AnotherFoxGuy/bounce
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Put some comments and reference code

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This commit is contained in:
Irlan 2019-06-03 18:48:55 -03:00
parent db949eeca0
commit ef1ae1230b
1 changed files with 13 additions and 8 deletions
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21
src/bounce/softbody/softbody.cpp
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@ -83,13 +83,18 @@ static B3_FORCE_INLINE void b3ComputeD(float32 out[36], float32 E, float32 nu)
}
}
// Compute B = S * N,
// where S is the operational matrix and N are the shape functions
// This is a 6 x 12 matrix
// A derivation and corresponding simplification for this matrix
// can be found here:
// https://github.com/erleben/OpenTissue/blob/master/OpenTissue/dynamics/fem/fem_compute_b.h
static B3_FORCE_INLINE void b3ComputeB(float32 out[72],
const b3Vec3& e10,
const b3Vec3& e20,
const b3Vec3& e30,
float32 V)
{
// Compute derivatives of shape functions N
float32 inv6V = 1.0f / (6.0f * V);
b3Vec3 B[4];
@ -125,7 +130,7 @@ static B3_FORCE_INLINE void b3ComputeB(float32 out[72],
float32 c4 = B[3].y;
float32 d4 = B[3].z;
float32 MB[72] =
float32 B_out[72] =
{
b1, 0, 0, c1, d1, 0,
0, c1, 0, b1, 0, d1,
@ -146,7 +151,7 @@ static B3_FORCE_INLINE void b3ComputeB(float32 out[72],
for (u32 i = 0; i < 72; ++i)
{
out[i] = MB[i];
out[i] = B_out[i];
}
}
@ -502,11 +507,11 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
B3_ASSERT(V > 0.0f);
b3Vec3 e10 = p2 - p1;
b3Vec3 e20 = p3 - p1;
b3Vec3 e30 = p4 - p1;
b3Vec3 e1 = p2 - p1;
b3Vec3 e2 = p3 - p1;
b3Vec3 e3 = p4 - p1;
b3Mat33 E(e10, e20, e30);
b3Mat33 E(e1, e2, e3);
e->invE = b3Inverse(E);
@ -516,7 +521,7 @@ b3SoftBody::b3SoftBody(const b3SoftBodyDef& def)
// 6 x 12
float32* B = e->B;
b3ComputeB(B, e10, e20, e30, V);
b3ComputeB(B, e1, e2, e3, V);
// 12 x 6
float32 BT[72];