Bullet Collision Detection & Physics Library: btLemkeAlgorithm Class Reference

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btLemkeAlgorithm Class Reference

`#include <btLemkeAlgorithm.h>`

## Public Member Functions
| btLemkeAlgorithm (const btMatrixXu &M_, const btVectorXu &q_, const int &DEBUGLEVEL_=0)
int | getInfo ()
| return info of solution process More...
int | getSteps (void)
| get the number of steps until the solution was found More...
void | setSystem (const btMatrixXu &M_, const btVectorXu &q_)
| set system with Matrix M and vector q More...
btVectorXu | solve (unsigned int maxloops=0)
| solve algorithm adapted from : Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. More...
virtual | ~btLemkeAlgorithm ()

## Protected Member Functions
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)

## Protected Attributes
btMatrixXu | m_M
btVectorXu | m_q
unsigned int | steps
| number of steps until the Lemke algorithm found a solution More...
int | DEBUGLEVEL
| define level of debug output More...
int | info
| did the algorithm find a solution More...

## Detailed Description

Definition at line 32 of file btLemkeAlgorithm.h.

## Constructor & Destructor Documentation

btLemkeAlgorithm::btLemkeAlgorithm | ( | const btMatrixXu & | M_,
|  | const btVectorXu & | q_,
|  | const int & | DEBUGLEVEL_ = `0`
| ) |  |
| inline

Definition at line 37 of file btLemkeAlgorithm.h.

virtual btLemkeAlgorithm::~btLemkeAlgorithm | ( |  | ) |
| inlinevirtual

Definition at line 75 of file btLemkeAlgorithm.h.

## Member Function Documentation

int btLemkeAlgorithm::findLexicographicMinimum | ( | const btMatrixXu & | A,
|  | const int & | pivotColIndex
| ) |  |
| protected

Definition at line 224 of file btLemkeAlgorithm.cpp.

void btLemkeAlgorithm::GaussJordanEliminationStep | ( | btMatrixXu & | A,
|  | int | pivotRowIndex,
|  | int | pivotColumnIndex,
|  | const btAlignedObjectArray< int > & | basis
| ) |  |
| protected

Definition at line 298 of file btLemkeAlgorithm.cpp.

int btLemkeAlgorithm::getInfo | ( |  | ) |
| inline

return info of solution process

Definition at line 47 of file btLemkeAlgorithm.h.

int btLemkeAlgorithm::getSteps | ( | void |  | ) |
| inline

get the number of steps until the solution was found

Definition at line 54 of file btLemkeAlgorithm.h.

bool btLemkeAlgorithm::greaterZero | ( | const btVectorXu & | vector | ) |
| protected

Definition at line 345 of file btLemkeAlgorithm.cpp.

bool btLemkeAlgorithm::LexicographicPositive | ( | const btVectorXu & | v | ) |
| protected

Definition at line 284 of file btLemkeAlgorithm.cpp.

void btLemkeAlgorithm::setSystem | ( | const btMatrixXu & | M_,
|  | const btVectorXu & | q_
| ) |  |
| inline

set system with Matrix M and vector q

Definition at line 63 of file btLemkeAlgorithm.h.

btVectorXu btLemkeAlgorithm::solve | ( | unsigned int | maxloops = `0` | ) |

solve algorithm adapted from : Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E.

Lloyd)

Definition at line 63 of file btLemkeAlgorithm.cpp.

bool btLemkeAlgorithm::validBasis | ( | const btAlignedObjectArray< int > & | basis | ) |
| protected

Definition at line 358 of file btLemkeAlgorithm.cpp.

## Member Data Documentation

int btLemkeAlgorithm::DEBUGLEVEL
| protected

define level of debug output

Definition at line 96 of file btLemkeAlgorithm.h.

int btLemkeAlgorithm::info
| protected

did the algorithm find a solution

-1 : not successful 0 : successful

Definition at line 104 of file btLemkeAlgorithm.h.

btMatrixXu btLemkeAlgorithm::m_M
| protected

Definition at line 85 of file btLemkeAlgorithm.h.

btVectorXu btLemkeAlgorithm::m_q
| protected

Definition at line 86 of file btLemkeAlgorithm.h.

unsigned int btLemkeAlgorithm::steps
| protected

number of steps until the Lemke algorithm found a solution

Definition at line 91 of file btLemkeAlgorithm.h.

The documentation for this class was generated from the following files:

- btLemkeAlgorithm.h
- btLemkeAlgorithm.cpp