original version written by Erwin Coumans, October 2013 More...
#include <btLemkeSolver.h>
Public Member Functions | |
| btLemkeSolver () | |
| virtual bool | solveMLCP (const btMatrixXu &A, const btVectorXu &b, btVectorXu &x, const btVectorXu &lo, const btVectorXu &hi, const btAlignedObjectArray< int > &limitDependency, int numIterations, bool useSparsity=true) |
 Public Member Functions inherited from btMLCPSolverInterface | |
| virtual | ~btMLCPSolverInterface () |
Public Attributes | |
| btScalar | m_maxValue |
| int | m_debugLevel |
| int | m_maxLoops |
| bool | m_useLoHighBounds |
Detailed Description
original version written by Erwin Coumans, October 2013
The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " It is a slower but more accurate solver. Increase the m_maxLoops for better convergence, at the cost of more CPU time. The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team
Definition at line 30 of file btLemkeSolver.h.
Constructor & Destructor Documentation
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inline |
Definition at line 43 of file btLemkeSolver.h.
Member Function Documentation
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inlinevirtual |
Implements btMLCPSolverInterface.
Definition at line 50 of file btLemkeSolver.h.
Member Data Documentation
| int btLemkeSolver::m_debugLevel |
Definition at line 37 of file btLemkeSolver.h.
| int btLemkeSolver::m_maxLoops |
Definition at line 38 of file btLemkeSolver.h.
| btScalar btLemkeSolver::m_maxValue |
Definition at line 36 of file btLemkeSolver.h.
| bool btLemkeSolver::m_useLoHighBounds |
Definition at line 39 of file btLemkeSolver.h.
The documentation for this class was generated from the following file:
