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 | #include "util.h" |
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33 | |
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34 | //**************************************************************************** |
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35 | // misc defines |
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36 | |
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37 | #define FAST_FACTOR |
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38 | //#define TIMING |
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39 | |
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40 | // memory allocation system |
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41 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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42 | unsigned int dMemoryFlag; |
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43 | #define REPORT_OUT_OF_MEMORY fprintf(stderr, "Insufficient memory to complete rigid body simulation. Results will not be accurate.\n") |
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44 | |
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45 | #define ALLOCA(t,v,s) t* v=(t*)malloc(s) |
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46 | #define UNALLOCA(t) free(t) |
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47 | |
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48 | #else |
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49 | #define ALLOCA(t,v,s) t* v=(t*)dALLOCA16(s) |
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50 | #define UNALLOCA(t) /* nothing */ |
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51 | #endif |
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52 | |
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53 | |
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54 | //**************************************************************************** |
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55 | // debugging - comparison of various vectors and matrices produced by the |
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56 | // slow and fast versions of the stepper. |
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57 | |
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58 | //#define COMPARE_METHODS |
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59 | |
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60 | #ifdef COMPARE_METHODS |
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61 | #include "testing.h" |
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62 | dMatrixComparison comparator; |
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63 | #endif |
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64 | |
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65 | // undef to use the fast decomposition |
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66 | #define DIRECT_CHOLESKY |
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67 | #undef REPORT_ERROR |
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68 | |
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69 | //**************************************************************************** |
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70 | // special matrix multipliers |
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71 | |
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72 | // this assumes the 4th and 8th rows of B and C are zero. |
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73 | |
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74 | static void Multiply2_p8r (dReal *A, dReal *B, dReal *C, |
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75 | int p, int r, int Askip) |
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76 | { |
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77 | int i,j; |
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78 | dReal sum,*bb,*cc; |
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79 | dIASSERT (p>0 && r>0 && A && B && C); |
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80 | bb = B; |
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81 | for (i=p; i; i--) { |
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82 | cc = C; |
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83 | for (j=r; j; j--) { |
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84 | sum = bb[0]*cc[0]; |
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85 | sum += bb[1]*cc[1]; |
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86 | sum += bb[2]*cc[2]; |
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87 | sum += bb[4]*cc[4]; |
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88 | sum += bb[5]*cc[5]; |
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89 | sum += bb[6]*cc[6]; |
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90 | *(A++) = sum; |
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91 | cc += 8; |
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92 | } |
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93 | A += Askip - r; |
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94 | bb += 8; |
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95 | } |
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96 | } |
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97 | |
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98 | |
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99 | // this assumes the 4th and 8th rows of B and C are zero. |
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100 | |
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101 | static void MultiplyAdd2_p8r (dReal *A, dReal *B, dReal *C, |
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102 | int p, int r, int Askip) |
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103 | { |
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104 | int i,j; |
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105 | dReal sum,*bb,*cc; |
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106 | dIASSERT (p>0 && r>0 && A && B && C); |
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107 | bb = B; |
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108 | for (i=p; i; i--) { |
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109 | cc = C; |
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110 | for (j=r; j; j--) { |
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111 | sum = bb[0]*cc[0]; |
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112 | sum += bb[1]*cc[1]; |
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113 | sum += bb[2]*cc[2]; |
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114 | sum += bb[4]*cc[4]; |
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115 | sum += bb[5]*cc[5]; |
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116 | sum += bb[6]*cc[6]; |
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117 | *(A++) += sum; |
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118 | cc += 8; |
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119 | } |
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120 | A += Askip - r; |
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121 | bb += 8; |
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122 | } |
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123 | } |
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124 | |
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125 | |
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126 | // this assumes the 4th and 8th rows of B are zero. |
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127 | |
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128 | static void Multiply0_p81 (dReal *A, dReal *B, dReal *C, int p) |
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129 | { |
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130 | int i; |
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131 | dIASSERT (p>0 && A && B && C); |
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132 | dReal sum; |
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133 | for (i=p; i; i--) { |
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134 | sum = B[0]*C[0]; |
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135 | sum += B[1]*C[1]; |
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136 | sum += B[2]*C[2]; |
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137 | sum += B[4]*C[4]; |
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138 | sum += B[5]*C[5]; |
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139 | sum += B[6]*C[6]; |
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140 | *(A++) = sum; |
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141 | B += 8; |
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142 | } |
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143 | } |
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144 | |
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145 | |
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146 | // this assumes the 4th and 8th rows of B are zero. |
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147 | |
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148 | static void MultiplyAdd0_p81 (dReal *A, dReal *B, dReal *C, int p) |
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149 | { |
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150 | int i; |
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151 | dIASSERT (p>0 && A && B && C); |
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152 | dReal sum; |
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153 | for (i=p; i; i--) { |
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154 | sum = B[0]*C[0]; |
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155 | sum += B[1]*C[1]; |
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156 | sum += B[2]*C[2]; |
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157 | sum += B[4]*C[4]; |
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158 | sum += B[5]*C[5]; |
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159 | sum += B[6]*C[6]; |
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160 | *(A++) += sum; |
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161 | B += 8; |
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162 | } |
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163 | } |
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164 | |
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165 | |
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166 | // this assumes the 4th and 8th rows of B are zero. |
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167 | |
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168 | static void MultiplyAdd1_8q1 (dReal *A, dReal *B, dReal *C, int q) |
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169 | { |
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170 | int k; |
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171 | dReal sum; |
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172 | dIASSERT (q>0 && A && B && C); |
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173 | sum = 0; |
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174 | for (k=0; k<q; k++) sum += B[k*8] * C[k]; |
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175 | A[0] += sum; |
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176 | sum = 0; |
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177 | for (k=0; k<q; k++) sum += B[1+k*8] * C[k]; |
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178 | A[1] += sum; |
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179 | sum = 0; |
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180 | for (k=0; k<q; k++) sum += B[2+k*8] * C[k]; |
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181 | A[2] += sum; |
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182 | sum = 0; |
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183 | for (k=0; k<q; k++) sum += B[4+k*8] * C[k]; |
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184 | A[4] += sum; |
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185 | sum = 0; |
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186 | for (k=0; k<q; k++) sum += B[5+k*8] * C[k]; |
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187 | A[5] += sum; |
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188 | sum = 0; |
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189 | for (k=0; k<q; k++) sum += B[6+k*8] * C[k]; |
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190 | A[6] += sum; |
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191 | } |
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192 | |
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193 | |
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194 | // this assumes the 4th and 8th rows of B are zero. |
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195 | |
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196 | static void Multiply1_8q1 (dReal *A, dReal *B, dReal *C, int q) |
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197 | { |
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198 | int k; |
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199 | dReal sum; |
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200 | dIASSERT (q>0 && A && B && C); |
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201 | sum = 0; |
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202 | for (k=0; k<q; k++) sum += B[k*8] * C[k]; |
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203 | A[0] = sum; |
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204 | sum = 0; |
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205 | for (k=0; k<q; k++) sum += B[1+k*8] * C[k]; |
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206 | A[1] = sum; |
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207 | sum = 0; |
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208 | for (k=0; k<q; k++) sum += B[2+k*8] * C[k]; |
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209 | A[2] = sum; |
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210 | sum = 0; |
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211 | for (k=0; k<q; k++) sum += B[4+k*8] * C[k]; |
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212 | A[4] = sum; |
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213 | sum = 0; |
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214 | for (k=0; k<q; k++) sum += B[5+k*8] * C[k]; |
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215 | A[5] = sum; |
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216 | sum = 0; |
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217 | for (k=0; k<q; k++) sum += B[6+k*8] * C[k]; |
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218 | A[6] = sum; |
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219 | } |
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220 | |
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221 | //**************************************************************************** |
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222 | // the slow, but sure way |
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223 | // note that this does not do any joint feedback! |
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224 | |
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225 | // given lists of bodies and joints that form an island, perform a first |
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226 | // order timestep. |
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227 | // |
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228 | // `body' is the body array, `nb' is the size of the array. |
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229 | // `_joint' is the body array, `nj' is the size of the array. |
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230 | |
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231 | void dInternalStepIsland_x1 (dxWorld *world, dxBody * const *body, int nb, |
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232 | dxJoint * const *_joint, int nj, dReal stepsize) |
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233 | { |
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234 | int i,j,k; |
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235 | int n6 = 6*nb; |
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236 | |
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237 | #ifdef TIMING |
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238 | dTimerStart("preprocessing"); |
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239 | #endif |
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240 | |
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241 | // number all bodies in the body list - set their tag values |
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242 | for (i=0; i<nb; i++) body[i]->tag = i; |
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243 | |
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244 | // make a local copy of the joint array, because we might want to modify it. |
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245 | // (the "dxJoint *const*" declaration says we're allowed to modify the joints |
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246 | // but not the joint array, because the caller might need it unchanged). |
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247 | ALLOCA(dxJoint*,joint,nj*sizeof(dxJoint*)); |
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248 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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249 | if (joint == NULL) { |
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250 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
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251 | return; |
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252 | } |
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253 | #endif |
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254 | memcpy (joint,_joint,nj * sizeof(dxJoint*)); |
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255 | |
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256 | // for all bodies, compute the inertia tensor and its inverse in the global |
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257 | // frame, and compute the rotational force and add it to the torque |
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258 | // accumulator. |
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259 | // @@@ check computation of rotational force. |
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260 | ALLOCA(dReal,I,3*nb*4*sizeof(dReal)); |
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261 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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262 | if (I == NULL) { |
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263 | UNALLOCA(joint); |
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264 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
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265 | return; |
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266 | } |
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267 | #endif |
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268 | ALLOCA(dReal,invI,3*nb*4*sizeof(dReal)); |
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269 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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270 | if (invI == NULL) { |
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271 | UNALLOCA(I); |
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272 | UNALLOCA(joint); |
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273 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
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274 | return; |
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275 | } |
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276 | #endif |
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277 | |
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278 | //dSetZero (I,3*nb*4); |
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279 | //dSetZero (invI,3*nb*4); |
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280 | for (i=0; i<nb; i++) { |
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281 | dReal tmp[12]; |
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282 | // compute inertia tensor in global frame |
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283 | dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->posr.R); |
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284 | dMULTIPLY0_333 (I+i*12,body[i]->posr.R,tmp); |
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285 | // compute inverse inertia tensor in global frame |
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286 | dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->posr.R); |
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287 | dMULTIPLY0_333 (invI+i*12,body[i]->posr.R,tmp); |
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288 | // compute rotational force |
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289 | dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel); |
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290 | dCROSS (body[i]->tacc,-=,body[i]->avel,tmp); |
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291 | } |
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292 | |
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293 | // add the gravity force to all bodies |
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294 | for (i=0; i<nb; i++) { |
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295 | if ((body[i]->flags & dxBodyNoGravity)==0) { |
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296 | body[i]->facc[0] += body[i]->mass.mass * world->gravity[0]; |
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297 | body[i]->facc[1] += body[i]->mass.mass * world->gravity[1]; |
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298 | body[i]->facc[2] += body[i]->mass.mass * world->gravity[2]; |
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299 | } |
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300 | } |
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301 | |
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302 | // get m = total constraint dimension, nub = number of unbounded variables. |
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303 | // create constraint offset array and number-of-rows array for all joints. |
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304 | // the constraints are re-ordered as follows: the purely unbounded |
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305 | // constraints, the mixed unbounded + LCP constraints, and last the purely |
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306 | // LCP constraints. |
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307 | // |
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308 | // joints with m=0 are inactive and are removed from the joints array |
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309 | // entirely, so that the code that follows does not consider them. |
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310 | int m = 0; |
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311 | ALLOCA(dxJoint::Info1,info,nj*sizeof(dxJoint::Info1)); |
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312 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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313 | if (info == NULL) { |
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314 | UNALLOCA(invI); |
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315 | UNALLOCA(I); |
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316 | UNALLOCA(joint); |
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317 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
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318 | return; |
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319 | } |
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320 | #endif |
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321 | |
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322 | ALLOCA(int,ofs,nj*sizeof(int)); |
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323 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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324 | if (ofs == NULL) { |
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325 | UNALLOCA(info); |
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326 | UNALLOCA(invI); |
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327 | UNALLOCA(I); |
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328 | UNALLOCA(joint); |
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329 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
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330 | return; |
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331 | } |
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332 | #endif |
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333 | |
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334 | for (i=0, j=0; j<nj; j++) { // i=dest, j=src |
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335 | joint[j]->vtable->getInfo1 (joint[j],info+i); |
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336 | dIASSERT (info[i].m >= 0 && info[i].m <= 6 && |
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337 | info[i].nub >= 0 && info[i].nub <= info[i].m); |
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338 | if (info[i].m > 0) { |
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339 | joint[i] = joint[j]; |
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340 | i++; |
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341 | } |
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342 | } |
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343 | nj = i; |
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344 | |
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345 | // the purely unbounded constraints |
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346 | for (i=0; i<nj; i++) if (info[i].nub == info[i].m) { |
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347 | ofs[i] = m; |
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348 | m += info[i].m; |
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349 | } |
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350 | int nub = m; |
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351 | // the mixed unbounded + LCP constraints |
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352 | for (i=0; i<nj; i++) if (info[i].nub > 0 && info[i].nub < info[i].m) { |
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353 | ofs[i] = m; |
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354 | m += info[i].m; |
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355 | } |
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356 | // the purely LCP constraints |
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357 | for (i=0; i<nj; i++) if (info[i].nub == 0) { |
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358 | ofs[i] = m; |
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359 | m += info[i].m; |
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360 | } |
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361 | |
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362 | // create (6*nb,6*nb) inverse mass matrix `invM', and fill it with mass |
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363 | // parameters |
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364 | #ifdef TIMING |
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365 | dTimerNow ("create mass matrix"); |
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366 | #endif |
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367 | int nskip = dPAD (n6); |
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368 | ALLOCA(dReal, invM, n6*nskip*sizeof(dReal)); |
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369 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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370 | if (invM == NULL) { |
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371 | UNALLOCA(ofs); |
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372 | UNALLOCA(info); |
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373 | UNALLOCA(invI); |
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374 | UNALLOCA(I); |
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375 | UNALLOCA(joint); |
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376 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
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377 | return; |
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378 | } |
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379 | #endif |
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380 | |
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381 | dSetZero (invM,n6*nskip); |
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382 | for (i=0; i<nb; i++) { |
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383 | dReal *MM = invM+(i*6)*nskip+(i*6); |
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384 | MM[0] = body[i]->invMass; |
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385 | MM[nskip+1] = body[i]->invMass; |
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386 | MM[2*nskip+2] = body[i]->invMass; |
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387 | MM += 3*nskip+3; |
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388 | for (j=0; j<3; j++) for (k=0; k<3; k++) { |
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389 | MM[j*nskip+k] = invI[i*12+j*4+k]; |
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390 | } |
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391 | } |
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392 | |
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393 | // assemble some body vectors: fe = external forces, v = velocities |
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394 | ALLOCA(dReal,fe,n6*sizeof(dReal)); |
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395 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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396 | if (fe == NULL) { |
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397 | UNALLOCA(invM); |
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398 | UNALLOCA(ofs); |
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399 | UNALLOCA(info); |
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400 | UNALLOCA(invI); |
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401 | UNALLOCA(I); |
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402 | UNALLOCA(joint); |
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403 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
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404 | return; |
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405 | } |
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406 | #endif |
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407 | |
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408 | ALLOCA(dReal,v,n6*sizeof(dReal)); |
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409 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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410 | if (v == NULL) { |
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411 | UNALLOCA(fe); |
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412 | UNALLOCA(invM); |
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413 | UNALLOCA(ofs); |
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414 | UNALLOCA(info); |
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415 | UNALLOCA(invI); |
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416 | UNALLOCA(I); |
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417 | UNALLOCA(joint); |
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418 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
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419 | return; |
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420 | } |
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421 | #endif |
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422 | |
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423 | //dSetZero (fe,n6); |
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424 | //dSetZero (v,n6); |
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425 | for (i=0; i<nb; i++) { |
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426 | for (j=0; j<3; j++) fe[i*6+j] = body[i]->facc[j]; |
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427 | for (j=0; j<3; j++) fe[i*6+3+j] = body[i]->tacc[j]; |
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428 | for (j=0; j<3; j++) v[i*6+j] = body[i]->lvel[j]; |
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429 | for (j=0; j<3; j++) v[i*6+3+j] = body[i]->avel[j]; |
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430 | } |
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431 | |
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432 | // this will be set to the velocity update |
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433 | ALLOCA(dReal,vnew,n6*sizeof(dReal)); |
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434 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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435 | if (vnew == NULL) { |
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436 | UNALLOCA(v); |
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437 | UNALLOCA(fe); |
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438 | UNALLOCA(invM); |
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439 | UNALLOCA(ofs); |
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440 | UNALLOCA(info); |
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441 | UNALLOCA(invI); |
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442 | UNALLOCA(I); |
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443 | UNALLOCA(joint); |
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444 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
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445 | return; |
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446 | } |
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447 | #endif |
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448 | dSetZero (vnew,n6); |
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449 | |
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450 | // if there are constraints, compute cforce |
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451 | if (m > 0) { |
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452 | // create a constraint equation right hand side vector `c', a constraint |
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453 | // force mixing vector `cfm', and LCP low and high bound vectors, and an |
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454 | // 'findex' vector. |
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455 | ALLOCA(dReal,c,m*sizeof(dReal)); |
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456 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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457 | if (c == NULL) { |
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458 | UNALLOCA(vnew); |
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459 | UNALLOCA(v); |
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460 | UNALLOCA(fe); |
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461 | UNALLOCA(invM); |
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462 | UNALLOCA(ofs); |
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463 | UNALLOCA(info); |
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464 | UNALLOCA(invI); |
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465 | UNALLOCA(I); |
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466 | UNALLOCA(joint); |
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467 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
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468 | return; |
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469 | } |
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470 | #endif |
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471 | ALLOCA(dReal,cfm,m*sizeof(dReal)); |
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472 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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473 | if (cfm == NULL) { |
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474 | UNALLOCA(c); |
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475 | UNALLOCA(vnew); |
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476 | UNALLOCA(v); |
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477 | UNALLOCA(fe); |
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478 | UNALLOCA(invM); |
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479 | UNALLOCA(ofs); |
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480 | UNALLOCA(info); |
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481 | UNALLOCA(invI); |
---|
482 | UNALLOCA(I); |
---|
483 | UNALLOCA(joint); |
---|
484 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
485 | return; |
---|
486 | } |
---|
487 | #endif |
---|
488 | ALLOCA(dReal,lo,m*sizeof(dReal)); |
---|
489 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
490 | if (lo == NULL) { |
---|
491 | UNALLOCA(cfm); |
---|
492 | UNALLOCA(c); |
---|
493 | UNALLOCA(vnew); |
---|
494 | UNALLOCA(v); |
---|
495 | UNALLOCA(fe); |
---|
496 | UNALLOCA(invM); |
---|
497 | UNALLOCA(ofs); |
---|
498 | UNALLOCA(info); |
---|
499 | UNALLOCA(invI); |
---|
500 | UNALLOCA(I); |
---|
501 | UNALLOCA(joint); |
---|
502 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
503 | return; |
---|
504 | } |
---|
505 | #endif |
---|
506 | ALLOCA(dReal,hi,m*sizeof(dReal)); |
---|
507 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
508 | if (hi == NULL) { |
---|
509 | UNALLOCA(lo); |
---|
510 | UNALLOCA(cfm); |
---|
511 | UNALLOCA(c); |
---|
512 | UNALLOCA(vnew); |
---|
513 | UNALLOCA(v); |
---|
514 | UNALLOCA(fe); |
---|
515 | UNALLOCA(invM); |
---|
516 | UNALLOCA(ofs); |
---|
517 | UNALLOCA(info); |
---|
518 | UNALLOCA(invI); |
---|
519 | UNALLOCA(I); |
---|
520 | UNALLOCA(joint); |
---|
521 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
522 | return; |
---|
523 | } |
---|
524 | #endif |
---|
525 | ALLOCA(int,findex,m*sizeof(int)); |
---|
526 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
527 | if (findex == NULL) { |
---|
528 | UNALLOCA(hi); |
---|
529 | UNALLOCA(lo); |
---|
530 | UNALLOCA(cfm); |
---|
531 | UNALLOCA(c); |
---|
532 | UNALLOCA(vnew); |
---|
533 | UNALLOCA(v); |
---|
534 | UNALLOCA(fe); |
---|
535 | UNALLOCA(invM); |
---|
536 | UNALLOCA(ofs); |
---|
537 | UNALLOCA(info); |
---|
538 | UNALLOCA(invI); |
---|
539 | UNALLOCA(I); |
---|
540 | UNALLOCA(joint); |
---|
541 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
542 | return; |
---|
543 | } |
---|
544 | #endif |
---|
545 | dSetZero (c,m); |
---|
546 | dSetValue (cfm,m,world->global_cfm); |
---|
547 | dSetValue (lo,m,-dInfinity); |
---|
548 | dSetValue (hi,m, dInfinity); |
---|
549 | for (i=0; i<m; i++) findex[i] = -1; |
---|
550 | |
---|
551 | // create (m,6*nb) jacobian mass matrix `J', and fill it with constraint |
---|
552 | // data. also fill the c vector. |
---|
553 | # ifdef TIMING |
---|
554 | dTimerNow ("create J"); |
---|
555 | # endif |
---|
556 | ALLOCA(dReal,J,m*nskip*sizeof(dReal)); |
---|
557 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
558 | if (J == NULL) { |
---|
559 | UNALLOCA(findex); |
---|
560 | UNALLOCA(hi); |
---|
561 | UNALLOCA(lo); |
---|
562 | UNALLOCA(cfm); |
---|
563 | UNALLOCA(c); |
---|
564 | UNALLOCA(vnew); |
---|
565 | UNALLOCA(v); |
---|
566 | UNALLOCA(fe); |
---|
567 | UNALLOCA(invM); |
---|
568 | UNALLOCA(ofs); |
---|
569 | UNALLOCA(info); |
---|
570 | UNALLOCA(invI); |
---|
571 | UNALLOCA(I); |
---|
572 | UNALLOCA(joint); |
---|
573 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
574 | return; |
---|
575 | } |
---|
576 | #endif |
---|
577 | dSetZero (J,m*nskip); |
---|
578 | dxJoint::Info2 Jinfo; |
---|
579 | Jinfo.rowskip = nskip; |
---|
580 | Jinfo.fps = dRecip(stepsize); |
---|
581 | Jinfo.erp = world->global_erp; |
---|
582 | for (i=0; i<nj; i++) { |
---|
583 | Jinfo.J1l = J + nskip*ofs[i] + 6*joint[i]->node[0].body->tag; |
---|
584 | Jinfo.J1a = Jinfo.J1l + 3; |
---|
585 | if (joint[i]->node[1].body) { |
---|
586 | Jinfo.J2l = J + nskip*ofs[i] + 6*joint[i]->node[1].body->tag; |
---|
587 | Jinfo.J2a = Jinfo.J2l + 3; |
---|
588 | } |
---|
589 | else { |
---|
590 | Jinfo.J2l = 0; |
---|
591 | Jinfo.J2a = 0; |
---|
592 | } |
---|
593 | Jinfo.c = c + ofs[i]; |
---|
594 | Jinfo.cfm = cfm + ofs[i]; |
---|
595 | Jinfo.lo = lo + ofs[i]; |
---|
596 | Jinfo.hi = hi + ofs[i]; |
---|
597 | Jinfo.findex = findex + ofs[i]; |
---|
598 | joint[i]->vtable->getInfo2 (joint[i],&Jinfo); |
---|
599 | // adjust returned findex values for global index numbering |
---|
600 | for (j=0; j<info[i].m; j++) { |
---|
601 | if (findex[ofs[i] + j] >= 0) findex[ofs[i] + j] += ofs[i]; |
---|
602 | } |
---|
603 | } |
---|
604 | |
---|
605 | // compute A = J*invM*J' |
---|
606 | # ifdef TIMING |
---|
607 | dTimerNow ("compute A"); |
---|
608 | # endif |
---|
609 | ALLOCA(dReal,JinvM,m*nskip*sizeof(dReal)); |
---|
610 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
611 | if (JinvM == NULL) { |
---|
612 | UNALLOCA(J); |
---|
613 | UNALLOCA(findex); |
---|
614 | UNALLOCA(hi); |
---|
615 | UNALLOCA(lo); |
---|
616 | UNALLOCA(cfm); |
---|
617 | UNALLOCA(c); |
---|
618 | UNALLOCA(vnew); |
---|
619 | UNALLOCA(v); |
---|
620 | UNALLOCA(fe); |
---|
621 | UNALLOCA(invM); |
---|
622 | UNALLOCA(ofs); |
---|
623 | UNALLOCA(info); |
---|
624 | UNALLOCA(invI); |
---|
625 | UNALLOCA(I); |
---|
626 | UNALLOCA(joint); |
---|
627 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
628 | return; |
---|
629 | } |
---|
630 | #endif |
---|
631 | //dSetZero (JinvM,m*nskip); |
---|
632 | dMultiply0 (JinvM,J,invM,m,n6,n6); |
---|
633 | int mskip = dPAD(m); |
---|
634 | ALLOCA(dReal,A,m*mskip*sizeof(dReal)); |
---|
635 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
636 | if (A == NULL) { |
---|
637 | UNALLOCA(JinvM); |
---|
638 | UNALLOCA(J); |
---|
639 | UNALLOCA(findex); |
---|
640 | UNALLOCA(hi); |
---|
641 | UNALLOCA(lo); |
---|
642 | UNALLOCA(cfm); |
---|
643 | UNALLOCA(c); |
---|
644 | UNALLOCA(vnew); |
---|
645 | UNALLOCA(v); |
---|
646 | UNALLOCA(fe); |
---|
647 | UNALLOCA(invM); |
---|
648 | UNALLOCA(ofs); |
---|
649 | UNALLOCA(info); |
---|
650 | UNALLOCA(invI); |
---|
651 | UNALLOCA(I); |
---|
652 | UNALLOCA(joint); |
---|
653 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
654 | return; |
---|
655 | } |
---|
656 | #endif |
---|
657 | //dSetZero (A,m*mskip); |
---|
658 | dMultiply2 (A,JinvM,J,m,n6,m); |
---|
659 | |
---|
660 | // add cfm to the diagonal of A |
---|
661 | for (i=0; i<m; i++) A[i*mskip+i] += cfm[i] * Jinfo.fps; |
---|
662 | |
---|
663 | # ifdef COMPARE_METHODS |
---|
664 | comparator.nextMatrix (A,m,m,1,"A"); |
---|
665 | # endif |
---|
666 | |
---|
667 | // compute `rhs', the right hand side of the equation J*a=c |
---|
668 | # ifdef TIMING |
---|
669 | dTimerNow ("compute rhs"); |
---|
670 | # endif |
---|
671 | ALLOCA(dReal,tmp1,n6*sizeof(dReal)); |
---|
672 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
673 | if (tmp1 == NULL) { |
---|
674 | UNALLOCA(A); |
---|
675 | UNALLOCA(JinvM); |
---|
676 | UNALLOCA(J); |
---|
677 | UNALLOCA(findex); |
---|
678 | UNALLOCA(hi); |
---|
679 | UNALLOCA(lo); |
---|
680 | UNALLOCA(cfm); |
---|
681 | UNALLOCA(c); |
---|
682 | UNALLOCA(vnew); |
---|
683 | UNALLOCA(v); |
---|
684 | UNALLOCA(fe); |
---|
685 | UNALLOCA(invM); |
---|
686 | UNALLOCA(ofs); |
---|
687 | UNALLOCA(info); |
---|
688 | UNALLOCA(invI); |
---|
689 | UNALLOCA(I); |
---|
690 | UNALLOCA(joint); |
---|
691 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
692 | return; |
---|
693 | } |
---|
694 | #endif |
---|
695 | //dSetZero (tmp1,n6); |
---|
696 | dMultiply0 (tmp1,invM,fe,n6,n6,1); |
---|
697 | for (i=0; i<n6; i++) tmp1[i] += v[i]/stepsize; |
---|
698 | ALLOCA(dReal,rhs,m*sizeof(dReal)); |
---|
699 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
700 | if (rhs == NULL) { |
---|
701 | UNALLOCA(tmp1); |
---|
702 | UNALLOCA(A); |
---|
703 | UNALLOCA(JinvM); |
---|
704 | UNALLOCA(J); |
---|
705 | UNALLOCA(findex); |
---|
706 | UNALLOCA(hi); |
---|
707 | UNALLOCA(lo); |
---|
708 | UNALLOCA(cfm); |
---|
709 | UNALLOCA(c); |
---|
710 | UNALLOCA(vnew); |
---|
711 | UNALLOCA(v); |
---|
712 | UNALLOCA(fe); |
---|
713 | UNALLOCA(invM); |
---|
714 | UNALLOCA(ofs); |
---|
715 | UNALLOCA(info); |
---|
716 | UNALLOCA(invI); |
---|
717 | UNALLOCA(I); |
---|
718 | UNALLOCA(joint); |
---|
719 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
720 | return; |
---|
721 | } |
---|
722 | #endif |
---|
723 | //dSetZero (rhs,m); |
---|
724 | dMultiply0 (rhs,J,tmp1,m,n6,1); |
---|
725 | for (i=0; i<m; i++) rhs[i] = c[i]/stepsize - rhs[i]; |
---|
726 | |
---|
727 | # ifdef COMPARE_METHODS |
---|
728 | comparator.nextMatrix (c,m,1,0,"c"); |
---|
729 | comparator.nextMatrix (rhs,m,1,0,"rhs"); |
---|
730 | # endif |
---|
731 | |
---|
732 | |
---|
733 | |
---|
734 | |
---|
735 | |
---|
736 | #ifndef DIRECT_CHOLESKY |
---|
737 | // solve the LCP problem and get lambda. |
---|
738 | // this will destroy A but that's okay |
---|
739 | # ifdef TIMING |
---|
740 | dTimerNow ("solving LCP problem"); |
---|
741 | # endif |
---|
742 | ALLOCA(dReal,lambda,m*sizeof(dReal)); |
---|
743 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
744 | if (lambda == NULL) { |
---|
745 | UNALLOCA(rhs); |
---|
746 | UNALLOCA(tmp1); |
---|
747 | UNALLOCA(A); |
---|
748 | UNALLOCA(JinvM); |
---|
749 | UNALLOCA(J); |
---|
750 | UNALLOCA(findex); |
---|
751 | UNALLOCA(hi); |
---|
752 | UNALLOCA(lo); |
---|
753 | UNALLOCA(cfm); |
---|
754 | UNALLOCA(c); |
---|
755 | UNALLOCA(vnew); |
---|
756 | UNALLOCA(v); |
---|
757 | UNALLOCA(fe); |
---|
758 | UNALLOCA(invM); |
---|
759 | UNALLOCA(ofs); |
---|
760 | UNALLOCA(info); |
---|
761 | UNALLOCA(invI); |
---|
762 | UNALLOCA(I); |
---|
763 | UNALLOCA(joint); |
---|
764 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
765 | return; |
---|
766 | } |
---|
767 | #endif |
---|
768 | ALLOCA(dReal,residual,m*sizeof(dReal)); |
---|
769 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
770 | if (residual == NULL) { |
---|
771 | UNALLOCA(lambda); |
---|
772 | UNALLOCA(rhs); |
---|
773 | UNALLOCA(tmp1); |
---|
774 | UNALLOCA(A); |
---|
775 | UNALLOCA(JinvM); |
---|
776 | UNALLOCA(J); |
---|
777 | UNALLOCA(findex); |
---|
778 | UNALLOCA(hi); |
---|
779 | UNALLOCA(lo); |
---|
780 | UNALLOCA(cfm); |
---|
781 | UNALLOCA(c); |
---|
782 | UNALLOCA(vnew); |
---|
783 | UNALLOCA(v); |
---|
784 | UNALLOCA(fe); |
---|
785 | UNALLOCA(invM); |
---|
786 | UNALLOCA(ofs); |
---|
787 | UNALLOCA(info); |
---|
788 | UNALLOCA(invI); |
---|
789 | UNALLOCA(I); |
---|
790 | UNALLOCA(joint); |
---|
791 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
792 | return; |
---|
793 | } |
---|
794 | #endif |
---|
795 | dSolveLCP (m,A,lambda,rhs,residual,nub,lo,hi,findex); |
---|
796 | UNALLOCA(residual); |
---|
797 | UNALLOCA(lambda); |
---|
798 | |
---|
799 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
800 | if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) |
---|
801 | return; |
---|
802 | #endif |
---|
803 | |
---|
804 | |
---|
805 | #else |
---|
806 | |
---|
807 | // OLD WAY - direct factor and solve |
---|
808 | |
---|
809 | // factorize A (L*L'=A) |
---|
810 | # ifdef TIMING |
---|
811 | dTimerNow ("factorize A"); |
---|
812 | # endif |
---|
813 | ALLOCA(dReal,L,m*mskip*sizeof(dReal)); |
---|
814 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
815 | if (L == NULL) { |
---|
816 | UNALLOCA(rhs); |
---|
817 | UNALLOCA(tmp1); |
---|
818 | UNALLOCA(A); |
---|
819 | UNALLOCA(JinvM); |
---|
820 | UNALLOCA(J); |
---|
821 | UNALLOCA(findex); |
---|
822 | UNALLOCA(hi); |
---|
823 | UNALLOCA(lo); |
---|
824 | UNALLOCA(cfm); |
---|
825 | UNALLOCA(c); |
---|
826 | UNALLOCA(vnew); |
---|
827 | UNALLOCA(v); |
---|
828 | UNALLOCA(fe); |
---|
829 | UNALLOCA(invM); |
---|
830 | UNALLOCA(ofs); |
---|
831 | UNALLOCA(info); |
---|
832 | UNALLOCA(invI); |
---|
833 | UNALLOCA(I); |
---|
834 | UNALLOCA(joint); |
---|
835 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
836 | return; |
---|
837 | } |
---|
838 | #endif |
---|
839 | memcpy (L,A,m*mskip*sizeof(dReal)); |
---|
840 | if (dFactorCholesky (L,m)==0) dDebug (0,"A is not positive definite"); |
---|
841 | |
---|
842 | // compute lambda |
---|
843 | # ifdef TIMING |
---|
844 | dTimerNow ("compute lambda"); |
---|
845 | # endif |
---|
846 | ALLOCA(dReal,lambda,m*sizeof(dReal)); |
---|
847 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
848 | if (lambda == NULL) { |
---|
849 | UNALLOCA(L); |
---|
850 | UNALLOCA(rhs); |
---|
851 | UNALLOCA(tmp1); |
---|
852 | UNALLOCA(A); |
---|
853 | UNALLOCA(JinvM); |
---|
854 | UNALLOCA(J); |
---|
855 | UNALLOCA(findex); |
---|
856 | UNALLOCA(hi); |
---|
857 | UNALLOCA(lo); |
---|
858 | UNALLOCA(cfm); |
---|
859 | UNALLOCA(c); |
---|
860 | UNALLOCA(vnew); |
---|
861 | UNALLOCA(v); |
---|
862 | UNALLOCA(fe); |
---|
863 | UNALLOCA(invM); |
---|
864 | UNALLOCA(ofs); |
---|
865 | UNALLOCA(info); |
---|
866 | UNALLOCA(invI); |
---|
867 | UNALLOCA(I); |
---|
868 | UNALLOCA(joint); |
---|
869 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
870 | return; |
---|
871 | } |
---|
872 | #endif |
---|
873 | memcpy (lambda,rhs,m * sizeof(dReal)); |
---|
874 | dSolveCholesky (L,lambda,m); |
---|
875 | #endif |
---|
876 | |
---|
877 | # ifdef COMPARE_METHODS |
---|
878 | comparator.nextMatrix (lambda,m,1,0,"lambda"); |
---|
879 | # endif |
---|
880 | |
---|
881 | // compute the velocity update `vnew' |
---|
882 | # ifdef TIMING |
---|
883 | dTimerNow ("compute velocity update"); |
---|
884 | # endif |
---|
885 | dMultiply1 (tmp1,J,lambda,n6,m,1); |
---|
886 | for (i=0; i<n6; i++) tmp1[i] += fe[i]; |
---|
887 | dMultiply0 (vnew,invM,tmp1,n6,n6,1); |
---|
888 | for (i=0; i<n6; i++) vnew[i] = v[i] + stepsize*vnew[i]; |
---|
889 | |
---|
890 | #ifdef REPORT_ERROR |
---|
891 | // see if the constraint has worked: compute J*vnew and make sure it equals |
---|
892 | // `c' (to within a certain tolerance). |
---|
893 | # ifdef TIMING |
---|
894 | dTimerNow ("verify constraint equation"); |
---|
895 | # endif |
---|
896 | dMultiply0 (tmp1,J,vnew,m,n6,1); |
---|
897 | dReal err = 0; |
---|
898 | for (i=0; i<m; i++) { |
---|
899 | err += dFabs(tmp1[i]-c[i]); |
---|
900 | } |
---|
901 | printf ("total constraint error=%.6e\n",err); |
---|
902 | #endif |
---|
903 | |
---|
904 | UNALLOCA(c); |
---|
905 | UNALLOCA(cfm); |
---|
906 | UNALLOCA(lo); |
---|
907 | UNALLOCA(hi); |
---|
908 | UNALLOCA(findex); |
---|
909 | UNALLOCA(J); |
---|
910 | UNALLOCA(JinvM); |
---|
911 | UNALLOCA(A); |
---|
912 | UNALLOCA(tmp1); |
---|
913 | UNALLOCA(rhs); |
---|
914 | UNALLOCA(lambda); |
---|
915 | UNALLOCA(L); |
---|
916 | } |
---|
917 | else { |
---|
918 | // no constraints |
---|
919 | dMultiply0 (vnew,invM,fe,n6,n6,1); |
---|
920 | for (i=0; i<n6; i++) vnew[i] = v[i] + stepsize*vnew[i]; |
---|
921 | } |
---|
922 | |
---|
923 | #ifdef COMPARE_METHODS |
---|
924 | comparator.nextMatrix (vnew,n6,1,0,"vnew"); |
---|
925 | #endif |
---|
926 | |
---|
927 | // apply the velocity update to the bodies |
---|
928 | #ifdef TIMING |
---|
929 | dTimerNow ("update velocity"); |
---|
930 | #endif |
---|
931 | for (i=0; i<nb; i++) { |
---|
932 | for (j=0; j<3; j++) body[i]->lvel[j] = vnew[i*6+j]; |
---|
933 | for (j=0; j<3; j++) body[i]->avel[j] = vnew[i*6+3+j]; |
---|
934 | } |
---|
935 | |
---|
936 | // update the position and orientation from the new linear/angular velocity |
---|
937 | // (over the given timestep) |
---|
938 | #ifdef TIMING |
---|
939 | dTimerNow ("update position"); |
---|
940 | #endif |
---|
941 | for (i=0; i<nb; i++) dxStepBody (body[i],stepsize); |
---|
942 | |
---|
943 | #ifdef TIMING |
---|
944 | dTimerNow ("tidy up"); |
---|
945 | #endif |
---|
946 | |
---|
947 | // zero all force accumulators |
---|
948 | for (i=0; i<nb; i++) { |
---|
949 | body[i]->facc[0] = 0; |
---|
950 | body[i]->facc[1] = 0; |
---|
951 | body[i]->facc[2] = 0; |
---|
952 | body[i]->facc[3] = 0; |
---|
953 | body[i]->tacc[0] = 0; |
---|
954 | body[i]->tacc[1] = 0; |
---|
955 | body[i]->tacc[2] = 0; |
---|
956 | body[i]->tacc[3] = 0; |
---|
957 | } |
---|
958 | |
---|
959 | #ifdef TIMING |
---|
960 | dTimerEnd(); |
---|
961 | if (m > 0) dTimerReport (stdout,1); |
---|
962 | #endif |
---|
963 | |
---|
964 | UNALLOCA(joint); |
---|
965 | UNALLOCA(I); |
---|
966 | UNALLOCA(invI); |
---|
967 | UNALLOCA(info); |
---|
968 | UNALLOCA(ofs); |
---|
969 | UNALLOCA(invM); |
---|
970 | UNALLOCA(fe); |
---|
971 | UNALLOCA(v); |
---|
972 | UNALLOCA(vnew); |
---|
973 | } |
---|
974 | |
---|
975 | //**************************************************************************** |
---|
976 | // an optimized version of dInternalStepIsland1() |
---|
977 | |
---|
978 | void dInternalStepIsland_x2 (dxWorld *world, dxBody * const *body, int nb, |
---|
979 | dxJoint * const *_joint, int nj, dReal stepsize) |
---|
980 | { |
---|
981 | int i,j,k; |
---|
982 | #ifdef TIMING |
---|
983 | dTimerStart("preprocessing"); |
---|
984 | #endif |
---|
985 | |
---|
986 | dReal stepsize1 = dRecip(stepsize); |
---|
987 | |
---|
988 | // number all bodies in the body list - set their tag values |
---|
989 | for (i=0; i<nb; i++) body[i]->tag = i; |
---|
990 | |
---|
991 | // make a local copy of the joint array, because we might want to modify it. |
---|
992 | // (the "dxJoint *const*" declaration says we're allowed to modify the joints |
---|
993 | // but not the joint array, because the caller might need it unchanged). |
---|
994 | ALLOCA(dxJoint*,joint,nj*sizeof(dxJoint*)); |
---|
995 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
996 | if (joint == NULL) { |
---|
997 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
998 | return; |
---|
999 | } |
---|
1000 | #endif |
---|
1001 | memcpy (joint,_joint,nj * sizeof(dxJoint*)); |
---|
1002 | |
---|
1003 | // for all bodies, compute the inertia tensor and its inverse in the global |
---|
1004 | // frame, and compute the rotational force and add it to the torque |
---|
1005 | // accumulator. I and invI are vertically stacked 3x4 matrices, one per body. |
---|
1006 | // @@@ check computation of rotational force. |
---|
1007 | #ifdef dGYROSCOPIC |
---|
1008 | ALLOCA(dReal,I,3*nb*4*sizeof(dReal)); |
---|
1009 | # ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1010 | if (I == NULL) { |
---|
1011 | UNALLOCA(joint); |
---|
1012 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1013 | return; |
---|
1014 | } |
---|
1015 | # endif |
---|
1016 | #else |
---|
1017 | dReal *I = NULL; |
---|
1018 | #endif // for dGYROSCOPIC |
---|
1019 | |
---|
1020 | ALLOCA(dReal,invI,3*nb*4*sizeof(dReal)); |
---|
1021 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1022 | if (invI == NULL) { |
---|
1023 | UNALLOCA(I); |
---|
1024 | UNALLOCA(joint); |
---|
1025 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1026 | return; |
---|
1027 | } |
---|
1028 | #endif |
---|
1029 | |
---|
1030 | //dSetZero (I,3*nb*4); |
---|
1031 | //dSetZero (invI,3*nb*4); |
---|
1032 | for (i=0; i<nb; i++) { |
---|
1033 | dReal tmp[12]; |
---|
1034 | |
---|
1035 | // compute inverse inertia tensor in global frame |
---|
1036 | dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->posr.R); |
---|
1037 | dMULTIPLY0_333 (invI+i*12,body[i]->posr.R,tmp); |
---|
1038 | #ifdef dGYROSCOPIC |
---|
1039 | // compute inertia tensor in global frame |
---|
1040 | dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->posr.R); |
---|
1041 | dMULTIPLY0_333 (I+i*12,body[i]->posr.R,tmp); |
---|
1042 | |
---|
1043 | // compute rotational force |
---|
1044 | dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel); |
---|
1045 | dCROSS (body[i]->tacc,-=,body[i]->avel,tmp); |
---|
1046 | #endif |
---|
1047 | } |
---|
1048 | |
---|
1049 | // add the gravity force to all bodies |
---|
1050 | for (i=0; i<nb; i++) { |
---|
1051 | if ((body[i]->flags & dxBodyNoGravity)==0) { |
---|
1052 | body[i]->facc[0] += body[i]->mass.mass * world->gravity[0]; |
---|
1053 | body[i]->facc[1] += body[i]->mass.mass * world->gravity[1]; |
---|
1054 | body[i]->facc[2] += body[i]->mass.mass * world->gravity[2]; |
---|
1055 | } |
---|
1056 | } |
---|
1057 | |
---|
1058 | // get m = total constraint dimension, nub = number of unbounded variables. |
---|
1059 | // create constraint offset array and number-of-rows array for all joints. |
---|
1060 | // the constraints are re-ordered as follows: the purely unbounded |
---|
1061 | // constraints, the mixed unbounded + LCP constraints, and last the purely |
---|
1062 | // LCP constraints. this assists the LCP solver to put all unbounded |
---|
1063 | // variables at the start for a quick factorization. |
---|
1064 | // |
---|
1065 | // joints with m=0 are inactive and are removed from the joints array |
---|
1066 | // entirely, so that the code that follows does not consider them. |
---|
1067 | // also number all active joints in the joint list (set their tag values). |
---|
1068 | // inactive joints receive a tag value of -1. |
---|
1069 | |
---|
1070 | int m = 0; |
---|
1071 | ALLOCA(dxJoint::Info1,info,nj*sizeof(dxJoint::Info1)); |
---|
1072 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1073 | if (info == NULL) { |
---|
1074 | UNALLOCA(invI); |
---|
1075 | UNALLOCA(I); |
---|
1076 | UNALLOCA(joint); |
---|
1077 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1078 | return; |
---|
1079 | } |
---|
1080 | #endif |
---|
1081 | ALLOCA(int,ofs,nj*sizeof(int)); |
---|
1082 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1083 | if (ofs == NULL) { |
---|
1084 | UNALLOCA(info); |
---|
1085 | UNALLOCA(invI); |
---|
1086 | UNALLOCA(I); |
---|
1087 | UNALLOCA(joint); |
---|
1088 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1089 | return; |
---|
1090 | } |
---|
1091 | #endif |
---|
1092 | for (i=0, j=0; j<nj; j++) { // i=dest, j=src |
---|
1093 | joint[j]->vtable->getInfo1 (joint[j],info+i); |
---|
1094 | dIASSERT (info[i].m >= 0 && info[i].m <= 6 && |
---|
1095 | info[i].nub >= 0 && info[i].nub <= info[i].m); |
---|
1096 | if (info[i].m > 0) { |
---|
1097 | joint[i] = joint[j]; |
---|
1098 | joint[i]->tag = i; |
---|
1099 | i++; |
---|
1100 | } |
---|
1101 | else { |
---|
1102 | joint[j]->tag = -1; |
---|
1103 | } |
---|
1104 | } |
---|
1105 | nj = i; |
---|
1106 | |
---|
1107 | // the purely unbounded constraints |
---|
1108 | for (i=0; i<nj; i++) if (info[i].nub == info[i].m) { |
---|
1109 | ofs[i] = m; |
---|
1110 | m += info[i].m; |
---|
1111 | } |
---|
1112 | int nub = m; |
---|
1113 | // the mixed unbounded + LCP constraints |
---|
1114 | for (i=0; i<nj; i++) if (info[i].nub > 0 && info[i].nub < info[i].m) { |
---|
1115 | ofs[i] = m; |
---|
1116 | m += info[i].m; |
---|
1117 | } |
---|
1118 | // the purely LCP constraints |
---|
1119 | for (i=0; i<nj; i++) if (info[i].nub == 0) { |
---|
1120 | ofs[i] = m; |
---|
1121 | m += info[i].m; |
---|
1122 | } |
---|
1123 | |
---|
1124 | // this will be set to the force due to the constraints |
---|
1125 | ALLOCA(dReal,cforce,nb*8*sizeof(dReal)); |
---|
1126 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1127 | if (cforce == NULL) { |
---|
1128 | UNALLOCA(ofs); |
---|
1129 | UNALLOCA(info); |
---|
1130 | UNALLOCA(invI); |
---|
1131 | UNALLOCA(I); |
---|
1132 | UNALLOCA(joint); |
---|
1133 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1134 | return; |
---|
1135 | } |
---|
1136 | #endif |
---|
1137 | dSetZero (cforce,nb*8); |
---|
1138 | |
---|
1139 | // if there are constraints, compute cforce |
---|
1140 | if (m > 0) { |
---|
1141 | // create a constraint equation right hand side vector `c', a constraint |
---|
1142 | // force mixing vector `cfm', and LCP low and high bound vectors, and an |
---|
1143 | // 'findex' vector. |
---|
1144 | ALLOCA(dReal,c,m*sizeof(dReal)); |
---|
1145 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1146 | if (c == NULL) { |
---|
1147 | UNALLOCA(cforce); |
---|
1148 | UNALLOCA(ofs); |
---|
1149 | UNALLOCA(info); |
---|
1150 | UNALLOCA(invI); |
---|
1151 | UNALLOCA(I); |
---|
1152 | UNALLOCA(joint); |
---|
1153 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1154 | return; |
---|
1155 | } |
---|
1156 | #endif |
---|
1157 | ALLOCA(dReal,cfm,m*sizeof(dReal)); |
---|
1158 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1159 | if (cfm == NULL) { |
---|
1160 | UNALLOCA(c); |
---|
1161 | UNALLOCA(cforce); |
---|
1162 | UNALLOCA(ofs); |
---|
1163 | UNALLOCA(info); |
---|
1164 | UNALLOCA(invI); |
---|
1165 | UNALLOCA(I); |
---|
1166 | UNALLOCA(joint); |
---|
1167 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1168 | return; |
---|
1169 | } |
---|
1170 | #endif |
---|
1171 | ALLOCA(dReal,lo,m*sizeof(dReal)); |
---|
1172 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1173 | if (lo == NULL) { |
---|
1174 | UNALLOCA(cfm); |
---|
1175 | UNALLOCA(c); |
---|
1176 | UNALLOCA(cforce); |
---|
1177 | UNALLOCA(ofs); |
---|
1178 | UNALLOCA(info); |
---|
1179 | UNALLOCA(invI); |
---|
1180 | UNALLOCA(I); |
---|
1181 | UNALLOCA(joint); |
---|
1182 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1183 | return; |
---|
1184 | } |
---|
1185 | #endif |
---|
1186 | ALLOCA(dReal,hi,m*sizeof(dReal)); |
---|
1187 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1188 | if (hi == NULL) { |
---|
1189 | UNALLOCA(lo); |
---|
1190 | UNALLOCA(cfm); |
---|
1191 | UNALLOCA(c); |
---|
1192 | UNALLOCA(cforce); |
---|
1193 | UNALLOCA(ofs); |
---|
1194 | UNALLOCA(info); |
---|
1195 | UNALLOCA(invI); |
---|
1196 | UNALLOCA(I); |
---|
1197 | UNALLOCA(joint); |
---|
1198 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1199 | return; |
---|
1200 | } |
---|
1201 | #endif |
---|
1202 | ALLOCA(int,findex,m*sizeof(int)); |
---|
1203 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1204 | if (findex == NULL) { |
---|
1205 | UNALLOCA(hi); |
---|
1206 | UNALLOCA(lo); |
---|
1207 | UNALLOCA(cfm); |
---|
1208 | UNALLOCA(c); |
---|
1209 | UNALLOCA(cforce); |
---|
1210 | UNALLOCA(ofs); |
---|
1211 | UNALLOCA(info); |
---|
1212 | UNALLOCA(invI); |
---|
1213 | UNALLOCA(I); |
---|
1214 | UNALLOCA(joint); |
---|
1215 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1216 | return; |
---|
1217 | } |
---|
1218 | #endif |
---|
1219 | dSetZero (c,m); |
---|
1220 | dSetValue (cfm,m,world->global_cfm); |
---|
1221 | dSetValue (lo,m,-dInfinity); |
---|
1222 | dSetValue (hi,m, dInfinity); |
---|
1223 | for (i=0; i<m; i++) findex[i] = -1; |
---|
1224 | |
---|
1225 | // get jacobian data from constraints. a (2*m)x8 matrix will be created |
---|
1226 | // to store the two jacobian blocks from each constraint. it has this |
---|
1227 | // format: |
---|
1228 | // |
---|
1229 | // l l l 0 a a a 0 \ . |
---|
1230 | // l l l 0 a a a 0 }-- jacobian body 1 block for joint 0 (3 rows) |
---|
1231 | // l l l 0 a a a 0 / |
---|
1232 | // l l l 0 a a a 0 \ . |
---|
1233 | // l l l 0 a a a 0 }-- jacobian body 2 block for joint 0 (3 rows) |
---|
1234 | // l l l 0 a a a 0 / |
---|
1235 | // l l l 0 a a a 0 }--- jacobian body 1 block for joint 1 (1 row) |
---|
1236 | // l l l 0 a a a 0 }--- jacobian body 2 block for joint 1 (1 row) |
---|
1237 | // etc... |
---|
1238 | // |
---|
1239 | // (lll) = linear jacobian data |
---|
1240 | // (aaa) = angular jacobian data |
---|
1241 | // |
---|
1242 | # ifdef TIMING |
---|
1243 | dTimerNow ("create J"); |
---|
1244 | # endif |
---|
1245 | ALLOCA(dReal,J,2*m*8*sizeof(dReal)); |
---|
1246 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1247 | if (J == NULL) { |
---|
1248 | UNALLOCA(findex); |
---|
1249 | UNALLOCA(hi); |
---|
1250 | UNALLOCA(lo); |
---|
1251 | UNALLOCA(cfm); |
---|
1252 | UNALLOCA(c); |
---|
1253 | UNALLOCA(cforce); |
---|
1254 | UNALLOCA(ofs); |
---|
1255 | UNALLOCA(info); |
---|
1256 | UNALLOCA(invI); |
---|
1257 | UNALLOCA(I); |
---|
1258 | UNALLOCA(joint); |
---|
1259 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1260 | return; |
---|
1261 | } |
---|
1262 | #endif |
---|
1263 | dSetZero (J,2*m*8); |
---|
1264 | dxJoint::Info2 Jinfo; |
---|
1265 | Jinfo.rowskip = 8; |
---|
1266 | Jinfo.fps = stepsize1; |
---|
1267 | Jinfo.erp = world->global_erp; |
---|
1268 | for (i=0; i<nj; i++) { |
---|
1269 | Jinfo.J1l = J + 2*8*ofs[i]; |
---|
1270 | Jinfo.J1a = Jinfo.J1l + 4; |
---|
1271 | Jinfo.J2l = Jinfo.J1l + 8*info[i].m; |
---|
1272 | Jinfo.J2a = Jinfo.J2l + 4; |
---|
1273 | Jinfo.c = c + ofs[i]; |
---|
1274 | Jinfo.cfm = cfm + ofs[i]; |
---|
1275 | Jinfo.lo = lo + ofs[i]; |
---|
1276 | Jinfo.hi = hi + ofs[i]; |
---|
1277 | Jinfo.findex = findex + ofs[i]; |
---|
1278 | joint[i]->vtable->getInfo2 (joint[i],&Jinfo); |
---|
1279 | // adjust returned findex values for global index numbering |
---|
1280 | for (j=0; j<info[i].m; j++) { |
---|
1281 | if (findex[ofs[i] + j] >= 0) findex[ofs[i] + j] += ofs[i]; |
---|
1282 | } |
---|
1283 | } |
---|
1284 | |
---|
1285 | // compute A = J*invM*J'. first compute JinvM = J*invM. this has the same |
---|
1286 | // format as J so we just go through the constraints in J multiplying by |
---|
1287 | // the appropriate scalars and matrices. |
---|
1288 | # ifdef TIMING |
---|
1289 | dTimerNow ("compute A"); |
---|
1290 | # endif |
---|
1291 | ALLOCA(dReal,JinvM,2*m*8*sizeof(dReal)); |
---|
1292 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1293 | if (JinvM == NULL) { |
---|
1294 | UNALLOCA(J); |
---|
1295 | UNALLOCA(findex); |
---|
1296 | UNALLOCA(hi); |
---|
1297 | UNALLOCA(lo); |
---|
1298 | UNALLOCA(cfm); |
---|
1299 | UNALLOCA(c); |
---|
1300 | UNALLOCA(cforce); |
---|
1301 | UNALLOCA(ofs); |
---|
1302 | UNALLOCA(info); |
---|
1303 | UNALLOCA(invI); |
---|
1304 | UNALLOCA(I); |
---|
1305 | UNALLOCA(joint); |
---|
1306 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1307 | return; |
---|
1308 | } |
---|
1309 | #endif |
---|
1310 | dSetZero (JinvM,2*m*8); |
---|
1311 | for (i=0; i<nj; i++) { |
---|
1312 | int b = joint[i]->node[0].body->tag; |
---|
1313 | dReal body_invMass = body[b]->invMass; |
---|
1314 | dReal *body_invI = invI + b*12; |
---|
1315 | dReal *Jsrc = J + 2*8*ofs[i]; |
---|
1316 | dReal *Jdst = JinvM + 2*8*ofs[i]; |
---|
1317 | for (j=info[i].m-1; j>=0; j--) { |
---|
1318 | for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass; |
---|
1319 | dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI); |
---|
1320 | Jsrc += 8; |
---|
1321 | Jdst += 8; |
---|
1322 | } |
---|
1323 | if (joint[i]->node[1].body) { |
---|
1324 | b = joint[i]->node[1].body->tag; |
---|
1325 | body_invMass = body[b]->invMass; |
---|
1326 | body_invI = invI + b*12; |
---|
1327 | for (j=info[i].m-1; j>=0; j--) { |
---|
1328 | for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass; |
---|
1329 | dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI); |
---|
1330 | Jsrc += 8; |
---|
1331 | Jdst += 8; |
---|
1332 | } |
---|
1333 | } |
---|
1334 | } |
---|
1335 | |
---|
1336 | // now compute A = JinvM * J'. A's rows and columns are grouped by joint, |
---|
1337 | // i.e. in the same way as the rows of J. block (i,j) of A is only nonzero |
---|
1338 | // if joints i and j have at least one body in common. this fact suggests |
---|
1339 | // the algorithm used to fill A: |
---|
1340 | // |
---|
1341 | // for b = all bodies |
---|
1342 | // n = number of joints attached to body b |
---|
1343 | // for i = 1..n |
---|
1344 | // for j = i+1..n |
---|
1345 | // ii = actual joint number for i |
---|
1346 | // jj = actual joint number for j |
---|
1347 | // // (ii,jj) will be set to all pairs of joints around body b |
---|
1348 | // compute blockwise: A(ii,jj) += JinvM(ii) * J(jj)' |
---|
1349 | // |
---|
1350 | // this algorithm catches all pairs of joints that have at least one body |
---|
1351 | // in common. it does not compute the diagonal blocks of A however - |
---|
1352 | // another similar algorithm does that. |
---|
1353 | |
---|
1354 | int mskip = dPAD(m); |
---|
1355 | ALLOCA(dReal,A,m*mskip*sizeof(dReal)); |
---|
1356 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1357 | if (A == NULL) { |
---|
1358 | UNALLOCA(JinvM); |
---|
1359 | UNALLOCA(J); |
---|
1360 | UNALLOCA(findex); |
---|
1361 | UNALLOCA(hi); |
---|
1362 | UNALLOCA(lo); |
---|
1363 | UNALLOCA(cfm); |
---|
1364 | UNALLOCA(c); |
---|
1365 | UNALLOCA(cforce); |
---|
1366 | UNALLOCA(ofs); |
---|
1367 | UNALLOCA(info); |
---|
1368 | UNALLOCA(invI); |
---|
1369 | UNALLOCA(I); |
---|
1370 | UNALLOCA(joint); |
---|
1371 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1372 | return; |
---|
1373 | } |
---|
1374 | #endif |
---|
1375 | dSetZero (A,m*mskip); |
---|
1376 | for (i=0; i<nb; i++) { |
---|
1377 | for (dxJointNode *n1=body[i]->firstjoint; n1; n1=n1->next) { |
---|
1378 | for (dxJointNode *n2=n1->next; n2; n2=n2->next) { |
---|
1379 | // get joint numbers and ensure ofs[j1] >= ofs[j2] |
---|
1380 | int j1 = n1->joint->tag; |
---|
1381 | int j2 = n2->joint->tag; |
---|
1382 | if (ofs[j1] < ofs[j2]) { |
---|
1383 | int tmp = j1; |
---|
1384 | j1 = j2; |
---|
1385 | j2 = tmp; |
---|
1386 | } |
---|
1387 | |
---|
1388 | // if either joint was tagged as -1 then it is an inactive (m=0) |
---|
1389 | // joint that should not be considered |
---|
1390 | if (j1==-1 || j2==-1) continue; |
---|
1391 | |
---|
1392 | // determine if body i is the 1st or 2nd body of joints j1 and j2 |
---|
1393 | int jb1 = (joint[j1]->node[1].body == body[i]); |
---|
1394 | int jb2 = (joint[j2]->node[1].body == body[i]); |
---|
1395 | // jb1/jb2 must be 0 for joints with only one body |
---|
1396 | dIASSERT(joint[j1]->node[1].body || jb1==0); |
---|
1397 | dIASSERT(joint[j2]->node[1].body || jb2==0); |
---|
1398 | |
---|
1399 | // set block of A |
---|
1400 | MultiplyAdd2_p8r (A + ofs[j1]*mskip + ofs[j2], |
---|
1401 | JinvM + 2*8*ofs[j1] + jb1*8*info[j1].m, |
---|
1402 | J + 2*8*ofs[j2] + jb2*8*info[j2].m, |
---|
1403 | info[j1].m,info[j2].m, mskip); |
---|
1404 | } |
---|
1405 | } |
---|
1406 | } |
---|
1407 | // compute diagonal blocks of A |
---|
1408 | for (i=0; i<nj; i++) { |
---|
1409 | Multiply2_p8r (A + ofs[i]*(mskip+1), |
---|
1410 | JinvM + 2*8*ofs[i], |
---|
1411 | J + 2*8*ofs[i], |
---|
1412 | info[i].m,info[i].m, mskip); |
---|
1413 | if (joint[i]->node[1].body) { |
---|
1414 | MultiplyAdd2_p8r (A + ofs[i]*(mskip+1), |
---|
1415 | JinvM + 2*8*ofs[i] + 8*info[i].m, |
---|
1416 | J + 2*8*ofs[i] + 8*info[i].m, |
---|
1417 | info[i].m,info[i].m, mskip); |
---|
1418 | } |
---|
1419 | } |
---|
1420 | |
---|
1421 | // add cfm to the diagonal of A |
---|
1422 | for (i=0; i<m; i++) A[i*mskip+i] += cfm[i] * stepsize1; |
---|
1423 | |
---|
1424 | # ifdef COMPARE_METHODS |
---|
1425 | comparator.nextMatrix (A,m,m,1,"A"); |
---|
1426 | # endif |
---|
1427 | |
---|
1428 | // compute the right hand side `rhs' |
---|
1429 | # ifdef TIMING |
---|
1430 | dTimerNow ("compute rhs"); |
---|
1431 | # endif |
---|
1432 | ALLOCA(dReal,tmp1,nb*8*sizeof(dReal)); |
---|
1433 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1434 | if (tmp1 == NULL) { |
---|
1435 | UNALLOCA(A); |
---|
1436 | UNALLOCA(JinvM); |
---|
1437 | UNALLOCA(J); |
---|
1438 | UNALLOCA(findex); |
---|
1439 | UNALLOCA(hi); |
---|
1440 | UNALLOCA(lo); |
---|
1441 | UNALLOCA(cfm); |
---|
1442 | UNALLOCA(c); |
---|
1443 | UNALLOCA(cforce); |
---|
1444 | UNALLOCA(ofs); |
---|
1445 | UNALLOCA(info); |
---|
1446 | UNALLOCA(invI); |
---|
1447 | UNALLOCA(I); |
---|
1448 | UNALLOCA(joint); |
---|
1449 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1450 | return; |
---|
1451 | } |
---|
1452 | #endif |
---|
1453 | //dSetZero (tmp1,nb*8); |
---|
1454 | // put v/h + invM*fe into tmp1 |
---|
1455 | for (i=0; i<nb; i++) { |
---|
1456 | dReal body_invMass = body[i]->invMass; |
---|
1457 | dReal *body_invI = invI + i*12; |
---|
1458 | for (j=0; j<3; j++) tmp1[i*8+j] = body[i]->facc[j] * body_invMass + |
---|
1459 | body[i]->lvel[j] * stepsize1; |
---|
1460 | dMULTIPLY0_331 (tmp1 + i*8 + 4,body_invI,body[i]->tacc); |
---|
1461 | for (j=0; j<3; j++) tmp1[i*8+4+j] += body[i]->avel[j] * stepsize1; |
---|
1462 | } |
---|
1463 | // put J*tmp1 into rhs |
---|
1464 | ALLOCA(dReal,rhs,m*sizeof(dReal)); |
---|
1465 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1466 | if (rhs == NULL) { |
---|
1467 | UNALLOCA(tmp1); |
---|
1468 | UNALLOCA(A); |
---|
1469 | UNALLOCA(JinvM); |
---|
1470 | UNALLOCA(J); |
---|
1471 | UNALLOCA(findex); |
---|
1472 | UNALLOCA(hi); |
---|
1473 | UNALLOCA(lo); |
---|
1474 | UNALLOCA(cfm); |
---|
1475 | UNALLOCA(c); |
---|
1476 | UNALLOCA(cforce); |
---|
1477 | UNALLOCA(ofs); |
---|
1478 | UNALLOCA(info); |
---|
1479 | UNALLOCA(invI); |
---|
1480 | UNALLOCA(I); |
---|
1481 | UNALLOCA(joint); |
---|
1482 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1483 | return; |
---|
1484 | } |
---|
1485 | #endif |
---|
1486 | //dSetZero (rhs,m); |
---|
1487 | for (i=0; i<nj; i++) { |
---|
1488 | dReal *JJ = J + 2*8*ofs[i]; |
---|
1489 | Multiply0_p81 (rhs+ofs[i],JJ, |
---|
1490 | tmp1 + 8*joint[i]->node[0].body->tag, info[i].m); |
---|
1491 | if (joint[i]->node[1].body) { |
---|
1492 | MultiplyAdd0_p81 (rhs+ofs[i],JJ + 8*info[i].m, |
---|
1493 | tmp1 + 8*joint[i]->node[1].body->tag, info[i].m); |
---|
1494 | } |
---|
1495 | } |
---|
1496 | // complete rhs |
---|
1497 | for (i=0; i<m; i++) rhs[i] = c[i]*stepsize1 - rhs[i]; |
---|
1498 | |
---|
1499 | # ifdef COMPARE_METHODS |
---|
1500 | comparator.nextMatrix (c,m,1,0,"c"); |
---|
1501 | comparator.nextMatrix (rhs,m,1,0,"rhs"); |
---|
1502 | # endif |
---|
1503 | |
---|
1504 | // solve the LCP problem and get lambda. |
---|
1505 | // this will destroy A but that's okay |
---|
1506 | # ifdef TIMING |
---|
1507 | dTimerNow ("solving LCP problem"); |
---|
1508 | # endif |
---|
1509 | ALLOCA(dReal,lambda,m*sizeof(dReal)); |
---|
1510 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1511 | if (lambda == NULL) { |
---|
1512 | UNALLOCA(rhs); |
---|
1513 | UNALLOCA(tmp1); |
---|
1514 | UNALLOCA(A); |
---|
1515 | UNALLOCA(JinvM); |
---|
1516 | UNALLOCA(J); |
---|
1517 | UNALLOCA(findex); |
---|
1518 | UNALLOCA(hi); |
---|
1519 | UNALLOCA(lo); |
---|
1520 | UNALLOCA(cfm); |
---|
1521 | UNALLOCA(c); |
---|
1522 | UNALLOCA(cforce); |
---|
1523 | UNALLOCA(ofs); |
---|
1524 | UNALLOCA(info); |
---|
1525 | UNALLOCA(invI); |
---|
1526 | UNALLOCA(I); |
---|
1527 | UNALLOCA(joint); |
---|
1528 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1529 | return; |
---|
1530 | } |
---|
1531 | #endif |
---|
1532 | ALLOCA(dReal,residual,m*sizeof(dReal)); |
---|
1533 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1534 | if (residual == NULL) { |
---|
1535 | UNALLOCA(lambda); |
---|
1536 | UNALLOCA(rhs); |
---|
1537 | UNALLOCA(tmp1); |
---|
1538 | UNALLOCA(A); |
---|
1539 | UNALLOCA(JinvM); |
---|
1540 | UNALLOCA(J); |
---|
1541 | UNALLOCA(findex); |
---|
1542 | UNALLOCA(hi); |
---|
1543 | UNALLOCA(lo); |
---|
1544 | UNALLOCA(cfm); |
---|
1545 | UNALLOCA(c); |
---|
1546 | UNALLOCA(cforce); |
---|
1547 | UNALLOCA(ofs); |
---|
1548 | UNALLOCA(info); |
---|
1549 | UNALLOCA(invI); |
---|
1550 | UNALLOCA(I); |
---|
1551 | UNALLOCA(joint); |
---|
1552 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1553 | return; |
---|
1554 | } |
---|
1555 | #endif |
---|
1556 | dSolveLCP (m,A,lambda,rhs,residual,nub,lo,hi,findex); |
---|
1557 | |
---|
1558 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1559 | if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) |
---|
1560 | return; |
---|
1561 | #endif |
---|
1562 | |
---|
1563 | |
---|
1564 | // OLD WAY - direct factor and solve |
---|
1565 | // |
---|
1566 | // // factorize A (L*L'=A) |
---|
1567 | //# ifdef TIMING |
---|
1568 | // dTimerNow ("factorize A"); |
---|
1569 | //# endif |
---|
1570 | // dReal *L = (dReal*) ALLOCA (m*mskip*sizeof(dReal)); |
---|
1571 | // memcpy (L,A,m*mskip*sizeof(dReal)); |
---|
1572 | //# ifdef FAST_FACTOR |
---|
1573 | // dFastFactorCholesky (L,m); // does not report non positive definiteness |
---|
1574 | //# else |
---|
1575 | // if (dFactorCholesky (L,m)==0) dDebug (0,"A is not positive definite"); |
---|
1576 | //# endif |
---|
1577 | // |
---|
1578 | // // compute lambda |
---|
1579 | //# ifdef TIMING |
---|
1580 | // dTimerNow ("compute lambda"); |
---|
1581 | //# endif |
---|
1582 | // dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal)); |
---|
1583 | // memcpy (lambda,rhs,m * sizeof(dReal)); |
---|
1584 | // dSolveCholesky (L,lambda,m); |
---|
1585 | |
---|
1586 | # ifdef COMPARE_METHODS |
---|
1587 | comparator.nextMatrix (lambda,m,1,0,"lambda"); |
---|
1588 | # endif |
---|
1589 | |
---|
1590 | // compute the constraint force `cforce' |
---|
1591 | # ifdef TIMING |
---|
1592 | dTimerNow ("compute constraint force"); |
---|
1593 | # endif |
---|
1594 | // compute cforce = J'*lambda |
---|
1595 | for (i=0; i<nj; i++) { |
---|
1596 | dReal *JJ = J + 2*8*ofs[i]; |
---|
1597 | dxBody* b1 = joint[i]->node[0].body; |
---|
1598 | dxBody* b2 = joint[i]->node[1].body; |
---|
1599 | dJointFeedback *fb = joint[i]->feedback; |
---|
1600 | |
---|
1601 | if (fb) { |
---|
1602 | // the user has requested feedback on the amount of force that this |
---|
1603 | // joint is applying to the bodies. we use a slightly slower |
---|
1604 | // computation that splits out the force components and puts them |
---|
1605 | // in the feedback structure. |
---|
1606 | dReal data1[8],data2[8]; |
---|
1607 | Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m); |
---|
1608 | dReal *cf1 = cforce + 8*b1->tag; |
---|
1609 | cf1[0] += (fb->f1[0] = data1[0]); |
---|
1610 | cf1[1] += (fb->f1[1] = data1[1]); |
---|
1611 | cf1[2] += (fb->f1[2] = data1[2]); |
---|
1612 | cf1[4] += (fb->t1[0] = data1[4]); |
---|
1613 | cf1[5] += (fb->t1[1] = data1[5]); |
---|
1614 | cf1[6] += (fb->t1[2] = data1[6]); |
---|
1615 | if (b2){ |
---|
1616 | Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m); |
---|
1617 | dReal *cf2 = cforce + 8*b2->tag; |
---|
1618 | cf2[0] += (fb->f2[0] = data2[0]); |
---|
1619 | cf2[1] += (fb->f2[1] = data2[1]); |
---|
1620 | cf2[2] += (fb->f2[2] = data2[2]); |
---|
1621 | cf2[4] += (fb->t2[0] = data2[4]); |
---|
1622 | cf2[5] += (fb->t2[1] = data2[5]); |
---|
1623 | cf2[6] += (fb->t2[2] = data2[6]); |
---|
1624 | } |
---|
1625 | } |
---|
1626 | else { |
---|
1627 | // no feedback is required, let's compute cforce the faster way |
---|
1628 | MultiplyAdd1_8q1 (cforce + 8*b1->tag,JJ, lambda+ofs[i], info[i].m); |
---|
1629 | if (b2) { |
---|
1630 | MultiplyAdd1_8q1 (cforce + 8*b2->tag, |
---|
1631 | JJ + 8*info[i].m, lambda+ofs[i], info[i].m); |
---|
1632 | } |
---|
1633 | } |
---|
1634 | } |
---|
1635 | UNALLOCA(c); |
---|
1636 | UNALLOCA(cfm); |
---|
1637 | UNALLOCA(lo); |
---|
1638 | UNALLOCA(hi); |
---|
1639 | UNALLOCA(findex); |
---|
1640 | UNALLOCA(J); |
---|
1641 | UNALLOCA(JinvM); |
---|
1642 | UNALLOCA(A); |
---|
1643 | UNALLOCA(tmp1); |
---|
1644 | UNALLOCA(rhs); |
---|
1645 | UNALLOCA(lambda); |
---|
1646 | UNALLOCA(residual); |
---|
1647 | } |
---|
1648 | |
---|
1649 | // compute the velocity update |
---|
1650 | #ifdef TIMING |
---|
1651 | dTimerNow ("compute velocity update"); |
---|
1652 | #endif |
---|
1653 | |
---|
1654 | // add fe to cforce |
---|
1655 | for (i=0; i<nb; i++) { |
---|
1656 | for (j=0; j<3; j++) cforce[i*8+j] += body[i]->facc[j]; |
---|
1657 | for (j=0; j<3; j++) cforce[i*8+4+j] += body[i]->tacc[j]; |
---|
1658 | } |
---|
1659 | // multiply cforce by stepsize |
---|
1660 | for (i=0; i < nb*8; i++) cforce[i] *= stepsize; |
---|
1661 | // add invM * cforce to the body velocity |
---|
1662 | for (i=0; i<nb; i++) { |
---|
1663 | dReal body_invMass = body[i]->invMass; |
---|
1664 | dReal *body_invI = invI + i*12; |
---|
1665 | for (j=0; j<3; j++) body[i]->lvel[j] += body_invMass * cforce[i*8+j]; |
---|
1666 | dMULTIPLYADD0_331 (body[i]->avel,body_invI,cforce+i*8+4); |
---|
1667 | } |
---|
1668 | |
---|
1669 | // update the position and orientation from the new linear/angular velocity |
---|
1670 | // (over the given timestep) |
---|
1671 | # ifdef TIMING |
---|
1672 | dTimerNow ("update position"); |
---|
1673 | # endif |
---|
1674 | for (i=0; i<nb; i++) dxStepBody (body[i],stepsize); |
---|
1675 | |
---|
1676 | #ifdef COMPARE_METHODS |
---|
1677 | ALLOCA(dReal,tmp, ALLOCA (nb*6*sizeof(dReal)); |
---|
1678 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1679 | if (tmp == NULL) { |
---|
1680 | UNALLOCA(cforce); |
---|
1681 | UNALLOCA(ofs); |
---|
1682 | UNALLOCA(info); |
---|
1683 | UNALLOCA(invI); |
---|
1684 | UNALLOCA(I); |
---|
1685 | UNALLOCA(joint); |
---|
1686 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1687 | return; |
---|
1688 | } |
---|
1689 | #endif |
---|
1690 | for (i=0; i<nb; i++) { |
---|
1691 | for (j=0; j<3; j++) tmp_vnew[i*6+j] = body[i]->lvel[j]; |
---|
1692 | for (j=0; j<3; j++) tmp_vnew[i*6+3+j] = body[i]->avel[j]; |
---|
1693 | } |
---|
1694 | comparator.nextMatrix (tmp_vnew,nb*6,1,0,"vnew"); |
---|
1695 | UNALLOCA(tmp); |
---|
1696 | #endif |
---|
1697 | |
---|
1698 | #ifdef TIMING |
---|
1699 | dTimerNow ("tidy up"); |
---|
1700 | #endif |
---|
1701 | |
---|
1702 | // zero all force accumulators |
---|
1703 | for (i=0; i<nb; i++) { |
---|
1704 | body[i]->facc[0] = 0; |
---|
1705 | body[i]->facc[1] = 0; |
---|
1706 | body[i]->facc[2] = 0; |
---|
1707 | body[i]->facc[3] = 0; |
---|
1708 | body[i]->tacc[0] = 0; |
---|
1709 | body[i]->tacc[1] = 0; |
---|
1710 | body[i]->tacc[2] = 0; |
---|
1711 | body[i]->tacc[3] = 0; |
---|
1712 | } |
---|
1713 | |
---|
1714 | #ifdef TIMING |
---|
1715 | dTimerEnd(); |
---|
1716 | if (m > 0) dTimerReport (stdout,1); |
---|
1717 | #endif |
---|
1718 | |
---|
1719 | UNALLOCA(joint); |
---|
1720 | UNALLOCA(I); |
---|
1721 | UNALLOCA(invI); |
---|
1722 | UNALLOCA(info); |
---|
1723 | UNALLOCA(ofs); |
---|
1724 | UNALLOCA(cforce); |
---|
1725 | } |
---|
1726 | |
---|
1727 | //**************************************************************************** |
---|
1728 | |
---|
1729 | void dInternalStepIsland (dxWorld *world, dxBody * const *body, int nb, |
---|
1730 | dxJoint * const *joint, int nj, dReal stepsize) |
---|
1731 | { |
---|
1732 | |
---|
1733 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1734 | dMemoryFlag = d_MEMORY_OK; |
---|
1735 | #endif |
---|
1736 | |
---|
1737 | #ifndef COMPARE_METHODS |
---|
1738 | dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize); |
---|
1739 | |
---|
1740 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1741 | if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) { |
---|
1742 | REPORT_OUT_OF_MEMORY; |
---|
1743 | return; |
---|
1744 | } |
---|
1745 | #endif |
---|
1746 | |
---|
1747 | #endif |
---|
1748 | |
---|
1749 | #ifdef COMPARE_METHODS |
---|
1750 | int i; |
---|
1751 | |
---|
1752 | // save body state |
---|
1753 | ALLOCA(dxBody,state,nb*sizeof(dxBody)); |
---|
1754 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1755 | if (state == NULL) { |
---|
1756 | dMemoryFlag = d_MEMORY_OUT_OF_MEMORY; |
---|
1757 | REPORT_OUT_OF_MEMORY; |
---|
1758 | return; |
---|
1759 | } |
---|
1760 | #endif |
---|
1761 | for (i=0; i<nb; i++) memcpy (state+i,body[i],sizeof(dxBody)); |
---|
1762 | |
---|
1763 | // take slow step |
---|
1764 | comparator.reset(); |
---|
1765 | dInternalStepIsland_x1 (world,body,nb,joint,nj,stepsize); |
---|
1766 | comparator.end(); |
---|
1767 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1768 | if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) { |
---|
1769 | UNALLOCA(state); |
---|
1770 | REPORT_OUT_OF_MEMORY; |
---|
1771 | return; |
---|
1772 | } |
---|
1773 | #endif |
---|
1774 | |
---|
1775 | // restore state |
---|
1776 | for (i=0; i<nb; i++) memcpy (body[i],state+i,sizeof(dxBody)); |
---|
1777 | |
---|
1778 | // take fast step |
---|
1779 | dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize); |
---|
1780 | comparator.end(); |
---|
1781 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
---|
1782 | if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) { |
---|
1783 | UNALLOCA(state); |
---|
1784 | REPORT_OUT_OF_MEMORY; |
---|
1785 | return; |
---|
1786 | } |
---|
1787 | #endif |
---|
1788 | |
---|
1789 | //comparator.dump(); |
---|
1790 | //_exit (1); |
---|
1791 | UNALLOCA(state); |
---|
1792 | #endif |
---|
1793 | } |
---|
1794 | |
---|
1795 | |
---|