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110 lines
3.0 KiB
C++
110 lines
3.0 KiB
C++
#ifndef BT_KRYLOV_SOLVER_H
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#define BT_KRYLOV_SOLVER_H
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/*
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Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2019 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include <iostream>
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#include <cmath>
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#include <limits>
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#include <LinearMath/btAlignedObjectArray.h>
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#include <LinearMath/btVector3.h>
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#include <LinearMath/btScalar.h>
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#include "LinearMath/btQuickprof.h"
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template <class MatrixX>
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class btKrylovSolver
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{
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typedef btAlignedObjectArray<btVector3> TVStack;
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public:
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int m_maxIterations;
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btScalar m_tolerance;
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btKrylovSolver(int maxIterations, btScalar tolerance)
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: m_maxIterations(maxIterations), m_tolerance(tolerance)
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{
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}
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virtual ~btKrylovSolver() {}
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virtual int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false) = 0;
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virtual void reinitialize(const TVStack& b) = 0;
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virtual SIMD_FORCE_INLINE TVStack sub(const TVStack& a, const TVStack& b)
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{
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// c = a-b
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btAssert(a.size() == b.size());
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TVStack c;
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c.resize(a.size());
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for (int i = 0; i < a.size(); ++i)
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{
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c[i] = a[i] - b[i];
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}
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return c;
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}
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virtual SIMD_FORCE_INLINE btScalar squaredNorm(const TVStack& a)
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{
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return dot(a, a);
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}
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virtual SIMD_FORCE_INLINE btScalar norm(const TVStack& a)
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{
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btScalar ret = 0;
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for (int i = 0; i < a.size(); ++i)
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{
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for (int d = 0; d < 3; ++d)
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{
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ret = btMax(ret, btFabs(a[i][d]));
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}
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}
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return ret;
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}
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virtual SIMD_FORCE_INLINE btScalar dot(const TVStack& a, const TVStack& b)
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{
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btScalar ans(0);
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for (int i = 0; i < a.size(); ++i)
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ans += a[i].dot(b[i]);
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return ans;
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}
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virtual SIMD_FORCE_INLINE void multAndAddTo(btScalar s, const TVStack& a, TVStack& result)
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{
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// result += s*a
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btAssert(a.size() == result.size());
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for (int i = 0; i < a.size(); ++i)
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result[i] += s * a[i];
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}
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virtual SIMD_FORCE_INLINE TVStack multAndAdd(btScalar s, const TVStack& a, const TVStack& b)
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{
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// result = a*s + b
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TVStack result;
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result.resize(a.size());
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for (int i = 0; i < a.size(); ++i)
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result[i] = s * a[i] + b[i];
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return result;
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}
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virtual SIMD_FORCE_INLINE void setTolerance(btScalar tolerance)
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{
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m_tolerance = tolerance;
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}
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};
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#endif /* BT_KRYLOV_SOLVER_H */
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