Refactor ConstraintSolver: decouple LCP solver from ConstraintSolver (#…

…1099)

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 ### DART 6.7.0 (201X-XX-XX)
 
+* Dynamics
+
+  * Refactor constraint solver: [#1099](https://github.com/dartsim/dart/pull/1099)
+
 * GUI
 
   * Reorganized OpenGL and GLUT files: [#1088](https://github.com/dartsim/dart/pull/1088)

dart/constraint/BoxedLcpConstraintSolver.cpp

@@ -0,0 +1,368 @@
+/*
+ * Copyright (c) 2011-2018, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "dart/constraint/BoxedLcpConstraintSolver.hpp"
+
+#include <cassert>
+#ifndef NDEBUG
+#include <iomanip>
+#include <iostream>
+#endif
+
+#include "dart/external/odelcpsolver/lcp.h"
+
+#include "dart/common/Console.hpp"
+#include "dart/constraint/ConstraintBase.hpp"
+#include "dart/constraint/ConstrainedGroup.hpp"
+#include "dart/constraint/DantzigBoxedLcpSolver.hpp"
+#include "dart/lcpsolver/Lemke.hpp"
+
+namespace dart {
+namespace constraint {
+
+//==============================================================================
+BoxedLcpConstraintSolver::BoxedLcpConstraintSolver(
+    double timeStep, BoxedLcpSolverPtr boxedLcpSolver)
+  : ConstraintSolver(timeStep), mBoxedLcpSolver(std::move(boxedLcpSolver))
+{
+  if (!mBoxedLcpSolver)
+    mBoxedLcpSolver = std::make_shared<DantzigBoxedLcpSolver>();
+}
+
+//==============================================================================
+void BoxedLcpConstraintSolver::setBoxedLcpSolver(
+    BoxedLcpSolverPtr lcpSolver)
+{
+  if (!lcpSolver)
+  {
+    dtwarn << "[BoxedLcpConstraintSolver::setBoxedLcpSolver] "
+           << "nullptr for boxed LCP solver is not allowed.";
+    return;
+  }
+
+  mBoxedLcpSolver = std::move(lcpSolver);
+}
+
+//==============================================================================
+ConstBoxedLcpSolverPtr BoxedLcpConstraintSolver::getBoxedLcpSolver() const
+{
+  return mBoxedLcpSolver;
+}
+
+//==============================================================================
+void BoxedLcpConstraintSolver::solveConstrainedGroup(
+    ConstrainedGroup& group)
+{
+  // Build LCP terms by aggregating them from constraints
+  std::size_t numConstraints = group.getNumConstraints();
+  std::size_t n = group.getTotalDimension();
+
+  // If there is no constraint, then just return.
+  if (0u == n)
+    return;
+
+  int nSkip = dPAD(n);
+  double* A = new double[n * nSkip];
+  double* x = new double[n];
+  double* b = new double[n];
+  double* w = new double[n];
+  double* lo = new double[n];
+  double* hi = new double[n];
+  int* findex = new int[n];
+
+  // Set w to 0 and findex to -1
+#ifndef NDEBUG
+  std::memset(A, 0.0, n * nSkip * sizeof(double));
+#endif
+  std::memset(w, 0.0, n * sizeof(double));
+  std::memset(findex, -1, n * sizeof(int));
+
+  // Compute offset indices
+  std::size_t* offset = new std::size_t[n];
+  offset[0] = 0;
+//  std::cout << "offset[" << 0 << "]: " << offset[0] << std::endl;
+  for (std::size_t i = 1; i < numConstraints; ++i)
+  {
+    const ConstraintBasePtr& constraint = group.getConstraint(i - 1);
+    assert(constraint->getDimension() > 0);
+    offset[i] = offset[i - 1] + constraint->getDimension();
+//    std::cout << "offset[" << i << "]: " << offset[i] << std::endl;
+  }
+
+  // For each constraint
+  ConstraintInfo constInfo;
+  constInfo.invTimeStep = 1.0 / mTimeStep;
+  for (std::size_t i = 0; i < numConstraints; ++i)
+  {
+    const ConstraintBasePtr& constraint = group.getConstraint(i);
+
+    constInfo.x      = x      + offset[i];
+    constInfo.lo     = lo     + offset[i];
+    constInfo.hi     = hi     + offset[i];
+    constInfo.b      = b      + offset[i];
+    constInfo.findex = findex + offset[i];
+    constInfo.w      = w      + offset[i];
+
+    // Fill vectors: lo, hi, b, w
+    constraint->getInformation(&constInfo);
+
+    // Fill a matrix by impulse tests: A
+    constraint->excite();
+    for (std::size_t j = 0; j < constraint->getDimension(); ++j)
+    {
+      // Adjust findex for global index
+      if (findex[offset[i] + j] >= 0)
+        findex[offset[i] + j] += offset[i];
+
+      // Apply impulse for mipulse test
+      constraint->applyUnitImpulse(j);
+
+      // Fill upper triangle blocks of A matrix
+      int index = nSkip * (offset[i] + j) + offset[i];
+      constraint->getVelocityChange(A + index, true);
+      for (std::size_t k = i + 1; k < numConstraints; ++k)
+      {
+        index = nSkip * (offset[i] + j) + offset[k];
+        group.getConstraint(k)->getVelocityChange(A + index, false);
+      }
+
+      // Filling symmetric part of A matrix
+      for (std::size_t k = 0; k < i; ++k)
+      {
+        for (std::size_t l = 0; l < group.getConstraint(k)->getDimension(); ++l)
+        {
+          int index1 = nSkip * (offset[i] + j) + offset[k] + l;
+          int index2 = nSkip * (offset[k] + l) + offset[i] + j;
+
+          A[index1] = A[index2];
+        }
+      }
+    }
+
+    assert(isSymmetric(n, A, offset[i],
+                       offset[i] + constraint->getDimension() - 1));
+
+    constraint->unexcite();
+  }
+
+  assert(isSymmetric(n, A));
+
+  // Print LCP formulation
+//  dtdbg << "Before solve:" << std::endl;
+//  print(n, A, x, lo, hi, b, w, findex);
+//  std::cout << std::endl;
+
+  // Solve LCP using ODE's Dantzig algorithm
+  assert(mBoxedLcpSolver);
+  mBoxedLcpSolver->solve(n, A, x, b, 0, lo, hi, findex);
+
+  // Print LCP formulation
+//  dtdbg << "After solve:" << std::endl;
+//  print(n, A, x, lo, hi, b, w, findex);
+//  std::cout << std::endl;
+
+  // Apply constraint impulses
+  for (std::size_t i = 0; i < numConstraints; ++i)
+  {
+    const ConstraintBasePtr& constraint = group.getConstraint(i);
+    constraint->applyImpulse(x + offset[i]);
+    constraint->excite();
+  }
+
+  delete[] offset;
+
+  delete[] A;
+  delete[] x;
+  delete[] b;
+  delete[] w;
+  delete[] lo;
+  delete[] hi;
+  delete[] findex;
+}
+
+//==============================================================================
+#ifndef NDEBUG
+bool BoxedLcpConstraintSolver::isSymmetric(std::size_t n, double* A)
+{
+  std::size_t nSkip = dPAD(n);
+  for (std::size_t i = 0; i < n; ++i)
+  {
+    for (std::size_t j = 0; j < n; ++j)
+    {
+      if (std::abs(A[nSkip * i + j] - A[nSkip * j + i]) > 1e-6)
+      {
+        std::cout << "A: " << std::endl;
+        for (std::size_t k = 0; k < n; ++k)
+        {
+          for (std::size_t l = 0; l < nSkip; ++l)
+          {
+            std::cout << std::setprecision(4) << A[k * nSkip + l] << " ";
+          }
+          std::cout << std::endl;
+        }
+
+        std::cout << "A(" << i << ", " << j << "): " << A[nSkip * i + j] << std::endl;
+        std::cout << "A(" << j << ", " << i << "): " << A[nSkip * j + i] << std::endl;
+        return false;
+      }
+    }
+  }
+
+  return true;
+}
+
+//==============================================================================
+bool BoxedLcpConstraintSolver::isSymmetric(
+    std::size_t n, double* A,
+    std::size_t begin, std::size_t end)
+{
+  std::size_t nSkip = dPAD(n);
+  for (std::size_t i = begin; i <= end; ++i)
+  {
+    for (std::size_t j = begin; j <= end; ++j)
+    {
+      if (std::abs(A[nSkip * i + j] - A[nSkip * j + i]) > 1e-6)
+      {
+        std::cout << "A: " << std::endl;
+        for (std::size_t k = 0; k < n; ++k)
+        {
+          for (std::size_t l = 0; l < nSkip; ++l)
+          {
+            std::cout << std::setprecision(4) << A[k * nSkip + l] << " ";
+          }
+          std::cout << std::endl;
+        }
+
+        std::cout << "A(" << i << ", " << j << "): " << A[nSkip * i + j] << std::endl;
+        std::cout << "A(" << j << ", " << i << "): " << A[nSkip * j + i] << std::endl;
+        return false;
+      }
+    }
+  }
+
+  return true;
+}
+
+//==============================================================================
+void BoxedLcpConstraintSolver::print(
+    std::size_t n, double* A, double* x,
+    double* /*lo*/, double* /*hi*/, double* b,
+    double* w, int* findex)
+{
+  std::size_t nSkip = dPAD(n);
+  std::cout << "A: " << std::endl;
+  for (std::size_t i = 0; i < n; ++i)
+  {
+    for (std::size_t j = 0; j < nSkip; ++j)
+    {
+      std::cout << std::setprecision(4) << A[i * nSkip + j] << " ";
+    }
+    std::cout << std::endl;
+  }
+
+  std::cout << "b: ";
+  for (std::size_t i = 0; i < n; ++i)
+  {
+    std::cout << std::setprecision(4) << b[i] << " ";
+  }
+  std::cout << std::endl;
+
+  std::cout << "w: ";
+  for (std::size_t i = 0; i < n; ++i)
+  {
+    std::cout << w[i] << " ";
+  }
+  std::cout << std::endl;
+
+  std::cout << "x: ";
+  for (std::size_t i = 0; i < n; ++i)
+  {
+    std::cout << x[i] << " ";
+  }
+  std::cout << std::endl;
+
+  //  std::cout << "lb: ";
+  //  for (int i = 0; i < dim; ++i)
+  //  {
+  //    std::cout << lb[i] << " ";
+  //  }
+  //  std::cout << std::endl;
+
+  //  std::cout << "ub: ";
+  //  for (int i = 0; i < dim; ++i)
+  //  {
+  //    std::cout << ub[i] << " ";
+  //  }
+  //  std::cout << std::endl;
+
+  std::cout << "frictionIndex: ";
+  for (std::size_t i = 0; i < n; ++i)
+  {
+    std::cout << findex[i] << " ";
+  }
+  std::cout << std::endl;
+
+  double* Ax  = new double[n];
+
+  for (std::size_t i = 0; i < n; ++i)
+  {
+    Ax[i] = 0.0;
+  }
+
+  for (std::size_t i = 0; i < n; ++i)
+  {
+    for (std::size_t j = 0; j < n; ++j)
+    {
+      Ax[i] += A[i * nSkip + j] * x[j];
+    }
+  }
+
+  std::cout << "Ax   : ";
+  for (std::size_t i = 0; i < n; ++i)
+  {
+    std::cout << Ax[i] << " ";
+  }
+  std::cout << std::endl;
+
+  std::cout << "b + w: ";
+  for (std::size_t i = 0; i < n; ++i)
+  {
+    std::cout << b[i] + w[i] << " ";
+  }
+  std::cout << std::endl;
+
+  delete[] Ax;
+}
+#endif
+
+}  // namespace constraint
+}  // namespace dart