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

#include <btSolveProjectedGaussSeidel.h>

Inheritance diagram for btSolveProjectedGaussSeidel:

Collaboration diagram for btSolveProjectedGaussSeidel:

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`
	)