Merge branch 'PerfImprovements' into 'master'

BUG: Performance improvements to PBD and Dense LSM

See merge request !551

Source/DynamicalModels/ObjectModels/imstkLevelSetModel.cpp

@@ -216,25 +216,31 @@ LevelSetModel::evolve()
                 {
                     for (int x = 0; x < dim[0]; x++, i++)
                     {
-                        // Center of voxel
-                        //const Vec3d pos = Vec3d(x, y, z).cwiseProduct(spacing) + shift;
-
                         // Gradients
                         const Vec3d gradPos = m_forwardGrad(Vec3d(x, y, z));
                         const Vec3d gradNeg = m_backwardGrad(Vec3d(x, y, z));
                         //curvaturesPtr[i] = m_curvature(Vec3d(x, y, z));
 
-                        // neg
-                        gradientMagPtr[i * 2] =
-                            std::pow(std::min(gradNeg[0], 0.0), 2) + std::pow(std::max(gradPos[0], 0.0), 2) +
-                            std::pow(std::min(gradNeg[1], 0.0), 2) + std::pow(std::max(gradPos[1], 0.0), 2) +
-                            std::pow(std::min(gradNeg[2], 0.0), 2) + std::pow(std::max(gradPos[2], 0.0), 2);
+                        Vec3d gradNegMax = gradNeg.cwiseMax(0.0);
+                        Vec3d gradNegMin = gradNeg.cwiseMin(0.0);
+                        Vec3d gradPosMax = gradPos.cwiseMax(0.0);
+                        Vec3d gradPosMin = gradPos.cwiseMin(0.0);
+
+                        // Square them
+                        gradNegMax = gradNegMax.cwiseProduct(gradNegMax);
+                        gradNegMin = gradNegMin.cwiseProduct(gradNegMin);
+                        gradPosMax = gradPosMax.cwiseProduct(gradPosMax);
+                        gradPosMin = gradPosMin.cwiseProduct(gradPosMin);
 
-                        // pos
+                        // Pos
                         gradientMagPtr[i * 2 + 1] =
-                            std::pow(std::max(gradNeg[0], 0.0), 2) + std::pow(std::min(gradPos[0], 0.0), 2) +
-                            std::pow(std::max(gradNeg[1], 0.0), 2) + std::pow(std::min(gradPos[1], 0.0), 2) +
-                            std::pow(std::max(gradNeg[2], 0.0), 2) + std::pow(std::min(gradPos[2], 0.0), 2);
+                            gradNegMax[0] + gradNegMax[1] + gradNegMax[2] +
+                            gradPosMin[0] + gradPosMin[1] + gradPosMin[2];
+
+                        // Neg
+                        gradientMagPtr[i * 2] =
+                            gradNegMin[0] + gradNegMin[1] + gradNegMin[2] +
+                            gradPosMax[0] + gradPosMax[1] + gradPosMax[2];
                     }
                 }
             });

Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp

@@ -108,6 +108,7 @@ PbdModel::initialize()
     // Initialize constraints
     {
         m_constraints = std::make_shared<PBDConstraintVector>();
+        m_partitionedConstraints = std::make_shared<std::vector<PBDConstraintVector>>();
 
         // Initialize FEM constraints
         for (auto& constraint : m_parameters->m_FEMConstraints)
@@ -167,11 +168,7 @@ PbdModel::initialize()
         }
 
         // Partition constraints for parallel computation
-        if (!m_partitioned)
-        {
-            this->partitionConstraints();
-            m_partitioned = true;
-        }
+        this->partitionConstraints();
     }
 
     // Setup the default pbd solver if none exists

Source/DynamicalModels/ObjectModels/imstkPbdModel.h

@@ -270,7 +270,6 @@ protected:
     void initGraphEdges(std::shared_ptr<TaskNode> source, std::shared_ptr<TaskNode> sink) override;
 
 protected:
-    bool   m_partitioned = false;                                                         /// \todo this is used in initialize() as a temporary fix to problems on linux
     size_t m_partitionThreshold = 16;                                                     ///> Threshold for constraint partitioning
 
     std::shared_ptr<PbdSolver> m_pbdSolver       = nullptr;                               ///> PBD solver