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[LinearSolver.Direct] BTDLinearSolver: do not clear the dense inverse at each factorization #6433

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Merged
hugtalbot merged 2 commits into from
Nov 6, 2026
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[LinearSolver.Direct] BTDLinearSolver: do not clear the dense inverse at each factorization #6433

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[LinearSolver.Direct] BTDLinearSolver: do not clear the dense inverse…
fredroy Oct 13, 2026
e0aa6d5
[LinearSolver.Direct] BTDLinearSolver: remove forceClearInverse
fredroy Oct 29, 2026
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7 changes: 5 additions & 2 deletions .../Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/BTDLinearSolver.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -159,8 +159,11 @@ void BTDLinearSolver<Matrix,Vector>::invert(Matrix& M)
for (Index i=0; i<nb; ++i)
nBlockComputedMinv[i] = 0;

// WARNING : cost of resize here : ???
Minv.resize(nb*bsize,nb*bsize);
// Minv is dense: resizing it clears all its nb*nb blocks, which is very costly for long chains.
// Clearing is not needed: a block is only read after computeMinvBlock() has written it
// (tracked by nBlockComputedMinv, reset above), so only resize when the size changes.
if (Minv.rowSize() != nb*bsize || Minv.colSize() != nb*bsize)
Minv.resize(nb*bsize,nb*bsize);
Minv.setAlignedSubMatrix((nb-1),(nb-1),bsize,bsize,alpha_inv[nb-1]);

nBlockComputedMinv[nb-1] = 1;
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