Split the solvers into force solver and contact solver

include/bounce/cloth/cloth_contact_solver.h

@@ -30,8 +30,6 @@ class b3Body;
 struct b3ParticleBodyContact;
 class b3ParticleTriangleContact;
 
-struct b3DenseVec3;
-
 struct b3ClothSolverBodyContactVelocityConstraint
 {
 	u32 indexA;
@@ -130,8 +128,8 @@ struct b3ClothContactSolverDef
 {
 	b3StackAllocator* allocator;
 	
-	b3DenseVec3* positions;
-	b3DenseVec3* velocities;
+	b3Vec3* positions;
+	b3Vec3* velocities;
 	
 	u32 bodyContactCount;
 	b3ParticleBodyContact** bodyContacts;
@@ -167,8 +165,8 @@ public:
 protected:
 	b3StackAllocator* m_allocator;
 
-	b3DenseVec3* m_positions;
-	b3DenseVec3* m_velocities;
+	b3Vec3* m_positions;
+	b3Vec3* m_velocities;
 
 	u32 m_bodyContactCount;
 	b3ParticleBodyContact** m_bodyContacts;

include/bounce/cloth/cloth_force_solver.h

@@ -0,0 +1,89 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B3_CLOTH_FORCE_SOLVER_H
+#define B3_CLOTH_FORCE_SOLVER_H
+
+#include <bounce/common/math/mat22.h>
+#include <bounce/common/math/mat33.h>
+
+class b3StackAllocator;
+
+class b3Particle;
+class b3Force;
+
+struct b3DenseVec3;
+struct b3DiagMat33;
+struct b3SparseSymMat33;
+struct b3SparseSymMat33View;
+
+struct b3ClothForceSolverDef
+{
+	b3StackAllocator* stack;
+	u32 particleCount;
+	b3Particle** particles;
+	u32 forceCount;
+	b3Force** forces;
+};
+
+struct b3ClothForceSolverData
+{
+	b3DenseVec3* x;
+	b3DenseVec3* v;
+	b3DenseVec3* f;
+	b3DenseVec3* y;
+	b3SparseSymMat33* dfdx;
+	b3SparseSymMat33* dfdv;
+	b3DiagMat33* S;
+	b3DenseVec3* z;
+};
+
+struct b3AccelerationConstraint
+{
+	u32 i1;
+	u32 ndof;
+	b3Vec3 p, q, z;
+
+	void Apply(const b3ClothForceSolverData* data);
+};
+
+class b3ClothForceSolver
+{
+public:
+	b3ClothForceSolver(const b3ClothForceSolverDef& def);
+	~b3ClothForceSolver();
+
+	void Solve(float32 dt, const b3Vec3& gravity);
+private:
+	void ApplyForces();
+	void ApplyConstraints();
+
+	b3StackAllocator* m_allocator;
+
+	u32 m_particleCount;
+	b3Particle** m_particles;
+
+	u32 m_forceCount;
+	b3Force** m_forces;
+
+	b3AccelerationConstraint* m_constraints;
+
+	b3ClothForceSolverData m_solverData;
+};
+
+#endif

include/bounce/cloth/cloth_solver.h

@@ -25,14 +25,7 @@
 class b3StackAllocator;
 
 class b3Particle;
-class b3Body;
 class b3Force;
-
-struct b3DenseVec3;
-struct b3DiagMat33;
-struct b3SparseSymMat33;
-struct b3SparseSymMat33View;
-
 struct b3ParticleBodyContact;
 class b3ParticleTriangleContact;
 
@@ -45,29 +38,6 @@ struct b3ClothSolverDef
 	u32 triangleContactCapacity;
 };
 
-struct b3ClothSolverData
-{
-	b3DenseVec3* x;
-	b3DenseVec3* v;
-	b3DenseVec3* f;
-	b3DenseVec3* y;
-	b3SparseSymMat33* dfdx;
-	b3SparseSymMat33* dfdv;
-	b3DiagMat33* S;
-	b3DenseVec3* z;
-	float32 dt;
-	float32 invdt;
-};
-
-struct b3AccelerationConstraint
-{
-	u32 i1;
-	u32 ndof;
-	b3Vec3 p, q, z;
-
-	void Apply(const b3ClothSolverData* data);
-};
-
 class b3ClothSolver
 {
 public:
@@ -81,9 +51,6 @@ public:
 
 	void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
 private:
-	void ApplyForces();
-	void ApplyConstraints();
-
 	b3StackAllocator* m_allocator;
 
 	u32 m_particleCapacity;
@@ -93,11 +60,7 @@ private:
 	u32 m_forceCapacity;
 	u32 m_forceCount;
 	b3Force** m_forces;
-	
-	u32 m_constraintCapacity;
-	u32 m_constraintCount;
-	b3AccelerationConstraint* m_constraints;
-	
+
 	u32 m_bodyContactCapacity;
 	u32 m_bodyContactCount;
 	b3ParticleBodyContact** m_bodyContacts;
@@ -105,8 +68,6 @@ private:
 	u32 m_triangleContactCapacity;
 	u32 m_triangleContactCount;
 	b3ParticleTriangleContact** m_triangleContacts;
-	
-	b3ClothSolverData m_solverData;
 };
 
 #endif

include/bounce/cloth/force.h

@@ -22,7 +22,7 @@
 #include <bounce/common/math/transform.h>
 #include <bounce/common/template/list.h>
 
-struct b3ClothSolverData;
+struct b3ClothForceSolverData;
 
 class b3Particle;
 
@@ -52,7 +52,7 @@ public:
 protected:
 	friend class b3List2<b3Force>;
 	friend class b3Cloth;
-	friend class b3ClothSolver;
+	friend class b3ClothForceSolver;
 	friend class b3Particle;
 
 	static b3Force* Create(const b3ForceDef* def);
@@ -61,7 +61,7 @@ protected:
 	b3Force() { }
 	virtual ~b3Force() { }
 
-	virtual void Apply(const b3ClothSolverData* data) = 0;
+	virtual void Apply(const b3ClothForceSolverData* data) = 0;
 
 	// Force type
 	b3ForceType m_type;

include/bounce/cloth/particle.h

@@ -160,6 +160,7 @@ private:
 	friend class b3Cloth;
 	friend class b3ClothTriangle;
 	friend class b3ClothSolver;
+	friend class b3ClothForceSolver;
 	friend class b3ClothContactManager;
 	friend class b3ParticleTriangleContact;
 	friend class b3ClothContactSolver;

include/bounce/cloth/spring_force.h

@@ -76,7 +76,7 @@ private:
 	b3SpringForce(const b3SpringForceDef* def);
 	~b3SpringForce();
 
-	void Apply(const b3ClothSolverData* data);
+	void Apply(const b3ClothForceSolverData* data);
 
 	// Solver shared