diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp | 17 |
1 files changed, 9 insertions, 8 deletions
diff --git a/extern/bullet2/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp b/extern/bullet2/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp index 3bf7b5c1311..986f2148701 100644 --- a/extern/bullet2/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp +++ b/extern/bullet2/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp @@ -821,14 +821,15 @@ void btSolveL1T (const btScalar *L, btScalar *B, int n, int lskip1) /* declare variables - Z matrix, p and q vectors, etc */ btScalar Z11,m11,Z21,m21,Z31,m31,Z41,m41,p1,q1,p2,p3,p4,*ex; const btScalar *ell; - int lskip2,lskip3,i,j; + int lskip2,i,j; +// int lskip3; /* special handling for L and B because we're solving L1 *transpose* */ L = L + (n-1)*(lskip1+1); B = B + n-1; lskip1 = -lskip1; /* compute lskip values */ lskip2 = 2*lskip1; - lskip3 = 3*lskip1; + //lskip3 = 3*lskip1; /* compute all 4 x 1 blocks of X */ for (i=0; i <= n-4; i+=4) { /* compute all 4 x 1 block of X, from rows i..i+4-1 */ @@ -1199,9 +1200,9 @@ struct btLCP int *const m_findex, *const m_p, *const m_C; btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w, - btScalar *_lo, btScalar *_hi, btScalar *_L, btScalar *_d, + btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d, btScalar *_Dell, btScalar *_ell, btScalar *_tmp, - bool *_state, int *_findex, int *_p, int *_C, btScalar **Arows); + bool *_state, int *_findex, int *p, int *c, btScalar **Arows); int getNub() const { return m_nub; } void transfer_i_to_C (int i); void transfer_i_to_N (int i) { m_nN++; } // because we can assume C and N span 1:i-1 @@ -1224,9 +1225,9 @@ struct btLCP btLCP::btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w, - btScalar *_lo, btScalar *_hi, btScalar *_L, btScalar *_d, + btScalar *_lo, btScalar *_hi, btScalar *l, btScalar *_d, btScalar *_Dell, btScalar *_ell, btScalar *_tmp, - bool *_state, int *_findex, int *_p, int *_C, btScalar **Arows): + bool *_state, int *_findex, int *p, int *c, btScalar **Arows): m_n(_n), m_nskip(_nskip), m_nub(_nub), m_nC(0), m_nN(0), # ifdef BTROWPTRS m_A(Arows), @@ -1234,8 +1235,8 @@ btLCP::btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btSc m_A(_Adata), #endif m_x(_x), m_b(_b), m_w(_w), m_lo(_lo), m_hi(_hi), - m_L(_L), m_d(_d), m_Dell(_Dell), m_ell(_ell), m_tmp(_tmp), - m_state(_state), m_findex(_findex), m_p(_p), m_C(_C) + m_L(l), m_d(_d), m_Dell(_Dell), m_ell(_ell), m_tmp(_tmp), + m_state(_state), m_findex(_findex), m_p(p), m_C(c) { { btSetZero (m_x,m_n); |