cleanup

include/bounce/dynamics/cloth/cloth_solver.h

@@ -48,6 +48,8 @@ struct b3ClothSolverData
 	b3DenseVec3* y;
 	b3SparseSymMat33* dfdx;
 	b3SparseSymMat33* dfdv;
+	b3DiagMat33* S;
+	b3DenseVec3* z;
 	float32 dt;
 	float32 invdt;
 };
@@ -57,6 +59,8 @@ struct b3AccelerationConstraint
 	u32 i1;
 	u32 ndof;
 	b3Vec3 p, q, z;
+
+	void Apply(const b3ClothSolverData* data);
 };
 
 class b3ClothSolver
@@ -71,21 +75,15 @@ public:
 
 	void Solve(float32 dt, const b3Vec3& gravity);
 private:
-	// Initialize forces.
-	void InitializeForces();
-	
 	// Apply forces.
 	void ApplyForces();
 	
-	// Initialize constraints.
-	void InitializeConstraints();
+	// Apply constraints.
+	void ApplyConstraints();
 
-	// Compute A and b in Ax = b
+	// Compute A and b in Ax = b.
 	void Compute_A_b(b3SparseSymMat33& A, b3DenseVec3& b) const;
 
-	// Compute S and z.
-	void Compute_S_z(b3DiagMat33& S, b3DenseVec3& z);
-
 	// Solve Ax = b.
 	void Solve(b3DenseVec3& x, u32& iterations, const b3SparseSymMat33& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const;
 

include/bounce/dynamics/cloth/force.h

@@ -58,11 +58,8 @@ protected:
 	b3Force() { }
 	virtual ~b3Force() { }
 
-	virtual void Initialize(const b3ClothSolverData* data) = 0;
 	virtual void Apply(const b3ClothSolverData* data) = 0;
 
-	// Solver shared
-
 	// Force type
 	b3ForceType m_type;
 

include/bounce/dynamics/cloth/spring_force.h

@@ -73,9 +73,7 @@ private:
 
 	b3SpringForce(const b3SpringForceDef* def);
 	~b3SpringForce();
-	
-	void Initialize(const b3ClothSolverData* data);
-	
+
 	void Apply(const b3ClothSolverData* data);
 
 	// Solver shared
@@ -95,16 +93,8 @@ private:
 	// Damping stiffness
 	float32 m_kd;
 
-	// Solver temp
-
-	// Force (f_1 entry)
+	// Applied internal force (on particle 1)
 	b3Vec3 m_f;
-
-	// Jacobian (J_11 entry)
-	b3Mat33 m_Jx;
-	
-	// Jacobian (J_11 entry)
-	b3Mat33 m_Jv;
 };
 
 inline b3Particle * b3SpringForce::GetParticle1()