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Build full A matrix and b vector for a MLCP solver interface, to explore Lemke, Dantzig, Newton and other MLCP solvers. The A matrix contains sparsity information.

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Added a PGS solver that uses the sparsity of the A matrix, just for testing (the equivalent sequential impulse solver is much faster, not having to allocate the big matrices)
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erwin.coumans@gmail.com
2013-10-20 17:38:14 +00:00
parent 5bd6decb2e
commit 1ca0493dc4
11 changed files with 1512 additions and 27 deletions
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2
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -42,7 +42,7 @@ protected:
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
int m_maxOverrideNumSolverIterations;
int m_fixedBodyId;
void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,