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https://github.com/bulletphysics/bullet3.git
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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
93 lines
3.1 KiB
C++
93 lines
3.1 KiB
C++
// 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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// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
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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_SPARSETRANSPOSE_H
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#define EIGEN_SPARSETRANSPOSE_H
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namespace Eigen {
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namespace internal {
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template<typename MatrixType,int CompressedAccess=int(MatrixType::Flags&CompressedAccessBit)>
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class SparseTransposeImpl
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: public SparseMatrixBase<Transpose<MatrixType> >
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{};
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template<typename MatrixType>
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class SparseTransposeImpl<MatrixType,CompressedAccessBit>
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: public SparseCompressedBase<Transpose<MatrixType> >
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{
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typedef SparseCompressedBase<Transpose<MatrixType> > Base;
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public:
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using Base::derived;
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typedef typename Base::Scalar Scalar;
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typedef typename Base::StorageIndex StorageIndex;
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inline Index nonZeros() const { return derived().nestedExpression().nonZeros(); }
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inline const Scalar* valuePtr() const { return derived().nestedExpression().valuePtr(); }
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inline const StorageIndex* innerIndexPtr() const { return derived().nestedExpression().innerIndexPtr(); }
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inline const StorageIndex* outerIndexPtr() const { return derived().nestedExpression().outerIndexPtr(); }
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inline const StorageIndex* innerNonZeroPtr() const { return derived().nestedExpression().innerNonZeroPtr(); }
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inline Scalar* valuePtr() { return derived().nestedExpression().valuePtr(); }
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inline StorageIndex* innerIndexPtr() { return derived().nestedExpression().innerIndexPtr(); }
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inline StorageIndex* outerIndexPtr() { return derived().nestedExpression().outerIndexPtr(); }
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inline StorageIndex* innerNonZeroPtr() { return derived().nestedExpression().innerNonZeroPtr(); }
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};
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}
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template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>
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: public internal::SparseTransposeImpl<MatrixType>
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{
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protected:
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typedef internal::SparseTransposeImpl<MatrixType> Base;
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};
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namespace internal {
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template<typename ArgType>
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struct unary_evaluator<Transpose<ArgType>, IteratorBased>
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: public evaluator_base<Transpose<ArgType> >
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{
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typedef typename evaluator<ArgType>::InnerIterator EvalIterator;
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public:
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typedef Transpose<ArgType> XprType;
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inline Index nonZerosEstimate() const {
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return m_argImpl.nonZerosEstimate();
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}
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class InnerIterator : public EvalIterator
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{
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public:
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EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& unaryOp, Index outer)
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: EvalIterator(unaryOp.m_argImpl,outer)
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{}
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Index row() const { return EvalIterator::col(); }
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Index col() const { return EvalIterator::row(); }
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};
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enum {
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CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
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Flags = XprType::Flags
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};
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explicit unary_evaluator(const XprType& op) :m_argImpl(op.nestedExpression()) {}
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protected:
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evaluator<ArgType> m_argImpl;
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};
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} // end namespace internal
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} // end namespace Eigen
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#endif // EIGEN_SPARSETRANSPOSE_H
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