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[feat] Add nonlinear-CG SAP solver #16

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[feat] Add nonlinear-CG SAP solver #16

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e0c8ddf
[feat, wip] add nonlinear-CG SAP solver with strong Wolfe / exact lin…
g1n0st Dec 27, 2025
6b81be3
[add, wip] use an (approximate) Hessian Jacobi preconditioner to impr…
g1n0st Dec 27, 2025
4096cdd
[wip, fixme] use a larger `restart_threshold` to avoid fall back to g…
g1n0st Dec 28, 2025
5fbb686
[minor] align with `SapSolver` for `PackSapSolverResults` and `CalcSt…
g1n0st Dec 29, 2025
20f1326
[minor] remove `IsInfinite`
g1n0st Dec 29, 2025
477e6e1
[feat, add] support Dai–Kou (DK) update
g1n0st Dec 29, 2025
7316ede
[fix] fix compile error caused by a typo
g1n0st Jan 2, 2026
c9fd222
[add, wip] `||D * ∇ℓ_p(v_k)|| <= ε_abs + ε_rel * ||D * ∇ℓ_p(v_0)||` s…
g1n0st Jan 3, 2026
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22 changes: 22 additions & 0 deletions multibody/contact_solvers/sap/BUILD.bazel
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ drake_cc_package_library(
":sap_model",
":sap_pd_controller_constraint",
":sap_solver",
":sap_nlcg_solver",
":sap_solver_results",
":sap_weld_constraint",
],
Expand Down Expand Up @@ -277,6 +278,27 @@ drake_cc_library(
],
)

drake_cc_library(
name = "sap_nlcg_solver",
srcs = ["sap_nlcg_solver.cc"],
hdrs = ["sap_nlcg_solver.h"],
deps = [
":sap_model",
":sap_solver_results",
":sap_solver",
"//common:default_scalars",
"//common:essential",
"//math:linear_solve",
"//multibody/contact_solvers:block_sparse_matrix",
"//multibody/contact_solvers:block_sparse_supernodal_solver",
"//multibody/contact_solvers:conex_supernodal_solver",
"//multibody/contact_solvers:newton_with_bisection",
"//multibody/contact_solvers:point_contact_data",
"//multibody/contact_solvers:supernodal_solver",
"//multibody/contact_solvers:system_dynamics_data",
],
)

drake_cc_library(
name = "sap_solver_results",
srcs = ["sap_solver_results.cc"],
Expand Down
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