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

Code-style consistency improvement:

Browse Source 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
Download Patch File Download Diff File Expand all files Collapse all files

82
src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h
View File

@@ -19,90 +19,84 @@ subject to the following restrictions:
//Math library was replaced from fmatvec to a the file src/LinearMath/btMatrixX.h
//STL/std::vector replaced by btAlignedObjectArray
#ifndef BT_NUMERICS_LEMKE_ALGORITHM_H_
#define BT_NUMERICS_LEMKE_ALGORITHM_H_
#include "LinearMath/btMatrixX.h"
#include <vector> //todo: replace by btAlignedObjectArray
#include <vector> //todo: replace by btAlignedObjectArray
class btLemkeAlgorithm
{
public:
btLemkeAlgorithm(const btMatrixXu& M_, const btVectorXu& q_, const int& DEBUGLEVEL_ = 0) : DEBUGLEVEL(DEBUGLEVEL_)
{
setSystem(M_, q_);
}
btLemkeAlgorithm(const btMatrixXu& M_, const btVectorXu& q_, const int & DEBUGLEVEL_ = 0) :
DEBUGLEVEL(DEBUGLEVEL_)
{
setSystem(M_, q_);
}
/* GETTER / SETTER */
/**
/* GETTER / SETTER */
/**
* \brief return info of solution process
*/
int getInfo() {
return info;
}
int getInfo()
{
return info;
}
/**
/**
* \brief get the number of steps until the solution was found
*/
int getSteps(void) {
return steps;
}
int getSteps(void)
{
return steps;
}
/**
/**
* \brief set system with Matrix M and vector q
*/
void setSystem(const btMatrixXu & M_, const btVectorXu & q_)
void setSystem(const btMatrixXu& M_, const btVectorXu& q_)
{
m_M = M_;
m_q = q_;
}
/***************************************************/
}
/***************************************************/
/**
/**
* \brief solve algorithm adapted from : Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd)
*/
btVectorXu solve(unsigned int maxloops = 0);
btVectorXu solve(unsigned int maxloops = 0);
virtual ~btLemkeAlgorithm() {
}
virtual ~btLemkeAlgorithm()
{
}
protected:
int findLexicographicMinimum(const btMatrixXu &A, const int & pivotColIndex);
bool LexicographicPositive(const btVectorXu & v);
void GaussJordanEliminationStep(btMatrixXu &A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis);
bool greaterZero(const btVectorXu & vector);
bool validBasis(const btAlignedObjectArray<int>& basis);
int findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex);
bool LexicographicPositive(const btVectorXu& v);
void GaussJordanEliminationStep(btMatrixXu& A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis);
bool greaterZero(const btVectorXu& vector);
bool validBasis(const btAlignedObjectArray<int>& basis);
btMatrixXu m_M;
btVectorXu m_q;
btMatrixXu m_M;
btVectorXu m_q;
/**
/**
* \brief number of steps until the Lemke algorithm found a solution
*/
unsigned int steps;
unsigned int steps;
/**
/**
* \brief define level of debug output
*/
int DEBUGLEVEL;
int DEBUGLEVEL;
/**
/**
* \brief did the algorithm find a solution
*
* -1 : not successful
* 0 : successful
*/
int info;
int info;
};
#endif /* BT_NUMERICS_LEMKE_ALGORITHM_H_ */