diff --git a/Base/Core/imstkAPIUtilities.h b/Base/Core/imstkAPIUtilities.h
index 41adcc7311390d94f2821cb497cae0e564f6aa86..3daa959cb104c54e5c772b45756b21ea3ccbf529 100644
--- a/Base/Core/imstkAPIUtilities.h
+++ b/Base/Core/imstkAPIUtilities.h
@@ -209,7 +209,6 @@ createNonLinearSystem(std::shared_ptr<imstk::FEMDeformableBodyModel> dynaModel)
{
linProj.push_back(LinearProjectionConstraint(i, true));
}
- nlSystem->setLinearProjectors(linProj);
nlSystem->setUnknownVector(dynaModel->getUnknownVec());
nlSystem->setUpdateFunction(dynaModel->getUpdateFunction());
nlSystem->setUpdatePreviousStatesFunction(dynaModel->getUpdatePrevStateFunction());
diff --git a/Base/Solvers/imstkConjugateGradient.cpp b/Base/Solvers/imstkConjugateGradient.cpp
index 793f453b529352aa064c94900a8bc939f8937d37..2ba8bd96627588efce34e875006a5728b4cbae37 100644
--- a/Base/Solvers/imstkConjugateGradient.cpp
+++ b/Base/Solvers/imstkConjugateGradient.cpp
@@ -68,7 +68,7 @@ ConjugateGradient::solve(Vectord& x)
return;
}
- if (m_linearSystem->getLinearProjectors().size() == 0)
+ if (m_FixedLinearProjConstraints->size() == 0)
{
x = m_cgSolver.solve(m_linearSystem->getRHSVector());
}
@@ -81,16 +81,17 @@ ConjugateGradient::solve(Vectord& x)
void
ConjugateGradient::modifiedCGSolve(Vectord& x)
{
- const auto &linearProjectors = m_linearSystem->getLinearProjectors();
const auto &b = m_linearSystem->getRHSVector();
const auto &A = m_linearSystem->getMatrix();
// Set the initial guess to zero
x.setZero();
- applyLinearProjectionFilter(x, linearProjectors, true);
+ applyLinearProjectionFilter(x, *m_DynamicLinearProjConstraints, true);
+ applyLinearProjectionFilter(x, *m_FixedLinearProjConstraints, true);
auto res = b;
- applyLinearProjectionFilter(res, linearProjectors, false);
+ applyLinearProjectionFilter(res, *m_DynamicLinearProjConstraints, false);
+ applyLinearProjectionFilter(res, *m_FixedLinearProjConstraints, false);
auto c = res;
auto delta = res.dot(res);
auto deltaPrev = delta;
@@ -103,7 +104,8 @@ ConjugateGradient::modifiedCGSolve(Vectord& x)
while (delta > eps)
{
q = A * c;
- applyLinearProjectionFilter(q, linearProjectors, false);
+ applyLinearProjectionFilter(q, *m_DynamicLinearProjConstraints, false);
+ applyLinearProjectionFilter(q, *m_FixedLinearProjConstraints, false);
dotval = c.dot(q);
if (dotval != 0.0)
{
@@ -120,7 +122,8 @@ ConjugateGradient::modifiedCGSolve(Vectord& x)
delta = res.dot(res);
c *= delta / deltaPrev;
c += res;
- applyLinearProjectionFilter(c, linearProjectors, false);
+ applyLinearProjectionFilter(c, *m_DynamicLinearProjConstraints, false);
+ applyLinearProjectionFilter(c, *m_FixedLinearProjConstraints, false);
if (++iterNum >= m_maxIterations)
{
diff --git a/Base/Solvers/imstkConjugateGradient.h b/Base/Solvers/imstkConjugateGradient.h
index d9dd6a035ebf559f8a017c862b798955a91909a5..6a27c2a0c1d3e58fa2b3239a00a0b6aae24f4e08 100644
--- a/Base/Solvers/imstkConjugateGradient.h
+++ b/Base/Solvers/imstkConjugateGradient.h
@@ -98,6 +98,34 @@ public:
/// \brief Apply a filter to the vector supplied
///
void applyLinearProjectionFilter(Vectord& x, const std::vector<LinearProjectionConstraint>& linProj, const bool setVal);
+
+ /// \brief Get the vector denoting the filter
+ ///
+ void setLinearProjectors(std::vector<LinearProjectionConstraint>* f)
+ {
+ m_FixedLinearProjConstraints = f;
+ }
+
+ /// \brief Get the vector denoting the filter
+ ///
+ std::vector<LinearProjectionConstraint>& getLinearProjectors()
+ {
+ return *m_FixedLinearProjConstraints;
+ }
+
+ /// \brief Get the vector denoting the filter
+ ///
+ void setDynamicLinearProjectors(std::vector<LinearProjectionConstraint>* f)
+ {
+ m_DynamicLinearProjConstraints = f;
+ }
+
+ /// \brief Get the vector denoting the filter
+ ///
+ std::vector<LinearProjectionConstraint>& getDynamicLinearProjectors()
+ {
+ return *m_DynamicLinearProjConstraints;
+ }
private:
///
@@ -107,6 +135,9 @@ private:
///> Pointer to the Eigen's Conjugate gradient solver
Eigen::ConjugateGradient<SparseMatrixd> m_cgSolver;
+
+ std::vector<LinearProjectionConstraint> *m_FixedLinearProjConstraints;
+ std::vector<LinearProjectionConstraint> *m_DynamicLinearProjConstraints;
};
} // imstk
diff --git a/Base/Solvers/imstkNewtonSolver.cpp b/Base/Solvers/imstkNewtonSolver.cpp
index 8938b39178ca6c249c3884017cafd56a7256954c..a01e566881651116eef52f22ad0724f976a88993 100644
--- a/Base/Solvers/imstkNewtonSolver.cpp
+++ b/Base/Solvers/imstkNewtonSolver.cpp
@@ -144,7 +144,7 @@ NewtonSolver::updateJacobian(const Vectord& x)
auto &b = m_nonLinearSystem->m_F(x, m_isSemiImplicit);
auto linearSystem = std::make_shared<LinearSolverType::LinearSystemType>(A, b);
- linearSystem->setLinearProjectors(m_nonLinearSystem->getLinearProjectors());
+ //linearSystem->setLinearProjectors(m_nonLinearSystem->getLinearProjectors()); // TODO: Left for near future reference. Clear in future.
m_linearSolver->setSystem(linearSystem);
return b.dot(b);
diff --git a/Base/Solvers/imstkNonlinearSystem.h b/Base/Solvers/imstkNonlinearSystem.h
index b6a5d54808b50a4e609a5e273f9d6c79a58559aa..95d04c3e1b68f52bfa85252ec642651249e7dc46 100644
--- a/Base/Solvers/imstkNonlinearSystem.h
+++ b/Base/Solvers/imstkNonlinearSystem.h
@@ -92,7 +92,7 @@ namespace imstk
/// \brief Get the vector denoting the filter
///
- void setLinearProjectors(std::vector<LinearProjectionConstraint>& f)
+ /*void setLinearProjectors(std::vector<LinearProjectionConstraint>& f)
{
m_LinearProjConstraints = &f;
}
@@ -102,7 +102,7 @@ namespace imstk
std::vector<LinearProjectionConstraint>& getLinearProjectors()
{
return *m_LinearProjConstraints;
- }
+ }*/
///
/// \brief Set the update function
@@ -120,6 +120,20 @@ namespace imstk
m_FUpdatePrevState = updateFunc;
}
+ /// \brief Get the vector denoting the filter
+ ///
+ /*void setDynamicLinearProjectors(std::vector<LinearProjectionConstraint>* f)
+ {
+ m_DynamicLinearProjConstraints = f;
+ }
+
+ /// \brief Get the vector denoting the filter
+ ///
+ std::vector<LinearProjectionConstraint>& getDynamicLinearProjectors()
+ {
+ return *m_DynamicLinearProjConstraints;
+ }*/
+
public:
VectorFunctionType m_F; ///> Nonlinear function
MatrixFunctionType m_dF; ///> Gradient of the Nonlinear function with respect to the unknown vector
@@ -127,7 +141,8 @@ public:
UpdateFunctionType m_FUpdate;
UpdatePrevStateFunctionType m_FUpdatePrevState;
- std::vector<LinearProjectionConstraint> *m_LinearProjConstraints;
+ /*std::vector<LinearProjectionConstraint> *m_LinearProjConstraints;
+ std::vector<LinearProjectionConstraint> *m_DynamicLinearProjConstraints;*/
};
} // imstk
diff --git a/Examples/Sandbox/main.cpp b/Examples/Sandbox/main.cpp
index f224938bf0b363aa68d2db5e984fb44335f103b8..150b8bbee217004a82038925c3c8f191511b5bea 100644
--- a/Examples/Sandbox/main.cpp
+++ b/Examples/Sandbox/main.cpp
@@ -1256,11 +1256,9 @@ void testDeformableBody()
for (auto i : dynaModel->getFixNodeIds())
{
auto s = LinearProjectionConstraint(i, false);
- s.setProjectorToDirichlet(i);
- s.setValue(Vec3d(0.001, 0, 0));
+ s.setProjectorToDirichlet(i, Vec3d(0.001, 0, 0));
projList.push_back(s);
}
- nlSystem->setLinearProjectors(projList);
nlSystem->setUnknownVector(dynaModel->getUnknownVec());
nlSystem->setUpdateFunction(dynaModel->getUpdateFunction());
@@ -1271,9 +1269,9 @@ void testDeformableBody()
// create a non-linear solver and add to the scene
auto nlSolver = std::make_shared<NewtonSolver>();
+ cgLinSolver->setLinearProjectors(&projList);
nlSolver->setLinearSolver(cgLinSolver);
nlSolver->setSystem(nlSystem);
- //nlSolver->setToFullyImplicit();
scene->addNonlinearSolver(nlSolver);
// Display UPS
@@ -2286,7 +2284,6 @@ void testDeformableBodyCollision()
{
linProj.push_back(LinearProjectionConstraint(id, true));
}
- nlSystem->setLinearProjectors(linProj);
nlSystem->setUnknownVector(dynaModel->getUnknownVec());
nlSystem->setUpdateFunction(dynaModel->getUpdateFunction());
nlSystem->setUpdatePreviousStatesFunction(dynaModel->getUpdatePrevStateFunction());
@@ -2294,6 +2291,7 @@ void testDeformableBodyCollision()
// create a non-linear solver and add to the scene
auto nlSolver = std::make_shared<NewtonSolver>();
auto cgLinSolver = std::make_shared<ConjugateGradient>();// create a linear solver to be used in the NL solver
+ cgLinSolver->setLinearProjectors(&linProj);
nlSolver->setLinearSolver(cgLinSolver);
nlSolver->setSystem(nlSystem);
scene->addNonlinearSolver(nlSolver);
@@ -2386,7 +2384,6 @@ void liverToolInteraction()
{
linProj.push_back(LinearProjectionConstraint(id, true));
}
- nlSystem->setLinearProjectors(linProj);
nlSystem->setUnknownVector(dynaModel->getUnknownVec());
nlSystem->setUpdateFunction(dynaModel->getUpdateFunction());
nlSystem->setUpdatePreviousStatesFunction(dynaModel->getUpdatePrevStateFunction());
@@ -2394,6 +2391,7 @@ void liverToolInteraction()
// create a non-linear solver and add to the scene
auto nlSolver = std::make_shared<NewtonSolver>();
auto cgLinSolver = std::make_shared<ConjugateGradient>();// create a linear solver to be used in the NL solver
+ cgLinSolver->setLinearProjectors(&linProj);
nlSolver->setLinearSolver(cgLinSolver);
nlSolver->setSystem(nlSystem);
//nlSolver->setToFullyImplicit();