Skip to content
GitLab
Commit 3caad386 authored by Sreekanth Arikatla's avatar Sreekanth Arikatla
Browse files

STYLE: clean up the pbdModel class 

1. Pass basic types by value
2. Add missing comments
parent 033b76ba
Pipeline #66801 passed with stage
Hide whitespace changes
Inline Side-by-side
Base/DynamicalModels/ObjectModels/imstkPbdModel.cpp
View file @ 3caad386
......@@ -241,7 +241,8 @@ PbdModel::initialize()
return true;
}
void PbdModel::computeLameConstants(const double& E, const double nu)
void
PbdModel::computeLameConstants(const double E, const double nu)
{
m_mu = E/(2*(1+nu));
m_lambda = E*nu/((1-2*nu)*(1+nu));
......@@ -273,7 +274,7 @@ PbdModel::initializeFEMConstraints(PbdFEMConstraint::MaterialType type)
}
bool
PbdModel::initializeVolumeConstraints(const double& stiffness)
PbdModel::initializeVolumeConstraints(const double stiffness)
{
// Check if constraint type matches the mesh type
if (m_mesh->getType() != Geometry::Type::TetrahedralMesh)
......@@ -298,7 +299,7 @@ PbdModel::initializeVolumeConstraints(const double& stiffness)
}
bool
PbdModel::initializeDistanceConstraints(const double& stiffness)
PbdModel::initializeDistanceConstraints(const double stiffness)
{
if (m_mesh->getType() == Geometry::Type::TetrahedralMesh)
{
......@@ -421,7 +422,7 @@ PbdModel::initializeDistanceConstraints(const double& stiffness)
}
bool
PbdModel::initializeAreaConstraints(const double& stiffness)
PbdModel::initializeAreaConstraints(const double stiffness)
{
// check if constraint type matches the mesh type
if (m_mesh->getType() != Geometry::Type::SurfaceMesh)
......@@ -446,7 +447,7 @@ PbdModel::initializeAreaConstraints(const double& stiffness)
}
bool
PbdModel::initializeDihedralConstraints(const double& stiffness)
PbdModel::initializeDihedralConstraints(const double stiffness)
{
if (m_mesh->getType() != Geometry::Type::SurfaceMesh)
{
......@@ -468,7 +469,10 @@ PbdModel::initializeDihedralConstraints(const double& stiffness)
onering[tri[2]].push_back(k);
}
std::vector<std::vector<bool>> E(triMesh->getNumVertices(), std::vector<bool>(triMesh->getNumVertices(), 1));
std::vector<std::vector<bool>> E(triMesh->getNumVertices(),
std::vector<bool>(triMesh->getNumVertices(),
1));
for (size_t k = 0; k < elements.size(); ++k)
{
auto& tri = elements[k];
......@@ -562,11 +566,14 @@ PbdModel::initializeDihedralConstraints(const double& stiffness)
}
bool
PbdModel::initializeConstantDensityConstraint(const double& stiffness)
PbdModel::initializeConstantDensityConstraint(const double stiffness)
{
// check if constraint type matches the mesh type
if (m_mesh->getType() != Geometry::Type::SurfaceMesh && m_mesh->getType() != Geometry::Type::TetrahedralMesh && m_mesh->getType() != Geometry::Type::LineMesh &&
m_mesh->getType() != Geometry::Type::HexahedralMesh && m_mesh->getType() != Geometry::Type::PointSet)
if (m_mesh->getType() != Geometry::Type::SurfaceMesh &&
m_mesh->getType() != Geometry::Type::TetrahedralMesh &&
m_mesh->getType() != Geometry::Type::LineMesh &&
m_mesh->getType() != Geometry::Type::HexahedralMesh &&
m_mesh->getType() != Geometry::Type::PointSet)
{
LOG(WARNING) << "Constant constraint should come with a mesh"; //TODO: Really only need a point cloud, so may need to change this.
return false;
......@@ -613,12 +620,13 @@ PbdModel::setViscousDamping(const double damping)
}
else
{
LOG(WARNING) << "WARNING - PbdModel::setViscousDamping: Viscous damping coefficients is out of bounds [0, 1]";
LOG(WARNING) << "WARNING - PbdModel::setViscousDamping: " <<
"Viscous damping coefficients is out of bounds [0, 1]";
}
}
void
PbdModel::setUniformMass(const double& val)
PbdModel::setUniformMass(const double val)
{
if (val != 0.0)
{
......@@ -633,7 +641,7 @@ PbdModel::setUniformMass(const double& val)
}
void
PbdModel::setParticleMass(const double& val, const size_t& idx)
PbdModel::setParticleMass(const double val, const size_t idx)
{
if (idx < m_mesh->getNumVertices())
{
......@@ -643,7 +651,7 @@ PbdModel::setParticleMass(const double& val, const size_t& idx)
}
void
PbdModel::setFixedPoint(const size_t& idx)
PbdModel::setFixedPoint(const size_t idx)
{
if (idx < m_mesh->getNumVertices())
{
......@@ -652,7 +660,7 @@ PbdModel::setFixedPoint(const size_t& idx)
}
double
PbdModel::getInvMass(const size_t& idx) const
PbdModel::getInvMass(const size_t idx) const
{
return m_invMass[idx];
}
......
Base/DynamicalModels/ObjectModels/imstkPbdModel.h
View file @ 3caad386
......@@ -76,33 +76,33 @@ public:
/// \param E Young's modulus
/// \param nu Poisson's ratio
///
void computeLameConstants(const double& E, const double nu);
void computeLameConstants(const double E, const double nu);
///
/// \brief Returns the first Lame constant
///
const double& getFirstLame() const { return m_mu; }
const double getFirstLame() const { return m_mu; }
///
/// \brief Returns the second Lame constant
///
const double& getSecondLame() const { return m_lambda; }
const double getSecondLame() const { return m_lambda; }
///
/// \brief Set the maximum number of iterations for the pbd solver
///
void setMaxNumIterations(const unsigned int& n) { m_maxIter = n; }
void setMaxNumIterations(const unsigned int n) { m_maxIter = n; }
///
/// \brief Get/Set proximity used for collision
///
void setProximity(const double& prox) { m_proximity = prox; }
void setProximity(const double prox) { m_proximity = prox; }
double getProximity() const { return m_proximity; }
///
/// \brief Get/Set contact stiffness that is used for collision constraints
///
void setContactStiffness(const double& stiffness) { m_contactStiffness = stiffness;}
void setContactStiffness(const double stiffness) { m_contactStiffness = stiffness;}
double getContactStiffness() const { return m_contactStiffness; }
///
......@@ -113,28 +113,28 @@ public:
///
/// \brief Initialize volume constraints
///
bool initializeVolumeConstraints(const double& stiffness);
bool initializeVolumeConstraints(const double stiffness);
///
/// \brief Initialize distance constraints
///
bool initializeDistanceConstraints(const double& stiffness);
bool initializeDistanceConstraints(const double stiffness);
///
/// \brief Initialize area constraints
///
bool initializeAreaConstraints(const double& stiffness);
bool initializeAreaConstraints(const double stiffness);
///
/// \brief Initialize dihedral constraints
///
bool initializeDihedralConstraints(const double& stiffness);
bool initializeDihedralConstraints(const double stiffness);
///
/// \brief addConstraint add elastic constraint
/// \param constraint
///
bool initializeConstantDensityConstraint(const double& stiffness);
bool initializeConstantDensityConstraint(const double stiffness);
///
/// \todo: add the initialization parameters for the constraint
......@@ -144,29 +144,29 @@ public:
inline void addConstraint(std::shared_ptr<PbdConstraint> constraint) { m_constraints.push_back(constraint); }
///
/// \brief compute delta x and update position
/// \brief compute delta x (position) and update position
///
void projectConstraints();
///
/// \brief Update the model geometry from the newest pbd state
/// \brief Update the model geometry from the newest PBD state
///
void updatePhysicsGeometry() override;
///
/// \brief Update the pbd state from the model geometry
/// \brief Update the PBD state from the model geometry
///
void updatePbdStateFromPhysicsGeometry();
///
/// \brief Returns true if there is atleast one constraint
/// \brief Returns true if there is at least one constraint
///
inline bool hasConstraints() const { return !m_constraints.empty(); }
///
/// \brief Set the time step size
///
void setTimeStep(const double& timeStep) { m_dt = timeStep; };
void setTimeStep(const double timeStep) { m_dt = timeStep; };
///
/// \brief Returns the time step size
......@@ -187,22 +187,22 @@ public:
///
/// \brief Set uniform mass to all the nodes
///
void setUniformMass(const double& val);
void setUniformMass(const double val);
///
/// \brief Set mass to particular node
///
void setParticleMass(const double& val, const size_t& idx);
void setParticleMass(const double val, const size_t idx);
///
/// \brief Se the node as fixed
///
void setFixedPoint(const size_t& idx);
void setFixedPoint(const size_t idx);
///
/// \brief Get the inverse of mass of a certain node
///
double getInvMass(const size_t& idx) const;
double getInvMass(const size_t idx) const;
///
/// \brief Time integrate the position
......@@ -215,40 +215,41 @@ public:
void updateVelocity();
///
/// \brief
/// \brief Update body states given the newest update and the type of update
///
void updateBodyStates(const Vectord& q, const stateUpdateType updateType = stateUpdateType::displacement) override {};
void updateBodyStates(const Vectord& q,
const stateUpdateType updateType = stateUpdateType::displacement) override {};
///
/// \brief Initialize the scene object
/// \brief Initialize the PBD model
///
bool initialize() override;
protected:
std::shared_ptr<PointSet> m_mesh; ///> PointSet on which the pbd model operates on
std::vector<std::shared_ptr<PbdConstraint>> m_constraints; ///> List of pbd constraints
std::shared_ptr<PointSet> m_mesh; ///> PointSet on which the pbd model operates on
std::vector<std::shared_ptr<PbdConstraint>> m_constraints; ///> List of pbd constraints
std::vector<std::size_t> m_fixedNodeIds; ///> Nodal IDs of the nodes that are fixed
std::vector<std::size_t> m_fixedNodeIds; ///> Nodal IDs of the nodes that are fixed
std::vector<std::string> m_constraintConfig;
// Lame's constants
double m_mu; ///> Lame constant
double m_lambda; ///> Lame constant
double m_mu; ///> Lame constant
double m_lambda; ///> Lame constant
// Mass properties
double m_uniformMassValue = 1.0;
std::vector<double> m_mass; ///> Mass of nodes
std::vector<double> m_invMass; ///> Inverse of mass of nodes
std::vector<double> m_mass; ///> Mass of nodes
std::vector<double> m_invMass; ///> Inverse of mass of nodes
double m_contactStiffness = 1.; ///> Contact stiffness for collisions
Vec3d m_gravity; ///> Gravity
double m_contactStiffness = 1.; ///> Contact stiffness for collisions
Vec3d m_gravity; ///> Gravity
double m_viscousDampingCoeff = 0.01; ///> Viscous damping coefficient [0, 1]
double m_viscousDampingCoeff = 0.01; ///> Viscous damping coefficient [0, 1]
unsigned int m_maxIter; ///> Max. pbd iterations
double m_proximity; ///> Proximity for collisions
unsigned int m_maxIter; ///> Max. pbd iterations
double m_proximity; ///> Proximity for collisions
double m_dt; ///> Time step size
double m_dt; ///> Time step size
};
} // imstk
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment