Bullet Collision Detection & Physics Library: btMLCPSolverInterface.h Source File

Bullet Collision Detection & Physics Library

btMLCPSolverInterface.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
16
17 #ifndef BT_MLCP_SOLVER_INTERFACE_H
18 #define BT_MLCP_SOLVER_INTERFACE_H
19
20 #include "LinearMath/btMatrixX.h"
21
22 class btMLCPSolverInterface
23 {
24 public:
25 virtual ~btMLCPSolverInterface()
26 {
27 }
28
29 //return true is it solves the problem successfully
30 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) = 0;
31 };
32
33 #endif //BT_MLCP_SOLVER_INTERFACE_H
btMLCPSolverInterface::solveMLCP
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)=0
btMatrixX.h
btMLCPSolverInterface::~btMLCPSolverInterface
virtual ~btMLCPSolverInterface()
Definition: btMLCPSolverInterface.h:25
btMLCPSolverInterface
original version written by Erwin Coumans, October 2013
Definition: btMLCPSolverInterface.h:23
btMatrixXu
#define btMatrixXu
Definition: btMatrixX.h:529
btAlignedObjectArray< int >
btVectorXu
#define btVectorXu
Definition: btMatrixX.h:528