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.
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
578
src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
Normal file
578
src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
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@@ -0,0 +1,578 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///original version written by Erwin Coumans, October 2013
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#include "btMLCPSolver.h"
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#include "LinearMath/btMatrixX.h"
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#include "LinearMath/btQuickprof.h"
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#include "btSolveProjectedGaussSeidel.h"
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btMLCPSolver::btMLCPSolver( btMLCPSolverInterface* solver)
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:m_solver(solver)
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{
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}
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btMLCPSolver::~btMLCPSolver()
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{
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}
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bool gUseMatrixMultiply = false;
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bool interleaveContactAndFriction = false;
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btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodiesUnUsed, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
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{
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btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies, numBodiesUnUsed, manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
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{
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BT_PROFILE("gather constraint data");
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int numFrictionPerContact = m_tmpSolverContactConstraintPool.size()==m_tmpSolverContactFrictionConstraintPool.size()? 1 : 2;
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int numBodies = m_tmpSolverBodyPool.size();
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m_allConstraintArray.resize(0);
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m_limitDependencies.resize(m_tmpSolverNonContactConstraintPool.size()+m_tmpSolverContactConstraintPool.size()+m_tmpSolverContactFrictionConstraintPool.size());
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btAssert(m_limitDependencies.size() == m_tmpSolverNonContactConstraintPool.size()+m_tmpSolverContactConstraintPool.size()+m_tmpSolverContactFrictionConstraintPool.size());
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// printf("m_limitDependencies.size() = %d\n",m_limitDependencies.size());
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int dindex = 0;
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for (int i=0;i<m_tmpSolverNonContactConstraintPool.size();i++)
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{
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m_allConstraintArray.push_back(m_tmpSolverNonContactConstraintPool[i]);
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m_limitDependencies[dindex++] = -1;
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}
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///The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead
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if (interleaveContactAndFriction)
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{
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for (int i=0;i<m_tmpSolverContactConstraintPool.size();i++)
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{
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int findex = dindex;
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m_allConstraintArray.push_back(m_tmpSolverContactConstraintPool[i]);
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m_limitDependencies[dindex++] = -1;
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m_allConstraintArray.push_back(m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact]);
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m_limitDependencies[dindex++] = m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact].m_frictionIndex;//findex;
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if (numFrictionPerContact==2)
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{
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m_allConstraintArray.push_back(m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact+1]);
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m_limitDependencies[dindex++] = m_tmpSolverContactFrictionConstraintPool[i*numFrictionPerContact+1].m_frictionIndex;//findex;
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}
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}
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} else
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{
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for (int i=0;i<m_tmpSolverContactConstraintPool.size();i++)
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{
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m_allConstraintArray.push_back(m_tmpSolverContactConstraintPool[i]);
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m_limitDependencies[dindex++] = -1;
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}
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for (int i=0;i<m_tmpSolverContactFrictionConstraintPool.size();i++)
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{
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m_allConstraintArray.push_back(m_tmpSolverContactFrictionConstraintPool[i]);
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m_limitDependencies[dindex++] = m_tmpSolverContactFrictionConstraintPool[i].m_frictionIndex;
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}
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}
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if (!m_allConstraintArray.size())
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{
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m_A.resize(0,0);
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m_b.resize(0);
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m_x.resize(0);
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m_lo.resize(0);
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m_hi.resize(0);
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return 0.f;
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}
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}
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if (gUseMatrixMultiply)
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{
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BT_PROFILE("createMLCP");
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createMLCP(infoGlobal);
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}
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else
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{
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BT_PROFILE("createMLCPFast");
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createMLCPFast(infoGlobal);
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}
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return 0.f;
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}
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void btMLCPSolver::solveMLCP(const btContactSolverInfo& infoGlobal)
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{
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m_solver->solveMLCP(m_A, m_b, m_x, m_lo,m_hi, m_limitDependencies,infoGlobal.m_numIterations );
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}
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struct btJointNode
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{
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int jointIndex; // pointer to enclosing dxJoint object
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int otherBodyIndex; // *other* body this joint is connected to
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int nextJointNodeIndex;//-1 for null
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int constraintRowIndex;
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};
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void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
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{
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int numContactRows = interleaveContactAndFriction ? 3 : 1;
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int numConstraintRows = m_allConstraintArray.size();
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int n = numConstraintRows;
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{
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BT_PROFILE("init b (rhs)");
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m_b.resize(numConstraintRows);
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//m_b.setZero();
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for (int i=0;i<numConstraintRows ;i++)
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{
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if (m_allConstraintArray[i].m_jacDiagABInv)
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m_b[i]=m_allConstraintArray[i].m_rhs/m_allConstraintArray[i].m_jacDiagABInv;
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}
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}
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btScalar* w = 0;
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int nub = 0;
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m_lo.resize(numConstraintRows);
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m_hi.resize(numConstraintRows);
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{
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BT_PROFILE("init lo/ho");
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for (int i=0;i<numConstraintRows;i++)
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{
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if (0)//m_limitDependencies[i]>=0)
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{
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m_lo[i] = -BT_INFINITY;
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m_hi[i] = BT_INFINITY;
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} else
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{
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m_lo[i] = m_allConstraintArray[i].m_lowerLimit;
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m_hi[i] = m_allConstraintArray[i].m_upperLimit;
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}
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}
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}
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//
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int m=m_allConstraintArray.size();
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int numBodies = m_tmpSolverBodyPool.size();
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btAlignedObjectArray<int> bodyJointNodeArray;
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{
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BT_PROFILE("bodyJointNodeArray.resize");
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bodyJointNodeArray.resize(numBodies,-1);
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}
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btAlignedObjectArray<btJointNode> jointNodeArray;
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{
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BT_PROFILE("jointNodeArray.reserve");
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jointNodeArray.reserve(2*m_allConstraintArray.size());
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}
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static btMatrixXf J3;
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{
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BT_PROFILE("J3.resize");
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J3.resize(2*m,8);
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}
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static btMatrixXf JinvM3;
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{
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BT_PROFILE("JinvM3.resize/setZero");
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JinvM3.resize(2*m,8);
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JinvM3.setZero();
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J3.setZero();
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}
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int cur=0;
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int rowOffset = 0;
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static btAlignedObjectArray<int> ofs;
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{
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BT_PROFILE("ofs resize");
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ofs.resize(0);
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ofs.resizeNoInitialize(m_allConstraintArray.size());
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}
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{
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BT_PROFILE("Compute J and JinvM");
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int c=0;
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int numRows = 0;
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for (int i=0;i<m_allConstraintArray.size();i+=numRows,c++)
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{
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ofs[c] = rowOffset;
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int sbA = m_allConstraintArray[i].m_solverBodyIdA;
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int sbB = m_allConstraintArray[i].m_solverBodyIdB;
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btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
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btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
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numRows = i<m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows ;
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if (orgBodyA)
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{
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{
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int slotA=-1;
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//find free jointNode slot for sbA
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slotA =jointNodeArray.size();
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jointNodeArray.expand();//NonInitializing();
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int prevSlot = bodyJointNodeArray[sbA];
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bodyJointNodeArray[sbA] = slotA;
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jointNodeArray[slotA].nextJointNodeIndex = prevSlot;
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jointNodeArray[slotA].jointIndex = c;
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jointNodeArray[slotA].constraintRowIndex = i;
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jointNodeArray[slotA].otherBodyIndex = orgBodyB ? sbB : -1;
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}
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for (int row=0;row<numRows;row++,cur++)
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{
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btVector3 normalInvMass = m_allConstraintArray[i+row].m_contactNormal1 * orgBodyA->getInvMass();
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btVector3 relPosCrossNormalInvInertia = m_allConstraintArray[i+row].m_relpos1CrossNormal * orgBodyA->getInvInertiaTensorWorld();
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for (int r=0;r<3;r++)
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{
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J3.setElem(cur,r,m_allConstraintArray[i+row].m_contactNormal1[r]);
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J3.setElem(cur,r+4,m_allConstraintArray[i+row].m_relpos1CrossNormal[r]);
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JinvM3.setElem(cur,r,normalInvMass[r]);
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JinvM3.setElem(cur,r+4,relPosCrossNormalInvInertia[r]);
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}
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J3.setElem(cur,3,0);
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JinvM3.setElem(cur,3,0);
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J3.setElem(cur,7,0);
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JinvM3.setElem(cur,7,0);
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}
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} else
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{
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cur += numRows;
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}
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if (orgBodyB)
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{
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{
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int slotB=-1;
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//find free jointNode slot for sbA
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slotB =jointNodeArray.size();
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jointNodeArray.expand();//NonInitializing();
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int prevSlot = bodyJointNodeArray[sbB];
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bodyJointNodeArray[sbB] = slotB;
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jointNodeArray[slotB].nextJointNodeIndex = prevSlot;
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jointNodeArray[slotB].jointIndex = c;
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jointNodeArray[slotB].otherBodyIndex = orgBodyA ? sbA : -1;
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jointNodeArray[slotB].constraintRowIndex = i;
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}
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for (int row=0;row<numRows;row++,cur++)
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{
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btVector3 normalInvMassB = m_allConstraintArray[i+row].m_contactNormal2*orgBodyB->getInvMass();
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btVector3 relPosInvInertiaB = m_allConstraintArray[i+row].m_relpos2CrossNormal * orgBodyB->getInvInertiaTensorWorld();
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for (int r=0;r<3;r++)
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{
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J3.setElem(cur,r,m_allConstraintArray[i+row].m_contactNormal2[r]);
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J3.setElem(cur,r+4,m_allConstraintArray[i+row].m_relpos2CrossNormal[r]);
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JinvM3.setElem(cur,r,normalInvMassB[r]);
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JinvM3.setElem(cur,r+4,relPosInvInertiaB[r]);
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}
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J3.setElem(cur,3,0);
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JinvM3.setElem(cur,3,0);
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J3.setElem(cur,7,0);
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JinvM3.setElem(cur,7,0);
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}
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}
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else
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{
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cur += numRows;
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}
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rowOffset+=numRows;
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}
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}
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//compute JinvM = J*invM.
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const btScalar* JinvM = JinvM3.getBufferPointer();
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const btScalar* Jptr = J3.getBufferPointer();
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{
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BT_PROFILE("m_A.resize");
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m_A.resize(n,n);
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}
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{
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BT_PROFILE("m_A.setZero");
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m_A.setZero();
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}
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int c=0;
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{
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int numRows = 0;
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BT_PROFILE("Compute A");
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for (int i=0;i<m_allConstraintArray.size();i+= numRows,c++)
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{
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int row__ = ofs[c];
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int sbA = m_allConstraintArray[i].m_solverBodyIdA;
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int sbB = m_allConstraintArray[i].m_solverBodyIdB;
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btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
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btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
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numRows = i<m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows ;
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const btScalar *JinvMrow = JinvM + 2*8*(size_t)row__;
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{
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int startJointNodeA = bodyJointNodeArray[sbA];
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while (startJointNodeA>=0)
|
||||
{
|
||||
int j0 = jointNodeArray[startJointNodeA].jointIndex;
|
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int cr0 = jointNodeArray[startJointNodeA].constraintRowIndex;
|
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if (j0<c)
|
||||
{
|
||||
|
||||
int numRowsOther = cr0 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j0].m_numConstraintRows : numContactRows;
|
||||
size_t ofsother = (m_allConstraintArray[cr0].m_solverBodyIdB == sbA) ? 8*numRowsOther : 0;
|
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//printf("%d joint i %d and j0: %d: ",count++,i,j0);
|
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m_A.multiplyAdd2_p8r ( JinvMrow,
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Jptr + 2*8*(size_t)ofs[j0] + ofsother, numRows, numRowsOther, row__,ofs[j0]);
|
||||
}
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startJointNodeA = jointNodeArray[startJointNodeA].nextJointNodeIndex;
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
int startJointNodeB = bodyJointNodeArray[sbB];
|
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while (startJointNodeB>=0)
|
||||
{
|
||||
int j1 = jointNodeArray[startJointNodeB].jointIndex;
|
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int cj1 = jointNodeArray[startJointNodeB].constraintRowIndex;
|
||||
|
||||
if (j1<c)
|
||||
{
|
||||
int numRowsOther = cj1 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j1].m_numConstraintRows : numContactRows;
|
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size_t ofsother = (m_allConstraintArray[cj1].m_solverBodyIdB == sbB) ? 8*numRowsOther : 0;
|
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m_A.multiplyAdd2_p8r ( JinvMrow + 8*(size_t)numRows,
|
||||
Jptr + 2*8*(size_t)ofs[j1] + ofsother, numRows, numRowsOther, row__,ofs[j1]);
|
||||
}
|
||||
startJointNodeB = jointNodeArray[startJointNodeB].nextJointNodeIndex;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
BT_PROFILE("compute diagonal");
|
||||
// compute diagonal blocks of m_A
|
||||
|
||||
int row__ = 0;
|
||||
int numJointRows = m_allConstraintArray.size();
|
||||
|
||||
int jj=0;
|
||||
for (;row__<numJointRows;)
|
||||
{
|
||||
|
||||
int sbA = m_allConstraintArray[row__].m_solverBodyIdA;
|
||||
int sbB = m_allConstraintArray[row__].m_solverBodyIdB;
|
||||
btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
|
||||
btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
|
||||
|
||||
|
||||
const unsigned int infom = row__ < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[jj].m_numConstraintRows : numContactRows;
|
||||
|
||||
const btScalar *JinvMrow = JinvM + 2*8*(size_t)row__;
|
||||
const btScalar *Jrow = Jptr + 2*8*(size_t)row__;
|
||||
m_A.multiply2_p8r (JinvMrow, Jrow, infom, infom, row__,row__);
|
||||
if (orgBodyB)
|
||||
{
|
||||
m_A.multiplyAdd2_p8r (JinvMrow + 8*(size_t)infom, Jrow + 8*(size_t)infom, infom, infom, row__,row__);
|
||||
}
|
||||
row__ += infom;
|
||||
jj++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (1)
|
||||
{
|
||||
// add cfm to the diagonal of m_A
|
||||
for ( int i=0; i<m_A.rows(); ++i)
|
||||
{
|
||||
float cfm = 0.00001f;
|
||||
m_A.setElem(i,i,m_A(i,i)+ cfm / infoGlobal.m_timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
///fill the upper triangle of the matrix, to make it symmetric
|
||||
{
|
||||
BT_PROFILE("fill the upper triangle ");
|
||||
m_A.copyLowerToUpperTriangle();
|
||||
}
|
||||
|
||||
{
|
||||
BT_PROFILE("resize/init x");
|
||||
m_x.resize(numConstraintRows);
|
||||
if (infoGlobal.m_solverMode&SOLVER_USE_WARMSTARTING)
|
||||
{
|
||||
for (int i=0;i<m_allConstraintArray.size();i++)
|
||||
{
|
||||
const btSolverConstraint& c = m_allConstraintArray[i];
|
||||
m_x[i]=c.m_appliedImpulse;
|
||||
}
|
||||
} else
|
||||
{
|
||||
m_x.setZero();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
|
||||
{
|
||||
int numBodies = this->m_tmpSolverBodyPool.size();
|
||||
int numConstraintRows = m_allConstraintArray.size();
|
||||
|
||||
m_b.resize(numConstraintRows);
|
||||
// m_b.setZero();
|
||||
|
||||
for (int i=0;i<numConstraintRows ;i++)
|
||||
{
|
||||
if (m_allConstraintArray[i].m_jacDiagABInv)
|
||||
m_b[i]=m_allConstraintArray[i].m_rhs/m_allConstraintArray[i].m_jacDiagABInv;
|
||||
}
|
||||
|
||||
static btMatrixXu Minv;
|
||||
Minv.resize(6*numBodies,6*numBodies);
|
||||
Minv.setZero();
|
||||
for (int i=0;i<numBodies;i++)
|
||||
{
|
||||
const btSolverBody& rb = m_tmpSolverBodyPool[i];
|
||||
const btVector3& invMass = rb.m_invMass;
|
||||
setElem(Minv,i*6+0,i*6+0,invMass[0]);
|
||||
setElem(Minv,i*6+1,i*6+1,invMass[1]);
|
||||
setElem(Minv,i*6+2,i*6+2,invMass[2]);
|
||||
btRigidBody* orgBody = m_tmpSolverBodyPool[i].m_originalBody;
|
||||
|
||||
for (int r=0;r<3;r++)
|
||||
for (int c=0;c<3;c++)
|
||||
setElem(Minv,i*6+3+r,i*6+3+c,orgBody? orgBody->getInvInertiaTensorWorld()[r][c] : 0);
|
||||
}
|
||||
|
||||
static btMatrixXu J;
|
||||
J.resize(numConstraintRows,6*numBodies);
|
||||
J.setZero();
|
||||
|
||||
m_lo.resize(numConstraintRows);
|
||||
m_hi.resize(numConstraintRows);
|
||||
|
||||
for (int i=0;i<numConstraintRows;i++)
|
||||
{
|
||||
|
||||
m_lo[i] = m_allConstraintArray[i].m_lowerLimit;
|
||||
m_hi[i] = m_allConstraintArray[i].m_upperLimit;
|
||||
|
||||
int bodyIndex0 = m_allConstraintArray[i].m_solverBodyIdA;
|
||||
int bodyIndex1 = m_allConstraintArray[i].m_solverBodyIdB;
|
||||
if (m_tmpSolverBodyPool[bodyIndex0].m_originalBody)
|
||||
{
|
||||
setElem(J,i,6*bodyIndex0+0,m_allConstraintArray[i].m_contactNormal1[0]);
|
||||
setElem(J,i,6*bodyIndex0+1,m_allConstraintArray[i].m_contactNormal1[1]);
|
||||
setElem(J,i,6*bodyIndex0+2,m_allConstraintArray[i].m_contactNormal1[2]);
|
||||
setElem(J,i,6*bodyIndex0+3,m_allConstraintArray[i].m_relpos1CrossNormal[0]);
|
||||
setElem(J,i,6*bodyIndex0+4,m_allConstraintArray[i].m_relpos1CrossNormal[1]);
|
||||
setElem(J,i,6*bodyIndex0+5,m_allConstraintArray[i].m_relpos1CrossNormal[2]);
|
||||
}
|
||||
if (m_tmpSolverBodyPool[bodyIndex1].m_originalBody)
|
||||
{
|
||||
setElem(J,i,6*bodyIndex1+0,m_allConstraintArray[i].m_contactNormal2[0]);
|
||||
setElem(J,i,6*bodyIndex1+1,m_allConstraintArray[i].m_contactNormal2[1]);
|
||||
setElem(J,i,6*bodyIndex1+2,m_allConstraintArray[i].m_contactNormal2[2]);
|
||||
setElem(J,i,6*bodyIndex1+3,m_allConstraintArray[i].m_relpos2CrossNormal[0]);
|
||||
setElem(J,i,6*bodyIndex1+4,m_allConstraintArray[i].m_relpos2CrossNormal[1]);
|
||||
setElem(J,i,6*bodyIndex1+5,m_allConstraintArray[i].m_relpos2CrossNormal[2]);
|
||||
}
|
||||
}
|
||||
|
||||
static btMatrixXu J_transpose;
|
||||
J_transpose= J.transpose();
|
||||
|
||||
static btMatrixXu tmp;
|
||||
|
||||
{
|
||||
{
|
||||
BT_PROFILE("J*Minv");
|
||||
tmp = J*Minv;
|
||||
|
||||
}
|
||||
{
|
||||
BT_PROFILE("J*tmp");
|
||||
m_A = tmp*J_transpose;
|
||||
}
|
||||
}
|
||||
|
||||
if (1)
|
||||
{
|
||||
// add cfm to the diagonal of m_A
|
||||
for ( int i=0; i<m_A.rows(); ++i)
|
||||
{
|
||||
float cfm = 0.0001f;
|
||||
m_A.setElem(i,i,m_A(i,i)+ cfm / infoGlobal.m_timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
m_x.resize(numConstraintRows);
|
||||
// m_x.setZero();
|
||||
|
||||
for (int i=0;i<m_allConstraintArray.size();i++)
|
||||
{
|
||||
const btSolverConstraint& c = m_allConstraintArray[i];
|
||||
m_x[i]=c.m_appliedImpulse;
|
||||
// c.m_numRowsForNonContactConstraint
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
|
||||
{
|
||||
{
|
||||
BT_PROFILE("solveMLCP");
|
||||
// printf("m_A(%d,%d)\n", m_A.rows(),m_A.cols());
|
||||
solveMLCP(infoGlobal);
|
||||
}
|
||||
|
||||
//check if solution is valid, and otherwise fallback to btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations
|
||||
{
|
||||
BT_PROFILE("process MLCP results");
|
||||
for (int i=0;i<m_allConstraintArray.size();i++)
|
||||
{
|
||||
{
|
||||
btSolverConstraint& c = m_allConstraintArray[i];
|
||||
int sbA = c.m_solverBodyIdA;
|
||||
int sbB = c.m_solverBodyIdB;
|
||||
btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
|
||||
btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
|
||||
|
||||
btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
|
||||
btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];
|
||||
|
||||
solverBodyA.internalApplyImpulse(c.m_contactNormal1*solverBodyA.internalGetInvMass(),c.m_angularComponentA,m_x[i]);
|
||||
solverBodyB.internalApplyImpulse(c.m_contactNormal2*solverBodyB.internalGetInvMass(),c.m_angularComponentB,m_x[i]);
|
||||
c.m_appliedImpulse = m_x[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
|
||||
|
||||
return 0.f;
|
||||
}
|
||||
61
src/BulletDynamics/MLCPSolvers/btMLCPSolver.h
Normal file
61
src/BulletDynamics/MLCPSolvers/btMLCPSolver.h
Normal file
@@ -0,0 +1,61 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
///original version written by Erwin Coumans, October 2013
|
||||
|
||||
#ifndef BT_MLCP_SOLVER_H
|
||||
#define BT_MLCP_SOLVER_H
|
||||
|
||||
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
|
||||
#include "LinearMath/btMatrixX.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"
|
||||
|
||||
class btMLCPSolver : public btSequentialImpulseConstraintSolver
|
||||
{
|
||||
|
||||
protected:
|
||||
|
||||
|
||||
btMatrixXu m_A;
|
||||
btVectorXu m_b;
|
||||
btVectorXu m_x;
|
||||
btVectorXu m_lo;
|
||||
btVectorXu m_hi;
|
||||
|
||||
btAlignedObjectArray<int> m_limitDependencies;
|
||||
btConstraintArray m_allConstraintArray;
|
||||
|
||||
btMLCPSolverInterface* m_solver;
|
||||
|
||||
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
virtual void createMLCP(const btContactSolverInfo& infoGlobal);
|
||||
virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
|
||||
|
||||
virtual void solveMLCP(const btContactSolverInfo& infoGlobal);
|
||||
|
||||
public:
|
||||
|
||||
btMLCPSolver( btMLCPSolverInterface* solver);
|
||||
virtual ~btMLCPSolver();
|
||||
|
||||
void setMLCPSolver(btMLCPSolverInterface* solver)
|
||||
{
|
||||
m_solver = solver;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_MLCP_SOLVER_H
|
||||
32
src/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h
Normal file
32
src/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h
Normal file
@@ -0,0 +1,32 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
///original version written by Erwin Coumans, October 2013
|
||||
|
||||
#ifndef BT_MLCP_SOLVER_INTERFACE_H
|
||||
#define BT_MLCP_SOLVER_INTERFACE_H
|
||||
|
||||
#include "LinearMath/btMatrixX.h"
|
||||
|
||||
class btMLCPSolverInterface
|
||||
{
|
||||
public:
|
||||
virtual ~btMLCPSolverInterface()
|
||||
{
|
||||
}
|
||||
|
||||
virtual void solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)=0;
|
||||
};
|
||||
|
||||
#endif //BT_MLCP_SOLVER_INTERFACE_H
|
||||
145
src/BulletDynamics/MLCPSolvers/btPATHSolver.h
Normal file
145
src/BulletDynamics/MLCPSolvers/btPATHSolver.h
Normal file
@@ -0,0 +1,145 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
///original version written by Erwin Coumans, October 2013
|
||||
|
||||
|
||||
#ifndef BT_PATH_SOLVER_H
|
||||
#define BT_PATH_SOLVER_H
|
||||
|
||||
//#define BT_USE_PATH
|
||||
#ifdef BT_USE_PATH
|
||||
|
||||
extern "C" {
|
||||
#include "PATH/SimpleLCP.h"
|
||||
#include "PATH/License.h"
|
||||
#include "PATH/Error_Interface.h"
|
||||
};
|
||||
void __stdcall MyError(Void *data, Char *msg)
|
||||
{
|
||||
printf("Path Error: %s\n",msg);
|
||||
}
|
||||
void __stdcall MyWarning(Void *data, Char *msg)
|
||||
{
|
||||
printf("Path Warning: %s\n",msg);
|
||||
}
|
||||
|
||||
Error_Interface e;
|
||||
|
||||
|
||||
|
||||
#include "btMLCPSolverInterface.h"
|
||||
#include "Dantzig/lcp.h"
|
||||
|
||||
class btPathSolver : public btMLCPSolverInterface
|
||||
{
|
||||
public:
|
||||
|
||||
btPathSolver()
|
||||
{
|
||||
License_SetString("2069810742&Courtesy_License&&&USR&2013&14_12_2011&1000&PATH&GEN&31_12_2013&0_0_0&0&0_0");
|
||||
e.error_data = 0;
|
||||
e.warning = MyWarning;
|
||||
e.error = MyError;
|
||||
Error_SetInterface(&e);
|
||||
}
|
||||
|
||||
|
||||
virtual void solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
|
||||
{
|
||||
MCP_Termination status;
|
||||
|
||||
|
||||
int numVariables = b.rows();
|
||||
if (0==numVariables)
|
||||
return;
|
||||
|
||||
/* - variables - the number of variables in the problem
|
||||
- m_nnz - the number of nonzeros in the M matrix
|
||||
- m_i - a vector of size m_nnz containing the row indices for M
|
||||
- m_j - a vector of size m_nnz containing the column indices for M
|
||||
- m_ij - a vector of size m_nnz containing the data for M
|
||||
- q - a vector of size variables
|
||||
- lb - a vector of size variables containing the lower bounds on x
|
||||
- ub - a vector of size variables containing the upper bounds on x
|
||||
*/
|
||||
btAlignedObjectArray<double> values;
|
||||
btAlignedObjectArray<int> rowIndices;
|
||||
btAlignedObjectArray<int> colIndices;
|
||||
|
||||
for (int i=0;i<A.rows();i++)
|
||||
{
|
||||
for (int j=0;j<A.cols();j++)
|
||||
{
|
||||
if (A(i,j)!=0.f)
|
||||
{
|
||||
//add 1, because Path starts at 1, instead of 0
|
||||
rowIndices.push_back(i+1);
|
||||
colIndices.push_back(j+1);
|
||||
values.push_back(A(i,j));
|
||||
}
|
||||
}
|
||||
}
|
||||
int numNonZero = rowIndices.size();
|
||||
btAlignedObjectArray<double> zResult;
|
||||
zResult.resize(numVariables);
|
||||
btAlignedObjectArray<double> rhs;
|
||||
btAlignedObjectArray<double> upperBounds;
|
||||
btAlignedObjectArray<double> lowerBounds;
|
||||
for (int i=0;i<numVariables;i++)
|
||||
{
|
||||
upperBounds.push_back(hi[i]);
|
||||
lowerBounds.push_back(lo[i]);
|
||||
rhs.push_back(-b[i]);
|
||||
}
|
||||
|
||||
|
||||
SimpleLCP(numVariables,numNonZero,&rowIndices[0],&colIndices[0],&values[0],&rhs[0],&lowerBounds[0],&upperBounds[0], &status, &zResult[0]);
|
||||
|
||||
if (status != MCP_Solved)
|
||||
{
|
||||
static const char* gReturnMsgs[] = {
|
||||
"Invalid return",
|
||||
"MCP_Solved: The problem was solved",
|
||||
"MCP_NoProgress: A stationary point was found",
|
||||
"MCP_MajorIterationLimit: Major iteration limit met",
|
||||
"MCP_MinorIterationLimit: Cumulative minor iteration limit met",
|
||||
"MCP_TimeLimit: Ran out of time",
|
||||
"MCP_UserInterrupt: Control-C, typically",
|
||||
"MCP_BoundError: Problem has a bound error",
|
||||
"MCP_DomainError: Could not find starting point",
|
||||
"MCP_Infeasible: Problem has no solution",
|
||||
"MCP_Error: An error occurred within the code",
|
||||
"MCP_LicenseError: License could not be found",
|
||||
"MCP_OK"
|
||||
};
|
||||
|
||||
printf("ERROR: The PATH MCP solver failed: %s\n", gReturnMsgs[(unsigned int)status]);// << std::endl;
|
||||
printf("using Projected Gauss Seidel instead\n");
|
||||
//x = Solve_GaussSeidel(A,b,lo,hi,limitDependencies,infoGlobal.m_numIterations);
|
||||
} else
|
||||
{
|
||||
for (int i=0;i<numVariables;i++)
|
||||
{
|
||||
x[i] = zResult[i];
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
#endif //BT_USE_PATH
|
||||
|
||||
|
||||
#endif //BT_PATH_SOLVER_H
|
||||
79
src/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
Normal file
79
src/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
Normal file
@@ -0,0 +1,79 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
///original version written by Erwin Coumans, October 2013
|
||||
|
||||
#ifndef BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
|
||||
#define BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
|
||||
|
||||
|
||||
#include "btMLCPSolverInterface.h"
|
||||
|
||||
class btSolveProjectedGaussSeidel : public btMLCPSolverInterface
|
||||
{
|
||||
public:
|
||||
virtual void solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
|
||||
{
|
||||
//A is a m-n matrix, m rows, n columns
|
||||
btAssert(A.rows() == b.rows());
|
||||
|
||||
int i, j, numRows = A.rows();
|
||||
|
||||
float delta;
|
||||
|
||||
for (int k = 0; k <numIterations; k++)
|
||||
{
|
||||
for (i = 0; i <numRows; i++)
|
||||
{
|
||||
delta = 0.0f;
|
||||
if (useSparsity)
|
||||
{
|
||||
for (int h=0;h<A.m_rowNonZeroElements1[i].size();h++)
|
||||
{
|
||||
int j = A.m_rowNonZeroElements1[i][h];
|
||||
if (j != i)//skip main diagonal
|
||||
{
|
||||
delta += A(i,j) * x[j];
|
||||
}
|
||||
}
|
||||
} else
|
||||
{
|
||||
for (j = 0; j <i; j++)
|
||||
delta += A(i,j) * x[j];
|
||||
for (j = i+1; j<numRows; j++)
|
||||
delta += A(i,j) * x[j];
|
||||
}
|
||||
|
||||
float aDiag = A(i,i);
|
||||
x [i] = (b [i] - delta) / A(i,i);
|
||||
float s = 1.f;
|
||||
|
||||
if (limitDependency[i]>=0)
|
||||
{
|
||||
s = x[limitDependency[i]];
|
||||
if (s<0)
|
||||
s=1;
|
||||
}
|
||||
|
||||
if (x[i]<lo[i]*s)
|
||||
x[i]=lo[i]*s;
|
||||
if (x[i]>hi[i]*s)
|
||||
x[i]=hi[i]*s;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
|
||||
Reference in New Issue
Block a user