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| author | mtamis <[email protected]> | 2017-02-15 16:06:25 +0100 |
|---|---|---|
| committer | mtamis <[email protected]> | 2017-02-15 16:06:25 +0100 |
| commit | 85305930aeeb1d513e23522bd91f29ba81aa6d14 (patch) | |
| tree | 45f1bb20a45a300d1fef107e436cac95602a0e57 /NvCloth/docs/documentation | |
| download | nvcloth-85305930aeeb1d513e23522bd91f29ba81aa6d14.tar.xz nvcloth-85305930aeeb1d513e23522bd91f29ba81aa6d14.zip | |
NvCloth library v1.0.0
Diffstat (limited to 'NvCloth/docs/documentation')
19 files changed, 3478 insertions, 0 deletions
diff --git a/NvCloth/docs/documentation/CopyRight/Index.html b/NvCloth/docs/documentation/CopyRight/Index.html new file mode 100644 index 0000000..80fd29c --- /dev/null +++ b/NvCloth/docs/documentation/CopyRight/Index.html @@ -0,0 +1,129 @@ + + +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" + "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> + +<html xmlns="http://www.w3.org/1999/xhtml"> + <head> + <meta http-equiv="Content-Type" content="text/html; charset=utf-8" /> + + <title>NVIDIA Copyright Notice — NVIDIA NvCloth Documentation</title> + <link rel="stylesheet" href="../_static/nvidia.css" type="text/css" /> + <link rel="stylesheet" href="../_static/pygments.css" type="text/css" /> + <link rel="stylesheet" href="../_static/custom.css" type="text/css" /> + <script type="text/javascript"> + var DOCUMENTATION_OPTIONS = { + URL_ROOT: '../', + VERSION: '0.0', + COLLAPSE_INDEX: false, + FILE_SUFFIX: '.html', + HAS_SOURCE: true + }; + </script> + <script type="text/javascript" src="../_static/jquery.js"></script> + <script type="text/javascript" src="../_static/underscore.js"></script> + <script type="text/javascript" src="../_static/doctools.js"></script> + <link rel="top" title="NVIDIA NvCloth Documentation" href="../index.html" /> + <link rel="prev" title="Users guide" href="../UsersGuide/Index.html" /> + </head> + <body> + <div class="related"> + <h3>Navigation</h3> + <ul> + <li class="right" style="margin-right: 10px"> + <a href="../UsersGuide/Index.html" title="Users guide" + accesskey="P">previous</a></li> + <li><a href="../NvCloth.html">NVIDIA NvCloth Documentation</a> »</li> + </ul> + </div> + + <div class="document"> + <div class="documentwrapper"> + <div class="bodywrapper"> + <div class="body"> + + <div class="section" id="nvidia-copyright-notice"> +<h1>NVIDIA Copyright Notice<a class="headerlink" href="#nvidia-copyright-notice" title="Permalink to this headline">¶</a></h1> +<blockquote> +<p>Copyright © 2016-2017, NVIDIA CORPORATION. All rights reserved.</p> +<p>NVIDIA CORPORATION and its licensors retain all intellectual property +and proprietary rights in and to this software, related documentation +and any modifications thereto. Any use, reproduction, disclosure or +distribution of this software and related documentation without an express +license agreement from NVIDIA CORPORATION is strictly prohibited.</p> +</blockquote> +</div> + + + </div> + </div> + </div> + <div class="sphinxsidebar"> + <div class="sphinxsidebarwrapper"> + <h4>Previous topic</h4> + <p class="topless"><a href="../UsersGuide/Index.html" + title="previous chapter">Users guide</a></p> +<div id="searchbox" style="display: none"> + <h3>Quick search</h3> + <form class="search" action="../search.html" method="get"> + <input type="text" name="q" size="18" /> + <input type="submit" value="Go" /> + <input type="hidden" name="check_keywords" value="yes" /> + <input type="hidden" name="area" value="default" /> + </form> + <p class="searchtip" style="font-size: 90%"> + Enter search terms or a module, class or function name. + </p> +</div> +<script type="text/javascript">$('#searchbox').show(0);</script> + </div> + </div> + <div class="clearer"></div> + </div> + <div class="related"> + <h3>Navigation</h3> + <ul> + <li class="right" style="margin-right: 10px"> + <a href="../UsersGuide/Index.html" title="Users guide" + >previous</a></li> + <li><a href="../NvCloth.html">NVIDIA NvCloth Documentation</a> »</li> + </ul> + </div> + + <script type="text/javascript"> + $(document).ready(function() { + $(".toggle > *").hide(); + $(".toggle .header").show(); + $(".toggle .header").click(function() { + $(this).parent().children().not(".header").toggle(400); + $(this).parent().children(".header").toggleClass("open"); + }) + }); +</script> + + +<script type="text/x-mathjax-config"> + MathJax.Hub.Config({ + extensions: ["tex2jax.js"], + jax: ["input/TeX", "output/HTML-CSS"], + tex2jax: { + processEscapes: true, + skipTags: ["script","noscript","style","textarea"] + }, + "HTML-CSS": { availableFonts: ["TeX"] }, + TeX: { + Macros: { + Lrg: ['\\displaystyle{#1}', 1, ""] + } + } + }); +</script> + + +<script type="text/javascript" async + src="http://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-MML-AM_CHTML"> +</script> + + + </body> +</html>
\ No newline at end of file diff --git a/NvCloth/docs/documentation/Modules/Index.html b/NvCloth/docs/documentation/Modules/Index.html new file mode 100644 index 0000000..f55d6b9 --- /dev/null +++ b/NvCloth/docs/documentation/Modules/Index.html @@ -0,0 +1,150 @@ + + +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" + "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> + +<html xmlns="http://www.w3.org/1999/xhtml"> + <head> + <meta http-equiv="Content-Type" content="text/html; charset=utf-8" /> + + <title>Modules — NVIDIA NvCloth Documentation</title> + <link rel="stylesheet" href="../_static/nvidia.css" type="text/css" /> + <link rel="stylesheet" href="../_static/pygments.css" type="text/css" /> + <link rel="stylesheet" href="../_static/custom.css" type="text/css" /> + <script type="text/javascript"> + var DOCUMENTATION_OPTIONS = { + URL_ROOT: '../', + VERSION: '0.0', + COLLAPSE_INDEX: false, + FILE_SUFFIX: '.html', + HAS_SOURCE: true + }; + </script> + <script type="text/javascript" src="../_static/jquery.js"></script> + <script type="text/javascript" src="../_static/underscore.js"></script> + <script type="text/javascript" src="../_static/doctools.js"></script> + <link rel="top" title="NVIDIA NvCloth Documentation" href="../index.html" /> + <link rel="next" title="Users guide" href="../UsersGuide/Index.html" /> + <link rel="prev" title="NVIDIA(R) NvCloth Documentation" href="../NvCloth.html" /> + </head> + <body> + <div class="related"> + <h3>Navigation</h3> + <ul> + <li class="right" style="margin-right: 10px"> + <a href="../UsersGuide/Index.html" title="Users guide" + accesskey="N">next</a></li> + <li class="right" > + <a href="../NvCloth.html" title="NVIDIA(R) NvCloth Documentation" + accesskey="P">previous</a> |</li> + <li><a href="../NvCloth.html">NVIDIA NvCloth Documentation</a> »</li> + </ul> + </div> + + <div class="document"> + <div class="documentwrapper"> + <div class="bodywrapper"> + <div class="body"> + + <div class="section" id="modules"> +<h1>Modules<a class="headerlink" href="#modules" title="Permalink to this headline">¶</a></h1> +<p>Here we list all modules that are part of NvCloth and give a brief description of supported features.</p> +<div class="section" id="nvcloth"> +<h2>NvCloth<a class="headerlink" href="#nvcloth" title="Permalink to this headline">¶</a></h2> +<p>This is the core part of the library that handles all runtime related tasks.</p> +</div> +<div class="section" id="nvcloth-extensions"> +<h2>NvCloth extensions<a class="headerlink" href="#nvcloth-extensions" title="Permalink to this headline">¶</a></h2> +<p>These extensions (which are currently compiled in to the same lib/dll as the core library) include cooking functions to prepare fabric data from triangle and quad meshes. +Users that want to use their own cooking or offline cooking can bypass these functions and provide their data directly to the core library.</p> +</div> +</div> + + + </div> + </div> + </div> + <div class="sphinxsidebar"> + <div class="sphinxsidebarwrapper"> + <h3><a href="../NvCloth.html">Table Of Contents</a></h3> + <ul> +<li><a class="reference internal" href="#">Modules</a><ul> +<li><a class="reference internal" href="#nvcloth">NvCloth</a></li> +<li><a class="reference internal" href="#nvcloth-extensions">NvCloth extensions</a></li> +</ul> +</li> +</ul> + + <h4>Previous topic</h4> + <p class="topless"><a href="../NvCloth.html" + title="previous chapter">NVIDIA(R) NvCloth Documentation</a></p> + <h4>Next topic</h4> + <p class="topless"><a href="../UsersGuide/Index.html" + title="next chapter">Users guide</a></p> +<div id="searchbox" style="display: none"> + <h3>Quick search</h3> + <form class="search" action="../search.html" method="get"> + <input type="text" name="q" size="18" /> + <input type="submit" value="Go" /> + <input type="hidden" name="check_keywords" value="yes" /> + <input type="hidden" name="area" value="default" /> + </form> + <p class="searchtip" style="font-size: 90%"> + Enter search terms or a module, class or function name. + </p> +</div> +<script type="text/javascript">$('#searchbox').show(0);</script> + </div> + </div> + <div class="clearer"></div> + </div> + <div class="related"> + <h3>Navigation</h3> + <ul> + <li class="right" style="margin-right: 10px"> + <a href="../UsersGuide/Index.html" title="Users guide" + >next</a></li> + <li class="right" > + <a href="../NvCloth.html" title="NVIDIA(R) NvCloth Documentation" + >previous</a> |</li> + <li><a href="../NvCloth.html">NVIDIA NvCloth Documentation</a> »</li> + </ul> + </div> + + <script type="text/javascript"> + $(document).ready(function() { + $(".toggle > *").hide(); 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\ No newline at end of file diff --git a/NvCloth/docs/documentation/NvCloth.html b/NvCloth/docs/documentation/NvCloth.html new file mode 100644 index 0000000..1c86187 --- /dev/null +++ b/NvCloth/docs/documentation/NvCloth.html @@ -0,0 +1,140 @@ + + +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" + "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> + +<html xmlns="http://www.w3.org/1999/xhtml"> + <head> + <meta http-equiv="Content-Type" content="text/html; charset=utf-8" /> + + <title>NVIDIA(R) NvCloth Documentation — NVIDIA NvCloth Documentation</title> + <link rel="stylesheet" href="_static/nvidia.css" type="text/css" /> + <link rel="stylesheet" href="_static/pygments.css" type="text/css" /> + <link rel="stylesheet" href="_static/custom.css" type="text/css" /> + <script type="text/javascript"> + var DOCUMENTATION_OPTIONS = { + URL_ROOT: '', + VERSION: '0.0', + COLLAPSE_INDEX: false, + FILE_SUFFIX: '.html', + HAS_SOURCE: true + }; + </script> + <script type="text/javascript" src="_static/jquery.js"></script> + <script type="text/javascript" src="_static/underscore.js"></script> + <script type="text/javascript" src="_static/doctools.js"></script> + <link rel="top" title="NVIDIA NvCloth Documentation" href="index.html" /> + <link rel="next" title="Modules" href="Modules/Index.html" /> + </head> + <body> + <div class="related"> + <h3>Navigation</h3> + <ul> + <li class="right" style="margin-right: 10px"> + <a href="Modules/Index.html" title="Modules" + accesskey="N">next</a></li> + <li><a href="#">NVIDIA NvCloth Documentation</a> »</li> + </ul> + </div> + + <div class="document"> + <div class="documentwrapper"> + <div class="bodywrapper"> + <div class="body"> + + <div class="section" id="nvidia-r-nvcloth-documentation"> +<h1>NVIDIA(R) NvCloth Documentation<a class="headerlink" href="#nvidia-r-nvcloth-documentation" title="Permalink to this headline">¶</a></h1> +<blockquote> +<p>(NVIDIA(R) NvCloth)</p> +<p>Contents:</p> +<div class="toctree-wrapper compound"> +<ul> +<li class="toctree-l1"><a class="reference internal" href="Modules/Index.html">Modules</a><ul> +<li class="toctree-l2"><a class="reference internal" href="Modules/Index.html#nvcloth">NvCloth</a></li> +<li class="toctree-l2"><a class="reference internal" href="Modules/Index.html#nvcloth-extensions">NvCloth extensions</a></li> +</ul> +</li> +<li class="toctree-l1"><a class="reference internal" href="UsersGuide/Index.html">Users guide</a><ul> +<li class="toctree-l2"><a class="reference internal" href="UsersGuide/Index.html#setup">Setup</a></li> +<li class="toctree-l2"><a class="reference internal" href="UsersGuide/Index.html#usage">Usage</a></li> +</ul> +</li> +<li class="toctree-l1"><a class="reference internal" href="CopyRight/Index.html">NVIDIA Copyright Notice</a></li> +</ul> +</div> +</blockquote> +</div> + + + </div> + </div> + </div> + <div class="sphinxsidebar"> + <div class="sphinxsidebarwrapper"> + <h4>Next topic</h4> + <p class="topless"><a href="Modules/Index.html" + title="next chapter">Modules</a></p> +<div id="searchbox" style="display: none"> + <h3>Quick search</h3> + <form class="search" action="search.html" method="get"> + <input type="text" name="q" size="18" /> + <input type="submit" value="Go" /> + <input type="hidden" name="check_keywords" value="yes" /> + <input type="hidden" name="area" value="default" /> + </form> + <p class="searchtip" style="font-size: 90%"> + Enter search terms or a module, class or function name. + </p> +</div> +<script type="text/javascript">$('#searchbox').show(0);</script> + </div> + </div> + <div class="clearer"></div> + </div> + <div class="related"> + <h3>Navigation</h3> + <ul> + <li class="right" style="margin-right: 10px"> + <a href="Modules/Index.html" title="Modules" + >next</a></li> + <li><a href="#">NVIDIA NvCloth Documentation</a> »</li> + </ul> + </div> + + <script type="text/javascript"> + $(document).ready(function() { + $(".toggle > *").hide(); + $(".toggle .header").show(); + $(".toggle .header").click(function() { + $(this).parent().children().not(".header").toggle(400); + $(this).parent().children(".header").toggleClass("open"); + }) + }); +</script> + + +<script type="text/x-mathjax-config"> + MathJax.Hub.Config({ + extensions: ["tex2jax.js"], + jax: ["input/TeX", "output/HTML-CSS"], + tex2jax: { + processEscapes: true, + skipTags: ["script","noscript","style","textarea"] + }, + "HTML-CSS": { availableFonts: ["TeX"] }, + TeX: { + Macros: { + Lrg: ['\\displaystyle{#1}', 1, ""] + } + } + }); +</script> + + +<script type="text/javascript" async + src="http://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-MML-AM_CHTML"> +</script> + + + </body> +</html>
\ No newline at end of file diff --git a/NvCloth/docs/documentation/Solver/Index.html b/NvCloth/docs/documentation/Solver/Index.html new file mode 100644 index 0000000..8c98c15 --- /dev/null +++ b/NvCloth/docs/documentation/Solver/Index.html @@ -0,0 +1,367 @@ + + +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" + "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> + +<html xmlns="http://www.w3.org/1999/xhtml"> + <head> + <meta http-equiv="Content-Type" content="text/html; charset=utf-8" /> + + <title>Internal solver function/algorithm documentation — NVIDIA NvCloth Documentation</title> + <link rel="stylesheet" href="../_static/nvidia.css" type="text/css" /> + <link rel="stylesheet" href="../_static/pygments.css" type="text/css" /> + <link rel="stylesheet" href="../_static/custom.css" type="text/css" /> + <script type="text/javascript"> + var DOCUMENTATION_OPTIONS = { + URL_ROOT: '../', + VERSION: '0.0', + COLLAPSE_INDEX: false, + FILE_SUFFIX: '.html', + HAS_SOURCE: true + }; + </script> + <script type="text/javascript" src="../_static/jquery.js"></script> + <script type="text/javascript" src="../_static/underscore.js"></script> + <script type="text/javascript" src="../_static/doctools.js"></script> + <link rel="top" title="NVIDIA NvCloth Documentation" href="../index.html" /> + </head> + <body> + <div class="related"> + <h3>Navigation</h3> + <ul> + <li><a href="../NvCloth.html">NVIDIA NvCloth Documentation</a> »</li> + </ul> + </div> + + <div class="document"> + <div class="documentwrapper"> + <div class="bodywrapper"> + <div class="body"> + + <div class="section" id="internal-solver-function-algorithm-documentation"> +<h1>Internal solver function/algorithm documentation<a class="headerlink" href="#internal-solver-function-algorithm-documentation" title="Permalink to this headline">¶</a></h1> +<p>This document describes the internal workings of the solver. +We describe how the different parts work independent from platform specific features. Although we might occasionally comment on particular implementation details.</p> +<p>Todo: give this solver a name, so that we can differentiate when a new/different solver is added.</p> +<div class="toggle container"> +<div class="header container"> +Show/Hide Code</div> +<div class="togglecontent container"> +test togglecontent</div> +</div> +<div class="section" id="overview"> +<h2>Overview<a class="headerlink" href="#overview" title="Permalink to this headline">¶</a></h2> +<p>Overview of the general algorithm goes here.</p> +<ul class="simple"> +<li>Integrate particles (integrateParticles())</li> +<li>Simulate wind/drag/lift (applyWind())</li> +<li>Distance constraints (constrainMotion())</li> +<li>Tether constraints (constrainTether())</li> +<li>Solve edge constraints (solveFabric())</li> +<li>Solve separation constraints (constrainSeparation())</li> +<li>Collision (collideParticles())</li> +<li>Self collision (selfCollideParticles())</li> +<li>Update sleep state (updateSleepState())</li> +</ul> +</div> +<div class="section" id="particle-invmass-w-component"> +<h2>Particle invMass w component<a class="headerlink" href="#particle-invmass-w-component" title="Permalink to this headline">¶</a></h2> +<p>Todo: check and rewrite:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="c1">// note on invMass (stored in current/previous positions.w):</span> +<span class="c1">// integrateParticles()</span> +<span class="c1">// - if(current.w == 0) current.w = previous.w</span> +<span class="c1">// constraintMotion()</span> +<span class="c1">// - if(constraint.radius <= 0) current.w = 0</span> +<span class="c1">// computeBounds()</span> +<span class="c1">// - if(current.w > 0) current.w = previous.w</span> +<span class="c1">// collideParticles()</span> +<span class="c1">// - if(collides) current.w *= 1/massScale</span> +<span class="c1">// after simulate()</span> +<span class="c1">// - previous.w: original invMass as set by user</span> +<span class="c1">// - current.w: zeroed by motion constraints and mass-scaled by collision</span> +</pre></div> +</div> +</div> +<div class="section" id="slack"> +<h2>Slack<a class="headerlink" href="#slack" title="Permalink to this headline">¶</a></h2> +<p>The position constraint for keeping distance between points a and b is usually written as:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">error</span> <span class="o">=</span> <span class="o">|</span><span class="n">b</span><span class="o">-</span><span class="n">a</span><span class="o">|</span> <span class="o">-</span> <span class="n">restLength</span> +<span class="n">offset</span> <span class="o">=</span> <span class="n">error</span> <span class="o">*</span> <span class="p">(</span><span class="n">b</span><span class="o">-</span><span class="n">a</span><span class="p">)</span><span class="o">/|</span><span class="n">b</span><span class="o">-</span><span class="n">a</span><span class="o">|</span> + <span class="o">=</span> <span class="p">(</span><span class="n">b</span><span class="o">-</span><span class="n">a</span><span class="p">)</span> <span class="o">-</span> <span class="n">restLength</span><span class="o">*</span><span class="p">(</span><span class="n">b</span><span class="o">-</span><span class="n">a</span><span class="p">)</span><span class="o">/|</span><span class="n">b</span><span class="o">-</span><span class="n">a</span><span class="o">|</span> +</pre></div> +</div> +<p>The equation calculating <em>slack</em> pops up often in the solver code. +This does exactly the same as the above:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">slack</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">-</span> <span class="n">restLength</span> <span class="o">/</span> <span class="o">|</span><span class="n">b</span><span class="o">-</span><span class="n">a</span><span class="o">|</span> +<span class="n">offset</span> <span class="o">=</span> <span class="p">(</span><span class="n">b</span><span class="o">-</span><span class="n">a</span><span class="p">)</span> <span class="o">*</span> <span class="n">slack</span> + <span class="o">=</span> <span class="p">(</span><span class="n">b</span><span class="o">-</span><span class="n">a</span><span class="p">)</span> <span class="o">-</span> <span class="n">restLength</span><span class="o">*</span><span class="p">(</span><span class="n">b</span><span class="o">-</span><span class="n">a</span><span class="p">)</span><span class="o">/|</span><span class="n">b</span><span class="o">-</span><span class="n">a</span><span class="o">|</span> +</pre></div> +</div> +</div> +<div class="section" id="integration"> +<h2>Integration<a class="headerlink" href="#integration" title="Permalink to this headline">¶</a></h2> +<p>The first step of the cloth simulation is the integration. +Explicit Euler integration is used to calculate the new position of the particles. +The velocity of the particles is not stored, instead we use the position from the previous frame to calculate the velocity. +We need to compensate for differences in delta time. Large fluctuations can cause problems, so the delta time is damped.</p> +<p>The following pseudo code describes how this is implemented:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="c1">//calculate damping constants from user setting 'damping'</span> +<span class="n">logDamping</span> <span class="o">=</span> <span class="n">log_2</span><span class="p">(</span><span class="mi">1</span><span class="o">-</span><span class="n">damping</span><span class="p">)</span> <span class="c1">//from ClothImpl<T>::setDamping</span> +<span class="n">dampExponent</span> <span class="o">=</span> <span class="n">stiffnessFrequency</span> <span class="o">*</span> <span class="n">dt1</span> <span class="c1">//from IterationState::create</span> + +<span class="c1">//calculate delta time ajustment</span> +<span class="n">scale</span> <span class="o">=</span> <span class="n">e</span><span class="o">^</span><span class="p">{</span><span class="n">logDamping</span> <span class="o">*</span> <span class="n">dampExponent</span><span class="p">}</span> <span class="o">*</span> <span class="p">{</span><span class="n">dt1</span><span class="o">/</span><span class="n">dt0</span><span class="p">}</span> <span class="c1">//from IterationState::create</span> +<span class="c1">//Do the integration</span> +<span class="n">delta</span> <span class="o">=</span> <span class="p">(</span><span class="n">particle_position1</span><span class="o">-</span><span class="n">particle_position0</span><span class="p">)</span> <span class="o">*</span> <span class="n">scale</span> <span class="o">+</span> <span class="n">acceleration</span> +<span class="n">particle_position1</span> <span class="o">=</span> <span class="n">particle_position1</span> <span class="o">+</span> <span class="n">delta</span> +</pre></div> +</div> +<p>The integration code also replaces the current inverse mass with the previous inverse mass if the current is zero.</p> +<p>Todo: rotating reference frame.</p> +<p>Todo: how does damping work?</p> +</div> +<div class="section" id="wind-simulation"> +<h2>Wind simulation<a class="headerlink" href="#wind-simulation" title="Permalink to this headline">¶</a></h2> +<p>Drag and lift simulation is done in the applyWind() function. +The following algorithm is used:</p> +<div class="highlight-c++"><pre>for each triangle + \(p_j\) is the previous and \(c_j\) is the current position and \(m^{-1}_j\) is the inverse mass of the \(j\)th particle in of the triangle. + + //Calculate current and previous center of the triangle + \(c_t = \frac{1}{3} \cdot \left( c_0 + c_1 + c_2 \right)\) + \(p_t = \frac{1}{3} \cdot \left( p_0 + p_1 + p_2 \right)\) + + //Position difference including wind (same as flow speed times dt) + \(d = c_t - p_t + wind\) + + if rotating reference frame + \(d = c_t + R\left(d-c_t\right)\) //where \(R\) is the inverse local space rotation for one solver iteration + //Todo check/explain this + + //Unnormalized normal of the triangle + \(n = \left(c_2 - c_0\right) \times \left(c_1 - c_0\right) \) + + //Double the area of the triangle + \(a = \left|n\right| \) + + \(\Lrg{ \cos\left(\theta\right) = \frac{n \cdot d}{\left|n\right| \cdot \left|d \right|} }\) + \(\Lrg{ \sin\left(\theta\right) = \sqrt{\max(0, 1 - \cos\left(\theta\right)^2)}}\) + + //Lift direction is orthogonal to delta, in the delta-normal plane. Its length is \(\left|n\right|\cdot\left|d\right|\) + \(\Lrg{ l_{dir} = \frac{\left( d \times n\right) \times d}{\left|d \right|} }\) + + //Calculate the lift and drag impulse + //The lift is at its maximum when \(d\) is at an \(45^\circ\) angle to the triangle + //We use \(\sin\left(\theta\right)\cdot\cos\left(\theta\right) = \frac{1}{2}\sin\left(2\cdot \theta\right)\) to calculate this + \(i_{lift} = c_{lift} \cdot \cos\left(\theta\right) \cdot \sin\left(\theta\right) \cdot l_{dir} \) + \(i_{drag} = c_{drag} \cdot \left|\cos\left(\theta\right)\right| \cdot a \cdot d \) + //\(c_{lift} \) and \(c_{drag}\) are the lift and drag coefficients + //\(c_{drag}\) should be set to compensate for the double area in \(a\) + + //combined impulse + \(\Lrg{ i = + \begin{cases} + \epsilon < \left|d\right|^2,& 0\\ + \text{else},& i_{lift} + i_{drag} + \end{cases} + }\) + + //apply impulses to the particle positions + for each particle \(j = \left\{ 0, 1, 2 \right\} \) + \(c_j = c_j - i \cdot m^{-1}_j \)</pre> +</div> +<p>Note that when we combine the impulses we check if \(\left|d\right|\) is too small as this causes instabilities due to float division inaccuracies. +This can cause different drag and lift behavior depending on the time step size (or solver frequency). +Smaller time steps result in smaller position deltas which reach the \(\epsilon\) threshold sooner. +This results in less drag/lift at small time steps (high solver frequencies) for slow moving particles.</p> +</div> +<div class="section" id="distance-constraints"> +<h2>Distance constraints<a class="headerlink" href="#distance-constraints" title="Permalink to this headline">¶</a></h2> +<p>A distance constraint can limit the movement of a particle to the volume of a sphere. +The constraints are specified with an array of 4 dimensional vectors (physx::PxVec4) where the x, y, z elements define the center and w the radius of the sphere.</p> +<p>The constraints are interpolated between the start and target spheres if both are given.</p> +<p>The constrainMotion() function in the solver is responsible for enforcing these constraints. +The following pseudo code describes how this is implemented:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">delta</span> <span class="o">=</span> <span class="n">sphere_center</span> <span class="o">-</span> <span class="n">particle_position</span> +<span class="n">sqrLength</span> <span class="o">=</span> <span class="n">epsilon</span> <span class="o">+</span> <span class="o">|</span><span class="n">delta</span><span class="o">|^</span><span class="mi">2</span> +<span class="n">radius</span> <span class="o">=</span> <span class="n">max</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">sphere_radius</span> <span class="o">*</span> <span class="n">scale</span> <span class="o">+</span> <span class="n">bias</span><span class="p">)</span> +<span class="n">slack</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">-</span> <span class="n">radius</span> <span class="o">/</span> <span class="n">sqrt</span><span class="p">{</span><span class="n">sqrLength</span><span class="p">}</span> + +<span class="k">if</span><span class="p">(</span><span class="n">slack</span><span class="o">></span><span class="mi">0</span><span class="p">)</span> +<span class="p">{</span> + <span class="k">if</span><span class="p">(</span><span class="n">radius</span> <span class="o"><=</span> <span class="mi">0</span><span class="p">)</span> + <span class="n">particle_invMass</span><span class="p">.</span><span class="n">w</span> <span class="o">=</span> <span class="mi">0</span> <span class="c1">//Set the inverse mass to 0 if we are constrained to a zero radius sphere</span> + <span class="n">slack</span> <span class="o">=</span> <span class="n">slack</span> <span class="o">*</span> <span class="n">stiffness</span> + <span class="n">particle</span><span class="p">.</span><span class="n">xyz</span> <span class="o">+=</span> <span class="n">delta</span> <span class="o">*</span> <span class="n">slack</span> +<span class="p">}</span> +</pre></div> +</div> +</div> +<div class="section" id="tether-constraints"> +<h2>Tether constraints<a class="headerlink" href="#tether-constraints" title="Permalink to this headline">¶</a></h2> +<p>Tether constraints help with reducing the stretchiness of the cloth without increasing the solver iteration count. +This is done by adding additional max distance constraints connecting simulated particles with their nearest fixed particle(s). +The tether constraints are stored as an index & length pair. +The array of constraints has a multiple of particle count elements. +The constraints in the array are stored in order so that the first particle of the constraint is element%numParticles. +The index stored in the constraint defines the other (anchor) particle of the constraint.</p> +<p>The constraint for one particle is solved as follows:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">offset</span> <span class="o">=</span> <span class="mi">0</span> +<span class="k">for</span> <span class="n">each</span> <span class="n">tether</span> <span class="n">connecting</span> <span class="n">pb</span> + <span class="c1">//pa is the anchor particle</span> + <span class="n">delta</span> <span class="o">=</span> <span class="n">pa</span> <span class="o">-</span> <span class="n">pb</span> + <span class="n">radius</span> <span class="o">=</span> <span class="n">tetherLength</span> <span class="o">*</span> <span class="n">scale</span> + <span class="n">slack</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">-</span> <span class="n">radius</span> <span class="o">/</span> <span class="p">(</span><span class="o">|</span><span class="n">delta</span><span class="o">|</span> <span class="o">+</span> <span class="n">epsilon</span><span class="p">)</span> + <span class="n">offset</span> <span class="o">+=</span> <span class="n">delta</span> <span class="o">*</span> <span class="n">max</span><span class="p">(</span><span class="n">slack</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span> +<span class="n">pb</span> <span class="o">+=</span> <span class="n">offset</span> <span class="o">*</span> <span class="n">stiffness</span> +</pre></div> +</div> +<p>The stiffness is calculated as follows:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">stiffness</span> <span class="o">=</span> <span class="n">tetherConstraintStiffness</span> <span class="o">*</span> <span class="n">numParticles</span> <span class="o">/</span> <span class="n">numTethers</span> +</pre></div> +</div> +</div> +<div class="section" id="edge-constraints"> +<h2>Edge constraints<a class="headerlink" href="#edge-constraints" title="Permalink to this headline">¶</a></h2> +<p>Algorithm:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">r</span> <span class="o">=</span> <span class="n">restlength</span> +<span class="n">pi</span> <span class="o">=</span> <span class="n">particle</span> <span class="n">i</span> +<span class="n">piw</span> <span class="o">=</span> <span class="n">inv</span> <span class="n">weight</span> <span class="n">of</span> <span class="n">particle</span> <span class="n">i</span> +<span class="n">h</span> <span class="o">=</span> <span class="n">pb</span><span class="o">-</span><span class="n">pa</span> +<span class="n">e2</span> <span class="o">=</span> <span class="n">epsilon</span> <span class="o">+</span> <span class="o">|</span><span class="n">h</span><span class="o">|^</span><span class="mi">2</span> +<span class="n">er</span> <span class="o">=</span> <span class="n">r</span><span class="o">></span><span class="mi">0</span> <span class="o">?</span> <span class="p">(</span><span class="mi">1</span> <span class="o">-</span> <span class="n">r</span> <span class="o">/</span> <span class="n">sqrt</span><span class="p">{</span><span class="n">e2</span><span class="p">})</span> <span class="o">:</span> <span class="mi">0</span> + +<span class="k">if</span><span class="p">(</span><span class="n">useMultiplier</span><span class="p">)</span> +<span class="p">{</span> + <span class="c1">//from PhaseConfig.h cloth::transform</span> + <span class="n">multiplierC</span> <span class="o">=</span> <span class="n">log2</span><span class="p">(</span><span class="n">stiffnessMultiplier</span><span class="p">)</span> + <span class="n">compressionLimitC</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">-</span> <span class="mi">1</span> <span class="o">/</span> <span class="n">compressionLimit</span> + <span class="n">strechLimitC</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">-</span> <span class="mi">1</span> <span class="o">/</span> <span class="n">stretchLimit</span> + <span class="n">er</span> <span class="o">-=</span> <span class="n">multiplierC</span> <span class="o">*</span> <span class="n">max</span><span class="p">(</span><span class="n">compressionLimitC</span><span class="p">,</span> <span class="n">min</span><span class="p">(</span><span class="n">er</span><span class="p">,</span> <span class="n">stretchLimitC</span><span class="p">))</span> +<span class="p">}</span> + +<span class="n">stiffnessExponent</span> <span class="o">=</span> <span class="n">stiffnessFrequency</span> <span class="o">*</span> <span class="n">dt</span><span class="o">/</span><span class="n">iterations</span> +<span class="n">stiffness</span> <span class="o">=</span> <span class="n">log2</span><span class="p">(</span><span class="mi">1</span><span class="o">-</span><span class="n">stiffness</span><span class="p">)</span> <span class="c1">//check when this happens //from PhaseConfig.h cloth::transform</span> +<span class="n">stiffnessC</span> <span class="o">=</span> <span class="mi">1</span><span class="o">-</span><span class="mi">2</span><span class="o">^</span><span class="p">{</span><span class="n">stiffness</span> <span class="o">*</span> <span class="n">stiffnessExponent</span><span class="p">}</span> +<span class="n">ex</span> <span class="o">=</span> <span class="n">er</span> <span class="o">*</span> <span class="n">stiffnessC</span> <span class="o">/</span> <span class="p">(</span><span class="n">pbw</span><span class="o">+</span><span class="n">paw</span><span class="p">)</span> + +<span class="n">pa</span> <span class="o">=</span> <span class="n">pa</span> <span class="o">+</span> <span class="n">h</span><span class="o">*</span><span class="n">ex</span> <span class="o">*</span> <span class="n">paw</span> +<span class="n">pb</span> <span class="o">=</span> <span class="n">pb</span> <span class="o">-</span> <span class="n">h</span><span class="o">*</span><span class="n">ex</span> <span class="o">*</span> <span class="n">pbw</span> +</pre></div> +</div> +</div> +<div class="section" id="separation-constraints"> +<h2>Separation constraints<a class="headerlink" href="#separation-constraints" title="Permalink to this headline">¶</a></h2> +<p>Separation constraints do exactly the opposite of distance constraints. +These constraints ensure that the particles remain outside the defined spheres.</p> +<p>The constraints are interpolated between the start and target spheres if both are given.</p> +<p>The constrainSeparation() function in the solver is responsible for enforcing these constraints. +Solving a single constraint is done as follows:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="c1">//p is the particle position</span> +<span class="c1">//c is the sphere center</span> +<span class="c1">//r is the sphere radius</span> +<span class="n">d</span> <span class="o">=</span> <span class="n">c</span><span class="o">-</span><span class="n">p</span> +<span class="n">l</span> <span class="o">=</span> <span class="o">|</span><span class="n">d</span><span class="o">|</span> +<span class="n">slack</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">-</span> <span class="n">r</span><span class="o">/</span><span class="n">l</span> +<span class="k">if</span><span class="p">(</span><span class="n">slack</span> <span class="o"><</span> <span class="mi">0</span><span class="p">)</span> + <span class="n">p</span> <span class="o">+=</span> <span class="n">d</span> <span class="o">*</span> <span class="n">slack</span> +</pre></div> +</div> +</div> +<div class="section" id="fabric-data-structure"> +<h2>Fabric data structure<a class="headerlink" href="#fabric-data-structure" title="Permalink to this headline">¶</a></h2> +<p>The fabric data structure contains the constraint information that can be reused by multiple cloth instances. +The constraints are divided in different phases. +Each phase usually contains a different type of constraints such as (horizontal/vertical) stretching, searing, bending constraints.</p> +<p>mPhases contains indices indicating which set from mSets belongs to a phase.</p> +<p>mSets contains a list of start (and end) indices for mRestvalues and mIndices (if multiplied by 2). +The first rest value of set s is mRestvalues[mSets[s]] and the last is mRestvalues[mSets[s+1]-1].</p> +<p>mRestvalues contains the rest lengths / edge lengths of the constraints.</p> +<p>mIndices contains pairs of indices connected by a constraint. (mIndices.size()*2 == mRestvalues.size())</p> +</div> +</div> + + + </div> + </div> + </div> + <div class="sphinxsidebar"> + <div class="sphinxsidebarwrapper"> + <h3><a href="../NvCloth.html">Table Of Contents</a></h3> + <ul> +<li><a class="reference internal" href="#">Internal solver function/algorithm documentation</a><ul> +<li><a class="reference internal" href="#overview">Overview</a></li> +<li><a class="reference internal" href="#particle-invmass-w-component">Particle invMass w component</a></li> +<li><a class="reference internal" href="#slack">Slack</a></li> +<li><a class="reference internal" href="#integration">Integration</a></li> +<li><a class="reference internal" href="#wind-simulation">Wind simulation</a></li> +<li><a class="reference internal" href="#distance-constraints">Distance constraints</a></li> +<li><a class="reference internal" href="#tether-constraints">Tether constraints</a></li> +<li><a class="reference internal" href="#edge-constraints">Edge constraints</a></li> +<li><a class="reference internal" href="#separation-constraints">Separation constraints</a></li> +<li><a class="reference internal" href="#fabric-data-structure">Fabric data structure</a></li> +</ul> +</li> +</ul> + +<div id="searchbox" style="display: none"> + <h3>Quick search</h3> + <form class="search" action="../search.html" method="get"> + <input type="text" name="q" size="18" /> + <input type="submit" value="Go" /> + <input type="hidden" name="check_keywords" value="yes" /> + <input type="hidden" name="area" value="default" /> + </form> + <p class="searchtip" style="font-size: 90%"> + Enter search terms or a module, class or function name. + </p> +</div> +<script type="text/javascript">$('#searchbox').show(0);</script> + </div> + </div> + <div class="clearer"></div> + </div> + <div class="related"> + <h3>Navigation</h3> + <ul> + <li><a href="../NvCloth.html">NVIDIA NvCloth Documentation</a> »</li> + </ul> + </div> + + <script type="text/javascript"> + $(document).ready(function() { + $(".toggle > *").hide(); + $(".toggle .header").show(); + $(".toggle .header").click(function() { + $(this).parent().children().not(".header").toggle(400); + $(this).parent().children(".header").toggleClass("open"); + }) + }); +</script> + + +<script type="text/x-mathjax-config"> + MathJax.Hub.Config({ + extensions: ["tex2jax.js"], + jax: ["input/TeX", "output/HTML-CSS"], + tex2jax: { + processEscapes: true, + skipTags: ["script","noscript","style","textarea"] + }, + "HTML-CSS": { availableFonts: ["TeX"] }, + TeX: { + Macros: { + Lrg: ['\\displaystyle{#1}', 1, ""] + } + } + }); +</script> + + +<script type="text/javascript" async + src="http://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-MML-AM_CHTML"> +</script> + + + </body> +</html>
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id="users-guide"> +<h1>Users guide<a class="headerlink" href="#users-guide" title="Permalink to this headline">¶</a></h1> +<p>In this section we describe how to set up NvCloth and guide you through some common features.</p> +<div class="section" id="setup"> +<h2>Setup<a class="headerlink" href="#setup" title="Permalink to this headline">¶</a></h2> +<p>Some setup is required before we can start simulating. +Here we give an overview of all the components needed. +The sections below will provide more details about each component.</p> +<dl class="docutils"> +<dt><strong>NvCloth library</strong></dt> +<dd>uses callbacks for things like memory allocations, which need to be initialized</dd> +<dt><strong>Factory</strong></dt> +<dd>interface object creating all other objects</dd> +<dt><strong>Solver</strong></dt> +<dd>manages simulation and time stepping</dd> +<dt><strong>Fabric</strong></dt> +<dd>contains information about cloth that can be shared between multiple instances</dd> +<dt><strong>Cloth</strong></dt> +<dd>contains the cloth instance data</dd> +</dl> +<div class="section" id="initializing-the-library"> +<h3>Initializing the Library<a class="headerlink" href="#initializing-the-library" title="Permalink to this headline">¶</a></h3> +<p>NvCloth uses user defined callbacks for memory allocation, error reporting, assert handling, and profile timings. +The callbacks need to be passed to the library using nv::cloth::InitializeNvCloth() before the rest of the library can be used. +The callbacks are straightforward to implement by providing classes with implementations for all the functions of physx::PxAllocatorCallback, physx::PxErrorCallback, physx::PxAssertHandler, and optionally physx::PxProfilerCallback. +Note that the allocations returned by the PxAllocatorCallback need to be 16 byte aligned.</p> +<p>The library doesn’t need any deinitialization.</p> +</div> +<div class="section" id="factory"> +<h3>Factory<a class="headerlink" href="#factory" title="Permalink to this headline">¶</a></h3> +<p>The Factory object lets you construct all the other components necessary for the simulation. +There are different factories, one for each platform (e.g. CPU, CUDA, etc.) +Components created with different platforms cannot be used together (e.g. a CPU cloth cannot be added to a GPU solver), but multiple factories (for different platforms) can be used at the same time. +A factory is created as follows:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="cp">#include <NvCloth/Factory.h></span> + +<span class="p">...</span> + +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Factory</span><span class="o">*</span> <span class="n">factory</span> <span class="o">=</span> <span class="n">NvClothCreateFactoryCPU</span><span class="p">();</span> +<span class="k">if</span><span class="p">(</span><span class="n">factory</span><span class="o">==</span><span class="n">nullptr</span><span class="p">)</span> +<span class="p">{</span> + <span class="c1">//error</span> +<span class="p">}</span> + +<span class="p">...</span> +<span class="c1">//At cleanup:</span> +<span class="n">NvClothDestroyFactory</span><span class="p">(</span><span class="n">factory</span><span class="p">);</span> <span class="c1">//This works for all different factories.</span> +</pre></div> +</div> +<p>Different functions instead of NvClothCreateFactoryCPU() can be used to create factories for a different platform. +Some platforms may need additional arguments when creating the factory, like CUDA:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="c1">//// CUDA</span> +<span class="cp">#include <NvCloth/Factory.h></span> +<span class="cp">#include <cuda.h></span> + +<span class="p">...</span> + +<span class="n">CUcontext</span> <span class="n">cudaContext</span><span class="p">;</span> +<span class="kt">int</span> <span class="n">deviceCount</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> +<span class="n">CUresult</span> <span class="n">result</span> <span class="o">=</span> <span class="n">cuDeviceGetCount</span><span class="p">(</span><span class="o">&</span><span class="n">deviceCount</span><span class="p">);</span> +<span class="n">ASSERT</span><span class="p">(</span><span class="n">CUDA_SUCCESS</span> <span class="o">==</span> <span class="n">result</span><span class="p">);</span> +<span class="n">ASSERT</span><span class="p">(</span><span class="n">deviceCount</span> <span class="o">>=</span> <span class="mi">1</span><span class="p">);</span> + +<span class="n">result</span> <span class="o">=</span> <span class="n">cuCtxCreate</span><span class="p">(</span><span class="o">&</span><span class="n">cudaContext</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">);</span> <span class="c1">//Pick first device</span> +<span class="n">ASSERT</span><span class="p">(</span><span class="n">CUDA_SUCCESS</span> <span class="o">==</span> <span class="n">result</span><span class="p">);</span> + +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Factory</span><span class="o">*</span> <span class="n">factory</span> <span class="o">=</span> <span class="n">NvClothCreateFactoryCUDA</span><span class="p">(</span><span class="n">cudaContext</span><span class="p">);</span> +<span class="c1">//We need to call cuCtxDestroy(cudaContext); after destroying the factory.</span> +</pre></div> +</div> +<p>And DX11:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="c1">//// DX11</span> +<span class="cp">#include <NvCloth/Factory.h></span> +<span class="cp">#include <d3d11.h></span> + +<span class="p">...</span> + +<span class="c1">//Setup DX11 context</span> +<span class="n">ID3D11Device</span><span class="o">*</span> <span class="n">DXDevice</span><span class="p">;</span> +<span class="n">ID3D11DeviceContext</span><span class="o">*</span> <span class="n">DXDeviceContext</span><span class="p">;</span> +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">DxContextManagerCallback</span><span class="o">*</span> <span class="n">GraphicsContextManager</span><span class="p">;</span> +<span class="n">D3D_FEATURE_LEVEL</span> <span class="n">featureLevels</span><span class="p">[]</span> <span class="o">=</span> <span class="p">{</span><span class="n">D3D_FEATURE_LEVEL_11_0</span><span class="p">};</span> +<span class="n">D3D_FEATURE_LEVEL</span> <span class="n">featureLevelResult</span><span class="p">;</span> +<span class="n">HRESULT</span> <span class="n">result</span> <span class="o">=</span> <span class="n">D3D11CreateDevice</span><span class="p">(</span><span class="n">nullptr</span><span class="p">,</span> <span class="n">D3D_DRIVER_TYPE_HARDWARE</span><span class="p">,</span> <span class="n">nullptr</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="n">featureLevels</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="n">D3D11_SDK_VERSION</span><span class="p">,</span> <span class="o">&</span><span class="n">DXDevice</span><span class="p">,</span> <span class="o">&</span><span class="n">featureLevelResult</span><span class="p">,</span> <span class="o">&</span><span class="n">DXDeviceContext</span><span class="p">);</span> +<span class="n">ASSERT</span><span class="p">(</span><span class="n">result</span> <span class="o">==</span> <span class="n">S_OK</span><span class="p">);</span> +<span class="n">ASSERT</span><span class="p">(</span><span class="n">featureLevelResult</span> <span class="o">==</span> <span class="n">D3D_FEATURE_LEVEL_11_0</span><span class="p">);</span> +<span class="n">GraphicsContextManager</span> <span class="o">=</span> <span class="k">new</span> <span class="n">DxContextManagerCallbackImpl</span><span class="p">(</span><span class="n">DXDevice</span><span class="p">);</span> +<span class="n">ASSERT</span><span class="p">(</span><span class="n">GraphicsContextManager</span> <span class="o">!=</span> <span class="n">nullptr</span><span class="p">);</span> + +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Factory</span><span class="o">*</span> <span class="n">factory</span> <span class="o">=</span> <span class="n">NvClothCreateFactoryDX11</span><span class="p">(</span><span class="n">GraphicsContextManager</span><span class="p">);</span> +<span class="c1">//We need to release all DX objects after destroying the factory.</span> +</pre></div> +</div> +</div> +<div class="section" id="fabric-cloth"> +<h3>Fabric & Cloth<a class="headerlink" href="#fabric-cloth" title="Permalink to this headline">¶</a></h3> +<p>The data used for cloth simulation is divided into two objects. +The fabric object contains all reusable data like the constraint lengths and connections. +The cloth object contains all instance data like particle positions. +This way multiple cloths can share the same fabric data, reducing memory usage.</p> +<div class="section" id="fabric"> +<h4>Fabric<a class="headerlink" href="#fabric" title="Permalink to this headline">¶</a></h4> +<p>Creating the fabric is the most complicated part of the setup. +We have included helper functions as extension to simplify this step. +We can fill the nv::cloth::ClothMeshDesc meshDesc struct and pass it to the NvClothCookFabricFromMesh function if we use the cooking extension:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="cp">#include <NvClothExt/ClothFabricCooker.h></span> + +<span class="p">...</span> + +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">ClothMeshDesc</span> <span class="n">meshDesc</span><span class="p">;</span> + +<span class="c1">//Fill meshDesc with data</span> +<span class="n">meshDesc</span><span class="p">.</span><span class="n">setToDefault</span><span class="p">();</span> +<span class="n">meshDesc</span><span class="p">.</span><span class="n">points</span><span class="p">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">vertexArray</span><span class="p">;</span> +<span class="n">meshDesc</span><span class="p">.</span><span class="n">points</span><span class="p">.</span><span class="n">stride</span> <span class="o">=</span> <span class="k">sizeof</span><span class="p">(</span><span class="n">vertexArray</span><span class="p">[</span><span class="mi">0</span><span class="p">]);</span> +<span class="n">meshDesc</span><span class="p">.</span><span class="n">points</span><span class="p">.</span><span class="n">count</span> <span class="o">=</span> <span class="n">vertexCount</span><span class="p">;</span> +<span class="c1">//etc. for quads, triangles and invMasses</span> + +<span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span> <span class="n">gravity</span><span class="p">(</span><span class="mf">0.0f</span><span class="p">,</span> <span class="o">-</span><span class="mf">9.8f</span><span class="p">,</span> <span class="mf">0.0f</span><span class="p">);</span> +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Vector</span><span class="o"><</span><span class="n">int32_t</span><span class="o">>::</span><span class="n">Type</span> <span class="n">phaseTypeInfo</span><span class="p">;</span> +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Fabric</span><span class="o">*</span> <span class="n">fabric</span> <span class="o">=</span> <span class="n">NvClothCookFabricFromMesh</span><span class="p">(</span><span class="n">factory</span><span class="p">,</span> <span class="n">meshDesc</span><span class="p">,</span> <span class="n">gravity</span><span class="p">,</span> <span class="o">&</span><span class="n">phaseTypeInfo</span><span class="p">);</span> + +<span class="p">...</span> + +<span class="n">fabric</span><span class="o">-></span><span class="n">decRefCount</span><span class="p">();</span> +</pre></div> +</div> +<p>phaseTypeInfo contains information used later for setting up the constraint phases of the cloth. +We provide the gravity vector so the cooker can differentiate between horizontal and vertical constraints.</p> +<p>You have to release the fabric using the decRefCount() function. +Cloths that depend on the fabric also keep a reference, so it is safe to decrease the refcount when the fabric is still in use. +The fabric returned by NvClothCookFabricFromMesh (or by *Factory::createFabric) already has a reference count of 1. +The fabric will destroy itself when its reference count reaches 0. +All fabrics created by a factory need to be destroyed before that factory is destroyed (meaning indirectly that all cloths, which hold references to these fabrics, also need to be destroyed).</p> +<p>You can also manually provide all the cooked data using the Factory::createFabric function directly in case you have your own cooking code or if you do not cook at runtime.</p> +</div> +<div class="section" id="cloth"> +<h4>Cloth<a class="headerlink" href="#cloth" title="Permalink to this headline">¶</a></h4> +<p>We can now create a cloth instance from the fabric created in the previous step. +The cloth instance does not need to begin with the same particle positions the fabric was cooked in, so we need to provide the initial position of the particles:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">physx</span><span class="o">::</span><span class="n">PxVec4</span><span class="o">*</span> <span class="n">particlePositions</span> <span class="o">=</span> <span class="p">...;</span> <span class="c1">// The w component is the inverse mass of the particle</span> + <span class="c1">// and can be to 0 to lock the particle / make it static.</span> +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Cloth</span><span class="o">*</span> <span class="n">cloth</span> <span class="o">=</span> <span class="n">factory</span><span class="o">-></span><span class="n">createCloth</span><span class="p">(</span><span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Range</span><span class="o"><</span><span class="n">physx</span><span class="o">::</span><span class="n">PxVec4</span><span class="o">></span><span class="p">(</span> <span class="n">particlePositions</span><span class="p">,</span> <span class="o">&</span> <span class="n">particlePositions</span> <span class="o">+</span> <span class="n">particleCount</span><span class="p">),</span> <span class="o">*</span><span class="n">fabric</span><span class="p">);</span> +<span class="c1">// particlePositions can be freed here.</span> + +<span class="p">...</span> + +<span class="n">NV_CLOTH_DELETE</span><span class="p">(</span><span class="n">cloth</span><span class="p">);</span> +</pre></div> +</div> +<p>Now we need to setup the phase configurations. +Phase configurations control the order in which the constraints are solved (e.g. first horizontal then vertical etc.) and the constrain properties like stiffness:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">PhaseConfig</span><span class="o">*</span> <span class="n">phases</span> <span class="o">=</span> <span class="k">new</span> <span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">PhaseConfig</span><span class="p">[</span><span class="n">fabric</span><span class="o">-></span><span class="n">getNumPhases</span><span class="p">()];</span> +<span class="k">for</span><span class="p">(</span><span class="kt">int</span> <span class="n">i</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> <span class="n">i</span> <span class="o"><</span> <span class="n">fabric</span><span class="o">-></span><span class="n">getNumPhases</span><span class="p">();</span> <span class="n">i</span><span class="o">++</span><span class="p">)</span> +<span class="p">{</span> + <span class="n">phases</span><span class="p">[</span><span class="n">i</span><span class="p">].</span><span class="n">mPhaseIndex</span> <span class="o">=</span> <span class="n">i</span><span class="p">;</span> <span class="c1">// Set index to the corresponding set (constraint group)</span> + + <span class="c1">//Give phases different configs depending on type</span> + <span class="k">switch</span><span class="p">(</span><span class="n">phaseTypeInfo</span><span class="p">[</span><span class="n">i</span><span class="p">])</span> + <span class="p">{</span> + <span class="k">case</span> <span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">ClothFabricPhaseType</span><span class="o">::</span><span class="nl">eINVALID:</span> + <span class="c1">//ERROR</span> + <span class="k">break</span><span class="p">;</span> + <span class="k">case</span> <span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">ClothFabricPhaseType</span><span class="o">::</span><span class="nl">eVERTICAL:</span> + <span class="k">break</span><span class="p">;</span> + <span class="k">case</span> <span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">ClothFabricPhaseType</span><span class="o">::</span><span class="nl">eHORIZONTAL:</span> + <span class="k">break</span><span class="p">;</span> + <span class="k">case</span> <span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">ClothFabricPhaseType</span><span class="o">::</span><span class="nl">eBENDING:</span> + <span class="k">break</span><span class="p">;</span> + <span class="k">case</span> <span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">ClothFabricPhaseType</span><span class="o">::</span><span class="nl">eSHEARING:</span> + <span class="k">break</span><span class="p">;</span> + <span class="p">}</span> + + <span class="c1">//For this example we give very phase the same config</span> + <span class="n">phases</span><span class="p">[</span><span class="n">i</span><span class="p">].</span><span class="n">mStiffness</span> <span class="o">=</span> <span class="mf">1.0f</span><span class="p">;</span> + <span class="n">phases</span><span class="p">[</span><span class="n">i</span><span class="p">].</span><span class="n">mStiffnessMultiplier</span> <span class="o">=</span> <span class="mf">1.0f</span><span class="p">;</span> + <span class="n">phases</span><span class="p">[</span><span class="n">i</span><span class="p">].</span><span class="n">mCompressionLimit</span> <span class="o">=</span> <span class="mf">1.0f</span><span class="p">;</span> + <span class="n">phases</span><span class="p">[</span><span class="n">i</span><span class="p">].</span><span class="n">mStretchLimit</span> <span class="o">=</span> <span class="mf">1.0f</span><span class="p">;</span> +<span class="p">}</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">setPhaseConfig</span><span class="p">(</span><span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Range</span><span class="o"><</span><span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">PhaseConfig</span><span class="o">></span><span class="p">(</span><span class="o">&</span><span class="n">phases</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="o">&</span><span class="n">phases</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">fabric</span><span class="o">-></span><span class="n">getNumPhases</span><span class="p">()));</span> +<span class="k">delete</span> <span class="p">[]</span> <span class="n">phases</span><span class="p">;</span> +</pre></div> +</div> +<p>Note that there might be more phase of each type. +Check if the gravity vector used for cooking is correct (and in the same space as the cooked mesh) when the vertical phases are missing.</p> +<p>There are more properties you can set on the cloth. +They will be described below in the Usage section.</p> +</div> +</div> +<div class="section" id="solver"> +<h3>Solver<a class="headerlink" href="#solver" title="Permalink to this headline">¶</a></h3> +<p>The solver represents something similar to a scene. +It has a list of cloths that will be simulated together and it contains some simulation properties. +Creating a solver is simple:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Solver</span><span class="o">*</span> <span class="n">solver</span> <span class="o">=</span> <span class="n">factory</span><span class="o">-></span><span class="n">createSolver</span><span class="p">();</span> + +<span class="p">...</span> + +<span class="n">NV_CLOTH_DELETE</span><span class="p">(</span><span class="n">solver</span><span class="p">);</span> +</pre></div> +</div> +<p>We can add and remove cloths to/from the scene as follows:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">solver</span><span class="o">-></span><span class="n">addCloth</span><span class="p">(</span><span class="n">cloth</span><span class="p">);</span> + +<span class="p">...</span> + +<span class="n">solver</span><span class="o">-></span><span class="n">removeCloth</span><span class="p">(</span><span class="n">cloth</span><span class="p">);</span> +</pre></div> +</div> +<p>Advancing the simulation is broken up in a couple of function calls:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="kt">float</span> <span class="n">deltaTime</span> <span class="o">=</span> <span class="mf">1.0f</span><span class="o">/</span><span class="mf">60.0f</span><span class="p">;</span> +<span class="n">solver</span><span class="o">-></span><span class="n">beginSimulation</span><span class="p">(</span><span class="n">deltaTime</span><span class="p">);</span> +<span class="k">for</span><span class="p">(</span><span class="kt">int</span> <span class="n">i</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> <span class="n">i</span> <span class="o"><</span> <span class="n">solver</span><span class="o">-></span><span class="n">getSimulationChunkCount</span><span class="p">();</span> <span class="n">i</span><span class="o">++</span><span class="p">)</span> +<span class="p">{</span> + <span class="n">solver</span><span class="o">-></span><span class="n">simulateChunk</span><span class="p">(</span><span class="n">i</span><span class="p">);</span> +<span class="p">}</span> +<span class="n">solver</span><span class="o">-></span><span class="n">endSimulation</span><span class="p">();</span> +</pre></div> +</div> +<p>The simulateChunk() calls can be called concurrently from multiple threads to increase performance.</p> +</div> +<div class="section" id="retrieving-simulation-data"> +<h3>Retrieving simulation data<a class="headerlink" href="#retrieving-simulation-data" title="Permalink to this headline">¶</a></h3> +<p>We need to retrieve the new positions of the cloth particles after the simulation step to display the results:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">MappedRange</span><span class="o"><</span><span class="n">physx</span><span class="o">::</span><span class="n">PxVec4</span><span class="o">></span> <span class="n">particles</span> <span class="o">=</span> <span class="n">mCloth</span><span class="o">-></span><span class="n">getCurrentParticles</span><span class="p">();</span> +<span class="k">for</span><span class="p">(</span><span class="kt">int</span> <span class="n">i</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> <span class="n">i</span><span class="o"><</span><span class="n">particles</span><span class="p">.</span><span class="n">size</span><span class="p">();</span> <span class="n">i</span><span class="o">++</span><span class="p">)</span> +<span class="p">{</span> + <span class="c1">//do something with particles[i]</span> + <span class="c1">//the xyz components are the current positions</span> + <span class="c1">//the w component is the invMass.</span> +<span class="p">}</span> +<span class="c1">//destructor of particles should be called before mCloth is destroyed.</span> +</pre></div> +</div> +</div> +</div> +<div class="section" id="usage"> +<h2>Usage<a class="headerlink" href="#usage" title="Permalink to this headline">¶</a></h2> +<p>Cloth instances have many properties that can be influence their behavior. +This section shows how to use some of the most common properties.</p> +<div class="section" id="common-cloth-properties"> +<h3>Common cloth properties<a class="headerlink" href="#common-cloth-properties" title="Permalink to this headline">¶</a></h3> +<p>We can set the gravity acceleration vector in global space:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">cloth</span><span class="o">-></span><span class="n">setGravity</span><span class="p">(</span><span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span><span class="p">(</span><span class="mf">0.0f</span><span class="p">,</span> <span class="o">-</span><span class="mf">9.8f</span><span class="p">,</span> <span class="mf">0.0f</span><span class="p">));</span> +</pre></div> +</div> +<p>This vector doesn’t have to be the same as provided to the cooker.</p> +<p>Sometimes it is desirable to dampen the particle motion:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">cloth</span><span class="o">-></span><span class="n">setDamping</span><span class="p">(</span><span class="mf">0.5f</span><span class="p">);</span> <span class="c1">//0.0f is default</span> +</pre></div> +</div> +<p>Note that the effect of the damping varies between local and global space simulation, as it dampens the local space motion only (so everything is damped if global space simulation is used as local and global space are equal in that case). +To create effects like air drag or underwater motion it is better to use the wind / air drag properties instead.</p> +<p>We can change the accuracy (and stiffness) of the cloth by increasing the solver frequency. +The solver frequency is used to calculate how many solver iterations are executed per frame (Solver::begin/endSimulation call):</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">cloth</span><span class="o">-></span><span class="n">setSolverFrequency</span><span class="p">(</span><span class="mf">60.0f</span><span class="p">);</span> <span class="c1">//default is 300</span> +</pre></div> +</div> +<p>There will be at least 1 iteration executed per frame, regardless of the value set. +Sometimes lowering the solver frequency helps to avoid instabilities and oscillations, while a higher solver frequency can help to increase stiffness and improve other behavior like collision detection. +It is common to set this value to a multiple of the fps target for the application.</p> +</div> +<div class="section" id="tethers"> +<h3>Tethers<a class="headerlink" href="#tethers" title="Permalink to this headline">¶</a></h3> +<p>Tethers are generated at the cooking stage and stored in the fabric. +They improve behavior and reduce stretchiness by adding long range constraints between particles and fixed points.</p> +<p>We can change some properties of the tethers in the cloth instance. +We can change the length of all tethers by setting the scale:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">cloth</span><span class="o">-></span><span class="n">setTetherConstraintScale</span><span class="p">(</span><span class="mf">1.2f</span><span class="p">);</span> <span class="c1">//Increase the length by 20%</span> +</pre></div> +</div> +<p>We can make the tethers more spring like, or even disable them by changing the stiffness:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">cloth</span><span class="o">-></span><span class="n">setTetherConstraintStiffness</span><span class="p">(</span><span class="mf">0.0f</span><span class="p">);</span> <span class="c1">//Disable tethers</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">setTetherConstraintStiffness</span><span class="p">(</span><span class="mf">0.5f</span><span class="p">);</span> <span class="c1">//Springy tethers</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">setTetherConstraintStiffness</span><span class="p">(</span><span class="mf">1.0f</span><span class="p">);</span> <span class="c1">//Default value</span> +</pre></div> +</div> +<p>The whole tether stage is skipped if the stiffness is set to 0 (increasing performance).</p> +</div> +<div class="section" id="collision-detection"> +<h3>Collision detection<a class="headerlink" href="#collision-detection" title="Permalink to this headline">¶</a></h3> +<p>NvCloth provides a couple of different methods to add collision to the simulation. +All collision primitives are defined in local space.</p> +<p>We can define up to 32 collision spheres per cloth:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">physx</span><span class="o">::</span><span class="n">PxVec4</span> <span class="n">spheres</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span> + <span class="n">physx</span><span class="o">::</span><span class="n">PxVec4</span><span class="p">(</span><span class="mf">0.0f</span><span class="p">,</span> <span class="mf">0.0f</span><span class="p">,</span> <span class="mf">0.0f</span><span class="p">,</span> <span class="mf">1.0f</span><span class="p">),</span> + <span class="n">physx</span><span class="o">::</span><span class="n">PxVec4</span><span class="p">(</span><span class="mf">0.0f</span><span class="p">,</span> <span class="mf">5.0f</span><span class="p">,</span> <span class="mf">0.0f</span><span class="p">,</span> <span class="mf">1.0f</span><span class="p">)</span> +<span class="p">};</span> +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Range</span><span class="o"><</span><span class="k">const</span> <span class="n">physx</span><span class="o">::</span><span class="n">PxVec4</span><span class="o">></span> <span class="n">sphereRange</span><span class="p">(</span><span class="n">spheres</span><span class="p">,</span> <span class="n">spheres</span> <span class="o">+</span> <span class="mi">2</span><span class="p">);</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">setSpheres</span><span class="p">(</span><span class="n">sphereRange</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="n">cloth</span><span class="o">-></span><span class="n">getNumSpheres</span><span class="p">());</span> +</pre></div> +</div> +<p>The last two arguments define which range of spheres defined previously is replaced (the parameters work the same across all Cloth::set’CollisionShape’ functions). +This can be useful if only a couple of collision primitives changed since previous frame. +Here we use the range [0, cloth->getNumSpheres()[ to ensure we replace all spheres that might have been defined previously. +To insert the spheres at the beginning we could use [0, 0[ and to insert at the end we use [cloth->getNumSpheres(), cloth->getNumSpheres()[.</p> +<p>We can connect spheres to create capsules:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">uint32_t</span> <span class="n">capsuleIndices</span><span class="p">[</span><span class="mi">2</span><span class="p">];</span> +<span class="n">capsuleIndices</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> +<span class="n">capsuleIndices</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span> + +<span class="n">cloth</span><span class="o">-></span><span class="n">setCapsules</span><span class="p">(</span><span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Range</span><span class="o"><</span><span class="n">uint32_t</span><span class="o">></span><span class="p">(</span><span class="n">capsuleIndices</span><span class="p">,</span> <span class="n">capsuleIndices</span> <span class="o">+</span> <span class="mi">2</span><span class="p">),</span> <span class="mi">0</span><span class="p">,</span> <span class="n">cloth</span><span class="o">-></span><span class="n">getNumCapsules</span><span class="p">());</span> +</pre></div> +</div> +<p>This connects sphere 0 and 1. +Indices always need to be provided in pairs. +Also note that the last two arguments specify indices of pairs. So cloth->getNumCapsules() will return 1 after the above snippet is executed.</p> +<p>We can also define up to 32 collision planes:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">physx</span><span class="o">::</span><span class="n">PxVec4</span> <span class="n">planes</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span> + <span class="n">physx</span><span class="o">::</span><span class="n">PxVec4</span><span class="p">(</span><span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span><span class="p">(</span><span class="mf">0.5f</span><span class="p">,</span> <span class="mf">0.4f</span><span class="p">,</span> <span class="mf">0.0f</span><span class="p">).</span><span class="n">getNormalized</span><span class="p">(),</span> <span class="mf">3.0f</span><span class="p">),</span> + <span class="n">physx</span><span class="o">::</span><span class="n">PxVec4</span><span class="p">(</span><span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span><span class="p">(</span><span class="mf">0.0f</span><span class="p">,</span> <span class="mf">0.4f</span><span class="p">,</span> <span class="mf">0.5f</span><span class="p">).</span><span class="n">getNormalized</span><span class="p">(),</span> <span class="mf">3.0f</span><span class="p">)</span> +<span class="p">};</span> + +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Range</span><span class="o"><</span><span class="k">const</span> <span class="n">physx</span><span class="o">::</span><span class="n">PxVec4</span><span class="o">></span> <span class="n">planesR</span><span class="p">(</span><span class="n">planes</span><span class="p">,</span> <span class="n">planes</span> <span class="o">+</span> <span class="mi">2</span><span class="p">);</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">setPlanes</span><span class="p">(</span><span class="n">planesR</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="n">cloth</span><span class="o">-></span><span class="n">getNumPlanes</span><span class="p">());</span> +</pre></div> +</div> +<p>This on its own will not make the cloth collide with anything as we first need to tell the solver that each plane is one convex shape:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">uint32_t</span> <span class="n">indices</span><span class="p">[</span><span class="mi">2</span><span class="p">];</span> +<span class="k">for</span><span class="p">(</span><span class="kt">int</span> <span class="n">i</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> <span class="n">i</span> <span class="o"><</span> <span class="mi">2</span><span class="p">;</span> <span class="n">i</span><span class="o">++</span><span class="p">)</span> + <span class="n">indices</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span> <span class="o"><<</span> <span class="n">i</span><span class="p">;</span> +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Range</span><span class="o"><</span><span class="n">uint32_t</span><span class="o">></span> <span class="n">indiceR</span><span class="p">(</span><span class="n">indices</span><span class="p">,</span> <span class="n">indices</span> <span class="o">+</span> <span class="mi">2</span><span class="p">);</span> +<span class="n">mCloth</span><span class="o">-></span><span class="n">setConvexes</span><span class="p">(</span><span class="n">indiceR</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="n">mCloth</span><span class="o">-></span><span class="n">getNumConvexes</span><span class="p">());</span> +</pre></div> +</div> +<p>The value stored in the indices array is a bit mask telling the solver which planes are part of the convex shape. Plane i is indicated by bit 1<<i. +We can easily construct convex shapes consisting of more planes by setting more bits (e.g. (1<<i) | (1<<j)).</p> +<p>We can also use arbitrary triangle meshes for collision:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span><span class="o">*</span> <span class="n">triangles</span> <span class="o">=</span> <span class="p">...;</span> <span class="c1">//Get triangle data from somewhere</span> + <span class="c1">//We can't use indexed meshes/vertex sharing,</span> + <span class="c1">// each triangle is defined with its own 3 vertexes</span> +<span class="n">nv</span><span class="o">::</span><span class="n">cloth</span><span class="o">::</span><span class="n">Range</span><span class="o"><</span><span class="k">const</span> <span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span><span class="o">></span> <span class="n">triangleR</span><span class="p">(</span><span class="o">&</span><span class="n">triangles</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="o">&</span><span class="n">triangles</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">triangleCount</span> <span class="o">*</span> <span class="mi">3</span><span class="p">);</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">setTriangles</span><span class="p">(</span><span class="n">triangleR</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="n">cloth</span><span class="o">></span><span class="n">getNumTriangles</span><span class="p">());</span> +</pre></div> +</div> +<p>Note that the range arguments passed to setTriangles are counting whole triangles (3 PxVec3 vertexes each).</p> +<p>We can set the friction coefficient used for collision between cloth and collision shapes like this:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">cloth</span><span class="o">-></span><span class="n">setFriction</span><span class="p">(</span><span class="mf">0.5</span><span class="p">);</span> +</pre></div> +</div> +</div> +<div class="section" id="local-space-simulation"> +<h3>Local space simulation<a class="headerlink" href="#local-space-simulation" title="Permalink to this headline">¶</a></h3> +<p>Using local space simulation gives you more control over the simulation allowing you to improve the stability and response of the simulation. +We separate the global/render coordinate system from the particle simulation coordinate system in order to use local space simulation. +Graphics transforms should be adjusted to render the cloth in the correct location again.</p> +<p>We can use the following methods to let the simulation know that the cloth coordinate system has moved relative to the global coordinates:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">cloth</span><span class="o">-></span><span class="n">setTranslation</span><span class="p">(</span><span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span><span class="p">(</span><span class="n">x</span><span class="p">,</span><span class="n">y</span><span class="p">,</span><span class="n">z</span><span class="p">));</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">setRotation</span><span class="p">(</span><span class="n">physx</span><span class="o">::</span><span class="n">PxQuat</span><span class="p">(</span><span class="n">qx</span><span class="p">,</span><span class="n">qy</span><span class="p">,</span><span class="n">qz</span><span class="p">,</span><span class="n">qw</span><span class="p">));</span> +</pre></div> +</div> +<p>This will not change the particle positions, but will apply impulses so that the cloth reacts properly to the movement of the coordinate system. +Air drag and lift also reacts accordingly.</p> +<p>We can use an inertia multiplier to control the strength of these impulses. +Fast movements can cause problems like tunneling through collision shapes, self-intersection, instabilities and stretchy cloth. +Use smaller inertia multipliers if these issues are noticeable. +We can set these multipliers as follows:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="c1">//All values should be between 0.0 and 1.0</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">setLinearInertia</span><span class="p">(</span><span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span><span class="p">(</span><span class="n">x</span><span class="p">,</span><span class="n">y</span><span class="p">,</span><span class="n">z</span><span class="p">));</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">setAngularInertia</span><span class="p">(</span><span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span><span class="p">(</span><span class="n">ax</span><span class="p">,</span><span class="n">ay</span><span class="p">,</span><span class="n">az</span><span class="p">));</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">setCentrifugalInertia</span><span class="p">(</span><span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span><span class="p">(</span><span class="n">cx</span><span class="p">,</span><span class="n">cy</span><span class="p">,</span><span class="n">cz</span><span class="p">));</span> +</pre></div> +</div> +<p>If we want to move the cloth without applying any forces (in case of a world origin shift for example) we can teleport:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">cloth</span><span class="o">-></span><span class="n">teleport</span><span class="p">(</span><span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span><span class="p">(</span><span class="n">deltaX</span><span class="p">,</span> <span class="n">deltaY</span><span class="p">,</span> <span class="n">deltaZ</span><span class="p">));</span> +</pre></div> +</div> +<p>Or we can reset the inertia effects after using the setTranslation/setPosition functions:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="c1">//Clear any pending inertia</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">clearInertia</span><span class="p">();</span> +</pre></div> +</div> +</div> +<div class="section" id="drag-lift-and-wind"> +<h3>Drag lift and wind<a class="headerlink" href="#drag-lift-and-wind" title="Permalink to this headline">¶</a></h3> +<p>Cloth is simulated in a vacuum by default. +We can set the drag and lift coefficients to make the simulation more natural:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">cloth</span><span class="o">-></span><span class="n">setDragCoefficient</span><span class="p">(</span><span class="mf">0.5f</span><span class="p">);</span> +<span class="n">cloth</span><span class="o">-></span><span class="n">setLiftCoefficient</span><span class="p">(</span><span class="mf">0.6f</span><span class="p">);</span> +</pre></div> +</div> +<p>We can also add wind to the simulation:</p> +<div class="highlight-c++"><div class="highlight"><pre><span class="n">cloth</span><span class="o">-></span><span class="n">setWindVelocity</span><span class="p">(</span><span class="n">physx</span><span class="o">::</span><span class="n">PxVec3</span><span class="p">(</span><span class="n">x</span><span class="p">,</span><span class="n">y</span><span class="p">,</span><span class="n">z</span><span class="p">));</span> +</pre></div> +</div> +<p>It is a good idea to vary this parameter continuously to simulate gusts, making the simulation more lively.</p> +</div> +</div> +</div> + + + </div> + </div> + </div> + <div class="sphinxsidebar"> + <div class="sphinxsidebarwrapper"> + <h3><a href="../NvCloth.html">Table Of Contents</a></h3> + <ul> +<li><a class="reference internal" href="#">Users guide</a><ul> +<li><a class="reference internal" href="#setup">Setup</a><ul> +<li><a class="reference internal" href="#initializing-the-library">Initializing the Library</a></li> +<li><a class="reference internal" href="#factory">Factory</a></li> +<li><a class="reference internal" href="#fabric-cloth">Fabric & Cloth</a><ul> +<li><a class="reference internal" href="#fabric">Fabric</a></li> +<li><a class="reference internal" href="#cloth">Cloth</a></li> +</ul> +</li> +<li><a class="reference internal" href="#solver">Solver</a></li> +<li><a class="reference internal" href="#retrieving-simulation-data">Retrieving simulation data</a></li> +</ul> +</li> +<li><a class="reference internal" href="#usage">Usage</a><ul> +<li><a class="reference internal" href="#common-cloth-properties">Common cloth properties</a></li> +<li><a class="reference internal" href="#tethers">Tethers</a></li> +<li><a class="reference internal" href="#collision-detection">Collision detection</a></li> +<li><a class="reference internal" href="#local-space-simulation">Local space simulation</a></li> +<li><a class="reference internal" href="#drag-lift-and-wind">Drag lift and wind</a></li> +</ul> +</li> +</ul> +</li> +</ul> + + <h4>Previous topic</h4> + <p class="topless"><a href="../Modules/Index.html" + title="previous chapter">Modules</a></p> + <h4>Next topic</h4> + <p class="topless"><a href="../CopyRight/Index.html" + title="next chapter">NVIDIA Copyright Notice</a></p> +<div id="searchbox" style="display: none"> + <h3>Quick search</h3> + <form class="search" action="../search.html" method="get"> + <input type="text" name="q" size="18" /> + <input type="submit" value="Go" /> + <input type="hidden" name="check_keywords" value="yes" /> + <input type="hidden" name="area" value="default" /> + </form> + <p class="searchtip" 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border-left: 1px solid black; + margin-left: 2px; + padding-left: 2px; +} + +.togglecontent p:first-of-type { + margin-top: 0px; +} +.togglecontent p:last-of-type { + margin-bottom: 0px; +} + diff --git a/NvCloth/docs/documentation/_static/plus.png b/NvCloth/docs/documentation/_static/plus.png Binary files differnew file mode 100644 index 0000000..b3cb374 --- /dev/null +++ b/NvCloth/docs/documentation/_static/plus.png diff --git a/NvCloth/docs/documentation/_static/pygments.css b/NvCloth/docs/documentation/_static/pygments.css new file mode 100644 index 0000000..64d80e6 --- /dev/null +++ b/NvCloth/docs/documentation/_static/pygments.css @@ -0,0 +1,34 @@ +.highlight .hll { background-color: #ffffcc } +.highlight { background: #ffffff; } +.highlight .c { color: #008000 } /* Comment */ +.highlight .err { border: 1px solid #FF0000 } /* Error */ +.highlight .k { color: #0000ff } /* Keyword */ +.highlight .cm { color: #008000 } /* Comment.Multiline */ +.highlight .cp { color: #0000ff } /* 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\ No newline at end of file diff --git a/NvCloth/docs/documentation/_static/searchtools.js b/NvCloth/docs/documentation/_static/searchtools.js new file mode 100644 index 0000000..5cbfe00 --- /dev/null +++ b/NvCloth/docs/documentation/_static/searchtools.js @@ -0,0 +1,518 @@ +/* + * searchtools.js + * ~~~~~~~~~~~~~~ + * + * Sphinx JavaScript utilties for the full-text search. + * + * :copyright: Copyright 2007-2010 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * helper function to return a node containing the + * search summary for a given text. keywords is a list + * of stemmed words, hlwords is the list of normal, unstemmed + * words. the first one is used to find the occurance, the + * latter for highlighting it. + */ + +jQuery.makeSearchSummary = function(text, keywords, hlwords) { + var textLower = text.toLowerCase(); + var start = 0; + $.each(keywords, function() { + var i = textLower.indexOf(this.toLowerCase()); + if (i > -1) + start = i; + }); + start = Math.max(start - 120, 0); + var excerpt = ((start > 0) ? '...' : '') + + $.trim(text.substr(start, 240)) + + ((start + 240 - text.length) ? '...' : ''); + var rv = $('<div class="context"></div>').text(excerpt); + $.each(hlwords, function() { + rv = rv.highlightText(this, 'highlighted'); + }); + return rv; +} + +/** + * Porter Stemmer + */ +var PorterStemmer = function() { + + var step2list = { + ational: 'ate', + tional: 'tion', + enci: 'ence', + anci: 'ance', + izer: 'ize', + bli: 'ble', + alli: 'al', + entli: 'ent', + eli: 'e', + ousli: 'ous', + ization: 'ize', + ation: 'ate', + ator: 'ate', + alism: 'al', + iveness: 'ive', + fulness: 'ful', + ousness: 'ous', + aliti: 'al', + iviti: 'ive', + biliti: 'ble', + logi: 'log' + }; + + var step3list = { + icate: 'ic', + ative: '', + alize: 'al', + iciti: 'ic', + ical: 'ic', + ful: '', + ness: '' + }; + + var c = "[^aeiou]"; // consonant + var v = "[aeiouy]"; // vowel + var C = c + "[^aeiouy]*"; // consonant sequence + var V = v + "[aeiou]*"; // vowel sequence + + var mgr0 = "^(" + C + ")?" + V + C; // [C]VC... is m>0 + var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$"; // [C]VC[V] is m=1 + var mgr1 = "^(" + C + ")?" + V + C + V + C; // [C]VCVC... is m>1 + var s_v = "^(" + C + ")?" + v; // vowel in stem + + this.stemWord = function (w) { + var stem; + var suffix; + var firstch; + var origword = w; + + if (w.length < 3) + return w; + + var re; + var re2; + var re3; + var re4; + + firstch = w.substr(0,1); + if (firstch == "y") + w = firstch.toUpperCase() + w.substr(1); + + // Step 1a + re = /^(.+?)(ss|i)es$/; + re2 = /^(.+?)([^s])s$/; + + if (re.test(w)) + w = w.replace(re,"$1$2"); + else if (re2.test(w)) + w = w.replace(re2,"$1$2"); + + // Step 1b + re = /^(.+?)eed$/; + re2 = /^(.+?)(ed|ing)$/; + if (re.test(w)) { + var fp = re.exec(w); + re = new RegExp(mgr0); + if (re.test(fp[1])) { + re = /.$/; + w = w.replace(re,""); + } + } + else if (re2.test(w)) { + var fp = re2.exec(w); + stem = fp[1]; + re2 = new RegExp(s_v); + if (re2.test(stem)) { + w = stem; + re2 = /(at|bl|iz)$/; + re3 = new RegExp("([^aeiouylsz])\\1$"); + re4 = new RegExp("^" + C + v + "[^aeiouwxy]$"); + if (re2.test(w)) + w = w + "e"; + else if (re3.test(w)) { + re = /.$/; + w = w.replace(re,""); + } + else if (re4.test(w)) + w = w + "e"; + } + } + + // Step 1c + re = /^(.+?)y$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(s_v); + if (re.test(stem)) + w = stem + "i"; + } + + // Step 2 + re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + suffix = fp[2]; + re = new RegExp(mgr0); + if (re.test(stem)) + w = stem + step2list[suffix]; + } + + // Step 3 + re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + suffix = fp[2]; + re = new RegExp(mgr0); + if (re.test(stem)) + w = stem + step3list[suffix]; + } + + // Step 4 + re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/; + re2 = /^(.+?)(s|t)(ion)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(mgr1); + if (re.test(stem)) + w = stem; + } + else if (re2.test(w)) { + var fp = re2.exec(w); + stem = fp[1] + fp[2]; + re2 = new RegExp(mgr1); + if (re2.test(stem)) + w = stem; + } + + // Step 5 + re = /^(.+?)e$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(mgr1); + re2 = new RegExp(meq1); + re3 = new RegExp("^" + C + v + "[^aeiouwxy]$"); + if (re.test(stem) || (re2.test(stem) && !(re3.test(stem)))) + w = stem; + } + re = /ll$/; + re2 = new RegExp(mgr1); + if (re.test(w) && re2.test(w)) { + re = /.$/; + w = w.replace(re,""); + } + + // and turn initial Y back to y + if (firstch == "y") + w = firstch.toLowerCase() + w.substr(1); + return w; + } +} + + +/** + * Search Module + */ +var Search = { + + _index : null, + _queued_query : null, + _pulse_status : -1, + + init : function() { + var params = $.getQueryParameters(); + if (params.q) { + var query = params.q[0]; + $('input[name="q"]')[0].value = query; + this.performSearch(query); + } + }, + + loadIndex : function(url) { + $.ajax({type: "GET", url: url, data: null, success: null, + dataType: "script", cache: true}); + }, + + setIndex : function(index) { + var q; + this._index = index; + if ((q = this._queued_query) !== null) { + this._queued_query = null; + Search.query(q); + } + }, + + hasIndex : function() { + return this._index !== null; + }, + + deferQuery : function(query) { + this._queued_query = query; + }, + + stopPulse : function() { + this._pulse_status = 0; + }, + + startPulse : function() { + if (this._pulse_status >= 0) + return; + function pulse() { + Search._pulse_status = (Search._pulse_status + 1) % 4; + var dotString = ''; + for (var i = 0; i < Search._pulse_status; i++) + dotString += '.'; + Search.dots.text(dotString); + if (Search._pulse_status > -1) + window.setTimeout(pulse, 500); + }; + pulse(); + }, + + /** + * perform a search for something + */ + performSearch : function(query) { + // create the required interface elements + this.out = $('#search-results'); + this.title = $('<h2>' + _('Searching') + '</h2>').appendTo(this.out); + this.dots = $('<span></span>').appendTo(this.title); + this.status = $('<p style="display: none"></p>').appendTo(this.out); + this.output = $('<ul class="search"/>').appendTo(this.out); + + $('#search-progress').text(_('Preparing search...')); + this.startPulse(); + + // index already loaded, the browser was quick! + if (this.hasIndex()) + this.query(query); + else + this.deferQuery(query); + }, + + query : function(query) { + var stopwords = ['and', 'then', 'into', 'it', 'as', 'are', 'in', + 'if', 'for', 'no', 'there', 'their', 'was', 'is', + 'be', 'to', 'that', 'but', 'they', 'not', 'such', + 'with', 'by', 'a', 'on', 'these', 'of', 'will', + 'this', 'near', 'the', 'or', 'at']; + + // stem the searchterms and add them to the correct list + var stemmer = new PorterStemmer(); + var searchterms = []; + var excluded = []; + var hlterms = []; + var tmp = query.split(/\s+/); + var object = (tmp.length == 1) ? tmp[0].toLowerCase() : null; + for (var i = 0; i < tmp.length; i++) { + if ($u.indexOf(stopwords, tmp[i]) != -1 || tmp[i].match(/^\d+$/) || + tmp[i] == "") { + // skip this "word" + continue; + } + // stem the word + var word = stemmer.stemWord(tmp[i]).toLowerCase(); + // select the correct list + if (word[0] == '-') { + var toAppend = excluded; + word = word.substr(1); + } + else { + var toAppend = searchterms; + hlterms.push(tmp[i].toLowerCase()); + } + // only add if not already in the list + if (!$.contains(toAppend, word)) + toAppend.push(word); + }; + var highlightstring = '?highlight=' + $.urlencode(hlterms.join(" ")); + + // console.debug('SEARCH: searching for:'); + // console.info('required: ', searchterms); + // console.info('excluded: ', excluded); + + // prepare search + var filenames = this._index.filenames; + var titles = this._index.titles; + var terms = this._index.terms; + var objects = this._index.objects; + var objtypes = this._index.objtypes; + var objnames = this._index.objnames; + var fileMap = {}; + var files = null; + // different result priorities + var importantResults = []; + var objectResults = []; + var regularResults = []; + var unimportantResults = []; + $('#search-progress').empty(); + + // lookup as object + if (object != null) { + for (var prefix in objects) { + for (var name in objects[prefix]) { + var fullname = (prefix ? prefix + '.' : '') + name; + if (fullname.toLowerCase().indexOf(object) > -1) { + match = objects[prefix][name]; + descr = objnames[match[1]] + _(', in ') + titles[match[0]]; + // XXX the generated anchors are not generally correct + // XXX there may be custom prefixes + result = [filenames[match[0]], fullname, '#'+fullname, descr]; + switch (match[2]) { + case 1: objectResults.push(result); break; + case 0: importantResults.push(result); break; + case 2: unimportantResults.push(result); break; + } + } + } + } + } + + // sort results descending + objectResults.sort(function(a, b) { + return (a[1] > b[1]) ? -1 : ((a[1] < b[1]) ? 1 : 0); + }); + + importantResults.sort(function(a, b) { + return (a[1] > b[1]) ? -1 : ((a[1] < b[1]) ? 1 : 0); + }); + + unimportantResults.sort(function(a, b) { + return (a[1] > b[1]) ? -1 : ((a[1] < b[1]) ? 1 : 0); + }); + + + // perform the search on the required terms + for (var i = 0; i < searchterms.length; i++) { + var word = searchterms[i]; + // no match but word was a required one + if ((files = terms[word]) == null) + break; + if (files.length == undefined) { + files = [files]; + } + // create the mapping + for (var j = 0; j < files.length; j++) { + var file = files[j]; + if (file in fileMap) + fileMap[file].push(word); + else + fileMap[file] = [word]; + } + } + + // now check if the files don't contain excluded terms + for (var file in fileMap) { + var valid = true; + + // check if all requirements are matched + if (fileMap[file].length != searchterms.length) + continue; + + // ensure that none of the excluded terms is in the + // search result. + for (var i = 0; i < excluded.length; i++) { + if (terms[excluded[i]] == file || + $.contains(terms[excluded[i]] || [], file)) { + valid = false; + break; + } + } + + // if we have still a valid result we can add it + // to the result list + if (valid) + regularResults.push([filenames[file], titles[file], '', null]); + } + + // delete unused variables in order to not waste + // memory until list is retrieved completely + delete filenames, titles, terms; + + // now sort the regular results descending by title + regularResults.sort(function(a, b) { + var left = a[1].toLowerCase(); + var right = b[1].toLowerCase(); + return (left > right) ? -1 : ((left < right) ? 1 : 0); + }); + + // combine all results + var results = unimportantResults.concat(regularResults) + .concat(objectResults).concat(importantResults); + + // print the results + var resultCount = results.length; + function displayNextItem() { + // results left, load the summary and display it + if (results.length) { + var item = results.pop(); + var listItem = $('<li style="display:none"></li>'); + if (DOCUMENTATION_OPTIONS.FILE_SUFFIX == '') { + // dirhtml builder + var dirname = item[0] + '/'; + if (dirname.match(/\/index\/$/)) { + dirname = dirname.substring(0, dirname.length-6); + } else if (dirname == 'index/') { + dirname = ''; + } + listItem.append($('<a/>').attr('href', + DOCUMENTATION_OPTIONS.URL_ROOT + dirname + + highlightstring + item[2]).html(item[1])); + } else { + // normal html builders + listItem.append($('<a/>').attr('href', + item[0] + DOCUMENTATION_OPTIONS.FILE_SUFFIX + + highlightstring + item[2]).html(item[1])); + } + if (item[3]) { + listItem.append($('<span> (' + item[3] + ')</span>')); + Search.output.append(listItem); + listItem.slideDown(5, function() { + displayNextItem(); + }); + } else if (DOCUMENTATION_OPTIONS.HAS_SOURCE) { + $.get(DOCUMENTATION_OPTIONS.URL_ROOT + '_sources/' + + item[0] + '.txt', function(data) { + if (data != '') { + listItem.append($.makeSearchSummary(data, searchterms, hlterms)); + Search.output.append(listItem); + } + listItem.slideDown(5, function() { + displayNextItem(); + }); + }); + } else { + // no source available, just display title + Search.output.append(listItem); + listItem.slideDown(5, function() { + displayNextItem(); + }); + } + } + // search finished, update title and status message + else { + Search.stopPulse(); + Search.title.text(_('Search Results')); + if (!resultCount) + Search.status.text(_('Your search did not match any documents. Please make sure that all words are spelled correctly and that you\'ve selected enough categories.')); + else + Search.status.text(_('Search finished, found %s page(s) matching the search query.').replace('%s', resultCount)); + Search.status.fadeIn(500); + } + } + displayNextItem(); + } +} + +$(document).ready(function() { + Search.init(); +}); diff --git a/NvCloth/docs/documentation/_static/sidebar.js b/NvCloth/docs/documentation/_static/sidebar.js new file mode 100644 index 0000000..be206ed --- /dev/null +++ b/NvCloth/docs/documentation/_static/sidebar.js @@ -0,0 +1,147 @@ +/* + * sidebar.js + * ~~~~~~~~~~ + * + * This script makes the Sphinx sidebar collapsible. + * + * .sphinxsidebar contains .sphinxsidebarwrapper. This script adds + * in .sphixsidebar, after .sphinxsidebarwrapper, the #sidebarbutton + * used to collapse and expand the sidebar. + * + * When the sidebar is collapsed the .sphinxsidebarwrapper is hidden + * and the width of the sidebar and the margin-left of the document + * are decreased. When the sidebar is expanded the opposite happens. + * This script saves a per-browser/per-session cookie used to + * remember the position of the sidebar among the pages. + * Once the browser is closed the cookie is deleted and the position + * reset to the default (expanded). + * + * :copyright: Copyright 2007-2010 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +$(function() { + // global elements used by the functions. + // the 'sidebarbutton' element is defined as global after its + // creation, in the add_sidebar_button function + var bodywrapper = $('.bodywrapper'); + var sidebar = $('.sphinxsidebar'); + var sidebarwrapper = $('.sphinxsidebarwrapper'); + + // original margin-left of the bodywrapper and width of the sidebar + // with the sidebar expanded + var bw_margin_expanded = bodywrapper.css('margin-left'); + var ssb_width_expanded = sidebar.width(); + + // margin-left of the bodywrapper and width of the sidebar + // with the sidebar collapsed + var bw_margin_collapsed = '.8em'; + var ssb_width_collapsed = '.8em'; + + // colors used by the current theme + var dark_color = $('.related').css('background-color'); + var light_color = $('.document').css('background-color'); + + function sidebar_is_collapsed() { + return sidebarwrapper.is(':not(:visible)'); + } + + function toggle_sidebar() { + if (sidebar_is_collapsed()) + expand_sidebar(); + else + collapse_sidebar(); + } + + function collapse_sidebar() { + sidebarwrapper.hide(); + sidebar.css('width', ssb_width_collapsed); + bodywrapper.css('margin-left', bw_margin_collapsed); + sidebarbutton.css({ + 'margin-left': '0', + 'height': bodywrapper.height() + }); + sidebarbutton.find('span').text('»'); + sidebarbutton.attr('title', _('Expand sidebar')); + document.cookie = 'sidebar=collapsed'; + } + + function expand_sidebar() { + bodywrapper.css('margin-left', bw_margin_expanded); + sidebar.css('width', ssb_width_expanded); + sidebarwrapper.show(); + sidebarbutton.css({ + 'margin-left': ssb_width_expanded-12, + 'height': bodywrapper.height() + }); + sidebarbutton.find('span').text('«'); + sidebarbutton.attr('title', _('Collapse sidebar')); + document.cookie = 'sidebar=expanded'; + } + + function add_sidebar_button() { + sidebarwrapper.css({ + 'float': 'left', + 'margin-right': '0', + 'width': ssb_width_expanded - 28 + }); + // create the button + sidebar.append( + '<div id="sidebarbutton"><span>«</span></div>' + ); + var sidebarbutton = $('#sidebarbutton'); + // find the height of the viewport to center the '<<' in the page + var viewport_height; + if (window.innerHeight) + viewport_height = window.innerHeight; + else + viewport_height = $(window).height(); + sidebarbutton.find('span').css({ + 'display': 'block', + 'margin-top': (viewport_height - sidebar.position().top - 20) / 2 + }); + + sidebarbutton.click(toggle_sidebar); + sidebarbutton.attr('title', _('Collapse sidebar')); + sidebarbutton.css({ + 'color': '#FFFFFF', + 'border-left': '1px solid ' + dark_color, + 'font-size': '1.2em', + 'cursor': 'pointer', + 'height': bodywrapper.height(), + 'padding-top': '1px', + 'margin-left': ssb_width_expanded - 12 + }); + + sidebarbutton.hover( + function () { + $(this).css('background-color', dark_color); + }, + function () { + $(this).css('background-color', light_color); + } + ); + } + + function set_position_from_cookie() { + if (!document.cookie) + return; + var items = document.cookie.split(';'); + for(var k=0; k<items.length; k++) { + var key_val = items[k].split('='); + var key = key_val[0]; + if (key == 'sidebar') { + var value = key_val[1]; + if ((value == 'collapsed') && (!sidebar_is_collapsed())) + collapse_sidebar(); + else if ((value == 'expanded') && (sidebar_is_collapsed())) + expand_sidebar(); + } + } + } + + add_sidebar_button(); + var sidebarbutton = $('#sidebarbutton'); + set_position_from_cookie(); +});
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