8

Author: Roushelfy

img/7.png

@@ -19,7 +19,7 @@ class BarrierEnergy
     T val();                                 // Calculate the value of the energy
     const DeviceBuffer<T> &grad();           // Calculate the gradient of the energy
     const DeviceTripletMatrix<T, 1> &hess(); // Calculate the Hessian matrix of the energy
-    const DeviceBuffer<T> compute_mu_lambda(T mu);
+    void compute_mu_lambda(T mu, DeviceBuffer<T> &device_mu_lambda);
     T init_step_size(const DeviceBuffer<T> &p); // Calculate the initial step size for the line search
 
 private:

simulators/4_friction/include/BarrierEnergy.h

@@ -17,7 +17,7 @@ class FrictionEnergy
     FrictionEnergy &operator=(FrictionEnergy &&rhs);
 
     void update_v(const DeviceBuffer<T> &v);
-    void update_mu_lambda(const DeviceBuffer<T> &mu_lambda);
+    DeviceBuffer<T> &get_mu_lambda();
     T val();                                 // Calculate the value of the energy
     const DeviceBuffer<T> &grad();           // Calculate the gradient of the energy
     const DeviceTripletMatrix<T, 1> &hess(); // Calculate the Hessian matrix of the energy

simulators/4_friction/include/FrictionEnergy.h

@@ -184,14 +184,13 @@ template class BarrierEnergy<double, 2>;
 template class BarrierEnergy<double, 3>;
 
 template <typename T, int dim>
-const DeviceBuffer<T> BarrierEnergy<T, dim>::compute_mu_lambda(T mu)
+void BarrierEnergy<T, dim>::compute_mu_lambda(T mu, DeviceBuffer<T> &device_mu_lambda)
 {
 	auto &device_x = pimpl_->device_x;
 	auto &device_n = pimpl_->device_n;
 	auto &device_o = pimpl_->device_o;
 	auto &device_contact_area = pimpl_->device_contact_area;
 	int N = device_x.size() / dim;
-	DeviceBuffer<T> device_mu_lambda(N);
 	device_mu_lambda.fill(0);
 	ParallelFor(256)
 		.apply(N, [device_x = device_x.cviewer(), device_mu_lambda = device_mu_lambda.viewer(), mu, device_n = device_n.cviewer(), device_o = device_o.cviewer(), device_contact_area = device_contact_area.cviewer()] __device__(int i) mutable
@@ -207,5 +206,4 @@ const DeviceBuffer<T> BarrierEnergy<T, dim>::compute_mu_lambda(T mu)
 			device_mu_lambda(i) = mu*-device_contact_area(i) * dhat *(kappa / 2 * (log(s) / dhat + (s - 1) / d));
 		} })
 		.wait();
-	return device_mu_lambda;
 }

simulators/4_friction/src/BarrierEnergy.cu

@@ -55,9 +55,9 @@ void FrictionEnergy<T, dim>::update_v(const DeviceBuffer<T> &v)
     pimpl_->device_v.view().copy_from(v);
 }
 template <typename T, int dim>
-void FrictionEnergy<T, dim>::update_mu_lambda(const DeviceBuffer<T> &mu_lambda)
+DeviceBuffer<T> &FrictionEnergy<T, dim>::get_mu_lambda()
 {
-    pimpl_->device_mu_lambda.view().copy_from(mu_lambda);
+    return pimpl_->device_mu_lambda;
 }
 
 template <typename T, int dim>

simulators/4_friction/src/FrictionEnergy.cu

@@ -127,7 +127,7 @@ void FrictionSimulator<T, dim>::Impl::step_forward()
 {
     DeviceBuffer<T> x_tilde(x.size()); // Predictive position
     update_x_tilde(add_vector<T>(x, v, 1, h));
-    frictionenergy.update_mu_lambda(barrierenergy.compute_mu_lambda(mu));
+    barrierenergy.compute_mu_lambda(mu, frictionenergy.get_mu_lambda());
     DeviceBuffer<T> x_n = x; // Copy current positions to x_n
     update_v(add_vector<T>(x, x_n, 1 / h, -1 / h));
     int iter = 0;

simulators/4_friction/src/simulator.cu

@@ -19,7 +19,7 @@ class BarrierEnergy
     T val();                                 // Calculate the value of the energy
     const DeviceBuffer<T> &grad();           // Calculate the gradient of the energy
     const DeviceTripletMatrix<T, 1> &hess(); // Calculate the Hessian matrix of the energy
-    const DeviceBuffer<T> compute_mu_lambda(T mu);
+    void compute_mu_lambda(T mu, DeviceBuffer<T> &device_mu_lambda);
     T init_step_size(const DeviceBuffer<T> &p); // Calculate the initial step size for the line search
 
 private:

simulators/5_mov_dirichlet/include/BarrierEnergy.h

@@ -17,7 +17,7 @@ class FrictionEnergy
     FrictionEnergy &operator=(FrictionEnergy &&rhs);
 
     void update_v(const DeviceBuffer<T> &v);
-    void update_mu_lambda(const DeviceBuffer<T> &mu_lambda);
+    DeviceBuffer<T> &get_mu_lambda();
     T val();                                 // Calculate the value of the energy
     const DeviceBuffer<T> &grad();           // Calculate the gradient of the energy
     const DeviceTripletMatrix<T, 1> &hess(); // Calculate the Hessian matrix of the energy

simulators/5_mov_dirichlet/include/FrictionEnergy.h

@@ -262,14 +262,13 @@ template class BarrierEnergy<double, 2>;
 template class BarrierEnergy<double, 3>;
 
 template <typename T, int dim>
-const DeviceBuffer<T> BarrierEnergy<T, dim>::compute_mu_lambda(T mu)
+void BarrierEnergy<T, dim>::compute_mu_lambda(T mu, DeviceBuffer<T> &device_mu_lambda)
 {
 	auto &device_x = pimpl_->device_x;
 	auto &device_n = pimpl_->device_n;
 	auto &device_o = pimpl_->device_o;
 	auto &device_contact_area = pimpl_->device_contact_area;
 	int N = device_x.size() / dim;
-	DeviceBuffer<T> device_mu_lambda(N);
 	device_mu_lambda.fill(0);
 	ParallelFor(256)
 		.apply(N, [device_x = device_x.cviewer(), device_mu_lambda = device_mu_lambda.viewer(), mu, device_n = device_n.cviewer(), device_o = device_o.cviewer(), device_contact_area = device_contact_area.cviewer()] __device__(int i) mutable
@@ -285,5 +284,4 @@ const DeviceBuffer<T> BarrierEnergy<T, dim>::compute_mu_lambda(T mu)
 			device_mu_lambda(i) = mu*-device_contact_area(i) * dhat *(kappa / 2 * (log(s) / dhat + (s - 1) / d));
 		} })
 		.wait();
-	return device_mu_lambda;
 }

simulators/5_mov_dirichlet/src/BarrierEnergy.cu

@@ -55,9 +55,9 @@ void FrictionEnergy<T, dim>::update_v(const DeviceBuffer<T> &v)
     pimpl_->device_v.view().copy_from(v);
 }
 template <typename T, int dim>
-void FrictionEnergy<T, dim>::update_mu_lambda(const DeviceBuffer<T> &mu_lambda)
+DeviceBuffer<T> &FrictionEnergy<T, dim>::get_mu_lambda()
 {
-    pimpl_->device_mu_lambda.view().copy_from(mu_lambda);
+    return pimpl_->device_mu_lambda;
 }
 
 template <typename T, int dim>