#include <btLemkeAlgorithm.h>
Definition at line 29 of file btLemkeAlgorithm.h.
◆ btLemkeAlgorithm()
| btLemkeAlgorithm::btLemkeAlgorithm |
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const btMatrixXu & |
M_, |
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const btVectorXu & |
q_, |
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const int & |
DEBUGLEVEL_ = 0 |
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) |
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inline |
◆ ~btLemkeAlgorithm()
| virtual btLemkeAlgorithm::~btLemkeAlgorithm |
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| ) |
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inlinevirtual |
◆ findLexicographicMinimum()
| int btLemkeAlgorithm::findLexicographicMinimum |
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const btMatrixXu & |
A, |
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const int & |
pivotColIndex |
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) |
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protected |
◆ GaussJordanEliminationStep()
| void btLemkeAlgorithm::GaussJordanEliminationStep |
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btMatrixXu & |
A, |
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int |
pivotRowIndex, |
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int |
pivotColumnIndex, |
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const btAlignedObjectArray< int > & |
basis |
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) |
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protected |
◆ getInfo()
| int btLemkeAlgorithm::getInfo |
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| ) |
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inline |
◆ getSteps()
| int btLemkeAlgorithm::getSteps |
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void |
| ) |
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inline |
get the number of steps until the solution was found
Definition at line 49 of file btLemkeAlgorithm.h.
◆ greaterZero()
| bool btLemkeAlgorithm::greaterZero |
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const btVectorXu & |
vector | ) |
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protected |
◆ LexicographicPositive()
| bool btLemkeAlgorithm::LexicographicPositive |
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const btVectorXu & |
v | ) |
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protected |
◆ setSystem()
◆ solve()
| btVectorXu btLemkeAlgorithm::solve |
( |
unsigned int |
maxloops = 0 | ) |
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solve algorithm adapted from : Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E.
Lloyd)
Definition at line 60 of file btLemkeAlgorithm.cpp.
◆ validBasis()
◆ DEBUGLEVEL
| int btLemkeAlgorithm::DEBUGLEVEL |
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protected |
◆ info
| int btLemkeAlgorithm::info |
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protected |
did the algorithm find a solution
-1 : not successful 0 : successful
Definition at line 99 of file btLemkeAlgorithm.h.
◆ m_M
◆ m_q
◆ steps
| unsigned int btLemkeAlgorithm::steps |
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protected |
number of steps until the Lemke algorithm found a solution
Definition at line 86 of file btLemkeAlgorithm.h.
The documentation for this class was generated from the following files:
