bullet3/examples/Experiments/ImplicitCloth/stan/SpringNetwork.cpp

#include "vec3n.h"
//#include "console.h"

extern int numX;

//
// Cloth - Backward Integrated Spring Network
//
// (c) Stan Melax 2006
// http://www.melax.com/cloth
// freeware demo and source
// Although its free software, I'll gaurantee and support this software as much as is reasonable.
// However, if you choose to use any of this code, then you agree that
// I assume no financial liability should the software not meet your expectations.
// But do feel free to send any feedback.
//
// The core backward integration functionality has all been extracted into the SpringNetwork class.
// This makes it easy for you if you just want to look at or use the math and the algorithms.
// The remainder of the code builds a cloth system with basic render support, I/O, and manipulators,
// so its possible to make use of the technology within a 3D application.
// This code is separated from the SpringNetwork class in order to avoid pushing a particular style
// and prevent any dependancies of the algorithms onto unrelated systems.
// Feel free to adapt any of this into your own 3D engine/environment.
//
// Instead of having unique Hooke force and damping coefficients on each spring, the SpringNetwork
// code uses a spring 'type' that indexes a short list of shared named coefficients.
// This was just more practical for the typical application of this technology.
// Over-designed systems that are too general can be slower for
// the next guy to understand and more painful to use.
// Editing/creation is easier when only 1 number needs to be changed.
// Nonetheless, feel free to adapt to your own needs.
//

#include <stdio.h>
#include <float.h>

#include "vec3n.h"
//#include "console.h"
//#include "manipulatori.h"
//#include "object.h"
//#include "xmlparse.h"

static const float3x3 I(1, 0, 0, 0, 1, 0, 0, 0, 1);

inline float3x3 dfdx_spring(const float3 &dir, float length, float rest, float k)
{
	// dir is unit length direction, rest is spring's restlength, k is spring constant.
	return ((I - outerprod(dir, dir)) * Min(1.0f, rest / length) - I) * -k;
}
inline float3x3 dfdx_damp(const float3 &dir, float length, const float3 &vel, float rest, float damping)
{
	// inner spring damping   vel is the relative velocity  of the endpoints.
	return (I - outerprod(dir, dir)) * (-damping * -(dot(dir, vel) / Max(length, rest)));
}
inline float3x3 dfdv_damp(const float3 &dir, float damping)
{
	// derivative of force wrt velocity.
	return outerprod(dir, dir) * damping;
}

#include "SpringNetwork.h"

SpringNetwork::SpringNetwork(int _n) : X(_n), V(_n), F(_n), dV(_n), A(_n), dFdX(_n), dFdV(_n)
{
	assert(SPRING_STRUCT == 0);
	assert(&spring_shear == &spring_struct + SPRING_SHEAR);
	assert(&spring_bend == &spring_struct + SPRING_BEND);
	assert(&spring_struct == &spring_k[SPRING_STRUCT]);
	assert(&spring_shear == &spring_k[SPRING_SHEAR]);
	assert(&spring_bend == &spring_k[SPRING_BEND]);
	//   spring_struct=1000000.0f;
	//  spring_shear=1000000.0f;

	spring_struct = 1000.0f;
	spring_shear = 100.0f;

	spring_bend = 25.0f;
	spring_damp = 5.0f;
	spring_air = 1.0f;
	spring_air = 1.0f;
	cloth_step = 0.25f;  // delta time for cloth
	cloth_gravity = float3(0, -10, 0);
	cloth_sleepthreshold = 0.001f;
	cloth_sleepcount = 100;
	awake = cloth_sleepcount;

	//fix/pin two points in worldspace
	float3Nx3N::Block zero;
	zero.m = float3x3(0, 0, 0, 0, 0, 0, 0, 0, 0);
	zero.c = 0;
	zero.r = 0;
	S.blocks.Add(zero);
	zero.r = numX - 1;
	S.blocks.Add(zero);
}

SpringNetwork::Spring &SpringNetwork::AddBlocks(Spring &s)
{
	// Called during initial creation of springs in our spring network.
	// Sets up the sparse matrices corresponding to connections.
	// Note the indices (s.iab,s.iba) are also stored with spring to avoid looking them up each time a spring is applied
	// All 3 matrices A,dFdX, and dFdV are contstructed identically so the block array layout will be the same for each.
	s.iab = A.blocks.count;  // added 'ab' blocks will have this index.
	A.blocks.Add(float3Nx3N::Block(s.a, s.b));
	dFdX.blocks.Add(float3Nx3N::Block(s.a, s.b));
	dFdV.blocks.Add(float3Nx3N::Block(s.a, s.b));
	s.iba = A.blocks.count;  // added 'ba' blocks will have this index.
	A.blocks.Add(float3Nx3N::Block(s.b, s.a));
	dFdX.blocks.Add(float3Nx3N::Block(s.b, s.a));
	dFdV.blocks.Add(float3Nx3N::Block(s.b, s.a));
	return s;
}

void SpringNetwork::PreSolveSpring(const SpringNetwork::Spring &s)
{
	// Adds this spring's contribution into force vector F and force derivitves dFdX and dFdV
	// One optimization would be premultiply dfdx by dt*dt and F and dFdV by dt right here in this function.
	// However, for educational purposes we wont do that now and intead just follow the paper directly.
	//assert(dFdX.blocks[s.a].c==s.a);  // delete this assert, no bugs here
	//assert(dFdX.blocks[s.a].r==s.a);
	float3 extent = X[s.b] - X[s.a];
	float length = magnitude(extent);
	float3 dir = (length == 0) ? float3(0, 0, 0) : extent * 1.0f / length;
	float3 vel = V[s.b] - V[s.a];
	float k = spring_k[s.type];
	float3 f = dir * ((k * (length - s.restlen)) + spring_damp * dot(vel, dir));  // spring force + damping force
	F[s.a] += f;
	F[s.b] -= f;
	float3x3 dfdx = dfdx_spring(dir, length, s.restlen, k) + dfdx_damp(dir, length, vel, s.restlen, spring_damp);
	dFdX.blocks[s.a].m -= dfdx;    // diagonal chunk dFdX[a,a]
	dFdX.blocks[s.b].m -= dfdx;    // diagonal chunk dFdX[b,b]
	dFdX.blocks[s.iab].m += dfdx;  // off-diag chunk dFdX[a,b]
	dFdX.blocks[s.iba].m += dfdx;  // off-diag chunk dFdX[b,a]
	float3x3 dfdv = dfdv_damp(dir, spring_damp);
	dFdV.blocks[s.a].m -= dfdv;    // diagonal chunk dFdV[a,a]
	dFdV.blocks[s.b].m -= dfdv;    // diagonal chunk dFdV[b,b]
	dFdV.blocks[s.iab].m += dfdv;  // off-diag chunk dFdV[a,b]
	dFdV.blocks[s.iba].m += dfdv;  // off-diag chunk dFdV[b,a]
}

void SpringNetwork::CalcForces()
{
	// Collect forces and derivatives:  F,dFdX,dFdV
	dFdX.Zero();
	dFdV.InitDiagonal(-spring_air);
	F.Init(cloth_gravity);

	F.element[0] = float3(0, 0, 0);
	F.element[numX - 1] = float3(0, 0, 0);

	F -= V * spring_air;
	for (int i = 0; i < springs.count; i++)
	{
		PreSolveSpring(springs[i]);  // will add to F,dFdX,dFdV
	}
}

void SpringNetwork::Simulate(float dt)
{
	// Get ready for conjugate gradient iterative solver step.
	// Initialize operands.
	if (!awake) return;
	CalcForces();
	int n = X.count;    // all our big vectors are of this size
	float3N dFdXmV(n);  // temp to store result of matrix multiply
	float3N B(n);
	dV.Zero();
	A.Identity();  // build up the big matrix we feed to solver
	A -= dFdV * dt + dFdX * (dt * dt);

	dFdXmV = dFdX * V;
	B = F * dt + dFdXmV * (dt * dt);

	ConjGradientFiltered(dV, A, B, S);
	V = V + dV;
	//	   V.element[0] = float3(0,0,0);
	//	   V.element[numX-1] = float3(0,0,0);

	X = X + V * dt;

	UpdateLimits();
	awake = (dot(V, V) < cloth_sleepthreshold) ? awake - 1 : awake = cloth_sleepcount;
}