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use a separate default cfm for the MLCP solver, it is a very sensitive value for Dantzig (and Lemke)

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This commit is contained in:
erwin.coumans@gmail.com
2013-10-31 16:52:32 +00:00
parent 644d01d231
commit 218d4d1394
2 changed files with 14 additions and 3 deletions
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7
src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
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@@ -22,7 +22,8 @@ subject to the following restrictions:
btMLCPSolver::btMLCPSolver( btMLCPSolverInterface* solver) btMLCPSolver::btMLCPSolver( btMLCPSolverInterface* solver)
:m_solver(solver), :m_solver(solver),
m_fallback(0) m_fallback(0),
m_cfm(0.000001)//0.0000001
{ {
} }
@@ -435,7 +436,7 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
// add cfm to the diagonal of m_A // add cfm to the diagonal of m_A
for ( int i=0; i<m_A.rows(); ++i) for ( int i=0; i<m_A.rows(); ++i)
{ {
m_A.setElem(i,i,m_A(i,i)+ infoGlobal.m_globalCfm / infoGlobal.m_timeStep); m_A.setElem(i,i,m_A(i,i)+ m_cfm / infoGlobal.m_timeStep);
} }
} }
@@ -563,7 +564,7 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
// add cfm to the diagonal of m_A // add cfm to the diagonal of m_A
for ( int i=0; i<m_A.rows(); ++i) for ( int i=0; i<m_A.rows(); ++i)
{ {
m_A.setElem(i,i,m_A(i,i)+ infoGlobal.m_globalCfm / infoGlobal.m_timeStep); m_A.setElem(i,i,m_A(i,i)+ m_cfm / infoGlobal.m_timeStep);
} }
} }

10
src/BulletDynamics/MLCPSolvers/btMLCPSolver.h
View File

@@ -42,6 +42,7 @@ protected:
btConstraintArray m_allConstraintArray; btConstraintArray m_allConstraintArray;
btMLCPSolverInterface* m_solver; btMLCPSolverInterface* m_solver;
int m_fallback; int m_fallback;
btScalar m_cfm;
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); 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 btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
@@ -70,6 +71,15 @@ public:
m_fallback = num; m_fallback = num;
} }
btScalar getCfm() const
{
return m_cfm;
}
void setCfm(btScalar cfm)
{
m_cfm = cfm;
}
virtual btConstraintSolverType getSolverType() const virtual btConstraintSolverType getSolverType() const
{ {
return BT_MLCP_SOLVER; return BT_MLCP_SOLVER;