fix bug in updateBC

sim-test/rigid-test/rearAxle-mod/config.json.in

@@ -4,20 +4,21 @@
 
     "DBC": [
         {
-            "min": [0.2, -0.001, 0.2],
+            "min": [-0.1, 0.4, -0.1],
-            "max": [0.6, 0.05, 0.8]
+            "max": [0.6, 0.6, 1.1]
-        },
-        {
-            "min": [0.2, 0.95, 0.2],
-            "max": [0.6, 1.001, 0.8]
         }
     ],
 
     "NBC": [
         {
-            "min": [-0.001, 0.4, 0.3],
+            "min": [-0.1, 0.8, -0.1],
-            "max": [0.08, 0.6, 0.7],
+            "max": [1.1, 1.1, 1.1],
-            "force": [-1.732, 0, 1]
+            "force": [1, 0, 0]
+        },
+        {
+            "min": [-0.1, -0.1, -0.1],
+            "max": [1.1, 0.2, 1.1],
+            "force": [1, 0, 0]
         }
     ]
 }

static_sim/StaticSim.cpp

@@ -116,6 +116,7 @@ namespace ssim {
                 Eigen::VectorXi DBC_i_faceIdx = getSurfTriForBox(DBC.absMinBBox, DBC.absMaxBBox);
                 DBC_faceIdx_.conservativeResize(cnt + DBC_i_faceIdx.size());
                 DBC_faceIdx_.segment(cnt, DBC_i_faceIdx.size()) = DBC_i_faceIdx;
+                cnt += DBC_i_faceIdx.size();
             }
             std::set<int> DBC_faceIdx_set(DBC_faceIdx_.data(), DBC_faceIdx_.data() + DBC_faceIdx_.size());
             std::vector<int> DBC_faceIdx_vec(DBC_faceIdx_set.begin(), DBC_faceIdx_set.end());
@@ -130,6 +131,12 @@ namespace ssim {
             }
             std::vector<int> DBC_vertexIdx_vec(DBC_vertex_set.begin(), DBC_vertex_set.end());
             DBC_vertexIdx_ = Eigen::Map<Eigen::VectorXi>(DBC_vertexIdx_vec.data(), DBC_vertexIdx_vec.size());;
+
+            Eigen::MatrixXd DBCV(DBC_vertexIdx_.size(), 3);
+            for (int i_ = 0; i_ < DBC_vertexIdx_.size(); ++i_) {
+                DBCV.row(i_) = TV.row(SVI(DBC_vertexIdx_(i_)));
+            }
+            writePntVTK("/home/cw/Downloads/DBCV.vtk", DBCV);
         }
         {
             int cnt = 0;
@@ -137,6 +144,7 @@ namespace ssim {
                 Eigen::VectorXi NBC_i_faceIdx = getSurfTriForBox(NBC.absMinBBox, NBC.absMaxBBox);
                 NBC_faceIdx_.conservativeResize(cnt + NBC_i_faceIdx.size());
                 NBC_faceIdx_.segment(cnt, NBC_i_faceIdx.size()) = NBC_i_faceIdx;
+                cnt += NBC_i_faceIdx.size();
             }
             std::set<int> NBC_faceIdx_set(NBC_faceIdx_.data(), NBC_faceIdx_.data() + NBC_faceIdx_.size());
             std::vector<int> NBC_faceIdx_vec(NBC_faceIdx_set.begin(), NBC_faceIdx_set.end());
@@ -151,6 +159,12 @@ namespace ssim {
             }
             std::vector<int> NBC_vertexIdx_vec(NBC_vertex_set.begin(), NBC_vertex_set.end());
             NBC_vertexIdx_ = Eigen::Map<Eigen::VectorXi>(NBC_vertexIdx_vec.data(), NBC_vertexIdx_vec.size());;
+
+            Eigen::MatrixXd NBCV(NBC_vertexIdx_.size(), 3);
+            for (int i_ = 0; i_ < NBC_vertexIdx_.size(); ++i_) {
+                NBCV.row(i_) = TV.row(SVI(NBC_vertexIdx_(i_)));
+            }
+            writePntVTK("/home/cw/Downloads/NBCV.vtk", NBCV);
         }
     }