original version written by Erwin Coumans, October 2013 More...

#include <btLemkeSolver.h>

Public Member Functions
	btLemkeSolver ()
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)
Public Member Functions inherited from btMLCPSolverInterface
virtual	~btMLCPSolverInterface ()

Public Attributes
btScalar	m_maxValue
int	m_debugLevel
int	m_maxLoops
bool	m_useLoHighBounds

Detailed Description

original version written by Erwin Coumans, October 2013

The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " It is a slower but more accurate solver. Increase the m_maxLoops for better convergence, at the cost of more CPU time. The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team

Definition at line 26 of file btLemkeSolver.h.

Constructor & Destructor Documentation

◆ btLemkeSolver()

btLemkeSolver::btLemkeSolver ( )

inline

Definition at line 35 of file btLemkeSolver.h.

References m_debugLevel, m_maxLoops, m_maxValue, m_useLoHighBounds, and true.

Member Function Documentation

◆ solveMLCP()

virtual bool btLemkeSolver::solveMLCP	(	const btMatrixXu &	A,
		const btVectorXu &	b,
		btVectorXu &	x,
		const btVectorXu &	lo,
		const btVectorXu &	hi,
		const btAlignedObjectArray< int > &	limitDependency,
		int	numIterations,
		bool	useSparsity = true )