117 lines
2.7 KiB
C++
117 lines
2.7 KiB
C++
/*
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* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
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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_CLOTH_SOLVER_H
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#define B3_CLOTH_SOLVER_H
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#include <bounce/common/math/mat22.h>
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#include <bounce/common/math/mat33.h>
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class b3StackAllocator;
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class b3Particle;
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class b3Body;
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class b3Force;
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struct b3DenseVec3;
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struct b3DiagMat33;
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struct b3SparseSymMat33;
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class b3BodyContact;
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class b3ParticleContact;
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struct b3ClothSolverDef
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{
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b3StackAllocator* stack;
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u32 particleCapacity;
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u32 forceCapacity;
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u32 bodyContactCapacity;
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u32 particleContactCapacity;
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};
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struct b3ClothSolverData
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{
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b3DenseVec3* x;
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b3DenseVec3* v;
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b3DenseVec3* f;
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b3DenseVec3* y;
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b3SparseSymMat33* dfdx;
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b3SparseSymMat33* dfdv;
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b3DiagMat33* S;
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b3DenseVec3* z;
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float32 dt;
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float32 invdt;
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};
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struct b3AccelerationConstraint
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{
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u32 i1;
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u32 ndof;
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b3Vec3 p, q, z;
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void Apply(const b3ClothSolverData* data);
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};
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class b3ClothSolver
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{
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public:
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b3ClothSolver(const b3ClothSolverDef& def);
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~b3ClothSolver();
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void Add(b3Particle* p);
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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 Solve(float32 dt, const b3Vec3& gravity);
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private:
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// Apply forces.
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void ApplyForces();
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// Apply constraints.
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void ApplyConstraints();
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// Solve Ax = b.
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void Solve(b3DenseVec3& x, u32& iterations, const b3SparseSymMat33& A, const b3DenseVec3& b, const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y) const;
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b3StackAllocator* m_allocator;
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u32 m_particleCapacity;
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u32 m_particleCount;
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b3Particle** m_particles;
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u32 m_forceCapacity;
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u32 m_forceCount;
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b3Force** m_forces;
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u32 m_constraintCapacity;
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u32 m_constraintCount;
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b3AccelerationConstraint* m_constraints;
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u32 m_bodyContactCapacity;
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u32 m_bodyContactCount;
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b3BodyContact** m_bodyContacts;
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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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b3ClothSolverData m_solverData;
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};
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#endif |