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remove some inefficient code, add some test code

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This commit is contained in:
Irlan 2019-04-02 12:30:29 -03:00
parent c638a0a52c
commit 756c4d354a
3 changed files with 53 additions and 247 deletions
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8
include/bounce/cloth/cloth.h
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@ -156,9 +156,6 @@ private:
// Update particle contacts. // Update particle contacts.
void UpdateParticleContacts(); void UpdateParticleContacts();
// Update triangle contacts.
void UpdateTriangleContacts();
// Update contacts // Update contacts
void UpdateContacts(); void UpdateContacts();
@ -192,10 +189,7 @@ private:
// Pool of particle contacts // Pool of particle contacts
b3BlockPool m_particleContactBlocks; b3BlockPool m_particleContactBlocks;
// Pool of triangle contacts
b3BlockPool m_triangleContactBlocks;
// List of particles // List of particles
b3List2<b3Particle> m_particleList; b3List2<b3Particle> m_particleList;

241
src/bounce/cloth/cloth.cpp
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@ -149,8 +149,7 @@ static u32 b3FindSharedEdges(b3SharedEdge* sharedEdges, const b3ClothMesh* m)
b3Cloth::b3Cloth(const b3ClothDef& def) : b3Cloth::b3Cloth(const b3ClothDef& def) :
m_particleBlocks(sizeof(b3Particle)), m_particleBlocks(sizeof(b3Particle)),
m_bodyContactBlocks(sizeof(b3BodyContact)), m_bodyContactBlocks(sizeof(b3BodyContact)),
m_particleContactBlocks(sizeof(b3ParticleContact)), m_particleContactBlocks(sizeof(b3ParticleContact))
m_triangleContactBlocks(sizeof(b3TriangleContact))
{ {
B3_ASSERT(def.mesh); B3_ASSERT(def.mesh);
B3_ASSERT(def.density > 0.0f); B3_ASSERT(def.density > 0.0f);
@ -624,241 +623,6 @@ void b3Cloth::UpdateParticleContacts()
} }
} }
static B3_FORCE_INLINE void b3Barycentric(float32 out[3],
const b3Vec3& A, const b3Vec3& B,
const b3Vec3& Q)
{
b3Vec3 AB = B - A;
b3Vec3 QA = A - Q;
b3Vec3 QB = B - Q;
//float32 divisor = b3Dot(AB, AB);
out[0] = b3Dot(QB, AB);
out[1] = -b3Dot(QA, AB);
out[2] = out[0] + out[1];
}
// Convert a point Q from Cartesian coordinates to Barycentric coordinates (u, v, w)
// with respect to a triangle ABC.
// The last output value is the divisor.
static B3_FORCE_INLINE void b3Barycentric(float32 out[4],
const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
const b3Vec3& Q)
{
b3Vec3 AB = B - A;
b3Vec3 AC = C - A;
b3Vec3 QA = A - Q;
b3Vec3 QB = B - Q;
b3Vec3 QC = C - Q;
b3Vec3 QB_x_QC = b3Cross(QB, QC);
b3Vec3 QC_x_QA = b3Cross(QC, QA);
b3Vec3 QA_x_QB = b3Cross(QA, QB);
b3Vec3 AB_x_AC = b3Cross(AB, AC);
//float32 divisor = b3Dot(AB_x_AC, AB_x_AC);
out[0] = b3Dot(QB_x_QC, AB_x_AC);
out[1] = b3Dot(QC_x_QA, AB_x_AC);
out[2] = b3Dot(QA_x_QB, AB_x_AC);
out[3] = out[0] + out[1] + out[2];
}
static B3_FORCE_INLINE void b3Solve3(float32 out[3],
const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
const b3Vec3& Q)
{
// Test vertex regions
float32 wAB[3], wBC[3], wCA[3];
b3Barycentric(wAB, A, B, Q);
b3Barycentric(wBC, B, C, Q);
b3Barycentric(wCA, C, A, Q);
// R A
if (wAB[1] <= 0.0f && wCA[0] <= 0.0f)
{
out[0] = 1.0f;
out[1] = 0.0f;
out[2] = 0.0f;
return;
}
// R B
if (wAB[0] <= 0.0f && wBC[1] <= 0.0f)
{
out[0] = 0.0f;
out[1] = 1.0f;
out[2] = 0.0f;
return;
}
// R C
if (wBC[0] <= 0.0f && wCA[1] <= 0.0f)
{
out[0] = 0.0f;
out[1] = 0.0f;
out[2] = 1.0f;
return;
}
// Test edge regions
float32 wABC[4];
b3Barycentric(wABC, A, B, C, Q);
// This is used to help testing if the face degenerates
// into an edge.
float32 area = wABC[3];
// R AB
if (wAB[0] > 0.0f && wAB[1] > 0.0f && area * wABC[2] <= 0.0f)
{
float32 divisor = wAB[2];
B3_ASSERT(divisor > 0.0f);
float32 s = 1.0f / divisor;
out[0] = s * wAB[0];
out[1] = s * wAB[1];
out[2] = 0.0f;
return;
}
// R BC
if (wBC[0] > 0.0f && wBC[1] > 0.0f && area * wABC[0] <= 0.0f)
{
float32 divisor = wBC[2];
B3_ASSERT(divisor > 0.0f);
float32 s = 1.0f / divisor;
out[0] = 0.0f;
out[1] = s * wBC[0];
out[2] = s * wBC[1];
return;
}
// R CA
if (wCA[0] > 0.0f && wCA[1] > 0.0f && area * wABC[1] <= 0.0f)
{
float32 divisor = wCA[2];
B3_ASSERT(divisor > 0.0f);
float32 s = 1.0f / divisor;
out[0] = 0.0f;
out[2] = s * wCA[0];
out[1] = s * wCA[1];
return;
}
// R ABC/ACB
float32 divisor = wABC[3];
if (divisor <= 0.0f)
{
float32 s = 1.0f / 3.0f;
out[0] = s;
out[2] = s;
out[1] = s;
return;
}
B3_ASSERT(divisor > 0.0f);
float32 s = 1.0f / divisor;
out[0] = s * wABC[0];
out[1] = s * wABC[1];
out[2] = s * wABC[2];
}
void b3Cloth::UpdateTriangleContacts()
{
B3_PROFILE("Cloth Update Triangle Contacts");
// Clear buffer
b3TriangleContact* c = m_triangleContactList.m_head;
while (c)
{
b3TriangleContact* c0 = c;
c = c->m_next;
m_triangleContactList.Remove(c0);
c0->~b3TriangleContact();
m_triangleContactBlocks.Free(c0);
}
// Create triangle contacts
for (b3Particle* p1 = m_particleList.m_head; p1; p1 = p1->m_next)
{
for (u32 i = 0; i < m_mesh->triangleCount; ++i)
{
b3ClothMeshTriangle* triangle = m_mesh->triangles + i;
b3Particle* p2 = m_vertexParticles[triangle->v1];
b3Particle* p3 = m_vertexParticles[triangle->v2];
b3Particle* p4 = m_vertexParticles[triangle->v3];
if (p1 == p2 || p1 == p3 || p1 == p4)
{
continue;
}
float32 r1 = p1->m_radius;
float32 r2 = 0.0f;
float32 totalRadius = r1 + r2;
b3Vec3 A = p2->m_position;
b3Vec3 B = p3->m_position;
b3Vec3 C = p4->m_position;
b3Vec3 P = p1->m_position;
b3Vec3 n = b3Cross(B - A, C - A);
float32 n_len = n.Normalize();
float32 distance = b3Dot(n, P - A);
if (distance < -totalRadius)
{
continue;
}
if (distance > totalRadius)
{
continue;
}
// Project particle on triangle plane
b3Vec3 Q = P - distance * n;
// Barycentric coordinates for Q
float32 wABC[3];
b3Solve3(wABC, A, B, C, Q);
b3Vec3 c1 = p1->m_position;
b3Vec3 c2 = wABC[0] * A + wABC[1] * B + wABC[2] * C;
if (b3DistanceSquared(c1, c2) > totalRadius * totalRadius)
{
continue;
}
bool front = false;
// Is the the other point in front of the triangle plane?
if (distance >= 0.0f)
{
front = true;
}
b3TriangleContact* c = (b3TriangleContact*)m_triangleContactBlocks.Allocate();
c->p1 = p1;
c->p2 = p2;
c->p3 = p3;
c->p4 = p4;
c->front = front;
c->normalImpulse = 0.0f;
m_triangleContactList.PushFront(c);
}
}
}
void b3Cloth::Solve(float32 dt, const b3Vec3& gravity) void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
{ {
B3_PROFILE("Cloth Solve"); B3_PROFILE("Cloth Solve");
@ -918,9 +682,6 @@ void b3Cloth::UpdateContacts()
#if 0 #if 0
// Update particle contacts // Update particle contacts
UpdateParticleContacts(); UpdateParticleContacts();
// Update triangle contacts
UpdateTriangleContacts();
#endif #endif
} }

51
src/bounce/cloth/cloth_solver.cpp
View File

@ -155,6 +155,7 @@ void b3ClothSolver::ApplyConstraints()
{ {
b3DiagMat33& S = *m_solverData.S; b3DiagMat33& S = *m_solverData.S;
b3DenseVec3& z = *m_solverData.z; b3DenseVec3& z = *m_solverData.z;
b3DenseVec3& x = *m_solverData.x;
S.SetIdentity(); S.SetIdentity();
z.SetZero(); z.SetZero();
@ -172,6 +173,35 @@ void b3ClothSolver::ApplyConstraints()
} }
} }
#if 0
for (u32 i = 0; i < m_bodyContactCount; ++i)
{
b3BodyContact* bc = m_bodyContacts[i];
b3Particle* p1 = bc->p1;
B3_ASSERT(p1->m_type == e_dynamicParticle);
b3Transform xf1;
xf1.position = x[p1->m_solverId];
xf1.rotation.SetIdentity();
b3Shape* s2 = bc->s2;
b3Body* b2 = s2->GetBody();
b3Transform xf2 = b2->GetTransform();
b3BodyContactWorldPoint bcwp;
bcwp.Initialize(bc, p1->m_radius, xf1, s2->m_radius, xf2);
b3AccelerationConstraint* ac = m_constraints + m_constraintCount;
++m_constraintCount;
ac->i1 = p1->m_solverId;
ac->ndof = 2;
ac->p = bcwp.normal;
ac->z.SetZero();
}
#endif
for (u32 i = 0; i < m_constraintCount; ++i) for (u32 i = 0; i < m_constraintCount; ++i)
{ {
m_constraints[i].Apply(&m_solverData); m_constraints[i].Apply(&m_solverData);
@ -223,6 +253,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
m_solverData.S = &S; m_solverData.S = &S;
m_solverData.z = &z; m_solverData.z = &z;
// Apply position correction
for (u32 i = 0; i < m_particleCount; ++i) for (u32 i = 0; i < m_particleCount; ++i)
{ {
b3Particle* p = m_particles[i]; b3Particle* p = m_particles[i];
@ -230,7 +261,27 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
sy[i] = p->m_translation; sy[i] = p->m_translation;
sx0[i] = p->m_x; sx0[i] = p->m_x;
} }
#if 0
for (u32 i = 0; i < m_bodyContactCount; ++i)
{
b3BodyContact* bc = m_bodyContacts[i];
b3Particle* p1 = bc->p1;
b3Transform xf1;
xf1.position = sx[p1->m_solverId];
xf1.rotation.SetIdentity();
b3Shape* s2 = bc->s2;
b3Body* b2 = s2->GetBody();
b3Transform xf2 = b2->GetTransform();
b3BodyContactWorldPoint bcwp;
bcwp.Initialize(bc, p1->m_radius, xf1, s2->m_radius, xf2);
sy[p1->m_solverId] += bcwp.separation * bcwp.normal;
}
#endif
// Apply internal forces // Apply internal forces
ApplyForces(); ApplyForces();