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Unified the main Eigen solver function a bit for constrained/unconstrained

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solver variants.
This commit is contained in:
Lukas Tönne 2014-10-12 17:04:04 +02:00
parent 2356264ca9
commit 4cdf0ab5cf
1 changed files with 19 additions and 19 deletions
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38
source/blender/physics/intern/implicit_eigen.cpp
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@ -506,36 +506,30 @@ BLI_INLINE void root_to_world_m3(Implicit_Data *data, int index, float r[3][3],
bool BPH_mass_spring_solve(Implicit_Data *data, float dt, ImplicitSolverResult *result)
{
#ifdef USE_EIGEN_CORE
ConjugateGradient cg;
cg.setMaxIterations(100);
cg.setTolerance(0.01f);
id->A = id->M - dt * id->dFdV - dt*dt * id->dFdX;
cg.compute(id->A);
id->B = dt * id->F + dt*dt * id->dFdX * id->V;
id->dV = cg.solve(id->B);
id->Vnew = id->V + id->dV;
return cg.info() != Eigen::Success;
typedef ConjugateGradient solver_t;
#endif
#ifdef USE_EIGEN_CONSTRAINED_CG
ConstraintConjGrad cg;
cg.setMaxIterations(100);
cg.setTolerance(0.01f);
typedef ConstraintConjGrad solver_t;
#endif
data->iM.construct(data->M);
data->idFdX.construct(data->dFdX);
data->idFdV.construct(data->dFdV);
data->iS.construct(data->S);
solver_t cg;
cg.setMaxIterations(100);
cg.setTolerance(0.01f);
#ifdef USE_EIGEN_CONSTRAINED_CG
cg.filter() = data->S;
#endif
data->A = data->M - dt * data->dFdV - dt*dt * data->dFdX;
cg.compute(data->A);
cg.filter() = data->S;
data->B = dt * data->F + dt*dt * data->dFdX * data->V;
#ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT
printf("==== A ====\n");
print_lmatrix(id->A);
@ -546,7 +540,14 @@ bool BPH_mass_spring_solve(Implicit_Data *data, float dt, ImplicitSolverResult *
printf("==== S ====\n");
print_lmatrix(id->S);
#endif
#ifdef USE_EIGEN_CORE
data->dV = cg.solve(data->B);
#endif
#ifdef USE_EIGEN_CONSTRAINED_CG
data->dV = cg.solveWithGuess(data->B, data->z);
#endif
#ifdef IMPLICIT_PRINT_SOLVER_INPUT_OUTPUT
printf("==== dV ====\n");
print_lvector(id->dV);
@ -567,7 +568,6 @@ bool BPH_mass_spring_solve(Implicit_Data *data, float dt, ImplicitSolverResult *
result->error = cg.error();
return cg.info() != Eigen::Success;
#endif
}
/* ================================ */