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consistency

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This commit is contained in:
Irlan
2018-07-09 19:21:50 -03:00
parent 36a6a898fc
commit a3a867cbdf
3 changed files with 188 additions and 75 deletions
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80
src/bounce/dynamics/cloth/cloth_solver.cpp
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@@ -205,6 +205,8 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
m_solverData.dt = dt;
m_solverData.invdt = 1.0f / dt;
float32 h = dt;
for (u32 i = 0; i < m_particleCount; ++i)
{
b3Particle* p = m_particles[i];
@@ -240,26 +242,26 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
// Solve Ax = b, where
// A = M - h * dfdv - h * h * dfdx
// b = h * (f0 + h * dfdx * v0 + dfdx * y)
// A
b3SparseSymMat33 A(m_particleCount);
for (u32 i = 0; i < m_particleCount; ++i)
{
A(i, i) = b3Diagonal(m_particles[i]->m_mass);
}
A += -h * dfdv - h * h * dfdx;
// b
b3DenseVec3 b(m_particleCount);
Compute_A_b(A, b);
b3DenseVec3 b = h * (sf + h * (dfdx * sv) + dfdx * sy);
// x
b3DenseVec3 x(m_particleCount);
// Solve Ax = b
u32 iterations = 0;
Solve(x, iterations, A, b, S, z, sx0);
b3_clothSolverIterations = iterations;
// Compute the new state
// Clamp large translations?
float32 h = dt;
sv = sv + x;
sx = sx + h * sv + sy;
@@ -296,68 +298,6 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
}
}
void b3ClothSolver::Compute_A_b(b3SparseSymMat33& A, b3DenseVec3& b) const
{
B3_PROFILE("Compute A, b");
b3DenseVec3& x = *m_solverData.x;
b3DenseVec3& v = *m_solverData.v;
b3DenseVec3& f = *m_solverData.f;
b3DenseVec3& y = *m_solverData.y;
b3SparseSymMat33& dfdx = *m_solverData.dfdx;
b3SparseSymMat33& dfdv = *m_solverData.dfdv;
float32 h = m_solverData.dt;
// Compute A
// A = M - h * dfdv - h * h * dfdx
// A = 0
//A.SetZero();
// A += M
for (u32 i = 0; i < m_particleCount; ++i)
{
A(i, i) += b3Diagonal(m_particles[i]->m_mass);
}
// A += - h * dfdv - h * h * dfdx
// A += - h * dfdv
for (u32 row = 0; row < dfdv.M; ++row)
{
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)
{
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)
b = h * (f + h * (dfdx * v) + dfdx * y);
}
void b3ClothSolver::Solve(b3DenseVec3& x, u32& iterations,
const b3SparseSymMat33& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const
{