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Added a Lemke MLCP solver, extracted from the MBSim project, and re-licensed under the zlib license

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with permission of the original author. 
The Lemke implementation is not fully working yet:
1) we need to convert the lo-high LCP problem into a problem without the lo/high
2) we need to sort out the remaining instabilities, and report a failure if the max loopcount is reached etc.
We replaced the fmatvec library with our own LinearMath/btMatrixX.h, and STL std::vector with btAlignedObjectArray

Removed some warnings/potential issues: use fuzzyZero instead of isZero, and some warnings, 
related to this issue 756
This commit is contained in:
erwin.coumans
2013-10-26 18:45:25 +00:00
parent 19f999ac08
commit 1a2c3c0ee9
6 changed files with 843 additions and 81 deletions
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src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -812,7 +812,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
///avoid collision response between two static objects
if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero())))
if (!solverBodyA || (solverBodyA->m_invMass.fuzzyZero() && (!solverBodyB || solverBodyB->m_invMass.fuzzyZero())))
return;
int rollingFriction=1;