Blender Git Loki

Hair collision: Use the S matrix for enforcing contact constraints.

This is a first test, the contacts are very explosive atm because they
basically pin hair vertices globally on collision, which leads to
stretching of the springs which is then suddenly released in the next
frame.

Preparation for collision code fixing.

Instead of handling contact tests and collision response in the same
function in collision.c, first generate contact points and return them
as a list, then free at the end of the stepping function. This way the
contact response can be integrated into the conjugate gradient method
properly instead of using the hackish and unstable double evaluation
that is currently used.

Cleanup: added some comments to the members of Implicit_Data.

Cleanup: No point in passing all the implicit solver arguments
individually.

Cleanup: removed the unused olddV vectors from implicit solver data.

Some more debug elements for hair collisions.

Extended line/face collision near-check, to allow for distance margins.

The original BLI method for line/triangle intersection returns false
in case the line does not actually intersect, but in order to generate
repulsion forces we need to also handle contacts inside the margin.

Fix bounce/repulse calculation.

Hair debugging: use "categories" (strings) for grouping debug elements
and support clearing for categories.

Fix for hair collision detection: need to use the second point of the
timestep segment.

This ensures the distance for a collision pair is the one of the current
point position, and the response gets calculated accordingly.

Use repulsion forces in combination with the one-time penalty forces
in collision.

Fix for crash when going into particle edit mode with baked hair
simulation.

Note that this currently generates an extreme amount of points, by
making a edit pathcache curve for each hair in every frame! But at least
doesn't simply crash now.

Clear debug_data pointer in local cloth modifier data of the particle
systems on blend file load.

Partial response force for hair collisions.

This implements a penalty force as well as a repulsion force to avoid
further penetration, as suggested in
"Simulating Complex Hair with Robust Collision Handling"
(http://graphics.snu.ac.kr/publications/2005-choe-HairSim/Choe_2005_SCA.pdf)

Friction forces are still missing. More problematic is handling of
moving colliders, when face swap places with the hair vertex and a
collision is missed, putting the vertex inside the mesh volume. Larger
margins might help, but ultimately using Bullet collision detection is
probably more reliable and failsafe.

Debug drawing for simulations, to aid in visualizing abstract data such
as forces, velocities, contact points etc.

This uses a hash table to store debug elements (dots, lines, vectors at
this point). The hash table allows continuous display of elements that
are generated only in certain time steps, e.g. contact points, while
avoiding massive memory allocation. In any case, this system is really
a development feature, but very helpful in finding issues with the
internal solver data.

Some initial collision code, without actual response forces still.

This is still using the old BVH tree collision methods to generate
contact points, similar to what cloth does. This should be replaced
by a Bullet collision check, but generating contacts in this way is
easier for now, and lets us test responses and stability (although in
more complex collision cases the BVH method fails utterly, beside being
terribly inefficient with many colliders).

Implemented internal hair pressure to prevent hair from collapsing in
on itself.

This uses the same voxel structure as the hair smoothing algorithm.
A slightly different method was suggested in the original paper
(Volumetric Methods for Simulation and Rendering of Hair), but this is
based on directing hair based on a target density, which is another
way of implementing global goals. Our own approach is to define a
pressure threshold above which the hair is repelled in the density
gradient direction to simulate internal pressure from collisions.

Fixed hair velocity smoothing.

This is an important hair interaction feature that simulates friction
between hairs in an efficient way. The method is based on the paper
"Volumetric Methods for Simulation and Rendering of Hair"
( http://graphics.pixar.com/library/Hair/paper.pdf )

It was partially implemented already, but didn't work in this simplified
version. The same voxel structure can be used for implemeting repelling
forces on hair based on density, which can help a hair system maintain
volume instead of collapsing in on itself.

Support for various data properties of the hair grid in the voxel
texture.

Fixed voxel grid initialization from hair points and colliders by using
the suggested tent function from the original paper.

Plain float->int conversion for the grid location otherwise leads to
skewed data and unnecessary loss of information.