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add damping energy in line search

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This commit is contained in:
Xuchen Han
2019-09-17 14:58:16 -07:00
parent 3dcfcda19a
commit ae42cc561e
15 changed files with 128 additions and 74 deletions
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24
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -19,7 +19,7 @@
btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v)
: m_softBodies(softBodies)
, projection(m_softBodies, m_dt)
, m_projection(softBodies)
, m_backupVelocity(backup_v)
, m_implicit(false)
{
@@ -46,8 +46,7 @@ void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar
{
m_lf[i]->reinitialize(nodeUpdated);
}
projection.reinitialize(nodeUpdated);
projection.setIndices(getIndices());
m_projection.reinitialize(nodeUpdated);
m_preconditioner->reinitialize(nodeUpdated);
}
@@ -85,13 +84,6 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b)
void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv)
{
// // only the velocity of the constrained nodes needs to be updated during contact solve
// for (int i = 0; i < projection.m_constraints.size(); ++i)
// {
// int index = projection.m_constraints.getKeyAtIndex(i).getUid1();
// m_nodes[index]->m_v = m_backupVelocity[index] + dv[index];
// }
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
@@ -137,7 +129,7 @@ void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &r
m_lf[i]->addScaledDampingForce(dt, residual);
}
}
projection.project(residual);
m_projection.project(residual);
}
btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const
@@ -150,12 +142,12 @@ btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual
return std::sqrt(mag);
}
btScalar btDeformableBackwardEulerObjective::totalEnergy()
btScalar btDeformableBackwardEulerObjective::totalEnergy(btScalar dt)
{
btScalar e = 0;
for (int i = 0; i < m_lf.size(); ++i)
{
e += m_lf[i]->totalElasticEnergy();
e += m_lf[i]->totalEnergy(dt);
}
return e;
}
@@ -164,7 +156,7 @@ void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force)
{
for (int i = 0; i < m_softBodies.size(); ++i)
{
m_softBodies[i]->updateDeformation();
m_softBodies[i]->advanceDeformation();
}
for (int i = 0; i < m_lf.size(); ++i)
@@ -191,10 +183,10 @@ void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack
//set constraints as projections
void btDeformableBackwardEulerObjective::setConstraints()
{
projection.setConstraints();
m_projection.setConstraints();
}
void btDeformableBackwardEulerObjective::applyDynamicFriction(TVStack& r)
{
projection.applyDynamicFriction(r);
m_projection.applyDynamicFriction(r);
}