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report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error.

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This commit is contained in:
erwincoumans
2019-04-11 22:19:02 -07:00
parent 3146f6276b
commit 5ff52e47d9
11 changed files with 144 additions and 9 deletions
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2
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -64,6 +64,7 @@ struct btContactSolverInfoData
btScalar m_restitutionVelocityThreshold;
bool m_jointFeedbackInWorldSpace;
bool m_jointFeedbackInJointFrame;
bool m_reportSolverAnalytics;
};
struct btContactSolverInfo : public btContactSolverInfoData
@@ -98,6 +99,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
m_jointFeedbackInWorldSpace = false;
m_jointFeedbackInJointFrame = false;
m_reportSolverAnalytics = false;
}
};

8
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -2239,6 +2239,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
#ifdef VERBOSE_RESIDUAL_PRINTF
printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
#endif
m_analyticsData.m_numSolverCalls++;
m_analyticsData.m_numIterationsUsed = iteration+1;
m_analyticsData.m_islandId = -2;
if (numBodies>0)
m_analyticsData.m_islandId = bodies[0]->getCompanionId();
m_analyticsData.m_numBodies = numBodies;
m_analyticsData.m_numContactManifolds = numManifolds;
m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual;
break;
}
}

22
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -91,10 +91,29 @@ struct btSISolverSingleIterationData
}
};
struct btSolverAnalyticsData
{
btSolverAnalyticsData()
{
m_numSolverCalls = 0;
m_numIterationsUsed = -1;
m_remainingLeastSquaresResidual = -1;
m_islandId = -2;
}
int m_islandId;
int m_numBodies;
int m_numContactManifolds;
int m_numSolverCalls;
int m_numIterationsUsed;
double m_remainingLeastSquaresResidual;
};
///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
ATTRIBUTE_ALIGNED16(class)
btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:
btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
btConstraintArray m_tmpSolverContactConstraintPool;
@@ -283,6 +302,8 @@ public:
m_resolveSingleConstraintRowLowerLimit = rowSolver;
}
///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4
static btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
static btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
@@ -296,6 +317,7 @@ public:
static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric();
static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric();
btSolverAnalyticsData m_analyticsData;
};
#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H