Directly accessing the DAEs or ODEs

[Isos]

Hello everyone,

I'm interested in using Bullet for an optimization problem, and I would like to make a direct call to the ODEs or DAEs (still a little shaky on what Bullet is doing in the background). Bullet must be formulating these in one way or another. Is it possible to access them?

i.e. would like:
zdot = z(state variables...)


Thanks!

[Basroil]

Pretty much everything is at least somewhat abstracted to improve performance or internal interoperability, so I don't think you'll find any ODEs directly stated as such, after all bullet isn't a general program solver. You can find the way it sets up and computes the problems in https://code.google.com/p/bullet/source ... Solver.cpp and the respective constraints though. The MLCP solvers come a bit closer to traditional solvers perhaps, but even those might not be quite in the form you want.