e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
152 lines
4.4 KiB
C++
152 lines
4.4 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
///original version written by Erwin Coumans, October 2013
|
|
|
|
|
|
#ifndef BT_PATH_SOLVER_H
|
|
#define BT_PATH_SOLVER_H
|
|
|
|
//#define BT_USE_PATH
|
|
#ifdef BT_USE_PATH
|
|
|
|
extern "C" {
|
|
#include "PATH/SimpleLCP.h"
|
|
#include "PATH/License.h"
|
|
#include "PATH/Error_Interface.h"
|
|
};
|
|
void __stdcall MyError(Void *data, Char *msg)
|
|
{
|
|
printf("Path Error: %s\n",msg);
|
|
}
|
|
void __stdcall MyWarning(Void *data, Char *msg)
|
|
{
|
|
printf("Path Warning: %s\n",msg);
|
|
}
|
|
|
|
Error_Interface e;
|
|
|
|
|
|
|
|
#include "btMLCPSolverInterface.h"
|
|
#include "Dantzig/lcp.h"
|
|
|
|
class btPathSolver : public btMLCPSolverInterface
|
|
{
|
|
public:
|
|
|
|
btPathSolver()
|
|
{
|
|
License_SetString("2069810742&Courtesy_License&&&USR&2013&14_12_2011&1000&PATH&GEN&31_12_2013&0_0_0&0&0_0");
|
|
e.error_data = 0;
|
|
e.warning = MyWarning;
|
|
e.error = MyError;
|
|
Error_SetInterface(&e);
|
|
}
|
|
|
|
|
|
virtual bool solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
|
|
{
|
|
MCP_Termination status;
|
|
|
|
|
|
int numVariables = b.rows();
|
|
if (0==numVariables)
|
|
return true;
|
|
|
|
/* - variables - the number of variables in the problem
|
|
- m_nnz - the number of nonzeros in the M matrix
|
|
- m_i - a vector of size m_nnz containing the row indices for M
|
|
- m_j - a vector of size m_nnz containing the column indices for M
|
|
- m_ij - a vector of size m_nnz containing the data for M
|
|
- q - a vector of size variables
|
|
- lb - a vector of size variables containing the lower bounds on x
|
|
- ub - a vector of size variables containing the upper bounds on x
|
|
*/
|
|
btAlignedObjectArray<double> values;
|
|
btAlignedObjectArray<int> rowIndices;
|
|
btAlignedObjectArray<int> colIndices;
|
|
|
|
for (int i=0;i<A.rows();i++)
|
|
{
|
|
for (int j=0;j<A.cols();j++)
|
|
{
|
|
if (A(i,j)!=0.f)
|
|
{
|
|
//add 1, because Path starts at 1, instead of 0
|
|
rowIndices.push_back(i+1);
|
|
colIndices.push_back(j+1);
|
|
values.push_back(A(i,j));
|
|
}
|
|
}
|
|
}
|
|
int numNonZero = rowIndices.size();
|
|
btAlignedObjectArray<double> zResult;
|
|
zResult.resize(numVariables);
|
|
btAlignedObjectArray<double> rhs;
|
|
btAlignedObjectArray<double> upperBounds;
|
|
btAlignedObjectArray<double> lowerBounds;
|
|
for (int i=0;i<numVariables;i++)
|
|
{
|
|
upperBounds.push_back(hi[i]);
|
|
lowerBounds.push_back(lo[i]);
|
|
rhs.push_back(-b[i]);
|
|
}
|
|
|
|
|
|
SimpleLCP(numVariables,numNonZero,&rowIndices[0],&colIndices[0],&values[0],&rhs[0],&lowerBounds[0],&upperBounds[0], &status, &zResult[0]);
|
|
|
|
if (status != MCP_Solved)
|
|
{
|
|
static const char* gReturnMsgs[] = {
|
|
"Invalid return",
|
|
"MCP_Solved: The problem was solved",
|
|
"MCP_NoProgress: A stationary point was found",
|
|
"MCP_MajorIterationLimit: Major iteration limit met",
|
|
"MCP_MinorIterationLimit: Cumulative minor iteration limit met",
|
|
"MCP_TimeLimit: Ran out of time",
|
|
"MCP_UserInterrupt: Control-C, typically",
|
|
"MCP_BoundError: Problem has a bound error",
|
|
"MCP_DomainError: Could not find starting point",
|
|
"MCP_Infeasible: Problem has no solution",
|
|
"MCP_Error: An error occurred within the code",
|
|
"MCP_LicenseError: License could not be found",
|
|
"MCP_OK"
|
|
};
|
|
|
|
printf("ERROR: The PATH MCP solver failed: %s\n", gReturnMsgs[(unsigned int)status]);// << std::endl;
|
|
printf("using Projected Gauss Seidel fallback\n");
|
|
|
|
return false;
|
|
} else
|
|
{
|
|
for (int i=0;i<numVariables;i++)
|
|
{
|
|
x[i] = zResult[i];
|
|
//check for #NAN
|
|
if (x[i] != zResult[i])
|
|
return false;
|
|
}
|
|
return true;
|
|
|
|
}
|
|
|
|
}
|
|
};
|
|
|
|
#endif //BT_USE_PATH
|
|
|
|
|
|
#endif //BT_PATH_SOLVER_H
|