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Merge remote-tracking branch 'bp/master'

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erwincoumans
2019-06-01 07:29:31 -07:00
parent dd8885bf32 4d3ee40895
commit 36896db828
5 changed files with 249 additions and 178 deletions
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6
src/BulletDynamics/MLCPSolvers/btLemkeSolver.h
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@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "btMLCPSolverInterface.h"
#include "btLemkeAlgorithm.h"
///The btLemkeSolver is based on "Fast Implementation of Lemke<EFBFBD>s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) "
///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
class btLemkeSolver : public btMLCPSolverInterface
@@ -67,7 +67,7 @@ public:
btMatrixXu A1;
btMatrixXu B(n, n);
{
BT_PROFILE("inverse(slow)");
//BT_PROFILE("inverse(slow)");
A1.resize(A.rows(), A.cols());
for (int row = 0; row < A.rows(); row++)
{
@@ -174,7 +174,7 @@ public:
y1.resize(n, 1);
btLemkeAlgorithm lemke(M, qq, m_debugLevel);
{
BT_PROFILE("lemke.solve");
//BT_PROFILE("lemke.solve");
lemke.setSystem(M, qq);
z1 = lemke.solve(m_maxLoops);
}