109 lines
3.1 KiB
C++
109 lines
3.1 KiB
C++
|
/* Copyright (C) 2004-2013 MBSim Development Team
|
|||
|
|
|
|||
|
|
Code was converted for the Bullet Continuous Collision Detection and Physics Library
|
|||
|
|
|
|||
|
|
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.
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
//The original version is here
|
|||
|
|
//https://code.google.com/p/mbsim-env/source/browse/trunk/kernel/mbsim/numerics/linear_complementarity_problem/lemke_algorithm.cc
|
|||
|
|
//This file is re-distributed under the ZLib license, with permission of the original author (Kilian Grundl)
|
|||
|
|
//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
|
|||
|
|
|
|||
|
|
class btLemkeAlgorithm
|
|||
|
|
{
|
|||
|
|
public:
|
|||
|
|
|
|||
|
|
|
|||
|
|
btLemkeAlgorithm(const btMatrixXu& M_, const btVectorXu& q_, const int & DEBUGLEVEL_ = 0) :
|
|||
|
|
DEBUGLEVEL(DEBUGLEVEL_)
|
|||
|
|
{
|
|||
|
|
setSystem(M_, q_);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* GETTER / SETTER */
|
|||
|
|
/**
|
|||
|
|
* \brief return info of solution process
|
|||
|
|
*/
|
|||
|
|
int getInfo() {
|
|||
|
|
return info;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \brief get the number of steps until the solution was found
|
|||
|
|
*/
|
|||
|
|
int getSteps(void) {
|
|||
|
|
return steps;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \brief set system with Matrix M and vector 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);
|
|||
|
|
|
|||
|
|
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);
|
|||
|
|
|
|||
|
|
btMatrixXu m_M;
|
|||
|
|
btVectorXu m_q;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \brief number of steps until the Lemke algorithm found a solution
|
|||
|
|
*/
|
|||
|
|
unsigned int steps;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \brief define level of debug output
|
|||
|
|
*/
|
|||
|
|
int DEBUGLEVEL;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \brief did the algorithm find a solution
|
|||
|
|
*
|
|||
|
|
* -1 : not successful
|
|||
|
|
* 0 : successful
|
|||
|
|
*/
|
|||
|
|
int info;
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
|
|||
|
|
#endif /* BT_NUMERICS_LEMKE_ALGORITHM_H_ */
|