original version written by Erwin Coumans, October 2013 More...

#include <btLemkeSolver.h>

Inheritance diagram for btLemkeSolver:

Collaboration diagram for btLemkeSolver:

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 ()

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)=0

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 26 of file btLemkeSolver.h.

Constructor & Destructor Documentation

◆ btLemkeSolver()

btLemkeSolver::btLemkeSolver ( )

inline

Definition at line 35 of file btLemkeSolver.h.

Member Function Documentation

◆ solveMLCP()

virtual bool btLemkeSolver::solveMLCP	(	const btMatrixXu &	A,
		const btVectorXu &	b,
		btVectorXu &	x,
		const btVectorXu &	lo,
		const btVectorXu &	hi,
		const btAlignedObjectArray< int > &	limitDependency,
		int	numIterations,
		bool	useSparsity = `true`
	)

inlinevirtual

Implements btMLCPSolverInterface.

Definition at line 42 of file btLemkeSolver.h.

Member Data Documentation

◆ m_debugLevel

int btLemkeSolver::m_debugLevel

Definition at line 31 of file btLemkeSolver.h.

◆ m_maxLoops

int btLemkeSolver::m_maxLoops

Definition at line 32 of file btLemkeSolver.h.

◆ m_maxValue

btScalar btLemkeSolver::m_maxValue

Definition at line 30 of file btLemkeSolver.h.

◆ m_useLoHighBounds

bool btLemkeSolver::m_useLoHighBounds

Definition at line 33 of file btLemkeSolver.h.

The documentation for this class was generated from the following file:

btLemkeSolver.h

Public Member Functions

Public Attributes