removed unused code
This commit is contained in:
Irlan
parent
756c4d354a
commit
f86ec88adf
@ -31,7 +31,6 @@ class b3Particle;
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class b3Force;
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class b3BodyContact;
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class b3ParticleContact;
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class b3TriangleContact;
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struct b3ParticleDef;
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struct b3ForceDef;
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@ -186,7 +185,7 @@ private:
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// Pool of body contacts
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b3BlockPool m_bodyContactBlocks;
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// Pool of particle contacts
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b3BlockPool m_particleContactBlocks;
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@ -201,9 +200,6 @@ private:
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// List of particle contacts
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b3List2<b3ParticleContact> m_particleContactList;
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// List of triangle contacts
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b3List2<b3TriangleContact> m_triangleContactList;
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};
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inline void b3Cloth::SetGravity(const b3Vec3& gravity)
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@ -29,7 +29,6 @@ class b3Body;
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class b3BodyContact;
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class b3ParticleContact;
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class b3TriangleContact;
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struct b3DenseVec3;
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@ -136,23 +135,6 @@ struct b3ClothSolverTriangleContactVelocityConstraint
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float32 normalImpulse;
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};
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struct b3ClothSolverTriangleContactPositionConstraint
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{
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u32 indexA;
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float32 invMassA;
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float32 radiusA;
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u32 indexB;
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float32 invMassB;
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u32 indexC;
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float32 invMassC;
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u32 indexD;
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float32 invMassD;
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float32 triangleRadius;
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bool front;
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};
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struct b3ClothContactSolverDef
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{
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b3StackAllocator* allocator;
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@ -165,9 +147,6 @@ struct b3ClothContactSolverDef
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u32 particleContactCount;
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b3ParticleContact** particleContacts;
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u32 triangleContactCount;
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b3TriangleContact** triangleContacts;
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};
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inline float32 b3MixFriction(float32 u1, float32 u2)
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@ -185,24 +164,17 @@ public:
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void InitializeParticleContactConstraints();
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void InitializeTriangleContactConstraints();
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void WarmStart();
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void SolveBodyContactVelocityConstraints();
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void SolveParticleContactVelocityConstraints();
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void SolveTriangleContactVelocityConstraints();
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void StoreImpulses();
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bool SolveBodyContactPositionConstraints();
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bool SolveParticleContactPositionConstraints();
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bool SolveTriangleContactPositionConstraints();
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protected:
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b3StackAllocator* m_allocator;
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@ -218,11 +190,6 @@ protected:
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b3ParticleContact** m_particleContacts;
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b3ClothSolverParticleContactVelocityConstraint* m_particleVelocityConstraints;
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b3ClothSolverParticleContactPositionConstraint* m_particlePositionConstraints;
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u32 m_triangleContactCount;
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b3TriangleContact** m_triangleContacts;
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b3ClothSolverTriangleContactVelocityConstraint* m_triangleVelocityConstraints;
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b3ClothSolverTriangleContactPositionConstraint* m_trianglePositionConstraints;
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};
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#endif
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@ -34,7 +34,6 @@ struct b3SparseSymMat33;
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class b3BodyContact;
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class b3ParticleContact;
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class b3TriangleContact;
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struct b3ClothSolverDef
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{
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@ -43,7 +42,6 @@ struct b3ClothSolverDef
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u32 forceCapacity;
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u32 bodyContactCapacity;
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u32 particleContactCapacity;
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u32 triangleContactCapacity;
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};
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struct b3ClothSolverData
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@ -79,7 +77,6 @@ public:
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void Add(b3Force* f);
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void Add(b3BodyContact* c);
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void Add(b3ParticleContact* c);
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void Add(b3TriangleContact* c);
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void Solve(float32 dt, const b3Vec3& gravity);
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private:
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@ -113,11 +110,7 @@ private:
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u32 m_particleContactCapacity;
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u32 m_particleContactCount;
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b3ParticleContact** m_particleContacts;
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u32 m_triangleContactCapacity;
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u32 m_triangleContactCount;
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b3TriangleContact** m_triangleContacts;
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b3ClothSolverData m_solverData;
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};
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@ -123,27 +123,6 @@ struct b3ParticleContactWorldPoint
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float32 separation;
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};
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// A contact between a particle and a triangle
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class b3TriangleContact
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{
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public:
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b3TriangleContact() { }
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~b3TriangleContact() { }
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b3Particle* p1;
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b3Particle* p2;
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b3Particle* p3;
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b3Particle* p4;
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bool front;
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// Contact constraint
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float32 normalImpulse;
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b3TriangleContact* m_prev;
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b3TriangleContact* m_next;
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};
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// A cloth particle.
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class b3Particle
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{
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@ -634,7 +634,6 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
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solverDef.forceCapacity = m_forceList.m_count;
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solverDef.bodyContactCapacity = m_bodyContactList.m_count;
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solverDef.particleContactCapacity = m_particleContactList.m_count;
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solverDef.triangleContactCapacity = m_triangleContactList.m_count;
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b3ClothSolver solver(solverDef);
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@ -658,11 +657,6 @@ void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
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solver.Add(c);
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}
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for (b3TriangleContact* c = m_triangleContactList.m_head; c; c = c->m_next)
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{
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solver.Add(c);
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}
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// Solve
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solver.Solve(dt, gravity);
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@ -39,18 +39,10 @@ b3ClothContactSolver::b3ClothContactSolver(const b3ClothContactSolverDef& def)
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m_particleContacts = def.particleContacts;
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m_particleVelocityConstraints = (b3ClothSolverParticleContactVelocityConstraint*)m_allocator->Allocate(m_particleContactCount * sizeof(b3ClothSolverParticleContactVelocityConstraint));
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m_particlePositionConstraints = (b3ClothSolverParticleContactPositionConstraint*)m_allocator->Allocate(m_particleContactCount * sizeof(b3ClothSolverParticleContactPositionConstraint));
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m_triangleContactCount = def.triangleContactCount;
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m_triangleContacts = def.triangleContacts;
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m_triangleVelocityConstraints = (b3ClothSolverTriangleContactVelocityConstraint*)m_allocator->Allocate(m_triangleContactCount * sizeof(b3ClothSolverTriangleContactVelocityConstraint));
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m_trianglePositionConstraints = (b3ClothSolverTriangleContactPositionConstraint*)m_allocator->Allocate(m_triangleContactCount * sizeof(b3ClothSolverTriangleContactPositionConstraint));
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}
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b3ClothContactSolver::~b3ClothContactSolver()
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{
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m_allocator->Free(m_trianglePositionConstraints);
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m_allocator->Free(m_triangleVelocityConstraints);
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m_allocator->Free(m_particlePositionConstraints);
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m_allocator->Free(m_particleVelocityConstraints);
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@ -270,93 +262,6 @@ void b3ClothContactSolver::InitializeParticleContactConstraints()
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}
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}
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void b3ClothContactSolver::InitializeTriangleContactConstraints()
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{
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b3DenseVec3& x = *m_positions;
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for (u32 i = 0; i < m_triangleContactCount; ++i)
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{
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b3TriangleContact* c = m_triangleContacts[i];
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b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
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b3ClothSolverTriangleContactPositionConstraint* pc = m_trianglePositionConstraints + i;
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vc->indexA = c->p1->m_solverId;
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vc->invMassA = c->p1->m_type == e_staticParticle ? 0.0f : c->p1->m_invMass;
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vc->indexB = c->p2->m_solverId;
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vc->invMassB = c->p2->m_type == e_staticParticle ? 0.0f : c->p2->m_invMass;
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vc->indexC = c->p3->m_solverId;
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vc->invMassC = c->p3->m_type == e_staticParticle ? 0.0f : c->p3->m_invMass;
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vc->indexD = c->p4->m_solverId;
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vc->invMassD = c->p4->m_type == e_staticParticle ? 0.0f : c->p4->m_invMass;
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pc->indexA = c->p1->m_solverId;
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pc->invMassA = c->p1->m_type == e_staticParticle ? 0.0f : c->p1->m_invMass;
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pc->radiusA = c->p1->m_radius;
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pc->indexB = c->p2->m_solverId;
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pc->invMassB = c->p2->m_type == e_staticParticle ? 0.0f : c->p2->m_invMass;
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pc->indexC = c->p3->m_solverId;
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pc->invMassC = c->p3->m_type == e_staticParticle ? 0.0f : c->p3->m_invMass;
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pc->indexD = c->p4->m_solverId;
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pc->invMassD = c->p4->m_type == e_staticParticle ? 0.0f : c->p4->m_invMass;
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pc->triangleRadius = 0.0f;
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pc->front = c->front;
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u32 indexA = pc->indexA;
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float32 mA = pc->invMassA;
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u32 indexB = pc->indexB;
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float32 mB = pc->invMassB;
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u32 indexC = pc->indexC;
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float32 mC = pc->invMassC;
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u32 indexD = pc->indexD;
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float32 mD = pc->invMassD;
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b3Vec3 xA = x[indexA];
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b3Vec3 xB = x[indexB];
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b3Vec3 xC = x[indexC];
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b3Vec3 xD = x[indexD];
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b3Vec3 n = b3Cross(xC - xB, xD - xB);
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if (pc->front == false)
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{
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n = -n;
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}
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float32 n_len = n.Normalize();
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b3Mat33 I; I.SetIdentity();
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b3Mat33 N = I - b3Outer(n, n);
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if (n_len > B3_EPSILON)
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{
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N = (1.0f / n_len) * N;
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}
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b3Vec3 N_n = N * n;
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vc->JA = n;
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vc->JC = b3Cross(xD - xB, N_n);
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vc->JD = b3Cross(xC - xB, N_n);
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vc->JB = b3Cross(xC - xD, N_n) - n;
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// Compute effective mass.
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float32 K = mA + mB + mC + mD;
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vc->normalMass = K > 0.0f ? 1.0f / K : 0.0f;
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vc->normalImpulse = c->normalImpulse;
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}
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}
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void b3ClothContactSolver::WarmStart()
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{
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b3DenseVec3& v = *m_velocities;
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@ -430,41 +335,6 @@ void b3ClothContactSolver::WarmStart()
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v[indexA] = vA;
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v[indexB] = vB;
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}
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for (u32 i = 0; i < m_triangleContactCount; ++i)
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{
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b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
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u32 indexA = vc->indexA;
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u32 indexB = vc->indexB;
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u32 indexC = vc->indexC;
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u32 indexD = vc->indexD;
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b3Vec3 vA = v[indexA];
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b3Vec3 vB = v[indexB];
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b3Vec3 vC = v[indexC];
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b3Vec3 vD = v[indexD];
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float32 mA = vc->invMassA;
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float32 mB = vc->invMassB;
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float32 mC = vc->invMassC;
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float32 mD = vc->invMassD;
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b3Vec3 PA = vc->normalImpulse * vc->JA;
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b3Vec3 PB = vc->normalImpulse * vc->JB;
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b3Vec3 PC = vc->normalImpulse * vc->JC;
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b3Vec3 PD = vc->normalImpulse * vc->JD;
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vA += mA * PA;
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vB += mB * PB;
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vC += mC * PC;
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vD += mD * PD;
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v[indexA] = vA;
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v[indexB] = vB;
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v[indexC] = vC;
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v[indexD] = vD;
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}
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}
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void b3ClothContactSolver::SolveBodyContactVelocityConstraints()
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@ -626,59 +496,6 @@ void b3ClothContactSolver::SolveParticleContactVelocityConstraints()
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}
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}
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void b3ClothContactSolver::SolveTriangleContactVelocityConstraints()
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{
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b3DenseVec3& v = *m_velocities;
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for (u32 i = 0; i < m_triangleContactCount; ++i)
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{
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b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
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u32 indexA = vc->indexA;
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float32 mA = vc->invMassA;
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u32 indexB = vc->indexB;
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float32 mB = vc->invMassB;
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u32 indexC = vc->indexC;
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float32 mC = vc->invMassC;
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u32 indexD = vc->indexD;
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float32 mD = vc->invMassD;
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b3Vec3 vA = v[indexA];
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b3Vec3 vB = v[indexB];
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b3Vec3 vC = v[indexC];
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b3Vec3 vD = v[indexD];
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b3Vec3 n = vc->JA;
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// Allow some slop and prevent large corrections.
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float32 Cdot = b3Dot(n, vA - vB);
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float32 impulse = -vc->normalMass * Cdot;
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float32 oldImpulse = vc->normalImpulse;
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vc->normalImpulse = b3Max(vc->normalImpulse + impulse, 0.0f);
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impulse = vc->normalImpulse - oldImpulse;
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b3Vec3 PA = impulse * vc->JA;
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b3Vec3 PB = impulse * vc->JB;
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b3Vec3 PC = impulse * vc->JC;
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b3Vec3 PD = impulse * vc->JD;
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vA += mA * PA;
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vB += mB * PB;
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vC += mC * PC;
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vD += mD * PD;
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v[indexA] = vA;
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v[indexB] = vB;
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v[indexC] = vC;
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v[indexD] = vD;
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}
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}
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void b3ClothContactSolver::StoreImpulses()
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{
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for (u32 i = 0; i < m_bodyContactCount; ++i)
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@ -698,14 +515,6 @@ void b3ClothContactSolver::StoreImpulses()
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c->normalImpulse = vc->normalImpulse;
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c->tangentImpulse = vc->tangentImpulse;
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}
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for (u32 i = 0; i < m_triangleContactCount; ++i)
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{
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b3TriangleContact* c = m_triangleContacts[i];
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b3ClothSolverTriangleContactVelocityConstraint* vc = m_triangleVelocityConstraints + i;
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c->normalImpulse = vc->normalImpulse;
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}
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}
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struct b3ClothSolverBodyContactSolverPoint
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@ -891,92 +700,5 @@ bool b3ClothContactSolver::SolveParticleContactPositionConstraints()
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x[indexB] = xB;
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}
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return minSeparation >= -3.0f * B3_LINEAR_SLOP;
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}
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bool b3ClothContactSolver::SolveTriangleContactPositionConstraints()
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{
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b3DenseVec3& x = *m_positions;
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float32 minSeparation = 0.0f;
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for (u32 i = 0; i < m_triangleContactCount; ++i)
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{
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b3ClothSolverTriangleContactPositionConstraint* pc = m_trianglePositionConstraints + i;
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u32 indexA = pc->indexA;
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float32 mA = pc->invMassA;
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float32 radiusA = pc->radiusA;
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u32 indexB = pc->indexB;
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float32 mB = pc->invMassB;
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u32 indexC = pc->indexC;
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float32 mC = pc->invMassC;
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u32 indexD = pc->indexD;
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float32 mD = pc->invMassD;
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float32 triangleRadius = pc->triangleRadius;
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b3Vec3 xA = x[indexA];
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b3Vec3 xB = x[indexB];
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b3Vec3 xC = x[indexC];
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b3Vec3 xD = x[indexD];
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b3Vec3 n = b3Cross(xC - xB, xD - xB);
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if (pc->front == false)
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{
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n = -n;
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}
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float32 n_len = n.Normalize();
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float32 distance = b3Dot(n, xA - xB);
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float32 separation = distance - radiusA - triangleRadius;
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// Update max constraint error.
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minSeparation = b3Min(minSeparation, separation);
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// Allow some slop and prevent large corrections.
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float32 C = b3Clamp(B3_BAUMGARTE * (separation + B3_LINEAR_SLOP), -B3_MAX_LINEAR_CORRECTION, 0.0f);
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b3Mat33 I; I.SetIdentity();
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b3Mat33 N = I - b3Outer(n, n);
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if (n_len > B3_EPSILON)
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||||
{
|
||||
N = (1.0f / n_len) * N;
|
||||
}
|
||||
|
||||
b3Vec3 N_n = N * n;
|
||||
|
||||
b3Vec3 JA = n;
|
||||
b3Vec3 JC = b3Cross(xD - xB, N_n);
|
||||
b3Vec3 JD = b3Cross(xC - xB, N_n);
|
||||
b3Vec3 JB = b3Cross(xC - xD, N_n) - n;
|
||||
|
||||
// Compute effective mass.
|
||||
float32 K = mA + mB + mC + mD;
|
||||
|
||||
// Compute normal impulse.
|
||||
float32 impulse = K > 0.0f ? -C / K : 0.0f;
|
||||
|
||||
b3Vec3 PA = impulse * JA;
|
||||
b3Vec3 PB = impulse * JB;
|
||||
b3Vec3 PC = impulse * JC;
|
||||
b3Vec3 PD = impulse * JD;
|
||||
|
||||
xA += mA * PA;
|
||||
xB += mB * PB;
|
||||
xC += mC * PC;
|
||||
xD += mD * PD;
|
||||
|
||||
x[indexA] = xA;
|
||||
x[indexB] = xB;
|
||||
x[indexC] = xC;
|
||||
x[indexD] = xD;
|
||||
}
|
||||
|
||||
return minSeparation >= -3.0f * B3_LINEAR_SLOP;
|
||||
}
|
||||
@ -61,15 +61,10 @@ b3ClothSolver::b3ClothSolver(const b3ClothSolverDef& def)
|
||||
m_particleContactCapacity = def.particleContactCapacity;
|
||||
m_particleContactCount = 0;
|
||||
m_particleContacts = (b3ParticleContact**)m_allocator->Allocate(m_particleContactCapacity * sizeof(b3ParticleContact*));;
|
||||
|
||||
m_triangleContactCapacity = def.triangleContactCapacity;
|
||||
m_triangleContactCount = 0;
|
||||
m_triangleContacts = (b3TriangleContact**)m_allocator->Allocate(m_triangleContactCapacity * sizeof(b3TriangleContact*));;
|
||||
}
|
||||
|
||||
b3ClothSolver::~b3ClothSolver()
|
||||
{
|
||||
m_allocator->Free(m_triangleContacts);
|
||||
m_allocator->Free(m_particleContacts);
|
||||
m_allocator->Free(m_bodyContacts);
|
||||
|
||||
@ -99,11 +94,6 @@ void b3ClothSolver::Add(b3ParticleContact* c)
|
||||
m_particleContacts[m_particleContactCount++] = c;
|
||||
}
|
||||
|
||||
void b3ClothSolver::Add(b3TriangleContact* c)
|
||||
{
|
||||
m_triangleContacts[m_triangleContactCount++] = c;
|
||||
}
|
||||
|
||||
void b3ClothSolver::ApplyForces()
|
||||
{
|
||||
for (u32 i = 0; i < m_forceCount; ++i)
|
||||
@ -173,7 +163,6 @@ void b3ClothSolver::ApplyConstraints()
|
||||
}
|
||||
}
|
||||
|
||||
#if 0
|
||||
for (u32 i = 0; i < m_bodyContactCount; ++i)
|
||||
{
|
||||
b3BodyContact* bc = m_bodyContacts[i];
|
||||
@ -200,7 +189,6 @@ void b3ClothSolver::ApplyConstraints()
|
||||
ac->p = bcwp.normal;
|
||||
ac->z.SetZero();
|
||||
}
|
||||
#endif
|
||||
|
||||
for (u32 i = 0; i < m_constraintCount; ++i)
|
||||
{
|
||||
@ -262,7 +250,6 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
|
||||
sx0[i] = p->m_x;
|
||||
}
|
||||
|
||||
#if 0
|
||||
for (u32 i = 0; i < m_bodyContactCount; ++i)
|
||||
{
|
||||
b3BodyContact* bc = m_bodyContacts[i];
|
||||
@ -281,7 +268,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
|
||||
|
||||
sy[p1->m_solverId] += bcwp.separation * bcwp.normal;
|
||||
}
|
||||
#endif
|
||||
|
||||
// Apply internal forces
|
||||
ApplyForces();
|
||||
|
||||
@ -332,15 +319,12 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
|
||||
contactSolverDef.bodyContacts = m_bodyContacts;
|
||||
contactSolverDef.particleContactCount = m_particleContactCount;
|
||||
contactSolverDef.particleContacts = m_particleContacts;
|
||||
contactSolverDef.triangleContactCount = m_triangleContactCount;
|
||||
contactSolverDef.triangleContacts = m_triangleContacts;
|
||||
|
||||
b3ClothContactSolver contactSolver(contactSolverDef);
|
||||
|
||||
{
|
||||
contactSolver.InitializeBodyContactConstraints();
|
||||
contactSolver.InitializeParticleContactConstraints();
|
||||
contactSolver.InitializeTriangleContactConstraints();
|
||||
}
|
||||
|
||||
{
|
||||
@ -355,7 +339,6 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
|
||||
{
|
||||
contactSolver.SolveBodyContactVelocityConstraints();
|
||||
contactSolver.SolveParticleContactVelocityConstraints();
|
||||
contactSolver.SolveTriangleContactVelocityConstraints();
|
||||
}
|
||||
}
|
||||
|
||||
@ -375,9 +358,8 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
|
||||
{
|
||||
bool bodyContactsSolved = contactSolver.SolveBodyContactPositionConstraints();
|
||||
bool particleContactsSolved = contactSolver.SolveParticleContactPositionConstraints();
|
||||
bool triangleContactsSolved = contactSolver.SolveTriangleContactPositionConstraints();
|
||||
|
||||
if (bodyContactsSolved && particleContactsSolved && triangleContactsSolved)
|
||||
if (bodyContactsSolved && particleContactsSolved)
|
||||
{
|
||||
positionSolved = true;
|
||||
break;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user