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remove duplicate

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This commit is contained in:
Irlan 2018-09-20 17:49:40 -03:00
parent 6486770fc1
commit 14866129cb
1 changed files with 21 additions and 25 deletions
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46
src/bounce/dynamics/cloth/cloth_solver.cpp
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@ -193,15 +193,6 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
m_solverData.v = &sv;
m_solverData.f = &sf;
for (u32 i = 0; i < m_particleCount; ++i)
{
b3Particle* p = m_particles[i];
sx[i] = p->m_position;
sv[i] = p->m_velocity;
sf[i] = p->m_force;
}
for (u32 i = 0; i < m_particleCount; ++i)
{
b3Particle* p = m_particles[i];
@ -226,6 +217,12 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
b3DenseVec3 sy(m_particleCount);
b3DenseVec3 sx0(m_particleCount);
m_solverData.y = &sy;
m_solverData.dfdx = &dfdx;
m_solverData.dfdv = &dfdv;
m_solverData.S = &S;
m_solverData.z = &z;
for (u32 i = 0; i < m_particleCount; ++i)
{
b3Particle* p = m_particles[i];
@ -234,12 +231,6 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
sx0[i] = p->m_x;
}
m_solverData.y = &sy;
m_solverData.dfdx = &dfdx;
m_solverData.dfdv = &dfdv;
m_solverData.S = &S;
m_solverData.z = &z;
// Apply internal forces
ApplyForces();
@ -250,35 +241,38 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
// A = M - h * dfdv - h * h * dfdx
// b = h * (f0 + h * dfdx * v0 + dfdx * y)
// A
b3SparseSymMat33 A(m_particleCount);
b3SparseSymMat33 M(m_particleCount);
for (u32 i = 0; i < m_particleCount; ++i)
{
A(i, i) = b3Diagonal(m_particles[i]->m_mass);
M(i, i) = b3Diagonal(m_particles[i]->m_mass);
}
A += -h * dfdv - h * h * dfdx;
// A
b3SparseSymMat33 A = M - h * dfdv - h * h * dfdx;
// b
b3DenseVec3 b = h * (sf + h * (dfdx * sv) + dfdx * sy);
// x
b3DenseVec3 x(m_particleCount);
u32 iterations = 0;
Solve(x, iterations, A, b, S, z, sx0);
b3_clothSolverIterations = iterations;
sv = sv + x;
sx = sx + sy;
// Store delta velocities to improve convergence
for (u32 i = 0; i < m_particleCount; ++i)
{
m_particles[i]->m_x = x[i];
b3Particle* p = m_particles[i];
p->m_x = x[i];
p->m_position = sx[i];
p->m_velocity = sv[i];
}
}
// Solve contact constraints
// Solve constraints
b3ClothContactSolverDef contactSolverDef;
contactSolverDef.allocator = m_allocator;
contactSolverDef.positions = m_solverData.x;
@ -302,6 +296,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
contactSolver.WarmStart();
}
// Solve velocity constraints
{
const u32 kVelocityIterations = 5;
@ -320,6 +315,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
// Integrate positions
sx = sx + h * sv;
// Solve position constraints
{
const u32 kPositionIterations = 2;
@ -466,4 +462,4 @@ void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
}
iterations = iteration;
}
}