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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) if (iteration < constraint.m_overrideNumSolverIterations)
{ {
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint); 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]]; const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); 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; totalImpulse = solveManifold.m_appliedImpulse;
} }
@@ -1742,7 +1742,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); 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; solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); 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]]; const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); 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; solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); 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; rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); 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]]; const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); 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)) if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration>=(infoGlobal.m_numIterations-1))

10
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -39,7 +39,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index]; btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index];
btScalar residual = resolveSingleConstraintRowGeneric(constraint); btScalar residual = resolveSingleConstraintRowGeneric(constraint);
leastSquaredResidual += residual*residual; leastSquaredResidual = btMax(leastSquaredResidual,residual*residual);
if(constraint.m_multiBodyA) if(constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false); constraint.m_multiBodyA->setPosUpdated(false);
@@ -60,7 +60,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
residual = resolveSingleConstraintRowGeneric(constraint); residual = resolveSingleConstraintRowGeneric(constraint);
} }
leastSquaredResidual += residual*residual; leastSquaredResidual = btMax(leastSquaredResidual,residual*residual);
if(constraint.m_multiBodyA) if(constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false); constraint.m_multiBodyA->setPosUpdated(false);
@@ -85,7 +85,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint); btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
leastSquaredResidual += residual*residual; leastSquaredResidual = btMax(leastSquaredResidual , residual*residual);
if (frictionConstraint.m_multiBodyA) if (frictionConstraint.m_multiBodyA)
frictionConstraint.m_multiBodyA->setPosUpdated(false); frictionConstraint.m_multiBodyA->setPosUpdated(false);
@@ -115,7 +115,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction*totalImpulse); frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction*totalImpulse);
frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction*totalImpulse; frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction*totalImpulse;
btScalar residual = resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB); btScalar residual = resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB);
leastSquaredResidual += residual*residual; leastSquaredResidual = btMax(leastSquaredResidual, residual*residual);
if (frictionConstraintB.m_multiBodyA) if (frictionConstraintB.m_multiBodyA)
frictionConstraintB.m_multiBodyA->setPosUpdated(false); frictionConstraintB.m_multiBodyA->setPosUpdated(false);
@@ -148,7 +148,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint); btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
leastSquaredResidual += residual*residual; leastSquaredResidual = btMax(leastSquaredResidual, residual*residual);
if (frictionConstraint.m_multiBodyA) if (frictionConstraint.m_multiBodyA)
frictionConstraint.m_multiBodyA->setPosUpdated(false); frictionConstraint.m_multiBodyA->setPosUpdated(false);