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optimization

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This commit is contained in:
Irlan 2018-04-02 16:56:55 -03:00
parent c1a5d1b93f
commit 246072f2d3
1 changed files with 40 additions and 19 deletions
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59
src/bounce/dynamics/cloth/spring_solver.cpp
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@ -372,9 +372,8 @@ static void b3Compute_z(b3DenseVec3& out,
out.SetZero(); out.SetZero();
} }
// Maintains invariants inside the MCG solver. //
static void b3Filter(b3DenseVec3& out, static void b3Compute_S(b3Mat33* out, u32 massCount, const b3MassType* types, const b3MassContact* contacts)
const b3DenseVec3& v, u32 massCount, const b3MassType* types, const b3MassContact* contacts)
{ {
for (u32 i = 0; i < massCount; ++i) for (u32 i = 0; i < massCount; ++i)
{ {
@ -407,11 +406,11 @@ static void b3Filter(b3DenseVec3& out,
S -= b3Outer(t2, t2); S -= b3Outer(t2, t2);
} }
out[i] = S * v[i]; out[i] = S;
break; break;
} }
out[i] = v[i]; out[i].SetIdentity();
break; break;
} }
default: default:
@ -423,8 +422,22 @@ static void b3Filter(b3DenseVec3& out,
} }
} }
// Maintains invariants inside the MCG solver.
static void b3Filter(b3DenseVec3& out,
const b3DenseVec3& v, const b3Mat33* S, u32 massCount)
{
for (u32 i = 0; i < massCount; ++i)
{
out[i] = S[i] * v[i];
}
}
void b3SpringSolver::Solve_MCG(b3DenseVec3& dv, const b3SparseMat33& A, b3DenseVec3& e, u32& iterations, const b3DenseVec3& b) const void b3SpringSolver::Solve_MCG(b3DenseVec3& dv, const b3SparseMat33& A, b3DenseVec3& e, u32& iterations, const b3DenseVec3& b) const
{ {
//
b3Mat33* S = (b3Mat33*)m_allocator->Allocate(m_massCount * sizeof(b3Mat33));
b3Compute_S(S, m_massCount, m_types, m_contacts);
// dv = z // dv = z
b3Compute_z(dv, m_massCount, m_types, m_contacts); b3Compute_z(dv, m_massCount, m_types, m_contacts);
@ -435,7 +448,7 @@ void b3SpringSolver::Solve_MCG(b3DenseVec3& dv, const b3SparseMat33& A, b3DenseV
// r = filter(b - Adv) // r = filter(b - Adv)
b3DenseVec3 r(m_massCount); b3DenseVec3 r(m_massCount);
b3Sub(r, b, Adv); b3Sub(r, b, Adv);
b3Filter(r, r, m_massCount, m_types, m_contacts); b3Filter(r, r, S, m_massCount);
// c = r // c = r
b3DenseVec3 c = r; b3DenseVec3 c = r;
@ -459,7 +472,7 @@ void b3SpringSolver::Solve_MCG(b3DenseVec3& dv, const b3SparseMat33& A, b3DenseV
// q = filter(A * c) // q = filter(A * c)
b3DenseVec3 q(m_massCount); b3DenseVec3 q(m_massCount);
A.Mul(q, c); A.Mul(q, c);
b3Filter(q, q, m_massCount, m_types, m_contacts); b3Filter(q, q, S, m_massCount);
// alpha = epsNew / dot(c, q) // alpha = epsNew / dot(c, q)
float32 alpha_den = b3Dot(c, q); float32 alpha_den = b3Dot(c, q);
@ -487,11 +500,13 @@ void b3SpringSolver::Solve_MCG(b3DenseVec3& dv, const b3SparseMat33& A, b3DenseV
b3DenseVec3 beta_c(m_massCount); b3DenseVec3 beta_c(m_massCount);
b3Mul(beta_c, beta, c); b3Mul(beta_c, beta, c);
b3Add(c, r, beta_c); b3Add(c, r, beta_c);
b3Filter(c, c, m_massCount, m_types, m_contacts); b3Filter(c, c, S, m_massCount);
++iter; ++iter;
} }
m_allocator->Free(S);
iterations = iter; iterations = iter;
// f = A * dv - b // f = A * dv - b
@ -522,6 +537,10 @@ static bool b3IsPD(const b3Mat33* diagA, u32 n)
void b3SpringSolver::Solve_MPCG(b3DenseVec3& dv, const b3SparseMat33& A, b3DenseVec3& e, u32& iterations, const b3DenseVec3& b) const void b3SpringSolver::Solve_MPCG(b3DenseVec3& dv, const b3SparseMat33& A, b3DenseVec3& e, u32& iterations, const b3DenseVec3& b) const
{ {
// S
b3Mat33* S = (b3Mat33*)m_allocator->Allocate(m_massCount * sizeof(b3Mat33));
b3Compute_S(S, m_massCount, m_types, m_contacts);
b3DenseVec3 r(m_massCount); b3DenseVec3 r(m_massCount);
b3DenseVec3 c(m_massCount); b3DenseVec3 c(m_massCount);
@ -563,18 +582,18 @@ void b3SpringSolver::Solve_MPCG(b3DenseVec3& dv, const b3SparseMat33& A, b3Dense
m_allocator->Free(diagA); m_allocator->Free(diagA);
// eps0 = dot( filter(b), P * filter(b) ) // eps0 = dot( filter(b), P * filter(b) )
b3DenseVec3 filter_b(m_massCount); b3DenseVec3 filtered_b(m_massCount);
b3Filter(filter_b, b, m_massCount, m_types, m_contacts); b3Filter(filtered_b, b, S, m_massCount);
b3DenseVec3 P_filter_b(m_massCount); b3DenseVec3 P_filtered_b(m_massCount);
for (u32 i = 0; i < m_massCount; ++i) for (u32 i = 0; i < m_massCount; ++i)
{ {
P_filter_b[i][0] = P[i][0] * filter_b[i][0]; P_filtered_b[i][0] = P[i][0] * filtered_b[i][0];
P_filter_b[i][1] = P[i][1] * filter_b[i][1]; P_filtered_b[i][1] = P[i][1] * filtered_b[i][1];
P_filter_b[i][2] = P[i][2] * filter_b[i][2]; P_filtered_b[i][2] = P[i][2] * filtered_b[i][2];
} }
float32 eps0 = b3Dot(filter_b, P_filter_b); float32 eps0 = b3Dot(filtered_b, P_filtered_b);
// r = filter(b - Adv) // r = filter(b - Adv)
@ -582,7 +601,7 @@ void b3SpringSolver::Solve_MPCG(b3DenseVec3& dv, const b3SparseMat33& A, b3Dense
b3DenseVec3 Adv(m_massCount); b3DenseVec3 Adv(m_massCount);
A.Mul(Adv, dv); A.Mul(Adv, dv);
b3Sub(r, b, Adv); b3Sub(r, b, Adv);
b3Filter(r, r, m_massCount, m_types, m_contacts); b3Filter(r, r, S, m_massCount);
// c = filter(P^-1 * r) // c = filter(P^-1 * r)
for (u32 i = 0; i < m_massCount; ++i) for (u32 i = 0; i < m_massCount; ++i)
@ -591,7 +610,7 @@ void b3SpringSolver::Solve_MPCG(b3DenseVec3& dv, const b3SparseMat33& A, b3Dense
c[i][1] = inv_P[i][1] * r[i][1]; c[i][1] = inv_P[i][1] * r[i][1];
c[i][2] = inv_P[i][2] * r[i][2]; c[i][2] = inv_P[i][2] * r[i][2];
} }
b3Filter(c, c, m_massCount, m_types, m_contacts); b3Filter(c, c, S, m_massCount);
// epsNew = dot(r, c) // epsNew = dot(r, c)
float32 epsNew = b3Dot(r, c); float32 epsNew = b3Dot(r, c);
@ -609,7 +628,7 @@ void b3SpringSolver::Solve_MPCG(b3DenseVec3& dv, const b3SparseMat33& A, b3Dense
// q = filter(A * c) // q = filter(A * c)
b3DenseVec3 q(m_massCount); b3DenseVec3 q(m_massCount);
A.Mul(q, c); A.Mul(q, c);
b3Filter(q, q, m_massCount, m_types, m_contacts); b3Filter(q, q, S, m_massCount);
// alpha = epsNew / dot(c, q) // alpha = epsNew / dot(c, q)
float32 alpha = epsNew / b3Dot(c, q); float32 alpha = epsNew / b3Dot(c, q);
@ -648,11 +667,13 @@ void b3SpringSolver::Solve_MPCG(b3DenseVec3& dv, const b3SparseMat33& A, b3Dense
{ {
c[i] = s[i] + beta * c[i]; c[i] = s[i] + beta * c[i];
} }
b3Filter(c, c, m_massCount, m_types, m_contacts); b3Filter(c, c, S, m_massCount);
++iter; ++iter;
} }
m_allocator->Free(S);
iterations = iter; iterations = iter;
// Residual error // Residual error