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More consistency and pass velocity and position iterations to cloth constraint solver

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This commit is contained in:
Irlan
2019-06-02 12:05:36 -03:00
parent f1429a5481
commit 46600010fe
12 changed files with 47 additions and 227 deletions
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7
include/bounce/cloth/cloth.h
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@ -29,8 +29,7 @@ class b3Shape;
class b3Particle;
class b3Force;
class b3BodyContact;
class b3ParticleContact;
struct b3ParticleBodyContact;
struct b3ParticleDef;
struct b3ForceDef;
@ -134,7 +133,7 @@ public:
float32 GetEnergy() const;
// Perform a time step.
void Step(float32 dt);
void Step(float32 dt, u32 velocityIterations, u32 positionIterations);
// Debug draw the cloth using the associated cloth mesh.
void Draw() const;
@ -149,7 +148,7 @@ private:
void UpdateContacts();
// Solve
void Solve(float32 dt, const b3Vec3& gravity);
void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
// Stack allocator
b3StackAllocator m_stackAllocator;

6
include/bounce/cloth/cloth_contact_solver.h
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@ -27,7 +27,7 @@ class b3StackAllocator;
class b3Particle;
class b3Body;
class b3BodyContact;
struct b3ParticleBodyContact;
struct b3DenseVec3;
@ -88,7 +88,7 @@ struct b3ClothContactSolverDef
b3DenseVec3* velocities;
u32 bodyContactCount;
b3BodyContact** bodyContacts;
b3ParticleBodyContact** bodyContacts;
};
inline float32 b3MixFriction(float32 u1, float32 u2)
@ -118,7 +118,7 @@ protected:
b3DenseVec3* m_velocities;
u32 m_bodyContactCount;
b3BodyContact** m_bodyContacts;
b3ParticleBodyContact** m_bodyContacts;
b3ClothSolverBodyContactVelocityConstraint* m_bodyVelocityConstraints;
b3ClothSolverBodyContactPositionConstraint* m_bodyPositionConstraints;
};

14
include/bounce/cloth/cloth_solver.h
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@ -33,8 +33,7 @@ struct b3DiagMat33;
struct b3SparseSymMat33;
struct b3SparseSymMat33View;
class b3BodyContact;
class b3ParticleContact;
struct b3ParticleBodyContact;
struct b3ClothSolverDef
{
@ -75,10 +74,9 @@ public:
void Add(b3Particle* p);
void Add(b3Force* f);
void Add(b3BodyContact* c);
void Add(b3ParticleContact* c);
void Add(b3ParticleBodyContact* c);
void Solve(float32 dt, const b3Vec3& gravity);
void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
private:
// Apply forces.
void ApplyForces();
@ -107,11 +105,7 @@ private:
u32 m_bodyContactCapacity;
u32 m_bodyContactCount;
b3BodyContact** m_bodyContacts;
u32 m_particleContactCapacity;
u32 m_particleContactCount;
b3ParticleContact** m_particleContacts;
b3ParticleBodyContact** m_bodyContacts;
b3ClothSolverData m_solverData;
};

26
include/bounce/cloth/particle.h
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@ -62,27 +62,13 @@ struct b3ParticleDef
};
// A contact between a particle and a solid
class b3BodyContact
struct b3ParticleBodyContact
{
public:
b3BodyContact() { }
~b3BodyContact() { }
b3Particle* p1;
b3Shape* s2;
// Contact constraint
float32 s;
b3Vec3 p;
b3Vec3 n;
float32 fn0;
float32 fn;
float32 ft1, ft2;
bool nActive;
bool t1Active;
bool t2Active;
// Contact constraint
b3Vec3 normal1;
b3Vec3 localPoint1;
b3Vec3 localPoint2;
float32 normalImpulse;
@ -94,9 +80,9 @@ public:
bool active;
};
struct b3BodyContactWorldPoint
struct b3ParticleBodyContactWorldPoint
{
void Initialize(const b3BodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
void Initialize(const b3ParticleBodyContact* c, float32 rA, const b3Transform& xfA, float32 rB, const b3Transform& xfB);
b3Vec3 point;
b3Vec3 normal;
@ -210,8 +196,8 @@ private:
//
b3Cloth* m_cloth;
//
b3BodyContact m_bodyContact;
// Contact
b3ParticleBodyContact m_bodyContact;
//
b3Particle* m_prev;