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Simplification

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This commit is contained in:
Irlan 2019-07-07 23:09:13 -03:00
parent 2982bc2bd3
commit e9714885e4
2 changed files with 6 additions and 84 deletions
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12
include/bounce/cloth/cloth_force_solver.h
View File

@ -53,15 +53,6 @@ struct b3ClothForceSolverData
b3DenseVec3* z;
};
struct b3AccelerationConstraint
{
u32 i1;
u32 ndof;
b3Vec3 p, q, z;
void Apply(const b3ClothForceSolverData* data);
};
class b3ClothForceSolver
{
public:
@ -71,7 +62,6 @@ public:
void Solve(float32 dt, const b3Vec3& gravity);
private:
void ApplyForces();
void ApplyConstraints();
b3StackAllocator* m_allocator;
@ -81,8 +71,6 @@ private:
u32 m_forceCount;
b3Force** m_forces;
b3AccelerationConstraint* m_constraints;
b3ClothForceSolverData m_solverData;
};

78
src/bounce/cloth/cloth_force_solver.cpp
View File

@ -43,13 +43,10 @@ b3ClothForceSolver::b3ClothForceSolver(const b3ClothForceSolverDef& def)
m_forceCount = def.forceCount;
m_forces = def.forces;
m_constraints = (b3AccelerationConstraint*)m_allocator->Allocate(m_particleCount * sizeof(b3AccelerationConstraint));
}
b3ClothForceSolver::~b3ClothForceSolver()
{
m_allocator->Free(m_constraints);
}
void b3ClothForceSolver::ApplyForces()
@ -60,72 +57,6 @@ void b3ClothForceSolver::ApplyForces()
}
}
void b3AccelerationConstraint::Apply(const b3ClothForceSolverData* data)
{
b3DiagMat33& sS = *data->S;
b3DenseVec3& sz = *data->z;
sz[i1] = z;
b3Mat33 I; I.SetIdentity();
switch (ndof)
{
case 3:
{
sS[i1] = I;
break;
}
case 2:
{
sS[i1] = I - b3Outer(p, p);
break;
}
case 1:
{
sS[i1] = I - b3Outer(p, p) - b3Outer(q, q);
break;
}
case 0:
{
sS[i1].SetZero();
break;
}
default:
{
B3_ASSERT(false);
break;
}
}
}
void b3ClothForceSolver::ApplyConstraints()
{
for (u32 i = 0; i < m_particleCount; ++i)
{
b3Particle* p = m_particles[i];
b3AccelerationConstraint* c = m_constraints + i;
c->i1 = i;
if (p->m_type != e_dynamicParticle)
{
c->ndof = 0;
c->z.SetZero();
}
else
{
c->ndof = 3;
c->z.SetZero();
}
}
for (u32 i = 0; i < m_particleCount; ++i)
{
m_constraints[i].Apply(&m_solverData);
}
}
// Solve Ax = b
static void b3SolveMPCG(b3DenseVec3& x,
const b3SparseMat33View& A, const b3DenseVec3& b,
@ -239,11 +170,17 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
sx[i] = p->m_position;
sv[i] = p->m_velocity;
sf[i] = p->m_force;
sz[i].SetZero();
if (p->m_type == e_dynamicParticle)
{
// Apply weight
sf[i] += p->m_mass * gravity;
S[i].SetIdentity();
}
else
{
S[i].SetZero();
}
sy[i] = p->m_translation;
@ -253,9 +190,6 @@ void b3ClothForceSolver::Solve(float32 dt, const b3Vec3& gravity)
// Apply internal forces
ApplyForces();
// Apply constraints
ApplyConstraints();
// Solve Ax = b, where
// A = M - h * dfdv - h * h * dfdx
// b = h * (f0 + h * dfdx * v0 + dfdx * y)