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[Lagrangian.Solver] UnbuiltConstraintSolver: Fix resetForUnbuiltResolution (constraint re-ordering) #5871

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[Lagrangian.Solver] UnbuiltConstraintSolver: Fix resetForUnbuiltResolution (constraint re-ordering) #5871

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7 changes: 4 additions & 3 deletions ...angian/Solver/src/sofa/component/constraint/lagrangian/solver/UnbuiltConstraintSolver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,13 +37,14 @@ void UnbuiltConstraintSolver::doBuildSystem( const core::ConstraintParams *cPara
return;
}

// Initialize constraint sequence ONCE before iterating over constraint corrections
c_current_cp->constraints_sequence.resize(numConstraints);
std::iota(c_current_cp->constraints_sequence.begin(), c_current_cp->constraints_sequence.end(), 0);

for (const auto& cc : l_constraintCorrections)
{
if (!cc->isActive()) continue;

c_current_cp->constraints_sequence.resize(numConstraints);
std::iota(c_current_cp->constraints_sequence.begin(), c_current_cp->constraints_sequence.end(), 0);

// some constraint corrections (e.g LinearSolverConstraintCorrection)
// can change the order of the constraints, to optimize later computations
cc->resetForUnbuiltResolution(c_current_cp->getF(), c_current_cp->constraints_sequence);
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