revert some changes

Author: ryichando

src/args.rs

@@ -49,7 +49,7 @@ pub struct Args {
     #[clap(long, default_value_t = 0.025)]
     pub strain_limit_eps: f32,
 
-    #[clap(long, default_value_t = 1024)]
+    #[clap(long, default_value_t = 64)]
     pub binary_search_max_iter: u32,
 
     #[clap(long)]
@@ -76,9 +76,6 @@ pub struct Args {
     #[clap(long, default_value_t = 0.01)]
     pub ccd_reduction: f32,
 
-    #[clap(long, default_value_t = 0.0025)]
-    pub ccd_reduction_eps: f32,
-
     #[clap(long, default_value_t = 1e-2)]
     pub eiganalysis_eps: f32,
 

src/builder.rs

@@ -352,7 +352,6 @@ pub fn make_param(args: &Args) -> data::ParamSet {
         line_search_max_t: args.line_search_max_t,
         ccd_tol: args.contact_ghat,
         ccd_reduction: args.ccd_reduction,
-        ccd_reduction_eps: args.ccd_reduction_eps,
         ccd_max_iters: args.ccd_max_iters,
         eiganalysis_eps: args.eiganalysis_eps,
         friction: args.friction,

src/cpp/common.hpp

@@ -25,9 +25,9 @@
 #define __host__
 #endif
 
-#define EPSILON 1e-8f
-#define FLT_MAX 1e8f
-#define FLT_MIN -1e8f
+#define EPSILON 1.0e-8f
+#define FLT_MAX 1.0e8f
+#define FLT_MIN -1.0e8f
 #define DT_MIN 1e-5f
 #define PI 3.14159265358979323846f
 #define DEBUG_MODE 0

src/cpp/contact/accd.hpp

@@ -23,9 +23,8 @@ __device__ float ccd_helper(const Mat3x4f &x0, const Mat3x4f &dx, float u_max,
                             const ParamSet &param) {
     float toi = 0.0f;
     float max_t = param.line_search_max_t;
-    float gap = sqrtf(square_dist_func(x0)) - offset;
-    float eps = param.ccd_reduction_eps * gap;
-    float target = param.ccd_reduction * gap + offset;
+    float eps = param.ccd_reduction * (sqrtf(square_dist_func(x0)) - offset);
+    float target = 2.0f * eps + offset;
     float eps_sqr = eps * eps;
     float inv_u_max = 1.0f / u_max;
     for (unsigned k = 0; k < param.ccd_max_iters; ++k) {

src/cpp/data.hpp

@@ -230,7 +230,6 @@ struct ParamSet {
     float line_search_max_t;
     float ccd_tol;
     float ccd_reduction;
-    float ccd_reduction_eps;
     unsigned ccd_max_iters;
     float eiganalysis_eps;
     float friction;

src/cpp/strainlimiting/strainlimiting.cu

@@ -10,7 +10,6 @@
 #include "../utility/dispatcher.hpp"
 #include "../utility/utility.hpp"
 #include "strainlimiting.hpp"
-#include <limits>
 
 namespace strainlimiting {
 
@@ -109,31 +108,28 @@ float line_search(const DataSet &data, const Kinematic &kinematic,
             const Mat3x2f F1 =
                 utility::compute_deformation_grad(x1, inv_rest2x2[i]);
             const Mat3x2f dF = F1 - F0;
-            float gap = max_sigma - utility::svd3x2(F0).S.maxCoeff();
-            float target = max_sigma - param.ccd_reduction * gap;
-            if (utility::svd3x2(F0 + t * dF).S.maxCoeff() > target) {
+            if (utility::svd3x2(F0 + t * dF).S.maxCoeff() >= max_sigma) {
+                float tol = param.ccd_reduction *
+                            (max_sigma - utility::svd3x2(F0).S.maxCoeff());
+                float target = max_sigma - 2.0f * tol;
                 float upper_t = t;
                 float lower_t = 0.0f;
-                unsigned iter(0);
-                while (true) {
+                for (unsigned k = 0; k < param.binary_search_max_iter; ++k) {
                     t = 0.5f * (upper_t + lower_t);
                     Svd3x2 svd = utility::svd3x2(F0 + t * dF);
                     float diff = svd.S.maxCoeff() - target;
-                    if (diff < 0.0f) {
+                    if (fabs(diff) < tol) {
+                        break;
+                    } else if (diff < 0.0f) {
                         lower_t = t;
                     } else {
                         upper_t = t;
                     }
-                    if (lower_t > 0.0f) {
-                        if (upper_t - lower_t < param.ccd_reduction * lower_t) {
-                            break;
-                        }
-                    }
-                    assert(t > std::numeric_limits<float>::epsilon());
                 }
-                t = lower_t;
+                while (utility::svd3x2(F0 + t * dF).S.maxCoeff() >= target) {
+                    t *= param.dt_decrease_factor;
+                }
             }
-            assert(utility::svd3x2(F0 + t * dF).S.maxCoeff() <= target);
         }
         toi[i] = t;
     } DISPATCH_END;

src/data.rs

@@ -304,7 +304,6 @@ pub struct ParamSet {
     pub line_search_max_t: f32,
     pub ccd_tol: f32,
     pub ccd_reduction: f32,
-    pub ccd_reduction_eps: f32,
     pub ccd_max_iters: u32,
     pub eiganalysis_eps: f32,
     pub friction: f32,