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correctly initiate/terminate contact constraints

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This commit is contained in:
Irlan
2018-05-16 02:08:45 -03:00
parent 4804e48f0b
commit d8826c751e
3 changed files with 176 additions and 168 deletions
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14
include/bounce/dynamics/cloth/spring_solver.h
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@ -22,6 +22,8 @@
#include <bounce/common/math/vec3.h>
#include <bounce/common/math/mat33.h>
class b3Shape;
class b3SpringCloth;
class b3StackAllocator;
@ -56,15 +58,21 @@ private:
// Compute A and b in Ax = b
void Compute_A_b(b3SparseMat33& A, b3DenseVec3& b) const;
// Compute the initial guess for the iterative solver.
void Compute_x0(b3DenseVec3& x0);
// Compute the constraint projection matrix S.
void Compute_S(b3Mat33* S);
// Solve Ax = b using the Modified Conjugate Gradient (MCG).
// Output x and the residual error f.
void Solve_MCG(b3DenseVec3& x, b3DenseVec3& f, u32& iterations, const b3SparseMat33& A, const b3DenseVec3& b) const;
void Solve_MCG(b3DenseVec3& x0, b3DenseVec3& f, u32& iterations, const b3SparseMat33& A, const b3DenseVec3& b, const b3Mat33* S) const;
// Solve Ax = b using MCG with Jacobi preconditioning.
// Output x and the residual error f.
// This method is slower than MCG because we have to compute the preconditioning
// matrix P, but it can improve convergence.
void Solve_MPCG(b3DenseVec3& x, b3DenseVec3& f, u32& iterations, const b3SparseMat33& A, const b3DenseVec3& b) const;
void Solve_MPCG(b3DenseVec3& x0, b3DenseVec3& f, u32& iterations, const b3SparseMat33& A, const b3DenseVec3& b, const b3Mat33* S) const;
b3SpringCloth * m_cloth;
float32 m_h;
@ -87,6 +95,8 @@ private:
b3Spring* m_springs;
u32 m_springCount;
b3Shape** m_shapes;
};
inline u32 b3SpringSolver::GetIterations() const