void TimeStepController::constraintProjection(SimulationModel &model)
{
const unsigned int maxIter = 5;
unsigned int iter = 0;
// init constraint groups if necessary
model.initConstraintGroups();
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
SimulationModel::ConstraintVector &constraints = model.getConstraints();
SimulationModel::ConstraintGroupVector &groups = model.getConstraintGroups();
while (iter < maxIter)
{
for (unsigned int group = 0; group < groups.size(); group++)
{
#pragma omp parallel default(shared)
{
#pragma omp for schedule(static)
for (int i = 0; i < (int)groups[group].size(); i++)
{
const unsigned int constraintIndex = groups[group][i];
constraints[constraintIndex]->updateConstraint(model);
constraints[constraintIndex]->solveConstraint(model);
}
}
}
iter++;
}
}
void TimeStepController::velocityConstraintProjection(SimulationModel &model)
{
unsigned int iter = 0;
// init constraint groups if necessary
model.initConstraintGroups();
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
SimulationModel::ConstraintVector &constraints = model.getConstraints();
SimulationModel::ConstraintGroupVector &groups = model.getConstraintGroups();
SimulationModel::RigidBodyContactConstraintVector &rigidBodyContacts = model.getRigidBodyContactConstraints();
SimulationModel::ParticleRigidBodyContactConstraintVector &particleRigidBodyContacts = model.getParticleRigidBodyContactConstraints();
for (unsigned int group = 0; group < groups.size(); group++)
{
const int groupSize = (int)groups[group].size();
#pragma omp parallel if(groupSize > MIN_PARALLEL_SIZE) default(shared)
{
#pragma omp for schedule(static)
for (int i = 0; i < groupSize; i++)
{
const unsigned int constraintIndex = groups[group][i];
constraints[constraintIndex]->updateConstraint(model);
}
}
}
while (iter < m_maxIterVel)
{
for (unsigned int group = 0; group < groups.size(); group++)
{
const int groupSize = (int)groups[group].size();
#pragma omp parallel if(groupSize > MIN_PARALLEL_SIZE) default(shared)
{
#pragma omp for schedule(static)
for (int i = 0; i < groupSize; i++)
{
const unsigned int constraintIndex = groups[group][i];
constraints[constraintIndex]->solveVelocityConstraint(model);
}
}
}
// solve contacts
for (unsigned int i = 0; i < rigidBodyContacts.size(); i++)
rigidBodyContacts[i].solveVelocityConstraint(model);
for (unsigned int i = 0; i < particleRigidBodyContacts.size(); i++)
particleRigidBodyContacts[i].solveVelocityConstraint(model);
iter++;
}
}
