Bullet Collision Detection & Physics Library
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Go to the source code of this file.
Classes | |
struct | btLCP |
Macros | |
#define | btLCP_FAST |
#define | BTROWPTRS |
#define | BTATYPE btScalar ** |
#define | BTAROW(i) (m_A[i]) |
#define | BTNUB_OPTIMIZATIONS |
#define | _BTGETA(i, j) (A[i][j]) |
#define | BTGETA(i, j) ((i > j) ? _BTGETA(i,j) : _BTGETA(j,i)) |
Functions | |
static void | btSolveL1_1 (const btScalar *L, btScalar *B, int n, int lskip1) |
static void | btSolveL1_2 (const btScalar *L, btScalar *B, int n, int lskip1) |
void | btFactorLDLT (btScalar *A, btScalar *d, int n, int nskip1) |
void | btSolveL1 (const btScalar *L, btScalar *B, int n, int lskip1) |
void | btSolveL1T (const btScalar *L, btScalar *B, int n, int lskip1) |
void | btVectorScale (btScalar *a, const btScalar *d, int n) |
void | btSolveLDLT (const btScalar *L, const btScalar *d, btScalar *b, int n, int nskip) |
static void | btSwapRowsAndCols (BTATYPE A, int n, int i1, int i2, int nskip, int do_fast_row_swaps) |
static void | btSwapProblem (BTATYPE A, btScalar *x, btScalar *b, btScalar *w, btScalar *lo, btScalar *hi, int *p, bool *state, int *findex, int n, int i1, int i2, int nskip, int do_fast_row_swaps) |
void | btRemoveRowCol (btScalar *A, int n, int nskip, int r) |
void | btLDLTAddTL (btScalar *L, btScalar *d, const btScalar *a, int n, int nskip, btAlignedObjectArray< btScalar > &scratch) |
size_t | btEstimateLDLTAddTLTmpbufSize (int nskip) |
void | btLDLTRemove (btScalar **A, const int *p, btScalar *L, btScalar *d, int n1, int n2, int r, int nskip, btAlignedObjectArray< btScalar > &scratch) |
bool | btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b, btScalar *outer_w, int nub, btScalar *lo, btScalar *hi, int *findex, btDantzigScratchMemory &scratchMem) |
Variables | |
bool | s_error = false |
#define _BTGETA | ( | i, | |
j | |||
) | (A[i][j]) |
Definition at line 1543 of file btDantzigLCP.cpp.
#define BTAROW | ( | i | ) | (m_A[i]) |
Definition at line 127 of file btDantzigLCP.cpp.
#define BTATYPE btScalar ** |
Definition at line 126 of file btDantzigLCP.cpp.
Definition at line 1545 of file btDantzigLCP.cpp.
#define btLCP_FAST |
Definition at line 122 of file btDantzigLCP.cpp.
#define BTNUB_OPTIMIZATIONS |
Definition at line 134 of file btDantzigLCP.cpp.
#define BTROWPTRS |
Definition at line 125 of file btDantzigLCP.cpp.
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inline |
Definition at line 1547 of file btDantzigLCP.cpp.
Definition at line 304 of file btDantzigLCP.cpp.
void btLDLTAddTL | ( | btScalar * | L, |
btScalar * | d, | ||
const btScalar * | a, | ||
int | n, | ||
int | nskip, | ||
btAlignedObjectArray< btScalar > & | scratch | ||
) |
Definition at line 1465 of file btDantzigLCP.cpp.
void btLDLTRemove | ( | btScalar ** | A, |
const int * | p, | ||
btScalar * | L, | ||
btScalar * | d, | ||
int | n1, | ||
int | n2, | ||
int | r, | ||
int | nskip, | ||
btAlignedObjectArray< btScalar > & | scratch | ||
) |
Definition at line 1553 of file btDantzigLCP.cpp.
void btRemoveRowCol | ( | btScalar * | A, |
int | n, | ||
int | nskip, | ||
int | r | ||
) |
Definition at line 1428 of file btDantzigLCP.cpp.
bool btSolveDantzigLCP | ( | int | n, |
btScalar * | A, | ||
btScalar * | x, | ||
btScalar * | b, | ||
btScalar * | outer_w, | ||
int | nub, | ||
btScalar * | lo, | ||
btScalar * | hi, | ||
int * | findex, | ||
btDantzigScratchMemory & | scratchMem | ||
) |
Definition at line 1781 of file btDantzigLCP.cpp.
Definition at line 526 of file btDantzigLCP.cpp.
Definition at line 148 of file btDantzigLCP.cpp.
Definition at line 220 of file btDantzigLCP.cpp.
Definition at line 819 of file btDantzigLCP.cpp.
Definition at line 1018 of file btDantzigLCP.cpp.
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static |
Definition at line 1104 of file btDantzigLCP.cpp.
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static |
Definition at line 1036 of file btDantzigLCP.cpp.
Definition at line 1010 of file btDantzigLCP.cpp.
bool s_error = false |
Definition at line 116 of file btDantzigLCP.cpp.