| Bullet Collision Detection & Physics Library
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   17 #ifndef BT_DANTZIG_SOLVER_H 
   18 #define BT_DANTZIG_SOLVER_H 
   54                         const btScalar* Aptr = A.getBufferPointer();
 
   56                         for (
int i = 0; i < n * n; i++)
 
   66                         for (
int i = 0; i < n; i++)
 
   80                         for (
int i = 0; i < n; i++)
 
   96                         for (
int i = 0; i < n; i++)
 
  106 #endif  //BT_DANTZIG_SOLVER_H 
  
btAlignedObjectArray< btScalar > m_b
btAlignedObjectArray< btScalar > m_x
original version written by Erwin Coumans, October 2013
btScalar m_acceptableUpperLimitSolution
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btAlignedObjectArray< btScalar > m_A
btDantzigScratchMemory m_scratchMemory
btAlignedObjectArray< char > m_tempBuffer
original version written by Erwin Coumans, October 2013
void resize(int newsize, const T &fillData=T())
virtual bool solveMLCP(const btMatrixXu &A, const btVectorXu &b, btVectorXu &x, const btVectorXu &lo, const btVectorXu &hi, const btAlignedObjectArray< int > &limitDependency, int numIterations, bool useSparsity=true)
btAlignedObjectArray< btScalar > m_hi
btAlignedObjectArray< int > m_dependencies
btAlignedObjectArray< btScalar > m_lo
bool btSolveDantzigLCP(int n, btScalar *A, btScalar *x, btScalar *b, btScalar *outer_w, int nub, btScalar *lo, btScalar *hi, int *findex, btDantzigScratchMemory &scratchMem)