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cleanup

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This commit is contained in:
Irlan 2018-06-27 11:31:42 -03:00
parent 73777b9f1a
commit 2485f92ba4
5 changed files with 79 additions and 101 deletions
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16
include/bounce/dynamics/cloth/cloth_solver.h
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@ -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;

3
include/bounce/dynamics/cloth/force.h
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@ -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;

12
include/bounce/dynamics/cloth/spring_force.h
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@ -74,8 +74,6 @@ 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()

112
src/bounce/dynamics/cloth/cloth_solver.cpp
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@ -79,14 +79,6 @@ void b3ClothSolver::Add(b3Force* f)
m_forces[m_forceCount++] = f;
}
void b3ClothSolver::InitializeForces()
{
for (u32 i = 0; i < m_forceCount; ++i)
{
m_forces[i]->Initialize(&m_solverData);
}
}
void b3ClothSolver::ApplyForces()
{
for (u32 i = 0; i < m_forceCount; ++i)
@ -95,8 +87,50 @@ void b3ClothSolver::ApplyForces()
}
}
void b3ClothSolver::InitializeConstraints()
void b3AccelerationConstraint::Apply(const b3ClothSolverData* data)
{
(*data->z)[i1] = z;
b3Mat33 I; I.SetIdentity();
switch (ndof)
{
case 3:
{
(*data->S)[i1] = I;
break;
}
case 2:
{
(*data->S)[i1] = I - b3Outer(p, p);
break;
}
case 1:
{
(*data->S)[i1] = I - b3Outer(p, p) - b3Outer(q, q);
break;
}
case 0:
{
(*data->S)[i1].SetZero();
break;
}
default:
{
B3_ASSERT(false);
break;
}
}
}
void b3ClothSolver::ApplyConstraints()
{
b3DiagMat33& S = *m_solverData.S;
b3DenseVec3& z = *m_solverData.z;
S.SetIdentity();
z.SetZero();
for (u32 i = 0; i < m_particleCount; ++i)
{
b3Particle* p = m_particles[i];
@ -141,6 +175,11 @@ void b3ClothSolver::InitializeConstraints()
}
}
}
for (u32 i = 0; i < m_constraintCount; ++i)
{
m_constraints[i].Apply(&m_solverData);
}
}
void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
@ -152,6 +191,8 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
b3DenseVec3 sx0(m_particleCount);
b3SparseSymMat33 dfdx(m_particleCount);
b3SparseSymMat33 dfdv(m_particleCount);
b3DiagMat33 S(m_particleCount);
b3DenseVec3 z(m_particleCount);
m_solverData.x = &sx;
m_solverData.v = &sv;
@ -159,6 +200,8 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
m_solverData.y = &sy;
m_solverData.dfdx = &dfdx;
m_solverData.dfdv = &dfdv;
m_solverData.S = &S;
m_solverData.z = &z;
m_solverData.dt = dt;
m_solverData.invdt = 1.0f / dt;
@ -188,19 +231,11 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
sy[p->m_solverId] -= c->s * c->n;
}
// Initialize internal forces
InitializeForces();
// Apply internal forces
ApplyForces();
// Initialize constraints
InitializeConstraints();
// Compute S, z
b3DiagMat33 S(m_particleCount);
b3DenseVec3 z(m_particleCount);
Compute_S_z(S, z);
// Apply constraints
ApplyConstraints();
// Solve Ax = b, where
// A = M - h * dfdv - h * h * dfdx
@ -326,43 +361,6 @@ void b3ClothSolver::Compute_A_b(b3SparseSymMat33& A, b3DenseVec3& b) const
b = h * (f + h * (dfdx * v) + dfdx * y);
}
void b3ClothSolver::Compute_S_z(b3DiagMat33& S, b3DenseVec3& z)
{
S.SetIdentity();
z.SetZero();
for (u32 i = 0; i < m_constraintCount; ++i)
{
b3AccelerationConstraint* ac = m_constraints + i;
u32 ip = ac->i1;
u32 ndof = ac->ndof;
b3Vec3 p = ac->p;
b3Vec3 q = ac->q;
b3Vec3 cz = ac->z;
z[ip] = cz;
if (ndof == 2)
{
b3Mat33 I; I.SetIdentity();
S[ip] = I - b3Outer(p, p);
}
if (ndof == 1)
{
b3Mat33 I; I.SetIdentity();
S[ip] = I - b3Outer(p, p) - b3Outer(q, q);
}
if (ndof == 0)
{
S[ip].SetZero();
}
}
}
void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
const b3SparseSymMat33& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const
{
@ -415,7 +413,7 @@ void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
float32 delta_new = b3Dot(r, p);
// Set the tolerance.
const float32 tolerance = 1.e-4f;
const float32 tolerance = 10.0f * B3_EPSILON;
// Maximum number of iterations.
// Stop at this iteration if diverged.

27
src/bounce/dynamics/cloth/spring_force.cpp
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@ -50,10 +50,13 @@ b3SpringForce::~b3SpringForce()
}
void b3SpringForce::Initialize(const b3ClothSolverData* data)
void b3SpringForce::Apply(const b3ClothSolverData* data)
{
b3DenseVec3& x = *data->x;
b3DenseVec3& v = *data->v;
b3DenseVec3& f = *data->f;
b3SparseSymMat33& dfdx = *data->dfdx;
b3SparseSymMat33& dfdv = *data->dfdv;
u32 i1 = m_p1->m_solverId;
u32 i2 = m_p2->m_solverId;
@ -70,6 +73,8 @@ void b3SpringForce::Initialize(const b3ClothSolverData* data)
float32 L = b3Length(dx);
b3Mat33 Jx;
if (L >= m_L0)
{
b3Vec3 n = dx / L;
@ -78,34 +83,24 @@ void b3SpringForce::Initialize(const b3ClothSolverData* data)
m_f = -m_ks * (L - m_L0) * n;
// Jacobian
m_Jx = -m_ks * (b3Outer(dx, dx) + (1.0f - m_L0 / L) * (I - b3Outer(dx, dx)));
Jx = -m_ks * (b3Outer(dx, dx) + (1.0f - m_L0 / L) * (I - b3Outer(dx, dx)));
}
else
{
m_f.SetZero();
m_Jx.SetZero();
Jx.SetZero();
}
// Damping
b3Vec3 dv = v1 - v2;
m_f += -m_kd * dv;
m_Jv = -m_kd * I;
}
void b3SpringForce::Apply(const b3ClothSolverData* data)
{
b3DenseVec3& f = *data->f;
b3SparseSymMat33& dfdx = *data->dfdx;
b3SparseSymMat33& dfdv = *data->dfdv;
u32 i1 = m_p1->m_solverId;
u32 i2 = m_p2->m_solverId;
b3Mat33 Jv = -m_kd * I;
f[i1] += m_f;
f[i2] -= m_f;
b3Mat33 Jx11 = m_Jx;
b3Mat33 Jx11 = Jx;
b3Mat33 Jx12 = -Jx11;
//b3Mat33 Jx21 = Jx12;
b3Mat33 Jx22 = Jx11;
@ -115,7 +110,7 @@ void b3SpringForce::Apply(const b3ClothSolverData* data)
//dfdx(i2, i1) += Jx21;
dfdx(i2, i2) += Jx22;
b3Mat33 Jv11 = m_Jv;
b3Mat33 Jv11 = Jv;
b3Mat33 Jv12 = -Jv11;
//b3Mat33 Jv21 = Jv12;
b3Mat33 Jv22 = Jv11;