,10 @@ - License: BSD-3-Clause -## b2d_convexdecomp - -- Upstream: https://github.com/erincatto/Box2D/tree/master/Contributions/Utilities/ConvexDecomposition -- Version: git (25615e0, 2015) with modifications -- License: zlib - -The files were adapted to Godot by removing the dependency on b2Math (replacing -it by b2Glue.h) and commenting out some verbose printf calls. -Upstream code has not changed in 10 years, no need to keep track of changes. - -Important: Some files have Godot-made changes. -They are marked with `// -- GODOT start --` and `// -- GODOT end --` -comments. - - ## bullet - Upstream: https://github.com/bulletphysics/bullet3 -- Version: git (5ec8339, 2019) +- Version: 2.89 - License: zlib Files extracted from upstream source: @@ -61,7 +46,7 @@ Files extracted from upstream source: ## enet - Upstream: http://enet.bespin.org -- Version: 1.3.13 +- Version: 1.3.14 (0eaf48e, 2019) - License: MIT Files extracted from upstream source: @@ -72,12 +57,14 @@ Files extracted from upstream source: Important: enet.h, host.c, protocol.c have been slightly modified to be usable by godot socket implementation and allow IPv6. +Apply the patch in the `patches/` folder when syncing on newer upstream +commits. + Two files (godot.cpp and enet/godot.h) have been added to provide enet socket implementation using Godot classes. + It is still possible to build against a system wide ENet but doing so will limit it's functionality to IPv4 only. -Check the diff of enet.h, protocol.c, and host.c with the 1.3.13 -tarball before the next update. ## etc2comp @@ -250,7 +237,7 @@ from the Android NDK r18. ## libwebp - Upstream: https://chromium.googlesource.com/webm/libwebp/ -- Version: 1.0.3 +- Version: 1.1.0 - License: BSD-3-Clause Files extracted from upstream source: @@ -266,10 +253,11 @@ changes are marked with `// -- GODOT --` comments. ## mbedtls - Upstream: https://tls.mbed.org/ -- Version: 2.16.3 +- Version: 2.16.4 - License: Apache 2.0 File extracted from upstream release tarball (`-apache.tgz` variant): + - All `*.h` from `include/mbedtls/` to `thirdparty/mbedtls/include/mbedtls/` - All `*.c` from `library/` to `thirdparty/mbedtls/library/` - LICENSE and apache-2.0.txt files @@ -293,6 +281,7 @@ Files extracted from upstream source: - All `*.c` and `*.h` files from `miniupnpc` to `thirdparty/miniupnpc/miniupnpc` - Remove `test*`, `minihttptestserver.c` and `wingenminiupnpcstrings.c` +The patch `windows_fix.diff` is applied to `minissdpc.c` to fix an upstream issue. The only modified file is miniupnpcstrings.h, which was created for Godot (it is usually autogenerated by cmake). @@ -443,7 +432,7 @@ Files extracted from upstream source: ## recastnavigation - Upstream: https://github.com/recastnavigation/recastnavigation -- version: git (ef3ea40f, 2017) +- Version: git (ef3ea40f, 2017) - License: zlib Files extracted from upstream source: @@ -452,6 +441,22 @@ Files extracted from upstream source: - License.txt +## Rvo2 + +- Upstream: http://gamma.cs.unc.edu/RVO2/ +- Version: 3D - 1.0.1 +- License: Apache 2.0 + +Files extracted from upstream source: + +- All .cpp and .h files in the `src/` folder except for RVOSimulator.cpp and RVOSimulator.h +- LICENSE + +Important: Some files have Godot-made changes; so to enrich the features +originally proposed by this library and better integrate this library with +Godot. Please check the file to know what's new. + + ## squish - Upstream: https://sourceforge.net/projects/libsquish @@ -511,15 +516,13 @@ File extracted from upstream release tarball: ## xatlas - Upstream: https://github.com/jpcy/xatlas -- Version: git (b4b5426, 2019) +- Version: git (e12ea82, 2019) - License: MIT Files extracted from upstream source: - `xatlas.{cpp,h}` - -Note: License is marked as Public Domain in the files, but it was -later clarified upstream to MIT license. +- `LICENSE` ## zlib diff --git a/thirdparty/b2d_convexdecomp/b2Glue.h b/thirdparty/b2d_convexdecomp/b2Glue.h deleted file mode 100644 index 175f75be75..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Glue.h +++ /dev/null @@ -1,174 +0,0 @@ -/* -* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com -* -* This software is provided 'as-is', without any express or implied -* warranty. In no event will the authors be held liable for any damages -* arising from the use of this software. -* Permission is granted to anyone to use this software for any purpose, -* including commercial applications, and to alter it and redistribute it -* freely, subject to the following restrictions: -* 1. The origin of this software must not be misrepresented; you must not -* claim that you wrote the original software. If you use this software -* in a product, an acknowledgment in the product documentation would be -* appreciated but is not required. -* 2. Altered source versions must be plainly marked as such, and must not be -* misrepresented as being the original software. -* 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B2GLUE_H -#define B2GLUE_H - -#include "core/math/vector2.h" - -#include <limits.h> - -namespace b2ConvexDecomp { - -typedef real_t float32; -typedef int32_t int32; - -static inline float32 b2Sqrt(float32 val) { return Math::sqrt(val); } -#define b2_maxFloat FLT_MAX -#define b2_epsilon CMP_EPSILON -#define b2_pi 3.14159265359f -#define b2_maxPolygonVertices 16 -#define b2Max MAX -#define b2Min MIN -#define b2Clamp CLAMP -#define b2Abs ABS -/// A small length used as a collision and constraint tolerance. Usually it is -/// chosen to be numerically significant, but visually insignificant. -#define b2_linearSlop 0.005f - -/// A small angle used as a collision and constraint tolerance. Usually it is -/// chosen to be numerically significant, but visually insignificant. -#define b2_angularSlop (2.0f / 180.0f * b2_pi) - -/// A 2D column vector. -struct b2Vec2 -{ - /// Default constructor does nothing (for performance). - b2Vec2() {} - - /// Construct using coordinates. - b2Vec2(float32 x, float32 y) : x(x), y(y) {} - - /// Set this vector to all zeros. - void SetZero() { x = 0.0f; y = 0.0f; } - - /// Set this vector to some specified coordinates. - void Set(float32 x_, float32 y_) { x = x_; y = y_; } - - /// Negate this vector. - b2Vec2 operator -() const { b2Vec2 v; v.Set(-x, -y); return v; } - - /// Read from and indexed element. - float32 operator () (int32 i) const - { - return (&x)[i]; - } - - /// Write to an indexed element. - float32& operator () (int32 i) - { - return (&x)[i]; - } - - /// Add a vector to this vector. - void operator += (const b2Vec2& v) - { - x += v.x; y += v.y; - } - - /// Subtract a vector from this vector. - void operator -= (const b2Vec2& v) - { - x -= v.x; y -= v.y; - } - - /// Multiply this vector by a scalar. - void operator *= (float32 a) - { - x *= a; y *= a; - } - - /// Get the length of this vector (the norm). - float32 Length() const - { - return b2Sqrt(x * x + y * y); - } - - /// Get the length squared. For performance, use this instead of - /// b2Vec2::Length (if possible). - float32 LengthSquared() const - { - return x * x + y * y; - } - - bool operator==(const b2Vec2& p_v) const { - return x==p_v.x && y==p_v.y; - } - b2Vec2 operator+(const b2Vec2& p_v) const { - return b2Vec2(x+p_v.x,y+p_v.y); - } - b2Vec2 operator-(const b2Vec2& p_v) const { - return b2Vec2(x-p_v.x,y-p_v.y); - } - - b2Vec2 operator*(float32 f) const { - return b2Vec2(f*x,f*y); - } - - /// Convert this vector into a unit vector. Returns the length. - float32 Normalize() - { - float32 length = Length(); - if (length < b2_epsilon) - { - return 0.0f; - } - float32 invLength = 1.0f / length; - x *= invLength; - y *= invLength; - - return length; - } - - /* - /// Does this vector contain finite coordinates? - bool IsValid() const - { - return b2IsValid(x) && b2IsValid(y); - } - */ - - float32 x, y; -}; - -inline b2Vec2 operator*(float32 f,const b2Vec2& p_v) { - return b2Vec2(f*p_v.x,f*p_v.y); -} - -/// Perform the dot product on two vectors. -inline float32 b2Dot(const b2Vec2& a, const b2Vec2& b) -{ - return a.x * b.x + a.y * b.y; -} - -/// Perform the cross product on two vectors. In 2D this produces a scalar. -inline float32 b2Cross(const b2Vec2& a, const b2Vec2& b) -{ - return a.x * b.y - a.y * b.x; -} - -/// Perform the cross product on a vector and a scalar. In 2D this produces -/// a vector. -inline b2Vec2 b2Cross(const b2Vec2& a, float32 s) -{ - return b2Vec2(s * a.y, -s * a.x); -} - -} - -#endif diff --git a/thirdparty/b2d_convexdecomp/b2Polygon.cpp b/thirdparty/b2d_convexdecomp/b2Polygon.cpp deleted file mode 100644 index c80204ae21..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Polygon.cpp +++ /dev/null @@ -1,1591 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * This software is provided 'as-is', without any express or implied - * warranty. In no event will the authors be held liable for any damages - * arising from the use of this software. - * Permission is granted to anyone to use this software for any purpose, - * including commercial applications, and to alter it and redistribute it - * freely, subject to the following restrictions: - * 1. The origin of this software must not be misrepresented; you must not - * claim that you wrote the original software. If you use this software - * in a product, an acknowledgment in the product documentation would be - * appreciated but is not required. - * 2. Altered source versions must be plainly marked as such, and must not be - * misrepresented as being the original software. - * 3. This notice may not be removed or altered from any source distribution. - */ - -// This utility works with Box2d version 2.0 (or higher), and not with 1.4.3 - -#include "b2Triangle.h" -#include "b2Polygon.h" - -#include <math.h> -#include <limits.h> -#include <assert.h> -#define b2Assert assert - -namespace b2ConvexDecomp { - - -//If you're using 1.4.3, b2_toiSlop won't exist, so set this equal to 0 -static const float32 toiSlop = 0.0f; - -/* - * Check if the lines a0->a1 and b0->b1 cross. - * If they do, intersectionPoint will be filled - * with the point of crossing. - * - * Grazing lines should not return true. - */ -bool intersect(const b2Vec2& a0, const b2Vec2& a1, - const b2Vec2& b0, const b2Vec2& b1, - b2Vec2& intersectionPoint) { - - if (a0 == b0 || a0 == b1 || a1 == b0 || a1 == b1) return false; - float x1 = a0.x; float y1 = a0.y; - float x2 = a1.x; float y2 = a1.y; - float x3 = b0.x; float y3 = b0.y; - float x4 = b1.x; float y4 = b1.y; - - //AABB early exit - if (b2Max(x1,x2) < b2Min(x3,x4) || b2Max(x3,x4) < b2Min(x1,x2) ) return false; - if (b2Max(y1,y2) < b2Min(y3,y4) || b2Max(y3,y4) < b2Min(y1,y2) ) return false; - - float ua = ((x4 - x3) * (y1 - y3) - (y4 - y3) * (x1 - x3)); - float ub = ((x2 - x1) * (y1 - y3) - (y2 - y1) * (x1 - x3)); - float denom = (y4 - y3) * (x2 - x1) - (x4 - x3) * (y2 - y1); - if (b2Abs(denom) < CMP_EPSILON) { - //Lines are too close to parallel to call - return false; - } - ua /= denom; - ub /= denom; - - if ((0 < ua) && (ua < 1) && (0 < ub) && (ub < 1)) { - //if (intersectionPoint){ - intersectionPoint.x = (x1 + ua * (x2 - x1)); - intersectionPoint.y = (y1 + ua * (y2 - y1)); - //} - //printf("%f, %f -> %f, %f crosses %f, %f -> %f, %f\n",x1,y1,x2,y2,x3,y3,x4,y4); - return true; - } - - return false; -} - -/* - * True if line from a0->a1 intersects b0->b1 - */ -bool intersect(const b2Vec2& a0, const b2Vec2& a1, - const b2Vec2& b0, const b2Vec2& b1) { - b2Vec2 myVec(0.0f,0.0f); - return intersect(a0, a1, b0, b1, myVec); -} - -b2Polygon::b2Polygon(float32* _x, float32* _y, int32 nVert) { - nVertices = nVert; - x = new float32[nVertices]; - y = new float32[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - x[i] = _x[i]; - y[i] = _y[i]; - } - areaIsSet = false; -} - -b2Polygon::b2Polygon(b2Vec2* v, int32 nVert) { - nVertices = nVert; - x = new float32[nVertices]; - y = new float32[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - x[i] = v[i].x; - y[i] = v[i].y; - - } - areaIsSet = false; -} - -b2Polygon::b2Polygon() { - x = NULL; - y = NULL; - nVertices = 0; - areaIsSet = false; -} - -b2Polygon::~b2Polygon() { - //printf("About to delete poly with %d vertices\n",nVertices); - delete[] x; - delete[] y; -} - -float32 b2Polygon::GetArea() { - // TODO: fix up the areaIsSet caching so that it can be used - //if (areaIsSet) return area; - area = 0.0f; - - //First do wraparound - area += x[nVertices-1]*y[0]-x[0]*y[nVertices-1]; - for (int i=0; i<nVertices-1; ++i){ - area += x[i]*y[i+1]-x[i+1]*y[i]; - } - area *= .5f; - areaIsSet = true; - return area; -} - -bool b2Polygon::IsCCW() { - return (GetArea() > 0.0f); -} - -void b2Polygon::MergeParallelEdges(float32 tolerance) { - if (nVertices <= 3) return; //Can't do anything useful here to a triangle - bool* mergeMe = new bool[nVertices]; - int32 newNVertices = nVertices; - for (int32 i = 0; i < nVertices; ++i) { - int32 lower = (i == 0) ? (nVertices - 1) : (i - 1); - int32 middle = i; - int32 upper = (i == nVertices - 1) ? (0) : (i + 1); - float32 dx0 = x[middle] - x[lower]; - float32 dy0 = y[middle] - y[lower]; - float32 dx1 = x[upper] - x[middle]; - float32 dy1 = y[upper] - y[middle]; - float32 norm0 = sqrtf(dx0*dx0+dy0*dy0); - float32 norm1 = sqrtf(dx1*dx1+dy1*dy1); - if ( !(norm0 > 0.0f && norm1 > 0.0f) && newNVertices > 3 ) { - //Merge identical points - mergeMe[i] = true; - --newNVertices; - } - dx0 /= norm0; dy0 /= norm0; - dx1 /= norm1; dy1 /= norm1; - float32 cross = dx0 * dy1 - dx1 * dy0; - float32 dot = dx0 * dx1 + dy0 * dy1; - if (fabs(cross) < tolerance && dot > 0 && newNVertices > 3) { - mergeMe[i] = true; - --newNVertices; - } else { - mergeMe[i] = false; - } - } - if(newNVertices == nVertices || newNVertices == 0) { - delete[] mergeMe; - return; - } - float32* newx = new float32[newNVertices]; - float32* newy = new float32[newNVertices]; - int32 currIndex = 0; - for (int32 i=0; i < nVertices; ++i) { - if (mergeMe[i] || newNVertices == 0 || currIndex == newNVertices) continue; - b2Assert(currIndex < newNVertices); - newx[currIndex] = x[i]; - newy[currIndex] = y[i]; - ++currIndex; - } - delete[] x; - delete[] y; - delete[] mergeMe; - x = newx; - y = newy; - nVertices = newNVertices; - //printf("%d \n", newNVertices); -} - - /* - * Allocates and returns pointer to vector vertex array. - * Length of array is nVertices. - */ -b2Vec2* b2Polygon::GetVertexVecs() { - b2Vec2* out = new b2Vec2[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - out[i].Set(x[i], y[i]); - } - return out; -} - -b2Polygon::b2Polygon(b2Triangle& t) { - nVertices = 3; - x = new float[nVertices]; - y = new float[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - x[i] = t.x[i]; - y[i] = t.y[i]; - } -} - -void b2Polygon::Set(const b2Polygon& p) { - if (nVertices != p.nVertices){ - nVertices = p.nVertices; - delete[] x; - delete[] y; - x = new float32[nVertices]; - y = new float32[nVertices]; - } - - for (int32 i = 0; i < nVertices; ++i) { - x[i] = p.x[i]; - y[i] = p.y[i]; - } - areaIsSet = false; -} - - /* - * Assuming the polygon is simple, checks if it is convex. - */ -bool b2Polygon::IsConvex() { - bool isPositive = false; - for (int32 i = 0; i < nVertices; ++i) { - int32 lower = (i == 0) ? (nVertices - 1) : (i - 1); - int32 middle = i; - int32 upper = (i == nVertices - 1) ? (0) : (i + 1); - float32 dx0 = x[middle] - x[lower]; - float32 dy0 = y[middle] - y[lower]; - float32 dx1 = x[upper] - x[middle]; - float32 dy1 = y[upper] - y[middle]; - float32 cross = dx0 * dy1 - dx1 * dy0; - // Cross product should have same sign - // for each vertex if poly is convex. - bool newIsP = (cross >= 0) ? true : false; - if (i == 0) { - isPositive = newIsP; - } - else if (isPositive != newIsP) { - return false; - } - } - return true; -} - -/* - * Pulled from b2Shape.cpp, assertions removed - */ -static b2Vec2 PolyCentroid(const b2Vec2* vs, int32 count) -{ - b2Vec2 c; c.Set(0.0f, 0.0f); - float32 area = 0.0f; - - const float32 inv3 = 1.0f / 3.0f; - b2Vec2 pRef(0.0f, 0.0f); - for (int32 i = 0; i < count; ++i) - { - // Triangle vertices. - b2Vec2 p1 = pRef; - b2Vec2 p2 = vs[i]; - b2Vec2 p3 = i + 1 < count ? vs[i+1] : vs[0]; - - b2Vec2 e1 = p2 - p1; - b2Vec2 e2 = p3 - p1; - - float32 D = b2Cross(e1, e2); - - float32 triangleArea = 0.5f * D; - area += triangleArea; - - // Area weighted centroid - c += (p1 + p2 + p3) * triangleArea * inv3; - } - - // Centroid - c *= 1.0f / area; - return c; -} - - -/* - * Checks if polygon is valid for use in Box2d engine. - * Last ditch effort to ensure no invalid polygons are - * added to world geometry. - * - * Performs a full check, for simplicity, convexity, - * orientation, minimum angle, and volume. This won't - * be very efficient, and a lot of it is redundant when - * other tools in this section are used. - */ -bool b2Polygon::IsUsable(bool printErrors){ - int32 error = -1; - bool noError = true; - if (nVertices < 3 || nVertices > b2_maxPolygonVertices) {noError = false; error = 0;} - if (!IsConvex()) {noError = false; error = 1;} - if (!IsSimple()) {noError = false; error = 2;} - if (GetArea() < CMP_EPSILON) {noError = false; error = 3;} - - //Compute normals - b2Vec2* normals = new b2Vec2[nVertices]; - b2Vec2* vertices = new b2Vec2[nVertices]; - for (int32 i = 0; i < nVertices; ++i){ - vertices[i].Set(x[i],y[i]); - int32 i1 = i; - int32 i2 = i + 1 < nVertices ? i + 1 : 0; - b2Vec2 edge(x[i2]-x[i1],y[i2]-y[i1]); - normals[i] = b2Cross(edge, 1.0f); - normals[i].Normalize(); - } - - //Required side checks - for (int32 i=0; i<nVertices; ++i){ - int32 iminus = (i==0)?nVertices-1:i-1; - //int32 iplus = (i==nVertices-1)?0:i+1; - - //Parallel sides check - float32 cross = b2Cross(normals[iminus], normals[i]); - cross = b2Clamp(cross, -1.0f, 1.0f); - float32 angle = asinf(cross); - if(angle <= b2_angularSlop){ - noError = false; - error = 4; - break; - } - - //Too skinny check - for (int32 j=0; j<nVertices; ++j){ - if (j == i || j == (i + 1) % nVertices){ - continue; - } - float32 s = b2Dot(normals[i], vertices[j] - vertices[i]); - if (s >= -b2_linearSlop){ - noError = false; - error = 5; - } - } - - - b2Vec2 centroid = PolyCentroid(vertices,nVertices); - b2Vec2 n1 = normals[iminus]; - b2Vec2 n2 = normals[i]; - b2Vec2 v = vertices[i] - centroid; - - b2Vec2 d; - d.x = b2Dot(n1, v) - toiSlop; - d.y = b2Dot(n2, v) - toiSlop; - - // Shifting the edge inward by b2_toiSlop should - // not cause the plane to pass the centroid. - if ((d.x < 0.0f)||(d.y < 0.0f)){ - noError = false; - error = 6; - } - - } - delete[] vertices; - delete[] normals; - - if (!noError && printErrors){ - printf("Found invalid polygon, "); - switch(error){ - case 0: - printf("must have between 3 and %d vertices.\n",b2_maxPolygonVertices); - break; - case 1: - printf("must be convex.\n"); - break; - case 2: - printf("must be simple (cannot intersect itself).\n"); - break; - case 3: - printf("area is too small.\n"); - break; - case 4: - printf("sides are too close to parallel.\n"); - break; - case 5: - printf("polygon is too thin.\n"); - break; - case 6: - printf("core shape generation would move edge past centroid (too thin).\n"); - break; - default: - printf("don't know why.\n"); - } - } - return noError; -} - - -bool b2Polygon::IsUsable(){ - return IsUsable(B2_POLYGON_REPORT_ERRORS); -} - -//Check for edge crossings -bool b2Polygon::IsSimple() { - for (int32 i=0; i<nVertices; ++i){ - int32 iplus = (i+1 > nVertices-1)?0:i+1; - b2Vec2 a1(x[i],y[i]); - b2Vec2 a2(x[iplus],y[iplus]); - for (int32 j=i+1; j<nVertices; ++j){ - int32 jplus = (j+1 > nVertices-1)?0:j+1; - b2Vec2 b1(x[j],y[j]); - b2Vec2 b2(x[jplus],y[jplus]); - if (intersect(a1,a2,b1,b2)){ - return false; - } - } - } - return true; -} - - /* - * Tries to add a triangle to the polygon. Returns null if it can't connect - * properly, otherwise returns a pointer to the new Polygon. Assumes bitwise - * equality of joined vertex positions. - * - * Remember to delete the pointer afterwards. - * Todo: Make this return a b2Polygon instead - * of a pointer to a heap-allocated one. - * - * For internal use. - */ -b2Polygon* b2Polygon::Add(b2Triangle& t) { - // First, find vertices that connect - int32 firstP = -1; - int32 firstT = -1; - int32 secondP = -1; - int32 secondT = -1; - for (int32 i = 0; i < nVertices; i++) { - if (t.x[0] == x[i] && t.y[0] == y[i]) { - if (firstP == -1) { - firstP = i; - firstT = 0; - } - else { - secondP = i; - secondT = 0; - } - } - else if (t.x[1] == x[i] && t.y[1] == y[i]) { - if (firstP == -1) { - firstP = i; - firstT = 1; - } - else { - secondP = i; - secondT = 1; - } - } - else if (t.x[2] == x[i] && t.y[2] == y[i]) { - if (firstP == -1) { - firstP = i; - firstT = 2; - } - else { - secondP = i; - secondT = 2; - } - } - else { - } - } - // Fix ordering if first should be last vertex of poly - if (firstP == 0 && secondP == nVertices - 1) { - firstP = nVertices - 1; - secondP = 0; - } - - // Didn't find it - if (secondP == -1) { - return NULL; - } - - // Find tip index on triangle - int32 tipT = 0; - if (tipT == firstT || tipT == secondT) - tipT = 1; - if (tipT == firstT || tipT == secondT) - tipT = 2; - - float32* newx = new float[nVertices + 1]; - float32* newy = new float[nVertices + 1]; - int32 currOut = 0; - for (int32 i = 0; i < nVertices; i++) { - newx[currOut] = x[i]; - newy[currOut] = y[i]; - if (i == firstP) { - ++currOut; - newx[currOut] = t.x[tipT]; - newy[currOut] = t.y[tipT]; - } - ++currOut; - } - b2Polygon* result = new b2Polygon(newx, newy, nVertices+1); - delete[] newx; - delete[] newy; - return result; -} - - /** - * Adds this polygon to a PolyDef. - */ -#if 0 -void b2Polygon::AddTo(b2FixtureDef& pd) { - if (nVertices < 3) return; - - b2Assert(nVertices <= b2_maxPolygonVertices); - - b2Vec2* vecs = GetVertexVecs(); - b2Vec2* vecsToAdd = new b2Vec2[nVertices]; - - int32 offset = 0; - - b2PolygonShape *polyShape = new b2PolygonShape; - int32 ind; - - for (int32 i = 0; i < nVertices; ++i) { - - //Omit identical neighbors (including wraparound) - ind = i - offset; - if (vecs[i].x==vecs[remainder(i+1,nVertices)].x && - vecs[i].y==vecs[remainder(i+1,nVertices)].y){ - offset++; - continue; - } - - vecsToAdd[ind] = vecs[i]; - - } - - polyShape->Set((const b2Vec2*)vecsToAdd, ind+1); - pd.shape = polyShape; - - delete[] vecs; - delete[] vecsToAdd; -} -#endif - /** - * Finds and fixes "pinch points," points where two polygon - * vertices are at the same point. - * - * If a pinch point is found, pin is broken up into poutA and poutB - * and true is returned; otherwise, returns false. - * - * Mostly for internal use. - */ -bool ResolvePinchPoint(const b2Polygon& pin, b2Polygon& poutA, b2Polygon& poutB){ - if (pin.nVertices < 3) return false; - float32 tol = .001f; - bool hasPinchPoint = false; - int32 pinchIndexA = -1; - int32 pinchIndexB = -1; - for (int i=0; i<pin.nVertices; ++i){ - for (int j=i+1; j<pin.nVertices; ++j){ - //Don't worry about pinch points where the points - //are actually just dupe neighbors - if (b2Abs(pin.x[i]-pin.x[j])<tol&&b2Abs(pin.y[i]-pin.y[j])<tol&&j!=i+1){ - pinchIndexA = i; - pinchIndexB = j; - //printf("pinch: %f, %f == %f, %f\n",pin.x[i],pin.y[i],pin.x[j],pin.y[j]); - //printf("at indexes %d, %d\n",i,j); - hasPinchPoint = true; - break; - } - } - if (hasPinchPoint) break; - } - if (hasPinchPoint){ - //printf("Found pinch point\n"); - int32 sizeA = pinchIndexB - pinchIndexA; - if (sizeA == pin.nVertices) return false;//has dupe points at wraparound, not a problem here - float32* xA = new float32[sizeA]; - float32* yA = new float32[sizeA]; - for (int32 i=0; i < sizeA; ++i){ - int32 ind = remainder(pinchIndexA+i,pin.nVertices); - xA[i] = pin.x[ind]; - yA[i] = pin.y[ind]; - } - b2Polygon tempA(xA,yA,sizeA); - poutA.Set(tempA); - delete[] xA; - delete[] yA; - - int32 sizeB = pin.nVertices - sizeA; - float32* xB = new float32[sizeB]; - float32* yB = new float32[sizeB]; - for (int32 i=0; i<sizeB; ++i){ - int32 ind = remainder(pinchIndexB+i,pin.nVertices); - xB[i] = pin.x[ind]; - yB[i] = pin.y[ind]; - } - b2Polygon tempB(xB,yB,sizeB); - poutB.Set(tempB); - //printf("Size of a: %d, size of b: %d\n",sizeA,sizeB); - delete[] xB; - delete[] yB; - } - return hasPinchPoint; -} - - /** - * Triangulates a polygon using simple ear-clipping algorithm. Returns - * size of Triangle array unless the polygon can't be triangulated. - * This should only happen if the polygon self-intersects, - * though it will not _always_ return null for a bad polygon - it is the - * caller's responsibility to check for self-intersection, and if it - * doesn't, it should at least check that the return value is non-null - * before using. You're warned! - * - * Triangles may be degenerate, especially if you have identical points - * in the input to the algorithm. Check this before you use them. - * - * This is totally unoptimized, so for large polygons it should not be part - * of the simulation loop. - * - * Returns: - * -1 if algorithm fails (self-intersection most likely) - * 0 if there are not enough vertices to triangulate anything. - * Number of triangles if triangulation was successful. - * - * results will be filled with results - ear clipping always creates vNum - 2 - * or fewer (due to pinch point polygon snipping), so allocate an array of - * this size. - */ - -int32 TriangulatePolygon(float32* xv, float32* yv, int32 vNum, b2Triangle* results) { - if (vNum < 3) - return 0; - - //Recurse and split on pinch points - b2Polygon pA,pB; - b2Polygon pin(xv,yv,vNum); - if (ResolvePinchPoint(pin,pA,pB)){ - b2Triangle* mergeA = new b2Triangle[pA.nVertices]; - b2Triangle* mergeB = new b2Triangle[pB.nVertices]; - int32 nA = TriangulatePolygon(pA.x,pA.y,pA.nVertices,mergeA); - int32 nB = TriangulatePolygon(pB.x,pB.y,pB.nVertices,mergeB); - if (nA==-1 || nB==-1){ - delete[] mergeA; - delete[] mergeB; - return -1; - } - for (int32 i=0; i<nA; ++i){ - results[i].Set(mergeA[i]); - } - for (int32 i=0; i<nB; ++i){ - results[nA+i].Set(mergeB[i]); - } - delete[] mergeA; - delete[] mergeB; - return (nA+nB); - } - - b2Triangle* buffer = new b2Triangle[vNum-2]; - int32 bufferSize = 0; - float32* xrem = new float32[vNum]; - float32* yrem = new float32[vNum]; - for (int32 i = 0; i < vNum; ++i) { - xrem[i] = xv[i]; - yrem[i] = yv[i]; - } - - int xremLength = vNum; - - while (vNum > 3) { - // Find an ear - int32 earIndex = -1; - //float32 earVolume = -1.0f; - float32 earMaxMinCross = -10.0f; - for (int32 i = 0; i < vNum; ++i) { - if (IsEar(i, xrem, yrem, vNum)) { - int32 lower = remainder(i-1,vNum); - int32 upper = remainder(i+1,vNum); - b2Vec2 d1(xrem[upper]-xrem[i],yrem[upper]-yrem[i]); - b2Vec2 d2(xrem[i]-xrem[lower],yrem[i]-yrem[lower]); - b2Vec2 d3(xrem[lower]-xrem[upper],yrem[lower]-yrem[upper]); - - d1.Normalize(); - d2.Normalize(); - d3.Normalize(); - float32 cross12 = b2Abs( b2Cross(d1,d2) ); - float32 cross23 = b2Abs( b2Cross(d2,d3) ); - float32 cross31 = b2Abs( b2Cross(d3,d1) ); - //Find the maximum minimum angle - float32 minCross = b2Min(cross12, b2Min(cross23,cross31)); - if (minCross > earMaxMinCross){ - earIndex = i; - earMaxMinCross = minCross; - } - - /*//This bit chooses the ear with greatest volume first - float32 testVol = b2Abs( d1.x*d2.y-d2.x*d1.y ); - if (testVol > earVolume){ - earIndex = i; - earVolume = testVol; - }*/ - } - } - - // If we still haven't found an ear, we're screwed. - // Note: sometimes this is happening because the - // remaining points are collinear. Really these - // should just be thrown out without halting triangulation. - if (earIndex == -1){ - if (B2_POLYGON_REPORT_ERRORS){ - b2Polygon dump(xrem,yrem,vNum); - printf("Couldn't find an ear, dumping remaining poly:\n"); - dump.printFormatted(); - printf("Please submit this dump to ewjordan at Box2d forums\n"); - } - for (int32 i = 0; i < bufferSize; i++) { - results[i].Set(buffer[i]); - } - - delete[] buffer; - - if (bufferSize > 0) return bufferSize; - else return -1; - } - - // Clip off the ear: - // - remove the ear tip from the list - - --vNum; - float32* newx = new float32[vNum]; - float32* newy = new float32[vNum]; - int32 currDest = 0; - for (int32 i = 0; i < vNum; ++i) { - if (currDest == earIndex) ++currDest; - newx[i] = xrem[currDest]; - newy[i] = yrem[currDest]; - ++currDest; - } - - // - add the clipped triangle to the triangle list - int32 under = (earIndex == 0) ? (vNum) : (earIndex - 1); - int32 over = (earIndex == vNum) ? 0 : (earIndex + 1); - b2Triangle toAdd = b2Triangle(xrem[earIndex], yrem[earIndex], xrem[over], yrem[over], xrem[under], yrem[under]); - buffer[bufferSize].Set(toAdd); - ++bufferSize; - - // - replace the old list with the new one - delete[] xrem; - delete[] yrem; - xrem = newx; - yrem = newy; - } - - b2Triangle toAdd = b2Triangle(xrem[1], yrem[1], xrem[2], yrem[2], - xrem[0], yrem[0]); - buffer[bufferSize].Set(toAdd); - ++bufferSize; - - delete[] xrem; - delete[] yrem; - - b2Assert(bufferSize == xremLength-2); - - for (int32 i = 0; i < bufferSize; i++) { - results[i].Set(buffer[i]); - } - - delete[] buffer; - - return bufferSize; -} - - /** - * Turns a list of triangles into a list of convex polygons. Very simple - * method - start with a seed triangle, keep adding triangles to it until - * you can't add any more without making the polygon non-convex. - * - * Returns an integer telling how many polygons were created. Will fill - * polys array up to polysLength entries, which may be smaller or larger - * than the return value. - * - * Takes O(N*P) where P is the number of resultant polygons, N is triangle - * count. - * - * The final polygon list will not necessarily be minimal, though in - * practice it works fairly well. - */ -int32 PolygonizeTriangles(b2Triangle* triangulated, int32 triangulatedLength, b2Polygon* polys, int32 polysLength) { - int32 polyIndex = 0; - - if (triangulatedLength <= 0) { - return 0; - } - else { - int* covered = new int[triangulatedLength]; - for (int32 i = 0; i < triangulatedLength; ++i) { - covered[i] = 0; - //Check here for degenerate triangles - if ( ( (triangulated[i].x[0] == triangulated[i].x[1]) && (triangulated[i].y[0] == triangulated[i].y[1]) ) - || ( (triangulated[i].x[1] == triangulated[i].x[2]) && (triangulated[i].y[1] == triangulated[i].y[2]) ) - || ( (triangulated[i].x[0] == triangulated[i].x[2]) && (triangulated[i].y[0] == triangulated[i].y[2]) ) ) { - covered[i] = 1; - } - } - - bool notDone = true; - while (notDone) { - int32 currTri = -1; - for (int32 i = 0; i < triangulatedLength; ++i) { - if (covered[i]) - continue; - currTri = i; - break; - } - if (currTri == -1) { - notDone = false; - } - else { - b2Polygon poly(triangulated[currTri]); - covered[currTri] = 1; - int32 index = 0; - for (int32 i = 0; i < 2*triangulatedLength; ++i,++index) { - while (index >= triangulatedLength) index -= triangulatedLength; - if (covered[index]) { - continue; - } - b2Polygon* newP = poly.Add(triangulated[index]); - if (!newP) { - continue; - } - if (newP->nVertices > b2Polygon::maxVerticesPerPolygon) { - delete newP; - newP = NULL; - continue; - } - if (newP->IsConvex()) { //Or should it be IsUsable? Maybe re-write IsConvex to apply the angle threshold from Box2d - poly.Set(*newP); - delete newP; - newP = NULL; - covered[index] = 1; - } else { - delete newP; - newP = NULL; - } - } - if (polyIndex < polysLength){ - poly.MergeParallelEdges(b2_angularSlop); - //If identical points are present, a triangle gets - //borked by the MergeParallelEdges function, hence - //the vertex number check - if (poly.nVertices >= 3) polys[polyIndex].Set(poly); - //else printf("Skipping corrupt poly\n"); - } - if (poly.nVertices >= 3) polyIndex++; //Must be outside (polyIndex < polysLength) test - } - //printf("MEMCHECK: %d\n",_CrtCheckMemory()); - } - delete[] covered; - } - return polyIndex; -} - - /** - * Checks if vertex i is the tip of an ear in polygon defined by xv[] and - * yv[]. - * - * Assumes clockwise orientation of polygon...ick - */ -bool IsEar(int32 i, float32* xv, float32* yv, int32 xvLength) { - float32 dx0, dy0, dx1, dy1; - dx0 = dy0 = dx1 = dy1 = 0; - if (i >= xvLength || i < 0 || xvLength < 3) { - return false; - } - int32 upper = i + 1; - int32 lower = i - 1; - if (i == 0) { - dx0 = xv[0] - xv[xvLength - 1]; - dy0 = yv[0] - yv[xvLength - 1]; - dx1 = xv[1] - xv[0]; - dy1 = yv[1] - yv[0]; - lower = xvLength - 1; - } - else if (i == xvLength - 1) { - dx0 = xv[i] - xv[i - 1]; - dy0 = yv[i] - yv[i - 1]; - dx1 = xv[0] - xv[i]; - dy1 = yv[0] - yv[i]; - upper = 0; - } - else { - dx0 = xv[i] - xv[i - 1]; - dy0 = yv[i] - yv[i - 1]; - dx1 = xv[i + 1] - xv[i]; - dy1 = yv[i + 1] - yv[i]; - } - float32 cross = dx0 * dy1 - dx1 * dy0; - if (cross > 0) - return false; - b2Triangle myTri(xv[i], yv[i], xv[upper], yv[upper], - xv[lower], yv[lower]); - for (int32 j = 0; j < xvLength; ++j) { - if (j == i || j == lower || j == upper) - continue; - if (myTri.IsInside(xv[j], yv[j])) - return false; - } - return true; -} - -void ReversePolygon(b2Polygon& p){ - ReversePolygon(p.x,p.y,p.nVertices); -} - -void ReversePolygon(float* x, float* y, int n) { - if (n == 1) - return; - int32 low = 0; - int32 high = n - 1; - while (low < high) { - float32 buffer = x[low]; - x[low] = x[high]; - x[high] = buffer; - buffer = y[low]; - y[low] = y[high]; - y[high] = buffer; - ++low; - --high; - } -} - - /** - * Decomposes a non-convex polygon into a number of convex polygons, up - * to maxPolys (remaining pieces are thrown out, but the total number - * is returned, so the return value can be greater than maxPolys). - * - * Each resulting polygon will have no more than maxVerticesPerPolygon - * vertices (set to b2MaxPolyVertices by default, though you can change - * this). - * - * Returns -1 if operation fails (usually due to self-intersection of - * polygon). - */ -int32 DecomposeConvex(b2Polygon* p, b2Polygon* results, int32 maxPolys) { - if (p->nVertices < 3) return 0; - - b2Triangle* triangulated = new b2Triangle[p->nVertices - 2]; - int32 nTri; - if (p->IsCCW()) { - //printf("It is ccw \n"); - b2Polygon tempP; - tempP.Set(*p); - ReversePolygon(tempP.x, tempP.y, tempP.nVertices); - nTri = TriangulatePolygon(tempP.x, tempP.y, tempP.nVertices, triangulated); - //ReversePolygon(p->x, p->y, p->nVertices); //reset orientation - } else { - //printf("It is not ccw \n"); - nTri = TriangulatePolygon(p->x, p->y, p->nVertices, triangulated); - } - if (nTri < 1) { - //Still no luck? Oh well... - delete[] triangulated; - return -1; - } - int32 nPolys = PolygonizeTriangles(triangulated, nTri, results, maxPolys); - delete[] triangulated; - return nPolys; -} - - /** - * Decomposes a polygon into convex polygons and adds all pieces to a b2BodyDef - * using a prototype b2PolyDef. All fields of the prototype are used for every - * shape except the vertices (friction, restitution, density, etc). - * - * If you want finer control, you'll have to add everything by hand. - * - * This is the simplest method to add a complicated polygon to a body. - * - * Until Box2D's b2BodyDef behavior changes, this method returns a pointer to - * a heap-allocated array of b2PolyDefs, which must be deleted by the user - * after the b2BodyDef is added to the world. - */ -#if 0 -void DecomposeConvexAndAddTo(b2Polygon* p, b2Body* bd, b2FixtureDef* prototype) { - - if (p->nVertices < 3) return; - b2Polygon* decomposed = new b2Polygon[p->nVertices - 2]; //maximum number of polys - int32 nPolys = DecomposeConvex(p, decomposed, p->nVertices - 2); - //printf("npolys: %d",nPolys); - b2FixtureDef* pdarray = new b2FixtureDef[2*p->nVertices];//extra space in case of splits - int32 extra = 0; - for (int32 i = 0; i < nPolys; ++i) { - b2FixtureDef* toAdd = &pdarray[i+extra]; - *toAdd = *prototype; - //Hmm, shouldn't have to do all this... - /* - toAdd->type = prototype->type; - toAdd->friction = prototype->friction; - toAdd->restitution = prototype->restitution; - toAdd->density = prototype->density; - toAdd->userData = prototype->userData; - toAdd->categoryBits = prototype->categoryBits; - toAdd->maskBits = prototype->maskBits; - toAdd->groupIndex = prototype->groupIndex;//*/ - //decomposed[i].print(); - b2Polygon curr = decomposed[i]; - //TODO ewjordan: move this triangle handling to a better place so that - //it happens even if this convenience function is not called. - if (curr.nVertices == 3){ - //Check here for near-parallel edges, since we can't - //handle this in merge routine - for (int j=0; j<3; ++j){ - int32 lower = (j == 0) ? (curr.nVertices - 1) : (j - 1); - int32 middle = j; - int32 upper = (j == curr.nVertices - 1) ? (0) : (j + 1); - float32 dx0 = curr.x[middle] - curr.x[lower]; float32 dy0 = curr.y[middle] - curr.y[lower]; - float32 dx1 = curr.x[upper] - curr.x[middle]; float32 dy1 = curr.y[upper] - curr.y[middle]; - float32 norm0 = sqrtf(dx0*dx0+dy0*dy0); float32 norm1 = sqrtf(dx1*dx1+dy1*dy1); - if ( !(norm0 > 0.0f && norm1 > 0.0f) ) { - //Identical points, don't do anything! - goto Skip; - } - dx0 /= norm0; dy0 /= norm0; - dx1 /= norm1; dy1 /= norm1; - float32 cross = dx0 * dy1 - dx1 * dy0; - float32 dot = dx0*dx1 + dy0*dy1; - if (fabs(cross) < b2_angularSlop && dot > 0) { - //Angle too close, split the triangle across from this point. - //This is guaranteed to result in two triangles that satify - //the tolerance (one of the angles is 90 degrees) - float32 dx2 = curr.x[lower] - curr.x[upper]; float32 dy2 = curr.y[lower] - curr.y[upper]; - float32 norm2 = sqrtf(dx2*dx2+dy2*dy2); - if (norm2 == 0.0f) { - goto Skip; - } - dx2 /= norm2; dy2 /= norm2; - float32 thisArea = curr.GetArea(); - float32 thisHeight = 2.0f * thisArea / norm2; - float32 buffer2 = dx2; - dx2 = dy2; dy2 = -buffer2; - //Make two new polygons - //printf("dx2: %f, dy2: %f, thisHeight: %f, middle: %d\n",dx2,dy2,thisHeight,middle); - float32 newX1[3] = { curr.x[middle]+dx2*thisHeight, curr.x[lower], curr.x[middle] }; - float32 newY1[3] = { curr.y[middle]+dy2*thisHeight, curr.y[lower], curr.y[middle] }; - float32 newX2[3] = { newX1[0], curr.x[middle], curr.x[upper] }; - float32 newY2[3] = { newY1[0], curr.y[middle], curr.y[upper] }; - b2Polygon p1(newX1,newY1,3); - b2Polygon p2(newX2,newY2,3); - if (p1.IsUsable()){ - p1.AddTo(*toAdd); - - - bd->CreateFixture(toAdd); - ++extra; - } else if (B2_POLYGON_REPORT_ERRORS){ - printf("Didn't add unusable polygon. Dumping vertices:\n"); - p1.print(); - } - if (p2.IsUsable()){ - p2.AddTo(pdarray[i+extra]); - - bd->CreateFixture(toAdd); - } else if (B2_POLYGON_REPORT_ERRORS){ - printf("Didn't add unusable polygon. Dumping vertices:\n"); - p2.print(); - } - goto Skip; - } - } - - } - if (decomposed[i].IsUsable()){ - decomposed[i].AddTo(*toAdd); - - bd->CreateFixture((const b2FixtureDef*)toAdd); - } else if (B2_POLYGON_REPORT_ERRORS){ - printf("Didn't add unusable polygon. Dumping vertices:\n"); - decomposed[i].print(); - } -Skip: - ; - } - delete[] pdarray; - delete[] decomposed; - return;// pdarray; //needs to be deleted after body is created -} - -#endif - /** - * Find the convex hull of a point cloud using "Gift-wrap" algorithm - start - * with an extremal point, and walk around the outside edge by testing - * angles. - * - * Runs in O(N*S) time where S is number of sides of resulting polygon. - * Worst case: point cloud is all vertices of convex polygon -> O(N^2). - * - * There may be faster algorithms to do this, should you need one - - * this is just the simplest. You can get O(N log N) expected time if you - * try, I think, and O(N) if you restrict inputs to simple polygons. - * - * Returns null if number of vertices passed is less than 3. - * - * Results should be passed through convex decomposition afterwards - * to ensure that each shape has few enough points to be used in Box2d. - * - * FIXME?: May be buggy with colinear points on hull. Couldn't find a test - * case that resulted in wrong behavior. If one turns up, the solution is to - * supplement angle check with an equality resolver that always picks the - * longer edge. I think the current solution is working, though it sometimes - * creates an extra edge along a line. - */ - -b2Polygon ConvexHull(b2Vec2* v, int nVert) { - float32* cloudX = new float32[nVert]; - float32* cloudY = new float32[nVert]; - for (int32 i = 0; i < nVert; ++i) { - cloudX[i] = v[i].x; - cloudY[i] = v[i].y; - } - b2Polygon result = ConvexHull(cloudX, cloudY, nVert); - delete[] cloudX; - delete[] cloudY; - return result; -} - -b2Polygon ConvexHull(float32* cloudX, float32* cloudY, int32 nVert) { - b2Assert(nVert > 2); - int32* edgeList = new int32[nVert]; - int32 numEdges = 0; - - float32 minY = 1e10; - int32 minYIndex = nVert; - for (int32 i = 0; i < nVert; ++i) { - if (cloudY[i] < minY) { - minY = cloudY[i]; - minYIndex = i; - } - } - - int32 startIndex = minYIndex; - int32 winIndex = -1; - float32 dx = -1.0f; - float32 dy = 0.0f; - while (winIndex != minYIndex) { - float32 newdx = 0.0f; - float32 newdy = 0.0f; - float32 maxDot = -2.0f; - for (int32 i = 0; i < nVert; ++i) { - if (i == startIndex) - continue; - newdx = cloudX[i] - cloudX[startIndex]; - newdy = cloudY[i] - cloudY[startIndex]; - float32 nrm = sqrtf(newdx * newdx + newdy * newdy); - nrm = (nrm == 0.0f) ? 1.0f : nrm; - newdx /= nrm; - newdy /= nrm; - - //Cross and dot products act as proxy for angle - //without requiring inverse trig. - //FIXED: don't need cross test - //float32 newCross = newdx * dy - newdy * dx; - float32 newDot = newdx * dx + newdy * dy; - if (newDot > maxDot) {//newCross >= 0.0f && newDot > maxDot) { - maxDot = newDot; - winIndex = i; - } - } - edgeList[numEdges++] = winIndex; - dx = cloudX[winIndex] - cloudX[startIndex]; - dy = cloudY[winIndex] - cloudY[startIndex]; - float32 nrm = sqrtf(dx * dx + dy * dy); - nrm = (nrm == 0.0f) ? 1.0f : nrm; - dx /= nrm; - dy /= nrm; - startIndex = winIndex; - } - - float32* xres = new float32[numEdges]; - float32* yres = new float32[numEdges]; - for (int32 i = 0; i < numEdges; i++) { - xres[i] = cloudX[edgeList[i]]; - yres[i] = cloudY[edgeList[i]]; - //("%f, %f\n",xres[i],yres[i]); - } - - b2Polygon returnVal(xres, yres, numEdges); - - delete[] xres; - delete[] yres; - delete[] edgeList; - returnVal.MergeParallelEdges(b2_angularSlop); - return returnVal; -} - - -/* - * Given sines and cosines, tells if A's angle is less than B's on -Pi, Pi - * (in other words, is A "righter" than B) - */ -bool IsRighter(float32 sinA, float32 cosA, float32 sinB, float32 cosB){ - if (sinA < 0){ - if (sinB > 0 || cosA <= cosB) return true; - else return false; - } else { - if (sinB < 0 || cosA <= cosB) return false; - else return true; - } -} - -//Fix for obnoxious behavior for the % operator for negative numbers... -int32 remainder(int32 x, int32 modulus){ - int32 rem = x % modulus; - while (rem < 0){ - rem += modulus; - } - return rem; -} - -/* -Method: -Start at vertex with minimum y (pick maximum x one if there are two). -We aim our "lastDir" vector at (1.0, 0) -We look at the two rays going off from our start vertex, and follow whichever -has the smallest angle (in -Pi -> Pi) wrt lastDir ("rightest" turn) - -Loop until we hit starting vertex: - -We add our current vertex to the list. -We check the seg from current vertex to next vertex for intersections - - if no intersections, follow to next vertex and continue - - if intersections, pick one with minimum distance - - if more than one, pick one with "rightest" next point (two possibilities for each) - -*/ - -b2Polygon TraceEdge(b2Polygon* p){ - b2PolyNode* nodes = new b2PolyNode[p->nVertices*p->nVertices];//overkill, but sufficient (order of mag. is right) - int32 nNodes = 0; - - //Add base nodes (raw outline) - for (int32 i=0; i < p->nVertices; ++i){ - b2Vec2 pos(p->x[i],p->y[i]); - nodes[i].position = pos; - ++nNodes; - int32 iplus = (i==p->nVertices-1)?0:i+1; - int32 iminus = (i==0)?p->nVertices-1:i-1; - nodes[i].AddConnection(nodes[iplus]); - nodes[i].AddConnection(nodes[iminus]); - } - - //Process intersection nodes - horribly inefficient - bool dirty = true; - int counter = 0; - while (dirty){ - dirty = false; - for (int32 i=0; i < nNodes; ++i){ - for (int32 j=0; j < nodes[i].nConnected; ++j){ - for (int32 k=0; k < nNodes; ++k){ - if (k==i || &nodes[k] == nodes[i].connected[j]) continue; - for (int32 l=0; l < nodes[k].nConnected; ++l){ - - if ( nodes[k].connected[l] == nodes[i].connected[j] || - nodes[k].connected[l] == &nodes[i]) continue; - //Check intersection - b2Vec2 intersectPt; - //if (counter > 100) printf("checking intersection: %d, %d, %d, %d\n",i,j,k,l); - bool crosses = intersect(nodes[i].position,nodes[i].connected[j]->position, - nodes[k].position,nodes[k].connected[l]->position, - intersectPt); - if (crosses){ - /*if (counter > 100) { - printf("Found crossing at %f, %f\n",intersectPt.x, intersectPt.y); - printf("Locations: %f,%f - %f,%f | %f,%f - %f,%f\n", - nodes[i].position.x, nodes[i].position.y, - nodes[i].connected[j]->position.x, nodes[i].connected[j]->position.y, - nodes[k].position.x,nodes[k].position.y, - nodes[k].connected[l]->position.x,nodes[k].connected[l]->position.y); - printf("Memory addresses: %d, %d, %d, %d\n",(int)&nodes[i],(int)nodes[i].connected[j],(int)&nodes[k],(int)nodes[k].connected[l]); - }*/ - dirty = true; - //Destroy and re-hook connections at crossing point - b2PolyNode* connj = nodes[i].connected[j]; - b2PolyNode* connl = nodes[k].connected[l]; - nodes[i].connected[j]->RemoveConnection(nodes[i]); - nodes[i].RemoveConnection(*connj); - nodes[k].connected[l]->RemoveConnection(nodes[k]); - nodes[k].RemoveConnection(*connl); - nodes[nNodes] = b2PolyNode(intersectPt); - nodes[nNodes].AddConnection(nodes[i]); - nodes[i].AddConnection(nodes[nNodes]); - nodes[nNodes].AddConnection(nodes[k]); - nodes[k].AddConnection(nodes[nNodes]); - nodes[nNodes].AddConnection(*connj); - connj->AddConnection(nodes[nNodes]); - nodes[nNodes].AddConnection(*connl); - connl->AddConnection(nodes[nNodes]); - ++nNodes; - goto SkipOut; - } - } - } - } - } - SkipOut: - ++counter; - //if (counter > 100) printf("Counter: %d\n",counter); - } - - /* - // Debugging: check for connection consistency - for (int32 i=0; i<nNodes; ++i) { - int32 nConn = nodes[i].nConnected; - for (int32 j=0; j<nConn; ++j) { - if (nodes[i].connected[j]->nConnected == 0) b2Assert(false); - b2PolyNode* connect = nodes[i].connected[j]; - bool found = false; - for (int32 k=0; k<connect->nConnected; ++k) { - if (connect->connected[k] == &nodes[i]) found = true; - } - b2Assert(found); - } - }*/ - - //Collapse duplicate points - bool foundDupe = true; - int nActive = nNodes; - while (foundDupe){ - foundDupe = false; - for (int32 i=0; i < nNodes; ++i){ - if (nodes[i].nConnected == 0) continue; - for (int32 j=i+1; j < nNodes; ++j){ - if (nodes[j].nConnected == 0) continue; - b2Vec2 diff = nodes[i].position - nodes[j].position; - if (diff.LengthSquared() <= COLLAPSE_DIST_SQR){ - if (nActive <= 3) { - // -- GODOT start -- - delete[] nodes; - // -- GODOT end -- - return b2Polygon(); - } - //printf("Found dupe, %d left\n",nActive); - --nActive; - foundDupe = true; - b2PolyNode* inode = &nodes[i]; - b2PolyNode* jnode = &nodes[j]; - //Move all of j's connections to i, and orphan j - int32 njConn = jnode->nConnected; - for (int32 k=0; k < njConn; ++k){ - b2PolyNode* knode = jnode->connected[k]; - b2Assert(knode != jnode); - if (knode != inode) { - inode->AddConnection(*knode); - knode->AddConnection(*inode); - } - knode->RemoveConnection(*jnode); - //printf("knode %d on node %d now has %d connections\n",k,j,knode->nConnected); - //printf("Found duplicate point.\n"); - } - /* - printf("Orphaning node at address %d\n",(int)jnode); - for (int32 k=0; k<njConn; ++k) { - if (jnode->connected[k]->IsConnectedTo(*jnode)) printf("Problem!!!\n"); - } - for (int32 k=0; k < njConn; ++k){ - jnode->RemoveConnectionByIndex(k); - } - */ - jnode->nConnected = 0; - } - } - } - } - - /* - // Debugging: check for connection consistency - for (int32 i=0; i<nNodes; ++i) { - int32 nConn = nodes[i].nConnected; - printf("Node %d has %d connections\n",i,nConn); - for (int32 j=0; j<nConn; ++j) { - if (nodes[i].connected[j]->nConnected == 0) { - printf("Problem with node %d connection at address %d\n",i,(int)(nodes[i].connected[j])); - b2Assert(false); - } - b2PolyNode* connect = nodes[i].connected[j]; - bool found = false; - for (int32 k=0; k<connect->nConnected; ++k) { - if (connect->connected[k] == &nodes[i]) found = true; - } - if (!found) printf("Connection %d (of %d) on node %d (of %d) did not have reciprocal connection.\n",j,nConn,i,nNodes); - b2Assert(found); - } - }//*/ - - //Now walk the edge of the list - - //Find node with minimum y value (max x if equal) - float32 minY = 1e10; - float32 maxX = -1e10; - int32 minYIndex = -1; - for (int32 i = 0; i < nNodes; ++i) { - if (nodes[i].position.y < minY && nodes[i].nConnected > 1) { - minY = nodes[i].position.y; - minYIndex = i; - maxX = nodes[i].position.x; - } else if (nodes[i].position.y == minY && nodes[i].position.x > maxX && nodes[i].nConnected > 1) { - minYIndex = i; - maxX = nodes[i].position.x; - } - } - - b2Vec2 origDir(1.0f,0.0f); - b2Vec2* resultVecs = new b2Vec2[4*nNodes];// nodes may be visited more than once, unfortunately - change to growable array! - int32 nResultVecs = 0; - b2PolyNode* currentNode = &nodes[minYIndex]; - b2PolyNode* startNode = currentNode; - b2Assert(currentNode->nConnected > 0); - b2PolyNode* nextNode = currentNode->GetRightestConnection(origDir); - if (!nextNode) goto CleanUp; // Borked, clean up our mess and return - resultVecs[0] = startNode->position; - ++nResultVecs; - while (nextNode != startNode){ - if (nResultVecs > 4*nNodes){ - /* - printf("%d, %d, %d\n",(int)startNode,(int)currentNode,(int)nextNode); - printf("%f, %f -> %f, %f\n",currentNode->position.x,currentNode->position.y, nextNode->position.x, nextNode->position.y); - p->printFormatted(); - printf("Dumping connection graph: \n"); - for (int32 i=0; i<nNodes; ++i) { - printf("nodex[%d] = %f; nodey[%d] = %f;\n",i,nodes[i].position.x,i,nodes[i].position.y); - printf("//connected to\n"); - for (int32 j=0; j<nodes[i].nConnected; ++j) { - printf("connx[%d][%d] = %f; conny[%d][%d] = %f;\n",i,j,nodes[i].connected[j]->position.x, i,j,nodes[i].connected[j]->position.y); - } - } - printf("Dumping results thus far: \n"); - for (int32 i=0; i<nResultVecs; ++i) { - printf("x[%d]=map(%f,-3,3,0,width); y[%d] = map(%f,-3,3,height,0);\n",i,resultVecs[i].x,i,resultVecs[i].y); - } - //*/ - b2Assert(false); //nodes should never be visited four times apiece (proof?), so we've probably hit a loop...crap - } - resultVecs[nResultVecs++] = nextNode->position; - b2PolyNode* oldNode = currentNode; - currentNode = nextNode; - //printf("Old node connections = %d; address %d\n",oldNode->nConnected, (int)oldNode); - //printf("Current node connections = %d; address %d\n",currentNode->nConnected, (int)currentNode); - nextNode = currentNode->GetRightestConnection(oldNode); - if (!nextNode) goto CleanUp; // There was a problem, so jump out of the loop and use whatever garbage we've generated so far - //printf("nextNode address: %d\n",(int)nextNode); - } - - CleanUp: - - float32* xres = new float32[nResultVecs]; - float32* yres = new float32[nResultVecs]; - for (int32 i=0; i<nResultVecs; ++i){ - xres[i] = resultVecs[i].x; - yres[i] = resultVecs[i].y; - } - b2Polygon retval(xres,yres,nResultVecs); - delete[] resultVecs; - delete[] yres; - delete[] xres; - delete[] nodes; - return retval; -} - -b2PolyNode::b2PolyNode(){ - nConnected = 0; - visited = false; -} -b2PolyNode::b2PolyNode(b2Vec2& pos){ - position = pos; - nConnected = 0; - visited = false; -} - -void b2PolyNode::AddConnection(b2PolyNode& toMe){ - b2Assert(nConnected < MAX_CONNECTED); - // Ignore duplicate additions - for (int32 i=0; i<nConnected; ++i) { - if (connected[i] == &toMe) return; - } - connected[nConnected] = &toMe; - ++nConnected; -} - -void b2PolyNode::RemoveConnection(b2PolyNode& fromMe){ - bool isFound = false; - int32 foundIndex = -1; - for (int32 i=0; i<nConnected; ++i){ - if (&fromMe == connected[i]) {//.position == connected[i]->position){ - isFound = true; - foundIndex = i; - break; - } - } - b2Assert(isFound); - --nConnected; - //printf("nConnected: %d\n",nConnected); - for (int32 i=foundIndex; i < nConnected; ++i){ - connected[i] = connected[i+1]; - } -} -void b2PolyNode::RemoveConnectionByIndex(int32 index){ - --nConnected; - //printf("New nConnected = %d\n",nConnected); - for (int32 i=index; i < nConnected; ++i){ - connected[i] = connected[i+1]; - } -} -bool b2PolyNode::IsConnectedTo(b2PolyNode& me){ - bool isFound = false; - for (int32 i=0; i<nConnected; ++i){ - if (&me == connected[i]) {//.position == connected[i]->position){ - isFound = true; - break; - } - } - return isFound; -} -b2PolyNode* b2PolyNode::GetRightestConnection(b2PolyNode* incoming){ - if (nConnected == 0) b2Assert(false); // This means the connection graph is inconsistent - if (nConnected == 1) { - //b2Assert(false); - // Because of the possibility of collapsing nearby points, - // we may end up with "spider legs" dangling off of a region. - // The correct behavior here is to turn around. - return incoming; - } - b2Vec2 inDir = position - incoming->position; - float32 inLength = inDir.Normalize(); - b2Assert(inLength > CMP_EPSILON); - - b2PolyNode* result = NULL; - for (int32 i=0; i<nConnected; ++i){ - if (connected[i] == incoming) continue; - b2Vec2 testDir = connected[i]->position - position; - float32 testLengthSqr = testDir.LengthSquared(); - testDir.Normalize(); - /* - if (testLengthSqr < COLLAPSE_DIST_SQR) { - printf("Problem with connection %d\n",i); - printf("This node has %d connections\n",nConnected); - printf("That one has %d\n",connected[i]->nConnected); - if (this == connected[i]) printf("This points at itself.\n"); - }*/ - b2Assert (testLengthSqr >= COLLAPSE_DIST_SQR); - float32 myCos = b2Dot(inDir,testDir); - float32 mySin = b2Cross(inDir,testDir); - if (result){ - b2Vec2 resultDir = result->position - position; - resultDir.Normalize(); - float32 resCos = b2Dot(inDir,resultDir); - float32 resSin = b2Cross(inDir,resultDir); - if (IsRighter(mySin,myCos,resSin,resCos)){ - result = connected[i]; - } - } else{ - result = connected[i]; - } - } - if (B2_POLYGON_REPORT_ERRORS && !result) { - printf("nConnected = %d\n",nConnected); - for (int32 i=0; i<nConnected; ++i) { - printf("connected[%d] @ %d\n",i,0);//(int)connected[i]); - } - } - b2Assert(result); - - return result; -} - -b2PolyNode* b2PolyNode::GetRightestConnection(b2Vec2& incomingDir){ - b2Vec2 diff = position-incomingDir; - b2PolyNode temp(diff); - b2PolyNode* res = GetRightestConnection(&temp); - b2Assert(res); - return res; -} -} diff --git a/thirdparty/b2d_convexdecomp/b2Polygon.h b/thirdparty/b2d_convexdecomp/b2Polygon.h deleted file mode 100644 index c466e28f7e..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Polygon.h +++ /dev/null @@ -1,133 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * This software is provided 'as-is', without any express or implied - * warranty. In no event will the authors be held liable for any damages - * arising from the use of this software. - * Permission is granted to anyone to use this software for any purpose, - * including commercial applications, and to alter it and redistribute it - * freely, subject to the following restrictions: - * 1. The origin of this software must not be misrepresented; you must not - * claim that you wrote the original software. If you use this software - * in a product, an acknowledgment in the product documentation would be - * appreciated but is not required. - * 2. Altered source versions must be plainly marked as such, and must not be - * misrepresented as being the original software. - * 3. This notice may not be removed or altered from any source distribution. - */ - -#ifndef B2_POLYGON_H -#define B2_POLYGON_H - -#include "b2Triangle.h" -#include "stdio.h" -#include <string.h> -#include <limits.h> -namespace b2ConvexDecomp { - -static bool B2_POLYGON_REPORT_ERRORS = false; - -class b2Polygon; - -int32 remainder(int32 x, int32 modulus); -int32 TriangulatePolygon(float32* xv, float32* yv, int32 vNum, b2Triangle* results); -bool IsEar(int32 i, float32* xv, float32* yv, int32 xvLength); //Not for external use -int32 PolygonizeTriangles(b2Triangle* triangulated, int32 triangulatedLength, b2Polygon* polys, int32 polysLength); -int32 DecomposeConvex(b2Polygon* p, b2Polygon* results, int32 maxPolys); -//void DecomposeConvexAndAddTo(b2Polygon* p, b2Body* bd, b2FixtureDef* prototype); - -void ReversePolygon(float32* x, float32* y, int n); - -b2Polygon TraceEdge(b2Polygon* p); //For use with self-intersecting polygons, finds outline - -class b2Polygon { - -public: - const static int32 maxVerticesPerPolygon = b2_maxPolygonVertices; - - float32* x; //vertex arrays - float32* y; - int32 nVertices; - - float32 area; - bool areaIsSet; - - b2Polygon(float32* _x, float32* _y, int32 nVert); - b2Polygon(b2Vec2* v, int32 nVert); - b2Polygon(); - ~b2Polygon(); - - float32 GetArea(); - - void MergeParallelEdges(float32 tolerance); - b2Vec2* GetVertexVecs(); - b2Polygon(b2Triangle& t); - void Set(const b2Polygon& p); - bool IsConvex(); - bool IsCCW(); - bool IsUsable(bool printError); - bool IsUsable(); - bool IsSimple(); - // void AddTo(b2FixtureDef& pd); - - b2Polygon* Add(b2Triangle& t); - - void print(){ - printFormatted(); - /* - for (int32 i=0; i<nVertices; ++i){ - printf("i: %d, x:%f, y:%f\n",i,x[i],y[i]); - } - */ - } - - void printFormatted(){ - printf("float xv[] = {"); - for (int32 i=0; i<nVertices; ++i){ - printf("%ff,",x[i]); - } - printf("};\nfloat yv[] = {"); - for (int32 i=0; i<nVertices; ++i){ - printf("%ff,",y[i]); - } - printf("};\n"); - } - - b2Polygon(const b2Polygon& p){ - nVertices = p.nVertices; - area = p.area; - areaIsSet = p.areaIsSet; - x = new float32[nVertices]; - y = new float32[nVertices]; - memcpy(x, p.x, nVertices * sizeof(float32)); - memcpy(y, p.y, nVertices * sizeof(float32)); - } - - -}; - -const int32 MAX_CONNECTED = 32; -const float32 COLLAPSE_DIST_SQR = CMP_EPSILON*CMP_EPSILON;//0.1f;//1000*CMP_EPSILON*1000*CMP_EPSILON; - -class b2PolyNode{ -public: - b2Vec2 position; - b2PolyNode* connected[MAX_CONNECTED]; - int32 nConnected; - bool visited; - - b2PolyNode(b2Vec2& pos); - b2PolyNode(); - void AddConnection(b2PolyNode& toMe); - void RemoveConnection(b2PolyNode& fromMe); - void RemoveConnectionByIndex(int32 index); - bool IsConnectedTo(b2PolyNode& me); - b2PolyNode* GetRightestConnection(b2PolyNode* incoming); - b2PolyNode* GetRightestConnection(b2Vec2& incomingDir); -}; - - -b2Polygon ConvexHull(b2Vec2* v, int nVert); -b2Polygon ConvexHull(float32* cloudX, float32* cloudY, int32 nVert); -} -#endif diff --git a/thirdparty/b2d_convexdecomp/b2Triangle.cpp b/thirdparty/b2d_convexdecomp/b2Triangle.cpp deleted file mode 100644 index a0a30b9407..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Triangle.cpp +++ /dev/null @@ -1,82 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * This software is provided 'as-is', without any express or implied - * warranty. In no event will the authors be held liable for any damages - * arising from the use of this software. - * Permission is granted to anyone to use this software for any purpose, - * including commercial applications, and to alter it and redistribute it - * freely, subject to the following restrictions: - * 1. The origin of this software must not be misrepresented; you must not - * claim that you wrote the original software. If you use this software - * in a product, an acknowledgment in the product documentation would be - * appreciated but is not required. - * 2. Altered source versions must be plainly marked as such, and must not be - * misrepresented as being the original software. - * 3. This notice may not be removed or altered from any source distribution. - */ - -#include "b2Triangle.h" - -namespace b2ConvexDecomp { - -//Constructor automatically fixes orientation to ccw -b2Triangle::b2Triangle(float32 x1, float32 y1, float32 x2, float32 y2, float32 x3, float32 y3){ - x = new float32[3]; - y = new float32[3]; - float32 dx1 = x2-x1; - float32 dx2 = x3-x1; - float32 dy1 = y2-y1; - float32 dy2 = y3-y1; - float32 cross = dx1*dy2-dx2*dy1; - bool ccw = (cross>0); - if (ccw){ - x[0] = x1; x[1] = x2; x[2] = x3; - y[0] = y1; y[1] = y2; y[2] = y3; - } else{ - x[0] = x1; x[1] = x3; x[2] = x2; - y[0] = y1; y[1] = y3; y[2] = y2; - } -} - -b2Triangle::b2Triangle(){ - x = new float32[3]; - y = new float32[3]; -} - -b2Triangle::~b2Triangle(){ - delete[] x; - delete[] y; -} - -void b2Triangle::Set(const b2Triangle& toMe) { - for (int32 i=0; i<3; ++i) { - x[i] = toMe.x[i]; - y[i] = toMe.y[i]; - } -} - -bool b2Triangle::IsInside(float32 _x, float32 _y){ - if (_x < x[0] && _x < x[1] && _x < x[2]) return false; - if (_x > x[0] && _x > x[1] && _x > x[2]) return false; - if (_y < y[0] && _y < y[1] && _y < y[2]) return false; - if (_y > y[0] && _y > y[1] && _y > y[2]) return false; - - float32 vx2 = _x-x[0]; float32 vy2 = _y-y[0]; - float32 vx1 = x[1]-x[0]; float32 vy1 = y[1]-y[0]; - float32 vx0 = x[2]-x[0]; float32 vy0 = y[2]-y[0]; - - float32 dot00 = vx0*vx0+vy0*vy0; - float32 dot01 = vx0*vx1+vy0*vy1; - float32 dot02 = vx0*vx2+vy0*vy2; - float32 dot11 = vx1*vx1+vy1*vy1; - float32 dot12 = vx1*vx2+vy1*vy2; - float32 invDenom = 1.0f / (dot00*dot11 - dot01*dot01); - float32 u = (dot11*dot02 - dot01*dot12)*invDenom; - float32 v = (dot00*dot12 - dot01*dot02)*invDenom; - - return ((u>=0)&&(v>=0)&&(u+v<=1)); -} - - -} diff --git a/thirdparty/b2d_convexdecomp/b2Triangle.h b/thirdparty/b2d_convexdecomp/b2Triangle.h deleted file mode 100644 index 99ab5cba69..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Triangle.h +++ /dev/null @@ -1,41 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * This software is provided 'as-is', without any express or implied - * warranty. In no event will the authors be held liable for any damages - * arising from the use of this software. - * Permission is granted to anyone to use this software for any purpose, - * including commercial applications, and to alter it and redistribute it - * freely, subject to the following restrictions: - * 1. The origin of this software must not be misrepresented; you must not - * claim that you wrote the original software. If you use this software - * in a product, an acknowledgment in the product documentation would be - * appreciated but is not required. - * 2. Altered source versions must be plainly marked as such, and must not be - * misrepresented as being the original software. - * 3. This notice may not be removed or altered from any source distribution. - */ - -#ifndef B2_TRIANGLE_H -#define B2_TRIANGLE_H - -#include "b2Glue.h" - -namespace b2ConvexDecomp { - - - -class b2Triangle{ -public: - float* x; - float* y; - b2Triangle(); - b2Triangle(float32 x1, float32 y1, float32 x2, float32 y2, float32 x3, float32 y3); - ~b2Triangle(); - bool IsInside(float32 _x, float32 _y); - void Set(const b2Triangle& toMe); - -}; - -} -#endif diff --git a/thirdparty/bullet/Bullet3Common/b3Logging.h b/thirdparty/bullet/Bullet3Common/b3Logging.h index 9c92b12ebb..f61149de77 100644 --- a/thirdparty/bullet/Bullet3Common/b3Logging.h +++ b/thirdparty/bullet/Bullet3Common/b3Logging.h @@ -14,20 +14,8 @@ extern "C" //#define b3Printf b3OutputPrintfVarArgsInternal //#define b3Printf(...) printf(__VA_ARGS__) //#define b3Printf(...) - -#define b3Warning(...) \ - do \ - { \ - b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__); \ - b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) -#define b3Error(...) \ - do \ - { \ - b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__); \ - b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) - +#define b3Warning(...) do{ b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__);} while (0) +#define b3Error(...)do {b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__);} while (0) #ifndef B3_NO_PROFILE void b3EnterProfileZone(const char* name); diff --git a/thirdparty/bullet/Bullet3Common/b3Scalar.h b/thirdparty/bullet/Bullet3Common/b3Scalar.h index 0db5eb6f4f..eeb70ed632 100644 --- a/thirdparty/bullet/Bullet3Common/b3Scalar.h +++ b/thirdparty/bullet/Bullet3Common/b3Scalar.h @@ -40,8 +40,12 @@ inline int b3GetVersion() #ifdef _WIN32 -#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined(_MSC_VER) && _MSC_VER < 1300) - +#if defined(__GNUC__) // it should handle both MINGW and CYGWIN +#define B3_FORCE_INLINE __inline__ __attribute__((always_inline)) +#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16))) +#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64))) +#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128))) +#elif ( defined(_MSC_VER) && _MSC_VER < 1300 ) #define B3_FORCE_INLINE inline #define B3_ATTRIBUTE_ALIGNED16(a) a #define B3_ATTRIBUTE_ALIGNED64(a) a @@ -67,7 +71,17 @@ inline int b3GetVersion() #if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION)) #if (defined(_M_IX86) || defined(_M_X64)) + + +#ifdef __clang__ +//#define B3_NO_SIMD_OPERATOR_OVERLOADS +#define B3_DISABLE_SSE +#endif //__clang__ + +#ifndef B3_DISABLE_SSE #define B3_USE_SSE +#endif //B3_DISABLE_SSE + #ifdef B3_USE_SSE //B3_USE_SSE_IN_API is disabled under Windows by default, because //it makes it harder to integrate Bullet into your application under Windows @@ -88,17 +102,7 @@ inline int b3GetVersion() #ifdef B3_DEBUG #ifdef _MSC_VER #include <stdio.h> -#define b3Assert(x) \ - { \ - if (!(x)) \ - { \ - b3Error( \ - "Assert "__FILE__ \ - ":%u (" #x ")\n", \ - __LINE__); \ - __debugbreak(); \ - } \ - } +#define b3Assert(x) { if(!(x)){b3Error("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} #else //_MSC_VER #include <assert.h> #define b3Assert assert @@ -293,7 +297,7 @@ static int b3NanMask = 0x7F800001; static int b3InfinityMask = 0x7F800000; #define B3_INFINITY_MASK (*(float *)&b3InfinityMask) #endif - +#ifndef B3_NO_SIMD_OPERATOR_OVERLOADS inline __m128 operator+(const __m128 A, const __m128 B) { return _mm_add_ps(A, B); @@ -308,7 +312,7 @@ inline __m128 operator*(const __m128 A, const __m128 B) { return _mm_mul_ps(A, B); } - +#endif //B3_NO_SIMD_OPERATOR_OVERLOADS #define b3CastfTo128i(a) (_mm_castps_si128(a)) #define b3CastfTo128d(a) (_mm_castps_pd(a)) #define b3CastiTo128f(a) (_mm_castsi128_ps(a)) diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp index 0721928684..616fc34f3a 100644 --- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp +++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp @@ -496,7 +496,7 @@ void b3GpuParallelLinearBvh::constructBinaryRadixTree() clFinish(m_queue); } - //Find the number of nodes seperating each internal node and the root node + //Find the number of nodes separating each internal node and the root node //so that the AABBs can be set using the next kernel. //Also determine the maximum number of nodes separating an internal node and the root node. { diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h index 087b30f3e6..2b1e63be75 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h @@ -68,7 +68,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const = 0; - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const = 0; diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h index b6ceb8df10..57cbf03dc2 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h @@ -100,7 +100,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; } - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const { diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp index dae61d4581..8b0a834efe 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp @@ -183,9 +183,9 @@ bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints() const b3Vector3& c = m_simplexVectorW[2]; const b3Vector3& d = m_simplexVectorW[3]; - bool hasSeperation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC); + bool hasSeparation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC); - if (hasSeperation) + if (hasSeparation) { m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] + m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] + diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h index 825caeef56..bc0742ad62 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -187,13 +187,6 @@ btBroadphasePair BT_DECLARE_ALIGNED_ALLOCATOR(); - btBroadphasePair(const btBroadphasePair& other) - : m_pProxy0(other.m_pProxy0), - m_pProxy1(other.m_pProxy1), - m_algorithm(other.m_algorithm), - m_internalInfo1(other.m_internalInfo1) - { - } btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1) { //keep them sorted, so the std::set operations work diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h index a316dbf207..980d19a754 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h @@ -21,7 +21,6 @@ subject to the following restrictions: #include "LinearMath/btVector3.h" #include "LinearMath/btTransform.h" #include "LinearMath/btAabbUtil2.h" - // // Compile time configuration // @@ -131,6 +130,7 @@ subject to the following restrictions: /* btDbvtAabbMm */ struct btDbvtAabbMm { + DBVT_INLINE btDbvtAabbMm(){} DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); } DBVT_INLINE btVector3 Lengths() const { return (mx - mi); } DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); } @@ -190,6 +190,36 @@ struct btDbvtNode }; }; +/* btDbv(normal)tNode */ +struct btDbvntNode +{ + btDbvtVolume volume; + btVector3 normal; + btScalar angle; + DBVT_INLINE bool isleaf() const { return (childs[1] == 0); } + DBVT_INLINE bool isinternal() const { return (!isleaf()); } + btDbvntNode* childs[2]; + void* data; + + btDbvntNode(const btDbvtNode* n) + : volume(n->volume) + , angle(0) + , normal(0,0,0) + , data(n->data) + { + childs[0] = 0; + childs[1] = 0; + } + + ~btDbvntNode() + { + if (childs[0]) + delete childs[0]; + if (childs[1]) + delete childs[1]; + } +}; + typedef btAlignedObjectArray<const btDbvtNode*> btNodeStack; ///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree). @@ -225,6 +255,14 @@ struct btDbvt btDbvtNode* parent; sStkCLN(const btDbvtNode* n, btDbvtNode* p) : node(n), parent(p) {} }; + + struct sStknNN + { + const btDbvntNode* a; + const btDbvntNode* b; + sStknNN() {} + sStknNN(const btDbvntNode* na, const btDbvntNode* nb) : a(na), b(nb) {} + }; // Policies/Interfaces /* ICollide */ @@ -234,6 +272,7 @@ struct btDbvt DBVT_VIRTUAL void Process(const btDbvtNode*, const btDbvtNode*) {} DBVT_VIRTUAL void Process(const btDbvtNode*) {} DBVT_VIRTUAL void Process(const btDbvtNode* n, btScalar) { Process(n); } + DBVT_VIRTUAL void Process(const btDbvntNode*, const btDbvntNode*) {} DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return (true); } DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return (true); } }; @@ -306,6 +345,12 @@ struct btDbvt void collideTT(const btDbvtNode* root0, const btDbvtNode* root1, DBVT_IPOLICY); + DBVT_PREFIX + void selfCollideT(const btDbvntNode* root, + DBVT_IPOLICY); + DBVT_PREFIX + void selfCollideTT(const btDbvtNode* root, + DBVT_IPOLICY); DBVT_PREFIX void collideTTpersistentStack(const btDbvtNode* root0, @@ -837,6 +882,135 @@ inline void btDbvt::collideTT(const btDbvtNode* root0, } } +// +DBVT_PREFIX +inline void btDbvt::selfCollideT(const btDbvntNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if (root) + { + int depth = 1; + int treshold = DOUBLE_STACKSIZE - 4; + btAlignedObjectArray<sStknNN> stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0] = sStknNN(root, root); + do + { + sStknNN p = stkStack[--depth]; + if (depth > treshold) + { + stkStack.resize(stkStack.size() * 2); + treshold = stkStack.size() - 4; + } + if (p.a == p.b) + { + if (p.a->isinternal() && p.a->angle > SIMD_PI) + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.a->childs[1]); + stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[1]); + } + } + else if (Intersect(p.a->volume, p.b->volume)) + { + if (p.a->isinternal()) + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[1]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[1]); + } + else + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.b); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b); + } + } + else + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStknNN(p.a, p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a, p.b->childs[1]); + } + else + { + policy.Process(p.a, p.b); + } + } + } + } while (depth); + } +} + +// +DBVT_PREFIX +inline void btDbvt::selfCollideTT(const btDbvtNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if (root) + { + int depth = 1; + int treshold = DOUBLE_STACKSIZE - 4; + btAlignedObjectArray<sStkNN> stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0] = sStkNN(root, root); + do + { + sStkNN p = stkStack[--depth]; + if (depth > treshold) + { + stkStack.resize(stkStack.size() * 2); + treshold = stkStack.size() - 4; + } + if (p.a == p.b) + { + if (p.a->isinternal()) + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]); + stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]); + } + } + else if (Intersect(p.a->volume, p.b->volume)) + { + if (p.a->isinternal()) + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]); + } + else + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.b); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b); + } + } + else + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStkNN(p.a, p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a, p.b->childs[1]); + } + else + { + policy.Process(p.a, p.b); + } + } + } + } while (depth); + } +} + + DBVT_PREFIX inline void btDbvt::collideTTpersistentStack(const btDbvtNode* root0, const btDbvtNode* root1, diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index a85782bc8a..f4a2d5e368 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -68,7 +68,7 @@ public: virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0; - virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo) + virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& /*dispatchInfo*/) { processAllOverlappingPairs(callback, dispatcher); } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h index 1cc4a5ac5f..56341b7d29 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h @@ -27,13 +27,19 @@ public: const btCollisionShape* m_shape; const btCollisionObject* m_collisionObject; const btTransform& m_worldTransform; + const btTransform* m_preTransform; int m_partId; int m_index; btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index) - : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_partId(partId), m_index(index) + : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(NULL), m_partId(partId), m_index(index) { } + + btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, const btTransform& preTransform, int partId, int index) + : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(&preTransform), m_partId(partId), m_index(index) + { + } SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; } SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp index 9f422dc157..e56e73dcf5 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp @@ -292,8 +292,8 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionSha } break; } -#endif //SUPPORT_GIMPACT_SHAPE_IMPORT \ - //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API \ +#endif //SUPPORT_GIMPACT_SHAPE_IMPORT + //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API //so deal with this case CAPSULE_SHAPE_PROXYTYPE: { diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 633bee4825..1bb21104cb 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -139,7 +139,7 @@ public: if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1)) { - btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, -1, index); + btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index); btCollisionAlgorithm* algo = 0; bool allocatedAlgorithm = false; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index 44dd3c553e..b48d97f2b2 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -503,9 +503,9 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper* gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw); //gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw); -#endif //ZERO_MARGIN \ - //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); \ - //if (l2>SIMD_EPSILON) +#endif //ZERO_MARGIN + //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); + //if (l2>SIMD_EPSILON) { sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld; //gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2); //minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance(); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp index e74c83f9f1..a4252c296a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp @@ -1,6 +1,8 @@ #include "btInternalEdgeUtility.h" #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" + #include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" #include "BulletCollision/CollisionShapes/btTriangleShape.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" @@ -290,6 +292,39 @@ struct btConnectivityProcessor : public btTriangleCallback } } }; + + +struct b3ProcessAllTrianglesHeightfield: public btTriangleCallback +{ + btHeightfieldTerrainShape* m_heightfieldShape; + btTriangleInfoMap* m_triangleInfoMap; + + + b3ProcessAllTrianglesHeightfield(btHeightfieldTerrainShape* heightFieldShape, btTriangleInfoMap* triangleInfoMap) + :m_heightfieldShape(heightFieldShape), + m_triangleInfoMap(triangleInfoMap) + { + } + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + btConnectivityProcessor connectivityProcessor; + connectivityProcessor.m_partIdA = partId; + connectivityProcessor.m_triangleIndexA = triangleIndex; + connectivityProcessor.m_triangleVerticesA = triangle; + connectivityProcessor.m_triangleInfoMap = m_triangleInfoMap; + btVector3 aabbMin, aabbMax; + aabbMin.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT)); + aabbMin.setMin(triangle[0]); + aabbMax.setMax(triangle[0]); + aabbMin.setMin(triangle[1]); + aabbMax.setMax(triangle[1]); + aabbMin.setMin(triangle[2]); + aabbMax.setMax(triangle[2]); + + m_heightfieldShape->processAllTriangles(&connectivityProcessor, aabbMin, aabbMax); + } +}; ///////////////////////////////////////////////////////// ///////////////////////////////////////////////////////// @@ -361,6 +396,28 @@ void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangle } } + +void btGenerateInternalEdgeInfo(btHeightfieldTerrainShape* heightfieldShape, btTriangleInfoMap* triangleInfoMap) +{ + + //the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there! + if (heightfieldShape->getTriangleInfoMap()) + return; + + heightfieldShape->setTriangleInfoMap(triangleInfoMap); + + //get all the triangles of the heightfield + + btVector3 aabbMin, aabbMax; + + aabbMax.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)); + aabbMin.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT)); + + b3ProcessAllTrianglesHeightfield processHeightfield(heightfieldShape, triangleInfoMap); + heightfieldShape->processAllTriangles(&processHeightfield, aabbMin, aabbMax); + +} + // Given a point and a line segment (defined by two points), compute the closest point // in the line. Cap the point at the endpoints of the line segment. void btNearestPointInLineSegment(const btVector3& point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint) @@ -426,6 +483,32 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE) return; + + btTriangleInfoMap* triangleInfoMapPtr = 0; + + if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == TERRAIN_SHAPE_PROXYTYPE) + { + btHeightfieldTerrainShape* heightfield = (btHeightfieldTerrainShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); + triangleInfoMapPtr = heightfield->getTriangleInfoMap(); + +//#define USE_HEIGHTFIELD_TRIANGLES +#ifdef USE_HEIGHTFIELD_TRIANGLES + btVector3 newNormal = btVector3(0, 0, 1); + + const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape()); + btVector3 tri_normal; + tri_shape->calcNormal(tri_normal); + newNormal = tri_normal; + // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); + cp.m_normalWorldOnB = newNormal; + // Reproject collision point along normal. (what about cp.m_distance1?) + cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; + cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB); + return; +#endif + } + + btBvhTriangleMeshShape* trimesh = 0; if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) @@ -439,10 +522,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); } } - if (trimesh == 0) - return; - - btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*)trimesh->getTriangleInfoMap(); + if (trimesh) + { + triangleInfoMapPtr = (btTriangleInfoMap*)trimesh->getTriangleInfoMap(); + } + + if (!triangleInfoMapPtr) return; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h index 9d9cff040f..cc6d11c241 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h @@ -15,6 +15,7 @@ class btCollisionObject; struct btCollisionObjectWrapper; class btManifoldPoint; class btIDebugDraw; +class btHeightfieldTerrainShape; enum btInternalEdgeAdjustFlags { @@ -26,6 +27,8 @@ enum btInternalEdgeAdjustFlags ///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo' void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangleInfoMap* triangleInfoMap); +void btGenerateInternalEdgeInfo(btHeightfieldTerrainShape* trimeshShape, btTriangleInfoMap* triangleInfoMap); + ///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo) ///If this info map is missing, or the triangle is not store in this map, nothing will be done void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap, const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp index e5097ccbbf..327b3f076a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -233,7 +233,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { if (colObj0->getActivationState() == ACTIVE_TAG || @@ -257,7 +257,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { @@ -278,7 +278,8 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + if (colObj0->getIslandTag() == islandId) { @@ -337,13 +338,17 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi } } + ///@todo: this is random access, it can be walked 'cache friendly'! void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback) { - btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); - buildIslands(dispatcher, collisionWorld); + processIslands(dispatcher, collisionWorld, callback); +} +void btSimulationIslandManager::processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback) +{ + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); int endIslandIndex = 1; int startIslandIndex; int numElem = getUnionFind().getNumElements(); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h index 6c2802141c..197bb457cf 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h @@ -57,9 +57,11 @@ public: }; void buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback); - + void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld); + void processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback); + bool getSplitIslands() { return m_splitIslands; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 34ec2d8c45..34e7926f17 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -21,6 +21,9 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape( int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, PHY_ScalarType hdt, bool flipQuadEdges) + :m_userIndex2(-1), + m_userValue3(0), + m_triangleInfoMap(0) { initialize(heightStickWidth, heightStickLength, heightfieldData, heightScale, minHeight, maxHeight, upAxis, hdt, @@ -28,6 +31,9 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape( } btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges) + :m_userIndex2(-1), + m_userValue3(0), + m_triangleInfoMap(0) { // legacy constructor: support only float or unsigned char, // and min height is zero @@ -349,12 +355,12 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback getVertex(x, j, vertices[indices[0]]); getVertex(x, j + 1, vertices[indices[1]]); getVertex(x + 1, j + 1, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x, j); //second triangle // getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman getVertex(x + 1, j + 1, vertices[indices[1]]); getVertex(x + 1, j, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x+1, j); } else { @@ -362,12 +368,12 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback getVertex(x, j, vertices[indices[0]]); getVertex(x, j + 1, vertices[indices[1]]); getVertex(x + 1, j, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x, j); //second triangle getVertex(x + 1, j, vertices[indices[0]]); //getVertex(x,j+1,vertices[1]); getVertex(x + 1, j + 1, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x+1, j); } } } diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h index 43e1d25e3d..8dea98fc6b 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -114,6 +114,11 @@ protected: int m_vboundsGridLength; int m_vboundsChunkSize; + int m_userIndex2; + btScalar m_userValue3; + + struct btTriangleInfoMap* m_triangleInfoMap; + virtual btScalar getRawHeightFieldValue(int x, int y) const; void quantizeWithClamp(int* out, const btVector3& point, int isMax) const; @@ -185,6 +190,40 @@ public: } //debugging virtual const char* getName() const { return "HEIGHTFIELD"; } + + + void setUserIndex2(int index) + { + m_userIndex2 = index; + } + int getUserIndex2() const + { + return m_userIndex2; + } + void setUserValue3(btScalar value) + { + m_userValue3 = value; + } + btScalar getUserValue3() const + { + return m_userValue3; + } + const struct btTriangleInfoMap* getTriangleInfoMap() const + { + return m_triangleInfoMap; + } + struct btTriangleInfoMap* getTriangleInfoMap() + { + return m_triangleInfoMap; + } + void setTriangleInfoMap(btTriangleInfoMap* map) + { + m_triangleInfoMap = map; + } + const unsigned char* getHeightfieldRawData() const + { + return m_heightfieldDataUnsignedChar; + } }; #endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
\ No newline at end of file diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h index 7d729ee0d7..68a41dfb45 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h @@ -58,7 +58,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const = 0; - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const = 0; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h index 8ebb22baae..556aa3fef4 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h @@ -100,7 +100,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; } - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const { diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h index eb33ce05e2..5b85e87041 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h @@ -1,5 +1,5 @@ /*! \file btGImpactShape.h -\author Francisco Leon Najera +\author Francisco Len Nßjera */ /* This source file is part of GIMPACT Library. diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h index c94391d816..3c82133037 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h @@ -95,11 +95,11 @@ int btComputeGjkEpaPenetration(const btConvexTemplate& a, const btConvexTemplate for (;;) //while (true) { - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); + btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); + btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); - btVector3 pInA = a.getLocalSupportWithoutMargin(seperatingAxisInA); - btVector3 qInB = b.getLocalSupportWithoutMargin(seperatingAxisInB); + btVector3 pInA = a.getLocalSupportWithoutMargin(separatingAxisInA); + btVector3 qInB = b.getLocalSupportWithoutMargin(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 4339b2ea75..5af93cb2fb 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -79,11 +79,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput &input, Result static void btComputeSupport(const btConvexShape *convexA, const btTransform &localTransA, const btConvexShape *convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb) { - btVector3 seperatingAxisInA = (dir)*localTransA.getBasis(); - btVector3 seperatingAxisInB = (-dir) * localTransB.getBasis(); + btVector3 separatingAxisInA = (dir)*localTransA.getBasis(); + btVector3 separatingAxisInB = (-dir) * localTransB.getBasis(); - btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pInA = pInANoMargin; btVector3 qInB = qInBNoMargin; @@ -839,11 +839,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu for (;;) //while (true) { - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); + btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); + btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1116,11 +1116,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu btScalar d2 = 0.f; { - btVector3 seperatingAxisInA = (-orgNormalInB) * localTransA.getBasis(); - btVector3 seperatingAxisInB = orgNormalInB * localTransB.getBasis(); + btVector3 separatingAxisInA = (-orgNormalInB) * localTransA.getBasis(); + btVector3 separatingAxisInB = orgNormalInB * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1130,11 +1130,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu btScalar d1 = 0; { - btVector3 seperatingAxisInA = (normalInB)*localTransA.getBasis(); - btVector3 seperatingAxisInB = -normalInB * localTransB.getBasis(); + btVector3 separatingAxisInA = (normalInB)*localTransA.getBasis(); + btVector3 separatingAxisInB = -normalInB * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1143,11 +1143,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu } btScalar d0 = 0.f; { - btVector3 seperatingAxisInA = (-normalInB) * input.m_transformA.getBasis(); - btVector3 seperatingAxisInB = normalInB * input.m_transformB.getBasis(); + btVector3 separatingAxisInA = (-normalInB) * input.m_transformA.getBasis(); + btVector3 separatingAxisInB = normalInB * input.m_transformB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h index 659b63551e..faa02287ca 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -64,9 +64,9 @@ public: { m_minkowskiB = minkB; } - void setCachedSeperatingAxis(const btVector3& seperatingAxis) + void setCachedSeparatingAxis(const btVector3& separatingAxis) { - m_cachedSeparatingAxis = seperatingAxis; + m_cachedSeparatingAxis = separatingAxis; } const btVector3& getCachedSeparatingAxis() const diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h index 6d21f66202..573fc86bf9 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -55,6 +55,7 @@ public: : m_userPersistentData(0), m_contactPointFlags(0), m_appliedImpulse(0.f), + m_prevRHS(0.f), m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), @@ -79,6 +80,7 @@ public: m_userPersistentData(0), m_contactPointFlags(0), m_appliedImpulse(0.f), + m_prevRHS(0.f), m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), @@ -114,6 +116,7 @@ public: int m_contactPointFlags; btScalar m_appliedImpulse; + btScalar m_prevRHS; btScalar m_appliedImpulseLateral1; btScalar m_appliedImpulseLateral2; btScalar m_contactMotion1; diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp index a77449812f..c042c24208 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp @@ -65,7 +65,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s btScalar minProj = btScalar(BT_LARGE_FLOAT); btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.)); btVector3 minA, minB; - btVector3 seperatingAxisInA, seperatingAxisInB; + btVector3 separatingAxisInA, separatingAxisInB; btVector3 pInA, qInB, pWorld, qWorld, w; #ifndef __SPU__ @@ -75,8 +75,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; - btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; - btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; + btVector3 separatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; + btVector3 separatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; int i; int numSampleDirections = NUM_UNITSPHERE_POINTS; @@ -84,8 +84,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s for (i = 0; i < numSampleDirections; i++) { btVector3 norm = getPenetrationDirections()[i]; - seperatingAxisInABatch[i] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[i] = norm * transB.getBasis(); + separatingAxisInABatch[i] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[i] = norm * transB.getBasis(); } { @@ -98,8 +98,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s convexA->getPreferredPenetrationDirection(i, norm); norm = transA.getBasis() * norm; getPenetrationDirections()[numSampleDirections] = norm; - seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); numSampleDirections++; } } @@ -115,15 +115,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s convexB->getPreferredPenetrationDirection(i, norm); norm = transB.getBasis() * norm; getPenetrationDirections()[numSampleDirections] = norm; - seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); numSampleDirections++; } } } - convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch, supportVerticesABatch, numSampleDirections); - convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch, supportVerticesBBatch, numSampleDirections); + convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInABatch, supportVerticesABatch, numSampleDirections); + convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInBBatch, supportVerticesBBatch, numSampleDirections); for (i = 0; i < numSampleDirections; i++) { @@ -134,8 +134,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s } if (norm.length2() > 0.01) { - seperatingAxisInA = seperatingAxisInABatch[i]; - seperatingAxisInB = seperatingAxisInBBatch[i]; + separatingAxisInA = separatingAxisInABatch[i]; + separatingAxisInB = separatingAxisInBBatch[i]; pInA = supportVerticesABatch[i]; qInB = supportVerticesBBatch[i]; @@ -199,10 +199,10 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s for (int i = 0; i < numSampleDirections; i++) { const btVector3& norm = getPenetrationDirections()[i]; - seperatingAxisInA = (-norm) * transA.getBasis(); - seperatingAxisInB = norm * transB.getBasis(); - pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + separatingAxisInA = (-norm) * transA.getBasis(); + separatingAxisInB = norm * transB.getBasis(); + pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); pWorld = transA(pInA); qWorld = transB(qInB); w = qWorld - pWorld; @@ -259,7 +259,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT); //minProj; btIntermediateResult res; - gjkdet.setCachedSeperatingAxis(-minNorm); + gjkdet.setCachedSeparatingAxis(-minNorm); gjkdet.getClosestPoints(input, res, debugDraw); btScalar correctedMinNorm = minProj - res.m_depth; diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h index 358bc95d81..534a66d3fa 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h @@ -309,11 +309,11 @@ inline void btMprSupport(const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, const btVector3 &dir, btMprSupport_t *supp) { - btVector3 seperatingAxisInA = dir * a.getWorldTransform().getBasis(); - btVector3 seperatingAxisInB = -dir * b.getWorldTransform().getBasis(); + btVector3 separatingAxisInA = dir * a.getWorldTransform().getBasis(); + btVector3 separatingAxisInB = -dir * b.getWorldTransform().getBasis(); - btVector3 pInA = a.getLocalSupportWithMargin(seperatingAxisInA); - btVector3 qInB = b.getLocalSupportWithMargin(seperatingAxisInB); + btVector3 pInA = a.getLocalSupportWithMargin(separatingAxisInA); + btVector3 qInB = b.getLocalSupportWithMargin(separatingAxisInB); supp->v1 = a.getWorldTransform()(pInA); supp->v2 = b.getWorldTransform()(qInB); @@ -467,7 +467,7 @@ static int btRefinePortal(const btConvexTemplate &a, const btConvexTemplate &b, for (int i = 0; i < BT_MPR_MAX_ITERATIONS; i++) //while (1) { - // compute direction outside the portal (from v0 throught v1,v2,v3 + // compute direction outside the portal (from v0 through v1,v2,v3 // face) btPortalDir(portal, &dir); diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index f1422cad4d..dca3e09267 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -325,6 +325,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma { const btManifoldPoint& pt = manifold->getContactPoint(i); dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse; + dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS; dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2; pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]); @@ -371,6 +372,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleDa btManifoldPoint& pt = m_pointCache[i]; pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i]; pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]); @@ -416,6 +418,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat btManifoldPoint& pt = m_pointCache[i]; pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i]; pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]); @@ -444,4 +447,4 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i]; pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i]; } -}
\ No newline at end of file +} diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h index 8a9134c95c..0e26da0ebe 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -173,6 +173,7 @@ public: //get rid of duplicated userPersistentData pointer m_pointCache[lastUsedIndex].m_userPersistentData = 0; m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f; + m_pointCache[lastUsedIndex].m_prevRHS = 0.f; m_pointCache[lastUsedIndex].m_contactPointFlags = 0; m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f; m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f; @@ -195,6 +196,7 @@ public: #ifdef MAINTAIN_PERSISTENCY int lifeTime = m_pointCache[insertIndex].getLifeTime(); btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse; + btScalar prevRHS = m_pointCache[insertIndex].m_prevRHS; btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1; btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2; @@ -223,6 +225,7 @@ public: m_pointCache[insertIndex] = newPoint; m_pointCache[insertIndex].m_userPersistentData = cache; m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; + m_pointCache[insertIndex].m_prevRHS = prevRHS; m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; } @@ -276,7 +279,8 @@ struct btPersistentManifoldDoubleData btVector3DoubleData m_pointCacheLateralFrictionDir2[4]; double m_pointCacheDistance[4]; double m_pointCacheAppliedImpulse[4]; - double m_pointCacheCombinedFriction[4]; + double m_pointCachePrevRHS[4]; + double m_pointCacheCombinedFriction[4]; double m_pointCacheCombinedRollingFriction[4]; double m_pointCacheCombinedSpinningFriction[4]; double m_pointCacheCombinedRestitution[4]; @@ -322,6 +326,7 @@ struct btPersistentManifoldFloatData btVector3FloatData m_pointCacheLateralFrictionDir2[4]; float m_pointCacheDistance[4]; float m_pointCacheAppliedImpulse[4]; + float m_pointCachePrevRHS[4]; float m_pointCacheCombinedFriction[4]; float m_pointCacheCombinedRollingFriction[4]; float m_pointCacheCombinedSpinningFriction[4]; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp index 2a5efc6495..27f76b8425 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp @@ -890,6 +890,8 @@ static void setupSpatialGridBatchesMt( btVector3 gridExtent = bboxMax - bboxMin; + gridExtent.setMax(btVector3(btScalar(1), btScalar(1), btScalar(1))); + btVector3 gridCellSize = consExtent; int gridDim[3]; gridDim[0] = int(1.0 + gridExtent.x() / gridCellSize.x()); diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 63d7c98e16..e82d1b139e 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -30,7 +30,8 @@ enum btSolverMode SOLVER_SIMD = 256, SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024, - SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048 + SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048, + SOLVER_USE_ARTICULATED_WARMSTARTING = 4096, }; struct btContactSolverInfoData @@ -45,6 +46,7 @@ struct btContactSolverInfoData btScalar m_sor; //successive over-relaxation term btScalar m_erp; //error reduction for non-contact constraints btScalar m_erp2; //error reduction for contact constraints + btScalar m_deformable_erp; //error reduction for deformable constraints btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts btScalar m_frictionERP; //error reduction for friction constraints btScalar m_frictionCFM; //constraint force mixing for friction constraints @@ -54,7 +56,7 @@ struct btContactSolverInfoData btScalar m_splitImpulseTurnErp; btScalar m_linearSlop; btScalar m_warmstartingFactor; - + btScalar m_articulatedWarmstartingFactor; int m_solverMode; int m_restingContactRestitutionThreshold; int m_minimumSolverBatchSize; @@ -80,6 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_numIterations = 10; m_erp = btScalar(0.2); m_erp2 = btScalar(0.2); + m_deformable_erp = btScalar(0.); m_globalCfm = btScalar(0.); m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionCFM = btScalar(0.); @@ -89,6 +92,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_splitImpulseTurnErp = 0.1f; m_linearSlop = btScalar(0.0); m_warmstartingFactor = btScalar(0.85); + m_articulatedWarmstartingFactor = btScalar(0.85); //m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER; m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER; m_restingContactRestitutionThreshold = 2; //unused as of 2.81 @@ -120,6 +124,7 @@ struct btContactSolverInfoDoubleData double m_splitImpulseTurnErp; double m_linearSlop; double m_warmstartingFactor; + double m_articulatedWarmstartingFactor; double m_maxGyroscopicForce; ///it is only used for 'explicit' version of gyroscopic force double m_singleAxisRollingFrictionThreshold; @@ -150,16 +155,17 @@ struct btContactSolverInfoFloatData float m_linearSlop; float m_warmstartingFactor; + float m_articulatedWarmstartingFactor; float m_maxGyroscopicForce; - float m_singleAxisRollingFrictionThreshold; + float m_singleAxisRollingFrictionThreshold; int m_numIterations; int m_solverMode; int m_restingContactRestitutionThreshold; - int m_minimumSolverBatchSize; + int m_minimumSolverBatchSize; int m_splitImpulse; - char m_padding[4]; + }; #endif //BT_CONTACT_SOLVER_INFO diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp index 9a3b39e6f8..93626f18ff 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp @@ -32,7 +32,7 @@ Cons: /* 2007-09-09 -btGeneric6DofConstraint Refactored by Francisco Leon +btGeneric6DofConstraint Refactored by Francisco Le?n email: projectileman@yahoo.com http://gimpact.sf.net */ @@ -311,9 +311,9 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo() case RO_XYZ: { //Is this the "line of nodes" calculation choosing planes YZ (B coordinate system) and xy (A coordinate system)? (http://en.wikipedia.org/wiki/Euler_angles) - //The two planes are non-homologous, so this is a Tait-Bryan angle formalism and not a proper Euler + //The two planes are non-homologous, so this is a Tait Bryan angle formalism and not a proper Euler //Extrinsic rotations are equal to the reversed order intrinsic rotations so the above xyz extrinsic rotations (axes are fixed) are the same as the zy'x" intrinsic rotations (axes are refreshed after each rotation) - //that is why xy and YZ planes are chosen (this will describe a zy'x" intrinsic rotation) (see the figure on the left at http://en.wikipedia.org/wiki/Euler_angles under Tait-Bryan angles) + //that is why xy and YZ planes are chosen (this will describe a zy'x" intrinsic rotation) (see the figure on the left at http://en.wikipedia.org/wiki/Euler_angles under Tait Bryan angles) // x' = Nperp = N.cross(axis2) // y' = N = axis2.cross(axis0) // z' = z diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index d3b71e4583..e4da468299 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -394,18 +394,6 @@ btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstr return gResolveSingleConstraintRowLowerLimit_scalar_reference; } -btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarSplitPenetrationImpulseGeneric() -{ - return gResolveSplitPenetrationImpulse_scalar_reference; -} - -btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2SplitPenetrationImpulseGeneric() -{ - return gResolveSplitPenetrationImpulse_sse2; -} - - - #ifdef USE_SIMD btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric() { @@ -433,11 +421,6 @@ unsigned long btSequentialImpulseConstraintSolver::btRand2() return m_btSeed2; } -unsigned long btSequentialImpulseConstraintSolver::btRand2a(unsigned long& seed) -{ - seed = (1664525L * seed + 1013904223L) & 0xffffffff; - return seed; -} //See ODE: adam's all-int straightforward(?) dRandInt (0..n-1) int btSequentialImpulseConstraintSolver::btRandInt2(int n) { @@ -471,44 +454,42 @@ int btSequentialImpulseConstraintSolver::btRandInt2(int n) return (int)(r % un); } -int btSequentialImpulseConstraintSolver::btRandInt2a(int n, unsigned long& seed) +void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep) { - // seems good; xor-fold and modulus - const unsigned long un = static_cast<unsigned long>(n); - unsigned long r = btSequentialImpulseConstraintSolver::btRand2a(seed); + btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0; - // note: probably more aggressive than it needs to be -- might be - // able to get away without one or two of the innermost branches. - if (un <= 0x00010000UL) + solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f); + + if (rb) { - r ^= (r >> 16); - if (un <= 0x00000100UL) + solverBody->m_worldTransform = rb->getWorldTransform(); + solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor()); + solverBody->m_originalBody = rb; + solverBody->m_angularFactor = rb->getAngularFactor(); + solverBody->m_linearFactor = rb->getLinearFactor(); + solverBody->m_linearVelocity = rb->getLinearVelocity(); + solverBody->m_angularVelocity = rb->getAngularVelocity(); + solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep; + solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep; + } + else { - r ^= (r >> 8); - if (un <= 0x00000010UL) - { - r ^= (r >> 4); - if (un <= 0x00000004UL) - { - r ^= (r >> 2); - if (un <= 0x00000002UL) - { - r ^= (r >> 1); + solverBody->m_worldTransform.setIdentity(); + solverBody->internalSetInvMass(btVector3(0, 0, 0)); + solverBody->m_originalBody = 0; + solverBody->m_angularFactor.setValue(1, 1, 1); + solverBody->m_linearFactor.setValue(1, 1, 1); + solverBody->m_linearVelocity.setValue(0, 0, 0); + solverBody->m_angularVelocity.setValue(0, 0, 0); + solverBody->m_externalForceImpulse.setValue(0, 0, 0); + solverBody->m_externalTorqueImpulse.setValue(0, 0, 0); } } - } - } - } - return (int)(r % un); -} - -void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep) -{ - btSISolverSingleIterationData::initSolverBody(solverBody, collisionObject, timeStep); -} - -btScalar btSequentialImpulseConstraintSolver::restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) +btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) { //printf("rel_vel =%f\n", rel_vel); if (btFabs(rel_vel) < velocityThreshold) @@ -517,10 +498,6 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurveInternal(btScalar btScalar rest = restitution * -rel_vel; return rest; } -btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) -{ - return btSequentialImpulseConstraintSolver::restitutionCurveInternal(rel_vel, restitution, velocityThreshold); -} void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj, btVector3& frictionDirection, int frictionMode) { @@ -536,13 +513,13 @@ void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionOb } } -void btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { - btSolverBody& solverBodyA = tmpSolverBodyPool[solverBodyIdA]; - btSolverBody& solverBodyB = tmpSolverBodyPool[solverBodyIdB]; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; - btRigidBody* body0 = tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* bodyA = tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -628,22 +605,6 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(btAlig } } -void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); -} - -btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSolverConstraint& solverConstraint = tmpSolverContactFrictionConstraintPool.expandNonInitializing(); - solverConstraint.m_frictionIndex = frictionIndex; - setupFrictionConstraintInternal(tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); - return solverConstraint; -} - - - btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing(); @@ -653,8 +614,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c return solverConstraint; } - -void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, +void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) @@ -664,11 +624,11 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintIntern solverConstraint.m_contactNormal1 = normalAxis; solverConstraint.m_contactNormal2 = -normalAxis; - btSolverBody& solverBodyA = tmpSolverBodyPool[solverBodyIdA]; - btSolverBody& solverBodyB = tmpSolverBodyPool[solverBodyIdB]; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; - btRigidBody* body0 = tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* bodyA = tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -717,30 +677,6 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintIntern } } - -void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, - btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, - btScalar desiredVelocity, btScalar cfmSlip) - -{ - setupTorsionalFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis1, solverBodyIdA, solverBodyIdB, - cp, combinedTorsionalFriction, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, - desiredVelocity, cfmSlip); - -} - -btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSolverConstraint& solverConstraint = tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); - solverConstraint.m_frictionIndex = frictionIndex; - setupTorsionalFrictionConstraintInternal(tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, combinedTorsionalFriction, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); - return solverConstraint; -} - - btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) { btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); @@ -750,217 +686,6 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionCon return solverConstraint; } -int btSISolverSingleIterationData::getOrInitSolverBody(btCollisionObject & body, btScalar timeStep) -{ -#if BT_THREADSAFE - int solverBodyId = -1; - bool isRigidBodyType = btRigidBody::upcast(&body) != NULL; - if (isRigidBodyType && !body.isStaticOrKinematicObject()) - { - // dynamic body - // Dynamic bodies can only be in one island, so it's safe to write to the companionId - solverBodyId = body.getCompanionId(); - if (solverBodyId < 0) - { - solverBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - body.setCompanionId(solverBodyId); - } - } - else if (isRigidBodyType && body.isKinematicObject()) - { - // - // NOTE: must test for kinematic before static because some kinematic objects also - // identify as "static" - // - // Kinematic bodies can be in multiple islands at once, so it is a - // race condition to write to them, so we use an alternate method - // to record the solverBodyId - int uniqueId = body.getWorldArrayIndex(); - const int INVALID_SOLVER_BODY_ID = -1; - if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) - { - m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); - } - solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId]; - // if no table entry yet, - if (solverBodyId == INVALID_SOLVER_BODY_ID) - { - // create a table entry for this body - solverBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId] = solverBodyId; - } - } - else - { - bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK); - // Incorrectly set collision object flags can degrade performance in various ways. - if (!isMultiBodyType) - { - btAssert(body.isStaticOrKinematicObject()); - } - //it could be a multibody link collider - // all fixed bodies (inf mass) get mapped to a single solver id - if (m_fixedBodyId < 0) - { - m_fixedBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&fixedBody, 0, timeStep); - } - solverBodyId = m_fixedBodyId; - } - btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size()); - return solverBodyId; -#else // BT_THREADSAFE - - int solverBodyIdA = -1; - - if (body.getCompanionId() >= 0) - { - //body has already been converted - solverBodyIdA = body.getCompanionId(); - btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); - } - else - { - btRigidBody* rb = btRigidBody::upcast(&body); - //convert both active and kinematic objects (for their velocity) - if (rb && (rb->getInvMass() || rb->isKinematicObject())) - { - solverBodyIdA = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - body.setCompanionId(solverBodyIdA); - } - else - { - if (m_fixedBodyId < 0) - { - m_fixedBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&fixedBody, 0, timeStep); - } - return m_fixedBodyId; - // return 0;//assume first one is a fixed solver body - } - } - - return solverBodyIdA; -#endif // BT_THREADSAFE -} -void btSISolverSingleIterationData::initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep) -{ - btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0; - - solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f); - - if (rb) - { - solverBody->m_worldTransform = rb->getWorldTransform(); - solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor()); - solverBody->m_originalBody = rb; - solverBody->m_angularFactor = rb->getAngularFactor(); - solverBody->m_linearFactor = rb->getLinearFactor(); - solverBody->m_linearVelocity = rb->getLinearVelocity(); - solverBody->m_angularVelocity = rb->getAngularVelocity(); - solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep; - solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep; - } - else - { - solverBody->m_worldTransform.setIdentity(); - solverBody->internalSetInvMass(btVector3(0, 0, 0)); - solverBody->m_originalBody = 0; - solverBody->m_angularFactor.setValue(1, 1, 1); - solverBody->m_linearFactor.setValue(1, 1, 1); - solverBody->m_linearVelocity.setValue(0, 0, 0); - solverBody->m_angularVelocity.setValue(0, 0, 0); - solverBody->m_externalForceImpulse.setValue(0, 0, 0); - solverBody->m_externalTorqueImpulse.setValue(0, 0, 0); - } -} - -int btSISolverSingleIterationData::getSolverBody(btCollisionObject& body) const -{ -#if BT_THREADSAFE - int solverBodyId = -1; - bool isRigidBodyType = btRigidBody::upcast(&body) != NULL; - if (isRigidBodyType && !body.isStaticOrKinematicObject()) - { - // dynamic body - // Dynamic bodies can only be in one island, so it's safe to write to the companionId - solverBodyId = body.getCompanionId(); - btAssert(solverBodyId >= 0); - } - else if (isRigidBodyType && body.isKinematicObject()) - { - // - // NOTE: must test for kinematic before static because some kinematic objects also - // identify as "static" - // - // Kinematic bodies can be in multiple islands at once, so it is a - // race condition to write to them, so we use an alternate method - // to record the solverBodyId - int uniqueId = body.getWorldArrayIndex(); - const int INVALID_SOLVER_BODY_ID = -1; - if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) - { - m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); - } - solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId]; - btAssert(solverBodyId != INVALID_SOLVER_BODY_ID); - } - else - { - bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK); - // Incorrectly set collision object flags can degrade performance in various ways. - if (!isMultiBodyType) - { - btAssert(body.isStaticOrKinematicObject()); - } - btAssert(m_fixedBodyId >= 0); - solverBodyId = m_fixedBodyId; - } - btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size()); - return solverBodyId; -#else // BT_THREADSAFE - int solverBodyIdA = -1; - - if (body.getCompanionId() >= 0) - { - //body has already been converted - solverBodyIdA = body.getCompanionId(); - btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); - } - else - { - btRigidBody* rb = btRigidBody::upcast(&body); - //convert both active and kinematic objects (for their velocity) - if (rb && (rb->getInvMass() || rb->isKinematicObject())) - { - btAssert(0); - } - else - { - if (m_fixedBodyId < 0) - { - btAssert(0); - } - return m_fixedBodyId; - // return 0;//assume first one is a fixed solver body - } - } - - return solverBodyIdA; -#endif // BT_THREADSAFE -} - int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body, btScalar timeStep) { #if BT_THREADSAFE @@ -1064,10 +789,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& } #include <stdio.h> - - -void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISolverSingleIterationData& siData, - btSolverConstraint& solverConstraint, +void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, @@ -1076,8 +798,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); - btSolverBody* bodyA = &siData.m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyB = &siData.m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB]; btRigidBody* rb0 = bodyA->m_originalBody; btRigidBody* rb1 = bodyB->m_originalBody; @@ -1184,7 +906,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol solverConstraint.m_friction = cp.m_combinedFriction; - restitution = btSequentialImpulseConstraintSolver::restitutionCurveInternal(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); + restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); if (restitution <= btScalar(0.)) { restitution = 0.f; @@ -1252,109 +974,39 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol } } -void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, - btScalar& relaxation, - const btVector3& rel_pos1, const btVector3& rel_pos2) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations - ); - - - setupContactConstraintInternal(siData, solverConstraint, - solverBodyIdA, solverBodyIdB, - cp, infoGlobal, - relaxation, - rel_pos1, rel_pos2); -} - - -void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, - btSolverConstraint& solverConstraint, +void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) { - btSolverBody* bodyA = &tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyB = &tmpSolverBodyPool[solverBodyIdB]; - - btRigidBody* rb0 = bodyA->m_originalBody; - btRigidBody* rb1 = bodyB->m_originalBody; - { - btSolverConstraint& frictionConstraint1 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; - if (rb0) - bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass(), frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse); - if (rb1) - bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse); - } - else - { - frictionConstraint1.m_appliedImpulse = 0.f; - } + btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; + + frictionConstraint1.m_appliedImpulse = 0.f; } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { - btSolverConstraint& frictionConstraint2 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1]; - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor; - if (rb0) - bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1 * rb0->getInvMass(), frictionConstraint2.m_angularComponentA, frictionConstraint2.m_appliedImpulse); - if (rb1) - bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint2.m_angularComponentB, -(btScalar)frictionConstraint2.m_appliedImpulse); - } - else - { - frictionConstraint2.m_appliedImpulse = 0.f; - } + btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1]; + + frictionConstraint2.m_appliedImpulse = 0.f; } } -void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) -{ - setFrictionConstraintImpulseInternal(m_tmpSolverBodyPool, m_tmpSolverContactFrictionConstraintPool, - solverConstraint, - solverBodyIdA, solverBodyIdB, - cp, infoGlobal); - -} -void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) { btCollisionObject *colObj0 = 0, *colObj1 = 0; colObj0 = (btCollisionObject*)manifold->getBody0(); colObj1 = (btCollisionObject*)manifold->getBody1(); - int solverBodyIdA = siData.getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep); - int solverBodyIdB = siData.getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep); + int solverBodyIdA = getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep); // btRigidBody* bodyA = btRigidBody::upcast(colObj0); // btRigidBody* bodyB = btRigidBody::upcast(colObj1); - btSolverBody* solverBodyA = &siData.m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* solverBodyB = &siData.m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB]; ///avoid collision response between two static objects if (!solverBodyA || (solverBodyA->m_invMass.fuzzyZero() && (!solverBodyB || solverBodyB->m_invMass.fuzzyZero()))) @@ -1371,8 +1023,8 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl btVector3 rel_pos2; btScalar relaxation; - int frictionIndex = siData.m_tmpSolverContactConstraintPool.size(); - btSolverConstraint& solverConstraint = siData.m_tmpSolverContactConstraintPool.expandNonInitializing(); + int frictionIndex = m_tmpSolverContactConstraintPool.size(); + btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing(); solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -1393,20 +1045,16 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl btVector3 vel = vel1 - vel2; btScalar rel_vel = cp.m_normalWorldOnB.dot(vel); - setupContactConstraintInternal(siData, solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); + setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); /////setup the friction constraints - solverConstraint.m_frictionIndex = siData.m_tmpSolverContactFrictionConstraintPool.size(); + solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size(); if ((cp.m_combinedRollingFriction > 0.f) && (rollingFriction > 0)) { { - - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, - cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); - + addTorsionalFrictionConstraint(cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); btVector3 axis0, axis1; btPlaneSpace1(cp.m_normalWorldOnB, axis0, axis1); axis0.normalize(); @@ -1417,19 +1065,13 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl applyAnisotropicFriction(colObj0, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); applyAnisotropicFriction(colObj1, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); if (axis0.length() > 0.001) - { - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, + addTorsionalFrictionConstraint(axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); - } if (axis1.length() > 0.001) - { - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, + addTorsionalFrictionConstraint(axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); } } - } ///Bullet has several options to set the friction directions ///By default, each contact has only a single friction direction that is recomputed automatically very frame @@ -1456,8 +1098,7 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl cp.m_lateralFrictionDir1 *= 1.f / btSqrt(lat_rel_vel); applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { @@ -1465,8 +1106,7 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl cp.m_lateralFrictionDir2.normalize(); //?? applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); } } else @@ -1475,15 +1115,13 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) @@ -1494,43 +1132,15 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl } else { - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - { - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); } + setFrictionConstraintImpulse(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); } - btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal( - siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); } } -} - -void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - btSequentialImpulseConstraintSolver::convertContactInternal(siData, manifold, infoGlobal); -} void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) { @@ -1545,9 +1155,7 @@ void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** } } -void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, - int& maxOverrideNumSolverIterations, - btSolverConstraint* currentConstraintRow, +void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, btTypedConstraint* constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, @@ -1557,12 +1165,12 @@ void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectAr const btRigidBody& rbA = constraint->getRigidBodyA(); const btRigidBody& rbB = constraint->getRigidBodyB(); - const btSolverBody* bodyAPtr = &tmpSolverBodyPool[solverBodyIdA]; - const btSolverBody* bodyBPtr = &tmpSolverBodyPool[solverBodyIdB]; + const btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; + const btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; - if (overrideNumSolverIterations > maxOverrideNumSolverIterations) - maxOverrideNumSolverIterations = overrideNumSolverIterations; + if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations) + m_maxOverrideNumSolverIterations = overrideNumSolverIterations; for (int j = 0; j < info1.m_numConstraintRows; j++) { @@ -1679,16 +1287,7 @@ void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectAr } } -void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, - btTypedConstraint* constraint, - const btTypedConstraint::btConstraintInfo1& info1, - int solverBodyIdA, - int solverBodyIdB, - const btContactSolverInfo& infoGlobal) -{ -} - -void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) { BT_PROFILE("convertJoints"); for (int j = 0; j < numConstraints; j++) @@ -1700,11 +1299,11 @@ void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingle int totalNumRows = 0; - siData.m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); + m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); //calculate the total number of contraint rows for (int i = 0; i < numConstraints; i++) { - btTypedConstraint::btConstraintInfo1& info1 = siData.m_tmpConstraintSizesPool[i]; + btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; btJointFeedback* fb = constraints[i]->getJointFeedback(); if (fb) { @@ -1725,58 +1324,34 @@ void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingle } totalNumRows += info1.m_numConstraintRows; } - siData.m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); ///setup the btSolverConstraints int currentRow = 0; for (int i = 0; i < numConstraints; i++) { - const btTypedConstraint::btConstraintInfo1& info1 = siData.m_tmpConstraintSizesPool[i]; + const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; if (info1.m_numConstraintRows) { btAssert(currentRow < totalNumRows); - btSolverConstraint* currentConstraintRow = &siData.m_tmpSolverNonContactConstraintPool[currentRow]; + btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow]; btTypedConstraint* constraint = constraints[i]; btRigidBody& rbA = constraint->getRigidBodyA(); btRigidBody& rbB = constraint->getRigidBodyB(); - int solverBodyIdA = siData.getOrInitSolverBody(rbA, infoGlobal.m_timeStep); - int solverBodyIdB = siData.getOrInitSolverBody(rbB, infoGlobal.m_timeStep); + int solverBodyIdA = getOrInitSolverBody(rbA, infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(rbB, infoGlobal.m_timeStep); - convertJointInternal(siData.m_tmpSolverBodyPool, siData.m_maxOverrideNumSolverIterations, - currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); + convertJoint(currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); } currentRow += info1.m_numConstraintRows; } } -void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - convertJointsInternal(siData, constraints, numConstraints, infoGlobal); -} - - -void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { BT_PROFILE("convertBodies"); for (int i = 0; i < numBodies; i++) @@ -1784,23 +1359,23 @@ void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingle bodies[i]->setCompanionId(-1); } #if BT_THREADSAFE - siData.m_kinematicBodyUniqueIdToSolverBodyTable.resize(0); + m_kinematicBodyUniqueIdToSolverBodyTable.resize(0); #endif // BT_THREADSAFE - siData.m_tmpSolverBodyPool.reserve(numBodies + 1); - siData.m_tmpSolverBodyPool.resize(0); + m_tmpSolverBodyPool.reserve(numBodies + 1); + m_tmpSolverBodyPool.resize(0); //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); //initSolverBody(&fixedBody,0); for (int i = 0; i < numBodies; i++) { - int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); btRigidBody* body = btRigidBody::upcast(bodies[i]); if (body && body->getInvMass()) { - btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId]; + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; btVector3 gyroForce(0, 0, 0); if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) { @@ -1821,29 +1396,6 @@ void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingle } } - -void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - convertBodiesInternal(siData, bodies, numBodies, infoGlobal); -} - btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { m_fixedBodyId = -1; @@ -1967,14 +1519,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/) { BT_PROFILE("solveSingleIteration"); btScalar leastSquaresResidual = 0.f; - int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size(); - int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size(); - int numFrictionPool = siData.m_tmpSolverContactFrictionConstraintPool.size(); + int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); + int numConstraintPool = m_tmpSolverContactConstraintPool.size(); + int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) { @@ -1982,10 +1534,10 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { for (int j = 0; j < numNonContactPool; ++j) { - int tmp = siData.m_orderNonContactConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderNonContactConstraintPool[j] = siData.m_orderNonContactConstraintPool[swapi]; - siData.m_orderNonContactConstraintPool[swapi] = tmp; + int tmp = m_orderNonContactConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi]; + m_orderNonContactConstraintPool[swapi] = tmp; } //contact/friction constraints are not solved more than @@ -1993,30 +1545,30 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { for (int j = 0; j < numConstraintPool; ++j) { - int tmp = siData.m_orderTmpConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderTmpConstraintPool[j] = siData.m_orderTmpConstraintPool[swapi]; - siData.m_orderTmpConstraintPool[swapi] = tmp; + int tmp = m_orderTmpConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi]; + m_orderTmpConstraintPool[swapi] = tmp; } for (int j = 0; j < numFrictionPool; ++j) { - int tmp = siData.m_orderFrictionConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderFrictionConstraintPool[j] = siData.m_orderFrictionConstraintPool[swapi]; - siData.m_orderFrictionConstraintPool[swapi] = tmp; + int tmp = m_orderFrictionConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi]; + m_orderFrictionConstraintPool[swapi] = tmp; } } } } ///solve all joint constraints - for (int j = 0; j < siData.m_tmpSolverNonContactConstraintPool.size(); j++) + for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) { - btSolverConstraint& constraint = siData.m_tmpSolverNonContactConstraintPool[siData.m_orderNonContactConstraintPool[j]]; + btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]]; if (iteration < constraint.m_overrideNumSolverIterations) { - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[constraint.m_solverBodyIdA], siData.m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2027,10 +1579,10 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { if (constraints[j]->isEnabled()) { - int bodyAid = siData.getSolverBody(constraints[j]->getRigidBodyA()); - int bodyBid = siData.getSolverBody(constraints[j]->getRigidBodyB()); - btSolverBody& bodyA = siData.m_tmpSolverBodyPool[bodyAid]; - btSolverBody& bodyB = siData.m_tmpSolverBodyPool[bodyBid]; + int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep); + int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep); + btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; + btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep); } } @@ -2038,7 +1590,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS ///solve all contact constraints if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) { - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1; for (int c = 0; c < numPoolConstraints; c++) @@ -2046,8 +1598,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS btScalar totalImpulse = 0; { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[c]]; - btScalar residual = siData.m_resolveSingleConstraintRowLowerLimit(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]]; + btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); totalImpulse = solveManifold.m_appliedImpulse; @@ -2056,28 +1608,28 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS if (applyFriction) { { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[c * multiplier]]; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]]; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[c * multiplier + 1]]; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]]; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2087,40 +1639,40 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS else //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS { //solve the friction constraints after all contact constraints, don't interleave them - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int j; for (j = 0; j < numPoolConstraints; j++) { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[j]]; - btScalar residual = siData.m_resolveSingleConstraintRowLowerLimit(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } ///solve all friction constraints - int numFrictionPoolConstraints = siData.m_tmpSolverContactFrictionConstraintPool.size(); + int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); for (j = 0; j < numFrictionPoolConstraints; j++) { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[j]]; - btScalar totalImpulse = siData.m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]]; + btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } } - int numRollingFrictionPoolConstraints = siData.m_tmpSolverContactRollingFrictionConstraintPool.size(); + int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); for (int j = 0; j < numRollingFrictionPoolConstraints; j++) { - btSolverConstraint& rollingFrictionConstraint = siData.m_tmpSolverContactRollingFrictionConstraintPool[j]; - btScalar totalImpulse = siData.m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j]; + btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; if (totalImpulse > btScalar(0)) { btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse; @@ -2130,7 +1682,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], siData.m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2138,56 +1690,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS return leastSquaresResidual; } - -btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - btScalar leastSquaresResidual = btSequentialImpulseConstraintSolver::solveSingleIterationInternal(siData, - iteration, constraints, numConstraints, infoGlobal); - return leastSquaresResidual; -} - void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - solveGroupCacheFriendlySplitImpulseIterationsInternal(siData, - bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); - -} -void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) -{ BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); int iteration; if (infoGlobal.m_splitImpulse) @@ -2197,13 +1701,13 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte { btScalar leastSquaresResidual = 0.f; { - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int j; for (j = 0; j < numPoolConstraints; j++) { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[j]]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - btScalar residual = siData.m_resolveSplitPenetrationImpulse(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2254,42 +1758,31 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( return 0.f; } -void btSequentialImpulseConstraintSolver::writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { for (int j = iBegin; j < iEnd; j++) { - const btSolverConstraint& solveManifold = tmpSolverContactConstraintPool[j]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j]; btManifoldPoint* pt = (btManifoldPoint*)solveManifold.m_originalContactPoint; btAssert(pt); pt->m_appliedImpulse = solveManifold.m_appliedImpulse; // float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; // printf("pt->m_appliedImpulseLateral1 = %f\n", f); - pt->m_appliedImpulseLateral1 = tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { - pt->m_appliedImpulseLateral2 = tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse; + pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse; } //do a callback here? } } -void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ - writeBackContactsInternal(m_tmpSolverContactConstraintPool, m_tmpSolverContactFrictionConstraintPool, iBegin, iEnd, infoGlobal); - -} - void btSequentialImpulseConstraintSolver::writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { - writeBackJointsInternal(m_tmpSolverNonContactConstraintPool, iBegin, iEnd, infoGlobal); -} - -void btSequentialImpulseConstraintSolver::writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ for (int j = iBegin; j < iEnd; j++) { - const btSolverConstraint& solverConstr = tmpSolverNonContactConstraintPool[j]; + const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j]; btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint; btJointFeedback* fb = constr->getJointFeedback(); if (fb) @@ -2310,79 +1803,53 @@ void btSequentialImpulseConstraintSolver::writeBackJointsInternal(btConstraintAr void btSequentialImpulseConstraintSolver::writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { - writeBackBodiesInternal(m_tmpSolverBodyPool, iBegin, iEnd, infoGlobal); -} -void btSequentialImpulseConstraintSolver::writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ for (int i = iBegin; i < iEnd; i++) { - btRigidBody* body = tmpSolverBodyPool[i].m_originalBody; + btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; if (body) { if (infoGlobal.m_splitImpulse) - tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); + m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); else - tmpSolverBodyPool[i].writebackVelocity(); + m_tmpSolverBodyPool[i].writebackVelocity(); - tmpSolverBodyPool[i].m_originalBody->setLinearVelocity( - tmpSolverBodyPool[i].m_linearVelocity + - tmpSolverBodyPool[i].m_externalForceImpulse); + m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity( + m_tmpSolverBodyPool[i].m_linearVelocity + + m_tmpSolverBodyPool[i].m_externalForceImpulse); - tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( - tmpSolverBodyPool[i].m_angularVelocity + - tmpSolverBodyPool[i].m_externalTorqueImpulse); + m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( + m_tmpSolverBodyPool[i].m_angularVelocity + + m_tmpSolverBodyPool[i].m_externalTorqueImpulse); if (infoGlobal.m_splitImpulse) - tmpSolverBodyPool[i].m_originalBody->setWorldTransform(tmpSolverBodyPool[i].m_worldTransform); + m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform); - tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); + m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); } } } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { BT_PROFILE("solveGroupCacheFriendlyFinish"); if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) { - writeBackContactsInternal(siData.m_tmpSolverContactConstraintPool, siData.m_tmpSolverContactFrictionConstraintPool, 0, siData.m_tmpSolverContactConstraintPool.size(), infoGlobal); + writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal); } - writeBackJointsInternal(siData.m_tmpSolverNonContactConstraintPool, 0, siData.m_tmpSolverNonContactConstraintPool.size(), infoGlobal); - writeBackBodiesInternal(siData.m_tmpSolverBodyPool, 0, siData.m_tmpSolverBodyPool.size(), infoGlobal); + writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal); + writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal); - siData.m_tmpSolverContactConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverBodyPool.resizeNoInitialize(0); + m_tmpSolverBodyPool.resizeNoInitialize(0); return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(siData, bodies, numBodies, infoGlobal); -} - /// btSequentialImpulseConstraintSolver Sequentially applies impulses btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btDispatcher* /*dispatcher*/) { @@ -2401,4 +1868,4 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod void btSequentialImpulseConstraintSolver::reset() { m_btSeed2 = 0; -}
\ No newline at end of file +} diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 2b88e25be7..f3ef02fccc 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -29,68 +29,6 @@ class btCollisionObject; typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); -struct btSISolverSingleIterationData -{ - btAlignedObjectArray<btSolverBody>& m_tmpSolverBodyPool; - btConstraintArray& m_tmpSolverContactConstraintPool; - btConstraintArray& m_tmpSolverNonContactConstraintPool; - btConstraintArray& m_tmpSolverContactFrictionConstraintPool; - btConstraintArray& m_tmpSolverContactRollingFrictionConstraintPool; - - btAlignedObjectArray<int>& m_orderTmpConstraintPool; - btAlignedObjectArray<int>& m_orderNonContactConstraintPool; - btAlignedObjectArray<int>& m_orderFrictionConstraintPool; - btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& m_tmpConstraintSizesPool; - unsigned long& m_seed; - - btSingleConstraintRowSolver& m_resolveSingleConstraintRowGeneric; - btSingleConstraintRowSolver& m_resolveSingleConstraintRowLowerLimit; - btSingleConstraintRowSolver& m_resolveSplitPenetrationImpulse; - btAlignedObjectArray<int>& m_kinematicBodyUniqueIdToSolverBodyTable; - int& m_fixedBodyId; - int& m_maxOverrideNumSolverIterations; - int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep); - static void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep); - int getSolverBody(btCollisionObject& body) const; - - - btSISolverSingleIterationData(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, - btConstraintArray& tmpSolverContactConstraintPool, - btConstraintArray& tmpSolverNonContactConstraintPool, - btConstraintArray& tmpSolverContactFrictionConstraintPool, - btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, - btAlignedObjectArray<int>& orderTmpConstraintPool, - btAlignedObjectArray<int>& orderNonContactConstraintPool, - btAlignedObjectArray<int>& orderFrictionConstraintPool, - btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& tmpConstraintSizesPool, - btSingleConstraintRowSolver& resolveSingleConstraintRowGeneric, - btSingleConstraintRowSolver& resolveSingleConstraintRowLowerLimit, - btSingleConstraintRowSolver& resolveSplitPenetrationImpulse, - btAlignedObjectArray<int>& kinematicBodyUniqueIdToSolverBodyTable, - unsigned long& seed, - int& fixedBodyId, - int& maxOverrideNumSolverIterations - ) - :m_tmpSolverBodyPool(tmpSolverBodyPool), - m_tmpSolverContactConstraintPool(tmpSolverContactConstraintPool), - m_tmpSolverNonContactConstraintPool(tmpSolverNonContactConstraintPool), - m_tmpSolverContactFrictionConstraintPool(tmpSolverContactFrictionConstraintPool), - m_tmpSolverContactRollingFrictionConstraintPool(tmpSolverContactRollingFrictionConstraintPool), - m_orderTmpConstraintPool(orderTmpConstraintPool), - m_orderNonContactConstraintPool(orderNonContactConstraintPool), - m_orderFrictionConstraintPool(orderFrictionConstraintPool), - m_tmpConstraintSizesPool(tmpConstraintSizesPool), - m_seed(seed), - m_resolveSingleConstraintRowGeneric(resolveSingleConstraintRowGeneric), - m_resolveSingleConstraintRowLowerLimit(resolveSingleConstraintRowLowerLimit), - m_resolveSplitPenetrationImpulse(resolveSplitPenetrationImpulse), - m_kinematicBodyUniqueIdToSolverBodyTable(kinematicBodyUniqueIdToSolverBodyTable), - m_fixedBodyId(fixedBodyId), - m_maxOverrideNumSolverIterations(maxOverrideNumSolverIterations) - { - } -}; - struct btSolverAnalyticsData { btSolverAnalyticsData() @@ -178,7 +116,6 @@ protected: virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal); void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal); - virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint) @@ -204,8 +141,7 @@ protected: return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint); } -public: - +protected: void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); @@ -213,7 +149,6 @@ public: virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); @@ -225,51 +160,12 @@ public: virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); - static btScalar solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal); - static void convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); - static void convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal); - static void convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); - static void setupContactConstraintInternal(btSISolverSingleIterationData& siData, btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, - const btVector3& rel_pos1, const btVector3& rel_pos2); - static btScalar restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold); - static btSolverConstraint& addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.); - static void setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, - btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, - btScalar desiredVelocity, btScalar cfmSlip); - static void setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip); - static btSolverConstraint& addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.); - static void setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, - - btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); - static void convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, - int& maxOverrideNumSolverIterations, - btSolverConstraint* currentConstraintRow, - btTypedConstraint* constraint, - const btTypedConstraint::btConstraintInfo1& info1, - int solverBodyIdA, - int solverBodyIdB, - const btContactSolverInfo& infoGlobal); - - static btScalar solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); - - static void writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - - static void writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - static void writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - static void solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - - ///clear internal cached data and reset random seed virtual void reset(); unsigned long btRand2(); - int btRandInt2(int n); - static unsigned long btRand2a(unsigned long& seed); - static int btRandInt2a(int n, unsigned long& seed); + int btRandInt2(int n); void setRandSeed(unsigned long seed) { @@ -305,18 +201,14 @@ public: ///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4 - static btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); - static btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); - static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); ///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4 - static btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); - static btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); - static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); - - static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric(); - static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric(); - + btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); + btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); + btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); btSolverAnalyticsData m_analyticsData; }; diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index dfbbdb154f..a3c9f42eb9 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -1436,9 +1436,7 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse; - // Fill padding with zeros to appease msan. - memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding)); - + #ifdef BT_USE_DOUBLE_PRECISION const char* structType = "btDynamicsWorldDoubleData"; #else //BT_USE_DOUBLE_PRECISION diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index 7fe9619213..73607c61fd 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -17,7 +17,6 @@ subject to the following restrictions: #define BT_DISCRETE_DYNAMICS_WORLD_H #include "btDynamicsWorld.h" - class btDispatcher; class btOverlappingPairCache; class btConstraintSolver; @@ -26,6 +25,7 @@ class btTypedConstraint; class btActionInterface; class btPersistentManifold; class btIDebugDraw; + struct InplaceSolverIslandCallback; #include "LinearMath/btAlignedObjectArray.h" @@ -76,7 +76,7 @@ protected: virtual void calculateSimulationIslands(); - virtual void solveConstraints(btContactSolverInfo & solverInfo); + virtual void updateActivationState(btScalar timeStep); @@ -95,7 +95,7 @@ protected: void serializeRigidBodies(btSerializer * serializer); void serializeDynamicsWorldInfo(btSerializer * serializer); - + public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -107,6 +107,8 @@ public: ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); + virtual void solveConstraints(btContactSolverInfo & solverInfo); + virtual void synchronizeMotionStates(); ///this can be useful to synchronize a single rigid body -> graphics object @@ -227,6 +229,16 @@ public: { return m_latencyMotionStateInterpolation; } + + btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies() + { + return m_nonStaticRigidBodies; + } + + const btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies() const + { + return m_nonStaticRigidBodies; + } }; #endif //BT_DISCRETE_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h index eadd8c12e7..3c55234a8a 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -34,7 +34,8 @@ enum btDynamicsWorldType BT_CONTINUOUS_DYNAMICS_WORLD = 3, BT_SOFT_RIGID_DYNAMICS_WORLD = 4, BT_GPU_DYNAMICS_WORLD = 5, - BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6 + BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6, + BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD = 7 }; ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp index f4bcabada2..9e8705b001 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp @@ -206,6 +206,14 @@ void btRigidBody::applyGravity() applyCentralForce(m_gravity); } +void btRigidBody::clearGravity() +{ + if (isStaticOrKinematicObject()) + return; + + applyCentralForce(-m_gravity); +} + void btRigidBody::proceedToTransform(const btTransform& newTrans) { setCenterOfMassTransform(newTrans); diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h index 05f270a4b8..39d47cbbda 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h @@ -205,6 +205,8 @@ public: void saveKinematicState(btScalar step); void applyGravity(); + + void clearGravity(); void setGravity(const btVector3& acceleration); @@ -259,6 +261,7 @@ public: m_invMass = m_linearFactor * m_inverseMass; } btScalar getInvMass() const { return m_inverseMass; } + btScalar getMass() const { return m_inverseMass == btScalar(0.) ? btScalar(0.) : btScalar(1.0) / m_inverseMass; } const btMatrix3x3& getInvInertiaTensorWorld() const { return m_invInertiaTensorWorld; @@ -331,6 +334,48 @@ public: } } } + + void applyPushImpulse(const btVector3& impulse, const btVector3& rel_pos) + { + if (m_inverseMass != btScalar(0.)) + { + applyCentralPushImpulse(impulse); + if (m_angularFactor) + { + applyTorqueTurnImpulse(rel_pos.cross(impulse * m_linearFactor)); + } + } + } + + btVector3 getPushVelocity() + { + return m_pushVelocity; + } + + btVector3 getTurnVelocity() + { + return m_turnVelocity; + } + + void setPushVelocity(const btVector3& v) + { + m_pushVelocity = v; + } + + void setTurnVelocity(const btVector3& v) + { + m_turnVelocity = v; + } + + void applyCentralPushImpulse(const btVector3& impulse) + { + m_pushVelocity += impulse * m_linearFactor * m_inverseMass; + } + + void applyTorqueTurnImpulse(const btVector3& torque) + { + m_turnVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; + } void clearForces() { diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp index 3e210d7520..bdaa473476 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp @@ -100,6 +100,8 @@ btMultiBody::btMultiBody(int n_links, m_baseName(0), m_basePos(0, 0, 0), m_baseQuat(0, 0, 0, 1), + m_basePos_interpolate(0, 0, 0), + m_baseQuat_interpolate(0, 0, 0, 1), m_baseMass(mass), m_baseInertia(inertia), @@ -449,6 +451,16 @@ const btQuaternion &btMultiBody::getParentToLocalRot(int i) const return m_links[i].m_cachedRotParentToThis; } +const btVector3 &btMultiBody::getInterpolateRVector(int i) const +{ + return m_links[i].m_cachedRVector_interpolate; +} + +const btQuaternion &btMultiBody::getInterpolateParentToLocalRot(int i) const +{ + return m_links[i].m_cachedRotParentToThis_interpolate; +} + btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const { btAssert(i >= -1); @@ -1581,6 +1593,158 @@ void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar //printf("]\n"); ///////////////// } +void btMultiBody::predictPositionsMultiDof(btScalar dt) +{ + int num_links = getNumLinks(); + // step position by adding dt * velocity + //btVector3 v = getBaseVel(); + //m_basePos += dt * v; + // + btScalar *pBasePos; + btScalar *pBaseVel = &m_realBuf[3]; //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) + + // reset to current position + for (int i = 0; i < 3; ++i) + { + m_basePos_interpolate[i] = m_basePos[i]; + } + pBasePos = m_basePos_interpolate; + + pBasePos[0] += dt * pBaseVel[0]; + pBasePos[1] += dt * pBaseVel[1]; + pBasePos[2] += dt * pBaseVel[2]; + + /////////////////////////////// + //local functor for quaternion integration (to avoid error prone redundancy) + struct + { + //"exponential map" based on btTransformUtil::integrateTransform(..) + void operator()(const btVector3 &omega, btQuaternion &quat, bool baseBody, btScalar dt) + { + //baseBody => quat is alias and omega is global coor + //!baseBody => quat is alibi and omega is local coor + + btVector3 axis; + btVector3 angvel; + + if (!baseBody) + angvel = quatRotate(quat, omega); //if quat is not m_baseQuat, it is alibi => ok + else + angvel = omega; + + btScalar fAngle = angvel.length(); + //limit the angular motion + if (fAngle * dt > ANGULAR_MOTION_THRESHOLD) + { + fAngle = btScalar(0.5) * SIMD_HALF_PI / dt; + } + + if (fAngle < btScalar(0.001)) + { + // use Taylor's expansions of sync function + axis = angvel * (btScalar(0.5) * dt - (dt * dt * dt) * (btScalar(0.020833333333)) * fAngle * fAngle); + } + else + { + // sync(fAngle) = sin(c*fAngle)/t + axis = angvel * (btSin(btScalar(0.5) * fAngle * dt) / fAngle); + } + + if (!baseBody) + quat = btQuaternion(axis.x(), axis.y(), axis.z(), btCos(fAngle * dt * btScalar(0.5))) * quat; + else + quat = quat * btQuaternion(-axis.x(), -axis.y(), -axis.z(), btCos(fAngle * dt * btScalar(0.5))); + //equivalent to: quat = (btQuaternion(axis.x(),axis.y(),axis.z(),btCos( fAngle*dt*btScalar(0.5) )) * quat.inverse()).inverse(); + + quat.normalize(); + } + } pQuatUpdateFun; + /////////////////////////////// + + //pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt); + // + btScalar *pBaseQuat; + + // reset to current orientation + for (int i = 0; i < 4; ++i) + { + m_baseQuat_interpolate[i] = m_baseQuat[i]; + } + pBaseQuat = m_baseQuat_interpolate; + + btScalar *pBaseOmega = &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety) + // + btQuaternion baseQuat; + baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]); + btVector3 baseOmega; + baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]); + pQuatUpdateFun(baseOmega, baseQuat, true, dt); + pBaseQuat[0] = baseQuat.x(); + pBaseQuat[1] = baseQuat.y(); + pBaseQuat[2] = baseQuat.z(); + pBaseQuat[3] = baseQuat.w(); + + // Finally we can update m_jointPos for each of the m_links + for (int i = 0; i < num_links; ++i) + { + btScalar *pJointPos; + pJointPos = &m_links[i].m_jointPos_interpolate[0]; + + btScalar *pJointVel = getJointVelMultiDof(i); + + switch (m_links[i].m_jointType) + { + case btMultibodyLink::ePrismatic: + case btMultibodyLink::eRevolute: + { + //reset to current pos + pJointPos[0] = m_links[i].m_jointPos[0]; + btScalar jointVel = pJointVel[0]; + pJointPos[0] += dt * jointVel; + break; + } + case btMultibodyLink::eSpherical: + { + //reset to current pos + + for (int j = 0; j < 4; ++j) + { + pJointPos[j] = m_links[i].m_jointPos[j]; + } + + btVector3 jointVel; + jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); + btQuaternion jointOri; + jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]); + pQuatUpdateFun(jointVel, jointOri, false, dt); + pJointPos[0] = jointOri.x(); + pJointPos[1] = jointOri.y(); + pJointPos[2] = jointOri.z(); + pJointPos[3] = jointOri.w(); + break; + } + case btMultibodyLink::ePlanar: + { + for (int j = 0; j < 3; ++j) + { + pJointPos[j] = m_links[i].m_jointPos[j]; + } + pJointPos[0] += dt * getJointVelMultiDof(i)[0]; + + btVector3 q0_coors_qd1qd2 = getJointVelMultiDof(i)[1] * m_links[i].getAxisBottom(1) + getJointVelMultiDof(i)[2] * m_links[i].getAxisBottom(2); + btVector3 no_q0_coors_qd1qd2 = quatRotate(btQuaternion(m_links[i].getAxisTop(0), pJointPos[0]), q0_coors_qd1qd2); + pJointPos[1] += m_links[i].getAxisBottom(1).dot(no_q0_coors_qd1qd2) * dt; + pJointPos[2] += m_links[i].getAxisBottom(2).dot(no_q0_coors_qd1qd2) * dt; + break; + } + default: + { + } + } + + m_links[i].updateInterpolationCacheMultiDof(); + } +} void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd) { @@ -1589,9 +1753,9 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd //btVector3 v = getBaseVel(); //m_basePos += dt * v; // - btScalar *pBasePos = (pq ? &pq[4] : m_basePos); - btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]); //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) - // + btScalar *pBasePos = (pq ? &pq[4] : m_basePos); + btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]); //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) + pBasePos[0] += dt * pBaseVel[0]; pBasePos[1] += dt * pBaseVel[1]; pBasePos[2] += dt * pBaseVel[2]; @@ -1645,7 +1809,7 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd //pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt); // - btScalar *pBaseQuat = pq ? pq : m_baseQuat; + btScalar *pBaseQuat = pq ? pq : m_baseQuat; btScalar *pBaseOmega = pqd ? pqd : &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety) // btQuaternion baseQuat; @@ -1670,7 +1834,9 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd // Finally we can update m_jointPos for each of the m_links for (int i = 0; i < num_links; ++i) { - btScalar *pJointPos = (pq ? pq : &m_links[i].m_jointPos[0]); + btScalar *pJointPos; + pJointPos= (pq ? pq : &m_links[i].m_jointPos[0]); + btScalar *pJointVel = (pqd ? pqd : getJointVelMultiDof(i)); switch (m_links[i].m_jointType) @@ -1678,12 +1844,14 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd case btMultibodyLink::ePrismatic: case btMultibodyLink::eRevolute: { + //reset to current pos btScalar jointVel = pJointVel[0]; pJointPos[0] += dt * jointVel; break; } case btMultibodyLink::eSpherical: { + //reset to current pos btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); btQuaternion jointOri; @@ -1974,6 +2142,7 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); getBaseCollider()->setWorldTransform(tr); + getBaseCollider()->setInterpolationWorldTransform(tr); } for (int k = 0; k < getNumLinks(); k++) @@ -2002,10 +2171,62 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); col->setWorldTransform(tr); + col->setInterpolationWorldTransform(tr); } } } +void btMultiBody::updateCollisionObjectInterpolationWorldTransforms(btAlignedObjectArray<btQuaternion> &world_to_local, btAlignedObjectArray<btVector3> &local_origin) +{ + world_to_local.resize(getNumLinks() + 1); + local_origin.resize(getNumLinks() + 1); + + world_to_local[0] = getInterpolateWorldToBaseRot(); + local_origin[0] = getInterpolateBasePos(); + + if (getBaseCollider()) + { + btVector3 posr = local_origin[0]; + // float pos[4]={posr.x(),posr.y(),posr.z(),1}; + btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()}; + btTransform tr; + tr.setIdentity(); + tr.setOrigin(posr); + tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); + + getBaseCollider()->setInterpolationWorldTransform(tr); + } + + for (int k = 0; k < getNumLinks(); k++) + { + const int parent = getParent(k); + world_to_local[k + 1] = getInterpolateParentToLocalRot(k) * world_to_local[parent + 1]; + local_origin[k + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[k + 1].inverse(), getInterpolateRVector(k))); + } + + for (int m = 0; m < getNumLinks(); m++) + { + btMultiBodyLinkCollider *col = getLink(m).m_collider; + if (col) + { + int link = col->m_link; + btAssert(link == m); + + int index = link + 1; + + btVector3 posr = local_origin[index]; + // float pos[4]={posr.x(),posr.y(),posr.z(),1}; + btScalar quat[4] = {-world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w()}; + btTransform tr; + tr.setIdentity(); + tr.setOrigin(posr); + tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); + + col->setInterpolationWorldTransform(tr); + } + } +} + int btMultiBody::calculateSerializeBufferSize() const { int sz = sizeof(btMultiBodyData); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h index c0b0d003be..afed669a7b 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h @@ -193,12 +193,24 @@ public: const btQuaternion &getWorldToBaseRot() const { return m_baseQuat; - } // rotates world vectors into base frame + } + + const btVector3 &getInterpolateBasePos() const + { + return m_basePos_interpolate; + } // in world frame + const btQuaternion &getInterpolateWorldToBaseRot() const + { + return m_baseQuat_interpolate; + } + + // rotates world vectors into base frame btVector3 getBaseOmega() const { return btVector3(m_realBuf[0], m_realBuf[1], m_realBuf[2]); } // in world frame void setBasePos(const btVector3 &pos) { m_basePos = pos; + m_basePos_interpolate = pos; } void setBaseWorldTransform(const btTransform &tr) @@ -224,6 +236,7 @@ public: void setWorldToBaseRot(const btQuaternion &rot) { m_baseQuat = rot; //m_baseQuat asumed to ba alias!? + m_baseQuat_interpolate = rot; } void setBaseOmega(const btVector3 &omega) { @@ -260,6 +273,11 @@ public: { return &m_realBuf[0]; } + + const btScalar *getDeltaVelocityVector() const + { + return &m_deltaV[0]; + } /* btScalar * getVelocityVector() { return &real_buf[0]; @@ -273,6 +291,8 @@ public: const btVector3 &getRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords const btQuaternion &getParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i. + const btVector3 &getInterpolateRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords + const btQuaternion &getInterpolateParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i. // // transform vectors in local frame of link i to world frame (or vice versa) @@ -421,6 +441,9 @@ public: // timestep the positions (given current velocities). void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0); + + // predict the positions + void predictPositionsMultiDof(btScalar dt); // // contacts @@ -581,6 +604,7 @@ public: void compTreeLinkVelocities(btVector3 * omega, btVector3 * vel) const; void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin); + void updateCollisionObjectInterpolationWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin); virtual int calculateSerializeBufferSize() const; @@ -664,7 +688,9 @@ private: const char *m_baseName; //memory needs to be manager by user! btVector3 m_basePos; // position of COM of base (world frame) + btVector3 m_basePos_interpolate; // position of interpolated COM of base (world frame) btQuaternion m_baseQuat; // rotates world points into base frame + btQuaternion m_baseQuat_interpolate; btScalar m_baseMass; // mass of the base btVector3 m_baseInertia; // inertia of the base (in local frame; diagonal) diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp index e17ab94d98..d7ed05ce57 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -342,40 +342,6 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra solverConstraint.m_friction = 0.f; //cp.m_combinedFriction; } - ///warm starting (or zero if disabled) - /* - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; - - if (solverConstraint.m_appliedImpulse) - { - if (multiBodyA) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->applyDeltaVee(deltaV,impulse); - applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA); - } else - { - if (rb0) - bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); - } - if (multiBodyB) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; - multiBodyB->applyDeltaVee(deltaV,impulse); - applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB); - } else - { - if (rb1) - bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse); - } - } - } else - */ - solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index 23e163f0e8..ffae5300f0 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -22,6 +22,8 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" #include "LinearMath/btQuickprof.h" +#include "BulletDynamics/Featherstone/btMultiBodySolverConstraint.h" +#include "LinearMath/btScalar.h" btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { @@ -491,11 +493,7 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt return deltaVel; } -void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, - const btVector3& contactNormal, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, - btScalar& relaxation, - bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) +void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, const btVector3& contactNormal, const btScalar& appliedImpulse, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("setupMultiBodyContactConstraint"); btVector3 rel_pos1; @@ -781,48 +779,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol } } - ///warm starting (or zero if disabled) - //disable warmstarting for btMultiBody, it has issues gaining energy (==explosion) - if (0) //infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; - - if (solverConstraint.m_appliedImpulse) - { - if (multiBodyA) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->applyDeltaVeeMultiDof(deltaV, impulse); - - applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); - } - else - { - if (rb0) - bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); - } - if (multiBodyB) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; - multiBodyB->applyDeltaVeeMultiDof(deltaV, impulse); - applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); - } - else - { - if (rb1) - bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); - } - } - } - else - { - solverConstraint.m_appliedImpulse = 0.f; - } - - solverConstraint.m_appliedPushImpulse = 0.f; - { btScalar positionalError = 0.f; btScalar velocityError = restitution - rel_vel; // * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction @@ -874,6 +830,54 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv; } + + if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) + { + if (btFabs(cp.m_prevRHS) > 1e-5 && cp.m_prevRHS < 2* solverConstraint.m_rhs && solverConstraint.m_rhs < 2*cp.m_prevRHS) + { + solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_articulatedWarmstartingFactor; + if (solverConstraint.m_appliedImpulse < 0) + solverConstraint.m_appliedImpulse = 0; + } + else + { + solverConstraint.m_appliedImpulse = 0.f; + } + + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse); + + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); + } + else + { + if (rb0) + bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); + } + if (multiBodyB) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); + } + else + { + if (rb1) + bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); + } + } + } + else + { + solverConstraint.m_appliedImpulse = 0.f; + solverConstraint.m_appliedPushImpulse = 0.f; + } } void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint, @@ -944,13 +948,13 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex], delta, m_data.scratch_r, m_data.scratch_v); - btVector3 torqueAxis0 = -constraintNormal; + btVector3 torqueAxis0 = constraintNormal; solverConstraint.m_relpos1CrossNormal = torqueAxis0; solverConstraint.m_contactNormal1 = btVector3(0, 0, 0); } else { - btVector3 torqueAxis0 = -constraintNormal; + btVector3 torqueAxis0 = constraintNormal; solverConstraint.m_relpos1CrossNormal = torqueAxis0; solverConstraint.m_contactNormal1 = btVector3(0, 0, 0); solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0); @@ -986,13 +990,13 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -constraintNormal, btVector3(0, 0, 0), &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex], &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v); - btVector3 torqueAxis1 = constraintNormal; + btVector3 torqueAxis1 = -constraintNormal; solverConstraint.m_relpos2CrossNormal = torqueAxis1; solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0); } else { - btVector3 torqueAxis1 = constraintNormal; + btVector3 torqueAxis1 = -constraintNormal; solverConstraint.m_relpos2CrossNormal = torqueAxis1; solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0); @@ -1130,7 +1134,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu } } -btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("addMultiBodyFrictionConstraint"); btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing(); @@ -1161,7 +1165,7 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionCo solverConstraint.m_originalContactPoint = &cp; - setupMultiBodyContactConstraint(solverConstraint, normalAxis, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip); + setupMultiBodyContactConstraint(solverConstraint, normalAxis, 0, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip); return solverConstraint; } @@ -1297,7 +1301,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* solverConstraint.m_originalContactPoint = &cp; bool isFriction = false; - setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp, infoGlobal, relaxation, isFriction); + setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp.m_appliedImpulse, cp, infoGlobal, relaxation, isFriction); // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); @@ -1371,13 +1375,13 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) @@ -1388,26 +1392,27 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* } else { - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); - - //setMultiBodyFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); - //todo: + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f; - } + } #endif //ENABLE_FRICTION } + else + { + // Reset quantities related to warmstart as 0. + cp.m_appliedImpulse = 0; + cp.m_prevRHS = 0; + } } } void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) { - //btPersistentManifold* manifold = 0; - for (int i = 0; i < numManifolds; i++) { btPersistentManifold* manifold = manifoldPtr[i]; @@ -1434,6 +1439,51 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol c->createConstraintRows(m_multiBodyNonContactConstraints, m_data, infoGlobal); } + + // Warmstart for noncontact constraints + if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) + { + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++) + { + btMultiBodySolverConstraint& solverConstraint = + m_multiBodyNonContactConstraints[i]; + solverConstraint.m_appliedImpulse = + solverConstraint.m_orgConstraint->getAppliedImpulse(solverConstraint.m_orgDofIndex) * + infoGlobal.m_articulatedWarmstartingFactor; + + btMultiBody* multiBodyA = solverConstraint.m_multiBodyA; + btMultiBody* multiBodyB = solverConstraint.m_multiBodyB; + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + int ndofA = multiBodyA->getNumDofs() + 6; + btScalar* deltaV = + &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + btScalar impulse = solverConstraint.m_appliedImpulse; + multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); + } + if (multiBodyB) + { + int ndofB = multiBodyB->getNumDofs() + 6; + btScalar* deltaV = + &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + btScalar impulse = solverConstraint.m_appliedImpulse; + multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); + } + } + } + } + else + { + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++) + { + btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i]; + solverConstraint.m_appliedImpulse = 0; + } + } } btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) @@ -1556,7 +1606,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep); } - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { BT_PROFILE("warm starting write back"); for (int j = 0; j < numPoolConstraints; j++) @@ -1565,6 +1615,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO btManifoldPoint* pt = (btManifoldPoint*)solverConstraint.m_originalContactPoint; btAssert(pt); pt->m_appliedImpulse = solverConstraint.m_appliedImpulse; + pt->m_prevRHS = solverConstraint.m_rhs; pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse; //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); @@ -1576,9 +1627,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO pt->m_appliedImpulseLateral2 = 0; } } - - //do a callback here? } + #if 0 //multibody joint feedback { diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index abf5718839..f584360e2b 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -49,7 +49,7 @@ protected: void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); - btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); + btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, @@ -66,7 +66,9 @@ protected: void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint, const btVector3& contactNormal, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, + const btScalar& appliedImpulse, + btManifoldPoint& cp, + const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); @@ -82,7 +84,6 @@ protected: void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); // virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); - virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof); void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 1131e5378c..cd1bad089e 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -33,6 +33,12 @@ void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body) m_multiBodies.remove(body); } +void btMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); + predictMultiBodyTransforms(timeStep); + +} void btMultiBodyDynamicsWorld::calculateSimulationIslands() { BT_PROFILE("calculateSimulationIslands"); @@ -163,218 +169,6 @@ void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) btDiscreteDynamicsWorld::updateActivationState(timeStep); } -SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs) -{ - int islandId; - - const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); - const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); - islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag(); - return islandId; -} - -class btSortConstraintOnIslandPredicate2 -{ -public: - bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const - { - int rIslandId0, lIslandId0; - rIslandId0 = btGetConstraintIslandId2(rhs); - lIslandId0 = btGetConstraintIslandId2(lhs); - return lIslandId0 < rIslandId0; - } -}; - -SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs) -{ - int islandId; - - int islandTagA = lhs->getIslandIdA(); - int islandTagB = lhs->getIslandIdB(); - islandId = islandTagA >= 0 ? islandTagA : islandTagB; - return islandId; -} - -class btSortMultiBodyConstraintOnIslandPredicate -{ -public: - bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const - { - int rIslandId0, lIslandId0; - rIslandId0 = btGetMultiBodyConstraintIslandId(rhs); - lIslandId0 = btGetMultiBodyConstraintIslandId(lhs); - return lIslandId0 < rIslandId0; - } -}; - - -struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback -{ - btContactSolverInfo* m_solverInfo; - btMultiBodyConstraintSolver* m_solver; - btMultiBodyConstraint** m_multiBodySortedConstraints; - int m_numMultiBodyConstraints; - - btTypedConstraint** m_sortedConstraints; - int m_numConstraints; - btIDebugDraw* m_debugDrawer; - btDispatcher* m_dispatcher; - - btAlignedObjectArray<btCollisionObject*> m_bodies; - btAlignedObjectArray<btPersistentManifold*> m_manifolds; - btAlignedObjectArray<btTypedConstraint*> m_constraints; - btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints; - - btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData; - - MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver, - btDispatcher* dispatcher) - : m_solverInfo(NULL), - m_solver(solver), - m_multiBodySortedConstraints(NULL), - m_numConstraints(0), - m_debugDrawer(NULL), - m_dispatcher(dispatcher) - { - } - - MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other) - { - btAssert(0); - (void)other; - return *this; - } - - SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer) - { - m_islandAnalyticsData.clear(); - btAssert(solverInfo); - m_solverInfo = solverInfo; - - m_multiBodySortedConstraints = sortedMultiBodyConstraints; - m_numMultiBodyConstraints = numMultiBodyConstraints; - m_sortedConstraints = sortedConstraints; - m_numConstraints = numConstraints; - - m_debugDrawer = debugDrawer; - m_bodies.resize(0); - m_manifolds.resize(0); - m_constraints.resize(0); - m_multiBodyConstraints.resize(0); - } - - void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) - { - m_solver = solver; - } - - virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId) - { - if (islandId < 0) - { - ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id - m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher); - if (m_solverInfo->m_reportSolverAnalytics&1) - { - m_solver->m_analyticsData.m_islandId = islandId; - m_islandAnalyticsData.push_back(m_solver->m_analyticsData); - } - } - else - { - //also add all non-contact constraints/joints for this island - btTypedConstraint** startConstraint = 0; - btMultiBodyConstraint** startMultiBodyConstraint = 0; - - int numCurConstraints = 0; - int numCurMultiBodyConstraints = 0; - - int i; - - //find the first constraint for this island - - for (i = 0; i < m_numConstraints; i++) - { - if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) - { - startConstraint = &m_sortedConstraints[i]; - break; - } - } - //count the number of constraints in this island - for (; i < m_numConstraints; i++) - { - if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) - { - numCurConstraints++; - } - } - - for (i = 0; i < m_numMultiBodyConstraints; i++) - { - if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) - { - startMultiBodyConstraint = &m_multiBodySortedConstraints[i]; - break; - } - } - //count the number of multi body constraints in this island - for (; i < m_numMultiBodyConstraints; i++) - { - if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) - { - numCurMultiBodyConstraints++; - } - } - - //if (m_solverInfo->m_minimumSolverBatchSize<=1) - //{ - // m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); - //} else - { - for (i = 0; i < numBodies; i++) - m_bodies.push_back(bodies[i]); - for (i = 0; i < numManifolds; i++) - m_manifolds.push_back(manifolds[i]); - for (i = 0; i < numCurConstraints; i++) - m_constraints.push_back(startConstraint[i]); - - for (i = 0; i < numCurMultiBodyConstraints; i++) - m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]); - - if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize) - { - processConstraints(islandId); - } - else - { - //printf("deferred\n"); - } - } - } - } - void processConstraints(int islandId=-1) - { - btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; - btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; - btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; - btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; - - //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); - - m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); - if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) - { - m_solver->m_analyticsData.m_islandId = islandId; - m_islandAnalyticsData.push_back(m_solver->m_analyticsData); - } - m_bodies.resize(0); - m_manifolds.resize(0); - m_constraints.resize(0); - m_multiBodyConstraints.resize(0); - } -}; - void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const { islandAnalyticsData = m_solverMultiBodyIslandCallback->m_islandAnalyticsData; @@ -421,350 +215,364 @@ void btMultiBodyDynamicsWorld::forwardKinematics() } void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { - forwardKinematics(); - - BT_PROFILE("solveConstraints"); - - clearMultiBodyConstraintForces(); - - m_sortedConstraints.resize(m_constraints.size()); - int i; - for (i = 0; i < getNumConstraints(); i++) - { - m_sortedConstraints[i] = m_constraints[i]; - } - m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); - btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; - - m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); - for (i = 0; i < m_multiBodyConstraints.size(); i++) - { - m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; - } - m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); + solveExternalForces(solverInfo); + buildIslands(); + solveInternalConstraints(solverInfo); +} - btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; +void btMultiBodyDynamicsWorld::buildIslands() +{ + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); +} - m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); - m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); +void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo) +{ + /// solve all the constraints for this island + m_solverMultiBodyIslandCallback->processConstraints(); + m_constraintSolver->allSolved(solverInfo, m_debugDrawer); + { + BT_PROFILE("btMultiBody stepVelocities"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + if (bod->internalNeedsJointFeedback()) + { + if (!bod->isUsingRK4Integration()) + { + if (bod->internalNeedsJointFeedback()) + { + bool isConstraintPass = true; + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + } + } + } + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + bod->processDeltaVeeMultiDof2(); + } +} +void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo) +{ + forwardKinematics(); + + BT_PROFILE("solveConstraints"); + + clearMultiBodyConstraintForces(); + + m_sortedConstraints.resize(m_constraints.size()); + int i; + for (i = 0; i < getNumConstraints(); i++) + { + m_sortedConstraints[i] = m_constraints[i]; + } + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; + + m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); + for (i = 0; i < m_multiBodyConstraints.size(); i++) + { + m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; + } + m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); + + btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; + + m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); + #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - { - BT_PROFILE("btMultiBody addForce"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - - bod->addBaseForce(m_gravity * bod->getBaseMass()); - - for (int j = 0; j < bod->getNumLinks(); ++j) - { - bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); - } - } //if (!isSleeping) - } - } + { + BT_PROFILE("btMultiBody addForce"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + bod->addBaseForce(m_gravity * bod->getBaseMass()); + + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); + } + } //if (!isSleeping) + } + } #endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - - { - BT_PROFILE("btMultiBody stepVelocities"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - bool doNotUpdatePos = false; + + { + BT_PROFILE("btMultiBody stepVelocities"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + bool doNotUpdatePos = false; bool isConstraintPass = false; - { - if (!bod->isUsingRK4Integration()) - { - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, - m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, - getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - else - { - // - int numDofs = bod->getNumDofs() + 6; - int numPosVars = bod->getNumPosVars() + 7; - btAlignedObjectArray<btScalar> scratch_r2; - scratch_r2.resize(2 * numPosVars + 8 * numDofs); - //convenience - btScalar* pMem = &scratch_r2[0]; - btScalar* scratch_q0 = pMem; - pMem += numPosVars; - btScalar* scratch_qx = pMem; - pMem += numPosVars; - btScalar* scratch_qd0 = pMem; - pMem += numDofs; - btScalar* scratch_qd1 = pMem; - pMem += numDofs; - btScalar* scratch_qd2 = pMem; - pMem += numDofs; - btScalar* scratch_qd3 = pMem; - pMem += numDofs; - btScalar* scratch_qdd0 = pMem; - pMem += numDofs; - btScalar* scratch_qdd1 = pMem; - pMem += numDofs; - btScalar* scratch_qdd2 = pMem; - pMem += numDofs; - btScalar* scratch_qdd3 = pMem; - pMem += numDofs; - btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]); - - ///// - //copy q0 to scratch_q0 and qd0 to scratch_qd0 - scratch_q0[0] = bod->getWorldToBaseRot().x(); - scratch_q0[1] = bod->getWorldToBaseRot().y(); - scratch_q0[2] = bod->getWorldToBaseRot().z(); - scratch_q0[3] = bod->getWorldToBaseRot().w(); - scratch_q0[4] = bod->getBasePos().x(); - scratch_q0[5] = bod->getBasePos().y(); - scratch_q0[6] = bod->getBasePos().z(); - // - for (int link = 0; link < bod->getNumLinks(); ++link) - { - for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) - scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; - } - // - for (int dof = 0; dof < numDofs; ++dof) - scratch_qd0[dof] = bod->getVelocityVector()[dof]; - //// - struct - { - btMultiBody* bod; - btScalar *scratch_qx, *scratch_q0; - - void operator()() - { - for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) - scratch_qx[dof] = scratch_q0[dof]; - } - } pResetQx = {bod, scratch_qx, scratch_q0}; - // - struct - { - void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size) - { - for (int i = 0; i < size; ++i) - pVal[i] = pCurVal[i] + dt * pDer[i]; - } - - } pEulerIntegrate; - // - struct - { - void operator()(btMultiBody* pBody, const btScalar* pData) - { - btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector()); - - for (int i = 0; i < pBody->getNumDofs() + 6; ++i) - pVel[i] = pData[i]; - } - } pCopyToVelocityVector; - // - struct - { - void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size) - { - for (int i = 0; i < size; ++i) - pDst[i] = pSrc[start + i]; - } - } pCopy; - // - - btScalar h = solverInfo.m_timeStep; + { + if (!bod->isUsingRK4Integration()) + { + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, + m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + else + { + // + int numDofs = bod->getNumDofs() + 6; + int numPosVars = bod->getNumPosVars() + 7; + btAlignedObjectArray<btScalar> scratch_r2; + scratch_r2.resize(2 * numPosVars + 8 * numDofs); + //convenience + btScalar* pMem = &scratch_r2[0]; + btScalar* scratch_q0 = pMem; + pMem += numPosVars; + btScalar* scratch_qx = pMem; + pMem += numPosVars; + btScalar* scratch_qd0 = pMem; + pMem += numDofs; + btScalar* scratch_qd1 = pMem; + pMem += numDofs; + btScalar* scratch_qd2 = pMem; + pMem += numDofs; + btScalar* scratch_qd3 = pMem; + pMem += numDofs; + btScalar* scratch_qdd0 = pMem; + pMem += numDofs; + btScalar* scratch_qdd1 = pMem; + pMem += numDofs; + btScalar* scratch_qdd2 = pMem; + pMem += numDofs; + btScalar* scratch_qdd3 = pMem; + pMem += numDofs; + btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]); + + ///// + //copy q0 to scratch_q0 and qd0 to scratch_qd0 + scratch_q0[0] = bod->getWorldToBaseRot().x(); + scratch_q0[1] = bod->getWorldToBaseRot().y(); + scratch_q0[2] = bod->getWorldToBaseRot().z(); + scratch_q0[3] = bod->getWorldToBaseRot().w(); + scratch_q0[4] = bod->getBasePos().x(); + scratch_q0[5] = bod->getBasePos().y(); + scratch_q0[6] = bod->getBasePos().z(); + // + for (int link = 0; link < bod->getNumLinks(); ++link) + { + for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) + scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; + } + // + for (int dof = 0; dof < numDofs; ++dof) + scratch_qd0[dof] = bod->getVelocityVector()[dof]; + //// + struct + { + btMultiBody* bod; + btScalar *scratch_qx, *scratch_q0; + + void operator()() + { + for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) + scratch_qx[dof] = scratch_q0[dof]; + } + } pResetQx = {bod, scratch_qx, scratch_q0}; + // + struct + { + void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size) + { + for (int i = 0; i < size; ++i) + pVal[i] = pCurVal[i] + dt * pDer[i]; + } + + } pEulerIntegrate; + // + struct + { + void operator()(btMultiBody* pBody, const btScalar* pData) + { + btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector()); + + for (int i = 0; i < pBody->getNumDofs() + 6; ++i) + pVel[i] = pData[i]; + } + } pCopyToVelocityVector; + // + struct + { + void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size) + { + for (int i = 0; i < size; ++i) + pDst[i] = pSrc[start + i]; + } + } pCopy; + // + + btScalar h = solverInfo.m_timeStep; #define output &m_scratch_r[bod->getNumDofs()] - //calc qdd0 from: q0 & qd0 - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd0, 0, numDofs); - //calc q1 = q0 + h/2 * qd0 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0); - //calc qd1 = qd0 + h/2 * qdd0 - pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); - // - //calc qdd1 from: q1 & qd1 - pCopyToVelocityVector(bod, scratch_qd1); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd1, 0, numDofs); - //calc q2 = q0 + h/2 * qd1 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1); - //calc qd2 = qd0 + h/2 * qdd1 - pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); - // - //calc qdd2 from: q2 & qd2 - pCopyToVelocityVector(bod, scratch_qd2); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd2, 0, numDofs); - //calc q3 = q0 + h * qd2 - pResetQx(); - bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); - //calc qd3 = qd0 + h * qdd2 - pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); - // - //calc qdd3 from: q3 & qd3 - pCopyToVelocityVector(bod, scratch_qd3); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd3, 0, numDofs); - - // - //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) - //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) - btAlignedObjectArray<btScalar> delta_q; - delta_q.resize(numDofs); - btAlignedObjectArray<btScalar> delta_qd; - delta_qd.resize(numDofs); - for (int i = 0; i < numDofs; ++i) - { - delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]); - delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]); - //delta_q[i] = h*scratch_qd0[i]; - //delta_qd[i] = h*scratch_qdd0[i]; - } - // - pCopyToVelocityVector(bod, scratch_qd0); - bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); - // - if (!doNotUpdatePos) - { - btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); - pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); - - for (int i = 0; i < numDofs; ++i) - pRealBuf[i] = delta_q[i]; - - //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); - bod->setPosUpdated(true); - } - - //ugly hack which resets the cached data to t0 (needed for constraint solver) - { - for (int link = 0; link < bod->getNumLinks(); ++link) - bod->getLink(link).updateCacheMultiDof(); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - } - } - + //calc qdd0 from: q0 & qd0 + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd0, 0, numDofs); + //calc q1 = q0 + h/2 * qd0 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0); + //calc qd1 = qd0 + h/2 * qdd0 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); + // + //calc qdd1 from: q1 & qd1 + pCopyToVelocityVector(bod, scratch_qd1); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd1, 0, numDofs); + //calc q2 = q0 + h/2 * qd1 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1); + //calc qd2 = qd0 + h/2 * qdd1 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); + // + //calc qdd2 from: q2 & qd2 + pCopyToVelocityVector(bod, scratch_qd2); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd2, 0, numDofs); + //calc q3 = q0 + h * qd2 + pResetQx(); + bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); + //calc qd3 = qd0 + h * qdd2 + pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); + // + //calc qdd3 from: q3 & qd3 + pCopyToVelocityVector(bod, scratch_qd3); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd3, 0, numDofs); + + // + //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) + //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) + btAlignedObjectArray<btScalar> delta_q; + delta_q.resize(numDofs); + btAlignedObjectArray<btScalar> delta_qd; + delta_qd.resize(numDofs); + for (int i = 0; i < numDofs; ++i) + { + delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]); + delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]); + //delta_q[i] = h*scratch_qd0[i]; + //delta_qd[i] = h*scratch_qdd0[i]; + } + // + pCopyToVelocityVector(bod, scratch_qd0); + bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); + // + if (!doNotUpdatePos) + { + btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); + pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); + + for (int i = 0; i < numDofs; ++i) + pRealBuf[i] = delta_q[i]; + + //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); + bod->setPosUpdated(true); + } + + //ugly hack which resets the cached data to t0 (needed for constraint solver) + { + for (int link = 0; link < bod->getNumLinks(); ++link) + bod->getLink(link).updateCacheMultiDof(); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - bod->clearForcesAndTorques(); + bod->clearForcesAndTorques(); #endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - } //if (!isSleeping) - } - } - - /// solve all the constraints for this island - m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); - - m_solverMultiBodyIslandCallback->processConstraints(); - - m_constraintSolver->allSolved(solverInfo, m_debugDrawer); - - { - BT_PROFILE("btMultiBody stepVelocities"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - - if (bod->internalNeedsJointFeedback()) - { - if (!bod->isUsingRK4Integration()) - { - if (bod->internalNeedsJointFeedback()) - { - bool isConstraintPass = true; - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, - getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - } - } - } - } - } - - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - bod->processDeltaVeeMultiDof2(); - } + } //if (!isSleeping) + } + } } + void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { btDiscreteDynamicsWorld::integrateTransforms(timeStep); + integrateMultiBodyTransforms(timeStep); +} - { +void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep) +{ BT_PROFILE("btMultiBody stepPositions"); //integrate and update the Featherstone hierarchies @@ -787,31 +595,61 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) int nLinks = bod->getNumLinks(); ///base + num m_links + if (!bod->isPosUpdated()) + bod->stepPositionsMultiDof(timeStep); + else + { + btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); + pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); - { - if (!bod->isPosUpdated()) - bod->stepPositionsMultiDof(timeStep); - else - { - btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); - pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); + bod->stepPositionsMultiDof(1, 0, pRealBuf); + bod->setPosUpdated(false); + } - bod->stepPositionsMultiDof(1, 0, pRealBuf); - bod->setPosUpdated(false); - } - } m_scratch_world_to_local.resize(nLinks + 1); m_scratch_local_origin.resize(nLinks + 1); - - bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); } else { bod->clearVelocities(); } } - } +} + +void btMultiBodyDynamicsWorld::predictMultiBodyTransforms(btScalar timeStep) +{ + BT_PROFILE("btMultiBody stepPositions"); + //integrate and update the Featherstone hierarchies + + for (int b = 0; b < m_multiBodies.size(); b++) + { + btMultiBody* bod = m_multiBodies[b]; + bool isSleeping = false; + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + int nLinks = bod->getNumLinks(); + bod->predictPositionsMultiDof(timeStep); + m_scratch_world_to_local.resize(nLinks + 1); + m_scratch_local_origin.resize(nLinks + 1); + bod->updateCollisionObjectInterpolationWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + } + else + { + bod->clearVelocities(); + } + } } void btMultiBodyDynamicsWorld::addMultiBodyConstraint(btMultiBodyConstraint* constraint) @@ -1029,3 +867,8 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer) } } } +// +//void btMultiBodyDynamicsWorld::setSplitIslands(bool split) +//{ +// m_islandManager->setSplitIslands(split); +//} diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index e36c2f7aad..9ac46f4b64 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -17,6 +17,7 @@ subject to the following restrictions: #define BT_MULTIBODY_DYNAMICS_WORLD_H #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h" #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY @@ -47,7 +48,7 @@ protected: virtual void calculateSimulationIslands(); virtual void updateActivationState(btScalar timeStep); - virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void serializeMultiBodies(btSerializer* serializer); @@ -55,7 +56,9 @@ public: btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration); virtual ~btMultiBodyDynamicsWorld(); - + + virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter); virtual void removeMultiBody(btMultiBody* body); @@ -95,7 +98,10 @@ public: virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint); virtual void integrateTransforms(btScalar timeStep); - + void integrateMultiBodyTransforms(btScalar timeStep); + void predictMultiBodyTransforms(btScalar timeStep); + + virtual void predictUnconstraintMotion(btScalar timeStep); virtual void debugDrawWorld(); virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint); @@ -110,6 +116,9 @@ public: virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver); virtual void setConstraintSolver(btConstraintSolver* solver); virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const; - + + virtual void solveExternalForces(btContactSolverInfo& solverInfo); + virtual void solveInternalConstraints(btContactSolverInfo& solverInfo); + void buildIslands(); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h new file mode 100644 index 0000000000..3169b86e61 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h @@ -0,0 +1,247 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H +#define BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H + +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" +#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" +#include "btMultiBodyConstraintSolver.h" + +SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs) +{ + int islandId; + + const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); + const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); + islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag(); + return islandId; +} +class btSortConstraintOnIslandPredicate2 +{ +public: + bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const + { + int rIslandId0, lIslandId0; + rIslandId0 = btGetConstraintIslandId2(rhs); + lIslandId0 = btGetConstraintIslandId2(lhs); + return lIslandId0 < rIslandId0; + } +}; + +SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs) +{ + int islandId; + + int islandTagA = lhs->getIslandIdA(); + int islandTagB = lhs->getIslandIdB(); + islandId = islandTagA >= 0 ? islandTagA : islandTagB; + return islandId; +} + +class btSortMultiBodyConstraintOnIslandPredicate +{ +public: + bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const + { + int rIslandId0, lIslandId0; + rIslandId0 = btGetMultiBodyConstraintIslandId(rhs); + lIslandId0 = btGetMultiBodyConstraintIslandId(lhs); + return lIslandId0 < rIslandId0; + } +}; + +struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback +{ + + btContactSolverInfo* m_solverInfo; + btMultiBodyConstraintSolver* m_solver; + btMultiBodyConstraint** m_multiBodySortedConstraints; + int m_numMultiBodyConstraints; + + btTypedConstraint** m_sortedConstraints; + int m_numConstraints; + btIDebugDraw* m_debugDrawer; + btDispatcher* m_dispatcher; + + btAlignedObjectArray<btCollisionObject*> m_bodies; + btAlignedObjectArray<btCollisionObject*> m_softBodies; + btAlignedObjectArray<btPersistentManifold*> m_manifolds; + btAlignedObjectArray<btTypedConstraint*> m_constraints; + btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints; + + btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData; + + MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver, + btDispatcher* dispatcher) + : m_solverInfo(NULL), + m_solver(solver), + m_multiBodySortedConstraints(NULL), + m_numConstraints(0), + m_debugDrawer(NULL), + m_dispatcher(dispatcher) + { + } + + MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other) + { + btAssert(0); + (void)other; + return *this; + } + + SIMD_FORCE_INLINE virtual void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer) + { + m_islandAnalyticsData.clear(); + btAssert(solverInfo); + m_solverInfo = solverInfo; + + m_multiBodySortedConstraints = sortedMultiBodyConstraints; + m_numMultiBodyConstraints = numMultiBodyConstraints; + m_sortedConstraints = sortedConstraints; + m_numConstraints = numConstraints; + + m_debugDrawer = debugDrawer; + m_bodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } + + void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) + { + m_solver = solver; + } + + virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId) + { + if (islandId < 0) + { + ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id + m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_solverInfo->m_reportSolverAnalytics&1) + { + m_solver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + } + else + { + //also add all non-contact constraints/joints for this island + btTypedConstraint** startConstraint = 0; + btMultiBodyConstraint** startMultiBodyConstraint = 0; + + int numCurConstraints = 0; + int numCurMultiBodyConstraints = 0; + + int i; + + //find the first constraint for this island + + for (i = 0; i < m_numConstraints; i++) + { + if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) + { + startConstraint = &m_sortedConstraints[i]; + break; + } + } + //count the number of constraints in this island + for (; i < m_numConstraints; i++) + { + if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) + { + numCurConstraints++; + } + } + + for (i = 0; i < m_numMultiBodyConstraints; i++) + { + if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) + { + startMultiBodyConstraint = &m_multiBodySortedConstraints[i]; + break; + } + } + //count the number of multi body constraints in this island + for (; i < m_numMultiBodyConstraints; i++) + { + if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) + { + numCurMultiBodyConstraints++; + } + } + + //if (m_solverInfo->m_minimumSolverBatchSize<=1) + //{ + // m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); + //} else + { + for (i = 0; i < numBodies; i++) + { + bool isSoftBodyType = (bodies[i]->getInternalType() & btCollisionObject::CO_SOFT_BODY); + if (!isSoftBodyType) + { + m_bodies.push_back(bodies[i]); + } + else + { + m_softBodies.push_back(bodies[i]); + } + } + for (i = 0; i < numManifolds; i++) + m_manifolds.push_back(manifolds[i]); + for (i = 0; i < numCurConstraints; i++) + m_constraints.push_back(startConstraint[i]); + + for (i = 0; i < numCurMultiBodyConstraints; i++) + m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]); + + if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize) + { + processConstraints(islandId); + } + else + { + //printf("deferred\n"); + } + } + } + } + + virtual void processConstraints(int islandId=-1) + { + btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; + btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; + btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; + btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; + + //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); + + m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) + { + m_solver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + m_bodies.resize(0); + m_softBodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } +}; + + +#endif /*BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H */ diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h index 92d41dfac2..01d5583c2f 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -111,6 +111,10 @@ struct btMultibodyLink btQuaternion m_cachedRotParentToThis; // rotates vectors in parent frame to vectors in local frame btVector3 m_cachedRVector; // vector from COM of parent to COM of this link, in local frame. + + // predicted verstion + btQuaternion m_cachedRotParentToThis_interpolate; // rotates vectors in parent frame to vectors in local frame + btVector3 m_cachedRVector_interpolate; // vector from COM of parent to COM of this link, in local frame. btVector3 m_appliedForce; // In WORLD frame btVector3 m_appliedTorque; // In WORLD frame @@ -119,6 +123,7 @@ struct btMultibodyLink btVector3 m_appliedConstraintTorque; // In WORLD frame btScalar m_jointPos[7]; + btScalar m_jointPos_interpolate[7]; //m_jointTorque is the joint torque applied by the user using 'addJointTorque'. //It gets set to zero after each internal stepSimulation call @@ -152,6 +157,7 @@ struct btMultibodyLink m_parent(-1), m_zeroRotParentToThis(0, 0, 0, 1), m_cachedRotParentToThis(0, 0, 0, 1), + m_cachedRotParentToThis_interpolate(0, 0, 0, 1), m_collider(0), m_flags(0), m_dofCount(0), @@ -174,6 +180,7 @@ struct btMultibodyLink m_dVector.setValue(0, 0, 0); m_eVector.setValue(0, 0, 0); m_cachedRVector.setValue(0, 0, 0); + m_cachedRVector_interpolate.setValue(0, 0, 0); m_appliedForce.setValue(0, 0, 0); m_appliedTorque.setValue(0, 0, 0); m_appliedConstraintForce.setValue(0, 0, 0); @@ -188,42 +195,43 @@ struct btMultibodyLink // routine to update m_cachedRotParentToThis and m_cachedRVector void updateCacheMultiDof(btScalar *pq = 0) { - btScalar *pJointPos = (pq ? pq : &m_jointPos[0]); - + btScalar *pJointPos = (pq ? pq : &m_jointPos[0]); + btQuaternion& cachedRot = m_cachedRotParentToThis; + btVector3& cachedVector = m_cachedRVector; switch (m_jointType) { case eRevolute: { - m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); break; } case ePrismatic: { // m_cachedRotParentToThis never changes, so no need to update - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); break; } case eSpherical: { - m_cachedRotParentToThis = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); break; } case ePlanar: { - m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; - m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(cachedRot, m_eVector); break; } case eFixed: { - m_cachedRotParentToThis = m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); break; } @@ -233,7 +241,60 @@ struct btMultibodyLink btAssert(0); } } + m_cachedRotParentToThis_interpolate = m_cachedRotParentToThis; + m_cachedRVector_interpolate = m_cachedRVector; } + + void updateInterpolationCacheMultiDof() + { + btScalar *pJointPos = &m_jointPos_interpolate[0]; + + btQuaternion& cachedRot = m_cachedRotParentToThis_interpolate; + btVector3& cachedVector = m_cachedRVector_interpolate; + switch (m_jointType) + { + case eRevolute: + { + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + + break; + } + case ePrismatic: + { + // m_cachedRotParentToThis never changes, so no need to update + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); + + break; + } + case eSpherical: + { + cachedRot = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); + + break; + } + case ePlanar: + { + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(cachedRot, m_eVector); + + break; + } + case eFixed: + { + cachedRot = m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); + + break; + } + default: + { + //invalid type + btAssert(0); + } + } + } }; #endif //BT_MULTIBODY_LINK_H diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h index ac2fc46ab0..f18c4ea41b 100644 --- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h +++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h @@ -20,7 +20,7 @@ subject to the following restrictions: #include "btMLCPSolverInterface.h" #include "btLemkeAlgorithm.h" -///The btLemkeSolver is based on "Fast Implementation of Lemke's Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " +///The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " ///It is a slower but more accurate solver. Increase the m_maxLoops for better convergence, at the cost of more CPU time. ///The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team class btLemkeSolver : public btMLCPSolverInterface diff --git a/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h b/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h new file mode 100644 index 0000000000..7b225701f6 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h @@ -0,0 +1,46 @@ +// +// DeformableBodyInplaceSolverIslandCallback.h +// BulletSoftBody +// +// Created by Xuchen Han on 12/16/19. +// + +#ifndef DeformableBodyInplaceSolverIslandCallback_h +#define DeformableBodyInplaceSolverIslandCallback_h + +struct DeformableBodyInplaceSolverIslandCallback : public MultiBodyInplaceSolverIslandCallback +{ + btDeformableMultiBodyConstraintSolver* m_deformableSolver; + + DeformableBodyInplaceSolverIslandCallback(btDeformableMultiBodyConstraintSolver* solver, + btDispatcher* dispatcher) + : MultiBodyInplaceSolverIslandCallback(solver, dispatcher), m_deformableSolver(solver) + { + } + + + virtual void processConstraints(int islandId=-1) + { + btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; + btCollisionObject** softBodies = m_softBodies.size() ? &m_softBodies[0] : 0; + btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; + btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; + btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; + + //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); + + m_deformableSolver->solveDeformableBodyGroup(bodies, m_bodies.size(), softBodies, m_softBodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) + { + m_deformableSolver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + m_bodies.resize(0); + m_softBodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } +}; + +#endif /* DeformableBodyInplaceSolverIslandCallback_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btCGProjection.h b/thirdparty/bullet/BulletSoftBody/btCGProjection.h new file mode 100644 index 0000000000..d047e6d3d9 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btCGProjection.h @@ -0,0 +1,106 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_CG_PROJECTION_H +#define BT_CG_PROJECTION_H + +#include "btSoftBody.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" + +struct DeformableContactConstraint +{ + const btSoftBody::Node* m_node; + btAlignedObjectArray<const btSoftBody::RContact*> m_contact; + btAlignedObjectArray<btVector3> m_total_normal_dv; + btAlignedObjectArray<btVector3> m_total_tangent_dv; + btAlignedObjectArray<bool> m_static; + btAlignedObjectArray<bool> m_can_be_dynamic; + + DeformableContactConstraint(const btSoftBody::RContact& rcontact): m_node(rcontact.m_node) + { + append(rcontact); + } + + DeformableContactConstraint(): m_node(NULL) + { + m_contact.push_back(NULL); + } + + void append(const btSoftBody::RContact& rcontact) + { + m_contact.push_back(&rcontact); + m_total_normal_dv.push_back(btVector3(0,0,0)); + m_total_tangent_dv.push_back(btVector3(0,0,0)); + m_static.push_back(false); + m_can_be_dynamic.push_back(true); + } + + void replace(const btSoftBody::RContact& rcontact) + { + m_contact.clear(); + m_total_normal_dv.clear(); + m_total_tangent_dv.clear(); + m_static.clear(); + m_can_be_dynamic.clear(); + append(rcontact); + } + + ~DeformableContactConstraint() + { + } +}; + +class btCGProjection +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack; + typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack; + btAlignedObjectArray<btSoftBody *>& m_softBodies; + const btScalar& m_dt; + // map from node indices to node pointers + const btAlignedObjectArray<btSoftBody::Node*>* m_nodes; + + btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt) + : m_softBodies(softBodies) + , m_dt(dt) + { + } + + virtual ~btCGProjection() + { + } + + // apply the constraints + virtual void project(TVStack& x) = 0; + + virtual void setConstraints() = 0; + + // update the constraints + virtual btScalar update() = 0; + + virtual void reinitialize(bool nodeUpdated) + { + } + + virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes) + { + m_nodes = nodes; + } +}; + + +#endif /* btCGProjection_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h b/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h new file mode 100644 index 0000000000..bd51e584b9 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h @@ -0,0 +1,158 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_CONJUGATE_GRADIENT_H +#define BT_CONJUGATE_GRADIENT_H +#include <iostream> +#include <cmath> +#include <limits> +#include <LinearMath/btAlignedObjectArray.h> +#include <LinearMath/btVector3.h> +#include "LinearMath/btQuickprof.h" +template <class MatrixX> +class btConjugateGradient +{ + typedef btAlignedObjectArray<btVector3> TVStack; + TVStack r,p,z,temp; + int max_iterations; + btScalar tolerance_squared; +public: + btConjugateGradient(const int max_it_in) + : max_iterations(max_it_in) + { + tolerance_squared = 1e-5; + } + + virtual ~btConjugateGradient(){} + + // return the number of iterations taken + int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false) + { + BT_PROFILE("CGSolve"); + btAssert(x.size() == b.size()); + reinitialize(b); + // r = b - A * x --with assigned dof zeroed out + A.multiply(x, temp); + r = sub(b, temp); + A.project(r); + // z = M^(-1) * r + A.precondition(r, z); + A.project(z); + btScalar r_dot_z = dot(z,r); + if (r_dot_z <= tolerance_squared) { + if (verbose) + { + std::cout << "Iteration = 0" << std::endl; + std::cout << "Two norm of the residual = " << r_dot_z << std::endl; + } + return 0; + } + p = z; + btScalar r_dot_z_new = r_dot_z; + for (int k = 1; k <= max_iterations; k++) { + // temp = A*p + A.multiply(p, temp); + A.project(temp); + if (dot(p,temp) < SIMD_EPSILON) + { + if (verbose) + std::cout << "Encountered negative direction in CG!" << std::endl; + if (k == 1) + { + x = b; + } + return k; + } + // alpha = r^T * z / (p^T * A * p) + btScalar alpha = r_dot_z_new / dot(p, temp); + // x += alpha * p; + multAndAddTo(alpha, p, x); + // r -= alpha * temp; + multAndAddTo(-alpha, temp, r); + // z = M^(-1) * r + A.precondition(r, z); + r_dot_z = r_dot_z_new; + r_dot_z_new = dot(r,z); + if (r_dot_z_new < tolerance_squared) { + if (verbose) + { + std::cout << "ConjugateGradient iterations " << k << std::endl; + } + return k; + } + + btScalar beta = r_dot_z_new/r_dot_z; + p = multAndAdd(beta, p, z); + } + if (verbose) + { + std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; + } + return max_iterations; + } + + void reinitialize(const TVStack& b) + { + r.resize(b.size()); + p.resize(b.size()); + z.resize(b.size()); + temp.resize(b.size()); + } + + TVStack sub(const TVStack& a, const TVStack& b) + { + // c = a-b + btAssert(a.size() == b.size()); + TVStack c; + c.resize(a.size()); + for (int i = 0; i < a.size(); ++i) + { + c[i] = a[i] - b[i]; + } + return c; + } + + btScalar squaredNorm(const TVStack& a) + { + return dot(a,a); + } + + btScalar dot(const TVStack& a, const TVStack& b) + { + btScalar ans(0); + for (int i = 0; i < a.size(); ++i) + ans += a[i].dot(b[i]); + return ans; + } + + void multAndAddTo(btScalar s, const TVStack& a, TVStack& result) + { +// result += s*a + btAssert(a.size() == result.size()); + for (int i = 0; i < a.size(); ++i) + result[i] += s * a[i]; + } + + TVStack multAndAdd(btScalar s, const TVStack& a, const TVStack& b) + { + // result = a*s + b + TVStack result; + result.resize(a.size()); + for (int i = 0; i < a.size(); ++i) + result[i] = s * a[i] + b[i]; + return result; + } +}; +#endif /* btConjugateGradient_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp index 8b7ff9abcd..5a79ef86e2 100644 --- a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp +++ b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp @@ -60,7 +60,7 @@ bool btDefaultSoftBodySolver::checkInitialized() return true; } -void btDefaultSoftBodySolver::solveConstraints(float solverdt) +void btDefaultSoftBodySolver::solveConstraints(btScalar solverdt) { // Solve constraints for non-solver softbodies for (int i = 0; i < m_softBodySet.size(); ++i) @@ -132,7 +132,7 @@ void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, const btCol softBody->defaultCollisionHandler(collisionObjectWrap); } // btDefaultSoftBodySolver::processCollision -void btDefaultSoftBodySolver::predictMotion(float timeStep) +void btDefaultSoftBodySolver::predictMotion(btScalar timeStep) { for (int i = 0; i < m_softBodySet.size(); ++i) { diff --git a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h index 50bd735165..3965b07c58 100644 --- a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h +++ b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h @@ -46,9 +46,9 @@ public: virtual void copyBackToSoftBodies(bool bMove = true); - virtual void solveConstraints(float solverdt); + virtual void solveConstraints(btScalar solverdt); - virtual void predictMotion(float solverdt); + virtual void predictMotion(btScalar solverdt); virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer); diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp new file mode 100644 index 0000000000..1b247641aa --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -0,0 +1,197 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#include "btDeformableBackwardEulerObjective.h" +#include "btPreconditioner.h" +#include "LinearMath/btQuickprof.h" + +btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v) +: m_softBodies(softBodies) +, m_projection(softBodies) +, m_backupVelocity(backup_v) +, m_implicit(false) +{ + m_preconditioner = new MassPreconditioner(m_softBodies); +} + +btDeformableBackwardEulerObjective::~btDeformableBackwardEulerObjective() +{ + delete m_preconditioner; +} + +void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt) +{ + BT_PROFILE("reinitialize"); + if (dt > 0) + { + setDt(dt); + } + if(nodeUpdated) + { + updateId(); + } + for (int i = 0; i < m_lf.size(); ++i) + { + m_lf[i]->reinitialize(nodeUpdated); + } + m_projection.reinitialize(nodeUpdated); + m_preconditioner->reinitialize(nodeUpdated); +} + +void btDeformableBackwardEulerObjective::setDt(btScalar dt) +{ + m_dt = dt; +} + +void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const +{ + BT_PROFILE("multiply"); + // add in the mass term + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + b[counter] = (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im; + ++counter; + } + } + + for (int i = 0; i < m_lf.size(); ++i) + { + // add damping matrix + m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b); + if (m_implicit) + { + m_lf[i]->addScaledElasticForceDifferential(-m_dt*m_dt, x, b); + } + } +} + +void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + node.m_v = m_backupVelocity[node.index] + dv[node.index]; + } + } +} + +void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero) +{ + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im; + psb->m_nodes[j].m_v += one_over_mass * force[counter++]; + } + } + if (setZero) + { + for (int i = 0; i < force.size(); ++i) + force[i].setZero(); + } +} + +void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) +{ + BT_PROFILE("computeResidual"); + // add implicit force + for (int i = 0; i < m_lf.size(); ++i) + { + if (m_implicit) + { + m_lf[i]->addScaledForces(dt, residual); + } + else + { + m_lf[i]->addScaledDampingForce(dt, residual); + } + } + m_projection.project(residual); +} + +btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const +{ + btScalar mag = 0; + for (int i = 0; i < residual.size(); ++i) + { + mag += residual[i].length2(); + } + return std::sqrt(mag); +} + +btScalar btDeformableBackwardEulerObjective::totalEnergy(btScalar dt) +{ + btScalar e = 0; + for (int i = 0; i < m_lf.size(); ++i) + { + e += m_lf[i]->totalEnergy(dt); + } + return e; +} + +void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + m_softBodies[i]->advanceDeformation(); + } + + for (int i = 0; i < m_lf.size(); ++i) + { + m_lf[i]->addScaledExplicitForce(m_dt, force); + } + applyForce(force, true); +} + +void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack& residual) +{ + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + dv[counter] = psb->m_nodes[j].m_im * residual[counter]; + ++counter; + } + } +} + +//set constraints as projections +void btDeformableBackwardEulerObjective::setConstraints() +{ + m_projection.setConstraints(); +} + +void btDeformableBackwardEulerObjective::applyDynamicFriction(TVStack& r) +{ + m_projection.applyDynamicFriction(r); +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h new file mode 100644 index 0000000000..05ab42ff0a --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -0,0 +1,134 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_BACKWARD_EULER_OBJECTIVE_H +#define BT_BACKWARD_EULER_OBJECTIVE_H +#include "btConjugateGradient.h" +#include "btDeformableLagrangianForce.h" +#include "btDeformableMassSpringForce.h" +#include "btDeformableGravityForce.h" +#include "btDeformableCorotatedForce.h" +#include "btDeformableLinearElasticityForce.h" +#include "btDeformableNeoHookeanForce.h" +#include "btDeformableContactProjection.h" +#include "btPreconditioner.h" +#include "btDeformableMultiBodyDynamicsWorld.h" +#include "LinearMath/btQuickprof.h" + +class btDeformableBackwardEulerObjective +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_dt; + btAlignedObjectArray<btDeformableLagrangianForce*> m_lf; + btAlignedObjectArray<btSoftBody *>& m_softBodies; + Preconditioner* m_preconditioner; + btDeformableContactProjection m_projection; + const TVStack& m_backupVelocity; + btAlignedObjectArray<btSoftBody::Node* > m_nodes; + bool m_implicit; + + btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v); + + virtual ~btDeformableBackwardEulerObjective(); + + void initialize(){} + + // compute the rhs for CG solve, i.e, add the dt scaled implicit force to residual + void computeResidual(btScalar dt, TVStack& residual); + + // add explicit force to the velocity + void applyExplicitForce(TVStack& force); + + // apply force to velocity and optionally reset the force to zero + void applyForce(TVStack& force, bool setZero); + + // compute the norm of the residual + btScalar computeNorm(const TVStack& residual) const; + + // compute one step of the solve (there is only one solve if the system is linear) + void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt); + + // perform A*x = b + void multiply(const TVStack& x, TVStack& b) const; + + // set initial guess for CG solve + void initialGuess(TVStack& dv, const TVStack& residual); + + // reset data structure and reset dt + void reinitialize(bool nodeUpdated, btScalar dt); + + void setDt(btScalar dt); + + // add friction force to residual + void applyDynamicFriction(TVStack& r); + + // add dv to velocity + void updateVelocity(const TVStack& dv); + + //set constraints as projections + void setConstraints(); + + // update the projections and project the residual + void project(TVStack& r) + { + BT_PROFILE("project"); + m_projection.project(r); + } + + // perform precondition M^(-1) x = b + void precondition(const TVStack& x, TVStack& b) + { + m_preconditioner->operator()(x,b); + } + + // reindex all the vertices + virtual void updateId() + { + size_t node_id = 0; + size_t face_id = 0; + m_nodes.clear(); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].index = node_id; + m_nodes.push_back(&psb->m_nodes[j]); + ++node_id; + } + for (int j = 0; j < psb->m_faces.size(); ++j) + { + psb->m_faces[j].m_index = face_id; + ++face_id; + } + } + } + + const btAlignedObjectArray<btSoftBody::Node*>* getIndices() const + { + return &m_nodes; + } + + void setImplicit(bool implicit) + { + m_implicit = implicit; + } + + // Calculate the total potential energy in the system + btScalar totalEnergy(btScalar dt); +}; + +#endif /* btBackwardEulerObjective_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp new file mode 100644 index 0000000000..7724a8ec69 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp @@ -0,0 +1,485 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#include <stdio.h> +#include <limits> +#include "btDeformableBodySolver.h" +#include "btSoftBodyInternals.h" +#include "LinearMath/btQuickprof.h" +static const int kMaxConjugateGradientIterations = 50; +btDeformableBodySolver::btDeformableBodySolver() +: m_numNodes(0) +, m_cg(kMaxConjugateGradientIterations) +, m_maxNewtonIterations(5) +, m_newtonTolerance(1e-4) +, m_lineSearch(false) +{ + m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity); +} + +btDeformableBodySolver::~btDeformableBodySolver() +{ + delete m_objective; +} + +void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) +{ + BT_PROFILE("solveDeformableConstraints"); + if (!m_implicit) + { + m_objective->computeResidual(solverdt, m_residual); + m_objective->applyDynamicFriction(m_residual); + computeStep(m_dv, m_residual); + updateVelocity(); + } + else + { + for (int i = 0; i < m_maxNewtonIterations; ++i) + { + updateState(); + // add the inertia term in the residual + int counter = 0; + for (int k = 0; k < m_softBodies.size(); ++k) + { + btSoftBody* psb = m_softBodies[k]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im > 0) + { + m_residual[counter] = (-1./psb->m_nodes[j].m_im) * m_dv[counter]; + } + ++counter; + } + } + + m_objective->computeResidual(solverdt, m_residual); + if (m_objective->computeNorm(m_residual) < m_newtonTolerance && i > 0) + { + break; + } + // todo xuchenhan@: this really only needs to be calculated once + m_objective->applyDynamicFriction(m_residual); + if (m_lineSearch) + { + btScalar inner_product = computeDescentStep(m_ddv,m_residual); + btScalar alpha = 0.01, beta = 0.5; // Boyd & Vandenberghe suggested alpha between 0.01 and 0.3, beta between 0.1 to 0.8 + btScalar scale = 2; + btScalar f0 = m_objective->totalEnergy(solverdt)+kineticEnergy(), f1, f2; + backupDv(); + do { + scale *= beta; + if (scale < 1e-8) { + return; + } + updateEnergy(scale); + f1 = m_objective->totalEnergy(solverdt)+kineticEnergy(); + f2 = f0 - alpha * scale * inner_product; + } while (!(f1 < f2+SIMD_EPSILON)); // if anything here is nan then the search continues + revertDv(); + updateDv(scale); + } + else + { + computeStep(m_ddv, m_residual); + updateDv(); + } + for (int j = 0; j < m_numNodes; ++j) + { + m_ddv[j].setZero(); + m_residual[j].setZero(); + } + } + updateVelocity(); + } +} + +btScalar btDeformableBodySolver::kineticEnergy() +{ + btScalar ke = 0; + for (int i = 0; i < m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size();++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + if (node.m_im > 0) + { + ke += m_dv[node.index].length2() * 0.5 / node.m_im; + } + } + } + return ke; +} + +void btDeformableBodySolver::backupDv() +{ + m_backup_dv.resize(m_dv.size()); + for (int i = 0; i<m_backup_dv.size(); ++i) + { + m_backup_dv[i] = m_dv[i]; + } +} + +void btDeformableBodySolver::revertDv() +{ + for (int i = 0; i<m_backup_dv.size(); ++i) + { + m_dv[i] = m_backup_dv[i]; + } +} + +void btDeformableBodySolver::updateEnergy(btScalar scale) +{ + for (int i = 0; i<m_dv.size(); ++i) + { + m_dv[i] = m_backup_dv[i] + scale * m_ddv[i]; + } + updateState(); +} + + +btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose) +{ + m_cg.solve(*m_objective, ddv, residual, false); + btScalar inner_product = m_cg.dot(residual, m_ddv); + btScalar res_norm = m_objective->computeNorm(residual); + btScalar tol = 1e-5 * res_norm * m_objective->computeNorm(m_ddv); + if (inner_product < -tol) + { + if (verbose) + { + std::cout << "Looking backwards!" << std::endl; + } + for (int i = 0; i < m_ddv.size();++i) + { + m_ddv[i] = -m_ddv[i]; + } + inner_product = -inner_product; + } + else if (std::abs(inner_product) < tol) + { + if (verbose) + { + std::cout << "Gradient Descent!" << std::endl; + } + btScalar scale = m_objective->computeNorm(m_ddv) / res_norm; + for (int i = 0; i < m_ddv.size();++i) + { + m_ddv[i] = scale * residual[i]; + } + inner_product = scale * res_norm * res_norm; + } + return inner_product; +} + +void btDeformableBodySolver::updateState() +{ + updateVelocity(); + updateTempPosition(); +} + +void btDeformableBodySolver::updateDv(btScalar scale) +{ + for (int i = 0; i < m_numNodes; ++i) + { + m_dv[i] += scale * m_ddv[i]; + } +} + +void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual) +{ + m_cg.solve(*m_objective, ddv, residual); +} + +void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt) +{ + m_softBodies.copyFromArray(softBodies); + bool nodeUpdated = updateNodes(); + + if (nodeUpdated) + { + m_dv.resize(m_numNodes, btVector3(0,0,0)); + m_ddv.resize(m_numNodes, btVector3(0,0,0)); + m_residual.resize(m_numNodes, btVector3(0,0,0)); + m_backupVelocity.resize(m_numNodes, btVector3(0,0,0)); + } + + // need to setZero here as resize only set value for newly allocated items + for (int i = 0; i < m_numNodes; ++i) + { + m_dv[i].setZero(); + m_ddv[i].setZero(); + m_residual[i].setZero(); + } + + m_dt = dt; + m_objective->reinitialize(nodeUpdated, dt); +} + +void btDeformableBodySolver::setConstraints() +{ + BT_PROFILE("setConstraint"); + m_objective->setConstraints(); +} + +btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies) +{ + BT_PROFILE("solveContactConstraints"); + btScalar maxSquaredResidual = m_objective->m_projection.update(deformableBodies,numDeformableBodies); + return maxSquaredResidual; +} + +btScalar btDeformableBodySolver::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("solveSplitImpulse"); + return m_objective->m_projection.solveSplitImpulse(infoGlobal); +} + +void btDeformableBodySolver::splitImpulseSetup(const btContactSolverInfo& infoGlobal) +{ + m_objective->m_projection.splitImpulseSetup(infoGlobal); +} + +void btDeformableBodySolver::updateVelocity() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + psb->m_maxSpeedSquared = 0; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + // set NaN to zero; + if (m_dv[counter] != m_dv[counter]) + { + m_dv[counter].setZero(); + } + psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter]; + psb->m_maxSpeedSquared = btMax(psb->m_maxSpeedSquared, psb->m_nodes[j].m_v.length2()); + ++counter; + } + } +} + +void btDeformableBodySolver::updateTempPosition() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + m_dt * psb->m_nodes[j].m_v; + ++counter; + } + psb->updateDeformation(); + } +} + +void btDeformableBodySolver::backupVelocity() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + m_backupVelocity[counter++] = psb->m_nodes[j].m_v; + } + } +} + +void btDeformableBodySolver::setupDeformableSolve(bool implicit) +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (implicit) + { + if ((psb->m_nodes[j].m_v - m_backupVelocity[counter]).norm() < SIMD_EPSILON) + m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; + else + m_dv[counter] = psb->m_nodes[j].m_v - psb->m_nodes[j].m_vn; + m_backupVelocity[counter] = psb->m_nodes[j].m_vn; + } + else + m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; + psb->m_nodes[j].m_v = m_backupVelocity[counter] + psb->m_nodes[j].m_vsplit; + ++counter; + } + } +} + +void btDeformableBodySolver::revertVelocity() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_v = m_backupVelocity[counter++]; + } + } +} + +bool btDeformableBodySolver::updateNodes() +{ + int numNodes = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + numNodes += m_softBodies[i]->m_nodes.size(); + if (numNodes != m_numNodes) + { + m_numNodes = numNodes; + return true; + } + return false; +} + + +void btDeformableBodySolver::predictMotion(btScalar solverdt) +{ + // apply explicit forces to velocity + m_objective->applyExplicitForce(m_residual); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody *psb = m_softBodies[i]; + + if (psb->isActive()) + { + // predict motion for collision detection + predictDeformableMotion(psb, solverdt); + } + } +} + +void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar dt) +{ + int i, ni; + + /* Update */ + if (psb->m_bUpdateRtCst) + { + psb->m_bUpdateRtCst = false; + psb->updateConstants(); + psb->m_fdbvt.clear(); + if (psb->m_cfg.collisions & btSoftBody::fCollision::SDF_RD) + { + psb->initializeFaceTree(); + } + } + + /* Prepare */ + psb->m_sst.sdt = dt * psb->m_cfg.timescale; + psb->m_sst.isdt = 1 / psb->m_sst.sdt; + psb->m_sst.velmrg = psb->m_sst.sdt * 3; + psb->m_sst.radmrg = psb->getCollisionShape()->getMargin(); + psb->m_sst.updmrg = psb->m_sst.radmrg * (btScalar)0.25; + /* Bounds */ + psb->updateBounds(); + + /* Integrate */ + // do not allow particles to move more than the bounding box size + btScalar max_v = (psb->m_bounds[1]-psb->m_bounds[0]).norm() / dt; + for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) + { + btSoftBody::Node& n = psb->m_nodes[i]; + // apply drag + n.m_v *= (1 - psb->m_cfg.drag); + // scale velocity back + if (n.m_v.norm() > max_v) + { + n.m_v.safeNormalize(); + n.m_v *= max_v; + } + n.m_q = n.m_x + n.m_v * dt; + } + + /* Nodes */ + ATTRIBUTE_ALIGNED16(btDbvtVolume) + vol; + for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) + { + btSoftBody::Node& n = psb->m_nodes[i]; + btVector3 points[2] = {n.m_x, n.m_q}; + vol = btDbvtVolume::FromPoints(points, 2); + vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg)); + psb->m_ndbvt.update(n.m_leaf, vol); + } + + if (!psb->m_fdbvt.empty()) + { + for (int i = 0; i < psb->m_faces.size(); ++i) + { + btSoftBody::Face& f = psb->m_faces[i]; + btVector3 points[6] = {f.m_n[0]->m_x, f.m_n[0]->m_q, + f.m_n[1]->m_x, f.m_n[1]->m_q, + f.m_n[2]->m_x, f.m_n[2]->m_q}; + vol = btDbvtVolume::FromPoints(points, 6); + vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg)); + psb->m_fdbvt.update(f.m_leaf, vol); + } + } + /* Clear contacts */ + psb->m_nodeRigidContacts.resize(0); + psb->m_faceRigidContacts.resize(0); + psb->m_faceNodeContacts.resize(0); + /* Optimize dbvt's */ + psb->m_ndbvt.optimizeIncremental(1); + psb->m_fdbvt.optimizeIncremental(1); +} + + +void btDeformableBodySolver::updateSoftBodies() +{ + BT_PROFILE("updateSoftBodies"); + for (int i = 0; i < m_softBodies.size(); i++) + { + btSoftBody *psb = (btSoftBody *)m_softBodies[i]; + if (psb->isActive()) + { + psb->updateNormals(); + } + } +} + +void btDeformableBodySolver::setImplicit(bool implicit) +{ + m_implicit = implicit; + m_objective->setImplicit(implicit); +} + +void btDeformableBodySolver::setLineSearch(bool lineSearch) +{ + m_lineSearch = lineSearch; +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h new file mode 100644 index 0000000000..f78a8f696b --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h @@ -0,0 +1,164 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_DEFORMABLE_BODY_SOLVERS_H +#define BT_DEFORMABLE_BODY_SOLVERS_H + + +#include "btSoftBodySolvers.h" +#include "btDeformableBackwardEulerObjective.h" +#include "btDeformableMultiBodyDynamicsWorld.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" + +struct btCollisionObjectWrapper; +class btDeformableBackwardEulerObjective; +class btDeformableMultiBodyDynamicsWorld; + +class btDeformableBodySolver : public btSoftBodySolver +{ + typedef btAlignedObjectArray<btVector3> TVStack; +protected: + int m_numNodes; // total number of deformable body nodes + TVStack m_dv; // v_{n+1} - v_n + TVStack m_backup_dv; // backed up dv + TVStack m_ddv; // incremental dv + TVStack m_residual; // rhs of the linear solve + btAlignedObjectArray<btSoftBody *> m_softBodies; // all deformable bodies + TVStack m_backupVelocity; // backed up v, equals v_n for implicit, equals v_{n+1}^* for explicit + btScalar m_dt; // dt + btConjugateGradient<btDeformableBackwardEulerObjective> m_cg; // CG solver + bool m_implicit; // use implicit scheme if true, explicit scheme if false + int m_maxNewtonIterations; // max number of newton iterations + btScalar m_newtonTolerance; // stop newton iterations if f(x) < m_newtonTolerance + bool m_lineSearch; // If true, use newton's method with line search under implicit scheme + +public: + // handles data related to objective function + btDeformableBackwardEulerObjective* m_objective; + + btDeformableBodySolver(); + + virtual ~btDeformableBodySolver(); + + virtual SolverTypes getSolverType() const + { + return DEFORMABLE_SOLVER; + } + + // update soft body normals + virtual void updateSoftBodies(); + + // solve the momentum equation + virtual void solveDeformableConstraints(btScalar solverdt); + + // solve the contact between deformable and rigid as well as among deformables + btScalar solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies); + + // solve the position error between deformable and rigid as well as among deformables; + btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + + // set up the position error in split impulse + void splitImpulseSetup(const btContactSolverInfo& infoGlobal); + + // resize/clear data structures + void reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt); + + // set up contact constraints + void setConstraints(); + + // add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion + virtual void predictMotion(btScalar solverdt); + + // move to temporary position x_{n+1}^* = x_n + dt * v_{n+1}^* + // x_{n+1}^* is stored in m_q + void predictDeformableMotion(btSoftBody* psb, btScalar dt); + + // save the current velocity to m_backupVelocity + void backupVelocity(); + + // set m_dv and m_backupVelocity to desired value to prepare for momentum solve + void setupDeformableSolve(bool implicit); + + // set the current velocity to that backed up in m_backupVelocity + void revertVelocity(); + + // set velocity to m_dv + m_backupVelocity + void updateVelocity(); + + // update the node count + bool updateNodes(); + + // calculate the change in dv resulting from the momentum solve + void computeStep(TVStack& ddv, const TVStack& residual); + + // calculate the change in dv resulting from the momentum solve when line search is turned on + btScalar computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose=false); + + virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {} + + // process collision between deformable and rigid + virtual void processCollision(btSoftBody * softBody, const btCollisionObjectWrapper * collisionObjectWrap) + { + softBody->defaultCollisionHandler(collisionObjectWrap); + } + + // process collision between deformable and deformable + virtual void processCollision(btSoftBody * softBody, btSoftBody * otherSoftBody) { + softBody->defaultCollisionHandler(otherSoftBody); + } + + // If true, implicit time stepping scheme is used. + // Otherwise, explicit time stepping scheme is used + void setImplicit(bool implicit); + + // If true, newton's method with line search is used when implicit time stepping scheme is turned on + void setLineSearch(bool lineSearch); + + // set temporary position x^* = x_n + dt * v + // update the deformation gradient at position x^* + void updateState(); + + // set dv = dv + scale * ddv + void updateDv(btScalar scale = 1); + + // set temporary position x^* = x_n + dt * v^* + void updateTempPosition(); + + // save the current dv to m_backup_dv; + void backupDv(); + + // set dv to the backed-up value + void revertDv(); + + // set dv = dv + scale * ddv + // set v^* = v_n + dv + // set temporary position x^* = x_n + dt * v^* + // update the deformation gradient at position x^* + void updateEnergy(btScalar scale); + + // calculates the appropriately scaled kinetic energy in the system, which is + // 1/2 * dv^T * M * dv + // used in line search + btScalar kineticEnergy(); + + // unused functions + virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false){} + virtual void solveConstraints(btScalar dt){} + virtual bool checkInitialized(){return true;} + virtual void copyBackToSoftBodies(bool bMove = true) {} +}; + +#endif /* btDeformableBodySolver_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp new file mode 100644 index 0000000000..e8219dc50e --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp @@ -0,0 +1,591 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#include "btDeformableContactConstraint.h" +/* ================ Deformable Node Anchor =================== */ +btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a) +: m_anchor(&a) +, btDeformableContactConstraint(a.m_cti.m_normal) +{ +} + +btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other) +: m_anchor(other.m_anchor) +, btDeformableContactConstraint(other) +{ +} + +btVector3 btDeformableNodeAnchorConstraint::getVa() const +{ + const btSoftBody::sCti& cti = m_anchor->m_cti; + btVector3 va(0, 0, 0); + if (cti.m_colObj->hasContactResponse()) + { + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_anchor->m_c1)) : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* J_n = &m_anchor->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &m_anchor->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &m_anchor->jacobianData_t2.m_jacobians[0]; + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); + const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_n[k]; + } + va = cti.m_normal * vel; + // add in the tangential components of the va + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t1[k]; + } + va += m_anchor->t1 * vel; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t2[k]; + } + va += m_anchor->t2 * vel; + } + } + } + return va; +} + +btScalar btDeformableNodeAnchorConstraint::solveConstraint() +{ + const btSoftBody::sCti& cti = m_anchor->m_cti; + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = (vb - va); + // + (m_anchor->m_node->m_x - cti.m_colObj->getWorldTransform() * m_anchor->m_local) * 10.0 + const btScalar dn = btDot(vr, cti.m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_anchor->m_c0 * vr; + // apply impulse to deformable nodes involved and change their velocities + applyImpulse(impulse); + + // apply impulse to the rigid/multibodies involved and change their velocities + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyImpulse(impulse, m_anchor->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = 0; + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const btScalar* deltaV_normal = &m_anchor->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + // apply normal component of the impulse + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal)); + // apply tangential component of the impulse + const btScalar* deltaV_t1 = &m_anchor->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_anchor->t1)); + const btScalar* deltaV_t2 = &m_anchor->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_anchor->t2)); + } + } + return residualSquare; +} + +btVector3 btDeformableNodeAnchorConstraint::getVb() const +{ + return m_anchor->m_node->m_v; +} + +void btDeformableNodeAnchorConstraint::applyImpulse(const btVector3& impulse) +{ + btVector3 dv = impulse * m_anchor->m_c2; + m_anchor->m_node->m_v -= dv; +} + +/* ================ Deformable vs. Rigid =================== */ +btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c) +: m_contact(&c) +, btDeformableContactConstraint(c.m_cti.m_normal) +{ + m_total_normal_dv.setZero(); + m_total_tangent_dv.setZero(); + // penetration is non-positive. The magnitude of penetration is the depth of penetration. + m_penetration = btMin(btScalar(0), c.m_cti.m_offset); +} + +btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other) +: m_contact(other.m_contact) +, btDeformableContactConstraint(other) +, m_penetration(other.m_penetration) +{ + m_total_normal_dv = other.m_total_normal_dv; + m_total_tangent_dv = other.m_total_tangent_dv; +} + + +btVector3 btDeformableRigidContactConstraint::getVa() const +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + btVector3 va(0, 0, 0); + if (cti.m_colObj->hasContactResponse()) + { + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_contact->m_c1)) : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* J_n = &m_contact->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &m_contact->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &m_contact->jacobianData_t2.m_jacobians[0]; + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); + const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_n[k]; + } + va = cti.m_normal * vel; + // add in the tangential components of the va + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t1[k]; + } + va += m_contact->t1 * vel; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t2[k]; + } + va += m_contact->t2 * vel; + } + } + } + return va; +} + +btScalar btDeformableRigidContactConstraint::solveConstraint() +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_contact->m_c0 * vr; + const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn); + btVector3 impulse_tangent = impulse - impulse_normal; + btVector3 old_total_tangent_dv = m_total_tangent_dv; + // m_c2 is the inverse mass of the deformable node/face + m_total_normal_dv -= impulse_normal * m_contact->m_c2; + m_total_tangent_dv -= impulse_tangent * m_contact->m_c2; + + if (m_total_normal_dv.dot(cti.m_normal) < 0) + { + // separating in the normal direction + m_static = false; + m_total_tangent_dv = btVector3(0,0,0); + impulse_tangent.setZero(); + } + else + { + if (m_total_normal_dv.norm() * m_contact->m_c3 < m_total_tangent_dv.norm()) + { + // dynamic friction + // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. + m_static = false; + if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON) + { + m_total_tangent_dv = btVector3(0,0,0); + } + else + { + m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_c3; + } + impulse_tangent = -btScalar(1)/m_contact->m_c2 * (m_total_tangent_dv - old_total_tangent_dv); + } + else + { + // static friction + m_static = true; + } + } + impulse = impulse_normal + impulse_tangent; + // apply impulse to deformable nodes involved and change their velocities + applyImpulse(impulse); + // apply impulse to the rigid/multibodies involved and change their velocities + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyImpulse(impulse, m_contact->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = 0; + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const btScalar* deltaV_normal = &m_contact->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + // apply normal component of the impulse + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal)); + if (impulse_tangent.norm() > SIMD_EPSILON) + { + // apply tangential component of the impulse + const btScalar* deltaV_t1 = &m_contact->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_contact->t1)); + const btScalar* deltaV_t2 = &m_contact->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_contact->t2)); + } + } + } + return residualSquare; +} + +btScalar btDeformableRigidContactConstraint::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + const btScalar dn = m_penetration; + if (dn != 0) + { + const btVector3 impulse = (m_contact->m_c0 * (cti.m_normal * dn / infoGlobal.m_timeStep)); + // one iteration of the position impulse corrects all the position error at this timestep + m_penetration -= dn; + // apply impulse to deformable nodes involved and change their position + applySplitImpulse(impulse); + // apply impulse to the rigid/multibodies involved and change their position + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyPushImpulse(impulse, m_contact->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + // todo xuchenhan@ + } + return (m_penetration/infoGlobal.m_timeStep) * (m_penetration/infoGlobal.m_timeStep); + } + return 0; +} + +/* ================ Node vs. Rigid =================== */ +btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact) + : m_node(contact.m_node) + , btDeformableRigidContactConstraint(contact) + { + } + +btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other) +: m_node(other.m_node) +, btDeformableRigidContactConstraint(other) +{ +} + +btVector3 btDeformableNodeRigidContactConstraint::getVb() const +{ + return m_node->m_v; +} + + +btVector3 btDeformableNodeRigidContactConstraint::getDv(const btSoftBody::Node* node) const +{ + return m_total_normal_dv + m_total_tangent_dv; +} + +void btDeformableNodeRigidContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableNodeRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + contact->m_node->m_v -= dv; +} + +void btDeformableNodeRigidContactConstraint::applySplitImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableNodeRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + contact->m_node->m_vsplit -= dv; +}; + +/* ================ Face vs. Rigid =================== */ +btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact) +: m_face(contact.m_face) +, btDeformableRigidContactConstraint(contact) +{ +} + +btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other) +: m_face(other.m_face) +, btDeformableRigidContactConstraint(other) +{ +} + +btVector3 btDeformableFaceRigidContactConstraint::getVb() const +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2]; + return vb; +} + + +btVector3 btDeformableFaceRigidContactConstraint::getDv(const btSoftBody::Node* node) const +{ + btVector3 face_dv = m_total_normal_dv + m_total_tangent_dv; + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + if (m_face->m_n[0] == node) + { + return face_dv * contact->m_weights[0]; + } + if (m_face->m_n[1] == node) + { + return face_dv * contact->m_weights[1]; + } + btAssert(node == m_face->m_n[2]); + return face_dv * contact->m_weights[2]; +} + +void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + btSoftBody::Face* face = contact->m_face; + + btVector3& v0 = face->m_n[0]->m_v; + btVector3& v1 = face->m_n[1]->m_v; + btVector3& v2 = face->m_n[2]->m_v; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) + v0 -= dv * contact->m_weights[0]; + if (im1 > 0) + v1 -= dv * contact->m_weights[1]; + if (im2 > 0) + v2 -= dv * contact->m_weights[2]; + + // apply strain limiting to prevent undamped modes + btScalar m01 = (btScalar(1)/(im0 + im1)); + btScalar m02 = (btScalar(1)/(im0 + im2)); + btScalar m12 = (btScalar(1)/(im1 + im2)); + + btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); + btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); + btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); + + v0 += dv0; + v1 += dv1; + v2 += dv2; +} + +void btDeformableFaceRigidContactConstraint::applySplitImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + btSoftBody::Face* face = contact->m_face; + + btVector3& v0 = face->m_n[0]->m_vsplit; + btVector3& v1 = face->m_n[1]->m_vsplit; + btVector3& v2 = face->m_n[2]->m_vsplit; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) + v0 -= dv * contact->m_weights[0]; + if (im1 > 0) + v1 -= dv * contact->m_weights[1]; + if (im2 > 0) + v2 -= dv * contact->m_weights[2]; +} + +/* ================ Face vs. Node =================== */ +btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact) +: m_node(contact.m_node) +, m_face(contact.m_face) +, m_contact(&contact) +, btDeformableContactConstraint(contact.m_normal) +{ + m_total_normal_dv.setZero(); + m_total_tangent_dv.setZero(); +} + +btVector3 btDeformableFaceNodeContactConstraint::getVa() const +{ + return m_node->m_v; +} + +btVector3 btDeformableFaceNodeContactConstraint::getVb() const +{ + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2]; + return vb; +} + +btVector3 btDeformableFaceNodeContactConstraint::getDv(const btSoftBody::Node* n) const +{ + btVector3 dv = m_total_normal_dv + m_total_tangent_dv; + if (n == m_node) + return dv; + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + if (m_face->m_n[0] == n) + { + return dv * contact->m_weights[0]; + } + if (m_face->m_n[1] == n) + { + return dv * contact->m_weights[1]; + } + btAssert(n == m_face->m_n[2]); + return dv * contact->m_weights[2]; +} + +btScalar btDeformableFaceNodeContactConstraint::solveConstraint() +{ + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = vb - va; + const btScalar dn = btDot(vr, m_contact->m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_contact->m_c0 * vr; + const btVector3 impulse_normal = m_contact->m_c0 * (m_contact->m_normal * dn); + btVector3 impulse_tangent = impulse - impulse_normal; + + btVector3 old_total_tangent_dv = m_total_tangent_dv; + // m_c2 is the inverse mass of the deformable node/face + if (m_node->m_im > 0) + { + m_total_normal_dv -= impulse_normal * m_node->m_im; + m_total_tangent_dv -= impulse_tangent * m_node->m_im; + } + else + { + m_total_normal_dv -= impulse_normal * m_contact->m_imf; + m_total_tangent_dv -= impulse_tangent * m_contact->m_imf; + } + + if (m_total_normal_dv.dot(m_contact->m_normal) > 0) + { + // separating in the normal direction + m_static = false; + m_total_tangent_dv = btVector3(0,0,0); + impulse_tangent.setZero(); + } + else + { + if (m_total_normal_dv.norm() * m_contact->m_friction < m_total_tangent_dv.norm()) + { + // dynamic friction + // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. + m_static = false; + if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON) + { + m_total_tangent_dv = btVector3(0,0,0); + } + else + { + m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_friction; + } + impulse_tangent = -btScalar(1)/m_node->m_im * (m_total_tangent_dv - old_total_tangent_dv); + } + else + { + // static friction + m_static = true; + } + } + impulse = impulse_normal + impulse_tangent; + // apply impulse to deformable nodes involved and change their velocities + applyImpulse(impulse); + return residualSquare; +} + +void btDeformableFaceNodeContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + btVector3 dva = impulse * contact->m_node->m_im; + btVector3 dvb = impulse * contact->m_imf; + if (contact->m_node->m_im > 0) + { + contact->m_node->m_v += dva; + } + + btSoftBody::Face* face = contact->m_face; + btVector3& v0 = face->m_n[0]->m_v; + btVector3& v1 = face->m_n[1]->m_v; + btVector3& v2 = face->m_n[2]->m_v; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) + { + v0 -= dvb * contact->m_weights[0]; + } + if (im1 > 0) + { + v1 -= dvb * contact->m_weights[1]; + } + if (im2 > 0) + { + v2 -= dvb * contact->m_weights[2]; + } + // todo: Face node constraints needs more work +// btScalar m01 = (btScalar(1)/(im0 + im1)); +// btScalar m02 = (btScalar(1)/(im0 + im2)); +// btScalar m12 = (btScalar(1)/(im1 + im2)); +// +// btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); +// btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); +// btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); +// v0 += dv0; +// v1 += dv1; +// v2 += dv2; +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h new file mode 100644 index 0000000000..912119e7c3 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h @@ -0,0 +1,302 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_DEFORMABLE_CONTACT_CONSTRAINT_H +#define BT_DEFORMABLE_CONTACT_CONSTRAINT_H +#include "btSoftBody.h" + +// btDeformableContactConstraint is an abstract class specifying the method that each type of contact constraint needs to implement +class btDeformableContactConstraint +{ +public: + // True if the friction is static + // False if the friction is dynamic + bool m_static; + + // normal of the contact + btVector3 m_normal; + + btDeformableContactConstraint(const btVector3& normal): m_static(false), m_normal(normal) + { + } + + btDeformableContactConstraint(bool isStatic, const btVector3& normal): m_static(isStatic), m_normal(normal) + { + } + + btDeformableContactConstraint(const btDeformableContactConstraint& other) + : m_static(other.m_static) + , m_normal(other.m_normal) + { + + } + btDeformableContactConstraint(){} + + virtual ~btDeformableContactConstraint(){} + + // solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence + // the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact + virtual btScalar solveConstraint() = 0; + + // solve the position error by applying an inelastic impulse that changes only the position (not velocity) + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) = 0; + + // get the velocity of the object A in the contact + virtual btVector3 getVa() const = 0; + + // get the velocity of the object B in the contact + virtual btVector3 getVb() const = 0; + + // get the velocity change of the soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const = 0; + + // apply impulse to the soft body node and/or face involved + virtual void applyImpulse(const btVector3& impulse) = 0; + + // apply position based impulse to the soft body node and/or face involved + virtual void applySplitImpulse(const btVector3& impulse) = 0; + + // scale the penetration depth by erp + virtual void setPenetrationScale(btScalar scale) = 0; +}; + +// +// Constraint that a certain node in the deformable objects cannot move +class btDeformableStaticConstraint : public btDeformableContactConstraint +{ +public: + const btSoftBody::Node* m_node; + + btDeformableStaticConstraint(){} + + btDeformableStaticConstraint(const btSoftBody::Node* node): m_node(node), btDeformableContactConstraint(false, btVector3(0,0,0)) + { + } + + btDeformableStaticConstraint(const btDeformableStaticConstraint& other) + : m_node(other.m_node) + , btDeformableContactConstraint(other) + { + + } + + virtual ~btDeformableStaticConstraint(){} + + virtual btScalar solveConstraint() + { + return 0; + } + + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + return 0; + } + + virtual btVector3 getVa() const + { + return btVector3(0,0,0); + } + + virtual btVector3 getVb() const + { + return btVector3(0,0,0); + } + + virtual btVector3 getDv(const btSoftBody::Node* n) const + { + return btVector3(0,0,0); + } + + virtual void applyImpulse(const btVector3& impulse){} + virtual void applySplitImpulse(const btVector3& impulse){} + virtual void setPenetrationScale(btScalar scale){} +}; + +// +// Anchor Constraint between rigid and deformable node +class btDeformableNodeAnchorConstraint : public btDeformableContactConstraint +{ +public: + const btSoftBody::DeformableNodeRigidAnchor* m_anchor; + + btDeformableNodeAnchorConstraint(){} + btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c); + btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other); + virtual ~btDeformableNodeAnchorConstraint() + { + } + virtual btScalar solveConstraint(); + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + // todo xuchenhan@ + return 0; + } + // object A is the rigid/multi body, and object B is the deformable node/face + virtual btVector3 getVa() const; + // get the velocity of the deformable node in contact + virtual btVector3 getVb() const; + virtual btVector3 getDv(const btSoftBody::Node* n) const + { + return btVector3(0,0,0); + } + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse) + { + // todo xuchenhan@ + }; + virtual void setPenetrationScale(btScalar scale){} +}; + + +// +// Constraint between rigid/multi body and deformable objects +class btDeformableRigidContactConstraint : public btDeformableContactConstraint +{ +public: + btVector3 m_total_normal_dv; + btVector3 m_total_tangent_dv; + btScalar m_penetration; + const btSoftBody::DeformableRigidContact* m_contact; + + btDeformableRigidContactConstraint(){} + btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c); + btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other); + virtual ~btDeformableRigidContactConstraint() + { + } + + // object A is the rigid/multi body, and object B is the deformable node/face + virtual btVector3 getVa() const; + + virtual btScalar solveConstraint(); + + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + + virtual void setPenetrationScale(btScalar scale) + { + m_penetration *= scale; + } +}; + +// +// Constraint between rigid/multi body and deformable objects nodes +class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactConstraint +{ +public: + // the deformable node in contact + const btSoftBody::Node* m_node; + + btDeformableNodeRigidContactConstraint(){} + btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact); + btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other); + + virtual ~btDeformableNodeRigidContactConstraint() + { + } + + // get the velocity of the deformable node in contact + virtual btVector3 getVb() const; + + // get the velocity change of the input soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + // cast the contact to the desired type + const btSoftBody::DeformableNodeRigidContact* getContact() const + { + return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact); + } + + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse); +}; + +// +// Constraint between rigid/multi body and deformable objects faces +class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactConstraint +{ +public: + const btSoftBody::Face* m_face; + btDeformableFaceRigidContactConstraint(){} + btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact); + btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other); + + virtual ~btDeformableFaceRigidContactConstraint() + { + } + + // get the velocity of the deformable face at the contact point + virtual btVector3 getVb() const; + + // get the velocity change of the input soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + // cast the contact to the desired type + const btSoftBody::DeformableFaceRigidContact* getContact() const + { + return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact); + } + + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse); +}; + +// +// Constraint between deformable objects faces and deformable objects nodes +class btDeformableFaceNodeContactConstraint : public btDeformableContactConstraint +{ +public: + btSoftBody::Node* m_node; + btSoftBody::Face* m_face; + const btSoftBody::DeformableFaceNodeContact* m_contact; + btVector3 m_total_normal_dv; + btVector3 m_total_tangent_dv; + + btDeformableFaceNodeContactConstraint(){} + + btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact); + + virtual ~btDeformableFaceNodeContactConstraint(){} + + virtual btScalar solveConstraint(); + + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + // todo: xuchenhan@ + return 0; + } + + // get the velocity of the object A in the contact + virtual btVector3 getVa() const; + + // get the velocity of the object B in the contact + virtual btVector3 getVb() const; + + // get the velocity change of the input soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + // cast the contact to the desired type + const btSoftBody::DeformableFaceNodeContact* getContact() const + { + return static_cast<const btSoftBody::DeformableFaceNodeContact*>(m_contact); + } + + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse) + { + // todo xuchenhan@ + } + virtual void setPenetrationScale(btScalar scale){} +}; +#endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp new file mode 100644 index 0000000000..5a4f3241b4 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp @@ -0,0 +1,509 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#include "btDeformableContactProjection.h" +#include "btDeformableMultiBodyDynamicsWorld.h" +#include <algorithm> +#include <cmath> +btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies) +{ + btScalar residualSquare = 0; + for (int i = 0; i < numDeformableBodies; ++i) + { + for (int j = 0; j < m_softBodies.size(); ++j) + { + btCollisionObject* psb = m_softBodies[j]; + if (psb != deformableBodies[i]) + { + continue; + } + for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_nodeAnchorConstraints[j].size(); ++k) + { + btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_deformableConstraints[j].size(); ++k) + { + btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + } + } + return residualSquare; +} + +void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo& infoGlobal) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + // node constraints + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + constraint.setPenetrationScale(infoGlobal.m_deformable_erp); + } + // face constraints + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + constraint.setPenetrationScale(infoGlobal.m_deformable_erp); + } + } +} + +btScalar btDeformableContactProjection::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + btScalar residualSquare = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + // node constraints + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + // anchor constraints + for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) + { + btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + // face constraints + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + + } + return residualSquare; +} + +void btDeformableContactProjection::setConstraints() +{ + BT_PROFILE("setConstraints"); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + + // set Dirichlet constraint + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im == 0) + { + btDeformableStaticConstraint static_constraint(&psb->m_nodes[j]); + m_staticConstraints[i].push_back(static_constraint); + } + } + + // set up deformable anchors + for (int j = 0; j < psb->m_deformableAnchors.size(); ++j) + { + btSoftBody::DeformableNodeRigidAnchor& anchor = psb->m_deformableAnchors[j]; + // skip fixed points + if (anchor.m_node->m_im == 0) + { + continue; + } + anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local; + btDeformableNodeAnchorConstraint constraint(anchor); + m_nodeAnchorConstraints[i].push_back(constraint); + } + + // set Deformable Node vs. Rigid constraint + for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j) + { + const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j]; + // skip fixed points + if (contact.m_node->m_im == 0) + { + continue; + } + btDeformableNodeRigidContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + m_nodeRigidConstraints[i].push_back(constraint); + } + } + + // set Deformable Face vs. Rigid constraint + for (int j = 0; j < psb->m_faceRigidContacts.size(); ++j) + { + const btSoftBody::DeformableFaceRigidContact& contact = psb->m_faceRigidContacts[j]; + // skip fixed faces + if (contact.m_c2 == 0) + { + continue; + } + btDeformableFaceRigidContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + m_faceRigidConstraints[i].push_back(constraint); + } + } + + // set Deformable Face vs. Deformable Node constraint + for (int j = 0; j < psb->m_faceNodeContacts.size(); ++j) + { + const btSoftBody::DeformableFaceNodeContact& contact = psb->m_faceNodeContacts[j]; + + btDeformableFaceNodeContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, contact.m_normal); + if (dn > -SIMD_EPSILON) + { + m_deformableConstraints[i].push_back(constraint); + } + } + } +} + +void btDeformableContactProjection::project(TVStack& x) +{ + const int dim = 3; + for (int index = 0; index < m_projectionsDict.size(); ++index) + { + btAlignedObjectArray<btVector3>& projectionDirs = *m_projectionsDict.getAtIndex(index); + size_t i = m_projectionsDict.getKeyAtIndex(index).getUid1(); + if (projectionDirs.size() >= dim) + { + // static node + x[i].setZero(); + continue; + } + else if (projectionDirs.size() == 2) + { + btVector3 dir0 = projectionDirs[0]; + btVector3 dir1 = projectionDirs[1]; + btVector3 free_dir = btCross(dir0, dir1); + if (free_dir.safeNorm() < SIMD_EPSILON) + { + x[i] -= x[i].dot(dir0) * dir0; + x[i] -= x[i].dot(dir1) * dir1; + } + else + { + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + } + } + else + { + btAssert(projectionDirs.size() == 1); + btVector3 dir0 = projectionDirs[0]; + x[i] -= x[i].dot(dir0) * dir0; + } + } +} + +void btDeformableContactProjection::setProjection() +{ + btAlignedObjectArray<btVector3> units; + units.push_back(btVector3(1,0,0)); + units.push_back(btVector3(0,1,0)); + units.push_back(btVector3(0,0,1)); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < m_staticConstraints[i].size(); ++j) + { + int index = m_staticConstraints[i][j].m_node->index; + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) + { + int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index; + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + int index = m_nodeRigidConstraints[i][j].m_node->index; + if (m_nodeRigidConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_nodeRigidConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_nodeRigidConstraints[i][j].m_normal); + } + } + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + int index = node->index; + if (m_faceRigidConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_faceRigidConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_faceRigidConstraints[i][j].m_normal); + } + } + } + } + for (int j = 0; j < m_deformableConstraints[i].size(); ++j) + { + const btSoftBody::Face* face = m_deformableConstraints[i][j].m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + int index = node->index; + if (m_deformableConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_deformableConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_deformableConstraints[i][j].m_normal); + } + } + } + + const btSoftBody::Node* node = m_deformableConstraints[i][j].m_node; + int index = node->index; + if (m_deformableConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_deformableConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_deformableConstraints[i][j].m_normal); + } + } + } + } +} + + +void btDeformableContactProjection::applyDynamicFriction(TVStack& f) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + const btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + const btSoftBody::Node* node = constraint.m_node; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + const btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + const btSoftBody::Face* face = constraint.getContact()->m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + } + for (int j = 0; j < m_deformableConstraints[i].size(); ++j) + { + const btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[i][j]; + const btSoftBody::Face* face = constraint.getContact()->m_face; + const btSoftBody::Node* node = constraint.getContact()->m_node; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + } + } +} + +void btDeformableContactProjection::reinitialize(bool nodeUpdated) +{ + int N = m_softBodies.size(); + if (nodeUpdated) + { + m_staticConstraints.resize(N); + m_nodeAnchorConstraints.resize(N); + m_nodeRigidConstraints.resize(N); + m_faceRigidConstraints.resize(N); + m_deformableConstraints.resize(N); + + } + for (int i = 0 ; i < N; ++i) + { + m_staticConstraints[i].clear(); + m_nodeAnchorConstraints[i].clear(); + m_nodeRigidConstraints[i].clear(); + m_faceRigidConstraints[i].clear(); + m_deformableConstraints[i].clear(); + } + m_projectionsDict.clear(); +} + + + diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h new file mode 100644 index 0000000000..3c4490765e --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h @@ -0,0 +1,90 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_CONTACT_PROJECTION_H +#define BT_CONTACT_PROJECTION_H +#include "btCGProjection.h" +#include "btSoftBody.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" +#include "btDeformableContactConstraint.h" +#include "LinearMath/btHashMap.h" +#include <vector> +class btDeformableContactProjection +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btAlignedObjectArray<btSoftBody *>& m_softBodies; + +// // map from node index to static constraint +// btHashMap<btHashInt, btDeformableStaticConstraint> m_staticConstraints; +// // map from node index to node rigid constraint +// btHashMap<btHashInt, btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints; +// // map from node index to face rigid constraint +// btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceRigidContactConstraint*> > m_faceRigidConstraints; +// // map from node index to deformable constraint +// btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceNodeContactConstraint*> > m_deformableConstraints; +// // map from node index to node anchor constraint +// btHashMap<btHashInt, btDeformableNodeAnchorConstraint> m_nodeAnchorConstraints; + + // all constraints involving face + btAlignedObjectArray<btDeformableContactConstraint*> m_allFaceConstraints; + + // map from node index to projection directions + btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict; + + // map from node index to static constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableStaticConstraint> > m_staticConstraints; + // map from node index to node rigid constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints; + // map from node index to face rigid constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceRigidContactConstraint> > m_faceRigidConstraints; + // map from node index to deformable constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceNodeContactConstraint> > m_deformableConstraints; + // map from node index to node anchor constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeAnchorConstraint> > m_nodeAnchorConstraints; + + btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies) + : m_softBodies(softBodies) + { + } + + virtual ~btDeformableContactProjection() + { + } + + // apply the constraints to the rhs of the linear solve + virtual void project(TVStack& x); + + // add friction force to the rhs of the linear solve + virtual void applyDynamicFriction(TVStack& f); + + // update and solve the constraints + virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies); + + // solve the position error using split impulse + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + + // Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict. + virtual void setConstraints(); + + // Set up projections for each vertex by adding the projection direction to + virtual void setProjection(); + + virtual void reinitialize(bool nodeUpdated); + + virtual void splitImpulseSetup(const btContactSolverInfo& infoGlobal); +}; +#endif /* btDeformableContactProjection_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h new file mode 100644 index 0000000000..c2a26338e7 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h @@ -0,0 +1,125 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_COROTATED_H +#define BT_COROTATED_H + +#include "btDeformableLagrangianForce.h" +#include "LinearMath/btPolarDecomposition.h" + +static inline int PolarDecomposition(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s) +{ + static const btPolarDecomposition polar; + return polar.decompose(m, q, s); +} + +class btDeformableCorotatedForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_mu, m_lambda; + btDeformableCorotatedForce(): m_mu(1), m_lambda(1) + { + + } + + btDeformableCorotatedForce(btScalar mu, btScalar lambda): m_mu(mu), m_lambda(lambda) + { + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btMatrix3x3 P; + firstPiola(tetra.m_F,P); + btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + // explicit elastic force + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btMatrix3x3& F, btMatrix3x3& P) + { + // btMatrix3x3 JFinvT = F.adjoint(); + btScalar J = F.determinant(); + P = F.adjoint().transpose() * (m_lambda * (J-1)); + if (m_mu > SIMD_EPSILON) + { + btMatrix3x3 R,S; + if (J < 1024 * SIMD_EPSILON) + R.setIdentity(); + else + PolarDecomposition(F, R, S); // this QR is not robust, consider using implicit shift svd + /*https://fuchuyuan.github.io/research/svd/paper.pdf*/ + P += (F-R) * 2 * m_mu; + } + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_COROTATED_FORCE; + } + +}; + + +#endif /* btCorotated_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h new file mode 100644 index 0000000000..33e5a8564a --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h @@ -0,0 +1,105 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_DEFORMABLE_GRAVITY_FORCE_H +#define BT_DEFORMABLE_GRAVITY_FORCE_H + +#include "btDeformableLagrangianForce.h" + +class btDeformableGravityForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btVector3 m_gravity; + + btDeformableGravityForce(const btVector3& g) : m_gravity(g) + { + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledGravityForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledGravityForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + } + + virtual void addScaledGravityForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& n = psb->m_nodes[j]; + size_t id = n.index; + btScalar mass = (n.m_im == 0) ? 0 : 1. / n.m_im; + btVector3 scaled_force = scale * m_gravity * mass; + force[id] += scaled_force; + } + } + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_GRAVITY_FORCE; + } + + // the gravitational potential energy + virtual double totalEnergy(btScalar dt) + { + double e = 0; + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + if (node.m_im > 0) + { + e -= m_gravity.dot(node.m_q)/node.m_im; + } + } + } + return e; + } + + +}; +#endif /* BT_DEFORMABLE_GRAVITY_FORCE_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h new file mode 100644 index 0000000000..64e80e23b3 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h @@ -0,0 +1,364 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_DEFORMABLE_LAGRANGIAN_FORCE_H +#define BT_DEFORMABLE_LAGRANGIAN_FORCE_H + +#include "btSoftBody.h" +#include <LinearMath/btHashMap.h> +#include <iostream> + +enum btDeformableLagrangianForceType +{ + BT_GRAVITY_FORCE = 1, + BT_MASSSPRING_FORCE = 2, + BT_COROTATED_FORCE = 3, + BT_NEOHOOKEAN_FORCE = 4, + BT_LINEAR_ELASTICITY_FORCE = 5 +}; + +static inline double randomDouble(double low, double high) +{ + return low + static_cast<double>(rand()) / RAND_MAX * (high - low); +} + +class btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btAlignedObjectArray<btSoftBody *> m_softBodies; + const btAlignedObjectArray<btSoftBody::Node*>* m_nodes; + + btDeformableLagrangianForce() + { + } + + virtual ~btDeformableLagrangianForce(){} + + // add all forces + virtual void addScaledForces(btScalar scale, TVStack& force) = 0; + + // add damping df + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0; + + // add elastic df + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) = 0; + + // add all forces that are explicit in explicit solve + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) = 0; + + // add all damping forces + virtual void addScaledDampingForce(btScalar scale, TVStack& force) = 0; + + virtual btDeformableLagrangianForceType getForceType() = 0; + + virtual void reinitialize(bool nodeUpdated) + { + } + + // get number of nodes that have the force + virtual int getNumNodes() + { + int numNodes = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + numNodes += m_softBodies[i]->m_nodes.size(); + } + return numNodes; + } + + // add a soft body to be affected by the particular lagrangian force + virtual void addSoftBody(btSoftBody* psb) + { + m_softBodies.push_back(psb); + } + + virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes) + { + m_nodes = nodes; + } + + // Calculate the incremental deformable generated from the input dx + virtual btMatrix3x3 Ds(int id0, int id1, int id2, int id3, const TVStack& dx) + { + btVector3 c1 = dx[id1] - dx[id0]; + btVector3 c2 = dx[id2] - dx[id0]; + btVector3 c3 = dx[id3] - dx[id0]; + return btMatrix3x3(c1,c2,c3).transpose(); + } + + // Calculate the incremental deformable generated from the current velocity + virtual btMatrix3x3 DsFromVelocity(const btSoftBody::Node* n0, const btSoftBody::Node* n1, const btSoftBody::Node* n2, const btSoftBody::Node* n3) + { + btVector3 c1 = n1->m_v - n0->m_v; + btVector3 c2 = n2->m_v - n0->m_v; + btVector3 c3 = n3->m_v - n0->m_v; + return btMatrix3x3(c1,c2,c3).transpose(); + } + + // test for addScaledElasticForce function + virtual void testDerivative() + { + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q += btVector3(randomDouble(-.1, .1), randomDouble(-.1, .1), randomDouble(-.1, .1)); + } + psb->updateDeformation(); + } + + TVStack dx; + dx.resize(getNumNodes()); + TVStack dphi_dx; + dphi_dx.resize(dx.size()); + for (int i =0; i < dphi_dx.size();++i) + { + dphi_dx[i].setZero(); + } + addScaledForces(-1, dphi_dx); + + // write down the current position + TVStack x; + x.resize(dx.size()); + int counter = 0; + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + x[counter] = psb->m_nodes[j].m_q; + counter++; + } + } + counter = 0; + + // populate dx with random vectors + for (int i = 0; i < dx.size(); ++i) + { + dx[i].setX(randomDouble(-1, 1)); + dx[i].setY(randomDouble(-1, 1)); + dx[i].setZ(randomDouble(-1, 1)); + } + + btAlignedObjectArray<double> errors; + for (int it = 0; it < 10; ++it) + { + for (int i = 0; i < dx.size(); ++i) + { + dx[i] *= 0.5; + } + + // get dphi/dx * dx + double dphi = 0; + for (int i = 0; i < dx.size(); ++i) + { + dphi += dphi_dx[i].dot(dx[i]); + } + + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] + dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double f1 = totalElasticEnergy(0); + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] - dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + double f2 = totalElasticEnergy(0); + + //restore m_q + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double error = f1-f2-2*dphi; + errors.push_back(error); + std::cout << "Iteration = " << it <<", f1 = " << f1 << ", f2 = " << f2 << ", error = " << error << std::endl; + } + for (int i = 1; i < errors.size(); ++i) + { + std::cout << "Iteration = " << i << ", ratio = " << errors[i-1]/errors[i] << std::endl; + } + } + + // test for addScaledElasticForce function + virtual void testHessian() + { + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q += btVector3(randomDouble(-.1, .1), randomDouble(-.1, .1), randomDouble(-.1, .1)); + } + psb->updateDeformation(); + } + + + TVStack dx; + dx.resize(getNumNodes()); + TVStack df; + df.resize(dx.size()); + TVStack f1; + f1.resize(dx.size()); + TVStack f2; + f2.resize(dx.size()); + + + // write down the current position + TVStack x; + x.resize(dx.size()); + int counter = 0; + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + x[counter] = psb->m_nodes[j].m_q; + counter++; + } + } + counter = 0; + + // populate dx with random vectors + for (int i = 0; i < dx.size(); ++i) + { + dx[i].setX(randomDouble(-1, 1)); + dx[i].setY(randomDouble(-1, 1)); + dx[i].setZ(randomDouble(-1, 1)); + } + + btAlignedObjectArray<double> errors; + for (int it = 0; it < 10; ++it) + { + for (int i = 0; i < dx.size(); ++i) + { + dx[i] *= 0.5; + } + + // get df + for (int i =0; i < df.size();++i) + { + df[i].setZero(); + f1[i].setZero(); + f2[i].setZero(); + } + + //set df + addScaledElasticForceDifferential(-1, dx, df); + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] + dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + //set f1 + addScaledForces(-1, f1); + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] - dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + //set f2 + addScaledForces(-1, f2); + + //restore m_q + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double error = 0; + for (int i = 0; i < df.size();++i) + { + btVector3 error_vector = f1[i]-f2[i]-2*df[i]; + error += error_vector.length2(); + } + error = btSqrt(error); + errors.push_back(error); + std::cout << "Iteration = " << it << ", error = " << error << std::endl; + } + for (int i = 1; i < errors.size(); ++i) + { + std::cout << "Iteration = " << i << ", ratio = " << errors[i-1]/errors[i] << std::endl; + } + } + + // + virtual double totalElasticEnergy(btScalar dt) + { + return 0; + } + + // + virtual double totalDampingEnergy(btScalar dt) + { + return 0; + } + + // total Energy takes dt as input because certain energies depend on dt + virtual double totalEnergy(btScalar dt) + { + return totalElasticEnergy(dt) + totalDampingEnergy(dt); + } +}; +#endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h new file mode 100644 index 0000000000..106dc10ad6 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h @@ -0,0 +1,340 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_LINEAR_ELASTICITY_H +#define BT_LINEAR_ELASTICITY_H + +#include "btDeformableLagrangianForce.h" +#include "LinearMath/btQuickprof.h" +class btDeformableLinearElasticityForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_mu, m_lambda; + btScalar m_mu_damp, m_lambda_damp; + btDeformableLinearElasticityForce(): m_mu(1), m_lambda(1) + { + btScalar damping = 0.05; + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + btDeformableLinearElasticityForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) + { + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + // firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * df_on_node0; + force[id1] -= scale1 * df_on_node123.getColumn(0); + force[id2] -= scale1 * df_on_node123.getColumn(1); + force[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual double totalElasticEnergy(btScalar dt) + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetraScratches.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::TetraScratch& s = psb->m_tetraScratches[j]; + energy += tetra.m_element_measure * elasticEnergyDensity(s); + } + } + return energy; + } + + // The damping energy is formulated as in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + + double elasticEnergyDensity(const btSoftBody::TetraScratch& s) + { + double density = 0; + btMatrix3x3 epsilon = (s.m_F + s.m_F.transpose()) * 0.5 - btMatrix3x3::getIdentity(); + btScalar trace = epsilon[0][0] + epsilon[1][1] + epsilon[2][2]; + density += m_mu * (epsilon[0].length2() + epsilon[1].length2() + epsilon[2].length2()); + density += m_lambda * trace * trace * 0.5; + return density; + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + btScalar max_p = psb->m_cfg.m_maxStress; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btMatrix3x3 P; + firstPiola(psb->m_tetraScratches[j],P); +#if USE_SVD + if (max_p > 0) + { + // since we want to clamp the principal stress to max_p, we only need to + // calculate SVD when sigma_0^2 + sigma_1^2 + sigma_2^2 > max_p * max_p + btScalar trPTP = (P[0].length2() + P[1].length2() + P[2].length2()); + if (trPTP > max_p * max_p) + { + btMatrix3x3 U, V; + btVector3 sigma; + singularValueDecomposition(P, U, sigma, V); + sigma[0] = btMin(sigma[0], max_p); + sigma[1] = btMin(sigma[1], max_p); + sigma[2] = btMin(sigma[2], max_p); + sigma[0] = btMax(sigma[0], -max_p); + sigma[1] = btMax(sigma[1], -max_p); + sigma[2] = btMax(sigma[2], -max_p); + btMatrix3x3 Sigma; + Sigma.setIdentity(); + Sigma[0][0] = sigma[0]; + Sigma[1][1] = sigma[1]; + Sigma[2][2] = sigma[2]; + P = U * Sigma * V.transpose(); + } + } +#endif + // btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); + } + } + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + // firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + // btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse; + btMatrix3x3 dP; + firstPiolaDifferential(psb->m_tetraScratches[j], dF, dP); + // btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // elastic force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btSoftBody::TetraScratch& s, btMatrix3x3& P) + { + btMatrix3x3 epsilon = (s.m_F + s.m_F.transpose()) * 0.5 - btMatrix3x3::getIdentity(); + btScalar trace = epsilon[0][0] + epsilon[1][1] + epsilon[2][2]; + P = epsilon * btScalar(2) * m_mu + btMatrix3x3::getIdentity() * m_lambda * trace; + } + + // Let P be the first piola stress. + // This function calculates the dP = dP/dF * dF + void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar trace = (dF[0][0] + dF[1][1] + dF[2][2]); + dP = (dF + dF.transpose()) * m_mu + btMatrix3x3::getIdentity() * m_lambda * trace; + } + + // Let Q be the damping stress. + // This function calculates the dP = dQ/dF * dF + void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar trace = (dF[0][0] + dF[1][1] + dF[2][2]); + dP = (dF + dF.transpose()) * m_mu_damp + btMatrix3x3::getIdentity() * m_lambda_damp * trace; + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_LINEAR_ELASTICITY_FORCE; + } + +}; +#endif /* BT_LINEAR_ELASTICITY_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h new file mode 100644 index 0000000000..54b4e4481d --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h @@ -0,0 +1,255 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_MASS_SPRING_H +#define BT_MASS_SPRING_H + +#include "btDeformableLagrangianForce.h" + +class btDeformableMassSpringForce : public btDeformableLagrangianForce +{ + // If true, the damping force will be in the direction of the spring + // If false, the damping force will be in the direction of the velocity + bool m_momentum_conserving; + btScalar m_elasticStiffness, m_dampingStiffness, m_bendingStiffness; +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btDeformableMassSpringForce() : m_momentum_conserving(false), m_elasticStiffness(1), m_dampingStiffness(0.05) + { + } + btDeformableMassSpringForce(btScalar k, btScalar d, bool conserve_angular = true, double bending_k = -1) : m_momentum_conserving(conserve_angular), m_elasticStiffness(k), m_dampingStiffness(d), m_bendingStiffness(bending_k) + { + if (m_bendingStiffness < btScalar(0)) + { + m_bendingStiffness = m_elasticStiffness; + } + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + size_t id1 = node1->index; + size_t id2 = node2->index; + + // damping force + btVector3 v_diff = (node2->m_v - node1->m_v); + btVector3 scaled_force = scale * m_dampingStiffness * v_diff; + if (m_momentum_conserving) + { + if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) + { + btVector3 dir = (node2->m_x - node1->m_x).normalized(); + scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir; + } + } + force[id1] += scaled_force; + force[id2] -= scaled_force; + } + } + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + btScalar r = link.m_rl; + size_t id1 = node1->index; + size_t id2 = node2->index; + + // elastic force + btVector3 dir = (node2->m_q - node1->m_q); + btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); + btScalar scaled_stiffness = scale * (link.m_bbending ? m_bendingStiffness : m_elasticStiffness); + btVector3 scaled_force = scaled_stiffness * (dir - dir_normalized * r); + force[id1] += scaled_force; + force[id2] -= scaled_force; + } + } + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + // implicit damping force differential + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + btScalar scaled_k_damp = m_dampingStiffness * scale; + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + size_t id1 = node1->index; + size_t id2 = node2->index; + + btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]); + if (m_momentum_conserving) + { + if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) + { + btVector3 dir = (node2->m_x - node1->m_x).normalized(); + local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir; + } + } + df[id1] += local_scaled_df; + df[id2] -= local_scaled_df; + } + } + } + + virtual double totalElasticEnergy(btScalar dt) + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + btScalar r = link.m_rl; + + // elastic force + btVector3 dir = (node2->m_q - node1->m_q); + energy += 0.5 * m_elasticStiffness * (dir.norm() - r) * (dir.norm() -r); + } + } + return energy; + } + + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + // implicit damping force differential + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + size_t id1 = node1->index; + size_t id2 = node2->index; + btScalar r = link.m_rl; + + btVector3 dir = (node1->m_q - node2->m_q); + btScalar dir_norm = dir.norm(); + btVector3 dir_normalized = (dir_norm > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); + btVector3 dx_diff = dx[id1] - dx[id2]; + btVector3 scaled_df = btVector3(0,0,0); + btScalar scaled_k = scale * (link.m_bbending ? m_bendingStiffness : m_elasticStiffness); + if (dir_norm > SIMD_EPSILON) + { + scaled_df -= scaled_k * dir_normalized.dot(dx_diff) * dir_normalized; + scaled_df += scaled_k * dir_normalized.dot(dx_diff) * ((dir_norm-r)/dir_norm) * dir_normalized; + scaled_df -= scaled_k * ((dir_norm-r)/dir_norm) * dx_diff; + } + + df[id1] += scaled_df; + df[id2] -= scaled_df; + } + } + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_MASSSPRING_FORCE; + } + +}; + +#endif /* btMassSpring_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp new file mode 100644 index 0000000000..06f95d69f6 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -0,0 +1,143 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + + +#include "btDeformableMultiBodyConstraintSolver.h" +#include <iostream> +// override the iterations method to include deformable/multibody contact +btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(btCollisionObject** bodies,int numBodies,btCollisionObject** deformableBodies,int numDeformableBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +{ + { + ///this is a special step to resolve penetrations (just for contacts) + solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + + int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; + for (int iteration = 0; iteration < maxIterations; iteration++) + { + // rigid bodies are solved using solver body velocity, but rigid/deformable contact directly uses the velocity of the actual rigid body. So we have to do the following: Solve one iteration of the rigid/rigid contact, get the updated velocity in the solver body and update the velocity of the underlying rigid body. Then solve the rigid/deformable contact. Finally, grab the (once again) updated rigid velocity and update the velocity of the wrapping solver body + + // solve rigid/rigid in solver body + m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + // solver body velocity -> rigid body velocity + solverBodyWriteBack(infoGlobal); + btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies); + // update rigid body velocity in rigid/deformable contact + m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual); + // solver body velocity <- rigid body velocity + writeToSolverBody(bodies, numBodies, infoGlobal); + + if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1))) + { +#ifdef VERBOSE_RESIDUAL_PRINTF + printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration); +#endif + m_analyticsData.m_numSolverCalls++; + m_analyticsData.m_numIterationsUsed = iteration+1; + m_analyticsData.m_islandId = -2; + if (numBodies>0) + m_analyticsData.m_islandId = bodies[0]->getCompanionId(); + m_analyticsData.m_numBodies = numBodies; + m_analyticsData.m_numContactManifolds = numManifolds; + m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual; + break; + } + } + } + return 0.f; +} + +void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject * *deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) +{ + m_tmpMultiBodyConstraints = multiBodyConstraints; + m_tmpNumMultiBodyConstraints = numMultiBodyConstraints; + + // inherited from MultiBodyConstraintSolver + solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); + + // overriden + solveDeformableGroupIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); + + // inherited from MultiBodyConstraintSolver + solveGroupCacheFriendlyFinish(bodies, numBodies, info); + + m_tmpMultiBodyConstraints = 0; + m_tmpNumMultiBodyConstraints = 0; +} + +void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +{ + for (int i = 0; i < numBodies; i++) + { + int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + + btRigidBody* body = btRigidBody::upcast(bodies[i]); + if (body && body->getInvMass()) + { + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; + solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity; + solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity; + } + } +} + +void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal) +{ + for (int i = 0; i < m_tmpSolverBodyPool.size(); i++) + { + btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; + if (body) + { + m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity + m_tmpSolverBodyPool[i].m_deltaLinearVelocity); + m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity+m_tmpSolverBodyPool[i].m_deltaAngularVelocity); + } + } +} + +void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) +{ + BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); + int iteration; + if (infoGlobal.m_splitImpulse) + { + { + m_deformableSolver->splitImpulseSetup(infoGlobal); + for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++) + { + btScalar leastSquaresResidual = 0.f; + { + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int j; + for (j = 0; j < numPoolConstraints; j++) + { + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + + btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); + } + // solve the position correction between deformable and rigid/multibody + btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal); + leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); + } + if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1)) + { +#ifdef VERBOSE_RESIDUAL_PRINTF + printf("residual = %f at iteration #%d\n", leastSquaresResidual, iteration); +#endif + break; + } + } + } + } +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h new file mode 100644 index 0000000000..0c7cc26a83 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -0,0 +1,61 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + + +#ifndef BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H +#define BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H + +#include "btDeformableBodySolver.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" + +class btDeformableBodySolver; + +// btDeformableMultiBodyConstraintSolver extendsn btMultiBodyConstraintSolver to solve for the contact among rigid/multibody and deformable bodies. Notice that the following constraints +// 1. rigid/multibody against rigid/multibody +// 2. rigid/multibody against deforamble +// 3. deformable against deformable +// 4. deformable self collision +// 5. joint constraints +// are all coupled in this solve. +ATTRIBUTE_ALIGNED16(class) +btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver +{ + btDeformableBodySolver* m_deformableSolver; + +protected: + // override the iterations method to include deformable/multibody contact +// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + + // write the velocity of the the solver body to the underlying rigid body + void solverBodyWriteBack(const btContactSolverInfo& infoGlobal); + + // write the velocity of the underlying rigid body to the the the solver body + void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); + + virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); + + virtual btScalar solveDeformableGroupIterations(btCollisionObject** bodies,int numBodies,btCollisionObject** deformableBodies,int numDeformableBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + void setDeformableSolver(btDeformableBodySolver* deformableSolver) + { + m_deformableSolver = deformableSolver; + } + + virtual void solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject * *deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); +}; + +#endif /* BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp new file mode 100644 index 0000000000..618e5c0d7b --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -0,0 +1,653 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +/* ====== Overview of the Deformable Algorithm ====== */ + +/* +A single step of the deformable body simulation contains the following main components: +Call internalStepSimulation multiple times, to achieve 240Hz (4 steps of 60Hz). +1. Deformable maintaintenance of rest lengths and volume preservation. Forces only depend on position: Update velocity to a temporary state v_{n+1}^* = v_n + explicit_force * dt / mass, where explicit forces include gravity and elastic forces. +2. Detect discrete collisions between rigid and deformable bodies at position x_{n+1}^* = x_n + dt * v_{n+1}^*. + +3a. Solve all constraints, including LCP. Contact, position correction due to numerical drift, friction, and anchors for deformable. + TODO: add option for positional drift correction (using vel_target += erp * pos_error/dt + +3b. 5 Newton steps (multiple step). Conjugent Gradient solves linear system. Deformable Damping: Then velocities of deformable bodies v_{n+1} are solved in + M(v_{n+1} - v_{n+1}^*) = damping_force * dt / mass, + by a conjugate gradient solver, where the damping force is implicit and depends on v_{n+1}. + Make sure contact constraints are not violated in step b by performing velocity projections as in the paper by Baraff and Witkin https://www.cs.cmu.edu/~baraff/papers/sig98.pdf. Dynamic frictions are treated as a force and added to the rhs of the CG solve, whereas static frictions are treated as constraints similar to contact. +4. Position is updated via x_{n+1} = x_n + dt * v_{n+1}. + + +The algorithm also closely resembles the one in http://physbam.stanford.edu/~fedkiw/papers/stanford2008-03.pdf + */ + +#include <stdio.h> +#include "btDeformableMultiBodyDynamicsWorld.h" +#include "DeformableBodyInplaceSolverIslandCallback.h" +#include "btDeformableBodySolver.h" +#include "LinearMath/btQuickprof.h" +#include "btSoftBodyInternals.h" +btDeformableMultiBodyDynamicsWorld::btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver) +: btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration), +m_deformableBodySolver(deformableBodySolver), m_solverCallback(0) +{ + m_drawFlags = fDrawFlags::Std; + m_drawNodeTree = true; + m_drawFaceTree = false; + m_drawClusterTree = false; + m_sbi.m_broadphase = pairCache; + m_sbi.m_dispatcher = dispatcher; + m_sbi.m_sparsesdf.Initialize(); + m_sbi.m_sparsesdf.setDefaultVoxelsz(0.005); + m_sbi.m_sparsesdf.Reset(); + + m_sbi.air_density = (btScalar)1.2; + m_sbi.water_density = 0; + m_sbi.water_offset = 0; + m_sbi.water_normal = btVector3(0, 0, 0); + m_sbi.m_gravity.setValue(0, -10, 0); + m_internalTime = 0.0; + m_implicit = false; + m_lineSearch = false; + m_selfCollision = true; + m_solverDeformableBodyIslandCallback = new DeformableBodyInplaceSolverIslandCallback(constraintSolver, dispatcher); +} + +void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) +{ + BT_PROFILE("internalSingleStepSimulation"); + if (0 != m_internalPreTickCallback) + { + (*m_internalPreTickCallback)(this, timeStep); + } + reinitialize(timeStep); + // add gravity to velocity of rigid and multi bodys + applyRigidBodyGravity(timeStep); + + ///apply gravity and explicit force to velocity, predict motion + predictUnconstraintMotion(timeStep); + + ///perform collision detection + btMultiBodyDynamicsWorld::performDiscreteCollisionDetection(); + + if (m_selfCollision) + { + softBodySelfCollision(); + } + + btMultiBodyDynamicsWorld::calculateSimulationIslands(); + + beforeSolverCallbacks(timeStep); + + ///solve contact constraints and then deformable bodies momemtum equation + solveConstraints(timeStep); + + afterSolverCallbacks(timeStep); + + integrateTransforms(timeStep); + + ///update vehicle simulation + btMultiBodyDynamicsWorld::updateActions(timeStep); + + updateActivationState(timeStep); + // End solver-wise simulation step + // /////////////////////////////// +} + +void btDeformableMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) +{ + for (int i = 0; i < m_softBodies.size(); i++) + { + btSoftBody* psb = m_softBodies[i]; + psb->updateDeactivation(timeStep); + if (psb->wantsSleeping()) + { + if (psb->getActivationState() == ACTIVE_TAG) + psb->setActivationState(WANTS_DEACTIVATION); + if (psb->getActivationState() == ISLAND_SLEEPING) + { + psb->setZeroVelocity(); + } + } + else + { + if (psb->getActivationState() != DISABLE_DEACTIVATION) + psb->setActivationState(ACTIVE_TAG); + } + } + btMultiBodyDynamicsWorld::updateActivationState(timeStep); +} + + +void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision() +{ + m_deformableBodySolver->updateSoftBodies(); + for (int i = 0; i < m_softBodies.size(); i++) + { + btSoftBody* psb = m_softBodies[i]; + if (psb->isActive()) + { + psb->defaultCollisionHandler(psb); + } + } +} + +void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) +{ + // correct the position of rigid bodies with temporary velocity generated from split impulse + btContactSolverInfo infoGlobal; + btVector3 zero(0,0,0); + for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) + { + btRigidBody* rb = m_nonStaticRigidBodies[i]; + //correct the position/orientation based on push/turn recovery + btTransform newTransform; + btVector3 pushVelocity = rb->getPushVelocity(); + btVector3 turnVelocity = rb->getTurnVelocity(); + if (pushVelocity[0] != 0.f || pushVelocity[1] != 0 || pushVelocity[2] != 0 || turnVelocity[0] != 0.f || turnVelocity[1] != 0 || turnVelocity[2] != 0) + { + btTransformUtil::integrateTransform(rb->getWorldTransform(), pushVelocity, turnVelocity * infoGlobal.m_splitImpulseTurnErp, timeStep, newTransform); + rb->setWorldTransform(newTransform); + rb->setPushVelocity(zero); + rb->setTurnVelocity(zero); + } + } +} + +void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) +{ + BT_PROFILE("integrateTransforms"); + positionCorrection(timeStep); + btMultiBodyDynamicsWorld::integrateTransforms(timeStep); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement; + btScalar clampDeltaV = maxDisplacement / timeStep; + for (int c = 0; c < 3; c++) + { + if (node.m_v[c] > clampDeltaV) + { + node.m_v[c] = clampDeltaV; + } + if (node.m_v[c] < -clampDeltaV) + { + node.m_v[c] = -clampDeltaV; + } + } + node.m_x = node.m_x + timeStep * node.m_v; + node.m_v -= node.m_vsplit; + node.m_vsplit.setZero(); + node.m_q = node.m_x; + node.m_vn = node.m_v; + } + // enforce anchor constraints + for (int j = 0; j < psb->m_deformableAnchors.size();++j) + { + btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j]; + btSoftBody::Node* n = a.m_node; + n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local; + + // update multibody anchor info + if (a.m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(a.m_cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 nrm; + const btCollisionShape* shp = multibodyLinkCol->getCollisionShape(); + const btTransform& wtr = multibodyLinkCol->getWorldTransform(); + psb->m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(n->m_x), + shp, + nrm, + 0); + a.m_cti.m_normal = wtr.getBasis() * nrm; + btVector3 normal = a.m_cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, a.m_node->m_x, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, a.m_node->m_x, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, a.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n->m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + a.m_c0 = rot.transpose() * local_impulse_matrix * rot; + a.jacobianData_normal = jacobianData_normal; + a.jacobianData_t1 = jacobianData_t1; + a.jacobianData_t2 = jacobianData_t2; + a.t1 = t1; + a.t2 = t2; + } + } + } + psb->interpolateRenderMesh(); + } +} + +void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) +{ + // save v_{n+1}^* velocity after explicit forces + m_deformableBodySolver->backupVelocity(); + + // set up constraints among multibodies and between multibodies and deformable bodies + setupConstraints(); + + // solve contact constraints + solveContactConstraints(); + + // set up the directions in which the velocity does not change in the momentum solve + m_deformableBodySolver->m_objective->m_projection.setProjection(); + + // for explicit scheme, m_backupVelocity = v_{n+1}^* + // for implicit scheme, m_backupVelocity = v_n + // Here, set dv = v_{n+1} - v_n for nodes in contact + m_deformableBodySolver->setupDeformableSolve(m_implicit); + + // At this point, dv should be golden for nodes in contact + // proceed to solve deformable momentum equation + m_deformableBodySolver->solveDeformableConstraints(timeStep); +} + +void btDeformableMultiBodyDynamicsWorld::setupConstraints() +{ + // set up constraints between multibody and deformable bodies + m_deformableBodySolver->setConstraints(); + + // set up constraints among multibodies + { + sortConstraints(); + // setup the solver callback + btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; + m_solverDeformableBodyIslandCallback->setup(&m_solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + + // build islands + m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld()); + } +} + +void btDeformableMultiBodyDynamicsWorld::sortConstraints() +{ + m_sortedConstraints.resize(m_constraints.size()); + int i; + for (i = 0; i < getNumConstraints(); i++) + { + m_sortedConstraints[i] = m_constraints[i]; + } + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); + + m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); + for (i = 0; i < m_multiBodyConstraints.size(); i++) + { + m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; + } + m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); +} + + +void btDeformableMultiBodyDynamicsWorld::solveContactConstraints() +{ + // process constraints on each island + m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverDeformableBodyIslandCallback); + + // process deferred + m_solverDeformableBodyIslandCallback->processConstraints(); + m_constraintSolver->allSolved(m_solverInfo, m_debugDrawer); + + // write joint feedback + { + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + if (bod->internalNeedsJointFeedback()) + { + if (!bod->isUsingRK4Integration()) + { + if (bod->internalNeedsJointFeedback()) + { + bool isConstraintPass = true; + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(m_solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + } + } + } + + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + bod->processDeltaVeeMultiDof2(); + } +} + +void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) +{ + m_softBodies.push_back(body); + + // Set the soft body solver that will deal with this body + // to be the world's solver + body->setSoftBodySolver(m_deformableBodySolver); + + btCollisionWorld::addCollisionObject(body, + collisionFilterGroup, + collisionFilterMask); +} + +void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + BT_PROFILE("predictUnconstraintMotion"); + btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep); + m_deformableBodySolver->predictMotion(timeStep); +} + +void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) +{ + m_internalTime += timeStep; + m_deformableBodySolver->setImplicit(m_implicit); + m_deformableBodySolver->setLineSearch(m_lineSearch); + m_deformableBodySolver->reinitialize(m_softBodies, timeStep); + btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo(); + dispatchInfo.m_timeStep = timeStep; + dispatchInfo.m_stepCount = 0; + dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer(); + btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep; +} + + +void btDeformableMultiBodyDynamicsWorld::debugDrawWorld() +{ + + btMultiBodyDynamicsWorld::debugDrawWorld(); + + for (int i = 0; i < getSoftBodyArray().size(); i++) + { + btSoftBody* psb = (btSoftBody*)getSoftBodyArray()[i]; + { + btSoftBodyHelpers::DrawFrame(psb, getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, getDebugDrawer(), getDrawFlags()); + } + } + + +} + +void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) +{ + // Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again + // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep + // when there are multiple substeps + btMultiBodyDynamicsWorld::applyGravity(); + // integrate rigid body gravity + for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) + { + btRigidBody* rb = m_nonStaticRigidBodies[i]; + rb->integrateVelocities(timeStep); + } + + // integrate multibody gravity + { + forwardKinematics(); + clearMultiBodyConstraintForces(); + { + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + m_scratch_r.resize(bod->getNumLinks() + 1); + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + bool isConstraintPass = false; + { + if (!bod->isUsingRK4Integration()) + { + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(m_solverInfo.m_timeStep, + m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + else + { + btAssert(" RK4Integration is not supported" ); + } + } + } + } + } + } + clearGravity(); +} + +void btDeformableMultiBodyDynamicsWorld::clearGravity() +{ + BT_PROFILE("btMultiBody clearGravity"); + // clear rigid body gravity + for (int i = 0; i < m_nonStaticRigidBodies.size(); i++) + { + btRigidBody* body = m_nonStaticRigidBodies[i]; + if (body->isActive()) + { + body->clearGravity(); + } + } + // clear multibody gravity + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + bod->addBaseForce(-m_gravity * bod->getBaseMass()); + + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, -m_gravity * bod->getLinkMass(j)); + } + } + } +} + +void btDeformableMultiBodyDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) +{ + if (0 != m_internalTickCallback) + { + (*m_internalTickCallback)(this, timeStep); + } + + if (0 != m_solverCallback) + { + (*m_solverCallback)(m_internalTime, this); + } +} + +void btDeformableMultiBodyDynamicsWorld::afterSolverCallbacks(btScalar timeStep) +{ + if (0 != m_solverCallback) + { + (*m_solverCallback)(m_internalTime, this); + } +} + +void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) +{ + btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf; + bool added = false; + for (int i = 0; i < forces.size(); ++i) + { + if (forces[i]->getForceType() == force->getForceType()) + { + forces[i]->addSoftBody(psb); + added = true; + break; + } + } + if (!added) + { + force->addSoftBody(psb); + force->setIndices(m_deformableBodySolver->m_objective->getIndices()); + forces.push_back(force); + } +} + +void btDeformableMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body) +{ + m_softBodies.remove(body); + btCollisionWorld::removeCollisionObject(body); + // force a reinitialize so that node indices get updated. + m_deformableBodySolver->reinitialize(m_softBodies, btScalar(-1)); +} + +void btDeformableMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject) +{ + btSoftBody* body = btSoftBody::upcast(collisionObject); + if (body) + removeSoftBody(body); + else + btDiscreteDynamicsWorld::removeCollisionObject(collisionObject); +} + + +int btDeformableMultiBodyDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) +{ + startProfiling(timeStep); + + int numSimulationSubSteps = 0; + + if (maxSubSteps) + { + //fixed timestep with interpolation + m_fixedTimeStep = fixedTimeStep; + m_localTime += timeStep; + if (m_localTime >= fixedTimeStep) + { + numSimulationSubSteps = int(m_localTime / fixedTimeStep); + m_localTime -= numSimulationSubSteps * fixedTimeStep; + } + } + else + { + //variable timestep + fixedTimeStep = timeStep; + m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep; + m_fixedTimeStep = 0; + if (btFuzzyZero(timeStep)) + { + numSimulationSubSteps = 0; + maxSubSteps = 0; + } + else + { + numSimulationSubSteps = 1; + maxSubSteps = 1; + } + } + + //process some debugging flags + if (getDebugDrawer()) + { + btIDebugDraw* debugDrawer = getDebugDrawer(); + gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0; + } + if (numSimulationSubSteps) + { + //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt + int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps) ? maxSubSteps : numSimulationSubSteps; + + saveKinematicState(fixedTimeStep * clampedSimulationSteps); + + for (int i = 0; i < clampedSimulationSteps; i++) + { + internalSingleStepSimulation(fixedTimeStep); + synchronizeMotionStates(); + } + } + else + { + synchronizeMotionStates(); + } + + clearForces(); + +#ifndef BT_NO_PROFILE + CProfileManager::Increment_Frame_Counter(); +#endif //BT_NO_PROFILE + + return numSimulationSubSteps; +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h new file mode 100644 index 0000000000..7630385767 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -0,0 +1,165 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H +#define BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H + +#include "btSoftMultiBodyDynamicsWorld.h" +#include "btDeformableLagrangianForce.h" +#include "btDeformableMassSpringForce.h" +#include "btDeformableBodySolver.h" +#include "btDeformableMultiBodyConstraintSolver.h" +#include "btSoftBodyHelpers.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" +#include <functional> +typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray; + +class btDeformableBodySolver; +class btDeformableLagrangianForce; +struct MultiBodyInplaceSolverIslandCallback; +struct DeformableBodyInplaceSolverIslandCallback; +class btDeformableMultiBodyConstraintSolver; + +typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray; + +class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld +{ + typedef btAlignedObjectArray<btVector3> TVStack; + ///Solver classes that encapsulate multiple deformable bodies for solving + btDeformableBodySolver* m_deformableBodySolver; + btSoftBodyArray m_softBodies; + int m_drawFlags; + bool m_drawNodeTree; + bool m_drawFaceTree; + bool m_drawClusterTree; + btSoftBodyWorldInfo m_sbi; + btScalar m_internalTime; + int m_contact_iterations; + bool m_implicit; + bool m_lineSearch; + bool m_selfCollision; + DeformableBodyInplaceSolverIslandCallback* m_solverDeformableBodyIslandCallback; + + typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world); + btSolverCallback m_solverCallback; + +protected: + virtual void internalSingleStepSimulation(btScalar timeStep); + + virtual void integrateTransforms(btScalar timeStep); + + void positionCorrection(btScalar timeStep); + + void solveConstraints(btScalar timeStep); + + void updateActivationState(btScalar timeStep); + + void clearGravity(); + +public: + btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0); + + virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); + + virtual void debugDrawWorld(); + + void setSolverCallback(btSolverCallback cb) + { + m_solverCallback = cb; + } + + virtual ~btDeformableMultiBodyDynamicsWorld() + { + } + + virtual btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() + { + return (btMultiBodyDynamicsWorld*)(this); + } + + virtual const btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() const + { + return (const btMultiBodyDynamicsWorld*)(this); + } + + virtual btDynamicsWorldType getWorldType() const + { + return BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD; + } + + virtual void predictUnconstraintMotion(btScalar timeStep); + + virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter); + + btSoftBodyArray& getSoftBodyArray() + { + return m_softBodies; + } + + const btSoftBodyArray& getSoftBodyArray() const + { + return m_softBodies; + } + + btSoftBodyWorldInfo& getWorldInfo() + { + return m_sbi; + } + + const btSoftBodyWorldInfo& getWorldInfo() const + { + return m_sbi; + } + + void reinitialize(btScalar timeStep); + + void applyRigidBodyGravity(btScalar timeStep); + + void beforeSolverCallbacks(btScalar timeStep); + + void afterSolverCallbacks(btScalar timeStep); + + void addForce(btSoftBody* psb, btDeformableLagrangianForce* force); + + void removeSoftBody(btSoftBody* body); + + void removeCollisionObject(btCollisionObject* collisionObject); + + int getDrawFlags() const { return (m_drawFlags); } + void setDrawFlags(int f) { m_drawFlags = f; } + + void setupConstraints(); + + void solveMultiBodyConstraints(); + + void solveContactConstraints(); + + void sortConstraints(); + + void softBodySelfCollision(); + + void setImplicit(bool implicit) + { + m_implicit = implicit; + } + + void setLineSearch(bool lineSearch) + { + m_lineSearch = lineSearch; + } + +}; + +#endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h new file mode 100644 index 0000000000..3d06e304d2 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -0,0 +1,375 @@ +/* +Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2019 Google Inc. http://bulletphysics.org +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_NEOHOOKEAN_H +#define BT_NEOHOOKEAN_H + +#include "btDeformableLagrangianForce.h" +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btImplicitQRSVD.h" +// This energy is as described in https://graphics.pixar.com/library/StableElasticity/paper.pdf +class btDeformableNeoHookeanForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_mu, m_lambda; + btScalar m_mu_damp, m_lambda_damp; + btDeformableNeoHookeanForce(): m_mu(1), m_lambda(1) + { + btScalar damping = 0.05; + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) + { + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; +// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * df_on_node0; + force[id1] -= scale1 * df_on_node123.getColumn(0); + force[id2] -= scale1 * df_on_node123.getColumn(1); + force[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual double totalElasticEnergy(btScalar dt) + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetraScratches.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::TetraScratch& s = psb->m_tetraScratches[j]; + energy += tetra.m_element_measure * elasticEnergyDensity(s); + } + } + return energy; + } + + // The damping energy is formulated as in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + + double elasticEnergyDensity(const btSoftBody::TetraScratch& s) + { + double density = 0; + density += m_mu * 0.5 * (s.m_trace - 3.); + density += m_lambda * 0.5 * (s.m_J - 1. - 0.75 * m_mu / m_lambda)* (s.m_J - 1. - 0.75 * m_mu / m_lambda); + density -= m_mu * 0.5 * log(s.m_trace+1); + return density; + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + btScalar max_p = psb->m_cfg.m_maxStress; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btMatrix3x3 P; + firstPiola(psb->m_tetraScratches[j],P); +#ifdef USE_SVD + if (max_p > 0) + { + // since we want to clamp the principal stress to max_p, we only need to + // calculate SVD when sigma_0^2 + sigma_1^2 + sigma_2^2 > max_p * max_p + btScalar trPTP = (P[0].length2() + P[1].length2() + P[2].length2()); + if (trPTP > max_p * max_p) + { + btMatrix3x3 U, V; + btVector3 sigma; + singularValueDecomposition(P, U, sigma, V); + sigma[0] = btMin(sigma[0], max_p); + sigma[1] = btMin(sigma[1], max_p); + sigma[2] = btMin(sigma[2], max_p); + sigma[0] = btMax(sigma[0], -max_p); + sigma[1] = btMax(sigma[1], -max_p); + sigma[2] = btMax(sigma[2], -max_p); + btMatrix3x3 Sigma; + Sigma.setIdentity(); + Sigma[0][0] = sigma[0]; + Sigma[1][1] = sigma[1]; + Sigma[2][2] = sigma[2]; + P = U * Sigma * V.transpose(); + } + } +#endif +// btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); + } + } + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; +// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); +// btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse; + btMatrix3x3 dP; + firstPiolaDifferential(psb->m_tetraScratches[j], dF, dP); +// btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // elastic force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btSoftBody::TetraScratch& s, btMatrix3x3& P) + { + btScalar c1 = (m_mu * ( 1. - 1. / (s.m_trace + 1.))); + btScalar c2 = (m_lambda * (s.m_J - 1.) - 0.75 * m_mu); + P = s.m_F * c1 + s.m_cofF * c2; + } + + // Let P be the first piola stress. + // This function calculates the dP = dP/dF * dF + void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar c1 = m_mu * ( 1. - 1. / (s.m_trace + 1.)); + btScalar c2 = (2.*m_mu) * DotProduct(s.m_F, dF) * (1./((1.+s.m_trace)*(1.+s.m_trace))); + btScalar c3 = (m_lambda * DotProduct(s.m_cofF, dF)); + dP = dF * c1 + s.m_F * c2; + addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda*(s.m_J-1.) - 0.75*m_mu, dP); + dP += s.m_cofF * c3; + } + + // Let Q be the damping stress. + // This function calculates the dP = dQ/dF * dF + void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar c1 = (m_mu_damp * ( 1. - 1. / (s.m_trace + 1.))); + btScalar c2 = ((2.*m_mu_damp) * DotProduct(s.m_F, dF) *(1./((1.+s.m_trace)*(1.+s.m_trace)))); + btScalar c3 = (m_lambda_damp * DotProduct(s.m_cofF, dF)); + dP = dF * c1 + s.m_F * c2; + addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda_damp*(s.m_J-1.) - 0.75*m_mu_damp, dP); + dP += s.m_cofF * c3; + } + + btScalar DotProduct(const btMatrix3x3& A, const btMatrix3x3& B) + { + btScalar ans = 0; + for (int i = 0; i < 3; ++i) + { + ans += A[i].dot(B[i]); + } + return ans; + } + + // Let C(A) be the cofactor of the matrix A + // Let H = the derivative of C(A) with respect to A evaluated at F = A + // This function calculates H*dF + void addScaledCofactorMatrixDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btScalar scale, btMatrix3x3& M) + { + M[0][0] += scale * (dF[1][1] * F[2][2] + F[1][1] * dF[2][2] - dF[2][1] * F[1][2] - F[2][1] * dF[1][2]); + M[1][0] += scale * (dF[2][1] * F[0][2] + F[2][1] * dF[0][2] - dF[0][1] * F[2][2] - F[0][1] * dF[2][2]); + M[2][0] += scale * (dF[0][1] * F[1][2] + F[0][1] * dF[1][2] - dF[1][1] * F[0][2] - F[1][1] * dF[0][2]); + M[0][1] += scale * (dF[2][0] * F[1][2] + F[2][0] * dF[1][2] - dF[1][0] * F[2][2] - F[1][0] * dF[2][2]); + M[1][1] += scale * (dF[0][0] * F[2][2] + F[0][0] * dF[2][2] - dF[2][0] * F[0][2] - F[2][0] * dF[0][2]); + M[2][1] += scale * (dF[1][0] * F[0][2] + F[1][0] * dF[0][2] - dF[0][0] * F[1][2] - F[0][0] * dF[1][2]); + M[0][2] += scale * (dF[1][0] * F[2][1] + F[1][0] * dF[2][1] - dF[2][0] * F[1][1] - F[2][0] * dF[1][1]); + M[1][2] += scale * (dF[2][0] * F[0][1] + F[2][0] * dF[0][1] - dF[0][0] * F[2][1] - F[0][0] * dF[2][1]); + M[2][2] += scale * (dF[0][0] * F[1][1] + F[0][0] * dF[1][1] - dF[1][0] * F[0][1] - F[1][0] * dF[0][1]); + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_NEOHOOKEAN_FORCE; + } + +}; +#endif /* BT_NEOHOOKEAN_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btPreconditioner.h b/thirdparty/bullet/BulletSoftBody/btPreconditioner.h new file mode 100644 index 0000000000..d712420381 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btPreconditioner.h @@ -0,0 +1,79 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#ifndef BT_PRECONDITIONER_H +#define BT_PRECONDITIONER_H + +class Preconditioner +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + virtual void operator()(const TVStack& x, TVStack& b) = 0; + virtual void reinitialize(bool nodeUpdated) = 0; + virtual ~Preconditioner(){} +}; + +class DefaultPreconditioner : public Preconditioner +{ +public: + virtual void operator()(const TVStack& x, TVStack& b) + { + btAssert(b.size() == x.size()); + for (int i = 0; i < b.size(); ++i) + b[i] = x[i]; + } + virtual void reinitialize(bool nodeUpdated) + { + } + + virtual ~DefaultPreconditioner(){} +}; + +class MassPreconditioner : public Preconditioner +{ + btAlignedObjectArray<btScalar> m_inv_mass; + const btAlignedObjectArray<btSoftBody *>& m_softBodies; +public: + MassPreconditioner(const btAlignedObjectArray<btSoftBody *>& softBodies) + : m_softBodies(softBodies) + { + } + + virtual void reinitialize(bool nodeUpdated) + { + if (nodeUpdated) + { + m_inv_mass.clear(); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + m_inv_mass.push_back(psb->m_nodes[j].m_im); + } + } + } + + virtual void operator()(const TVStack& x, TVStack& b) + { + btAssert(b.size() == x.size()); + btAssert(m_inv_mass.size() == x.size()); + for (int i = 0; i < b.size(); ++i) + { + b[i] = x[i] * m_inv_mass[i]; + } + } +}; + +#endif /* BT_PRECONDITIONER_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp index 7463bdc019..2a458b1d80 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp +++ b/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp @@ -18,9 +18,12 @@ subject to the following restrictions: #include "BulletSoftBody/btSoftBodySolvers.h" #include "btSoftBodyData.h" #include "LinearMath/btSerializer.h" +#include "LinearMath/btAlignedAllocator.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" - +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include <iostream> // btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m) : m_softBodySolver(0), m_worldInfo(worldInfo) @@ -86,6 +89,8 @@ void btSoftBody::initDefaults() m_cfg.piterations = 1; m_cfg.diterations = 0; m_cfg.citerations = 4; + m_cfg.drag = 0; + m_cfg.m_maxStress = 0; m_cfg.collisions = fCollision::Default; m_pose.m_bvolume = false; m_pose.m_bframe = false; @@ -110,6 +115,11 @@ void btSoftBody::initDefaults() m_windVelocity = btVector3(0, 0, 0); m_restLengthScale = btScalar(1.0); + m_dampingCoefficient = 1; + m_sleepingThreshold = 0.1; + m_useFaceContact = true; + m_useSelfCollision = false; + m_collisionFlags = 0; } // @@ -315,7 +325,7 @@ void btSoftBody::appendFace(int model, Material* mat) ZeroInitialize(f); f.m_material = mat ? mat : m_materials[0]; } - m_faces.push_back(f); + m_faces.push_back(f); } // @@ -402,6 +412,98 @@ void btSoftBody::appendAnchor(int node, btRigidBody* body, const btVector3& loca } // +void btSoftBody::appendDeformableAnchor(int node, btRigidBody* body) +{ + DeformableNodeRigidAnchor c; + btSoftBody::Node& n = m_nodes[node]; + const btScalar ima = n.m_im; + const btScalar imb = body->getInvMass(); + btVector3 nrm; + const btCollisionShape* shp = body->getCollisionShape(); + const btTransform& wtr = body->getWorldTransform(); + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(m_nodes[node].m_x), + shp, + nrm, + 0); + + c.m_cti.m_colObj = body; + c.m_cti.m_normal = wtr.getBasis() * nrm; + c.m_cti.m_offset = dst; + c.m_node = &m_nodes[node]; + const btScalar fc = m_cfg.kDF * body->getFriction(); + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = body->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR; + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = body->getInvInertiaTensorWorld(); + const btVector3 ra = n.m_x - wtr.getOrigin(); + + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); + c.m_c1 = ra; + c.m_local = body->getWorldTransform().inverse() * m_nodes[node].m_x; + c.m_node->m_battach = 1; + m_deformableAnchors.push_back(c); +} + +// +void btSoftBody::appendDeformableAnchor(int node, btMultiBodyLinkCollider* link) +{ + DeformableNodeRigidAnchor c; + btSoftBody::Node& n = m_nodes[node]; + const btScalar ima = n.m_im; + btVector3 nrm; + const btCollisionShape* shp = link->getCollisionShape(); + const btTransform& wtr = link->getWorldTransform(); + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(m_nodes[node].m_x), + shp, + nrm, + 0); + c.m_cti.m_colObj = link; + c.m_cti.m_normal = wtr.getBasis() * nrm; + c.m_cti.m_offset = dst; + c.m_node = &m_nodes[node]; + const btScalar fc = m_cfg.kDF * link->getFriction(); + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = link->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR; + btVector3 normal = c.m_cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(link, jacobianData_normal, c.m_node->m_x, normal); + findJacobian(link, jacobianData_t1, c.m_node->m_x, t1); + findJacobian(link, jacobianData_t2, c.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = link->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + const btVector3 ra = n.m_x - wtr.getOrigin(); + c.m_c1 = ra; + c.m_local = link->getWorldTransform().inverse() * m_nodes[node].m_x; + c.m_node->m_battach = 1; + m_deformableAnchors.push_back(c); +} +// void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, Cluster* body0, Body body1) { LJoint* pj = new (btAlignedAlloc(sizeof(LJoint), 16)) LJoint(); @@ -518,7 +620,7 @@ void btSoftBody::addAeroForceToNode(const btVector3& windVelocity, int nodeIndex fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); // Check angle of attack - // cos(10°) = 0.98480 + // cos(10º) = 0.98480 if (0 < n_dot_v && n_dot_v < 0.98480f) fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); @@ -604,7 +706,7 @@ void btSoftBody::addAeroForceToFace(const btVector3& windVelocity, int faceIndex fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); // Check angle of attack - // cos(10°) = 0.98480 + // cos(10º) = 0.98480 if (0 < n_dot_v && n_dot_v < 0.98480f) fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); @@ -853,6 +955,7 @@ void btSoftBody::scale(const btVector3& scl) updateNormals(); updateBounds(); updateConstants(); + initializeDmInverse(); } // @@ -1757,115 +1860,115 @@ void btSoftBody::setSolver(eSolverPresets::_ preset) } } -// void btSoftBody::predictMotion(btScalar dt) { - int i, ni; - - /* Update */ - if (m_bUpdateRtCst) - { - m_bUpdateRtCst = false; - updateConstants(); - m_fdbvt.clear(); - if (m_cfg.collisions & fCollision::VF_SS) - { - initializeFaceTree(); - } - } - - /* Prepare */ - m_sst.sdt = dt * m_cfg.timescale; - m_sst.isdt = 1 / m_sst.sdt; - m_sst.velmrg = m_sst.sdt * 3; - m_sst.radmrg = getCollisionShape()->getMargin(); - m_sst.updmrg = m_sst.radmrg * (btScalar)0.25; - /* Forces */ - addVelocity(m_worldInfo->m_gravity * m_sst.sdt); - applyForces(); - /* Integrate */ - for (i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - n.m_q = n.m_x; - btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt; - { - btScalar maxDisplacement = m_worldInfo->m_maxDisplacement; - btScalar clampDeltaV = maxDisplacement / m_sst.sdt; - for (int c = 0; c < 3; c++) - { - if (deltaV[c] > clampDeltaV) - { - deltaV[c] = clampDeltaV; - } - if (deltaV[c] < -clampDeltaV) - { - deltaV[c] = -clampDeltaV; - } - } - } - n.m_v += deltaV; - n.m_x += n.m_v * m_sst.sdt; - n.m_f = btVector3(0, 0, 0); - } - /* Clusters */ - updateClusters(); - /* Bounds */ - updateBounds(); - /* Nodes */ - ATTRIBUTE_ALIGNED16(btDbvtVolume) - vol; - for (i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg); - m_ndbvt.update(n.m_leaf, - vol, - n.m_v * m_sst.velmrg, - m_sst.updmrg); - } - /* Faces */ - if (!m_fdbvt.empty()) - { - for (int i = 0; i < m_faces.size(); ++i) - { - Face& f = m_faces[i]; - const btVector3 v = (f.m_n[0]->m_v + - f.m_n[1]->m_v + - f.m_n[2]->m_v) / - 3; - vol = VolumeOf(f, m_sst.radmrg); - m_fdbvt.update(f.m_leaf, - vol, - v * m_sst.velmrg, - m_sst.updmrg); - } - } - /* Pose */ - updatePose(); - /* Match */ - if (m_pose.m_bframe && (m_cfg.kMT > 0)) - { - const btMatrix3x3 posetrs = m_pose.m_rot; - for (int i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - if (n.m_im > 0) - { - const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com; - n.m_x = Lerp(n.m_x, x, m_cfg.kMT); - } - } - } - /* Clear contacts */ - m_rcontacts.resize(0); - m_scontacts.resize(0); - /* Optimize dbvt's */ - m_ndbvt.optimizeIncremental(1); - m_fdbvt.optimizeIncremental(1); - m_cdbvt.optimizeIncremental(1); + int i, ni; + + /* Update */ + if (m_bUpdateRtCst) + { + m_bUpdateRtCst = false; + updateConstants(); + m_fdbvt.clear(); + if (m_cfg.collisions & fCollision::VF_SS) + { + initializeFaceTree(); + } + } + + /* Prepare */ + m_sst.sdt = dt * m_cfg.timescale; + m_sst.isdt = 1 / m_sst.sdt; + m_sst.velmrg = m_sst.sdt * 3; + m_sst.radmrg = getCollisionShape()->getMargin(); + m_sst.updmrg = m_sst.radmrg * (btScalar)0.25; + /* Forces */ + addVelocity(m_worldInfo->m_gravity * m_sst.sdt); + applyForces(); + /* Integrate */ + for (i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + n.m_q = n.m_x; + btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt; + { + btScalar maxDisplacement = m_worldInfo->m_maxDisplacement; + btScalar clampDeltaV = maxDisplacement / m_sst.sdt; + for (int c = 0; c < 3; c++) + { + if (deltaV[c] > clampDeltaV) + { + deltaV[c] = clampDeltaV; + } + if (deltaV[c] < -clampDeltaV) + { + deltaV[c] = -clampDeltaV; + } + } + } + n.m_v += deltaV; + n.m_x += n.m_v * m_sst.sdt; + n.m_f = btVector3(0, 0, 0); + } + /* Clusters */ + updateClusters(); + /* Bounds */ + updateBounds(); + /* Nodes */ + ATTRIBUTE_ALIGNED16(btDbvtVolume) + vol; + for (i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg); + m_ndbvt.update(n.m_leaf, + vol, + n.m_v * m_sst.velmrg, + m_sst.updmrg); + } + /* Faces */ + if (!m_fdbvt.empty()) + { + for (int i = 0; i < m_faces.size(); ++i) + { + Face& f = m_faces[i]; + const btVector3 v = (f.m_n[0]->m_v + + f.m_n[1]->m_v + + f.m_n[2]->m_v) / + 3; + vol = VolumeOf(f, m_sst.radmrg); + m_fdbvt.update(f.m_leaf, + vol, + v * m_sst.velmrg, + m_sst.updmrg); + } + } + /* Pose */ + updatePose(); + /* Match */ + if (m_pose.m_bframe && (m_cfg.kMT > 0)) + { + const btMatrix3x3 posetrs = m_pose.m_rot; + for (int i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + if (n.m_im > 0) + { + const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com; + n.m_x = Lerp(n.m_x, x, m_cfg.kMT); + } + } + } + /* Clear contacts */ + m_rcontacts.resize(0); + m_scontacts.resize(0); + /* Optimize dbvt's */ + m_ndbvt.optimizeIncremental(1); + m_fdbvt.optimizeIncremental(1); + m_cdbvt.optimizeIncremental(1); } + // void btSoftBody::solveConstraints() { @@ -2261,36 +2364,195 @@ btVector3 btSoftBody::evaluateCom() const return (com); } -// bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, + const btVector3& x, + btScalar margin, + btSoftBody::sCti& cti) const +{ + btVector3 nrm; + const btCollisionShape* shp = colObjWrap->getCollisionShape(); + // const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); + //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform(); + const btTransform& wtr = colObjWrap->getWorldTransform(); + //todo: check which transform is needed here + + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(x), + shp, + nrm, + margin); + if (dst < 0) + { + cti.m_colObj = colObjWrap->getCollisionObject(); + cti.m_normal = wtr.getBasis() * nrm; + cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst); + return (true); + } + return (false); +} + +// +bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, - btSoftBody::sCti& cti) const + btSoftBody::sCti& cti, bool predict) const { btVector3 nrm; const btCollisionShape* shp = colObjWrap->getCollisionShape(); - // const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); - //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform(); - const btTransform& wtr = colObjWrap->getWorldTransform(); - //todo: check which transform is needed here - + const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); + // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect + // but resolve contact at x_n +// btTransform wtr = (predict) ? +// (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) +// : colObjWrap->getWorldTransform(); + const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x), shp, nrm, margin); - if (dst < 0) + if (!predict) { cti.m_colObj = colObjWrap->getCollisionObject(); cti.m_normal = wtr.getBasis() * nrm; - cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst); - return (true); + cti.m_offset = dst; } + if (dst < 0) + return true; return (false); } // +// Compute barycentric coordinates (u, v, w) for +// point p with respect to triangle (a, b, c) +static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVector3& c, btVector3& bary) +{ + btVector3 v0 = b - a, v1 = c - a, v2 = p - a; + btScalar d00 = v0.dot(v0); + btScalar d01 = v0.dot(v1); + btScalar d11 = v1.dot(v1); + btScalar d20 = v2.dot(v0); + btScalar d21 = v2.dot(v1); + btScalar denom = d00 * d11 - d01 * d01; + bary.setY((d11 * d20 - d01 * d21) / denom); + bary.setZ((d00 * d21 - d01 * d20) / denom); + bary.setX(btScalar(1) - bary.getY() - bary.getZ()); +} + +// +bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, + Face& f, + btVector3& contact_point, + btVector3& bary, + btScalar margin, + btSoftBody::sCti& cti, bool predict) const +{ + btVector3 nrm; + const btCollisionShape* shp = colObjWrap->getCollisionShape(); + const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); + // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect + // but resolve contact at x_n + btTransform wtr = (predict) ? + (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) + : colObjWrap->getWorldTransform(); +// const btTransform& wtr = colObjWrap->getWorldTransform(); + btScalar dst; + +//#define USE_QUADRATURE 1 +//#define CACHE_PREV_COLLISION + + // use the contact position of the previous collision +#ifdef CACHE_PREV_COLLISION + if (f.m_pcontact[3] != 0) + { + for (int i = 0; i < 3; ++i) + bary[i] = f.m_pcontact[i]; + contact_point = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + dst = m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(contact_point), + shp, + nrm, + margin); + nrm = wtr.getBasis() * nrm; + // use cached contact point + } + else + { + btGjkEpaSolver2::sResults results; + btTransform triangle_transform; + triangle_transform.setIdentity(); + triangle_transform.setOrigin(f.m_n[0]->m_x); + btTriangleShape triangle(btVector3(0,0,0), 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 guess(0,0,0); + const btConvexShape* csh = static_cast<const btConvexShape*>(shp); + btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); + dst = results.distance - margin; + contact_point = results.witnesses[0]; + getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + nrm = results.normal; + for (int i = 0; i < 3; ++i) + f.m_pcontact[i] = bary[i]; + } + +#endif + + // use collision quadrature point +#ifdef USE_QUADRATURE + { + dst = SIMD_INFINITY; + btVector3 local_nrm; + for (int q = 0; q < m_quads.size(); ++q) + { + btVector3 p = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, m_quads[q]); + btScalar local_dst = m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(p), + shp, + local_nrm, + margin); + if (local_dst < dst) + { + dst = local_dst; + contact_point = p; + bary = m_quads[q]; + nrm = wtr.getBasis() * local_nrm; + } + } + } +#endif + + // regular face contact + { + btGjkEpaSolver2::sResults results; + btTransform triangle_transform; + triangle_transform.setIdentity(); + triangle_transform.setOrigin(f.m_n[0]->m_x); + btTriangleShape triangle(btVector3(0,0,0), 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 guess(0,0,0); + const btConvexShape* csh = static_cast<const btConvexShape*>(shp); + btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); + dst = results.distance - margin; + contact_point = results.witnesses[0]; + getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + nrm = results.normal; + for (int i = 0; i < 3; ++i) + f.m_pcontact[i] = bary[i]; + } + + if (!predict) + { + cti.m_colObj = colObjWrap->getCollisionObject(); + cti.m_normal = nrm; + cti.m_offset = dst; + } + + if (dst < 0) + return true; + return (false); +} + +// void btSoftBody::updateNormals() { const btVector3 zv(0, 0, 0); @@ -2305,7 +2567,8 @@ void btSoftBody::updateNormals() btSoftBody::Face& f = m_faces[i]; const 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); - f.m_normal = n.normalized(); + f.m_normal = n; + f.m_normal.safeNormalize(); f.m_n[0]->m_n += n; f.m_n[1]->m_n += n; f.m_n[2]->m_n += n; @@ -2333,31 +2596,63 @@ void btSoftBody::updateBounds() m_bounds[1] = btVector3(1000, 1000, 1000); } else {*/ - if (m_ndbvt.m_root) - { - const btVector3& mins = m_ndbvt.m_root->volume.Mins(); - const btVector3& maxs = m_ndbvt.m_root->volume.Maxs(); - const btScalar csm = getCollisionShape()->getMargin(); - const btVector3 mrg = btVector3(csm, - csm, - csm) * - 1; // ??? to investigate... - m_bounds[0] = mins - mrg; - m_bounds[1] = maxs + mrg; - if (0 != getBroadphaseHandle()) - { - m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), - m_bounds[0], - m_bounds[1], - m_worldInfo->m_dispatcher); - } - } - else - { - m_bounds[0] = - m_bounds[1] = btVector3(0, 0, 0); - } - //} +// if (m_ndbvt.m_root) +// { +// const btVector3& mins = m_ndbvt.m_root->volume.Mins(); +// const btVector3& maxs = m_ndbvt.m_root->volume.Maxs(); +// const btScalar csm = getCollisionShape()->getMargin(); +// const btVector3 mrg = btVector3(csm, +// csm, +// csm) * +// 1; // ??? to investigate... +// m_bounds[0] = mins - mrg; +// m_bounds[1] = maxs + mrg; +// if (0 != getBroadphaseHandle()) +// { +// m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), +// m_bounds[0], +// m_bounds[1], +// m_worldInfo->m_dispatcher); +// } +// } +// else +// { +// m_bounds[0] = +// m_bounds[1] = btVector3(0, 0, 0); +// } + if (m_nodes.size()) + { + btVector3 mins = m_nodes[0].m_x; + btVector3 maxs = m_nodes[0].m_x; + for (int i = 1; i < m_nodes.size(); ++i) + { + for (int d = 0; d < 3; ++d) + { + if (m_nodes[i].m_x[d] > maxs[d]) + maxs[d] = m_nodes[i].m_x[d]; + if (m_nodes[i].m_x[d] < mins[d]) + mins[d] = m_nodes[i].m_x[d]; + } + } + const btScalar csm = getCollisionShape()->getMargin(); + const btVector3 mrg = btVector3(csm, + csm, + csm); + m_bounds[0] = mins - mrg; + m_bounds[1] = maxs + mrg; + if (0 != getBroadphaseHandle()) + { + m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), + m_bounds[0], + m_bounds[1], + m_worldInfo->m_dispatcher); + } + } + else + { + m_bounds[0] = + m_bounds[1] = btVector3(0, 0, 0); + } } // @@ -2774,6 +3069,62 @@ void btSoftBody::dampClusters() } } +void btSoftBody::setSpringStiffness(btScalar k) +{ + for (int i = 0; i < m_links.size(); ++i) + { + m_links[i].Feature::m_material->m_kLST = k; + } +} + +void btSoftBody::initializeDmInverse() +{ + btScalar unit_simplex_measure = 1./6.; + + for (int i = 0; i < m_tetras.size(); ++i) + { + Tetra &t = m_tetras[i]; + btVector3 c1 = t.m_n[1]->m_x - t.m_n[0]->m_x; + btVector3 c2 = t.m_n[2]->m_x - t.m_n[0]->m_x; + btVector3 c3 = t.m_n[3]->m_x - t.m_n[0]->m_x; + btMatrix3x3 Dm(c1.getX(), c2.getX(), c3.getX(), + c1.getY(), c2.getY(), c3.getY(), + c1.getZ(), c2.getZ(), c3.getZ()); + t.m_element_measure = Dm.determinant() * unit_simplex_measure; + t.m_Dm_inverse = Dm.inverse(); + } +} + +void btSoftBody::updateDeformation() +{ + for (int i = 0; i < m_tetras.size(); ++i) + { + btSoftBody::Tetra& t = m_tetras[i]; + btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q; + btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q; + btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q; + btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(), + c1.getY(), c2.getY(), c3.getY(), + c1.getZ(), c2.getZ(), c3.getZ()); + t.m_F = Ds * t.m_Dm_inverse; + + btSoftBody::TetraScratch& s = m_tetraScratches[i]; + s.m_F = t.m_F; + s.m_J = t.m_F.determinant(); + btMatrix3x3 C = t.m_F.transpose()*t.m_F; + s.m_trace = C[0].getX() + C[1].getY() + C[2].getZ(); + s.m_cofF = t.m_F.adjoint().transpose(); + } +} + +void btSoftBody::advanceDeformation() +{ + updateDeformation(); + for (int i = 0; i < m_tetras.size(); ++i) + { + m_tetraScratchesTn[i] = m_tetraScratches[i]; + } +} // void btSoftBody::Joint::Prepare(btScalar dt, int) { @@ -3013,6 +3364,40 @@ void btSoftBody::applyForces() } // +void btSoftBody::setMaxStress(btScalar maxStress) +{ + m_cfg.m_maxStress = maxStress; +} + +// +void btSoftBody::interpolateRenderMesh() +{ + for (int i = 0; i < m_renderNodes.size(); ++i) + { + Node& n = m_renderNodes[i]; + n.m_x.setZero(); + for (int j = 0; j < 4; ++j) + { + if (m_renderNodesParents[i].size()) + { + n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j]; + } + } + } +} + +void btSoftBody::setCollisionQuadrature(int N) +{ + for (int i = 0; i <= N; ++i) + { + for (int j = 0; i+j <= N; ++j) + { + m_quads.push_back(btVector3(btScalar(i)/btScalar(N), btScalar(j)/btScalar(N), btScalar(N-i-j)/btScalar(N))); + } + } +} + +// void btSoftBody::PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti) { BT_PROFILE("PSolve_Anchors"); @@ -3214,6 +3599,16 @@ btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver) return (0); } +void btSoftBody::setSelfCollision(bool useSelfCollision) +{ + m_useSelfCollision = useSelfCollision; +} + +bool btSoftBody::useSelfCollision() +{ + return m_useSelfCollision; +} + // void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap) { @@ -3252,12 +3647,99 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap collider.ProcessColObj(this, pcoWrap); } break; + case fCollision::SDF_RD: + { + + btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject()); + if (pcoWrap->getCollisionObject()->isActive() || this->isActive()) + { + const btTransform wtr = pcoWrap->getWorldTransform(); +// const btTransform ctr = pcoWrap->getWorldTransform(); +// const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length(); + const btScalar timemargin = 0; + const btScalar basemargin = getCollisionShape()->getMargin(); + btVector3 mins; + btVector3 maxs; + ATTRIBUTE_ALIGNED16(btDbvtVolume) + volume; + pcoWrap->getCollisionShape()->getAabb(wtr, + mins, + maxs); + volume = btDbvtVolume::FromMM(mins, maxs); + volume.Expand(btVector3(basemargin, basemargin, basemargin)); + btSoftColliders::CollideSDF_RD docollideNode; + docollideNode.psb = this; + docollideNode.m_colObj1Wrap = pcoWrap; + docollideNode.m_rigidBody = prb1; + docollideNode.dynmargin = basemargin + timemargin; + docollideNode.stamargin = basemargin; + m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode); + + if (this->m_useFaceContact) + { + btSoftColliders::CollideSDF_RDF docollideFace; + docollideFace.psb = this; + docollideFace.m_colObj1Wrap = pcoWrap; + docollideFace.m_rigidBody = prb1; + docollideFace.dynmargin = basemargin + timemargin; + docollideFace.stamargin = basemargin; + m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); + } + } + } + break; } } +static inline btDbvntNode* copyToDbvnt(const btDbvtNode* n) +{ + if (n == 0) + return 0; + btDbvntNode* root = new btDbvntNode(n); + if (n->isinternal()) + { + btDbvntNode* c0 = copyToDbvnt(n->childs[0]); + root->childs[0] = c0; + btDbvntNode* c1 = copyToDbvnt(n->childs[1]); + root->childs[1] = c1; + } + return root; +} + +static inline void calculateNormalCone(btDbvntNode* root) +{ + if (!root) + return; + if (root->isleaf()) + { + const btSoftBody::Face* face = (btSoftBody::Face*)root->data; + root->normal = face->m_normal; + root->angle = 0; + } + else + { + btVector3 n0(0,0,0), n1(0,0,0); + btScalar a0 = 0, a1 = 0; + if (root->childs[0]) + { + calculateNormalCone(root->childs[0]); + n0 = root->childs[0]->normal; + a0 = root->childs[0]->angle; + } + if (root->childs[1]) + { + calculateNormalCone(root->childs[1]); + n1 = root->childs[1]->normal; + a1 = root->childs[1]->angle; + } + root->normal = (n0+n1).safeNormalize(); + root->angle = btMax(a0,a1) + btAngle(n0, n1)*0.5; + } +} // void btSoftBody::defaultCollisionHandler(btSoftBody* psb) { + BT_PROFILE("Deformable Collision"); const int cf = m_cfg.collisions & psb->m_cfg.collisions; switch (cf & fCollision::SVSmask) { @@ -3295,6 +3777,60 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb) } } break; + case fCollision::VF_DD: + { + if (psb->isActive() || this->isActive()) + { + if (this != psb) + { + btSoftColliders::CollideVF_DD docollide; + /* common */ + docollide.mrg = getCollisionShape()->getMargin() + + psb->getCollisionShape()->getMargin(); + /* psb0 nodes vs psb1 faces */ + if (psb->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; + docollide.psb[0] = this; + docollide.psb[1] = psb; + docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + /* psb1 nodes vs psb0 faces */ + if (this->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; + docollide.psb[0] = psb; + docollide.psb[1] = this; + docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + } + else + { + if (psb->useSelfCollision()) + { + btSoftColliders::CollideFF_DD docollide; + docollide.mrg = getCollisionShape()->getMargin() + + psb->getCollisionShape()->getMargin(); + docollide.psb[0] = this; + docollide.psb[1] = psb; + if (this->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; + /* psb0 faces vs psb0 faces */ + btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root); + calculateNormalCone(root); + this->m_fdbvt.selfCollideT(root,docollide); + delete root; + } + } + } + } + break; default: { } @@ -3434,7 +3970,7 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ for (int j = 0; j < 4; j++) { m_tetras[i].m_c0[j].serializeFloat(memPtr->m_c0[j]); - memPtr->m_nodeIndices[j] = m_tetras[j].m_n[j] ? m_tetras[j].m_n[j] - &m_nodes[0] : -1; + memPtr->m_nodeIndices[j] = m_tetras[i].m_n[j] ? m_tetras[i].m_n[j] - &m_nodes[0] : -1; } memPtr->m_c1 = m_tetras[i].m_c1; memPtr->m_c2 = m_tetras[i].m_c2; @@ -3697,3 +4233,47 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ return btSoftBodyDataName; } + +void btSoftBody::updateDeactivation(btScalar timeStep) +{ + if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION)) + return; + + if (m_maxSpeedSquared < m_sleepingThreshold * m_sleepingThreshold) + { + m_deactivationTime += timeStep; + } + else + { + m_deactivationTime = btScalar(0.); + setActivationState(0); + } +} + + +void btSoftBody::setZeroVelocity() +{ + for (int i = 0; i < m_nodes.size(); ++i) + { + m_nodes[i].m_v.setZero(); + } +} + +bool btSoftBody::wantsSleeping() +{ + if (getActivationState() == DISABLE_DEACTIVATION) + return false; + + //disable deactivation + if (gDisableDeactivation || (gDeactivationTime == btScalar(0.))) + return false; + + if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION)) + return true; + + if (m_deactivationTime > gDeactivationTime) + { + return true; + } + return false; +} diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.h b/thirdparty/bullet/BulletSoftBody/btSoftBody.h index 9b35b799d8..2b048c1118 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBody.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBody.h @@ -20,13 +20,15 @@ subject to the following restrictions: #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btTransform.h" #include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btVector3.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #include "BulletCollision/CollisionShapes/btConcaveShape.h" #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" #include "btSparseSDF.h" #include "BulletCollision/BroadphaseCollision/btDbvt.h" - +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" //#ifdef BT_USE_DOUBLE_PRECISION //#define btRigidBodyData btRigidBodyDoubleData //#define btRigidBodyDataName "btRigidBodyDoubleData" @@ -159,11 +161,14 @@ public: RVSmask = 0x000f, ///Rigid versus soft mask SDF_RS = 0x0001, ///SDF based rigid vs soft CL_RS = 0x0002, ///Cluster vs convex rigid vs soft + SDF_RD = 0x0003, ///DF based rigid vs deformable + SDF_RDF = 0x0004, ///DF based rigid vs deformable faces - SVSmask = 0x0030, ///Rigid versus soft mask + SVSmask = 0x00F0, ///Rigid versus soft mask VF_SS = 0x0010, ///Vertex vs face soft vs soft handling CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling CL_SELF = 0x0040, ///Cluster soft body self collision + VF_DD = 0x0050, ///Vertex vs face soft vs soft handling /* presets */ Default = SDF_RS, END @@ -215,6 +220,7 @@ public: const btCollisionObject* m_colObj; /* Rigid body */ btVector3 m_normal; /* Outward normal */ btScalar m_offset; /* Offset from origin */ + btVector3 m_bary; /* Barycentric weights for faces */ }; /* sMedium */ @@ -249,14 +255,17 @@ public: struct Node : Feature { btVector3 m_x; // Position - btVector3 m_q; // Previous step position + btVector3 m_q; // Previous step position/Test position btVector3 m_v; // Velocity + btVector3 m_vsplit; // Temporary Velocity in addintion to velocity used in split impulse + btVector3 m_vn; // Previous step velocity btVector3 m_f; // Force accumulator btVector3 m_n; // Normal btScalar m_im; // 1/mass btScalar m_area; // Area btDbvtNode* m_leaf; // Leaf data int m_battach : 1; // Attached + int index; }; /* Link */ ATTRIBUTE_ALIGNED16(struct) @@ -279,6 +288,8 @@ public: btVector3 m_normal; // Normal btScalar m_ra; // Rest area btDbvtNode* m_leaf; // Leaf data + btVector4 m_pcontact; // barycentric weights of the persistent contact + int m_index; }; /* Tetra */ struct Tetra : Feature @@ -289,7 +300,20 @@ public: btVector3 m_c0[4]; // gradients btScalar m_c1; // (4*kVST)/(im0+im1+im2+im3) btScalar m_c2; // m_c1/sum(|g0..3|^2) + btMatrix3x3 m_Dm_inverse; // rest Dm^-1 + btMatrix3x3 m_F; + btScalar m_element_measure; }; + + /* TetraScratch */ + struct TetraScratch + { + btMatrix3x3 m_F; // deformation gradient F + btScalar m_trace; // trace of F^T * F + btScalar m_J; // det(F) + btMatrix3x3 m_cofF; // cofactor of F + }; + /* RContact */ struct RContact { @@ -300,7 +324,67 @@ public: btScalar m_c2; // ima*dt btScalar m_c3; // Friction btScalar m_c4; // Hardness + + // jacobians and unit impulse responses for multibody + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_t1; + btMultiBodyJacobianData jacobianData_t2; + btVector3 t1; + btVector3 t2; }; + + class DeformableRigidContact + { + public: + sCti m_cti; // Contact infos + btMatrix3x3 m_c0; // Impulse matrix + btVector3 m_c1; // Relative anchor + btScalar m_c2; // inverse mass of node/face + btScalar m_c3; // Friction + btScalar m_c4; // Hardness + + // jacobians and unit impulse responses for multibody + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_t1; + btMultiBodyJacobianData jacobianData_t2; + btVector3 t1; + btVector3 t2; + }; + + class DeformableNodeRigidContact : public DeformableRigidContact + { + public: + Node* m_node; // Owner node + }; + + class DeformableNodeRigidAnchor : public DeformableNodeRigidContact + { + public: + btVector3 m_local; // Anchor position in body space + }; + + class DeformableFaceRigidContact : public DeformableRigidContact + { + public: + Face* m_face; // Owner face + btVector3 m_contactPoint; // Contact point + btVector3 m_bary; // Barycentric weights + btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v; + }; + + struct DeformableFaceNodeContact + { + Node* m_node; // Node + Face* m_face; // Face + btVector3 m_bary; // Barycentric weights + btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v; + btVector3 m_normal; // Normal + btScalar m_margin; // Margin + btScalar m_friction; // Friction + btScalar m_imf; // inverse mass of the face at contact point + btScalar m_c0; // scale of the impulse matrix; + }; + /* SContact */ struct SContact { @@ -627,6 +711,8 @@ public: tVSolverArray m_vsequence; // Velocity solvers sequence tPSolverArray m_psequence; // Position solvers sequence tPSolverArray m_dsequence; // Drift solvers sequence + btScalar drag; // deformable air drag + btScalar m_maxStress; // Maximum principle first Piola stress }; /* SolverState */ struct SolverState @@ -689,11 +775,19 @@ public: btSoftBodyWorldInfo* m_worldInfo; // World info tNoteArray m_notes; // Notes tNodeArray m_nodes; // Nodes + tNodeArray m_renderNodes; // Nodes tLinkArray m_links; // Links tFaceArray m_faces; // Faces + tFaceArray m_renderFaces; // Faces tTetraArray m_tetras; // Tetras + btAlignedObjectArray<TetraScratch> m_tetraScratches; + btAlignedObjectArray<TetraScratch> m_tetraScratchesTn; tAnchorArray m_anchors; // Anchors + btAlignedObjectArray<DeformableNodeRigidAnchor> m_deformableAnchors; tRContactArray m_rcontacts; // Rigid contacts + btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts; + btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContacts; + btAlignedObjectArray<DeformableFaceRigidContact> m_faceRigidContacts; tSContactArray m_scontacts; // Soft contacts tJointArray m_joints; // Joints tMaterialArray m_materials; // Materials @@ -704,6 +798,15 @@ public: btDbvt m_fdbvt; // Faces tree btDbvt m_cdbvt; // Clusters tree tClusterArray m_clusters; // Clusters + btScalar m_dampingCoefficient; // Damping Coefficient + btScalar m_sleepingThreshold; + btScalar m_maxSpeedSquared; + bool m_useFaceContact; + btAlignedObjectArray<btVector3> m_quads; // quadrature points for collision detection + + btAlignedObjectArray<btVector4> m_renderNodesInterpolationWeights; + btAlignedObjectArray<btAlignedObjectArray<const btSoftBody::Node*> > m_renderNodesParents; + bool m_useSelfCollision; btAlignedObjectArray<bool> m_clusterConnectivity; //cluster connectivity, for self-collision @@ -735,6 +838,16 @@ public: { return m_worldInfo; } + + void setDampingCoefficient(btScalar damping_coeff) + { + m_dampingCoefficient = damping_coeff; + } + + void setUseFaceContact(bool useFaceContact) + { + m_useFaceContact = false; + } ///@todo: avoid internal softbody shape hack and move collision code to collision library virtual void setCollisionShape(btCollisionShape* collisionShape) @@ -795,7 +908,9 @@ public: Material* mat = 0); /* Append anchor */ - void appendAnchor(int node, + void appendDeformableAnchor(int node, btRigidBody* body); + void appendDeformableAnchor(int node, btMultiBodyLinkCollider* link); + void appendAnchor(int node, btRigidBody* body, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); void appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); /* Append linear joint */ @@ -862,6 +977,16 @@ public: /* Return the volume */ btScalar getVolume() const; /* Cluster count */ + btVector3 getCenterOfMass() const + { + btVector3 com(0, 0, 0); + for (int i = 0; i < m_nodes.size(); i++) + { + com += (m_nodes[i].m_x * this->getMass(i)); + } + com /= this->getTotalMass(); + return com; + } int clusterCount() const; /* Cluster center of mass */ static btVector3 clusterCom(const Cluster* cluster); @@ -915,6 +1040,11 @@ public: /* defaultCollisionHandlers */ void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap); void defaultCollisionHandler(btSoftBody* psb); + void setSelfCollision(bool useSelfCollision); + bool useSelfCollision(); + void updateDeactivation(btScalar timeStep); + void setZeroVelocity(); + bool wantsSleeping(); // // Functionality to deal with new accelerated solvers. @@ -991,7 +1121,9 @@ public: btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const; void initializeFaceTree(); btVector3 evaluateCom() const; - bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; + bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, Face& f, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); void updatePose(); @@ -1005,7 +1137,14 @@ public: void solveClusters(btScalar sor); void applyClusters(bool drift); void dampClusters(); + void setSpringStiffness(btScalar k); + void initializeDmInverse(); + void updateDeformation(); + void advanceDeformation(); void applyForces(); + void setMaxStress(btScalar maxStress); + void interpolateRenderMesh(); + void setCollisionQuadrature(int N); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti); @@ -1015,11 +1154,9 @@ public: static vsolver_t getSolver(eVSolver::_ solver); virtual int calculateSerializeBufferSize() const; - + ///fills the dataBuffer and returns the struct name (and 0 on failure) virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; - - //virtual void serializeSingleObject(class btSerializer* serializer) const; }; #endif //_BT_SOFT_BODY_H diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp index d0a9921d89..649d6f58cf 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp @@ -16,12 +16,17 @@ subject to the following restrictions: #include "btSoftBodyInternals.h" #include <stdio.h> +#include <string> +#include <iostream> +#include <sstream> #include <string.h> +#include <algorithm> #include "btSoftBodyHelpers.h" #include "LinearMath/btConvexHull.h" #include "LinearMath/btConvexHullComputer.h" +#include <map> +#include <vector> -// static void drawVertex(btIDebugDraw* idraw, const btVector3& x, btScalar s, const btVector3& c) { @@ -721,7 +726,8 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const int resx, int resy, int fixeds, - bool gendiags) + bool gendiags, + btScalar perturbation) { #define IDX(_x_, _y_) ((_y_)*rx + (_x_)) /* Create nodes */ @@ -741,7 +747,13 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const for (int ix = 0; ix < rx; ++ix) { const btScalar tx = ix / (btScalar)(rx - 1); - x[IDX(ix, iy)] = lerp(py0, py1, tx); + 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; } } @@ -1221,9 +1233,314 @@ if(face&&face[0]) } } } + 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()); return (psb); } + +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) + { + ss.ignore(128, ' '); // ignore "4" + Index tet; + tet.resize(4); + for (size_t i = 0; i < 4; i++) + { + ss >> tet[i]; + } + 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]); + } +} + +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(); +} + +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(); +} + +// 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); +} + +// 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_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; + bool found = false; + 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; + } +} diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h index e433558c18..b20f2f6d62 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h @@ -17,7 +17,8 @@ subject to the following restrictions: #define BT_SOFT_BODY_HELPERS_H #include "btSoftBody.h" - +#include <fstream> +#include <string> // // Helpers // @@ -91,7 +92,8 @@ struct btSoftBodyHelpers int resx, int resy, int fixeds, - bool gendiags); + bool gendiags, + btScalar perturbation = 0.); /* Create a patch with UV Texture Coordinates */ static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo, const btVector3& corner00, @@ -140,7 +142,17 @@ struct btSoftBodyHelpers bool bfacelinks, bool btetralinks, bool bfacesfromtetras); + static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file); + static void writeObj(const char* file, const btSoftBody* psb); + + static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary); + + static void interpolateBarycentricWeights(btSoftBody* psb); + + static void generateBoundaryFaces(btSoftBody* psb); + + static void duplicateFaces(const char* filename, const btSoftBody* psb); /// Sort the list of links to move link calculations that are dependent upon earlier /// ones as far as possible away from the calculation of those values /// This tends to make adjacent loop iterations not dependent upon one another, diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h index 7efe514f38..cde4746d58 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h @@ -25,7 +25,43 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" #include "BulletCollision/CollisionShapes/btConvexInternalShape.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include <string.h> //for memset +#include <cmath> + +// Given a multibody link, a contact point and a contact direction, fill in the jacobian data needed to calculate the velocity change given an impulse in the contact direction +static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, + btMultiBodyJacobianData& jacobianData, + const btVector3& contact_point, + const btVector3& dir) +{ + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac = &jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, contact_point, dir, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], &jacobianData.m_deltaVelocitiesUnitImpulse[0], jacobianData.scratch_r, jacobianData.scratch_v); +} +static btVector3 generateUnitOrthogonalVector(const btVector3& u) +{ + btScalar ux = u.getX(); + btScalar uy = u.getY(); + btScalar uz = u.getZ(); + btScalar ax = std::abs(ux); + btScalar ay = std::abs(uy); + btScalar az = std::abs(uz); + btVector3 v; + if (ax <= ay && ax <= az) + v = btVector3(0, -uz, uy); + else if (ay <= ax && ay <= az) + v = btVector3(-uz, 0, ux); + else + v = btVector3(-uy, ux, 0); + v.normalize(); + return v; +} // // btSymMatrix // @@ -298,6 +334,46 @@ static inline btMatrix3x3 Diagonal(btScalar x) m[2] = btVector3(0, 0, x); return (m); } + +static inline btMatrix3x3 Diagonal(const btVector3& v) +{ + btMatrix3x3 m; + m[0] = btVector3(v.getX(), 0, 0); + m[1] = btVector3(0, v.getY(), 0); + m[2] = btVector3(0, 0, v.getZ()); + return (m); +} + +static inline btScalar Dot(const btScalar* a,const btScalar* b, int ndof) +{ + btScalar result = 0; + for (int i = 0; i < ndof; ++i) + result += a[i] * b[i]; + return result; +} + +static inline btMatrix3x3 OuterProduct(const btScalar* v1,const btScalar* v2,const btScalar* v3, + const btScalar* u1, const btScalar* u2, const btScalar* u3, int ndof) +{ + btMatrix3x3 m; + btScalar a11 = Dot(v1,u1,ndof); + btScalar a12 = Dot(v1,u2,ndof); + btScalar a13 = Dot(v1,u3,ndof); + + btScalar a21 = Dot(v2,u1,ndof); + btScalar a22 = Dot(v2,u2,ndof); + btScalar a23 = Dot(v2,u3,ndof); + + btScalar a31 = Dot(v3,u1,ndof); + btScalar a32 = Dot(v3,u2,ndof); + btScalar a33 = Dot(v3,u3,ndof); + m[0] = btVector3(a11, a12, a13); + m[1] = btVector3(a21, a22, a23); + m[2] = btVector3(a31, a32, a33); + return (m); +} + + // static inline btMatrix3x3 Add(const btMatrix3x3& a, const btMatrix3x3& b) @@ -428,6 +504,77 @@ static inline void ProjectOrigin(const btVector3& a, } // +static inline bool rayIntersectsTriangle(const btVector3& origin, const btVector3& dir, const btVector3& v0, const btVector3& v1, const btVector3& v2, btScalar& t) +{ + btScalar a, f, u, v; + + btVector3 e1 = v1 - v0; + btVector3 e2 = v2 - v0; + btVector3 h = dir.cross(e2); + a = e1.dot(h); + + if (a > -0.00001 && a < 0.00001) + return (false); + + f = btScalar(1) / a; + btVector3 s = origin - v0; + u = f * s.dot(h); + + if (u < 0.0 || u > 1.0) + return (false); + + btVector3 q = s.cross(e1); + v = f * dir.dot(q); + if (v < 0.0 || u + v > 1.0) + return (false); + // at this stage we can compute t to find out where + // the intersection point is on the line + t = f * e2.dot(q); + if (t > 0) // ray intersection + return (true); + else // this means that there is a line intersection + // but not a ray intersection + return (false); +} + +static inline bool lineIntersectsTriangle(const btVector3& rayStart, const btVector3& rayEnd, const btVector3& p1, const btVector3& p2, const btVector3& p3, btVector3& sect, btVector3& normal) +{ + btVector3 dir = rayEnd - rayStart; + btScalar dir_norm = dir.norm(); + if (dir_norm < SIMD_EPSILON) + return false; + dir.normalize(); + + btScalar t; + + bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t); + + if (ret) + { + if (t <= dir_norm) + { + sect = rayStart + dir * t; + } + else + { + ret = false; + } + } + + if (ret) + { + btVector3 n = (p3-p1).cross(p2-p1); + n.safeNormalize(); + if (n.dot(dir) < 0) + normal = n; + else + normal = -n; + } + return ret; +} + + +// template <typename T> static inline T BaryEval(const T& a, const T& b, @@ -854,10 +1001,62 @@ struct btSoftColliders psa->m_cdbvt.collideTT(psa->m_cdbvt.m_root, psb->m_cdbvt.m_root, *this); } }; + // + // CollideSDF_RS + // + struct CollideSDF_RS : btDbvt::ICollide + { + void Process(const btDbvtNode* leaf) + { + btSoftBody::Node* node = (btSoftBody::Node*)leaf->data; + DoNode(*node); + } + void DoNode(btSoftBody::Node& n) const + { + const btScalar m = n.m_im > 0 ? dynmargin : stamargin; + btSoftBody::RContact c; + + if ((!n.m_battach) && + psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti)) + { + const btScalar ima = n.m_im; + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + const btScalar ms = ima + imb; + if (ms > 0) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = n.m_x - wtr.getOrigin(); + const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0); + const btVector3 vb = n.m_x - n.m_q; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, c.m_cti.m_normal); + const btVector3 fv = vr - c.m_cti.m_normal * dn; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + c.m_node = &n; + c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); + c.m_c1 = ra; + c.m_c2 = ima * psb->m_sst.sdt; + c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + psb->m_rcontacts.push_back(c); + if (m_rigidBody) + m_rigidBody->activate(); + } + } + } + btSoftBody* psb; + const btCollisionObjectWrapper* m_colObj1Wrap; + btRigidBody* m_rigidBody; + btScalar dynmargin; + btScalar stamargin; + }; + // - // CollideSDF_RS + // CollideSDF_RD // - struct CollideSDF_RS : btDbvt::ICollide + struct CollideSDF_RD : btDbvt::ICollide { void Process(const btDbvtNode* leaf) { @@ -867,36 +1066,75 @@ struct btSoftColliders void DoNode(btSoftBody::Node& n) const { const btScalar m = n.m_im > 0 ? dynmargin : stamargin; - btSoftBody::RContact c; + btSoftBody::DeformableNodeRigidContact c; - if ((!n.m_battach) && - psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti)) - { - const btScalar ima = n.m_im; - const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; - const btScalar ms = ima + imb; - if (ms > 0) - { - const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); - static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); - const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; - const btVector3 ra = n.m_x - wtr.getOrigin(); - const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0); - const btVector3 vb = n.m_x - n.m_q; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, c.m_cti.m_normal); - const btVector3 fv = vr - c.m_cti.m_normal * dn; - const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); - c.m_node = &n; - c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); - c.m_c1 = ra; - c.m_c2 = ima * psb->m_sst.sdt; - c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; - c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; - psb->m_rcontacts.push_back(c); - if (m_rigidBody) - m_rigidBody->activate(); - } + if (!n.m_battach) + { + // check for collision at x_{n+1}^* as well at x_n + if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true) || psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true)) + { + const btScalar ima = n.m_im; + // todo: collision between multibody and fixed deformable node will be missed. + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + const btScalar ms = ima + imb; + if (ms > 0) + { + // resolve contact at x_n + psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ false); + btSoftBody::sCti& cti = c.m_cti; + c.m_node = &n; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = n.m_x - wtr.getOrigin(); + + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); + c.m_c1 = ra; + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 normal = cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_x, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_x, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + } + } + psb->m_nodeRigidContacts.push_back(c); + } + } } } btSoftBody* psb; @@ -905,6 +1143,112 @@ struct btSoftColliders btScalar dynmargin; btScalar stamargin; }; + + // + // CollideSDF_RDF + // + struct CollideSDF_RDF : btDbvt::ICollide + { + void Process(const btDbvtNode* leaf) + { + btSoftBody::Face* face = (btSoftBody::Face*)leaf->data; + DoNode(*face); + } + void DoNode(btSoftBody::Face& f) const + { + btSoftBody::Node* n0 = f.m_n[0]; + btSoftBody::Node* n1 = f.m_n[1]; + btSoftBody::Node* n2 = f.m_n[2]; + + const btScalar m = (n0->m_im > 0 && n1->m_im > 0 && n2->m_im > 0 )? dynmargin : stamargin; + btSoftBody::DeformableFaceRigidContact c; + btVector3 contact_point; + btVector3 bary; + if (psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, true)) + { + f.m_pcontact[3] = 1; + btScalar ima = n0->m_im + n1->m_im + n2->m_im; + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + // todo: collision between multibody and fixed deformable face will be missed. + const btScalar ms = ima + imb; + if (ms > 0) + { + // resolve contact at x_n + psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, /*predict = */ false); + btSoftBody::sCti& cti = c.m_cti; + c.m_contactPoint = contact_point; + c.m_bary = bary; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices + c.m_weights = btScalar(2)/(btScalar(1) + bary.length2()) * bary; + c.m_face = &f; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf + ima = bary.getX()*c.m_weights.getX() * n0->m_im + bary.getY()*c.m_weights.getY() * n1->m_im + bary.getZ()*c.m_weights.getZ() * n2->m_im; + + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = contact_point - wtr.getOrigin(); + + // we do not scale the impulse matrix by dt + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); + c.m_c1 = ra; + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 normal = cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, contact_point, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, contact_point, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, contact_point, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(ima) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + } + } + psb->m_faceRigidContacts.push_back(c); + } + } + else + { + f.m_pcontact[3] = 0; + } + } + btSoftBody* psb; + const btCollisionObjectWrapper* m_colObj1Wrap; + btRigidBody* m_rigidBody; + btScalar dynmargin; + btScalar stamargin; + }; + // // CollideVF_SS // @@ -915,6 +1259,12 @@ struct btSoftColliders { btSoftBody::Node* node = (btSoftBody::Node*)lnode->data; btSoftBody::Face* face = (btSoftBody::Face*)lface->data; + for (int i = 0; i < 3; ++i) + { + if (face->m_n[i] == node) + continue; + } + btVector3 o = node->m_x; btVector3 p; btScalar d = SIMD_INFINITY; @@ -944,7 +1294,7 @@ struct btSoftColliders c.m_node = node; c.m_face = face; c.m_weights = w; - c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); + c.m_friction = btMax (psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); c.m_cfm[0] = ma / ms * psb[0]->m_cfg.kSHR; c.m_cfm[1] = mb / ms * psb[1]->m_cfg.kSHR; psb[0]->m_scontacts.push_back(c); @@ -954,6 +1304,137 @@ struct btSoftColliders btSoftBody* psb[2]; btScalar mrg; }; + + + // + // CollideVF_DD + // + struct CollideVF_DD : btDbvt::ICollide + { + void Process(const btDbvtNode* lnode, + const btDbvtNode* lface) + { + btSoftBody::Node* node = (btSoftBody::Node*)lnode->data; + btSoftBody::Face* face = (btSoftBody::Face*)lface->data; + + btVector3 o = node->m_x; + btVector3 p; + btScalar d = SIMD_INFINITY; + ProjectOrigin(face->m_n[0]->m_x - o, + face->m_n[1]->m_x - o, + face->m_n[2]->m_x - o, + p, d); + const btScalar m = mrg + (o - node->m_q).safeNorm() * 2; + if (d < (m * m)) + { + const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; + const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o); + const btScalar ma = node->m_im; + btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); + if ((n[0]->m_im <= 0) || + (n[1]->m_im <= 0) || + (n[2]->m_im <= 0)) + { + mb = 0; + } + const btScalar ms = ma + mb; + if (ms > 0) + { + btSoftBody::DeformableFaceNodeContact c; + if (useFaceNormal) + c.m_normal = face->m_normal; + else + c.m_normal = p / -btSqrt(d); + c.m_margin = mrg; + c.m_node = node; + c.m_face = face; + c.m_bary = w; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices + c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; + c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF; + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf + c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; + c.m_c0 = btScalar(1)/(ma + c.m_imf); + psb[0]->m_faceNodeContacts.push_back(c); + } + } + } + btSoftBody* psb[2]; + btScalar mrg; + bool useFaceNormal; + }; + + // + // CollideFF_DD + // + struct CollideFF_DD : btDbvt::ICollide + { + void Process(const btDbvntNode* lface1, + const btDbvntNode* lface2) + { + btSoftBody::Face* f = (btSoftBody::Face*)lface1->data; + btSoftBody::Face* face = (btSoftBody::Face*)lface2->data; + for (int node_id = 0; node_id < 3; ++node_id) + { + btSoftBody::Node* node = f->m_n[node_id]; + bool skip = false; + for (int i = 0; i < 3; ++i) + { + if (face->m_n[i] == node) + { + skip = true; + break; + } + } + if (skip) + continue; + btVector3 o = node->m_x; + btVector3 p; + btScalar d = SIMD_INFINITY; + ProjectOrigin(face->m_n[0]->m_x - o, + face->m_n[1]->m_x - o, + face->m_n[2]->m_x - o, + p, d); + const btScalar m = mrg + (o - node->m_q).safeNorm() * 2; + if (d < (m * m)) + { + const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; + const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o); + const btScalar ma = node->m_im; + btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); + if ((n[0]->m_im <= 0) || + (n[1]->m_im <= 0) || + (n[2]->m_im <= 0)) + { + mb = 0; + } + const btScalar ms = ma + mb; + if (ms > 0) + { + btSoftBody::DeformableFaceNodeContact c; + if (useFaceNormal) + c.m_normal = face->m_normal; + else + c.m_normal = p / -btSqrt(d); + c.m_margin = mrg; + c.m_node = node; + c.m_face = face; + c.m_bary = w; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices + c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; + c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF; + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf + c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; + c.m_c0 = btScalar(1)/(ma + c.m_imf); + psb[0]->m_faceNodeContacts.push_back(c); + } + } + } + } + btSoftBody* psb[2]; + btScalar mrg; + bool useFaceNormal; + }; }; #endif //_BT_SOFT_BODY_INTERNALS_H diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h b/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h index dcf5082650..c4ac4141aa 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h @@ -35,7 +35,8 @@ public: CL_SOLVER, CL_SIMD_SOLVER, DX_SOLVER, - DX_SIMD_SOLVER + DX_SIMD_SOLVER, + DEFORMABLE_SOLVER }; protected: @@ -71,10 +72,10 @@ public: virtual void copyBackToSoftBodies(bool bMove = true) = 0; /** Predict motion of soft bodies into next timestep */ - virtual void predictMotion(float solverdt) = 0; + virtual void predictMotion(btScalar solverdt) = 0; /** Solve constraints for a set of soft bodies */ - virtual void solveConstraints(float solverdt) = 0; + virtual void solveConstraints(btScalar solverdt) = 0; /** Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes */ virtual void updateSoftBodies() = 0; diff --git a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h index a52b2cb1cc..eb290a1dbd 100644 --- a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h +++ b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h @@ -20,27 +20,38 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" -// Modified Paul Hsieh hash -template <const int DWORDLEN> -unsigned int HsiehHash(const void* pdata) -{ - const unsigned short* data = (const unsigned short*)pdata; - unsigned hash = DWORDLEN << 2, tmp; - for (int i = 0; i < DWORDLEN; ++i) - { - hash += data[0]; - tmp = (data[1] << 11) ^ hash; - hash = (hash << 16) ^ tmp; - data += 2; - hash += hash >> 11; - } - hash ^= hash << 3; - hash += hash >> 5; - hash ^= hash << 4; - hash += hash >> 17; - hash ^= hash << 25; - hash += hash >> 6; - return (hash); +// Fast Hash + +#if !defined (get16bits) +#define get16bits(d) ((((unsigned int)(((const unsigned char *)(d))[1])) << 8)\ ++(unsigned int)(((const unsigned char *)(d))[0]) ) +#endif +// +// super hash function by Paul Hsieh +// +inline unsigned int HsiehHash (const char * data, int len) { + unsigned int hash = len, tmp; + len>>=2; + + /* Main loop */ + for (;len > 0; len--) { + hash += get16bits (data); + tmp = (get16bits (data+2) << 11) ^ hash; + hash = (hash << 16) ^ tmp; + data += 2*sizeof (unsigned short); + hash += hash >> 11; + } + + + /* Force "avalanching" of final 127 bits */ + hash ^= hash << 3; + hash += hash >> 5; + hash ^= hash << 4; + hash += hash >> 17; + hash ^= hash << 25; + hash += hash >> 6; + + return hash; } template <const int CELLSIZE> @@ -70,12 +81,17 @@ struct btSparseSdf btAlignedObjectArray<Cell*> cells; btScalar voxelsz; + btScalar m_defaultVoxelsz; int puid; int ncells; int m_clampCells; int nprobes; int nqueries; + ~btSparseSdf() + { + Reset(); + } // // Methods // @@ -87,9 +103,16 @@ struct btSparseSdf //if this limit is reached, the SDF is reset (at the cost of some performance during the reset) m_clampCells = clampCells; cells.resize(hashsize, 0); + m_defaultVoxelsz = 0.25; Reset(); } // + + void setDefaultVoxelsz(btScalar sz) + { + m_defaultVoxelsz = sz; + } + void Reset() { for (int i = 0, ni = cells.size(); i < ni; ++i) @@ -103,7 +126,7 @@ struct btSparseSdf pc = pn; } } - voxelsz = 0.25; + voxelsz = m_defaultVoxelsz; puid = 0; ncells = 0; nprobes = 1; @@ -197,6 +220,9 @@ struct btSparseSdf } else { + // printf("c->hash/c[0][1][2]=%d,%d,%d,%d\n", c->hash, c->c[0], c->c[1],c->c[2]); + //printf("h,ixb,iyb,izb=%d,%d,%d,%d\n", h,ix.b, iy.b, iz.b); + c = c->next; } } @@ -248,7 +274,7 @@ struct btSparseSdf Lerp(gy[2], gy[3], ix.f), iz.f)); normal.setZ(Lerp(Lerp(gz[0], gz[1], ix.f), Lerp(gz[2], gz[3], ix.f), iy.f)); - normal = normal.normalized(); + normal.safeNormalize(); #else normal = btVector3(d[1] - d[0], d[3] - d[0], d[4] - d[0]).normalized(); #endif @@ -322,19 +348,22 @@ struct btSparseSdf { struct btS { - int x, y, z; + int x, y, z, w; void* p; }; btS myset; + //memset may be needed in case of additional (uninitialized) padding! + //memset(&myset, 0, sizeof(btS)); myset.x = x; myset.y = y; myset.z = z; + myset.w = 0; myset.p = (void*)shape; - const void* ptr = &myset; + const char* ptr = (const char*)&myset; - unsigned int result = HsiehHash<sizeof(btS) / 4>(ptr); + unsigned int result = HsiehHash(ptr, sizeof(btS) ); return result; } diff --git a/thirdparty/bullet/LinearMath/btImplicitQRSVD.h b/thirdparty/bullet/LinearMath/btImplicitQRSVD.h new file mode 100644 index 0000000000..7b4cfaf21e --- /dev/null +++ b/thirdparty/bullet/LinearMath/btImplicitQRSVD.h @@ -0,0 +1,916 @@ +/** + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. http://bulletphysics.org + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + + Copyright (c) 2016 Theodore Gast, Chuyuan Fu, Chenfanfu Jiang, Joseph Teran + + Permission is hereby granted, free of charge, to any person obtaining a copy of + this software and associated documentation files (the "Software"), to deal in + the Software without restriction, including without limitation the rights to + use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies + of the Software, and to permit persons to whom the Software is furnished to do + so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all + copies or substantial portions of the Software. + + If the code is used in an article, the following paper shall be cited: + @techreport{qrsvd:2016, + title={Implicit-shifted Symmetric QR Singular Value Decomposition of 3x3 Matrices}, + author={Gast, Theodore and Fu, Chuyuan and Jiang, Chenfanfu and Teran, Joseph}, + year={2016}, + institution={University of California Los Angeles} + } + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + SOFTWARE. +**/ + +#ifndef btImplicitQRSVD_h +#define btImplicitQRSVD_h + +#include "btMatrix3x3.h" +class btMatrix2x2 +{ +public: + btScalar m_00, m_01, m_10, m_11; + btMatrix2x2(): m_00(0), m_10(0), m_01(0), m_11(0) + { + } + btMatrix2x2(const btMatrix2x2& other): m_00(other.m_00),m_01(other.m_01),m_10(other.m_10),m_11(other.m_11) + {} + btScalar& operator()(int i, int j) + { + if (i == 0 && j == 0) + return m_00; + if (i == 1 && j == 0) + return m_10; + if (i == 0 && j == 1) + return m_01; + if (i == 1 && j == 1) + return m_11; + btAssert(false); + return m_00; + } + const btScalar& operator()(int i, int j) const + { + if (i == 0 && j == 0) + return m_00; + if (i == 1 && j == 0) + return m_10; + if (i == 0 && j == 1) + return m_01; + if (i == 1 && j == 1) + return m_11; + btAssert(false); + return m_00; + } + void setIdentity() + { + m_00 = 1; + m_11 = 1; + m_01 = 0; + m_10 = 0; + } +}; + +static inline btScalar copySign(btScalar x, btScalar y) { + if ((x < 0 && y > 0) || (x > 0 && y < 0)) + return -x; + return x; +} + +/** + Class for givens rotation. + Row rotation G*A corresponds to something like + c -s 0 + ( s c 0 ) A + 0 0 1 + Column rotation A G' corresponds to something like + c -s 0 + A ( s c 0 ) + 0 0 1 + + c and s are always computed so that + ( c -s ) ( a ) = ( * ) + s c b ( 0 ) + + Assume rowi<rowk. + */ + +class GivensRotation { +public: + int rowi; + int rowk; + btScalar c; + btScalar s; + + inline GivensRotation(int rowi_in, int rowk_in) + : rowi(rowi_in) + , rowk(rowk_in) + , c(1) + , s(0) + { + } + + inline GivensRotation(btScalar a, btScalar b, int rowi_in, int rowk_in) + : rowi(rowi_in) + , rowk(rowk_in) + { + compute(a, b); + } + + ~GivensRotation() {} + + inline void transposeInPlace() + { + s = -s; + } + + /** + Compute c and s from a and b so that + ( c -s ) ( a ) = ( * ) + s c b ( 0 ) + */ + inline void compute(const btScalar a, const btScalar b) + { + btScalar d = a * a + b * b; + c = 1; + s = 0; + if (d > SIMD_EPSILON) { + btScalar sqrtd = btSqrt(d); + if (sqrtd>SIMD_EPSILON) + { + btScalar t = btScalar(1.0)/sqrtd; + c = a * t; + s = -b * t; + } + } + } + + /** + This function computes c and s so that + ( c -s ) ( a ) = ( 0 ) + s c b ( * ) + */ + inline void computeUnconventional(const btScalar a, const btScalar b) + { + btScalar d = a * a + b * b; + c = 0; + s = 1; + if (d > SIMD_EPSILON) { + btScalar t = btScalar(1.0)/btSqrt(d); + s = a * t; + c = b * t; + } + } + /** + Fill the R with the entries of this rotation + */ + inline void fill(const btMatrix3x3& R) const + { + btMatrix3x3& A = const_cast<btMatrix3x3&>(R); + A.setIdentity(); + A[rowi][rowi] = c; + A[rowk][rowi] = -s; + A[rowi][rowk] = s; + A[rowk][rowk] = c; + } + + inline void fill(const btMatrix2x2& R) const + { + btMatrix2x2& A = const_cast<btMatrix2x2&>(R); + A(rowi,rowi) = c; + A(rowk,rowi) = -s; + A(rowi,rowk) = s; + A(rowk,rowk) = c; + } + + /** + This function does something like + c -s 0 + ( s c 0 ) A -> A + 0 0 1 + It only affects row i and row k of A. + */ + inline void rowRotation(btMatrix3x3& A) const + { + for (int j = 0; j < 3; j++) { + btScalar tau1 = A[rowi][j]; + btScalar tau2 = A[rowk][j]; + A[rowi][j] = c * tau1 - s * tau2; + A[rowk][j] = s * tau1 + c * tau2; + } + } + inline void rowRotation(btMatrix2x2& A) const + { + for (int j = 0; j < 2; j++) { + btScalar tau1 = A(rowi,j); + btScalar tau2 = A(rowk,j); + A(rowi,j) = c * tau1 - s * tau2; + A(rowk,j) = s * tau1 + c * tau2; + } + } + + /** + This function does something like + c s 0 + A ( -s c 0 ) -> A + 0 0 1 + It only affects column i and column k of A. + */ + inline void columnRotation(btMatrix3x3& A) const + { + for (int j = 0; j < 3; j++) { + btScalar tau1 = A[j][rowi]; + btScalar tau2 = A[j][rowk]; + A[j][rowi] = c * tau1 - s * tau2; + A[j][rowk] = s * tau1 + c * tau2; + } + } + inline void columnRotation(btMatrix2x2& A) const + { + for (int j = 0; j < 2; j++) { + btScalar tau1 = A(j,rowi); + btScalar tau2 = A(j,rowk); + A(j,rowi) = c * tau1 - s * tau2; + A(j,rowk) = s * tau1 + c * tau2; + } + } + + /** + Multiply givens must be for same row and column + **/ + inline void operator*=(const GivensRotation& A) + { + btScalar new_c = c * A.c - s * A.s; + btScalar new_s = s * A.c + c * A.s; + c = new_c; + s = new_s; + } + + /** + Multiply givens must be for same row and column + **/ + inline GivensRotation operator*(const GivensRotation& A) const + { + GivensRotation r(*this); + r *= A; + return r; + } +}; + +/** + \brief zero chasing the 3X3 matrix to bidiagonal form + original form of H: x x 0 + x x x + 0 0 x + after zero chase: + x x 0 + 0 x x + 0 0 x + */ +inline void zeroChase(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + + /** + Reduce H to of form + x x + + 0 x x + 0 0 x + */ + GivensRotation r1(H[0][0], H[1][0], 0, 1); + /** + Reduce H to of form + x x 0 + 0 x x + 0 + x + Can calculate r2 without multiplying by r1 since both entries are in first two + rows thus no need to divide by sqrt(a^2+b^2) + */ + GivensRotation r2(1, 2); + if (H[1][0] != 0) + r2.compute(H[0][0] * H[0][1] + H[1][0] * H[1][1], H[0][0] * H[0][2] + H[1][0] * H[1][2]); + else + r2.compute(H[0][1], H[0][2]); + + r1.rowRotation(H); + + /* GivensRotation<T> r2(H(0, 1), H(0, 2), 1, 2); */ + r2.columnRotation(H); + r2.columnRotation(V); + + /** + Reduce H to of form + x x 0 + 0 x x + 0 0 x + */ + GivensRotation r3(H[1][1], H[2][1], 1, 2); + r3.rowRotation(H); + + // Save this till end for better cache coherency + // r1.rowRotation(u_transpose); + // r3.rowRotation(u_transpose); + r1.columnRotation(U); + r3.columnRotation(U); +} + +/** + \brief make a 3X3 matrix to upper bidiagonal form + original form of H: x x x + x x x + x x x + after zero chase: + x x 0 + 0 x x + 0 0 x + */ +inline void makeUpperBidiag(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + U.setIdentity(); + V.setIdentity(); + + /** + Reduce H to of form + x x x + x x x + 0 x x + */ + + GivensRotation r(H[1][0], H[2][0], 1, 2); + r.rowRotation(H); + // r.rowRotation(u_transpose); + r.columnRotation(U); + // zeroChase(H, u_transpose, V); + zeroChase(H, U, V); +} + +/** + \brief make a 3X3 matrix to lambda shape + original form of H: x x x + * x x x + * x x x + after : + * x 0 0 + * x x 0 + * x 0 x + */ +inline void makeLambdaShape(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + U.setIdentity(); + V.setIdentity(); + + /** + Reduce H to of form + * x x 0 + * x x x + * x x x + */ + + GivensRotation r1(H[0][1], H[0][2], 1, 2); + r1.columnRotation(H); + r1.columnRotation(V); + + /** + Reduce H to of form + * x x 0 + * x x 0 + * x x x + */ + + r1.computeUnconventional(H[1][2], H[2][2]); + r1.rowRotation(H); + r1.columnRotation(U); + + /** + Reduce H to of form + * x x 0 + * x x 0 + * x 0 x + */ + + GivensRotation r2(H[2][0], H[2][1], 0, 1); + r2.columnRotation(H); + r2.columnRotation(V); + + /** + Reduce H to of form + * x 0 0 + * x x 0 + * x 0 x + */ + r2.computeUnconventional(H[0][1], H[1][1]); + r2.rowRotation(H); + r2.columnRotation(U); +} + +/** + \brief 2x2 polar decomposition. + \param[in] A matrix. + \param[out] R Robustly a rotation matrix. + \param[out] S_Sym Symmetric. Whole matrix is stored + + Polar guarantees negative sign is on the small magnitude singular value. + S is guaranteed to be the closest one to identity. + R is guaranteed to be the closest rotation to A. + */ +inline void polarDecomposition(const btMatrix2x2& A, + GivensRotation& R, + const btMatrix2x2& S_Sym) +{ + btScalar a = (A(0, 0) + A(1, 1)), b = (A(1, 0) - A(0, 1)); + btScalar denominator = btSqrt(a*a+b*b); + R.c = (btScalar)1; + R.s = (btScalar)0; + if (denominator > SIMD_EPSILON) { + /* + No need to use a tolerance here because x(0) and x(1) always have + smaller magnitude then denominator, therefore overflow never happens. + In Bullet, we use a tolerance anyway. + */ + R.c = a / denominator; + R.s = -b / denominator; + } + btMatrix2x2& S = const_cast<btMatrix2x2&>(S_Sym); + S = A; + R.rowRotation(S); +} + +inline void polarDecomposition(const btMatrix2x2& A, + const btMatrix2x2& R, + const btMatrix2x2& S_Sym) +{ + GivensRotation r(0, 1); + polarDecomposition(A, r, S_Sym); + r.fill(R); +} + +/** + \brief 2x2 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U Robustly a rotation matrix in Givens form + \param[out] Sigma matrix of singular values sorted with decreasing magnitude. The second one can be negative. + \param[out] V Robustly a rotation matrix in Givens form + */ +inline void singularValueDecomposition( + const btMatrix2x2& A, + GivensRotation& U, + const btMatrix2x2& Sigma, + GivensRotation& V, + const btScalar tol = 64 * std::numeric_limits<btScalar>::epsilon()) +{ + btMatrix2x2& sigma = const_cast<btMatrix2x2&>(Sigma); + sigma.setIdentity(); + btMatrix2x2 S_Sym; + polarDecomposition(A, U, S_Sym); + btScalar cosine, sine; + btScalar x = S_Sym(0, 0); + btScalar y = S_Sym(0, 1); + btScalar z = S_Sym(1, 1); + if (y == 0) { + // S is already diagonal + cosine = 1; + sine = 0; + sigma(0,0) = x; + sigma(1,1) = z; + } + else { + btScalar tau = 0.5 * (x - z); + btScalar val = tau * tau + y * y; + if (val > SIMD_EPSILON) + { + btScalar w = btSqrt(val); + // w > y > 0 + btScalar t; + if (tau > 0) { + // tau + w > w > y > 0 ==> division is safe + t = y / (tau + w); + } + else { + // tau - w < -w < -y < 0 ==> division is safe + t = y / (tau - w); + } + cosine = btScalar(1) / btSqrt(t * t + btScalar(1)); + sine = -t * cosine; + /* + V = [cosine -sine; sine cosine] + Sigma = V'SV. Only compute the diagonals for efficiency. + Also utilize symmetry of S and don't form V yet. + */ + btScalar c2 = cosine * cosine; + btScalar csy = 2 * cosine * sine * y; + btScalar s2 = sine * sine; + sigma(0,0) = c2 * x - csy + s2 * z; + sigma(1,1) = s2 * x + csy + c2 * z; + } else + { + cosine = 1; + sine = 0; + sigma(0,0) = x; + sigma(1,1) = z; + } + } + + // Sorting + // Polar already guarantees negative sign is on the small magnitude singular value. + if (sigma(0,0) < sigma(1,1)) { + std::swap(sigma(0,0), sigma(1,1)); + V.c = -sine; + V.s = cosine; + } + else { + V.c = cosine; + V.s = sine; + } + U *= V; +} + +/** + \brief 2x2 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U Robustly a rotation matrix. + \param[out] Sigma Vector of singular values sorted with decreasing magnitude. The second one can be negative. + \param[out] V Robustly a rotation matrix. + */ +inline void singularValueDecomposition( + const btMatrix2x2& A, + const btMatrix2x2& U, + const btMatrix2x2& Sigma, + const btMatrix2x2& V, + const btScalar tol = 64 * std::numeric_limits<btScalar>::epsilon()) +{ + GivensRotation gv(0, 1); + GivensRotation gu(0, 1); + singularValueDecomposition(A, gu, Sigma, gv); + + gu.fill(U); + gv.fill(V); +} + +/** + \brief compute wilkinsonShift of the block + a1 b1 + b1 a2 + based on the wilkinsonShift formula + mu = c + d - sign (d) \ sqrt (d*d + b*b), where d = (a-c)/2 + + */ +inline btScalar wilkinsonShift(const btScalar a1, const btScalar b1, const btScalar a2) +{ + btScalar d = (btScalar)0.5 * (a1 - a2); + btScalar bs = b1 * b1; + btScalar val = d * d + bs; + if (val>SIMD_EPSILON) + { + btScalar denom = btFabs(d) + btSqrt(val); + + btScalar mu = a2 - copySign(bs / (denom), d); + // T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs)); + return mu; + } + return a2; +} + +/** + \brief Helper function of 3X3 SVD for processing 2X2 SVD + */ +template <int t> +inline void process(btMatrix3x3& B, btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V) +{ + int other = (t == 1) ? 0 : 2; + GivensRotation u(0, 1); + GivensRotation v(0, 1); + sigma[other] = B[other][other]; + + btMatrix2x2 B_sub, sigma_sub; + if (t == 0) + { + B_sub.m_00 = B[0][0]; + B_sub.m_10 = B[1][0]; + B_sub.m_01 = B[0][1]; + B_sub.m_11 = B[1][1]; + sigma_sub.m_00 = sigma[0]; + sigma_sub.m_11 = sigma[1]; +// singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v); + singularValueDecomposition(B_sub, u, sigma_sub, v); + B[0][0] = B_sub.m_00; + B[1][0] = B_sub.m_10; + B[0][1] = B_sub.m_01; + B[1][1] = B_sub.m_11; + sigma[0] = sigma_sub.m_00; + sigma[1] = sigma_sub.m_11; + } + else + { + B_sub.m_00 = B[1][1]; + B_sub.m_10 = B[2][1]; + B_sub.m_01 = B[1][2]; + B_sub.m_11 = B[2][2]; + sigma_sub.m_00 = sigma[1]; + sigma_sub.m_11 = sigma[2]; + // singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v); + singularValueDecomposition(B_sub, u, sigma_sub, v); + B[1][1] = B_sub.m_00; + B[2][1] = B_sub.m_10; + B[1][2] = B_sub.m_01; + B[2][2] = B_sub.m_11; + sigma[1] = sigma_sub.m_00; + sigma[2] = sigma_sub.m_11; + } + u.rowi += t; + u.rowk += t; + v.rowi += t; + v.rowk += t; + u.columnRotation(U); + v.columnRotation(V); +} + +/** + \brief Helper function of 3X3 SVD for flipping signs due to flipping signs of sigma + */ +inline void flipSign(int i, btMatrix3x3& U, btVector3& sigma) +{ + sigma[i] = -sigma[i]; + U[0][i] = -U[0][i]; + U[1][i] = -U[1][i]; + U[2][i] = -U[2][i]; +} + +inline void flipSign(int i, btMatrix3x3& U) +{ + U[0][i] = -U[0][i]; + U[1][i] = -U[1][i]; + U[2][i] = -U[2][i]; +} + +inline void swapCol(btMatrix3x3& A, int i, int j) +{ + for (int d = 0; d < 3; ++d) + std::swap(A[d][i], A[d][j]); +} +/** + \brief Helper function of 3X3 SVD for sorting singular values + */ +inline void sort(btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V, int t) +{ + if (t == 0) + { + // Case: sigma(0) > |sigma(1)| >= |sigma(2)| + if (btFabs(sigma[1]) >= btFabs(sigma[2])) { + if (sigma[1] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + return; + } + + //fix sign of sigma for both cases + if (sigma[2] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + + //swap sigma(1) and sigma(2) for both cases + std::swap(sigma[1], sigma[2]); + // swap the col 1 and col 2 for U,V + swapCol(U,1,2); + swapCol(V,1,2); + + // Case: |sigma(2)| >= sigma(0) > |simga(1)| + if (sigma[1] > sigma[0]) { + std::swap(sigma[0], sigma[1]); + swapCol(U,0,1); + swapCol(V,0,1); + } + + // Case: sigma(0) >= |sigma(2)| > |simga(1)| + else { + flipSign(2, U); + flipSign(2, V); + } + } + else if (t == 1) + { + // Case: |sigma(0)| >= sigma(1) > |sigma(2)| + if (btFabs(sigma[0]) >= sigma[1]) { + if (sigma[0] < 0) { + flipSign(0, U, sigma); + flipSign(2, U, sigma); + } + return; + } + + //swap sigma(0) and sigma(1) for both cases + std::swap(sigma[0], sigma[1]); + swapCol(U, 0, 1); + swapCol(V, 0, 1); + + // Case: sigma(1) > |sigma(2)| >= |sigma(0)| + if (btFabs(sigma[1]) < btFabs(sigma[2])) { + std::swap(sigma[1], sigma[2]); + swapCol(U, 1, 2); + swapCol(V, 1, 2); + } + + // Case: sigma(1) >= |sigma(0)| > |sigma(2)| + else { + flipSign(1, U); + flipSign(1, V); + } + + // fix sign for both cases + if (sigma[1] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + } +} + +/** + \brief 3X3 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U is a rotation matrix. + \param[out] sigma Diagonal matrix, sorted with decreasing magnitude. The third one can be negative. + \param[out] V is a rotation matrix. + */ +inline int singularValueDecomposition(const btMatrix3x3& A, + btMatrix3x3& U, + btVector3& sigma, + btMatrix3x3& V, + btScalar tol = 128*std::numeric_limits<btScalar>::epsilon()) +{ + using std::fabs; + btMatrix3x3 B = A; + U.setIdentity(); + V.setIdentity(); + + makeUpperBidiag(B, U, V); + + int count = 0; + btScalar mu = (btScalar)0; + GivensRotation r(0, 1); + + btScalar alpha_1 = B[0][0]; + btScalar beta_1 = B[0][1]; + btScalar alpha_2 = B[1][1]; + btScalar alpha_3 = B[2][2]; + btScalar beta_2 = B[1][2]; + btScalar gamma_1 = alpha_1 * beta_1; + btScalar gamma_2 = alpha_2 * beta_2; + btScalar val = alpha_1 * alpha_1 + alpha_2 * alpha_2 + alpha_3 * alpha_3 + beta_1 * beta_1 + beta_2 * beta_2; + if (val > SIMD_EPSILON) + { + tol *= btMax((btScalar)0.5 * btSqrt(val), (btScalar)1); + } + /** + Do implicit shift QR until A^T A is block diagonal + */ + int max_count = 100; + + while (btFabs(beta_2) > tol && btFabs(beta_1) > tol + && btFabs(alpha_1) > tol && btFabs(alpha_2) > tol + && btFabs(alpha_3) > tol + && count < max_count) { + mu = wilkinsonShift(alpha_2 * alpha_2 + beta_1 * beta_1, gamma_2, alpha_3 * alpha_3 + beta_2 * beta_2); + + r.compute(alpha_1 * alpha_1 - mu, gamma_1); + r.columnRotation(B); + + r.columnRotation(V); + zeroChase(B, U, V); + + alpha_1 = B[0][0]; + beta_1 = B[0][1]; + alpha_2 = B[1][1]; + alpha_3 = B[2][2]; + beta_2 = B[1][2]; + gamma_1 = alpha_1 * beta_1; + gamma_2 = alpha_2 * beta_2; + count++; + } + /** + Handle the cases of one of the alphas and betas being 0 + Sorted by ease of handling and then frequency + of occurrence + + If B is of form + x x 0 + 0 x 0 + 0 0 x + */ + if (btFabs(beta_2) <= tol) { + process<0>(B, U, sigma, V); + sort(U, sigma, V,0); + } + /** + If B is of form + x 0 0 + 0 x x + 0 0 x + */ + else if (btFabs(beta_1) <= tol) { + process<1>(B, U, sigma, V); + sort(U, sigma, V,1); + } + /** + If B is of form + x x 0 + 0 0 x + 0 0 x + */ + else if (btFabs(alpha_2) <= tol) { + /** + Reduce B to + x x 0 + 0 0 0 + 0 0 x + */ + GivensRotation r1(1, 2); + r1.computeUnconventional(B[1][2], B[2][2]); + r1.rowRotation(B); + r1.columnRotation(U); + + process<0>(B, U, sigma, V); + sort(U, sigma, V, 0); + } + /** + If B is of form + x x 0 + 0 x x + 0 0 0 + */ + else if (btFabs(alpha_3) <= tol) { + /** + Reduce B to + x x + + 0 x 0 + 0 0 0 + */ + GivensRotation r1(1, 2); + r1.compute(B[1][1], B[1][2]); + r1.columnRotation(B); + r1.columnRotation(V); + /** + Reduce B to + x x 0 + + x 0 + 0 0 0 + */ + GivensRotation r2(0, 2); + r2.compute(B[0][0], B[0][2]); + r2.columnRotation(B); + r2.columnRotation(V); + + process<0>(B, U, sigma, V); + sort(U, sigma, V, 0); + } + /** + If B is of form + 0 x 0 + 0 x x + 0 0 x + */ + else if (btFabs(alpha_1) <= tol) { + /** + Reduce B to + 0 0 + + 0 x x + 0 0 x + */ + GivensRotation r1(0, 1); + r1.computeUnconventional(B[0][1], B[1][1]); + r1.rowRotation(B); + r1.columnRotation(U); + + /** + Reduce B to + 0 0 0 + 0 x x + 0 + x + */ + GivensRotation r2(0, 2); + r2.computeUnconventional(B[0][2], B[2][2]); + r2.rowRotation(B); + r2.columnRotation(U); + + process<1>(B, U, sigma, V); + sort(U, sigma, V, 1); + } + + return count; +} +#endif /* btImplicitQRSVD_h */ diff --git a/thirdparty/bullet/LinearMath/btMatrix3x3.h b/thirdparty/bullet/LinearMath/btMatrix3x3.h index 0a08ae409a..cc33a68664 100644 --- a/thirdparty/bullet/LinearMath/btMatrix3x3.h +++ b/thirdparty/bullet/LinearMath/btMatrix3x3.h @@ -125,6 +125,13 @@ public: m_el[2] = other.m_el[2]; return *this; } + + SIMD_FORCE_INLINE btMatrix3x3(const btVector3& v0, const btVector3& v1, const btVector3& v2) + { + m_el[0] = v0; + m_el[1] = v1; + m_el[2] = v2; + } #endif diff --git a/thirdparty/bullet/LinearMath/btMatrixX.h b/thirdparty/bullet/LinearMath/btMatrixX.h index 388c57c2d7..961c94dc63 100644 --- a/thirdparty/bullet/LinearMath/btMatrixX.h +++ b/thirdparty/bullet/LinearMath/btMatrixX.h @@ -338,24 +338,23 @@ struct btMatrixX btMatrixX res(rows(), other.cols()); res.setZero(); // BT_PROFILE("btMatrixX mul"); - for (int j = 0; j < res.cols(); ++j) + for (int i = 0; i < rows(); ++i) { { - for (int i = 0; i < res.rows(); ++i) + for (int j = 0; j < other.cols(); ++j) { T dotProd = 0; - // T dotProd2=0; - //int waste=0,waste2=0; - { - // bool useOtherCol = true; { - for (int v = 0; v < rows(); v++) + int r = rows(); + int c = cols(); + + for (int k = 0; k < cols(); k++) { - T w = (*this)(i, v); - if (other(v, j) != 0.f) + T w = (*this)(i, k); + if (other(k, j) != 0.f) { - dotProd += w * other(v, j); + dotProd += w * other(k, j); } } } diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h index ba49d6700b..86d94e8974 100644 --- a/thirdparty/bullet/LinearMath/btScalar.h +++ b/thirdparty/bullet/LinearMath/btScalar.h @@ -25,13 +25,23 @@ subject to the following restrictions: #include <float.h> /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 288 +#define BT_BULLET_VERSION 289 inline int btGetVersion() { return BT_BULLET_VERSION; } +inline int btIsDoublePrecision() +{ + #ifdef BT_USE_DOUBLE_PRECISION + return true; + #else + return false; + #endif +} + + // The following macro "BT_NOT_EMPTY_FILE" can be put into a file // in order suppress the MS Visual C++ Linker warning 4221 // @@ -63,7 +73,12 @@ inline int btGetVersion() #endif #ifdef _WIN32 - #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) + #if defined(__GNUC__) // it should handle both MINGW and CYGWIN + #define SIMD_FORCE_INLINE __inline__ __attribute__((always_inline)) + #define ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128))) + #elif ( defined(_MSC_VER) && _MSC_VER < 1300 ) #define SIMD_FORCE_INLINE inline #define ATTRIBUTE_ALIGNED16(a) a #define ATTRIBUTE_ALIGNED64(a) a @@ -95,11 +110,16 @@ inline int btGetVersion() #if defined (_M_ARM) //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however) #elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) + +#ifdef __clang__ +#define __BT_DISABLE_SSE__ +#endif +#ifndef __BT_DISABLE_SSE__ #if _MSC_VER>1400 #define BT_USE_SIMD_VECTOR3 #endif - #define BT_USE_SSE +#endif//__BT_DISABLE_SSE__ #ifdef BT_USE_SSE #if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) diff --git a/thirdparty/bullet/LinearMath/btSerializer.cpp b/thirdparty/bullet/LinearMath/btSerializer.cpp index 18683c8fa7..068836f2c4 100644 --- a/thirdparty/bullet/LinearMath/btSerializer.cpp +++ b/thirdparty/bullet/LinearMath/btSerializer.cpp @@ -1,6 +1,5 @@ -// clang-format off char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-74),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -87,606 +86,607 @@ 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+char(13),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(125),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(53),char(0), +char(92),char(0),char(19),char(0),char(50),char(0),char(-68),char(0),char(89),char(0),char(127),char(1),char(82),char(0),char(-128),char(1),char(83),char(0),char(-127),char(1), +char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1), +char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1), +char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1), 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+char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0), +char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1), +char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1), +char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1), +char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1), +char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1), +char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1), +char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1), +char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1), +char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1), +char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1), +char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),}; int sBulletDNAlen= sizeof(sBulletDNAstr); - -// clang-format on diff --git a/thirdparty/bullet/LinearMath/btSerializer.h b/thirdparty/bullet/LinearMath/btSerializer.h index ba34441615..2ee712047f 100644 --- a/thirdparty/bullet/LinearMath/btSerializer.h +++ b/thirdparty/bullet/LinearMath/btSerializer.h @@ -481,7 +481,7 @@ public: buffer[9] = '2'; buffer[10] = '8'; - buffer[11] = '8'; + buffer[11] = '9'; } virtual void startSerialization() diff --git a/thirdparty/bullet/LinearMath/btSerializer64.cpp b/thirdparty/bullet/LinearMath/btSerializer64.cpp index cf281cdb36..6c4bc7031f 100644 --- a/thirdparty/bullet/LinearMath/btSerializer64.cpp +++ b/thirdparty/bullet/LinearMath/btSerializer64.cpp @@ -1,6 +1,5 @@ -// clang-format off char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-74),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -87,605 +86,607 @@ char(101),char(76),char(97),char(116),char(101),char(114),char(97),char(108),cha char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(68),char(105),char(115),char(116), char(97),char(110),char(99),char(101),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101), 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+char(7),char(0),char(61),char(1),char(7),char(0),char(62),char(1),char(7),char(0),char(63),char(1),char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1), +char(7),char(0),char(66),char(1),char(7),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1), +char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(7),char(0),char(74),char(1),char(7),char(0),char(75),char(1), +char(7),char(0),char(76),char(1),char(4),char(0),char(77),char(1),char(4),char(0),char(78),char(1),char(4),char(0),char(79),char(1),char(4),char(0),char(80),char(1), +char(4),char(0),char(-99),char(0),char(89),char(0),char(12),char(0),char(17),char(0),char(81),char(1),char(17),char(0),char(82),char(1),char(17),char(0),char(83),char(1), +char(13),char(0),char(84),char(1),char(13),char(0),char(85),char(1),char(7),char(0),char(86),char(1),char(4),char(0),char(87),char(1),char(4),char(0),char(88),char(1), +char(4),char(0),char(89),char(1),char(4),char(0),char(90),char(1),char(7),char(0),char(50),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(27),char(0), +char(19),char(0),char(91),char(1),char(17),char(0),char(92),char(1),char(17),char(0),char(93),char(1),char(13),char(0),char(84),char(1),char(13),char(0),char(94),char(1), +char(13),char(0),char(95),char(1),char(13),char(0),char(96),char(1),char(13),char(0),char(97),char(1),char(13),char(0),char(98),char(1),char(4),char(0),char(99),char(1), +char(7),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(103),char(1),char(7),char(0),char(104),char(1), +char(7),char(0),char(105),char(1),char(4),char(0),char(106),char(1),char(4),char(0),char(107),char(1),char(7),char(0),char(108),char(1),char(7),char(0),char(109),char(1), +char(7),char(0),char(110),char(1),char(7),char(0),char(111),char(1),char(7),char(0),char(112),char(1),char(7),char(0),char(113),char(1),char(4),char(0),char(114),char(1), +char(4),char(0),char(115),char(1),char(4),char(0),char(116),char(1),char(91),char(0),char(12),char(0),char(9),char(0),char(117),char(1),char(9),char(0),char(118),char(1), +char(13),char(0),char(119),char(1),char(7),char(0),char(120),char(1),char(7),char(0),char(-85),char(0),char(7),char(0),char(121),char(1),char(4),char(0),char(122),char(1), +char(13),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(125),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(53),char(0), +char(92),char(0),char(19),char(0),char(50),char(0),char(-68),char(0),char(89),char(0),char(127),char(1),char(82),char(0),char(-128),char(1),char(83),char(0),char(-127),char(1), +char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1), +char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1), +char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1), +char(93),char(0),char(28),char(0),char(16),char(0),char(-112),char(1),char(14),char(0),char(-111),char(1),char(14),char(0),char(-110),char(1),char(14),char(0),char(-109),char(1), +char(14),char(0),char(-108),char(1),char(14),char(0),char(-107),char(1),char(14),char(0),char(-106),char(1),char(14),char(0),char(-105),char(1),char(14),char(0),char(-104),char(1), +char(14),char(0),char(-103),char(1),char(8),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(-100),char(1), +char(4),char(0),char(-99),char(1),char(8),char(0),char(-98),char(1),char(8),char(0),char(-97),char(1),char(8),char(0),char(-96),char(1),char(8),char(0),char(-95),char(1), +char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(8),char(0),char(-91),char(1),char(8),char(0),char(-90),char(1), +char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0), +char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1), +char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1), +char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1), +char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1), +char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1), +char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1), +char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1), +char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1), +char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1), +char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1), +char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),}; int sBulletDNAlen64= sizeof(sBulletDNAstr64); -// clang-format on diff --git a/thirdparty/enet/LICENSE b/thirdparty/enet/LICENSE index 39af84a8f6..78d9dcf613 100644 --- a/thirdparty/enet/LICENSE +++ b/thirdparty/enet/LICENSE @@ -1,4 +1,4 @@ -Copyright (c) 2002-2016 Lee Salzman +Copyright (c) 2002-2019 Lee Salzman Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: diff --git a/thirdparty/enet/enet/enet.h b/thirdparty/enet/enet/enet.h index 246cbb0a62..966e3a465d 100644 --- a/thirdparty/enet/enet/enet.h +++ b/thirdparty/enet/enet/enet.h @@ -22,7 +22,7 @@ extern "C" #define ENET_VERSION_MAJOR 1 #define ENET_VERSION_MINOR 3 -#define ENET_VERSION_PATCH 13 +#define ENET_VERSION_PATCH 14 #define ENET_VERSION_CREATE(major, minor, patch) (((major)<<16) | ((minor)<<8) | (patch)) #define ENET_VERSION_GET_MAJOR(version) (((version)>>16)&0xFF) #define ENET_VERSION_GET_MINOR(version) (((version)>>8)&0xFF) @@ -507,6 +507,17 @@ ENET_API int enet_socketset_select (ENetSocket, ENetSocketSet *, ENetSock /** @defgroup Address ENet address functions @{ */ + +/** Attempts to parse the printable form of the IP address in the parameter hostName + and sets the host field in the address parameter if successful. + @param address destination to store the parsed IP address + @param hostName IP address to parse + @retval 0 on success + @retval < 0 on failure + @returns the address of the given hostName in address on success +*/ +ENET_API int enet_address_set_host_ip (ENetAddress * address, const char * hostName); + /** Attempts to resolve the host named by the parameter hostName and sets the host field in the address parameter if successful. @param address destination to store resolved address diff --git a/thirdparty/enet/enet/godot.h b/thirdparty/enet/enet/godot.h index 9230af428b..4f25ea9c7b 100644 --- a/thirdparty/enet/enet/godot.h +++ b/thirdparty/enet/enet/godot.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/thirdparty/enet/godot.cpp b/thirdparty/enet/godot.cpp index 822a294781..63580b6d1a 100644 --- a/thirdparty/enet/godot.cpp +++ b/thirdparty/enet/godot.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/thirdparty/enet/patches/ipv6_support.patch b/thirdparty/enet/patches/ipv6_support.patch new file mode 100644 index 0000000000..1f79863645 --- /dev/null +++ b/thirdparty/enet/patches/ipv6_support.patch @@ -0,0 +1,105 @@ +diff --git a/thirdparty/enet/enet/enet.h b/thirdparty/enet/enet/enet.h +index 650b199ee5..246cbb0a62 100644 +--- a/thirdparty/enet/enet/enet.h ++++ b/thirdparty/enet/enet/enet.h +@@ -10,13 +10,10 @@ extern "C" + { + #endif + ++#include <stdint.h> + #include <stdlib.h> + +-#ifdef _WIN32 +-#include "enet/win32.h" +-#else +-#include "enet/unix.h" +-#endif ++#include "enet/godot.h" + + #include "enet/types.h" + #include "enet/protocol.h" +@@ -72,7 +69,6 @@ typedef enum _ENetSocketShutdown + ENET_SOCKET_SHUTDOWN_READ_WRITE = 2 + } ENetSocketShutdown; + +-#define ENET_HOST_ANY 0 + #define ENET_HOST_BROADCAST 0xFFFFFFFFU + #define ENET_PORT_ANY 0 + +@@ -88,9 +84,11 @@ typedef enum _ENetSocketShutdown + */ + typedef struct _ENetAddress + { +- enet_uint32 host; ++ uint8_t host[16]; + enet_uint16 port; ++ uint8_t wildcard; + } ENetAddress; ++#define enet_host_equal(host_a, host_b) (memcmp(&host_a, &host_b,16) == 0) + + /** + * Packet flag bit constants. +@@ -519,6 +517,16 @@ ENET_API int enet_socketset_select (ENetSocket, ENetSocketSet *, ENetSock + */ + ENET_API int enet_address_set_host (ENetAddress * address, const char * hostName); + ++/** Sets the host field in the address parameter from ip struct. ++ @param address destination to store resolved address ++ @param ip the ip struct to read from ++ @param size the size of the ip struct. ++ @retval 0 on success ++ @retval != 0 on failure ++ @returns the address of the given ip in address on success. ++*/ ++ENET_API void enet_address_set_ip(ENetAddress * address, const uint8_t * ip, size_t size); ++ + /** Gives the printable form of the IP address specified in the address parameter. + @param address address printed + @param hostName destination for name, must not be NULL +diff --git a/thirdparty/enet/host.c b/thirdparty/enet/host.c +index 3be6c0922c..fc4da4ca67 100644 +--- a/thirdparty/enet/host.c ++++ b/thirdparty/enet/host.c +@@ -87,7 +87,7 @@ enet_host_create (const ENetAddress * address, size_t peerCount, size_t channelL + host -> commandCount = 0; + host -> bufferCount = 0; + host -> checksum = NULL; +- host -> receivedAddress.host = ENET_HOST_ANY; ++ memset(host -> receivedAddress.host, 0, 16); + host -> receivedAddress.port = 0; + host -> receivedData = NULL; + host -> receivedDataLength = 0; +diff --git a/thirdparty/enet/protocol.c b/thirdparty/enet/protocol.c +index 29d648732d..ab26886de4 100644 +--- a/thirdparty/enet/protocol.c ++++ b/thirdparty/enet/protocol.c +@@ -298,7 +298,7 @@ enet_protocol_handle_connect (ENetHost * host, ENetProtocolHeader * header, ENet + } + else + if (currentPeer -> state != ENET_PEER_STATE_CONNECTING && +- currentPeer -> address.host == host -> receivedAddress.host) ++ enet_host_equal(currentPeer -> address.host, host -> receivedAddress.host)) + { + if (currentPeer -> address.port == host -> receivedAddress.port && + currentPeer -> connectID == command -> connect.connectID) +@@ -1010,9 +1010,8 @@ enet_protocol_handle_incoming_commands (ENetHost * host, ENetEvent * event) + + if (peer -> state == ENET_PEER_STATE_DISCONNECTED || + peer -> state == ENET_PEER_STATE_ZOMBIE || +- ((host -> receivedAddress.host != peer -> address.host || +- host -> receivedAddress.port != peer -> address.port) && +- peer -> address.host != ENET_HOST_BROADCAST) || ++ (!enet_host_equal(host -> receivedAddress.host, peer -> address.host) || ++ host -> receivedAddress.port != peer -> address.port) || + (peer -> outgoingPeerID < ENET_PROTOCOL_MAXIMUM_PEER_ID && + sessionID != peer -> incomingSessionID)) + return 0; +@@ -1054,7 +1053,7 @@ enet_protocol_handle_incoming_commands (ENetHost * host, ENetEvent * event) + + if (peer != NULL) + { +- peer -> address.host = host -> receivedAddress.host; ++ enet_address_set_ip(&(peer -> address), host -> receivedAddress.host, 16); + peer -> address.port = host -> receivedAddress.port; + peer -> incomingDataTotal += host -> receivedDataLength; + } diff --git a/thirdparty/enet/protocol.c b/thirdparty/enet/protocol.c index cbeea1a763..28ad5fc41c 100644 --- a/thirdparty/enet/protocol.c +++ b/thirdparty/enet/protocol.c @@ -9,7 +9,6 @@ #include "enet/time.h" #include "enet/enet.h" - static size_t commandSizes [ENET_PROTOCOL_COMMAND_COUNT] = { 0, @@ -164,7 +163,10 @@ enet_protocol_remove_sent_unreliable_commands (ENetPeer * peer) { ENetOutgoingCommand * outgoingCommand; - while (! enet_list_empty (& peer -> sentUnreliableCommands)) + if (enet_list_empty (& peer -> sentUnreliableCommands)) + return; + + do { outgoingCommand = (ENetOutgoingCommand *) enet_list_front (& peer -> sentUnreliableCommands); @@ -183,7 +185,13 @@ enet_protocol_remove_sent_unreliable_commands (ENetPeer * peer) } enet_free (outgoingCommand); - } + } while (! enet_list_empty (& peer -> sentUnreliableCommands)); + + if (peer -> state == ENET_PEER_STATE_DISCONNECT_LATER && + enet_list_empty (& peer -> outgoingReliableCommands) && + enet_list_empty (& peer -> outgoingUnreliableCommands) && + enet_list_empty (& peer -> sentReliableCommands)) + enet_peer_disconnect (peer, peer -> eventData); } static ENetProtocolCommand @@ -1406,7 +1414,8 @@ enet_protocol_send_unreliable_outgoing_commands (ENetHost * host, ENetPeer * pee if (peer -> state == ENET_PEER_STATE_DISCONNECT_LATER && enet_list_empty (& peer -> outgoingReliableCommands) && enet_list_empty (& peer -> outgoingUnreliableCommands) && - enet_list_empty (& peer -> sentReliableCommands)) + enet_list_empty (& peer -> sentReliableCommands) && + enet_list_empty (& peer -> sentUnreliableCommands)) enet_peer_disconnect (peer, peer -> eventData); } @@ -1691,7 +1700,7 @@ enet_protocol_send_outgoing_commands (ENetHost * host, ENetEvent * event, int ch & host -> buffers [1], host -> bufferCount - 1, originalSize, host -> packetData [1], - originalSize); + originalSize); if (compressedSize > 0 && compressedSize < originalSize) { host -> headerFlags |= ENET_PROTOCOL_HEADER_FLAG_COMPRESSED; diff --git a/thirdparty/libwebp/src/dec/frame_dec.c b/thirdparty/libwebp/src/dec/frame_dec.c index bda9e1a6f6..04609a8e56 100644 --- a/thirdparty/libwebp/src/dec/frame_dec.c +++ b/thirdparty/libwebp/src/dec/frame_dec.c @@ -732,7 +732,7 @@ static int AllocateMemory(VP8Decoder* const dec) { mem += f_info_size; dec->thread_ctx_.id_ = 0; dec->thread_ctx_.f_info_ = dec->f_info_; - if (dec->mt_method_ > 0) { + if (dec->filter_type_ > 0 && dec->mt_method_ > 0) { // secondary cache line. The deblocking process need to make use of the // filtering strength from previous macroblock row, while the new ones // are being decoded in parallel. We'll just swap the pointers. diff --git a/thirdparty/libwebp/src/dec/idec_dec.c b/thirdparty/libwebp/src/dec/idec_dec.c index 9bc9166808..9035df5659 100644 --- a/thirdparty/libwebp/src/dec/idec_dec.c +++ b/thirdparty/libwebp/src/dec/idec_dec.c @@ -166,9 +166,11 @@ static int AppendToMemBuffer(WebPIDecoder* const idec, VP8Decoder* const dec = (VP8Decoder*)idec->dec_; MemBuffer* const mem = &idec->mem_; const int need_compressed_alpha = NeedCompressedAlpha(idec); - const uint8_t* const old_start = mem->buf_ + mem->start_; + const uint8_t* const old_start = + (mem->buf_ == NULL) ? NULL : mem->buf_ + mem->start_; const uint8_t* const old_base = need_compressed_alpha ? dec->alpha_data_ : old_start; + assert(mem->buf_ != NULL || mem->start_ == 0); assert(mem->mode_ == MEM_MODE_APPEND); if (data_size > MAX_CHUNK_PAYLOAD) { // security safeguard: trying to allocate more than what the format @@ -184,7 +186,7 @@ static int AppendToMemBuffer(WebPIDecoder* const idec, uint8_t* const new_buf = (uint8_t*)WebPSafeMalloc(extra_size, sizeof(*new_buf)); if (new_buf == NULL) return 0; - memcpy(new_buf, old_base, current_size); + if (old_base != NULL) memcpy(new_buf, old_base, current_size); WebPSafeFree(mem->buf_); mem->buf_ = new_buf; mem->buf_size_ = (size_t)extra_size; @@ -192,6 +194,7 @@ static int AppendToMemBuffer(WebPIDecoder* const idec, mem->end_ = current_size; } + assert(mem->buf_ != NULL); memcpy(mem->buf_ + mem->end_, data, data_size); mem->end_ += data_size; assert(mem->end_ <= mem->buf_size_); @@ -204,7 +207,9 @@ static int RemapMemBuffer(WebPIDecoder* const idec, const uint8_t* const data, size_t data_size) { MemBuffer* const mem = &idec->mem_; const uint8_t* const old_buf = mem->buf_; - const uint8_t* const old_start = old_buf + mem->start_; + const uint8_t* const old_start = + (old_buf == NULL) ? NULL : old_buf + mem->start_; + assert(old_buf != NULL || mem->start_ == 0); assert(mem->mode_ == MEM_MODE_MAP); if (data_size < mem->buf_size_) return 0; // can't remap to a shorter buffer! diff --git a/thirdparty/libwebp/src/dec/vp8i_dec.h b/thirdparty/libwebp/src/dec/vp8i_dec.h index 3de8d86f90..600a684410 100644 --- a/thirdparty/libwebp/src/dec/vp8i_dec.h +++ b/thirdparty/libwebp/src/dec/vp8i_dec.h @@ -31,8 +31,8 @@ extern "C" { // version numbers #define DEC_MAJ_VERSION 1 -#define DEC_MIN_VERSION 0 -#define DEC_REV_VERSION 3 +#define DEC_MIN_VERSION 1 +#define DEC_REV_VERSION 0 // YUV-cache parameters. Cache is 32-bytes wide (= one cacheline). // Constraints are: We need to store one 16x16 block of luma samples (y), diff --git a/thirdparty/libwebp/src/dec/vp8l_dec.c b/thirdparty/libwebp/src/dec/vp8l_dec.c index d3e27119ea..93615d4ed2 100644 --- a/thirdparty/libwebp/src/dec/vp8l_dec.c +++ b/thirdparty/libwebp/src/dec/vp8l_dec.c @@ -754,11 +754,11 @@ static WEBP_INLINE HTreeGroup* GetHtreeGroupForPos(VP8LMetadata* const hdr, typedef void (*ProcessRowsFunc)(VP8LDecoder* const dec, int row); -static void ApplyInverseTransforms(VP8LDecoder* const dec, int num_rows, +static void ApplyInverseTransforms(VP8LDecoder* const dec, + int start_row, int num_rows, const uint32_t* const rows) { int n = dec->next_transform_; const int cache_pixs = dec->width_ * num_rows; - const int start_row = dec->last_row_; const int end_row = start_row + num_rows; const uint32_t* rows_in = rows; uint32_t* const rows_out = dec->argb_cache_; @@ -789,8 +789,7 @@ static void ProcessRows(VP8LDecoder* const dec, int row) { VP8Io* const io = dec->io_; uint8_t* rows_data = (uint8_t*)dec->argb_cache_; const int in_stride = io->width * sizeof(uint32_t); // in unit of RGBA - - ApplyInverseTransforms(dec, num_rows, rows); + ApplyInverseTransforms(dec, dec->last_row_, num_rows, rows); if (!SetCropWindow(io, dec->last_row_, row, &rows_data, in_stride)) { // Nothing to output (this time). } else { @@ -1193,6 +1192,7 @@ static int DecodeImageData(VP8LDecoder* const dec, uint32_t* const data, VP8LFillBitWindow(br); dist_code = GetCopyDistance(dist_symbol, br); dist = PlaneCodeToDistance(width, dist_code); + if (VP8LIsEndOfStream(br)) break; if (src - data < (ptrdiff_t)dist || src_end - src < (ptrdiff_t)length) { goto Error; @@ -1553,7 +1553,7 @@ static void ExtractAlphaRows(VP8LDecoder* const dec, int last_row) { const int cache_pixs = width * num_rows_to_process; uint8_t* const dst = output + width * cur_row; const uint32_t* const src = dec->argb_cache_; - ApplyInverseTransforms(dec, num_rows_to_process, in); + ApplyInverseTransforms(dec, cur_row, num_rows_to_process, in); WebPExtractGreen(src, dst, cache_pixs); AlphaApplyFilter(alph_dec, cur_row, cur_row + num_rows_to_process, dst, width); diff --git a/thirdparty/libwebp/src/dec/vp8li_dec.h b/thirdparty/libwebp/src/dec/vp8li_dec.h index 0a4d613f99..72b2e86120 100644 --- a/thirdparty/libwebp/src/dec/vp8li_dec.h +++ b/thirdparty/libwebp/src/dec/vp8li_dec.h @@ -37,7 +37,7 @@ struct VP8LTransform { int bits_; // subsampling bits defining transform window. int xsize_; // transform window X index. int ysize_; // transform window Y index. - uint32_t *data_; // transform data. + uint32_t* data_; // transform data. }; typedef struct { @@ -48,23 +48,23 @@ typedef struct { int huffman_mask_; int huffman_subsample_bits_; int huffman_xsize_; - uint32_t *huffman_image_; + uint32_t* huffman_image_; int num_htree_groups_; - HTreeGroup *htree_groups_; - HuffmanCode *huffman_tables_; + HTreeGroup* htree_groups_; + HuffmanCode* huffman_tables_; } VP8LMetadata; typedef struct VP8LDecoder VP8LDecoder; struct VP8LDecoder { VP8StatusCode status_; VP8LDecodeState state_; - VP8Io *io_; + VP8Io* io_; - const WebPDecBuffer *output_; // shortcut to io->opaque->output + const WebPDecBuffer* output_; // shortcut to io->opaque->output - uint32_t *pixels_; // Internal data: either uint8_t* for alpha + uint32_t* pixels_; // Internal data: either uint8_t* for alpha // or uint32_t* for BGRA. - uint32_t *argb_cache_; // Scratch buffer for temporary BGRA storage. + uint32_t* argb_cache_; // Scratch buffer for temporary BGRA storage. VP8LBitReader br_; int incremental_; // if true, incremental decoding is expected @@ -86,8 +86,8 @@ struct VP8LDecoder { // or'd bitset storing the transforms types. uint32_t transforms_seen_; - uint8_t *rescaler_memory; // Working memory for rescaling work. - WebPRescaler *rescaler; // Common rescaler for all channels. + uint8_t* rescaler_memory; // Working memory for rescaling work. + WebPRescaler* rescaler; // Common rescaler for all channels. }; //------------------------------------------------------------------------------ diff --git a/thirdparty/libwebp/src/demux/demux.c b/thirdparty/libwebp/src/demux/demux.c index ab6433e54b..1b3cc2e0a8 100644 --- a/thirdparty/libwebp/src/demux/demux.c +++ b/thirdparty/libwebp/src/demux/demux.c @@ -24,8 +24,8 @@ #include "src/webp/format_constants.h" #define DMUX_MAJ_VERSION 1 -#define DMUX_MIN_VERSION 0 -#define DMUX_REV_VERSION 3 +#define DMUX_MIN_VERSION 1 +#define DMUX_REV_VERSION 0 typedef struct { size_t start_; // start location of the data diff --git a/thirdparty/libwebp/src/dsp/dec_neon.c b/thirdparty/libwebp/src/dsp/dec_neon.c index ffa697fcf9..239ec4167e 100644 --- a/thirdparty/libwebp/src/dsp/dec_neon.c +++ b/thirdparty/libwebp/src/dsp/dec_neon.c @@ -1361,7 +1361,8 @@ static void RD4_NEON(uint8_t* dst) { // Down-right const uint32_t J = dst[-1 + 1 * BPS]; const uint32_t K = dst[-1 + 2 * BPS]; const uint32_t L = dst[-1 + 3 * BPS]; - const uint64x1_t LKJI____ = vcreate_u64(L | (K << 8) | (J << 16) | (I << 24)); + const uint64x1_t LKJI____ = + vcreate_u64((uint64_t)L | (K << 8) | (J << 16) | (I << 24)); const uint64x1_t LKJIXABC = vorr_u64(LKJI____, ____XABC); const uint8x8_t KJIXABC_ = vreinterpret_u8_u64(vshr_n_u64(LKJIXABC, 8)); const uint8x8_t JIXABC__ = vreinterpret_u8_u64(vshr_n_u64(LKJIXABC, 16)); @@ -1427,10 +1428,16 @@ static WEBP_INLINE void DC8_NEON(uint8_t* dst, int do_top, int do_left) { if (do_top) { const uint8x8_t A = vld1_u8(dst - BPS); // top row +#if defined(__aarch64__) + const uint16x8_t B = vmovl_u8(A); + const uint16_t p2 = vaddvq_u16(B); + sum_top = vdupq_n_u16(p2); +#else const uint16x4_t p0 = vpaddl_u8(A); // cascading summation of the top const uint16x4_t p1 = vpadd_u16(p0, p0); const uint16x4_t p2 = vpadd_u16(p1, p1); sum_top = vcombine_u16(p2, p2); +#endif } if (do_left) { diff --git a/thirdparty/libwebp/src/dsp/dsp.h b/thirdparty/libwebp/src/dsp/dsp.h index fafc2d05d3..a784de334a 100644 --- a/thirdparty/libwebp/src/dsp/dsp.h +++ b/thirdparty/libwebp/src/dsp/dsp.h @@ -246,9 +246,9 @@ extern VP8Fdct VP8FTransform2; // performs two transforms at a time extern VP8WHT VP8FTransformWHT; // Predictions // *dst is the destination block. *top and *left can be NULL. -typedef void (*VP8IntraPreds)(uint8_t *dst, const uint8_t* left, +typedef void (*VP8IntraPreds)(uint8_t* dst, const uint8_t* left, const uint8_t* top); -typedef void (*VP8Intra4Preds)(uint8_t *dst, const uint8_t* top); +typedef void (*VP8Intra4Preds)(uint8_t* dst, const uint8_t* top); extern VP8Intra4Preds VP8EncPredLuma4; extern VP8IntraPreds VP8EncPredLuma16; extern VP8IntraPreds VP8EncPredChroma8; diff --git a/thirdparty/libwebp/src/dsp/lossless.c b/thirdparty/libwebp/src/dsp/lossless.c index d05af84e7b..aad5f43ec9 100644 --- a/thirdparty/libwebp/src/dsp/lossless.c +++ b/thirdparty/libwebp/src/dsp/lossless.c @@ -81,7 +81,7 @@ static WEBP_INLINE uint32_t ClampedAddSubtractHalf(uint32_t c0, uint32_t c1, // gcc <= 4.9 on ARM generates incorrect code in Select() when Sub3() is // inlined. -#if defined(__arm__) && LOCAL_GCC_VERSION <= 0x409 +#if defined(__arm__) && defined(__GNUC__) && LOCAL_GCC_VERSION <= 0x409 # define LOCAL_INLINE __attribute__ ((noinline)) #else # define LOCAL_INLINE WEBP_INLINE @@ -167,15 +167,20 @@ static uint32_t Predictor13_C(uint32_t left, const uint32_t* const top) { return pred; } -GENERATE_PREDICTOR_ADD(Predictor0_C, PredictorAdd0_C) +static void PredictorAdd0_C(const uint32_t* in, const uint32_t* upper, + int num_pixels, uint32_t* out) { + int x; + (void)upper; + for (x = 0; x < num_pixels; ++x) out[x] = VP8LAddPixels(in[x], ARGB_BLACK); +} static void PredictorAdd1_C(const uint32_t* in, const uint32_t* upper, int num_pixels, uint32_t* out) { int i; uint32_t left = out[-1]; + (void)upper; for (i = 0; i < num_pixels; ++i) { out[i] = left = VP8LAddPixels(in[i], left); } - (void)upper; } GENERATE_PREDICTOR_ADD(Predictor2_C, PredictorAdd2_C) GENERATE_PREDICTOR_ADD(Predictor3_C, PredictorAdd3_C) diff --git a/thirdparty/libwebp/src/dsp/lossless_common.h b/thirdparty/libwebp/src/dsp/lossless_common.h index a2648d1737..9c2ebe6809 100644 --- a/thirdparty/libwebp/src/dsp/lossless_common.h +++ b/thirdparty/libwebp/src/dsp/lossless_common.h @@ -177,6 +177,7 @@ uint32_t VP8LSubPixels(uint32_t a, uint32_t b) { static void PREDICTOR_ADD(const uint32_t* in, const uint32_t* upper, \ int num_pixels, uint32_t* out) { \ int x; \ + assert(upper != NULL); \ for (x = 0; x < num_pixels; ++x) { \ const uint32_t pred = (PREDICTOR)(out[x - 1], upper + x); \ out[x] = VP8LAddPixels(in[x], pred); \ @@ -189,6 +190,7 @@ static void PREDICTOR_ADD(const uint32_t* in, const uint32_t* upper, \ static void PREDICTOR_SUB(const uint32_t* in, const uint32_t* upper, \ int num_pixels, uint32_t* out) { \ int x; \ + assert(upper != NULL); \ for (x = 0; x < num_pixels; ++x) { \ const uint32_t pred = (PREDICTOR)(in[x - 1], upper + x); \ out[x] = VP8LSubPixels(in[x], pred); \ diff --git a/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c b/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c index 8adc52139b..e676f6fdc9 100644 --- a/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c +++ b/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c @@ -455,8 +455,9 @@ static void PredictorSub0_SSE2(const uint32_t* in, const uint32_t* upper, _mm_storeu_si128((__m128i*)&out[i], res); } if (i != num_pixels) { - VP8LPredictorsSub_C[0](in + i, upper + i, num_pixels - i, out + i); + VP8LPredictorsSub_C[0](in + i, NULL, num_pixels - i, out + i); } + (void)upper; } #define GENERATE_PREDICTOR_1(X, IN) \ diff --git a/thirdparty/libwebp/src/dsp/lossless_sse2.c b/thirdparty/libwebp/src/dsp/lossless_sse2.c index 17d7576419..aef0cee1b3 100644 --- a/thirdparty/libwebp/src/dsp/lossless_sse2.c +++ b/thirdparty/libwebp/src/dsp/lossless_sse2.c @@ -191,8 +191,9 @@ static void PredictorAdd0_SSE2(const uint32_t* in, const uint32_t* upper, _mm_storeu_si128((__m128i*)&out[i], res); } if (i != num_pixels) { - VP8LPredictorsAdd_C[0](in + i, upper + i, num_pixels - i, out + i); + VP8LPredictorsAdd_C[0](in + i, NULL, num_pixels - i, out + i); } + (void)upper; } // Predictor1: left. diff --git a/thirdparty/libwebp/src/dsp/upsampling_msa.c b/thirdparty/libwebp/src/dsp/upsampling_msa.c index 99eea70e7d..f2e03e85e9 100644 --- a/thirdparty/libwebp/src/dsp/upsampling_msa.c +++ b/thirdparty/libwebp/src/dsp/upsampling_msa.c @@ -576,9 +576,9 @@ static void FUNC_NAME(const uint8_t* top_y, const uint8_t* bot_y, \ const uint32_t l_uv = ((cur_u[0]) | ((cur_v[0]) << 16)); \ const uint32_t uv0 = (3 * tl_uv + l_uv + 0x00020002u) >> 2; \ const uint8_t* ptop_y = &top_y[1]; \ - uint8_t *ptop_dst = top_dst + XSTEP; \ + uint8_t* ptop_dst = top_dst + XSTEP; \ const uint8_t* pbot_y = &bot_y[1]; \ - uint8_t *pbot_dst = bot_dst + XSTEP; \ + uint8_t* pbot_dst = bot_dst + XSTEP; \ \ FUNC(top_y[0], uv0 & 0xff, (uv0 >> 16), top_dst); \ if (bot_y != NULL) { \ diff --git a/thirdparty/libwebp/src/dsp/upsampling_neon.c b/thirdparty/libwebp/src/dsp/upsampling_neon.c index 17cbc9f911..6ba71a7de5 100644 --- a/thirdparty/libwebp/src/dsp/upsampling_neon.c +++ b/thirdparty/libwebp/src/dsp/upsampling_neon.c @@ -58,8 +58,8 @@ } while (0) // Turn the macro into a function for reducing code-size when non-critical -static void Upsample16Pixels_NEON(const uint8_t *r1, const uint8_t *r2, - uint8_t *out) { +static void Upsample16Pixels_NEON(const uint8_t* r1, const uint8_t* r2, + uint8_t* out) { UPSAMPLE_16PIXELS(r1, r2, out); } @@ -190,14 +190,14 @@ static const int16_t kCoeffs1[4] = { 19077, 26149, 6419, 13320 }; } #define NEON_UPSAMPLE_FUNC(FUNC_NAME, FMT, XSTEP) \ -static void FUNC_NAME(const uint8_t *top_y, const uint8_t *bottom_y, \ - const uint8_t *top_u, const uint8_t *top_v, \ - const uint8_t *cur_u, const uint8_t *cur_v, \ - uint8_t *top_dst, uint8_t *bottom_dst, int len) { \ +static void FUNC_NAME(const uint8_t* top_y, const uint8_t* bottom_y, \ + const uint8_t* top_u, const uint8_t* top_v, \ + const uint8_t* cur_u, const uint8_t* cur_v, \ + uint8_t* top_dst, uint8_t* bottom_dst, int len) { \ int block; \ /* 16 byte aligned array to cache reconstructed u and v */ \ uint8_t uv_buf[2 * 32 + 15]; \ - uint8_t *const r_uv = (uint8_t*)((uintptr_t)(uv_buf + 15) & ~15); \ + uint8_t* const r_uv = (uint8_t*)((uintptr_t)(uv_buf + 15) & ~15); \ const int uv_len = (len + 1) >> 1; \ /* 9 pixels must be read-able for each block */ \ const int num_blocks = (uv_len - 1) >> 3; \ diff --git a/thirdparty/libwebp/src/enc/histogram_enc.c b/thirdparty/libwebp/src/enc/histogram_enc.c index d89b98524a..a4e6bf3a98 100644 --- a/thirdparty/libwebp/src/enc/histogram_enc.c +++ b/thirdparty/libwebp/src/enc/histogram_enc.c @@ -641,7 +641,7 @@ static void HistogramAnalyzeEntropyBin(VP8LHistogramSet* const image_histo, // Merges some histograms with same bin_id together if it's advantageous. // Sets the remaining histograms to NULL. static void HistogramCombineEntropyBin(VP8LHistogramSet* const image_histo, - int *num_used, + int* num_used, const uint16_t* const clusters, uint16_t* const cluster_mappings, VP8LHistogram* cur_combo, diff --git a/thirdparty/libwebp/src/enc/picture_csp_enc.c b/thirdparty/libwebp/src/enc/picture_csp_enc.c index 02d9df76d5..718e014ed2 100644 --- a/thirdparty/libwebp/src/enc/picture_csp_enc.c +++ b/thirdparty/libwebp/src/enc/picture_csp_enc.c @@ -29,11 +29,15 @@ #define USE_INVERSE_ALPHA_TABLE #ifdef WORDS_BIGENDIAN -#define ALPHA_OFFSET 0 // uint32_t 0xff000000 is 0xff,00,00,00 in memory +// uint32_t 0xff000000 is 0xff,00,00,00 in memory +#define CHANNEL_OFFSET(i) (i) #else -#define ALPHA_OFFSET 3 // uint32_t 0xff000000 is 0x00,00,00,ff in memory +// uint32_t 0xff000000 is 0x00,00,00,ff in memory +#define CHANNEL_OFFSET(i) (3-(i)) #endif +#define ALPHA_OFFSET CHANNEL_OFFSET(0) + //------------------------------------------------------------------------------ // Detection of non-trivial transparency @@ -997,10 +1001,10 @@ static int PictureARGBToYUVA(WebPPicture* picture, WebPEncCSP colorspace, return WebPEncodingSetError(picture, VP8_ENC_ERROR_INVALID_CONFIGURATION); } else { const uint8_t* const argb = (const uint8_t*)picture->argb; - const uint8_t* const a = argb + (0 ^ ALPHA_OFFSET); - const uint8_t* const r = argb + (1 ^ ALPHA_OFFSET); - const uint8_t* const g = argb + (2 ^ ALPHA_OFFSET); - const uint8_t* const b = argb + (3 ^ ALPHA_OFFSET); + const uint8_t* const a = argb + CHANNEL_OFFSET(0); + const uint8_t* const r = argb + CHANNEL_OFFSET(1); + const uint8_t* const g = argb + CHANNEL_OFFSET(2); + const uint8_t* const b = argb + CHANNEL_OFFSET(3); picture->colorspace = WEBP_YUV420; return ImportYUVAFromRGBA(r, g, b, a, 4, 4 * picture->argb_stride, @@ -1050,7 +1054,7 @@ int WebPPictureYUVAToARGB(WebPPicture* picture) { const int height = picture->height; const int argb_stride = 4 * picture->argb_stride; uint8_t* dst = (uint8_t*)picture->argb; - const uint8_t *cur_u = picture->u, *cur_v = picture->v, *cur_y = picture->y; + const uint8_t* cur_u = picture->u, *cur_v = picture->v, *cur_y = picture->y; WebPUpsampleLinePairFunc upsample = WebPGetLinePairConverter(ALPHA_OFFSET > 0); diff --git a/thirdparty/libwebp/src/enc/vp8i_enc.h b/thirdparty/libwebp/src/enc/vp8i_enc.h index 24e1944610..fedcaeea27 100644 --- a/thirdparty/libwebp/src/enc/vp8i_enc.h +++ b/thirdparty/libwebp/src/enc/vp8i_enc.h @@ -31,8 +31,8 @@ extern "C" { // version numbers #define ENC_MAJ_VERSION 1 -#define ENC_MIN_VERSION 0 -#define ENC_REV_VERSION 3 +#define ENC_MIN_VERSION 1 +#define ENC_REV_VERSION 0 enum { MAX_LF_LEVELS = 64, // Maximum loop filter level MAX_VARIABLE_LEVEL = 67, // last (inclusive) level with variable cost @@ -249,7 +249,7 @@ typedef struct { int percent0_; // saved initial progress percent DError left_derr_; // left error diffusion (u/v) - DError *top_derr_; // top diffusion error - NULL if disabled + DError* top_derr_; // top diffusion error - NULL if disabled uint8_t* y_left_; // left luma samples (addressable from index -1 to 15). uint8_t* u_left_; // left u samples (addressable from index -1 to 7) diff --git a/thirdparty/libwebp/src/mux/muxi.h b/thirdparty/libwebp/src/mux/muxi.h index 7bc0b07e9b..ad3e1bdb97 100644 --- a/thirdparty/libwebp/src/mux/muxi.h +++ b/thirdparty/libwebp/src/mux/muxi.h @@ -28,8 +28,8 @@ extern "C" { // Defines and constants. #define MUX_MAJ_VERSION 1 -#define MUX_MIN_VERSION 0 -#define MUX_REV_VERSION 3 +#define MUX_MIN_VERSION 1 +#define MUX_REV_VERSION 0 // Chunk object. typedef struct WebPChunk WebPChunk; diff --git a/thirdparty/libwebp/src/mux/muxread.c b/thirdparty/libwebp/src/mux/muxread.c index 268f6acb53..ae3b876bc5 100644 --- a/thirdparty/libwebp/src/mux/muxread.c +++ b/thirdparty/libwebp/src/mux/muxread.c @@ -100,7 +100,7 @@ static int MuxImageParse(const WebPChunk* const chunk, int copy_data, WebPMuxImage* const wpi) { const uint8_t* bytes = chunk->data_.bytes; size_t size = chunk->data_.size; - const uint8_t* const last = bytes + size; + const uint8_t* const last = (bytes == NULL) ? NULL : bytes + size; WebPChunk subchunk; size_t subchunk_size; WebPChunk** unknown_chunk_list = &wpi->unknown_; diff --git a/thirdparty/libwebp/src/utils/color_cache_utils.h b/thirdparty/libwebp/src/utils/color_cache_utils.h index ec21d5199b..b45d47c2d5 100644 --- a/thirdparty/libwebp/src/utils/color_cache_utils.h +++ b/thirdparty/libwebp/src/utils/color_cache_utils.h @@ -26,7 +26,7 @@ extern "C" { // Main color cache struct. typedef struct { - uint32_t *colors_; // color entries + uint32_t* colors_; // color entries int hash_shift_; // Hash shift: 32 - hash_bits_. int hash_bits_; } VP8LColorCache; diff --git a/thirdparty/libwebp/src/utils/thread_utils.c b/thirdparty/libwebp/src/utils/thread_utils.c index 438296b45f..4e470e17ac 100644 --- a/thirdparty/libwebp/src/utils/thread_utils.c +++ b/thirdparty/libwebp/src/utils/thread_utils.c @@ -73,7 +73,7 @@ typedef struct { #endif static int pthread_create(pthread_t* const thread, const void* attr, - unsigned int (__stdcall *start)(void*), void* arg) { + unsigned int (__stdcall* start)(void*), void* arg) { (void)attr; #ifdef USE_CREATE_THREAD *thread = CreateThread(NULL, /* lpThreadAttributes */ diff --git a/thirdparty/libwebp/src/utils/utils.c b/thirdparty/libwebp/src/utils/utils.c index 44d5c14f01..764f752b82 100644 --- a/thirdparty/libwebp/src/utils/utils.c +++ b/thirdparty/libwebp/src/utils/utils.c @@ -216,9 +216,14 @@ void WebPSafeFree(void* const ptr) { free(ptr); } -// Public API function. +// Public API functions. + +void* WebPMalloc(size_t size) { + return WebPSafeMalloc(1, size); +} + void WebPFree(void* ptr) { - free(ptr); + WebPSafeFree(ptr); } //------------------------------------------------------------------------------ diff --git a/thirdparty/libwebp/src/webp/decode.h b/thirdparty/libwebp/src/webp/decode.h index ae8bfe840e..80dd0ef0cc 100644 --- a/thirdparty/libwebp/src/webp/decode.h +++ b/thirdparty/libwebp/src/webp/decode.h @@ -20,7 +20,7 @@ extern "C" { #endif -#define WEBP_DECODER_ABI_VERSION 0x0208 // MAJOR(8b) + MINOR(8b) +#define WEBP_DECODER_ABI_VERSION 0x0209 // MAJOR(8b) + MINOR(8b) // Note: forward declaring enumerations is not allowed in (strict) C and C++, // the types are left here for reference. @@ -91,9 +91,6 @@ WEBP_EXTERN uint8_t* WebPDecodeYUV(const uint8_t* data, size_t data_size, uint8_t** u, uint8_t** v, int* stride, int* uv_stride); -// Releases memory returned by the WebPDecode*() functions above. -WEBP_EXTERN void WebPFree(void* ptr); - // These five functions are variants of the above ones, that decode the image // directly into a pre-allocated buffer 'output_buffer'. The maximum storage // available in this buffer is indicated by 'output_buffer_size'. If this diff --git a/thirdparty/libwebp/src/webp/encode.h b/thirdparty/libwebp/src/webp/encode.h index 339f8810aa..655166e7d4 100644 --- a/thirdparty/libwebp/src/webp/encode.h +++ b/thirdparty/libwebp/src/webp/encode.h @@ -20,7 +20,7 @@ extern "C" { #endif -#define WEBP_ENCODER_ABI_VERSION 0x020e // MAJOR(8b) + MINOR(8b) +#define WEBP_ENCODER_ABI_VERSION 0x020f // MAJOR(8b) + MINOR(8b) // Note: forward declaring enumerations is not allowed in (strict) C and C++, // the types are left here for reference. @@ -79,9 +79,6 @@ WEBP_EXTERN size_t WebPEncodeLosslessBGRA(const uint8_t* bgra, int width, int height, int stride, uint8_t** output); -// Releases memory returned by the WebPEncode*() functions above. -WEBP_EXTERN void WebPFree(void* ptr); - //------------------------------------------------------------------------------ // Coding parameters @@ -306,7 +303,7 @@ struct WebPPicture { // YUV input (mostly used for input to lossy compression) WebPEncCSP colorspace; // colorspace: should be YUV420 for now (=Y'CbCr). int width, height; // dimensions (less or equal to WEBP_MAX_DIMENSION) - uint8_t *y, *u, *v; // pointers to luma/chroma planes. + uint8_t* y, *u, *v; // pointers to luma/chroma planes. int y_stride, uv_stride; // luma/chroma strides. uint8_t* a; // pointer to the alpha plane int a_stride; // stride of the alpha plane @@ -350,7 +347,7 @@ struct WebPPicture { uint32_t pad3[3]; // padding for later use // Unused for now - uint8_t *pad4, *pad5; + uint8_t* pad4, *pad5; uint32_t pad6[8]; // padding for later use // PRIVATE FIELDS diff --git a/thirdparty/libwebp/src/webp/mux.h b/thirdparty/libwebp/src/webp/mux.h index 66096a92e0..7d27489a40 100644 --- a/thirdparty/libwebp/src/webp/mux.h +++ b/thirdparty/libwebp/src/webp/mux.h @@ -57,7 +57,7 @@ extern "C" { WebPMuxGetChunk(mux, "ICCP", &icc_profile); // ... (Consume icc_data). WebPMuxDelete(mux); - free(data); + WebPFree(data); */ // Note: forward declaring enumerations is not allowed in (strict) C and C++, @@ -245,7 +245,7 @@ WEBP_EXTERN WebPMuxError WebPMuxPushFrame( WebPMux* mux, const WebPMuxFrameInfo* frame, int copy_data); // Gets the nth frame from the mux object. -// The content of 'frame->bitstream' is allocated using malloc(), and NOT +// The content of 'frame->bitstream' is allocated using WebPMalloc(), and NOT // owned by the 'mux' object. It MUST be deallocated by the caller by calling // WebPDataClear(). // nth=0 has a special meaning - last position. @@ -376,10 +376,10 @@ WEBP_EXTERN WebPMuxError WebPMuxNumChunks(const WebPMux* mux, // Assembles all chunks in WebP RIFF format and returns in 'assembled_data'. // This function also validates the mux object. // Note: The content of 'assembled_data' will be ignored and overwritten. -// Also, the content of 'assembled_data' is allocated using malloc(), and NOT -// owned by the 'mux' object. It MUST be deallocated by the caller by calling -// WebPDataClear(). It's always safe to call WebPDataClear() upon return, -// even in case of error. +// Also, the content of 'assembled_data' is allocated using WebPMalloc(), and +// NOT owned by the 'mux' object. It MUST be deallocated by the caller by +// calling WebPDataClear(). It's always safe to call WebPDataClear() upon +// return, even in case of error. // Parameters: // mux - (in/out) object whose chunks are to be assembled // assembled_data - (out) assembled WebP data diff --git a/thirdparty/libwebp/src/webp/mux_types.h b/thirdparty/libwebp/src/webp/mux_types.h index ceea77dfc6..2fe8195839 100644 --- a/thirdparty/libwebp/src/webp/mux_types.h +++ b/thirdparty/libwebp/src/webp/mux_types.h @@ -14,7 +14,6 @@ #ifndef WEBP_WEBP_MUX_TYPES_H_ #define WEBP_WEBP_MUX_TYPES_H_ -#include <stdlib.h> // free() #include <string.h> // memset() #include "./types.h" @@ -56,6 +55,7 @@ typedef enum WebPMuxAnimBlend { // Data type used to describe 'raw' data, e.g., chunk data // (ICC profile, metadata) and WebP compressed image data. +// 'bytes' memory must be allocated using WebPMalloc() and such. struct WebPData { const uint8_t* bytes; size_t size; @@ -68,11 +68,11 @@ static WEBP_INLINE void WebPDataInit(WebPData* webp_data) { } } -// Clears the contents of the 'webp_data' object by calling free(). Does not -// deallocate the object itself. +// Clears the contents of the 'webp_data' object by calling WebPFree(). +// Does not deallocate the object itself. static WEBP_INLINE void WebPDataClear(WebPData* webp_data) { if (webp_data != NULL) { - free((void*)webp_data->bytes); + WebPFree((void*)webp_data->bytes); WebPDataInit(webp_data); } } @@ -83,7 +83,7 @@ static WEBP_INLINE int WebPDataCopy(const WebPData* src, WebPData* dst) { if (src == NULL || dst == NULL) return 0; WebPDataInit(dst); if (src->bytes != NULL && src->size != 0) { - dst->bytes = (uint8_t*)malloc(src->size); + dst->bytes = (uint8_t*)WebPMalloc(src->size); if (dst->bytes == NULL) return 0; memcpy((void*)dst->bytes, src->bytes, src->size); dst->size = src->size; diff --git a/thirdparty/libwebp/src/webp/types.h b/thirdparty/libwebp/src/webp/types.h index 0ce2622e41..47f7f2b007 100644 --- a/thirdparty/libwebp/src/webp/types.h +++ b/thirdparty/libwebp/src/webp/types.h @@ -7,7 +7,7 @@ // be found in the AUTHORS file in the root of the source tree. // ----------------------------------------------------------------------------- // -// Common types +// Common types + memory wrappers // // Author: Skal (pascal.massimino@gmail.com) @@ -49,4 +49,20 @@ typedef long long int int64_t; // Macro to check ABI compatibility (same major revision number) #define WEBP_ABI_IS_INCOMPATIBLE(a, b) (((a) >> 8) != ((b) >> 8)) +#ifdef __cplusplus +extern "C" { +#endif + +// Allocates 'size' bytes of memory. Returns NULL upon error. Memory +// must be deallocated by calling WebPFree(). This function is made available +// by the core 'libwebp' library. +WEBP_EXTERN void* WebPMalloc(size_t size); + +// Releases memory returned by the WebPDecode*() functions (from decode.h). +WEBP_EXTERN void WebPFree(void* ptr); + +#ifdef __cplusplus +} // extern "C" +#endif + #endif // WEBP_WEBP_TYPES_H_ diff --git a/thirdparty/mbedtls/include/mbedtls/bignum.h b/thirdparty/mbedtls/include/mbedtls/bignum.h index 1c8607264f..22b373113e 100644 --- a/thirdparty/mbedtls/include/mbedtls/bignum.h +++ b/thirdparty/mbedtls/include/mbedtls/bignum.h @@ -184,7 +184,7 @@ extern "C" { */ typedef struct mbedtls_mpi { - int s; /*!< integer sign */ + int s; /*!< Sign: -1 if the mpi is negative, 1 otherwise */ size_t n; /*!< total # of limbs */ mbedtls_mpi_uint *p; /*!< pointer to limbs */ } @@ -560,6 +560,24 @@ int mbedtls_mpi_cmp_abs( const mbedtls_mpi *X, const mbedtls_mpi *Y ); int mbedtls_mpi_cmp_mpi( const mbedtls_mpi *X, const mbedtls_mpi *Y ); /** + * \brief Check if an MPI is less than the other in constant time. + * + * \param X The left-hand MPI. This must point to an initialized MPI + * with the same allocated length as Y. + * \param Y The right-hand MPI. This must point to an initialized MPI + * with the same allocated length as X. + * \param ret The result of the comparison: + * \c 1 if \p X is less than \p Y. + * \c 0 if \p X is greater than or equal to \p Y. + * + * \return 0 on success. + * \return MBEDTLS_ERR_MPI_BAD_INPUT_DATA if the allocated length of + * the two input MPIs is not the same. + */ +int mbedtls_mpi_lt_mpi_ct( const mbedtls_mpi *X, const mbedtls_mpi *Y, + unsigned *ret ); + +/** * \brief Compare an MPI with an integer. * * \param X The left-hand MPI. This must point to an initialized MPI. diff --git a/thirdparty/mbedtls/include/mbedtls/check_config.h b/thirdparty/mbedtls/include/mbedtls/check_config.h index 6eabcc8748..d076c2352f 100644 --- a/thirdparty/mbedtls/include/mbedtls/check_config.h +++ b/thirdparty/mbedtls/include/mbedtls/check_config.h @@ -281,6 +281,14 @@ #error "MBEDTLS_MEMORY_BUFFER_ALLOC_C defined, but not all prerequisites" #endif +#if defined(MBEDTLS_MEMORY_BACKTRACE) && !defined(MBEDTLS_MEMORY_BUFFER_ALLOC_C) +#error "MBEDTLS_MEMORY_BACKTRACE defined, but not all prerequesites" +#endif + +#if defined(MBEDTLS_MEMORY_DEBUG) && !defined(MBEDTLS_MEMORY_BUFFER_ALLOC_C) +#error "MBEDTLS_MEMORY_DEBUG defined, but not all prerequesites" +#endif + #if defined(MBEDTLS_PADLOCK_C) && !defined(MBEDTLS_HAVE_ASM) #error "MBEDTLS_PADLOCK_C defined, but not all prerequisites" #endif diff --git a/thirdparty/mbedtls/include/mbedtls/config.h b/thirdparty/mbedtls/include/mbedtls/config.h index 0cc502cd79..8d9c31a504 100644 --- a/thirdparty/mbedtls/include/mbedtls/config.h +++ b/thirdparty/mbedtls/include/mbedtls/config.h @@ -689,6 +689,13 @@ #define MBEDTLS_CIPHER_PADDING_ZEROS_AND_LEN #define MBEDTLS_CIPHER_PADDING_ZEROS +/** \def MBEDTLS_CTR_DRBG_USE_128_BIT_KEY + * + * Uncomment this macro to use a 128-bit key in the CTR_DRBG module. + * By default, CTR_DRBG uses a 256-bit key. + */ +//#define MBEDTLS_CTR_DRBG_USE_128_BIT_KEY + /** * \def MBEDTLS_ENABLE_WEAK_CIPHERSUITES * @@ -2149,7 +2156,11 @@ * * Enable the CTR_DRBG AES-based random generator. * The CTR_DRBG generator uses AES-256 by default. - * To use AES-128 instead, enable MBEDTLS_CTR_DRBG_USE_128_BIT_KEY below. + * To use AES-128 instead, enable \c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY above. + * + * \note To achieve a 256-bit security strength with CTR_DRBG, + * you must use AES-256 *and* use sufficient entropy. + * See ctr_drbg.h for more details. * * Module: library/ctr_drbg.c * Caller: @@ -3043,7 +3054,6 @@ //#define MBEDTLS_CTR_DRBG_MAX_INPUT 256 /**< Maximum number of additional input bytes */ //#define MBEDTLS_CTR_DRBG_MAX_REQUEST 1024 /**< Maximum number of requested bytes per call */ //#define MBEDTLS_CTR_DRBG_MAX_SEED_INPUT 384 /**< Maximum size of (re)seed buffer */ -//#define MBEDTLS_CTR_DRBG_USE_128_BIT_KEY /**< Use 128-bit key for CTR_DRBG - may reduce security (see ctr_drbg.h) */ /* HMAC_DRBG options */ //#define MBEDTLS_HMAC_DRBG_RESEED_INTERVAL 10000 /**< Interval before reseed is performed by default */ diff --git a/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h b/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h index cc3df7b113..e0b5ed9c93 100644 --- a/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h +++ b/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h @@ -1,7 +1,8 @@ /** * \file ctr_drbg.h * - * \brief This file contains CTR_DRBG definitions and functions. + * \brief This file contains definitions and functions for the + * CTR_DRBG pseudorandom generator. * * CTR_DRBG is a standardized way of building a PRNG from a block-cipher * in counter mode operation, as defined in <em>NIST SP 800-90A: @@ -9,13 +10,35 @@ * Bit Generators</em>. * * The Mbed TLS implementation of CTR_DRBG uses AES-256 (default) or AES-128 - * as the underlying block cipher. - * - * \warning Using 128-bit keys for CTR_DRBG limits the security of generated - * keys and operations that use random values generated to 128-bit security. + * (if \c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY is enabled at compile time) + * as the underlying block cipher, with a derivation function. + * The initial seeding grabs #MBEDTLS_CTR_DRBG_ENTROPY_LEN bytes of entropy. + * See the documentation of mbedtls_ctr_drbg_seed() for more details. + * + * Based on NIST SP 800-90A §10.2.1 table 3 and NIST SP 800-57 part 1 table 2, + * here are the security strengths achieved in typical configuration: + * - 256 bits under the default configuration of the library, with AES-256 + * and with #MBEDTLS_CTR_DRBG_ENTROPY_LEN set to 48 or more. + * - 256 bits if AES-256 is used, #MBEDTLS_CTR_DRBG_ENTROPY_LEN is set + * to 32 or more, and the DRBG is initialized with an explicit + * nonce in the \c custom parameter to mbedtls_ctr_drbg_seed(). + * - 128 bits if AES-256 is used but #MBEDTLS_CTR_DRBG_ENTROPY_LEN is + * between 24 and 47 and the DRBG is not initialized with an explicit + * nonce (see mbedtls_ctr_drbg_seed()). + * - 128 bits if AES-128 is used (\c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY enabled) + * and #MBEDTLS_CTR_DRBG_ENTROPY_LEN is set to 24 or more (which is + * always the case unless it is explicitly set to a different value + * in config.h). + * + * Note that the value of #MBEDTLS_CTR_DRBG_ENTROPY_LEN defaults to: + * - \c 48 if the module \c MBEDTLS_SHA512_C is enabled and the symbol + * \c MBEDTLS_ENTROPY_FORCE_SHA256 is disabled at compile time. + * This is the default configuration of the library. + * - \c 32 if the module \c MBEDTLS_SHA512_C is disabled at compile time. + * - \c 32 if \c MBEDTLS_ENTROPY_FORCE_SHA256 is enabled at compile time. */ /* - * Copyright (C) 2006-2018, Arm Limited (or its affiliates), All Rights Reserved + * Copyright (C) 2006-2019, Arm Limited (or its affiliates), All Rights Reserved * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); you may @@ -56,9 +79,19 @@ #define MBEDTLS_CTR_DRBG_BLOCKSIZE 16 /**< The block size used by the cipher. */ #if defined(MBEDTLS_CTR_DRBG_USE_128_BIT_KEY) -#define MBEDTLS_CTR_DRBG_KEYSIZE 16 /**< The key size used by the cipher (compile-time choice: 128 bits). */ +#define MBEDTLS_CTR_DRBG_KEYSIZE 16 +/**< The key size in bytes used by the cipher. + * + * Compile-time choice: 16 bytes (128 bits) + * because #MBEDTLS_CTR_DRBG_USE_128_BIT_KEY is enabled. + */ #else -#define MBEDTLS_CTR_DRBG_KEYSIZE 32 /**< The key size used by the cipher (compile-time choice: 256 bits). */ +#define MBEDTLS_CTR_DRBG_KEYSIZE 32 +/**< The key size in bytes used by the cipher. + * + * Compile-time choice: 32 bytes (256 bits) + * because \c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY is disabled. + */ #endif #define MBEDTLS_CTR_DRBG_KEYBITS ( MBEDTLS_CTR_DRBG_KEYSIZE * 8 ) /**< The key size for the DRBG operation, in bits. */ @@ -73,21 +106,31 @@ * \{ */ +/** \def MBEDTLS_CTR_DRBG_ENTROPY_LEN + * + * \brief The amount of entropy used per seed by default, in bytes. + */ #if !defined(MBEDTLS_CTR_DRBG_ENTROPY_LEN) #if defined(MBEDTLS_SHA512_C) && !defined(MBEDTLS_ENTROPY_FORCE_SHA256) +/** This is 48 bytes because the entropy module uses SHA-512 + * (\c MBEDTLS_ENTROPY_FORCE_SHA256 is disabled). + */ #define MBEDTLS_CTR_DRBG_ENTROPY_LEN 48 -/**< The amount of entropy used per seed by default: - * <ul><li>48 with SHA-512.</li> - * <li>32 with SHA-256.</li></ul> + +#else /* defined(MBEDTLS_SHA512_C) && !defined(MBEDTLS_ENTROPY_FORCE_SHA256) */ + +/** This is 32 bytes because the entropy module uses SHA-256 + * (the SHA512 module is disabled or + * \c MBEDTLS_ENTROPY_FORCE_SHA256 is enabled). */ -#else -#define MBEDTLS_CTR_DRBG_ENTROPY_LEN 32 -/**< Amount of entropy used per seed by default: - * <ul><li>48 with SHA-512.</li> - * <li>32 with SHA-256.</li></ul> +#if !defined(MBEDTLS_CTR_DRBG_USE_128_BIT_KEY) +/** \warning To achieve a 256-bit security strength, you must pass a nonce + * to mbedtls_ctr_drbg_seed(). */ -#endif -#endif +#endif /* !defined(MBEDTLS_CTR_DRBG_USE_128_BIT_KEY) */ +#define MBEDTLS_CTR_DRBG_ENTROPY_LEN 32 +#endif /* defined(MBEDTLS_SHA512_C) && !defined(MBEDTLS_ENTROPY_FORCE_SHA256) */ +#endif /* !defined(MBEDTLS_CTR_DRBG_ENTROPY_LEN) */ #if !defined(MBEDTLS_CTR_DRBG_RESEED_INTERVAL) #define MBEDTLS_CTR_DRBG_RESEED_INTERVAL 10000 @@ -106,7 +149,7 @@ #if !defined(MBEDTLS_CTR_DRBG_MAX_SEED_INPUT) #define MBEDTLS_CTR_DRBG_MAX_SEED_INPUT 384 -/**< The maximum size of seed or reseed buffer. */ +/**< The maximum size of seed or reseed buffer in bytes. */ #endif /* \} name SECTION: Module settings */ @@ -164,17 +207,68 @@ void mbedtls_ctr_drbg_init( mbedtls_ctr_drbg_context *ctx ); * \brief This function seeds and sets up the CTR_DRBG * entropy source for future reseeds. * - * \note Personalization data can be provided in addition to the more generic - * entropy source, to make this instantiation as unique as possible. - * + * A typical choice for the \p f_entropy and \p p_entropy parameters is + * to use the entropy module: + * - \p f_entropy is mbedtls_entropy_func(); + * - \p p_entropy is an instance of ::mbedtls_entropy_context initialized + * with mbedtls_entropy_init() (which registers the platform's default + * entropy sources). + * + * The entropy length is #MBEDTLS_CTR_DRBG_ENTROPY_LEN by default. + * You can override it by calling mbedtls_ctr_drbg_set_entropy_len(). + * + * You can provide a personalization string in addition to the + * entropy source, to make this instantiation as unique as possible. + * + * \note The _seed_material_ value passed to the derivation + * function in the CTR_DRBG Instantiate Process + * described in NIST SP 800-90A §10.2.1.3.2 + * is the concatenation of the string obtained from + * calling \p f_entropy and the \p custom string. + * The origin of the nonce depends on the value of + * the entropy length relative to the security strength. + * - If the entropy length is at least 1.5 times the + * security strength then the nonce is taken from the + * string obtained with \p f_entropy. + * - If the entropy length is less than the security + * strength, then the nonce is taken from \p custom. + * In this case, for compliance with SP 800-90A, + * you must pass a unique value of \p custom at + * each invocation. See SP 800-90A §8.6.7 for more + * details. + */ +#if MBEDTLS_CTR_DRBG_ENTROPY_LEN < MBEDTLS_CTR_DRBG_KEYSIZE * 3 / 2 +/** \warning When #MBEDTLS_CTR_DRBG_ENTROPY_LEN is less than + * #MBEDTLS_CTR_DRBG_KEYSIZE * 3 / 2, to achieve the + * maximum security strength permitted by CTR_DRBG, + * you must pass a value of \p custom that is a nonce: + * this value must never be repeated in subsequent + * runs of the same application or on a different + * device. + */ +#endif +/** * \param ctx The CTR_DRBG context to seed. + * It must have been initialized with + * mbedtls_ctr_drbg_init(). + * After a successful call to mbedtls_ctr_drbg_seed(), + * you may not call mbedtls_ctr_drbg_seed() again on + * the same context unless you call + * mbedtls_ctr_drbg_free() and mbedtls_ctr_drbg_init() + * again first. * \param f_entropy The entropy callback, taking as arguments the * \p p_entropy context, the buffer to fill, and the - length of the buffer. - * \param p_entropy The entropy context. - * \param custom Personalization data, that is device-specific - identifiers. Can be NULL. - * \param len The length of the personalization data. + * length of the buffer. + * \p f_entropy is always called with a buffer size + * equal to the entropy length. + * \param p_entropy The entropy context to pass to \p f_entropy. + * \param custom The personalization string. + * This can be \c NULL, in which case the personalization + * string is empty regardless of the value of \p len. + * \param len The length of the personalization string. + * This must be at most + * #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT + * - #MBEDTLS_CTR_DRBG_ENTROPY_LEN. * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED on failure. @@ -197,7 +291,8 @@ void mbedtls_ctr_drbg_free( mbedtls_ctr_drbg_context *ctx ); * The default value is off. * * \note If enabled, entropy is gathered at the beginning of - * every call to mbedtls_ctr_drbg_random_with_add(). + * every call to mbedtls_ctr_drbg_random_with_add() + * or mbedtls_ctr_drbg_random(). * Only use this if your entropy source has sufficient * throughput. * @@ -209,18 +304,37 @@ void mbedtls_ctr_drbg_set_prediction_resistance( mbedtls_ctr_drbg_context *ctx, /** * \brief This function sets the amount of entropy grabbed on each - * seed or reseed. The default value is - * #MBEDTLS_CTR_DRBG_ENTROPY_LEN. + * seed or reseed. + * + * The default value is #MBEDTLS_CTR_DRBG_ENTROPY_LEN. + * + * \note The security strength of CTR_DRBG is bounded by the + * entropy length. Thus: + * - When using AES-256 + * (\c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY is disabled, + * which is the default), + * \p len must be at least 32 (in bytes) + * to achieve a 256-bit strength. + * - When using AES-128 + * (\c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY is enabled) + * \p len must be at least 16 (in bytes) + * to achieve a 128-bit strength. * * \param ctx The CTR_DRBG context. - * \param len The amount of entropy to grab. + * \param len The amount of entropy to grab, in bytes. + * This must be at most #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT. */ void mbedtls_ctr_drbg_set_entropy_len( mbedtls_ctr_drbg_context *ctx, size_t len ); /** * \brief This function sets the reseed interval. - * The default value is #MBEDTLS_CTR_DRBG_RESEED_INTERVAL. + * + * The reseed interval is the number of calls to mbedtls_ctr_drbg_random() + * or mbedtls_ctr_drbg_random_with_add() after which the entropy function + * is called again. + * + * The default value is #MBEDTLS_CTR_DRBG_RESEED_INTERVAL. * * \param ctx The CTR_DRBG context. * \param interval The reseed interval. @@ -233,8 +347,12 @@ void mbedtls_ctr_drbg_set_reseed_interval( mbedtls_ctr_drbg_context *ctx, * extracts data from the entropy source. * * \param ctx The CTR_DRBG context. - * \param additional Additional data to add to the state. Can be NULL. + * \param additional Additional data to add to the state. Can be \c NULL. * \param len The length of the additional data. + * This must be less than + * #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT - \c entropy_len + * where \c entropy_len is the entropy length + * configured for the context. * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED on failure. @@ -246,7 +364,8 @@ int mbedtls_ctr_drbg_reseed( mbedtls_ctr_drbg_context *ctx, * \brief This function updates the state of the CTR_DRBG context. * * \param ctx The CTR_DRBG context. - * \param additional The data to update the state with. + * \param additional The data to update the state with. This must not be + * \c NULL unless \p add_len is \c 0. * \param add_len Length of \p additional in bytes. This must be at * most #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT. * @@ -264,14 +383,23 @@ int mbedtls_ctr_drbg_update_ret( mbedtls_ctr_drbg_context *ctx, * \brief This function updates a CTR_DRBG instance with additional * data and uses it to generate random data. * - * \note The function automatically reseeds if the reseed counter is exceeded. + * This function automatically reseeds if the reseed counter is exceeded + * or prediction resistance is enabled. * * \param p_rng The CTR_DRBG context. This must be a pointer to a * #mbedtls_ctr_drbg_context structure. * \param output The buffer to fill. - * \param output_len The length of the buffer. - * \param additional Additional data to update. Can be NULL. - * \param add_len The length of the additional data. + * \param output_len The length of the buffer in bytes. + * \param additional Additional data to update. Can be \c NULL, in which + * case the additional data is empty regardless of + * the value of \p add_len. + * \param add_len The length of the additional data + * if \p additional is not \c NULL. + * This must be less than #MBEDTLS_CTR_DRBG_MAX_INPUT + * and less than + * #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT - \c entropy_len + * where \c entropy_len is the entropy length + * configured for the context. * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED or @@ -284,12 +412,14 @@ int mbedtls_ctr_drbg_random_with_add( void *p_rng, /** * \brief This function uses CTR_DRBG to generate random data. * - * \note The function automatically reseeds if the reseed counter is exceeded. + * This function automatically reseeds if the reseed counter is exceeded + * or prediction resistance is enabled. + * * * \param p_rng The CTR_DRBG context. This must be a pointer to a * #mbedtls_ctr_drbg_context structure. * \param output The buffer to fill. - * \param output_len The length of the buffer. + * \param output_len The length of the buffer in bytes. * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED or @@ -336,7 +466,7 @@ MBEDTLS_DEPRECATED void mbedtls_ctr_drbg_update( * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_FILE_IO_ERROR on file error. - * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED on + * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED on reseed * failure. */ int mbedtls_ctr_drbg_write_seed_file( mbedtls_ctr_drbg_context *ctx, const char *path ); @@ -350,8 +480,10 @@ int mbedtls_ctr_drbg_write_seed_file( mbedtls_ctr_drbg_context *ctx, const char * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_FILE_IO_ERROR on file error. - * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED or - * #MBEDTLS_ERR_CTR_DRBG_INPUT_TOO_BIG on failure. + * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED on + * reseed failure. + * \return #MBEDTLS_ERR_CTR_DRBG_INPUT_TOO_BIG if the existing + * seed file is too large. */ int mbedtls_ctr_drbg_update_seed_file( mbedtls_ctr_drbg_context *ctx, const char *path ); #endif /* MBEDTLS_FS_IO */ diff --git a/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h b/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h index f1289cb306..7931c2281c 100644 --- a/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h +++ b/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h @@ -1,10 +1,14 @@ /** * \file hmac_drbg.h * - * \brief HMAC_DRBG (NIST SP 800-90A) + * \brief The HMAC_DRBG pseudorandom generator. + * + * This module implements the HMAC_DRBG pseudorandom generator described + * in <em>NIST SP 800-90A: Recommendation for Random Number Generation Using + * Deterministic Random Bit Generators</em>. */ /* - * Copyright (C) 2006-2015, ARM Limited, All Rights Reserved + * Copyright (C) 2006-2019, ARM Limited, All Rights Reserved * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); you may @@ -104,38 +108,72 @@ typedef struct mbedtls_hmac_drbg_context } mbedtls_hmac_drbg_context; /** - * \brief HMAC_DRBG context initialization - * Makes the context ready for mbedtls_hmac_drbg_seed(), - * mbedtls_hmac_drbg_seed_buf() or - * mbedtls_hmac_drbg_free(). + * \brief HMAC_DRBG context initialization. + * + * This function makes the context ready for mbedtls_hmac_drbg_seed(), + * mbedtls_hmac_drbg_seed_buf() or mbedtls_hmac_drbg_free(). * - * \param ctx HMAC_DRBG context to be initialized + * \param ctx HMAC_DRBG context to be initialized. */ void mbedtls_hmac_drbg_init( mbedtls_hmac_drbg_context *ctx ); /** - * \brief HMAC_DRBG initial seeding - * Seed and setup entropy source for future reseeds. - * - * \param ctx HMAC_DRBG context to be seeded - * \param md_info MD algorithm to use for HMAC_DRBG - * \param f_entropy Entropy callback (p_entropy, buffer to fill, buffer - * length) - * \param p_entropy Entropy context - * \param custom Personalization data (Device specific identifiers) - * (Can be NULL) - * \param len Length of personalization data - * - * \note The "security strength" as defined by NIST is set to: - * 128 bits if md_alg is SHA-1, - * 192 bits if md_alg is SHA-224, - * 256 bits if md_alg is SHA-256 or higher. - * Note that SHA-256 is just as efficient as SHA-224. + * \brief HMAC_DRBG initial seeding. + * + * Set the initial seed and set up the entropy source for future reseeds. + * + * A typical choice for the \p f_entropy and \p p_entropy parameters is + * to use the entropy module: + * - \p f_entropy is mbedtls_entropy_func(); + * - \p p_entropy is an instance of ::mbedtls_entropy_context initialized + * with mbedtls_entropy_init() (which registers the platform's default + * entropy sources). + * + * You can provide a personalization string in addition to the + * entropy source, to make this instantiation as unique as possible. * - * \return 0 if successful, or - * MBEDTLS_ERR_MD_BAD_INPUT_DATA, or - * MBEDTLS_ERR_MD_ALLOC_FAILED, or - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED. + * \note By default, the security strength as defined by NIST is: + * - 128 bits if \p md_info is SHA-1; + * - 192 bits if \p md_info is SHA-224; + * - 256 bits if \p md_info is SHA-256, SHA-384 or SHA-512. + * Note that SHA-256 is just as efficient as SHA-224. + * The security strength can be reduced if a smaller + * entropy length is set with + * mbedtls_hmac_drbg_set_entropy_len(). + * + * \note The default entropy length is the security strength + * (converted from bits to bytes). You can override + * it by calling mbedtls_hmac_drbg_set_entropy_len(). + * + * \note During the initial seeding, this function calls + * the entropy source to obtain a nonce + * whose length is half the entropy length. + * + * \param ctx HMAC_DRBG context to be seeded. + * \param md_info MD algorithm to use for HMAC_DRBG. + * \param f_entropy The entropy callback, taking as arguments the + * \p p_entropy context, the buffer to fill, and the + * length of the buffer. + * \p f_entropy is always called with a length that is + * less than or equal to the entropy length. + * \param p_entropy The entropy context to pass to \p f_entropy. + * \param custom The personalization string. + * This can be \c NULL, in which case the personalization + * string is empty regardless of the value of \p len. + * \param len The length of the personalization string. + * This must be at most #MBEDTLS_HMAC_DRBG_MAX_INPUT + * and also at most + * #MBEDTLS_HMAC_DRBG_MAX_SEED_INPUT - \p entropy_len * 3 / 2 + * where \p entropy_len is the entropy length + * described above. + * + * \return \c 0 if successful. + * \return #MBEDTLS_ERR_MD_BAD_INPUT_DATA if \p md_info is + * invalid. + * \return #MBEDTLS_ERR_MD_ALLOC_FAILED if there was not enough + * memory to allocate context data. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * if the call to \p f_entropy failed. */ int mbedtls_hmac_drbg_seed( mbedtls_hmac_drbg_context *ctx, const mbedtls_md_info_t * md_info, @@ -146,98 +184,131 @@ int mbedtls_hmac_drbg_seed( mbedtls_hmac_drbg_context *ctx, /** * \brief Initilisation of simpified HMAC_DRBG (never reseeds). - * (For use with deterministic ECDSA.) * - * \param ctx HMAC_DRBG context to be initialised - * \param md_info MD algorithm to use for HMAC_DRBG - * \param data Concatenation of entropy string and additional data - * \param data_len Length of data in bytes + * This function is meant for use in algorithms that need a pseudorandom + * input such as deterministic ECDSA. + * + * \param ctx HMAC_DRBG context to be initialised. + * \param md_info MD algorithm to use for HMAC_DRBG. + * \param data Concatenation of the initial entropy string and + * the additional data. + * \param data_len Length of \p data in bytes. * - * \return 0 if successful, or - * MBEDTLS_ERR_MD_BAD_INPUT_DATA, or - * MBEDTLS_ERR_MD_ALLOC_FAILED. + * \return \c 0 if successful. or + * \return #MBEDTLS_ERR_MD_BAD_INPUT_DATA if \p md_info is + * invalid. + * \return #MBEDTLS_ERR_MD_ALLOC_FAILED if there was not enough + * memory to allocate context data. */ int mbedtls_hmac_drbg_seed_buf( mbedtls_hmac_drbg_context *ctx, const mbedtls_md_info_t * md_info, const unsigned char *data, size_t data_len ); /** - * \brief Enable / disable prediction resistance (Default: Off) + * \brief This function turns prediction resistance on or off. + * The default value is off. * - * Note: If enabled, entropy is used for ctx->entropy_len before each call! - * Only use this if you have ample supply of good entropy! + * \note If enabled, entropy is gathered at the beginning of + * every call to mbedtls_hmac_drbg_random_with_add() + * or mbedtls_hmac_drbg_random(). + * Only use this if your entropy source has sufficient + * throughput. * - * \param ctx HMAC_DRBG context - * \param resistance MBEDTLS_HMAC_DRBG_PR_ON or MBEDTLS_HMAC_DRBG_PR_OFF + * \param ctx The HMAC_DRBG context. + * \param resistance #MBEDTLS_HMAC_DRBG_PR_ON or #MBEDTLS_HMAC_DRBG_PR_OFF. */ void mbedtls_hmac_drbg_set_prediction_resistance( mbedtls_hmac_drbg_context *ctx, int resistance ); /** - * \brief Set the amount of entropy grabbed on each reseed - * (Default: given by the security strength, which - * depends on the hash used, see \c mbedtls_hmac_drbg_init() ) + * \brief This function sets the amount of entropy grabbed on each + * seed or reseed. + * + * See the documentation of mbedtls_hmac_drbg_seed() for the default value. * - * \param ctx HMAC_DRBG context - * \param len Amount of entropy to grab, in bytes + * \param ctx The HMAC_DRBG context. + * \param len The amount of entropy to grab, in bytes. */ void mbedtls_hmac_drbg_set_entropy_len( mbedtls_hmac_drbg_context *ctx, size_t len ); /** - * \brief Set the reseed interval - * (Default: MBEDTLS_HMAC_DRBG_RESEED_INTERVAL) + * \brief Set the reseed interval. * - * \param ctx HMAC_DRBG context - * \param interval Reseed interval + * The reseed interval is the number of calls to mbedtls_hmac_drbg_random() + * or mbedtls_hmac_drbg_random_with_add() after which the entropy function + * is called again. + * + * The default value is #MBEDTLS_HMAC_DRBG_RESEED_INTERVAL. + * + * \param ctx The HMAC_DRBG context. + * \param interval The reseed interval. */ void mbedtls_hmac_drbg_set_reseed_interval( mbedtls_hmac_drbg_context *ctx, int interval ); /** - * \brief HMAC_DRBG update state + * \brief This function updates the state of the HMAC_DRBG context. * - * \param ctx HMAC_DRBG context - * \param additional Additional data to update state with, or NULL - * \param add_len Length of additional data, or 0 + * \param ctx The HMAC_DRBG context. + * \param additional The data to update the state with. + * If this is \c NULL, there is no additional data. + * \param add_len Length of \p additional in bytes. + * Unused if \p additional is \c NULL. * * \return \c 0 on success, or an error from the underlying * hash calculation. - * - * \note Additional data is optional, pass NULL and 0 as second - * third argument if no additional data is being used. */ int mbedtls_hmac_drbg_update_ret( mbedtls_hmac_drbg_context *ctx, const unsigned char *additional, size_t add_len ); /** - * \brief HMAC_DRBG reseeding (extracts data from entropy source) - * - * \param ctx HMAC_DRBG context - * \param additional Additional data to add to state (Can be NULL) - * \param len Length of additional data - * - * \return 0 if successful, or - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * \brief This function reseeds the HMAC_DRBG context, that is + * extracts data from the entropy source. + * + * \param ctx The HMAC_DRBG context. + * \param additional Additional data to add to the state. + * If this is \c NULL, there is no additional data + * and \p len should be \c 0. + * \param len The length of the additional data. + * This must be at most #MBEDTLS_HMAC_DRBG_MAX_INPUT + * and also at most + * #MBEDTLS_HMAC_DRBG_MAX_SEED_INPUT - \p entropy_len + * where \p entropy_len is the entropy length + * (see mbedtls_hmac_drbg_set_entropy_len()). + * + * \return \c 0 if successful. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * if a call to the entropy function failed. */ int mbedtls_hmac_drbg_reseed( mbedtls_hmac_drbg_context *ctx, const unsigned char *additional, size_t len ); /** - * \brief HMAC_DRBG generate random with additional update input - * - * Note: Automatically reseeds if reseed_counter is reached or PR is enabled. - * - * \param p_rng HMAC_DRBG context - * \param output Buffer to fill - * \param output_len Length of the buffer - * \param additional Additional data to update with (can be NULL) - * \param add_len Length of additional data (can be 0) - * - * \return 0 if successful, or - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED, or - * MBEDTLS_ERR_HMAC_DRBG_REQUEST_TOO_BIG, or - * MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG. + * \brief This function updates an HMAC_DRBG instance with additional + * data and uses it to generate random data. + * + * This function automatically reseeds if the reseed counter is exceeded + * or prediction resistance is enabled. + * + * \param p_rng The HMAC_DRBG context. This must be a pointer to a + * #mbedtls_hmac_drbg_context structure. + * \param output The buffer to fill. + * \param output_len The length of the buffer in bytes. + * This must be at most #MBEDTLS_HMAC_DRBG_MAX_REQUEST. + * \param additional Additional data to update with. + * If this is \c NULL, there is no additional data + * and \p add_len should be \c 0. + * \param add_len The length of the additional data. + * This must be at most #MBEDTLS_HMAC_DRBG_MAX_INPUT. + * + * \return \c 0 if successful. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * if a call to the entropy source failed. + * \return #MBEDTLS_ERR_HMAC_DRBG_REQUEST_TOO_BIG if + * \p output_len > #MBEDTLS_HMAC_DRBG_MAX_REQUEST. + * \return #MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG if + * \p add_len > #MBEDTLS_HMAC_DRBG_MAX_INPUT. */ int mbedtls_hmac_drbg_random_with_add( void *p_rng, unsigned char *output, size_t output_len, @@ -245,24 +316,29 @@ int mbedtls_hmac_drbg_random_with_add( void *p_rng, size_t add_len ); /** - * \brief HMAC_DRBG generate random - * - * Note: Automatically reseeds if reseed_counter is reached or PR is enabled. - * - * \param p_rng HMAC_DRBG context - * \param output Buffer to fill - * \param out_len Length of the buffer - * - * \return 0 if successful, or - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED, or - * MBEDTLS_ERR_HMAC_DRBG_REQUEST_TOO_BIG + * \brief This function uses HMAC_DRBG to generate random data. + * + * This function automatically reseeds if the reseed counter is exceeded + * or prediction resistance is enabled. + * + * \param p_rng The HMAC_DRBG context. This must be a pointer to a + * #mbedtls_hmac_drbg_context structure. + * \param output The buffer to fill. + * \param out_len The length of the buffer in bytes. + * This must be at most #MBEDTLS_HMAC_DRBG_MAX_REQUEST. + * + * \return \c 0 if successful. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * if a call to the entropy source failed. + * \return #MBEDTLS_ERR_HMAC_DRBG_REQUEST_TOO_BIG if + * \p out_len > #MBEDTLS_HMAC_DRBG_MAX_REQUEST. */ int mbedtls_hmac_drbg_random( void *p_rng, unsigned char *output, size_t out_len ); /** * \brief Free an HMAC_DRBG context * - * \param ctx HMAC_DRBG context to free. + * \param ctx The HMAC_DRBG context to free. */ void mbedtls_hmac_drbg_free( mbedtls_hmac_drbg_context *ctx ); @@ -273,17 +349,16 @@ void mbedtls_hmac_drbg_free( mbedtls_hmac_drbg_context *ctx ); #define MBEDTLS_DEPRECATED #endif /** - * \brief HMAC_DRBG update state + * \brief This function updates the state of the HMAC_DRBG context. * * \deprecated Superseded by mbedtls_hmac_drbg_update_ret() * in 2.16.0. * - * \param ctx HMAC_DRBG context - * \param additional Additional data to update state with, or NULL - * \param add_len Length of additional data, or 0 - * - * \note Additional data is optional, pass NULL and 0 as second - * third argument if no additional data is being used. + * \param ctx The HMAC_DRBG context. + * \param additional The data to update the state with. + * If this is \c NULL, there is no additional data. + * \param add_len Length of \p additional in bytes. + * Unused if \p additional is \c NULL. */ MBEDTLS_DEPRECATED void mbedtls_hmac_drbg_update( mbedtls_hmac_drbg_context *ctx, @@ -293,26 +368,31 @@ MBEDTLS_DEPRECATED void mbedtls_hmac_drbg_update( #if defined(MBEDTLS_FS_IO) /** - * \brief Write a seed file + * \brief This function writes a seed file. * - * \param ctx HMAC_DRBG context - * \param path Name of the file + * \param ctx The HMAC_DRBG context. + * \param path The name of the file. * - * \return 0 if successful, 1 on file error, or - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * \return \c 0 on success. + * \return #MBEDTLS_ERR_HMAC_DRBG_FILE_IO_ERROR on file error. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED on reseed + * failure. */ int mbedtls_hmac_drbg_write_seed_file( mbedtls_hmac_drbg_context *ctx, const char *path ); /** - * \brief Read and update a seed file. Seed is added to this - * instance - * - * \param ctx HMAC_DRBG context - * \param path Name of the file - * - * \return 0 if successful, 1 on file error, - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED or - * MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG + * \brief This function reads and updates a seed file. The seed + * is added to this instance. + * + * \param ctx The HMAC_DRBG context. + * \param path The name of the file. + * + * \return \c 0 on success. + * \return #MBEDTLS_ERR_HMAC_DRBG_FILE_IO_ERROR on file error. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED on + * reseed failure. + * \return #MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG if the existing + * seed file is too large. */ int mbedtls_hmac_drbg_update_seed_file( mbedtls_hmac_drbg_context *ctx, const char *path ); #endif /* MBEDTLS_FS_IO */ @@ -320,9 +400,10 @@ int mbedtls_hmac_drbg_update_seed_file( mbedtls_hmac_drbg_context *ctx, const ch #if defined(MBEDTLS_SELF_TEST) /** - * \brief Checkup routine + * \brief The HMAC_DRBG Checkup routine. * - * \return 0 if successful, or 1 if the test failed + * \return \c 0 if successful. + * \return \c 1 if the test failed. */ int mbedtls_hmac_drbg_self_test( int verbose ); #endif diff --git a/thirdparty/mbedtls/include/mbedtls/version.h b/thirdparty/mbedtls/include/mbedtls/version.h index b4eef71e50..aeffb16699 100644 --- a/thirdparty/mbedtls/include/mbedtls/version.h +++ b/thirdparty/mbedtls/include/mbedtls/version.h @@ -40,16 +40,16 @@ */ #define MBEDTLS_VERSION_MAJOR 2 #define MBEDTLS_VERSION_MINOR 16 -#define MBEDTLS_VERSION_PATCH 3 +#define MBEDTLS_VERSION_PATCH 4 /** * The single version number has the following structure: * MMNNPP00 * Major version | Minor version | Patch version */ -#define MBEDTLS_VERSION_NUMBER 0x02100300 -#define MBEDTLS_VERSION_STRING "2.16.3" -#define MBEDTLS_VERSION_STRING_FULL "mbed TLS 2.16.3" +#define MBEDTLS_VERSION_NUMBER 0x02100400 +#define MBEDTLS_VERSION_STRING "2.16.4" +#define MBEDTLS_VERSION_STRING_FULL "mbed TLS 2.16.4" #if defined(MBEDTLS_VERSION_C) diff --git a/thirdparty/mbedtls/library/aes.c b/thirdparty/mbedtls/library/aes.c index aff0a9939a..02a7986b59 100644 --- a/thirdparty/mbedtls/library/aes.c +++ b/thirdparty/mbedtls/library/aes.c @@ -918,6 +918,18 @@ int mbedtls_internal_aes_encrypt( mbedtls_aes_context *ctx, PUT_UINT32_LE( X2, output, 8 ); PUT_UINT32_LE( X3, output, 12 ); + mbedtls_platform_zeroize( &X0, sizeof( X0 ) ); + mbedtls_platform_zeroize( &X1, sizeof( X1 ) ); + mbedtls_platform_zeroize( &X2, sizeof( X2 ) ); + mbedtls_platform_zeroize( &X3, sizeof( X3 ) ); + + mbedtls_platform_zeroize( &Y0, sizeof( Y0 ) ); + mbedtls_platform_zeroize( &Y1, sizeof( Y1 ) ); + mbedtls_platform_zeroize( &Y2, sizeof( Y2 ) ); + mbedtls_platform_zeroize( &Y3, sizeof( Y3 ) ); + + mbedtls_platform_zeroize( &RK, sizeof( RK ) ); + return( 0 ); } #endif /* !MBEDTLS_AES_ENCRYPT_ALT */ @@ -986,6 +998,18 @@ int mbedtls_internal_aes_decrypt( mbedtls_aes_context *ctx, PUT_UINT32_LE( X2, output, 8 ); PUT_UINT32_LE( X3, output, 12 ); + mbedtls_platform_zeroize( &X0, sizeof( X0 ) ); + mbedtls_platform_zeroize( &X1, sizeof( X1 ) ); + mbedtls_platform_zeroize( &X2, sizeof( X2 ) ); + mbedtls_platform_zeroize( &X3, sizeof( X3 ) ); + + mbedtls_platform_zeroize( &Y0, sizeof( Y0 ) ); + mbedtls_platform_zeroize( &Y1, sizeof( Y1 ) ); + mbedtls_platform_zeroize( &Y2, sizeof( Y2 ) ); + mbedtls_platform_zeroize( &Y3, sizeof( Y3 ) ); + + mbedtls_platform_zeroize( &RK, sizeof( RK ) ); + return( 0 ); } #endif /* !MBEDTLS_AES_DECRYPT_ALT */ diff --git a/thirdparty/mbedtls/library/bignum.c b/thirdparty/mbedtls/library/bignum.c index d1717e9435..6713bcbf6f 100644 --- a/thirdparty/mbedtls/library/bignum.c +++ b/thirdparty/mbedtls/library/bignum.c @@ -1071,6 +1071,107 @@ int mbedtls_mpi_cmp_mpi( const mbedtls_mpi *X, const mbedtls_mpi *Y ) return( 0 ); } +/** Decide if an integer is less than the other, without branches. + * + * \param x First integer. + * \param y Second integer. + * + * \return 1 if \p x is less than \p y, 0 otherwise + */ +static unsigned ct_lt_mpi_uint( const mbedtls_mpi_uint x, + const mbedtls_mpi_uint y ) +{ + mbedtls_mpi_uint ret; + mbedtls_mpi_uint cond; + + /* + * Check if the most significant bits (MSB) of the operands are different. + */ + cond = ( x ^ y ); + /* + * If the MSB are the same then the difference x-y will be negative (and + * have its MSB set to 1 during conversion to unsigned) if and only if x<y. + */ + ret = ( x - y ) & ~cond; + /* + * If the MSB are different, then the operand with the MSB of 1 is the + * bigger. (That is if y has MSB of 1, then x<y is true and it is false if + * the MSB of y is 0.) + */ + ret |= y & cond; + + + ret = ret >> ( biL - 1 ); + + return (unsigned) ret; +} + +/* + * Compare signed values in constant time + */ +int mbedtls_mpi_lt_mpi_ct( const mbedtls_mpi *X, const mbedtls_mpi *Y, + unsigned *ret ) +{ + size_t i; + /* The value of any of these variables is either 0 or 1 at all times. */ + unsigned cond, done, X_is_negative, Y_is_negative; + + MPI_VALIDATE_RET( X != NULL ); + MPI_VALIDATE_RET( Y != NULL ); + MPI_VALIDATE_RET( ret != NULL ); + + if( X->n != Y->n ) + return MBEDTLS_ERR_MPI_BAD_INPUT_DATA; + + /* + * Set sign_N to 1 if N >= 0, 0 if N < 0. + * We know that N->s == 1 if N >= 0 and N->s == -1 if N < 0. + */ + X_is_negative = ( X->s & 2 ) >> 1; + Y_is_negative = ( Y->s & 2 ) >> 1; + + /* + * If the signs are different, then the positive operand is the bigger. + * That is if X is negative (X_is_negative == 1), then X < Y is true and it + * is false if X is positive (X_is_negative == 0). + */ + cond = ( X_is_negative ^ Y_is_negative ); + *ret = cond & X_is_negative; + + /* + * This is a constant-time function. We might have the result, but we still + * need to go through the loop. Record if we have the result already. + */ + done = cond; + + for( i = X->n; i > 0; i-- ) + { + /* + * If Y->p[i - 1] < X->p[i - 1] then X < Y is true if and only if both + * X and Y are negative. + * + * Again even if we can make a decision, we just mark the result and + * the fact that we are done and continue looping. + */ + cond = ct_lt_mpi_uint( Y->p[i - 1], X->p[i - 1] ); + *ret |= cond & ( 1 - done ) & X_is_negative; + done |= cond; + + /* + * If X->p[i - 1] < Y->p[i - 1] then X < Y is true if and only if both + * X and Y are positive. + * + * Again even if we can make a decision, we just mark the result and + * the fact that we are done and continue looping. + */ + cond = ct_lt_mpi_uint( X->p[i - 1], Y->p[i - 1] ); + *ret |= cond & ( 1 - done ) & ( 1 - X_is_negative ); + done |= cond; + } + + return( 0 ); +} + /* * Compare signed values */ @@ -2338,8 +2439,6 @@ static int mpi_miller_rabin( const mbedtls_mpi *X, size_t rounds, MBEDTLS_MPI_CHK( mbedtls_mpi_copy( &R, &W ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_shift_r( &R, s ) ); - i = mbedtls_mpi_bitlen( X ); - for( i = 0; i < rounds; i++ ) { /* diff --git a/thirdparty/mbedtls/library/ctr_drbg.c b/thirdparty/mbedtls/library/ctr_drbg.c index fb121575bb..ad0a1936d1 100644 --- a/thirdparty/mbedtls/library/ctr_drbg.c +++ b/thirdparty/mbedtls/library/ctr_drbg.c @@ -62,68 +62,6 @@ void mbedtls_ctr_drbg_init( mbedtls_ctr_drbg_context *ctx ) #endif } -/* - * Non-public function wrapped by mbedtls_ctr_drbg_seed(). Necessary to allow - * NIST tests to succeed (which require known length fixed entropy) - */ -/* CTR_DRBG_Instantiate with derivation function (SP 800-90A §10.2.1.3.2) - * mbedtls_ctr_drbg_seed_entropy_len(ctx, f_entropy, p_entropy, - * custom, len, entropy_len) - * implements - * CTR_DRBG_Instantiate(entropy_input, nonce, personalization_string, - * security_strength) -> initial_working_state - * with inputs - * custom[:len] = nonce || personalization_string - * where entropy_input comes from f_entropy for entropy_len bytes - * and with outputs - * ctx = initial_working_state - */ -int mbedtls_ctr_drbg_seed_entropy_len( - mbedtls_ctr_drbg_context *ctx, - int (*f_entropy)(void *, unsigned char *, size_t), - void *p_entropy, - const unsigned char *custom, - size_t len, - size_t entropy_len ) -{ - int ret; - unsigned char key[MBEDTLS_CTR_DRBG_KEYSIZE]; - - memset( key, 0, MBEDTLS_CTR_DRBG_KEYSIZE ); - - mbedtls_aes_init( &ctx->aes_ctx ); - - ctx->f_entropy = f_entropy; - ctx->p_entropy = p_entropy; - - ctx->entropy_len = entropy_len; - ctx->reseed_interval = MBEDTLS_CTR_DRBG_RESEED_INTERVAL; - - /* - * Initialize with an empty key - */ - if( ( ret = mbedtls_aes_setkey_enc( &ctx->aes_ctx, key, MBEDTLS_CTR_DRBG_KEYBITS ) ) != 0 ) - { - return( ret ); - } - - if( ( ret = mbedtls_ctr_drbg_reseed( ctx, custom, len ) ) != 0 ) - { - return( ret ); - } - return( 0 ); -} - -int mbedtls_ctr_drbg_seed( mbedtls_ctr_drbg_context *ctx, - int (*f_entropy)(void *, unsigned char *, size_t), - void *p_entropy, - const unsigned char *custom, - size_t len ) -{ - return( mbedtls_ctr_drbg_seed_entropy_len( ctx, f_entropy, p_entropy, custom, len, - MBEDTLS_CTR_DRBG_ENTROPY_LEN ) ); -} - void mbedtls_ctr_drbg_free( mbedtls_ctr_drbg_context *ctx ) { if( ctx == NULL ) @@ -427,6 +365,63 @@ exit: return( ret ); } +/* CTR_DRBG_Instantiate with derivation function (SP 800-90A §10.2.1.3.2) + * mbedtls_ctr_drbg_seed(ctx, f_entropy, p_entropy, custom, len) + * implements + * CTR_DRBG_Instantiate(entropy_input, nonce, personalization_string, + * security_strength) -> initial_working_state + * with inputs + * custom[:len] = nonce || personalization_string + * where entropy_input comes from f_entropy for ctx->entropy_len bytes + * and with outputs + * ctx = initial_working_state + */ +int mbedtls_ctr_drbg_seed( mbedtls_ctr_drbg_context *ctx, + int (*f_entropy)(void *, unsigned char *, size_t), + void *p_entropy, + const unsigned char *custom, + size_t len ) +{ + int ret; + unsigned char key[MBEDTLS_CTR_DRBG_KEYSIZE]; + + memset( key, 0, MBEDTLS_CTR_DRBG_KEYSIZE ); + + mbedtls_aes_init( &ctx->aes_ctx ); + + ctx->f_entropy = f_entropy; + ctx->p_entropy = p_entropy; + + if( ctx->entropy_len == 0 ) + ctx->entropy_len = MBEDTLS_CTR_DRBG_ENTROPY_LEN; + ctx->reseed_interval = MBEDTLS_CTR_DRBG_RESEED_INTERVAL; + + /* + * Initialize with an empty key + */ + if( ( ret = mbedtls_aes_setkey_enc( &ctx->aes_ctx, key, MBEDTLS_CTR_DRBG_KEYBITS ) ) != 0 ) + { + return( ret ); + } + + if( ( ret = mbedtls_ctr_drbg_reseed( ctx, custom, len ) ) != 0 ) + { + return( ret ); + } + return( 0 ); +} + +/* Backward compatibility wrapper */ +int mbedtls_ctr_drbg_seed_entropy_len( + mbedtls_ctr_drbg_context *ctx, + int (*f_entropy)(void *, unsigned char *, size_t), void *p_entropy, + const unsigned char *custom, size_t len, + size_t entropy_len ) +{ + mbedtls_ctr_drbg_set_entropy_len( ctx, entropy_len ); + return( mbedtls_ctr_drbg_seed( ctx, f_entropy, p_entropy, custom, len ) ); +} + /* CTR_DRBG_Generate with derivation function (SP 800-90A §10.2.1.5.2) * mbedtls_ctr_drbg_random_with_add(ctx, output, output_len, additional, add_len) * implements @@ -517,7 +512,7 @@ int mbedtls_ctr_drbg_random_with_add( void *p_rng, exit: mbedtls_platform_zeroize( add_input, sizeof( add_input ) ); mbedtls_platform_zeroize( tmp, sizeof( tmp ) ); - return( 0 ); + return( ret ); } int mbedtls_ctr_drbg_random( void *p_rng, unsigned char *output, size_t output_len ) @@ -678,8 +673,11 @@ int mbedtls_ctr_drbg_self_test( int verbose ) mbedtls_printf( " CTR_DRBG (PR = TRUE) : " ); test_offset = 0; - CHK( mbedtls_ctr_drbg_seed_entropy_len( &ctx, ctr_drbg_self_test_entropy, - (void *) entropy_source_pr, nonce_pers_pr, 16, 32 ) ); + mbedtls_ctr_drbg_set_entropy_len( &ctx, 32 ); + CHK( mbedtls_ctr_drbg_seed( &ctx, + ctr_drbg_self_test_entropy, + (void *) entropy_source_pr, + nonce_pers_pr, 16 ) ); mbedtls_ctr_drbg_set_prediction_resistance( &ctx, MBEDTLS_CTR_DRBG_PR_ON ); CHK( mbedtls_ctr_drbg_random( &ctx, buf, MBEDTLS_CTR_DRBG_BLOCKSIZE ) ); CHK( mbedtls_ctr_drbg_random( &ctx, buf, MBEDTLS_CTR_DRBG_BLOCKSIZE ) ); @@ -699,8 +697,11 @@ int mbedtls_ctr_drbg_self_test( int verbose ) mbedtls_ctr_drbg_init( &ctx ); test_offset = 0; - CHK( mbedtls_ctr_drbg_seed_entropy_len( &ctx, ctr_drbg_self_test_entropy, - (void *) entropy_source_nopr, nonce_pers_nopr, 16, 32 ) ); + mbedtls_ctr_drbg_set_entropy_len( &ctx, 32 ); + CHK( mbedtls_ctr_drbg_seed( &ctx, + ctr_drbg_self_test_entropy, + (void *) entropy_source_nopr, + nonce_pers_nopr, 16 ) ); CHK( mbedtls_ctr_drbg_random( &ctx, buf, 16 ) ); CHK( mbedtls_ctr_drbg_reseed( &ctx, NULL, 0 ) ); CHK( mbedtls_ctr_drbg_random( &ctx, buf, 16 ) ); diff --git a/thirdparty/mbedtls/library/ecdsa.c b/thirdparty/mbedtls/library/ecdsa.c index 2b4800642d..3cf3d7cc4f 100644 --- a/thirdparty/mbedtls/library/ecdsa.c +++ b/thirdparty/mbedtls/library/ecdsa.c @@ -363,6 +363,7 @@ modn: MBEDTLS_MPI_CHK( mbedtls_mpi_add_mpi( &e, &e, s ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( &e, &e, &t ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( pk, pk, &t ) ); + MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( pk, pk, &grp->N ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_inv_mod( s, pk, &grp->N ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( s, s, &e ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( s, s, &grp->N ) ); diff --git a/thirdparty/mbedtls/library/ecp.c b/thirdparty/mbedtls/library/ecp.c index db36191b9b..040c20bd38 100644 --- a/thirdparty/mbedtls/library/ecp.c +++ b/thirdparty/mbedtls/library/ecp.c @@ -2724,6 +2724,7 @@ int mbedtls_ecp_gen_privkey( const mbedtls_ecp_group *grp, { /* SEC1 3.2.1: Generate d such that 1 <= n < N */ int count = 0; + unsigned cmp = 0; /* * Match the procedure given in RFC 6979 (deterministic ECDSA): @@ -2748,9 +2749,14 @@ int mbedtls_ecp_gen_privkey( const mbedtls_ecp_group *grp, */ if( ++count > 30 ) return( MBEDTLS_ERR_ECP_RANDOM_FAILED ); + + ret = mbedtls_mpi_lt_mpi_ct( d, &grp->N, &cmp ); + if( ret != 0 ) + { + goto cleanup; + } } - while( mbedtls_mpi_cmp_int( d, 1 ) < 0 || - mbedtls_mpi_cmp_mpi( d, &grp->N ) >= 0 ); + while( mbedtls_mpi_cmp_int( d, 1 ) < 0 || cmp != 1 ); } #endif /* ECP_SHORTWEIERSTRASS */ diff --git a/thirdparty/mbedtls/library/hmac_drbg.c b/thirdparty/mbedtls/library/hmac_drbg.c index 50d88bd54b..284c9b4e96 100644 --- a/thirdparty/mbedtls/library/hmac_drbg.c +++ b/thirdparty/mbedtls/library/hmac_drbg.c @@ -273,16 +273,19 @@ int mbedtls_hmac_drbg_seed( mbedtls_hmac_drbg_context *ctx, ctx->reseed_interval = MBEDTLS_HMAC_DRBG_RESEED_INTERVAL; - /* - * See SP800-57 5.6.1 (p. 65-66) for the security strength provided by - * each hash function, then according to SP800-90A rev1 10.1 table 2, - * min_entropy_len (in bits) is security_strength. - * - * (This also matches the sizes used in the NIST test vectors.) - */ - ctx->entropy_len = md_size <= 20 ? 16 : /* 160-bits hash -> 128 bits */ - md_size <= 28 ? 24 : /* 224-bits hash -> 192 bits */ - 32; /* better (256+) -> 256 bits */ + if( ctx->entropy_len == 0 ) + { + /* + * See SP800-57 5.6.1 (p. 65-66) for the security strength provided by + * each hash function, then according to SP800-90A rev1 10.1 table 2, + * min_entropy_len (in bits) is security_strength. + * + * (This also matches the sizes used in the NIST test vectors.) + */ + ctx->entropy_len = md_size <= 20 ? 16 : /* 160-bits hash -> 128 bits */ + md_size <= 28 ? 24 : /* 224-bits hash -> 192 bits */ + 32; /* better (256+) -> 256 bits */ + } if( ( ret = hmac_drbg_reseed_core( ctx, custom, len, 1 /* add nonce */ ) ) != 0 ) @@ -303,7 +306,7 @@ void mbedtls_hmac_drbg_set_prediction_resistance( mbedtls_hmac_drbg_context *ctx } /* - * Set entropy length grabbed for reseeds + * Set entropy length grabbed for seeding */ void mbedtls_hmac_drbg_set_entropy_len( mbedtls_hmac_drbg_context *ctx, size_t len ) { diff --git a/thirdparty/mbedtls/library/version_features.c b/thirdparty/mbedtls/library/version_features.c index a99ee808d6..3b67b2be85 100644 --- a/thirdparty/mbedtls/library/version_features.c +++ b/thirdparty/mbedtls/library/version_features.c @@ -297,6 +297,9 @@ static const char *features[] = { #if defined(MBEDTLS_CIPHER_PADDING_ZEROS) "MBEDTLS_CIPHER_PADDING_ZEROS", #endif /* MBEDTLS_CIPHER_PADDING_ZEROS */ +#if defined(MBEDTLS_CTR_DRBG_USE_128_BIT_KEY) + "MBEDTLS_CTR_DRBG_USE_128_BIT_KEY", +#endif /* MBEDTLS_CTR_DRBG_USE_128_BIT_KEY */ #if defined(MBEDTLS_ENABLE_WEAK_CIPHERSUITES) "MBEDTLS_ENABLE_WEAK_CIPHERSUITES", #endif /* MBEDTLS_ENABLE_WEAK_CIPHERSUITES */ diff --git a/thirdparty/miniupnpc/miniupnpc/minissdpc.c b/thirdparty/miniupnpc/miniupnpc/minissdpc.c index 29f8110155..ea9af02e1f 100644 --- a/thirdparty/miniupnpc/miniupnpc/minissdpc.c +++ b/thirdparty/miniupnpc/miniupnpc/minissdpc.c @@ -683,11 +683,7 @@ ssdpDiscoverDevices(const char * const deviceTypes[], #endif } else { struct in_addr mc_if; -#if defined(_WIN32) && (_WIN32_WINNT >= _WIN32_WINNT_VISTA) - InetPtonA(AF_INET, multicastif, &mc_if); -#else mc_if.s_addr = inet_addr(multicastif); /* ex: 192.168.x.x */ -#endif if(mc_if.s_addr != INADDR_NONE) { ((struct sockaddr_in *)&sockudp_r)->sin_addr.s_addr = mc_if.s_addr; diff --git a/thirdparty/miniupnpc/windows_fix.diff b/thirdparty/miniupnpc/windows_fix.diff new file mode 100644 index 0000000000..460b596888 --- /dev/null +++ b/thirdparty/miniupnpc/windows_fix.diff @@ -0,0 +1,16 @@ +diff --git a/thirdparty/miniupnpc/miniupnpc/minissdpc.c b/thirdparty/miniupnpc/miniupnpc/minissdpc.c +index 29f8110155..ea9af02e1f 100644 +--- a/thirdparty/miniupnpc/miniupnpc/minissdpc.c ++++ b/thirdparty/miniupnpc/miniupnpc/minissdpc.c +@@ -683,11 +683,7 @@ ssdpDiscoverDevices(const char * const deviceTypes[], + #endif + } else { + struct in_addr mc_if; +-#if defined(_WIN32) && (_WIN32_WINNT >= _WIN32_WINNT_VISTA) +- InetPtonA(AF_INET, multicastif, &mc_if); +-#else + mc_if.s_addr = inet_addr(multicastif); /* ex: 192.168.x.x */ +-#endif + if(mc_if.s_addr != INADDR_NONE) + { + ((struct sockaddr_in *)&sockudp_r)->sin_addr.s_addr = mc_if.s_addr; diff --git a/thirdparty/misc/ifaddrs-android.h b/thirdparty/misc/ifaddrs-android.h index 6e204af26f..8de94324b8 100644 --- a/thirdparty/misc/ifaddrs-android.h +++ b/thirdparty/misc/ifaddrs-android.h @@ -32,6 +32,11 @@ // Fills out a list of ifaddr structs (see below) which contain information // about every network interface available on the host. // See 'man getifaddrs' on Linux or OS X (nb: it is not a POSIX function). +// -- GODOT start -- +#ifdef __cplusplus +extern "C" { +#endif +// -- GODOT end -- struct ifaddrs { struct ifaddrs* ifa_next; char* ifa_name; @@ -40,7 +45,21 @@ struct ifaddrs { struct sockaddr* ifa_netmask; // Real ifaddrs has broadcast, point to point and data members. // We don't need them (yet?). + // -- GODOT start -- + // We never initialize the following members. We only define them to match the ifaddrs struct. + union + { + struct sockaddr *ifu_broadaddr; + struct sockaddr *ifu_dstaddr; + } ifa_ifu; + void *ifa_data; + // -- GODOT end -- }; +// -- GODOT start -- +#ifdef __cplusplus +} +#endif +// -- GODOT end -- int getifaddrs(struct ifaddrs** result); void freeifaddrs(struct ifaddrs* addrs); #endif // TALK_BASE_IFADDRS_ANDROID_H_ diff --git a/thirdparty/rvo2/LICENSE b/thirdparty/rvo2/LICENSE new file mode 100644 index 0000000000..d645695673 --- /dev/null +++ b/thirdparty/rvo2/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/thirdparty/rvo2/README.md b/thirdparty/rvo2/README.md new file mode 100644 index 0000000000..96af597cb6 --- /dev/null +++ b/thirdparty/rvo2/README.md @@ -0,0 +1,32 @@ +Optimal Reciprocal Collision Avoidance in Three Dimensions +========================================================== + +<http://gamma.cs.unc.edu/RVO2/> + +[](https://travis-ci.org/snape/RVO2-3D) +[](https://ci.appveyor.com/project/snape/rvo2-3d) + +Copyright 2008 University of North Carolina at Chapel Hill + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + +<http://www.apache.org/licenses/LICENSE-2.0> + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. + +Please send all bug reports to [geom@cs.unc.edu](mailto:geom@cs.unc.edu). + +The authors may be contacted via: + +Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, and Dinesh Manocha +Dept. of Computer Science +201 S. Columbia St. +Frederick P. Brooks, Jr. Computer Science Bldg. +Chapel Hill, N.C. 27599-3175 +United States of America diff --git a/thirdparty/rvo2/src/API.h b/thirdparty/rvo2/src/API.h new file mode 100644 index 0000000000..c63a5a383c --- /dev/null +++ b/thirdparty/rvo2/src/API.h @@ -0,0 +1,71 @@ +/* + * API.h + * RVO2-3D Library + * + * Copyright 2008 University of North Carolina at Chapel Hill + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Please send all bug reports to <geom@cs.unc.edu>. + * + * The authors may be contacted via: + * + * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha + * Dept. of Computer Science + * 201 S. Columbia St. + * Frederick P. Brooks, Jr. Computer Science Bldg. + * Chapel Hill, N.C. 27599-3175 + * United States of America + * + * <http://gamma.cs.unc.edu/RVO2/> + */ + +/** + * \file API.h + * \brief Contains definitions related to Microsoft Windows. + */ + +#ifndef RVO_API_H_ +#define RVO_API_H_ + +#ifdef _WIN32 +#include <SDKDDKVer.h> +#define WIN32_LEAN_AND_MEAN +#define NOCOMM +#define NOIMAGE +#define NOIME +#define NOKANJI +#define NOMCX +#ifndef NOMINMAX +#define NOMINMAX +#endif +#define NOPROXYSTUB +#define NOSERVICE +#define NOSOUND +#define NOTAPE +#define NORPC +#define _USE_MATH_DEFINES +#include <windows.h> +#undef CONNECT_DEFERRED // Avoid collision with the Godot Object class +#undef CreateDialog // Avoid collision with the Godot CreateDialog class +#endif + +#ifdef RVO_EXPORTS +#define RVO_API __declspec(dllexport) +#elif defined(RVO_IMPORTS) +#define RVO_API __declspec(dllimport) +#else +#define RVO_API +#endif + +#endif /* RVO_API_H_ */ diff --git a/thirdparty/rvo2/src/Agent.cpp b/thirdparty/rvo2/src/Agent.cpp new file mode 100644 index 0000000000..851d780758 --- /dev/null +++ b/thirdparty/rvo2/src/Agent.cpp @@ -0,0 +1,425 @@ +/* + * Agent.cpp + * RVO2-3D Library + * + * Copyright 2008 University of North Carolina at Chapel Hill + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Please send all bug reports to <geom@cs.unc.edu>. + * + * The authors may be contacted via: + * + * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha + * Dept. of Computer Science + * 201 S. Columbia St. + * Frederick P. Brooks, Jr. Computer Science Bldg. + * Chapel Hill, N.C. 27599-3175 + * United States of America + * + * <http://gamma.cs.unc.edu/RVO2/> + */ + +#include "Agent.h" + +#include <algorithm> +#include <cmath> + +#include "Definitions.h" +#include "KdTree.h" + +namespace RVO { +/** + * \brief A sufficiently small positive number. + */ +const float RVO_EPSILON = 0.00001f; + +/** + * \brief Defines a directed line. + */ +class Line { +public: + /** + * \brief The direction of the directed line. + */ + Vector3 direction; + + /** + * \brief A point on the directed line. + */ + Vector3 point; +}; + +/** + * \brief Solves a one-dimensional linear program on a specified line subject to linear constraints defined by planes and a spherical constraint. + * \param planes Planes defining the linear constraints. + * \param planeNo The plane on which the line lies. + * \param line The line on which the 1-d linear program is solved + * \param radius The radius of the spherical constraint. + * \param optVelocity The optimization velocity. + * \param directionOpt True if the direction should be optimized. + * \param result A reference to the result of the linear program. + * \return True if successful. + */ +bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result); + +/** + * \brief Solves a two-dimensional linear program on a specified plane subject to linear constraints defined by planes and a spherical constraint. + * \param planes Planes defining the linear constraints. + * \param planeNo The plane on which the 2-d linear program is solved + * \param radius The radius of the spherical constraint. + * \param optVelocity The optimization velocity. + * \param directionOpt True if the direction should be optimized. + * \param result A reference to the result of the linear program. + * \return True if successful. + */ +bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result); + +/** + * \brief Solves a three-dimensional linear program subject to linear constraints defined by planes and a spherical constraint. + * \param planes Planes defining the linear constraints. + * \param radius The radius of the spherical constraint. + * \param optVelocity The optimization velocity. + * \param directionOpt True if the direction should be optimized. + * \param result A reference to the result of the linear program. + * \return The number of the plane it fails on, and the number of planes if successful. + */ +size_t linearProgram3(const std::vector<Plane> &planes, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result); + +/** + * \brief Solves a four-dimensional linear program subject to linear constraints defined by planes and a spherical constraint. + * \param planes Planes defining the linear constraints. + * \param beginPlane The plane on which the 3-d linear program failed. + * \param radius The radius of the spherical constraint. + * \param result A reference to the result of the linear program. + */ +void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result); + +Agent::Agent() : + id_(0), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f), ignore_y_(false) {} + +void Agent::computeNeighbors(KdTree *kdTree_) { + agentNeighbors_.clear(); + if (maxNeighbors_ > 0) { + kdTree_->computeAgentNeighbors(this, neighborDist_ * neighborDist_); + } +} + +#define ABS(m_v) (((m_v) < 0) ? (-(m_v)) : (m_v)) +void Agent::computeNewVelocity(float timeStep) { + orcaPlanes_.clear(); + const float invTimeHorizon = 1.0f / timeHorizon_; + + /* Create agent ORCA planes. */ + for (size_t i = 0; i < agentNeighbors_.size(); ++i) { + const Agent *const other = agentNeighbors_[i].second; + + Vector3 relativePosition = other->position_ - position_; + Vector3 relativeVelocity = velocity_ - other->velocity_; + const float combinedRadius = radius_ + other->radius_; + + // This is a Godot feature that allow the agents to avoid the collision + // by moving only on the horizontal plane relative to the player velocity. + if (ignore_y_) { + // Skip if these are in two different heights + if (ABS(relativePosition[1]) > combinedRadius * 2) { + continue; + } + relativePosition[1] = 0; + relativeVelocity[1] = 0; + } + + const float distSq = absSq(relativePosition); + const float combinedRadiusSq = sqr(combinedRadius); + + Plane plane; + Vector3 u; + + if (distSq > combinedRadiusSq) { + /* No collision. */ + const Vector3 w = relativeVelocity - invTimeHorizon * relativePosition; + /* Vector from cutoff center to relative velocity. */ + const float wLengthSq = absSq(w); + + const float dotProduct = w * relativePosition; + + if (dotProduct < 0.0f && sqr(dotProduct) > combinedRadiusSq * wLengthSq) { + /* Project on cut-off circle. */ + const float wLength = std::sqrt(wLengthSq); + const Vector3 unitW = w / wLength; + + plane.normal = unitW; + u = (combinedRadius * invTimeHorizon - wLength) * unitW; + } else { + /* Project on cone. */ + const float a = distSq; + const float b = relativePosition * relativeVelocity; + const float c = absSq(relativeVelocity) - absSq(cross(relativePosition, relativeVelocity)) / (distSq - combinedRadiusSq); + const float t = (b + std::sqrt(sqr(b) - a * c)) / a; + const Vector3 w = relativeVelocity - t * relativePosition; + const float wLength = abs(w); + const Vector3 unitW = w / wLength; + + plane.normal = unitW; + u = (combinedRadius * t - wLength) * unitW; + } + } else { + /* Collision. */ + const float invTimeStep = 1.0f / timeStep; + const Vector3 w = relativeVelocity - invTimeStep * relativePosition; + const float wLength = abs(w); + const Vector3 unitW = w / wLength; + + plane.normal = unitW; + u = (combinedRadius * invTimeStep - wLength) * unitW; + } + + plane.point = velocity_ + 0.5f * u; + orcaPlanes_.push_back(plane); + } + + const size_t planeFail = linearProgram3(orcaPlanes_, maxSpeed_, prefVelocity_, false, newVelocity_); + + if (planeFail < orcaPlanes_.size()) { + linearProgram4(orcaPlanes_, planeFail, maxSpeed_, newVelocity_); + } + + if (ignore_y_) { + // Not 100% necessary, but better to have. + newVelocity_[1] = prefVelocity_[1]; + } +} + +void Agent::insertAgentNeighbor(const Agent *agent, float &rangeSq) { + if (this != agent) { + const float distSq = absSq(position_ - agent->position_); + + if (distSq < rangeSq) { + if (agentNeighbors_.size() < maxNeighbors_) { + agentNeighbors_.push_back(std::make_pair(distSq, agent)); + } + + size_t i = agentNeighbors_.size() - 1; + + while (i != 0 && distSq < agentNeighbors_[i - 1].first) { + agentNeighbors_[i] = agentNeighbors_[i - 1]; + --i; + } + + agentNeighbors_[i] = std::make_pair(distSq, agent); + + if (agentNeighbors_.size() == maxNeighbors_) { + rangeSq = agentNeighbors_.back().first; + } + } + } +} + +bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) { + const float dotProduct = line.point * line.direction; + const float discriminant = sqr(dotProduct) + sqr(radius) - absSq(line.point); + + if (discriminant < 0.0f) { + /* Max speed sphere fully invalidates line. */ + return false; + } + + const float sqrtDiscriminant = std::sqrt(discriminant); + float tLeft = -dotProduct - sqrtDiscriminant; + float tRight = -dotProduct + sqrtDiscriminant; + + for (size_t i = 0; i < planeNo; ++i) { + const float numerator = (planes[i].point - line.point) * planes[i].normal; + const float denominator = line.direction * planes[i].normal; + + if (sqr(denominator) <= RVO_EPSILON) { + /* Lines line is (almost) parallel to plane i. */ + if (numerator > 0.0f) { + return false; + } else { + continue; + } + } + + const float t = numerator / denominator; + + if (denominator >= 0.0f) { + /* Plane i bounds line on the left. */ + tLeft = std::max(tLeft, t); + } else { + /* Plane i bounds line on the right. */ + tRight = std::min(tRight, t); + } + + if (tLeft > tRight) { + return false; + } + } + + if (directionOpt) { + /* Optimize direction. */ + if (optVelocity * line.direction > 0.0f) { + /* Take right extreme. */ + result = line.point + tRight * line.direction; + } else { + /* Take left extreme. */ + result = line.point + tLeft * line.direction; + } + } else { + /* Optimize closest point. */ + const float t = line.direction * (optVelocity - line.point); + + if (t < tLeft) { + result = line.point + tLeft * line.direction; + } else if (t > tRight) { + result = line.point + tRight * line.direction; + } else { + result = line.point + t * line.direction; + } + } + + return true; +} + +bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) { + const float planeDist = planes[planeNo].point * planes[planeNo].normal; + const float planeDistSq = sqr(planeDist); + const float radiusSq = sqr(radius); + + if (planeDistSq > radiusSq) { + /* Max speed sphere fully invalidates plane planeNo. */ + return false; + } + + const float planeRadiusSq = radiusSq - planeDistSq; + + const Vector3 planeCenter = planeDist * planes[planeNo].normal; + + if (directionOpt) { + /* Project direction optVelocity on plane planeNo. */ + const Vector3 planeOptVelocity = optVelocity - (optVelocity * planes[planeNo].normal) * planes[planeNo].normal; + const float planeOptVelocityLengthSq = absSq(planeOptVelocity); + + if (planeOptVelocityLengthSq <= RVO_EPSILON) { + result = planeCenter; + } else { + result = planeCenter + std::sqrt(planeRadiusSq / planeOptVelocityLengthSq) * planeOptVelocity; + } + } else { + /* Project point optVelocity on plane planeNo. */ + result = optVelocity + ((planes[planeNo].point - optVelocity) * planes[planeNo].normal) * planes[planeNo].normal; + + /* If outside planeCircle, project on planeCircle. */ + if (absSq(result) > radiusSq) { + const Vector3 planeResult = result - planeCenter; + const float planeResultLengthSq = absSq(planeResult); + result = planeCenter + std::sqrt(planeRadiusSq / planeResultLengthSq) * planeResult; + } + } + + for (size_t i = 0; i < planeNo; ++i) { + if (planes[i].normal * (planes[i].point - result) > 0.0f) { + /* Result does not satisfy constraint i. Compute new optimal result. */ + /* Compute intersection line of plane i and plane planeNo. */ + Vector3 crossProduct = cross(planes[i].normal, planes[planeNo].normal); + + if (absSq(crossProduct) <= RVO_EPSILON) { + /* Planes planeNo and i are (almost) parallel, and plane i fully invalidates plane planeNo. */ + return false; + } + + Line line; + line.direction = normalize(crossProduct); + const Vector3 lineNormal = cross(line.direction, planes[planeNo].normal); + line.point = planes[planeNo].point + (((planes[i].point - planes[planeNo].point) * planes[i].normal) / (lineNormal * planes[i].normal)) * lineNormal; + + if (!linearProgram1(planes, i, line, radius, optVelocity, directionOpt, result)) { + return false; + } + } + } + + return true; +} + +size_t linearProgram3(const std::vector<Plane> &planes, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) { + if (directionOpt) { + /* Optimize direction. Note that the optimization velocity is of unit length in this case. */ + result = optVelocity * radius; + } else if (absSq(optVelocity) > sqr(radius)) { + /* Optimize closest point and outside circle. */ + result = normalize(optVelocity) * radius; + } else { + /* Optimize closest point and inside circle. */ + result = optVelocity; + } + + for (size_t i = 0; i < planes.size(); ++i) { + if (planes[i].normal * (planes[i].point - result) > 0.0f) { + /* Result does not satisfy constraint i. Compute new optimal result. */ + const Vector3 tempResult = result; + + if (!linearProgram2(planes, i, radius, optVelocity, directionOpt, result)) { + result = tempResult; + return i; + } + } + } + + return planes.size(); +} + +void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result) { + float distance = 0.0f; + + for (size_t i = beginPlane; i < planes.size(); ++i) { + if (planes[i].normal * (planes[i].point - result) > distance) { + /* Result does not satisfy constraint of plane i. */ + std::vector<Plane> projPlanes; + + for (size_t j = 0; j < i; ++j) { + Plane plane; + + const Vector3 crossProduct = cross(planes[j].normal, planes[i].normal); + + if (absSq(crossProduct) <= RVO_EPSILON) { + /* Plane i and plane j are (almost) parallel. */ + if (planes[i].normal * planes[j].normal > 0.0f) { + /* Plane i and plane j point in the same direction. */ + continue; + } else { + /* Plane i and plane j point in opposite direction. */ + plane.point = 0.5f * (planes[i].point + planes[j].point); + } + } else { + /* Plane.point is point on line of intersection between plane i and plane j. */ + const Vector3 lineNormal = cross(crossProduct, planes[i].normal); + plane.point = planes[i].point + (((planes[j].point - planes[i].point) * planes[j].normal) / (lineNormal * planes[j].normal)) * lineNormal; + } + + plane.normal = normalize(planes[j].normal - planes[i].normal); + projPlanes.push_back(plane); + } + + const Vector3 tempResult = result; + + if (linearProgram3(projPlanes, radius, planes[i].normal, true, result) < projPlanes.size()) { + /* This should in principle not happen. The result is by definition already in the feasible region of this linear program. If it fails, it is due to small floating point error, and the current result is kept. */ + result = tempResult; + } + + distance = planes[i].normal * (planes[i].point - result); + } + } +} +} // namespace RVO diff --git a/thirdparty/rvo2/src/Agent.h b/thirdparty/rvo2/src/Agent.h new file mode 100644 index 0000000000..16f75a08f6 --- /dev/null +++ b/thirdparty/rvo2/src/Agent.h @@ -0,0 +1,121 @@ +/* + * Agent.h + * RVO2-3D Library + * + * Copyright 2008 University of North Carolina at Chapel Hill + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Please send all bug reports to <geom@cs.unc.edu>. + * + * The authors may be contacted via: + * + * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha + * Dept. of Computer Science + * 201 S. Columbia St. + * Frederick P. Brooks, Jr. Computer Science Bldg. + * Chapel Hill, N.C. 27599-3175 + * United States of America + * + * <http://gamma.cs.unc.edu/RVO2/> + */ + +/** + * \file Agent.h + * \brief Contains the Agent class. + */ +#ifndef RVO_AGENT_H_ +#define RVO_AGENT_H_ + +#include "API.h" + +#include <cstddef> +#include <utility> +#include <vector> + +#include "Vector3.h" + +// Note: Slightly modified to work better in Godot. +// - The agent can be created by anyone. +// - The simulator pointer is removed. +// - The update function is removed. +// - The compute velocity function now need the timeStep. +// - Moved the `Plane` class here. +// - Added a new parameter `ignore_y_` in the `Agent`. This parameter is used to control a godot feature that allows to avoid collisions by moving on the horizontal plane. +namespace RVO { +/** + * \brief Defines a plane. + */ +class Plane { +public: + /** + * \brief A point on the plane. + */ + Vector3 point; + + /** + * \brief The normal to the plane. + */ + Vector3 normal; +}; + +/** + * \brief Defines an agent in the simulation. + */ +class Agent { + +public: + /** + * \brief Constructs an agent instance. + * \param sim The simulator instance. + */ + explicit Agent(); + + /** + * \brief Computes the neighbors of this agent. + */ + void computeNeighbors(class KdTree *kdTree_); + + /** + * \brief Computes the new velocity of this agent. + */ + void computeNewVelocity(float timeStep); + + /** + * \brief Inserts an agent neighbor into the set of neighbors of this agent. + * \param agent A pointer to the agent to be inserted. + * \param rangeSq The squared range around this agent. + */ + void insertAgentNeighbor(const Agent *agent, float &rangeSq); + + Vector3 newVelocity_; + Vector3 position_; + Vector3 prefVelocity_; + Vector3 velocity_; + size_t id_; + size_t maxNeighbors_; + float maxSpeed_; + float neighborDist_; + float radius_; + float timeHorizon_; + std::vector<std::pair<float, const Agent *> > agentNeighbors_; + std::vector<Plane> orcaPlanes_; + /// This is a godot feature that allows the Agent to avoid collision by mooving + /// on the horizontal plane. + bool ignore_y_; + + friend class KdTree; +}; +} // namespace RVO + +#endif /* RVO_AGENT_H_ */ diff --git a/thirdparty/rvo2/src/Definitions.h b/thirdparty/rvo2/src/Definitions.h new file mode 100644 index 0000000000..a73aca9908 --- /dev/null +++ b/thirdparty/rvo2/src/Definitions.h @@ -0,0 +1,55 @@ +/* + * Definitions.h + * RVO2-3D Library + * + * Copyright 2008 University of North Carolina at Chapel Hill + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Please send all bug reports to <geom@cs.unc.edu>. + * + * The authors may be contacted via: + * + * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha + * Dept. of Computer Science + * 201 S. Columbia St. + * Frederick P. Brooks, Jr. Computer Science Bldg. + * Chapel Hill, N.C. 27599-3175 + * United States of America + * + * <http://gamma.cs.unc.edu/RVO2/> + */ + +/** + * \file Definitions.h + * \brief Contains functions and constants used in multiple classes. + */ + +#ifndef RVO_DEFINITIONS_H_ +#define RVO_DEFINITIONS_H_ + +#include "API.h" + +namespace RVO { + /** + * \brief Computes the square of a float. + * \param scalar The float to be squared. + * \return The square of the float. + */ + inline float sqr(float scalar) + { + return scalar * scalar; + } +} + +#endif /* RVO_DEFINITIONS_H_ */ diff --git a/thirdparty/rvo2/src/KdTree.cpp b/thirdparty/rvo2/src/KdTree.cpp new file mode 100644 index 0000000000..bc224614f0 --- /dev/null +++ b/thirdparty/rvo2/src/KdTree.cpp @@ -0,0 +1,152 @@ +/* + * KdTree.cpp + * RVO2-3D Library + * + * Copyright 2008 University of North Carolina at Chapel Hill + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Please send all bug reports to <geom@cs.unc.edu>. + * + * The authors may be contacted via: + * + * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha + * Dept. of Computer Science + * 201 S. Columbia St. + * Frederick P. Brooks, Jr. Computer Science Bldg. + * Chapel Hill, N.C. 27599-3175 + * United States of America + * + * <http://gamma.cs.unc.edu/RVO2/> + */ + +#include "KdTree.h" + +#include <algorithm> + +#include "Agent.h" +#include "Definitions.h" + +namespace RVO { +const size_t RVO_MAX_LEAF_SIZE = 10; + +KdTree::KdTree() {} + +void KdTree::buildAgentTree(std::vector<Agent *> agents) { + agents_.swap(agents); + + if (!agents_.empty()) { + agentTree_.resize(2 * agents_.size() - 1); + buildAgentTreeRecursive(0, agents_.size(), 0); + } +} + +void KdTree::buildAgentTreeRecursive(size_t begin, size_t end, size_t node) { + agentTree_[node].begin = begin; + agentTree_[node].end = end; + agentTree_[node].minCoord = agents_[begin]->position_; + agentTree_[node].maxCoord = agents_[begin]->position_; + + for (size_t i = begin + 1; i < end; ++i) { + agentTree_[node].maxCoord[0] = std::max(agentTree_[node].maxCoord[0], agents_[i]->position_.x()); + agentTree_[node].minCoord[0] = std::min(agentTree_[node].minCoord[0], agents_[i]->position_.x()); + agentTree_[node].maxCoord[1] = std::max(agentTree_[node].maxCoord[1], agents_[i]->position_.y()); + agentTree_[node].minCoord[1] = std::min(agentTree_[node].minCoord[1], agents_[i]->position_.y()); + agentTree_[node].maxCoord[2] = std::max(agentTree_[node].maxCoord[2], agents_[i]->position_.z()); + agentTree_[node].minCoord[2] = std::min(agentTree_[node].minCoord[2], agents_[i]->position_.z()); + } + + if (end - begin > RVO_MAX_LEAF_SIZE) { + /* No leaf node. */ + size_t coord; + + if (agentTree_[node].maxCoord[0] - agentTree_[node].minCoord[0] > agentTree_[node].maxCoord[1] - agentTree_[node].minCoord[1] && agentTree_[node].maxCoord[0] - agentTree_[node].minCoord[0] > agentTree_[node].maxCoord[2] - agentTree_[node].minCoord[2]) { + coord = 0; + } else if (agentTree_[node].maxCoord[1] - agentTree_[node].minCoord[1] > agentTree_[node].maxCoord[2] - agentTree_[node].minCoord[2]) { + coord = 1; + } else { + coord = 2; + } + + const float splitValue = 0.5f * (agentTree_[node].maxCoord[coord] + agentTree_[node].minCoord[coord]); + + size_t left = begin; + + size_t right = end; + + while (left < right) { + while (left < right && agents_[left]->position_[coord] < splitValue) { + ++left; + } + + while (right > left && agents_[right - 1]->position_[coord] >= splitValue) { + --right; + } + + if (left < right) { + std::swap(agents_[left], agents_[right - 1]); + ++left; + --right; + } + } + + size_t leftSize = left - begin; + + if (leftSize == 0) { + ++leftSize; + ++left; + ++right; + } + + agentTree_[node].left = node + 1; + agentTree_[node].right = node + 2 * leftSize; + + buildAgentTreeRecursive(begin, left, agentTree_[node].left); + buildAgentTreeRecursive(left, end, agentTree_[node].right); + } +} + +void KdTree::computeAgentNeighbors(Agent *agent, float rangeSq) const { + queryAgentTreeRecursive(agent, rangeSq, 0); +} + +void KdTree::queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const { + if (agentTree_[node].end - agentTree_[node].begin <= RVO_MAX_LEAF_SIZE) { + for (size_t i = agentTree_[node].begin; i < agentTree_[node].end; ++i) { + agent->insertAgentNeighbor(agents_[i], rangeSq); + } + } else { + const float distSqLeft = sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[0] - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].left].maxCoord[0])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[1] - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].left].maxCoord[1])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[2] - agent->position_.z())) + sqr(std::max(0.0f, agent->position_.z() - agentTree_[agentTree_[node].left].maxCoord[2])); + + const float distSqRight = sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[0] - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].right].maxCoord[0])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[1] - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].right].maxCoord[1])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[2] - agent->position_.z())) + sqr(std::max(0.0f, agent->position_.z() - agentTree_[agentTree_[node].right].maxCoord[2])); + + if (distSqLeft < distSqRight) { + if (distSqLeft < rangeSq) { + queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].left); + + if (distSqRight < rangeSq) { + queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].right); + } + } + } else { + if (distSqRight < rangeSq) { + queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].right); + + if (distSqLeft < rangeSq) { + queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].left); + } + } + } + } +} +} // namespace RVO diff --git a/thirdparty/rvo2/src/KdTree.h b/thirdparty/rvo2/src/KdTree.h new file mode 100644 index 0000000000..1dbad00ea4 --- /dev/null +++ b/thirdparty/rvo2/src/KdTree.h @@ -0,0 +1,124 @@ +/* + * KdTree.h + * RVO2-3D Library + * + * Copyright 2008 University of North Carolina at Chapel Hill + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Please send all bug reports to <geom@cs.unc.edu>. + * + * The authors may be contacted via: + * + * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha + * Dept. of Computer Science + * 201 S. Columbia St. + * Frederick P. Brooks, Jr. Computer Science Bldg. + * Chapel Hill, N.C. 27599-3175 + * United States of America + * + * <http://gamma.cs.unc.edu/RVO2/> + */ +/** + * \file KdTree.h + * \brief Contains the KdTree class. + */ +#ifndef RVO_KD_TREE_H_ +#define RVO_KD_TREE_H_ + +#include "API.h" + +#include <cstddef> +#include <vector> + +#include "Vector3.h" + +// Note: Slightly modified to work better with Godot. +// - Removed `sim_`. +// - KdTree things are public +namespace RVO { +class Agent; +class RVOSimulator; + +/** + * \brief Defines <i>k</i>d-trees for agents in the simulation. + */ +class KdTree { +public: + /** + * \brief Defines an agent <i>k</i>d-tree node. + */ + class AgentTreeNode { + public: + /** + * \brief The beginning node number. + */ + size_t begin; + + /** + * \brief The ending node number. + */ + size_t end; + + /** + * \brief The left node number. + */ + size_t left; + + /** + * \brief The right node number. + */ + size_t right; + + /** + * \brief The maximum coordinates. + */ + Vector3 maxCoord; + + /** + * \brief The minimum coordinates. + */ + Vector3 minCoord; + }; + + /** + * \brief Constructs a <i>k</i>d-tree instance. + * \param sim The simulator instance. + */ + explicit KdTree(); + + /** + * \brief Builds an agent <i>k</i>d-tree. + */ + void buildAgentTree(std::vector<Agent *> agents); + + void buildAgentTreeRecursive(size_t begin, size_t end, size_t node); + + /** + * \brief Computes the agent neighbors of the specified agent. + * \param agent A pointer to the agent for which agent neighbors are to be computed. + * \param rangeSq The squared range around the agent. + */ + void computeAgentNeighbors(Agent *agent, float rangeSq) const; + + void queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const; + + std::vector<Agent *> agents_; + std::vector<AgentTreeNode> agentTree_; + + friend class Agent; + friend class RVOSimulator; +}; +} // namespace RVO + +#endif /* RVO_KD_TREE_H_ */ diff --git a/thirdparty/rvo2/src/RVO.h b/thirdparty/rvo2/src/RVO.h new file mode 100644 index 0000000000..81c9cbd8d3 --- /dev/null +++ b/thirdparty/rvo2/src/RVO.h @@ -0,0 +1,406 @@ +/* + * RVO.h + * RVO2-3D Library + * + * Copyright 2008 University of North Carolina at Chapel Hill + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Please send all bug reports to <geom@cs.unc.edu>. + * + * The authors may be contacted via: + * + * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha + * Dept. of Computer Science + * 201 S. Columbia St. + * Frederick P. Brooks, Jr. Computer Science Bldg. + * Chapel Hill, N.C. 27599-3175 + * United States of America + * + * <http://gamma.cs.unc.edu/RVO2/> + */ + +#ifndef RVO_RVO_H_ +#define RVO_RVO_H_ + +#include "API.h" +#include "RVOSimulator.h" +#include "Vector3.h" + +/** + + \file RVO.h + \brief Includes all public headers in the library. + + \namespace RVO + \brief Contains all classes, functions, and constants used in the library. + + \mainpage RVO2-3D Library + + \author Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, and Dinesh Manocha + + <b>RVO2-3D Library</b> is an easy-to-use C++ implementation of the + <a href="http://gamma.cs.unc.edu/CA/">Optimal Reciprocal Collision Avoidance</a> + (ORCA) formulation for multi-agent simulation in three dimensions. <b>RVO2-3D Library</b> + automatically uses parallelism for computing the motion of the agents if your machine + has multiple processors and your compiler supports <a href="http://www.openmp.org/"> + OpenMP</a>. + + Please follow the following steps to install and use <b>RVO2-3D Library</b>. + + - \subpage whatsnew + - \subpage building + - \subpage using + - \subpage params + + See the documentation of the RVO::RVOSimulator class for an exhaustive list of + public functions of <b>RVO2-3D Library</b>. + + <b>RVO2-3D Library</b>, accompanying example code, and this documentation is + released for educational, research, and non-profit purposes under the following + \subpage terms "terms and conditions". + + + \page whatsnew What Is New in RVO2-3D Library + + \section localca Three Dimensions + + In contrast to RVO2 Library, <b>RVO2-3D Library</b> operates in 3D workspaces. It uses + a three dimensional implementation of <a href="http://gamma.cs.unc.edu/CA/">Optimal + Reciprocal Collision Avoidance</a> (ORCA) for local collision avoidance. <b>RVO2-3D + Library</b> does not replace RVO2 Library; for 2D applications, RVO2 Library should + be used. + + \section structure Structure of RVO2-3D Library + + The structure of <b>RVO2-3D Library</b> is similar to that of RVO2 Library. + Users familiar with RVO2 Library should find little trouble in using <b>RVO2-3D + Library</b>. <b>RVO2-3D Library</b> currently does not support static obstacles. + + \page building Building RVO2-3D Library + + We assume that you have downloaded <b>RVO2-3D Library</b> and unpacked the ZIP + archive to a path <tt>$RVO_ROOT</tt>. + + \section xcode Apple Xcode 4.x + + Open <tt>$RVO_ROOT/RVO.xcodeproj</tt> and select the <tt>Static Library</tt> scheme. A static library <tt>libRVO.a</tt> will be built in the default build directory. + + \section cmake CMake + + Create and switch to your chosen build directory, e.g. <tt>$RVO_ROOT/build</tt>. + Run <tt>cmake</tt> inside the build directory on the source directory, e.g. + <tt>cmake $RVO_ROOT/src</tt>. Build files for the default generator for your + platform will be generated in the build directory. + + \section make GNU Make + + Switch to the source directory <tt>$RVO_ROOT/src</tt> and run <tt>make</tt>. + Public header files (<tt>API.h</tt>, <tt>RVO.h</tt>, <tt>RVOSimulator.h</tt>, and <tt>Vector3.h</tt>) will be copied to the <tt>$RVO_ROOT/include</tt> directory and a static library <tt>libRVO.a</tt> will be compiled into the + <tt>$RVO_ROOT/lib</tt> directory. + + \section visual Microsoft Visual Studio 2010 + + Open <tt>$RVO_ROOT/RVO.sln</tt> and select the <tt>RVOStatic</tt> project and a + configuration (<tt>Debug</tt> or <tt>Release</tt>). Public header files (<tt>API.h</tt>, <tt>RVO.h</tt>, <tt>RVOSimulator.h</tt>, and <tt>Vector3.h</tt>) will be copied to the <tt>$RVO_ROOT/include</tt> directory and a static library, e.g. <tt>RVO.lib</tt>, will be compiled into the + <tt>$RVO_ROOT/lib</tt> directory. + + + \page using Using RVO2-3D Library + + \section structure Structure + + A program performing an <b>RVO2-3D Library</b> simulation has the following global + structure. + + \code + #include <RVO.h> + + std::vector<RVO::Vector3> goals; + + int main() + { + // Create a new simulator instance. + RVO::RVOSimulator* sim = new RVO::RVOSimulator(); + + // Set up the scenario. + setupScenario(sim); + + // Perform (and manipulate) the simulation. + do { + updateVisualization(sim); + setPreferredVelocities(sim); + sim->doStep(); + } while (!reachedGoal(sim)); + + delete sim; + } + \endcode + + In order to use <b>RVO2-3D Library</b>, the user needs to include RVO.h. The first + step is then to create an instance of RVO::RVOSimulator. Then, the process + consists of two stages. The first stage is specifying the simulation scenario + and its parameters. In the above example program, this is done in the method + setupScenario(...), which we will discuss below. The second stage is the actual + performing of the simulation. + + In the above example program, simulation steps are taken until all + the agents have reached some predefined goals. Prior to each simulation step, + we set the preferred velocity for each agent, i.e. the + velocity the agent would have taken if there were no other agents around, in the + method setPreferredVelocities(...). The simulator computes the actual velocities + of the agents and attempts to follow the preferred velocities as closely as + possible while guaranteeing collision avoidance at the same time. During the + simulation, the user may want to retrieve information from the simulation for + instance to visualize the simulation. In the above example program, this is done + in the method updateVisualization(...), which we will discuss below. It is also + possible to manipulate the simulation during the simulation, for instance by + changing positions, radii, velocities, etc. of the agents. + + \section spec Setting up the Simulation Scenario + + A scenario that is to be simulated can be set up as follows. A scenario consists + of a set of agents that can be manually specified. Agents may be added anytime + before or during the simulation. The user may also want to define goal positions + of the agents, or a roadmap to guide the agents around obstacles. This is not done + in <b>RVO2-3D Library</b>, but needs to be taken care of in the user's external + application. + + The following example creates a scenario with eight agents exchanging positions. + + \code + void setupScenario(RVO::RVOSimulator* sim) { + // Specify global time step of the simulation. + sim->setTimeStep(0.25f); + + // Specify default parameters for agents that are subsequently added. + sim->setAgentDefaults(15.0f, 10, 10.0f, 2.0f, 2.0f); + + // Add agents, specifying their start position. + sim->addAgent(RVO::Vector3(-50.0f, -50.0f, -50.0f)); + sim->addAgent(RVO::Vector3(50.0f, -50.0f, -50.0f)); + sim->addAgent(RVO::Vector3(50.0f, 50.0f, -50.0f)); + sim->addAgent(RVO::Vector3(-50.0f, 50.0f, -50.0f)); + sim->addAgent(RVO::Vector3(-50.0f, -50.0f, 50.0f)); + sim->addAgent(RVO::Vector3(50.0f, -50.0f, 50.0f)); + sim->addAgent(RVO::Vector3(50.0f, 50.0f, 50.0f)); + sim->addAgent(RVO::Vector3(-50.0f, 50.0f, 50.0f)); + + // Create goals (simulator is unaware of these). + for (size_t i = 0; i < sim->getNumAgents(); ++i) { + goals.push_back(-sim->getAgentPosition(i)); + } + } + \endcode + + See the documentation on RVO::RVOSimulator for a full overview of the + functionality to specify scenarios. + + \section ret Retrieving Information from the Simulation + + During the simulation, the user can extract information from the simulation for + instance for visualization purposes, or to determine termination conditions of + the simulation. In the example program above, visualization is done in the + updateVisualization(...) method. Below we give an example that simply writes + the positions of each agent in each time step to the standard output. The + termination condition is checked in the reachedGoal(...) method. Here we give an + example that returns true if all agents are within one radius of their goals. + + \code + void updateVisualization(RVO::RVOSimulator* sim) { + // Output the current global time. + std::cout << sim->getGlobalTime() << " "; + + // Output the position for all the agents. + for (size_t i = 0; i < sim->getNumAgents(); ++i) { + std::cout << sim->getAgentPosition(i) << " "; + } + + std::cout << std::endl; + } + \endcode + + \code + bool reachedGoal(RVO::RVOSimulator* sim) { + // Check whether all agents have arrived at their goals. + for (size_t i = 0; i < sim->getNumAgents(); ++i) { + if (absSq(goals[i] - sim->getAgentPosition(i)) > sim->getAgentRadius(i) * sim->getAgentRadius(i)) { + // Agent is further away from its goal than one radius. + return false; + } + } + return true; + } + \endcode + + Using similar functions as the ones used in this example, the user can access + information about other parameters of the agents, as well as the global + parameters, and the obstacles. See the documentation of the class + RVO::RVOSimulator for an exhaustive list of public functions for retrieving + simulation information. + + \section manip Manipulating the Simulation + + During the simulation, the user can manipulate the simulation, for instance by + changing the global parameters, or changing the parameters of the agents + (potentially causing abrupt different behavior). It is also possible to give the + agents a new position, which make them jump through the scene. + New agents can be added to the simulation at any time. + + See the documentation of the class RVO::RVOSimulator for an exhaustive list of + public functions for manipulating the simulation. + + To provide global guidance to the agents, the preferred velocities of the agents + can be changed ahead of each simulation step. In the above example program, this + happens in the method setPreferredVelocities(...). Here we give an example that + simply sets the preferred velocity to the unit vector towards the agent's goal + for each agent (i.e., the preferred speed is 1.0). + + \code + void setPreferredVelocities(RVO::RVOSimulator* sim) { + // Set the preferred velocity for each agent. + for (size_t i = 0; i < sim->getNumAgents(); ++i) { + if (absSq(goals[i] - sim->getAgentPosition(i)) < sim->getAgentRadius(i) * sim->getAgentRadius(i) ) { + // Agent is within one radius of its goal, set preferred velocity to zero + sim->setAgentPrefVelocity(i, RVO::Vector3()); + } else { + // Agent is far away from its goal, set preferred velocity as unit vector towards agent's goal. + sim->setAgentPrefVelocity(i, normalize(goals[i] - sim->getAgentPosition(i))); + } + } + } + \endcode + + \section example Example Programs + + <b>RVO2-3D Library</b> is accompanied by one example program, which can be found in the + <tt>$RVO_ROOT/examples</tt> directory. The example is named Sphere, and + contains the following demonstration scenario: + <table border="0" cellpadding="3" width="100%"> + <tr> + <td valign="top" width="100"><b>Sphere</b></td> + <td valign="top">A scenario in which 812 agents, initially positioned evenly + distributed on a sphere, move to the antipodal position on the + sphere. </td> + </tr> + </table> + + + \page params Parameter Overview + + \section globalp Global Parameters + + <table border="0" cellpadding="3" width="100%"> + <tr> + <td valign="top" width="150"><strong>Parameter</strong></td> + <td valign="top" width="150"><strong>Type (unit)</strong></td> + <td valign="top"><strong>Meaning</strong></td> + </tr> + <tr> + <td valign="top">timeStep</td> + <td valign="top">float (time)</td> + <td valign="top">The time step of the simulation. Must be positive.</td> + </tr> + </table> + + \section agent Agent Parameters + + <table border="0" cellpadding="3" width="100%"> + <tr> + <td valign="top" width="150"><strong>Parameter</strong></td> + <td valign="top" width="150"><strong>Type (unit)</strong></td> + <td valign="top"><strong>Meaning</strong></td> + </tr> + <tr> + <td valign="top">maxNeighbors</td> + <td valign="top">size_t</td> + <td valign="top">The maximum number of other agents the agent takes into + account in the navigation. The larger this number, the + longer the running time of the simulation. If the number is + too low, the simulation will not be safe.</td> + </tr> + <tr> + <td valign="top">maxSpeed</td> + <td valign="top">float (distance/time)</td> + <td valign="top">The maximum speed of the agent. Must be non-negative.</td> + </tr> + <tr> + <td valign="top">neighborDist</td> + <td valign="top">float (distance)</td> + <td valign="top">The maximum distance (center point to center point) to + other agents the agent takes into account in the + navigation. The larger this number, the longer the running + time of the simulation. If the number is too low, the + simulation will not be safe. Must be non-negative.</td> + </tr> + <tr> + <td valign="top" width="150">position</td> + <td valign="top" width="150">RVO::Vector3 (distance, distance)</td> + <td valign="top">The current position of the agent.</td> + </tr> + <tr> + <td valign="top" width="150">prefVelocity</td> + <td valign="top" width="150">RVO::Vector3 (distance/time, distance/time) + </td> + <td valign="top">The current preferred velocity of the agent. This is the + velocity the agent would take if no other agents or + obstacles were around. The simulator computes an actual + velocity for the agent that follows the preferred velocity + as closely as possible, but at the same time guarantees + collision avoidance.</td> + </tr> + <tr> + <td valign="top">radius</td> + <td valign="top">float (distance)</td> + <td valign="top">The radius of the agent. Must be non-negative.</td> + </tr> + <tr> + <td valign="top" width="150">timeHorizon</td> + <td valign="top" width="150">float (time)</td> + <td valign="top">The minimum amount of time for which the agent's velocities + that are computed by the simulation are safe with respect + to other agents. The larger this number, the sooner this + agent will respond to the presence of other agents, but the + less freedom the agent has in choosing its velocities. + Must be positive. </td> + </tr> + <tr> + <td valign="top" width="150">velocity</td> + <td valign="top" width="150">RVO::Vector3 (distance/time, distance/time) + </td> + <td valign="top">The (current) velocity of the agent.</td> + </tr> + </table> + + + \page terms Terms and Conditions + + <b>RVO2-3D Library</b> + + Copyright 2008 University of North Carolina at Chapel Hill + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + */ + +#endif /* RVO_RVO_H_ */ diff --git a/thirdparty/rvo2/src/Vector3.h b/thirdparty/rvo2/src/Vector3.h new file mode 100644 index 0000000000..8c8835c865 --- /dev/null +++ b/thirdparty/rvo2/src/Vector3.h @@ -0,0 +1,335 @@ +/* + * Vector3.h + * RVO2-3D Library + * + * Copyright 2008 University of North Carolina at Chapel Hill + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Please send all bug reports to <geom@cs.unc.edu>. + * + * The authors may be contacted via: + * + * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha + * Dept. of Computer Science + * 201 S. Columbia St. + * Frederick P. Brooks, Jr. Computer Science Bldg. + * Chapel Hill, N.C. 27599-3175 + * United States of America + * + * <http://gamma.cs.unc.edu/RVO2/> + */ + +/** + * \file Vector3.h + * \brief Contains the Vector3 class. + */ +#ifndef RVO_VECTOR3_H_ +#define RVO_VECTOR3_H_ + +#include "API.h" + +#include <cmath> +#include <cstddef> +#include <ostream> + +namespace RVO { + /** + * \brief Defines a three-dimensional vector. + */ + class Vector3 { + public: + /** + * \brief Constructs and initializes a three-dimensional vector instance to zero. + */ + RVO_API inline Vector3() + { + val_[0] = 0.0f; + val_[1] = 0.0f; + val_[2] = 0.0f; + } + + /** + * \brief Constructs and initializes a three-dimensional vector from the specified three-element array. + * \param val The three-element array containing the xyz-coordinates. + */ + RVO_API inline explicit Vector3(const float val[3]) + { + val_[0] = val[0]; + val_[1] = val[1]; + val_[2] = val[2]; + } + + /** + * \brief Constructs and initializes a three-dimensional vector from the specified xyz-coordinates. + * \param x The x-coordinate of the three-dimensional vector. + * \param y The y-coordinate of the three-dimensional vector. + * \param z The z-coordinate of the three-dimensional vector. + */ + RVO_API inline Vector3(float x, float y, float z) + { + val_[0] = x; + val_[1] = y; + val_[2] = z; + } + + /** + * \brief Returns the x-coordinate of this three-dimensional vector. + * \return The x-coordinate of the three-dimensional vector. + */ + RVO_API inline float x() const { return val_[0]; } + + /** + * \brief Returns the y-coordinate of this three-dimensional vector. + * \return The y-coordinate of the three-dimensional vector. + */ + RVO_API inline float y() const { return val_[1]; } + + /** + * \brief Returns the z-coordinate of this three-dimensional vector. + * \return The z-coordinate of the three-dimensional vector. + */ + RVO_API inline float z() const { return val_[2]; } + + /** + * \brief Returns the specified coordinate of this three-dimensional vector. + * \param i The coordinate that should be returned (0 <= i < 3). + * \return The specified coordinate of the three-dimensional vector. + */ + RVO_API inline float operator[](size_t i) const { return val_[i]; } + + /** + * \brief Returns a reference to the specified coordinate of this three-dimensional vector. + * \param i The coordinate to which a reference should be returned (0 <= i < 3). + * \return A reference to the specified coordinate of the three-dimensional vector. + */ + RVO_API inline float &operator[](size_t i) { return val_[i]; } + + /** + * \brief Computes the negation of this three-dimensional vector. + * \return The negation of this three-dimensional vector. + */ + RVO_API inline Vector3 operator-() const + { + return Vector3(-val_[0], -val_[1], -val_[2]); + } + + /** + * \brief Computes the dot product of this three-dimensional vector with the specified three-dimensional vector. + * \param vector The three-dimensional vector with which the dot product should be computed. + * \return The dot product of this three-dimensional vector with a specified three-dimensional vector. + */ + RVO_API inline float operator*(const Vector3 &vector) const + { + return val_[0] * vector[0] + val_[1] * vector[1] + val_[2] * vector[2]; + } + + /** + * \brief Computes the scalar multiplication of this three-dimensional vector with the specified scalar value. + * \param scalar The scalar value with which the scalar multiplication should be computed. + * \return The scalar multiplication of this three-dimensional vector with a specified scalar value. + */ + RVO_API inline Vector3 operator*(float scalar) const + { + return Vector3(val_[0] * scalar, val_[1] * scalar, val_[2] * scalar); + } + + /** + * \brief Computes the scalar division of this three-dimensional vector with the specified scalar value. + * \param scalar The scalar value with which the scalar division should be computed. + * \return The scalar division of this three-dimensional vector with a specified scalar value. + */ + RVO_API inline Vector3 operator/(float scalar) const + { + const float invScalar = 1.0f / scalar; + + return Vector3(val_[0] * invScalar, val_[1] * invScalar, val_[2] * invScalar); + } + + /** + * \brief Computes the vector sum of this three-dimensional vector with the specified three-dimensional vector. + * \param vector The three-dimensional vector with which the vector sum should be computed. + * \return The vector sum of this three-dimensional vector with a specified three-dimensional vector. + */ + RVO_API inline Vector3 operator+(const Vector3 &vector) const + { + return Vector3(val_[0] + vector[0], val_[1] + vector[1], val_[2] + vector[2]); + } + + /** + * \brief Computes the vector difference of this three-dimensional vector with the specified three-dimensional vector. + * \param vector The three-dimensional vector with which the vector difference should be computed. + * \return The vector difference of this three-dimensional vector with a specified three-dimensional vector. + */ + RVO_API inline Vector3 operator-(const Vector3 &vector) const + { + return Vector3(val_[0] - vector[0], val_[1] - vector[1], val_[2] - vector[2]); + } + + /** + * \brief Tests this three-dimensional vector for equality with the specified three-dimensional vector. + * \param vector The three-dimensional vector with which to test for equality. + * \return True if the three-dimensional vectors are equal. + */ + RVO_API inline bool operator==(const Vector3 &vector) const + { + return val_[0] == vector[0] && val_[1] == vector[1] && val_[2] == vector[2]; + } + + /** + * \brief Tests this three-dimensional vector for inequality with the specified three-dimensional vector. + * \param vector The three-dimensional vector with which to test for inequality. + * \return True if the three-dimensional vectors are not equal. + */ + RVO_API inline bool operator!=(const Vector3 &vector) const + { + return val_[0] != vector[0] || val_[1] != vector[1] || val_[2] != vector[2]; + } + + /** + * \brief Sets the value of this three-dimensional vector to the scalar multiplication of itself with the specified scalar value. + * \param scalar The scalar value with which the scalar multiplication should be computed. + * \return A reference to this three-dimensional vector. + */ + RVO_API inline Vector3 &operator*=(float scalar) + { + val_[0] *= scalar; + val_[1] *= scalar; + val_[2] *= scalar; + + return *this; + } + + /** + * \brief Sets the value of this three-dimensional vector to the scalar division of itself with the specified scalar value. + * \param scalar The scalar value with which the scalar division should be computed. + * \return A reference to this three-dimensional vector. + */ + RVO_API inline Vector3 &operator/=(float scalar) + { + const float invScalar = 1.0f / scalar; + + val_[0] *= invScalar; + val_[1] *= invScalar; + val_[2] *= invScalar; + + return *this; + } + + /** + * \brief Sets the value of this three-dimensional vector to the vector + * sum of itself with the specified three-dimensional vector. + * \param vector The three-dimensional vector with which the vector sum should be computed. + * \return A reference to this three-dimensional vector. + */ + RVO_API inline Vector3 &operator+=(const Vector3 &vector) + { + val_[0] += vector[0]; + val_[1] += vector[1]; + val_[2] += vector[2]; + + return *this; + } + + /** + * \brief Sets the value of this three-dimensional vector to the vector difference of itself with the specified three-dimensional vector. + * \param vector The three-dimensional vector with which the vector difference should be computed. + * \return A reference to this three-dimensional vector. + */ + RVO_API inline Vector3 &operator-=(const Vector3 &vector) + { + val_[0] -= vector[0]; + val_[1] -= vector[1]; + val_[2] -= vector[2]; + + return *this; + } + + private: + float val_[3]; + }; + + + /** + * \relates Vector3 + * \brief Computes the scalar multiplication of the specified three-dimensional vector with the specified scalar value. + * \param scalar The scalar value with which the scalar multiplication should be computed. + * \param vector The three-dimensional vector with which the scalar multiplication should be computed. + * \return The scalar multiplication of the three-dimensional vector with the scalar value. + */ + inline Vector3 operator*(float scalar, const Vector3 &vector) + { + return Vector3(scalar * vector[0], scalar * vector[1], scalar * vector[2]); + } + + /** + * \relates Vector3 + * \brief Computes the cross product of the specified three-dimensional vectors. + * \param vector1 The first vector with which the cross product should be computed. + * \param vector2 The second vector with which the cross product should be computed. + * \return The cross product of the two specified vectors. + */ + inline Vector3 cross(const Vector3 &vector1, const Vector3 &vector2) + { + return Vector3(vector1[1] * vector2[2] - vector1[2] * vector2[1], vector1[2] * vector2[0] - vector1[0] * vector2[2], vector1[0] * vector2[1] - vector1[1] * vector2[0]); + } + + /** + * \relates Vector3 + * \brief Inserts the specified three-dimensional vector into the specified output stream. + * \param os The output stream into which the three-dimensional vector should be inserted. + * \param vector The three-dimensional vector which to insert into the output stream. + * \return A reference to the output stream. + */ + inline std::ostream &operator<<(std::ostream &os, const Vector3 &vector) + { + os << "(" << vector[0] << "," << vector[1] << "," << vector[2] << ")"; + + return os; + } + + /** + * \relates Vector3 + * \brief Computes the length of a specified three-dimensional vector. + * \param vector The three-dimensional vector whose length is to be computed. + * \return The length of the three-dimensional vector. + */ + inline float abs(const Vector3 &vector) + { + return std::sqrt(vector * vector); + } + + /** + * \relates Vector3 + * \brief Computes the squared length of a specified three-dimensional vector. + * \param vector The three-dimensional vector whose squared length is to be computed. + * \return The squared length of the three-dimensional vector. + */ + inline float absSq(const Vector3 &vector) + { + return vector * vector; + } + + /** + * \relates Vector3 + * \brief Computes the normalization of the specified three-dimensional vector. + * \param vector The three-dimensional vector whose normalization is to be computed. + * \return The normalization of the three-dimensional vector. + */ + inline Vector3 normalize(const Vector3 &vector) + { + return vector / abs(vector); + } +} + +#endif diff --git a/thirdparty/vhacd/0003-fix-musl-build.patch b/thirdparty/vhacd/0003-fix-musl-build.patch new file mode 100644 index 0000000000..67af8546f3 --- /dev/null +++ b/thirdparty/vhacd/0003-fix-musl-build.patch @@ -0,0 +1,15 @@ +diff --git a/thirdparty/vhacd/inc/vhacdMutex.h b/thirdparty/vhacd/inc/vhacdMutex.h +index 6b09259200..d587dd6387 100644 +--- a/thirdparty/vhacd/inc/vhacdMutex.h ++++ b/thirdparty/vhacd/inc/vhacdMutex.h +@@ -71,7 +71,9 @@ + #include <pthread.h> + #endif + +-#if defined(__APPLE__) ++// -- GODOT start -- ++#if defined(__APPLE__) || !defined(__GLIBC__) ++// -- GODOT end -- + #define PTHREAD_MUTEX_RECURSIVE_NP PTHREAD_MUTEX_RECURSIVE + #endif + diff --git a/thirdparty/vhacd/0004-fix-uwp-arm-build.patch b/thirdparty/vhacd/0004-fix-uwp-arm-build.patch new file mode 100644 index 0000000000..a5bba3fd7d --- /dev/null +++ b/thirdparty/vhacd/0004-fix-uwp-arm-build.patch @@ -0,0 +1,16 @@ +diff --git a/thirdparty/vhacd/inc/btScalar.h b/thirdparty/vhacd/inc/btScalar.h +index 3999a71521..4c9e0cf7ab 100644 +--- a/thirdparty/vhacd/inc/btScalar.h ++++ b/thirdparty/vhacd/inc/btScalar.h +@@ -72,7 +72,10 @@ inline int32_t btGetVersion() + #define btFsel(a, b, c) __fsel((a), (b), (c)) + #else + +-#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) ++// -- GODOT start -- ++//#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) ++#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) && (!defined(_M_ARM)) ++// -- GODOT end -- + #define BT_USE_SSE + #include <emmintrin.h> + #endif diff --git a/thirdparty/vhacd/inc/btScalar.h b/thirdparty/vhacd/inc/btScalar.h index 3999a71521..4c9e0cf7ab 100644 --- a/thirdparty/vhacd/inc/btScalar.h +++ b/thirdparty/vhacd/inc/btScalar.h @@ -72,7 +72,10 @@ inline int32_t btGetVersion() #define btFsel(a, b, c) __fsel((a), (b), (c)) #else -#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) +// -- GODOT start -- +//#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) +#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) && (!defined(_M_ARM)) +// -- GODOT end -- #define BT_USE_SSE #include <emmintrin.h> #endif diff --git a/thirdparty/vhacd/inc/vhacdMutex.h b/thirdparty/vhacd/inc/vhacdMutex.h index 6b09259200..d587dd6387 100644 --- a/thirdparty/vhacd/inc/vhacdMutex.h +++ b/thirdparty/vhacd/inc/vhacdMutex.h @@ -71,7 +71,9 @@ #include <pthread.h> #endif -#if defined(__APPLE__) +// -- GODOT start -- +#if defined(__APPLE__) || !defined(__GLIBC__) +// -- GODOT end -- #define PTHREAD_MUTEX_RECURSIVE_NP PTHREAD_MUTEX_RECURSIVE #endif diff --git a/thirdparty/xatlas/LICENSE b/thirdparty/xatlas/LICENSE index 94d0c60485..9e61e15fb7 100644 --- a/thirdparty/xatlas/LICENSE +++ b/thirdparty/xatlas/LICENSE @@ -1,14 +1,21 @@ -xatlas -https://github.com/jpcy/xatlas -Copyright (c) 2018 Jonathan Young +MIT License -thekla_atlas -https://github.com/Thekla/thekla_atlas -Copyright (c) 2013 Thekla, Inc -Copyright NVIDIA Corporation 2006 -- Ignacio Castano <icastano@nvidia.com> +Copyright (c) 2018-2019 Jonathan Young -Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: -The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE.
\ No newline at end of file diff --git a/thirdparty/xatlas/xatlas.cpp b/thirdparty/xatlas/xatlas.cpp index 56794211a6..80cacf9746 100644 --- a/thirdparty/xatlas/xatlas.cpp +++ b/thirdparty/xatlas/xatlas.cpp @@ -33,7 +33,6 @@ https://github.com/brandonpelfrey/Fast-BVH MIT License Copyright (c) 2012 Brandon Pelfrey */ -#include <algorithm> #include <atomic> #include <condition_variable> #include <mutex> @@ -114,22 +113,25 @@ Copyright (c) 2012 Brandon Pelfrey #define XA_UNUSED(a) ((void)(a)) -#define XA_GROW_CHARTS_COPLANAR 1 #define XA_MERGE_CHARTS 1 #define XA_MERGE_CHARTS_MIN_NORMAL_DEVIATION 0.5f #define XA_RECOMPUTE_CHARTS 1 -#define XA_SKIP_PARAMETERIZATION 0 // Use the orthogonal parameterization from segment::Atlas #define XA_CLOSE_HOLES_CHECK_EDGE_INTERSECTION 0 +#define XA_FIX_INTERNAL_BOUNDARY_LOOPS 1 +#define XA_PRINT_CHART_WARNINGS 0 #define XA_DEBUG_HEAP 0 #define XA_DEBUG_SINGLE_CHART 0 #define XA_DEBUG_EXPORT_ATLAS_IMAGES 0 +#define XA_DEBUG_EXPORT_ATLAS_IMAGES_PER_CHART 0 // Export an atlas image after each chart is added. +#define XA_DEBUG_EXPORT_BOUNDARY_GRID 0 +#define XA_DEBUG_EXPORT_TGA (XA_DEBUG_EXPORT_ATLAS_IMAGES || XA_DEBUG_EXPORT_BOUNDARY_GRID) #define XA_DEBUG_EXPORT_OBJ_SOURCE_MESHES 0 #define XA_DEBUG_EXPORT_OBJ_CHART_GROUPS 0 +#define XA_DEBUG_EXPORT_OBJ_PLANAR_REGIONS 0 #define XA_DEBUG_EXPORT_OBJ_CHARTS 0 #define XA_DEBUG_EXPORT_OBJ_BEFORE_FIX_TJUNCTION 0 #define XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR 0 -#define XA_DEBUG_EXPORT_OBJ_NOT_DISK 0 #define XA_DEBUG_EXPORT_OBJ_CHARTS_AFTER_PARAMETERIZATION 0 #define XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION 0 #define XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS 0 @@ -137,10 +139,10 @@ Copyright (c) 2012 Brandon Pelfrey #define XA_DEBUG_EXPORT_OBJ (0 \ || XA_DEBUG_EXPORT_OBJ_SOURCE_MESHES \ || XA_DEBUG_EXPORT_OBJ_CHART_GROUPS \ + || XA_DEBUG_EXPORT_OBJ_PLANAR_REGIONS \ || XA_DEBUG_EXPORT_OBJ_CHARTS \ || XA_DEBUG_EXPORT_OBJ_BEFORE_FIX_TJUNCTION \ || XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR \ - || XA_DEBUG_EXPORT_OBJ_NOT_DISK \ || XA_DEBUG_EXPORT_OBJ_CHARTS_AFTER_PARAMETERIZATION \ || XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION \ || XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS) @@ -166,6 +168,10 @@ struct MemTag enum { Default, + BitImage, + BVH, + FullVector, + Matrix, Mesh, MeshBoundaries, MeshColocals, @@ -174,6 +180,10 @@ struct MemTag MeshNormals, MeshPositions, MeshTexcoords, + SegmentAtlasChartCandidates, + SegmentAtlasChartFaces, + SegmentAtlasMeshData, + SegmentAtlasPlanarRegions, Count }; }; @@ -192,7 +202,7 @@ struct AllocHeader static std::mutex s_allocMutex; static AllocHeader *s_allocRoot = nullptr; -static size_t s_allocTotalSize = 0, s_allocPeakSize = 0, s_allocTotalTagSize[MemTag::Count] = { 0 }, s_allocPeakTagSize[MemTag::Count] = { 0 }; +static size_t s_allocTotalCount = 0, s_allocTotalSize = 0, s_allocPeakSize = 0, s_allocCount[MemTag::Count] = { 0 }, s_allocTotalTagSize[MemTag::Count] = { 0 }, s_allocPeakTagSize[MemTag::Count] = { 0 }; static uint32_t s_allocId =0 ; static constexpr uint32_t kAllocRedzone = 0x12345678; @@ -245,9 +255,11 @@ static void *Realloc(void *ptr, size_t size, int tag, const char *file, int line s_allocRoot = header; header->next->prev = header; } + s_allocTotalCount++; s_allocTotalSize += size; if (s_allocTotalSize > s_allocPeakSize) s_allocPeakSize = s_allocTotalSize; + s_allocCount[tag]++; s_allocTotalTagSize[tag] += size; if (s_allocTotalTagSize[tag] > s_allocPeakTagSize[tag]) s_allocPeakTagSize[tag] = s_allocTotalTagSize[tag]; @@ -287,9 +299,14 @@ static void ReportLeaks() static void PrintMemoryUsage() { + XA_PRINT("Total allocations: %zu\n", s_allocTotalCount); XA_PRINT("Memory usage: %0.2fMB current, %0.2fMB peak\n", internal::s_allocTotalSize / 1024.0f / 1024.0f, internal::s_allocPeakSize / 1024.0f / 1024.0f); static const char *labels[] = { // Sync with MemTag "Default", + "BitImage", + "BVH", + "FullVector", + "Matrix", "Mesh", "MeshBoundaries", "MeshColocals", @@ -297,10 +314,14 @@ static void PrintMemoryUsage() "MeshIndices", "MeshNormals", "MeshPositions", - "MeshTexcoords" + "MeshTexcoords", + "SegmentAtlasChartCandidates", + "SegmentAtlasChartFaces", + "SegmentAtlasMeshData", + "SegmentAtlasPlanarRegions" }; for (int i = 0; i < MemTag::Count; i++) { - XA_PRINT(" %s: %0.2fMB current, %0.2fMB peak\n", labels[i], internal::s_allocTotalTagSize[i] / 1024.0f / 1024.0f, internal::s_allocPeakTagSize[i] / 1024.0f / 1024.0f); + XA_PRINT(" %s: %zu allocations, %0.2fMB current, %0.2fMB peak\n", labels[i], internal::s_allocCount[i], internal::s_allocTotalTagSize[i] / 1024.0f / 1024.0f, internal::s_allocPeakTagSize[i] / 1024.0f / 1024.0f); } } @@ -308,7 +329,9 @@ static void PrintMemoryUsage() #else static void *Realloc(void *ptr, size_t size, int /*tag*/, const char * /*file*/, int /*line*/) { - if (ptr && size == 0 && s_free) { + if (size == 0 && !ptr) + return nullptr; + if (size == 0 && s_free) { s_free(ptr); return nullptr; } @@ -333,7 +356,6 @@ struct ProfileData std::atomic<clock_t> addMeshThread; std::atomic<clock_t> addMeshCreateColocals; std::atomic<clock_t> addMeshCreateFaceGroups; - std::atomic<clock_t> addMeshCreateBoundaries; std::atomic<clock_t> addMeshCreateChartGroupsReal; std::atomic<clock_t> addMeshCreateChartGroupsThread; clock_t computeChartsReal; @@ -362,7 +384,6 @@ struct ProfileData clock_t packChartsRasterize; clock_t packChartsDilate; clock_t packChartsFindLocation; - std::atomic<clock_t> packChartsFindLocationThread; clock_t packChartsBlit; clock_t buildOutputMeshes; }; @@ -386,6 +407,7 @@ static double clockToSeconds(clock_t c) static constexpr float kPi = 3.14159265358979323846f; static constexpr float kPi2 = 6.28318530717958647692f; +static constexpr float kPi4 = 12.56637061435917295384f; static constexpr float kEpsilon = 0.0001f; static constexpr float kAreaEpsilon = FLT_EPSILON; static constexpr float kNormalEpsilon = 0.001f; @@ -430,11 +452,9 @@ static T clamp(const T &x, const T &a, const T &b) template <typename T> static void swap(T &a, T &b) { - T temp; - temp = a; + T temp = a; a = b; b = temp; - temp = T(); } union FloatUint32 @@ -620,6 +640,14 @@ static Vector2 normalize(const Vector2 &v, float epsilon) return n; } +static Vector2 normalizeSafe(const Vector2 &v, const Vector2 &fallback, float epsilon) +{ + float l = length(v); + if (isZero(l, epsilon)) + return fallback; + return v * (1.0f / l); +} + static bool equal(const Vector2 &v1, const Vector2 &v2, float epsilon) { return equal(v1.x, v2.x, epsilon) && equal(v1.y, v2.y, epsilon); @@ -640,23 +668,19 @@ static bool isFinite(const Vector2 &v) return isFinite(v.x) && isFinite(v.y); } -// Note, this is the area scaled by 2! -static float triangleArea(const Vector2 &v0, const Vector2 &v1) -{ - return (v0.x * v1.y - v0.y * v1.x); // * 0.5f; -} - static float triangleArea(const Vector2 &a, const Vector2 &b, const Vector2 &c) { // IC: While it may be appealing to use the following expression: - //return (c.x * a.y + a.x * b.y + b.x * c.y - b.x * a.y - c.x * b.y - a.x * c.y); // * 0.5f; + //return (c.x * a.y + a.x * b.y + b.x * c.y - b.x * a.y - c.x * b.y - a.x * c.y) * 0.5f; // That's actually a terrible idea. Small triangles far from the origin can end up producing fairly large floating point // numbers and the results becomes very unstable and dependent on the order of the factors. // Instead, it's preferable to subtract the vertices first, and multiply the resulting small values together. The result // in this case is always much more accurate (as long as the triangle is small) and less dependent of the location of // the triangle. - //return ((a.x - c.x) * (b.y - c.y) - (a.y - c.y) * (b.x - c.x)); // * 0.5f; - return triangleArea(a - c, b - c); + //return ((a.x - c.x) * (b.y - c.y) - (a.y - c.y) * (b.x - c.x)) * 0.5f; + const Vector2 v0 = a - c; + const Vector2 v1 = b - c; + return (v0.x * v1.y - v0.y * v1.x) * 0.5f; } static bool linesIntersect(const Vector2 &a1, const Vector2 &a2, const Vector2 &b1, const Vector2 &b2, float epsilon) @@ -746,11 +770,6 @@ public: float x, y, z; }; -static bool operator!=(const Vector3 &a, const Vector3 &b) -{ - return a.x != b.x || a.y != b.y || a.z != b.z; -} - static Vector3 operator+(const Vector3 &a, const Vector3 &b) { return Vector3(a.x + b.x, a.y + b.y, a.z + b.z); @@ -837,6 +856,33 @@ bool isFinite(const Vector3 &v) } #endif +struct Extents2 +{ + Vector2 min, max; + + void reset() + { + min.x = min.y = FLT_MAX; + max.x = max.y = -FLT_MAX; + } + + void add(Vector2 p) + { + min = xatlas::internal::min(min, p); + max = xatlas::internal::max(max, p); + } + + Vector2 midpoint() const + { + return Vector2(min.x + (max.x - min.x) * 0.5f, min.y + (max.y - min.y) * 0.5f); + } + + static bool intersect(Extents2 e1, Extents2 e2) + { + return e1.min.x <= e2.max.x && e1.max.x >= e2.min.x && e1.min.y <= e2.max.y && e1.max.y >= e2.min.y; + } +}; + struct Plane { Plane() = default; @@ -979,7 +1025,14 @@ struct AABB struct ArrayBase { - ArrayBase(uint32_t elementSize, int memTag = MemTag::Default) : buffer(nullptr), elementSize(elementSize), size(0), capacity(0), memTag(memTag) {} + ArrayBase(uint32_t elementSize, int memTag = MemTag::Default) : buffer(nullptr), elementSize(elementSize), size(0), capacity(0) + { +#if XA_DEBUG_HEAP + this->memTag = memTag; +#else + XA_UNUSED(memTag); +#endif + } ~ArrayBase() { @@ -991,6 +1044,12 @@ struct ArrayBase size = 0; } + void copyFrom(const uint8_t *data, uint32_t length) + { + resize(length, true); + memcpy(buffer, data, length * elementSize); + } + void copyTo(ArrayBase &other) const { XA_DEBUG_ASSERT(elementSize == other.elementSize); @@ -1025,7 +1084,9 @@ struct ArrayBase other.elementSize = elementSize; other.size = size; other.capacity = capacity; +#if XA_DEBUG_HEAP other.memTag = memTag; +#endif buffer = nullptr; elementSize = size = capacity = 0; } @@ -1043,6 +1104,16 @@ struct ArrayBase memcpy(&buffer[(size - 1) * elementSize], value, elementSize); } + void push_back(const ArrayBase &other) + { + XA_DEBUG_ASSERT(elementSize == other.elementSize); + if (other.size == 0) + return; + const uint32_t oldSize = size; + resize(size + other.size, false); + memcpy(buffer + oldSize * elementSize, other.buffer, other.size * other.elementSize); + } + // Remove the element at the given index. This is an expensive operation! void removeAt(uint32_t index) { @@ -1083,16 +1154,29 @@ struct ArrayBase } } else { // realloc the buffer +#if XA_DEBUG_HEAP buffer = XA_REALLOC_SIZE(memTag, buffer, newCapacity * elementSize); +#else + buffer = XA_REALLOC_SIZE(MemTag::Default, buffer, newCapacity * elementSize); +#endif } capacity = newCapacity; } +#if XA_DEBUG_HEAP + void setMemTag(int memTag) + { + this->memTag = memTag; + } +#endif + uint8_t *buffer; uint32_t elementSize; uint32_t size; uint32_t capacity; +#if XA_DEBUG_HEAP int memTag; +#endif }; template<typename T> @@ -1101,7 +1185,7 @@ class Array public: Array(int memTag = MemTag::Default) : m_base(sizeof(T), memTag) {} Array(const Array&) = delete; - const Array &operator=(const Array &) = delete; + Array &operator=(const Array &) = delete; XA_INLINE const T &operator[](uint32_t index) const { @@ -1123,6 +1207,17 @@ public: XA_INLINE T *begin() { return (T *)m_base.buffer; } XA_INLINE void clear() { m_base.clear(); } + + bool contains(const T &value) const + { + for (uint32_t i = 0; i < m_base.size; i++) { + if (((const T *)m_base.buffer)[i] == value) + return true; + } + return false; + } + + void copyFrom(const T *data, uint32_t length) { m_base.copyFrom((const uint8_t *)data, length); } void copyTo(Array &other) const { m_base.copyTo(other.m_base); } XA_INLINE const T *data() const { return (const T *)m_base.buffer; } XA_INLINE T *data() { return (T *)m_base.buffer; } @@ -1131,11 +1226,24 @@ public: void insertAt(uint32_t index, const T &value) { m_base.insertAt(index, (const uint8_t *)&value); } void moveTo(Array &other) { m_base.moveTo(other.m_base); } void push_back(const T &value) { m_base.push_back((const uint8_t *)&value); } + void push_back(const Array &other) { m_base.push_back(other.m_base); } void pop_back() { m_base.pop_back(); } void removeAt(uint32_t index) { m_base.removeAt(index); } void reserve(uint32_t desiredSize) { m_base.reserve(desiredSize); } void resize(uint32_t newSize) { m_base.resize(newSize, true); } + void runCtors() + { + for (uint32_t i = 0; i < m_base.size; i++) + new (&((T *)m_base.buffer)[i]) T; + } + + void runDtors() + { + for (uint32_t i = 0; i < m_base.size; i++) + ((T *)m_base.buffer)[i].~T(); + } + void setAll(const T &value) { auto buffer = (T *)m_base.buffer; @@ -1143,6 +1251,10 @@ public: buffer[i] = value; } +#if XA_DEBUG_HEAP + void setMemTag(int memTag) { m_base.setMemTag(memTag); } +#endif + XA_INLINE uint32_t size() const { return m_base.size; } XA_INLINE void zeroOutMemory() { memset(m_base.buffer, 0, m_base.elementSize * m_base.size); } @@ -1150,6 +1262,28 @@ private: ArrayBase m_base; }; +template<typename T> +struct ArrayView +{ + ArrayView(Array<T> &a) : data(a.data()), length(a.size()) {} + ArrayView(T *data, uint32_t length) : data(data), length(length) {} + ArrayView &operator=(Array<T> &a) { data = a.data(); length = a.size(); return *this; } + XA_INLINE const T &operator[](uint32_t index) const { XA_DEBUG_ASSERT(index < length); return data[index]; } + T *data; + uint32_t length; +}; + +template<typename T> +struct ConstArrayView +{ + ConstArrayView(const Array<T> &a) : data(a.data()), length(a.size()) {} + ConstArrayView(const T *data, uint32_t length) : data(data), length(length) {} + ConstArrayView &operator=(const Array<T> &a) { data = a.data(); length = a.size(); return *this; } + XA_INLINE const T &operator[](uint32_t index) const { XA_DEBUG_ASSERT(index < length); return data[index]; } + const T *data; + uint32_t length; +}; + /// Basis class to compute tangent space basis, ortogonalizations and to transform vectors from one space to another. struct Basis { @@ -1197,40 +1331,34 @@ public: m_wordArray.resize((m_size + 31) >> 5); } - /// Get bit. - bool bitAt(uint32_t b) const + bool get(uint32_t index) const { - XA_DEBUG_ASSERT( b < m_size ); - return (m_wordArray[b >> 5] & (1 << (b & 31))) != 0; + XA_DEBUG_ASSERT(index < m_size); + return (m_wordArray[index >> 5] & (1 << (index & 31))) != 0; } - // Set a bit. - void setBitAt(uint32_t idx) + void set(uint32_t index) { - XA_DEBUG_ASSERT(idx < m_size); - m_wordArray[idx >> 5] |= (1 << (idx & 31)); + XA_DEBUG_ASSERT(index < m_size); + m_wordArray[index >> 5] |= (1 << (index & 31)); } - // Clear all the bits. - void clearAll() + void zeroOutMemory() { - memset(m_wordArray.data(), 0, m_wordArray.size() * sizeof(uint32_t)); + m_wordArray.zeroOutMemory(); } private: - // Number of bits stored. - uint32_t m_size; - - // Array of bits. + uint32_t m_size; // Number of bits stored. Array<uint32_t> m_wordArray; }; class BitImage { public: - BitImage() : m_width(0), m_height(0), m_rowStride(0) {} + BitImage() : m_width(0), m_height(0), m_rowStride(0), m_data(MemTag::BitImage) {} - BitImage(uint32_t w, uint32_t h) : m_width(w), m_height(h) + BitImage(uint32_t w, uint32_t h) : m_width(w), m_height(h), m_data(MemTag::BitImage) { m_rowStride = (m_width + 63) >> 6; m_data.resize(m_rowStride * m_height); @@ -1238,7 +1366,7 @@ public: } BitImage(const BitImage &other) = delete; - const BitImage &operator=(const BitImage &other) = delete; + BitImage &operator=(const BitImage &other) = delete; uint32_t width() const { return m_width; } uint32_t height() const { return m_height; } @@ -1275,22 +1403,22 @@ public: m_rowStride = rowStride; } - bool bitAt(uint32_t x, uint32_t y) const + bool get(uint32_t x, uint32_t y) const { XA_DEBUG_ASSERT(x < m_width && y < m_height); const uint32_t index = (x >> 6) + y * m_rowStride; return (m_data[index] & (UINT64_C(1) << (uint64_t(x) & UINT64_C(63)))) != 0; } - void setBitAt(uint32_t x, uint32_t y) + void set(uint32_t x, uint32_t y) { XA_DEBUG_ASSERT(x < m_width && y < m_height); const uint32_t index = (x >> 6) + y * m_rowStride; m_data[index] |= UINT64_C(1) << (uint64_t(x) & UINT64_C(63)); - XA_DEBUG_ASSERT(bitAt(x, y)); + XA_DEBUG_ASSERT(get(x, y)); } - void clearAll() + void zeroOutMemory() { m_data.zeroOutMemory(); } @@ -1324,26 +1452,26 @@ public: { BitImage tmp(m_width, m_height); for (uint32_t p = 0; p < padding; p++) { - tmp.clearAll(); + tmp.zeroOutMemory(); for (uint32_t y = 0; y < m_height; y++) { for (uint32_t x = 0; x < m_width; x++) { - bool b = bitAt(x, y); + bool b = get(x, y); if (!b) { if (x > 0) { - b |= bitAt(x - 1, y); - if (y > 0) b |= bitAt(x - 1, y - 1); - if (y < m_height - 1) b |= bitAt(x - 1, y + 1); + b |= get(x - 1, y); + if (y > 0) b |= get(x - 1, y - 1); + if (y < m_height - 1) b |= get(x - 1, y + 1); } - if (y > 0) b |= bitAt(x, y - 1); - if (y < m_height - 1) b |= bitAt(x, y + 1); + if (y > 0) b |= get(x, y - 1); + if (y < m_height - 1) b |= get(x, y + 1); if (x < m_width - 1) { - b |= bitAt(x + 1, y); - if (y > 0) b |= bitAt(x + 1, y - 1); - if (y < m_height - 1) b |= bitAt(x + 1, y + 1); + b |= get(x + 1, y); + if (y > 0) b |= get(x + 1, y - 1); + if (y < m_height - 1) b |= get(x + 1, y + 1); } } if (b) - tmp.setBitAt(x, y); + tmp.set(x, y); } } tmp.m_data.copyTo(m_data); @@ -1361,7 +1489,7 @@ private: class BVH { public: - BVH(const Array<AABB> &objectAabbs, uint32_t leafSize = 4) + BVH(const Array<AABB> &objectAabbs, uint32_t leafSize = 4) : m_objectIds(MemTag::BVH), m_nodes(MemTag::BVH) { m_objectAabbs = &objectAabbs; if (m_objectAabbs->isEmpty()) @@ -1494,9 +1622,118 @@ private: Array<Node> m_nodes; }; -class Fit +struct Fit { -public: + static bool computeBasis(const Vector3 *points, uint32_t pointsCount, Basis *basis) + { + if (computeLeastSquaresNormal(points, pointsCount, &basis->normal)) { + basis->tangent = Basis::computeTangent(basis->normal); + basis->bitangent = Basis::computeBitangent(basis->normal, basis->tangent); + return true; + } + return computeEigen(points, pointsCount, basis); + } + +private: + // Fit a plane to a collection of points. + // Fast, and accurate to within a few degrees. + // Returns None if the points do not span a plane. + // https://www.ilikebigbits.com/2015_03_04_plane_from_points.html + static bool computeLeastSquaresNormal(const Vector3 *points, uint32_t pointsCount, Vector3 *normal) + { + XA_DEBUG_ASSERT(pointsCount >= 3); + if (pointsCount == 3) { + *normal = normalize(cross(points[2] - points[0], points[1] - points[0]), kEpsilon); + return true; + } + const float invN = 1.0f / float(pointsCount); + Vector3 centroid(0.0f); + for (uint32_t i = 0; i < pointsCount; i++) + centroid += points[i]; + centroid *= invN; + // Calculate full 3x3 covariance matrix, excluding symmetries: + float xx = 0.0f, xy = 0.0f, xz = 0.0f, yy = 0.0f, yz = 0.0f, zz = 0.0f; + for (uint32_t i = 0; i < pointsCount; i++) { + Vector3 r = points[i] - centroid; + xx += r.x * r.x; + xy += r.x * r.y; + xz += r.x * r.z; + yy += r.y * r.y; + yz += r.y * r.z; + zz += r.z * r.z; + } +#if 0 + xx *= invN; + xy *= invN; + xz *= invN; + yy *= invN; + yz *= invN; + zz *= invN; + Vector3 weighted_dir(0.0f); + { + float det_x = yy * zz - yz * yz; + const Vector3 axis_dir(det_x, xz * yz - xy * zz, xy * yz - xz * yy); + float weight = det_x * det_x; + if (dot(weighted_dir, axis_dir) < 0.0f) + weight = -weight; + weighted_dir += axis_dir * weight; + } + { + float det_y = xx * zz - xz * xz; + const Vector3 axis_dir(xz * yz - xy * zz, det_y, xy * xz - yz * xx); + float weight = det_y * det_y; + if (dot(weighted_dir, axis_dir) < 0.0f) + weight = -weight; + weighted_dir += axis_dir * weight; + } + { + float det_z = xx * yy - xy * xy; + const Vector3 axis_dir(xy * yz - xz * yy, xy * xz - yz * xx, det_z); + float weight = det_z * det_z; + if (dot(weighted_dir, axis_dir) < 0.0f) + weight = -weight; + weighted_dir += axis_dir * weight; + } + *normal = normalize(weighted_dir, kEpsilon); +#else + const float det_x = yy * zz - yz * yz; + const float det_y = xx * zz - xz * xz; + const float det_z = xx * yy - xy * xy; + const float det_max = max(det_x, max(det_y, det_z)); + if (det_max <= 0.0f) + return false; // The points don't span a plane + // Pick path with best conditioning: + Vector3 dir(0.0f); + if (det_max == det_x) + dir = Vector3(det_x,xz * yz - xy * zz,xy * yz - xz * yy); + else if (det_max == det_y) + dir = Vector3(xz * yz - xy * zz, det_y, xy * xz - yz * xx); + else if (det_max == det_z) + dir = Vector3(xy * yz - xz * yy, xy * xz - yz * xx, det_z); + const float len = length(dir); + if (isZero(len, kEpsilon)) + return false; + *normal = dir * (1.0f / len); +#endif + return isNormalized(*normal); + } + + static bool computeEigen(const Vector3 *points, uint32_t pointsCount, Basis *basis) + { + float matrix[6]; + computeCovariance(pointsCount, points, matrix); + if (matrix[0] == 0 && matrix[3] == 0 && matrix[5] == 0) + return false; + float eigenValues[3]; + Vector3 eigenVectors[3]; + if (!eigenSolveSymmetric3(matrix, eigenValues, eigenVectors)) + return false; + basis->normal = normalize(eigenVectors[2], kEpsilon); + basis->tangent = normalize(eigenVectors[0], kEpsilon); + basis->bitangent = normalize(eigenVectors[1], kEpsilon); + return true; + } + static Vector3 computeCentroid(int n, const Vector3 * points) { Vector3 centroid(0.0f); @@ -1694,9 +1931,9 @@ private: class FullVector { public: - FullVector(uint32_t dim) { m_array.resize(dim); } - FullVector(const FullVector &v) { v.m_array.copyTo(m_array); } - const FullVector &operator=(const FullVector &v) = delete; + FullVector(uint32_t dim) : m_array(MemTag::FullVector) { m_array.resize(dim); } + FullVector(const FullVector &v) : m_array(MemTag::FullVector) { v.m_array.copyTo(m_array); } + FullVector &operator=(const FullVector &v) = delete; XA_INLINE uint32_t dimension() const { return m_array.size(); } XA_INLINE const float &operator[](uint32_t index) const { return m_array[index]; } XA_INLINE float &operator[](uint32_t index) { return m_array[index]; } @@ -1767,7 +2004,10 @@ private: void alloc() { XA_DEBUG_ASSERT(m_size > 0); - m_numSlots = (uint32_t)(m_size * 1.3); + m_numSlots = nextPowerOfTwo(m_size); + auto minNumSlots = uint32_t(m_size * 1.3); + if (m_numSlots < minNumSlots) + m_numSlots = nextPowerOfTwo(minNumSlots); m_slots = XA_ALLOC_ARRAY(m_memTag, uint32_t, m_numSlots); for (uint32_t i = 0; i < m_numSlots; i++) m_slots[i] = UINT32_MAX; @@ -1778,7 +2018,7 @@ private: uint32_t computeHash(const Key &key) const { H hash; - return hash(key) % m_numSlots; + return hash(key) & (m_numSlots - 1); } int m_memTag; @@ -1806,6 +2046,16 @@ static void insertionSort(T *data, uint32_t length) class KISSRng { public: + KISSRng() { reset(); } + + void reset() + { + x = 123456789; + y = 362436000; + z = 521288629; + c = 7654321; + } + uint32_t getRange(uint32_t range) { if (range == 0) @@ -1820,7 +2070,7 @@ public: } private: - uint32_t x = 123456789, y = 362436000, z = 521288629, c = 7654321; + uint32_t x, y, z, c; }; // Based on Pierre Terdiman's and Michael Herf's source code. @@ -2009,15 +2259,27 @@ private: class BoundingBox2D { public: - Vector2 majorAxis() const { return m_majorAxis; } - Vector2 minorAxis() const { return m_minorAxis; } - Vector2 minCorner() const { return m_minCorner; } - Vector2 maxCorner() const { return m_maxCorner; } + Vector2 majorAxis, minorAxis, minCorner, maxCorner; + + void clear() + { + m_boundaryVertices.clear(); + } + + void appendBoundaryVertex(Vector2 v) + { + m_boundaryVertices.push_back(v); + } // This should compute convex hull and use rotating calipers to find the best box. Currently it uses a brute force method. - void compute(const Vector2 *boundaryVertices, uint32_t boundaryVertexCount, const Vector2 *vertices, uint32_t vertexCount) + // If vertices is null or vertexCount is 0, the boundary vertices are used. + void compute(const Vector2 *vertices = nullptr, uint32_t vertexCount = 0) { - convexHull(boundaryVertices, boundaryVertexCount, m_hull, 0.00001f); + if (!vertices || vertexCount == 0) { + vertices = m_boundaryVertices.data(); + vertexCount = m_boundaryVertices.size(); + } + convexHull(m_boundaryVertices.data(), m_boundaryVertices.size(), m_hull, 0.00001f); // @@ Ideally I should use rotating calipers to find the best box. Using brute force for now. float best_area = FLT_MAX; Vector2 best_min(0); @@ -2051,11 +2313,11 @@ public: best_axis = axis; } } - m_majorAxis = best_axis; - m_minorAxis = Vector2(-best_axis.y, best_axis.x); - m_minCorner = best_min; - m_maxCorner = best_max; - XA_ASSERT(isFinite(m_majorAxis) && isFinite(m_minorAxis) && isFinite(m_minCorner)); + majorAxis = best_axis; + minorAxis = Vector2(-best_axis.y, best_axis.x); + minCorner = best_min; + maxCorner = best_max; + XA_ASSERT(isFinite(majorAxis) && isFinite(minorAxis) && isFinite(minCorner)); } private: @@ -2088,6 +2350,7 @@ private: } // Filter top list. output.clear(); + XA_DEBUG_ASSERT(m_top.size() >= 2); output.push_back(m_top[0]); output.push_back(m_top[1]); for (uint32_t i = 2; i < m_top.size(); ) { @@ -2103,6 +2366,7 @@ private: } } uint32_t top_count = output.size(); + XA_DEBUG_ASSERT(m_bottom.size() >= 2); output.push_back(m_bottom[1]); // Filter bottom list. for (uint32_t i = 2; i < m_bottom.size(); ) { @@ -2122,9 +2386,9 @@ private: output.pop_back(); } + Array<Vector2> m_boundaryVertices; Array<float> m_coords; Array<Vector2> m_top, m_bottom, m_hull; - Vector2 m_majorAxis, m_minorAxis, m_minCorner, m_maxCorner; }; static uint32_t meshEdgeFace(uint32_t edge) { return edge / 3; } @@ -2152,7 +2416,7 @@ static void meshGetBoundaryLoops(const Mesh &mesh, Array<uint32_t> &boundaryLoop class Mesh { public: - Mesh(float epsilon, uint32_t approxVertexCount, uint32_t approxFaceCount, uint32_t flags = 0, uint32_t id = UINT32_MAX) : m_epsilon(epsilon), m_flags(flags), m_id(id), m_faceIgnore(MemTag::Mesh), m_faceGroups(MemTag::Mesh), m_indices(MemTag::MeshIndices), m_positions(MemTag::MeshPositions), m_normals(MemTag::MeshNormals), m_texcoords(MemTag::MeshTexcoords), m_colocalVertexCount(0), m_nextColocalVertex(MemTag::MeshColocals), m_boundaryVertices(MemTag::MeshBoundaries), m_oppositeEdges(MemTag::MeshBoundaries), m_nextBoundaryEdges(MemTag::MeshBoundaries), m_edgeMap(MemTag::MeshEdgeMap, approxFaceCount * 3) + Mesh(float epsilon, uint32_t approxVertexCount, uint32_t approxFaceCount, uint32_t flags = 0, uint32_t id = UINT32_MAX) : m_epsilon(epsilon), m_flags(flags), m_id(id), m_faceIgnore(MemTag::Mesh), m_ignoredFaceCount(0), m_indices(MemTag::MeshIndices), m_positions(MemTag::MeshPositions), m_normals(MemTag::MeshNormals), m_texcoords(MemTag::MeshTexcoords), m_faceGroups(MemTag::Mesh), m_faceGroupFirstFace(MemTag::Mesh), m_faceGroupNextFace(MemTag::Mesh), m_faceGroupFaceCounts(MemTag::Mesh), m_colocalVertexCount(0), m_nextColocalVertex(MemTag::MeshColocals), m_boundaryEdges(MemTag::MeshBoundaries), m_oppositeEdges(MemTag::MeshBoundaries), m_nextBoundaryEdges(MemTag::MeshBoundaries), m_edgeMap(MemTag::MeshEdgeMap, approxFaceCount * 3) { m_indices.reserve(approxFaceCount * 3); m_positions.reserve(approxVertexCount); @@ -2165,6 +2429,7 @@ public: m_normals.reserve(approxVertexCount); } + static constexpr uint16_t kInvalidFaceGroup = UINT16_MAX; uint32_t flags() const { return m_flags; } uint32_t id() const { return m_id; } @@ -2199,9 +2464,12 @@ public: { AddFaceResult::Enum result = AddFaceResult::OK; if (m_flags & MeshFlags::HasFaceGroups) - m_faceGroups.push_back(UINT32_MAX); - if (m_flags & MeshFlags::HasIgnoredFaces) + m_faceGroups.push_back(kInvalidFaceGroup); + if (m_flags & MeshFlags::HasIgnoredFaces) { m_faceIgnore.push_back(ignore); + if (ignore) + m_ignoredFaceCount++; + } const uint32_t firstIndex = m_indices.size(); for (uint32_t i = 0; i < 3; i++) m_indices.push_back(indices[i]); @@ -2221,13 +2489,13 @@ public: void createColocals() { const uint32_t vertexCount = m_positions.size(); - Array<AABB> aabbs; + Array<AABB> aabbs(MemTag::BVH); aabbs.resize(vertexCount); for (uint32_t i = 0; i < m_positions.size(); i++) aabbs[i] = AABB(m_positions[i], m_epsilon); BVH bvh(aabbs); - Array<uint32_t> colocals; - Array<uint32_t> potential; + Array<uint32_t> colocals(MemTag::MeshColocals); + Array<uint32_t> potential(MemTag::MeshColocals); m_colocalVertexCount = 0; m_nextColocalVertex.resize(vertexCount); for (uint32_t i = 0; i < vertexCount; i++) @@ -2259,7 +2527,7 @@ public: } // Check if the face duplicates any edges of any face already in the group. - bool faceDuplicatesGroupEdge(uint32_t group, uint32_t face) const + bool faceDuplicatesGroupEdge(uint16_t group, uint32_t face) const { for (FaceEdgeIterator edgeIt(this, face); !edgeIt.isDone(); edgeIt.advance()) { for (ColocalEdgeIterator colocalEdgeIt(this, edgeIt.vertex0(), edgeIt.vertex1()); !colocalEdgeIt.isDone(); colocalEdgeIt.advance()) { @@ -2270,55 +2538,31 @@ public: return false; } - // Check if the face mirrors any face already in the group. - // i.e. don't want two-sided faces in the same group. - // A face mirrors another face if all edges match with opposite winding. - bool faceMirrorsGroupFace(uint32_t group, uint32_t face) const - { - FaceEdgeIterator edgeIt(this, face); - for (ColocalEdgeIterator colocalEdgeIt(this, edgeIt.vertex1(), edgeIt.vertex0()); !colocalEdgeIt.isDone(); colocalEdgeIt.advance()) { - const uint32_t candidateFace = meshEdgeFace(colocalEdgeIt.edge()); - if (m_faceGroups[candidateFace] == group) { - // Found a match for mirrored first edge, try the other edges. - bool match = false; - for (; !edgeIt.isDone(); edgeIt.advance()) { - match = false; - for (ColocalEdgeIterator colocalEdgeIt2(this, edgeIt.vertex1(), edgeIt.vertex0()); !colocalEdgeIt2.isDone(); colocalEdgeIt2.advance()) { - if (meshEdgeFace(colocalEdgeIt2.edge()) == candidateFace) { - match = true; - break; - } - } - if (!match) - break; - } - if (match) - return true; // All edges are mirrored in this face. - // Try the next face. - edgeIt = FaceEdgeIterator(this, candidateFace); - } - } - return false; - } - void createFaceGroups() { - uint32_t group = 0; + uint32_t firstUnassignedFace = 0; + uint16_t group = 0; Array<uint32_t> growFaces; + const uint32_t n = faceCount(); + m_faceGroupNextFace.resize(n); for (;;) { // Find an unassigned face. uint32_t face = UINT32_MAX; - for (uint32_t f = 0; f < faceCount(); f++) { - if (m_faceGroups[f] == UINT32_MAX && !isFaceIgnored(f)) { + for (uint32_t f = firstUnassignedFace; f < n; f++) { + if (m_faceGroups[f] == kInvalidFaceGroup && !isFaceIgnored(f)) { face = f; + firstUnassignedFace = f + 1; break; } } if (face == UINT32_MAX) break; // All faces assigned to a group (except ignored faces). m_faceGroups[face] = group; + m_faceGroupNextFace[face] = UINT32_MAX; + m_faceGroupFirstFace.push_back(face); growFaces.clear(); growFaces.push_back(face); + uint32_t prevFace = face, groupFaceCount = 1; // Find faces connected to the face and assign them to the same group as the face, unless they are already assigned to another group. for (;;) { if (growFaces.isEmpty()) @@ -2340,24 +2584,38 @@ public: alreadyAssignedToThisGroup = true; break; } - if (m_faceGroups[oppositeFace] != UINT32_MAX) + if (m_faceGroups[oppositeFace] != kInvalidFaceGroup) continue; // Connected face is already assigned to another group. if (faceDuplicatesGroupEdge(group, oppositeFace)) continue; // Don't want duplicate edges in a group. - if (faceMirrorsGroupFace(group, oppositeFace)) - continue; // Don't want two-sided faces in a group. const uint32_t oppositeVertex0 = m_indices[meshEdgeIndex0(oppositeEdge)]; const uint32_t oppositeVertex1 = m_indices[meshEdgeIndex1(oppositeEdge)]; if (bestConnectedFace == UINT32_MAX || (oppositeVertex0 == edgeIt.vertex1() && oppositeVertex1 == edgeIt.vertex0())) bestConnectedFace = oppositeFace; +#if 0 + else { + // Choose the opposite face with the smallest dihedral angle. + const float d1 = 1.0f - dot(computeFaceNormal(f), computeFaceNormal(bestConnectedFace)); + const float d2 = 1.0f - dot(computeFaceNormal(f), computeFaceNormal(oppositeFace)); + if (d2 < d1) + bestConnectedFace = oppositeFace; + } +#endif } if (!alreadyAssignedToThisGroup && bestConnectedFace != UINT32_MAX) { m_faceGroups[bestConnectedFace] = group; + m_faceGroupNextFace[bestConnectedFace] = UINT32_MAX; + if (prevFace != UINT32_MAX) + m_faceGroupNextFace[prevFace] = bestConnectedFace; + prevFace = bestConnectedFace; + groupFaceCount++; growFaces.push_back(bestConnectedFace); } } } + m_faceGroupFaceCounts.push_back(groupFaceCount); group++; + XA_ASSERT(group < kInvalidFaceGroup); } } @@ -2366,29 +2624,27 @@ public: const uint32_t edgeCount = m_indices.size(); const uint32_t vertexCount = m_positions.size(); m_oppositeEdges.resize(edgeCount); - m_boundaryVertices.resize(vertexCount); + m_boundaryEdges.reserve(uint32_t(edgeCount * 0.1f)); + m_isBoundaryVertex.resize(vertexCount); + m_isBoundaryVertex.zeroOutMemory(); for (uint32_t i = 0; i < edgeCount; i++) m_oppositeEdges[i] = UINT32_MAX; - for (uint32_t i = 0; i < vertexCount; i++) - m_boundaryVertices[i] = false; - const bool hasFaceGroups = m_flags & MeshFlags::HasFaceGroups; - for (uint32_t i = 0; i < faceCount(); i++) { + const uint32_t faceCount = m_indices.size() / 3; + for (uint32_t i = 0; i < faceCount; i++) { if (isFaceIgnored(i)) continue; for (uint32_t j = 0; j < 3; j++) { - const uint32_t vertex0 = m_indices[i * 3 + j]; + const uint32_t edge = i * 3 + j; + const uint32_t vertex0 = m_indices[edge]; const uint32_t vertex1 = m_indices[i * 3 + (j + 1) % 3]; // If there is an edge with opposite winding to this one, the edge isn't on a boundary. - const uint32_t oppositeEdge = findEdge(hasFaceGroups ? m_faceGroups[i] : UINT32_MAX, vertex1, vertex0); + const uint32_t oppositeEdge = findEdge(vertex1, vertex0); if (oppositeEdge != UINT32_MAX) { -#if XA_DEBUG - if (hasFaceGroups) - XA_DEBUG_ASSERT(m_faceGroups[meshEdgeFace(oppositeEdge)] == m_faceGroups[i]); -#endif - XA_DEBUG_ASSERT(!isFaceIgnored(meshEdgeFace(oppositeEdge))); - m_oppositeEdges[i * 3 + j] = oppositeEdge; + m_oppositeEdges[edge] = oppositeEdge; } else { - m_boundaryVertices[vertex0] = m_boundaryVertices[vertex1] = true; + m_boundaryEdges.push_back(edge); + m_isBoundaryVertex.set(vertex0); + m_isBoundaryVertex.set(vertex1); } } } @@ -2407,12 +2663,12 @@ public: m_nextBoundaryEdges[i] = UINT32_MAX; uint32_t numBoundaryLoops = 0, numUnclosedBoundaries = 0; BitArray linkedEdges(edgeCount); - linkedEdges.clearAll(); + linkedEdges.zeroOutMemory(); for (;;) { // Find the first boundary edge that hasn't been linked yet. uint32_t firstEdge = UINT32_MAX; for (uint32_t i = 0; i < edgeCount; i++) { - if (m_oppositeEdges[i] == UINT32_MAX && !linkedEdges.bitAt(i)) { + if (m_oppositeEdges[i] == UINT32_MAX && !linkedEdges.get(i)) { firstEdge = i; break; } @@ -2430,12 +2686,8 @@ public: const uint32_t otherEdge = mapIndex / 2; // Two vertices added per edge. if (m_oppositeEdges[otherEdge] != UINT32_MAX) goto next; // Not a boundary edge. - if (linkedEdges.bitAt(otherEdge)) + if (linkedEdges.get(otherEdge)) goto next; // Already linked. - if (m_flags & MeshFlags::HasFaceGroups && m_faceGroups[meshEdgeFace(currentEdge)] != m_faceGroups[meshEdgeFace(otherEdge)]) - goto next; // Don't cross face groups. - if (isFaceIgnored(meshEdgeFace(otherEdge))) - goto next; // Face is ignored. if (m_indices[meshEdgeIndex0(otherEdge)] != it.vertex()) goto next; // Edge contains the vertex, but it's the wrong one. // First edge (closing the boundary loop) has the highest priority. @@ -2449,11 +2701,11 @@ public: if (bestNextEdge == UINT32_MAX) { numUnclosedBoundaries++; if (currentEdge == firstEdge) - linkedEdges.setBitAt(firstEdge); // Only 1 edge in this boundary "loop". + linkedEdges.set(firstEdge); // Only 1 edge in this boundary "loop". break; // Can't find a next edge. } m_nextBoundaryEdges[currentEdge] = bestNextEdge; - linkedEdges.setBitAt(bestNextEdge); + linkedEdges.set(bestNextEdge); currentEdge = bestNextEdge; if (currentEdge == firstEdge) { numBoundaryLoops++; @@ -2461,6 +2713,7 @@ public: } } } +#if XA_FIX_INTERNAL_BOUNDARY_LOOPS // Find internal boundary loops and separate them. // Detect by finding two edges in a boundary loop that have a colocal end vertex. // Fix by swapping their next boundary edge. @@ -2469,28 +2722,29 @@ public: fixInternalBoundary: meshGetBoundaryLoops(*this, boundaryLoops); for (uint32_t loop = 0; loop < boundaryLoops.size(); loop++) { - linkedEdges.clearAll(); - for (Mesh::BoundaryEdgeIterator it1(this, boundaryLoops[loop]); !it1.isDone(); it1.advance()) { + linkedEdges.zeroOutMemory(); + for (Mesh::BoundaryLoopEdgeIterator it1(this, boundaryLoops[loop]); !it1.isDone(); it1.advance()) { const uint32_t e1 = it1.edge(); - if (linkedEdges.bitAt(e1)) + if (linkedEdges.get(e1)) continue; - for (Mesh::BoundaryEdgeIterator it2(this, boundaryLoops[loop]); !it2.isDone(); it2.advance()) { + for (Mesh::BoundaryLoopEdgeIterator it2(this, boundaryLoops[loop]); !it2.isDone(); it2.advance()) { const uint32_t e2 = it2.edge(); - if (e1 == e2 || !isBoundaryEdge(e2) || linkedEdges.bitAt(e2)) + if (e1 == e2 || !isBoundaryEdge(e2) || linkedEdges.get(e2)) continue; if (!areColocal(m_indices[meshEdgeIndex1(e1)], m_indices[meshEdgeIndex1(e2)])) continue; swap(m_nextBoundaryEdges[e1], m_nextBoundaryEdges[e2]); - linkedEdges.setBitAt(e1); - linkedEdges.setBitAt(e2); + linkedEdges.set(e1); + linkedEdges.set(e2); goto fixInternalBoundary; // start over } } } +#endif } /// Find edge, test all colocals. - uint32_t findEdge(uint32_t faceGroup, uint32_t vertex0, uint32_t vertex1) const + uint32_t findEdge(uint32_t vertex0, uint32_t vertex1) const { uint32_t result = UINT32_MAX; if (m_nextColocalVertex.isEmpty()) { @@ -2498,7 +2752,7 @@ public: uint32_t edge = m_edgeMap.get(key); while (edge != UINT32_MAX) { // Don't find edges of ignored faces. - if ((faceGroup == UINT32_MAX || m_faceGroups[meshEdgeFace(edge)] == faceGroup) && !isFaceIgnored(meshEdgeFace(edge))) { + if (!isFaceIgnored(meshEdgeFace(edge))) { //XA_DEBUG_ASSERT(m_id != UINT32_MAX || (m_id == UINT32_MAX && result == UINT32_MAX)); // duplicate edge - ignore on initial meshes result = edge; #if !XA_DEBUG @@ -2514,7 +2768,7 @@ public: uint32_t edge = m_edgeMap.get(key); while (edge != UINT32_MAX) { // Don't find edges of ignored faces. - if ((faceGroup == UINT32_MAX || m_faceGroups[meshEdgeFace(edge)] == faceGroup) && !isFaceIgnored(meshEdgeFace(edge))) { + if (!isFaceIgnored(meshEdgeFace(edge))) { XA_DEBUG_ASSERT(m_id != UINT32_MAX || (m_id == UINT32_MAX && result == UINT32_MAX)); // duplicate edge - ignore on initial meshes result = edge; #if !XA_DEBUG @@ -2607,7 +2861,7 @@ public: { float area = 0; for (uint32_t f = 0; f < faceCount(); f++) - area += faceArea(f); + area += computeFaceArea(f); XA_DEBUG_ASSERT(area >= 0); return area; } @@ -2616,11 +2870,11 @@ public: { float area = 0; for (uint32_t f = 0; f < faceCount(); f++) - area += faceParametricArea(f); + area += computeFaceParametricArea(f); return fabsf(area); // May be negative, depends on texcoord winding. } - float faceArea(uint32_t face) const + float computeFaceArea(uint32_t face) const { const Vector3 &p0 = m_positions[m_indices[face * 3 + 0]]; const Vector3 &p1 = m_positions[m_indices[face * 3 + 1]]; @@ -2628,7 +2882,7 @@ public: return length(cross(p1 - p0, p2 - p0)) * 0.5f; } - Vector3 faceCentroid(uint32_t face) const + Vector3 computeFaceCentroid(uint32_t face) const { Vector3 sum(0.0f); for (uint32_t i = 0; i < 3; i++) @@ -2636,22 +2890,9 @@ public: return sum / 3.0f; } - Vector3 calculateFaceNormal(uint32_t face) const - { - return normalizeSafe(triangleNormalAreaScaled(face), Vector3(0, 0, 1), 0.0f); - } - - float faceParametricArea(uint32_t face) const - { - const Vector2 &t0 = m_texcoords[m_indices[face * 3 + 0]]; - const Vector2 &t1 = m_texcoords[m_indices[face * 3 + 1]]; - const Vector2 &t2 = m_texcoords[m_indices[face * 3 + 2]]; - return triangleArea(t0, t1, t2) * 0.5f; - } - // Average of the edge midpoints weighted by the edge length. // I want a point inside the triangle, but closer to the cirumcenter. - Vector3 triangleCenter(uint32_t face) const + Vector3 computeFaceCenter(uint32_t face) const { const Vector3 &p0 = m_positions[m_indices[face * 3 + 0]]; const Vector3 &p1 = m_positions[m_indices[face * 3 + 1]]; @@ -2665,22 +2906,25 @@ public: return m0 + m1 + m2; } - // Unnormalized face normal assuming it's a triangle. - Vector3 triangleNormal(uint32_t face) const - { - return normalizeSafe(triangleNormalAreaScaled(face), Vector3(0), 0.0f); - } - - Vector3 triangleNormalAreaScaled(uint32_t face) const + Vector3 computeFaceNormal(uint32_t face) const { const Vector3 &p0 = m_positions[m_indices[face * 3 + 0]]; const Vector3 &p1 = m_positions[m_indices[face * 3 + 1]]; const Vector3 &p2 = m_positions[m_indices[face * 3 + 2]]; const Vector3 e0 = p2 - p0; const Vector3 e1 = p1 - p0; - return cross(e0, e1); + const Vector3 normalAreaScaled = cross(e0, e1); + return normalizeSafe(normalAreaScaled, Vector3(0, 0, 1), 0.0f); } + float computeFaceParametricArea(uint32_t face) const + { + const Vector2 &t0 = m_texcoords[m_indices[face * 3 + 0]]; + const Vector2 &t1 = m_texcoords[m_indices[face * 3 + 1]]; + const Vector2 &t2 = m_texcoords[m_indices[face * 3 + 2]]; + return triangleArea(t0, t1, t2); + } + // @@ This is not exactly accurate, we should compare the texture coordinates... bool isSeam(uint32_t edge) const { @@ -2732,7 +2976,8 @@ public: XA_INLINE uint32_t edgeCount() const { return m_indices.size(); } XA_INLINE uint32_t oppositeEdge(uint32_t edge) const { return m_oppositeEdges[edge]; } XA_INLINE bool isBoundaryEdge(uint32_t edge) const { return m_oppositeEdges[edge] == UINT32_MAX; } - XA_INLINE bool isBoundaryVertex(uint32_t vertex) const { return m_boundaryVertices[vertex]; } + XA_INLINE const Array<uint32_t> &boundaryEdges() const { return m_boundaryEdges; } + XA_INLINE bool isBoundaryVertex(uint32_t vertex) const { return m_isBoundaryVertex.get(vertex); } XA_INLINE uint32_t colocalVertexCount() const { return m_colocalVertexCount; } XA_INLINE uint32_t vertexCount() const { return m_positions.size(); } XA_INLINE uint32_t vertexAt(uint32_t i) const { return m_indices[i]; } @@ -2740,10 +2985,14 @@ public: XA_INLINE const Vector3 &normal(uint32_t vertex) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasNormals); return m_normals[vertex]; } XA_INLINE const Vector2 &texcoord(uint32_t vertex) const { return m_texcoords[vertex]; } XA_INLINE Vector2 &texcoord(uint32_t vertex) { return m_texcoords[vertex]; } + XA_INLINE const Vector2 *texcoords() const { return m_texcoords.data(); } XA_INLINE Vector2 *texcoords() { return m_texcoords.data(); } + XA_INLINE uint32_t ignoredFaceCount() const { return m_ignoredFaceCount; } XA_INLINE uint32_t faceCount() const { return m_indices.size() / 3; } - XA_INLINE uint32_t faceGroupCount() const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroups.size(); } - XA_INLINE uint32_t faceGroupAt(uint32_t face) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroups[face]; } + XA_INLINE uint16_t faceGroupAt(uint32_t face) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroups[face]; } + XA_INLINE uint32_t faceGroupCount() const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroupFaceCounts.size(); } + XA_INLINE uint32_t faceGroupNextFace(uint32_t face) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroupNextFace[face]; } + XA_INLINE uint32_t faceGroupFaceCount(uint32_t group) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroupFaceCounts[group]; } XA_INLINE const uint32_t *indices() const { return m_indices.data(); } XA_INLINE uint32_t indexCount() const { return m_indices.size(); } @@ -2754,18 +3003,25 @@ private: uint32_t m_flags; uint32_t m_id; Array<bool> m_faceIgnore; - Array<uint32_t> m_faceGroups; + uint32_t m_ignoredFaceCount; Array<uint32_t> m_indices; Array<Vector3> m_positions; Array<Vector3> m_normals; Array<Vector2> m_texcoords; + // Populated by createFaceGroups + Array<uint16_t> m_faceGroups; + Array<uint32_t> m_faceGroupFirstFace; + Array<uint32_t> m_faceGroupNextFace; // In: face. Out: the next face in the same group. + Array<uint32_t> m_faceGroupFaceCounts; // In: face group. Out: number of faces in the group. + // Populated by createColocals uint32_t m_colocalVertexCount; Array<uint32_t> m_nextColocalVertex; // In: vertex index. Out: the vertex index of the next colocal position. // Populated by createBoundaries - Array<bool> m_boundaryVertices; + BitArray m_isBoundaryVertex; + Array<uint32_t> m_boundaryEdges; Array<uint32_t> m_oppositeEdges; // In: edge index. Out: the index of the opposite edge (i.e. wound the opposite direction). UINT32_MAX if the input edge is a boundary edge. // Populated by linkBoundaries @@ -2776,28 +3032,24 @@ private: EdgeKey() {} EdgeKey(const EdgeKey &k) : v0(k.v0), v1(k.v1) {} EdgeKey(uint32_t v0, uint32_t v1) : v0(v0), v1(v1) {} - - void operator=(const EdgeKey &k) - { - v0 = k.v0; - v1 = k.v1; - } - bool operator==(const EdgeKey &k) const - { - return v0 == k.v0 && v1 == k.v1; - } + bool operator==(const EdgeKey &k) const { return v0 == k.v0 && v1 == k.v1; } uint32_t v0; uint32_t v1; }; - HashMap<EdgeKey> m_edgeMap; + struct EdgeHash + { + uint32_t operator()(const EdgeKey &k) const { return k.v0 * 32768u + k.v1; } + }; + + HashMap<EdgeKey, EdgeHash> m_edgeMap; public: - class BoundaryEdgeIterator + class BoundaryLoopEdgeIterator { public: - BoundaryEdgeIterator(const Mesh *mesh, uint32_t edge) : m_mesh(mesh), m_first(UINT32_MAX), m_current(edge) {} + BoundaryLoopEdgeIterator(const Mesh *mesh, uint32_t edge) : m_mesh(mesh), m_first(UINT32_MAX), m_current(edge) {} void advance() { @@ -2866,7 +3118,14 @@ public: public: ColocalEdgeIterator(const Mesh *mesh, uint32_t vertex0, uint32_t vertex1) : m_mesh(mesh), m_vertex0It(mesh, vertex0), m_vertex1It(mesh, vertex1), m_vertex1(vertex1) { - resetElement(); + do { + if (!resetElement()) { + advanceVertex1(); + } + else { + break; + } + } while (!isDone()); } void advance() @@ -2885,7 +3144,7 @@ public: } private: - void resetElement() + bool resetElement() { m_edge = m_mesh->m_edgeMap.get(Mesh::EdgeKey(m_vertex0It.vertex(), m_vertex1It.vertex())); while (m_edge != UINT32_MAX) { @@ -2893,8 +3152,10 @@ public: break; m_edge = m_mesh->m_edgeMap.getNext(m_edge); } - if (m_edge == UINT32_MAX) - advanceVertex1(); + if (m_edge == UINT32_MAX) { + return false; + } + return true; } void advanceElement() @@ -2910,22 +3171,22 @@ public: advanceVertex1(); } - void advanceVertex0() - { - m_vertex0It.advance(); - if (m_vertex0It.isDone()) - return; - m_vertex1It = ColocalVertexIterator(m_mesh, m_vertex1); - resetElement(); - } - void advanceVertex1() { - m_vertex1It.advance(); - if (m_vertex1It.isDone()) - advanceVertex0(); - else - resetElement(); + auto successful = false; + while (!successful) { + m_vertex1It.advance(); + if (m_vertex1It.isDone()) { + if (!m_vertex0It.isDone()) { + m_vertex0It.advance(); + m_vertex1It = ColocalVertexIterator(m_mesh, m_vertex1); + } + else { + return; + } + } + successful = resetElement(); + } } bool isIgnoredFace() const @@ -2976,16 +3237,8 @@ public: return meshEdgeFace(oedge); } - uint32_t vertex0() const - { - return m_mesh->m_indices[m_face * 3 + m_relativeEdge]; - } - - uint32_t vertex1() const - { - return m_mesh->m_indices[m_face * 3 + (m_relativeEdge + 1) % 3]; - } - + uint32_t vertex0() const { return m_mesh->m_indices[m_face * 3 + m_relativeEdge]; } + uint32_t vertex1() const { return m_mesh->m_indices[m_face * 3 + (m_relativeEdge + 1) % 3]; } const Vector3 &position0() const { return m_mesh->m_positions[vertex0()]; } const Vector3 &position1() const { return m_mesh->m_positions[vertex1()]; } const Vector3 &normal0() const { return m_mesh->m_normals[vertex0()]; } @@ -2999,8 +3252,39 @@ public: uint32_t m_edge; uint32_t m_relativeEdge; }; + + class GroupFaceIterator + { + public: + GroupFaceIterator(const Mesh *mesh, uint32_t group) : m_mesh(mesh) + { + XA_DEBUG_ASSERT(group != UINT32_MAX); + m_current = mesh->m_faceGroupFirstFace[group]; + } + + void advance() + { + m_current = m_mesh->m_faceGroupNextFace[m_current]; + } + + bool isDone() const + { + return m_current == UINT32_MAX; + } + + uint32_t face() const + { + return m_current; + } + + private: + const Mesh *m_mesh; + uint32_t m_current; + }; }; +constexpr uint16_t Mesh::kInvalidFaceGroup; + static bool meshCloseHole(Mesh *mesh, const Array<uint32_t> &holeVertices, const Vector3 &normal) { #if XA_CLOSE_HOLES_CHECK_EDGE_INTERSECTION @@ -3027,15 +3311,15 @@ static bool meshCloseHole(Mesh *mesh, const Array<uint32_t> &holeVertices, const const uint32_t i3 = (i + 1) % frontCount; const Vector3 edge1 = frontPoints[i1] - frontPoints[i2]; const Vector3 edge2 = frontPoints[i3] - frontPoints[i2]; - frontAngles[i] = acosf(dot(edge1, edge2) / (length(edge1) * length(edge2))); + frontAngles[i] = atan2f(length(cross(edge1, edge2)), dot(edge1, edge2)); if (frontAngles[i] >= smallestAngle || isNan(frontAngles[i])) continue; // Don't duplicate edges. - if (mesh->findEdge(UINT32_MAX, frontVertices[i1], frontVertices[i2]) != UINT32_MAX) + if (mesh->findEdge(frontVertices[i1], frontVertices[i2]) != UINT32_MAX) continue; - if (mesh->findEdge(UINT32_MAX, frontVertices[i2], frontVertices[i3]) != UINT32_MAX) + if (mesh->findEdge(frontVertices[i2], frontVertices[i3]) != UINT32_MAX) continue; - if (mesh->findEdge(UINT32_MAX, frontVertices[i3], frontVertices[i1]) != UINT32_MAX) + if (mesh->findEdge(frontVertices[i3], frontVertices[i1]) != UINT32_MAX) continue; /* Make sure he new edge that would be formed by (i3, i1) doesn't intersect any vertices. This often happens when fixing t-junctions. @@ -3128,9 +3412,10 @@ static bool meshCloseHole(Mesh *mesh, const Array<uint32_t> &holeVertices, const return true; } -static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, const Vector3 &normal, Array<uint32_t> &holeFaceCounts) +static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, const Vector3 &normal, uint32_t *holeCount, Array<uint32_t> *holeFaceCounts) { - holeFaceCounts.clear(); + if (holeFaceCounts) + holeFaceCounts->clear(); // Compute lengths. const uint32_t boundaryCount = boundaryLoops.size(); Array<float> boundaryLengths; @@ -3139,7 +3424,7 @@ static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, con for (uint32_t i = 0; i < boundaryCount; i++) { float boundaryLength = 0.0f; boundaryEdgeCounts[i] = 0; - for (Mesh::BoundaryEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { + for (Mesh::BoundaryLoopEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { const Vector3 &t0 = mesh->position(mesh->vertexAt(meshEdgeIndex0(it.edge()))); const Vector3 &t1 = mesh->position(mesh->vertexAt(meshEdgeIndex1(it.edge()))); boundaryLength += length(t1 - t0); @@ -3167,7 +3452,7 @@ static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, con holePoints.resize(boundaryEdgeCounts[i]); // Winding is backwards for internal boundaries. uint32_t e = 0; - for (Mesh::BoundaryEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { + for (Mesh::BoundaryLoopEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { const uint32_t vertex = mesh->vertexAt(meshEdgeIndex0(it.edge())); holeVertices[boundaryEdgeCounts[i] - 1 - e] = vertex; holePoints[boundaryEdgeCounts[i] - 1 - e] = mesh->position(vertex); @@ -3176,7 +3461,10 @@ static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, con const uint32_t oldFaceCount = mesh->faceCount(); if (!meshCloseHole(mesh, holeVertices, normal)) result = false; // Return false if any hole failed to close, but keep trying to close other holes. - holeFaceCounts.push_back(mesh->faceCount() - oldFaceCount); + if (holeCount) + (*holeCount)++; + if (holeFaceCounts) + holeFaceCounts->push_back(mesh->faceCount() - oldFaceCount); } return result; } @@ -3307,104 +3595,18 @@ static void meshGetBoundaryLoops(const Mesh &mesh, Array<uint32_t> &boundaryLoop { const uint32_t edgeCount = mesh.edgeCount(); BitArray bitFlags(edgeCount); - bitFlags.clearAll(); + bitFlags.zeroOutMemory(); boundaryLoops.clear(); // Search for boundary edges. Mark all the edges that belong to the same boundary. for (uint32_t e = 0; e < edgeCount; e++) { - if (bitFlags.bitAt(e) || !mesh.isBoundaryEdge(e)) + if (bitFlags.get(e) || !mesh.isBoundaryEdge(e)) continue; - for (Mesh::BoundaryEdgeIterator it(&mesh, e); !it.isDone(); it.advance()) - bitFlags.setBitAt(it.edge()); + for (Mesh::BoundaryLoopEdgeIterator it(&mesh, e); !it.isDone(); it.advance()) + bitFlags.set(it.edge()); boundaryLoops.push_back(e); } } -class MeshTopology -{ -public: - MeshTopology(const Mesh *mesh) - { - const uint32_t vertexCount = mesh->colocalVertexCount(); - const uint32_t faceCount = mesh->faceCount(); - const uint32_t edgeCount = mesh->edgeCount(); - Array<uint32_t> stack(MemTag::Default); - stack.reserve(faceCount); - BitArray bitFlags(faceCount); - bitFlags.clearAll(); - // Compute connectivity. - m_connectedCount = 0; - for (uint32_t f = 0; f < faceCount; f++ ) { - if (bitFlags.bitAt(f) == false) { - m_connectedCount++; - stack.push_back(f); - while (!stack.isEmpty()) { - const uint32_t top = stack.back(); - XA_ASSERT(top != uint32_t(~0)); - stack.pop_back(); - if (bitFlags.bitAt(top) == false) { - bitFlags.setBitAt(top); - for (Mesh::FaceEdgeIterator it(mesh, top); !it.isDone(); it.advance()) { - const uint32_t oppositeFace = it.oppositeFace(); - if (oppositeFace != UINT32_MAX) - stack.push_back(oppositeFace); - } - } - } - } - } - XA_ASSERT(stack.isEmpty()); - // Count boundary loops. - m_boundaryCount = 0; - bitFlags.resize(edgeCount); - bitFlags.clearAll(); - // Don't forget to link the boundary otherwise this won't work. - for (uint32_t e = 0; e < edgeCount; e++) { - if (bitFlags.bitAt(e) || !mesh->isBoundaryEdge(e)) - continue; - m_boundaryCount++; - for (Mesh::BoundaryEdgeIterator it(mesh, e); !it.isDone(); it.advance()) - bitFlags.setBitAt(it.edge()); - } - // Compute euler number. - m_eulerNumber = vertexCount - edgeCount + faceCount; - // Compute genus. (only valid on closed connected surfaces) - m_genus = -1; - if (isClosed() && isConnected()) - m_genus = (2 - m_eulerNumber) / 2; - } - - /// Determine if the mesh is connected. - bool isConnected() const - { - return m_connectedCount == 1; - } - - /// Determine if the mesh is closed. (Each edge is shared by two faces) - bool isClosed() const - { - return m_boundaryCount == 0; - } - - /// Return true if the mesh has the topology of a disk. - bool isDisk() const - { - return isConnected() && m_boundaryCount == 1/* && m_eulerNumber == 1*/; - } - -private: - ///< Number of boundary loops. - int m_boundaryCount; - - ///< Number of connected components. - int m_connectedCount; - - ///< Euler number. - int m_eulerNumber; - - /// Mesh genus. - int m_genus; -}; - struct Progress { Progress(ProgressCategory::Enum category, ProgressFunc func, void *userData, uint32_t maxValue) : value(0), cancel(false), m_category(category), m_func(func), m_userData(userData), m_maxValue(maxValue), m_progress(0) @@ -3482,6 +3684,7 @@ class TaskScheduler public: TaskScheduler() : m_shutdown(false) { + m_threadIndex = 0; // Max with current task scheduler usage is 1 per thread + 1 deep nesting, but allow for some slop. m_maxGroups = std::thread::hardware_concurrency() * 4; m_groups = XA_ALLOC_ARRAY(MemTag::Default, TaskGroup, m_maxGroups); @@ -3494,7 +3697,7 @@ public: for (uint32_t i = 0; i < m_workers.size(); i++) { new (&m_workers[i]) Worker(); m_workers[i].wakeup = false; - m_workers[i].thread = XA_NEW_ARGS(MemTag::Default, std::thread, workerThread, this, &m_workers[i]); + m_workers[i].thread = XA_NEW_ARGS(MemTag::Default, std::thread, workerThread, this, &m_workers[i], i + 1); } } @@ -3517,6 +3720,11 @@ public: XA_FREE(m_groups); } + uint32_t threadCount() const + { + return max(1u, std::thread::hardware_concurrency()); // Including the main thread. + } + TaskGroupHandle createTaskGroup(uint32_t reserveSize = 0) { // Claim the first free group. @@ -3581,6 +3789,8 @@ public: handle->value = UINT32_MAX; } + static uint32_t currentThreadIndex() { return m_threadIndex; } + private: struct TaskGroup { @@ -3603,9 +3813,11 @@ private: uint32_t m_maxGroups; Array<Worker> m_workers; std::atomic<bool> m_shutdown; + static thread_local uint32_t m_threadIndex; - static void workerThread(TaskScheduler *scheduler, Worker *worker) + static void workerThread(TaskScheduler *scheduler, Worker *worker, uint32_t threadIndex) { + m_threadIndex = threadIndex; std::unique_lock<std::mutex> lock(worker->mutex); for (;;) { worker->cv.wait(lock, [=]{ return worker->wakeup.load(); }); @@ -3636,6 +3848,8 @@ private: } } }; + +thread_local uint32_t TaskScheduler::m_threadIndex; #else class TaskScheduler { @@ -3646,6 +3860,11 @@ public: destroyGroup({ i }); } + uint32_t threadCount() const + { + return 1; + } + TaskGroupHandle createTaskGroup(uint32_t reserveSize = 0) { TaskGroup *group = XA_NEW(MemTag::Default, TaskGroup); @@ -3675,6 +3894,8 @@ public: handle->value = UINT32_MAX; } + static uint32_t currentThreadIndex() { return 0; } + private: void destroyGroup(TaskGroupHandle handle) { @@ -3695,6 +3916,369 @@ private: }; #endif +#if XA_DEBUG_EXPORT_TGA +const uint8_t TGA_TYPE_RGB = 2; +const uint8_t TGA_ORIGIN_UPPER = 0x20; + +#pragma pack(push, 1) +struct TgaHeader +{ + uint8_t id_length; + uint8_t colormap_type; + uint8_t image_type; + uint16_t colormap_index; + uint16_t colormap_length; + uint8_t colormap_size; + uint16_t x_origin; + uint16_t y_origin; + uint16_t width; + uint16_t height; + uint8_t pixel_size; + uint8_t flags; + enum { Size = 18 }; +}; +#pragma pack(pop) + +static void WriteTga(const char *filename, const uint8_t *data, uint32_t width, uint32_t height) +{ + XA_DEBUG_ASSERT(sizeof(TgaHeader) == TgaHeader::Size); + FILE *f; + XA_FOPEN(f, filename, "wb"); + if (!f) + return; + TgaHeader tga; + tga.id_length = 0; + tga.colormap_type = 0; + tga.image_type = TGA_TYPE_RGB; + tga.colormap_index = 0; + tga.colormap_length = 0; + tga.colormap_size = 0; + tga.x_origin = 0; + tga.y_origin = 0; + tga.width = (uint16_t)width; + tga.height = (uint16_t)height; + tga.pixel_size = 24; + tga.flags = TGA_ORIGIN_UPPER; + fwrite(&tga, sizeof(TgaHeader), 1, f); + fwrite(data, sizeof(uint8_t), width * height * 3, f); + fclose(f); +} +#endif + +template<typename T> +class ThreadLocal +{ +public: + ThreadLocal() + { +#if XA_MULTITHREADED + const uint32_t n = std::thread::hardware_concurrency(); +#else + const uint32_t n = 1; +#endif + m_array = XA_ALLOC_ARRAY(MemTag::Default, T, n); + for (uint32_t i = 0; i < n; i++) + new (&m_array[i]) T; + } + + ~ThreadLocal() + { +#if XA_MULTITHREADED + const uint32_t n = std::thread::hardware_concurrency(); +#else + const uint32_t n = 1; +#endif + for (uint32_t i = 0; i < n; i++) + m_array[i].~T(); + XA_FREE(m_array); + } + + T &get() const + { + return m_array[TaskScheduler::currentThreadIndex()]; + } + +private: + T *m_array; +}; + +class UniformGrid2 +{ +public: + void reset(const Vector2 *positions, const uint32_t *indices = nullptr, uint32_t reserveEdgeCount = 0) + { + m_edges.clear(); + if (reserveEdgeCount > 0) + m_edges.reserve(reserveEdgeCount); + m_positions = positions; + m_indices = indices; + m_cellDataOffsets.clear(); + } + + void append(uint32_t edge) + { + XA_DEBUG_ASSERT(m_cellDataOffsets.isEmpty()); + m_edges.push_back(edge); + } + + bool intersect(Vector2 v1, Vector2 v2, float epsilon) + { + const uint32_t edgeCount = m_edges.size(); + bool bruteForce = edgeCount <= 64; + if (!bruteForce && m_cellDataOffsets.isEmpty()) + bruteForce = !createGrid(); + if (bruteForce) { + for (uint32_t j = 0; j < edgeCount; j++) { + const uint32_t edge = m_edges[j]; + if (linesIntersect(v1, v2, edgePosition0(edge), edgePosition1(edge), epsilon)) + return true; + } + } else { + computePotentialEdges(v1, v2); + uint32_t prevEdge = UINT32_MAX; + for (uint32_t j = 0; j < m_potentialEdges.size(); j++) { + const uint32_t edge = m_potentialEdges[j]; + if (edge == prevEdge) + continue; + if (linesIntersect(v1, v2, edgePosition0(edge), edgePosition1(edge), epsilon)) + return true; + prevEdge = edge; + } + } + return false; + } + + bool intersectSelf(float epsilon) + { + const uint32_t edgeCount = m_edges.size(); + bool bruteForce = edgeCount <= 64; + if (!bruteForce && m_cellDataOffsets.isEmpty()) + bruteForce = !createGrid(); + for (uint32_t i = 0; i < edgeCount; i++) { + const uint32_t edge1 = m_edges[i]; + if (bruteForce) { + for (uint32_t j = 0; j < edgeCount; j++) { + const uint32_t edge2 = m_edges[j]; + if (edgesIntersect(edge1, edge2, epsilon)) + return true; + } + } else { + computePotentialEdges(edgePosition0(edge1), edgePosition1(edge1)); + uint32_t prevEdge = UINT32_MAX; + for (uint32_t j = 0; j < m_potentialEdges.size(); j++) { + const uint32_t edge2 = m_potentialEdges[j]; + if (edge2 == prevEdge) + continue; + if (edgesIntersect(edge1, edge2, epsilon)) + return true; + prevEdge = edge2; + } + } + } + return false; + } + +#if XA_DEBUG_EXPORT_BOUNDARY_GRID + void debugExport(const char *filename) + { + Array<uint8_t> image; + image.resize(m_gridWidth * m_gridHeight * 3); + for (uint32_t y = 0; y < m_gridHeight; y++) { + for (uint32_t x = 0; x < m_gridWidth; x++) { + uint8_t *bgr = &image[(x + y * m_gridWidth) * 3]; + bgr[0] = bgr[1] = bgr[2] = 32; + uint32_t offset = m_cellDataOffsets[x + y * m_gridWidth]; + while (offset != UINT32_MAX) { + const uint32_t edge2 = m_cellData[offset]; + srand(edge2); + for (uint32_t i = 0; i < 3; i++) + bgr[i] = uint8_t(bgr[i] * 0.5f + (rand() % 255) * 0.5f); + offset = m_cellData[offset + 1]; + } + } + } + WriteTga(filename, image.data(), m_gridWidth, m_gridHeight); + } +#endif + +private: + bool createGrid() + { + // Compute edge extents. Min will be the grid origin. + const uint32_t edgeCount = m_edges.size(); + Extents2 edgeExtents; + edgeExtents.reset(); + for (uint32_t i = 0; i < edgeCount; i++) { + const uint32_t edge = m_edges[i]; + edgeExtents.add(edgePosition0(edge)); + edgeExtents.add(edgePosition1(edge)); + } + m_gridOrigin = edgeExtents.min; + // Size grid to approximately one edge per cell. + const Vector2 extentsSize(edgeExtents.max - edgeExtents.min); + m_cellSize = min(extentsSize.x, extentsSize.y) / sqrtf((float)edgeCount); + if (m_cellSize <= 0.0f) + return false; + m_gridWidth = uint32_t(ceilf(extentsSize.x / m_cellSize)); + m_gridHeight = uint32_t(ceilf(extentsSize.y / m_cellSize)); + if (m_gridWidth == 0 || m_gridHeight == 0) + return false; + // Insert edges into cells. + m_cellDataOffsets.resize(m_gridWidth * m_gridHeight); + for (uint32_t i = 0; i < m_cellDataOffsets.size(); i++) + m_cellDataOffsets[i] = UINT32_MAX; + m_cellData.clear(); + m_cellData.reserve(edgeCount * 2); + for (uint32_t i = 0; i < edgeCount; i++) { + const uint32_t edge = m_edges[i]; + traverse(edgePosition0(edge), edgePosition1(edge)); + XA_DEBUG_ASSERT(!m_traversedCellOffsets.isEmpty()); + for (uint32_t j = 0; j < m_traversedCellOffsets.size(); j++) { + const uint32_t cell = m_traversedCellOffsets[j]; + uint32_t offset = m_cellDataOffsets[cell]; + if (offset == UINT32_MAX) + m_cellDataOffsets[cell] = m_cellData.size(); + else { + for (;;) { + uint32_t &nextOffset = m_cellData[offset + 1]; + if (nextOffset == UINT32_MAX) { + nextOffset = m_cellData.size(); + break; + } + offset = nextOffset; + } + } + m_cellData.push_back(edge); + m_cellData.push_back(UINT32_MAX); + } + } + return true; + } + + void computePotentialEdges(Vector2 p1, Vector2 p2) + { + m_potentialEdges.clear(); + traverse(p1, p2); + for (uint32_t j = 0; j < m_traversedCellOffsets.size(); j++) { + const uint32_t cell = m_traversedCellOffsets[j]; + uint32_t offset = m_cellDataOffsets[cell]; + while (offset != UINT32_MAX) { + const uint32_t edge2 = m_cellData[offset]; + m_potentialEdges.push_back(edge2); + offset = m_cellData[offset + 1]; + } + } + if (m_potentialEdges.isEmpty()) + return; + insertionSort(m_potentialEdges.data(), m_potentialEdges.size()); + } + + // "A Fast Voxel Traversal Algorithm for Ray Tracing" + void traverse(Vector2 p1, Vector2 p2) + { + const Vector2 dir = p2 - p1; + const Vector2 normal = normalizeSafe(dir, Vector2(0.0f), kEpsilon); + const int stepX = dir.x >= 0 ? 1 : -1; + const int stepY = dir.y >= 0 ? 1 : -1; + const uint32_t firstCell[2] = { cellX(p1.x), cellY(p1.y) }; + const uint32_t lastCell[2] = { cellX(p2.x), cellY(p2.y) }; + float distToNextCellX; + if (stepX == 1) + distToNextCellX = (firstCell[0] + 1) * m_cellSize - (p1.x - m_gridOrigin.x); + else + distToNextCellX = (p1.x - m_gridOrigin.x) - firstCell[0] * m_cellSize; + float distToNextCellY; + if (stepY == 1) + distToNextCellY = (firstCell[1] + 1) * m_cellSize - (p1.y - m_gridOrigin.y); + else + distToNextCellY = (p1.y - m_gridOrigin.y) - firstCell[1] * m_cellSize; + float tMaxX, tMaxY, tDeltaX, tDeltaY; + if (normal.x > kEpsilon || normal.x < -kEpsilon) { + tMaxX = (distToNextCellX * stepX) / normal.x; + tDeltaX = (m_cellSize * stepX) / normal.x; + } + else + tMaxX = tDeltaX = FLT_MAX; + if (normal.y > kEpsilon || normal.y < -kEpsilon) { + tMaxY = (distToNextCellY * stepY) / normal.y; + tDeltaY = (m_cellSize * stepY) / normal.y; + } + else + tMaxY = tDeltaY = FLT_MAX; + m_traversedCellOffsets.clear(); + m_traversedCellOffsets.push_back(firstCell[0] + firstCell[1] * m_gridWidth); + uint32_t currentCell[2] = { firstCell[0], firstCell[1] }; + while (!(currentCell[0] == lastCell[0] && currentCell[1] == lastCell[1])) { + if (tMaxX < tMaxY) { + tMaxX += tDeltaX; + currentCell[0] += stepX; + } else { + tMaxY += tDeltaY; + currentCell[1] += stepY; + } + if (currentCell[0] >= m_gridWidth || currentCell[1] >= m_gridHeight) + break; + if (stepX == 0 && currentCell[0] < lastCell[0]) + break; + if (stepX == 1 && currentCell[0] > lastCell[0]) + break; + if (stepY == 0 && currentCell[1] < lastCell[1]) + break; + if (stepY == 1 && currentCell[1] > lastCell[1]) + break; + m_traversedCellOffsets.push_back(currentCell[0] + currentCell[1] * m_gridWidth); + } + } + + bool edgesIntersect(uint32_t edge1, uint32_t edge2, float epsilon) const + { + if (edge1 == edge2) + return false; + const uint32_t ai[2] = { vertexAt(meshEdgeIndex0(edge1)), vertexAt(meshEdgeIndex1(edge1)) }; + const uint32_t bi[2] = { vertexAt(meshEdgeIndex0(edge2)), vertexAt(meshEdgeIndex1(edge2)) }; + // Ignore connected edges, since they can't intersect (only overlap), and may be detected as false positives. + if (ai[0] == bi[0] || ai[0] == bi[1] || ai[1] == bi[0] || ai[1] == bi[1]) + return false; + return linesIntersect(m_positions[ai[0]], m_positions[ai[1]], m_positions[bi[0]], m_positions[bi[1]], epsilon); + } + + uint32_t cellX(float x) const + { + return min((uint32_t)max(0.0f, (x - m_gridOrigin.x) / m_cellSize), m_gridWidth - 1u); + } + + uint32_t cellY(float y) const + { + return min((uint32_t)max(0.0f, (y - m_gridOrigin.y) / m_cellSize), m_gridHeight - 1u); + } + + Vector2 edgePosition0(uint32_t edge) const + { + return m_positions[vertexAt(meshEdgeIndex0(edge))]; + } + + Vector2 edgePosition1(uint32_t edge) const + { + return m_positions[vertexAt(meshEdgeIndex1(edge))]; + } + + uint32_t vertexAt(uint32_t index) const + { + return m_indices ? m_indices[index] : index; + } + + Array<uint32_t> m_edges; + const Vector2 *m_positions; + const uint32_t *m_indices; // Optional + float m_cellSize; + Vector2 m_gridOrigin; + uint32_t m_gridWidth, m_gridHeight; // in cells + Array<uint32_t> m_cellDataOffsets; + Array<uint32_t> m_cellData; + Array<uint32_t> m_potentialEdges; + Array<uint32_t> m_traversedCellOffsets; +}; + struct UvMeshChart { Array<uint32_t> faces; @@ -3834,15 +4418,16 @@ struct Triangle // make sure every triangle is front facing. flipBackface(); // Compute deltas. - computeUnitInwardNormals(); + if (isValid()) + computeUnitInwardNormals(); } bool isValid() { const Vector2 e0 = v3 - v1; const Vector2 e1 = v2 - v1; - const float denom = 1.0f / (e0.y * e1.x - e1.y * e0.x); - return isFinite(denom); + const float area = e0.y * e1.x - e1.y * e0.x; + return area != 0.0f; } // extents has to be multiple of BK_SIZE!! @@ -3926,6 +4511,7 @@ struct Triangle return true; } +private: void flipBackface() { // check if triangle is backfacing, if so, swap two vertices @@ -3941,13 +4527,13 @@ struct Triangle { n1 = v1 - v2; n1 = Vector2(-n1.y, n1.x); - n1 = n1 * (1.0f / sqrtf(n1.x * n1.x + n1.y * n1.y)); + n1 = n1 * (1.0f / sqrtf(dot(n1, n1))); n2 = v2 - v3; n2 = Vector2(-n2.y, n2.x); - n2 = n2 * (1.0f / sqrtf(n2.x * n2.x + n2.y * n2.y)); + n2 = n2 * (1.0f / sqrtf(dot(n2, n2))); n3 = v3 - v1; n3 = Vector2(-n3.y, n3.x); - n3 = n3 * (1.0f / sqrtf(n3.x * n3.x + n3.y * n3.y)); + n3 = n3 * (1.0f / sqrtf(dot(n3, n3))); } // Vertices. @@ -3990,28 +4576,33 @@ public: float v; // value }; - Matrix(uint32_t d) : m_width(d) + Matrix(uint32_t d) : m_width(d), m_array(MemTag::Matrix) { m_array.resize(d); - for (uint32_t i = 0; i < m_array.size(); i++) - new (&m_array[i]) Array<Coefficient>(); + m_array.runCtors(); +#if XA_DEBUG_HEAP + for (uint32_t i = 0; i < d; i++) + m_array[i].setMemTag(MemTag::Matrix); +#endif } - Matrix(uint32_t w, uint32_t h) : m_width(w) + Matrix(uint32_t w, uint32_t h) : m_width(w), m_array(MemTag::Matrix) { m_array.resize(h); - for (uint32_t i = 0; i < m_array.size(); i++) - new (&m_array[i]) Array<Coefficient>(); + m_array.runCtors(); +#if XA_DEBUG_HEAP + for (uint32_t i = 0; i < h; i++) + m_array[i].setMemTag(MemTag::Matrix); +#endif } ~Matrix() { - for (uint32_t i = 0; i < m_array.size(); i++) - m_array[i].~Array(); + m_array.runDtors(); } Matrix(const Matrix &m) = delete; - const Matrix &operator=(const Matrix &m) = delete; + Matrix &operator=(const Matrix &m) = delete; uint32_t width() const { return m_width; } uint32_t height() const { return m_array.size(); } bool isSquare() const { return width() == height(); } @@ -4211,164 +4802,164 @@ static void mult(const Matrix &A, const Matrix &B, Matrix &C) namespace segment { -// Dummy implementation of a priority queue using sort at insertion. // - Insertion is o(n) // - Smallest element goes at the end, so that popping it is o(1). -// - Resorting is n*log(n) -// @@ Number of elements in the queue is usually small, and we'd have to rebalance often. I'm not sure it's worth implementing a heap. -// @@ Searcing at removal would remove the need for sorting when priorities change. -struct PriorityQueue +struct CostQueue { - PriorityQueue(uint32_t size = UINT32_MAX) : maxSize(size) {} + CostQueue(uint32_t size = UINT32_MAX) : m_maxSize(size), m_pairs(MemTag::SegmentAtlasChartCandidates) {} - void push(float priority, uint32_t face) + float peekCost() const { - uint32_t i = 0; - const uint32_t count = pairs.size(); - for (; i < count; i++) { - if (pairs[i].priority > priority) break; - } - Pair p = { priority, face }; - pairs.insertAt(i, p); - if (pairs.size() > maxSize) - pairs.removeAt(0); + return m_pairs.back().cost; } - // push face out of order, to be sorted later. - void push(uint32_t face) + uint32_t peekFace() const { - Pair p = { 0.0f, face }; - pairs.push_back(p); + return m_pairs.back().face; } - uint32_t pop() + void push(float cost, uint32_t face) { - XA_DEBUG_ASSERT(!pairs.isEmpty()); - uint32_t f = pairs.back().face; - pairs.pop_back(); - return f; + const Pair p = { cost, face }; + if (m_pairs.isEmpty() || cost < peekCost()) + m_pairs.push_back(p); + else { + uint32_t i = 0; + const uint32_t count = m_pairs.size(); + for (; i < count; i++) { + if (m_pairs[i].cost < cost) + break; + } + m_pairs.insertAt(i, p); + if (m_pairs.size() > m_maxSize) + m_pairs.removeAt(0); + } } - void sort() + uint32_t pop() { - //sort(pairs); // @@ My intro sort appears to be much slower than it should! - std::sort(pairs.begin(), pairs.end()); + XA_DEBUG_ASSERT(!m_pairs.isEmpty()); + uint32_t f = m_pairs.back().face; + m_pairs.pop_back(); + return f; } XA_INLINE void clear() { - pairs.clear(); + m_pairs.clear(); } XA_INLINE uint32_t count() const { - return pairs.size(); + return m_pairs.size(); } - float firstPriority() const - { - return pairs.back().priority; - } - - const uint32_t maxSize; +private: + const uint32_t m_maxSize; struct Pair { - bool operator<(const Pair &p) const - { - return priority > p.priority; // !! Sort in inverse priority order! - } - - float priority; + float cost; uint32_t face; }; - Array<Pair> pairs; + Array<Pair> m_pairs; }; struct Chart { + Chart() : faces(MemTag::SegmentAtlasChartFaces) {} + int id = -1; - Vector3 averageNormal = Vector3(0.0f); + Basis basis; // Best fit normal. float area = 0.0f; float boundaryLength = 0.0f; - Vector3 normalSum = Vector3(0.0f); Vector3 centroidSum = Vector3(0.0f); // Sum of chart face centroids. Vector3 centroid = Vector3(0.0f); // Average centroid of chart faces. Array<uint32_t> seeds; Array<uint32_t> faces; - PriorityQueue candidates; - Basis basis; // Of first face. + Array<uint32_t> failedPlanarRegions; + CostQueue candidates; }; struct Atlas { - // @@ Hardcoded to 10? - Atlas(const Mesh *mesh, Array<uint32_t> *meshFaces, const ChartOptions &options) : m_mesh(mesh), m_meshFaces(meshFaces), m_facesLeft(mesh->faceCount()), m_bestTriangles(10), m_options(options) + Atlas() : m_edgeLengths(MemTag::SegmentAtlasMeshData), m_faceAreas(MemTag::SegmentAtlasMeshData), m_faceNormals(MemTag::SegmentAtlasMeshData), m_texcoords(MemTag::SegmentAtlasMeshData), m_bestTriangles(10), m_nextPlanarRegionFace(MemTag::SegmentAtlasPlanarRegions), m_facePlanarRegionId(MemTag::SegmentAtlasPlanarRegions) {} + + ~Atlas() + { + const uint32_t chartCount = m_charts.size(); + for (uint32_t i = 0; i < chartCount; i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); + } + } + + uint32_t facesLeft() const { return m_facesLeft; } + uint32_t chartCount() const { return m_charts.size(); } + const Array<uint32_t> &chartFaces(uint32_t i) const { return m_charts[i]->faces; } + const Basis &chartBasis(uint32_t chartIndex) const { return m_charts[chartIndex]->basis; } + + void reset(uint32_t meshId, uint32_t chartGroupId, const Mesh *mesh, const ChartOptions &options) { + XA_UNUSED(meshId); + XA_UNUSED(chartGroupId); XA_PROFILE_START(buildAtlasInit) + m_mesh = mesh; const uint32_t faceCount = m_mesh->faceCount(); - if (meshFaces) { - m_ignoreFaces.resize(faceCount); - m_ignoreFaces.setAll(true); - for (uint32_t f = 0; f < meshFaces->size(); f++) - m_ignoreFaces[(*meshFaces)[f]] = false; - m_facesLeft = meshFaces->size(); - } else { - m_ignoreFaces.resize(faceCount); - m_ignoreFaces.setAll(false); + m_facesLeft = faceCount; + m_options = options; + m_rand.reset(); + const uint32_t chartCount = m_charts.size(); + for (uint32_t i = 0; i < chartCount; i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); } - m_faceChartArray.resize(faceCount); - m_faceChartArray.setAll(-1); - m_faceCandidateCharts.resize(faceCount); - m_faceCandidateCosts.resize(faceCount); + m_charts.clear(); + m_faceCharts.resize(faceCount); + m_faceCharts.setAll(-1); m_texcoords.resize(faceCount * 3); - // @@ Floyd for the whole mesh is too slow. We could compute floyd progressively per patch as the patch grows. We need a better solution to compute most central faces. - //computeShortestPaths(); // Precompute edge lengths and face areas. const uint32_t edgeCount = m_mesh->edgeCount(); m_edgeLengths.resize(edgeCount); - m_edgeLengths.zeroOutMemory(); m_faceAreas.resize(faceCount); - m_faceAreas.zeroOutMemory(); m_faceNormals.resize(faceCount); - m_faceTangents.resize(faceCount); - m_faceBitangents.resize(faceCount); for (uint32_t f = 0; f < faceCount; f++) { - if (m_ignoreFaces[f]) - continue; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - m_edgeLengths[it.edge()] = internal::length(it.position1() - it.position0()); - XA_DEBUG_ASSERT(m_edgeLengths[it.edge()] > 0.0f); + for (uint32_t i = 0; i < 3; i++) { + const uint32_t edge = f * 3 + i; + const Vector3 &p0 = mesh->position(m_mesh->vertexAt(meshEdgeIndex0(edge))); + const Vector3 &p1 = mesh->position(m_mesh->vertexAt(meshEdgeIndex1(edge))); + m_edgeLengths[edge] = length(p1 - p0); + XA_DEBUG_ASSERT(m_edgeLengths[edge] > 0.0f); } - m_faceAreas[f] = mesh->faceArea(f); + m_faceAreas[f] = m_mesh->computeFaceArea(f); XA_DEBUG_ASSERT(m_faceAreas[f] > 0.0f); - m_faceNormals[f] = m_mesh->triangleNormal(f); - m_faceTangents[f] = Basis::computeTangent(m_faceNormals[f]); - m_faceBitangents[f] = Basis::computeBitangent(m_faceNormals[f], m_faceTangents[f]); + m_faceNormals[f] = m_mesh->computeFaceNormal(f); } -#if XA_GROW_CHARTS_COPLANAR // Precompute regions of coplanar incident faces. m_nextPlanarRegionFace.resize(faceCount); - for (uint32_t f = 0; f < faceCount; f++) + m_facePlanarRegionId.resize(faceCount); + for (uint32_t f = 0; f < faceCount; f++) { m_nextPlanarRegionFace[f] = f; + m_facePlanarRegionId[f] = UINT32_MAX; + } Array<uint32_t> faceStack; faceStack.reserve(min(faceCount, 16u)); + uint32_t planarRegionCount = 0; for (uint32_t f = 0; f < faceCount; f++) { if (m_nextPlanarRegionFace[f] != f) continue; // Already assigned. - if (m_ignoreFaces[f]) - continue; faceStack.clear(); faceStack.push_back(f); for (;;) { if (faceStack.isEmpty()) break; const uint32_t face = faceStack.back(); + m_facePlanarRegionId[face] = planarRegionCount; faceStack.pop_back(); for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { const uint32_t oface = it.oppositeFace(); - if (it.isBoundary() || m_ignoreFaces[oface]) + if (it.isBoundary()) continue; if (m_nextPlanarRegionFace[oface] != oface) continue; // Already assigned. @@ -4377,29 +4968,33 @@ struct Atlas const uint32_t next = m_nextPlanarRegionFace[face]; m_nextPlanarRegionFace[face] = oface; m_nextPlanarRegionFace[oface] = next; + m_facePlanarRegionId[oface] = planarRegionCount; faceStack.push_back(oface); } } + planarRegionCount++; + } +#if XA_DEBUG_EXPORT_OBJ_PLANAR_REGIONS + char filename[256]; + XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_planar_regions.obj", meshId, chartGroupId); + FILE *file; + XA_FOPEN(file, filename, "w"); + if (file) { + m_mesh->writeObjVertices(file); + fprintf(file, "s off\n"); + for (uint32_t i = 0; i < planarRegionCount; i++) { + fprintf(file, "o region%u\n", i); + for (uint32_t j = 0; j < faceCount; j++) { + if (m_facePlanarRegionId[j] == i) + m_mesh->writeObjFace(file, j); + } + } + fclose(file); } #endif XA_PROFILE_END(buildAtlasInit) } - ~Atlas() - { - const uint32_t chartCount = m_chartArray.size(); - for (uint32_t i = 0; i < chartCount; i++) { - m_chartArray[i]->~Chart(); - XA_FREE(m_chartArray[i]); - } - } - - uint32_t facesLeft() const { return m_facesLeft; } - uint32_t chartCount() const { return m_chartArray.size(); } - const Array<uint32_t> &chartFaces(uint32_t i) const { return m_chartArray[i]->faces; } - const Basis &chartBasis(uint32_t chartIndex) const { return m_chartArray[chartIndex]->basis; } - const Vector2 *faceTexcoords(uint32_t face) const { return &m_texcoords[face * 3]; } - void placeSeeds(float threshold) { XA_PROFILE_START(buildAtlasPlaceSeeds) @@ -4415,28 +5010,51 @@ struct Atlas } // Returns true if any of the charts can grow more. - bool growCharts(float threshold) + void growCharts(float threshold) { XA_PROFILE_START(buildAtlasGrowCharts) - // Build global candidate list. - m_faceCandidateCharts.zeroOutMemory(); - for (uint32_t i = 0; i < m_chartArray.size(); i++) - addChartCandidateToGlobalCandidates(m_chartArray[i]); - // Add one candidate face per chart (threshold permitting). - const uint32_t faceCount = m_mesh->faceCount(); - bool canAddAny = false; - for (uint32_t f = 0; f < faceCount; f++) { - Chart *chart = m_faceCandidateCharts[f]; - if (!chart || m_faceCandidateCosts[f] > threshold) - continue; - createFaceTexcoords(chart, f); - if (!canAddFaceToChart(chart, f)) - continue; - addFaceToChart(chart, f); - canAddAny = true; + for (;;) { + if (m_facesLeft == 0) + break; + // Get the single best candidate out of the chart best candidates. + uint32_t bestFace = UINT32_MAX, bestChart = UINT32_MAX; + float lowestCost = FLT_MAX; + for (uint32_t i = 0; i < m_charts.size(); i++) { + Chart *chart = m_charts[i]; + // Get the best candidate from the chart. + // Cleanup any best candidates that have been claimed by another chart. + uint32_t face = UINT32_MAX; + float cost = FLT_MAX; + for (;;) { + if (chart->candidates.count() == 0) + break; + cost = chart->candidates.peekCost(); + face = chart->candidates.peekFace(); + if (m_faceCharts[face] == -1) + break; + else { + // Face belongs to another chart. Pop from queue so the next best candidate can be retrieved. + chart->candidates.pop(); + face = UINT32_MAX; + } + } + if (face == UINT32_MAX) + continue; // No candidates for this chart. + // See if best candidate overall. + if (cost < lowestCost) { + lowestCost = cost; + bestFace = face; + bestChart = i; + } + } + if (bestFace == UINT32_MAX || lowestCost > threshold) + break; + Chart *chart = m_charts[bestChart]; + chart->candidates.pop(); // Pop the selected candidate from the queue. + if (!addFaceToChart(chart, bestFace)) + chart->failedPlanarRegions.push_back(m_facePlanarRegionId[bestFace]); } XA_PROFILE_END(buildAtlasGrowCharts) - return canAddAny && m_facesLeft != 0; // Can continue growing. } void resetCharts() @@ -4444,53 +5062,34 @@ struct Atlas XA_PROFILE_START(buildAtlasResetCharts) const uint32_t faceCount = m_mesh->faceCount(); for (uint32_t i = 0; i < faceCount; i++) - m_faceChartArray[i] = -1; - m_facesLeft = m_meshFaces ? m_meshFaces->size() : faceCount; - const uint32_t chartCount = m_chartArray.size(); + m_faceCharts[i] = -1; + m_facesLeft = faceCount; + const uint32_t chartCount = m_charts.size(); for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; + Chart *chart = m_charts[i]; const uint32_t seed = chart->seeds.back(); chart->area = 0.0f; chart->boundaryLength = 0.0f; - chart->normalSum = Vector3(0.0f); + chart->basis.normal = Vector3(0.0f); + chart->basis.tangent = Vector3(0.0f); + chart->basis.bitangent = Vector3(0.0f); chart->centroidSum = Vector3(0.0f); chart->centroid = Vector3(0.0f); chart->faces.clear(); chart->candidates.clear(); + chart->failedPlanarRegions.clear(); addFaceToChart(chart, seed); } -#if XA_GROW_CHARTS_COPLANAR - for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; - growChartCoplanar(chart); - } -#endif XA_PROFILE_END(buildAtlasResetCharts) } - void updateChartCandidates(Chart *chart, uint32_t f) - { - // Traverse neighboring faces, add the ones that do not belong to any chart yet. - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - if (!it.isBoundary() && !m_ignoreFaces[it.oppositeFace()] && m_faceChartArray[it.oppositeFace()] == -1) - chart->candidates.push(it.oppositeFace()); - } - // Re-evaluate all candidate priorities. - uint32_t candidateCount = chart->candidates.count(); - for (uint32_t i = 0; i < candidateCount; i++) { - PriorityQueue::Pair &pair = chart->candidates.pairs[i]; - pair.priority = evaluateCost(chart, pair.face); - } - chart->candidates.sort(); - } - bool relocateSeeds() { XA_PROFILE_START(buildAtlasRelocateSeeds) bool anySeedChanged = false; - const uint32_t chartCount = m_chartArray.size(); + const uint32_t chartCount = m_charts.size(); for (uint32_t i = 0; i < chartCount; i++) { - if (relocateSeed(m_chartArray[i])) { + if (relocateSeed(m_charts[i])) { anySeedChanged = true; } } @@ -4510,45 +5109,38 @@ struct Atlas void mergeCharts() { XA_PROFILE_START(buildAtlasMergeCharts) - Array<float> sharedBoundaryLengths; - Array<float> sharedBoundaryLengthsNoSeams; - Array<uint32_t> sharedBoundaryEdgeCountNoSeams; - Array<Vector2> tempTexcoords; - const uint32_t chartCount = m_chartArray.size(); + const uint32_t chartCount = m_charts.size(); // Merge charts progressively until there's none left to merge. for (;;) { bool merged = false; for (int c = chartCount - 1; c >= 0; c--) { - Chart *chart = m_chartArray[c]; + Chart *chart = m_charts[c]; if (chart == nullptr) continue; float externalBoundaryLength = 0.0f; - sharedBoundaryLengths.clear(); - sharedBoundaryLengths.resize(chartCount); - sharedBoundaryLengths.zeroOutMemory(); - sharedBoundaryLengthsNoSeams.clear(); - sharedBoundaryLengthsNoSeams.resize(chartCount); - sharedBoundaryLengthsNoSeams.zeroOutMemory(); - sharedBoundaryEdgeCountNoSeams.clear(); - sharedBoundaryEdgeCountNoSeams.resize(chartCount); - sharedBoundaryEdgeCountNoSeams.zeroOutMemory(); + m_sharedBoundaryLengths.resize(chartCount); + m_sharedBoundaryLengths.zeroOutMemory(); + m_sharedBoundaryLengthsNoSeams.resize(chartCount); + m_sharedBoundaryLengthsNoSeams.zeroOutMemory(); + m_sharedBoundaryEdgeCountNoSeams.resize(chartCount); + m_sharedBoundaryEdgeCountNoSeams.zeroOutMemory(); const uint32_t faceCount = chart->faces.size(); for (uint32_t i = 0; i < faceCount; i++) { const uint32_t f = chart->faces[i]; for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { const float l = m_edgeLengths[it.edge()]; - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) { + if (it.isBoundary()) { externalBoundaryLength += l; } else { - const int neighborChart = m_faceChartArray[it.oppositeFace()]; - if (m_chartArray[neighborChart] != chart) { + const int neighborChart = m_faceCharts[it.oppositeFace()]; + if (m_charts[neighborChart] != chart) { if ((it.isSeam() && (isNormalSeam(it.edge()) || it.isTextureSeam()))) { externalBoundaryLength += l; } else { - sharedBoundaryLengths[neighborChart] += l; + m_sharedBoundaryLengths[neighborChart] += l; } - sharedBoundaryLengthsNoSeams[neighborChart] += l; - sharedBoundaryEdgeCountNoSeams[neighborChart]++; + m_sharedBoundaryLengthsNoSeams[neighborChart] += l; + m_sharedBoundaryEdgeCountNoSeams[neighborChart]++; } } } @@ -4556,50 +5148,38 @@ struct Atlas for (int cc = chartCount - 1; cc >= 0; cc--) { if (cc == c) continue; - Chart *chart2 = m_chartArray[cc]; + Chart *chart2 = m_charts[cc]; if (chart2 == nullptr) continue; + // Must share a boundary. + if (m_sharedBoundaryLengths[cc] <= 0.0f) + continue; // Compare proxies. - if (dot(chart2->averageNormal, chart->averageNormal) < XA_MERGE_CHARTS_MIN_NORMAL_DEVIATION) + if (dot(chart2->basis.normal, chart->basis.normal) < XA_MERGE_CHARTS_MIN_NORMAL_DEVIATION) continue; // Obey max chart area and boundary length. if (m_options.maxChartArea > 0.0f && chart->area + chart2->area > m_options.maxChartArea) continue; - if (m_options.maxBoundaryLength > 0.0f && chart->boundaryLength + chart2->boundaryLength - sharedBoundaryLengthsNoSeams[cc] > m_options.maxBoundaryLength) + if (m_options.maxBoundaryLength > 0.0f && chart->boundaryLength + chart2->boundaryLength - m_sharedBoundaryLengthsNoSeams[cc] > m_options.maxBoundaryLength) continue; // Merge if chart2 has a single face. // chart1 must have more than 1 face. // chart2 area must be <= 10% of chart1 area. - if (sharedBoundaryLengthsNoSeams[cc] > 0.0f && chart->faces.size() > 1 && chart2->faces.size() == 1 && chart2->area <= chart->area * 0.1f) + if (m_sharedBoundaryLengthsNoSeams[cc] > 0.0f && chart->faces.size() > 1 && chart2->faces.size() == 1 && chart2->area <= chart->area * 0.1f) goto merge; // Merge if chart2 has two faces (probably a quad), and chart1 bounds at least 2 of its edges. - if (chart2->faces.size() == 2 && sharedBoundaryEdgeCountNoSeams[cc] >= 2) + if (chart2->faces.size() == 2 && m_sharedBoundaryEdgeCountNoSeams[cc] >= 2) goto merge; // Merge if chart2 is wholely inside chart1, ignoring seams. - if (sharedBoundaryLengthsNoSeams[cc] > 0.0f && equal(sharedBoundaryLengthsNoSeams[cc], chart2->boundaryLength, kEpsilon)) + if (m_sharedBoundaryLengthsNoSeams[cc] > 0.0f && equal(m_sharedBoundaryLengthsNoSeams[cc], chart2->boundaryLength, kEpsilon)) goto merge; - if (sharedBoundaryLengths[cc] > 0.2f * max(0.0f, chart->boundaryLength - externalBoundaryLength) || - sharedBoundaryLengths[cc] > 0.75f * chart2->boundaryLength) + if (m_sharedBoundaryLengths[cc] > 0.2f * max(0.0f, chart->boundaryLength - externalBoundaryLength) || + m_sharedBoundaryLengths[cc] > 0.75f * chart2->boundaryLength) goto merge; continue; merge: - // Create texcoords for chart 2 using chart 1 basis. Backup chart 2 texcoords for restoration if charts cannot be merged. - tempTexcoords.resize(chart2->faces.size() * 3); - for (uint32_t i = 0; i < chart2->faces.size(); i++) { - const uint32_t face = chart2->faces[i]; - for (uint32_t j = 0; j < 3; j++) - tempTexcoords[i * 3 + j] = m_texcoords[face * 3 + j]; - createFaceTexcoords(chart, face); - } - if (!canMergeCharts(chart, chart2)) { - // Restore chart 2 texcoords. - for (uint32_t i = 0; i < chart2->faces.size(); i++) { - for (uint32_t j = 0; j < 3; j++) - m_texcoords[chart2->faces[i] * 3 + j] = tempTexcoords[i * 3 + j]; - } + if (!mergeChart(chart, chart2, m_sharedBoundaryLengthsNoSeams[cc])) continue; - } - mergeChart(chart, chart2, sharedBoundaryLengthsNoSeams[cc]); merged = true; break; } @@ -4610,20 +5190,20 @@ struct Atlas break; } // Remove deleted charts. - for (int c = 0; c < int32_t(m_chartArray.size()); /*do not increment if removed*/) { - if (m_chartArray[c] == nullptr) { - m_chartArray.removeAt(c); - // Update m_faceChartArray. - const uint32_t faceCount = m_faceChartArray.size(); + for (int c = 0; c < int32_t(m_charts.size()); /*do not increment if removed*/) { + if (m_charts[c] == nullptr) { + m_charts.removeAt(c); + // Update m_faceCharts. + const uint32_t faceCount = m_faceCharts.size(); for (uint32_t i = 0; i < faceCount; i++) { - XA_DEBUG_ASSERT(m_faceChartArray[i] != c); - XA_DEBUG_ASSERT(m_faceChartArray[i] <= int32_t(m_chartArray.size())); - if (m_faceChartArray[i] > c) { - m_faceChartArray[i]--; + XA_DEBUG_ASSERT(m_faceCharts[i] != c); + XA_DEBUG_ASSERT(m_faceCharts[i] <= int32_t(m_charts.size())); + if (m_faceCharts[i] > c) { + m_faceCharts[i]--; } } } else { - m_chartArray[c]->id = c; + m_charts[c]->id = c; c++; } } @@ -4635,264 +5215,204 @@ private: void createRandomChart(float threshold) { Chart *chart = XA_NEW(MemTag::Default, Chart); - chart->id = (int)m_chartArray.size(); - m_chartArray.push_back(chart); + chart->id = (int)m_charts.size(); + m_charts.push_back(chart); // Pick random face that is not used by any chart yet. uint32_t face = m_rand.getRange(m_mesh->faceCount() - 1); - while (m_ignoreFaces[face] || m_faceChartArray[face] != -1) { + while (m_faceCharts[face] != -1) { if (++face >= m_mesh->faceCount()) face = 0; } chart->seeds.push_back(face); addFaceToChart(chart, face); -#if XA_GROW_CHARTS_COPLANAR - growChartCoplanar(chart); -#endif // Grow the chart as much as possible within the given threshold. - for (uint32_t i = 0; i < m_facesLeft; ) { - if (chart->candidates.count() == 0 || chart->candidates.firstPriority() > threshold) + for (;;) { + if (chart->candidates.count() == 0 || chart->candidates.peekCost() > threshold) break; const uint32_t f = chart->candidates.pop(); - if (m_faceChartArray[f] != -1) + if (m_faceCharts[f] != -1) continue; - createFaceTexcoords(chart, f); - if (!canAddFaceToChart(chart, f)) + if (!addFaceToChart(chart, f)) { + chart->failedPlanarRegions.push_back(m_facePlanarRegionId[f]); continue; - addFaceToChart(chart, f); - i++; - } - } - - void addChartCandidateToGlobalCandidates(Chart *chart) - { - if (chart->candidates.count() == 0) - return; - const float cost = chart->candidates.firstPriority(); - const uint32_t face = chart->candidates.pop(); - if (m_faceChartArray[face] != -1) { - addChartCandidateToGlobalCandidates(chart); - } else if (!m_faceCandidateCharts[face]) { - // No candidate assigned to this face yet. - m_faceCandidateCharts[face] = chart; - m_faceCandidateCosts[face] = cost; - } else { - if (cost < m_faceCandidateCosts[face]) { - // This is a better candidate for this face (lower cost). The other chart can choose another candidate. - Chart *otherChart = m_faceCandidateCharts[face]; - m_faceCandidateCharts[face] = chart; - m_faceCandidateCosts[face] = cost; - addChartCandidateToGlobalCandidates(otherChart); - } else { - // Existing candidate is better. This chart can choose another candidate. - addChartCandidateToGlobalCandidates(chart); } } } - void createFaceTexcoords(Chart *chart, uint32_t face) - { - for (uint32_t i = 0; i < 3; i++) { - const Vector3 &pos = m_mesh->position(m_mesh->vertexAt(face * 3 + i)); - m_texcoords[face * 3 + i] = Vector2(dot(chart->basis.tangent, pos), dot(chart->basis.bitangent, pos)); - } - } - bool isChartBoundaryEdge(const Chart *chart, uint32_t edge) const { const uint32_t oppositeEdge = m_mesh->oppositeEdge(edge); const uint32_t oppositeFace = meshEdgeFace(oppositeEdge); - return oppositeEdge == UINT32_MAX || m_ignoreFaces[oppositeFace] || m_faceChartArray[oppositeFace] != chart->id; + return oppositeEdge == UINT32_MAX || m_faceCharts[oppositeFace] != chart->id; } - bool edgeArraysIntersect(const uint32_t *edges1, uint32_t edges1Count, const uint32_t *edges2, uint32_t edges2Count) + bool computeChartBasis(Chart *chart, Basis *basis) { - for (uint32_t i = 0; i < edges1Count; i++) { - const uint32_t edge1 = edges1[i]; - for (uint32_t j = 0; j < edges2Count; j++) { - const uint32_t edge2 = edges2[j]; - const Vector2 &a1 = m_texcoords[meshEdgeIndex0(edge1)]; - const Vector2 &a2 = m_texcoords[meshEdgeIndex1(edge1)]; - const Vector2 &b1 = m_texcoords[meshEdgeIndex0(edge2)]; - const Vector2 &b2 = m_texcoords[meshEdgeIndex1(edge2)]; - if (linesIntersect(a1, a2, b1, b2, m_mesh->epsilon())) - return true; - } + const uint32_t faceCount = chart->faces.size(); + m_tempPoints.resize(chart->faces.size() * 3); + for (uint32_t i = 0; i < faceCount; i++) { + const uint32_t f = chart->faces[i]; + for (uint32_t j = 0; j < 3; j++) + m_tempPoints[i * 3 + j] = m_mesh->position(m_mesh->vertexAt(f * 3 + j)); } - return false; + return Fit::computeBasis(m_tempPoints.data(), m_tempPoints.size(), basis); } bool isFaceFlipped(uint32_t face) const { - const float t1 = m_texcoords[face * 3 + 0].x; - const float s1 = m_texcoords[face * 3 + 0].y; - const float t2 = m_texcoords[face * 3 + 1].x; - const float s2 = m_texcoords[face * 3 + 1].y; - const float t3 = m_texcoords[face * 3 + 2].x; - const float s3 = m_texcoords[face * 3 + 2].y; - const float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) / 2; + const Vector2 &v1 = m_texcoords[face * 3 + 0]; + const Vector2 &v2 = m_texcoords[face * 3 + 1]; + const Vector2 &v3 = m_texcoords[face * 3 + 2]; + const float parametricArea = ((v2.x - v1.x) * (v3.y - v1.y) - (v3.x - v1.x) * (v2.y - v1.y)) * 0.5f; return parametricArea < 0.0f; } - void computeChartBoundaryEdges(const Chart *chart, Array<uint32_t> *dest) const + void parameterizeChart(const Chart *chart) { - dest->clear(); - for (uint32_t f = 0; f < chart->faces.size(); f++) { - const uint32_t face = chart->faces[f]; - for (uint32_t i = 0; i < 3; i++) { - const uint32_t edge = face * 3 + i; - if (isChartBoundaryEdge(chart, edge)) - dest->push_back(edge); + const uint32_t faceCount = chart->faces.size(); + for (uint32_t i = 0; i < faceCount; i++) { + const uint32_t face = chart->faces[i]; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t offset = face * 3 + j; + const Vector3 &pos = m_mesh->position(m_mesh->vertexAt(offset)); + m_texcoords[offset] = Vector2(dot(chart->basis.tangent, pos), dot(chart->basis.bitangent, pos)); } } } - bool canAddFaceToChart(Chart *chart, uint32_t face) + // m_faceCharts for the chart faces must be set to the chart ID. Needed to compute boundary edges. + bool isChartParameterizationValid(const Chart *chart) { - // Check for flipped triangles. - if (isFaceFlipped(face)) + const uint32_t faceCount = chart->faces.size(); + // Check for flipped faces in the parameterization. OK if all are flipped. + uint32_t flippedFaceCount = 0; + for (uint32_t i = 0; i < faceCount; i++) { + if (isFaceFlipped(chart->faces[i])) + flippedFaceCount++; + } + if (flippedFaceCount != 0 && flippedFaceCount != faceCount) return false; - // Find face edges that don't border this chart. - m_tempEdges1.clear(); - for (uint32_t i = 0; i < 3; i++) { - const uint32_t edge = face * 3 + i; - if (isChartBoundaryEdge(chart, edge)) - m_tempEdges1.push_back(edge); - } - if (m_tempEdges1.isEmpty()) - return true; // This can happen if the face is surrounded by the chart. - // Get chart boundary edges, except those that border the face. - m_tempEdges2.clear(); - for (uint32_t i = 0; i < chart->faces.size(); i++) { - const uint32_t chartFace = chart->faces[i]; + // Check for boundary intersection in the parameterization. + m_boundaryGrid.reset(m_texcoords.data()); + for (uint32_t i = 0; i < faceCount; i++) { + const uint32_t f = chart->faces[i]; for (uint32_t j = 0; j < 3; j++) { - const uint32_t chartEdge = chartFace * 3 + j; - if (!isChartBoundaryEdge(chart, chartEdge)) - continue; - // Don't check chart boundary edges that border the face. - const uint32_t oppositeChartEdge = m_mesh->oppositeEdge(chartEdge); - if (meshEdgeFace(oppositeChartEdge) == face) - continue; - m_tempEdges2.push_back(chartEdge); - } - } - const bool intersect = edgeArraysIntersect(m_tempEdges1.data(), m_tempEdges1.size(), m_tempEdges2.data(), m_tempEdges2.size()); -#if 0 - if (intersect) { - static std::atomic<uint32_t> count = 0; - char filename[256]; - XA_SPRINTF(filename, sizeof(filename), "intersect%04u.obj", count.fetch_add(1)); - FILE *file; - XA_FOPEN(file, filename, "w"); - if (file) { - for (uint32_t i = 0; i < m_texcoords.size(); i++) - fprintf(file, "v %g %g 0.0\n", m_texcoords[i].x, m_texcoords[i].y); - fprintf(file, "s off\n"); - fprintf(file, "o face\n"); - { - fprintf(file, "f "); - for (uint32_t j = 0; j < 3; j++) { - const uint32_t index = face * 3 + j + 1; // 1-indexed - fprintf(file, "%d/%d/%d%c", index, index, index, j == 2 ? '\n' : ' '); - } - } - fprintf(file, "s off\n"); - fprintf(file, "o chart\n"); - for (uint32_t i = 0; i < chart->faces.size(); i++) { - const uint32_t chartFace = chart->faces[i]; - fprintf(file, "f "); - for (uint32_t j = 0; j < 3; j++) { - const uint32_t index = chartFace * 3 + j + 1; // 1-indexed - fprintf(file, "%d/%d/%d%c", index, index, index, j == 2 ? '\n' : ' '); - } - } - fclose(file); + const uint32_t edge = f * 3 + j; + if (isChartBoundaryEdge(chart, edge)) + m_boundaryGrid.append(edge); } } -#endif - return !intersect; + if (m_boundaryGrid.intersectSelf(m_mesh->epsilon())) + return false; + return true; } - bool canMergeCharts(Chart *chart1, Chart *chart2) + bool addFaceToChart(Chart *chart, uint32_t face) { - for (uint32_t i = 0; i < chart2->faces.size(); i++) { - if (isFaceFlipped(chart2->faces[i])) - return false; + XA_DEBUG_ASSERT(m_faceCharts[face] == -1); + const uint32_t oldFaceCount = chart->faces.size(); + const bool firstFace = oldFaceCount == 0; + // Append the face and any coplanar connected faces to the chart faces array. + chart->faces.push_back(face); + uint32_t coplanarFace = m_nextPlanarRegionFace[face]; + while (coplanarFace != face) { + XA_DEBUG_ASSERT(m_faceCharts[coplanarFace] == -1); + chart->faces.push_back(coplanarFace); + coplanarFace = m_nextPlanarRegionFace[coplanarFace]; } - computeChartBoundaryEdges(chart1, &m_tempEdges1); - computeChartBoundaryEdges(chart2, &m_tempEdges2); - return !edgeArraysIntersect(m_tempEdges1.data(), m_tempEdges1.size(), m_tempEdges2.data(), m_tempEdges2.size()); - } - - void addFaceToChart(Chart *chart, uint32_t f) - { - const bool firstFace = chart->faces.isEmpty(); - // Use the first face normal as the chart basis. + const uint32_t faceCount = chart->faces.size(); + // Compute basis. + Basis basis; if (firstFace) { - chart->basis.normal = m_faceNormals[f]; - chart->basis.tangent = m_faceTangents[f]; - chart->basis.bitangent = m_faceBitangents[f]; - createFaceTexcoords(chart, f); - } - // Add face to chart. - chart->faces.push_back(f); - XA_DEBUG_ASSERT(m_faceChartArray[f] == -1); - m_faceChartArray[f] = chart->id; - m_facesLeft--; - // Update area and boundary length. - chart->area = chart->area + m_faceAreas[f]; - chart->boundaryLength = computeBoundaryLength(chart, f); - chart->normalSum += m_mesh->triangleNormalAreaScaled(f); - chart->averageNormal = normalizeSafe(chart->normalSum, Vector3(0), 0.0f); - chart->centroidSum += m_mesh->triangleCenter(f); + // Use the first face normal. + // Use any edge as the tangent vector. + basis.normal = m_faceNormals[face]; + basis.tangent = normalize(m_mesh->position(m_mesh->vertexAt(face * 3 + 0)) - m_mesh->position(m_mesh->vertexAt(face * 3 + 1)), kEpsilon); + basis.bitangent = cross(basis.normal, basis.tangent); + } else { + // Use best fit normal. + if (!computeChartBasis(chart, &basis)) { + chart->faces.resize(oldFaceCount); + return false; + } + if (dot(basis.normal, m_faceNormals[face]) < 0.0f) // Flip normal if oriented in the wrong direction. + basis.normal = -basis.normal; + } + if (!firstFace) { + // Compute orthogonal parameterization and check that it is valid. + parameterizeChart(chart); + for (uint32_t i = oldFaceCount; i < faceCount; i++) + m_faceCharts[chart->faces[i]] = chart->id; + if (!isChartParameterizationValid(chart)) { + for (uint32_t i = oldFaceCount; i < faceCount; i++) + m_faceCharts[chart->faces[i]] = -1; + chart->faces.resize(oldFaceCount); + return false; + } + } + // Add face(s) to chart. + chart->basis = basis; + chart->area = computeArea(chart, face); + chart->boundaryLength = computeBoundaryLength(chart, face); + for (uint32_t i = oldFaceCount; i < faceCount; i++) { + const uint32_t f = chart->faces[i]; + m_faceCharts[f] = chart->id; + m_facesLeft--; + chart->centroidSum += m_mesh->computeFaceCenter(f); + } chart->centroid = chart->centroidSum / float(chart->faces.size()); - // Update candidates. - updateChartCandidates(chart, f); - } - -#if XA_GROW_CHARTS_COPLANAR - void growChartCoplanar(Chart *chart) - { - XA_DEBUG_ASSERT(!chart->faces.isEmpty()); - for (uint32_t i = 0; i < chart->faces.size(); i++) { - const uint32_t chartFace = chart->faces[i]; - uint32_t face = m_nextPlanarRegionFace[chartFace]; - while (face != chartFace) { - // Not assigned to a chart? - if (m_faceChartArray[face] == -1) { - createFaceTexcoords(chart, face); - addFaceToChart(chart, face); - } - face = m_nextPlanarRegionFace[face]; + // Refresh candidates. + chart->candidates.clear(); + for (uint32_t i = 0; i < faceCount; i++) { + // Traverse neighboring faces, add the ones that do not belong to any chart yet. + const uint32_t f = chart->faces[i]; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t edge = f * 3 + j; + const uint32_t oedge = m_mesh->oppositeEdge(edge); + if (oedge == UINT32_MAX) + continue; // Boundary edge. + const uint32_t oface = meshEdgeFace(oedge); + if (m_faceCharts[oface] != -1) + continue; // Face belongs to another chart. + if (chart->failedPlanarRegions.contains(m_facePlanarRegionId[oface])) + continue; // Failed to add this faces planar region to the chart before. + const float cost = evaluateCost(chart, oface); + if (cost < FLT_MAX) + chart->candidates.push(cost, oface); } } + return true; } -#endif + // Returns true if the seed has changed. bool relocateSeed(Chart *chart) { // Find the first N triangles that fit the proxy best. const uint32_t faceCount = chart->faces.size(); m_bestTriangles.clear(); for (uint32_t i = 0; i < faceCount; i++) { - float priority = evaluateProxyFitMetric(chart, chart->faces[i]); - m_bestTriangles.push(priority, chart->faces[i]); + const float cost = evaluateProxyFitMetric(chart, chart->faces[i]); + m_bestTriangles.push(cost, chart->faces[i]); } // Of those, choose the least central triangle. uint32_t leastCentral = 0; float maxDistance = -1; - const uint32_t bestCount = m_bestTriangles.count(); - for (uint32_t i = 0; i < bestCount; i++) { - Vector3 faceCentroid = m_mesh->triangleCenter(m_bestTriangles.pairs[i].face); - float distance = length(chart->centroid - faceCentroid); + for (;;) { + if (m_bestTriangles.count() == 0) + break; + const uint32_t face = m_bestTriangles.pop(); + Vector3 faceCentroid = m_mesh->computeFaceCenter(face); + const float distance = length(chart->centroid - faceCentroid); if (distance > maxDistance) { maxDistance = distance; - leastCentral = m_bestTriangles.pairs[i].face; + leastCentral = face; } } XA_DEBUG_ASSERT(maxDistance >= 0); // In order to prevent k-means cyles we record all the previously chosen seeds. for (uint32_t i = 0; i < chart->seeds.size(); i++) { - if (chart->seeds[i] == leastCentral) { + // Treat seeds belong to the same planar region as equal. + if (chart->seeds[i] == leastCentral || m_facePlanarRegionId[chart->seeds[i]] == m_facePlanarRegionId[leastCentral]) { // Move new seed to the end of the seed array. uint32_t last = chart->seeds.size() - 1; swap(chart->seeds[i], chart->seeds[last]); @@ -4907,26 +5427,32 @@ private: // Evaluate combined metric. float evaluateCost(Chart *chart, uint32_t face) const { + if (dot(m_faceNormals[face], chart->basis.normal) <= 0.26f) // ~75 degrees + return FLT_MAX; // Estimate boundary length and area: - const float newChartArea = chart->area + m_faceAreas[face]; - const float newBoundaryLength = computeBoundaryLength(chart, face); + float newChartArea = 0.0f, newBoundaryLength = 0.0f; + if (m_options.maxChartArea > 0.0f || m_options.roundnessMetricWeight > 0.0f) + newChartArea = computeArea(chart, face); + if (m_options.maxBoundaryLength > 0.0f || m_options.roundnessMetricWeight > 0.0f) + newBoundaryLength = computeBoundaryLength(chart, face); // Enforce limits strictly: if (m_options.maxChartArea > 0.0f && newChartArea > m_options.maxChartArea) return FLT_MAX; if (m_options.maxBoundaryLength > 0.0f && newBoundaryLength > m_options.maxBoundaryLength) return FLT_MAX; - if (dot(m_faceNormals[face], chart->averageNormal) < 0.5f) - return FLT_MAX; - // Penalize faces that cross seams, reward faces that close seams or reach boundaries. - // Make sure normal seams are fully respected: - const float N = evaluateNormalSeamMetric(chart, face); - if (m_options.normalSeamMetricWeight >= 1000.0f && N > 0.0f) - return FLT_MAX; - float cost = m_options.normalSeamMetricWeight * N; + float cost = 0.0f; + if (m_options.normalSeamMetricWeight > 0.0f) { + // Penalize faces that cross seams, reward faces that close seams or reach boundaries. + // Make sure normal seams are fully respected: + const float N = evaluateNormalSeamMetric(chart, face); + if (m_options.normalSeamMetricWeight >= 1000.0f && N > 0.0f) + return FLT_MAX; + cost += m_options.normalSeamMetricWeight * N; + } if (m_options.proxyFitMetricWeight > 0.0f) cost += m_options.proxyFitMetricWeight * evaluateProxyFitMetric(chart, face); if (m_options.roundnessMetricWeight > 0.0f) - cost += m_options.roundnessMetricWeight * evaluateRoundnessMetric(chart, face, newBoundaryLength, newChartArea); + cost += m_options.roundnessMetricWeight * evaluateRoundnessMetric(chart, newBoundaryLength, newChartArea); if (m_options.straightnessMetricWeight > 0.0f) cost += m_options.straightnessMetricWeight * evaluateStraightnessMetric(chart, face); if (m_options.textureSeamMetricWeight > 0.0f) @@ -4941,40 +5467,45 @@ private: } // Returns a value in [0-1]. - float evaluateProxyFitMetric(Chart *chart, uint32_t f) const + float evaluateProxyFitMetric(Chart *chart, uint32_t face) const { - const Vector3 faceNormal = m_faceNormals[f]; + // All faces in coplanar regions have the same normal, can use any face. + const Vector3 faceNormal = m_faceNormals[face]; // Use plane fitting metric for now: - return 1 - dot(faceNormal, chart->averageNormal); // @@ normal deviations should be weighted by face area + return 1 - dot(faceNormal, chart->basis.normal); // @@ normal deviations should be weighted by face area } - float evaluateRoundnessMetric(Chart *chart, uint32_t /*face*/, float newBoundaryLength, float newChartArea) const + float evaluateRoundnessMetric(Chart *chart, float newBoundaryLength, float newChartArea) const { - float roundness = square(chart->boundaryLength) / chart->area; - float newRoundness = square(newBoundaryLength) / newChartArea; - if (newRoundness > roundness) { - return square(newBoundaryLength) / (newChartArea * 4.0f * kPi); - } else { - // Offer no impedance to faces that improve roundness. - return 0; - } + const float roundness = square(chart->boundaryLength) / chart->area; + const float newBoundaryLengthSq = square(newBoundaryLength); + const float newRoundness = newBoundaryLengthSq / newChartArea; + if (newRoundness > roundness) + return newBoundaryLengthSq / (newChartArea * kPi4); + // Offer no impedance to faces that improve roundness. + return 0; } - float evaluateStraightnessMetric(Chart *chart, uint32_t f) const + float evaluateStraightnessMetric(Chart *chart, uint32_t firstFace) const { - float l_out = 0.0f; - float l_in = 0.0f; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - float l = m_edgeLengths[it.edge()]; - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) { - l_out += l; - } else { - if (m_faceChartArray[it.oppositeFace()] != chart->id) { + float l_out = 0.0f, l_in = 0.0f; + const uint32_t planarRegionId = m_facePlanarRegionId[firstFace]; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + const float l = m_edgeLengths[it.edge()]; + if (it.isBoundary()) { l_out += l; - } else { - l_in += l; + } else if (m_facePlanarRegionId[it.oppositeFace()] != planarRegionId) { + if (m_faceCharts[it.oppositeFace()] != chart->id) + l_out += l; + else + l_in += l; } } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } XA_DEBUG_ASSERT(l_in != 0.0f); // Candidate face must be adjacent to chart. @@ This is not true if the input mesh has zero-length edges. float ratio = (l_out - l_in) / (l_out + l_in); @@ -4991,128 +5522,184 @@ private: const uint32_t v1 = m_mesh->vertexAt(meshEdgeIndex1(edge)); const uint32_t ov0 = m_mesh->vertexAt(meshEdgeIndex0(oppositeEdge)); const uint32_t ov1 = m_mesh->vertexAt(meshEdgeIndex1(oppositeEdge)); - return m_mesh->normal(v0) != m_mesh->normal(ov1) || m_mesh->normal(v1) != m_mesh->normal(ov0); + if (v0 == ov1 && v1 == ov0) + return false; + return !equal(m_mesh->normal(v0), m_mesh->normal(ov1), kNormalEpsilon) || !equal(m_mesh->normal(v1), m_mesh->normal(ov0), kNormalEpsilon); } - return m_faceNormals[meshEdgeFace(edge)] != m_faceNormals[meshEdgeFace(oppositeEdge)]; + const uint32_t f0 = meshEdgeFace(edge); + const uint32_t f1 = meshEdgeFace(oppositeEdge); + if (m_facePlanarRegionId[f0] == m_facePlanarRegionId[f1]) + return false; + return !equal(m_faceNormals[f0], m_faceNormals[f1], kNormalEpsilon); } - float evaluateNormalSeamMetric(Chart *chart, uint32_t f) const + float evaluateNormalSeamMetric(Chart *chart, uint32_t firstFace) const { - float seamFactor = 0.0f; - float totalLength = 0.0f; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) - continue; - if (m_faceChartArray[it.oppositeFace()] != chart->id) - continue; - float l = m_edgeLengths[it.edge()]; - totalLength += l; - if (!it.isSeam()) - continue; - // Make sure it's a normal seam. - if (isNormalSeam(it.edge())) { - float d; - if (m_mesh->flags() & MeshFlags::HasNormals) { - const Vector3 &n0 = m_mesh->normal(it.vertex0()); - const Vector3 &n1 = m_mesh->normal(it.vertex1()); - const Vector3 &on0 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex0(it.oppositeEdge()))); - const Vector3 &on1 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex1(it.oppositeEdge()))); - const float d0 = clamp(dot(n0, on1), 0.0f, 1.0f); - const float d1 = clamp(dot(n1, on0), 0.0f, 1.0f); - d = (d0 + d1) * 0.5f; - } else { - d = clamp(dot(m_faceNormals[f], m_faceNormals[meshEdgeFace(it.oppositeEdge())]), 0.0f, 1.0f); + float seamFactor = 0.0f, totalLength = 0.0f; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + if (it.isBoundary()) + continue; + if (m_faceCharts[it.oppositeFace()] != chart->id) + continue; + float l = m_edgeLengths[it.edge()]; + totalLength += l; + if (!it.isSeam()) + continue; + // Make sure it's a normal seam. + if (isNormalSeam(it.edge())) { + float d; + if (m_mesh->flags() & MeshFlags::HasNormals) { + const Vector3 &n0 = m_mesh->normal(it.vertex0()); + const Vector3 &n1 = m_mesh->normal(it.vertex1()); + const Vector3 &on0 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex0(it.oppositeEdge()))); + const Vector3 &on1 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex1(it.oppositeEdge()))); + const float d0 = clamp(dot(n0, on1), 0.0f, 1.0f); + const float d1 = clamp(dot(n1, on0), 0.0f, 1.0f); + d = (d0 + d1) * 0.5f; + } else { + d = clamp(dot(m_faceNormals[face], m_faceNormals[meshEdgeFace(it.oppositeEdge())]), 0.0f, 1.0f); + } + l *= 1 - d; + seamFactor += l; } - l *= 1 - d; - seamFactor += l; } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } if (seamFactor <= 0.0f) return 0.0f; return seamFactor / totalLength; } - float evaluateTextureSeamMetric(Chart *chart, uint32_t f) const + float evaluateTextureSeamMetric(Chart *chart, uint32_t firstFace) const { - float seamLength = 0.0f; - float totalLength = 0.0f; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) - continue; - if (m_faceChartArray[it.oppositeFace()] != chart->id) - continue; - float l = m_edgeLengths[it.edge()]; - totalLength += l; - if (!it.isSeam()) - continue; - // Make sure it's a texture seam. - if (it.isTextureSeam()) - seamLength += l; + float seamLength = 0.0f, totalLength = 0.0f; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + if (it.isBoundary()) + continue; + if (m_faceCharts[it.oppositeFace()] != chart->id) + continue; + float l = m_edgeLengths[it.edge()]; + totalLength += l; + if (!it.isSeam()) + continue; + // Make sure it's a texture seam. + if (it.isTextureSeam()) + seamLength += l; + } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } - if (seamLength == 0.0f) + if (seamLength <= 0.0f) return 0.0f; // Avoid division by zero. return seamLength / totalLength; } - float computeBoundaryLength(Chart *chart, uint32_t f) const + float computeArea(Chart *chart, uint32_t firstFace) const + { + float area = chart->area; + uint32_t face = firstFace; + for (;;) { + area += m_faceAreas[face]; + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; + } + return area; + } + + float computeBoundaryLength(Chart *chart, uint32_t firstFace) const { float boundaryLength = chart->boundaryLength; // Add new edges, subtract edges shared with the chart. - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - const float edgeLength = m_edgeLengths[it.edge()]; - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) { - boundaryLength += edgeLength; - } else { - if (m_faceChartArray[it.oppositeFace()] != chart->id) + const uint32_t planarRegionId = m_facePlanarRegionId[firstFace]; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + const float edgeLength = m_edgeLengths[it.edge()]; + if (it.isBoundary()) { boundaryLength += edgeLength; - else - boundaryLength -= edgeLength; + } else if (m_facePlanarRegionId[it.oppositeFace()] != planarRegionId) { + if (m_faceCharts[it.oppositeFace()] != chart->id) + boundaryLength += edgeLength; + else + boundaryLength -= edgeLength; + } } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } return max(0.0f, boundaryLength); // @@ Hack! } - void mergeChart(Chart *owner, Chart *chart, float sharedBoundaryLength) + bool mergeChart(Chart *owner, Chart *chart, float sharedBoundaryLength) { - const uint32_t faceCount = chart->faces.size(); - for (uint32_t i = 0; i < faceCount; i++) { - uint32_t f = chart->faces[i]; - XA_DEBUG_ASSERT(m_faceChartArray[f] == chart->id); - m_faceChartArray[f] = owner->id; - owner->faces.push_back(f); + const uint32_t oldOwnerFaceCount = owner->faces.size(); + const uint32_t chartFaceCount = chart->faces.size(); + owner->faces.push_back(chart->faces); + for (uint32_t i = 0; i < chartFaceCount; i++) { + XA_DEBUG_ASSERT(m_faceCharts[chart->faces[i]] == chart->id); + m_faceCharts[chart->faces[i]] = owner->id; + } + // Compute basis using best fit normal. + Basis basis; + if (!computeChartBasis(owner, &basis)) { + owner->faces.resize(oldOwnerFaceCount); + for (uint32_t i = 0; i < chartFaceCount; i++) + m_faceCharts[chart->faces[i]] = chart->id; + return false; + } + if (dot(basis.normal, m_faceNormals[owner->faces[0]]) < 0.0f) // Flip normal if oriented in the wrong direction. + basis.normal = -basis.normal; + // Compute orthogonal parameterization and check that it is valid. + parameterizeChart(owner); + if (!isChartParameterizationValid(owner)) { + owner->faces.resize(oldOwnerFaceCount); + for (uint32_t i = 0; i < chartFaceCount; i++) + m_faceCharts[chart->faces[i]] = chart->id; + return false; } + // Merge chart. + owner->basis = basis; + owner->failedPlanarRegions.push_back(chart->failedPlanarRegions); // Update adjacencies? owner->area += chart->area; owner->boundaryLength += chart->boundaryLength - sharedBoundaryLength; - owner->normalSum += chart->normalSum; - owner->averageNormal = normalizeSafe(owner->normalSum, Vector3(0), 0.0f); // Delete chart. - m_chartArray[chart->id] = nullptr; + m_charts[chart->id] = nullptr; chart->~Chart(); XA_FREE(chart); + return true; } const Mesh *m_mesh; - const Array<uint32_t> *m_meshFaces; - Array<bool> m_ignoreFaces; Array<float> m_edgeLengths; Array<float> m_faceAreas; Array<Vector3> m_faceNormals; - Array<Vector3> m_faceTangents; - Array<Vector3> m_faceBitangents; Array<Vector2> m_texcoords; uint32_t m_facesLeft; - Array<int> m_faceChartArray; - Array<Chart *> m_chartArray; - PriorityQueue m_bestTriangles; + Array<int> m_faceCharts; + Array<Chart *> m_charts; + CostQueue m_bestTriangles; KISSRng m_rand; ChartOptions m_options; - Array<Chart *> m_faceCandidateCharts; - Array<float> m_faceCandidateCosts; -#if XA_GROW_CHARTS_COPLANAR Array<uint32_t> m_nextPlanarRegionFace; + Array<uint32_t> m_facePlanarRegionId; + Array<Vector3> m_tempPoints; + UniformGrid2 m_boundaryGrid; +#if XA_MERGE_CHARTS + // mergeCharts + Array<float> m_sharedBoundaryLengths; + Array<float> m_sharedBoundaryLengthsNoSeams; + Array<uint32_t> m_sharedBoundaryEdgeCountNoSeams; #endif - Array<uint32_t> m_tempEdges1, m_tempEdges2; }; } // namespace segment @@ -5301,7 +5888,11 @@ private: // q = A·p sparse::mult(A, p, q); // alpha = delta_new / p·q - alpha = delta_new / sparse::dot(p, q); + const float pdotq = sparse::dot(p, q); + if (!isFinite(pdotq) || isNan(pdotq)) + alpha = 0.0f; + else + alpha = delta_new / pdotq; // x = alfa·p + x sparse::saxpy(alpha, p, x); if ((i & 31) == 0) { // recompute r after 32 steps @@ -5514,186 +6105,518 @@ static bool computeLeastSquaresConformalMap(Mesh *mesh) // Solve Solver::LeastSquaresSolver(A, b, x, lockedParameters, 4, 0.000001f); // Map x back to texcoords: - for (uint32_t v = 0; v < vertexCount; v++) + for (uint32_t v = 0; v < vertexCount; v++) { mesh->texcoord(v) = Vector2(x[2 * v + 0], x[2 * v + 1]); + XA_DEBUG_ASSERT(!isNan(mesh->texcoord(v).x)); + XA_DEBUG_ASSERT(!isNan(mesh->texcoord(v).y)); + } return true; } -static bool computeOrthogonalProjectionMap(Mesh *mesh) +#if XA_RECOMPUTE_CHARTS +struct PiecewiseParam { - uint32_t vertexCount = mesh->vertexCount(); - // Avoid redundant computations. - float matrix[6]; - Fit::computeCovariance(vertexCount, &mesh->position(0), matrix); - if (matrix[0] == 0 && matrix[3] == 0 && matrix[5] == 0) - return false; - float eigenValues[3]; - Vector3 eigenVectors[3]; - if (!Fit::eigenSolveSymmetric3(matrix, eigenValues, eigenVectors)) - return false; - Vector3 axis[2]; - axis[0] = normalize(eigenVectors[0], kEpsilon); - axis[1] = normalize(eigenVectors[1], kEpsilon); - // Project vertices to plane. - for (uint32_t i = 0; i < vertexCount; i++) - mesh->texcoord(i) = Vector2(dot(axis[0], mesh->position(i)), dot(axis[1], mesh->position(i))); - return true; -} + void reset(const Mesh *mesh, uint32_t faceCount) + { + m_mesh = mesh; + m_faceCount = faceCount; + const uint32_t vertexCount = m_mesh->vertexCount(); + m_texcoords.resize(vertexCount); + m_patch.reserve(m_faceCount); + m_faceAssigned.resize(m_faceCount); + m_faceAssigned.zeroOutMemory(); + m_faceInvalid.resize(m_faceCount); + m_faceInPatch.resize(m_faceCount); + m_vertexInPatch.resize(vertexCount); + m_faceInCandidates.resize(m_faceCount); + } + + ConstArrayView<uint32_t> chartFaces() const { return m_patch; } + const Vector2 *texcoords() const { return m_texcoords.data(); } + + bool computeChart() + { + m_patch.clear(); + m_faceInvalid.zeroOutMemory(); + m_faceInPatch.zeroOutMemory(); + m_vertexInPatch.zeroOutMemory(); + // Add the seed face (first unassigned face) to the patch. + uint32_t seed = UINT32_MAX; + for (uint32_t f = 0; f < m_faceCount; f++) { + if (m_faceAssigned.get(f)) + continue; + seed = f; + m_patch.push_back(seed); + m_faceInPatch.set(seed); + m_faceAssigned.set(seed); + Vector2 texcoords[3]; + orthoProjectFace(seed, texcoords); + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = m_mesh->vertexAt(seed * 3 + i); + m_vertexInPatch.set(vertex); + m_texcoords[vertex] = texcoords[i]; + } + break; + } + if (seed == UINT32_MAX) + return false; + for (;;) { + findCandidates(); + if (m_candidates.isEmpty()) + break; + for (;;) { + // Find the candidate with the lowest cost. + float lowestCost = FLT_MAX; + uint32_t bestCandidate = UINT32_MAX; + for (uint32_t i = 0; i < m_candidates.size(); i++) { + const Candidate &candidate = m_candidates[i]; + if (m_faceInvalid.get(candidate.face)) // A candidate face may be invalidated after is was added. + continue; + if (candidate.maxCost < lowestCost) { + lowestCost = candidate.maxCost; + bestCandidate = i; + } + } + if (bestCandidate == UINT32_MAX) + break; + // Compute the position by averaging linked candidates (candidates that share the same free vertex). + Vector2 position(0.0f); + uint32_t n = 0; + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) { + position += it.current().position; + n++; + } + position *= 1.0f / (float)n; + const uint32_t freeVertex = m_candidates[bestCandidate].vertex; + XA_DEBUG_ASSERT(!isNan(position.x)); + XA_DEBUG_ASSERT(!isNan(position.y)); + m_texcoords[freeVertex] = position; + // Check for flipped faces. This is also done when candidates are first added, but the averaged position of the free vertex is different now, so check again. + bool invalid = false; + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) { + const uint32_t vertex0 = m_mesh->vertexAt(meshEdgeIndex0(it.current().patchEdge)); + const uint32_t vertex1 = m_mesh->vertexAt(meshEdgeIndex1(it.current().patchEdge)); + const float freeVertexOrient = orientToEdge(m_texcoords[vertex0], m_texcoords[vertex1], position); + if ((it.current().patchVertexOrient < 0.0f && freeVertexOrient < 0.0f) || (it.current().patchVertexOrient > 0.0f && freeVertexOrient > 0.0f)) { + invalid = true; + break; + } + } + // Check for boundary intersection. + if (!invalid) { + m_boundaryGrid.reset(m_texcoords.data(), m_mesh->indices()); + // Add edges on the patch boundary to the grid. + // Temporarily adding candidate faces to the patch makes it simpler to detect which edges are on the boundary. + const uint32_t oldPatchSize = m_patch.size(); + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) + m_patch.push_back(it.current().face); + for (uint32_t i = 0; i < m_patch.size(); i++) { + for (Mesh::FaceEdgeIterator it(m_mesh, m_patch[i]); !it.isDone(); it.advance()) { + const uint32_t oface = it.oppositeFace(); + if (oface == UINT32_MAX || oface >= m_faceCount || !m_faceInPatch.get(oface)) + m_boundaryGrid.append(it.edge()); + } + } + invalid = m_boundaryGrid.intersectSelf(m_mesh->epsilon()); + m_patch.resize(oldPatchSize); + } + if (invalid) { + // Mark all faces of linked candidates as invalid. + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) + m_faceInvalid.set(it.current().face); + continue; + } + // Add faces to the patch. + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) { + m_patch.push_back(it.current().face); + m_faceInPatch.set(it.current().face); + m_faceAssigned.set(it.current().face); + } + // Add vertex to the patch. + m_vertexInPatch.set(freeVertex); + // Successfully added candidate face(s) to patch. + break; + } + } + return true; + } + +private: + struct Candidate + { + uint32_t face, vertex; + uint32_t next; // The next candidate with the same vertex. + Vector2 position; + float cost; + float maxCost; // Of all linked candidates. + uint32_t patchEdge; + float patchVertexOrient; + }; + + struct CandidateIterator + { + CandidateIterator(Array<Candidate> &candidates, uint32_t first) : m_candidates(candidates), m_current(first) {} + void advance() { if (m_current != UINT32_MAX) m_current = m_candidates[m_current].next; } + bool isDone() const { return m_current == UINT32_MAX; } + Candidate ¤t() { return m_candidates[m_current]; } + + private: + Array<Candidate> &m_candidates; + uint32_t m_current; + }; + + const Mesh *m_mesh; + uint32_t m_faceCount; + Array<Vector2> m_texcoords; + Array<Candidate> m_candidates; + BitArray m_faceInCandidates; + Array<uint32_t> m_patch; + BitArray m_faceAssigned; // Face is assigned to a previous chart or the current patch. + BitArray m_faceInPatch, m_vertexInPatch; + BitArray m_faceInvalid; // Face cannot be added to the patch - flipped, cost too high or causes boundary intersection. + UniformGrid2 m_boundaryGrid; + + // Find candidate faces on the patch front. + void findCandidates() + { + m_candidates.clear(); + m_faceInCandidates.zeroOutMemory(); + for (uint32_t i = 0; i < m_patch.size(); i++) { + for (Mesh::FaceEdgeIterator it(m_mesh, m_patch[i]); !it.isDone(); it.advance()) { + const uint32_t oface = it.oppositeFace(); + if (oface == UINT32_MAX || oface >= m_faceCount || m_faceAssigned.get(oface) || m_faceInCandidates.get(oface)) + continue; + // Found an active edge on the patch front. + // Find the free vertex (the vertex that isn't on the active edge). + // Compute the orientation of the other patch face vertex to the active edge. + uint32_t freeVertex = UINT32_MAX; + float orient = 0.0f; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t vertex = m_mesh->vertexAt(oface * 3 + j); + if (vertex != it.vertex0() && vertex != it.vertex1()) { + freeVertex = vertex; + orient = orientToEdge(m_texcoords[it.vertex0()], m_texcoords[it.vertex1()], m_texcoords[m_mesh->vertexAt(m_patch[i] * 3 + j)]); + break; + } + } + XA_DEBUG_ASSERT(freeVertex != UINT32_MAX); + // If the free vertex is already in the patch, the face is enclosed by the patch. Add the face to the patch - don't need to assign texcoords. + if (m_vertexInPatch.get(freeVertex)) { + freeVertex = UINT32_MAX; + m_patch.push_back(oface); + m_faceAssigned.set(oface); + continue; + } + // Check this here rather than above so faces enclosed by the patch are always added. + if (m_faceInvalid.get(oface)) + continue; + addCandidateFace(it.edge(), orient, oface, it.oppositeEdge(), freeVertex); + } + } + // Link candidates that share the same vertex. + for (uint32_t i = 0; i < m_candidates.size(); i++) { + if (m_candidates[i].next != UINT32_MAX) + continue; + uint32_t current = i; + for (uint32_t j = i + 1; j < m_candidates.size(); j++) { + if (m_candidates[j].vertex == m_candidates[current].vertex) { + m_candidates[current].next = j; + current = j; + } + } + } + // Set max cost for linked candidates. + for (uint32_t i = 0; i < m_candidates.size(); i++) { + float maxCost = 0.0f; + for (CandidateIterator it(m_candidates, i); !it.isDone(); it.advance()) + maxCost = max(maxCost, it.current().cost); + for (CandidateIterator it(m_candidates, i); !it.isDone(); it.advance()) + it.current().maxCost = maxCost; + } + } + + void addCandidateFace(uint32_t patchEdge, float patchVertexOrient, uint32_t face, uint32_t edge, uint32_t freeVertex) + { + Vector2 texcoords[3]; + orthoProjectFace(face, texcoords); + // Find corresponding vertices between the patch edge and candidate edge. + const uint32_t vertex0 = m_mesh->vertexAt(meshEdgeIndex0(patchEdge)); + const uint32_t vertex1 = m_mesh->vertexAt(meshEdgeIndex1(patchEdge)); + uint32_t localVertex0 = UINT32_MAX, localVertex1 = UINT32_MAX, localFreeVertex = UINT32_MAX; + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = m_mesh->vertexAt(face * 3 + i); + if (vertex == m_mesh->vertexAt(meshEdgeIndex1(edge))) + localVertex0 = i; + else if (vertex == m_mesh->vertexAt(meshEdgeIndex0(edge))) + localVertex1 = i; + else + localFreeVertex = i; + } + // Scale orthogonal projection to match the patch edge. + const Vector2 patchEdgeVec = m_texcoords[vertex1] - m_texcoords[vertex0]; + const Vector2 localEdgeVec = texcoords[localVertex1] - texcoords[localVertex0]; + const float len1 = length(patchEdgeVec); + const float len2 = length(localEdgeVec); + const float scale = len1 / len2; + XA_ASSERT(scale > 0.0f); + for (uint32_t i = 0; i < 3; i++) + texcoords[i] *= scale; + // Translate to the first vertex on the patch edge. + const Vector2 translate = m_texcoords[vertex0] - texcoords[localVertex0]; + for (uint32_t i = 0; i < 3; i++) + texcoords[i] += translate; + // Compute the angle between the patch edge and the corresponding local edge. + const float angle = atan2f(patchEdgeVec.y, patchEdgeVec.x) - atan2f(localEdgeVec.y, localEdgeVec.x); + // Rotate so the patch edge and the corresponding local edge occupy the same space. + for (uint32_t i = 0; i < 3; i++) { + if (i == localVertex0) + continue; + Vector2 &uv = texcoords[i]; + uv -= texcoords[localVertex0]; // Rotate around the first vertex. + const float c = cosf(angle); + const float s = sinf(angle); + const float x = uv.x * c - uv.y * s; + const float y = uv.y * c + uv.x * s; + uv.x = x + texcoords[localVertex0].x; + uv.y = y + texcoords[localVertex0].y; + } + // Check for local overlap (flipped triangle). + // The patch face vertex that isn't on the active edge and the free vertex should be oriented on opposite sides to the active edge. + const float freeVertexOrient = orientToEdge(m_texcoords[vertex0], m_texcoords[vertex1], texcoords[localFreeVertex]); + if ((patchVertexOrient < 0.0f && freeVertexOrient < 0.0f) || (patchVertexOrient > 0.0f && freeVertexOrient > 0.0f)) { + m_faceInvalid.set(face); + return; + } + const float stretch = computeStretch(m_mesh->position(vertex0), m_mesh->position(vertex1), m_mesh->position(freeVertex), texcoords[0], texcoords[1], texcoords[2]); + if (stretch >= FLT_MAX) { + m_faceInvalid.set(face); + return; + } + const float cost = fabsf(stretch - 1.0f); +#if 0 + if (cost > 0.25f) { + m_faceInvalid.set(face); + return; + } +#endif + // Add the candidate. + Candidate candidate; + candidate.face = face; + candidate.vertex = freeVertex; + candidate.position = texcoords[localFreeVertex]; + candidate.next = UINT32_MAX; + candidate.cost = cost; + candidate.patchEdge = patchEdge; + candidate.patchVertexOrient = patchVertexOrient; + m_candidates.push_back(candidate); + m_faceInCandidates.set(face); + } + + void orthoProjectFace(uint32_t face, Vector2 *texcoords) const + { + const Vector3 normal = m_mesh->computeFaceNormal(face); + const Vector3 tangent = normalize(m_mesh->position(m_mesh->vertexAt(face * 3 + 1)) - m_mesh->position(m_mesh->vertexAt(face * 3 + 0)), kEpsilon); + const Vector3 bitangent = cross(normal, tangent); + for (uint32_t i = 0; i < 3; i++) { + const Vector3 &pos = m_mesh->position(m_mesh->vertexAt(face * 3 + i)); + texcoords[i] = Vector2(dot(tangent, pos), dot(bitangent, pos)); + } + } + + float parametricArea(const Vector2 *texcoords) const + { + const Vector2 &v1 = texcoords[0]; + const Vector2 &v2 = texcoords[1]; + const Vector2 &v3 = texcoords[2]; + return ((v2.x - v1.x) * (v3.y - v1.y) - (v3.x - v1.x) * (v2.y - v1.y)) * 0.5f; + } + + float computeStretch(Vector3 p1, Vector3 p2, Vector3 p3, Vector2 t1, Vector2 t2, Vector2 t3) const + { + float parametricArea = ((t2.y - t1.y) * (t3.x - t1.x) - (t3.y - t1.y) * (t2.x - t1.x)) * 0.5f; + if (isZero(parametricArea, kAreaEpsilon)) + return FLT_MAX; + if (parametricArea < 0.0f) + parametricArea = fabsf(parametricArea); + const float geometricArea = length(cross(p2 - p1, p3 - p1)) * 0.5f; + if (parametricArea <= geometricArea) + return parametricArea / geometricArea; + else + return geometricArea / parametricArea; + } + + // Return value is positive if the point is one side of the edge, negative if on the other side. + float orientToEdge(Vector2 edgeVertex0, Vector2 edgeVertex1, Vector2 point) const + { + return (edgeVertex0.x - point.x) * (edgeVertex1.y - point.y) - (edgeVertex0.y - point.y) * (edgeVertex1.x - point.x); + } +}; +#endif // Estimate quality of existing parameterization. -struct ParameterizationQuality +struct Quality { + // computeBoundaryIntersection + bool boundaryIntersection = false; + + // computeFlippedFaces uint32_t totalTriangleCount = 0; uint32_t flippedTriangleCount = 0; uint32_t zeroAreaTriangleCount = 0; - float parametricArea = 0.0f; - float geometricArea = 0.0f; + + // computeMetrics + float totalParametricArea = 0.0f; + float totalGeometricArea = 0.0f; float stretchMetric = 0.0f; float maxStretchMetric = 0.0f; float conformalMetric = 0.0f; float authalicMetric = 0.0f; - bool boundaryIntersection = false; -}; -static ParameterizationQuality calculateParameterizationQuality(const Mesh *mesh, uint32_t faceCount, Array<uint32_t> *flippedFaces) -{ - XA_DEBUG_ASSERT(mesh != nullptr); - ParameterizationQuality quality; - uint32_t firstBoundaryEdge = UINT32_MAX; - for (uint32_t e = 0; e < mesh->edgeCount(); e++) { - if (mesh->isBoundaryEdge(e)) { - firstBoundaryEdge = e; - break; - } + void computeBoundaryIntersection(const Mesh *mesh, UniformGrid2 &boundaryGrid) + { + const Array<uint32_t> &boundaryEdges = mesh->boundaryEdges(); + const uint32_t boundaryEdgeCount = boundaryEdges.size(); + boundaryGrid.reset(mesh->texcoords(), mesh->indices(), boundaryEdgeCount); + for (uint32_t i = 0; i < boundaryEdgeCount; i++) + boundaryGrid.append(boundaryEdges[i]); + boundaryIntersection = boundaryGrid.intersectSelf(mesh->epsilon()); +#if XA_DEBUG_EXPORT_BOUNDARY_GRID + static int exportIndex = 0; + char filename[256]; + XA_SPRINTF(filename, sizeof(filename), "debug_boundary_grid_%03d.tga", exportIndex); + boundaryGrid.debugExport(filename); + exportIndex++; +#endif } - XA_DEBUG_ASSERT(firstBoundaryEdge != UINT32_MAX); - for (Mesh::BoundaryEdgeIterator it1(mesh, firstBoundaryEdge); !it1.isDone(); it1.advance()) { - const uint32_t edge1 = it1.edge(); - for (Mesh::BoundaryEdgeIterator it2(mesh, firstBoundaryEdge); !it2.isDone(); it2.advance()) { - const uint32_t edge2 = it2.edge(); - // Skip self and edges directly connected to edge1. - if (edge1 == edge2 || it1.nextEdge() == edge2 || it2.nextEdge() == edge1) + + void computeFlippedFaces(const Mesh *mesh, uint32_t faceCount, Array<uint32_t> *flippedFaces) + { + totalTriangleCount = flippedTriangleCount = zeroAreaTriangleCount = 0; + if (flippedFaces) + flippedFaces->clear(); + for (uint32_t f = 0; f < faceCount; f++) { + Vector2 texcoord[3]; + for (int i = 0; i < 3; i++) { + const uint32_t v = mesh->vertexAt(f * 3 + i); + texcoord[i] = mesh->texcoord(v); + } + totalTriangleCount++; + const float t1 = texcoord[0].x; + const float s1 = texcoord[0].y; + const float t2 = texcoord[1].x; + const float s2 = texcoord[1].y; + const float t3 = texcoord[2].x; + const float s3 = texcoord[2].y; + const float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) * 0.5f; + if (isZero(parametricArea, kAreaEpsilon)) { + zeroAreaTriangleCount++; continue; - const Vector2 &a1 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex0(edge1))); - const Vector2 &a2 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex1(edge1))); - const Vector2 &b1 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex0(edge2))); - const Vector2 &b2 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex1(edge2))); - if (linesIntersect(a1, a2, b1, b2, mesh->epsilon())) { - quality.boundaryIntersection = true; - break; + } + if (parametricArea < 0.0f) { + // Count flipped triangles. + flippedTriangleCount++; + if (flippedFaces) + flippedFaces->push_back(f); } } - if (quality.boundaryIntersection) - break; - } - if (flippedFaces) - flippedFaces->clear(); - for (uint32_t f = 0; f < faceCount; f++) { - Vector3 pos[3]; - Vector2 texcoord[3]; - for (int i = 0; i < 3; i++) { - const uint32_t v = mesh->vertexAt(f * 3 + i); - pos[i] = mesh->position(v); - texcoord[i] = mesh->texcoord(v); - } - quality.totalTriangleCount++; - // Evaluate texture stretch metric. See: - // - "Texture Mapping Progressive Meshes", Sander, Snyder, Gortler & Hoppe - // - "Mesh Parameterization: Theory and Practice", Siggraph'07 Course Notes, Hormann, Levy & Sheffer. - const float t1 = texcoord[0].x; - const float s1 = texcoord[0].y; - const float t2 = texcoord[1].x; - const float s2 = texcoord[1].y; - const float t3 = texcoord[2].x; - const float s3 = texcoord[2].y; - float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) / 2; - if (isZero(parametricArea, kAreaEpsilon)) { - quality.zeroAreaTriangleCount++; - continue; - } - if (parametricArea < 0.0f) { - // Count flipped triangles. - quality.flippedTriangleCount++; + if (flippedTriangleCount + zeroAreaTriangleCount == totalTriangleCount) { + // If all triangles are flipped, then none are. if (flippedFaces) - flippedFaces->push_back(f); - parametricArea = fabsf(parametricArea); + flippedFaces->clear(); + flippedTriangleCount = 0; } - const float geometricArea = length(cross(pos[1] - pos[0], pos[2] - pos[0])) / 2; - const Vector3 Ss = (pos[0] * (t2 - t3) + pos[1] * (t3 - t1) + pos[2] * (t1 - t2)) / (2 * parametricArea); - const Vector3 St = (pos[0] * (s3 - s2) + pos[1] * (s1 - s3) + pos[2] * (s2 - s1)) / (2 * parametricArea); - const float a = dot(Ss, Ss); // E - const float b = dot(Ss, St); // F - const float c = dot(St, St); // G - // Compute eigen-values of the first fundamental form: - const float sigma1 = sqrtf(0.5f * max(0.0f, a + c - sqrtf(square(a - c) + 4 * square(b)))); // gamma uppercase, min eigenvalue. - const float sigma2 = sqrtf(0.5f * max(0.0f, a + c + sqrtf(square(a - c) + 4 * square(b)))); // gamma lowercase, max eigenvalue. - XA_ASSERT(sigma2 > sigma1 || equal(sigma1, sigma2, kEpsilon)); - // isometric: sigma1 = sigma2 = 1 - // conformal: sigma1 / sigma2 = 1 - // authalic: sigma1 * sigma2 = 1 - const float rmsStretch = sqrtf((a + c) * 0.5f); - const float rmsStretch2 = sqrtf((square(sigma1) + square(sigma2)) * 0.5f); - XA_DEBUG_ASSERT(equal(rmsStretch, rmsStretch2, 0.01f)); - XA_UNUSED(rmsStretch2); - quality.stretchMetric += square(rmsStretch) * geometricArea; - quality.maxStretchMetric = max(quality.maxStretchMetric, sigma2); - if (!isZero(sigma1, 0.000001f)) { - // sigma1 is zero when geometricArea is zero. - quality.conformalMetric += (sigma2 / sigma1) * geometricArea; - } - quality.authalicMetric += (sigma1 * sigma2) * geometricArea; - // Accumulate total areas. - quality.geometricArea += geometricArea; - quality.parametricArea += parametricArea; - //triangleConformalEnergy(q, p); - } - if (quality.flippedTriangleCount + quality.zeroAreaTriangleCount == quality.totalTriangleCount) { - // If all triangles are flipped, then none are. - if (flippedFaces) - flippedFaces->clear(); - quality.flippedTriangleCount = 0; - } - if (quality.flippedTriangleCount > quality.totalTriangleCount / 2) - { - // If more than half the triangles are flipped, reverse the flipped / not flipped classification. - quality.flippedTriangleCount = quality.totalTriangleCount - quality.flippedTriangleCount; - if (flippedFaces) { - Array<uint32_t> temp; - flippedFaces->copyTo(temp); - flippedFaces->clear(); - for (uint32_t f = 0; f < faceCount; f++) { - bool match = false; - for (uint32_t ff = 0; ff < temp.size(); ff++) { - if (temp[ff] == f) { - match = true; - break; + if (flippedTriangleCount > totalTriangleCount / 2) + { + // If more than half the triangles are flipped, reverse the flipped / not flipped classification. + flippedTriangleCount = totalTriangleCount - flippedTriangleCount; + if (flippedFaces) { + Array<uint32_t> temp; + flippedFaces->copyTo(temp); + flippedFaces->clear(); + for (uint32_t f = 0; f < faceCount; f++) { + bool match = false; + for (uint32_t ff = 0; ff < temp.size(); ff++) { + if (temp[ff] == f) { + match = true; + break; + } } + if (!match) + flippedFaces->push_back(f); } - if (!match) - flippedFaces->push_back(f); } } } - XA_DEBUG_ASSERT(isFinite(quality.parametricArea) && quality.parametricArea >= 0); - XA_DEBUG_ASSERT(isFinite(quality.geometricArea) && quality.geometricArea >= 0); - XA_DEBUG_ASSERT(isFinite(quality.stretchMetric)); - XA_DEBUG_ASSERT(isFinite(quality.maxStretchMetric)); - XA_DEBUG_ASSERT(isFinite(quality.conformalMetric)); - XA_DEBUG_ASSERT(isFinite(quality.authalicMetric)); - if (quality.geometricArea <= 0.0f) { - quality.stretchMetric = 0.0f; - quality.maxStretchMetric = 0.0f; - quality.conformalMetric = 0.0f; - quality.authalicMetric = 0.0f; - } else { - const float normFactor = sqrtf(quality.parametricArea / quality.geometricArea); - quality.stretchMetric = sqrtf(quality.stretchMetric / quality.geometricArea) * normFactor; - quality.maxStretchMetric *= normFactor; - quality.conformalMetric = sqrtf(quality.conformalMetric / quality.geometricArea); - quality.authalicMetric = sqrtf(quality.authalicMetric / quality.geometricArea); + + void computeMetrics(const Mesh *mesh, uint32_t faceCount) + { + totalGeometricArea = totalParametricArea = 0.0f; + stretchMetric = maxStretchMetric = conformalMetric = authalicMetric = 0.0f; + for (uint32_t f = 0; f < faceCount; f++) { + Vector3 pos[3]; + Vector2 texcoord[3]; + for (int i = 0; i < 3; i++) { + const uint32_t v = mesh->vertexAt(f * 3 + i); + pos[i] = mesh->position(v); + texcoord[i] = mesh->texcoord(v); + } + // Evaluate texture stretch metric. See: + // - "Texture Mapping Progressive Meshes", Sander, Snyder, Gortler & Hoppe + // - "Mesh Parameterization: Theory and Practice", Siggraph'07 Course Notes, Hormann, Levy & Sheffer. + const float t1 = texcoord[0].x; + const float s1 = texcoord[0].y; + const float t2 = texcoord[1].x; + const float s2 = texcoord[1].y; + const float t3 = texcoord[2].x; + const float s3 = texcoord[2].y; + float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) * 0.5f; + if (isZero(parametricArea, kAreaEpsilon)) + continue; + if (parametricArea < 0.0f) + parametricArea = fabsf(parametricArea); + const float geometricArea = length(cross(pos[1] - pos[0], pos[2] - pos[0])) / 2; + const Vector3 Ss = (pos[0] * (t2 - t3) + pos[1] * (t3 - t1) + pos[2] * (t1 - t2)) / (2 * parametricArea); + const Vector3 St = (pos[0] * (s3 - s2) + pos[1] * (s1 - s3) + pos[2] * (s2 - s1)) / (2 * parametricArea); + const float a = dot(Ss, Ss); // E + const float b = dot(Ss, St); // F + const float c = dot(St, St); // G + // Compute eigen-values of the first fundamental form: + const float sigma1 = sqrtf(0.5f * max(0.0f, a + c - sqrtf(square(a - c) + 4 * square(b)))); // gamma uppercase, min eigenvalue. + const float sigma2 = sqrtf(0.5f * max(0.0f, a + c + sqrtf(square(a - c) + 4 * square(b)))); // gamma lowercase, max eigenvalue. + XA_ASSERT(sigma2 > sigma1 || equal(sigma1, sigma2, kEpsilon)); + // isometric: sigma1 = sigma2 = 1 + // conformal: sigma1 / sigma2 = 1 + // authalic: sigma1 * sigma2 = 1 + const float rmsStretch = sqrtf((a + c) * 0.5f); + const float rmsStretch2 = sqrtf((square(sigma1) + square(sigma2)) * 0.5f); + XA_DEBUG_ASSERT(equal(rmsStretch, rmsStretch2, 0.01f)); + XA_UNUSED(rmsStretch2); + stretchMetric += square(rmsStretch) * geometricArea; + maxStretchMetric = max(maxStretchMetric, sigma2); + if (!isZero(sigma1, 0.000001f)) { + // sigma1 is zero when geometricArea is zero. + conformalMetric += (sigma2 / sigma1) * geometricArea; + } + authalicMetric += (sigma1 * sigma2) * geometricArea; + // Accumulate total areas. + totalGeometricArea += geometricArea; + totalParametricArea += parametricArea; + } + XA_DEBUG_ASSERT(isFinite(totalParametricArea) && totalParametricArea >= 0); + XA_DEBUG_ASSERT(isFinite(totalGeometricArea) && totalGeometricArea >= 0); + XA_DEBUG_ASSERT(isFinite(stretchMetric)); + XA_DEBUG_ASSERT(isFinite(maxStretchMetric)); + XA_DEBUG_ASSERT(isFinite(conformalMetric)); + XA_DEBUG_ASSERT(isFinite(authalicMetric)); + if (totalGeometricArea > 0.0f) { + const float normFactor = sqrtf(totalParametricArea / totalGeometricArea); + stretchMetric = sqrtf(stretchMetric / totalGeometricArea) * normFactor; + maxStretchMetric *= normFactor; + conformalMetric = sqrtf(conformalMetric / totalGeometricArea); + authalicMetric = sqrtf(authalicMetric / totalGeometricArea); + } } - return quality; -} +}; struct ChartWarningFlags { @@ -5706,24 +6629,30 @@ struct ChartWarningFlags }; }; +struct ChartCtorBuffers +{ + Array<uint32_t> chartMeshIndices; + Array<uint32_t> unifiedMeshIndices; + Array<uint32_t> boundaryLoops; +}; + /// A chart is a connected set of faces with a certain topology (usually a disk). class Chart { public: - Chart(const segment::Atlas *atlas, const Mesh *originalMesh, uint32_t chartIndex, uint32_t meshId, uint32_t chartGroupId, uint32_t chartId) : m_mesh(nullptr), m_unifiedMesh(nullptr), m_isDisk(false), m_isOrtho(false), m_isPlanar(false), m_warningFlags(0), m_closedHolesCount(0), m_fixedTJunctionsCount(0) + Chart(ChartCtorBuffers &buffers, const Basis &basis, ConstArrayView<uint32_t> faces, const Mesh *originalMesh, uint32_t meshId, uint32_t chartGroupId, uint32_t chartId) : m_basis(basis), m_mesh(nullptr), m_unifiedMesh(nullptr), m_unmodifiedUnifiedMesh(nullptr), m_type(ChartType::LSCM), m_warningFlags(0), m_closedHolesCount(0), m_fixedTJunctionsCount(0) { XA_UNUSED(meshId); XA_UNUSED(chartGroupId); XA_UNUSED(chartId); - m_basis = atlas->chartBasis(chartIndex); - atlas->chartFaces(chartIndex).copyTo(m_faceArray); + m_faceArray.copyFrom(faces.data, faces.length); // Copy face indices. m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); m_unifiedMesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); - Array<uint32_t> chartMeshIndices; + Array<uint32_t> &chartMeshIndices = buffers.chartMeshIndices; chartMeshIndices.resize(originalMesh->vertexCount()); chartMeshIndices.setAll(UINT32_MAX); - Array<uint32_t> unifiedMeshIndices; + Array<uint32_t> &unifiedMeshIndices = buffers.unifiedMeshIndices; unifiedMeshIndices.resize(originalMesh->vertexCount()); unifiedMeshIndices.setAll(UINT32_MAX); // Add vertices. @@ -5735,11 +6664,7 @@ public: if (unifiedMeshIndices[unifiedVertex] == (uint32_t)~0) { unifiedMeshIndices[unifiedVertex] = m_unifiedMesh->vertexCount(); XA_DEBUG_ASSERT(equal(originalMesh->position(vertex), originalMesh->position(unifiedVertex), originalMesh->epsilon())); -#if XA_SKIP_PARAMETERIZATION - m_unifiedMesh->addVertex(originalMesh->position(vertex), Vector3(0.0f), atlas->faceTexcoords(m_faceArray[f])[i]); -#else m_unifiedMesh->addVertex(originalMesh->position(vertex)); -#endif } if (chartMeshIndices[vertex] == (uint32_t)~0) { chartMeshIndices[vertex] = m_mesh->vertexCount(); @@ -5774,11 +6699,10 @@ public: } m_mesh->createBoundaries(); // For AtlasPacker::computeBoundingBox m_unifiedMesh->createBoundaries(); - m_unifiedMesh->linkBoundaries(); - m_isPlanar = meshIsPlanar(*m_unifiedMesh); - if (m_isPlanar) { - m_isDisk = true; - } else { + if (meshIsPlanar(*m_unifiedMesh)) + m_type = ChartType::Planar; + else { + m_unifiedMesh->linkBoundaries(); #if XA_DEBUG_EXPORT_OBJ_BEFORE_FIX_TJUNCTION m_unifiedMesh->writeObjFile("debug_before_fix_tjunction.obj"); #endif @@ -5791,15 +6715,14 @@ public: m_warningFlags |= ChartWarningFlags::FixTJunctionsDuplicatedEdge; if (failed) m_warningFlags |= ChartWarningFlags::FixTJunctionsFailed; - m_unifiedMesh->~Mesh(); - XA_FREE(m_unifiedMesh); + m_unmodifiedUnifiedMesh = m_unifiedMesh; m_unifiedMesh = fixedUnifiedMesh; m_unifiedMesh->createBoundaries(); m_unifiedMesh->linkBoundaries(); m_initialFaceCount = m_unifiedMesh->faceCount(); // Fixing t-junctions rewrites faces. } // See if there are any holes that need closing. - Array<uint32_t> boundaryLoops; + Array<uint32_t> &boundaryLoops = buffers.boundaryLoops; meshGetBoundaryLoops(*m_unifiedMesh, boundaryLoops); if (boundaryLoops.size() > 1) { #if XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR @@ -5810,16 +6733,21 @@ public: // - Find cuts that reduce genus. // - Find cuts to connect holes. // - Use minimal spanning trees or seamster. - Array<uint32_t> holeFaceCounts; XA_PROFILE_START(closeChartMeshHoles) - failed = !meshCloseHoles(m_unifiedMesh, boundaryLoops, m_basis.normal, holeFaceCounts); + uint32_t holeCount = 0; +#if XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR + Array<uint32_t> holeFaceCounts; + failed = !meshCloseHoles(m_unifiedMesh, boundaryLoops, m_basis.normal, &holeFaceCounts); +#else + failed = !meshCloseHoles(m_unifiedMesh, boundaryLoops, m_basis.normal, &holeCount, nullptr); +#endif XA_PROFILE_END(closeChartMeshHoles) m_unifiedMesh->createBoundaries(); m_unifiedMesh->linkBoundaries(); meshGetBoundaryLoops(*m_unifiedMesh, boundaryLoops); if (failed || boundaryLoops.size() > 1) m_warningFlags |= ChartWarningFlags::CloseHolesFailed; - m_closedHolesCount = holeFaceCounts.size(); + m_closedHolesCount = holeCount; #if XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR if (m_warningFlags & ChartWarningFlags::CloseHolesFailed) { char filename[256]; @@ -5848,18 +6776,75 @@ public: } #endif } - // Note: MeshTopology needs linked boundaries. - MeshTopology topology(m_unifiedMesh); - m_isDisk = topology.isDisk(); -#if XA_DEBUG_EXPORT_OBJ_NOT_DISK - if (!m_isDisk) { - char filename[256]; - XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_chart_%03u_not_disk.obj", meshId, chartGroupId, chartId); - m_unifiedMesh->writeObjFile(filename); + } + } + +#if XA_RECOMPUTE_CHARTS + Chart(ChartCtorBuffers &buffers, const Chart *parent, const Mesh *parentMesh, ConstArrayView<uint32_t> faces, const Vector2 *texcoords, const Mesh *originalMesh, uint32_t meshId, uint32_t chartGroupId, uint32_t chartId) : m_mesh(nullptr), m_unifiedMesh(nullptr), m_unmodifiedUnifiedMesh(nullptr), m_type(ChartType::Piecewise), m_warningFlags(0), m_closedHolesCount(0), m_fixedTJunctionsCount(0) + { + XA_UNUSED(meshId); + XA_UNUSED(chartGroupId); + XA_UNUSED(chartId); + const uint32_t faceCount = m_initialFaceCount = faces.length; + m_faceArray.resize(faceCount); + for (uint32_t i = 0; i < faceCount; i++) + m_faceArray[i] = parent->m_faceArray[faces[i]]; // Map faces to parent chart original mesh. + // Copy face indices. + m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); + m_unifiedMesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); + Array<uint32_t> &chartMeshIndices = buffers.chartMeshIndices; + chartMeshIndices.resize(originalMesh->vertexCount()); + chartMeshIndices.setAll(UINT32_MAX); + Array<uint32_t> &unifiedMeshIndices = buffers.unifiedMeshIndices; + unifiedMeshIndices.resize(originalMesh->vertexCount()); + unifiedMeshIndices.setAll(UINT32_MAX); + // Add vertices. + for (uint32_t f = 0; f < faceCount; f++) { + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = originalMesh->vertexAt(m_faceArray[f] * 3 + i); + const uint32_t unifiedVertex = originalMesh->firstColocal(vertex); + const uint32_t parentVertex = parentMesh->vertexAt(faces[f] * 3 + i); + if (unifiedMeshIndices[unifiedVertex] == (uint32_t)~0) { + unifiedMeshIndices[unifiedVertex] = m_unifiedMesh->vertexCount(); + XA_DEBUG_ASSERT(equal(originalMesh->position(vertex), originalMesh->position(unifiedVertex), originalMesh->epsilon())); + m_unifiedMesh->addVertex(originalMesh->position(vertex), Vector3(0.0f), texcoords[parentVertex]); + } + if (chartMeshIndices[vertex] == (uint32_t)~0) { + chartMeshIndices[vertex] = m_mesh->vertexCount(); + m_chartToOriginalMap.push_back(vertex); + m_chartToUnifiedMap.push_back(unifiedMeshIndices[unifiedVertex]); + m_mesh->addVertex(originalMesh->position(vertex), Vector3(0.0f), texcoords[parentVertex]); + } + } + } + // Add faces. + for (uint32_t f = 0; f < faceCount; f++) { + uint32_t indices[3], unifiedIndices[3]; + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = originalMesh->vertexAt(m_faceArray[f] * 3 + i); + indices[i] = chartMeshIndices[vertex]; + unifiedIndices[i] = unifiedMeshIndices[originalMesh->firstColocal(vertex)]; + } + Mesh::AddFaceResult::Enum result = m_mesh->addFace(indices); + XA_UNUSED(result); + XA_DEBUG_ASSERT(result == Mesh::AddFaceResult::OK); +#if XA_DEBUG + // Unifying colocals may create degenerate edges. e.g. if two triangle vertices are colocal. + for (int i = 0; i < 3; i++) { + const uint32_t index1 = unifiedIndices[i]; + const uint32_t index2 = unifiedIndices[(i + 1) % 3]; + XA_DEBUG_ASSERT(index1 != index2); } #endif + result = m_unifiedMesh->addFace(unifiedIndices); + XA_UNUSED(result); + XA_DEBUG_ASSERT(result == Mesh::AddFaceResult::OK); } + m_mesh->createBoundaries(); // For AtlasPacker::computeBoundingBox + m_unifiedMesh->createBoundaries(); + m_unifiedMesh->linkBoundaries(); } +#endif ~Chart() { @@ -5871,16 +6856,19 @@ public: m_unifiedMesh->~Mesh(); XA_FREE(m_unifiedMesh); } + if (m_unmodifiedUnifiedMesh) { + m_unmodifiedUnifiedMesh->~Mesh(); + XA_FREE(m_unmodifiedUnifiedMesh); + } } const Basis &basis() const { return m_basis; } - bool isDisk() const { return m_isDisk; } - bool isOrtho() const { return m_isOrtho; } - bool isPlanar() const { return m_isPlanar; } + ChartType::Enum type() const { return m_type; } uint32_t warningFlags() const { return m_warningFlags; } uint32_t closedHolesCount() const { return m_closedHolesCount; } uint32_t fixedTJunctionsCount() const { return m_fixedTJunctionsCount; } - const ParameterizationQuality ¶mQuality() const { return m_paramQuality; } + const Quality &quality() const { return m_quality; } + uint32_t initialFaceCount() const { return m_initialFaceCount; } #if XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION const Array<uint32_t> ¶mFlippedFaces() const { return m_paramFlippedFaces; } #endif @@ -5889,26 +6877,31 @@ public: Mesh *mesh() { return m_mesh; } const Mesh *unifiedMesh() const { return m_unifiedMesh; } Mesh *unifiedMesh() { return m_unifiedMesh; } + const Mesh *unmodifiedUnifiedMesh() const { return m_unmodifiedUnifiedMesh; } uint32_t mapChartVertexToOriginalVertex(uint32_t i) const { return m_chartToOriginalMap[i]; } - void evaluateOrthoParameterizationQuality() + void evaluateOrthoQuality(UniformGrid2 &boundaryGrid) { XA_PROFILE_START(parameterizeChartsEvaluateQuality) - m_paramQuality = calculateParameterizationQuality(m_unifiedMesh, m_initialFaceCount, nullptr); + m_quality.computeBoundaryIntersection(m_unifiedMesh, boundaryGrid); + m_quality.computeFlippedFaces(m_unifiedMesh, m_initialFaceCount, nullptr); + m_quality.computeMetrics(m_unifiedMesh, m_initialFaceCount); XA_PROFILE_END(parameterizeChartsEvaluateQuality) // Use orthogonal parameterization if quality is acceptable. - if (!m_paramQuality.boundaryIntersection && m_paramQuality.geometricArea > 0.0f && m_paramQuality.stretchMetric <= 1.1f && m_paramQuality.maxStretchMetric <= 1.25f) - m_isOrtho = true; + if (!m_quality.boundaryIntersection && m_quality.totalGeometricArea > 0.0f && m_quality.stretchMetric <= 1.1f && m_quality.maxStretchMetric <= 1.25f) + m_type = ChartType::Ortho; } - void evaluateParameterizationQuality() + void evaluateQuality(UniformGrid2 &boundaryGrid) { XA_PROFILE_START(parameterizeChartsEvaluateQuality) + m_quality.computeBoundaryIntersection(m_unifiedMesh, boundaryGrid); #if XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION - m_paramQuality = calculateParameterizationQuality(m_unifiedMesh, m_initialFaceCount, &m_paramFlippedFaces); + m_quality.computeFlippedFaces(m_unifiedMesh, m_initialFaceCount, &m_paramFlippedFaces); #else - m_paramQuality = calculateParameterizationQuality(m_unifiedMesh, m_initialFaceCount, nullptr); + m_quality.computeFlippedFaces(m_unifiedMesh, m_initialFaceCount, nullptr); #endif + // Don't need to call computeMetrics here, that's only used in evaluateOrthoQuality to determine if quality is acceptable enough to use ortho projection. XA_PROFILE_END(parameterizeChartsEvaluateQuality) } @@ -5920,16 +6913,6 @@ public: m_mesh->texcoord(v) = m_unifiedMesh->texcoord(m_chartToUnifiedMap[v]); } - float computeSurfaceArea() const - { - return m_mesh->computeSurfaceArea(); - } - - float computeParametricArea() const - { - return m_mesh->computeParametricArea(); - } - Vector2 computeParametricBounds() const { Vector2 minCorner(FLT_MAX, FLT_MAX); @@ -5946,7 +6929,8 @@ private: Basis m_basis; Mesh *m_mesh; Mesh *m_unifiedMesh; - bool m_isDisk, m_isOrtho, m_isPlanar; + Mesh *m_unmodifiedUnifiedMesh; // Unified mesh before fixing t-junctions. Null if no t-junctions were fixed + ChartType::Enum m_type; uint32_t m_warningFlags; uint32_t m_initialFaceCount; // Before fixing T-junctions and/or closing holes. uint32_t m_closedHolesCount, m_fixedTJunctionsCount; @@ -5959,7 +6943,7 @@ private: Array<uint32_t> m_chartToUnifiedMap; - ParameterizationQuality m_paramQuality; + Quality m_quality; #if XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION Array<uint32_t> m_paramFlippedFaces; #endif @@ -5967,12 +6951,13 @@ private: struct CreateChartTaskArgs { - const segment::Atlas *atlas; const Mesh *mesh; - uint32_t chartIndex; // In the atlas. + const Basis *basis; + ConstArrayView<uint32_t> faces; uint32_t meshId; uint32_t chartGroupId; uint32_t chartId; + ThreadLocal<ChartCtorBuffers> *chartBuffers; Chart **chart; }; @@ -5980,7 +6965,7 @@ static void runCreateChartTask(void *userData) { XA_PROFILE_START(createChartMeshesThread) auto args = (CreateChartTaskArgs *)userData; - *(args->chart) = XA_NEW_ARGS(MemTag::Default, Chart, args->atlas, args->mesh, args->chartIndex, args->meshId, args->chartGroupId, args->chartId); + *(args->chart) = XA_NEW_ARGS(MemTag::Default, Chart, args->chartBuffers->get(), *(args->basis), args->faces, args->mesh, args->meshId, args->chartGroupId, args->chartId); XA_PROFILE_END(createChartMeshesThread) } @@ -5988,6 +6973,7 @@ struct ParameterizeChartTaskArgs { Chart *chart; ParameterizeFunc func; + ThreadLocal<UniformGrid2> *boundaryGrid; }; static void runParameterizeChartTask(void *userData) @@ -5995,24 +6981,26 @@ static void runParameterizeChartTask(void *userData) auto args = (ParameterizeChartTaskArgs *)userData; Mesh *mesh = args->chart->unifiedMesh(); XA_PROFILE_START(parameterizeChartsOrthogonal) -#if 1 - computeOrthogonalProjectionMap(mesh); -#else - for (uint32_t i = 0; i < vertexCount; i++) - mesh->texcoord(i) = Vector2(dot(args->chart->basis().tangent, mesh->position(i)), dot(args->chart->basis().bitangent, mesh->position(i))); -#endif + { + // Project vertices to plane. + const uint32_t vertexCount = mesh->vertexCount(); + const Basis &basis = args->chart->basis(); + for (uint32_t i = 0; i < vertexCount; i++) + mesh->texcoord(i) = Vector2(dot(basis.tangent, mesh->position(i)), dot(basis.bitangent, mesh->position(i))); + } XA_PROFILE_END(parameterizeChartsOrthogonal) - args->chart->evaluateOrthoParameterizationQuality(); - if (!args->chart->isOrtho() && !args->chart->isPlanar()) { + // Computing charts checks for flipped triangles and boundary intersection. Don't need to do that again here if chart is planar. + if (args->chart->type() != ChartType::Planar) + args->chart->evaluateOrthoQuality(args->boundaryGrid->get()); + if (args->chart->type() == ChartType::LSCM) { XA_PROFILE_START(parameterizeChartsLSCM) if (args->func) args->func(&mesh->position(0).x, &mesh->texcoord(0).x, mesh->vertexCount(), mesh->indices(), mesh->indexCount()); - else if (args->chart->isDisk()) + else computeLeastSquaresConformalMap(mesh); XA_PROFILE_END(parameterizeChartsLSCM) - args->chart->evaluateParameterizationQuality(); + args->chart->evaluateQuality(args->boundaryGrid->get()); } - // @@ Check that parameterization quality is above a certain threshold. // Transfer parameterization from unified mesh to chart mesh. args->chart->transferParameterization(); } @@ -6021,27 +7009,33 @@ static void runParameterizeChartTask(void *userData) class ChartGroup { public: - ChartGroup(uint32_t id, const Mesh *sourceMesh, uint32_t faceGroup) : m_sourceId(sourceMesh->id()), m_id(id), m_isVertexMap(faceGroup == UINT32_MAX), m_paramAddedChartsCount(0), m_paramDeletedChartsCount(0) + ChartGroup(uint32_t id, const Mesh *sourceMesh, uint16_t faceGroup) : m_sourceId(sourceMesh->id()), m_id(id), m_isVertexMap(faceGroup == Mesh::kInvalidFaceGroup), m_paramAddedChartsCount(0), m_paramDeletedChartsCount(0) { // Create new mesh from the source mesh, using faces that belong to this group. const uint32_t sourceFaceCount = sourceMesh->faceCount(); - for (uint32_t f = 0; f < sourceFaceCount; f++) { - if (sourceMesh->faceGroupAt(f) == faceGroup) - m_faceToSourceFaceMap.push_back(f); + if (!m_isVertexMap) { + m_faceToSourceFaceMap.reserve(sourceMesh->faceGroupFaceCount(faceGroup)); + for (Mesh::GroupFaceIterator it(sourceMesh, faceGroup); !it.isDone(); it.advance()) + m_faceToSourceFaceMap.push_back(it.face()); + } else { + for (uint32_t f = 0; f < sourceFaceCount; f++) { + if (sourceMesh->faceGroupAt(f) == faceGroup) + m_faceToSourceFaceMap.push_back(f); + } } // Only initial meshes have face groups and ignored faces. The only flag we care about is HasNormals. const uint32_t faceCount = m_faceToSourceFaceMap.size(); - m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, sourceMesh->epsilon(), faceCount * 3, faceCount, sourceMesh->flags() & MeshFlags::HasNormals); XA_DEBUG_ASSERT(faceCount > 0); - Array<uint32_t> meshIndices; - meshIndices.resize(sourceMesh->vertexCount()); - meshIndices.setAll((uint32_t)~0); + const uint32_t approxVertexCount = faceCount * 3; + m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, sourceMesh->epsilon(), approxVertexCount, faceCount, sourceMesh->flags() & MeshFlags::HasNormals); + m_vertexToSourceVertexMap.reserve(approxVertexCount); + HashMap<uint32_t> sourceVertexToVertexMap(MemTag::Mesh, approxVertexCount); for (uint32_t f = 0; f < faceCount; f++) { const uint32_t face = m_faceToSourceFaceMap[f]; for (uint32_t i = 0; i < 3; i++) { const uint32_t vertex = sourceMesh->vertexAt(face * 3 + i); - if (meshIndices[vertex] == (uint32_t)~0) { - meshIndices[vertex] = m_mesh->vertexCount(); + if (sourceVertexToVertexMap.get(vertex) == UINT32_MAX) { + sourceVertexToVertexMap.add(vertex); m_vertexToSourceVertexMap.push_back(vertex); Vector3 normal(0.0f); if (sourceMesh->flags() & MeshFlags::HasNormals) @@ -6056,8 +7050,8 @@ public: uint32_t indices[3]; for (uint32_t i = 0; i < 3; i++) { const uint32_t vertex = sourceMesh->vertexAt(face * 3 + i); - XA_DEBUG_ASSERT(meshIndices[vertex] != (uint32_t)~0); - indices[i] = meshIndices[vertex]; + indices[i] = sourceVertexToVertexMap.get(vertex); + XA_DEBUG_ASSERT(indices[i] != UINT32_MAX); } // Don't copy flags, it doesn't matter if a face is ignored after this point. All ignored faces get their own vertex map (m_isVertexMap) ChartGroup. // Don't hash edges if m_isVertexMap, they may be degenerate. @@ -6068,7 +7062,6 @@ public: if (!m_isVertexMap) { m_mesh->createColocals(); m_mesh->createBoundaries(); - m_mesh->linkBoundaries(); } #if XA_DEBUG_EXPORT_OBJ_CHART_GROUPS char filename[256]; @@ -6083,14 +7076,14 @@ public: { m_mesh->~Mesh(); XA_FREE(m_mesh); - for (uint32_t i = 0; i < m_chartArray.size(); i++) { - m_chartArray[i]->~Chart(); - XA_FREE(m_chartArray[i]); + for (uint32_t i = 0; i < m_charts.size(); i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); } } - uint32_t chartCount() const { return m_chartArray.size(); } - Chart *chartAt(uint32_t i) const { return m_chartArray[i]; } + uint32_t chartCount() const { return m_charts.size(); } + Chart *chartAt(uint32_t i) const { return m_charts[i]; } uint32_t paramAddedChartsCount() const { return m_paramAddedChartsCount; } uint32_t paramDeletedChartsCount() const { return m_paramDeletedChartsCount; } bool isVertexMap() const { return m_isVertexMap; } @@ -6158,40 +7151,41 @@ public: - emphasize roundness metrics to prevent those cases. - If interior self-overlaps: preserve boundary parameterization and use mean-value map. */ - void computeCharts(TaskScheduler *taskScheduler, const ChartOptions &options) + void computeCharts(TaskScheduler *taskScheduler, const ChartOptions &options, segment::Atlas &atlas, ThreadLocal<ChartCtorBuffers> *chartBuffers) { m_chartOptions = options; // This function may be called multiple times, so destroy existing charts. - for (uint32_t i = 0; i < m_chartArray.size(); i++) { - m_chartArray[i]->~Chart(); - XA_FREE(m_chartArray[i]); + for (uint32_t i = 0; i < m_charts.size(); i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); } - m_chartArray.clear(); + m_charts.clear(); #if XA_DEBUG_SINGLE_CHART Array<uint32_t> chartFaces; chartFaces.resize(m_mesh->faceCount()); for (uint32_t i = 0; i < chartFaces.size(); i++) chartFaces[i] = i; Chart *chart = XA_NEW_ARGS(MemTag::Default, Chart, m_mesh, chartFaces, m_sourceId, m_id, 0); - m_chartArray.push_back(chart); + m_charts.push_back(chart); #else XA_PROFILE_START(buildAtlas) - segment::Atlas atlas(m_mesh, nullptr, options); + atlas.reset(m_sourceId, m_id, m_mesh, options); buildAtlas(atlas, options); XA_PROFILE_END(buildAtlas) const uint32_t chartCount = atlas.chartCount(); - m_chartArray.resize(chartCount); + m_charts.resize(chartCount); Array<CreateChartTaskArgs> taskArgs; taskArgs.resize(chartCount); for (uint32_t i = 0; i < chartCount; i++) { CreateChartTaskArgs &args = taskArgs[i]; - args.atlas = &atlas; + args.basis = &atlas.chartBasis(i); + args.faces = atlas.chartFaces(i); args.mesh = m_mesh; - args.chartIndex = i; args.meshId = m_sourceId; args.chartGroupId = m_id; args.chartId = i; - args.chart = &m_chartArray[i]; + args.chartBuffers = chartBuffers; + args.chart = &m_charts[i]; } XA_PROFILE_START(createChartMeshesReal) TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(chartCount); @@ -6225,26 +7219,22 @@ public: #endif } - void parameterizeCharts(TaskScheduler *taskScheduler, ParameterizeFunc func) - { - const uint32_t chartCount = m_chartArray.size(); -#if XA_SKIP_PARAMETERIZATION - XA_UNUSED(taskScheduler); - XA_UNUSED(func); - for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; - chart->evaluateOrthoParameterizationQuality(); - chart->evaluateParameterizationQuality(); - chart->transferParameterization(); - } +#if XA_RECOMPUTE_CHARTS + void parameterizeCharts(TaskScheduler *taskScheduler, ParameterizeFunc func, ThreadLocal<UniformGrid2> *boundaryGrid, ThreadLocal<ChartCtorBuffers> *chartBuffers, ThreadLocal<PiecewiseParam> *piecewiseParam) #else + void parameterizeCharts(TaskScheduler* taskScheduler, ParameterizeFunc func, ThreadLocal<UniformGrid2>* boundaryGrid, ThreadLocal<ChartCtorBuffers>* /*chartBuffers*/) +#endif + { + m_paramAddedChartsCount = 0; + const uint32_t chartCount = m_charts.size(); Array<ParameterizeChartTaskArgs> taskArgs; taskArgs.resize(chartCount); TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(chartCount); for (uint32_t i = 0; i < chartCount; i++) { ParameterizeChartTaskArgs &args = taskArgs[i]; - args.chart = m_chartArray[i]; + args.chart = m_charts[i]; args.func = func; + args.boundaryGrid = boundaryGrid; Task task; task.userData = &args; task.func = runParameterizeChartTask; @@ -6255,67 +7245,65 @@ public: // Find charts with invalid parameterizations. Array<Chart *> invalidCharts; for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; - const ParameterizationQuality &quality = chart->paramQuality(); + Chart *chart = m_charts[i]; + const Quality &quality = chart->quality(); if (quality.boundaryIntersection || quality.flippedTriangleCount > 0) invalidCharts.push_back(chart); } if (invalidCharts.isEmpty()) return; // Recompute charts with invalid parameterizations. - Array<uint32_t> meshFaces; + PiecewiseParam &pp = piecewiseParam->get(); for (uint32_t i = 0; i < invalidCharts.size(); i++) { Chart *invalidChart = invalidCharts[i]; - const Mesh *invalidMesh = invalidChart->mesh(); - const uint32_t faceCount = invalidMesh->faceCount(); - meshFaces.resize(faceCount); - float invalidChartArea = 0.0f; - for (uint32_t j = 0; j < faceCount; j++) { - meshFaces[j] = invalidChart->mapFaceToSourceFace(j); - invalidChartArea += invalidMesh->faceArea(j); - } - ChartOptions options = m_chartOptions; - options.maxChartArea = invalidChartArea * 0.2f; - options.maxThreshold = 0.25f; - options.maxIterations = 3; - segment::Atlas atlas(m_mesh, &meshFaces, options); - buildAtlas(atlas, options); - for (uint32_t j = 0; j < atlas.chartCount(); j++) { - Chart *chart = XA_NEW_ARGS(MemTag::Default, Chart, &atlas, m_mesh, j, m_sourceId, m_id, m_chartArray.size()); - m_chartArray.push_back(chart); - m_paramAddedChartsCount++; + // Fixing t-junctions rewrites unified mesh faces, and we need to map faces back to input mesh. So use the unmodified unified mesh. + const Mesh *invalidMesh = invalidChart->unmodifiedUnifiedMesh(); + uint32_t faceCount = 0; + if (invalidMesh) { + faceCount = invalidMesh->faceCount(); + } else { + invalidMesh = invalidChart->unifiedMesh(); + faceCount = invalidChart->initialFaceCount(); // Not invalidMesh->faceCount(). Don't want faces added by hole closing. } + pp.reset(invalidMesh, faceCount); #if XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS char filename[256]; - XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_recomputed_chart_%u.obj", m_sourceId, m_id, i); + XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_recomputed_chart_%03u.obj", m_sourceId, m_id, m_paramAddedChartsCount); FILE *file; XA_FOPEN(file, filename, "w"); - if (file) { - m_mesh->writeObjVertices(file); - for (uint32_t j = 0; j < builder.chartCount(); j++) { - fprintf(file, "o chart_%04d\n", j); + uint32_t subChartIndex = 0; +#endif + for (;;) { + if (!pp.computeChart()) + break; + Chart *chart = XA_NEW_ARGS(MemTag::Default, Chart, chartBuffers->get(), invalidChart, invalidMesh, pp.chartFaces(), pp.texcoords(), m_mesh, m_sourceId, m_id, m_charts.size()); + m_charts.push_back(chart); +#if XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS + if (file) { + for (uint32_t j = 0; j < invalidMesh->vertexCount(); j++) { + fprintf(file, "v %g %g %g\n", invalidMesh->position(j).x, invalidMesh->position(j).y, invalidMesh->position(j).z); + fprintf(file, "vt %g %g\n", pp.texcoords()[j].x, pp.texcoords()[j].y); + } + fprintf(file, "o chart%03u\n", subChartIndex); fprintf(file, "s off\n"); - const Array<uint32_t> &faces = builder.chartFaces(j); - for (uint32_t f = 0; f < faces.size(); f++) - m_mesh->writeObjFace(file, faces[f]); + for (uint32_t f = 0; f < pp.chartFaces().length; f++) { + fprintf(file, "f "); + const uint32_t face = pp.chartFaces()[f]; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t index = invalidMesh->vertexCount() * subChartIndex + invalidMesh->vertexAt(face * 3 + j) + 1; // 1-indexed + fprintf(file, "%d/%d/%c", index, index, j == 2 ? '\n' : ' '); + } + } } - fclose(file); + subChartIndex++; +#endif + m_paramAddedChartsCount++; } +#if XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS + if (file) + fclose(file); #endif } - // Parameterize the new charts. - taskGroup = taskScheduler->createTaskGroup(m_chartArray.size() - chartCount); - taskArgs.resize(m_chartArray.size() - chartCount); - for (uint32_t i = chartCount; i < m_chartArray.size(); i++) { - ParameterizeChartTaskArgs &args = taskArgs[i - chartCount]; - args.chart = m_chartArray[i]; - args.func = func; - Task task; - task.userData = &args; - task.func = runParameterizeChartTask; - taskScheduler->run(taskGroup, task); - } - taskScheduler->wait(&taskGroup); // Remove and delete the invalid charts. for (uint32_t i = 0; i < invalidCharts.size(); i++) { Chart *chart = invalidCharts[i]; @@ -6325,7 +7313,6 @@ public: m_paramDeletedChartsCount++; } #endif // XA_RECOMPUTE_CHARTS -#endif // XA_SKIP_PARAMETERIZATION } private: @@ -6343,19 +7330,18 @@ private: atlas.resetCharts(); // Restart process growing charts in parallel. uint32_t iteration = 0; - while (true) { - if (!atlas.growCharts(options.maxThreshold)) { - // If charts cannot grow more: fill holes, merge charts, relocate seeds and start new iteration. - atlas.fillHoles(options.maxThreshold * 0.5f); + for (;;) { + atlas.growCharts(options.maxThreshold); + // When charts cannot grow more: fill holes, merge charts, relocate seeds and start new iteration. + atlas.fillHoles(options.maxThreshold * 0.5f); #if XA_MERGE_CHARTS - atlas.mergeCharts(); + atlas.mergeCharts(); #endif - if (++iteration == options.maxIterations) - break; - if (!atlas.relocateSeeds()) - break; - atlas.resetCharts(); - } + if (++iteration == options.maxIterations) + break; + if (!atlas.relocateSeeds()) + break; + atlas.resetCharts(); } // Make sure no holes are left! XA_DEBUG_ASSERT(atlas.facesLeft() == 0); @@ -6363,9 +7349,9 @@ private: void removeChart(const Chart *chart) { - for (uint32_t i = 0; i < m_chartArray.size(); i++) { - if (m_chartArray[i] == chart) { - m_chartArray.removeAt(i); + for (uint32_t i = 0; i < m_charts.size(); i++) { + if (m_charts[i] == chart) { + m_charts.removeAt(i); return; } } @@ -6376,7 +7362,7 @@ private: Mesh *m_mesh; Array<uint32_t> m_faceToSourceFaceMap; // List of faces of the source mesh that belong to this chart group. Array<uint32_t> m_vertexToSourceVertexMap; // Map vertices of the mesh to vertices of the source mesh. - Array<Chart *> m_chartArray; + Array<Chart *> m_charts; ChartOptions m_chartOptions; uint32_t m_paramAddedChartsCount; // Number of new charts added by recomputing charts with invalid parameterizations. uint32_t m_paramDeletedChartsCount; // Number of charts with invalid parameterizations that were deleted, after charts were recomputed. @@ -6384,7 +7370,7 @@ private: struct CreateChartGroupTaskArgs { - uint32_t faceGroup; + uint16_t faceGroup; uint32_t groupId; const Mesh *mesh; ChartGroup **chartGroup; @@ -6402,6 +7388,8 @@ struct ComputeChartsTaskArgs { TaskScheduler *taskScheduler; ChartGroup *chartGroup; + ThreadLocal<segment::Atlas> *atlas; + ThreadLocal<ChartCtorBuffers> *chartBuffers; const ChartOptions *options; Progress *progress; }; @@ -6412,7 +7400,7 @@ static void runComputeChartsJob(void *userData) if (args->progress->cancel) return; XA_PROFILE_START(computeChartsThread) - args->chartGroup->computeCharts(args->taskScheduler, *args->options); + args->chartGroup->computeCharts(args->taskScheduler, *args->options, args->atlas->get(), args->chartBuffers); XA_PROFILE_END(computeChartsThread) args->progress->value++; args->progress->update(); @@ -6423,6 +7411,11 @@ struct ParameterizeChartsTaskArgs TaskScheduler *taskScheduler; ChartGroup *chartGroup; ParameterizeFunc func; + ThreadLocal<UniformGrid2> *boundaryGrid; + ThreadLocal<ChartCtorBuffers> *chartBuffers; +#if XA_RECOMPUTE_CHARTS + ThreadLocal<PiecewiseParam> *piecewiseParam; +#endif Progress *progress; }; @@ -6432,7 +7425,11 @@ static void runParameterizeChartsJob(void *userData) if (args->progress->cancel) return; XA_PROFILE_START(parameterizeChartsThread) - args->chartGroup->parameterizeCharts(args->taskScheduler, args->func); +#if XA_RECOMPUTE_CHARTS + args->chartGroup->parameterizeCharts(args->taskScheduler, args->func, args->boundaryGrid, args->chartBuffers, args->piecewiseParam); +#else + args->chartGroup->parameterizeCharts(args->taskScheduler, args->func, args->boundaryGrid, args->chartBuffers); +#endif XA_PROFILE_END(parameterizeChartsThread) args->progress->value++; args->progress->update(); @@ -6482,31 +7479,17 @@ public: // This function is thread safe. void addMesh(TaskScheduler *taskScheduler, const Mesh *mesh) { - // Get list of face groups. - const uint32_t faceCount = mesh->faceCount(); - Array<uint32_t> faceGroups; - for (uint32_t f = 0; f < faceCount; f++) { - const uint32_t group = mesh->faceGroupAt(f); - bool exists = false; - for (uint32_t g = 0; g < faceGroups.size(); g++) { - if (faceGroups[g] == group) { - exists = true; - break; - } - } - if (!exists) - faceGroups.push_back(group); - } // Create one chart group per face group. + // If there's any ignored faces in the mesh, create an extra face group for that (vertex map). // Chart group creation is slow since it copies a chunk of the source mesh, so use tasks. Array<ChartGroup *> chartGroups; - chartGroups.resize(faceGroups.size()); + chartGroups.resize(mesh->faceGroupCount() + (mesh->ignoredFaceCount() > 0 ? 1 : 0)); Array<CreateChartGroupTaskArgs> taskArgs; taskArgs.resize(chartGroups.size()); for (uint32_t g = 0; g < chartGroups.size(); g++) { CreateChartGroupTaskArgs &args = taskArgs[g]; args.chartGroup = &chartGroups[g]; - args.faceGroup = faceGroups[g]; + args.faceGroup = uint16_t(g < mesh->faceGroupCount() ? g : Mesh::kInvalidFaceGroup); args.groupId = g; args.mesh = mesh; } @@ -6561,6 +7544,8 @@ public: chartGroupCount++; } Progress progress(ProgressCategory::ComputeCharts, progressFunc, progressUserData, chartGroupCount); + ThreadLocal<segment::Atlas> atlas; + ThreadLocal<ChartCtorBuffers> chartBuffers; Array<ComputeChartsTaskArgs> taskArgs; taskArgs.reserve(chartGroupCount); for (uint32_t i = 0; i < m_chartGroups.size(); i++) { @@ -6568,6 +7553,8 @@ public: ComputeChartsTaskArgs args; args.taskScheduler = taskScheduler; args.chartGroup = m_chartGroups[i]; + args.atlas = &atlas; + args.chartBuffers = &chartBuffers; args.options = &options; args.progress = &progress; taskArgs.push_back(args); @@ -6605,6 +7592,11 @@ public: chartGroupCount++; } Progress progress(ProgressCategory::ParameterizeCharts, progressFunc, progressUserData, chartGroupCount); + ThreadLocal<UniformGrid2> boundaryGrid; // For Quality boundary intersection. + ThreadLocal<ChartCtorBuffers> chartBuffers; +#if XA_RECOMPUTE_CHARTS + ThreadLocal<PiecewiseParam> piecewiseParam; +#endif Array<ParameterizeChartsTaskArgs> taskArgs; taskArgs.reserve(chartGroupCount); for (uint32_t i = 0; i < m_chartGroups.size(); i++) { @@ -6613,6 +7605,11 @@ public: args.taskScheduler = taskScheduler; args.chartGroup = m_chartGroups[i]; args.func = func; + args.boundaryGrid = &boundaryGrid; + args.chartBuffers = &chartBuffers; +#if XA_RECOMPUTE_CHARTS + args.piecewiseParam = &piecewiseParam; +#endif args.progress = &progress; taskArgs.push_back(args); } @@ -6646,55 +7643,6 @@ private: namespace pack { -#if XA_DEBUG_EXPORT_ATLAS_IMAGES -const uint8_t TGA_TYPE_RGB = 2; -const uint8_t TGA_ORIGIN_UPPER = 0x20; - -#pragma pack(push, 1) -struct TgaHeader -{ - uint8_t id_length; - uint8_t colormap_type; - uint8_t image_type; - uint16_t colormap_index; - uint16_t colormap_length; - uint8_t colormap_size; - uint16_t x_origin; - uint16_t y_origin; - uint16_t width; - uint16_t height; - uint8_t pixel_size; - uint8_t flags; - enum { Size = 18 }; -}; -#pragma pack(pop) - -static void WriteTga(const char *filename, const uint8_t *data, uint32_t width, uint32_t height) -{ - XA_DEBUG_ASSERT(sizeof(TgaHeader) == TgaHeader::Size); - FILE *f; - XA_FOPEN(f, filename, "wb"); - if (!f) - return; - TgaHeader tga; - tga.id_length = 0; - tga.colormap_type = 0; - tga.image_type = TGA_TYPE_RGB; - tga.colormap_index = 0; - tga.colormap_length = 0; - tga.colormap_size = 0; - tga.x_origin = 0; - tga.y_origin = 0; - tga.width = (uint16_t)width; - tga.height = (uint16_t)height; - tga.pixel_size = 24; - tga.flags = TGA_ORIGIN_UPPER; - fwrite(&tga, sizeof(TgaHeader), 1, f); - fwrite(data, sizeof(uint8_t), width * height * 3, f); - fclose(f); -} -#endif - class AtlasImage { public: @@ -6728,13 +7676,13 @@ public: const int xx = x + offset_x; if (xx >= 0 && xx < atlas_w && yy < atlas_h) { const uint32_t dataOffset = xx + yy * m_width; - if (image->bitAt(x, y)) { + if (image->get(x, y)) { XA_DEBUG_ASSERT(m_data[dataOffset] == 0); m_data[dataOffset] = chartIndex | kImageHasChartIndexBit; - } else if (imageBilinear && imageBilinear->bitAt(x, y)) { + } else if (imageBilinear && imageBilinear->get(x, y)) { XA_DEBUG_ASSERT(m_data[dataOffset] == 0); m_data[dataOffset] = chartIndex | kImageHasChartIndexBit | kImageIsBilinearBit; - } else if (imagePadding && imagePadding->bitAt(x, y)) { + } else if (imagePadding && imagePadding->get(x, y)) { XA_DEBUG_ASSERT(m_data[dataOffset] == 0); m_data[dataOffset] = chartIndex | kImageHasChartIndexBit | kImageIsPaddingBit; } @@ -6807,6 +7755,8 @@ struct Chart bool allowRotate; // bounding box Vector2 majorAxis, minorAxis, minCorner, maxCorner; + // Mesh only + const Array<uint32_t> *boundaryEdges; // UvMeshChart only Array<uint32_t> faces; @@ -6816,6 +7766,7 @@ struct Chart struct AddChartTaskArgs { + ThreadLocal<BoundingBox2D> *boundingBox; param::Chart *paramChart; Chart *chart; // out }; @@ -6834,102 +7785,32 @@ static void runAddChartTask(void *userData) chart->material = 0; chart->indexCount = mesh->indexCount(); chart->indices = mesh->indices(); - chart->parametricArea = paramChart->computeParametricArea(); + chart->parametricArea = mesh->computeParametricArea(); if (chart->parametricArea < kAreaEpsilon) { // When the parametric area is too small we use a rough approximation to prevent divisions by very small numbers. const Vector2 bounds = paramChart->computeParametricBounds(); chart->parametricArea = bounds.x * bounds.y; } - chart->surfaceArea = paramChart->computeSurfaceArea(); + chart->surfaceArea = mesh->computeSurfaceArea(); chart->vertices = mesh->texcoords(); chart->vertexCount = mesh->vertexCount(); chart->allowRotate = true; - // Compute list of boundary vertices. - Array<Vector2> boundary; - boundary.reserve(16); + chart->boundaryEdges = &mesh->boundaryEdges(); + // Compute bounding box of chart. + BoundingBox2D &bb = args->boundingBox->get(); + bb.clear(); for (uint32_t v = 0; v < chart->vertexCount; v++) { if (mesh->isBoundaryVertex(v)) - boundary.push_back(mesh->texcoord(v)); + bb.appendBoundaryVertex(mesh->texcoord(v)); } - XA_DEBUG_ASSERT(boundary.size() > 0); - // Compute bounding box of chart. - static thread_local BoundingBox2D boundingBox; - boundingBox.compute(boundary.data(), boundary.size(), mesh->texcoords(), mesh->vertexCount()); - chart->majorAxis = boundingBox.majorAxis(); - chart->minorAxis = boundingBox.minorAxis(); - chart->minCorner = boundingBox.minCorner(); - chart->maxCorner = boundingBox.maxCorner(); + bb.compute(mesh->texcoords(), mesh->vertexCount()); + chart->majorAxis = bb.majorAxis; + chart->minorAxis = bb.minorAxis; + chart->minCorner = bb.minCorner; + chart->maxCorner = bb.maxCorner; XA_PROFILE_END(packChartsAddChartsThread) } -struct FindChartLocationBruteForceTaskArgs -{ - std::atomic<bool> *finished; // One of the tasks found a location that doesn't expand the atlas. - Vector2i startPosition; - const BitImage *atlasBitImage; - const BitImage *chartBitImage; - const BitImage *chartBitImageRotated; - int w, h; - bool blockAligned, allowRotate; - uint32_t maxResolution; - // out - bool best_insideAtlas; - int best_metric, best_x, best_y, best_w, best_h, best_r; -}; - -static void runFindChartLocationBruteForceTask(void *userData) -{ - XA_PROFILE_START(packChartsFindLocationThread) - auto args = (FindChartLocationBruteForceTaskArgs *)userData; - args->best_metric = INT_MAX; - if (args->finished->load()) - return; - // Try two different orientations. - for (int r = 0; r < 2; r++) { - if (args->finished->load()) - break; - int cw = args->chartBitImage->width(); - int ch = args->chartBitImage->height(); - if (r == 1) { - if (args->allowRotate) - swap(cw, ch); - else - break; - } - const int y = args->startPosition.y; - const int stepSize = args->blockAligned ? 4 : 1; - for (int x = args->startPosition.x; x <= args->w + stepSize; x += stepSize) { - if (args->maxResolution > 0 && (x > (int)args->maxResolution - cw || y > (int)args->maxResolution - ch)) - continue; - if (args->finished->load()) - break; - // Early out if metric not better. - const int area = max(args->w, x + cw) * max(args->h, y + ch); - const int extents = max(max(args->w, x + cw), max(args->h, y + ch)); - const int metric = extents * extents + area; - if (metric > args->best_metric) - continue; - // If metric is the same, pick the one closest to the origin. - if (metric == args->best_metric && max(x, y) >= max(args->best_x, args->best_y)) - continue; - if (!args->atlasBitImage->canBlit(r == 1 ? *(args->chartBitImageRotated) : *(args->chartBitImage), x, y)) - continue; - args->best_metric = metric; - args->best_insideAtlas = area == args->w * args->h; - args->best_x = x; - args->best_y = y; - args->best_w = cw; - args->best_h = ch; - args->best_r = r; - if (args->best_insideAtlas) { - args->finished->store(true); - break; - } - } - } - XA_PROFILE_END(packChartsFindLocationThread) -} - struct Atlas { ~Atlas() @@ -6975,6 +7856,7 @@ struct Atlas taskArgs.resize(chartCount); TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(chartCount); uint32_t chartIndex = 0; + ThreadLocal<BoundingBox2D> boundingBox; for (uint32_t i = 0; i < chartGroupsCount; i++) { const param::ChartGroup *chartGroup = paramAtlas->chartGroupAt(i); if (chartGroup->isVertexMap()) @@ -6982,6 +7864,7 @@ struct Atlas const uint32_t count = chartGroup->chartCount(); for (uint32_t j = 0; j < count; j++) { AddChartTaskArgs &args = taskArgs[chartIndex]; + args.boundingBox = &boundingBox; args.paramChart = chartGroup->chartAt(j); Task task; task.userData = &taskArgs[chartIndex]; @@ -7000,8 +7883,6 @@ struct Atlas void addUvMeshCharts(UvMeshInstance *mesh) { BitArray vertexUsed(mesh->texcoords.size()); - Array<Vector2> boundary; - boundary.reserve(16); BoundingBox2D boundingBox; for (uint32_t c = 0; c < mesh->mesh->charts.size(); c++) { UvMeshChart *uvChart = mesh->mesh->charts[c]; @@ -7013,14 +7894,15 @@ struct Atlas chart->vertices = mesh->texcoords.data(); chart->vertexCount = mesh->texcoords.size(); chart->allowRotate = mesh->rotateCharts; + chart->boundaryEdges = nullptr; chart->faces.resize(uvChart->faces.size()); memcpy(chart->faces.data(), uvChart->faces.data(), sizeof(uint32_t) * uvChart->faces.size()); // Find unique vertices. - vertexUsed.clearAll(); + vertexUsed.zeroOutMemory(); for (uint32_t i = 0; i < chart->indexCount; i++) { const uint32_t vertex = chart->indices[i]; - if (!vertexUsed.bitAt(vertex)) { - vertexUsed.setBitAt(vertex); + if (!vertexUsed.get(vertex)) { + vertexUsed.set(vertex); chart->uniqueVertices.push_back(vertex); } } @@ -7045,24 +7927,22 @@ struct Atlas const Vector2 bounds = (maxCorner - minCorner) * 0.5f; chart->parametricArea = bounds.x * bounds.y; } - // Compute list of boundary vertices. + // Compute bounding box of chart. // Using all unique vertices for simplicity, can compute real boundaries if this is too slow. - boundary.clear(); + boundingBox.clear(); for (uint32_t v = 0; v < chart->uniqueVertexCount(); v++) - boundary.push_back(chart->uniqueVertexAt(v)); - XA_DEBUG_ASSERT(boundary.size() > 0); - // Compute bounding box of chart. - boundingBox.compute(boundary.data(), boundary.size(), boundary.data(), boundary.size()); - chart->majorAxis = boundingBox.majorAxis(); - chart->minorAxis = boundingBox.minorAxis(); - chart->minCorner = boundingBox.minCorner(); - chart->maxCorner = boundingBox.maxCorner(); + boundingBox.appendBoundaryVertex(chart->uniqueVertexAt(v)); + boundingBox.compute(); + chart->majorAxis = boundingBox.majorAxis; + chart->minorAxis = boundingBox.minorAxis; + chart->minCorner = boundingBox.minCorner; + chart->maxCorner = boundingBox.maxCorner; m_charts.push_back(chart); } } // Pack charts in the smallest possible rectangle. - bool packCharts(TaskScheduler *taskScheduler, const PackOptions &options, ProgressFunc progressFunc, void *progressUserData) + bool packCharts(const PackOptions &options, ProgressFunc progressFunc, void *progressUserData) { if (progressFunc) { if (!progressFunc(ProgressCategory::PackCharts, 0, progressUserData)) @@ -7107,10 +7987,11 @@ struct Atlas for (uint32_t c = 0; c < chartCount; c++) { Chart *chart = m_charts[c]; // Compute chart scale - float scale = (chart->surfaceArea / chart->parametricArea) * m_texelsPerUnit; - if (chart->parametricArea == 0.0f) - scale = 0; - XA_ASSERT(isFinite(scale)); + float scale = 1.0f; + if (chart->parametricArea != 0.0f) { + scale = (chart->surfaceArea / chart->parametricArea) * m_texelsPerUnit; + XA_ASSERT(isFinite(scale)); + } // Translate, rotate and scale vertices. Compute extents. Vector2 minCorner(FLT_MAX, FLT_MAX); if (!chart->allowRotate) { @@ -7181,6 +8062,8 @@ struct Atlas texcoord.y += 0.5f + options.padding; extents = max(extents, texcoord); } + if (extents.x > resolution || extents.y > resolution) + XA_PRINT(" Chart %u extents are large (%gx%g)\n", c, extents.x, extents.y); chartExtents[c] = extents; chartOrderArray[c] = extents.x + extents.y; // Use perimeter for chart sort key. minChartPerimeter = min(minChartPerimeter, chartOrderArray[c]); @@ -7207,6 +8090,7 @@ struct Atlas // Rotated versions swap x and y. BitImage chartImage, chartImageBilinear, chartImagePadding; BitImage chartImageRotated, chartImageBilinearRotated, chartImagePaddingRotated; + UniformGrid2 boundaryEdgeGrid; Array<Vector2i> atlasSizes; atlasSizes.push_back(Vector2i(0, 0)); int progress = 0; @@ -7249,7 +8133,7 @@ struct Atlas } // Expand chart by pixels sampled by bilinear interpolation. if (options.bilinear) - bilinearExpand(chart, &chartImage, &chartImageBilinear, chart->allowRotate ? &chartImageBilinearRotated : nullptr); + bilinearExpand(chart, &chartImage, &chartImageBilinear, chart->allowRotate ? &chartImageBilinearRotated : nullptr, boundaryEdgeGrid); // Expand chart by padding pixels (dilation). if (options.padding > 0) { // Copy into the same BitImage instances for every chart to avoid reallocating BitImage buffers (largest chart is packed first). @@ -7310,7 +8194,7 @@ struct Atlas chartStartPositions.push_back(Vector2i(0, 0)); } XA_PROFILE_START(packChartsFindLocation) - const bool foundLocation = findChartLocation(taskScheduler, chartStartPositions[currentAtlas], options.bruteForce, m_bitImages[currentAtlas], chartImageToPack, chartImageToPackRotated, atlasSizes[currentAtlas].x, atlasSizes[currentAtlas].y, &best_x, &best_y, &best_cw, &best_ch, &best_r, options.blockAlign, maxResolution, chart->allowRotate); + const bool foundLocation = findChartLocation(chartStartPositions[currentAtlas], options.bruteForce, m_bitImages[currentAtlas], chartImageToPack, chartImageToPackRotated, atlasSizes[currentAtlas].x, atlasSizes[currentAtlas].y, &best_x, &best_y, &best_cw, &best_ch, &best_r, options.blockAlign, maxResolution, chart->allowRotate); XA_PROFILE_END(packChartsFindLocation) XA_DEBUG_ASSERT(!(firstChartInBitImage && !foundLocation)); // Chart doesn't fit in an empty, newly allocated bitImage. Shouldn't happen, since charts are resized if they are too big to fit in the atlas. if (maxResolution == 0) { @@ -7359,6 +8243,13 @@ struct Atlas } else { m_atlasImages[currentAtlas]->addChart(c, &chartImageRotated, options.bilinear ? &chartImageBilinearRotated : nullptr, options.padding > 0 ? &chartImagePaddingRotated : nullptr, atlasSizes[currentAtlas].x, atlasSizes[currentAtlas].y, best_x, best_y); } +#if XA_DEBUG_EXPORT_ATLAS_IMAGES && XA_DEBUG_EXPORT_ATLAS_IMAGES_PER_CHART + for (uint32_t j = 0; j < m_atlasImages.size(); j++) { + char filename[256]; + XA_SPRINTF(filename, sizeof(filename), "debug_atlas_image%02u_chart%04u.tga", j, i); + m_atlasImages[j]->writeTga(filename, (uint32_t)atlasSizes[j].x, (uint32_t)atlasSizes[j].y); + } +#endif } chart->atlasIndex = (int32_t)currentAtlas; // Modify texture coordinates: @@ -7415,7 +8306,7 @@ struct Atlas uint32_t count = 0; for (uint32_t y = 0; y < m_height; y++) { for (uint32_t x = 0; x < m_width; x++) - count += m_bitImages[i]->bitAt(x, y); + count += m_bitImages[i]->get(x, y); } m_utilization[i] = float(count) / (m_width * m_height); } @@ -7445,70 +8336,56 @@ private: // is occupied at this point. At the end we have many small charts and a large atlas with sparse holes. Finding those holes randomly is slow. A better approach would be to // start stacking large charts as if they were tetris pieces. Once charts get small try to place them randomly. It may be interesting to try a intermediate strategy, first try // along one axis and then try exhaustively along that axis. - bool findChartLocation(TaskScheduler *taskScheduler, const Vector2i &startPosition, bool bruteForce, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) + bool findChartLocation(const Vector2i &startPosition, bool bruteForce, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) { const int attempts = 4096; if (bruteForce || attempts >= w * h) - return findChartLocation_bruteForce(taskScheduler, startPosition, atlasBitImage, chartBitImage, chartBitImageRotated, w, h, best_x, best_y, best_w, best_h, best_r, blockAligned, maxResolution, allowRotate); + return findChartLocation_bruteForce(startPosition, atlasBitImage, chartBitImage, chartBitImageRotated, w, h, best_x, best_y, best_w, best_h, best_r, blockAligned, maxResolution, allowRotate); return findChartLocation_random(atlasBitImage, chartBitImage, chartBitImageRotated, w, h, best_x, best_y, best_w, best_h, best_r, attempts, blockAligned, maxResolution, allowRotate); } - bool findChartLocation_bruteForce(TaskScheduler *taskScheduler, const Vector2i &startPosition, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) + bool findChartLocation_bruteForce(const Vector2i &startPosition, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) { const int stepSize = blockAligned ? 4 : 1; - const int chartMinHeight = min(chartBitImage->height(), chartBitImageRotated->height()); - uint32_t taskCount = 0; - for (int y = startPosition.y; y <= h + stepSize; y += stepSize) { - if (maxResolution > 0 && y > (int)maxResolution - chartMinHeight) - break; - taskCount++; - } - m_bruteForceTaskArgs.clear(); - m_bruteForceTaskArgs.resize(taskCount); - TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(taskCount); - std::atomic<bool> finished(false); // One of the tasks found a location that doesn't expand the atlas. - uint32_t i = 0; - for (int y = startPosition.y; y <= h + stepSize; y += stepSize) { - if (maxResolution > 0 && y > (int)maxResolution - chartMinHeight) - break; - FindChartLocationBruteForceTaskArgs &args = m_bruteForceTaskArgs[i]; - args.finished = &finished; - args.startPosition = Vector2i(y == startPosition.y ? startPosition.x : 0, y); - args.atlasBitImage = atlasBitImage; - args.chartBitImage = chartBitImage; - args.chartBitImageRotated = chartBitImageRotated; - args.w = w; - args.h = h; - args.blockAligned = blockAligned; - args.allowRotate = allowRotate; - args.maxResolution = maxResolution; - Task task; - task.userData = &m_bruteForceTaskArgs[i]; - task.func = runFindChartLocationBruteForceTask; - taskScheduler->run(taskGroup, task); - i++; - } - taskScheduler->wait(&taskGroup); - // Find the task result with the best metric. int best_metric = INT_MAX; - bool best_insideAtlas = false; - for (i = 0; i < taskCount; i++) { - FindChartLocationBruteForceTaskArgs &args = m_bruteForceTaskArgs[i]; - if (args.best_metric > best_metric) - continue; - // A location that doesn't expand the atlas is always preferred. - if (!args.best_insideAtlas && best_insideAtlas) - continue; - // If metric is the same, pick the one closest to the origin. - if (args.best_insideAtlas == best_insideAtlas && args.best_metric == best_metric && max(args.best_x, args.best_y) >= max(*best_x, *best_y)) - continue; - best_metric = args.best_metric; - best_insideAtlas = args.best_insideAtlas; - *best_x = args.best_x; - *best_y = args.best_y; - *best_w = args.best_w; - *best_h = args.best_h; - *best_r = args.best_r; + // Try two different orientations. + for (int r = 0; r < 2; r++) { + int cw = chartBitImage->width(); + int ch = chartBitImage->height(); + if (r == 1) { + if (allowRotate) + swap(cw, ch); + else + break; + } + for (int y = startPosition.y; y <= h + stepSize; y += stepSize) { + if (maxResolution > 0 && y > (int)maxResolution - ch) + break; + for (int x = (y == startPosition.y ? startPosition.x : 0); x <= w + stepSize; x += stepSize) { + if (maxResolution > 0 && x > (int)maxResolution - cw) + break; + // Early out if metric is not better. + const int extentX = max(w, x + cw), extentY = max(h, y + ch); + const int area = extentX * extentY; + const int extents = max(extentX, extentY); + const int metric = extents * extents + area; + if (metric > best_metric) + continue; + // If metric is the same, pick the one closest to the origin. + if (metric == best_metric && max(x, y) >= max(*best_x, *best_y)) + continue; + if (!atlasBitImage->canBlit(r == 1 ? *chartBitImageRotated : *chartBitImage, x, y)) + continue; + best_metric = metric; + *best_x = x; + *best_y = y; + *best_w = cw; + *best_h = ch; + *best_r = r; + if (area == w * h) + return true; // Chart is completely inside, do not look at any other location. + } + } } return best_metric != INT_MAX; } @@ -7581,10 +8458,10 @@ private: for (int x = 0; x < w; x++) { int xx = x + offset_x; if (xx >= 0) { - if (image->bitAt(x, y)) { + if (image->get(x, y)) { if (xx < atlas_w && yy < atlas_h) { - XA_DEBUG_ASSERT(atlasBitImage->bitAt(xx, yy) == false); - atlasBitImage->setBitAt(xx, yy); + XA_DEBUG_ASSERT(atlasBitImage->get(xx, yy) == false); + atlasBitImage->set(xx, yy); } } } @@ -7593,14 +8470,23 @@ private: } } - void bilinearExpand(const Chart *chart, BitImage *source, BitImage *dest, BitImage *destRotated) const + void bilinearExpand(const Chart *chart, BitImage *source, BitImage *dest, BitImage *destRotated, UniformGrid2 &boundaryEdgeGrid) const { + boundaryEdgeGrid.reset(chart->vertices, chart->indices); + if (chart->boundaryEdges) { + const uint32_t edgeCount = chart->boundaryEdges->size(); + for (uint32_t i = 0; i < edgeCount; i++) + boundaryEdgeGrid.append((*chart->boundaryEdges)[i]); + } else { + for (uint32_t i = 0; i < chart->indexCount; i++) + boundaryEdgeGrid.append(i); + } const int xOffsets[] = { -1, 0, 1, -1, 1, -1, 0, 1 }; const int yOffsets[] = { -1, -1, -1, 0, 0, 1, 1, 1 }; for (uint32_t y = 0; y < source->height(); y++) { for (uint32_t x = 0; x < source->width(); x++) { // Copy pixels from source. - if (source->bitAt(x, y)) + if (source->get(x, y)) goto setPixel; // Empty pixel. If none of of the surrounding pixels are set, this pixel can't be sampled by bilinear interpolation. { @@ -7610,44 +8496,32 @@ private: const int sy = (int)y + yOffsets[s]; if (sx < 0 || sy < 0 || sx >= (int)source->width() || sy >= (int)source->height()) continue; - if (source->bitAt((uint32_t)sx, (uint32_t)sy)) + if (source->get((uint32_t)sx, (uint32_t)sy)) break; } if (s == 8) continue; } - // If a 2x2 square centered on the pixels centroid intersects the triangle, this pixel will be sampled by bilinear interpolation. - // See "Precomputed Global Illumination in Frostbite (GDC 2018)" page 95 - for (uint32_t f = 0; f < chart->indexCount / 3; f++) { + { + // If a 2x2 square centered on the pixels centroid intersects the triangle, this pixel will be sampled by bilinear interpolation. + // See "Precomputed Global Illumination in Frostbite (GDC 2018)" page 95 const Vector2 centroid((float)x + 0.5f, (float)y + 0.5f); - Vector2 vertices[3]; - for (uint32_t i = 0; i < 3; i++) - vertices[i] = chart->vertices[chart->indices[f * 3 + i]]; - // Test for triangle vertex in square bounds. - for (uint32_t i = 0; i < 3; i++) { - const Vector2 &v = vertices[i]; - if (v.x > centroid.x - 1.0f && v.x < centroid.x + 1.0f && v.y > centroid.y - 1.0f && v.y < centroid.y + 1.0f) - goto setPixel; - } - // Test for triangle edge intersection with square edge. const Vector2 squareVertices[4] = { Vector2(centroid.x - 1.0f, centroid.y - 1.0f), Vector2(centroid.x + 1.0f, centroid.y - 1.0f), Vector2(centroid.x + 1.0f, centroid.y + 1.0f), Vector2(centroid.x - 1.0f, centroid.y + 1.0f) }; - for (uint32_t i = 0; i < 3; i++) { - for (uint32_t j = 0; j < 4; j++) { - if (linesIntersect(vertices[i], vertices[(i + 1) % 3], squareVertices[j], squareVertices[(j + 1) % 4], 0.0f)) - goto setPixel; - } + for (uint32_t j = 0; j < 4; j++) { + if (boundaryEdgeGrid.intersect(squareVertices[j], squareVertices[(j + 1) % 4], 0.0f)) + goto setPixel; } } continue; setPixel: - dest->setBitAt(x, y); + dest->set(x, y); if (destRotated) - destRotated->setBitAt(y, x); + destRotated->set(y, x); } } } @@ -7660,9 +8534,9 @@ private: static bool drawTriangleCallback(void *param, int x, int y) { auto args = (DrawTriangleCallbackArgs *)param; - args->chartBitImage->setBitAt(x, y); + args->chartBitImage->set(x, y); if (args->chartBitImageRotated) - args->chartBitImageRotated->setBitAt(y, x); + args->chartBitImageRotated->set(y, x); return true; } @@ -7670,7 +8544,6 @@ private: Array<float> m_utilization; Array<BitImage *> m_bitImages; Array<Chart *> m_charts; - Array<FindChartLocationBruteForceTaskArgs> m_bruteForceTaskArgs; RadixSort m_radix; uint32_t m_width = 0; uint32_t m_height = 0; @@ -7789,13 +8662,6 @@ static void runAddMeshTask(void *userData) } if (progress->cancel) goto cleanup; - { - XA_PROFILE_START(addMeshCreateBoundaries) - mesh->createBoundaries(); - XA_PROFILE_END(addMeshCreateBoundaries) - } - if (progress->cancel) - goto cleanup; #if XA_DEBUG_EXPORT_OBJ_SOURCE_MESHES char filename[256]; XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u.obj", mesh->id()); @@ -7805,22 +8671,22 @@ static void runAddMeshTask(void *userData) mesh->writeObjVertices(file); // groups uint32_t numGroups = 0; - for (uint32_t i = 0; i < mesh->faceGroupCount(); i++) { - if (mesh->faceGroupAt(i) != UINT32_MAX) + for (uint32_t i = 0; i < mesh->faceCount(); i++) { + if (mesh->faceGroupAt(i) != Mesh::kInvalidFaceGroup) numGroups = internal::max(numGroups, mesh->faceGroupAt(i) + 1); } for (uint32_t i = 0; i < numGroups; i++) { fprintf(file, "o group_%04d\n", i); fprintf(file, "s off\n"); - for (uint32_t f = 0; f < mesh->faceGroupCount(); f++) { + for (uint32_t f = 0; f < mesh->faceCount(); f++) { if (mesh->faceGroupAt(f) == i) mesh->writeObjFace(file, f); } } fprintf(file, "o group_ignored\n"); fprintf(file, "s off\n"); - for (uint32_t f = 0; f < mesh->faceGroupCount(); f++) { - if (mesh->faceGroupAt(f) == UINT32_MAX) + for (uint32_t f = 0; f < mesh->faceCount(); f++) { + if (mesh->faceGroupAt(f) == Mesh::kInvalidFaceGroup) mesh->writeObjFace(file, f); } mesh->writeObjBoundaryEges(file); @@ -8033,7 +8899,6 @@ void AddMeshJoin(Atlas *atlas) XA_PROFILE_PRINT_AND_RESET(" Total (thread): ", addMeshThread) XA_PROFILE_PRINT_AND_RESET(" Create colocals: ", addMeshCreateColocals) XA_PROFILE_PRINT_AND_RESET(" Create face groups: ", addMeshCreateFaceGroups) - XA_PROFILE_PRINT_AND_RESET(" Create boundaries: ", addMeshCreateBoundaries) XA_PROFILE_PRINT_AND_RESET(" Create chart groups (real): ", addMeshCreateChartGroupsReal) XA_PROFILE_PRINT_AND_RESET(" Create chart groups (thread): ", addMeshCreateChartGroupsThread) XA_PRINT_MEM_USAGE @@ -8044,16 +8909,7 @@ struct EdgeKey EdgeKey() {} EdgeKey(const EdgeKey &k) : v0(k.v0), v1(k.v1) {} EdgeKey(uint32_t v0, uint32_t v1) : v0(v0), v1(v1) {} - - void operator=(const EdgeKey &k) - { - v0 = k.v0; - v1 = k.v1; - } - bool operator==(const EdgeKey &k) const - { - return v0 == k.v0 && v1 == k.v1; - } + bool operator==(const EdgeKey &k) const { return v0 == k.v0 && v1 == k.v1; } uint32_t v0; uint32_t v1; @@ -8119,15 +8975,15 @@ AddMeshError::Enum AddUvMesh(Atlas *atlas, const UvMeshDecl &decl) for (uint32_t i = 0; i < indexCount; i++) vertexToFaceMap.add(meshInstance->texcoords[mesh->indices[i]]); internal::BitArray faceAssigned(faceCount); - faceAssigned.clearAll(); + faceAssigned.zeroOutMemory(); for (uint32_t f = 0; f < faceCount; f++) { - if (faceAssigned.bitAt(f)) + if (faceAssigned.get(f)) continue; // Found an unassigned face, create a new chart. internal::UvMeshChart *chart = XA_NEW(internal::MemTag::Default, internal::UvMeshChart); chart->material = decl.faceMaterialData ? decl.faceMaterialData[f] : 0; // Walk incident faces and assign them to the chart. - faceAssigned.setBitAt(f); + faceAssigned.set(f); chart->faces.push_back(f); for (;;) { bool newFaceAssigned = false; @@ -8140,8 +8996,8 @@ AddMeshError::Enum AddUvMesh(Atlas *atlas, const UvMeshDecl &decl) while (mapIndex != UINT32_MAX) { const uint32_t face2 = mapIndex / 3; // 3 vertices added per face. // Materials must match. - if (!faceAssigned.bitAt(face2) && (!decl.faceMaterialData || decl.faceMaterialData[face] == decl.faceMaterialData[face2])) { - faceAssigned.setBitAt(face2); + if (!faceAssigned.get(face2) && (!decl.faceMaterialData || decl.faceMaterialData[face] == decl.faceMaterialData[face2])) { + faceAssigned.set(face2); chart->faces.push_back(face2); newFaceAssigned = true; } @@ -8202,6 +9058,7 @@ void ComputeCharts(Atlas *atlas, ChartOptions chartOptions) continue; for (uint32_t k = 0; k < chartGroup->chartCount(); k++) { const internal::param::Chart *chart = chartGroup->chartAt(k); +#if XA_PRINT_CHART_WARNINGS if (chart->warningFlags() & internal::param::ChartWarningFlags::CloseHolesFailed) XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): failed to close holes\n", chartCount, i, j, k); if (chart->warningFlags() & internal::param::ChartWarningFlags::FixTJunctionsDuplicatedEdge) @@ -8210,8 +9067,7 @@ void ComputeCharts(Atlas *atlas, ChartOptions chartOptions) XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): fixing t-junctions failed\n", chartCount, i, j, k); if (chart->warningFlags() & internal::param::ChartWarningFlags::TriangulateDuplicatedEdge) XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): triangulation created non-manifold geometry\n", chartCount, i, j, k); - if (!chart->isDisk()) - XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): doesn't have disk topology\n", chartCount, i, j, k); +#endif holesCount += chart->closedHolesCount(); if (chart->closedHolesCount() > 0) chartsWithHolesCount++; @@ -8279,7 +9135,7 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) return; } XA_PROFILE_END(parameterizeChartsReal) - uint32_t chartCount = 0, orthoChartsCount = 0, planarChartsCount = 0, chartsAddedCount = 0, chartsDeletedCount = 0; + uint32_t chartCount = 0, orthoChartsCount = 0, planarChartsCount = 0, lscmChartsCount = 0, piecewiseChartsCount = 0, chartsAddedCount = 0, chartsDeletedCount = 0; for (uint32_t i = 0; i < ctx->meshCount; i++) { for (uint32_t j = 0; j < ctx->paramAtlas.chartGroupCount(i); j++) { const internal::param::ChartGroup *chartGroup = ctx->paramAtlas.chartGroupAt(i, j); @@ -8287,19 +9143,23 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) continue; for (uint32_t k = 0; k < chartGroup->chartCount(); k++) { const internal::param::Chart *chart = chartGroup->chartAt(k); - if (chart->isPlanar()) + if (chart->type() == ChartType::Planar) planarChartsCount++; - else if (chart->isOrtho()) + else if (chart->type() == ChartType::Ortho) orthoChartsCount++; + else if (chart->type() == ChartType::LSCM) + lscmChartsCount++; + else if (chart->type() == ChartType::Piecewise) + piecewiseChartsCount++; } chartCount += chartGroup->chartCount(); chartsAddedCount += chartGroup->paramAddedChartsCount(); chartsDeletedCount += chartGroup->paramDeletedChartsCount(); } } - XA_PRINT(" %u planar charts, %u ortho charts, %u other\n", planarChartsCount, orthoChartsCount, chartCount - (planarChartsCount + orthoChartsCount)); + XA_PRINT(" %u planar charts, %u ortho charts, %u LSCM charts, %u piecewise charts\n", planarChartsCount, orthoChartsCount, lscmChartsCount, piecewiseChartsCount); if (chartsDeletedCount > 0) { - XA_PRINT(" %u charts deleted due to invalid parameterizations, %u new charts added\n", chartsDeletedCount, chartsAddedCount); + XA_PRINT(" %u charts with invalid parameterizations replaced with %u new charts\n", chartsDeletedCount, chartsAddedCount); XA_PRINT(" %u charts\n", chartCount); } uint32_t chartIndex = 0, invalidParamCount = 0; @@ -8310,7 +9170,7 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) continue; for (uint32_t k = 0; k < chartGroup->chartCount(); k++) { const internal::param::Chart *chart = chartGroup->chartAt(k); - const internal::param::ParameterizationQuality &quality = chart->paramQuality(); + const internal::param::Quality &quality = chart->quality(); #if XA_DEBUG_EXPORT_OBJ_CHARTS_AFTER_PARAMETERIZATION { char filename[256]; @@ -8319,13 +9179,20 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) } #endif bool invalid = false; + const char *type = "LSCM"; + if (chart->type() == ChartType::Planar) + type = "planar"; + else if (chart->type() == ChartType::Ortho) + type = "ortho"; + else if (chart->type() == ChartType::Piecewise) + type = "piecewise"; if (quality.boundaryIntersection) { invalid = true; - XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, self-intersecting boundary.\n", chartIndex, i, j, k, chart->isPlanar() ? "planar" : chart->isOrtho() ? "ortho" : "other"); + XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, self-intersecting boundary.\n", chartIndex, i, j, k, type); } if (quality.flippedTriangleCount > 0) { invalid = true; - XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, %u / %u flipped triangles.\n", chartIndex, i, j, k, chart->isPlanar() ? "planar" : chart->isOrtho() ? "ortho" : "other", quality.flippedTriangleCount, quality.totalTriangleCount); + XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, %u / %u flipped triangles.\n", chartIndex, i, j, k, type, quality.flippedTriangleCount, quality.totalTriangleCount); } if (invalid) invalidParamCount++; @@ -8415,7 +9282,7 @@ void PackCharts(Atlas *atlas, PackOptions packOptions) packAtlas.addCharts(ctx->taskScheduler, &ctx->paramAtlas); XA_PROFILE_END(packChartsAddCharts) XA_PROFILE_START(packCharts) - if (!packAtlas.packCharts(ctx->taskScheduler, packOptions, ctx->progressFunc, ctx->progressUserData)) + if (!packAtlas.packCharts(packOptions, ctx->progressFunc, ctx->progressUserData)) return; XA_PROFILE_END(packCharts) // Populate atlas object with pack results. @@ -8440,8 +9307,7 @@ void PackCharts(Atlas *atlas, PackOptions packOptions) XA_PROFILE_PRINT_AND_RESET(" Restore texcoords: ", packChartsAddChartsRestoreTexcoords) XA_PROFILE_PRINT_AND_RESET(" Rasterize: ", packChartsRasterize) XA_PROFILE_PRINT_AND_RESET(" Dilate (padding): ", packChartsDilate) - XA_PROFILE_PRINT_AND_RESET(" Find location (real): ", packChartsFindLocation) - XA_PROFILE_PRINT_AND_RESET(" Find location (thread): ", packChartsFindLocationThread) + XA_PROFILE_PRINT_AND_RESET(" Find location: ", packChartsFindLocation) XA_PROFILE_PRINT_AND_RESET(" Blit: ", packChartsBlit) XA_PRINT_MEM_USAGE XA_PRINT("Building output meshes\n"); @@ -8527,9 +9393,7 @@ void PackCharts(Atlas *atlas, PackOptions packOptions) const int32_t atlasIndex = packAtlas.getChart(chartIndex)->atlasIndex; XA_DEBUG_ASSERT(atlasIndex >= 0); outputChart->atlasIndex = (uint32_t)atlasIndex; - outputChart->flags = 0; - if (chart->paramQuality().boundaryIntersection || chart->paramQuality().flippedTriangleCount > 0) - outputChart->flags |= ChartFlags::Invalid; + outputChart->type = chart->type(); outputChart->faceCount = mesh->faceCount(); outputChart->faceArray = XA_ALLOC_ARRAY(internal::MemTag::Default, uint32_t, outputChart->faceCount); for (uint32_t f = 0; f < outputChart->faceCount; f++) diff --git a/thirdparty/xatlas/xatlas.h b/thirdparty/xatlas/xatlas.h index 7be165e7e5..e59f493287 100644 --- a/thirdparty/xatlas/xatlas.h +++ b/thirdparty/xatlas/xatlas.h @@ -35,11 +35,14 @@ Copyright NVIDIA Corporation 2006 -- Ignacio Castano <icastano@nvidia.com> namespace xatlas { -struct ChartFlags +struct ChartType { - enum + enum Enum { - Invalid = 1 << 0 + Planar, + Ortho, + LSCM, + Piecewise }; }; @@ -47,10 +50,10 @@ struct ChartFlags struct Chart { uint32_t atlasIndex; // Sub-atlas index. - uint32_t flags; uint32_t *faceArray; uint32_t faceCount; uint32_t material; + ChartType::Enum type; }; // Output vertex. |