From f87e2a6378e2af7525d9777362b61558914d08b4 Mon Sep 17 00:00:00 2001 From: Irlan Date: Mon, 8 Jul 2019 10:58:39 -0300 Subject: [PATCH] Properly variable name and comment --- src/bounce/cloth/forces/mouse_force.cpp | 82 +++++++++--------- src/bounce/cloth/forces/shear_force.cpp | 54 ++++++------ src/bounce/cloth/forces/spring_force.cpp | 44 +++++----- src/bounce/cloth/forces/strech_force.cpp | 104 +++++++++++------------ 4 files changed, 142 insertions(+), 142 deletions(-) diff --git a/src/bounce/cloth/forces/mouse_force.cpp b/src/bounce/cloth/forces/mouse_force.cpp index c15b01b..51810b7 100644 --- a/src/bounce/cloth/forces/mouse_force.cpp +++ b/src/bounce/cloth/forces/mouse_force.cpp @@ -130,39 +130,39 @@ void b3MouseForce::Apply(const b3ClothForceSolverData* data) m_f3 += fs[2]; m_f4 += fs[3]; - // Jacobian - b3Mat33 J[4][4]; + // Force derivative + b3Mat33 K[4][4]; for (u32 i = 0; i < 4; ++i) { for (u32 j = 0; j < 4; ++j) { //b3Mat33 d2Cvxij; - //b3Mat33 Jij = -m_km * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cvxij); - b3Mat33 Jij = -m_km * b3Outer(dCdx[i], dCdx[j]); + //b3Mat33 Kij = -m_km * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cvxij); + b3Mat33 Kij = -m_km * b3Outer(dCdx[i], dCdx[j]); - J[i][j] = Jij; + K[i][j] = Kij; } } - dfdx(i1, i1) += J[0][0]; - dfdx(i1, i2) += J[0][1]; - dfdx(i1, i3) += J[0][2]; - dfdx(i1, i4) += J[0][3]; + dfdx(i1, i1) += K[0][0]; + dfdx(i1, i2) += K[0][1]; + dfdx(i1, i3) += K[0][2]; + dfdx(i1, i4) += K[0][3]; - dfdx(i2, i1) += J[1][0]; - dfdx(i2, i2) += J[1][1]; - dfdx(i2, i3) += J[1][2]; - dfdx(i2, i4) += J[1][3]; + dfdx(i2, i1) += K[1][0]; + dfdx(i2, i2) += K[1][1]; + dfdx(i2, i3) += K[1][2]; + dfdx(i2, i4) += K[1][3]; - dfdx(i3, i1) += J[2][0]; - dfdx(i3, i2) += J[2][1]; - dfdx(i3, i3) += J[2][2]; - dfdx(i3, i4) += J[2][3]; + dfdx(i3, i1) += K[2][0]; + dfdx(i3, i2) += K[2][1]; + dfdx(i3, i3) += K[2][2]; + dfdx(i3, i4) += K[2][3]; - dfdx(i4, i1) += J[3][0]; - dfdx(i4, i2) += J[3][1]; - dfdx(i4, i3) += J[3][2]; - dfdx(i4, i4) += J[3][3]; + dfdx(i4, i1) += K[3][0]; + dfdx(i4, i2) += K[3][1]; + dfdx(i4, i3) += K[3][2]; + dfdx(i4, i4) += K[3][3]; } if (m_kd > 0.0f) @@ -187,37 +187,37 @@ void b3MouseForce::Apply(const b3ClothForceSolverData* data) m_f3 += fs[2]; m_f4 += fs[3]; - // Jacobian - b3Mat33 J[4][4]; + // Force derivative + b3Mat33 K[4][4]; for (u32 i = 0; i < 4; ++i) { for (u32 j = 0; j < 4; ++j) { - b3Mat33 Jij = -m_kd * b3Outer(dCdx[i], dCdx[j]); + b3Mat33 Kij = -m_kd * b3Outer(dCdx[i], dCdx[j]); - J[i][j] = Jij; + K[i][j] = Kij; } } - dfdv(i1, i1) += J[0][0]; - dfdv(i1, i2) += J[0][1]; - dfdv(i1, i3) += J[0][2]; - dfdv(i1, i4) += J[0][3]; + dfdv(i1, i1) += K[0][0]; + dfdv(i1, i2) += K[0][1]; + dfdv(i1, i3) += K[0][2]; + dfdv(i1, i4) += K[0][3]; - dfdv(i2, i1) += J[1][0]; - dfdv(i2, i2) += J[1][1]; - dfdv(i2, i3) += J[1][2]; - dfdv(i2, i4) += J[1][3]; + dfdv(i2, i1) += K[1][0]; + dfdv(i2, i2) += K[1][1]; + dfdv(i2, i3) += K[1][2]; + dfdv(i2, i4) += K[1][3]; - dfdv(i3, i1) += J[2][0]; - dfdv(i3, i2) += J[2][1]; - dfdv(i3, i3) += J[2][2]; - dfdv(i3, i4) += J[2][3]; + dfdv(i3, i1) += K[2][0]; + dfdv(i3, i2) += K[2][1]; + dfdv(i3, i3) += K[2][2]; + dfdv(i3, i4) += K[2][3]; - dfdv(i4, i1) += J[3][0]; - dfdv(i4, i2) += J[3][1]; - dfdv(i4, i3) += J[3][2]; - dfdv(i4, i4) += J[3][3]; + dfdv(i4, i1) += K[3][0]; + dfdv(i4, i2) += K[3][1]; + dfdv(i4, i3) += K[3][2]; + dfdv(i4, i4) += K[3][3]; } } diff --git a/src/bounce/cloth/forces/shear_force.cpp b/src/bounce/cloth/forces/shear_force.cpp index a94f835..07a35f4 100644 --- a/src/bounce/cloth/forces/shear_force.cpp +++ b/src/bounce/cloth/forces/shear_force.cpp @@ -133,31 +133,31 @@ void b3ShearForce::Apply(const b3ClothForceSolverData* data) m_f2 += fs[1]; m_f3 += fs[2]; - // Jacobian - b3Mat33 J[3][3]; + // Force derivative + b3Mat33 K[3][3]; for (u32 i = 0; i < 3; ++i) { for (u32 j = 0; j < 3; ++j) { //b3Mat33 d2Cxij = alpha * (dwudx[i] * dwvdx[j] + dwudx[j] * dwvdx[i]) * I; - //b3Mat33 Jij = -m_ks * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cxij); - b3Mat33 Jij = -m_ks * b3Outer(dCdx[i], dCdx[j]); + //b3Mat33 Kij = -m_ks * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cxij); + b3Mat33 Kij = -m_ks * b3Outer(dCdx[i], dCdx[j]); - J[i][j] = Jij; + K[i][j] = Kij; } } - dfdx(i1, i1) += J[0][0]; - dfdx(i1, i2) += J[0][1]; - dfdx(i1, i3) += J[0][2]; + dfdx(i1, i1) += K[0][0]; + dfdx(i1, i2) += K[0][1]; + dfdx(i1, i3) += K[0][2]; - dfdx(i2, i1) += J[1][0]; - dfdx(i2, i2) += J[1][1]; - dfdx(i2, i3) += J[1][2]; + dfdx(i2, i1) += K[1][0]; + dfdx(i2, i2) += K[1][1]; + dfdx(i2, i3) += K[1][2]; - dfdx(i3, i1) += J[2][0]; - dfdx(i3, i2) += J[2][1]; - dfdx(i3, i3) += J[2][2]; + dfdx(i3, i1) += K[2][0]; + dfdx(i3, i2) += K[2][1]; + dfdx(i3, i3) += K[2][2]; } if (m_kd > 0.0f) @@ -181,29 +181,29 @@ void b3ShearForce::Apply(const b3ClothForceSolverData* data) m_f2 += fs[1]; m_f3 += fs[2]; - // Jacobian - b3Mat33 J[3][3]; + // Force derivative + b3Mat33 K[3][3]; for (u32 i = 0; i < 3; ++i) { for (u32 j = 0; j < 3; ++j) { - b3Mat33 Jij = -m_kd * b3Outer(dCdx[i], dCdx[j]); + b3Mat33 Kij = -m_kd * b3Outer(dCdx[i], dCdx[j]); - J[i][j] = Jij; + K[i][j] = Kij; } } - dfdv(i1, i1) += J[0][0]; - dfdv(i1, i2) += J[0][1]; - dfdv(i1, i3) += J[0][2]; + dfdv(i1, i1) += K[0][0]; + dfdv(i1, i2) += K[0][1]; + dfdv(i1, i3) += K[0][2]; - dfdv(i2, i1) += J[1][0]; - dfdv(i2, i2) += J[1][1]; - dfdv(i2, i3) += J[1][2]; + dfdv(i2, i1) += K[1][0]; + dfdv(i2, i2) += K[1][1]; + dfdv(i2, i3) += K[1][2]; - dfdv(i3, i1) += J[2][0]; - dfdv(i3, i2) += J[2][1]; - dfdv(i3, i3) += J[2][2]; + dfdv(i3, i1) += K[2][0]; + dfdv(i3, i2) += K[2][1]; + dfdv(i3, i3) += K[2][2]; } f[i1] += m_f1; diff --git a/src/bounce/cloth/forces/spring_force.cpp b/src/bounce/cloth/forces/spring_force.cpp index 4c365a1..a037254 100644 --- a/src/bounce/cloth/forces/spring_force.cpp +++ b/src/bounce/cloth/forces/spring_force.cpp @@ -79,40 +79,40 @@ void b3SpringForce::Apply(const b3ClothForceSolverData* data) if (L > m_L0) { - // Apply tension - b3Vec3 n = dx / L; - - m_f += -m_ks * (L - m_L0) * n; - // Jacobian - b3Mat33 Jx11 = -m_ks * (b3Outer(dx, dx) + (1.0f - m_L0 / L) * (I - b3Outer(dx, dx))); - b3Mat33 Jx12 = -Jx11; - b3Mat33 Jx21 = Jx12; - b3Mat33 Jx22 = Jx11; + b3Vec3 dCdx = dx / L; - dfdx(i1, i1) += Jx11; - dfdx(i1, i2) += Jx12; - dfdx(i2, i1) += Jx21; - dfdx(i2, i2) += Jx22; + m_f += -m_ks * (L - m_L0) * dCdx; + + // Force derivative + b3Mat33 K11 = -m_ks * (b3Outer(dx, dx) + (1.0f - m_L0 / L) * (I - b3Outer(dx, dx))); + b3Mat33 K12 = -K11; + b3Mat33 K21 = K12; + b3Mat33 K22 = K11; + + dfdx(i1, i1) += K11; + dfdx(i1, i2) += K12; + dfdx(i2, i1) += K21; + dfdx(i2, i2) += K22; } } if (m_kd > 0.0f) { - // Apply damping + // C * J b3Vec3 dv = v1 - v2; m_f += -m_kd * dv; - b3Mat33 Jv11 = -m_kd * I; - b3Mat33 Jv12 = -Jv11; - b3Mat33 Jv21 = Jv12; - b3Mat33 Jv22 = Jv11; + b3Mat33 K11 = -m_kd * I; + b3Mat33 K12 = -K11; + b3Mat33 K21 = K12; + b3Mat33 K22 = K11; - dfdv(i1, i1) += Jv11; - dfdv(i1, i2) += Jv12; - dfdv(i2, i1) += Jv21; - dfdv(i2, i2) += Jv22; + dfdv(i1, i1) += K11; + dfdv(i1, i2) += K12; + dfdv(i2, i1) += K21; + dfdv(i2, i2) += K22; } f[i1] += m_f; diff --git a/src/bounce/cloth/forces/strech_force.cpp b/src/bounce/cloth/forces/strech_force.cpp index 0b87bdc..65dec70 100644 --- a/src/bounce/cloth/forces/strech_force.cpp +++ b/src/bounce/cloth/forces/strech_force.cpp @@ -145,31 +145,31 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data) m_f2 += fs[1]; m_f3 += fs[2]; - // Jacobian - b3Mat33 J[3][3]; + // Force derivative + b3Mat33 K[3][3]; for (u32 i = 0; i < 3; ++i) { for (u32 j = 0; j < 3; ++j) { b3Mat33 d2Cuxij = (alpha * inv_len_wu * dwudx[i] * dwudx[j]) * (I - b3Outer(n_wu, n_wu)); - b3Mat33 Jij = -m_ks * (b3Outer(dCudx[i], dCudx[j]) + Cu * d2Cuxij); + b3Mat33 Kij = -m_ks * (b3Outer(dCudx[i], dCudx[j]) + Cu * d2Cuxij); - J[i][j] = Jij; + K[i][j] = Kij; } } - dfdx(i1, i1) += J[0][0]; - dfdx(i1, i2) += J[0][1]; - dfdx(i1, i3) += J[0][2]; + dfdx(i1, i1) += K[0][0]; + dfdx(i1, i2) += K[0][1]; + dfdx(i1, i3) += K[0][2]; - dfdx(i2, i1) += J[1][0]; - dfdx(i2, i2) += J[1][1]; - dfdx(i2, i3) += J[1][2]; + dfdx(i2, i1) += K[1][0]; + dfdx(i2, i2) += K[1][1]; + dfdx(i2, i3) += K[1][2]; - dfdx(i3, i1) += J[2][0]; - dfdx(i3, i2) += J[2][1]; - dfdx(i3, i3) += J[2][2]; + dfdx(i3, i1) += K[2][0]; + dfdx(i3, i2) += K[2][1]; + dfdx(i3, i3) += K[2][2]; } } @@ -193,29 +193,29 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data) m_f2 += fs[1]; m_f3 += fs[2]; - // Jacobian - b3Mat33 J[3][3]; + // Force derivative + b3Mat33 K[3][3]; for (u32 i = 0; i < 3; ++i) { for (u32 j = 0; j < 3; ++j) { - b3Mat33 Jij = -m_kd * b3Outer(dCudx[i], dCudx[j]); + b3Mat33 Kij = -m_kd * b3Outer(dCudx[i], dCudx[j]); - J[i][j] = Jij; + K[i][j] = Kij; } } - dfdv(i1, i1) += J[0][0]; - dfdv(i1, i2) += J[0][1]; - dfdv(i1, i3) += J[0][2]; + dfdv(i1, i1) += K[0][0]; + dfdv(i1, i2) += K[0][1]; + dfdv(i1, i3) += K[0][2]; - dfdv(i2, i1) += J[1][0]; - dfdv(i2, i2) += J[1][1]; - dfdv(i2, i3) += J[1][2]; + dfdv(i2, i1) += K[1][0]; + dfdv(i2, i2) += K[1][1]; + dfdv(i2, i3) += K[1][2]; - dfdv(i3, i1) += J[2][0]; - dfdv(i3, i2) += J[2][1]; - dfdv(i3, i3) += J[2][2]; + dfdv(i3, i1) += K[2][0]; + dfdv(i3, i2) += K[2][1]; + dfdv(i3, i3) += K[2][2]; } } @@ -248,31 +248,31 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data) m_f2 += fs[1]; m_f3 += fs[2]; - // Jacobian - b3Mat33 J[3][3]; + // Force derivative + b3Mat33 K[3][3]; for (u32 i = 0; i < 3; ++i) { for (u32 j = 0; j < 3; ++j) { b3Mat33 d2Cvxij = (alpha * inv_len_wv * dwvdx[i] * dwvdx[j]) * (I - b3Outer(n_wv, n_wv)); - b3Mat33 Jij = -m_ks * (b3Outer(dCvdx[i], dCvdx[j]) + Cv * d2Cvxij); + b3Mat33 Kij = -m_ks * (b3Outer(dCvdx[i], dCvdx[j]) + Cv * d2Cvxij); - J[i][j] = Jij; + K[i][j] = Kij; } } - dfdx(i1, i1) += J[0][0]; - dfdx(i1, i2) += J[0][1]; - dfdx(i1, i3) += J[0][2]; + dfdx(i1, i1) += K[0][0]; + dfdx(i1, i2) += K[0][1]; + dfdx(i1, i3) += K[0][2]; - dfdx(i2, i1) += J[1][0]; - dfdx(i2, i2) += J[1][1]; - dfdx(i2, i3) += J[1][2]; + dfdx(i2, i1) += K[1][0]; + dfdx(i2, i2) += K[1][1]; + dfdx(i2, i3) += K[1][2]; - dfdx(i3, i1) += J[2][0]; - dfdx(i3, i2) += J[2][1]; - dfdx(i3, i3) += J[2][2]; + dfdx(i3, i1) += K[2][0]; + dfdx(i3, i2) += K[2][1]; + dfdx(i3, i3) += K[2][2]; } } @@ -297,29 +297,29 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data) m_f2 += fs[1]; m_f3 += fs[2]; - // Jacobian - b3Mat33 J[3][3]; + // Force derivative + b3Mat33 K[3][3]; for (u32 i = 0; i < 3; ++i) { for (u32 j = 0; j < 3; ++j) { - b3Mat33 Jij = -m_kd * b3Outer(dCvdx[i], dCvdx[j]); + b3Mat33 Kij = -m_kd * b3Outer(dCvdx[i], dCvdx[j]); - J[i][j] = Jij; + K[i][j] = Kij; } } - dfdv(i1, i1) += J[0][0]; - dfdv(i1, i2) += J[0][1]; - dfdv(i1, i3) += J[0][2]; + dfdv(i1, i1) += K[0][0]; + dfdv(i1, i2) += K[0][1]; + dfdv(i1, i3) += K[0][2]; - dfdv(i2, i1) += J[1][0]; - dfdv(i2, i2) += J[1][1]; - dfdv(i2, i3) += J[1][2]; + dfdv(i2, i1) += K[1][0]; + dfdv(i2, i2) += K[1][1]; + dfdv(i2, i3) += K[1][2]; - dfdv(i3, i1) += J[2][0]; - dfdv(i3, i2) += J[2][1]; - dfdv(i3, i3) += J[2][2]; + dfdv(i3, i1) += K[2][0]; + dfdv(i3, i2) += K[2][1]; + dfdv(i3, i3) += K[2][2]; } }