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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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5
src/BulletSoftBody/btConjugateGradient.h
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@@ -17,15 +17,13 @@
#include <cmath>
#include <LinearMath/btAlignedObjectArray.h>
#include <LinearMath/btVector3.h>
#include "LinearMath/btQuickprof.h"
template <class MatrixX>
class btConjugateGradient
{
// using TVStack = btAlignedObjectArray<btVector3>;
typedef btAlignedObjectArray<btVector3> TVStack;
TVStack r,p,z,temp;
int max_iterations;
public:
btConjugateGradient(const int max_it_in)
: max_iterations(max_it_in)
@@ -37,6 +35,7 @@ public:
// return the number of iterations taken
int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance)
{
BT_PROFILE("CGSolve");
btAssert(x.size() == b.size());
reinitialize(b);

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)
{

5
src/BulletSoftBody/btDeformableBackwardEulerObjective.h
View File

@@ -13,7 +13,6 @@
#ifndef BT_BACKWARD_EULER_OBJECTIVE_H
#define BT_BACKWARD_EULER_OBJECTIVE_H
#include <functional>
#include "btConjugateGradient.h"
#include "btDeformableLagrangianForce.h"
#include "btDeformableMassSpringForce.h"
@@ -21,6 +20,7 @@
#include "btDeformableContactProjection.h"
#include "btPreconditioner.h"
#include "btDeformableRigidDynamicsWorld.h"
#include "LinearMath/btQuickprof.h"
class btDeformableRigidDynamicsWorld;
class btDeformableBackwardEulerObjective
@@ -36,7 +36,6 @@ public:
btDeformableContactProjection projection;
const TVStack& m_backupVelocity;
btAlignedObjectArray<btSoftBody::Node* > m_nodes;
btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v);
virtual ~btDeformableBackwardEulerObjective() {}
@@ -72,6 +71,7 @@ public:
// enforce constraints in CG solve
void enforceConstraint(TVStack& x)
{
BT_PROFILE("enforceConstraint");
projection.enforceConstraint(x);
updateVelocity(x);
}
@@ -85,6 +85,7 @@ public:
// update the projections and project the residual
void project(TVStack& r)
{
BT_PROFILE("project");
projection.update();
projection.project(r);
}

3
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -14,6 +14,7 @@
#include <stdio.h>
#include <limits>
#include "btDeformableBodySolver.h"
#include "LinearMath/btQuickprof.h"
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
@@ -29,6 +30,7 @@ btDeformableBodySolver::~btDeformableBodySolver()
void btDeformableBodySolver::solveConstraints(float solverdt)
{
BT_PROFILE("solveConstraints");
m_objective->setDt(solverdt);
// add constraints to the solver
@@ -70,6 +72,7 @@ void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody
void btDeformableBodySolver::setConstraints()
{
BT_PROFILE("setConstraint");
m_objective->setConstraints();
}

8
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -224,6 +224,7 @@ void btDeformableContactProjection::update()
void btDeformableContactProjection::setConstraints()
{
BT_PROFILE("setConstraints");
// set Dirichlet constraint
for (int i = 0; i < m_softBodies.size(); ++i)
{
@@ -233,12 +234,14 @@ void btDeformableContactProjection::setConstraints()
if (psb->m_nodes[j].m_im == 0)
{
btAlignedObjectArray<DeformableContactConstraint> c;
c.reserve(3);
c.push_back(DeformableContactConstraint(btVector3(1,0,0)));
c.push_back(DeformableContactConstraint(btVector3(0,1,0)));
c.push_back(DeformableContactConstraint(btVector3(0,0,1)));
m_constraints.insert(psb->m_nodes[j].index, c);
btAlignedObjectArray<DeformableFrictionConstraint> f;
f.reserve(3);
f.push_back(DeformableFrictionConstraint());
f.push_back(DeformableFrictionConstraint());
f.push_back(DeformableFrictionConstraint());
@@ -246,13 +249,12 @@ void btDeformableContactProjection::setConstraints()
}
}
}
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
btMultiBodyJacobianData jacobianData_normal;
btMultiBodyJacobianData jacobianData_complementary;
std::cout <<psb->m_rcontacts.size() << std::endl;
for (int j = 0; j < psb->m_rcontacts.size(); ++j)
{
const btSoftBody::RContact& c = psb->m_rcontacts[j];
@@ -296,6 +298,7 @@ void btDeformableContactProjection::setConstraints()
const btScalar dn = btDot(vr, cti.m_normal);
if (dn < SIMD_EPSILON)
{
if (m_constraints.find(c.m_node->index) == NULL)
{
btAlignedObjectArray<DeformableContactConstraint> constraints;
@@ -369,7 +372,6 @@ void btDeformableContactProjection::enforceConstraint(TVStack& x)
x[i] += constraints[j].m_value[k] * constraints[j].m_direction[k];
}
}
}
else
{

4
src/BulletSoftBody/btDeformableMassSpringForce.h
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@@ -94,15 +94,15 @@ public:
for (int i = 0; i < m_softBodies.size(); ++i)
{
const btSoftBody* psb = m_softBodies[i];
btScalar scaled_k_damp = psb->m_dampingCoefficient * scale;
for (int j = 0; j < psb->m_links.size(); ++j)
{
const btSoftBody::Link& link = psb->m_links[j];
btSoftBody::Node* node1 = link.m_n[0];
btSoftBody::Node* node2 = link.m_n[1];
btScalar k_damp = psb->m_dampingCoefficient;
size_t id1 = node1->index;
size_t id2 = node2->index;
btVector3 local_scaled_df = scale * k_damp * (dv[id2] - dv[id1]);
btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]);
df[id1] += local_scaled_df;
df[id2] -= local_scaled_df;
}

7
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -14,10 +14,11 @@
#include <stdio.h>
#include "btDeformableRigidDynamicsWorld.h"
#include "btDeformableBodySolver.h"
#include "LinearMath/btQuickprof.h"
void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
BT_PROFILE("internalSingleStepSimulation");
reinitialize(timeStep);
// add gravity to velocity of rigid and multi bodys
applyRigidBodyGravity(timeStep);
@@ -50,7 +51,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt)
{
// perform position correction for all constraints
// for (auto& it : m_deformableBodySolver->m_objective->projection.m_constraints)
BT_PROFILE("positionCorrection");
for (int index = 0; index < m_deformableBodySolver->m_objective->projection.m_constraints.size(); ++index)
{
btAlignedObjectArray<DeformableFrictionConstraint>& frictions = *m_deformableBodySolver->m_objective->projection.m_frictions[m_deformableBodySolver->m_objective->projection.m_constraints.getKeyAtIndex(index)];
@@ -134,6 +135,7 @@ void btDeformableRigidDynamicsWorld::positionCorrection(btScalar dt)
void btDeformableRigidDynamicsWorld::integrateTransforms(btScalar dt)
{
BT_PROFILE("integrateTransforms");
m_deformableBodySolver->backupVelocity();
positionCorrection(dt);
btMultiBodyDynamicsWorld::integrateTransforms(dt);
@@ -169,6 +171,7 @@ void btDeformableRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collision
void btDeformableRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
BT_PROFILE("predictUnconstraintMotion");
btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep);
m_deformableBodySolver->predictMotion(timeStep);
}

4
src/BulletSoftBody/btDeformableRigidDynamicsWorld.h
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@@ -78,9 +78,7 @@ public:
m_sbi.m_sparsesdf.Initialize();
m_internalTime = 0.0;
}
// btAlignedObjectArray<std::function<void(btScalar, btDeformableRigidDynamicsWorld*)> > m_beforeSolverCallbacks;
void setSolverCallback(btSolverCallback cb)
{
m_solverCallback = cb;