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Author	SHA1	Message	Date
erwin.coumans@gmail.com	6ca948e22f	make Lemke work with lower/upper bounds, using the BLCP to LCP conversion (using a dog-slow matrix inversion etc) for this conversion, see also https://github.com/erwincoumans/num4lcp/blob/master/matlab/test_lcp_bounds.m and appendix A1 in http://www.cs.duke.edu/~parr/nips10.pdf, thanks to Kenny Erleben and Evan Drumwright for the tips! (friction is not coupled to normal forces yet)	2013-10-30 00:02:13 +00:00
erwin.coumans	1a2c3c0ee9	Added a Lemke MLCP solver, extracted from the MBSim project, and re-licensed under the zlib license with permission of the original author. The Lemke implementation is not fully working yet: 1) we need to convert the lo-high LCP problem into a problem without the lo/high 2) we need to sort out the remaining instabilities, and report a failure if the max loopcount is reached etc. We replaced the fmatvec library with our own LinearMath/btMatrixX.h, and STL std::vector with btAlignedObjectArray Removed some warnings/potential issues: use fuzzyZero instead of isZero, and some warnings, related to this issue 756	2013-10-26 18:45:25 +00:00

Author

SHA1

Message

Date

erwin.coumans@gmail.com

6ca948e22f

make Lemke work with lower/upper bounds, using the BLCP to LCP conversion (using a dog-slow matrix inversion etc)

for this conversion, see also https://github.com/erwincoumans/num4lcp/blob/master/matlab/test_lcp_bounds.m and
appendix A1 in http://www.cs.duke.edu/~parr/nips10.pdf, thanks to Kenny Erleben and Evan Drumwright for the tips!
(friction is not coupled to normal forces yet)

2013-10-30 00:02:13 +00:00

erwin.coumans

1a2c3c0ee9

Added a Lemke MLCP solver, extracted from the MBSim project, and re-licensed under the zlib license

with permission of the original author. 
The Lemke implementation is not fully working yet:
1) we need to convert the lo-high LCP problem into a problem without the lo/high
2) we need to sort out the remaining instabilities, and report a failure if the max loopcount is reached etc.
We replaced the fmatvec library with our own LinearMath/btMatrixX.h, and STL std::vector with btAlignedObjectArray

Removed some warnings/potential issues: use fuzzyZero instead of isZero, and some warnings, 
related to this issue 756

2013-10-26 18:45:25 +00:00

2 Commits