diff options
Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btDantzigLCP.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btDantzigLCP.h | 77 |
1 files changed, 0 insertions, 77 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btDantzigLCP.h b/thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btDantzigLCP.h deleted file mode 100644 index 903832770a..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btDantzigLCP.h +++ /dev/null @@ -1,77 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of * - * The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - -given (A,b,lo,hi), solve the LCP problem: A*x = b+w, where each x(i),w(i) -satisfies one of - (1) x = lo, w >= 0 - (2) x = hi, w <= 0 - (3) lo < x < hi, w = 0 -A is a matrix of dimension n*n, everything else is a vector of size n*1. -lo and hi can be +/- dInfinity as needed. the first `nub' variables are -unbounded, i.e. hi and lo are assumed to be +/- dInfinity. - -we restrict lo(i) <= 0 and hi(i) >= 0. - -the original data (A,b) may be modified by this function. - -if the `findex' (friction index) parameter is nonzero, it points to an array -of index values. in this case constraints that have findex[i] >= 0 are -special. all non-special constraints are solved for, then the lo and hi values -for the special constraints are set: - hi[i] = abs( hi[i] * x[findex[i]] ) - lo[i] = -hi[i] -and the solution continues. this mechanism allows a friction approximation -to be implemented. the first `nub' variables are assumed to have findex < 0. - -*/ - - -#ifndef _BT_LCP_H_ -#define _BT_LCP_H_ - -#include <stdlib.h> -#include <stdio.h> -#include <assert.h> - - -#include "LinearMath/btScalar.h" -#include "LinearMath/btAlignedObjectArray.h" - -struct btDantzigScratchMemory -{ - btAlignedObjectArray<btScalar> m_scratch; - btAlignedObjectArray<btScalar> L; - btAlignedObjectArray<btScalar> d; - btAlignedObjectArray<btScalar> delta_w; - btAlignedObjectArray<btScalar> delta_x; - btAlignedObjectArray<btScalar> Dell; - btAlignedObjectArray<btScalar> ell; - btAlignedObjectArray<btScalar*> Arows; - btAlignedObjectArray<int> p; - btAlignedObjectArray<int> C; - btAlignedObjectArray<bool> state; -}; - -//return false if solving failed -bool btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b, btScalar *w, - int nub, btScalar *lo, btScalar *hi, int *findex,btDantzigScratchMemory& scratch); - - - -#endif //_BT_LCP_H_ |