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improve CG performance using CSR matrix format

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This commit is contained in:
Irlan
2018-04-02 12:47:56 -03:00
parent aec685f736
commit 40093fcf2f
4 changed files with 426 additions and 393 deletions
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8
include/bounce/dynamics/cloth/spring_cloth.h
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@ -107,10 +107,10 @@ enum b3MassType
//
struct b3MassContact
{
u32 j;
b3Vec3 n, t1, t2;
float32 Fn, Ft1, Ft2;
u32 j;
bool lockOnSurface, slideOnSurface;
bool lockN, lockT1, lockT2;
};
// Time step statistics
@ -186,7 +186,7 @@ protected:
// Update contacts.
// This is where some contacts might be initiated or terminated.
void UpdateContacts();
b3StackAllocator* m_allocator;
b3Mesh* m_mesh;
@ -252,7 +252,7 @@ inline void b3SpringCloth::SetType(u32 i, b3MassType type)
m_v[i].SetZero();
m_y[i].SetZero();
m_contacts[i].lockOnSurface = false;
m_contacts[i].lockN = false;
}
}

15
include/bounce/dynamics/cloth/spring_solver.h
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@ -25,6 +25,9 @@
class b3SpringCloth;
class b3StackAllocator;
struct b3DenseVec3;
struct b3SparseMat33;
struct b3MassContact;
struct b3Spring;
@ -43,25 +46,25 @@ public:
~b3SpringSolver();
void Solve(b3Vec3* constraintForces);
void Solve(b3DenseVec3& extraForces);
u32 GetIterations() const;
private:
// Apply internal forces and store their unique derivatives.
void InitializeSpringForces();
void ApplySpringForces();
// Initialize b, from Ax = b
void Compute_b(b3Vec3* b) const;
// Compute A and b in Ax = b
void Compute_A_b(b3SparseMat33& A, b3DenseVec3& b) const;
// Solve Ax = b using the Modified Conjugate Gradient (MCG).
// Output x and the residual error f.
void Solve_MCG(b3Vec3* x, b3Vec3* f, u32& iterations, const b3Vec3* b) const;
void Solve_MCG(b3DenseVec3& x, const b3SparseMat33& A, b3DenseVec3& f, u32& iterations, const b3DenseVec3& b) const;
// Solve Ax = b using MCG with Jacobi preconditioning.
// Output x and the residual error f.
// This method is slower than MCG because we have to compute the preconditioning
// matrix P, but it can improve convergence.
void Solve_MPCG(b3Vec3* x, b3Vec3* f, u32& iterations, const b3Vec3* b) const;
void Solve_MPCG(b3DenseVec3& x, const b3SparseMat33& A, b3DenseVec3& f, u32& iterations, const b3DenseVec3& b) const;
b3SpringCloth * m_cloth;
float32 m_h;