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use the maximum square residual instead of sum

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This commit is contained in:
Erwin Coumans
2018-07-24 15:20:34 +02:00
parent b5495e789d
commit f91e5c573c
2 changed files with 13 additions and 13 deletions
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16
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1694,7 +1694,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
if (iteration < constraint.m_overrideNumSolverIterations)
{
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
leastSquaresResidual += residual*residual;
leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
@@ -1725,7 +1725,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
leastSquaresResidual += residual*residual;
leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
totalImpulse = solveManifold.m_appliedImpulse;
}
@@ -1742,7 +1742,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
leastSquaresResidual += residual*residual;
leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
@@ -1757,7 +1757,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
leastSquaresResidual += residual*residual;
leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
}
@@ -1774,7 +1774,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
leastSquaresResidual += residual*residual;
leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
@@ -1793,7 +1793,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
leastSquaresResidual += residual*residual;
leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
}
@@ -1815,7 +1815,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
leastSquaresResidual += residual*residual;
leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
@@ -1843,7 +1843,7 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
leastSquaresResidual += residual*residual;
leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration>=(infoGlobal.m_numIterations-1))