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DelaunayDelaunay
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Add eigen backend
1 parent e009f4f commit ab1910b

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8 files changed

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-78
lines changed

8 files changed

+333
-78
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‎.gitmodules‎

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[submodule "dependencies/eigen"]
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path = dependencies/eigen
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url = [email protected]:libeigen/eigen.git

‎CMakeLists.txt‎

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@@ -7,9 +7,11 @@ project(simple-2d-constraint-solver)
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set(CMAKE_CXX_STANDARD 11)
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option(USE_EIGEN ON)
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SET(USE_EIGEN 1)
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# ========================================================
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# GTEST
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include(FetchContent)
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FetchContent_Declare(
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googletest
@@ -26,11 +28,17 @@ set_property(TARGET gtest PROPERTY FOLDER "gtest")
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set_property(TARGET gtest_main PROPERTY FOLDER "gtest")
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# ========================================================
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if(USE_EIGEN)
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include_directories(dependencies/eigen)
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add_definitions(-DATG_S2C_USE_EIGEN)
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endif(USE_EIGEN)
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add_library(simple-2d-constraint-solver STATIC
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# Source files
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src/rigid_body_system.cpp
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src/matrix.cpp
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src/matrix_custom.cpp
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src/matrix_eigen.cpp
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src/system_state.cpp
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src/utilities.cpp
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src/ode_solver.cpp
@@ -62,6 +70,8 @@ add_library(simple-2d-constraint-solver STATIC
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# Header files
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include/rigid_body_system.h
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include/matrix.h
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include/matrix_eigen.h
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include/matrix_custom.h
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include/utilities.h
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include/system_state.h
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include/ode_solver.h
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)
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# GTEST
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enable_testing()
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add_executable(simple-2d-constraint-solver-test
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# Source files
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test/sanity_tests.cpp
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test/matrix_tests.cpp

‎dependencies/eigen‎

Submodule eigen added at e7248b2

‎include/matrix.h‎

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@@ -1,79 +1,10 @@
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#ifndef ATG_SIMPLE_2D_CONSTRAINT_SOLVER_MATRIX_H
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#define ATG_SIMPLE_2D_CONSTRAINT_SOLVER_MATRIX_H
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#include <assert.h>
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namespace atg_scs {
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class Matrix {
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public:
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Matrix();
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Matrix(int width, int height, double value = 0.0);
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~Matrix();
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void initialize(int width, int height, double value);
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void initialize(int width, int height);
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void resize(int width, int height);
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void destroy();
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void set(const double *data);
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__forceinline void set(int column, int row, double value) {
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assert(column >= 0 && column < m_width);
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assert(row >= 0 && row < m_height);
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m_matrix[row][column] = value;
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}
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__forceinline void add(int column, int row, double value) {
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assert(column >= 0 && column < m_width);
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assert(row >= 0 && row < m_height);
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m_matrix[row][column] += value;
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}
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__forceinline double get(int column, int row) {
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assert(column >= 0 && column < m_width);
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assert(row >= 0 && row < m_height);
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return m_matrix[row][column];
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}
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void set(Matrix *reference);
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void multiply(Matrix &b, Matrix *target);
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void componentMultiply(Matrix &b, Matrix *target);
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void transposeMultiply(Matrix &b, Matrix *target);
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void leftScale(Matrix &scale, Matrix *target);
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void rightScale(Matrix &scale, Matrix *target);
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void scale(double s, Matrix *target);
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void subtract(Matrix &b, Matrix *target);
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void add(Matrix &b, Matrix *target);
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void negate(Matrix *target);
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bool equals(Matrix &b, double err = 1e-6);
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double vectorMagnitudeSquared() const;
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double dot(Matrix &b) const;
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void madd(Matrix &b, double s);
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void pmadd(Matrix &b, double s);
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void transpose(Matrix *target);
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int getWidth() const { return m_width; }
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int getHeight() const { return m_height; }
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__forceinline void fastRowSwap(int a, int b) {
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double *temp = m_matrix[a];
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m_matrix[a] = m_matrix[b];
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m_matrix[b] = temp;
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}
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protected:
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double **m_matrix;
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double *m_data;
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int m_width;
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int m_height;
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int m_capacityWidth;
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int m_capacityHeight;
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};
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} /* namespace atg_scs */
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#ifdef ATG_S2C_USE_EIGEN
5+
#include "matrix_eigen.h"
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#else
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#include "matrix_custom.h"
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#endif
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#endif /* ATG_SIMPLE_2D_CONSTRAINT_SOLVER_MATRIX_H */

‎include/matrix_custom.h‎

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#ifndef ATG_SIMPLE_2D_CONSTRAINT_SOLVER_MATRIX_CUSTOM_H
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#define ATG_SIMPLE_2D_CONSTRAINT_SOLVER_MATRIX_CUSTOM_H
3+
4+
#include <assert.h>
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6+
namespace atg_scs {
7+
class Matrix {
8+
public:
9+
Matrix();
10+
Matrix(int width, int height, double value = 0.0);
11+
~Matrix();
12+
13+
void initialize(int width, int height, double value);
14+
void initialize(int width, int height);
15+
void resize(int width, int height);
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void destroy();
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void set(const double *data);
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__forceinline void set(int column, int row, double value) {
21+
assert(column >= 0 && column < m_width);
22+
assert(row >= 0 && row < m_height);
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m_matrix[row][column] = value;
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}
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__forceinline void add(int column, int row, double value) {
28+
assert(column >= 0 && column < m_width);
29+
assert(row >= 0 && row < m_height);
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m_matrix[row][column] += value;
32+
}
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__forceinline double get(int column, int row) {
35+
assert(column >= 0 && column < m_width);
36+
assert(row >= 0 && row < m_height);
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return m_matrix[row][column];
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}
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void set(Matrix *reference);
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43+
void multiply(Matrix &b, Matrix *target);
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void componentMultiply(Matrix &b, Matrix *target);
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void transposeMultiply(Matrix &b, Matrix *target);
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void leftScale(Matrix &scale, Matrix *target);
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void rightScale(Matrix &scale, Matrix *target);
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void scale(double s, Matrix *target);
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void subtract(Matrix &b, Matrix *target);
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void add(Matrix &b, Matrix *target);
51+
void negate(Matrix *target);
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bool equals(Matrix &b, double err = 1e-6);
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double vectorMagnitudeSquared() const;
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double dot(Matrix &b) const;
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56+
void madd(Matrix &b, double s);
57+
void pmadd(Matrix &b, double s);
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59+
void transpose(Matrix *target);
60+
int getWidth() const { return m_width; }
61+
int getHeight() const { return m_height; }
62+
63+
__forceinline void fastRowSwap(int a, int b) {
64+
double *temp = m_matrix[a];
65+
m_matrix[a] = m_matrix[b];
66+
m_matrix[b] = temp;
67+
}
68+
69+
protected:
70+
double **m_matrix;
71+
double *m_data;
72+
int m_width;
73+
int m_height;
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int m_capacityWidth;
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int m_capacityHeight;
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};
77+
} /* namespace atg_scs */
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#endif /* ATG_SIMPLE_2D_CONSTRAINT_SOLVER_MATRIX_H */

‎include/matrix_eigen.h‎

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#ifndef ATG_SIMPLE_2D_CONSTRAINT_SOLVER_MATRIX_EIGEN_H
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#define ATG_SIMPLE_2D_CONSTRAINT_SOLVER_MATRIX_EIGEN_H
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4+
#include <assert.h>
5+
6+
#ifdef ATG_S2C_USE_EIGEN
7+
8+
#define EIGEN_NO_DEBUG
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#define EIGEN_NO_STATIC_ASSERT
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11+
#include "Eigen/Dense"
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namespace atg_scs
14+
{
15+
class Matrix
16+
{
17+
typedef Eigen::MatrixXd MatrixType;
18+
19+
public:
20+
Matrix();
21+
Matrix(int width, int height, double value = 0.0);
22+
~Matrix();
23+
24+
void initialize(int width, int height, double value);
25+
void initialize(int width, int height);
26+
void resize(int width, int height);
27+
void destroy();
28+
29+
void set(const double *data);
30+
31+
__forceinline void set(int column, int row, double value)
32+
{
33+
m_matrix(row, column) = value;
34+
}
35+
36+
__forceinline void add(int column, int row, double value)
37+
{
38+
m_matrix(row, column) += value;
39+
}
40+
41+
__forceinline double get(int column, int row)
42+
{
43+
return m_matrix(row, column);
44+
}
45+
46+
void set(Matrix *reference);
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48+
void multiply(Matrix &b, Matrix *target);
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void componentMultiply(Matrix &b, Matrix *target);
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void transposeMultiply(Matrix &b, Matrix *target);
51+
void leftScale(Matrix &scale, Matrix *target);
52+
void rightScale(Matrix &scale, Matrix *target);
53+
void scale(double s, Matrix *target);
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void subtract(Matrix &b, Matrix *target);
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void add(Matrix &b, Matrix *target);
56+
void negate(Matrix *target);
57+
bool equals(Matrix &b, double err = 1e-6);
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double vectorMagnitudeSquared() const;
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double dot(Matrix &b) const;
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61+
void madd(Matrix &b, double s);
62+
void pmadd(Matrix &b, double s);
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64+
void transpose(Matrix *target);
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int getWidth() const { return m_matrix.cols(); }
66+
int getHeight() const { return m_matrix.rows(); }
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68+
__forceinline void fastRowSwap(int a, int b)
69+
{
70+
auto row_a = m_matrix.row(a);
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auto row_b = m_matrix.row(a);
72+
m_matrix.row(a) = row_b;
73+
m_matrix.row(b) = row_a;
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}
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protected:
77+
MatrixType m_matrix;
78+
};
79+
} /* namespace atg_scs */
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81+
#endif
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#endif /* ATG_SIMPLE_2D_CONSTRAINT_SOLVER_MATRIX_H */

‎src/matrix.cpp‎ renamed to ‎src/matrix_custom.cpp‎

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#include "../include/matrix.h"
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#include "../include/matrix_custom.h"
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#include <algorithm>
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#include <assert.h>

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