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added the btNNCGConstraintSolver, based on the paper "Nonsmooth Nonlinear Conjugate Gradient Method for interactive

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contact force problems". The solver needs a lot of iterations, before the quality goes up (~ 1000)
Thanks to Gabor PUHR for the contribution!
Improved the btLemkeSolver.
Remove the sparse optimizations from the btMatrixX.h, replace it with explicit call to rowComputeNonZeroElements (only used in the btSolveProjectedGaussSeidel), it was likely slowing things down, without being useful.
Re-enable SIMD in the solver (was accidently disabled in Bullet 2.82 release)
This commit is contained in:
erwin.coumans@gmail.com
2013-10-31 06:17:08 +00:00
parent 6ca948e22f
commit 644d01d231
11 changed files with 794 additions and 298 deletions
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25
src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
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@@ -19,6 +19,7 @@ subject to the following restrictions:
#include "LinearMath/btQuickprof.h"
#include "btSolveProjectedGaussSeidel.h"
btMLCPSolver::btMLCPSolver( btMLCPSolverInterface* solver)
:m_solver(solver),
m_fallback(0)
@@ -160,13 +161,17 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
BT_PROFILE("init b (rhs)");
m_b.resize(numConstraintRows);
m_bSplit.resize(numConstraintRows);
//m_b.setZero();
m_b.setZero();
m_bSplit.setZero();
for (int i=0;i<numConstraintRows ;i++)
{
if (m_allConstraintArray[i].m_jacDiagABInv)
btScalar jacDiag = m_allConstraintArray[i].m_jacDiagABInv;
if (!btFuzzyZero(jacDiag))
{
m_b[i]=m_allConstraintArray[i].m_rhs/m_allConstraintArray[i].m_jacDiagABInv;
m_bSplit[i] = m_allConstraintArray[i].m_rhsPenetration/m_allConstraintArray[i].m_jacDiagABInv;
btScalar rhs = m_allConstraintArray[i].m_rhs;
btScalar rhsPenetration = m_allConstraintArray[i].m_rhsPenetration;
m_b[i]=rhs/jacDiag;
m_bSplit[i] = rhsPenetration/jacDiag;
}
}
@@ -425,14 +430,12 @@ 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
for ( int i=0; i<m_A.rows(); ++i)
{
float cfm = 0.000001f;
m_A.setElem(i,i,m_A(i,i)+ cfm / infoGlobal.m_timeStep);
m_A.setElem(i,i,m_A(i,i)+ infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
}
}
@@ -473,6 +476,9 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
if (infoGlobal.m_splitImpulse)
m_bSplit.resize(numConstraintRows);
m_bSplit.setZero();
m_b.setZero();
for (int i=0;i<numConstraintRows ;i++)
{
if (m_allConstraintArray[i].m_jacDiagABInv)
@@ -554,12 +560,10 @@ 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)
{
float cfm = 0.000001f;
m_A.setElem(i,i,m_A(i,i)+ cfm / infoGlobal.m_timeStep);
m_A.setElem(i,i,m_A(i,i)+ infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
}
}
@@ -618,6 +622,7 @@ btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bod
}
else
{
// printf("m_fallback = %d\n",m_fallback);
m_fallback++;
btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
}