Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added the btNNCGConstraintSolver, based on the paper "Nonsmooth Nonlinear Conjugate Gradient Method for interactive

Browse Source 
contact force problems". The solver needs a lot of iterations, before the quality goes up (~ 1000)
Thanks to Gabor PUHR for the contribution!
Improved the btLemkeSolver.
Remove the sparse optimizations from the btMatrixX.h, replace it with explicit call to rowComputeNonZeroElements (only used in the btSolveProjectedGaussSeidel), it was likely slowing things down, without being useful.
Re-enable SIMD in the solver (was accidently disabled in Bullet 2.82 release)
This commit is contained in:
erwin.coumans@gmail.com
2013-10-31 06:17:08 +00:00
parent 6ca948e22f
commit 644d01d231
11 changed files with 794 additions and 298 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h
View File

@@ -15,14 +15,14 @@ subject to the following restrictions:
//The original version is here
//https://code.google.com/p/mbsim-env/source/browse/trunk/kernel/mbsim/numerics/linear_complementarity_problem/lemke_algorithm.cc
//This file is re-distributed under the ZLib license, with permission of the original author
//This file is re-distributed under the ZLib license, with permission of the original author (Kilian Grundl)
//Math library was replaced from fmatvec to a the file src/LinearMath/btMatrixX.h
//STL/std::vector replaced by btAlignedObjectArray
#ifndef NUMERICS_LEMKE_ALGORITHM_H_
#define NUMERICS_LEMKE_ALGORITHM_H_
#ifndef BT_NUMERICS_LEMKE_ALGORITHM_H_
#define BT_NUMERICS_LEMKE_ALGORITHM_H_
#include "LinearMath/btMatrixX.h"
@@ -105,4 +105,4 @@ protected:
};
#endif /* NUMERICS_LEMKE_ALGORITHM_H_ */
#endif /* BT_NUMERICS_LEMKE_ALGORITHM_H_ */