heterogenous material and supporter bones

projects/CuLagrange/CMakeLists.txt

@@ -70,17 +70,11 @@ target_sources(zeno PRIVATE
   # fem/Check.cu
   fem/Generation.cpp
 
-  # fem/test.cpp
-  # fem/QuasiStaticStepping.cu
-
-  # fem/FastQuasiStaticStepping.cu
-  fem/FleshQuasiStepping.cu
-
   fem/FleshDynamicStepping.cu # CHECK THIS
   fem/collision_energy/vertex_face_collision.hpp
   fem/collision_energy/vertex_face_sqrt_collision.hpp
-  fem/collision_energy/edge_edge_collision.hpp
-  fem/collision_energy/edge_edge_sqrt_collition.hpp
+  # fem/collision_energy/edge_edge_collision.hpp
+  # fem/collision_energy/edge_edge_sqrt_collition.hpp
   fem/collision_energy/evaluate_collision.hpp
   fem/collision_energy/collision_utils.hpp
 )

projects/CuLagrange/fem/collision_energy/edge_edge_collision.hpp

@@ -231,8 +231,10 @@ namespace EDGE_EDGE_COLLISION {
         // ndotHessian = ndot_hessian(x);
         const MATRIX12 springLengthH = springLengthHessian(e,n,diff,a,b);
 
-        return (REAL)2.0 * _mu * (dyadic_prod(springLengthGrad,springLengthGrad) +
-                            springLength * springLengthH);
+        //return 2.0 * _mu * (springLengthGrad * springLengthGrad.transpose() +
+        //                    springLength * springLengthH);
+
+        return (REAL)2.0 * _mu * dyadic_prod(springLengthGrad,springLengthGrad);
     }
 
     ///////////////////////////////////////////////////////////////////////
@@ -288,8 +290,11 @@ namespace EDGE_EDGE_COLLISION {
 
         //return 2.0 * _mu * (springLengthGrad * springLengthGrad.transpose() +
         //                    springLength * springLengthH);
-        return (REAL)-2.0 * _mu * (springLength * springLengthH - 
-                            zs::dyadic_prod(springLengthGrad,springLengthGrad));
+        // return (REAL)-2.0 * _mu * (springLength * springLengthH - 
+        //                     zs::dyadic_prod(springLengthGrad,springLengthGrad));
+
+        return (REAL)2.0 * _mu * zs::dyadic_prod(springLengthGrad,springLengthGrad);
+
     }
 
 };