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simba518 · Jul 21, 2015 · 80cdfe7 · 80cdfe7
1 parent 8c8c049
commit 80cdfe7
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Showing 7 changed files with 33 additions and 26 deletions.
diff --git a/data/dino/two_decoupled.ini → data/dino/cubes_decoupled.ini b/data/dino/two_decoupled.ini → data/dino/cubes_decoupled.ini
@@ -13,15 +13,15 @@
 "save_to"      : "tempt_cubes_decoupled",
 
 "newton_max_iteration":1,
-"newton_tolerance"    :8e-5,
-"mprgp_tolerance"     :8e-5,
+"newton_tolerance"    :1e-5,
+"mprgp_tolerance"     :1e-5,
 "mprgp_max_iteration" :1000,
 
 "static_friction"     :0.0,
 "kinetic_friction"    :0.0,
 
 "fem_solver"          :"mprgp",
-"collision_type"      :"surface",
+"coll_type"           :"surface",
 "enable_self_con"     :true,
 
 "group_vol_mtl_file" :       ["model/mesh.abq", "model/mesh.elastic"],

diff --git a/data/dino/two_general.ini → data/dino/cubes_general.ini b/data/dino/two_general.ini → data/dino/cubes_general.ini
diff --git a/data/dino/two.ini b/data/dino/two.ini
@@ -9,12 +9,12 @@
 "gravity"      : [0.0,0.0,0.0],
 "coll_pen"     : 1e7,
 "coll_dectect_depth": 0.0,
-"num_frames"   : 100,
+"num_frames"   : 50,
 "save_to"      : "tempt_two2",
 
 "newton_max_iteration":1,
-"newton_tolerance"    :1e-3,
-"mprgp_tolerance"     :1e-3,
+"newton_tolerance"    :1e-5,
+"mprgp_tolerance"     :1e-5,
 "mprgp_max_iteration" :1000,
 
 "static_friction"     :0.0,

diff --git a/script/run.sh b/script/run.sh
@@ -10,10 +10,12 @@
 
 # ./bin/release/collision_handle ./data/dino/cubes.ini  >  tempt/dino_cubes.txt
 
-./bin/release/collision_handle ./data/dino/two_decoupled.ini  >  tempt/dino_two_decoupled.txt
+./bin/release/collision_handle ./data/dino/cubes_decoupled.ini > tempt/dino_decoupled.txt
 
 # ./bin/release/collision_handle ./data/dino/two_general.ini  >  tempt/dino_two_general.txt
 
+# ./bin/release/collision_handle ./data/dino/two.ini  >  tempt/dino_two.txt
+
 # ./bin/release/collision_handle ./data/bunny/two.ini  >  tempt/bunny_two.txt
 
 # ./bin/release/collision_handle ./data/bunny/two_general.ini  >  tempt/bunny_two_general.txt

diff --git a/src/CollisionHandle/LinearConCollider.cpp b/src/CollisionHandle/LinearConCollider.cpp
@@ -138,7 +138,7 @@ void SurfaceSelfConCache::getConstraints(TRIPS &trips, vector<double> &rhs, cons
 }
 
 void LinearConCollider::handle(boost::shared_ptr<FEMBody> b, const Vector4d &plane, const double delta){
-  
+
   for (int i = 0; i < (int)b->nrV(); ++i){
 	const boost::shared_ptr<FEMVertex> v = b->getVPtr(i);
 	const Vec3d n = plane.segment<3>(0);

diff --git a/src/CollisionHandle/MprgpFemSolver.cpp b/src/CollisionHandle/MprgpFemSolver.cpp
@@ -496,20 +496,25 @@ void DecoupledMprgpFemSolver::forward(const double dt){
 
   SparseMatrix<double> J, J_full;
   VectorXd c, c_full;
-  if(ccd_collider) ccd_collider->setDecoupleConstraints(false);
-  if(dcd_collider) dcd_collider->setDecoupleConstraints(false);
-  getCollConstraints(J_full,c_full);
-
-  if(ccd_collider) ccd_collider->setDecoupleConstraints(true);
-  if(dcd_collider) dcd_collider->setDecoupleConstraints(true);
-  getCollConstraints(J,c);
-
+  {
+	if(ccd_collider) ccd_collider->setDecoupleConstraints(false);
+	if(dcd_collider) dcd_collider->setDecoupleConstraints(false);
+	handleCollDetection(dt);
+	getCollConstraints(J_full,c_full);
+	INFO_LOG("J_full.rows(), nz: " << J_full.rows()<< ", " << J_full.nonZeros());
+  }
+  {
+	if(ccd_collider) ccd_collider->setDecoupleConstraints(true);
+	if(dcd_collider) dcd_collider->setDecoupleConstraints(true);
+	handleCollDetection(dt);
+	getCollConstraints(J,c);
+	INFO_LOG("J.rows(), nz: " << J.rows()<< ", " << J.nonZeros());
+  }
   const SparseMatrix<double> JJt_mat = J*J.transpose();
   assert_eq_ext(JJt_mat.nonZeros(), J.rows(), "Matrix J is not decoupled.\n" << J);
   Vec JJt;
   MATH::getDiagonal(JJt_mat, JJt);
   DecoupledConProjector<double> projector(J, JJt, c);
-  INFO_LOG("J.rows(): " << J.rows());
 
   UTILITY::Timer timer;
   const VectorXd last_pos = x1;

diff --git a/test_case/GeneralDecoupledCompare.cpp b/test_case/GeneralDecoupledCompare.cpp
@@ -10,35 +10,35 @@ BOOST_AUTO_TEST_SUITE(gdcompare)
 
 void loadQPFile(const string qp, SparseMatrix<double> &A, 
 				SparseMatrix<double> &J,VectorXd &B,
-				VectorXd &c, VectorXd &init_x){
+				VectorXd &c, VectorXd &init_x, const string ext){
 
   const bool load_succ = loadQP(A, B, J, c, init_x, qp);
   assert(load_succ);
-  cout << "A.rows() = " << A.rows() << endl;
-  cout << "J.rows() = " << J.rows() << endl;
-  cout << "A.nonZeros() = " << A.nonZeros() << endl;
-  cout << "J.nonZeros() = " << J.nonZeros() << endl;
+  cout<< ext << "A.rows() = " << A.rows() << endl;
+  cout<< ext << "J.rows() = " << J.rows() << endl;
+  cout<< ext << "A.nonZeros() = " << A.nonZeros() << endl;
+  cout<< ext << "J.nonZeros() = " << J.nonZeros() << endl;
 }
 
 BOOST_AUTO_TEST_CASE(compare){
 
   UTILITY::Timer timer;
   const string project_dir = "/home/simba/Workspace/MPRGP/";
-  const string qp_base = project_dir+"/data/dino/tempt_cubes_decoupled/QP/";
+  const string qp_base = project_dir+"/data/dino/tempt_two2/QP/";
 
   const double tol = 8e-5; // *B.norm()
   const int max_it = 1000;
 
   typedef FixedSparseMatrix<double> MAT;
-  const int T = 170;
+  const int T = 30;
   SparseMatrix<double> A, J;
   VectorXd B, c, init_x, dec_ev, gen_ev;
   for (int f = 0; f < T ; ++f){
 
 	{// decoupled mprgp
 	  ostringstream qp;
 	  qp << qp_base << "qpdec"<< f << ".b";
-	  loadQPFile(qp.str(),A,J,B,c,init_x);
+	  loadQPFile(qp.str(),A,J,B,c,init_x,"dec ");
 	  MAT FA(A);
 	  VectorXd x = init_x;
 	  if(dec_ev.size() != init_x.size()){
@@ -53,7 +53,7 @@ BOOST_AUTO_TEST_CASE(compare){
 	{// general mprgp
 	  ostringstream qp;
 	  qp << qp_base << "qpfull"<< f << ".b";
-	  loadQPFile(qp.str(),A,J,B,c,init_x);
+	  loadQPFile(qp.str(),A,J,B,c,init_x,"gen ");
 	  MAT FA(A);
 	  VectorXd x = init_x;
 	  if(gen_ev.size() != init_x.size()){