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Properly variable name and comment

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This commit is contained in:
Irlan 2019-07-08 10:58:39 -03:00
parent e9714885e4
commit f87e2a6378
4 changed files with 142 additions and 142 deletions
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82
src/bounce/cloth/forces/mouse_force.cpp
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@ -130,39 +130,39 @@ void b3MouseForce::Apply(const b3ClothForceSolverData* data)
m_f3 += fs[2]; m_f3 += fs[2];
m_f4 += fs[3]; m_f4 += fs[3];
// Jacobian // Force derivative
b3Mat33 J[4][4]; b3Mat33 K[4][4];
for (u32 i = 0; i < 4; ++i) for (u32 i = 0; i < 4; ++i)
{ {
for (u32 j = 0; j < 4; ++j) for (u32 j = 0; j < 4; ++j)
{ {
//b3Mat33 d2Cvxij; //b3Mat33 d2Cvxij;
//b3Mat33 Jij = -m_km * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cvxij); //b3Mat33 Kij = -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]);
J[i][j] = Jij; K[i][j] = Kij;
} }
} }
dfdx(i1, i1) += J[0][0]; dfdx(i1, i1) += K[0][0];
dfdx(i1, i2) += J[0][1]; dfdx(i1, i2) += K[0][1];
dfdx(i1, i3) += J[0][2]; dfdx(i1, i3) += K[0][2];
dfdx(i1, i4) += J[0][3]; dfdx(i1, i4) += K[0][3];
dfdx(i2, i1) += J[1][0]; dfdx(i2, i1) += K[1][0];
dfdx(i2, i2) += J[1][1]; dfdx(i2, i2) += K[1][1];
dfdx(i2, i3) += J[1][2]; dfdx(i2, i3) += K[1][2];
dfdx(i2, i4) += J[1][3]; dfdx(i2, i4) += K[1][3];
dfdx(i3, i1) += J[2][0]; dfdx(i3, i1) += K[2][0];
dfdx(i3, i2) += J[2][1]; dfdx(i3, i2) += K[2][1];
dfdx(i3, i3) += J[2][2]; dfdx(i3, i3) += K[2][2];
dfdx(i3, i4) += J[2][3]; dfdx(i3, i4) += K[2][3];
dfdx(i4, i1) += J[3][0]; dfdx(i4, i1) += K[3][0];
dfdx(i4, i2) += J[3][1]; dfdx(i4, i2) += K[3][1];
dfdx(i4, i3) += J[3][2]; dfdx(i4, i3) += K[3][2];
dfdx(i4, i4) += J[3][3]; dfdx(i4, i4) += K[3][3];
} }
if (m_kd > 0.0f) if (m_kd > 0.0f)
@ -187,37 +187,37 @@ void b3MouseForce::Apply(const b3ClothForceSolverData* data)
m_f3 += fs[2]; m_f3 += fs[2];
m_f4 += fs[3]; m_f4 += fs[3];
// Jacobian // Force derivative
b3Mat33 J[4][4]; b3Mat33 K[4][4];
for (u32 i = 0; i < 4; ++i) for (u32 i = 0; i < 4; ++i)
{ {
for (u32 j = 0; j < 4; ++j) 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, i1) += K[0][0];
dfdv(i1, i2) += J[0][1]; dfdv(i1, i2) += K[0][1];
dfdv(i1, i3) += J[0][2]; dfdv(i1, i3) += K[0][2];
dfdv(i1, i4) += J[0][3]; dfdv(i1, i4) += K[0][3];
dfdv(i2, i1) += J[1][0]; dfdv(i2, i1) += K[1][0];
dfdv(i2, i2) += J[1][1]; dfdv(i2, i2) += K[1][1];
dfdv(i2, i3) += J[1][2]; dfdv(i2, i3) += K[1][2];
dfdv(i2, i4) += J[1][3]; dfdv(i2, i4) += K[1][3];
dfdv(i3, i1) += J[2][0]; dfdv(i3, i1) += K[2][0];
dfdv(i3, i2) += J[2][1]; dfdv(i3, i2) += K[2][1];
dfdv(i3, i3) += J[2][2]; dfdv(i3, i3) += K[2][2];
dfdv(i3, i4) += J[2][3]; dfdv(i3, i4) += K[2][3];
dfdv(i4, i1) += J[3][0]; dfdv(i4, i1) += K[3][0];
dfdv(i4, i2) += J[3][1]; dfdv(i4, i2) += K[3][1];
dfdv(i4, i3) += J[3][2]; dfdv(i4, i3) += K[3][2];
dfdv(i4, i4) += J[3][3]; dfdv(i4, i4) += K[3][3];
} }
} }

54
src/bounce/cloth/forces/shear_force.cpp
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@ -133,31 +133,31 @@ void b3ShearForce::Apply(const b3ClothForceSolverData* data)
m_f2 += fs[1]; m_f2 += fs[1];
m_f3 += fs[2]; m_f3 += fs[2];
// Jacobian // Force derivative
b3Mat33 J[3][3]; b3Mat33 K[3][3];
for (u32 i = 0; i < 3; ++i) for (u32 i = 0; i < 3; ++i)
{ {
for (u32 j = 0; j < 3; ++j) for (u32 j = 0; j < 3; ++j)
{ {
//b3Mat33 d2Cxij = alpha * (dwudx[i] * dwvdx[j] + dwudx[j] * dwvdx[i]) * I; //b3Mat33 d2Cxij = alpha * (dwudx[i] * dwvdx[j] + dwudx[j] * dwvdx[i]) * I;
//b3Mat33 Jij = -m_ks * (b3Outer(dCdx[i], dCdx[j]) + C * d2Cxij); //b3Mat33 Kij = -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]);
J[i][j] = Jij; K[i][j] = Kij;
} }
} }
dfdx(i1, i1) += J[0][0]; dfdx(i1, i1) += K[0][0];
dfdx(i1, i2) += J[0][1]; dfdx(i1, i2) += K[0][1];
dfdx(i1, i3) += J[0][2]; dfdx(i1, i3) += K[0][2];
dfdx(i2, i1) += J[1][0]; dfdx(i2, i1) += K[1][0];
dfdx(i2, i2) += J[1][1]; dfdx(i2, i2) += K[1][1];
dfdx(i2, i3) += J[1][2]; dfdx(i2, i3) += K[1][2];
dfdx(i3, i1) += J[2][0]; dfdx(i3, i1) += K[2][0];
dfdx(i3, i2) += J[2][1]; dfdx(i3, i2) += K[2][1];
dfdx(i3, i3) += J[2][2]; dfdx(i3, i3) += K[2][2];
} }
if (m_kd > 0.0f) if (m_kd > 0.0f)
@ -181,29 +181,29 @@ void b3ShearForce::Apply(const b3ClothForceSolverData* data)
m_f2 += fs[1]; m_f2 += fs[1];
m_f3 += fs[2]; m_f3 += fs[2];
// Jacobian // Force derivative
b3Mat33 J[3][3]; b3Mat33 K[3][3];
for (u32 i = 0; i < 3; ++i) for (u32 i = 0; i < 3; ++i)
{ {
for (u32 j = 0; j < 3; ++j) 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, i1) += K[0][0];
dfdv(i1, i2) += J[0][1]; dfdv(i1, i2) += K[0][1];
dfdv(i1, i3) += J[0][2]; dfdv(i1, i3) += K[0][2];
dfdv(i2, i1) += J[1][0]; dfdv(i2, i1) += K[1][0];
dfdv(i2, i2) += J[1][1]; dfdv(i2, i2) += K[1][1];
dfdv(i2, i3) += J[1][2]; dfdv(i2, i3) += K[1][2];
dfdv(i3, i1) += J[2][0]; dfdv(i3, i1) += K[2][0];
dfdv(i3, i2) += J[2][1]; dfdv(i3, i2) += K[2][1];
dfdv(i3, i3) += J[2][2]; dfdv(i3, i3) += K[2][2];
} }
f[i1] += m_f1; f[i1] += m_f1;

44
src/bounce/cloth/forces/spring_force.cpp
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@ -79,40 +79,40 @@ void b3SpringForce::Apply(const b3ClothForceSolverData* data)
if (L > m_L0) if (L > m_L0)
{ {
// Apply tension
b3Vec3 n = dx / L;
m_f += -m_ks * (L - m_L0) * n;
// Jacobian // Jacobian
b3Mat33 Jx11 = -m_ks * (b3Outer(dx, dx) + (1.0f - m_L0 / L) * (I - b3Outer(dx, dx))); b3Vec3 dCdx = dx / L;
b3Mat33 Jx12 = -Jx11;
b3Mat33 Jx21 = Jx12;
b3Mat33 Jx22 = Jx11;
dfdx(i1, i1) += Jx11; m_f += -m_ks * (L - m_L0) * dCdx;
dfdx(i1, i2) += Jx12;
dfdx(i2, i1) += Jx21; // Force derivative
dfdx(i2, i2) += Jx22; 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) if (m_kd > 0.0f)
{ {
// Apply damping // C * J
b3Vec3 dv = v1 - v2; b3Vec3 dv = v1 - v2;
m_f += -m_kd * dv; m_f += -m_kd * dv;
b3Mat33 Jv11 = -m_kd * I; b3Mat33 K11 = -m_kd * I;
b3Mat33 Jv12 = -Jv11; b3Mat33 K12 = -K11;
b3Mat33 Jv21 = Jv12; b3Mat33 K21 = K12;
b3Mat33 Jv22 = Jv11; b3Mat33 K22 = K11;
dfdv(i1, i1) += Jv11; dfdv(i1, i1) += K11;
dfdv(i1, i2) += Jv12; dfdv(i1, i2) += K12;
dfdv(i2, i1) += Jv21; dfdv(i2, i1) += K21;
dfdv(i2, i2) += Jv22; dfdv(i2, i2) += K22;
} }
f[i1] += m_f; f[i1] += m_f;

104
src/bounce/cloth/forces/strech_force.cpp
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@ -145,31 +145,31 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
m_f2 += fs[1]; m_f2 += fs[1];
m_f3 += fs[2]; m_f3 += fs[2];
// Jacobian // Force derivative
b3Mat33 J[3][3]; b3Mat33 K[3][3];
for (u32 i = 0; i < 3; ++i) for (u32 i = 0; i < 3; ++i)
{ {
for (u32 j = 0; j < 3; ++j) for (u32 j = 0; j < 3; ++j)
{ {
b3Mat33 d2Cuxij = (alpha * inv_len_wu * dwudx[i] * dwudx[j]) * (I - b3Outer(n_wu, n_wu)); 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, i1) += K[0][0];
dfdx(i1, i2) += J[0][1]; dfdx(i1, i2) += K[0][1];
dfdx(i1, i3) += J[0][2]; dfdx(i1, i3) += K[0][2];
dfdx(i2, i1) += J[1][0]; dfdx(i2, i1) += K[1][0];
dfdx(i2, i2) += J[1][1]; dfdx(i2, i2) += K[1][1];
dfdx(i2, i3) += J[1][2]; dfdx(i2, i3) += K[1][2];
dfdx(i3, i1) += J[2][0]; dfdx(i3, i1) += K[2][0];
dfdx(i3, i2) += J[2][1]; dfdx(i3, i2) += K[2][1];
dfdx(i3, i3) += J[2][2]; dfdx(i3, i3) += K[2][2];
} }
} }
@ -193,29 +193,29 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
m_f2 += fs[1]; m_f2 += fs[1];
m_f3 += fs[2]; m_f3 += fs[2];
// Jacobian // Force derivative
b3Mat33 J[3][3]; b3Mat33 K[3][3];
for (u32 i = 0; i < 3; ++i) for (u32 i = 0; i < 3; ++i)
{ {
for (u32 j = 0; j < 3; ++j) 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, i1) += K[0][0];
dfdv(i1, i2) += J[0][1]; dfdv(i1, i2) += K[0][1];
dfdv(i1, i3) += J[0][2]; dfdv(i1, i3) += K[0][2];
dfdv(i2, i1) += J[1][0]; dfdv(i2, i1) += K[1][0];
dfdv(i2, i2) += J[1][1]; dfdv(i2, i2) += K[1][1];
dfdv(i2, i3) += J[1][2]; dfdv(i2, i3) += K[1][2];
dfdv(i3, i1) += J[2][0]; dfdv(i3, i1) += K[2][0];
dfdv(i3, i2) += J[2][1]; dfdv(i3, i2) += K[2][1];
dfdv(i3, i3) += J[2][2]; dfdv(i3, i3) += K[2][2];
} }
} }
@ -248,31 +248,31 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
m_f2 += fs[1]; m_f2 += fs[1];
m_f3 += fs[2]; m_f3 += fs[2];
// Jacobian // Force derivative
b3Mat33 J[3][3]; b3Mat33 K[3][3];
for (u32 i = 0; i < 3; ++i) for (u32 i = 0; i < 3; ++i)
{ {
for (u32 j = 0; j < 3; ++j) for (u32 j = 0; j < 3; ++j)
{ {
b3Mat33 d2Cvxij = (alpha * inv_len_wv * dwvdx[i] * dwvdx[j]) * (I - b3Outer(n_wv, n_wv)); 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, i1) += K[0][0];
dfdx(i1, i2) += J[0][1]; dfdx(i1, i2) += K[0][1];
dfdx(i1, i3) += J[0][2]; dfdx(i1, i3) += K[0][2];
dfdx(i2, i1) += J[1][0]; dfdx(i2, i1) += K[1][0];
dfdx(i2, i2) += J[1][1]; dfdx(i2, i2) += K[1][1];
dfdx(i2, i3) += J[1][2]; dfdx(i2, i3) += K[1][2];
dfdx(i3, i1) += J[2][0]; dfdx(i3, i1) += K[2][0];
dfdx(i3, i2) += J[2][1]; dfdx(i3, i2) += K[2][1];
dfdx(i3, i3) += J[2][2]; dfdx(i3, i3) += K[2][2];
} }
} }
@ -297,29 +297,29 @@ void b3StrechForce::Apply(const b3ClothForceSolverData* data)
m_f2 += fs[1]; m_f2 += fs[1];
m_f3 += fs[2]; m_f3 += fs[2];
// Jacobian // Force derivative
b3Mat33 J[3][3]; b3Mat33 K[3][3];
for (u32 i = 0; i < 3; ++i) for (u32 i = 0; i < 3; ++i)
{ {
for (u32 j = 0; j < 3; ++j) 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, i1) += K[0][0];
dfdv(i1, i2) += J[0][1]; dfdv(i1, i2) += K[0][1];
dfdv(i1, i3) += J[0][2]; dfdv(i1, i3) += K[0][2];
dfdv(i2, i1) += J[1][0]; dfdv(i2, i1) += K[1][0];
dfdv(i2, i2) += J[1][1]; dfdv(i2, i2) += K[1][1];
dfdv(i2, i3) += J[1][2]; dfdv(i2, i3) += K[1][2];
dfdv(i3, i1) += J[2][0]; dfdv(i3, i1) += K[2][0];
dfdv(i3, i2) += J[2][1]; dfdv(i3, i2) += K[2][1];
dfdv(i3, i3) += J[2][2]; dfdv(i3, i3) += K[2][2];
} }
} }