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Update strech_force.cpp

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This commit is contained in:
Irlan 2019-06-27 04:19:56 -03:00
parent a47c8e3e75
commit 774c0741bd
2 changed files with 77 additions and 70 deletions
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1
examples/testbed/tests/table_cloth.h
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@ -35,6 +35,7 @@ public:
def.mesh = &m_clothMesh; def.mesh = &m_clothMesh;
def.density = 0.2f; def.density = 0.2f;
def.streching = 10000.0f; def.streching = 10000.0f;
def.damping = 100.0f;
def.thickness = 0.2f; def.thickness = 0.2f;
def.friction = 0.1f; def.friction = 0.1f;

146
src/bounce/cloth/strech_force.cpp
View File

@ -116,7 +116,7 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
m_f2.SetZero(); m_f2.SetZero();
m_f3.SetZero(); m_f3.SetZero();
if (len_wu > m_bu) if (len_wu > 0.0f)
{ {
float32 inv_len_wu = 1.0f / len_wu; float32 inv_len_wu = 1.0f / len_wu;
b3Vec3 n_wu = inv_len_wu * wu; b3Vec3 n_wu = inv_len_wu * wu;
@ -130,44 +130,47 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
if (m_ks > 0.0f) if (m_ks > 0.0f)
{ {
float32 Cu = alpha * (len_wu - m_bu); if (len_wu > m_bu)
// Force
b3Vec3 fs[3];
for (u32 i = 0; i < 3; ++i)
{ {
fs[i] = -m_ks * Cu * dCudx[i]; float32 Cu = alpha * (len_wu - m_bu);
}
m_f1 += fs[0]; // Force
m_f2 += fs[1]; b3Vec3 fs[3];
m_f3 += fs[2]; for (u32 i = 0; i < 3; ++i)
// Jacobian
b3Mat33 J[3][3];
for (u32 i = 0; i < 3; ++i)
{
for (u32 j = 0; j < 3; ++j)
{ {
b3Mat33 d2Cuxij = (alpha * inv_len_wu * dwudx[i] * dwudx[j]) * (I - b3Outer(n_wu, n_wu)); fs[i] = -m_ks * Cu * dCudx[i];
b3Mat33 Jij = -m_ks * (b3Outer(dCudx[i], dCudx[j]) + Cu * d2Cuxij);
J[i][j] = Jij;
} }
m_f1 += fs[0];
m_f2 += fs[1];
m_f3 += fs[2];
// Jacobian
b3Mat33 J[3][3];
for (u32 i = 0; i < 3; ++i)
{
for (u32 j = 0; j < 3; ++j)
{
b3Mat33 d2Cuxij = (alpha * inv_len_wu * dwudx[i] * dwudx[j]) * (I - b3Outer(n_wu, n_wu));
b3Mat33 Jij = -m_ks * (b3Outer(dCudx[i], dCudx[j]) + Cu * d2Cuxij);
J[i][j] = Jij;
}
}
dfdx(i1, i1) += J[0][0];
dfdx(i1, i2) += J[0][1];
dfdx(i1, i3) += J[0][2];
//dfdx(i2, i1) += J[1][0];
dfdx(i2, i2) += J[1][1];
dfdx(i2, i3) += J[1][2];
//dfdx(i3, i1) += J[2][0];
//dfdx(i3, i2) += J[2][1];
dfdx(i3, i3) += J[2][2];
} }
dfdx(i1, i1) += J[0][0];
dfdx(i1, i2) += J[0][1];
dfdx(i1, i3) += J[0][2];
//dfdx(i2, i1) += J[1][0];
dfdx(i2, i2) += J[1][1];
dfdx(i2, i3) += J[1][2];
//dfdx(i3, i1) += J[2][0];
//dfdx(i3, i2) += J[2][1];
dfdx(i3, i3) += J[2][2];
} }
if (m_kd > 0.0f) if (m_kd > 0.0f)
@ -216,7 +219,7 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
} }
} }
if (len_wv > m_bv) if (len_wv > 0.0f)
{ {
float32 inv_len_wv = 1.0f / len_wv; float32 inv_len_wv = 1.0f / len_wv;
b3Vec3 n_wv = inv_len_wv * wv; b3Vec3 n_wv = inv_len_wv * wv;
@ -230,50 +233,53 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
if (m_ks > 0.0f) if (m_ks > 0.0f)
{ {
float32 Cv = alpha * (len_wv - m_bv); if (len_wv > m_bv)
// Force
b3Vec3 fs[3];
for (u32 i = 0; i < 3; ++i)
{ {
fs[i] = -m_ks * Cv * dCvdx[i]; float32 Cv = alpha * (len_wv - m_bv);
}
m_f1 += fs[0]; // Force
m_f2 += fs[1]; b3Vec3 fs[3];
m_f3 += fs[2]; for (u32 i = 0; i < 3; ++i)
// Jacobian
b3Mat33 J[3][3];
for (u32 i = 0; i < 3; ++i)
{
for (u32 j = 0; j < 3; ++j)
{ {
b3Mat33 d2Cvxij = (alpha * inv_len_wv * dwvdx[i] * dwvdx[j]) * (I - b3Outer(n_wv, n_wv)); fs[i] = -m_ks * Cv * dCvdx[i];
b3Mat33 Jij = -m_ks * (b3Outer(dCvdx[i], dCvdx[j]) + Cv * d2Cvxij);
J[i][j] = Jij;
} }
m_f1 += fs[0];
m_f2 += fs[1];
m_f3 += fs[2];
// Jacobian
b3Mat33 J[3][3];
for (u32 i = 0; i < 3; ++i)
{
for (u32 j = 0; j < 3; ++j)
{
b3Mat33 d2Cvxij = (alpha * inv_len_wv * dwvdx[i] * dwvdx[j]) * (I - b3Outer(n_wv, n_wv));
b3Mat33 Jij = -m_ks * (b3Outer(dCvdx[i], dCvdx[j]) + Cv * d2Cvxij);
J[i][j] = Jij;
}
}
dfdx(i1, i1) += J[0][0];
dfdx(i1, i2) += J[0][1];
dfdx(i1, i3) += J[0][2];
//dfdx(i2, i1) += J[1][0];
dfdx(i2, i2) += J[1][1];
dfdx(i2, i3) += J[1][2];
//dfdx(i3, i1) += J[2][0];
//dfdx(i3, i2) += J[2][1];
dfdx(i3, i3) += J[2][2];
} }
dfdx(i1, i1) += J[0][0];
dfdx(i1, i2) += J[0][1];
dfdx(i1, i3) += J[0][2];
//dfdx(i2, i1) += J[1][0];
dfdx(i2, i2) += J[1][1];
dfdx(i2, i3) += J[1][2];
//dfdx(i3, i1) += J[2][0];
//dfdx(i3, i2) += J[2][1];
dfdx(i3, i3) += J[2][2];
} }
if (m_kd > 0.0f) if (m_kd > 0.0f)
{ {
b3Vec3 vs[3] = { v1, v2, v3 }; b3Vec3 vs[3] = { v1, v2, v3 };
float32 dCvdt = 0.0f; float32 dCvdt = 0.0f;
for (u32 i = 0; i < 3; ++i) for (u32 i = 0; i < 3; ++i)
{ {