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improve mpcg

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This improved performance significantly in some small test systems.
This commit is contained in:
Irlan
2018-05-19 21:15:29 -03:00
parent b202988d82
commit 079e6eddca
4 changed files with 142 additions and 135 deletions
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7
include/bounce/dynamics/cloth/spring_cloth.h
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@ -124,8 +124,7 @@ struct b3SpringClothStep
u32 iterations;
};
// This class implements a cloth. It treats cloth as a collection
// of masses connected by springs.
// A cloth it treats cloth as a collection of masses connected by springs.
// Large time steps can be taken.
// If accuracy and stability are required, not performance,
// you can use this class instead of using b3Cloth.
@ -177,7 +176,7 @@ public:
// Return the kinetic (or dynamic) energy in this system.
float32 GetEnergy() const;
// Return the tension forces (due to springs) of each point mass.
// Return the tension forces (due to springs) acting at each point mass.
// Units are kg * m / s^2
void GetTension(b3Array<b3Vec3>& tensions) const;
@ -222,6 +221,8 @@ protected:
float32* m_m;
float32* m_inv_m;
b3Vec3* m_y;
b3Vec3* m_z;
b3Vec3* m_x0;
b3MassType* m_types;
u32 m_massCount;

13
include/bounce/dynamics/cloth/spring_solver.h
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@ -28,6 +28,7 @@ class b3SpringCloth;
class b3StackAllocator;
struct b3DenseVec3;
struct b3DiagMat33;
struct b3SparseMat33;
struct b3MassContact;
@ -58,15 +59,15 @@ private:
// Compute A and b in Ax = b
void Compute_A_b(b3SparseMat33& A, b3DenseVec3& b) const;
// Compute the initial guess for the iterative solver.
void Compute_x0(b3DenseVec3& x0);
// Compute S.
void Compute_S(b3DiagMat33& S);
// Compute the constraint projection matrix S.
void Compute_S(b3Mat33* S);
// Compute z.
void Compute_z(b3DenseVec3& z);
// Solve Ax = b.
// Output x and the residual error f = Ax - b ~ 0.
void Solve(b3DenseVec3& x0, b3DenseVec3& f, u32& iterations, const b3SparseMat33& A, const b3DenseVec3& b, const b3Mat33* S) const;
void Solve(b3DenseVec3& x, b3DenseVec3& f, u32& iterations, const b3SparseMat33& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const;
b3SpringCloth * m_cloth;
float32 m_h;
@ -82,6 +83,8 @@ private:
float32* m_m;
float32* m_inv_m;
b3Vec3* m_y;
b3Vec3* m_z;
b3Vec3* m_x0;
b3MassType* m_types;
u32 m_massCount;