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Build full A matrix and b vector for a MLCP solver interface, to explore Lemke, Dantzig, Newton and other MLCP solvers. The A matrix contains sparsity information.

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Added a PGS solver that uses the sparsity of the A matrix, just for testing (the equivalent sequential impulse solver is much faster, not having to allocate the big matrices)
This commit is contained in:
erwin.coumans@gmail.com
2013-10-20 17:38:14 +00:00
parent 5bd6decb2e
commit 1ca0493dc4
11 changed files with 1512 additions and 27 deletions
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86
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -152,7 +152,7 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
#endif
}
// Project Gauss Seidel or the equivalent Sequential Impulse
// Projected Gauss Seidel or the equivalent Sequential Impulse
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
@@ -355,8 +355,6 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
{
solverConstraint.m_contactNormal1 = normalAxis;
solverConstraint.m_contactNormal2 = -normalAxis;
btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
@@ -372,15 +370,30 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedPushImpulse = 0.f;
if (body0)
{
solverConstraint.m_contactNormal1 = normalAxis;
btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal1);
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0);
}
solverConstraint.m_angularComponentA = body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor();
}else
{
solverConstraint.m_contactNormal1.setZero();
solverConstraint.m_relpos1CrossNormal.setZero();
solverConstraint.m_angularComponentA .setZero();
}
if (body1)
{
solverConstraint.m_contactNormal2 = -normalAxis;
btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_angularComponentB = body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor();
} else
{
solverConstraint.m_contactNormal2.setZero();
solverConstraint.m_relpos2CrossNormal.setZero();
solverConstraint.m_angularComponentB.setZero();
}
{
@@ -418,8 +431,8 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_cfm = cfmSlip;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
solverConstraint.m_upperLimit = solverConstraint.m_friction;
}
}
@@ -498,8 +511,8 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_cfm = cfmSlip;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
solverConstraint.m_upperLimit = solverConstraint.m_friction;
}
}
@@ -543,7 +556,15 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
body.setCompanionId(solverBodyIdA);
} else
{
return 0;//assume first one is a fixed solver body
if (m_fixedBodyId<0)
{
m_fixedBodyId = m_tmpSolverBodyPool.size();
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
initSolverBody(&fixedBody,0);
}
return m_fixedBodyId;
// return 0;//assume first one is a fixed solver body
}
}
@@ -605,10 +626,24 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
solverConstraint.m_jacDiagABInv = denom;
}
solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB;
solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB;
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
if (rb0)
{
solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB;
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
} else
{
solverConstraint.m_contactNormal1.setZero();
solverConstraint.m_relpos1CrossNormal.setZero();
}
if (rb1)
{
solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB;
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
}else
{
solverConstraint.m_contactNormal2.setZero();
solverConstraint.m_relpos2CrossNormal.setZero();
}
btScalar restitution = 0.f;
btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
@@ -870,6 +905,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
{
cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
@@ -877,17 +916,16 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
} else
{
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
@@ -895,9 +933,6 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
{
@@ -938,6 +973,7 @@ void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold**
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
m_fixedBodyId = -1;
BT_PROFILE("solveGroupCacheFriendlySetup");
(void)debugDrawer;
@@ -1022,8 +1058,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
m_tmpSolverBodyPool.reserve(numBodies+1);
m_tmpSolverBodyPool.resize(0);
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
initSolverBody(&fixedBody,0);
//btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
//initSolverBody(&fixedBody,0);
//convert all bodies

2
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -42,7 +42,7 @@ protected:
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
int m_maxOverrideNumSolverIterations;
int m_fixedBodyId;
void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,

1
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -55,6 +55,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
{
void* m_originalContactPoint;
btScalar m_unusedPadding4;
int m_numRowsForNonContactConstraint;
};
int m_overrideNumSolverIterations;