8_self_friction

Author: Roushelfy

simulators/7_self_contact/src/BarrierEnergy.cu

@@ -213,6 +213,7 @@ const DeviceTripletMatrix<T, 1> &BarrierEnergy<T, dim>::hess()
 	int Nbp = device_bp.size(), Nbe = device_be.size() / 2;
 	int Npe = Nbp * Nbe;
 	int N = device_x.size() / dim;
+	device_hess_val.fill(0);
 	ParallelFor(256).apply(N, [device_x = device_x.cviewer(), device_contact_area = device_contact_area.cviewer(), device_hess_val = device_hess_val.viewer(), device_hess_row_idx = device_hess_row_idx.viewer(), device_hess_col_idx = device_hess_col_idx.viewer(), N, device_n = device_n.cviewer(), device_o = device_o.cviewer()] __device__(int i) mutable
 						   {
 		T d = 0;
@@ -230,8 +231,6 @@ const DeviceTripletMatrix<T, 1> &BarrierEnergy<T, dim>::hess()
 					device_hess_col_idx(idx) = i * dim + k;
 					if (d < dhat)
 						device_hess_val(idx) = device_contact_area(i) * dhat * kappa / (2 * d * d * dhat) * (d + dhat) * device_n(j) * device_n(k);
-					else
-						device_hess_val(idx) = 0;
 				}
 			} })
 		.wait();
@@ -257,8 +256,6 @@ const DeviceTripletMatrix<T, 1> &BarrierEnergy<T, dim>::hess()
 									device_hess_val(idx) = device_contact_area(i) * dhat * kappa / (2 * d * d * dhat) * (d + dhat) * device_n_ceil(j) * device_n_ceil(k);
 								else
 									device_hess_val(idx) = -device_contact_area(i) * dhat * kappa / (2 * d * d * dhat) * (d + dhat) * device_n_ceil(j) * device_n_ceil(k);
-							else
-								device_hess_val(idx) = 0;
 						}
 					} })
 		.wait();
@@ -276,7 +273,6 @@ const DeviceTripletMatrix<T, 1> &BarrierEnergy<T, dim>::hess()
 												int idx = N * dim * dim + (N - 1) * dim * dim * 4 + i * dim * dim*9 + nI * dim * dim*3 + nJ * dim * dim + j * dim + k;
 												device_hess_row_idx(idx) = index[nI] * dim + j;
 												device_hess_col_idx(idx) = index[nJ] * dim + k;
-												device_hess_val(idx) = 0;
 											}
 										}
 								if (xI != eI0 && xI != eI1){
@@ -398,17 +394,17 @@ template class BarrierEnergy<double, 2>;
 template class BarrierEnergy<double, 3>;
 
 template <typename T, int dim>
-void BarrierEnergy<T, dim>::compute_mu_lambda(T mu, DeviceBuffer<T>& device_mu_lambda)
+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;
+	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;
 	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
-	{
+			   {
 		T d = 0;
 		for (int j = 0; j < dim; j++)
 		{
@@ -418,7 +414,6 @@ void BarrierEnergy<T, dim>::compute_mu_lambda(T mu, DeviceBuffer<T>& device_mu_l
 		{
 			T s = d / dhat;
 			device_mu_lambda(i) = mu * -device_contact_area(i) * dhat * (kappa / 2 * (log(s) / dhat + (s - 1) / d));
-		}
-	})
+		} })
 		.wait();
 }

simulators/7_self_contact/src/FrictionEnergy.cu

@@ -55,12 +55,11 @@ void FrictionEnergy<T, dim>::update_v(const DeviceBuffer<T> &v)
     pimpl_->device_v.view().copy_from(v);
 }
 template <typename T, int dim>
-DeviceBuffer<T>& FrictionEnergy<T, dim>::get_mu_lambda()
+DeviceBuffer<T> &FrictionEnergy<T, dim>::get_mu_lambda()
 {
     return pimpl_->device_mu_lambda;
 }
 
-
 template <typename T, int dim>
 T __device__ FrictionEnergy<T, dim>::f0(T vbarnorm, T Epsv, T hhat)
 {

simulators/8_self_friction/src/FrictionEnergy.cu

@@ -248,7 +248,6 @@ const DeviceTripletMatrix<T, 1> &FrictionEnergy<T, dim>::hess()
     auto device_hess_col_idx = device_hess.col_indices();
     auto device_hess_val = device_hess.values();
     int N = device_v.size() / dim;
-    device_hess_val.fill(0);
     ParallelFor(256).apply(N, [device_v = device_v.cviewer(), device_mu_lambda = device_mu_lambda.cviewer(), device_hess_val = device_hess_val.viewer(), device_hess_row_idx = device_hess_row_idx.viewer(), device_hess_col_idx = device_hess_col_idx.viewer(), hhat, n, N, this] __device__(int i) mutable
                            {
         Eigen::Matrix<T, dim, dim> T_mat = Eigen::Matrix<T, dim, dim>::Identity() - n * n.transpose();