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Update btLemkeSolver.h

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address this issue: https://github.com/bulletphysics/bullet3/pull/2253
This commit is contained in:
erwincoumans
2019-05-31 19:09:28 -07:00
committed by GitHub
parent 5e1d645a09
commit 4d3ee40895
1 changed files with 3 additions and 3 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 "btMLCPSolverInterface.h"
#include "btLemkeAlgorithm.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. ///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 ///The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team
class btLemkeSolver : public btMLCPSolverInterface class btLemkeSolver : public btMLCPSolverInterface
@@ -67,7 +67,7 @@ public:
btMatrixXu A1; btMatrixXu A1;
btMatrixXu B(n, n); btMatrixXu B(n, n);
{ {
BT_PROFILE("inverse(slow)"); //BT_PROFILE("inverse(slow)");
A1.resize(A.rows(), A.cols()); A1.resize(A.rows(), A.cols());
for (int row = 0; row < A.rows(); row++) for (int row = 0; row < A.rows(); row++)
{ {
@@ -174,7 +174,7 @@ public:
y1.resize(n, 1); y1.resize(n, 1);
btLemkeAlgorithm lemke(M, qq, m_debugLevel); btLemkeAlgorithm lemke(M, qq, m_debugLevel);
{ {
BT_PROFILE("lemke.solve"); //BT_PROFILE("lemke.solve");
lemke.setSystem(M, qq); lemke.setSystem(M, qq);
z1 = lemke.solve(m_maxLoops); z1 = lemke.solve(m_maxLoops);
} }