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code clean up and optimization

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This commit is contained in:
Xuchen Han
2019-09-15 12:06:28 -07:00
parent 109d9353af
commit 403eb62dfa
10 changed files with 86 additions and 147 deletions
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41
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -22,7 +22,7 @@
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, m_cg(20)
, m_maxNewtonIterations(5)
, m_maxNewtonIterations(10)
, m_newtonTolerance(1e-4)
, m_lineSearch(true)
{
@@ -82,13 +82,12 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
do {
scale *= beta;
if (scale < 1e-8) {
//std::cout << "Could not find sufficient descent!" << std::endl;
return;
}
updateEnergy(scale);
f1 = m_objective->totalEnergy()+kineticEnergy();
f2 = f0 - alpha * scale * inner_product;
} while (!(f1 < f2)); // if anything here is nan then the search continues
} while (!(f1 < f2+SIMD_EPSILON)); // if anything here is nan then the search continues
revertDv();
updateDv(scale);
}
@@ -97,7 +96,6 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
computeStep(m_ddv, m_residual);
updateDv();
}
for (int j = 0; j < m_numNodes; ++j)
{
m_ddv[j].setZero();
@@ -157,7 +155,8 @@ btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack&
btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance)));
m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false);
btScalar inner_product = m_cg.dot(residual, m_ddv);
btScalar tol = 1e-5 * m_objective->computeNorm(residual) * m_objective->computeNorm(m_ddv);
btScalar tol = 1e-3 * m_objective->computeNorm(residual) * m_objective->computeNorm(m_ddv);
btScalar res_norm = m_objective->computeNorm(residual);
if (inner_product < -tol)
{
std::cout << "Looking backwards!" << std::endl;
@@ -170,7 +169,6 @@ btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack&
else if (std::abs(inner_product) < tol)
{
std::cout << "Gradient Descent!" << std::endl;
btScalar res_norm = m_objective->computeNorm(residual);
btScalar scale = m_objective->computeNorm(m_ddv) / res_norm;
for (int i = 0; i < m_ddv.size();++i)
{
@@ -236,23 +234,7 @@ void btDeformableBodySolver::setConstraints()
btScalar btDeformableBodySolver::solveContactConstraints()
{
BT_PROFILE("setConstraint");
for (int i = 0; i < m_dv.size();++i)
{
m_dv[i].setZero();
}
btScalar maxSquaredResidual = m_objective->projection.update();
// m_objective->enforceConstraint(m_dv);
// m_objective->updateVelocity(m_dv);
int counter = 0;
for (int i = 0; i < m_softBodySet.size(); ++i)
{
btSoftBody* psb = m_softBodySet[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
++counter;
}
}
return maxSquaredResidual;
}
@@ -304,7 +286,7 @@ void btDeformableBodySolver::backupVelocity()
}
}
void btDeformableBodySolver::backupVn()
void btDeformableBodySolver::setupDeformableSolve(bool implicit)
{
int counter = 0;
for (int i = 0; i < m_softBodySet.size(); ++i)
@@ -312,17 +294,12 @@ void btDeformableBodySolver::backupVn()
btSoftBody* psb = m_softBodySet[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
// Here:
// dv = 0 for nodes not in constraints
// dv = v_{n+1} - v_{n+1}^* for nodes in constraints
if (m_objective->projection.m_projectionsDict.find(psb->m_nodes[j].index)!=NULL)
if (implicit)
{
m_dv[counter] += m_backupVelocity[counter] - psb->m_nodes[j].m_vn;
m_backupVelocity[counter] = psb->m_nodes[j].m_vn;
}
// Now:
// dv = 0 for nodes not in constraints
// dv = v_{n+1} - v_n for nodes in constraints
m_backupVelocity[counter++] = psb->m_nodes[j].m_vn;
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
++counter;
}
}
}