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use delta instead of epsilon

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This commit is contained in:
Irlan 2018-05-16 18:32:16 -03:00
parent 631048668f
commit 2fa4532b01
1 changed files with 16 additions and 17 deletions
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33
src/bounce/dynamics/cloth/spring_solver.cpp
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@ -506,7 +506,7 @@ void b3SpringSolver::Solve(b3DenseVec3& dv, b3DenseVec3& e, u32& iterations, con
P_filtered_b[i][2] = P[i][2] * filtered_b[i][2];
}
float32 eps0 = b3Dot(filtered_b, P_filtered_b);
float32 delta0 = b3Dot(filtered_b, P_filtered_b);
// r = filter(b - Adv)
b3DenseVec3 r = b - A * dv;
@ -522,26 +522,26 @@ void b3SpringSolver::Solve(b3DenseVec3& dv, b3DenseVec3& e, u32& iterations, con
}
b3Filter(c, c, S, m_massCount);
// epsNew = dot(r, c)
float32 epsNew = b3Dot(r, c);
// deltaNew = dot(r, c)
float32 deltaNew = b3Dot(r, c);
B3_ASSERT(b3IsValid(deltaNew));
// [0, 1]
const float32 kTol = 1000.0f * B3_EPSILON;
const float32 epsilon = 1000.0f * B3_EPSILON;
// Limit number of iterations to prevent cycling.
const u32 kMaxIters = 1000;
const u32 maxIters = 1000;
// Main iteration loop.
u32 iter = 0;
while (iter < kMaxIters && epsNew > kTol * kTol * eps0)
while (iter < maxIters && deltaNew > epsilon * epsilon * delta0)
{
// q = filter(A * c)
b3DenseVec3 q = A * c;
b3Filter(q, q, S, m_massCount);
// alpha = epsNew / dot(c, q)
B3_ASSERT(b3IsValid(b3Dot(c, q)));
float32 alpha = epsNew / b3Dot(c, q);
// alpha = deltaNew / dot(c, q)
float32 alpha = deltaNew / b3Dot(c, q);
// dv = dv + alpha * c
dv = dv + alpha * c;
@ -558,16 +558,15 @@ void b3SpringSolver::Solve(b3DenseVec3& dv, b3DenseVec3& e, u32& iterations, con
s[i][2] = inv_P[i][2] * r[i][2];
}
// epsOld = epsNew
float32 epsOld = epsNew;
B3_ASSERT(b3IsValid(epsOld));
// deltaOld = deltaNew
float32 deltaOld = deltaNew;
// epsNew = dot(r, s)
epsNew = b3Dot(r, s);
B3_ASSERT(b3IsValid(epsNew));
// deltaNew = dot(r, s)
deltaNew = b3Dot(r, s);
B3_ASSERT(b3IsValid(deltaNew));
// beta = epsNew / epsOld
float32 beta = epsNew / epsOld;
// beta = deltaNew / deltaOld
float32 beta = deltaNew / deltaOld;
// c = filter(s + beta * c)
c = s + beta * c;