[Spring] SpringForceField now handles configuration singularity - #5822
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remibessard wants to merge 5 commits into
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…in simulation by adding regularisation term (so that matrix can be inverted)
fredroy
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pr: enhancement
alxbilger
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Dec 11, 2025
hugtalbot
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Very nice to see your contributions @remibessard 👍 👍 👍 👍 |
bakpaul
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Dec 15, 2025
hugtalbot
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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. Not sure there is an ideal solution..
hugtalbot
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Jan 23, 2026
alxbilger
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Jan 27, 2026
Co-authored-by: Alex Bilger <[email protected]>
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Create test case reproducing the singular configuration. |
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pr: status wip
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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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