C++ SparseMatrixsc::insert方法代码示例

// This method and the smooth version share the second half of code. Abstract that out.
void StaticPlaneSphereConstraint::computeGeneralizedFrictionDisk( const VectorXs& q, const VectorXs& v, const int start_column, const int num_samples, SparseMatrixsc& D, VectorXs& drel ) const
{
  assert( start_column >= 0 );
  assert( start_column < D.cols() );
  assert( num_samples > 0 );
  assert( start_column + num_samples - 1 < D.cols() );
  assert( q.size() % 12 == 0 );
  assert( q.size() == 2 * v.size() );

  const Vector3s n{ m_plane.n() };
  assert( fabs( n.norm() - 1.0 ) <= 1.0e-6 );

  std::vector<Vector3s> friction_disk( static_cast<std::vector<Vector3s>::size_type>( num_samples ) );
  assert( friction_disk.size() == std::vector<Vector3s>::size_type( num_samples ) );
  {
    // Compute the relative velocity
    Vector3s tangent_suggestion{ computeRelativeVelocity( q, v ) };
    if( tangent_suggestion.cross( n ).squaredNorm() < 1.0e-9 )
    {
      tangent_suggestion = FrictionUtilities::orthogonalVector( n );
    }
    tangent_suggestion *= -1.0;

    // Sample the friction disk
    FrictionUtilities::generateOrthogonalVectors( n, friction_disk, tangent_suggestion );
  }
  assert( unsigned( num_samples ) == friction_disk.size() );

  // Compute the displacement from the center of mass to the point of contact
  assert( fabs( n.norm() - 1.0 ) <= 1.0e-10 ); assert( m_r >= 0.0 );
  const Vector3s r_world{ - m_r * n };

  // Cache the velocity of the collision point on the plane
  const Vector3s plane_collision_point_vel{ computePlaneCollisionPointVelocity( q ) };

  // For each sample of the friction disk
  const unsigned nbodies{ static_cast<unsigned>( q.size() / 12 ) };
  for( unsigned friction_sample = 0; friction_sample < unsigned( num_samples ); ++friction_sample )
  {
    const unsigned cur_col{ start_column + friction_sample };
    assert( cur_col < unsigned( D.cols() ) );

    // Effect on center of mass
    D.insert( 3 * m_sphere_idx + 0, cur_col ) = friction_disk[friction_sample].x();
    D.insert( 3 * m_sphere_idx + 1, cur_col ) = friction_disk[friction_sample].y();
    D.insert( 3 * m_sphere_idx + 2, cur_col ) = friction_disk[friction_sample].z();

    // Effect on orientation
    {
      const Vector3s ntilde{ r_world.cross( friction_disk[friction_sample] ) };
      D.insert( 3 * ( nbodies + m_sphere_idx ) + 0, cur_col ) = ntilde.x();
      D.insert( 3 * ( nbodies + m_sphere_idx ) + 1, cur_col ) = ntilde.y();
      D.insert( 3 * ( nbodies + m_sphere_idx ) + 2, cur_col ) = ntilde.z();
    }

    // Relative velocity contribution from kinematic scripting
    assert( cur_col < drel.size() );
    drel( cur_col ) = - friction_disk[friction_sample].dot( plane_collision_point_vel );
  }
}

void StaticPlaneSphereConstraint::computeGeneralizedFrictionGivenTangentSample( const VectorXs& q, const VectorXs& t, const unsigned column, SparseMatrixsc& D ) const
{
  assert( t.size() == 3 );
  assert( column < unsigned( D.cols() ) );
  assert( q.size() % 12 == 0 );
  assert( fabs( t.norm() - 1.0 ) <= 1.0e-6 );
  assert( fabs( m_plane.n().dot( t ) ) <= 1.0e-6 );

  // Effect on center of mass
  D.insert( 3 * m_sphere_idx + 0, column ) = t.x();
  D.insert( 3 * m_sphere_idx + 1, column ) = t.y();
  D.insert( 3 * m_sphere_idx + 2, column ) = t.z();

  // Effect on orientation
  {
    const unsigned nbodies{ static_cast<unsigned>( q.size() / 12 ) };
    // Compute the displacement from the center of mass to the point of contact
    assert( fabs( m_plane.n().norm() - 1.0 ) <= 1.0e-10 );
    assert( m_r >= 0.0 );
    const Vector3s r_world{ - m_r * m_plane.n() };
    const Vector3s ntilde{ r_world.cross( Eigen::Map<const Vector3s>( t.data() ) ) };
    D.insert( 3 * ( nbodies + m_sphere_idx ) + 0, column ) = ntilde.x();
    D.insert( 3 * ( nbodies + m_sphere_idx ) + 1, column ) = ntilde.y();
    D.insert( 3 * ( nbodies + m_sphere_idx ) + 2, column ) = ntilde.z();
  }
}

void TeleportedCircleCircleConstraint::evalgradg( const VectorXs& q, const int col, SparseMatrixsc& G, const FlowableSystem& fsys ) const
{
  assert( col >= 0 ); assert( col < G.cols() );

  // MUST BE ADDED GOING DOWN THE COLUMN. DO NOT TOUCH ANOTHER COLUMN.
  assert( m_idx0 < m_idx1 );
  assert( 3 * m_idx0 + 1 < unsigned( G.rows() ) );
  G.insert( 3 * m_idx0 + 0, col ) = m_n.x();
  G.insert( 3 * m_idx0 + 1, col ) = m_n.y();
  assert( 3 * m_idx1 + 1 < unsigned( G.rows() ) );
  G.insert( 3 * m_idx1 + 0, col ) = - m_n.x();
  G.insert( 3 * m_idx1 + 1, col ) = - m_n.y();
}

void StaticPlaneSphereConstraint::evalgradg( const VectorXs& q, const int col, SparseMatrixsc& G, const FlowableSystem& fsys ) const
{
  assert( col >= 0 );
  assert( col < G.cols() );
  assert( 3 * m_sphere_idx + 2 < unsigned( G.rows() ) );

  const Vector3s n{ m_plane.n() };
  assert( fabs( n.norm() - 1.0 ) <= 1.0e-6 );

  // MUST BE ADDED GOING DOWN THE COLUMN. DO NOT TOUCH ANOTHER COLUMN.
  G.insert( 3 * m_sphere_idx + 0, col ) = n.x();
  G.insert( 3 * m_sphere_idx + 1, col ) = n.y();
  G.insert( 3 * m_sphere_idx + 2, col ) = n.z();
}

void BodyBodyConstraint::evalgradg( const VectorXs& q, const int col, SparseMatrixsc& G, const FlowableSystem& fsys ) const
{
  assert( q.size() % 12 == 0 );
  assert( col >= 0 );
  assert( col < G.cols() );

  const unsigned nbodies{ static_cast<unsigned>( q.size() / 12 ) };

  // MUST BE ADDED GOING DOWN THE COLUMN. DO NOT TOUCH ANOTHER COLUMN.
  {
    assert( 3 * nbodies + 3 * m_idx0 + 2 < unsigned( G.rows() ) );
    G.insert( 3 * m_idx0 + 0, col ) = m_n.x();
    G.insert( 3 * m_idx0 + 1, col ) = m_n.y();
    G.insert( 3 * m_idx0 + 2, col ) = m_n.z();
    const Vector3s ntilde_0{ m_r0.cross( m_n ) };
    G.insert( 3 * ( m_idx0 + nbodies ) + 0, col ) = ntilde_0.x();
    G.insert( 3 * ( m_idx0 + nbodies ) + 1, col ) = ntilde_0.y();
    G.insert( 3 * ( m_idx0 + nbodies ) + 2, col ) = ntilde_0.z();
  }

  {
    assert( 3 * nbodies + 3 * m_idx1 + 2 < unsigned( G.rows() ) );
    G.insert( 3 * m_idx1 + 0, col ) = - m_n.x();
    G.insert( 3 * m_idx1 + 1, col ) = - m_n.y();
    G.insert( 3 * m_idx1 + 2, col ) = - m_n.z();
    const Vector3s ntilde_1{ m_r1.cross( m_n ) };
    G.insert( 3 * ( m_idx1 + nbodies ) + 0, col ) = - ntilde_1.x();
    G.insert( 3 * ( m_idx1 + nbodies ) + 1, col ) = - ntilde_1.y();
    G.insert( 3 * ( m_idx1 + nbodies ) + 2, col ) = - ntilde_1.z();
  }
}

void BodyBodyConstraint::computeGeneralizedFrictionGivenTangentSample( const VectorXs& q, const VectorXs& t, const unsigned column, SparseMatrixsc& D ) const
{
  assert( column < unsigned( D.cols() ) );
  assert( q.size() % 12 == 0 );
  assert( t.size() == 3 );
  assert( fabs( t.norm() - 1.0 ) <= 1.0e-6 );
  assert( fabs( m_n.dot( t ) ) <= 1.0e-6 );
  assert( m_idx0 < m_idx1 );

  const unsigned nbodies{ static_cast<unsigned>( q.size() / 12 ) };

  // Effect on center of mass of body i
  D.insert( 3 * m_idx0 + 0, column ) = t.x();
  D.insert( 3 * m_idx0 + 1, column ) = t.y();
  D.insert( 3 * m_idx0 + 2, column ) = t.z();
  // Effect on orientation of body i
  {
    const Vector3s ntilde0{ m_r0.cross( Eigen::Map<const Vector3s>{ t.data() } ) };
    D.insert( 3 * ( m_idx0 + nbodies ) + 0, column ) = ntilde0.x();
    D.insert( 3 * ( m_idx0 + nbodies ) + 1, column ) = ntilde0.y();
    D.insert( 3 * ( m_idx0 + nbodies ) + 2, column ) = ntilde0.z();
  }

  // Effect on center of mass of body j
  D.insert( 3 * m_idx1 + 0, column ) = - t.x();
  D.insert( 3 * m_idx1 + 1, column ) = - t.y();
  D.insert( 3 * m_idx1 + 2, column ) = - t.z();
  // Effect on orientation of body j
  {
    const Vector3s ntilde1{ m_r1.cross( Eigen::Map<const Vector3s>{ t.data() } ) };
    D.insert( 3 * ( m_idx1 + nbodies ) + 0, column ) = - ntilde1.x();
    D.insert( 3 * ( m_idx1 + nbodies ) + 1, column ) = - ntilde1.y();
    D.insert( 3 * ( m_idx1 + nbodies ) + 2, column ) = - ntilde1.z();
  }
}

void MathUtilities::createDiagonalMatrix( const scalar& c, SparseMatrixsc& D )
{
  assert( D.rows() == D.cols() );
  D.reserve( VectorXi::Constant( D.cols(), 1 ) );
  for( int i = 0; i < D.cols(); ++i ) { D.insert(i,i) = c; }
  D.makeCompressed();
}

void FrictionOperatorUtilities::formLinearFrictionDiskConstraint( const int num_samples, SparseMatrixsc& E )
{
  {
    const VectorXi column_nonzeros{ VectorXi::Constant( E.cols(), num_samples ) };
    E.reserve( column_nonzeros );
  }
  // For each column
  for( int col = 0; col < E.cols(); ++col )
  {
    for( int samplenum = 0; samplenum < num_samples; ++samplenum )
    {
      // Note the negative for QL
      E.insert( num_samples * col + samplenum, col ) = 1.0;
    }
  }
  E.makeCompressed();
  assert( E.nonZeros() == E.cols() * num_samples );
  assert( E.sum() == E.nonZeros() );
}

// TODO: Pull the outerIndexPtr arithmetic into a helper function
void MathUtilities::extractColumns( const SparseMatrixsc& A0, const std::vector<unsigned>& cols, SparseMatrixsc& A1 )
{
  const unsigned ncols_to_extract{ static_cast<unsigned>( cols.size() ) };

  assert( ncols_to_extract <= static_cast<unsigned>( A0.cols() ) );
  #ifndef NDEBUG
  for( unsigned i = 0; i < ncols_to_extract; ++i )
  {
    assert( cols[i] < unsigned( A0.cols() ) );
  }
  #endif
    
  // Compute the number of nonzeros in each column of the new matrix
  VectorXi column_nonzeros{ ncols_to_extract };
  for( unsigned i = 0; i < ncols_to_extract; ++i )
  {
    column_nonzeros( i ) = A0.outerIndexPtr()[cols[i]+1] - A0.outerIndexPtr()[cols[i]];
  }

  // Resize A1 and reserve space
  A1.resize( A0.rows(), ncols_to_extract );
  A1.reserve( column_nonzeros );
  // Copy the data over, column by column
  for( unsigned cur_col = 0; cur_col < ncols_to_extract; ++cur_col )
  {
    for( SparseMatrixsc::InnerIterator it( A0, cols[ cur_col ] ); it; ++it )
    {
      A1.insert( it.row(), cur_col ) = it.value();
    }
  }
  
  A1.makeCompressed();
  
  #ifndef NDEBUG
  for( int i = 0 ; i < A1.cols(); ++i )
  {
    assert( ( A1.outerIndexPtr()[i+1] - A1.outerIndexPtr()[i] ) == column_nonzeros( i ) );
  }
  #endif
}

void BodyBodyConstraint::computeGeneralizedFrictionDisk( const VectorXs& q, const VectorXs& v, const int start_column, const int num_samples, SparseMatrixsc& D, VectorXs& drel ) const
{
  assert( start_column >= 0 );
  assert( start_column < D.cols() );
  assert( num_samples > 0 );
  assert( start_column + num_samples - 1 < D.cols() );
  assert( q.size() % 12 == 0 );
  assert( q.size() == 2 * v.size() );

  const unsigned nbodies{ static_cast<unsigned>( q.size() / 12 ) };

  assert( fabs( m_n.norm() - 1.0 ) <= 1.0e-6 );
  std::vector<Vector3s> friction_disk;
  {
    // Compute the relative velocity
    Vector3s tangent_suggestion{ computeRelativeVelocity( q, v ) };
    if( tangent_suggestion.cross( m_n ).squaredNorm() < 1.0e-9 )
    {
      tangent_suggestion = FrictionUtilities::orthogonalVector( m_n );
    }
    tangent_suggestion *= -1.0;

    // Sample the friction disk
    friction_disk.resize( num_samples );
    FrictionUtilities::generateOrthogonalVectors( m_n, friction_disk, tangent_suggestion );
  }
  assert( unsigned( num_samples ) == friction_disk.size() );

  // For each sample of the friction disk
  assert( m_idx0 < m_idx1 );
  for( int i = 0; i < num_samples; ++i )
  {
    const int cur_col{ start_column + i };
    assert( cur_col >= 0 );
    assert( cur_col < D.cols() );

    // Effect on center of mass of body i
    D.insert( 3 * m_idx0 + 0, cur_col ) = friction_disk[i].x();
    D.insert( 3 * m_idx0 + 1, cur_col ) = friction_disk[i].y();
    D.insert( 3 * m_idx0 + 2, cur_col ) = friction_disk[i].z();
    // Effect on orientation of body i
    {
      const Vector3s ttilde0{ m_r0.cross( friction_disk[i] ) };
      D.insert( 3 * ( m_idx0 + nbodies ) + 0, cur_col ) = ttilde0.x();
      D.insert( 3 * ( m_idx0 + nbodies ) + 1, cur_col ) = ttilde0.y();
      D.insert( 3 * ( m_idx0 + nbodies ) + 2, cur_col ) = ttilde0.z();
    }

    // Effect on center of mass of body j
    D.insert( 3 * m_idx1 + 0, cur_col ) = - friction_disk[i].x();
    D.insert( 3 * m_idx1 + 1, cur_col ) = - friction_disk[i].y();
    D.insert( 3 * m_idx1 + 2, cur_col ) = - friction_disk[i].z();
    // Effect on orientation of body j
    {
      const Vector3s ttilde1{ m_r1.cross( friction_disk[i] ) };
      D.insert( 3 * ( m_idx1 + nbodies ) + 0, cur_col ) = - ttilde1.x();
      D.insert( 3 * ( m_idx1 + nbodies ) + 1, cur_col ) = - ttilde1.y();
      D.insert( 3 * ( m_idx1 + nbodies ) + 2, cur_col ) = - ttilde1.z();
    }

    // Relative velocity contribution from kinematic scripting
    assert( cur_col < drel.size() );
    // Zero for now
    drel( cur_col ) = 0.0;
  }
}

void BodyBodyConstraint::computeSmoothGeneralizedFrictionDisk( const VectorXs& q, const VectorXs& v, const int start_column, SparseMatrixsc& D ) const
{
  assert( start_column >= 0 );
  assert( start_column < D.cols() );
  assert( start_column+1 < D.cols() );
  assert( q.size() % 12 == 0 );
  assert( q.size() == 2 * v.size() );

  std::vector<Vector3s> friction_disk{ 2 };

  // Compute the relative velocity to use as a direction for the tangent sample
  friction_disk[0] = computeRelativeVelocity( q, v );
  // If the relative velocity is zero, any vector will do
  if( friction_disk[0].cross( m_n ).squaredNorm() < 1.0e-9 )
  {
    friction_disk[0] = FrictionUtilities::orthogonalVector( m_n );
  }
  // Otherwise project out the component along the normal and normalize the relative velocity
  else
  {
    friction_disk[0] = ( friction_disk[0] - friction_disk[0].dot( m_n ) * m_n ).normalized();
  }
  // Invert the tangent vector in order to oppose
  friction_disk[0] *= -1.0;

  // Create a second orthogonal sample in the tangent plane
  friction_disk[1] = m_n.cross( friction_disk[0] ).normalized(); // Don't need to normalize but it won't hurt
  assert( MathUtilities::isRightHandedOrthoNormal( m_n, friction_disk[0], friction_disk[1], 1.0e-6 ) );

  // For each sample of the friction disk
  assert( m_idx0 < m_idx1 );
  const unsigned nbodies{ static_cast<unsigned>( q.size() / 12 ) };
  for( int i = 0; i < 2; ++i )
  {
    const int cur_col = start_column + i;
    assert( cur_col >= 0 );
    assert( cur_col < D.cols() );

    // Effect on center of mass of body i
    D.insert( 3 * m_idx0 + 0, cur_col ) = friction_disk[i].x();
    D.insert( 3 * m_idx0 + 1, cur_col ) = friction_disk[i].y();
    D.insert( 3 * m_idx0 + 2, cur_col ) = friction_disk[i].z();
    // Effect on orientation of body i
    {
      const Vector3s ntilde0{ m_r0.cross( friction_disk[i] ) };
      D.insert( 3 * ( m_idx0 + nbodies ) + 0, cur_col ) = ntilde0.x();
      D.insert( 3 * ( m_idx0 + nbodies ) + 1, cur_col ) = ntilde0.y();
      D.insert( 3 * ( m_idx0 + nbodies ) + 2, cur_col ) = ntilde0.z();
    }

    // Effect on center of mass of body j
    D.insert( 3 * m_idx1 + 0, cur_col ) = - friction_disk[i].x();
    D.insert( 3 * m_idx1 + 1, cur_col ) = - friction_disk[i].y();
    D.insert( 3 * m_idx1 + 2, cur_col ) = - friction_disk[i].z();
    // Effect on orientation of body j
    {
      const Vector3s ntilde1{ m_r1.cross( friction_disk[i] ) };
      D.insert( 3 * ( m_idx1 + nbodies ) + 0, cur_col ) = - ntilde1.x();
      D.insert( 3 * ( m_idx1 + nbodies ) + 1, cur_col ) = - ntilde1.y();
      D.insert( 3 * ( m_idx1 + nbodies ) + 2, cur_col ) = - ntilde1.z();
    }
  }
}