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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btPATHSolver.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btPATHSolver.h | 151 |
1 files changed, 0 insertions, 151 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btPATHSolver.h b/thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btPATHSolver.h deleted file mode 100644 index 9ec31a6d4e..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btPATHSolver.h +++ /dev/null @@ -1,151 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -///original version written by Erwin Coumans, October 2013 - - -#ifndef BT_PATH_SOLVER_H -#define BT_PATH_SOLVER_H - -//#define BT_USE_PATH -#ifdef BT_USE_PATH - -extern "C" { -#include "PATH/SimpleLCP.h" -#include "PATH/License.h" -#include "PATH/Error_Interface.h" -}; - void __stdcall MyError(Void *data, Char *msg) -{ - printf("Path Error: %s\n",msg); -} - void __stdcall MyWarning(Void *data, Char *msg) -{ - printf("Path Warning: %s\n",msg); -} - -Error_Interface e; - - - -#include "btMLCPSolverInterface.h" -#include "Dantzig/lcp.h" - -class btPathSolver : public btMLCPSolverInterface -{ -public: - - btPathSolver() - { - License_SetString("2069810742&Courtesy_License&&&USR&2013&14_12_2011&1000&PATH&GEN&31_12_2013&0_0_0&0&0_0"); - e.error_data = 0; - e.warning = MyWarning; - e.error = MyError; - Error_SetInterface(&e); - } - - - virtual bool solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true) - { - MCP_Termination status; - - - int numVariables = b.rows(); - if (0==numVariables) - return true; - - /* - variables - the number of variables in the problem - - m_nnz - the number of nonzeros in the M matrix - - m_i - a vector of size m_nnz containing the row indices for M - - m_j - a vector of size m_nnz containing the column indices for M - - m_ij - a vector of size m_nnz containing the data for M - - q - a vector of size variables - - lb - a vector of size variables containing the lower bounds on x - - ub - a vector of size variables containing the upper bounds on x - */ - btAlignedObjectArray<double> values; - btAlignedObjectArray<int> rowIndices; - btAlignedObjectArray<int> colIndices; - - for (int i=0;i<A.rows();i++) - { - for (int j=0;j<A.cols();j++) - { - if (A(i,j)!=0.f) - { - //add 1, because Path starts at 1, instead of 0 - rowIndices.push_back(i+1); - colIndices.push_back(j+1); - values.push_back(A(i,j)); - } - } - } - int numNonZero = rowIndices.size(); - btAlignedObjectArray<double> zResult; - zResult.resize(numVariables); - btAlignedObjectArray<double> rhs; - btAlignedObjectArray<double> upperBounds; - btAlignedObjectArray<double> lowerBounds; - for (int i=0;i<numVariables;i++) - { - upperBounds.push_back(hi[i]); - lowerBounds.push_back(lo[i]); - rhs.push_back(-b[i]); - } - - - SimpleLCP(numVariables,numNonZero,&rowIndices[0],&colIndices[0],&values[0],&rhs[0],&lowerBounds[0],&upperBounds[0], &status, &zResult[0]); - - if (status != MCP_Solved) - { - static const char* gReturnMsgs[] = { - "Invalid return", - "MCP_Solved: The problem was solved", - "MCP_NoProgress: A stationary point was found", - "MCP_MajorIterationLimit: Major iteration limit met", - "MCP_MinorIterationLimit: Cumulative minor iteration limit met", - "MCP_TimeLimit: Ran out of time", - "MCP_UserInterrupt: Control-C, typically", - "MCP_BoundError: Problem has a bound error", - "MCP_DomainError: Could not find starting point", - "MCP_Infeasible: Problem has no solution", - "MCP_Error: An error occurred within the code", - "MCP_LicenseError: License could not be found", - "MCP_OK" - }; - - printf("ERROR: The PATH MCP solver failed: %s\n", gReturnMsgs[(unsigned int)status]);// << std::endl; - printf("using Projected Gauss Seidel fallback\n"); - - return false; - } else - { - for (int i=0;i<numVariables;i++) - { - x[i] = zResult[i]; - //check for #NAN - if (x[i] != zResult[i]) - return false; - } - return true; - - } - - } -}; - -#endif //BT_USE_PATH - - -#endif //BT_PATH_SOLVER_H |