[Opende-svn] SF.net SVN: opende:[1928] trunk

[<ole...@us...>]

Revision: 1928
          http://opende.svn.sourceforge.net/opende/?rev=1928&view=rev
Author:   oleh_derevenko
Date:     2013-03-03 17:08:44 +0000 (Sun, 03 Mar 2013)
Log Message:
-----------
Fixed: Fixed issue with "findex==-1" constraints being intermixed with "findex!=-1" ones during constraints random reordering in QuickStep

Modified Paths:
--------------
    trunk/CHANGELOG.txt
    trunk/ode/src/quickstep.cpp

Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt	2013-02-09 08:50:21 UTC (rev 1927)
+++ trunk/CHANGELOG.txt	2013-03-03 17:08:44 UTC (rev 1928)
@@ -8,14 +8,18 @@
   * keep the format consistent (79 char width, M/D/Y date format).
 
 ------------------------------------------------------------------------------
-02/03/13 Oleh_derevenko
-		* [u]int[8/16/32] renamed to contain "d" prefix so that global namespace
-		  was not polluted with these names unconditionally. 
-		  If your project depended on these types other than just for passing 
-		  parameters to ODE calls, add similar typedefs for yourself in some 
-		  of your project's global headers.
+03/03/13 Oleh_Derevenko
+        * Fixed issue with "findex==-1" constraints being intermixed with 
+          "findex!=-1" ones during constraints random reordering in QuickStep.
 
-01/02/13 Oleh_derevenko
+02/03/13 Oleh_Derevenko
+        * [u]int[8/16/32] renamed to contain "d" prefix so that global namespace
+          was not polluted with these names unconditionally. 
+          If your project depended on these types other than just for passing 
+          parameters to ODE calls, add similar typedefs for yourself in some 
+          of your project's global headers.
+
+01/02/13 Oleh_Derevenko
         * Applied patch #183 by Joseph Cooper (complementary matrix 
           calculation fix).
 

Modified: trunk/ode/src/quickstep.cpp
===================================================================
--- trunk/ode/src/quickstep.cpp	2013-02-09 08:50:21 UTC (rev 1927)
+++ trunk/ode/src/quickstep.cpp	2013-03-03 17:08:44 UTC (rev 1928)
@@ -589,6 +589,7 @@
 
     // order to solve constraint rows in
     IndexError *order = memarena->AllocateArray<IndexError>(m);
+    unsigned int head_size;
 
 #ifndef REORDER_CONSTRAINTS
     {
@@ -605,6 +606,7 @@
                 --ordertail;
             }
         }
+        head_size = (unsigned int)(orderhead - order);
         dIASSERT (orderhead-ordertail==1);
     }
 #endif
@@ -623,11 +625,14 @@
         if (iteration < 2) {
             // for the first two iterations, solve the constraints in
             // the given order
+            head_size = 0;
             IndexError *ordercurr = order;
             for (unsigned int i = 0; i != m; ordercurr++, i++) {
+                int findex_i = findex[i];
                 ordercurr->error = i;
-                ordercurr->findex = findex[i];
+                ordercurr->findex = findex_i;
                 ordercurr->index = i;
+                if (findex_i == -1) { ++head_size; }
             }
         }
         else {
@@ -644,8 +649,10 @@
                 else {
                     order[i].error = dInfinity;
                 }
-                order[i].findex = findex[i];
+                int findex_i = findex[i];
+                order[i].findex = findex_i;
                 order[i].index = i;
+                if (findex_i == -1) { ++head_size; }
             }
         }
         qsort (order,m,sizeof(IndexError),&compare_index_error);
@@ -657,12 +664,19 @@
 #endif
 #ifdef RANDOMLY_REORDER_CONSTRAINTS
         if ((iteration & 7) == 0) {
-            for (unsigned int i=1; i<m; i++) {
+            for (unsigned int i=1; i<head_size; i++) {
                 int swapi = dRandInt(i+1);
                 IndexError tmp = order[i];
                 order[i] = order[swapi];
                 order[swapi] = tmp;
             }
+            unsigned int tail_size = m - head_size;
+            for (unsigned int j=1; j<tail_size; j++) {
+                int swapj = dRandInt(j+1);
+                IndexError tmp = order[head_size + j];
+                order[head_size + j] = order[head_size + swapj];
+                order[head_size + swapj] = tmp;
+            }
         }
 #endif
 

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