Blender  V3.3
btPATHSolver.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
16 
17 #ifndef BT_PATH_SOLVER_H
18 #define BT_PATH_SOLVER_H
19 
20 //#define BT_USE_PATH
21 #ifdef BT_USE_PATH
22 
23 extern "C"
24 {
25 #include "PATH/SimpleLCP.h"
26 #include "PATH/License.h"
27 #include "PATH/Error_Interface.h"
28 };
29 void __stdcall MyError(Void *data, Char *msg)
30 {
31  printf("Path Error: %s\n", msg);
32 }
33 void __stdcall MyWarning(Void *data, Char *msg)
34 {
35  printf("Path Warning: %s\n", msg);
36 }
37 
38 Error_Interface e;
39 
40 #include "btMLCPSolverInterface.h"
41 #include "Dantzig/lcp.h"
42 
43 class btPathSolver : public btMLCPSolverInterface
44 {
45 public:
46  btPathSolver()
47  {
48  License_SetString("2069810742&Courtesy_License&&&USR&2013&14_12_2011&1000&PATH&GEN&31_12_2013&0_0_0&0&0_0");
49  e.error_data = 0;
50  e.warning = MyWarning;
51  e.error = MyError;
52  Error_SetInterface(&e);
53  }
54 
55  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)
56  {
57  MCP_Termination status;
58 
59  int numVariables = b.rows();
60  if (0 == numVariables)
61  return true;
62 
63  /* - variables - the number of variables in the problem
64  - m_nnz - the number of nonzeros in the M matrix
65  - m_i - a vector of size m_nnz containing the row indices for M
66  - m_j - a vector of size m_nnz containing the column indices for M
67  - m_ij - a vector of size m_nnz containing the data for M
68  - q - a vector of size variables
69  - lb - a vector of size variables containing the lower bounds on x
70  - ub - a vector of size variables containing the upper bounds on x
71  */
73  btAlignedObjectArray<int> rowIndices;
74  btAlignedObjectArray<int> colIndices;
75 
76  for (int i = 0; i < A.rows(); i++)
77  {
78  for (int j = 0; j < A.cols(); j++)
79  {
80  if (A(i, j) != 0.f)
81  {
82  //add 1, because Path starts at 1, instead of 0
83  rowIndices.push_back(i + 1);
84  colIndices.push_back(j + 1);
85  values.push_back(A(i, j));
86  }
87  }
88  }
89  int numNonZero = rowIndices.size();
91  zResult.resize(numVariables);
93  btAlignedObjectArray<double> upperBounds;
94  btAlignedObjectArray<double> lowerBounds;
95  for (int i = 0; i < numVariables; i++)
96  {
97  upperBounds.push_back(hi[i]);
98  lowerBounds.push_back(lo[i]);
99  rhs.push_back(-b[i]);
100  }
101 
102  SimpleLCP(numVariables, numNonZero, &rowIndices[0], &colIndices[0], &values[0], &rhs[0], &lowerBounds[0], &upperBounds[0], &status, &zResult[0]);
103 
104  if (status != MCP_Solved)
105  {
106  static const char *gReturnMsgs[] = {
107  "Invalid return",
108  "MCP_Solved: The problem was solved",
109  "MCP_NoProgress: A stationary point was found",
110  "MCP_MajorIterationLimit: Major iteration limit met",
111  "MCP_MinorIterationLimit: Cumulative minor iteration limit met",
112  "MCP_TimeLimit: Ran out of time",
113  "MCP_UserInterrupt: Control-C, typically",
114  "MCP_BoundError: Problem has a bound error",
115  "MCP_DomainError: Could not find starting point",
116  "MCP_Infeasible: Problem has no solution",
117  "MCP_Error: An error occurred within the code",
118  "MCP_LicenseError: License could not be found",
119  "MCP_OK"};
120 
121  printf("ERROR: The PATH MCP solver failed: %s\n", gReturnMsgs[(unsigned int)status]); // << std::endl;
122  printf("using Projected Gauss Seidel fallback\n");
123 
124  return false;
125  }
126  else
127  {
128  for (int i = 0; i < numVariables; i++)
129  {
130  x[i] = zResult[i];
131  //check for #NAN
132  if (x[i] != zResult[i])
133  return false;
134  }
135  return true;
136  }
137  }
138 };
139 
140 #endif //BT_USE_PATH
141 
142 #endif //BT_PATH_SOLVER_H
ATTR_WARN_UNUSED_RESULT const BMVert const BMEdge * e
#define A
#define btMatrixXu
Definition: btMatrixX.h:529
#define btVectorXu
Definition: btMatrixX.h:528
SIMD_FORCE_INLINE int size() const
return the number of elements in the array
SIMD_FORCE_INLINE void resize(int newsize, const T &fillData=T())
SIMD_FORCE_INLINE void push_back(const T &_Val)
original version written by Erwin Coumans, October 2013
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)=0
static const pxr::TfToken b("b", pxr::TfToken::Immortal)