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address PR comments

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This commit is contained in:
Xuchen Han
2019-10-01 14:47:49 -07:00
parent 187019268c
commit 96bf2f2ff5
3 changed files with 11 additions and 6 deletions
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1
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -21,7 +21,6 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btAabbUtil2.h"
#include <iostream>
//
// Compile time configuration
//

14
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -149,7 +149,7 @@ void btDeformableBodySolver::updateEnergy(btScalar scale)
}
btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual)
btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose)
{
m_cg.solve(*m_objective, ddv, residual, false);
btScalar inner_product = m_cg.dot(residual, m_ddv);
@@ -157,7 +157,10 @@ btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack&
btScalar tol = 1e-5 * res_norm * m_objective->computeNorm(m_ddv);
if (inner_product < -tol)
{
std::cout << "Looking backwards!" << std::endl;
if (verbose)
{
std::cout << "Looking backwards!" << std::endl;
}
for (int i = 0; i < m_ddv.size();++i)
{
m_ddv[i] = -m_ddv[i];
@@ -166,7 +169,10 @@ btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack&
}
else if (std::abs(inner_product) < tol)
{
std::cout << "Gradient Descent!" << std::endl;
if (verbose)
{
std::cout << "Gradient Descent!" << std::endl;
}
btScalar scale = m_objective->computeNorm(m_ddv) / res_norm;
for (int i = 0; i < m_ddv.size();++i)
{
@@ -229,7 +235,7 @@ void btDeformableBodySolver::setConstraints()
btScalar btDeformableBodySolver::solveContactConstraints()
{
BT_PROFILE("setConstraint");
BT_PROFILE("solveContactConstraints");
btScalar maxSquaredResidual = m_objective->m_projection.update();
return maxSquaredResidual;
}

2
src/BulletSoftBody/btDeformableBodySolver.h
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@@ -99,7 +99,7 @@ public:
void computeStep(TVStack& ddv, const TVStack& residual);
// calculate the change in dv resulting from the momentum solve when line search is turned on
btScalar computeDescentStep(TVStack& ddv, const TVStack& residual);
btScalar computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose=false);
virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {}