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https://github.com/bulletphysics/bullet3
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ae8e83988b
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
49 lines
1.9 KiB
Plaintext
49 lines
1.9 KiB
Plaintext
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_CHOLMODSUPPORT_MODULE_H
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#define EIGEN_CHOLMODSUPPORT_MODULE_H
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#include "SparseCore"
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#include "src/Core/util/DisableStupidWarnings.h"
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extern "C" {
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#include <cholmod.h>
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}
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/** \ingroup Support_modules
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* \defgroup CholmodSupport_Module CholmodSupport module
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*
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* This module provides an interface to the Cholmod library which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
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* It provides the two following main factorization classes:
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* - class CholmodSupernodalLLT: a supernodal LLT Cholesky factorization.
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* - class CholmodDecomposiiton: a general L(D)LT Cholesky factorization with automatic or explicit runtime selection of the underlying factorization method (supernodal or simplicial).
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*
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* For the sake of completeness, this module also propose the two following classes:
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* - class CholmodSimplicialLLT
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* - class CholmodSimplicialLDLT
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* Note that these classes does not bring any particular advantage compared to the built-in
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* SimplicialLLT and SimplicialLDLT factorization classes.
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*
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* \code
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* #include <Eigen/CholmodSupport>
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* \endcode
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*
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* In order to use this module, the cholmod headers must be accessible from the include paths, and your binary must be linked to the cholmod library and its dependencies.
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* The dependencies depend on how cholmod has been compiled.
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* For a cmake based project, you can use our FindCholmod.cmake module to help you in this task.
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*
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*/
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#include "src/CholmodSupport/CholmodSupport.h"
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#include "src/Core/util/ReenableStupidWarnings.h"
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#endif // EIGEN_CHOLMODSUPPORT_MODULE_H
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