Checking constraint jacobian and normal directions.
Martin Felis
parent
3fac49ed9e
commit
5037eda185
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@ -292,6 +292,7 @@ void CalcImpulseVariables(
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VectorNd* jac,
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double* G_MInv_GT) {
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if (body == nullptr || body->mIsStatic) {
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jac->setZero();
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*G_MInv_GT = 0.;
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return;
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}
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@ -326,7 +327,7 @@ void PrepareConstraintImpulse(
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body_a,
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cinfo.mBodyAIndex,
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cinfo.posA,
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cinfo.dir,
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-cinfo.dir,
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&cinfo.MInvA,
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&cinfo.jacA,
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&cinfo.GMInvGTA);
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@ -334,7 +335,7 @@ void PrepareConstraintImpulse(
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body_b,
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cinfo.mBodyBIndex,
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cinfo.posB,
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-cinfo.dir,
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cinfo.dir,
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&cinfo.MInvB,
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&cinfo.jacB,
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&cinfo.GMInvGTB);
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@ -355,14 +356,14 @@ void CalcConstraintImpulse(
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rhs += (1.0 + cinfo.effectiveRestitution) * cinfo.jacA * body_a->qdot;
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}
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if (body_b && !body_b->mIsStatic) {
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rhs += (1.0 + cinfo.effectiveRestitution) * cinfo.jacB * (body_b->qdot);
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rhs -= (1.0 + cinfo.effectiveRestitution) * cinfo.jacB * (body_b->qdot);
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}
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double denom = cinfo.GMInvGTA + cinfo.GMInvGTB;
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if (body_a && !body_a->mIsStatic) {
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double old_impulse = cinfo.accumImpulseA;
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cinfo.deltaImpulseA = -rhs / denom;
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cinfo.deltaImpulseA = rhs / denom;
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cinfo.accumImpulseA += cinfo.deltaImpulseA;
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cinfo.accumImpulseA = std::max(0., cinfo.accumImpulseA);
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cinfo.deltaImpulseA = cinfo.accumImpulseA - old_impulse;
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@ -370,7 +371,7 @@ void CalcConstraintImpulse(
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if (body_b && !body_b->mIsStatic) {
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double old_impulse = cinfo.accumImpulseB;
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cinfo.deltaImpulseB = -rhs / denom;
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cinfo.deltaImpulseB = rhs / denom;
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cinfo.accumImpulseB += cinfo.deltaImpulseB;
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cinfo.accumImpulseB = std::max(0., cinfo.accumImpulseB);
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cinfo.deltaImpulseB = cinfo.accumImpulseB - old_impulse;
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@ -387,7 +388,7 @@ void ApplyConstraintImpulse(
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}
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if (body_b && !body_b->mIsStatic) {
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body_b->qdot += cinfo.MInvB * cinfo.jacB.transpose()
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body_b->qdot -= cinfo.MInvB * cinfo.jacB.transpose()
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* (cinfo.deltaImpulseB);
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}
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}
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@ -153,16 +153,25 @@ TEST_CASE("CalcConstraintImpulse", "[Collision]") {
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ground_shape.mType = SimShape::Plane;
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ground_shape.pos = Vector3d::Zero();
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ground_shape.orientation = Quaternion(0., 0., 0., 1.);
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ground_body.mCollisionShapes.push_back(SimBody::BodyCollisionInfo(-1, ground_shape));
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ground_body.mCollisionShapes.push_back(
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SimBody::BodyCollisionInfo(-1, ground_shape));
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ground_body.mIsStatic = true;
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double sphere_a_mass = 1.5;
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double sphere_b_mass = 1.5;
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SimBody sphere_a_body = CreateSphereBody(
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sphere_a_mass, 1.0, 0., Vector3d (0., 0.5, 0.), Vector3d (0., -1., 0.));
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sphere_a_mass,
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1.0,
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0.,
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Vector3d(0., 0.5, 0.),
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Vector3d(0., -1., 0.));
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SimBody sphere_b_body = CreateSphereBody(
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sphere_b_mass, 1.0, 0., Vector3d (0., 0.5, 0.), Vector3d (0., -1., 0.));
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sphere_b_mass,
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1.0,
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0.,
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Vector3d(0., 0.5, 0.),
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Vector3d(0., -1., 0.));
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CollisionInfo cinfo;
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@ -176,24 +185,58 @@ TEST_CASE("CalcConstraintImpulse", "[Collision]") {
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REQUIRE(collisions.size() == 1);
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cinfo = collisions[0];
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bool cresult = CheckPenetration(ground_shape,
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sphere_a_body.mCollisionShapes[0].second, cinfo);
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bool cresult = CheckPenetration(
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ground_shape,
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sphere_a_body.mCollisionShapes[0].second,
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cinfo);
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REQUIRE(cresult == true);
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REQUIRE((cinfo.dir - Vector3d(0., 1., 0.)).norm() < 1.0e-12);
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PrepareConstraintImpulse(&ground_body, &sphere_a_body, cinfo);
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CalcConstraintImpulse(&ground_body, &sphere_a_body, cinfo, 0);
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double reference_impulseB = sphere_a_mass * sphere_a_body.qdot[1];
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double reference_impulseB = -sphere_a_mass * sphere_a_body.qdot[1];
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REQUIRE(cinfo.accumImpulseA < 1.0e-12);
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REQUIRE(cinfo.accumImpulseB + reference_impulseB < 1.0e-12);
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REQUIRE(cinfo.accumImpulseB - reference_impulseB < 1.0e-12);
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ApplyConstraintImpulse(&ground_body, &sphere_a_body, cinfo);
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REQUIRE(sphere_a_body.qdot.norm() < 1.0e-12);
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}
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SECTION("SphereOnGroundButCollidingReverseBodyOrder") {
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sphere_a_body.q[1] = 0.5;
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sphere_a_body.qdot[1] = -1.23;
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sphere_a_body.updateCollisionShapes();
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std::vector<CollisionInfo> collisions;
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CalcCollisions(sphere_a_body, ground_body, collisions);
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REQUIRE(collisions.size() == 1);
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cinfo = collisions[0];
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bool cresult = CheckPenetration(
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sphere_a_body.mCollisionShapes[0].second,
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ground_shape,
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cinfo);
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REQUIRE(cresult == true);
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REQUIRE((cinfo.dir - Vector3d(0., -1., 0.)).norm() < 1.0e-12);
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PrepareConstraintImpulse(&sphere_a_body, &ground_body, cinfo);
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CalcConstraintImpulse(&sphere_a_body, &ground_body, cinfo, 0);
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double reference_impulseA = -sphere_a_mass * sphere_a_body.qdot[1];
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REQUIRE(cinfo.accumImpulseA - reference_impulseA < 1.0e-12);
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REQUIRE(cinfo.accumImpulseB < 1.0e-12);
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ApplyConstraintImpulse(&sphere_a_body, &ground_body, cinfo);
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REQUIRE(sphere_a_body.qdot.norm() < 1.0e-12);
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}
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SECTION("SphereVsSphereCollision") {
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double sphere_b_mass = 1.5;
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SimBody sphere_b_body = CreateSphereBody(sphere_b_mass, 1.0, 0., Vector3d (0., -0.5, 0.), Vector3d (0., 1., 0.));
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SimBody sphere_b_body = CreateSphereBody(
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sphere_b_mass,
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1.0,
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0.,
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Vector3d(0., -0.5, 0.),
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Vector3d(0., 1., 0.));
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sphere_a_body.q[1] = 0.5;
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sphere_a_body.qdot[1] = -1.23;
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@ -0,0 +1,157 @@
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# -*- coding: utf-8 -*-
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# This file is part of SimpleMath, a lightweight C++ template library
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# for linear algebra.
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#
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# Copyright (C) 2009 Benjamin Schindler <bschindler@inf.ethz.ch>
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#
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# This Source Code Form is subject to the terms of the Mozilla Public
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# License, v. 2.0. If a copy of the MPL was not distributed with this
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# file, You can obtain one at http://mozilla.org/MPL/2.0/.
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# Pretty printers for SimpleMath::Matrix
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# This is still pretty basic as the python extension to gdb is still pretty basic.
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# It cannot handle complex simplemath types and it doesn't support many of the other simplemath types
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# This code supports fixed size as well as dynamic size matrices
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# To use it:
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#
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# * Create a directory and put the file as well as an empty __init__.py in
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# that directory.
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# * Create a ~/.gdbinit file, that contains the following:
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# python
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# import sys
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# sys.path.insert(0, '/path/to/simplemath/printer/directory')
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# from printers import register_simplemath_printers
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# register_simplemath_printers (None)
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# end
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import gdb
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import re
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import itertools
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from bisect import bisect_left
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# Basic row/column iteration code for use with Sparse and Dense matrices
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class _MatrixEntryIterator(object):
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def __init__ (self, rows, cols):
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self.rows = rows
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self.cols = cols
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self.currentRow = 0
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self.currentCol = 0
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def __iter__ (self):
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return self
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def next(self):
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return self.__next__() # Python 2.x compatibility
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def __next__(self):
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row = self.currentRow
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col = self.currentCol
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if self.currentRow >= self.rows:
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raise StopIteration
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self.currentCol = self.currentCol + 1
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if self.currentCol >= self.cols:
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self.currentCol = 0
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self.currentRow = self.currentRow + 1
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return (row, col)
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class SimpleMathMatrixPrinter:
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"Print SimpleMath Matrix or Array of some kind"
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def __init__(self, variety, val):
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"Extract all the necessary information"
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# Save the variety (presumably "Matrix" or "Array") for later usage
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self.variety = variety
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# The gdb extension does not support value template arguments - need to extract them by hand
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type = val.type
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if type.code == gdb.TYPE_CODE_REF:
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type = type.target()
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self.type = type.unqualified().strip_typedefs()
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tag = self.type.tag
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regex = re.compile('\<.*\>')
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m = regex.findall(tag)[0][1:-1]
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template_params = m.split(',')
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template_params = [x.replace(" ", "") for x in template_params]
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self.rows = 3
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self.cols = 1
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self.innerType = self.type.template_argument(0)
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print ("type: ", str(self.type))
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self.data = val['mStorage']['mData']
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# self.rows = val['mStorage']['mRows']
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# self.cols = val['mStorage']['mCols']
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#
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# self.innerType = self.type.template_argument(0)
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#
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# self.val = val
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#
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# # Fixed size matrices have a struct as their storage, so we need to walk through this
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# self.data = self.val['mStorage']['mData']
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# if self.data.type.code == gdb.TYPE_CODE_STRUCT:
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# self.data = self.data['array']
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# self.data = self.data.cast(self.innerType.pointer())
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class _iterator(_MatrixEntryIterator):
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def __init__ (self, rows, cols, dataPtr):
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super(SimpleMathMatrixPrinter._iterator, self).__init__(rows, cols)
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self.dataPtr = dataPtr
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def __next__(self):
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row, col = super(SimpleMathMatrixPrinter._iterator, self).__next__()
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item = self.dataPtr.dereference()
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self.dataPtr = self.dataPtr + 1
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if (self.cols == 1): #if it's a column vector
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return ('[%d]' % (row,), item)
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elif (self.rows == 1): #if it's a row vector
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return ('[%d]' % (col,), item)
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return ('[%d,%d]' % (row, col), item)
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def children(self):
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return self._iterator(self.rows, self.cols, self.data)
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def to_string(self):
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return "SimpleMath::%s<%s,%d,%d,%s> (data ptr: %s)" % (self.variety, self.innerType, self.rows, self.cols, self.data)
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def build_simplemath_dictionary ():
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pretty_printers_dict[re.compile('^SimpleMath::MatrixBase<.*>$')] = lambda val: SimpleMathMatrixPrinter("Matrix", val)
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print(str(pretty_printers_dict))
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def register_simplemath_printers(obj):
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"Register simplemath pretty-printers with objfile Obj"
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if obj == None:
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obj = gdb
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obj.pretty_printers.append(lookup_function)
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def lookup_function(val):
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"Look-up and return a pretty-printer that can print va."
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type = val.type
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if type.code == gdb.TYPE_CODE_REF:
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type = type.target()
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type = type.unqualified().strip_typedefs()
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typename = type.tag
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if typename == None:
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return None
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for function in pretty_printers_dict:
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if function.search(typename):
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return pretty_printers_dict[function](val)
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return None
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pretty_printers_dict = {}
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build_simplemath_dictionary ()
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