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Xuchen Han
2019-08-16 13:33:49 -07:00
parent c9ab033a8b
commit 86a1312875
15 changed files with 30 additions and 62 deletions
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2
src/BulletSoftBody/btCGProjection.h
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

63
src/BulletSoftBody/btConjugateGradient.h
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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)
{

2
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

2
src/BulletSoftBody/btDeformableBackwardEulerObjective.h
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

2
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

2
src/BulletSoftBody/btDeformableBodySolver.h
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

2
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

2
src/BulletSoftBody/btDeformableContactProjection.h
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

2
src/BulletSoftBody/btDeformableCorotatedForce.h
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

2
src/BulletSoftBody/btDeformableGravityForce.h
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

2
src/BulletSoftBody/btDeformableLagrangianForce.h
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

2
src/BulletSoftBody/btDeformableMassSpringForce.h
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

2
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

2
src/BulletSoftBody/btDeformableRigidDynamicsWorld.h
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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.

3
src/BulletSoftBody/btPreconditioner.h
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@@ -1,4 +1,6 @@
/*
Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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<btVector3> TVStack;
// using TVStack = btAlignedObjectArray<btVector3>;
virtual void operator()(const TVStack& x, TVStack& b) = 0;
virtual void reinitialize(bool nodeUpdated) = 0;
};