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Copy mass one loop above

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This commit is contained in:
Irlan 2019-06-22 19:32:20 -03:00
parent 7c1a72c572
commit 39b27c86d2
1 changed files with 6 additions and 10 deletions
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16
src/bounce/cloth/cloth_force_solver.cpp
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@ -214,9 +214,12 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
b3DenseVec3 sy(m_particleCount);
b3DenseVec3 sz(m_particleCount);
b3DenseVec3 sx0(m_particleCount);
b3SparseSymMat33 M(m_particleCount);
b3SparseSymMat33 dfdx(m_particleCount);
b3SparseSymMat33 dfdv(m_particleCount);
b3DiagMat33 S(m_particleCount);
b3DiagMat33 I(m_particleCount);
I.SetIdentity();
m_solverData.x = &sx;
m_solverData.v = &sv;
@ -231,6 +234,8 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
{
b3Particle* p = m_particles[i];
M(i, i) = b3Diagonal(p->m_mass);
sx[i] = p->m_position;
sv[i] = p->m_velocity;
sf[i] = p->m_force;
@ -254,12 +259,7 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
// Solve Ax = b, where
// A = M - h * dfdv - h * h * dfdx
// b = h * (f0 + h * dfdx * v0 + dfdx * y)
b3SparseSymMat33 M(m_particleCount);
for (u32 i = 0; i < m_particleCount; ++i)
{
M(i, i) = b3Diagonal(m_particles[i]->m_mass);
}
// A
b3SparseSymMat33 A = M - h * dfdv - h * h * dfdx;
@ -269,10 +269,6 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
// b
b3DenseVec3 b = h * (sf + h * (dfdx * sv) + dfdx * sy);
// I
b3DiagMat33 I(m_particleCount);
I.SetIdentity();
// x
b3DenseVec3 x(m_particleCount);
b3SolveMPCG(x, viewA, b, S, sz, sx0, I);