26#undef BT_DEBUG_OSTREAM
27#ifdef BT_DEBUG_OSTREAM
33 static bool calculated=
false;
52 static bool alreadyCalculated =
false;
54 if (!alreadyCalculated) {
56 alreadyCalculated =
true;
70#ifdef BT_DEBUG_OSTREAM
72 cout <<
"Dimension = " << dim << endl;
77 solutionVector.setZero();
83#ifdef BT_DEBUG_OSTREAM
84 cout <<
m_M << std::endl;
91 A.setSubMatrix(0, 0, dim - 1, dim - 1,ident);
92 A.setSubMatrix(0, dim, dim - 1, 2 * dim - 1,mNeg);
93 A.setSubMatrix(0, 2 * dim, dim - 1, 2 * dim, -1.f);
94 A.setSubMatrix(0, 2 * dim + 1, dim - 1, 2 * dim + 1,
m_q);
96#ifdef BT_DEBUG_OSTREAM
97 cout << A << std::endl;
106 for (
int i = 0; i < dim; i++)
109 int pivotRowIndex = -1;
112 for (
int i=0;i<dim;i++)
127 int z0Row = pivotRowIndex;
128 int pivotColIndex = 2 * dim;
130#ifdef BT_DEBUG_OSTREAM
134 cout <<
"pivotRowIndex " << pivotRowIndex << endl;
135 cout <<
"pivotColIndex " << pivotColIndex << endl;
137 for (
int i = 0; i < basis.
size(); i++)
138 cout << basis[i] <<
" ";
155#ifdef BT_DEBUG_OSTREAM
158 cout <<
"pivotRowIndex " << pivotRowIndex << endl;
159 cout <<
"pivotColIndex " << pivotColIndex << endl;
161 for (
int i = 0; i < basis.
size(); i++)
162 cout << basis[i] <<
" ";
167 int pivotColIndexOld = pivotColIndex;
170 if (basis[pivotRowIndex] < dim)
171 pivotColIndex = basis[pivotRowIndex] + dim;
174 pivotColIndex = basis[pivotRowIndex] - dim;
177 basis[pivotRowIndex] = pivotColIndexOld;
181 if(z0Row == pivotRowIndex) {
183 basis[pivotRowIndex] = pivotColIndex;
188#ifdef BT_DEBUG_OSTREAM
190 cout <<
"Number of loops: " <<
steps << endl;
191 cout <<
"Number of maximal loops: " << maxloops << endl;
197#ifdef BT_DEBUG_OSTREAM
199 cerr <<
"Lemke-Algorithm ended with Ray-Termination (no valid solution)." << endl;
202 return solutionVector;
206#ifdef BT_DEBUG_OSTREAM
209 cout <<
"pivotRowIndex " << pivotRowIndex << endl;
210 cout <<
"pivotColIndex " << pivotColIndex << endl;
214 for (
int i = 0; i < basis.
size(); i++)
216 solutionVector[basis[i]] = A(i,2*dim+1);
221 return solutionVector;
228 for (
int row = 0; row < dim; row++)
236 Rows[row][0] = A(row, 2 * dim + 1) / a;
237 Rows[row][1] = A(row, 2 * dim) / a;
238 for (
int j = 2; j < dim + 1; j++)
239 Rows[row][j] = A(row, j - 1) / a;
241#ifdef BT_DEBUG_OSTREAM
249 for (
int i = 0; i < Rows.
size(); i++)
251 if (Rows[i].nrm2() > 0.) {
254 for (; j < Rows.
size(); j++)
258 if(Rows[j].nrm2() > 0.)
261 for (
int ii=0;ii<dim+1;ii++)
263 test[ii] = Rows[j][ii] - Rows[i][ii];
273 if (j == Rows.
size())
290 while(i < v.size()-1 && fabs(v[i]) <
btMachEps())
301 btScalar a = -1 / A(pivotRowIndex, pivotColumnIndex);
302#ifdef BT_DEBUG_OSTREAM
303 cout << A << std::endl;
306 for (
int i = 0; i < A.rows(); i++)
308 if (i != pivotRowIndex)
310 for (
int j = 0; j < A.cols(); j++)
312 if (j != pivotColumnIndex)
315 v += A(pivotRowIndex, j) * A(i, pivotColumnIndex) * a;
322#ifdef BT_DEBUG_OSTREAM
323 cout << A << std::endl;
325 for (
int i = 0; i < A.cols(); i++)
327 A.mulElem(pivotRowIndex, i,-a);
329#ifdef BT_DEBUG_OSTREAM
330 cout << A << std::endl;
333 for (
int i = 0; i < A.rows(); i++)
335 if (i != pivotRowIndex)
337 A.setElem(i, pivotColumnIndex,0);
340#ifdef BT_DEBUG_OSTREAM
341 cout << A << std::endl;
347 bool isGreater =
true;
348 for (
int i = 0; i < vector.size(); i++) {
361 for (
int i = 0; i < basis.
size(); i++) {
362 if (basis[i] >= basis.
size() * 2) {
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btSqrt(btScalar y)
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
int size() const
return the number of elements in the array
void push_back(const T &_Val)
int findLexicographicMinimum(const btMatrixXu &A, const int &pivotColIndex)
btVectorXu solve(unsigned int maxloops=0)
solve algorithm adapted from : Fast Implementation of Lemkeās Algorithm for Rigid Body Contact Simula...
bool validBasis(const btAlignedObjectArray< int > &basis)
int info
did the algorithm find a solution
bool greaterZero(const btVectorXu &vector)
int DEBUGLEVEL
define level of debug output
bool LexicographicPositive(const btVectorXu &v)
unsigned int steps
number of steps until the Lemke algorithm found a solution
void GaussJordanEliminationStep(btMatrixXu &A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray< int > &basis)