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Reset internal force of point mass before every simulation step #1372

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Jul 14, 2019
Merged

Reset internal force of point mass before every simulation step #1372

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1bcf732
Reset internal force of point mass before every simulation step
jslee02 Jul 13, 2019
fa54eca
Fix typos
jslee02 Jul 13, 2019
c673730
Update changelog
jslee02 Jul 14, 2019
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4 changes: 4 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -2,6 +2,10 @@

### [DART 6.10.0 (20XX-XX-XX)](https://github.com/dartsim/dart/milestone/58?closed=1)

* Dynamics

* Fixed soft body simulation when command input is not resetted: [#1372](https://github.com/dartsim/dart/pull/1372)

* GUI

* Fixed memory leaks from dart::gui::osg::Viewer: [#1349](https://github.com/dartsim/dart/pull/1349)
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2 changes: 1 addition & 1 deletion dart/dynamics/PointMass.cpp
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Expand Up @@ -842,7 +842,7 @@ void PointMass::updateBiasForceFD(double _dt, const Eigen::Vector3d& _gravity)
double kv = mParentSoftBodyNode->getVertexSpringStiffness();
double ke = mParentSoftBodyNode->getEdgeSpringStiffness();
double kd = mParentSoftBodyNode->getDampingCoefficient();
int nN = getNumConnectedPointMasses();
std::size_t nN = getNumConnectedPointMasses();
mAlpha = state.mForces - (kv + nN * ke) * getPositions()
- (_dt * (kv + nN * ke) + kd) * getVelocities()
- getMass() * getPartialAccelerations() - mB;
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10 changes: 9 additions & 1 deletion dart/dynamics/SoftBodyNode.cpp
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Expand Up @@ -713,8 +713,16 @@ void SoftBodyNode::updateBiasForce(
{
const Eigen::Matrix6d& mI
= BodyNode::mAspectProperties.mInertia.getSpatialTensor();
for (auto& pointMass : mPointMasses)
for (PointMass* pointMass : mPointMasses)
{
// Reset internal forces of point masses before used.
//
// Once control force for point mass is introduced, assign it to the
// internal force instead of always resetting the internal forces to zero.
pointMass->resetForces();

pointMass->updateBiasForceFD(_timeStep, _gravity);
}

// Gravity force
if (BodyNode::mAspectProperties.mGravityMode == true)
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