public void Reduce(Matrix3x3Buffer other)
{
for (int i = 0; i < 9; ++i)
{
data[i] -= other.data[i];
}
}
public void GetInverse(Matrix3x3Buffer other)
{
var m = new UnityEngine.Matrix4x4();
m.m00 = other.data[0];
m.m01 = other.data[1];
m.m02 = other.data[2];
m.m10 = other.data[3];
m.m11 = other.data[4];
m.m12 = other.data[5];
m.m20 = other.data[6];
m.m21 = other.data[7];
m.m22 = other.data[8];
m.m33 = 1f;
m = m.inverse;
data[0] = m.m00;
data[1] = m.m01;
data[2] = m.m02;
data[3] = m.m10;
data[4] = m.m11;
data[5] = m.m12;
data[6] = m.m20;
data[7] = m.m21;
data[8] = m.m22;
}
public void Add(Matrix3x3Buffer other)
{
for (int i = 0; i < 9; ++i)
{
data[i] += other.data[i];
}
}
static public Matrix3x3Buffer CreateI()
{
var result = new Matrix3x3Buffer();
result.data[0] = 1;
result.data[4] = 1;
result.data[8] = 1;
return(result);
}
public static Matrix3x3Buffer operator /(Matrix3x3Buffer a, float b)
{
Matrix3x3Buffer result = new Matrix3x3Buffer();
for (int i = 0; i < 9; ++i)
{
result.data[i] = a.data[i] / b;
}
return(result);
}
public static Matrix3x3Buffer operator -(Matrix3x3Buffer a, Matrix3x3Buffer b)
{
Matrix3x3Buffer result = new Matrix3x3Buffer();
for (int i = 0; i < 9; ++i)
{
result.data[i] = a.data[i] - b.data[i];
}
return(result);
}
public void InitSim()
{
temN = N;
P = new V3Buffer[N];
V = new V3Buffer[N];
temV = new V3Buffer[N];
for (int i = 0; i < N; ++i)
{
var body = bodyList[i];
P[i] = new V3Buffer(body.transform.position);
V[i] = new V3Buffer(body.velocity);
temV[i] = new V3Buffer(body.velocity);
}
InitConnectionData();
J = new Matrix3x3Buffer[N * N];
// init J
for (int i = 0; i < J.Length; ++i)
{
J[i] = new Matrix3x3Buffer();
}
A = new Matrix3x3Buffer[N * N];
// init A
for (int i = 0; i < A.Length; ++i)
{
A[i] = new Matrix3x3Buffer();
}
B = new V3Buffer[N];
// init B
for (int i = 0; i < B.Length; ++i)
{
B[i] = new V3Buffer();
}
temInvA = new Matrix3x3Buffer[N];
for (int i = 0; i < temInvA.Length; ++i)
{
temInvA[i] = new Matrix3x3Buffer();
}
temX = new V3Buffer();
temR = new V3Buffer();
temVV = new V3Buffer();
temF = new V3Buffer();
temDiff = new Matrix3x3Buffer();
temXij = new Matrix3x3Buffer();
}
public void Copy(Matrix3x3Buffer other)
{
data[0] = other.data[0];
data[1] = other.data[1];
data[2] = other.data[2];
data[3] = other.data[3];
data[4] = other.data[4];
data[5] = other.data[5];
data[6] = other.data[6];
data[7] = other.data[7];
data[8] = other.data[8];
}
static public Matrix3x3Buffer CreateFromOuterProductOfV3(V3Buffer x)
{
var result = new Matrix3x3Buffer();
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
result.data[i * 3 + j] = x.data[i] * x.data[j];
}
}
return(result);
}
static public Matrix3x3Buffer CreateFromOuterProductOfV3(float[] input)
{
if (input.Length != 3)
{
return(new Matrix3x3Buffer());
}
var result = new Matrix3x3Buffer();
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
result.data[i * 3 + j] = input[i] * input[j];
}
}
return(result);
}
