diff options
| -rw-r--r-- | src/BulletDynamics/MLCPSolvers/btLemkeSolver.h | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/BulletDynamics/MLCPSolvers/btLemkeSolver.h b/src/BulletDynamics/MLCPSolvers/btLemkeSolver.h index 3f215e56b..f18c4ea41 100644 --- a/src/BulletDynamics/MLCPSolvers/btLemkeSolver.h +++ b/src/BulletDynamics/MLCPSolvers/btLemkeSolver.h @@ -20,7 +20,7 @@ subject to the following restrictions: #include "btMLCPSolverInterface.h" #include "btLemkeAlgorithm.h" -///The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " +///The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " ///It is a slower but more accurate solver. Increase the m_maxLoops for better convergence, at the cost of more CPU time. ///The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team class btLemkeSolver : public btMLCPSolverInterface @@ -67,7 +67,7 @@ public: btMatrixXu A1; btMatrixXu B(n, n); { - BT_PROFILE("inverse(slow)"); + //BT_PROFILE("inverse(slow)"); A1.resize(A.rows(), A.cols()); for (int row = 0; row < A.rows(); row++) { @@ -174,7 +174,7 @@ public: y1.resize(n, 1); btLemkeAlgorithm lemke(M, qq, m_debugLevel); { - BT_PROFILE("lemke.solve"); + //BT_PROFILE("lemke.solve"); lemke.setSystem(M, qq); z1 = lemke.solve(m_maxLoops); } |