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edisonlee0212 · Oct 16, 2024 · 1da5452 · 1da5452
1 parent ac3c0be
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diff --git a/...coSysLabResources/Shaders/Compute/DynamicStrands/Constraints/StiffRodInitConstraints.comp b/...coSysLabResources/Shaders/Compute/DynamicStrands/Constraints/StiffRodInitConstraints.comp
@@ -22,52 +22,77 @@ memoryBarrierShared(); \
 barrier();
 
 layout(push_constant) uniform PUSH_CONSTANTS {
-	uint constraint_size;
-	float time_step;
-	float inv_time_step;
+    uint constraint_size;
+    float time_step;
 };
 
 #define DYNAMIC_STRANDS_PHYSICS_SET 1
 #include "DynamicStrandsPhysics.glsl"
 
+
+void init_stretch_bending_twisting_constraint(in vec3 stiffness_coefficient_k,
+                                              out vec3 stretch_compliance,
+                                              out vec3 bending_and_torsion_compliance, out vec6 lambda_sum) {
+  float time_step_quadratic = time_step * time_step;
+
+  stretch_compliance = vec3(time_step_quadratic / stiffness_coefficient_k[0],
+                            time_step_quadratic / stiffness_coefficient_k[0],
+                            time_step_quadratic / stiffness_coefficient_k[0]);
+
+  bending_and_torsion_compliance = vec3(time_step_quadratic / stiffness_coefficient_k[1],
+                                        time_step_quadratic / stiffness_coefficient_k[1],
+                                        time_step_quadratic / stiffness_coefficient_k[2]);
+
+  lambda_sum.v[0] = 0.0;
+  lambda_sum.v[1] = 0.0;
+  lambda_sum.v[2] = 0.0;
+  lambda_sum.v[3] = 0.0;
+  lambda_sum.v[4] = 0.0;
+  lambda_sum.v[5] = 0.0;
+}
+
+
+
+
 void init_constraint(in uint rod_constraint_handle);
+
+
+
 //Line 52
 void main(){
 
-	[[unroll]]
-	for (uint i = 0; i < ITERATIONS_PER_TASK; i++)
-	{
-		uint local_index  = laneID + i * WORKGROUP_SIZE;
-		uint constraint_index = baseID + local_index;
+    [[unroll]]
+    for (uint i = 0; i < ITERATIONS_PER_TASK; i++)
+    {
+        uint local_index  = laneID + i * WORKGROUP_SIZE;
+        uint constraint_index = baseID + local_index;
 
-		if(constraint_index >= constraint_size) break;
-		init_constraint(constraint_index);
-	}
+        if(constraint_index >= constraint_size) break;
+        init_constraint(constraint_index);
+    }
 }
 
 void init_constraint(in uint rod_constraint_handle){
-	RodConstraint rod_constraint = rod_constraints[rod_constraint_handle];
-
-	vec3 stretch_compliance;
-	vec3 bending_and_torsion_compliance;
-	vec6 lambda_sum;
-
-	init_stretch_bending_twisting_constraint(
-		rod_constraint.stiffness_coefficient_k_segment0_index.xyz, 
-		inv_time_step,
-		rod_constraint.stretch_compliance_average_segment_length.w,
-		stretch_compliance,
-		bending_and_torsion_compliance,
-		lambda_sum);
-
-	rod_constraints[rod_constraint_handle].stretch_compliance_average_segment_length.xyz = stretch_compliance;
-	rod_constraints[rod_constraint_handle].bending_and_torsion_compliance_next_constraint_handle.xyz = bending_and_torsion_compliance;
-
-	rod_constraints[rod_constraint_handle].lambda_sum0 = lambda_sum.v[0];
-	rod_constraints[rod_constraint_handle].lambda_sum1 = lambda_sum.v[1];
-	rod_constraints[rod_constraint_handle].lambda_sum2 = lambda_sum.v[2];
-	rod_constraints[rod_constraint_handle].lambda_sum3 = lambda_sum.v[3];
-	rod_constraints[rod_constraint_handle].lambda_sum4 = lambda_sum.v[4];
-	rod_constraints[rod_constraint_handle].lambda_sum5 = lambda_sum.v[5];
+    RodConstraint rod_constraint = rod_constraints[rod_constraint_handle];
+
+    vec3 stretch_compliance;
+    vec3 bending_and_torsion_compliance;
+    vec6 lambda_sum;
+
+    init_stretch_bending_twisting_constraint(
+        rod_constraint.stiffness_coefficient_k_segment0_index.xyz,
+        stretch_compliance,
+        bending_and_torsion_compliance,
+        lambda_sum);
+
+    rod_constraints[rod_constraint_handle].stretch_compliance_average_segment_length.xyz = stretch_compliance;
+    rod_constraints[rod_constraint_handle].bending_and_torsion_compliance_next_constraint_handle.xyz = bending_and_torsion_compliance;
+
+    rod_constraints[rod_constraint_handle].lambda_sum0 = lambda_sum.v[0];
+    rod_constraints[rod_constraint_handle].lambda_sum1 = lambda_sum.v[1];
+    rod_constraints[rod_constraint_handle].lambda_sum2 = lambda_sum.v[2];
+    rod_constraints[rod_constraint_handle].lambda_sum3 = lambda_sum.v[3];
+    rod_constraints[rod_constraint_handle].lambda_sum4 = lambda_sum.v[4];
+    rod_constraints[rod_constraint_handle].lambda_sum5 = lambda_sum.v[5];
 
 }