删除/解耦interactive求解器

1. RBDscene.cpp

#include "./RBDColliderGroup.h"
#include "./RBDClusterLagrangeMultipliers.h"
// #include "./RBDClusterLagrangeMultipliersInteractive.h"
#include "./RBDClusterImpulseBased.h"
#include "./RBDClusterPenalty.h"
#include "../RBDClusterSequentialImpulse.h"


...

RBDCluster* RBDScene::createNewCluster()
{
   const CONSTRAINTSOLVERTYPE t = this->constraintSolverType();
   if (t == CST_IMPULSEBASED)
   {
      return new RBDClusterImpulseBased(this);
   }
   else if (t == CST_PENALTY)
   {
      return new RBDClusterPenalty(this);
   }
  /* else if (
      t == CST_LAGRANGEINTERACTIVEDANTZIG
      || t == CST_LAGRANGEINTERACTIVEGS
      || t == CST_LAGRANGEINTERACTIVEAUTO)
   {
      return new RBDClusterLagrangeMultipliersInteractive(this);
   }*/
   //(ci) use the attached LagrangeDebugObserver
   else if (myLDOPtr)
   {
      return new RBDClusterLagrangeMultipliers(this, myLDOPtr);
   }
}

1. RBDClusterLagrangeMultipliersInteractive.h”

{
    {
//	VSM::VectorN* lagrangeMultipliers; 

	RBDConstraintResourcePtrSet myConstraintResources; 

	VSLibRBDynMath::RBMMixedLCP* myLcp;

};

//#include "RBDClusterLagrangeMultipliersInteractive.hpp"  //删除
 
}

#endif

1. RBDscene.h

   enum CONSTRAINTSOLVERTYPE
   {
      CST_LAGRANGEDANTZIG, 
      CST_LAGRANGEGS, 
      CST_LAGRANGEAUTO, 
      /*CST_LAGRANGEINTERACTIVEDANTZIG, 
      CST_LAGRANGEINTERACTIVEGS, 
      CST_LAGRANGEINTERACTIVEAUTO, */  删除
      CST_LAGRANGEDANTZIGEXP, 
      CST_IMPULSEBASED, 
      CST_PENALTY,
      CST_SEQUENTIALIMPULSE
   }; 

1. VSPluginRBDynamXMainSimStateExtension.cpp

   if (solverName.toLower() == "dantziginternal")
   {
      myRBDScene->setConstraintSolverType(VSLibRBDynamX::RBDScene::CST_LAGRANGEDANTZIGEXP);
   }
   // 删除注释掉的代码
   //else if (solverName.toLower() == "lagrangeinteractivedantzig")
   //{
   //   myRBDScene->setConstraintSolverType(VSLibRBDynamX::RBDScene::CST_LAGRANGEINTERACTIVEDANTZIG);
   //}
   //else if (solverName.toLower() == "lagrangeinteractivegs")
   //{
   //   myRBDScene->setConstraintSolverType(VSLibRBDynamX::RBDScene::CST_LAGRANGEINTERACTIVEGS);
   //}
   //else if (solverName.toLower() == "lagrangeinteractiveauto")
   //{
   //   myRBDScene->setConstraintSolverType(VSLibRBDynamX::RBDScene::CST_LAGRANGEINTERACTIVEAUTO);
   //}
   else if (solverName.toLower() == "lagrangedantzig")
   {
      myRBDScene->setConstraintSolverType(VSLibRBDynamX::RBDScene::CST_LAGRANGEDANTZIG);
   }
   

2. VSPluginRBDynamXOptions.cpp ``` constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“lagrangeauto”, tr(“Lagrange Multipliers, Auto”))); constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“lagrangedantzig”, tr(“Lagrange Multipliers, Dantzig”))); constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“lagrangegs”, tr(“Lagrange Multipliers, Projected Gauss-Seidel”))); /*constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“lagrangeinteractivedantzig”, tr(“Lagrange Multipliers, Interaktiv, Dantzig”))); constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“lagrangeinteractivegs”, tr(“Lagrange Multipliers, Interaktiv, Gauss-Seidel”))); constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“lagrangeinteractiveauto”, tr(“Lagrange Multipliers, Interaktiv, Auto”))); */ constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“dantziginternal”, tr(“Lagrange Multipliers, Dantzig (Experimental)”))); constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“impulsebased”, tr(“Impulsbasiert, Iterativ”))); constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“penalty”, tr(“Penalty”))); constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“sequentialimpulse”, tr(“Sequential Impulse, Projected Gauss-Seidel”)));

最后要删除pro文件清除Cmake


## 删除/解耦dantzig experimental求解器

1. RBDInverseDynamicsSolverLCP.cpp

#include “./RBDLcpGS.h” #include “./RBDLcpDantzig.h” //#include “./RBDLcpDantzigInternal.h” #include “./RBDLcpSor.h”

VSM::VectorN VSLibRBDynamX::RBDInverseDynamicsSolverLCP::solve() { switch (getRBDScene()->constraintSolverType()) { case(RBDScene::CST_LAGRANGEDANTZIG) : { myLCP = new RBDLcpDantzig(getDimension(), getNumberEqualityConstraints()); break; } /case(RBDScene::CST_LAGRANGEDANTZIGEXP) : { myLCP = new RBDLcpDantzigExperimental(getDimension(), getNumberEqualityConstraints(), getRBDScene()->numberIterations()); break; }/ case (RBDScene::CST_LAGRANGEGS) : { myLCP = new RBDLcpGS(getDimension(), getNumberEqualityConstraints(), getRBDScene()->numberIterations()); break; } default: { if (getNumberEqualityConstraints() <= 0) myLCP = new RBDLcpGS(getDimension(), getNumberEqualityConstraints(), getRBDScene()->numberIterations()); else myLCP = new RBDLcpDantzig(getDimension(), getNumberEqualityConstraints()); } } }

2. RBDClusterLagrangeMultipliers.cpp

#include “./RBDLcpGS.h” #include “./RBDLcpDantzig.h” //#include “./RBDLcpDantzigInternal.h”

switch (myScene->constraintSolverType()) { case(RBDScene::CST_LAGRANGEDANTZIG): { myLcp = new RBDLcpDantzig(matA.rows(), numberEqualityConstraints); break; } /case(RBDScene::CST_LAGRANGEDANTZIGEXP): { myLcp = new RBDLcpDantzigExperimental(matA.rows(), numberEqualityConstraints, myScene->numberIterations()); break; }/ case (RBDScene::CST_LAGRANGEGS): { myLcp = new RBDLcpGS(matA.rows(), numberEqualityConstraints, myScene->numberIterations()); break; } }

3. RBDscene.h

enum CONSTRAINTSOLVERTYPE { CST_LAGRANGEDANTZIG, CST_LAGRANGEGS, CST_LAGRANGEAUTO, // CST_LAGRANGEDANTZIGEXP, CST_IMPULSEBASED, CST_PENALTY, CST_SEQUENTIALIMPULSE };

4. VSPluginRBDynamXMainSimStateExtension.cpp

/* if (solverName.toLower() == “dantziginternal”) { myRBDScene->setConstraintSolverType(VSLibRBDynamX::RBDScene::CST_LAGRANGEDANTZIGEXP); }

*/ if (solverName.toLower() == “lagrangedantzig”) { myRBDScene->setConstraintSolverType(VSLibRBDynamX::RBDScene::CST_LAGRANGEDANTZIG); }

5. VSPluginRBDynamXOptions.cpp

constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“lagrangeauto”, tr(“Lagrange Multipliers, Auto”))); constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“lagrangedantzig”, tr(“Lagrange Multipliers, Dantzig”))); constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“lagrangegs”, tr(“Lagrange Multipliers, Projected Gauss-Seidel”)));

/* constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“dantziginternal”, tr(“Lagrange Multipliers, Dantzig (Experimental)”))); */ constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“impulsebased”, tr(“Impulsbasiert, Iterativ”))); constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“penalty”, tr(“Penalty”))); constraintSolverValues.append(VSLibGUI::SettingsWrapper::ComboBox::Pair(“sequentialimpulse”, tr(“Sequential Impulse, Projected Gauss-Seidel”)));

```

最后要删除pro文件清除Cmake