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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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38
src/LinearMath/btMatrixX.h
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@@ -131,46 +131,10 @@ struct btMatrixX
{
if (m_storage[col+row*m_cols]==0.f)
{
m_rowNonZeroElements1[row].push_back(col);
m_colNonZeroElements[col].push_back(row);
/*
//we need to keep the m_rowNonZeroElements1/m_colNonZeroElements arrays sorted (it is too slow, so commented out)
int f=0;
int l=0;
m_rowNonZeroElements1[row].findBinarySearch(col,&f,&l);
// btAssert(f==l);
if (f<m_rowNonZeroElements1[row].size()-1)
{
m_rowNonZeroElements1[row].expandNonInitializing();
for (int j=m_rowNonZeroElements1[row].size()-1;j>f;j--)
m_rowNonZeroElements1[row][j] = m_rowNonZeroElements1[row][j-1];
m_rowNonZeroElements1[row][f] = col;
} else
{
m_rowNonZeroElements1[row].push_back(col);
}
m_colNonZeroElements[col].findBinarySearch(row,&f,&l);
// btAssert(f==l);
if (f<m_colNonZeroElements[col].size()-1)
{
m_colNonZeroElements[col].expandNonInitializing();
for (int j=m_colNonZeroElements[col].size()-1;j>f;j++)
m_colNonZeroElements[col][j-1] = m_colNonZeroElements[col][j];
m_colNonZeroElements[col][f] = row;
} else
{
m_colNonZeroElements[col].push_back(row);
}
*/
m_storage[row*m_cols+col] = val;
} else
{
}
m_storage[row*m_cols+col] = val;
}
}
const T& operator() (int row,int col) const

39
src/LinearMath/btScalar.h
View File

@@ -257,10 +257,12 @@ inline int btGetVersion()
///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
#if defined(BT_USE_DOUBLE_PRECISION)
typedef double btScalar;
//this number could be bigger in double precision
#define BT_LARGE_FLOAT 1e30
#else
typedef float btScalar;
//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
#define BT_LARGE_FLOAT 1e18f
@@ -412,15 +414,15 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
#endif
#define SIMD_2_PI btScalar(6.283185307179586232)
#define SIMD_PI (SIMD_2_PI * btScalar(0.5))
#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25))
#define SIMD_PI btScalar(3.1415926535897932384626433832795029)
#define SIMD_2_PI btScalar(2.0) * SIMD_PI
#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5))
#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
#define btRecip(x) (btScalar(1.0)/btScalar(x))
#ifdef BT_USE_DOUBLE_PRECISION
#define SIMD_EPSILON DBL_EPSILON
@@ -622,6 +624,35 @@ SIMD_FORCE_INLINE void btSetZero(T* a, int n)
--ncurr;
}
}
SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n)
{
btScalar p0,q0,m0,p1,q1,m1,sum;
sum = 0;
n -= 2;
while (n >= 0) {
p0 = a[0]; q0 = b[0];
m0 = p0 * q0;
p1 = a[1]; q1 = b[1];
m1 = p1 * q1;
sum += m0;
sum += m1;
a += 2;
b += 2;
n -= 2;
}
n += 2;
while (n > 0) {
sum += (*a) * (*b);
a++;
b++;
n--;
}
return sum;
}
// returns normalized value in range [-SIMD_PI, SIMD_PI]
SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
{