From 61e829936374a3ab3e209770e826aeca1034cff6 Mon Sep 17 00:00:00 2001 From: rgosens2 Date: Mon, 10 Nov 2025 14:28:15 +0100 Subject: [PATCH] change useMCLPSolver to useMLCPSolver --- examples/ForkLift/ForkLiftDemo.cpp | 18 +++++++++--------- examples/Vehicles/Hinge2Vehicle.cpp | 12 ++++++------ 2 files changed, 15 insertions(+), 15 deletions(-) diff --git a/examples/ForkLift/ForkLiftDemo.cpp b/examples/ForkLift/ForkLiftDemo.cpp index 6bb03165b9..8af3e04d67 100644 --- a/examples/ForkLift/ForkLiftDemo.cpp +++ b/examples/ForkLift/ForkLiftDemo.cpp @@ -179,7 +179,7 @@ int forwardIndex = 2; btVector3 wheelDirectionCS0(0, -1, 0); btVector3 wheelAxleCS(-1, 0, 0); -bool useMCLPSolver = true; +bool useMLCPSolver = true; #include //printf debugging @@ -322,7 +322,7 @@ void ForkLiftDemo::initPhysics() btVector3 worldMin(-1000, -1000, -1000); btVector3 worldMax(1000, 1000, 1000); m_overlappingPairCache = new btAxisSweep3(worldMin, worldMax); - if (useMCLPSolver) + if (useMLCPSolver) { btDantzigSolver* mlcp = new btDantzigSolver(); //btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel; @@ -334,7 +334,7 @@ void ForkLiftDemo::initPhysics() m_constraintSolver = new btSequentialImpulseConstraintSolver(); } m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_overlappingPairCache, m_constraintSolver, m_collisionConfiguration); - if (useMCLPSolver) + if (useMLCPSolver) { m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 1; //for direct solver it is better to have a small A matrix } @@ -867,11 +867,11 @@ bool ForkLiftDemo::keyboardCallback(int key, int state) { handled = true; //switch solver (needs demo restart) - useMCLPSolver = !useMCLPSolver; - printf("switching to useMLCPSolver = %d\n", useMCLPSolver); + useMLCPSolver = !useMLCPSolver; + printf("switching to useMLCPSolver = %d\n", useMLCPSolver); delete m_constraintSolver; - if (useMCLPSolver) + if (useMLCPSolver) { btDantzigSolver* mlcp = new btDantzigSolver(); //btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel; @@ -1036,11 +1036,11 @@ void ForkLiftDemo::specialKeyboard(int key, int x, int y) case GLUT_KEY_F6: { //switch solver (needs demo restart) - useMCLPSolver = !useMCLPSolver; - printf("switching to useMLCPSolver = %d\n", useMCLPSolver); + useMLCPSolver = !useMLCPSolver; + printf("switching to useMLCPSolver = %d\n", useMLCPSolver); delete m_constraintSolver; - if (useMCLPSolver) + if (useMLCPSolver) { btDantzigSolver* mlcp = new btDantzigSolver(); //btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel; diff --git a/examples/Vehicles/Hinge2Vehicle.cpp b/examples/Vehicles/Hinge2Vehicle.cpp index 8978156c94..80253fd0d1 100644 --- a/examples/Vehicles/Hinge2Vehicle.cpp +++ b/examples/Vehicles/Hinge2Vehicle.cpp @@ -133,7 +133,7 @@ static btScalar maxMotorImpulse = 4000.f; static btVector3 wheelDirectionCS0(0, -1, 0); static btVector3 wheelAxleCS(-1, 0, 0); -static bool useMCLPSolver = false; //true; +static bool useMLCPSolver = false; //true; #include //printf debugging @@ -262,7 +262,7 @@ void Hinge2Vehicle::initPhysics() btVector3 worldMin(-1000, -1000, -1000); btVector3 worldMax(1000, 1000, 1000); m_broadphase = new btAxisSweep3(worldMin, worldMax); - if (useMCLPSolver) + if (useMLCPSolver) { btDantzigSolver* mlcp = new btDantzigSolver(); //btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel; @@ -274,7 +274,7 @@ void Hinge2Vehicle::initPhysics() m_solver = new btSequentialImpulseConstraintSolver(); } m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); - if (useMCLPSolver) + if (useMLCPSolver) { m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 1; //for direct solver it is better to have a small A matrix } @@ -545,11 +545,11 @@ bool Hinge2Vehicle::keyboardCallback(int key, int state) { handled = true; //switch solver (needs demo restart) - useMCLPSolver = !useMCLPSolver; - printf("switching to useMLCPSolver = %d\n", useMCLPSolver); + useMLCPSolver = !useMLCPSolver; + printf("switching to useMLCPSolver = %d\n", useMLCPSolver); delete m_solver; - if (useMCLPSolver) + if (useMLCPSolver) { btDantzigSolver* mlcp = new btDantzigSolver(); //btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel;