Skip to content

change useMCLPSolver to useMLCPSolver #4761

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
rgosens2 wants to merge 1 commit into
base: master
Choose a base branch
from
+15 −15
Open

change useMCLPSolver to useMLCPSolver #4761

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 9 additions & 9 deletions examples/ForkLift/ForkLiftDemo.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -179,7 +179,7 @@ int forwardIndex = 2;
btVector3 wheelDirectionCS0(0, -1, 0);
btVector3 wheelAxleCS(-1, 0, 0);

bool useMCLPSolver = true;
bool useMLCPSolver = true;

#include <stdio.h> //printf debugging

Expand Down Expand Up @@ -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;
Expand All @@ -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
}
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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;
Expand Down
12 changes: 6 additions & 6 deletions examples/Vehicles/Hinge2Vehicle.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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 <stdio.h> //printf debugging

Expand Down Expand Up @@ -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;
Expand All @@ -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
}
Expand Down Expand Up @@ -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;
Expand Down