#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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◆ ~btLemkeAlgorithm()
virtual btLemkeAlgorithm::~btLemkeAlgorithm |
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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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const int & | z0Row, |
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bool & | isRayTermination ) |
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◆ 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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◆ getInfo()
int btLemkeAlgorithm::getInfo |
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◆ getSteps()
int btLemkeAlgorithm::getSteps |
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void | | ) |
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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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◆ setSystem()
◆ solve()
btVectorXu btLemkeAlgorithm::solve |
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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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◆ info
int btLemkeAlgorithm::info |
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did the algorithm find a solution
-1 : not successful 0 : successful
Definition at line 98 of file btLemkeAlgorithm.h.
◆ m_M
◆ m_q
◆ steps
unsigned int btLemkeAlgorithm::steps |
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number of steps until the Lemke algorithm found a solution
Definition at line 85 of file btLemkeAlgorithm.h.
The documentation for this class was generated from the following files: