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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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17
include/bounce/dynamics/cloth/sparse_sym_mat33.h
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@ -40,9 +40,6 @@ struct b3SparseSymMat33
// //
void Diagonal(b3DiagMat33& out) const; void Diagonal(b3DiagMat33& out) const;
//
void SetZero();
u32 M; u32 M;
u32* row_ptrs; u32* row_ptrs;
u32 value_capacity; u32 value_capacity;
@ -137,6 +134,7 @@ inline b3Mat33& b3SparseSymMat33::operator()(u32 i, u32 j)
} }
// Shift the values // Shift the values
B3_ASSERT(value_count < value_capacity);
for (u32 row_value = value_count; row_value > row_value_begin + row_value_k; --row_value) for (u32 row_value = value_count; row_value > row_value_begin + row_value_k; --row_value)
{ {
values[row_value] = values[row_value - 1]; values[row_value] = values[row_value - 1];
@ -145,6 +143,7 @@ inline b3Mat33& b3SparseSymMat33::operator()(u32 i, u32 j)
// Insert the value // Insert the value
value_columns[row_value_begin + row_value_k] = j; value_columns[row_value_begin + row_value_k] = j;
values[row_value_begin + row_value_k].SetZero();
++value_count; ++value_count;
// Shift the row pointers // Shift the row pointers
@ -182,17 +181,6 @@ inline void b3SparseSymMat33::Diagonal(b3DiagMat33& out) const
} }
} }
inline void b3SparseSymMat33::SetZero()
{
for (u32 i = 0; i < M; ++i)
{
for (u32 j = i; j < M; ++j)
{
(*this)(i, j).SetZero();
}
}
}
inline void b3Mul(b3DenseVec3& out, const b3SparseSymMat33& A, const b3DenseVec3& v) inline void b3Mul(b3DenseVec3& out, const b3SparseSymMat33& A, const b3DenseVec3& v)
{ {
B3_ASSERT(A.M == out.n); B3_ASSERT(A.M == out.n);
@ -207,7 +195,6 @@ inline void b3Mul(b3DenseVec3& out, const b3SparseSymMat33& A, const b3DenseVec3
for (u32 row_value = 0; row_value < row_value_count; ++row_value) for (u32 row_value = 0; row_value < row_value_count; ++row_value)
{ {
u32 row_value_index = row_value_begin + row_value; u32 row_value_index = row_value_begin + row_value;
u32 row_value_column = A.value_columns[row_value_index]; u32 row_value_column = A.value_columns[row_value_index];
out[row] += A.values[row_value_index] * v[row_value_column]; out[row] += A.values[row_value_index] * v[row_value_column];

38
src/bounce/dynamics/cloth/cloth_solver.cpp
View File

@ -150,12 +150,8 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
b3DenseVec3 sf(m_particleCount); b3DenseVec3 sf(m_particleCount);
b3DenseVec3 sy(m_particleCount); b3DenseVec3 sy(m_particleCount);
b3DenseVec3 sx0(m_particleCount); b3DenseVec3 sx0(m_particleCount);
b3SparseSymMat33 dfdx(m_particleCount); b3SparseSymMat33 dfdx(m_particleCount);
dfdx.SetZero();
b3SparseSymMat33 dfdv(m_particleCount); b3SparseSymMat33 dfdv(m_particleCount);
dfdv.SetZero();
m_solverData.x = &sx; m_solverData.x = &sx;
m_solverData.v = &sv; 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 = M - h * dfdv - h * h * dfdx
// A = 0 // A = 0
A.SetZero(); //A.SetZero();
// A += M // A += M
for (u32 i = 0; i < m_particleCount; ++i) 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 // 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 // Compute b
// b = h * (f0 + h * dfdx * v + dfdx * y) // b = h * (f0 + h * dfdx * v + dfdx * y)
@ -401,7 +419,7 @@ void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
// Maximum number of iterations. // Maximum number of iterations.
// Stop at this iteration if diverged. // Stop at this iteration if diverged.
const u32 max_iterations = 100; const u32 max_iterations = 20;
u32 iteration = 0; u32 iteration = 0;