remove function

examples/testbed/tests/cloth_test.h

@@ -32,8 +32,6 @@ public:
 	{
 		Test::Step();
 
-		m_cloth->Apply();
-
 		m_cloth->Draw();
 
 		extern u32 b3_clothSolverIterations;

examples/testbed/tests/tension_mapping.h

@@ -97,8 +97,6 @@ public:
 	{
 		Test::Step();
 
-		m_cloth->Apply();
-
 		b3ClothMesh* mesh = m_cloth->GetMesh();
 
 		b3StackArray<b3Vec3, 256> tension;
@@ -126,9 +124,9 @@ public:
 		{
 			b3ClothMeshTriangle* t = m_rectangleClothMesh.triangles + i;
 
-			b3Vec3 v1 = mesh->vertices[t->v1];
+			b3Vec3 v1 = mesh->particles[t->v1]->GetPosition();
-			b3Vec3 v2 = mesh->vertices[t->v2];
+			b3Vec3 v2 = mesh->particles[t->v2]->GetPosition();
-			b3Vec3 v3 = mesh->vertices[t->v3];
+			b3Vec3 v3 = mesh->particles[t->v3]->GetPosition();
 
 			b3Draw_draw->DrawSegment(v1, v2, b3Color_black);
 			b3Draw_draw->DrawSegment(v2, v3, b3Color_black);

include/bounce/controllers/cloth_dragger.h

@@ -192,9 +192,9 @@ public:
 	{
 		B3_ASSERT(IsDragging() == true);
 		
-		b3Vec3 A = m_mesh->vertices[m_triangle->v1];
+		b3Vec3 A = m_mesh->particles[m_triangle->v1]->GetPosition();
-		b3Vec3 B = m_mesh->vertices[m_triangle->v2];
+		b3Vec3 B = m_mesh->particles[m_triangle->v2]->GetPosition();
-		b3Vec3 C = m_mesh->vertices[m_triangle->v3];
+		b3Vec3 C = m_mesh->particles[m_triangle->v3]->GetPosition();
 
 		return m_u * A + m_v * B + (1.0f - m_u - m_v) * C;
 	}

include/bounce/dynamics/cloth/cloth.h

@@ -123,9 +123,6 @@ public:
 	// Get the next cloth in the world cloth list.
 	b3Cloth* GetNext();
 
-	// Set the positions of the mesh vertices to the positions of their associated particles.
-	void Apply() const;
-	
 	// Debug draw the cloth using the associated cloth mesh.
 	void Draw() const;
 private:

include/bounce/dynamics/cloth/particle.h

@@ -160,6 +160,9 @@ private:
 	// Applied external force
 	b3Vec3 m_force;
 
+	// Applied external translation
+	b3Vec3 m_translation;
+
 	// Mass
 	float32 m_mass;
 
@@ -175,9 +178,6 @@ private:
 	// Cloth mesh vertex index.
 	u32 m_vertex;
 
-	// Applied external translation
-	b3Vec3 m_translation;
-
 	// Contact
 	b3BodyContact m_contact;
 

src/bounce/dynamics/cloth/cloth.cpp

@@ -270,13 +270,9 @@ b3Particle* b3Cloth::CreateParticle(const b3ParticleDef& def)
 
 void b3Cloth::DestroyParticle(b3Particle* particle)
 {
-	for (u32 i = 0; i > m_mesh->vertexCount; ++i)
+	if (particle->m_vertex != ~0)
 	{
-		if (m_mesh->particles[i] == particle)
+		m_mesh->particles[particle->m_vertex] = NULL;
-		{
-			m_mesh->particles[i] = NULL;
-			break;
-		}
 	}
 
 	m_particleList.Remove(particle);
@@ -417,9 +413,9 @@ bool b3Cloth::RayCast(b3RayCastOutput* output, const b3RayCastInput* input, u32
 	B3_ASSERT(triangleIndex < m_mesh->triangleCount);
 	b3ClothMeshTriangle* triangle = m_mesh->triangles + triangleIndex;
 
-	b3Vec3 v1 = m_mesh->vertices[triangle->v1];
+	b3Vec3 v1 = m_mesh->particles[triangle->v1]->m_position;
-	b3Vec3 v2 = m_mesh->vertices[triangle->v2];
+	b3Vec3 v2 = m_mesh->particles[triangle->v2]->m_position;
-	b3Vec3 v3 = m_mesh->vertices[triangle->v3];
+	b3Vec3 v3 = m_mesh->particles[triangle->v3]->m_position;
 
 	b3Vec3 p1 = input->p1;
 	b3Vec3 p2 = input->p2;
@@ -738,17 +734,6 @@ void b3Cloth::Step(float32 dt, const b3Vec3& gravity)
 	}
 }
 
-void b3Cloth::Apply() const
-{
-	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)
-	{
-		if (p->m_vertex != ~0)
-		{
-			m_mesh->vertices[p->m_vertex] = p->m_position;
-		}
-	}
-}
-
 void b3Cloth::Draw() const
 {
 	for (b3Particle* p = m_particleList.m_head; p; p = p->m_next)

src/bounce/dynamics/cloth/cloth_solver.cpp

@@ -91,7 +91,10 @@ void b3ClothSolver::ApplyForces()
 
 void b3AccelerationConstraint::Apply(const b3ClothSolverData* data)
 {
-	(*data->z)[i1] = z;
+	b3DiagMat33& sS = *data->S;
+	b3DenseVec3& sz = *data->z;
+
+	sz[i1] = z;
 
 	b3Mat33 I; I.SetIdentity();
 
@@ -99,22 +102,22 @@ void b3AccelerationConstraint::Apply(const b3ClothSolverData* data)
 	{
 	case 3:
 	{
-		(*data->S)[i1] = I;
+		sS[i1] = I;
 		break;
 	}
 	case 2:
 	{
-		(*data->S)[i1] = I - b3Outer(p, p);
+		sS[i1] = I - b3Outer(p, p);
 		break;
 	}
 	case 1:
 	{
-		(*data->S)[i1] = I - b3Outer(p, p) - b3Outer(q, q);
+		sS[i1] = I - b3Outer(p, p) - b3Outer(q, q);
 		break;
 	}
 	case 0:
 	{
-		(*data->S)[i1].SetZero();
+		sS[i1].SetZero();
 		break;
 	}
 	default:
@@ -129,6 +132,7 @@ void b3ClothSolver::ApplyConstraints()
 {
 	b3DiagMat33& S = *m_solverData.S;
 	b3DenseVec3& z = *m_solverData.z;
+	float32 h = m_solverData.dt;
 
 	S.SetIdentity();
 	z.SetZero();

src/bounce/dynamics/cloth/particle.cpp

@@ -31,6 +31,7 @@ b3Particle::b3Particle(const b3ParticleDef& def, b3Cloth* cloth)
 {
 	m_cloth = cloth;
 	m_type = def.type;
+	
 	m_position = def.position;
 	m_velocity = def.velocity;
 	m_force = def.force;
@@ -42,13 +43,10 @@ b3Particle::b3Particle(const b3ParticleDef& def, b3Cloth* cloth)
 	m_x.SetZero();
 	m_vertex = ~0;
 
-	m_contact.f_active = false;
 	m_contact.n_active = false;
 	m_contact.t1_active = false;
 	m_contact.t2_active = false;
-	m_contact.Fn = 0.0f;
+	m_contact.f_active = false;
-	m_contact.Ft1 = 0.0f;
-	m_contact.Ft2 = 0.0f;
 }
 
 b3Particle::~b3Particle()