find adjacent triangles while there is no specialized cloth mesh to test bending; draw strech springs instead of countouring triangles; modify contact frame creation
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Irlan
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f52b12dec6
commit
e68c50f1c9
@ -88,10 +88,9 @@ struct b3SharedEdge
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u32 nsv1, nsv2;
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};
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static void b3FindEdges(b3UniqueEdge* uniqueEdges, u32& uniqueCount, b3SharedEdge* sharedEdges, u32& sharedCount, const b3Mesh* m)
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static u32 b3FindUniqueEdges(b3UniqueEdge* uniqueEdges, const b3Mesh* m)
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{
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uniqueCount = 0;
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sharedCount = 0;
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u32 uniqueCount = 0;
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for (u32 i = 0; i < m->triangleCount; ++i)
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{
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@ -131,6 +130,64 @@ static void b3FindEdges(b3UniqueEdge* uniqueEdges, u32& uniqueCount, b3SharedEdg
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}
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}
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}
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return uniqueCount;
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}
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static u32 b3FindSharedEdges(b3SharedEdge* sharedEdges, const b3Mesh* m)
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{
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u32 sharedCount = 0;
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for (u32 i = 0; i < m->triangleCount; ++i)
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{
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b3Triangle* t1 = m->triangles + i;
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u32 i1s[3] = { t1->v1, t1->v2, t1->v3 };
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for (u32 j1 = 0; j1 < 3; ++j1)
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{
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u32 k1 = j1 + 1 < 3 ? j1 + 1 : 0;
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u32 t1v1 = i1s[j1];
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u32 t1v2 = i1s[k1];
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for (u32 j = i + 1; j < m->triangleCount; ++j)
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{
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b3Triangle* t2 = m->triangles + j;
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u32 i2s[3] = { t2->v1, t2->v2, t2->v3 };
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for (u32 j2 = 0; j2 < 3; ++j2)
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{
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u32 k2 = j2 + 1 < 3 ? j2 + 1 : 0;
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u32 t2v1 = i2s[j2];
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u32 t2v2 = i2s[k2];
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if (t1v1 == t2v2 && t1v2 == t2v1)
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{
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// The triangles are adjacent.
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u32 k3 = k1 + 1 < 3 ? k1 + 1 : 0;
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u32 t1v3 = i1s[k3];
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u32 k4 = k2 + 1 < 3 ? k2 + 1 : 0;
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u32 t2v3 = i2s[k4];
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// Add shared edge and non-shared vertices.
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b3SharedEdge se;
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se.v1 = t1v1;
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se.v2 = t1v2;
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se.nsv1 = t1v3;
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se.nsv2 = t2v3;
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sharedEdges[sharedCount++] = se;
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break;
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}
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}
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}
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}
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}
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return sharedCount;
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}
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void b3SpringCloth::Initialize(const b3SpringClothDef& def)
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@ -209,15 +266,20 @@ void b3SpringCloth::Initialize(const b3SpringClothDef& def)
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// Initialize springs
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u32 edgeCount = 3 * m->triangleCount;
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b3SharedEdge* sharedEdges = (b3SharedEdge*)m_allocator->Allocate(edgeCount * sizeof(b3SharedEdge));
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u32 sharedCount = 0;
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b3UniqueEdge* uniqueEdges = (b3UniqueEdge*)m_allocator->Allocate(edgeCount * sizeof(b3UniqueEdge));
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u32 uniqueCount = 0;
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u32 uniqueCount = b3FindUniqueEdges(uniqueEdges, m);
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b3FindEdges(uniqueEdges, uniqueCount, sharedEdges, sharedCount, m);
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u32 springCapacity = uniqueCount;
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#if B3_CLOTH_BENDING
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b3SharedEdge* sharedEdges = (b3SharedEdge*)m_allocator->Allocate(edgeCount * sizeof(b3SharedEdge));
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u32 sharedCount = b3FindSharedEdges(sharedEdges, m);
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springCapacity += sharedCount;
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#endif
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u32 springCapacity = uniqueCount + sharedCount;
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m_springs = (b3Spring*)b3Alloc(springCapacity * sizeof(b3Spring));
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// Streching
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@ -241,7 +303,8 @@ void b3SpringCloth::Initialize(const b3SpringClothDef& def)
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++m_springCount;
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}
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#if B3_CLOTH_BENDING == 1
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#if B3_CLOTH_BENDING
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// Bending
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for (u32 i = 0; i < sharedCount; ++i)
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{
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@ -260,10 +323,10 @@ void b3SpringCloth::Initialize(const b3SpringClothDef& def)
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++m_springCount;
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}
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#endif // #if B3_CLOTH_BENDING
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m_allocator->Free(sharedEdges);
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#endif
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m_allocator->Free(uniqueEdges);
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m_allocator->Free(sharedEdges);
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B3_ASSERT(m_springCount <= springCapacity);
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}
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@ -344,21 +407,6 @@ void b3SpringCloth::GetTension(b3Array<b3Vec3>& T) const
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}
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}
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static B3_FORCE_INLINE void b3CreateTangents(b3Vec3& t1, b3Vec3& t2, const b3Vec3& dv, const b3Vec3& n)
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{
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t1 = dv - b3Dot(dv, n) * n;
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if (b3Dot(t1, t1) > B3_EPSILON * B3_EPSILON)
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{
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t1.Normalize();
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t2 = b3Cross(t1, n);
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}
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else
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{
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t1 = b3Perp(n);
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t2 = b3Cross(t1, n);
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}
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}
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void b3SpringCloth::UpdateContacts()
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{
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for (u32 i = 0; i < m_massCount; ++i)
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@ -369,9 +417,6 @@ void b3SpringCloth::UpdateContacts()
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continue;
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}
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// Relative velocity
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b3Vec3 dv = m_v[i];
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b3MassContact* c = m_contacts + i;
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// Save the old contact
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@ -424,6 +469,8 @@ void b3SpringCloth::UpdateContacts()
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// Remember the normal orientation is from shape 2 to shape 1 (mass)
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c->j = bestIndex;
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c->n = n;
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c->t1 = b3Perp(n);
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c->t2 = b3Cross(c->t1, n);
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c->lockN = true;
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// Apply position correction
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@ -472,11 +519,30 @@ void b3SpringCloth::UpdateContacts()
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b3Shape* s = m_shapes[c->j];
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b3Vec3 n = c->n;
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float32 friction = s->GetFriction();
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float32 u = s->GetFriction();
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float32 normalForce = c0.Fn;
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// Tangents
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b3CreateTangents(c->t1, c->t2, dv, n);
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// Relative velocity
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b3Vec3 dv = m_v[i];
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b3Vec3 t1 = dv - b3Dot(dv, n) * n;
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if (b3Dot(t1, t1) > B3_EPSILON * B3_EPSILON)
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{
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// Create a dynamic basis
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t1.Normalize();
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b3Vec3 t2 = b3Cross(t1, n);
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t2.Normalize();
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c->t1 = t1;
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c->t2 = t2;
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}
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else
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{
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c->lockT1 = true;
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c->lockT2 = true;
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continue;
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}
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b3Vec3 ts[2];
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ts[0] = c->t1;
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@ -510,7 +576,7 @@ void b3SpringCloth::UpdateContacts()
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if (lockT0[k] == true && lockT[k] == true)
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{
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// The contact persists
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float32 maxForce = friction * normalForce;
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float32 maxForce = u * normalForce;
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if (Ft0[k] * Ft0[k] > maxForce * maxForce)
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{
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@ -610,8 +676,32 @@ void b3SpringCloth::Draw() const
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const b3Mesh* m = m_mesh;
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for (u32 i = 0; i < m->vertexCount; ++i)
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{
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b3MassContact* c = m_contacts + i;
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if (c->lockN)
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{
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b3Draw_draw->DrawPoint(m_x[i], 6.0f, b3Color_green);
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b3Draw_draw->DrawSegment(m_x[i], m_x[i] + c->n, b3Color_yellow);
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b3Draw_draw->DrawSegment(m_x[i], m_x[i] + c->t1, b3Color_yellow);
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b3Draw_draw->DrawSegment(m_x[i], m_x[i] + c->t2, b3Color_yellow);
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}
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}
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for (u32 i = 0; i < m_springCount; ++i)
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{
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b3Spring* s = m_springs + i;
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b3Vec3 x1 = m_x[s->i1];
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b3Vec3 x2 = m_x[s->i2];
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if (s->type == e_strechSpring)
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{
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b3Draw_draw->DrawSegment(x1, x2, b3Color_black);
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}
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}
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for (u32 i = 0; i < m->triangleCount; ++i)
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@ -622,8 +712,6 @@ void b3SpringCloth::Draw() const
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b3Vec3 v2 = m_x[t->v2];
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b3Vec3 v3 = m_x[t->v3];
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b3Draw_draw->DrawTriangle(v1, v2, v3, b3Color_black);
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b3Vec3 n1 = b3Cross(v2 - v1, v3 - v1);
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n1.Normalize();
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b3Draw_draw->DrawSolidTriangle(n1, v1, v2, v3, b3Color_blue);
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@ -492,9 +492,9 @@ void b3SpringSolver::Solve(b3DenseVec3& dv, b3DenseVec3& e, u32& iterations, con
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B3_ASSERT(b3IsValid(deltaNew));
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// [0, 1]
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const float32 epsilon = 1000.0f * B3_EPSILON;
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const float32 epsilon = 10.0f * B3_EPSILON;
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// Limit number of iterations to prevent cycling.
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// Maximum number of iterations.
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const u32 maxIters = 1000;
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// Main iteration loop.
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