Bullet Collision Detection & Physics Library
btPATHSolver.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
16
17
18#ifndef BT_PATH_SOLVER_H
19#define BT_PATH_SOLVER_H
20
21//#define BT_USE_PATH
22#ifdef BT_USE_PATH
23
24extern "C" {
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
38Error_Interface e;
39
40
41
43#include "Dantzig/lcp.h"
44
45class btPathSolver : public btMLCPSolverInterface
46{
47public:
48
49 btPathSolver()
50 {
51 License_SetString("2069810742&Courtesy_License&&&USR&2013&14_12_2011&1000&PATH&GEN&31_12_2013&0_0_0&0&0_0");
52 e.error_data = 0;
53 e.warning = MyWarning;
54 e.error = MyError;
55 Error_SetInterface(&e);
56 }
57
58
59 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)
60 {
61 MCP_Termination status;
62
63
64 int numVariables = b.rows();
65 if (0==numVariables)
66 return true;
67
68 /* - variables - the number of variables in the problem
69 - m_nnz - the number of nonzeros in the M matrix
70 - m_i - a vector of size m_nnz containing the row indices for M
71 - m_j - a vector of size m_nnz containing the column indices for M
72 - m_ij - a vector of size m_nnz containing the data for M
73 - q - a vector of size variables
74 - lb - a vector of size variables containing the lower bounds on x
75 - ub - a vector of size variables containing the upper bounds on x
76 */
80
81 for (int i=0;i<A.rows();i++)
82 {
83 for (int j=0;j<A.cols();j++)
84 {
85 if (A(i,j)!=0.f)
86 {
87 //add 1, because Path starts at 1, instead of 0
88 rowIndices.push_back(i+1);
89 colIndices.push_back(j+1);
90 values.push_back(A(i,j));
91 }
92 }
93 }
94 int numNonZero = rowIndices.size();
96 zResult.resize(numVariables);
100 for (int i=0;i<numVariables;i++)
101 {
102 upperBounds.push_back(hi[i]);
103 lowerBounds.push_back(lo[i]);
104 rhs.push_back(-b[i]);
105 }
106
107
108 SimpleLCP(numVariables,numNonZero,&rowIndices[0],&colIndices[0],&values[0],&rhs[0],&lowerBounds[0],&upperBounds[0], &status, &zResult[0]);
109
110 if (status != MCP_Solved)
111 {
112 static const char* gReturnMsgs[] = {
113 "Invalid return",
114 "MCP_Solved: The problem was solved",
115 "MCP_NoProgress: A stationary point was found",
116 "MCP_MajorIterationLimit: Major iteration limit met",
117 "MCP_MinorIterationLimit: Cumulative minor iteration limit met",
118 "MCP_TimeLimit: Ran out of time",
119 "MCP_UserInterrupt: Control-C, typically",
120 "MCP_BoundError: Problem has a bound error",
121 "MCP_DomainError: Could not find starting point",
122 "MCP_Infeasible: Problem has no solution",
123 "MCP_Error: An error occurred within the code",
124 "MCP_LicenseError: License could not be found",
125 "MCP_OK"
126 };
127
128 printf("ERROR: The PATH MCP solver failed: %s\n", gReturnMsgs[(unsigned int)status]);// << std::endl;
129 printf("using Projected Gauss Seidel fallback\n");
130
131 return false;
132 } else
133 {
134 for (int i=0;i<numVariables;i++)
135 {
136 x[i] = zResult[i];
137 //check for #NAN
138 if (x[i] != zResult[i])
139 return false;
140 }
141 return true;
142
143 }
144
145 }
146};
147
148#endif //BT_USE_PATH
149
150
151#endif //BT_PATH_SOLVER_H
#define btMatrixXu
Definition: btMatrixX.h:549
#define btVectorXu
Definition: btMatrixX.h:548
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
int size() const
return the number of elements in the array
void resize(int newsize, const T &fillData=T())
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