diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp | 3526 |
1 files changed, 1802 insertions, 1724 deletions
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp index 986f214870..98ecdc0794 100644 --- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp +++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp @@ -108,18 +108,16 @@ rows/columns and manipulate C. */ - #include "btDantzigLCP.h" -#include <string.h>//memcpy +#include <string.h> //memcpy bool s_error = false; //*************************************************************************** // code generation parameters - -#define btLCP_FAST // use fast btLCP object +#define btLCP_FAST // use fast btLCP object // option 1 : matrix row pointers (less data copying) #define BTROWPTRS @@ -133,8 +131,6 @@ bool s_error = false; #define BTNUB_OPTIMIZATIONS - - /* solve L*X=B, with B containing 1 right hand sides. * L is an n*n lower triangular matrix with ones on the diagonal. * L is stored by rows and its leading dimension is lskip. @@ -145,66 +141,69 @@ bool s_error = false; * if this is in the factorizer source file, n must be a multiple of 2. */ -static void btSolveL1_1 (const btScalar *L, btScalar *B, int n, int lskip1) -{ - /* declare variables - Z matrix, p and q vectors, etc */ - btScalar Z11,m11,Z21,m21,p1,q1,p2,*ex; - const btScalar *ell; - int i,j; - /* compute all 2 x 1 blocks of X */ - for (i=0; i < n; i+=2) { - /* compute all 2 x 1 block of X, from rows i..i+2-1 */ - /* set the Z matrix to 0 */ - Z11=0; - Z21=0; - ell = L + i*lskip1; - ex = B; - /* the inner loop that computes outer products and adds them to Z */ - for (j=i-2; j >= 0; j -= 2) { - /* compute outer product and add it to the Z matrix */ - p1=ell[0]; - q1=ex[0]; - m11 = p1 * q1; - p2=ell[lskip1]; - m21 = p2 * q1; - Z11 += m11; - Z21 += m21; - /* compute outer product and add it to the Z matrix */ - p1=ell[1]; - q1=ex[1]; - m11 = p1 * q1; - p2=ell[1+lskip1]; - m21 = p2 * q1; - /* advance pointers */ - ell += 2; - ex += 2; - Z11 += m11; - Z21 += m21; - /* end of inner loop */ - } - /* compute left-over iterations */ - j += 2; - for (; j > 0; j--) { - /* compute outer product and add it to the Z matrix */ - p1=ell[0]; - q1=ex[0]; - m11 = p1 * q1; - p2=ell[lskip1]; - m21 = p2 * q1; - /* advance pointers */ - ell += 1; - ex += 1; - Z11 += m11; - Z21 += m21; - } - /* finish computing the X(i) block */ - Z11 = ex[0] - Z11; - ex[0] = Z11; - p1 = ell[lskip1]; - Z21 = ex[1] - Z21 - p1*Z11; - ex[1] = Z21; - /* end of outer loop */ - } +static void btSolveL1_1(const btScalar *L, btScalar *B, int n, int lskip1) +{ + /* declare variables - Z matrix, p and q vectors, etc */ + btScalar Z11, m11, Z21, m21, p1, q1, p2, *ex; + const btScalar *ell; + int i, j; + /* compute all 2 x 1 blocks of X */ + for (i = 0; i < n; i += 2) + { + /* compute all 2 x 1 block of X, from rows i..i+2-1 */ + /* set the Z matrix to 0 */ + Z11 = 0; + Z21 = 0; + ell = L + i * lskip1; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j = i - 2; j >= 0; j -= 2) + { + /* compute outer product and add it to the Z matrix */ + p1 = ell[0]; + q1 = ex[0]; + m11 = p1 * q1; + p2 = ell[lskip1]; + m21 = p2 * q1; + Z11 += m11; + Z21 += m21; + /* compute outer product and add it to the Z matrix */ + p1 = ell[1]; + q1 = ex[1]; + m11 = p1 * q1; + p2 = ell[1 + lskip1]; + m21 = p2 * q1; + /* advance pointers */ + ell += 2; + ex += 2; + Z11 += m11; + Z21 += m21; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 2; + for (; j > 0; j--) + { + /* compute outer product and add it to the Z matrix */ + p1 = ell[0]; + q1 = ex[0]; + m11 = p1 * q1; + p2 = ell[lskip1]; + m21 = p2 * q1; + /* advance pointers */ + ell += 1; + ex += 1; + Z11 += m11; + Z21 += m21; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + p1 = ell[lskip1]; + Z21 = ex[1] - Z21 - p1 * Z11; + ex[1] = Z21; + /* end of outer loop */ + } } /* solve L*X=B, with B containing 2 right hand sides. @@ -217,300 +216,308 @@ static void btSolveL1_1 (const btScalar *L, btScalar *B, int n, int lskip1) * if this is in the factorizer source file, n must be a multiple of 2. */ -static void btSolveL1_2 (const btScalar *L, btScalar *B, int n, int lskip1) -{ - /* declare variables - Z matrix, p and q vectors, etc */ - btScalar Z11,m11,Z12,m12,Z21,m21,Z22,m22,p1,q1,p2,q2,*ex; - const btScalar *ell; - int i,j; - /* compute all 2 x 2 blocks of X */ - for (i=0; i < n; i+=2) { - /* compute all 2 x 2 block of X, from rows i..i+2-1 */ - /* set the Z matrix to 0 */ - Z11=0; - Z12=0; - Z21=0; - Z22=0; - ell = L + i*lskip1; - ex = B; - /* the inner loop that computes outer products and adds them to Z */ - for (j=i-2; j >= 0; j -= 2) { - /* compute outer product and add it to the Z matrix */ - p1=ell[0]; - q1=ex[0]; - m11 = p1 * q1; - q2=ex[lskip1]; - m12 = p1 * q2; - p2=ell[lskip1]; - m21 = p2 * q1; - m22 = p2 * q2; - Z11 += m11; - Z12 += m12; - Z21 += m21; - Z22 += m22; - /* compute outer product and add it to the Z matrix */ - p1=ell[1]; - q1=ex[1]; - m11 = p1 * q1; - q2=ex[1+lskip1]; - m12 = p1 * q2; - p2=ell[1+lskip1]; - m21 = p2 * q1; - m22 = p2 * q2; - /* advance pointers */ - ell += 2; - ex += 2; - Z11 += m11; - Z12 += m12; - Z21 += m21; - Z22 += m22; - /* end of inner loop */ - } - /* compute left-over iterations */ - j += 2; - for (; j > 0; j--) { - /* compute outer product and add it to the Z matrix */ - p1=ell[0]; - q1=ex[0]; - m11 = p1 * q1; - q2=ex[lskip1]; - m12 = p1 * q2; - p2=ell[lskip1]; - m21 = p2 * q1; - m22 = p2 * q2; - /* advance pointers */ - ell += 1; - ex += 1; - Z11 += m11; - Z12 += m12; - Z21 += m21; - Z22 += m22; - } - /* finish computing the X(i) block */ - Z11 = ex[0] - Z11; - ex[0] = Z11; - Z12 = ex[lskip1] - Z12; - ex[lskip1] = Z12; - p1 = ell[lskip1]; - Z21 = ex[1] - Z21 - p1*Z11; - ex[1] = Z21; - Z22 = ex[1+lskip1] - Z22 - p1*Z12; - ex[1+lskip1] = Z22; - /* end of outer loop */ - } +static void btSolveL1_2(const btScalar *L, btScalar *B, int n, int lskip1) +{ + /* declare variables - Z matrix, p and q vectors, etc */ + btScalar Z11, m11, Z12, m12, Z21, m21, Z22, m22, p1, q1, p2, q2, *ex; + const btScalar *ell; + int i, j; + /* compute all 2 x 2 blocks of X */ + for (i = 0; i < n; i += 2) + { + /* compute all 2 x 2 block of X, from rows i..i+2-1 */ + /* set the Z matrix to 0 */ + Z11 = 0; + Z12 = 0; + Z21 = 0; + Z22 = 0; + ell = L + i * lskip1; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j = i - 2; j >= 0; j -= 2) + { + /* compute outer product and add it to the Z matrix */ + p1 = ell[0]; + q1 = ex[0]; + m11 = p1 * q1; + q2 = ex[lskip1]; + m12 = p1 * q2; + p2 = ell[lskip1]; + m21 = p2 * q1; + m22 = p2 * q2; + Z11 += m11; + Z12 += m12; + Z21 += m21; + Z22 += m22; + /* compute outer product and add it to the Z matrix */ + p1 = ell[1]; + q1 = ex[1]; + m11 = p1 * q1; + q2 = ex[1 + lskip1]; + m12 = p1 * q2; + p2 = ell[1 + lskip1]; + m21 = p2 * q1; + m22 = p2 * q2; + /* advance pointers */ + ell += 2; + ex += 2; + Z11 += m11; + Z12 += m12; + Z21 += m21; + Z22 += m22; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 2; + for (; j > 0; j--) + { + /* compute outer product and add it to the Z matrix */ + p1 = ell[0]; + q1 = ex[0]; + m11 = p1 * q1; + q2 = ex[lskip1]; + m12 = p1 * q2; + p2 = ell[lskip1]; + m21 = p2 * q1; + m22 = p2 * q2; + /* advance pointers */ + ell += 1; + ex += 1; + Z11 += m11; + Z12 += m12; + Z21 += m21; + Z22 += m22; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + Z12 = ex[lskip1] - Z12; + ex[lskip1] = Z12; + p1 = ell[lskip1]; + Z21 = ex[1] - Z21 - p1 * Z11; + ex[1] = Z21; + Z22 = ex[1 + lskip1] - Z22 - p1 * Z12; + ex[1 + lskip1] = Z22; + /* end of outer loop */ + } } +void btFactorLDLT(btScalar *A, btScalar *d, int n, int nskip1) +{ + int i, j; + btScalar sum, *ell, *dee, dd, p1, p2, q1, q2, Z11, m11, Z21, m21, Z22, m22; + if (n < 1) return; -void btFactorLDLT (btScalar *A, btScalar *d, int n, int nskip1) -{ - int i,j; - btScalar sum,*ell,*dee,dd,p1,p2,q1,q2,Z11,m11,Z21,m21,Z22,m22; - if (n < 1) return; - - for (i=0; i<=n-2; i += 2) { - /* solve L*(D*l)=a, l is scaled elements in 2 x i block at A(i,0) */ - btSolveL1_2 (A,A+i*nskip1,i,nskip1); - /* scale the elements in a 2 x i block at A(i,0), and also */ - /* compute Z = the outer product matrix that we'll need. */ - Z11 = 0; - Z21 = 0; - Z22 = 0; - ell = A+i*nskip1; - dee = d; - for (j=i-6; j >= 0; j -= 6) { - p1 = ell[0]; - p2 = ell[nskip1]; - dd = dee[0]; - q1 = p1*dd; - q2 = p2*dd; - ell[0] = q1; - ell[nskip1] = q2; - m11 = p1*q1; - m21 = p2*q1; - m22 = p2*q2; - Z11 += m11; - Z21 += m21; - Z22 += m22; - p1 = ell[1]; - p2 = ell[1+nskip1]; - dd = dee[1]; - q1 = p1*dd; - q2 = p2*dd; - ell[1] = q1; - ell[1+nskip1] = q2; - m11 = p1*q1; - m21 = p2*q1; - m22 = p2*q2; - Z11 += m11; - Z21 += m21; - Z22 += m22; - p1 = ell[2]; - p2 = ell[2+nskip1]; - dd = dee[2]; - q1 = p1*dd; - q2 = p2*dd; - ell[2] = q1; - ell[2+nskip1] = q2; - m11 = p1*q1; - m21 = p2*q1; - m22 = p2*q2; - Z11 += m11; - Z21 += m21; - Z22 += m22; - p1 = ell[3]; - p2 = ell[3+nskip1]; - dd = dee[3]; - q1 = p1*dd; - q2 = p2*dd; - ell[3] = q1; - ell[3+nskip1] = q2; - m11 = p1*q1; - m21 = p2*q1; - m22 = p2*q2; - Z11 += m11; - Z21 += m21; - Z22 += m22; - p1 = ell[4]; - p2 = ell[4+nskip1]; - dd = dee[4]; - q1 = p1*dd; - q2 = p2*dd; - ell[4] = q1; - ell[4+nskip1] = q2; - m11 = p1*q1; - m21 = p2*q1; - m22 = p2*q2; - Z11 += m11; - Z21 += m21; - Z22 += m22; - p1 = ell[5]; - p2 = ell[5+nskip1]; - dd = dee[5]; - q1 = p1*dd; - q2 = p2*dd; - ell[5] = q1; - ell[5+nskip1] = q2; - m11 = p1*q1; - m21 = p2*q1; - m22 = p2*q2; - Z11 += m11; - Z21 += m21; - Z22 += m22; - ell += 6; - dee += 6; - } - /* compute left-over iterations */ - j += 6; - for (; j > 0; j--) { - p1 = ell[0]; - p2 = ell[nskip1]; - dd = dee[0]; - q1 = p1*dd; - q2 = p2*dd; - ell[0] = q1; - ell[nskip1] = q2; - m11 = p1*q1; - m21 = p2*q1; - m22 = p2*q2; - Z11 += m11; - Z21 += m21; - Z22 += m22; - ell++; - dee++; - } - /* solve for diagonal 2 x 2 block at A(i,i) */ - Z11 = ell[0] - Z11; - Z21 = ell[nskip1] - Z21; - Z22 = ell[1+nskip1] - Z22; - dee = d + i; - /* factorize 2 x 2 block Z,dee */ - /* factorize row 1 */ - dee[0] = btRecip(Z11); - /* factorize row 2 */ - sum = 0; - q1 = Z21; - q2 = q1 * dee[0]; - Z21 = q2; - sum += q1*q2; - dee[1] = btRecip(Z22 - sum); - /* done factorizing 2 x 2 block */ - ell[nskip1] = Z21; - } - /* compute the (less than 2) rows at the bottom */ - switch (n-i) { - case 0: - break; - - case 1: - btSolveL1_1 (A,A+i*nskip1,i,nskip1); - /* scale the elements in a 1 x i block at A(i,0), and also */ - /* compute Z = the outer product matrix that we'll need. */ - Z11 = 0; - ell = A+i*nskip1; - dee = d; - for (j=i-6; j >= 0; j -= 6) { - p1 = ell[0]; - dd = dee[0]; - q1 = p1*dd; - ell[0] = q1; - m11 = p1*q1; - Z11 += m11; - p1 = ell[1]; - dd = dee[1]; - q1 = p1*dd; - ell[1] = q1; - m11 = p1*q1; - Z11 += m11; - p1 = ell[2]; - dd = dee[2]; - q1 = p1*dd; - ell[2] = q1; - m11 = p1*q1; - Z11 += m11; - p1 = ell[3]; - dd = dee[3]; - q1 = p1*dd; - ell[3] = q1; - m11 = p1*q1; - Z11 += m11; - p1 = ell[4]; - dd = dee[4]; - q1 = p1*dd; - ell[4] = q1; - m11 = p1*q1; - Z11 += m11; - p1 = ell[5]; - dd = dee[5]; - q1 = p1*dd; - ell[5] = q1; - m11 = p1*q1; - Z11 += m11; - ell += 6; - dee += 6; - } - /* compute left-over iterations */ - j += 6; - for (; j > 0; j--) { - p1 = ell[0]; - dd = dee[0]; - q1 = p1*dd; - ell[0] = q1; - m11 = p1*q1; - Z11 += m11; - ell++; - dee++; - } - /* solve for diagonal 1 x 1 block at A(i,i) */ - Z11 = ell[0] - Z11; - dee = d + i; - /* factorize 1 x 1 block Z,dee */ - /* factorize row 1 */ - dee[0] = btRecip(Z11); - /* done factorizing 1 x 1 block */ - break; - - //default: *((char*)0)=0; /* this should never happen! */ - } + for (i = 0; i <= n - 2; i += 2) + { + /* solve L*(D*l)=a, l is scaled elements in 2 x i block at A(i,0) */ + btSolveL1_2(A, A + i * nskip1, i, nskip1); + /* scale the elements in a 2 x i block at A(i,0), and also */ + /* compute Z = the outer product matrix that we'll need. */ + Z11 = 0; + Z21 = 0; + Z22 = 0; + ell = A + i * nskip1; + dee = d; + for (j = i - 6; j >= 0; j -= 6) + { + p1 = ell[0]; + p2 = ell[nskip1]; + dd = dee[0]; + q1 = p1 * dd; + q2 = p2 * dd; + ell[0] = q1; + ell[nskip1] = q2; + m11 = p1 * q1; + m21 = p2 * q1; + m22 = p2 * q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + p1 = ell[1]; + p2 = ell[1 + nskip1]; + dd = dee[1]; + q1 = p1 * dd; + q2 = p2 * dd; + ell[1] = q1; + ell[1 + nskip1] = q2; + m11 = p1 * q1; + m21 = p2 * q1; + m22 = p2 * q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + p1 = ell[2]; + p2 = ell[2 + nskip1]; + dd = dee[2]; + q1 = p1 * dd; + q2 = p2 * dd; + ell[2] = q1; + ell[2 + nskip1] = q2; + m11 = p1 * q1; + m21 = p2 * q1; + m22 = p2 * q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + p1 = ell[3]; + p2 = ell[3 + nskip1]; + dd = dee[3]; + q1 = p1 * dd; + q2 = p2 * dd; + ell[3] = q1; + ell[3 + nskip1] = q2; + m11 = p1 * q1; + m21 = p2 * q1; + m22 = p2 * q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + p1 = ell[4]; + p2 = ell[4 + nskip1]; + dd = dee[4]; + q1 = p1 * dd; + q2 = p2 * dd; + ell[4] = q1; + ell[4 + nskip1] = q2; + m11 = p1 * q1; + m21 = p2 * q1; + m22 = p2 * q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + p1 = ell[5]; + p2 = ell[5 + nskip1]; + dd = dee[5]; + q1 = p1 * dd; + q2 = p2 * dd; + ell[5] = q1; + ell[5 + nskip1] = q2; + m11 = p1 * q1; + m21 = p2 * q1; + m22 = p2 * q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + ell += 6; + dee += 6; + } + /* compute left-over iterations */ + j += 6; + for (; j > 0; j--) + { + p1 = ell[0]; + p2 = ell[nskip1]; + dd = dee[0]; + q1 = p1 * dd; + q2 = p2 * dd; + ell[0] = q1; + ell[nskip1] = q2; + m11 = p1 * q1; + m21 = p2 * q1; + m22 = p2 * q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + ell++; + dee++; + } + /* solve for diagonal 2 x 2 block at A(i,i) */ + Z11 = ell[0] - Z11; + Z21 = ell[nskip1] - Z21; + Z22 = ell[1 + nskip1] - Z22; + dee = d + i; + /* factorize 2 x 2 block Z,dee */ + /* factorize row 1 */ + dee[0] = btRecip(Z11); + /* factorize row 2 */ + sum = 0; + q1 = Z21; + q2 = q1 * dee[0]; + Z21 = q2; + sum += q1 * q2; + dee[1] = btRecip(Z22 - sum); + /* done factorizing 2 x 2 block */ + ell[nskip1] = Z21; + } + /* compute the (less than 2) rows at the bottom */ + switch (n - i) + { + case 0: + break; + + case 1: + btSolveL1_1(A, A + i * nskip1, i, nskip1); + /* scale the elements in a 1 x i block at A(i,0), and also */ + /* compute Z = the outer product matrix that we'll need. */ + Z11 = 0; + ell = A + i * nskip1; + dee = d; + for (j = i - 6; j >= 0; j -= 6) + { + p1 = ell[0]; + dd = dee[0]; + q1 = p1 * dd; + ell[0] = q1; + m11 = p1 * q1; + Z11 += m11; + p1 = ell[1]; + dd = dee[1]; + q1 = p1 * dd; + ell[1] = q1; + m11 = p1 * q1; + Z11 += m11; + p1 = ell[2]; + dd = dee[2]; + q1 = p1 * dd; + ell[2] = q1; + m11 = p1 * q1; + Z11 += m11; + p1 = ell[3]; + dd = dee[3]; + q1 = p1 * dd; + ell[3] = q1; + m11 = p1 * q1; + Z11 += m11; + p1 = ell[4]; + dd = dee[4]; + q1 = p1 * dd; + ell[4] = q1; + m11 = p1 * q1; + Z11 += m11; + p1 = ell[5]; + dd = dee[5]; + q1 = p1 * dd; + ell[5] = q1; + m11 = p1 * q1; + Z11 += m11; + ell += 6; + dee += 6; + } + /* compute left-over iterations */ + j += 6; + for (; j > 0; j--) + { + p1 = ell[0]; + dd = dee[0]; + q1 = p1 * dd; + ell[0] = q1; + m11 = p1 * q1; + Z11 += m11; + ell++; + dee++; + } + /* solve for diagonal 1 x 1 block at A(i,i) */ + Z11 = ell[0] - Z11; + dee = d + i; + /* factorize 1 x 1 block Z,dee */ + /* factorize row 1 */ + dee[0] = btRecip(Z11); + /* done factorizing 1 x 1 block */ + break; + + //default: *((char*)0)=0; /* this should never happen! */ + } } /* solve L*X=B, with B containing 1 right hand sides. @@ -523,289 +530,295 @@ void btFactorLDLT (btScalar *A, btScalar *d, int n, int nskip1) * if this is in the factorizer source file, n must be a multiple of 4. */ -void btSolveL1 (const btScalar *L, btScalar *B, int n, int lskip1) -{ - /* declare variables - Z matrix, p and q vectors, etc */ - btScalar Z11,Z21,Z31,Z41,p1,q1,p2,p3,p4,*ex; - const btScalar *ell; - int lskip2,lskip3,i,j; - /* compute lskip values */ - lskip2 = 2*lskip1; - lskip3 = 3*lskip1; - /* compute all 4 x 1 blocks of X */ - for (i=0; i <= n-4; i+=4) { - /* compute all 4 x 1 block of X, from rows i..i+4-1 */ - /* set the Z matrix to 0 */ - Z11=0; - Z21=0; - Z31=0; - Z41=0; - ell = L + i*lskip1; - ex = B; - /* the inner loop that computes outer products and adds them to Z */ - for (j=i-12; j >= 0; j -= 12) { - /* load p and q values */ - p1=ell[0]; - q1=ex[0]; - p2=ell[lskip1]; - p3=ell[lskip2]; - p4=ell[lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* load p and q values */ - p1=ell[1]; - q1=ex[1]; - p2=ell[1+lskip1]; - p3=ell[1+lskip2]; - p4=ell[1+lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* load p and q values */ - p1=ell[2]; - q1=ex[2]; - p2=ell[2+lskip1]; - p3=ell[2+lskip2]; - p4=ell[2+lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* load p and q values */ - p1=ell[3]; - q1=ex[3]; - p2=ell[3+lskip1]; - p3=ell[3+lskip2]; - p4=ell[3+lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* load p and q values */ - p1=ell[4]; - q1=ex[4]; - p2=ell[4+lskip1]; - p3=ell[4+lskip2]; - p4=ell[4+lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* load p and q values */ - p1=ell[5]; - q1=ex[5]; - p2=ell[5+lskip1]; - p3=ell[5+lskip2]; - p4=ell[5+lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* load p and q values */ - p1=ell[6]; - q1=ex[6]; - p2=ell[6+lskip1]; - p3=ell[6+lskip2]; - p4=ell[6+lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* load p and q values */ - p1=ell[7]; - q1=ex[7]; - p2=ell[7+lskip1]; - p3=ell[7+lskip2]; - p4=ell[7+lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* load p and q values */ - p1=ell[8]; - q1=ex[8]; - p2=ell[8+lskip1]; - p3=ell[8+lskip2]; - p4=ell[8+lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* load p and q values */ - p1=ell[9]; - q1=ex[9]; - p2=ell[9+lskip1]; - p3=ell[9+lskip2]; - p4=ell[9+lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* load p and q values */ - p1=ell[10]; - q1=ex[10]; - p2=ell[10+lskip1]; - p3=ell[10+lskip2]; - p4=ell[10+lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* load p and q values */ - p1=ell[11]; - q1=ex[11]; - p2=ell[11+lskip1]; - p3=ell[11+lskip2]; - p4=ell[11+lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* advance pointers */ - ell += 12; - ex += 12; - /* end of inner loop */ - } - /* compute left-over iterations */ - j += 12; - for (; j > 0; j--) { - /* load p and q values */ - p1=ell[0]; - q1=ex[0]; - p2=ell[lskip1]; - p3=ell[lskip2]; - p4=ell[lskip3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - Z21 += p2 * q1; - Z31 += p3 * q1; - Z41 += p4 * q1; - /* advance pointers */ - ell += 1; - ex += 1; - } - /* finish computing the X(i) block */ - Z11 = ex[0] - Z11; - ex[0] = Z11; - p1 = ell[lskip1]; - Z21 = ex[1] - Z21 - p1*Z11; - ex[1] = Z21; - p1 = ell[lskip2]; - p2 = ell[1+lskip2]; - Z31 = ex[2] - Z31 - p1*Z11 - p2*Z21; - ex[2] = Z31; - p1 = ell[lskip3]; - p2 = ell[1+lskip3]; - p3 = ell[2+lskip3]; - Z41 = ex[3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31; - ex[3] = Z41; - /* end of outer loop */ - } - /* compute rows at end that are not a multiple of block size */ - for (; i < n; i++) { - /* compute all 1 x 1 block of X, from rows i..i+1-1 */ - /* set the Z matrix to 0 */ - Z11=0; - ell = L + i*lskip1; - ex = B; - /* the inner loop that computes outer products and adds them to Z */ - for (j=i-12; j >= 0; j -= 12) { - /* load p and q values */ - p1=ell[0]; - q1=ex[0]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* load p and q values */ - p1=ell[1]; - q1=ex[1]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* load p and q values */ - p1=ell[2]; - q1=ex[2]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* load p and q values */ - p1=ell[3]; - q1=ex[3]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* load p and q values */ - p1=ell[4]; - q1=ex[4]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* load p and q values */ - p1=ell[5]; - q1=ex[5]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* load p and q values */ - p1=ell[6]; - q1=ex[6]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* load p and q values */ - p1=ell[7]; - q1=ex[7]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* load p and q values */ - p1=ell[8]; - q1=ex[8]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* load p and q values */ - p1=ell[9]; - q1=ex[9]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* load p and q values */ - p1=ell[10]; - q1=ex[10]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* load p and q values */ - p1=ell[11]; - q1=ex[11]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* advance pointers */ - ell += 12; - ex += 12; - /* end of inner loop */ - } - /* compute left-over iterations */ - j += 12; - for (; j > 0; j--) { - /* load p and q values */ - p1=ell[0]; - q1=ex[0]; - /* compute outer product and add it to the Z matrix */ - Z11 += p1 * q1; - /* advance pointers */ - ell += 1; - ex += 1; - } - /* finish computing the X(i) block */ - Z11 = ex[0] - Z11; - ex[0] = Z11; - } +void btSolveL1(const btScalar *L, btScalar *B, int n, int lskip1) +{ + /* declare variables - Z matrix, p and q vectors, etc */ + btScalar Z11, Z21, Z31, Z41, p1, q1, p2, p3, p4, *ex; + const btScalar *ell; + int lskip2, lskip3, i, j; + /* compute lskip values */ + lskip2 = 2 * lskip1; + lskip3 = 3 * lskip1; + /* compute all 4 x 1 blocks of X */ + for (i = 0; i <= n - 4; i += 4) + { + /* compute all 4 x 1 block of X, from rows i..i+4-1 */ + /* set the Z matrix to 0 */ + Z11 = 0; + Z21 = 0; + Z31 = 0; + Z41 = 0; + ell = L + i * lskip1; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j = i - 12; j >= 0; j -= 12) + { + /* load p and q values */ + p1 = ell[0]; + q1 = ex[0]; + p2 = ell[lskip1]; + p3 = ell[lskip2]; + p4 = ell[lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1 = ell[1]; + q1 = ex[1]; + p2 = ell[1 + lskip1]; + p3 = ell[1 + lskip2]; + p4 = ell[1 + lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1 = ell[2]; + q1 = ex[2]; + p2 = ell[2 + lskip1]; + p3 = ell[2 + lskip2]; + p4 = ell[2 + lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1 = ell[3]; + q1 = ex[3]; + p2 = ell[3 + lskip1]; + p3 = ell[3 + lskip2]; + p4 = ell[3 + lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1 = ell[4]; + q1 = ex[4]; + p2 = ell[4 + lskip1]; + p3 = ell[4 + lskip2]; + p4 = ell[4 + lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1 = ell[5]; + q1 = ex[5]; + p2 = ell[5 + lskip1]; + p3 = ell[5 + lskip2]; + p4 = ell[5 + lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1 = ell[6]; + q1 = ex[6]; + p2 = ell[6 + lskip1]; + p3 = ell[6 + lskip2]; + p4 = ell[6 + lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1 = ell[7]; + q1 = ex[7]; + p2 = ell[7 + lskip1]; + p3 = ell[7 + lskip2]; + p4 = ell[7 + lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1 = ell[8]; + q1 = ex[8]; + p2 = ell[8 + lskip1]; + p3 = ell[8 + lskip2]; + p4 = ell[8 + lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1 = ell[9]; + q1 = ex[9]; + p2 = ell[9 + lskip1]; + p3 = ell[9 + lskip2]; + p4 = ell[9 + lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1 = ell[10]; + q1 = ex[10]; + p2 = ell[10 + lskip1]; + p3 = ell[10 + lskip2]; + p4 = ell[10 + lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1 = ell[11]; + q1 = ex[11]; + p2 = ell[11 + lskip1]; + p3 = ell[11 + lskip2]; + p4 = ell[11 + lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* advance pointers */ + ell += 12; + ex += 12; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 12; + for (; j > 0; j--) + { + /* load p and q values */ + p1 = ell[0]; + q1 = ex[0]; + p2 = ell[lskip1]; + p3 = ell[lskip2]; + p4 = ell[lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* advance pointers */ + ell += 1; + ex += 1; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + p1 = ell[lskip1]; + Z21 = ex[1] - Z21 - p1 * Z11; + ex[1] = Z21; + p1 = ell[lskip2]; + p2 = ell[1 + lskip2]; + Z31 = ex[2] - Z31 - p1 * Z11 - p2 * Z21; + ex[2] = Z31; + p1 = ell[lskip3]; + p2 = ell[1 + lskip3]; + p3 = ell[2 + lskip3]; + Z41 = ex[3] - Z41 - p1 * Z11 - p2 * Z21 - p3 * Z31; + ex[3] = Z41; + /* end of outer loop */ + } + /* compute rows at end that are not a multiple of block size */ + for (; i < n; i++) + { + /* compute all 1 x 1 block of X, from rows i..i+1-1 */ + /* set the Z matrix to 0 */ + Z11 = 0; + ell = L + i * lskip1; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j = i - 12; j >= 0; j -= 12) + { + /* load p and q values */ + p1 = ell[0]; + q1 = ex[0]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1 = ell[1]; + q1 = ex[1]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1 = ell[2]; + q1 = ex[2]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1 = ell[3]; + q1 = ex[3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1 = ell[4]; + q1 = ex[4]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1 = ell[5]; + q1 = ex[5]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1 = ell[6]; + q1 = ex[6]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1 = ell[7]; + q1 = ex[7]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1 = ell[8]; + q1 = ex[8]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1 = ell[9]; + q1 = ex[9]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1 = ell[10]; + q1 = ex[10]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1 = ell[11]; + q1 = ex[11]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* advance pointers */ + ell += 12; + ex += 12; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 12; + for (; j > 0; j--) + { + /* load p and q values */ + p1 = ell[0]; + q1 = ex[0]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* advance pointers */ + ell += 1; + ex += 1; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + } } /* solve L^T * x=b, with b containing 1 right hand side. @@ -816,215 +829,218 @@ void btSolveL1 (const btScalar *L, btScalar *B, int n, int lskip1) * this processes blocks of 4. */ -void btSolveL1T (const btScalar *L, btScalar *B, int n, int lskip1) -{ - /* declare variables - Z matrix, p and q vectors, etc */ - btScalar Z11,m11,Z21,m21,Z31,m31,Z41,m41,p1,q1,p2,p3,p4,*ex; - const btScalar *ell; - int lskip2,i,j; -// int lskip3; - /* special handling for L and B because we're solving L1 *transpose* */ - L = L + (n-1)*(lskip1+1); - B = B + n-1; - lskip1 = -lskip1; - /* compute lskip values */ - lskip2 = 2*lskip1; - //lskip3 = 3*lskip1; - /* compute all 4 x 1 blocks of X */ - for (i=0; i <= n-4; i+=4) { - /* compute all 4 x 1 block of X, from rows i..i+4-1 */ - /* set the Z matrix to 0 */ - Z11=0; - Z21=0; - Z31=0; - Z41=0; - ell = L - i; - ex = B; - /* the inner loop that computes outer products and adds them to Z */ - for (j=i-4; j >= 0; j -= 4) { - /* load p and q values */ - p1=ell[0]; - q1=ex[0]; - p2=ell[-1]; - p3=ell[-2]; - p4=ell[-3]; - /* compute outer product and add it to the Z matrix */ - m11 = p1 * q1; - m21 = p2 * q1; - m31 = p3 * q1; - m41 = p4 * q1; - ell += lskip1; - Z11 += m11; - Z21 += m21; - Z31 += m31; - Z41 += m41; - /* load p and q values */ - p1=ell[0]; - q1=ex[-1]; - p2=ell[-1]; - p3=ell[-2]; - p4=ell[-3]; - /* compute outer product and add it to the Z matrix */ - m11 = p1 * q1; - m21 = p2 * q1; - m31 = p3 * q1; - m41 = p4 * q1; - ell += lskip1; - Z11 += m11; - Z21 += m21; - Z31 += m31; - Z41 += m41; - /* load p and q values */ - p1=ell[0]; - q1=ex[-2]; - p2=ell[-1]; - p3=ell[-2]; - p4=ell[-3]; - /* compute outer product and add it to the Z matrix */ - m11 = p1 * q1; - m21 = p2 * q1; - m31 = p3 * q1; - m41 = p4 * q1; - ell += lskip1; - Z11 += m11; - Z21 += m21; - Z31 += m31; - Z41 += m41; - /* load p and q values */ - p1=ell[0]; - q1=ex[-3]; - p2=ell[-1]; - p3=ell[-2]; - p4=ell[-3]; - /* compute outer product and add it to the Z matrix */ - m11 = p1 * q1; - m21 = p2 * q1; - m31 = p3 * q1; - m41 = p4 * q1; - ell += lskip1; - ex -= 4; - Z11 += m11; - Z21 += m21; - Z31 += m31; - Z41 += m41; - /* end of inner loop */ - } - /* compute left-over iterations */ - j += 4; - for (; j > 0; j--) { - /* load p and q values */ - p1=ell[0]; - q1=ex[0]; - p2=ell[-1]; - p3=ell[-2]; - p4=ell[-3]; - /* compute outer product and add it to the Z matrix */ - m11 = p1 * q1; - m21 = p2 * q1; - m31 = p3 * q1; - m41 = p4 * q1; - ell += lskip1; - ex -= 1; - Z11 += m11; - Z21 += m21; - Z31 += m31; - Z41 += m41; - } - /* finish computing the X(i) block */ - Z11 = ex[0] - Z11; - ex[0] = Z11; - p1 = ell[-1]; - Z21 = ex[-1] - Z21 - p1*Z11; - ex[-1] = Z21; - p1 = ell[-2]; - p2 = ell[-2+lskip1]; - Z31 = ex[-2] - Z31 - p1*Z11 - p2*Z21; - ex[-2] = Z31; - p1 = ell[-3]; - p2 = ell[-3+lskip1]; - p3 = ell[-3+lskip2]; - Z41 = ex[-3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31; - ex[-3] = Z41; - /* end of outer loop */ - } - /* compute rows at end that are not a multiple of block size */ - for (; i < n; i++) { - /* compute all 1 x 1 block of X, from rows i..i+1-1 */ - /* set the Z matrix to 0 */ - Z11=0; - ell = L - i; - ex = B; - /* the inner loop that computes outer products and adds them to Z */ - for (j=i-4; j >= 0; j -= 4) { - /* load p and q values */ - p1=ell[0]; - q1=ex[0]; - /* compute outer product and add it to the Z matrix */ - m11 = p1 * q1; - ell += lskip1; - Z11 += m11; - /* load p and q values */ - p1=ell[0]; - q1=ex[-1]; - /* compute outer product and add it to the Z matrix */ - m11 = p1 * q1; - ell += lskip1; - Z11 += m11; - /* load p and q values */ - p1=ell[0]; - q1=ex[-2]; - /* compute outer product and add it to the Z matrix */ - m11 = p1 * q1; - ell += lskip1; - Z11 += m11; - /* load p and q values */ - p1=ell[0]; - q1=ex[-3]; - /* compute outer product and add it to the Z matrix */ - m11 = p1 * q1; - ell += lskip1; - ex -= 4; - Z11 += m11; - /* end of inner loop */ - } - /* compute left-over iterations */ - j += 4; - for (; j > 0; j--) { - /* load p and q values */ - p1=ell[0]; - q1=ex[0]; - /* compute outer product and add it to the Z matrix */ - m11 = p1 * q1; - ell += lskip1; - ex -= 1; - Z11 += m11; - } - /* finish computing the X(i) block */ - Z11 = ex[0] - Z11; - ex[0] = Z11; - } +void btSolveL1T(const btScalar *L, btScalar *B, int n, int lskip1) +{ + /* declare variables - Z matrix, p and q vectors, etc */ + btScalar Z11, m11, Z21, m21, Z31, m31, Z41, m41, p1, q1, p2, p3, p4, *ex; + const btScalar *ell; + int lskip2, i, j; + // int lskip3; + /* special handling for L and B because we're solving L1 *transpose* */ + L = L + (n - 1) * (lskip1 + 1); + B = B + n - 1; + lskip1 = -lskip1; + /* compute lskip values */ + lskip2 = 2 * lskip1; + //lskip3 = 3*lskip1; + /* compute all 4 x 1 blocks of X */ + for (i = 0; i <= n - 4; i += 4) + { + /* compute all 4 x 1 block of X, from rows i..i+4-1 */ + /* set the Z matrix to 0 */ + Z11 = 0; + Z21 = 0; + Z31 = 0; + Z41 = 0; + ell = L - i; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j = i - 4; j >= 0; j -= 4) + { + /* load p and q values */ + p1 = ell[0]; + q1 = ex[0]; + p2 = ell[-1]; + p3 = ell[-2]; + p4 = ell[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + m21 = p2 * q1; + m31 = p3 * q1; + m41 = p4 * q1; + ell += lskip1; + Z11 += m11; + Z21 += m21; + Z31 += m31; + Z41 += m41; + /* load p and q values */ + p1 = ell[0]; + q1 = ex[-1]; + p2 = ell[-1]; + p3 = ell[-2]; + p4 = ell[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + m21 = p2 * q1; + m31 = p3 * q1; + m41 = p4 * q1; + ell += lskip1; + Z11 += m11; + Z21 += m21; + Z31 += m31; + Z41 += m41; + /* load p and q values */ + p1 = ell[0]; + q1 = ex[-2]; + p2 = ell[-1]; + p3 = ell[-2]; + p4 = ell[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + m21 = p2 * q1; + m31 = p3 * q1; + m41 = p4 * q1; + ell += lskip1; + Z11 += m11; + Z21 += m21; + Z31 += m31; + Z41 += m41; + /* load p and q values */ + p1 = ell[0]; + q1 = ex[-3]; + p2 = ell[-1]; + p3 = ell[-2]; + p4 = ell[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + m21 = p2 * q1; + m31 = p3 * q1; + m41 = p4 * q1; + ell += lskip1; + ex -= 4; + Z11 += m11; + Z21 += m21; + Z31 += m31; + Z41 += m41; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 4; + for (; j > 0; j--) + { + /* load p and q values */ + p1 = ell[0]; + q1 = ex[0]; + p2 = ell[-1]; + p3 = ell[-2]; + p4 = ell[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + m21 = p2 * q1; + m31 = p3 * q1; + m41 = p4 * q1; + ell += lskip1; + ex -= 1; + Z11 += m11; + Z21 += m21; + Z31 += m31; + Z41 += m41; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + p1 = ell[-1]; + Z21 = ex[-1] - Z21 - p1 * Z11; + ex[-1] = Z21; + p1 = ell[-2]; + p2 = ell[-2 + lskip1]; + Z31 = ex[-2] - Z31 - p1 * Z11 - p2 * Z21; + ex[-2] = Z31; + p1 = ell[-3]; + p2 = ell[-3 + lskip1]; + p3 = ell[-3 + lskip2]; + Z41 = ex[-3] - Z41 - p1 * Z11 - p2 * Z21 - p3 * Z31; + ex[-3] = Z41; + /* end of outer loop */ + } + /* compute rows at end that are not a multiple of block size */ + for (; i < n; i++) + { + /* compute all 1 x 1 block of X, from rows i..i+1-1 */ + /* set the Z matrix to 0 */ + Z11 = 0; + ell = L - i; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j = i - 4; j >= 0; j -= 4) + { + /* load p and q values */ + p1 = ell[0]; + q1 = ex[0]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + ell += lskip1; + Z11 += m11; + /* load p and q values */ + p1 = ell[0]; + q1 = ex[-1]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + ell += lskip1; + Z11 += m11; + /* load p and q values */ + p1 = ell[0]; + q1 = ex[-2]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + ell += lskip1; + Z11 += m11; + /* load p and q values */ + p1 = ell[0]; + q1 = ex[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + ell += lskip1; + ex -= 4; + Z11 += m11; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 4; + for (; j > 0; j--) + { + /* load p and q values */ + p1 = ell[0]; + q1 = ex[0]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + ell += lskip1; + ex -= 1; + Z11 += m11; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + } } - - -void btVectorScale (btScalar *a, const btScalar *d, int n) +void btVectorScale(btScalar *a, const btScalar *d, int n) { - btAssert (a && d && n >= 0); - for (int i=0; i<n; i++) { - a[i] *= d[i]; - } + btAssert(a && d && n >= 0); + for (int i = 0; i < n; i++) + { + a[i] *= d[i]; + } } -void btSolveLDLT (const btScalar *L, const btScalar *d, btScalar *b, int n, int nskip) +void btSolveLDLT(const btScalar *L, const btScalar *d, btScalar *b, int n, int nskip) { - btAssert (L && d && b && n > 0 && nskip >= n); - btSolveL1 (L,b,n,nskip); - btVectorScale (b,d,n); - btSolveL1T (L,b,n,nskip); + btAssert(L && d && b && n > 0 && nskip >= n); + btSolveL1(L, b, n, nskip); + btVectorScale(b, d, n); + btSolveL1T(L, b, n, nskip); } - - //*************************************************************************** // swap row/column i1 with i2 in the n*n matrix A. the leading dimension of @@ -1033,124 +1049,129 @@ void btSolveLDLT (const btScalar *L, const btScalar *d, btScalar *b, int n, int // rows will be swapped by exchanging row pointers. otherwise the data will // be copied. -static void btSwapRowsAndCols (BTATYPE A, int n, int i1, int i2, int nskip, - int do_fast_row_swaps) +static void btSwapRowsAndCols(BTATYPE A, int n, int i1, int i2, int nskip, + int do_fast_row_swaps) { - btAssert (A && n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n && - nskip >= n && i1 < i2); - -# ifdef BTROWPTRS - btScalar *A_i1 = A[i1]; - btScalar *A_i2 = A[i2]; - for (int i=i1+1; i<i2; ++i) { - btScalar *A_i_i1 = A[i] + i1; - A_i1[i] = *A_i_i1; - *A_i_i1 = A_i2[i]; - } - A_i1[i2] = A_i1[i1]; - A_i1[i1] = A_i2[i1]; - A_i2[i1] = A_i2[i2]; - // swap rows, by swapping row pointers - if (do_fast_row_swaps) { - A[i1] = A_i2; - A[i2] = A_i1; - } - else { - // Only swap till i2 column to match A plain storage variant. - for (int k = 0; k <= i2; ++k) { - btScalar tmp = A_i1[k]; - A_i1[k] = A_i2[k]; - A_i2[k] = tmp; - } - } - // swap columns the hard way - for (int j=i2+1; j<n; ++j) { - btScalar *A_j = A[j]; - btScalar tmp = A_j[i1]; - A_j[i1] = A_j[i2]; - A_j[i2] = tmp; - } -# else - btScalar *A_i1 = A+i1*nskip; - btScalar *A_i2 = A+i2*nskip; - for (int k = 0; k < i1; ++k) { - btScalar tmp = A_i1[k]; - A_i1[k] = A_i2[k]; - A_i2[k] = tmp; - } - btScalar *A_i = A_i1 + nskip; - for (int i=i1+1; i<i2; A_i+=nskip, ++i) { - btScalar tmp = A_i2[i]; - A_i2[i] = A_i[i1]; - A_i[i1] = tmp; - } - { - btScalar tmp = A_i1[i1]; - A_i1[i1] = A_i2[i2]; - A_i2[i2] = tmp; - } - btScalar *A_j = A_i2 + nskip; - for (int j=i2+1; j<n; A_j+=nskip, ++j) { - btScalar tmp = A_j[i1]; - A_j[i1] = A_j[i2]; - A_j[i2] = tmp; - } -# endif -} + btAssert(A && n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n && + nskip >= n && i1 < i2); +#ifdef BTROWPTRS + btScalar *A_i1 = A[i1]; + btScalar *A_i2 = A[i2]; + for (int i = i1 + 1; i < i2; ++i) + { + btScalar *A_i_i1 = A[i] + i1; + A_i1[i] = *A_i_i1; + *A_i_i1 = A_i2[i]; + } + A_i1[i2] = A_i1[i1]; + A_i1[i1] = A_i2[i1]; + A_i2[i1] = A_i2[i2]; + // swap rows, by swapping row pointers + if (do_fast_row_swaps) + { + A[i1] = A_i2; + A[i2] = A_i1; + } + else + { + // Only swap till i2 column to match A plain storage variant. + for (int k = 0; k <= i2; ++k) + { + btScalar tmp = A_i1[k]; + A_i1[k] = A_i2[k]; + A_i2[k] = tmp; + } + } + // swap columns the hard way + for (int j = i2 + 1; j < n; ++j) + { + btScalar *A_j = A[j]; + btScalar tmp = A_j[i1]; + A_j[i1] = A_j[i2]; + A_j[i2] = tmp; + } +#else + btScalar *A_i1 = A + i1 * nskip; + btScalar *A_i2 = A + i2 * nskip; + for (int k = 0; k < i1; ++k) + { + btScalar tmp = A_i1[k]; + A_i1[k] = A_i2[k]; + A_i2[k] = tmp; + } + btScalar *A_i = A_i1 + nskip; + for (int i = i1 + 1; i < i2; A_i += nskip, ++i) + { + btScalar tmp = A_i2[i]; + A_i2[i] = A_i[i1]; + A_i[i1] = tmp; + } + { + btScalar tmp = A_i1[i1]; + A_i1[i1] = A_i2[i2]; + A_i2[i2] = tmp; + } + btScalar *A_j = A_i2 + nskip; + for (int j = i2 + 1; j < n; A_j += nskip, ++j) + { + btScalar tmp = A_j[i1]; + A_j[i1] = A_j[i2]; + A_j[i2] = tmp; + } +#endif +} // swap two indexes in the n*n LCP problem. i1 must be <= i2. -static void btSwapProblem (BTATYPE A, btScalar *x, btScalar *b, btScalar *w, btScalar *lo, - btScalar *hi, int *p, bool *state, int *findex, - int n, int i1, int i2, int nskip, - int do_fast_row_swaps) +static void btSwapProblem(BTATYPE A, btScalar *x, btScalar *b, btScalar *w, btScalar *lo, + btScalar *hi, int *p, bool *state, int *findex, + int n, int i1, int i2, int nskip, + int do_fast_row_swaps) { - btScalar tmpr; - int tmpi; - bool tmpb; - btAssert (n>0 && i1 >=0 && i2 >= 0 && i1 < n && i2 < n && nskip >= n && i1 <= i2); - if (i1==i2) return; - - btSwapRowsAndCols (A,n,i1,i2,nskip,do_fast_row_swaps); - - tmpr = x[i1]; - x[i1] = x[i2]; - x[i2] = tmpr; - - tmpr = b[i1]; - b[i1] = b[i2]; - b[i2] = tmpr; - - tmpr = w[i1]; - w[i1] = w[i2]; - w[i2] = tmpr; - - tmpr = lo[i1]; - lo[i1] = lo[i2]; - lo[i2] = tmpr; - - tmpr = hi[i1]; - hi[i1] = hi[i2]; - hi[i2] = tmpr; - - tmpi = p[i1]; - p[i1] = p[i2]; - p[i2] = tmpi; - - tmpb = state[i1]; - state[i1] = state[i2]; - state[i2] = tmpb; - - if (findex) { - tmpi = findex[i1]; - findex[i1] = findex[i2]; - findex[i2] = tmpi; - } -} + btScalar tmpr; + int tmpi; + bool tmpb; + btAssert(n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n && nskip >= n && i1 <= i2); + if (i1 == i2) return; + + btSwapRowsAndCols(A, n, i1, i2, nskip, do_fast_row_swaps); + + tmpr = x[i1]; + x[i1] = x[i2]; + x[i2] = tmpr; + tmpr = b[i1]; + b[i1] = b[i2]; + b[i2] = tmpr; + tmpr = w[i1]; + w[i1] = w[i2]; + w[i2] = tmpr; + tmpr = lo[i1]; + lo[i1] = lo[i2]; + lo[i2] = tmpr; + + tmpr = hi[i1]; + hi[i1] = hi[i2]; + hi[i2] = tmpr; + + tmpi = p[i1]; + p[i1] = p[i2]; + p[i2] = tmpi; + + tmpb = state[i1]; + state[i1] = state[i2]; + state[i2] = tmpb; + + if (findex) + { + tmpi = findex[i1]; + findex[i1] = findex[i2]; + findex[i2] = tmpi; + } +} //*************************************************************************** // btLCP manipulator object. this represents an n*n LCP problem. @@ -1186,79 +1207,88 @@ static void btSwapProblem (BTATYPE A, btScalar *x, btScalar *b, btScalar *w, btS #ifdef btLCP_FAST -struct btLCP +struct btLCP { const int m_n; const int m_nskip; int m_nub; - int m_nC, m_nN; // size of each index set - BTATYPE const m_A; // A rows - btScalar *const m_x, * const m_b, *const m_w, *const m_lo,* const m_hi; // permuted LCP problem data - btScalar *const m_L, *const m_d; // L*D*L' factorization of set C + int m_nC, m_nN; // size of each index set + BTATYPE const m_A; // A rows + btScalar *const m_x, *const m_b, *const m_w, *const m_lo, *const m_hi; // permuted LCP problem data + btScalar *const m_L, *const m_d; // L*D*L' factorization of set C btScalar *const m_Dell, *const m_ell, *const m_tmp; bool *const m_state; int *const m_findex, *const m_p, *const m_C; - btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w, - btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d, - btScalar *_Dell, btScalar *_ell, btScalar *_tmp, - bool *_state, int *_findex, int *p, int *c, btScalar **Arows); + btLCP(int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w, + btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d, + btScalar *_Dell, btScalar *_ell, btScalar *_tmp, + bool *_state, int *_findex, int *p, int *c, btScalar **Arows); int getNub() const { return m_nub; } - void transfer_i_to_C (int i); - void transfer_i_to_N (int i) { m_nN++; } // because we can assume C and N span 1:i-1 - void transfer_i_from_N_to_C (int i); - void transfer_i_from_C_to_N (int i, btAlignedObjectArray<btScalar>& scratch); + void transfer_i_to_C(int i); + void transfer_i_to_N(int i) { m_nN++; } // because we can assume C and N span 1:i-1 + void transfer_i_from_N_to_C(int i); + void transfer_i_from_C_to_N(int i, btAlignedObjectArray<btScalar> &scratch); int numC() const { return m_nC; } int numN() const { return m_nN; } - int indexC (int i) const { return i; } - int indexN (int i) const { return i+m_nC; } - btScalar Aii (int i) const { return BTAROW(i)[i]; } - btScalar AiC_times_qC (int i, btScalar *q) const { return btLargeDot (BTAROW(i), q, m_nC); } - btScalar AiN_times_qN (int i, btScalar *q) const { return btLargeDot (BTAROW(i)+m_nC, q+m_nC, m_nN); } - void pN_equals_ANC_times_qC (btScalar *p, btScalar *q); - void pN_plusequals_ANi (btScalar *p, int i, int sign=1); - void pC_plusequals_s_times_qC (btScalar *p, btScalar s, btScalar *q); - void pN_plusequals_s_times_qN (btScalar *p, btScalar s, btScalar *q); - void solve1 (btScalar *a, int i, int dir=1, int only_transfer=0); + int indexC(int i) const { return i; } + int indexN(int i) const { return i + m_nC; } + btScalar Aii(int i) const { return BTAROW(i)[i]; } + btScalar AiC_times_qC(int i, btScalar *q) const { return btLargeDot(BTAROW(i), q, m_nC); } + btScalar AiN_times_qN(int i, btScalar *q) const { return btLargeDot(BTAROW(i) + m_nC, q + m_nC, m_nN); } + void pN_equals_ANC_times_qC(btScalar *p, btScalar *q); + void pN_plusequals_ANi(btScalar *p, int i, int sign = 1); + void pC_plusequals_s_times_qC(btScalar *p, btScalar s, btScalar *q); + void pN_plusequals_s_times_qN(btScalar *p, btScalar s, btScalar *q); + void solve1(btScalar *a, int i, int dir = 1, int only_transfer = 0); void unpermute(); }; - -btLCP::btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w, - btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d, - btScalar *_Dell, btScalar *_ell, btScalar *_tmp, - bool *_state, int *_findex, int *p, int *c, btScalar **Arows): - m_n(_n), m_nskip(_nskip), m_nub(_nub), m_nC(0), m_nN(0), -# ifdef BTROWPTRS - m_A(Arows), +btLCP::btLCP(int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w, + btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d, + btScalar *_Dell, btScalar *_ell, btScalar *_tmp, + bool *_state, int *_findex, int *p, int *c, btScalar **Arows) : m_n(_n), m_nskip(_nskip), m_nub(_nub), m_nC(0), m_nN(0), +#ifdef BTROWPTRS + m_A(Arows), #else - m_A(_Adata), + m_A(_Adata), #endif - m_x(_x), m_b(_b), m_w(_w), m_lo(_lo), m_hi(_hi), - m_L(l), m_d(_d), m_Dell(_Dell), m_ell(_ell), m_tmp(_tmp), - m_state(_state), m_findex(_findex), m_p(p), m_C(c) + m_x(_x), + m_b(_b), + m_w(_w), + m_lo(_lo), + m_hi(_hi), + m_L(l), + m_d(_d), + m_Dell(_Dell), + m_ell(_ell), + m_tmp(_tmp), + m_state(_state), + m_findex(_findex), + m_p(p), + m_C(c) { - { - btSetZero (m_x,m_n); - } + { + btSetZero(m_x, m_n); + } - { -# ifdef BTROWPTRS - // make matrix row pointers - btScalar *aptr = _Adata; - BTATYPE A = m_A; - const int n = m_n, nskip = m_nskip; - for (int k=0; k<n; aptr+=nskip, ++k) A[k] = aptr; -# endif - } + { +#ifdef BTROWPTRS + // make matrix row pointers + btScalar *aptr = _Adata; + BTATYPE A = m_A; + const int n = m_n, nskip = m_nskip; + for (int k = 0; k < n; aptr += nskip, ++k) A[k] = aptr; +#endif + } - { - int *p = m_p; - const int n = m_n; - for (int k=0; k<n; ++k) p[k]=k; // initially unpermuted - } + { + int *p = m_p; + const int n = m_n; + for (int k = 0; k < n; ++k) p[k] = k; // initially unpermuted + } - /* + /* // for testing, we can do some random swaps in the area i > nub { const int n = m_n; @@ -1277,63 +1307,69 @@ btLCP::btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btSc } */ - // permute the problem so that *all* the unbounded variables are at the - // start, i.e. look for unbounded variables not included in `nub'. we can - // potentially push up `nub' this way and get a bigger initial factorization. - // note that when we swap rows/cols here we must not just swap row pointers, - // as the initial factorization relies on the data being all in one chunk. - // variables that have findex >= 0 are *not* considered to be unbounded even - // if lo=-inf and hi=inf - this is because these limits may change during the - // solution process. - - { - int *findex = m_findex; - btScalar *lo = m_lo, *hi = m_hi; - const int n = m_n; - for (int k = m_nub; k<n; ++k) { - if (findex && findex[k] >= 0) continue; - if (lo[k]==-BT_INFINITY && hi[k]==BT_INFINITY) { - btSwapProblem (m_A,m_x,m_b,m_w,lo,hi,m_p,m_state,findex,n,m_nub,k,m_nskip,0); - m_nub++; - } - } - } - - // if there are unbounded variables at the start, factorize A up to that - // point and solve for x. this puts all indexes 0..nub-1 into C. - if (m_nub > 0) { - const int nub = m_nub; - { - btScalar *Lrow = m_L; - const int nskip = m_nskip; - for (int j=0; j<nub; Lrow+=nskip, ++j) memcpy(Lrow,BTAROW(j),(j+1)*sizeof(btScalar)); - } - btFactorLDLT (m_L,m_d,nub,m_nskip); - memcpy (m_x,m_b,nub*sizeof(btScalar)); - btSolveLDLT (m_L,m_d,m_x,nub,m_nskip); - btSetZero (m_w,nub); - { - int *C = m_C; - for (int k=0; k<nub; ++k) C[k] = k; - } - m_nC = nub; - } - - // permute the indexes > nub such that all findex variables are at the end - if (m_findex) { - const int nub = m_nub; - int *findex = m_findex; - int num_at_end = 0; - for (int k=m_n-1; k >= nub; k--) { - if (findex[k] >= 0) { - btSwapProblem (m_A,m_x,m_b,m_w,m_lo,m_hi,m_p,m_state,findex,m_n,k,m_n-1-num_at_end,m_nskip,1); - num_at_end++; - } - } - } + // permute the problem so that *all* the unbounded variables are at the + // start, i.e. look for unbounded variables not included in `nub'. we can + // potentially push up `nub' this way and get a bigger initial factorization. + // note that when we swap rows/cols here we must not just swap row pointers, + // as the initial factorization relies on the data being all in one chunk. + // variables that have findex >= 0 are *not* considered to be unbounded even + // if lo=-inf and hi=inf - this is because these limits may change during the + // solution process. - // print info about indexes - /* + { + int *findex = m_findex; + btScalar *lo = m_lo, *hi = m_hi; + const int n = m_n; + for (int k = m_nub; k < n; ++k) + { + if (findex && findex[k] >= 0) continue; + if (lo[k] == -BT_INFINITY && hi[k] == BT_INFINITY) + { + btSwapProblem(m_A, m_x, m_b, m_w, lo, hi, m_p, m_state, findex, n, m_nub, k, m_nskip, 0); + m_nub++; + } + } + } + + // if there are unbounded variables at the start, factorize A up to that + // point and solve for x. this puts all indexes 0..nub-1 into C. + if (m_nub > 0) + { + const int nub = m_nub; + { + btScalar *Lrow = m_L; + const int nskip = m_nskip; + for (int j = 0; j < nub; Lrow += nskip, ++j) memcpy(Lrow, BTAROW(j), (j + 1) * sizeof(btScalar)); + } + btFactorLDLT(m_L, m_d, nub, m_nskip); + memcpy(m_x, m_b, nub * sizeof(btScalar)); + btSolveLDLT(m_L, m_d, m_x, nub, m_nskip); + btSetZero(m_w, nub); + { + int *C = m_C; + for (int k = 0; k < nub; ++k) C[k] = k; + } + m_nC = nub; + } + + // permute the indexes > nub such that all findex variables are at the end + if (m_findex) + { + const int nub = m_nub; + int *findex = m_findex; + int num_at_end = 0; + for (int k = m_n - 1; k >= nub; k--) + { + if (findex[k] >= 0) + { + btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, findex, m_n, k, m_n - 1 - num_at_end, m_nskip, 1); + num_at_end++; + } + } + } + + // print info about indexes + /* { const int n = m_n; const int nub = m_nub; @@ -1347,734 +1383,776 @@ btLCP::btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btSc */ } - -void btLCP::transfer_i_to_C (int i) +void btLCP::transfer_i_to_C(int i) { - { - if (m_nC > 0) { - // ell,Dell were computed by solve1(). note, ell = D \ L1solve (L,A(i,C)) - { - const int nC = m_nC; - btScalar *const Ltgt = m_L + nC*m_nskip, *ell = m_ell; - for (int j=0; j<nC; ++j) Ltgt[j] = ell[j]; - } - const int nC = m_nC; - m_d[nC] = btRecip (BTAROW(i)[i] - btLargeDot(m_ell,m_Dell,nC)); - } - else { - m_d[0] = btRecip (BTAROW(i)[i]); - } - - btSwapProblem (m_A,m_x,m_b,m_w,m_lo,m_hi,m_p,m_state,m_findex,m_n,m_nC,i,m_nskip,1); + { + if (m_nC > 0) + { + // ell,Dell were computed by solve1(). note, ell = D \ L1solve (L,A(i,C)) + { + const int nC = m_nC; + btScalar *const Ltgt = m_L + nC * m_nskip, *ell = m_ell; + for (int j = 0; j < nC; ++j) Ltgt[j] = ell[j]; + } + const int nC = m_nC; + m_d[nC] = btRecip(BTAROW(i)[i] - btLargeDot(m_ell, m_Dell, nC)); + } + else + { + m_d[0] = btRecip(BTAROW(i)[i]); + } - const int nC = m_nC; - m_C[nC] = nC; - m_nC = nC + 1; // nC value is outdated after this line - } + btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, m_findex, m_n, m_nC, i, m_nskip, 1); + const int nC = m_nC; + m_C[nC] = nC; + m_nC = nC + 1; // nC value is outdated after this line + } } - -void btLCP::transfer_i_from_N_to_C (int i) +void btLCP::transfer_i_from_N_to_C(int i) { - { - if (m_nC > 0) { - { - btScalar *const aptr = BTAROW(i); - btScalar *Dell = m_Dell; - const int *C = m_C; -# ifdef BTNUB_OPTIMIZATIONS - // if nub>0, initial part of aptr unpermuted - const int nub = m_nub; - int j=0; - for ( ; j<nub; ++j) Dell[j] = aptr[j]; - const int nC = m_nC; - for ( ; j<nC; ++j) Dell[j] = aptr[C[j]]; -# else - const int nC = m_nC; - for (int j=0; j<nC; ++j) Dell[j] = aptr[C[j]]; -# endif - } - btSolveL1 (m_L,m_Dell,m_nC,m_nskip); - { - const int nC = m_nC; - btScalar *const Ltgt = m_L + nC*m_nskip; - btScalar *ell = m_ell, *Dell = m_Dell, *d = m_d; - for (int j=0; j<nC; ++j) Ltgt[j] = ell[j] = Dell[j] * d[j]; - } - const int nC = m_nC; - m_d[nC] = btRecip (BTAROW(i)[i] - btLargeDot(m_ell,m_Dell,nC)); - } - else { - m_d[0] = btRecip (BTAROW(i)[i]); - } - - btSwapProblem (m_A,m_x,m_b,m_w,m_lo,m_hi,m_p,m_state,m_findex,m_n,m_nC,i,m_nskip,1); - - const int nC = m_nC; - m_C[nC] = nC; - m_nN--; - m_nC = nC + 1; // nC value is outdated after this line - } - - // @@@ TO DO LATER - // if we just finish here then we'll go back and re-solve for - // delta_x. but actually we can be more efficient and incrementally - // update delta_x here. but if we do this, we wont have ell and Dell - // to use in updating the factorization later. - + { + if (m_nC > 0) + { + { + btScalar *const aptr = BTAROW(i); + btScalar *Dell = m_Dell; + const int *C = m_C; +#ifdef BTNUB_OPTIMIZATIONS + // if nub>0, initial part of aptr unpermuted + const int nub = m_nub; + int j = 0; + for (; j < nub; ++j) Dell[j] = aptr[j]; + const int nC = m_nC; + for (; j < nC; ++j) Dell[j] = aptr[C[j]]; +#else + const int nC = m_nC; + for (int j = 0; j < nC; ++j) Dell[j] = aptr[C[j]]; +#endif + } + btSolveL1(m_L, m_Dell, m_nC, m_nskip); + { + const int nC = m_nC; + btScalar *const Ltgt = m_L + nC * m_nskip; + btScalar *ell = m_ell, *Dell = m_Dell, *d = m_d; + for (int j = 0; j < nC; ++j) Ltgt[j] = ell[j] = Dell[j] * d[j]; + } + const int nC = m_nC; + m_d[nC] = btRecip(BTAROW(i)[i] - btLargeDot(m_ell, m_Dell, nC)); + } + else + { + m_d[0] = btRecip(BTAROW(i)[i]); + } + + btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, m_findex, m_n, m_nC, i, m_nskip, 1); + + const int nC = m_nC; + m_C[nC] = nC; + m_nN--; + m_nC = nC + 1; // nC value is outdated after this line + } + + // @@@ TO DO LATER + // if we just finish here then we'll go back and re-solve for + // delta_x. but actually we can be more efficient and incrementally + // update delta_x here. but if we do this, we wont have ell and Dell + // to use in updating the factorization later. } -void btRemoveRowCol (btScalar *A, int n, int nskip, int r) +void btRemoveRowCol(btScalar *A, int n, int nskip, int r) { - btAssert(A && n > 0 && nskip >= n && r >= 0 && r < n); - if (r >= n-1) return; - if (r > 0) { - { - const size_t move_size = (n-r-1)*sizeof(btScalar); - btScalar *Adst = A + r; - for (int i=0; i<r; Adst+=nskip,++i) { - btScalar *Asrc = Adst + 1; - memmove (Adst,Asrc,move_size); - } - } - { - const size_t cpy_size = r*sizeof(btScalar); - btScalar *Adst = A + r * nskip; - for (int i=r; i<(n-1); ++i) { - btScalar *Asrc = Adst + nskip; - memcpy (Adst,Asrc,cpy_size); - Adst = Asrc; - } - } - } - { - const size_t cpy_size = (n-r-1)*sizeof(btScalar); - btScalar *Adst = A + r * (nskip + 1); - for (int i=r; i<(n-1); ++i) { - btScalar *Asrc = Adst + (nskip + 1); - memcpy (Adst,Asrc,cpy_size); - Adst = Asrc - 1; - } - } + btAssert(A && n > 0 && nskip >= n && r >= 0 && r < n); + if (r >= n - 1) return; + if (r > 0) + { + { + const size_t move_size = (n - r - 1) * sizeof(btScalar); + btScalar *Adst = A + r; + for (int i = 0; i < r; Adst += nskip, ++i) + { + btScalar *Asrc = Adst + 1; + memmove(Adst, Asrc, move_size); + } + } + { + const size_t cpy_size = r * sizeof(btScalar); + btScalar *Adst = A + r * nskip; + for (int i = r; i < (n - 1); ++i) + { + btScalar *Asrc = Adst + nskip; + memcpy(Adst, Asrc, cpy_size); + Adst = Asrc; + } + } + } + { + const size_t cpy_size = (n - r - 1) * sizeof(btScalar); + btScalar *Adst = A + r * (nskip + 1); + for (int i = r; i < (n - 1); ++i) + { + btScalar *Asrc = Adst + (nskip + 1); + memcpy(Adst, Asrc, cpy_size); + Adst = Asrc - 1; + } + } } +void btLDLTAddTL(btScalar *L, btScalar *d, const btScalar *a, int n, int nskip, btAlignedObjectArray<btScalar> &scratch) +{ + btAssert(L && d && a && n > 0 && nskip >= n); + if (n < 2) return; + scratch.resize(2 * nskip); + btScalar *W1 = &scratch[0]; + btScalar *W2 = W1 + nskip; -void btLDLTAddTL (btScalar *L, btScalar *d, const btScalar *a, int n, int nskip, btAlignedObjectArray<btScalar>& scratch) -{ - btAssert (L && d && a && n > 0 && nskip >= n); - - if (n < 2) return; - scratch.resize(2*nskip); - btScalar *W1 = &scratch[0]; - - btScalar *W2 = W1 + nskip; - - W1[0] = btScalar(0.0); - W2[0] = btScalar(0.0); - for (int j=1; j<n; ++j) { - W1[j] = W2[j] = (btScalar) (a[j] * SIMDSQRT12); - } - btScalar W11 = (btScalar) ((btScalar(0.5)*a[0]+1)*SIMDSQRT12); - btScalar W21 = (btScalar) ((btScalar(0.5)*a[0]-1)*SIMDSQRT12); - - btScalar alpha1 = btScalar(1.0); - btScalar alpha2 = btScalar(1.0); + W1[0] = btScalar(0.0); + W2[0] = btScalar(0.0); + for (int j = 1; j < n; ++j) + { + W1[j] = W2[j] = (btScalar)(a[j] * SIMDSQRT12); + } + btScalar W11 = (btScalar)((btScalar(0.5) * a[0] + 1) * SIMDSQRT12); + btScalar W21 = (btScalar)((btScalar(0.5) * a[0] - 1) * SIMDSQRT12); - { - btScalar dee = d[0]; - btScalar alphanew = alpha1 + (W11*W11)*dee; - btAssert(alphanew != btScalar(0.0)); - dee /= alphanew; - btScalar gamma1 = W11 * dee; - dee *= alpha1; - alpha1 = alphanew; - alphanew = alpha2 - (W21*W21)*dee; - dee /= alphanew; - //btScalar gamma2 = W21 * dee; - alpha2 = alphanew; - btScalar k1 = btScalar(1.0) - W21*gamma1; - btScalar k2 = W21*gamma1*W11 - W21; - btScalar *ll = L + nskip; - for (int p=1; p<n; ll+=nskip, ++p) { - btScalar Wp = W1[p]; - btScalar ell = *ll; - W1[p] = Wp - W11*ell; - W2[p] = k1*Wp + k2*ell; - } - } + btScalar alpha1 = btScalar(1.0); + btScalar alpha2 = btScalar(1.0); - btScalar *ll = L + (nskip + 1); - for (int j=1; j<n; ll+=nskip+1, ++j) { - btScalar k1 = W1[j]; - btScalar k2 = W2[j]; - - btScalar dee = d[j]; - btScalar alphanew = alpha1 + (k1*k1)*dee; - btAssert(alphanew != btScalar(0.0)); - dee /= alphanew; - btScalar gamma1 = k1 * dee; - dee *= alpha1; - alpha1 = alphanew; - alphanew = alpha2 - (k2*k2)*dee; - dee /= alphanew; - btScalar gamma2 = k2 * dee; - dee *= alpha2; - d[j] = dee; - alpha2 = alphanew; - - btScalar *l = ll + nskip; - for (int p=j+1; p<n; l+=nskip, ++p) { - btScalar ell = *l; - btScalar Wp = W1[p] - k1 * ell; - ell += gamma1 * Wp; - W1[p] = Wp; - Wp = W2[p] - k2 * ell; - ell -= gamma2 * Wp; - W2[p] = Wp; - *l = ell; - } - } + { + btScalar dee = d[0]; + btScalar alphanew = alpha1 + (W11 * W11) * dee; + btAssert(alphanew != btScalar(0.0)); + dee /= alphanew; + btScalar gamma1 = W11 * dee; + dee *= alpha1; + alpha1 = alphanew; + alphanew = alpha2 - (W21 * W21) * dee; + dee /= alphanew; + //btScalar gamma2 = W21 * dee; + alpha2 = alphanew; + btScalar k1 = btScalar(1.0) - W21 * gamma1; + btScalar k2 = W21 * gamma1 * W11 - W21; + btScalar *ll = L + nskip; + for (int p = 1; p < n; ll += nskip, ++p) + { + btScalar Wp = W1[p]; + btScalar ell = *ll; + W1[p] = Wp - W11 * ell; + W2[p] = k1 * Wp + k2 * ell; + } + } + + btScalar *ll = L + (nskip + 1); + for (int j = 1; j < n; ll += nskip + 1, ++j) + { + btScalar k1 = W1[j]; + btScalar k2 = W2[j]; + + btScalar dee = d[j]; + btScalar alphanew = alpha1 + (k1 * k1) * dee; + btAssert(alphanew != btScalar(0.0)); + dee /= alphanew; + btScalar gamma1 = k1 * dee; + dee *= alpha1; + alpha1 = alphanew; + alphanew = alpha2 - (k2 * k2) * dee; + dee /= alphanew; + btScalar gamma2 = k2 * dee; + dee *= alpha2; + d[j] = dee; + alpha2 = alphanew; + + btScalar *l = ll + nskip; + for (int p = j + 1; p < n; l += nskip, ++p) + { + btScalar ell = *l; + btScalar Wp = W1[p] - k1 * ell; + ell += gamma1 * Wp; + W1[p] = Wp; + Wp = W2[p] - k2 * ell; + ell -= gamma2 * Wp; + W2[p] = Wp; + *l = ell; + } + } } - -#define _BTGETA(i,j) (A[i][j]) +#define _BTGETA(i, j) (A[i][j]) //#define _GETA(i,j) (A[(i)*nskip+(j)]) -#define BTGETA(i,j) ((i > j) ? _BTGETA(i,j) : _BTGETA(j,i)) +#define BTGETA(i, j) ((i > j) ? _BTGETA(i, j) : _BTGETA(j, i)) inline size_t btEstimateLDLTAddTLTmpbufSize(int nskip) { - return nskip * 2 * sizeof(btScalar); + return nskip * 2 * sizeof(btScalar); } - -void btLDLTRemove (btScalar **A, const int *p, btScalar *L, btScalar *d, - int n1, int n2, int r, int nskip, btAlignedObjectArray<btScalar>& scratch) +void btLDLTRemove(btScalar **A, const int *p, btScalar *L, btScalar *d, + int n1, int n2, int r, int nskip, btAlignedObjectArray<btScalar> &scratch) { - btAssert(A && p && L && d && n1 > 0 && n2 > 0 && r >= 0 && r < n2 && - n1 >= n2 && nskip >= n1); - #ifdef BT_DEBUG - for (int i=0; i<n2; ++i) + btAssert(A && p && L && d && n1 > 0 && n2 > 0 && r >= 0 && r < n2 && + n1 >= n2 && nskip >= n1); +#ifdef BT_DEBUG + for (int i = 0; i < n2; ++i) btAssert(p[i] >= 0 && p[i] < n1); - #endif - - if (r==n2-1) { - return; // deleting last row/col is easy - } - else { - size_t LDLTAddTL_size = btEstimateLDLTAddTLTmpbufSize(nskip); - btAssert(LDLTAddTL_size % sizeof(btScalar) == 0); - scratch.resize(nskip * 2+n2); - btScalar *tmp = &scratch[0]; - if (r==0) { - btScalar *a = (btScalar *)((char *)tmp + LDLTAddTL_size); - const int p_0 = p[0]; - for (int i=0; i<n2; ++i) { - a[i] = -BTGETA(p[i],p_0); - } - a[0] += btScalar(1.0); - btLDLTAddTL (L,d,a,n2,nskip,scratch); - } - else { - btScalar *t = (btScalar *)((char *)tmp + LDLTAddTL_size); - { - btScalar *Lcurr = L + r*nskip; - for (int i=0; i<r; ++Lcurr, ++i) { - btAssert(d[i] != btScalar(0.0)); - t[i] = *Lcurr / d[i]; - } - } - btScalar *a = t + r; - { - btScalar *Lcurr = L + r*nskip; - const int *pp_r = p + r, p_r = *pp_r; - const int n2_minus_r = n2-r; - for (int i=0; i<n2_minus_r; Lcurr+=nskip,++i) { - a[i] = btLargeDot(Lcurr,t,r) - BTGETA(pp_r[i],p_r); - } - } - a[0] += btScalar(1.0); - btLDLTAddTL (L + r*nskip+r, d+r, a, n2-r, nskip, scratch); - } - } +#endif - // snip out row/column r from L and d - btRemoveRowCol (L,n2,nskip,r); - if (r < (n2-1)) memmove (d+r,d+r+1,(n2-r-1)*sizeof(btScalar)); + if (r == n2 - 1) + { + return; // deleting last row/col is easy + } + else + { + size_t LDLTAddTL_size = btEstimateLDLTAddTLTmpbufSize(nskip); + btAssert(LDLTAddTL_size % sizeof(btScalar) == 0); + scratch.resize(nskip * 2 + n2); + btScalar *tmp = &scratch[0]; + if (r == 0) + { + btScalar *a = (btScalar *)((char *)tmp + LDLTAddTL_size); + const int p_0 = p[0]; + for (int i = 0; i < n2; ++i) + { + a[i] = -BTGETA(p[i], p_0); + } + a[0] += btScalar(1.0); + btLDLTAddTL(L, d, a, n2, nskip, scratch); + } + else + { + btScalar *t = (btScalar *)((char *)tmp + LDLTAddTL_size); + { + btScalar *Lcurr = L + r * nskip; + for (int i = 0; i < r; ++Lcurr, ++i) + { + btAssert(d[i] != btScalar(0.0)); + t[i] = *Lcurr / d[i]; + } + } + btScalar *a = t + r; + { + btScalar *Lcurr = L + r * nskip; + const int *pp_r = p + r, p_r = *pp_r; + const int n2_minus_r = n2 - r; + for (int i = 0; i < n2_minus_r; Lcurr += nskip, ++i) + { + a[i] = btLargeDot(Lcurr, t, r) - BTGETA(pp_r[i], p_r); + } + } + a[0] += btScalar(1.0); + btLDLTAddTL(L + r * nskip + r, d + r, a, n2 - r, nskip, scratch); + } + } + + // snip out row/column r from L and d + btRemoveRowCol(L, n2, nskip, r); + if (r < (n2 - 1)) memmove(d + r, d + r + 1, (n2 - r - 1) * sizeof(btScalar)); } - -void btLCP::transfer_i_from_C_to_N (int i, btAlignedObjectArray<btScalar>& scratch) +void btLCP::transfer_i_from_C_to_N(int i, btAlignedObjectArray<btScalar> &scratch) { - { - int *C = m_C; - // remove a row/column from the factorization, and adjust the - // indexes (black magic!) - int last_idx = -1; - const int nC = m_nC; - int j = 0; - for ( ; j<nC; ++j) { - if (C[j]==nC-1) { - last_idx = j; - } - if (C[j]==i) { - btLDLTRemove (m_A,C,m_L,m_d,m_n,nC,j,m_nskip,scratch); - int k; - if (last_idx == -1) { - for (k=j+1 ; k<nC; ++k) { - if (C[k]==nC-1) { - break; - } - } - btAssert (k < nC); - } - else { - k = last_idx; - } - C[k] = C[j]; - if (j < (nC-1)) memmove (C+j,C+j+1,(nC-j-1)*sizeof(int)); - break; - } - } - btAssert (j < nC); - - btSwapProblem (m_A,m_x,m_b,m_w,m_lo,m_hi,m_p,m_state,m_findex,m_n,i,nC-1,m_nskip,1); - - m_nN++; - m_nC = nC - 1; // nC value is outdated after this line - } - + { + int *C = m_C; + // remove a row/column from the factorization, and adjust the + // indexes (black magic!) + int last_idx = -1; + const int nC = m_nC; + int j = 0; + for (; j < nC; ++j) + { + if (C[j] == nC - 1) + { + last_idx = j; + } + if (C[j] == i) + { + btLDLTRemove(m_A, C, m_L, m_d, m_n, nC, j, m_nskip, scratch); + int k; + if (last_idx == -1) + { + for (k = j + 1; k < nC; ++k) + { + if (C[k] == nC - 1) + { + break; + } + } + btAssert(k < nC); + } + else + { + k = last_idx; + } + C[k] = C[j]; + if (j < (nC - 1)) memmove(C + j, C + j + 1, (nC - j - 1) * sizeof(int)); + break; + } + } + btAssert(j < nC); + + btSwapProblem(m_A, m_x, m_b, m_w, m_lo, m_hi, m_p, m_state, m_findex, m_n, i, nC - 1, m_nskip, 1); + + m_nN++; + m_nC = nC - 1; // nC value is outdated after this line + } } - -void btLCP::pN_equals_ANC_times_qC (btScalar *p, btScalar *q) +void btLCP::pN_equals_ANC_times_qC(btScalar *p, btScalar *q) { - // we could try to make this matrix-vector multiplication faster using - // outer product matrix tricks, e.g. with the dMultidotX() functions. - // but i tried it and it actually made things slower on random 100x100 - // problems because of the overhead involved. so we'll stick with the - // simple method for now. - const int nC = m_nC; - btScalar *ptgt = p + nC; - const int nN = m_nN; - for (int i=0; i<nN; ++i) { - ptgt[i] = btLargeDot (BTAROW(i+nC),q,nC); - } + // we could try to make this matrix-vector multiplication faster using + // outer product matrix tricks, e.g. with the dMultidotX() functions. + // but i tried it and it actually made things slower on random 100x100 + // problems because of the overhead involved. so we'll stick with the + // simple method for now. + const int nC = m_nC; + btScalar *ptgt = p + nC; + const int nN = m_nN; + for (int i = 0; i < nN; ++i) + { + ptgt[i] = btLargeDot(BTAROW(i + nC), q, nC); + } } - -void btLCP::pN_plusequals_ANi (btScalar *p, int i, int sign) +void btLCP::pN_plusequals_ANi(btScalar *p, int i, int sign) { - const int nC = m_nC; - btScalar *aptr = BTAROW(i) + nC; - btScalar *ptgt = p + nC; - if (sign > 0) { - const int nN = m_nN; - for (int j=0; j<nN; ++j) ptgt[j] += aptr[j]; - } - else { - const int nN = m_nN; - for (int j=0; j<nN; ++j) ptgt[j] -= aptr[j]; - } + const int nC = m_nC; + btScalar *aptr = BTAROW(i) + nC; + btScalar *ptgt = p + nC; + if (sign > 0) + { + const int nN = m_nN; + for (int j = 0; j < nN; ++j) ptgt[j] += aptr[j]; + } + else + { + const int nN = m_nN; + for (int j = 0; j < nN; ++j) ptgt[j] -= aptr[j]; + } } -void btLCP::pC_plusequals_s_times_qC (btScalar *p, btScalar s, btScalar *q) +void btLCP::pC_plusequals_s_times_qC(btScalar *p, btScalar s, btScalar *q) { - const int nC = m_nC; - for (int i=0; i<nC; ++i) { - p[i] += s*q[i]; - } + const int nC = m_nC; + for (int i = 0; i < nC; ++i) + { + p[i] += s * q[i]; + } } -void btLCP::pN_plusequals_s_times_qN (btScalar *p, btScalar s, btScalar *q) +void btLCP::pN_plusequals_s_times_qN(btScalar *p, btScalar s, btScalar *q) { - const int nC = m_nC; - btScalar *ptgt = p + nC, *qsrc = q + nC; - const int nN = m_nN; - for (int i=0; i<nN; ++i) { - ptgt[i] += s*qsrc[i]; - } + const int nC = m_nC; + btScalar *ptgt = p + nC, *qsrc = q + nC; + const int nN = m_nN; + for (int i = 0; i < nN; ++i) + { + ptgt[i] += s * qsrc[i]; + } } -void btLCP::solve1 (btScalar *a, int i, int dir, int only_transfer) +void btLCP::solve1(btScalar *a, int i, int dir, int only_transfer) { - // the `Dell' and `ell' that are computed here are saved. if index i is - // later added to the factorization then they can be reused. - // - // @@@ question: do we need to solve for entire delta_x??? yes, but - // only if an x goes below 0 during the step. - - if (m_nC > 0) { - { - btScalar *Dell = m_Dell; - int *C = m_C; - btScalar *aptr = BTAROW(i); -# ifdef BTNUB_OPTIMIZATIONS - // if nub>0, initial part of aptr[] is guaranteed unpermuted - const int nub = m_nub; - int j=0; - for ( ; j<nub; ++j) Dell[j] = aptr[j]; - const int nC = m_nC; - for ( ; j<nC; ++j) Dell[j] = aptr[C[j]]; -# else - const int nC = m_nC; - for (int j=0; j<nC; ++j) Dell[j] = aptr[C[j]]; -# endif - } - btSolveL1 (m_L,m_Dell,m_nC,m_nskip); - { - btScalar *ell = m_ell, *Dell = m_Dell, *d = m_d; - const int nC = m_nC; - for (int j=0; j<nC; ++j) ell[j] = Dell[j] * d[j]; - } + // the `Dell' and `ell' that are computed here are saved. if index i is + // later added to the factorization then they can be reused. + // + // @@@ question: do we need to solve for entire delta_x??? yes, but + // only if an x goes below 0 during the step. - if (!only_transfer) { - btScalar *tmp = m_tmp, *ell = m_ell; - { - const int nC = m_nC; - for (int j=0; j<nC; ++j) tmp[j] = ell[j]; - } - btSolveL1T (m_L,tmp,m_nC,m_nskip); - if (dir > 0) { - int *C = m_C; - btScalar *tmp = m_tmp; - const int nC = m_nC; - for (int j=0; j<nC; ++j) a[C[j]] = -tmp[j]; - } else { - int *C = m_C; - btScalar *tmp = m_tmp; - const int nC = m_nC; - for (int j=0; j<nC; ++j) a[C[j]] = tmp[j]; - } - } - } -} + if (m_nC > 0) + { + { + btScalar *Dell = m_Dell; + int *C = m_C; + btScalar *aptr = BTAROW(i); +#ifdef BTNUB_OPTIMIZATIONS + // if nub>0, initial part of aptr[] is guaranteed unpermuted + const int nub = m_nub; + int j = 0; + for (; j < nub; ++j) Dell[j] = aptr[j]; + const int nC = m_nC; + for (; j < nC; ++j) Dell[j] = aptr[C[j]]; +#else + const int nC = m_nC; + for (int j = 0; j < nC; ++j) Dell[j] = aptr[C[j]]; +#endif + } + btSolveL1(m_L, m_Dell, m_nC, m_nskip); + { + btScalar *ell = m_ell, *Dell = m_Dell, *d = m_d; + const int nC = m_nC; + for (int j = 0; j < nC; ++j) ell[j] = Dell[j] * d[j]; + } + if (!only_transfer) + { + btScalar *tmp = m_tmp, *ell = m_ell; + { + const int nC = m_nC; + for (int j = 0; j < nC; ++j) tmp[j] = ell[j]; + } + btSolveL1T(m_L, tmp, m_nC, m_nskip); + if (dir > 0) + { + int *C = m_C; + btScalar *tmp = m_tmp; + const int nC = m_nC; + for (int j = 0; j < nC; ++j) a[C[j]] = -tmp[j]; + } + else + { + int *C = m_C; + btScalar *tmp = m_tmp; + const int nC = m_nC; + for (int j = 0; j < nC; ++j) a[C[j]] = tmp[j]; + } + } + } +} void btLCP::unpermute() { - // now we have to un-permute x and w - { - memcpy (m_tmp,m_x,m_n*sizeof(btScalar)); - btScalar *x = m_x, *tmp = m_tmp; - const int *p = m_p; - const int n = m_n; - for (int j=0; j<n; ++j) x[p[j]] = tmp[j]; - } - { - memcpy (m_tmp,m_w,m_n*sizeof(btScalar)); - btScalar *w = m_w, *tmp = m_tmp; - const int *p = m_p; - const int n = m_n; - for (int j=0; j<n; ++j) w[p[j]] = tmp[j]; - } + // now we have to un-permute x and w + { + memcpy(m_tmp, m_x, m_n * sizeof(btScalar)); + btScalar *x = m_x, *tmp = m_tmp; + const int *p = m_p; + const int n = m_n; + for (int j = 0; j < n; ++j) x[p[j]] = tmp[j]; + } + { + memcpy(m_tmp, m_w, m_n * sizeof(btScalar)); + btScalar *w = m_w, *tmp = m_tmp; + const int *p = m_p; + const int n = m_n; + for (int j = 0; j < n; ++j) w[p[j]] = tmp[j]; + } } -#endif // btLCP_FAST - +#endif // btLCP_FAST //*************************************************************************** // an optimized Dantzig LCP driver routine for the lo-hi LCP problem. -bool btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b, - btScalar* outer_w, int nub, btScalar *lo, btScalar *hi, int *findex, btDantzigScratchMemory& scratchMem) +bool btSolveDantzigLCP(int n, btScalar *A, btScalar *x, btScalar *b, + btScalar *outer_w, int nub, btScalar *lo, btScalar *hi, int *findex, btDantzigScratchMemory &scratchMem) { s_error = false; -// printf("btSolveDantzigLCP n=%d\n",n); - btAssert (n>0 && A && x && b && lo && hi && nub >= 0 && nub <= n); - btAssert(outer_w); + // printf("btSolveDantzigLCP n=%d\n",n); + btAssert(n > 0 && A && x && b && lo && hi && nub >= 0 && nub <= n); + btAssert(outer_w); #ifdef BT_DEBUG - { - // check restrictions on lo and hi - for (int k=0; k<n; ++k) - btAssert (lo[k] <= 0 && hi[k] >= 0); - } -# endif - - - // if all the variables are unbounded then we can just factor, solve, - // and return - if (nub >= n) - { - - - int nskip = (n); - btFactorLDLT (A, outer_w, n, nskip); - btSolveLDLT (A, outer_w, b, n, nskip); - memcpy (x, b, n*sizeof(btScalar)); - - return !s_error; - } - - const int nskip = (n); - scratchMem.L.resize(n*nskip); - - scratchMem.d.resize(n); - - btScalar *w = outer_w; - scratchMem.delta_w.resize(n); - scratchMem.delta_x.resize(n); - scratchMem.Dell.resize(n); - scratchMem.ell.resize(n); - scratchMem.Arows.resize(n); - scratchMem.p.resize(n); - scratchMem.C.resize(n); - - // for i in N, state[i] is 0 if x(i)==lo(i) or 1 if x(i)==hi(i) - scratchMem.state.resize(n); - - - // create LCP object. note that tmp is set to delta_w to save space, this - // optimization relies on knowledge of how tmp is used, so be careful! - btLCP lcp(n,nskip,nub,A,x,b,w,lo,hi,&scratchMem.L[0],&scratchMem.d[0],&scratchMem.Dell[0],&scratchMem.ell[0],&scratchMem.delta_w[0],&scratchMem.state[0],findex,&scratchMem.p[0],&scratchMem.C[0],&scratchMem.Arows[0]); - int adj_nub = lcp.getNub(); - - // loop over all indexes adj_nub..n-1. for index i, if x(i),w(i) satisfy the - // LCP conditions then i is added to the appropriate index set. otherwise - // x(i),w(i) is driven either +ve or -ve to force it to the valid region. - // as we drive x(i), x(C) is also adjusted to keep w(C) at zero. - // while driving x(i) we maintain the LCP conditions on the other variables - // 0..i-1. we do this by watching out for other x(i),w(i) values going - // outside the valid region, and then switching them between index sets - // when that happens. - - bool hit_first_friction_index = false; - for (int i=adj_nub; i<n; ++i) - { - s_error = false; - // the index i is the driving index and indexes i+1..n-1 are "dont care", - // i.e. when we make changes to the system those x's will be zero and we - // don't care what happens to those w's. in other words, we only consider - // an (i+1)*(i+1) sub-problem of A*x=b+w. - - // if we've hit the first friction index, we have to compute the lo and - // hi values based on the values of x already computed. we have been - // permuting the indexes, so the values stored in the findex vector are - // no longer valid. thus we have to temporarily unpermute the x vector. - // for the purposes of this computation, 0*infinity = 0 ... so if the - // contact constraint's normal force is 0, there should be no tangential - // force applied. - - if (!hit_first_friction_index && findex && findex[i] >= 0) { - // un-permute x into delta_w, which is not being used at the moment - for (int j=0; j<n; ++j) scratchMem.delta_w[scratchMem.p[j]] = x[j]; - - // set lo and hi values - for (int k=i; k<n; ++k) { - btScalar wfk = scratchMem.delta_w[findex[k]]; - if (wfk == 0) { - hi[k] = 0; - lo[k] = 0; - } - else { - hi[k] = btFabs (hi[k] * wfk); - lo[k] = -hi[k]; - } - } - hit_first_friction_index = true; - } - - // thus far we have not even been computing the w values for indexes - // greater than i, so compute w[i] now. - w[i] = lcp.AiC_times_qC (i,x) + lcp.AiN_times_qN (i,x) - b[i]; - - // if lo=hi=0 (which can happen for tangential friction when normals are - // 0) then the index will be assigned to set N with some state. however, - // set C's line has zero size, so the index will always remain in set N. - // with the "normal" switching logic, if w changed sign then the index - // would have to switch to set C and then back to set N with an inverted - // state. this is pointless, and also computationally expensive. to - // prevent this from happening, we use the rule that indexes with lo=hi=0 - // will never be checked for set changes. this means that the state for - // these indexes may be incorrect, but that doesn't matter. - - // see if x(i),w(i) is in a valid region - if (lo[i]==0 && w[i] >= 0) { - lcp.transfer_i_to_N (i); - scratchMem.state[i] = false; - } - else if (hi[i]==0 && w[i] <= 0) { - lcp.transfer_i_to_N (i); - scratchMem.state[i] = true; - } - else if (w[i]==0) { - // this is a degenerate case. by the time we get to this test we know - // that lo != 0, which means that lo < 0 as lo is not allowed to be +ve, - // and similarly that hi > 0. this means that the line segment - // corresponding to set C is at least finite in extent, and we are on it. - // NOTE: we must call lcp.solve1() before lcp.transfer_i_to_C() - lcp.solve1 (&scratchMem.delta_x[0],i,0,1); - - lcp.transfer_i_to_C (i); - } - else { - // we must push x(i) and w(i) - for (;;) { - int dir; - btScalar dirf; - // find direction to push on x(i) - if (w[i] <= 0) { - dir = 1; - dirf = btScalar(1.0); - } - else { - dir = -1; - dirf = btScalar(-1.0); - } - - // compute: delta_x(C) = -dir*A(C,C)\A(C,i) - lcp.solve1 (&scratchMem.delta_x[0],i,dir); - - // note that delta_x[i] = dirf, but we wont bother to set it - - // compute: delta_w = A*delta_x ... note we only care about - // delta_w(N) and delta_w(i), the rest is ignored - lcp.pN_equals_ANC_times_qC (&scratchMem.delta_w[0],&scratchMem.delta_x[0]); - lcp.pN_plusequals_ANi (&scratchMem.delta_w[0],i,dir); - scratchMem.delta_w[i] = lcp.AiC_times_qC (i,&scratchMem.delta_x[0]) + lcp.Aii(i)*dirf; - - // find largest step we can take (size=s), either to drive x(i),w(i) - // to the valid LCP region or to drive an already-valid variable - // outside the valid region. - - int cmd = 1; // index switching command - int si = 0; // si = index to switch if cmd>3 - btScalar s = -w[i]/scratchMem.delta_w[i]; - if (dir > 0) { - if (hi[i] < BT_INFINITY) { - btScalar s2 = (hi[i]-x[i])*dirf; // was (hi[i]-x[i])/dirf // step to x(i)=hi(i) - if (s2 < s) { - s = s2; - cmd = 3; - } - } - } - else { - if (lo[i] > -BT_INFINITY) { - btScalar s2 = (lo[i]-x[i])*dirf; // was (lo[i]-x[i])/dirf // step to x(i)=lo(i) - if (s2 < s) { - s = s2; - cmd = 2; - } - } - } - - { - const int numN = lcp.numN(); - for (int k=0; k < numN; ++k) { - const int indexN_k = lcp.indexN(k); - if (!scratchMem.state[indexN_k] ? scratchMem.delta_w[indexN_k] < 0 : scratchMem.delta_w[indexN_k] > 0) { - // don't bother checking if lo=hi=0 - if (lo[indexN_k] == 0 && hi[indexN_k] == 0) continue; - btScalar s2 = -w[indexN_k] / scratchMem.delta_w[indexN_k]; - if (s2 < s) { - s = s2; - cmd = 4; - si = indexN_k; - } - } - } - } - - { - const int numC = lcp.numC(); - for (int k=adj_nub; k < numC; ++k) { - const int indexC_k = lcp.indexC(k); - if (scratchMem.delta_x[indexC_k] < 0 && lo[indexC_k] > -BT_INFINITY) { - btScalar s2 = (lo[indexC_k]-x[indexC_k]) / scratchMem.delta_x[indexC_k]; - if (s2 < s) { - s = s2; - cmd = 5; - si = indexC_k; - } - } - if (scratchMem.delta_x[indexC_k] > 0 && hi[indexC_k] < BT_INFINITY) { - btScalar s2 = (hi[indexC_k]-x[indexC_k]) / scratchMem.delta_x[indexC_k]; - if (s2 < s) { - s = s2; - cmd = 6; - si = indexC_k; - } - } - } - } - - //static char* cmdstring[8] = {0,"->C","->NL","->NH","N->C", - // "C->NL","C->NH"}; - //printf ("cmd=%d (%s), si=%d\n",cmd,cmdstring[cmd],(cmd>3) ? si : i); - - // if s <= 0 then we've got a problem. if we just keep going then - // we're going to get stuck in an infinite loop. instead, just cross - // our fingers and exit with the current solution. - if (s <= btScalar(0.0)) - { -// printf("LCP internal error, s <= 0 (s=%.4e)",(double)s); - if (i < n) { - btSetZero (x+i,n-i); - btSetZero (w+i,n-i); - } - s_error = true; - break; - } - - // apply x = x + s * delta_x - lcp.pC_plusequals_s_times_qC (x, s, &scratchMem.delta_x[0]); - x[i] += s * dirf; - - // apply w = w + s * delta_w - lcp.pN_plusequals_s_times_qN (w, s, &scratchMem.delta_w[0]); - w[i] += s * scratchMem.delta_w[i]; - -// void *tmpbuf; - // switch indexes between sets if necessary - switch (cmd) { - case 1: // done - w[i] = 0; - lcp.transfer_i_to_C (i); - break; - case 2: // done - x[i] = lo[i]; - scratchMem.state[i] = false; - lcp.transfer_i_to_N (i); - break; - case 3: // done - x[i] = hi[i]; - scratchMem.state[i] = true; - lcp.transfer_i_to_N (i); - break; - case 4: // keep going - w[si] = 0; - lcp.transfer_i_from_N_to_C (si); - break; - case 5: // keep going - x[si] = lo[si]; - scratchMem.state[si] = false; - lcp.transfer_i_from_C_to_N (si, scratchMem.m_scratch); - break; - case 6: // keep going - x[si] = hi[si]; - scratchMem.state[si] = true; - lcp.transfer_i_from_C_to_N (si, scratchMem.m_scratch); - break; - } - - if (cmd <= 3) break; - } // for (;;) - } // else - - if (s_error) { - break; - } - } // for (int i=adj_nub; i<n; ++i) + // check restrictions on lo and hi + for (int k = 0; k < n; ++k) + btAssert(lo[k] <= 0 && hi[k] >= 0); + } +#endif - lcp.unpermute(); + // if all the variables are unbounded then we can just factor, solve, + // and return + if (nub >= n) + { + int nskip = (n); + btFactorLDLT(A, outer_w, n, nskip); + btSolveLDLT(A, outer_w, b, n, nskip); + memcpy(x, b, n * sizeof(btScalar)); + + return !s_error; + } + + const int nskip = (n); + scratchMem.L.resize(n * nskip); + + scratchMem.d.resize(n); + + btScalar *w = outer_w; + scratchMem.delta_w.resize(n); + scratchMem.delta_x.resize(n); + scratchMem.Dell.resize(n); + scratchMem.ell.resize(n); + scratchMem.Arows.resize(n); + scratchMem.p.resize(n); + scratchMem.C.resize(n); + + // for i in N, state[i] is 0 if x(i)==lo(i) or 1 if x(i)==hi(i) + scratchMem.state.resize(n); + + // create LCP object. note that tmp is set to delta_w to save space, this + // optimization relies on knowledge of how tmp is used, so be careful! + btLCP lcp(n, nskip, nub, A, x, b, w, lo, hi, &scratchMem.L[0], &scratchMem.d[0], &scratchMem.Dell[0], &scratchMem.ell[0], &scratchMem.delta_w[0], &scratchMem.state[0], findex, &scratchMem.p[0], &scratchMem.C[0], &scratchMem.Arows[0]); + int adj_nub = lcp.getNub(); + + // loop over all indexes adj_nub..n-1. for index i, if x(i),w(i) satisfy the + // LCP conditions then i is added to the appropriate index set. otherwise + // x(i),w(i) is driven either +ve or -ve to force it to the valid region. + // as we drive x(i), x(C) is also adjusted to keep w(C) at zero. + // while driving x(i) we maintain the LCP conditions on the other variables + // 0..i-1. we do this by watching out for other x(i),w(i) values going + // outside the valid region, and then switching them between index sets + // when that happens. + + bool hit_first_friction_index = false; + for (int i = adj_nub; i < n; ++i) + { + s_error = false; + // the index i is the driving index and indexes i+1..n-1 are "dont care", + // i.e. when we make changes to the system those x's will be zero and we + // don't care what happens to those w's. in other words, we only consider + // an (i+1)*(i+1) sub-problem of A*x=b+w. + + // if we've hit the first friction index, we have to compute the lo and + // hi values based on the values of x already computed. we have been + // permuting the indexes, so the values stored in the findex vector are + // no longer valid. thus we have to temporarily unpermute the x vector. + // for the purposes of this computation, 0*infinity = 0 ... so if the + // contact constraint's normal force is 0, there should be no tangential + // force applied. + + if (!hit_first_friction_index && findex && findex[i] >= 0) + { + // un-permute x into delta_w, which is not being used at the moment + for (int j = 0; j < n; ++j) scratchMem.delta_w[scratchMem.p[j]] = x[j]; + + // set lo and hi values + for (int k = i; k < n; ++k) + { + btScalar wfk = scratchMem.delta_w[findex[k]]; + if (wfk == 0) + { + hi[k] = 0; + lo[k] = 0; + } + else + { + hi[k] = btFabs(hi[k] * wfk); + lo[k] = -hi[k]; + } + } + hit_first_friction_index = true; + } + + // thus far we have not even been computing the w values for indexes + // greater than i, so compute w[i] now. + w[i] = lcp.AiC_times_qC(i, x) + lcp.AiN_times_qN(i, x) - b[i]; + + // if lo=hi=0 (which can happen for tangential friction when normals are + // 0) then the index will be assigned to set N with some state. however, + // set C's line has zero size, so the index will always remain in set N. + // with the "normal" switching logic, if w changed sign then the index + // would have to switch to set C and then back to set N with an inverted + // state. this is pointless, and also computationally expensive. to + // prevent this from happening, we use the rule that indexes with lo=hi=0 + // will never be checked for set changes. this means that the state for + // these indexes may be incorrect, but that doesn't matter. + + // see if x(i),w(i) is in a valid region + if (lo[i] == 0 && w[i] >= 0) + { + lcp.transfer_i_to_N(i); + scratchMem.state[i] = false; + } + else if (hi[i] == 0 && w[i] <= 0) + { + lcp.transfer_i_to_N(i); + scratchMem.state[i] = true; + } + else if (w[i] == 0) + { + // this is a degenerate case. by the time we get to this test we know + // that lo != 0, which means that lo < 0 as lo is not allowed to be +ve, + // and similarly that hi > 0. this means that the line segment + // corresponding to set C is at least finite in extent, and we are on it. + // NOTE: we must call lcp.solve1() before lcp.transfer_i_to_C() + lcp.solve1(&scratchMem.delta_x[0], i, 0, 1); + + lcp.transfer_i_to_C(i); + } + else + { + // we must push x(i) and w(i) + for (;;) + { + int dir; + btScalar dirf; + // find direction to push on x(i) + if (w[i] <= 0) + { + dir = 1; + dirf = btScalar(1.0); + } + else + { + dir = -1; + dirf = btScalar(-1.0); + } + + // compute: delta_x(C) = -dir*A(C,C)\A(C,i) + lcp.solve1(&scratchMem.delta_x[0], i, dir); + + // note that delta_x[i] = dirf, but we wont bother to set it + + // compute: delta_w = A*delta_x ... note we only care about + // delta_w(N) and delta_w(i), the rest is ignored + lcp.pN_equals_ANC_times_qC(&scratchMem.delta_w[0], &scratchMem.delta_x[0]); + lcp.pN_plusequals_ANi(&scratchMem.delta_w[0], i, dir); + scratchMem.delta_w[i] = lcp.AiC_times_qC(i, &scratchMem.delta_x[0]) + lcp.Aii(i) * dirf; + + // find largest step we can take (size=s), either to drive x(i),w(i) + // to the valid LCP region or to drive an already-valid variable + // outside the valid region. + + int cmd = 1; // index switching command + int si = 0; // si = index to switch if cmd>3 + btScalar s = -w[i] / scratchMem.delta_w[i]; + if (dir > 0) + { + if (hi[i] < BT_INFINITY) + { + btScalar s2 = (hi[i] - x[i]) * dirf; // was (hi[i]-x[i])/dirf // step to x(i)=hi(i) + if (s2 < s) + { + s = s2; + cmd = 3; + } + } + } + else + { + if (lo[i] > -BT_INFINITY) + { + btScalar s2 = (lo[i] - x[i]) * dirf; // was (lo[i]-x[i])/dirf // step to x(i)=lo(i) + if (s2 < s) + { + s = s2; + cmd = 2; + } + } + } + + { + const int numN = lcp.numN(); + for (int k = 0; k < numN; ++k) + { + const int indexN_k = lcp.indexN(k); + if (!scratchMem.state[indexN_k] ? scratchMem.delta_w[indexN_k] < 0 : scratchMem.delta_w[indexN_k] > 0) + { + // don't bother checking if lo=hi=0 + if (lo[indexN_k] == 0 && hi[indexN_k] == 0) continue; + btScalar s2 = -w[indexN_k] / scratchMem.delta_w[indexN_k]; + if (s2 < s) + { + s = s2; + cmd = 4; + si = indexN_k; + } + } + } + } + + { + const int numC = lcp.numC(); + for (int k = adj_nub; k < numC; ++k) + { + const int indexC_k = lcp.indexC(k); + if (scratchMem.delta_x[indexC_k] < 0 && lo[indexC_k] > -BT_INFINITY) + { + btScalar s2 = (lo[indexC_k] - x[indexC_k]) / scratchMem.delta_x[indexC_k]; + if (s2 < s) + { + s = s2; + cmd = 5; + si = indexC_k; + } + } + if (scratchMem.delta_x[indexC_k] > 0 && hi[indexC_k] < BT_INFINITY) + { + btScalar s2 = (hi[indexC_k] - x[indexC_k]) / scratchMem.delta_x[indexC_k]; + if (s2 < s) + { + s = s2; + cmd = 6; + si = indexC_k; + } + } + } + } + + //static char* cmdstring[8] = {0,"->C","->NL","->NH","N->C", + // "C->NL","C->NH"}; + //printf ("cmd=%d (%s), si=%d\n",cmd,cmdstring[cmd],(cmd>3) ? si : i); + + // if s <= 0 then we've got a problem. if we just keep going then + // we're going to get stuck in an infinite loop. instead, just cross + // our fingers and exit with the current solution. + if (s <= btScalar(0.0)) + { + // printf("LCP internal error, s <= 0 (s=%.4e)",(double)s); + if (i < n) + { + btSetZero(x + i, n - i); + btSetZero(w + i, n - i); + } + s_error = true; + break; + } + + // apply x = x + s * delta_x + lcp.pC_plusequals_s_times_qC(x, s, &scratchMem.delta_x[0]); + x[i] += s * dirf; + + // apply w = w + s * delta_w + lcp.pN_plusequals_s_times_qN(w, s, &scratchMem.delta_w[0]); + w[i] += s * scratchMem.delta_w[i]; + + // void *tmpbuf; + // switch indexes between sets if necessary + switch (cmd) + { + case 1: // done + w[i] = 0; + lcp.transfer_i_to_C(i); + break; + case 2: // done + x[i] = lo[i]; + scratchMem.state[i] = false; + lcp.transfer_i_to_N(i); + break; + case 3: // done + x[i] = hi[i]; + scratchMem.state[i] = true; + lcp.transfer_i_to_N(i); + break; + case 4: // keep going + w[si] = 0; + lcp.transfer_i_from_N_to_C(si); + break; + case 5: // keep going + x[si] = lo[si]; + scratchMem.state[si] = false; + lcp.transfer_i_from_C_to_N(si, scratchMem.m_scratch); + break; + case 6: // keep going + x[si] = hi[si]; + scratchMem.state[si] = true; + lcp.transfer_i_from_C_to_N(si, scratchMem.m_scratch); + break; + } + + if (cmd <= 3) break; + } // for (;;) + } // else + + if (s_error) + { + break; + } + } // for (int i=adj_nub; i<n; ++i) + lcp.unpermute(); - return !s_error; + return !s_error; } - |