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extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h
| Show All 21 Lines | |||||
| class btMLCPSolverInterface | class btMLCPSolverInterface | ||||
| { | { | ||||
| public: | public: | ||||
| virtual ~btMLCPSolverInterface() | virtual ~btMLCPSolverInterface() | ||||
| { | { | ||||
| } | } | ||||
| //return true is it solves the problem successfully | //return true is it solves the problem successfully | ||||
| 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; | 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; | ||||
| }; | }; | ||||
| #endif //BT_MLCP_SOLVER_INTERFACE_H | #endif //BT_MLCP_SOLVER_INTERFACE_H | ||||