Archive for March, 2005

LCPSolver.java

March 8, 2005

Two classes are implemented and tested in this code. This is my first attempt of using Colt extensively. SlowLCP is a simple but slow implementation for LCP bookkeeping. In class SlowLCP, the index set C and N are implemented by BooleanArrayList. I don’t know a good way to solve LDL’ yet, so I just use a more generic but less efficient LUDecompositionQuick. It is very obvious that solveLCPBasic directly translates the pseudo-code from Baraff.

Update: the complete source code can be viewed from SourceForge directly.

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