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Added Dantzig MLCP solver option from Open Dynamics Engine (trying to avoid naming/linking conflicts in case ODE and Bullet is used together)

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If an MLCP solver fails, use PGS/SI fallback, add a boolean return value for 'solve' method
This commit is contained in:
erwin.coumans@gmail.com
2013-10-21 23:27:09 +00:00
parent 1ca0493dc4
commit 379f0079e0
10 changed files with 2322 additions and 56 deletions
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21
src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
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@@ -115,10 +115,9 @@ btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,
return 0.f;
}
void btMLCPSolver::solveMLCP(const btContactSolverInfo& infoGlobal)
bool btMLCPSolver::solveMLCP(const btContactSolverInfo& infoGlobal)
{
m_solver->solveMLCP(m_A, m_b, m_x, m_lo,m_hi, m_limitDependencies,infoGlobal.m_numIterations );
return m_solver->solveMLCP(m_A, m_b, m_x, m_lo,m_hi, m_limitDependencies,infoGlobal.m_numIterations );
}
struct btJointNode
@@ -400,7 +399,8 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
}
}
}
///todo: use proper cfm values from the constraints (getInfo2)
if (1)
{
// add cfm to the diagonal of m_A
@@ -520,6 +520,7 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
if (1)
{
///todo: use proper cfm values from the constraints (getInfo2)
// add cfm to the diagonal of m_A
for ( int i=0; i<m_A.rows(); ++i)
{
@@ -543,13 +544,15 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
bool result = true;
{
BT_PROFILE("solveMLCP");
// printf("m_A(%d,%d)\n", m_A.rows(),m_A.cols());
solveMLCP(infoGlobal);
result = solveMLCP(infoGlobal);
}
//check if solution is valid, and otherwise fallback to btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations
if (result)
{
BT_PROFILE("process MLCP results");
for (int i=0;i<m_allConstraintArray.size();i++)
@@ -570,9 +573,11 @@ btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bod
}
}
}
//btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
else
{
printf("fallback to btSequentialImpulseConstraintSolver\n");
btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
}
return 0.f;
}