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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)
{
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->t1, b3Color_yellow);
b3Draw_draw->DrawSegment(m_x[i], m_x[i] + c->t2, b3Color_yellow);
}
}

27
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)
float32 deltaNew = b3Dot(r, p);
B3_ASSERT(b3IsValid(deltaNew));
// Tolerance.
// This is the main stopping criteria.
// [0, 1]
const float32 epsilon = 10.0f * B3_EPSILON;
const float32 tolerance = 10.0f * B3_EPSILON;
// Maximum number of iterations.
const u32 maxIters = 1000;
// Main iteration loop.
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);
// alpha = deltaNew / dot(c, q)
@ -519,7 +518,7 @@ void b3SpringSolver::Solve(b3DenseVec3& x, b3DenseVec3& f, u32& iterations,
// deltaNew = dot(r, h)
deltaNew = b3Dot(r, h);
B3_ASSERT(b3IsValid(deltaNew));
//B3_ASSERT(b3IsValid(deltaNew));
// beta = deltaNew / deltaOld
float32 beta = deltaNew / deltaOld;
@ -532,6 +531,20 @@ void b3SpringSolver::Solve(b3DenseVec3& x, b3DenseVec3& f, u32& iterations,
iterations = iter;
// Residual
f = A * x - b;
float32 x2 = b3Dot(x, x);
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;
}
}