Bullet Collision Detection & Physics Library
Public Member Functions | Public Attributes | List of all members
btSolveProjectedGaussSeidel Class Reference

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

#include <btSolveProjectedGaussSeidel.h>

Inheritance diagram for btSolveProjectedGaussSeidel:
Inheritance graph
[legend]
Collaboration diagram for btSolveProjectedGaussSeidel:
Collaboration graph
[legend]

Public Member Functions

 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)
 
- 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_leastSquaresResidualThreshold
 
btScalar m_leastSquaresResidual
 

Detailed Description

original version written by Erwin Coumans, October 2013

This solver is mainly for debug/learning purposes: it is functionally equivalent to the btSequentialImpulseConstraintSolver solver, but much slower (it builds the full LCP matrix)

Definition at line 23 of file btSolveProjectedGaussSeidel.h.

Constructor & Destructor Documentation

◆ btSolveProjectedGaussSeidel()

btSolveProjectedGaussSeidel::btSolveProjectedGaussSeidel ( )
inline

Definition at line 29 of file btSolveProjectedGaussSeidel.h.

Member Function Documentation

◆ solveMLCP()

virtual bool btSolveProjectedGaussSeidel::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 35 of file btSolveProjectedGaussSeidel.h.

Member Data Documentation

◆ m_leastSquaresResidual

btScalar btSolveProjectedGaussSeidel::m_leastSquaresResidual

Definition at line 27 of file btSolveProjectedGaussSeidel.h.

◆ m_leastSquaresResidualThreshold

btScalar btSolveProjectedGaussSeidel::m_leastSquaresResidualThreshold

Definition at line 26 of file btSolveProjectedGaussSeidel.h.


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