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refactor to support both CG+projection and KKT

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This commit is contained in:
Xuchen Han
2020-04-15 17:46:01 -07:00
parent b3e23cfaa4
commit 165427de01
16 changed files with 313 additions and 285 deletions
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30
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -26,6 +26,7 @@ btDeformableBodySolver::btDeformableBodySolver()
, m_maxNewtonIterations(5)
, m_newtonTolerance(1e-4)
, m_lineSearch(false)
, m_useProjection(false)
{
m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity);
}
@@ -42,15 +43,21 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
{
m_objective->computeResidual(solverdt, m_residual);
m_objective->applyDynamicFriction(m_residual);
// computeStep(m_dv, m_residual);
TVStack rhs, x;
m_objective->addLagrangeMultiplierRHS(m_residual, m_dv, rhs);
m_objective->addLagrangeMultiplier(m_dv, x);
m_objective->m_preconditioner->reinitialize(true);
computeStep(x, rhs);
for (int i = 0; i<m_dv.size(); ++i)
if (m_useProjection)
{
m_dv[i] = x[i];
computeStep(m_dv, m_residual);
}
else
{
TVStack rhs, x;
m_objective->addLagrangeMultiplierRHS(m_residual, m_dv, rhs);
m_objective->addLagrangeMultiplier(m_dv, x);
m_objective->m_preconditioner->reinitialize(true);
computeStep(x, rhs);
for (int i = 0; i<m_dv.size(); ++i)
{
m_dv[i] = x[i];
}
}
updateVelocity();
}
@@ -73,7 +80,7 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
++counter;
}
}
m_objective->computeResidual(solverdt, m_residual);
if (m_objective->computeNorm(m_residual) < m_newtonTolerance && i > 0)
{
@@ -210,7 +217,10 @@ void btDeformableBodySolver::updateDv(btScalar scale)
void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual)
{
m_cr.solve(*m_objective, ddv, residual, false);
if (m_useProjection)
m_cg.solve(*m_objective, ddv, residual, false);
else
m_cr.solve(*m_objective, ddv, residual, false);
}
void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt)