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add profiling and code clean up

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This commit is contained in:
Xuchen Han
2019-08-05 16:49:04 -07:00
parent 02d3a9469f
commit 73f5eb6a8f
8 changed files with 27 additions and 20 deletions
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11
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -12,6 +12,7 @@
*/
#include "btDeformableBackwardEulerObjective.h"
#include "LinearMath/btQuickprof.h"
btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v)
: m_softBodies(softBodies)
@@ -23,6 +24,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated)
{
BT_PROFILE("reinitialize");
if(nodeUpdated)
{
updateId();
@@ -43,9 +45,7 @@ void btDeformableBackwardEulerObjective::setDt(btScalar dt)
void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const
{
for (int i = 0; i < b.size(); ++i)
b[i].setZero();
BT_PROFILE("multiply");
// add in the mass term
size_t counter = 0;
for (int i = 0; i < m_softBodies.size(); ++i)
@@ -54,11 +54,11 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b)
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
const btSoftBody::Node& node = psb->m_nodes[j];
b[counter] += (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im;
b[counter] = (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im;
++counter;
}
}
for (int i = 0; i < m_lf.size(); ++i)
{
// add damping matrix
@@ -97,6 +97,7 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero
void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) const
{
BT_PROFILE("computeResidual");
// add implicit force
for (int i = 0; i < m_lf.size(); ++i)
{