101 lines
2.4 KiB
C++
101 lines
2.4 KiB
C++
/*
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* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_SPRING_SOLVER_H
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#define B3_SPRING_SOLVER_H
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#include <bounce/common/math/vec3.h>
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#include <bounce/common/math/mat33.h>
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class b3Shape;
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class b3SpringCloth;
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class b3StackAllocator;
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struct b3DenseVec3;
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struct b3SparseMat33;
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struct b3MassContact;
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struct b3Spring;
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enum class b3MassType : u32;
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struct b3SpringSolverDef
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{
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b3SpringCloth* cloth;
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float32 dt;
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};
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class b3SpringSolver
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{
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public:
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b3SpringSolver(const b3SpringSolverDef& def);
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~b3SpringSolver();
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void Solve(b3DenseVec3& extraForces);
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u32 GetIterations() const;
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private:
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// Apply internal forces and store their unique derivatives.
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void ApplySpringForces();
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// Compute A and b in Ax = b
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void Compute_A_b(b3SparseMat33& A, b3DenseVec3& b) const;
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// Compute the initial guess for the iterative solver.
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void Compute_x0(b3DenseVec3& x0);
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// Compute the constraint projection matrix S.
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void Compute_S(b3Mat33* S);
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// Solve Ax = b.
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// Output x and the residual error f = Ax - b ~ 0.
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void Solve(b3DenseVec3& x0, b3DenseVec3& f, u32& iterations, const b3SparseMat33& A, const b3DenseVec3& b, const b3Mat33* S) const;
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b3SpringCloth * m_cloth;
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float32 m_h;
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b3Mat33* m_Jx;
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b3Mat33* m_Jv;
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u32 m_iterations;
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b3StackAllocator* m_allocator;
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b3Vec3* m_x;
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b3Vec3* m_v;
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b3Vec3* m_f;
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float32* m_m;
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float32* m_inv_m;
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b3Vec3* m_y;
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b3MassType* m_types;
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u32 m_massCount;
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b3MassContact* m_contacts;
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b3Spring* m_springs;
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u32 m_springCount;
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b3Shape** m_shapes;
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};
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inline u32 b3SpringSolver::GetIterations() const
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{
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return m_iterations;
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}
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#endif |