2017-08-01 12:30:58 +00:00
|
|
|
/*
|
|
|
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
|
|
|
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
|
|
|
|
|
|
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
|
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
|
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
|
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
|
|
|
subject to the following restrictions:
|
|
|
|
|
|
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
|
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
|
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
|
|
|
*/
|
|
|
|
|
///original version written by Erwin Coumans, October 2013
|
|
|
|
|
|
|
|
|
|
#ifndef BT_MLCP_SOLVER_INTERFACE_H
|
|
|
|
|
#define BT_MLCP_SOLVER_INTERFACE_H
|
|
|
|
|
|
|
|
|
|
#include "LinearMath/btMatrixX.h"
|
|
|
|
|
|
|
|
|
|
class btMLCPSolverInterface
|
|
|
|
|
{
|
|
|
|
|
public:
|
|
|
|
|
virtual ~btMLCPSolverInterface()
|
|
|
|
|
{
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
//return true is it solves the problem successfully
|
2019-01-03 13:26:51 +00:00
|
|
|
virtual bool solveMLCP(const btMatrixXu& A, const btVectorXu& b, btVectorXu& x, const btVectorXu& lo, const btVectorXu& hi, const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true) = 0;
|
2017-08-01 12:30:58 +00:00
|
|
|
};
|
|
|
|
|
|
2019-01-03 13:26:51 +00:00
|
|
|
#endif //BT_MLCP_SOLVER_INTERFACE_H
|
