diff options
| author | sanine <sanine.not@pm.me> | 2022-10-01 20:59:36 -0500 |
|---|---|---|
| committer | sanine <sanine.not@pm.me> | 2022-10-01 20:59:36 -0500 |
| commit | c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 (patch) | |
| tree | 277dd280daf10bf77013236b8edfa5f88708c7e0 /libs/ode-0.16.1/ode/src/fastldltsolve_impl.h | |
| parent | 1cf9cc3408af7008451f9133fb95af66a9697d15 (diff) | |
add ode
Diffstat (limited to 'libs/ode-0.16.1/ode/src/fastldltsolve_impl.h')
| -rw-r--r-- | libs/ode-0.16.1/ode/src/fastldltsolve_impl.h | 49 |
1 files changed, 49 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/src/fastldltsolve_impl.h b/libs/ode-0.16.1/ode/src/fastldltsolve_impl.h new file mode 100644 index 0000000..ad6f393 --- /dev/null +++ b/libs/ode-0.16.1/ode/src/fastldltsolve_impl.h @@ -0,0 +1,49 @@ +
+
+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: russ@q12.org Web: www.q12.org *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+
+#ifndef _ODE_MATRIX_IMPL_H_
+#define _ODE_MATRIX_IMPL_H_
+
+
+#include "fastlsolve_impl.h"
+#include "fastltsolve_impl.h"
+#include "fastvecscale_impl.h"
+
+
+template<unsigned int d_stride, unsigned int b_stride>
+void solveEquationSystemWithLDLT(const dReal *L, const dReal *d, dReal *b, unsigned rowCount, unsigned rowSkip)
+{
+ dAASSERT(L != NULL);
+ dAASSERT(d != NULL);
+ dAASSERT(b != NULL);
+ dAASSERT(rowCount > 0);
+ dAASSERT(rowSkip >= rowCount);
+
+ solveL1Straight<b_stride>(L, b, rowCount, rowSkip);
+ scaleLargeVector<b_stride, d_stride>(b, d, rowCount);
+ solveL1Transposed<b_stride>(L, b, rowCount, rowSkip);
+}
+
+
+#endif
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