org.bytedeco.bullet.BulletDynamics

Class btLemkeSolver

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.BulletDynamics.btMLCPSolverInterface

org.bytedeco.bullet.BulletDynamics.btLemkeSolver

All Implemented Interfaces:

AutoCloseable

@NoOffset
 @Properties(inherit=BulletDynamics.class)
public class btLemkeSolver
extends btMLCPSolverInterface

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. The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
btLemkeSolver()
btLemkeSolver(long size) Native array allocator.
btLemkeSolver(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
btLemkeSolver	getPointer(long i)
int	m_debugLevel()
btLemkeSolver	m_debugLevel(int setter)
int	m_maxLoops()
btLemkeSolver	m_maxLoops(int setter)
double	m_maxValue()
btLemkeSolver	m_maxValue(double setter)
boolean	m_useLoHighBounds()
btLemkeSolver	m_useLoHighBounds(boolean setter)
btLemkeSolver	position(long position)
boolean	solveMLCP(btMatrixXd A, btVectorXd b, btVectorXd x, btVectorXd lo, btVectorXd hi, btIntArray limitDependency, int numIterations)
boolean	solveMLCP(btMatrixXd A, btVectorXd b, btVectorXd x, btVectorXd lo, btVectorXd hi, btIntArray limitDependency, int numIterations, boolean useSparsity)

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

btLemkeSolver

public btLemkeSolver(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btLemkeSolver

public btLemkeSolver(long size)

Native array allocator. Access with Pointer.position(long).

btLemkeSolver

public btLemkeSolver()

Method Detail

position

public btLemkeSolver position(long position)

Overrides:

position in class Pointer

getPointer

public btLemkeSolver getPointer(long i)

Overrides:

getPointer in class Pointer

m_maxValue

@Cast(value="btScalar")
public double m_maxValue()

m_maxValue

public btLemkeSolver m_maxValue(double setter)

m_debugLevel

public int m_debugLevel()

m_debugLevel

public btLemkeSolver m_debugLevel(int setter)

m_maxLoops

public int m_maxLoops()

m_maxLoops

public btLemkeSolver m_maxLoops(int setter)

m_useLoHighBounds

@Cast(value="bool")
public boolean m_useLoHighBounds()

m_useLoHighBounds

public btLemkeSolver m_useLoHighBounds(boolean setter)

solveMLCP

@Cast(value="bool")
public boolean solveMLCP(@Const @ByRef
                                             btMatrixXd A,
                                             @Const @ByRef
                                             btVectorXd b,
                                             @ByRef
                                             btVectorXd x,
                                             @Const @ByRef
                                             btVectorXd lo,
                                             @Const @ByRef
                                             btVectorXd hi,
                                             @Const @ByRef
                                             btIntArray limitDependency,
                                             int numIterations,
                                             @Cast(value="bool")
                                             boolean useSparsity)

Overrides:

solveMLCP in class btMLCPSolverInterface

solveMLCP

@Cast(value="bool")
public boolean solveMLCP(@Const @ByRef
                                             btMatrixXd A,
                                             @Const @ByRef
                                             btVectorXd b,
                                             @ByRef
                                             btVectorXd x,
                                             @Const @ByRef
                                             btVectorXd lo,
                                             @Const @ByRef
                                             btVectorXd hi,
                                             @Const @ByRef
                                             btIntArray limitDependency,
                                             int numIterations)

Overrides:

solveMLCP in class btMLCPSolverInterface