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solve the instability problem in cloth solver

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Make our model support tension forces only. Compression might be handled separately, or by using the original formulation.

Ensure positive definiteness of matrix.
This commit is contained in:
Irlan 2018-05-13 20:25:20 -03:00
parent b89faee90d
commit ba544379c5
2 changed files with 21 additions and 10 deletions
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14
src/bounce/dynamics/cloth/spring_cloth.cpp
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@ -233,6 +233,9 @@ void b3SpringCloth::Initialize(const b3SpringClothDef& def)
S->i1 = e->v1;
S->i2 = e->v2;
S->L0 = b3Distance(p1, p2);
B3_ASSERT(S->L0 > B3_EPSILON);
S->ks = def.ks;
S->kd = def.kd;
++m_springCount;
@ -306,17 +309,18 @@ void b3SpringCloth::GetTension(b3Array<b3Vec3>& T) const
b3Vec3 x2 = m_x[i2];
b3Vec3 v2 = m_v[i2];
// Strech
// Streching
b3Vec3 dx = x1 - x2;
float32 L = b3Length(dx);
float32 s = 1.0f;
if (L > 0.0f)
if (L < L0)
{
s -= L0 / L;
L = L0;
}
b3Vec3 sf1 = -ks * s * dx;
b3Vec3 n = dx / L;
b3Vec3 sf1 = -ks * (L - L0) * n;
b3Vec3 sf2 = -sf1;
T[i1] += sf1;

17
src/bounce/dynamics/cloth/spring_solver.cpp
View File

@ -185,6 +185,7 @@ void b3SpringSolver::ApplySpringForces()
u32 i1 = S->i1;
u32 i2 = S->i2;
float32 L0 = S->L0;
B3_ASSERT(L0 > 0.0f);
float32 ks = S->ks;
float32 kd = S->kd;
@ -198,19 +199,23 @@ void b3SpringSolver::ApplySpringForces()
b3Vec3 dx = x1 - x2;
float32 L = b3Length(dx);
B3_ASSERT(L > 0.0f);
// Ensure force is a tension.
if (L < L0)
{
L = L0;
}
b3Vec3 sf1 = -ks * (1.0f - L0 / L) * dx;
b3Vec3 n = dx / L;
b3Vec3 sf1 = -ks * (L - L0) * n;
b3Vec3 sf2 = -sf1;
m_f[i1] += sf1;
m_f[i2] += sf2;
// C * n = 1 - L0 / L * dx
const b3Mat33 I = b3Mat33_identity;
float32 L3 = L * L * L;
b3Mat33 Jx11 = -ks * ((1.0f - L0 / L) * I + (L0 / L3) * b3Outer(dx, dx));
b3Mat33 Jx11 = -ks * (b3Outer(dx, dx) + (1.0f - L0 / L) * (I - b3Outer(dx, dx)));
m_Jx[i] = Jx11;
@ -557,6 +562,8 @@ void b3SpringSolver::Solve_MPCG(b3DenseVec3& dv, b3DenseVec3& e, u32& iterations
inv_P[i] = b3Vec3(D[0][0], D[1][1], D[2][2]);
}
B3_ASSERT(isPD == true);
m_allocator->Free(diagA);
// eps0 = dot( filter(b), P * filter(b) )