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bugfix

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This commit is contained in:
Irlan
2018-06-24 21:25:41 -03:00
parent 1835d38373
commit 93ac1faa7c
2 changed files with 30 additions and 25 deletions
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38
src/bounce/dynamics/cloth/cloth_solver.cpp
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@@ -150,12 +150,8 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
b3DenseVec3 sf(m_particleCount);
b3DenseVec3 sy(m_particleCount);
b3DenseVec3 sx0(m_particleCount);
b3SparseSymMat33 dfdx(m_particleCount);
dfdx.SetZero();
b3SparseSymMat33 dfdv(m_particleCount);
dfdv.SetZero();
m_solverData.x = &sx;
m_solverData.v = &sv;
@@ -284,7 +280,7 @@ void b3ClothSolver::Compute_A_b(b3SparseSymMat33& A, b3DenseVec3& b) const
// A = M - h * dfdv - h * h * dfdx
// A = 0
A.SetZero();
//A.SetZero();
// A += M
for (u32 i = 0; i < m_particleCount; ++i)
@@ -293,15 +289,37 @@ void b3ClothSolver::Compute_A_b(b3SparseSymMat33& A, b3DenseVec3& b) const
}
// A += - h * dfdv - h * h * dfdx
// Set the upper triangle
for (u32 i = 0; i < m_particleCount; ++i)
// A += - h * dfdv
for (u32 row = 0; row < dfdv.M; ++row)
{
for (u32 j = i; j < m_particleCount; ++j)
u32 row_value_begin = dfdv.row_ptrs[row];
u32 row_value_count = dfdv.row_ptrs[row + 1] - row_value_begin;
for (u32 row_value = 0; row_value < row_value_count; ++row_value)
{
A(i, j) += (-h * dfdv(i, j)) + (-h * h * dfdx(i, j));
u32 row_value_index = row_value_begin + row_value;
u32 row_value_column = dfdv.value_columns[row_value_index];
A(row, row_value_column) += -h * dfdv.values[row_value_index];
}
}
// A += - h * h * dfdx
for (u32 row = 0; row < dfdx.M; ++row)
{
u32 row_value_begin = dfdx.row_ptrs[row];
u32 row_value_count = dfdx.row_ptrs[row + 1] - row_value_begin;
for (u32 row_value = 0; row_value < row_value_count; ++row_value)
{
u32 row_value_index = row_value_begin + row_value;
u32 row_value_column = dfdx.value_columns[row_value_index];
A(row, row_value_column) += -h * h * dfdx.values[row_value_index];
}
}
// Compute b
// b = h * (f0 + h * dfdx * v + dfdx * y)
@@ -401,7 +419,7 @@ void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
// Maximum number of iterations.
// Stop at this iteration if diverged.
const u32 max_iterations = 100;
const u32 max_iterations = 20;
u32 iteration = 0;