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add newton solver

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This commit is contained in:
Xuchen Han
2019-08-27 20:54:40 -07:00
parent c722630fc7
commit d4a15e016e
12 changed files with 566 additions and 62 deletions
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21
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -20,6 +20,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
: m_softBodies(softBodies)
, projection(m_softBodies, m_dt)
, m_backupVelocity(backup_v)
, m_implicit(false)
{
m_preconditioner = new DefaultPreconditioner();
}
@@ -72,7 +73,11 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b)
for (int i = 0; i < m_lf.size(); ++i)
{
// add damping matrix
m_lf[i]->addScaledForceDifferential(-m_dt, x, b);
m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b);
if (m_implicit)
{
m_lf[i]->addScaledElasticForceDifferential(-m_dt*m_dt, x, b);
}
}
}
@@ -105,14 +110,22 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero
}
}
void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) const
void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual)
{
BT_PROFILE("computeResidual");
// add implicit force
for (int i = 0; i < m_lf.size(); ++i)
{
m_lf[i]->addScaledImplicitForce(dt, residual);
if (m_implicit)
{
m_lf[i]->addScaledForces(dt, residual);
}
else
{
m_lf[i]->addScaledDampingForce(dt, residual);
}
}
projection.project(residual);
}
btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const
@@ -122,7 +135,7 @@ btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual
{
norm_squared += residual[i].length2();
}
return std::sqrt(norm_squared+SIMD_EPSILON);
return std::sqrt(norm_squared);
}
void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force)