btDantzigLCP.cpp File Reference

#include "btDantzigLCP.h"
#include <string.h>

Include dependency graph for btDantzigLCP.cpp:

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Classes
struct	btLCP

Macros
#define	btLCP_FAST
#define	BTROWPTRS
#define	BTATYPE   btScalar **
#define	BTAROW(i)   (m_A[i])
#define	BTNUB_OPTIMIZATIONS
#define	_BTGETA(i, j)   (A[i][j])
#define	BTGETA(i, j)   ((i > j) ? _BTGETA(i,j) : _BTGETA(j,i))

Functions
static void	btSolveL1_1 (const btScalar *L, btScalar *B, int n, int lskip1)
static void	btSolveL1_2 (const btScalar *L, btScalar *B, int n, int lskip1)
void	btFactorLDLT (btScalar *A, btScalar *d, int n, int nskip1)
void	btSolveL1 (const btScalar *L, btScalar *B, int n, int lskip1)
void	btSolveL1T (const btScalar *L, btScalar *B, int n, int lskip1)
void	btVectorScale (btScalar *a, const btScalar *d, int n)
void	btSolveLDLT (const btScalar *L, const btScalar *d, btScalar *b, int n, int nskip)
static void	btSwapRowsAndCols (BTATYPE A, int n, int i1, int i2, int nskip, int do_fast_row_swaps)
static void	btSwapProblem (BTATYPE A, btScalar *x, btScalar *b, btScalar *w, btScalar *lo, btScalar *hi, int *p, bool *state, int *findex, int n, int i1, int i2, int nskip, int do_fast_row_swaps)
void	btRemoveRowCol (btScalar *A, int n, int nskip, int r)
void	btLDLTAddTL (btScalar *L, btScalar *d, const btScalar *a, int n, int nskip, btAlignedObjectArray< btScalar > &scratch)
size_t	btEstimateLDLTAddTLTmpbufSize (int nskip)
void	btLDLTRemove (btScalar **A, const int *p, btScalar *L, btScalar *d, int n1, int n2, int r, int nskip, btAlignedObjectArray< btScalar > &scratch)
bool	btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b, btScalar *outer_w, int nub, btScalar *lo, btScalar *hi, int *findex, btDantzigScratchMemory &scratchMem)

Variables
bool	s_error = false

Macro Definition Documentation

#define _BTGETA	(		i,
			j
	)		(A[i][j])

Definition at line 1542 of file btDantzigLCP.cpp.

#define BTAROW

(

i

)

(m_A[i])

Definition at line 127 of file btDantzigLCP.cpp.

#define BTATYPE   btScalar **

Definition at line 126 of file btDantzigLCP.cpp.

#define BTGETA	(		i,
			j
	)		((i > j) ? _BTGETA(i,j) : _BTGETA(j,i))

Definition at line 1544 of file btDantzigLCP.cpp.

#define btLCP_FAST

Definition at line 122 of file btDantzigLCP.cpp.

#define BTNUB_OPTIMIZATIONS

Definition at line 134 of file btDantzigLCP.cpp.

#define BTROWPTRS

Definition at line 125 of file btDantzigLCP.cpp.

Function Documentation

size_t btEstimateLDLTAddTLTmpbufSize ( int  nskip )

inline

Definition at line 1546 of file btDantzigLCP.cpp.

void btFactorLDLT	(	btScalar *	A,
		btScalar *	d,
		int	n,
		int	nskip1
	)

Definition at line 304 of file btDantzigLCP.cpp.

void btLDLTAddTL	(	btScalar *	L,
		btScalar *	d,
		const btScalar *	a,
		int	n,
		int	nskip,
		btAlignedObjectArray< btScalar > &	scratch
	)

Definition at line 1464 of file btDantzigLCP.cpp.

void btLDLTRemove	(	btScalar **	A,
		const int *	p,
		btScalar *	L,
		btScalar *	d,
		int	n1,
		int	n2,
		int	r,
		int	nskip,
		btAlignedObjectArray< btScalar > &	scratch
	)

Definition at line 1552 of file btDantzigLCP.cpp.

void btRemoveRowCol	(	btScalar *	A,
		int	n,
		int	nskip,
		int	r
	)

Definition at line 1427 of file btDantzigLCP.cpp.

bool btSolveDantzigLCP	(	int	n,
		btScalar *	A,
		btScalar *	x,
		btScalar *	b,
		btScalar *	outer_w,
		int	nub,
		btScalar *	lo,
		btScalar *	hi,
		int *	findex,
		btDantzigScratchMemory &	scratchMem
	)

Definition at line 1780 of file btDantzigLCP.cpp.

void btSolveL1	(	const btScalar *	L,
		btScalar *	B,
		int	n,
		int	lskip1
	)

Definition at line 526 of file btDantzigLCP.cpp.

static void btSolveL1_1 ( const btScalar *  L, btScalar *  B, int  n, int  lskip1  )

static

Definition at line 148 of file btDantzigLCP.cpp.

static void btSolveL1_2 ( const btScalar *  L, btScalar *  B, int  n, int  lskip1  )

static

Definition at line 220 of file btDantzigLCP.cpp.

void btSolveL1T	(	const btScalar *	L,
		btScalar *	B,
		int	n,
		int	lskip1
	)

Definition at line 819 of file btDantzigLCP.cpp.

void btSolveLDLT	(	const btScalar *	L,
		const btScalar *	d,
		btScalar *	b,
		int	n,
		int	nskip
	)

Definition at line 1017 of file btDantzigLCP.cpp.

static void btSwapProblem ( BTATYPE  A, btScalar *  x, btScalar *  b, btScalar *  w, btScalar *  lo, btScalar *  hi, int *  p, bool *  state, int *  findex, int  n, int  i1, int  i2, int  nskip, int  do_fast_row_swaps  )

static

Definition at line 1103 of file btDantzigLCP.cpp.

static void btSwapRowsAndCols ( BTATYPE  A, int  n, int  i1, int  i2, int  nskip, int  do_fast_row_swaps  )

static

Definition at line 1035 of file btDantzigLCP.cpp.

void btVectorScale	(	btScalar *	a,
		const btScalar *	d,
		int	n
	)

Definition at line 1009 of file btDantzigLCP.cpp.

Variable Documentation

bool s_error = false

Definition at line 116 of file btDantzigLCP.cpp.