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add some documentation

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This commit is contained in:
Xuchen Han
2019-09-17 15:55:15 -07:00
parent ae42cc561e
commit d761b2cd68
14 changed files with 95 additions and 78 deletions
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10
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -76,7 +76,6 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
btScalar inner_product = computeDescentStep(m_ddv,m_residual);
btScalar alpha = 0.01, beta = 0.5; // Boyd & Vandenberghe suggested alpha between 0.01 and 0.3, beta between 0.1 to 0.8
btScalar scale = 2;
// todo xuchenhan@: add damping energy to f0 and f1
btScalar f0 = m_objective->totalEnergy(solverdt)+kineticEnergy(), f1, f2;
backupDv();
do {
@@ -152,9 +151,7 @@ void btDeformableBodySolver::updateEnergy(btScalar scale)
btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual)
{
// btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance)));
btScalar relative_tolerance = 0.5;
m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false);
m_cg.solve(*m_objective, ddv, residual, false);
btScalar inner_product = m_cg.dot(residual, m_ddv);
btScalar res_norm = m_objective->computeNorm(residual);
btScalar tol = 1e-5 * res_norm * m_objective->computeNorm(m_ddv);
@@ -197,10 +194,7 @@ void btDeformableBodySolver::updateDv(btScalar scale)
void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual)
{
//btScalar tolerance = std::numeric_limits<btScalar>::epsilon() * m_objective->computeNorm(residual);
// btScalar relative_tolerance = btMin(btScalar(0.5), std::sqrt(btMax(m_objective->computeNorm(residual), m_newtonTolerance)));
btScalar relative_tolerance = 0.5;
m_cg.solve(*m_objective, ddv, residual, relative_tolerance, false);
m_cg.solve(*m_objective, ddv, residual, false);
}
void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt)