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Use two SI solvers as blocks in block solver.

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In the btBlockSolver we are experimenting with, we have SI for both multibody and rigid body. I'm currently replacing rigid body SI solver with two smaller SI solvers. The two examples provided by RigidBodyBoxes.h should have the same behavior.
This commit is contained in:
Chuyuan Fu
2019-03-25 14:41:58 -07:00
parent 19f3ec8b80
commit 7aba1f9e8a
9 changed files with 369 additions and 128 deletions
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12
examples/BlockSolver/BlockSolverExample.h
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@@ -2,18 +2,6 @@
#ifndef BLOCK_SOLVER_EXAMPLE_H
#define BLOCK_SOLVER_EXAMPLE_H
enum BlockSolverOptions
{
BLOCK_SOLVER_SI=1<<0,
BLOCK_SOLVER_MLCP_PGS = 1 << 1,
BLOCK_SOLVER_MLCP_DANTZIG = 1 << 2,
BLOCK_SOLVER_BLOCK = 1 << 3,
BLOCK_SOLVER_SCENE_MB_STACK= 1 << 5,
BLOCK_SOLVER_SCENE_CHAIN = 1<< 6,
};
class CommonExampleInterface* BlockSolverExampleCreateFunc(struct CommonExampleOptions& options);
#endif //BLOCK_SOLVER_EXAMPLE_H