cache working but lots of copies

1 files changed, 18 insertions, 5 deletions

diff --git a/extern/softbody/src/admmpd_solver.h b/extern/softbody/src/admmpd_solver.h
index 970cbfb6368..0305d535f39 100644
--- a/extern/softbody/src/admmpd_solver.h
+++ b/extern/softbody/src/admmpd_solver.h
@@ -17,6 +17,9 @@ struct Options {
     int max_cg_iters;
     double mult_k; // stiffness multiplier for constraints
     double min_res; // min residual for CG solver
+    double density_kgm3; // unit-volume density
+    double youngs; // Young's modulus
+    double poisson; // Poisson ratio
     Eigen::Vector3d grav;
     Options() :
         timestep_s(1.0/100.0), // TODO: Figure out delta time from blender api
@@ -24,18 +27,21 @@ struct Options {
         max_cg_iters(10),
         mult_k(1.0),
         min_res(1e-4),
+        density_kgm3(1100),
+        youngs(10000000),
+        poisson(0.399),
         grav(0,0,-9.8)
         {}
 };
 
 struct Data {
-    // Input:
+    // Set from input
     Eigen::MatrixXi tets; // elements t x 4
     Eigen::MatrixXd x; // vertices, n x 3
-    Eigen::MatrixXd v; // velocity, n x 3 TODO: from cache
+    Eigen::MatrixXd v; // velocity, n x 3
     // Set in compute_matrices: 
     Eigen::MatrixXd x_start; // x at beginning of timestep, n x 3
-    Eigen::VectorXd m; // masses, n x 1 TODO: from BodyPoint
+    Eigen::VectorXd m; // masses, n x 1
     Eigen::MatrixXd z; // ADMM z variable
     Eigen::MatrixXd u; // ADMM u aug lag with W inv
     Eigen::MatrixXd M_xbar; // M*(x + dt v)
@@ -43,13 +49,20 @@ struct Data {
     Eigen::MatrixXd b; // M xbar + DtW2(z-u)
     template <typename T> using RowSparseMatrix = Eigen::SparseMatrix<T,Eigen::RowMajor>;
     RowSparseMatrix<double> D; // reduction matrix
-    RowSparseMatrix<double> Dt; // transpose reduction matrix
     RowSparseMatrix<double> DtW2; // D'W^2
     RowSparseMatrix<double> A; // M + D'W^2D
     RowSparseMatrix<double> K[3]; // constraint Jacobian
     Eigen::VectorXd l; // constraint rhs (Kx=l)
+    double spring_k; // constraint stiffness
 	Eigen::SimplicialLDLT<Eigen::SparseMatrix<double> > ldltA;
-    double spring_k;
+    struct CGData { // Temporaries used in conjugate gradients
+        RowSparseMatrix<double> A[3]; // (M + D'W^2D) + k * Kt K
+        Eigen::MatrixXd b; // M xbar + DtW2(z-u) + Kt l
+        Eigen::MatrixXd r; // residual
+        Eigen::MatrixXd z;
+        Eigen::MatrixXd p;
+        Eigen::MatrixXd Ap; // A * p
+    } cgdata;
     // Set in append_energies:
 	std::vector<Eigen::Vector2i> indices; // per-energy index into D (row, num rows)
 	std::vector<double> rest_volumes; // per-energy rest volume