1 | /************************************************************************* |
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2 | * * |
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3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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5 | * * |
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6 | * This library is free software; you can redistribute it and/or * |
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7 | * modify it under the terms of EITHER: * |
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8 | * (1) The GNU Lesser General Public License as published by the Free * |
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9 | * Software Foundation; either version 2.1 of the License, or (at * |
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10 | * your option) any later version. The text of the GNU Lesser * |
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11 | * General Public License is included with this library in the * |
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12 | * file LICENSE.TXT. * |
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13 | * (2) The BSD-style license that is included with this library in * |
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14 | * the file LICENSE-BSD.TXT. * |
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15 | * * |
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16 | * This library is distributed in the hope that it will be useful, * |
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17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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20 | * * |
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21 | *************************************************************************/ |
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22 | |
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23 | #include "objects.h" |
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24 | #include "joint.h" |
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25 | #include <ode/config.h> |
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26 | #include <ode/odemath.h> |
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27 | #include <ode/rotation.h> |
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28 | #include <ode/timer.h> |
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29 | #include <ode/error.h> |
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30 | #include <ode/matrix.h> |
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31 | #include "lcp.h" |
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32 | |
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33 | //**************************************************************************** |
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34 | // misc defines |
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35 | |
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36 | #define FAST_FACTOR |
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37 | //#define TIMING |
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38 | |
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39 | #define ALLOCA dALLOCA16 |
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40 | |
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41 | //**************************************************************************** |
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42 | // debugging - comparison of various vectors and matrices produced by the |
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43 | // slow and fast versions of the stepper. |
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44 | |
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45 | //#define COMPARE_METHODS |
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46 | |
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47 | #ifdef COMPARE_METHODS |
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48 | #include "testing.h" |
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49 | dMatrixComparison comparator; |
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50 | #endif |
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51 | |
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52 | //**************************************************************************** |
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53 | // special matrix multipliers |
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54 | |
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55 | // this assumes the 4th and 8th rows of B and C are zero. |
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56 | |
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57 | static void Multiply2_p8r (dReal *A, dReal *B, dReal *C, |
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58 | int p, int r, int Askip) |
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59 | { |
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60 | int i,j; |
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61 | dReal sum,*bb,*cc; |
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62 | dIASSERT (p>0 && r>0 && A && B && C); |
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63 | bb = B; |
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64 | for (i=p; i; i--) { |
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65 | cc = C; |
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66 | for (j=r; j; j--) { |
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67 | sum = bb[0]*cc[0]; |
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68 | sum += bb[1]*cc[1]; |
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69 | sum += bb[2]*cc[2]; |
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70 | sum += bb[4]*cc[4]; |
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71 | sum += bb[5]*cc[5]; |
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72 | sum += bb[6]*cc[6]; |
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73 | *(A++) = sum; |
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74 | cc += 8; |
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75 | } |
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76 | A += Askip - r; |
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77 | bb += 8; |
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78 | } |
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79 | } |
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80 | |
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81 | |
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82 | // this assumes the 4th and 8th rows of B and C are zero. |
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83 | |
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84 | static void MultiplyAdd2_p8r (dReal *A, dReal *B, dReal *C, |
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85 | int p, int r, int Askip) |
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86 | { |
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87 | int i,j; |
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88 | dReal sum,*bb,*cc; |
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89 | dIASSERT (p>0 && r>0 && A && B && C); |
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90 | bb = B; |
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91 | for (i=p; i; i--) { |
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92 | cc = C; |
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93 | for (j=r; j; j--) { |
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94 | sum = bb[0]*cc[0]; |
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95 | sum += bb[1]*cc[1]; |
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96 | sum += bb[2]*cc[2]; |
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97 | sum += bb[4]*cc[4]; |
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98 | sum += bb[5]*cc[5]; |
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99 | sum += bb[6]*cc[6]; |
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100 | *(A++) += sum; |
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101 | cc += 8; |
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102 | } |
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103 | A += Askip - r; |
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104 | bb += 8; |
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105 | } |
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106 | } |
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107 | |
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108 | |
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109 | // this assumes the 4th and 8th rows of B are zero. |
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110 | |
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111 | static void Multiply0_p81 (dReal *A, dReal *B, dReal *C, int p) |
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112 | { |
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113 | int i; |
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114 | dIASSERT (p>0 && A && B && C); |
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115 | dReal sum; |
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116 | for (i=p; i; i--) { |
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117 | sum = B[0]*C[0]; |
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118 | sum += B[1]*C[1]; |
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119 | sum += B[2]*C[2]; |
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120 | sum += B[4]*C[4]; |
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121 | sum += B[5]*C[5]; |
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122 | sum += B[6]*C[6]; |
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123 | *(A++) = sum; |
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124 | B += 8; |
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125 | } |
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126 | } |
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127 | |
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128 | |
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129 | // this assumes the 4th and 8th rows of B are zero. |
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130 | |
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131 | static void MultiplyAdd0_p81 (dReal *A, dReal *B, dReal *C, int p) |
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132 | { |
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133 | int i; |
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134 | dIASSERT (p>0 && A && B && C); |
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135 | dReal sum; |
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136 | for (i=p; i; i--) { |
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137 | sum = B[0]*C[0]; |
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138 | sum += B[1]*C[1]; |
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139 | sum += B[2]*C[2]; |
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140 | sum += B[4]*C[4]; |
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141 | sum += B[5]*C[5]; |
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142 | sum += B[6]*C[6]; |
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143 | *(A++) += sum; |
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144 | B += 8; |
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145 | } |
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146 | } |
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147 | |
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148 | |
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149 | // this assumes the 4th and 8th rows of B are zero. |
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150 | |
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151 | static void MultiplyAdd1_8q1 (dReal *A, dReal *B, dReal *C, int q) |
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152 | { |
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153 | int k; |
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154 | dReal sum; |
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155 | dIASSERT (q>0 && A && B && C); |
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156 | sum = 0; |
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157 | for (k=0; k<q; k++) sum += B[k*8] * C[k]; |
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158 | A[0] += sum; |
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159 | sum = 0; |
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160 | for (k=0; k<q; k++) sum += B[1+k*8] * C[k]; |
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161 | A[1] += sum; |
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162 | sum = 0; |
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163 | for (k=0; k<q; k++) sum += B[2+k*8] * C[k]; |
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164 | A[2] += sum; |
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165 | sum = 0; |
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166 | for (k=0; k<q; k++) sum += B[4+k*8] * C[k]; |
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167 | A[4] += sum; |
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168 | sum = 0; |
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169 | for (k=0; k<q; k++) sum += B[5+k*8] * C[k]; |
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170 | A[5] += sum; |
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171 | sum = 0; |
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172 | for (k=0; k<q; k++) sum += B[6+k*8] * C[k]; |
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173 | A[6] += sum; |
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174 | } |
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175 | |
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176 | |
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177 | // this assumes the 4th and 8th rows of B are zero. |
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178 | |
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179 | static void Multiply1_8q1 (dReal *A, dReal *B, dReal *C, int q) |
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180 | { |
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181 | int k; |
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182 | dReal sum; |
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183 | dIASSERT (q>0 && A && B && C); |
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184 | sum = 0; |
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185 | for (k=0; k<q; k++) sum += B[k*8] * C[k]; |
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186 | A[0] = sum; |
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187 | sum = 0; |
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188 | for (k=0; k<q; k++) sum += B[1+k*8] * C[k]; |
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189 | A[1] = sum; |
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190 | sum = 0; |
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191 | for (k=0; k<q; k++) sum += B[2+k*8] * C[k]; |
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192 | A[2] = sum; |
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193 | sum = 0; |
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194 | for (k=0; k<q; k++) sum += B[4+k*8] * C[k]; |
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195 | A[4] = sum; |
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196 | sum = 0; |
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197 | for (k=0; k<q; k++) sum += B[5+k*8] * C[k]; |
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198 | A[5] = sum; |
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199 | sum = 0; |
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200 | for (k=0; k<q; k++) sum += B[6+k*8] * C[k]; |
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201 | A[6] = sum; |
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202 | } |
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203 | |
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204 | //**************************************************************************** |
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205 | // body rotation |
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206 | |
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207 | // return sin(x)/x. this has a singularity at 0 so special handling is needed |
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208 | // for small arguments. |
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209 | |
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210 | static inline dReal sinc (dReal x) |
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211 | { |
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212 | // if |x| < 1e-4 then use a taylor series expansion. this two term expansion |
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213 | // is actually accurate to one LS bit within this range if double precision |
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214 | // is being used - so don't worry! |
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215 | if (dFabs(x) < 1.0e-4) return REAL(1.0) - x*x*REAL(0.166666666666666666667); |
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216 | else return dSin(x)/x; |
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217 | } |
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218 | |
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219 | |
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220 | // given a body b, apply its linear and angular rotation over the time |
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221 | // interval h, thereby adjusting its position and orientation. |
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222 | |
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223 | static inline void moveAndRotateBody (dxBody *b, dReal h) |
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224 | { |
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225 | int j; |
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226 | |
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227 | // handle linear velocity |
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228 | for (j=0; j<3; j++) b->pos[j] += h * b->lvel[j]; |
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229 | |
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230 | if (b->flags & dxBodyFlagFiniteRotation) { |
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231 | dVector3 irv; // infitesimal rotation vector |
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232 | dQuaternion q; // quaternion for finite rotation |
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233 | |
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234 | if (b->flags & dxBodyFlagFiniteRotationAxis) { |
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235 | // split the angular velocity vector into a component along the finite |
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236 | // rotation axis, and a component orthogonal to it. |
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237 | dVector3 frv,irv; // finite rotation vector |
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238 | dReal k = dDOT (b->finite_rot_axis,b->avel); |
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239 | frv[0] = b->finite_rot_axis[0] * k; |
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240 | frv[1] = b->finite_rot_axis[1] * k; |
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241 | frv[2] = b->finite_rot_axis[2] * k; |
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242 | irv[0] = b->avel[0] - frv[0]; |
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243 | irv[1] = b->avel[1] - frv[1]; |
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244 | irv[2] = b->avel[2] - frv[2]; |
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245 | |
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246 | // make a rotation quaternion q that corresponds to frv * h. |
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247 | // compare this with the full-finite-rotation case below. |
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248 | h *= REAL(0.5); |
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249 | dReal theta = k * h; |
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250 | q[0] = dCos(theta); |
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251 | dReal s = sinc(theta) * h; |
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252 | q[1] = frv[0] * s; |
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253 | q[2] = frv[1] * s; |
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254 | q[3] = frv[2] * s; |
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255 | } |
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256 | else { |
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257 | // make a rotation quaternion q that corresponds to w * h |
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258 | dReal wlen = dSqrt (b->avel[0]*b->avel[0] + b->avel[1]*b->avel[1] + |
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259 | b->avel[2]*b->avel[2]); |
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260 | h *= REAL(0.5); |
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261 | dReal theta = wlen * h; |
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262 | q[0] = dCos(theta); |
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263 | dReal s = sinc(theta) * h; |
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264 | q[1] = b->avel[0] * s; |
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265 | q[2] = b->avel[1] * s; |
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266 | q[3] = b->avel[2] * s; |
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267 | } |
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268 | |
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269 | // do the finite rotation |
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270 | dQuaternion q2; |
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271 | dQMultiply0 (q2,q,b->q); |
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272 | for (j=0; j<4; j++) b->q[j] = q2[j]; |
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273 | |
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274 | // do the infitesimal rotation if required |
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275 | if (b->flags & dxBodyFlagFiniteRotationAxis) { |
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276 | dReal dq[4]; |
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277 | dWtoDQ (irv,b->q,dq); |
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278 | for (j=0; j<4; j++) b->q[j] += h * dq[j]; |
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279 | } |
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280 | } |
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281 | else { |
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282 | // the normal way - do an infitesimal rotation |
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283 | dReal dq[4]; |
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284 | dWtoDQ (b->avel,b->q,dq); |
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285 | for (j=0; j<4; j++) b->q[j] += h * dq[j]; |
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286 | } |
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287 | |
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288 | // normalize the quaternion and convert it to a rotation matrix |
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289 | dNormalize4 (b->q); |
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290 | dQtoR (b->q,b->R); |
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291 | |
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292 | // notify all attached geoms that this body has moved |
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293 | for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) |
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294 | dGeomMoved (geom); |
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295 | } |
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296 | |
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297 | //**************************************************************************** |
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298 | // the slow, but sure way |
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299 | // note that this does not do any joint feedback! |
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300 | |
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301 | // given lists of bodies and joints that form an island, perform a first |
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302 | // order timestep. |
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303 | // |
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304 | // `body' is the body array, `nb' is the size of the array. |
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305 | // `_joint' is the body array, `nj' is the size of the array. |
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306 | |
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307 | void dInternalStepIsland_x1 (dxWorld *world, dxBody * const *body, int nb, |
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308 | dxJoint * const *_joint, int nj, dReal stepsize) |
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309 | { |
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310 | int i,j,k; |
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311 | int n6 = 6*nb; |
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312 | |
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313 | # ifdef TIMING |
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314 | dTimerStart("preprocessing"); |
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315 | # endif |
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316 | |
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317 | // number all bodies in the body list - set their tag values |
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318 | for (i=0; i<nb; i++) body[i]->tag = i; |
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319 | |
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320 | // make a local copy of the joint array, because we might want to modify it. |
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321 | // (the "dxJoint *const*" declaration says we're allowed to modify the joints |
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322 | // but not the joint array, because the caller might need it unchanged). |
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323 | dxJoint **joint = (dxJoint**) ALLOCA (nj * sizeof(dxJoint*)); |
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324 | memcpy (joint,_joint,nj * sizeof(dxJoint*)); |
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325 | |
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326 | // for all bodies, compute the inertia tensor and its inverse in the global |
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327 | // frame, and compute the rotational force and add it to the torque |
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328 | // accumulator. |
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329 | // @@@ check computation of rotational force. |
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330 | dReal *I = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); |
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331 | dReal *invI = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); |
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332 | |
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333 | //dSetZero (I,3*nb*4); |
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334 | //dSetZero (invI,3*nb*4); |
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335 | for (i=0; i<nb; i++) { |
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336 | dReal tmp[12]; |
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337 | // compute inertia tensor in global frame |
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338 | dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->R); |
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339 | dMULTIPLY0_333 (I+i*12,body[i]->R,tmp); |
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340 | // compute inverse inertia tensor in global frame |
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341 | dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R); |
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342 | dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp); |
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343 | // compute rotational force |
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344 | dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel); |
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345 | dCROSS (body[i]->tacc,-=,body[i]->avel,tmp); |
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346 | } |
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347 | |
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348 | // add the gravity force to all bodies |
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349 | for (i=0; i<nb; i++) { |
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350 | if ((body[i]->flags & dxBodyNoGravity)==0) { |
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351 | body[i]->facc[0] += body[i]->mass.mass * world->gravity[0]; |
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352 | body[i]->facc[1] += body[i]->mass.mass * world->gravity[1]; |
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353 | body[i]->facc[2] += body[i]->mass.mass * world->gravity[2]; |
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354 | } |
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355 | } |
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356 | |
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357 | // get m = total constraint dimension, nub = number of unbounded variables. |
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358 | // create constraint offset array and number-of-rows array for all joints. |
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359 | // the constraints are re-ordered as follows: the purely unbounded |
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360 | // constraints, the mixed unbounded + LCP constraints, and last the purely |
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361 | // LCP constraints. |
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362 | // |
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363 | // joints with m=0 are inactive and are removed from the joints array |
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364 | // entirely, so that the code that follows does not consider them. |
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365 | int m = 0; |
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366 | dxJoint::Info1 *info = (dxJoint::Info1*) ALLOCA (nj*sizeof(dxJoint::Info1)); |
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367 | int *ofs = (int*) ALLOCA (nj*sizeof(int)); |
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368 | for (i=0, j=0; j<nj; j++) { // i=dest, j=src |
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369 | joint[j]->vtable->getInfo1 (joint[j],info+i); |
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370 | dIASSERT (info[i].m >= 0 && info[i].m <= 6 && |
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371 | info[i].nub >= 0 && info[i].nub <= info[i].m); |
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372 | if (info[i].m > 0) { |
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373 | joint[i] = joint[j]; |
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374 | i++; |
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375 | } |
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376 | } |
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377 | nj = i; |
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378 | |
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379 | // the purely unbounded constraints |
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380 | for (i=0; i<nj; i++) if (info[i].nub == info[i].m) { |
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381 | ofs[i] = m; |
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382 | m += info[i].m; |
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383 | } |
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384 | int nub = m; |
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385 | // the mixed unbounded + LCP constraints |
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386 | for (i=0; i<nj; i++) if (info[i].nub > 0 && info[i].nub < info[i].m) { |
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387 | ofs[i] = m; |
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388 | m += info[i].m; |
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389 | } |
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390 | // the purely LCP constraints |
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391 | for (i=0; i<nj; i++) if (info[i].nub == 0) { |
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392 | ofs[i] = m; |
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393 | m += info[i].m; |
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394 | } |
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395 | |
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396 | // create (6*nb,6*nb) inverse mass matrix `invM', and fill it with mass |
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397 | // parameters |
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398 | # ifdef TIMING |
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399 | dTimerNow ("create mass matrix"); |
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400 | # endif |
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401 | int nskip = dPAD (n6); |
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402 | dReal *invM = (dReal*) ALLOCA (n6*nskip*sizeof(dReal)); |
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403 | dSetZero (invM,n6*nskip); |
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404 | for (i=0; i<nb; i++) { |
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405 | dReal *MM = invM+(i*6)*nskip+(i*6); |
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406 | MM[0] = body[i]->invMass; |
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407 | MM[nskip+1] = body[i]->invMass; |
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408 | MM[2*nskip+2] = body[i]->invMass; |
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409 | MM += 3*nskip+3; |
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410 | for (j=0; j<3; j++) for (k=0; k<3; k++) { |
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411 | MM[j*nskip+k] = invI[i*12+j*4+k]; |
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412 | } |
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413 | } |
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414 | |
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415 | // assemble some body vectors: fe = external forces, v = velocities |
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416 | dReal *fe = (dReal*) ALLOCA (n6 * sizeof(dReal)); |
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417 | dReal *v = (dReal*) ALLOCA (n6 * sizeof(dReal)); |
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418 | //dSetZero (fe,n6); |
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419 | //dSetZero (v,n6); |
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420 | for (i=0; i<nb; i++) { |
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421 | for (j=0; j<3; j++) fe[i*6+j] = body[i]->facc[j]; |
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422 | for (j=0; j<3; j++) fe[i*6+3+j] = body[i]->tacc[j]; |
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423 | for (j=0; j<3; j++) v[i*6+j] = body[i]->lvel[j]; |
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424 | for (j=0; j<3; j++) v[i*6+3+j] = body[i]->avel[j]; |
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425 | } |
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426 | |
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427 | // this will be set to the velocity update |
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428 | dReal *vnew = (dReal*) ALLOCA (n6 * sizeof(dReal)); |
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429 | dSetZero (vnew,n6); |
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430 | |
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431 | // if there are constraints, compute cforce |
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432 | if (m > 0) { |
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433 | // create a constraint equation right hand side vector `c', a constraint |
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434 | // force mixing vector `cfm', and LCP low and high bound vectors, and an |
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435 | // 'findex' vector. |
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436 | dReal *c = (dReal*) ALLOCA (m*sizeof(dReal)); |
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437 | dReal *cfm = (dReal*) ALLOCA (m*sizeof(dReal)); |
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438 | dReal *lo = (dReal*) ALLOCA (m*sizeof(dReal)); |
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439 | dReal *hi = (dReal*) ALLOCA (m*sizeof(dReal)); |
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440 | int *findex = (int*) alloca (m*sizeof(int)); |
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441 | dSetZero (c,m); |
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442 | dSetValue (cfm,m,world->global_cfm); |
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443 | dSetValue (lo,m,-dInfinity); |
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444 | dSetValue (hi,m, dInfinity); |
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445 | for (i=0; i<m; i++) findex[i] = -1; |
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446 | |
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447 | // create (m,6*nb) jacobian mass matrix `J', and fill it with constraint |
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448 | // data. also fill the c vector. |
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449 | # ifdef TIMING |
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450 | dTimerNow ("create J"); |
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451 | # endif |
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452 | dReal *J = (dReal*) ALLOCA (m*nskip*sizeof(dReal)); |
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453 | dSetZero (J,m*nskip); |
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454 | dxJoint::Info2 Jinfo; |
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455 | Jinfo.rowskip = nskip; |
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456 | Jinfo.fps = dRecip(stepsize); |
---|
457 | Jinfo.erp = world->global_erp; |
---|
458 | for (i=0; i<nj; i++) { |
---|
459 | Jinfo.J1l = J + nskip*ofs[i] + 6*joint[i]->node[0].body->tag; |
---|
460 | Jinfo.J1a = Jinfo.J1l + 3; |
---|
461 | if (joint[i]->node[1].body) { |
---|
462 | Jinfo.J2l = J + nskip*ofs[i] + 6*joint[i]->node[1].body->tag; |
---|
463 | Jinfo.J2a = Jinfo.J2l + 3; |
---|
464 | } |
---|
465 | else { |
---|
466 | Jinfo.J2l = 0; |
---|
467 | Jinfo.J2a = 0; |
---|
468 | } |
---|
469 | Jinfo.c = c + ofs[i]; |
---|
470 | Jinfo.cfm = cfm + ofs[i]; |
---|
471 | Jinfo.lo = lo + ofs[i]; |
---|
472 | Jinfo.hi = hi + ofs[i]; |
---|
473 | Jinfo.findex = findex + ofs[i]; |
---|
474 | joint[i]->vtable->getInfo2 (joint[i],&Jinfo); |
---|
475 | // adjust returned findex values for global index numbering |
---|
476 | for (j=0; j<info[i].m; j++) { |
---|
477 | if (findex[ofs[i] + j] >= 0) findex[ofs[i] + j] += ofs[i]; |
---|
478 | } |
---|
479 | } |
---|
480 | |
---|
481 | // compute A = J*invM*J' |
---|
482 | # ifdef TIMING |
---|
483 | dTimerNow ("compute A"); |
---|
484 | # endif |
---|
485 | dReal *JinvM = (dReal*) ALLOCA (m*nskip*sizeof(dReal)); |
---|
486 | //dSetZero (JinvM,m*nskip); |
---|
487 | dMultiply0 (JinvM,J,invM,m,n6,n6); |
---|
488 | int mskip = dPAD(m); |
---|
489 | dReal *A = (dReal*) ALLOCA (m*mskip*sizeof(dReal)); |
---|
490 | //dSetZero (A,m*mskip); |
---|
491 | dMultiply2 (A,JinvM,J,m,n6,m); |
---|
492 | |
---|
493 | // add cfm to the diagonal of A |
---|
494 | for (i=0; i<m; i++) A[i*mskip+i] += cfm[i] * Jinfo.fps; |
---|
495 | |
---|
496 | # ifdef COMPARE_METHODS |
---|
497 | comparator.nextMatrix (A,m,m,1,"A"); |
---|
498 | # endif |
---|
499 | |
---|
500 | // compute `rhs', the right hand side of the equation J*a=c |
---|
501 | # ifdef TIMING |
---|
502 | dTimerNow ("compute rhs"); |
---|
503 | # endif |
---|
504 | dReal *tmp1 = (dReal*) ALLOCA (n6 * sizeof(dReal)); |
---|
505 | //dSetZero (tmp1,n6); |
---|
506 | dMultiply0 (tmp1,invM,fe,n6,n6,1); |
---|
507 | for (i=0; i<n6; i++) tmp1[i] += v[i]/stepsize; |
---|
508 | dReal *rhs = (dReal*) ALLOCA (m * sizeof(dReal)); |
---|
509 | //dSetZero (rhs,m); |
---|
510 | dMultiply0 (rhs,J,tmp1,m,n6,1); |
---|
511 | for (i=0; i<m; i++) rhs[i] = c[i]/stepsize - rhs[i]; |
---|
512 | |
---|
513 | # ifdef COMPARE_METHODS |
---|
514 | comparator.nextMatrix (c,m,1,0,"c"); |
---|
515 | comparator.nextMatrix (rhs,m,1,0,"rhs"); |
---|
516 | # endif |
---|
517 | |
---|
518 | // solve the LCP problem and get lambda. |
---|
519 | // this will destroy A but that's okay |
---|
520 | # ifdef TIMING |
---|
521 | dTimerNow ("solving LCP problem"); |
---|
522 | # endif |
---|
523 | dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal)); |
---|
524 | dReal *residual = (dReal*) ALLOCA (m * sizeof(dReal)); |
---|
525 | dSolveLCP (m,A,lambda,rhs,residual,nub,lo,hi,findex); |
---|
526 | |
---|
527 | // OLD WAY - direct factor and solve |
---|
528 | // |
---|
529 | // // factorize A (L*L'=A) |
---|
530 | //# ifdef TIMING |
---|
531 | // dTimerNow ("factorize A"); |
---|
532 | //# endif |
---|
533 | // dReal *L = (dReal*) ALLOCA (m*mskip*sizeof(dReal)); |
---|
534 | // memcpy (L,A,m*mskip*sizeof(dReal)); |
---|
535 | // if (dFactorCholesky (L,m)==0) dDebug (0,"A is not positive definite"); |
---|
536 | // |
---|
537 | // // compute lambda |
---|
538 | //# ifdef TIMING |
---|
539 | // dTimerNow ("compute lambda"); |
---|
540 | //# endif |
---|
541 | // dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal)); |
---|
542 | // memcpy (lambda,rhs,m * sizeof(dReal)); |
---|
543 | // dSolveCholesky (L,lambda,m); |
---|
544 | |
---|
545 | # ifdef COMPARE_METHODS |
---|
546 | comparator.nextMatrix (lambda,m,1,0,"lambda"); |
---|
547 | # endif |
---|
548 | |
---|
549 | // compute the velocity update `vnew' |
---|
550 | # ifdef TIMING |
---|
551 | dTimerNow ("compute velocity update"); |
---|
552 | # endif |
---|
553 | dMultiply1 (tmp1,J,lambda,n6,m,1); |
---|
554 | for (i=0; i<n6; i++) tmp1[i] += fe[i]; |
---|
555 | dMultiply0 (vnew,invM,tmp1,n6,n6,1); |
---|
556 | for (i=0; i<n6; i++) vnew[i] = v[i] + stepsize*vnew[i]; |
---|
557 | |
---|
558 | // see if the constraint has worked: compute J*vnew and make sure it equals |
---|
559 | // `c' (to within a certain tolerance). |
---|
560 | # ifdef TIMING |
---|
561 | dTimerNow ("verify constraint equation"); |
---|
562 | # endif |
---|
563 | dMultiply0 (tmp1,J,vnew,m,n6,1); |
---|
564 | dReal err = 0; |
---|
565 | for (i=0; i<m; i++) err += dFabs(tmp1[i]-c[i]); |
---|
566 | printf ("%.6e\n",err); |
---|
567 | } |
---|
568 | else { |
---|
569 | // no constraints |
---|
570 | dMultiply0 (vnew,invM,fe,n6,n6,1); |
---|
571 | for (i=0; i<n6; i++) vnew[i] = v[i] + stepsize*vnew[i]; |
---|
572 | } |
---|
573 | |
---|
574 | # ifdef COMPARE_METHODS |
---|
575 | comparator.nextMatrix (vnew,n6,1,0,"vnew"); |
---|
576 | # endif |
---|
577 | |
---|
578 | // apply the velocity update to the bodies |
---|
579 | # ifdef TIMING |
---|
580 | dTimerNow ("update velocity"); |
---|
581 | # endif |
---|
582 | for (i=0; i<nb; i++) { |
---|
583 | for (j=0; j<3; j++) body[i]->lvel[j] = vnew[i*6+j]; |
---|
584 | for (j=0; j<3; j++) body[i]->avel[j] = vnew[i*6+3+j]; |
---|
585 | } |
---|
586 | |
---|
587 | // update the position and orientation from the new linear/angular velocity |
---|
588 | // (over the given timestep) |
---|
589 | # ifdef TIMING |
---|
590 | dTimerNow ("update position"); |
---|
591 | # endif |
---|
592 | for (i=0; i<nb; i++) moveAndRotateBody (body[i],stepsize); |
---|
593 | |
---|
594 | # ifdef TIMING |
---|
595 | dTimerNow ("tidy up"); |
---|
596 | # endif |
---|
597 | |
---|
598 | // zero all force accumulators |
---|
599 | for (i=0; i<nb; i++) { |
---|
600 | body[i]->facc[0] = 0; |
---|
601 | body[i]->facc[1] = 0; |
---|
602 | body[i]->facc[2] = 0; |
---|
603 | body[i]->facc[3] = 0; |
---|
604 | body[i]->tacc[0] = 0; |
---|
605 | body[i]->tacc[1] = 0; |
---|
606 | body[i]->tacc[2] = 0; |
---|
607 | body[i]->tacc[3] = 0; |
---|
608 | } |
---|
609 | |
---|
610 | # ifdef TIMING |
---|
611 | dTimerEnd(); |
---|
612 | if (m > 0) dTimerReport (stdout,1); |
---|
613 | # endif |
---|
614 | } |
---|
615 | |
---|
616 | //**************************************************************************** |
---|
617 | // an optimized version of dInternalStepIsland1() |
---|
618 | |
---|
619 | void dInternalStepIsland_x2 (dxWorld *world, dxBody * const *body, int nb, |
---|
620 | dxJoint * const *_joint, int nj, dReal stepsize) |
---|
621 | { |
---|
622 | int i,j,k; |
---|
623 | # ifdef TIMING |
---|
624 | dTimerStart("preprocessing"); |
---|
625 | # endif |
---|
626 | |
---|
627 | dReal stepsize1 = dRecip(stepsize); |
---|
628 | |
---|
629 | // number all bodies in the body list - set their tag values |
---|
630 | for (i=0; i<nb; i++) body[i]->tag = i; |
---|
631 | |
---|
632 | // make a local copy of the joint array, because we might want to modify it. |
---|
633 | // (the "dxJoint *const*" declaration says we're allowed to modify the joints |
---|
634 | // but not the joint array, because the caller might need it unchanged). |
---|
635 | dxJoint **joint = (dxJoint**) ALLOCA (nj * sizeof(dxJoint*)); |
---|
636 | memcpy (joint,_joint,nj * sizeof(dxJoint*)); |
---|
637 | |
---|
638 | // for all bodies, compute the inertia tensor and its inverse in the global |
---|
639 | // frame, and compute the rotational force and add it to the torque |
---|
640 | // accumulator. I and invI are vertically stacked 3x4 matrices, one per body. |
---|
641 | // @@@ check computation of rotational force. |
---|
642 | dReal *I = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); |
---|
643 | dReal *invI = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); |
---|
644 | |
---|
645 | //dSetZero (I,3*nb*4); |
---|
646 | //dSetZero (invI,3*nb*4); |
---|
647 | for (i=0; i<nb; i++) { |
---|
648 | dReal tmp[12]; |
---|
649 | // compute inertia tensor in global frame |
---|
650 | dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->R); |
---|
651 | dMULTIPLY0_333 (I+i*12,body[i]->R,tmp); |
---|
652 | // compute inverse inertia tensor in global frame |
---|
653 | dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R); |
---|
654 | dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp); |
---|
655 | // compute rotational force |
---|
656 | dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel); |
---|
657 | dCROSS (body[i]->tacc,-=,body[i]->avel,tmp); |
---|
658 | } |
---|
659 | |
---|
660 | // add the gravity force to all bodies |
---|
661 | for (i=0; i<nb; i++) { |
---|
662 | if ((body[i]->flags & dxBodyNoGravity)==0) { |
---|
663 | body[i]->facc[0] += body[i]->mass.mass * world->gravity[0]; |
---|
664 | body[i]->facc[1] += body[i]->mass.mass * world->gravity[1]; |
---|
665 | body[i]->facc[2] += body[i]->mass.mass * world->gravity[2]; |
---|
666 | } |
---|
667 | } |
---|
668 | |
---|
669 | // get m = total constraint dimension, nub = number of unbounded variables. |
---|
670 | // create constraint offset array and number-of-rows array for all joints. |
---|
671 | // the constraints are re-ordered as follows: the purely unbounded |
---|
672 | // constraints, the mixed unbounded + LCP constraints, and last the purely |
---|
673 | // LCP constraints. this assists the LCP solver to put all unbounded |
---|
674 | // variables at the start for a quick factorization. |
---|
675 | // |
---|
676 | // joints with m=0 are inactive and are removed from the joints array |
---|
677 | // entirely, so that the code that follows does not consider them. |
---|
678 | // also number all active joints in the joint list (set their tag values). |
---|
679 | // inactive joints receive a tag value of -1. |
---|
680 | |
---|
681 | int m = 0; |
---|
682 | dxJoint::Info1 *info = (dxJoint::Info1*) ALLOCA (nj*sizeof(dxJoint::Info1)); |
---|
683 | int *ofs = (int*) ALLOCA (nj*sizeof(int)); |
---|
684 | for (i=0, j=0; j<nj; j++) { // i=dest, j=src |
---|
685 | joint[j]->vtable->getInfo1 (joint[j],info+i); |
---|
686 | dIASSERT (info[i].m >= 0 && info[i].m <= 6 && |
---|
687 | info[i].nub >= 0 && info[i].nub <= info[i].m); |
---|
688 | if (info[i].m > 0) { |
---|
689 | joint[i] = joint[j]; |
---|
690 | joint[i]->tag = i; |
---|
691 | i++; |
---|
692 | } |
---|
693 | else { |
---|
694 | joint[j]->tag = -1; |
---|
695 | } |
---|
696 | } |
---|
697 | nj = i; |
---|
698 | |
---|
699 | // the purely unbounded constraints |
---|
700 | for (i=0; i<nj; i++) if (info[i].nub == info[i].m) { |
---|
701 | ofs[i] = m; |
---|
702 | m += info[i].m; |
---|
703 | } |
---|
704 | int nub = m; |
---|
705 | // the mixed unbounded + LCP constraints |
---|
706 | for (i=0; i<nj; i++) if (info[i].nub > 0 && info[i].nub < info[i].m) { |
---|
707 | ofs[i] = m; |
---|
708 | m += info[i].m; |
---|
709 | } |
---|
710 | // the purely LCP constraints |
---|
711 | for (i=0; i<nj; i++) if (info[i].nub == 0) { |
---|
712 | ofs[i] = m; |
---|
713 | m += info[i].m; |
---|
714 | } |
---|
715 | |
---|
716 | // this will be set to the force due to the constraints |
---|
717 | dReal *cforce = (dReal*) ALLOCA (nb*8 * sizeof(dReal)); |
---|
718 | dSetZero (cforce,nb*8); |
---|
719 | |
---|
720 | // if there are constraints, compute cforce |
---|
721 | if (m > 0) { |
---|
722 | // create a constraint equation right hand side vector `c', a constraint |
---|
723 | // force mixing vector `cfm', and LCP low and high bound vectors, and an |
---|
724 | // 'findex' vector. |
---|
725 | dReal *c = (dReal*) ALLOCA (m*sizeof(dReal)); |
---|
726 | dReal *cfm = (dReal*) ALLOCA (m*sizeof(dReal)); |
---|
727 | dReal *lo = (dReal*) ALLOCA (m*sizeof(dReal)); |
---|
728 | dReal *hi = (dReal*) ALLOCA (m*sizeof(dReal)); |
---|
729 | int *findex = (int*) alloca (m*sizeof(int)); |
---|
730 | dSetZero (c,m); |
---|
731 | dSetValue (cfm,m,world->global_cfm); |
---|
732 | dSetValue (lo,m,-dInfinity); |
---|
733 | dSetValue (hi,m, dInfinity); |
---|
734 | for (i=0; i<m; i++) findex[i] = -1; |
---|
735 | |
---|
736 | // get jacobian data from constraints. a (2*m)x8 matrix will be created |
---|
737 | // to store the two jacobian blocks from each constraint. it has this |
---|
738 | // format: |
---|
739 | // |
---|
740 | // l l l 0 a a a 0 \ . |
---|
741 | // l l l 0 a a a 0 }-- jacobian body 1 block for joint 0 (3 rows) |
---|
742 | // l l l 0 a a a 0 / |
---|
743 | // l l l 0 a a a 0 \ . |
---|
744 | // l l l 0 a a a 0 }-- jacobian body 2 block for joint 0 (3 rows) |
---|
745 | // l l l 0 a a a 0 / |
---|
746 | // l l l 0 a a a 0 }--- jacobian body 1 block for joint 1 (1 row) |
---|
747 | // l l l 0 a a a 0 }--- jacobian body 2 block for joint 1 (1 row) |
---|
748 | // etc... |
---|
749 | // |
---|
750 | // (lll) = linear jacobian data |
---|
751 | // (aaa) = angular jacobian data |
---|
752 | // |
---|
753 | # ifdef TIMING |
---|
754 | dTimerNow ("create J"); |
---|
755 | # endif |
---|
756 | dReal *J = (dReal*) ALLOCA (2*m*8*sizeof(dReal)); |
---|
757 | dSetZero (J,2*m*8); |
---|
758 | dxJoint::Info2 Jinfo; |
---|
759 | Jinfo.rowskip = 8; |
---|
760 | Jinfo.fps = stepsize1; |
---|
761 | Jinfo.erp = world->global_erp; |
---|
762 | for (i=0; i<nj; i++) { |
---|
763 | Jinfo.J1l = J + 2*8*ofs[i]; |
---|
764 | Jinfo.J1a = Jinfo.J1l + 4; |
---|
765 | Jinfo.J2l = Jinfo.J1l + 8*info[i].m; |
---|
766 | Jinfo.J2a = Jinfo.J2l + 4; |
---|
767 | Jinfo.c = c + ofs[i]; |
---|
768 | Jinfo.cfm = cfm + ofs[i]; |
---|
769 | Jinfo.lo = lo + ofs[i]; |
---|
770 | Jinfo.hi = hi + ofs[i]; |
---|
771 | Jinfo.findex = findex + ofs[i]; |
---|
772 | joint[i]->vtable->getInfo2 (joint[i],&Jinfo); |
---|
773 | // adjust returned findex values for global index numbering |
---|
774 | for (j=0; j<info[i].m; j++) { |
---|
775 | if (findex[ofs[i] + j] >= 0) findex[ofs[i] + j] += ofs[i]; |
---|
776 | } |
---|
777 | } |
---|
778 | |
---|
779 | // compute A = J*invM*J'. first compute JinvM = J*invM. this has the same |
---|
780 | // format as J so we just go through the constraints in J multiplying by |
---|
781 | // the appropriate scalars and matrices. |
---|
782 | # ifdef TIMING |
---|
783 | dTimerNow ("compute A"); |
---|
784 | # endif |
---|
785 | dReal *JinvM = (dReal*) ALLOCA (2*m*8*sizeof(dReal)); |
---|
786 | dSetZero (JinvM,2*m*8); |
---|
787 | for (i=0; i<nj; i++) { |
---|
788 | int b = joint[i]->node[0].body->tag; |
---|
789 | dReal body_invMass = body[b]->invMass; |
---|
790 | dReal *body_invI = invI + b*12; |
---|
791 | dReal *Jsrc = J + 2*8*ofs[i]; |
---|
792 | dReal *Jdst = JinvM + 2*8*ofs[i]; |
---|
793 | for (j=info[i].m-1; j>=0; j--) { |
---|
794 | for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass; |
---|
795 | dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI); |
---|
796 | Jsrc += 8; |
---|
797 | Jdst += 8; |
---|
798 | } |
---|
799 | if (joint[i]->node[1].body) { |
---|
800 | b = joint[i]->node[1].body->tag; |
---|
801 | body_invMass = body[b]->invMass; |
---|
802 | body_invI = invI + b*12; |
---|
803 | for (j=info[i].m-1; j>=0; j--) { |
---|
804 | for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass; |
---|
805 | dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI); |
---|
806 | Jsrc += 8; |
---|
807 | Jdst += 8; |
---|
808 | } |
---|
809 | } |
---|
810 | } |
---|
811 | |
---|
812 | // now compute A = JinvM * J'. A's rows and columns are grouped by joint, |
---|
813 | // i.e. in the same way as the rows of J. block (i,j) of A is only nonzero |
---|
814 | // if joints i and j have at least one body in common. this fact suggests |
---|
815 | // the algorithm used to fill A: |
---|
816 | // |
---|
817 | // for b = all bodies |
---|
818 | // n = number of joints attached to body b |
---|
819 | // for i = 1..n |
---|
820 | // for j = i+1..n |
---|
821 | // ii = actual joint number for i |
---|
822 | // jj = actual joint number for j |
---|
823 | // // (ii,jj) will be set to all pairs of joints around body b |
---|
824 | // compute blockwise: A(ii,jj) += JinvM(ii) * J(jj)' |
---|
825 | // |
---|
826 | // this algorithm catches all pairs of joints that have at least one body |
---|
827 | // in common. it does not compute the diagonal blocks of A however - |
---|
828 | // another similar algorithm does that. |
---|
829 | |
---|
830 | int mskip = dPAD(m); |
---|
831 | dReal *A = (dReal*) ALLOCA (m*mskip*sizeof(dReal)); |
---|
832 | dSetZero (A,m*mskip); |
---|
833 | for (i=0; i<nb; i++) { |
---|
834 | for (dxJointNode *n1=body[i]->firstjoint; n1; n1=n1->next) { |
---|
835 | for (dxJointNode *n2=n1->next; n2; n2=n2->next) { |
---|
836 | // get joint numbers and ensure ofs[j1] >= ofs[j2] |
---|
837 | int j1 = n1->joint->tag; |
---|
838 | int j2 = n2->joint->tag; |
---|
839 | if (ofs[j1] < ofs[j2]) { |
---|
840 | int tmp = j1; |
---|
841 | j1 = j2; |
---|
842 | j2 = tmp; |
---|
843 | } |
---|
844 | |
---|
845 | // if either joint was tagged as -1 then it is an inactive (m=0) |
---|
846 | // joint that should not be considered |
---|
847 | if (j1==-1 || j2==-1) continue; |
---|
848 | |
---|
849 | // determine if body i is the 1st or 2nd body of joints j1 and j2 |
---|
850 | int jb1 = (joint[j1]->node[1].body == body[i]); |
---|
851 | int jb2 = (joint[j2]->node[1].body == body[i]); |
---|
852 | // jb1/jb2 must be 0 for joints with only one body |
---|
853 | dIASSERT(joint[j1]->node[1].body || jb1==0); |
---|
854 | dIASSERT(joint[j2]->node[1].body || jb2==0); |
---|
855 | |
---|
856 | // set block of A |
---|
857 | MultiplyAdd2_p8r (A + ofs[j1]*mskip + ofs[j2], |
---|
858 | JinvM + 2*8*ofs[j1] + jb1*8*info[j1].m, |
---|
859 | J + 2*8*ofs[j2] + jb2*8*info[j2].m, |
---|
860 | info[j1].m,info[j2].m, mskip); |
---|
861 | } |
---|
862 | } |
---|
863 | } |
---|
864 | // compute diagonal blocks of A |
---|
865 | for (i=0; i<nj; i++) { |
---|
866 | Multiply2_p8r (A + ofs[i]*(mskip+1), |
---|
867 | JinvM + 2*8*ofs[i], |
---|
868 | J + 2*8*ofs[i], |
---|
869 | info[i].m,info[i].m, mskip); |
---|
870 | if (joint[i]->node[1].body) { |
---|
871 | MultiplyAdd2_p8r (A + ofs[i]*(mskip+1), |
---|
872 | JinvM + 2*8*ofs[i] + 8*info[i].m, |
---|
873 | J + 2*8*ofs[i] + 8*info[i].m, |
---|
874 | info[i].m,info[i].m, mskip); |
---|
875 | } |
---|
876 | } |
---|
877 | |
---|
878 | // add cfm to the diagonal of A |
---|
879 | for (i=0; i<m; i++) A[i*mskip+i] += cfm[i] * stepsize1; |
---|
880 | |
---|
881 | # ifdef COMPARE_METHODS |
---|
882 | comparator.nextMatrix (A,m,m,1,"A"); |
---|
883 | # endif |
---|
884 | |
---|
885 | // compute the right hand side `rhs' |
---|
886 | # ifdef TIMING |
---|
887 | dTimerNow ("compute rhs"); |
---|
888 | # endif |
---|
889 | dReal *tmp1 = (dReal*) ALLOCA (nb*8 * sizeof(dReal)); |
---|
890 | //dSetZero (tmp1,nb*8); |
---|
891 | // put v/h + invM*fe into tmp1 |
---|
892 | for (i=0; i<nb; i++) { |
---|
893 | dReal body_invMass = body[i]->invMass; |
---|
894 | dReal *body_invI = invI + i*12; |
---|
895 | for (j=0; j<3; j++) tmp1[i*8+j] = body[i]->facc[j] * body_invMass + |
---|
896 | body[i]->lvel[j] * stepsize1; |
---|
897 | dMULTIPLY0_331 (tmp1 + i*8 + 4,body_invI,body[i]->tacc); |
---|
898 | for (j=0; j<3; j++) tmp1[i*8+4+j] += body[i]->avel[j] * stepsize1; |
---|
899 | } |
---|
900 | // put J*tmp1 into rhs |
---|
901 | dReal *rhs = (dReal*) ALLOCA (m * sizeof(dReal)); |
---|
902 | //dSetZero (rhs,m); |
---|
903 | for (i=0; i<nj; i++) { |
---|
904 | dReal *JJ = J + 2*8*ofs[i]; |
---|
905 | Multiply0_p81 (rhs+ofs[i],JJ, |
---|
906 | tmp1 + 8*joint[i]->node[0].body->tag, info[i].m); |
---|
907 | if (joint[i]->node[1].body) { |
---|
908 | MultiplyAdd0_p81 (rhs+ofs[i],JJ + 8*info[i].m, |
---|
909 | tmp1 + 8*joint[i]->node[1].body->tag, info[i].m); |
---|
910 | } |
---|
911 | } |
---|
912 | // complete rhs |
---|
913 | for (i=0; i<m; i++) rhs[i] = c[i]*stepsize1 - rhs[i]; |
---|
914 | |
---|
915 | # ifdef COMPARE_METHODS |
---|
916 | comparator.nextMatrix (c,m,1,0,"c"); |
---|
917 | comparator.nextMatrix (rhs,m,1,0,"rhs"); |
---|
918 | # endif |
---|
919 | |
---|
920 | // solve the LCP problem and get lambda. |
---|
921 | // this will destroy A but that's okay |
---|
922 | # ifdef TIMING |
---|
923 | dTimerNow ("solving LCP problem"); |
---|
924 | # endif |
---|
925 | dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal)); |
---|
926 | dReal *residual = (dReal*) ALLOCA (m * sizeof(dReal)); |
---|
927 | dSolveLCP (m,A,lambda,rhs,residual,nub,lo,hi,findex); |
---|
928 | |
---|
929 | // OLD WAY - direct factor and solve |
---|
930 | // |
---|
931 | // // factorize A (L*L'=A) |
---|
932 | //# ifdef TIMING |
---|
933 | // dTimerNow ("factorize A"); |
---|
934 | //# endif |
---|
935 | // dReal *L = (dReal*) ALLOCA (m*mskip*sizeof(dReal)); |
---|
936 | // memcpy (L,A,m*mskip*sizeof(dReal)); |
---|
937 | //# ifdef FAST_FACTOR |
---|
938 | // dFastFactorCholesky (L,m); // does not report non positive definiteness |
---|
939 | //# else |
---|
940 | // if (dFactorCholesky (L,m)==0) dDebug (0,"A is not positive definite"); |
---|
941 | //# endif |
---|
942 | // |
---|
943 | // // compute lambda |
---|
944 | //# ifdef TIMING |
---|
945 | // dTimerNow ("compute lambda"); |
---|
946 | //# endif |
---|
947 | // dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal)); |
---|
948 | // memcpy (lambda,rhs,m * sizeof(dReal)); |
---|
949 | // dSolveCholesky (L,lambda,m); |
---|
950 | |
---|
951 | # ifdef COMPARE_METHODS |
---|
952 | comparator.nextMatrix (lambda,m,1,0,"lambda"); |
---|
953 | # endif |
---|
954 | |
---|
955 | // compute the constraint force `cforce' |
---|
956 | # ifdef TIMING |
---|
957 | dTimerNow ("compute constraint force"); |
---|
958 | # endif |
---|
959 | // compute cforce = J'*lambda |
---|
960 | for (i=0; i<nj; i++) { |
---|
961 | dReal *JJ = J + 2*8*ofs[i]; |
---|
962 | dxBody* b1 = joint[i]->node[0].body; |
---|
963 | dxBody* b2 = joint[i]->node[1].body; |
---|
964 | dJointFeedback *fb = joint[i]->feedback; |
---|
965 | |
---|
966 | /******************** breakable joint contribution ***********************/ |
---|
967 | // this saves us a few dereferences |
---|
968 | dxJointBreakInfo *jBI = joint[i]->breakInfo; |
---|
969 | // we need joint feedback if the joint is breakable or if the user |
---|
970 | // requested feedback. |
---|
971 | if (jBI||fb) { |
---|
972 | // we need feedback on the amount of force that this joint is |
---|
973 | // applying to the bodies. we use a slightly slower computation |
---|
974 | // that splits out the force components and puts them in the |
---|
975 | // feedback structure. |
---|
976 | dJointFeedback temp_fb; // temporary storage for joint feedback |
---|
977 | dReal data1[8],data2[8]; |
---|
978 | Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m); |
---|
979 | dReal *cf1 = cforce + 8*b1->tag; |
---|
980 | cf1[0] += (temp_fb.f1[0] = data1[0]); |
---|
981 | cf1[1] += (temp_fb.f1[1] = data1[1]); |
---|
982 | cf1[2] += (temp_fb.f1[2] = data1[2]); |
---|
983 | cf1[4] += (temp_fb.t1[0] = data1[4]); |
---|
984 | cf1[5] += (temp_fb.t1[1] = data1[5]); |
---|
985 | cf1[6] += (temp_fb.t1[2] = data1[6]); |
---|
986 | if (b2) { |
---|
987 | Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m); |
---|
988 | dReal *cf2 = cforce + 8*b2->tag; |
---|
989 | cf2[0] += (temp_fb.f2[0] = data2[0]); |
---|
990 | cf2[1] += (temp_fb.f2[1] = data2[1]); |
---|
991 | cf2[2] += (temp_fb.f2[2] = data2[2]); |
---|
992 | cf2[4] += (temp_fb.t2[0] = data2[4]); |
---|
993 | cf2[5] += (temp_fb.t2[1] = data2[5]); |
---|
994 | cf2[6] += (temp_fb.t2[2] = data2[6]); |
---|
995 | } |
---|
996 | // if the user requested so we must copy the feedback information to |
---|
997 | // the feedback struct that the user suplied. |
---|
998 | if (fb) { |
---|
999 | // copy temp_fb to fb |
---|
1000 | fb->f1[0] = temp_fb.f1[0]; |
---|
1001 | fb->f1[1] = temp_fb.f1[1]; |
---|
1002 | fb->f1[2] = temp_fb.f1[2]; |
---|
1003 | fb->t1[0] = temp_fb.t1[0]; |
---|
1004 | fb->t1[1] = temp_fb.t1[1]; |
---|
1005 | fb->t1[2] = temp_fb.t1[2]; |
---|
1006 | if (b2) { |
---|
1007 | fb->f2[0] = temp_fb.f2[0]; |
---|
1008 | fb->f2[1] = temp_fb.f2[1]; |
---|
1009 | fb->f2[2] = temp_fb.f2[2]; |
---|
1010 | fb->t2[0] = temp_fb.t2[0]; |
---|
1011 | fb->t2[1] = temp_fb.t2[1]; |
---|
1012 | fb->t2[2] = temp_fb.t2[2]; |
---|
1013 | } |
---|
1014 | } |
---|
1015 | // if the joint is breakable we need to check the breaking conditions |
---|
1016 | if (jBI) { |
---|
1017 | dReal relCF1[3]; |
---|
1018 | dReal relCT1[3]; |
---|
1019 | // multiply the force and torque vectors by the rotation matrix of body 1 |
---|
1020 | dMULTIPLY1_331 (&relCF1[0],b1->R,&temp_fb.f1[0]); |
---|
1021 | dMULTIPLY1_331 (&relCT1[0],b1->R,&temp_fb.t1[0]); |
---|
1022 | if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) { |
---|
1023 | // check if the force is to high |
---|
1024 | for (int i = 0; i < 3; i++) { |
---|
1025 | if (relCF1[i] > jBI->b1MaxF[i]) { |
---|
1026 | jBI->flags |= dJOINT_BROKEN; |
---|
1027 | goto doneCheckingBreaks; |
---|
1028 | } |
---|
1029 | } |
---|
1030 | } |
---|
1031 | if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) { |
---|
1032 | // check if the torque is to high |
---|
1033 | for (int i = 0; i < 3; i++) { |
---|
1034 | if (relCT1[i] > jBI->b1MaxT[i]) { |
---|
1035 | jBI->flags |= dJOINT_BROKEN; |
---|
1036 | goto doneCheckingBreaks; |
---|
1037 | } |
---|
1038 | } |
---|
1039 | } |
---|
1040 | if (b2) { |
---|
1041 | dReal relCF2[3]; |
---|
1042 | dReal relCT2[3]; |
---|
1043 | // multiply the force and torque vectors by the rotation matrix of body 2 |
---|
1044 | dMULTIPLY1_331 (&relCF2[0],b2->R,&temp_fb.f2[0]); |
---|
1045 | dMULTIPLY1_331 (&relCT2[0],b2->R,&temp_fb.t2[0]); |
---|
1046 | if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) { |
---|
1047 | // check if the force is to high |
---|
1048 | for (int i = 0; i < 3; i++) { |
---|
1049 | if (relCF2[i] > jBI->b2MaxF[i]) { |
---|
1050 | jBI->flags |= dJOINT_BROKEN; |
---|
1051 | goto doneCheckingBreaks; |
---|
1052 | } |
---|
1053 | } |
---|
1054 | } |
---|
1055 | if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) { |
---|
1056 | // check if the torque is to high |
---|
1057 | for (int i = 0; i < 3; i++) { |
---|
1058 | if (relCT2[i] > jBI->b2MaxT[i]) { |
---|
1059 | jBI->flags |= dJOINT_BROKEN; |
---|
1060 | goto doneCheckingBreaks; |
---|
1061 | } |
---|
1062 | } |
---|
1063 | } |
---|
1064 | } |
---|
1065 | doneCheckingBreaks: |
---|
1066 | ; |
---|
1067 | } |
---|
1068 | } |
---|
1069 | /*************************************************************************/ |
---|
1070 | else { |
---|
1071 | // no feedback is required, let's compute cforce the faster way |
---|
1072 | MultiplyAdd1_8q1 (cforce + 8*b1->tag,JJ, lambda+ofs[i], info[i].m); |
---|
1073 | if (b2) { |
---|
1074 | MultiplyAdd1_8q1 (cforce + 8*b2->tag, |
---|
1075 | JJ + 8*info[i].m, lambda+ofs[i], info[i].m); |
---|
1076 | } |
---|
1077 | } |
---|
1078 | } |
---|
1079 | } |
---|
1080 | |
---|
1081 | // compute the velocity update |
---|
1082 | # ifdef TIMING |
---|
1083 | dTimerNow ("compute velocity update"); |
---|
1084 | # endif |
---|
1085 | |
---|
1086 | // add fe to cforce |
---|
1087 | for (i=0; i<nb; i++) { |
---|
1088 | for (j=0; j<3; j++) cforce[i*8+j] += body[i]->facc[j]; |
---|
1089 | for (j=0; j<3; j++) cforce[i*8+4+j] += body[i]->tacc[j]; |
---|
1090 | } |
---|
1091 | // multiply cforce by stepsize |
---|
1092 | for (i=0; i < nb*8; i++) cforce[i] *= stepsize; |
---|
1093 | // add invM * cforce to the body velocity |
---|
1094 | for (i=0; i<nb; i++) { |
---|
1095 | dReal body_invMass = body[i]->invMass; |
---|
1096 | dReal *body_invI = invI + i*12; |
---|
1097 | for (j=0; j<3; j++) body[i]->lvel[j] += body_invMass * cforce[i*8+j]; |
---|
1098 | dMULTIPLYADD0_331 (body[i]->avel,body_invI,cforce+i*8+4); |
---|
1099 | } |
---|
1100 | |
---|
1101 | // update the position and orientation from the new linear/angular velocity |
---|
1102 | // (over the given timestep) |
---|
1103 | # ifdef TIMING |
---|
1104 | dTimerNow ("update position"); |
---|
1105 | # endif |
---|
1106 | for (i=0; i<nb; i++) moveAndRotateBody (body[i],stepsize); |
---|
1107 | |
---|
1108 | # ifdef COMPARE_METHODS |
---|
1109 | dReal *tmp_vnew = (dReal*) ALLOCA (nb*6*sizeof(dReal)); |
---|
1110 | for (i=0; i<nb; i++) { |
---|
1111 | for (j=0; j<3; j++) tmp_vnew[i*6+j] = body[i]->lvel[j]; |
---|
1112 | for (j=0; j<3; j++) tmp_vnew[i*6+3+j] = body[i]->avel[j]; |
---|
1113 | } |
---|
1114 | comparator.nextMatrix (tmp_vnew,nb*6,1,0,"vnew"); |
---|
1115 | # endif |
---|
1116 | |
---|
1117 | # ifdef TIMING |
---|
1118 | dTimerNow ("tidy up"); |
---|
1119 | # endif |
---|
1120 | |
---|
1121 | // zero all force accumulators |
---|
1122 | for (i=0; i<nb; i++) { |
---|
1123 | body[i]->facc[0] = 0; |
---|
1124 | body[i]->facc[1] = 0; |
---|
1125 | body[i]->facc[2] = 0; |
---|
1126 | body[i]->facc[3] = 0; |
---|
1127 | body[i]->tacc[0] = 0; |
---|
1128 | body[i]->tacc[1] = 0; |
---|
1129 | body[i]->tacc[2] = 0; |
---|
1130 | body[i]->tacc[3] = 0; |
---|
1131 | } |
---|
1132 | |
---|
1133 | # ifdef TIMING |
---|
1134 | dTimerEnd(); |
---|
1135 | if (m > 0) dTimerReport (stdout,1); |
---|
1136 | # endif |
---|
1137 | } |
---|
1138 | |
---|
1139 | //**************************************************************************** |
---|
1140 | |
---|
1141 | void dInternalStepIsland (dxWorld *world, dxBody * const *body, int nb, |
---|
1142 | dxJoint * const *joint, int nj, dReal stepsize) |
---|
1143 | { |
---|
1144 | # ifndef COMPARE_METHODS |
---|
1145 | dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize); |
---|
1146 | # endif |
---|
1147 | |
---|
1148 | # ifdef COMPARE_METHODS |
---|
1149 | int i; |
---|
1150 | |
---|
1151 | // save body state |
---|
1152 | dxBody *state = (dxBody*) ALLOCA (nb*sizeof(dxBody)); |
---|
1153 | for (i=0; i<nb; i++) memcpy (state+i,body[i],sizeof(dxBody)); |
---|
1154 | |
---|
1155 | // take slow step |
---|
1156 | comparator.reset(); |
---|
1157 | dInternalStepIsland_x1 (world,body,nb,joint,nj,stepsize); |
---|
1158 | comparator.end(); |
---|
1159 | |
---|
1160 | // restore state |
---|
1161 | for (i=0; i<nb; i++) memcpy (body[i],state+i,sizeof(dxBody)); |
---|
1162 | |
---|
1163 | // take fast step |
---|
1164 | dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize); |
---|
1165 | comparator.end(); |
---|
1166 | |
---|
1167 | //comparator.dump(); |
---|
1168 | //_exit (1); |
---|
1169 | # endif |
---|
1170 | } |
---|