com.jme3.bullet

Enum SolverType

java.lang.Object

java.lang.Enum<SolverType>

com.jme3.bullet.SolverType

All Implemented Interfaces:

java.io.Serializable, java.lang.Comparable<SolverType>

public enum SolverType
extends java.lang.Enum<SolverType>

Enumerate the available contact-and-constraint solvers.

Enum Constant Summary

Enum Constants

Enum Constant and Description
Dantzig btDantzigSolver: Mixed Linear Complementarity Problem (MLCP) direct solver using the Dantzig Algorithm
Lemke btLemkeSolver: accurate-but-slow MLCP direct solver using Lemke’s Algorithm (see "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation" by John E.
NNCG btNNCGConstraintSolver: using the Non-smooth Nonlinear Conjugate Gradient (NNCG) method
PGS btSolveProjectedGaussSeidel: slow MLCP direct solver using projected Gauss-Seidel (PGS) for debug/learning purposes
SI btSequentialImpulseConstraintSolver/btMultiBodyConstraintSolver: Bullet's original sequential-impulse solver

Method Summary

Modifier and Type	Method and Description
static SolverType	valueOf(java.lang.String name) Returns the enum constant of this type with the specified name.
static SolverType[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

SI

public static final SolverType SI

btSequentialImpulseConstraintSolver/btMultiBodyConstraintSolver: Bullet's original sequential-impulse solver

Dantzig

public static final SolverType Dantzig

btDantzigSolver: Mixed Linear Complementarity Problem (MLCP) direct solver using the Dantzig Algorithm

Lemke

public static final SolverType Lemke

btLemkeSolver: accurate-but-slow MLCP direct solver using Lemke’s Algorithm (see "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation" by John E. Lloyd)

Seems to require a global CFM > 0.

PGS

public static final SolverType PGS

btSolveProjectedGaussSeidel: slow MLCP direct solver using projected Gauss-Seidel (PGS) for debug/learning purposes

NNCG

public static final SolverType NNCG

btNNCGConstraintSolver: using the Non-smooth Nonlinear Conjugate Gradient (NNCG) method

Method Detail

values

public static SolverType[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (SolverType c : SolverType.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static SolverType valueOf(java.lang.String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

java.lang.IllegalArgumentException - if this enum type has no constant with the specified name

java.lang.NullPointerException - if the argument is null