BUG: Continue init. of FE model even if damping coeff. are zero

Currently, if all the damping coefficients are zero,
the initialization is stopped in between which is not
intended.

Modifications are made to continue initialization of
the rest of the FE mode if all damping coefficients are zero.

Base/DynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.cpp

@@ -102,43 +102,19 @@ FEMDeformableBodyModel::initialize()
     auto physicsMesh = std::dynamic_pointer_cast<imstk::VolumetricMesh>(this->getModelGeometry());
     m_vegaPhysicsMesh = physicsMesh->getAttachedVegaMesh();
 
-    if (!this->initializeForceModel())
-    {
-        return false;
-    }
-
-    if (!this->initializeMassMatrix())
-    {
-        return false;
-    }
-
-    if (!this->initializeDampingMatrix())
-    {
-        return false;
-    }
-
-    if (!this->initializeTangentStiffness())
+    if (!this->initializeForceModel() ||
+        !this->initializeMassMatrix() ||
+        !this->initializeDampingMatrix() ||
+        !this->initializeTangentStiffness() ||
+        !this->loadBoundaryConditions() ||
+        !this->initializeGravityForce() ||
+        !this->initializeExplicitExternalForces())
     {
         return false;
     }
 
     this->loadInitialStates();
 
-    if (!this->loadBoundaryConditions())
-    {
-        return false;
-    }
-
-    if (!this->initializeGravityForce())
-    {
-        return false;
-    }
-
-    if (!this->initializeExplicitExternalForces())
-    {
-        return false;
-    }
-
     m_Feff.resize(m_numDOF);
     m_Finternal.resize(m_numDOF);
     m_Finternal.setConstant(0.0);
@@ -285,11 +261,10 @@ FEMDeformableBodyModel::initializeDampingMatrix()
     auto dampingMassCoefficient = m_forceModelConfiguration->getFloatsOptionsMap().at("dampingMassCoefficient");
     auto dampingStiffnessCoefficient = m_forceModelConfiguration->getFloatsOptionsMap().at("dampingStiffnessCoefficient");
 
-    m_damped = (dampingStiffnessCoefficient == 0.0 && dampingLaplacianCoefficient == 0.0 && dampingMassCoefficient == 0.0) ? false : true;
-
-    if (!m_damped)
+    if (dampingStiffnessCoefficient == 0.0 && dampingLaplacianCoefficient == 0.0 && dampingMassCoefficient == 0.0)
     {
-        return false;
+        LOG(WARNING) << "FEMDeformableBodyModel::initializeDampingMatrix() - All the damping parameters are zero!";
+        return true;
     }
 
     if (dampingLaplacianCoefficient < 0.0)