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bugfixes

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This commit is contained in:
Irlan
2018-06-21 15:21:40 -03:00
parent c738267c2e
commit 725b771d39
7 changed files with 87 additions and 143 deletions
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54
src/bounce/dynamics/cloth/cloth_solver.cpp
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@@ -25,29 +25,6 @@
#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
#include <bounce/common/memory/stack_allocator.h>
static B3_FORCE_INLINE void b3Mul(b3DenseVec3& out, const b3SymMat33& A, const b3DenseVec3& v)
{
B3_ASSERT(A.N == v.n);
B3_ASSERT(out.n == A.M);
for (u32 row = 0; row < A.M; ++row)
{
out[row].SetZero();
for (u32 column = 0; column < A.N; ++column)
{
out[row] += A(row, column) * v[column];
}
}
}
static B3_FORCE_INLINE b3DenseVec3 operator*(const b3SymMat33& m, const b3DenseVec3& v)
{
b3DenseVec3 result(v.n);
b3Mul(result, m, v);
return result;
}
// Here, we solve Ax = b using the Modified Preconditioned Conjugate Gradient (MPCG) algorithm.
// described in the paper:
// "Large Steps in Cloth Simulation - David Baraff, Andrew Witkin".
@@ -168,23 +145,22 @@ void b3ClothSolver::InitializeConstraints()
void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
{
B3_PROFILE("Integrate");
b3DenseVec3 sx(m_particleCount);
b3DenseVec3 sv(m_particleCount);
b3DenseVec3 sf(m_particleCount);
b3DenseVec3 sy(m_particleCount);
b3DenseVec3 sx0(m_particleCount);
b3SymMat33 dfdx(m_allocator, m_particleCount, m_particleCount);
b3SparseSymMat33 dfdx(m_particleCount, m_particleCount);
dfdx.SetZero();
b3SymMat33 dfdv(m_allocator, m_particleCount, m_particleCount);
b3SparseSymMat33 dfdv(m_particleCount, m_particleCount);
dfdv.SetZero();
m_solverData.x = sx.v;
m_solverData.v = sv.v;
m_solverData.f = sf.v;
m_solverData.x = &sx;
m_solverData.v = &sv;
m_solverData.f = &sf;
m_solverData.y = &sy;
m_solverData.dfdx = &dfdx;
m_solverData.dfdv = &dfdv;
m_solverData.dt = dt;
@@ -235,12 +211,12 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
// b = h * (f0 + h * dfdx * v0 + dfdx * y)
// A
b3SparseSymMat33 A(m_allocator, m_particleCount, m_particleCount);
b3SparseSymMat33 A(m_particleCount, m_particleCount);
// b
b3DenseVec3 b(m_particleCount);
Compute_A_b(A, b, sf, sx, sv, sy);
Compute_A_b(A, b);
// x
b3DenseVec3 x(m_particleCount);
@@ -292,11 +268,17 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
}
}
void b3ClothSolver::Compute_A_b(b3SparseSymMat33& A, b3DenseVec3& b, const b3DenseVec3& f, const b3DenseVec3& x, const b3DenseVec3& v, const b3DenseVec3& y) const
void b3ClothSolver::Compute_A_b(b3SparseSymMat33& A, b3DenseVec3& b) const
{
B3_PROFILE("Compute A, b");
b3DenseVec3& x = *m_solverData.x;
b3DenseVec3& v = *m_solverData.v;
b3DenseVec3& f = *m_solverData.f;
b3DenseVec3& y = *m_solverData.y;
b3SparseSymMat33& dfdx = *m_solverData.dfdx;
b3SparseSymMat33& dfdv = *m_solverData.dfdv;
float32 h = m_solverData.dt;
b3SymMat33& dfdx = *m_solverData.dfdx;
b3SymMat33& dfdv = *m_solverData.dfdv;
// Compute A
// A = M - h * dfdv - h * h * dfdx
@@ -439,8 +421,6 @@ void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
break;
}
B3_ASSERT(b3IsValid(delta_new));
// Convergence check.
if (delta_new <= tolerance * tolerance * b_delta)
{

27
src/bounce/dynamics/cloth/spring_force.cpp
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@@ -19,6 +19,8 @@
#include <bounce/dynamics/cloth/spring_force.h>
#include <bounce/dynamics/cloth/particle.h>
#include <bounce/dynamics/cloth/cloth_solver.h>
#include <bounce/dynamics/cloth/dense_vec3.h>
#include <bounce/dynamics/cloth/sparse_sym_mat33.h>
void b3SpringForceDef::Initialize(b3Particle* particle1, b3Particle* particle2, float32 structuralStiffness, float32 dampingStiffness)
{
@@ -50,14 +52,17 @@ b3SpringForce::~b3SpringForce()
void b3SpringForce::Initialize(const b3ClothSolverData* data)
{
b3DenseVec3& x = *data->x;
b3DenseVec3& v = *data->v;
u32 i1 = m_p1->m_solverId;
u32 i2 = m_p2->m_solverId;
b3Vec3 x1 = data->x[i1];
b3Vec3 v1 = data->v[i1];
b3Vec3 x1 = x[i1];
b3Vec3 v1 = v[i1];
b3Vec3 x2 = data->x[i2];
b3Vec3 v2 = data->v[i2];
b3Vec3 x2 = x[i2];
b3Vec3 v2 = v[i2];
b3Mat33 I; I.SetIdentity();
@@ -90,9 +95,9 @@ void b3SpringForce::Initialize(const b3ClothSolverData* data)
void b3SpringForce::Apply(const b3ClothSolverData* data)
{
b3Vec3* f = data->f;
b3SymMat33& dfdx = *data->dfdx;
b3SymMat33& dfdv = *data->dfdv;
b3DenseVec3& f = *data->f;
b3SparseSymMat33& dfdx = *data->dfdx;
b3SparseSymMat33& dfdv = *data->dfdv;
u32 i1 = m_p1->m_solverId;
u32 i2 = m_p2->m_solverId;
@@ -102,21 +107,21 @@ void b3SpringForce::Apply(const b3ClothSolverData* data)
b3Mat33 Jx11 = m_Jx;
b3Mat33 Jx12 = -Jx11;
b3Mat33 Jx21 = Jx12;
//b3Mat33 Jx21 = Jx12;
b3Mat33 Jx22 = Jx11;
dfdx(i1, i1) += Jx11;
dfdx(i1, i2) += Jx12;
dfdx(i2, i1) += Jx21;
//dfdx(i2, i1) += Jx21;
dfdx(i2, i2) += Jx22;
b3Mat33 Jv11 = m_Jv;
b3Mat33 Jv12 = -Jv11;
b3Mat33 Jv21 = Jv12;
//b3Mat33 Jv21 = Jv12;
b3Mat33 Jv22 = Jv11;
dfdv(i1, i1) += Jv11;
dfdv(i1, i2) += Jv12;
dfdv(i2, i1) += Jv21;
//dfdv(i2, i1) += Jv21;
dfdv(i2, i2) += Jv22;
}