17#ifndef BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
18#define BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H
40 A.rowComputeNonZeroElements();
57 for (
int h = 0;
h <
A.m_rowNonZeroElements1[i].size();
h++)
59 j =
A.m_rowNonZeroElements1[i][
h];
68 for (
j = 0;
j < i;
j++)
97#ifdef VERBOSE_PRINTF_RESIDUAL
const T & btMax(const T &a, const T &b)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
original version written by Erwin Coumans, October 2013
original version written by Erwin Coumans, October 2013
btScalar m_leastSquaresResidualThreshold
btScalar m_leastSquaresResidual
btSolveProjectedGaussSeidel()
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)