[Spring] SpringForceField now handles configuration singularity #5822
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…in simulation by adding regularisation term (so that matrix can be inverted)
fredroy
added
pr: enhancement
alxbilger
reviewed
Dec 11, 2025
| { | ||
| m(j,k) = ((Real)spring.ks-tgt) * u[j] * u[k]; | ||
| m[j][k] = ((Real)spring.ks-tgt) * u[j] * u[k]; | ||
| m[j][k] += (isSingular) ? regParam * spring.ks * (((j==k) ? 1.0: 0.0) - u[j] * u[k]) : 0.0; |
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Suggested change
| m[j][k] += (isSingular) ? regParam * spring.ks * (((j==k) ? 1.0: 0.0) - u[j] * u[k]) : 0.0; | |
| if (isSingular && (j==k)) | |
| m[j][k] += regParam * spring.ks * (1 - u[j] * u[k]); |
This is more readable.
hugtalbot
changed the title
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|
Very nice to see your contributions @remibessard 👍 👍 👍 👍 |
kmk142789
approved these changes
Dec 15, 2025
bakpaul
reviewed
Dec 15, 2025
Comment on lines
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| m[j][k] = ((Real)spring.ks-tgt) * u[j] * u[k]; | ||
| m[j][k] += (isSingular) ? regParam * spring.ks * (((j==k) ? 1.0: 0.0) - u[j] * u[k]) : 0.0; |
Contributor
There was a problem hiding this comment.
Suggested change
| m[j][k] = ((Real)spring.ks-tgt) * u[j] * u[k]; | |
| m[j][k] += (isSingular) ? regParam * spring.ks * (((j==k) ? 1.0: 0.0) - u[j] * u[k]) : 0.0; | |
| m(j,k) = ((Real)spring.ks-tgt) * u[j] * u[k]; | |
| m(j,k) += (isSingular) ? regParam * spring.ks * (((j==k) ? 1.0: 0.0) - u[j] * u[k]) : 0.0; |
hugtalbot
reviewed
Dec 18, 2025
| // dF = k_s.U.U^T.dX + f/l.(I-U.U^T).dX = ((k_s-f/l).U.U^T + f/l.I).dX | ||
| auto& m = springForce->dForce_dX; | ||
| Real tgt = forceIntensity * inverseLength; | ||
| Real tol = 1e-8; |
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should we not use std::limit ?
I agree that a user-defined data would not be appropriate, but I do not like hard-coded value
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Update SpringForceField so that it handles configuration singularity in simulation by adding regularization term (so that matrix can be inverted).
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