4b665fa82b
URDF import demo: add COLLADA .dae file support add FiniteElementMethod demo, extracted from the OpenTissue library (under the zlib license) don't crash if loading an invalid STL file add comparison with Assimp for COLLADA file loading (disabled by default, to avoid library dependency) Gwen: disable some flags that make the build incompatible
142 lines
3.8 KiB
C++
142 lines
3.8 KiB
C++
#ifndef OPENTISSUE_DYNAMICS_FEM_FEM_CONJUGATE_GRADIENTS_H
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#define OPENTISSUE_DYNAMICS_FEM_FEM_CONJUGATE_GRADIENTS_H
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//
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// OpenTissue Template Library
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// - A generic toolbox for physics-based modeling and simulation.
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// Copyright (C) 2008 Department of Computer Science, University of Copenhagen.
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//
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// OTTL is licensed under zlib: http://opensource.org/licenses/zlib-license.php
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//
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#include <OpenTissue/configuration.h>
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#define n_i (&mesh.m_nodes[n])
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#define n_j (&mesh.m_nodes[j])
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namespace OpenTissue
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{
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namespace fem
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{
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namespace detail
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{
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/**
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* Conjugate Gradient Solver.
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* This solver has been hard-wired for a WarpT4Mesh to solve the equation
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*
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* A v = b
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*
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*/
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template < typename fem_mesh >
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inline void conjugate_gradients(
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fem_mesh & mesh
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, unsigned int min_iterations
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, unsigned int max_iterations
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)
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{
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using std::fabs;
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typedef typename fem_mesh::real_type real_type;
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typedef typename fem_mesh::vector3_type vector3_type;
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typedef typename fem_mesh::matrix3x3_type matrix3x3_type;
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typedef typename fem_mesh::node_type::matrix_iterator matrix_iterator;
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real_type tiny = 1e-010; // TODO: Should be user controllable
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real_type tolerence = 0.001; // TODO: Should be user controllable
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//--- r = b - A v
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//--- p = r
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for(int n=0;n<mesh.m_nodes.size();n++)
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{
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if(n_i->m_fixed)
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continue;
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n_i->m_residual = n_i->m_b;
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matrix_iterator Abegin = n_i->Abegin();
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matrix_iterator Aend = n_i->Aend();
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for (matrix_iterator A = Abegin; A != Aend;++A)
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{
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unsigned int j = A->first;
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matrix3x3_type & A_ij = A->second;
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vector3_type & v_j = n_j->m_velocity;
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n_i->m_residual -= A_ij * v_j;
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}
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n_i->m_prev = n_i->m_residual;
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}
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for(unsigned int iteration = 0; iteration < max_iterations; ++iteration)
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{
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real_type d = 0.0;
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real_type d2 = 0.0;
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//--- u = A p
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//--- d = r*r
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//--- d2 = p*u
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for(int n=0;n<mesh.m_nodes.size();n++)
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{
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if(n_i->m_fixed)
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continue;
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n_i->m_update.clear();
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matrix_iterator Abegin = n_i->Abegin();
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matrix_iterator Aend = n_i->Aend();
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for (matrix_iterator A = Abegin; A != Aend;++A)
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{
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unsigned int j = A->first;
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matrix3x3_type & A_ij = A->second;
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n_i->m_update += A_ij * n_j->m_prev;
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}
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d += n_i->m_residual * n_i->m_residual;
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d2 += n_i->m_prev * n_i->m_update;
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}
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if(fabs(d2) < tiny)
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d2 = tiny;
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real_type d3 = d / d2;
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real_type d1 = 0.0;
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//--- v += p * d3
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//--- r -= u * d3
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//--- d1 = r*r
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for(int n=0;n<mesh.m_nodes.size();n++)
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{
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if(n_i->m_fixed)
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continue;
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n_i->m_velocity += n_i->m_prev * d3;
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n_i->m_residual -= n_i->m_update * d3;
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d1 += n_i->m_residual * n_i->m_residual;
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}
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if(iteration >= min_iterations && d1 < tolerence)
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break;
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if(fabs(d) < tiny)
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d = tiny;
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real_type d4 = d1 / d;
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//--- p = r + d4 * p
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for(int n=0;n<mesh.m_nodes.size();n++)
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{
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if(n_i->m_fixed)
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continue;
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n_i->m_prev = n_i->m_residual + n_i->m_prev * d4;
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}
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}
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}
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} // namespace detail
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} // namespace fem
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} // namespace OpenTissue
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//OPENTISSUE_DYNAMICS_FEM_FEM_CONJUGATE_GRADIENTS_H
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#endif
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