diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h | 102 |
1 files changed, 0 insertions, 102 deletions
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h deleted file mode 100644 index 3c6bf72a23..0000000000 --- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h +++ /dev/null @@ -1,102 +0,0 @@ -/* Copyright (C) 2004-2013 MBSim Development Team - -Code was converted for the Bullet Continuous Collision Detection and Physics Library - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -//The original version is here -//https://code.google.com/p/mbsim-env/source/browse/trunk/kernel/mbsim/numerics/linear_complementarity_problem/lemke_algorithm.cc -//This file is re-distributed under the ZLib license, with permission of the original author (Kilian Grundl) -//Math library was replaced from fmatvec to a the file src/LinearMath/btMatrixX.h -//STL/std::vector replaced by btAlignedObjectArray - -#ifndef BT_NUMERICS_LEMKE_ALGORITHM_H_ -#define BT_NUMERICS_LEMKE_ALGORITHM_H_ - -#include "LinearMath/btMatrixX.h" - -#include <vector> //todo: replace by btAlignedObjectArray - -class btLemkeAlgorithm -{ -public: - btLemkeAlgorithm(const btMatrixXu& M_, const btVectorXu& q_, const int& DEBUGLEVEL_ = 0) : DEBUGLEVEL(DEBUGLEVEL_) - { - setSystem(M_, q_); - } - - /* GETTER / SETTER */ - /** - * \brief return info of solution process - */ - int getInfo() - { - return info; - } - - /** - * \brief get the number of steps until the solution was found - */ - int getSteps(void) - { - return steps; - } - - /** - * \brief set system with Matrix M and vector q - */ - void setSystem(const btMatrixXu& M_, const btVectorXu& q_) - { - m_M = M_; - m_q = q_; - } - /***************************************************/ - - /** - * \brief solve algorithm adapted from : Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) - */ - btVectorXu solve(unsigned int maxloops = 0); - - virtual ~btLemkeAlgorithm() - { - } - -protected: - int findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex); - bool LexicographicPositive(const btVectorXu& v); - void GaussJordanEliminationStep(btMatrixXu& A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis); - bool greaterZero(const btVectorXu& vector); - bool validBasis(const btAlignedObjectArray<int>& basis); - - btMatrixXu m_M; - btVectorXu m_q; - - /** - * \brief number of steps until the Lemke algorithm found a solution - */ - unsigned int steps; - - /** - * \brief define level of debug output - */ - int DEBUGLEVEL; - - /** - * \brief did the algorithm find a solution - * - * -1 : not successful - * 0 : successful - */ - int info; -}; - -#endif /* BT_NUMERICS_LEMKE_ALGORITHM_H_ */ |