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Added Dantzig MLCP solver option from Open Dynamics Engine (trying to avoid naming/linking conflicts in case ODE and Bullet is used together)

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If an MLCP solver fails, use PGS/SI fallback, add a boolean return value for 'solve' method
This commit is contained in:
erwin.coumans@gmail.com
2013-10-21 23:27:09 +00:00
parent 1ca0493dc4
commit 379f0079e0
10 changed files with 2322 additions and 56 deletions
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3
src/BulletDynamics/MLCPSolvers/btMLCPSolver.h
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@@ -43,7 +43,8 @@ protected:
virtual void createMLCP(const btContactSolverInfo& infoGlobal);
virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
virtual void solveMLCP(const btContactSolverInfo& infoGlobal);
//return true is it solves the problem successfully
virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
public: