From 86a1312875372778c52a6d528deaae6879a71396 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Fri, 16 Aug 2019 13:33:49 -0700 Subject: [PATCH] add author info --- src/BulletSoftBody/btCGProjection.h | 2 + src/BulletSoftBody/btConjugateGradient.h | 63 +------------------ .../btDeformableBackwardEulerObjective.cpp | 2 + .../btDeformableBackwardEulerObjective.h | 2 + src/BulletSoftBody/btDeformableBodySolver.cpp | 2 + src/BulletSoftBody/btDeformableBodySolver.h | 2 + .../btDeformableContactProjection.cpp | 2 + .../btDeformableContactProjection.h | 2 + .../btDeformableCorotatedForce.h | 2 + src/BulletSoftBody/btDeformableGravityForce.h | 2 + .../btDeformableLagrangianForce.h | 2 + .../btDeformableMassSpringForce.h | 2 + .../btDeformableRigidDynamicsWorld.cpp | 2 + .../btDeformableRigidDynamicsWorld.h | 2 + src/BulletSoftBody/btPreconditioner.h | 3 +- 15 files changed, 30 insertions(+), 62 deletions(-) diff --git a/src/BulletSoftBody/btCGProjection.h b/src/BulletSoftBody/btCGProjection.h index 9dc416cdd..493aafb7a 100644 --- a/src/BulletSoftBody/btCGProjection.h +++ b/src/BulletSoftBody/btCGProjection.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h index d7e98761c..bb0b1586f 100644 --- a/src/BulletSoftBody/btConjugateGradient.h +++ b/src/BulletSoftBody/btConjugateGradient.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. @@ -32,67 +34,6 @@ public: virtual ~btConjugateGradient(){} -// // 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); -// -// // r = b - A * x --with assigned dof zeroed out -// A.multiply(x, temp); -// r = sub(b, temp); -// A.project(r); -// -// btScalar r_norm = std::sqrt(squaredNorm(r)); -// if (r_norm < tolerance) { -// std::cout << "Iteration = 0" << std::endl; -// std::cout << "Two norm of the residual = " << r_norm << std::endl; -// return 0; -// } -// -// // z = M^(-1) * r -// A.precondition(r, z); -// p = z; -// // temp = A*p -// A.multiply(p, temp); -// A.project(temp); -// btScalar r_dot_z = dot(z,r), r_dot_z_new; -// // alpha = r^T * z / (p^T * A * p) -// btScalar alpha = r_dot_z / dot(p, temp), beta; -// -// for (int k = 1; k < max_iterations; k++) { -// // x += alpha * p; -// // r -= alpha * temp; -// multAndAddTo(alpha, p, x); -// multAndAddTo(-alpha, temp, r); -// // zero out the dofs of r -// A.project(r); -//// A.enforceConstraint(x); -// r_norm = std::sqrt(squaredNorm(r)); -// -// if (r_norm < tolerance) { -// std::cout << "ConjugateGradient iterations " << k << std::endl; -// return k; -// } -// -// // z = M^(-1) * r -// A.precondition(r, z); -// r_dot_z_new = dot(r,z); -// beta = r_dot_z_new/ r_dot_z; -// r_dot_z = r_dot_z_new; -// // p = z + beta * p; -// p = multAndAdd(beta, p, z); -// // temp = A * p; -// A.multiply(p, temp); -// A.project(temp); -// // alpha = r^T * z / (p^T * A * p) -// alpha = r_dot_z / dot(p, temp); -// } -// std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; -// return max_iterations; -// } - // return the number of iterations taken int solve(MatrixX& A, TVStack& x, const TVStack& b, btScalar tolerance) { diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index d01825ad4..f722532e2 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h index 3863970c6..1c3e7890a 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 850a625dc..93558ade3 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h index 206354f52..93e430e8e 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.h +++ b/src/BulletSoftBody/btDeformableBodySolver.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index ec155fb68..7f7e8184a 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableContactProjection.h b/src/BulletSoftBody/btDeformableContactProjection.h index 331e1df6d..f9bd371d7 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.h +++ b/src/BulletSoftBody/btDeformableContactProjection.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableCorotatedForce.h b/src/BulletSoftBody/btDeformableCorotatedForce.h index 4d9b8440e..156794a50 100644 --- a/src/BulletSoftBody/btDeformableCorotatedForce.h +++ b/src/BulletSoftBody/btDeformableCorotatedForce.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2016 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h index 270222b7e..e238557b5 100644 --- a/src/BulletSoftBody/btDeformableGravityForce.h +++ b/src/BulletSoftBody/btDeformableGravityForce.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableLagrangianForce.h b/src/BulletSoftBody/btDeformableLagrangianForce.h index 2146d4ec5..ea21647bb 100644 --- a/src/BulletSoftBody/btDeformableLagrangianForce.h +++ b/src/BulletSoftBody/btDeformableLagrangianForce.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableMassSpringForce.h b/src/BulletSoftBody/btDeformableMassSpringForce.h index 4d90c904e..7dbd23907 100644 --- a/src/BulletSoftBody/btDeformableMassSpringForce.h +++ b/src/BulletSoftBody/btDeformableMassSpringForce.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp index 26aa7f82f..18864e126 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h index 6efbb204b..49b36748a 100644 --- a/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h +++ b/src/BulletSoftBody/btDeformableRigidDynamicsWorld.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. diff --git a/src/BulletSoftBody/btPreconditioner.h b/src/BulletSoftBody/btPreconditioner.h index 663731a58..15ee949a5 100644 --- a/src/BulletSoftBody/btPreconditioner.h +++ b/src/BulletSoftBody/btPreconditioner.h @@ -1,4 +1,6 @@ /* + Written by Xuchen Han + Bullet Continuous Collision Detection and Physics Library Copyright (c) 2019 Google Inc. http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. @@ -18,7 +20,6 @@ class Preconditioner { public: typedef btAlignedObjectArray TVStack; -// using TVStack = btAlignedObjectArray; virtual void operator()(const TVStack& x, TVStack& b) = 0; virtual void reinitialize(bool nodeUpdated) = 0; };