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enabled mass preconditioner

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This commit is contained in:
Xuchen Han
2019-08-29 11:12:35 -07:00
parent f392d8ceb1
commit 5330396c70
5 changed files with 13 additions and 6 deletions
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2
src/BulletSoftBody/btConjugateGradient.h
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@@ -104,7 +104,9 @@ public:
TVStack c;
c.resize(a.size());
for (int i = 0; i < a.size(); ++i)
{
c[i] = a[i] - b[i];
}
return c;
}

3
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -14,6 +14,7 @@
*/
#include "btDeformableBackwardEulerObjective.h"
#include "btPreconditioner.h"
#include "LinearMath/btQuickprof.h"
btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v)
@@ -22,7 +23,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
, m_backupVelocity(backup_v)
, m_implicit(false)
{
m_preconditioner = new DefaultPreconditioner();
m_preconditioner = new MassPreconditioner(m_softBodies);
}
btDeformableBackwardEulerObjective::~btDeformableBackwardEulerObjective()

4
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -20,9 +20,9 @@
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, m_cg(50)
, m_cg(20)
, m_maxNewtonIterations(5)
, m_newtonTolerance(1e-10)
, m_newtonTolerance(1e-4)
{
m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity);
}

8
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -236,12 +236,14 @@ void btDeformableContactProjection::setConstraints()
bool single_contact = true;
if (single_contact)
{
constraints.m_contact[0]->m_cti.m_offset > cti.m_offset;
constraints.replace(c);
if (constraints.m_contact[0]->m_cti.m_offset > cti.m_offset)
{
constraints.replace(c);
}
}
else
{
constraints.append(c);
constraints.append(c);
}
}
}

2
src/BulletSoftBody/btPreconditioner.h
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@@ -70,7 +70,9 @@ public:
btAssert(b.size() == x.size());
btAssert(m_inv_mass.size() == x.size());
for (int i = 0; i < b.size(); ++i)
{
b[i] = x[i] * m_inv_mass[i];
}
}
};