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

Public Member Functions

 btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w, btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d, btScalar *_Dell, btScalar *_ell, btScalar *_tmp, bool *_state, int *_findex, int *p, int *c, btScalar **Arows)
 
int getNub () const
 
void transfer_i_to_C (int i)
 
void transfer_i_to_N (int i)
 
void transfer_i_from_N_to_C (int i)
 
void transfer_i_from_C_to_N (int i, btAlignedObjectArray< btScalar > &scratch)
 
int numC () const
 
int numN () const
 
int indexC (int i) const
 
int indexN (int i) const
 
btScalar Aii (int i) const
 
btScalar AiC_times_qC (int i, btScalar *q) const
 
btScalar AiN_times_qN (int i, btScalar *q) const
 
void pN_equals_ANC_times_qC (btScalar *p, btScalar *q)
 
void pN_plusequals_ANi (btScalar *p, int i, int sign=1)
 
void pC_plusequals_s_times_qC (btScalar *p, btScalar s, btScalar *q)
 
void pN_plusequals_s_times_qN (btScalar *p, btScalar s, btScalar *q)
 
void solve1 (btScalar *a, int i, int dir=1, int only_transfer=0)
 
void unpermute ()
 

Public Attributes

const int m_n
 
const int m_nskip
 
int m_nub
 
int m_nC
 
int m_nN
 
BTATYPE const m_A
 
btScalar *const m_x
 
btScalar *const *const m_b
 
btScalar *const *const *const m_w
 
btScalar *const *const *const *const m_lo
 
btScalar *const *const *const *const *const m_hi
 
btScalar *const m_L
 
btScalar *const *const m_d
 
btScalar *const m_Dell
 
btScalar *const *const m_ell
 
btScalar *const *const *const m_tmp
 
bool *const m_state
 
int *const m_findex
 
int *const *const m_p
 
int *const *const *const m_C
 

Detailed Description

Definition at line 1210 of file btDantzigLCP.cpp.

Constructor & Destructor Documentation

◆ btLCP()

btLCP::btLCP ( int  _n,
int  _nskip,
int  _nub,
btScalar *  _Adata,
btScalar *  _x,
btScalar *  _b,
btScalar *  _w,
btScalar *  _lo,
btScalar *  _hi,
btScalar *  l,
btScalar *  _d,
btScalar *  _Dell,
btScalar *  _ell,
btScalar *  _tmp,
bool *  _state,
int *  _findex,
int *  p,
int *  c,
btScalar **  Arows 
)

Definition at line 1247 of file btDantzigLCP.cpp.

Member Function Documentation

◆ AiC_times_qC()

btScalar btLCP::AiC_times_qC ( int  i,
btScalar *  q 
) const
inline

Definition at line 1237 of file btDantzigLCP.cpp.

◆ Aii()

btScalar btLCP::Aii ( int  i) const
inline

Definition at line 1236 of file btDantzigLCP.cpp.

◆ AiN_times_qN()

btScalar btLCP::AiN_times_qN ( int  i,
btScalar *  q 
) const
inline

Definition at line 1238 of file btDantzigLCP.cpp.

◆ getNub()

int btLCP::getNub ( ) const
inline

Definition at line 1227 of file btDantzigLCP.cpp.

◆ indexC()

int btLCP::indexC ( int  i) const
inline

Definition at line 1234 of file btDantzigLCP.cpp.

◆ indexN()

int btLCP::indexN ( int  i) const
inline

Definition at line 1235 of file btDantzigLCP.cpp.

◆ numC()

int btLCP::numC ( ) const
inline

Definition at line 1232 of file btDantzigLCP.cpp.

◆ numN()

int btLCP::numN ( ) const
inline

Definition at line 1233 of file btDantzigLCP.cpp.

◆ pC_plusequals_s_times_qC()

void btLCP::pC_plusequals_s_times_qC ( btScalar *  p,
btScalar  s,
btScalar *  q 
)

Definition at line 1735 of file btDantzigLCP.cpp.

◆ pN_equals_ANC_times_qC()

void btLCP::pN_equals_ANC_times_qC ( btScalar *  p,
btScalar *  q 
)

Definition at line 1702 of file btDantzigLCP.cpp.

◆ pN_plusequals_ANi()

void btLCP::pN_plusequals_ANi ( btScalar *  p,
int  i,
int  sign = 1 
)

Definition at line 1718 of file btDantzigLCP.cpp.

◆ pN_plusequals_s_times_qN()

void btLCP::pN_plusequals_s_times_qN ( btScalar *  p,
btScalar  s,
btScalar *  q 
)

Definition at line 1744 of file btDantzigLCP.cpp.

◆ solve1()

void btLCP::solve1 ( btScalar *  a,
int  i,
int  dir = 1,
int  only_transfer = 0 
)

Definition at line 1755 of file btDantzigLCP.cpp.

◆ transfer_i_from_C_to_N()

void btLCP::transfer_i_from_C_to_N ( int  i,
btAlignedObjectArray< btScalar > &  scratch 
)

Definition at line 1654 of file btDantzigLCP.cpp.

◆ transfer_i_from_N_to_C()

void btLCP::transfer_i_from_N_to_C ( int  i)

Definition at line 1413 of file btDantzigLCP.cpp.

◆ transfer_i_to_C()

void btLCP::transfer_i_to_C ( int  i)

Definition at line 1386 of file btDantzigLCP.cpp.

◆ transfer_i_to_N()

void btLCP::transfer_i_to_N ( int  i)
inline

Definition at line 1229 of file btDantzigLCP.cpp.

◆ unpermute()

void btLCP::unpermute ( )

Definition at line 1814 of file btDantzigLCP.cpp.

Member Data Documentation

◆ m_A

BTATYPE const btLCP::m_A

Definition at line 1216 of file btDantzigLCP.cpp.

◆ m_b

btScalar* const * const btLCP::m_b

Definition at line 1217 of file btDantzigLCP.cpp.

◆ m_C

int* const * const * const btLCP::m_C

Definition at line 1221 of file btDantzigLCP.cpp.

◆ m_d

btScalar* const * const btLCP::m_d

Definition at line 1218 of file btDantzigLCP.cpp.

◆ m_Dell

btScalar* const btLCP::m_Dell

Definition at line 1219 of file btDantzigLCP.cpp.

◆ m_ell

btScalar* const * const btLCP::m_ell

Definition at line 1219 of file btDantzigLCP.cpp.

◆ m_findex

int* const btLCP::m_findex

Definition at line 1221 of file btDantzigLCP.cpp.

◆ m_hi

btScalar* const * const * const * const * const btLCP::m_hi

Definition at line 1217 of file btDantzigLCP.cpp.

◆ m_L

btScalar* const btLCP::m_L

Definition at line 1218 of file btDantzigLCP.cpp.

◆ m_lo

btScalar* const * const * const * const btLCP::m_lo

Definition at line 1217 of file btDantzigLCP.cpp.

◆ m_n

const int btLCP::m_n

Definition at line 1212 of file btDantzigLCP.cpp.

◆ m_nC

int btLCP::m_nC

Definition at line 1215 of file btDantzigLCP.cpp.

◆ m_nN

int btLCP::m_nN

Definition at line 1215 of file btDantzigLCP.cpp.

◆ m_nskip

const int btLCP::m_nskip

Definition at line 1213 of file btDantzigLCP.cpp.

◆ m_nub

int btLCP::m_nub

Definition at line 1214 of file btDantzigLCP.cpp.

◆ m_p

int* const * const btLCP::m_p

Definition at line 1221 of file btDantzigLCP.cpp.

◆ m_state

bool* const btLCP::m_state

Definition at line 1220 of file btDantzigLCP.cpp.

◆ m_tmp

btScalar* const * const * const btLCP::m_tmp

Definition at line 1219 of file btDantzigLCP.cpp.

◆ m_w

btScalar* const * const * const btLCP::m_w

Definition at line 1217 of file btDantzigLCP.cpp.

◆ m_x

btScalar* const btLCP::m_x

Definition at line 1217 of file btDantzigLCP.cpp.

The documentation for this struct was generated from the following file:
Generated by doxygen 1.9.4