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practical cg failure catch, rename epsilon to tolerance

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This commit is contained in:
Irlan 2018-05-20 01:58:22 -03:00
parent 079e6eddca
commit c91bfdb5d6
2 changed files with 21 additions and 14 deletions
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6
src/bounce/dynamics/cloth/spring_cloth.cpp
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@ -703,13 +703,7 @@ void b3SpringCloth::Draw() const
if (c->lockN) if (c->lockN)
{ {
b3Draw_draw->DrawPoint(m_x[i], 6.0f, b3Color_yellow);
b3Draw_draw->DrawSegment(m_x[i], m_x[i] + c->n, b3Color_yellow); b3Draw_draw->DrawSegment(m_x[i], m_x[i] + c->n, b3Color_yellow);
b3Draw_draw->DrawSegment(m_x[i], m_x[i] + c->t1, b3Color_yellow);
b3Draw_draw->DrawSegment(m_x[i], m_x[i] + c->t2, b3Color_yellow);
} }
} }

29
src/bounce/dynamics/cloth/spring_solver.cpp
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@ -485,21 +485,20 @@ void b3SpringSolver::Solve(b3DenseVec3& x, b3DenseVec3& f, u32& iterations,
// deltaNew = dot(r, p) // deltaNew = dot(r, p)
float32 deltaNew = b3Dot(r, p); float32 deltaNew = b3Dot(r, p);
B3_ASSERT(b3IsValid(deltaNew));
// Tolerance. // Tolerance.
// This is the main stopping criteria. // This is the main stopping criteria.
// [0, 1] // [0, 1]
const float32 epsilon = 10.0f * B3_EPSILON; const float32 tolerance = 10.0f * B3_EPSILON;
// Maximum number of iterations. // Maximum number of iterations.
const u32 maxIters = 1000; const u32 maxIters = 1000;
// Main iteration loop. // Main iteration loop.
u32 iter = 0; u32 iter = 0;
while (iter < maxIters && deltaNew > epsilon * epsilon * b_delta) while (deltaNew > tolerance * tolerance * b_delta && iter < maxIters)
{ {
// s = S(A * p) // s = S * (A * p)
b3DenseVec3 s = S * (A * p); b3DenseVec3 s = S * (A * p);
// alpha = deltaNew / dot(c, q) // alpha = deltaNew / dot(c, q)
@ -510,7 +509,7 @@ void b3SpringSolver::Solve(b3DenseVec3& x, b3DenseVec3& f, u32& iterations,
// r = r - alpha * s // r = r - alpha * s
r = r - alpha * s; r = r - alpha * s;
// h = inv_P * r // h = inv_P * r
b3DenseVec3 h = inv_P * r; b3DenseVec3 h = inv_P * r;
@ -519,7 +518,7 @@ void b3SpringSolver::Solve(b3DenseVec3& x, b3DenseVec3& f, u32& iterations,
// deltaNew = dot(r, h) // deltaNew = dot(r, h)
deltaNew = b3Dot(r, h); deltaNew = b3Dot(r, h);
B3_ASSERT(b3IsValid(deltaNew)); //B3_ASSERT(b3IsValid(deltaNew));
// beta = deltaNew / deltaOld // beta = deltaNew / deltaOld
float32 beta = deltaNew / deltaOld; float32 beta = deltaNew / deltaOld;
@ -532,6 +531,20 @@ void b3SpringSolver::Solve(b3DenseVec3& x, b3DenseVec3& f, u32& iterations,
iterations = iter; iterations = iter;
// Residual float32 x2 = b3Dot(x, x);
f = A * x - b; if (b3IsValid(x2) == false)
{
// Probably the condition number of A is large.
// Solve unconstrained (S = I)?
// Reject the solution.
x.SetZero();
f.SetZero();
}
else
{
// Accept the solution.
// Residual
f = A * x - b;
}
} }