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/*************************************************************************
* *
* 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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